From 05006334201b1a22d85603df19d637130d5c408d Mon Sep 17 00:00:00 2001 From: myles-parfeniuk Date: Tue, 5 Mar 2024 02:04:52 -0800 Subject: [PATCH] Disable report fxns, modified sending procedure, updated README.md --- BNO08x.cpp | 354 +++++- BNO08x.hpp | 63 +- README.md | 4 +- documentation/html/_b_n_o08x_8hpp_source.html | 1122 +++++++++-------- .../html/class_b_n_o08x-members.html | 69 +- documentation/html/class_b_n_o08x.html | 723 ++++++++--- documentation/html/functions_d.html | 18 + documentation/html/functions_e.html | 36 +- documentation/html/functions_func.html | 56 +- documentation/html/functions_q.html | 2 +- documentation/html/functions_t.html | 3 +- documentation/html/functions_vars.html | 1 - .../md_esp32___b_n_o08x_2_r_e_a_d_m_e.html | 24 +- documentation/html/search/all_3.js | 20 +- documentation/html/search/all_4.js | 36 +- documentation/html/search/all_c.js | 2 +- documentation/html/search/all_f.js | 7 +- documentation/html/search/functions_2.js | 20 +- documentation/html/search/functions_3.js | 36 +- documentation/html/search/functions_a.js | 2 +- documentation/html/search/variables_e.js | 3 +- documentation/latex/_b_n_o08x_8hpp_source.tex | 573 +++++---- documentation/latex/class_b_n_o08x.tex | 444 +++++-- .../md_esp32___b_n_o08x_2_r_e_a_d_m_e.tex | 4 +- esp32_BNO08x_receieve_flowchart.png | Bin 121554 -> 232446 bytes esp32_BNO08x_send_flowchart.png | Bin 114426 -> 199416 bytes esp32_BNO08x_wiring.png | Bin 12876 -> 24420 bytes 27 files changed, 2317 insertions(+), 1305 deletions(-) diff --git a/BNO08x.cpp b/BNO08x.cpp index 72c3977..83f8a9a 100644 --- a/BNO08x.cpp +++ b/BNO08x.cpp @@ -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 } } diff --git a/BNO08x.hpp b/BNO08x.hpp index dd8c360..f703a5a 100644 --- a/BNO08x.hpp +++ b/BNO08x.hpp @@ -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; /// 125 void end_calibration();
126 void save_calibration();
127
-
128 void enable_rotation_vector(uint16_t time_between_reports);
-
129 void enable_game_rotation_vector(uint16_t time_between_reports);
-
130 void enable_ARVR_stabilized_rotation_vector(uint16_t time_between_reports);
-
131 void enable_ARVR_stabilized_game_rotation_vector(uint16_t time_between_reports);
-
132 void enable_gyro_integrated_rotation_vector(uint16_t timeBetweenReports);
-
133 void enable_accelerometer(uint16_t time_between_reports);
-
134 void enable_linear_accelerometer(uint16_t time_between_reports);
-
135 void enable_gravity(uint16_t time_between_reports);
-
136 void enable_gyro(uint16_t time_between_reports);
-
137 void enable_uncalibrated_gyro(uint16_t time_between_reports);
-
138 void enable_magnetometer(uint16_t time_between_reports);
-
139 void enable_tap_detector(uint16_t time_between_reports);
-
140 void enable_step_counter(uint16_t time_between_reports);
-
141 void enable_stability_classifier(uint16_t time_between_reports);
-
142 void enable_activity_classifier(uint16_t time_between_reports, uint32_t activities_to_enable, uint8_t (&activity_confidence_vals)[9]);
-
143 void enable_raw_accelerometer(uint16_t time_between_reports);
-
144 void enable_raw_gyro(uint16_t time_between_reports);
-
145 void enable_raw_magnetometer(uint16_t time_between_reports);
+
128 void enable_rotation_vector(uint32_t time_between_reports);
+
129 void enable_game_rotation_vector(uint32_t time_between_reports);
+
130 void enable_ARVR_stabilized_rotation_vector(uint32_t time_between_reports);
+
131 void enable_ARVR_stabilized_game_rotation_vector(uint32_t time_between_reports);
+
132 void enable_gyro_integrated_rotation_vector(uint32_t time_between_reports);
+
133 void enable_accelerometer(uint32_t time_between_reports);
+
134 void enable_linear_accelerometer(uint32_t time_between_reports);
+
135 void enable_gravity(uint32_t time_between_reports);
+
136 void enable_gyro(uint32_t time_between_reports);
+
137 void enable_uncalibrated_gyro(uint32_t time_between_reports);
+
138 void enable_magnetometer(uint32_t time_between_reports);
+
139 void enable_tap_detector(uint32_t time_between_reports);
+
140 void enable_step_counter(uint32_t time_between_reports);
+
141 void enable_stability_classifier(uint32_t time_between_reports);
+
142 void enable_activity_classifier(uint32_t time_between_reports, uint32_t activities_to_enable, uint8_t (&activity_confidence_vals)[9]);
+
143 void enable_raw_accelerometer(uint32_t time_between_reports);
+
144 void enable_raw_gyro(uint32_t time_between_reports);
+
145 void enable_raw_magnetometer(uint32_t time_between_reports);
146
-
147 void tare_now(uint8_t axis_sel = TARE_AXIS_ALL, uint8_t rotation_vector_basis = TARE_ROTATION_VECTOR);
-
148 void save_tare();
-
149 void clear_tare();
-
150
-
151 bool data_available();
-
152 uint16_t parse_input_report();
-
153 uint16_t parse_command_report();
-
154 uint16_t get_readings();
-
155
-
156 uint32_t get_time_stamp();
-
157
-
158 void get_magf(float& x, float& y, float& z, uint8_t& accuracy);
-
159 float get_magf_X();
-
160 float get_magf_Y();
-
161 float get_magf_Z();
-
162 uint8_t get_magf_accuracy();
-
163
-
164 void get_gravity(float& x, float& y, float& z, uint8_t& accuracy);
-
165 float get_gravity_X();
-
166 float get_gravity_Y();
-
167 float get_gravity_Z();
-
168 uint8_t get_gravity_accuracy();
+
147 void disable_rotation_vector();
+
148 void disable_game_rotation_vector();
+
149 void disable_ARVR_stabilized_rotation_vector();
+
150 void disable_ARVR_stabilized_game_rotation_vector();
+
151 void disable_gyro_integrated_rotation_vector();
+
152 void disable_accelerometer();
+
153 void disable_linear_accelerometer();
+
154 void disable_gravity();
+
155 void disable_gyro();
+
156 void disable_uncalibrated_gyro();
+
157 void disable_magnetometer();
+
158 void disable_tap_detector();
+
159 void disable_step_counter();
+
160 void disable_stability_classifier();
+
161 void disable_activity_classifier();
+
162 void disable_raw_accelerometer();
+
163 void disable_raw_gyro();
+
164 void disable_raw_magnetometer();
+
165
+
166 void tare_now(uint8_t axis_sel = TARE_AXIS_ALL, uint8_t rotation_vector_basis = TARE_ROTATION_VECTOR);
+
167 void save_tare();
+
168 void clear_tare();
169
-
170 float get_roll();
-
171 float get_pitch();
-
172 float get_yaw();
-
173
-
174 float get_roll_deg();
-
175 float get_pitch_deg();
-
176 float get_yaw_deg();
-
177
-
178 void get_quat(float& i, float& j, float& k, float& real, float& rad_accuracy, uint8_t& accuracy);
-
179 float get_quat_I();
-
180 float get_quat_J();
-
181 float get_quat_K();
-
182 float get_quat_real();
-
183 float get_quat_radian_accuracy();
-
184 uint8_t get_quat_accuracy();
-
185
-
186 void get_accel(float& x, float& y, float& z, uint8_t& accuracy);
-
187 float get_accel_X();
-
188 float get_accel_Y();
-
189 float get_accel_Z();
-
190 uint8_t get_accel_accuracy();
-
191
-
192 void get_linear_accel(float& x, float& y, float& z, uint8_t& accuracy);
-
193 float get_linear_accel_X();
-
194 float get_linear_accel_Y();
-
195 float get_linear_accel_Z();
-
196 uint8_t get_linear_accel_accuracy();
-
197
-
198 int16_t get_raw_accel_X();
-
199 int16_t get_raw_accel_Y();
-
200 int16_t get_raw_accel_Z();
-
201
-
202 int16_t get_raw_gyro_X();
-
203 int16_t get_raw_gyro_Y();
-
204 int16_t get_raw_gyro_Z();
-
205
-
206 int16_t get_raw_magf_X();
-
207 int16_t get_raw_magf_Y();
-
208 int16_t get_raw_magf_Z();
-
209
-
210 void get_gyro_calibrated_velocity(float& x, float& y, float& z, uint8_t& accuracy);
-
211 float get_gyro_calibrated_velocity_X();
-
212 float get_gyro_calibrated_velocity_Y();
-
213 float get_gyro_calibrated_velocity_Z();
-
214 uint8_t get_gyro_accuracy();
-
215
-
216 void get_uncalibrated_gyro(float& x, float& y, float& z, float& bx, float& by, float& bz, uint8_t& accuracy);
-
217 float get_uncalibrated_gyro_X();
-
218 float get_uncalibrated_gyro_Y();
-
219 float get_uncalibrated_gyro_Z();
-
220 float get_uncalibrated_gyro_bias_X();
-
221 float get_uncalibrated_gyro_bias_Y();
-
222 float get_uncalibrated_gyro_bias_Z();
-
223 uint8_t get_uncalibrated_gyro_accuracy();
+
170 bool data_available();
+
171 uint16_t parse_input_report();
+
172 uint16_t parse_command_report();
+
173 uint16_t get_readings();
+
174
+
175 uint32_t get_time_stamp();
+
176
+
177 void get_magf(float& x, float& y, float& z, uint8_t& accuracy);
+
178 float get_magf_X();
+
179 float get_magf_Y();
+
180 float get_magf_Z();
+
181 uint8_t get_magf_accuracy();
+
182
+
183 void get_gravity(float& x, float& y, float& z, uint8_t& accuracy);
+
184 float get_gravity_X();
+
185 float get_gravity_Y();
+
186 float get_gravity_Z();
+
187 uint8_t get_gravity_accuracy();
+
188
+
189 float get_roll();
+
190 float get_pitch();
+
191 float get_yaw();
+
192
+
193 float get_roll_deg();
+
194 float get_pitch_deg();
+
195 float get_yaw_deg();
+
196
+
197 void get_quat(float& i, float& j, float& k, float& real, float& rad_accuracy, uint8_t& accuracy);
+
198 float get_quat_I();
+
199 float get_quat_J();
+
200 float get_quat_K();
+
201 float get_quat_real();
+
202 float get_quat_radian_accuracy();
+
203 uint8_t get_quat_accuracy();
+
204
+
205 void get_accel(float& x, float& y, float& z, uint8_t& accuracy);
+
206 float get_accel_X();
+
207 float get_accel_Y();
+
208 float get_accel_Z();
+
209 uint8_t get_accel_accuracy();
+
210
+
211 void get_linear_accel(float& x, float& y, float& z, uint8_t& accuracy);
+
212 float get_linear_accel_X();
+
213 float get_linear_accel_Y();
+
214 float get_linear_accel_Z();
+
215 uint8_t get_linear_accel_accuracy();
+
216
+
217 int16_t get_raw_accel_X();
+
218 int16_t get_raw_accel_Y();
+
219 int16_t get_raw_accel_Z();
+
220
+
221 int16_t get_raw_gyro_X();
+
222 int16_t get_raw_gyro_Y();
+
223 int16_t get_raw_gyro_Z();
224
-
225 void get_gyro_velocity(float& x, float& y, float& z);
-
226 float get_gyro_velocity_X();
-
227 float get_gyro_velocity_Y();
-
228 float get_gyro_velocity_Z();
-
229
-
230 uint8_t get_tap_detector();
-
231 uint16_t get_step_count();
-
232 int8_t get_stability_classifier();
-
233 uint8_t get_activity_classifier();
+
225 int16_t get_raw_magf_X();
+
226 int16_t get_raw_magf_Y();
+
227 int16_t get_raw_magf_Z();
+
228
+
229 void get_gyro_calibrated_velocity(float& x, float& y, float& z, uint8_t& accuracy);
+
230 float get_gyro_calibrated_velocity_X();
+
231 float get_gyro_calibrated_velocity_Y();
+
232 float get_gyro_calibrated_velocity_Z();
+
233 uint8_t get_gyro_accuracy();
234
-
235 void print_header();
-
236 void print_packet();
-
237
-
238 // Metadata functions
-
239 int16_t get_Q1(uint16_t record_ID);
-
240 int16_t get_Q2(uint16_t record_ID);
-
241 int16_t get_Q3(uint16_t record_ID);
-
242 float get_resolution(uint16_t record_ID);
-
243 float get_range(uint16_t record_ID);
-
244 uint32_t FRS_read_word(uint16_t record_ID, uint8_t word_number);
-
245 bool FRS_read_request(uint16_t record_ID, uint16_t read_offset, uint16_t block_size);
-
246 bool FRS_read_data(uint16_t record_ID, uint8_t start_location, uint8_t words_to_read);
-
247
-
248 // Record IDs from figure 29, page 29 reference manual
-
249 // These are used to read the metadata for each sensor type
-
250 static const constexpr uint16_t FRS_RECORDID_ACCELEROMETER = 0xE302;
-
251 static const constexpr uint16_t FRS_RECORDID_GYROSCOPE_CALIBRATED = 0xE306;
-
252 static const constexpr uint16_t FRS_RECORDID_MAGNETIC_FIELD_CALIBRATED = 0xE309;
-
253 static const constexpr uint16_t FRS_RECORDID_ROTATION_VECTOR = 0xE30B;
-
254
-
255 static const constexpr uint8_t TARE_AXIS_ALL = 0x07;
-
256 static const constexpr uint8_t TARE_AXIS_Z = 0x04;
-
257
-
258 // Which rotation vector to tare, BNO08x saves them seperately
-
259 static const constexpr uint8_t TARE_ROTATION_VECTOR = 0;
-
260 static const constexpr uint8_t TARE_GAME_ROTATION_VECTOR = 1;
-
261 static const constexpr uint8_t TARE_GEOMAGNETIC_ROTATION_VECTOR = 2;
-
262 static const constexpr uint8_t TARE_GYRO_INTEGRATED_ROTATION_VECTOR = 3;
-
263 static const constexpr uint8_t TARE_AR_VR_STABILIZED_ROTATION_VECTOR = 4;
-
264 static const constexpr uint8_t TARE_AR_VR_STABILIZED_GAME_ROTATION_VECTOR = 5;
-
265
-
266 static const constexpr int16_t ROTATION_VECTOR_Q1 = 14;
-
267 static const constexpr int16_t ROTATION_VECTOR_ACCURACY_Q1 = 12;
-
268 static const constexpr int16_t ACCELEROMETER_Q1 = 8;
-
269 static const constexpr int16_t LINEAR_ACCELEROMETER_Q1 = 8;
-
270 static const constexpr int16_t GYRO_Q1 = 9;
-
271 static const constexpr int16_t MAGNETOMETER_Q1 = 4;
-
272 static const constexpr int16_t ANGULAR_VELOCITY_Q1 = 10;
-
273 static const constexpr int16_t GRAVITY_Q1 = 8;
-
274
-
275 private:
-
276 bool wait_for_device_int();
-
277 bool receive_packet();
-
278 void send_packet();
-
279 void queue_packet(uint8_t channel_number, uint8_t data_length);
-
280 void queue_command(uint8_t command);
-
281 void queue_feature_command(uint8_t report_ID, uint16_t time_between_reports);
-
282 void queue_feature_command(uint8_t report_ID, uint16_t time_between_reports, uint32_t specific_config);
-
283 void queue_calibrate_command(uint8_t _to_calibrate);
-
284 void queue_tare_command(uint8_t command, uint8_t axis = TARE_AXIS_ALL, uint8_t rotation_vector_basis = TARE_ROTATION_VECTOR);
-
285 void queue_request_product_id_command();
-
286
-
287 static bno08x_config_t default_imu_config;
-
288
-
289 volatile uint8_t
-
290 tx_packet_queued;
-
291 SemaphoreHandle_t tx_semaphore;
-
292 SemaphoreHandle_t
-
293 int_asserted_semaphore;
-
294 uint8_t rx_buffer[300];
-
295 uint8_t tx_buffer[50];
-
296 uint8_t packet_header_rx[4];
-
297 uint8_t commands[20];
-
298 uint8_t sequence_number[6];
-
299 uint32_t meta_data[9];
-
300 uint8_t command_sequence_number = 0;
-
301 uint16_t packet_length_tx = 0;
-
302 uint16_t packet_length_rx = 0;
-
303
-
304 bno08x_config_t imu_config{};
-
305 spi_bus_config_t bus_config{};
-
306 spi_device_interface_config_t imu_spi_config{};
-
307 spi_device_handle_t spi_hdl{};
-
308 spi_transaction_t spi_transaction{};
-
309
-
310 // These are the raw sensor values (without Q applied) pulled from the user requested Input Report
-
311 uint32_t time_stamp;
-
312 uint16_t raw_accel_X, raw_accel_Y, raw_accel_Z,
-
313 accel_accuracy;
-
314 uint16_t raw_lin_accel_X, raw_lin_accel_Y, raw_lin_accel_Z,
-
315 accel_lin_accuracy;
-
316 uint16_t raw_gyro_X, raw_gyro_Y, raw_gyro_Z, gyro_accuracy;
-
317 uint16_t raw_quat_I, raw_quat_J, raw_quat_K, raw_quat_real, raw_quat_radian_accuracy,
-
318 quat_accuracy;
-
319 uint16_t raw_velocity_gyro_X, raw_velocity_gyro_Y,
-
320 raw_velocity_gyro_Z;
-
321 uint16_t gravity_X, gravity_Y, gravity_Z,
-
322 gravity_accuracy;
-
323 uint16_t raw_uncalib_gyro_X, raw_uncalib_gyro_Y, raw_uncalib_gyro_Z, raw_bias_X, raw_bias_Y, raw_bias_Z,
-
324 uncalib_gyro_accuracy;
-
325 uint16_t raw_magf_X, raw_magf_Y, raw_magf_Z,
-
326 magf_accuracy;
-
327 uint8_t tap_detector;
-
328 uint16_t step_count;
-
329 uint8_t stability_classifier;
-
330 uint8_t activity_classifier;
-
331 uint8_t* activity_confidences;
-
332 uint8_t calibration_status;
-
333 uint16_t mems_raw_accel_X, mems_raw_accel_Y,
-
334 mems_raw_accel_Z;
-
335 uint16_t mems_raw_gyro_X, mems_raw_gyro_Y,
-
336 mems_raw_gyro_Z;
-
337 uint16_t mems_raw_magf_X, mems_raw_magf_Y,
-
338 mems_raw_magf_Z;
-
339
-
340 // spi task
-
341 TaskHandle_t spi_task_hdl;
-
342 static void spi_task_trampoline(void* arg);
-
343 void spi_task();
-
344
-
345 static void IRAM_ATTR hint_handler(void* arg);
-
346 static bool
-
347 isr_service_installed;
-
348
-
349 static const constexpr uint64_t HOST_INT_TIMEOUT_MS =
-
350 150ULL;
-
351
-
352 // Higher level calibration commands, used by queue_calibrate_command
-
353 static const constexpr uint8_t CALIBRATE_ACCEL = 0;
-
354 static const constexpr uint8_t CALIBRATE_GYRO = 1;
-
355 static const constexpr uint8_t CALIBRATE_MAG = 2;
-
356 static const constexpr uint8_t CALIBRATE_PLANAR_ACCEL = 3;
-
357 static const constexpr uint8_t CALIBRATE_ACCEL_GYRO_MAG =
-
358 4;
-
359 static const constexpr uint8_t CALIBRATE_STOP = 5;
-
360
-
361 // Command IDs (see Ref. Manual 6.4)
-
362 static const constexpr uint8_t COMMAND_ERRORS = 1;
-
363 static const constexpr uint8_t COMMAND_COUNTER = 2;
-
364 static const constexpr uint8_t COMMAND_TARE = 3;
-
365 static const constexpr uint8_t COMMAND_INITIALIZE = 4;
-
366 static const constexpr uint8_t COMMAND_DCD = 6;
-
367 static const constexpr uint8_t COMMAND_ME_CALIBRATE = 7;
-
368 static const constexpr uint8_t COMMAND_DCD_PERIOD_SAVE = 9;
-
369 static const constexpr uint8_t COMMAND_OSCILLATOR = 10;
-
370 static const constexpr uint8_t COMMAND_CLEAR_DCD = 11;
-
371
-
372 // SHTP channel 2 control report IDs, used in communication with sensor (See Ref. Manual 6.2)
-
373 static const constexpr uint8_t SHTP_REPORT_COMMAND_RESPONSE = 0xF1;
-
374 static const constexpr uint8_t SHTP_REPORT_COMMAND_REQUEST = 0xF2;
-
375 static const constexpr uint8_t SHTP_REPORT_FRS_READ_RESPONSE = 0xF3;
-
376 static const constexpr uint8_t SHTP_REPORT_FRS_READ_REQUEST = 0xF4;
-
377 static const constexpr uint8_t SHTP_REPORT_PRODUCT_ID_RESPONSE = 0xF8;
-
378 static const constexpr uint8_t SHTP_REPORT_PRODUCT_ID_REQUEST = 0xF9;
-
379 static const constexpr uint8_t SHTP_REPORT_BASE_TIMESTAMP = 0xFB;
-
380 static const constexpr uint8_t SHTP_REPORT_SET_FEATURE_COMMAND = 0xFD;
-
381
-
382 // Sensor report IDs, used when enabling and reading BNO08x reports
-
383 static const constexpr uint8_t SENSOR_REPORTID_ACCELEROMETER = 0x01;
-
384 static const constexpr uint8_t SENSOR_REPORTID_GYROSCOPE = 0x02;
-
385 static const constexpr uint8_t SENSOR_REPORTID_MAGNETIC_FIELD = 0x03;
-
386 static const constexpr uint8_t SENSOR_REPORTID_LINEAR_ACCELERATION = 0x04;
-
387 static const constexpr uint8_t SENSOR_REPORTID_ROTATION_VECTOR = 0x05;
-
388 static const constexpr uint8_t SENSOR_REPORTID_GRAVITY = 0x06;
-
389 static const constexpr uint8_t SENSOR_REPORTID_UNCALIBRATED_GYRO = 0x07;
-
390 static const constexpr uint8_t SENSOR_REPORTID_GAME_ROTATION_VECTOR = 0x08;
-
391 static const constexpr uint8_t SENSOR_REPORTID_GEOMAGNETIC_ROTATION_VECTOR = 0x09;
-
392 static const constexpr uint8_t SENSOR_REPORTID_GYRO_INTEGRATED_ROTATION_VECTOR = 0x2A;
-
393 static const constexpr uint8_t SENSOR_REPORTID_TAP_DETECTOR = 0x10;
-
394 static const constexpr uint8_t SENSOR_REPORTID_STEP_COUNTER = 0x11;
-
395 static const constexpr uint8_t SENSOR_REPORTID_STABILITY_CLASSIFIER = 0x13;
-
396 static const constexpr uint8_t SENSOR_REPORTID_RAW_ACCELEROMETER = 0x14;
-
397 static const constexpr uint8_t SENSOR_REPORTID_RAW_GYROSCOPE = 0x15;
-
398 static const constexpr uint8_t SENSOR_REPORTID_RAW_MAGNETOMETER = 0x16;
-
399 static const constexpr uint8_t SENSOR_REPORTID_PERSONAL_ACTIVITY_CLASSIFIER = 0x1E;
-
400 static const constexpr uint8_t SENSOR_REPORTID_AR_VR_STABILIZED_ROTATION_VECTOR = 0x28;
-
401 static const constexpr uint8_t SENSOR_REPORTID_AR_VR_STABILIZED_GAME_ROTATION_VECTOR = 0x29;
-
402
-
403 // Tare commands used by queue_tare_command
-
404 static const constexpr uint8_t TARE_NOW = 0;
-
405 static const constexpr uint8_t TARE_PERSIST = 1;
-
406 static const constexpr uint8_t TARE_SET_REORIENTATION = 2;
-
407
-
408 static const constexpr char* TAG = "BNO08x";
-
409};
+
235 void get_uncalibrated_gyro(float& x, float& y, float& z, float& bx, float& by, float& bz, uint8_t& accuracy);
+
236 float get_uncalibrated_gyro_X();
+
237 float get_uncalibrated_gyro_Y();
+
238 float get_uncalibrated_gyro_Z();
+
239 float get_uncalibrated_gyro_bias_X();
+
240 float get_uncalibrated_gyro_bias_Y();
+
241 float get_uncalibrated_gyro_bias_Z();
+
242 uint8_t get_uncalibrated_gyro_accuracy();
+
243
+
244 void get_gyro_velocity(float& x, float& y, float& z);
+
245 float get_gyro_velocity_X();
+
246 float get_gyro_velocity_Y();
+
247 float get_gyro_velocity_Z();
+
248
+
249 uint8_t get_tap_detector();
+
250 uint16_t get_step_count();
+
251 int8_t get_stability_classifier();
+
252 uint8_t get_activity_classifier();
+
253
+
254 void print_header();
+
255 void print_packet();
+
256
+
257 // Metadata functions
+
258 int16_t get_Q1(uint16_t record_ID);
+
259 int16_t get_Q2(uint16_t record_ID);
+
260 int16_t get_Q3(uint16_t record_ID);
+
261 float get_resolution(uint16_t record_ID);
+
262 float get_range(uint16_t record_ID);
+
263 uint32_t FRS_read_word(uint16_t record_ID, uint8_t word_number);
+
264 bool FRS_read_request(uint16_t record_ID, uint16_t read_offset, uint16_t block_size);
+
265 bool FRS_read_data(uint16_t record_ID, uint8_t start_location, uint8_t words_to_read);
+
266
+
267 // Record IDs from figure 29, page 29 reference manual
+
268 // These are used to read the metadata for each sensor type
+
269 static const constexpr uint16_t FRS_RECORDID_ACCELEROMETER = 0xE302;
+
270 static const constexpr uint16_t FRS_RECORDID_GYROSCOPE_CALIBRATED = 0xE306;
+
271 static const constexpr uint16_t FRS_RECORDID_MAGNETIC_FIELD_CALIBRATED = 0xE309;
+
272 static const constexpr uint16_t FRS_RECORDID_ROTATION_VECTOR = 0xE30B;
+
273
+
274 static const constexpr uint8_t TARE_AXIS_ALL = 0x07;
+
275 static const constexpr uint8_t TARE_AXIS_Z = 0x04;
+
276
+
277 // Which rotation vector to tare, BNO08x saves them seperately
+
278 static const constexpr uint8_t TARE_ROTATION_VECTOR = 0;
+
279 static const constexpr uint8_t TARE_GAME_ROTATION_VECTOR = 1;
+
280 static const constexpr uint8_t TARE_GEOMAGNETIC_ROTATION_VECTOR = 2;
+
281 static const constexpr uint8_t TARE_GYRO_INTEGRATED_ROTATION_VECTOR = 3;
+
282 static const constexpr uint8_t TARE_AR_VR_STABILIZED_ROTATION_VECTOR = 4;
+
283 static const constexpr uint8_t TARE_AR_VR_STABILIZED_GAME_ROTATION_VECTOR = 5;
+
284
+
285 static const constexpr int16_t ROTATION_VECTOR_Q1 = 14;
+
286 static const constexpr int16_t ROTATION_VECTOR_ACCURACY_Q1 = 12;
+
287 static const constexpr int16_t ACCELEROMETER_Q1 = 8;
+
288 static const constexpr int16_t LINEAR_ACCELEROMETER_Q1 = 8;
+
289 static const constexpr int16_t GYRO_Q1 = 9;
+
290 static const constexpr int16_t MAGNETOMETER_Q1 = 4;
+
291 static const constexpr int16_t ANGULAR_VELOCITY_Q1 = 10;
+
292 static const constexpr int16_t GRAVITY_Q1 = 8;
+
293
+
294 private:
+
295 bool wait_for_device_int();
+
296 bool receive_packet();
+
297 void send_packet();
+
298 void queue_packet(uint8_t channel_number, uint8_t data_length);
+
299 void queue_command(uint8_t command);
+
300 void queue_feature_command(uint8_t report_ID, uint32_t time_between_reports);
+
301 void queue_feature_command(uint8_t report_ID, uint32_t time_between_reports, uint32_t specific_config);
+
302 void queue_calibrate_command(uint8_t _to_calibrate);
+
303 void queue_tare_command(uint8_t command, uint8_t axis = TARE_AXIS_ALL, uint8_t rotation_vector_basis = TARE_ROTATION_VECTOR);
+
304 void queue_request_product_id_command();
+
305
+
306 static bno08x_config_t default_imu_config;
+
307
+
308 SemaphoreHandle_t tx_semaphore;
+
309 SemaphoreHandle_t
+
310 int_asserted_semaphore;
+
311 uint8_t rx_buffer[300];
+
312 uint8_t tx_buffer[50];
+
313 uint8_t packet_header_rx[4];
+
314 uint8_t commands[20];
+
315 uint8_t sequence_number[6];
+
316 uint32_t meta_data[9];
+
317 uint8_t command_sequence_number = 0;
+
318 uint16_t packet_length_tx = 0;
+
319 uint16_t packet_length_rx = 0;
+
320
+
321 bno08x_config_t imu_config{};
+
322 spi_bus_config_t bus_config{};
+
323 spi_device_interface_config_t imu_spi_config{};
+
324 spi_device_handle_t spi_hdl{};
+
325 spi_transaction_t spi_transaction{};
+
326
+
327 // These are the raw sensor values (without Q applied) pulled from the user requested Input Report
+
328 uint32_t time_stamp;
+
329 uint16_t raw_accel_X, raw_accel_Y, raw_accel_Z,
+
330 accel_accuracy;
+
331 uint16_t raw_lin_accel_X, raw_lin_accel_Y, raw_lin_accel_Z,
+
332 accel_lin_accuracy;
+
333 uint16_t raw_gyro_X, raw_gyro_Y, raw_gyro_Z, gyro_accuracy;
+
334 uint16_t raw_quat_I, raw_quat_J, raw_quat_K, raw_quat_real, raw_quat_radian_accuracy,
+
335 quat_accuracy;
+
336 uint16_t raw_velocity_gyro_X, raw_velocity_gyro_Y,
+
337 raw_velocity_gyro_Z;
+
338 uint16_t gravity_X, gravity_Y, gravity_Z,
+
339 gravity_accuracy;
+
340 uint16_t raw_uncalib_gyro_X, raw_uncalib_gyro_Y, raw_uncalib_gyro_Z, raw_bias_X, raw_bias_Y, raw_bias_Z,
+
341 uncalib_gyro_accuracy;
+
342 uint16_t raw_magf_X, raw_magf_Y, raw_magf_Z,
+
343 magf_accuracy;
+
344 uint8_t tap_detector;
+
345 uint16_t step_count;
+
346 uint8_t stability_classifier;
+
347 uint8_t activity_classifier;
+
348 uint8_t* activity_confidences;
+
349 uint8_t calibration_status;
+
350 uint16_t mems_raw_accel_X, mems_raw_accel_Y,
+
351 mems_raw_accel_Z;
+
352 uint16_t mems_raw_gyro_X, mems_raw_gyro_Y,
+
353 mems_raw_gyro_Z;
+
