input report status field as accuracy

include/BNO08x.hpp

@@ -69,6 +69,12 @@ class BNO08x
         bool initialize();
         bool hard_reset();
         bool soft_reset();
+        BNO08xResetReason get_reset_reason();
+
+        bool on();
+        bool sleep();
+
+        bool get_frs(BNO08xFRSID frs_ID, uint32_t* data, uint16_t* rx_data_sz);
 
         bool data_available();
         void register_cb(std::function<void(void)> cb_fxn);
@@ -79,6 +85,7 @@ class BNO08x
         // enum helper fxns
         static const char* activity_to_str(BNO08xActivity activity);
         static const char* stability_to_str(BNO08xStability stability);
+        static const char* accuracy_to_str(BNO08xAccuracy accuracy);
 
         BNO08xRptAcceleration accelerometer;
         BNO08xRptLinearAcceleration linear_accelerometer;

include/BNO08x_global_types.hpp

@@ -35,6 +35,42 @@ enum class BNO08xResetReason
     OTHER      ///< Previous reset was due to power other reason.
 };
 
+/// @brief Sensor accuracy returned from input reports, corresponds to status bits (see ref. manual 6.5.1)
+enum class BNO08xAccuracy
+{
+    UNRELIABLE,
+    LOW,
+    MED,
+    HIGH,
+    UNDEFINED
+};
+using IMUAccuracy = BNO08xAccuracy; // legacy version compatibility
+
+enum class BNO08xFRSID
+{
+    RawAccelerometer = 0xE301,
+    Accelerometer = 0xE302,
+    LinearAcceleration = 0xE303,
+    Gravity = 0xE304,
+    RawGyroscope = 0xE305,
+    CalGyro = 0xE306,
+    UncalGyro = 0xE307,
+    RawMagnetometer = 0xE308,
+    CalMagnetometer = 0xE309,
+    UncalMagnetometer = 0xE30A,
+    RV = 0xE30B,
+    RVGame = 0xE30C,
+    RVGeomagnetic = 0xE30D,
+    TapDetector = 0xE313,
+    StepCounter = 0xE315,
+    StabilityClassifier = 0xE317,
+    ShakeDetector = 0xE318,
+    ActivityClassifier = 0xE31C,
+    RVARVRStabilizedRotation = 0xE322,
+    RVARVRStabilizedGame = 0xE323,
+    RVGyroIntegrated = 0xE324,
+};
+
 /// @brief BNO08xActivity Classifier enable bits passed to enable_activity_classifier()
 enum class BNO08xActivityEnable
 {
@@ -134,49 +170,49 @@ typedef struct bno08x_quat_t
         float i;
         float j;
         float k;
-        float accuracy;
+        BNO08xAccuracy accuracy;
+        float rad_accuracy;
 
         bno08x_quat_t()
             : real(0.0f)
             , i(0.0f)
             , j(0.0f)
             , k(0.0f)
-            , accuracy(0.0f)
+            , accuracy(BNO08xAccuracy::UNDEFINED)
+            , rad_accuracy(0.0f)
         {
         }
 
-        // overloaded assignment operator to handle RV with accuracy
+        // overloaded assignment operator to handle RV with rad accuracy
         bno08x_quat_t& operator=(const sh2_RotationVectorWAcc_t& source)
         {
             this->real = source.real;
             this->i = source.i;
             this->j = source.j;
             this->k = source.k;
-            this->accuracy = source.accuracy;
+            this->rad_accuracy = source.accuracy;
             return *this;
         }
 
-        // overloaded assignment operator to handle RV with w/o accuracy
+        // overloaded assignment operator to handle RV with w/o rad accuracy
         bno08x_quat_t& operator=(const sh2_RotationVector_t& source)
         {
             this->real = source.real;
             this->i = source.i;
             this->j = source.j;
             this->k = source.k;
-            this->accuracy = 0.0f;
+            this->rad_accuracy = 0.0f;
             return *this;
         }
 
