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4456 lines
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<div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
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<a href="#nested-classes">Classes</a> |
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<a href="#pub-attribs">Public Attributes</a> |
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<a href="#pri-methods">Private Member Functions</a> |
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<a href="#pri-static-methods">Static Private Member Functions</a> |
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<a href="#pri-attribs">Private Attributes</a> |
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<a href="#pri-static-attribs">Static Private Attributes</a> |
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<a href="#friends">Friends</a> |
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<a href="class_b_n_o08x-members.html">List of all members</a> </div>
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<div class="headertitle"><div class="title">BNO08x Class Reference</div></div>
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<p><a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> IMU driver class.
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<a href="#details">More...</a></p>
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<p><code>#include <<a class="el" href="_b_n_o08x_8hpp_source.html">BNO08x.hpp</a>></code></p>
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<div class="dynheader">
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Collaboration diagram for BNO08x:</div>
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<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
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<table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="nested-classes" name="nested-classes"></a>
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Classes</h2></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="struct_b_n_o08x_1_1bno08x__reports__t.html">bno08x_reports_t</a></td></tr>
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<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">Contains report implementations. <a href="struct_b_n_o08x_1_1bno08x__reports__t.html#details">More...</a><br /></td></tr>
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<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
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</table><table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-types" name="pub-types"></a>
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Public Types</h2></td></tr>
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<tr class="memitem:ae08bdaff01ecacf0f399ab289fdf0b99" id="r_ae08bdaff01ecacf0f399ab289fdf0b99"><td class="memItemLeft" align="right" valign="top">typedef struct BNO08x::bno08x_reports_t </td><td class="memItemRight" valign="bottom"><a class="el" href="#ae08bdaff01ecacf0f399ab289fdf0b99">bno08x_reports_t</a></td></tr>
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<tr class="memdesc:ae08bdaff01ecacf0f399ab289fdf0b99"><td class="mdescLeft"> </td><td class="mdescRight">Contains report implementations. <br /></td></tr>
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<tr class="separator:ae08bdaff01ecacf0f399ab289fdf0b99"><td class="memSeparator" colspan="2"> </td></tr>
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</table><table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
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Public Member Functions</h2></td></tr>
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<tr class="memitem:ad12fb6cf310ad7a04a4e53809833bd61" id="r_ad12fb6cf310ad7a04a4e53809833bd61"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="#ad12fb6cf310ad7a04a4e53809833bd61">BNO08x</a> (<a class="el" href="structbno08x__config__t.html">bno08x_config_t</a> <a class="el" href="#aeda443e9f608fccfec0e6770edc90c82">imu_config</a>=<a class="el" href="structbno08x__config__t.html">bno08x_config_t</a>())</td></tr>
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<tr class="memdesc:ad12fb6cf310ad7a04a4e53809833bd61"><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> imu constructor. <br /></td></tr>
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<tr class="separator:ad12fb6cf310ad7a04a4e53809833bd61"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a687eee44d68e1bcabce04780d7eb5fb9" id="r_a687eee44d68e1bcabce04780d7eb5fb9"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="#a687eee44d68e1bcabce04780d7eb5fb9">~BNO08x</a> ()</td></tr>
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<tr class="memdesc:a687eee44d68e1bcabce04780d7eb5fb9"><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> imu deconstructor. <br /></td></tr>
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<tr class="separator:a687eee44d68e1bcabce04780d7eb5fb9"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aea8e2c6dd7a2c9899479a7f39fe94798" id="r_aea8e2c6dd7a2c9899479a7f39fe94798"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="#aea8e2c6dd7a2c9899479a7f39fe94798">initialize</a> ()</td></tr>
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<tr class="memdesc:aea8e2c6dd7a2c9899479a7f39fe94798"><td class="mdescLeft"> </td><td class="mdescRight">Initializes <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> sensor. <br /></td></tr>
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<tr class="separator:aea8e2c6dd7a2c9899479a7f39fe94798"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a28cd1c0b3477571d87133234e6358503" id="r_a28cd1c0b3477571d87133234e6358503"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="#a28cd1c0b3477571d87133234e6358503">hard_reset</a> ()</td></tr>
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<tr class="memdesc:a28cd1c0b3477571d87133234e6358503"><td class="mdescLeft"> </td><td class="mdescRight">Hard resets <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> device. <br /></td></tr>
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<tr class="separator:a28cd1c0b3477571d87133234e6358503"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a973a1b1785f3302ee1b2702c6a27646e" id="r_a973a1b1785f3302ee1b2702c6a27646e"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="#a973a1b1785f3302ee1b2702c6a27646e">soft_reset</a> ()</td></tr>
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<tr class="memdesc:a973a1b1785f3302ee1b2702c6a27646e"><td class="mdescLeft"> </td><td class="mdescRight">Soft resets <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> device by sending RESET (1) command on "device" channel. <br /></td></tr>
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<tr class="separator:a973a1b1785f3302ee1b2702c6a27646e"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a96d47dd0f9aedfbe3f731f8ae76b2e85" id="r_a96d47dd0f9aedfbe3f731f8ae76b2e85"><td class="memItemLeft" align="right" valign="top"><a class="el" href="_b_n_o08x_global_types_8hpp.html#ab2a2ace42f7f438d6a799dfcbc243147">BNO08xResetReason</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="#a96d47dd0f9aedfbe3f731f8ae76b2e85">get_reset_reason</a> ()</td></tr>
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<tr class="memdesc:a96d47dd0f9aedfbe3f731f8ae76b2e85"><td class="mdescLeft"> </td><td class="mdescRight">Returns reason for previous reset via product ID report. <br /></td></tr>
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<tr class="memitem:aaaa15b21ad98a3b161065c3d03ff62b5" id="r_aaaa15b21ad98a3b161065c3d03ff62b5"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="#aaaa15b21ad98a3b161065c3d03ff62b5">on</a> ()</td></tr>
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<tr class="memdesc:aaaa15b21ad98a3b161065c3d03ff62b5"><td class="mdescLeft"> </td><td class="mdescRight">Places <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> device in on state by sending ON (2) command on "device" channel. <br /></td></tr>
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<tr class="memitem:a7c5774a48227e8e3346fa5df7dfa420c" id="r_a7c5774a48227e8e3346fa5df7dfa420c"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="#a7c5774a48227e8e3346fa5df7dfa420c">sleep</a> ()</td></tr>
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<tr class="memdesc:a7c5774a48227e8e3346fa5df7dfa420c"><td class="mdescLeft"> </td><td class="mdescRight">Places <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> device in sleep state by sending SLEEP (3) command on "device" channel. <br /></td></tr>
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<tr class="memitem:af0dd28db9e331312e45937b12295ca94" id="r_af0dd28db9e331312e45937b12295ca94"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="#af0dd28db9e331312e45937b12295ca94">calibration_start</a> (uint32_t period_us)</td></tr>
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<tr class="memdesc:af0dd28db9e331312e45937b12295ca94"><td class="mdescLeft"> </td><td class="mdescRight">Starts simple calibration, see ref. manual 6.4.10.1. <br /></td></tr>
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<tr class="memitem:a817ec9ad9d51a1515f658374de48f483" id="r_a817ec9ad9d51a1515f658374de48f483"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="#a817ec9ad9d51a1515f658374de48f483">calibration_end</a> (sh2_CalStatus_t &status)</td></tr>
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<tr class="memdesc:a817ec9ad9d51a1515f658374de48f483"><td class="mdescLeft"> </td><td class="mdescRight">Ends turn-table calibration, see ref. manual 6.4.10.2. <br /></td></tr>
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<tr class="memitem:a90ea8e811d4bea28a356290d6f5caac5" id="r_a90ea8e811d4bea28a356290d6f5caac5"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="#a90ea8e811d4bea28a356290d6f5caac5">dynamic_calibration_enable</a> (<a class="el" href="_b_n_o08x_global_types_8hpp.html#aeeb4f49593c062357c3b7037bc2de850">BNO08xCalSel</a> sensor)</td></tr>
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<tr class="memdesc:a90ea8e811d4bea28a356290d6f5caac5"><td class="mdescLeft"> </td><td class="mdescRight">Enables dynamic/motion engine calibration for specified sensor(s), see ref. manual 6.4.6.1. <br /></td></tr>
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<tr class="memitem:a5c7498f6fa4bd43280dff1d322233b95" id="r_a5c7498f6fa4bd43280dff1d322233b95"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="#a5c7498f6fa4bd43280dff1d322233b95">dynamic_calibration_disable</a> (<a class="el" href="_b_n_o08x_global_types_8hpp.html#aeeb4f49593c062357c3b7037bc2de850">BNO08xCalSel</a> sensor)</td></tr>
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<tr class="memdesc:a5c7498f6fa4bd43280dff1d322233b95"><td class="mdescLeft"> </td><td class="mdescRight">Disables dynamic/motion engine calibration for specified sensor(s), see ref. manual 6.4.6.1. <br /></td></tr>
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<tr class="separator:a5c7498f6fa4bd43280dff1d322233b95"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a4e8b49abd33e6e11f23b2ae345058b9b" id="r_a4e8b49abd33e6e11f23b2ae345058b9b"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="#a4e8b49abd33e6e11f23b2ae345058b9b">dynamic_calibration_autosave_enable</a> ()</td></tr>
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<tr class="memdesc:a4e8b49abd33e6e11f23b2ae345058b9b"><td class="mdescLeft"> </td><td class="mdescRight">Enables the automatic saving of dynamic/ME calibration data to <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> internal flash See ref manual 6.4.7.1. <br /></td></tr>
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<tr class="separator:a4e8b49abd33e6e11f23b2ae345058b9b"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a9387728c276734da27388dbea38b6b32" id="r_a9387728c276734da27388dbea38b6b32"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="#a9387728c276734da27388dbea38b6b32">dynamic_calibration_autosave_disable</a> ()</td></tr>
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<tr class="memdesc:a9387728c276734da27388dbea38b6b32"><td class="mdescLeft"> </td><td class="mdescRight">Disables the automatic saving of dynamic/ME calibration data to <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> internal flash See ref manual 6.4.7.1. <br /></td></tr>
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<tr class="separator:a9387728c276734da27388dbea38b6b32"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a1c703a1fb79ce777dc73a83f02bfdb85" id="r_a1c703a1fb79ce777dc73a83f02bfdb85"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="#a1c703a1fb79ce777dc73a83f02bfdb85">save_dynamic_calibration</a> ()</td></tr>
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<tr class="memdesc:a1c703a1fb79ce777dc73a83f02bfdb85"><td class="mdescLeft"> </td><td class="mdescRight">Saves dynamic/motion engine calibration data to <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> internal flash immediately. See ref manual 6.4.5.1. <br /></td></tr>
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<tr class="memitem:a84a19cd1564f8d427394f137df54477d" id="r_a84a19cd1564f8d427394f137df54477d"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="#a84a19cd1564f8d427394f137df54477d">clear_dynamic_calibration</a> ()</td></tr>
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<tr class="memdesc:a84a19cd1564f8d427394f137df54477d"><td class="mdescLeft"> </td><td class="mdescRight">Clears dynamic/motion engine calibration data and resets <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> device. See ref manual 6.4.9.1. <br /></td></tr>
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<tr class="separator:a84a19cd1564f8d427394f137df54477d"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aee6ce74b95c1e1651cb93a60d723c16c" id="r_aee6ce74b95c1e1651cb93a60d723c16c"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="#aee6ce74b95c1e1651cb93a60d723c16c">get_frs</a> (uint16_t frs_ID, uint32_t(&data)[16], uint16_t &rx_data_sz)</td></tr>
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<tr class="memdesc:aee6ce74b95c1e1651cb93a60d723c16c"><td class="mdescLeft"> </td><td class="mdescRight">Retrieves a record from flash record system (if your goal is to retrieve meta data use the <a class="el" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x.">BNO08xRpt</a>:get_meta_data() method instead) <br /></td></tr>
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<tr class="separator:aee6ce74b95c1e1651cb93a60d723c16c"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aa8fd64f60de86ff6b8562f90f3b09690" id="r_aa8fd64f60de86ff6b8562f90f3b09690"><td class="memItemLeft" align="right" valign="top">sh2_ProductIds_t </td><td class="memItemRight" valign="bottom"><a class="el" href="#aa8fd64f60de86ff6b8562f90f3b09690">get_product_IDs</a> ()</td></tr>
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<tr class="memdesc:aa8fd64f60de86ff6b8562f90f3b09690"><td class="mdescLeft"> </td><td class="mdescRight">Returns product ID info sent by IMU at initialization. <br /></td></tr>
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<tr class="separator:aa8fd64f60de86ff6b8562f90f3b09690"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a367d525d1c0ba119b3dca3067bb5bccc" id="r_a367d525d1c0ba119b3dca3067bb5bccc"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="#a367d525d1c0ba119b3dca3067bb5bccc">data_available</a> ()</td></tr>
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<tr class="memdesc:a367d525d1c0ba119b3dca3067bb5bccc"><td class="mdescLeft"> </td><td class="mdescRight">Polls for new data/report to become available. <br /></td></tr>
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<tr class="separator:a367d525d1c0ba119b3dca3067bb5bccc"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aadd44524e6d22c48916acd9518b63ec3" id="r_aadd44524e6d22c48916acd9518b63ec3"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="#aadd44524e6d22c48916acd9518b63ec3">register_cb</a> (std::function< void(void)> cb_fxn)</td></tr>
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<tr class="memdesc:aadd44524e6d22c48916acd9518b63ec3"><td class="mdescLeft"> </td><td class="mdescRight">Registers a callback to execute when new data from a report is received. <br /></td></tr>
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<tr class="separator:aadd44524e6d22c48916acd9518b63ec3"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a082c79d9951ac32ea5fa25de90255a41" id="r_a082c79d9951ac32ea5fa25de90255a41"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="#a082c79d9951ac32ea5fa25de90255a41">register_cb</a> (std::function< void(uint8_t report_ID)> cb_fxn)</td></tr>
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<tr class="memdesc:a082c79d9951ac32ea5fa25de90255a41"><td class="mdescLeft"> </td><td class="mdescRight">Registers a callback to execute when new data from a report is received, overloaded with callback param for most recent report ID. <br /></td></tr>
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<tr class="separator:a082c79d9951ac32ea5fa25de90255a41"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a7441f7f2477c152deca17054041bf3e6" id="r_a7441f7f2477c152deca17054041bf3e6"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="#a7441f7f2477c152deca17054041bf3e6">print_product_ids</a> ()</td></tr>
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<tr class="memdesc:a7441f7f2477c152deca17054041bf3e6"><td class="mdescLeft"> </td><td class="mdescRight">Prints product IDs received at initialization. <br /></td></tr>
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<tr class="separator:a7441f7f2477c152deca17054041bf3e6"><td class="memSeparator" colspan="2"> </td></tr>
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</table><table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-static-methods" name="pub-static-methods"></a>
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Static Public Member Functions</h2></td></tr>
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<tr class="memitem:a0559c3f2f49d287e7c400a780975f850" id="r_a0559c3f2f49d287e7c400a780975f850"><td class="memItemLeft" align="right" valign="top">static const char * </td><td class="memItemRight" valign="bottom"><a class="el" href="#a0559c3f2f49d287e7c400a780975f850">activity_to_str</a> (<a class="el" href="_b_n_o08x_global_types_8hpp.html#abcc5d57e21ea6ed79e792deafcb62187">BNO08xActivity</a> activity)</td></tr>
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<tr class="memdesc:a0559c3f2f49d287e7c400a780975f850"><td class="mdescLeft"> </td><td class="mdescRight">Converts a BNO08xActivity enum to string. <br /></td></tr>
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<tr class="separator:a0559c3f2f49d287e7c400a780975f850"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aa8347555e37a185bef4a834b04231123" id="r_aa8347555e37a185bef4a834b04231123"><td class="memItemLeft" align="right" valign="top">static const char * </td><td class="memItemRight" valign="bottom"><a class="el" href="#aa8347555e37a185bef4a834b04231123">stability_to_str</a> (<a class="el" href="_b_n_o08x_global_types_8hpp.html#a498b35f9e00b24e51f8f60b029751ab5">BNO08xStability</a> stability)</td></tr>
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<tr class="memdesc:aa8347555e37a185bef4a834b04231123"><td class="mdescLeft"> </td><td class="mdescRight">Converts a BNO08xStability enum to string. <br /></td></tr>
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<tr class="memitem:a41d65567bb316971f68718ca69039ace" id="r_a41d65567bb316971f68718ca69039ace"><td class="memItemLeft" align="right" valign="top">static const char * </td><td class="memItemRight" valign="bottom"><a class="el" href="#a41d65567bb316971f68718ca69039ace">accuracy_to_str</a> (<a class="el" href="_b_n_o08x_global_types_8hpp.html#aed7bab8e55be415938e078ebe72562a0">BNO08xAccuracy</a> accuracy)</td></tr>
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</table><table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-attribs" name="pub-attribs"></a>
