<ahref="_b_n_o08x_8hpp.html">Go to the documentation of this file.</a><divclass="fragment"><divclass="line"><aid="l00001"name="l00001"></a><spanclass="lineno"> 1</span><spanclass="preprocessor">#pragma once</span></div>
<divclass="line"><aid="l00079"name="l00079"></a><spanclass="lineno"> 79</span><spanclass="comment">// , sclk_speed(10000U), //clock slowed to see on AD2</span></div>
<divclass="line"><aid="l00248"name="l00248"></a><spanclass="lineno"> 248</span><spanclass="comment">// Record IDs from figure 29, page 29 reference manual</span></div>
<divclass="line"><aid="l00249"name="l00249"></a><spanclass="lineno"> 249</span><spanclass="comment">// These are used to read the metadata for each sensor type</span></div>
<divclass="line"><aid="l00258"name="l00258"></a><spanclass="lineno"> 258</span><spanclass="comment">// Which rotation vector to tare, BNO08x saves them seperately</span></div>
<divclass="line"><aid="l00310"name="l00310"></a><spanclass="lineno"> 310</span><spanclass="comment">// These are the raw sensor values (without Q applied) pulled from the user requested Input Report</span></div>
<divclass="line"><aid="l00352"name="l00352"></a><spanclass="lineno"> 352</span><spanclass="comment">// Higher level calibration commands, used by queue_calibrate_command</span></div>
<divclass="line"><aid="l00372"name="l00372"></a><spanclass="lineno"> 372</span><spanclass="comment">// SHTP channel 2 control report IDs, used in communication with sensor (See Ref. Manual 6.2)</span></div>
<divclass="line"><aid="l00382"name="l00382"></a><spanclass="lineno"> 382</span><spanclass="comment">// Sensor report IDs, used when enabling and reading BNO08x reports</span></div>
<divclass="line"><aid="l00403"name="l00403"></a><spanclass="lineno"> 403</span><spanclass="comment">// Tare commands used by queue_tare_command</span></div>
<divclass="ttc"id="a_b_n_o08x_8hpp_html_adb7d85b4fa619c860031f469261c6279"><divclass="ttname"><ahref="_b_n_o08x_8hpp.html#adb7d85b4fa619c860031f469261c6279">IMUAccuracy</a></div><divclass="ttdeci">IMUAccuracy</div><divclass="ttdoc">Sensor accuracy returned during sensor calibration.</div><divclass="ttdef"><b>Definition</b> BNO08x.hpp:31</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a04290cb6ba09b93d5a9ef337c13d1abb"><divclass="ttname"><ahref="class_b_n_o08x.html#a04290cb6ba09b93d5a9ef337c13d1abb">BNO08x::enable_ARVR_stabilized_rotation_vector</a></div><divclass="ttdeci">void enable_ARVR_stabilized_rotation_vector(uint16_t time_between_reports)</div><divclass="ttdoc">Sends command to enable ARVR stabilized rotation vector reports (See Ref. Manual 6....</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:1028</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a0564aaf5b20dc42b54db4fb3115ac1c7"><divclass="ttname"><ahref="class_b_n_o08x.html#a0564aaf5b20dc42b54db4fb3115ac1c7">BNO08x::ACCELEROMETER_Q1</a></div><divclass="ttdeci">static const constexpr int16_t ACCELEROMETER_Q1</div><divclass="ttdoc">Acceleration Q point (See SH-2 Ref. Manual 6.5.9)</div><divclass="ttdef"><b>Definition</b> BNO08x.hpp:268</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a081c666a3f24016d0ec5c5edc49f2903"><divclass="ttname"><ahref="class_b_n_o08x.html#a081c666a3f24016d0ec5c5edc49f2903">BNO08x::uncalib_gyro_accuracy</a></div><divclass="ttdeci">uint16_t uncalib_gyro_accuracy</div><divclass="ttdoc">Uncalibrated gyro reading (See SH-2 Ref. Manual 6.5.14)</div><divclass="ttdef"><b>Definition</b> BNO08x.hpp:324</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a08f037df7b3c7e2fc3f0e968f4a5f68c"><divclass="ttname"><ahref="class_b_n_o08x.html#a08f037df7b3c7e2fc3f0e968f4a5f68c">BNO08x::print_header</a></div><divclass="ttdeci">void print_header()</div><divclass="ttdoc">Prints the most recently received SHTP header to serial console with ESP_LOG statement.</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:2078</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a0960ce957058af565dd4c43ad6c40225"><divclass="ttname"><ahref="class_b_n_o08x.html#a0960ce957058af565dd4c43ad6c40225">BNO08x::enable_activity_classifier</a></div><divclass="ttdeci">void enable_activity_classifier(uint16_t time_between_reports, uint32_t activities_to_enable, uint8_t(&activity_confidence_vals)[9])</div><divclass="ttdoc">Sends command to enable activity classifier reports (See Ref. Manual 6.5.36)</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:1186</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a0a1756bc16ba3eac45f4229b1e350107"><divclass="ttname"><ahref="class_b_n_o08x.html#a0a1756bc16ba3eac45f4229b1e350107">BNO08x::COMMAND_TARE</a></div><divclass="ttdeci">static const constexpr uint8_t COMMAND_TARE</div><divclass="ttdoc">Command and response to tare command (See Sh2 Ref. Manual 6.4.4)</div><divclass="ttdef"><b>Definition</b> BNO08x.hpp:364</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a0a72477cb7a330fedbcb3e2126b882b1"><divclass="ttname"><ahref="class_b_n_o08x.html#a0a72477cb7a330fedbcb3e2126b882b1">BNO08x::get_accel_Z</a></div><divclass="ttdeci">float get_accel_Z()</div><divclass="ttdoc">Get z axis acceleration (total acceleration of device, units in m/s^2).</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:1660</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a0a73633d8929ce4058b14cefc8cad717"><divclass="ttname"><ahref="class_b_n_o08x.html#a0a73633d8929ce4058b14cefc8cad717">BNO08x::get_uncalibrated_gyro_Z</a></div><divclass="ttdeci">float get_uncalibrated_gyro_Z()</div><divclass="ttdoc">Get uncalibrated gyro Z axis angular velocity measurement.</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:1931</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a0b19c8f2de2b2bfe033da7f93cdd2608"><divclass="ttname"><ahref="class_b_n_o08x.html#a0b19c8f2de2b2bfe033da7f93cdd2608">BNO08x::ROTATION_VECTOR_Q1</a></div><divclass="ttdeci">static const constexpr int16_t ROTATION_VECTOR_Q1</div><divclass="ttdoc">Rotation vector Q point (See SH-2 Ref. Manual 6.5.18)</div><divclass="ttdef"><b>Definition</b> BNO08x.hpp:266</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a0ce6d9db873555f1ebe7e095251eab74"><divclass="ttname"><ahref="class_b_n_o08x.html#a0ce6d9db873555f1ebe7e095251eab74">BNO08x::spi_task_trampoline</a></div><divclass="ttdeci">static void spi_task_trampoline(void *arg)</div><divclass="ttdoc">Static function used to launch spi task.</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:2416</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a0d148e00abcfeec48c689e3084a7e786"><divclass="ttname"><ahref="class_b_n_o08x.html#a0d148e00abcfeec48c689e3084a7e786">BNO08x::get_stability_classifier</a></div><divclass="ttdeci">int8_t get_stability_classifier()</div><divclass="ttdoc">Get the current stability classifier (Seee Ref. Manual 6.5.31)</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:2049</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a0ee58cedbc06d4a7db8821f40c0ee207"><divclass="ttname"><ahref="class_b_n_o08x.html#a0ee58cedbc06d4a7db8821f40c0ee207">BNO08x::send_packet</a></div><divclass="ttdeci">void send_packet()</div><divclass="ttdoc">Sends a queued SHTP packet via SPI.</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:413</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a0fff04c42c9502615ad73cd1457cb9b0"><divclass="ttname"><ahref="class_b_n_o08x.html#a0fff04c42c9502615ad73cd1457cb9b0">BNO08x::get_range</a></div><divclass="ttdeci">float get_range(uint16_t record_ID)</div><divclass="ttdoc">Gets range from BNO08x FRS (flash record system).</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:2210</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a1033bdd65b42b6706d1dfc67ece66191"><divclass="ttname"><ahref="class_b_n_o08x.html#a1033bdd65b42b6706d1dfc67ece66191">BNO08x::get_linear_accel_Y</a></div><divclass="ttdeci">float get_linear_accel_Y()</div><divclass="ttdoc">Get y axis linear acceleration (acceleration of device minus gravity, units in m/s^2)</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:1708</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a111601243b913751eb51c1f37cba4e7d"><divclass="ttname"><ahref="class_b_n_o08x.html#a111601243b913751eb51c1f37cba4e7d">BNO08x::get_magf_X</a></div><divclass="ttdeci">float get_magf_X()</div><divclass="ttdoc">Get X component of magnetic field vector.</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:1321</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a1171a5738a4e6831ec7fa32a29f15554"><divclass="ttname"><ahref="class_b_n_o08x.html#a1171a5738a4e6831ec7fa32a29f15554">BNO08x::tap_detector</a></div><divclass="ttdeci">uint8_t tap_detector</div><divclass="ttdoc">Tap detector reading (See SH-2 Ref. Manual 6.5.27)</div><divclass="ttdef"><b>Definition</b> BNO08x.hpp:327</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a11bb1b3fa44ad8f28c1492b5c07af886"><divclass="ttname"><ahref="class_b_n_o08x.html#a11bb1b3fa44ad8f28c1492b5c07af886">BNO08x::get_reset_reason</a></div><divclass="ttdeci">uint8_t get_reset_reason()</div><divclass="ttdoc">Get the reason for the most recent reset.