         // overloaded assignment operator to handle IRV report
-
-        // overloaded assignment operator to handle RV with w/o accuracy
         bno08x_quat_t& operator=(const sh2_GyroIntegratedRV_t& source)
         {
             this->real = source.real;
             this->i = source.i;
             this->j = source.j;
             this->k = source.k;
-            this->accuracy = 0.0f;
+            this->rad_accuracy = 0.0f;
             return *this;
         }
 
@@ -188,13 +224,15 @@ typedef struct bno08x_euler_angle_t
         float x;
         float y;
         float z;
-        float accuracy;
+        BNO08xAccuracy accuracy;
+        float rad_accuracy;
 
         bno08x_euler_angle_t()
             : x(0.0f)
             , y(0.0f)
             , z(0.0f)
-            , accuracy(0.0f)
+            , accuracy(BNO08xAccuracy::UNDEFINED)
+            , rad_accuracy(0.0f)
         {
         }
 
@@ -204,6 +242,7 @@ typedef struct bno08x_euler_angle_t
             this->x = atan2(2.0f * (source.real * source.i + source.j * source.k), 1.0f - 2.0f * (source.i * source.i + source.j * source.j));
             this->y = asin(2.0f * (source.real * source.j - source.k * source.i));
             this->z = atan2(2.0f * (source.real * source.k + source.i * source.j), 1.0f - 2.0f * (source.j * source.j + source.k * source.k));
+            this->rad_accuracy = source.rad_accuracy;
             this->accuracy = source.accuracy;
             return *this;
         }
@@ -215,7 +254,7 @@ typedef struct bno08x_euler_angle_t
             x *= static_cast<float>(value);
             y *= static_cast<float>(value);
             z *= static_cast<float>(value);
-            accuracy *= static_cast<float>(value);
+            rad_accuracy *= static_cast<float>(value);
             return *this;
         }
 
@@ -261,11 +300,13 @@ typedef struct bno08x_magf_t
         float x;
         float y;
         float z;
+        BNO08xAccuracy accuracy;
 
         bno08x_magf_t()
             : x(0.0f)
             , y(0.0f)
             , z(0.0f)
+            , accuracy(BNO08xAccuracy::UNDEFINED)
         {
         }
 
@@ -320,11 +361,13 @@ typedef struct bno08x_gyro_t
         float x;
         float y;
         float z;
+        BNO08xAccuracy accuracy;
 
         bno08x_gyro_t()
             : x(0.0f)
             , y(0.0f)
             , z(0.0f)
+            , accuracy(BNO08xAccuracy::UNDEFINED)
         {
         }
 
@@ -380,12 +423,14 @@ typedef struct bno08x_activity_classifier_t
         bool lastPage;
         BNO08xActivity mostLikelyState;
         uint8_t confidence[10];
+        BNO08xAccuracy accuracy;
 
         bno08x_activity_classifier_t()
             : page(0U)
             , lastPage(false)
             , mostLikelyState(BNO08xActivity::UNDEFINED)
             , confidence({})
+            , accuracy(BNO08xAccuracy::UNDEFINED)
         {
         }
 
@@ -410,12 +455,14 @@ typedef struct bno08x_tap_detector_t
         int8_t y_flag;
         int8_t z_flag;
         bool double_tap;
+        BNO08xAccuracy accuracy;
 
         bno08x_tap_detector_t()
             : x_flag(0)
             , y_flag(0)
             , z_flag(0)
             , double_tap(false)
+            , accuracy(BNO08xAccuracy::UNDEFINED)
         {
         }
 
@@ -462,11 +509,13 @@ typedef struct bno08x_shake_detector_t
         uint8_t x_flag;
         uint8_t y_flag;
         uint8_t z_flag;
+        BNO08xAccuracy accuracy;
 
         bno08x_shake_detector_t()
             : x_flag(0U)
             , y_flag(0U)
             , z_flag(0U)
+            , accuracy(BNO08xAccuracy::UNDEFINED)
         {
         }
 
@@ -501,6 +550,14 @@ typedef struct bno08x_sample_counts_t
         uint32_t accepted;  ///< Number of "on" samples that passed decimation filter.
         uint32_t attempted; ///< Number of "accepted" samples that passed threshold requirements and had transmission to the host attempted.
 
