diff --git a/documentation/html/_b_n_o08x_8cpp.html b/documentation/html/_b_n_o08x_8cpp.html deleted file mode 100644 index e0665ed..0000000 --- a/documentation/html/_b_n_o08x_8cpp.html +++ /dev/null @@ -1,153 +0,0 @@ - - - - - - - -esp32_BNO08x: BNO08x.cpp File Reference - - - - - - - - - - - - - - - -
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esp32_BNO08x 1.1 -
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C++ BNO08x IMU driver component for esp-idf.
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esp32_BNO08x 1.1 -
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C++ BNO08x IMU driver component for esp-idf.
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BNO08x.hpp File Reference
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#include <driver/gpio.h>
-#include <driver/spi_common.h>
-#include <driver/spi_master.h>
-#include <esp_log.h>
-#include <esp_rom_gpio.h>
-#include <esp_timer.h>
-#include <freertos/FreeRTOS.h>
-#include <freertos/task.h>
-#include <freertos/event_groups.h>
-#include <freertos/queue.h>
-#include <rom/ets_sys.h>
-#include <inttypes.h>
-#include <math.h>
-#include <stdio.h>
-#include <cstring>
-#include <functional>
-#include <vector>
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-Classes

struct  bno08x_config_t
 IMU configuration settings passed into constructor. More...
 
class  BNO08x
 
struct  BNO08x::bno08x_rx_packet_t
 Holds data that is received over spi. More...
 
struct  BNO08x::bno08x_tx_packet_t
 Holds data that is sent over spi. More...
 
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-Typedefs

typedef struct bno08x_config_t bno08x_config_t
 IMU configuration settings passed into constructor.
 
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-Enumerations

enum  channels_t {
-  CHANNEL_COMMAND -, CHANNEL_EXECUTABLE -, CHANNEL_CONTROL -, CHANNEL_REPORTS -,
-  CHANNEL_WAKE_REPORTS -, CHANNEL_GYRO -
- }
 SHTP protocol channels. More...
 
enum class  IMUAccuracy { LOW = 1 -, MED -, HIGH - }
 Sensor accuracy returned during sensor calibration. More...
 
-

Typedef Documentation

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◆ bno08x_config_t

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typedef struct bno08x_config_t bno08x_config_t
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IMU configuration settings passed into constructor.

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Enumeration Type Documentation

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◆ channels_t

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enum channels_t
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SHTP protocol channels.

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Enumerator
CHANNEL_COMMAND 
CHANNEL_EXECUTABLE 
CHANNEL_CONTROL 
CHANNEL_REPORTS 
CHANNEL_WAKE_REPORTS 
CHANNEL_GYRO 
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◆ IMUAccuracy

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enum class IMUAccuracy
- 		-strong
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- -

Sensor accuracy returned during sensor calibration.

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Enumerator
LOW 
MED 
HIGH 
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- - - - diff --git a/documentation/html/_b_n_o08x_8hpp.js b/documentation/html/_b_n_o08x_8hpp.js deleted file mode 100644 index 21ec21b..0000000 --- a/documentation/html/_b_n_o08x_8hpp.js +++ /dev/null @@ -1,21 +0,0 @@ -var _b_n_o08x_8hpp = -[ - [ "bno08x_config_t", "structbno08x__config__t.html", "structbno08x__config__t" ], - [ "BNO08x", "class_b_n_o08x.html", "class_b_n_o08x" ], - [ "BNO08x::bno08x_rx_packet_t", "struct_b_n_o08x_1_1bno08x__rx__packet__t.html", "struct_b_n_o08x_1_1bno08x__rx__packet__t" ], - [ "BNO08x::bno08x_tx_packet_t", "struct_b_n_o08x_1_1bno08x__tx__packet__t.html", "struct_b_n_o08x_1_1bno08x__tx__packet__t" ], - [ "bno08x_config_t", "_b_n_o08x_8hpp.html#a648bbdbf22731476890dd8da977d7503", null ], - [ "channels_t", "_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556b", [ - [ "CHANNEL_COMMAND", "_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556ba1cb5955609063cff1ba49147e786e610", null ], - [ "CHANNEL_EXECUTABLE", "_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556ba8a5de65712767758887f8fad9523bb72", null ], - [ "CHANNEL_CONTROL", "_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556ba6c5ca5e5847c55b469afbb435e15b5f0", null ], - [ "CHANNEL_REPORTS", "_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556ba22f0b2ae6fcdc8618a078b0579d09e4a", null ], - [ "CHANNEL_WAKE_REPORTS", "_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556bafbb907d12060466f58dd56d3e2430747", null ], - [ "CHANNEL_GYRO", "_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556bafd513a698e54122cec579d9450482832", null ] - ] ], - [ "IMUAccuracy", "_b_n_o08x_8hpp.html#adb7d85b4fa619c860031f469261c6279", [ - [ "LOW", "_b_n_o08x_8hpp.html#adb7d85b4fa619c860031f469261c6279a41bc94cbd8eebea13ce0491b2ac11b88", null ], - [ "MED", "_b_n_o08x_8hpp.html#adb7d85b4fa619c860031f469261c6279a2ad6d5975c45da2e711c796f3a1b029c", null ], - [ "HIGH", "_b_n_o08x_8hpp.html#adb7d85b4fa619c860031f469261c6279ab89de3b4b81c4facfac906edf29aec8c", null ] - ] ] -]; \ No newline at end of file diff --git a/documentation/html/_b_n_o08x_8hpp__dep__incl.map b/documentation/html/_b_n_o08x_8hpp__dep__incl.map deleted file mode 100644 index 79f67d8..0000000 --- a/documentation/html/_b_n_o08x_8hpp__dep__incl.map +++ /dev/null @@ -1,5 +0,0 @@ - - - - - diff --git a/documentation/html/_b_n_o08x_8hpp__dep__incl.md5 b/documentation/html/_b_n_o08x_8hpp__dep__incl.md5 deleted file mode 100644 index 1d71b6f..0000000 --- a/documentation/html/_b_n_o08x_8hpp__dep__incl.md5 +++ /dev/null @@ -1 +0,0 @@ -60855652a87021c1d9f875d3f37b00d4 \ No newline at end of file diff --git a/documentation/html/_b_n_o08x_8hpp__dep__incl.png b/documentation/html/_b_n_o08x_8hpp__dep__incl.png deleted file mode 100644 index ac9b5ee..0000000 Binary files a/documentation/html/_b_n_o08x_8hpp__dep__incl.png and /dev/null differ diff --git a/documentation/html/_b_n_o08x_8hpp__incl.map b/documentation/html/_b_n_o08x_8hpp__incl.map deleted file mode 100644 index 4801910..0000000 --- a/documentation/html/_b_n_o08x_8hpp__incl.map +++ /dev/null @@ -1,37 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/documentation/html/_b_n_o08x_8hpp__incl.md5 b/documentation/html/_b_n_o08x_8hpp__incl.md5 deleted file mode 100644 index 8db63b7..0000000 --- a/documentation/html/_b_n_o08x_8hpp__incl.md5 +++ /dev/null @@ -1 +0,0 @@ -f626e797d3497effcd2b7c6ccd799de6 \ No newline at end of file diff --git a/documentation/html/_b_n_o08x_8hpp__incl.png b/documentation/html/_b_n_o08x_8hpp__incl.png deleted file mode 100644 index b029099..0000000 Binary files a/documentation/html/_b_n_o08x_8hpp__incl.png and /dev/null differ diff --git a/documentation/html/_b_n_o08x_8hpp_source.html b/documentation/html/_b_n_o08x_8hpp_source.html deleted file mode 100644 index 27960d3..0000000 --- a/documentation/html/_b_n_o08x_8hpp_source.html +++ /dev/null @@ -1,957 +0,0 @@ - - - - - - - -esp32_BNO08x: BNO08x.hpp Source File - - - - - - - - - - - - - - - -
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esp32_BNO08x 1.1 -
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C++ BNO08x IMU driver component for esp-idf.
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BNO08x.hpp
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-Go to the documentation of this file.
1#pragma once
-
2// esp-idf includes
-
3#include <driver/gpio.h>
-
4#include <driver/spi_common.h>
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5#include <driver/spi_master.h>
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6#include <esp_log.h>
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7#include <esp_rom_gpio.h>
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8#include <esp_timer.h>
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9#include <freertos/FreeRTOS.h>
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10#include <freertos/task.h>
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11#include <freertos/event_groups.h>
-
12#include <freertos/queue.h>
-
13#include <rom/ets_sys.h>
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14
-
15// standard library includes
-
16#include <inttypes.h>
-
17#include <math.h>
-
18#include <stdio.h>
-
19#include <cstring>
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20#include <functional>
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21#include <vector>
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22
- -
33
-
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35enum class IMUAccuracy
-
36{
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37 LOW = 1,
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38 MED,
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39 HIGH
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40};
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41
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43typedef struct bno08x_config_t
-
44{
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45 spi_host_device_t spi_peripheral;
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46 gpio_num_t io_mosi;
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47 gpio_num_t io_miso;
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48 gpio_num_t io_sclk;
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49 gpio_num_t io_cs;
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50 gpio_num_t io_int;
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51 gpio_num_t io_rst;
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52 gpio_num_t io_wake;
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53 uint32_t sclk_speed;
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54
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58 bno08x_config_t()
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59 : spi_peripheral((spi_host_device_t)CONFIG_ESP32_BNO08x_SPI_HOST)
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60 , io_mosi((gpio_num_t)CONFIG_ESP32_BNO08X_GPIO_DI) // default:
-
61 , io_miso((gpio_num_t)CONFIG_ESP32_BNO08X_GPIO_SDA) // default:
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62 , io_sclk((gpio_num_t)CONFIG_ESP32_BNO08X_GPIO_SCL) // default:
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63 , io_cs((gpio_num_t)CONFIG_ESP32_BNO08X_GPIO_CS) // default:
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64 , io_int((gpio_num_t)CONFIG_ESP32_BNO08X_GPIO_HINT) // default:
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65 , io_rst((gpio_num_t)CONFIG_ESP32_BNO08X_GPIO_RST) // default:
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66 , io_wake((gpio_num_t)CONFIG_ESP32_BNO08X_GPIO_WAKE) // default: -1 (unused)
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67 , sclk_speed((uint32_t)CONFIG_ESP32_BNO08X_SCL_SPEED_HZ) // default: 2MH
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68
-
69 {
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70 }
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71
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73 bno08x_config_t(spi_host_device_t spi_peripheral, gpio_num_t io_mosi, gpio_num_t io_miso, gpio_num_t io_sclk, gpio_num_t io_cs,
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74 gpio_num_t io_int, gpio_num_t io_rst, gpio_num_t io_wake, uint32_t sclk_speed)
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75 : spi_peripheral(spi_peripheral)
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76 , io_mosi(io_mosi)
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77 , io_miso(io_miso)
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78 , io_sclk(io_sclk)
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79 , io_cs(io_cs)
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80 , io_int(io_int)
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81 , io_rst(io_rst)
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82 , io_wake(io_wake)
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83 , sclk_speed(sclk_speed)
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84 {
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85 }
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-
86} bno08x_config_t;
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-
87
-
-
88class BNO08x
-
89{
-
90 public:
-
91 BNO08x(bno08x_config_t imu_config = default_imu_config);
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92 bool initialize();
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93
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94 bool hard_reset();
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95 bool soft_reset();
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96 uint8_t get_reset_reason();
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97
-
98 bool mode_sleep();
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99 bool mode_on();
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100 float q_to_float(int16_t fixed_point_value, uint8_t q_point);
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101
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102 bool run_full_calibration_routine();
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103 void calibrate_all();
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104 void calibrate_accelerometer();
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105 void calibrate_gyro();
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106 void calibrate_magnetometer();
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107 void calibrate_planar_accelerometer();
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108 void request_calibration_status();
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109 bool calibration_complete();
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110 void end_calibration();
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111 void save_calibration();
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112
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113 void enable_rotation_vector(uint32_t time_between_reports);
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114 void enable_game_rotation_vector(uint32_t time_between_reports);
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115 void enable_ARVR_stabilized_rotation_vector(uint32_t time_between_reports);
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116 void enable_ARVR_stabilized_game_rotation_vector(uint32_t time_between_reports);
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117 void enable_gyro_integrated_rotation_vector(uint32_t time_between_reports);
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118 void enable_accelerometer(uint32_t time_between_reports);
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119 void enable_linear_accelerometer(uint32_t time_between_reports);
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120 void enable_gravity(uint32_t time_between_reports);
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121 void enable_gyro(uint32_t time_between_reports);
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122 void enable_uncalibrated_gyro(uint32_t time_between_reports);
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123 void enable_magnetometer(uint32_t time_between_reports);
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124 void enable_tap_detector(uint32_t time_between_reports);
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125 void enable_step_counter(uint32_t time_between_reports);
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126 void enable_stability_classifier(uint32_t time_between_reports);
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127 void enable_activity_classifier(uint32_t time_between_reports, uint32_t activities_to_enable, uint8_t (&activity_confidence_vals)[9]);
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128 void enable_raw_accelerometer(uint32_t time_between_reports);
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129 void enable_raw_gyro(uint32_t time_between_reports);
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130 void enable_raw_magnetometer(uint32_t time_between_reports);
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131
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132 void disable_rotation_vector();
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133 void disable_game_rotation_vector();
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134 void disable_ARVR_stabilized_rotation_vector();
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135 void disable_ARVR_stabilized_game_rotation_vector();
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136 void disable_gyro_integrated_rotation_vector();
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137 void disable_accelerometer();
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138 void disable_linear_accelerometer();
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139 void disable_gravity();
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140 void disable_gyro();
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141 void disable_uncalibrated_gyro();
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142 void disable_magnetometer();
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143 void disable_tap_detector();
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144 void disable_step_counter();
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145 void disable_stability_classifier();
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146 void disable_activity_classifier();
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147 void disable_raw_accelerometer();
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148 void disable_raw_gyro();
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149 void disable_raw_magnetometer();
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150
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151 void tare_now(uint8_t axis_sel = TARE_AXIS_ALL, uint8_t rotation_vector_basis = TARE_ROTATION_VECTOR);
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152 void save_tare();
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153 void clear_tare();
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154
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155 bool data_available();
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156 void register_cb(std::function<void()> cb_fxn);
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157
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158 uint32_t get_time_stamp();
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159
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160 void get_magf(float& x, float& y, float& z, uint8_t& accuracy);
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161 float get_magf_X();
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162 float get_magf_Y();
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163 float get_magf_Z();
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164 uint8_t get_magf_accuracy();
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165
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166 void get_gravity(float& x, float& y, float& z, uint8_t& accuracy);
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167 float get_gravity_X();
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168 float get_gravity_Y();
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169 float get_gravity_Z();
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170 uint8_t get_gravity_accuracy();
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171
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172 float get_roll();
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173 float get_pitch();
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174 float get_yaw();
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175
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176 float get_roll_deg();
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177 float get_pitch_deg();
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178 float get_yaw_deg();
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179
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180 void get_quat(float& i, float& j, float& k, float& real, float& rad_accuracy, uint8_t& accuracy);
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181 float get_quat_I();
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182 float get_quat_J();
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183 float get_quat_K();
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184 float get_quat_real();
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185 float get_quat_radian_accuracy();
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186 uint8_t get_quat_accuracy();
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187
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188 void get_accel(float& x, float& y, float& z, uint8_t& accuracy);
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189 float get_accel_X();
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190 float get_accel_Y();
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191 float get_accel_Z();
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192 uint8_t get_accel_accuracy();
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193
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194 void get_linear_accel(float& x, float& y, float& z, uint8_t& accuracy);
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195 float get_linear_accel_X();
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196 float get_linear_accel_Y();
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197 float get_linear_accel_Z();
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198 uint8_t get_linear_accel_accuracy();
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199
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200 int16_t get_raw_accel_X();
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201 int16_t get_raw_accel_Y();
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202 int16_t get_raw_accel_Z();
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203
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204 int16_t get_raw_gyro_X();
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205 int16_t get_raw_gyro_Y();
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206 int16_t get_raw_gyro_Z();
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207
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208 int16_t get_raw_magf_X();
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209 int16_t get_raw_magf_Y();
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210 int16_t get_raw_magf_Z();
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211
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212 void get_gyro_calibrated_velocity(float& x, float& y, float& z, uint8_t& accuracy);
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213 float get_gyro_calibrated_velocity_X();
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214 float get_gyro_calibrated_velocity_Y();
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215 float get_gyro_calibrated_velocity_Z();
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216 uint8_t get_gyro_accuracy();
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217
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218 void get_uncalibrated_gyro(float& x, float& y, float& z, float& bx, float& by, float& bz, uint8_t& accuracy);
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219 float get_uncalibrated_gyro_X();
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220 float get_uncalibrated_gyro_Y();
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221 float get_uncalibrated_gyro_Z();
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222 float get_uncalibrated_gyro_bias_X();
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223 float get_uncalibrated_gyro_bias_Y();
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224 float get_uncalibrated_gyro_bias_Z();
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225 uint8_t get_uncalibrated_gyro_accuracy();
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226
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227 void get_gyro_velocity(float& x, float& y, float& z);
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228 float get_gyro_velocity_X();
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229 float get_gyro_velocity_Y();
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230 float get_gyro_velocity_Z();
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231
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232 uint8_t get_tap_detector();
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233 uint16_t get_step_count();
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234 int8_t get_stability_classifier();
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235 uint8_t get_activity_classifier();
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236
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237 // Metadata functions
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238 int16_t get_Q1(uint16_t record_ID);
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239 int16_t get_Q2(uint16_t record_ID);
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240 int16_t get_Q3(uint16_t record_ID);
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241 float get_resolution(uint16_t record_ID);
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242 float get_range(uint16_t record_ID);
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243 uint32_t FRS_read_word(uint16_t record_ID, uint8_t word_number);
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244 bool FRS_read_request(uint16_t record_ID, uint16_t read_offset, uint16_t block_size);
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245 bool FRS_read_data(uint16_t record_ID, uint8_t start_location, uint8_t words_to_read);
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246
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247 // Record IDs from figure 29, page 29 reference manual
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248 // These are used to read the metadata for each sensor type
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249 static const constexpr uint16_t FRS_RECORD_ID_ACCELEROMETER =
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250 0xE302;
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251 static const constexpr uint16_t FRS_RECORD_ID_GYROSCOPE_CALIBRATED =
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252 0xE306;
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253 static const constexpr uint16_t FRS_RECORD_ID_MAGNETIC_FIELD_CALIBRATED =
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254 0xE309;
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255 static const constexpr uint16_t FRS_RECORD_ID_ROTATION_VECTOR =
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256 0xE30B;
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257
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258 static const constexpr uint8_t TARE_AXIS_ALL = 0x07;
-
259 static const constexpr uint8_t TARE_AXIS_Z = 0x04;
-
260
-
261 // Which rotation vector to tare, BNO08x saves them seperately
-
262 static const constexpr uint8_t TARE_ROTATION_VECTOR = 0;
-
263 static const constexpr uint8_t TARE_GAME_ROTATION_VECTOR = 1;
-
264 static const constexpr uint8_t TARE_GEOMAGNETIC_ROTATION_VECTOR = 2;
-
265 static const constexpr uint8_t TARE_GYRO_INTEGRATED_ROTATION_VECTOR = 3;
-
266 static const constexpr uint8_t TARE_ARVR_STABILIZED_ROTATION_VECTOR = 4;
-
267 static const constexpr uint8_t TARE_ARVR_STABILIZED_GAME_ROTATION_VECTOR = 5;
-
268
-
269 static const constexpr int16_t ROTATION_VECTOR_Q1 = 14;
-
270 static const constexpr int16_t ROTATION_VECTOR_ACCURACY_Q1 = 12;
-
271 static const constexpr int16_t ACCELEROMETER_Q1 = 8;
-
272 static const constexpr int16_t LINEAR_ACCELEROMETER_Q1 = 8;
-
273 static const constexpr int16_t GYRO_Q1 = 9;
-
274 static const constexpr int16_t MAGNETOMETER_Q1 = 4;
-
275 static const constexpr int16_t ANGULAR_VELOCITY_Q1 = 10;
-
276 static const constexpr int16_t GRAVITY_Q1 = 8;
-
277
-
278 private:
-
-
280 typedef struct bno08x_rx_packet_t
-
281 {
-
282 uint8_t header[4];
-
283 uint8_t body[300];
-
284 uint16_t length;
-
285 } bno08x_rx_packet_t;
-
-
286
-
-
288 typedef struct bno08x_tx_packet_t
-
289 {
-
290 uint8_t body[50];
-
291 uint16_t length;
-
292 } bno08x_tx_packet_t;
-
-
293
-
294 bool wait_for_rx_done();
-
295 bool wait_for_tx_done();
-
296 bool wait_for_data();
-
297 bool receive_packet();
-
298 void send_packet(bno08x_tx_packet_t* packet);
-
299 void enable_report(uint8_t report_ID, uint32_t time_between_reports, const EventBits_t report_evt_grp_bit);
-
300 void disable_report(uint8_t report_ID, const EventBits_t report_evt_grp_bit);
-
301 void queue_packet(uint8_t channel_number, uint8_t data_length, uint8_t* commands);
-
302 void queue_command(uint8_t command, uint8_t* commands);
-
303 void queue_feature_command(uint8_t report_ID, uint32_t time_between_reports);
-
304 void queue_feature_command(uint8_t report_ID, uint32_t time_between_reports, uint32_t specific_config);
-
305 void queue_calibrate_command(uint8_t _to_calibrate);
-
306 void queue_tare_command(uint8_t command, uint8_t axis = TARE_AXIS_ALL, uint8_t rotation_vector_basis = TARE_ROTATION_VECTOR);
-
307 void queue_request_product_id_command();
-
308
-
309 uint16_t parse_packet(bno08x_rx_packet_t* packet);
-
310 uint16_t parse_product_id_report(bno08x_rx_packet_t* packet);
-
311 uint16_t parse_frs_read_response_report(bno08x_rx_packet_t* packet);
-
312 uint16_t parse_input_report(bno08x_rx_packet_t* packet);
-
313 uint16_t parse_command_report(bno08x_rx_packet_t* packet);
-
314
-
315 // for debug
-
316 void print_header(bno08x_rx_packet_t* packet);
-
317 void print_packet(bno08x_rx_packet_t* packet);
-
318
-
319 static bno08x_config_t default_imu_config;
-
320
-
321 EventGroupHandle_t
-
322 evt_grp_spi;
-
323 EventGroupHandle_t evt_grp_report_en;
-
324
-
325 QueueHandle_t queue_rx_data;
-
326 QueueHandle_t queue_tx_data;
-
327 QueueHandle_t queue_frs_read_data;
-
328 QueueHandle_t queue_reset_reason;
-
329
-
330 std::vector<std::function<void()>> cb_list; // Vector for storing any call-back functions added with register_cb()
-
331
-
332 uint32_t meta_data[9];
-
333
-
334 bno08x_config_t imu_config{};
-
335 spi_bus_config_t bus_config{};
-
336 spi_device_interface_config_t imu_spi_config{};
-
337 spi_device_handle_t spi_hdl{};
-
338 spi_transaction_t spi_transaction{};
-
339
-
340 // These are the raw sensor values (without Q applied) pulled from the user requested Input Report
-
341 uint32_t time_stamp;
-
342 uint16_t raw_accel_X, raw_accel_Y, raw_accel_Z,
-
343 accel_accuracy;
-
344 uint16_t raw_lin_accel_X, raw_lin_accel_Y, raw_lin_accel_Z,
-
345 accel_lin_accuracy;
-
346 uint16_t raw_gyro_X, raw_gyro_Y, raw_gyro_Z, gyro_accuracy;
-
347 uint16_t raw_quat_I, raw_quat_J, raw_quat_K, raw_quat_real, raw_quat_radian_accuracy,
-
348 quat_accuracy;
-
349 uint16_t raw_velocity_gyro_X, raw_velocity_gyro_Y,
-
350 raw_velocity_gyro_Z;
-
351 uint16_t gravity_X, gravity_Y, gravity_Z,
-
352 gravity_accuracy;
-
353 uint16_t raw_uncalib_gyro_X, raw_uncalib_gyro_Y, raw_uncalib_gyro_Z, raw_bias_X, raw_bias_Y, raw_bias_Z,
-
354 uncalib_gyro_accuracy;
-
355 uint16_t raw_magf_X, raw_magf_Y, raw_magf_Z,
-
356 magf_accuracy;
-
357 uint8_t tap_detector;
-
358 uint16_t step_count;
-
359 uint8_t stability_classifier;
-
360 uint8_t activity_classifier;
-
361 uint8_t* activity_confidences;
-
362 uint8_t calibration_status;
-
363 uint16_t mems_raw_accel_X, mems_raw_accel_Y,
-
364 mems_raw_accel_Z;
-
365 uint16_t mems_raw_gyro_X, mems_raw_gyro_Y,
-
366 mems_raw_gyro_Z;
-
367 uint16_t mems_raw_magf_X, mems_raw_magf_Y,
-
368 mems_raw_magf_Z;
-
369
-
370 // spi task
-
371 TaskHandle_t spi_task_hdl;
-
372 static void spi_task_trampoline(void* arg);
-
373 void spi_task();
-
374
-
375 // data processing task
-
376 TaskHandle_t data_proc_task_hdl;
-
377 static void data_proc_task_trampoline(void* arg);
-
378 void data_proc_task();
-
379
-
380 static void IRAM_ATTR hint_handler(void* arg);
-
381 static bool
-
382 isr_service_installed;
-
383
-
384 static const constexpr uint16_t RX_DATA_LENGTH = 300;
-
385 static const constexpr uint16_t MAX_METADATA_LENGTH = 9;
-
386
-
387 static const constexpr uint64_t HOST_INT_TIMEOUT_MS =
-
388 300ULL;
-
389
-
390 // evt_grp_spi bits
-
391 static const constexpr EventBits_t EVT_GRP_SPI_RX_DONE_BIT =
-
392 (1 << 0);
-
393 static const constexpr EventBits_t EVT_GRP_SPI_RX_VALID_PACKET =
-
394 (1 << 1);
-
395 static const constexpr EventBits_t EVT_GRP_SPI_RX_INVALID_PACKET =
-
396 (1 << 2);
-
397 static const constexpr EventBits_t EVT_GRP_SPI_TX_DONE = (1 << 3);
-
398
-
399 // evt_grp_report_en bits
-
400 static const constexpr EventBits_t EVT_GRP_RPT_ROTATION_VECTOR_BIT = (1 << 0);
-
401 static const constexpr EventBits_t EVT_GRP_RPT_GAME_ROTATION_VECTOR_BIT = (1 << 1);
-
402 static const constexpr EventBits_t EVT_GRP_RPT_ARVR_S_ROTATION_VECTOR_BIT =
-
403 (1 << 2);
-
404 static const constexpr EventBits_t EVT_GRP_RPT_ARVR_S_GAME_ROTATION_VECTOR_BIT =
-
405 (1 << 3);
-
406 static const constexpr EventBits_t EVT_GRP_RPT_GYRO_ROTATION_VECTOR_BIT =
-
407 (1 << 4);
-
408 static const constexpr EventBits_t EVT_GRP_RPT_ACCELEROMETER_BIT = (1 << 5);
-
409 static const constexpr EventBits_t EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT = (1 << 6);
-
410 static const constexpr EventBits_t EVT_GRP_RPT_GRAVITY_BIT = (1 << 7);
-
411 static const constexpr EventBits_t EVT_GRP_RPT_GYRO_BIT = (1 << 8);
-
412 static const constexpr EventBits_t EVT_GRP_RPT_GYRO_UNCALIBRATED_BIT = (1 << 9);
-
413 static const constexpr EventBits_t EVT_GRP_RPT_MAGNETOMETER_BIT = (1 << 10);
-
414 static const constexpr EventBits_t EVT_GRP_RPT_TAP_DETECTOR_BIT = (1 << 11);
-
415 static const constexpr EventBits_t EVT_GRP_RPT_STEP_COUNTER_BIT = (1 << 12);
-
416 static const constexpr EventBits_t EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT = (1 << 13);
-
417 static const constexpr EventBits_t EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT = (1 << 14);
-
418 static const constexpr EventBits_t EVT_GRP_RPT_RAW_ACCELEROMETER_BIT = (1 << 15);
-
419 static const constexpr EventBits_t EVT_GRP_RPT_RAW_GYRO_BIT = (1 << 16);
-
420 static const constexpr EventBits_t EVT_GRP_RPT_RAW_MAGNETOMETER_BIT = (1 << 17);
-
421
-
422 static const constexpr EventBits_t EVT_GRP_RPT_ALL_BITS =
-
423 EVT_GRP_RPT_ROTATION_VECTOR_BIT | EVT_GRP_RPT_GAME_ROTATION_VECTOR_BIT | EVT_GRP_RPT_ARVR_S_ROTATION_VECTOR_BIT |
-
424 EVT_GRP_RPT_ARVR_S_GAME_ROTATION_VECTOR_BIT | EVT_GRP_RPT_GYRO_ROTATION_VECTOR_BIT | EVT_GRP_RPT_ACCELEROMETER_BIT |
-
425 EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT | EVT_GRP_RPT_GRAVITY_BIT | EVT_GRP_RPT_GYRO_BIT | EVT_GRP_RPT_GYRO_UNCALIBRATED_BIT |
-
426 EVT_GRP_RPT_MAGNETOMETER_BIT | EVT_GRP_RPT_TAP_DETECTOR_BIT | EVT_GRP_RPT_STEP_COUNTER_BIT | EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT |
-
427 EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT | EVT_GRP_RPT_RAW_ACCELEROMETER_BIT | EVT_GRP_RPT_RAW_GYRO_BIT | EVT_GRP_RPT_RAW_MAGNETOMETER_BIT;
-
428
-
429 // Higher level calibration commands, used by queue_calibrate_command
-
430 static const constexpr uint8_t CALIBRATE_ACCEL = 0;
-
431 static const constexpr uint8_t CALIBRATE_GYRO = 1;
-
432 static const constexpr uint8_t CALIBRATE_MAG = 2;
-
433 static const constexpr uint8_t CALIBRATE_PLANAR_ACCEL = 3;
-
434 static const constexpr uint8_t CALIBRATE_ACCEL_GYRO_MAG =
-
435 4;
-
436 static const constexpr uint8_t CALIBRATE_STOP = 5;
-
437
-
438 // Command IDs (see Ref. Manual 6.4)
-
439 static const constexpr uint8_t COMMAND_ERRORS = 1;
-
440 static const constexpr uint8_t COMMAND_COUNTER = 2;
-
441 static const constexpr uint8_t COMMAND_TARE = 3;
-
442 static const constexpr uint8_t COMMAND_INITIALIZE = 4;
-
443 static const constexpr uint8_t COMMAND_DCD = 6;
-
444 static const constexpr uint8_t COMMAND_ME_CALIBRATE = 7;
-
445 static const constexpr uint8_t COMMAND_DCD_PERIOD_SAVE = 9;
-
446 static const constexpr uint8_t COMMAND_OSCILLATOR = 10;
-
447 static const constexpr uint8_t COMMAND_CLEAR_DCD = 11;
-
448
-
449 // SHTP channel 2 control report IDs, used in communication with sensor (See Ref. Manual 6.2)
-
450 static const constexpr uint8_t SHTP_REPORT_COMMAND_RESPONSE = 0xF1;
-
451 static const constexpr uint8_t SHTP_REPORT_COMMAND_REQUEST = 0xF2;
-
452 static const constexpr uint8_t SHTP_REPORT_FRS_READ_RESPONSE = 0xF3;
-
453 static const constexpr uint8_t SHTP_REPORT_FRS_READ_REQUEST = 0xF4;
-
454 static const constexpr uint8_t SHTP_REPORT_PRODUCT_ID_RESPONSE = 0xF8;
-
455 static const constexpr uint8_t SHTP_REPORT_PRODUCT_ID_REQUEST = 0xF9;
-
456 static const constexpr uint8_t SHTP_REPORT_BASE_TIMESTAMP = 0xFB;
-
457 static const constexpr uint8_t SHTP_REPORT_SET_FEATURE_COMMAND = 0xFD;
-
458
-
459 // Sensor report IDs, used when enabling and reading BNO08x reports
-
460 static const constexpr uint8_t SENSOR_REPORT_ID_ACCELEROMETER = 0x01;
-
461 static const constexpr uint8_t SENSOR_REPORT_ID_GYROSCOPE = 0x02;
-
462 static const constexpr uint8_t SENSOR_REPORT_ID_MAGNETIC_FIELD = 0x03;
-
463 static const constexpr uint8_t SENSOR_REPORT_ID_LINEAR_ACCELERATION = 0x04;
-
464 static const constexpr uint8_t SENSOR_REPORT_ID_ROTATION_VECTOR = 0x05;
-
465 static const constexpr uint8_t SENSOR_REPORT_ID_GRAVITY = 0x06;
-
466 static const constexpr uint8_t SENSOR_REPORT_ID_UNCALIBRATED_GYRO = 0x07;
-
467 static const constexpr uint8_t SENSOR_REPORT_ID_GAME_ROTATION_VECTOR = 0x08;
-
468 static const constexpr uint8_t SENSOR_REPORT_ID_GEOMAGNETIC_ROTATION_VECTOR = 0x09;
-
469 static const constexpr uint8_t SENSOR_REPORT_ID_GYRO_INTEGRATED_ROTATION_VECTOR = 0x2A;
-
470 static const constexpr uint8_t SENSOR_REPORT_ID_TAP_DETECTOR = 0x10;
-
471 static const constexpr uint8_t SENSOR_REPORT_ID_STEP_COUNTER = 0x11;
-
472 static const constexpr uint8_t SENSOR_REPORT_ID_STABILITY_CLASSIFIER = 0x13;
-
473 static const constexpr uint8_t SENSOR_REPORT_ID_RAW_ACCELEROMETER = 0x14;
-
474 static const constexpr uint8_t SENSOR_REPORT_ID_RAW_GYROSCOPE = 0x15;
-
475 static const constexpr uint8_t SENSOR_REPORT_ID_RAW_MAGNETOMETER = 0x16;
-
476 static const constexpr uint8_t SENSOR_REPORT_ID_PERSONAL_ACTIVITY_CLASSIFIER = 0x1E;
-
477 static const constexpr uint8_t SENSOR_REPORT_ID_ARVR_STABILIZED_ROTATION_VECTOR = 0x28;
-
478 static const constexpr uint8_t SENSOR_REPORT_ID_ARVR_STABILIZED_GAME_ROTATION_VECTOR = 0x29;
-
479
-
480 // Tare commands used by queue_tare_command
-
481 static const constexpr uint8_t TARE_NOW = 0;
-
482 static const constexpr uint8_t TARE_PERSIST = 1;
-
483 static const constexpr uint8_t TARE_SET_REORIENTATION = 2;
-
484
-
485 static const constexpr char* TAG = "BNO08x";
-
486};
-
-
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:25
-
CHANNEL_COMMAND
@ CHANNEL_COMMAND
Definition BNO08x.hpp:26
-
CHANNEL_REPORTS
@ CHANNEL_REPORTS
Definition BNO08x.hpp:29
-
CHANNEL_CONTROL
@ CHANNEL_CONTROL
Definition BNO08x.hpp:28
-
CHANNEL_EXECUTABLE
@ CHANNEL_EXECUTABLE
Definition BNO08x.hpp:27
-
CHANNEL_WAKE_REPORTS
@ CHANNEL_WAKE_REPORTS
Definition BNO08x.hpp:30
-
CHANNEL_GYRO
@ CHANNEL_GYRO
Definition BNO08x.hpp:31
-
IMUAccuracy
IMUAccuracy
Sensor accuracy returned during sensor calibration.
Definition BNO08x.hpp:36
- - - -
BNO08x
Definition BNO08x.hpp:89
-
BNO08x::disable_report
void disable_report(uint8_t report_ID, const EventBits_t report_evt_grp_bit)
Disables a sensor report for a given ID by setting its time interval to 0.
Definition BNO08x.cpp:482
-
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:454
-
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:1275
-
BNO08x::raw_quat_radian_accuracy
uint16_t raw_quat_radian_accuracy
Definition BNO08x.hpp:347
-
BNO08x::SENSOR_REPORT_ID_RAW_GYROSCOPE
static const constexpr uint8_t SENSOR_REPORT_ID_RAW_GYROSCOPE
See SH2 Ref. Manual 6.5.12.
Definition BNO08x.hpp:474
-
BNO08x::raw_gyro_Z
uint16_t raw_gyro_Z
Definition BNO08x.hpp:346
-
BNO08x::ACCELEROMETER_Q1
static const constexpr int16_t ACCELEROMETER_Q1
Acceleration Q point (See SH-2 Ref. Manual 6.5.9)
Definition BNO08x.hpp:271
-
BNO08x::print_packet
void print_packet(bno08x_rx_packet_t *packet)
Prints the passed SHTP packet to serial console with ESP_LOG statement.
Definition BNO08x.cpp:2446
-
BNO08x::SENSOR_REPORT_ID_MAGNETIC_FIELD
static const constexpr uint8_t SENSOR_REPORT_ID_MAGNETIC_FIELD
See SH2 Ref. Manual 6.5.16.
Definition BNO08x.hpp:462
-
BNO08x::register_cb
void register_cb(std::function< void()> cb_fxn)
Registers a callback to execute when new data from a report is received.
Definition BNO08x.cpp:864
-
BNO08x::uncalib_gyro_accuracy
uint16_t uncalib_gyro_accuracy
Uncalibrated gyro reading (See SH-2 Ref. Manual 6.5.14)
Definition BNO08x.hpp:354
-
BNO08x::raw_bias_Z
uint16_t raw_bias_Z
Definition BNO08x.hpp:353
-
BNO08x::FRS_RECORD_ID_MAGNETIC_FIELD_CALIBRATED
static const constexpr uint16_t FRS_RECORD_ID_MAGNETIC_FIELD_CALIBRATED
Calibrated magnetometer record ID, to be passed in metadata functions like get_Q1()
Definition BNO08x.hpp:253
-
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:441
-
BNO08x::get_accel_Z
float get_accel_Z()
Get z axis acceleration (total acceleration of device, units in m/s^2).
Definition BNO08x.cpp:2000
-
BNO08x::get_uncalibrated_gyro_Z
float get_uncalibrated_gyro_Z()
Get uncalibrated gyro Z axis angular velocity measurement.
Definition BNO08x.cpp:2271
-
BNO08x::data_proc_task_trampoline
static void data_proc_task_trampoline(void *arg)
Static function used to launch data processing task.
Definition BNO08x.cpp:2819
-
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:269
-
BNO08x::spi_task_trampoline
static void spi_task_trampoline(void *arg)
Static function used to launch spi task.
Definition BNO08x.cpp:2769
-
BNO08x::get_stability_classifier
int8_t get_stability_classifier()
Get the current stability classifier (Seee Ref. Manual 6.5.31)
Definition BNO08x.cpp:2389
-
BNO08x::EVT_GRP_RPT_GAME_ROTATION_VECTOR_BIT
static const constexpr EventBits_t EVT_GRP_RPT_GAME_ROTATION_VECTOR_BIT
When set, game rotation vector reports are active.
Definition BNO08x.hpp:401
-
BNO08x::get_range
float get_range(uint16_t record_ID)
Gets range from BNO08x FRS (flash record system).
Definition BNO08x.cpp:2557
-
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:2048
-
BNO08x::get_magf_X
float get_magf_X()
Get X component of magnetic field vector.
Definition BNO08x.cpp:1661
-
BNO08x::TARE_PERSIST
static const constexpr uint8_t TARE_PERSIST
See SH2 Ref. Manual 6.4.4.2.
Definition BNO08x.hpp:482
-
BNO08x::tap_detector
uint8_t tap_detector
Tap detector reading (See SH-2 Ref. Manual 6.5.27)
Definition BNO08x.hpp:357
-
BNO08x::get_reset_reason
uint8_t get_reset_reason()
Requests product ID, prints the returned info over serial, and returns the reason for the most resent...
Definition BNO08x.cpp:322
-
BNO08x::get_quat_I
float get_quat_I()
Get I component of reported quaternion.
Definition BNO08x.cpp:1897
-
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:1388
-
BNO08x::get_Q3
int16_t get_Q3(uint16_t record_ID)
Gets Q3 point from BNO08x FRS (flash record system).
Definition BNO08x.cpp:2527
-
BNO08x::get_gyro_calibrated_velocity_Z
float get_gyro_calibrated_velocity_Z()
Get calibrated gyro z axis angular velocity measurement.
Definition BNO08x.cpp:2206
-
BNO08x::disable_tap_detector
void disable_tap_detector()
Sends command to disable tap detector reports by setting report interval to 0.
Definition BNO08x.cpp:1508
-
BNO08x::disable_raw_accelerometer
void disable_raw_accelerometer()
Sends command to disable raw accelerometer reports by setting report interval to 0.
Definition BNO08x.cpp:1548
-
BNO08x::mode_sleep
bool mode_sleep()
Puts BNO08x sensor into sleep/low power mode using executable channel.
Definition BNO08x.cpp:372
-
BNO08x::EVT_GRP_RPT_ACCELEROMETER_BIT
static const constexpr EventBits_t EVT_GRP_RPT_ACCELEROMETER_BIT
When set, accelerometer reports are active.
Definition BNO08x.hpp:408
-
BNO08x::get_uncalibrated_gyro_Y
float get_uncalibrated_gyro_Y()
Get uncalibrated gyro Y axis angular velocity measurement.
Definition BNO08x.cpp:2261
-
BNO08x::raw_gyro_X
uint16_t raw_gyro_X
Definition BNO08x.hpp:346
-
BNO08x::EVT_GRP_RPT_ROTATION_VECTOR_BIT
static const constexpr EventBits_t EVT_GRP_RPT_ROTATION_VECTOR_BIT
When set, rotation vector reports are active.
Definition BNO08x.hpp:400
-
BNO08x::RX_DATA_LENGTH
static const constexpr uint16_t RX_DATA_LENGTH
length buffer containing data received over spi
Definition BNO08x.hpp:384
-
BNO08x::stability_classifier
uint8_t stability_classifier
Stability status reading (See SH-2 Ref. Manual 6.5.31)
Definition BNO08x.hpp:359
-
BNO08x::get_pitch
float get_pitch()
Get the reported rotation about y axis.
Definition BNO08x.cpp:1789
-
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:2235
-
BNO08x::calibrate_planar_accelerometer
void calibrate_planar_accelerometer()
Sends command to calibrate planar accelerometer.
Definition BNO08x.cpp:632
-
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:457
-
BNO08x::get_resolution
float get_resolution(uint16_t record_ID)
Gets resolution from BNO08x FRS (flash record system).
Definition BNO08x.cpp:2540
-
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:2078
-
BNO08x::SHTP_REPORT_COMMAND_RESPONSE
static const constexpr uint8_t SHTP_REPORT_COMMAND_RESPONSE
See SH2 Ref. Manual 6.3.9.
Definition BNO08x.hpp:450
-
BNO08x::disable_rotation_vector
void disable_rotation_vector()
Sends command to disable rotation vector reports by setting report interval to 0.
Definition BNO08x.cpp:1398
-
BNO08x::TARE_AXIS_ALL
static const constexpr uint8_t TARE_AXIS_ALL
Tare all axes (used with tare now command)
Definition BNO08x.hpp:258
-
BNO08x::SENSOR_REPORT_ID_GYROSCOPE
static const constexpr uint8_t SENSOR_REPORT_ID_GYROSCOPE
See SH2 Ref. Manual 6.5.13.
Definition BNO08x.hpp:461
-
BNO08x::TARE_GEOMAGNETIC_ROTATION_VECTOR
static const constexpr uint8_t TARE_GEOMAGNETIC_ROTATION_VECTOR
tare geomagnetic rotation vector
Definition BNO08x.hpp:264
-
BNO08x::get_quat_accuracy
uint8_t get_quat_accuracy()
Get accuracy of reported quaternion.
Definition BNO08x.cpp:1952
-
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:1253
-
BNO08x::TARE_NOW
static const constexpr uint8_t TARE_NOW
See SH2 Ref. Manual 6.4.4.1.
Definition BNO08x.hpp:481
-
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:2578
-
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:1621
-
BNO08x::wait_for_rx_done
bool wait_for_rx_done()
Waits for data to be received over SPI, or HOST_INT_TIMEOUT_MS to elapse.
Definition BNO08x.cpp:144
-
BNO08x::get_uncalibrated_gyro_X
float get_uncalibrated_gyro_X()
Get uncalibrated gyro x axis angular velocity measurement.
Definition BNO08x.cpp:2251
-
BNO08x::hard_reset
bool hard_reset()
Hard resets BNO08x sensor.
Definition BNO08x.cpp:250
-
BNO08x::parse_product_id_report
uint16_t parse_product_id_report(bno08x_rx_packet_t *packet)
Parses product id report and prints device info.
Definition BNO08x.cpp:928
-
BNO08x::SENSOR_REPORT_ID_STEP_COUNTER
static const constexpr uint8_t SENSOR_REPORT_ID_STEP_COUNTER
See SH2 Ref. Manual 6.5.29.
Definition BNO08x.hpp:471
-
BNO08x::MAX_METADATA_LENGTH
static const constexpr uint16_t MAX_METADATA_LENGTH
max length of metadata used in frs read operations
Definition BNO08x.hpp:385
-
BNO08x::send_packet
void send_packet(bno08x_tx_packet_t *packet)
Sends a queued SHTP packet via SPI.
Definition BNO08x.cpp:529
-
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:2148
-
BNO08x::TAG
static const constexpr char * TAG
Class tag used for serial print statements.
Definition BNO08x.hpp:485
-
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:2128
-
BNO08x::spi_task
void spi_task()
Task responsible for SPI transactions. Executed when HINT in is asserted by BNO08x.
Definition BNO08x.cpp:2780
-
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:1366
-
BNO08x::COMMAND_OSCILLATOR
static const constexpr uint8_t COMMAND_OSCILLATOR
Retrieve oscillator type command (See SH2 Ref. Manual 6.4)
Definition BNO08x.hpp:446
-
BNO08x::COMMAND_INITIALIZE
static const constexpr uint8_t COMMAND_INITIALIZE
Reinitialize sensor hub components See (SH2 Ref. Manual 6.4.5)
Definition BNO08x.hpp:442
-
BNO08x::get_uncalibrated_gyro_accuracy
uint8_t get_uncalibrated_gyro_accuracy()
Get uncalibrated gyro accuracy.
Definition BNO08x.cpp:2311
-
BNO08x::EVT_GRP_SPI_RX_DONE_BIT
static const constexpr EventBits_t EVT_GRP_SPI_RX_DONE_BIT
When this bit is set it indicates a receive procedure has completed.
Definition BNO08x.hpp:391
-
BNO08x::accel_accuracy
uint16_t accel_accuracy
Raw acceleration readings (See SH-2 Ref. Manual 6.5.8)
Definition BNO08x.hpp:343
-
BNO08x::get_linear_accel_accuracy
uint8_t get_linear_accel_accuracy()
Get accuracy of linear acceleration.
Definition BNO08x.cpp:2068
-
BNO08x::SENSOR_REPORT_ID_ACCELEROMETER
static const constexpr uint8_t SENSOR_REPORT_ID_ACCELEROMETER
See SH2 Ref. Manual 6.5.9.
Definition BNO08x.hpp:460
-
BNO08x::print_header
void print_header(bno08x_rx_packet_t *packet)
Prints the header of the passed SHTP packet to serial console with ESP_LOG statement.
Definition BNO08x.cpp:2419
-
BNO08x::get_magf
void get_magf(float &x, float &y, float &z, uint8_t &accuracy)
Get the full magnetic field vector.
Definition BNO08x.cpp:1648
-
BNO08x::FRS_RECORD_ID_GYROSCOPE_CALIBRATED
static const constexpr uint16_t FRS_RECORD_ID_GYROSCOPE_CALIBRATED
Calirated gyroscope record ID, to be passed in metadata functions like get_Q1()
Definition BNO08x.hpp:251
-
BNO08x::accel_lin_accuracy
uint16_t accel_lin_accuracy
Raw linear acceleration (See SH-2 Ref. Manual 6.5.10)
Definition BNO08x.hpp:345
-
BNO08x::quat_accuracy
uint16_t quat_accuracy
Raw quaternion reading (See SH-2 Ref. Manual 6.5.44)
Definition BNO08x.hpp:348
-
BNO08x::data_available
bool data_available()
Checks if BNO08x has asserted interrupt and sent data.
Definition BNO08x.cpp:847
-
BNO08x::SENSOR_REPORT_ID_ROTATION_VECTOR
static const constexpr uint8_t SENSOR_REPORT_ID_ROTATION_VECTOR
See SH2 Ref. Manual 6.5.18.
Definition BNO08x.hpp:464
-
BNO08x::COMMAND_ERRORS
static const constexpr uint8_t COMMAND_ERRORS
Definition BNO08x.hpp:439
-
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:1709
-
BNO08x::bno08x_tx_packet_t
struct BNO08x::bno08x_tx_packet_t bno08x_tx_packet_t
Holds data that is sent over spi.
-
BNO08x::EVT_GRP_RPT_GYRO_BIT
static const constexpr EventBits_t EVT_GRP_RPT_GYRO_BIT
When set, gyro reports are active.
Definition BNO08x.hpp:411
-
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:1308
-
BNO08x::mems_raw_gyro_X
uint16_t mems_raw_gyro_X
Definition BNO08x.hpp:365
-
BNO08x::EVT_GRP_RPT_RAW_ACCELEROMETER_BIT
static const constexpr EventBits_t EVT_GRP_RPT_RAW_ACCELEROMETER_BIT
When set, raw accelerometer reports are active.
Definition BNO08x.hpp:418
-
BNO08x::get_accel_accuracy
uint8_t get_accel_accuracy()
Get accuracy of linear acceleration.
Definition BNO08x.cpp:2010
-
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:2630
-
BNO08x::bno08x_rx_packet_t
struct BNO08x::bno08x_rx_packet_t bno08x_rx_packet_t
Holds data that is received over spi.
-
BNO08x::BNO08x
BNO08x(bno08x_config_t imu_config=default_imu_config)
BNO08x imu constructor.
Definition BNO08x.cpp:15
-
BNO08x::enable_report
void enable_report(uint8_t report_ID, uint32_t time_between_reports, const EventBits_t report_evt_grp_bit)
Enables a sensor report for a given ID.
Definition BNO08x.cpp:455
-
BNO08x::imu_spi_config
spi_device_interface_config_t imu_spi_config
SPI slave device settings.
Definition BNO08x.hpp:336
-
BNO08x::disable_step_counter
void disable_step_counter()
Sends command to disable step counter reports by setting report interval to 0.
Definition BNO08x.cpp:1518
-
BNO08x::get_Q1
int16_t get_Q1(uint16_t record_ID)
Gets Q1 point from BNO08x FRS (flash record system).
Definition BNO08x.cpp:2497
-
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:1581
-
BNO08x::get_tap_detector
uint8_t get_tap_detector()
Get if tap has occured.
Definition BNO08x.cpp:2367
-
BNO08x::get_magf_accuracy
uint8_t get_magf_accuracy()
Get accuracy of reported magnetic field vector.
Definition BNO08x.cpp:1694
-
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:2732
-
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:2173
-
BNO08x::queue_tx_data
QueueHandle_t queue_tx_data
Packet queue used to send data to be sent over SPI from sending functions to spi_task.
Definition BNO08x.hpp:326
-
BNO08x::wait_for_data
bool wait_for_data()
Waits for a valid or invalid packet to be received or HOST_INT_TIMEOUT_MS to elapse.
Definition BNO08x.cpp:177
-
BNO08x::raw_velocity_gyro_Y
uint16_t raw_velocity_gyro_Y
Definition BNO08x.hpp:349
-
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:447
-
BNO08x::parse_command_report
uint16_t parse_command_report(bno08x_rx_packet_t *packet)
Parses received command report sent by BNO08x (See Ref. Manual 6.3.9)
Definition BNO08x.cpp:1168
-
BNO08x::get_activity_classifier
uint8_t get_activity_classifier()
Get the current activity classifier (Seee Ref. Manual 6.5.36)
Definition BNO08x.cpp:2408
-
BNO08x::disable_activity_classifier
void disable_activity_classifier()
Sends command to disable activity classifier reports by setting report interval to 0.
Definition BNO08x.cpp:1538
-
BNO08x::get_uncalibrated_gyro_bias_Z
float get_uncalibrated_gyro_bias_Z()
Get uncalibrated gyro Z axis drift estimate.
Definition BNO08x.cpp:2301
-
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:1882
-
BNO08x::parse_frs_read_response_report
uint16_t parse_frs_read_response_report(bno08x_rx_packet_t *packet)
Sends packet to be parsed to meta data function call (frs_read_word()) through queue.
Definition BNO08x.cpp:962
-
BNO08x::EVT_GRP_RPT_GYRO_ROTATION_VECTOR_BIT
static const constexpr EventBits_t EVT_GRP_RPT_GYRO_ROTATION_VECTOR_BIT
When set, gyro integrator rotation vector reports are active.
Definition BNO08x.hpp:406
-
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:455
-
BNO08x::get_gravity_Z
float get_gravity_Z()
Get the reported z axis gravity.
Definition BNO08x.cpp:1742
-
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:1231
-
BNO08x::CALIBRATE_STOP
static const constexpr uint8_t CALIBRATE_STOP
Stop calibration command used by queue_calibrate_command.
Definition BNO08x.hpp:436
-
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:364
-
BNO08x::TARE_SET_REORIENTATION
static const constexpr uint8_t TARE_SET_REORIENTATION
See SH2 Ref. Manual 6.4.4.3.
Definition BNO08x.hpp:483
-
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:1330
-
BNO08x::get_quat_real
float get_quat_real()
Get real component of reported quaternion.
Definition BNO08x.cpp:1930
-
BNO08x::queue_command
void queue_command(uint8_t command, uint8_t *commands)
Queues a packet containing a command.
Definition BNO08x.cpp:554
-
BNO08x::disable_gravity
void disable_gravity()
Sends command to disable gravity reports by setting report interval to 0.
Definition BNO08x.cpp:1468
-
BNO08x::EVT_GRP_SPI_RX_VALID_PACKET
static const constexpr EventBits_t EVT_GRP_SPI_RX_VALID_PACKET
When this bit is set, it indicates a valid packet has been received and processed.
Definition BNO08x.hpp:393
-
BNO08x::spi_task_hdl
TaskHandle_t spi_task_hdl
spi_task() handle
Definition BNO08x.hpp:371
-
BNO08x::raw_quat_J
uint16_t raw_quat_J
Definition BNO08x.hpp:347
-
BNO08x::get_quat_radian_accuracy
float get_quat_radian_accuracy()
Get radian accuracy of reported quaternion.
Definition BNO08x.cpp:1941
-
BNO08x::raw_gyro_Y
uint16_t raw_gyro_Y
Definition BNO08x.hpp:346
-
BNO08x::default_imu_config
static bno08x_config_t default_imu_config
default imu config settings
Definition BNO08x.hpp:319
-
BNO08x::queue_packet
void queue_packet(uint8_t channel_number, uint8_t data_length, uint8_t *commands)
Queues an SHTP packet to be sent via SPI.
Definition BNO08x.cpp:500
-
BNO08x::evt_grp_report_en
EventGroupHandle_t evt_grp_report_en
Event group for indicating which reports are currently enabled.
Definition BNO08x.hpp:323
-
BNO08x::EVT_GRP_SPI_RX_INVALID_PACKET
static const constexpr EventBits_t EVT_GRP_SPI_RX_INVALID_PACKET
When this bit is set, it indicates an invalid packet has been received.
Definition BNO08x.hpp:395
-
BNO08x::get_yaw
float get_yaw()
Get the reported rotation about z axis.
Definition BNO08x.cpp:1818
-
BNO08x::EVT_GRP_RPT_TAP_DETECTOR_BIT
static const constexpr EventBits_t EVT_GRP_RPT_TAP_DETECTOR_BIT
When set, tap detector reports are active.
Definition BNO08x.hpp:414
-
BNO08x::disable_magnetometer
void disable_magnetometer()
Sends command to disable magnetometer reports by setting report interval to 0.
Definition BNO08x.cpp:1498
-
BNO08x::SENSOR_REPORT_ID_GRAVITY
static const constexpr uint8_t SENSOR_REPORT_ID_GRAVITY
See SH2 Ref. Manual 6.5.11.
Definition BNO08x.hpp:465
-
BNO08x::parse_packet
uint16_t parse_packet(bno08x_rx_packet_t *packet)
Parses a packet received from bno08x, updating any data according to received reports.
Definition BNO08x.cpp:875
-
BNO08x::TARE_ARVR_STABILIZED_GAME_ROTATION_VECTOR
static const constexpr uint8_t TARE_ARVR_STABILIZED_GAME_ROTATION_VECTOR
Tare ARVR stabilized game rotation vector.
Definition BNO08x.hpp:267
-
BNO08x::raw_quat_I
uint16_t raw_quat_I
Definition BNO08x.hpp:347
-
BNO08x::cb_list
std::vector< std::function< void()> > cb_list
Definition BNO08x.hpp:330
-
BNO08x::EVT_GRP_RPT_RAW_GYRO_BIT
static const constexpr EventBits_t EVT_GRP_RPT_RAW_GYRO_BIT
When set, raw gyro reports are active.
Definition BNO08x.hpp:419
-
BNO08x::get_roll_deg
float get_roll_deg()
Get the reported rotation about x axis.
Definition BNO08x.cpp:1845
-
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:2098
-
BNO08x::calibration_complete
bool calibration_complete()
Returns true if calibration has completed.
Definition BNO08x.cpp:709
-
BNO08x::SENSOR_REPORT_ID_PERSONAL_ACTIVITY_CLASSIFIER
static const constexpr uint8_t SENSOR_REPORT_ID_PERSONAL_ACTIVITY_CLASSIFIER
See SH2 Ref. Manual 6.5.36.
Definition BNO08x.hpp:476
-
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:1242
-
BNO08x::get_uncalibrated_gyro_bias_Y
float get_uncalibrated_gyro_bias_Y()
Get uncalibrated gyro Y axis drift estimate.
Definition BNO08x.cpp:2291
-
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:453
-
BNO08x::activity_classifier
uint8_t activity_classifier
Activity status reading (See SH-2 Ref. Manual 6.5.36)
Definition BNO08x.hpp:360
-
BNO08x::disable_raw_gyro
void disable_raw_gyro()
Sends command to disable raw gyro reports by setting report interval to 0.
Definition BNO08x.cpp:1558
-
BNO08x::raw_accel_X
uint16_t raw_accel_X
Definition BNO08x.hpp:342
-
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:2038
-
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:1408
-
BNO08x::raw_quat_K
uint16_t raw_quat_K
Definition BNO08x.hpp:347
-
BNO08x::EVT_GRP_RPT_ARVR_S_GAME_ROTATION_VECTOR_BIT
static const constexpr EventBits_t EVT_GRP_RPT_ARVR_S_GAME_ROTATION_VECTOR_BIT
When set, ARVR stabilized game rotation vector reports are active.
Definition BNO08x.hpp:404
-
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:445
-
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:332
-
BNO08x::wait_for_tx_done
bool wait_for_tx_done()
Waits for a queued packet to be sent or HOST_INT_TIMEOUT_MS to elapse.
Definition BNO08x.cpp:223
-
BNO08x::queue_rx_data
QueueHandle_t queue_rx_data
Packet queue used to send data received from bno08x from spi_task to data_proc_task.
Definition BNO08x.hpp:325
-
BNO08x::EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT
static const constexpr EventBits_t EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT
When set, stability classifier reports are active.
Definition BNO08x.hpp:416
-
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:1297
-
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:2859
-
BNO08x::SENSOR_REPORT_ID_RAW_ACCELEROMETER
static const constexpr uint8_t SENSOR_REPORT_ID_RAW_ACCELEROMETER
See SH2 Ref. Manual 6.5.8.
Definition BNO08x.hpp:473
-
BNO08x::SENSOR_REPORT_ID_TAP_DETECTOR
static const constexpr uint8_t SENSOR_REPORT_ID_TAP_DETECTOR
See SH2 Ref. Manual 6.5.27.
Definition BNO08x.hpp:470
-
BNO08x::get_gyro_accuracy
uint8_t get_gyro_accuracy()
Get calibrated gyro accuracy.
Definition BNO08x.cpp:2216
-
BNO08x::disable_gyro
void disable_gyro()
Sends command to disable gyro reports by setting report interval to 0.
Definition BNO08x.cpp:1478
-
BNO08x::get_magf_Y
float get_magf_Y()
Get Y component of magnetic field vector.
Definition BNO08x.cpp:1672
-
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:444
-
BNO08x::queue_reset_reason
QueueHandle_t queue_reset_reason
Queue used to send reset reason from product id report to reset_reason() function.
Definition BNO08x.hpp:328
-
BNO08x::raw_quat_real
uint16_t raw_quat_real
Definition BNO08x.hpp:347
-
BNO08x::get_gravity_X
float get_gravity_X()
Get the reported x axis gravity.
Definition BNO08x.cpp:1722
-
BNO08x::EVT_GRP_RPT_ALL_BITS
static const constexpr EventBits_t EVT_GRP_RPT_ALL_BITS
Definition BNO08x.hpp:422
-
BNO08x::get_roll
float get_roll()
Get the reported rotation about x axis.
Definition BNO08x.cpp:1762
-
BNO08x::raw_bias_X
uint16_t raw_bias_X
Definition BNO08x.hpp:353
-
BNO08x::get_gravity_Y
float get_gravity_Y()
Get the reported y axis gravity.
Definition BNO08x.cpp:1732
-
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:1220
-
BNO08x::SENSOR_REPORT_ID_ARVR_STABILIZED_ROTATION_VECTOR
static const constexpr uint8_t SENSOR_REPORT_ID_ARVR_STABILIZED_ROTATION_VECTOR
See SH2 Ref. Manual 6.5.42.
Definition BNO08x.hpp:477
-
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:1377
-
BNO08x::parse_input_report
uint16_t parse_input_report(bno08x_rx_packet_t *packet)
Parses received input report sent by BNO08x.
Definition BNO08x.cpp:987
-
BNO08x::TARE_ROTATION_VECTOR
static const constexpr uint8_t TARE_ROTATION_VECTOR
Tare rotation vector.
Definition BNO08x.hpp:262
-
BNO08x::EVT_GRP_RPT_MAGNETOMETER_BIT
static const constexpr EventBits_t EVT_GRP_RPT_MAGNETOMETER_BIT
When set, magnetometer reports are active.
Definition BNO08x.hpp:413
-
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:368
-
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:270
-
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:1967
-
BNO08x::mems_raw_accel_X
uint16_t mems_raw_accel_X
Definition BNO08x.hpp:363
-
BNO08x::COMMAND_COUNTER
static const constexpr uint8_t COMMAND_COUNTER
Definition BNO08x.hpp:440
-
BNO08x::get_Q2
int16_t get_Q2(uint16_t record_ID)
Gets Q2 point from BNO08x FRS (flash record system).
Definition BNO08x.cpp:2512
-
BNO08x::CALIBRATE_PLANAR_ACCEL
static const constexpr uint8_t CALIBRATE_PLANAR_ACCEL
Calibrate planar acceleration command used by queue_calibrate_command.
Definition BNO08x.hpp:433
-
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:2088
-
BNO08x::EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT
static const constexpr EventBits_t EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT
When set, activity classifier reports are active.
Definition BNO08x.hpp:417
-
BNO08x::soft_reset
bool soft_reset()
Soft resets BNO08x sensor using executable channel.
Definition BNO08x.cpp:294
-
BNO08x::bus_config
spi_bus_config_t bus_config
SPI bus GPIO configuration settings.
Definition BNO08x.hpp:335
-
BNO08x::gyro_accuracy
uint16_t gyro_accuracy
Raw gyro reading (See SH-2 Ref. Manual 6.5.13)
Definition BNO08x.hpp:346
-
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:2158
-
BNO08x::queue_frs_read_data
QueueHandle_t queue_frs_read_data
Queue used to send packet body from data_proc_task to frs read functions.
Definition BNO08x.hpp:327
-
BNO08x::calibrate_gyro
void calibrate_gyro()
Sends command to calibrate gyro.
Definition BNO08x.cpp:608
-
BNO08x::SENSOR_REPORT_ID_RAW_MAGNETOMETER
static const constexpr uint8_t SENSOR_REPORT_ID_RAW_MAGNETOMETER
See SH2 Ref. Manual 6.5.15.
Definition BNO08x.hpp:475
-
BNO08x::TARE_GYRO_INTEGRATED_ROTATION_VECTOR
static const constexpr uint8_t TARE_GYRO_INTEGRATED_ROTATION_VECTOR
Tare gyro integrated rotation vector.
Definition BNO08x.hpp:265
-
BNO08x::FRS_RECORD_ID_ROTATION_VECTOR
static const constexpr uint16_t FRS_RECORD_ID_ROTATION_VECTOR
Rotation vector record ID, to be passed in metadata functions like get_Q1()
Definition BNO08x.hpp:255
-
BNO08x::get_quat_K
float get_quat_K()
Get K component of reported quaternion.
Definition BNO08x.cpp:1919
-
BNO08x::get_quat_J
float get_quat_J()
Get J component of reported quaternion.
Definition BNO08x.cpp:1908
-
BNO08x::MAGNETOMETER_Q1
static const constexpr int16_t MAGNETOMETER_Q1
Magnetometer Q point (See SH-2 Ref. Manual 6.5.16)
Definition BNO08x.hpp:274
-
BNO08x::save_calibration
void save_calibration()
Sends command to save internal calibration data (See Ref. Manual 6.4.7).
Definition BNO08x.cpp:734
-
BNO08x::evt_grp_spi
EventGroupHandle_t evt_grp_spi
Event group for indicating when bno08x hint pin has triggered and when new data has been processed....
Definition BNO08x.hpp:322
-
BNO08x::EVT_GRP_SPI_TX_DONE
static const constexpr EventBits_t EVT_GRP_SPI_TX_DONE
When this bit is set, it indicates a queued packet has been sent.
Definition BNO08x.hpp:397
-
BNO08x::GYRO_Q1
static const constexpr int16_t GYRO_Q1
Gyro Q point (See SH-2 Ref. Manual 6.5.13)
Definition BNO08x.hpp:273
-
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:1418
-
BNO08x::raw_velocity_gyro_X
uint16_t raw_velocity_gyro_X
Definition BNO08x.hpp:349
-
BNO08x::raw_magf_X
uint16_t raw_magf_X
Definition BNO08x.hpp:355
-
BNO08x::EVT_GRP_RPT_ARVR_S_ROTATION_VECTOR_BIT
static const constexpr EventBits_t EVT_GRP_RPT_ARVR_S_ROTATION_VECTOR_BIT
When set, ARVR stabilized rotation vector reports are active.
Definition BNO08x.hpp:402
-
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:1438
-
BNO08x::mems_raw_magf_Y
uint16_t mems_raw_magf_Y
Definition BNO08x.hpp:367
-
BNO08x::disable_uncalibrated_gyro
void disable_uncalibrated_gyro()
Sends command to disable uncalibrated gyro reports by setting report interval to 0.
Definition BNO08x.cpp:1488
-
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:275
-
BNO08x::SHTP_REPORT_COMMAND_REQUEST
static const constexpr uint8_t SHTP_REPORT_COMMAND_REQUEST
See SH2 Ref. Manual 6.3.8.
Definition BNO08x.hpp:451
-
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:1341
-
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:1428
-
BNO08x::EVT_GRP_RPT_STEP_COUNTER_BIT
static const constexpr EventBits_t EVT_GRP_RPT_STEP_COUNTER_BIT
When set, step counter reports are active.
Definition BNO08x.hpp:415
-
BNO08x::disable_stability_classifier
void disable_stability_classifier()
Sends command to disable stability reports by setting report interval to 0.
Definition BNO08x.cpp:1528
-
BNO08x::data_proc_task
void data_proc_task()
Task responsible parsing packets. Executed when SPI task sends a packet to be parsed,...
Definition BNO08x.cpp:2830
-
BNO08x::raw_magf_Z
uint16_t raw_magf_Z
Definition BNO08x.hpp:355
-
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:350
-
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:1209
-
BNO08x::get_magf_Z
float get_magf_Z()
Get Z component of magnetic field vector.
Definition BNO08x.cpp:1683
-
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:1319
-
BNO08x::raw_accel_Y
uint16_t raw_accel_Y
Definition BNO08x.hpp:342
-
BNO08x::mems_raw_magf_X
uint16_t mems_raw_magf_X
Definition BNO08x.hpp:367
-
BNO08x::SENSOR_REPORT_ID_STABILITY_CLASSIFIER
static const constexpr uint8_t SENSOR_REPORT_ID_STABILITY_CLASSIFIER
See SH2 Ref. Manual 6.5.31.
Definition BNO08x.hpp:472
-
BNO08x::queue_request_product_id_command
void queue_request_product_id_command()
Queues a packet containing the request product ID command.
Definition BNO08x.cpp:570
-
BNO08x::mems_raw_gyro_Y
uint16_t mems_raw_gyro_Y
Definition BNO08x.hpp:365
-
BNO08x::get_gyro_calibrated_velocity_X
float get_gyro_calibrated_velocity_X()
Get calibrated gyro x axis angular velocity measurement.
Definition BNO08x.cpp:2186
-
BNO08x::EVT_GRP_RPT_GRAVITY_BIT
static const constexpr EventBits_t EVT_GRP_RPT_GRAVITY_BIT
When set, gravity reports are active.
Definition BNO08x.hpp:410
-
BNO08x::TARE_GAME_ROTATION_VECTOR
static const constexpr uint8_t TARE_GAME_ROTATION_VECTOR
Tare game rotation vector.
Definition BNO08x.hpp:263
-
BNO08x::SENSOR_REPORT_ID_GEOMAGNETIC_ROTATION_VECTOR
static const constexpr uint8_t SENSOR_REPORT_ID_GEOMAGNETIC_ROTATION_VECTOR
See SH2 Ref. Manual 6.5.20.
Definition BNO08x.hpp:468
-
BNO08x::raw_lin_accel_Z
uint16_t raw_lin_accel_Z
Definition BNO08x.hpp:344
-
BNO08x::time_stamp
uint32_t time_stamp
Report timestamp (see datasheet 1.3.5.3)
Definition BNO08x.hpp:341
-
BNO08x::get_accel_X
float get_accel_X()
Get x axis acceleration (total acceleration of device, units in m/s^2).
Definition BNO08x.cpp:1980
-
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:1198
-
BNO08x::TARE_ARVR_STABILIZED_ROTATION_VECTOR
static const constexpr uint8_t TARE_ARVR_STABILIZED_ROTATION_VECTOR
Tare ARVR stabilized rotation vector.
Definition BNO08x.hpp:266
-
BNO08x::CALIBRATE_MAG
static const constexpr uint8_t CALIBRATE_MAG
Calibrate magnetometer command used by queue_calibrate_command.
Definition BNO08x.hpp:432
-
BNO08x::spi_transaction
spi_transaction_t spi_transaction
SPI transaction handle.
Definition BNO08x.hpp:338
-
BNO08x::mode_on
bool mode_on()
Turns on/ brings BNO08x sensor out of sleep mode using executable channel.
Definition BNO08x.cpp:348
-
BNO08x::calibrate_magnetometer
void calibrate_magnetometer()
Sends command to calibrate magnetometer.
Definition BNO08x.cpp:620
-
BNO08x::EVT_GRP_RPT_RAW_MAGNETOMETER_BIT
static const constexpr EventBits_t EVT_GRP_RPT_RAW_MAGNETOMETER_BIT
When set, raw magnetometer reports are active.
Definition BNO08x.hpp:420
-
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:366
-
BNO08x::raw_bias_Y
uint16_t raw_bias_Y
Definition BNO08x.hpp:353
-
BNO08x::magf_accuracy
uint16_t magf_accuracy
Calibrated magnetic field reading in uTesla (See SH-2 Ref. Manual 6.5.16)
Definition BNO08x.hpp:356
-
BNO08x::end_calibration
void end_calibration()
Sends command to end calibration procedure.
Definition BNO08x.cpp:722
-
BNO08x::SENSOR_REPORT_ID_UNCALIBRATED_GYRO
static const constexpr uint8_t SENSOR_REPORT_ID_UNCALIBRATED_GYRO
See SH2 Ref. Manual 6.5.14.
Definition BNO08x.hpp:466
-
BNO08x::spi_hdl
spi_device_handle_t spi_hdl
SPI device handle.
Definition BNO08x.hpp:337
-
BNO08x::raw_uncalib_gyro_Y
uint16_t raw_uncalib_gyro_Y
Definition BNO08x.hpp:353
-
BNO08x::get_gravity_accuracy
uint8_t get_gravity_accuracy()
Get the reported gravity accuracy.
Definition BNO08x.cpp:1752
-
BNO08x::SENSOR_REPORT_ID_GYRO_INTEGRATED_ROTATION_VECTOR
static const constexpr uint8_t SENSOR_REPORT_ID_GYRO_INTEGRATED_ROTATION_VECTOR
See SH2 Ref. Manual 6.5.44.
Definition BNO08x.hpp:469
-
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:2347
-
BNO08x::raw_magf_Y
uint16_t raw_magf_Y
Definition BNO08x.hpp:355
-
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:2337
-
BNO08x::CALIBRATE_ACCEL
static const constexpr uint8_t CALIBRATE_ACCEL
Calibrate accelerometer command used by queue_calibrate_command.
Definition BNO08x.hpp:430
-
BNO08x::SENSOR_REPORT_ID_LINEAR_ACCELERATION
static const constexpr uint8_t SENSOR_REPORT_ID_LINEAR_ACCELERATION
See SH2 Ref. Manual 6.5.10.
Definition BNO08x.hpp:463
-
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:645
-
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:272
-
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:362
-
BNO08x::get_uncalibrated_gyro_bias_X
float get_uncalibrated_gyro_bias_X()
Get uncalibrated gyro x axis drift estimate.
Definition BNO08x.cpp:2281
-
BNO08x::get_gyro_calibrated_velocity_Y
float get_gyro_calibrated_velocity_Y()
Get calibrated gyro y axis angular velocity measurement.
Definition BNO08x.cpp:2196
-
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:2025
-
BNO08x::disable_accelerometer
void disable_accelerometer()
Sends command to disable accelerometer reports by setting report interval to 0.
Definition BNO08x.cpp:1448
-
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:1286
-
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:1354
-
BNO08x::FRS_RECORD_ID_ACCELEROMETER
static const constexpr uint16_t FRS_RECORD_ID_ACCELEROMETER
Accelerometer record ID, to be passed in metadata functions like get_Q1()
Definition BNO08x.hpp:249
-
BNO08x::step_count
uint16_t step_count
Step counter reading (See SH-2 Ref. Manual 6.5.29)
Definition BNO08x.hpp:358
-
BNO08x::mems_raw_accel_Y
uint16_t mems_raw_accel_Y
Definition BNO08x.hpp:363
-
BNO08x::get_time_stamp
uint32_t get_time_stamp()
Return timestamp of most recent report.
Definition BNO08x.cpp:1633
-
BNO08x::EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT
static const constexpr EventBits_t EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT
When set, linear accelerometer reports are active.
Definition BNO08x.hpp:409
-
BNO08x::SENSOR_REPORT_ID_GAME_ROTATION_VECTOR
static const constexpr uint8_t SENSOR_REPORT_ID_GAME_ROTATION_VECTOR
See SH2 Ref. Manual 6.5.19.
Definition BNO08x.hpp:467
-
BNO08x::get_step_count
uint16_t get_step_count()
Get the counted amount of steps.
Definition BNO08x.cpp:2379
-
BNO08x::disable_raw_magnetometer
void disable_raw_magnetometer()
Sends command to disable raw magnetometer reports by setting report interval to 0.
Definition BNO08x.cpp:1568
-
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:2138
-
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:2600
-
BNO08x::gravity_accuracy
uint16_t gravity_accuracy
Gravity reading in m/s^2 (See SH-2 Ref. Manual 6.5.11)
Definition BNO08x.hpp:352
-
BNO08x::GRAVITY_Q1
static const constexpr int16_t GRAVITY_Q1
Gravity Q point (See SH-2 Ref. Manual 6.5.11)
Definition BNO08x.hpp:276
-
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:1264
-
BNO08x::raw_lin_accel_X
uint16_t raw_lin_accel_X
Definition BNO08x.hpp:344
-
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:2357
-
BNO08x::SHTP_REPORT_BASE_TIMESTAMP
static const constexpr uint8_t SHTP_REPORT_BASE_TIMESTAMP
See SH2 Ref. Manual 7.2.1.
Definition BNO08x.hpp:456
-
BNO08x::receive_packet
bool receive_packet()
Receives a SHTP packet via SPI and sends it to data_proc_task()
Definition BNO08x.cpp:396
-
BNO08x::run_full_calibration_routine
bool run_full_calibration_routine()
Runs full calibration routine.
Definition BNO08x.cpp:753
-
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:387
-
BNO08x::initialize
bool initialize()
Initializes BNO08x sensor.
Definition BNO08x.cpp:114
-
BNO08x::CALIBRATE_GYRO
static const constexpr uint8_t CALIBRATE_GYRO
Calibrate gyro command used by queue_calibrate_command.
Definition BNO08x.hpp:431
-
BNO08x::SENSOR_REPORT_ID_ARVR_STABILIZED_GAME_ROTATION_VECTOR
static const constexpr uint8_t SENSOR_REPORT_ID_ARVR_STABILIZED_GAME_ROTATION_VECTOR
See SH2 Ref. Manual 6.5.43.
Definition BNO08x.hpp:478
-
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:452
-
BNO08x::TARE_AXIS_Z
static const constexpr uint8_t TARE_AXIS_Z
Tar yaw axis only (used with tare now command)
Definition BNO08x.hpp:259
-
BNO08x::imu_config
bno08x_config_t imu_config
IMU configuration settings.
Definition BNO08x.hpp:334
-
BNO08x::calibrate_accelerometer
void calibrate_accelerometer()
Sends command to calibrate accelerometer.
Definition BNO08x.cpp:596
-
BNO08x::COMMAND_DCD
static const constexpr uint8_t COMMAND_DCD
Save DCD command (See SH2 Ref. Manual 6.4.7)
Definition BNO08x.hpp:443
-
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:2108
-
BNO08x::gravity_Y
uint16_t gravity_Y
Definition BNO08x.hpp:351
-
BNO08x::raw_accel_Z
uint16_t raw_accel_Z
Definition BNO08x.hpp:342
-
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:2756
-
BNO08x::gravity_X
uint16_t gravity_X
Definition BNO08x.hpp:351
-
BNO08x::get_pitch_deg
float get_pitch_deg()
Get the reported rotation about y axis.
Definition BNO08x.cpp:1855
-
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:434
-
BNO08x::get_yaw_deg
float get_yaw_deg()
Get the reported rotation about z axis.
Definition BNO08x.cpp:1865
-
BNO08x::EVT_GRP_RPT_GYRO_UNCALIBRATED_BIT
static const constexpr EventBits_t EVT_GRP_RPT_GYRO_UNCALIBRATED_BIT
When set, uncalibrated gyro reports are active.
Definition BNO08x.hpp:412
-
BNO08x::activity_confidences
uint8_t * activity_confidences
Confidence of read activities (See SH-2 Ref. Manual 6.5.36)
Definition BNO08x.hpp:361
-
BNO08x::data_proc_task_hdl
TaskHandle_t data_proc_task_hdl
data_proc_task() task handle
Definition BNO08x.hpp:376
-
BNO08x::gravity_Z
uint16_t gravity_Z
Definition BNO08x.hpp:351
-
BNO08x::raw_uncalib_gyro_Z
uint16_t raw_uncalib_gyro_Z
Definition BNO08x.hpp:353
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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:1593
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BNO08x::disable_linear_accelerometer
void disable_linear_accelerometer()
Sends command to disable linear accelerometer reports by setting report interval to 0.
Definition BNO08x.cpp:1458
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BNO08x::calibrate_all
void calibrate_all()
Sends command to calibrate accelerometer, gyro, and magnetometer.
Definition BNO08x.cpp:584
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BNO08x::raw_uncalib_gyro_X
uint16_t raw_uncalib_gyro_X
Definition BNO08x.hpp:353
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BNO08x::get_accel_Y
float get_accel_Y()
Get y axis acceleration (total acceleration of device, units in m/s^2).
Definition BNO08x.cpp:1990
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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:2058
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BNO08x::clear_tare
void clear_tare()
Sends command to clear persistent tare settings in non-volatile memory of BNO08x (See Ref....
Definition BNO08x.cpp:1605
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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:2325
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BNO08x::raw_lin_accel_Y
uint16_t raw_lin_accel_Y
Definition BNO08x.hpp:344
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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:2118
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BNO08x::request_calibration_status
void request_calibration_status()
Requests ME calibration status from BNO08x (see Ref. Manual 6.4.7.2)
Definition BNO08x.cpp:692
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BNO08x::bno08x_rx_packet_t
Holds data that is received over spi.
Definition BNO08x.hpp:281
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BNO08x::bno08x_rx_packet_t::length
uint16_t length
Body of SHTP packet.
Definition BNO08x.hpp:284
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BNO08x::bno08x_rx_packet_t::header
uint8_t header[4]
Header of SHTP packet.
Definition BNO08x.hpp:282
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BNO08x::bno08x_rx_packet_t::body
uint8_t body[300]
Definition BNO08x.hpp:283
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BNO08x::bno08x_tx_packet_t
Holds data that is sent over spi.
Definition BNO08x.hpp:289
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BNO08x::bno08x_tx_packet_t::body
uint8_t body[50]
Body of SHTP the packet (header + body)
Definition BNO08x.hpp:290
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BNO08x::bno08x_tx_packet_t::length
uint16_t length
Packet length in bytes.
Definition BNO08x.hpp:291
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bno08x_config_t
IMU configuration settings passed into constructor.
Definition BNO08x.hpp:44
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bno08x_config_t::spi_peripheral
spi_host_device_t spi_peripheral
SPI peripheral to be used.
Definition BNO08x.hpp:45
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bno08x_config_t::sclk_speed
uint32_t sclk_speed
Desired SPI SCLK speed in Hz (max 3MHz)
Definition BNO08x.hpp:53
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bno08x_config_t::io_int
gpio_num_t io_int
Chip select pin (connects to BNO08x CS pin)
Definition BNO08x.hpp:50
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bno08x_config_t::io_rst
gpio_num_t io_rst
Host interrupt pin (connects to BNO08x INT pin)
Definition BNO08x.hpp:51
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bno08x_config_t::io_sclk
gpio_num_t io_sclk
SCLK pin (connects to BNO08x SCL pin)
Definition BNO08x.hpp:48
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bno08x_config_t::io_mosi
gpio_num_t io_mosi
MOSI GPIO pin (connects to BNO08x DI pin)
Definition BNO08x.hpp:46
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bno08x_config_t::io_wake
gpio_num_t io_wake
Reset pin (connects to BNO08x RST pin)
Definition BNO08x.hpp:52
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bno08x_config_t::io_miso
gpio_num_t io_miso
MISO GPIO pin (connects to BNO08x SDA pin)
Definition BNO08x.hpp:47
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bno08x_config_t::io_cs
gpio_num_t io_cs
Definition BNO08x.hpp:49
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bno08x_config_t::bno08x_config_t
bno08x_config_t()
Default IMU configuration settings constructor. To modify default GPIO pins, run "idf....
Definition BNO08x.hpp:58
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bno08x_config_t::bno08x_config_t
bno08x_config_t(spi_host_device_t spi_peripheral, gpio_num_t io_mosi, gpio_num_t io_miso, gpio_num_t io_sclk, gpio_num_t io_cs, gpio_num_t io_int, gpio_num_t io_rst, gpio_num_t io_wake, uint32_t sclk_speed)
Overloaded IMU configuration settings constructor for custom pin settings.
Definition BNO08x.hpp:73
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esp32_BNO08x 1.1 -
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C++ BNO08x IMU driver component for esp-idf.
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C++ BNO08x IMU driver component for esp-idf.
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Here are the classes, structs, unions and interfaces with brief descriptions:
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[detail level 12]
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 ▼CBNO08x
 Cbno08x_rx_packet_tHolds data that is received over spi
 Cbno08x_tx_packet_tHolds data that is sent over spi
 Cbno08x_config_tIMU configuration settings passed into constructor
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C++ BNO08x IMU driver component for esp-idf.
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BNO08x Member List
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This is the complete list of members for BNO08x, including all inherited members.

