#include <math.h>
#include <inttypes.h>
#include <stdint.h>
#include <cstring>
#include <driver/gpio.h>
#include <driver/spi_common.h>
#include <driver/spi_master.h>
#include "sh2_SensorValue.h"

Include dependency graph for BNO08xGlobalTypes.hpp:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Classes
struct	bno08x_config_t
	IMU configuration settings passed into constructor. More...

struct	bno08x_quat_t
	Struct to represent unit quaternion. More...

struct	bno08x_euler_angle_t
	Struct to represent euler angle (units in degrees or rads) More...

struct	bno08x_ang_vel_t
	Struct to represent angular velocity (units in rad/s) More...

struct	bno08x_magf_t
	Struct to represent magnetic field data (units in uTesla) More...

struct	bno08x_magf_bias_t
	Struct to represent magnetic field bias data (units in uTesla) More...

struct	bno08x_gyro_t
	Struct to represent gyro data (units in rad/s) More...

struct	bno08x_gyro_bias_t
	Struct to represent gyro bias data (units in rad/s) More...

struct	bno08x_activity_classifier_t
	Struct to represent activity classifier data. More...

struct	bno08x_tap_detector_t
	Struct to represent tap detector data (flag meaning: 0 = no tap, 1 = positive tap on axis, -1 = negative tap on axis) More...

struct	bno08x_shake_detector_t
	Struct to represent shake detector data (flag meaning: 0 = no shake 1 = shake detected) More...

struct	bno08x_accel_t
	Struct to represent acceleration data from acceleration, linear acceleration, and gravity reports. More...

struct	bno08x_step_counter_t
	Struct to represent step counter data from step counter reports. More...

struct	bno08x_raw_gyro_t
	Struct to represent raw mems gyro data from raw gyro reports (units in ADC counts). More...

struct	bno08x_raw_accel_t
	Struct to represent raw mems accelerometer data from raw accelerometer reports (units in ADC counts). More...

struct	bno08x_raw_magf_t
	Struct to represent raw mems magnetometer data from raw magnetometer reports (units in ADC counts). More...

struct	bno08x_stability_classifier_t
	Struct to represent stability classifier data from stability classifier reports. More...

struct	bno08x_sample_counts_t
	Struct to represent sample counts, returned from BNO08xRpt::get_sample_counts() More...

struct	bno08x_meta_data_t
	Struct to represent sensor/report meta data, returned from BNO08xRpt::get_meta_data() More...

Macros
#define	TAP_DETECTED_X_AXIS(tap) ((tap) & (1U << 0U) ? 1 : 0)

#define	TAP_DETECTED_X_AXIS_POSITIVE(tap) ((tap) & (1U << 1U) ? 1 : 0)

#define	TAP_DETECTED_Y_AXIS(tap) ((tap) & (1U << 2U) ? 1 : 0)

#define	TAP_DETECTED_Y_AXIS_POSITIVE(tap) ((tap) & (1U << 3U) ? 1 : 0)

#define	TAP_DETECTED_Z_AXIS(tap) ((tap) & (1U << 4U) ? 1 : 0)

#define	TAP_DETECTED_Z_AXIS_POSITIVE(tap) ((tap) & (1U << 5U) ? 1 : 0)

#define	TAP_DETECTED_DOUBLE(tap) ((tap) & (1U << 6U) ? 1 : 0)

#define	SHAKE_DETECTED_X(tap) ((tap) & (1U << 0U) ? 1 : 0)

#define	SHAKE_DETECTED_Y(tap) ((tap) & (1U << 1U) ? 1 : 0)

#define	SHAKE_DETECTED_Z(tap) ((tap) & (1U << 2U) ? 1 : 0)

Typedefs
typedef struct bno08x_config_t	bno08x_config_t
	IMU configuration settings passed into constructor.

typedef bno08x_config_t	imu_config_t

using	IMUAccuracy = BNO08xAccuracy

typedef struct bno08x_quat_t	bno08x_quat_t
	Struct to represent unit quaternion.

typedef struct bno08x_euler_angle_t	bno08x_euler_angle_t
	Struct to represent euler angle (units in degrees or rads)

typedef struct bno08x_ang_vel_t	bno08x_ang_vel_t
	Struct to represent angular velocity (units in rad/s)

typedef struct bno08x_magf_t	bno08x_magf_t
	Struct to represent magnetic field data (units in uTesla)

typedef struct bno08x_magf_bias_t	bno08x_magf_bias_t
	Struct to represent magnetic field bias data (units in uTesla)

typedef struct bno08x_gyro_t	bno08x_gyro_t
	Struct to represent gyro data (units in rad/s)

typedef struct bno08x_gyro_bias_t	bno08x_gyro_bias_t
	Struct to represent gyro bias data (units in rad/s)

typedef struct bno08x_activity_classifier_t	bno08x_activity_classifier_t
	Struct to represent activity classifier data.