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Public Attributes</h2></td></tr>
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<tr class="memitem:ae1db7422ee9c2cac77382cc0a7aa430e" id="r_ae1db7422ee9c2cac77382cc0a7aa430e"><td class="memItemLeft" align="right" valign="top"><a class="el" href="struct_b_n_o08x_1_1bno08x__reports__t.html">bno08x_reports_t</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="#ae1db7422ee9c2cac77382cc0a7aa430e">rpt</a></td></tr>
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</table><table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pri-methods" name="pri-methods"></a>
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Private Member Functions</h2></td></tr>
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<tr class="memitem:ab4373e9b87837ea9fcbc0b536338c7b8" id="r_ab4373e9b87837ea9fcbc0b536338c7b8"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="#ab4373e9b87837ea9fcbc0b536338c7b8">data_proc_task</a> ()</td></tr>
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<tr class="memdesc:ab4373e9b87837ea9fcbc0b536338c7b8"><td class="mdescLeft"> </td><td class="mdescRight">Task responsible for parsing/handling sensor events sent by SH2 HAL and updating data that is returned to user. <br /></td></tr>
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<tr class="memitem:a7c7a9a0b81f9c8762fc927efea68bf23" id="r_a7c7a9a0b81f9c8762fc927efea68bf23"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="#a7c7a9a0b81f9c8762fc927efea68bf23">sh2_HAL_service_task</a> ()</td></tr>
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<tr class="memdesc:a7c7a9a0b81f9c8762fc927efea68bf23"><td class="mdescLeft"> </td><td class="mdescRight">Task responsible for calling shtp_service() when HINT is asserted to dispatch any sh2 HAL lib callbacks. <br /></td></tr>
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<tr class="memitem:a5fb7f6c3e5d1b3478f529644a0f175b7" id="r_a5fb7f6c3e5d1b3478f529644a0f175b7"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="#a5fb7f6c3e5d1b3478f529644a0f175b7">cb_task</a> ()</td></tr>
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<tr class="memdesc:a5fb7f6c3e5d1b3478f529644a0f175b7"><td class="mdescLeft"> </td><td class="mdescRight">Task responsible for executing callbacks registered with <a class="el" href="#aadd44524e6d22c48916acd9518b63ec3" title="Registers a callback to execute when new data from a report is received.">register_cb()</a>. <br /></td></tr>
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<tr class="separator:a5fb7f6c3e5d1b3478f529644a0f175b7"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a8e43dd50140f326cfb58e00399923e8c" id="r_a8e43dd50140f326cfb58e00399923e8c"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="#a8e43dd50140f326cfb58e00399923e8c">lock_sh2_HAL</a> ()</td></tr>
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<tr class="memdesc:a8e43dd50140f326cfb58e00399923e8c"><td class="mdescLeft"> </td><td class="mdescRight">Locks sh2 HAL lib to only allow the calling task to call its APIs. <br /></td></tr>
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<tr class="memitem:a2dbce689245a1b9968e3ea627d2b9a42" id="r_a2dbce689245a1b9968e3ea627d2b9a42"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="#a2dbce689245a1b9968e3ea627d2b9a42">unlock_sh2_HAL</a> ()</td></tr>
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<tr class="memdesc:a2dbce689245a1b9968e3ea627d2b9a42"><td class="mdescLeft"> </td><td class="mdescRight">Unlocks sh2 HAL lib to allow other tasks to call its APIs. <br /></td></tr>
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<tr class="separator:a2dbce689245a1b9968e3ea627d2b9a42"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a37e7c18232f47694d5e55bacc109189c" id="r_a37e7c18232f47694d5e55bacc109189c"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="#a37e7c18232f47694d5e55bacc109189c">lock_user_data</a> ()</td></tr>
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<tr class="memdesc:a37e7c18232f47694d5e55bacc109189c"><td class="mdescLeft"> </td><td class="mdescRight">Locks locks user data to only allow the calling task to read/modify it. <br /></td></tr>
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<tr class="separator:a37e7c18232f47694d5e55bacc109189c"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a171b4f380b145e295a11219a8e2a961a" id="r_a171b4f380b145e295a11219a8e2a961a"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="#a171b4f380b145e295a11219a8e2a961a">unlock_user_data</a> ()</td></tr>
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<tr class="memdesc:a171b4f380b145e295a11219a8e2a961a"><td class="mdescLeft"> </td><td class="mdescRight">Unlocks user data to allow other tasks to read/modify it. <br /></td></tr>
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<tr class="separator:a171b4f380b145e295a11219a8e2a961a"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a7d5250a6017f9e76e3c2ddb00d7103a1" id="r_a7d5250a6017f9e76e3c2ddb00d7103a1"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="#a7d5250a6017f9e76e3c2ddb00d7103a1">handle_sensor_report</a> (sh2_SensorValue_t *sensor_val)</td></tr>
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<tr class="memdesc:a7d5250a6017f9e76e3c2ddb00d7103a1"><td class="mdescLeft"> </td><td class="mdescRight">Parses receieved report and updates uer data with it. <br /></td></tr>
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<tr class="separator:a7d5250a6017f9e76e3c2ddb00d7103a1"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a86275a93706656dae6af421bc15a4e59" id="r_a86275a93706656dae6af421bc15a4e59"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="#a86275a93706656dae6af421bc15a4e59">handle_cb</a> (uint8_t rpt_ID, <a class="el" href="class_b_n_o08x_cb_generic.html">BNO08xCbGeneric</a> *cb_entry)</td></tr>
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<tr class="memdesc:a86275a93706656dae6af421bc15a4e59"><td class="mdescLeft"> </td><td class="mdescRight">Determines the flavor of a passed callback and executes it appropriately. <br /></td></tr>
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<tr class="separator:a86275a93706656dae6af421bc15a4e59"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a589eb9780f5bf613bbd447ef5b9ade3d" id="r_a589eb9780f5bf613bbd447ef5b9ade3d"><td class="memItemLeft" align="right" valign="top">esp_err_t </td><td class="memItemRight" valign="bottom"><a class="el" href="#a589eb9780f5bf613bbd447ef5b9ade3d">init_config_args</a> ()</td></tr>
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<tr class="memdesc:a589eb9780f5bf613bbd447ef5b9ade3d"><td class="mdescLeft"> </td><td class="mdescRight">Initializes required esp-idf SPI data structures with values from user passed <a class="el" href="structbno08x__config__t.html" title="IMU configuration settings passed into constructor.">bno08x_config_t</a> struct. <br /></td></tr>
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<tr class="separator:a589eb9780f5bf613bbd447ef5b9ade3d"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ae0dab25557befcf62bf384fdc241ef10" id="r_ae0dab25557befcf62bf384fdc241ef10"><td class="memItemLeft" align="right" valign="top">esp_err_t </td><td class="memItemRight" valign="bottom"><a class="el" href="#ae0dab25557befcf62bf384fdc241ef10">init_gpio</a> ()</td></tr>
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<tr class="memdesc:ae0dab25557befcf62bf384fdc241ef10"><td class="mdescLeft"> </td><td class="mdescRight">Initializes required gpio. <br /></td></tr>
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<tr class="separator:ae0dab25557befcf62bf384fdc241ef10"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a8f34d5475474f00ae6a92f73c1fe14e4" id="r_a8f34d5475474f00ae6a92f73c1fe14e4"><td class="memItemLeft" align="right" valign="top">esp_err_t </td><td class="memItemRight" valign="bottom"><a class="el" href="#a8f34d5475474f00ae6a92f73c1fe14e4">init_gpio_inputs</a> ()</td></tr>
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<tr class="memdesc:a8f34d5475474f00ae6a92f73c1fe14e4"><td class="mdescLeft"> </td><td class="mdescRight">Initializes required gpio inputs. <br /></td></tr>
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<tr class="separator:a8f34d5475474f00ae6a92f73c1fe14e4"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ad0b9e8f8d051798bb1da9b19598dbd64" id="r_ad0b9e8f8d051798bb1da9b19598dbd64"><td class="memItemLeft" align="right" valign="top">esp_err_t </td><td class="memItemRight" valign="bottom"><a class="el" href="#ad0b9e8f8d051798bb1da9b19598dbd64">init_gpio_outputs</a> ()</td></tr>
|
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<tr class="memdesc:ad0b9e8f8d051798bb1da9b19598dbd64"><td class="mdescLeft"> </td><td class="mdescRight">Initializes required gpio outputs. <br /></td></tr>
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<tr class="separator:ad0b9e8f8d051798bb1da9b19598dbd64"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aa27026da2c52b4aca49b78863f10ec61" id="r_aa27026da2c52b4aca49b78863f10ec61"><td class="memItemLeft" align="right" valign="top">esp_err_t </td><td class="memItemRight" valign="bottom"><a class="el" href="#aa27026da2c52b4aca49b78863f10ec61">init_hint_isr</a> ()</td></tr>
|
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<tr class="memdesc:aa27026da2c52b4aca49b78863f10ec61"><td class="mdescLeft"> </td><td class="mdescRight">Initializes host interrupt ISR. <br /></td></tr>
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<tr class="separator:aa27026da2c52b4aca49b78863f10ec61"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a58f43c8bb1e7fe8560ce442d46240e81" id="r_a58f43c8bb1e7fe8560ce442d46240e81"><td class="memItemLeft" align="right" valign="top">esp_err_t </td><td class="memItemRight" valign="bottom"><a class="el" href="#a58f43c8bb1e7fe8560ce442d46240e81">init_spi</a> ()</td></tr>
|
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<tr class="memdesc:a58f43c8bb1e7fe8560ce442d46240e81"><td class="mdescLeft"> </td><td class="mdescRight">Initializes SPI. <br /></td></tr>
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<tr class="separator:a58f43c8bb1e7fe8560ce442d46240e81"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a90d959312e6f7f8151b8a38218492ead" id="r_a90d959312e6f7f8151b8a38218492ead"><td class="memItemLeft" align="right" valign="top">esp_err_t </td><td class="memItemRight" valign="bottom"><a class="el" href="#a90d959312e6f7f8151b8a38218492ead">init_tasks</a> ()</td></tr>
|
||
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<tr class="memdesc:a90d959312e6f7f8151b8a38218492ead"><td class="mdescLeft"> </td><td class="mdescRight">Initializes data_proc_task. <br /></td></tr>
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<tr class="separator:a90d959312e6f7f8151b8a38218492ead"><td class="memSeparator" colspan="2"> </td></tr>
|
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<tr class="memitem:ae2fc9a0fe63a927c015a267621316a80" id="r_ae2fc9a0fe63a927c015a267621316a80"><td class="memItemLeft" align="right" valign="top">esp_err_t </td><td class="memItemRight" valign="bottom"><a class="el" href="#ae2fc9a0fe63a927c015a267621316a80">init_sh2_HAL</a> ()</td></tr>
|
||
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<tr class="memdesc:ae2fc9a0fe63a927c015a267621316a80"><td class="mdescLeft"> </td><td class="mdescRight">Initializes sh2 HAL. <br /></td></tr>
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<tr class="separator:ae2fc9a0fe63a927c015a267621316a80"><td class="memSeparator" colspan="2"> </td></tr>
|
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<tr class="memitem:a4f007dd431f10e741414d197bb4926c3" id="r_a4f007dd431f10e741414d197bb4926c3"><td class="memItemLeft" align="right" valign="top">esp_err_t </td><td class="memItemRight" valign="bottom"><a class="el" href="#a4f007dd431f10e741414d197bb4926c3">deinit_gpio</a> ()</td></tr>
|
||
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<tr class="memdesc:a4f007dd431f10e741414d197bb4926c3"><td class="mdescLeft"> </td><td class="mdescRight">Deinitializes GPIO, called from deconstructor. <br /></td></tr>
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<tr class="separator:a4f007dd431f10e741414d197bb4926c3"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a1f0f4cd8dc7d38448e2198ea47d0018c" id="r_a1f0f4cd8dc7d38448e2198ea47d0018c"><td class="memItemLeft" align="right" valign="top">esp_err_t </td><td class="memItemRight" valign="bottom"><a class="el" href="#a1f0f4cd8dc7d38448e2198ea47d0018c">deinit_gpio_inputs</a> ()</td></tr>
|
||
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<tr class="memdesc:a1f0f4cd8dc7d38448e2198ea47d0018c"><td class="mdescLeft"> </td><td class="mdescRight">Deinitializes GPIO inputs, called from deconstructor. <br /></td></tr>
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<tr class="separator:a1f0f4cd8dc7d38448e2198ea47d0018c"><td class="memSeparator" colspan="2"> </td></tr>
|
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<tr class="memitem:ab132a061bd437fd109225446aa1f6010" id="r_ab132a061bd437fd109225446aa1f6010"><td class="memItemLeft" align="right" valign="top">esp_err_t </td><td class="memItemRight" valign="bottom"><a class="el" href="#ab132a061bd437fd109225446aa1f6010">deinit_gpio_outputs</a> ()</td></tr>
|
||
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<tr class="memdesc:ab132a061bd437fd109225446aa1f6010"><td class="mdescLeft"> </td><td class="mdescRight">Deinitializes GPIO outputs, called from deconstructor. <br /></td></tr>
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<tr class="separator:ab132a061bd437fd109225446aa1f6010"><td class="memSeparator" colspan="2"> </td></tr>
|
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<tr class="memitem:a9d96108b0f5b1e1e1ac431bc993ca758" id="r_a9d96108b0f5b1e1e1ac431bc993ca758"><td class="memItemLeft" align="right" valign="top">esp_err_t </td><td class="memItemRight" valign="bottom"><a class="el" href="#a9d96108b0f5b1e1e1ac431bc993ca758">deinit_hint_isr</a> ()</td></tr>
|
||
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<tr class="memdesc:a9d96108b0f5b1e1e1ac431bc993ca758"><td class="mdescLeft"> </td><td class="mdescRight">Deinitializes host interrupt ISR, called from deconstructor. <br /></td></tr>
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<tr class="separator:a9d96108b0f5b1e1e1ac431bc993ca758"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a233920ce97f685fbdabecccacf471d85" id="r_a233920ce97f685fbdabecccacf471d85"><td class="memItemLeft" align="right" valign="top">esp_err_t </td><td class="memItemRight" valign="bottom"><a class="el" href="#a233920ce97f685fbdabecccacf471d85">deinit_spi</a> ()</td></tr>
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||
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<tr class="memdesc:a233920ce97f685fbdabecccacf471d85"><td class="mdescLeft"> </td><td class="mdescRight">Deinitializes SPI. <br /></td></tr>
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<tr class="separator:a233920ce97f685fbdabecccacf471d85"><td class="memSeparator" colspan="2"> </td></tr>
|
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<tr class="memitem:a968144efd5100ccce0e453c40a63592b" id="r_a968144efd5100ccce0e453c40a63592b"><td class="memItemLeft" align="right" valign="top">esp_err_t </td><td class="memItemRight" valign="bottom"><a class="el" href="#a968144efd5100ccce0e453c40a63592b">deinit_tasks</a> ()</td></tr>
|
||
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<tr class="memdesc:a968144efd5100ccce0e453c40a63592b"><td class="mdescLeft"> </td><td class="mdescRight">Deinitializes tasks used by <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> driver. <br /></td></tr>
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<tr class="separator:a968144efd5100ccce0e453c40a63592b"><td class="memSeparator" colspan="2"> </td></tr>
|
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<tr class="memitem:a75c7226ea4626862a5039aa053116861" id="r_a75c7226ea4626862a5039aa053116861"><td class="memItemLeft" align="right" valign="top">esp_err_t </td><td class="memItemRight" valign="bottom"><a class="el" href="#a75c7226ea4626862a5039aa053116861">deinit_sh2_HAL</a> ()</td></tr>
|
||
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<tr class="memdesc:a75c7226ea4626862a5039aa053116861"><td class="mdescLeft"> </td><td class="mdescRight">Deinitializes sh2 HAL. <br /></td></tr>
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<tr class="separator:a75c7226ea4626862a5039aa053116861"><td class="memSeparator" colspan="2"> </td></tr>
|
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<tr class="memitem:a69cf0da11a71f5ea40f9fddd598d06fc" id="r_a69cf0da11a71f5ea40f9fddd598d06fc"><td class="memItemLeft" align="right" valign="top">esp_err_t </td><td class="memItemRight" valign="bottom"><a class="el" href="#a69cf0da11a71f5ea40f9fddd598d06fc">wait_for_hint</a> ()</td></tr>
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<tr class="memdesc:a69cf0da11a71f5ea40f9fddd598d06fc"><td class="mdescLeft"> </td><td class="mdescRight">Waits for HINT pin assertion or HOST_INT_TIMEOUT_DEFAULT_MS to elapse. <br /></td></tr>
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<tr class="separator:a69cf0da11a71f5ea40f9fddd598d06fc"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a6602374314c07e9f707c0a6d2234bf7e" id="r_a6602374314c07e9f707c0a6d2234bf7e"><td class="memItemLeft" align="right" valign="top">esp_err_t </td><td class="memItemRight" valign="bottom"><a class="el" href="#a6602374314c07e9f707c0a6d2234bf7e">wait_for_reset</a> ()</td></tr>
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||
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<tr class="memdesc:a6602374314c07e9f707c0a6d2234bf7e"><td class="mdescLeft"> </td><td class="mdescRight">Waits for SH2 HAL lib to detect reset or HOST_INT_TIMEOUT_DEFAULT_MS to elapse. <br /></td></tr>
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<tr class="separator:a6602374314c07e9f707c0a6d2234bf7e"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a6711a624f7229f2eee51ee0a5bc87e67" id="r_a6711a624f7229f2eee51ee0a5bc87e67"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="#a6711a624f7229f2eee51ee0a5bc87e67">toggle_reset</a> ()</td></tr>
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<tr class="memdesc:a6711a624f7229f2eee51ee0a5bc87e67"><td class="mdescLeft"> </td><td class="mdescRight">Toggles reset gpio pin for hard reset of <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> device. <br /></td></tr>
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<tr class="separator:a6711a624f7229f2eee51ee0a5bc87e67"><td class="memSeparator" colspan="2"> </td></tr>
|
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<tr class="memitem:ac732c968f8d639c81f5d423aad004e95" id="r_ac732c968f8d639c81f5d423aad004e95"><td class="memItemLeft" align="right" valign="top">esp_err_t </td><td class="memItemRight" valign="bottom"><a class="el" href="#ac732c968f8d639c81f5d423aad004e95">re_enable_reports</a> ()</td></tr>
|
||
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<tr class="memdesc:ac732c968f8d639c81f5d423aad004e95"><td class="mdescLeft"> </td><td class="mdescRight">Re-enables all reports enabled by user (called when <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> reset is detected by sh2 HAL lib). <br /></td></tr>
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<tr class="separator:ac732c968f8d639c81f5d423aad004e95"><td class="memSeparator" colspan="2"> </td></tr>
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</table><table class="memberdecls">
|
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pri-static-methods" name="pri-static-methods"></a>
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Static Private Member Functions</h2></td></tr>
|
||
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<tr class="memitem:a0ae135d7bf7a5f047a1d1aa5cc07e520" id="r_a0ae135d7bf7a5f047a1d1aa5cc07e520"><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="#a0ae135d7bf7a5f047a1d1aa5cc07e520">data_proc_task_trampoline</a> (void *arg)</td></tr>
