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Disable report fxns, modified sending procedure, updated README.md

This commit is contained in:
myles-parfeniuk 2024-03-05 02:04:52 -08:00
parent 4ad3fdea40
commit 0500633420
27 changed files with 2317 additions and 1305 deletions
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354
BNO08x.cpp
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@ -13,8 +13,7 @@ bno08x_config_t BNO08x::default_imu_config;
* @return void, nothing to return
*/
BNO08x::BNO08x(bno08x_config_t imu_config)
: tx_packet_queued(0U)
, tx_semaphore(xSemaphoreCreateRecursiveMutex())
: tx_semaphore(xSemaphoreCreateBinary())
, int_asserted_semaphore(xSemaphoreCreateBinary())
, imu_config(imu_config)
, calibration_status(1)
@ -385,8 +384,6 @@ void BNO08x::queue_packet(uint8_t channel_number, uint8_t data_length)
packet_length_tx = data_length + 4; // add 4 bytes for header
uint8_t i = 0;
xSemaphoreTake(tx_semaphore, portMAX_DELAY);
memset(tx_buffer, 0, sizeof(tx_buffer));
tx_buffer[0] = packet_length_tx & 0xFF; // packet length LSB
@ -400,8 +397,6 @@ void BNO08x::queue_packet(uint8_t channel_number, uint8_t data_length)
tx_buffer[i + 4] = commands[i];
}
tx_packet_queued = 1;
xSemaphoreGive(tx_semaphore);
}
@ -423,8 +418,6 @@ void BNO08x::send_packet()
spi_device_polling_transmit(spi_hdl, &spi_transaction); // send data packet
gpio_set_level(imu_config.io_cs, 1); // de-assert chip select
tx_packet_queued = 0;
}
/**
@ -996,10 +989,10 @@ uint16_t BNO08x::parse_command_report()
/**
* @brief Sends command to enable game rotation vector reports (See Ref. Manual 6.5.19)
*
* @param time_between_reports Desired time between reports in miliseconds.
* @param time_between_reports Desired time between reports in microseconds.
* @return void, nothing to return
*/
void BNO08x::enable_game_rotation_vector(uint16_t time_between_reports)
void BNO08x::enable_game_rotation_vector(uint32_t time_between_reports)
{
queue_feature_command(SENSOR_REPORTID_GAME_ROTATION_VECTOR, time_between_reports);
wait_for_device_int(); // wait for next interrupt such that command is sent
@ -1009,10 +1002,10 @@ void BNO08x::enable_game_rotation_vector(uint16_t time_between_reports)
/**
* @brief Sends command to enable rotation vector reports (See Ref. Manual 6.5.18)
*
* @param time_between_reports Desired time between reports in miliseconds.
* @param time_between_reports Desired time between reports in microseconds.
* @return void, nothing to return
*/
void BNO08x::enable_rotation_vector(uint16_t time_between_reports)
void BNO08x::enable_rotation_vector(uint32_t time_between_reports)
{
queue_feature_command(SENSOR_REPORTID_ROTATION_VECTOR, time_between_reports);
wait_for_device_int(); // wait for next interrupt such that command is sent
@ -1022,10 +1015,10 @@ void BNO08x::enable_rotation_vector(uint16_t time_between_reports)
/**
* @brief Sends command to enable ARVR stabilized rotation vector reports (See Ref. Manual 6.5.42)
*
* @param time_between_reports Desired time between reports in miliseconds.
* @param time_between_reports Desired time between reports in microseconds.
* @return void, nothing to return
*/
void BNO08x::enable_ARVR_stabilized_rotation_vector(uint16_t time_between_reports)
void BNO08x::enable_ARVR_stabilized_rotation_vector(uint32_t time_between_reports)
{
queue_feature_command(SENSOR_REPORTID_AR_VR_STABILIZED_ROTATION_VECTOR, time_between_reports);
wait_for_device_int(); // wait for next interrupt such that command is sent
@ -1035,10 +1028,10 @@ void BNO08x::enable_ARVR_stabilized_rotation_vector(uint16_t time_between_report
/**
* @brief Sends command to enable ARVR stabilized game rotation vector reports (See Ref. Manual 6.5.43)
*
* @param time_between_reports Desired time between reports in miliseconds.
* @param time_between_reports Desired time between reports in microseconds.
* @return void, nothing to return
*/
void BNO08x::enable_ARVR_stabilized_game_rotation_vector(uint16_t time_between_reports)
void BNO08x::enable_ARVR_stabilized_game_rotation_vector(uint32_t time_between_reports)
{
queue_feature_command(SENSOR_REPORTID_AR_VR_STABILIZED_GAME_ROTATION_VECTOR, time_between_reports);
wait_for_device_int(); // wait for next interrupt such that command is sent
@ -1048,10 +1041,10 @@ void BNO08x::enable_ARVR_stabilized_game_rotation_vector(uint16_t time_between_r
/**
* @brief Sends command to enable gyro integrated rotation vector reports (See Ref. Manual 6.5.44)
*
* @param time_between_reports Desired time between reports in miliseconds.
* @param time_between_reports Desired time between reports in microseconds.
* @return void, nothing to return
*/
void BNO08x::enable_gyro_integrated_rotation_vector(uint16_t time_between_reports)
void BNO08x::enable_gyro_integrated_rotation_vector(uint32_t time_between_reports)
{
queue_feature_command(SENSOR_REPORTID_GYRO_INTEGRATED_ROTATION_VECTOR, time_between_reports);
wait_for_device_int(); // wait for next interrupt such that command is sent
@ -1061,10 +1054,10 @@ void BNO08x::enable_gyro_integrated_rotation_vector(uint16_t time_between_report
/**
* @brief Sends command to enable accelerometer reports (See Ref. Manual 6.5.9)
*
* @param time_between_reports Desired time between reports in miliseconds.
* @param time_between_reports Desired time between reports in microseconds.
* @return void, nothing to return
*/
void BNO08x::enable_accelerometer(uint16_t time_between_reports)
void BNO08x::enable_accelerometer(uint32_t time_between_reports)
{
queue_feature_command(SENSOR_REPORTID_ACCELEROMETER, time_between_reports);
wait_for_device_int(); // wait for next interrupt such that command is sent
@ -1074,10 +1067,10 @@ void BNO08x::enable_accelerometer(uint16_t time_between_reports)
/**
* @brief Sends command to enable linear accelerometer reports (See Ref. Manual 6.5.10)
*
* @param time_between_reports Desired time between reports in miliseconds.
* @param time_between_reports Desired time between reports in microseconds.
* @return void, nothing to return
*/
void BNO08x::enable_linear_accelerometer(uint16_t time_between_reports)
void BNO08x::enable_linear_accelerometer(uint32_t time_between_reports)
{
queue_feature_command(SENSOR_REPORTID_LINEAR_ACCELERATION, time_between_reports);
wait_for_device_int(); // wait for next interrupt such that command is sent
@ -1087,10 +1080,10 @@ void BNO08x::enable_linear_accelerometer(uint16_t time_between_reports)
/**
* @brief Sends command to enable gravity reading reports (See Ref. Manual 6.5.11)
*
* @param time_between_reports Desired time between reports in miliseconds.
* @param time_between_reports Desired time between reports in microseconds.
* @return void, nothing to return
*/
void BNO08x::enable_gravity(uint16_t time_between_reports)
void BNO08x::enable_gravity(uint32_t time_between_reports)
{
queue_feature_command(SENSOR_REPORTID_GRAVITY, time_between_reports);
wait_for_device_int(); // wait for next interrupt such that command is sent
@ -1100,10 +1093,10 @@ void BNO08x::enable_gravity(uint16_t time_between_reports)
/**
* @brief Sends command to enable gyro reports (See Ref. Manual 6.5.13)
*
* @param time_between_reports Desired time between reports in miliseconds.
* @param time_between_reports Desired time between reports in microseconds.
* @return void, nothing to return
*/
void BNO08x::enable_gyro(uint16_t time_between_reports)
void BNO08x::enable_gyro(uint32_t time_between_reports)
{
queue_feature_command(SENSOR_REPORTID_GYROSCOPE, time_between_reports);
wait_for_device_int(); // wait for next interrupt such that command is sent
@ -1113,10 +1106,10 @@ void BNO08x::enable_gyro(uint16_t time_between_reports)
/**
* @brief Sends command to enable uncalibrated gyro reports (See Ref. Manual 6.5.14)
*
* @param time_between_reports Desired time between reports in miliseconds.
* @param time_between_reports Desired time between reports in microseconds.
* @return void, nothing to return
*/
void BNO08x::enable_uncalibrated_gyro(uint16_t time_between_reports)
void BNO08x::enable_uncalibrated_gyro(uint32_t time_between_reports)
{
queue_feature_command(SENSOR_REPORTID_UNCALIBRATED_GYRO, time_between_reports);
wait_for_device_int(); // wait for next interrupt such that command is sent
@ -1126,10 +1119,10 @@ void BNO08x::enable_uncalibrated_gyro(uint16_t time_between_reports)
/**
* @brief Sends command to enable magnetometer reports (See Ref. Manual 6.5.16)
*
* @param time_between_reports Desired time between reports in miliseconds.
* @param time_between_reports Desired time between reports in microseconds.
* @return void, nothing to return
*/
void BNO08x::enable_magnetometer(uint16_t time_between_reports)
void BNO08x::enable_magnetometer(uint32_t time_between_reports)
{
queue_feature_command(SENSOR_REPORTID_MAGNETIC_FIELD, time_between_reports);
wait_for_device_int(); // wait for next interrupt such that command is sent
@ -1139,10 +1132,10 @@ void BNO08x::enable_magnetometer(uint16_t time_between_reports)
/**
* @brief Sends command to enable tap detector reports (See Ref. Manual 6.5.27)
*
* @param time_between_reports Desired time between reports in miliseconds.
* @param time_between_reports Desired time between reports in microseconds.
* @return void, nothing to return
*/
void BNO08x::enable_tap_detector(uint16_t time_between_reports)
void BNO08x::enable_tap_detector(uint32_t time_between_reports)
{
queue_feature_command(SENSOR_REPORTID_TAP_DETECTOR, time_between_reports);
wait_for_device_int(); // wait for next interrupt such that command is sent
@ -1152,10 +1145,10 @@ void BNO08x::enable_tap_detector(uint16_t time_between_reports)
/**
* @brief Sends command to enable step counter reports (See Ref. Manual 6.5.29)
*
* @param time_between_reports Desired time between reports in miliseconds.
* @param time_between_reports Desired time between reports in microseconds.
* @return void, nothing to return
*/
void BNO08x::enable_step_counter(uint16_t time_between_reports)
void BNO08x::enable_step_counter(uint32_t time_between_reports)
{
queue_feature_command(SENSOR_REPORTID_STEP_COUNTER, time_between_reports);
wait_for_device_int(); // wait for next interrupt such that command is sent
@ -1165,10 +1158,10 @@ void BNO08x::enable_step_counter(uint16_t time_between_reports)
/**
* @brief Sends command to enable activity stability classifier reports (See Ref. Manual 6.5.31)
*
* @param time_between_reports Desired time between reports in miliseconds.
* @param time_between_reports Desired time between reports in microseconds.
* @return void, nothing to return
*/
void BNO08x::enable_stability_classifier(uint16_t time_between_reports)
void BNO08x::enable_stability_classifier(uint32_t time_between_reports)
{
queue_feature_command(SENSOR_REPORTID_STABILITY_CLASSIFIER, time_between_reports);
wait_for_device_int(); // wait for next interrupt such that command is sent
@ -1178,12 +1171,12 @@ void BNO08x::enable_stability_classifier(uint16_t time_between_reports)
/**
* @brief Sends command to enable activity classifier reports (See Ref. Manual 6.5.36)
*
* @param time_between_reports Desired time between reports in miliseconds.
* @param time_between_reports Desired time between reports in microseconds.
* @param activities_to_enable Desired activities to enable (0x1F enables all).
* @param activity_confidence_vals Returned activity level confidences.
* @return void, nothing to return
*/
void BNO08x::enable_activity_classifier(uint16_t time_between_reports, uint32_t activities_to_enable, uint8_t (&activity_confidence_vals)[9])
void BNO08x::enable_activity_classifier(uint32_t time_between_reports, uint32_t activities_to_enable, uint8_t (&activity_confidence_vals)[9])
{
activity_confidences = activity_confidence_vals; // Store pointer to array
queue_feature_command(SENSOR_REPORTID_PERSONAL_ACTIVITY_CLASSIFIER, time_between_reports, activities_to_enable);
@ -1194,10 +1187,10 @@ void BNO08x::enable_activity_classifier(uint16_t time_between_reports, uint32_t
/**
* @brief Sends command to enable raw accelerometer reports (See Ref. Manual 6.5.8)
*
* @param time_between_reports Desired time between reports in miliseconds.
* @param time_between_reports Desired time between reports in microseconds.
* @return void, nothing to return
*/
void BNO08x::enable_raw_accelerometer(uint16_t time_between_reports)
void BNO08x::enable_raw_accelerometer(uint32_t time_between_reports)
{
queue_feature_command(SENSOR_REPORTID_RAW_ACCELEROMETER, time_between_reports);
wait_for_device_int(); // wait for next interrupt such that command is sent
@ -1207,10 +1200,10 @@ void BNO08x::enable_raw_accelerometer(uint16_t time_between_reports)
/**
* @brief Sends command to enable raw gyro reports (See Ref. Manual 6.5.12)
*
* @param time_between_reports Desired time between reports in miliseconds.
* @param time_between_reports Desired time between reports in microseconds.
* @return void, nothing to return
*/
void BNO08x::enable_raw_gyro(uint16_t time_between_reports)
void BNO08x::enable_raw_gyro(uint32_t time_between_reports)
{
queue_feature_command(SENSOR_REPORTID_RAW_GYROSCOPE, time_between_reports);
wait_for_device_int(); // wait for next interrupt such that command is sent
@ -1220,16 +1213,232 @@ void BNO08x::enable_raw_gyro(uint16_t time_between_reports)
/**
* @brief Sends command to enable raw magnetometer reports (See Ref. Manual 6.5.15)
*
* @param time_between_reports Desired time between reports in miliseconds.
* @param time_between_reports Desired time between reports in microseconds.
* @return void, nothing to return
*/
void BNO08x::enable_raw_magnetometer(uint16_t time_between_reports)
void BNO08x::enable_raw_magnetometer(uint32_t time_between_reports)
{
queue_feature_command(SENSOR_REPORTID_RAW_MAGNETOMETER, time_between_reports);
wait_for_device_int(); // wait for next interrupt such that command is sent
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
}
/**
* @brief Sends command to disable rotation vector reports by setting report interval to 0.
*
* @return void, nothing to return
*/
void BNO08x::disable_rotation_vector()
{
queue_feature_command(SENSOR_REPORTID_ROTATION_VECTOR, 0);
wait_for_device_int(); // wait for next interrupt such that command is sent
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
}
/**
* @brief Sends command to disable game rotation vector reports by setting report interval to 0.
*
* @return void, nothing to return
*/
void BNO08x::disable_game_rotation_vector()
{
queue_feature_command(SENSOR_REPORTID_GAME_ROTATION_VECTOR, 0);
wait_for_device_int(); // wait for next interrupt such that command is sent
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
}
/**
* @brief Sends command to disable ARVR stabilized rotation vector reports by setting report interval to 0.
*
* @return void, nothing to return
*/
void BNO08x::disable_ARVR_stabilized_rotation_vector()
{
queue_feature_command(SENSOR_REPORTID_AR_VR_STABILIZED_ROTATION_VECTOR, 0);
wait_for_device_int(); // wait for next interrupt such that command is sent
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
}
/**
* @brief Sends command to disable ARVR stabilized game rotation vector reports by setting report interval to 0.
*
* @return void, nothing to return
*/
void BNO08x::disable_ARVR_stabilized_game_rotation_vector()
{
queue_feature_command(SENSOR_REPORTID_AR_VR_STABILIZED_GAME_ROTATION_VECTOR, 0);
wait_for_device_int(); // wait for next interrupt such that command is sent
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
}
/**
* @brief Sends command to disable gyro integrated rotation vector reports by setting report interval to 0.
*
* @return void, nothing to return
*/
void BNO08x::disable_gyro_integrated_rotation_vector()
{
queue_feature_command(SENSOR_REPORTID_ROTATION_VECTOR, 0);
wait_for_device_int(); // wait for next interrupt such that command is sent
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
}
/**
* @brief Sends command to disable accelerometer reports by setting report interval to 0.
*
* @return void, nothing to return
*/
void BNO08x::disable_accelerometer()
{
queue_feature_command(SENSOR_REPORTID_ACCELEROMETER, 0);
wait_for_device_int(); // wait for next interrupt such that command is sent
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
}
/**
* @brief Sends command to disable linear accelerometer reports by setting report interval to 0.
*
* @return void, nothing to return
*/
void BNO08x::disable_linear_accelerometer()
{
queue_feature_command(SENSOR_REPORTID_LINEAR_ACCELERATION, 0);
wait_for_device_int(); // wait for next interrupt such that command is sent
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
}
/**
* @brief Sends command to disable gravity reports by setting report interval to 0.
*
* @return void, nothing to return
*/
void BNO08x::disable_gravity()
{
queue_feature_command(SENSOR_REPORTID_GRAVITY, 0);
wait_for_device_int(); // wait for next interrupt such that command is sent
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
}
/**
* @brief Sends command to disable gyro reports by setting report interval to 0.
*
* @return void, nothing to return
*/
void BNO08x::disable_gyro()
{
queue_feature_command(SENSOR_REPORTID_GYROSCOPE, 0);
wait_for_device_int(); // wait for next interrupt such that command is sent
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
}
/**
* @brief Sends command to disable uncalibrated gyro reports by setting report interval to 0.
*
* @return void, nothing to return
*/
void BNO08x::disable_uncalibrated_gyro()
{
queue_feature_command(SENSOR_REPORTID_UNCALIBRATED_GYRO, 0);
wait_for_device_int(); // wait for next interrupt such that command is sent
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
}
/**
* @brief Sends command to disable magnetometer reports by setting report interval to 0.
*
* @return void, nothing to return
*/
void BNO08x::disable_magnetometer()
{
queue_feature_command(SENSOR_REPORTID_MAGNETIC_FIELD, 0);
wait_for_device_int(); // wait for next interrupt such that command is sent
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
}
/**
* @brief Sends command to disable tap detector reports by setting report interval to 0.
*
* @return void, nothing to return
*/
void BNO08x::disable_tap_detector()
{
queue_feature_command(SENSOR_REPORTID_TAP_DETECTOR, 0);
wait_for_device_int(); // wait for next interrupt such that command is sent
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
}
/**
* @brief Sends command to disable step counter reports by setting report interval to 0.
*
* @return void, nothing to return
*/
void BNO08x::disable_step_counter()
{
queue_feature_command(SENSOR_REPORTID_STEP_COUNTER, 0);
wait_for_device_int(); // wait for next interrupt such that command is sent
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
}
/**
* @brief Sends command to disable stability reports by setting report interval to 0.
*
* @return void, nothing to return
*/
void BNO08x::disable_stability_classifier()
{
queue_feature_command(SENSOR_REPORTID_STABILITY_CLASSIFIER, 0);
wait_for_device_int(); // wait for next interrupt such that command is sent
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
}
/**
* @brief Sends command to disable activity classifier reports by setting report interval to 0.
*
* @return void, nothing to return
*/
void BNO08x::disable_activity_classifier()
{
queue_feature_command(SENSOR_REPORTID_PERSONAL_ACTIVITY_CLASSIFIER, 0);
wait_for_device_int(); // wait for next interrupt such that command is sent
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
}
/**
* @brief Sends command to disable raw accelerometer reports by setting report interval to 0.
*
* @return void, nothing to return
*/
void BNO08x::disable_raw_accelerometer()
{
queue_feature_command(SENSOR_REPORTID_RAW_ACCELEROMETER, 0);
wait_for_device_int(); // wait for next interrupt such that command is sent
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
}
/**
* @brief Sends command to disable raw gyro reports by setting report interval to 0.
*
* @return void, nothing to return
*/
void BNO08x::disable_raw_gyro()
{
queue_feature_command(SENSOR_REPORTID_RAW_GYROSCOPE, 0);
wait_for_device_int(); // wait for next interrupt such that command is sent
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
}
/**
* @brief Sends command to disable raw magnetometer reports by setting report interval to 0.
*
* @return void, nothing to return
*/
void BNO08x::disable_raw_magnetometer()
{
queue_feature_command(SENSOR_REPORTID_RAW_MAGNETOMETER, 0);
wait_for_device_int(); // wait for next interrupt such that command is sent
vTaskDelay(50 / portTICK_PERIOD_MS); // allow some time for command to be executed
}
/**
* @brief Sends command to tare an axis (See Ref. Manual 6.4.4.1)
*
@ -2335,33 +2544,32 @@ bool BNO08x::FRS_read_data(uint16_t record_ID, uint8_t start_location, uint8_t w
* Manual 6.5.4)
*
* @param report_ID ID of sensor report to be enabled.
* @param time_between_reports Desired time between reports in miliseconds.
* @param time_between_reports Desired time between reports in microseconds.
* @param specific_config Specific config word (used with personal activity classifier)
*
* @return void, nothing to return
*/
void BNO08x::queue_feature_command(uint8_t report_ID, uint16_t time_between_reports, uint32_t specific_config)
void BNO08x::queue_feature_command(uint8_t report_ID, uint32_t time_between_reports, uint32_t specific_config)
{
uint32_t us_between_reports = (uint32_t) time_between_reports * 1000UL;
memset(commands, 0, sizeof(commands));
commands[0] = SHTP_REPORT_SET_FEATURE_COMMAND; // Set feature command (See Ref. Manual 6.5.4)
commands[1] = report_ID; // Feature Report ID. 0x01 = Accelerometer, 0x05 = Rotation vector
commands[2] = 0; // Feature flags
commands[3] = 0; // Change sensitivity (LSB)
commands[4] = 0; // Change sensitivity (MSB)
commands[5] = (us_between_reports >> 0) & 0xFF; // Report interval (LSB) in microseconds. 0x7A120 = 500ms
commands[6] = (us_between_reports >> 8) & 0xFF; // Report interval
commands[7] = (us_between_reports >> 16) & 0xFF; // Report interval
commands[8] = (us_between_reports >> 24) & 0xFF; // Report interval (MSB)
commands[9] = 0; // Batch Interval (LSB)
commands[10] = 0; // Batch Interval
commands[11] = 0; // Batch Interval
commands[12] = 0; // Batch Interval (MSB)
commands[13] = (specific_config >> 0) & 0xFF; // Sensor-specific config (LSB)
commands[14] = (specific_config >> 8) & 0xFF; // Sensor-specific config
commands[15] = (specific_config >> 16) & 0xFF; // Sensor-specific config
commands[16] = (specific_config >> 24) & 0xFF; // Sensor-specific config (MSB)
commands[0] = SHTP_REPORT_SET_FEATURE_COMMAND; // Set feature command (See Ref. Manual 6.5.4)
commands[1] = report_ID; // Feature Report ID. 0x01 = Accelerometer, 0x05 = Rotation vector
commands[2] = 0; // Feature flags
commands[3] = 0; // Change sensitivity (LSB)
commands[4] = 0; // Change sensitivity (MSB)
commands[5] = (time_between_reports >> 0) & 0xFF; // Report interval (LSB) in microseconds. 0x7A120 = 500ms
commands[6] = (time_between_reports >> 8) & 0xFF; // Report interval
commands[7] = (time_between_reports >> 16) & 0xFF; // Report interval
commands[8] = (time_between_reports >> 24) & 0xFF; // Report interval (MSB)
commands[9] = 0; // Batch Interval (LSB)
commands[10] = 0; // Batch Interval
commands[11] = 0; // Batch Interval
commands[12] = 0; // Batch Interval (MSB)
commands[13] = (specific_config >> 0) & 0xFF; // Sensor-specific config (LSB)
commands[14] = (specific_config >> 8) & 0xFF; // Sensor-specific config
commands[15] = (specific_config >> 16) & 0xFF; // Sensor-specific config
commands[16] = (specific_config >> 24) & 0xFF; // Sensor-specific config (MSB)
// Transmit packet on channel 2, 17 bytes
queue_packet(CHANNEL_CONTROL, 17);
@ -2401,7 +2609,7 @@ void BNO08x::queue_tare_command(uint8_t command, uint8_t axis, uint8_t rotation_
*
* @return void, nothing to return
*/
void BNO08x::queue_feature_command(uint8_t report_ID, uint16_t time_between_reports)
void BNO08x::queue_feature_command(uint8_t report_ID, uint32_t time_between_reports)
{
queue_feature_command(report_ID, time_between_reports, 0); // No specific config
}
@ -2426,18 +2634,24 @@ void BNO08x::spi_task_trampoline(void* arg)
*/
void BNO08x::spi_task()
{
static uint64_t prev_time = 0;
while (1)
{
ulTaskNotifyTake(pdTRUE, portMAX_DELAY); // block until notified by ISR
xSemaphoreTake(tx_semaphore, portMAX_DELAY); // wait if queue_packet is executing
ulTaskNotifyTake(pdTRUE, portMAX_DELAY); // block until notified by ISR
if (tx_packet_queued != 0)
send_packet(); // send packet
if(imu_config.debug_en)
{
ESP_LOGI(TAG, "HINT asserted, time since last assertion: %llu", (esp_timer_get_time() - prev_time));
prev_time = esp_timer_get_time();
}
if (xSemaphoreTake(tx_semaphore, 0) == pdTRUE) // check for packet pending to be sent, non-blocking semaphore take
send_packet(); // send packet
else
receive_packet(); // receive packet
xSemaphoreGive(int_asserted_semaphore); // SPI completed, give int_asserted_semaphore to notify wait_for_int()
xSemaphoreGive(tx_semaphore); // give back the semaphore such that queue packet be blocked
}
}