354 uint16_t mems_raw_magf_X, mems_raw_magf_Y,
+
355 mems_raw_magf_Z;
+
356
+
357 // spi task
+
358 TaskHandle_t spi_task_hdl;
+
359 static void spi_task_trampoline(void* arg);
+
360 void spi_task();
+
361
+
362 static void IRAM_ATTR hint_handler(void* arg);
+
363 static bool
+
364 isr_service_installed;
+
365
+
366 static const constexpr uint64_t HOST_INT_TIMEOUT_MS =
+
367 150ULL;
+
368
+
369 // Higher level calibration commands, used by queue_calibrate_command
+
370 static const constexpr uint8_t CALIBRATE_ACCEL = 0;
+
371 static const constexpr uint8_t CALIBRATE_GYRO = 1;
+
372 static const constexpr uint8_t CALIBRATE_MAG = 2;
+
373 static const constexpr uint8_t CALIBRATE_PLANAR_ACCEL = 3;
+
374 static const constexpr uint8_t CALIBRATE_ACCEL_GYRO_MAG =
+
375 4;
+
376 static const constexpr uint8_t CALIBRATE_STOP = 5;
+
377
+
378 // Command IDs (see Ref. Manual 6.4)
+
379 static const constexpr uint8_t COMMAND_ERRORS = 1;
+
380 static const constexpr uint8_t COMMAND_COUNTER = 2;
+
381 static const constexpr uint8_t COMMAND_TARE = 3;
+
382 static const constexpr uint8_t COMMAND_INITIALIZE = 4;
+
383 static const constexpr uint8_t COMMAND_DCD = 6;
+
384 static const constexpr uint8_t COMMAND_ME_CALIBRATE = 7;
+
385 static const constexpr uint8_t COMMAND_DCD_PERIOD_SAVE = 9;
+
386 static const constexpr uint8_t COMMAND_OSCILLATOR = 10;
+
387 static const constexpr uint8_t COMMAND_CLEAR_DCD = 11;
+
388
+
389 // SHTP channel 2 control report IDs, used in communication with sensor (See Ref. Manual 6.2)
+
390 static const constexpr uint8_t SHTP_REPORT_COMMAND_RESPONSE = 0xF1;
+
391 static const constexpr uint8_t SHTP_REPORT_COMMAND_REQUEST = 0xF2;
+
392 static const constexpr uint8_t SHTP_REPORT_FRS_READ_RESPONSE = 0xF3;
+
393 static const constexpr uint8_t SHTP_REPORT_FRS_READ_REQUEST = 0xF4;
+
394 static const constexpr uint8_t SHTP_REPORT_PRODUCT_ID_RESPONSE = 0xF8;
+
395 static const constexpr uint8_t SHTP_REPORT_PRODUCT_ID_REQUEST = 0xF9;
+
396 static const constexpr uint8_t SHTP_REPORT_BASE_TIMESTAMP = 0xFB;
+
397 static const constexpr uint8_t SHTP_REPORT_SET_FEATURE_COMMAND = 0xFD;
+
398
+
399 // Sensor report IDs, used when enabling and reading BNO08x reports
+
400 static const constexpr uint8_t SENSOR_REPORTID_ACCELEROMETER = 0x01;
+
401 static const constexpr uint8_t SENSOR_REPORTID_GYROSCOPE = 0x02;
+
402 static const constexpr uint8_t SENSOR_REPORTID_MAGNETIC_FIELD = 0x03;
+
403 static const constexpr uint8_t SENSOR_REPORTID_LINEAR_ACCELERATION = 0x04;
+
404 static const constexpr uint8_t SENSOR_REPORTID_ROTATION_VECTOR = 0x05;
+
405 static const constexpr uint8_t SENSOR_REPORTID_GRAVITY = 0x06;
+
406 static const constexpr uint8_t SENSOR_REPORTID_UNCALIBRATED_GYRO = 0x07;
+
407 static const constexpr uint8_t SENSOR_REPORTID_GAME_ROTATION_VECTOR = 0x08;
+
408 static const constexpr uint8_t SENSOR_REPORTID_GEOMAGNETIC_ROTATION_VECTOR = 0x09;
+
409 static const constexpr uint8_t SENSOR_REPORTID_GYRO_INTEGRATED_ROTATION_VECTOR = 0x2A;
+
410 static const constexpr uint8_t SENSOR_REPORTID_TAP_DETECTOR = 0x10;
+
411 static const constexpr uint8_t SENSOR_REPORTID_STEP_COUNTER = 0x11;
+
412 static const constexpr uint8_t SENSOR_REPORTID_STABILITY_CLASSIFIER = 0x13;
+
413 static const constexpr uint8_t SENSOR_REPORTID_RAW_ACCELEROMETER = 0x14;
+
414 static const constexpr uint8_t SENSOR_REPORTID_RAW_GYROSCOPE = 0x15;
+
415 static const constexpr uint8_t SENSOR_REPORTID_RAW_MAGNETOMETER = 0x16;
+
416 static const constexpr uint8_t SENSOR_REPORTID_PERSONAL_ACTIVITY_CLASSIFIER = 0x1E;
+
417 static const constexpr uint8_t SENSOR_REPORTID_AR_VR_STABILIZED_ROTATION_VECTOR = 0x28;
+
418 static const constexpr uint8_t SENSOR_REPORTID_AR_VR_STABILIZED_GAME_ROTATION_VECTOR = 0x29;
+
419
+
420 // Tare commands used by queue_tare_command
+
421 static const constexpr uint8_t TARE_NOW = 0;
+
422 static const constexpr uint8_t TARE_PERSIST = 1;
+
423 static const constexpr uint8_t TARE_SET_REORIENTATION = 2;
+
424
+
425 static const constexpr char* TAG = "BNO08x";
+
426};
bno08x_config_t
struct bno08x_config_t bno08x_config_t
IMU configuration settings passed into constructor.
channels_t
channels_t
SHTP protocol channels.
Definition BNO08x.hpp:20
@@ -511,274 +528,291 @@ $(function() { codefold.init(0); });
BNO08x
Definition BNO08x.hpp:104
-
BNO08x::SENSOR_REPORTID_PERSONAL_ACTIVITY_CLASSIFIER
static const constexpr uint8_t SENSOR_REPORTID_PERSONAL_ACTIVITY_CLASSIFIER
See SH2 Ref. Manual 6.5.36.
Definition BNO08x.hpp:399
-
BNO08x::SHTP_REPORT_PRODUCT_ID_RESPONSE
static const constexpr uint8_t SHTP_REPORT_PRODUCT_ID_RESPONSE
See SH2 Ref. Manual 6.3.2.
Definition BNO08x.hpp:377
-
BNO08x::raw_quat_radian_accuracy
uint16_t raw_quat_radian_accuracy
Definition BNO08x.hpp:317
-
BNO08x::raw_gyro_Z
uint16_t raw_gyro_Z
Definition BNO08x.hpp:316
-
BNO08x::enable_ARVR_stabilized_rotation_vector
void enable_ARVR_stabilized_rotation_vector(uint16_t time_between_reports)
Sends command to enable ARVR stabilized rotation vector reports (See Ref. Manual 6....
Definition BNO08x.cpp:1028
-
BNO08x::ACCELEROMETER_Q1
static const constexpr int16_t ACCELEROMETER_Q1
Acceleration Q point (See SH-2 Ref. Manual 6.5.9)
Definition BNO08x.hpp:268
-
BNO08x::uncalib_gyro_accuracy
uint16_t uncalib_gyro_accuracy
Uncalibrated gyro reading (See SH-2 Ref. Manual 6.5.14)
Definition BNO08x.hpp:324
-
BNO08x::print_header
void print_header()
Prints the most recently received SHTP header to serial console with ESP_LOG statement.
Definition BNO08x.cpp:2078
-
BNO08x::enable_activity_classifier
void enable_activity_classifier(uint16_t time_between_reports, uint32_t activities_to_enable, uint8_t(&activity_confidence_vals)[9])
Sends command to enable activity classifier reports (See Ref. Manual 6.5.36)
Definition BNO08x.cpp:1186
-
BNO08x::raw_bias_Z
uint16_t raw_bias_Z
Definition BNO08x.hpp:323
-
BNO08x::enable_gyro_integrated_rotation_vector
void enable_gyro_integrated_rotation_vector(uint16_t timeBetweenReports)
Sends command to enable gyro integrated rotation vector reports (See Ref. Manual 6....
Definition BNO08x.cpp:1054
-
BNO08x::SENSOR_REPORTID_AR_VR_STABILIZED_GAME_ROTATION_VECTOR
static const constexpr uint8_t SENSOR_REPORTID_AR_VR_STABILIZED_GAME_ROTATION_VECTOR
See SH2 Ref. Manual 6.5.43.
Definition BNO08x.hpp:401
-
BNO08x::COMMAND_TARE
static const constexpr uint8_t COMMAND_TARE
Command and response to tare command (See Sh2 Ref. Manual 6.4.4)
Definition BNO08x.hpp:364
-
BNO08x::get_accel_Z
float get_accel_Z()
Get z axis acceleration (total acceleration of device, units in m/s^2).
Definition BNO08x.cpp:1660
-
BNO08x::get_uncalibrated_gyro_Z
float get_uncalibrated_gyro_Z()
Get uncalibrated gyro Z axis angular velocity measurement.
Definition BNO08x.cpp:1931
-
BNO08x::ROTATION_VECTOR_Q1
static const constexpr int16_t ROTATION_VECTOR_Q1
Rotation vector Q point (See SH-2 Ref. Manual 6.5.18)
Definition BNO08x.hpp:266
-
BNO08x::spi_task_trampoline
static void spi_task_trampoline(void *arg)
Static function used to launch spi task.
Definition BNO08x.cpp:2416
-
BNO08x::get_stability_classifier
int8_t get_stability_classifier()
Get the current stability classifier (Seee Ref. Manual 6.5.31)
Definition BNO08x.cpp:2049
-
BNO08x::send_packet
void send_packet()
Sends a queued SHTP packet via SPI.
Definition BNO08x.cpp:413
-
BNO08x::print_packet
void print_packet()
Definition BNO08x.cpp:2099
-
BNO08x::get_range
float get_range(uint16_t record_ID)
Gets range from BNO08x FRS (flash record system).
Definition BNO08x.cpp:2210
-
BNO08x::get_linear_accel_Y
float get_linear_accel_Y()
Get y axis linear acceleration (acceleration of device minus gravity, units in m/s^2)
Definition BNO08x.cpp:1708
-
BNO08x::get_magf_X
float get_magf_X()
Get X component of magnetic field vector.
Definition BNO08x.cpp:1321
-
BNO08x::TARE_PERSIST
static const constexpr uint8_t TARE_PERSIST
See SH2 Ref. Manual 6.4.4.2.
Definition BNO08x.hpp:405
-
BNO08x::tap_detector
uint8_t tap_detector
Tap detector reading (See SH-2 Ref. Manual 6.5.27)
Definition BNO08x.hpp:327
-
BNO08x::get_reset_reason
uint8_t get_reset_reason()
Get the reason for the most recent reset.
Definition BNO08x.cpp:264
-
BNO08x::get_quat_I
float get_quat_I()
Get I component of reported quaternion.
Definition BNO08x.cpp:1557
-
BNO08x::get_Q3
int16_t get_Q3(uint16_t record_ID)
Gets Q3 point from BNO08x FRS (flash record system).
Definition BNO08x.cpp:2180
-
BNO08x::get_gyro_calibrated_velocity_Z
float get_gyro_calibrated_velocity_Z()
Get calibrated gyro z axis angular velocity measurement.
Definition BNO08x.cpp:1866
-
BNO08x::queue_command
void queue_command(uint8_t command)
Queues a packet containing a command.
Definition BNO08x.cpp:436
-
BNO08x::mode_sleep
bool mode_sleep()
Puts BNO08x sensor into sleep/low power mode using executable channel.
Definition BNO08x.cpp:310
-
BNO08x::get_uncalibrated_gyro_Y
float get_uncalibrated_gyro_Y()
Get uncalibrated gyro Y axis angular velocity measurement.
Definition BNO08x.cpp:1921
-
BNO08x::raw_gyro_X
uint16_t raw_gyro_X
Definition BNO08x.hpp:316
-
BNO08x::stability_classifier
uint8_t stability_classifier
Stability status reading (See SH-2 Ref. Manual 6.5.31)
Definition BNO08x.hpp:329
-
BNO08x::get_pitch
float get_pitch()
Get the reported rotation about y axis.
Definition BNO08x.cpp:1449
-
BNO08x::get_uncalibrated_gyro
void get_uncalibrated_gyro(float &x, float &y, float &z, float &bx, float &by, float &bz, uint8_t &accuracy)
Get full rotational velocity without drift compensation (units in Rad/s). An estimate of drift is giv...
Definition BNO08x.cpp:1895
-
BNO08x::calibrate_planar_accelerometer
void calibrate_planar_accelerometer()
Sends command to calibrate planar accelerometer.
Definition BNO08x.cpp:510
-
BNO08x::SHTP_REPORT_SET_FEATURE_COMMAND
static const constexpr uint8_t SHTP_REPORT_SET_FEATURE_COMMAND
See SH2 Ref. Manual 6.5.4.
Definition BNO08x.hpp:380
-
BNO08x::enable_accelerometer
void enable_accelerometer(uint16_t time_between_reports)
Sends command to enable accelerometer reports (See Ref. Manual 6.5.9)
Definition BNO08x.cpp:1067
-
BNO08x::get_resolution
float get_resolution(uint16_t record_ID)
Gets resolution from BNO08x FRS (flash record system).
Definition BNO08x.cpp:2193
-
BNO08x::get_raw_accel_X
int16_t get_raw_accel_X()
Get raw accelerometer x axis reading from physical accelerometer MEMs sensor (See Ref....
Definition BNO08x.cpp:1738
-
BNO08x::SHTP_REPORT_COMMAND_RESPONSE
static const constexpr uint8_t SHTP_REPORT_COMMAND_RESPONSE
See SH2 Ref. Manual 6.3.9.
Definition BNO08x.hpp:373
-
BNO08x::TARE_AXIS_ALL
static const constexpr uint8_t TARE_AXIS_ALL
Tare all axes (used with tare now command)
Definition BNO08x.hpp:255
-
BNO08x::TARE_GEOMAGNETIC_ROTATION_VECTOR
static const constexpr uint8_t TARE_GEOMAGNETIC_ROTATION_VECTOR
tare geomagnetic rotation vector
Definition BNO08x.hpp:261
-
BNO08x::get_quat_accuracy
uint8_t get_quat_accuracy()
Get accuracy of reported quaternion.
Definition BNO08x.cpp:1612
-
BNO08x::SENSOR_REPORTID_AR_VR_STABILIZED_ROTATION_VECTOR
static const constexpr uint8_t SENSOR_REPORTID_AR_VR_STABILIZED_ROTATION_VECTOR
See SH2 Ref. Manual 6.5.42.
Definition BNO08x.hpp:400
-
BNO08x::TARE_NOW
static const constexpr uint8_t TARE_NOW
See SH2 Ref. Manual 6.4.4.1.
Definition BNO08x.hpp:404
-
BNO08x::FRS_read_word
uint32_t FRS_read_word(uint16_t record_ID, uint8_t word_number)
Reads meta data word from BNO08x FRS (flash record system) given the record ID and word number....
Definition BNO08x.cpp:2231
-
BNO08x::q_to_float
float q_to_float(int16_t fixed_point_value, uint8_t q_point)
Converts a register value to a float using its associated Q point. (See https://en....
Definition BNO08x.cpp:1281
-
BNO08x::get_uncalibrated_gyro_X
float get_uncalibrated_gyro_X()
Get uncalibrated gyro x axis angular velocity measurement.
Definition BNO08x.cpp:1911
-
BNO08x::hard_reset
bool hard_reset()
Hard resets BNO08x sensor.
Definition BNO08x.cpp:216
-
BNO08x::SENSOR_REPORTID_GYROSCOPE
static const constexpr uint8_t SENSOR_REPORTID_GYROSCOPE
See SH2 Ref. Manual 6.5.13.
Definition BNO08x.hpp:384
-
BNO08x::get_raw_magf_Y
int16_t get_raw_magf_Y()
Get raw magnetometer y axis reading from physical magnetometer sensor (See Ref. Manual 6....
Definition BNO08x.cpp:1808
-
BNO08x::TAG
static const constexpr char * TAG
Class tag used for serial print statements.
Definition BNO08x.hpp:408
-
BNO08x::enable_gravity
void enable_gravity(uint16_t time_between_reports)
Sends command to enable gravity reading reports (See Ref. Manual 6.5.11)
Definition BNO08x.cpp:1093
-
BNO08x::get_raw_gyro_Z
int16_t get_raw_gyro_Z()
Get raw gyroscope z axis reading from physical gyroscope MEMs sensor (See Ref. Manual 6....
Definition BNO08x.cpp:1788
-
BNO08x::spi_task
void spi_task()
Task responsible for SPI transactions. Executed when HINT in is asserted by BNO08x.
Definition BNO08x.cpp:2427
-
BNO08x::COMMAND_OSCILLATOR
static const constexpr uint8_t COMMAND_OSCILLATOR
Retrieve oscillator type command (See SH2 Ref. Manual 6.4)
Definition BNO08x.hpp:369
-
BNO08x::COMMAND_INITIALIZE
static const constexpr uint8_t COMMAND_INITIALIZE
Reinitialize sensor hub components See (SH2 Ref. Manual 6.4.5)
Definition BNO08x.hpp:365
-
BNO08x::TARE_AR_VR_STABILIZED_ROTATION_VECTOR
static const constexpr uint8_t TARE_AR_VR_STABILIZED_ROTATION_VECTOR
Tare ARVR stabilized rotation vector.
Definition BNO08x.hpp:263
-
BNO08x::get_uncalibrated_gyro_accuracy
uint8_t get_uncalibrated_gyro_accuracy()
Get uncalibrated gyro accuracy.
Definition BNO08x.cpp:1971
-
BNO08x::accel_accuracy
uint16_t accel_accuracy
Raw acceleration readings (See SH-2 Ref. Manual 6.5.8)
Definition BNO08x.hpp:313
-
BNO08x::int_asserted_semaphore
SemaphoreHandle_t int_asserted_semaphore
Binary semaphore used to synchronize spi_task() calling wait_for_device_int(), given after hint_handl...
Definition BNO08x.hpp:293
-
BNO08x::get_linear_accel_accuracy
uint8_t get_linear_accel_accuracy()
Get accuracy of linear acceleration.
Definition BNO08x.cpp:1728
-
BNO08x::get_magf
void get_magf(float &x, float &y, float &z, uint8_t &accuracy)
Get the full magnetic field vector.
Definition BNO08x.cpp:1308
-
BNO08x::accel_lin_accuracy
uint16_t accel_lin_accuracy
Raw linear acceleration (See SH-2 Ref. Manual 6.5.10)
Definition BNO08x.hpp:315
-
BNO08x::quat_accuracy
uint16_t quat_accuracy
Raw quaternion reading (See SH-2 Ref. Manual 6.5.44)
Definition BNO08x.hpp:318
-
BNO08x::data_available
bool data_available()
Checks if BNO08x has asserted interrupt and sent data.
Definition BNO08x.cpp:725
-
BNO08x::parse_command_report
uint16_t parse_command_report()
Parses received command report sent by BNO08x (See Ref. Manual 6.3.9)
Definition BNO08x.cpp:972
-
BNO08x::COMMAND_ERRORS
static const constexpr uint8_t COMMAND_ERRORS
Definition BNO08x.hpp:362
-
BNO08x::get_gravity
void get_gravity(float &x, float &y, float &z, uint8_t &accuracy)
Get full reported gravity vector, units in m/s^2.
Definition BNO08x.cpp:1369
-
BNO08x::mems_raw_gyro_X
uint16_t mems_raw_gyro_X
Definition BNO08x.hpp:335
-
BNO08x::get_accel_accuracy
uint8_t get_accel_accuracy()
Get accuracy of linear acceleration.
Definition BNO08x.cpp:1670
-
BNO08x::FRS_read_data
bool FRS_read_data(uint16_t record_ID, uint8_t start_location, uint8_t words_to_read)
Read meta data from BNO08x FRS (flash record system) given the record ID. Contains Q points and other...
Definition BNO08x.cpp:2281
+
BNO08x::SENSOR_REPORTID_PERSONAL_ACTIVITY_CLASSIFIER
static const constexpr uint8_t SENSOR_REPORTID_PERSONAL_ACTIVITY_CLASSIFIER
See SH2 Ref. Manual 6.5.36.
Definition BNO08x.hpp:416
+
BNO08x::SHTP_REPORT_PRODUCT_ID_RESPONSE
static const constexpr uint8_t SHTP_REPORT_PRODUCT_ID_RESPONSE
See SH2 Ref. Manual 6.3.2.
Definition BNO08x.hpp:394
+
BNO08x::enable_gravity
void enable_gravity(uint32_t time_between_reports)
Sends command to enable gravity reading reports (See Ref. Manual 6.5.11)
Definition BNO08x.cpp:1086
+
BNO08x::raw_quat_radian_accuracy
uint16_t raw_quat_radian_accuracy
Definition BNO08x.hpp:334
+
BNO08x::raw_gyro_Z
uint16_t raw_gyro_Z
Definition BNO08x.hpp:333
+
BNO08x::ACCELEROMETER_Q1
static const constexpr int16_t ACCELEROMETER_Q1
Acceleration Q point (See SH-2 Ref. Manual 6.5.9)
Definition BNO08x.hpp:287
+
BNO08x::uncalib_gyro_accuracy
uint16_t uncalib_gyro_accuracy
Uncalibrated gyro reading (See SH-2 Ref. Manual 6.5.14)
Definition BNO08x.hpp:341
+
BNO08x::print_header
void print_header()
Prints the most recently received SHTP header to serial console with ESP_LOG statement.
Definition BNO08x.cpp:2287
+
BNO08x::raw_bias_Z
uint16_t raw_bias_Z
Definition BNO08x.hpp:340
+
BNO08x::SENSOR_REPORTID_AR_VR_STABILIZED_GAME_ROTATION_VECTOR
static const constexpr uint8_t SENSOR_REPORTID_AR_VR_STABILIZED_GAME_ROTATION_VECTOR
See SH2 Ref. Manual 6.5.43.
Definition BNO08x.hpp:418
+
BNO08x::COMMAND_TARE
static const constexpr uint8_t COMMAND_TARE
Command and response to tare command (See Sh2 Ref. Manual 6.4.4)
Definition BNO08x.hpp:381
+
BNO08x::get_accel_Z
float get_accel_Z()
Get z axis acceleration (total acceleration of device, units in m/s^2).
Definition BNO08x.cpp:1869
+
BNO08x::get_uncalibrated_gyro_Z
float get_uncalibrated_gyro_Z()
Get uncalibrated gyro Z axis angular velocity measurement.
Definition BNO08x.cpp:2140
+
BNO08x::ROTATION_VECTOR_Q1
static const constexpr int16_t ROTATION_VECTOR_Q1
Rotation vector Q point (See SH-2 Ref. Manual 6.5.18)
Definition BNO08x.hpp:285
+
BNO08x::spi_task_trampoline
static void spi_task_trampoline(void *arg)
Static function used to launch spi task.
Definition BNO08x.cpp:2624
+
BNO08x::get_stability_classifier
int8_t get_stability_classifier()
Get the current stability classifier (Seee Ref. Manual 6.5.31)
Definition BNO08x.cpp:2258
+
BNO08x::send_packet
void send_packet()
Sends a queued SHTP packet via SPI.
Definition BNO08x.cpp:408
+
BNO08x::print_packet
void print_packet()
Definition BNO08x.cpp:2308
+
BNO08x::get_range
float get_range(uint16_t record_ID)
Gets range from BNO08x FRS (flash record system).
Definition BNO08x.cpp:2419
+
BNO08x::get_linear_accel_Y
float get_linear_accel_Y()
Get y axis linear acceleration (acceleration of device minus gravity, units in m/s^2)
Definition BNO08x.cpp:1917
+
BNO08x::get_magf_X
float get_magf_X()
Get X component of magnetic field vector.
Definition BNO08x.cpp:1530
+
BNO08x::TARE_PERSIST
static const constexpr uint8_t TARE_PERSIST
See SH2 Ref. Manual 6.4.4.2.
Definition BNO08x.hpp:422
+
BNO08x::tap_detector
uint8_t tap_detector
Tap detector reading (See SH-2 Ref. Manual 6.5.27)
Definition BNO08x.hpp:344
+
BNO08x::get_reset_reason
uint8_t get_reset_reason()
Get the reason for the most recent reset.
Definition BNO08x.cpp:263
+
BNO08x::get_quat_I
float get_quat_I()
Get I component of reported quaternion.
Definition BNO08x.cpp:1766
+
BNO08x::enable_raw_magnetometer
void enable_raw_magnetometer(uint32_t time_between_reports)
Sends command to enable raw magnetometer reports (See Ref. Manual 6.5.15)
Definition BNO08x.cpp:1219
+
BNO08x::get_Q3
int16_t get_Q3(uint16_t record_ID)
Gets Q3 point from BNO08x FRS (flash record system).
Definition BNO08x.cpp:2389
+
BNO08x::get_gyro_calibrated_velocity_Z
float get_gyro_calibrated_velocity_Z()
Get calibrated gyro z axis angular velocity measurement.
Definition BNO08x.cpp:2075
+
BNO08x::disable_tap_detector
void disable_tap_detector()
Sends command to disable tap detector reports by setting report interval to 0.
Definition BNO08x.cpp:1363
+
BNO08x::disable_raw_accelerometer
void disable_raw_accelerometer()
Sends command to disable raw accelerometer reports by setting report interval to 0.
Definition BNO08x.cpp:1411
+
BNO08x::queue_command
void queue_command(uint8_t command)
Queues a packet containing a command.
Definition BNO08x.cpp:429
+
BNO08x::mode_sleep
bool mode_sleep()
Puts BNO08x sensor into sleep/low power mode using executable channel.
Definition BNO08x.cpp:309
+
BNO08x::get_uncalibrated_gyro_Y
float get_uncalibrated_gyro_Y()
Get uncalibrated gyro Y axis angular velocity measurement.
Definition BNO08x.cpp:2130
+
BNO08x::raw_gyro_X
uint16_t raw_gyro_X
Definition BNO08x.hpp:333
+
BNO08x::stability_classifier
uint8_t stability_classifier
Stability status reading (See SH-2 Ref. Manual 6.5.31)
Definition BNO08x.hpp:346
+
BNO08x::get_pitch
float get_pitch()
Get the reported rotation about y axis.
Definition BNO08x.cpp:1658
+
BNO08x::get_uncalibrated_gyro
void get_uncalibrated_gyro(float &x, float &y, float &z, float &bx, float &by, float &bz, uint8_t &accuracy)
Get full rotational velocity without drift compensation (units in Rad/s). An estimate of drift is giv...
Definition BNO08x.cpp:2104
+
BNO08x::calibrate_planar_accelerometer
void calibrate_planar_accelerometer()
Sends command to calibrate planar accelerometer.
Definition BNO08x.cpp:503
+
BNO08x::SHTP_REPORT_SET_FEATURE_COMMAND
static const constexpr uint8_t SHTP_REPORT_SET_FEATURE_COMMAND
See SH2 Ref. Manual 6.5.4.
Definition BNO08x.hpp:397
+
BNO08x::get_resolution
float get_resolution(uint16_t record_ID)
Gets resolution from BNO08x FRS (flash record system).
Definition BNO08x.cpp:2402
+
BNO08x::get_raw_accel_X
int16_t get_raw_accel_X()
Get raw accelerometer x axis reading from physical accelerometer MEMs sensor (See Ref....
Definition BNO08x.cpp:1947
+
BNO08x::SHTP_REPORT_COMMAND_RESPONSE
static const constexpr uint8_t SHTP_REPORT_COMMAND_RESPONSE
See SH2 Ref. Manual 6.3.9.
Definition BNO08x.hpp:390
+
BNO08x::disable_rotation_vector
void disable_rotation_vector()
Sends command to disable rotation vector reports by setting report interval to 0.
Definition BNO08x.cpp:1231
+
BNO08x::TARE_AXIS_ALL
static const constexpr uint8_t TARE_AXIS_ALL
Tare all axes (used with tare now command)
Definition BNO08x.hpp:274
+
BNO08x::TARE_GEOMAGNETIC_ROTATION_VECTOR
static const constexpr uint8_t TARE_GEOMAGNETIC_ROTATION_VECTOR
tare geomagnetic rotation vector
Definition BNO08x.hpp:280
+
BNO08x::get_quat_accuracy
uint8_t get_quat_accuracy()
Get accuracy of reported quaternion.
Definition BNO08x.cpp:1821
+
BNO08x::SENSOR_REPORTID_AR_VR_STABILIZED_ROTATION_VECTOR
static const constexpr uint8_t SENSOR_REPORTID_AR_VR_STABILIZED_ROTATION_VECTOR
See SH2 Ref. Manual 6.5.42.
Definition BNO08x.hpp:417
+
BNO08x::enable_accelerometer
void enable_accelerometer(uint32_t time_between_reports)
Sends command to enable accelerometer reports (See Ref. Manual 6.5.9)
Definition BNO08x.cpp:1060
+
BNO08x::TARE_NOW
static const constexpr uint8_t TARE_NOW
See SH2 Ref. Manual 6.4.4.1.
Definition BNO08x.hpp:421
+
BNO08x::FRS_read_word
uint32_t FRS_read_word(uint16_t record_ID, uint8_t word_number)
Reads meta data word from BNO08x FRS (flash record system) given the record ID and word number....
Definition BNO08x.cpp:2440
+
BNO08x::q_to_float
float q_to_float(int16_t fixed_point_value, uint8_t q_point)
Converts a register value to a float using its associated Q point. (See https://en....
Definition BNO08x.cpp:1490
+
BNO08x::get_uncalibrated_gyro_X
float get_uncalibrated_gyro_X()
Get uncalibrated gyro x axis angular velocity measurement.
Definition BNO08x.cpp:2120
+
BNO08x::hard_reset
bool hard_reset()
Hard resets BNO08x sensor.
Definition BNO08x.cpp:215
+
BNO08x::SENSOR_REPORTID_GYROSCOPE
static const constexpr uint8_t SENSOR_REPORTID_GYROSCOPE
See SH2 Ref. Manual 6.5.13.
Definition BNO08x.hpp:401
+
BNO08x::get_raw_magf_Y
int16_t get_raw_magf_Y()
Get raw magnetometer y axis reading from physical magnetometer sensor (See Ref. Manual 6....
Definition BNO08x.cpp:2017
+
BNO08x::TAG
static const constexpr char * TAG
Class tag used for serial print statements.
Definition BNO08x.hpp:425
+
BNO08x::get_raw_gyro_Z
int16_t get_raw_gyro_Z()
Get raw gyroscope z axis reading from physical gyroscope MEMs sensor (See Ref. Manual 6....
Definition BNO08x.cpp:1997
+
BNO08x::spi_task
void spi_task()
Task responsible for SPI transactions. Executed when HINT in is asserted by BNO08x.
Definition BNO08x.cpp:2635
+
BNO08x::enable_raw_accelerometer
void enable_raw_accelerometer(uint32_t time_between_reports)
Sends command to enable raw accelerometer reports (See Ref. Manual 6.5.8)
Definition BNO08x.cpp:1193
+
BNO08x::COMMAND_OSCILLATOR
static const constexpr uint8_t COMMAND_OSCILLATOR
Retrieve oscillator type command (See SH2 Ref. Manual 6.4)
Definition BNO08x.hpp:386
+
BNO08x::COMMAND_INITIALIZE
static const constexpr uint8_t COMMAND_INITIALIZE
Reinitialize sensor hub components See (SH2 Ref. Manual 6.4.5)
Definition BNO08x.hpp:382
+
BNO08x::TARE_AR_VR_STABILIZED_ROTATION_VECTOR
static const constexpr uint8_t TARE_AR_VR_STABILIZED_ROTATION_VECTOR
Tare ARVR stabilized rotation vector.
Definition BNO08x.hpp:282
+