+        bno08x_sample_counts_t()
+            : offered(0UL)
+            , on(0UL)
+            , accepted(0UL)
+            , attempted(0UL)
+        {
+        }
+
         // conversion from sh2_PersonalActivityClassifier_t
         bno08x_sample_counts_t& operator=(const sh2_Counts_t& source)
         {
@@ -513,10 +570,164 @@ typedef struct bno08x_sample_counts_t
         }
 } bno08x_sample_counts_t;
 
-typedef sh2_Accelerometer_t bno08x_accel_t; ///< Acceleration data.
+/// @brief Struct to represent acceleration data from acceleration, linear acceleration, and gravity reports.
-typedef sh2_StepCounter bno08x_step_counter_t;
+typedef struct bno08x_accel_t
-typedef sh2_RawGyroscope_t bno08x_raw_gyro_t;
+{
-typedef sh2_RawAccelerometer bno08x_raw_accel_t;
+        float x;
-typedef sh2_RawMagnetometer_t bno08x_raw_magf_t;
+        float y;
+        float z;
+        BNO08xAccuracy accuracy;
+
+        bno08x_accel_t()
+            : x(0.0f)
+            , y(0.0f)
+            , z(0.0f)
+            , accuracy(BNO08xAccuracy::UNDEFINED)
+        {
+        }
+
+        // conversion from sh2_Accelerometer_t
+        bno08x_accel_t& operator=(const sh2_Accelerometer_t& source)
+        {
+            this->x = source.x;
+            this->y = source.y;
+            this->z = source.z;
+            return *this;
+        }
+} bno08x_accel_t;
+
+/// @brief Struct to represent step counter data from step counter reports.
+typedef struct bno08x_step_counter_t
+{
+        uint32_t latency;
+        uint16_t steps;
+        BNO08xAccuracy accuracy;
+
+        bno08x_step_counter_t()
+            : latency(0UL)
+            , steps(0U)
+            , accuracy(BNO08xAccuracy::UNDEFINED)
+        {
+        }
+
+        // conversion from sh2_StepCounter_t
+        bno08x_step_counter_t& operator=(const sh2_StepCounter_t& source)
+        {
+            this->latency = source.latency;
+            this->steps = source.steps;
+            return *this;
+        }
+} bno08x_step_counter_t;
+
+/// @brief Struct to represent raw mems gyro data from raw gyro reports (units in ADC counts).
+typedef struct bno08x_raw_gyro_t
+{
+        int16_t x;
+        int16_t y;
+        int16_t z;
+        int16_t temperature;
+        uint32_t timestamp_us;
+        BNO08xAccuracy accuracy;
+
+        bno08x_raw_gyro_t()
+            : x(0U)
+            , y(0U)
+            , z(0U)
+            , temperature(0U)
+            , timestamp_us(0UL)
+            , accuracy(BNO08xAccuracy::UNDEFINED)
+        {
+        }
+
+        // conversion from sh2_RawGyroscope_t
+        bno08x_raw_gyro_t& operator=(const sh2_RawGyroscope_t& source)
+        {
+            this->x = source.x;
+            this->y = source.y;
+            this->z = source.z;
+            this->temperature = source.temperature;
+            this->timestamp_us = source.timestamp;
+            return *this;
+        }
+} bno08x_raw_gyro_t;
+
+/// @brief Struct to represent raw mems accelerometer data from raw accelerometer reports (units in ADC counts).
+typedef struct bno08x_raw_accel_t
+{
+        int16_t x;
+        int16_t y;
+        int16_t z;
+        uint32_t timestamp_us;
+        BNO08xAccuracy accuracy;
+
+        bno08x_raw_accel_t()
+            : x(0U)
+            , y(0U)
+            , z(0U)
+            , timestamp_us(0UL)
+            , accuracy(BNO08xAccuracy::UNDEFINED)
+        {
+        }
+
+        // conversion from sh2_RawAccelerometer_t
+        bno08x_raw_accel_t& operator=(const sh2_RawAccelerometer_t& source)
+        {
+            this->x = source.x;
+            this->y = source.y;
+            this->z = source.z;
+            this->timestamp_us = source.timestamp;
+            return *this;
+        }
+} bno08x_raw_accel_t;
+
+/// @brief Struct to represent raw mems magnetometer data from raw magnetometer reports (units in ADC counts).
+typedef struct bno08x_raw_magf_t
+{
+        int16_t x;
+        int16_t y;
+        int16_t z;
+        uint32_t timestamp_us;
+        BNO08xAccuracy accuracy;
+
+        bno08x_raw_magf_t()
+            : x(0U)
+            , y(0U)
+            , z(0U)
+            , timestamp_us(0UL)
+            , accuracy(BNO08xAccuracy::UNDEFINED)
+        {
+        }
+
+        // conversion from sh2_RawMagnetometer_t
+        bno08x_raw_magf_t& operator=(const sh2_RawMagnetometer_t& source)
+        {
+            this->x = source.x;
+            this->y = source.y;
+            this->z = source.z;
+            this->timestamp_us = source.timestamp;
+            return *this;
+        }
+} bno08x_raw_magf_t;
+
+/// @brief Struct to represent stability classifier data from stability classifier reports.
+typedef struct bno08x_stability_classifier_t
+{
+        BNO08xStability stability;
+        BNO08xAccuracy accuracy;
+
+        bno08x_stability_classifier_t()
+            : stability(BNO08xStability::UNDEFINED)
+            , accuracy(BNO08xAccuracy::UNDEFINED)
+        {
+        }
+
+        // conversion from sh2_StabilityClassifier_t
+        bno08x_stability_classifier_t& operator=(const sh2_StabilityClassifier_t& source)
+        {
+            this->stability = static_cast<BNO08xStability>(source.classification);
+            return *this;
+        }
+
+} bno08x_stability_classifier_t;
 