</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:264</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a12c12a8e078b28480fb8828d306656f5"><divclass="ttname"><ahref="class_b_n_o08x.html#a12c12a8e078b28480fb8828d306656f5">BNO08x::get_quat_I</a></div><divclass="ttdeci">float get_quat_I()</div><divclass="ttdoc">Get I component of reported quaternion.</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:1557</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a1590ba793668f9cb1a32a1f4dd07cb9a"><divclass="ttname"><ahref="class_b_n_o08x.html#a1590ba793668f9cb1a32a1f4dd07cb9a">BNO08x::get_Q3</a></div><divclass="ttdeci">int16_t get_Q3(uint16_t record_ID)</div><divclass="ttdoc">Gets Q3 point from BNO08x FRS (flash record system).</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:2180</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a15a29c3bb476048b7229abcfb2b1d52a"><divclass="ttname"><ahref="class_b_n_o08x.html#a15a29c3bb476048b7229abcfb2b1d52a">BNO08x::get_gyro_calibrated_velocity_Z</a></div><divclass="ttdeci">float get_gyro_calibrated_velocity_Z()</div><divclass="ttdoc">Get calibrated gyro z axis angular velocity measurement.</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:1866</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a1742d6445ffb6e9297b8bf84dec24f22"><divclass="ttname"><ahref="class_b_n_o08x.html#a1742d6445ffb6e9297b8bf84dec24f22">BNO08x::queue_command</a></div><divclass="ttdeci">void queue_command(uint8_t command)</div><divclass="ttdoc">Queues a packet containing a command.</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:436</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a176ae0112325c05105eacb4566bbfa0b"><divclass="ttname"><ahref="class_b_n_o08x.html#a176ae0112325c05105eacb4566bbfa0b">BNO08x::mode_sleep</a></div><divclass="ttdeci">bool mode_sleep()</div><divclass="ttdoc">Puts BNO08x sensor into sleep/low power mode using executable channel.</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:310</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a1874e4bd457bb5b6ecc2c64039b88ba4"><divclass="ttname"><ahref="class_b_n_o08x.html#a1874e4bd457bb5b6ecc2c64039b88ba4">BNO08x::get_uncalibrated_gyro_Y</a></div><divclass="ttdeci">float get_uncalibrated_gyro_Y()</div><divclass="ttdoc">Get uncalibrated gyro Y axis angular velocity measurement.</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:1921</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a1b12471e92536a79d0c425d77676f2e1"><divclass="ttname"><ahref="class_b_n_o08x.html#a1b12471e92536a79d0c425d77676f2e1">BNO08x::stability_classifier</a></div><divclass="ttdeci">uint8_t stability_classifier</div><divclass="ttdoc">Stability status reading (See SH-2 Ref. Manual 6.5.31)</div><divclass="ttdef"><b>Definition</b> BNO08x.hpp:329</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a1b91f234d81c45f1f5ca2f27c9f0f6a3"><divclass="ttname"><ahref="class_b_n_o08x.html#a1b91f234d81c45f1f5ca2f27c9f0f6a3">BNO08x::get_pitch</a></div><divclass="ttdeci">float get_pitch()</div><divclass="ttdoc">Get the reported rotation about y axis.</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:1449</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a1bd3c33e70354bd35a78b83b6786b531"><divclass="ttname"><ahref="class_b_n_o08x.html#a1bd3c33e70354bd35a78b83b6786b531">BNO08x::get_uncalibrated_gyro</a></div><divclass="ttdeci">void get_uncalibrated_gyro(float &x, float &y, float &z, float &bx, float &by, float &bz, uint8_t &accuracy)</div><divclass="ttdoc">Get full rotational velocity without drift compensation (units in Rad/s). An estimate of drift is giv...</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:1895</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a1c6c49c97bc098db89db1aaa37e18f26"><divclass="ttname"><ahref="class_b_n_o08x.html#a1c6c49c97bc098db89db1aaa37e18f26">BNO08x::calibrate_planar_accelerometer</a></div><divclass="ttdeci">void calibrate_planar_accelerometer()</div><divclass="ttdoc">Sends command to calibrate planar accelerometer.</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:510</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a1d68494d911f7efbbb620d349fb9da0d"><divclass="ttname"><ahref="class_b_n_o08x.html#a1d68494d911f7efbbb620d349fb9da0d">BNO08x::enable_accelerometer</a></div><divclass="ttdeci">void enable_accelerometer(uint16_t time_between_reports)</div><divclass="ttdoc">Sends command to enable accelerometer reports (See Ref. Manual 6.5.9)</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:1067</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a1d6ea02d0d4b23ff6a15e9d5c6c92372"><divclass="ttname"><ahref="class_b_n_o08x.html#a1d6ea02d0d4b23ff6a15e9d5c6c92372">BNO08x::get_resolution</a></div><divclass="ttdeci">float get_resolution(uint16_t record_ID)</div><divclass="ttdoc">Gets resolution from BNO08x FRS (flash record system).</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:2193</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a1de356dd604c1dffcd1a32faeb4fafe2"><divclass="ttname"><ahref="class_b_n_o08x.html#a1de356dd604c1dffcd1a32faeb4fafe2">BNO08x::get_raw_accel_X</a></div><divclass="ttdeci">int16_t get_raw_accel_X()</div><divclass="ttdoc">Get raw accelerometer x axis reading from physical accelerometer MEMs sensor (See Ref....</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:1738</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a1ef13f6f330810934416ad5fe0ee55b2"><divclass="ttname"><ahref="class_b_n_o08x.html#a1ef13f6f330810934416ad5fe0ee55b2">BNO08x::TARE_AXIS_ALL</a></div><divclass="ttdeci">static const constexpr uint8_t TARE_AXIS_ALL</div><divclass="ttdoc">Tare all axes (used with tare now command)</div><divclass="ttdef"><b>Definition</b> BNO08x.hpp:255</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a27f5dce5c994be18a587fb622574ad41"><divclass="ttname"><ahref="class_b_n_o08x.html#a27f5dce5c994be18a587fb622574ad41">BNO08x::FRS_read_word</a></div><divclass="ttdeci">uint32_t FRS_read_word(uint16_t record_ID, uint8_t word_number)</div><divclass="ttdoc">Reads meta data word from BNO08x FRS (flash record system) given the record ID and word number....</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:2231</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a27fb24e894f794ec6228ef142b6ff8d9"><divclass="ttname"><ahref="class_b_n_o08x.html#a27fb24e894f794ec6228ef142b6ff8d9">BNO08x::q_to_float</a></div><divclass="ttdeci">float q_to_float(int16_t fixed_point_value, uint8_t q_point)</div><divclass="ttdoc">Converts a register value to a float using its associated Q point. (See https://en....</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:1281</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a289ff66f51c94be62c4a556f3a5997bf"><divclass="ttname"><ahref="class_b_n_o08x.html#a289ff66f51c94be62c4a556f3a5997bf">BNO08x::get_uncalibrated_gyro_X</a></div><divclass="ttdeci">float get_uncalibrated_gyro_X()</div><divclass="ttdoc">Get uncalibrated gyro x axis angular velocity measurement.</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:1911</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a2c842e43ceae19149f6525bcbc48f1cf"><divclass="ttname"><ahref="class_b_n_o08x.html#a2c842e43ceae19149f6525bcbc48f1cf">BNO08x::get_raw_magf_Y</a></div><divclass="ttdeci">int16_t get_raw_magf_Y()</div><divclass="ttdoc">Get raw magnetometer y axis reading from physical magnetometer sensor (See Ref. Manual 6....</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:1808</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a2c98d5f2c406a3efd0b48c5666fa8c46"><divclass="ttname"><ahref="class_b_n_o08x.html#a2c98d5f2c406a3efd0b48c5666fa8c46">BNO08x::TAG</a></div><divclass="ttdeci">static const constexpr char * TAG</div><divclass="ttdoc">Class tag used for serial print statements.</div><divclass="ttdef"><b>Definition</b> BNO08x.hpp:408</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a2dc0cd5bc04ca7eb3b4fffd2a3a6f27a"><divclass="ttname"><ahref="class_b_n_o08x.html#a2dc0cd5bc04ca7eb3b4fffd2a3a6f27a">BNO08x::enable_gravity</a></div><divclass="ttdeci">void enable_gravity(uint16_t time_between_reports)</div><divclass="ttdoc">Sends command to enable gravity reading reports (See Ref. Manual 6.5.11)</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:1093</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a2e28b5a79c442a6baa2fa5165b9ce37d"><divclass="ttname"><ahref="class_b_n_o08x.html#a2e28b5a79c442a6baa2fa5165b9ce37d">BNO08x::get_raw_gyro_Z</a></div><divclass="ttdeci">int16_t get_raw_gyro_Z()</div><divclass="ttdoc">Get raw gyroscope z axis reading from physical gyroscope MEMs sensor (See Ref. Manual 6....