BNO08x::get_uncalibrated_gyro_accuracy
uint8_t get_uncalibrated_gyro_accuracy()
Get uncalibrated gyro accuracy.
Definition BNO08x.cpp:2180
+
BNO08x::accel_accuracy
uint16_t accel_accuracy
Raw acceleration readings (See SH-2 Ref. Manual 6.5.8)
Definition BNO08x.hpp:330
+
BNO08x::int_asserted_semaphore
SemaphoreHandle_t int_asserted_semaphore
Binary semaphore used to synchronize spi_task() calling wait_for_device_int(), given after hint_handl...
Definition BNO08x.hpp:310
+
BNO08x::get_linear_accel_accuracy
uint8_t get_linear_accel_accuracy()
Get accuracy of linear acceleration.
Definition BNO08x.cpp:1937
+
BNO08x::get_magf
void get_magf(float &x, float &y, float &z, uint8_t &accuracy)
Get the full magnetic field vector.
Definition BNO08x.cpp:1517
+
BNO08x::accel_lin_accuracy
uint16_t accel_lin_accuracy
Raw linear acceleration (See SH-2 Ref. Manual 6.5.10)
Definition BNO08x.hpp:332
+
BNO08x::quat_accuracy
uint16_t quat_accuracy
Raw quaternion reading (See SH-2 Ref. Manual 6.5.44)
Definition BNO08x.hpp:335
+
BNO08x::data_available
bool data_available()
Checks if BNO08x has asserted interrupt and sent data.
Definition BNO08x.cpp:718
+
BNO08x::parse_command_report
uint16_t parse_command_report()
Parses received command report sent by BNO08x (See Ref. Manual 6.3.9)
Definition BNO08x.cpp:965
+
BNO08x::COMMAND_ERRORS
static const constexpr uint8_t COMMAND_ERRORS
Definition BNO08x.hpp:379
+
BNO08x::get_gravity
void get_gravity(float &x, float &y, float &z, uint8_t &accuracy)
Get full reported gravity vector, units in m/s^2.
Definition BNO08x.cpp:1578
+
BNO08x::enable_magnetometer
void enable_magnetometer(uint32_t time_between_reports)
Sends command to enable magnetometer reports (See Ref. Manual 6.5.16)
Definition BNO08x.cpp:1125
+
BNO08x::mems_raw_gyro_X
uint16_t mems_raw_gyro_X
Definition BNO08x.hpp:352
+
BNO08x::get_accel_accuracy
uint8_t get_accel_accuracy()
Get accuracy of linear acceleration.
Definition BNO08x.cpp:1879
+
BNO08x::FRS_read_data
bool FRS_read_data(uint16_t record_ID, uint8_t start_location, uint8_t words_to_read)
Read meta data from BNO08x FRS (flash record system) given the record ID. Contains Q points and other...
Definition BNO08x.cpp:2490
BNO08x::BNO08x
BNO08x(bno08x_config_t imu_config=default_imu_config)
BNO08x imu constructor.
Definition BNO08x.cpp:15
-
BNO08x::imu_spi_config
spi_device_interface_config_t imu_spi_config
SPI slave device settings.
Definition BNO08x.hpp:306
-
BNO08x::SENSOR_REPORTID_TAP_DETECTOR
static const constexpr uint8_t SENSOR_REPORTID_TAP_DETECTOR
See SH2 Ref. Manual 6.5.27.
Definition BNO08x.hpp:393
-
BNO08x::get_Q1
int16_t get_Q1(uint16_t record_ID)
Gets Q1 point from BNO08x FRS (flash record system).
Definition BNO08x.cpp:2150
-
BNO08x::tare_now
void tare_now(uint8_t axis_sel=TARE_AXIS_ALL, uint8_t rotation_vector_basis=TARE_ROTATION_VECTOR)
Sends command to tare an axis (See Ref. Manual 6.4.4.1)
Definition BNO08x.cpp:1241
-
BNO08x::SENSOR_REPORTID_ACCELEROMETER
static const constexpr uint8_t SENSOR_REPORTID_ACCELEROMETER
See SH2 Ref. Manual 6.5.9.
Definition BNO08x.hpp:383
-
BNO08x::get_tap_detector
uint8_t get_tap_detector()
Get if tap has occured.
Definition BNO08x.cpp:2027
-
BNO08x::get_magf_accuracy
uint8_t get_magf_accuracy()
Get accuracy of reported magnetic field vector.
Definition BNO08x.cpp:1354
+
BNO08x::imu_spi_config
spi_device_interface_config_t imu_spi_config
SPI slave device settings.
Definition BNO08x.hpp:323
+
BNO08x::disable_step_counter
void disable_step_counter()
Sends command to disable step counter reports by setting report interval to 0.
Definition BNO08x.cpp:1375
+
BNO08x::SENSOR_REPORTID_TAP_DETECTOR
static const constexpr uint8_t SENSOR_REPORTID_TAP_DETECTOR
See SH2 Ref. Manual 6.5.27.
Definition BNO08x.hpp:410
+
BNO08x::get_Q1
int16_t get_Q1(uint16_t record_ID)
Gets Q1 point from BNO08x FRS (flash record system).
Definition BNO08x.cpp:2359
+
BNO08x::tare_now
void tare_now(uint8_t axis_sel=TARE_AXIS_ALL, uint8_t rotation_vector_basis=TARE_ROTATION_VECTOR)
Sends command to tare an axis (See Ref. Manual 6.4.4.1)
Definition BNO08x.cpp:1450
+
BNO08x::SENSOR_REPORTID_ACCELEROMETER
static const constexpr uint8_t SENSOR_REPORTID_ACCELEROMETER
See SH2 Ref. Manual 6.5.9.
Definition BNO08x.hpp:400
+
BNO08x::get_tap_detector
uint8_t get_tap_detector()
Get if tap has occured.
Definition BNO08x.cpp:2236
+
BNO08x::get_magf_accuracy
uint8_t get_magf_accuracy()
Get accuracy of reported magnetic field vector.
Definition BNO08x.cpp:1563
BNO08x::isr_service_installed
static bool isr_service_installed
true of the isr service has been installed, only has to be done once regardless of how many devices a...
Definition BNO08x.hpp:3
-
BNO08x::queue_tare_command
void queue_tare_command(uint8_t command, uint8_t axis=TARE_AXIS_ALL, uint8_t rotation_vector_basis=TARE_ROTATION_VECTOR)
Queues a packet containing a command related to zeroing sensor's axes. (See Ref. Manual 6....
Definition BNO08x.cpp:2380
-
BNO08x::get_gyro_calibrated_velocity
void get_gyro_calibrated_velocity(float &x, float &y, float &z, uint8_t &accuracy)
Get full rotational velocity with drift compensation (units in Rad/s).
Definition BNO08x.cpp:1833
-
BNO08x::raw_velocity_gyro_Y
uint16_t raw_velocity_gyro_Y
Definition BNO08x.hpp:319
-
BNO08x::COMMAND_CLEAR_DCD
static const constexpr uint8_t COMMAND_CLEAR_DCD
Clear DCD & Reset command (See SH2 Ref. Manual 6.4)
Definition BNO08x.hpp:370
-
BNO08x::get_activity_classifier
uint8_t get_activity_classifier()
Get the current activity classifier (Seee Ref. Manual 6.5.36)
Definition BNO08x.cpp:2068
-
BNO08x::get_uncalibrated_gyro_bias_Z
float get_uncalibrated_gyro_bias_Z()
Get uncalibrated gyro Z axis drift estimate.
Definition BNO08x.cpp:1961
-
BNO08x::get_quat
void get_quat(float &i, float &j, float &k, float &real, float &rad_accuracy, uint8_t &accuracy)
Get the full quaternion reading.
Definition BNO08x.cpp:1542
-
BNO08x::enable_stability_classifier
void enable_stability_classifier(uint16_t time_between_reports)
Sends command to enable activity stability classifier reports (See Ref. Manual 6.5....
Definition BNO08x.cpp:1171
-
BNO08x::SENSOR_REPORTID_LINEAR_ACCELERATION
static const constexpr uint8_t SENSOR_REPORTID_LINEAR_ACCELERATION
See SH2 Ref. Manual 6.5.10.
Definition BNO08x.hpp:386
-
BNO08x::SHTP_REPORT_PRODUCT_ID_REQUEST
static const constexpr uint8_t SHTP_REPORT_PRODUCT_ID_REQUEST
See SH2 Ref. Manual 6.3.1.
Definition BNO08x.hpp:378
-
BNO08x::get_gravity_Z
float get_gravity_Z()
Get the reported z axis gravity.
Definition BNO08x.cpp:1402
-
BNO08x::CALIBRATE_STOP
static const constexpr uint8_t CALIBRATE_STOP
Stop calibration command used by queue_calibrate_command.
Definition BNO08x.hpp:359
-
BNO08x::FRS_RECORDID_ROTATION_VECTOR
static const constexpr uint16_t FRS_RECORDID_ROTATION_VECTOR
Definition BNO08x.hpp:253
-
BNO08x::mems_raw_accel_Z
uint16_t mems_raw_accel_Z
Raw accelerometer readings from MEMS sensor (See SH2 Ref. Manual 6.5.8)
Definition BNO08x.hpp:334
-
BNO08x::TARE_SET_REORIENTATION
static const constexpr uint8_t TARE_SET_REORIENTATION
See SH2 Ref. Manual 6.4.4.3.
Definition BNO08x.hpp:406
-
BNO08x::get_quat_real
float get_quat_real()
Get real component of reported quaternion.
Definition BNO08x.cpp:1590
-
BNO08x::tx_packet_queued
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 BNO0...
Definition BNO08x.hpp:290
-
BNO08x::spi_task_hdl
TaskHandle_t spi_task_hdl
SPI task handle.
Definition BNO08x.hpp:341
-
BNO08x::raw_quat_J
uint16_t raw_quat_J
Definition BNO08x.hpp:317
-
BNO08x::get_quat_radian_accuracy
float get_quat_radian_accuracy()
Get radian accuracy of reported quaternion.
Definition BNO08x.cpp:1601
-
BNO08x::raw_gyro_Y
uint16_t raw_gyro_Y
Definition BNO08x.hpp:316
-
BNO08x::default_imu_config
static bno08x_config_t default_imu_config
default imu config settings
Definition BNO08x.hpp:287
-
BNO08x::enable_game_rotation_vector
void enable_game_rotation_vector(uint16_t time_between_reports)
Sends command to enable game rotation vector reports (See Ref. Manual 6.5.19)
Definition BNO08x.cpp:1002
-
BNO08x::get_yaw
float get_yaw()
Get the reported rotation about z axis.
Definition BNO08x.cpp:1478
-
BNO08x::queue_packet
void queue_packet(uint8_t channel_number, uint8_t data_length)
Queues an SHTP packet to be sent via SPI.
Definition BNO08x.cpp:383
-
BNO08x::raw_quat_I
uint16_t raw_quat_I
Definition BNO08x.hpp:317
-
BNO08x::queue_feature_command
void queue_feature_command(uint8_t report_ID, uint16_t time_between_reports)
Queues a packet containing a command with a request for sensor reports, reported periodically....
Definition BNO08x.cpp:2404
-
BNO08x::FRS_RECORDID_GYROSCOPE_CALIBRATED
static const constexpr uint16_t FRS_RECORDID_GYROSCOPE_CALIBRATED
Definition BNO08x.hpp:251
-
BNO08x::SENSOR_REPORTID_MAGNETIC_FIELD
static const constexpr uint8_t SENSOR_REPORTID_MAGNETIC_FIELD
See SH2 Ref. Manual 6.5.16.
Definition BNO08x.hpp:385
-
BNO08x::packet_length_tx
uint16_t packet_length_tx
Packet length to be sent with send_packet()
Definition BNO08x.hpp:301
-
BNO08x::get_roll_deg
float get_roll_deg()
Get the reported rotation about x axis.
Definition BNO08x.cpp:1505
-
BNO08x::get_raw_accel_Z
int16_t get_raw_accel_Z()
Get raw accelerometer z axis reading from physical accelerometer MEMs sensor (See Ref....
Definition BNO08x.cpp:1758
-
BNO08x::calibration_complete
bool calibration_complete()
Returns true if calibration has completed.
Definition BNO08x.cpp:587
-
BNO08x::FRS_RECORDID_ACCELEROMETER
static const constexpr uint16_t FRS_RECORDID_ACCELEROMETER
Definition BNO08x.hpp:250
-
BNO08x::get_uncalibrated_gyro_bias_Y
float get_uncalibrated_gyro_bias_Y()
Get uncalibrated gyro Y axis drift estimate.
Definition BNO08x.cpp:1951
-
BNO08x::SHTP_REPORT_FRS_READ_REQUEST
static const constexpr uint8_t SHTP_REPORT_FRS_READ_REQUEST
See SH2 Ref. Manual 6.3.6.
Definition BNO08x.hpp:376
-
BNO08x::tx_buffer
uint8_t tx_buffer[50]
buffer used for sending packet with send_packet()
Definition BNO08x.hpp:295
-
BNO08x::activity_classifier
uint8_t activity_classifier
Activity status reading (See SH-2 Ref. Manual 6.5.36)
Definition BNO08x.hpp:330
-
BNO08x::raw_accel_X
uint16_t raw_accel_X
Definition BNO08x.hpp:312
-
BNO08x::enable_gyro
void enable_gyro(uint16_t time_between_reports)
Sends command to enable gyro reports (See Ref. Manual 6.5.13)
Definition BNO08x.cpp:1106
-
BNO08x::get_linear_accel_X
float get_linear_accel_X()
Get x axis linear acceleration (acceleration of device minus gravity, units in m/s^2)
Definition BNO08x.cpp:1698
-
BNO08x::raw_quat_K
uint16_t raw_quat_K
Definition BNO08x.hpp:317
-
BNO08x::COMMAND_DCD_PERIOD_SAVE
static const constexpr uint8_t COMMAND_DCD_PERIOD_SAVE
Configure DCD periodic saving (See SH2 Ref. Manual 6.4)
Definition BNO08x.hpp:368
-
BNO08x::rx_buffer
uint8_t rx_buffer[300]
buffer used to receive packet with receive_packet()
Definition BNO08x.hpp:294
-
BNO08x::parse_input_report
uint16_t parse_input_report()
Parses received input report sent by BNO08x.
Definition BNO08x.cpp:791
-
BNO08x::meta_data
uint32_t meta_data[9]
First 9 bytes of meta data returned from FRS read operation (we don't really need the rest) (See Ref....
Definition BNO08x.hpp:299
-
BNO08x::hint_handler
static void IRAM_ATTR hint_handler(void *arg)
HINT interrupt service routine, handles falling edge of BNO08x HINT pin.
Definition BNO08x.cpp:2451
-
BNO08x::get_gyro_accuracy
uint8_t get_gyro_accuracy()
Get calibrated gyro accuracy.
Definition BNO08x.cpp:1876
-
BNO08x::get_magf_Y
float get_magf_Y()
Get Y component of magnetic field vector.
Definition BNO08x.cpp:1332
-
BNO08x::COMMAND_ME_CALIBRATE
static const constexpr uint8_t COMMAND_ME_CALIBRATE
Command and response to configure ME calibration (See SH2 Ref. Manual 6.4.7)
Definition BNO08x.hpp:367
-
BNO08x::raw_quat_real
uint16_t raw_quat_real
Definition BNO08x.hpp:317
-
BNO08x::get_gravity_X
float get_gravity_X()
Get the reported x axis gravity.
Definition BNO08x.cpp:1382
-
BNO08x::get_roll
float get_roll()
Get the reported rotation about x axis.
Definition BNO08x.cpp:1422
-
BNO08x::raw_bias_X
uint16_t raw_bias_X
Definition BNO08x.hpp:323
-
BNO08x::get_gravity_Y
float get_gravity_Y()
Get the reported y axis gravity.
Definition BNO08x.cpp:1392
-
BNO08x::SENSOR_REPORTID_GYRO_INTEGRATED_ROTATION_VECTOR
static const constexpr uint8_t SENSOR_REPORTID_GYRO_INTEGRATED_ROTATION_VECTOR
See SH2 Ref. Manual 6.5.44.
Definition BNO08x.hpp:392
-
BNO08x::TARE_ROTATION_VECTOR
static const constexpr uint8_t TARE_ROTATION_VECTOR
Tare rotation vector.
Definition BNO08x.hpp:259
-
BNO08x::packet_header_rx
uint8_t packet_header_rx[4]
SHTP header received with receive_packet()
Definition BNO08x.hpp:296
-
BNO08x::mems_raw_magf_Z
uint16_t mems_raw_magf_Z
Raw magnetometer (compass) readings from MEMS sensor (See SH-2 Ref. Manual 6.5.15)
Definition BNO08x.hpp:338
-
BNO08x::enable_tap_detector
void enable_tap_detector(uint16_t time_between_reports)
Sends command to enable tap detector reports (See Ref. Manual 6.5.27)
Definition BNO08x.cpp:1145
-
BNO08x::ROTATION_VECTOR_ACCURACY_Q1
static const constexpr int16_t ROTATION_VECTOR_ACCURACY_Q1
Rotation vector accuracy estimate Q point (See SH-2 Ref. Manual 6.5.18)
Definition BNO08x.hpp:267
-
BNO08x::get_accel
void get_accel(float &x, float &y, float &z, uint8_t &accuracy)
Get full acceleration (total acceleration of device, units in m/s^2).
Definition BNO08x.cpp:1627
-
BNO08x::mems_raw_accel_X
uint16_t mems_raw_accel_X
Definition BNO08x.hpp:333
-
BNO08x::COMMAND_COUNTER
static const constexpr uint8_t COMMAND_COUNTER
Definition BNO08x.hpp:363
-
BNO08x::get_Q2
int16_t get_Q2(uint16_t record_ID)
Gets Q2 point from BNO08x FRS (flash record system).
Definition BNO08x.cpp:2165
-
BNO08x::CALIBRATE_PLANAR_ACCEL
static const constexpr uint8_t CALIBRATE_PLANAR_ACCEL
Calibrate planar acceleration command used by queue_calibrate_command.
Definition BNO08x.hpp:356
-
BNO08x::get_raw_accel_Y
int16_t get_raw_accel_Y()
Get raw accelerometer y axis reading from physical accelerometer MEMs sensor (See Ref....
Definition BNO08x.cpp:1748
-
BNO08x::soft_reset
bool soft_reset()
Soft resets BNO08x sensor using executable channel.
Definition BNO08x.cpp:241
-
BNO08x::bus_config
spi_bus_config_t bus_config
SPI bus GPIO configuration settings.
Definition BNO08x.hpp:305
-
BNO08x::wait_for_device_int
bool wait_for_device_int()
Re-enables interrupts and waits for BNO08x to assert HINT pin.
Definition BNO08x.cpp:192
-
BNO08x::gyro_accuracy
uint16_t gyro_accuracy
Raw gyro reading (See SH-2 Ref. Manual 6.5.13)
Definition BNO08x.hpp:316
-
BNO08x::get_raw_magf_Z
int16_t get_raw_magf_Z()
Get raw magnetometer z axis reading from physical magnetometer sensor (See Ref. Manual 6....
Definition BNO08x.cpp:1818
-
BNO08x::calibrate_gyro
void calibrate_gyro()
Sends command to calibrate gyro.
Definition BNO08x.cpp:486
-
BNO08x::get_readings
uint16_t get_readings()
Waits for BNO08x HINT pin to assert, and parses the received data.
Definition BNO08x.cpp:735
-
BNO08x::TARE_GYRO_INTEGRATED_ROTATION_VECTOR
static const constexpr uint8_t TARE_GYRO_INTEGRATED_ROTATION_VECTOR
Tare gyro integrated rotation vector.
Definition BNO08x.hpp:262
-
BNO08x::get_quat_K
float get_quat_K()
Get K component of reported quaternion.
Definition BNO08x.cpp:1579
-
BNO08x::get_quat_J
float get_quat_J()
Get J component of reported quaternion.
Definition BNO08x.cpp:1568
-
BNO08x::MAGNETOMETER_Q1
static const constexpr int16_t MAGNETOMETER_Q1
Magnetometer Q point (See SH-2 Ref. Manual 6.5.16)
Definition BNO08x.hpp:271
-
BNO08x::save_calibration
void save_calibration()
Sends command to save internal calibration data (See Ref. Manual 6.4.7).
Definition BNO08x.cpp:612
-
BNO08x::GYRO_Q1
static const constexpr int16_t GYRO_Q1
Gyro Q point (See SH-2 Ref. Manual 6.5.13)
Definition BNO08x.hpp:270
-
BNO08x::raw_velocity_gyro_X
uint16_t raw_velocity_gyro_X
Definition BNO08x.hpp:319
-
BNO08x::raw_magf_X
uint16_t raw_magf_X
Definition BNO08x.hpp:325
-
BNO08x::sequence_number
uint8_t sequence_number[6]
Sequence num of each com channel, 6 in total.
Definition BNO08x.hpp:298
-
BNO08x::SENSOR_REPORTID_RAW_ACCELEROMETER
static const constexpr uint8_t SENSOR_REPORTID_RAW_ACCELEROMETER
See SH2 Ref. Manual 6.5.8.
Definition BNO08x.hpp:396
-
BNO08x::mems_raw_magf_Y
uint16_t mems_raw_magf_Y
Definition BNO08x.hpp:337
-
BNO08x::SENSOR_REPORTID_RAW_GYROSCOPE
static const constexpr uint8_t SENSOR_REPORTID_RAW_GYROSCOPE
See SH2 Ref. Manual 6.5.12.
Definition BNO08x.hpp:397
-
BNO08x::ANGULAR_VELOCITY_Q1
static const constexpr int16_t ANGULAR_VELOCITY_Q1
Angular velocity Q point (See SH-2 Ref. Manual 6.5.44)
Definition BNO08x.hpp:272
-
BNO08x::SENSOR_REPORTID_STEP_COUNTER
static const constexpr uint8_t SENSOR_REPORTID_STEP_COUNTER
See SH2 Ref. Manual 6.5.29.
Definition BNO08x.hpp:394
-
BNO08x::SENSOR_REPORTID_ROTATION_VECTOR
static const constexpr uint8_t SENSOR_REPORTID_ROTATION_VECTOR
See SH2 Ref. Manual 6.5.18.
Definition BNO08x.hpp:387
-
BNO08x::SHTP_REPORT_COMMAND_REQUEST
static const constexpr uint8_t SHTP_REPORT_COMMAND_REQUEST
See SH2 Ref. Manual 6.3.8.
Definition BNO08x.hpp:374
-
BNO08x::SENSOR_REPORTID_GAME_ROTATION_VECTOR
static const constexpr uint8_t SENSOR_REPORTID_GAME_ROTATION_VECTOR
See SH2 Ref. Manual 6.5.19.
Definition BNO08x.hpp:390
-
BNO08x::raw_magf_Z
uint16_t raw_magf_Z
Definition BNO08x.hpp:325
-
BNO08x::raw_velocity_gyro_Z
uint16_t raw_velocity_gyro_Z
Raw gyro angular velocity reading (See SH-2 Ref. Manual 6.5.44)
Definition BNO08x.hpp:320
-
BNO08x::get_magf_Z
float get_magf_Z()
Get Z component of magnetic field vector.
Definition BNO08x.cpp:1343
-
BNO08x::raw_accel_Y
uint16_t raw_accel_Y
Definition BNO08x.hpp:312
-
BNO08x::mems_raw_magf_X
uint16_t mems_raw_magf_X
Definition BNO08x.hpp:337
-
BNO08x::queue_request_product_id_command
void queue_request_product_id_command()
Queues a packet containing the request product ID command.
Definition BNO08x.cpp:450
-
BNO08x::mems_raw_gyro_Y
uint16_t mems_raw_gyro_Y
Definition BNO08x.hpp:335
-
BNO08x::get_gyro_calibrated_velocity_X
float get_gyro_calibrated_velocity_X()
Get calibrated gyro x axis angular velocity measurement.
Definition BNO08x.cpp:1846
-
BNO08x::SENSOR_REPORTID_UNCALIBRATED_GYRO
static const constexpr uint8_t SENSOR_REPORTID_UNCALIBRATED_GYRO
See SH2 Ref. Manual 6.5.14.
Definition BNO08x.hpp:389
-
BNO08x::FRS_RECORDID_MAGNETIC_FIELD_CALIBRATED
static const constexpr uint16_t FRS_RECORDID_MAGNETIC_FIELD_CALIBRATED
Definition BNO08x.hpp:252
-
BNO08x::TARE_GAME_ROTATION_VECTOR
static const constexpr uint8_t TARE_GAME_ROTATION_VECTOR
Tare game rotation vector.
Definition BNO08x.hpp:260
-
BNO08x::raw_lin_accel_Z
uint16_t raw_lin_accel_Z
Definition BNO08x.hpp:314
-
BNO08x::time_stamp
uint32_t time_stamp
Report timestamp (see datasheet 1.3.5.3)
Definition BNO08x.hpp:311
-
BNO08x::get_accel_X
float get_accel_X()
Get x axis acceleration (total acceleration of device, units in m/s^2).
Definition BNO08x.cpp:1640
-
BNO08x::enable_rotation_vector
void enable_rotation_vector(uint16_t time_between_reports)
Sends command to enable rotation vector reports (See Ref. Manual 6.5.18)
Definition BNO08x.cpp:1015
-
BNO08x::CALIBRATE_MAG
static const constexpr uint8_t CALIBRATE_MAG
Calibrate magnetometer command used by queue_calibrate_command.
Definition BNO08x.hpp:355
-
BNO08x::spi_transaction
spi_transaction_t spi_transaction
SPI transaction handle.
Definition BNO08x.hpp:308
-
BNO08x::mode_on
bool mode_on()
Turns on/ brings BNO08x sensor out of sleep mode using executable channel.
Definition BNO08x.cpp:288
-
BNO08x::command_sequence_number
uint8_t command_sequence_number
Sequence num of command, sent within command packet.
Definition BNO08x.hpp:300
-
BNO08x::calibrate_magnetometer
void calibrate_magnetometer()
Sends command to calibrate magnetometer.
Definition BNO08x.cpp:498
-
BNO08x::mems_raw_gyro_Z
uint16_t mems_raw_gyro_Z
Raw gyro readings from MEMS sensor (See SH-2 Ref. Manual 6.5.12)
Definition BNO08x.hpp:336
-
BNO08x::raw_bias_Y
uint16_t raw_bias_Y
Definition BNO08x.hpp:323
-
BNO08x::magf_accuracy
uint16_t magf_accuracy
Calibrated magnetic field reading in uTesla (See SH-2 Ref. Manual 6.5.16)
Definition BNO08x.hpp:326
-
BNO08x::SENSOR_REPORTID_RAW_MAGNETOMETER
static const constexpr uint8_t SENSOR_REPORTID_RAW_MAGNETOMETER
See SH2 Ref. Manual 6.5.15.
Definition BNO08x.hpp:398
-
BNO08x::enable_uncalibrated_gyro
void enable_uncalibrated_gyro(uint16_t time_between_reports)
Sends command to enable uncalibrated gyro reports (See Ref. Manual 6.5.14)
Definition BNO08x.cpp:1119
-
BNO08x::end_calibration
void end_calibration()
Sends command to end calibration procedure.
Definition BNO08x.cpp:600
-
BNO08x::commands
uint8_t commands[20]
Command to be sent with send_packet()
Definition BNO08x.hpp:297
-
BNO08x::spi_hdl
spi_device_handle_t spi_hdl
SPI device handle.
Definition BNO08x.hpp:307
-
BNO08x::raw_uncalib_gyro_Y
uint16_t raw_uncalib_gyro_Y
Definition BNO08x.hpp:323
-
BNO08x::get_gravity_accuracy
uint8_t get_gravity_accuracy()
Get the reported gravity accuracy.
Definition BNO08x.cpp:1412
-
BNO08x::get_gyro_velocity_Y
float get_gyro_velocity_Y()
Get y axis angular velocity from gyro-integrated rotation vector. (See Ref. Manual 6....
Definition BNO08x.cpp:2007
-
BNO08x::raw_magf_Y
uint16_t raw_magf_Y
Definition BNO08x.hpp:325
-
BNO08x::get_gyro_velocity_X
float get_gyro_velocity_X()
Get x axis angular velocity from gyro-integrated rotation vector. (See Ref. Manual 6....
Definition BNO08x.cpp:1997
-
BNO08x::CALIBRATE_ACCEL
static const constexpr uint8_t CALIBRATE_ACCEL
Calibrate accelerometer command used by queue_calibrate_command.
Definition BNO08x.hpp:353
-
BNO08x::enable_magnetometer
void enable_magnetometer(uint16_t time_between_reports)
Sends command to enable magnetometer reports (See Ref. Manual 6.5.16)
Definition BNO08x.cpp:1132
-
BNO08x::queue_calibrate_command
void queue_calibrate_command(uint8_t _to_calibrate)
Queues a packet containing a command to calibrate the specified sensor.
Definition BNO08x.cpp:523
-
BNO08x::LINEAR_ACCELEROMETER_Q1
static const constexpr int16_t LINEAR_ACCELEROMETER_Q1
Linear acceleration Q point (See SH-2 Ref. Manual 6.5.10)
Definition BNO08x.hpp:269
-
BNO08x::enable_raw_magnetometer
void enable_raw_magnetometer(uint16_t time_between_reports)
Sends command to enable raw magnetometer reports (See Ref. Manual 6.5.15)
Definition BNO08x.cpp:1226
-
BNO08x::calibration_status
uint8_t calibration_status
Calibration status of device (See SH-2 Ref. Manual 6.4.7.1 & 6.4.7.2)
Definition BNO08x.hpp:332
-
BNO08x::get_uncalibrated_gyro_bias_X
float get_uncalibrated_gyro_bias_X()
Get uncalibrated gyro x axis drift estimate.
Definition BNO08x.cpp:1941
-
BNO08x::enable_linear_accelerometer
void enable_linear_accelerometer(uint16_t time_between_reports)
Sends command to enable linear accelerometer reports (See Ref. Manual 6.5.10)
Definition BNO08x.cpp:1080
-
BNO08x::get_gyro_calibrated_velocity_Y
float get_gyro_calibrated_velocity_Y()
Get calibrated gyro y axis angular velocity measurement.
Definition BNO08x.cpp:1856
-
BNO08x::enable_step_counter
void enable_step_counter(uint16_t time_between_reports)
Sends command to enable step counter reports (See Ref. Manual 6.5.29)
Definition BNO08x.cpp:1158
-
BNO08x::get_linear_accel
void get_linear_accel(float &x, float &y, float &z, uint8_t &accuracy)
Get full linear acceleration (acceleration of the device minus gravity, units in m/s^2).
Definition BNO08x.cpp:1685
-
BNO08x::enable_raw_accelerometer
void enable_raw_accelerometer(uint16_t time_between_reports)
Sends command to enable raw accelerometer reports (See Ref. Manual 6.5.8)
Definition BNO08x.cpp:1200
-
BNO08x::step_count
uint16_t step_count
Step counter reading (See SH-2 Ref. Manual 6.5.29)
Definition BNO08x.hpp:328
-
BNO08x::mems_raw_accel_Y
uint16_t mems_raw_accel_Y
Definition BNO08x.hpp:333
-
BNO08x::get_time_stamp
uint32_t get_time_stamp()
Return timestamp of most recent report.
Definition BNO08x.cpp:1293
-
BNO08x::enable_ARVR_stabilized_game_rotation_vector
void enable_ARVR_stabilized_game_rotation_vector(uint16_t time_between_reports)
Sends command to enable ARVR stabilized game rotation vector reports (See Ref. Manual 6....
Definition BNO08x.cpp:1041
-
BNO08x::get_step_count
uint16_t get_step_count()
Get the counted amount of steps.
Definition BNO08x.cpp:2039
-
BNO08x::get_raw_magf_X
int16_t get_raw_magf_X()
Get raw magnetometer x axis reading from physical magnetometer sensor (See Ref. Manual 6....
Definition BNO08x.cpp:1798
-
BNO08x::FRS_read_request
bool FRS_read_request(uint16_t record_ID, uint16_t read_offset, uint16_t block_size)