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||
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<tr class="memdesc:a0ae135d7bf7a5f047a1d1aa5cc07e520"><td class="mdescLeft"> </td><td class="mdescRight">Static function used to launch data processing task. <br /></td></tr>
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<tr class="separator:a0ae135d7bf7a5f047a1d1aa5cc07e520"><td class="memSeparator" colspan="2"> </td></tr>
|
||
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<tr class="memitem:a888eaf810d6140e2e771c44f5857b7c1" id="r_a888eaf810d6140e2e771c44f5857b7c1"><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="#a888eaf810d6140e2e771c44f5857b7c1">sh2_HAL_service_task_trampoline</a> (void *arg)</td></tr>
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||
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<tr class="memdesc:a888eaf810d6140e2e771c44f5857b7c1"><td class="mdescLeft"> </td><td class="mdescRight">Static function used to launch sh2 HAL service task. <br /></td></tr>
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<tr class="separator:a888eaf810d6140e2e771c44f5857b7c1"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:addf01190119091237ad7a9a1aaea4dcc" id="r_addf01190119091237ad7a9a1aaea4dcc"><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="#addf01190119091237ad7a9a1aaea4dcc">cb_task_trampoline</a> (void *arg)</td></tr>
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||
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<tr class="memdesc:addf01190119091237ad7a9a1aaea4dcc"><td class="mdescLeft"> </td><td class="mdescRight">Static function used to launch cb_task task. <br /></td></tr>
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<tr class="separator:addf01190119091237ad7a9a1aaea4dcc"><td class="memSeparator" colspan="2"> </td></tr>
|
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<tr class="memitem:a804b95c58c30d36933fd251626b85bf7" id="r_a804b95c58c30d36933fd251626b85bf7"><td class="memItemLeft" align="right" valign="top">static void IRAM_ATTR </td><td class="memItemRight" valign="bottom"><a class="el" href="#a804b95c58c30d36933fd251626b85bf7">hint_handler</a> (void *arg)</td></tr>
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<tr class="memdesc:a804b95c58c30d36933fd251626b85bf7"><td class="mdescLeft"> </td><td class="mdescRight">HINT interrupt service routine, handles falling edge of <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> HINT pin. <br /></td></tr>
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<tr class="separator:a804b95c58c30d36933fd251626b85bf7"><td class="memSeparator" colspan="2"> </td></tr>
|
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</table><table class="memberdecls">
|
||
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pri-attribs" name="pri-attribs"></a>
|
||
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Private Attributes</h2></td></tr>
|
||
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<tr class="memitem:af9b6fbf35e7cd55d517d30c6429a21a4" id="r_af9b6fbf35e7cd55d517d30c6429a21a4"><td class="memItemLeft" align="right" valign="top">TaskHandle_t </td><td class="memItemRight" valign="bottom"><a class="el" href="#af9b6fbf35e7cd55d517d30c6429a21a4">data_proc_task_hdl</a></td></tr>
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||
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<tr class="memdesc:af9b6fbf35e7cd55d517d30c6429a21a4"><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="#ab4373e9b87837ea9fcbc0b536338c7b8" title="Task responsible for parsing/handling sensor events sent by SH2 HAL and updating data that is returne...">data_proc_task()</a> task handle <br /></td></tr>
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<tr class="memitem:afb288b912294ac6a568c1aab8bb382f6" id="r_afb288b912294ac6a568c1aab8bb382f6"><td class="memItemLeft" align="right" valign="top">TaskHandle_t </td><td class="memItemRight" valign="bottom"><a class="el" href="#afb288b912294ac6a568c1aab8bb382f6">sh2_HAL_service_task_hdl</a></td></tr>
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<tr class="memdesc:afb288b912294ac6a568c1aab8bb382f6"><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="#a7c7a9a0b81f9c8762fc927efea68bf23" title="Task responsible for calling shtp_service() when HINT is asserted to dispatch any sh2 HAL lib callbac...">sh2_HAL_service_task()</a> task handle <br /></td></tr>
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<tr class="memitem:a6931b6544788f268a9441a9f9d4a5e33" id="r_a6931b6544788f268a9441a9f9d4a5e33"><td class="memItemLeft" align="right" valign="top">TaskHandle_t </td><td class="memItemRight" valign="bottom"><a class="el" href="#a6931b6544788f268a9441a9f9d4a5e33">cb_task_hdl</a></td></tr>
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<tr class="memdesc:a6931b6544788f268a9441a9f9d4a5e33"><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="#a7c7a9a0b81f9c8762fc927efea68bf23" title="Task responsible for calling shtp_service() when HINT is asserted to dispatch any sh2 HAL lib callbac...">sh2_HAL_service_task()</a> task handle <br /></td></tr>
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<tr class="memitem:aa92ff86d82a097a565ed2a2b9000b571" id="r_aa92ff86d82a097a565ed2a2b9000b571"><td class="memItemLeft" align="right" valign="top">SemaphoreHandle_t </td><td class="memItemRight" valign="bottom"><a class="el" href="#aa92ff86d82a097a565ed2a2b9000b571">sem_kill_tasks</a></td></tr>
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<tr class="memdesc:aa92ff86d82a097a565ed2a2b9000b571"><td class="mdescLeft"> </td><td class="mdescRight">Counting Semaphore to count amount of killed tasks. <br /></td></tr>
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<tr class="separator:aa92ff86d82a097a565ed2a2b9000b571"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:abae123678dc62f139749f13a3b6d1baa" id="r_abae123678dc62f139749f13a3b6d1baa"><td class="memItemLeft" align="right" valign="top">sh2_Hal_t </td><td class="memItemRight" valign="bottom"><a class="el" href="#abae123678dc62f139749f13a3b6d1baa">sh2_HAL</a></td></tr>
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<tr class="memdesc:abae123678dc62f139749f13a3b6d1baa"><td class="mdescLeft"> </td><td class="mdescRight">sh2 hardware abstraction layer struct for use with sh2 HAL lib. <br /></td></tr>
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<tr class="separator:abae123678dc62f139749f13a3b6d1baa"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aefd6d59af9f8cf73be017db55f8b2e6a" id="r_aefd6d59af9f8cf73be017db55f8b2e6a"><td class="memItemLeft" align="right" valign="top">QueueHandle_t </td><td class="memItemRight" valign="bottom"><a class="el" href="#aefd6d59af9f8cf73be017db55f8b2e6a">queue_rx_sensor_event</a></td></tr>
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<tr class="memdesc:aefd6d59af9f8cf73be017db55f8b2e6a"><td class="mdescLeft"> </td><td class="mdescRight">Queue to send sensor events from sh2 HAL sensor event callback (<a class="el" href="class_b_n_o08x_s_h2_h_a_l.html#a19c041ef614d7eda85b94b10202a3997" title="Sensor event callback for sh2 HAL lib, sends received reports to data_proc_task().">BNO08xSH2HAL::sensor_event_cb()</a>) to <a class="el" href="#ab4373e9b87837ea9fcbc0b536338c7b8" title="Task responsible for parsing/handling sensor events sent by SH2 HAL and updating data that is returne...">data_proc_task()</a> <br /></td></tr>
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<tr class="memitem:a8b45106ee35e8d2ddc9709b7f788212e" id="r_a8b45106ee35e8d2ddc9709b7f788212e"><td class="memItemLeft" align="right" valign="top">QueueHandle_t </td><td class="memItemRight" valign="bottom"><a class="el" href="#a8b45106ee35e8d2ddc9709b7f788212e">queue_cb_report_id</a></td></tr>
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<tr class="memdesc:a8b45106ee35e8d2ddc9709b7f788212e"><td class="mdescLeft"> </td><td class="mdescRight">Queue to send report ID of most recent report to <a class="el" href="#a5fb7f6c3e5d1b3478f529644a0f175b7" title="Task responsible for executing callbacks registered with register_cb().">cb_task()</a> <br /></td></tr>
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<tr class="separator:a8b45106ee35e8d2ddc9709b7f788212e"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aeda443e9f608fccfec0e6770edc90c82" id="r_aeda443e9f608fccfec0e6770edc90c82"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structbno08x__config__t.html">bno08x_config_t</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="#aeda443e9f608fccfec0e6770edc90c82">imu_config</a> {}</td></tr>
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<tr class="memdesc:aeda443e9f608fccfec0e6770edc90c82"><td class="mdescLeft"> </td><td class="mdescRight">IMU configuration settings. <br /></td></tr>
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<tr class="separator:aeda443e9f608fccfec0e6770edc90c82"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a982f065df42f00e53fd87c840efdb0f1" id="r_a982f065df42f00e53fd87c840efdb0f1"><td class="memItemLeft" align="right" valign="top">spi_bus_config_t </td><td class="memItemRight" valign="bottom"><a class="el" href="#a982f065df42f00e53fd87c840efdb0f1">bus_config</a> {}</td></tr>
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<tr class="memdesc:a982f065df42f00e53fd87c840efdb0f1"><td class="mdescLeft"> </td><td class="mdescRight">SPI bus GPIO configuration settings. <br /></td></tr>
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<tr class="separator:a982f065df42f00e53fd87c840efdb0f1"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a425a1f5a9f3232aadc685caaf4c2f82e" id="r_a425a1f5a9f3232aadc685caaf4c2f82e"><td class="memItemLeft" align="right" valign="top">spi_device_interface_config_t </td><td class="memItemRight" valign="bottom"><a class="el" href="#a425a1f5a9f3232aadc685caaf4c2f82e">imu_spi_config</a> {}</td></tr>
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<tr class="memdesc:a425a1f5a9f3232aadc685caaf4c2f82e"><td class="mdescLeft"> </td><td class="mdescRight">SPI slave device settings. <br /></td></tr>
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<tr class="separator:a425a1f5a9f3232aadc685caaf4c2f82e"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:acc0ea091465fc9a5736f5e0c6a0ce8ef" id="r_acc0ea091465fc9a5736f5e0c6a0ce8ef"><td class="memItemLeft" align="right" valign="top">spi_device_handle_t </td><td class="memItemRight" valign="bottom"><a class="el" href="#acc0ea091465fc9a5736f5e0c6a0ce8ef">spi_hdl</a> {}</td></tr>
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<tr class="memdesc:acc0ea091465fc9a5736f5e0c6a0ce8ef"><td class="mdescLeft"> </td><td class="mdescRight">SPI device handle. <br /></td></tr>
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<tr class="separator:acc0ea091465fc9a5736f5e0c6a0ce8ef"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ac16adc5f00b0039c98a4921f13895026" id="r_ac16adc5f00b0039c98a4921f13895026"><td class="memItemLeft" align="right" valign="top">spi_transaction_t </td><td class="memItemRight" valign="bottom"><a class="el" href="#ac16adc5f00b0039c98a4921f13895026">spi_transaction</a> {}</td></tr>
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<tr class="memdesc:ac16adc5f00b0039c98a4921f13895026"><td class="mdescLeft"> </td><td class="mdescRight">SPI transaction handle. <br /></td></tr>
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<tr class="separator:ac16adc5f00b0039c98a4921f13895026"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a0a2d157afc0da144536d8d6927cc63f1" id="r_a0a2d157afc0da144536d8d6927cc63f1"><td class="memItemLeft" align="right" valign="top"><a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html">BNO08xPrivateTypes::bno08x_init_status_t</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="#a0a2d157afc0da144536d8d6927cc63f1">init_status</a></td></tr>
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<tr class="memdesc:a0a2d157afc0da144536d8d6927cc63f1"><td class="mdescLeft"> </td><td class="mdescRight">Initialization status of various functionality, used by deconstructor during cleanup, set during initialization. <br /></td></tr>
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<tr class="separator:a0a2d157afc0da144536d8d6927cc63f1"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a22bb1bdc1153a455ec8f549d9389406e" id="r_a22bb1bdc1153a455ec8f549d9389406e"><td class="memItemLeft" align="right" valign="top"><a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="#a22bb1bdc1153a455ec8f549d9389406e">sync_ctx</a></td></tr>
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<tr class="memdesc:a22bb1bdc1153a455ec8f549d9389406e"><td class="mdescLeft"> </td><td class="mdescRight">Holds context used to synchronize tasks and callback execution. <br /></td></tr>
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<tr class="separator:a22bb1bdc1153a455ec8f549d9389406e"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ac8f6fc515923ffc820a7cfafc0c2830f" id="r_ac8f6fc515923ffc820a7cfafc0c2830f"><td class="memItemLeft" align="right" valign="top">sh2_ProductIds_t </td><td class="memItemRight" valign="bottom"><a class="el" href="#ac8f6fc515923ffc820a7cfafc0c2830f">product_IDs</a></td></tr>
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<tr class="memdesc:ac8f6fc515923ffc820a7cfafc0c2830f"><td class="mdescLeft"> </td><td class="mdescRight">Product ID info returned IMU at initialization, can be viewed with <a class="el" href="#a7441f7f2477c152deca17054041bf3e6" title="Prints product IDs received at initialization.">print_product_ids()</a> <br /></td></tr>
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<tr class="separator:ac8f6fc515923ffc820a7cfafc0c2830f"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a58b4949a61a784d09df3e7ecda175b39" id="r_a58b4949a61a784d09df3e7ecda175b39"><td class="memItemLeft" align="right" valign="top">etl::map< uint8_t, <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a> *, <a class="el" href="_b_n_o08x_global_types_8hpp.html#a9808babb45af9b32fc51cef8d50341be">TOTAL_RPT_COUNT</a>, etl::less< uint8_t > > </td><td class="memItemRight" valign="bottom"><a class="el" href="#a58b4949a61a784d09df3e7ecda175b39">usr_reports</a></td></tr>
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<tr class="separator:a58b4949a61a784d09df3e7ecda175b39"><td class="memSeparator" colspan="2"> </td></tr>
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</table><table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pri-static-attribs" name="pri-static-attribs"></a>
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Static Private Attributes</h2></td></tr>
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<tr class="memitem:a876ef3f899989de83ee6a9d6b218f8e1" id="r_a876ef3f899989de83ee6a9d6b218f8e1"><td class="memItemLeft" align="right" valign="top">static const constexpr configSTACK_DEPTH_TYPE </td><td class="memItemRight" valign="bottom"><a class="el" href="#a876ef3f899989de83ee6a9d6b218f8e1">DATA_PROC_TASK_SZ</a></td></tr>
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<tr class="memdesc:a876ef3f899989de83ee6a9d6b218f8e1"><td class="mdescLeft"> </td><td class="mdescRight">Size of <a class="el" href="#ab4373e9b87837ea9fcbc0b536338c7b8" title="Task responsible for parsing/handling sensor events sent by SH2 HAL and updating data that is returne...">data_proc_task()</a> stack in bytes. <br /></td></tr>
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<tr class="separator:a876ef3f899989de83ee6a9d6b218f8e1"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aac1f772772db2d5fd14d51e44649d8eb" id="r_aac1f772772db2d5fd14d51e44649d8eb"><td class="memItemLeft" align="right" valign="top">static const constexpr configSTACK_DEPTH_TYPE </td><td class="memItemRight" valign="bottom"><a class="el" href="#aac1f772772db2d5fd14d51e44649d8eb">SH2_HAL_SERVICE_TASK_SZ</a></td></tr>
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<tr class="memdesc:aac1f772772db2d5fd14d51e44649d8eb"><td class="mdescLeft"> </td><td class="mdescRight">Size of <a class="el" href="#a7c7a9a0b81f9c8762fc927efea68bf23" title="Task responsible for calling shtp_service() when HINT is asserted to dispatch any sh2 HAL lib callbac...">sh2_HAL_service_task()</a> stack in bytes. <br /></td></tr>
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<tr class="separator:aac1f772772db2d5fd14d51e44649d8eb"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a63002547e309412846c3967c9d068ee3" id="r_a63002547e309412846c3967c9d068ee3"><td class="memItemLeft" align="right" valign="top">static const constexpr configSTACK_DEPTH_TYPE </td><td class="memItemRight" valign="bottom"><a class="el" href="#a63002547e309412846c3967c9d068ee3">CB_TASK_SZ</a></td></tr>
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<tr class="memdesc:a63002547e309412846c3967c9d068ee3"><td class="mdescLeft"> </td><td class="mdescRight">Size of <a class="el" href="#a7c7a9a0b81f9c8762fc927efea68bf23" title="Task responsible for calling shtp_service() when HINT is asserted to dispatch any sh2 HAL lib callbac...">sh2_HAL_service_task()</a> stack in bytes. <br /></td></tr>
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<tr class="separator:a63002547e309412846c3967c9d068ee3"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a1a037bda37493cde56732cc6fdc7884b" id="r_a1a037bda37493cde56732cc6fdc7884b"><td class="memItemLeft" align="right" valign="top">static const constexpr uint16_t </td><td class="memItemRight" valign="bottom"><a class="el" href="#a1a037bda37493cde56732cc6fdc7884b">RX_DATA_LENGTH</a> = 300U</td></tr>
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<tr class="memdesc:a1a037bda37493cde56732cc6fdc7884b"><td class="mdescLeft"> </td><td class="mdescRight">length buffer containing data received over spi <br /></td></tr>
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<tr class="separator:a1a037bda37493cde56732cc6fdc7884b"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ae51d4e3228a91ee407d5866e604804c4" id="r_ae51d4e3228a91ee407d5866e604804c4"><td class="memItemLeft" align="right" valign="top">static const constexpr TickType_t </td><td class="memItemRight" valign="bottom"><a class="el" href="#ae51d4e3228a91ee407d5866e604804c4">HOST_INT_TIMEOUT_DEFAULT_MS</a></td></tr>
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<tr class="memdesc:ae51d4e3228a91ee407d5866e604804c4"><td class="mdescLeft"> </td><td class="mdescRight">Max wait between HINT being asserted by <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> before transaction is considered failed (in miliseconds). <br /></td></tr>
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<tr class="separator:ae51d4e3228a91ee407d5866e604804c4"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ae32ce16c51a93b9d53058bf3b6f0d94b" id="r_ae32ce16c51a93b9d53058bf3b6f0d94b"><td class="memItemLeft" align="right" valign="top">static const constexpr TickType_t </td><td class="memItemRight" valign="bottom"><a class="el" href="#ae32ce16c51a93b9d53058bf3b6f0d94b">DATA_AVAILABLE_TIMEOUT_MS</a></td></tr>
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<tr class="memdesc:ae32ce16c51a93b9d53058bf3b6f0d94b"><td class="mdescLeft"> </td><td class="mdescRight">Max wait between <a class="el" href="#a367d525d1c0ba119b3dca3067bb5bccc" title="Polls for new data/report to become available.">data_available()</a> being called and no new data/report being detected. <br /></td></tr>
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<tr class="separator:ae32ce16c51a93b9d53058bf3b6f0d94b"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aa07e329d693eb8d9270a7f9ad6f1d94b" id="r_aa07e329d693eb8d9270a7f9ad6f1d94b"><td class="memItemLeft" align="right" valign="top">static const constexpr TickType_t </td><td class="memItemRight" valign="bottom"><a class="el" href="#aa07e329d693eb8d9270a7f9ad6f1d94b">HARD_RESET_DELAY_MS</a></td></tr>
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<tr class="memdesc:aa07e329d693eb8d9270a7f9ad6f1d94b"><td class="mdescLeft"> </td><td class="mdescRight">How long RST pin is held low during hard reset (min 10ns according to datasheet, but should be longer for stable operation) <br /></td></tr>