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accel_accuracyBNO08xprivate
accel_lin_accuracyBNO08xprivate
ACCELEROMETER_Q1BNO08xstatic
activity_classifierBNO08xprivate
activity_confidencesBNO08xprivate
ANGULAR_VELOCITY_Q1BNO08xstatic
BNO08x(bno08x_config_t imu_config=default_imu_config)BNO08x
bno08x_rx_packet_t typedefBNO08xprivate
bno08x_tx_packet_t typedefBNO08xprivate
bus_configBNO08xprivate
CALIBRATE_ACCELBNO08xprivatestatic
CALIBRATE_ACCEL_GYRO_MAGBNO08xprivatestatic
calibrate_accelerometer()BNO08x
calibrate_all()BNO08x
CALIBRATE_GYROBNO08xprivatestatic
calibrate_gyro()BNO08x
CALIBRATE_MAGBNO08xprivatestatic
calibrate_magnetometer()BNO08x
CALIBRATE_PLANAR_ACCELBNO08xprivatestatic
calibrate_planar_accelerometer()BNO08x
CALIBRATE_STOPBNO08xprivatestatic
calibration_complete()BNO08x
calibration_statusBNO08xprivate
cb_listBNO08xprivate
clear_tare()BNO08x
COMMAND_CLEAR_DCDBNO08xprivatestatic
COMMAND_COUNTERBNO08xprivatestatic
COMMAND_DCDBNO08xprivatestatic
COMMAND_DCD_PERIOD_SAVEBNO08xprivatestatic
COMMAND_ERRORSBNO08xprivatestatic
COMMAND_INITIALIZEBNO08xprivatestatic
COMMAND_ME_CALIBRATEBNO08xprivatestatic
COMMAND_OSCILLATORBNO08xprivatestatic
COMMAND_TAREBNO08xprivatestatic
data_available()BNO08x
data_proc_task()BNO08xprivate
data_proc_task_hdlBNO08xprivate
data_proc_task_trampoline(void *arg)BNO08xprivatestatic
default_imu_configBNO08xprivatestatic
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_report(uint8_t report_ID, const EventBits_t report_evt_grp_bit)BNO08xprivate
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_report(uint8_t report_ID, uint32_t time_between_reports, const EventBits_t report_evt_grp_bit)BNO08xprivate
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
evt_grp_report_enBNO08xprivate
EVT_GRP_RPT_ACCELEROMETER_BITBNO08xprivatestatic
EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BITBNO08xprivatestatic
EVT_GRP_RPT_ALL_BITSBNO08xprivatestatic
EVT_GRP_RPT_ARVR_S_GAME_ROTATION_VECTOR_BITBNO08xprivatestatic
EVT_GRP_RPT_ARVR_S_ROTATION_VECTOR_BITBNO08xprivatestatic
EVT_GRP_RPT_GAME_ROTATION_VECTOR_BITBNO08xprivatestatic
EVT_GRP_RPT_GRAVITY_BITBNO08xprivatestatic
EVT_GRP_RPT_GYRO_BITBNO08xprivatestatic
EVT_GRP_RPT_GYRO_ROTATION_VECTOR_BITBNO08xprivatestatic
EVT_GRP_RPT_GYRO_UNCALIBRATED_BITBNO08xprivatestatic
EVT_GRP_RPT_LINEAR_ACCELEROMETER_BITBNO08xprivatestatic
EVT_GRP_RPT_MAGNETOMETER_BITBNO08xprivatestatic
EVT_GRP_RPT_RAW_ACCELEROMETER_BITBNO08xprivatestatic
EVT_GRP_RPT_RAW_GYRO_BITBNO08xprivatestatic
EVT_GRP_RPT_RAW_MAGNETOMETER_BITBNO08xprivatestatic
EVT_GRP_RPT_ROTATION_VECTOR_BITBNO08xprivatestatic
EVT_GRP_RPT_STABILITY_CLASSIFIER_BITBNO08xprivatestatic
EVT_GRP_RPT_STEP_COUNTER_BITBNO08xprivatestatic
EVT_GRP_RPT_TAP_DETECTOR_BITBNO08xprivatestatic
evt_grp_spiBNO08xprivate
EVT_GRP_SPI_RX_DONE_BITBNO08xprivatestatic
EVT_GRP_SPI_RX_INVALID_PACKETBNO08xprivatestatic
EVT_GRP_SPI_RX_VALID_PACKETBNO08xprivatestatic
EVT_GRP_SPI_TX_DONEBNO08xprivatestatic
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
FRS_read_word(uint16_t record_ID, uint8_t word_number)BNO08x
FRS_RECORD_ID_ACCELEROMETERBNO08xstatic
FRS_RECORD_ID_GYROSCOPE_CALIBRATEDBNO08xstatic
FRS_RECORD_ID_MAGNETIC_FIELD_CALIBRATEDBNO08xstatic
FRS_RECORD_ID_ROTATION_VECTORBNO08xstatic
get_accel(float &x, float &y, float &z, uint8_t &accuracy)BNO08x
get_accel_accuracy()BNO08x
get_accel_X()BNO08x
get_accel_Y()BNO08x
get_accel_Z()BNO08x
get_activity_classifier()BNO08x
get_gravity(float &x, float &y, float &z, uint8_t &accuracy)BNO08x
get_gravity_accuracy()BNO08x
get_gravity_X()BNO08x
get_gravity_Y()BNO08x
get_gravity_Z()BNO08x
get_gyro_accuracy()BNO08x
get_gyro_calibrated_velocity(float &x, float &y, float &z, uint8_t &accuracy)BNO08x
get_gyro_calibrated_velocity_X()BNO08x
get_gyro_calibrated_velocity_Y()BNO08x
get_gyro_calibrated_velocity_Z()BNO08x
get_gyro_velocity(float &x, float &y, float &z)BNO08x
get_gyro_velocity_X()BNO08x
get_gyro_velocity_Y()BNO08x
get_gyro_velocity_Z()BNO08x
get_linear_accel(float &x, float &y, float &z, uint8_t &accuracy)BNO08x
get_linear_accel_accuracy()BNO08x
get_linear_accel_X()BNO08x
get_linear_accel_Y()BNO08x
get_linear_accel_Z()BNO08x
get_magf(float &x, float &y, float &z, uint8_t &accuracy)BNO08x
get_magf_accuracy()BNO08x
get_magf_X()BNO08x
get_magf_Y()BNO08x
get_magf_Z()BNO08x
get_pitch()BNO08x
get_pitch_deg()BNO08x
get_Q1(uint16_t record_ID)BNO08x
get_Q2(uint16_t record_ID)BNO08x
get_Q3(uint16_t record_ID)BNO08x
get_quat(float &i, float &j, float &k, float &real, float &rad_accuracy, uint8_t &accuracy)BNO08x
get_quat_accuracy()BNO08x
get_quat_I()BNO08x
get_quat_J()BNO08x
get_quat_K()BNO08x
get_quat_radian_accuracy()BNO08x
get_quat_real()BNO08x
get_range(uint16_t record_ID)BNO08x
get_raw_accel_X()BNO08x
get_raw_accel_Y()BNO08x
get_raw_accel_Z()BNO08x
get_raw_gyro_X()BNO08x
get_raw_gyro_Y()BNO08x
get_raw_gyro_Z()BNO08x
get_raw_magf_X()BNO08x
get_raw_magf_Y()BNO08x
get_raw_magf_Z()BNO08x
get_reset_reason()BNO08x
get_resolution(uint16_t record_ID)BNO08x
get_roll()BNO08x
get_roll_deg()BNO08x
get_stability_classifier()BNO08x
get_step_count()BNO08x
get_tap_detector()BNO08x
get_time_stamp()BNO08x
get_uncalibrated_gyro(float &x, float &y, float &z, float &bx, float &by, float &bz, uint8_t &accuracy)BNO08x
get_uncalibrated_gyro_accuracy()BNO08x
get_uncalibrated_gyro_bias_X()BNO08x
get_uncalibrated_gyro_bias_Y()BNO08x
get_uncalibrated_gyro_bias_Z()BNO08x
get_uncalibrated_gyro_X()BNO08x
get_uncalibrated_gyro_Y()BNO08x
get_uncalibrated_gyro_Z()BNO08x
get_yaw()BNO08x
get_yaw_deg()BNO08x
gravity_accuracyBNO08xprivate
GRAVITY_Q1BNO08xstatic
gravity_XBNO08xprivate
gravity_YBNO08xprivate
gravity_ZBNO08xprivate
gyro_accuracyBNO08xprivate
GYRO_Q1BNO08xstatic
hard_reset()BNO08x
hint_handler(void *arg)BNO08xprivatestatic
HOST_INT_TIMEOUT_MSBNO08xprivatestatic
imu_configBNO08xprivate
imu_spi_configBNO08xprivate
initialize()BNO08x
isr_service_installedBNO08xprivatestatic
LINEAR_ACCELEROMETER_Q1BNO08xstatic
magf_accuracyBNO08xprivate
MAGNETOMETER_Q1BNO08xstatic
MAX_METADATA_LENGTHBNO08xprivatestatic
mems_raw_accel_XBNO08xprivate
mems_raw_accel_YBNO08xprivate
mems_raw_accel_ZBNO08xprivate
mems_raw_gyro_XBNO08xprivate
mems_raw_gyro_YBNO08xprivate
mems_raw_gyro_ZBNO08xprivate
mems_raw_magf_XBNO08xprivate
mems_raw_magf_YBNO08xprivate
mems_raw_magf_ZBNO08xprivate
meta_dataBNO08xprivate
mode_on()BNO08x
mode_sleep()BNO08x
parse_command_report(bno08x_rx_packet_t *packet)BNO08xprivate
parse_frs_read_response_report(bno08x_rx_packet_t *packet)BNO08xprivate
parse_input_report(bno08x_rx_packet_t *packet)BNO08xprivate
parse_packet(bno08x_rx_packet_t *packet)BNO08xprivate
parse_product_id_report(bno08x_rx_packet_t *packet)BNO08xprivate
print_header(bno08x_rx_packet_t *packet)BNO08xprivate
print_packet(bno08x_rx_packet_t *packet)BNO08xprivate
q_to_float(int16_t fixed_point_value, uint8_t q_point)BNO08x
quat_accuracyBNO08xprivate
queue_calibrate_command(uint8_t _to_calibrate)BNO08xprivate
queue_command(uint8_t command, uint8_t *commands)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_frs_read_dataBNO08xprivate
queue_packet(uint8_t channel_number, uint8_t data_length, uint8_t *commands)BNO08xprivate
queue_request_product_id_command()BNO08xprivate
queue_reset_reasonBNO08xprivate
queue_rx_dataBNO08xprivate
queue_tare_command(uint8_t command, uint8_t axis=TARE_AXIS_ALL, uint8_t rotation_vector_basis=TARE_ROTATION_VECTOR)BNO08xprivate
queue_tx_dataBNO08xprivate
raw_accel_XBNO08xprivate
raw_accel_YBNO08xprivate
raw_accel_ZBNO08xprivate
raw_bias_XBNO08xprivate
raw_bias_YBNO08xprivate
raw_bias_ZBNO08xprivate
raw_gyro_XBNO08xprivate
raw_gyro_YBNO08xprivate
raw_gyro_ZBNO08xprivate
raw_lin_accel_XBNO08xprivate
raw_lin_accel_YBNO08xprivate
raw_lin_accel_ZBNO08xprivate
raw_magf_XBNO08xprivate
raw_magf_YBNO08xprivate
raw_magf_ZBNO08xprivate
raw_quat_IBNO08xprivate
raw_quat_JBNO08xprivate
raw_quat_KBNO08xprivate
raw_quat_radian_accuracyBNO08xprivate
raw_quat_realBNO08xprivate
raw_uncalib_gyro_XBNO08xprivate
raw_uncalib_gyro_YBNO08xprivate
raw_uncalib_gyro_ZBNO08xprivate
raw_velocity_gyro_XBNO08xprivate
raw_velocity_gyro_YBNO08xprivate
raw_velocity_gyro_ZBNO08xprivate
receive_packet()BNO08xprivate
register_cb(std::function< void()> cb_fxn)BNO08x
request_calibration_status()BNO08x
ROTATION_VECTOR_ACCURACY_Q1BNO08xstatic
ROTATION_VECTOR_Q1BNO08xstatic
run_full_calibration_routine()BNO08x
RX_DATA_LENGTHBNO08xprivatestatic
save_calibration()BNO08x
save_tare()BNO08x
send_packet(bno08x_tx_packet_t *packet)BNO08xprivate
SENSOR_REPORT_ID_ACCELEROMETERBNO08xprivatestatic
SENSOR_REPORT_ID_ARVR_STABILIZED_GAME_ROTATION_VECTORBNO08xprivatestatic
SENSOR_REPORT_ID_ARVR_STABILIZED_ROTATION_VECTORBNO08xprivatestatic
SENSOR_REPORT_ID_GAME_ROTATION_VECTORBNO08xprivatestatic
SENSOR_REPORT_ID_GEOMAGNETIC_ROTATION_VECTORBNO08xprivatestatic
SENSOR_REPORT_ID_GRAVITYBNO08xprivatestatic
SENSOR_REPORT_ID_GYRO_INTEGRATED_ROTATION_VECTORBNO08xprivatestatic
SENSOR_REPORT_ID_GYROSCOPEBNO08xprivatestatic
SENSOR_REPORT_ID_LINEAR_ACCELERATIONBNO08xprivatestatic
SENSOR_REPORT_ID_MAGNETIC_FIELDBNO08xprivatestatic
SENSOR_REPORT_ID_PERSONAL_ACTIVITY_CLASSIFIERBNO08xprivatestatic
SENSOR_REPORT_ID_RAW_ACCELEROMETERBNO08xprivatestatic
SENSOR_REPORT_ID_RAW_GYROSCOPEBNO08xprivatestatic
SENSOR_REPORT_ID_RAW_MAGNETOMETERBNO08xprivatestatic
SENSOR_REPORT_ID_ROTATION_VECTORBNO08xprivatestatic
SENSOR_REPORT_ID_STABILITY_CLASSIFIERBNO08xprivatestatic
SENSOR_REPORT_ID_STEP_COUNTERBNO08xprivatestatic
SENSOR_REPORT_ID_TAP_DETECTORBNO08xprivatestatic
SENSOR_REPORT_ID_UNCALIBRATED_GYROBNO08xprivatestatic
SHTP_REPORT_BASE_TIMESTAMPBNO08xprivatestatic
SHTP_REPORT_COMMAND_REQUESTBNO08xprivatestatic
SHTP_REPORT_COMMAND_RESPONSEBNO08xprivatestatic
SHTP_REPORT_FRS_READ_REQUESTBNO08xprivatestatic
SHTP_REPORT_FRS_READ_RESPONSEBNO08xprivatestatic
SHTP_REPORT_PRODUCT_ID_REQUESTBNO08xprivatestatic
SHTP_REPORT_PRODUCT_ID_RESPONSEBNO08xprivatestatic
SHTP_REPORT_SET_FEATURE_COMMANDBNO08xprivatestatic
soft_reset()BNO08x
spi_hdlBNO08xprivate
spi_task()BNO08xprivate
spi_task_hdlBNO08xprivate
spi_task_trampoline(void *arg)BNO08xprivatestatic
spi_transactionBNO08xprivate
stability_classifierBNO08xprivate
step_countBNO08xprivate
TAGBNO08xprivatestatic
tap_detectorBNO08xprivate
TARE_ARVR_STABILIZED_GAME_ROTATION_VECTORBNO08xstatic
TARE_ARVR_STABILIZED_ROTATION_VECTORBNO08xstatic
TARE_AXIS_ALLBNO08xstatic
TARE_AXIS_ZBNO08xstatic
TARE_GAME_ROTATION_VECTORBNO08xstatic
TARE_GEOMAGNETIC_ROTATION_VECTORBNO08xstatic
TARE_GYRO_INTEGRATED_ROTATION_VECTORBNO08xstatic
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
uncalib_gyro_accuracyBNO08xprivate
wait_for_data()BNO08xprivate
wait_for_rx_done()BNO08xprivate
wait_for_tx_done()BNO08xprivate
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esp32_BNO08x 1.1 -
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C++ BNO08x IMU driver component for esp-idf.
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-Classes | -Public Member Functions | -Static Public Attributes | -Private Types | -Private Member Functions | -Static Private Member Functions | -Private Attributes | -Static Private Attributes | -List of all members
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BNO08x Class Reference
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#include <BNO08x.hpp>

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-Classes

struct  bno08x_rx_packet_t
 Holds data that is received over spi. More...
 
struct  bno08x_tx_packet_t
 Holds data that is sent over spi. More...
 
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-Public Member Functions

 BNO08x (bno08x_config_t imu_config=default_imu_config)
 BNO08x imu constructor.
 
bool initialize ()
 Initializes BNO08x sensor.
 
bool hard_reset ()
 Hard resets BNO08x sensor.
 
bool soft_reset ()
 Soft resets BNO08x sensor using executable channel.
 
uint8_t get_reset_reason ()
 Requests product ID, prints the returned info over serial, and returns the reason for the most resent reset.
 
bool mode_sleep ()
 Puts BNO08x sensor into sleep/low power mode using executable channel.
 
bool mode_on ()
 Turns on/ brings BNO08x sensor out of sleep mode using executable channel.
 
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.wikipedia.org/wiki/Q_(number_format))
 
bool run_full_calibration_routine ()
 Runs full calibration routine.
 
void calibrate_all ()
 Sends command to calibrate accelerometer, gyro, and magnetometer.
 
void calibrate_accelerometer ()
 Sends command to calibrate accelerometer.
 
void calibrate_gyro ()
 Sends command to calibrate gyro.
 
void calibrate_magnetometer ()
 Sends command to calibrate magnetometer.
 
void calibrate_planar_accelerometer ()
 Sends command to calibrate planar accelerometer.
 
void request_calibration_status ()
 Requests ME calibration status from BNO08x (see Ref. Manual 6.4.7.2)
 
bool calibration_complete ()
 Returns true if calibration has completed.
 
void end_calibration ()
 Sends command to end calibration procedure.
 
void save_calibration ()
 Sends command to save internal calibration data (See Ref. Manual 6.4.7).
 
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)
 
void save_tare ()
 Sends command to save tare into non-volatile memory of BNO08x (See Ref. Manual 6.4.4.2)
 
void clear_tare ()
 Sends command to clear persistent tare settings in non-volatile memory of BNO08x (See Ref. Manual 6.4.4.3)
 
bool data_available ()
 Checks if BNO08x has asserted interrupt and sent data.
 
void register_cb (std::function< void()> cb_fxn)
 Registers a callback to execute when new data from a report is received.
 
uint32_t get_time_stamp ()
 Return timestamp of most recent report.
 
void get_magf (float &x, float &y, float &z, uint8_t &accuracy)
 Get the full magnetic field vector.
 
float get_magf_X ()
 Get X component of magnetic field vector.
 
float get_magf_Y ()
 Get Y component of magnetic field vector.
 
float get_magf_Z ()
 Get Z component of magnetic field vector.
 
uint8_t get_magf_accuracy ()
 Get accuracy of reported magnetic field vector.
 
void get_gravity (float &x, float &y, float &z, uint8_t &accuracy)
 Get full reported gravity vector, units in m/s^2.
 
float get_gravity_X ()
 Get the reported x axis gravity.
 
float get_gravity_Y ()
 Get the reported y axis gravity.
 
float get_gravity_Z ()
 Get the reported z axis gravity.
 
uint8_t get_gravity_accuracy ()
 Get the reported gravity accuracy.
 
float get_roll ()
 Get the reported rotation about x axis.
 
float get_pitch ()
 Get the reported rotation about y axis.
 
float get_yaw ()
 Get the reported rotation about z axis.
 
float get_roll_deg ()
 Get the reported rotation about x axis.
 
float get_pitch_deg ()
 Get the reported rotation about y axis.
 
float get_yaw_deg ()
 Get the reported rotation about z axis.
 
void get_quat (float &i, float &j, float &k, float &real, float &rad_accuracy, uint8_t &accuracy)
 Get the full quaternion reading.
 
float get_quat_I ()
 Get I component of reported quaternion.
 
float get_quat_J ()
 Get J component of reported quaternion.
 
float get_quat_K ()
 Get K component of reported quaternion.
 
float get_quat_real ()
 Get real component of reported quaternion.
 
float get_quat_radian_accuracy ()
 Get radian accuracy of reported quaternion.
 
uint8_t get_quat_accuracy ()
 Get accuracy of reported quaternion.
 
void get_accel (float &x, float &y, float &z, uint8_t &accuracy)
 Get full acceleration (total acceleration of device, units in m/s^2).
 
float get_accel_X ()
 Get x axis acceleration (total acceleration of device, units in m/s^2).
 
float get_accel_Y ()
 Get y axis acceleration (total acceleration of device, units in m/s^2).
 
float get_accel_Z ()
 Get z axis acceleration (total acceleration of device, units in m/s^2).
 
uint8_t get_accel_accuracy ()
 Get accuracy of linear acceleration.
 
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).
 
float get_linear_accel_X ()
 Get x axis linear acceleration (acceleration of device minus gravity, units in m/s^2)
 
float get_linear_accel_Y ()
 Get y axis linear acceleration (acceleration of device minus gravity, units in m/s^2)
 
float get_linear_accel_Z ()
 Get z axis linear acceleration (acceleration of device minus gravity, units in m/s^2)
 
uint8_t get_linear_accel_accuracy ()
 Get accuracy of linear acceleration.
 
int16_t get_raw_accel_X ()
 Get raw accelerometer x axis reading from physical accelerometer MEMs sensor (See Ref. Manual 6.5.8)
 
int16_t get_raw_accel_Y ()
 Get raw accelerometer y axis reading from physical accelerometer MEMs sensor (See Ref. Manual 6.5.8)
 
int16_t get_raw_accel_Z ()
 Get raw accelerometer z axis reading from physical accelerometer MEMs sensor (See Ref. Manual 6.5.8)
 
int16_t get_raw_gyro_X ()
 Get raw gyroscope x axis reading from physical gyroscope MEMs sensor (See Ref. Manual 6.5.12)
 
int16_t get_raw_gyro_Y ()
 Get raw gyroscope y axis reading from physical gyroscope MEMs sensor (See Ref. Manual 6.5.12)
 
int16_t get_raw_gyro_Z ()
 Get raw gyroscope z axis reading from physical gyroscope MEMs sensor (See Ref. Manual 6.5.12)
 
int16_t get_raw_magf_X ()
 Get raw magnetometer x axis reading from physical magnetometer sensor (See Ref. Manual 6.5.15)
 
int16_t get_raw_magf_Y ()
 Get raw magnetometer y axis reading from physical magnetometer sensor (See Ref. Manual 6.5.15)
 
int16_t get_raw_magf_Z ()
 Get raw magnetometer z axis reading from physical magnetometer sensor (See Ref. Manual 6.5.15)
 
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).
 
float get_gyro_calibrated_velocity_X ()
 Get calibrated gyro x axis angular velocity measurement.
 
float get_gyro_calibrated_velocity_Y ()
 Get calibrated gyro y axis angular velocity measurement.
 
float get_gyro_calibrated_velocity_Z ()
 Get calibrated gyro z axis angular velocity measurement.
 
uint8_t get_gyro_accuracy ()
 Get calibrated gyro accuracy.
 
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 given but not applied.
 
float get_uncalibrated_gyro_X ()
 Get uncalibrated gyro x axis angular velocity measurement.
 
float get_uncalibrated_gyro_Y ()
 Get uncalibrated gyro Y axis angular velocity measurement.
 
float get_uncalibrated_gyro_Z ()
 Get uncalibrated gyro Z axis angular velocity measurement.
 
float get_uncalibrated_gyro_bias_X ()
 Get uncalibrated gyro x axis drift estimate.
 
float get_uncalibrated_gyro_bias_Y ()
 Get uncalibrated gyro Y axis drift estimate.
 
float get_uncalibrated_gyro_bias_Z ()
 Get uncalibrated gyro Z axis drift estimate.
 
uint8_t get_uncalibrated_gyro_accuracy ()
 Get uncalibrated gyro accuracy.
 
void get_gyro_velocity (float &x, float &y, float &z)
 Full rotational velocity from gyro-integrated rotation vector (See Ref. Manual 6.5.44)
 
float get_gyro_velocity_X ()
 Get x axis angular velocity from gyro-integrated rotation vector. (See Ref. Manual 6.5.44)
 
float get_gyro_velocity_Y ()
 Get y axis angular velocity from gyro-integrated rotation vector. (See Ref. Manual 6.5.44)
 
float get_gyro_velocity_Z ()
 Get z axis angular velocity from gyro-integrated rotation vector. (See Ref. Manual 6.5.44)
 
uint8_t get_tap_detector ()
 Get if tap has occured.
 
uint16_t get_step_count ()
 Get the counted amount of steps.
 
int8_t get_stability_classifier ()
 Get the current stability classifier (Seee Ref. Manual 6.5.31)
 
uint8_t get_activity_classifier ()
 Get the current activity classifier (Seee Ref. Manual 6.5.36)
 
int16_t get_Q1 (uint16_t record_ID)
 Gets Q1 point from BNO08x FRS (flash record system).
 
int16_t get_Q2 (uint16_t record_ID)
 Gets Q2 point from BNO08x FRS (flash record system).
 
int16_t get_Q3 (uint16_t record_ID)
 Gets Q3 point from BNO08x FRS (flash record system).
 
float get_resolution (uint16_t record_ID)
 Gets resolution from BNO08x FRS (flash record system).
 
float get_range (uint16_t record_ID)
 Gets range from BNO08x FRS (flash record system).
 
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. (See Ref. Manual 5.1 & 6.3.7)
 
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 other info. (See Ref. Manual 5.1 & 6.3.6)
 
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 info. (See Ref. Manual 5.1 & 6.3.7)
 
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-Static Public Attributes

static const constexpr uint16_t FRS_RECORD_ID_ACCELEROMETER
 Accelerometer record ID, to be passed in metadata functions like get_Q1()
 
static const constexpr uint16_t FRS_RECORD_ID_GYROSCOPE_CALIBRATED
 Calirated gyroscope record ID, to be passed in metadata functions like get_Q1()
 
static const constexpr uint16_t FRS_RECORD_ID_MAGNETIC_FIELD_CALIBRATED
 Calibrated magnetometer record ID, to be passed in metadata functions like get_Q1()
 
static const constexpr uint16_t FRS_RECORD_ID_ROTATION_VECTOR
 Rotation vector record ID, to be passed in metadata functions like get_Q1()
 
static const constexpr uint8_t TARE_AXIS_ALL = 0x07
 Tare all axes (used with tare now command)
 
static const constexpr uint8_t TARE_AXIS_Z = 0x04
 Tar yaw axis only (used with tare now command)
 
static const constexpr uint8_t TARE_ROTATION_VECTOR = 0
 Tare rotation vector.
 
static const constexpr uint8_t TARE_GAME_ROTATION_VECTOR = 1
 Tare game rotation vector.
 
static const constexpr uint8_t TARE_GEOMAGNETIC_ROTATION_VECTOR = 2
 tare geomagnetic rotation vector
 
static const constexpr uint8_t TARE_GYRO_INTEGRATED_ROTATION_VECTOR = 3
 Tare gyro integrated rotation vector.
 
static const constexpr uint8_t TARE_ARVR_STABILIZED_ROTATION_VECTOR = 4
 Tare ARVR stabilized rotation vector.
 
static const constexpr uint8_t TARE_ARVR_STABILIZED_GAME_ROTATION_VECTOR = 5
 Tare ARVR stabilized game rotation vector.
 
static const constexpr int16_t ROTATION_VECTOR_Q1 = 14
 Rotation vector Q point (See SH-2 Ref. Manual 6.5.18)
 
static const constexpr int16_t ROTATION_VECTOR_ACCURACY_Q1 = 12
 Rotation vector accuracy estimate Q point (See SH-2 Ref. Manual 6.5.18)
 
static const constexpr int16_t ACCELEROMETER_Q1 = 8
 Acceleration Q point (See SH-2 Ref. Manual 6.5.9)
 
static const constexpr int16_t LINEAR_ACCELEROMETER_Q1 = 8
 Linear acceleration Q point (See SH-2 Ref. Manual 6.5.10)
 
static const constexpr int16_t GYRO_Q1 = 9
 Gyro Q point (See SH-2 Ref. Manual 6.5.13)
 
static const constexpr int16_t MAGNETOMETER_Q1 = 4
 Magnetometer Q point (See SH-2 Ref. Manual 6.5.16)
 
static const constexpr int16_t ANGULAR_VELOCITY_Q1 = 10
 Angular velocity Q point (See SH-2 Ref. Manual 6.5.44)
 
static const constexpr int16_t GRAVITY_Q1 = 8
 Gravity Q point (See SH-2 Ref. Manual 6.5.11)
 
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-Private Types

typedef struct BNO08x::bno08x_rx_packet_t bno08x_rx_packet_t
 Holds data that is received over spi.
 
typedef struct BNO08x::bno08x_tx_packet_t bno08x_tx_packet_t
 Holds data that is sent over spi.
 
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-Private Member Functions

bool wait_for_rx_done ()
 Waits for data to be received over SPI, or HOST_INT_TIMEOUT_MS to elapse.
 
bool wait_for_tx_done ()
 Waits for a queued packet to be sent or HOST_INT_TIMEOUT_MS to elapse.
 
bool wait_for_data ()
 Waits for a valid or invalid packet to be received or HOST_INT_TIMEOUT_MS to elapse.
 
bool receive_packet ()
 Receives a SHTP packet via SPI and sends it to data_proc_task()
 
void send_packet (bno08x_tx_packet_t *packet)
 Sends a queued SHTP packet via SPI.
 
void enable_report (uint8_t report_ID, uint32_t time_between_reports, const EventBits_t report_evt_grp_bit)
 Enables a sensor report for a given ID.
 
void disable_report (uint8_t report_ID, const EventBits_t report_evt_grp_bit)
 Disables a sensor report for a given ID by setting its time interval to 0.
 
void queue_packet (uint8_t channel_number, uint8_t data_length, uint8_t *commands)
 Queues an SHTP packet to be sent via SPI.
 
void queue_command (uint8_t command, uint8_t *commands)
 Queues a packet containing a 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. (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.
 
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 6.4.4.1)
 
void queue_request_product_id_command ()
 Queues a packet containing the request product ID command.
 
uint16_t parse_packet (bno08x_rx_packet_t *packet)
 Parses a packet received from bno08x, updating any data according to received reports.
 
uint16_t parse_product_id_report (bno08x_rx_packet_t *packet)
 Parses product id report and prints device info.
 
uint16_t parse_frs_read_response_report (bno08x_rx_packet_t *packet)
 Sends packet to be parsed to meta data function call (frs_read_word()) through queue.
 
uint16_t parse_input_report (bno08x_rx_packet_t *packet)
 Parses received input report sent by BNO08x.
 
uint16_t parse_command_report (bno08x_rx_packet_t *packet)
 Parses received command report sent by BNO08x (See Ref. Manual 6.3.9)
 
void print_header (bno08x_rx_packet_t *packet)
 Prints the header of the passed SHTP packet to serial console with ESP_LOG statement.
 
void print_packet (bno08x_rx_packet_t *packet)
 Prints the passed SHTP packet to serial console with ESP_LOG statement.
 
void spi_task ()
 Task responsible for SPI transactions. Executed when HINT in is asserted by BNO08x.
 
void data_proc_task ()
 Task responsible parsing packets. Executed when SPI task sends a packet to be parsed, notifies wait_for_data() call.
 
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-Static Private Member Functions

static void spi_task_trampoline (void *arg)
 Static function used to launch spi task.
 
static void data_proc_task_trampoline (void *arg)
 Static function used to launch data processing task.
 
static void IRAM_ATTR hint_handler (void *arg)
 HINT interrupt service routine, handles falling edge of BNO08x HINT pin.
 
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-Private Attributes

EventGroupHandle_t evt_grp_spi
 Event group for indicating when bno08x hint pin has triggered and when new data has been processed. Used by calls to sending or receiving functions.
 
EventGroupHandle_t evt_grp_report_en
 Event group for indicating which reports are currently enabled.
 
QueueHandle_t queue_rx_data
 Packet queue used to send data received from bno08x from spi_task to data_proc_task.
 
QueueHandle_t queue_tx_data
 Packet queue used to send data to be sent over SPI from sending functions to spi_task.
 
QueueHandle_t queue_frs_read_data
 Queue used to send packet body from data_proc_task to frs read functions.
 
QueueHandle_t queue_reset_reason
 Queue used to send reset reason from product id report to reset_reason() function.
 
std::vector< std::function< void()> > cb_list
 
uint32_t meta_data [9]
 First 9 bytes of meta data returned from FRS read operation (we don't really need the rest) (See Ref. Manual 5.1)
 
bno08x_config_t imu_config {}
 IMU configuration settings.
 
spi_bus_config_t bus_config {}
 SPI bus GPIO configuration settings.
 
spi_device_interface_config_t imu_spi_config {}
 SPI slave device settings.
 
spi_device_handle_t spi_hdl {}
 SPI device handle.
 
spi_transaction_t spi_transaction {}
 SPI transaction handle.
 
uint32_t time_stamp
 Report timestamp (see datasheet 1.3.5.3)
 
uint16_t raw_accel_X
 
uint16_t raw_accel_Y
 
uint16_t raw_accel_Z
 
uint16_t accel_accuracy
 Raw acceleration readings (See SH-2 Ref. Manual 6.5.8)
 
uint16_t raw_lin_accel_X
 
uint16_t raw_lin_accel_Y
 
uint16_t raw_lin_accel_Z
 
uint16_t accel_lin_accuracy
 Raw linear acceleration (See SH-2 Ref. Manual 6.5.10)
 
uint16_t raw_gyro_X
 
uint16_t raw_gyro_Y
 
uint16_t raw_gyro_Z
 
uint16_t gyro_accuracy
 Raw gyro reading (See SH-2 Ref. Manual 6.5.13)
 
uint16_t raw_quat_I
 
uint16_t raw_quat_J
 
uint16_t raw_quat_K
 
uint16_t raw_quat_real
 
uint16_t raw_quat_radian_accuracy
 
uint16_t quat_accuracy
 Raw quaternion reading (See SH-2 Ref. Manual 6.5.44)
 
uint16_t raw_velocity_gyro_X
 
uint16_t raw_velocity_gyro_Y
 
uint16_t raw_velocity_gyro_Z
 Raw gyro angular velocity reading (See SH-2 Ref. Manual 6.5.44)
 
uint16_t gravity_X
 
uint16_t gravity_Y
 
uint16_t gravity_Z
 
uint16_t gravity_accuracy
 Gravity reading in m/s^2 (See SH-2 Ref. Manual 6.5.11)
 
uint16_t raw_uncalib_gyro_X
 
uint16_t raw_uncalib_gyro_Y
 
uint16_t raw_uncalib_gyro_Z
 
uint16_t raw_bias_X
 
uint16_t raw_bias_Y
 
uint16_t raw_bias_Z
 
uint16_t uncalib_gyro_accuracy
 Uncalibrated gyro reading (See SH-2 Ref. Manual 6.5.14)
 
uint16_t raw_magf_X
 
uint16_t raw_magf_Y
 
uint16_t raw_magf_Z
 
uint16_t magf_accuracy
 Calibrated magnetic field reading in uTesla (See SH-2 Ref. Manual 6.5.16)
 
uint8_t tap_detector
 Tap detector reading (See SH-2 Ref. Manual 6.5.27)
 
uint16_t step_count
 Step counter reading (See SH-2 Ref. Manual 6.5.29)
 
uint8_t stability_classifier
 Stability status reading (See SH-2 Ref. Manual 6.5.31)
 
uint8_t activity_classifier
 Activity status reading (See SH-2 Ref. Manual 6.5.36)
 
uint8_t * activity_confidences
 Confidence of read activities (See SH-2 Ref. Manual 6.5.36)
 
uint8_t calibration_status
 Calibration status of device (See SH-2 Ref. Manual 6.4.7.1 & 6.4.7.2)
 
uint16_t mems_raw_accel_X
 
uint16_t mems_raw_accel_Y
 
uint16_t mems_raw_accel_Z
 Raw accelerometer readings from MEMS sensor (See SH2 Ref. Manual 6.5.8)
 
uint16_t mems_raw_gyro_X
 
uint16_t mems_raw_gyro_Y
 
uint16_t mems_raw_gyro_Z
 Raw gyro readings from MEMS sensor (See SH-2 Ref. Manual 6.5.12)
 
uint16_t mems_raw_magf_X
 
uint16_t mems_raw_magf_Y
 
uint16_t mems_raw_magf_Z
 Raw magnetometer (compass) readings from MEMS sensor (See SH-2 Ref. Manual 6.5.15)
 
TaskHandle_t spi_task_hdl
 spi_task() handle
 
TaskHandle_t data_proc_task_hdl
 data_proc_task() task handle
 
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-Static Private Attributes

static bno08x_config_t default_imu_config
 default imu config settings
 
static bool isr_service_installed = {false}
 true of the isr service has been installed, only has to be done once regardless of how many devices are used
 
static const constexpr uint16_t RX_DATA_LENGTH = 300
 length buffer containing data received over spi
 
static const constexpr uint16_t MAX_METADATA_LENGTH = 9
 max length of metadata used in frs read operations
 
static const constexpr uint64_t HOST_INT_TIMEOUT_MS
 Max wait between HINT being asserted by BNO08x before transaction is considered failed (in miliseconds)
 
static const constexpr EventBits_t EVT_GRP_SPI_RX_DONE_BIT
 When this bit is set it indicates a receive procedure has completed.
 
static const constexpr EventBits_t EVT_GRP_SPI_RX_VALID_PACKET
 When this bit is set, it indicates a valid packet has been received and processed.
 
static const constexpr EventBits_t EVT_GRP_SPI_RX_INVALID_PACKET
 When this bit is set, it indicates an invalid packet has been received.
 
static const constexpr EventBits_t EVT_GRP_SPI_TX_DONE = (1 << 3)
 When this bit is set, it indicates a queued packet has been sent.
 
static const constexpr EventBits_t EVT_GRP_RPT_ROTATION_VECTOR_BIT = (1 << 0)
 When set, rotation vector reports are active.
 
static const constexpr EventBits_t EVT_GRP_RPT_GAME_ROTATION_VECTOR_BIT = (1 << 1)
 When set, game rotation vector reports are active.
 
static const constexpr EventBits_t EVT_GRP_RPT_ARVR_S_ROTATION_VECTOR_BIT
 When set, ARVR stabilized rotation vector reports are active.
 
static const constexpr EventBits_t EVT_GRP_RPT_ARVR_S_GAME_ROTATION_VECTOR_BIT
 When set, ARVR stabilized game rotation vector reports are active.
 
static const constexpr EventBits_t EVT_GRP_RPT_GYRO_ROTATION_VECTOR_BIT
 When set, gyro integrator rotation vector reports are active.
 
static const constexpr EventBits_t EVT_GRP_RPT_ACCELEROMETER_BIT = (1 << 5)
 When set, accelerometer reports are active.
 
static const constexpr EventBits_t EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT = (1 << 6)
 When set, linear accelerometer reports are active.
 
static const constexpr EventBits_t EVT_GRP_RPT_GRAVITY_BIT = (1 << 7)
 When set, gravity reports are active.
 
static const constexpr EventBits_t EVT_GRP_RPT_GYRO_BIT = (1 << 8)
 When set, gyro reports are active.
 
static const constexpr EventBits_t EVT_GRP_RPT_GYRO_UNCALIBRATED_BIT = (1 << 9)
 When set, uncalibrated gyro reports are active.
 
static const constexpr EventBits_t EVT_GRP_RPT_MAGNETOMETER_BIT = (1 << 10)
 When set, magnetometer reports are active.
 
static const constexpr EventBits_t EVT_GRP_RPT_TAP_DETECTOR_BIT = (1 << 11)
 When set, tap detector reports are active.
 
static const constexpr EventBits_t EVT_GRP_RPT_STEP_COUNTER_BIT = (1 << 12)
 When set, step counter reports are active.
 
static const constexpr EventBits_t EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT = (1 << 13)
 When set, stability classifier reports are active.
 
static const constexpr EventBits_t EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT = (1 << 14)
 When set, activity classifier reports are active.
 
static const constexpr EventBits_t EVT_GRP_RPT_RAW_ACCELEROMETER_BIT = (1 << 15)
 When set, raw accelerometer reports are active.
 
static const constexpr EventBits_t EVT_GRP_RPT_RAW_GYRO_BIT = (1 << 16)
 When set, raw gyro reports are active.
 
static const constexpr EventBits_t EVT_GRP_RPT_RAW_MAGNETOMETER_BIT = (1 << 17)
 When set, raw magnetometer reports are active.
 
static const constexpr EventBits_t EVT_GRP_RPT_ALL_BITS
 
static const constexpr uint8_t CALIBRATE_ACCEL = 0
 Calibrate accelerometer command used by queue_calibrate_command.
 
static const constexpr uint8_t CALIBRATE_GYRO = 1
 Calibrate gyro command used by queue_calibrate_command.
 
static const constexpr uint8_t CALIBRATE_MAG = 2
 Calibrate magnetometer command used by queue_calibrate_command.
 
static const constexpr uint8_t CALIBRATE_PLANAR_ACCEL = 3
 Calibrate planar acceleration command used by queue_calibrate_command.
 
static const constexpr uint8_t CALIBRATE_ACCEL_GYRO_MAG
 Calibrate accelerometer, gyro, & magnetometer command used by queue_calibrate_command.
 
static const constexpr uint8_t CALIBRATE_STOP = 5
 Stop calibration command used by queue_calibrate_command.
 
static const constexpr uint8_t COMMAND_ERRORS = 1
 
static const constexpr uint8_t COMMAND_COUNTER = 2
 
static const constexpr uint8_t COMMAND_TARE = 3
 Command and response to tare command (See Sh2 Ref. Manual 6.4.4)
 
static const constexpr uint8_t COMMAND_INITIALIZE = 4
 Reinitialize sensor hub components See (SH2 Ref. Manual 6.4.5)
 
static const constexpr uint8_t COMMAND_DCD = 6
 Save DCD command (See SH2 Ref. Manual 6.4.7)
 
static const constexpr uint8_t COMMAND_ME_CALIBRATE = 7
 Command and response to configure ME calibration (See SH2 Ref. Manual 6.4.7)
 
static const constexpr uint8_t COMMAND_DCD_PERIOD_SAVE = 9
 Configure DCD periodic saving (See SH2 Ref. Manual 6.4)
 
static const constexpr uint8_t COMMAND_OSCILLATOR = 10
 Retrieve oscillator type command (See SH2 Ref. Manual 6.4)
 
static const constexpr uint8_t COMMAND_CLEAR_DCD = 11
 Clear DCD & Reset command (See SH2 Ref. Manual 6.4)
 
static const constexpr uint8_t SHTP_REPORT_COMMAND_RESPONSE = 0xF1
 See SH2 Ref. Manual 6.3.9.
 
static const constexpr uint8_t SHTP_REPORT_COMMAND_REQUEST = 0xF2
 See SH2 Ref. Manual 6.3.8.
 
static const constexpr uint8_t SHTP_REPORT_FRS_READ_RESPONSE = 0xF3
 See SH2 Ref. Manual 6.3.7.
 
static const constexpr uint8_t SHTP_REPORT_FRS_READ_REQUEST = 0xF4
 See SH2 Ref. Manual 6.3.6.
 
static const constexpr uint8_t SHTP_REPORT_PRODUCT_ID_RESPONSE = 0xF8
 See SH2 Ref. Manual 6.3.2.
 
static const constexpr uint8_t SHTP_REPORT_PRODUCT_ID_REQUEST = 0xF9
 See SH2 Ref. Manual 6.3.1.
 
static const constexpr uint8_t SHTP_REPORT_BASE_TIMESTAMP = 0xFB
 See SH2 Ref. Manual 7.2.1.
 
static const constexpr uint8_t SHTP_REPORT_SET_FEATURE_COMMAND = 0xFD
 See SH2 Ref. Manual 6.5.4.
 
static const constexpr uint8_t SENSOR_REPORT_ID_ACCELEROMETER = 0x01
 See SH2 Ref. Manual 6.5.9.
 
static const constexpr uint8_t SENSOR_REPORT_ID_GYROSCOPE = 0x02
 See SH2 Ref. Manual 6.5.13.
 
static const constexpr uint8_t SENSOR_REPORT_ID_MAGNETIC_FIELD = 0x03
 See SH2 Ref. Manual 6.5.16.
 
static const constexpr uint8_t SENSOR_REPORT_ID_LINEAR_ACCELERATION = 0x04
 See SH2 Ref. Manual 6.5.10.
 
static const constexpr uint8_t SENSOR_REPORT_ID_ROTATION_VECTOR = 0x05
 See SH2 Ref. Manual 6.5.18.
 
static const constexpr uint8_t SENSOR_REPORT_ID_GRAVITY = 0x06
 See SH2 Ref. Manual 6.5.11.
 
static const constexpr uint8_t SENSOR_REPORT_ID_UNCALIBRATED_GYRO = 0x07
 See SH2 Ref. Manual 6.5.14.
 
static const constexpr uint8_t SENSOR_REPORT_ID_GAME_ROTATION_VECTOR = 0x08
 See SH2 Ref. Manual 6.5.19.
 
static const constexpr uint8_t SENSOR_REPORT_ID_GEOMAGNETIC_ROTATION_VECTOR = 0x09
 See SH2 Ref. Manual 6.5.20.
 
static const constexpr uint8_t SENSOR_REPORT_ID_GYRO_INTEGRATED_ROTATION_VECTOR = 0x2A
 See SH2 Ref. Manual 6.5.44.
 
static const constexpr uint8_t SENSOR_REPORT_ID_TAP_DETECTOR = 0x10
 See SH2 Ref. Manual 6.5.27.
 
static const constexpr uint8_t SENSOR_REPORT_ID_STEP_COUNTER = 0x11
 See SH2 Ref. Manual 6.5.29.
 
static const constexpr uint8_t SENSOR_REPORT_ID_STABILITY_CLASSIFIER = 0x13
 See SH2 Ref. Manual 6.5.31.
 
static const constexpr uint8_t SENSOR_REPORT_ID_RAW_ACCELEROMETER = 0x14
 See SH2 Ref. Manual 6.5.8.
 
static const constexpr uint8_t SENSOR_REPORT_ID_RAW_GYROSCOPE = 0x15
 See SH2 Ref. Manual 6.5.12.
 
static const constexpr uint8_t SENSOR_REPORT_ID_RAW_MAGNETOMETER = 0x16
 See SH2 Ref. Manual 6.5.15.
 
static const constexpr uint8_t SENSOR_REPORT_ID_PERSONAL_ACTIVITY_CLASSIFIER = 0x1E
 See SH2 Ref. Manual 6.5.36.
 
static const constexpr uint8_t SENSOR_REPORT_ID_ARVR_STABILIZED_ROTATION_VECTOR = 0x28
 See SH2 Ref. Manual 6.5.42.
 
static const constexpr uint8_t SENSOR_REPORT_ID_ARVR_STABILIZED_GAME_ROTATION_VECTOR = 0x29
 See SH2 Ref. Manual 6.5.43.
 
static const constexpr uint8_t TARE_NOW = 0
 See SH2 Ref. Manual 6.4.4.1.
 
static const constexpr uint8_t TARE_PERSIST = 1
 See SH2 Ref. Manual 6.4.4.2.
 
static const constexpr uint8_t TARE_SET_REORIENTATION = 2
 See SH2 Ref. Manual 6.4.4.3.
 
static const constexpr char * TAG = "BNO08x"
 Class tag used for serial print statements.
 