</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:1788</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a2ecd4ed60f82730ae230c61687ec92bf"><divclass="ttname"><ahref="class_b_n_o08x.html#a2ecd4ed60f82730ae230c61687ec92bf">BNO08x::spi_task</a></div><divclass="ttdeci">void spi_task()</div><divclass="ttdoc">Task responsible for SPI transactions. Executed when HINT in is asserted by BNO08x.</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:2427</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a308c8b5307d93a67b5b9066d44494aa5"><divclass="ttname"><ahref="class_b_n_o08x.html#a308c8b5307d93a67b5b9066d44494aa5">BNO08x::COMMAND_OSCILLATOR</a></div><divclass="ttdeci">static const constexpr uint8_t COMMAND_OSCILLATOR</div><divclass="ttdoc">Retrieve oscillator type command (See SH2 Ref. Manual 6.4)</div><divclass="ttdef"><b>Definition</b> BNO08x.hpp:369</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a3365b7ebde01e284274e655c60343df9"><divclass="ttname"><ahref="class_b_n_o08x.html#a3365b7ebde01e284274e655c60343df9">BNO08x::accel_accuracy</a></div><divclass="ttdeci">uint16_t accel_accuracy</div><divclass="ttdoc">Raw acceleration readings (See SH-2 Ref. Manual 6.5.8)</div><divclass="ttdef"><b>Definition</b> BNO08x.hpp:313</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a33aee99f7f0d07c3061bab90831bc309"><divclass="ttname"><ahref="class_b_n_o08x.html#a33aee99f7f0d07c3061bab90831bc309">BNO08x::int_asserted_semaphore</a></div><divclass="ttdeci">SemaphoreHandle_t int_asserted_semaphore</div><divclass="ttdoc">Binary semaphore used to synchronize spi_task() calling wait_for_device_int(), given after hint_handl...</div><divclass="ttdef"><b>Definition</b> BNO08x.hpp:293</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a33fe3c2f47759cfae5f4b612ddd329ea"><divclass="ttname"><ahref="class_b_n_o08x.html#a33fe3c2f47759cfae5f4b612ddd329ea">BNO08x::get_linear_accel_accuracy</a></div><divclass="ttdeci">uint8_t get_linear_accel_accuracy()</div><divclass="ttdoc">Get accuracy of linear acceleration.</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:1728</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a35a224d519a2a243d0d526a34ecde5a8"><divclass="ttname"><ahref="class_b_n_o08x.html#a35a224d519a2a243d0d526a34ecde5a8">BNO08x::get_magf</a></div><divclass="ttdeci">void get_magf(float &x, float &y, float &z, uint8_t &accuracy)</div><divclass="ttdoc">Get the full magnetic field vector.</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:1308</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a35e1635ef5edde8fc8640f978c6f2e3c"><divclass="ttname"><ahref="class_b_n_o08x.html#a35e1635ef5edde8fc8640f978c6f2e3c">BNO08x::accel_lin_accuracy</a></div><divclass="ttdeci">uint16_t accel_lin_accuracy</div><divclass="ttdoc">Raw linear acceleration (See SH-2 Ref. Manual 6.5.10)</div><divclass="ttdef"><b>Definition</b> BNO08x.hpp:315</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a36223f7124751fa71e860b2ef55dd2ac"><divclass="ttname"><ahref="class_b_n_o08x.html#a36223f7124751fa71e860b2ef55dd2ac">BNO08x::quat_accuracy</a></div><divclass="ttdeci">uint16_t quat_accuracy</div><divclass="ttdoc">Raw quaternion reading (See SH-2 Ref. Manual 6.5.44)</div><divclass="ttdef"><b>Definition</b> BNO08x.hpp:318</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a367d525d1c0ba119b3dca3067bb5bccc"><divclass="ttname"><ahref="class_b_n_o08x.html#a367d525d1c0ba119b3dca3067bb5bccc">BNO08x::data_available</a></div><divclass="ttdeci">bool data_available()</div><divclass="ttdoc">Checks if BNO08x has asserted interrupt and sent data.</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:725</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a3762125be0025a335f0d918415f4ce18"><divclass="ttname"><ahref="class_b_n_o08x.html#a3762125be0025a335f0d918415f4ce18">BNO08x::parse_command_report</a></div><divclass="ttdeci">uint16_t parse_command_report()</div><divclass="ttdoc">Parses received command report sent by BNO08x (See Ref. Manual 6.3.9)</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:972</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a3fce726d5de821f97ed207036dae2900"><divclass="ttname"><ahref="class_b_n_o08x.html#a3fce726d5de821f97ed207036dae2900">BNO08x::get_accel_accuracy</a></div><divclass="ttdeci">uint8_t get_accel_accuracy()</div><divclass="ttdoc">Get accuracy of linear acceleration.</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:1670</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a40607e557eada666a5e1e416f42cd4a1"><divclass="ttname"><ahref="class_b_n_o08x.html#a40607e557eada666a5e1e416f42cd4a1">BNO08x::FRS_read_data</a></div><divclass="ttdeci">bool FRS_read_data(uint16_t record_ID, uint8_t start_location, uint8_t words_to_read)</div><divclass="ttdoc">Read meta data from BNO08x FRS (flash record system) given the record ID. Contains Q points and other...</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:2281</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a4421c43323945946ad605f8422958dcf"><divclass="ttname"><ahref="class_b_n_o08x.html#a4421c43323945946ad605f8422958dcf">BNO08x::get_Q1</a></div><divclass="ttdeci">int16_t get_Q1(uint16_t record_ID)</div><divclass="ttdoc">Gets Q1 point from BNO08x FRS (flash record system).</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:2150</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a4549bbef48208bd9c745fc755b93012f"><divclass="ttname"><ahref="class_b_n_o08x.html#a4549bbef48208bd9c745fc755b93012f">BNO08x::tare_now</a></div><divclass="ttdeci">void tare_now(uint8_t axis_sel=TARE_AXIS_ALL, uint8_t rotation_vector_basis=TARE_ROTATION_VECTOR)</div><divclass="ttdoc">Sends command to tare an axis (See Ref. Manual 6.4.4.1)</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:1241</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a4797ec731de4c158716da1a7af9d1602"><divclass="ttname"><ahref="class_b_n_o08x.html#a4797ec731de4c158716da1a7af9d1602">BNO08x::get_tap_detector</a></div><divclass="ttdeci">uint8_t get_tap_detector()</div><divclass="ttdoc">Get if tap has occured.</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:2027</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a487391e6b2dd7f05084804d1fb94976f"><divclass="ttname"><ahref="class_b_n_o08x.html#a487391e6b2dd7f05084804d1fb94976f">BNO08x::get_magf_accuracy</a></div><divclass="ttdeci">uint8_t get_magf_accuracy()</div><divclass="ttdoc">Get accuracy of reported magnetic field vector.</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:1354</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a4882dbc698d7b730f57e2401037766a9"><divclass="ttname"><ahref="class_b_n_o08x.html#a4882dbc698d7b730f57e2401037766a9">BNO08x::isr_service_installed</a></div><divclass="ttdeci">static bool isr_service_installed</div><divclass="ttdoc">true of the isr service has been installed, only has to be done once regardless of how many devices a...</div><divclass="ttdef"><b>Definition</b> BNO08x.hpp:3</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a4c6353e795f734ed28613f9a3d161ea2"><divclass="ttname"><ahref="class_b_n_o08x.html#a4c6353e795f734ed28613f9a3d161ea2">BNO08x::queue_tare_command</a></div><divclass="ttdeci">void queue_tare_command(uint8_t command, uint8_t axis=TARE_AXIS_ALL, uint8_t rotation_vector_basis=TARE_ROTATION_VECTOR)</div><divclass="ttdoc">Queues a packet containing a command related to zeroing sensor's axes. (See Ref. Manual 6....</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:2380</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a4d3746a376a22acb7a2641bb750c4c89"><divclass="ttname"><ahref="class_b_n_o08x.html#a4d3746a376a22acb7a2641bb750c4c89">BNO08x::get_gyro_calibrated_velocity</a></div><divclass="ttdeci">void get_gyro_calibrated_velocity(float &x, float &y, float &z, uint8_t &accuracy)</div><divclass="ttdoc">Get full rotational velocity with drift compensation (units in Rad/s).</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:1833</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a5622b4d1754648ea7eb400c1adf9e807"><divclass="ttname"><ahref="class_b_n_o08x.html#a5622b4d1754648ea7eb400c1adf9e807">BNO08x::get_gravity_Z</a></div><divclass="ttdeci">float get_gravity_Z()</div><divclass="ttdoc">Get the reported z axis gravity.</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:1402</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a584bfa04a39feb93279ee673c340db54"><divclass="ttname"><ahref="class_b_n_o08x.html#a584bfa04a39feb93279ee673c340db54">BNO08x::CALIBRATE_STOP</a></div><divclass="ttdeci">static const constexpr uint8_t CALIBRATE_STOP</div><divclass="ttdoc">Stop calibration command used by queue_calibrate_command.</div><divclass="ttdef"><b>Definition</b> BNO08x.hpp:359</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a5a556c5ec1baaa7f1156779dbe47a7b7"><divclass="ttname"><ahref="class_b_n_o08x.html#a5a556c5ec1baaa7f1156779dbe47a7b7">BNO08x::get_quat_real</a></div><divclass="ttdeci">float get_quat_real()</div><divclass="ttdoc">Get real component of reported quaternion.