Requests meta data from BNO08x FRS (flash record system) given the record ID. Contains Q points and o...
Definition BNO08x.cpp:2251
-
BNO08x::gravity_accuracy
uint16_t gravity_accuracy
Gravity reading in m/s^2 (See SH-2 Ref. Manual 6.5.11)
Definition BNO08x.hpp:322
-
BNO08x::GRAVITY_Q1
static const constexpr int16_t GRAVITY_Q1
Gravity Q point (See SH-2 Ref. Manual 6.5.11)
Definition BNO08x.hpp:273
-
BNO08x::raw_lin_accel_X
uint16_t raw_lin_accel_X
Definition BNO08x.hpp:314
-
BNO08x::get_gyro_velocity_Z
float get_gyro_velocity_Z()
Get z axis angular velocity from gyro-integrated rotation vector. (See Ref. Manual 6....
Definition BNO08x.cpp:2017
-
BNO08x::SHTP_REPORT_BASE_TIMESTAMP
static const constexpr uint8_t SHTP_REPORT_BASE_TIMESTAMP
See SH2 Ref. Manual 7.2.1.
Definition BNO08x.hpp:379
-
BNO08x::receive_packet
bool receive_packet()
Receives a SHTP packet via SPI.
Definition BNO08x.cpp:332
-
BNO08x::run_full_calibration_routine
bool run_full_calibration_routine()
Runs full calibration routine.
Definition BNO08x.cpp:631
-
BNO08x::HOST_INT_TIMEOUT_MS
static const constexpr uint64_t HOST_INT_TIMEOUT_MS
Max wait between HINT being asserted by BNO08x before transaction is considered failed (in milisecond...
Definition BNO08x.hpp:349
-
BNO08x::initialize
bool initialize()
Initializes BNO08x sensor.
Definition BNO08x.cpp:119
-
BNO08x::CALIBRATE_GYRO
static const constexpr uint8_t CALIBRATE_GYRO
Calibrate gyro command used by queue_calibrate_command.
Definition BNO08x.hpp:354
-
BNO08x::SHTP_REPORT_FRS_READ_RESPONSE
static const constexpr uint8_t SHTP_REPORT_FRS_READ_RESPONSE
See SH2 Ref. Manual 6.3.7.
Definition BNO08x.hpp:375
-
BNO08x::SENSOR_REPORTID_GEOMAGNETIC_ROTATION_VECTOR
static const constexpr uint8_t SENSOR_REPORTID_GEOMAGNETIC_ROTATION_VECTOR
See SH2 Ref. Manual 6.5.20.
Definition BNO08x.hpp:391
-
BNO08x::TARE_AXIS_Z
static const constexpr uint8_t TARE_AXIS_Z
Tar yaw axis only (used with tare now command)
Definition BNO08x.hpp:256
-
BNO08x::TARE_AR_VR_STABILIZED_GAME_ROTATION_VECTOR
static const constexpr uint8_t TARE_AR_VR_STABILIZED_GAME_ROTATION_VECTOR
Tare ARVR stabilized game rotation vector.
Definition BNO08x.hpp:264
-
BNO08x::imu_config
bno08x_config_t imu_config
IMU configuration settings.
Definition BNO08x.hpp:304
-
BNO08x::tx_semaphore
SemaphoreHandle_t tx_semaphore
Mutex semaphore used to prevent sending or receiving of packets if packet is currently being queued.
Definition BNO08x.hpp:291
-
BNO08x::SENSOR_REPORTID_GRAVITY
static const constexpr uint8_t SENSOR_REPORTID_GRAVITY
See SH2 Ref. Manual 6.5.11.
Definition BNO08x.hpp:388
-
BNO08x::calibrate_accelerometer
void calibrate_accelerometer()
Sends command to calibrate accelerometer.
Definition BNO08x.cpp:474
-
BNO08x::COMMAND_DCD
static const constexpr uint8_t COMMAND_DCD
Save DCD command (See SH2 Ref. Manual 6.4.7)
Definition BNO08x.hpp:366
-
BNO08x::get_raw_gyro_X
int16_t get_raw_gyro_X()
Get raw gyroscope x axis reading from physical gyroscope MEMs sensor (See Ref. Manual 6....
Definition BNO08x.cpp:1768
-
BNO08x::gravity_Y
uint16_t gravity_Y
Definition BNO08x.hpp:321
-
BNO08x::raw_accel_Z
uint16_t raw_accel_Z
Definition BNO08x.hpp:312
-
BNO08x::gravity_X
uint16_t gravity_X
Definition BNO08x.hpp:321
-
BNO08x::get_pitch_deg
float get_pitch_deg()
Get the reported rotation about y axis.
Definition BNO08x.cpp:1515
-
BNO08x::CALIBRATE_ACCEL_GYRO_MAG
static const constexpr uint8_t CALIBRATE_ACCEL_GYRO_MAG
Calibrate accelerometer, gyro, & magnetometer command used by queue_calibrate_command.
Definition BNO08x.hpp:357
-
BNO08x::packet_length_rx
uint16_t packet_length_rx
Packet length received (calculated from packet_header_rx)
Definition BNO08x.hpp:302
-
BNO08x::get_yaw_deg
float get_yaw_deg()
Get the reported rotation about z axis.
Definition BNO08x.cpp:1525
-
BNO08x::activity_confidences
uint8_t * activity_confidences
Confidence of read activities (See SH-2 Ref. Manual 6.5.36)
Definition BNO08x.hpp:331
-
BNO08x::enable_raw_gyro
void enable_raw_gyro(uint16_t time_between_reports)
Sends command to enable raw gyro reports (See Ref. Manual 6.5.12)
Definition BNO08x.cpp:1213
-
BNO08x::gravity_Z
uint16_t gravity_Z
Definition BNO08x.hpp:321
-
BNO08x::raw_uncalib_gyro_Z
uint16_t raw_uncalib_gyro_Z
Definition BNO08x.hpp:323
-
BNO08x::SENSOR_REPORTID_STABILITY_CLASSIFIER
static const constexpr uint8_t SENSOR_REPORTID_STABILITY_CLASSIFIER
See SH2 Ref. Manual 6.5.31.
Definition BNO08x.hpp:395
-
BNO08x::save_tare
void save_tare()
Sends command to save tare into non-volatile memory of BNO08x (See Ref. Manual 6.4....
Definition BNO08x.cpp:1253
-
BNO08x::calibrate_all
void calibrate_all()
Sends command to calibrate accelerometer, gyro, and magnetometer.
Definition BNO08x.cpp:462
-
BNO08x::raw_uncalib_gyro_X
uint16_t raw_uncalib_gyro_X
Definition BNO08x.hpp:323
-
BNO08x::get_accel_Y
float get_accel_Y()
Get y axis acceleration (total acceleration of device, units in m/s^2).
Definition BNO08x.cpp:1650
-
BNO08x::get_linear_accel_Z
float get_linear_accel_Z()
Get z axis linear acceleration (acceleration of device minus gravity, units in m/s^2)
Definition BNO08x.cpp:1718
-
BNO08x::clear_tare
void clear_tare()
Sends command to clear persistent tare settings in non-volatile memory of BNO08x (See Ref....
Definition BNO08x.cpp:1265
-
BNO08x::get_gyro_velocity
void get_gyro_velocity(float &x, float &y, float &z)
Full rotational velocity from gyro-integrated rotation vector (See Ref. Manual 6.5....
Definition BNO08x.cpp:1985
-
BNO08x::raw_lin_accel_Y
uint16_t raw_lin_accel_Y
Definition BNO08x.hpp:314
-
BNO08x::get_raw_gyro_Y
int16_t get_raw_gyro_Y()
Get raw gyroscope y axis reading from physical gyroscope MEMs sensor (See Ref. Manual 6....
Definition BNO08x.cpp:1778
-
BNO08x::request_calibration_status
void request_calibration_status()
Requests ME calibration status from BNO08x (see Ref. Manual 6.4.7.2)
Definition BNO08x.cpp:570
+
BNO08x::queue_tare_command
void queue_tare_command(uint8_t command, uint8_t axis=TARE_AXIS_ALL, uint8_t rotation_vector_basis=TARE_ROTATION_VECTOR)
Queues a packet containing a command related to zeroing sensor's axes. (See Ref. Manual 6....
Definition BNO08x.cpp:2588
+
BNO08x::get_gyro_calibrated_velocity
void get_gyro_calibrated_velocity(float &x, float &y, float &z, uint8_t &accuracy)
Get full rotational velocity with drift compensation (units in Rad/s).
Definition BNO08x.cpp:2042
+
BNO08x::raw_velocity_gyro_Y
uint16_t raw_velocity_gyro_Y
Definition BNO08x.hpp:336
+
BNO08x::COMMAND_CLEAR_DCD
static const constexpr uint8_t COMMAND_CLEAR_DCD
Clear DCD & Reset command (See SH2 Ref. Manual 6.4)
Definition BNO08x.hpp:387
+
BNO08x::get_activity_classifier
uint8_t get_activity_classifier()
Get the current activity classifier (Seee Ref. Manual 6.5.36)
Definition BNO08x.cpp:2277
+
BNO08x::disable_activity_classifier
void disable_activity_classifier()
Sends command to disable activity classifier reports by setting report interval to 0.
Definition BNO08x.cpp:1399
+
BNO08x::get_uncalibrated_gyro_bias_Z
float get_uncalibrated_gyro_bias_Z()
Get uncalibrated gyro Z axis drift estimate.
Definition BNO08x.cpp:2170
+
BNO08x::get_quat
void get_quat(float &i, float &j, float &k, float &real, float &rad_accuracy, uint8_t &accuracy)
Get the full quaternion reading.
Definition BNO08x.cpp:1751
+
BNO08x::SENSOR_REPORTID_LINEAR_ACCELERATION
static const constexpr uint8_t SENSOR_REPORTID_LINEAR_ACCELERATION
See SH2 Ref. Manual 6.5.10.
Definition BNO08x.hpp:403
+
BNO08x::SHTP_REPORT_PRODUCT_ID_REQUEST
static const constexpr uint8_t SHTP_REPORT_PRODUCT_ID_REQUEST
See SH2 Ref. Manual 6.3.1.
Definition BNO08x.hpp:395
+
BNO08x::get_gravity_Z
float get_gravity_Z()
Get the reported z axis gravity.
Definition BNO08x.cpp:1611
+
BNO08x::enable_ARVR_stabilized_game_rotation_vector
void enable_ARVR_stabilized_game_rotation_vector(uint32_t time_between_reports)
Sends command to enable ARVR stabilized game rotation vector reports (See Ref. Manual 6....
Definition BNO08x.cpp:1034
+
BNO08x::CALIBRATE_STOP
static const constexpr uint8_t CALIBRATE_STOP
Stop calibration command used by queue_calibrate_command.
Definition BNO08x.hpp:376
+
BNO08x::FRS_RECORDID_ROTATION_VECTOR
static const constexpr uint16_t FRS_RECORDID_ROTATION_VECTOR
Definition BNO08x.hpp:272
+
BNO08x::mems_raw_accel_Z
uint16_t mems_raw_accel_Z
Raw accelerometer readings from MEMS sensor (See SH2 Ref. Manual 6.5.8)
Definition BNO08x.hpp:351
+
BNO08x::TARE_SET_REORIENTATION
static const constexpr uint8_t TARE_SET_REORIENTATION
See SH2 Ref. Manual 6.4.4.3.
Definition BNO08x.hpp:423
+
BNO08x::enable_step_counter
void enable_step_counter(uint32_t time_between_reports)
Sends command to enable step counter reports (See Ref. Manual 6.5.29)
Definition BNO08x.cpp:1151
+
BNO08x::get_quat_real
float get_quat_real()
Get real component of reported quaternion.
Definition BNO08x.cpp:1799
+
BNO08x::disable_gravity
void disable_gravity()
Sends command to disable gravity reports by setting report interval to 0.
Definition BNO08x.cpp:1315
+
BNO08x::spi_task_hdl
TaskHandle_t spi_task_hdl
SPI task handle.
Definition BNO08x.hpp:358
+
BNO08x::raw_quat_J
uint16_t raw_quat_J
Definition BNO08x.hpp:334
+
BNO08x::get_quat_radian_accuracy
float get_quat_radian_accuracy()
Get radian accuracy of reported quaternion.
Definition BNO08x.cpp:1810
+
BNO08x::raw_gyro_Y
uint16_t raw_gyro_Y
Definition BNO08x.hpp:333
+
BNO08x::default_imu_config
static bno08x_config_t default_imu_config
default imu config settings
Definition BNO08x.hpp:306
+
BNO08x::get_yaw
float get_yaw()
Get the reported rotation about z axis.
Definition BNO08x.cpp:1687
+
BNO08x::disable_magnetometer
void disable_magnetometer()
Sends command to disable magnetometer reports by setting report interval to 0.
Definition BNO08x.cpp:1351
+
BNO08x::queue_packet
void queue_packet(uint8_t channel_number, uint8_t data_length)
Queues an SHTP packet to be sent via SPI.
Definition BNO08x.cpp:382
+
BNO08x::raw_quat_I
uint16_t raw_quat_I
Definition BNO08x.hpp:334
+
BNO08x::FRS_RECORDID_GYROSCOPE_CALIBRATED
static const constexpr uint16_t FRS_RECORDID_GYROSCOPE_CALIBRATED
Definition BNO08x.hpp:270
+
BNO08x::SENSOR_REPORTID_MAGNETIC_FIELD
static const constexpr uint8_t SENSOR_REPORTID_MAGNETIC_FIELD
See SH2 Ref. Manual 6.5.16.
Definition BNO08x.hpp:402
+
BNO08x::packet_length_tx
uint16_t packet_length_tx
Packet length to be sent with send_packet()
Definition BNO08x.hpp:318
+
BNO08x::get_roll_deg
float get_roll_deg()
Get the reported rotation about x axis.
Definition BNO08x.cpp:1714
+
BNO08x::get_raw_accel_Z
int16_t get_raw_accel_Z()
Get raw accelerometer z axis reading from physical accelerometer MEMs sensor (See Ref....
Definition BNO08x.cpp:1967
+
BNO08x::calibration_complete
bool calibration_complete()
Returns true if calibration has completed.
Definition BNO08x.cpp:580
+
BNO08x::FRS_RECORDID_ACCELEROMETER
static const constexpr uint16_t FRS_RECORDID_ACCELEROMETER
Definition BNO08x.hpp:269
+
BNO08x::enable_gyro_integrated_rotation_vector
void enable_gyro_integrated_rotation_vector(uint32_t time_between_reports)
Sends command to enable gyro integrated rotation vector reports (See Ref. Manual 6....
Definition BNO08x.cpp:1047
+
BNO08x::get_uncalibrated_gyro_bias_Y
float get_uncalibrated_gyro_bias_Y()
Get uncalibrated gyro Y axis drift estimate.
Definition BNO08x.cpp:2160
+
BNO08x::SHTP_REPORT_FRS_READ_REQUEST
static const constexpr uint8_t SHTP_REPORT_FRS_READ_REQUEST
See SH2 Ref. Manual 6.3.6.
Definition BNO08x.hpp:393
+
BNO08x::tx_buffer
uint8_t tx_buffer[50]
buffer used for sending packet with send_packet()
Definition BNO08x.hpp:312
+
BNO08x::activity_classifier
uint8_t activity_classifier
Activity status reading (See SH-2 Ref. Manual 6.5.36)
Definition BNO08x.hpp:347
+
BNO08x::disable_raw_gyro
void disable_raw_gyro()
Sends command to disable raw gyro reports by setting report interval to 0.
Definition BNO08x.cpp:1423
+
BNO08x::raw_accel_X
uint16_t raw_accel_X
Definition BNO08x.hpp:329
+
BNO08x::get_linear_accel_X
float get_linear_accel_X()
Get x axis linear acceleration (acceleration of device minus gravity, units in m/s^2)
Definition BNO08x.cpp:1907
+
BNO08x::disable_game_rotation_vector
void disable_game_rotation_vector()
Sends command to disable game rotation vector reports by setting report interval to 0.
Definition BNO08x.cpp:1243
+
BNO08x::raw_quat_K
uint16_t raw_quat_K
Definition BNO08x.hpp:334
+
BNO08x::COMMAND_DCD_PERIOD_SAVE
static const constexpr uint8_t COMMAND_DCD_PERIOD_SAVE
Configure DCD periodic saving (See SH2 Ref. Manual 6.4)
Definition BNO08x.hpp:385
+
BNO08x::rx_buffer
uint8_t rx_buffer[300]
buffer used to receive packet with receive_packet()
Definition BNO08x.hpp:311
+
BNO08x::parse_input_report
uint16_t parse_input_report()
Parses received input report sent by BNO08x.
Definition BNO08x.cpp:784
+
BNO08x::meta_data
uint32_t meta_data[9]
First 9 bytes of meta data returned from FRS read operation (we don't really need the rest) (See Ref....
Definition BNO08x.hpp:316
+
BNO08x::enable_uncalibrated_gyro
void enable_uncalibrated_gyro(uint32_t time_between_reports)
Sends command to enable uncalibrated gyro reports (See Ref. Manual 6.5.14)
Definition BNO08x.cpp:1112
+
BNO08x::hint_handler
static void IRAM_ATTR hint_handler(void *arg)
HINT interrupt service routine, handles falling edge of BNO08x HINT pin.
Definition BNO08x.cpp:2665
+
BNO08x::get_gyro_accuracy
uint8_t get_gyro_accuracy()
Get calibrated gyro accuracy.
Definition BNO08x.cpp:2085
+
BNO08x::disable_gyro
void disable_gyro()
Sends command to disable gyro reports by setting report interval to 0.
Definition BNO08x.cpp:1327
+
BNO08x::get_magf_Y
float get_magf_Y()
Get Y component of magnetic field vector.
Definition BNO08x.cpp:1541
+
BNO08x::COMMAND_ME_CALIBRATE
static const constexpr uint8_t COMMAND_ME_CALIBRATE
Command and response to configure ME calibration (See SH2 Ref. Manual 6.4.7)
Definition BNO08x.hpp:384
+
BNO08x::raw_quat_real
uint16_t raw_quat_real
Definition BNO08x.hpp:334
+
BNO08x::get_gravity_X
float get_gravity_X()
Get the reported x axis gravity.
Definition BNO08x.cpp:1591
+
BNO08x::get_roll
float get_roll()
Get the reported rotation about x axis.
Definition BNO08x.cpp:1631
+
BNO08x::raw_bias_X
uint16_t raw_bias_X
Definition BNO08x.hpp:340
+
BNO08x::get_gravity_Y
float get_gravity_Y()
Get the reported y axis gravity.
Definition BNO08x.cpp:1601
+
BNO08x::enable_ARVR_stabilized_rotation_vector
void enable_ARVR_stabilized_rotation_vector(uint32_t time_between_reports)
Sends command to enable ARVR stabilized rotation vector reports (See Ref. Manual 6....
Definition BNO08x.cpp:1021
+
BNO08x::SENSOR_REPORTID_GYRO_INTEGRATED_ROTATION_VECTOR
static const constexpr uint8_t SENSOR_REPORTID_GYRO_INTEGRATED_ROTATION_VECTOR
See SH2 Ref. Manual 6.5.44.
Definition BNO08x.hpp:409
+
BNO08x::enable_raw_gyro
void enable_raw_gyro(uint32_t time_between_reports)
Sends command to enable raw gyro reports (See Ref. Manual 6.5.12)
Definition BNO08x.cpp:1206
+
BNO08x::TARE_ROTATION_VECTOR
static const constexpr uint8_t TARE_ROTATION_VECTOR
Tare rotation vector.
Definition BNO08x.hpp:278
+
BNO08x::packet_header_rx
uint8_t packet_header_rx[4]
SHTP header received with receive_packet()
Definition BNO08x.hpp:313
+
BNO08x::mems_raw_magf_Z
uint16_t mems_raw_magf_Z
Raw magnetometer (compass) readings from MEMS sensor (See SH-2 Ref. Manual 6.5.15)
Definition BNO08x.hpp:355
+
BNO08x::ROTATION_VECTOR_ACCURACY_Q1
static const constexpr int16_t ROTATION_VECTOR_ACCURACY_Q1
Rotation vector accuracy estimate Q point (See SH-2 Ref. Manual 6.5.18)
Definition BNO08x.hpp:286
+
BNO08x::get_accel
void get_accel(float &x, float &y, float &z, uint8_t &accuracy)
Get full acceleration (total acceleration of device, units in m/s^2).
Definition BNO08x.cpp:1836
+
BNO08x::mems_raw_accel_X
uint16_t mems_raw_accel_X
Definition BNO08x.hpp:350
+
BNO08x::COMMAND_COUNTER
static const constexpr uint8_t COMMAND_COUNTER
Definition BNO08x.hpp:380
+
BNO08x::get_Q2
int16_t get_Q2(uint16_t record_ID)
Gets Q2 point from BNO08x FRS (flash record system).
Definition BNO08x.cpp:2374
+
BNO08x::CALIBRATE_PLANAR_ACCEL
static const constexpr uint8_t CALIBRATE_PLANAR_ACCEL
Calibrate planar acceleration command used by queue_calibrate_command.
Definition BNO08x.hpp:373
+
BNO08x::get_raw_accel_Y
int16_t get_raw_accel_Y()
Get raw accelerometer y axis reading from physical accelerometer MEMs sensor (See Ref....
Definition BNO08x.cpp:1957
+
BNO08x::soft_reset
bool soft_reset()
Soft resets BNO08x sensor using executable channel.
Definition BNO08x.cpp:240
+
BNO08x::bus_config
spi_bus_config_t bus_config
SPI bus GPIO configuration settings.
Definition BNO08x.hpp:322
+
BNO08x::wait_for_device_int
bool wait_for_device_int()
Re-enables interrupts and waits for BNO08x to assert HINT pin.
Definition BNO08x.cpp:191
+
BNO08x::gyro_accuracy
uint16_t gyro_accuracy
Raw gyro reading (See SH-2 Ref. Manual 6.5.13)
Definition BNO08x.hpp:333
+
BNO08x::get_raw_magf_Z
int16_t get_raw_magf_Z()
Get raw magnetometer z axis reading from physical magnetometer sensor (See Ref. Manual 6....
Definition BNO08x.cpp:2027
+
BNO08x::calibrate_gyro
void calibrate_gyro()
Sends command to calibrate gyro.
Definition BNO08x.cpp:479
+
BNO08x::get_readings
uint16_t get_readings()
Waits for BNO08x HINT pin to assert, and parses the received data.
Definition BNO08x.cpp:728
+
BNO08x::TARE_GYRO_INTEGRATED_ROTATION_VECTOR
static const constexpr uint8_t TARE_GYRO_INTEGRATED_ROTATION_VECTOR
Tare gyro integrated rotation vector.
Definition BNO08x.hpp:281
+
BNO08x::get_quat_K
float get_quat_K()
Get K component of reported quaternion.
Definition BNO08x.cpp:1788
+
BNO08x::get_quat_J
float get_quat_J()
Get J component of reported quaternion.
Definition BNO08x.cpp:1777
+
BNO08x::MAGNETOMETER_Q1
static const constexpr int16_t MAGNETOMETER_Q1
Magnetometer Q point (See SH-2 Ref. Manual 6.5.16)
Definition BNO08x.hpp:290
+
BNO08x::save_calibration
void save_calibration()
Sends command to save internal calibration data (See Ref. Manual 6.4.7).
Definition BNO08x.cpp:605
+
BNO08x::GYRO_Q1
static const constexpr int16_t GYRO_Q1
Gyro Q point (See SH-2 Ref. Manual 6.5.13)
Definition BNO08x.hpp:289
+
BNO08x::disable_ARVR_stabilized_rotation_vector
void disable_ARVR_stabilized_rotation_vector()
Sends command to disable ARVR stabilized rotation vector reports by setting report interval to 0.
Definition BNO08x.cpp:1255
+
BNO08x::raw_velocity_gyro_X
uint16_t raw_velocity_gyro_X
Definition BNO08x.hpp:336
+
BNO08x::raw_magf_X
uint16_t raw_magf_X
Definition BNO08x.hpp:342
+
BNO08x::sequence_number
uint8_t sequence_number[6]
Sequence num of each com channel, 6 in total.
Definition BNO08x.hpp:315
+
BNO08x::SENSOR_REPORTID_RAW_ACCELEROMETER
static const constexpr uint8_t SENSOR_REPORTID_RAW_ACCELEROMETER
See SH2 Ref. Manual 6.5.8.
Definition BNO08x.hpp:413
+
BNO08x::disable_gyro_integrated_rotation_vector
void disable_gyro_integrated_rotation_vector()
Sends command to disable gyro integrated rotation vector reports by setting report interval to 0.
Definition BNO08x.cpp:1279
+
BNO08x::mems_raw_magf_Y
uint16_t mems_raw_magf_Y
Definition BNO08x.hpp:354
+
BNO08x::SENSOR_REPORTID_RAW_GYROSCOPE
static const constexpr uint8_t SENSOR_REPORTID_RAW_GYROSCOPE
See SH2 Ref. Manual 6.5.12.
Definition BNO08x.hpp:414
+
BNO08x::disable_uncalibrated_gyro
void disable_uncalibrated_gyro()
Sends command to disable uncalibrated gyro reports by setting report interval to 0.
Definition BNO08x.cpp:1339
+
BNO08x::ANGULAR_VELOCITY_Q1
static const constexpr int16_t ANGULAR_VELOCITY_Q1
Angular velocity Q point (See SH-2 Ref. Manual 6.5.44)
Definition BNO08x.hpp:291
+
BNO08x::SENSOR_REPORTID_STEP_COUNTER
static const constexpr uint8_t SENSOR_REPORTID_STEP_COUNTER
See SH2 Ref. Manual 6.5.29.
Definition BNO08x.hpp:411
+
BNO08x::SENSOR_REPORTID_ROTATION_VECTOR
static const constexpr uint8_t SENSOR_REPORTID_ROTATION_VECTOR
See SH2 Ref. Manual 6.5.18.
Definition BNO08x.hpp:404
+
BNO08x::SHTP_REPORT_COMMAND_REQUEST
static const constexpr uint8_t SHTP_REPORT_COMMAND_REQUEST
See SH2 Ref. Manual 6.3.8.
Definition BNO08x.hpp:391
+
BNO08x::enable_stability_classifier
void enable_stability_classifier(uint32_t time_between_reports)
Sends command to enable activity stability classifier reports (See Ref. Manual 6.5....
Definition BNO08x.cpp:1164
+
BNO08x::disable_ARVR_stabilized_game_rotation_vector
void disable_ARVR_stabilized_game_rotation_vector()
Sends command to disable ARVR stabilized game rotation vector reports by setting report interval to 0...
Definition BNO08x.cpp:1267
+
BNO08x::disable_stability_classifier
void disable_stability_classifier()
Sends command to disable stability reports by setting report interval to 0.
Definition BNO08x.cpp:1387
+
BNO08x::SENSOR_REPORTID_GAME_ROTATION_VECTOR
static const constexpr uint8_t SENSOR_REPORTID_GAME_ROTATION_VECTOR
See SH2 Ref. Manual 6.5.19.
Definition BNO08x.hpp:407
+
BNO08x::raw_magf_Z
uint16_t raw_magf_Z
Definition BNO08x.hpp:342
+
BNO08x::raw_velocity_gyro_Z
uint16_t raw_velocity_gyro_Z
Raw gyro angular velocity reading (See SH-2 Ref. Manual 6.5.44)
Definition BNO08x.hpp:337
+
BNO08x::enable_rotation_vector
void enable_rotation_vector(uint32_t time_between_reports)
Sends command to enable rotation vector reports (See Ref. Manual 6.5.18)
Definition BNO08x.cpp:1008
+
BNO08x::get_magf_Z
float get_magf_Z()
Get Z component of magnetic field vector.
Definition BNO08x.cpp:1552
+
BNO08x::enable_tap_detector
void enable_tap_detector(uint32_t time_between_reports)
Sends command to enable tap detector reports (See Ref. Manual 6.5.27)
Definition BNO08x.cpp:1138
+
BNO08x::raw_accel_Y
uint16_t raw_accel_Y
Definition BNO08x.hpp:329
+
BNO08x::mems_raw_magf_X
uint16_t mems_raw_magf_X
Definition BNO08x.hpp:354
+
BNO08x::queue_request_product_id_command
void queue_request_product_id_command()
Queues a packet containing the request product ID command.
Definition BNO08x.cpp:443
+
BNO08x::mems_raw_gyro_Y
uint16_t mems_raw_gyro_Y
Definition BNO08x.hpp:352
+
BNO08x::get_gyro_calibrated_velocity_X
float get_gyro_calibrated_velocity_X()
Get calibrated gyro x axis angular velocity measurement.
Definition BNO08x.cpp:2055
+
BNO08x::SENSOR_REPORTID_UNCALIBRATED_GYRO
static const constexpr uint8_t SENSOR_REPORTID_UNCALIBRATED_GYRO
See SH2 Ref. Manual 6.5.14.
Definition BNO08x.hpp:406
+
BNO08x::FRS_RECORDID_MAGNETIC_FIELD_CALIBRATED
static const constexpr uint16_t FRS_RECORDID_MAGNETIC_FIELD_CALIBRATED
Definition BNO08x.hpp:271
+
BNO08x::TARE_GAME_ROTATION_VECTOR
static const constexpr uint8_t TARE_GAME_ROTATION_VECTOR
Tare game rotation vector.
Definition BNO08x.hpp:279
+
BNO08x::raw_lin_accel_Z
uint16_t raw_lin_accel_Z
Definition BNO08x.hpp:331
+
BNO08x::time_stamp
uint32_t time_stamp
Report timestamp (see datasheet 1.3.5.3)
Definition BNO08x.hpp:328
+
BNO08x::get_accel_X
float get_accel_X()
Get x axis acceleration (total acceleration of device, units in m/s^2).
Definition BNO08x.cpp:1849
+
BNO08x::enable_game_rotation_vector
void enable_game_rotation_vector(uint32_t time_between_reports)
Sends command to enable game rotation vector reports (See Ref. Manual 6.5.19)
Definition BNO08x.cpp:995
+
BNO08x::CALIBRATE_MAG
static const constexpr uint8_t CALIBRATE_MAG
Calibrate magnetometer command used by queue_calibrate_command.
Definition BNO08x.hpp:372
+
BNO08x::spi_transaction
spi_transaction_t spi_transaction
SPI transaction handle.
Definition BNO08x.hpp:325
+
BNO08x::mode_on
bool mode_on()
Turns on/ brings BNO08x sensor out of sleep mode using executable channel.
Definition BNO08x.cpp:287
+
BNO08x::command_sequence_number
uint8_t command_sequence_number
Sequence num of command, sent within command packet.
Definition BNO08x.hpp:317
+
BNO08x::calibrate_magnetometer
void calibrate_magnetometer()
Sends command to calibrate magnetometer.
Definition BNO08x.cpp:491
+
BNO08x::mems_raw_gyro_Z
uint16_t mems_raw_gyro_Z
Raw gyro readings from MEMS sensor (See SH-2 Ref. Manual 6.5.12)
Definition BNO08x.hpp:353
+
BNO08x::raw_bias_Y
uint16_t raw_bias_Y
Definition BNO08x.hpp:340
+
BNO08x::magf_accuracy
uint16_t magf_accuracy
Calibrated magnetic field reading in uTesla (See SH-2 Ref. Manual 6.5.16)
Definition BNO08x.hpp:343
+
BNO08x::SENSOR_REPORTID_RAW_MAGNETOMETER
static const constexpr uint8_t SENSOR_REPORTID_RAW_MAGNETOMETER
See SH2 Ref. Manual 6.5.15.
Definition BNO08x.hpp:415
+
BNO08x::end_calibration
void end_calibration()
Sends command to end calibration procedure.
Definition BNO08x.cpp:593
+
BNO08x::commands
uint8_t commands[20]
Command to be sent with send_packet()
Definition BNO08x.hpp:314
+
BNO08x::spi_hdl
spi_device_handle_t spi_hdl
SPI device handle.
Definition BNO08x.hpp:324
+
BNO08x::raw_uncalib_gyro_Y