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Member Typedef Documentation

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◆ bno08x_rx_packet_t

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typedef struct BNO08x::bno08x_rx_packet_t BNO08x::bno08x_rx_packet_t
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Holds data that is received over spi.

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◆ bno08x_tx_packet_t

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typedef struct BNO08x::bno08x_tx_packet_t BNO08x::bno08x_tx_packet_t
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Holds data that is sent over spi.

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Constructor & Destructor Documentation

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◆ BNO08x()

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BNO08x::BNO08x (bno08x_config_t imu_config = default_imu_config)
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BNO08x imu constructor.

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Construct a BNO08x object for managing a BNO08x sensor. Initializes required GPIO pins, interrupts, SPI peripheral.

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imu_configConfiguration settings (optional), default settings can be seen in bno08x_config_t
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Member Function Documentation

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◆ calibrate_accelerometer()

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void BNO08x::calibrate_accelerometer ()
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Sends command to calibrate accelerometer.

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◆ calibrate_all()

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void BNO08x::calibrate_all ()
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Sends command to calibrate accelerometer, gyro, and magnetometer.

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◆ calibrate_gyro()

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void BNO08x::calibrate_gyro ()
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Sends command to calibrate gyro.

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◆ calibrate_magnetometer()

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void BNO08x::calibrate_magnetometer ()
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Sends command to calibrate magnetometer.

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◆ calibrate_planar_accelerometer()

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void BNO08x::calibrate_planar_accelerometer ()
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Sends command to calibrate planar accelerometer.

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◆ calibration_complete()

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bool BNO08x::calibration_complete ()
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Returns true if calibration has completed.

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◆ clear_tare()

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void BNO08x::clear_tare ()
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Sends command to clear persistent tare settings in non-volatile memory of BNO08x (See Ref. Manual 6.4.4.3)

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◆ data_available()

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bool BNO08x::data_available ()
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Checks if BNO08x has asserted interrupt and sent data.

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◆ data_proc_task()

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void BNO08x::data_proc_task ()
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Task responsible parsing packets. Executed when SPI task sends a packet to be parsed, notifies wait_for_data() call.

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◆ data_proc_task_trampoline()

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void BNO08x::data_proc_task_trampoline (void * arg)
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Static function used to launch data processing task.

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Used such that data_proc_task() can be non-static class member.

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argvoid pointer to BNO08x imu object
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◆ disable_accelerometer()

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void BNO08x::disable_accelerometer ()
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Sends command to disable accelerometer reports by setting report interval to 0.

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◆ disable_activity_classifier()

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void BNO08x::disable_activity_classifier ()
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Sends command to disable activity classifier reports by setting report interval to 0.

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◆ disable_ARVR_stabilized_game_rotation_vector()

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void BNO08x::disable_ARVR_stabilized_game_rotation_vector ()
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Sends command to disable ARVR stabilized game rotation vector reports by setting report interval to 0.

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void, nothing to return
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◆ disable_ARVR_stabilized_rotation_vector()

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void BNO08x::disable_ARVR_stabilized_rotation_vector ()
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Sends command to disable ARVR stabilized rotation vector reports by setting report interval to 0.

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◆ disable_game_rotation_vector()

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void BNO08x::disable_game_rotation_vector ()
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Sends command to disable game rotation vector reports by setting report interval to 0.

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◆ disable_gravity()

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void BNO08x::disable_gravity ()
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Sends command to disable gravity reports by setting report interval to 0.

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void, nothing to return
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◆ disable_gyro()

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void BNO08x::disable_gyro ()
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Sends command to disable gyro reports by setting report interval to 0.

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◆ disable_gyro_integrated_rotation_vector()

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void BNO08x::disable_gyro_integrated_rotation_vector ()
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Sends command to disable gyro integrated rotation vector reports by setting report interval to 0.

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◆ disable_linear_accelerometer()

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void BNO08x::disable_linear_accelerometer ()
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Sends command to disable linear accelerometer reports by setting report interval to 0.

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◆ disable_magnetometer()

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void BNO08x::disable_magnetometer ()
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Sends command to disable magnetometer reports by setting report interval to 0.

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◆ disable_raw_accelerometer()

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void BNO08x::disable_raw_accelerometer ()
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Sends command to disable raw accelerometer reports by setting report interval to 0.

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◆ disable_raw_gyro()

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void BNO08x::disable_raw_gyro ()
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Sends command to disable raw gyro reports by setting report interval to 0.

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◆ disable_raw_magnetometer()

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void BNO08x::disable_raw_magnetometer ()
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Sends command to disable raw magnetometer reports by setting report interval to 0.

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◆ disable_report()

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void BNO08x::disable_report (uint8_t report_ID,
const EventBits_t report_evt_grp_bit )
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Disables a sensor report for a given ID by setting its time interval to 0.

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Parameters
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report_IDThe report ID of the sensor, i.e. SENSOR_REPORT_ID_X
report_evt_grp_bitThe event group bit for the respective report, to indicate to spi_task() it's disabled, i.e. EVT_GRP_RPT_X
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If no reports are enabled after disabling, this function will disable interrupts on hint pin.

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void, nothing to return
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◆ disable_rotation_vector()

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void BNO08x::disable_rotation_vector ()
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Sends command to disable rotation vector reports by setting report interval to 0.

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◆ disable_stability_classifier()

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void BNO08x::disable_stability_classifier ()
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Sends command to disable stability reports by setting report interval to 0.

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void, nothing to return
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◆ disable_step_counter()

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void BNO08x::disable_step_counter ()
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Sends command to disable step counter reports by setting report interval to 0.

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void, nothing to return
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◆ disable_tap_detector()

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void BNO08x::disable_tap_detector ()
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Sends command to disable tap detector reports by setting report interval to 0.

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void, nothing to return
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◆ disable_uncalibrated_gyro()

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void BNO08x::disable_uncalibrated_gyro ()
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Sends command to disable uncalibrated gyro reports by setting report interval to 0.

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void, nothing to return
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◆ enable_accelerometer()

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void BNO08x::enable_accelerometer (uint32_t time_between_reports)
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Sends command to enable accelerometer reports (See Ref. Manual 6.5.9)

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time_between_reportsDesired time between reports in microseconds.
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void, nothing to return
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◆ enable_activity_classifier()

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void BNO08x::enable_activity_classifier (uint32_t time_between_reports,
uint32_t activities_to_enable,
uint8_t(&) activity_confidence_vals[9] )
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Sends command to enable activity classifier reports (See Ref. Manual 6.5.36)

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time_between_reportsDesired time between reports in microseconds.
activities_to_enableDesired activities to enable (0x1F enables all).
activity_confidence_valsReturned activity level confidences.
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void, nothing to return
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◆ enable_ARVR_stabilized_game_rotation_vector()

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void BNO08x::enable_ARVR_stabilized_game_rotation_vector (uint32_t time_between_reports)
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Sends command to enable ARVR stabilized game rotation vector reports (See Ref. Manual 6.5.43)

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time_between_reportsDesired time between reports in microseconds.
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void, nothing to return
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◆ enable_ARVR_stabilized_rotation_vector()

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void BNO08x::enable_ARVR_stabilized_rotation_vector (uint32_t time_between_reports)
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Sends command to enable ARVR stabilized rotation vector reports (See Ref. Manual 6.5.42)

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time_between_reportsDesired time between reports in microseconds.
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void, nothing to return
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◆ enable_game_rotation_vector()

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void BNO08x::enable_game_rotation_vector (uint32_t time_between_reports)
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Sends command to enable game rotation vector reports (See Ref. Manual 6.5.19)

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time_between_reportsDesired time between reports in microseconds.
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void, nothing to return
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◆ enable_gravity()

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void BNO08x::enable_gravity (uint32_t time_between_reports)
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Sends command to enable gravity reading reports (See Ref. Manual 6.5.11)

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time_between_reportsDesired time between reports in microseconds.
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void, nothing to return
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◆ enable_gyro()

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void BNO08x::enable_gyro (uint32_t time_between_reports)
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Sends command to enable gyro reports (See Ref. Manual 6.5.13)

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time_between_reportsDesired time between reports in microseconds.
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void, nothing to return
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◆ enable_gyro_integrated_rotation_vector()

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void BNO08x::enable_gyro_integrated_rotation_vector (uint32_t time_between_reports)
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Sends command to enable gyro integrated rotation vector reports (See Ref. Manual 6.5.44)

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time_between_reportsDesired time between reports in microseconds.
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void, nothing to return
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◆ enable_linear_accelerometer()

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void BNO08x::enable_linear_accelerometer (uint32_t time_between_reports)
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Sends command to enable linear accelerometer reports (See Ref. Manual 6.5.10)

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time_between_reportsDesired time between reports in microseconds.
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void, nothing to return
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◆ enable_magnetometer()

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void BNO08x::enable_magnetometer (uint32_t time_between_reports)
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Sends command to enable magnetometer reports (See Ref. Manual 6.5.16)

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time_between_reportsDesired time between reports in microseconds.
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void, nothing to return
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◆ enable_raw_accelerometer()

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void BNO08x::enable_raw_accelerometer (uint32_t time_between_reports)
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Sends command to enable raw accelerometer reports (See Ref. Manual 6.5.8)

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time_between_reportsDesired time between reports in microseconds.
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void, nothing to return
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◆ enable_raw_gyro()

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void BNO08x::enable_raw_gyro (uint32_t time_between_reports)
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Sends command to enable raw gyro reports (See Ref. Manual 6.5.12)

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time_between_reportsDesired time between reports in microseconds.
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void, nothing to return
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◆ enable_raw_magnetometer()

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void BNO08x::enable_raw_magnetometer (uint32_t time_between_reports)
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Sends command to enable raw magnetometer reports (See Ref. Manual 6.5.15)

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time_between_reportsDesired time between reports in microseconds.
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void, nothing to return
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◆ enable_report()

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void BNO08x::enable_report (uint8_t report_ID,
uint32_t time_between_reports,
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Enables a sensor report for a given ID.

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report_IDThe report ID of the sensor, i.e. SENSOR_REPORT_ID_X
time_between_reportsThe desired time in microseconds between each report. The BNO08x will send reports according to this interval.
report_evt_grp_bitThe event group bit for the respective report, to indicate to spi_task() it's enabled, i.e. EVT_GRP_RPT_X
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If no reports were enabled prior to call, this function will re-enable interrupts on hint pin.

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void, nothing to return
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◆ enable_rotation_vector()

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void BNO08x::enable_rotation_vector (uint32_t time_between_reports)
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Sends command to enable rotation vector reports (See Ref. Manual 6.5.18)

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time_between_reportsDesired time between reports in microseconds.
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void, nothing to return
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◆ enable_stability_classifier()

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void BNO08x::enable_stability_classifier (uint32_t time_between_reports)
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Sends command to enable activity stability classifier reports (See Ref. Manual 6.5.31)

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time_between_reportsDesired time between reports in microseconds.
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void, nothing to return
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◆ enable_step_counter()

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void BNO08x::enable_step_counter (uint32_t time_between_reports)
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Sends command to enable step counter reports (See Ref. Manual 6.5.29)

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time_between_reportsDesired time between reports in microseconds.
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void, nothing to return
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◆ enable_tap_detector()

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void BNO08x::enable_tap_detector (uint32_t time_between_reports)
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Sends command to enable tap detector reports (See Ref. Manual 6.5.27)

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time_between_reportsDesired time between reports in microseconds.
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void, nothing to return
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◆ enable_uncalibrated_gyro()

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void BNO08x::enable_uncalibrated_gyro (uint32_t time_between_reports)
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Sends command to enable uncalibrated gyro reports (See Ref. Manual 6.5.14)

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time_between_reportsDesired time between reports in microseconds.
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void, nothing to return
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◆ end_calibration()

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void BNO08x::end_calibration ()
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Sends command to end calibration procedure.

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◆ FRS_read_data()

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bool BNO08x::FRS_read_data (uint16_t record_ID,
uint8_t start_location,
uint8_t words_to_read )
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Read meta data from BNO08x FRS (flash record system) given the record ID. Contains Q points and other info. (See Ref. Manual 5.1 & 6.3.7)

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Note that Q points from the data sheet can be used as well, using the ones stored in flash is optional.

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record_IDWhich record ID/ sensor to request meta data from.
start_locationStart byte location.
words_to_readLength of words to read.
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True if meta data read successfully.
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◆ FRS_read_request()

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bool BNO08x::FRS_read_request (uint16_t record_ID,
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uint16_t block_size )
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Requests meta data from BNO08x FRS (flash record system) given the record ID. Contains Q points and other info. (See Ref. Manual 5.1 & 6.3.6)

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Note that Q points from the data sheet can be used as well, using the ones stored in flash is optional.

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record_IDWhich record ID/ sensor to request meta data from.
start_locationStart byte location.
words_to_readLength of words to read.
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True if read request acknowledged (HINT was asserted)
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◆ FRS_read_word()

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uint32_t BNO08x::FRS_read_word (uint16_t record_ID,
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Reads meta data word from BNO08x FRS (flash record system) given the record ID and word number. (See Ref. Manual 5.1 & 6.3.7)

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Note that Q points from the data sheet can be used as well, using the ones stored in flash is optional.

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record_IDWhich record ID/ sensor to request meta data from.
word_numberDesired word to read.
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Requested meta data word, 0 if failed.
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◆ get_accel()

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void BNO08x::get_accel (float & x,
float & y,
float & z,
uint8_t & accuracy )
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Get full acceleration (total acceleration of device, units in m/s^2).

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xReference variable to save X axis acceleration.
yReference variable to save Y axis acceleration.
zReference variable to save Z axis acceleration.
accuracyReference variable to save reported acceleration accuracy.
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void, nothing to return
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◆ get_accel_accuracy()

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uint8_t BNO08x::get_accel_accuracy ()
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Get accuracy of linear acceleration.

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◆ get_accel_X()

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float BNO08x::get_accel_X ()
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Get x axis acceleration (total acceleration of device, units in m/s^2).

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◆ get_accel_Y()

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float BNO08x::get_accel_Y ()
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Get y axis acceleration (total acceleration of device, units in m/s^2).

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◆ get_accel_Z()

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float BNO08x::get_accel_Z ()
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Get z axis acceleration (total acceleration of device, units in m/s^2).

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◆ get_activity_classifier()

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uint8_t BNO08x::get_activity_classifier ()
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Get the current activity classifier (Seee Ref. Manual 6.5.36)

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Returns
The current activity: 0 = unknown 1 = in vehicle 2 = on bicycle 3 = on foot 4 = still 5 = tilting 6 = walking 7 = runnning 8 = on stairs
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◆ get_gravity()

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void BNO08x::get_gravity (float & x,
float & y,
float & z,
uint8_t & accuracy )
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Get full reported gravity vector, units in m/s^2.

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Parameters
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xReference variable to save X axis gravity.
yReference variable to save Y axis axis gravity.
zReference variable to save Z axis axis gravity.
accuracyReference variable to save reported gravity accuracy.
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void, nothing to return
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◆ get_gravity_accuracy()

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uint8_t BNO08x::get_gravity_accuracy ()
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Get the reported gravity accuracy.

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Returns
Accuracy of reported gravity.
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◆ get_gravity_X()

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float BNO08x::get_gravity_X ()
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Get the reported x axis gravity.

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Returns
x axis gravity in m/s^2
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◆ get_gravity_Y()

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float BNO08x::get_gravity_Y ()
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Get the reported y axis gravity.

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Returns
y axis gravity in m/s^2
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◆ get_gravity_Z()

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float BNO08x::get_gravity_Z ()
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Get the reported z axis gravity.

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Returns
z axis gravity in m/s^2
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◆ get_gyro_accuracy()

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uint8_t BNO08x::get_gyro_accuracy ()
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Get calibrated gyro accuracy.

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Returns
Accuracy of calibrated gyro.
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◆ get_gyro_calibrated_velocity()

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void BNO08x::get_gyro_calibrated_velocity (float & x,
float & y,
float & z,
uint8_t & accuracy )
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Get full rotational velocity with drift compensation (units in Rad/s).

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Parameters
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xReference variable to save X axis angular velocity
yReference variable to save Y axis angular velocity
zReference variable to save Z axis angular velocity
accuracyReference variable to save reported gyro accuracy.
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void, nothing to return
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◆ get_gyro_calibrated_velocity_X()

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float BNO08x::get_gyro_calibrated_velocity_X ()
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Get calibrated gyro x axis angular velocity measurement.

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Returns
The angular reported x axis angular velocity from calibrated gyro (drift compensation applied).
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◆ get_gyro_calibrated_velocity_Y()

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float BNO08x::get_gyro_calibrated_velocity_Y ()
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Get calibrated gyro y axis angular velocity measurement.

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Returns
The angular reported y axis angular velocity from calibrated gyro (drift compensation applied).
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◆ get_gyro_calibrated_velocity_Z()

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float BNO08x::get_gyro_calibrated_velocity_Z ()
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Get calibrated gyro z axis angular velocity measurement.

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Returns
The angular reported z axis angular velocity from calibrated gyro (drift compensation applied).
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◆ get_gyro_velocity()

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void BNO08x::get_gyro_velocity (float & x,
float & y,
float & z )
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Full rotational velocity from gyro-integrated rotation vector (See Ref. Manual 6.5.44)

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Parameters
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xReference variable to save X axis angular velocity
yReference variable to save Y axis angular velocity
zReference variable to save Z axis angular velocity
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void, nothing to return
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◆ get_gyro_velocity_X()

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float BNO08x::get_gyro_velocity_X ()
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Get x axis angular velocity from gyro-integrated rotation vector. (See Ref. Manual 6.5.44)

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Returns
The reported x axis angular velocity.
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◆ get_gyro_velocity_Y()

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float BNO08x::get_gyro_velocity_Y ()
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Get y axis angular velocity from gyro-integrated rotation vector. (See Ref. Manual 6.5.44)

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Returns
The reported y axis angular velocity.
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◆ get_gyro_velocity_Z()

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float BNO08x::get_gyro_velocity_Z ()
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Get z axis angular velocity from gyro-integrated rotation vector. (See Ref. Manual 6.5.44)

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Returns
The reported Z axis angular velocity.
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◆ get_linear_accel()

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void BNO08x::get_linear_accel (float & x,
float & y,
float & z,
uint8_t & accuracy )
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Get full linear acceleration (acceleration of the device minus gravity, units in m/s^2).

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Parameters
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xReference variable to save X axis acceleration.
yReference variable to save Y axis acceleration.
zReference variable to save Z axis acceleration.
accuracyReference variable to save reported linear acceleration accuracy.
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◆ get_linear_accel_accuracy()

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uint8_t BNO08x::get_linear_accel_accuracy ()
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Get accuracy of linear acceleration.

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Returns
Accuracy of linear acceleration.
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◆ get_linear_accel_X()

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float BNO08x::get_linear_accel_X ()
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Get x axis linear acceleration (acceleration of device minus gravity, units in m/s^2)

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Returns
The angular reported x axis linear acceleration.
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◆ get_linear_accel_Y()

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float BNO08x::get_linear_accel_Y ()
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Get y axis linear acceleration (acceleration of device minus gravity, units in m/s^2)

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Returns
The angular reported y axis linear acceleration.
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◆ get_linear_accel_Z()

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float BNO08x::get_linear_accel_Z ()
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Get z axis linear acceleration (acceleration of device minus gravity, units in m/s^2)

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Returns
The angular reported z axis linear acceleration.
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◆ get_magf()

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void BNO08x::get_magf (float & x,
float & y,
float & z,
uint8_t & accuracy )
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Get the full magnetic field vector.

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Parameters
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xReference variable to save reported x magnitude.
yReference variable to save reported y magnitude.
xReference variable to save reported z magnitude.
accuracyReference variable save reported accuracy.
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void, nothing to return
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◆ get_magf_accuracy()

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uint8_t BNO08x::get_magf_accuracy ()
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Get accuracy of reported magnetic field vector.

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Returns
The accuracy of reported magnetic field vector.
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◆ get_magf_X()

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float BNO08x::get_magf_X ()
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Get X component of magnetic field vector.

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Returns
The reported X component of magnetic field vector.
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◆ get_magf_Y()

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float BNO08x::get_magf_Y ()
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Get Y component of magnetic field vector.

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Returns
The reported Y component of magnetic field vector.
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◆ get_magf_Z()

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float BNO08x::get_magf_Z ()
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Get Z component of magnetic field vector.

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Returns
The reported Z component of magnetic field vector.
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◆ get_pitch()

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float BNO08x::get_pitch ()
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Get the reported rotation about y axis.

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Returns
Rotation about the y axis in radians.
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◆ get_pitch_deg()

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float BNO08x::get_pitch_deg ()
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Get the reported rotation about y axis.

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Returns
Rotation about the y axis in degrees.
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◆ get_Q1()

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int16_t BNO08x::get_Q1 (uint16_t record_ID)
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Gets Q1 point from BNO08x FRS (flash record system).

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Note that Q points from the data sheet can be used as well, using the ones stored in flash is optional.

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Parameters
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record_IDWhich record ID/ sensor to get Q1 value for.
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Q1 value for requested sensor.
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◆ get_Q2()

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int16_t BNO08x::get_Q2 (uint16_t record_ID)
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Gets Q2 point from BNO08x FRS (flash record system).

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Note that Q points from the data sheet can be used as well, using the ones stored in flash is optional.

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record_IDWhich record ID/ sensor to get Q2 value for.
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Q2 value for requested sensor.
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◆ get_Q3()

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int16_t BNO08x::get_Q3 (uint16_t record_ID)
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Gets Q3 point from BNO08x FRS (flash record system).

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Note that Q points from the data sheet can be used as well, using the ones stored in flash is optional.

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record_IDWhich record ID/ sensor to get Q3 value for.
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Q3 value for requested sensor.
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◆ get_quat()

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void BNO08x::get_quat (float & i,
float & j,
float & k,
float & real,
float & rad_accuracy,
uint8_t & accuracy )
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Get the full quaternion reading.

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Parameters
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iReference variable to save reported i component of quaternion.
jReference variable to save reported j component of quaternion.
kReference variable to save reported k component of quaternion.
realReference variable to save reported real component of quaternion.
rad_accuracyReference variable to save reported raw quaternion radian accuracy.
accuracyReference variable to save reported quaternion accuracy.
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void, nothing to return
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◆ get_quat_accuracy()

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uint8_t BNO08x::get_quat_accuracy ()
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Get accuracy of reported quaternion.

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Returns
The accuracy of reported quaternion.
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◆ get_quat_I()

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float BNO08x::get_quat_I ()
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Get I component of reported quaternion.

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Returns
The I component of reported quaternion.
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◆ get_quat_J()

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float BNO08x::get_quat_J ()
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Get J component of reported quaternion.

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Returns
The J component of reported quaternion.
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◆ get_quat_K()

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float BNO08x::get_quat_K ()
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Get K component of reported quaternion.

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Returns
The K component of reported quaternion.
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◆ get_quat_radian_accuracy()

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float BNO08x::get_quat_radian_accuracy ()
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Get radian accuracy of reported quaternion.

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Returns
The radian accuracy of reported quaternion.
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◆ get_quat_real()

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float BNO08x::get_quat_real ()
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Get real component of reported quaternion.

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Returns
The real component of reported quaternion.
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◆ get_range()

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float BNO08x::get_range (uint16_t record_ID)
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Gets range from BNO08x FRS (flash record system).

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record_IDWhich record ID/ sensor to get range value for.
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The range value for the requested sensor.
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◆ get_raw_accel_X()

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int16_t BNO08x::get_raw_accel_X ()
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Get raw accelerometer x axis reading from physical accelerometer MEMs sensor (See Ref. Manual 6.5.8)

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Returns
Reported raw accelerometer x axis reading from physical MEMs sensor.
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◆ get_raw_accel_Y()

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int16_t BNO08x::get_raw_accel_Y ()
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Get raw accelerometer y axis reading from physical accelerometer MEMs sensor (See Ref. Manual 6.5.8)

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Returns
Reported raw accelerometer y axis reading from physical MEMs sensor.
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◆ get_raw_accel_Z()

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int16_t BNO08x::get_raw_accel_Z ()
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Get raw accelerometer z axis reading from physical accelerometer MEMs sensor (See Ref. Manual 6.5.8)

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Returns
Reported raw accelerometer z axis reading from physical MEMs sensor.
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◆ get_raw_gyro_X()

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int16_t BNO08x::get_raw_gyro_X ()
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Get raw gyroscope x axis reading from physical gyroscope MEMs sensor (See Ref. Manual 6.5.12)

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Returns
Reported raw gyroscope x axis reading from physical MEMs sensor.
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◆ get_raw_gyro_Y()

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int16_t BNO08x::get_raw_gyro_Y ()
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Get raw gyroscope y axis reading from physical gyroscope MEMs sensor (See Ref. Manual 6.5.12)

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Returns
Reported raw gyroscope y axis reading from physical MEMs sensor.
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◆ get_raw_gyro_Z()

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int16_t BNO08x::get_raw_gyro_Z ()
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Get raw gyroscope z axis reading from physical gyroscope MEMs sensor (See Ref. Manual 6.5.12)

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Returns
Reported raw gyroscope z axis reading from physical MEMs sensor.
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◆ get_raw_magf_X()

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int16_t BNO08x::get_raw_magf_X ()
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Get raw magnetometer x axis reading from physical magnetometer sensor (See Ref. Manual 6.5.15)

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Returns
Reported raw magnetometer x axis reading from physical magnetometer sensor.
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◆ get_raw_magf_Y()

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int16_t BNO08x::get_raw_magf_Y ()
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Get raw magnetometer y axis reading from physical magnetometer sensor (See Ref. Manual 6.5.15)

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Returns
Reported raw magnetometer y axis reading from physical magnetometer sensor.
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◆ get_raw_magf_Z()

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int16_t BNO08x::get_raw_magf_Z ()
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Get raw magnetometer z axis reading from physical magnetometer sensor (See Ref. Manual 6.5.15)

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Returns
Reported raw magnetometer z axis reading from physical magnetometer sensor.
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◆ get_reset_reason()

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uint8_t BNO08x::get_reset_reason ()
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Requests product ID, prints the returned info over serial, and returns the reason for the most resent reset.

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Returns
The reason for the most recent recent reset ( 1 = POR (power on reset), 2 = internal reset, 3 = watchdog timer, 4 = external reset 5 = other)
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◆ get_resolution()

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float BNO08x::get_resolution (uint16_t record_ID)
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Gets resolution from BNO08x FRS (flash record system).

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Parameters
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record_IDWhich record ID/ sensor to get resolution value for.
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The resolution value for the requested sensor.
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◆ get_roll()

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float BNO08x::get_roll ()
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Get the reported rotation about x axis.

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Returns
Rotation about the x axis in radians.
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◆ get_roll_deg()

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float BNO08x::get_roll_deg ()
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Get the reported rotation about x axis.

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Returns
Rotation about the x axis in degrees.
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◆ get_stability_classifier()

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int8_t BNO08x::get_stability_classifier ()
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Get the current stability classifier (Seee Ref. Manual 6.5.31)

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Returns
The current stability (0 = unknown, 1 = on table, 2 = stationary)
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◆ get_step_count()

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uint16_t BNO08x::get_step_count ()
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Get the counted amount of steps.

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Returns
The current amount of counted steps.
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◆ get_tap_detector()

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uint8_t BNO08x::get_tap_detector ()
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Get if tap has occured.

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Returns
7 bit tap code indicated which axis taps have occurred. (See Ref. Manual 6.5.27)
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◆ get_time_stamp()

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uint32_t BNO08x::get_time_stamp ()
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Return timestamp of most recent report.

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Returns
void, nothing to return
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◆ get_uncalibrated_gyro()

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void BNO08x::get_uncalibrated_gyro (float & x,
float & y,
float & z,
float & b_x,
float & b_y,
float & b_z,
uint8_t & accuracy )
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Get full rotational velocity without drift compensation (units in Rad/s). An estimate of drift is given but not applied.

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Parameters
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xReference variable to save X axis angular velocity
yReference variable to save Y axis angular velocity
zReference variable to save Z axis angular velocity
b_xReference variable to save X axis drift estimate
b_yReference variable to save Y axis drift estimate
b_zReference variable to save Z axis drift estimate
accuracyReference variable to save reported gyro accuracy.
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void, nothing to return
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◆ get_uncalibrated_gyro_accuracy()

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uint8_t BNO08x::get_uncalibrated_gyro_accuracy ()
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Get uncalibrated gyro accuracy.

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Returns
Accuracy of uncalibrated gyro.
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◆ get_uncalibrated_gyro_bias_X()

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float BNO08x::get_uncalibrated_gyro_bias_X ()
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Get uncalibrated gyro x axis drift estimate.

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Returns
The angular reported x axis drift estimate.
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◆ get_uncalibrated_gyro_bias_Y()

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float BNO08x::get_uncalibrated_gyro_bias_Y ()
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Get uncalibrated gyro Y axis drift estimate.

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The angular reported Y axis drift estimate.
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◆ get_uncalibrated_gyro_bias_Z()

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float BNO08x::get_uncalibrated_gyro_bias_Z ()
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Get uncalibrated gyro Z axis drift estimate.

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The angular reported Z axis drift estimate.
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◆ get_uncalibrated_gyro_X()

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float BNO08x::get_uncalibrated_gyro_X ()
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Get uncalibrated gyro x axis angular velocity measurement.

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Returns
The angular reported x axis angular velocity from uncalibrated gyro.
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◆ get_uncalibrated_gyro_Y()

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float BNO08x::get_uncalibrated_gyro_Y ()
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Get uncalibrated gyro Y axis angular velocity measurement.

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Returns
The angular reported Y axis angular velocity from uncalibrated gyro.
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◆ get_uncalibrated_gyro_Z()

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float BNO08x::get_uncalibrated_gyro_Z ()
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Get uncalibrated gyro Z axis angular velocity measurement.

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The angular reported Z axis angular velocity from uncalibrated gyro.
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◆ get_yaw()

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float BNO08x::get_yaw ()
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Get the reported rotation about z axis.

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Returns
Rotation about the z axis in radians.
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◆ get_yaw_deg()

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float BNO08x::get_yaw_deg ()
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Get the reported rotation about z axis.

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Rotation about the z axis in degrees.
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◆ hard_reset()

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bool BNO08x::hard_reset ()
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Hard resets BNO08x sensor.

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void, nothing to return
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◆ hint_handler()

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void IRAM_ATTR BNO08x::hint_handler (void * arg)
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HINT interrupt service routine, handles falling edge of BNO08x HINT pin.

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ISR that launches SPI task to perform transaction upon assertion of BNO08x interrupt pin.

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void, nothing to return
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◆ initialize()

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bool BNO08x::initialize ()
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Initializes BNO08x sensor.

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Resets sensor and goes through initializing process outlined in BNO08x datasheet. Launches two tasks, one to manage SPI transactions, another to process any received data.

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Returns
void, nothing to return
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◆ mode_on()

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bool BNO08x::mode_on ()
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Turns on/ brings BNO08x sensor out of sleep mode using executable channel.

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True if exiting sleep mode was success.
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◆ mode_sleep()

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bool BNO08x::mode_sleep ()
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Puts BNO08x sensor into sleep/low power mode using executable channel.

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True if entering sleep mode was success.
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◆ parse_command_report()

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uint16_t BNO08x::parse_command_report (bno08x_rx_packet_t * packet)
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Parses received command report sent by BNO08x (See Ref. Manual 6.3.9)

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The command report ID, 0 if invalid.
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◆ parse_frs_read_response_report()

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uint16_t BNO08x::parse_frs_read_response_report (bno08x_rx_packet_t * packet)
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Sends packet to be parsed to meta data function call (frs_read_word()) through queue.

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Parameters
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packetThe packet containing the frs read report.
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1, always valid, parsing for this happens in frs_read_word()
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◆ parse_input_report()

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uint16_t BNO08x::parse_input_report (bno08x_rx_packet_t * packet)
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Parses received input report sent by BNO08x.

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Unit responds with packet that contains the following:

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packet->header[0:3]: First, a 4 byte header packet->body[0:4]: Then a 5 byte timestamp of microsecond ticks since reading was taken packet->body[5 + 0]: Then a feature report ID (0x01 for Accel, 0x05 for Rotation Vector, etc...) packet->body[5 + 1]: Sequence number (See Ref.Manual 6.5.8.2) packet->body[5 + 2]: Status packet->body[3]: Delay packet->body[4:5]: i/accel x/gyro x/etc packet->body[6:7]: j/accel y/gyro y/etc packet->body[8:9]: k/accel z/gyro z/etc packet->body[10:11]: real/gyro temp/etc packet->body[12:13]: Accuracy estimate

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Returns
The report ID of the respective sensor, for ex. SENSOR_REPORT_ID_GYRO_INTEGRATED_ROTATION_VECTOR, 0 if invalid.
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◆ parse_packet()

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uint16_t BNO08x::parse_packet (bno08x_rx_packet_t * packet)
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Parses a packet received from bno08x, updating any data according to received reports.

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Parameters
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packetThe packet to be parsed.
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0 if invalid packet.
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◆ parse_product_id_report()

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uint16_t BNO08x::parse_product_id_report (bno08x_rx_packet_t * packet)
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Parses product id report and prints device info.

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Parameters
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packetThe packet containing product id report.
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1, always valid.
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◆ print_header()

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void BNO08x::print_header (bno08x_rx_packet_t * packet)
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Prints the header of the passed SHTP packet to serial console with ESP_LOG statement.

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Parameters
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packetThe packet containing the header to be printed.
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void, nothing to return
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◆ print_packet()

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void BNO08x::print_packet (bno08x_rx_packet_t * packet)
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Prints the passed SHTP packet to serial console with ESP_LOG statement.

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Parameters
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packetThe packet to be printed.
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void, nothing to return
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◆ q_to_float()

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float BNO08x::q_to_float (int16_t fixed_point_value,
uint8_t q_point )
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Converts a register value to a float using its associated Q point. (See https://en.wikipedia.org/wiki/Q_(number_format))

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q_pointQ point value associated with register.
fixed_point_valueThe fixed point value to convert.
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void, nothing to return
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◆ queue_calibrate_command()

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void BNO08x::queue_calibrate_command (uint8_t sensor_to_calibrate)
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Queues a packet containing a command to calibrate the specified sensor.

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sensor_to_calibrateThe sensor to calibrate.
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◆ queue_command()

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void BNO08x::queue_command (uint8_t command,
uint8_t * commands )
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Queues a packet containing a command.

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commandThe command to be sent.
commandsCommand data array, pre-packed with exception of first 3 elements (command info)
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◆ queue_feature_command() [1/2]

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void BNO08x::queue_feature_command (uint8_t report_ID,
uint32_t time_between_reports )
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Queues a packet containing a command with a request for sensor reports, reported periodically. (See Ref. Manual 6.5.4)

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report_IDID of sensor report being requested.
time_between_reportsDesired time between reports.
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◆ queue_feature_command() [2/2]

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void BNO08x::queue_feature_command (uint8_t report_ID,
uint32_t time_between_reports,
uint32_t specific_config )
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Queues a packet containing a command with a request for sensor reports, reported periodically. (See Ref. Manual 6.5.4)

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report_IDID of sensor report to be enabled.
time_between_reportsDesired time between reports in microseconds.
specific_configSpecific config word (used with personal activity classifier)
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◆ queue_packet()

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void BNO08x::queue_packet (uint8_t channel_number,
uint8_t data_length,
uint8_t * commands )
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Queues an SHTP packet to be sent via SPI.

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void, nothing to return
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◆ queue_request_product_id_command()

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void BNO08x::queue_request_product_id_command ()
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Queues a packet containing the request product ID command.

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◆ queue_tare_command()

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void BNO08x::queue_tare_command (uint8_t command,
uint8_t axis = TARE_AXIS_ALL,
uint8_t rotation_vector_basis = TARE_ROTATION_VECTOR )
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Queues a packet containing a command related to zeroing sensor's axes. (See Ref. Manual 6.4.4.1)

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Parameters
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commandTare command to be sent.
axisSpecified axis (can be z or all at once)
rotation_vector_basisWhich rotation vector type to zero axes of, BNO08x saves seperate data for Rotation Vector, Gaming Rotation Vector, etc..)
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◆ receive_packet()

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bool BNO08x::receive_packet ()
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Receives a SHTP packet via SPI and sends it to data_proc_task()

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◆ register_cb()

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void BNO08x::register_cb (std::function< void()> cb_fxn)
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Registers a callback to execute when new data from a report is received.

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cb_fxnPointer to the call-back function should be of void return type and void input parameters.
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◆ request_calibration_status()

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void BNO08x::request_calibration_status ()
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Requests ME calibration status from BNO08x (see Ref. Manual 6.4.7.2)

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◆ run_full_calibration_routine()

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bool BNO08x::run_full_calibration_routine ()
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Runs full calibration routine.

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Enables game rotation vector and magnetometer, starts ME calibration process. Waits for accuracy of returned quaternions and magnetic field vectors to be high, then saves calibration data and returns.

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◆ save_calibration()

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void BNO08x::save_calibration ()
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Sends command to save internal calibration data (See Ref. Manual 6.4.7).

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◆ save_tare()

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void BNO08x::save_tare ()
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Sends command to save tare into non-volatile memory of BNO08x (See Ref. Manual 6.4.4.2)

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◆ send_packet()

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void BNO08x::send_packet (bno08x_tx_packet_t * packet)
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Sends a queued SHTP packet via SPI.

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packetThe packet queued to be sent.
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◆ soft_reset()

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bool BNO08x::soft_reset ()
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Soft resets BNO08x sensor using executable channel.

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◆ spi_task()

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void BNO08x::spi_task ()
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Task responsible for SPI transactions. Executed when HINT in is asserted by BNO08x.

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◆ spi_task_trampoline()

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void BNO08x::spi_task_trampoline (void * arg)
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Static function used to launch spi task.

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Used such that spi_task() can be non-static class member.

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argvoid pointer to BNO08x imu object
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◆ tare_now()

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void BNO08x::tare_now (uint8_t axis_sel = TARE_AXIS_ALL,
uint8_t rotation_vector_basis = TARE_ROTATION_VECTOR )
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Sends command to tare an axis (See Ref. Manual 6.4.4.1)

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Parameters
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axis_selWhich axes to zero, can be TARE_AXIS_ALL (all axes) or TARE_AXIS_Z (only yaw)
rotation_vector_basisWhich rotation vector type to zero axes can be TARE_ROTATION_VECTOR, TARE_GAME_ROTATION_VECTOR, TARE_GEOMAGNETIC_ROTATION_VECTOR, etc..
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◆ wait_for_data()

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bool BNO08x::wait_for_data ()
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Waits for a valid or invalid packet to be received or HOST_INT_TIMEOUT_MS to elapse.

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If no reports are currently enabled the hint pin interrupt will be re-enabled by this function.

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True if valid packet has been received within HOST_INT_TIMEOUT_MS, false if otherwise.
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◆ wait_for_rx_done()

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bool BNO08x::wait_for_rx_done ()
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Waits for data to be received over SPI, or HOST_INT_TIMEOUT_MS to elapse.

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If no reports are currently enabled the hint pin interrupt will be re-enabled by this function. This function is for when the validity of packets is not a concern, it is for flushing packets we do not care about.

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True if data has been received over SPI within HOST_INT_TIMEOUT_MS.
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◆ wait_for_tx_done()

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bool BNO08x::wait_for_tx_done ()
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Waits for a queued packet to be sent or HOST_INT_TIMEOUT_MS to elapse.

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If no reports are currently enabled the hint pin interrupt will be re-enabled by this function.

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True if packet was sent within HOST_INT_TIMEOUT_MS, false if otherwise.
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Member Data Documentation

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◆ accel_accuracy

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uint16_t BNO08x::accel_accuracy
- 		-private
-
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Raw acceleration readings (See SH-2 Ref. Manual 6.5.8)

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◆ accel_lin_accuracy

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uint16_t BNO08x::accel_lin_accuracy
- 		-private
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Raw linear acceleration (See SH-2 Ref. Manual 6.5.10)

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◆ ACCELEROMETER_Q1

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const constexpr int16_t BNO08x::ACCELEROMETER_Q1 = 8
- 		-staticconstexpr
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Acceleration Q point (See SH-2 Ref. Manual 6.5.9)

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◆ activity_classifier

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- - - - - -
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uint8_t BNO08x::activity_classifier
- 		-private
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Activity status reading (See SH-2 Ref. Manual 6.5.36)

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◆ activity_confidences

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- - - - - -
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uint8_t* BNO08x::activity_confidences
- 		-private
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Confidence of read activities (See SH-2 Ref. Manual 6.5.36)

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◆ ANGULAR_VELOCITY_Q1

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const constexpr int16_t BNO08x::ANGULAR_VELOCITY_Q1 = 10
- 		-staticconstexpr
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Angular velocity Q point (See SH-2 Ref. Manual 6.5.44)

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◆ bus_config

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spi_bus_config_t BNO08x::bus_config {}
- 		-private
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SPI bus GPIO configuration settings.

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◆ CALIBRATE_ACCEL

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const constexpr uint8_t BNO08x::CALIBRATE_ACCEL = 0
- 		-staticconstexprprivate
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- -

Calibrate accelerometer command used by queue_calibrate_command.

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◆ CALIBRATE_ACCEL_GYRO_MAG

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const constexpr uint8_t BNO08x::CALIBRATE_ACCEL_GYRO_MAG
- 		-staticconstexprprivate
-
-Initial value:
=
-
4
-
-

Calibrate accelerometer, gyro, & magnetometer command used by queue_calibrate_command.

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◆ CALIBRATE_GYRO

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const constexpr uint8_t BNO08x::CALIBRATE_GYRO = 1
- 		-staticconstexprprivate
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- -

Calibrate gyro command used by queue_calibrate_command.

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◆ CALIBRATE_MAG

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const constexpr uint8_t BNO08x::CALIBRATE_MAG = 2
- 		-staticconstexprprivate
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Calibrate magnetometer command used by queue_calibrate_command.

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◆ CALIBRATE_PLANAR_ACCEL

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const constexpr uint8_t BNO08x::CALIBRATE_PLANAR_ACCEL = 3
- 		-staticconstexprprivate
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Calibrate planar acceleration command used by queue_calibrate_command.

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◆ CALIBRATE_STOP

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const constexpr uint8_t BNO08x::CALIBRATE_STOP = 5
- 		-staticconstexprprivate
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Stop calibration command used by queue_calibrate_command.

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◆ calibration_status

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uint8_t BNO08x::calibration_status
- 		-private
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Calibration status of device (See SH-2 Ref. Manual 6.4.7.1 & 6.4.7.2)

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◆ cb_list

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std::vector<std::function<void()> > BNO08x::cb_list
- 		-private
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◆ COMMAND_CLEAR_DCD

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const constexpr uint8_t BNO08x::COMMAND_CLEAR_DCD = 11
- 		-staticconstexprprivate
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Clear DCD & Reset command (See SH2 Ref. Manual 6.4)

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◆ COMMAND_COUNTER

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const constexpr uint8_t BNO08x::COMMAND_COUNTER = 2
- 		-staticconstexprprivate
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◆ COMMAND_DCD

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const constexpr uint8_t BNO08x::COMMAND_DCD = 6
- 		-staticconstexprprivate
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Save DCD command (See SH2 Ref. Manual 6.4.7)

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◆ COMMAND_DCD_PERIOD_SAVE

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const constexpr uint8_t BNO08x::COMMAND_DCD_PERIOD_SAVE = 9
- 		-staticconstexprprivate
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Configure DCD periodic saving (See SH2 Ref. Manual 6.4)

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◆ COMMAND_ERRORS

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const constexpr uint8_t BNO08x::COMMAND_ERRORS = 1
- 		-staticconstexprprivate
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◆ COMMAND_INITIALIZE

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const constexpr uint8_t BNO08x::COMMAND_INITIALIZE = 4
- 		-staticconstexprprivate
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Reinitialize sensor hub components See (SH2 Ref. Manual 6.4.5)

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◆ COMMAND_ME_CALIBRATE

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const constexpr uint8_t BNO08x::COMMAND_ME_CALIBRATE = 7
- 		-staticconstexprprivate
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Command and response to configure ME calibration (See SH2 Ref. Manual 6.4.7)

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◆ COMMAND_OSCILLATOR

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const constexpr uint8_t BNO08x::COMMAND_OSCILLATOR = 10
- 		-staticconstexprprivate
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- -

Retrieve oscillator type command (See SH2 Ref. Manual 6.4)

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◆ COMMAND_TARE

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const constexpr uint8_t BNO08x::COMMAND_TARE = 3
- 		-staticconstexprprivate
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- -

Command and response to tare command (See Sh2 Ref. Manual 6.4.4)

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◆ data_proc_task_hdl

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TaskHandle_t BNO08x::data_proc_task_hdl
- 		-private
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data_proc_task() task handle

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◆ default_imu_config

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bno08x_config_t BNO08x::default_imu_config
- 		-staticprivate
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default imu config settings

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◆ evt_grp_report_en

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EventGroupHandle_t BNO08x::evt_grp_report_en
- 		-private
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Event group for indicating which reports are currently enabled.

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◆ EVT_GRP_RPT_ACCELEROMETER_BIT

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const constexpr EventBits_t BNO08x::EVT_GRP_RPT_ACCELEROMETER_BIT = (1 << 5)
- 		-staticconstexprprivate
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- -

When set, accelerometer reports are active.

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◆ EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT

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const constexpr EventBits_t BNO08x::EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT = (1 << 14)
- 		-staticconstexprprivate
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- -

When set, activity classifier reports are active.

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◆ EVT_GRP_RPT_ALL_BITS

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const constexpr EventBits_t BNO08x::EVT_GRP_RPT_ALL_BITS
- 		-staticconstexprprivate
-
-Initial value:
=
-
EVT_GRP_RPT_ROTATION_VECTOR_BIT | EVT_GRP_RPT_GAME_ROTATION_VECTOR_BIT | EVT_GRP_RPT_ARVR_S_ROTATION_VECTOR_BIT |
-
EVT_GRP_RPT_ARVR_S_GAME_ROTATION_VECTOR_BIT | EVT_GRP_RPT_GYRO_ROTATION_VECTOR_BIT | EVT_GRP_RPT_ACCELEROMETER_BIT |
-
EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT | EVT_GRP_RPT_GRAVITY_BIT | EVT_GRP_RPT_GYRO_BIT | EVT_GRP_RPT_GYRO_UNCALIBRATED_BIT |
-
EVT_GRP_RPT_MAGNETOMETER_BIT | EVT_GRP_RPT_TAP_DETECTOR_BIT | EVT_GRP_RPT_STEP_COUNTER_BIT | EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT |
-
EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT | EVT_GRP_RPT_RAW_ACCELEROMETER_BIT | EVT_GRP_RPT_RAW_GYRO_BIT | EVT_GRP_RPT_RAW_MAGNETOMETER_BIT
-
BNO08x::EVT_GRP_RPT_GAME_ROTATION_VECTOR_BIT
static const constexpr EventBits_t EVT_GRP_RPT_GAME_ROTATION_VECTOR_BIT
When set, game rotation vector reports are active.
Definition BNO08x.hpp:401
-
BNO08x::EVT_GRP_RPT_ACCELEROMETER_BIT
static const constexpr EventBits_t EVT_GRP_RPT_ACCELEROMETER_BIT
When set, accelerometer reports are active.
Definition BNO08x.hpp:408
-
BNO08x::EVT_GRP_RPT_ROTATION_VECTOR_BIT
static const constexpr EventBits_t EVT_GRP_RPT_ROTATION_VECTOR_BIT
When set, rotation vector reports are active.
Definition BNO08x.hpp:400
-
BNO08x::EVT_GRP_RPT_GYRO_BIT
static const constexpr EventBits_t EVT_GRP_RPT_GYRO_BIT
When set, gyro reports are active.
Definition BNO08x.hpp:411
-
BNO08x::EVT_GRP_RPT_RAW_ACCELEROMETER_BIT
static const constexpr EventBits_t EVT_GRP_RPT_RAW_ACCELEROMETER_BIT
When set, raw accelerometer reports are active.
Definition BNO08x.hpp:418
-
BNO08x::EVT_GRP_RPT_GYRO_ROTATION_VECTOR_BIT
static const constexpr EventBits_t EVT_GRP_RPT_GYRO_ROTATION_VECTOR_BIT
When set, gyro integrator rotation vector reports are active.
Definition BNO08x.hpp:406
-
BNO08x::EVT_GRP_RPT_TAP_DETECTOR_BIT
static const constexpr EventBits_t EVT_GRP_RPT_TAP_DETECTOR_BIT
When set, tap detector reports are active.
Definition BNO08x.hpp:414
-
BNO08x::EVT_GRP_RPT_RAW_GYRO_BIT
static const constexpr EventBits_t EVT_GRP_RPT_RAW_GYRO_BIT
When set, raw gyro reports are active.
Definition BNO08x.hpp:419
-
BNO08x::EVT_GRP_RPT_ARVR_S_GAME_ROTATION_VECTOR_BIT
static const constexpr EventBits_t EVT_GRP_RPT_ARVR_S_GAME_ROTATION_VECTOR_BIT
When set, ARVR stabilized game rotation vector reports are active.
Definition BNO08x.hpp:404
-
BNO08x::EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT
static const constexpr EventBits_t EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT
When set, stability classifier reports are active.
Definition BNO08x.hpp:416
-
BNO08x::EVT_GRP_RPT_MAGNETOMETER_BIT
static const constexpr EventBits_t EVT_GRP_RPT_MAGNETOMETER_BIT
When set, magnetometer reports are active.
Definition BNO08x.hpp:413
-
BNO08x::EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT
static const constexpr EventBits_t EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT
When set, activity classifier reports are active.
Definition BNO08x.hpp:417
-
BNO08x::EVT_GRP_RPT_ARVR_S_ROTATION_VECTOR_BIT
static const constexpr EventBits_t EVT_GRP_RPT_ARVR_S_ROTATION_VECTOR_BIT
When set, ARVR stabilized rotation vector reports are active.
Definition BNO08x.hpp:402
-
BNO08x::EVT_GRP_RPT_STEP_COUNTER_BIT
static const constexpr EventBits_t EVT_GRP_RPT_STEP_COUNTER_BIT
When set, step counter reports are active.
Definition BNO08x.hpp:415
-
BNO08x::EVT_GRP_RPT_GRAVITY_BIT
static const constexpr EventBits_t EVT_GRP_RPT_GRAVITY_BIT
When set, gravity reports are active.
Definition BNO08x.hpp:410
-
BNO08x::EVT_GRP_RPT_RAW_MAGNETOMETER_BIT
static const constexpr EventBits_t EVT_GRP_RPT_RAW_MAGNETOMETER_BIT
When set, raw magnetometer reports are active.
Definition BNO08x.hpp:420
-
BNO08x::EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT
static const constexpr EventBits_t EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT
When set, linear accelerometer reports are active.
Definition BNO08x.hpp:409
-
BNO08x::EVT_GRP_RPT_GYRO_UNCALIBRATED_BIT
static const constexpr EventBits_t EVT_GRP_RPT_GYRO_UNCALIBRATED_BIT
When set, uncalibrated gyro reports are active.
Definition BNO08x.hpp:412
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◆ EVT_GRP_RPT_ARVR_S_GAME_ROTATION_VECTOR_BIT

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const constexpr EventBits_t BNO08x::EVT_GRP_RPT_ARVR_S_GAME_ROTATION_VECTOR_BIT
- 		-staticconstexprprivate
-
-Initial value:
=
-
(1 << 3)
-
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When set, ARVR stabilized game rotation vector reports are active.

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◆ EVT_GRP_RPT_ARVR_S_ROTATION_VECTOR_BIT

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const constexpr EventBits_t BNO08x::EVT_GRP_RPT_ARVR_S_ROTATION_VECTOR_BIT
- 		-staticconstexprprivate
-
-Initial value:
=
-
(1 << 2)
-
-

When set, ARVR stabilized rotation vector reports are active.

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◆ EVT_GRP_RPT_GAME_ROTATION_VECTOR_BIT

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const constexpr EventBits_t BNO08x::EVT_GRP_RPT_GAME_ROTATION_VECTOR_BIT = (1 << 1)
- 		-staticconstexprprivate
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When set, game rotation vector reports are active.

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◆ EVT_GRP_RPT_GRAVITY_BIT

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const constexpr EventBits_t BNO08x::EVT_GRP_RPT_GRAVITY_BIT = (1 << 7)
- 		-staticconstexprprivate
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When set, gravity reports are active.

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◆ EVT_GRP_RPT_GYRO_BIT

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const constexpr EventBits_t BNO08x::EVT_GRP_RPT_GYRO_BIT = (1 << 8)
- 		-staticconstexprprivate
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When set, gyro reports are active.

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◆ EVT_GRP_RPT_GYRO_ROTATION_VECTOR_BIT

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const constexpr EventBits_t BNO08x::EVT_GRP_RPT_GYRO_ROTATION_VECTOR_BIT
- 		-staticconstexprprivate
-
-Initial value:
=
-
(1 << 4)
-
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When set, gyro integrator rotation vector reports are active.

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◆ EVT_GRP_RPT_GYRO_UNCALIBRATED_BIT

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const constexpr EventBits_t BNO08x::EVT_GRP_RPT_GYRO_UNCALIBRATED_BIT = (1 << 9)
- 		-staticconstexprprivate
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When set, uncalibrated gyro reports are active.

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◆ EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT

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const constexpr EventBits_t BNO08x::EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT = (1 << 6)
- 		-staticconstexprprivate
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When set, linear accelerometer reports are active.

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◆ EVT_GRP_RPT_MAGNETOMETER_BIT

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const constexpr EventBits_t BNO08x::EVT_GRP_RPT_MAGNETOMETER_BIT = (1 << 10)
- 		-staticconstexprprivate
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When set, magnetometer reports are active.

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◆ EVT_GRP_RPT_RAW_ACCELEROMETER_BIT

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const constexpr EventBits_t BNO08x::EVT_GRP_RPT_RAW_ACCELEROMETER_BIT = (1 << 15)
- 		-staticconstexprprivate
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When set, raw accelerometer reports are active.

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◆ EVT_GRP_RPT_RAW_GYRO_BIT

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const constexpr EventBits_t BNO08x::EVT_GRP_RPT_RAW_GYRO_BIT = (1 << 16)
- 		-staticconstexprprivate
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When set, raw gyro reports are active.

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◆ EVT_GRP_RPT_RAW_MAGNETOMETER_BIT

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const constexpr EventBits_t BNO08x::EVT_GRP_RPT_RAW_MAGNETOMETER_BIT = (1 << 17)
- 		-staticconstexprprivate
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When set, raw magnetometer reports are active.

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◆ EVT_GRP_RPT_ROTATION_VECTOR_BIT

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const constexpr EventBits_t BNO08x::EVT_GRP_RPT_ROTATION_VECTOR_BIT = (1 << 0)
- 		-staticconstexprprivate
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When set, rotation vector reports are active.

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◆ EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT

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const constexpr EventBits_t BNO08x::EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT = (1 << 13)
- 		-staticconstexprprivate
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When set, stability classifier reports are active.

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◆ EVT_GRP_RPT_STEP_COUNTER_BIT

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const constexpr EventBits_t BNO08x::EVT_GRP_RPT_STEP_COUNTER_BIT = (1 << 12)
- 		-staticconstexprprivate
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When set, step counter reports are active.

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◆ EVT_GRP_RPT_TAP_DETECTOR_BIT

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const constexpr EventBits_t BNO08x::EVT_GRP_RPT_TAP_DETECTOR_BIT = (1 << 11)
- 		-staticconstexprprivate
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When set, tap detector reports are active.

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◆ evt_grp_spi

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EventGroupHandle_t BNO08x::evt_grp_spi
- 		-private
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Event group for indicating when bno08x hint pin has triggered and when new data has been processed. Used by calls to sending or receiving functions.

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◆ EVT_GRP_SPI_RX_DONE_BIT

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const constexpr EventBits_t BNO08x::EVT_GRP_SPI_RX_DONE_BIT
- 		-staticconstexprprivate
-
-Initial value:
=
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(1 << 0)
-
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When this bit is set it indicates a receive procedure has completed.

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◆ EVT_GRP_SPI_RX_INVALID_PACKET

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const constexpr EventBits_t BNO08x::EVT_GRP_SPI_RX_INVALID_PACKET
- 		-staticconstexprprivate
-
-Initial value:
=
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(1 << 2)
-
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When this bit is set, it indicates an invalid packet has been received.

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◆ EVT_GRP_SPI_RX_VALID_PACKET

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const constexpr EventBits_t BNO08x::EVT_GRP_SPI_RX_VALID_PACKET
- 		-staticconstexprprivate
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-Initial value:
=
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(1 << 1)
-
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When this bit is set, it indicates a valid packet has been received and processed.

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◆ EVT_GRP_SPI_TX_DONE

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const constexpr EventBits_t BNO08x::EVT_GRP_SPI_TX_DONE = (1 << 3)
- 		-staticconstexprprivate
-
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When this bit is set, it indicates a queued packet has been sent.

- -
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◆ FRS_RECORD_ID_ACCELEROMETER

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const constexpr uint16_t BNO08x::FRS_RECORD_ID_ACCELEROMETER
- 		-staticconstexpr
-
-Initial value:
=
-
0xE302
-
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Accelerometer record ID, to be passed in metadata functions like get_Q1()

- -
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◆ FRS_RECORD_ID_GYROSCOPE_CALIBRATED

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const constexpr uint16_t BNO08x::FRS_RECORD_ID_GYROSCOPE_CALIBRATED
- 		-staticconstexpr
-
-Initial value:
=
-
0xE306
-
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Calirated gyroscope record ID, to be passed in metadata functions like get_Q1()

- -
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◆ FRS_RECORD_ID_MAGNETIC_FIELD_CALIBRATED

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const constexpr uint16_t BNO08x::FRS_RECORD_ID_MAGNETIC_FIELD_CALIBRATED
- 		-staticconstexpr
-
-Initial value:
=
-
0xE309
-
-

Calibrated magnetometer record ID, to be passed in metadata functions like get_Q1()

- -
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◆ FRS_RECORD_ID_ROTATION_VECTOR

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const constexpr uint16_t BNO08x::FRS_RECORD_ID_ROTATION_VECTOR
- 		-staticconstexpr
-
-Initial value:
=
-
0xE30B
-
-

Rotation vector record ID, to be passed in metadata functions like get_Q1()

- -
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◆ gravity_accuracy

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uint16_t BNO08x::gravity_accuracy
- 		-private
-
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Gravity reading in m/s^2 (See SH-2 Ref. Manual 6.5.11)

- -
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◆ GRAVITY_Q1

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const constexpr int16_t BNO08x::GRAVITY_Q1 = 8
- 		-staticconstexpr
-
- -

Gravity Q point (See SH-2 Ref. Manual 6.5.11)

- -
-
- -

◆ gravity_X

- -
-
- - - - - -
- - - - -
uint16_t BNO08x::gravity_X
- 		-private
-
- -
-
- -

◆ gravity_Y

- -
-
- - - - - -
- - - - -
uint16_t BNO08x::gravity_Y
- 		-private
-
- -
-
- -

◆ gravity_Z

- -
-
- - - - - -
- - - - -
uint16_t BNO08x::gravity_Z
- 		-private
-
- -
-
- -

◆ gyro_accuracy

- -
-
- - - - - -
- - - - -
uint16_t BNO08x::gyro_accuracy
- 		-private
-
- -

Raw gyro reading (See SH-2 Ref. Manual 6.5.13)

- -
-
- -

◆ GYRO_Q1

- -
-
- - - - - -
- - - - -
const constexpr int16_t BNO08x::GYRO_Q1 = 9
- 		-staticconstexpr
-
- -

Gyro Q point (See SH-2 Ref. Manual 6.5.13)

- -
-
- -

◆ HOST_INT_TIMEOUT_MS

- -
-
- - - - - -
- - - - -
const constexpr uint64_t BNO08x::HOST_INT_TIMEOUT_MS
- 		-staticconstexprprivate
-
-Initial value:
=
-
300ULL
-
-

Max wait between HINT being asserted by BNO08x before transaction is considered failed (in miliseconds)

- -
-
- -

◆ imu_config

- -
-
- - - - - -
- - - - -
bno08x_config_t BNO08x::imu_config {}
- 		-private
-
- -

IMU configuration settings.

- -
-
- -

◆ imu_spi_config

- -
-
- - - - - -
- - - - -
spi_device_interface_config_t BNO08x::imu_spi_config {}
- 		-private
-
- -

SPI slave device settings.

- -
-
- -

◆ isr_service_installed

- -
-
- - - - - -
- - - - -
bool BNO08x::isr_service_installed = {false}
- 		-staticprivate
-
- -

true of the isr service has been installed, only has to be done once regardless of how many devices are used

- -
-
- -

◆ LINEAR_ACCELEROMETER_Q1

- -
-
- - - - - -
- - - - -
const constexpr int16_t BNO08x::LINEAR_ACCELEROMETER_Q1 = 8
- 		-staticconstexpr
-
- -

Linear acceleration Q point (See SH-2 Ref. Manual 6.5.10)

- -
-
- -

◆ magf_accuracy

- -
-
- - - - - -
- - - - -
uint16_t BNO08x::magf_accuracy
- 		-private
-
- -

Calibrated magnetic field reading in uTesla (See SH-2 Ref. Manual 6.5.16)

- -
-
- -

◆ MAGNETOMETER_Q1

- -
-
- - - - - -
- - - - -
const constexpr int16_t BNO08x::MAGNETOMETER_Q1 = 4
- 		-staticconstexpr
-
- -

Magnetometer Q point (See SH-2 Ref. Manual 6.5.16)

- -
-
- -

◆ MAX_METADATA_LENGTH

- -
-
- - - - - -
- - - - -
const constexpr uint16_t BNO08x::MAX_METADATA_LENGTH = 9
- 		-staticconstexprprivate
-
- -

max length of metadata used in frs read operations

- -
-
- -

◆ mems_raw_accel_X

- -
-
- - - - - -
- - - - -
uint16_t BNO08x::mems_raw_accel_X
- 		-private
-
- -
-
- -

◆ mems_raw_accel_Y

- -
-
- - - - - -
- - - - -
uint16_t BNO08x::mems_raw_accel_Y
- 		-private
-
- -
-
- -

◆ mems_raw_accel_Z

- -
-
- - - - - -
- - - - -
uint16_t BNO08x::mems_raw_accel_Z
- 		-private
-
- -

Raw accelerometer readings from MEMS sensor (See SH2 Ref. Manual 6.5.8)

- -
-
- -

◆ mems_raw_gyro_X

- -
-
- - - - - -
- - - - -
uint16_t BNO08x::mems_raw_gyro_X
- 		-private
-
- -
-
- -

◆ mems_raw_gyro_Y

- -
-
- - - - - -
- - - - -
uint16_t BNO08x::mems_raw_gyro_Y
- 		-private
-
- -
-
- -

◆ mems_raw_gyro_Z

- -
-
- - - - - -
- - - - -
uint16_t BNO08x::mems_raw_gyro_Z
- 		-private
-
- -

Raw gyro readings from MEMS sensor (See SH-2 Ref. Manual 6.5.12)

- -
-
- -

◆ mems_raw_magf_X

- -
-
- - - - - -
- - - - -
uint16_t BNO08x::mems_raw_magf_X
- 		-private
-
- -
-
- -

◆ mems_raw_magf_Y

- -
-
- - - - - -
- - - - -
uint16_t BNO08x::mems_raw_magf_Y
- 		-private
-
- -
-
- -

◆ mems_raw_magf_Z

- -
-
- - - - - -
- - - - -
uint16_t BNO08x::mems_raw_magf_Z
- 		-private
-
- -

Raw magnetometer (compass) readings from MEMS sensor (See SH-2 Ref. Manual 6.5.15)

- -
-
- -

◆ meta_data

- -
-
- - - - - -
- - - - -
uint32_t BNO08x::meta_data[9]
- 		-private
-
- -

First 9 bytes of meta data returned from FRS read operation (we don't really need the rest) (See Ref. Manual 5.1)

- -
-
- -

◆ quat_accuracy

- -
-
- - - - - -
- - - - -
uint16_t BNO08x::quat_accuracy
- 		-private
-
- -

Raw quaternion reading (See SH-2 Ref. Manual 6.5.44)

- -
-
- -

◆ queue_frs_read_data

- -
-
- - - - - -
- - - - -
QueueHandle_t BNO08x::queue_frs_read_data
- 		-private
-
- -

Queue used to send packet body from data_proc_task to frs read functions.

- -
-
- -

◆ queue_reset_reason

- -
-
- - - - - -
- - - - -
QueueHandle_t BNO08x::queue_reset_reason
- 		-private
-
- -

Queue used to send reset reason from product id report to reset_reason() function.

- -
-
- -

◆ queue_rx_data

- -
-
- - - - - -
- - - - -
QueueHandle_t BNO08x::queue_rx_data
- 		-private
-
- -

Packet queue used to send data received from bno08x from spi_task to data_proc_task.