</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:1590</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a5b1f13a3170f1c8fdcc886353efa0c08"><divclass="ttname"><ahref="class_b_n_o08x.html#a5b1f13a3170f1c8fdcc886353efa0c08">BNO08x::tx_packet_queued</a></div><divclass="ttdeci">volatile uint8_t tx_packet_queued</div><divclass="ttdoc">Whether or not a packet is currently waiting to be sent, a queued packet is sent on assertion of BNO0...</div><divclass="ttdef"><b>Definition</b> BNO08x.hpp:290</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a639cb013ed17e0f33057742fac97f1a2"><divclass="ttname"><ahref="class_b_n_o08x.html#a639cb013ed17e0f33057742fac97f1a2">BNO08x::enable_game_rotation_vector</a></div><divclass="ttdeci">void enable_game_rotation_vector(uint16_t time_between_reports)</div><divclass="ttdoc">Sends command to enable game rotation vector reports (See Ref. Manual 6.5.19)</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:1002</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a64d3e41750c6de9413d6982511f78f17"><divclass="ttname"><ahref="class_b_n_o08x.html#a64d3e41750c6de9413d6982511f78f17">BNO08x::get_yaw</a></div><divclass="ttdeci">float get_yaw()</div><divclass="ttdoc">Get the reported rotation about z axis.</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:1478</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a67d0b5302a60083cef1b31936e2b65d8"><divclass="ttname"><ahref="class_b_n_o08x.html#a67d0b5302a60083cef1b31936e2b65d8">BNO08x::queue_packet</a></div><divclass="ttdeci">void queue_packet(uint8_t channel_number, uint8_t data_length)</div><divclass="ttdoc">Queues an SHTP packet to be sent via SPI.</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:383</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a6c004a16b146527aa9eeeb6ff37db281"><divclass="ttname"><ahref="class_b_n_o08x.html#a6c004a16b146527aa9eeeb6ff37db281">BNO08x::queue_feature_command</a></div><divclass="ttdeci">void queue_feature_command(uint8_t report_ID, uint16_t time_between_reports)</div><divclass="ttdoc">Queues a packet containing a command with a request for sensor reports, reported periodically....</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:2404</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a6fbc6d086654b022a3ea53dfacd4fdf5"><divclass="ttname"><ahref="class_b_n_o08x.html#a6fbc6d086654b022a3ea53dfacd4fdf5">BNO08x::packet_length_tx</a></div><divclass="ttdeci">uint16_t packet_length_tx</div><divclass="ttdoc">Packet length to be sent with send_packet()</div><divclass="ttdef"><b>Definition</b> BNO08x.hpp:301</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a7077b9a130f1dcf0192454e387968dd6"><divclass="ttname"><ahref="class_b_n_o08x.html#a7077b9a130f1dcf0192454e387968dd6">BNO08x::get_roll_deg</a></div><divclass="ttdeci">float get_roll_deg()</div><divclass="ttdoc">Get the reported rotation about x axis.</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:1505</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a718cdd910e5e7e03fd0a1ad04ee6f0ce"><divclass="ttname"><ahref="class_b_n_o08x.html#a718cdd910e5e7e03fd0a1ad04ee6f0ce">BNO08x::get_raw_accel_Z</a></div><divclass="ttdeci">int16_t get_raw_accel_Z()</div><divclass="ttdoc">Get raw accelerometer z axis reading from physical accelerometer MEMs sensor (See Ref....</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:1758</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a71ca35f78b98d93d31eb0c187dc8543b"><divclass="ttname"><ahref="class_b_n_o08x.html#a71ca35f78b98d93d31eb0c187dc8543b">BNO08x::calibration_complete</a></div><divclass="ttdeci">bool calibration_complete()</div><divclass="ttdoc">Returns true if calibration has completed.</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:587</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a74d936708ba924b6ba21004ff9a0b30b"><divclass="ttname"><ahref="class_b_n_o08x.html#a74d936708ba924b6ba21004ff9a0b30b">BNO08x::tx_buffer</a></div><divclass="ttdeci">uint8_t tx_buffer[50]</div><divclass="ttdoc">buffer used for sending packet with send_packet()</div><divclass="ttdef"><b>Definition</b> BNO08x.hpp:295</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a75cea49c1c08ca28d9fa7e5ed61c6e7b"><divclass="ttname"><ahref="class_b_n_o08x.html#a75cea49c1c08ca28d9fa7e5ed61c6e7b">BNO08x::activity_classifier</a></div><divclass="ttdeci">uint8_t activity_classifier</div><divclass="ttdoc">Activity status reading (See SH-2 Ref. Manual 6.5.36)</div><divclass="ttdef"><b>Definition</b> BNO08x.hpp:330</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a7619b598cc8e768c4df4805b2958a2c8"><divclass="ttname"><ahref="class_b_n_o08x.html#a7619b598cc8e768c4df4805b2958a2c8">BNO08x::enable_gyro</a></div><divclass="ttdeci">void enable_gyro(uint16_t time_between_reports)</div><divclass="ttdoc">Sends command to enable gyro reports (See Ref. Manual 6.5.13)</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:1106</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a763c3a9699a1081d430fd9b9b7bc49a3"><divclass="ttname"><ahref="class_b_n_o08x.html#a763c3a9699a1081d430fd9b9b7bc49a3">BNO08x::get_linear_accel_X</a></div><divclass="ttdeci">float get_linear_accel_X()</div><divclass="ttdoc">Get x axis linear acceleration (acceleration of device minus gravity, units in m/s^2)</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:1698</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a7a85ccea09eadf865e8bbbf00d800e64"><divclass="ttname"><ahref="class_b_n_o08x.html#a7a85ccea09eadf865e8bbbf00d800e64">BNO08x::rx_buffer</a></div><divclass="ttdeci">uint8_t rx_buffer[300]</div><divclass="ttdoc">buffer used to receive packet with receive_packet()</div><divclass="ttdef"><b>Definition</b> BNO08x.hpp:294</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a7ba1d779ed68edf30090dd0f938a5709"><divclass="ttname"><ahref="class_b_n_o08x.html#a7ba1d779ed68edf30090dd0f938a5709">BNO08x::parse_input_report</a></div><divclass="ttdeci">uint16_t parse_input_report()</div><divclass="ttdoc">Parses received input report sent by BNO08x.</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:791</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a7bd032712a975e73e66bd72a3502baba"><divclass="ttname"><ahref="class_b_n_o08x.html#a7bd032712a975e73e66bd72a3502baba">BNO08x::meta_data</a></div><divclass="ttdeci">uint32_t meta_data[9]</div><divclass="ttdoc">First 9 bytes of meta data returned from FRS read operation (we don't really need the rest) (See Ref....</div><divclass="ttdef"><b>Definition</b> BNO08x.hpp:299</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a804b95c58c30d36933fd251626b85bf7"><divclass="ttname"><ahref="class_b_n_o08x.html#a804b95c58c30d36933fd251626b85bf7">BNO08x::hint_handler</a></div><divclass="ttdeci">static void IRAM_ATTR hint_handler(void *arg)</div><divclass="ttdoc">HINT interrupt service routine, handles falling edge of BNO08x HINT pin.</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:2451</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a82ed8d7b9a5c25374839df75a3d220ea"><divclass="ttname"><ahref="class_b_n_o08x.html#a82ed8d7b9a5c25374839df75a3d220ea">BNO08x::get_magf_Y</a></div><divclass="ttdeci">float get_magf_Y()</div><divclass="ttdoc">Get Y component of magnetic field vector.</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:1332</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a8381dfe403ddff522f172cb16780731a"><divclass="ttname"><ahref="class_b_n_o08x.html#a8381dfe403ddff522f172cb16780731a">BNO08x::COMMAND_ME_CALIBRATE</a></div><divclass="ttdeci">static const constexpr uint8_t COMMAND_ME_CALIBRATE</div><divclass="ttdoc">Command and response to configure ME calibration (See SH2 Ref. Manual 6.4.7)</div><divclass="ttdef"><b>Definition</b> BNO08x.hpp:367</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a88679bccd9339b87ec35fc4fc4e745ae"><divclass="ttname"><ahref="class_b_n_o08x.html#a88679bccd9339b87ec35fc4fc4e745ae">BNO08x::get_gravity_X</a></div><divclass="ttdeci">float get_gravity_X()</div><divclass="ttdoc">Get the reported x axis gravity.</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:1382</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a89618eba08186ee8e679e7313907ddef"><divclass="ttname"><ahref="class_b_n_o08x.html#a89618eba08186ee8e679e7313907ddef">BNO08x::get_roll</a></div><divclass="ttdeci">float get_roll()</div><divclass="ttdoc">Get the reported rotation about x axis.</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:1422</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a8a36db7f1c932f33e05e494632059801"><divclass="ttname"><ahref="class_b_n_o08x.html#a8a36db7f1c932f33e05e494632059801">BNO08x::get_gravity_Y</a></div><divclass="ttdeci">float get_gravity_Y()</div><divclass="ttdoc">Get the reported y axis gravity.