uint16_t raw_uncalib_gyro_Y
Definition BNO08x.hpp:340
+
BNO08x::get_gravity_accuracy
uint8_t get_gravity_accuracy()
Get the reported gravity accuracy.
Definition BNO08x.cpp:1621
+
BNO08x::get_gyro_velocity_Y
float get_gyro_velocity_Y()
Get y axis angular velocity from gyro-integrated rotation vector. (See Ref. Manual 6....
Definition BNO08x.cpp:2216
+
BNO08x::raw_magf_Y
uint16_t raw_magf_Y
Definition BNO08x.hpp:342
+
BNO08x::get_gyro_velocity_X
float get_gyro_velocity_X()
Get x axis angular velocity from gyro-integrated rotation vector. (See Ref. Manual 6....
Definition BNO08x.cpp:2206
+
BNO08x::CALIBRATE_ACCEL
static const constexpr uint8_t CALIBRATE_ACCEL
Calibrate accelerometer command used by queue_calibrate_command.
Definition BNO08x.hpp:370
+
BNO08x::queue_calibrate_command
void queue_calibrate_command(uint8_t _to_calibrate)
Queues a packet containing a command to calibrate the specified sensor.
Definition BNO08x.cpp:516
+
BNO08x::LINEAR_ACCELEROMETER_Q1
static const constexpr int16_t LINEAR_ACCELEROMETER_Q1
Linear acceleration Q point (See SH-2 Ref. Manual 6.5.10)
Definition BNO08x.hpp:288
+
BNO08x::calibration_status
uint8_t calibration_status
Calibration status of device (See SH-2 Ref. Manual 6.4.7.1 & 6.4.7.2)
Definition BNO08x.hpp:349
+
BNO08x::get_uncalibrated_gyro_bias_X
float get_uncalibrated_gyro_bias_X()
Get uncalibrated gyro x axis drift estimate.
Definition BNO08x.cpp:2150
+
BNO08x::get_gyro_calibrated_velocity_Y
float get_gyro_calibrated_velocity_Y()
Get calibrated gyro y axis angular velocity measurement.
Definition BNO08x.cpp:2065
+
BNO08x::get_linear_accel
void get_linear_accel(float &x, float &y, float &z, uint8_t &accuracy)
Get full linear acceleration (acceleration of the device minus gravity, units in m/s^2).
Definition BNO08x.cpp:1894
+
BNO08x::disable_accelerometer
void disable_accelerometer()
Sends command to disable accelerometer reports by setting report interval to 0.
Definition BNO08x.cpp:1291
+
BNO08x::enable_gyro
void enable_gyro(uint32_t time_between_reports)
Sends command to enable gyro reports (See Ref. Manual 6.5.13)
Definition BNO08x.cpp:1099
+
BNO08x::enable_activity_classifier
void enable_activity_classifier(uint32_t time_between_reports, uint32_t activities_to_enable, uint8_t(&activity_confidence_vals)[9])
Sends command to enable activity classifier reports (See Ref. Manual 6.5.36)
Definition BNO08x.cpp:1179
+
BNO08x::step_count
uint16_t step_count
Step counter reading (See SH-2 Ref. Manual 6.5.29)
Definition BNO08x.hpp:345
+
BNO08x::mems_raw_accel_Y
uint16_t mems_raw_accel_Y
Definition BNO08x.hpp:350
+
BNO08x::get_time_stamp
uint32_t get_time_stamp()
Return timestamp of most recent report.
Definition BNO08x.cpp:1502
+
BNO08x::get_step_count
uint16_t get_step_count()
Get the counted amount of steps.
Definition BNO08x.cpp:2248
+
BNO08x::disable_raw_magnetometer
void disable_raw_magnetometer()
Sends command to disable raw magnetometer reports by setting report interval to 0.
Definition BNO08x.cpp:1435
+
BNO08x::get_raw_magf_X
int16_t get_raw_magf_X()
Get raw magnetometer x axis reading from physical magnetometer sensor (See Ref. Manual 6....
Definition BNO08x.cpp:2007
+
BNO08x::FRS_read_request
bool FRS_read_request(uint16_t record_ID, uint16_t read_offset, uint16_t block_size)
Requests meta data from BNO08x FRS (flash record system) given the record ID. Contains Q points and o...
Definition BNO08x.cpp:2460
+
BNO08x::gravity_accuracy
uint16_t gravity_accuracy
Gravity reading in m/s^2 (See SH-2 Ref. Manual 6.5.11)
Definition BNO08x.hpp:339
+
BNO08x::GRAVITY_Q1
static const constexpr int16_t GRAVITY_Q1
Gravity Q point (See SH-2 Ref. Manual 6.5.11)
Definition BNO08x.hpp:292
+
BNO08x::enable_linear_accelerometer
void enable_linear_accelerometer(uint32_t time_between_reports)
Sends command to enable linear accelerometer reports (See Ref. Manual 6.5.10)
Definition BNO08x.cpp:1073
+
BNO08x::raw_lin_accel_X
uint16_t raw_lin_accel_X
Definition BNO08x.hpp:331
+
BNO08x::get_gyro_velocity_Z
float get_gyro_velocity_Z()
Get z axis angular velocity from gyro-integrated rotation vector. (See Ref. Manual 6....
Definition BNO08x.cpp:2226
+
BNO08x::SHTP_REPORT_BASE_TIMESTAMP
static const constexpr uint8_t SHTP_REPORT_BASE_TIMESTAMP
See SH2 Ref. Manual 7.2.1.
Definition BNO08x.hpp:396
+
BNO08x::receive_packet
bool receive_packet()
Receives a SHTP packet via SPI.
Definition BNO08x.cpp:331
+
BNO08x::run_full_calibration_routine
bool run_full_calibration_routine()
Runs full calibration routine.
Definition BNO08x.cpp:624
+
BNO08x::HOST_INT_TIMEOUT_MS
static const constexpr uint64_t HOST_INT_TIMEOUT_MS
Max wait between HINT being asserted by BNO08x before transaction is considered failed (in milisecond...
Definition BNO08x.hpp:366
+
BNO08x::initialize
bool initialize()
Initializes BNO08x sensor.
Definition BNO08x.cpp:118
+
BNO08x::CALIBRATE_GYRO
static const constexpr uint8_t CALIBRATE_GYRO
Calibrate gyro command used by queue_calibrate_command.
Definition BNO08x.hpp:371
+
BNO08x::SHTP_REPORT_FRS_READ_RESPONSE
static const constexpr uint8_t SHTP_REPORT_FRS_READ_RESPONSE
See SH2 Ref. Manual 6.3.7.
Definition BNO08x.hpp:392
+
BNO08x::SENSOR_REPORTID_GEOMAGNETIC_ROTATION_VECTOR
static const constexpr uint8_t SENSOR_REPORTID_GEOMAGNETIC_ROTATION_VECTOR
See SH2 Ref. Manual 6.5.20.
Definition BNO08x.hpp:408
+
BNO08x::TARE_AXIS_Z
static const constexpr uint8_t TARE_AXIS_Z
Tar yaw axis only (used with tare now command)
Definition BNO08x.hpp:275
+
BNO08x::TARE_AR_VR_STABILIZED_GAME_ROTATION_VECTOR
static const constexpr uint8_t TARE_AR_VR_STABILIZED_GAME_ROTATION_VECTOR
Tare ARVR stabilized game rotation vector.
Definition BNO08x.hpp:283
+
BNO08x::imu_config
bno08x_config_t imu_config
IMU configuration settings.
Definition BNO08x.hpp:321
+
BNO08x::tx_semaphore
SemaphoreHandle_t tx_semaphore
Used to indicate to spi_task() whether or not a packet is currently waiting to be sent.
Definition BNO08x.hpp:308
+
BNO08x::SENSOR_REPORTID_GRAVITY
static const constexpr uint8_t SENSOR_REPORTID_GRAVITY
See SH2 Ref. Manual 6.5.11.
Definition BNO08x.hpp:405
+
BNO08x::calibrate_accelerometer
void calibrate_accelerometer()
Sends command to calibrate accelerometer.
Definition BNO08x.cpp:467
+
BNO08x::COMMAND_DCD
static const constexpr uint8_t COMMAND_DCD
Save DCD command (See SH2 Ref. Manual 6.4.7)
Definition BNO08x.hpp:383
+
BNO08x::get_raw_gyro_X
int16_t get_raw_gyro_X()
Get raw gyroscope x axis reading from physical gyroscope MEMs sensor (See Ref. Manual 6....
Definition BNO08x.cpp:1977
+
BNO08x::gravity_Y
uint16_t gravity_Y
Definition BNO08x.hpp:338
+
BNO08x::raw_accel_Z
uint16_t raw_accel_Z
Definition BNO08x.hpp:329
+
BNO08x::queue_feature_command
void queue_feature_command(uint8_t report_ID, uint32_t time_between_reports)
Queues a packet containing a command with a request for sensor reports, reported periodically....
Definition BNO08x.cpp:2612
+
BNO08x::gravity_X
uint16_t gravity_X
Definition BNO08x.hpp:338
+
BNO08x::get_pitch_deg
float get_pitch_deg()
Get the reported rotation about y axis.
Definition BNO08x.cpp:1724
+
BNO08x::CALIBRATE_ACCEL_GYRO_MAG
static const constexpr uint8_t CALIBRATE_ACCEL_GYRO_MAG
Calibrate accelerometer, gyro, & magnetometer command used by queue_calibrate_command.
Definition BNO08x.hpp:374
+
BNO08x::packet_length_rx
uint16_t packet_length_rx
Packet length received (calculated from packet_header_rx)
Definition BNO08x.hpp:319
+
BNO08x::get_yaw_deg
float get_yaw_deg()
Get the reported rotation about z axis.
Definition BNO08x.cpp:1734
+
BNO08x::activity_confidences
uint8_t * activity_confidences
Confidence of read activities (See SH-2 Ref. Manual 6.5.36)
Definition BNO08x.hpp:348
+
BNO08x::gravity_Z
uint16_t gravity_Z
Definition BNO08x.hpp:338
+
BNO08x::raw_uncalib_gyro_Z
uint16_t raw_uncalib_gyro_Z
Definition BNO08x.hpp:340
+
BNO08x::SENSOR_REPORTID_STABILITY_CLASSIFIER
static const constexpr uint8_t SENSOR_REPORTID_STABILITY_CLASSIFIER
See SH2 Ref. Manual 6.5.31.
Definition BNO08x.hpp:412
+
BNO08x::save_tare
void save_tare()
Sends command to save tare into non-volatile memory of BNO08x (See Ref. Manual 6.4....
Definition BNO08x.cpp:1462
+
BNO08x::disable_linear_accelerometer
void disable_linear_accelerometer()
Sends command to disable linear accelerometer reports by setting report interval to 0.
Definition BNO08x.cpp:1303
+
BNO08x::calibrate_all
void calibrate_all()
Sends command to calibrate accelerometer, gyro, and magnetometer.
Definition BNO08x.cpp:455
+
BNO08x::raw_uncalib_gyro_X
uint16_t raw_uncalib_gyro_X
Definition BNO08x.hpp:340
+
BNO08x::get_accel_Y
float get_accel_Y()
Get y axis acceleration (total acceleration of device, units in m/s^2).
Definition BNO08x.cpp:1859
+
BNO08x::get_linear_accel_Z
float get_linear_accel_Z()
Get z axis linear acceleration (acceleration of device minus gravity, units in m/s^2)
Definition BNO08x.cpp:1927
+
BNO08x::clear_tare
void clear_tare()
Sends command to clear persistent tare settings in non-volatile memory of BNO08x (See Ref....
Definition BNO08x.cpp:1474
+
BNO08x::get_gyro_velocity
void get_gyro_velocity(float &x, float &y, float &z)
Full rotational velocity from gyro-integrated rotation vector (See Ref. Manual 6.5....
Definition BNO08x.cpp:2194
+
BNO08x::raw_lin_accel_Y
uint16_t raw_lin_accel_Y
Definition BNO08x.hpp:331
+
BNO08x::get_raw_gyro_Y
int16_t get_raw_gyro_Y()
Get raw gyroscope y axis reading from physical gyroscope MEMs sensor (See Ref. Manual 6....
Definition BNO08x.cpp:1987
+
BNO08x::request_calibration_status
void request_calibration_status()
Requests ME calibration status from BNO08x (see Ref. Manual 6.4.7.2)
Definition BNO08x.cpp:563
bno08x_config_t
IMU configuration settings passed into constructor.
Definition BNO08x.hpp:39
bno08x_config_t::spi_peripheral
spi_host_device_t spi_peripheral
SPI peripheral to be used.
Definition BNO08x.hpp:40
bno08x_config_t::io_int
gpio_num_t io_int
Chip select pin (connects to BNO08x CS pin)
Definition BNO08x.hpp:45
diff --git a/documentation/html/class_b_n_o08x-members.html b/documentation/html/class_b_n_o08x-members.html index 0ea2a37..6012d45 100644 --- a/documentation/html/class_b_n_o08x-members.html +++ b/documentation/html/class_b_n_o08x-members.html @@ -113,24 +113,42 @@ $(function() { commandsBNO08xprivate data_available()BNO08x default_imu_configBNO08xprivatestatic - enable_accelerometer(uint16_t time_between_reports)BNO08x - enable_activity_classifier(uint16_t time_between_reports, uint32_t activities_to_enable, uint8_t(&activity_confidence_vals)[9])BNO08x - enable_ARVR_stabilized_game_rotation_vector(uint16_t time_between_reports)BNO08x - enable_ARVR_stabilized_rotation_vector(uint16_t time_between_reports)BNO08x - enable_game_rotation_vector(uint16_t time_between_reports)BNO08x - enable_gravity(uint16_t time_between_reports)BNO08x - enable_gyro(uint16_t time_between_reports)BNO08x - enable_gyro_integrated_rotation_vector(uint16_t timeBetweenReports)BNO08x - enable_linear_accelerometer(uint16_t time_between_reports)BNO08x - enable_magnetometer(uint16_t time_between_reports)BNO08x - enable_raw_accelerometer(uint16_t time_between_reports)BNO08x - enable_raw_gyro(uint16_t time_between_reports)BNO08x - enable_raw_magnetometer(uint16_t time_between_reports)BNO08x - enable_rotation_vector(uint16_t time_between_reports)BNO08x - enable_stability_classifier(uint16_t time_between_reports)BNO08x - enable_step_counter(uint16_t time_between_reports)BNO08x - enable_tap_detector(uint16_t time_between_reports)BNO08x - enable_uncalibrated_gyro(uint16_t time_between_reports)BNO08x + disable_accelerometer()BNO08x + disable_activity_classifier()BNO08x + disable_ARVR_stabilized_game_rotation_vector()BNO08x + disable_ARVR_stabilized_rotation_vector()BNO08x + disable_game_rotation_vector()BNO08x + disable_gravity()BNO08x + disable_gyro()BNO08x + disable_gyro_integrated_rotation_vector()BNO08x + disable_linear_accelerometer()BNO08x + disable_magnetometer()BNO08x + disable_raw_accelerometer()BNO08x + disable_raw_gyro()BNO08x + disable_raw_magnetometer()BNO08x + disable_rotation_vector()BNO08x + disable_stability_classifier()BNO08x + disable_step_counter()BNO08x + disable_tap_detector()BNO08x + disable_uncalibrated_gyro()BNO08x + enable_accelerometer(uint32_t time_between_reports)BNO08x + enable_activity_classifier(uint32_t time_between_reports, uint32_t activities_to_enable, uint8_t(&activity_confidence_vals)[9])BNO08x + enable_ARVR_stabilized_game_rotation_vector(uint32_t time_between_reports)BNO08x + enable_ARVR_stabilized_rotation_vector(uint32_t time_between_reports)BNO08x + enable_game_rotation_vector(uint32_t time_between_reports)BNO08x + enable_gravity(uint32_t time_between_reports)BNO08x + enable_gyro(uint32_t time_between_reports)BNO08x + enable_gyro_integrated_rotation_vector(uint32_t time_between_reports)BNO08x + enable_linear_accelerometer(uint32_t time_between_reports)BNO08x + enable_magnetometer(uint32_t time_between_reports)BNO08x + enable_raw_accelerometer(uint32_t time_between_reports)BNO08x + enable_raw_gyro(uint32_t time_between_reports)BNO08x + enable_raw_magnetometer(uint32_t time_between_reports)BNO08x + enable_rotation_vector(uint32_t time_between_reports)BNO08x + enable_stability_classifier(uint32_t time_between_reports)BNO08x + enable_step_counter(uint32_t time_between_reports)BNO08x + enable_tap_detector(uint32_t time_between_reports)BNO08x + enable_uncalibrated_gyro(uint32_t time_between_reports)BNO08x end_calibration()BNO08x FRS_read_data(uint16_t record_ID, uint8_t start_location, uint8_t words_to_read)BNO08x FRS_read_request(uint16_t record_ID, uint16_t read_offset, uint16_t block_size)BNO08x @@ -251,8 +269,8 @@ $(function() { quat_accuracyBNO08xprivate queue_calibrate_command(uint8_t _to_calibrate)BNO08xprivate queue_command(uint8_t command)BNO08xprivate - queue_feature_command(uint8_t report_ID, uint16_t time_between_reports)BNO08xprivate - queue_feature_command(uint8_t report_ID, uint16_t time_between_reports, uint32_t specific_config)BNO08xprivate + queue_feature_command(uint8_t report_ID, uint32_t time_between_reports)BNO08xprivate + queue_feature_command(uint8_t report_ID, uint32_t time_between_reports, uint32_t specific_config)BNO08xprivate queue_packet(uint8_t channel_number, uint8_t data_length)BNO08xprivate queue_request_product_id_command()BNO08xprivate queue_tare_command(uint8_t command, uint8_t axis=TARE_AXIS_ALL, uint8_t rotation_vector_basis=TARE_ROTATION_VECTOR)BNO08xprivate @@ -336,17 +354,16 @@ $(function() { TARE_GAME_ROTATION_VECTORBNO08xstatic TARE_GEOMAGNETIC_ROTATION_VECTORBNO08xstatic TARE_GYRO_INTEGRATED_ROTATION_VECTORBNO08xstatic - tare_now(uint8_t axis_sel=TARE_AXIS_ALL, uint8_t rotation_vector_basis=TARE_ROTATION_VECTOR)BNO08x - TARE_NOWBNO08xprivatestatic + TARE_NOWBNO08xprivatestatic + tare_now(uint8_t axis_sel=TARE_AXIS_ALL, uint8_t rotation_vector_basis=TARE_ROTATION_VECTOR)BNO08x TARE_PERSISTBNO08xprivatestatic TARE_ROTATION_VECTORBNO08xstatic TARE_SET_REORIENTATIONBNO08xprivatestatic time_stampBNO08xprivate tx_bufferBNO08xprivate - tx_packet_queuedBNO08xprivate - tx_semaphoreBNO08xprivate - uncalib_gyro_accuracyBNO08xprivate - wait_for_device_int()BNO08xprivate + tx_semaphoreBNO08xprivate + uncalib_gyro_accuracyBNO08xprivate + wait_for_device_int()BNO08xprivate
diff --git a/documentation/html/class_b_n_o08x.html b/documentation/html/class_b_n_o08x.html index 7426253..ab89d1e 100644 --- a/documentation/html/class_b_n_o08x.html +++ b/documentation/html/class_b_n_o08x.html @@ -142,60 +142,114 @@ Public Member Functions void save_calibration ()  Sends command to save internal calibration data (See Ref. Manual 6.4.7).
  -void enable_rotation_vector (uint16_t time_between_reports) - Sends command to enable rotation vector reports (See Ref. Manual 6.5.18)
-  -void enable_game_rotation_vector (uint16_t time_between_reports) - Sends command to enable game rotation vector reports (See Ref. Manual 6.5.19)
-  -void enable_ARVR_stabilized_rotation_vector (uint16_t time_between_reports) - Sends command to enable ARVR stabilized rotation vector reports (See Ref. Manual 6.5.42)
-  -void enable_ARVR_stabilized_game_rotation_vector (uint16_t time_between_reports) - Sends command to enable ARVR stabilized game rotation vector reports (See Ref. Manual 6.5.43)
-  -void enable_gyro_integrated_rotation_vector (uint16_t timeBetweenReports) - Sends command to enable gyro integrated rotation vector reports (See Ref. Manual 6.5.44)
-  -void enable_accelerometer (uint16_t time_between_reports) - Sends command to enable accelerometer reports (See Ref. Manual 6.5.9)
-  -void enable_linear_accelerometer (uint16_t time_between_reports) - Sends command to enable linear accelerometer reports (See Ref. Manual 6.5.10)
-  -void enable_gravity (uint16_t time_between_reports) - Sends command to enable gravity reading reports (See Ref. Manual 6.5.11)
-  -void enable_gyro (uint16_t time_between_reports) - Sends command to enable gyro reports (See Ref. Manual 6.5.13)
-  -void enable_uncalibrated_gyro (uint16_t time_between_reports) - Sends command to enable uncalibrated gyro reports (See Ref. Manual 6.5.14)
-  -void enable_magnetometer (uint16_t time_between_reports) - Sends command to enable magnetometer reports (See Ref. Manual 6.5.16)
-  -void enable_tap_detector (uint16_t time_between_reports) - Sends command to enable tap detector reports (See Ref. Manual 6.5.27)
-  -void enable_step_counter (uint16_t time_between_reports) - Sends command to enable step counter reports (See Ref. Manual 6.5.29)
-  -void enable_stability_classifier (uint16_t time_between_reports) - Sends command to enable activity stability classifier reports (See Ref. Manual 6.5.31)
-  -void enable_activity_classifier (uint16_t time_between_reports, uint32_t activities_to_enable, uint8_t(&activity_confidence_vals)[9]) - Sends command to enable activity classifier reports (See Ref. Manual 6.5.36)
-  -void enable_raw_accelerometer (uint16_t time_between_reports) - Sends command to enable raw accelerometer reports (See Ref. Manual 6.5.8)
-  -void enable_raw_gyro (uint16_t time_between_reports) - Sends command to enable raw gyro reports (See Ref. Manual 6.5.12)
-  -void enable_raw_magnetometer (uint16_t time_between_reports) - Sends command to enable raw magnetometer reports (See Ref. Manual 6.5.15)
-  +void enable_rotation_vector (uint32_t time_between_reports) + Sends command to enable rotation vector reports (See Ref. Manual 6.5.18)
+  +void enable_game_rotation_vector (uint32_t time_between_reports) + Sends command to enable game rotation vector reports (See Ref. Manual 6.5.19)
+  +void enable_ARVR_stabilized_rotation_vector (uint32_t time_between_reports) + Sends command to enable ARVR stabilized rotation vector reports (See Ref. Manual 6.5.42)
+  +void enable_ARVR_stabilized_game_rotation_vector (uint32_t time_between_reports) + Sends command to enable ARVR stabilized game rotation vector reports (See Ref. Manual 6.5.43)
+  +void enable_gyro_integrated_rotation_vector (uint32_t time_between_reports) + Sends command to enable gyro integrated rotation vector reports (See Ref. Manual 6.5.44)
+  +void enable_accelerometer (uint32_t time_between_reports) + Sends command to enable accelerometer reports (See Ref. Manual 6.5.9)
+  +void enable_linear_accelerometer (uint32_t time_between_reports) + Sends command to enable linear accelerometer reports (See Ref. Manual 6.5.10)
+  +void enable_gravity (uint32_t time_between_reports) + Sends command to enable gravity reading reports (See Ref. Manual 6.5.11)
+  +void enable_gyro (uint32_t time_between_reports) + Sends command to enable gyro reports (See Ref. Manual 6.5.13)
+  +void enable_uncalibrated_gyro (uint32_t time_between_reports) + Sends command to enable uncalibrated gyro reports (See Ref. Manual 6.5.14)
+  +void enable_magnetometer (uint32_t time_between_reports) + Sends command to enable magnetometer reports (See Ref. Manual 6.5.16)
+  +void enable_tap_detector (uint32_t time_between_reports) + Sends command to enable tap detector reports (See Ref. Manual 6.5.27)
+  +void enable_step_counter (uint32_t time_between_reports) + Sends command to enable step counter reports (See Ref. Manual 6.5.29)
+  +void enable_stability_classifier (uint32_t time_between_reports) + Sends command to enable activity stability classifier reports (See Ref. Manual 6.5.31)
+  +void enable_activity_classifier (uint32_t time_between_reports, uint32_t activities_to_enable, uint8_t(&activity_confidence_vals)[9]) + Sends command to enable activity classifier reports (See Ref. Manual 6.5.36)
+  +void enable_raw_accelerometer (uint32_t time_between_reports) + Sends command to enable raw accelerometer reports (See Ref. Manual 6.5.8)
+  +void enable_raw_gyro (uint32_t time_between_reports) + Sends command to enable raw gyro reports (See Ref. Manual 6.5.12)
+  +void enable_raw_magnetometer (uint32_t time_between_reports) + Sends command to enable raw magnetometer reports (See Ref. Manual 6.5.15)
+  +void disable_rotation_vector () + Sends command to disable rotation vector reports by setting report interval to 0.
+  +void disable_game_rotation_vector () + Sends command to disable game rotation vector reports by setting report interval to 0.
+  +void disable_ARVR_stabilized_rotation_vector () + Sends command to disable ARVR stabilized rotation vector reports by setting report interval to 0.
+  +void disable_ARVR_stabilized_game_rotation_vector () + Sends command to disable ARVR stabilized game rotation vector reports by setting report interval to 0.
+  +void disable_gyro_integrated_rotation_vector () + Sends command to disable gyro integrated rotation vector reports by setting report interval to 0.
+  +void disable_accelerometer () + Sends command to disable accelerometer reports by setting report interval to 0.
+  +void disable_linear_accelerometer () + Sends command to disable linear accelerometer reports by setting report interval to 0.
+  +void disable_gravity () + Sends command to disable gravity reports by setting report interval to 0.
+  +void disable_gyro () + Sends command to disable gyro reports by setting report interval to 0.
+  +void disable_uncalibrated_gyro () + Sends command to disable uncalibrated gyro reports by setting report interval to 0.
+  +void disable_magnetometer () + Sends command to disable magnetometer reports by setting report interval to 0.
+  +void disable_tap_detector () + Sends command to disable tap detector reports by setting report interval to 0.
+  +void disable_step_counter () + Sends command to disable step counter reports by setting report interval to 0.
+  +void disable_stability_classifier () + Sends command to disable stability reports by setting report interval to 0.
+  +void disable_activity_classifier () + Sends command to disable activity classifier reports by setting report interval to 0.
+  +void disable_raw_accelerometer () + Sends command to disable raw accelerometer reports by setting report interval to 0.
+  +void disable_raw_gyro () + Sends command to disable raw gyro reports by setting report interval to 0.
+  +void disable_raw_magnetometer () + Sends command to disable raw magnetometer reports by setting report interval to 0.
+  void tare_now (uint8_t axis_sel=TARE_AXIS_ALL, uint8_t rotation_vector_basis=TARE_ROTATION_VECTOR)  Sends command to tare an axis (See Ref. Manual 6.4.4.1)
  @@ -515,12 +569,12 @@ Private Member Functions void queue_command (uint8_t command)  Queues a packet containing a command.
  -void queue_feature_command (uint8_t report_ID, uint16_t time_between_reports) - Queues a packet containing a command with a request for sensor reports, reported periodically. (See Ref. Manual 6.5.4)
-  -void queue_feature_command (uint8_t report_ID, uint16_t time_between_reports, uint32_t specific_config) - Queues a packet containing a command with a request for sensor reports, reported periodically. (See Ref. Manual 6.5.4)
-  +void queue_feature_command (uint8_t report_ID, uint32_t time_between_reports) + Queues a packet containing a command with a request for sensor reports, reported periodically. (See Ref. Manual 6.5.4)
+  +void queue_feature_command (uint8_t report_ID, uint32_t time_between_reports, uint32_t specific_config) + Queues a packet containing a command with a request for sensor reports, reported periodically. (See Ref. Manual 6.5.4)
+  void queue_calibrate_command (uint8_t _to_calibrate)  Queues a packet containing a command to calibrate the specified sensor.
  @@ -545,11 +599,8 @@ Static Private Member Functions - - - - + @@ -1059,8 +1110,368 @@ Static Private Attributes - -