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<tr class="separator:aa07e329d693eb8d9270a7f9ad6f1d94b"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a031976dacd97917d9d72edccb607160c" id="r_a031976dacd97917d9d72edccb607160c"><td class="memItemLeft" align="right" valign="top">static const constexpr uint32_t </td><td class="memItemRight" valign="bottom"><a class="el" href="#a031976dacd97917d9d72edccb607160c">SCLK_MAX_SPEED</a> = 3000000UL</td></tr>
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<tr class="memdesc:a031976dacd97917d9d72edccb607160c"><td class="mdescLeft"> </td><td class="mdescRight">Max SPI SCLK speed <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> is capable of. <br /></td></tr>
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<tr class="separator:a031976dacd97917d9d72edccb607160c"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a2c98d5f2c406a3efd0b48c5666fa8c46" id="r_a2c98d5f2c406a3efd0b48c5666fa8c46"><td class="memItemLeft" align="right" valign="top">static const constexpr char * </td><td class="memItemRight" valign="bottom"><a class="el" href="#a2c98d5f2c406a3efd0b48c5666fa8c46">TAG</a> = "BNO08x"</td></tr>
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<tr class="memdesc:a2c98d5f2c406a3efd0b48c5666fa8c46"><td class="mdescLeft"> </td><td class="mdescRight">Class tag used for serial print statements. <br /></td></tr>
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<tr class="separator:a2c98d5f2c406a3efd0b48c5666fa8c46"><td class="memSeparator" colspan="2"> </td></tr>
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</table><table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="friends" name="friends"></a>
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Friends</h2></td></tr>
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<tr class="memitem:a6dd0081dc9eb0cfb019bfdca3aa31802" id="r_a6dd0081dc9eb0cfb019bfdca3aa31802"><td class="memItemLeft" align="right" valign="top">class </td><td class="memItemRight" valign="bottom"><a class="el" href="#a6dd0081dc9eb0cfb019bfdca3aa31802">BNO08xSH2HAL</a></td></tr>
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<tr class="memitem:a190775b71c35d8007faae7dd6a9f1030" id="r_a190775b71c35d8007faae7dd6a9f1030"><td class="memItemLeft" align="right" valign="top">class </td><td class="memItemRight" valign="bottom"><a class="el" href="#a190775b71c35d8007faae7dd6a9f1030">BNO08xTestHelper</a></td></tr>
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<tr class="separator:a190775b71c35d8007faae7dd6a9f1030"><td class="memSeparator" colspan="2"> </td></tr>
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</table>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
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<div class="textblock"><p><a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> IMU driver class. </p>
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</div><h2 class="groupheader">Member Typedef Documentation</h2>
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<a id="ae08bdaff01ecacf0f399ab289fdf0b99" name="ae08bdaff01ecacf0f399ab289fdf0b99"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#ae08bdaff01ecacf0f399ab289fdf0b99">◆ </a></span>bno08x_reports_t</h2>
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<td class="memname">typedef struct BNO08x::bno08x_reports_t BNO08x::bno08x_reports_t</td>
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</div><div class="memdoc">
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<p>Contains report implementations. </p>
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</div>
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</div>
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<h2 class="groupheader">Constructor & Destructor Documentation</h2>
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<a id="ad12fb6cf310ad7a04a4e53809833bd61" name="ad12fb6cf310ad7a04a4e53809833bd61"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#ad12fb6cf310ad7a04a4e53809833bd61">◆ </a></span>BNO08x()</h2>
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<td class="memname">BNO08x::BNO08x </td>
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<td>(</td>
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<td class="paramtype"><a class="el" href="structbno08x__config__t.html">bno08x_config_t</a></td> <td class="paramname"><span class="paramname"><em>imu_config</em><span class="paramdefsep"> = </span><span class="paramdefval"><a class="el" href="structbno08x__config__t.html">bno08x_config_t</a>()</span></span></td><td>)</td>
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<td></td>
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</div><div class="memdoc">
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<p><a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> imu constructor. </p>
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<p>Construct a <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> object for managing a <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> sensor.</p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">imu_config</td><td>Configuration settings (optional), default settings can be seen in <a class="el" href="structbno08x__config__t.html" title="IMU configuration settings passed into constructor.">bno08x_config_t</a> </td></tr>
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</table>
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</dd>
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</dl>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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</div>
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</div>
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<a id="a687eee44d68e1bcabce04780d7eb5fb9" name="a687eee44d68e1bcabce04780d7eb5fb9"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a687eee44d68e1bcabce04780d7eb5fb9">◆ </a></span>~BNO08x()</h2>
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<td class="memname">BNO08x::~BNO08x </td>
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<td>(</td>
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<td class="paramname"><span class="paramname"></span></td><td>)</td>
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<td></td>
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<p><a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> imu deconstructor. </p>
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<p>Deconstructs a <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> object and releases any utilized resources.</p>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return. </dd></dl>
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</div>
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<h2 class="groupheader">Member Function Documentation</h2>
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<a id="a41d65567bb316971f68718ca69039ace" name="a41d65567bb316971f68718ca69039ace"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a41d65567bb316971f68718ca69039ace">◆ </a></span>accuracy_to_str()</h2>
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<td class="memname">const char * BNO08x::accuracy_to_str </td>
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<td>(</td>
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<td class="paramtype"><a class="el" href="_b_n_o08x_global_types_8hpp.html#aed7bab8e55be415938e078ebe72562a0">BNO08xAccuracy</a></td> <td class="paramname"><span class="paramname"><em>accuracy</em></span></td><td>)</td>
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<span class="mlabels"><span class="mlabel">static</span></span> </td>
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<h2 class="memtitle"><span class="permalink"><a href="#a0559c3f2f49d287e7c400a780975f850">◆ </a></span>activity_to_str()</h2>
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<td class="memname">const char * BNO08x::activity_to_str </td>
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<td>(</td>
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<td class="paramtype"><a class="el" href="_b_n_o08x_global_types_8hpp.html#abcc5d57e21ea6ed79e792deafcb62187">BNO08xActivity</a></td> <td class="paramname"><span class="paramname"><em>activity</em></span></td><td>)</td>
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<p>Converts a BNO08xActivity enum to string. </p>
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<dl class="section return"><dt>Returns</dt><dd>The resulting string conversion of the enum. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a817ec9ad9d51a1515f658374de48f483">◆ </a></span>calibration_end()</h2>
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<td class="memname">bool BNO08x::calibration_end </td>
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<td>(</td>
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<td class="paramtype">sh2_CalStatus_t &</td> <td class="paramname"><span class="paramname"><em>status</em></span></td><td>)</td>
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<p>Ends turn-table calibration, see ref. manual 6.4.10.2. </p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">status</td><td>Returned status bits indicating result of turntable calibration.</td></tr>
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</dd>
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</dl>
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<dl class="section return"><dt>Returns</dt><dd>True if enable start turn-table calibration operation succeeded. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#af0dd28db9e331312e45937b12295ca94">◆ </a></span>calibration_start()</h2>
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<td class="memname">bool BNO08x::calibration_start </td>
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<td>(</td>
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<td class="paramtype">uint32_t</td> <td class="paramname"><span class="paramname"><em>period_us</em></span></td><td>)</td>
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<td></td>
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</table>
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</div><div class="memdoc">
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<p>Starts simple calibration, see ref. manual 6.4.10.1. </p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">period_us</td><td>This interval should be set to whatever rate the sensor hub is expected to run at after calibration.</td></tr>
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</table>
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</dd>
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</dl>
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<p>After the calibration is started, the IMU should be rotated 180 degrees. After the IMU has been rotated call <a class="el" href="#a817ec9ad9d51a1515f658374de48f483" title="Ends turn-table calibration, see ref. manual 6.4.10.2.">calibration_end()</a>. See ref. manual 6.4.10 for more detailed instructions.</p>
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<dl class="section return"><dt>Returns</dt><dd>True if start simple calibration operation succeeded. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a5fb7f6c3e5d1b3478f529644a0f175b7">◆ </a></span>cb_task()</h2>
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<td class="memname">void BNO08x::cb_task </td>
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<td>(</td>
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<td class="paramname"><span class="paramname"></span></td><td>)</td>
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<td></td>
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<span class="mlabels"><span class="mlabel">private</span></span> </td>
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</div><div class="memdoc">
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<p>Task responsible for executing callbacks registered with <a class="el" href="#aadd44524e6d22c48916acd9518b63ec3" title="Registers a callback to execute when new data from a report is received.">register_cb()</a>. </p>
|
||
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#addf01190119091237ad7a9a1aaea4dcc">◆ </a></span>cb_task_trampoline()</h2>
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|
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||
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<td class="memname">void BNO08x::cb_task_trampoline </td>
|
||
|
|
<td>(</td>
|
||
|
|
<td class="paramtype">void *</td> <td class="paramname"><span class="paramname"><em>arg</em></span></td><td>)</td>
|
||
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<td></td>
|
||
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|
||
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|
||
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<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">private</span></span> </td>
|
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<p>Static function used to launch cb_task task. </p>
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<p>Used such that <a class="el" href="#a5fb7f6c3e5d1b3478f529644a0f175b7" title="Task responsible for executing callbacks registered with register_cb().">cb_task()</a> can be non-static class member.</p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">arg</td><td>void pointer to <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> imu object </td></tr>
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</table>
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</dd>
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</dl>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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</div>
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</div>
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</div>
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<a id="a84a19cd1564f8d427394f137df54477d" name="a84a19cd1564f8d427394f137df54477d"></a>
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||
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|
<h2 class="memtitle"><span class="permalink"><a href="#a84a19cd1564f8d427394f137df54477d">◆ </a></span>clear_dynamic_calibration()</h2>
|
||
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||
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<div class="memitem">
|
||
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<div class="memproto">
|
||
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<table class="memname">
|
||
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<tr>
|
||
|
|
<td class="memname">bool BNO08x::clear_dynamic_calibration </td>
|
||
|
|
<td>(</td>
|
||
|
|
<td class="paramname"><span class="paramname"></span></td><td>)</td>
|
||
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<td></td>
|
||
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</tr>
|
||
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</table>
|
||
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|
</div><div class="memdoc">
|
||
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||
|
|
<p>Clears dynamic/motion engine calibration data and resets <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> device. See ref manual 6.4.9.1. </p>
|
||
|
|
<dl class="section return"><dt>Returns</dt><dd>True if save dynamic/ME calibration data succeeded. </dd></dl>
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||
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<div class="center"><img src="class_b_n_o08x_a84a19cd1564f8d427394f137df54477d_cgraph.png" border="0" usemap="#aclass_b_n_o08x_a84a19cd1564f8d427394f137df54477d_cgraph" alt=""/></div>
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</map>
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</div>
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<div class="center"><img src="class_b_n_o08x_a84a19cd1564f8d427394f137df54477d_icgraph.png" border="0" usemap="#aclass_b_n_o08x_a84a19cd1564f8d427394f137df54477d_icgraph" alt=""/></div>
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</div>
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</div>
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<a id="a367d525d1c0ba119b3dca3067bb5bccc" name="a367d525d1c0ba119b3dca3067bb5bccc"></a>
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||
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<h2 class="memtitle"><span class="permalink"><a href="#a367d525d1c0ba119b3dca3067bb5bccc">◆ </a></span>data_available()</h2>
|
||
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||
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|
<div class="memitem">
|
||
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<div class="memproto">
|
||
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||
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<tr>
|
||
|
|
<td class="memname">bool BNO08x::data_available </td>
|
||
|
|
<td>(</td>
|
||
|
|
<td class="paramname"><span class="paramname"></span></td><td>)</td>
|
||
|
|
<td></td>
|
||
|
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</tr>
|
||
|
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</table>
|
||
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</div><div class="memdoc">
|
||
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|
||
|
|
<p>Polls for new data/report to become available. </p>
|
||
|
|
<dl class="section return"><dt>Returns</dt><dd>True if new data/report became available before DATA_AVAILABLE_TIMEOUT_MS. </dd></dl>
|
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<div class="center"><img src="class_b_n_o08x_a367d525d1c0ba119b3dca3067bb5bccc_icgraph.png" border="0" usemap="#aclass_b_n_o08x_a367d525d1c0ba119b3dca3067bb5bccc_icgraph" alt=""/></div>
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<h2 class="memtitle"><span class="permalink"><a href="#ab4373e9b87837ea9fcbc0b536338c7b8">◆ </a></span>data_proc_task()</h2>
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<td class="memname">void BNO08x::data_proc_task </td>
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<td>(</td>
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<td class="paramname"><span class="paramname"></span></td><td>)</td>
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<span class="mlabels"><span class="mlabel">private</span></span> </td>
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<p>Task responsible for parsing/handling sensor events sent by SH2 HAL and updating data that is returned to user. </p>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a0ae135d7bf7a5f047a1d1aa5cc07e520">◆ </a></span>data_proc_task_trampoline()</h2>
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<td class="memname">void BNO08x::data_proc_task_trampoline </td>
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<td>(</td>
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<td class="paramtype">void *</td> <td class="paramname"><span class="paramname"><em>arg</em></span></td><td>)</td>
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<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">private</span></span> </td>
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</div><div class="memdoc">
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<p>Static function used to launch data processing task. </p>
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<p>Used such that <a class="el" href="#ab4373e9b87837ea9fcbc0b536338c7b8" title="Task responsible for parsing/handling sensor events sent by SH2 HAL and updating data that is returne...">data_proc_task()</a> can be non-static class member.</p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">arg</td><td>void pointer to <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> imu object </td></tr>
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</dd>