</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:1392</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a908264b797fff9dc6679abde5e7584a5"><divclass="ttname"><ahref="class_b_n_o08x.html#a908264b797fff9dc6679abde5e7584a5">BNO08x::packet_header_rx</a></div><divclass="ttdeci">uint8_t packet_header_rx[4]</div><divclass="ttdoc">SHTP header received with receive_packet()</div><divclass="ttdef"><b>Definition</b> BNO08x.hpp:296</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a90f0cdf11decc276006f76a494d42ce3"><divclass="ttname"><ahref="class_b_n_o08x.html#a90f0cdf11decc276006f76a494d42ce3">BNO08x::mems_raw_magf_Z</a></div><divclass="ttdeci">uint16_t mems_raw_magf_Z</div><divclass="ttdoc">Raw magnetometer (compass) readings from MEMS sensor (See SH-2 Ref. Manual 6.5.15)</div><divclass="ttdef"><b>Definition</b> BNO08x.hpp:338</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a919c7d94226f4c6adbb8edf6fd1613a9"><divclass="ttname"><ahref="class_b_n_o08x.html#a919c7d94226f4c6adbb8edf6fd1613a9">BNO08x::enable_tap_detector</a></div><divclass="ttdeci">void enable_tap_detector(uint16_t time_between_reports)</div><divclass="ttdoc">Sends command to enable tap detector reports (See Ref. Manual 6.5.27)</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:1145</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a923d65d8568cc31873ad56a3908e1939"><divclass="ttname"><ahref="class_b_n_o08x.html#a923d65d8568cc31873ad56a3908e1939">BNO08x::ROTATION_VECTOR_ACCURACY_Q1</a></div><divclass="ttdeci">static const constexpr int16_t ROTATION_VECTOR_ACCURACY_Q1</div><divclass="ttdoc">Rotation vector accuracy estimate Q point (See SH-2 Ref. Manual 6.5.18)</div><divclass="ttdef"><b>Definition</b> BNO08x.hpp:267</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a9329c6669282071622c3b3741b1b8142"><divclass="ttname"><ahref="class_b_n_o08x.html#a9329c6669282071622c3b3741b1b8142">BNO08x::get_accel</a></div><divclass="ttdeci">void get_accel(float &x, float &y, float &z, uint8_t &accuracy)</div><divclass="ttdoc">Get full acceleration (total acceleration of device, units in m/s^2).</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:1627</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a954dccdcbe8a8c4f1787f13ebb8d932b"><divclass="ttname"><ahref="class_b_n_o08x.html#a954dccdcbe8a8c4f1787f13ebb8d932b">BNO08x::get_Q2</a></div><divclass="ttdeci">int16_t get_Q2(uint16_t record_ID)</div><divclass="ttdoc">Gets Q2 point from BNO08x FRS (flash record system).</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:2165</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a955dcb60da150490e17367a871b3a3d2"><divclass="ttname"><ahref="class_b_n_o08x.html#a955dcb60da150490e17367a871b3a3d2">BNO08x::CALIBRATE_PLANAR_ACCEL</a></div><divclass="ttdeci">static const constexpr uint8_t CALIBRATE_PLANAR_ACCEL</div><divclass="ttdoc">Calibrate planar acceleration command used by queue_calibrate_command.</div><divclass="ttdef"><b>Definition</b> BNO08x.hpp:356</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a96563de0eb597a52d595d19da827b1ac"><divclass="ttname"><ahref="class_b_n_o08x.html#a96563de0eb597a52d595d19da827b1ac">BNO08x::get_raw_accel_Y</a></div><divclass="ttdeci">int16_t get_raw_accel_Y()</div><divclass="ttdoc">Get raw accelerometer y axis reading from physical accelerometer MEMs sensor (See Ref....</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:1748</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a973a1b1785f3302ee1b2702c6a27646e"><divclass="ttname"><ahref="class_b_n_o08x.html#a973a1b1785f3302ee1b2702c6a27646e">BNO08x::soft_reset</a></div><divclass="ttdeci">bool soft_reset()</div><divclass="ttdoc">Soft resets BNO08x sensor using executable channel.</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:241</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a982f065df42f00e53fd87c840efdb0f1"><divclass="ttname"><ahref="class_b_n_o08x.html#a982f065df42f00e53fd87c840efdb0f1">BNO08x::bus_config</a></div><divclass="ttdeci">spi_bus_config_t bus_config</div><divclass="ttdoc">SPI bus GPIO configuration settings.</div><divclass="ttdef"><b>Definition</b> BNO08x.hpp:305</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a988c45b4afa4dcd6a24610ff308c1faa"><divclass="ttname"><ahref="class_b_n_o08x.html#a988c45b4afa4dcd6a24610ff308c1faa">BNO08x::wait_for_device_int</a></div><divclass="ttdeci">bool wait_for_device_int()</div><divclass="ttdoc">Re-enables interrupts and waits for BNO08x to assert HINT pin.</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:192</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a98ea35dd0fbd0c409d25fd8a6ed9f277"><divclass="ttname"><ahref="class_b_n_o08x.html#a98ea35dd0fbd0c409d25fd8a6ed9f277">BNO08x::gyro_accuracy</a></div><divclass="ttdeci">uint16_t gyro_accuracy</div><divclass="ttdoc">Raw gyro reading (See SH-2 Ref. Manual 6.5.13)</div><divclass="ttdef"><b>Definition</b> BNO08x.hpp:316</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a99c1bcc2ec3ca3d8feafd6dd61f9d269"><divclass="ttname"><ahref="class_b_n_o08x.html#a99c1bcc2ec3ca3d8feafd6dd61f9d269">BNO08x::get_raw_magf_Z</a></div><divclass="ttdeci">int16_t get_raw_magf_Z()</div><divclass="ttdoc">Get raw magnetometer z axis reading from physical magnetometer sensor (See Ref. Manual 6....</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:1818</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a9ada90f8ab6dd33fa2d7c168d9234af1"><divclass="ttname"><ahref="class_b_n_o08x.html#a9ada90f8ab6dd33fa2d7c168d9234af1">BNO08x::calibrate_gyro</a></div><divclass="ttdeci">void calibrate_gyro()</div><divclass="ttdoc">Sends command to calibrate gyro.</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:486</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a9cc47f0e5b7d679c80992c993a910ccf"><divclass="ttname"><ahref="class_b_n_o08x.html#a9cc47f0e5b7d679c80992c993a910ccf">BNO08x::get_readings</a></div><divclass="ttdeci">uint16_t get_readings()</div><divclass="ttdoc">Waits for BNO08x HINT pin to assert, and parses the received data.</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:735</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a9f42c70c2337a0d831064a40ecfe2dd8"><divclass="ttname"><ahref="class_b_n_o08x.html#a9f42c70c2337a0d831064a40ecfe2dd8">BNO08x::get_quat_K</a></div><divclass="ttdeci">float get_quat_K()</div><divclass="ttdoc">Get K component of reported quaternion.</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:1579</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a9f6bb642fa0297a7b9bcc94dd7374015"><divclass="ttname"><ahref="class_b_n_o08x.html#a9f6bb642fa0297a7b9bcc94dd7374015">BNO08x::get_quat_J</a></div><divclass="ttdeci">float get_quat_J()</div><divclass="ttdoc">Get J component of reported quaternion.</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:1568</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_a9fac9b811b7c2117675a784cb4df204c"><divclass="ttname"><ahref="class_b_n_o08x.html#a9fac9b811b7c2117675a784cb4df204c">BNO08x::MAGNETOMETER_Q1</a></div><divclass="ttdeci">static const constexpr int16_t MAGNETOMETER_Q1</div><divclass="ttdoc">Magnetometer Q point (See SH-2 Ref. Manual 6.5.16)</div><divclass="ttdef"><b>Definition</b> BNO08x.hpp:271</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_aa16609de88bfb7b389348859aa0cee54"><divclass="ttname"><ahref="class_b_n_o08x.html#aa16609de88bfb7b389348859aa0cee54">BNO08x::save_calibration</a></div><divclass="ttdeci">void save_calibration()</div><divclass="ttdoc">Sends command to save internal calibration data (See Ref. Manual 6.4.7).</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:612</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_aa3bec8effefa61cec6fa170e9d02c4dd"><divclass="ttname"><ahref="class_b_n_o08x.html#aa3bec8effefa61cec6fa170e9d02c4dd">BNO08x::GYRO_Q1</a></div><divclass="ttdeci">static const constexpr int16_t GYRO_Q1</div><divclass="ttdoc">Gyro Q point (See SH-2 Ref. Manual 6.5.13)</div><divclass="ttdef"><b>Definition</b> BNO08x.hpp:270</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_aa722dbc6f6f07c63e9ea2a9271614af3"><divclass="ttname"><ahref="class_b_n_o08x.html#aa722dbc6f6f07c63e9ea2a9271614af3">BNO08x::sequence_number</a></div><divclass="ttdeci">uint8_t sequence_number[6]</div><divclass="ttdoc">Sequence num of each com channel, 6 in total.</div><divclass="ttdef"><b>Definition</b> BNO08x.hpp:298</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_ab4c48a91d2f8b29430abc17b7f015282"><divclass="ttname"><ahref="class_b_n_o08x.html#ab4c48a91d2f8b29430abc17b7f015282">BNO08x::get_magf_Z</a></div><divclass="ttdeci">float get_magf_Z()</div><divclass="ttdoc">Get Z component of magnetic field vector.</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:1343</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_ab5f200069a2f8cb74cb79c6f162da5a1"><divclass="ttname"><ahref="class_b_n_o08x.html#ab5f200069a2f8cb74cb79c6f162da5a1">BNO08x::queue_request_product_id_command</a></div><divclass="ttdeci">void queue_request_product_id_command()</div><divclass="ttdoc">Queues a packet containing the request product ID command.