typedef struct bno08x_tap_detector_t	bno08x_tap_detector_t
	Struct to represent tap detector data (flag meaning: 0 = no tap, 1 = positive tap on axis, -1 = negative tap on axis)

typedef struct bno08x_shake_detector_t	bno08x_shake_detector_t
	Struct to represent shake detector data (flag meaning: 0 = no shake 1 = shake detected)

typedef struct bno08x_accel_t	bno08x_accel_t
	Struct to represent acceleration data from acceleration, linear acceleration, and gravity reports.

typedef struct bno08x_step_counter_t	bno08x_step_counter_t
	Struct to represent step counter data from step counter reports.

typedef struct bno08x_raw_gyro_t	bno08x_raw_gyro_t
	Struct to represent raw mems gyro data from raw gyro reports (units in ADC counts).

typedef struct bno08x_raw_accel_t	bno08x_raw_accel_t
	Struct to represent raw mems accelerometer data from raw accelerometer reports (units in ADC counts).

typedef struct bno08x_raw_magf_t	bno08x_raw_magf_t
	Struct to represent raw mems magnetometer data from raw magnetometer reports (units in ADC counts).

typedef struct bno08x_stability_classifier_t	bno08x_stability_classifier_t
	Struct to represent stability classifier data from stability classifier reports.

typedef struct bno08x_sample_counts_t	bno08x_sample_counts_t
	Struct to represent sample counts, returned from BNO08xRpt::get_sample_counts()

typedef struct bno08x_meta_data_t	bno08x_meta_data_t
	Struct to represent sensor/report meta data, returned from BNO08xRpt::get_meta_data()

Enumerations
enum class	BNO08xCalSel { accelerometer = SH2_CAL_ACCEL , gyro = SH2_CAL_GYRO , magnetometer = SH2_CAL_MAG , planar_accelerometer = SH2_CAL_PLANAR , all = (SH2_CAL_ACCEL \| SH2_CAL_GYRO \| SH2_CAL_MAG \| SH2_CAL_PLANAR) }

enum class	BNO08xResetReason { UNDEFINED , POR , INT_RST , WTD , EXT_RST , OTHER }
	Reason for previous IMU reset (returned by get_reset_reason()) More...

enum class	BNO08xAccuracy { UNRELIABLE , LOW , MED , HIGH , UNDEFINED }
	Sensor accuracy returned from input reports, corresponds to status bits (see ref. manual 6.5.1) More...

enum class	BNO08xActivityEnable { UNKNOWN = (1U << 0U) , IN_VEHICLE = (1U << 1U) , ON_BICYCLE = (1U << 2U) , ON_FOOT = (1U << 3U) , STILL = (1U << 4U) , TILTING = (1U << 5U) , WALKING = (1U << 6U) , RUNNING = (1U << 7U) , ON_STAIRS = (1U << 8U) , ALL = 0x1FU }
	BNO08xActivity Classifier enable bits passed to enable_activity_classifier() More...

enum class	BNO08xActivity { UNKNOWN = 0 , IN_VEHICLE = 1 , ON_BICYCLE = 2 , ON_FOOT = 3 , STILL = 4 , TILTING = 5 , WALKING = 6 , RUNNING = 7 , ON_STAIRS = 8 , UNDEFINED = 9 }
	BNO08xActivity states returned from BNO08x::activity_classifier.get() More...

enum class	BNO08xStability { UNKNOWN = 0 , ON_TABLE = 1 , STATIONARY = 2 , STABLE = 3 , MOTION = 4 , RESERVED = 5 , UNDEFINED = 6 }
	BNO08xStability states returned from BNO08x::stability_classifier.get() More...

Variables
static const constexpr uint8_t	TOTAL_RPT_COUNT = 38
	Amount of possible reports returned from BNO08x.