◆ enable_accelerometer()

+ +

◆ disable_accelerometer()

+ +
+
+

Private Attributes

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.
 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.
+ + + + + + +
void BNO08x::disable_accelerometer ()
+
+ +

Sends command to disable accelerometer reports by setting report interval to 0.

+
Returns
void, nothing to return
+ +
+ + +

◆ disable_activity_classifier()

+ +
+
+ + + + + + + +
void BNO08x::disable_activity_classifier ()
+
+ +

Sends command to disable activity classifier reports by setting report interval to 0.

+
Returns
void, nothing to return
+ +
+
+ +

◆ disable_ARVR_stabilized_game_rotation_vector()

+ +
+
+ + + + + + + +
void BNO08x::disable_ARVR_stabilized_game_rotation_vector ()
+
+ +

Sends command to disable ARVR stabilized game rotation vector reports by setting report interval to 0.

+
Returns
void, nothing to return
+ +
+
+ +

◆ disable_ARVR_stabilized_rotation_vector()

+ +
+
+ + + + + + + +
void BNO08x::disable_ARVR_stabilized_rotation_vector ()
+
+ +

Sends command to disable ARVR stabilized rotation vector reports by setting report interval to 0.

+
Returns
void, nothing to return
+ +
+
+ +

◆ disable_game_rotation_vector()

+ +
+
+ + + + + + + +
void BNO08x::disable_game_rotation_vector ()
+
+ +

Sends command to disable game rotation vector reports by setting report interval to 0.

+
Returns
void, nothing to return
+ +
+
+ +

◆ disable_gravity()

+ +
+
+ + + + + + + +
void BNO08x::disable_gravity ()
+
+ +

Sends command to disable gravity reports by setting report interval to 0.

+
Returns
void, nothing to return
+ +
+
+ +

◆ disable_gyro()

+ +
+
+ + + + + + + +
void BNO08x::disable_gyro ()
+
+ +

Sends command to disable gyro reports by setting report interval to 0.

+
Returns
void, nothing to return
+ +
+
+ +

◆ disable_gyro_integrated_rotation_vector()

+ +
+
+ + + + + + + +
void BNO08x::disable_gyro_integrated_rotation_vector ()
+
+ +

Sends command to disable gyro integrated rotation vector reports by setting report interval to 0.

+
Returns
void, nothing to return
+ +
+
+ +

◆ disable_linear_accelerometer()

+ +
+
+ + + + + + + +
void BNO08x::disable_linear_accelerometer ()
+
+ +

Sends command to disable linear accelerometer reports by setting report interval to 0.

+
Returns
void, nothing to return
+ +
+
+ +

◆ disable_magnetometer()

+ +
+
+ + + + + + + +
void BNO08x::disable_magnetometer ()
+
+ +

Sends command to disable magnetometer reports by setting report interval to 0.

+
Returns
void, nothing to return
+ +
+
+ +

◆ disable_raw_accelerometer()

+ +
+
+ + + + + + + +
void BNO08x::disable_raw_accelerometer ()
+
+ +

Sends command to disable raw accelerometer reports by setting report interval to 0.

+
Returns
void, nothing to return
+ +
+
+ +

◆ disable_raw_gyro()

+ +
+
+ + + + + + + +
void BNO08x::disable_raw_gyro ()
+
+ +

Sends command to disable raw gyro reports by setting report interval to 0.

+
Returns
void, nothing to return
+ +
+
+ +

◆ disable_raw_magnetometer()

+ +
+
+ + + + + + + +
void BNO08x::disable_raw_magnetometer ()
+
+ +

Sends command to disable raw magnetometer reports by setting report interval to 0.

+
Returns
void, nothing to return
+ +
+
+ +

◆ disable_rotation_vector()

+ +
+
+ + + + + + + +
void BNO08x::disable_rotation_vector ()
+
+ +

Sends command to disable rotation vector reports by setting report interval to 0.

+
Returns
void, nothing to return
+ +
+
+ +

◆ disable_stability_classifier()

+ +
+
+ + + + + + + +
void BNO08x::disable_stability_classifier ()
+
+ +

Sends command to disable stability reports by setting report interval to 0.

+
Returns
void, nothing to return
+ +
+
+ +

◆ disable_step_counter()

+ +
+
+ + + + + + + +
void BNO08x::disable_step_counter ()
+
+ +

Sends command to disable step counter reports by setting report interval to 0.

+
Returns
void, nothing to return
+ +
+
+ +

◆ disable_tap_detector()

+ +
+
+ + + + + + + +
void BNO08x::disable_tap_detector ()
+
+ +

Sends command to disable tap detector reports by setting report interval to 0.

+
Returns
void, nothing to return
+ +
+
+ +

◆ disable_uncalibrated_gyro()

+ +
+
+ + + + + + + +
void BNO08x::disable_uncalibrated_gyro ()
+
+ +

Sends command to disable uncalibrated gyro reports by setting report interval to 0.

+
Returns
void, nothing to return
+ +
+
+ +

◆ enable_accelerometer()

@@ -1068,7 +1479,7 @@ Static Private Attributes void BNO08x::enable_accelerometer ( - uint16_t time_between_reports) + uint32_t time_between_reports) @@ -1077,7 +1488,7 @@ Static Private Attributes

Sends command to enable accelerometer reports (See Ref. Manual 6.5.9)

Parameters
- +
time_between_reportsDesired time between reports in miliseconds.
time_between_reportsDesired time between reports in microseconds.
@@ -1085,8 +1496,8 @@ Static Private Attributes
- -

◆ enable_activity_classifier()

+ +

◆ enable_activity_classifier()

@@ -1094,7 +1505,7 @@ Static Private Attributes void BNO08x::enable_activity_classifier ( - uint16_t time_between_reports, + uint32_t time_between_reports, @@ -1112,7 +1523,7 @@ Static Private Attributes

Sends command to enable activity classifier reports (See Ref. Manual 6.5.36)

Parameters
- +
time_between_reportsDesired time between reports in miliseconds.
time_between_reportsDesired time between reports in microseconds.
activities_to_enableDesired activities to enable (0x1F enables all).
activity_confidence_valsReturned activity level confidences.
@@ -1122,8 +1533,8 @@ Static Private Attributes
- -

◆ enable_ARVR_stabilized_game_rotation_vector()

+ +

◆ enable_ARVR_stabilized_game_rotation_vector()

@@ -1131,7 +1542,7 @@ Static Private Attributes void BNO08x::enable_ARVR_stabilized_game_rotation_vector ( - uint16_t time_between_reports) + uint32_t time_between_reports) @@ -1140,7 +1551,7 @@ Static Private Attributes

Sends command to enable ARVR stabilized game rotation vector reports (See Ref. Manual 6.5.43)

Parameters
- +
time_between_reportsDesired time between reports in miliseconds.
time_between_reportsDesired time between reports in microseconds.
@@ -1148,8 +1559,8 @@ Static Private Attributes
- -

◆ enable_ARVR_stabilized_rotation_vector()

+ +

◆ enable_ARVR_stabilized_rotation_vector()

@@ -1157,7 +1568,7 @@ Static Private Attributes void BNO08x::enable_ARVR_stabilized_rotation_vector ( - uint16_t time_between_reports) + uint32_t time_between_reports) @@ -1166,7 +1577,7 @@ Static Private Attributes

Sends command to enable ARVR stabilized rotation vector reports (See Ref. Manual 6.5.42)

Parameters
- +
time_between_reportsDesired time between reports in miliseconds.
time_between_reportsDesired time between reports in microseconds.
@@ -1174,8 +1585,8 @@ Static Private Attributes
- -

◆ enable_game_rotation_vector()

+ +

◆ enable_game_rotation_vector()

@@ -1183,7 +1594,7 @@ Static Private Attributes void BNO08x::enable_game_rotation_vector ( - uint16_t time_between_reports) + uint32_t time_between_reports) @@ -1192,7 +1603,7 @@ Static Private Attributes

Sends command to enable game rotation vector reports (See Ref. Manual 6.5.19)

Parameters
- +
time_between_reportsDesired time between reports in miliseconds.
time_between_reportsDesired time between reports in microseconds.
@@ -1200,8 +1611,8 @@ Static Private Attributes
- -

◆ enable_gravity()

+ +

◆ enable_gravity()

@@ -1209,7 +1620,7 @@ Static Private Attributes void BNO08x::enable_gravity ( - uint16_t time_between_reports) + uint32_t time_between_reports) @@ -1218,7 +1629,7 @@ Static Private Attributes

Sends command to enable gravity reading reports (See Ref. Manual 6.5.11)

Parameters
- +
time_between_reportsDesired time between reports in miliseconds.
time_between_reportsDesired time between reports in microseconds.
@@ -1226,8 +1637,8 @@ Static Private Attributes
- -

◆ enable_gyro()

+ +

◆ enable_gyro()

@@ -1235,7 +1646,7 @@ Static Private Attributes void BNO08x::enable_gyro ( - uint16_t time_between_reports) + uint32_t time_between_reports) @@ -1244,7 +1655,7 @@ Static Private Attributes

Sends command to enable gyro reports (See Ref. Manual 6.5.13)

Parameters
- +
time_between_reportsDesired time between reports in miliseconds.
time_between_reportsDesired time between reports in microseconds.
@@ -1252,8 +1663,8 @@ Static Private Attributes
- -

◆ enable_gyro_integrated_rotation_vector()

+ +

◆ enable_gyro_integrated_rotation_vector()

@@ -1261,7 +1672,7 @@ Static Private Attributes void BNO08x::enable_gyro_integrated_rotation_vector ( - uint16_t time_between_reports) + uint32_t time_between_reports) @@ -1270,7 +1681,7 @@ Static Private Attributes

Sends command to enable gyro integrated rotation vector reports (See Ref. Manual 6.5.44)

Parameters
- +
time_between_reportsDesired time between reports in miliseconds.
time_between_reportsDesired time between reports in microseconds.
@@ -1278,8 +1689,8 @@ Static Private Attributes
- -

◆ enable_linear_accelerometer()

+ +

◆ enable_linear_accelerometer()

@@ -1287,7 +1698,7 @@ Static Private Attributes void BNO08x::enable_linear_accelerometer ( - uint16_t time_between_reports) + uint32_t time_between_reports) @@ -1296,7 +1707,7 @@ Static Private Attributes

Sends command to enable linear accelerometer reports (See Ref. Manual 6.5.10)

Parameters
- +
time_between_reportsDesired time between reports in miliseconds.
time_between_reportsDesired time between reports in microseconds.
@@ -1304,8 +1715,8 @@ Static Private Attributes
- -

◆ enable_magnetometer()

+ +

◆ enable_magnetometer()

@@ -1313,7 +1724,7 @@ Static Private Attributes void BNO08x::enable_magnetometer ( - uint16_t time_between_reports) + uint32_t time_between_reports) @@ -1322,7 +1733,7 @@ Static Private Attributes

Sends command to enable magnetometer reports (See Ref. Manual 6.5.16)

Parameters
- +
time_between_reportsDesired time between reports in miliseconds.
time_between_reportsDesired time between reports in microseconds.
@@ -1330,8 +1741,8 @@ Static Private Attributes
- -

◆ enable_raw_accelerometer()

+ +

◆ enable_raw_accelerometer()

@@ -1339,7 +1750,7 @@ Static Private Attributes void BNO08x::enable_raw_accelerometer ( - uint16_t time_between_reports) + uint32_t time_between_reports) @@ -1348,7 +1759,7 @@ Static Private Attributes