 typedef bno08x_config_t imu_config_t; // legacy version compatibility

include/report/BNO08xStabilityClassifier.hpp

@@ -13,10 +13,11 @@ class BNO08xStabilityClassifier : public BNO08xRpt
         {
         }
 
-        BNO08xStability get();
+        bno08x_stability_classifier_t get();
+        BNO08xStability get_stability();
 
     private:
         void update_data(sh2_SensorValue_t* sensor_val) override;
-        sh2_StabilityClassifier_t data = {0U};
+        bno08x_stability_classifier_t data;
         static const constexpr char* TAG = "BNO08xStabilityClassifier";
 };

source/BNO08x.cpp

@@ -354,8 +354,12 @@ void BNO08x::handle_sensor_report(sh2_SensorValue_t* sensor_val)
 {
     uint8_t rpt_ID = sensor_val->sensorId;
 
+    // check if report exists within map
+    auto it = usr_reports.find(rpt_ID);
+    if (it != usr_reports.end())
+    {
         // update respective report with new data
-    usr_reports.at(rpt_ID)->update_data(sensor_val);
+        it->second->update_data(sensor_val);
 
         // send report ids to cb_task for callback execution (only if this report is enabled)
         if (usr_reports.at(rpt_ID)->rpt_bit & xEventGroupGetBits(evt_grp_report_en))
@@ -371,6 +375,7 @@ void BNO08x::handle_sensor_report(sh2_SensorValue_t* sensor_val)
                 }
         }
     }
+}
 