</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:450</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_abc972db20affbd0040b4e6c4892dd57b"><divclass="ttname"><ahref="class_b_n_o08x.html#abc972db20affbd0040b4e6c4892dd57b">BNO08x::time_stamp</a></div><divclass="ttdeci">uint32_t time_stamp</div><divclass="ttdoc">Report timestamp (see datasheet 1.3.5.3)</div><divclass="ttdef"><b>Definition</b> BNO08x.hpp:311</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_abce574112a9079d2cbc58cfc352b8a69"><divclass="ttname"><ahref="class_b_n_o08x.html#abce574112a9079d2cbc58cfc352b8a69">BNO08x::get_accel_X</a></div><divclass="ttdeci">float get_accel_X()</div><divclass="ttdoc">Get x axis acceleration (total acceleration of device, units in m/s^2).</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:1640</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_abe9acd2eb1ce2f2e72b7a48c8d025cc4"><divclass="ttname"><ahref="class_b_n_o08x.html#abe9acd2eb1ce2f2e72b7a48c8d025cc4">BNO08x::enable_rotation_vector</a></div><divclass="ttdeci">void enable_rotation_vector(uint16_t time_between_reports)</div><divclass="ttdoc">Sends command to enable rotation vector reports (See Ref. Manual 6.5.18)</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:1015</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_ac00e8b59ae8d710cf79956eaafa97ddb"><divclass="ttname"><ahref="class_b_n_o08x.html#ac00e8b59ae8d710cf79956eaafa97ddb">BNO08x::CALIBRATE_MAG</a></div><divclass="ttdeci">static const constexpr uint8_t CALIBRATE_MAG</div><divclass="ttdoc">Calibrate magnetometer command used by queue_calibrate_command.</div><divclass="ttdef"><b>Definition</b> BNO08x.hpp:355</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_ac1b3de9b552c611ee9c455d7f19be698"><divclass="ttname"><ahref="class_b_n_o08x.html#ac1b3de9b552c611ee9c455d7f19be698">BNO08x::mode_on</a></div><divclass="ttdeci">bool mode_on()</div><divclass="ttdoc">Turns on/ brings BNO08x sensor out of sleep mode using executable channel.</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:288</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_ac1daa730e75d17e6afd1edaa288260ae"><divclass="ttname"><ahref="class_b_n_o08x.html#ac1daa730e75d17e6afd1edaa288260ae">BNO08x::command_sequence_number</a></div><divclass="ttdeci">uint8_t command_sequence_number</div><divclass="ttdoc">Sequence num of command, sent within command packet.</div><divclass="ttdef"><b>Definition</b> BNO08x.hpp:300</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_ac26350b55095a346d72598ab8aa74b4a"><divclass="ttname"><ahref="class_b_n_o08x.html#ac26350b55095a346d72598ab8aa74b4a">BNO08x::calibrate_magnetometer</a></div><divclass="ttdeci">void calibrate_magnetometer()</div><divclass="ttdoc">Sends command to calibrate magnetometer.</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:498</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_ac35d5b12721ab876eaeb1f714a9b3b1d"><divclass="ttname"><ahref="class_b_n_o08x.html#ac35d5b12721ab876eaeb1f714a9b3b1d">BNO08x::mems_raw_gyro_Z</a></div><divclass="ttdeci">uint16_t mems_raw_gyro_Z</div><divclass="ttdoc">Raw gyro readings from MEMS sensor (See SH-2 Ref. Manual 6.5.12)</div><divclass="ttdef"><b>Definition</b> BNO08x.hpp:336</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_ac5d4e151690774687efa951ca41c16ae"><divclass="ttname"><ahref="class_b_n_o08x.html#ac5d4e151690774687efa951ca41c16ae">BNO08x::magf_accuracy</a></div><divclass="ttdeci">uint16_t magf_accuracy</div><divclass="ttdoc">Calibrated magnetic field reading in uTesla (See SH-2 Ref. Manual 6.5.16)</div><divclass="ttdef"><b>Definition</b> BNO08x.hpp:326</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_ac7b5815c5ad8b83a34ad0855423601e8"><divclass="ttname"><ahref="class_b_n_o08x.html#ac7b5815c5ad8b83a34ad0855423601e8">BNO08x::enable_uncalibrated_gyro</a></div><divclass="ttdeci">void enable_uncalibrated_gyro(uint16_t time_between_reports)</div><divclass="ttdoc">Sends command to enable uncalibrated gyro reports (See Ref. Manual 6.5.14)</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:1119</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_ac9d9b6636745e8180807284da67c92a2"><divclass="ttname"><ahref="class_b_n_o08x.html#ac9d9b6636745e8180807284da67c92a2">BNO08x::end_calibration</a></div><divclass="ttdeci">void end_calibration()</div><divclass="ttdoc">Sends command to end calibration procedure.</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:600</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_acbca88b37c8c5a590ca971b241dac64f"><divclass="ttname"><ahref="class_b_n_o08x.html#acbca88b37c8c5a590ca971b241dac64f">BNO08x::commands</a></div><divclass="ttdeci">uint8_t commands[20]</div><divclass="ttdoc">Command to be sent with send_packet()</div><divclass="ttdef"><b>Definition</b> BNO08x.hpp:297</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_accd39f48e9f8ab8267df7184b5b7cd76"><divclass="ttname"><ahref="class_b_n_o08x.html#accd39f48e9f8ab8267df7184b5b7cd76">BNO08x::get_gravity_accuracy</a></div><divclass="ttdeci">uint8_t get_gravity_accuracy()</div><divclass="ttdoc">Get the reported gravity accuracy.</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:1412</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_acd1819a81818f90dc105950b4a7d0b04"><divclass="ttname"><ahref="class_b_n_o08x.html#acd1819a81818f90dc105950b4a7d0b04">BNO08x::get_gyro_velocity_Y</a></div><divclass="ttdeci">float get_gyro_velocity_Y()</div><divclass="ttdoc">Get y axis angular velocity from gyro-integrated rotation vector. (See Ref. Manual 6....</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:2007</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_acd376cd3e454a87198ec86accbf2ee00"><divclass="ttname"><ahref="class_b_n_o08x.html#acd376cd3e454a87198ec86accbf2ee00">BNO08x::get_gyro_velocity_X</a></div><divclass="ttdeci">float get_gyro_velocity_X()</div><divclass="ttdoc">Get x axis angular velocity from gyro-integrated rotation vector. (See Ref. Manual 6....</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:1997</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_acd5b44d705af1f9aaa271a59a9d2d595"><divclass="ttname"><ahref="class_b_n_o08x.html#acd5b44d705af1f9aaa271a59a9d2d595">BNO08x::CALIBRATE_ACCEL</a></div><divclass="ttdeci">static const constexpr uint8_t CALIBRATE_ACCEL</div><divclass="ttdoc">Calibrate accelerometer command used by queue_calibrate_command.</div><divclass="ttdef"><b>Definition</b> BNO08x.hpp:353</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_acf4a83a44a221f6495263f00f1b8d849"><divclass="ttname"><ahref="class_b_n_o08x.html#acf4a83a44a221f6495263f00f1b8d849">BNO08x::enable_magnetometer</a></div><divclass="ttdeci">void enable_magnetometer(uint16_t time_between_reports)</div><divclass="ttdoc">Sends command to enable magnetometer reports (See Ref. Manual 6.5.16)</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:1132</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_ad097849616c5caab1fd3eb3632ee2b91"><divclass="ttname"><ahref="class_b_n_o08x.html#ad097849616c5caab1fd3eb3632ee2b91">BNO08x::queue_calibrate_command</a></div><divclass="ttdeci">void queue_calibrate_command(uint8_t _to_calibrate)</div><divclass="ttdoc">Queues a packet containing a command to calibrate the specified sensor.</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:523</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_ad0d37fe07ced24f2c9afc21145a74e7b"><divclass="ttname"><ahref="class_b_n_o08x.html#ad0d37fe07ced24f2c9afc21145a74e7b">BNO08x::LINEAR_ACCELEROMETER_Q1</a></div><divclass="ttdeci">static const constexpr int16_t LINEAR_ACCELEROMETER_Q1</div><divclass="ttdoc">Linear acceleration Q point (See SH-2 Ref. Manual 6.5.10)</div><divclass="ttdef"><b>Definition</b> BNO08x.hpp:269</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_ad1ca07ee06ef98d4e11a74dde18e9623"><divclass="ttname"><ahref="class_b_n_o08x.html#ad1ca07ee06ef98d4e11a74dde18e9623">BNO08x::enable_raw_magnetometer</a></div><divclass="ttdeci">void enable_raw_magnetometer(uint16_t time_between_reports)</div><divclass="ttdoc">Sends command to enable raw magnetometer reports (See Ref. Manual 6.5.15)</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:1226</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_ad212b5028a31e857e76d251ced2724e1"><divclass="ttname"><ahref="class_b_n_o08x.html#ad212b5028a31e857e76d251ced2724e1">BNO08x::calibration_status</a></div><divclass="ttdeci">uint8_t calibration_status</div><divclass="ttdoc">Calibration status of device (See SH-2 Ref. Manual 6.4.7.1 & 6.4.7.2)</div><divclass="ttdef"><b>Definition</b> BNO08x.hpp:332</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_ad228cdf352b7ea95e484da993045a47b"><divclass="ttname"><ahref="class_b_n_o08x.html#ad228cdf352b7ea95e484da993045a47b">BNO08x::get_uncalibrated_gyro_bias_X</a></div><divclass="ttdeci">float get_uncalibrated_gyro_bias_X()</div><divclass="ttdoc">Get uncalibrated gyro x axis drift estimate.