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esp32_BNO08x/BNO08x.hpp

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Pushed local repo.
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#pragma once
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#include <driver/gpio.h>
#include <driver/spi_common.h>
#include <driver/spi_master.h>
#include <esp_log.h>
#include <esp_rom_gpio.h>
#include <esp_timer.h>
#include <freertos/FreeRTOS.h>
#include <freertos/semphr.h>
#include <freertos/task.h>
#include <rom/ets_sys.h>
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#include <inttypes.h>
#include <math.h>
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#include <stdio.h>
#include <cstring>
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/// @brief SHTP protocol channels
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enum channels_t {
CHANNEL_COMMAND,
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CHANNEL_EXECUTABLE,
CHANNEL_CONTROL,
CHANNEL_REPORTS,
CHANNEL_WAKE_REPORTS,
CHANNEL_GYRO
};
/// @brief Sensor accuracy returned during sensor calibration
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enum sensor_accuracy_t { LOW_ACCURACY = 1, MED_ACCURACY, HIGH_ACCURACY };
/// @brief IMU configuration settings passed into constructor
typedef struct bno08x_config_t {
spi_host_device_t spi_peripheral; ///<SPI peripheral to be used
gpio_num_t io_mosi; ///<MOSI GPIO pin (connects to BNO08x DI pin)
gpio_num_t io_miso; ///<MISO GPIO pin (connects to BNO08x SDA pin)
gpio_num_t io_sclk; ///<SCLK pin (connects to BNO08x SCL pin)
gpio_num_t io_cs; /// Chip select pin (connects to BNO08x CS pin)
gpio_num_t io_int; /// Host interrupt pin (connects to BNO08x INT pin)
gpio_num_t io_rst; /// Reset pin (connects to BNO08x RST pin)
gpio_num_t io_wake; ///<Wake pin (optional, connects to BNO08x P0)
uint64_t sclk_speed; ///<Desired SPI SCLK speed in Hz (max 3MHz)
bool debug_en; ///<Whether or not debugging print statements are enabled
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#ifdef ESP32C3_IMU_CONFIG
/// @brief Default IMU configuration settings constructor for ESP32-C3, add
/// add_compile_definitions("ESP32C3_IMU_CONFIG") to CMakeList to use
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bno08x_config_t()
: spi_peripheral(SPI2_HOST)
, io_mosi(GPIO_NUM_4)
, io_miso(GPIO_NUM_19)
, io_sclk(GPIO_NUM_18)
, io_cs(GPIO_NUM_5)
, io_int(GPIO_NUM_6)
, io_rst(GPIO_NUM_7)
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, io_wake(GPIO_NUM_NC)
, sclk_speed(2000000UL) // 2MHz SCLK speed
, debug_en(false) {}
#else
/// @brief Default IMU configuration settings constructor for ESP32
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bno08x_config_t()
: spi_peripheral(SPI3_HOST)
, io_mosi(GPIO_NUM_23)
, io_miso(GPIO_NUM_19)
, io_sclk(GPIO_NUM_18)
, io_cs(GPIO_NUM_33)
, io_int(GPIO_NUM_26)
, io_rst(GPIO_NUM_32)
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, io_wake(GPIO_NUM_NC)
, sclk_speed(2000000UL) // 2MHz SCLK speed
// , sclk_speed(10000U), //clock slowed to see on AD2
, debug_en(false)
{}
#endif
/// @brief Overloaded IMU configuration settings constructor for custom pin settings
bno08x_config_t(spi_host_device_t spi_peripheral, gpio_num_t io_mosi, gpio_num_t io_miso, gpio_num_t io_sclk,
gpio_num_t io_cs, gpio_num_t io_int, gpio_num_t io_rst, gpio_num_t io_wake, uint64_t sclk_speed, bool debug)
: spi_peripheral(spi_peripheral)
, io_mosi(io_mosi)
, io_miso(io_miso)