63
BNO08x.hpp
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@ -125,24 +125,43 @@ class BNO08x
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 enable_rotation_vector(uint32_t time_between_reports);
void enable_game_rotation_vector(uint32_t time_between_reports);
void enable_ARVR_stabilized_rotation_vector(uint32_t time_between_reports);
void enable_ARVR_stabilized_game_rotation_vector(uint32_t time_between_reports);
void enable_gyro_integrated_rotation_vector(uint32_t time_between_reports);
void enable_accelerometer(uint32_t time_between_reports);
void enable_linear_accelerometer(uint32_t time_between_reports);
void enable_gravity(uint32_t time_between_reports);
void enable_gyro(uint32_t time_between_reports);
void enable_uncalibrated_gyro(uint32_t time_between_reports);
void enable_magnetometer(uint32_t time_between_reports);
void enable_tap_detector(uint32_t time_between_reports);
void enable_step_counter(uint32_t time_between_reports);
void enable_stability_classifier(uint32_t time_between_reports);
void enable_activity_classifier(uint32_t time_between_reports, uint32_t activities_to_enable, uint8_t (&activity_confidence_vals)[9]);
void enable_raw_accelerometer(uint32_t time_between_reports);
void enable_raw_gyro(uint32_t time_between_reports);
void enable_raw_magnetometer(uint32_t time_between_reports);
void disable_rotation_vector();
void disable_game_rotation_vector();
void disable_ARVR_stabilized_rotation_vector();
void disable_ARVR_stabilized_game_rotation_vector();
void disable_gyro_integrated_rotation_vector();
void disable_accelerometer();
void disable_linear_accelerometer();
void disable_gravity();
void disable_gyro();
void disable_uncalibrated_gyro();
void disable_magnetometer();
void disable_tap_detector();
void disable_step_counter();
void disable_stability_classifier();
void disable_activity_classifier();
void disable_raw_accelerometer();
void disable_raw_gyro();
void disable_raw_magnetometer();
void tare_now(uint8_t axis_sel = TARE_AXIS_ALL, uint8_t rotation_vector_basis = TARE_ROTATION_VECTOR);
void save_tare();
@ -278,17 +297,15 @@ class BNO08x
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_feature_command(uint8_t report_ID, uint32_t time_between_reports);
void queue_feature_command(uint8_t report_ID, uint32_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
SemaphoreHandle_t tx_semaphore; ///<Used to indicate to spi_task() whether or not a packet is currently waiting to be sent.
SemaphoreHandle_t
int_asserted_semaphore; ///<Binary semaphore used to synchronize spi_task() calling wait_for_device_int(), given after hint_handler ISR launches SPI task and it has run to completion
uint8_t rx_buffer[300]; ///<buffer used to receive packet with receive_packet()

4
README.md
View File

@ -87,8 +87,8 @@ extern "C" void app_main(void)
imu.initialize(); //initialize IMU
//enable gyro & game rotation vector
imu.enable_game_rotation_vector(100);
imu.enable_gyro(150);
imu.enable_game_rotation_vector(100000UL); //100,000us == 100ms report interval
imu.enable_gyro(150000UL); //150,000us == 150ms report interval
while(1)
{

1122
documentation/html/_b_n_o08x_8hpp_source.html
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69
documentation/html/class_b_n_o08x-members.html
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@ -113,24 +113,42 @@ $(function() {
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#acbca88b37c8c5a590ca971b241dac64f">commands</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a367d525d1c0ba119b3dca3067bb5bccc">data_available</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a6232920a05c0aba34e5560951a20ae87">default_imu_config</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a1d68494d911f7efbbb620d349fb9da0d">enable_accelerometer</a>(uint16_t time_between_reports)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a0960ce957058af565dd4c43ad6c40225">enable_activity_classifier</a>(uint16_t time_between_reports, uint32_t activities_to_enable, uint8_t(&amp;activity_confidence_vals)[9])</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#ad9e26658c53c728d7d10381db680765e">enable_ARVR_stabilized_game_rotation_vector</a>(uint16_t time_between_reports)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a04290cb6ba09b93d5a9ef337c13d1abb">enable_ARVR_stabilized_rotation_vector</a>(uint16_t time_between_reports)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a639cb013ed17e0f33057742fac97f1a2">enable_game_rotation_vector</a>(uint16_t time_between_reports)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a2dc0cd5bc04ca7eb3b4fffd2a3a6f27a">enable_gravity</a>(uint16_t time_between_reports)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a7619b598cc8e768c4df4805b2958a2c8">enable_gyro</a>(uint16_t time_between_reports)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a09a0306abec5895dd0450b2fe970347c">enable_gyro_integrated_rotation_vector</a>(uint16_t timeBetweenReports)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#ad3724e7e602feb2b695d2d88a61d5328">enable_linear_accelerometer</a>(uint16_t time_between_reports)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#acf4a83a44a221f6495263f00f1b8d849">enable_magnetometer</a>(uint16_t time_between_reports)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#ad6adf3b24a8a559d3bb57e6abcef4ce8">enable_raw_accelerometer</a>(uint16_t time_between_reports)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#af984deb77c92746fe4d193457312be63">enable_raw_gyro</a>(uint16_t time_between_reports)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#ad1ca07ee06ef98d4e11a74dde18e9623">enable_raw_magnetometer</a>(uint16_t time_between_reports)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#abe9acd2eb1ce2f2e72b7a48c8d025cc4">enable_rotation_vector</a>(uint16_t time_between_reports)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a5378a235e3114ccdc63b26bc3fae5dad">enable_stability_classifier</a>(uint16_t time_between_reports)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#ad550085fa1b51495ce3d8894538f33d5">enable_step_counter</a>(uint16_t time_between_reports)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a919c7d94226f4c6adbb8edf6fd1613a9">enable_tap_detector</a>(uint16_t time_between_reports)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#ac7b5815c5ad8b83a34ad0855423601e8">enable_uncalibrated_gyro</a>(uint16_t time_between_reports)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#ad5c991150895b80bee68c933059a4058">disable_accelerometer</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a4fdc39294922a9553d84cd96bdae4376">disable_activity_classifier</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#ab187fe50fcfbb04bec9e80eb0fccf61c">disable_ARVR_stabilized_game_rotation_vector</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#aa59e3d8953c96dc1cc5958a1ac628df4">disable_ARVR_stabilized_rotation_vector</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a7665cce95e791c89161ec863f49c0392">disable_game_rotation_vector</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a5e63a9e68dbe2968b37dcb6dae04de6f">disable_gravity</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a8296089e2fdbd7d2e85f364cf063af82">disable_gyro</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#aac0a00bed7825d8a2c357a48c3626931">disable_gyro_integrated_rotation_vector</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#afbd2b02d5abe7084ce9de49ee2c9142f">disable_linear_accelerometer</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a6671b082d20dda8bf5c53cb47db0c338">disable_magnetometer</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a171d78f4b00598b04c8ca54da16c508b">disable_raw_accelerometer</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a75ef3d09f1ee016999c459e43e9e8c44">disable_raw_gyro</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#add29c84038558c28bcfca37865cf9244">disable_raw_magnetometer</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a1ebd456d2a67a22b5ba0911a95915921">disable_rotation_vector</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#ab307ed3352e04c9e998ab4dd066f8932">disable_stability_classifier</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a427550a4ba25252912436b899124e157">disable_step_counter</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a16f83d1e85576a51abf2c65e5de58cd2">disable_tap_detector</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#aaf28212a5f1960c62a73282976142cfc">disable_uncalibrated_gyro</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a2795c6579cf03e22f62a5eadc88dee91">enable_accelerometer</a>(uint32_t time_between_reports)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#ad7b83cac874c092583f8513d3bb69bbf">enable_activity_classifier</a>(uint32_t time_between_reports, uint32_t activities_to_enable, uint8_t(&amp;activity_confidence_vals)[9])</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a5680148a41cb9cc96d1911150c46d2b8">enable_ARVR_stabilized_game_rotation_vector</a>(uint32_t time_between_reports)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a8a5f3b985989e846e831f70f7733d0bc">enable_ARVR_stabilized_rotation_vector</a>(uint32_t time_between_reports)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#abe04c38b5bd52d331bd8aefae1f51947">enable_game_rotation_vector</a>(uint32_t time_between_reports)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a030eae12c3586acf09b48e94630b2544">enable_gravity</a>(uint32_t time_between_reports)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#ad7b322681b9ec5f57edb09e336b988c0">enable_gyro</a>(uint32_t time_between_reports)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a7388c67de3906ad05b233fd7eff0514d">enable_gyro_integrated_rotation_vector</a>(uint32_t time_between_reports)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#ae1435b83ca83bc51b75f3303afe87f7b">enable_linear_accelerometer</a>(uint32_t time_between_reports)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a3c32120bcd0987c3ca1bb72910586b59">enable_magnetometer</a>(uint32_t time_between_reports)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a3042301cf0f51657c82b1127dce230f4">enable_raw_accelerometer</a>(uint32_t time_between_reports)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a8d8e75f0234287cb89cbec553cffe52c">enable_raw_gyro</a>(uint32_t time_between_reports)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a14ebec501b8d004a38648a9a1f7a2c9e">enable_raw_magnetometer</a>(uint32_t time_between_reports)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#ab4c1d5cde156af09b7e88913f3af62c7">enable_rotation_vector</a>(uint32_t time_between_reports)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#ab0a60844b36fb140cad588a65b3a9655">enable_stability_classifier</a>(uint32_t time_between_reports)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a5a0b0f5b8e962247a3b8aee8f1dc8e9f">enable_step_counter</a>(uint32_t time_between_reports)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#ab4c8e37c730ddb168f78c29bd7ae6566">enable_tap_detector</a>(uint32_t time_between_reports)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a7fe5de95b1f51da44247a87317fd0c75">enable_uncalibrated_gyro</a>(uint32_t time_between_reports)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#ac9d9b6636745e8180807284da67c92a2">end_calibration</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a40607e557eada666a5e1e416f42cd4a1">FRS_read_data</a>(uint16_t record_ID, uint8_t start_location, uint8_t words_to_read)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#adf789e709ac1667656db757c8d559af9">FRS_read_request</a>(uint16_t record_ID, uint16_t read_offset, uint16_t block_size)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
@ -251,8 +269,8 @@ $(function() {
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a36223f7124751fa71e860b2ef55dd2ac">quat_accuracy</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#ad097849616c5caab1fd3eb3632ee2b91">queue_calibrate_command</a>(uint8_t _to_calibrate)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a1742d6445ffb6e9297b8bf84dec24f22">queue_command</a>(uint8_t command)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a6c004a16b146527aa9eeeb6ff37db281">queue_feature_command</a>(uint8_t report_ID, uint16_t time_between_reports)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#af0a0686a78c929aad43af2eaeba12878">queue_feature_command</a>(uint8_t report_ID, uint16_t time_between_reports, uint32_t specific_config)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#af2951f6ea448af7cf7932fbfed9fec3c">queue_feature_command</a>(uint8_t report_ID, uint32_t time_between_reports)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a2d6de4823893128e6a4b562f34326ae8">queue_feature_command</a>(uint8_t report_ID, uint32_t time_between_reports, uint32_t specific_config)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a67d0b5302a60083cef1b31936e2b65d8">queue_packet</a>(uint8_t channel_number, uint8_t data_length)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#ab5f200069a2f8cb74cb79c6f162da5a1">queue_request_product_id_command</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a4c6353e795f734ed28613f9a3d161ea2">queue_tare_command</a>(uint8_t command, uint8_t axis=TARE_AXIS_ALL, uint8_t rotation_vector_basis=TARE_ROTATION_VECTOR)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
@ -336,17 +354,16 @@ $(function() {
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#abaf1ec8bb197db1998a9ed3cec6180d5">TARE_GAME_ROTATION_VECTOR</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a225397a04d849e5647992ca80d68febb">TARE_GEOMAGNETIC_ROTATION_VECTOR</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a9ec354d75249f06f13599abf7bedfde0">TARE_GYRO_INTEGRATED_ROTATION_VECTOR</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a4549bbef48208bd9c745fc755b93012f">tare_now</a>(uint8_t axis_sel=TARE_AXIS_ALL, uint8_t rotation_vector_basis=TARE_ROTATION_VECTOR)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a27df630f3e52b35552d2c1f2cf3496b0">TARE_NOW</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a27df630f3e52b35552d2c1f2cf3496b0">TARE_NOW</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a4549bbef48208bd9c745fc755b93012f">tare_now</a>(uint8_t axis_sel=TARE_AXIS_ALL, uint8_t rotation_vector_basis=TARE_ROTATION_VECTOR)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a115aef7b38ec0dec2085f6917d832912">TARE_PERSIST</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a8e2cfc25d0e34ae53a762b88cc3ac3c8">TARE_ROTATION_VECTOR</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a59cde7dd301c94a20b84735c5d49008e">TARE_SET_REORIENTATION</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#abc972db20affbd0040b4e6c4892dd57b">time_stamp</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a74d936708ba924b6ba21004ff9a0b30b">tx_buffer</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a5b1f13a3170f1c8fdcc886353efa0c08">tx_packet_queued</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#aee2d0bcb8e9d7bacacccacbb04ded661">tx_semaphore</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a081c666a3f24016d0ec5c5edc49f2903">uncalib_gyro_accuracy</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a988c45b4afa4dcd6a24610ff308c1faa">wait_for_device_int</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#aee2d0bcb8e9d7bacacccacbb04ded661">tx_semaphore</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a081c666a3f24016d0ec5c5edc49f2903">uncalib_gyro_accuracy</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a988c45b4afa4dcd6a24610ff308c1faa">wait_for_device_int</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
</table></div><!-- contents -->
<!-- start footer part -->
<hr class="footer"/><address class="footer"><small>

723
documentation/html/class_b_n_o08x.html
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File diff suppressed because it is too large Load Diff

18
documentation/html/functions_d.html
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@ -78,6 +78,24 @@ $(function() {
<li>data_available()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a367d525d1c0ba119b3dca3067bb5bccc">BNO08x</a></li>
<li>debug_en&#160;:&#160;<a class="el" href="structbno08x__config__t.html#a720c215a75b3922ffa6f683e7ca70abe">bno08x_config_t</a></li>
<li>default_imu_config&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a6232920a05c0aba34e5560951a20ae87">BNO08x</a></li>
<li>disable_accelerometer()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ad5c991150895b80bee68c933059a4058">BNO08x</a></li>
<li>disable_activity_classifier()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a4fdc39294922a9553d84cd96bdae4376">BNO08x</a></li>
<li>disable_ARVR_stabilized_game_rotation_vector()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ab187fe50fcfbb04bec9e80eb0fccf61c">BNO08x</a></li>
<li>disable_ARVR_stabilized_rotation_vector()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#aa59e3d8953c96dc1cc5958a1ac628df4">BNO08x</a></li>
<li>disable_game_rotation_vector()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a7665cce95e791c89161ec863f49c0392">BNO08x</a></li>
<li>disable_gravity()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a5e63a9e68dbe2968b37dcb6dae04de6f">BNO08x</a></li>
<li>disable_gyro()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a8296089e2fdbd7d2e85f364cf063af82">BNO08x</a></li>
<li>disable_gyro_integrated_rotation_vector()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#aac0a00bed7825d8a2c357a48c3626931">BNO08x</a></li>
<li>disable_linear_accelerometer()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#afbd2b02d5abe7084ce9de49ee2c9142f">BNO08x</a></li>
<li>disable_magnetometer()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a6671b082d20dda8bf5c53cb47db0c338">BNO08x</a></li>
<li>disable_raw_accelerometer()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a171d78f4b00598b04c8ca54da16c508b">BNO08x</a></li>
<li>disable_raw_gyro()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a75ef3d09f1ee016999c459e43e9e8c44">BNO08x</a></li>
<li>disable_raw_magnetometer()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#add29c84038558c28bcfca37865cf9244">BNO08x</a></li>
<li>disable_rotation_vector()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a1ebd456d2a67a22b5ba0911a95915921">BNO08x</a></li>
<li>disable_stability_classifier()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ab307ed3352e04c9e998ab4dd066f8932">BNO08x</a></li>
<li>disable_step_counter()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a427550a4ba25252912436b899124e157">BNO08x</a></li>
<li>disable_tap_detector()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a16f83d1e85576a51abf2c65e5de58cd2">BNO08x</a></li>
<li>disable_uncalibrated_gyro()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#aaf28212a5f1960c62a73282976142cfc">BNO08x</a></li>
</ul>
</div><!-- contents -->
<!-- start footer part -->

36
documentation/html/functions_e.html
View File

@ -75,24 +75,24 @@ $(function() {
<div class="textblock">Here is a list of all class members with links to the classes they belong to:</div>
<h3><a id="index_e" name="index_e"></a>- e -</h3><ul>
<li>enable_accelerometer()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a1d68494d911f7efbbb620d349fb9da0d">BNO08x</a></li>
<li>enable_activity_classifier()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a0960ce957058af565dd4c43ad6c40225">BNO08x</a></li>
<li>enable_ARVR_stabilized_game_rotation_vector()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ad9e26658c53c728d7d10381db680765e">BNO08x</a></li>
<li>enable_ARVR_stabilized_rotation_vector()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a04290cb6ba09b93d5a9ef337c13d1abb">BNO08x</a></li>
<li>enable_game_rotation_vector()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a639cb013ed17e0f33057742fac97f1a2">BNO08x</a></li>
<li>enable_gravity()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a2dc0cd5bc04ca7eb3b4fffd2a3a6f27a">BNO08x</a></li>
<li>enable_gyro()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a7619b598cc8e768c4df4805b2958a2c8">BNO08x</a></li>
<li>enable_gyro_integrated_rotation_vector()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a09a0306abec5895dd0450b2fe970347c">BNO08x</a></li>
<li>enable_linear_accelerometer()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ad3724e7e602feb2b695d2d88a61d5328">BNO08x</a></li>
<li>enable_magnetometer()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#acf4a83a44a221f6495263f00f1b8d849">BNO08x</a></li>
<li>enable_raw_accelerometer()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ad6adf3b24a8a559d3bb57e6abcef4ce8">BNO08x</a></li>
<li>enable_raw_gyro()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#af984deb77c92746fe4d193457312be63">BNO08x</a></li>
<li>enable_raw_magnetometer()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ad1ca07ee06ef98d4e11a74dde18e9623">BNO08x</a></li>
<li>enable_rotation_vector()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#abe9acd2eb1ce2f2e72b7a48c8d025cc4">BNO08x</a></li>
<li>enable_stability_classifier()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a5378a235e3114ccdc63b26bc3fae5dad">BNO08x</a></li>
<li>enable_step_counter()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ad550085fa1b51495ce3d8894538f33d5">BNO08x</a></li>
<li>enable_tap_detector()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a919c7d94226f4c6adbb8edf6fd1613a9">BNO08x</a></li>
<li>enable_uncalibrated_gyro()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ac7b5815c5ad8b83a34ad0855423601e8">BNO08x</a></li>
<li>enable_accelerometer()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a2795c6579cf03e22f62a5eadc88dee91">BNO08x</a></li>
<li>enable_activity_classifier()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ad7b83cac874c092583f8513d3bb69bbf">BNO08x</a></li>
<li>enable_ARVR_stabilized_game_rotation_vector()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a5680148a41cb9cc96d1911150c46d2b8">BNO08x</a></li>
<li>enable_ARVR_stabilized_rotation_vector()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a8a5f3b985989e846e831f70f7733d0bc">BNO08x</a></li>
<li>enable_game_rotation_vector()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#abe04c38b5bd52d331bd8aefae1f51947">BNO08x</a></li>
<li>enable_gravity()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a030eae12c3586acf09b48e94630b2544">BNO08x</a></li>
<li>enable_gyro()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ad7b322681b9ec5f57edb09e336b988c0">BNO08x</a></li>
<li>enable_gyro_integrated_rotation_vector()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a7388c67de3906ad05b233fd7eff0514d">BNO08x</a></li>
<li>enable_linear_accelerometer()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ae1435b83ca83bc51b75f3303afe87f7b">BNO08x</a></li>
<li>enable_magnetometer()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a3c32120bcd0987c3ca1bb72910586b59">BNO08x</a></li>
<li>enable_raw_accelerometer()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a3042301cf0f51657c82b1127dce230f4">BNO08x</a></li>
<li>enable_raw_gyro()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a8d8e75f0234287cb89cbec553cffe52c">BNO08x</a></li>
<li>enable_raw_magnetometer()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a14ebec501b8d004a38648a9a1f7a2c9e">BNO08x</a></li>
<li>enable_rotation_vector()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ab4c1d5cde156af09b7e88913f3af62c7">BNO08x</a></li>
<li>enable_stability_classifier()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ab0a60844b36fb140cad588a65b3a9655">BNO08x</a></li>
<li>enable_step_counter()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a5a0b0f5b8e962247a3b8aee8f1dc8e9f">BNO08x</a></li>
<li>enable_tap_detector()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ab4c8e37c730ddb168f78c29bd7ae6566">BNO08x</a></li>
<li>enable_uncalibrated_gyro()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a7fe5de95b1f51da44247a87317fd0c75">BNO08x</a></li>
<li>end_calibration()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ac9d9b6636745e8180807284da67c92a2">BNO08x</a></li>
</ul>
</div><!-- contents -->