 /**
  * @brief Initializes required esp-idf SPI data structures with values from user passed bno08x_config_t struct.
@@ -1032,26 +1037,19 @@ esp_err_t BNO08x::deinit_sh2_HAL()
  */
 bool BNO08x::hard_reset()
 {
-    int op_success = SH2_ERR;
+    // toggle reset gpio
-
     toggle_reset();
 
-    // wait for reset and run service to dispatch callbacks
+    // wait for reset to be detected by SH2 HAL lib
     if (wait_for_reset() == ESP_OK)
     {
+        // run service to dispatch callbacks
         lock_sh2_HAL();
         sh2_service();
         unlock_sh2_HAL();
 
         // get product ids and check reset reason
-        memset(&product_IDs, 0, sizeof(sh2_ProductIds_t));
+        if (get_reset_reason() == BNO08xResetReason::EXT_RST)
-        lock_sh2_HAL();
-        op_success = sh2_getProdIds(&product_IDs);
-        unlock_sh2_HAL();
-
-        if (op_success == SH2_OK)
-        {
-            if (static_cast<BNO08xResetReason>(product_IDs.entry[0].resetCause) == BNO08xResetReason::EXT_RST)
         {
             return true;
         }
@@ -1065,15 +1063,6 @@ bool BNO08x::hard_reset()
         }
     }
     else
-        {
-            // clang-format off
-                #ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
-                ESP_LOGE(TAG, "Hard reset failure, failed to get prodIDs.");
-                #endif
-            // clang-format on
-        }
-    }
-    else
     {
         // clang-format off
             #ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
@@ -1094,28 +1083,22 @@ bool BNO08x::soft_reset()
 {
     int op_success = SH2_ERR;
 
+    // send reset command
     lock_sh2_HAL();
     op_success = sh2_devReset();
     unlock_sh2_HAL();
 
     if (op_success == SH2_OK)
     {
-        // wait for reset and run service to dispatch callbacks
+        // wait for reset to be detected by SH2 HAL lib
         if (wait_for_reset() == ESP_OK)
         {
+            // run service to dispatch callbacks
             lock_sh2_HAL();
             sh2_service();
             unlock_sh2_HAL();
 
-            // get product ids and check reset reason
+            if (get_reset_reason() == BNO08xResetReason::EXT_RST)
-            memset(&product_IDs, 0, sizeof(sh2_ProductIds_t));
-            lock_sh2_HAL();
-            op_success = sh2_getProdIds(&product_IDs);
-            unlock_sh2_HAL();
-
-            if (op_success == SH2_OK)
-            {
-                if (static_cast<BNO08xResetReason>(product_IDs.entry[0].resetCause) == BNO08xResetReason::EXT_RST)
             {
                 return true;
             }
@@ -1129,15 +1112,6 @@ bool BNO08x::soft_reset()
             }
         }
         else
-            {
-                // clang-format off
-                #ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
-                ESP_LOGE(TAG, "Soft reset failure, failed to get prodIDs.");
-                #endif
-                // clang-format on
-            }
-        }
-        else
         {
             // clang-format off
             #ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
@@ -1158,6 +1132,81 @@ bool BNO08x::soft_reset()
     return false;
 }
 