, io_sclk(io_sclk)
, io_cs(io_cs)
, io_int(io_int)
, io_rst(io_rst)
, io_wake(io_wake)
, sclk_speed(sclk_speed)
, debug_en(false)
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{}
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} bno08x_config_t;
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class BNO08x {
public:
BNO08x(bno08x_config_t imu_config = default_imu_config);
bool initialize();
bool hard_reset();
bool soft_reset();
uint8_t get_reset_reason();
bool mode_sleep();
bool mode_on();
float q_to_float(int16_t fixed_point_value, uint8_t q_point);
bool run_full_calibration_routine();
void calibrate_all();
void calibrate_accelerometer();
void calibrate_gyro();
void calibrate_magnetometer();
void calibrate_planar_accelerometer();
void request_calibration_status();
bool calibration_complete();
void end_calibration();
void save_calibration();
void enable_rotation_vector(uint16_t time_between_reports);
void enable_game_rotation_vector(uint16_t time_between_reports);
void enable_ARVR_stabilized_rotation_vector(uint16_t time_between_reports);
void enable_ARVR_stabilized_game_rotation_vector(uint16_t time_between_reports);
void enable_gyro_integrated_rotation_vector(uint16_t timeBetweenReports);
void enable_accelerometer(uint16_t time_between_reports);
void enable_linear_accelerometer(uint16_t time_between_reports);
void enable_gravity(uint16_t time_between_reports);
void enable_gyro(uint16_t time_between_reports);
void enable_uncalibrated_gyro(uint16_t time_between_reports);
void enable_magnetometer(uint16_t time_between_reports);
void enable_tap_detector(uint16_t time_between_reports);
void enable_step_counter(uint16_t time_between_reports);
void enable_stability_classifier(uint16_t time_between_reports);
void enable_activity_classifier(
uint16_t time_between_reports, uint32_t activities_to_enable, uint8_t (&activity_confidence_vals)[9]);
void enable_raw_accelerometer(uint16_t time_between_reports);
void enable_raw_gyro(uint16_t time_between_reports);
void enable_raw_magnetometer(uint16_t time_between_reports);
void tare_now(uint8_t axis_sel = TARE_AXIS_ALL, uint8_t rotation_vector_basis = TARE_ROTATION_VECTOR);
void save_tare();
void clear_tare();
bool data_available();
uint16_t parse_input_report();
uint16_t parse_command_report();
uint16_t get_readings();
uint32_t get_time_stamp();
void get_magf(float& x, float& y, float& z, uint8_t& accuracy);
float get_magf_X();
float get_magf_Y();
float get_magf_Z();
uint8_t get_magf_accuracy();
void get_gravity(float& x, float& y, float& z, uint8_t& accuracy);
float get_gravity_X();
float get_gravity_Y();
float get_gravity_Z();
uint8_t get_gravity_accuracy();
float get_roll();
float get_pitch();
float get_yaw();
float get_roll_deg();
float get_pitch_deg();
float get_yaw_deg();
void get_quat(float& i, float& j, float& k, float& real, float& rad_accuracy, uint8_t& accuracy);
float get_quat_I();
float get_quat_J();
float get_quat_K();
float get_quat_real();
float get_quat_radian_accuracy();
uint8_t get_quat_accuracy();
void get_accel(float& x, float& y, float& z, uint8_t& accuracy);
float get_accel_X();
float get_accel_Y();
float get_accel_Z();
uint8_t get_accel_accuracy();
void get_linear_accel(float& x, float& y, float& z, uint8_t& accuracy);
float get_linear_accel_X();
float get_linear_accel_Y();
float get_linear_accel_Z();
uint8_t get_linear_accel_accuracy();
int16_t get_raw_accel_X();
int16_t get_raw_accel_Y();
int16_t get_raw_accel_Z();