56
documentation/html/functions_func.html
View File

@ -93,28 +93,46 @@ $(function() {
<h3><a id="index_d" name="index_d"></a>- d -</h3><ul>
<li>data_available()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a367d525d1c0ba119b3dca3067bb5bccc">BNO08x</a></li>
<li>disable_accelerometer()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ad5c991150895b80bee68c933059a4058">BNO08x</a></li>
<li>disable_activity_classifier()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a4fdc39294922a9553d84cd96bdae4376">BNO08x</a></li>
<li>disable_ARVR_stabilized_game_rotation_vector()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ab187fe50fcfbb04bec9e80eb0fccf61c">BNO08x</a></li>
<li>disable_ARVR_stabilized_rotation_vector()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#aa59e3d8953c96dc1cc5958a1ac628df4">BNO08x</a></li>
<li>disable_game_rotation_vector()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a7665cce95e791c89161ec863f49c0392">BNO08x</a></li>
<li>disable_gravity()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a5e63a9e68dbe2968b37dcb6dae04de6f">BNO08x</a></li>
<li>disable_gyro()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a8296089e2fdbd7d2e85f364cf063af82">BNO08x</a></li>
<li>disable_gyro_integrated_rotation_vector()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#aac0a00bed7825d8a2c357a48c3626931">BNO08x</a></li>
<li>disable_linear_accelerometer()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#afbd2b02d5abe7084ce9de49ee2c9142f">BNO08x</a></li>
<li>disable_magnetometer()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a6671b082d20dda8bf5c53cb47db0c338">BNO08x</a></li>
<li>disable_raw_accelerometer()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a171d78f4b00598b04c8ca54da16c508b">BNO08x</a></li>
<li>disable_raw_gyro()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a75ef3d09f1ee016999c459e43e9e8c44">BNO08x</a></li>
<li>disable_raw_magnetometer()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#add29c84038558c28bcfca37865cf9244">BNO08x</a></li>
<li>disable_rotation_vector()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a1ebd456d2a67a22b5ba0911a95915921">BNO08x</a></li>
<li>disable_stability_classifier()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ab307ed3352e04c9e998ab4dd066f8932">BNO08x</a></li>
<li>disable_step_counter()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a427550a4ba25252912436b899124e157">BNO08x</a></li>
<li>disable_tap_detector()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a16f83d1e85576a51abf2c65e5de58cd2">BNO08x</a></li>
<li>disable_uncalibrated_gyro()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#aaf28212a5f1960c62a73282976142cfc">BNO08x</a></li>
</ul>
<h3><a id="index_e" name="index_e"></a>- e -</h3><ul>
<li>enable_accelerometer()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a1d68494d911f7efbbb620d349fb9da0d">BNO08x</a></li>
<li>enable_activity_classifier()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a0960ce957058af565dd4c43ad6c40225">BNO08x</a></li>
<li>enable_ARVR_stabilized_game_rotation_vector()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ad9e26658c53c728d7d10381db680765e">BNO08x</a></li>
<li>enable_ARVR_stabilized_rotation_vector()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a04290cb6ba09b93d5a9ef337c13d1abb">BNO08x</a></li>
<li>enable_game_rotation_vector()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a639cb013ed17e0f33057742fac97f1a2">BNO08x</a></li>
<li>enable_gravity()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a2dc0cd5bc04ca7eb3b4fffd2a3a6f27a">BNO08x</a></li>
<li>enable_gyro()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a7619b598cc8e768c4df4805b2958a2c8">BNO08x</a></li>
<li>enable_gyro_integrated_rotation_vector()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a09a0306abec5895dd0450b2fe970347c">BNO08x</a></li>
<li>enable_linear_accelerometer()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ad3724e7e602feb2b695d2d88a61d5328">BNO08x</a></li>
<li>enable_magnetometer()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#acf4a83a44a221f6495263f00f1b8d849">BNO08x</a></li>
<li>enable_raw_accelerometer()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ad6adf3b24a8a559d3bb57e6abcef4ce8">BNO08x</a></li>
<li>enable_raw_gyro()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#af984deb77c92746fe4d193457312be63">BNO08x</a></li>
<li>enable_raw_magnetometer()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ad1ca07ee06ef98d4e11a74dde18e9623">BNO08x</a></li>
<li>enable_rotation_vector()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#abe9acd2eb1ce2f2e72b7a48c8d025cc4">BNO08x</a></li>
<li>enable_stability_classifier()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a5378a235e3114ccdc63b26bc3fae5dad">BNO08x</a></li>
<li>enable_step_counter()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ad550085fa1b51495ce3d8894538f33d5">BNO08x</a></li>
<li>enable_tap_detector()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a919c7d94226f4c6adbb8edf6fd1613a9">BNO08x</a></li>
<li>enable_uncalibrated_gyro()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ac7b5815c5ad8b83a34ad0855423601e8">BNO08x</a></li>
<li>enable_accelerometer()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a2795c6579cf03e22f62a5eadc88dee91">BNO08x</a></li>
<li>enable_activity_classifier()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ad7b83cac874c092583f8513d3bb69bbf">BNO08x</a></li>
<li>enable_ARVR_stabilized_game_rotation_vector()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a5680148a41cb9cc96d1911150c46d2b8">BNO08x</a></li>
<li>enable_ARVR_stabilized_rotation_vector()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a8a5f3b985989e846e831f70f7733d0bc">BNO08x</a></li>
<li>enable_game_rotation_vector()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#abe04c38b5bd52d331bd8aefae1f51947">BNO08x</a></li>
<li>enable_gravity()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a030eae12c3586acf09b48e94630b2544">BNO08x</a></li>
<li>enable_gyro()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ad7b322681b9ec5f57edb09e336b988c0">BNO08x</a></li>
<li>enable_gyro_integrated_rotation_vector()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a7388c67de3906ad05b233fd7eff0514d">BNO08x</a></li>
<li>enable_linear_accelerometer()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ae1435b83ca83bc51b75f3303afe87f7b">BNO08x</a></li>
<li>enable_magnetometer()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a3c32120bcd0987c3ca1bb72910586b59">BNO08x</a></li>
<li>enable_raw_accelerometer()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a3042301cf0f51657c82b1127dce230f4">BNO08x</a></li>
<li>enable_raw_gyro()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a8d8e75f0234287cb89cbec553cffe52c">BNO08x</a></li>
<li>enable_raw_magnetometer()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a14ebec501b8d004a38648a9a1f7a2c9e">BNO08x</a></li>
<li>enable_rotation_vector()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ab4c1d5cde156af09b7e88913f3af62c7">BNO08x</a></li>
<li>enable_stability_classifier()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ab0a60844b36fb140cad588a65b3a9655">BNO08x</a></li>
<li>enable_step_counter()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a5a0b0f5b8e962247a3b8aee8f1dc8e9f">BNO08x</a></li>
<li>enable_tap_detector()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ab4c8e37c730ddb168f78c29bd7ae6566">BNO08x</a></li>
<li>enable_uncalibrated_gyro()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a7fe5de95b1f51da44247a87317fd0c75">BNO08x</a></li>
<li>end_calibration()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ac9d9b6636745e8180807284da67c92a2">BNO08x</a></li>
</ul>
@ -230,7 +248,7 @@ $(function() {
<li>q_to_float()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a27fb24e894f794ec6228ef142b6ff8d9">BNO08x</a></li>
<li>queue_calibrate_command()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ad097849616c5caab1fd3eb3632ee2b91">BNO08x</a></li>
<li>queue_command()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a1742d6445ffb6e9297b8bf84dec24f22">BNO08x</a></li>
<li>queue_feature_command()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a6c004a16b146527aa9eeeb6ff37db281">BNO08x</a></li>
<li>queue_feature_command()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#af2951f6ea448af7cf7932fbfed9fec3c">BNO08x</a></li>
<li>queue_packet()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a67d0b5302a60083cef1b31936e2b65d8">BNO08x</a></li>
<li>queue_request_product_id_command()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ab5f200069a2f8cb74cb79c6f162da5a1">BNO08x</a></li>
<li>queue_tare_command()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a4c6353e795f734ed28613f9a3d161ea2">BNO08x</a></li>

2
documentation/html/functions_q.html
View File

@ -79,7 +79,7 @@ $(function() {
<li>quat_accuracy&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a36223f7124751fa71e860b2ef55dd2ac">BNO08x</a></li>
<li>queue_calibrate_command()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ad097849616c5caab1fd3eb3632ee2b91">BNO08x</a></li>
<li>queue_command()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a1742d6445ffb6e9297b8bf84dec24f22">BNO08x</a></li>
<li>queue_feature_command()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a6c004a16b146527aa9eeeb6ff37db281">BNO08x</a></li>
<li>queue_feature_command()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#af2951f6ea448af7cf7932fbfed9fec3c">BNO08x</a></li>
<li>queue_packet()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a67d0b5302a60083cef1b31936e2b65d8">BNO08x</a></li>
<li>queue_request_product_id_command()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ab5f200069a2f8cb74cb79c6f162da5a1">BNO08x</a></li>
<li>queue_tare_command()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a4c6353e795f734ed28613f9a3d161ea2">BNO08x</a></li>

3
documentation/html/functions_t.html
View File

@ -84,14 +84,13 @@ $(function() {
<li>TARE_GAME_ROTATION_VECTOR&#160;:&#160;<a class="el" href="class_b_n_o08x.html#abaf1ec8bb197db1998a9ed3cec6180d5">BNO08x</a></li>
<li>TARE_GEOMAGNETIC_ROTATION_VECTOR&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a225397a04d849e5647992ca80d68febb">BNO08x</a></li>
<li>TARE_GYRO_INTEGRATED_ROTATION_VECTOR&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a9ec354d75249f06f13599abf7bedfde0">BNO08x</a></li>
<li>tare_now()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a4549bbef48208bd9c745fc755b93012f">BNO08x</a></li>
<li>TARE_NOW&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a27df630f3e52b35552d2c1f2cf3496b0">BNO08x</a></li>
<li>tare_now()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a4549bbef48208bd9c745fc755b93012f">BNO08x</a></li>
<li>TARE_PERSIST&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a115aef7b38ec0dec2085f6917d832912">BNO08x</a></li>
<li>TARE_ROTATION_VECTOR&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a8e2cfc25d0e34ae53a762b88cc3ac3c8">BNO08x</a></li>
<li>TARE_SET_REORIENTATION&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a59cde7dd301c94a20b84735c5d49008e">BNO08x</a></li>
<li>time_stamp&#160;:&#160;<a class="el" href="class_b_n_o08x.html#abc972db20affbd0040b4e6c4892dd57b">BNO08x</a></li>
<li>tx_buffer&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a74d936708ba924b6ba21004ff9a0b30b">BNO08x</a></li>
<li>tx_packet_queued&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a5b1f13a3170f1c8fdcc886353efa0c08">BNO08x</a></li>
<li>tx_semaphore&#160;:&#160;<a class="el" href="class_b_n_o08x.html#aee2d0bcb8e9d7bacacccacbb04ded661">BNO08x</a></li>
</ul>
</div><!-- contents -->

1
documentation/html/functions_vars.html
View File

@ -277,7 +277,6 @@ $(function() {
<li>TARE_SET_REORIENTATION&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a59cde7dd301c94a20b84735c5d49008e">BNO08x</a></li>
<li>time_stamp&#160;:&#160;<a class="el" href="class_b_n_o08x.html#abc972db20affbd0040b4e6c4892dd57b">BNO08x</a></li>
<li>tx_buffer&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a74d936708ba924b6ba21004ff9a0b30b">BNO08x</a></li>
<li>tx_packet_queued&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a5b1f13a3170f1c8fdcc886353efa0c08">BNO08x</a></li>
<li>tx_semaphore&#160;:&#160;<a class="el" href="class_b_n_o08x.html#aee2d0bcb8e9d7bacacccacbb04ded661">BNO08x</a></li>
</ul>

24
documentation/html/md_esp32___b_n_o08x_2_r_e_a_d_m_e.html
View File

@ -160,8 +160,8 @@ Example</h3>
<div class="line"> imu.<a class="code hl_function" href="class_b_n_o08x.html#aea8e2c6dd7a2c9899479a7f39fe94798">initialize</a>(); <span class="comment">//initialize IMU</span></div>
<div class="line"> </div>
<div class="line"> <span class="comment">//enable gyro &amp; game rotation vector</span></div>
<div class="line"> imu.<a class="code hl_function" href="class_b_n_o08x.html#a639cb013ed17e0f33057742fac97f1a2">enable_game_rotation_vector</a>(100);</div>
<div class="line"> imu.<a class="code hl_function" href="class_b_n_o08x.html#a7619b598cc8e768c4df4805b2958a2c8">enable_gyro</a>(150);</div>
<div class="line"> imu.<a class="code hl_function" href="class_b_n_o08x.html#abe04c38b5bd52d331bd8aefae1f51947">enable_game_rotation_vector</a>(100000); <span class="comment">//100,000us == 100ms report interval</span></div>
<div class="line"> imu.<a class="code hl_function" href="class_b_n_o08x.html#ad7b322681b9ec5f57edb09e336b988c0">enable_gyro</a>(150000); <span class="comment">//150,000us == 150ms report interval </span></div>
<div class="line"> </div>
<div class="line"> <span class="keywordflow">while</span>(1)</div>
<div class="line"> {</div>
@ -176,16 +176,16 @@ Example</h3>
<div class="line">}</div>
<div class="ttc" id="a_b_n_o08x_8hpp_html"><div class="ttname"><a href="_b_n_o08x_8hpp.html">BNO08x.hpp</a></div></div>
<div class="ttc" id="aclass_b_n_o08x_html"><div class="ttname"><a href="class_b_n_o08x.html">BNO08x</a></div><div class="ttdef"><b>Definition</b> BNO08x.hpp:104</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_a15a29c3bb476048b7229abcfb2b1d52a"><div class="ttname"><a href="class_b_n_o08x.html#a15a29c3bb476048b7229abcfb2b1d52a">BNO08x::get_gyro_calibrated_velocity_Z</a></div><div class="ttdeci">float get_gyro_calibrated_velocity_Z()</div><div class="ttdoc">Get calibrated gyro z axis angular velocity measurement.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1866</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_a367d525d1c0ba119b3dca3067bb5bccc"><div class="ttname"><a href="class_b_n_o08x.html#a367d525d1c0ba119b3dca3067bb5bccc">BNO08x::data_available</a></div><div class="ttdeci">bool data_available()</div><div class="ttdoc">Checks if BNO08x has asserted interrupt and sent data.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:725</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_a639cb013ed17e0f33057742fac97f1a2"><div class="ttname"><a href="class_b_n_o08x.html#a639cb013ed17e0f33057742fac97f1a2">BNO08x::enable_game_rotation_vector</a></div><div class="ttdeci">void enable_game_rotation_vector(uint16_t time_between_reports)</div><div class="ttdoc">Sends command to enable game rotation vector reports (See Ref. Manual 6.5.19)</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1002</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_a7077b9a130f1dcf0192454e387968dd6"><div class="ttname"><a href="class_b_n_o08x.html#a7077b9a130f1dcf0192454e387968dd6">BNO08x::get_roll_deg</a></div><div class="ttdeci">float get_roll_deg()</div><div class="ttdoc">Get the reported rotation about x axis.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1505</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_a7619b598cc8e768c4df4805b2958a2c8"><div class="ttname"><a href="class_b_n_o08x.html#a7619b598cc8e768c4df4805b2958a2c8">BNO08x::enable_gyro</a></div><div class="ttdeci">void enable_gyro(uint16_t time_between_reports)</div><div class="ttdoc">Sends command to enable gyro reports (See Ref. Manual 6.5.13)</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1106</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_ab7977391191067282e7f734b9ee45059"><div class="ttname"><a href="class_b_n_o08x.html#ab7977391191067282e7f734b9ee45059">BNO08x::get_gyro_calibrated_velocity_X</a></div><div class="ttdeci">float get_gyro_calibrated_velocity_X()</div><div class="ttdoc">Get calibrated gyro x axis angular velocity measurement.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1846</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_ad4fab6e636e239d4b9273f158983ed89"><div class="ttname"><a href="class_b_n_o08x.html#ad4fab6e636e239d4b9273f158983ed89">BNO08x::get_gyro_calibrated_velocity_Y</a></div><div class="ttdeci">float get_gyro_calibrated_velocity_Y()</div><div class="ttdoc">Get calibrated gyro y axis angular velocity measurement.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1856</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_aea8e2c6dd7a2c9899479a7f39fe94798"><div class="ttname"><a href="class_b_n_o08x.html#aea8e2c6dd7a2c9899479a7f39fe94798">BNO08x::initialize</a></div><div class="ttdeci">bool initialize()</div><div class="ttdoc">Initializes BNO08x sensor.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:119</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_af50010400cbd1445e9ddfa259384b412"><div class="ttname"><a href="class_b_n_o08x.html#af50010400cbd1445e9ddfa259384b412">BNO08x::get_pitch_deg</a></div><div class="ttdeci">float get_pitch_deg()</div><div class="ttdoc">Get the reported rotation about y axis.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1515</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_af80f7795656e695e036d3b1557aed94c"><div class="ttname"><a href="class_b_n_o08x.html#af80f7795656e695e036d3b1557aed94c">BNO08x::get_yaw_deg</a></div><div class="ttdeci">float get_yaw_deg()</div><div class="ttdoc">Get the reported rotation about z axis.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1525</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_a15a29c3bb476048b7229abcfb2b1d52a"><div class="ttname"><a href="class_b_n_o08x.html#a15a29c3bb476048b7229abcfb2b1d52a">BNO08x::get_gyro_calibrated_velocity_Z</a></div><div class="ttdeci">float get_gyro_calibrated_velocity_Z()</div><div class="ttdoc">Get calibrated gyro z axis angular velocity measurement.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2075</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_a367d525d1c0ba119b3dca3067bb5bccc"><div class="ttname"><a href="class_b_n_o08x.html#a367d525d1c0ba119b3dca3067bb5bccc">BNO08x::data_available</a></div><div class="ttdeci">bool data_available()</div><div class="ttdoc">Checks if BNO08x has asserted interrupt and sent data.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:718</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_a7077b9a130f1dcf0192454e387968dd6"><div class="ttname"><a href="class_b_n_o08x.html#a7077b9a130f1dcf0192454e387968dd6">BNO08x::get_roll_deg</a></div><div class="ttdeci">float get_roll_deg()</div><div class="ttdoc">Get the reported rotation about x axis.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1714</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_ab7977391191067282e7f734b9ee45059"><div class="ttname"><a href="class_b_n_o08x.html#ab7977391191067282e7f734b9ee45059">BNO08x::get_gyro_calibrated_velocity_X</a></div><div class="ttdeci">float get_gyro_calibrated_velocity_X()</div><div class="ttdoc">Get calibrated gyro x axis angular velocity measurement.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2055</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_abe04c38b5bd52d331bd8aefae1f51947"><div class="ttname"><a href="class_b_n_o08x.html#abe04c38b5bd52d331bd8aefae1f51947">BNO08x::enable_game_rotation_vector</a></div><div class="ttdeci">void enable_game_rotation_vector(uint32_t time_between_reports)</div><div class="ttdoc">Sends command to enable game rotation vector reports (See Ref. Manual 6.5.19)</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:995</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_ad4fab6e636e239d4b9273f158983ed89"><div class="ttname"><a href="class_b_n_o08x.html#ad4fab6e636e239d4b9273f158983ed89">BNO08x::get_gyro_calibrated_velocity_Y</a></div><div class="ttdeci">float get_gyro_calibrated_velocity_Y()</div><div class="ttdoc">Get calibrated gyro y axis angular velocity measurement.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2065</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_ad7b322681b9ec5f57edb09e336b988c0"><div class="ttname"><a href="class_b_n_o08x.html#ad7b322681b9ec5f57edb09e336b988c0">BNO08x::enable_gyro</a></div><div class="ttdeci">void enable_gyro(uint32_t time_between_reports)</div><div class="ttdoc">Sends command to enable gyro reports (See Ref. Manual 6.5.13)</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1099</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_aea8e2c6dd7a2c9899479a7f39fe94798"><div class="ttname"><a href="class_b_n_o08x.html#aea8e2c6dd7a2c9899479a7f39fe94798">BNO08x::initialize</a></div><div class="ttdeci">bool initialize()</div><div class="ttdoc">Initializes BNO08x sensor.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:118</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_af50010400cbd1445e9ddfa259384b412"><div class="ttname"><a href="class_b_n_o08x.html#af50010400cbd1445e9ddfa259384b412">BNO08x::get_pitch_deg</a></div><div class="ttdeci">float get_pitch_deg()</div><div class="ttdoc">Get the reported rotation about y axis.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1724</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_af80f7795656e695e036d3b1557aed94c"><div class="ttname"><a href="class_b_n_o08x.html#af80f7795656e695e036d3b1557aed94c">BNO08x::get_yaw_deg</a></div><div class="ttdeci">float get_yaw_deg()</div><div class="ttdoc">Get the reported rotation about z axis.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1734</div></div>
</div><!-- fragment --> <p>(<a href="#readme-top">back to top</a>)</p>
<h2><a class="anchor" id="autotoc_md5"></a>
Documentation</h2>