+/**
+ * @brief Returns reason for previous reset via product ID report.
+ *
+ * @return Enum object containing reset reason, BNO08xResetReason::UNDEFINED if failure.
+ */
+BNO08xResetReason BNO08x::get_reset_reason()
+{
+    int op_success = SH2_ERR;
+    BNO08xResetReason rr = BNO08xResetReason::UNDEFINED;
+
+    memset(&product_IDs, 0, sizeof(sh2_ProductIds_t));
+    lock_sh2_HAL();
+    op_success = sh2_getProdIds(&product_IDs);
+    unlock_sh2_HAL();
+
+    if (op_success == SH2_OK)
+    {
+        rr = static_cast<BNO08xResetReason>(product_IDs.entry[0].resetCause);
+    }
+    else
+    {
+        // clang-format off
+        #ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
+        ESP_LOGE(TAG, "Get reset reason failure, failed to get prodIDs.");
+        #endif
+        // clang-format on
+    }
+
+    return rr;
+}
+
+/**
+ * @brief Places BNO08x device in on state by sending ON (2) command on "device" channel.
+ *
+ * @return True if on operation succeeded.
+ */
+bool BNO08x::on()
+{
+    int op_success = SH2_ERR;
+
+    lock_sh2_HAL();
+    op_success = sh2_devOn();
+    unlock_sh2_HAL();
+
+    return (op_success == SH2_OK);
+}
+
+/**
+ * @brief Places BNO08x device in sleep state by sending SLEEP (3) command on "device" channel.
+ *
+ * @return True if sleep operation succeeded.
+ */
+bool BNO08x::sleep()
+{
+
+    int op_success = SH2_ERR;
+
+    lock_sh2_HAL();
+    op_success = sh2_devSleep();
+    unlock_sh2_HAL();
+
+    return (op_success == SH2_OK);
+}
+
+bool BNO08x::get_frs(BNO08xFRSID frs_ID, uint32_t* data, uint16_t* rx_data_sz)
+{
+    int op_success = SH2_ERR;
+
+    lock_sh2_HAL();
+    op_success = sh2_getFrs(static_cast<uint16_t>(frs_ID), data, rx_data_sz);
+    unlock_sh2_HAL();
+
+    return (op_success == SH2_OK);
+}
+
 /**
  * @brief Waits for HINT pin assertion or HOST_INT_TIMEOUT_DEFAULT_MS to elapse.
  *
@@ -1368,6 +1417,25 @@ const char* BNO08x::stability_to_str(BNO08xStability stability)
     }
 }
 
+const char* BNO08x::accuracy_to_str(BNO08xAccuracy accuracy)
+{
+    switch (accuracy)
+    {
+        case BNO08xAccuracy::UNRELIABLE:
+            return "UNRELIABLE";
+        case BNO08xAccuracy::LOW:
+            return "LOW";
+        case BNO08xAccuracy::MED:
+            return "MED";
+        case BNO08xAccuracy::HIGH:
+            return "HIGH";
+        case BNO08xAccuracy::UNDEFINED:
+            return "UNDEFINED";
+        default:
+            return "UNDEFINED";
+    }
+}
+
 /**
  * @brief HINT interrupt service routine, handles falling edge of BNO08x HINT pin.
  *

source/BNO08xRpt.cpp

@@ -29,6 +29,7 @@ bool BNO08xRpt::enable(uint32_t time_between_reports, sh2_SensorConfig_t sensor_
     {
         period_us = time_between_reports;                    // Update the period
         xEventGroupSetBits(imu->evt_grp_report_en, rpt_bit); // Set the event group bit
+        vTaskDelay(20UL / portTICK_PERIOD_MS);               // delay a bit to allow command to execute
         return true;
     }
 }

source/report/BNO08xRptARVRStabilizedGameRV.cpp

@@ -12,6 +12,7 @@ void BNO08xRptARVRStabilizedGameRV::update_data(sh2_SensorValue_t* sensor_val)
 {
     imu->lock_user_data();
     data = sensor_val->un.arvrStabilizedGRV;
+    data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
     imu->unlock_user_data();
 
     if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))

source/report/BNO08xRptARVRStabilizedRV.cpp

@@ -12,6 +12,7 @@ void BNO08xRptARVRStabilizedRV::update_data(sh2_SensorValue_t* sensor_val)
 {
     imu->lock_user_data();
     data = sensor_val->un.arvrStabilizedRV;
+    data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
     imu->unlock_user_data();
 
     if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))

source/report/BNO08xRptAcceleration.cpp

@@ -12,6 +12,7 @@ void BNO08xRptAcceleration::update_data(sh2_SensorValue_t* sensor_val)
 {
     imu->lock_user_data();
     data = sensor_val->un.accelerometer;
+    data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
     imu->unlock_user_data();
 
     if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))