int16_t get_raw_gyro_X();
int16_t get_raw_gyro_Y();
int16_t get_raw_gyro_Z();
int16_t get_raw_magf_X();
int16_t get_raw_magf_Y();
int16_t get_raw_magf_Z();
void get_gyro_calibrated_velocity(float& x, float& y, float& z, uint8_t& accuracy);
float get_gyro_calibrated_velocity_X();
float get_gyro_calibrated_velocity_Y();
float get_gyro_calibrated_velocity_Z();
uint8_t get_gyro_accuracy();
void get_uncalibrated_gyro(float& x, float& y, float& z, float& bx, float& by, float& bz, uint8_t& accuracy);
float get_uncalibrated_gyro_X();
float get_uncalibrated_gyro_Y();
float get_uncalibrated_gyro_Z();
float get_uncalibrated_gyro_bias_X();
float get_uncalibrated_gyro_bias_Y();
float get_uncalibrated_gyro_bias_Z();
uint8_t get_uncalibrated_gyro_accuracy();
void get_gyro_velocity(float& x, float& y, float& z);
float get_gyro_velocity_X();
float get_gyro_velocity_Y();
float get_gyro_velocity_Z();
uint8_t get_tap_detector();
uint16_t get_step_count();
int8_t get_stability_classifier();
uint8_t get_activity_classifier();
void print_header();
void print_packet();
// Metadata functions
int16_t get_Q1(uint16_t record_ID);
int16_t get_Q2(uint16_t record_ID);
int16_t get_Q3(uint16_t record_ID);
float get_resolution(uint16_t record_ID);
float get_range(uint16_t record_ID);
uint32_t FRS_read_word(uint16_t record_ID, uint8_t word_number);
bool FRS_read_request(uint16_t record_ID, uint16_t read_offset, uint16_t block_size);
bool FRS_read_data(uint16_t record_ID, uint8_t start_location, uint8_t words_to_read);
// Record IDs from figure 29, page 29 reference manual
// These are used to read the metadata for each sensor type
static const constexpr uint16_t FRS_RECORDID_ACCELEROMETER = 0xE302;
static const constexpr uint16_t FRS_RECORDID_GYROSCOPE_CALIBRATED = 0xE306;
static const constexpr uint16_t FRS_RECORDID_MAGNETIC_FIELD_CALIBRATED = 0xE309;
static const constexpr uint16_t FRS_RECORDID_ROTATION_VECTOR = 0xE30B;
private:
bool wait_for_device_int();
bool receive_packet();
void send_packet();
void queue_packet(uint8_t channel_number, uint8_t data_length);
void queue_command(uint8_t command);
void queue_feature_command(uint8_t report_ID, uint16_t time_between_reports);
void queue_feature_command(uint8_t report_ID, uint16_t time_between_reports, uint32_t specific_config);
void queue_calibrate_command(uint8_t _to_calibrate);
void queue_tare_command(
uint8_t command, uint8_t axis = TARE_AXIS_ALL, uint8_t rotation_vector_basis = TARE_ROTATION_VECTOR);
void queue_request_product_id_command();
static bno08x_config_t default_imu_config; ///< default imu config settings
volatile uint8_t
tx_packet_queued; ///<Whether or not a packet is currently waiting to be sent, a queued packet is sent on assertion of BNO08x HINT pin)
SemaphoreHandle_t
tx_semaphore; ///<Mutex semaphore used to prevent sending or receiving of packets if packet is currently being queued
uint8_t rx_buffer[300]; ///<buffer used to receive packet with receive_packet()
uint8_t tx_buffer[50]; ///<buffer used for sending packet with send_packet()
uint8_t packet_header_rx[4]; ///<SHTP header received with receive_packet()
uint8_t commands[20]; ///<Command to be sent with send_packet()
uint8_t sequence_number[6]; ///<Sequence num of each com channel, 6 in total
uint32_t meta_data
[9]; ///<First 9 bytes of meta data returned from FRS read operation (we don't really need the rest) (See Ref. Manual 5.1)
uint8_t command_sequence_number = 0; ///<Sequence num of command, sent within command packet.