</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:1941</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_ad3724e7e602feb2b695d2d88a61d5328"><divclass="ttname"><ahref="class_b_n_o08x.html#ad3724e7e602feb2b695d2d88a61d5328">BNO08x::enable_linear_accelerometer</a></div><divclass="ttdeci">void enable_linear_accelerometer(uint16_t time_between_reports)</div><divclass="ttdoc">Sends command to enable linear accelerometer reports (See Ref. Manual 6.5.10)</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:1080</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_ad4fab6e636e239d4b9273f158983ed89"><divclass="ttname"><ahref="class_b_n_o08x.html#ad4fab6e636e239d4b9273f158983ed89">BNO08x::get_gyro_calibrated_velocity_Y</a></div><divclass="ttdeci">float get_gyro_calibrated_velocity_Y()</div><divclass="ttdoc">Get calibrated gyro y axis angular velocity measurement.</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:1856</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_ad550085fa1b51495ce3d8894538f33d5"><divclass="ttname"><ahref="class_b_n_o08x.html#ad550085fa1b51495ce3d8894538f33d5">BNO08x::enable_step_counter</a></div><divclass="ttdeci">void enable_step_counter(uint16_t time_between_reports)</div><divclass="ttdoc">Sends command to enable step counter reports (See Ref. Manual 6.5.29)</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:1158</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_ad59b029d04341dbef72e059488951980"><divclass="ttname"><ahref="class_b_n_o08x.html#ad59b029d04341dbef72e059488951980">BNO08x::get_linear_accel</a></div><divclass="ttdeci">void get_linear_accel(float &x, float &y, float &z, uint8_t &accuracy)</div><divclass="ttdoc">Get full linear acceleration (acceleration of the device minus gravity, units in m/s^2).</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:1685</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_ad6adf3b24a8a559d3bb57e6abcef4ce8"><divclass="ttname"><ahref="class_b_n_o08x.html#ad6adf3b24a8a559d3bb57e6abcef4ce8">BNO08x::enable_raw_accelerometer</a></div><divclass="ttdeci">void enable_raw_accelerometer(uint16_t time_between_reports)</div><divclass="ttdoc">Sends command to enable raw accelerometer reports (See Ref. Manual 6.5.8)</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:1200</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_ad80a77973371b12d722ea39063c648be"><divclass="ttname"><ahref="class_b_n_o08x.html#ad80a77973371b12d722ea39063c648be">BNO08x::step_count</a></div><divclass="ttdeci">uint16_t step_count</div><divclass="ttdoc">Step counter reading (See SH-2 Ref. Manual 6.5.29)</div><divclass="ttdef"><b>Definition</b> BNO08x.hpp:328</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_ad9137777271421a58159f3fe5e05ed20"><divclass="ttname"><ahref="class_b_n_o08x.html#ad9137777271421a58159f3fe5e05ed20">BNO08x::get_time_stamp</a></div><divclass="ttdeci">uint32_t get_time_stamp()</div><divclass="ttdoc">Return timestamp of most recent report.</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:1293</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_ad9e26658c53c728d7d10381db680765e"><divclass="ttname"><ahref="class_b_n_o08x.html#ad9e26658c53c728d7d10381db680765e">BNO08x::enable_ARVR_stabilized_game_rotation_vector</a></div><divclass="ttdeci">void enable_ARVR_stabilized_game_rotation_vector(uint16_t time_between_reports)</div><divclass="ttdoc">Sends command to enable ARVR stabilized game rotation vector reports (See Ref. Manual 6....</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:1041</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_adaff49f3d80fdd19fd4210f0c56d41ef"><divclass="ttname"><ahref="class_b_n_o08x.html#adaff49f3d80fdd19fd4210f0c56d41ef">BNO08x::get_step_count</a></div><divclass="ttdeci">uint16_t get_step_count()</div><divclass="ttdoc">Get the counted amount of steps.</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:2039</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_adf12600b39de41d258439a343fcc1ad8"><divclass="ttname"><ahref="class_b_n_o08x.html#adf12600b39de41d258439a343fcc1ad8">BNO08x::get_raw_magf_X</a></div><divclass="ttdeci">int16_t get_raw_magf_X()</div><divclass="ttdoc">Get raw magnetometer x axis reading from physical magnetometer sensor (See Ref. Manual 6....</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:1798</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_adf789e709ac1667656db757c8d559af9"><divclass="ttname"><ahref="class_b_n_o08x.html#adf789e709ac1667656db757c8d559af9">BNO08x::FRS_read_request</a></div><divclass="ttdeci">bool FRS_read_request(uint16_t record_ID, uint16_t read_offset, uint16_t block_size)</div><divclass="ttdoc">Requests meta data from BNO08x FRS (flash record system) given the record ID. Contains Q points and o...</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:2251</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_ae01698d287ea999179a11e2244902022"><divclass="ttname"><ahref="class_b_n_o08x.html#ae01698d287ea999179a11e2244902022">BNO08x::gravity_accuracy</a></div><divclass="ttdeci">uint16_t gravity_accuracy</div><divclass="ttdoc">Gravity reading in m/s^2 (See SH-2 Ref. Manual 6.5.11)</div><divclass="ttdef"><b>Definition</b> BNO08x.hpp:322</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_ae10722334dfce9635e76519598e165a2"><divclass="ttname"><ahref="class_b_n_o08x.html#ae10722334dfce9635e76519598e165a2">BNO08x::GRAVITY_Q1</a></div><divclass="ttdeci">static const constexpr int16_t GRAVITY_Q1</div><divclass="ttdoc">Gravity Q point (See SH-2 Ref. Manual 6.5.11)</div><divclass="ttdef"><b>Definition</b> BNO08x.hpp:273</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_ae2add976af256ec981248371a2f58207"><divclass="ttname"><ahref="class_b_n_o08x.html#ae2add976af256ec981248371a2f58207">BNO08x::get_gyro_velocity_Z</a></div><divclass="ttdeci">float get_gyro_velocity_Z()</div><divclass="ttdoc">Get z axis angular velocity from gyro-integrated rotation vector. (See Ref. Manual 6....</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:2017</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_ae540799865934fcff54caed0772df071"><divclass="ttname"><ahref="class_b_n_o08x.html#ae540799865934fcff54caed0772df071">BNO08x::receive_packet</a></div><divclass="ttdeci">bool receive_packet()</div><divclass="ttdoc">Receives a SHTP packet via SPI.</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:332</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_ae6e875a27ae74ebed806ee1a4576845a"><divclass="ttname"><ahref="class_b_n_o08x.html#ae6e875a27ae74ebed806ee1a4576845a">BNO08x::run_full_calibration_routine</a></div><divclass="ttdeci">bool run_full_calibration_routine()</div><divclass="ttdoc">Runs full calibration routine.</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:631</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_ae7f34752f888c637d5619f898e62a6d4"><divclass="ttname"><ahref="class_b_n_o08x.html#ae7f34752f888c637d5619f898e62a6d4">BNO08x::HOST_INT_TIMEOUT_MS</a></div><divclass="ttdeci">static const constexpr uint64_t HOST_INT_TIMEOUT_MS</div><divclass="ttdoc">Max wait between HINT being asserted by BNO08x before transaction is considered failed (in milisecond...</div><divclass="ttdef"><b>Definition</b> BNO08x.hpp:349</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_aecb3e11c1ca5769fd60f42c17a105731"><divclass="ttname"><ahref="class_b_n_o08x.html#aecb3e11c1ca5769fd60f42c17a105731">BNO08x::TARE_AXIS_Z</a></div><divclass="ttdeci">static const constexpr uint8_t TARE_AXIS_Z</div><divclass="ttdoc">Tar yaw axis only (used with tare now command)</div><divclass="ttdef"><b>Definition</b> BNO08x.hpp:256</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_aee2d0bcb8e9d7bacacccacbb04ded661"><divclass="ttname"><ahref="class_b_n_o08x.html#aee2d0bcb8e9d7bacacccacbb04ded661">BNO08x::tx_semaphore</a></div><divclass="ttdeci">SemaphoreHandle_t tx_semaphore</div><divclass="ttdoc">Mutex semaphore used to prevent sending or receiving of packets if packet is currently being queued.</div><divclass="ttdef"><b>Definition</b> BNO08x.hpp:291</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_af1b2c3a383a84fc6dfaddae1052b44d4"><divclass="ttname"><ahref="class_b_n_o08x.html#af1b2c3a383a84fc6dfaddae1052b44d4">BNO08x::get_raw_gyro_X</a></div><divclass="ttdeci">int16_t get_raw_gyro_X()</div><divclass="ttdoc">Get raw gyroscope x axis reading from physical gyroscope MEMs sensor (See Ref. Manual 6....</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:1768</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_af50010400cbd1445e9ddfa259384b412"><divclass="ttname"><ahref="class_b_n_o08x.html#af50010400cbd1445e9ddfa259384b412">BNO08x::get_pitch_deg</a></div><divclass="ttdeci">float get_pitch_deg()</div><divclass="ttdoc">Get the reported rotation about y axis.