- -
-
- -

◆ queue_tx_data

- -
-
- - - - - -
- - - - -
QueueHandle_t BNO08x::queue_tx_data
- 		-private
-
- -

Packet queue used to send data to be sent over SPI from sending functions to spi_task.

- -
-
- -

◆ raw_accel_X

- -
-
- - - - - -
- - - - -
uint16_t BNO08x::raw_accel_X
- 		-private
-
- -
-
- -

◆ raw_accel_Y

- -
-
- - - - - -
- - - - -
uint16_t BNO08x::raw_accel_Y
- 		-private
-
- -
-
- -

◆ raw_accel_Z

- -
-
- - - - - -
- - - - -
uint16_t BNO08x::raw_accel_Z
- 		-private
-
- -
-
- -

◆ raw_bias_X

- -
-
- - - - - -
- - - - -
uint16_t BNO08x::raw_bias_X
- 		-private
-
- -
-
- -

◆ raw_bias_Y

- -
-
- - - - - -
- - - - -
uint16_t BNO08x::raw_bias_Y
- 		-private
-
- -
-
- -

◆ raw_bias_Z

- -
-
- - - - - -
- - - - -
uint16_t BNO08x::raw_bias_Z
- 		-private
-
- -
-
- -

◆ raw_gyro_X

- -
-
- - - - - -
- - - - -
uint16_t BNO08x::raw_gyro_X
- 		-private
-
- -
-
- -

◆ raw_gyro_Y

- -
-
- - - - - -
- - - - -
uint16_t BNO08x::raw_gyro_Y
- 		-private
-
- -
-
- -

◆ raw_gyro_Z

- -
-
- - - - - -
- - - - -
uint16_t BNO08x::raw_gyro_Z
- 		-private
-
- -
-
- -

◆ raw_lin_accel_X

- -
-
- - - - - -
- - - - -
uint16_t BNO08x::raw_lin_accel_X
- 		-private
-
- -
-
- -

◆ raw_lin_accel_Y

- -
-
- - - - - -
- - - - -
uint16_t BNO08x::raw_lin_accel_Y
- 		-private
-
- -
-
- -

◆ raw_lin_accel_Z

- -
-
- - - - - -
- - - - -
uint16_t BNO08x::raw_lin_accel_Z
- 		-private
-
- -
-
- -

◆ raw_magf_X

- -
-
- - - - - -
- - - - -
uint16_t BNO08x::raw_magf_X
- 		-private
-
- -
-
- -

◆ raw_magf_Y

- -
-
- - - - - -
- - - - -
uint16_t BNO08x::raw_magf_Y
- 		-private
-
- -
-
- -

◆ raw_magf_Z

- -
-
- - - - - -
- - - - -
uint16_t BNO08x::raw_magf_Z
- 		-private
-
- -
-
- -

◆ raw_quat_I

- -
-
- - - - - -
- - - - -
uint16_t BNO08x::raw_quat_I
- 		-private
-
- -
-
- -

◆ raw_quat_J

- -
-
- - - - - -
- - - - -
uint16_t BNO08x::raw_quat_J
- 		-private
-
- -
-
- -

◆ raw_quat_K

- -
-
- - - - - -
- - - - -
uint16_t BNO08x::raw_quat_K
- 		-private
-
- -
-
- -

◆ raw_quat_radian_accuracy

- -
-
- - - - - -
- - - - -
uint16_t BNO08x::raw_quat_radian_accuracy
- 		-private
-
- -
-
- -

◆ raw_quat_real

- -
-
- - - - - -
- - - - -
uint16_t BNO08x::raw_quat_real
- 		-private
-
- -
-
- -

◆ raw_uncalib_gyro_X

- -
-
- - - - - -
- - - - -
uint16_t BNO08x::raw_uncalib_gyro_X
- 		-private
-
- -
-
- -

◆ raw_uncalib_gyro_Y

- -
-
- - - - - -
- - - - -
uint16_t BNO08x::raw_uncalib_gyro_Y
- 		-private
-
- -
-
- -

◆ raw_uncalib_gyro_Z

- -
-
- - - - - -
- - - - -
uint16_t BNO08x::raw_uncalib_gyro_Z
- 		-private
-
- -
-
- -

◆ raw_velocity_gyro_X

- -
-
- - - - - -
- - - - -
uint16_t BNO08x::raw_velocity_gyro_X
- 		-private
-
- -
-
- -

◆ raw_velocity_gyro_Y

- -
-
- - - - - -
- - - - -
uint16_t BNO08x::raw_velocity_gyro_Y
- 		-private
-
- -
-
- -

◆ raw_velocity_gyro_Z

- -
-
- - - - - -
- - - - -
uint16_t BNO08x::raw_velocity_gyro_Z
- 		-private
-
- -

Raw gyro angular velocity reading (See SH-2 Ref. Manual 6.5.44)

- -
-
- -

◆ ROTATION_VECTOR_ACCURACY_Q1

- -
-
- - - - - -
- - - - -
const constexpr int16_t BNO08x::ROTATION_VECTOR_ACCURACY_Q1 = 12
- 		-staticconstexpr
-
- -

Rotation vector accuracy estimate Q point (See SH-2 Ref. Manual 6.5.18)

- -
-
- -

◆ ROTATION_VECTOR_Q1

- -
-
- - - - - -
- - - - -
const constexpr int16_t BNO08x::ROTATION_VECTOR_Q1 = 14
- 		-staticconstexpr
-
- -

Rotation vector Q point (See SH-2 Ref. Manual 6.5.18)

- -
-
- -

◆ RX_DATA_LENGTH

- -
-
- - - - - -
- - - - -
const constexpr uint16_t BNO08x::RX_DATA_LENGTH = 300
- 		-staticconstexprprivate
-
- -

length buffer containing data received over spi

- -
-
- -

◆ SENSOR_REPORT_ID_ACCELEROMETER

- -
-
- - - - - -
- - - - -
const constexpr uint8_t BNO08x::SENSOR_REPORT_ID_ACCELEROMETER = 0x01
- 		-staticconstexprprivate
-
- -

See SH2 Ref. Manual 6.5.9.

- -
-
- -

◆ SENSOR_REPORT_ID_ARVR_STABILIZED_GAME_ROTATION_VECTOR

- -
-
- - - - - -
- - - - -
const constexpr uint8_t BNO08x::SENSOR_REPORT_ID_ARVR_STABILIZED_GAME_ROTATION_VECTOR = 0x29
- 		-staticconstexprprivate
-
- -

See SH2 Ref. Manual 6.5.43.

- -
-
- -

◆ SENSOR_REPORT_ID_ARVR_STABILIZED_ROTATION_VECTOR

- -
-
- - - - - -
- - - - -
const constexpr uint8_t BNO08x::SENSOR_REPORT_ID_ARVR_STABILIZED_ROTATION_VECTOR = 0x28
- 		-staticconstexprprivate
-
- -

See SH2 Ref. Manual 6.5.42.

- -
-
- -

◆ SENSOR_REPORT_ID_GAME_ROTATION_VECTOR

- -
-
- - - - - -
- - - - -
const constexpr uint8_t BNO08x::SENSOR_REPORT_ID_GAME_ROTATION_VECTOR = 0x08
- 		-staticconstexprprivate
-
- -

See SH2 Ref. Manual 6.5.19.

- -
-
- -

◆ SENSOR_REPORT_ID_GEOMAGNETIC_ROTATION_VECTOR

- -
-
- - - - - -
- - - - -
const constexpr uint8_t BNO08x::SENSOR_REPORT_ID_GEOMAGNETIC_ROTATION_VECTOR = 0x09
- 		-staticconstexprprivate
-
- -

See SH2 Ref. Manual 6.5.20.

- -
-
- -

◆ SENSOR_REPORT_ID_GRAVITY

- -
-
- - - - - -
- - - - -
const constexpr uint8_t BNO08x::SENSOR_REPORT_ID_GRAVITY = 0x06
- 		-staticconstexprprivate
-
- -

See SH2 Ref. Manual 6.5.11.

- -
-
- -

◆ SENSOR_REPORT_ID_GYRO_INTEGRATED_ROTATION_VECTOR

- -
-
- - - - - -
- - - - -
const constexpr uint8_t BNO08x::SENSOR_REPORT_ID_GYRO_INTEGRATED_ROTATION_VECTOR = 0x2A
- 		-staticconstexprprivate
-
- -

See SH2 Ref. Manual 6.5.44.

- -
-
- -

◆ SENSOR_REPORT_ID_GYROSCOPE

- -
-
- - - - - -
- - - - -
const constexpr uint8_t BNO08x::SENSOR_REPORT_ID_GYROSCOPE = 0x02
- 		-staticconstexprprivate
-
- -

See SH2 Ref. Manual 6.5.13.

- -
-
- -

◆ SENSOR_REPORT_ID_LINEAR_ACCELERATION

- -
-
- - - - - -
- - - - -
const constexpr uint8_t BNO08x::SENSOR_REPORT_ID_LINEAR_ACCELERATION = 0x04
- 		-staticconstexprprivate
-
- -

See SH2 Ref. Manual 6.5.10.

- -
-
- -

◆ SENSOR_REPORT_ID_MAGNETIC_FIELD

- -
-
- - - - - -
- - - - -
const constexpr uint8_t BNO08x::SENSOR_REPORT_ID_MAGNETIC_FIELD = 0x03
- 		-staticconstexprprivate
-
- -

See SH2 Ref. Manual 6.5.16.

- -
-
- -

◆ SENSOR_REPORT_ID_PERSONAL_ACTIVITY_CLASSIFIER

- -
-
- - - - - -
- - - - -
const constexpr uint8_t BNO08x::SENSOR_REPORT_ID_PERSONAL_ACTIVITY_CLASSIFIER = 0x1E
- 		-staticconstexprprivate
-
- -

See SH2 Ref. Manual 6.5.36.

- -
-
- -

◆ SENSOR_REPORT_ID_RAW_ACCELEROMETER

- -
-
- - - - - -
- - - - -
const constexpr uint8_t BNO08x::SENSOR_REPORT_ID_RAW_ACCELEROMETER = 0x14
- 		-staticconstexprprivate
-
- -

See SH2 Ref. Manual 6.5.8.

- -
-
- -

◆ SENSOR_REPORT_ID_RAW_GYROSCOPE

- -
-
- - - - - -
- - - - -
const constexpr uint8_t BNO08x::SENSOR_REPORT_ID_RAW_GYROSCOPE = 0x15
- 		-staticconstexprprivate
-
- -

See SH2 Ref. Manual 6.5.12.

- -
-
- -

◆ SENSOR_REPORT_ID_RAW_MAGNETOMETER

- -
-
- - - - - -
- - - - -
const constexpr uint8_t BNO08x::SENSOR_REPORT_ID_RAW_MAGNETOMETER = 0x16
- 		-staticconstexprprivate
-
- -

See SH2 Ref. Manual 6.5.15.

- -
-
- -

◆ SENSOR_REPORT_ID_ROTATION_VECTOR

- -
-
- - - - - -
- - - - -
const constexpr uint8_t BNO08x::SENSOR_REPORT_ID_ROTATION_VECTOR = 0x05
- 		-staticconstexprprivate
-
- -

See SH2 Ref. Manual 6.5.18.

- -
-
- -

◆ SENSOR_REPORT_ID_STABILITY_CLASSIFIER

- -
-
- - - - - -
- - - - -
const constexpr uint8_t BNO08x::SENSOR_REPORT_ID_STABILITY_CLASSIFIER = 0x13
- 		-staticconstexprprivate
-
- -

See SH2 Ref. Manual 6.5.31.

- -
-
- -

◆ SENSOR_REPORT_ID_STEP_COUNTER

- -
-
- - - - - -
- - - - -
const constexpr uint8_t BNO08x::SENSOR_REPORT_ID_STEP_COUNTER = 0x11
- 		-staticconstexprprivate
-
- -

See SH2 Ref. Manual 6.5.29.

- -
-
- -

◆ SENSOR_REPORT_ID_TAP_DETECTOR

- -
-
- - - - - -
- - - - -
const constexpr uint8_t BNO08x::SENSOR_REPORT_ID_TAP_DETECTOR = 0x10
- 		-staticconstexprprivate
-
- -

See SH2 Ref. Manual 6.5.27.

- -
-
- -

◆ SENSOR_REPORT_ID_UNCALIBRATED_GYRO

- -
-
- - - - - -
- - - - -
const constexpr uint8_t BNO08x::SENSOR_REPORT_ID_UNCALIBRATED_GYRO = 0x07
- 		-staticconstexprprivate
-
- -

See SH2 Ref. Manual 6.5.14.

- -
-
- -

◆ SHTP_REPORT_BASE_TIMESTAMP

- -
-
- - - - - -
- - - - -
const constexpr uint8_t BNO08x::SHTP_REPORT_BASE_TIMESTAMP = 0xFB
- 		-staticconstexprprivate
-
- -

See SH2 Ref. Manual 7.2.1.

- -
-
- -

◆ SHTP_REPORT_COMMAND_REQUEST

- -
-
- - - - - -
- - - - -
const constexpr uint8_t BNO08x::SHTP_REPORT_COMMAND_REQUEST = 0xF2
- 		-staticconstexprprivate
-
- -

See SH2 Ref. Manual 6.3.8.

- -
-
- -

◆ SHTP_REPORT_COMMAND_RESPONSE

- -
-
- - - - - -
- - - - -
const constexpr uint8_t BNO08x::SHTP_REPORT_COMMAND_RESPONSE = 0xF1
- 		-staticconstexprprivate
-
- -

See SH2 Ref. Manual 6.3.9.

- -
-
- -

◆ SHTP_REPORT_FRS_READ_REQUEST

- -
-
- - - - - -
- - - - -
const constexpr uint8_t BNO08x::SHTP_REPORT_FRS_READ_REQUEST = 0xF4
- 		-staticconstexprprivate
-
- -

See SH2 Ref. Manual 6.3.6.

- -
-
- -

◆ SHTP_REPORT_FRS_READ_RESPONSE

- -
-
- - - - - -
- - - - -
const constexpr uint8_t BNO08x::SHTP_REPORT_FRS_READ_RESPONSE = 0xF3
- 		-staticconstexprprivate
-
- -

See SH2 Ref. Manual 6.3.7.

- -
-
- -

◆ SHTP_REPORT_PRODUCT_ID_REQUEST

- -
-
- - - - - -
- - - - -
const constexpr uint8_t BNO08x::SHTP_REPORT_PRODUCT_ID_REQUEST = 0xF9
- 		-staticconstexprprivate
-
- -

See SH2 Ref. Manual 6.3.1.

- -
-
- -

◆ SHTP_REPORT_PRODUCT_ID_RESPONSE

- -
-
- - - - - -
- - - - -
const constexpr uint8_t BNO08x::SHTP_REPORT_PRODUCT_ID_RESPONSE = 0xF8
- 		-staticconstexprprivate
-
- -

See SH2 Ref. Manual 6.3.2.

- -
-
- -

◆ SHTP_REPORT_SET_FEATURE_COMMAND

- -
-
- - - - - -
- - - - -
const constexpr uint8_t BNO08x::SHTP_REPORT_SET_FEATURE_COMMAND = 0xFD
- 		-staticconstexprprivate
-
- -

See SH2 Ref. Manual 6.5.4.

- -
-
- -

◆ spi_hdl

- -
-
- - - - - -
- - - - -
spi_device_handle_t BNO08x::spi_hdl {}
- 		-private
-
- -

SPI device handle.

- -
-
- -

◆ spi_task_hdl

- -
-
- - - - - -
- - - - -
TaskHandle_t BNO08x::spi_task_hdl
- 		-private
-
- -

spi_task() handle

- -
-
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◆ spi_transaction

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spi_transaction_t BNO08x::spi_transaction {}
- 		-private
-
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SPI transaction handle.

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◆ stability_classifier

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uint8_t BNO08x::stability_classifier
- 		-private
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Stability status reading (See SH-2 Ref. Manual 6.5.31)

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◆ step_count

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uint16_t BNO08x::step_count
- 		-private
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Step counter reading (See SH-2 Ref. Manual 6.5.29)

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◆ TAG

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const constexpr char* BNO08x::TAG = "BNO08x"
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Class tag used for serial print statements.

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◆ tap_detector

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uint8_t BNO08x::tap_detector
- 		-private
-
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Tap detector reading (See SH-2 Ref. Manual 6.5.27)

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◆ TARE_ARVR_STABILIZED_GAME_ROTATION_VECTOR

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const constexpr uint8_t BNO08x::TARE_ARVR_STABILIZED_GAME_ROTATION_VECTOR = 5
- 		-staticconstexpr
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Tare ARVR stabilized game rotation vector.

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◆ TARE_ARVR_STABILIZED_ROTATION_VECTOR

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const constexpr uint8_t BNO08x::TARE_ARVR_STABILIZED_ROTATION_VECTOR = 4
- 		-staticconstexpr
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Tare ARVR stabilized rotation vector.

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◆ TARE_AXIS_ALL

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const constexpr uint8_t BNO08x::TARE_AXIS_ALL = 0x07
- 		-staticconstexpr
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Tare all axes (used with tare now command)

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◆ TARE_AXIS_Z

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const constexpr uint8_t BNO08x::TARE_AXIS_Z = 0x04
- 		-staticconstexpr
-
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Tar yaw axis only (used with tare now command)

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◆ TARE_GAME_ROTATION_VECTOR

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const constexpr uint8_t BNO08x::TARE_GAME_ROTATION_VECTOR = 1
- 		-staticconstexpr
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Tare game rotation vector.

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◆ TARE_GEOMAGNETIC_ROTATION_VECTOR

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const constexpr uint8_t BNO08x::TARE_GEOMAGNETIC_ROTATION_VECTOR = 2
- 		-staticconstexpr
-
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tare geomagnetic rotation vector

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◆ TARE_GYRO_INTEGRATED_ROTATION_VECTOR

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const constexpr uint8_t BNO08x::TARE_GYRO_INTEGRATED_ROTATION_VECTOR = 3
- 		-staticconstexpr
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Tare gyro integrated rotation vector.

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◆ TARE_NOW

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const constexpr uint8_t BNO08x::TARE_NOW = 0
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See SH2 Ref. Manual 6.4.4.1.

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◆ TARE_PERSIST

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const constexpr uint8_t BNO08x::TARE_PERSIST = 1
- 		-staticconstexprprivate
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See SH2 Ref. Manual 6.4.4.2.

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◆ TARE_ROTATION_VECTOR

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const constexpr uint8_t BNO08x::TARE_ROTATION_VECTOR = 0
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Tare rotation vector.

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◆ TARE_SET_REORIENTATION

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const constexpr uint8_t BNO08x::TARE_SET_REORIENTATION = 2
- 		-staticconstexprprivate
-
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See SH2 Ref. Manual 6.4.4.3.

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◆ time_stamp

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uint32_t BNO08x::time_stamp
- 		-private
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Report timestamp (see datasheet 1.3.5.3)

- -
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◆ uncalib_gyro_accuracy

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uint16_t BNO08x::uncalib_gyro_accuracy
- 		-private
-
- -

Uncalibrated gyro reading (See SH-2 Ref. Manual 6.5.14)

- -
-
-
The documentation for this class was generated from the following files: -
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- - - - diff --git a/documentation/html/class_b_n_o08x_affaaa35abbb872da5299ebab6e2c9b11_icgraph.md5 b/documentation/html/class_b_n_o08x_affaaa35abbb872da5299ebab6e2c9b11_icgraph.md5 deleted file mode 100644 index 2baf14c..0000000 --- a/documentation/html/class_b_n_o08x_affaaa35abbb872da5299ebab6e2c9b11_icgraph.md5 +++ /dev/null @@ -1 +0,0 @@ -e5a4f1b745d2a88623feb300f0bd8234 \ No newline at end of file diff --git a/documentation/html/class_b_n_o08x_affaaa35abbb872da5299ebab6e2c9b11_icgraph.png b/documentation/html/class_b_n_o08x_affaaa35abbb872da5299ebab6e2c9b11_icgraph.png deleted file mode 100644 index adfc8c1..0000000 Binary files a/documentation/html/class_b_n_o08x_affaaa35abbb872da5299ebab6e2c9b11_icgraph.png and /dev/null differ diff --git a/documentation/html/classes.html b/documentation/html/classes.html deleted file mode 100644 index 8bc4eb9..0000000 --- a/documentation/html/classes.html +++ /dev/null @@ -1,113 +0,0 @@ - - - - - - - -esp32_BNO08x: Class Index - - - - - - - - - - - - - - - -
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- - - - - - -
-
esp32_BNO08x 1.1 -
-
C++ BNO08x IMU driver component for esp-idf.
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- - - - - - - -
-
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- -
- -
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Loading...
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Searching...
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No Matches
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Class Index
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-
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B
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B
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BNO08x
bno08x_config_t
BNO08x::bno08x_rx_packet_t
BNO08x::bno08x_tx_packet_t
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-
-
- - - - diff --git a/documentation/html/clipboard.js b/documentation/html/clipboard.js deleted file mode 100644 index 42c1fb0..0000000 --- a/documentation/html/clipboard.js +++ /dev/null @@ -1,61 +0,0 @@ -/** - -The code below is based on the Doxygen Awesome project, see -https://github.com/jothepro/doxygen-awesome-css - -MIT License - -Copyright (c) 2021 - 2022 jothepro - -Permission is hereby granted, free of charge, to any person obtaining a copy -of this software and associated documentation files (the "Software"), to deal -in the Software without restriction, including without limitation the rights -to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -copies of the Software, and to permit persons to whom the Software is -furnished to do so, subject to the following conditions: - -The above copyright notice and this permission notice shall be included in all -copies or substantial portions of the Software. - -THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE -SOFTWARE. - -*/ - -let clipboard_title = "Copy to clipboard" -let clipboard_icon = `` -let clipboard_successIcon = `` -let clipboard_successDuration = 1000 - -$(function() { - if(navigator.clipboard) { - const fragments = document.getElementsByClassName("fragment") - for(const fragment of fragments) { - const clipboard_div = document.createElement("div") - clipboard_div.classList.add("clipboard") - clipboard_div.innerHTML = clipboard_icon - clipboard_div.title = clipboard_title - $(clipboard_div).click(function() { - const content = this.parentNode.cloneNode(true) - // filter out line number and folded fragments from file listings - content.querySelectorAll(".lineno, .ttc, .foldclosed").forEach((node) => { node.remove() }) - let text = content.textContent - // remove trailing newlines and trailing spaces from empty lines - text = text.replace(/^\s*\n/gm,'\n').replace(/\n*$/,'') - navigator.clipboard.writeText(text); - this.classList.add("success") - this.innerHTML = clipboard_successIcon - window.setTimeout(() => { // switch back to normal icon after timeout - this.classList.remove("success") - this.innerHTML = clipboard_icon - }, clipboard_successDuration); - }) - fragment.insertBefore(clipboard_div, fragment.firstChild) - } - } -}) diff --git a/documentation/html/closed.png b/documentation/html/closed.png deleted file mode 100644 index 98cc2c9..0000000 Binary files a/documentation/html/closed.png and /dev/null differ diff --git a/documentation/html/cookie.js b/documentation/html/cookie.js deleted file mode 100644 index 53ad21d..0000000 --- a/documentation/html/cookie.js +++ /dev/null @@ -1,58 +0,0 @@ -/*! - Cookie helper functions - Copyright (c) 2023 Dimitri van Heesch - Released under MIT license. -*/ -let Cookie = { - cookie_namespace: 'doxygen_', - - readSetting(cookie,defVal) { - if (window.chrome) { - const val = localStorage.getItem(this.cookie_namespace+cookie) || - sessionStorage.getItem(this.cookie_namespace+cookie); - if (val) return val; - } else { - let myCookie = this.cookie_namespace+cookie+"="; - if (document.cookie) { - const index = document.cookie.indexOf(myCookie); - if (index != -1) { - const valStart = index + myCookie.length; - let valEnd = document.cookie.indexOf(";", valStart); - if (valEnd == -1) { - valEnd = document.cookie.length; - } - return document.cookie.substring(valStart, valEnd); - } - } - } - return defVal; - }, - - writeSetting(cookie,val,days=10*365) { // default days='forever', 0=session cookie, -1=delete - if (window.chrome) { - if (days==0) { - sessionStorage.setItem(this.cookie_namespace+cookie,val); - } else { - localStorage.setItem(this.cookie_namespace+cookie,val); - } - } else { - let date = new Date(); - date.setTime(date.getTime()+(days*24*60*60*1000)); - const expiration = days!=0 ? "expires="+date.toGMTString()+";" : ""; - document.cookie = this.cookie_namespace + cookie + "=" + - val + "; SameSite=Lax;" + expiration + "path=/"; - } - }, - - eraseSetting(cookie) { - if (window.chrome) { - if (localStorage.getItem(this.cookie_namespace+cookie)) { - localStorage.removeItem(this.cookie_namespace+cookie); - } else if (sessionStorage.getItem(this.cookie_namespace+cookie)) { - sessionStorage.removeItem(this.cookie_namespace+cookie); - } - } else { - this.writeSetting(cookie,'',-1); - } - }, -} diff --git a/documentation/html/doc.svg b/documentation/html/doc.svg deleted file mode 100644 index 0b928a5..0000000 --- a/documentation/html/doc.svg +++ /dev/null @@ -1,12 +0,0 @@ - - - - - - - - - - - diff --git a/documentation/html/docd.svg b/documentation/html/docd.svg deleted file mode 100644 index ac18b27..0000000 --- a/documentation/html/docd.svg +++ /dev/null @@ -1,12 +0,0 @@ - - - - - - - - - - - diff --git a/documentation/html/doxygen.css b/documentation/html/doxygen.css deleted file mode 100644 index 7b7d851..0000000 --- a/documentation/html/doxygen.css +++ /dev/null @@ -1,2225 +0,0 @@ -/* The standard CSS for doxygen 1.10.0*/ - -html { -/* page base colors */ ---page-background-color: white; ---page-foreground-color: black; ---page-link-color: #3D578C; ---page-visited-link-color: #4665A2; - -/* index */ ---index-odd-item-bg-color: #F8F9FC; ---index-even-item-bg-color: white; ---index-header-color: black; ---index-separator-color: #A0A0A0; - -/* header */ ---header-background-color: #F9FAFC; ---header-separator-color: #C4CFE5; ---header-gradient-image: url('nav_h.png'); ---group-header-separator-color: #879ECB; ---group-header-color: #354C7B; ---inherit-header-color: gray; - ---footer-foreground-color: #2A3D61; ---footer-logo-width: 104px; ---citation-label-color: #334975; ---glow-color: cyan; - ---title-background-color: white; ---title-separator-color: #5373B4; ---directory-separator-color: #9CAFD4; ---separator-color: #4A6AAA; - ---blockquote-background-color: #F7F8FB; ---blockquote-border-color: #9CAFD4; - ---scrollbar-thumb-color: #9CAFD4; ---scrollbar-background-color: #F9FAFC; - ---icon-background-color: #728DC1; ---icon-foreground-color: white; ---icon-doc-image: url('doc.svg'); ---icon-folder-open-image: url('folderopen.svg'); ---icon-folder-closed-image: url('folderclosed.svg'); - -/* brief member declaration list */ ---memdecl-background-color: #F9FAFC; ---memdecl-separator-color: #DEE4F0; ---memdecl-foreground-color: #555; ---memdecl-template-color: #4665A2; - -/* detailed member list */ ---memdef-border-color: #A8B8D9; ---memdef-title-background-color: #E2E8F2; ---memdef-title-gradient-image: url('nav_f.png'); ---memdef-proto-background-color: #DFE5F1; ---memdef-proto-text-color: #253555; ---memdef-proto-text-shadow: 0px 1px 1px rgba(255, 255, 255, 0.9); ---memdef-doc-background-color: white; ---memdef-param-name-color: #602020; ---memdef-template-color: #4665A2; - -/* tables */ ---table-cell-border-color: #2D4068; ---table-header-background-color: #374F7F; ---table-header-foreground-color: #FFFFFF; - -/* labels */ ---label-background-color: #728DC1; ---label-left-top-border-color: #5373B4; ---label-right-bottom-border-color: #C4CFE5; ---label-foreground-color: white; - -/** navigation bar/tree/menu */ ---nav-background-color: #F9FAFC; ---nav-foreground-color: #364D7C; ---nav-gradient-image: url('tab_b.png'); ---nav-gradient-hover-image: url('tab_h.png'); ---nav-gradient-active-image: url('tab_a.png'); ---nav-gradient-active-image-parent: url("../tab_a.png"); ---nav-separator-image: url('tab_s.png'); ---nav-breadcrumb-image: url('bc_s.png'); ---nav-breadcrumb-border-color: #C2CDE4; ---nav-splitbar-image: url('splitbar.png'); ---nav-font-size-level1: 13px; ---nav-font-size-level2: 10px; ---nav-font-size-level3: 9px; ---nav-text-normal-color: #283A5D; ---nav-text-hover-color: white; ---nav-text-active-color: white; ---nav-text-normal-shadow: 0px 1px 1px rgba(255, 255, 255, 0.9); ---nav-text-hover-shadow: 0px 1px 1px rgba(0, 0, 0, 1.0); ---nav-text-active-shadow: 0px 1px 1px rgba(0, 0, 0, 1.0); ---nav-menu-button-color: #364D7C; ---nav-menu-background-color: white; ---nav-menu-foreground-color: #555555; ---nav-menu-toggle-color: rgba(255, 255, 255, 0.5); ---nav-arrow-color: #9CAFD4; ---nav-arrow-selected-color: #9CAFD4; - -/* table of contents */ ---toc-background-color: #F4F6FA; ---toc-border-color: #D8DFEE; ---toc-header-color: #4665A2; ---toc-down-arrow-image: url("data:image/svg+xml;utf8,&%238595;"); - -/** search field */ ---search-background-color: white; ---search-foreground-color: #909090; ---search-magnification-image: url('mag.svg'); ---search-magnification-select-image: url('mag_sel.svg'); ---search-active-color: black; ---search-filter-background-color: #F9FAFC; ---search-filter-foreground-color: black; ---search-filter-border-color: #90A5CE; ---search-filter-highlight-text-color: white; ---search-filter-highlight-bg-color: #3D578C; ---search-results-foreground-color: #425E97; ---search-results-background-color: #EEF1F7; ---search-results-border-color: black; ---search-box-shadow: inset 0.5px 0.5px 3px 0px #555; - -/** code fragments */ ---code-keyword-color: #008000; ---code-type-keyword-color: #604020; ---code-flow-keyword-color: #E08000; ---code-comment-color: #800000; ---code-preprocessor-color: #806020; ---code-string-literal-color: #002080; ---code-char-literal-color: #008080; ---code-xml-cdata-color: black; ---code-vhdl-digit-color: #FF00FF; ---code-vhdl-char-color: #000000; ---code-vhdl-keyword-color: #700070; ---code-vhdl-logic-color: #FF0000; ---code-link-color: #4665A2; ---code-external-link-color: #4665A2; ---fragment-foreground-color: black; ---fragment-background-color: #FBFCFD; ---fragment-border-color: #C4CFE5; ---fragment-lineno-border-color: #00FF00; ---fragment-lineno-background-color: #E8E8E8; ---fragment-lineno-foreground-color: black; ---fragment-lineno-link-fg-color: #4665A2; ---fragment-lineno-link-bg-color: #D8D8D8; ---fragment-lineno-link-hover-fg-color: #4665A2; ---fragment-lineno-link-hover-bg-color: #C8C8C8; ---fragment-copy-ok-color: #2EC82E; ---tooltip-foreground-color: black; ---tooltip-background-color: white; ---tooltip-border-color: gray; ---tooltip-doc-color: grey; ---tooltip-declaration-color: #006318; ---tooltip-link-color: #4665A2; ---tooltip-shadow: 1px 1px 7px gray; ---fold-line-color: #808080; ---fold-minus-image: url('minus.svg'); ---fold-plus-image: url('plus.svg'); ---fold-minus-image-relpath: url('../../minus.svg'); ---fold-plus-image-relpath: url('../../plus.svg'); - -/** font-family */ ---font-family-normal: Roboto,sans-serif; ---font-family-monospace: 'JetBrains Mono',Consolas,Monaco,'Andale Mono','Ubuntu Mono',monospace,fixed; ---font-family-nav: 'Lucida Grande',Geneva,Helvetica,Arial,sans-serif; ---font-family-title: Tahoma,Arial,sans-serif; ---font-family-toc: Verdana,'DejaVu Sans',Geneva,sans-serif; ---font-family-search: Arial,Verdana,sans-serif; ---font-family-icon: Arial,Helvetica; ---font-family-tooltip: Roboto,sans-serif; - -/** special sections */ ---warning-color-bg: #f8d1cc; ---warning-color-hl: #b61825; ---warning-color-text: #75070f; ---note-color-bg: #faf3d8; ---note-color-hl: #f3a600; ---note-color-text: #5f4204; ---todo-color-bg: #e4f3ff; ---todo-color-hl: #1879C4; ---todo-color-text: #274a5c; ---test-color-bg: #e8e8ff; ---test-color-hl: #3939C4; ---test-color-text: #1a1a5c; ---deprecated-color-bg: #ecf0f3; ---deprecated-color-hl: #5b6269; ---deprecated-color-text: #43454a; ---bug-color-bg: #e4dafd; ---bug-color-hl: #5b2bdd; ---bug-color-text: #2a0d72; ---invariant-color-bg: #d8f1e3; ---invariant-color-hl: #44b86f; ---invariant-color-text: #265532; -} - -@media (prefers-color-scheme: dark) { - html:not(.dark-mode) { - color-scheme: dark; - -/* page base colors */ ---page-background-color: black; ---page-foreground-color: #C9D1D9; ---page-link-color: #90A5CE; ---page-visited-link-color: #A3B4D7; - -/* index */ ---index-odd-item-bg-color: #0B101A; ---index-even-item-bg-color: black; ---index-header-color: #C4CFE5; ---index-separator-color: #334975; - -/* header */ ---header-background-color: #070B11; ---header-separator-color: #141C2E; ---header-gradient-image: url('nav_hd.png'); ---group-header-separator-color: #283A5D; ---group-header-color: #90A5CE; ---inherit-header-color: #A0A0A0; - ---footer-foreground-color: #5B7AB7; ---footer-logo-width: 60px; ---citation-label-color: #90A5CE; ---glow-color: cyan; - ---title-background-color: #090D16; ---title-separator-color: #354C79; ---directory-separator-color: #283A5D; ---separator-color: #283A5D; - ---blockquote-background-color: #101826; ---blockquote-border-color: #283A5D; - ---scrollbar-thumb-color: #283A5D; ---scrollbar-background-color: #070B11; - ---icon-background-color: #334975; ---icon-foreground-color: #C4CFE5; ---icon-doc-image: url('docd.svg'); ---icon-folder-open-image: url('folderopend.svg'); ---icon-folder-closed-image: url('folderclosedd.svg'); - -/* brief member declaration list */ ---memdecl-background-color: #0B101A; ---memdecl-separator-color: #2C3F65; ---memdecl-foreground-color: #BBB; ---memdecl-template-color: #7C95C6; - -/* detailed member list */ ---memdef-border-color: #233250; ---memdef-title-background-color: #1B2840; ---memdef-title-gradient-image: url('nav_fd.png'); ---memdef-proto-background-color: #19243A; ---memdef-proto-text-color: #9DB0D4; ---memdef-proto-text-shadow: 0px 1px 1px rgba(0, 0, 0, 0.9); ---memdef-doc-background-color: black; ---memdef-param-name-color: #D28757; ---memdef-template-color: #7C95C6; - -/* tables */ ---table-cell-border-color: #283A5D; ---table-header-background-color: #283A5D; ---table-header-foreground-color: #C4CFE5; - -/* labels */ ---label-background-color: #354C7B; ---label-left-top-border-color: #4665A2; ---label-right-bottom-border-color: #283A5D; ---label-foreground-color: #CCCCCC; - -/** navigation bar/tree/menu */ ---nav-background-color: #101826; ---nav-foreground-color: #364D7C; ---nav-gradient-image: url('tab_bd.png'); ---nav-gradient-hover-image: url('tab_hd.png'); ---nav-gradient-active-image: url('tab_ad.png'); ---nav-gradient-active-image-parent: url("../tab_ad.png"); ---nav-separator-image: url('tab_sd.png'); ---nav-breadcrumb-image: url('bc_sd.png'); ---nav-breadcrumb-border-color: #2A3D61; ---nav-splitbar-image: url('splitbard.png'); ---nav-font-size-level1: 13px; ---nav-font-size-level2: 10px; ---nav-font-size-level3: 9px; ---nav-text-normal-color: #B6C4DF; ---nav-text-hover-color: #DCE2EF; ---nav-text-active-color: #DCE2EF; ---nav-text-normal-shadow: 0px 1px 1px black; ---nav-text-hover-shadow: 0px 1px 1px rgba(0, 0, 0, 1.0); ---nav-text-active-shadow: 0px 1px 1px rgba(0, 0, 0, 1.0); ---nav-menu-button-color: #B6C4DF; ---nav-menu-background-color: #05070C; ---nav-menu-foreground-color: #BBBBBB; ---nav-menu-toggle-color: rgba(255, 255, 255, 0.2); ---nav-arrow-color: #334975; ---nav-arrow-selected-color: #90A5CE; - -/* table of contents */ ---toc-background-color: #151E30; ---toc-border-color: #202E4A; ---toc-header-color: #A3B4D7; ---toc-down-arrow-image: url("data:image/svg+xml;utf8,&%238595;"); - -/** search field */ ---search-background-color: black; ---search-foreground-color: #C5C5C5; ---search-magnification-image: url('mag_d.svg'); ---search-magnification-select-image: url('mag_seld.svg'); ---search-active-color: #C5C5C5; ---search-filter-background-color: #101826; ---search-filter-foreground-color: #90A5CE; ---search-filter-border-color: #7C95C6; ---search-filter-highlight-text-color: #BCC9E2; ---search-filter-highlight-bg-color: #283A5D; ---search-results-background-color: #101826; ---search-results-foreground-color: #90A5CE; ---search-results-border-color: #7C95C6; ---search-box-shadow: inset 0.5px 0.5px 3px 0px #2F436C; - -/** code fragments */ ---code-keyword-color: #CC99CD; ---code-type-keyword-color: #AB99CD; ---code-flow-keyword-color: #E08000; ---code-comment-color: #717790; ---code-preprocessor-color: #65CABE; ---code-string-literal-color: #7EC699; ---code-char-literal-color: #00E0F0; ---code-xml-cdata-color: #C9D1D9; ---code-vhdl-digit-color: #FF00FF; ---code-vhdl-char-color: #C0C0C0; ---code-vhdl-keyword-color: #CF53C9; ---code-vhdl-logic-color: #FF0000; ---code-link-color: #79C0FF; ---code-external-link-color: #79C0FF; ---fragment-foreground-color: #C9D1D9; ---fragment-background-color: #090D16; ---fragment-border-color: #30363D; ---fragment-lineno-border-color: #30363D; ---fragment-lineno-background-color: black; ---fragment-lineno-foreground-color: #6E7681; ---fragment-lineno-link-fg-color: #6E7681; ---fragment-lineno-link-bg-color: #303030; ---fragment-lineno-link-hover-fg-color: #8E96A1; ---fragment-lineno-link-hover-bg-color: #505050; ---fragment-copy-ok-color: #0EA80E; ---tooltip-foreground-color: #C9D1D9; ---tooltip-background-color: #202020; ---tooltip-border-color: #C9D1D9; ---tooltip-doc-color: #D9E1E9; ---tooltip-declaration-color: #20C348; ---tooltip-link-color: #79C0FF; ---tooltip-shadow: none; ---fold-line-color: #808080; ---fold-minus-image: url('minusd.svg'); ---fold-plus-image: url('plusd.svg'); ---fold-minus-image-relpath: url('../../minusd.svg'); ---fold-plus-image-relpath: url('../../plusd.svg'); - -/** font-family */ ---font-family-normal: Roboto,sans-serif; ---font-family-monospace: 'JetBrains Mono',Consolas,Monaco,'Andale Mono','Ubuntu Mono',monospace,fixed; ---font-family-nav: 'Lucida Grande',Geneva,Helvetica,Arial,sans-serif; ---font-family-title: Tahoma,Arial,sans-serif; ---font-family-toc: Verdana,'DejaVu Sans',Geneva,sans-serif; ---font-family-search: Arial,Verdana,sans-serif; ---font-family-icon: Arial,Helvetica; ---font-family-tooltip: Roboto,sans-serif; - -/** special sections */ ---warning-color-bg: #2e1917; ---warning-color-hl: #ad2617; ---warning-color-text: #f5b1aa; ---note-color-bg: #3b2e04; ---note-color-hl: #f1b602; ---note-color-text: #ceb670; ---todo-color-bg: #163750; ---todo-color-hl: #1982D2; ---todo-color-text: #dcf0fa; ---test-color-bg: #121258; ---test-color-hl: #4242cf; ---test-color-text: #c0c0da; ---deprecated-color-bg: #2e323b; ---deprecated-color-hl: #738396; ---deprecated-color-text: #abb0bd; ---bug-color-bg: #2a2536; ---bug-color-hl: #7661b3; ---bug-color-text: #ae9ed6; ---invariant-color-bg: #303a35; ---invariant-color-hl: #76ce96; ---invariant-color-text: #cceed5; -}} -body { - background-color: var(--page-background-color); - color: var(--page-foreground-color); -} - -body, table, div, p, dl { - font-weight: 400; - font-size: 14px; - font-family: var(--font-family-normal); - line-height: 22px; -} - -/* @group Heading Levels */ - -.title { - font-family: var(--font-family-normal); - line-height: 28px; - font-size: 150%; - font-weight: bold; - margin: 10px 2px; -} - -h1.groupheader { - font-size: 150%; -} - -h2.groupheader { - border-bottom: 1px solid var(--group-header-separator-color); - color: var(--group-header-color); - font-size: 150%; - font-weight: normal; - margin-top: 1.75em; - padding-top: 8px; - padding-bottom: 4px; - width: 100%; -} - -h3.groupheader { - font-size: 100%; -} - -h1, h2, h3, h4, h5, h6 { - -webkit-transition: text-shadow 0.5s linear; - -moz-transition: text-shadow 0.5s linear; - -ms-transition: text-shadow 0.5s linear; - -o-transition: text-shadow 0.5s linear; - transition: text-shadow 0.5s linear; - margin-right: 15px; -} - -h1.glow, h2.glow, h3.glow, h4.glow, h5.glow, h6.glow { - text-shadow: 0 0 15px var(--glow-color); -} - -dt { - font-weight: bold; -} - -p.startli, p.startdd { - margin-top: 2px; -} - -th p.starttd, th p.intertd, th p.endtd { - font-size: 100%; - font-weight: 700; -} - -p.starttd { - margin-top: 0px; -} - -p.endli { - margin-bottom: 0px; -} - -p.enddd { - margin-bottom: 4px; -} - -p.endtd { - margin-bottom: 2px; -} - -p.interli { -} - -p.interdd { -} - -p.intertd { -} - -/* @end */ - -caption { - font-weight: bold; -} - -span.legend { - font-size: 70%; - text-align: center; -} - -h3.version { - font-size: 90%; - text-align: center; -} - -div.navtab { - padding-right: 15px; - text-align: right; - line-height: 110%; -} - -div.navtab table { - border-spacing: 0; -} - -td.navtab { - padding-right: 6px; - padding-left: 6px; -} - -td.navtabHL { - background-image: var(--nav-gradient-active-image); - background-repeat:repeat-x; - padding-right: 6px; - padding-left: 6px; -} - -td.navtabHL a, td.navtabHL a:visited { - color: var(--nav-text-hover-color); - text-shadow: var(--nav-text-hover-shadow); -} - -a.navtab { - font-weight: bold; -} - -div.qindex{ - text-align: center; - width: 100%; - line-height: 140%; - font-size: 130%; - color: var(--index-separator-color); -} - -#main-menu a:focus { - outline: auto; - z-index: 10; - position: relative; -} - -dt.alphachar{ - font-size: 180%; - font-weight: bold; -} - -.alphachar a{ - color: var(--index-header-color); -} - -.alphachar a:hover, .alphachar a:visited{ - text-decoration: none; -} - -.classindex dl { - padding: 25px; - column-count:1 -} - -.classindex dd { - display:inline-block; - margin-left: 50px; - width: 90%; - line-height: 1.15em; -} - -.classindex dl.even { - background-color: var(--index-even-item-bg-color); -} - -.classindex dl.odd { - background-color: var(--index-odd-item-bg-color); -} - -@media(min-width: 1120px) { - .classindex dl { - column-count:2 - } -} - -@media(min-width: 1320px) { - .classindex dl { - column-count:3 - } -} - - -/* @group Link Styling */ - -a { - color: var(--page-link-color); - font-weight: normal; - text-decoration: none; -} - -.contents a:visited { - color: var(--page-visited-link-color); -} - -a:hover { - text-decoration: none; - background: linear-gradient(to bottom, transparent 0,transparent calc(100% - 1px), currentColor 100%); -} - -a:hover > span.arrow { - text-decoration: none; - background : var(--nav-background-color); -} - -a.el { - font-weight: bold; -} - -a.elRef { -} - -a.code, a.code:visited, a.line, a.line:visited { - color: var(--code-link-color); -} - -a.codeRef, a.codeRef:visited, a.lineRef, a.lineRef:visited { - color: var(--code-external-link-color); -} - -a.code.hl_class { /* style for links to class names in code snippets */ } -a.code.hl_struct { /* style for links to struct names in code snippets */ } -a.code.hl_union { /* style for links to union names in code snippets */ } -a.code.hl_interface { /* style for links to interface names in code snippets */ } -a.code.hl_protocol { /* style for links to protocol names in code snippets */ } -a.code.hl_category { /* style for links to category names in code snippets */ } -a.code.hl_exception { /* style for links to exception names in code snippets */ } -a.code.hl_service { /* style for links to service names in code snippets */ } -a.code.hl_singleton { /* style for links to singleton names in code snippets */ } -a.code.hl_concept { /* style for links to concept names in code snippets */ } -a.code.hl_namespace { /* style for links to namespace names in code snippets */ } -a.code.hl_package { /* style for links to package names in code snippets */ } -a.code.hl_define { /* style for links to macro names in code snippets */ } -a.code.hl_function { /* style for links to function names in code snippets */ } -a.code.hl_variable { /* style for links to variable names in code snippets */ } -a.code.hl_typedef { /* style for links to typedef names in code snippets */ } -a.code.hl_enumvalue { /* style for links to enum value names in code snippets */ } -a.code.hl_enumeration { /* style for links to enumeration names in code snippets */ } -a.code.hl_signal { /* style for links to Qt signal names in code snippets */ } -a.code.hl_slot { /* style for links to Qt slot names in code snippets */ } -a.code.hl_friend { /* style for links to friend names in code snippets */ } -a.code.hl_dcop { /* style for links to KDE3 DCOP names in code snippets */ } -a.code.hl_property { /* style for links to property names in code snippets */ } -a.code.hl_event { /* style for links to event names in code snippets */ } -a.code.hl_sequence { /* style for links to sequence names in code snippets */ } -a.code.hl_dictionary { /* style for links to dictionary names in code snippets */ } - -/* @end */ - -dl.el { - margin-left: -1cm; -} - -ul { - overflow: visible; -} - -ul.multicol { - -moz-column-gap: 1em; - -webkit-column-gap: 1em; - column-gap: 1em; - -moz-column-count: 3; - -webkit-column-count: 3; - column-count: 3; - list-style-type: none; -} - -#side-nav ul { - overflow: visible; /* reset ul rule for scroll bar in GENERATE_TREEVIEW window */ -} - -#main-nav ul { - overflow: visible; /* reset ul rule for the navigation bar drop down lists */ -} - -.fragment { - text-align: left; - direction: ltr; - overflow-x: auto; - overflow-y: hidden; - position: relative; - min-height: 12px; - margin: 10px 0px; - padding: 10px 10px; - border: 1px solid var(--fragment-border-color); - border-radius: 4px; - background-color: var(--fragment-background-color); - color: var(--fragment-foreground-color); -} - -pre.fragment { - word-wrap: break-word; - font-size: 10pt; - line-height: 125%; - font-family: var(--font-family-monospace); -} - -.clipboard { - width: 24px; - height: 24px; - right: 5px; - top: 5px; - opacity: 0; - position: absolute; - display: inline; - overflow: auto; - fill: var(--fragment-foreground-color); - justify-content: center; - align-items: center; - cursor: pointer; -} - -.clipboard.success { - border: 1px solid var(--fragment-foreground-color); - border-radius: 4px; -} - -.fragment:hover .clipboard, .clipboard.success { - opacity: .28; -} - -.clipboard:hover, .clipboard.success { - opacity: 1 !important; -} - -.clipboard:active:not([class~=success]) svg { - transform: scale(.91); -} - -.clipboard.success svg { - fill: var(--fragment-copy-ok-color); -} - -.clipboard.success { - border-color: var(--fragment-copy-ok-color); -} - -div.line { - font-family: var(--font-family-monospace); - font-size: 13px; - min-height: 13px; - line-height: 1.2; - text-wrap: unrestricted; - white-space: -moz-pre-wrap; /* Moz */ - white-space: -pre-wrap; /* Opera 4-6 */ - white-space: -o-pre-wrap; /* Opera 7 */ - white-space: pre-wrap; /* CSS3 */ - word-wrap: break-word; /* IE 5.5+ */ - text-indent: -53px; - padding-left: 53px; - padding-bottom: 0px; - margin: 0px; - -webkit-transition-property: background-color, box-shadow; - -webkit-transition-duration: 0.5s; - -moz-transition-property: background-color, box-shadow; - -moz-transition-duration: 0.5s; - -ms-transition-property: background-color, box-shadow; - -ms-transition-duration: 0.5s; - -o-transition-property: background-color, box-shadow; - -o-transition-duration: 0.5s; - transition-property: background-color, box-shadow; - transition-duration: 0.5s; -} - -div.line:after { - content:"\000A"; - white-space: pre; -} - -div.line.glow { - background-color: var(--glow-color); - box-shadow: 0 0 10px var(--glow-color); -} - -span.fold { - margin-left: 5px; - margin-right: 1px; - margin-top: 0px; - margin-bottom: 0px; - padding: 0px; - display: inline-block; - width: 12px; - height: 12px; - background-repeat:no-repeat; - background-position:center; -} - -span.lineno { - padding-right: 4px; - margin-right: 9px; - text-align: right; - border-right: 2px solid var(--fragment-lineno-border-color); - color: var(--fragment-lineno-foreground-color); - background-color: var(--fragment-lineno-background-color); - white-space: pre; -} -span.lineno a, span.lineno a:visited { - color: var(--fragment-lineno-link-fg-color); - background-color: var(--fragment-lineno-link-bg-color); -} - -span.lineno a:hover { - color: var(--fragment-lineno-link-hover-fg-color); - background-color: var(--fragment-lineno-link-hover-bg-color); -} - -.lineno { - -webkit-touch-callout: none; - -webkit-user-select: none; - -khtml-user-select: none; - -moz-user-select: none; - -ms-user-select: none; - user-select: none; -} - -div.classindex ul { - list-style: none; - padding-left: 0; -} - -div.classindex span.ai { - display: inline-block; -} - -div.groupHeader { - margin-left: 16px; - margin-top: 12px; - font-weight: bold; -} - -div.groupText { - margin-left: 16px; - font-style: italic; -} - -body { - color: var(--page-foreground-color); - margin: 0; -} - -div.contents { - margin-top: 10px; - margin-left: 12px; - margin-right: 8px; -} - -p.formulaDsp { - text-align: center; -} - -img.dark-mode-visible { - display: none; -} -img.light-mode-visible { - display: none; -} - -img.formulaInl, img.inline { - vertical-align: middle; -} - -div.center { - text-align: center; - margin-top: 0px; - margin-bottom: 0px; - padding: 0px; -} - -div.center img { - border: 0px; -} - -address.footer { - text-align: right; - padding-right: 12px; -} - -img.footer { - border: 0px; - vertical-align: middle; - width: var(--footer-logo-width); -} - -.compoundTemplParams { - color: var(--memdecl-template-color); - font-size: 80%; - line-height: 120%; -} - -/* @group Code Colorization */ - -span.keyword { - color: var(--code-keyword-color); -} - -span.keywordtype { - color: var(--code-type-keyword-color); -} - -span.keywordflow { - color: var(--code-flow-keyword-color); -} - -span.comment { - color: var(--code-comment-color); -} - -span.preprocessor { - color: var(--code-preprocessor-color); -} - -span.stringliteral { - color: var(--code-string-literal-color); -} - -span.charliteral { - color: var(--code-char-literal-color); -} - -span.xmlcdata { - color: var(--code-xml-cdata-color); -} - -span.vhdldigit { - color: var(--code-vhdl-digit-color); -} - -span.vhdlchar { - color: var(--code-vhdl-char-color); -} - -span.vhdlkeyword { - color: var(--code-vhdl-keyword-color); -} - -span.vhdllogic { - color: var(--code-vhdl-logic-color); -} - -blockquote { - background-color: var(--blockquote-background-color); - border-left: 2px solid var(--blockquote-border-color); - margin: 0 24px 0 4px; - padding: 0 12px 0 16px; -} - -/* @end */ - -td.tiny { - font-size: 75%; -} - -.dirtab { - padding: 4px; - border-collapse: collapse; - border: 1px solid var(--table-cell-border-color); -} - -th.dirtab { - background-color: var(--table-header-background-color); - color: var(--table-header-foreground-color); - font-weight: bold; -} - -hr { - height: 0px; - border: none; - border-top: 1px solid var(--separator-color); -} - -hr.footer { - height: 1px; -} - -/* @group Member Descriptions */ - -table.memberdecls { - border-spacing: 0px; - padding: 0px; -} - -.memberdecls td, .fieldtable tr { - -webkit-transition-property: background-color, box-shadow; - -webkit-transition-duration: 0.5s; - -moz-transition-property: background-color, box-shadow; - -moz-transition-duration: 0.5s; - -ms-transition-property: background-color, box-shadow; - -ms-transition-duration: 0.5s; - -o-transition-property: background-color, box-shadow; - -o-transition-duration: 0.5s; - transition-property: background-color, box-shadow; - transition-duration: 0.5s; -} - -.memberdecls td.glow, .fieldtable tr.glow { - background-color: var(--glow-color); - box-shadow: 0 0 15px var(--glow-color); -} - -.mdescLeft, .mdescRight, -.memItemLeft, .memItemRight, -.memTemplItemLeft, .memTemplItemRight, .memTemplParams { - background-color: var(--memdecl-background-color); - border: none; - margin: 4px; - padding: 1px 0 0 8px; -} - -.mdescLeft, .mdescRight { - padding: 0px 8px 4px 8px; - color: var(--memdecl-foreground-color); -} - -.memSeparator { - border-bottom: 1px solid var(--memdecl-separator-color); - line-height: 1px; - margin: 0px; - padding: 0px; -} - -.memItemLeft, .memTemplItemLeft { - white-space: nowrap; -} - -.memItemRight, .memTemplItemRight { - width: 100%; -} - -.memTemplParams { - color: var(--memdecl-template-color); - white-space: nowrap; - font-size: 80%; -} - -/* @end */ - -/* @group Member Details */ - -/* Styles for detailed member documentation */ - -.memtitle { - padding: 8px; - border-top: 1px solid var(--memdef-border-color); - border-left: 1px solid var(--memdef-border-color); - border-right: 1px solid var(--memdef-border-color); - border-top-right-radius: 4px; - border-top-left-radius: 4px; - margin-bottom: -1px; - background-image: var(--memdef-title-gradient-image); - background-repeat: repeat-x; - background-color: var(--memdef-title-background-color); - line-height: 1.25; - font-weight: 300; - float:left; -} - -.permalink -{ - font-size: 65%; - display: inline-block; - vertical-align: middle; -} - -.memtemplate { - font-size: 80%; - color: var(--memdef-template-color); - font-weight: normal; - margin-left: 9px; -} - -.mempage { - width: 100%; -} - -.memitem { - padding: 0; - margin-bottom: 10px; - margin-right: 5px; - -webkit-transition: box-shadow 0.5s linear; - -moz-transition: box-shadow 0.5s linear; - -ms-transition: box-shadow 0.5s linear; - -o-transition: box-shadow 0.5s linear; - transition: box-shadow 0.5s linear; - display: table !important; - width: 100%; -} - -.memitem.glow { - box-shadow: 0 0 15px var(--glow-color); -} - -.memname { - font-weight: 400; - margin-left: 6px; -} - -.memname td { - vertical-align: bottom; -} - -.memproto, dl.reflist dt { - border-top: 1px solid var(--memdef-border-color); - border-left: 1px solid var(--memdef-border-color); - border-right: 1px solid var(--memdef-border-color); - padding: 6px 0px 6px 0px; - color: var(--memdef-proto-text-color); - font-weight: bold; - text-shadow: var(--memdef-proto-text-shadow); - background-color: var(--memdef-proto-background-color); - box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15); - border-top-right-radius: 4px; -} - -.overload { - font-family: var(--font-family-monospace); - font-size: 65%; -} - -.memdoc, dl.reflist dd { - border-bottom: 1px solid var(--memdef-border-color); - border-left: 1px solid var(--memdef-border-color); - border-right: 1px solid var(--memdef-border-color); - padding: 6px 10px 2px 10px; - border-top-width: 0; - background-image:url('nav_g.png'); - background-repeat:repeat-x; - background-color: var(--memdef-doc-background-color); - /* opera specific markup */ - border-bottom-left-radius: 4px; - border-bottom-right-radius: 4px; - box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15); - /* firefox specific markup */ - -moz-border-radius-bottomleft: 4px; - -moz-border-radius-bottomright: 4px; - -moz-box-shadow: rgba(0, 0, 0, 0.15) 5px 5px 5px; - /* webkit specific markup */ - -webkit-border-bottom-left-radius: 4px; - -webkit-border-bottom-right-radius: 4px; - -webkit-box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15); -} - -dl.reflist dt { - padding: 5px; -} - -dl.reflist dd { - margin: 0px 0px 10px 0px; - padding: 5px; -} - -.paramkey { - text-align: right; -} - -.paramtype { - white-space: nowrap; - padding: 0px; - padding-bottom: 1px; -} - -.paramname { - white-space: nowrap; - padding: 0px; - padding-bottom: 1px; - margin-left: 2px; -} - -.paramname em { - color: var(--memdef-param-name-color); - font-style: normal; - margin-right: 1px; -} - -.paramname .paramdefval { - font-family: var(--font-family-monospace); -} - -.params, .retval, .exception, .tparams { - margin-left: 0px; - padding-left: 0px; -} - -.params .paramname, .retval .paramname, .tparams .paramname, .exception .paramname { - font-weight: bold; - vertical-align: top; -} - -.params .paramtype, .tparams .paramtype { - font-style: italic; - vertical-align: top; -} - -.params .paramdir, .tparams .paramdir { - font-family: var(--font-family-monospace); - vertical-align: top; -} - -table.mlabels { - border-spacing: 0px; -} - -td.mlabels-left { - width: 100%; - padding: 0px; -} - -td.mlabels-right { - vertical-align: bottom; - padding: 0px; - white-space: nowrap; -} - -span.mlabels { - margin-left: 8px; -} - -span.mlabel { - background-color: var(--label-background-color); - border-top:1px solid var(--label-left-top-border-color); - border-left:1px solid var(--label-left-top-border-color); - border-right:1px solid var(--label-right-bottom-border-color); - border-bottom:1px solid var(--label-right-bottom-border-color); - text-shadow: none; - color: var(--label-foreground-color); - margin-right: 4px; - padding: 2px 3px; - border-radius: 3px; - font-size: 7pt; - white-space: nowrap; - vertical-align: middle; -} - - - -/* @end */ - -/* these are for tree view inside a (index) page */ - -div.directory { - margin: 10px 0px; - border-top: 1px solid var(--directory-separator-color); - border-bottom: 1px solid var(--directory-separator-color); - width: 100%; -} - -.directory table { - border-collapse:collapse; -} - -.directory td { - margin: 0px; - padding: 0px; - vertical-align: top; -} - -.directory td.entry { - white-space: nowrap; - padding-right: 6px; - padding-top: 3px; -} - -.directory td.entry a { - outline:none; -} - -.directory td.entry a img { - border: none; -} - -.directory td.desc { - width: 100%; - padding-left: 6px; - padding-right: 6px; - padding-top: 3px; - border-left: 1px solid rgba(0,0,0,0.05); -} - -.directory tr.odd { - padding-left: 6px; - background-color: var(--index-odd-item-bg-color); -} - -.directory tr.even { - padding-left: 6px; - background-color: var(--index-even-item-bg-color); -} - -.directory img { - vertical-align: -30%; -} - -.directory .levels { - white-space: nowrap; - width: 100%; - text-align: right; - font-size: 9pt; -} - -.directory .levels span { - cursor: pointer; - padding-left: 2px; - padding-right: 2px; - color: var(--page-link-color); -} - -.arrow { - color: var(--nav-arrow-color); - -webkit-user-select: none; - -khtml-user-select: none; - -moz-user-select: none; - -ms-user-select: none; - user-select: none; - cursor: pointer; - font-size: 80%; - display: inline-block; - width: 16px; - height: 22px; -} - -.icon { - font-family: var(--font-family-icon); - line-height: normal; - font-weight: bold; - font-size: 12px; - height: 14px; - width: 16px; - display: inline-block; - background-color: var(--icon-background-color); - color: var(--icon-foreground-color); - text-align: center; - border-radius: 4px; - margin-left: 2px; - margin-right: 2px; -} - -.icona { - width: 24px; - height: 22px; - display: inline-block; -} - -.iconfopen { - width: 24px; - height: 18px; - margin-bottom: 4px; - background-image:var(--icon-folder-open-image); - background-repeat: repeat-y; - vertical-align:top; - display: inline-block; -} - -.iconfclosed { - width: 24px; - height: 18px; - margin-bottom: 4px; - background-image:var(--icon-folder-closed-image); - background-repeat: repeat-y; - vertical-align:top; - display: inline-block; -} - -.icondoc { - width: 24px; - height: 18px; - margin-bottom: 4px; - background-image:var(--icon-doc-image); - background-position: 0px -4px; - background-repeat: repeat-y; - vertical-align:top; - display: inline-block; -} - -/* @end */ - -div.dynheader { - margin-top: 8px; - -webkit-touch-callout: none; - -webkit-user-select: none; - -khtml-user-select: none; - -moz-user-select: none; - -ms-user-select: none; - user-select: none; -} - -address { - font-style: normal; - color: var(--footer-foreground-color); -} - -table.doxtable caption { - caption-side: top; -} - -table.doxtable { - border-collapse:collapse; - margin-top: 4px; - margin-bottom: 4px; -} - -table.doxtable td, table.doxtable th { - border: 1px solid var(--table-cell-border-color); - padding: 3px 7px 2px; -} - -table.doxtable th { - background-color: var(--table-header-background-color); - color: var(--table-header-foreground-color); - font-size: 110%; - padding-bottom: 4px; - padding-top: 5px; -} - -table.fieldtable { - margin-bottom: 10px; - border: 1px solid var(--memdef-border-color); - border-spacing: 0px; - border-radius: 4px; - box-shadow: 2px 2px 2px rgba(0, 0, 0, 0.15); -} - -.fieldtable td, .fieldtable th { - padding: 3px 7px 2px; -} - -.fieldtable td.fieldtype, .fieldtable td.fieldname { - white-space: nowrap; - border-right: 1px solid var(--memdef-border-color); - border-bottom: 1px solid var(--memdef-border-color); - vertical-align: top; -} - -.fieldtable td.fieldname { - padding-top: 3px; -} - -.fieldtable td.fielddoc { - border-bottom: 1px solid var(--memdef-border-color); -} - -.fieldtable td.fielddoc p:first-child { - margin-top: 0px; -} - -.fieldtable td.fielddoc p:last-child { - margin-bottom: 2px; -} - -.fieldtable tr:last-child td { - border-bottom: none; -} - -.fieldtable th { - background-image: var(--memdef-title-gradient-image); - background-repeat:repeat-x; - background-color: var(--memdef-title-background-color); - font-size: 90%; - color: var(--memdef-proto-text-color); - padding-bottom: 4px; - padding-top: 5px; - text-align:left; - font-weight: 400; - border-top-left-radius: 4px; - border-top-right-radius: 4px; - border-bottom: 1px solid var(--memdef-border-color); -} - - -.tabsearch { - top: 0px; - left: 10px; - height: 36px; - background-image: var(--nav-gradient-image); - z-index: 101; - overflow: hidden; - font-size: 13px; -} - -.navpath ul -{ - font-size: 11px; - background-image: var(--nav-gradient-image); - background-repeat:repeat-x; - background-position: 0 -5px; - height:30px; - line-height:30px; - color:var(--nav-text-normal-color); - border:solid 1px var(--nav-breadcrumb-border-color); - overflow:hidden; - margin:0px; - padding:0px; -} - -.navpath li -{ - list-style-type:none; - float:left; - padding-left:10px; - padding-right:15px; - background-image:var(--nav-breadcrumb-image); - background-repeat:no-repeat; - background-position:right; - color: var(--nav-foreground-color); -} - -.navpath li.navelem a -{ - height:32px; - display:block; - outline: none; - color: var(--nav-text-normal-color); - font-family: var(--font-family-nav); - text-shadow: var(--nav-text-normal-shadow); - text-decoration: none; -} - -.navpath li.navelem a:hover -{ - color: var(--nav-text-hover-color); - text-shadow: var(--nav-text-hover-shadow); -} - -.navpath li.footer -{ - list-style-type:none; - float:right; - padding-left:10px; - padding-right:15px; - background-image:none; - background-repeat:no-repeat; - background-position:right; - color: var(--footer-foreground-color); - font-size: 8pt; -} - - -div.summary -{ - float: right; - font-size: 8pt; - padding-right: 5px; - width: 50%; - text-align: right; -} - -div.summary a -{ - white-space: nowrap; -} - -table.classindex -{ - margin: 10px; - white-space: nowrap; - margin-left: 3%; - margin-right: 3%; - width: 94%; - border: 0; - border-spacing: 0; - padding: 0; -} - -div.ingroups -{ - font-size: 8pt; - width: 50%; - text-align: left; -} - -div.ingroups a -{ - white-space: nowrap; -} - -div.header -{ - background-image: var(--header-gradient-image); - background-repeat:repeat-x; - background-color: var(--header-background-color); - margin: 0px; - border-bottom: 1px solid var(--header-separator-color); -} - -div.headertitle -{ - padding: 5px 5px 5px 10px; 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- font-weight:bold; - margin-right:10px; - padding:5px; - text-align:right; - width:52px; -} - -dl.citelist dd { - margin:2px 0 2px 72px; - padding:5px 0; -} - -div.toc { - padding: 14px 25px; - background-color: var(--toc-background-color); - border: 1px solid var(--toc-border-color); - border-radius: 7px 7px 7px 7px; - float: right; - height: auto; - margin: 0 8px 10px 10px; - width: 200px; -} - -div.toc li { - background: var(--toc-down-arrow-image) no-repeat scroll 0 5px transparent; - font: 10px/1.2 var(--font-family-toc); - margin-top: 5px; - padding-left: 10px; - padding-top: 2px; -} - -div.toc h3 { - font: bold 12px/1.2 var(--font-family-toc); - color: var(--toc-header-color); - border-bottom: 0 none; - margin: 0; -} - -div.toc ul { - list-style: none outside none; - border: medium none; - padding: 0px; -} - -div.toc li.level1 { - margin-left: 0px; -} - -div.toc li.level2 { - margin-left: 15px; -} - -div.toc li.level3 { - margin-left: 15px; -} - -div.toc li.level4 { - margin-left: 15px; -} - -span.emoji { - /* font family used at the site: https://unicode.org/emoji/charts/full-emoji-list.html - * font-family: "Noto Color Emoji", "Apple Color Emoji", "Segoe UI Emoji", Times, Symbola, Aegyptus, Code2000, Code2001, Code2002, Musica, serif, LastResort; - */ -} - -span.obfuscator { - display: none; -} - -.inherit_header { - font-weight: bold; - color: var(--inherit-header-color); - cursor: pointer; - -webkit-touch-callout: none; - -webkit-user-select: none; - -khtml-user-select: none; - -moz-user-select: none; - -ms-user-select: none; - user-select: none; -} - -.inherit_header td { - padding: 6px 0px 2px 5px; -} - -.inherit { - display: none; -} - -tr.heading h2 { - margin-top: 12px; - margin-bottom: 4px; -} - -/* tooltip related style info */ - -.ttc { - position: absolute; - display: none; -} - -#powerTip { - cursor: default; - /*white-space: nowrap;*/ - color: var(--tooltip-foreground-color); - background-color: var(--tooltip-background-color); - border: 1px solid var(--tooltip-border-color); - border-radius: 4px 4px 4px 4px; - box-shadow: var(--tooltip-shadow); - display: none; - font-size: smaller; - max-width: 80%; - opacity: 0.9; - padding: 1ex 1em 1em; - position: absolute; - z-index: 2147483647; -} - -#powerTip div.ttdoc { - color: var(--tooltip-doc-color); - font-style: italic; -} - -#powerTip div.ttname a { - font-weight: bold; -} - -#powerTip a { - color: var(--tooltip-link-color); -} - -#powerTip div.ttname { - font-weight: bold; -} - -#powerTip div.ttdeci { - color: var(--tooltip-declaration-color); -} - -#powerTip div { - margin: 0px; - padding: 0px; - font-size: 12px; - font-family: var(--font-family-tooltip); - line-height: 16px; -} - -#powerTip:before, #powerTip:after { - content: ""; - position: absolute; - margin: 0px; -} - -#powerTip.n:after, #powerTip.n:before, -#powerTip.s:after, #powerTip.s:before, -#powerTip.w:after, #powerTip.w:before, -#powerTip.e:after, #powerTip.e:before, -#powerTip.ne:after, #powerTip.ne:before, -#powerTip.se:after, #powerTip.se:before, -#powerTip.nw:after, #powerTip.nw:before, -#powerTip.sw:after, #powerTip.sw:before { - border: solid transparent; 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-} - -#powerTip.nw:after, #powerTip.nw:before { - right: 14px; -} - -#powerTip.ne:after, #powerTip.ne:before { - left: 14px; -} - -#powerTip.s:after, #powerTip.s:before, -#powerTip.se:after, #powerTip.se:before, -#powerTip.sw:after, #powerTip.sw:before { - bottom: 100%; -} - -#powerTip.s:after, #powerTip.se:after, #powerTip.sw:after { - border-bottom-color: var(--tooltip-background-color); - border-width: 10px; - margin: 0px -10px; -} - -#powerTip.s:before, #powerTip.se:before, #powerTip.sw:before { - border-bottom-color: var(--tooltip-border-color); - border-width: 11px; - margin: 0px -11px; -} - -#powerTip.s:after, #powerTip.s:before { - left: 50%; -} - -#powerTip.sw:after, #powerTip.sw:before { - right: 14px; -} - -#powerTip.se:after, #powerTip.se:before { - left: 14px; -} - -#powerTip.e:after, #powerTip.e:before { - left: 100%; -} -#powerTip.e:after { - border-left-color: var(--tooltip-border-color); - border-width: 10px; - top: 50%; - margin-top: -10px; -} -#powerTip.e:before { - border-left-color: var(--tooltip-border-color); - border-width: 11px; - top: 50%; - margin-top: -11px; -} - -#powerTip.w:after, #powerTip.w:before { - right: 100%; -} -#powerTip.w:after { - border-right-color: var(--tooltip-border-color); - border-width: 10px; - top: 50%; - margin-top: -10px; -} -#powerTip.w:before { - border-right-color: var(--tooltip-border-color); - border-width: 11px; - top: 50%; - margin-top: -11px; -} - -@media print -{ - #top { display: none; } - #side-nav { display: none; } - #nav-path { display: none; } - body { overflow:visible; } - h1, h2, h3, h4, h5, h6 { page-break-after: avoid; } - .summary { display: none; } - .memitem { page-break-inside: avoid; } - #doc-content - { - margin-left:0 !important; - height:auto !important; - width:auto !important; - overflow:inherit; - display:inline; - } -} - -/* @group Markdown */ - -table.markdownTable { - border-collapse:collapse; - margin-top: 4px; - margin-bottom: 4px; -} - -table.markdownTable td, table.markdownTable th { - border: 1px solid var(--table-cell-border-color); - padding: 3px 7px 2px; -} - -table.markdownTable tr { -} - -th.markdownTableHeadLeft, th.markdownTableHeadRight, th.markdownTableHeadCenter, th.markdownTableHeadNone { - background-color: var(--table-header-background-color); - color: var(--table-header-foreground-color); - font-size: 110%; - padding-bottom: 4px; - padding-top: 5px; -} - -th.markdownTableHeadLeft, td.markdownTableBodyLeft { - text-align: left -} - -th.markdownTableHeadRight, td.markdownTableBodyRight { - text-align: right -} - -th.markdownTableHeadCenter, td.markdownTableBodyCenter { - text-align: center -} - -tt, code, kbd, samp -{ - display: inline-block; -} -/* @end */ - -u { - text-decoration: underline; -} - -details>summary { - list-style-type: none; -} - -details > summary::-webkit-details-marker { - display: none; -} - -details>summary::before { - content: "\25ba"; - padding-right:4px; - font-size: 80%; -} - -details[open]>summary::before { - content: "\25bc"; - padding-right:4px; - font-size: 80%; -} - -body { - scrollbar-color: var(--scrollbar-thumb-color) var(--scrollbar-background-color); -} - -::-webkit-scrollbar { - background-color: var(--scrollbar-background-color); - height: 12px; - width: 12px; -} -::-webkit-scrollbar-thumb { - border-radius: 6px; - box-shadow: inset 0 0 12px 12px var(--scrollbar-thumb-color); - border: solid 2px transparent; -} -::-webkit-scrollbar-corner { - background-color: var(--scrollbar-background-color); -} - diff --git a/documentation/html/doxygen.svg b/documentation/html/doxygen.svg deleted file mode 100644 index 79a7635..0000000 --- a/documentation/html/doxygen.svg +++ /dev/null @@ -1,28 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/documentation/html/doxygen_crawl.html b/documentation/html/doxygen_crawl.html deleted file mode 100644 index ab282eb..0000000 --- a/documentation/html/doxygen_crawl.html +++ /dev/null @@ -1,89 +0,0 @@ - - - -Validator / crawler helper - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/documentation/html/dynsections.js b/documentation/html/dynsections.js deleted file mode 100644 index 8f49326..0000000 --- a/documentation/html/dynsections.js +++ /dev/null @@ -1,194 +0,0 @@ -/* - @licstart The following is the entire license notice for the JavaScript code in this file. - - The MIT License (MIT) - - Copyright (C) 1997-2020 by Dimitri van Heesch - - Permission is hereby granted, free of charge, to any person obtaining a copy of this software - and associated documentation files (the "Software"), to deal in the Software without restriction, - including without limitation the rights to use, copy, modify, merge, publish, distribute, - sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is - furnished to do so, subject to the following conditions: - - The above copyright notice and this permission notice shall be included in all copies or - substantial portions of the Software. - - THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING - BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND - NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, - DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. - - @licend The above is the entire license notice for the JavaScript code in this file - */ - -let dynsection = { - - // helper function - updateStripes : function() { - $('table.directory tr'). - removeClass('even').filter(':visible:even').addClass('even'); - $('table.directory tr'). - removeClass('odd').filter(':visible:odd').addClass('odd'); - }, - - toggleVisibility : function(linkObj) { - const base = $(linkObj).attr('id'); - const summary = $('#'+base+'-summary'); - const content = $('#'+base+'-content'); - const trigger = $('#'+base+'-trigger'); - const src=$(trigger).attr('src'); - if (content.is(':visible')===true) { - content.hide(); - summary.show(); - $(linkObj).addClass('closed').removeClass('opened'); - $(trigger).attr('src',src.substring(0,src.length-8)+'closed.png'); - } else { - content.show(); - summary.hide(); - $(linkObj).removeClass('closed').addClass('opened'); - $(trigger).attr('src',src.substring(0,src.length-10)+'open.png'); - } - return false; - }, - - toggleLevel : function(level) { - $('table.directory tr').each(function() { - const l = this.id.split('_').length-1; - const i = $('#img'+this.id.substring(3)); - const a = $('#arr'+this.id.substring(3)); - if (l'); - // add vertical lines to other rows - $('span[class=lineno]').not(':eq(0)').append(''); - // add toggle controls to lines with fold divs - $('div[class=foldopen]').each(function() { - // extract specific id to use - const id = $(this).attr('id').replace('foldopen',''); - // extract start and end foldable fragment attributes - const start = $(this).attr('data-start'); - const end = $(this).attr('data-end'); - // replace normal fold span with controls for the first line of a foldable fragment - $(this).find('span[class=fold]:first').replaceWith(''); - // append div for folded (closed) representation - $(this).after(''); - // extract the first line from the "open" section to represent closed content - const line = $(this).children().first().clone(); - // remove any glow that might still be active on the original line - $(line).removeClass('glow'); - if (start) { - // if line already ends with a start marker (e.g. trailing {), remove it - $(line).html($(line).html().replace(new RegExp('\\s*'+start+'\\s*$','g'),'')); - } - // replace minus with plus symbol - $(line).find('span[class=fold]').css('background-image',codefold.plusImg[relPath]); - // append ellipsis - $(line).append(' '+start+'…'+end); - // insert constructed line into closed div - $('#foldclosed'+id).html(line); - }); - }, -}; -/* @license-end */ diff --git a/documentation/html/files.html b/documentation/html/files.html deleted file mode 100644 index b45ba34..0000000 --- a/documentation/html/files.html +++ /dev/null @@ -1,113 +0,0 @@ - - - - - - - -esp32_BNO08x: File List - - - - - - - - - - - - - - - -
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esp32_BNO08x 1.1 -
-
C++ BNO08x IMU driver component for esp-idf.
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 BNO08x.cpp
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- - - - diff --git a/documentation/html/files_dup.js b/documentation/html/files_dup.js deleted file mode 100644 index 54f5e75..0000000 --- a/documentation/html/files_dup.js +++ /dev/null @@ -1,5 +0,0 @@ -var files_dup = -[ - [ "BNO08x.cpp", "_b_n_o08x_8cpp.html", null ], - [ "BNO08x.hpp", "_b_n_o08x_8hpp.html", "_b_n_o08x_8hpp" ] -]; \ No newline at end of file diff --git a/documentation/html/folderclosed.svg b/documentation/html/folderclosed.svg deleted file mode 100644 index b04bed2..0000000 --- a/documentation/html/folderclosed.svg +++ /dev/null @@ -1,11 +0,0 @@ - - - - - - - - - - diff --git a/documentation/html/folderclosedd.svg b/documentation/html/folderclosedd.svg deleted file mode 100644 index 52f0166..0000000 --- a/documentation/html/folderclosedd.svg +++ /dev/null @@ -1,11 +0,0 @@ - - - - - - - - - - diff --git a/documentation/html/folderopen.svg b/documentation/html/folderopen.svg deleted file mode 100644 index f6896dd..0000000 --- a/documentation/html/folderopen.svg +++ /dev/null @@ -1,17 +0,0 @@ - - - - - - - - - - diff --git a/documentation/html/folderopend.svg b/documentation/html/folderopend.svg deleted file mode 100644 index 2d1f06e..0000000 --- a/documentation/html/folderopend.svg +++ /dev/null @@ -1,12 +0,0 @@ - - - - - - - - - - - diff --git a/documentation/html/functions.html b/documentation/html/functions.html deleted file mode 100644 index 2864807..0000000 --- a/documentation/html/functions.html +++ /dev/null @@ -1,114 +0,0 @@ - - - - - - - -esp32_BNO08x: Class Members - - - - - - - - - - - - - - - -
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esp32_BNO08x 1.1 -
-
C++ BNO08x IMU driver component for esp-idf.
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esp32_BNO08x 1.1 -
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C++ BNO08x IMU driver component for esp-idf.
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esp32_BNO08x 1.1 -
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C++ BNO08x IMU driver component for esp-idf.
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esp32_BNO08x 1.1 -
-
C++ BNO08x IMU driver component for esp-idf.
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esp32_BNO08x 1.1 -
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C++ BNO08x IMU driver component for esp-idf.
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C++ BNO08x IMU driver component for esp-idf.
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C++ BNO08x IMU driver component for esp-idf.
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C++ BNO08x IMU driver component for esp-idf.
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C++ BNO08x IMU driver component for esp-idf.
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C++ BNO08x IMU driver component for esp-idf.
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C++ BNO08x IMU driver component for esp-idf.
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C++ BNO08x IMU driver component for esp-idf.
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C++ BNO08x IMU driver component for esp-idf.
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C++ BNO08x IMU driver component for esp-idf.
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C++ BNO08x IMU driver component for esp-idf.
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C++ BNO08x IMU driver component for esp-idf.
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C++ BNO08x IMU driver component for esp-idf.
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C++ BNO08x IMU driver component for esp-idf.
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esp32_BNO08x 1.1 -
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C++ BNO08x IMU driver component for esp-idf.
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Graph Legend
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This page explains how to interpret the graphs that are generated by doxygen.