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</dl>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a4f007dd431f10e741414d197bb4926c3">◆ </a></span>deinit_gpio()</h2>
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<td class="memname">esp_err_t BNO08x::deinit_gpio </td>
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<p>Deinitializes GPIO, called from deconstructor. </p>
|
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<dl class="section return"><dt>Returns</dt><dd>ESP_OK if deinitialization was success. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a1f0f4cd8dc7d38448e2198ea47d0018c">◆ </a></span>deinit_gpio_inputs()</h2>
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<td class="memname">esp_err_t BNO08x::deinit_gpio_inputs </td>
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<td>(</td>
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<p>Deinitializes GPIO inputs, called from deconstructor. </p>
|
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<dl class="section return"><dt>Returns</dt><dd>ESP_OK if deinitialization was success. </dd></dl>
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<a id="ab132a061bd437fd109225446aa1f6010" name="ab132a061bd437fd109225446aa1f6010"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#ab132a061bd437fd109225446aa1f6010">◆ </a></span>deinit_gpio_outputs()</h2>
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||
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<td class="memname">esp_err_t BNO08x::deinit_gpio_outputs </td>
|
||
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|
<td>(</td>
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||
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<td class="paramname"><span class="paramname"></span></td><td>)</td>
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</table>
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</div><div class="memdoc">
|
||
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||
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<p>Deinitializes GPIO outputs, called from deconstructor. </p>
|
||
|
|
<dl class="section return"><dt>Returns</dt><dd>ESP_OK if deinitialization was success. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a9d96108b0f5b1e1e1ac431bc993ca758">◆ </a></span>deinit_hint_isr()</h2>
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<td class="memname">esp_err_t BNO08x::deinit_hint_isr </td>
|
||
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<td>(</td>
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||
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</div><div class="memdoc">
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||
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<p>Deinitializes host interrupt ISR, called from deconstructor. </p>
|
||
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<dl class="section return"><dt>Returns</dt><dd>ESP_OK if deinitialization was success. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a75c7226ea4626862a5039aa053116861">◆ </a></span>deinit_sh2_HAL()</h2>
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||
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<td class="memname">esp_err_t BNO08x::deinit_sh2_HAL </td>
|
||
|
|
<td>(</td>
|
||
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<p>Deinitializes sh2 HAL. </p>
|
||
|
|
<dl class="section return"><dt>Returns</dt><dd>ESP_OK if deinitialization was success. </dd></dl>
|
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<h2 class="memtitle"><span class="permalink"><a href="#a233920ce97f685fbdabecccacf471d85">◆ </a></span>deinit_spi()</h2>
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||
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||
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<td class="memname">esp_err_t BNO08x::deinit_spi </td>
|
||
|
|
<td>(</td>
|
||
|
|
<td class="paramname"><span class="paramname"></span></td><td>)</td>
|
||
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|
||
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||
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|
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<p>Deinitializes SPI. </p>
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<dl class="section return"><dt>Returns</dt><dd>ESP_OK if deinitialization was success. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a968144efd5100ccce0e453c40a63592b">◆ </a></span>deinit_tasks()</h2>
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<td class="memname">esp_err_t BNO08x::deinit_tasks </td>
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<td>(</td>
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<p>Deinitializes tasks used by <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> driver. </p>
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<dl class="section return"><dt>Returns</dt><dd>ESP_OK if deinitialization was success. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a9387728c276734da27388dbea38b6b32">◆ </a></span>dynamic_calibration_autosave_disable()</h2>
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<td class="memname">bool BNO08x::dynamic_calibration_autosave_disable </td>
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<td>(</td>
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<p>Disables the automatic saving of dynamic/ME calibration data to <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> internal flash See ref manual 6.4.7.1. </p>
|
||
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<dl class="section return"><dt>Returns</dt><dd>True if dynamic/ME calibration autosave data enable succeeded. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a4e8b49abd33e6e11f23b2ae345058b9b">◆ </a></span>dynamic_calibration_autosave_enable()</h2>
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<td class="memname">bool BNO08x::dynamic_calibration_autosave_enable </td>
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<td>(</td>
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<td class="paramname"><span class="paramname"></span></td><td>)</td>
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<td></td>
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<p>Enables the automatic saving of dynamic/ME calibration data to <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> internal flash See ref manual 6.4.7.1. </p>
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<dl class="section return"><dt>Returns</dt><dd>True if dynamic/ME calibration autosave data enable succeeded. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a5c7498f6fa4bd43280dff1d322233b95">◆ </a></span>dynamic_calibration_disable()</h2>
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<td class="memname">bool BNO08x::dynamic_calibration_disable </td>
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<td>(</td>
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<td class="paramtype"><a class="el" href="_b_n_o08x_global_types_8hpp.html#aeeb4f49593c062357c3b7037bc2de850">BNO08xCalSel</a></td> <td class="paramname"><span class="paramname"><em>sensor</em></span></td><td>)</td>
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<p>Disables dynamic/motion engine calibration for specified sensor(s), see ref. manual 6.4.6.1. </p>
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<dl class="params"><dt>Parameters</dt><dd>
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<dl class="section return"><dt>Returns</dt><dd>True if disable dynamic/ME calibration succeeded. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a90ea8e811d4bea28a356290d6f5caac5">◆ </a></span>dynamic_calibration_enable()</h2>
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<td class="memname">bool BNO08x::dynamic_calibration_enable </td>
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<td>(</td>
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<td class="paramtype"><a class="el" href="_b_n_o08x_global_types_8hpp.html#aeeb4f49593c062357c3b7037bc2de850">BNO08xCalSel</a></td> <td class="paramname"><span class="paramname"><em>sensor</em></span></td><td>)</td>
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<p>Enables dynamic/motion engine calibration for specified sensor(s), see ref. manual 6.4.6.1. </p>
|
||
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<dl class="params"><dt>Parameters</dt><dd>
|
||
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||
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<tr><td class="paramname">sensor</td><td>The sensor(s) to enable dynamic/ME calibration for.</td></tr>
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</dd>
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</dl>
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<dl class="section return"><dt>Returns</dt><dd>True if enable dynamic/ME calibration succeeded. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#aee6ce74b95c1e1651cb93a60d723c16c">◆ </a></span>get_frs()</h2>
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<td class="memname">bool BNO08x::get_frs </td>
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<td>(</td>
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<td class="paramtype">uint16_t</td> <td class="paramname"><span class="paramname"><em>frs_ID</em>, </span></td>
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<td></td>
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<td class="paramtype">uint32_t(&)</td> <td class="paramname"><span class="paramname"><em>data</em>[16], </span></td>
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<td class="paramtype">uint16_t &</td> <td class="paramname"><span class="paramname"><em>rx_data_sz</em></span> )</td>
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<p>Retrieves a record from flash record system (if your goal is to retrieve meta data use the <a class="el" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x.">BNO08xRpt</a>:get_meta_data() method instead) </p>
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<p>For more details on returned and data and frs_ID see ref. manual 6.3.7 & 4.3</p>
|
||
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<dl class="params"><dt>Parameters</dt><dd>
|
||
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<table class="params">
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||
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<tr><td class="paramname">frs_ID</td><td>The ID of the desired record to retrieve from flash. </td></tr>
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<tr><td class="paramname">data</td><td>Buffer of 16 uint32_t to store retrieved data. </td></tr>
|
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<tr><td class="paramname">rx_data_sz</td><td>Reference to store number of 32 bit words retrieved from flash.</td></tr>
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</table>
|
||
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</dd>
|
||
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</dl>
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||
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<dl class="section return"><dt>Returns</dt><dd>True if get flash record system operation succeeded. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#aa8fd64f60de86ff6b8562f90f3b09690">◆ </a></span>get_product_IDs()</h2>
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<td class="memname">sh2_ProductIds_t BNO08x::get_product_IDs </td>
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<td>(</td>
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<td class="paramname"><span class="paramname"></span></td><td>)</td>
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<td></td>
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</div><div class="memdoc">
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<p>Returns product ID info sent by IMU at initialization. </p>
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<dl class="section return"><dt>Returns</dt><dd>The product ID info returned at initialization. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a96d47dd0f9aedfbe3f731f8ae76b2e85">◆ </a></span>get_reset_reason()</h2>
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<td class="memname"><a class="el" href="_b_n_o08x_global_types_8hpp.html#ab2a2ace42f7f438d6a799dfcbc243147">BNO08xResetReason</a> BNO08x::get_reset_reason </td>
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||
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<td>(</td>
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<td class="paramname"><span class="paramname"></span></td><td>)</td>
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<td></td>
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</div><div class="memdoc">
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<p>Returns reason for previous reset via product ID report. </p>
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||
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<dl class="section return"><dt>Returns</dt><dd>Enum object containing reset reason, <a class="el" href="_b_n_o08x_global_types_8hpp.html#ab2a2ace42f7f438d6a799dfcbc243147a0db45d2a4141101bdfe48e3314cfbca3" title="Undefined reset reason, this should never occur and is an error.">BNO08xResetReason::UNDEFINED</a> if failure. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a86275a93706656dae6af421bc15a4e59">◆ </a></span>handle_cb()</h2>
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||
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<td class="memname">void BNO08x::handle_cb </td>
|
||
|
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<td>(</td>
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||
|
|
<td class="paramtype">uint8_t</td> <td class="paramname"><span class="paramname"><em>rpt_ID</em>, </span></td>
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||
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<td class="paramkey"></td>
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||
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<td class="paramtype"><a class="el" href="class_b_n_o08x_cb_generic.html">BNO08xCbGeneric</a> *</td> <td class="paramname"><span class="paramname"><em>cb_entry</em></span> )</td>
|
||
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<span class="mlabels"><span class="mlabel">private</span></span> </td>
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<p>Determines the flavor of a passed callback and executes it appropriately. </p>
|
||
|
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a7d5250a6017f9e76e3c2ddb00d7103a1">◆ </a></span>handle_sensor_report()</h2>
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<td class="memname">void BNO08x::handle_sensor_report </td>
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<td>(</td>
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<td class="paramtype">sh2_SensorValue_t *</td> <td class="paramname"><span class="paramname"><em>sensor_val</em></span></td><td>)</td>
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<span class="mlabels"><span class="mlabel">private</span></span> </td>
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</div><div class="memdoc">
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<p>Parses receieved report and updates uer data with it. </p>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a28cd1c0b3477571d87133234e6358503">◆ </a></span>hard_reset()</h2>
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<td class="memname">bool BNO08x::hard_reset </td>
|
||
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<td>(</td>
|
||
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|
<td class="paramname"><span class="paramname"></span></td><td>)</td>
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<td></td>
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</div><div class="memdoc">
|
||
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<p>Hard resets <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> device. </p>
|
||
|
|
<dl class="section return"><dt>Returns</dt><dd>True if reset was success. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a804b95c58c30d36933fd251626b85bf7">◆ </a></span>hint_handler()</h2>
|
||
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||
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||
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||
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|
||
|
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<td class="memname">void IRAM_ATTR BNO08x::hint_handler </td>
|
||
|
|
<td>(</td>
|
||
|
|
<td class="paramtype">void *</td> <td class="paramname"><span class="paramname"><em>arg</em></span></td><td>)</td>
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||
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|
||
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<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">private</span></span> </td>
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||
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|
||
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<p>HINT interrupt service routine, handles falling edge of <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> HINT pin. </p>
|
||
|
|
<p>ISR that launches SPI task to perform transaction upon assertion of <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> interrupt pin.</p>
|
||
|
|
<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a589eb9780f5bf613bbd447ef5b9ade3d">◆ </a></span>init_config_args()</h2>
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<td class="memname">esp_err_t BNO08x::init_config_args </td>
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<td>(</td>
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<td class="paramname"><span class="paramname"></span></td><td>)</td>
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<p>Initializes required esp-idf SPI data structures with values from user passed <a class="el" href="structbno08x__config__t.html" title="IMU configuration settings passed into constructor.">bno08x_config_t</a> struct. </p>
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<dl class="section return"><dt>Returns</dt><dd>ESP_OK if initialization was success. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#ae0dab25557befcf62bf384fdc241ef10">◆ </a></span>init_gpio()</h2>
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<td class="memname">esp_err_t BNO08x::init_gpio </td>
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||
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<td>(</td>
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</div><div class="memdoc">
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<p>Initializes required gpio. </p>
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<dl class="section return"><dt>Returns</dt><dd>ESP_OK if initialization was success. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a8f34d5475474f00ae6a92f73c1fe14e4">◆ </a></span>init_gpio_inputs()</h2>
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||
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||
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<td class="memname">esp_err_t BNO08x::init_gpio_inputs </td>
|
||
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<td>(</td>
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<p>Initializes required gpio inputs. </p>
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||
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<dl class="section return"><dt>Returns</dt><dd>ESP_OK if initialization was success. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#ad0b9e8f8d051798bb1da9b19598dbd64">◆ </a></span>init_gpio_outputs()</h2>
|
||
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||
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||
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<td class="memname">esp_err_t BNO08x::init_gpio_outputs </td>
|
||
|
|
<td>(</td>
|
||
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<p>Initializes required gpio outputs. </p>