source/report/BNO08xRptActivityClassifier.cpp

@@ -28,6 +28,7 @@ void BNO08xRptActivityClassifier::update_data(sh2_SensorValue_t* sensor_val)
 {
     imu->lock_user_data();
     data = sensor_val->un.personalActivityClassifier;
+    data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
     imu->unlock_user_data();
 
     if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))

source/report/BNO08xRptCalGyro.cpp

@@ -12,6 +12,7 @@ void BNO08xRptCalGyro::update_data(sh2_SensorValue_t* sensor_val)
 {
     imu->lock_user_data();
     data = sensor_val->un.gyroscope;
+    data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
     imu->unlock_user_data();
 
     if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))

source/report/BNO08xRptCalMagnetometer.cpp

@@ -12,6 +12,7 @@ void BNO08xRptCalMagnetometer::update_data(sh2_SensorValue_t* sensor_val)
 {
     imu->lock_user_data();
     data = sensor_val->un.magneticField;
+    data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
     imu->unlock_user_data();
 
     if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))

source/report/BNO08xRptGameRV.cpp

@@ -12,6 +12,7 @@ void BNO08xRptGameRV::update_data(sh2_SensorValue_t* sensor_val)
 {
     imu->lock_user_data();
     data = sensor_val->un.gameRotationVector;
+    data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
     imu->unlock_user_data();
 
     if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))

source/report/BNO08xRptGravity.cpp

@@ -12,6 +12,7 @@ void BNO08xRptGravity::update_data(sh2_SensorValue_t* sensor_val)
 {
     imu->lock_user_data();
     data = sensor_val->un.gravity;
+    data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
     imu->unlock_user_data();
 
     if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))

source/report/BNO08xRptIGyroRV.cpp

@@ -12,6 +12,7 @@ void BNO08xRptIGyroRV::update_data(sh2_SensorValue_t* sensor_val)
 {
     imu->lock_user_data();
     data = sensor_val->un.gyroIntegratedRV;
+    data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
     data_vel = sensor_val->un.gyroIntegratedRV;
     imu->unlock_user_data();
 

source/report/BNO08xRptLinearAcceleration.cpp

@@ -12,6 +12,7 @@ void BNO08xRptLinearAcceleration::update_data(sh2_SensorValue_t* sensor_val)
 {
     imu->lock_user_data();
     data = sensor_val->un.linearAcceleration;
+    data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
     imu->unlock_user_data();
 
     if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))

source/report/BNO08xRptRV.cpp

@@ -12,6 +12,7 @@ void BNO08xRptRV::update_data(sh2_SensorValue_t* sensor_val)
 {
     imu->lock_user_data();
     data = sensor_val->un.rotationVector;
+    data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
     imu->unlock_user_data();
 
     if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))

source/report/BNO08xRptRVGeneric.cpp

@@ -2,9 +2,9 @@
 #include "BNO08x.hpp"
 
 /**
- * @brief Grabs most recent rotation vector data in form of unit quaternion, accuracy units in radians (if available, else constant 0.0f).
+ * @brief Grabs most recent rotation vector data in form of unit quaternion, rad accuracy units in radians (if available, else constant 0.0f).
  *
- * The following RV reports have accuracy data:
+ * The following RV reports have rad accuracy data:
  *
  * - rotation vector
  * - geomagnetic rotation vector

source/report/BNO08xRptRVGeomag.cpp

@@ -12,6 +12,7 @@ void BNO08xRptRVGeomag::update_data(sh2_SensorValue_t* sensor_val)
 {
     imu->lock_user_data();
     data = sensor_val->un.geoMagRotationVector;
+    data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
     imu->unlock_user_data();
 
     if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))

source/report/BNO08xRptRawMEMSAccelerometer.cpp

@@ -12,6 +12,7 @@ void BNO08xRptRawMEMSAccelerometer::update_data(sh2_SensorValue_t* sensor_val)
 {
     imu->lock_user_data();
     data = sensor_val->un.rawAccelerometer;
+    data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
     imu->unlock_user_data();
 
