BNO08xSH2HAL Class Reference

Fully static class containing callback implementations for sh2 HAL lib. More...

#include <BNO08xSH2HAL.hpp>

Collaboration diagram for BNO08xSH2HAL:

Static Public Member Functions
static void	set_hal_imu (BNO08x *hal_imu)
	Sets the BNO08x driver object to be used with sh2 HAL lib callbacks.
static int	spi_open (sh2_Hal_t *self)
	Opens SPI instance by waiting for interrupt.
static void	spi_close (sh2_Hal_t *self)
	Closes SPI instance (nothing to do here, but required by sh2 HAL lib for cases where other communication protocols are used.)
static int	spi_read (sh2_Hal_t *self, uint8_t *pBuffer, unsigned len, uint32_t *t_us)
	SPI rx callback for sh2 HAL lib.
static int	spi_write (sh2_Hal_t *self, uint8_t *pBuffer, unsigned len)
	SPI tx callback for sh2 HAL lib.
static uint32_t	get_time_us (sh2_Hal_t *self)
	Get time in microseconds callback for sh2 HAL lib.
static void	hal_cb (void *cookie, sh2_AsyncEvent_t *pEvent)
	General event callback for sh2 HAL lib, used to notify tasks of reset.
static void	sensor_event_cb (void *cookie, sh2_SensorEvent_t *event)
	Sensor event callback for sh2 HAL lib, sends received reports to data_proc_task().

Static Private Member Functions
static void	hardware_reset ()
	Hardware reset callback for sh2 HAL lib, toggle RST gpio.
static bool	spi_wait_for_int ()
	SPI wait for HINT sh2 HAL lib callback.
static uint16_t	spi_read_sh2_packet_header (uint8_t *pBuffer)
	SPI rx packet header (invoked from SPI rx callback.)
static int	spi_read_sh2_packet_body (uint8_t *pBuffer, uint16_t packet_sz)
	SPI rx packet body (invoked from SPI rx callback.)

Static Private Attributes
static BNO08x *	imu
static const constexpr char *	TAG = "BNO08xSH2HAL"

Detailed Description

Fully static class containing callback implementations for sh2 HAL lib.

Member Function Documentation

get_time_us()

uint32_t BNO08xSH2HAL::get_time_us ( sh2_Hal_t * self )

static

Get time in microseconds callback for sh2 HAL lib.

Parameters

self	sh2 HAL lib object being used with BNO08x driver instance.

Returns

Time in microseconds.

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hal_cb()

void BNO08xSH2HAL::hal_cb ( void * cookie, sh2_AsyncEvent_t * pEvent )

static

General event callback for sh2 HAL lib, used to notify tasks of reset.

Parameters

cookie	User set input parameter as void pointer (unused), see sh2_Open().
pEvent	Pointer to asynchronous event.

Returns

void, nothing to return

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hardware_reset()

void BNO08xSH2HAL::hardware_reset ( )

staticprivate

Hardware reset callback for sh2 HAL lib, toggle RST gpio.

Returns

void, nothing to return

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sensor_event_cb()

void BNO08xSH2HAL::sensor_event_cb ( void * cookie, sh2_SensorEvent_t * event )

static

Sensor event callback for sh2 HAL lib, sends received reports to data_proc_task().

Parameters

cookie	User set input parameter as void pointer (unused), see sh2_Open().
event	Pointer to sensor event.

Returns

void, nothing to return

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set_hal_imu()

void BNO08xSH2HAL::set_hal_imu ( BNO08x * hal_imu )

static

Sets the BNO08x driver object to be used with sh2 HAL lib callbacks.

Parameters

hal_imu

Pointer to BNO08x driver object to be used with sh2 HAL lib callbacks.

Returns

void, nothing to return

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spi_close()

void BNO08xSH2HAL::spi_close ( sh2_Hal_t * self )

static

Closes SPI instance (nothing to do here, but required by sh2 HAL lib for cases where other communication protocols are used.)

Returns

void, nothing to return

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spi_open()

int BNO08xSH2HAL::spi_open ( sh2_Hal_t * self )

static

Opens SPI instance by waiting for interrupt.

Returns

Always returns 0.

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spi_read()

int BNO08xSH2HAL::spi_read ( sh2_Hal_t * self, uint8_t * pBuffer, unsigned len, uint32_t * t_us )

static

SPI rx callback for sh2 HAL lib.

Parameters

self	sh2 HAL lib object being used with BNO08x driver instance.
pBuffer	Buffer to store received packet.
len	Length of bytes to read.
t_us	Time in microseconds (unused, forced sh2 HAL lib required function type)

Returns

Size of received packet in bytes, 0 on failure.

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spi_read_sh2_packet_body()

int BNO08xSH2HAL::spi_read_sh2_packet_body ( uint8_t * pBuffer, uint16_t packet_sz )

staticprivate

SPI rx packet body (invoked from SPI rx callback.)

Parameters

pBuffer

Buffer to store received packet body.

Returns

Packet size, 0 on failure.

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spi_read_sh2_packet_header()

uint16_t BNO08xSH2HAL::spi_read_sh2_packet_header ( uint8_t * pBuffer )

staticprivate

SPI rx packet header (invoked from SPI rx callback.)

Parameters

pBuffer

Buffer to store received header.

Returns

Packet size (should always be 4), 0 on failure.

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spi_wait_for_int()

bool BNO08xSH2HAL::spi_wait_for_int ( )

staticprivate

SPI wait for HINT sh2 HAL lib callback.

Returns

True if interrupt was detected before timeout.

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spi_write()

int BNO08xSH2HAL::spi_write ( sh2_Hal_t * self, uint8_t * pBuffer, unsigned len )

static

SPI tx callback for sh2 HAL lib.

Parameters

self	sh2 HAL lib object being used with BNO08x driver instance.
pBuffer	Buffer containing data to write.
len	Length in bytes to write.

Returns

Size of sent data (len param), 0 on failure.

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Member Data Documentation

imu

BNO08x * BNO08xSH2HAL::imu

staticprivate

TAG

const constexpr char* BNO08xSH2HAL::TAG = "BNO08xSH2HAL"

staticconstexprprivate

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The documentation for this class was generated from the following files:

• include/BNO08xSH2HAL.hpp
• source/BNO08xSH2HAL.cpp