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<dl class="section return"><dt>Returns</dt><dd>ESP_OK if initialization was success. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#aa27026da2c52b4aca49b78863f10ec61">◆ </a></span>init_hint_isr()</h2>
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<td class="memname">esp_err_t BNO08x::init_hint_isr </td>
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<td>(</td>
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<td class="paramname"><span class="paramname"></span></td><td>)</td>
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<span class="mlabels"><span class="mlabel">private</span></span> </td>
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</div><div class="memdoc">
|
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<p>Initializes host interrupt ISR. </p>
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||
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<dl class="section return"><dt>Returns</dt><dd>ESP_OK if initialization was success. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#ae2fc9a0fe63a927c015a267621316a80">◆ </a></span>init_sh2_HAL()</h2>
|
||
|
|
|
||
|
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<div class="memitem">
|
||
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|
||
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||
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||
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|
||
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|
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|
||
|
|
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|
||
|
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<td class="memname">esp_err_t BNO08x::init_sh2_HAL </td>
|
||
|
|
<td>(</td>
|
||
|
|
<td class="paramname"><span class="paramname"></span></td><td>)</td>
|
||
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<td></td>
|
||
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|
||
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|
||
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|
</td>
|
||
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|
||
|
|
<span class="mlabels"><span class="mlabel">private</span></span> </td>
|
||
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|
||
|
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</table>
|
||
|
|
</div><div class="memdoc">
|
||
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|
|
||
|
|
<p>Initializes sh2 HAL. </p>
|
||
|
|
<dl class="section return"><dt>Returns</dt><dd>ESP_OK if initialization was success. </dd></dl>
|
||
|
|
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|
||
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||
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<div class="center"><img src="class_b_n_o08x_ae2fc9a0fe63a927c015a267621316a80_cgraph.png" border="0" usemap="#aclass_b_n_o08x_ae2fc9a0fe63a927c015a267621316a80_cgraph" alt=""/></div>
|
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|
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<h2 class="memtitle"><span class="permalink"><a href="#a58f43c8bb1e7fe8560ce442d46240e81">◆ </a></span>init_spi()</h2>
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<td class="memname">esp_err_t BNO08x::init_spi </td>
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<td>(</td>
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<td class="paramname"><span class="paramname"></span></td><td>)</td>
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<span class="mlabels"><span class="mlabel">private</span></span> </td>
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</div><div class="memdoc">
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<p>Initializes SPI. </p>
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<dl class="section return"><dt>Returns</dt><dd>ESP_OK if initialization was success. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a90d959312e6f7f8151b8a38218492ead">◆ </a></span>init_tasks()</h2>
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||
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<td class="memname">esp_err_t BNO08x::init_tasks </td>
|
||
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<td>(</td>
|
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<td class="paramname"><span class="paramname"></span></td><td>)</td>
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<td></td>
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|
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<span class="mlabels"><span class="mlabel">private</span></span> </td>
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</table>
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</div><div class="memdoc">
|
||
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|
||
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<p>Initializes data_proc_task. </p>
|
||
|
|
<dl class="section return"><dt>Returns</dt><dd>ESP_OK if initialization was success. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#aea8e2c6dd7a2c9899479a7f39fe94798">◆ </a></span>initialize()</h2>
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<td class="memname">bool BNO08x::initialize </td>
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<td>(</td>
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<td class="paramname"><span class="paramname"></span></td><td>)</td>
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</div><div class="memdoc">
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<p>Initializes <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> sensor. </p>
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<p>Resets sensor and goes through initialization process. Configures GPIO, required ISRs, and launches two tasks, one to manage SPI transactions, another to process any received data.</p>
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<dl class="section return"><dt>Returns</dt><dd>True if initialization was success, false if otherwise. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a8e43dd50140f326cfb58e00399923e8c">◆ </a></span>lock_sh2_HAL()</h2>
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<td class="memname">void BNO08x::lock_sh2_HAL </td>
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<td>(</td>
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<span class="mlabels"><span class="mlabel">private</span></span> </td>
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<p>Locks sh2 HAL lib to only allow the calling task to call its APIs. </p>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a37e7c18232f47694d5e55bacc109189c">◆ </a></span>lock_user_data()</h2>
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<div class="memitem">
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<tr>
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<td class="memname">void BNO08x::lock_user_data </td>
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<td>(</td>
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<td class="paramname"><span class="paramname"></span></td><td>)</td>
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<td></td>
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</table>
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</td>
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<td class="mlabels-right">
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<span class="mlabels"><span class="mlabel">private</span></span> </td>
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</tr>
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</table>
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</div><div class="memdoc">
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<p>Locks locks user data to only allow the calling task to read/modify it. </p>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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</div>
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</div>
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<a id="aaaa15b21ad98a3b161065c3d03ff62b5" name="aaaa15b21ad98a3b161065c3d03ff62b5"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#aaaa15b21ad98a3b161065c3d03ff62b5">◆ </a></span>on()</h2>
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<td class="memname">bool BNO08x::on </td>
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||
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<td>(</td>
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<td></td>
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</div><div class="memdoc">
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<p>Places <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> device in on state by sending ON (2) command on "device" channel. </p>
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||
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<dl class="section return"><dt>Returns</dt><dd>True if on operation succeeded. </dd></dl>
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<div class="center"><img src="class_b_n_o08x_aaaa15b21ad98a3b161065c3d03ff62b5_cgraph.png" border="0" usemap="#aclass_b_n_o08x_aaaa15b21ad98a3b161065c3d03ff62b5_cgraph" alt=""/></div>
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Here is the caller graph for this function:</div>
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<div class="center"><img src="class_b_n_o08x_aaaa15b21ad98a3b161065c3d03ff62b5_icgraph.png" border="0" usemap="#aclass_b_n_o08x_aaaa15b21ad98a3b161065c3d03ff62b5_icgraph" alt=""/></div>
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<a id="a7441f7f2477c152deca17054041bf3e6" name="a7441f7f2477c152deca17054041bf3e6"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a7441f7f2477c152deca17054041bf3e6">◆ </a></span>print_product_ids()</h2>
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<td class="memname">void BNO08x::print_product_ids </td>
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<td>(</td>
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<td class="paramname"><span class="paramname"></span></td><td>)</td>
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<td></td>
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<p>Prints product IDs received at initialization. </p>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#ac732c968f8d639c81f5d423aad004e95">◆ </a></span>re_enable_reports()</h2>
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<td class="memname">esp_err_t BNO08x::re_enable_reports </td>
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||
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<td>(</td>
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<td class="paramname"><span class="paramname"></span></td><td>)</td>
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<td></td>
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</tr>
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</td>
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<td class="mlabels-right">
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<span class="mlabels"><span class="mlabel">private</span></span> </td>
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</tr>
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</table>
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</div><div class="memdoc">
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<p>Re-enables all reports enabled by user (called when <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> reset is detected by sh2 HAL lib). </p>
|
||
|
|
<dl class="section return"><dt>Returns</dt><dd>ESP_OK if enabled reports were successfuly re-enabled. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a082c79d9951ac32ea5fa25de90255a41">◆ </a></span>register_cb() <span class="overload">[1/2]</span></h2>
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||
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<td class="memname">bool BNO08x::register_cb </td>
|
||
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<td>(</td>
|
||
|
|
<td class="paramtype">std::function< void(uint8_t report_ID)></td> <td class="paramname"><span class="paramname"><em>cb_fxn</em></span></td><td>)</td>
|
||
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</table>
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</div><div class="memdoc">
|
||
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||
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<p>Registers a callback to execute when new data from a report is received, overloaded with callback param for most recent report ID. </p>
|
||
|
|
<dl class="params"><dt>Parameters</dt><dd>
|
||
|
|
<table class="params">
|
||
|
|
<tr><td class="paramname">cb_fxn</td><td>Pointer to the call-back function should be of void return type with single input param of uint8_t for most recent report ID.</td></tr>
|
||
|
|
</table>
|
||
|
|
</dd>
|
||
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</dl>
|
||
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
|
||
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</div>
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||
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<h2 class="memtitle"><span class="permalink"><a href="#aadd44524e6d22c48916acd9518b63ec3">◆ </a></span>register_cb() <span class="overload">[2/2]</span></h2>
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||
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<td class="memname">bool BNO08x::register_cb </td>
|
||
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|
<td>(</td>
|
||
|
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<td class="paramtype">std::function< void(void)></td> <td class="paramname"><span class="paramname"><em>cb_fxn</em></span></td><td>)</td>
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|
||
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<p>Registers a callback to execute when new data from a report is received. </p>
|
||
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<dl class="params"><dt>Parameters</dt><dd>
|
||
|
|
<table class="params">
|
||
|
|
<tr><td class="paramname">cb_fxn</td><td>Pointer to the call-back function should be of void return type void input param.</td></tr>
|
||
|
|
</table>
|
||
|
|
</dd>
|
||
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</dl>
|
||
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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|
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<h2 class="memtitle"><span class="permalink"><a href="#a1c703a1fb79ce777dc73a83f02bfdb85">◆ </a></span>save_dynamic_calibration()</h2>
|
||
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|
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|
||
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|
||
|
|
<td class="memname">bool BNO08x::save_dynamic_calibration </td>
|
||
|
|
<td>(</td>
|
||
|
|
<td class="paramname"><span class="paramname"></span></td><td>)</td>
|
||
|
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<td></td>
|
||
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|
||
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|
||
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</div><div class="memdoc">
|
||
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|
||
|
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<p>Saves dynamic/motion engine calibration data to <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> internal flash immediately. See ref manual 6.4.5.1. </p>
|
||
|
|
<dl class="section return"><dt>Returns</dt><dd>True if save dynamic/ME calibration data succeeded. </dd></dl>
|
||
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<h2 class="memtitle"><span class="permalink"><a href="#a7c7a9a0b81f9c8762fc927efea68bf23">◆ </a></span>sh2_HAL_service_task()</h2>
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<td class="memname">void BNO08x::sh2_HAL_service_task </td>
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<td>(</td>
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<td class="paramname"><span class="paramname"></span></td><td>)</td>
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<span class="mlabels"><span class="mlabel">private</span></span> </td>
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<p>Task responsible for calling shtp_service() when HINT is asserted to dispatch any sh2 HAL lib callbacks. </p>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a888eaf810d6140e2e771c44f5857b7c1">◆ </a></span>sh2_HAL_service_task_trampoline()</h2>
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<td class="memname">void BNO08x::sh2_HAL_service_task_trampoline </td>
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<td>(</td>
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<td class="paramtype">void *</td> <td class="paramname"><span class="paramname"><em>arg</em></span></td><td>)</td>
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<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">private</span></span> </td>
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</div><div class="memdoc">
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<p>Static function used to launch sh2 HAL service task. </p>
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||
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<p>Used such that <a class="el" href="#a7c7a9a0b81f9c8762fc927efea68bf23" title="Task responsible for calling shtp_service() when HINT is asserted to dispatch any sh2 HAL lib callbac...">sh2_HAL_service_task()</a> can be non-static class member.</p>
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<dl class="params"><dt>Parameters</dt><dd>
|
||
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<table class="params">
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<tr><td class="paramname">arg</td><td>void pointer to <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> imu object </td></tr>
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</table>
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</dd>
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</dl>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a7c5774a48227e8e3346fa5df7dfa420c">◆ </a></span>sleep()</h2>
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<td class="memname">bool BNO08x::sleep </td>
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<td>(</td>
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<p>Places <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> device in sleep state by sending SLEEP (3) command on "device" channel. </p>
|
||
|
|
<dl class="section return"><dt>Returns</dt><dd>True if sleep operation succeeded. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a973a1b1785f3302ee1b2702c6a27646e">◆ </a></span>soft_reset()</h2>
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<td class="memname">bool BNO08x::soft_reset </td>
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<p>Soft resets <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> device by sending RESET (1) command on "device" channel. </p>
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<dl class="section return"><dt>Returns</dt><dd>True if soft reset operation succeeded. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#aa8347555e37a185bef4a834b04231123">◆ </a></span>stability_to_str()</h2>
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<td class="memname">const char * BNO08x::stability_to_str </td>
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<td>(</td>
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<td class="paramtype"><a class="el" href="_b_n_o08x_global_types_8hpp.html#a498b35f9e00b24e51f8f60b029751ab5">BNO08xStability</a></td> <td class="paramname"><span class="paramname"><em>stability</em></span></td><td>)</td>
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<span class="mlabels"><span class="mlabel">static</span></span> </td>
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<p>Converts a BNO08xStability enum to string. </p>