uint16_t packet_length_tx = 0; ///<Packet length to be sent with send_packet()
uint16_t packet_length_rx = 0; ///<Packet length received (calculated from packet_header_rx)
bno08x_config_t imu_config{}; ///<IMU configuration settings
spi_bus_config_t bus_config{}; ///<SPI bus GPIO configuration settings
spi_device_interface_config_t imu_spi_config{}; ///<SPI slave device settings
spi_device_handle_t spi_hdl{}; ///<SPI device handle
spi_transaction_t spi_transaction{}; ///<SPI transaction handle
// These are the raw sensor values (without Q applied) pulled from the user requested Input Report
uint32_t time_stamp; ///<Report timestamp (see datasheet 1.3.5.3)
uint16_t raw_accel_X, raw_accel_Y, raw_accel_Z,
accel_accuracy; ///<Raw acceleration readings (See SH-2 Ref. Manual 6.5.8)
uint16_t raw_lin_accel_X, raw_lin_accel_Y, raw_lin_accel_Z,
accel_lin_accuracy; ///<Raw linear acceleration (See SH-2 Ref. Manual 6.5.10)
uint16_t raw_gyro_X, raw_gyro_Y, raw_gyro_Z, gyro_accuracy; ///<Raw gyro reading (See SH-2 Ref. Manual 6.5.13)
uint16_t raw_quat_I, raw_quat_J, raw_quat_K, raw_quat_real, raw_quat_radian_accuracy,
quat_accuracy; ///<Raw quaternion reading (See SH-2 Ref. Manual 6.5.44)
uint16_t raw_velocity_gyro_X, raw_velocity_gyro_Y,
raw_velocity_gyro_Z; ///<Raw gyro angular velocity reading (See SH-2 Ref. Manual 6.5.44)
uint16_t gravity_X, gravity_Y, gravity_Z,
gravity_accuracy; ///<Gravity reading in m/s^2 (See SH-2 Ref. Manual 6.5.11)
uint16_t raw_uncalib_gyro_X, raw_uncalib_gyro_Y, raw_uncalib_gyro_Z, raw_bias_X, raw_bias_Y, raw_bias_Z,
uncalib_gyro_accuracy; ///<Uncalibrated gyro reading (See SH-2 Ref. Manual 6.5.14)
uint16_t raw_magf_X, raw_magf_Y, raw_magf_Z,
magf_accuracy; ///<Calibrated magnetic field reading in uTesla (See SH-2 Ref. Manual 6.5.16)
uint8_t tap_detector; ///<Tap detector reading (See SH-2 Ref. Manual 6.5.27)
uint16_t step_count; ///<Step counter reading (See SH-2 Ref. Manual 6.5.29)
uint8_t stability_classifier; ///<Stability status reading (See SH-2 Ref. Manual 6.5.31)
uint8_t activity_classifier; ///<Activity status reading (See SH-2 Ref. Manual 6.5.36)
uint8_t* activity_confidences; ///<Confidence of read activities (See SH-2 Ref. Manual 6.5.36)
uint8_t calibration_status; ///<Calibration status of device (See SH-2 Ref. Manual 6.4.7.1 & 6.4.7.2)
uint16_t mems_raw_accel_X, mems_raw_accel_Y,
mems_raw_accel_Z; ///<Raw accelerometer readings from MEMS sensor (See SH2 Ref. Manual 6.5.8)
uint16_t mems_raw_gyro_X, mems_raw_gyro_Y,
mems_raw_gyro_Z; ///<Raw gyro readings from MEMS sensor (See SH-2 Ref. Manual 6.5.12)
uint16_t mems_raw_magf_X, mems_raw_magf_Y,
mems_raw_magf_Z; ///<Raw magnetometer (compass) readings from MEMS sensor (See SH-2 Ref. Manual 6.5.15)
// spi task
TaskHandle_t spi_task_hdl; ///<SPI task handle
static void spi_task_trampoline(void* arg);
void spi_task();
volatile bool
int_asserted; ///<Interrupt asserted flag, sets true after hint_handler ISR launches SPI task and it has run to completion
static void IRAM_ATTR hint_handler(void* arg);
static bool
isr_service_installed; ///<true of the isr service has been installed, only has to be done once regardless of how many devices are used
static const constexpr int16_t ROTATION_VECTOR_Q1 = 14; ///< Rotation vector Q point (See SH-2 Ref. Manual 6.5.18)
static const constexpr int16_t ROTATION_VECTOR_ACCURACY_Q1 =
12; ///< Rotation vector accuracy estimate Q point (See SH-2 Ref. Manual 6.5.18)
static const constexpr int16_t ACCELEROMETER_Q1 = 8; ///< Acceleration Q point (See SH-2 Ref. Manual 6.5.9)
static const constexpr int16_t LINEAR_ACCELEROMETER_Q1 =
8; ///< Linear acceleration Q point (See SH-2 Ref. Manual 6.5.10)
static const constexpr int16_t GYRO_Q1 = 9; ///< Gyro Q point (See SH-2 Ref. Manual 6.5.13)
static const constexpr int16_t MAGNETOMETER_Q1 = 4; ///< Magnetometer Q point (See SH-2 Ref. Manual 6.5.16)
static const constexpr int16_t ANGULAR_VELOCITY_Q1 =
10; ///< Angular velocity Q point (See SH-2 Ref. Manual 6.5.44)
static const constexpr int16_t GRAVITY_Q1 = 8; ///< Gravity Q point (See SH-2 Ref. Manual 6.5.11)
static const constexpr uint64_t HOST_INT_TIMEOUT_US =
150000ULL; ///<Max wait between HINT being asserted by BNO08x before transaction is considered failed.