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\DoxyCodeLine{00197\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a51a6d594824de2292e70f788454f8a2d}{get\_quat}}(\textcolor{keywordtype}{float}\&\ i,\ \textcolor{keywordtype}{float}\&\ j,\ \textcolor{keywordtype}{float}\&\ k,\ \textcolor{keywordtype}{float}\&\ real,\ \textcolor{keywordtype}{float}\&\ rad\_accuracy,\ uint8\_t\&\ accuracy);}
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\DoxyCodeLine{00205\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a9329c6669282071622c3b3741b1b8142}{get\_accel}}(\textcolor{keywordtype}{float}\&\ x,\ \textcolor{keywordtype}{float}\&\ y,\ \textcolor{keywordtype}{float}\&\ z,\ uint8\_t\&\ accuracy);}
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\DoxyCodeLine{00229\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a4d3746a376a22acb7a2641bb750c4c89}{get\_gyro\_calibrated\_velocity}}(\textcolor{keywordtype}{float}\&\ x,\ \textcolor{keywordtype}{float}\&\ y,\ \textcolor{keywordtype}{float}\&\ z,\ uint8\_t\&\ accuracy);}
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\DoxyCodeLine{00235\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a08f037df7b3c7e2fc3f0e968f4a5f68c}{print\_header}}();}
\DoxyCodeLine{00236\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a0ef39163352bd7a54ac85952e8cb8516}{print\_packet}}();}
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\DoxyCodeLine{00238\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ Metadata\ functions}}
\DoxyCodeLine{00239\ \ \ \ \ \ \ \ \ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_a4421c43323945946ad605f8422958dcf}{get\_Q1}}(uint16\_t\ record\_ID);}
\DoxyCodeLine{00240\ \ \ \ \ \ \ \ \ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_a954dccdcbe8a8c4f1787f13ebb8d932b}{get\_Q2}}(uint16\_t\ record\_ID);}
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\DoxyCodeLine{00244\ \ \ \ \ \ \ \ \ uint32\_t\ \mbox{\hyperlink{class_b_n_o08x_a27f5dce5c994be18a587fb622574ad41}{FRS\_read\_word}}(uint16\_t\ record\_ID,\ uint8\_t\ word\_number);}
\DoxyCodeLine{00245\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{class_b_n_o08x_adf789e709ac1667656db757c8d559af9}{FRS\_read\_request}}(uint16\_t\ record\_ID,\ uint16\_t\ read\_offset,\ uint16\_t\ block\_size);}
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\DoxyCodeLine{00248\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ Record\ IDs\ from\ figure\ 29,\ page\ 29\ reference\ manual}}
\DoxyCodeLine{00249\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ These\ are\ used\ to\ read\ the\ metadata\ for\ each\ sensor\ type}}
\DoxyCodeLine{00250\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_a72d8919cb432a53f57ff63aa29d5f984}{FRS\_RECORDID\_ACCELEROMETER}}\ =\ 0xE302;}
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\DoxyCodeLine{00255\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a1ef13f6f330810934416ad5fe0ee55b2}{TARE\_AXIS\_ALL}}\ =\ 0x07;\ }
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\DoxyCodeLine{00258\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ Which\ rotation\ vector\ to\ tare,\ BNO08x\ saves\ them\ seperately}}
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\DoxyCodeLine{00262\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a9ec354d75249f06f13599abf7bedfde0}{TARE\_GYRO\_INTEGRATED\_ROTATION\_VECTOR}}\ =\ 3;\ \ \ \ \ \ \ }
\DoxyCodeLine{00263\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a32204963cefc4ae64a80f43e71c8667a}{TARE\_AR\_VR\_STABILIZED\_ROTATION\_VECTOR}}\ =\ 4;\ \ \ \ \ \ }
\DoxyCodeLine{00264\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_aed8135fd5e7996ef06bf5968692ccd84}{TARE\_AR\_VR\_STABILIZED\_GAME\_ROTATION\_VECTOR}}\ =\ 5;\ }
\DoxyCodeLine{00265\ }
\DoxyCodeLine{00266\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_a0b19c8f2de2b2bfe033da7f93cdd2608}{ROTATION\_VECTOR\_Q1}}\ =\ 14;\ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00267\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_a923d65d8568cc31873ad56a3908e1939}{ROTATION\_VECTOR\_ACCURACY\_Q1}}\ =\ 12;\ }
\DoxyCodeLine{00268\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_a0564aaf5b20dc42b54db4fb3115ac1c7}{ACCELEROMETER\_Q1}}\ =\ 8;\ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00269\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_ad0d37fe07ced24f2c9afc21145a74e7b}{LINEAR\_ACCELEROMETER\_Q1}}\ =\ 8;\ \ \ \ \ \ }
\DoxyCodeLine{00270\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_aa3bec8effefa61cec6fa170e9d02c4dd}{GYRO\_Q1}}\ =\ 9;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00271\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_a9fac9b811b7c2117675a784cb4df204c}{MAGNETOMETER\_Q1}}\ =\ 4;\ \ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00272\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_aafe117561fe9138800073a04a778b4ce}{ANGULAR\_VELOCITY\_Q1}}\ =\ 10;\ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00273\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_ae10722334dfce9635e76519598e165a2}{GRAVITY\_Q1}}\ =\ 8;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00274\ }
\DoxyCodeLine{00275\ \ \ \ \ \textcolor{keyword}{private}:}
\DoxyCodeLine{00276\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{class_b_n_o08x_a988c45b4afa4dcd6a24610ff308c1faa}{wait\_for\_device\_int}}();}
\DoxyCodeLine{00277\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{class_b_n_o08x_ae540799865934fcff54caed0772df071}{receive\_packet}}();}
\DoxyCodeLine{00278\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a0ee58cedbc06d4a7db8821f40c0ee207}{send\_packet}}();}
\DoxyCodeLine{00279\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a67d0b5302a60083cef1b31936e2b65d8}{queue\_packet}}(uint8\_t\ channel\_number,\ uint8\_t\ data\_length);}
\DoxyCodeLine{00280\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a1742d6445ffb6e9297b8bf84dec24f22}{queue\_command}}(uint8\_t\ command);}
\DoxyCodeLine{00281\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a6c004a16b146527aa9eeeb6ff37db281}{queue\_feature\_command}}(uint8\_t\ report\_ID,\ uint16\_t\ time\_between\_reports);}
\DoxyCodeLine{00282\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a6c004a16b146527aa9eeeb6ff37db281}{queue\_feature\_command}}(uint8\_t\ report\_ID,\ uint16\_t\ time\_between\_reports,\ uint32\_t\ specific\_config);}
\DoxyCodeLine{00283\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_ad097849616c5caab1fd3eb3632ee2b91}{queue\_calibrate\_command}}(uint8\_t\ \_to\_calibrate);}
\DoxyCodeLine{00284\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a4c6353e795f734ed28613f9a3d161ea2}{queue\_tare\_command}}(uint8\_t\ command,\ uint8\_t\ axis\ =\ \mbox{\hyperlink{class_b_n_o08x_a1ef13f6f330810934416ad5fe0ee55b2}{TARE\_AXIS\_ALL}},\ uint8\_t\ rotation\_vector\_basis\ =\ \mbox{\hyperlink{class_b_n_o08x_a8e2cfc25d0e34ae53a762b88cc3ac3c8}{TARE\_ROTATION\_VECTOR}});}
\DoxyCodeLine{00285\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_ab5f200069a2f8cb74cb79c6f162da5a1}{queue\_request\_product\_id\_command}}();}
\DoxyCodeLine{00286\ }
\DoxyCodeLine{00287\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \mbox{\hyperlink{structbno08x__config__t}{bno08x\_config\_t}}\ \mbox{\hyperlink{class_b_n_o08x_a6232920a05c0aba34e5560951a20ae87}{default\_imu\_config}};\ }
\DoxyCodeLine{00288\ }
\DoxyCodeLine{00289\ \ \ \ \ \ \ \ \ \textcolor{keyword}{volatile}\ uint8\_t}
\DoxyCodeLine{00290\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_a5b1f13a3170f1c8fdcc886353efa0c08}{tx\_packet\_queued}};\ }
\DoxyCodeLine{00291\ \ \ \ \ \ \ \ \ SemaphoreHandle\_t\ \mbox{\hyperlink{class_b_n_o08x_aee2d0bcb8e9d7bacacccacbb04ded661}{tx\_semaphore}};\ }
\DoxyCodeLine{00292\ \ \ \ \ \ \ \ \ SemaphoreHandle\_t}
\DoxyCodeLine{00293\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_a33aee99f7f0d07c3061bab90831bc309}{int\_asserted\_semaphore}};\ }
\DoxyCodeLine{00294\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a7a85ccea09eadf865e8bbbf00d800e64}{rx\_buffer}}[300];\ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00295\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a74d936708ba924b6ba21004ff9a0b30b}{tx\_buffer}}[50];\ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00296\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a908264b797fff9dc6679abde5e7584a5}{packet\_header\_rx}}[4];\ \ \ \ }
\DoxyCodeLine{00297\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_acbca88b37c8c5a590ca971b241dac64f}{commands}}[20];\ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00298\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_aa722dbc6f6f07c63e9ea2a9271614af3}{sequence\_number}}[6];\ \ \ \ \ }
\DoxyCodeLine{00299\ \ \ \ \ \ \ \ \ uint32\_t\ \mbox{\hyperlink{class_b_n_o08x_a7bd032712a975e73e66bd72a3502baba}{meta\_data}}[9];\ }
\DoxyCodeLine{00300\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_ac1daa730e75d17e6afd1edaa288260ae}{command\_sequence\_number}}\ =\ 0;\ }
\DoxyCodeLine{00301\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_a6fbc6d086654b022a3ea53dfacd4fdf5}{packet\_length\_tx}}\ =\ 0;\ \ \ \ \ \ \ }
\DoxyCodeLine{00302\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_af65e3fd0bfdb5b82dcf775e2c061c65a}{packet\_length\_rx}}\ =\ 0;\ \ \ \ \ \ \ }
\DoxyCodeLine{00303\ }
\DoxyCodeLine{00304\ \ \ \ \ \ \ \ \ \mbox{\hyperlink{structbno08x__config__t}{bno08x\_config\_t}}\ \mbox{\hyperlink{class_b_n_o08x_aeda443e9f608fccfec0e6770edc90c82}{imu\_config}}\{\};\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00305\ \ \ \ \ \ \ \ \ spi\_bus\_config\_t\ \mbox{\hyperlink{class_b_n_o08x_a982f065df42f00e53fd87c840efdb0f1}{bus\_config}}\{\};\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00306\ \ \ \ \ \ \ \ \ spi\_device\_interface\_config\_t\ \mbox{\hyperlink{class_b_n_o08x_a425a1f5a9f3232aadc685caaf4c2f82e}{imu\_spi\_config}}\{\};\ }
\DoxyCodeLine{00307\ \ \ \ \ \ \ \ \ spi\_device\_handle\_t\ \mbox{\hyperlink{class_b_n_o08x_acc0ea091465fc9a5736f5e0c6a0ce8ef}{spi\_hdl}}\{\};\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00308\ \ \ \ \ \ \ \ \ spi\_transaction\_t\ \mbox{\hyperlink{class_b_n_o08x_ac16adc5f00b0039c98a4921f13895026}{spi\_transaction}}\{\};\ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00309\ }
\DoxyCodeLine{00310\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ These\ are\ the\ raw\ sensor\ values\ (without\ Q\ applied)\ pulled\ from\ the\ user\ requested\ Input\ Report}}
\DoxyCodeLine{00311\ \ \ \ \ \ \ \ \ uint32\_t\ \mbox{\hyperlink{class_b_n_o08x_abc972db20affbd0040b4e6c4892dd57b}{time\_stamp}};\ }
\DoxyCodeLine{00312\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_a75fb2f06c5bbe26e3f3c794934ef954c}{raw\_accel\_X}},\ \mbox{\hyperlink{class_b_n_o08x_ab56e2ba505fa293d03e955137625c562}{raw\_accel\_Y}},\ \mbox{\hyperlink{class_b_n_o08x_af254d245b368027df6952b7d7522bd35}{raw\_accel\_Z}},}
\DoxyCodeLine{00313\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_a3365b7ebde01e284274e655c60343df9}{accel\_accuracy}};\ }
\DoxyCodeLine{00314\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_ae1f71a432cb15e75f522fa18f29f4d50}{raw\_lin\_accel\_X}},\ \mbox{\hyperlink{class_b_n_o08x_aff3a5590471d1c9fc485a5610433915f}{raw\_lin\_accel\_Y}},\ \mbox{\hyperlink{class_b_n_o08x_abc8add47f1babc66c812a015614143d3}{raw\_lin\_accel\_Z}},}
\DoxyCodeLine{00315\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_a35e1635ef5edde8fc8640f978c6f2e3c}{accel\_lin\_accuracy}};\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00316\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_a19696327a056a448ed5ba706e747bbe5}{raw\_gyro\_X}},\ \mbox{\hyperlink{class_b_n_o08x_a61df9f571555f5f682eb51f24a279489}{raw\_gyro\_Y}},\ \mbox{\hyperlink{class_b_n_o08x_a03f567cda2a3cc966301e96732fca9ad}{raw\_gyro\_Z}},\ \mbox{\hyperlink{class_b_n_o08x_a98ea35dd0fbd0c409d25fd8a6ed9f277}{gyro\_accuracy}};\ }
\DoxyCodeLine{00317\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_a69dc7e97875060213085ba964b3bd987}{raw\_quat\_I}},\ \mbox{\hyperlink{class_b_n_o08x_a61ae05dc5572b326541bf8099f0c2a54}{raw\_quat\_J}},\ \mbox{\hyperlink{class_b_n_o08x_a7720c44ed1c0f1a0663d2adc5e1a1ea1}{raw\_quat\_K}},\ \mbox{\hyperlink{class_b_n_o08x_a867354267253ae828be4fae15c062db3}{raw\_quat\_real}},\ \mbox{\hyperlink{class_b_n_o08x_a033d6cb1aa137743b69cc3e401df67b7}{raw\_quat\_radian\_accuracy}},}
\DoxyCodeLine{00318\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_a36223f7124751fa71e860b2ef55dd2ac}{quat\_accuracy}};\ }
\DoxyCodeLine{00319\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_aa5bb03dbeabed729c012ec7164a3354f}{raw\_velocity\_gyro\_X}},\ \mbox{\hyperlink{class_b_n_o08x_a4f188bf76ba862f07606d1351d28548f}{raw\_velocity\_gyro\_Y}},}
\DoxyCodeLine{00320\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_ab49f9a6586d709bbd26280ef44a4bbf7}{raw\_velocity\_gyro\_Z}};\ }
\DoxyCodeLine{00321\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_af45016be9ea523d80be8467b2907b499}{gravity\_X}},\ \mbox{\hyperlink{class_b_n_o08x_af20dcd487a9fe8fa6243817d51e37be5}{gravity\_Y}},\ \mbox{\hyperlink{class_b_n_o08x_afa1cf5c3afbb258d97c55c5fb187f2d6}{gravity\_Z}},}
\DoxyCodeLine{00322\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_ae01698d287ea999179a11e2244902022}{gravity\_accuracy}};\ }
\DoxyCodeLine{00323\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_afdc5cdb65bd0b36528b5b671b9d27053}{raw\_uncalib\_gyro\_X}},\ \mbox{\hyperlink{class_b_n_o08x_acc2c66e2985975266a286385ea855117}{raw\_uncalib\_gyro\_Y}},\ \mbox{\hyperlink{class_b_n_o08x_afac9dd4161f4c0051255293680c9082b}{raw\_uncalib\_gyro\_Z}},\ \mbox{\hyperlink{class_b_n_o08x_a8a2667f668317cee0a9fc4ef0accc3f5}{raw\_bias\_X}},\ \mbox{\hyperlink{class_b_n_o08x_ac38ff5eb93d3c3db0af2504ba02fd93c}{raw\_bias\_Y}},\ \mbox{\hyperlink{class_b_n_o08x_a0968eaed9b3d979a2caa1aba6e6b417a}{raw\_bias\_Z}},}
\DoxyCodeLine{00324\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_a081c666a3f24016d0ec5c5edc49f2903}{uncalib\_gyro\_accuracy}};\ }
\DoxyCodeLine{00325\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_aa5bdf740161b7c37adcac0154a410118}{raw\_magf\_X}},\ \mbox{\hyperlink{class_b_n_o08x_acd365418f24a6da61122c66d82086639}{raw\_magf\_Y}},\ \mbox{\hyperlink{class_b_n_o08x_ab4862de31d0874b44b6745678e1c905e}{raw\_magf\_Z}},}
\DoxyCodeLine{00326\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_ac5d4e151690774687efa951ca41c16ae}{magf\_accuracy}};\ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00327\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a1171a5738a4e6831ec7fa32a29f15554}{tap\_detector}};\ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00328\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_ad80a77973371b12d722ea39063c648be}{step\_count}};\ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00329\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a1b12471e92536a79d0c425d77676f2e1}{stability\_classifier}};\ \ }
\DoxyCodeLine{00330\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a75cea49c1c08ca28d9fa7e5ed61c6e7b}{activity\_classifier}};\ \ \ }
\DoxyCodeLine{00331\ \ \ \ \ \ \ \ \ uint8\_t*\ \mbox{\hyperlink{class_b_n_o08x_af96e8cd070459f945ffbf01b98106e13}{activity\_confidences}};\ }
\DoxyCodeLine{00332\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_ad212b5028a31e857e76d251ced2724e1}{calibration\_status}};\ \ \ \ }
\DoxyCodeLine{00333\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_a937cbdc4edaac72c8cad041d79de5701}{mems\_raw\_accel\_X}},\ \mbox{\hyperlink{class_b_n_o08x_ad83cecb8a5d2be01db6792755b6057e9}{mems\_raw\_accel\_Y}},}
\DoxyCodeLine{00334\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_a59a4d75f1302ab693b1b26e9ccaa5341}{mems\_raw\_accel\_Z}};\ }
\DoxyCodeLine{00335\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_a3d6b6257462951ea023af7076c80f6dd}{mems\_raw\_gyro\_X}},\ \mbox{\hyperlink{class_b_n_o08x_ab6b142416912a096886dd63ad0beb865}{mems\_raw\_gyro\_Y}},}
\DoxyCodeLine{00336\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_ac35d5b12721ab876eaeb1f714a9b3b1d}{mems\_raw\_gyro\_Z}};\ }
\DoxyCodeLine{00337\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_ab587cdf991342b69b7fff3b33f537eb5}{mems\_raw\_magf\_X}},\ \mbox{\hyperlink{class_b_n_o08x_aad926054c81818fff611e10ed913706a}{mems\_raw\_magf\_Y}},}
\DoxyCodeLine{00338\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_a90f0cdf11decc276006f76a494d42ce3}{mems\_raw\_magf\_Z}};\ }
\DoxyCodeLine{00339\ }
\DoxyCodeLine{00340\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ spi\ task}}
\DoxyCodeLine{00341\ \ \ \ \ \ \ \ \ TaskHandle\_t\ \mbox{\hyperlink{class_b_n_o08x_a615090aae15f1b0410a7e5ecb94957b5}{spi\_task\_hdl}};\ }
\DoxyCodeLine{00342\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a0ce6d9db873555f1ebe7e095251eab74}{spi\_task\_trampoline}}(\textcolor{keywordtype}{void}*\ arg);}
\DoxyCodeLine{00343\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a2ecd4ed60f82730ae230c61687ec92bf}{spi\_task}}();}
\DoxyCodeLine{00344\ }
\DoxyCodeLine{00345\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keywordtype}{void}\ IRAM\_ATTR\ \mbox{\hyperlink{class_b_n_o08x_a804b95c58c30d36933fd251626b85bf7}{hint\_handler}}(\textcolor{keywordtype}{void}*\ arg);}
\DoxyCodeLine{00346\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keywordtype}{bool}}
\DoxyCodeLine{00347\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_a4882dbc698d7b730f57e2401037766a9}{isr\_service\_installed}};\ }
\DoxyCodeLine{00348\ }
\DoxyCodeLine{00349\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint64\_t\ \mbox{\hyperlink{class_b_n_o08x_ae7f34752f888c637d5619f898e62a6d4}{HOST\_INT\_TIMEOUT\_MS}}\ =}
\DoxyCodeLine{00350\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ 150ULL;\ }
\DoxyCodeLine{00351\ }
\DoxyCodeLine{00352\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ Higher\ level\ calibration\ commands,\ used\ by\ queue\_calibrate\_command}}
\DoxyCodeLine{00353\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_acd5b44d705af1f9aaa271a59a9d2d595}{CALIBRATE\_ACCEL}}\ =\ 0;\ \ \ \ \ \ \ \ }
\DoxyCodeLine{00354\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_aeac84719a1cc0f9c8d5a9a749391d4db}{CALIBRATE\_GYRO}}\ =\ 1;\ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00355\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_ac00e8b59ae8d710cf79956eaafa97ddb}{CALIBRATE\_MAG}}\ =\ 2;\ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00356\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a955dcb60da150490e17367a871b3a3d2}{CALIBRATE\_PLANAR\_ACCEL}}\ =\ 3;\ }
\DoxyCodeLine{00357\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_af53d9e99f163d97ef92fe989b1dd25cc}{CALIBRATE\_ACCEL\_GYRO\_MAG}}\ =}
\DoxyCodeLine{00358\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ 4;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00359\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a584bfa04a39feb93279ee673c340db54}{CALIBRATE\_STOP}}\ =\ 5;\ }
\DoxyCodeLine{00360\ }
\DoxyCodeLine{00361\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ Command\ IDs\ (see\ Ref.\ Manual\ 6.4)}}
\DoxyCodeLine{00362\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a384a1efc9857ad938be3bb44f871539b}{COMMAND\_ERRORS}}\ =\ 1;}
\DoxyCodeLine{00363\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a93dd073c0cc1f3ccfde552649f6ebccc}{COMMAND\_COUNTER}}\ =\ 2;}
\DoxyCodeLine{00364\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a0a1756bc16ba3eac45f4229b1e350107}{COMMAND\_TARE}}\ =\ 3;\ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00365\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a30eb6d305a187d4d36546841e12176b9}{COMMAND\_INITIALIZE}}\ =\ 4;\ \ \ \ \ \ }
\DoxyCodeLine{00366\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_af124a6c1d8b871f3181b6c85f1099cb2}{COMMAND\_DCD}}\ =\ 6;\ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00367\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a8381dfe403ddff522f172cb16780731a}{COMMAND\_ME\_CALIBRATE}}\ =\ 7;\ \ \ \ }
\DoxyCodeLine{00368\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a7a246989c94cd87f68166b20b7ad4c8b}{COMMAND\_DCD\_PERIOD\_SAVE}}\ =\ 9;\ }
\DoxyCodeLine{00369\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a308c8b5307d93a67b5b9066d44494aa5}{COMMAND\_OSCILLATOR}}\ =\ 10;\ \ \ \ \ }
\DoxyCodeLine{00370\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a4f580b3cb232a762ea7019ee7b04d419}{COMMAND\_CLEAR\_DCD}}\ =\ 11;\ \ \ \ \ \ }
\DoxyCodeLine{00371\ }
\DoxyCodeLine{00372\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ SHTP\ channel\ 2\ control\ report\ IDs,\ used\ in\ communication\ with\ sensor\ (See\ Ref.\ Manual\ 6.2)}}
\DoxyCodeLine{00373\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a1e5b64caa514b7e4fe64ab214758b875}{SHTP\_REPORT\_COMMAND\_RESPONSE}}\ =\ 0xF1;\ \ \ \ }
\DoxyCodeLine{00374\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_ab04695dd189412092254e52bd6e5a75a}{SHTP\_REPORT\_COMMAND\_REQUEST}}\ =\ 0xF2;\ \ \ \ \ }
\DoxyCodeLine{00375\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_aeb760b095dcf808a413ef696f2608e43}{SHTP\_REPORT\_FRS\_READ\_RESPONSE}}\ =\ 0xF3;\ \ \ }
\DoxyCodeLine{00376\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a74af7eacc35cc825940b647c2de0d368}{SHTP\_REPORT\_FRS\_READ\_REQUEST}}\ =\ 0xF4;\ \ \ \ }
\DoxyCodeLine{00377\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a0177134162e116501bc9483c6e4b76c3}{SHTP\_REPORT\_PRODUCT\_ID\_RESPONSE}}\ =\ 0xF8;\ }
\DoxyCodeLine{00378\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a542405639c28bd56bc4361b922763c95}{SHTP\_REPORT\_PRODUCT\_ID\_REQUEST}}\ =\ 0xF9;\ \ }
\DoxyCodeLine{00379\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_ae37d6f8431c8c465bfb0c662772b5cb9}{SHTP\_REPORT\_BASE\_TIMESTAMP}}\ =\ 0xFB;\ \ \ \ \ \ }
\DoxyCodeLine{00380\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a1d3bff4e20c2c3d47db322c9e34ef338}{SHTP\_REPORT\_SET\_FEATURE\_COMMAND}}\ =\ 0xFD;\ }
\DoxyCodeLine{00381\ }
\DoxyCodeLine{00382\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ Sensor\ report\ IDs,\ used\ when\ enabling\ and\ reading\ BNO08x\ reports}}
\DoxyCodeLine{00383\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a476b35f11a2f096cdb70f7ee73cf2e90}{SENSOR\_REPORTID\_ACCELEROMETER}}\ =\ 0x01;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00384\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a29ab9f86763cce89e833392553f7abb4}{SENSOR\_REPORTID\_GYROSCOPE}}\ =\ 0x02;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00385\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a6f3bf6774ceb583c5c56f2ad80573834}{SENSOR\_REPORTID\_MAGNETIC\_FIELD}}\ =\ 0x03;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00386\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a53898b82dbac7ef27e1adb519dfcd686}{SENSOR\_REPORTID\_LINEAR\_ACCELERATION}}\ =\ 0x04;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00387\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_ab0279e8622ed188ee48411e074fb7e9d}{SENSOR\_REPORTID\_ROTATION\_VECTOR}}\ =\ 0x05;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00388\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_aeeb54b0b516917f3ff58cb655ae707a8}{SENSOR\_REPORTID\_GRAVITY}}\ =\ 0x06;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00389\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_ab94bfdbbffc0a7a255e752244b22322a}{SENSOR\_REPORTID\_UNCALIBRATED\_GYRO}}\ =\ 0x07;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00390\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_ab3dc8b362050d438d8a05b26e86af638}{SENSOR\_REPORTID\_GAME\_ROTATION\_VECTOR}}\ =\ 0x08;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00391\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_aec618850b70a4e32a5148b05281aa8f0}{SENSOR\_REPORTID\_GEOMAGNETIC\_ROTATION\_VECTOR}}\ =\ 0x09;\ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00392\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a8b55a8131c251bb234d5391b0cd6aa48}{SENSOR\_REPORTID\_GYRO\_INTEGRATED\_ROTATION\_VECTOR}}\ =\ 0x2A;\ \ \ \ \ \ \ }