Detailed Description

Author: Myles Parfeniuk

Macro Definition Documentation

◆ SHAKE_DETECTED_X

#define SHAKE_DETECTED_X ( tap ) ((tap) & (1U << 0U) ? 1 : 0)

◆ SHAKE_DETECTED_Y

#define SHAKE_DETECTED_Y ( tap ) ((tap) & (1U << 1U) ? 1 : 0)

◆ SHAKE_DETECTED_Z

#define SHAKE_DETECTED_Z ( tap ) ((tap) & (1U << 2U) ? 1 : 0)

◆ TAP_DETECTED_DOUBLE

#define TAP_DETECTED_DOUBLE ( tap ) ((tap) & (1U << 6U) ? 1 : 0)

◆ TAP_DETECTED_X_AXIS

#define TAP_DETECTED_X_AXIS ( tap ) ((tap) & (1U << 0U) ? 1 : 0)

◆ TAP_DETECTED_X_AXIS_POSITIVE

#define TAP_DETECTED_X_AXIS_POSITIVE ( tap ) ((tap) & (1U << 1U) ? 1 : 0)

◆ TAP_DETECTED_Y_AXIS

#define TAP_DETECTED_Y_AXIS ( tap ) ((tap) & (1U << 2U) ? 1 : 0)

◆ TAP_DETECTED_Y_AXIS_POSITIVE

#define TAP_DETECTED_Y_AXIS_POSITIVE ( tap ) ((tap) & (1U << 3U) ? 1 : 0)

◆ TAP_DETECTED_Z_AXIS

#define TAP_DETECTED_Z_AXIS ( tap ) ((tap) & (1U << 4U) ? 1 : 0)

◆ TAP_DETECTED_Z_AXIS_POSITIVE

#define TAP_DETECTED_Z_AXIS_POSITIVE ( tap ) ((tap) & (1U << 5U) ? 1 : 0)

Typedef Documentation

◆ bno08x_accel_t

typedef struct bno08x_accel_t bno08x_accel_t

Struct to represent acceleration data from acceleration, linear acceleration, and gravity reports.

◆ bno08x_activity_classifier_t

typedef struct bno08x_activity_classifier_t bno08x_activity_classifier_t

Struct to represent activity classifier data.

◆ bno08x_ang_vel_t

typedef struct bno08x_ang_vel_t bno08x_ang_vel_t

Struct to represent angular velocity (units in rad/s)

◆ bno08x_config_t

typedef struct bno08x_config_t bno08x_config_t

IMU configuration settings passed into constructor.

◆ bno08x_euler_angle_t

typedef struct bno08x_euler_angle_t bno08x_euler_angle_t

Struct to represent euler angle (units in degrees or rads)

◆ bno08x_gyro_bias_t

typedef struct bno08x_gyro_bias_t bno08x_gyro_bias_t

Struct to represent gyro bias data (units in rad/s)

◆ bno08x_gyro_t

typedef struct bno08x_gyro_t bno08x_gyro_t

Struct to represent gyro data (units in rad/s)

◆ bno08x_magf_bias_t

typedef struct bno08x_magf_bias_t bno08x_magf_bias_t

Struct to represent magnetic field bias data (units in uTesla)

◆ bno08x_magf_t

typedef struct bno08x_magf_t bno08x_magf_t

Struct to represent magnetic field data (units in uTesla)

◆ bno08x_meta_data_t

typedef struct bno08x_meta_data_t bno08x_meta_data_t

Struct to represent sensor/report meta data, returned from BNO08xRpt::get_meta_data()

◆ bno08x_quat_t

typedef struct bno08x_quat_t bno08x_quat_t

Struct to represent unit quaternion.

◆ bno08x_raw_accel_t

typedef struct bno08x_raw_accel_t bno08x_raw_accel_t

Struct to represent raw mems accelerometer data from raw accelerometer reports (units in ADC counts).

◆ bno08x_raw_gyro_t

typedef struct bno08x_raw_gyro_t bno08x_raw_gyro_t

Struct to represent raw mems gyro data from raw gyro reports (units in ADC counts).

◆ bno08x_raw_magf_t

typedef struct bno08x_raw_magf_t bno08x_raw_magf_t

Struct to represent raw mems magnetometer data from raw magnetometer reports (units in ADC counts).

◆ bno08x_sample_counts_t

typedef struct bno08x_sample_counts_t bno08x_sample_counts_t

Struct to represent sample counts, returned from BNO08xRpt::get_sample_counts()

◆ bno08x_shake_detector_t

typedef struct bno08x_shake_detector_t bno08x_shake_detector_t

Struct to represent shake detector data (flag meaning: 0 = no shake 1 = shake detected)

◆ bno08x_stability_classifier_t

typedef struct bno08x_stability_classifier_t bno08x_stability_classifier_t

Struct to represent stability classifier data from stability classifier reports.