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<dl class="section return"><dt>Returns</dt><dd>The resulting string conversion of the enum. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a6711a624f7229f2eee51ee0a5bc87e67">◆ </a></span>toggle_reset()</h2>
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<td class="memname">void BNO08x::toggle_reset </td>
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<td>(</td>
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<span class="mlabels"><span class="mlabel">private</span></span> </td>
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</div><div class="memdoc">
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<p>Toggles reset gpio pin for hard reset of <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> device. </p>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a2dbce689245a1b9968e3ea627d2b9a42">◆ </a></span>unlock_sh2_HAL()</h2>
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||
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<td class="memname">void BNO08x::unlock_sh2_HAL </td>
|
||
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<td>(</td>
|
||
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|
<td class="paramname"><span class="paramname"></span></td><td>)</td>
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<span class="mlabels"><span class="mlabel">private</span></span> </td>
|
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|
||
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||
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<p>Unlocks sh2 HAL lib to allow other tasks to call its APIs. </p>
|
||
|
|
<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
|
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</map>
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</div>
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</div>
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</div>
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<a id="a171b4f380b145e295a11219a8e2a961a" name="a171b4f380b145e295a11219a8e2a961a"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a171b4f380b145e295a11219a8e2a961a">◆ </a></span>unlock_user_data()</h2>
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<div class="memitem">
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<div class="memproto">
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<table class="mlabels">
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<tr>
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<td class="mlabels-left">
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<table class="memname">
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<tr>
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<td class="memname">void BNO08x::unlock_user_data </td>
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<td>(</td>
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<td class="paramname"><span class="paramname"></span></td><td>)</td>
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<td></td>
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</tr>
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</table>
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</td>
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<td class="mlabels-right">
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<span class="mlabels"><span class="mlabel">private</span></span> </td>
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</tr>
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</table>
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||
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</div><div class="memdoc">
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<p>Unlocks user data to allow other tasks to read/modify it. </p>
|
||
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
|
||
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</div>
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</div>
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<a id="a69cf0da11a71f5ea40f9fddd598d06fc" name="a69cf0da11a71f5ea40f9fddd598d06fc"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a69cf0da11a71f5ea40f9fddd598d06fc">◆ </a></span>wait_for_hint()</h2>
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<tr>
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<table class="memname">
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<tr>
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||
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<td class="memname">esp_err_t BNO08x::wait_for_hint </td>
|
||
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<td>(</td>
|
||
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<td class="paramname"><span class="paramname"></span></td><td>)</td>
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<td></td>
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</tr>
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</table>
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</td>
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<td class="mlabels-right">
|
||
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<span class="mlabels"><span class="mlabel">private</span></span> </td>
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</tr>
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||
|
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</table>
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||
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</div><div class="memdoc">
|
||
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||
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<p>Waits for HINT pin assertion or HOST_INT_TIMEOUT_DEFAULT_MS to elapse. </p>
|
||
|
|
<dl class="section return"><dt>Returns</dt><dd>ESP_OK if HINT was asserted. </dd></dl>
|
||
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<div class="dynheader">
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Here is the caller graph for this function:</div>
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<div class="dyncontent">
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<div class="center"><img src="class_b_n_o08x_a69cf0da11a71f5ea40f9fddd598d06fc_icgraph.png" border="0" usemap="#aclass_b_n_o08x_a69cf0da11a71f5ea40f9fddd598d06fc_icgraph" alt=""/></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a6602374314c07e9f707c0a6d2234bf7e">◆ </a></span>wait_for_reset()</h2>
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<td class="memname">esp_err_t BNO08x::wait_for_reset </td>
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<td>(</td>
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<td class="paramname"><span class="paramname"></span></td><td>)</td>
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<p>Waits for SH2 HAL lib to detect reset or HOST_INT_TIMEOUT_DEFAULT_MS to elapse. </p>
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<dl class="section return"><dt>Returns</dt><dd>ESP_OK if reset was detected by SH2 HAL lib. </dd></dl>
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<div class="center"><img src="class_b_n_o08x_a6602374314c07e9f707c0a6d2234bf7e_icgraph.png" border="0" usemap="#aclass_b_n_o08x_a6602374314c07e9f707c0a6d2234bf7e_icgraph" alt=""/></div>
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<area shape="rect" title="Waits for SH2 HAL lib to detect reset or HOST_INT_TIMEOUT_DEFAULT_MS to elapse." alt="" coords="360,72,518,99"/>
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<area shape="rect" href="class_b_n_o08x.html#a84a19cd1564f8d427394f137df54477d" title="Clears dynamic/motion engine calibration data and resets BNO08x device. See ref manual 6...." alt="" coords="150,5,312,48"/>
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<area shape="rect" href="class_b_n_o08x.html#a28cd1c0b3477571d87133234e6358503" title="Hard resets BNO08x device." alt="" coords="161,72,301,99"/>
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<area shape="rect" href="class_b_n_o08x.html#a973a1b1785f3302ee1b2702c6a27646e" title="Soft resets BNO08x device by sending RESET (1) command on "device" channel." alt="" coords="163,123,299,149"/>
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<h2 class="groupheader">Friends And Related Symbol Documentation</h2>
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<a id="a6dd0081dc9eb0cfb019bfdca3aa31802" name="a6dd0081dc9eb0cfb019bfdca3aa31802"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a6dd0081dc9eb0cfb019bfdca3aa31802">◆ </a></span>BNO08xSH2HAL</h2>
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<td class="memname">friend class <a class="el" href="class_b_n_o08x_s_h2_h_a_l.html">BNO08xSH2HAL</a></td>
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<span class="mlabels"><span class="mlabel">friend</span></span> </td>
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</div><div class="memdoc">
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<a id="a190775b71c35d8007faae7dd6a9f1030" name="a190775b71c35d8007faae7dd6a9f1030"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a190775b71c35d8007faae7dd6a9f1030">◆ </a></span>BNO08xTestHelper</h2>
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<div class="memitem">
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<td class="memname">friend class <a class="el" href="class_b_n_o08x_test_helper.html">BNO08xTestHelper</a></td>
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</tr>
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</td>
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<span class="mlabels"><span class="mlabel">friend</span></span> </td>
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</div><div class="memdoc">
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<h2 class="groupheader">Member Data Documentation</h2>
|
||
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<a id="a982f065df42f00e53fd87c840efdb0f1" name="a982f065df42f00e53fd87c840efdb0f1"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a982f065df42f00e53fd87c840efdb0f1">◆ </a></span>bus_config</h2>
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<td class="memname">spi_bus_config_t BNO08x::bus_config {}</td>
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<span class="mlabels"><span class="mlabel">private</span></span> </td>
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</div><div class="memdoc">
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<p>SPI bus GPIO configuration settings. </p>
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</div>
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</div>
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||
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<a id="a6931b6544788f268a9441a9f9d4a5e33" name="a6931b6544788f268a9441a9f9d4a5e33"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a6931b6544788f268a9441a9f9d4a5e33">◆ </a></span>cb_task_hdl</h2>
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<td class="memname">TaskHandle_t BNO08x::cb_task_hdl</td>
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<span class="mlabels"><span class="mlabel">private</span></span> </td>
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</div><div class="memdoc">
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<p><a class="el" href="#a7c7a9a0b81f9c8762fc927efea68bf23" title="Task responsible for calling shtp_service() when HINT is asserted to dispatch any sh2 HAL lib callbac...">sh2_HAL_service_task()</a> task handle </p>
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</div>
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</div>
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<a id="a63002547e309412846c3967c9d068ee3" name="a63002547e309412846c3967c9d068ee3"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a63002547e309412846c3967c9d068ee3">◆ </a></span>CB_TASK_SZ</h2>
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<td class="memname">const constexpr configSTACK_DEPTH_TYPE BNO08x::CB_TASK_SZ</td>
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<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span> </td>
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</div><div class="memdoc">
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||
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<b>Initial value:</b><div class="fragment"><div class="line">=</div>
|
||
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<div class="line"> CONFIG_ESP32_BNO08X_CB_TASK_SZ</div>
|
||
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</div><!-- fragment -->
|
||
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<p>Size of <a class="el" href="#a7c7a9a0b81f9c8762fc927efea68bf23" title="Task responsible for calling shtp_service() when HINT is asserted to dispatch any sh2 HAL lib callbac...">sh2_HAL_service_task()</a> stack in bytes. </p>
|
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<a id="ae32ce16c51a93b9d53058bf3b6f0d94b" name="ae32ce16c51a93b9d53058bf3b6f0d94b"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#ae32ce16c51a93b9d53058bf3b6f0d94b">◆ </a></span>DATA_AVAILABLE_TIMEOUT_MS</h2>
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<div class="memitem">
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<td class="memname">const constexpr TickType_t BNO08x::DATA_AVAILABLE_TIMEOUT_MS</td>
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<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span> </td>
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||
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<b>Initial value:</b><div class="fragment"><div class="line">=</div>
|
||
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<div class="line"> CONFIG_ESP32_BNO08X_DATA_AVAILABLE_TIMEOUT_MS /</div>
|
||
|
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<div class="line"> portTICK_PERIOD_MS</div>
|
||
|
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</div><!-- fragment -->
|
||
|
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<p>Max wait between <a class="el" href="#a367d525d1c0ba119b3dca3067bb5bccc" title="Polls for new data/report to become available.">data_available()</a> being called and no new data/report being detected. </p>
|
||
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|
||
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<a id="af9b6fbf35e7cd55d517d30c6429a21a4" name="af9b6fbf35e7cd55d517d30c6429a21a4"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#af9b6fbf35e7cd55d517d30c6429a21a4">◆ </a></span>data_proc_task_hdl</h2>
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<td class="memname">TaskHandle_t BNO08x::data_proc_task_hdl</td>
|
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|
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<p><a class="el" href="#ab4373e9b87837ea9fcbc0b536338c7b8" title="Task responsible for parsing/handling sensor events sent by SH2 HAL and updating data that is returne...">data_proc_task()</a> task handle </p>
|
||
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||
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|
||
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|
||
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<a id="a876ef3f899989de83ee6a9d6b218f8e1" name="a876ef3f899989de83ee6a9d6b218f8e1"></a>
|
||
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<h2 class="memtitle"><span class="permalink"><a href="#a876ef3f899989de83ee6a9d6b218f8e1">◆ </a></span>DATA_PROC_TASK_SZ</h2>
|
||
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||
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||
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<td class="memname">const constexpr configSTACK_DEPTH_TYPE BNO08x::DATA_PROC_TASK_SZ</td>
|
||
|
|
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|
||
|
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|
||
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|
||
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|
||
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<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span> </td>
|
||
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|
||
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|
||
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|
||
|
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<b>Initial value:</b><div class="fragment"><div class="line">=</div>
|
||
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<div class="line"> CONFIG_ESP32_BNO08X_DATA_PROC_TASK_SZ</div>
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</div><!-- fragment -->
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<p>Size of <a class="el" href="#ab4373e9b87837ea9fcbc0b536338c7b8" title="Task responsible for parsing/handling sensor events sent by SH2 HAL and updating data that is returne...">data_proc_task()</a> stack in bytes. </p>
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<a id="aa07e329d693eb8d9270a7f9ad6f1d94b" name="aa07e329d693eb8d9270a7f9ad6f1d94b"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#aa07e329d693eb8d9270a7f9ad6f1d94b">◆ </a></span>HARD_RESET_DELAY_MS</h2>
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<div class="memitem">
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<td class="memname">const constexpr TickType_t BNO08x::HARD_RESET_DELAY_MS</td>
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<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span> </td>
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</div><div class="memdoc">
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<b>Initial value:</b><div class="fragment"><div class="line">=</div>
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<div class="line"> CONFIG_ESP32_BNO08X_HARD_RESET_DELAY_MS /</div>
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<div class="line"> portTICK_PERIOD_MS</div>
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</div><!-- fragment -->
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<p>How long RST pin is held low during hard reset (min 10ns according to datasheet, but should be longer for stable operation) </p>
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</div>
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</div>
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<a id="ae51d4e3228a91ee407d5866e604804c4" name="ae51d4e3228a91ee407d5866e604804c4"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#ae51d4e3228a91ee407d5866e604804c4">◆ </a></span>HOST_INT_TIMEOUT_DEFAULT_MS</h2>
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<div class="memitem">
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<td class="memname">const constexpr TickType_t BNO08x::HOST_INT_TIMEOUT_DEFAULT_MS</td>
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</table>
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</td>
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<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span> </td>
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</div><div class="memdoc">
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<b>Initial value:</b><div class="fragment"><div class="line">=</div>
|
||
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<div class="line"> CONFIG_ESP32_BNO08X_HINT_TIMEOUT_MS /</div>
|
||
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<div class="line"> portTICK_PERIOD_MS</div>
|
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</div><!-- fragment -->
|
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<p>Max wait between HINT being asserted by <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> before transaction is considered failed (in miliseconds). </p>
|
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</div>
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</div>
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<a id="aeda443e9f608fccfec0e6770edc90c82" name="aeda443e9f608fccfec0e6770edc90c82"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#aeda443e9f608fccfec0e6770edc90c82">◆ </a></span>imu_config</h2>