\DoxyCodeLine{00393\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a437fed4cb82edd32f839d88679ff8ed9}{SENSOR\_REPORTID\_TAP\_DETECTOR}}\ =\ 0x10;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00394\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_aaff9af63d5f35c05f0a1e485f3d97bc5}{SENSOR\_REPORTID\_STEP\_COUNTER}}\ =\ 0x11;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00395\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_afad93ba52698512205df714109cadcfc}{SENSOR\_REPORTID\_STABILITY\_CLASSIFIER}}\ =\ 0x13;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00396\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_aa8d2d5c66b72af3966dca751e7343a97}{SENSOR\_REPORTID\_RAW\_ACCELEROMETER}}\ =\ 0x14;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00397\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_aaed7faffc8f2bba8a2ae56933236f9f7}{SENSOR\_REPORTID\_RAW\_GYROSCOPE}}\ =\ 0x15;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00398\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_ac719a06278c239cc36f666b99a41b1c0}{SENSOR\_REPORTID\_RAW\_MAGNETOMETER}}\ =\ 0x16;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00399\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a001b45f56e347fb8e8149bcecbe2b40c}{SENSOR\_REPORTID\_PERSONAL\_ACTIVITY\_CLASSIFIER}}\ =\ 0x1E;\ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00400\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a263b8c25089c38f9ffa85493aef79606}{SENSOR\_REPORTID\_AR\_VR\_STABILIZED\_ROTATION\_VECTOR}}\ =\ 0x28;\ \ \ \ \ \ }
\DoxyCodeLine{00401\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a09dd6846e22801427b92b325385653e0}{SENSOR\_REPORTID\_AR\_VR\_STABILIZED\_GAME\_ROTATION\_VECTOR}}\ =\ 0x29;\ }
\DoxyCodeLine{00402\ }
\DoxyCodeLine{00403\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ Tare\ commands\ used\ by\ queue\_tare\_command}}
\DoxyCodeLine{00404\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a27df630f3e52b35552d2c1f2cf3496b0}{TARE\_NOW}}\ =\ 0;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00405\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a115aef7b38ec0dec2085f6917d832912}{TARE\_PERSIST}}\ =\ 1;\ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00406\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a59cde7dd301c94a20b84735c5d49008e}{TARE\_SET\_REORIENTATION}}\ =\ 2;\ }
\DoxyCodeLine{00407\ }
\DoxyCodeLine{00408\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ \textcolor{keywordtype}{char}*\ \mbox{\hyperlink{class_b_n_o08x_a2c98d5f2c406a3efd0b48c5666fa8c46}{TAG}}\ =\ \textcolor{stringliteral}{"{}BNO08x"{}};\ }
\DoxyCodeLine{00409\ \};}
\DoxyCodeLine{00235\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a1bd3c33e70354bd35a78b83b6786b531}{get\_uncalibrated\_gyro}}(\textcolor{keywordtype}{float}\&\ x,\ \textcolor{keywordtype}{float}\&\ y,\ \textcolor{keywordtype}{float}\&\ z,\ \textcolor{keywordtype}{float}\&\ bx,\ \textcolor{keywordtype}{float}\&\ by,\ \textcolor{keywordtype}{float}\&\ bz,\ uint8\_t\&\ accuracy);}
\DoxyCodeLine{00236\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a289ff66f51c94be62c4a556f3a5997bf}{get\_uncalibrated\_gyro\_X}}();}
\DoxyCodeLine{00237\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a1874e4bd457bb5b6ecc2c64039b88ba4}{get\_uncalibrated\_gyro\_Y}}();}
\DoxyCodeLine{00238\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a0a73633d8929ce4058b14cefc8cad717}{get\_uncalibrated\_gyro\_Z}}();}
\DoxyCodeLine{00239\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_ad228cdf352b7ea95e484da993045a47b}{get\_uncalibrated\_gyro\_bias\_X}}();}
\DoxyCodeLine{00240\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a74725517129dd548c7a3de705d5861bd}{get\_uncalibrated\_gyro\_bias\_Y}}();}
\DoxyCodeLine{00241\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a5050359272abd146ab3c7a6101effbd7}{get\_uncalibrated\_gyro\_bias\_Z}}();}
\DoxyCodeLine{00242\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a3285613f18b2f2f4c3f9e6d5c971af10}{get\_uncalibrated\_gyro\_accuracy}}();}
\DoxyCodeLine{00243\ }
\DoxyCodeLine{00244\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_afe6392012669e7ebd1a9e817e2bd313f}{get\_gyro\_velocity}}(\textcolor{keywordtype}{float}\&\ x,\ \textcolor{keywordtype}{float}\&\ y,\ \textcolor{keywordtype}{float}\&\ z);}
\DoxyCodeLine{00245\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_acd376cd3e454a87198ec86accbf2ee00}{get\_gyro\_velocity\_X}}();}
\DoxyCodeLine{00246\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_acd1819a81818f90dc105950b4a7d0b04}{get\_gyro\_velocity\_Y}}();}
\DoxyCodeLine{00247\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_ae2add976af256ec981248371a2f58207}{get\_gyro\_velocity\_Z}}();}
\DoxyCodeLine{00248\ }
\DoxyCodeLine{00249\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a4797ec731de4c158716da1a7af9d1602}{get\_tap\_detector}}();}
\DoxyCodeLine{00250\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_adaff49f3d80fdd19fd4210f0c56d41ef}{get\_step\_count}}();}
\DoxyCodeLine{00251\ \ \ \ \ \ \ \ \ int8\_t\ \mbox{\hyperlink{class_b_n_o08x_a0d148e00abcfeec48c689e3084a7e786}{get\_stability\_classifier}}();}
\DoxyCodeLine{00252\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a4f7060b2d3c15b359b70b6346730446a}{get\_activity\_classifier}}();}
\DoxyCodeLine{00253\ }
\DoxyCodeLine{00254\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a08f037df7b3c7e2fc3f0e968f4a5f68c}{print\_header}}();}
\DoxyCodeLine{00255\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a0ef39163352bd7a54ac85952e8cb8516}{print\_packet}}();}
\DoxyCodeLine{00256\ }
\DoxyCodeLine{00257\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ Metadata\ functions}}
\DoxyCodeLine{00258\ \ \ \ \ \ \ \ \ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_a4421c43323945946ad605f8422958dcf}{get\_Q1}}(uint16\_t\ record\_ID);}
\DoxyCodeLine{00259\ \ \ \ \ \ \ \ \ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_a954dccdcbe8a8c4f1787f13ebb8d932b}{get\_Q2}}(uint16\_t\ record\_ID);}
\DoxyCodeLine{00260\ \ \ \ \ \ \ \ \ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_a1590ba793668f9cb1a32a1f4dd07cb9a}{get\_Q3}}(uint16\_t\ record\_ID);}
\DoxyCodeLine{00261\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a1d6ea02d0d4b23ff6a15e9d5c6c92372}{get\_resolution}}(uint16\_t\ record\_ID);}
\DoxyCodeLine{00262\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a0fff04c42c9502615ad73cd1457cb9b0}{get\_range}}(uint16\_t\ record\_ID);}
\DoxyCodeLine{00263\ \ \ \ \ \ \ \ \ uint32\_t\ \mbox{\hyperlink{class_b_n_o08x_a27f5dce5c994be18a587fb622574ad41}{FRS\_read\_word}}(uint16\_t\ record\_ID,\ uint8\_t\ word\_number);}
\DoxyCodeLine{00264\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{class_b_n_o08x_adf789e709ac1667656db757c8d559af9}{FRS\_read\_request}}(uint16\_t\ record\_ID,\ uint16\_t\ read\_offset,\ uint16\_t\ block\_size);}
\DoxyCodeLine{00265\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{class_b_n_o08x_a40607e557eada666a5e1e416f42cd4a1}{FRS\_read\_data}}(uint16\_t\ record\_ID,\ uint8\_t\ start\_location,\ uint8\_t\ words\_to\_read);}
\DoxyCodeLine{00266\ }
\DoxyCodeLine{00267\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ Record\ IDs\ from\ figure\ 29,\ page\ 29\ reference\ manual}}
\DoxyCodeLine{00268\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ These\ are\ used\ to\ read\ the\ metadata\ for\ each\ sensor\ type}}
\DoxyCodeLine{00269\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_a72d8919cb432a53f57ff63aa29d5f984}{FRS\_RECORDID\_ACCELEROMETER}}\ =\ 0xE302;}
\DoxyCodeLine{00270\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_a6dbd6b8c9d1450c97db1e46861c55132}{FRS\_RECORDID\_GYROSCOPE\_CALIBRATED}}\ =\ 0xE306;}
\DoxyCodeLine{00271\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_ab9519ab682fedb7224e4c0489c7d5619}{FRS\_RECORDID\_MAGNETIC\_FIELD\_CALIBRATED}}\ =\ 0xE309;}
\DoxyCodeLine{00272\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_a58e7e3a7bf08fbdb4b75b3a0034ed33e}{FRS\_RECORDID\_ROTATION\_VECTOR}}\ =\ 0xE30B;}
\DoxyCodeLine{00273\ }
\DoxyCodeLine{00274\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a1ef13f6f330810934416ad5fe0ee55b2}{TARE\_AXIS\_ALL}}\ =\ 0x07;\ }
\DoxyCodeLine{00275\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_aecb3e11c1ca5769fd60f42c17a105731}{TARE\_AXIS\_Z}}\ =\ 0x04;\ \ \ }
\DoxyCodeLine{00276\ }
\DoxyCodeLine{00277\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ Which\ rotation\ vector\ to\ tare,\ BNO08x\ saves\ them\ seperately}}
\DoxyCodeLine{00278\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a8e2cfc25d0e34ae53a762b88cc3ac3c8}{TARE\_ROTATION\_VECTOR}}\ =\ 0;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00279\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_abaf1ec8bb197db1998a9ed3cec6180d5}{TARE\_GAME\_ROTATION\_VECTOR}}\ =\ 1;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00280\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a225397a04d849e5647992ca80d68febb}{TARE\_GEOMAGNETIC\_ROTATION\_VECTOR}}\ =\ 2;\ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00281\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a9ec354d75249f06f13599abf7bedfde0}{TARE\_GYRO\_INTEGRATED\_ROTATION\_VECTOR}}\ =\ 3;\ \ \ \ \ \ \ }
\DoxyCodeLine{00282\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a32204963cefc4ae64a80f43e71c8667a}{TARE\_AR\_VR\_STABILIZED\_ROTATION\_VECTOR}}\ =\ 4;\ \ \ \ \ \ }
\DoxyCodeLine{00283\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_aed8135fd5e7996ef06bf5968692ccd84}{TARE\_AR\_VR\_STABILIZED\_GAME\_ROTATION\_VECTOR}}\ =\ 5;\ }
\DoxyCodeLine{00284\ }
\DoxyCodeLine{00285\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_a0b19c8f2de2b2bfe033da7f93cdd2608}{ROTATION\_VECTOR\_Q1}}\ =\ 14;\ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00286\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_a923d65d8568cc31873ad56a3908e1939}{ROTATION\_VECTOR\_ACCURACY\_Q1}}\ =\ 12;\ }
\DoxyCodeLine{00287\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_a0564aaf5b20dc42b54db4fb3115ac1c7}{ACCELEROMETER\_Q1}}\ =\ 8;\ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00288\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_ad0d37fe07ced24f2c9afc21145a74e7b}{LINEAR\_ACCELEROMETER\_Q1}}\ =\ 8;\ \ \ \ \ \ }
\DoxyCodeLine{00289\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_aa3bec8effefa61cec6fa170e9d02c4dd}{GYRO\_Q1}}\ =\ 9;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00290\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_a9fac9b811b7c2117675a784cb4df204c}{MAGNETOMETER\_Q1}}\ =\ 4;\ \ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00291\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_aafe117561fe9138800073a04a778b4ce}{ANGULAR\_VELOCITY\_Q1}}\ =\ 10;\ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00292\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_ae10722334dfce9635e76519598e165a2}{GRAVITY\_Q1}}\ =\ 8;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00293\ }
\DoxyCodeLine{00294\ \ \ \ \ \textcolor{keyword}{private}:}
\DoxyCodeLine{00295\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{class_b_n_o08x_a988c45b4afa4dcd6a24610ff308c1faa}{wait\_for\_device\_int}}();}
\DoxyCodeLine{00296\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{class_b_n_o08x_ae540799865934fcff54caed0772df071}{receive\_packet}}();}
\DoxyCodeLine{00297\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a0ee58cedbc06d4a7db8821f40c0ee207}{send\_packet}}();}
\DoxyCodeLine{00298\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a67d0b5302a60083cef1b31936e2b65d8}{queue\_packet}}(uint8\_t\ channel\_number,\ uint8\_t\ data\_length);}
\DoxyCodeLine{00299\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a1742d6445ffb6e9297b8bf84dec24f22}{queue\_command}}(uint8\_t\ command);}
\DoxyCodeLine{00300\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_af2951f6ea448af7cf7932fbfed9fec3c}{queue\_feature\_command}}(uint8\_t\ report\_ID,\ uint32\_t\ time\_between\_reports);}
\DoxyCodeLine{00301\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_af2951f6ea448af7cf7932fbfed9fec3c}{queue\_feature\_command}}(uint8\_t\ report\_ID,\ uint32\_t\ time\_between\_reports,\ uint32\_t\ specific\_config);}
\DoxyCodeLine{00302\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_ad097849616c5caab1fd3eb3632ee2b91}{queue\_calibrate\_command}}(uint8\_t\ \_to\_calibrate);}
\DoxyCodeLine{00303\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a4c6353e795f734ed28613f9a3d161ea2}{queue\_tare\_command}}(uint8\_t\ command,\ uint8\_t\ axis\ =\ \mbox{\hyperlink{class_b_n_o08x_a1ef13f6f330810934416ad5fe0ee55b2}{TARE\_AXIS\_ALL}},\ uint8\_t\ rotation\_vector\_basis\ =\ \mbox{\hyperlink{class_b_n_o08x_a8e2cfc25d0e34ae53a762b88cc3ac3c8}{TARE\_ROTATION\_VECTOR}});}
\DoxyCodeLine{00304\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_ab5f200069a2f8cb74cb79c6f162da5a1}{queue\_request\_product\_id\_command}}();}
\DoxyCodeLine{00305\ }
\DoxyCodeLine{00306\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \mbox{\hyperlink{structbno08x__config__t}{bno08x\_config\_t}}\ \mbox{\hyperlink{class_b_n_o08x_a6232920a05c0aba34e5560951a20ae87}{default\_imu\_config}};\ }
\DoxyCodeLine{00307\ }
\DoxyCodeLine{00308\ \ \ \ \ \ \ \ \ \ SemaphoreHandle\_t\ \mbox{\hyperlink{class_b_n_o08x_aee2d0bcb8e9d7bacacccacbb04ded661}{tx\_semaphore}};\ }
\DoxyCodeLine{00309\ \ \ \ \ \ \ \ \ SemaphoreHandle\_t}
\DoxyCodeLine{00310\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_a33aee99f7f0d07c3061bab90831bc309}{int\_asserted\_semaphore}};\ }
\DoxyCodeLine{00311\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a7a85ccea09eadf865e8bbbf00d800e64}{rx\_buffer}}[300];\ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00312\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a74d936708ba924b6ba21004ff9a0b30b}{tx\_buffer}}[50];\ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00313\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a908264b797fff9dc6679abde5e7584a5}{packet\_header\_rx}}[4];\ \ \ \ }
\DoxyCodeLine{00314\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_acbca88b37c8c5a590ca971b241dac64f}{commands}}[20];\ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00315\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_aa722dbc6f6f07c63e9ea2a9271614af3}{sequence\_number}}[6];\ \ \ \ \ }
\DoxyCodeLine{00316\ \ \ \ \ \ \ \ \ uint32\_t\ \mbox{\hyperlink{class_b_n_o08x_a7bd032712a975e73e66bd72a3502baba}{meta\_data}}[9];\ }
\DoxyCodeLine{00317\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_ac1daa730e75d17e6afd1edaa288260ae}{command\_sequence\_number}}\ =\ 0;\ }
\DoxyCodeLine{00318\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_a6fbc6d086654b022a3ea53dfacd4fdf5}{packet\_length\_tx}}\ =\ 0;\ \ \ \ \ \ \ }
\DoxyCodeLine{00319\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_af65e3fd0bfdb5b82dcf775e2c061c65a}{packet\_length\_rx}}\ =\ 0;\ \ \ \ \ \ \ }
\DoxyCodeLine{00320\ }
\DoxyCodeLine{00321\ \ \ \ \ \ \ \ \ \mbox{\hyperlink{structbno08x__config__t}{bno08x\_config\_t}}\ \mbox{\hyperlink{class_b_n_o08x_aeda443e9f608fccfec0e6770edc90c82}{imu\_config}}\{\};\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00322\ \ \ \ \ \ \ \ \ spi\_bus\_config\_t\ \mbox{\hyperlink{class_b_n_o08x_a982f065df42f00e53fd87c840efdb0f1}{bus\_config}}\{\};\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00323\ \ \ \ \ \ \ \ \ spi\_device\_interface\_config\_t\ \mbox{\hyperlink{class_b_n_o08x_a425a1f5a9f3232aadc685caaf4c2f82e}{imu\_spi\_config}}\{\};\ }
\DoxyCodeLine{00324\ \ \ \ \ \ \ \ \ spi\_device\_handle\_t\ \mbox{\hyperlink{class_b_n_o08x_acc0ea091465fc9a5736f5e0c6a0ce8ef}{spi\_hdl}}\{\};\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00325\ \ \ \ \ \ \ \ \ spi\_transaction\_t\ \mbox{\hyperlink{class_b_n_o08x_ac16adc5f00b0039c98a4921f13895026}{spi\_transaction}}\{\};\ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00326\ }
\DoxyCodeLine{00327\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ These\ are\ the\ raw\ sensor\ values\ (without\ Q\ applied)\ pulled\ from\ the\ user\ requested\ Input\ Report}}
\DoxyCodeLine{00328\ \ \ \ \ \ \ \ \ uint32\_t\ \mbox{\hyperlink{class_b_n_o08x_abc972db20affbd0040b4e6c4892dd57b}{time\_stamp}};\ }
\DoxyCodeLine{00329\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_a75fb2f06c5bbe26e3f3c794934ef954c}{raw\_accel\_X}},\ \mbox{\hyperlink{class_b_n_o08x_ab56e2ba505fa293d03e955137625c562}{raw\_accel\_Y}},\ \mbox{\hyperlink{class_b_n_o08x_af254d245b368027df6952b7d7522bd35}{raw\_accel\_Z}},}
\DoxyCodeLine{00330\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_a3365b7ebde01e284274e655c60343df9}{accel\_accuracy}};\ }
\DoxyCodeLine{00331\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_ae1f71a432cb15e75f522fa18f29f4d50}{raw\_lin\_accel\_X}},\ \mbox{\hyperlink{class_b_n_o08x_aff3a5590471d1c9fc485a5610433915f}{raw\_lin\_accel\_Y}},\ \mbox{\hyperlink{class_b_n_o08x_abc8add47f1babc66c812a015614143d3}{raw\_lin\_accel\_Z}},}
\DoxyCodeLine{00332\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_a35e1635ef5edde8fc8640f978c6f2e3c}{accel\_lin\_accuracy}};\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00333\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_a19696327a056a448ed5ba706e747bbe5}{raw\_gyro\_X}},\ \mbox{\hyperlink{class_b_n_o08x_a61df9f571555f5f682eb51f24a279489}{raw\_gyro\_Y}},\ \mbox{\hyperlink{class_b_n_o08x_a03f567cda2a3cc966301e96732fca9ad}{raw\_gyro\_Z}},\ \mbox{\hyperlink{class_b_n_o08x_a98ea35dd0fbd0c409d25fd8a6ed9f277}{gyro\_accuracy}};\ }
\DoxyCodeLine{00334\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_a69dc7e97875060213085ba964b3bd987}{raw\_quat\_I}},\ \mbox{\hyperlink{class_b_n_o08x_a61ae05dc5572b326541bf8099f0c2a54}{raw\_quat\_J}},\ \mbox{\hyperlink{class_b_n_o08x_a7720c44ed1c0f1a0663d2adc5e1a1ea1}{raw\_quat\_K}},\ \mbox{\hyperlink{class_b_n_o08x_a867354267253ae828be4fae15c062db3}{raw\_quat\_real}},\ \mbox{\hyperlink{class_b_n_o08x_a033d6cb1aa137743b69cc3e401df67b7}{raw\_quat\_radian\_accuracy}},}
\DoxyCodeLine{00335\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_a36223f7124751fa71e860b2ef55dd2ac}{quat\_accuracy}};\ }
\DoxyCodeLine{00336\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_aa5bb03dbeabed729c012ec7164a3354f}{raw\_velocity\_gyro\_X}},\ \mbox{\hyperlink{class_b_n_o08x_a4f188bf76ba862f07606d1351d28548f}{raw\_velocity\_gyro\_Y}},}
\DoxyCodeLine{00337\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_ab49f9a6586d709bbd26280ef44a4bbf7}{raw\_velocity\_gyro\_Z}};\ }
\DoxyCodeLine{00338\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_af45016be9ea523d80be8467b2907b499}{gravity\_X}},\ \mbox{\hyperlink{class_b_n_o08x_af20dcd487a9fe8fa6243817d51e37be5}{gravity\_Y}},\ \mbox{\hyperlink{class_b_n_o08x_afa1cf5c3afbb258d97c55c5fb187f2d6}{gravity\_Z}},}
\DoxyCodeLine{00339\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_ae01698d287ea999179a11e2244902022}{gravity\_accuracy}};\ }
\DoxyCodeLine{00340\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_afdc5cdb65bd0b36528b5b671b9d27053}{raw\_uncalib\_gyro\_X}},\ \mbox{\hyperlink{class_b_n_o08x_acc2c66e2985975266a286385ea855117}{raw\_uncalib\_gyro\_Y}},\ \mbox{\hyperlink{class_b_n_o08x_afac9dd4161f4c0051255293680c9082b}{raw\_uncalib\_gyro\_Z}},\ \mbox{\hyperlink{class_b_n_o08x_a8a2667f668317cee0a9fc4ef0accc3f5}{raw\_bias\_X}},\ \mbox{\hyperlink{class_b_n_o08x_ac38ff5eb93d3c3db0af2504ba02fd93c}{raw\_bias\_Y}},\ \mbox{\hyperlink{class_b_n_o08x_a0968eaed9b3d979a2caa1aba6e6b417a}{raw\_bias\_Z}},}
\DoxyCodeLine{00341\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_a081c666a3f24016d0ec5c5edc49f2903}{uncalib\_gyro\_accuracy}};\ }
\DoxyCodeLine{00342\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_aa5bdf740161b7c37adcac0154a410118}{raw\_magf\_X}},\ \mbox{\hyperlink{class_b_n_o08x_acd365418f24a6da61122c66d82086639}{raw\_magf\_Y}},\ \mbox{\hyperlink{class_b_n_o08x_ab4862de31d0874b44b6745678e1c905e}{raw\_magf\_Z}},}
\DoxyCodeLine{00343\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_ac5d4e151690774687efa951ca41c16ae}{magf\_accuracy}};\ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00344\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a1171a5738a4e6831ec7fa32a29f15554}{tap\_detector}};\ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00345\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_ad80a77973371b12d722ea39063c648be}{step\_count}};\ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00346\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a1b12471e92536a79d0c425d77676f2e1}{stability\_classifier}};\ \ }
\DoxyCodeLine{00347\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a75cea49c1c08ca28d9fa7e5ed61c6e7b}{activity\_classifier}};\ \ \ }
\DoxyCodeLine{00348\ \ \ \ \ \ \ \ \ uint8\_t*\ \mbox{\hyperlink{class_b_n_o08x_af96e8cd070459f945ffbf01b98106e13}{activity\_confidences}};\ }
\DoxyCodeLine{00349\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_ad212b5028a31e857e76d251ced2724e1}{calibration\_status}};\ \ \ \ }
\DoxyCodeLine{00350\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_a937cbdc4edaac72c8cad041d79de5701}{mems\_raw\_accel\_X}},\ \mbox{\hyperlink{class_b_n_o08x_ad83cecb8a5d2be01db6792755b6057e9}{mems\_raw\_accel\_Y}},}
\DoxyCodeLine{00351\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_a59a4d75f1302ab693b1b26e9ccaa5341}{mems\_raw\_accel\_Z}};\ }
\DoxyCodeLine{00352\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_a3d6b6257462951ea023af7076c80f6dd}{mems\_raw\_gyro\_X}},\ \mbox{\hyperlink{class_b_n_o08x_ab6b142416912a096886dd63ad0beb865}{mems\_raw\_gyro\_Y}},}
\DoxyCodeLine{00353\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_ac35d5b12721ab876eaeb1f714a9b3b1d}{mems\_raw\_gyro\_Z}};\ }
\DoxyCodeLine{00354\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_ab587cdf991342b69b7fff3b33f537eb5}{mems\_raw\_magf\_X}},\ \mbox{\hyperlink{class_b_n_o08x_aad926054c81818fff611e10ed913706a}{mems\_raw\_magf\_Y}},}
\DoxyCodeLine{00355\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_a90f0cdf11decc276006f76a494d42ce3}{mems\_raw\_magf\_Z}};\ }
\DoxyCodeLine{00356\ }
\DoxyCodeLine{00357\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ spi\ task}}
\DoxyCodeLine{00358\ \ \ \ \ \ \ \ \ TaskHandle\_t\ \mbox{\hyperlink{class_b_n_o08x_a615090aae15f1b0410a7e5ecb94957b5}{spi\_task\_hdl}};\ }
\DoxyCodeLine{00359\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a0ce6d9db873555f1ebe7e095251eab74}{spi\_task\_trampoline}}(\textcolor{keywordtype}{void}*\ arg);}
\DoxyCodeLine{00360\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a2ecd4ed60f82730ae230c61687ec92bf}{spi\_task}}();}
\DoxyCodeLine{00361\ }
\DoxyCodeLine{00362\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keywordtype}{void}\ IRAM\_ATTR\ \mbox{\hyperlink{class_b_n_o08x_a804b95c58c30d36933fd251626b85bf7}{hint\_handler}}(\textcolor{keywordtype}{void}*\ arg);}
\DoxyCodeLine{00363\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keywordtype}{bool}}
\DoxyCodeLine{00364\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_a4882dbc698d7b730f57e2401037766a9}{isr\_service\_installed}};\ }
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\DoxyCodeLine{00369\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ Higher\ level\ calibration\ commands,\ used\ by\ queue\_calibrate\_command}}
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\DoxyCodeLine{00378\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ Command\ IDs\ (see\ Ref.\ Manual\ 6.4)}}
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\DoxyCodeLine{00389\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ SHTP\ channel\ 2\ control\ report\ IDs,\ used\ in\ communication\ with\ sensor\ (See\ Ref.\ Manual\ 6.2)}}
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\DoxyCodeLine{00399\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ Sensor\ report\ IDs,\ used\ when\ enabling\ and\ reading\ BNO08x\ reports}}
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\DoxyCodeLine{00420\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ Tare\ commands\ used\ by\ queue\_tare\_command}}
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\end{DoxyCode}