-

Consider the following example:

/*! Invisible class because of truncation */
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class Invisible { };
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/*! Truncated class, inheritance relation is hidden */
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class Truncated : public Invisible { };
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/* Class not documented with doxygen comments */
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class Undocumented { };
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/*! Class that is inherited using public inheritance */
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class PublicBase : public Truncated { };
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/*! A template class */
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template<class T> class Templ { };
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/*! Class that is inherited using protected inheritance */
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class ProtectedBase { };
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/*! Class that is inherited using private inheritance */
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class PrivateBase { };
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/*! Class that is used by the Inherited class */
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class Used { };
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/*! Super class that inherits a number of other classes */
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class Inherited : public PublicBase,
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protected ProtectedBase,
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private PrivateBase,
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public Undocumented,
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public Templ<int>
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{
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private:
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Used *m_usedClass;
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};
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This will result in the following graph:

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The boxes in the above graph have the following meaning:

- -

The arrows have the following meaning:

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- - - - diff --git a/documentation/html/graph_legend.md5 b/documentation/html/graph_legend.md5 deleted file mode 100644 index da515da..0000000 --- a/documentation/html/graph_legend.md5 +++ /dev/null @@ -1 +0,0 @@ -f74606a252eb303675caf37987d0b7af \ No newline at end of file diff --git a/documentation/html/graph_legend.png b/documentation/html/graph_legend.png deleted file mode 100644 index 22d00a2..0000000 Binary files a/documentation/html/graph_legend.png and /dev/null differ diff --git a/documentation/html/index.html b/documentation/html/index.html deleted file mode 100644 index 9e03678..0000000 --- a/documentation/html/index.html +++ /dev/null @@ -1,108 +0,0 @@ - - - - - - - -esp32_BNO08x: Main Page - - - - - - - - - - - - - - - -
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esp32_BNO08x 1.1 -
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esp32_BNO08x Documentation
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- -
-
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6368490..0000000 --- a/documentation/html/md__r_e_a_d_m_e.html +++ /dev/null @@ -1,248 +0,0 @@ - - - - - - - -esp32_BNO08x: README - - - - - - - - - - - - - - - -
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esp32_BNO08x 1.1 -
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C++ BNO08x IMU driver component for esp-idf.
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README
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Table of Contents.

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  1. -About
    2. -
  2. -Getting Started -
    3. -
  3. -Documentation
    4. -
  4. -Program Flowcharts
    5. -
  5. -Acknowledgements
    6. -
  6. -License
    7. -
  7. -Contact
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-About

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esp32_BNO08x is a C++ component for esp-idf v5.x, serving as a driver for both BNO080 and BNO085 IMUs.
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Originally based on the SparkFun BNO080 Arduino Library, it has since diverged significantly in implementation while retaining all original features and more, including callback functions enabled by its multi-tasked approach.

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Currently, only SPI is supported. There are no plans to support I2C due to unpredictable behavior caused by an esp32 I2C driver silicon bug. UART support may be implemented in the future.

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-Getting Started

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(back to top)

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-Wiring

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The default wiring is depicted below, it can be changed at driver initialization (see example section).
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If your ESP does not have the GPIO pin numbers depicted below, you must change the default GPIO settings in menuconfig. See the Menuconfig section.

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(back to top)

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-Adding to Project

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  1. Create a "components" directory in the root workspace directory of your esp-idf project if it does not exist already.
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    In workspace directory:
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    mkdir components
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    2. -

  2. Cd into the components directory and clone the esp32_BNO08x repo.

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    cd components
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    git clone https://github.com/myles-parfeniuk/esp32_BNO08x.git
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    3. -
  3. Ensure you clean your esp-idf project before rebuilding.
    - Within esp-idf enabled terminal:
    idf.py fullclean
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    4. -
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(back to top)

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-Menuconfig

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This library provides a menuconfig menu configured in Kconfig.projbuild. It contains settings to control the default GPIO and a few other things.
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To access the menu:

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  1. Within esp-idf enabled terminal, execute the menuconfig command:
    idf.py menuconfig
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    2. Scroll down to the esp_BNO08x menu and enter it, if you're using vsCode you may have to use the "j" and "k" keys instead of the arrow keys.
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    ![image](esp32_BNO08x_menuconfig_1.png)
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    3. Modify whatever settings you'd like from the sub menus. The GPIO Configuration menu allows for the default GPIO pins to be modified, the SPI Configuration menu allows for the default SCLK frequency and host peripheral to be modified.
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    ![image](esp32_BNO08x_menuconfig_2.png)
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    <p align="right">(<a href="#readme-top">back to top</a>)</p>
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    ### Examples
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    There are two ways data returned from the BNO08x can be accessed with this library:
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    1. Polling Method with `data_available()` Function:
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    - Use the `data_available()` function to poll for new data, similar to the SparkFun library.
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    - Behavior: It is a blocking function that returns `true` when new data is received or `false` if a timeout occurs.
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    - See the **Polling Example** below.
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    2. Callback Registration with `register_cb()` Function:
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    - Register callback functions that automatically execute upon receiving new data.
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    - Behavior: The registered callback will be invoked whenever new data is available.
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    - See the **Call-Back Function Example** below.
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    #### Polling Example
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    cpp #include <stdio.h> #include "BNO08x.hpp"
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extern "C" void app_main(void) { BNO08x imu; //create IMU object with default wiring scheme float x, y, z = 0;

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//if a custom wiring scheme is desired instead of default:

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/* bno08x_config_t imu_config; //create config struct imu_config.io_mosi = GPIO_NUM_X; //assign pin imu_config.io_miso = GPIO_NUM_X; //assign pin //etc... BNO08x imu(imu_config); //pass config to BNO08x constructor */

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imu.initialize(); //initialize IMU

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//enable gyro & game rotation vector imu.enable_game_rotation_vector(100000UL); //100,000us == 100ms report interval imu.enable_gyro(150000UL); //150,000us == 150ms report interval

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while(1) { //print absolute heading in degrees and angular velocity in Rad/s if(imu.data_available()) { x = imu.get_gyro_calibrated_velocity_X(); y = imu.get_gyro_calibrated_velocity_Y(); z = imu.get_gyro_calibrated_velocity_Z(); ESP_LOGW("Main", "Velocity: x: %.3f y: %.3f z: %.3f", x, y, z);

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x = imu.get_roll_deg(); y = imu.get_pitch_deg(); z = imu.get_yaw_deg(); ESP_LOGI("Main", "Euler Angle: x (roll): %.3f y (pitch): %.3f z (yaw): %.3f", x, y, z); } }

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}

#### Call-Back Function Example
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cpp #include <stdio.h> #include "BNO08x.hpp"

-

extern "C" void app_main(void) { BNO08x imu; // create IMU object with default wiring scheme

-

// if a custom wiring scheme is desired instead of default:

-

/* bno08x_config_t imu_config; //create config struct imu_config.io_mosi = GPIO_NUM_X; //assign pin imu_config.io_miso = GPIO_NUM_X; //assign pin //etc... BNO08x imu(imu_config); //pass config to BNO08x constructor */

-

imu.initialize(); // initialize IMU

-

// enable gyro & game rotation vector imu.enable_game_rotation_vector(100000UL); // 100,000us == 100ms report interval imu.enable_gyro(150000UL); // 150,000us == 150ms report interval

-

// register a callback function (in this case a lambda function, but it doesn't have to be) imu.register_cb( [&imu]() { // callback function contents, executed whenever new data is parsed // print absolute heading in degrees and angular velocity in Rad/s float x, y, z = 0; x = imu.get_gyro_calibrated_velocity_X(); y = imu.get_gyro_calibrated_velocity_Y(); z = imu.get_gyro_calibrated_velocity_Z(); ESP_LOGW("Main", "Velocity: x: %.3f y: %.3f z: %.3f", x, y, z);

-

x = imu.get_roll_deg(); y = imu.get_pitch_deg(); z = imu.get_yaw_deg(); ESP_LOGI("Main", "Euler Angle: x (roll): %.3f y (pitch): %.3f z (yaw): %.3f", x, y, z); });

-

while (1) { vTaskDelay(300 / portTICK_PERIOD_MS); // delay here is irrelevant, we just don't want to trip cpu watchdog } } ```

-

(back to top)

-

-Documentation

-

API documentation generated with doxygen can be found in the documentation directory of the master branch.
-

-

(back to top)

-

-Program Flowcharts

-

The following charts illustrate the program flow this library implements for sending and receiving data from BNO08x.
- These are here to aid development for anyone looking to modify, fork, or contribute.
-

-

image

-

(back to top)

-

-Acknowledgements

-

Special thanks to the original creators of the sparkfun BNO080 library. Developing this without a reference would have been much more time consuming.
- https://github.com/sparkfun/SparkFun_BNO080_Arduino_Library
-

-

Special thanks to Anton Babiy, aka hwBirdy007 for helping with debugging SPI.
- https://github.com/hwBirdy007
-

-

(back to top)

-

-License

-

Distributed under the MIT License. See LICENSE.md for more information.

-

(back to top)

-

-Contact

-

Myles Parfeniuk - myles.nosp@m..par.nosp@m.fenyu.nosp@m.k@gm.nosp@m.ail.c.nosp@m.om

-

Project Link: https://github.com/myles-parfeniuk/esp32_BNO08x.git

-

(back to top)

-
-
-
- - - - diff --git a/documentation/html/menu.js b/documentation/html/menu.js deleted file mode 100644 index 717761d..0000000 --- a/documentation/html/menu.js +++ /dev/null @@ -1,134 +0,0 @@ -/* - @licstart The following is the entire license notice for the JavaScript code in this file. - - The MIT License (MIT) - - Copyright (C) 1997-2020 by Dimitri van Heesch - - Permission is hereby granted, free of charge, to any person obtaining a copy of this software - and associated documentation files (the "Software"), to deal in the Software without restriction, - including without limitation the rights to use, copy, modify, merge, publish, distribute, - sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is - furnished to do so, subject to the following conditions: - - The above copyright notice and this permission notice shall be included in all copies or - substantial portions of the Software. - - THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING - BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND - NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, - DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. - - @licend The above is the entire license notice for the JavaScript code in this file - */ -function initMenu(relPath,searchEnabled,serverSide,searchPage,search) { - function makeTree(data,relPath) { - let result=''; - if ('children' in data) { - result+='
    '; - for (let i in data.children) { - let url; - const link = data.children[i].url; - if (link.substring(0,1)=='^') { - url = link.substring(1); - } else { - url = relPath+link; - } - result+='
  • '+ - data.children[i].text+''+ - makeTree(data.children[i],relPath)+'
    • '; - } - result+='
'; - } - return result; - } - let searchBoxHtml; - if (searchEnabled) { - if (serverSide) { - searchBoxHtml='
'+ - '
'+ - '
 '+ - ''+ - '
'+ - '
'+ - '
'+ - '
'; - } else { - searchBoxHtml='
'+ - ''+ - ' '+ - ''+ - ''+ - ''+ - ''+ - ''+ - '
'; - } - } - - $('#main-nav').before('
'+ - ''+ - ''+ - '
'); - $('#main-nav').append(makeTree(menudata,relPath)); - $('#main-nav').children(':first').addClass('sm sm-dox').attr('id','main-menu'); - if (searchBoxHtml) { - $('#main-menu').append('
  • '); - } - const $mainMenuState = $('#main-menu-state'); - let prevWidth = 0; - if ($mainMenuState.length) { - const initResizableIfExists = function() { - if (typeof initResizable==='function') initResizable(); - } - // animate mobile menu - $mainMenuState.change(function() { - const $menu = $('#main-menu'); - let options = { duration: 250, step: initResizableIfExists }; - if (this.checked) { - options['complete'] = () => $menu.css('display', 'block'); - $menu.hide().slideDown(options); - } else { - options['complete'] = () => $menu.css('display', 'none'); - $menu.show().slideUp(options); - } - }); - // set default menu visibility - const resetState = function() { - const $menu = $('#main-menu'); - const newWidth = $(window).outerWidth(); - if (newWidth!=prevWidth) { - if ($(window).outerWidth()<768) { - $mainMenuState.prop('checked',false); $menu.hide(); - $('#searchBoxPos1').html(searchBoxHtml); - $('#searchBoxPos2').hide(); - } else { - $menu.show(); - $('#searchBoxPos1').empty(); - $('#searchBoxPos2').html(searchBoxHtml); - $('#searchBoxPos2').show(); - } - if (typeof searchBox!=='undefined') { - searchBox.CloseResultsWindow(); - } - prevWidth = newWidth; - } - } - $(window).ready(function() { resetState(); initResizableIfExists(); }); - $(window).resize(resetState); - } - $('#main-menu').smartmenus(); -} -/* @license-end */ diff --git a/documentation/html/menudata.js b/documentation/html/menudata.js deleted file mode 100644 index e1f7452..0000000 --- a/documentation/html/menudata.js +++ /dev/null @@ -1,91 +0,0 @@ -/* - @licstart The following is the entire license notice for the JavaScript code in this file. - - The MIT License (MIT) - - Copyright (C) 1997-2020 by Dimitri van Heesch - - Permission is hereby granted, free of charge, to any person obtaining a copy of this software - and associated documentation files (the "Software"), to deal in the Software without restriction, - including without limitation the rights to use, copy, modify, merge, publish, distribute, - sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is - furnished to do so, subject to the following conditions: - - The above copyright notice and this permission notice shall be included in all copies or - substantial portions of the Software. - - THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING - BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND - NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, - DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. - - @licend The above is the entire license notice for the JavaScript code in this file -*/ -var menudata={children:[ -{text:"Main Page",url:"index.html"}, -{text:"Related Pages",url:"pages.html"}, -{text:"Classes",url:"annotated.html",children:[ -{text:"Class List",url:"annotated.html"}, -{text:"Class Index",url:"classes.html"}, -{text:"Class Members",url:"functions.html",children:[ -{text:"All",url:"functions.html",children:[ -{text:"a",url:"functions.html#index_a"}, -{text:"b",url:"functions_b.html#index_b"}, -{text:"c",url:"functions_c.html#index_c"}, -{text:"d",url:"functions_d.html#index_d"}, -{text:"e",url:"functions_e.html#index_e"}, -{text:"f",url:"functions_f.html#index_f"}, -{text:"g",url:"functions_g.html#index_g"}, -{text:"h",url:"functions_h.html#index_h"}, -{text:"i",url:"functions_i.html#index_i"}, -{text:"l",url:"functions_l.html#index_l"}, -{text:"m",url:"functions_m.html#index_m"}, -{text:"p",url:"functions_p.html#index_p"}, -{text:"q",url:"functions_q.html#index_q"}, -{text:"r",url:"functions_r.html#index_r"}, -{text:"s",url:"functions_s.html#index_s"}, -{text:"t",url:"functions_t.html#index_t"}, -{text:"u",url:"functions_u.html#index_u"}, -{text:"w",url:"functions_w.html#index_w"}]}, -{text:"Functions",url:"functions_func.html",children:[ -{text:"b",url:"functions_func.html#index_b"}, -{text:"c",url:"functions_func.html#index_c"}, -{text:"d",url:"functions_func.html#index_d"}, -{text:"e",url:"functions_func.html#index_e"}, -{text:"f",url:"functions_func.html#index_f"}, -{text:"g",url:"functions_func.html#index_g"}, -{text:"h",url:"functions_func.html#index_h"}, -{text:"i",url:"functions_func.html#index_i"}, -{text:"m",url:"functions_func.html#index_m"}, -{text:"p",url:"functions_func.html#index_p"}, -{text:"q",url:"functions_func.html#index_q"}, -{text:"r",url:"functions_func.html#index_r"}, -{text:"s",url:"functions_func.html#index_s"}, -{text:"t",url:"functions_func.html#index_t"}, -{text:"w",url:"functions_func.html#index_w"}]}, -{text:"Variables",url:"functions_vars.html",children:[ -{text:"a",url:"functions_vars.html#index_a"}, -{text:"b",url:"functions_vars.html#index_b"}, -{text:"c",url:"functions_vars.html#index_c"}, -{text:"d",url:"functions_vars.html#index_d"}, -{text:"e",url:"functions_vars.html#index_e"}, -{text:"f",url:"functions_vars.html#index_f"}, -{text:"g",url:"functions_vars.html#index_g"}, -{text:"h",url:"functions_vars.html#index_h"}, -{text:"i",url:"functions_vars.html#index_i"}, -{text:"l",url:"functions_vars.html#index_l"}, -{text:"m",url:"functions_vars.html#index_m"}, -{text:"q",url:"functions_vars.html#index_q"}, -{text:"r",url:"functions_vars.html#index_r"}, -{text:"s",url:"functions_vars.html#index_s"}, -{text:"t",url:"functions_vars.html#index_t"}, -{text:"u",url:"functions_vars.html#index_u"}]}, -{text:"Typedefs",url:"functions_type.html"}]}]}, -{text:"Files",url:"files.html",children:[ -{text:"File List",url:"files.html"}, -{text:"File Members",url:"globals.html",children:[ -{text:"All",url:"globals.html"}, -{text:"Typedefs",url:"globals_type.html"}, -{text:"Enumerations",url:"globals_enum.html"}, -{text:"Enumerator",url:"globals_eval.html"}]}]}]} diff --git a/documentation/html/minus.svg b/documentation/html/minus.svg deleted file mode 100644 index f70d0c1..0000000 --- a/documentation/html/minus.svg +++ /dev/null @@ -1,8 +0,0 @@ - - - - - - - - diff --git a/documentation/html/minusd.svg b/documentation/html/minusd.svg deleted file mode 100644 index 5f8e879..0000000 --- a/documentation/html/minusd.svg +++ /dev/null @@ -1,8 +0,0 @@ - - - - - - - - diff --git a/documentation/html/nav_f.png b/documentation/html/nav_f.png deleted file mode 100644 index 72a58a5..0000000 Binary files a/documentation/html/nav_f.png and /dev/null differ diff --git a/documentation/html/nav_fd.png b/documentation/html/nav_fd.png deleted file mode 100644 index 032fbdd..0000000 Binary files a/documentation/html/nav_fd.png and /dev/null differ diff --git a/documentation/html/nav_g.png b/documentation/html/nav_g.png deleted file mode 100644 index 2093a23..0000000 Binary files a/documentation/html/nav_g.png and /dev/null differ diff --git a/documentation/html/nav_h.png b/documentation/html/nav_h.png deleted file mode 100644 index 33389b1..0000000 Binary files a/documentation/html/nav_h.png and /dev/null differ diff --git a/documentation/html/nav_hd.png b/documentation/html/nav_hd.png deleted file mode 100644 index de80f18..0000000 Binary files a/documentation/html/nav_hd.png and /dev/null differ diff --git a/documentation/html/navtree.css b/documentation/html/navtree.css deleted file mode 100644 index 69211d4..0000000 --- a/documentation/html/navtree.css +++ /dev/null @@ -1,149 +0,0 @@ -#nav-tree .children_ul { - margin:0; - padding:4px; -} - -#nav-tree ul { - list-style:none outside none; - margin:0px; - padding:0px; -} - -#nav-tree li { - white-space:nowrap; - margin:0px; - padding:0px; -} - -#nav-tree .plus { - margin:0px; -} - -#nav-tree .selected { - background-image: url('tab_a.png'); - background-repeat:repeat-x; - color: var(--nav-text-active-color); - text-shadow: var(--nav-text-active-shadow); -} - -#nav-tree .selected .arrow { - color: var(--nav-arrow-selected-color); - text-shadow: none; -} - -#nav-tree img { - margin:0px; - padding:0px; - border:0px; - vertical-align: middle; -} - -#nav-tree a { - text-decoration:none; - padding:0px; - margin:0px; -} - -#nav-tree .label { - margin:0px; - padding:0px; - font: 12px var(--font-family-nav); -} - -#nav-tree .label a { - padding:2px; -} - -#nav-tree .selected a { - text-decoration:none; - color:var(--nav-text-active-color); -} - -#nav-tree .children_ul { - margin:0px; - padding:0px; -} - -#nav-tree .item { - margin:0px; - padding:0px; -} - -#nav-tree { - padding: 0px 0px; - font-size:14px; - overflow:auto; -} - -#doc-content { - overflow:auto; - display:block; - padding:0px; - margin:0px; - -webkit-overflow-scrolling : touch; /* iOS 5+ */ -} - -#side-nav { - padding:0 6px 0 0; - margin: 0px; - display:block; - position: absolute; - left: 0px; - width: $width; - overflow : hidden; -} - -.ui-resizable .ui-resizable-handle { - display:block; -} - -.ui-resizable-e { - background-image:var(--nav-splitbar-image); - background-size:100%; - background-repeat:repeat-y; - background-attachment: scroll; - cursor:ew-resize; - height:100%; - right:0; - top:0; - width:6px; -} - -.ui-resizable-handle { - display:none; - font-size:0.1px; - position:absolute; - z-index:1; -} - -#nav-tree-contents { - margin: 6px 0px 0px 0px; -} - -#nav-tree { - background-repeat:repeat-x; - background-color: var(--nav-background-color); - -webkit-overflow-scrolling : touch; /* iOS 5+ */ -} - -#nav-sync { - position:absolute; - top:5px; - right:24px; - z-index:0; -} - -#nav-sync img { - opacity:0.3; -} - -#nav-sync img:hover { - opacity:0.9; -} - -@media print -{ - #nav-tree { display: none; } - div.ui-resizable-handle { display: none; position: relative; } -} - diff --git a/documentation/html/navtree.js b/documentation/html/navtree.js deleted file mode 100644 index 884b79b..0000000 --- a/documentation/html/navtree.js +++ /dev/null @@ -1,482 +0,0 @@ -/* - @licstart The following is the entire license notice for the JavaScript code in this file. - - The MIT License (MIT) - - Copyright (C) 1997-2020 by Dimitri van Heesch - - Permission is hereby granted, free of charge, to any person obtaining a copy of this software - and associated documentation files (the "Software"), to deal in the Software without restriction, - including without limitation the rights to use, copy, modify, merge, publish, distribute, - sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is - furnished to do so, subject to the following conditions: - - The above copyright notice and this permission notice shall be included in all copies or - substantial portions of the Software. - - THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING - BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND - NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, - DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. - - @licend The above is the entire license notice for the JavaScript code in this file - */ - -function initNavTree(toroot,relpath) { - let navTreeSubIndices = []; - const ARROW_DOWN = '▼'; - const ARROW_RIGHT = '►'; - const NAVPATH_COOKIE_NAME = ''+'navpath'; - - const getData = function(varName) { - const i = varName.lastIndexOf('/'); - const n = i>=0 ? varName.substring(i+1) : varName; - return eval(n.replace(/-/g,'_')); - } - - const stripPath = function(uri) { - return uri.substring(uri.lastIndexOf('/')+1); - } - - const stripPath2 = function(uri) { - const i = uri.lastIndexOf('/'); - const s = uri.substring(i+1); - const m = uri.substring(0,i+1).match(/\/d\w\/d\w\w\/$/); - return m ? uri.substring(i-6) : s; - } - - const hashValue = function() { - return $(location).attr('hash').substring(1).replace(/[^\w-]/g,''); - } - - const hashUrl = function() { - return '#'+hashValue(); - } - - const pathName = function() { - return $(location).attr('pathname').replace(/[^-A-Za-z0-9+&@#/%?=~_|!:,.;()]/g, ''); - } - - const storeLink = function(link) { - if (!$("#nav-sync").hasClass('sync')) { - Cookie.writeSetting(NAVPATH_COOKIE_NAME,link,0); - } - } - - const deleteLink = function() { - Cookie.eraseSetting(NAVPATH_COOKIE_NAME); - } - - const cachedLink = function() { - return Cookie.readSetting(NAVPATH_COOKIE_NAME,''); - } - - const getScript = function(scriptName,func) { - const head = document.getElementsByTagName("head")[0]; - const script = document.createElement('script'); - script.id = scriptName; - script.type = 'text/javascript'; - script.onload = func; - script.src = scriptName+'.js'; - head.appendChild(script); - } - - const createIndent = function(o,domNode,node) { - let level=-1; - let n = node; - while (n.parentNode) { level++; n=n.parentNode; } - if (node.childrenData) { - const imgNode = document.createElement("span"); - imgNode.className = 'arrow'; - imgNode.style.paddingLeft=(16*level).toString()+'px'; - imgNode.innerHTML=ARROW_RIGHT; - node.plus_img = imgNode; - node.expandToggle = document.createElement("a"); - node.expandToggle.href = "javascript:void(0)"; - node.expandToggle.onclick = function() { - if (node.expanded) { - $(node.getChildrenUL()).slideUp("fast"); - node.plus_img.innerHTML=ARROW_RIGHT; - node.expanded = false; - } else { - expandNode(o, node, false, true); - } - } - node.expandToggle.appendChild(imgNode); - domNode.appendChild(node.expandToggle); - } else { - let span = document.createElement("span"); - span.className = 'arrow'; - span.style.width = 16*(level+1)+'px'; - span.innerHTML = ' '; - domNode.appendChild(span); - } - } - - let animationInProgress = false; - - const gotoAnchor = function(anchor,aname) { - let pos, docContent = $('#doc-content'); - let ancParent = $(anchor.parent()); - if (ancParent.hasClass('memItemLeft') || ancParent.hasClass('memtitle') || - ancParent.hasClass('fieldname') || ancParent.hasClass('fieldtype') || - ancParent.is(':header')) { - pos = ancParent.position().top; - } else if (anchor.position()) { - pos = anchor.position().top; - } - if (pos) { - const dcOffset = docContent.offset().top; - const dcHeight = docContent.height(); - const dcScrHeight = docContent[0].scrollHeight - const dcScrTop = docContent.scrollTop(); - let dist = Math.abs(Math.min(pos-dcOffset,dcScrHeight-dcHeight-dcScrTop)); - animationInProgress = true; - docContent.animate({ - scrollTop: pos + dcScrTop - dcOffset - },Math.max(50,Math.min(500,dist)),function() { - window.location.href=aname; - animationInProgress=false; - }); - } - } - - const newNode = function(o, po, text, link, childrenData, lastNode) { - const node = { - children : [], - childrenData : childrenData, - depth : po.depth + 1, - relpath : po.relpath, - isLast : lastNode, - li : document.createElement("li"), - parentNode : po, - itemDiv : document.createElement("div"), - labelSpan : document.createElement("span"), - label : document.createTextNode(text), - expanded : false, - childrenUL : null, - getChildrenUL : function() { - if (!this.childrenUL) { - this.childrenUL = document.createElement("ul"); - this.childrenUL.className = "children_ul"; - this.childrenUL.style.display = "none"; - this.li.appendChild(node.childrenUL); - } - return node.childrenUL; - }, - }; - - node.itemDiv.className = "item"; - node.labelSpan.className = "label"; - createIndent(o,node.itemDiv,node); - node.itemDiv.appendChild(node.labelSpan); - node.li.appendChild(node.itemDiv); - - const a = document.createElement("a"); - node.labelSpan.appendChild(a); - po.getChildrenUL().appendChild(node.li); - a.appendChild(node.label); - if (link) { - let url; - if (link.substring(0,1)=='^') { - url = link.substring(1); - link = url; - } else { - url = node.relpath+link; - } - a.className = stripPath(link.replace('#',':')); - if (link.indexOf('#')!=-1) { - const aname = '#'+link.split('#')[1]; - const srcPage = stripPath(pathName()); - const targetPage = stripPath(link.split('#')[0]); - a.href = srcPage!=targetPage ? url : aname; - a.onclick = function() { - storeLink(link); - aPPar = $(a).parent().parent(); - if (!aPPar.hasClass('selected')) { - $('.item').removeClass('selected'); - $('.item').removeAttr('id'); - aPPar.addClass('selected'); - aPPar.attr('id','selected'); - } - const anchor = $(aname); - gotoAnchor(anchor,aname); - }; - } else { - a.href = url; - a.onclick = () => storeLink(link); - } - } else if (childrenData != null) { - a.className = "nolink"; - a.href = "javascript:void(0)"; - a.onclick = node.expandToggle.onclick; - } - return node; - } - - const showRoot = function() { - const headerHeight = $("#top").height(); - const footerHeight = $("#nav-path").height(); - const windowHeight = $(window).height() - headerHeight - footerHeight; - (function() { // retry until we can scroll to the selected item - try { - const navtree=$('#nav-tree'); - navtree.scrollTo('#selected',100,{offset:-windowHeight/2}); - } catch (err) { - setTimeout(arguments.callee, 0); - } - })(); - } - - const expandNode = function(o, node, imm, setFocus) { - if (node.childrenData && !node.expanded) { - if (typeof(node.childrenData)==='string') { - const varName = node.childrenData; - getScript(node.relpath+varName,function() { - node.childrenData = getData(varName); - expandNode(o, node, imm, setFocus); - }); - } else { - if (!node.childrenVisited) { - getNode(o, node); - } - $(node.getChildrenUL()).slideDown("fast"); - node.plus_img.innerHTML = ARROW_DOWN; - node.expanded = true; - if (setFocus) { - $(node.expandToggle).focus(); - } - } - } - } - - const glowEffect = function(n,duration) { - n.addClass('glow').delay(duration).queue(function(next) { - $(this).removeClass('glow');next(); - }); - } - - const highlightAnchor = function() { - const aname = hashUrl(); - const anchor = $(aname); - if (anchor.parent().attr('class')=='memItemLeft') { - let rows = $('.memberdecls tr[class$="'+hashValue()+'"]'); - glowEffect(rows.children(),300); // member without details - } else if (anchor.parent().attr('class')=='fieldname') { - glowEffect(anchor.parent().parent(),1000); // enum value - } else if (anchor.parent().attr('class')=='fieldtype') { - glowEffect(anchor.parent().parent(),1000); // struct field - } else if (anchor.parent().is(":header")) { - glowEffect(anchor.parent(),1000); // section header - } else { - glowEffect(anchor.next(),1000); // normal member - } - gotoAnchor(anchor,aname); - } - - const selectAndHighlight = function(hash,n) { - let a; - if (hash) { - const link=stripPath(pathName())+':'+hash.substring(1); - a=$('.item a[class$="'+link+'"]'); - } - if (a && a.length) { - a.parent().parent().addClass('selected'); - a.parent().parent().attr('id','selected'); - highlightAnchor(); - } else if (n) { - $(n.itemDiv).addClass('selected'); - $(n.itemDiv).attr('id','selected'); - } - let topOffset=5; - if ($('#nav-tree-contents .item:first').hasClass('selected')) { - topOffset+=25; - } - $('#nav-sync').css('top',topOffset+'px'); - showRoot(); - } - - const showNode = function(o, node, index, hash) { - if (node && node.childrenData) { - if (typeof(node.childrenData)==='string') { - const varName = node.childrenData; - getScript(node.relpath+varName,function() { - node.childrenData = getData(varName); - showNode(o,node,index,hash); - }); - } else { - if (!node.childrenVisited) { - getNode(o, node); - } - $(node.getChildrenUL()).css({'display':'block'}); - node.plus_img.innerHTML = ARROW_DOWN; - node.expanded = true; - const n = node.children[o.breadcrumbs[index]]; - if (index+11 ? 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IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, - DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. - - @licend The above is the entire license notice for the JavaScript code in this file - */ - -function initResizable() { - let sidenav,navtree,content,header,footer,barWidth=6; - const RESIZE_COOKIE_NAME = ''+'width'; - - function resizeWidth() { - const sidenavWidth = $(sidenav).outerWidth(); - content.css({marginLeft:parseInt(sidenavWidth)+"px"}); - if (typeof page_layout!=='undefined' && page_layout==1) { - footer.css({marginLeft:parseInt(sidenavWidth)+"px"}); - } - Cookie.writeSetting(RESIZE_COOKIE_NAME,sidenavWidth-barWidth); - } - - function restoreWidth(navWidth) { - content.css({marginLeft:parseInt(navWidth)+barWidth+"px"}); - if (typeof page_layout!=='undefined' && page_layout==1) { - footer.css({marginLeft:parseInt(navWidth)+barWidth+"px"}); - 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['queue_5fcommand_2',['queue_command',['../class_b_n_o08x.html#a5cc58139e4d5f0587b90e249ceb476f9',1,'BNO08x']]], - ['queue_5ffeature_5fcommand_3',['queue_feature_command',['../class_b_n_o08x.html#af2951f6ea448af7cf7932fbfed9fec3c',1,'BNO08x::queue_feature_command(uint8_t report_ID, uint32_t time_between_reports)'],['../class_b_n_o08x.html#a2d6de4823893128e6a4b562f34326ae8',1,'BNO08x::queue_feature_command(uint8_t report_ID, uint32_t time_between_reports, uint32_t specific_config)']]], - ['queue_5fpacket_4',['queue_packet',['../class_b_n_o08x.html#a62c570ba96512f4d0d10b2594048de1f',1,'BNO08x']]], - ['queue_5frequest_5fproduct_5fid_5fcommand_5',['queue_request_product_id_command',['../class_b_n_o08x.html#ab5f200069a2f8cb74cb79c6f162da5a1',1,'BNO08x']]], - ['queue_5ftare_5fcommand_6',['queue_tare_command',['../class_b_n_o08x.html#a4c6353e795f734ed28613f9a3d161ea2',1,'BNO08x']]] -]; diff --git a/documentation/html/search/functions_b.js b/documentation/html/search/functions_b.js deleted file mode 100644 index 57c3012..0000000 --- a/documentation/html/search/functions_b.js +++ /dev/null @@ -1,7 +0,0 @@ -var searchData= -[ - ['receive_5fpacket_0',['receive_packet',['../class_b_n_o08x.html#ae540799865934fcff54caed0772df071',1,'BNO08x']]], - ['register_5fcb_1',['register_cb',['../class_b_n_o08x.html#a06bb0c70305421b5357e64f31579fdc7',1,'BNO08x']]], - ['request_5fcalibration_5fstatus_2',['request_calibration_status',['../class_b_n_o08x.html#affaaa35abbb872da5299ebab6e2c9b11',1,'BNO08x']]], - ['run_5ffull_5fcalibration_5froutine_3',['run_full_calibration_routine',['../class_b_n_o08x.html#ae6e875a27ae74ebed806ee1a4576845a',1,'BNO08x']]] -]; diff --git a/documentation/html/search/functions_c.js b/documentation/html/search/functions_c.js deleted file mode 100644 index 5ac4456..0000000 --- a/documentation/html/search/functions_c.js +++ /dev/null @@ -1,9 +0,0 @@ -var searchData= -[ - ['save_5fcalibration_0',['save_calibration',['../class_b_n_o08x.html#aa16609de88bfb7b389348859aa0cee54',1,'BNO08x']]], - ['save_5ftare_1',['save_tare',['../class_b_n_o08x.html#afb2ffc4e7ff0498917bc14a83af306e2',1,'BNO08x']]], - ['send_5fpacket_2',['send_packet',['../class_b_n_o08x.html#a2c359a44a2c8e83ecb258a340e2d0e1a',1,'BNO08x']]], - ['soft_5freset_3',['soft_reset',['../class_b_n_o08x.html#a973a1b1785f3302ee1b2702c6a27646e',1,'BNO08x']]], - ['spi_5ftask_4',['spi_task',['../class_b_n_o08x.html#a2ecd4ed60f82730ae230c61687ec92bf',1,'BNO08x']]], - ['spi_5ftask_5ftrampoline_5',['spi_task_trampoline',['../class_b_n_o08x.html#a0ce6d9db873555f1ebe7e095251eab74',1,'BNO08x']]] -]; diff --git a/documentation/html/search/functions_d.js b/documentation/html/search/functions_d.js deleted file mode 100644 index 7e8b9f8..0000000 --- a/documentation/html/search/functions_d.js +++ /dev/null @@ -1,4 +0,0 @@ -var searchData= -[ - ['tare_5fnow_0',['tare_now',['../class_b_n_o08x.html#a4549bbef48208bd9c745fc755b93012f',1,'BNO08x']]] -]; diff --git a/documentation/html/search/functions_e.js b/documentation/html/search/functions_e.js deleted file mode 100644 index d3793e0..0000000 --- a/documentation/html/search/functions_e.js +++ /dev/null @@ -1,6 +0,0 @@ -var searchData= -[ - ['wait_5ffor_5fdata_0',['wait_for_data',['../class_b_n_o08x.html#a4f12de628073f44b2a3fab2688cf1caf',1,'BNO08x']]], - ['wait_5ffor_5frx_5fdone_1',['wait_for_rx_done',['../class_b_n_o08x.html#a2897a178bf2c53cd99df0d4570edf72e',1,'BNO08x']]], - ['wait_5ffor_5ftx_5fdone_2',['wait_for_tx_done',['../class_b_n_o08x.html#a7cdeb849e728487de961cdfd4030c773',1,'BNO08x']]] -]; diff --git a/documentation/html/search/mag.svg b/documentation/html/search/mag.svg deleted file mode 100644 index ffb6cf0..0000000 --- a/documentation/html/search/mag.svg +++ /dev/null @@ -1,24 +0,0 @@ - - - - - - - diff --git a/documentation/html/search/mag_d.svg b/documentation/html/search/mag_d.svg deleted file mode 100644 index 4122773..0000000 --- a/documentation/html/search/mag_d.svg +++ /dev/null @@ -1,24 +0,0 @@ - - - - - - - diff --git a/documentation/html/search/mag_sel.svg b/documentation/html/search/mag_sel.svg deleted file mode 100644 index 553dba8..0000000 --- a/documentation/html/search/mag_sel.svg +++ /dev/null @@ -1,31 +0,0 @@ - - - - - - - - - diff --git a/documentation/html/search/mag_seld.svg b/documentation/html/search/mag_seld.svg deleted file mode 100644 index c906f84..0000000 --- a/documentation/html/search/mag_seld.svg +++ /dev/null @@ -1,31 +0,0 @@ - - - - - - - - - diff --git a/documentation/html/search/pages_0.js b/documentation/html/search/pages_0.js deleted file mode 100644 index 72b4213..0000000 --- a/documentation/html/search/pages_0.js +++ /dev/null @@ -1,4 +0,0 @@ -var searchData= -[ - ['readme_0',['README',['../md__r_e_a_d_m_e.html',1,'']]] -]; diff --git a/documentation/html/search/search.css b/documentation/html/search/search.css deleted file mode 100644 index 19f76f9..0000000 --- a/documentation/html/search/search.css +++ /dev/null @@ -1,291 +0,0 @@ -/*---------------- Search Box positioning */ - -#main-menu > li:last-child { - /* This
  • object is the parent of the search bar */ - display: flex; - justify-content: center; - align-items: center; - height: 36px; - margin-right: 1em; -} - -/*---------------- Search box styling */ - -.SRPage * { - font-weight: normal; - line-height: normal; -} - -dark-mode-toggle { - margin-left: 5px; - display: flex; - float: right; -} - -#MSearchBox { - display: inline-block; - white-space : nowrap; - background: var(--search-background-color); - border-radius: 0.65em; - box-shadow: var(--search-box-shadow); - z-index: 102; -} - -#MSearchBox .left { - display: inline-block; - vertical-align: middle; - height: 1.4em; -} - -#MSearchSelect { - display: inline-block; - vertical-align: middle; - width: 20px; - height: 19px; - background-image: var(--search-magnification-select-image); - margin: 0 0 0 0.3em; - padding: 0; -} - -#MSearchSelectExt { - display: inline-block; - vertical-align: middle; - width: 10px; - height: 19px; - background-image: var(--search-magnification-image); - margin: 0 0 0 0.5em; - padding: 0; -} - - -#MSearchField { - display: inline-block; - vertical-align: middle; - width: 7.5em; - height: 19px; - margin: 0 0.15em; - padding: 0; - line-height: 1em; - border:none; - color: var(--search-foreground-color); - outline: none; - font-family: var(--font-family-search); - -webkit-border-radius: 0px; - border-radius: 0px; - background: none; -} - -@media(hover: none) { - /* to avoid zooming on iOS */ - #MSearchField { - font-size: 16px; - } -} - -#MSearchBox .right { - display: inline-block; - vertical-align: middle; - width: 1.4em; - height: 1.4em; -} - -#MSearchClose { - display: none; - font-size: inherit; - background : none; - border: none; - margin: 0; - padding: 0; - outline: none; - -} - -#MSearchCloseImg { - padding: 0.3em; - margin: 0; -} - -.MSearchBoxActive #MSearchField { - color: var(--search-active-color); -} - - - -/*---------------- Search filter selection */ - -#MSearchSelectWindow { - display: none; - position: absolute; - left: 0; top: 0; - border: 1px solid var(--search-filter-border-color); - background-color: var(--search-filter-background-color); - z-index: 10001; - padding-top: 4px; - padding-bottom: 4px; - -moz-border-radius: 4px; - -webkit-border-top-left-radius: 4px; - -webkit-border-top-right-radius: 4px; - -webkit-border-bottom-left-radius: 4px; - -webkit-border-bottom-right-radius: 4px; - -webkit-box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15); -} - -.SelectItem { - font: 8pt var(--font-family-search); - padding-left: 2px; - padding-right: 12px; - border: 0px; -} - -span.SelectionMark { - margin-right: 4px; - font-family: var(--font-family-monospace); - outline-style: none; - text-decoration: none; -} - -a.SelectItem { - display: block; - outline-style: none; - color: var(--search-filter-foreground-color); - text-decoration: none; - padding-left: 6px; - padding-right: 12px; -} - -a.SelectItem:focus, -a.SelectItem:active { - color: var(--search-filter-foreground-color); - outline-style: none; - text-decoration: none; -} - -a.SelectItem:hover { - color: var(--search-filter-highlight-text-color); - background-color: var(--search-filter-highlight-bg-color); - outline-style: none; - text-decoration: none; - cursor: pointer; - display: block; -} - -/*---------------- Search results window */ - -iframe#MSearchResults { - /*width: 60ex;*/ - height: 15em; -} - -#MSearchResultsWindow { - display: none; - position: absolute; - left: 0; top: 0; - border: 1px solid var(--search-results-border-color); - background-color: var(--search-results-background-color); - z-index:10000; - width: 300px; - height: 400px; - overflow: auto; -} - -/* ----------------------------------- */ - - -#SRIndex { - clear:both; -} - -.SREntry { - font-size: 10pt; - padding-left: 1ex; -} - -.SRPage .SREntry { - font-size: 8pt; - padding: 1px 5px; -} - -div.SRPage { - margin: 5px 2px; - background-color: var(--search-results-background-color); -} - -.SRChildren { - padding-left: 3ex; padding-bottom: .5em -} - -.SRPage .SRChildren { - display: none; -} - -.SRSymbol { - font-weight: bold; - color: var(--search-results-foreground-color); - font-family: var(--font-family-search); - text-decoration: none; - outline: none; -} - -a.SRScope { - display: block; - color: var(--search-results-foreground-color); - font-family: var(--font-family-search); - font-size: 8pt; - text-decoration: none; - outline: none; -} - -a.SRSymbol:focus, a.SRSymbol:active, -a.SRScope:focus, a.SRScope:active { - text-decoration: underline; -} - -span.SRScope { - padding-left: 4px; - font-family: var(--font-family-search); -} - -.SRPage .SRStatus { - padding: 2px 5px; - font-size: 8pt; - font-style: italic; - font-family: var(--font-family-search); -} - -.SRResult { - display: none; -} - -div.searchresults { - margin-left: 10px; - margin-right: 10px; -} - -/*---------------- External search page results */ - -.pages b { - color: white; - padding: 5px 5px 3px 5px; - background-image: var(--nav-gradient-active-image-parent); - background-repeat: repeat-x; - text-shadow: 0 1px 1px #000000; -} - -.pages { - line-height: 17px; - margin-left: 4px; - text-decoration: none; -} - -.hl { - font-weight: bold; -} - -#searchresults { - margin-bottom: 20px; -} - -.searchpages { - margin-top: 10px; -} - diff --git a/documentation/html/search/search.js b/documentation/html/search/search.js deleted file mode 100644 index 666af01..0000000 --- a/documentation/html/search/search.js +++ /dev/null @@ -1,694 +0,0 @@ -/* - @licstart The following is the entire license notice for the JavaScript code in this file. - - The MIT License (MIT) - - Copyright (C) 1997-2020 by Dimitri van Heesch - - Permission is hereby granted, free of charge, to any person obtaining a copy of this software - and associated documentation files (the "Software"), to deal in the Software without restriction, - including without limitation the rights to use, copy, modify, merge, publish, distribute, - sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is - furnished to do so, subject to the following conditions: - - The above copyright notice and this permission notice shall be included in all copies or - substantial portions of the Software. - - THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING - BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND - NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, - DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. - - @licend The above is the entire license notice for the JavaScript code in this file - */ -const SEARCH_COOKIE_NAME = ''+'search_grp'; - -const searchResults = new SearchResults(); - -/* A class handling everything associated with the search panel. - - Parameters: - name - The name of the global variable that will be - storing this instance. Is needed to be able to set timeouts. - resultPath - path to use for external files -*/ -function SearchBox(name, resultsPath, extension) { - if (!name || !resultsPath) { alert("Missing parameters to SearchBox."); } - if (!extension || extension == "") { extension = ".html"; } - - function getXPos(item) { - let x = 0; - if (item.offsetWidth) { - while (item && item!=document.body) { - x += item.offsetLeft; - item = item.offsetParent; - } - } - return x; - } - - function getYPos(item) { - let y = 0; - if (item.offsetWidth) { - while (item && item!=document.body) { - y += item.offsetTop; - item = item.offsetParent; - } - } - return y; - } - - // ---------- Instance variables - this.name = name; - this.resultsPath = resultsPath; - this.keyTimeout = 0; - this.keyTimeoutLength = 500; - this.closeSelectionTimeout = 300; - this.lastSearchValue = ""; - this.lastResultsPage = ""; - this.hideTimeout = 0; - this.searchIndex = 0; - this.searchActive = false; - this.extension = extension; - - // ----------- DOM Elements - - this.DOMSearchField = () => document.getElementById("MSearchField"); - this.DOMSearchSelect = () => document.getElementById("MSearchSelect"); - this.DOMSearchSelectWindow = () => document.getElementById("MSearchSelectWindow"); - this.DOMPopupSearchResults = () => document.getElementById("MSearchResults"); - this.DOMPopupSearchResultsWindow = () => document.getElementById("MSearchResultsWindow"); - this.DOMSearchClose = () => document.getElementById("MSearchClose"); - this.DOMSearchBox = () => document.getElementById("MSearchBox"); - - // ------------ Event Handlers - - // Called when focus is added or removed from the search field. - this.OnSearchFieldFocus = function(isActive) { - this.Activate(isActive); - } - - this.OnSearchSelectShow = function() { - const searchSelectWindow = this.DOMSearchSelectWindow(); - const searchField = this.DOMSearchSelect(); - - const left = getXPos(searchField); - const top = getYPos(searchField) + searchField.offsetHeight; - - // show search selection popup - searchSelectWindow.style.display='block'; - searchSelectWindow.style.left = left + 'px'; - searchSelectWindow.style.top = top + 'px'; - - // stop selection hide timer - if (this.hideTimeout) { - clearTimeout(this.hideTimeout); - this.hideTimeout=0; - } - return false; // to avoid "image drag" default event - } - - this.OnSearchSelectHide = function() { - this.hideTimeout = setTimeout(this.CloseSelectionWindow.bind(this), - this.closeSelectionTimeout); - } - - // Called when the content of the search field is changed. - this.OnSearchFieldChange = function(evt) { - if (this.keyTimeout) { // kill running timer - clearTimeout(this.keyTimeout); - this.keyTimeout = 0; - } - - const e = evt ? evt : window.event; // for IE - if (e.keyCode==40 || e.keyCode==13) { - if (e.shiftKey==1) { - this.OnSearchSelectShow(); - const win=this.DOMSearchSelectWindow(); - for (let i=0;i do a search - this.Search(); - } - } - - this.OnSearchSelectKey = function(evt) { - const e = (evt) ? evt : window.event; // for IE - if (e.keyCode==40 && this.searchIndex0) { // Up - this.searchIndex--; - this.OnSelectItem(this.searchIndex); - } else if (e.keyCode==13 || e.keyCode==27) { - e.stopPropagation(); - this.OnSelectItem(this.searchIndex); - this.CloseSelectionWindow(); - this.DOMSearchField().focus(); - } - return false; - } - - // --------- Actions - - // Closes the results window. - this.CloseResultsWindow = function() { - this.DOMPopupSearchResultsWindow().style.display = 'none'; - this.DOMSearchClose().style.display = 'none'; - this.Activate(false); - } - - this.CloseSelectionWindow = function() { - this.DOMSearchSelectWindow().style.display = 'none'; - } - - // Performs a search. - this.Search = function() { - this.keyTimeout = 0; - - // strip leading whitespace - const searchValue = this.DOMSearchField().value.replace(/^ +/, ""); - - const code = searchValue.toLowerCase().charCodeAt(0); - let idxChar = searchValue.substr(0, 1).toLowerCase(); - if ( 0xD800 <= code && code <= 0xDBFF && searchValue > 1) { // surrogate pair - idxChar = searchValue.substr(0, 2); - } - - let jsFile; - let idx = indexSectionsWithContent[this.searchIndex].indexOf(idxChar); - if (idx!=-1) { - const hexCode=idx.toString(16); - jsFile = this.resultsPath + indexSectionNames[this.searchIndex] + '_' + hexCode + '.js'; - } - - const loadJS = function(url, impl, loc) { - const scriptTag = document.createElement('script'); - scriptTag.src = url; - scriptTag.onload = impl; - scriptTag.onreadystatechange = impl; - loc.appendChild(scriptTag); - } - - const domPopupSearchResultsWindow = this.DOMPopupSearchResultsWindow(); - const domSearchBox = this.DOMSearchBox(); - const domPopupSearchResults = this.DOMPopupSearchResults(); - const domSearchClose = this.DOMSearchClose(); - const resultsPath = this.resultsPath; - - const handleResults = function() { - document.getElementById("Loading").style.display="none"; - if (typeof searchData !== 'undefined') { - createResults(resultsPath); - document.getElementById("NoMatches").style.display="none"; - } - - if (idx!=-1) { - searchResults.Search(searchValue); - } else { // no file with search results => force empty search results - searchResults.Search('===='); - } - - if (domPopupSearchResultsWindow.style.display!='block') { - domSearchClose.style.display = 'inline-block'; - let left = getXPos(domSearchBox) + 150; - let top = getYPos(domSearchBox) + 20; - domPopupSearchResultsWindow.style.display = 'block'; - left -= domPopupSearchResults.offsetWidth; - const maxWidth = document.body.clientWidth; - const maxHeight = document.body.clientHeight; - let width = 300; - if (left<10) left=10; - if (width+left+8>maxWidth) width=maxWidth-left-8; - let height = 400; - if (height+top+8>maxHeight) height=maxHeight-top-8; - domPopupSearchResultsWindow.style.top = top + 'px'; - domPopupSearchResultsWindow.style.left = left + 'px'; - domPopupSearchResultsWindow.style.width = width + 'px'; - domPopupSearchResultsWindow.style.height = height + 'px'; - } - } - - if (jsFile) { - loadJS(jsFile, handleResults, this.DOMPopupSearchResultsWindow()); - } else { - handleResults(); - } - - this.lastSearchValue = searchValue; - } - - // -------- Activation Functions - - // Activates or deactivates the search panel, resetting things to - // their default values if necessary. - this.Activate = function(isActive) { - if (isActive || // open it - this.DOMPopupSearchResultsWindow().style.display == 'block' - ) { - this.DOMSearchBox().className = 'MSearchBoxActive'; - this.searchActive = true; - } else if (!isActive) { // directly remove the panel - this.DOMSearchBox().className = 'MSearchBoxInactive'; - this.searchActive = false; - this.lastSearchValue = '' - this.lastResultsPage = ''; - this.DOMSearchField().value = ''; - } - } -} - -// ----------------------------------------------------------------------- - -// The class that handles everything on the search results page. -function SearchResults() { - - function convertToId(search) { - let result = ''; - for (let i=0;i. - this.lastMatchCount = 0; - this.lastKey = 0; - this.repeatOn = false; - - // Toggles the visibility of the passed element ID. - this.FindChildElement = function(id) { - const parentElement = document.getElementById(id); - let element = parentElement.firstChild; - - while (element && element!=parentElement) { - if (element.nodeName.toLowerCase() == 'div' && element.className == 'SRChildren') { - return element; - } - - if (element.nodeName.toLowerCase() == 'div' && element.hasChildNodes()) { - element = element.firstChild; - } else if (element.nextSibling) { - element = element.nextSibling; - } else { - do { - element = element.parentNode; - } - while (element && element!=parentElement && !element.nextSibling); - - if (element && element!=parentElement) { - element = element.nextSibling; - } - } - } - } - - this.Toggle = function(id) { - const element = this.FindChildElement(id); - if (element) { - if (element.style.display == 'block') { - element.style.display = 'none'; - } else { - element.style.display = 'block'; - } - } - } - - // Searches for the passed string. If there is no parameter, - // it takes it from the URL query. - // - // Always returns true, since other documents may try to call it - // and that may or may not be possible. - this.Search = function(search) { - if (!search) { // get search word from URL - search = window.location.search; - search = search.substring(1); // Remove the leading '?' - search = unescape(search); - } - - search = search.replace(/^ +/, ""); // strip leading spaces - search = search.replace(/ +$/, ""); // strip trailing spaces - search = search.toLowerCase(); - search = convertToId(search); - - const resultRows = document.getElementsByTagName("div"); - let matches = 0; - - let i = 0; - while (i < resultRows.length) { - const row = resultRows.item(i); - if (row.className == "SRResult") { - let rowMatchName = row.id.toLowerCase(); - rowMatchName = rowMatchName.replace(/^sr\d*_/, ''); // strip 'sr123_' - - if (search.length<=rowMatchName.length && - rowMatchName.substr(0, search.length)==search) { - row.style.display = 'block'; - matches++; - } else { - row.style.display = 'none'; - } - } - i++; - } - document.getElementById("Searching").style.display='none'; - if (matches == 0) { // no results - document.getElementById("NoMatches").style.display='block'; - } else { // at least one result - document.getElementById("NoMatches").style.display='none'; - } - this.lastMatchCount = matches; - return true; - } - - // return the first item with index index or higher that is visible - this.NavNext = function(index) { - let focusItem; - for (;;) { - const focusName = 'Item'+index; - focusItem = document.getElementById(focusName); - if (focusItem && focusItem.parentNode.parentNode.style.display=='block') { - break; - } else if (!focusItem) { // last element - break; - } - focusItem=null; - index++; - } - return focusItem; - } - - this.NavPrev = function(index) { - let focusItem; - for (;;) { - const focusName = 'Item'+index; - focusItem = document.getElementById(focusName); - if (focusItem && focusItem.parentNode.parentNode.style.display=='block') { - break; - } else if (!focusItem) { // last element - break; - } - focusItem=null; - index--; - } - return focusItem; - } - - this.ProcessKeys = function(e) { - if (e.type == "keydown") { - this.repeatOn = false; - this.lastKey = e.keyCode; - } else if (e.type == "keypress") { - if (!this.repeatOn) { - if (this.lastKey) this.repeatOn = true; - return false; // ignore first keypress after keydown - } - } else if (e.type == "keyup") { - this.lastKey = 0; - this.repeatOn = false; - } - return this.lastKey!=0; - } - - this.Nav = function(evt,itemIndex) { - const e = (evt) ? evt : window.event; // for IE - if (e.keyCode==13) return true; - if (!this.ProcessKeys(e)) return false; - - if (this.lastKey==38) { // Up - const newIndex = itemIndex-1; - let focusItem = this.NavPrev(newIndex); - if (focusItem) { - let child = this.FindChildElement(focusItem.parentNode.parentNode.id); - if (child && child.style.display == 'block') { // children visible - let n=0; - let tmpElem; - for (;;) { // search for last child - tmpElem = document.getElementById('Item'+newIndex+'_c'+n); - if (tmpElem) { - focusItem = tmpElem; - } else { // found it! - break; - } - n++; - } - } - } - if (focusItem) { - focusItem.focus(); - } else { // return focus to search field - document.getElementById("MSearchField").focus(); - } - } else if (this.lastKey==40) { // Down - const newIndex = itemIndex+1; - let focusItem; - const item = document.getElementById('Item'+itemIndex); - const elem = this.FindChildElement(item.parentNode.parentNode.id); - if (elem && elem.style.display == 'block') { // children visible - focusItem = document.getElementById('Item'+itemIndex+'_c0'); - } - if (!focusItem) focusItem = this.NavNext(newIndex); - if (focusItem) focusItem.focus(); - } else if (this.lastKey==39) { // Right - const item = document.getElementById('Item'+itemIndex); - const elem = this.FindChildElement(item.parentNode.parentNode.id); - if (elem) elem.style.display = 'block'; - } else if (this.lastKey==37) { // Left - const item = document.getElementById('Item'+itemIndex); - const elem = this.FindChildElement(item.parentNode.parentNode.id); - if (elem) elem.style.display = 'none'; - } else if (this.lastKey==27) { // Escape - e.stopPropagation(); - searchBox.CloseResultsWindow(); - document.getElementById("MSearchField").focus(); - } else if (this.lastKey==13) { // Enter - return true; - } - return false; - } - - this.NavChild = function(evt,itemIndex,childIndex) { - const e = (evt) ? evt : window.event; // for IE - if (e.keyCode==13) return true; - if (!this.ProcessKeys(e)) return false; - - if (this.lastKey==38) { // Up - if (childIndex>0) { - const newIndex = childIndex-1; - document.getElementById('Item'+itemIndex+'_c'+newIndex).focus(); - } else { // already at first child, jump to parent - document.getElementById('Item'+itemIndex).focus(); - } - } else if (this.lastKey==40) { // Down - const newIndex = childIndex+1; - let elem = document.getElementById('Item'+itemIndex+'_c'+newIndex); - if (!elem) { // last child, jump to parent next parent - elem = this.NavNext(itemIndex+1); - } - if (elem) { - elem.focus(); - } - } else if (this.lastKey==27) { // Escape - e.stopPropagation(); - searchBox.CloseResultsWindow(); - document.getElementById("MSearchField").focus(); - } else if (this.lastKey==13) { // Enter - return true; - } - return false; - } -} - -function createResults(resultsPath) { - - function setKeyActions(elem,action) { - elem.setAttribute('onkeydown',action); - elem.setAttribute('onkeypress',action); - elem.setAttribute('onkeyup',action); - } - - function setClassAttr(elem,attr) { - elem.setAttribute('class',attr); - elem.setAttribute('className',attr); - } - - const results = document.getElementById("SRResults"); - results.innerHTML = ''; - searchData.forEach((elem,index) => { - const id = elem[0]; - const srResult = document.createElement('div'); - srResult.setAttribute('id','SR_'+id); - setClassAttr(srResult,'SRResult'); - const srEntry = document.createElement('div'); - setClassAttr(srEntry,'SREntry'); - const srLink = document.createElement('a'); - srLink.setAttribute('id','Item'+index); - setKeyActions(srLink,'return searchResults.Nav(event,'+index+')'); - setClassAttr(srLink,'SRSymbol'); - srLink.innerHTML = elem[1][0]; - srEntry.appendChild(srLink); - if (elem[1].length==2) { // single result - srLink.setAttribute('href',resultsPath+elem[1][1][0]); - srLink.setAttribute('onclick','searchBox.CloseResultsWindow()'); - if (elem[1][1][1]) { - srLink.setAttribute('target','_parent'); - } else { - srLink.setAttribute('target','_blank'); - } - const srScope = document.createElement('span'); - setClassAttr(srScope,'SRScope'); - srScope.innerHTML = elem[1][1][2]; - srEntry.appendChild(srScope); - } else { // multiple results - srLink.setAttribute('href','javascript:searchResults.Toggle("SR_'+id+'")'); - const srChildren = document.createElement('div'); - setClassAttr(srChildren,'SRChildren'); - for (let c=0; c - - - - - - -esp32_BNO08x: Member List - - - - - - - - - - - - - - - -
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    C++ BNO08x IMU driver component for esp-idf.
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    Holds data that is received over spi. - More...