</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:1515</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_af53d9e99f163d97ef92fe989b1dd25cc"><divclass="ttname"><ahref="class_b_n_o08x.html#af53d9e99f163d97ef92fe989b1dd25cc">BNO08x::CALIBRATE_ACCEL_GYRO_MAG</a></div><divclass="ttdeci">static const constexpr uint8_t CALIBRATE_ACCEL_GYRO_MAG</div><divclass="ttdoc">Calibrate accelerometer, gyro, & magnetometer command used by queue_calibrate_command.</div><divclass="ttdef"><b>Definition</b> BNO08x.hpp:357</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_af65e3fd0bfdb5b82dcf775e2c061c65a"><divclass="ttname"><ahref="class_b_n_o08x.html#af65e3fd0bfdb5b82dcf775e2c061c65a">BNO08x::packet_length_rx</a></div><divclass="ttdeci">uint16_t packet_length_rx</div><divclass="ttdoc">Packet length received (calculated from packet_header_rx)</div><divclass="ttdef"><b>Definition</b> BNO08x.hpp:302</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_af80f7795656e695e036d3b1557aed94c"><divclass="ttname"><ahref="class_b_n_o08x.html#af80f7795656e695e036d3b1557aed94c">BNO08x::get_yaw_deg</a></div><divclass="ttdeci">float get_yaw_deg()</div><divclass="ttdoc">Get the reported rotation about z axis.</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:1525</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_af96e8cd070459f945ffbf01b98106e13"><divclass="ttname"><ahref="class_b_n_o08x.html#af96e8cd070459f945ffbf01b98106e13">BNO08x::activity_confidences</a></div><divclass="ttdeci">uint8_t * activity_confidences</div><divclass="ttdoc">Confidence of read activities (See SH-2 Ref. Manual 6.5.36)</div><divclass="ttdef"><b>Definition</b> BNO08x.hpp:331</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_af984deb77c92746fe4d193457312be63"><divclass="ttname"><ahref="class_b_n_o08x.html#af984deb77c92746fe4d193457312be63">BNO08x::enable_raw_gyro</a></div><divclass="ttdeci">void enable_raw_gyro(uint16_t time_between_reports)</div><divclass="ttdoc">Sends command to enable raw gyro reports (See Ref. Manual 6.5.12)</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:1213</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_afb2ffc4e7ff0498917bc14a83af306e2"><divclass="ttname"><ahref="class_b_n_o08x.html#afb2ffc4e7ff0498917bc14a83af306e2">BNO08x::save_tare</a></div><divclass="ttdeci">void save_tare()</div><divclass="ttdoc">Sends command to save tare into non-volatile memory of BNO08x (See Ref. Manual 6.4....</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:1253</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_afd0ca5f9b9741935543d143a5a43d128"><divclass="ttname"><ahref="class_b_n_o08x.html#afd0ca5f9b9741935543d143a5a43d128">BNO08x::calibrate_all</a></div><divclass="ttdeci">void calibrate_all()</div><divclass="ttdoc">Sends command to calibrate accelerometer, gyro, and magnetometer.</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:462</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_afdf24bb3d54518b23972f21f007817c1"><divclass="ttname"><ahref="class_b_n_o08x.html#afdf24bb3d54518b23972f21f007817c1">BNO08x::get_accel_Y</a></div><divclass="ttdeci">float get_accel_Y()</div><divclass="ttdoc">Get y axis acceleration (total acceleration of device, units in m/s^2).</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:1650</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_afdfa7d50362702da689c5d18bf17fd84"><divclass="ttname"><ahref="class_b_n_o08x.html#afdfa7d50362702da689c5d18bf17fd84">BNO08x::get_linear_accel_Z</a></div><divclass="ttdeci">float get_linear_accel_Z()</div><divclass="ttdoc">Get z axis linear acceleration (acceleration of device minus gravity, units in m/s^2)</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:1718</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_afe39bfdede7b9a2b273983cb29a27d6e"><divclass="ttname"><ahref="class_b_n_o08x.html#afe39bfdede7b9a2b273983cb29a27d6e">BNO08x::clear_tare</a></div><divclass="ttdeci">void clear_tare()</div><divclass="ttdoc">Sends command to clear persistent tare settings in non-volatile memory of BNO08x (See Ref....</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:1265</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_afe6392012669e7ebd1a9e817e2bd313f"><divclass="ttname"><ahref="class_b_n_o08x.html#afe6392012669e7ebd1a9e817e2bd313f">BNO08x::get_gyro_velocity</a></div><divclass="ttdeci">void get_gyro_velocity(float &x, float &y, float &z)</div><divclass="ttdoc">Full rotational velocity from gyro-integrated rotation vector (See Ref. Manual 6.5....</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:1985</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_aff7714441d242b3b9b0c03f94e0a9374"><divclass="ttname"><ahref="class_b_n_o08x.html#aff7714441d242b3b9b0c03f94e0a9374">BNO08x::get_raw_gyro_Y</a></div><divclass="ttdeci">int16_t get_raw_gyro_Y()</div><divclass="ttdoc">Get raw gyroscope y axis reading from physical gyroscope MEMs sensor (See Ref. Manual 6....</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:1778</div></div>
<divclass="ttc"id="aclass_b_n_o08x_html_affaaa35abbb872da5299ebab6e2c9b11"><divclass="ttname"><ahref="class_b_n_o08x.html#affaaa35abbb872da5299ebab6e2c9b11">BNO08x::request_calibration_status</a></div><divclass="ttdeci">void request_calibration_status()</div><divclass="ttdoc">Requests ME calibration status from BNO08x (see Ref. Manual 6.4.7.2)</div><divclass="ttdef"><b>Definition</b> BNO08x.cpp:570</div></div>
<divclass="ttc"id="astructbno08x__config__t_html"><divclass="ttname"><ahref="structbno08x__config__t.html">bno08x_config_t</a></div><divclass="ttdoc">IMU configuration settings passed into constructor.</div><divclass="ttdef"><b>Definition</b> BNO08x.hpp:39</div></div>
<divclass="ttc"id="astructbno08x__config__t_html_a020d2343750bb7debc2a108ae038c9ec"><divclass="ttname"><ahref="structbno08x__config__t.html#a020d2343750bb7debc2a108ae038c9ec">bno08x_config_t::spi_peripheral</a></div><divclass="ttdeci">spi_host_device_t spi_peripheral</div><divclass="ttdoc">SPI peripheral to be used.</div><divclass="ttdef"><b>Definition</b> BNO08x.hpp:40</div></div>
<divclass="ttc"id="astructbno08x__config__t_html_a3cfe965659cfbc6b0c5269bd0211975f"><divclass="ttname"><ahref="structbno08x__config__t.html#a3cfe965659cfbc6b0c5269bd0211975f">bno08x_config_t::io_int</a></div><divclass="ttdeci">gpio_num_t io_int</div><divclass="ttdoc">Chip select pin (connects to BNO08x CS pin)</div><divclass="ttdef"><b>Definition</b> BNO08x.hpp:45</div></div>
<divclass="ttc"id="astructbno08x__config__t_html_a62745c761219139f66ecd173b51577fc"><divclass="ttname"><ahref="structbno08x__config__t.html#a62745c761219139f66ecd173b51577fc">bno08x_config_t::io_rst</a></div><divclass="ttdeci">gpio_num_t io_rst</div><divclass="ttdoc">Host interrupt pin (connects to BNO08x INT pin)</div><divclass="ttdef"><b>Definition</b> BNO08x.hpp:46</div></div>
<divclass="ttc"id="astructbno08x__config__t_html_a639685b91ae3198909d722316495246a"><divclass="ttname"><ahref="structbno08x__config__t.html#a639685b91ae3198909d722316495246a">bno08x_config_t::io_sclk</a></div><divclass="ttdeci">gpio_num_t io_sclk</div><divclass="ttdoc">SCLK pin (connects to BNO08x SCL pin)</div><divclass="ttdef"><b>Definition</b> BNO08x.hpp:43</div></div>
<divclass="ttc"id="astructbno08x__config__t_html_a652ad01310ba21afcae1bb765de51cfe"><divclass="ttname"><ahref="structbno08x__config__t.html#a652ad01310ba21afcae1bb765de51cfe">bno08x_config_t::sclk_speed</a></div><divclass="ttdeci">uint64_t sclk_speed</div><divclass="ttdoc">Desired SPI SCLK speed in Hz (max 3MHz)</div><divclass="ttdef"><b>Definition</b> BNO08x.hpp:48</div></div>
<divclass="ttc"id="astructbno08x__config__t_html_a720c215a75b3922ffa6f683e7ca70abe"><divclass="ttname"><ahref="structbno08x__config__t.html#a720c215a75b3922ffa6f683e7ca70abe">bno08x_config_t::debug_en</a></div><divclass="ttdeci">bool debug_en</div><divclass="ttdoc">Whether or not debugging print statements are enabled.</div><divclass="ttdef"><b>Definition</b> BNO08x.hpp:49</div></div>
<divclass="ttc"id="astructbno08x__config__t_html_a79023fd80039e41a22b7f73ccd5fc861"><divclass="ttname"><ahref="structbno08x__config__t.html#a79023fd80039e41a22b7f73ccd5fc861">bno08x_config_t::io_mosi</a></div><divclass="ttdeci">gpio_num_t io_mosi</div><divclass="ttdoc">MOSI GPIO pin (connects to BNO08x DI pin)</div><divclass="ttdef"><b>Definition</b> BNO08x.hpp:41</div></div>
<divclass="ttc"id="astructbno08x__config__t_html_a90ad7f316dc443874d19dc7e723a0ce0"><divclass="ttname"><ahref="structbno08x__config__t.html#a90ad7f316dc443874d19dc7e723a0ce0">bno08x_config_t::io_wake</a></div><divclass="ttdeci">gpio_num_t io_wake</div><divclass="ttdoc">Reset pin (connects to BNO08x RST pin)</div><divclass="ttdef"><b>Definition</b> BNO08x.hpp:47</div></div>
<divclass="ttc"id="astructbno08x__config__t_html_a9468180a773892977db39cc5ed9368e3"><divclass="ttname"><ahref="structbno08x__config__t.html#a9468180a773892977db39cc5ed9368e3">bno08x_config_t::io_miso</a></div><divclass="ttdeci">gpio_num_t io_miso</div><divclass="ttdoc">MISO GPIO pin (connects to BNO08x SDA pin)</div><divclass="ttdef"><b>Definition</b> BNO08x.hpp:42</div></div>