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documentation/latex/class_b_n_o08x.tex
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@ -43,42 +43,78 @@ void \mbox{\hyperlink{class_b_n_o08x_ac9d9b6636745e8180807284da67c92a2}{end\+\_\
\begin{DoxyCompactList}\small\item\em Sends command to end calibration procedure. \end{DoxyCompactList}\item
void \mbox{\hyperlink{class_b_n_o08x_aa16609de88bfb7b389348859aa0cee54}{save\+\_\+calibration}} ()
\begin{DoxyCompactList}\small\item\em Sends command to save internal calibration data (See Ref. Manual 6.\+4.\+7). \end{DoxyCompactList}\item
void \mbox{\hyperlink{class_b_n_o08x_abe9acd2eb1ce2f2e72b7a48c8d025cc4}{enable\+\_\+rotation\+\_\+vector}} (uint16\+\_\+t time\+\_\+between\+\_\+reports)
void \mbox{\hyperlink{class_b_n_o08x_ab4c1d5cde156af09b7e88913f3af62c7}{enable\+\_\+rotation\+\_\+vector}} (uint32\+\_\+t time\+\_\+between\+\_\+reports)
\begin{DoxyCompactList}\small\item\em Sends command to enable rotation vector reports (See Ref. Manual 6.\+5.\+18) \end{DoxyCompactList}\item
void \mbox{\hyperlink{class_b_n_o08x_a639cb013ed17e0f33057742fac97f1a2}{enable\+\_\+game\+\_\+rotation\+\_\+vector}} (uint16\+\_\+t time\+\_\+between\+\_\+reports)
void \mbox{\hyperlink{class_b_n_o08x_abe04c38b5bd52d331bd8aefae1f51947}{enable\+\_\+game\+\_\+rotation\+\_\+vector}} (uint32\+\_\+t time\+\_\+between\+\_\+reports)
\begin{DoxyCompactList}\small\item\em Sends command to enable game rotation vector reports (See Ref. Manual 6.\+5.\+19) \end{DoxyCompactList}\item
void \mbox{\hyperlink{class_b_n_o08x_a04290cb6ba09b93d5a9ef337c13d1abb}{enable\+\_\+\+ARVR\+\_\+stabilized\+\_\+rotation\+\_\+vector}} (uint16\+\_\+t time\+\_\+between\+\_\+reports)
void \mbox{\hyperlink{class_b_n_o08x_a8a5f3b985989e846e831f70f7733d0bc}{enable\+\_\+\+ARVR\+\_\+stabilized\+\_\+rotation\+\_\+vector}} (uint32\+\_\+t time\+\_\+between\+\_\+reports)
\begin{DoxyCompactList}\small\item\em Sends command to enable ARVR stabilized rotation vector reports (See Ref. Manual 6.\+5.\+42) \end{DoxyCompactList}\item
void \mbox{\hyperlink{class_b_n_o08x_ad9e26658c53c728d7d10381db680765e}{enable\+\_\+\+ARVR\+\_\+stabilized\+\_\+game\+\_\+rotation\+\_\+vector}} (uint16\+\_\+t time\+\_\+between\+\_\+reports)
void \mbox{\hyperlink{class_b_n_o08x_a5680148a41cb9cc96d1911150c46d2b8}{enable\+\_\+\+ARVR\+\_\+stabilized\+\_\+game\+\_\+rotation\+\_\+vector}} (uint32\+\_\+t time\+\_\+between\+\_\+reports)
\begin{DoxyCompactList}\small\item\em Sends command to enable ARVR stabilized game rotation vector reports (See Ref. Manual 6.\+5.\+43) \end{DoxyCompactList}\item
void \mbox{\hyperlink{class_b_n_o08x_a09a0306abec5895dd0450b2fe970347c}{enable\+\_\+gyro\+\_\+integrated\+\_\+rotation\+\_\+vector}} (uint16\+\_\+t time\+Between\+Reports)
void \mbox{\hyperlink{class_b_n_o08x_a7388c67de3906ad05b233fd7eff0514d}{enable\+\_\+gyro\+\_\+integrated\+\_\+rotation\+\_\+vector}} (uint32\+\_\+t time\+\_\+between\+\_\+reports)
\begin{DoxyCompactList}\small\item\em Sends command to enable gyro integrated rotation vector reports (See Ref. Manual 6.\+5.\+44) \end{DoxyCompactList}\item
void \mbox{\hyperlink{class_b_n_o08x_a1d68494d911f7efbbb620d349fb9da0d}{enable\+\_\+accelerometer}} (uint16\+\_\+t time\+\_\+between\+\_\+reports)
void \mbox{\hyperlink{class_b_n_o08x_a2795c6579cf03e22f62a5eadc88dee91}{enable\+\_\+accelerometer}} (uint32\+\_\+t time\+\_\+between\+\_\+reports)
\begin{DoxyCompactList}\small\item\em Sends command to enable accelerometer reports (See Ref. Manual 6.\+5.\+9) \end{DoxyCompactList}\item
void \mbox{\hyperlink{class_b_n_o08x_ad3724e7e602feb2b695d2d88a61d5328}{enable\+\_\+linear\+\_\+accelerometer}} (uint16\+\_\+t time\+\_\+between\+\_\+reports)
void \mbox{\hyperlink{class_b_n_o08x_ae1435b83ca83bc51b75f3303afe87f7b}{enable\+\_\+linear\+\_\+accelerometer}} (uint32\+\_\+t time\+\_\+between\+\_\+reports)
\begin{DoxyCompactList}\small\item\em Sends command to enable linear accelerometer reports (See Ref. Manual 6.\+5.\+10) \end{DoxyCompactList}\item
void \mbox{\hyperlink{class_b_n_o08x_a2dc0cd5bc04ca7eb3b4fffd2a3a6f27a}{enable\+\_\+gravity}} (uint16\+\_\+t time\+\_\+between\+\_\+reports)
void \mbox{\hyperlink{class_b_n_o08x_a030eae12c3586acf09b48e94630b2544}{enable\+\_\+gravity}} (uint32\+\_\+t time\+\_\+between\+\_\+reports)
\begin{DoxyCompactList}\small\item\em Sends command to enable gravity reading reports (See Ref. Manual 6.\+5.\+11) \end{DoxyCompactList}\item
void \mbox{\hyperlink{class_b_n_o08x_a7619b598cc8e768c4df4805b2958a2c8}{enable\+\_\+gyro}} (uint16\+\_\+t time\+\_\+between\+\_\+reports)
void \mbox{\hyperlink{class_b_n_o08x_ad7b322681b9ec5f57edb09e336b988c0}{enable\+\_\+gyro}} (uint32\+\_\+t time\+\_\+between\+\_\+reports)
\begin{DoxyCompactList}\small\item\em Sends command to enable gyro reports (See Ref. Manual 6.\+5.\+13) \end{DoxyCompactList}\item
void \mbox{\hyperlink{class_b_n_o08x_ac7b5815c5ad8b83a34ad0855423601e8}{enable\+\_\+uncalibrated\+\_\+gyro}} (uint16\+\_\+t time\+\_\+between\+\_\+reports)
void \mbox{\hyperlink{class_b_n_o08x_a7fe5de95b1f51da44247a87317fd0c75}{enable\+\_\+uncalibrated\+\_\+gyro}} (uint32\+\_\+t time\+\_\+between\+\_\+reports)
\begin{DoxyCompactList}\small\item\em Sends command to enable uncalibrated gyro reports (See Ref. Manual 6.\+5.\+14) \end{DoxyCompactList}\item
void \mbox{\hyperlink{class_b_n_o08x_acf4a83a44a221f6495263f00f1b8d849}{enable\+\_\+magnetometer}} (uint16\+\_\+t time\+\_\+between\+\_\+reports)
void \mbox{\hyperlink{class_b_n_o08x_a3c32120bcd0987c3ca1bb72910586b59}{enable\+\_\+magnetometer}} (uint32\+\_\+t time\+\_\+between\+\_\+reports)
\begin{DoxyCompactList}\small\item\em Sends command to enable magnetometer reports (See Ref. Manual 6.\+5.\+16) \end{DoxyCompactList}\item
void \mbox{\hyperlink{class_b_n_o08x_a919c7d94226f4c6adbb8edf6fd1613a9}{enable\+\_\+tap\+\_\+detector}} (uint16\+\_\+t time\+\_\+between\+\_\+reports)
void \mbox{\hyperlink{class_b_n_o08x_ab4c8e37c730ddb168f78c29bd7ae6566}{enable\+\_\+tap\+\_\+detector}} (uint32\+\_\+t time\+\_\+between\+\_\+reports)
\begin{DoxyCompactList}\small\item\em Sends command to enable tap detector reports (See Ref. Manual 6.\+5.\+27) \end{DoxyCompactList}\item
void \mbox{\hyperlink{class_b_n_o08x_ad550085fa1b51495ce3d8894538f33d5}{enable\+\_\+step\+\_\+counter}} (uint16\+\_\+t time\+\_\+between\+\_\+reports)
void \mbox{\hyperlink{class_b_n_o08x_a5a0b0f5b8e962247a3b8aee8f1dc8e9f}{enable\+\_\+step\+\_\+counter}} (uint32\+\_\+t time\+\_\+between\+\_\+reports)
\begin{DoxyCompactList}\small\item\em Sends command to enable step counter reports (See Ref. Manual 6.\+5.\+29) \end{DoxyCompactList}\item
void \mbox{\hyperlink{class_b_n_o08x_a5378a235e3114ccdc63b26bc3fae5dad}{enable\+\_\+stability\+\_\+classifier}} (uint16\+\_\+t time\+\_\+between\+\_\+reports)
void \mbox{\hyperlink{class_b_n_o08x_ab0a60844b36fb140cad588a65b3a9655}{enable\+\_\+stability\+\_\+classifier}} (uint32\+\_\+t time\+\_\+between\+\_\+reports)
\begin{DoxyCompactList}\small\item\em Sends command to enable activity stability classifier reports (See Ref. Manual 6.\+5.\+31) \end{DoxyCompactList}\item
void \mbox{\hyperlink{class_b_n_o08x_a0960ce957058af565dd4c43ad6c40225}{enable\+\_\+activity\+\_\+classifier}} (uint16\+\_\+t time\+\_\+between\+\_\+reports, uint32\+\_\+t activities\+\_\+to\+\_\+enable, uint8\+\_\+t(\&activity\+\_\+confidence\+\_\+vals)\mbox{[}9\mbox{]})
void \mbox{\hyperlink{class_b_n_o08x_ad7b83cac874c092583f8513d3bb69bbf}{enable\+\_\+activity\+\_\+classifier}} (uint32\+\_\+t time\+\_\+between\+\_\+reports, uint32\+\_\+t activities\+\_\+to\+\_\+enable, uint8\+\_\+t(\&activity\+\_\+confidence\+\_\+vals)\mbox{[}9\mbox{]})
\begin{DoxyCompactList}\small\item\em Sends command to enable activity classifier reports (See Ref. Manual 6.\+5.\+36) \end{DoxyCompactList}\item
void \mbox{\hyperlink{class_b_n_o08x_ad6adf3b24a8a559d3bb57e6abcef4ce8}{enable\+\_\+raw\+\_\+accelerometer}} (uint16\+\_\+t time\+\_\+between\+\_\+reports)
void \mbox{\hyperlink{class_b_n_o08x_a3042301cf0f51657c82b1127dce230f4}{enable\+\_\+raw\+\_\+accelerometer}} (uint32\+\_\+t time\+\_\+between\+\_\+reports)
\begin{DoxyCompactList}\small\item\em Sends command to enable raw accelerometer reports (See Ref. Manual 6.\+5.\+8) \end{DoxyCompactList}\item
void \mbox{\hyperlink{class_b_n_o08x_af984deb77c92746fe4d193457312be63}{enable\+\_\+raw\+\_\+gyro}} (uint16\+\_\+t time\+\_\+between\+\_\+reports)
void \mbox{\hyperlink{class_b_n_o08x_a8d8e75f0234287cb89cbec553cffe52c}{enable\+\_\+raw\+\_\+gyro}} (uint32\+\_\+t time\+\_\+between\+\_\+reports)
\begin{DoxyCompactList}\small\item\em Sends command to enable raw gyro reports (See Ref. Manual 6.\+5.\+12) \end{DoxyCompactList}\item
void \mbox{\hyperlink{class_b_n_o08x_ad1ca07ee06ef98d4e11a74dde18e9623}{enable\+\_\+raw\+\_\+magnetometer}} (uint16\+\_\+t time\+\_\+between\+\_\+reports)
void \mbox{\hyperlink{class_b_n_o08x_a14ebec501b8d004a38648a9a1f7a2c9e}{enable\+\_\+raw\+\_\+magnetometer}} (uint32\+\_\+t time\+\_\+between\+\_\+reports)
\begin{DoxyCompactList}\small\item\em Sends command to enable raw magnetometer reports (See Ref. Manual 6.\+5.\+15) \end{DoxyCompactList}\item
void \mbox{\hyperlink{class_b_n_o08x_a1ebd456d2a67a22b5ba0911a95915921}{disable\+\_\+rotation\+\_\+vector}} ()
\begin{DoxyCompactList}\small\item\em Sends command to disable rotation vector reports by setting report interval to 0. \end{DoxyCompactList}\item
void \mbox{\hyperlink{class_b_n_o08x_a7665cce95e791c89161ec863f49c0392}{disable\+\_\+game\+\_\+rotation\+\_\+vector}} ()
\begin{DoxyCompactList}\small\item\em Sends command to disable game rotation vector reports by setting report interval to 0. \end{DoxyCompactList}\item
void \mbox{\hyperlink{class_b_n_o08x_aa59e3d8953c96dc1cc5958a1ac628df4}{disable\+\_\+\+ARVR\+\_\+stabilized\+\_\+rotation\+\_\+vector}} ()
\begin{DoxyCompactList}\small\item\em Sends command to disable ARVR stabilized rotation vector reports by setting report interval to 0. \end{DoxyCompactList}\item
void \mbox{\hyperlink{class_b_n_o08x_ab187fe50fcfbb04bec9e80eb0fccf61c}{disable\+\_\+\+ARVR\+\_\+stabilized\+\_\+game\+\_\+rotation\+\_\+vector}} ()
\begin{DoxyCompactList}\small\item\em Sends command to disable ARVR stabilized game rotation vector reports by setting report interval to 0. \end{DoxyCompactList}\item
void \mbox{\hyperlink{class_b_n_o08x_aac0a00bed7825d8a2c357a48c3626931}{disable\+\_\+gyro\+\_\+integrated\+\_\+rotation\+\_\+vector}} ()
\begin{DoxyCompactList}\small\item\em Sends command to disable gyro integrated rotation vector reports by setting report interval to 0. \end{DoxyCompactList}\item
void \mbox{\hyperlink{class_b_n_o08x_ad5c991150895b80bee68c933059a4058}{disable\+\_\+accelerometer}} ()
\begin{DoxyCompactList}\small\item\em Sends command to disable accelerometer reports by setting report interval to 0. \end{DoxyCompactList}\item
void \mbox{\hyperlink{class_b_n_o08x_afbd2b02d5abe7084ce9de49ee2c9142f}{disable\+\_\+linear\+\_\+accelerometer}} ()
\begin{DoxyCompactList}\small\item\em Sends command to disable linear accelerometer reports by setting report interval to 0. \end{DoxyCompactList}\item
void \mbox{\hyperlink{class_b_n_o08x_a5e63a9e68dbe2968b37dcb6dae04de6f}{disable\+\_\+gravity}} ()
\begin{DoxyCompactList}\small\item\em Sends command to disable gravity reports by setting report interval to 0. \end{DoxyCompactList}\item
void \mbox{\hyperlink{class_b_n_o08x_a8296089e2fdbd7d2e85f364cf063af82}{disable\+\_\+gyro}} ()
\begin{DoxyCompactList}\small\item\em Sends command to disable gyro reports by setting report interval to 0. \end{DoxyCompactList}\item
void \mbox{\hyperlink{class_b_n_o08x_aaf28212a5f1960c62a73282976142cfc}{disable\+\_\+uncalibrated\+\_\+gyro}} ()
\begin{DoxyCompactList}\small\item\em Sends command to disable uncalibrated gyro reports by setting report interval to 0. \end{DoxyCompactList}\item
void \mbox{\hyperlink{class_b_n_o08x_a6671b082d20dda8bf5c53cb47db0c338}{disable\+\_\+magnetometer}} ()
\begin{DoxyCompactList}\small\item\em Sends command to disable magnetometer reports by setting report interval to 0. \end{DoxyCompactList}\item
void \mbox{\hyperlink{class_b_n_o08x_a16f83d1e85576a51abf2c65e5de58cd2}{disable\+\_\+tap\+\_\+detector}} ()
\begin{DoxyCompactList}\small\item\em Sends command to disable tap detector reports by setting report interval to 0. \end{DoxyCompactList}\item
void \mbox{\hyperlink{class_b_n_o08x_a427550a4ba25252912436b899124e157}{disable\+\_\+step\+\_\+counter}} ()
\begin{DoxyCompactList}\small\item\em Sends command to disable step counter reports by setting report interval to 0. \end{DoxyCompactList}\item
void \mbox{\hyperlink{class_b_n_o08x_ab307ed3352e04c9e998ab4dd066f8932}{disable\+\_\+stability\+\_\+classifier}} ()
\begin{DoxyCompactList}\small\item\em Sends command to disable stability reports by setting report interval to 0. \end{DoxyCompactList}\item
void \mbox{\hyperlink{class_b_n_o08x_a4fdc39294922a9553d84cd96bdae4376}{disable\+\_\+activity\+\_\+classifier}} ()
\begin{DoxyCompactList}\small\item\em Sends command to disable activity classifier reports by setting report interval to 0. \end{DoxyCompactList}\item
void \mbox{\hyperlink{class_b_n_o08x_a171d78f4b00598b04c8ca54da16c508b}{disable\+\_\+raw\+\_\+accelerometer}} ()
\begin{DoxyCompactList}\small\item\em Sends command to disable raw accelerometer reports by setting report interval to 0. \end{DoxyCompactList}\item
void \mbox{\hyperlink{class_b_n_o08x_a75ef3d09f1ee016999c459e43e9e8c44}{disable\+\_\+raw\+\_\+gyro}} ()
\begin{DoxyCompactList}\small\item\em Sends command to disable raw gyro reports by setting report interval to 0. \end{DoxyCompactList}\item
void \mbox{\hyperlink{class_b_n_o08x_add29c84038558c28bcfca37865cf9244}{disable\+\_\+raw\+\_\+magnetometer}} ()
\begin{DoxyCompactList}\small\item\em Sends command to disable raw magnetometer reports by setting report interval to 0. \end{DoxyCompactList}\item
void \mbox{\hyperlink{class_b_n_o08x_a4549bbef48208bd9c745fc755b93012f}{tare\+\_\+now}} (uint8\+\_\+t axis\+\_\+sel=\mbox{\hyperlink{class_b_n_o08x_a1ef13f6f330810934416ad5fe0ee55b2}{TARE\+\_\+\+AXIS\+\_\+\+ALL}}, uint8\+\_\+t rotation\+\_\+vector\+\_\+basis=\mbox{\hyperlink{class_b_n_o08x_a8e2cfc25d0e34ae53a762b88cc3ac3c8}{TARE\+\_\+\+ROTATION\+\_\+\+VECTOR}})
\begin{DoxyCompactList}\small\item\em Sends command to tare an axis (See Ref. Manual 6.\+4.\+4.\+1) \end{DoxyCompactList}\item
void \mbox{\hyperlink{class_b_n_o08x_afb2ffc4e7ff0498917bc14a83af306e2}{save\+\_\+tare}} ()
@ -297,9 +333,9 @@ void \mbox{\hyperlink{class_b_n_o08x_a67d0b5302a60083cef1b31936e2b65d8}{queue\+\
\begin{DoxyCompactList}\small\item\em Queues an SHTP packet to be sent via SPI. \end{DoxyCompactList}\item
void \mbox{\hyperlink{class_b_n_o08x_a1742d6445ffb6e9297b8bf84dec24f22}{queue\+\_\+command}} (uint8\+\_\+t command)
\begin{DoxyCompactList}\small\item\em Queues a packet containing a command. \end{DoxyCompactList}\item
void \mbox{\hyperlink{class_b_n_o08x_a6c004a16b146527aa9eeeb6ff37db281}{queue\+\_\+feature\+\_\+command}} (uint8\+\_\+t report\+\_\+\+ID, uint16\+\_\+t time\+\_\+between\+\_\+reports)
void \mbox{\hyperlink{class_b_n_o08x_af2951f6ea448af7cf7932fbfed9fec3c}{queue\+\_\+feature\+\_\+command}} (uint8\+\_\+t report\+\_\+\+ID, uint32\+\_\+t time\+\_\+between\+\_\+reports)
\begin{DoxyCompactList}\small\item\em Queues a packet containing a command with a request for sensor reports, reported periodically. (See Ref. Manual 6.\+5.\+4) \end{DoxyCompactList}\item
void \mbox{\hyperlink{class_b_n_o08x_af0a0686a78c929aad43af2eaeba12878}{queue\+\_\+feature\+\_\+command}} (uint8\+\_\+t report\+\_\+\+ID, uint16\+\_\+t time\+\_\+between\+\_\+reports, uint32\+\_\+t specific\+\_\+config)
void \mbox{\hyperlink{class_b_n_o08x_a2d6de4823893128e6a4b562f34326ae8}{queue\+\_\+feature\+\_\+command}} (uint8\+\_\+t report\+\_\+\+ID, uint32\+\_\+t time\+\_\+between\+\_\+reports, uint32\+\_\+t specific\+\_\+config)
\begin{DoxyCompactList}\small\item\em Queues a packet containing a command with a request for sensor reports, reported periodically. (See Ref. Manual 6.\+5.\+4) \end{DoxyCompactList}\item
void \mbox{\hyperlink{class_b_n_o08x_ad097849616c5caab1fd3eb3632ee2b91}{queue\+\_\+calibrate\+\_\+command}} (uint8\+\_\+t \+\_\+to\+\_\+calibrate)
\begin{DoxyCompactList}\small\item\em Queues a packet containing a command to calibrate the specified sensor. \end{DoxyCompactList}\item
@ -319,10 +355,8 @@ static void IRAM\+\_\+\+ATTR \mbox{\hyperlink{class_b_n_o08x_a804b95c58c30d36933
\doxysubsubsection*{Private Attributes}
\begin{DoxyCompactItemize}
\item
volatile uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a5b1f13a3170f1c8fdcc886353efa0c08}{tx\+\_\+packet\+\_\+queued}}
\begin{DoxyCompactList}\small\item\em Whether or not a packet is currently waiting to be sent, a queued packet is sent on assertion of \doxylink{class_b_n_o08x}{BNO08x} HINT pin) \end{DoxyCompactList}\item
Semaphore\+Handle\+\_\+t \mbox{\hyperlink{class_b_n_o08x_aee2d0bcb8e9d7bacacccacbb04ded661}{tx\+\_\+semaphore}}
\begin{DoxyCompactList}\small\item\em Mutex semaphore used to prevent sending or receiving of packets if packet is currently being queued. \end{DoxyCompactList}\item
\begin{DoxyCompactList}\small\item\em Used to indicate to \doxylink{class_b_n_o08x_a2ecd4ed60f82730ae230c61687ec92bf}{spi\+\_\+task()} whether or not a packet is currently waiting to be sent. \end{DoxyCompactList}\item
Semaphore\+Handle\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a33aee99f7f0d07c3061bab90831bc309}{int\+\_\+asserted\+\_\+semaphore}}
\begin{DoxyCompactList}\small\item\em Binary semaphore used to synchronize \doxylink{class_b_n_o08x_a2ecd4ed60f82730ae230c61687ec92bf}{spi\+\_\+task()} calling \doxylink{class_b_n_o08x_a988c45b4afa4dcd6a24610ff308c1faa}{wait\+\_\+for\+\_\+device\+\_\+int()}, given after hint\+\_\+handler ISR launches SPI task and it has run to completion. \end{DoxyCompactList}\item
uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a7a85ccea09eadf865e8bbbf00d800e64}{rx\+\_\+buffer}} \mbox{[}300\mbox{]}
@ -690,11 +724,245 @@ Checks if \doxylink{class_b_n_o08x}{BNO08x} has asserted interrupt and sent data
\begin{DoxyReturn}{Returns}
true if new data has been parsed and saved
\end{DoxyReturn}
\Hypertarget{class_b_n_o08x_a1d68494d911f7efbbb620d349fb9da0d}\label{class_b_n_o08x_a1d68494d911f7efbbb620d349fb9da0d}
\Hypertarget{class_b_n_o08x_ad5c991150895b80bee68c933059a4058}\label{class_b_n_o08x_ad5c991150895b80bee68c933059a4058}
\index{BNO08x@{BNO08x}!disable\_accelerometer@{disable\_accelerometer}}
\index{disable\_accelerometer@{disable\_accelerometer}!BNO08x@{BNO08x}}
\doxysubsubsection{\texorpdfstring{disable\_accelerometer()}{disable\_accelerometer()}}
{\footnotesize\ttfamily void BNO08x\+::disable\+\_\+accelerometer (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
Sends command to disable accelerometer reports by setting report interval to 0.
\begin{DoxyReturn}{Returns}
void, nothing to return
\end{DoxyReturn}
\Hypertarget{class_b_n_o08x_a4fdc39294922a9553d84cd96bdae4376}\label{class_b_n_o08x_a4fdc39294922a9553d84cd96bdae4376}
\index{BNO08x@{BNO08x}!disable\_activity\_classifier@{disable\_activity\_classifier}}
\index{disable\_activity\_classifier@{disable\_activity\_classifier}!BNO08x@{BNO08x}}
\doxysubsubsection{\texorpdfstring{disable\_activity\_classifier()}{disable\_activity\_classifier()}}
{\footnotesize\ttfamily void BNO08x\+::disable\+\_\+activity\+\_\+classifier (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
Sends command to disable activity classifier reports by setting report interval to 0.
\begin{DoxyReturn}{Returns}
void, nothing to return
\end{DoxyReturn}
\Hypertarget{class_b_n_o08x_ab187fe50fcfbb04bec9e80eb0fccf61c}\label{class_b_n_o08x_ab187fe50fcfbb04bec9e80eb0fccf61c}
\index{BNO08x@{BNO08x}!disable\_ARVR\_stabilized\_game\_rotation\_vector@{disable\_ARVR\_stabilized\_game\_rotation\_vector}}
\index{disable\_ARVR\_stabilized\_game\_rotation\_vector@{disable\_ARVR\_stabilized\_game\_rotation\_vector}!BNO08x@{BNO08x}}
\doxysubsubsection{\texorpdfstring{disable\_ARVR\_stabilized\_game\_rotation\_vector()}{disable\_ARVR\_stabilized\_game\_rotation\_vector()}}
{\footnotesize\ttfamily void BNO08x\+::disable\+\_\+\+ARVR\+\_\+stabilized\+\_\+game\+\_\+rotation\+\_\+vector (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
Sends command to disable ARVR stabilized game rotation vector reports by setting report interval to 0.
\begin{DoxyReturn}{Returns}
void, nothing to return
\end{DoxyReturn}
\Hypertarget{class_b_n_o08x_aa59e3d8953c96dc1cc5958a1ac628df4}\label{class_b_n_o08x_aa59e3d8953c96dc1cc5958a1ac628df4}
\index{BNO08x@{BNO08x}!disable\_ARVR\_stabilized\_rotation\_vector@{disable\_ARVR\_stabilized\_rotation\_vector}}
\index{disable\_ARVR\_stabilized\_rotation\_vector@{disable\_ARVR\_stabilized\_rotation\_vector}!BNO08x@{BNO08x}}
\doxysubsubsection{\texorpdfstring{disable\_ARVR\_stabilized\_rotation\_vector()}{disable\_ARVR\_stabilized\_rotation\_vector()}}
{\footnotesize\ttfamily void BNO08x\+::disable\+\_\+\+ARVR\+\_\+stabilized\+\_\+rotation\+\_\+vector (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
Sends command to disable ARVR stabilized rotation vector reports by setting report interval to 0.
\begin{DoxyReturn}{Returns}
void, nothing to return
\end{DoxyReturn}
\Hypertarget{class_b_n_o08x_a7665cce95e791c89161ec863f49c0392}\label{class_b_n_o08x_a7665cce95e791c89161ec863f49c0392}
\index{BNO08x@{BNO08x}!disable\_game\_rotation\_vector@{disable\_game\_rotation\_vector}}
\index{disable\_game\_rotation\_vector@{disable\_game\_rotation\_vector}!BNO08x@{BNO08x}}
\doxysubsubsection{\texorpdfstring{disable\_game\_rotation\_vector()}{disable\_game\_rotation\_vector()}}
{\footnotesize\ttfamily void BNO08x\+::disable\+\_\+game\+\_\+rotation\+\_\+vector (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
Sends command to disable game rotation vector reports by setting report interval to 0.
\begin{DoxyReturn}{Returns}
void, nothing to return
\end{DoxyReturn}
\Hypertarget{class_b_n_o08x_a5e63a9e68dbe2968b37dcb6dae04de6f}\label{class_b_n_o08x_a5e63a9e68dbe2968b37dcb6dae04de6f}
\index{BNO08x@{BNO08x}!disable\_gravity@{disable\_gravity}}
\index{disable\_gravity@{disable\_gravity}!BNO08x@{BNO08x}}
\doxysubsubsection{\texorpdfstring{disable\_gravity()}{disable\_gravity()}}
{\footnotesize\ttfamily void BNO08x\+::disable\+\_\+gravity (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
Sends command to disable gravity reports by setting report interval to 0.
\begin{DoxyReturn}{Returns}
void, nothing to return
\end{DoxyReturn}
\Hypertarget{class_b_n_o08x_a8296089e2fdbd7d2e85f364cf063af82}\label{class_b_n_o08x_a8296089e2fdbd7d2e85f364cf063af82}
\index{BNO08x@{BNO08x}!disable\_gyro@{disable\_gyro}}
\index{disable\_gyro@{disable\_gyro}!BNO08x@{BNO08x}}
\doxysubsubsection{\texorpdfstring{disable\_gyro()}{disable\_gyro()}}
{\footnotesize\ttfamily void BNO08x\+::disable\+\_\+gyro (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
Sends command to disable gyro reports by setting report interval to 0.
\begin{DoxyReturn}{Returns}
void, nothing to return
\end{DoxyReturn}
\Hypertarget{class_b_n_o08x_aac0a00bed7825d8a2c357a48c3626931}\label{class_b_n_o08x_aac0a00bed7825d8a2c357a48c3626931}
\index{BNO08x@{BNO08x}!disable\_gyro\_integrated\_rotation\_vector@{disable\_gyro\_integrated\_rotation\_vector}}
\index{disable\_gyro\_integrated\_rotation\_vector@{disable\_gyro\_integrated\_rotation\_vector}!BNO08x@{BNO08x}}
\doxysubsubsection{\texorpdfstring{disable\_gyro\_integrated\_rotation\_vector()}{disable\_gyro\_integrated\_rotation\_vector()}}
{\footnotesize\ttfamily void BNO08x\+::disable\+\_\+gyro\+\_\+integrated\+\_\+rotation\+\_\+vector (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
Sends command to disable gyro integrated rotation vector reports by setting report interval to 0.
\begin{DoxyReturn}{Returns}
void, nothing to return
\end{DoxyReturn}
\Hypertarget{class_b_n_o08x_afbd2b02d5abe7084ce9de49ee2c9142f}\label{class_b_n_o08x_afbd2b02d5abe7084ce9de49ee2c9142f}
\index{BNO08x@{BNO08x}!disable\_linear\_accelerometer@{disable\_linear\_accelerometer}}
\index{disable\_linear\_accelerometer@{disable\_linear\_accelerometer}!BNO08x@{BNO08x}}
\doxysubsubsection{\texorpdfstring{disable\_linear\_accelerometer()}{disable\_linear\_accelerometer()}}
{\footnotesize\ttfamily void BNO08x\+::disable\+\_\+linear\+\_\+accelerometer (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
Sends command to disable linear accelerometer reports by setting report interval to 0.
\begin{DoxyReturn}{Returns}
void, nothing to return
\end{DoxyReturn}
\Hypertarget{class_b_n_o08x_a6671b082d20dda8bf5c53cb47db0c338}\label{class_b_n_o08x_a6671b082d20dda8bf5c53cb47db0c338}
\index{BNO08x@{BNO08x}!disable\_magnetometer@{disable\_magnetometer}}
\index{disable\_magnetometer@{disable\_magnetometer}!BNO08x@{BNO08x}}
\doxysubsubsection{\texorpdfstring{disable\_magnetometer()}{disable\_magnetometer()}}
{\footnotesize\ttfamily void BNO08x\+::disable\+\_\+magnetometer (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
Sends command to disable magnetometer reports by setting report interval to 0.
\begin{DoxyReturn}{Returns}
void, nothing to return
\end{DoxyReturn}
\Hypertarget{class_b_n_o08x_a171d78f4b00598b04c8ca54da16c508b}\label{class_b_n_o08x_a171d78f4b00598b04c8ca54da16c508b}
\index{BNO08x@{BNO08x}!disable\_raw\_accelerometer@{disable\_raw\_accelerometer}}
\index{disable\_raw\_accelerometer@{disable\_raw\_accelerometer}!BNO08x@{BNO08x}}
\doxysubsubsection{\texorpdfstring{disable\_raw\_accelerometer()}{disable\_raw\_accelerometer()}}
{\footnotesize\ttfamily void BNO08x\+::disable\+\_\+raw\+\_\+accelerometer (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
Sends command to disable raw accelerometer reports by setting report interval to 0.
\begin{DoxyReturn}{Returns}
void, nothing to return
\end{DoxyReturn}
\Hypertarget{class_b_n_o08x_a75ef3d09f1ee016999c459e43e9e8c44}\label{class_b_n_o08x_a75ef3d09f1ee016999c459e43e9e8c44}
\index{BNO08x@{BNO08x}!disable\_raw\_gyro@{disable\_raw\_gyro}}
\index{disable\_raw\_gyro@{disable\_raw\_gyro}!BNO08x@{BNO08x}}
\doxysubsubsection{\texorpdfstring{disable\_raw\_gyro()}{disable\_raw\_gyro()}}
{\footnotesize\ttfamily void BNO08x\+::disable\+\_\+raw\+\_\+gyro (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
Sends command to disable raw gyro reports by setting report interval to 0.
\begin{DoxyReturn}{Returns}
void, nothing to return
\end{DoxyReturn}
\Hypertarget{class_b_n_o08x_add29c84038558c28bcfca37865cf9244}\label{class_b_n_o08x_add29c84038558c28bcfca37865cf9244}
\index{BNO08x@{BNO08x}!disable\_raw\_magnetometer@{disable\_raw\_magnetometer}}
\index{disable\_raw\_magnetometer@{disable\_raw\_magnetometer}!BNO08x@{BNO08x}}
\doxysubsubsection{\texorpdfstring{disable\_raw\_magnetometer()}{disable\_raw\_magnetometer()}}
{\footnotesize\ttfamily void BNO08x\+::disable\+\_\+raw\+\_\+magnetometer (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
Sends command to disable raw magnetometer reports by setting report interval to 0.
\begin{DoxyReturn}{Returns}
void, nothing to return
\end{DoxyReturn}
\Hypertarget{class_b_n_o08x_a1ebd456d2a67a22b5ba0911a95915921}\label{class_b_n_o08x_a1ebd456d2a67a22b5ba0911a95915921}
\index{BNO08x@{BNO08x}!disable\_rotation\_vector@{disable\_rotation\_vector}}
\index{disable\_rotation\_vector@{disable\_rotation\_vector}!BNO08x@{BNO08x}}
\doxysubsubsection{\texorpdfstring{disable\_rotation\_vector()}{disable\_rotation\_vector()}}
{\footnotesize\ttfamily void BNO08x\+::disable\+\_\+rotation\+\_\+vector (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
Sends command to disable rotation vector reports by setting report interval to 0.
\begin{DoxyReturn}{Returns}
void, nothing to return
\end{DoxyReturn}
\Hypertarget{class_b_n_o08x_ab307ed3352e04c9e998ab4dd066f8932}\label{class_b_n_o08x_ab307ed3352e04c9e998ab4dd066f8932}
\index{BNO08x@{BNO08x}!disable\_stability\_classifier@{disable\_stability\_classifier}}
\index{disable\_stability\_classifier@{disable\_stability\_classifier}!BNO08x@{BNO08x}}
\doxysubsubsection{\texorpdfstring{disable\_stability\_classifier()}{disable\_stability\_classifier()}}
{\footnotesize\ttfamily void BNO08x\+::disable\+\_\+stability\+\_\+classifier (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
Sends command to disable stability reports by setting report interval to 0.
\begin{DoxyReturn}{Returns}