◆ bno08x_step_counter_t

typedef struct bno08x_step_counter_t bno08x_step_counter_t

Struct to represent step counter data from step counter reports.

◆ bno08x_tap_detector_t

typedef struct bno08x_tap_detector_t bno08x_tap_detector_t

Struct to represent tap detector data (flag meaning: 0 = no tap, 1 = positive tap on axis, -1 = negative tap on axis)

◆ imu_config_t

typedef bno08x_config_t imu_config_t

◆ IMUAccuracy

using IMUAccuracy = BNO08xAccuracy

Enumeration Type Documentation

◆ BNO08xAccuracy

enum class BNO08xAccuracy

strong

Sensor accuracy returned from input reports, corresponds to status bits (see ref. manual 6.5.1)

Enumerator
UNRELIABLE
LOW
MED
HIGH
UNDEFINED

◆ BNO08xActivity

enum class BNO08xActivity

strong

BNO08xActivity states returned from BNO08x::activity_classifier.get()

Enumerator
UNKNOWN
IN_VEHICLE
ON_BICYCLE
ON_FOOT
STILL
TILTING
WALKING
RUNNING
ON_STAIRS
UNDEFINED

◆ BNO08xActivityEnable

enum class BNO08xActivityEnable

strong

BNO08xActivity Classifier enable bits passed to enable_activity_classifier()

Enumerator
UNKNOWN
IN_VEHICLE
ON_BICYCLE
ON_FOOT
STILL
TILTING
WALKING
RUNNING
ON_STAIRS
ALL

◆ BNO08xCalSel

enum class BNO08xCalSel

strong

Enumerator
accelerometer
gyro
magnetometer
planar_accelerometer
all

◆ BNO08xResetReason

enum class BNO08xResetReason

strong

Reason for previous IMU reset (returned by get_reset_reason())

Enumerator
UNDEFINED	Undefined reset reason, this should never occur and is an error.
POR	Previous reset was due to power on reset.
INT_RST	Previous reset was due to internal reset.
WTD	Previous reset was due to watchdog timer.
EXT_RST	Previous reset was due to external reset.
OTHER	Previous reset was due to power other reason.

◆ BNO08xStability

enum class BNO08xStability

strong

BNO08xStability states returned from BNO08x::stability_classifier.get()

Enumerator
UNKNOWN
ON_TABLE
STATIONARY
STABLE
MOTION
RESERVED
UNDEFINED

Variable Documentation

◆ TOTAL_RPT_COUNT

const constexpr uint8_t TOTAL_RPT_COUNT = 38

staticconstexpr

Amount of possible reports returned from BNO08x.

Classes

Macros

Typedefs

Enumerations

Variables

Detailed Description

Macro Definition Documentation

◆ SHAKE_DETECTED_X

◆ SHAKE_DETECTED_Y

◆ SHAKE_DETECTED_Z

◆ TAP_DETECTED_DOUBLE

◆ TAP_DETECTED_X_AXIS

◆ TAP_DETECTED_X_AXIS_POSITIVE

◆ TAP_DETECTED_Y_AXIS

◆ TAP_DETECTED_Y_AXIS_POSITIVE

◆ TAP_DETECTED_Z_AXIS

◆ TAP_DETECTED_Z_AXIS_POSITIVE

Typedef Documentation

◆ bno08x_accel_t

◆ bno08x_activity_classifier_t

◆ bno08x_ang_vel_t

◆ bno08x_config_t

◆ bno08x_euler_angle_t

◆ bno08x_gyro_bias_t

◆ bno08x_gyro_t

◆ bno08x_magf_bias_t

◆ bno08x_magf_t

◆ bno08x_meta_data_t

◆ bno08x_quat_t

◆ bno08x_raw_accel_t

◆ bno08x_raw_gyro_t

◆ bno08x_raw_magf_t

◆ bno08x_sample_counts_t

◆ bno08x_shake_detector_t

◆ bno08x_stability_classifier_t

◆ bno08x_step_counter_t

◆ bno08x_tap_detector_t

◆ imu_config_t

◆ IMUAccuracy

Enumeration Type Documentation

◆ BNO08xAccuracy

◆ BNO08xActivity

◆ BNO08xActivityEnable

◆ BNO08xCalSel

◆ BNO08xResetReason

◆ BNO08xStability

Variable Documentation

◆ TOTAL_RPT_COUNT