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    -Public Attributes

    uint8_t header [4]
     Header of SHTP packet.
     
    uint8_t body [300]
     
    uint16_t length
     Body of SHTP packet.
     
    -

    Detailed Description

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    Holds data that is received over spi.

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    Member Data Documentation

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    ◆ body

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    uint8_t BNO08x::bno08x_rx_packet_t::body[300]
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    uint8_t BNO08x::bno08x_rx_packet_t::header[4]
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    Header of SHTP packet.

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    ◆ length

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    uint16_t BNO08x::bno08x_rx_packet_t::length
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    Body of SHTP packet.

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    Packet length in bytes.

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    The documentation for this struct was generated from the following file: -
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    - - - - diff --git a/documentation/html/struct_b_n_o08x_1_1bno08x__rx__packet__t.js b/documentation/html/struct_b_n_o08x_1_1bno08x__rx__packet__t.js deleted file mode 100644 index ea3522a..0000000 --- a/documentation/html/struct_b_n_o08x_1_1bno08x__rx__packet__t.js +++ /dev/null @@ -1,6 +0,0 @@ -var struct_b_n_o08x_1_1bno08x__rx__packet__t = -[ - [ "body", "struct_b_n_o08x_1_1bno08x__rx__packet__t.html#ab422d75e1fcd776ef412f4d623cc293e", null ], - [ "header", "struct_b_n_o08x_1_1bno08x__rx__packet__t.html#a667d671ccb272bd375008716e26e0b5b", null ], - [ "length", "struct_b_n_o08x_1_1bno08x__rx__packet__t.html#a645adb6ba8fb2afbb99ec58fe678e205", null ] -]; \ No newline at end of file diff --git a/documentation/html/struct_b_n_o08x_1_1bno08x__tx__packet__t-members.html b/documentation/html/struct_b_n_o08x_1_1bno08x__tx__packet__t-members.html deleted file mode 100644 index 50268fc..0000000 --- a/documentation/html/struct_b_n_o08x_1_1bno08x__tx__packet__t-members.html +++ /dev/null @@ -1,112 +0,0 @@ - - - - - - - -esp32_BNO08x: Member List - - - - - - - - - - - - - - - -
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    C++ BNO08x IMU driver component for esp-idf.
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    -
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    Holds data that is sent over spi. - More...

    - - - - - - - - -

    -Public Attributes

    uint8_t body [50]
     Body of SHTP the packet (header + body)
     
    uint16_t length
     Packet length in bytes.
     
    -

    Detailed Description

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    Holds data that is sent over spi.

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    Member Data Documentation

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    ◆ body

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    uint8_t BNO08x::bno08x_tx_packet_t::body[50]
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    Body of SHTP the packet (header + body)

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    ◆ length

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    Packet length in bytes.

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    bno08x_config_t()bno08x_config_tinline
    bno08x_config_t(spi_host_device_t spi_peripheral, gpio_num_t io_mosi, gpio_num_t io_miso, gpio_num_t io_sclk, gpio_num_t io_cs, gpio_num_t io_int, gpio_num_t io_rst, gpio_num_t io_wake, uint32_t sclk_speed)bno08x_config_tinline
    io_csbno08x_config_t
    io_intbno08x_config_t
    io_misobno08x_config_t
    io_mosibno08x_config_t
    io_rstbno08x_config_t
    io_sclkbno08x_config_t
    io_wakebno08x_config_t
    sclk_speedbno08x_config_t
    spi_peripheralbno08x_config_t
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    IMU configuration settings passed into constructor. - More...

    - -

    #include <BNO08x.hpp>

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    -Public Member Functions

     bno08x_config_t ()
     Default IMU configuration settings constructor. To modify default GPIO pins, run "idf.py menuconfig" esp32_BNO08x->GPIO Configuration. Alternatively, edit the default values in "Kconfig.projbuild".
     
     bno08x_config_t (spi_host_device_t spi_peripheral, gpio_num_t io_mosi, gpio_num_t io_miso, gpio_num_t io_sclk, gpio_num_t io_cs, gpio_num_t io_int, gpio_num_t io_rst, gpio_num_t io_wake, uint32_t sclk_speed)
     Overloaded IMU configuration settings constructor for custom pin settings.
     
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    -Public Attributes

    spi_host_device_t spi_peripheral
     SPI peripheral to be used.
     
    gpio_num_t io_mosi
     MOSI GPIO pin (connects to BNO08x DI pin)
     
    gpio_num_t io_miso
     MISO GPIO pin (connects to BNO08x SDA pin)
     
    gpio_num_t io_sclk
     SCLK pin (connects to BNO08x SCL pin)
     
    gpio_num_t io_cs
     
    gpio_num_t io_int
     Chip select pin (connects to BNO08x CS pin)
     
    gpio_num_t io_rst
     Host interrupt pin (connects to BNO08x INT pin)
     
    gpio_num_t io_wake
     Reset pin (connects to BNO08x RST pin)
     
    uint32_t sclk_speed
     Desired SPI SCLK speed in Hz (max 3MHz)
     
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    Detailed Description

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    IMU configuration settings passed into constructor.

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    Constructor & Destructor Documentation

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    ◆ bno08x_config_t() [1/2]

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    bno08x_config_t::bno08x_config_t ()
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    Default IMU configuration settings constructor. To modify default GPIO pins, run "idf.py menuconfig" esp32_BNO08x->GPIO Configuration. Alternatively, edit the default values in "Kconfig.projbuild".

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    ◆ bno08x_config_t() [2/2]

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    bno08x_config_t::bno08x_config_t (spi_host_device_t spi_peripheral,
    gpio_num_t io_mosi,
    gpio_num_t io_miso,
    gpio_num_t io_sclk,
    gpio_num_t io_cs,
    gpio_num_t io_int,
    gpio_num_t io_rst,
    gpio_num_t io_wake,
    uint32_t sclk_speed )
    -     		-inline
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    Overloaded IMU configuration settings constructor for custom pin settings.

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    Member Data Documentation

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    ◆ io_cs

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    gpio_num_t bno08x_config_t::io_cs
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    ◆ io_int

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    gpio_num_t bno08x_config_t::io_int
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    Chip select pin (connects to BNO08x CS pin)

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    ◆ io_miso

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    gpio_num_t bno08x_config_t::io_miso
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    MISO GPIO pin (connects to BNO08x SDA pin)

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    ◆ io_mosi

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    gpio_num_t bno08x_config_t::io_mosi
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    MOSI GPIO pin (connects to BNO08x DI pin)

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    ◆ io_rst

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    gpio_num_t bno08x_config_t::io_rst
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    Host interrupt pin (connects to BNO08x INT pin)

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    ◆ io_sclk

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    gpio_num_t bno08x_config_t::io_sclk
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    SCLK pin (connects to BNO08x SCL pin)

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    ◆ io_wake

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    gpio_num_t bno08x_config_t::io_wake
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    Reset pin (connects to BNO08x RST pin)

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    Wake pin (optional, connects to BNO08x P0)

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    - -

    ◆ sclk_speed

    - -
    -
    - - - - -
    uint32_t bno08x_config_t::sclk_speed
    -
    - -

    Desired SPI SCLK speed in Hz (max 3MHz)

    - -
    -
    - -

    ◆ spi_peripheral

    - -
    -
    - - - - -
    spi_host_device_t bno08x_config_t::spi_peripheral
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    - -

    SPI peripheral to be used.