void, nothing to return
\end{DoxyReturn}
\Hypertarget{class_b_n_o08x_a427550a4ba25252912436b899124e157}\label{class_b_n_o08x_a427550a4ba25252912436b899124e157}
\index{BNO08x@{BNO08x}!disable\_step\_counter@{disable\_step\_counter}}
\index{disable\_step\_counter@{disable\_step\_counter}!BNO08x@{BNO08x}}
\doxysubsubsection{\texorpdfstring{disable\_step\_counter()}{disable\_step\_counter()}}
{\footnotesize\ttfamily void BNO08x\+::disable\+\_\+step\+\_\+counter (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
Sends command to disable step counter reports by setting report interval to 0.
\begin{DoxyReturn}{Returns}
void, nothing to return
\end{DoxyReturn}
\Hypertarget{class_b_n_o08x_a16f83d1e85576a51abf2c65e5de58cd2}\label{class_b_n_o08x_a16f83d1e85576a51abf2c65e5de58cd2}
\index{BNO08x@{BNO08x}!disable\_tap\_detector@{disable\_tap\_detector}}
\index{disable\_tap\_detector@{disable\_tap\_detector}!BNO08x@{BNO08x}}
\doxysubsubsection{\texorpdfstring{disable\_tap\_detector()}{disable\_tap\_detector()}}
{\footnotesize\ttfamily void BNO08x\+::disable\+\_\+tap\+\_\+detector (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
Sends command to disable tap detector reports by setting report interval to 0.
\begin{DoxyReturn}{Returns}
void, nothing to return
\end{DoxyReturn}
\Hypertarget{class_b_n_o08x_aaf28212a5f1960c62a73282976142cfc}\label{class_b_n_o08x_aaf28212a5f1960c62a73282976142cfc}
\index{BNO08x@{BNO08x}!disable\_uncalibrated\_gyro@{disable\_uncalibrated\_gyro}}
\index{disable\_uncalibrated\_gyro@{disable\_uncalibrated\_gyro}!BNO08x@{BNO08x}}
\doxysubsubsection{\texorpdfstring{disable\_uncalibrated\_gyro()}{disable\_uncalibrated\_gyro()}}
{\footnotesize\ttfamily void BNO08x\+::disable\+\_\+uncalibrated\+\_\+gyro (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
Sends command to disable uncalibrated gyro reports by setting report interval to 0.
\begin{DoxyReturn}{Returns}
void, nothing to return
\end{DoxyReturn}
\Hypertarget{class_b_n_o08x_a2795c6579cf03e22f62a5eadc88dee91}\label{class_b_n_o08x_a2795c6579cf03e22f62a5eadc88dee91}
\index{BNO08x@{BNO08x}!enable\_accelerometer@{enable\_accelerometer}}
\index{enable\_accelerometer@{enable\_accelerometer}!BNO08x@{BNO08x}}
\doxysubsubsection{\texorpdfstring{enable\_accelerometer()}{enable\_accelerometer()}}
{\footnotesize\ttfamily void BNO08x\+::enable\+\_\+accelerometer (\begin{DoxyParamCaption}\item[{uint16\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})}
{\footnotesize\ttfamily void BNO08x\+::enable\+\_\+accelerometer (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})}
@ -702,17 +970,17 @@ Sends command to enable accelerometer reports (See Ref. Manual 6.\+5.\+9)
\begin{DoxyParams}{Parameters}
{\em time\+\_\+between\+\_\+reports} & Desired time between reports in miliseconds. \\
{\em time\+\_\+between\+\_\+reports} & Desired time between reports in microseconds. \\
\hline
\end{DoxyParams}
\begin{DoxyReturn}{Returns}
void, nothing to return
\end{DoxyReturn}
\Hypertarget{class_b_n_o08x_a0960ce957058af565dd4c43ad6c40225}\label{class_b_n_o08x_a0960ce957058af565dd4c43ad6c40225}
\Hypertarget{class_b_n_o08x_ad7b83cac874c092583f8513d3bb69bbf}\label{class_b_n_o08x_ad7b83cac874c092583f8513d3bb69bbf}
\index{BNO08x@{BNO08x}!enable\_activity\_classifier@{enable\_activity\_classifier}}
\index{enable\_activity\_classifier@{enable\_activity\_classifier}!BNO08x@{BNO08x}}
\doxysubsubsection{\texorpdfstring{enable\_activity\_classifier()}{enable\_activity\_classifier()}}
{\footnotesize\ttfamily void BNO08x\+::enable\+\_\+activity\+\_\+classifier (\begin{DoxyParamCaption}\item[{uint16\+\_\+t}]{time\+\_\+between\+\_\+reports, }\item[{uint32\+\_\+t}]{activities\+\_\+to\+\_\+enable, }\item[{uint8\+\_\+t(\&)}]{activity\+\_\+confidence\+\_\+vals\mbox{[}9\mbox{]} }\end{DoxyParamCaption})}
{\footnotesize\ttfamily void BNO08x\+::enable\+\_\+activity\+\_\+classifier (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports, }\item[{uint32\+\_\+t}]{activities\+\_\+to\+\_\+enable, }\item[{uint8\+\_\+t(\&)}]{activity\+\_\+confidence\+\_\+vals\mbox{[}9\mbox{]} }\end{DoxyParamCaption})}
@ -720,7 +988,7 @@ Sends command to enable activity classifier reports (See Ref. Manual 6.\+5.\+36)
\begin{DoxyParams}{Parameters}
{\em time\+\_\+between\+\_\+reports} & Desired time between reports in miliseconds. \\
{\em time\+\_\+between\+\_\+reports} & Desired time between reports in microseconds. \\
\hline
{\em activities\+\_\+to\+\_\+enable} & Desired activities to enable (0x1F enables all). \\
\hline
@ -730,11 +998,11 @@ Sends command to enable activity classifier reports (See Ref. Manual 6.\+5.\+36)
\begin{DoxyReturn}{Returns}
void, nothing to return
\end{DoxyReturn}
\Hypertarget{class_b_n_o08x_ad9e26658c53c728d7d10381db680765e}\label{class_b_n_o08x_ad9e26658c53c728d7d10381db680765e}
\Hypertarget{class_b_n_o08x_a5680148a41cb9cc96d1911150c46d2b8}\label{class_b_n_o08x_a5680148a41cb9cc96d1911150c46d2b8}
\index{BNO08x@{BNO08x}!enable\_ARVR\_stabilized\_game\_rotation\_vector@{enable\_ARVR\_stabilized\_game\_rotation\_vector}}
\index{enable\_ARVR\_stabilized\_game\_rotation\_vector@{enable\_ARVR\_stabilized\_game\_rotation\_vector}!BNO08x@{BNO08x}}
\doxysubsubsection{\texorpdfstring{enable\_ARVR\_stabilized\_game\_rotation\_vector()}{enable\_ARVR\_stabilized\_game\_rotation\_vector()}}
{\footnotesize\ttfamily void BNO08x\+::enable\+\_\+\+ARVR\+\_\+stabilized\+\_\+game\+\_\+rotation\+\_\+vector (\begin{DoxyParamCaption}\item[{uint16\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})}
{\footnotesize\ttfamily void BNO08x\+::enable\+\_\+\+ARVR\+\_\+stabilized\+\_\+game\+\_\+rotation\+\_\+vector (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})}
@ -742,17 +1010,17 @@ Sends command to enable ARVR stabilized game rotation vector reports (See Ref. M
\begin{DoxyParams}{Parameters}
{\em time\+\_\+between\+\_\+reports} & Desired time between reports in miliseconds. \\
{\em time\+\_\+between\+\_\+reports} & Desired time between reports in microseconds. \\
\hline
\end{DoxyParams}
\begin{DoxyReturn}{Returns}
void, nothing to return
\end{DoxyReturn}
\Hypertarget{class_b_n_o08x_a04290cb6ba09b93d5a9ef337c13d1abb}\label{class_b_n_o08x_a04290cb6ba09b93d5a9ef337c13d1abb}
\Hypertarget{class_b_n_o08x_a8a5f3b985989e846e831f70f7733d0bc}\label{class_b_n_o08x_a8a5f3b985989e846e831f70f7733d0bc}
\index{BNO08x@{BNO08x}!enable\_ARVR\_stabilized\_rotation\_vector@{enable\_ARVR\_stabilized\_rotation\_vector}}
\index{enable\_ARVR\_stabilized\_rotation\_vector@{enable\_ARVR\_stabilized\_rotation\_vector}!BNO08x@{BNO08x}}
\doxysubsubsection{\texorpdfstring{enable\_ARVR\_stabilized\_rotation\_vector()}{enable\_ARVR\_stabilized\_rotation\_vector()}}
{\footnotesize\ttfamily void BNO08x\+::enable\+\_\+\+ARVR\+\_\+stabilized\+\_\+rotation\+\_\+vector (\begin{DoxyParamCaption}\item[{uint16\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})}
{\footnotesize\ttfamily void BNO08x\+::enable\+\_\+\+ARVR\+\_\+stabilized\+\_\+rotation\+\_\+vector (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})}
@ -760,17 +1028,17 @@ Sends command to enable ARVR stabilized rotation vector reports (See Ref. Manual
\begin{DoxyParams}{Parameters}
{\em time\+\_\+between\+\_\+reports} & Desired time between reports in miliseconds. \\
{\em time\+\_\+between\+\_\+reports} & Desired time between reports in microseconds. \\
\hline
\end{DoxyParams}
\begin{DoxyReturn}{Returns}
void, nothing to return
\end{DoxyReturn}
\Hypertarget{class_b_n_o08x_a639cb013ed17e0f33057742fac97f1a2}\label{class_b_n_o08x_a639cb013ed17e0f33057742fac97f1a2}
\Hypertarget{class_b_n_o08x_abe04c38b5bd52d331bd8aefae1f51947}\label{class_b_n_o08x_abe04c38b5bd52d331bd8aefae1f51947}
\index{BNO08x@{BNO08x}!enable\_game\_rotation\_vector@{enable\_game\_rotation\_vector}}
\index{enable\_game\_rotation\_vector@{enable\_game\_rotation\_vector}!BNO08x@{BNO08x}}
\doxysubsubsection{\texorpdfstring{enable\_game\_rotation\_vector()}{enable\_game\_rotation\_vector()}}
{\footnotesize\ttfamily void BNO08x\+::enable\+\_\+game\+\_\+rotation\+\_\+vector (\begin{DoxyParamCaption}\item[{uint16\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})}
{\footnotesize\ttfamily void BNO08x\+::enable\+\_\+game\+\_\+rotation\+\_\+vector (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})}
@ -778,17 +1046,17 @@ Sends command to enable game rotation vector reports (See Ref. Manual 6.\+5.\+19
\begin{DoxyParams}{Parameters}
{\em time\+\_\+between\+\_\+reports} & Desired time between reports in miliseconds. \\
{\em time\+\_\+between\+\_\+reports} & Desired time between reports in microseconds. \\
\hline
\end{DoxyParams}
\begin{DoxyReturn}{Returns}
void, nothing to return
\end{DoxyReturn}
\Hypertarget{class_b_n_o08x_a2dc0cd5bc04ca7eb3b4fffd2a3a6f27a}\label{class_b_n_o08x_a2dc0cd5bc04ca7eb3b4fffd2a3a6f27a}
\Hypertarget{class_b_n_o08x_a030eae12c3586acf09b48e94630b2544}\label{class_b_n_o08x_a030eae12c3586acf09b48e94630b2544}
\index{BNO08x@{BNO08x}!enable\_gravity@{enable\_gravity}}
\index{enable\_gravity@{enable\_gravity}!BNO08x@{BNO08x}}
\doxysubsubsection{\texorpdfstring{enable\_gravity()}{enable\_gravity()}}
{\footnotesize\ttfamily void BNO08x\+::enable\+\_\+gravity (\begin{DoxyParamCaption}\item[{uint16\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})}
{\footnotesize\ttfamily void BNO08x\+::enable\+\_\+gravity (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})}
@ -796,17 +1064,17 @@ Sends command to enable gravity reading reports (See Ref. Manual 6.\+5.\+11)
\begin{DoxyParams}{Parameters}
{\em time\+\_\+between\+\_\+reports} & Desired time between reports in miliseconds. \\
{\em time\+\_\+between\+\_\+reports} & Desired time between reports in microseconds. \\
\hline
\end{DoxyParams}
\begin{DoxyReturn}{Returns}
void, nothing to return
\end{DoxyReturn}
\Hypertarget{class_b_n_o08x_a7619b598cc8e768c4df4805b2958a2c8}\label{class_b_n_o08x_a7619b598cc8e768c4df4805b2958a2c8}
\Hypertarget{class_b_n_o08x_ad7b322681b9ec5f57edb09e336b988c0}\label{class_b_n_o08x_ad7b322681b9ec5f57edb09e336b988c0}
\index{BNO08x@{BNO08x}!enable\_gyro@{enable\_gyro}}
\index{enable\_gyro@{enable\_gyro}!BNO08x@{BNO08x}}
\doxysubsubsection{\texorpdfstring{enable\_gyro()}{enable\_gyro()}}
{\footnotesize\ttfamily void BNO08x\+::enable\+\_\+gyro (\begin{DoxyParamCaption}\item[{uint16\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})}
{\footnotesize\ttfamily void BNO08x\+::enable\+\_\+gyro (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})}
@ -814,17 +1082,17 @@ Sends command to enable gyro reports (See Ref. Manual 6.\+5.\+13)
\begin{DoxyParams}{Parameters}
{\em time\+\_\+between\+\_\+reports} & Desired time between reports in miliseconds. \\
{\em time\+\_\+between\+\_\+reports} & Desired time between reports in microseconds. \\
\hline
\end{DoxyParams}
\begin{DoxyReturn}{Returns}
void, nothing to return
\end{DoxyReturn}
\Hypertarget{class_b_n_o08x_a09a0306abec5895dd0450b2fe970347c}\label{class_b_n_o08x_a09a0306abec5895dd0450b2fe970347c}
\Hypertarget{class_b_n_o08x_a7388c67de3906ad05b233fd7eff0514d}\label{class_b_n_o08x_a7388c67de3906ad05b233fd7eff0514d}
\index{BNO08x@{BNO08x}!enable\_gyro\_integrated\_rotation\_vector@{enable\_gyro\_integrated\_rotation\_vector}}
\index{enable\_gyro\_integrated\_rotation\_vector@{enable\_gyro\_integrated\_rotation\_vector}!BNO08x@{BNO08x}}
\doxysubsubsection{\texorpdfstring{enable\_gyro\_integrated\_rotation\_vector()}{enable\_gyro\_integrated\_rotation\_vector()}}
{\footnotesize\ttfamily void BNO08x\+::enable\+\_\+gyro\+\_\+integrated\+\_\+rotation\+\_\+vector (\begin{DoxyParamCaption}\item[{uint16\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})}
{\footnotesize\ttfamily void BNO08x\+::enable\+\_\+gyro\+\_\+integrated\+\_\+rotation\+\_\+vector (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})}
@ -832,17 +1100,17 @@ Sends command to enable gyro integrated rotation vector reports (See Ref. Manual
\begin{DoxyParams}{Parameters}
{\em time\+\_\+between\+\_\+reports} & Desired time between reports in miliseconds. \\
{\em time\+\_\+between\+\_\+reports} & Desired time between reports in microseconds. \\
\hline
\end{DoxyParams}
\begin{DoxyReturn}{Returns}
void, nothing to return
\end{DoxyReturn}
\Hypertarget{class_b_n_o08x_ad3724e7e602feb2b695d2d88a61d5328}\label{class_b_n_o08x_ad3724e7e602feb2b695d2d88a61d5328}
\Hypertarget{class_b_n_o08x_ae1435b83ca83bc51b75f3303afe87f7b}\label{class_b_n_o08x_ae1435b83ca83bc51b75f3303afe87f7b}
\index{BNO08x@{BNO08x}!enable\_linear\_accelerometer@{enable\_linear\_accelerometer}}
\index{enable\_linear\_accelerometer@{enable\_linear\_accelerometer}!BNO08x@{BNO08x}}
\doxysubsubsection{\texorpdfstring{enable\_linear\_accelerometer()}{enable\_linear\_accelerometer()}}
{\footnotesize\ttfamily void BNO08x\+::enable\+\_\+linear\+\_\+accelerometer (\begin{DoxyParamCaption}\item[{uint16\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})}
{\footnotesize\ttfamily void BNO08x\+::enable\+\_\+linear\+\_\+accelerometer (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})}
@ -850,17 +1118,17 @@ Sends command to enable linear accelerometer reports (See Ref. Manual 6.\+5.\+10
\begin{DoxyParams}{Parameters}
{\em time\+\_\+between\+\_\+reports} & Desired time between reports in miliseconds. \\
{\em time\+\_\+between\+\_\+reports} & Desired time between reports in microseconds. \\
\hline
\end{DoxyParams}
\begin{DoxyReturn}{Returns}
void, nothing to return
\end{DoxyReturn}
\Hypertarget{class_b_n_o08x_acf4a83a44a221f6495263f00f1b8d849}\label{class_b_n_o08x_acf4a83a44a221f6495263f00f1b8d849}
\Hypertarget{class_b_n_o08x_a3c32120bcd0987c3ca1bb72910586b59}\label{class_b_n_o08x_a3c32120bcd0987c3ca1bb72910586b59}
\index{BNO08x@{BNO08x}!enable\_magnetometer@{enable\_magnetometer}}
\index{enable\_magnetometer@{enable\_magnetometer}!BNO08x@{BNO08x}}
\doxysubsubsection{\texorpdfstring{enable\_magnetometer()}{enable\_magnetometer()}}
{\footnotesize\ttfamily void BNO08x\+::enable\+\_\+magnetometer (\begin{DoxyParamCaption}\item[{uint16\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})}
{\footnotesize\ttfamily void BNO08x\+::enable\+\_\+magnetometer (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})}
@ -868,17 +1136,17 @@ Sends command to enable magnetometer reports (See Ref. Manual 6.\+5.\+16)
\begin{DoxyParams}{Parameters}
{\em time\+\_\+between\+\_\+reports} & Desired time between reports in miliseconds. \\
{\em time\+\_\+between\+\_\+reports} & Desired time between reports in microseconds. \\
\hline
\end{DoxyParams}
\begin{DoxyReturn}{Returns}
void, nothing to return
\end{DoxyReturn}
\Hypertarget{class_b_n_o08x_ad6adf3b24a8a559d3bb57e6abcef4ce8}\label{class_b_n_o08x_ad6adf3b24a8a559d3bb57e6abcef4ce8}
\Hypertarget{class_b_n_o08x_a3042301cf0f51657c82b1127dce230f4}\label{class_b_n_o08x_a3042301cf0f51657c82b1127dce230f4}
\index{BNO08x@{BNO08x}!enable\_raw\_accelerometer@{enable\_raw\_accelerometer}}
\index{enable\_raw\_accelerometer@{enable\_raw\_accelerometer}!BNO08x@{BNO08x}}
\doxysubsubsection{\texorpdfstring{enable\_raw\_accelerometer()}{enable\_raw\_accelerometer()}}
{\footnotesize\ttfamily void BNO08x\+::enable\+\_\+raw\+\_\+accelerometer (\begin{DoxyParamCaption}\item[{uint16\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})}
{\footnotesize\ttfamily void BNO08x\+::enable\+\_\+raw\+\_\+accelerometer (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})}
@ -886,17 +1154,17 @@ Sends command to enable raw accelerometer reports (See Ref. Manual 6.\+5.\+8)
\begin{DoxyParams}{Parameters}
{\em time\+\_\+between\+\_\+reports} & Desired time between reports in miliseconds. \\
{\em time\+\_\+between\+\_\+reports} & Desired time between reports in microseconds. \\
\hline
\end{DoxyParams}
\begin{DoxyReturn}{Returns}
void, nothing to return
\end{DoxyReturn}
\Hypertarget{class_b_n_o08x_af984deb77c92746fe4d193457312be63}\label{class_b_n_o08x_af984deb77c92746fe4d193457312be63}
\Hypertarget{class_b_n_o08x_a8d8e75f0234287cb89cbec553cffe52c}\label{class_b_n_o08x_a8d8e75f0234287cb89cbec553cffe52c}
\index{BNO08x@{BNO08x}!enable\_raw\_gyro@{enable\_raw\_gyro}}
\index{enable\_raw\_gyro@{enable\_raw\_gyro}!BNO08x@{BNO08x}}
\doxysubsubsection{\texorpdfstring{enable\_raw\_gyro()}{enable\_raw\_gyro()}}
{\footnotesize\ttfamily void BNO08x\+::enable\+\_\+raw\+\_\+gyro (\begin{DoxyParamCaption}\item[{uint16\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})}
{\footnotesize\ttfamily void BNO08x\+::enable\+\_\+raw\+\_\+gyro (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})}
@ -904,17 +1172,17 @@ Sends command to enable raw gyro reports (See Ref. Manual 6.\+5.\+12)
\begin{DoxyParams}{Parameters}
{\em time\+\_\+between\+\_\+reports} & Desired time between reports in miliseconds. \\
{\em time\+\_\+between\+\_\+reports} & Desired time between reports in microseconds. \\
\hline
\end{DoxyParams}
\begin{DoxyReturn}{Returns}
void, nothing to return
\end{DoxyReturn}
\Hypertarget{class_b_n_o08x_ad1ca07ee06ef98d4e11a74dde18e9623}\label{class_b_n_o08x_ad1ca07ee06ef98d4e11a74dde18e9623}
\Hypertarget{class_b_n_o08x_a14ebec501b8d004a38648a9a1f7a2c9e}\label{class_b_n_o08x_a14ebec501b8d004a38648a9a1f7a2c9e}
\index{BNO08x@{BNO08x}!enable\_raw\_magnetometer@{enable\_raw\_magnetometer}}
\index{enable\_raw\_magnetometer@{enable\_raw\_magnetometer}!BNO08x@{BNO08x}}
\doxysubsubsection{\texorpdfstring{enable\_raw\_magnetometer()}{enable\_raw\_magnetometer()}}
{\footnotesize\ttfamily void BNO08x\+::enable\+\_\+raw\+\_\+magnetometer (\begin{DoxyParamCaption}\item[{uint16\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})}
{\footnotesize\ttfamily void BNO08x\+::enable\+\_\+raw\+\_\+magnetometer (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})}
@ -922,17 +1190,17 @@ Sends command to enable raw magnetometer reports (See Ref. Manual 6.\+5.\+15)
\begin{DoxyParams}{Parameters}
{\em time\+\_\+between\+\_\+reports} & Desired time between reports in miliseconds. \\
{\em time\+\_\+between\+\_\+reports} & Desired time between reports in microseconds. \\
\hline
\end{DoxyParams}
\begin{DoxyReturn}{Returns}
void, nothing to return
\end{DoxyReturn}
\Hypertarget{class_b_n_o08x_abe9acd2eb1ce2f2e72b7a48c8d025cc4}\label{class_b_n_o08x_abe9acd2eb1ce2f2e72b7a48c8d025cc4}
\Hypertarget{class_b_n_o08x_ab4c1d5cde156af09b7e88913f3af62c7}\label{class_b_n_o08x_ab4c1d5cde156af09b7e88913f3af62c7}
\index{BNO08x@{BNO08x}!enable\_rotation\_vector@{enable\_rotation\_vector}}
\index{enable\_rotation\_vector@{enable\_rotation\_vector}!BNO08x@{BNO08x}}
\doxysubsubsection{\texorpdfstring{enable\_rotation\_vector()}{enable\_rotation\_vector()}}
{\footnotesize\ttfamily void BNO08x\+::enable\+\_\+rotation\+\_\+vector (\begin{DoxyParamCaption}\item[{uint16\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})}
{\footnotesize\ttfamily void BNO08x\+::enable\+\_\+rotation\+\_\+vector (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})}
@ -940,17 +1208,17 @@ Sends command to enable rotation vector reports (See Ref. Manual 6.\+5.\+18)
\begin{DoxyParams}{Parameters}
{\em time\+\_\+between\+\_\+reports} & Desired time between reports in miliseconds. \\
{\em time\+\_\+between\+\_\+reports} & Desired time between reports in microseconds. \\
\hline
\end{DoxyParams}
\begin{DoxyReturn}{Returns}
void, nothing to return
\end{DoxyReturn}
\Hypertarget{class_b_n_o08x_a5378a235e3114ccdc63b26bc3fae5dad}\label{class_b_n_o08x_a5378a235e3114ccdc63b26bc3fae5dad}
\Hypertarget{class_b_n_o08x_ab0a60844b36fb140cad588a65b3a9655}\label{class_b_n_o08x_ab0a60844b36fb140cad588a65b3a9655}
\index{BNO08x@{BNO08x}!enable\_stability\_classifier@{enable\_stability\_classifier}}
\index{enable\_stability\_classifier@{enable\_stability\_classifier}!BNO08x@{BNO08x}}
\doxysubsubsection{\texorpdfstring{enable\_stability\_classifier()}{enable\_stability\_classifier()}}
{\footnotesize\ttfamily void BNO08x\+::enable\+\_\+stability\+\_\+classifier (\begin{DoxyParamCaption}\item[{uint16\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})}
{\footnotesize\ttfamily void BNO08x\+::enable\+\_\+stability\+\_\+classifier (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})}
@ -958,17 +1226,17 @@ Sends command to enable activity stability classifier reports (See Ref. Manual 6
\begin{DoxyParams}{Parameters}
{\em time\+\_\+between\+\_\+reports} & Desired time between reports in miliseconds. \\
{\em time\+\_\+between\+\_\+reports} & Desired time between reports in microseconds. \\
\hline
\end{DoxyParams}
\begin{DoxyReturn}{Returns}
void, nothing to return
\end{DoxyReturn}
\Hypertarget{class_b_n_o08x_ad550085fa1b51495ce3d8894538f33d5}\label{class_b_n_o08x_ad550085fa1b51495ce3d8894538f33d5}
\Hypertarget{class_b_n_o08x_a5a0b0f5b8e962247a3b8aee8f1dc8e9f}\label{class_b_n_o08x_a5a0b0f5b8e962247a3b8aee8f1dc8e9f}
\index{BNO08x@{BNO08x}!enable\_step\_counter@{enable\_step\_counter}}
\index{enable\_step\_counter@{enable\_step\_counter}!BNO08x@{BNO08x}}
\doxysubsubsection{\texorpdfstring{enable\_step\_counter()}{enable\_step\_counter()}}
{\footnotesize\ttfamily void BNO08x\+::enable\+\_\+step\+\_\+counter (\begin{DoxyParamCaption}\item[{uint16\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})}
{\footnotesize\ttfamily void BNO08x\+::enable\+\_\+step\+\_\+counter (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})}
@ -976,17 +1244,17 @@ Sends command to enable step counter reports (See Ref. Manual 6.\+5.\+29)
\begin{DoxyParams}{Parameters}
{\em time\+\_\+between\+\_\+reports} & Desired time between reports in miliseconds. \\
{\em time\+\_\+between\+\_\+reports} & Desired time between reports in microseconds. \\
\hline
\end{DoxyParams}
\begin{DoxyReturn}{Returns}
void, nothing to return
\end{DoxyReturn}
\Hypertarget{class_b_n_o08x_a919c7d94226f4c6adbb8edf6fd1613a9}\label{class_b_n_o08x_a919c7d94226f4c6adbb8edf6fd1613a9}
\Hypertarget{class_b_n_o08x_ab4c8e37c730ddb168f78c29bd7ae6566}\label{class_b_n_o08x_ab4c8e37c730ddb168f78c29bd7ae6566}
\index{BNO08x@{BNO08x}!enable\_tap\_detector@{enable\_tap\_detector}}
\index{enable\_tap\_detector@{enable\_tap\_detector}!BNO08x@{BNO08x}}
\doxysubsubsection{\texorpdfstring{enable\_tap\_detector()}{enable\_tap\_detector()}}
{\footnotesize\ttfamily void BNO08x\+::enable\+\_\+tap\+\_\+detector (\begin{DoxyParamCaption}\item[{uint16\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})}
{\footnotesize\ttfamily void BNO08x\+::enable\+\_\+tap\+\_\+detector (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})}
@ -994,17 +1262,17 @@ Sends command to enable tap detector reports (See Ref. Manual 6.\+5.\+27)
\begin{DoxyParams}{Parameters}
{\em time\+\_\+between\+\_\+reports} & Desired time between reports in miliseconds. \\
{\em time\+\_\+between\+\_\+reports} & Desired time between reports in microseconds. \\
\hline
\end{DoxyParams}
\begin{DoxyReturn}{Returns}
void, nothing to return
\end{DoxyReturn}
\Hypertarget{class_b_n_o08x_ac7b5815c5ad8b83a34ad0855423601e8}\label{class_b_n_o08x_ac7b5815c5ad8b83a34ad0855423601e8}
\Hypertarget{class_b_n_o08x_a7fe5de95b1f51da44247a87317fd0c75}\label{class_b_n_o08x_a7fe5de95b1f51da44247a87317fd0c75}
\index{BNO08x@{BNO08x}!enable\_uncalibrated\_gyro@{enable\_uncalibrated\_gyro}}
\index{enable\_uncalibrated\_gyro@{enable\_uncalibrated\_gyro}!BNO08x@{BNO08x}}
\doxysubsubsection{\texorpdfstring{enable\_uncalibrated\_gyro()}{enable\_uncalibrated\_gyro()}}
{\footnotesize\ttfamily void BNO08x\+::enable\+\_\+uncalibrated\+\_\+gyro (\begin{DoxyParamCaption}\item[{uint16\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})}
{\footnotesize\ttfamily void BNO08x\+::enable\+\_\+uncalibrated\+\_\+gyro (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})}
@ -1012,7 +1280,7 @@ Sends command to enable uncalibrated gyro reports (See Ref. Manual 6.\+5.\+14)
\begin{DoxyParams}{Parameters}
{\em time\+\_\+between\+\_\+reports} & Desired time between reports in miliseconds. \\
{\em time\+\_\+between\+\_\+reports} & Desired time between reports in microseconds. \\
\hline
\end{DoxyParams}
\begin{DoxyReturn}{Returns}
@ -2325,11 +2593,11 @@ Queues a packet containing a command.
\begin{DoxyReturn}{Returns}
void, nothing to return
\end{DoxyReturn}
\Hypertarget{class_b_n_o08x_a6c004a16b146527aa9eeeb6ff37db281}\label{class_b_n_o08x_a6c004a16b146527aa9eeeb6ff37db281}
\Hypertarget{class_b_n_o08x_af2951f6ea448af7cf7932fbfed9fec3c}\label{class_b_n_o08x_af2951f6ea448af7cf7932fbfed9fec3c}
\index{BNO08x@{BNO08x}!queue\_feature\_command@{queue\_feature\_command}}
\index{queue\_feature\_command@{queue\_feature\_command}!BNO08x@{BNO08x}}
\doxysubsubsection{\texorpdfstring{queue\_feature\_command()}{queue\_feature\_command()}\hspace{0.1cm}{\footnotesize\ttfamily [1/2]}}
{\footnotesize\ttfamily void BNO08x\+::queue\+\_\+feature\+\_\+command (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{report\+\_\+\+ID, }\item[{uint16\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [private]}}
{\footnotesize\ttfamily void BNO08x\+::queue\+\_\+feature\+\_\+command (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{report\+\_\+\+ID, }\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [private]}}
@ -2345,11 +2613,11 @@ Queues a packet containing a command with a request for sensor reports, reported
\begin{DoxyReturn}{Returns}
void, nothing to return
\end{DoxyReturn}
\Hypertarget{class_b_n_o08x_af0a0686a78c929aad43af2eaeba12878}\label{class_b_n_o08x_af0a0686a78c929aad43af2eaeba12878}
\Hypertarget{class_b_n_o08x_a2d6de4823893128e6a4b562f34326ae8}\label{class_b_n_o08x_a2d6de4823893128e6a4b562f34326ae8}
\index{BNO08x@{BNO08x}!queue\_feature\_command@{queue\_feature\_command}}
\index{queue\_feature\_command@{queue\_feature\_command}!BNO08x@{BNO08x}}
\doxysubsubsection{\texorpdfstring{queue\_feature\_command()}{queue\_feature\_command()}\hspace{0.1cm}{\footnotesize\ttfamily [2/2]}}
{\footnotesize\ttfamily void BNO08x\+::queue\+\_\+feature\+\_\+command (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{report\+\_\+\+ID, }\item[{uint16\+\_\+t}]{time\+\_\+between\+\_\+reports, }\item[{uint32\+\_\+t}]{specific\+\_\+config }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [private]}}
{\footnotesize\ttfamily void BNO08x\+::queue\+\_\+feature\+\_\+command (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{report\+\_\+\+ID, }\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports, }\item[{uint32\+\_\+t}]{specific\+\_\+config }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [private]}}
@ -2359,7 +2627,7 @@ Queues a packet containing a command with a request for sensor reports, reported
\begin{DoxyParams}{Parameters}
{\em report\+\_\+\+ID} & ID of sensor report to be enabled. \\
\hline
{\em time\+\_\+between\+\_\+reports} & Desired time between reports in miliseconds. \\
{\em time\+\_\+between\+\_\+reports} & Desired time between reports in microseconds. \\
\hline
{\em specific\+\_\+config} & Specific config word (used with personal activity classifier)\\
\hline
@ -3784,16 +4052,6 @@ Report timestamp (see datasheet 1.\+3.\+5.\+3)
buffer used for sending packet with \doxylink{class_b_n_o08x_a0ee58cedbc06d4a7db8821f40c0ee207}{send\+\_\+packet()}
\Hypertarget{class_b_n_o08x_a5b1f13a3170f1c8fdcc886353efa0c08}\label{class_b_n_o08x_a5b1f13a3170f1c8fdcc886353efa0c08}
\index{BNO08x@{BNO08x}!tx\_packet\_queued@{tx\_packet\_queued}}
\index{tx\_packet\_queued@{tx\_packet\_queued}!BNO08x@{BNO08x}}
\doxysubsubsection{\texorpdfstring{tx\_packet\_queued}{tx\_packet\_queued}}
{\footnotesize\ttfamily volatile uint8\+\_\+t BNO08x\+::tx\+\_\+packet\+\_\+queued\hspace{0.3cm}{\ttfamily [private]}}
Whether or not a packet is currently waiting to be sent, a queued packet is sent on assertion of \doxylink{class_b_n_o08x}{BNO08x} HINT pin)
\Hypertarget{class_b_n_o08x_aee2d0bcb8e9d7bacacccacbb04ded661}\label{class_b_n_o08x_aee2d0bcb8e9d7bacacccacbb04ded661}
\index{BNO08x@{BNO08x}!tx\_semaphore@{tx\_semaphore}}
\index{tx\_semaphore@{tx\_semaphore}!BNO08x@{BNO08x}}
@ -3802,7 +4060,7 @@ Whether or not a packet is currently waiting to be sent, a queued packet is sent
Mutex semaphore used to prevent sending or receiving of packets if packet is currently being queued.
Used to indicate to \doxylink{class_b_n_o08x_a2ecd4ed60f82730ae230c61687ec92bf}{spi\+\_\+task()} whether or not a packet is currently waiting to be sent.
\Hypertarget{class_b_n_o08x_a081c666a3f24016d0ec5c5edc49f2903}\label{class_b_n_o08x_a081c666a3f24016d0ec5c5edc49f2903}
\index{BNO08x@{BNO08x}!uncalib\_gyro\_accuracy@{uncalib\_gyro\_accuracy}}