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<div class="memitem">
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<td class="memname"><a class="el" href="structbno08x__config__t.html">bno08x_config_t</a> BNO08x::imu_config {}</td>
|
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<td class="mlabels-right">
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<span class="mlabels"><span class="mlabel">private</span></span> </td>
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</table>
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</div><div class="memdoc">
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<p>IMU configuration settings. </p>
|
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</div>
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</div>
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<a id="a425a1f5a9f3232aadc685caaf4c2f82e" name="a425a1f5a9f3232aadc685caaf4c2f82e"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a425a1f5a9f3232aadc685caaf4c2f82e">◆ </a></span>imu_spi_config</h2>
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<div class="memitem">
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<div class="memproto">
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<td class="memname">spi_device_interface_config_t BNO08x::imu_spi_config {}</td>
|
||
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</tr>
|
||
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</table>
|
||
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</td>
|
||
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<td class="mlabels-right">
|
||
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<span class="mlabels"><span class="mlabel">private</span></span> </td>
|
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</tr>
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</table>
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</div><div class="memdoc">
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<p>SPI slave device settings. </p>
|
||
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||
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</div>
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</div>
|
||
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<a id="a0a2d157afc0da144536d8d6927cc63f1" name="a0a2d157afc0da144536d8d6927cc63f1"></a>
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||
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<h2 class="memtitle"><span class="permalink"><a href="#a0a2d157afc0da144536d8d6927cc63f1">◆ </a></span>init_status</h2>
|
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<div class="memitem">
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<div class="memproto">
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<td class="memname"><a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html">BNO08xPrivateTypes::bno08x_init_status_t</a> BNO08x::init_status</td>
|
||
|
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</tr>
|
||
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</table>
|
||
|
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</td>
|
||
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<td class="mlabels-right">
|
||
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<span class="mlabels"><span class="mlabel">private</span></span> </td>
|
||
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</tr>
|
||
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</table>
|
||
|
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</div><div class="memdoc">
|
||
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|
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<p>Initialization status of various functionality, used by deconstructor during cleanup, set during initialization. </p>
|
||
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|
||
|
|
</div>
|
||
|
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</div>
|
||
|
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<a id="ac8f6fc515923ffc820a7cfafc0c2830f" name="ac8f6fc515923ffc820a7cfafc0c2830f"></a>
|
||
|
|
<h2 class="memtitle"><span class="permalink"><a href="#ac8f6fc515923ffc820a7cfafc0c2830f">◆ </a></span>product_IDs</h2>
|
||
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||
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<div class="memitem">
|
||
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<div class="memproto">
|
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<table class="mlabels">
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||
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<tr>
|
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<td class="mlabels-left">
|
||
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<table class="memname">
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||
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<tr>
|
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<td class="memname">sh2_ProductIds_t BNO08x::product_IDs</td>
|
||
|
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</tr>
|
||
|
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</table>
|
||
|
|
</td>
|
||
|
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<td class="mlabels-right">
|
||
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<span class="mlabels"><span class="mlabel">private</span></span> </td>
|
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</table>
|
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</div><div class="memdoc">
|
||
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|
||
|
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<p>Product ID info returned IMU at initialization, can be viewed with <a class="el" href="#a7441f7f2477c152deca17054041bf3e6" title="Prints product IDs received at initialization.">print_product_ids()</a> </p>
|
||
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|
||
|
|
</div>
|
||
|
|
</div>
|
||
|
|
<a id="a8b45106ee35e8d2ddc9709b7f788212e" name="a8b45106ee35e8d2ddc9709b7f788212e"></a>
|
||
|
|
<h2 class="memtitle"><span class="permalink"><a href="#a8b45106ee35e8d2ddc9709b7f788212e">◆ </a></span>queue_cb_report_id</h2>
|
||
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|
||
|
|
<div class="memitem">
|
||
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<div class="memproto">
|
||
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<table class="mlabels">
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||
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<tr>
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|
||
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<table class="memname">
|
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|
||
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<td class="memname">QueueHandle_t BNO08x::queue_cb_report_id</td>
|
||
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|
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|
||
|
|
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|
||
|
|
</td>
|
||
|
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<td class="mlabels-right">
|
||
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<span class="mlabels"><span class="mlabel">private</span></span> </td>
|
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|
||
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</div><div class="memdoc">
|
||
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<p>Queue to send report ID of most recent report to <a class="el" href="#a5fb7f6c3e5d1b3478f529644a0f175b7" title="Task responsible for executing callbacks registered with register_cb().">cb_task()</a> </p>
|
||
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|
||
|
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</div>
|
||
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</div>
|
||
|
|
<a id="aefd6d59af9f8cf73be017db55f8b2e6a" name="aefd6d59af9f8cf73be017db55f8b2e6a"></a>
|
||
|
|
<h2 class="memtitle"><span class="permalink"><a href="#aefd6d59af9f8cf73be017db55f8b2e6a">◆ </a></span>queue_rx_sensor_event</h2>
|
||
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||
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<div class="memitem">
|
||
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<div class="memproto">
|
||
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|
||
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||
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||
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<td class="memname">QueueHandle_t BNO08x::queue_rx_sensor_event</td>
|
||
|
|
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|
||
|
|
</table>
|
||
|
|
</td>
|
||
|
|
<td class="mlabels-right">
|
||
|
|
<span class="mlabels"><span class="mlabel">private</span></span> </td>
|
||
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</tr>
|
||
|
|
</table>
|
||
|
|
</div><div class="memdoc">
|
||
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|
||
|
|
<p>Queue to send sensor events from sh2 HAL sensor event callback (<a class="el" href="class_b_n_o08x_s_h2_h_a_l.html#a19c041ef614d7eda85b94b10202a3997" title="Sensor event callback for sh2 HAL lib, sends received reports to data_proc_task().">BNO08xSH2HAL::sensor_event_cb()</a>) to <a class="el" href="#ab4373e9b87837ea9fcbc0b536338c7b8" title="Task responsible for parsing/handling sensor events sent by SH2 HAL and updating data that is returne...">data_proc_task()</a> </p>
|
||
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|
||
|
|
</div>
|
||
|
|
</div>
|
||
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|
<a id="ae1db7422ee9c2cac77382cc0a7aa430e" name="ae1db7422ee9c2cac77382cc0a7aa430e"></a>
|
||
|
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<h2 class="memtitle"><span class="permalink"><a href="#ae1db7422ee9c2cac77382cc0a7aa430e">◆ </a></span>rpt</h2>
|
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<div class="memitem">
|
||
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<div class="memproto">
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||
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|
||
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<td class="memname"><a class="el" href="struct_b_n_o08x_1_1bno08x__reports__t.html">bno08x_reports_t</a> BNO08x::rpt</td>
|
||
|
|
</tr>
|
||
|
|
</table>
|
||
|
|
</div><div class="memdoc">
|
||
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|
||
|
|
</div>
|
||
|
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</div>
|
||
|
|
<a id="a1a037bda37493cde56732cc6fdc7884b" name="a1a037bda37493cde56732cc6fdc7884b"></a>
|
||
|
|
<h2 class="memtitle"><span class="permalink"><a href="#a1a037bda37493cde56732cc6fdc7884b">◆ </a></span>RX_DATA_LENGTH</h2>
|
||
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||
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<div class="memitem">
|
||
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<div class="memproto">
|
||
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|
||
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<table class="memname">
|
||
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||
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<td class="memname">const constexpr uint16_t BNO08x::RX_DATA_LENGTH = 300U</td>
|
||
|
|
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|
||
|
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|
||
|
|
</td>
|
||
|
|
<td class="mlabels-right">
|
||
|
|
<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span> </td>
|
||
|
|
</tr>
|
||
|
|
</table>
|
||
|
|
</div><div class="memdoc">
|
||
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|
||
|
|
<p>length buffer containing data received over spi </p>
|
||
|
|
|
||
|
|
</div>
|
||
|
|
</div>
|
||
|
|
<a id="a031976dacd97917d9d72edccb607160c" name="a031976dacd97917d9d72edccb607160c"></a>
|
||
|
|
<h2 class="memtitle"><span class="permalink"><a href="#a031976dacd97917d9d72edccb607160c">◆ </a></span>SCLK_MAX_SPEED</h2>
|
||
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||
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<div class="memitem">
|
||
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<div class="memproto">
|
||
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|
||
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|
||
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|
||
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|
||
|
|
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|
||
|
|
<td class="memname">const constexpr uint32_t BNO08x::SCLK_MAX_SPEED = 3000000UL</td>
|
||
|
|
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|
||
|
|
</table>
|
||
|
|
</td>
|
||
|
|
<td class="mlabels-right">
|
||
|
|
<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span> </td>
|
||
|
|
</tr>
|
||
|
|
</table>
|
||
|
|
</div><div class="memdoc">
|
||
|
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|
||
|
|
<p>Max SPI SCLK speed <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> is capable of. </p>
|
||
|
|
|
||
|
|
</div>
|
||
|
|
</div>
|
||
|
|
<a id="aa92ff86d82a097a565ed2a2b9000b571" name="aa92ff86d82a097a565ed2a2b9000b571"></a>
|
||
|
|
<h2 class="memtitle"><span class="permalink"><a href="#aa92ff86d82a097a565ed2a2b9000b571">◆ </a></span>sem_kill_tasks</h2>
|
||
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|
||
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<div class="memitem">
|
||
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<div class="memproto">
|
||
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||
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|
||
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<table class="memname">
|
||
|
|
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|
||
|
|
<td class="memname">SemaphoreHandle_t BNO08x::sem_kill_tasks</td>
|
||
|
|
</tr>
|
||
|
|
</table>
|
||
|
|
</td>
|
||
|
|
<td class="mlabels-right">
|
||
|
|
<span class="mlabels"><span class="mlabel">private</span></span> </td>
|
||
|
|
</tr>
|
||
|
|
</table>
|
||
|
|
</div><div class="memdoc">
|
||
|
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|
||
|
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<p>Counting Semaphore to count amount of killed tasks. </p>
|
||
|
|
|
||
|
|
</div>
|
||
|
|
</div>
|
||
|
|
<a id="abae123678dc62f139749f13a3b6d1baa" name="abae123678dc62f139749f13a3b6d1baa"></a>
|
||
|
|
<h2 class="memtitle"><span class="permalink"><a href="#abae123678dc62f139749f13a3b6d1baa">◆ </a></span>sh2_HAL</h2>
|
||
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||
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<div class="memitem">
|
||
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<div class="memproto">
|
||
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<table class="mlabels">
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||
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|
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<td class="mlabels-left">
|
||
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<table class="memname">
|
||
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<tr>
|
||
|
|
<td class="memname">sh2_Hal_t BNO08x::sh2_HAL</td>
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<p>sh2 hardware abstraction layer struct for use with sh2 HAL lib. </p>
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<h2 class="memtitle"><span class="permalink"><a href="#afb288b912294ac6a568c1aab8bb382f6">◆ </a></span>sh2_HAL_service_task_hdl</h2>
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<td class="memname">TaskHandle_t BNO08x::sh2_HAL_service_task_hdl</td>
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<p><a class="el" href="#a7c7a9a0b81f9c8762fc927efea68bf23" title="Task responsible for calling shtp_service() when HINT is asserted to dispatch any sh2 HAL lib callbac...">sh2_HAL_service_task()</a> task handle </p>
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<a id="aac1f772772db2d5fd14d51e44649d8eb" name="aac1f772772db2d5fd14d51e44649d8eb"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#aac1f772772db2d5fd14d51e44649d8eb">◆ </a></span>SH2_HAL_SERVICE_TASK_SZ</h2>
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<td class="memname">const constexpr configSTACK_DEPTH_TYPE BNO08x::SH2_HAL_SERVICE_TASK_SZ</td>
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<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span> </td>
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<b>Initial value:</b><div class="fragment"><div class="line">=</div>
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<div class="line"> CONFIG_ESP32_BNO08X_SH2_HAL_SERVICE_TASK_SZ</div>
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</div><!-- fragment -->
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<p>Size of <a class="el" href="#a7c7a9a0b81f9c8762fc927efea68bf23" title="Task responsible for calling shtp_service() when HINT is asserted to dispatch any sh2 HAL lib callbac...">sh2_HAL_service_task()</a> stack in bytes. </p>
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<a id="acc0ea091465fc9a5736f5e0c6a0ce8ef" name="acc0ea091465fc9a5736f5e0c6a0ce8ef"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#acc0ea091465fc9a5736f5e0c6a0ce8ef">◆ </a></span>spi_hdl</h2>
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<td class="memname">spi_device_handle_t BNO08x::spi_hdl {}</td>
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<p>SPI device handle. </p>
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<h2 class="memtitle"><span class="permalink"><a href="#ac16adc5f00b0039c98a4921f13895026">◆ </a></span>spi_transaction</h2>
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<td class="memname">spi_transaction_t BNO08x::spi_transaction {}</td>
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<p>SPI transaction handle. </p>
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<a id="a22bb1bdc1153a455ec8f549d9389406e" name="a22bb1bdc1153a455ec8f549d9389406e"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a22bb1bdc1153a455ec8f549d9389406e">◆ </a></span>sync_ctx</h2>
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<td class="memname"><a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> BNO08x::sync_ctx</td>
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<p>Holds context used to synchronize tasks and callback execution. </p>
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<a id="a2c98d5f2c406a3efd0b48c5666fa8c46" name="a2c98d5f2c406a3efd0b48c5666fa8c46"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a2c98d5f2c406a3efd0b48c5666fa8c46">◆ </a></span>TAG</h2>
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<td class="memname">const constexpr char* BNO08x::TAG = "BNO08x"</td>
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<p>Class tag used for serial print statements. </p>
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<a id="a58b4949a61a784d09df3e7ecda175b39" name="a58b4949a61a784d09df3e7ecda175b39"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a58b4949a61a784d09df3e7ecda175b39">◆ </a></span>usr_reports</h2>
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<td class="memname">etl::map<uint8_t, <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a>*, <a class="el" href="_b_n_o08x_global_types_8hpp.html#a9808babb45af9b32fc51cef8d50341be">TOTAL_RPT_COUNT</a>, etl::less<uint8_t> > BNO08x::usr_reports</td>
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<hr/>The documentation for this class was generated from the following files:<ul>
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<li><a class="el" href="_b_n_o08x_8hpp_source.html">BNO08x.hpp</a></li>
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<li><a class="el" href="_b_n_o08x_8cpp.html">BNO08x.cpp</a></li>
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<li class="navelem"><a class="el" href="class_b_n_o08x.html">BNO08x</a></li>
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<li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0 </li>
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