    - -
    -
    -
    The documentation for this struct was generated from the following file: -
    -
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a/documentation/latex/Makefile b/documentation/latex/Makefile deleted file mode 100644 index 7f82972..0000000 --- a/documentation/latex/Makefile +++ /dev/null @@ -1,27 +0,0 @@ -LATEX_CMD?=pdflatex -MKIDX_CMD?=makeindex -BIBTEX_CMD?=bibtex -LATEX_COUNT?=8 -MANUAL_FILE?=refman - -all: $(MANUAL_FILE).pdf - -pdf: $(MANUAL_FILE).pdf - -$(MANUAL_FILE).pdf: clean $(MANUAL_FILE).tex - $(LATEX_CMD) $(MANUAL_FILE) - $(MKIDX_CMD) $(MANUAL_FILE).idx - $(LATEX_CMD) $(MANUAL_FILE) - latex_count=$(LATEX_COUNT) ; \ - while grep -E -s 'Rerun (LaTeX|to get cross-references right|to get bibliographical references right)' $(MANUAL_FILE).log && [ $$latex_count -gt 0 ] ;\ - do \ - echo "Rerunning latex...." ;\ - $(LATEX_CMD) $(MANUAL_FILE) ;\ - latex_count=`expr $$latex_count - 1` ;\ - done - $(MKIDX_CMD) $(MANUAL_FILE).idx - $(LATEX_CMD) $(MANUAL_FILE) - - -clean: - rm -f *.ps *.dvi *.aux *.toc *.idx *.ind *.ilg *.log *.out *.brf *.blg *.bbl $(MANUAL_FILE).pdf diff --git a/documentation/latex/_b_n_o08x_8cpp.tex b/documentation/latex/_b_n_o08x_8cpp.tex deleted file mode 100644 index 212164d..0000000 --- a/documentation/latex/_b_n_o08x_8cpp.tex +++ /dev/null @@ -1,11 +0,0 @@ -\doxysection{BNO08x.\+cpp File Reference} -\hypertarget{_b_n_o08x_8cpp}{}\label{_b_n_o08x_8cpp}\index{BNO08x.cpp@{BNO08x.cpp}} -{\ttfamily \#include "{}BNO08x.\+hpp"{}}\newline -Include dependency graph for BNO08x.\+cpp\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{_b_n_o08x_8cpp__incl} -\end{center} -\end{figure} diff --git a/documentation/latex/_b_n_o08x_8cpp__incl.md5 b/documentation/latex/_b_n_o08x_8cpp__incl.md5 deleted file mode 100644 index aa4c2d4..0000000 --- a/documentation/latex/_b_n_o08x_8cpp__incl.md5 +++ /dev/null @@ -1 +0,0 @@ -c0ac2dff25e78209f8b6c692fa3431ec \ No newline at end of file diff --git a/documentation/latex/_b_n_o08x_8cpp__incl.pdf b/documentation/latex/_b_n_o08x_8cpp__incl.pdf deleted file mode 100644 index ea6b6ff..0000000 Binary files a/documentation/latex/_b_n_o08x_8cpp__incl.pdf and /dev/null differ diff --git a/documentation/latex/_b_n_o08x_8hpp.tex b/documentation/latex/_b_n_o08x_8hpp.tex deleted file mode 100644 index 69d7091..0000000 --- a/documentation/latex/_b_n_o08x_8hpp.tex +++ /dev/null @@ -1,145 +0,0 @@ -\doxysection{BNO08x.\+hpp File Reference} -\hypertarget{_b_n_o08x_8hpp}{}\label{_b_n_o08x_8hpp}\index{BNO08x.hpp@{BNO08x.hpp}} -{\ttfamily \#include $<$driver/gpio.\+h$>$}\newline -{\ttfamily \#include $<$driver/spi\+\_\+common.\+h$>$}\newline -{\ttfamily \#include $<$driver/spi\+\_\+master.\+h$>$}\newline -{\ttfamily \#include $<$esp\+\_\+log.\+h$>$}\newline -{\ttfamily \#include $<$esp\+\_\+rom\+\_\+gpio.\+h$>$}\newline -{\ttfamily \#include $<$esp\+\_\+timer.\+h$>$}\newline -{\ttfamily \#include $<$freertos/\+Free\+RTOS.\+h$>$}\newline -{\ttfamily \#include $<$freertos/task.\+h$>$}\newline -{\ttfamily \#include $<$freertos/event\+\_\+groups.\+h$>$}\newline -{\ttfamily \#include $<$freertos/queue.\+h$>$}\newline -{\ttfamily \#include $<$rom/ets\+\_\+sys.\+h$>$}\newline -{\ttfamily \#include $<$inttypes.\+h$>$}\newline -{\ttfamily \#include $<$math.\+h$>$}\newline -{\ttfamily \#include $<$stdio.\+h$>$}\newline -{\ttfamily \#include $<$cstring$>$}\newline -{\ttfamily \#include $<$functional$>$}\newline -{\ttfamily \#include $<$vector$>$}\newline -Include dependency graph for BNO08x.\+hpp\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{_b_n_o08x_8hpp__incl} -\end{center} -\end{figure} -This graph shows which files directly or indirectly include this file\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=152pt]{_b_n_o08x_8hpp__dep__incl} -\end{center} -\end{figure} -\doxysubsubsection*{Classes} -\begin{DoxyCompactItemize} -\item -struct \mbox{\hyperlink{structbno08x__config__t}{bno08x\+\_\+config\+\_\+t}} -\begin{DoxyCompactList}\small\item\em IMU configuration settings passed into constructor. \end{DoxyCompactList}\item -class \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} -\item -struct \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__rx__packet__t}{BNO08x\+::bno08x\+\_\+rx\+\_\+packet\+\_\+t}} -\begin{DoxyCompactList}\small\item\em Holds data that is received over spi. \end{DoxyCompactList}\item -struct \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__tx__packet__t}{BNO08x\+::bno08x\+\_\+tx\+\_\+packet\+\_\+t}} -\begin{DoxyCompactList}\small\item\em Holds data that is sent over spi. \end{DoxyCompactList}\end{DoxyCompactItemize} -\doxysubsubsection*{Typedefs} -\begin{DoxyCompactItemize} -\item -typedef struct bno08x\+\_\+config\+\_\+t \mbox{\hyperlink{_b_n_o08x_8hpp_a648bbdbf22731476890dd8da977d7503}{bno08x\+\_\+config\+\_\+t}} -\begin{DoxyCompactList}\small\item\em IMU configuration settings passed into constructor. \end{DoxyCompactList}\end{DoxyCompactItemize} -\doxysubsubsection*{Enumerations} -\begin{DoxyCompactItemize} -\item -enum \mbox{\hyperlink{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556b}{channels\+\_\+t}} \{ \newline -\mbox{\hyperlink{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556ba1cb5955609063cff1ba49147e786e610}{CHANNEL\+\_\+\+COMMAND}} -, \mbox{\hyperlink{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556ba8a5de65712767758887f8fad9523bb72}{CHANNEL\+\_\+\+EXECUTABLE}} -, \mbox{\hyperlink{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556ba6c5ca5e5847c55b469afbb435e15b5f0}{CHANNEL\+\_\+\+CONTROL}} -, \mbox{\hyperlink{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556ba22f0b2ae6fcdc8618a078b0579d09e4a}{CHANNEL\+\_\+\+REPORTS}} -, \newline -\mbox{\hyperlink{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556bafbb907d12060466f58dd56d3e2430747}{CHANNEL\+\_\+\+WAKE\+\_\+\+REPORTS}} -, \mbox{\hyperlink{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556bafd513a698e54122cec579d9450482832}{CHANNEL\+\_\+\+GYRO}} - \} -\begin{DoxyCompactList}\small\item\em SHTP protocol channels. \end{DoxyCompactList}\item -enum class \mbox{\hyperlink{_b_n_o08x_8hpp_adb7d85b4fa619c860031f469261c6279}{IMUAccuracy}} \{ \mbox{\hyperlink{_b_n_o08x_8hpp_adb7d85b4fa619c860031f469261c6279a41bc94cbd8eebea13ce0491b2ac11b88}{LOW}} = 1 -, \mbox{\hyperlink{_b_n_o08x_8hpp_adb7d85b4fa619c860031f469261c6279a2ad6d5975c45da2e711c796f3a1b029c}{MED}} -, \mbox{\hyperlink{_b_n_o08x_8hpp_adb7d85b4fa619c860031f469261c6279ab89de3b4b81c4facfac906edf29aec8c}{HIGH}} - \} -\begin{DoxyCompactList}\small\item\em Sensor accuracy returned during sensor calibration. \end{DoxyCompactList}\end{DoxyCompactItemize} - - -\doxysubsection{Typedef Documentation} -\Hypertarget{_b_n_o08x_8hpp_a648bbdbf22731476890dd8da977d7503}\label{_b_n_o08x_8hpp_a648bbdbf22731476890dd8da977d7503} -\index{BNO08x.hpp@{BNO08x.hpp}!bno08x\_config\_t@{bno08x\_config\_t}} -\index{bno08x\_config\_t@{bno08x\_config\_t}!BNO08x.hpp@{BNO08x.hpp}} -\doxysubsubsection{\texorpdfstring{bno08x\_config\_t}{bno08x\_config\_t}} -{\footnotesize\ttfamily typedef struct bno08x\+\_\+config\+\_\+t bno08x\+\_\+config\+\_\+t} - - - -IMU configuration settings passed into constructor. - - - -\doxysubsection{Enumeration Type Documentation} -\Hypertarget{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556b}\label{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556b} -\index{BNO08x.hpp@{BNO08x.hpp}!channels\_t@{channels\_t}} -\index{channels\_t@{channels\_t}!BNO08x.hpp@{BNO08x.hpp}} -\doxysubsubsection{\texorpdfstring{channels\_t}{channels\_t}} -{\footnotesize\ttfamily enum \mbox{\hyperlink{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556b}{channels\+\_\+t}}} - - - -SHTP protocol channels. - -\begin{DoxyEnumFields}{Enumerator} -\raisebox{\heightof{T}}[0pt][0pt]{\index{CHANNEL\_COMMAND@{CHANNEL\_COMMAND}!BNO08x.hpp@{BNO08x.hpp}}\index{BNO08x.hpp@{BNO08x.hpp}!CHANNEL\_COMMAND@{CHANNEL\_COMMAND}}}\Hypertarget{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556ba1cb5955609063cff1ba49147e786e610}\label{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556ba1cb5955609063cff1ba49147e786e610} -CHANNEL\+\_\+\+COMMAND&\\ -\hline - -\raisebox{\heightof{T}}[0pt][0pt]{\index{CHANNEL\_EXECUTABLE@{CHANNEL\_EXECUTABLE}!BNO08x.hpp@{BNO08x.hpp}}\index{BNO08x.hpp@{BNO08x.hpp}!CHANNEL\_EXECUTABLE@{CHANNEL\_EXECUTABLE}}}\Hypertarget{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556ba8a5de65712767758887f8fad9523bb72}\label{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556ba8a5de65712767758887f8fad9523bb72} -CHANNEL\+\_\+\+EXECUTABLE&\\ -\hline - -\raisebox{\heightof{T}}[0pt][0pt]{\index{CHANNEL\_CONTROL@{CHANNEL\_CONTROL}!BNO08x.hpp@{BNO08x.hpp}}\index{BNO08x.hpp@{BNO08x.hpp}!CHANNEL\_CONTROL@{CHANNEL\_CONTROL}}}\Hypertarget{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556ba6c5ca5e5847c55b469afbb435e15b5f0}\label{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556ba6c5ca5e5847c55b469afbb435e15b5f0} -CHANNEL\+\_\+\+CONTROL&\\ -\hline - -\raisebox{\heightof{T}}[0pt][0pt]{\index{CHANNEL\_REPORTS@{CHANNEL\_REPORTS}!BNO08x.hpp@{BNO08x.hpp}}\index{BNO08x.hpp@{BNO08x.hpp}!CHANNEL\_REPORTS@{CHANNEL\_REPORTS}}}\Hypertarget{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556ba22f0b2ae6fcdc8618a078b0579d09e4a}\label{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556ba22f0b2ae6fcdc8618a078b0579d09e4a} -CHANNEL\+\_\+\+REPORTS&\\ -\hline - -\raisebox{\heightof{T}}[0pt][0pt]{\index{CHANNEL\_WAKE\_REPORTS@{CHANNEL\_WAKE\_REPORTS}!BNO08x.hpp@{BNO08x.hpp}}\index{BNO08x.hpp@{BNO08x.hpp}!CHANNEL\_WAKE\_REPORTS@{CHANNEL\_WAKE\_REPORTS}}}\Hypertarget{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556bafbb907d12060466f58dd56d3e2430747}\label{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556bafbb907d12060466f58dd56d3e2430747} -CHANNEL\+\_\+\+WAKE\+\_\+\+REPORTS&\\ -\hline - -\raisebox{\heightof{T}}[0pt][0pt]{\index{CHANNEL\_GYRO@{CHANNEL\_GYRO}!BNO08x.hpp@{BNO08x.hpp}}\index{BNO08x.hpp@{BNO08x.hpp}!CHANNEL\_GYRO@{CHANNEL\_GYRO}}}\Hypertarget{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556bafd513a698e54122cec579d9450482832}\label{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556bafd513a698e54122cec579d9450482832} -CHANNEL\+\_\+\+GYRO&\\ -\hline - -\end{DoxyEnumFields} -\Hypertarget{_b_n_o08x_8hpp_adb7d85b4fa619c860031f469261c6279}\label{_b_n_o08x_8hpp_adb7d85b4fa619c860031f469261c6279} -\index{BNO08x.hpp@{BNO08x.hpp}!IMUAccuracy@{IMUAccuracy}} -\index{IMUAccuracy@{IMUAccuracy}!BNO08x.hpp@{BNO08x.hpp}} -\doxysubsubsection{\texorpdfstring{IMUAccuracy}{IMUAccuracy}} -{\footnotesize\ttfamily enum class \mbox{\hyperlink{_b_n_o08x_8hpp_adb7d85b4fa619c860031f469261c6279}{IMUAccuracy}}\hspace{0.3cm}{\ttfamily [strong]}} - - - -Sensor accuracy returned during sensor calibration. - -\begin{DoxyEnumFields}{Enumerator} -\raisebox{\heightof{T}}[0pt][0pt]{\index{LOW@{LOW}!BNO08x.hpp@{BNO08x.hpp}}\index{BNO08x.hpp@{BNO08x.hpp}!LOW@{LOW}}}\Hypertarget{_b_n_o08x_8hpp_adb7d85b4fa619c860031f469261c6279a41bc94cbd8eebea13ce0491b2ac11b88}\label{_b_n_o08x_8hpp_adb7d85b4fa619c860031f469261c6279a41bc94cbd8eebea13ce0491b2ac11b88} -LOW&\\ -\hline - -\raisebox{\heightof{T}}[0pt][0pt]{\index{MED@{MED}!BNO08x.hpp@{BNO08x.hpp}}\index{BNO08x.hpp@{BNO08x.hpp}!MED@{MED}}}\Hypertarget{_b_n_o08x_8hpp_adb7d85b4fa619c860031f469261c6279a2ad6d5975c45da2e711c796f3a1b029c}\label{_b_n_o08x_8hpp_adb7d85b4fa619c860031f469261c6279a2ad6d5975c45da2e711c796f3a1b029c} -MED&\\ -\hline - -\raisebox{\heightof{T}}[0pt][0pt]{\index{HIGH@{HIGH}!BNO08x.hpp@{BNO08x.hpp}}\index{BNO08x.hpp@{BNO08x.hpp}!HIGH@{HIGH}}}\Hypertarget{_b_n_o08x_8hpp_adb7d85b4fa619c860031f469261c6279ab89de3b4b81c4facfac906edf29aec8c}\label{_b_n_o08x_8hpp_adb7d85b4fa619c860031f469261c6279ab89de3b4b81c4facfac906edf29aec8c} -HIGH&\\ -\hline - -\end{DoxyEnumFields} diff --git a/documentation/latex/_b_n_o08x_8hpp__dep__incl.md5 b/documentation/latex/_b_n_o08x_8hpp__dep__incl.md5 deleted file mode 100644 index e405e15..0000000 --- a/documentation/latex/_b_n_o08x_8hpp__dep__incl.md5 +++ /dev/null @@ -1 +0,0 @@ -d44dbb4c969e60293a1ace1c107f6cbc \ No newline at end of file diff --git a/documentation/latex/_b_n_o08x_8hpp__dep__incl.pdf b/documentation/latex/_b_n_o08x_8hpp__dep__incl.pdf deleted file mode 100644 index 278be40..0000000 Binary files a/documentation/latex/_b_n_o08x_8hpp__dep__incl.pdf and /dev/null differ diff --git a/documentation/latex/_b_n_o08x_8hpp__incl.md5 b/documentation/latex/_b_n_o08x_8hpp__incl.md5 deleted file mode 100644 index a774559..0000000 --- a/documentation/latex/_b_n_o08x_8hpp__incl.md5 +++ /dev/null @@ -1 +0,0 @@ -a364dbcd92edabe3107368974f75952e \ No newline at end of file diff --git a/documentation/latex/_b_n_o08x_8hpp__incl.pdf b/documentation/latex/_b_n_o08x_8hpp__incl.pdf deleted file mode 100644 index 7e9c97f..0000000 Binary files a/documentation/latex/_b_n_o08x_8hpp__incl.pdf and /dev/null differ diff --git a/documentation/latex/_b_n_o08x_8hpp_source.tex b/documentation/latex/_b_n_o08x_8hpp_source.tex deleted file mode 100644 index 8311e07..0000000 --- a/documentation/latex/_b_n_o08x_8hpp_source.tex +++ /dev/null @@ -1,482 +0,0 @@ -\doxysection{BNO08x.\+hpp} -\hypertarget{_b_n_o08x_8hpp_source}{}\label{_b_n_o08x_8hpp_source}\mbox{\hyperlink{_b_n_o08x_8hpp}{Go to the documentation of this file.}} -\begin{DoxyCode}{0} -\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}} -\DoxyCodeLine{00002\ \textcolor{comment}{//\ esp-\/idf\ includes}} -\DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ }} -\DoxyCodeLine{00004\ \textcolor{preprocessor}{\#include\ }} -\DoxyCodeLine{00005\ \textcolor{preprocessor}{\#include\ }} -\DoxyCodeLine{00006\ \textcolor{preprocessor}{\#include\ }} -\DoxyCodeLine{00007\ \textcolor{preprocessor}{\#include\ }} -\DoxyCodeLine{00008\ \textcolor{preprocessor}{\#include\ }} -\DoxyCodeLine{00009\ \textcolor{preprocessor}{\#include\ }} -\DoxyCodeLine{00010\ \textcolor{preprocessor}{\#include\ }} -\DoxyCodeLine{00011\ \textcolor{preprocessor}{\#include\ }} -\DoxyCodeLine{00012\ \textcolor{preprocessor}{\#include\ }} -\DoxyCodeLine{00013\ \textcolor{preprocessor}{\#include\ }} -\DoxyCodeLine{00014\ } -\DoxyCodeLine{00015\ \textcolor{comment}{//\ standard\ library\ includes}} -\DoxyCodeLine{00016\ \textcolor{preprocessor}{\#include\ }} -\DoxyCodeLine{00017\ \textcolor{preprocessor}{\#include\ }} -\DoxyCodeLine{00018\ \textcolor{preprocessor}{\#include\ }} -\DoxyCodeLine{00019\ \textcolor{preprocessor}{\#include\ }} -\DoxyCodeLine{00020\ \textcolor{preprocessor}{\#include\ }} -\DoxyCodeLine{00021\ \textcolor{preprocessor}{\#include\ }} -\DoxyCodeLine{00022\ } -\DoxyCodeLine{00024\ \textcolor{keyword}{enum}\ \mbox{\hyperlink{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556b}{channels\_t}}} -\DoxyCodeLine{00025\ \{} -\DoxyCodeLine{00026\ \ \ \ \ \mbox{\hyperlink{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556ba1cb5955609063cff1ba49147e786e610}{CHANNEL\_COMMAND}},} -\DoxyCodeLine{00027\ \ \ \ \ \mbox{\hyperlink{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556ba8a5de65712767758887f8fad9523bb72}{CHANNEL\_EXECUTABLE}},} -\DoxyCodeLine{00028\ \ \ \ \ \mbox{\hyperlink{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556ba6c5ca5e5847c55b469afbb435e15b5f0}{CHANNEL\_CONTROL}},} -\DoxyCodeLine{00029\ \ \ \ \ \mbox{\hyperlink{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556ba22f0b2ae6fcdc8618a078b0579d09e4a}{CHANNEL\_REPORTS}},} -\DoxyCodeLine{00030\ \ \ \ \ \mbox{\hyperlink{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556bafbb907d12060466f58dd56d3e2430747}{CHANNEL\_WAKE\_REPORTS}},} -\DoxyCodeLine{00031\ \ \ \ \ \mbox{\hyperlink{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556bafd513a698e54122cec579d9450482832}{CHANNEL\_GYRO}}} -\DoxyCodeLine{00032\ \};} -\DoxyCodeLine{00033\ } -\DoxyCodeLine{00035\ \textcolor{keyword}{enum\ class}\ \mbox{\hyperlink{_b_n_o08x_8hpp_adb7d85b4fa619c860031f469261c6279}{IMUAccuracy}}} -\DoxyCodeLine{00036\ \{} -\DoxyCodeLine{00037\ \ \ \ \ \mbox{\hyperlink{_b_n_o08x_8hpp_adb7d85b4fa619c860031f469261c6279a41bc94cbd8eebea13ce0491b2ac11b88}{LOW}}\ =\ 1,} -\DoxyCodeLine{00038\ \ \ \ \ \mbox{\hyperlink{_b_n_o08x_8hpp_adb7d85b4fa619c860031f469261c6279a2ad6d5975c45da2e711c796f3a1b029c}{MED}},} -\DoxyCodeLine{00039\ \ \ \ \ \mbox{\hyperlink{_b_n_o08x_8hpp_adb7d85b4fa619c860031f469261c6279ab89de3b4b81c4facfac906edf29aec8c}{HIGH}}} -\DoxyCodeLine{00040\ \};} -\DoxyCodeLine{00041\ } -\DoxyCodeLine{00043\ \textcolor{keyword}{typedef}\ \textcolor{keyword}{struct\ }\mbox{\hyperlink{structbno08x__config__t}{bno08x\_config\_t}}} -\DoxyCodeLine{00044\ \{} -\DoxyCodeLine{00045\ \ \ \ \ \ \ \ \ spi\_host\_device\_t\ \mbox{\hyperlink{structbno08x__config__t_a020d2343750bb7debc2a108ae038c9ec}{spi\_peripheral}};\ } -\DoxyCodeLine{00046\ \ \ \ \ \ \ \ \ gpio\_num\_t\ \mbox{\hyperlink{structbno08x__config__t_a79023fd80039e41a22b7f73ccd5fc861}{io\_mosi}};\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ } -\DoxyCodeLine{00047\ \ \ \ \ \ \ \ \ gpio\_num\_t\ \mbox{\hyperlink{structbno08x__config__t_a9468180a773892977db39cc5ed9368e3}{io\_miso}};\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ } -\DoxyCodeLine{00048\ \ \ \ \ \ \ \ \ gpio\_num\_t\ \mbox{\hyperlink{structbno08x__config__t_a639685b91ae3198909d722316495246a}{io\_sclk}};\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ } -\DoxyCodeLine{00049\ \ \ \ \ \ \ \ \ gpio\_num\_t\ \mbox{\hyperlink{structbno08x__config__t_ab1b5351b63da0c172c942463d0dc2505}{io\_cs}};\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ } -\DoxyCodeLine{00050\ \ \ \ \ \ \ \ \ gpio\_num\_t\ \mbox{\hyperlink{structbno08x__config__t_a3cfe965659cfbc6b0c5269bd0211975f}{io\_int}};\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ } -\DoxyCodeLine{00051\ \ \ \ \ \ \ \ \ gpio\_num\_t\ \mbox{\hyperlink{structbno08x__config__t_a62745c761219139f66ecd173b51577fc}{io\_rst}};\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ } -\DoxyCodeLine{00052\ \ \ \ \ \ \ \ \ gpio\_num\_t\ \mbox{\hyperlink{structbno08x__config__t_a90ad7f316dc443874d19dc7e723a0ce0}{io\_wake}};\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ } -\DoxyCodeLine{00053\ \ \ \ \ \ \ \ \ uint32\_t\ \mbox{\hyperlink{structbno08x__config__t_a231614c3b20888360def2ce9db83f52a}{sclk\_speed}};\ \ \ \ \ \ \ \ \ \ \ \ \ \ } -\DoxyCodeLine{00054\ } -\DoxyCodeLine{00058\ \ \ \ \ \ \ \ \ \mbox{\hyperlink{structbno08x__config__t_abf8805292192f4c30c5000423175a2e1}{bno08x\_config\_t}}()} -\DoxyCodeLine{00059\ \ \ \ \ \ \ \ \ \ \ \ \ :\ \mbox{\hyperlink{structbno08x__config__t_a020d2343750bb7debc2a108ae038c9ec}{spi\_peripheral}}((spi\_host\_device\_t)CONFIG\_ESP32\_BNO08x\_SPI\_HOST)} -\DoxyCodeLine{00060\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_a79023fd80039e41a22b7f73ccd5fc861}{io\_mosi}}((gpio\_num\_t)CONFIG\_ESP32\_BNO08X\_GPIO\_DI)\ \textcolor{comment}{//\ default:}} -\DoxyCodeLine{00061\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_a9468180a773892977db39cc5ed9368e3}{io\_miso}}((gpio\_num\_t)CONFIG\_ESP32\_BNO08X\_GPIO\_SDA)\ \textcolor{comment}{//\ default:}} -\DoxyCodeLine{00062\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_a639685b91ae3198909d722316495246a}{io\_sclk}}((gpio\_num\_t)CONFIG\_ESP32\_BNO08X\_GPIO\_SCL)\ \textcolor{comment}{//\ default:}} -\DoxyCodeLine{00063\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_ab1b5351b63da0c172c942463d0dc2505}{io\_cs}}((gpio\_num\_t)CONFIG\_ESP32\_BNO08X\_GPIO\_CS)\ \textcolor{comment}{//\ default:}} -\DoxyCodeLine{00064\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_a3cfe965659cfbc6b0c5269bd0211975f}{io\_int}}((gpio\_num\_t)CONFIG\_ESP32\_BNO08X\_GPIO\_HINT)\ \textcolor{comment}{//\ default:}} -\DoxyCodeLine{00065\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_a62745c761219139f66ecd173b51577fc}{io\_rst}}((gpio\_num\_t)CONFIG\_ESP32\_BNO08X\_GPIO\_RST)\ \textcolor{comment}{//\ default:}} -\DoxyCodeLine{00066\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_a90ad7f316dc443874d19dc7e723a0ce0}{io\_wake}}((gpio\_num\_t)CONFIG\_ESP32\_BNO08X\_GPIO\_WAKE)\ \textcolor{comment}{//\ default:\ -\/1\ (unused)}} -\DoxyCodeLine{00067\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_a231614c3b20888360def2ce9db83f52a}{sclk\_speed}}((uint32\_t)CONFIG\_ESP32\_BNO08X\_SCL\_SPEED\_HZ)\ \textcolor{comment}{//\ default:\ 2MH}} -\DoxyCodeLine{00068\ } -\DoxyCodeLine{00069\ \ \ \ \ \ \ \ \ \{} -\DoxyCodeLine{00070\ \ \ \ \ \ \ \ \ \}} -\DoxyCodeLine{00071\ } -\DoxyCodeLine{00073\ \ \ \ \ \ \ \ \ \mbox{\hyperlink{structbno08x__config__t_ae3b4bc522d30f9df7747ed46d0532c23}{bno08x\_config\_t}}(spi\_host\_device\_t\ \mbox{\hyperlink{structbno08x__config__t_a020d2343750bb7debc2a108ae038c9ec}{spi\_peripheral}},\ gpio\_num\_t\ \mbox{\hyperlink{structbno08x__config__t_a79023fd80039e41a22b7f73ccd5fc861}{io\_mosi}},\ gpio\_num\_t\ \mbox{\hyperlink{structbno08x__config__t_a9468180a773892977db39cc5ed9368e3}{io\_miso}},\ gpio\_num\_t\ \mbox{\hyperlink{structbno08x__config__t_a639685b91ae3198909d722316495246a}{io\_sclk}},\ gpio\_num\_t\ \mbox{\hyperlink{structbno08x__config__t_ab1b5351b63da0c172c942463d0dc2505}{io\_cs}},} -\DoxyCodeLine{00074\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ gpio\_num\_t\ \mbox{\hyperlink{structbno08x__config__t_a3cfe965659cfbc6b0c5269bd0211975f}{io\_int}},\ gpio\_num\_t\ \mbox{\hyperlink{structbno08x__config__t_a62745c761219139f66ecd173b51577fc}{io\_rst}},\ gpio\_num\_t\ \mbox{\hyperlink{structbno08x__config__t_a90ad7f316dc443874d19dc7e723a0ce0}{io\_wake}},\ uint32\_t\ \mbox{\hyperlink{structbno08x__config__t_a231614c3b20888360def2ce9db83f52a}{sclk\_speed}})} -\DoxyCodeLine{00075\ \ \ \ \ \ \ \ \ \ \ \ \ :\ \mbox{\hyperlink{structbno08x__config__t_a020d2343750bb7debc2a108ae038c9ec}{spi\_peripheral}}(\mbox{\hyperlink{structbno08x__config__t_a020d2343750bb7debc2a108ae038c9ec}{spi\_peripheral}})} -\DoxyCodeLine{00076\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_a79023fd80039e41a22b7f73ccd5fc861}{io\_mosi}}(\mbox{\hyperlink{structbno08x__config__t_a79023fd80039e41a22b7f73ccd5fc861}{io\_mosi}})} -\DoxyCodeLine{00077\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_a9468180a773892977db39cc5ed9368e3}{io\_miso}}(\mbox{\hyperlink{structbno08x__config__t_a9468180a773892977db39cc5ed9368e3}{io\_miso}})} -\DoxyCodeLine{00078\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_a639685b91ae3198909d722316495246a}{io\_sclk}}(\mbox{\hyperlink{structbno08x__config__t_a639685b91ae3198909d722316495246a}{io\_sclk}})} -\DoxyCodeLine{00079\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_ab1b5351b63da0c172c942463d0dc2505}{io\_cs}}(\mbox{\hyperlink{structbno08x__config__t_ab1b5351b63da0c172c942463d0dc2505}{io\_cs}})} -\DoxyCodeLine{00080\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_a3cfe965659cfbc6b0c5269bd0211975f}{io\_int}}(\mbox{\hyperlink{structbno08x__config__t_a3cfe965659cfbc6b0c5269bd0211975f}{io\_int}})} -\DoxyCodeLine{00081\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_a62745c761219139f66ecd173b51577fc}{io\_rst}}(\mbox{\hyperlink{structbno08x__config__t_a62745c761219139f66ecd173b51577fc}{io\_rst}})} -\DoxyCodeLine{00082\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_a90ad7f316dc443874d19dc7e723a0ce0}{io\_wake}}(\mbox{\hyperlink{structbno08x__config__t_a90ad7f316dc443874d19dc7e723a0ce0}{io\_wake}})} -\DoxyCodeLine{00083\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_a231614c3b20888360def2ce9db83f52a}{sclk\_speed}}(\mbox{\hyperlink{structbno08x__config__t_a231614c3b20888360def2ce9db83f52a}{sclk\_speed}})} -\DoxyCodeLine{00084\ \ \ \ \ \ \ \ \ \{} -\DoxyCodeLine{00085\ \ \ \ \ \ \ \ \ \}} -\DoxyCodeLine{00086\ \}\ \mbox{\hyperlink{_b_n_o08x_8hpp_a648bbdbf22731476890dd8da977d7503}{bno08x\_config\_t}};} -\DoxyCodeLine{00087\ } -\DoxyCodeLine{00088\ \textcolor{keyword}{class\ }\mbox{\hyperlink{class_b_n_o08x}{BNO08x}}} -\DoxyCodeLine{00089\ \{} -\DoxyCodeLine{00090\ \ \ \ \ \textcolor{keyword}{public}:} -\DoxyCodeLine{00091\ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_a40f7688e843d74b8bd526c6f5ff17845}{BNO08x}}(\mbox{\hyperlink{structbno08x__config__t}{bno08x\_config\_t}}\ \mbox{\hyperlink{class_b_n_o08x_aeda443e9f608fccfec0e6770edc90c82}{imu\_config}}\ =\ \mbox{\hyperlink{class_b_n_o08x_a6232920a05c0aba34e5560951a20ae87}{default\_imu\_config}});} -\DoxyCodeLine{00092\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{class_b_n_o08x_aea8e2c6dd7a2c9899479a7f39fe94798}{initialize}}();} -\DoxyCodeLine{00093\ } -\DoxyCodeLine{00094\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{class_b_n_o08x_a28cd1c0b3477571d87133234e6358503}{hard\_reset}}();} -\DoxyCodeLine{00095\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{class_b_n_o08x_a973a1b1785f3302ee1b2702c6a27646e}{soft\_reset}}();} -\DoxyCodeLine{00096\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a11bb1b3fa44ad8f28c1492b5c07af886}{get\_reset\_reason}}();} -\DoxyCodeLine{00097\ } -\DoxyCodeLine{00098\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{class_b_n_o08x_a176ae0112325c05105eacb4566bbfa0b}{mode\_sleep}}();} -\DoxyCodeLine{00099\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{class_b_n_o08x_ac1b3de9b552c611ee9c455d7f19be698}{mode\_on}}();} -\DoxyCodeLine{00100\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a27fb24e894f794ec6228ef142b6ff8d9}{q\_to\_float}}(int16\_t\ fixed\_point\_value,\ uint8\_t\ q\_point);} -\DoxyCodeLine{00101\ } -\DoxyCodeLine{00102\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{class_b_n_o08x_ae6e875a27ae74ebed806ee1a4576845a}{run\_full\_calibration\_routine}}();} -\DoxyCodeLine{00103\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_afd0ca5f9b9741935543d143a5a43d128}{calibrate\_all}}();} -\DoxyCodeLine{00104\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_aeffce374f558a167d5b5f19ad627e7cc}{calibrate\_accelerometer}}();} -\DoxyCodeLine{00105\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a9ada90f8ab6dd33fa2d7c168d9234af1}{calibrate\_gyro}}();} -\DoxyCodeLine{00106\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_ac26350b55095a346d72598ab8aa74b4a}{calibrate\_magnetometer}}();} -\DoxyCodeLine{00107\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a1c6c49c97bc098db89db1aaa37e18f26}{calibrate\_planar\_accelerometer}}();} -\DoxyCodeLine{00108\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_affaaa35abbb872da5299ebab6e2c9b11}{request\_calibration\_status}}();} -\DoxyCodeLine{00109\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{class_b_n_o08x_a71ca35f78b98d93d31eb0c187dc8543b}{calibration\_complete}}();} -\DoxyCodeLine{00110\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_ac9d9b6636745e8180807284da67c92a2}{end\_calibration}}();} -\DoxyCodeLine{00111\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_aa16609de88bfb7b389348859aa0cee54}{save\_calibration}}();} -\DoxyCodeLine{00112\ } -\DoxyCodeLine{00113\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_ab4c1d5cde156af09b7e88913f3af62c7}{enable\_rotation\_vector}}(uint32\_t\ time\_between\_reports);} -\DoxyCodeLine{00114\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_abe04c38b5bd52d331bd8aefae1f51947}{enable\_game\_rotation\_vector}}(uint32\_t\ time\_between\_reports);} -\DoxyCodeLine{00115\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a8a5f3b985989e846e831f70f7733d0bc}{enable\_ARVR\_stabilized\_rotation\_vector}}(uint32\_t\ time\_between\_reports);} -\DoxyCodeLine{00116\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a5680148a41cb9cc96d1911150c46d2b8}{enable\_ARVR\_stabilized\_game\_rotation\_vector}}(uint32\_t\ time\_between\_reports);} -\DoxyCodeLine{00117\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a7388c67de3906ad05b233fd7eff0514d}{enable\_gyro\_integrated\_rotation\_vector}}(uint32\_t\ time\_between\_reports);} -\DoxyCodeLine{00118\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a2795c6579cf03e22f62a5eadc88dee91}{enable\_accelerometer}}(uint32\_t\ time\_between\_reports);} -\DoxyCodeLine{00119\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_ae1435b83ca83bc51b75f3303afe87f7b}{enable\_linear\_accelerometer}}(uint32\_t\ time\_between\_reports);} -\DoxyCodeLine{00120\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a030eae12c3586acf09b48e94630b2544}{enable\_gravity}}(uint32\_t\ time\_between\_reports);} -\DoxyCodeLine{00121\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_ad7b322681b9ec5f57edb09e336b988c0}{enable\_gyro}}(uint32\_t\ time\_between\_reports);} -\DoxyCodeLine{00122\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a7fe5de95b1f51da44247a87317fd0c75}{enable\_uncalibrated\_gyro}}(uint32\_t\ time\_between\_reports);} -\DoxyCodeLine{00123\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a3c32120bcd0987c3ca1bb72910586b59}{enable\_magnetometer}}(uint32\_t\ time\_between\_reports);} -\DoxyCodeLine{00124\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_ab4c8e37c730ddb168f78c29bd7ae6566}{enable\_tap\_detector}}(uint32\_t\ time\_between\_reports);} -\DoxyCodeLine{00125\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a5a0b0f5b8e962247a3b8aee8f1dc8e9f}{enable\_step\_counter}}(uint32\_t\ time\_between\_reports);} -\DoxyCodeLine{00126\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_ab0a60844b36fb140cad588a65b3a9655}{enable\_stability\_classifier}}(uint32\_t\ time\_between\_reports);} -\DoxyCodeLine{00127\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{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)[9]);} -\DoxyCodeLine{00128\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a3042301cf0f51657c82b1127dce230f4}{enable\_raw\_accelerometer}}(uint32\_t\ time\_between\_reports);} -\DoxyCodeLine{00129\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a8d8e75f0234287cb89cbec553cffe52c}{enable\_raw\_gyro}}(uint32\_t\ time\_between\_reports);} -\DoxyCodeLine{00130\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a14ebec501b8d004a38648a9a1f7a2c9e}{enable\_raw\_magnetometer}}(uint32\_t\ time\_between\_reports);} -\DoxyCodeLine{00131\ } -\DoxyCodeLine{00132\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a1ebd456d2a67a22b5ba0911a95915921}{disable\_rotation\_vector}}();} -\DoxyCodeLine{00133\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a7665cce95e791c89161ec863f49c0392}{disable\_game\_rotation\_vector}}();} -\DoxyCodeLine{00134\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_aa59e3d8953c96dc1cc5958a1ac628df4}{disable\_ARVR\_stabilized\_rotation\_vector}}();} -\DoxyCodeLine{00135\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_ab187fe50fcfbb04bec9e80eb0fccf61c}{disable\_ARVR\_stabilized\_game\_rotation\_vector}}();} -\DoxyCodeLine{00136\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_aac0a00bed7825d8a2c357a48c3626931}{disable\_gyro\_integrated\_rotation\_vector}}();} -\DoxyCodeLine{00137\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_ad5c991150895b80bee68c933059a4058}{disable\_accelerometer}}();} -\DoxyCodeLine{00138\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_afbd2b02d5abe7084ce9de49ee2c9142f}{disable\_linear\_accelerometer}}();} -\DoxyCodeLine{00139\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a5e63a9e68dbe2968b37dcb6dae04de6f}{disable\_gravity}}();} -\DoxyCodeLine{00140\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a8296089e2fdbd7d2e85f364cf063af82}{disable\_gyro}}();} -\DoxyCodeLine{00141\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_aaf28212a5f1960c62a73282976142cfc}{disable\_uncalibrated\_gyro}}();} -\DoxyCodeLine{00142\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a6671b082d20dda8bf5c53cb47db0c338}{disable\_magnetometer}}();} -\DoxyCodeLine{00143\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a16f83d1e85576a51abf2c65e5de58cd2}{disable\_tap\_detector}}();} -\DoxyCodeLine{00144\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a427550a4ba25252912436b899124e157}{disable\_step\_counter}}();} -\DoxyCodeLine{00145\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_ab307ed3352e04c9e998ab4dd066f8932}{disable\_stability\_classifier}}();} -\DoxyCodeLine{00146\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a4fdc39294922a9553d84cd96bdae4376}{disable\_activity\_classifier}}();} -\DoxyCodeLine{00147\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a171d78f4b00598b04c8ca54da16c508b}{disable\_raw\_accelerometer}}();} -\DoxyCodeLine{00148\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a75ef3d09f1ee016999c459e43e9e8c44}{disable\_raw\_gyro}}();} -\DoxyCodeLine{00149\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_add29c84038558c28bcfca37865cf9244}{disable\_raw\_magnetometer}}();} -\DoxyCodeLine{00150\ } -\DoxyCodeLine{00151\ \ \ \ \ \ \ \ \ \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{00152\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_afb2ffc4e7ff0498917bc14a83af306e2}{save\_tare}}();} -\DoxyCodeLine{00153\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_afe39bfdede7b9a2b273983cb29a27d6e}{clear\_tare}}();} -\DoxyCodeLine{00154\ } -\DoxyCodeLine{00155\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{class_b_n_o08x_a367d525d1c0ba119b3dca3067bb5bccc}{data\_available}}();} -\DoxyCodeLine{00156\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a06bb0c70305421b5357e64f31579fdc7}{register\_cb}}(std::function<\textcolor{keywordtype}{void}()>\ cb\_fxn);} -\DoxyCodeLine{00157\ } -\DoxyCodeLine{00158\ \ \ \ \ \ \ \ \ uint32\_t\ \mbox{\hyperlink{class_b_n_o08x_ad9137777271421a58159f3fe5e05ed20}{get\_time\_stamp}}();} -\DoxyCodeLine{00159\ } -\DoxyCodeLine{00160\ \ \ \ \ \ \ \ \ \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{00161\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a111601243b913751eb51c1f37cba4e7d}{get\_magf\_X}}();} -\DoxyCodeLine{00162\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a82ed8d7b9a5c25374839df75a3d220ea}{get\_magf\_Y}}();} -\DoxyCodeLine{00163\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_ab4c48a91d2f8b29430abc17b7f015282}{get\_magf\_Z}}();} -\DoxyCodeLine{00164\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a487391e6b2dd7f05084804d1fb94976f}{get\_magf\_accuracy}}();} -\DoxyCodeLine{00165\ } -\DoxyCodeLine{00166\ \ \ \ \ \ \ \ \ \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{00167\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a88679bccd9339b87ec35fc4fc4e745ae}{get\_gravity\_X}}();} -\DoxyCodeLine{00168\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a8a36db7f1c932f33e05e494632059801}{get\_gravity\_Y}}();} -\DoxyCodeLine{00169\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a5622b4d1754648ea7eb400c1adf9e807}{get\_gravity\_Z}}();} -\DoxyCodeLine{00170\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_accd39f48e9f8ab8267df7184b5b7cd76}{get\_gravity\_accuracy}}();} -\DoxyCodeLine{00171\ } -\DoxyCodeLine{00172\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a89618eba08186ee8e679e7313907ddef}{get\_roll}}();} -\DoxyCodeLine{00173\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a1b91f234d81c45f1f5ca2f27c9f0f6a3}{get\_pitch}}();} -\DoxyCodeLine{00174\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a64d3e41750c6de9413d6982511f78f17}{get\_yaw}}();} -\DoxyCodeLine{00175\ } -\DoxyCodeLine{00176\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a7077b9a130f1dcf0192454e387968dd6}{get\_roll\_deg}}();} -\DoxyCodeLine{00177\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_af50010400cbd1445e9ddfa259384b412}{get\_pitch\_deg}}();} -\DoxyCodeLine{00178\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_af80f7795656e695e036d3b1557aed94c}{get\_yaw\_deg}}();} -\DoxyCodeLine{00179\ } -\DoxyCodeLine{00180\ \ \ \ \ \ \ \ \ \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{00181\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a12c12a8e078b28480fb8828d306656f5}{get\_quat\_I}}();} -\DoxyCodeLine{00182\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a9f6bb642fa0297a7b9bcc94dd7374015}{get\_quat\_J}}();} -\DoxyCodeLine{00183\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a9f42c70c2337a0d831064a40ecfe2dd8}{get\_quat\_K}}();} -\DoxyCodeLine{00184\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a5a556c5ec1baaa7f1156779dbe47a7b7}{get\_quat\_real}}();} -\DoxyCodeLine{00185\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a61b7d10a98afc6903fea6b2cede27630}{get\_quat\_radian\_accuracy}}();} -\DoxyCodeLine{00186\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a24ba760d064a1dc45f972c79b9c8d98d}{get\_quat\_accuracy}}();} -\DoxyCodeLine{00187\ } -\DoxyCodeLine{00188\ \ \ \ \ \ \ \ \ \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{00189\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_abce574112a9079d2cbc58cfc352b8a69}{get\_accel\_X}}();} -\DoxyCodeLine{00190\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_afdf24bb3d54518b23972f21f007817c1}{get\_accel\_Y}}();} -\DoxyCodeLine{00191\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a0a72477cb7a330fedbcb3e2126b882b1}{get\_accel\_Z}}();} -\DoxyCodeLine{00192\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a3fce726d5de821f97ed207036dae2900}{get\_accel\_accuracy}}();} -\DoxyCodeLine{00193\ } -\DoxyCodeLine{00194\ \ \ \ \ \ \ \ \ \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{00195\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a763c3a9699a1081d430fd9b9b7bc49a3}{get\_linear\_accel\_X}}();} -\DoxyCodeLine{00196\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a1033bdd65b42b6706d1dfc67ece66191}{get\_linear\_accel\_Y}}();} -\DoxyCodeLine{00197\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_afdfa7d50362702da689c5d18bf17fd84}{get\_linear\_accel\_Z}}();} -\DoxyCodeLine{00198\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a33fe3c2f47759cfae5f4b612ddd329ea}{get\_linear\_accel\_accuracy}}();} -\DoxyCodeLine{00199\ } -\DoxyCodeLine{00200\ \ \ \ \ \ \ \ \ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_a1de356dd604c1dffcd1a32faeb4fafe2}{get\_raw\_accel\_X}}();} -\DoxyCodeLine{00201\ \ \ \ \ \ \ \ \ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_a96563de0eb597a52d595d19da827b1ac}{get\_raw\_accel\_Y}}();} -\DoxyCodeLine{00202\ \ \ \ \ \ \ \ \ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_a718cdd910e5e7e03fd0a1ad04ee6f0ce}{get\_raw\_accel\_Z}}();} -\DoxyCodeLine{00203\ } -\DoxyCodeLine{00204\ \ \ \ \ \ \ \ \ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_af1b2c3a383a84fc6dfaddae1052b44d4}{get\_raw\_gyro\_X}}();} -\DoxyCodeLine{00205\ \ \ \ \ \ \ \ \ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_aff7714441d242b3b9b0c03f94e0a9374}{get\_raw\_gyro\_Y}}();} -\DoxyCodeLine{00206\ \ \ \ \ \ \ \ \ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_a2e28b5a79c442a6baa2fa5165b9ce37d}{get\_raw\_gyro\_Z}}();} -\DoxyCodeLine{00207\ } -\DoxyCodeLine{00208\ \ \ \ \ \ \ \ \ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_adf12600b39de41d258439a343fcc1ad8}{get\_raw\_magf\_X}}();} -\DoxyCodeLine{00209\ \ \ \ \ \ \ \ \ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_a2c842e43ceae19149f6525bcbc48f1cf}{get\_raw\_magf\_Y}}();} -\DoxyCodeLine{00210\ \ \ \ \ \ \ \ \ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_a99c1bcc2ec3ca3d8feafd6dd61f9d269}{get\_raw\_magf\_Z}}();} -\DoxyCodeLine{00211\ } -\DoxyCodeLine{00212\ \ \ \ \ \ \ \ \ \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{00213\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_ab7977391191067282e7f734b9ee45059}{get\_gyro\_calibrated\_velocity\_X}}();} -\DoxyCodeLine{00214\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_ad4fab6e636e239d4b9273f158983ed89}{get\_gyro\_calibrated\_velocity\_Y}}();} -\DoxyCodeLine{00215\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a15a29c3bb476048b7229abcfb2b1d52a}{get\_gyro\_calibrated\_velocity\_Z}}();} -\DoxyCodeLine{00216\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a811999653110858311c97a779c388e5d}{get\_gyro\_accuracy}}();} -\DoxyCodeLine{00217\ } -\DoxyCodeLine{00218\ \ \ \ \ \ \ \ \ \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{00219\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a289ff66f51c94be62c4a556f3a5997bf}{get\_uncalibrated\_gyro\_X}}();} -\DoxyCodeLine{00220\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a1874e4bd457bb5b6ecc2c64039b88ba4}{get\_uncalibrated\_gyro\_Y}}();} -\DoxyCodeLine{00221\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a0a73633d8929ce4058b14cefc8cad717}{get\_uncalibrated\_gyro\_Z}}();} -\DoxyCodeLine{00222\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_ad228cdf352b7ea95e484da993045a47b}{get\_uncalibrated\_gyro\_bias\_X}}();} -\DoxyCodeLine{00223\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a74725517129dd548c7a3de705d5861bd}{get\_uncalibrated\_gyro\_bias\_Y}}();} -\DoxyCodeLine{00224\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a5050359272abd146ab3c7a6101effbd7}{get\_uncalibrated\_gyro\_bias\_Z}}();} -\DoxyCodeLine{00225\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a3285613f18b2f2f4c3f9e6d5c971af10}{get\_uncalibrated\_gyro\_accuracy}}();} -\DoxyCodeLine{00226\ } -\DoxyCodeLine{00227\ \ \ \ \ \ \ \ \ \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{00228\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_acd376cd3e454a87198ec86accbf2ee00}{get\_gyro\_velocity\_X}}();} -\DoxyCodeLine{00229\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_acd1819a81818f90dc105950b4a7d0b04}{get\_gyro\_velocity\_Y}}();} -\DoxyCodeLine{00230\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_ae2add976af256ec981248371a2f58207}{get\_gyro\_velocity\_Z}}();} -\DoxyCodeLine{00231\ } -\DoxyCodeLine{00232\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a4797ec731de4c158716da1a7af9d1602}{get\_tap\_detector}}();} -\DoxyCodeLine{00233\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_adaff49f3d80fdd19fd4210f0c56d41ef}{get\_step\_count}}();} -\DoxyCodeLine{00234\ \ \ \ \ \ \ \ \ int8\_t\ \mbox{\hyperlink{class_b_n_o08x_a0d148e00abcfeec48c689e3084a7e786}{get\_stability\_classifier}}();} -\DoxyCodeLine{00235\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a4f7060b2d3c15b359b70b6346730446a}{get\_activity\_classifier}}();} -\DoxyCodeLine{00236\ } -\DoxyCodeLine{00237\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ Metadata\ functions}} -\DoxyCodeLine{00238\ \ \ \ \ \ \ \ \ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_a4421c43323945946ad605f8422958dcf}{get\_Q1}}(uint16\_t\ record\_ID);} -\DoxyCodeLine{00239\ \ \ \ \ \ \ \ \ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_a954dccdcbe8a8c4f1787f13ebb8d932b}{get\_Q2}}(uint16\_t\ record\_ID);} -\DoxyCodeLine{00240\ \ \ \ \ \ \ \ \ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_a1590ba793668f9cb1a32a1f4dd07cb9a}{get\_Q3}}(uint16\_t\ record\_ID);} -\DoxyCodeLine{00241\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a1d6ea02d0d4b23ff6a15e9d5c6c92372}{get\_resolution}}(uint16\_t\ record\_ID);} -\DoxyCodeLine{00242\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a0fff04c42c9502615ad73cd1457cb9b0}{get\_range}}(uint16\_t\ record\_ID);} -\DoxyCodeLine{00243\ \ \ \ \ \ \ \ \ uint32\_t\ \mbox{\hyperlink{class_b_n_o08x_a27f5dce5c994be18a587fb622574ad41}{FRS\_read\_word}}(uint16\_t\ record\_ID,\ uint8\_t\ word\_number);} -\DoxyCodeLine{00244\ \ \ \ \ \ \ \ \ \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{00245\ \ \ \ \ \ \ \ \ \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{00246\ } -\DoxyCodeLine{00247\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ Record\ IDs\ from\ figure\ 29,\ page\ 29\ reference\ manual}} -\DoxyCodeLine{00248\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ These\ are\ used\ to\ read\ the\ metadata\ for\ each\ sensor\ type}} -\DoxyCodeLine{00249\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_ad7ef7d7068af5f92239c12022dbeb16d}{FRS\_RECORD\_ID\_ACCELEROMETER}}\ =} -\DoxyCodeLine{00250\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ 0xE302;\ } -\DoxyCodeLine{00251\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_a35d8f641e73c308f92a5a0a772f90f48}{FRS\_RECORD\_ID\_GYROSCOPE\_CALIBRATED}}\ =} -\DoxyCodeLine{00252\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ 0xE306;\ } -\DoxyCodeLine{00253\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_a0992d77f9bae0b8e3c8d9331fe84fe24}{FRS\_RECORD\_ID\_MAGNETIC\_FIELD\_CALIBRATED}}\ =} -\DoxyCodeLine{00254\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ 0xE309;\ } -\DoxyCodeLine{00255\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_a9f35840b19c8ad11fd1b4622c3269250}{FRS\_RECORD\_ID\_ROTATION\_VECTOR}}\ =} -\DoxyCodeLine{00256\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ 0xE30B;\ } -\DoxyCodeLine{00257\ } -\DoxyCodeLine{00258\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a1ef13f6f330810934416ad5fe0ee55b2}{TARE\_AXIS\_ALL}}\ =\ 0x07;\ } -\DoxyCodeLine{00259\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_aecb3e11c1ca5769fd60f42c17a105731}{TARE\_AXIS\_Z}}\ =\ 0x04;\ \ \ } -\DoxyCodeLine{00260\ } -\DoxyCodeLine{00261\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ Which\ rotation\ vector\ to\ tare,\ BNO08x\ saves\ them\ seperately}} -\DoxyCodeLine{00262\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a8e2cfc25d0e34ae53a762b88cc3ac3c8}{TARE\_ROTATION\_VECTOR}}\ =\ 0;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ } -\DoxyCodeLine{00263\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_abaf1ec8bb197db1998a9ed3cec6180d5}{TARE\_GAME\_ROTATION\_VECTOR}}\ =\ 1;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ } -\DoxyCodeLine{00264\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a225397a04d849e5647992ca80d68febb}{TARE\_GEOMAGNETIC\_ROTATION\_VECTOR}}\ =\ 2;\ \ \ \ \ \ \ \ \ \ } -\DoxyCodeLine{00265\ \ \ \ \ \ \ \ \ \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{00266\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_abff9abe904bcdde951cf88c378284b45}{TARE\_ARVR\_STABILIZED\_ROTATION\_VECTOR}}\ =\ 4;\ \ \ \ \ \ } -\DoxyCodeLine{00267\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a68aaaab144adbe5af00597408f044d9d}{TARE\_ARVR\_STABILIZED\_GAME\_ROTATION\_VECTOR}}\ =\ 5;\ } -\DoxyCodeLine{00268\ } -\DoxyCodeLine{00269\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_a0b19c8f2de2b2bfe033da7f93cdd2608}{ROTATION\_VECTOR\_Q1}}\ =\ 14;\ \ \ \ \ \ \ \ \ \ } -\DoxyCodeLine{00270\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_a923d65d8568cc31873ad56a3908e1939}{ROTATION\_VECTOR\_ACCURACY\_Q1}}\ =\ 12;\ } -\DoxyCodeLine{00271\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_a0564aaf5b20dc42b54db4fb3115ac1c7}{ACCELEROMETER\_Q1}}\ =\ 8;\ \ \ \ \ \ \ \ \ \ \ \ \ } -\DoxyCodeLine{00272\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_ad0d37fe07ced24f2c9afc21145a74e7b}{LINEAR\_ACCELEROMETER\_Q1}}\ =\ 8;\ \ \ \ \ \ } -\DoxyCodeLine{00273\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_aa3bec8effefa61cec6fa170e9d02c4dd}{GYRO\_Q1}}\ =\ 9;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ } -\DoxyCodeLine{00274\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_a9fac9b811b7c2117675a784cb4df204c}{MAGNETOMETER\_Q1}}\ =\ 4;\ \ \ \ \ \ \ \ \ \ \ \ \ \ } -\DoxyCodeLine{00275\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_aafe117561fe9138800073a04a778b4ce}{ANGULAR\_VELOCITY\_Q1}}\ =\ 10;\ \ \ \ \ \ \ \ \ } -\DoxyCodeLine{00276\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_ae10722334dfce9635e76519598e165a2}{GRAVITY\_Q1}}\ =\ 8;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ } -\DoxyCodeLine{00277\ } -\DoxyCodeLine{00278\ \ \ \ \ \textcolor{keyword}{private}:} -\DoxyCodeLine{00280\ \ \ \ \ \ \ \ \ \textcolor{keyword}{typedef}\ \textcolor{keyword}{struct\ }\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__rx__packet__t}{bno08x\_rx\_packet\_t}}} -\DoxyCodeLine{00281\ \ \ \ \ \ \ \ \ \{} -\DoxyCodeLine{00282\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__rx__packet__t_a667d671ccb272bd375008716e26e0b5b}{header}}[4];\ } -\DoxyCodeLine{00283\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__rx__packet__t_ab422d75e1fcd776ef412f4d623cc293e}{body}}[300];\ } -\DoxyCodeLine{00284\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__rx__packet__t_a645adb6ba8fb2afbb99ec58fe678e205}{length}};\ \ \ } -\DoxyCodeLine{00285\ \ \ \ \ \ \ \ \ \}\ \mbox{\hyperlink{class_b_n_o08x_a407711b4a84223a52cc043a152aea8ba}{bno08x\_rx\_packet\_t}};} -\DoxyCodeLine{00286\ } -\DoxyCodeLine{00288\ \ \ \ \ \ \ \ \ \textcolor{keyword}{typedef}\ \textcolor{keyword}{struct\ }\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__tx__packet__t}{bno08x\_tx\_packet\_t}}} -\DoxyCodeLine{00289\ \ \ \ \ \ \ \ \ \{} -\DoxyCodeLine{00290\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__tx__packet__t_a4478c6cd9e87907eacc56dd06ad4a69d}{body}}[50];\ } -\DoxyCodeLine{00291\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__tx__packet__t_a73180537ea7605340c5e6b2132e2cbf5}{length}};\ \ } -\DoxyCodeLine{00292\ \ \ \ \ \ \ \ \ \}\ \mbox{\hyperlink{class_b_n_o08x_a3a1a869ac69e6ee850bd2a7f90dd8945}{bno08x\_tx\_packet\_t}};} -\DoxyCodeLine{00293\ } -\DoxyCodeLine{00294\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{class_b_n_o08x_a2897a178bf2c53cd99df0d4570edf72e}{wait\_for\_rx\_done}}();} -\DoxyCodeLine{00295\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{class_b_n_o08x_a7cdeb849e728487de961cdfd4030c773}{wait\_for\_tx\_done}}();} -\DoxyCodeLine{00296\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{class_b_n_o08x_a4f12de628073f44b2a3fab2688cf1caf}{wait\_for\_data}}();} -\DoxyCodeLine{00297\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{class_b_n_o08x_ae540799865934fcff54caed0772df071}{receive\_packet}}();} -\DoxyCodeLine{00298\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a2c359a44a2c8e83ecb258a340e2d0e1a}{send\_packet}}(\mbox{\hyperlink{class_b_n_o08x_a3a1a869ac69e6ee850bd2a7f90dd8945}{bno08x\_tx\_packet\_t}}*\ packet);} -\DoxyCodeLine{00299\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a41613e65ea9beef883184b7ef67affdd}{enable\_report}}(uint8\_t\ report\_ID,\ uint32\_t\ time\_between\_reports,\ \textcolor{keyword}{const}\ EventBits\_t\ report\_evt\_grp\_bit);} -\DoxyCodeLine{00300\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a00ec3857cb06ae885e32059ef1cab693}{disable\_report}}(uint8\_t\ report\_ID,\ \textcolor{keyword}{const}\ EventBits\_t\ report\_evt\_grp\_bit);} -\DoxyCodeLine{00301\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a62c570ba96512f4d0d10b2594048de1f}{queue\_packet}}(uint8\_t\ channel\_number,\ uint8\_t\ data\_length,\ uint8\_t*\ commands);} -\DoxyCodeLine{00302\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a5cc58139e4d5f0587b90e249ceb476f9}{queue\_command}}(uint8\_t\ command,\ uint8\_t*\ commands);} -\DoxyCodeLine{00303\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_af2951f6ea448af7cf7932fbfed9fec3c}{queue\_feature\_command}}(uint8\_t\ report\_ID,\ uint32\_t\ time\_between\_reports);} -\DoxyCodeLine{00304\ \ \ \ \ \ \ \ \ \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{00305\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_ad097849616c5caab1fd3eb3632ee2b91}{queue\_calibrate\_command}}(uint8\_t\ \_to\_calibrate);} -\DoxyCodeLine{00306\ \ \ \ \ \ \ \ \ \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{00307\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_ab5f200069a2f8cb74cb79c6f162da5a1}{queue\_request\_product\_id\_command}}();} -\DoxyCodeLine{00308\ } -\DoxyCodeLine{00309\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_a67a697595d6a4d4638a53c6b4a5ef0cd}{parse\_packet}}(\mbox{\hyperlink{class_b_n_o08x_a407711b4a84223a52cc043a152aea8ba}{bno08x\_rx\_packet\_t}}*\ packet);} -\DoxyCodeLine{00310\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_a29cfd7fc2816483ebebe9d55b677a036}{parse\_product\_id\_report}}(\mbox{\hyperlink{class_b_n_o08x_a407711b4a84223a52cc043a152aea8ba}{bno08x\_rx\_packet\_t}}*\ packet);} -\DoxyCodeLine{00311\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_a51b360d795563b55559f11efb40be36a}{parse\_frs\_read\_response\_report}}(\mbox{\hyperlink{class_b_n_o08x_a407711b4a84223a52cc043a152aea8ba}{bno08x\_rx\_packet\_t}}*\ packet);} -\DoxyCodeLine{00312\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_a8d9db3e1b6208c2661e1c543deefa53d}{parse\_input\_report}}(\mbox{\hyperlink{class_b_n_o08x_a407711b4a84223a52cc043a152aea8ba}{bno08x\_rx\_packet\_t}}*\ packet);} -\DoxyCodeLine{00313\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_a4f66045a0528a0c17c52421ea51612e7}{parse\_command\_report}}(\mbox{\hyperlink{class_b_n_o08x_a407711b4a84223a52cc043a152aea8ba}{bno08x\_rx\_packet\_t}}*\ packet);} -\DoxyCodeLine{00314\ } -\DoxyCodeLine{00315\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ for\ debug}} -\DoxyCodeLine{00316\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a35856c108a47de8b3b38c4395aabb4eb}{print\_header}}(\mbox{\hyperlink{class_b_n_o08x_a407711b4a84223a52cc043a152aea8ba}{bno08x\_rx\_packet\_t}}*\ packet);} -\DoxyCodeLine{00317\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a05e4cd5861b55fc0182d7dd13bb85e49}{print\_packet}}(\mbox{\hyperlink{class_b_n_o08x_a407711b4a84223a52cc043a152aea8ba}{bno08x\_rx\_packet\_t}}*\ packet);} -\DoxyCodeLine{00318\ } -\DoxyCodeLine{00319\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \mbox{\hyperlink{structbno08x__config__t}{bno08x\_config\_t}}\ \mbox{\hyperlink{class_b_n_o08x_a6232920a05c0aba34e5560951a20ae87}{default\_imu\_config}};\ } -\DoxyCodeLine{00320\ } -\DoxyCodeLine{00321\ \ \ \ \ \ \ \ \ EventGroupHandle\_t} -\DoxyCodeLine{00322\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_aa2b4442b5cc63ebf0c495e6fb537c85e}{evt\_grp\_spi}};\ } -\DoxyCodeLine{00323\ \ \ \ \ \ \ \ \ EventGroupHandle\_t\ \mbox{\hyperlink{class_b_n_o08x_a63eb6c8be6f3bc943a86bb0496871275}{evt\_grp\_report\_en}};\ } -\DoxyCodeLine{00324\ } -\DoxyCodeLine{00325\ \ \ \ \ \ \ \ \ QueueHandle\_t\ \mbox{\hyperlink{class_b_n_o08x_a7d4661d3aae56013caa8f2bff0f67c08}{queue\_rx\_data}};\ \ \ \ \ \ \ } -\DoxyCodeLine{00326\ \ \ \ \ \ \ \ \ QueueHandle\_t\ \mbox{\hyperlink{class_b_n_o08x_a4d5c5eee87a578de9c8318cd294b3a22}{queue\_tx\_data}};\ \ \ \ \ \ \ } -\DoxyCodeLine{00327\ \ \ \ \ \ \ \ \ QueueHandle\_t\ \mbox{\hyperlink{class_b_n_o08x_a9a1c851e8fa5633e11f6abee293d7e9b}{queue\_frs\_read\_data}};\ } -\DoxyCodeLine{00328\ \ \ \ \ \ \ \ \ QueueHandle\_t\ \mbox{\hyperlink{class_b_n_o08x_a84b3639cc159262e0137adb0db5cf9aa}{queue\_reset\_reason}};\ \ } -\DoxyCodeLine{00329\ } -\DoxyCodeLine{00330\ \ \ \ \ \ \ \ \ std::vector>\ \mbox{\hyperlink{class_b_n_o08x_a6a15e3a64dd71ea61f0448afcce96409}{cb\_list}};\ \textcolor{comment}{//\ Vector\ for\ storing\ any\ call-\/back\ functions\ added\ with\ register\_cb()}} -\DoxyCodeLine{00331\ } -\DoxyCodeLine{00332\ \ \ \ \ \ \ \ \ uint32\_t\ \mbox{\hyperlink{class_b_n_o08x_a7bd032712a975e73e66bd72a3502baba}{meta\_data}}[9];\ } -\DoxyCodeLine{00333\ } -\DoxyCodeLine{00334\ \ \ \ \ \ \ \ \ \mbox{\hyperlink{structbno08x__config__t}{bno08x\_config\_t}}\ \mbox{\hyperlink{class_b_n_o08x_aeda443e9f608fccfec0e6770edc90c82}{imu\_config}}\{\};\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ } -\DoxyCodeLine{00335\ \ \ \ \ \ \ \ \ spi\_bus\_config\_t\ \mbox{\hyperlink{class_b_n_o08x_a982f065df42f00e53fd87c840efdb0f1}{bus\_config}}\{\};\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ } -\DoxyCodeLine{00336\ \ \ \ \ \ \ \ \ spi\_device\_interface\_config\_t\ \mbox{\hyperlink{class_b_n_o08x_a425a1f5a9f3232aadc685caaf4c2f82e}{imu\_spi\_config}}\{\};\ } -\DoxyCodeLine{00337\ \ \ \ \ \ \ \ \ spi\_device\_handle\_t\ \mbox{\hyperlink{class_b_n_o08x_acc0ea091465fc9a5736f5e0c6a0ce8ef}{spi\_hdl}}\{\};\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ } -\DoxyCodeLine{00338\ \ \ \ \ \ \ \ \ spi\_transaction\_t\ \mbox{\hyperlink{class_b_n_o08x_ac16adc5f00b0039c98a4921f13895026}{spi\_transaction}}\{\};\ \ \ \ \ \ \ \ \ \ \ \ } -\DoxyCodeLine{00339\ } -\DoxyCodeLine{00340\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ These\ are\ the\ raw\ sensor\ values\ (without\ Q\ applied)\ pulled\ from\ the\ user\ requested\ Input\ Report}} -\DoxyCodeLine{00341\ \ \ \ \ \ \ \ \ uint32\_t\ \mbox{\hyperlink{class_b_n_o08x_abc972db20affbd0040b4e6c4892dd57b}{time\_stamp}};\ } -\DoxyCodeLine{00342\ \ \ \ \ \ \ \ \ 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{00343\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_a3365b7ebde01e284274e655c60343df9}{accel\_accuracy}};\ } -\DoxyCodeLine{00344\ \ \ \ \ \ \ \ \ 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{00345\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_a35e1635ef5edde8fc8640f978c6f2e3c}{accel\_lin\_accuracy}};\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ } -\DoxyCodeLine{00346\ \ \ \ \ \ \ \ \ 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{00347\ \ \ \ \ \ \ \ \ 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{00348\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_a36223f7124751fa71e860b2ef55dd2ac}{quat\_accuracy}};\ } -\DoxyCodeLine{00349\ \ \ \ \ \ \ \ \ 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{00350\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_ab49f9a6586d709bbd26280ef44a4bbf7}{raw\_velocity\_gyro\_Z}};\ } -\DoxyCodeLine{00351\ \ \ \ \ \ \ \ \ 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{00352\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_ae01698d287ea999179a11e2244902022}{gravity\_accuracy}};\ } -\DoxyCodeLine{00353\ \ \ \ \ \ \ \ \ 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{00354\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_a081c666a3f24016d0ec5c5edc49f2903}{uncalib\_gyro\_accuracy}};\ } -\DoxyCodeLine{00355\ \ \ \ \ \ \ \ \ 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{00356\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_ac5d4e151690774687efa951ca41c16ae}{magf\_accuracy}};\ \ \ \ \ \ \ \ \ } -\DoxyCodeLine{00357\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a1171a5738a4e6831ec7fa32a29f15554}{tap\_detector}};\ \ \ \ \ \ \ \ \ \ } -\DoxyCodeLine{00358\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_ad80a77973371b12d722ea39063c648be}{step\_count}};\ \ \ \ \ \ \ \ \ \ \ } -\DoxyCodeLine{00359\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a1b12471e92536a79d0c425d77676f2e1}{stability\_classifier}};\ \ } -\DoxyCodeLine{00360\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a75cea49c1c08ca28d9fa7e5ed61c6e7b}{activity\_classifier}};\ \ \ } -\DoxyCodeLine{00361\ \ \ \ \ \ \ \ \ uint8\_t*\ \mbox{\hyperlink{class_b_n_o08x_af96e8cd070459f945ffbf01b98106e13}{activity\_confidences}};\ } -\DoxyCodeLine{00362\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_ad212b5028a31e857e76d251ced2724e1}{calibration\_status}};\ \ \ \ } -\DoxyCodeLine{00363\ \ \ \ \ \ \ \ \ 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{00364\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_a59a4d75f1302ab693b1b26e9ccaa5341}{mems\_raw\_accel\_Z}};\ } -\DoxyCodeLine{00365\ \ \ \ \ \ \ \ \ 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{00366\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_ac35d5b12721ab876eaeb1f714a9b3b1d}{mems\_raw\_gyro\_Z}};\ } -\DoxyCodeLine{00367\ \ \ \ \ \ \ \ \ 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{00368\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_a90f0cdf11decc276006f76a494d42ce3}{mems\_raw\_magf\_Z}};\ } -\DoxyCodeLine{00369\ } -\DoxyCodeLine{00370\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ spi\ task}} -\DoxyCodeLine{00371\ \ \ \ \ \ \ \ \ TaskHandle\_t\ \mbox{\hyperlink{class_b_n_o08x_a615090aae15f1b0410a7e5ecb94957b5}{spi\_task\_hdl}};\ } -\DoxyCodeLine{00372\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a0ce6d9db873555f1ebe7e095251eab74}{spi\_task\_trampoline}}(\textcolor{keywordtype}{void}*\ arg);} -\DoxyCodeLine{00373\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a2ecd4ed60f82730ae230c61687ec92bf}{spi\_task}}();} -\DoxyCodeLine{00374\ } -\DoxyCodeLine{00375\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ data\ processing\ task}} -\DoxyCodeLine{00376\ \ \ \ \ \ \ \ \ TaskHandle\_t\ \mbox{\hyperlink{class_b_n_o08x_af9b6fbf35e7cd55d517d30c6429a21a4}{data\_proc\_task\_hdl}};\ } -\DoxyCodeLine{00377\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a0ae135d7bf7a5f047a1d1aa5cc07e520}{data\_proc\_task\_trampoline}}(\textcolor{keywordtype}{void}*\ arg);} -\DoxyCodeLine{00378\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_ab4373e9b87837ea9fcbc0b536338c7b8}{data\_proc\_task}}();} -\DoxyCodeLine{00379\ } -\DoxyCodeLine{00380\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keywordtype}{void}\ IRAM\_ATTR\ \mbox{\hyperlink{class_b_n_o08x_a804b95c58c30d36933fd251626b85bf7}{hint\_handler}}(\textcolor{keywordtype}{void}*\ arg);} -\DoxyCodeLine{00381\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keywordtype}{bool}} -\DoxyCodeLine{00382\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_a4882dbc698d7b730f57e2401037766a9}{isr\_service\_installed}};\ } -\DoxyCodeLine{00383\ } -\DoxyCodeLine{00384\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_a1a037bda37493cde56732cc6fdc7884b}{RX\_DATA\_LENGTH}}\ =\ 300;\ \ \ \ } -\DoxyCodeLine{00385\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_a2a5b978233eab4c103ab01cfc33a1750}{MAX\_METADATA\_LENGTH}}\ =\ 9;\ } -\DoxyCodeLine{00386\ } -\DoxyCodeLine{00387\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint64\_t\ \mbox{\hyperlink{class_b_n_o08x_ae7f34752f888c637d5619f898e62a6d4}{HOST\_INT\_TIMEOUT\_MS}}\ =} -\DoxyCodeLine{00388\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ 300ULL;\ } -\DoxyCodeLine{00389\ } -\DoxyCodeLine{00390\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ evt\_grp\_spi\ bits}} -\DoxyCodeLine{00391\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ EventBits\_t\ \mbox{\hyperlink{class_b_n_o08x_a32cffd8f78881925d22d5a7cb55f2bbc}{EVT\_GRP\_SPI\_RX\_DONE\_BIT}}\ =} -\DoxyCodeLine{00392\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ (1\ <<\ 0);\ } -\DoxyCodeLine{00393\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ EventBits\_t\ \mbox{\hyperlink{class_b_n_o08x_a603dccfbbead6bdaa3bd970ad28fcd38}{EVT\_GRP\_SPI\_RX\_VALID\_PACKET}}\ =} -\DoxyCodeLine{00394\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ (1\ <<\ 1);\ } -\DoxyCodeLine{00395\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ EventBits\_t\ \mbox{\hyperlink{class_b_n_o08x_a6415c95701f590c72083f5bdc5f4ae47}{EVT\_GRP\_SPI\_RX\_INVALID\_PACKET}}\ =} -\DoxyCodeLine{00396\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ (1\ <<\ 2);\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ } -\DoxyCodeLine{00397\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ EventBits\_t\ \mbox{\hyperlink{class_b_n_o08x_aa333b17ab88348a9849f0ceb9757dc9c}{EVT\_GRP\_SPI\_TX\_DONE}}\ =\ (1\ <<\ 3);\ } -\DoxyCodeLine{00398\ } -\DoxyCodeLine{00399\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ evt\_grp\_report\_en\ bits}} -\DoxyCodeLine{00400\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ EventBits\_t\ \mbox{\hyperlink{class_b_n_o08x_a198da2ee3cd9cfa459c3c41c4f8c44b7}{EVT\_GRP\_RPT\_ROTATION\_VECTOR\_BIT}}\ =\ (1\ <<\ 0);\ \ \ \ \ \ } -\DoxyCodeLine{00401\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ EventBits\_t\ \mbox{\hyperlink{class_b_n_o08x_a0f3f33d93b72ba6564f9d5fa93c24f98}{EVT\_GRP\_RPT\_GAME\_ROTATION\_VECTOR\_BIT}}\ =\ (1\ <<\ 1);\ } -\DoxyCodeLine{00402\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ EventBits\_t\ \mbox{\hyperlink{class_b_n_o08x_aa9703cee46912a545b5e85e671f08e4b}{EVT\_GRP\_RPT\_ARVR\_S\_ROTATION\_VECTOR\_BIT}}\ =} -\DoxyCodeLine{00403\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ (1\ <<\ 2);\ } -\DoxyCodeLine{00404\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ EventBits\_t\ \mbox{\hyperlink{class_b_n_o08x_a79d3fff1e0f19467cad231b22edafa0f}{EVT\_GRP\_RPT\_ARVR\_S\_GAME\_ROTATION\_VECTOR\_BIT}}\ =} -\DoxyCodeLine{00405\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ (1\ <<\ 3);\ } -\DoxyCodeLine{00406\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ EventBits\_t\ \mbox{\hyperlink{class_b_n_o08x_a541155dc4544193451cf102e2a992da9}{EVT\_GRP\_RPT\_GYRO\_ROTATION\_VECTOR\_BIT}}\ =} -\DoxyCodeLine{00407\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ (1\ <<\ 4);\ } -\DoxyCodeLine{00408\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ EventBits\_t\ \mbox{\hyperlink{class_b_n_o08x_a17b19c32d4dfbc9ae2761a0cdd873314}{EVT\_GRP\_RPT\_ACCELEROMETER\_BIT}}\ =\ (1\ <<\ 5);\ \ \ \ \ \ \ \ \ } -\DoxyCodeLine{00409\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ EventBits\_t\ \mbox{\hyperlink{class_b_n_o08x_ad93161968a53ff53a6bb74ab7c34fbff}{EVT\_GRP\_RPT\_LINEAR\_ACCELEROMETER\_BIT}}\ =\ (1\ <<\ 6);\ \ } -\DoxyCodeLine{00410\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ EventBits\_t\ \mbox{\hyperlink{class_b_n_o08x_ab94a8f69673a3db7556ba67775c5ea93}{EVT\_GRP\_RPT\_GRAVITY\_BIT}}\ =\ (1\ <<\ 7);\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ } -\DoxyCodeLine{00411\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ EventBits\_t\ \mbox{\hyperlink{class_b_n_o08x_a3a8b12ea9b75f97191785a60d1aa962a}{EVT\_GRP\_RPT\_GYRO\_BIT}}\ =\ (1\ <<\ 8);\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ } -\DoxyCodeLine{00412\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ EventBits\_t\ \mbox{\hyperlink{class_b_n_o08x_af86821bc0f1e7f5897de20b5e47a85bd}{EVT\_GRP\_RPT\_GYRO\_UNCALIBRATED\_BIT}}\ =\ (1\ <<\ 9);\ \ \ \ \ } -\DoxyCodeLine{00413\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ EventBits\_t\ \mbox{\hyperlink{class_b_n_o08x_a901af6f2d552f197ee830d0a1c06679c}{EVT\_GRP\_RPT\_MAGNETOMETER\_BIT}}\ =\ (1\ <<\ 10);\ \ \ \ \ \ \ \ \ } -\DoxyCodeLine{00414\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ EventBits\_t\ \mbox{\hyperlink{class_b_n_o08x_a665464f781fe891b9179478d0174af47}{EVT\_GRP\_RPT\_TAP\_DETECTOR\_BIT}}\ =\ (1\ <<\ 11);\ \ \ \ \ \ \ \ \ } -\DoxyCodeLine{00415\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ EventBits\_t\ \mbox{\hyperlink{class_b_n_o08x_ab264b65a3aa5a9a74ed11b8977164a73}{EVT\_GRP\_RPT\_STEP\_COUNTER\_BIT}}\ =\ (1\ <<\ 12);\ \ \ \ \ \ \ \ \ } -\DoxyCodeLine{00416\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ EventBits\_t\ \mbox{\hyperlink{class_b_n_o08x_a7d6ee23222f55dbe9f70e04b36d9add2}{EVT\_GRP\_RPT\_STABILITY\_CLASSIFIER\_BIT}}\ =\ (1\ <<\ 13);\ } -\DoxyCodeLine{00417\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ EventBits\_t\ \mbox{\hyperlink{class_b_n_o08x_a96eb1b1bfe1266791fd424b3ce402c56}{EVT\_GRP\_RPT\_ACTIVITY\_CLASSIFIER\_BIT}}\ =\ (1\ <<\ 14);\ \ } -\DoxyCodeLine{00418\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ EventBits\_t\ \mbox{\hyperlink{class_b_n_o08x_a3e56d12435f7be81956d68196f1a46b4}{EVT\_GRP\_RPT\_RAW\_ACCELEROMETER\_BIT}}\ =\ (1\ <<\ 15);\ \ \ \ } -\DoxyCodeLine{00419\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ EventBits\_t\ \mbox{\hyperlink{class_b_n_o08x_a6be7b240e4447c2c643e706954093aa0}{EVT\_GRP\_RPT\_RAW\_GYRO\_BIT}}\ =\ (1\ <<\ 16);\ \ \ \ \ \ \ \ \ \ \ \ \ } -\DoxyCodeLine{00420\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ EventBits\_t\ \mbox{\hyperlink{class_b_n_o08x_ac28553b40b82c7cb409938681afe6cec}{EVT\_GRP\_RPT\_RAW\_MAGNETOMETER\_BIT}}\ =\ (1\ <<\ 17);\ \ \ \ \ } -\DoxyCodeLine{00421\ } -\DoxyCodeLine{00422\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ EventBits\_t\ \mbox{\hyperlink{class_b_n_o08x_a89399e8a68a53bc2a269ab73625a2da2}{EVT\_GRP\_RPT\_ALL\_BITS}}\ =} -\DoxyCodeLine{00423\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_a198da2ee3cd9cfa459c3c41c4f8c44b7}{EVT\_GRP\_RPT\_ROTATION\_VECTOR\_BIT}}\ |\ \mbox{\hyperlink{class_b_n_o08x_a0f3f33d93b72ba6564f9d5fa93c24f98}{EVT\_GRP\_RPT\_GAME\_ROTATION\_VECTOR\_BIT}}\ |\ \mbox{\hyperlink{class_b_n_o08x_aa9703cee46912a545b5e85e671f08e4b}{EVT\_GRP\_RPT\_ARVR\_S\_ROTATION\_VECTOR\_BIT}}\ |} -\DoxyCodeLine{00424\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_a79d3fff1e0f19467cad231b22edafa0f}{EVT\_GRP\_RPT\_ARVR\_S\_GAME\_ROTATION\_VECTOR\_BIT}}\ |\ \mbox{\hyperlink{class_b_n_o08x_a541155dc4544193451cf102e2a992da9}{EVT\_GRP\_RPT\_GYRO\_ROTATION\_VECTOR\_BIT}}\ |\ \mbox{\hyperlink{class_b_n_o08x_a17b19c32d4dfbc9ae2761a0cdd873314}{EVT\_GRP\_RPT\_ACCELEROMETER\_BIT}}\ |} -\DoxyCodeLine{00425\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_ad93161968a53ff53a6bb74ab7c34fbff}{EVT\_GRP\_RPT\_LINEAR\_ACCELEROMETER\_BIT}}\ |\ \mbox{\hyperlink{class_b_n_o08x_ab94a8f69673a3db7556ba67775c5ea93}{EVT\_GRP\_RPT\_GRAVITY\_BIT}}\ |\ \mbox{\hyperlink{class_b_n_o08x_a3a8b12ea9b75f97191785a60d1aa962a}{EVT\_GRP\_RPT\_GYRO\_BIT}}\ |\ \mbox{\hyperlink{class_b_n_o08x_af86821bc0f1e7f5897de20b5e47a85bd}{EVT\_GRP\_RPT\_GYRO\_UNCALIBRATED\_BIT}}\ |} -\DoxyCodeLine{00426\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_a901af6f2d552f197ee830d0a1c06679c}{EVT\_GRP\_RPT\_MAGNETOMETER\_BIT}}\ |\ \mbox{\hyperlink{class_b_n_o08x_a665464f781fe891b9179478d0174af47}{EVT\_GRP\_RPT\_TAP\_DETECTOR\_BIT}}\ |\ \mbox{\hyperlink{class_b_n_o08x_ab264b65a3aa5a9a74ed11b8977164a73}{EVT\_GRP\_RPT\_STEP\_COUNTER\_BIT}}\ |\ \mbox{\hyperlink{class_b_n_o08x_a7d6ee23222f55dbe9f70e04b36d9add2}{EVT\_GRP\_RPT\_STABILITY\_CLASSIFIER\_BIT}}\ |} -\DoxyCodeLine{00427\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_a96eb1b1bfe1266791fd424b3ce402c56}{EVT\_GRP\_RPT\_ACTIVITY\_CLASSIFIER\_BIT}}\ |\ \mbox{\hyperlink{class_b_n_o08x_a3e56d12435f7be81956d68196f1a46b4}{EVT\_GRP\_RPT\_RAW\_ACCELEROMETER\_BIT}}\ |\ \mbox{\hyperlink{class_b_n_o08x_a6be7b240e4447c2c643e706954093aa0}{EVT\_GRP\_RPT\_RAW\_GYRO\_BIT}}\ |\ \mbox{\hyperlink{class_b_n_o08x_ac28553b40b82c7cb409938681afe6cec}{EVT\_GRP\_RPT\_RAW\_MAGNETOMETER\_BIT}};} -\DoxyCodeLine{00428\ } -\DoxyCodeLine{00429\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ Higher\ level\ calibration\ commands,\ used\ by\ queue\_calibrate\_command}} -\DoxyCodeLine{00430\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_acd5b44d705af1f9aaa271a59a9d2d595}{CALIBRATE\_ACCEL}}\ =\ 0;\ \ \ \ \ \ \ \ } -\DoxyCodeLine{00431\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_aeac84719a1cc0f9c8d5a9a749391d4db}{CALIBRATE\_GYRO}}\ =\ 1;\ \ \ \ \ \ \ \ \ } -\DoxyCodeLine{00432\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_ac00e8b59ae8d710cf79956eaafa97ddb}{CALIBRATE\_MAG}}\ =\ 2;\ \ \ \ \ \ \ \ \ \ } -\DoxyCodeLine{00433\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a955dcb60da150490e17367a871b3a3d2}{CALIBRATE\_PLANAR\_ACCEL}}\ =\ 3;\ } -\DoxyCodeLine{00434\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_af53d9e99f163d97ef92fe989b1dd25cc}{CALIBRATE\_ACCEL\_GYRO\_MAG}}\ =} -\DoxyCodeLine{00435\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ 4;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ } -\DoxyCodeLine{00436\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a584bfa04a39feb93279ee673c340db54}{CALIBRATE\_STOP}}\ =\ 5;\ } -\DoxyCodeLine{00437\ } -\DoxyCodeLine{00438\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ Command\ IDs\ (see\ Ref.\ Manual\ 6.4)}} -\DoxyCodeLine{00439\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a384a1efc9857ad938be3bb44f871539b}{COMMAND\_ERRORS}}\ =\ 1;} -\DoxyCodeLine{00440\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a93dd073c0cc1f3ccfde552649f6ebccc}{COMMAND\_COUNTER}}\ =\ 2;} -\DoxyCodeLine{00441\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a0a1756bc16ba3eac45f4229b1e350107}{COMMAND\_TARE}}\ =\ 3;\ \ \ \ \ \ \ \ \ \ \ \ } -\DoxyCodeLine{00442\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a30eb6d305a187d4d36546841e12176b9}{COMMAND\_INITIALIZE}}\ =\ 4;\ \ \ \ \ \ } -\DoxyCodeLine{00443\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_af124a6c1d8b871f3181b6c85f1099cb2}{COMMAND\_DCD}}\ =\ 6;\ \ \ \ \ \ \ \ \ \ \ \ \ } -\DoxyCodeLine{00444\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a8381dfe403ddff522f172cb16780731a}{COMMAND\_ME\_CALIBRATE}}\ =\ 7;\ \ \ \ } -\DoxyCodeLine{00445\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a7a246989c94cd87f68166b20b7ad4c8b}{COMMAND\_DCD\_PERIOD\_SAVE}}\ =\ 9;\ } -\DoxyCodeLine{00446\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a308c8b5307d93a67b5b9066d44494aa5}{COMMAND\_OSCILLATOR}}\ =\ 10;\ \ \ \ \ } -\DoxyCodeLine{00447\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a4f580b3cb232a762ea7019ee7b04d419}{COMMAND\_CLEAR\_DCD}}\ =\ 11;\ \ \ \ \ \ } -\DoxyCodeLine{00448\ } -\DoxyCodeLine{00449\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ SHTP\ channel\ 2\ control\ report\ IDs,\ used\ in\ communication\ with\ sensor\ (See\ Ref.