Sends command to enable raw accelerometer reports (See Ref. Manual 6.5.8)

Parameters
- +
time_between_reportsDesired time between reports in miliseconds.
time_between_reportsDesired time between reports in microseconds.
@@ -1356,8 +1767,8 @@ Static Private Attributes
- -

◆ enable_raw_gyro()

+ +

◆ enable_raw_gyro()

@@ -1365,7 +1776,7 @@ Static Private Attributes void BNO08x::enable_raw_gyro ( - uint16_t time_between_reports) + uint32_t time_between_reports) @@ -1374,7 +1785,7 @@ Static Private Attributes

Sends command to enable raw gyro reports (See Ref. Manual 6.5.12)

Parameters
- +
time_between_reportsDesired time between reports in miliseconds.
time_between_reportsDesired time between reports in microseconds.
@@ -1382,8 +1793,8 @@ Static Private Attributes
- -

◆ enable_raw_magnetometer()

+ +

◆ enable_raw_magnetometer()

@@ -1391,7 +1802,7 @@ Static Private Attributes void BNO08x::enable_raw_magnetometer ( - uint16_t time_between_reports) + uint32_t time_between_reports) @@ -1400,7 +1811,7 @@ Static Private Attributes

Sends command to enable raw magnetometer reports (See Ref. Manual 6.5.15)

Parameters
- +
time_between_reportsDesired time between reports in miliseconds.
time_between_reportsDesired time between reports in microseconds.
@@ -1408,8 +1819,8 @@ Static Private Attributes
- -

◆ enable_rotation_vector()

+ +

◆ enable_rotation_vector()

@@ -1417,7 +1828,7 @@ Static Private Attributes void BNO08x::enable_rotation_vector ( - uint16_t time_between_reports) + uint32_t time_between_reports) @@ -1426,7 +1837,7 @@ Static Private Attributes

Sends command to enable rotation vector reports (See Ref. Manual 6.5.18)

Parameters
- +
time_between_reportsDesired time between reports in miliseconds.
time_between_reportsDesired time between reports in microseconds.
@@ -1434,8 +1845,8 @@ Static Private Attributes
- -

◆ enable_stability_classifier()

+ +

◆ enable_stability_classifier()

@@ -1443,7 +1854,7 @@ Static Private Attributes void BNO08x::enable_stability_classifier ( - uint16_t time_between_reports) + uint32_t time_between_reports) @@ -1452,7 +1863,7 @@ Static Private Attributes

Sends command to enable activity stability classifier reports (See Ref. Manual 6.5.31)

Parameters
- +
time_between_reportsDesired time between reports in miliseconds.
time_between_reportsDesired time between reports in microseconds.
@@ -1460,8 +1871,8 @@ Static Private Attributes
- -

◆ enable_step_counter()

+ +

◆ enable_step_counter()

@@ -1469,7 +1880,7 @@ Static Private Attributes void BNO08x::enable_step_counter ( - uint16_t time_between_reports) + uint32_t time_between_reports) @@ -1478,7 +1889,7 @@ Static Private Attributes

Sends command to enable step counter reports (See Ref. Manual 6.5.29)

Parameters
- +
time_between_reportsDesired time between reports in miliseconds.
time_between_reportsDesired time between reports in microseconds.
@@ -1486,8 +1897,8 @@ Static Private Attributes
- -

◆ enable_tap_detector()

+ +

◆ enable_tap_detector()

@@ -1495,7 +1906,7 @@ Static Private Attributes void BNO08x::enable_tap_detector ( - uint16_t time_between_reports) + uint32_t time_between_reports) @@ -1504,7 +1915,7 @@ Static Private Attributes

Sends command to enable tap detector reports (See Ref. Manual 6.5.27)

Parameters
- +
time_between_reportsDesired time between reports in miliseconds.
time_between_reportsDesired time between reports in microseconds.
@@ -1512,8 +1923,8 @@ Static Private Attributes
- -

◆ enable_uncalibrated_gyro()

+ +

◆ enable_uncalibrated_gyro()

@@ -1521,7 +1932,7 @@ Static Private Attributes void BNO08x::enable_uncalibrated_gyro ( - uint16_t time_between_reports) + uint32_t time_between_reports) @@ -1530,7 +1941,7 @@ Static Private Attributes

Sends command to enable uncalibrated gyro reports (See Ref. Manual 6.5.14)

Parameters
- +
time_between_reportsDesired time between reports in miliseconds.
time_between_reportsDesired time between reports in microseconds.
@@ -3615,8 +4026,8 @@ Static Private Attributes
- -

◆ queue_feature_command() [1/2]

+ +

◆ queue_feature_command() [1/2]

@@ -3632,7 +4043,7 @@ Static Private Attributes - uint16_t time_between_reports ) + uint32_t time_between_reports ) @@ -3654,8 +4065,8 @@ Static Private Attributes
- -

◆ queue_feature_command() [2/2]

+ +

◆ queue_feature_command() [2/2]

@@ -3671,7 +4082,7 @@ Static Private Attributes - uint16_t time_between_reports, + uint32_t time_between_reports, @@ -3690,7 +4101,7 @@ Static Private Attributes
Parameters
- +
report_IDID of sensor report to be enabled.
time_between_reportsDesired time between reports in miliseconds.
time_between_reportsDesired time between reports in microseconds.
specific_configSpecific config word (used with personal activity classifier)
@@ -7264,30 +7675,6 @@ Static Private Attributes

buffer used for sending packet with send_packet()

-
-
- -

◆ tx_packet_queued

- -
-
- - - - - -
- - - - -
volatile uint8_t BNO08x::tx_packet_queued
- 		-private
-
- -

Whether or not a packet is currently waiting to be sent, a queued packet is sent on assertion of BNO08x HINT pin)

-
@@ -7310,7 +7697,7 @@ Static Private Attributes
-

Mutex semaphore used to prevent sending or receiving of packets if packet is currently being queued.

+

Used to indicate to spi_task() whether or not a packet is currently waiting to be sent.

diff --git a/documentation/html/functions_d.html b/documentation/html/functions_d.html index 0b2a751..9000f50 100644 --- a/documentation/html/functions_d.html +++ b/documentation/html/functions_d.html @@ -78,6 +78,24 @@ $(function() {
  • data_available() : BNO08x
  • debug_en : bno08x_config_t
  • default_imu_config : BNO08x
    • +
  • disable_accelerometer() : BNO08x
    • +
  • disable_activity_classifier() : BNO08x
    • +
  • disable_ARVR_stabilized_game_rotation_vector() : BNO08x
    • +
  • disable_ARVR_stabilized_rotation_vector() : BNO08x
    • +
  • disable_game_rotation_vector() : BNO08x
    • +
  • disable_gravity() : BNO08x
    • +
  • disable_gyro() : BNO08x
    • +
  • disable_gyro_integrated_rotation_vector() : BNO08x
    • +
  • disable_linear_accelerometer() : BNO08x
    • +
  • disable_magnetometer() : BNO08x
    • +
  • disable_raw_accelerometer() : BNO08x
    • +
  • disable_raw_gyro() : BNO08x
    • +
  • disable_raw_magnetometer() : BNO08x
    • +
  • disable_rotation_vector() : BNO08x
    • +
  • disable_stability_classifier() : BNO08x
    • +
  • disable_step_counter() : BNO08x
    • +
  • disable_tap_detector() : BNO08x
    • +
  • disable_uncalibrated_gyro() : BNO08x
    • diff --git a/documentation/html/functions_e.html b/documentation/html/functions_e.html index e7b863f..63d3030 100644 --- a/documentation/html/functions_e.html +++ b/documentation/html/functions_e.html @@ -75,24 +75,24 @@ $(function() {
    Here is a list of all class members with links to the classes they belong to:

    - e -

      -
    • enable_accelerometer() : BNO08x
      • -
    • enable_activity_classifier() : BNO08x
      • -
    • enable_ARVR_stabilized_game_rotation_vector() : BNO08x
      • -
    • enable_ARVR_stabilized_rotation_vector() : BNO08x
      • -
    • enable_game_rotation_vector() : BNO08x
      • -
    • enable_gravity() : BNO08x
      • -
    • enable_gyro() : BNO08x
      • -
    • enable_gyro_integrated_rotation_vector() : BNO08x
      • -
    • enable_linear_accelerometer() : BNO08x
      • -
    • enable_magnetometer() : BNO08x
      • -
    • enable_raw_accelerometer() : BNO08x
      • -
    • enable_raw_gyro() : BNO08x
      • -
    • enable_raw_magnetometer() : BNO08x
      • -
    • enable_rotation_vector() : BNO08x
      • -
    • enable_stability_classifier() : BNO08x
      • -
    • enable_step_counter() : BNO08x
      • -
    • enable_tap_detector() : BNO08x
      • -
    • enable_uncalibrated_gyro() : BNO08x
      • +
    • enable_accelerometer() : BNO08x
      • +
    • enable_activity_classifier() : BNO08x
      • +
    • enable_ARVR_stabilized_game_rotation_vector() : BNO08x
      • +
    • enable_ARVR_stabilized_rotation_vector() : BNO08x
      • +
    • enable_game_rotation_vector() : BNO08x
      • +
    • enable_gravity() : BNO08x
      • +
    • enable_gyro() : BNO08x
      • +
    • enable_gyro_integrated_rotation_vector() : BNO08x
      • +
    • enable_linear_accelerometer() : BNO08x
      • +
    • enable_magnetometer() : BNO08x
      • +
    • enable_raw_accelerometer() : BNO08x
      • +
    • enable_raw_gyro() : BNO08x
      • +
    • enable_raw_magnetometer() : BNO08x
      • +
    • enable_rotation_vector() : BNO08x
      • +
    • enable_stability_classifier() : BNO08x
      • +
    • enable_step_counter() : BNO08x
      • +
    • enable_tap_detector() : BNO08x
      • +
    • enable_uncalibrated_gyro() : BNO08x
    • end_calibration() : BNO08x
    diff --git a/documentation/html/functions_func.html b/documentation/html/functions_func.html index 45344ec..67c5232 100644 --- a/documentation/html/functions_func.html +++ b/documentation/html/functions_func.html @@ -93,28 +93,46 @@ $(function() {

    - d -

    • data_available() : BNO08x
      • +
    • disable_accelerometer() : BNO08x
      • +
    • disable_activity_classifier() : BNO08x
      • +
    • disable_ARVR_stabilized_game_rotation_vector() : BNO08x
      • +
    • disable_ARVR_stabilized_rotation_vector() : BNO08x
      • +
    • disable_game_rotation_vector() : BNO08x
      • +
    • disable_gravity() : BNO08x
      • +
    • disable_gyro() : BNO08x
      • +
    • disable_gyro_integrated_rotation_vector() : BNO08x
      • +
    • disable_linear_accelerometer() : BNO08x
      • +
    • disable_magnetometer() : BNO08x
      • +
    • disable_raw_accelerometer() : BNO08x
      • +
    • disable_raw_gyro() : BNO08x
      • +
    • disable_raw_magnetometer() : BNO08x
      • +
    • disable_rotation_vector() : BNO08x
      • +
    • disable_stability_classifier() : BNO08x
      • +
    • disable_step_counter() : BNO08x
      • +
    • disable_tap_detector() : BNO08x
      • +
    • disable_uncalibrated_gyro() : BNO08x

    - e -

      -
    • enable_accelerometer() : BNO08x
      • -
    • enable_activity_classifier() : BNO08x
      • -
    • enable_ARVR_stabilized_game_rotation_vector() : BNO08x
      • -
    • enable_ARVR_stabilized_rotation_vector() : BNO08x
      • -
    • enable_game_rotation_vector() : BNO08x
      • -
    • enable_gravity() : BNO08x
      • -
    • enable_gyro() : BNO08x
      • -
    • enable_gyro_integrated_rotation_vector() : BNO08x
      • -
    • enable_linear_accelerometer() : BNO08x
      • -
    • enable_magnetometer() : BNO08x
      • -
    • enable_raw_accelerometer() : BNO08x
      • -
    • enable_raw_gyro() : BNO08x
      • -
    • enable_raw_magnetometer() : BNO08x
      • -
    • enable_rotation_vector() : BNO08x
      • -
    • enable_stability_classifier() : BNO08x
      • -
    • enable_step_counter() : BNO08x
      • -
    • enable_tap_detector() : BNO08x
      • -
    • enable_uncalibrated_gyro() : BNO08x
      • +
    • enable_accelerometer() : BNO08x
      • +
    • enable_activity_classifier() : BNO08x
      • +
    • enable_ARVR_stabilized_game_rotation_vector() : BNO08x
      • +
    • enable_ARVR_stabilized_rotation_vector() : BNO08x
      • +
    • enable_game_rotation_vector() : BNO08x
      • +
    • enable_gravity() : BNO08x
      • +
    • enable_gyro() : BNO08x
      • +
    • enable_gyro_integrated_rotation_vector() : BNO08x
      • +
    • enable_linear_accelerometer() : BNO08x
      • +
    • enable_magnetometer() : BNO08x
      • +
    • enable_raw_accelerometer() : BNO08x
      • +
    • enable_raw_gyro() : BNO08x
      • +
    • enable_raw_magnetometer() : BNO08x
      • +
    • enable_rotation_vector() : BNO08x
      • +
    • enable_stability_classifier() : BNO08x
      • +
    • enable_step_counter() : BNO08x
      • +
    • enable_tap_detector() : BNO08x
      • +
    • enable_uncalibrated_gyro() : BNO08x
    • end_calibration() : BNO08x
    @@ -230,7 +248,7 @@ $(function() {
  • q_to_float() : BNO08x
  • queue_calibrate_command() : BNO08x
  • queue_command() : BNO08x
    • -
  • queue_feature_command() : BNO08x
    • +
  • queue_feature_command() : BNO08x
  • queue_packet() : BNO08x
  • queue_request_product_id_command() : BNO08x
  • queue_tare_command() : BNO08x
    • diff --git a/documentation/html/functions_q.html b/documentation/html/functions_q.html index 18668d7..086e4bc 100644 --- a/documentation/html/functions_q.html +++ b/documentation/html/functions_q.html @@ -79,7 +79,7 @@ $(function() {
  • quat_accuracy : BNO08x
  • queue_calibrate_command() : BNO08x
  • queue_command() : BNO08x
    • -
  • queue_feature_command() : BNO08x
    • +
  • queue_feature_command() : BNO08x
  • queue_packet() : BNO08x
  • queue_request_product_id_command() : BNO08x
  • queue_tare_command() : BNO08x
    • diff --git a/documentation/html/functions_t.html b/documentation/html/functions_t.html index 2c8a84a..945dc5c 100644 --- a/documentation/html/functions_t.html +++ b/documentation/html/functions_t.html @@ -84,14 +84,13 @@ $(function() {
  • TARE_GAME_ROTATION_VECTOR : BNO08x
  • TARE_GEOMAGNETIC_ROTATION_VECTOR : BNO08x
  • TARE_GYRO_INTEGRATED_ROTATION_VECTOR : BNO08x
    • -
  • tare_now() : BNO08x
  • TARE_NOW : BNO08x
    • +
  • tare_now() : BNO08x
  • TARE_PERSIST : BNO08x
  • TARE_ROTATION_VECTOR : BNO08x
  • TARE_SET_REORIENTATION : BNO08x
  • time_stamp : BNO08x
  • tx_buffer : BNO08x
    • -
  • tx_packet_queued : BNO08x
  • tx_semaphore : BNO08x
    • diff --git a/documentation/html/functions_vars.html b/documentation/html/functions_vars.html index 691ac74..b12667c 100644 --- a/documentation/html/functions_vars.html +++ b/documentation/html/functions_vars.html @@ -277,7 +277,6 @@ $(function() {
  • TARE_SET_REORIENTATION : BNO08x
  • time_stamp : BNO08x
  • tx_buffer : BNO08x
    • -
  • tx_packet_queued : BNO08x
  • tx_semaphore : BNO08x
    • diff --git a/documentation/html/md_esp32___b_n_o08x_2_r_e_a_d_m_e.html b/documentation/html/md_esp32___b_n_o08x_2_r_e_a_d_m_e.html index 382ac56..7292a8f 100644 --- a/documentation/html/md_esp32___b_n_o08x_2_r_e_a_d_m_e.html +++ b/documentation/html/md_esp32___b_n_o08x_2_r_e_a_d_m_e.html @@ -160,8 +160,8 @@ Example
    imu.initialize(); //initialize IMU
    //enable gyro & game rotation vector
    -
    imu.enable_game_rotation_vector(100);
    -
    imu.enable_gyro(150);
    +
    imu.enable_game_rotation_vector(100000); //100,000us == 100ms report interval
    +
    imu.enable_gyro(150000); //150,000us == 150ms report interval
    while(1)
    {
    @@ -176,16 +176,16 @@ Example
    }
    BNO08x
    Definition BNO08x.hpp:104
    -
    BNO08x::get_gyro_calibrated_velocity_Z
    float get_gyro_calibrated_velocity_Z()
    Get calibrated gyro z axis angular velocity measurement.
    Definition BNO08x.cpp:1866
    -
    BNO08x::data_available
    bool data_available()
    Checks if BNO08x has asserted interrupt and sent data.
    Definition BNO08x.cpp:725
    -
    BNO08x::enable_game_rotation_vector
    void enable_game_rotation_vector(uint16_t time_between_reports)
    Sends command to enable game rotation vector reports (See Ref. Manual 6.5.19)
    Definition BNO08x.cpp:1002
    -
    BNO08x::get_roll_deg
    float get_roll_deg()
    Get the reported rotation about x axis.
    Definition BNO08x.cpp:1505
    -
    BNO08x::enable_gyro
    void enable_gyro(uint16_t time_between_reports)
    Sends command to enable gyro reports (See Ref. Manual 6.5.13)
    Definition BNO08x.cpp:1106
    -
    BNO08x::get_gyro_calibrated_velocity_X
    float get_gyro_calibrated_velocity_X()
    Get calibrated gyro x axis angular velocity measurement.
    Definition BNO08x.cpp:1846
    -
    BNO08x::get_gyro_calibrated_velocity_Y
    float get_gyro_calibrated_velocity_Y()
    Get calibrated gyro y axis angular velocity measurement.
    Definition BNO08x.cpp:1856
    -
    BNO08x::initialize
    bool initialize()
    Initializes BNO08x sensor.
    Definition BNO08x.cpp:119
    -
    BNO08x::get_pitch_deg
    float get_pitch_deg()
    Get the reported rotation about y axis.
    Definition BNO08x.cpp:1515
    -
    BNO08x::get_yaw_deg
    float get_yaw_deg()
    Get the reported rotation about z axis.
    Definition BNO08x.cpp:1525
    +
    BNO08x::get_gyro_calibrated_velocity_Z
    float get_gyro_calibrated_velocity_Z()
    Get calibrated gyro z axis angular velocity measurement.
    Definition BNO08x.cpp:2075
    +
    BNO08x::data_available
    bool data_available()
    Checks if BNO08x has asserted interrupt and sent data.
    Definition BNO08x.cpp:718
    +
    BNO08x::get_roll_deg
    float get_roll_deg()
    Get the reported rotation about x axis.
    Definition BNO08x.cpp:1714
    +
    BNO08x::get_gyro_calibrated_velocity_X
    float get_gyro_calibrated_velocity_X()
    Get calibrated gyro x axis angular velocity measurement.
    Definition BNO08x.cpp:2055
    +
    BNO08x::enable_game_rotation_vector
    void enable_game_rotation_vector(uint32_t time_between_reports)
    Sends command to enable game rotation vector reports (See Ref. Manual 6.5.19)
    Definition BNO08x.cpp:995
    +
    BNO08x::get_gyro_calibrated_velocity_Y
    float get_gyro_calibrated_velocity_Y()
    Get calibrated gyro y axis angular velocity measurement.
    Definition BNO08x.cpp:2065
    +
    BNO08x::enable_gyro
    void enable_gyro(uint32_t time_between_reports)
    Sends command to enable gyro reports (See Ref. Manual 6.5.13)
    Definition BNO08x.cpp:1099
    +
    BNO08x::initialize
    bool initialize()
    Initializes BNO08x sensor.
    Definition BNO08x.cpp:118
    +
    BNO08x::get_pitch_deg
    float get_pitch_deg()
    Get the reported rotation about y axis.
    Definition BNO08x.cpp:1724
    +
    BNO08x::get_yaw_deg
    float get_yaw_deg()
    Get the reported rotation about z axis.
    Definition BNO08x.cpp:1734