4
documentation/latex/md_esp32___b_n_o08x_2_r_e_a_d_m_e.tex
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@ -87,8 +87,8 @@ In workspace directory\+: ~\newline
\DoxyCodeLine{\ \ \ \ imu.\mbox{\hyperlink{class_b_n_o08x_aea8e2c6dd7a2c9899479a7f39fe94798}{initialize}}();\ \ \textcolor{comment}{//initialize\ IMU}}
\DoxyCodeLine{}
\DoxyCodeLine{\ \ \ \ \textcolor{comment}{//enable\ gyro\ \&\ game\ rotation\ vector}}
\DoxyCodeLine{\ \ \ \ imu.\mbox{\hyperlink{class_b_n_o08x_a639cb013ed17e0f33057742fac97f1a2}{enable\_game\_rotation\_vector}}(100);}
\DoxyCodeLine{\ \ \ \ imu.\mbox{\hyperlink{class_b_n_o08x_a7619b598cc8e768c4df4805b2958a2c8}{enable\_gyro}}(150);}
\DoxyCodeLine{\ \ \ \ imu.\mbox{\hyperlink{class_b_n_o08x_abe04c38b5bd52d331bd8aefae1f51947}{enable\_game\_rotation\_vector}}(100000);\ \textcolor{comment}{//100,000us\ ==\ 100ms\ report\ interval}}
\DoxyCodeLine{\ \ \ \ imu.\mbox{\hyperlink{class_b_n_o08x_ad7b322681b9ec5f57edb09e336b988c0}{enable\_gyro}}(150000);\ \textcolor{comment}{//150,000us\ ==\ 150ms\ report\ interval\ }}
\DoxyCodeLine{}
\DoxyCodeLine{\ \ \ \ \textcolor{keywordflow}{while}(1)}
\DoxyCodeLine{\ \ \ \ \{}

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