     if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))

source/report/BNO08xRptRawMEMSGyro.cpp

@@ -12,6 +12,7 @@ void BNO08xRptRawMEMSGyro::update_data(sh2_SensorValue_t* sensor_val)
 {
     imu->lock_user_data();
     data = sensor_val->un.rawGyroscope;
+    data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
     imu->unlock_user_data();
 
     if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))

source/report/BNO08xRptRawMEMSMagnetometer.cpp

@@ -12,6 +12,7 @@ void BNO08xRptRawMEMSMagnetometer::update_data(sh2_SensorValue_t* sensor_val)
 {
     imu->lock_user_data();
     data = sensor_val->un.rawMagnetometer;
+    data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
     imu->unlock_user_data();
 
     if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))

source/report/BNO08xRptStepCounter.cpp

@@ -23,6 +23,7 @@ void BNO08xRptStepCounter::update_data(sh2_SensorValue_t* sensor_val)
     }
 
     prev_steps = data.steps;
+    data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
     imu->unlock_user_data();
 
     if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))

source/report/BNO08xRptUncalGyro.cpp

@@ -12,6 +12,7 @@ void BNO08xRptUncalGyro::update_data(sh2_SensorValue_t* sensor_val)
 {
     imu->lock_user_data();
     data = sensor_val->un.gyroscopeUncal;
+    data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
     bias_data = sensor_val->un.gyroscopeUncal;
     imu->unlock_user_data();
 

source/report/BNO08xRptUncalMagnetometer.cpp

@@ -12,6 +12,7 @@ void BNO08xRptUncalMagnetometer::update_data(sh2_SensorValue_t* sensor_val)
 {
     imu->lock_user_data();
     data = sensor_val->un.magneticFieldUncal;
+    data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
     bias_data = sensor_val->un.magneticFieldUncal;
     imu->unlock_user_data();
 

source/report/BNO08xShakeDetector.cpp

@@ -12,6 +12,7 @@ void BNO08xShakeDetector::update_data(sh2_SensorValue_t* sensor_val)
 {
     imu->lock_user_data();
     data = sensor_val->un.shakeDetector;
+    data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
     imu->unlock_user_data();
 
     if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))

source/report/BNO08xStabilityClassifier.cpp

@@ -12,6 +12,7 @@ void BNO08xStabilityClassifier::update_data(sh2_SensorValue_t* sensor_val)
 {
     imu->lock_user_data();
     data = sensor_val->un.stabilityClassifier;
+    data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
     imu->unlock_user_data();
 
     if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))
@@ -23,10 +24,23 @@ void BNO08xStabilityClassifier::update_data(sh2_SensorValue_t* sensor_val)
  *
  * @return BNO08xStability enum object with detected state.
  */
-BNO08xStability BNO08xStabilityClassifier::get()
+bno08x_stability_classifier_t BNO08xStabilityClassifier::get()
 {
     imu->lock_user_data();
-    BNO08xStability rqdata = static_cast<BNO08xStability>(data.classification);
+    bno08x_stability_classifier_t rqdata = data;
+    imu->unlock_user_data();
+    return rqdata;
+}
+
+/**
+ * @brief Grabs most recent stability classifier reading (excludes accuracy)
+ *
+ * @return BNO08xStability enum object with detected state.
+ */
+BNO08xStability BNO08xStabilityClassifier::get_stability()
+{
+    imu->lock_user_data();
+    BNO08xStability rqdata = data.stability;
     imu->unlock_user_data();
     return rqdata;
 }

source/report/BNO08xTapDetector.cpp

@@ -28,6 +28,7 @@ void BNO08xTapDetector::update_data(sh2_SensorValue_t* sensor_val)
 {
     imu->lock_user_data();
     data = sensor_val->un.tapDetector;
+    data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
     imu->unlock_user_data();
 
     if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))