// Higher level calibration commands, used by queue_calibrate_command
static const constexpr uint8_t CALIBRATE_ACCEL =
0; ///<Calibrate accelerometer command used by queue_calibrate_command
static const constexpr uint8_t CALIBRATE_GYRO = 1; ///<Calibrate gyro command used by queue_calibrate_command
static const constexpr uint8_t CALIBRATE_MAG =
2; ///<Calibrate magnetometer command used by queue_calibrate_command
static const constexpr uint8_t CALIBRATE_PLANAR_ACCEL =
3; ///<Calibrate planar acceleration command used by queue_calibrate_command
static const constexpr uint8_t CALIBRATE_ACCEL_GYRO_MAG =
4; ///<Calibrate accelerometer, gyro, & magnetometer command used by queue_calibrate_command
static const constexpr uint8_t CALIBRATE_STOP = 5; ///<Stop calibration command used by queue_calibrate_command
// Command IDs (see Ref. Manual 6.4)
static const constexpr uint8_t COMMAND_ERRORS = 1;
static const constexpr uint8_t COMMAND_COUNTER = 2;
static const constexpr uint8_t COMMAND_TARE =
3; ///<Command and response to tare command (See Sh2 Ref. Manual 6.4.4)
static const constexpr uint8_t COMMAND_INITIALIZE =
4; ///<Reinitialize sensor hub components See (SH2 Ref. Manual 6.4.5)
static const constexpr uint8_t COMMAND_DCD = 6; ///<Save DCD command (See SH2 Ref. Manual 6.4.7)
static const constexpr uint8_t COMMAND_ME_CALIBRATE =
7; ///<Command and response to configure ME calibration (See SH2 Ref. Manual 6.4.7)
static const constexpr uint8_t COMMAND_DCD_PERIOD_SAVE =
9; ///<Configure DCD periodic saving (See SH2 Ref. Manual 6.4)
static const constexpr uint8_t COMMAND_OSCILLATOR =
10; ///<Retrieve oscillator type command (See SH2 Ref. Manual 6.4)
static const constexpr uint8_t COMMAND_CLEAR_DCD = 11; ///<Clear DCD & Reset command (See SH2 Ref. Manual 6.4)
// SHTP channel 2 control report IDs, used in communication with sensor (See Ref. Manual 6.2)
static const constexpr uint8_t SHTP_REPORT_COMMAND_RESPONSE = 0xF1; ///< See SH2 Ref. Manual 6.3.9
static const constexpr uint8_t SHTP_REPORT_COMMAND_REQUEST = 0xF2; ///< See SH2 Ref. Manual 6.3.8
static const constexpr uint8_t SHTP_REPORT_FRS_READ_RESPONSE = 0xF3; ///< See SH2 Ref. Manual 6.3.7
static const constexpr uint8_t SHTP_REPORT_FRS_READ_REQUEST = 0xF4; ///< See SH2 Ref. Manual 6.3.6
static const constexpr uint8_t SHTP_REPORT_PRODUCT_ID_RESPONSE = 0xF8; ///< See SH2 Ref. Manual 6.3.2
static const constexpr uint8_t SHTP_REPORT_PRODUCT_ID_REQUEST = 0xF9; ///< See SH2 Ref. Manual 6.3.1
static const constexpr uint8_t SHTP_REPORT_BASE_TIMESTAMP = 0xFB; ///< See SH2 Ref. Manual 7.2.1
static const constexpr uint8_t SHTP_REPORT_SET_FEATURE_COMMAND = 0xFD; ///< See SH2 Ref. Manual 6.5.4
// Sensor report IDs, used when enabling and reading BNO08x reports
static const constexpr uint8_t SENSOR_REPORTID_ACCELEROMETER = 0x01; ///< See SH2 Ref. Manual 6.5.9
static const constexpr uint8_t SENSOR_REPORTID_GYROSCOPE = 0x02; ///< See SH2 Ref. Manual 6.5.13
static const constexpr uint8_t SENSOR_REPORTID_MAGNETIC_FIELD = 0x03; ///< See SH2 Ref. Manual 6.5.16
