29 lines
748 B
C++
29 lines
748 B
C++
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#include "BNO08xRptRawMEMSGyro.hpp"
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#include "BNO08x.hpp"
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/**
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* @brief Updates raw mems gyro data from decoded sensor event.
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*
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* @param sensor_val The sh2_SensorValue_t struct used in sh2_decodeSensorEvent() call.
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*
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* @return void, nothing to return
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*/
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void BNO08xRptRawMEMSGyro::update_data(sh2_SensorValue_t* sensor_val)
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{
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imu->lock_user_data();
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data = sensor_val->un.rawGyroscope;
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imu->unlock_user_data();
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}
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/**
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* @brief Grabs most recent raw mems gyro report (units in ADC counts, time_stamp in microseconds)
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*
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* @return Struct containing requested data.
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*/
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bno08x_raw_gyro_t BNO08xRptRawMEMSGyro::get()
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{
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imu->lock_user_data();
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bno08x_raw_gyro_t rqdata = data;
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imu->unlock_user_data();
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return rqdata;
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}
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