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\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}});} -\DoxyCodeLine{00148\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_afb2ffc4e7ff0498917bc14a83af306e2}{save\_tare}}();} -\DoxyCodeLine{00149\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_afe39bfdede7b9a2b273983cb29a27d6e}{clear\_tare}}();} -\DoxyCodeLine{00150\ } -\DoxyCodeLine{00151\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{class_b_n_o08x_a367d525d1c0ba119b3dca3067bb5bccc}{data\_available}}();} -\DoxyCodeLine{00152\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_a7ba1d779ed68edf30090dd0f938a5709}{parse\_input\_report}}();} -\DoxyCodeLine{00153\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_a3762125be0025a335f0d918415f4ce18}{parse\_command\_report}}();} -\DoxyCodeLine{00154\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_a9cc47f0e5b7d679c80992c993a910ccf}{get\_readings}}();} -\DoxyCodeLine{00155\ } -\DoxyCodeLine{00156\ \ \ \ \ \ \ \ \ uint32\_t\ \mbox{\hyperlink{class_b_n_o08x_ad9137777271421a58159f3fe5e05ed20}{get\_time\_stamp}}();} -\DoxyCodeLine{00157\ } -\DoxyCodeLine{00158\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a35a224d519a2a243d0d526a34ecde5a8}{get\_magf}}(\textcolor{keywordtype}{float}\&\ x,\ \textcolor{keywordtype}{float}\&\ y,\ \textcolor{keywordtype}{float}\&\ z,\ uint8\_t\&\ accuracy);} -\DoxyCodeLine{00159\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a111601243b913751eb51c1f37cba4e7d}{get\_magf\_X}}();} -\DoxyCodeLine{00160\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a82ed8d7b9a5c25374839df75a3d220ea}{get\_magf\_Y}}();} -\DoxyCodeLine{00161\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_ab4c48a91d2f8b29430abc17b7f015282}{get\_magf\_Z}}();} -\DoxyCodeLine{00162\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a487391e6b2dd7f05084804d1fb94976f}{get\_magf\_accuracy}}();} -\DoxyCodeLine{00163\ } -\DoxyCodeLine{00164\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a386c46ac8965220ab7b9423df838dd4d}{get\_gravity}}(\textcolor{keywordtype}{float}\&\ x,\ \textcolor{keywordtype}{float}\&\ y,\ \textcolor{keywordtype}{float}\&\ z,\ uint8\_t\&\ accuracy);} -\DoxyCodeLine{00165\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a88679bccd9339b87ec35fc4fc4e745ae}{get\_gravity\_X}}();} -\DoxyCodeLine{00166\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a8a36db7f1c932f33e05e494632059801}{get\_gravity\_Y}}();} -\DoxyCodeLine{00167\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a5622b4d1754648ea7eb400c1adf9e807}{get\_gravity\_Z}}();} -\DoxyCodeLine{00168\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_accd39f48e9f8ab8267df7184b5b7cd76}{get\_gravity\_accuracy}}();} +\DoxyCodeLine{00147\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a1ebd456d2a67a22b5ba0911a95915921}{disable\_rotation\_vector}}();} +\DoxyCodeLine{00148\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a7665cce95e791c89161ec863f49c0392}{disable\_game\_rotation\_vector}}();} +\DoxyCodeLine{00149\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_aa59e3d8953c96dc1cc5958a1ac628df4}{disable\_ARVR\_stabilized\_rotation\_vector}}();} +\DoxyCodeLine{00150\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_ab187fe50fcfbb04bec9e80eb0fccf61c}{disable\_ARVR\_stabilized\_game\_rotation\_vector}}();} +\DoxyCodeLine{00151\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_aac0a00bed7825d8a2c357a48c3626931}{disable\_gyro\_integrated\_rotation\_vector}}();} +\DoxyCodeLine{00152\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_ad5c991150895b80bee68c933059a4058}{disable\_accelerometer}}();} +\DoxyCodeLine{00153\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_afbd2b02d5abe7084ce9de49ee2c9142f}{disable\_linear\_accelerometer}}();} +\DoxyCodeLine{00154\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a5e63a9e68dbe2968b37dcb6dae04de6f}{disable\_gravity}}();} +\DoxyCodeLine{00155\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a8296089e2fdbd7d2e85f364cf063af82}{disable\_gyro}}();} +\DoxyCodeLine{00156\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_aaf28212a5f1960c62a73282976142cfc}{disable\_uncalibrated\_gyro}}();} +\DoxyCodeLine{00157\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a6671b082d20dda8bf5c53cb47db0c338}{disable\_magnetometer}}();} +\DoxyCodeLine{00158\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a16f83d1e85576a51abf2c65e5de58cd2}{disable\_tap\_detector}}();} +\DoxyCodeLine{00159\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a427550a4ba25252912436b899124e157}{disable\_step\_counter}}();} +\DoxyCodeLine{00160\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_ab307ed3352e04c9e998ab4dd066f8932}{disable\_stability\_classifier}}();} +\DoxyCodeLine{00161\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a4fdc39294922a9553d84cd96bdae4376}{disable\_activity\_classifier}}();} +\DoxyCodeLine{00162\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a171d78f4b00598b04c8ca54da16c508b}{disable\_raw\_accelerometer}}();} +\DoxyCodeLine{00163\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a75ef3d09f1ee016999c459e43e9e8c44}{disable\_raw\_gyro}}();} +\DoxyCodeLine{00164\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_add29c84038558c28bcfca37865cf9244}{disable\_raw\_magnetometer}}();} +\DoxyCodeLine{00165\ } +\DoxyCodeLine{00166\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{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}});} +\DoxyCodeLine{00167\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_afb2ffc4e7ff0498917bc14a83af306e2}{save\_tare}}();} +\DoxyCodeLine{00168\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_afe39bfdede7b9a2b273983cb29a27d6e}{clear\_tare}}();} \DoxyCodeLine{00169\ } -\DoxyCodeLine{00170\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a89618eba08186ee8e679e7313907ddef}{get\_roll}}();} -\DoxyCodeLine{00171\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a1b91f234d81c45f1f5ca2f27c9f0f6a3}{get\_pitch}}();} -\DoxyCodeLine{00172\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a64d3e41750c6de9413d6982511f78f17}{get\_yaw}}();} -\DoxyCodeLine{00173\ } -\DoxyCodeLine{00174\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a7077b9a130f1dcf0192454e387968dd6}{get\_roll\_deg}}();} -\DoxyCodeLine{00175\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_af50010400cbd1445e9ddfa259384b412}{get\_pitch\_deg}}();} -\DoxyCodeLine{00176\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_af80f7795656e695e036d3b1557aed94c}{get\_yaw\_deg}}();} -\DoxyCodeLine{00177\ } -\DoxyCodeLine{00178\ \ \ \ \ \ \ \ \ \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);} -\DoxyCodeLine{00179\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a12c12a8e078b28480fb8828d306656f5}{get\_quat\_I}}();} -\DoxyCodeLine{00180\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a9f6bb642fa0297a7b9bcc94dd7374015}{get\_quat\_J}}();} -\DoxyCodeLine{00181\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a9f42c70c2337a0d831064a40ecfe2dd8}{get\_quat\_K}}();} -\DoxyCodeLine{00182\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a5a556c5ec1baaa7f1156779dbe47a7b7}{get\_quat\_real}}();} -\DoxyCodeLine{00183\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a61b7d10a98afc6903fea6b2cede27630}{get\_quat\_radian\_accuracy}}();} -\DoxyCodeLine{00184\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a24ba760d064a1dc45f972c79b9c8d98d}{get\_quat\_accuracy}}();} -\DoxyCodeLine{00185\ } -\DoxyCodeLine{00186\ \ \ \ \ \ \ \ \ \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);} -\DoxyCodeLine{00187\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_abce574112a9079d2cbc58cfc352b8a69}{get\_accel\_X}}();} -\DoxyCodeLine{00188\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_afdf24bb3d54518b23972f21f007817c1}{get\_accel\_Y}}();} -\DoxyCodeLine{00189\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a0a72477cb7a330fedbcb3e2126b882b1}{get\_accel\_Z}}();} -\DoxyCodeLine{00190\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a3fce726d5de821f97ed207036dae2900}{get\_accel\_accuracy}}();} -\DoxyCodeLine{00191\ } -\DoxyCodeLine{00192\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_ad59b029d04341dbef72e059488951980}{get\_linear\_accel}}(\textcolor{keywordtype}{float}\&\ x,\ \textcolor{keywordtype}{float}\&\ y,\ \textcolor{keywordtype}{float}\&\ z,\ uint8\_t\&\ accuracy);} -\DoxyCodeLine{00193\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a763c3a9699a1081d430fd9b9b7bc49a3}{get\_linear\_accel\_X}}();} -\DoxyCodeLine{00194\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a1033bdd65b42b6706d1dfc67ece66191}{get\_linear\_accel\_Y}}();} -\DoxyCodeLine{00195\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_afdfa7d50362702da689c5d18bf17fd84}{get\_linear\_accel\_Z}}();} -\DoxyCodeLine{00196\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a33fe3c2f47759cfae5f4b612ddd329ea}{get\_linear\_accel\_accuracy}}();} -\DoxyCodeLine{00197\ } -\DoxyCodeLine{00198\ \ \ \ \ \ \ \ \ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_a1de356dd604c1dffcd1a32faeb4fafe2}{get\_raw\_accel\_X}}();} -\DoxyCodeLine{00199\ \ \ \ \ \ \ \ \ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_a96563de0eb597a52d595d19da827b1ac}{get\_raw\_accel\_Y}}();} -\DoxyCodeLine{00200\ \ \ \ \ \ \ \ \ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_a718cdd910e5e7e03fd0a1ad04ee6f0ce}{get\_raw\_accel\_Z}}();} -\DoxyCodeLine{00201\ } -\DoxyCodeLine{00202\ \ \ \ \ \ \ \ \ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_af1b2c3a383a84fc6dfaddae1052b44d4}{get\_raw\_gyro\_X}}();} -\DoxyCodeLine{00203\ \ \ \ \ \ \ \ \ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_aff7714441d242b3b9b0c03f94e0a9374}{get\_raw\_gyro\_Y}}();} -\DoxyCodeLine{00204\ \ \ \ \ \ \ \ \ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_a2e28b5a79c442a6baa2fa5165b9ce37d}{get\_raw\_gyro\_Z}}();} -\DoxyCodeLine{00205\ } -\DoxyCodeLine{00206\ \ \ \ \ \ \ \ \ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_adf12600b39de41d258439a343fcc1ad8}{get\_raw\_magf\_X}}();} -\DoxyCodeLine{00207\ \ \ \ \ \ \ \ \ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_a2c842e43ceae19149f6525bcbc48f1cf}{get\_raw\_magf\_Y}}();} -\DoxyCodeLine{00208\ \ \ \ \ \ \ \ \ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_a99c1bcc2ec3ca3d8feafd6dd61f9d269}{get\_raw\_magf\_Z}}();} -\DoxyCodeLine{00209\ } -\DoxyCodeLine{00210\ \ \ \ \ \ \ \ \ \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);} -\DoxyCodeLine{00211\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_ab7977391191067282e7f734b9ee45059}{get\_gyro\_calibrated\_velocity\_X}}();} -\DoxyCodeLine{00212\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_ad4fab6e636e239d4b9273f158983ed89}{get\_gyro\_calibrated\_velocity\_Y}}();} -\DoxyCodeLine{00213\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a15a29c3bb476048b7229abcfb2b1d52a}{get\_gyro\_calibrated\_velocity\_Z}}();} -\DoxyCodeLine{00214\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a811999653110858311c97a779c388e5d}{get\_gyro\_accuracy}}();} -\DoxyCodeLine{00215\ } -\DoxyCodeLine{00216\ \ \ \ \ \ \ \ \ \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{00217\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a289ff66f51c94be62c4a556f3a5997bf}{get\_uncalibrated\_gyro\_X}}();} -\DoxyCodeLine{00218\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a1874e4bd457bb5b6ecc2c64039b88ba4}{get\_uncalibrated\_gyro\_Y}}();} -\DoxyCodeLine{00219\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a0a73633d8929ce4058b14cefc8cad717}{get\_uncalibrated\_gyro\_Z}}();} -\DoxyCodeLine{00220\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_ad228cdf352b7ea95e484da993045a47b}{get\_uncalibrated\_gyro\_bias\_X}}();} -\DoxyCodeLine{00221\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a74725517129dd548c7a3de705d5861bd}{get\_uncalibrated\_gyro\_bias\_Y}}();} -\DoxyCodeLine{00222\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a5050359272abd146ab3c7a6101effbd7}{get\_uncalibrated\_gyro\_bias\_Z}}();} -\DoxyCodeLine{00223\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a3285613f18b2f2f4c3f9e6d5c971af10}{get\_uncalibrated\_gyro\_accuracy}}();} +\DoxyCodeLine{00170\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{class_b_n_o08x_a367d525d1c0ba119b3dca3067bb5bccc}{data\_available}}();} +\DoxyCodeLine{00171\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_a7ba1d779ed68edf30090dd0f938a5709}{parse\_input\_report}}();} +\DoxyCodeLine{00172\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_a3762125be0025a335f0d918415f4ce18}{parse\_command\_report}}();} +\DoxyCodeLine{00173\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_a9cc47f0e5b7d679c80992c993a910ccf}{get\_readings}}();} +\DoxyCodeLine{00174\ } +\DoxyCodeLine{00175\ \ \ \ \ \ \ \ \ uint32\_t\ \mbox{\hyperlink{class_b_n_o08x_ad9137777271421a58159f3fe5e05ed20}{get\_time\_stamp}}();} +\DoxyCodeLine{00176\ } +\DoxyCodeLine{00177\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a35a224d519a2a243d0d526a34ecde5a8}{get\_magf}}(\textcolor{keywordtype}{float}\&\ x,\ \textcolor{keywordtype}{float}\&\ y,\ \textcolor{keywordtype}{float}\&\ z,\ uint8\_t\&\ accuracy);} +\DoxyCodeLine{00178\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a111601243b913751eb51c1f37cba4e7d}{get\_magf\_X}}();} +\DoxyCodeLine{00179\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a82ed8d7b9a5c25374839df75a3d220ea}{get\_magf\_Y}}();} +\DoxyCodeLine{00180\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_ab4c48a91d2f8b29430abc17b7f015282}{get\_magf\_Z}}();} +\DoxyCodeLine{00181\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a487391e6b2dd7f05084804d1fb94976f}{get\_magf\_accuracy}}();} +\DoxyCodeLine{00182\ } +\DoxyCodeLine{00183\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a386c46ac8965220ab7b9423df838dd4d}{get\_gravity}}(\textcolor{keywordtype}{float}\&\ x,\ \textcolor{keywordtype}{float}\&\ y,\ \textcolor{keywordtype}{float}\&\ z,\ uint8\_t\&\ accuracy);} +\DoxyCodeLine{00184\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a88679bccd9339b87ec35fc4fc4e745ae}{get\_gravity\_X}}();} +\DoxyCodeLine{00185\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a8a36db7f1c932f33e05e494632059801}{get\_gravity\_Y}}();} +\DoxyCodeLine{00186\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a5622b4d1754648ea7eb400c1adf9e807}{get\_gravity\_Z}}();} +\DoxyCodeLine{00187\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_accd39f48e9f8ab8267df7184b5b7cd76}{get\_gravity\_accuracy}}();} +\DoxyCodeLine{00188\ } +\DoxyCodeLine{00189\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a89618eba08186ee8e679e7313907ddef}{get\_roll}}();} +\DoxyCodeLine{00190\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a1b91f234d81c45f1f5ca2f27c9f0f6a3}{get\_pitch}}();} +\DoxyCodeLine{00191\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a64d3e41750c6de9413d6982511f78f17}{get\_yaw}}();} +\DoxyCodeLine{00192\ } +\DoxyCodeLine{00193\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a7077b9a130f1dcf0192454e387968dd6}{get\_roll\_deg}}();} +\DoxyCodeLine{00194\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_af50010400cbd1445e9ddfa259384b412}{get\_pitch\_deg}}();} +\DoxyCodeLine{00195\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_af80f7795656e695e036d3b1557aed94c}{get\_yaw\_deg}}();} +\DoxyCodeLine{00196\ } +\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);} +\DoxyCodeLine{00198\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a12c12a8e078b28480fb8828d306656f5}{get\_quat\_I}}();} +\DoxyCodeLine{00199\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a9f6bb642fa0297a7b9bcc94dd7374015}{get\_quat\_J}}();} +\DoxyCodeLine{00200\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a9f42c70c2337a0d831064a40ecfe2dd8}{get\_quat\_K}}();} +\DoxyCodeLine{00201\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a5a556c5ec1baaa7f1156779dbe47a7b7}{get\_quat\_real}}();} +\DoxyCodeLine{00202\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a61b7d10a98afc6903fea6b2cede27630}{get\_quat\_radian\_accuracy}}();} +\DoxyCodeLine{00203\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a24ba760d064a1dc45f972c79b9c8d98d}{get\_quat\_accuracy}}();} +\DoxyCodeLine{00204\ } +\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);} +\DoxyCodeLine{00206\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_abce574112a9079d2cbc58cfc352b8a69}{get\_accel\_X}}();} +\DoxyCodeLine{00207\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_afdf24bb3d54518b23972f21f007817c1}{get\_accel\_Y}}();} +\DoxyCodeLine{00208\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a0a72477cb7a330fedbcb3e2126b882b1}{get\_accel\_Z}}();} +\DoxyCodeLine{00209\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a3fce726d5de821f97ed207036dae2900}{get\_accel\_accuracy}}();} +\DoxyCodeLine{00210\ } +\DoxyCodeLine{00211\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_ad59b029d04341dbef72e059488951980}{get\_linear\_accel}}(\textcolor{keywordtype}{float}\&\ x,\ \textcolor{keywordtype}{float}\&\ y,\ \textcolor{keywordtype}{float}\&\ z,\ uint8\_t\&\ accuracy);} +\DoxyCodeLine{00212\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a763c3a9699a1081d430fd9b9b7bc49a3}{get\_linear\_accel\_X}}();} +\DoxyCodeLine{00213\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a1033bdd65b42b6706d1dfc67ece66191}{get\_linear\_accel\_Y}}();} +\DoxyCodeLine{00214\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_afdfa7d50362702da689c5d18bf17fd84}{get\_linear\_accel\_Z}}();} +\DoxyCodeLine{00215\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a33fe3c2f47759cfae5f4b612ddd329ea}{get\_linear\_accel\_accuracy}}();} +\DoxyCodeLine{00216\ } +\DoxyCodeLine{00217\ \ \ \ \ \ \ \ \ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_a1de356dd604c1dffcd1a32faeb4fafe2}{get\_raw\_accel\_X}}();} +\DoxyCodeLine{00218\ \ \ \ \ \ \ \ \ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_a96563de0eb597a52d595d19da827b1ac}{get\_raw\_accel\_Y}}();} +\DoxyCodeLine{00219\ \ \ \ \ \ \ \ \ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_a718cdd910e5e7e03fd0a1ad04ee6f0ce}{get\_raw\_accel\_Z}}();} +\DoxyCodeLine{00220\ } +\DoxyCodeLine{00221\ \ \ \ \ \ \ \ \ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_af1b2c3a383a84fc6dfaddae1052b44d4}{get\_raw\_gyro\_X}}();} +\DoxyCodeLine{00222\ \ \ \ \ \ \ \ \ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_aff7714441d242b3b9b0c03f94e0a9374}{get\_raw\_gyro\_Y}}();} +\DoxyCodeLine{00223\ \ \ \ \ \ \ \ \ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_a2e28b5a79c442a6baa2fa5165b9ce37d}{get\_raw\_gyro\_Z}}();} \DoxyCodeLine{00224\ } -\DoxyCodeLine{00225\ \ \ \ \ \ \ \ \ \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{00226\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_acd376cd3e454a87198ec86accbf2ee00}{get\_gyro\_velocity\_X}}();} -\DoxyCodeLine{00227\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_acd1819a81818f90dc105950b4a7d0b04}{get\_gyro\_velocity\_Y}}();} -\DoxyCodeLine{00228\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_ae2add976af256ec981248371a2f58207}{get\_gyro\_velocity\_Z}}();} -\DoxyCodeLine{00229\ } -\DoxyCodeLine{00230\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a4797ec731de4c158716da1a7af9d1602}{get\_tap\_detector}}();} -\DoxyCodeLine{00231\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_adaff49f3d80fdd19fd4210f0c56d41ef}{get\_step\_count}}();} -\DoxyCodeLine{00232\ \ \ \ \ \ \ \ \ int8\_t\ \mbox{\hyperlink{class_b_n_o08x_a0d148e00abcfeec48c689e3084a7e786}{get\_stability\_classifier}}();} -\DoxyCodeLine{00233\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a4f7060b2d3c15b359b70b6346730446a}{get\_activity\_classifier}}();} +\DoxyCodeLine{00225\ \ \ \ \ \ \ \ \ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_adf12600b39de41d258439a343fcc1ad8}{get\_raw\_magf\_X}}();} +\DoxyCodeLine{00226\ \ \ \ \ \ \ \ \ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_a2c842e43ceae19149f6525bcbc48f1cf}{get\_raw\_magf\_Y}}();} +\DoxyCodeLine{00227\ \ \ \ \ \ \ \ \ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_a99c1bcc2ec3ca3d8feafd6dd61f9d269}{get\_raw\_magf\_Z}}();} +\DoxyCodeLine{00228\ } +\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);} +\DoxyCodeLine{00230\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_ab7977391191067282e7f734b9ee45059}{get\_gyro\_calibrated\_velocity\_X}}();} +\DoxyCodeLine{00231\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_ad4fab6e636e239d4b9273f158983ed89}{get\_gyro\_calibrated\_velocity\_Y}}();} +\DoxyCodeLine{00232\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a15a29c3bb476048b7229abcfb2b1d52a}{get\_gyro\_calibrated\_velocity\_Z}}();} +\DoxyCodeLine{00233\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a811999653110858311c97a779c388e5d}{get\_gyro\_accuracy}}();} \DoxyCodeLine{00234\ } -\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}}();} -\DoxyCodeLine{00237\ } -\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);} -\DoxyCodeLine{00241\ \ \ \ \ \ \ \ \ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_a1590ba793668f9cb1a32a1f4dd07cb9a}{get\_Q3}}(uint16\_t\ record\_ID);} -\DoxyCodeLine{00242\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a1d6ea02d0d4b23ff6a15e9d5c6c92372}{get\_resolution}}(uint16\_t\ record\_ID);} -\DoxyCodeLine{00243\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a0fff04c42c9502615ad73cd1457cb9b0}{get\_range}}(uint16\_t\ record\_ID);} -\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);} -\DoxyCodeLine{00246\ \ \ \ \ \ \ \ \ \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{00247\ } -\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;} -\DoxyCodeLine{00251\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_a6dbd6b8c9d1450c97db1e46861c55132}{FRS\_RECORDID\_GYROSCOPE\_CALIBRATED}}\ =\ 0xE306;} -\DoxyCodeLine{00252\ \ \ \ \ \ \ \ \ \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{00253\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_a58e7e3a7bf08fbdb4b75b3a0034ed33e}{FRS\_RECORDID\_ROTATION\_VECTOR}}\ =\ 0xE30B;} -\DoxyCodeLine{00254\ } -\DoxyCodeLine{00255\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a1ef13f6f330810934416ad5fe0ee55b2}{TARE\_AXIS\_ALL}}\ =\ 0x07;\ } -\DoxyCodeLine{00256\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_aecb3e11c1ca5769fd60f42c17a105731}{TARE\_AXIS\_Z}}\ =\ 0x04;\ \ \ } -\DoxyCodeLine{00257\ } -\DoxyCodeLine{00258\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ Which\ rotation\ vector\ to\ tare,\ BNO08x\ saves\ them\ seperately}} -\DoxyCodeLine{00259\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a8e2cfc25d0e34ae53a762b88cc3ac3c8}{TARE\_ROTATION\_VECTOR}}\ =\ 0;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ } -\DoxyCodeLine{00260\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_abaf1ec8bb197db1998a9ed3cec6180d5}{TARE\_GAME\_ROTATION\_VECTOR}}\ =\ 1;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ } -\DoxyCodeLine{00261\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a225397a04d849e5647992ca80d68febb}{TARE\_GEOMAGNETIC\_ROTATION\_VECTOR}}\ =\ 2;\ \ \ \ \ \ \ \ \ \ \ } -\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}};\ } +\DoxyCodeLine{00365\ } +\DoxyCodeLine{00366\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint64\_t\ \mbox{\hyperlink{class_b_n_o08x_ae7f34752f888c637d5619f898e62a6d4}{HOST\_INT\_TIMEOUT\_MS}}\ =} +\DoxyCodeLine{00367\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ 150ULL;\ } +\DoxyCodeLine{00368\ } +\DoxyCodeLine{00369\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ Higher\ level\ calibration\ commands,\ used\ by\ queue\_calibrate\_command}} +\DoxyCodeLine{00370\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_acd5b44d705af1f9aaa271a59a9d2d595}{CALIBRATE\_ACCEL}}\ =\ 0;\ \ \ \ \ \ \ \ } +\DoxyCodeLine{00371\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_aeac84719a1cc0f9c8d5a9a749391d4db}{CALIBRATE\_GYRO}}\ =\ 1;\ \ \ \ \ \ \ \ \ } +\DoxyCodeLine{00372\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_ac00e8b59ae8d710cf79956eaafa97ddb}{CALIBRATE\_MAG}}\ =\ 2;\ \ \ \ \ \ \ \ \ \ } +\DoxyCodeLine{00373\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a955dcb60da150490e17367a871b3a3d2}{CALIBRATE\_PLANAR\_ACCEL}}\ =\ 3;\ } +\DoxyCodeLine{00374\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_af53d9e99f163d97ef92fe989b1dd25cc}{CALIBRATE\_ACCEL\_GYRO\_MAG}}\ =} +\DoxyCodeLine{00375\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ 4;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ } +\DoxyCodeLine{00376\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a584bfa04a39feb93279ee673c340db54}{CALIBRATE\_STOP}}\ =\ 5;\ } +\DoxyCodeLine{00377\ } +\DoxyCodeLine{00378\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ Command\ IDs\ (see\ Ref.\ Manual\ 6.4)}} +\DoxyCodeLine{00379\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a384a1efc9857ad938be3bb44f871539b}{COMMAND\_ERRORS}}\ =\ 1;} +\DoxyCodeLine{00380\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a93dd073c0cc1f3ccfde552649f6ebccc}{COMMAND\_COUNTER}}\ =\ 2;} +\DoxyCodeLine{00381\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a0a1756bc16ba3eac45f4229b1e350107}{COMMAND\_TARE}}\ =\ 3;\ \ \ \ \ \ \ \ \ \ \ \ } +\DoxyCodeLine{00382\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a30eb6d305a187d4d36546841e12176b9}{COMMAND\_INITIALIZE}}\ =\ 4;\ \ \ \ \ \ } +\DoxyCodeLine{00383\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_af124a6c1d8b871f3181b6c85f1099cb2}{COMMAND\_DCD}}\ =\ 6;\ \ \ \ \ \ \ \ \ \ \ \ \ } +\DoxyCodeLine{00384\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a8381dfe403ddff522f172cb16780731a}{COMMAND\_ME\_CALIBRATE}}\ =\ 7;\ \ \ \ } +\DoxyCodeLine{00385\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a7a246989c94cd87f68166b20b7ad4c8b}{COMMAND\_DCD\_PERIOD\_SAVE}}\ =\ 9;\ } +\DoxyCodeLine{00386\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a308c8b5307d93a67b5b9066d44494aa5}{COMMAND\_OSCILLATOR}}\ =\ 10;\ \ \ \ \ } +\DoxyCodeLine{00387\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a4f580b3cb232a762ea7019ee7b04d419}{COMMAND\_CLEAR\_DCD}}\ =\ 11;\ \ \ \ \ \ } +\DoxyCodeLine{00388\ } +\DoxyCodeLine{00389\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ SHTP\ channel\ 2\ control\ report\ IDs,\ used\ in\ communication\ with\ sensor\ (See\ Ref.\ Manual\ 6.2)}} +\DoxyCodeLine{00390\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a1e5b64caa514b7e4fe64ab214758b875}{SHTP\_REPORT\_COMMAND\_RESPONSE}}\ =\ 0xF1;\ \ \ \ } +\DoxyCodeLine{00391\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_ab04695dd189412092254e52bd6e5a75a}{SHTP\_REPORT\_COMMAND\_REQUEST}}\ =\ 0xF2;\ \ \ \ \ } +\DoxyCodeLine{00392\ \ \ \ \ \ \ \ \ \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{00393\ \ \ \ \ \ \ \ \ \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{00394\ \ \ \ \ \ \ \ \ \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{00395\ \ \ \ \ \ \ \ \ \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{00396\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_ae37d6f8431c8c465bfb0c662772b5cb9}{SHTP\_REPORT\_BASE\_TIMESTAMP}}\ =\ 0xFB;\ \ \ \ \ \ } +\DoxyCodeLine{00397\ \ \ \ \ \ \ \ \ \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{00398\ } +\DoxyCodeLine{00399\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ Sensor\ report\ IDs,\ used\ when\ enabling\ and\ reading\ BNO08x\ reports}} +\DoxyCodeLine{00400\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a476b35f11a2f096cdb70f7ee73cf2e90}{SENSOR\_REPORTID\_ACCELEROMETER}}\ =\ 0x01;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ } +\DoxyCodeLine{00401\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a29ab9f86763cce89e833392553f7abb4}{SENSOR\_REPORTID\_GYROSCOPE}}\ =\ 0x02;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ } +\DoxyCodeLine{00402\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a6f3bf6774ceb583c5c56f2ad80573834}{SENSOR\_REPORTID\_MAGNETIC\_FIELD}}\ =\ 0x03;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ } +\DoxyCodeLine{00403\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a53898b82dbac7ef27e1adb519dfcd686}{SENSOR\_REPORTID\_LINEAR\_ACCELERATION}}\ =\ 0x04;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ } +\DoxyCodeLine{00404\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_ab0279e8622ed188ee48411e074fb7e9d}{SENSOR\_REPORTID\_ROTATION\_VECTOR}}\ =\ 0x05;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ } +\DoxyCodeLine{00405\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_aeeb54b0b516917f3ff58cb655ae707a8}{SENSOR\_REPORTID\_GRAVITY}}\ =\ 0x06;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ } +\DoxyCodeLine{00406\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_ab94bfdbbffc0a7a255e752244b22322a}{SENSOR\_REPORTID\_UNCALIBRATED\_GYRO}}\ =\ 0x07;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ } +\DoxyCodeLine{00407\ \ \ \ \ \ \ \ \ \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{00408\ \ \ \ \ \ \ \ \ \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{00409\ \ \ \ \ \ \ \ \ \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{00410\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a437fed4cb82edd32f839d88679ff8ed9}{SENSOR\_REPORTID\_TAP\_DETECTOR}}\ =\ 0x10;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ } +\DoxyCodeLine{00411\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_aaff9af63d5f35c05f0a1e485f3d97bc5}{SENSOR\_REPORTID\_STEP\_COUNTER}}\ =\ 0x11;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ } +\DoxyCodeLine{00412\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_afad93ba52698512205df714109cadcfc}{SENSOR\_REPORTID\_STABILITY\_CLASSIFIER}}\ =\ 0x13;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ } +\DoxyCodeLine{00413\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_aa8d2d5c66b72af3966dca751e7343a97}{SENSOR\_REPORTID\_RAW\_ACCELEROMETER}}\ =\ 0x14;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ } +\DoxyCodeLine{00414\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_aaed7faffc8f2bba8a2ae56933236f9f7}{SENSOR\_REPORTID\_RAW\_GYROSCOPE}}\ =\ 0x15;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ } +\DoxyCodeLine{00415\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_ac719a06278c239cc36f666b99a41b1c0}{SENSOR\_REPORTID\_RAW\_MAGNETOMETER}}\ =\ 0x16;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ } +\DoxyCodeLine{00416\ \ \ \ \ \ \ \ \ \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{00417\ \ \ \ \ \ \ \ \ \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{00418\ \ \ \ \ \ \ \ \ \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{00419\ } +\DoxyCodeLine{00420\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ Tare\ commands\ used\ by\ queue\_tare\_command}} +\DoxyCodeLine{00421\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a27df630f3e52b35552d2c1f2cf3496b0}{TARE\_NOW}}\ =\ 0;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ } +\DoxyCodeLine{00422\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a115aef7b38ec0dec2085f6917d832912}{TARE\_PERSIST}}\ =\ 1;\ \ \ \ \ \ \ \ \ \ \ } +\DoxyCodeLine{00423\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a59cde7dd301c94a20b84735c5d49008e}{TARE\_SET\_REORIENTATION}}\ =\ 2;\ } +\DoxyCodeLine{00424\ } +\DoxyCodeLine{00425\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ \textcolor{keywordtype}{char}*\ \mbox{\hyperlink{class_b_n_o08x_a2c98d5f2c406a3efd0b48c5666fa8c46}{TAG}}\ =\ \textcolor{stringliteral}{"{}BNO08x"{}};\ } +\DoxyCodeLine{00426\ \};} \end{DoxyCode} diff --git a/documentation/latex/class_b_n_o08x.tex b/documentation/latex/class_b_n_o08x.tex index 2e36a02..cd0e486 100644 --- a/documentation/latex/class_b_n_o08x.tex +++ b/documentation/latex/class_b_n_o08x.tex @@ -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}} diff --git a/documentation/latex/md_esp32___b_n_o08x_2_r_e_a_d_m_e.tex b/documentation/latex/md_esp32___b_n_o08x_2_r_e_a_d_m_e.tex index c3c8942..301151b 100644 --- a/documentation/latex/md_esp32___b_n_o08x_2_r_e_a_d_m_e.tex +++ b/documentation/latex/md_esp32___b_n_o08x_2_r_e_a_d_m_e.tex @@ -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{\ \ \ \ \{} diff --git a/esp32_BNO08x_receieve_flowchart.png b/esp32_BNO08x_receieve_flowchart.png index efbc6949b826d8e73abbf0073e953b183d06eb45..0003d92d0a537932f9516e4c3b5ef79b5505c4b5 100644 GIT binary patch literal 232446 zcmeFXg;yLw(=WU@fnW(vkc8mwA-KD{yE_DDfso)9f=h6BUtod7-Q6{~yD#77d7pdl z|L~o+&+M7gJ=4|I)m6We*>Gh=DGW4XGynjAAtNoW3IJej0sv^MsIUQm(f;N=>_%ZG zt*QV3_)r4?fjNIuEgioAoz>@4_oJb^ z6HaWGF3RpL6fqxGv8N^8i8{wBe7!^z?Ul57X4mY*z^%n{imB;j7u%xb+xnvMn_+%l zRfFF&(8S&h$<$RftqG_gi%T^0?dP9QziOsBW4f^4U2$VF_oDqMU8Ra%w^lFGaC_B$ zDg%24lz@Eh`mf61-OmhtE38gdeQ$i`d<3CeLO6&b*#Et94j)(?(J4@a{_lkl7Q*uX zx($KW_y6yiGW!2M4EkRoz;xw*h4BA3A$aZ9T`pp=V>0Qc6kSUZm@~0*Ayj|y^?mR5 zp2H}b*E}ilckjb1J6)V?@}fxGrJyR( 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