static const constexpr uint8_t SENSOR_REPORTID_LINEAR_ACCELERATION = 0x04; ///< See SH2 Ref. Manual 6.5.10
static const constexpr uint8_t SENSOR_REPORTID_ROTATION_VECTOR = 0x05; ///< See SH2 Ref. Manual 6.5.18
static const constexpr uint8_t SENSOR_REPORTID_GRAVITY = 0x06; ///< See SH2 Ref. Manual 6.5.11
static const constexpr uint8_t SENSOR_REPORTID_UNCALIBRATED_GYRO = 0x07; ///< See SH2 Ref. Manual 6.5.14
static const constexpr uint8_t SENSOR_REPORTID_GAME_ROTATION_VECTOR = 0x08; ///< See SH2 Ref. Manual 6.5.19
static const constexpr uint8_t SENSOR_REPORTID_GEOMAGNETIC_ROTATION_VECTOR = 0x09; ///< See SH2 Ref. Manual 6.5.20
static const constexpr uint8_t SENSOR_REPORTID_GYRO_INTEGRATED_ROTATION_VECTOR =
0x2A; ///< See SH2 Ref. Manual 6.5.44
static const constexpr uint8_t SENSOR_REPORTID_TAP_DETECTOR = 0x10; ///< See SH2 Ref. Manual 6.5.27
static const constexpr uint8_t SENSOR_REPORTID_STEP_COUNTER = 0x11; ///< See SH2 Ref. Manual 6.5.29
static const constexpr uint8_t SENSOR_REPORTID_STABILITY_CLASSIFIER = 0x13; ///< See SH2 Ref. Manual 6.5.31
static const constexpr uint8_t SENSOR_REPORTID_RAW_ACCELEROMETER = 0x14; ///< See SH2 Ref. Manual 6.5.8
static const constexpr uint8_t SENSOR_REPORTID_RAW_GYROSCOPE = 0x15; ///< See SH2 Ref. Manual 6.5.12
static const constexpr uint8_t SENSOR_REPORTID_RAW_MAGNETOMETER = 0x16; ///< See SH2 Ref. Manual 6.5.15
static const constexpr uint8_t SENSOR_REPORTID_PERSONAL_ACTIVITY_CLASSIFIER = 0x1E; ///< See SH2 Ref. Manual 6.5.36
static const constexpr uint8_t SENSOR_REPORTID_AR_VR_STABILIZED_ROTATION_VECTOR =
0x28; ///< See SH2 Ref. Manual 6.5.42
static const constexpr uint8_t SENSOR_REPORTID_AR_VR_STABILIZED_GAME_ROTATION_VECTOR =
0x29; ///< See SH2 Ref. Manual 6.5.43
// Tare commands used by queue_tare_command
static const constexpr uint8_t TARE_NOW = 0; ///< See SH2 Ref. Manual 6.4.4.1
static const constexpr uint8_t TARE_PERSIST = 1; ///< See SH2 Ref. Manual 6.4.4.2
static const constexpr uint8_t TARE_SET_REORIENTATION = 2; ///< See SH2 Ref. Manual 6.4.4.3
static const constexpr uint8_t TARE_AXIS_ALL = 0x07; ///< Tare all axes (used with tare now command)
static const constexpr uint8_t TARE_AXIS_Z = 0x04; ///< Tar yaw axis only (used with tare now command)
// Which rotation vector to tare, BNO08x saves them seperately
static const constexpr uint8_t TARE_ROTATION_VECTOR = 0; ///<Tare rotation vector
static const constexpr uint8_t TARE_GAME_ROTATION_VECTOR = 1; ///<Tare game rotation vector
static const constexpr uint8_t TARE_GEOMAGNETIC_ROTATION_VECTOR = 2; ///< tare geomagnetic rotation vector
static const constexpr uint8_t TARE_GYRO_INTEGRATED_ROTATION_VECTOR = 3; ///<Tare gyro integrated rotation vector
static const constexpr uint8_t TARE_AR_VR_STABILIZED_ROTATION_VECTOR = 4; ///< Tare ARVR stabilized rotation vector
static const constexpr uint8_t TARE_AR_VR_STABILIZED_GAME_ROTATION_VECTOR =
5; ///<Tare ARVR stabilized game rotation vector
static const constexpr char* TAG = "BNO08x"; ///< Class tag used for serial print statements
Pushed local repo.
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};