\ Manual\ 6.2)}} -\DoxyCodeLine{00450\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a1e5b64caa514b7e4fe64ab214758b875}{SHTP\_REPORT\_COMMAND\_RESPONSE}}\ =\ 0xF1;\ \ \ \ } -\DoxyCodeLine{00451\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_ab04695dd189412092254e52bd6e5a75a}{SHTP\_REPORT\_COMMAND\_REQUEST}}\ =\ 0xF2;\ \ \ \ \ } -\DoxyCodeLine{00452\ \ \ \ \ \ \ \ \ \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{00453\ \ \ \ \ \ \ \ \ \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{00454\ \ \ \ \ \ \ \ \ \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{00455\ \ \ \ \ \ \ \ \ \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{00456\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_ae37d6f8431c8c465bfb0c662772b5cb9}{SHTP\_REPORT\_BASE\_TIMESTAMP}}\ =\ 0xFB;\ \ \ \ \ \ } -\DoxyCodeLine{00457\ \ \ \ \ \ \ \ \ \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{00458\ } -\DoxyCodeLine{00459\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ Sensor\ report\ IDs,\ used\ when\ enabling\ and\ reading\ BNO08x\ reports}} -\DoxyCodeLine{00460\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a354eaff2218eb382a1851537a75badcc}{SENSOR\_REPORT\_ID\_ACCELEROMETER}}\ =\ 0x01;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ } -\DoxyCodeLine{00461\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a224fb8f833806dd530c5f16e7ab5bc7a}{SENSOR\_REPORT\_ID\_GYROSCOPE}}\ =\ 0x02;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ } -\DoxyCodeLine{00462\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a06058a84d6604054aa66ee008ac64aa9}{SENSOR\_REPORT\_ID\_MAGNETIC\_FIELD}}\ =\ 0x03;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ } -\DoxyCodeLine{00463\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_ace7720a02c9f4ef38e319849f6c36a0b}{SENSOR\_REPORT\_ID\_LINEAR\_ACCELERATION}}\ =\ 0x04;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ } -\DoxyCodeLine{00464\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a37c91f995c385556486df5fbbce8a3d5}{SENSOR\_REPORT\_ID\_ROTATION\_VECTOR}}\ =\ 0x05;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ } -\DoxyCodeLine{00465\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a6730acb92053d44decb690a7b7234032}{SENSOR\_REPORT\_ID\_GRAVITY}}\ =\ 0x06;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ } -\DoxyCodeLine{00466\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_acb8e83fbb0645d4e98a96120ce9f431c}{SENSOR\_REPORT\_ID\_UNCALIBRATED\_GYRO}}\ =\ 0x07;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ } -\DoxyCodeLine{00467\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_ada7dbda9f7a0bfb0894a787ce0ff9cef}{SENSOR\_REPORT\_ID\_GAME\_ROTATION\_VECTOR}}\ =\ 0x08;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ } -\DoxyCodeLine{00468\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_abb6d0586a5a87b7b34f4c65ae52965a4}{SENSOR\_REPORT\_ID\_GEOMAGNETIC\_ROTATION\_VECTOR}}\ =\ 0x09;\ \ \ \ \ \ \ \ \ \ } -\DoxyCodeLine{00469\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_acd0fc6ffa70dd2761cba0ac0b88c234f}{SENSOR\_REPORT\_ID\_GYRO\_INTEGRATED\_ROTATION\_VECTOR}}\ =\ 0x2A;\ \ \ \ \ \ } -\DoxyCodeLine{00470\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a8114460c50e84b0ac750293ab72868c8}{SENSOR\_REPORT\_ID\_TAP\_DETECTOR}}\ =\ 0x10;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ } -\DoxyCodeLine{00471\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a2a10161bb564067a07f3fcf4021e00bb}{SENSOR\_REPORT\_ID\_STEP\_COUNTER}}\ =\ 0x11;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ } -\DoxyCodeLine{00472\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_ab5c29f31714b4755c0edbce7156652f7}{SENSOR\_REPORT\_ID\_STABILITY\_CLASSIFIER}}\ =\ 0x13;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ } -\DoxyCodeLine{00473\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a80ea70c4787dea6c3eabb48f583f1916}{SENSOR\_REPORT\_ID\_RAW\_ACCELEROMETER}}\ =\ 0x14;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ } -\DoxyCodeLine{00474\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a03b3000424e6d966b80655443ec546bc}{SENSOR\_REPORT\_ID\_RAW\_GYROSCOPE}}\ =\ 0x15;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ } -\DoxyCodeLine{00475\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a9e9a7578b7584e7eb2ad562b29565fa7}{SENSOR\_REPORT\_ID\_RAW\_MAGNETOMETER}}\ =\ 0x16;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ } -\DoxyCodeLine{00476\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a7274f6d3bda04da0bb304386b4e8d603}{SENSOR\_REPORT\_ID\_PERSONAL\_ACTIVITY\_CLASSIFIER}}\ =\ 0x1E;\ \ \ \ \ \ \ \ \ } -\DoxyCodeLine{00477\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a8d4b91149cfc1a3cd615f60a4ad2275e}{SENSOR\_REPORT\_ID\_ARVR\_STABILIZED\_ROTATION\_VECTOR}}\ =\ 0x28;\ \ \ \ \ \ } -\DoxyCodeLine{00478\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_aeb51ebb6c82158cd7e23bd682c08c4e0}{SENSOR\_REPORT\_ID\_ARVR\_STABILIZED\_GAME\_ROTATION\_VECTOR}}\ =\ 0x29;\ } -\DoxyCodeLine{00479\ } -\DoxyCodeLine{00480\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ Tare\ commands\ used\ by\ queue\_tare\_command}} -\DoxyCodeLine{00481\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a27df630f3e52b35552d2c1f2cf3496b0}{TARE\_NOW}}\ =\ 0;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ } -\DoxyCodeLine{00482\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a115aef7b38ec0dec2085f6917d832912}{TARE\_PERSIST}}\ =\ 1;\ \ \ \ \ \ \ \ \ \ \ } -\DoxyCodeLine{00483\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a59cde7dd301c94a20b84735c5d49008e}{TARE\_SET\_REORIENTATION}}\ =\ 2;\ } -\DoxyCodeLine{00484\ } -\DoxyCodeLine{00485\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ \textcolor{keywordtype}{char}*\ \mbox{\hyperlink{class_b_n_o08x_a2c98d5f2c406a3efd0b48c5666fa8c46}{TAG}}\ =\ \textcolor{stringliteral}{"{}BNO08x"{}};\ } -\DoxyCodeLine{00486\ \};} - -\end{DoxyCode} diff --git a/documentation/latex/_r_e_a_d_m_e_8md.tex b/documentation/latex/_r_e_a_d_m_e_8md.tex deleted file mode 100644 index dffc600..0000000 --- a/documentation/latex/_r_e_a_d_m_e_8md.tex +++ /dev/null @@ -1,2 +0,0 @@ -\doxysection{README.\+md File Reference} -\hypertarget{_r_e_a_d_m_e_8md}{}\label{_r_e_a_d_m_e_8md}\index{README.md@{README.md}} diff --git a/documentation/latex/annotated.tex b/documentation/latex/annotated.tex deleted file mode 100644 index 1fdaacf..0000000 --- a/documentation/latex/annotated.tex +++ /dev/null @@ -1,7 +0,0 @@ -\doxysection{Class List} -Here are the classes, structs, unions and interfaces with brief descriptions\+:\begin{DoxyCompactList} -\item\contentsline{section}{\mbox{\hyperlink{class_b_n_o08x}{BNO08x}} }{\pageref{class_b_n_o08x}}{} -\item\contentsline{section}{\mbox{\hyperlink{structbno08x__config__t}{bno08x\+\_\+config\+\_\+t}} \\*IMU configuration settings passed into constructor }{\pageref{structbno08x__config__t}}{} -\item\contentsline{section}{\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__rx__packet__t}{BNO08x\+::bno08x\+\_\+rx\+\_\+packet\+\_\+t}} \\*Holds data that is received over spi }{\pageref{struct_b_n_o08x_1_1bno08x__rx__packet__t}}{} -\item\contentsline{section}{\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__tx__packet__t}{BNO08x\+::bno08x\+\_\+tx\+\_\+packet\+\_\+t}} \\*Holds data that is sent over spi }{\pageref{struct_b_n_o08x_1_1bno08x__tx__packet__t}}{} -\end{DoxyCompactList} diff --git a/documentation/latex/class_b_n_o08x.tex b/documentation/latex/class_b_n_o08x.tex deleted file mode 100644 index 84aa15c..0000000 --- a/documentation/latex/class_b_n_o08x.tex +++ /dev/null @@ -1,6050 +0,0 @@ -\doxysection{BNO08x Class Reference} -\hypertarget{class_b_n_o08x}{}\label{class_b_n_o08x}\index{BNO08x@{BNO08x}} - - -{\ttfamily \#include $<$BNO08x.\+hpp$>$} - - - -Collaboration diagram for BNO08x\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=207pt]{class_b_n_o08x__coll__graph} -\end{center} -\end{figure} -\doxysubsubsection*{Classes} -\begin{DoxyCompactItemize} -\item -struct \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__rx__packet__t}{bno08x\+\_\+rx\+\_\+packet\+\_\+t}} -\begin{DoxyCompactList}\small\item\em Holds data that is received over spi. \end{DoxyCompactList}\item -struct \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__tx__packet__t}{bno08x\+\_\+tx\+\_\+packet\+\_\+t}} -\begin{DoxyCompactList}\small\item\em Holds data that is sent over spi. \end{DoxyCompactList}\end{DoxyCompactItemize} -\doxysubsubsection*{Public Member Functions} -\begin{DoxyCompactItemize} -\item -\mbox{\hyperlink{class_b_n_o08x_a40f7688e843d74b8bd526c6f5ff17845}{BNO08x}} (\mbox{\hyperlink{structbno08x__config__t}{bno08x\+\_\+config\+\_\+t}} \mbox{\hyperlink{class_b_n_o08x_aeda443e9f608fccfec0e6770edc90c82}{imu\+\_\+config}}=\mbox{\hyperlink{class_b_n_o08x_a6232920a05c0aba34e5560951a20ae87}{default\+\_\+imu\+\_\+config}}) -\begin{DoxyCompactList}\small\item\em \doxylink{class_b_n_o08x}{BNO08x} imu constructor. \end{DoxyCompactList}\item -bool \mbox{\hyperlink{class_b_n_o08x_aea8e2c6dd7a2c9899479a7f39fe94798}{initialize}} () -\begin{DoxyCompactList}\small\item\em Initializes \doxylink{class_b_n_o08x}{BNO08x} sensor. \end{DoxyCompactList}\item -bool \mbox{\hyperlink{class_b_n_o08x_a28cd1c0b3477571d87133234e6358503}{hard\+\_\+reset}} () -\begin{DoxyCompactList}\small\item\em Hard resets \doxylink{class_b_n_o08x}{BNO08x} sensor. \end{DoxyCompactList}\item -bool \mbox{\hyperlink{class_b_n_o08x_a973a1b1785f3302ee1b2702c6a27646e}{soft\+\_\+reset}} () -\begin{DoxyCompactList}\small\item\em Soft resets \doxylink{class_b_n_o08x}{BNO08x} sensor using executable channel. \end{DoxyCompactList}\item -uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a11bb1b3fa44ad8f28c1492b5c07af886}{get\+\_\+reset\+\_\+reason}} () -\begin{DoxyCompactList}\small\item\em Requests product ID, prints the returned info over serial, and returns the reason for the most resent reset. \end{DoxyCompactList}\item -bool \mbox{\hyperlink{class_b_n_o08x_a176ae0112325c05105eacb4566bbfa0b}{mode\+\_\+sleep}} () -\begin{DoxyCompactList}\small\item\em Puts \doxylink{class_b_n_o08x}{BNO08x} sensor into sleep/low power mode using executable channel. \end{DoxyCompactList}\item -bool \mbox{\hyperlink{class_b_n_o08x_ac1b3de9b552c611ee9c455d7f19be698}{mode\+\_\+on}} () -\begin{DoxyCompactList}\small\item\em Turns on/ brings \doxylink{class_b_n_o08x}{BNO08x} sensor out of sleep mode using executable channel. \end{DoxyCompactList}\item -float \mbox{\hyperlink{class_b_n_o08x_a27fb24e894f794ec6228ef142b6ff8d9}{q\+\_\+to\+\_\+float}} (int16\+\_\+t fixed\+\_\+point\+\_\+value, uint8\+\_\+t q\+\_\+point) -\begin{DoxyCompactList}\small\item\em Converts a register value to a float using its associated Q point. (See \href{https://en.wikipedia.org/wiki/Q_(number_format)}{\texttt{ https\+://en.\+wikipedia.\+org/wiki/\+Q\+\_\+(number\+\_\+format)}}) \end{DoxyCompactList}\item -bool \mbox{\hyperlink{class_b_n_o08x_ae6e875a27ae74ebed806ee1a4576845a}{run\+\_\+full\+\_\+calibration\+\_\+routine}} () -\begin{DoxyCompactList}\small\item\em Runs full calibration routine. \end{DoxyCompactList}\item -void \mbox{\hyperlink{class_b_n_o08x_afd0ca5f9b9741935543d143a5a43d128}{calibrate\+\_\+all}} () -\begin{DoxyCompactList}\small\item\em Sends command to calibrate accelerometer, gyro, and magnetometer. \end{DoxyCompactList}\item -void \mbox{\hyperlink{class_b_n_o08x_aeffce374f558a167d5b5f19ad627e7cc}{calibrate\+\_\+accelerometer}} () -\begin{DoxyCompactList}\small\item\em Sends command to calibrate accelerometer. \end{DoxyCompactList}\item -void \mbox{\hyperlink{class_b_n_o08x_a9ada90f8ab6dd33fa2d7c168d9234af1}{calibrate\+\_\+gyro}} () -\begin{DoxyCompactList}\small\item\em Sends command to calibrate gyro. \end{DoxyCompactList}\item -void \mbox{\hyperlink{class_b_n_o08x_ac26350b55095a346d72598ab8aa74b4a}{calibrate\+\_\+magnetometer}} () -\begin{DoxyCompactList}\small\item\em Sends command to calibrate magnetometer. \end{DoxyCompactList}\item -void \mbox{\hyperlink{class_b_n_o08x_a1c6c49c97bc098db89db1aaa37e18f26}{calibrate\+\_\+planar\+\_\+accelerometer}} () -\begin{DoxyCompactList}\small\item\em Sends command to calibrate planar accelerometer. \end{DoxyCompactList}\item -void \mbox{\hyperlink{class_b_n_o08x_affaaa35abbb872da5299ebab6e2c9b11}{request\+\_\+calibration\+\_\+status}} () -\begin{DoxyCompactList}\small\item\em Requests ME calibration status from \doxylink{class_b_n_o08x}{BNO08x} (see Ref. Manual 6.\+4.\+7.\+2) \end{DoxyCompactList}\item -bool \mbox{\hyperlink{class_b_n_o08x_a71ca35f78b98d93d31eb0c187dc8543b}{calibration\+\_\+complete}} () -\begin{DoxyCompactList}\small\item\em Returns true if calibration has completed. \end{DoxyCompactList}\item -void \mbox{\hyperlink{class_b_n_o08x_ac9d9b6636745e8180807284da67c92a2}{end\+\_\+calibration}} () -\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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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}} () -\begin{DoxyCompactList}\small\item\em Sends command to save tare into non-\/volatile memory of \doxylink{class_b_n_o08x}{BNO08x} (See Ref. Manual 6.\+4.\+4.\+2) \end{DoxyCompactList}\item -void \mbox{\hyperlink{class_b_n_o08x_afe39bfdede7b9a2b273983cb29a27d6e}{clear\+\_\+tare}} () -\begin{DoxyCompactList}\small\item\em Sends command to clear persistent tare settings in non-\/volatile memory of \doxylink{class_b_n_o08x}{BNO08x} (See Ref. Manual 6.\+4.\+4.\+3) \end{DoxyCompactList}\item -bool \mbox{\hyperlink{class_b_n_o08x_a367d525d1c0ba119b3dca3067bb5bccc}{data\+\_\+available}} () -\begin{DoxyCompactList}\small\item\em Checks if \doxylink{class_b_n_o08x}{BNO08x} has asserted interrupt and sent data. \end{DoxyCompactList}\item -void \mbox{\hyperlink{class_b_n_o08x_a06bb0c70305421b5357e64f31579fdc7}{register\+\_\+cb}} (std\+::function$<$ void()$>$ cb\+\_\+fxn) -\begin{DoxyCompactList}\small\item\em Registers a callback to execute when new data from a report is received. \end{DoxyCompactList}\item -uint32\+\_\+t \mbox{\hyperlink{class_b_n_o08x_ad9137777271421a58159f3fe5e05ed20}{get\+\_\+time\+\_\+stamp}} () -\begin{DoxyCompactList}\small\item\em Return timestamp of most recent report. \end{DoxyCompactList}\item -void \mbox{\hyperlink{class_b_n_o08x_a35a224d519a2a243d0d526a34ecde5a8}{get\+\_\+magf}} (float \&x, float \&y, float \&z, uint8\+\_\+t \&accuracy) -\begin{DoxyCompactList}\small\item\em Get the full magnetic field vector. \end{DoxyCompactList}\item -float \mbox{\hyperlink{class_b_n_o08x_a111601243b913751eb51c1f37cba4e7d}{get\+\_\+magf\+\_\+X}} () -\begin{DoxyCompactList}\small\item\em Get X component of magnetic field vector. \end{DoxyCompactList}\item -float \mbox{\hyperlink{class_b_n_o08x_a82ed8d7b9a5c25374839df75a3d220ea}{get\+\_\+magf\+\_\+Y}} () -\begin{DoxyCompactList}\small\item\em Get Y component of magnetic field vector. \end{DoxyCompactList}\item -float \mbox{\hyperlink{class_b_n_o08x_ab4c48a91d2f8b29430abc17b7f015282}{get\+\_\+magf\+\_\+Z}} () -\begin{DoxyCompactList}\small\item\em Get Z component of magnetic field vector. \end{DoxyCompactList}\item -uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a487391e6b2dd7f05084804d1fb94976f}{get\+\_\+magf\+\_\+accuracy}} () -\begin{DoxyCompactList}\small\item\em Get accuracy of reported magnetic field vector. \end{DoxyCompactList}\item -void \mbox{\hyperlink{class_b_n_o08x_a386c46ac8965220ab7b9423df838dd4d}{get\+\_\+gravity}} (float \&x, float \&y, float \&z, uint8\+\_\+t \&accuracy) -\begin{DoxyCompactList}\small\item\em Get full reported gravity vector, units in m/s\texorpdfstring{$^\wedge$}{\string^}2. \end{DoxyCompactList}\item -float \mbox{\hyperlink{class_b_n_o08x_a88679bccd9339b87ec35fc4fc4e745ae}{get\+\_\+gravity\+\_\+X}} () -\begin{DoxyCompactList}\small\item\em Get the reported x axis gravity. \end{DoxyCompactList}\item -float \mbox{\hyperlink{class_b_n_o08x_a8a36db7f1c932f33e05e494632059801}{get\+\_\+gravity\+\_\+Y}} () -\begin{DoxyCompactList}\small\item\em Get the reported y axis gravity. \end{DoxyCompactList}\item -float \mbox{\hyperlink{class_b_n_o08x_a5622b4d1754648ea7eb400c1adf9e807}{get\+\_\+gravity\+\_\+Z}} () -\begin{DoxyCompactList}\small\item\em Get the reported z axis gravity. \end{DoxyCompactList}\item -uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_accd39f48e9f8ab8267df7184b5b7cd76}{get\+\_\+gravity\+\_\+accuracy}} () -\begin{DoxyCompactList}\small\item\em Get the reported gravity accuracy. \end{DoxyCompactList}\item -float \mbox{\hyperlink{class_b_n_o08x_a89618eba08186ee8e679e7313907ddef}{get\+\_\+roll}} () -\begin{DoxyCompactList}\small\item\em Get the reported rotation about x axis. \end{DoxyCompactList}\item -float \mbox{\hyperlink{class_b_n_o08x_a1b91f234d81c45f1f5ca2f27c9f0f6a3}{get\+\_\+pitch}} () -\begin{DoxyCompactList}\small\item\em Get the reported rotation about y axis. \end{DoxyCompactList}\item -float \mbox{\hyperlink{class_b_n_o08x_a64d3e41750c6de9413d6982511f78f17}{get\+\_\+yaw}} () -\begin{DoxyCompactList}\small\item\em Get the reported rotation about z axis. \end{DoxyCompactList}\item -float \mbox{\hyperlink{class_b_n_o08x_a7077b9a130f1dcf0192454e387968dd6}{get\+\_\+roll\+\_\+deg}} () -\begin{DoxyCompactList}\small\item\em Get the reported rotation about x axis. \end{DoxyCompactList}\item -float \mbox{\hyperlink{class_b_n_o08x_af50010400cbd1445e9ddfa259384b412}{get\+\_\+pitch\+\_\+deg}} () -\begin{DoxyCompactList}\small\item\em Get the reported rotation about y axis. \end{DoxyCompactList}\item -float \mbox{\hyperlink{class_b_n_o08x_af80f7795656e695e036d3b1557aed94c}{get\+\_\+yaw\+\_\+deg}} () -\begin{DoxyCompactList}\small\item\em Get the reported rotation about z axis. \end{DoxyCompactList}\item -void \mbox{\hyperlink{class_b_n_o08x_a51a6d594824de2292e70f788454f8a2d}{get\+\_\+quat}} (float \&i, float \&j, float \&k, float \&real, float \&rad\+\_\+accuracy, uint8\+\_\+t \&accuracy) -\begin{DoxyCompactList}\small\item\em Get the full quaternion reading. \end{DoxyCompactList}\item -float \mbox{\hyperlink{class_b_n_o08x_a12c12a8e078b28480fb8828d306656f5}{get\+\_\+quat\+\_\+I}} () -\begin{DoxyCompactList}\small\item\em Get I component of reported quaternion. \end{DoxyCompactList}\item -float \mbox{\hyperlink{class_b_n_o08x_a9f6bb642fa0297a7b9bcc94dd7374015}{get\+\_\+quat\+\_\+J}} () -\begin{DoxyCompactList}\small\item\em Get J component of reported quaternion. \end{DoxyCompactList}\item -float \mbox{\hyperlink{class_b_n_o08x_a9f42c70c2337a0d831064a40ecfe2dd8}{get\+\_\+quat\+\_\+K}} () -\begin{DoxyCompactList}\small\item\em Get K component of reported quaternion. \end{DoxyCompactList}\item -float \mbox{\hyperlink{class_b_n_o08x_a5a556c5ec1baaa7f1156779dbe47a7b7}{get\+\_\+quat\+\_\+real}} () -\begin{DoxyCompactList}\small\item\em Get real component of reported quaternion. \end{DoxyCompactList}\item -float \mbox{\hyperlink{class_b_n_o08x_a61b7d10a98afc6903fea6b2cede27630}{get\+\_\+quat\+\_\+radian\+\_\+accuracy}} () -\begin{DoxyCompactList}\small\item\em Get radian accuracy of reported quaternion. \end{DoxyCompactList}\item -uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a24ba760d064a1dc45f972c79b9c8d98d}{get\+\_\+quat\+\_\+accuracy}} () -\begin{DoxyCompactList}\small\item\em Get accuracy of reported quaternion. \end{DoxyCompactList}\item -void \mbox{\hyperlink{class_b_n_o08x_a9329c6669282071622c3b3741b1b8142}{get\+\_\+accel}} (float \&x, float \&y, float \&z, uint8\+\_\+t \&accuracy) -\begin{DoxyCompactList}\small\item\em Get full acceleration (total acceleration of device, units in m/s\texorpdfstring{$^\wedge$}{\string^}2). \end{DoxyCompactList}\item -float \mbox{\hyperlink{class_b_n_o08x_abce574112a9079d2cbc58cfc352b8a69}{get\+\_\+accel\+\_\+X}} () -\begin{DoxyCompactList}\small\item\em Get x axis acceleration (total acceleration of device, units in m/s\texorpdfstring{$^\wedge$}{\string^}2). \end{DoxyCompactList}\item -float \mbox{\hyperlink{class_b_n_o08x_afdf24bb3d54518b23972f21f007817c1}{get\+\_\+accel\+\_\+Y}} () -\begin{DoxyCompactList}\small\item\em Get y axis acceleration (total acceleration of device, units in m/s\texorpdfstring{$^\wedge$}{\string^}2). \end{DoxyCompactList}\item -float \mbox{\hyperlink{class_b_n_o08x_a0a72477cb7a330fedbcb3e2126b882b1}{get\+\_\+accel\+\_\+Z}} () -\begin{DoxyCompactList}\small\item\em Get z axis acceleration (total acceleration of device, units in m/s\texorpdfstring{$^\wedge$}{\string^}2). \end{DoxyCompactList}\item -uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a3fce726d5de821f97ed207036dae2900}{get\+\_\+accel\+\_\+accuracy}} () -\begin{DoxyCompactList}\small\item\em Get accuracy of linear acceleration. \end{DoxyCompactList}\item -void \mbox{\hyperlink{class_b_n_o08x_ad59b029d04341dbef72e059488951980}{get\+\_\+linear\+\_\+accel}} (float \&x, float \&y, float \&z, uint8\+\_\+t \&accuracy) -\begin{DoxyCompactList}\small\item\em Get full linear acceleration (acceleration of the device minus gravity, units in m/s\texorpdfstring{$^\wedge$}{\string^}2). \end{DoxyCompactList}\item -float \mbox{\hyperlink{class_b_n_o08x_a763c3a9699a1081d430fd9b9b7bc49a3}{get\+\_\+linear\+\_\+accel\+\_\+X}} () -\begin{DoxyCompactList}\small\item\em Get x axis linear acceleration (acceleration of device minus gravity, units in m/s\texorpdfstring{$^\wedge$}{\string^}2) \end{DoxyCompactList}\item -float \mbox{\hyperlink{class_b_n_o08x_a1033bdd65b42b6706d1dfc67ece66191}{get\+\_\+linear\+\_\+accel\+\_\+Y}} () -\begin{DoxyCompactList}\small\item\em Get y axis linear acceleration (acceleration of device minus gravity, units in m/s\texorpdfstring{$^\wedge$}{\string^}2) \end{DoxyCompactList}\item -float \mbox{\hyperlink{class_b_n_o08x_afdfa7d50362702da689c5d18bf17fd84}{get\+\_\+linear\+\_\+accel\+\_\+Z}} () -\begin{DoxyCompactList}\small\item\em Get z axis linear acceleration (acceleration of device minus gravity, units in m/s\texorpdfstring{$^\wedge$}{\string^}2) \end{DoxyCompactList}\item -uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a33fe3c2f47759cfae5f4b612ddd329ea}{get\+\_\+linear\+\_\+accel\+\_\+accuracy}} () -\begin{DoxyCompactList}\small\item\em Get accuracy of linear acceleration. \end{DoxyCompactList}\item -int16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a1de356dd604c1dffcd1a32faeb4fafe2}{get\+\_\+raw\+\_\+accel\+\_\+X}} () -\begin{DoxyCompactList}\small\item\em Get raw accelerometer x axis reading from physical accelerometer MEMs sensor (See Ref. Manual 6.\+5.\+8) \end{DoxyCompactList}\item -int16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a96563de0eb597a52d595d19da827b1ac}{get\+\_\+raw\+\_\+accel\+\_\+Y}} () -\begin{DoxyCompactList}\small\item\em Get raw accelerometer y axis reading from physical accelerometer MEMs sensor (See Ref. Manual 6.\+5.\+8) \end{DoxyCompactList}\item -int16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a718cdd910e5e7e03fd0a1ad04ee6f0ce}{get\+\_\+raw\+\_\+accel\+\_\+Z}} () -\begin{DoxyCompactList}\small\item\em Get raw accelerometer z axis reading from physical accelerometer MEMs sensor (See Ref. Manual 6.\+5.\+8) \end{DoxyCompactList}\item -int16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_af1b2c3a383a84fc6dfaddae1052b44d4}{get\+\_\+raw\+\_\+gyro\+\_\+X}} () -\begin{DoxyCompactList}\small\item\em Get raw gyroscope x axis reading from physical gyroscope MEMs sensor (See Ref. Manual 6.\+5.\+12) \end{DoxyCompactList}\item -int16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_aff7714441d242b3b9b0c03f94e0a9374}{get\+\_\+raw\+\_\+gyro\+\_\+Y}} () -\begin{DoxyCompactList}\small\item\em Get raw gyroscope y axis reading from physical gyroscope MEMs sensor (See Ref. Manual 6.\+5.\+12) \end{DoxyCompactList}\item -int16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a2e28b5a79c442a6baa2fa5165b9ce37d}{get\+\_\+raw\+\_\+gyro\+\_\+Z}} () -\begin{DoxyCompactList}\small\item\em Get raw gyroscope z axis reading from physical gyroscope MEMs sensor (See Ref. Manual 6.\+5.\+12) \end{DoxyCompactList}\item -int16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_adf12600b39de41d258439a343fcc1ad8}{get\+\_\+raw\+\_\+magf\+\_\+X}} () -\begin{DoxyCompactList}\small\item\em Get raw magnetometer x axis reading from physical magnetometer sensor (See Ref. Manual 6.\+5.\+15) \end{DoxyCompactList}\item -int16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a2c842e43ceae19149f6525bcbc48f1cf}{get\+\_\+raw\+\_\+magf\+\_\+Y}} () -\begin{DoxyCompactList}\small\item\em Get raw magnetometer y axis reading from physical magnetometer sensor (See Ref. Manual 6.\+5.\+15) \end{DoxyCompactList}\item -int16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a99c1bcc2ec3ca3d8feafd6dd61f9d269}{get\+\_\+raw\+\_\+magf\+\_\+Z}} () -\begin{DoxyCompactList}\small\item\em Get raw magnetometer z axis reading from physical magnetometer sensor (See Ref. Manual 6.\+5.\+15) \end{DoxyCompactList}\item -void \mbox{\hyperlink{class_b_n_o08x_a4d3746a376a22acb7a2641bb750c4c89}{get\+\_\+gyro\+\_\+calibrated\+\_\+velocity}} (float \&x, float \&y, float \&z, uint8\+\_\+t \&accuracy) -\begin{DoxyCompactList}\small\item\em Get full rotational velocity with drift compensation (units in Rad/s). \end{DoxyCompactList}\item -float \mbox{\hyperlink{class_b_n_o08x_ab7977391191067282e7f734b9ee45059}{get\+\_\+gyro\+\_\+calibrated\+\_\+velocity\+\_\+X}} () -\begin{DoxyCompactList}\small\item\em Get calibrated gyro x axis angular velocity measurement. \end{DoxyCompactList}\item -float \mbox{\hyperlink{class_b_n_o08x_ad4fab6e636e239d4b9273f158983ed89}{get\+\_\+gyro\+\_\+calibrated\+\_\+velocity\+\_\+Y}} () -\begin{DoxyCompactList}\small\item\em Get calibrated gyro y axis angular velocity measurement. \end{DoxyCompactList}\item -float \mbox{\hyperlink{class_b_n_o08x_a15a29c3bb476048b7229abcfb2b1d52a}{get\+\_\+gyro\+\_\+calibrated\+\_\+velocity\+\_\+Z}} () -\begin{DoxyCompactList}\small\item\em Get calibrated gyro z axis angular velocity measurement. \end{DoxyCompactList}\item -uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a811999653110858311c97a779c388e5d}{get\+\_\+gyro\+\_\+accuracy}} () -\begin{DoxyCompactList}\small\item\em Get calibrated gyro accuracy. \end{DoxyCompactList}\item -void \mbox{\hyperlink{class_b_n_o08x_a1bd3c33e70354bd35a78b83b6786b531}{get\+\_\+uncalibrated\+\_\+gyro}} (float \&x, float \&y, float \&z, float \&bx, float \&by, float \&bz, uint8\+\_\+t \&accuracy) -\begin{DoxyCompactList}\small\item\em Get full rotational velocity without drift compensation (units in Rad/s). An estimate of drift is given but not applied. \end{DoxyCompactList}\item -float \mbox{\hyperlink{class_b_n_o08x_a289ff66f51c94be62c4a556f3a5997bf}{get\+\_\+uncalibrated\+\_\+gyro\+\_\+X}} () -\begin{DoxyCompactList}\small\item\em Get uncalibrated gyro x axis angular velocity measurement. \end{DoxyCompactList}\item -float \mbox{\hyperlink{class_b_n_o08x_a1874e4bd457bb5b6ecc2c64039b88ba4}{get\+\_\+uncalibrated\+\_\+gyro\+\_\+Y}} () -\begin{DoxyCompactList}\small\item\em Get uncalibrated gyro Y axis angular velocity measurement. \end{DoxyCompactList}\item -float \mbox{\hyperlink{class_b_n_o08x_a0a73633d8929ce4058b14cefc8cad717}{get\+\_\+uncalibrated\+\_\+gyro\+\_\+Z}} () -\begin{DoxyCompactList}\small\item\em Get uncalibrated gyro Z axis angular velocity measurement. \end{DoxyCompactList}\item -float \mbox{\hyperlink{class_b_n_o08x_ad228cdf352b7ea95e484da993045a47b}{get\+\_\+uncalibrated\+\_\+gyro\+\_\+bias\+\_\+X}} () -\begin{DoxyCompactList}\small\item\em Get uncalibrated gyro x axis drift estimate. \end{DoxyCompactList}\item -float \mbox{\hyperlink{class_b_n_o08x_a74725517129dd548c7a3de705d5861bd}{get\+\_\+uncalibrated\+\_\+gyro\+\_\+bias\+\_\+Y}} () -\begin{DoxyCompactList}\small\item\em Get uncalibrated gyro Y axis drift estimate. \end{DoxyCompactList}\item -float \mbox{\hyperlink{class_b_n_o08x_a5050359272abd146ab3c7a6101effbd7}{get\+\_\+uncalibrated\+\_\+gyro\+\_\+bias\+\_\+Z}} () -\begin{DoxyCompactList}\small\item\em Get uncalibrated gyro Z axis drift estimate. \end{DoxyCompactList}\item -uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a3285613f18b2f2f4c3f9e6d5c971af10}{get\+\_\+uncalibrated\+\_\+gyro\+\_\+accuracy}} () -\begin{DoxyCompactList}\small\item\em Get uncalibrated gyro accuracy. \end{DoxyCompactList}\item -void \mbox{\hyperlink{class_b_n_o08x_afe6392012669e7ebd1a9e817e2bd313f}{get\+\_\+gyro\+\_\+velocity}} (float \&x, float \&y, float \&z) -\begin{DoxyCompactList}\small\item\em Full rotational velocity from gyro-\/integrated rotation vector (See Ref. Manual 6.\+5.\+44) \end{DoxyCompactList}\item -float \mbox{\hyperlink{class_b_n_o08x_acd376cd3e454a87198ec86accbf2ee00}{get\+\_\+gyro\+\_\+velocity\+\_\+X}} () -\begin{DoxyCompactList}\small\item\em Get x axis angular velocity from gyro-\/integrated rotation vector. (See Ref. Manual 6.\+5.\+44) \end{DoxyCompactList}\item -float \mbox{\hyperlink{class_b_n_o08x_acd1819a81818f90dc105950b4a7d0b04}{get\+\_\+gyro\+\_\+velocity\+\_\+Y}} () -\begin{DoxyCompactList}\small\item\em Get y axis angular velocity from gyro-\/integrated rotation vector. (See Ref. Manual 6.\+5.\+44) \end{DoxyCompactList}\item -float \mbox{\hyperlink{class_b_n_o08x_ae2add976af256ec981248371a2f58207}{get\+\_\+gyro\+\_\+velocity\+\_\+Z}} () -\begin{DoxyCompactList}\small\item\em Get z axis angular velocity from gyro-\/integrated rotation vector. (See Ref. Manual 6.\+5.\+44) \end{DoxyCompactList}\item -uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a4797ec731de4c158716da1a7af9d1602}{get\+\_\+tap\+\_\+detector}} () -\begin{DoxyCompactList}\small\item\em Get if tap has occured. \end{DoxyCompactList}\item -uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_adaff49f3d80fdd19fd4210f0c56d41ef}{get\+\_\+step\+\_\+count}} () -\begin{DoxyCompactList}\small\item\em Get the counted amount of steps. \end{DoxyCompactList}\item -int8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a0d148e00abcfeec48c689e3084a7e786}{get\+\_\+stability\+\_\+classifier}} () -\begin{DoxyCompactList}\small\item\em Get the current stability classifier (Seee Ref. Manual 6.\+5.\+31) \end{DoxyCompactList}\item -uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a4f7060b2d3c15b359b70b6346730446a}{get\+\_\+activity\+\_\+classifier}} () -\begin{DoxyCompactList}\small\item\em Get the current activity classifier (Seee Ref. Manual 6.\+5.\+36) \end{DoxyCompactList}\item -int16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a4421c43323945946ad605f8422958dcf}{get\+\_\+\+Q1}} (uint16\+\_\+t record\+\_\+\+ID) -\begin{DoxyCompactList}\small\item\em Gets Q1 point from \doxylink{class_b_n_o08x}{BNO08x} FRS (flash record system). \end{DoxyCompactList}\item -int16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a954dccdcbe8a8c4f1787f13ebb8d932b}{get\+\_\+\+Q2}} (uint16\+\_\+t record\+\_\+\+ID) -\begin{DoxyCompactList}\small\item\em Gets Q2 point from \doxylink{class_b_n_o08x}{BNO08x} FRS (flash record system). \end{DoxyCompactList}\item -int16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a1590ba793668f9cb1a32a1f4dd07cb9a}{get\+\_\+\+Q3}} (uint16\+\_\+t record\+\_\+\+ID) -\begin{DoxyCompactList}\small\item\em Gets Q3 point from \doxylink{class_b_n_o08x}{BNO08x} FRS (flash record system). \end{DoxyCompactList}\item -float \mbox{\hyperlink{class_b_n_o08x_a1d6ea02d0d4b23ff6a15e9d5c6c92372}{get\+\_\+resolution}} (uint16\+\_\+t record\+\_\+\+ID) -\begin{DoxyCompactList}\small\item\em Gets resolution from \doxylink{class_b_n_o08x}{BNO08x} FRS (flash record system). \end{DoxyCompactList}\item -float \mbox{\hyperlink{class_b_n_o08x_a0fff04c42c9502615ad73cd1457cb9b0}{get\+\_\+range}} (uint16\+\_\+t record\+\_\+\+ID) -\begin{DoxyCompactList}\small\item\em Gets range from \doxylink{class_b_n_o08x}{BNO08x} FRS (flash record system). \end{DoxyCompactList}\item -uint32\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a27f5dce5c994be18a587fb622574ad41}{FRS\+\_\+read\+\_\+word}} (uint16\+\_\+t record\+\_\+\+ID, uint8\+\_\+t word\+\_\+number) -\begin{DoxyCompactList}\small\item\em Reads meta data word from \doxylink{class_b_n_o08x}{BNO08x} FRS (flash record system) given the record ID and word number. (See Ref. Manual 5.\+1 \& 6.\+3.\+7) \end{DoxyCompactList}\item -bool \mbox{\hyperlink{class_b_n_o08x_adf789e709ac1667656db757c8d559af9}{FRS\+\_\+read\+\_\+request}} (uint16\+\_\+t record\+\_\+\+ID, uint16\+\_\+t read\+\_\+offset, uint16\+\_\+t block\+\_\+size) -\begin{DoxyCompactList}\small\item\em Requests meta data from \doxylink{class_b_n_o08x}{BNO08x} FRS (flash record system) given the record ID. Contains Q points and other info. (See Ref. Manual 5.\+1 \& 6.\+3.\+6) \end{DoxyCompactList}\item -bool \mbox{\hyperlink{class_b_n_o08x_a40607e557eada666a5e1e416f42cd4a1}{FRS\+\_\+read\+\_\+data}} (uint16\+\_\+t record\+\_\+\+ID, uint8\+\_\+t start\+\_\+location, uint8\+\_\+t words\+\_\+to\+\_\+read) -\begin{DoxyCompactList}\small\item\em Read meta data from \doxylink{class_b_n_o08x}{BNO08x} FRS (flash record system) given the record ID. Contains Q points and other info. (See Ref. Manual 5.\+1 \& 6.\+3.\+7) \end{DoxyCompactList}\end{DoxyCompactItemize} -\doxysubsubsection*{Static Public Attributes} -\begin{DoxyCompactItemize} -\item -static const constexpr uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_ad7ef7d7068af5f92239c12022dbeb16d}{FRS\+\_\+\+RECORD\+\_\+\+ID\+\_\+\+ACCELEROMETER}} -\begin{DoxyCompactList}\small\item\em Accelerometer record ID, to be passed in metadata functions like \doxylink{class_b_n_o08x_a4421c43323945946ad605f8422958dcf}{get\+\_\+\+Q1()} \end{DoxyCompactList}\item -static const constexpr uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a35d8f641e73c308f92a5a0a772f90f48}{FRS\+\_\+\+RECORD\+\_\+\+ID\+\_\+\+GYROSCOPE\+\_\+\+CALIBRATED}} -\begin{DoxyCompactList}\small\item\em Calirated gyroscope record ID, to be passed in metadata functions like \doxylink{class_b_n_o08x_a4421c43323945946ad605f8422958dcf}{get\+\_\+\+Q1()} \end{DoxyCompactList}\item -static const constexpr uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a0992d77f9bae0b8e3c8d9331fe84fe24}{FRS\+\_\+\+RECORD\+\_\+\+ID\+\_\+\+MAGNETIC\+\_\+\+FIELD\+\_\+\+CALIBRATED}} -\begin{DoxyCompactList}\small\item\em Calibrated magnetometer record ID, to be passed in metadata functions like \doxylink{class_b_n_o08x_a4421c43323945946ad605f8422958dcf}{get\+\_\+\+Q1()} \end{DoxyCompactList}\item -static const constexpr uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a9f35840b19c8ad11fd1b4622c3269250}{FRS\+\_\+\+RECORD\+\_\+\+ID\+\_\+\+ROTATION\+\_\+\+VECTOR}} -\begin{DoxyCompactList}\small\item\em Rotation vector record ID, to be passed in metadata functions like \doxylink{class_b_n_o08x_a4421c43323945946ad605f8422958dcf}{get\+\_\+\+Q1()} \end{DoxyCompactList}\item -static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a1ef13f6f330810934416ad5fe0ee55b2}{TARE\+\_\+\+AXIS\+\_\+\+ALL}} = 0x07 -\begin{DoxyCompactList}\small\item\em Tare all axes (used with tare now command) \end{DoxyCompactList}\item -static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_aecb3e11c1ca5769fd60f42c17a105731}{TARE\+\_\+\+AXIS\+\_\+Z}} = 0x04 -\begin{DoxyCompactList}\small\item\em Tar yaw axis only (used with tare now command) \end{DoxyCompactList}\item -static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a8e2cfc25d0e34ae53a762b88cc3ac3c8}{TARE\+\_\+\+ROTATION\+\_\+\+VECTOR}} = 0 -\begin{DoxyCompactList}\small\item\em Tare rotation vector. \end{DoxyCompactList}\item -static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_abaf1ec8bb197db1998a9ed3cec6180d5}{TARE\+\_\+\+GAME\+\_\+\+ROTATION\+\_\+\+VECTOR}} = 1 -\begin{DoxyCompactList}\small\item\em Tare game rotation vector. \end{DoxyCompactList}\item -static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a225397a04d849e5647992ca80d68febb}{TARE\+\_\+\+GEOMAGNETIC\+\_\+\+ROTATION\+\_\+\+VECTOR}} = 2 -\begin{DoxyCompactList}\small\item\em tare geomagnetic rotation vector \end{DoxyCompactList}\item -static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a9ec354d75249f06f13599abf7bedfde0}{TARE\+\_\+\+GYRO\+\_\+\+INTEGRATED\+\_\+\+ROTATION\+\_\+\+VECTOR}} = 3 -\begin{DoxyCompactList}\small\item\em Tare gyro integrated rotation vector. \end{DoxyCompactList}\item -static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_abff9abe904bcdde951cf88c378284b45}{TARE\+\_\+\+ARVR\+\_\+\+STABILIZED\+\_\+\+ROTATION\+\_\+\+VECTOR}} = 4 -\begin{DoxyCompactList}\small\item\em Tare ARVR stabilized rotation vector. \end{DoxyCompactList}\item -static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a68aaaab144adbe5af00597408f044d9d}{TARE\+\_\+\+ARVR\+\_\+\+STABILIZED\+\_\+\+GAME\+\_\+\+ROTATION\+\_\+\+VECTOR}} = 5 -\begin{DoxyCompactList}\small\item\em Tare ARVR stabilized game rotation vector. \end{DoxyCompactList}\item -static const constexpr int16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a0b19c8f2de2b2bfe033da7f93cdd2608}{ROTATION\+\_\+\+VECTOR\+\_\+\+Q1}} = 14 -\begin{DoxyCompactList}\small\item\em Rotation vector Q point (See SH-\/2 Ref. Manual 6.\+5.\+18) \end{DoxyCompactList}\item -static const constexpr int16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a923d65d8568cc31873ad56a3908e1939}{ROTATION\+\_\+\+VECTOR\+\_\+\+ACCURACY\+\_\+\+Q1}} = 12 -\begin{DoxyCompactList}\small\item\em Rotation vector accuracy estimate Q point (See SH-\/2 Ref. Manual 6.\+5.\+18) \end{DoxyCompactList}\item -static const constexpr int16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a0564aaf5b20dc42b54db4fb3115ac1c7}{ACCELEROMETER\+\_\+\+Q1}} = 8 -\begin{DoxyCompactList}\small\item\em Acceleration Q point (See SH-\/2 Ref. Manual 6.\+5.\+9) \end{DoxyCompactList}\item -static const constexpr int16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_ad0d37fe07ced24f2c9afc21145a74e7b}{LINEAR\+\_\+\+ACCELEROMETER\+\_\+\+Q1}} = 8 -\begin{DoxyCompactList}\small\item\em Linear acceleration Q point (See SH-\/2 Ref. Manual 6.\+5.\+10) \end{DoxyCompactList}\item -static const constexpr int16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_aa3bec8effefa61cec6fa170e9d02c4dd}{GYRO\+\_\+\+Q1}} = 9 -\begin{DoxyCompactList}\small\item\em Gyro Q point (See SH-\/2 Ref. Manual 6.\+5.\+13) \end{DoxyCompactList}\item -static const constexpr int16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a9fac9b811b7c2117675a784cb4df204c}{MAGNETOMETER\+\_\+\+Q1}} = 4 -\begin{DoxyCompactList}\small\item\em Magnetometer Q point (See SH-\/2 Ref. Manual 6.\+5.\+16) \end{DoxyCompactList}\item -static const constexpr int16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_aafe117561fe9138800073a04a778b4ce}{ANGULAR\+\_\+\+VELOCITY\+\_\+\+Q1}} = 10 -\begin{DoxyCompactList}\small\item\em Angular velocity Q point (See SH-\/2 Ref. Manual 6.\+5.\+44) \end{DoxyCompactList}\item -static const constexpr int16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_ae10722334dfce9635e76519598e165a2}{GRAVITY\+\_\+\+Q1}} = 8 -\begin{DoxyCompactList}\small\item\em Gravity Q point (See SH-\/2 Ref. Manual 6.\+5.\+11) \end{DoxyCompactList}\end{DoxyCompactItemize} -\doxysubsubsection*{Private Types} -\begin{DoxyCompactItemize} -\item -typedef struct BNO08x\+::bno08x\+\_\+rx\+\_\+packet\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a407711b4a84223a52cc043a152aea8ba}{bno08x\+\_\+rx\+\_\+packet\+\_\+t}} -\begin{DoxyCompactList}\small\item\em Holds data that is received over spi. \end{DoxyCompactList}\item -typedef struct BNO08x\+::bno08x\+\_\+tx\+\_\+packet\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a3a1a869ac69e6ee850bd2a7f90dd8945}{bno08x\+\_\+tx\+\_\+packet\+\_\+t}} -\begin{DoxyCompactList}\small\item\em Holds data that is sent over spi. \end{DoxyCompactList}\end{DoxyCompactItemize} -\doxysubsubsection*{Private Member Functions} -\begin{DoxyCompactItemize} -\item -bool \mbox{\hyperlink{class_b_n_o08x_a2897a178bf2c53cd99df0d4570edf72e}{wait\+\_\+for\+\_\+rx\+\_\+done}} () -\begin{DoxyCompactList}\small\item\em Waits for data to be received over SPI, or HOST\+\_\+\+INT\+\_\+\+TIMEOUT\+\_\+\+MS to elapse. \end{DoxyCompactList}\item -bool \mbox{\hyperlink{class_b_n_o08x_a7cdeb849e728487de961cdfd4030c773}{wait\+\_\+for\+\_\+tx\+\_\+done}} () -\begin{DoxyCompactList}\small\item\em Waits for a queued packet to be sent or HOST\+\_\+\+INT\+\_\+\+TIMEOUT\+\_\+\+MS to elapse. \end{DoxyCompactList}\item -bool \mbox{\hyperlink{class_b_n_o08x_a4f12de628073f44b2a3fab2688cf1caf}{wait\+\_\+for\+\_\+data}} () -\begin{DoxyCompactList}\small\item\em Waits for a valid or invalid packet to be received or HOST\+\_\+\+INT\+\_\+\+TIMEOUT\+\_\+\+MS to elapse. \end{DoxyCompactList}\item -bool \mbox{\hyperlink{class_b_n_o08x_ae540799865934fcff54caed0772df071}{receive\+\_\+packet}} () -\begin{DoxyCompactList}\small\item\em Receives a SHTP packet via SPI and sends it to \doxylink{class_b_n_o08x_ab4373e9b87837ea9fcbc0b536338c7b8}{data\+\_\+proc\+\_\+task()} \end{DoxyCompactList}\item -void \mbox{\hyperlink{class_b_n_o08x_a2c359a44a2c8e83ecb258a340e2d0e1a}{send\+\_\+packet}} (\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__tx__packet__t}{bno08x\+\_\+tx\+\_\+packet\+\_\+t}} \texorpdfstring{$\ast$}{*}packet) -\begin{DoxyCompactList}\small\item\em Sends a queued SHTP packet via SPI. \end{DoxyCompactList}\item -void \mbox{\hyperlink{class_b_n_o08x_a41613e65ea9beef883184b7ef67affdd}{enable\+\_\+report}} (uint8\+\_\+t report\+\_\+\+ID, uint32\+\_\+t time\+\_\+between\+\_\+reports, const Event\+Bits\+\_\+t report\+\_\+evt\+\_\+grp\+\_\+bit) -\begin{DoxyCompactList}\small\item\em Enables a sensor report for a given ID. \end{DoxyCompactList}\item -void \mbox{\hyperlink{class_b_n_o08x_a00ec3857cb06ae885e32059ef1cab693}{disable\+\_\+report}} (uint8\+\_\+t report\+\_\+\+ID, const Event\+Bits\+\_\+t report\+\_\+evt\+\_\+grp\+\_\+bit) -\begin{DoxyCompactList}\small\item\em Disables a sensor report for a given ID by setting its time interval to 0. \end{DoxyCompactList}\item -void \mbox{\hyperlink{class_b_n_o08x_a62c570ba96512f4d0d10b2594048de1f}{queue\+\_\+packet}} (uint8\+\_\+t channel\+\_\+number, uint8\+\_\+t data\+\_\+length, uint8\+\_\+t \texorpdfstring{$\ast$}{*}commands) -\begin{DoxyCompactList}\small\item\em Queues an SHTP packet to be sent via SPI. \end{DoxyCompactList}\item -void \mbox{\hyperlink{class_b_n_o08x_a5cc58139e4d5f0587b90e249ceb476f9}{queue\+\_\+command}} (uint8\+\_\+t command, uint8\+\_\+t \texorpdfstring{$\ast$}{*}commands) -\begin{DoxyCompactList}\small\item\em Queues a packet containing a command. \end{DoxyCompactList}\item -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_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 -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}}) -\begin{DoxyCompactList}\small\item\em Queues a packet containing a command related to zeroing sensor\textquotesingle{}s axes. (See Ref. Manual 6.\+4.\+4.\+1) \end{DoxyCompactList}\item -void \mbox{\hyperlink{class_b_n_o08x_ab5f200069a2f8cb74cb79c6f162da5a1}{queue\+\_\+request\+\_\+product\+\_\+id\+\_\+command}} () -\begin{DoxyCompactList}\small\item\em Queues a packet containing the request product ID command. \end{DoxyCompactList}\item -uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a67a697595d6a4d4638a53c6b4a5ef0cd}{parse\+\_\+packet}} (\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__rx__packet__t}{bno08x\+\_\+rx\+\_\+packet\+\_\+t}} \texorpdfstring{$\ast$}{*}packet) -\begin{DoxyCompactList}\small\item\em Parses a packet received from bno08x, updating any data according to received reports. \end{DoxyCompactList}\item -uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a29cfd7fc2816483ebebe9d55b677a036}{parse\+\_\+product\+\_\+id\+\_\+report}} (\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__rx__packet__t}{bno08x\+\_\+rx\+\_\+packet\+\_\+t}} \texorpdfstring{$\ast$}{*}packet) -\begin{DoxyCompactList}\small\item\em Parses product id report and prints device info. \end{DoxyCompactList}\item -uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a51b360d795563b55559f11efb40be36a}{parse\+\_\+frs\+\_\+read\+\_\+response\+\_\+report}} (\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__rx__packet__t}{bno08x\+\_\+rx\+\_\+packet\+\_\+t}} \texorpdfstring{$\ast$}{*}packet) -\begin{DoxyCompactList}\small\item\em Sends packet to be parsed to meta data function call (frs\+\_\+read\+\_\+word()) through queue. \end{DoxyCompactList}\item -uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a8d9db3e1b6208c2661e1c543deefa53d}{parse\+\_\+input\+\_\+report}} (\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__rx__packet__t}{bno08x\+\_\+rx\+\_\+packet\+\_\+t}} \texorpdfstring{$\ast$}{*}packet) -\begin{DoxyCompactList}\small\item\em Parses received input report sent by \doxylink{class_b_n_o08x}{BNO08x}. \end{DoxyCompactList}\item -uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a4f66045a0528a0c17c52421ea51612e7}{parse\+\_\+command\+\_\+report}} (\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__rx__packet__t}{bno08x\+\_\+rx\+\_\+packet\+\_\+t}} \texorpdfstring{$\ast$}{*}packet) -\begin{DoxyCompactList}\small\item\em Parses received command report sent by \doxylink{class_b_n_o08x}{BNO08x} (See Ref. Manual 6.\+3.\+9) \end{DoxyCompactList}\item -void \mbox{\hyperlink{class_b_n_o08x_a35856c108a47de8b3b38c4395aabb4eb}{print\+\_\+header}} (\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__rx__packet__t}{bno08x\+\_\+rx\+\_\+packet\+\_\+t}} \texorpdfstring{$\ast$}{*}packet) -\begin{DoxyCompactList}\small\item\em Prints the header of the passed SHTP packet to serial console with ESP\+\_\+\+LOG statement. \end{DoxyCompactList}\item -void \mbox{\hyperlink{class_b_n_o08x_a05e4cd5861b55fc0182d7dd13bb85e49}{print\+\_\+packet}} (\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__rx__packet__t}{bno08x\+\_\+rx\+\_\+packet\+\_\+t}} \texorpdfstring{$\ast$}{*}packet) -\begin{DoxyCompactList}\small\item\em Prints the passed SHTP packet to serial console with ESP\+\_\+\+LOG statement. \end{DoxyCompactList}\item -void \mbox{\hyperlink{class_b_n_o08x_a2ecd4ed60f82730ae230c61687ec92bf}{spi\+\_\+task}} () -\begin{DoxyCompactList}\small\item\em Task responsible for SPI transactions. Executed when HINT in is asserted by \doxylink{class_b_n_o08x}{BNO08x}. \end{DoxyCompactList}\item -void \mbox{\hyperlink{class_b_n_o08x_ab4373e9b87837ea9fcbc0b536338c7b8}{data\+\_\+proc\+\_\+task}} () -\begin{DoxyCompactList}\small\item\em Task responsible parsing packets. Executed when SPI task sends a packet to be parsed, notifies \doxylink{class_b_n_o08x_a4f12de628073f44b2a3fab2688cf1caf}{wait\+\_\+for\+\_\+data()} call. \end{DoxyCompactList}\end{DoxyCompactItemize} -\doxysubsubsection*{Static Private Member Functions} -\begin{DoxyCompactItemize} -\item -static void \mbox{\hyperlink{class_b_n_o08x_a0ce6d9db873555f1ebe7e095251eab74}{spi\+\_\+task\+\_\+trampoline}} (void \texorpdfstring{$\ast$}{*}arg) -\begin{DoxyCompactList}\small\item\em Static function used to launch spi task. \end{DoxyCompactList}\item -static void \mbox{\hyperlink{class_b_n_o08x_a0ae135d7bf7a5f047a1d1aa5cc07e520}{data\+\_\+proc\+\_\+task\+\_\+trampoline}} (void \texorpdfstring{$\ast$}{*}arg) -\begin{DoxyCompactList}\small\item\em Static function used to launch data processing task. \end{DoxyCompactList}\item -static void IRAM\+\_\+\+ATTR \mbox{\hyperlink{class_b_n_o08x_a804b95c58c30d36933fd251626b85bf7}{hint\+\_\+handler}} (void \texorpdfstring{$\ast$}{*}arg) -\begin{DoxyCompactList}\small\item\em HINT interrupt service routine, handles falling edge of \doxylink{class_b_n_o08x}{BNO08x} HINT pin. \end{DoxyCompactList}\end{DoxyCompactItemize} -\doxysubsubsection*{Private Attributes} -\begin{DoxyCompactItemize} -\item -Event\+Group\+Handle\+\_\+t \mbox{\hyperlink{class_b_n_o08x_aa2b4442b5cc63ebf0c495e6fb537c85e}{evt\+\_\+grp\+\_\+spi}} -\begin{DoxyCompactList}\small\item\em Event group for indicating when bno08x hint pin has triggered and when new data has been processed. Used by calls to sending or receiving functions. \end{DoxyCompactList}\item -Event\+Group\+Handle\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a63eb6c8be6f3bc943a86bb0496871275}{evt\+\_\+grp\+\_\+report\+\_\+en}} -\begin{DoxyCompactList}\small\item\em Event group for indicating which reports are currently enabled. \end{DoxyCompactList}\item -Queue\+Handle\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a7d4661d3aae56013caa8f2bff0f67c08}{queue\+\_\+rx\+\_\+data}} -\begin{DoxyCompactList}\small\item\em Packet queue used to send data received from bno08x from spi\+\_\+task to data\+\_\+proc\+\_\+task. \end{DoxyCompactList}\item -Queue\+Handle\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a4d5c5eee87a578de9c8318cd294b3a22}{queue\+\_\+tx\+\_\+data}} -\begin{DoxyCompactList}\small\item\em Packet queue used to send data to be sent over SPI from sending functions to spi\+\_\+task. \end{DoxyCompactList}\item -Queue\+Handle\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a9a1c851e8fa5633e11f6abee293d7e9b}{queue\+\_\+frs\+\_\+read\+\_\+data}} -\begin{DoxyCompactList}\small\item\em Queue used to send packet body from data\+\_\+proc\+\_\+task to frs read functions. \end{DoxyCompactList}\item -Queue\+Handle\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a84b3639cc159262e0137adb0db5cf9aa}{queue\+\_\+reset\+\_\+reason}} -\begin{DoxyCompactList}\small\item\em Queue used to send reset reason from product id report to reset\+\_\+reason() function. \end{DoxyCompactList}\item -std\+::vector$<$ std\+::function$<$ void()$>$ $>$ \mbox{\hyperlink{class_b_n_o08x_a6a15e3a64dd71ea61f0448afcce96409}{cb\+\_\+list}} -\item -uint32\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a7bd032712a975e73e66bd72a3502baba}{meta\+\_\+data}} \mbox{[}9\mbox{]} -\begin{DoxyCompactList}\small\item\em First 9 bytes of meta data returned from FRS read operation (we don\textquotesingle{}t really need the rest) (See Ref. Manual 5.\+1) \end{DoxyCompactList}\item -\mbox{\hyperlink{structbno08x__config__t}{bno08x\+\_\+config\+\_\+t}} \mbox{\hyperlink{class_b_n_o08x_aeda443e9f608fccfec0e6770edc90c82}{imu\+\_\+config}} \{\} -\begin{DoxyCompactList}\small\item\em IMU configuration settings. \end{DoxyCompactList}\item -spi\+\_\+bus\+\_\+config\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a982f065df42f00e53fd87c840efdb0f1}{bus\+\_\+config}} \{\} -\begin{DoxyCompactList}\small\item\em SPI bus GPIO configuration settings. \end{DoxyCompactList}\item -spi\+\_\+device\+\_\+interface\+\_\+config\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a425a1f5a9f3232aadc685caaf4c2f82e}{imu\+\_\+spi\+\_\+config}} \{\} -\begin{DoxyCompactList}\small\item\em SPI slave device settings. \end{DoxyCompactList}\item -spi\+\_\+device\+\_\+handle\+\_\+t \mbox{\hyperlink{class_b_n_o08x_acc0ea091465fc9a5736f5e0c6a0ce8ef}{spi\+\_\+hdl}} \{\} -\begin{DoxyCompactList}\small\item\em SPI device handle. \end{DoxyCompactList}\item -spi\+\_\+transaction\+\_\+t \mbox{\hyperlink{class_b_n_o08x_ac16adc5f00b0039c98a4921f13895026}{spi\+\_\+transaction}} \{\} -\begin{DoxyCompactList}\small\item\em SPI transaction handle. \end{DoxyCompactList}\item -uint32\+\_\+t \mbox{\hyperlink{class_b_n_o08x_abc972db20affbd0040b4e6c4892dd57b}{time\+\_\+stamp}} -\begin{DoxyCompactList}\small\item\em Report timestamp (see datasheet 1.\+3.\+5.\+3) \end{DoxyCompactList}\item -uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a75fb2f06c5bbe26e3f3c794934ef954c}{raw\+\_\+accel\+\_\+X}} -\item -uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_ab56e2ba505fa293d03e955137625c562}{raw\+\_\+accel\+\_\+Y}} -\item -uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_af254d245b368027df6952b7d7522bd35}{raw\+\_\+accel\+\_\+Z}} -\item -uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a3365b7ebde01e284274e655c60343df9}{accel\+\_\+accuracy}} -\begin{DoxyCompactList}\small\item\em Raw acceleration readings (See SH-\/2 Ref. Manual 6.\+5.\+8) \end{DoxyCompactList}\item -uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_ae1f71a432cb15e75f522fa18f29f4d50}{raw\+\_\+lin\+\_\+accel\+\_\+X}} -\item -uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_aff3a5590471d1c9fc485a5610433915f}{raw\+\_\+lin\+\_\+accel\+\_\+Y}} -\item -uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_abc8add47f1babc66c812a015614143d3}{raw\+\_\+lin\+\_\+accel\+\_\+Z}} -\item -uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a35e1635ef5edde8fc8640f978c6f2e3c}{accel\+\_\+lin\+\_\+accuracy}} -\begin{DoxyCompactList}\small\item\em Raw linear acceleration (See SH-\/2 Ref. Manual 6.\+5.\+10) \end{DoxyCompactList}\item -uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a19696327a056a448ed5ba706e747bbe5}{raw\+\_\+gyro\+\_\+X}} -\item -uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a61df9f571555f5f682eb51f24a279489}{raw\+\_\+gyro\+\_\+Y}} -\item -uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a03f567cda2a3cc966301e96732fca9ad}{raw\+\_\+gyro\+\_\+Z}} -\item -uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a98ea35dd0fbd0c409d25fd8a6ed9f277}{gyro\+\_\+accuracy}} -\begin{DoxyCompactList}\small\item\em Raw gyro reading (See SH-\/2 Ref. Manual 6.\+5.\+13) \end{DoxyCompactList}\item -uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a69dc7e97875060213085ba964b3bd987}{raw\+\_\+quat\+\_\+I}} -\item -uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a61ae05dc5572b326541bf8099f0c2a54}{raw\+\_\+quat\+\_\+J}} -\item -uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a7720c44ed1c0f1a0663d2adc5e1a1ea1}{raw\+\_\+quat\+\_\+K}} -\item -uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a867354267253ae828be4fae15c062db3}{raw\+\_\+quat\+\_\+real}} -\item -uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a033d6cb1aa137743b69cc3e401df67b7}{raw\+\_\+quat\+\_\+radian\+\_\+accuracy}} -\item -uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a36223f7124751fa71e860b2ef55dd2ac}{quat\+\_\+accuracy}} -\begin{DoxyCompactList}\small\item\em Raw quaternion reading (See SH-\/2 Ref. Manual 6.\+5.\+44) \end{DoxyCompactList}\item -uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_aa5bb03dbeabed729c012ec7164a3354f}{raw\+\_\+velocity\+\_\+gyro\+\_\+X}} -\item -uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a4f188bf76ba862f07606d1351d28548f}{raw\+\_\+velocity\+\_\+gyro\+\_\+Y}} -\item -uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_ab49f9a6586d709bbd26280ef44a4bbf7}{raw\+\_\+velocity\+\_\+gyro\+\_\+Z}} -\begin{DoxyCompactList}\small\item\em Raw gyro angular velocity reading (See SH-\/2 Ref. Manual 6.\+5.\+44) \end{DoxyCompactList}\item -uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_af45016be9ea523d80be8467b2907b499}{gravity\+\_\+X}} -\item -uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_af20dcd487a9fe8fa6243817d51e37be5}{gravity\+\_\+Y}} -\item -uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_afa1cf5c3afbb258d97c55c5fb187f2d6}{gravity\+\_\+Z}} -\item -uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_ae01698d287ea999179a11e2244902022}{gravity\+\_\+accuracy}} -\begin{DoxyCompactList}\small\item\em Gravity reading in m/s\texorpdfstring{$^\wedge$}{\string^}2 (See SH-\/2 Ref. Manual 6.\+5.\+11) \end{DoxyCompactList}\item -uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_afdc5cdb65bd0b36528b5b671b9d27053}{raw\+\_\+uncalib\+\_\+gyro\+\_\+X}} -\item -uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_acc2c66e2985975266a286385ea855117}{raw\+\_\+uncalib\+\_\+gyro\+\_\+Y}} -\item -uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_afac9dd4161f4c0051255293680c9082b}{raw\+\_\+uncalib\+\_\+gyro\+\_\+Z}} -\item -uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a8a2667f668317cee0a9fc4ef0accc3f5}{raw\+\_\+bias\+\_\+X}} -\item -uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_ac38ff5eb93d3c3db0af2504ba02fd93c}{raw\+\_\+bias\+\_\+Y}} -\item -uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a0968eaed9b3d979a2caa1aba6e6b417a}{raw\+\_\+bias\+\_\+Z}} -\item -uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a081c666a3f24016d0ec5c5edc49f2903}{uncalib\+\_\+gyro\+\_\+accuracy}} -\begin{DoxyCompactList}\small\item\em Uncalibrated gyro reading (See SH-\/2 Ref. Manual 6.\+5.\+14) \end{DoxyCompactList}\item -uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_aa5bdf740161b7c37adcac0154a410118}{raw\+\_\+magf\+\_\+X}} -\item -uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_acd365418f24a6da61122c66d82086639}{raw\+\_\+magf\+\_\+Y}} -\item -uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_ab4862de31d0874b44b6745678e1c905e}{raw\+\_\+magf\+\_\+Z}} -\item -uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_ac5d4e151690774687efa951ca41c16ae}{magf\+\_\+accuracy}} -\begin{DoxyCompactList}\small\item\em Calibrated magnetic field reading in u\+Tesla (See SH-\/2 Ref. Manual 6.\+5.\+16) \end{DoxyCompactList}\item -uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a1171a5738a4e6831ec7fa32a29f15554}{tap\+\_\+detector}} -\begin{DoxyCompactList}\small\item\em Tap detector reading (See SH-\/2 Ref. Manual 6.\+5.\+27) \end{DoxyCompactList}\item -uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_ad80a77973371b12d722ea39063c648be}{step\+\_\+count}} -\begin{DoxyCompactList}\small\item\em Step counter reading (See SH-\/2 Ref. Manual 6.\+5.\+29) \end{DoxyCompactList}\item -uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a1b12471e92536a79d0c425d77676f2e1}{stability\+\_\+classifier}} -\begin{DoxyCompactList}\small\item\em Stability status reading (See SH-\/2 Ref. Manual 6.\+5.\+31) \end{DoxyCompactList}\item -uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a75cea49c1c08ca28d9fa7e5ed61c6e7b}{activity\+\_\+classifier}} -\begin{DoxyCompactList}\small\item\em Activity status reading (See SH-\/2 Ref. Manual 6.\+5.\+36) \end{DoxyCompactList}\item -uint8\+\_\+t \texorpdfstring{$\ast$}{*} \mbox{\hyperlink{class_b_n_o08x_af96e8cd070459f945ffbf01b98106e13}{activity\+\_\+confidences}} -\begin{DoxyCompactList}\small\item\em Confidence of read activities (See SH-\/2 Ref. Manual 6.\+5.\+36) \end{DoxyCompactList}\item -uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_ad212b5028a31e857e76d251ced2724e1}{calibration\+\_\+status}} -\begin{DoxyCompactList}\small\item\em Calibration status of device (See SH-\/2 Ref. Manual 6.\+4.\+7.\+1 \& 6.\+4.\+7.\+2) \end{DoxyCompactList}\item -uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a937cbdc4edaac72c8cad041d79de5701}{mems\+\_\+raw\+\_\+accel\+\_\+X}} -\item -uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_ad83cecb8a5d2be01db6792755b6057e9}{mems\+\_\+raw\+\_\+accel\+\_\+Y}} -\item -uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a59a4d75f1302ab693b1b26e9ccaa5341}{mems\+\_\+raw\+\_\+accel\+\_\+Z}} -\begin{DoxyCompactList}\small\item\em Raw accelerometer readings from MEMS sensor (See SH2 Ref. Manual 6.\+5.\+8) \end{DoxyCompactList}\item -uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a3d6b6257462951ea023af7076c80f6dd}{mems\+\_\+raw\+\_\+gyro\+\_\+X}} -\item -uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_ab6b142416912a096886dd63ad0beb865}{mems\+\_\+raw\+\_\+gyro\+\_\+Y}} -\item -uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_ac35d5b12721ab876eaeb1f714a9b3b1d}{mems\+\_\+raw\+\_\+gyro\+\_\+Z}} -\begin{DoxyCompactList}\small\item\em Raw gyro readings from MEMS sensor (See SH-\/2 Ref. Manual 6.\+5.\+12) \end{DoxyCompactList}\item -uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_ab587cdf991342b69b7fff3b33f537eb5}{mems\+\_\+raw\+\_\+magf\+\_\+X}} -\item -uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_aad926054c81818fff611e10ed913706a}{mems\+\_\+raw\+\_\+magf\+\_\+Y}} -\item -uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a90f0cdf11decc276006f76a494d42ce3}{mems\+\_\+raw\+\_\+magf\+\_\+Z}} -\begin{DoxyCompactList}\small\item\em Raw magnetometer (compass) readings from MEMS sensor (See SH-\/2 Ref. Manual 6.\+5.\+15) \end{DoxyCompactList}\item -Task\+Handle\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a615090aae15f1b0410a7e5ecb94957b5}{spi\+\_\+task\+\_\+hdl}} -\begin{DoxyCompactList}\small\item\em \doxylink{class_b_n_o08x_a2ecd4ed60f82730ae230c61687ec92bf}{spi\+\_\+task()} handle \end{DoxyCompactList}\item -Task\+Handle\+\_\+t \mbox{\hyperlink{class_b_n_o08x_af9b6fbf35e7cd55d517d30c6429a21a4}{data\+\_\+proc\+\_\+task\+\_\+hdl}} -\begin{DoxyCompactList}\small\item\em \doxylink{class_b_n_o08x_ab4373e9b87837ea9fcbc0b536338c7b8}{data\+\_\+proc\+\_\+task()} task handle \end{DoxyCompactList}\end{DoxyCompactItemize} -\doxysubsubsection*{Static Private Attributes} -\begin{DoxyCompactItemize} -\item -static \mbox{\hyperlink{structbno08x__config__t}{bno08x\+\_\+config\+\_\+t}} \mbox{\hyperlink{class_b_n_o08x_a6232920a05c0aba34e5560951a20ae87}{default\+\_\+imu\+\_\+config}} -\begin{DoxyCompactList}\small\item\em default imu config settings \end{DoxyCompactList}\item -static bool \mbox{\hyperlink{class_b_n_o08x_a4882dbc698d7b730f57e2401037766a9}{isr\+\_\+service\+\_\+installed}} = \{false\} -\begin{DoxyCompactList}\small\item\em true of the isr service has been installed, only has to be done once regardless of how many devices are used \end{DoxyCompactList}\item -static const constexpr uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a1a037bda37493cde56732cc6fdc7884b}{RX\+\_\+\+DATA\+\_\+\+LENGTH}} = 300 -\begin{DoxyCompactList}\small\item\em length buffer containing data received over spi \end{DoxyCompactList}\item -static const constexpr uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a2a5b978233eab4c103ab01cfc33a1750}{MAX\+\_\+\+METADATA\+\_\+\+LENGTH}} = 9 -\begin{DoxyCompactList}\small\item\em max length of metadata used in frs read operations \end{DoxyCompactList}\item -static const constexpr uint64\+\_\+t \mbox{\hyperlink{class_b_n_o08x_ae7f34752f888c637d5619f898e62a6d4}{HOST\+\_\+\+INT\+\_\+\+TIMEOUT\+\_\+\+MS}} -\begin{DoxyCompactList}\small\item\em Max wait between HINT being asserted by \doxylink{class_b_n_o08x}{BNO08x} before transaction is considered failed (in miliseconds) \end{DoxyCompactList}\item -static const constexpr Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a32cffd8f78881925d22d5a7cb55f2bbc}{EVT\+\_\+\+GRP\+\_\+\+SPI\+\_\+\+RX\+\_\+\+DONE\+\_\+\+BIT}} -\begin{DoxyCompactList}\small\item\em When this bit is set it indicates a receive procedure has completed. \end{DoxyCompactList}\item -static const constexpr Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a603dccfbbead6bdaa3bd970ad28fcd38}{EVT\+\_\+\+GRP\+\_\+\+SPI\+\_\+\+RX\+\_\+\+VALID\+\_\+\+PACKET}} -\begin{DoxyCompactList}\small\item\em When this bit is set, it indicates a valid packet has been received and processed. \end{DoxyCompactList}\item -static const constexpr Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a6415c95701f590c72083f5bdc5f4ae47}{EVT\+\_\+\+GRP\+\_\+\+SPI\+\_\+\+RX\+\_\+\+INVALID\+\_\+\+PACKET}} -\begin{DoxyCompactList}\small\item\em When this bit is set, it indicates an invalid packet has been received. \end{DoxyCompactList}\item -static const constexpr Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_aa333b17ab88348a9849f0ceb9757dc9c}{EVT\+\_\+\+GRP\+\_\+\+SPI\+\_\+\+TX\+\_\+\+DONE}} = (1 $<$$<$ 3) -\begin{DoxyCompactList}\small\item\em When this bit is set, it indicates a queued packet has been sent. \end{DoxyCompactList}\item -static const constexpr Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a198da2ee3cd9cfa459c3c41c4f8c44b7}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+ROTATION\+\_\+\+VECTOR\+\_\+\+BIT}} = (1 $<$$<$ 0) -\begin{DoxyCompactList}\small\item\em When set, rotation vector reports are active. \end{DoxyCompactList}\item -static const constexpr Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a0f3f33d93b72ba6564f9d5fa93c24f98}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+GAME\+\_\+\+ROTATION\+\_\+\+VECTOR\+\_\+\+BIT}} = (1 $<$$<$ 1) -\begin{DoxyCompactList}\small\item\em When set, game rotation vector reports are active. \end{DoxyCompactList}\item -static const constexpr Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_aa9703cee46912a545b5e85e671f08e4b}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+ARVR\+\_\+\+S\+\_\+\+ROTATION\+\_\+\+VECTOR\+\_\+\+BIT}} -\begin{DoxyCompactList}\small\item\em When set, ARVR stabilized rotation vector reports are active. \end{DoxyCompactList}\item -static const constexpr Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a79d3fff1e0f19467cad231b22edafa0f}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+ARVR\+\_\+\+S\+\_\+\+GAME\+\_\+\+ROTATION\+\_\+\+VECTOR\+\_\+\+BIT}} -\begin{DoxyCompactList}\small\item\em When set, ARVR stabilized game rotation vector reports are active. \end{DoxyCompactList}\item -static const constexpr Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a541155dc4544193451cf102e2a992da9}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+GYRO\+\_\+\+ROTATION\+\_\+\+VECTOR\+\_\+\+BIT}} -\begin{DoxyCompactList}\small\item\em When set, gyro integrator rotation vector reports are active. \end{DoxyCompactList}\item -static const constexpr Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a17b19c32d4dfbc9ae2761a0cdd873314}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+ACCELEROMETER\+\_\+\+BIT}} = (1 $<$$<$ 5) -\begin{DoxyCompactList}\small\item\em When set, accelerometer reports are active. \end{DoxyCompactList}\item -static const constexpr Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_ad93161968a53ff53a6bb74ab7c34fbff}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+LINEAR\+\_\+\+ACCELEROMETER\+\_\+\+BIT}} = (1 $<$$<$ 6) -\begin{DoxyCompactList}\small\item\em When set, linear accelerometer reports are active. \end{DoxyCompactList}\item -static const constexpr Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_ab94a8f69673a3db7556ba67775c5ea93}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+GRAVITY\+\_\+\+BIT}} = (1 $<$$<$ 7) -\begin{DoxyCompactList}\small\item\em When set, gravity reports are active. \end{DoxyCompactList}\item -static const constexpr Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a3a8b12ea9b75f97191785a60d1aa962a}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+GYRO\+\_\+\+BIT}} = (1 $<$$<$ 8) -\begin{DoxyCompactList}\small\item\em When set, gyro reports are active. \end{DoxyCompactList}\item -static const constexpr Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_af86821bc0f1e7f5897de20b5e47a85bd}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+GYRO\+\_\+\+UNCALIBRATED\+\_\+\+BIT}} = (1 $<$$<$ 9) -\begin{DoxyCompactList}\small\item\em When set, uncalibrated gyro reports are active. \end{DoxyCompactList}\item -static const constexpr Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a901af6f2d552f197ee830d0a1c06679c}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+MAGNETOMETER\+\_\+\+BIT}} = (1 $<$$<$ 10) -\begin{DoxyCompactList}\small\item\em When set, magnetometer reports are active. \end{DoxyCompactList}\item -static const constexpr Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a665464f781fe891b9179478d0174af47}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+TAP\+\_\+\+DETECTOR\+\_\+\+BIT}} = (1 $<$$<$ 11) -\begin{DoxyCompactList}\small\item\em When set, tap detector reports are active. \end{DoxyCompactList}\item -static const constexpr Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_ab264b65a3aa5a9a74ed11b8977164a73}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+STEP\+\_\+\+COUNTER\+\_\+\+BIT}} = (1 $<$$<$ 12) -\begin{DoxyCompactList}\small\item\em When set, step counter reports are active. \end{DoxyCompactList}\item -static const constexpr Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a7d6ee23222f55dbe9f70e04b36d9add2}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+STABILITY\+\_\+\+CLASSIFIER\+\_\+\+BIT}} = (1 $<$$<$ 13) -\begin{DoxyCompactList}\small\item\em When set, stability classifier reports are active. \end{DoxyCompactList}\item -static const constexpr Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a96eb1b1bfe1266791fd424b3ce402c56}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+ACTIVITY\+\_\+\+CLASSIFIER\+\_\+\+BIT}} = (1 $<$$<$ 14) -\begin{DoxyCompactList}\small\item\em When set, activity classifier reports are active. \end{DoxyCompactList}\item -static const constexpr Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a3e56d12435f7be81956d68196f1a46b4}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+RAW\+\_\+\+ACCELEROMETER\+\_\+\+BIT}} = (1 $<$$<$ 15) -\begin{DoxyCompactList}\small\item\em When set, raw accelerometer reports are active. \end{DoxyCompactList}\item -static const constexpr Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a6be7b240e4447c2c643e706954093aa0}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+RAW\+\_\+\+GYRO\+\_\+\+BIT}} = (1 $<$$<$ 16) -\begin{DoxyCompactList}\small\item\em When set, raw gyro reports are active. \end{DoxyCompactList}\item -static const constexpr Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_ac28553b40b82c7cb409938681afe6cec}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+RAW\+\_\+\+MAGNETOMETER\+\_\+\+BIT}} = (1 $<$$<$ 17) -\begin{DoxyCompactList}\small\item\em When set, raw magnetometer reports are active. \end{DoxyCompactList}\item -static const constexpr Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a89399e8a68a53bc2a269ab73625a2da2}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+ALL\+\_\+\+BITS}} -\item -static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_acd5b44d705af1f9aaa271a59a9d2d595}{CALIBRATE\+\_\+\+ACCEL}} = 0 -\begin{DoxyCompactList}\small\item\em Calibrate accelerometer command used by queue\+\_\+calibrate\+\_\+command. \end{DoxyCompactList}\item -static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_aeac84719a1cc0f9c8d5a9a749391d4db}{CALIBRATE\+\_\+\+GYRO}} = 1 -\begin{DoxyCompactList}\small\item\em Calibrate gyro command used by queue\+\_\+calibrate\+\_\+command. \end{DoxyCompactList}\item -static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_ac00e8b59ae8d710cf79956eaafa97ddb}{CALIBRATE\+\_\+\+MAG}} = 2 -\begin{DoxyCompactList}\small\item\em Calibrate magnetometer command used by queue\+\_\+calibrate\+\_\+command. \end{DoxyCompactList}\item -static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a955dcb60da150490e17367a871b3a3d2}{CALIBRATE\+\_\+\+PLANAR\+\_\+\+ACCEL}} = 3 -\begin{DoxyCompactList}\small\item\em Calibrate planar acceleration command used by queue\+\_\+calibrate\+\_\+command. \end{DoxyCompactList}\item -static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_af53d9e99f163d97ef92fe989b1dd25cc}{CALIBRATE\+\_\+\+ACCEL\+\_\+\+GYRO\+\_\+\+MAG}} -\begin{DoxyCompactList}\small\item\em Calibrate accelerometer, gyro, \& magnetometer command used by queue\+\_\+calibrate\+\_\+command. \end{DoxyCompactList}\item -static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a584bfa04a39feb93279ee673c340db54}{CALIBRATE\+\_\+\+STOP}} = 5 -\begin{DoxyCompactList}\small\item\em Stop calibration command used by queue\+\_\+calibrate\+\_\+command. \end{DoxyCompactList}\item -static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a384a1efc9857ad938be3bb44f871539b}{COMMAND\+\_\+\+ERRORS}} = 1 -\item -static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a93dd073c0cc1f3ccfde552649f6ebccc}{COMMAND\+\_\+\+COUNTER}} = 2 -\item -static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a0a1756bc16ba3eac45f4229b1e350107}{COMMAND\+\_\+\+TARE}} = 3 -\begin{DoxyCompactList}\small\item\em Command and response to tare command (See Sh2 Ref. Manual 6.\+4.\+4) \end{DoxyCompactList}\item -static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a30eb6d305a187d4d36546841e12176b9}{COMMAND\+\_\+\+INITIALIZE}} = 4 -\begin{DoxyCompactList}\small\item\em Reinitialize sensor hub components See (SH2 Ref. Manual 6.\+4.\+5) \end{DoxyCompactList}\item -static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_af124a6c1d8b871f3181b6c85f1099cb2}{COMMAND\+\_\+\+DCD}} = 6 -\begin{DoxyCompactList}\small\item\em Save DCD command (See SH2 Ref. Manual 6.\+4.\+7) \end{DoxyCompactList}\item -static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a8381dfe403ddff522f172cb16780731a}{COMMAND\+\_\+\+ME\+\_\+\+CALIBRATE}} = 7 -\begin{DoxyCompactList}\small\item\em Command and response to configure ME calibration (See SH2 Ref. Manual 6.\+4.\+7) \end{DoxyCompactList}\item -static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a7a246989c94cd87f68166b20b7ad4c8b}{COMMAND\+\_\+\+DCD\+\_\+\+PERIOD\+\_\+\+SAVE}} = 9 -\begin{DoxyCompactList}\small\item\em Configure DCD periodic saving (See SH2 Ref. Manual 6.\+4) \end{DoxyCompactList}\item -static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a308c8b5307d93a67b5b9066d44494aa5}{COMMAND\+\_\+\+OSCILLATOR}} = 10 -\begin{DoxyCompactList}\small\item\em Retrieve oscillator type command (See SH2 Ref. Manual 6.\+4) \end{DoxyCompactList}\item -static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a4f580b3cb232a762ea7019ee7b04d419}{COMMAND\+\_\+\+CLEAR\+\_\+\+DCD}} = 11 -\begin{DoxyCompactList}\small\item\em Clear DCD \& Reset command (See SH2 Ref. Manual 6.\+4) \end{DoxyCompactList}\item -static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a1e5b64caa514b7e4fe64ab214758b875}{SHTP\+\_\+\+REPORT\+\_\+\+COMMAND\+\_\+\+RESPONSE}} = 0x\+F1 -\begin{DoxyCompactList}\small\item\em See SH2 Ref. Manual 6.\+3.\+9. \end{DoxyCompactList}\item -static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_ab04695dd189412092254e52bd6e5a75a}{SHTP\+\_\+\+REPORT\+\_\+\+COMMAND\+\_\+\+REQUEST}} = 0x\+F2 -\begin{DoxyCompactList}\small\item\em See SH2 Ref. Manual 6.\+3.\+8. \end{DoxyCompactList}\item -static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_aeb760b095dcf808a413ef696f2608e43}{SHTP\+\_\+\+REPORT\+\_\+\+FRS\+\_\+\+READ\+\_\+\+RESPONSE}} = 0x\+F3 -\begin{DoxyCompactList}\small\item\em See SH2 Ref. Manual 6.\+3.\+7. \end{DoxyCompactList}\item -static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a74af7eacc35cc825940b647c2de0d368}{SHTP\+\_\+\+REPORT\+\_\+\+FRS\+\_\+\+READ\+\_\+\+REQUEST}} = 0x\+F4 -\begin{DoxyCompactList}\small\item\em See SH2 Ref. Manual 6.\+3.\+6. \end{DoxyCompactList}\item -static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a0177134162e116501bc9483c6e4b76c3}{SHTP\+\_\+\+REPORT\+\_\+\+PRODUCT\+\_\+\+ID\+\_\+\+RESPONSE}} = 0x\+F8 -\begin{DoxyCompactList}\small\item\em See SH2 Ref. Manual 6.\+3.\+2. \end{DoxyCompactList}\item -static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a542405639c28bd56bc4361b922763c95}{SHTP\+\_\+\+REPORT\+\_\+\+PRODUCT\+\_\+\+ID\+\_\+\+REQUEST}} = 0x\+F9 -\begin{DoxyCompactList}\small\item\em See SH2 Ref. Manual 6.\+3.\+1. \end{DoxyCompactList}\item -static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_ae37d6f8431c8c465bfb0c662772b5cb9}{SHTP\+\_\+\+REPORT\+\_\+\+BASE\+\_\+\+TIMESTAMP}} = 0x\+FB -\begin{DoxyCompactList}\small\item\em See SH2 Ref. Manual 7.\+2.\+1. \end{DoxyCompactList}\item -static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a1d3bff4e20c2c3d47db322c9e34ef338}{SHTP\+\_\+\+REPORT\+\_\+\+SET\+\_\+\+FEATURE\+\_\+\+COMMAND}} = 0x\+FD -\begin{DoxyCompactList}\small\item\em See SH2 Ref. Manual 6.\+5.\+4. \end{DoxyCompactList}\item -static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a354eaff2218eb382a1851537a75badcc}{SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+ACCELEROMETER}} = 0x01 -\begin{DoxyCompactList}\small\item\em See SH2 Ref. Manual 6.\+5.\+9. \end{DoxyCompactList}\item -static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a224fb8f833806dd530c5f16e7ab5bc7a}{SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+GYROSCOPE}} = 0x02 -\begin{DoxyCompactList}\small\item\em See SH2 Ref. Manual 6.\+5.\+13. \end{DoxyCompactList}\item -static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a06058a84d6604054aa66ee008ac64aa9}{SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+MAGNETIC\+\_\+\+FIELD}} = 0x03 -\begin{DoxyCompactList}\small\item\em See SH2 Ref. Manual 6.\+5.\+16. \end{DoxyCompactList}\item -static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_ace7720a02c9f4ef38e319849f6c36a0b}{SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+LINEAR\+\_\+\+ACCELERATION}} = 0x04 -\begin{DoxyCompactList}\small\item\em See SH2 Ref. Manual 6.\+5.\+10. \end{DoxyCompactList}\item -static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a37c91f995c385556486df5fbbce8a3d5}{SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+ROTATION\+\_\+\+VECTOR}} = 0x05 -\begin{DoxyCompactList}\small\item\em See SH2 Ref. Manual 6.\+5.\+18. \end{DoxyCompactList}\item -static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a6730acb92053d44decb690a7b7234032}{SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+GRAVITY}} = 0x06 -\begin{DoxyCompactList}\small\item\em See SH2 Ref. Manual 6.\+5.\+11. \end{DoxyCompactList}\item -static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_acb8e83fbb0645d4e98a96120ce9f431c}{SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+UNCALIBRATED\+\_\+\+GYRO}} = 0x07 -\begin{DoxyCompactList}\small\item\em See SH2 Ref. Manual 6.\+5.\+14. \end{DoxyCompactList}\item -static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_ada7dbda9f7a0bfb0894a787ce0ff9cef}{SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+GAME\+\_\+\+ROTATION\+\_\+\+VECTOR}} = 0x08 -\begin{DoxyCompactList}\small\item\em See SH2 Ref. Manual 6.\+5.\+19. \end{DoxyCompactList}\item -static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_abb6d0586a5a87b7b34f4c65ae52965a4}{SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+GEOMAGNETIC\+\_\+\+ROTATION\+\_\+\+VECTOR}} = 0x09 -\begin{DoxyCompactList}\small\item\em See SH2 Ref. Manual 6.\+5.\+20. \end{DoxyCompactList}\item -static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_acd0fc6ffa70dd2761cba0ac0b88c234f}{SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+GYRO\+\_\+\+INTEGRATED\+\_\+\+ROTATION\+\_\+\+VECTOR}} = 0x2A -\begin{DoxyCompactList}\small\item\em See SH2 Ref. Manual 6.\+5.\+44. \end{DoxyCompactList}\item -static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a8114460c50e84b0ac750293ab72868c8}{SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+TAP\+\_\+\+DETECTOR}} = 0x10 -\begin{DoxyCompactList}\small\item\em See SH2 Ref. Manual 6.\+5.\+27. \end{DoxyCompactList}\item -static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a2a10161bb564067a07f3fcf4021e00bb}{SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+STEP\+\_\+\+COUNTER}} = 0x11 -\begin{DoxyCompactList}\small\item\em See SH2 Ref. Manual 6.\+5.\+29. \end{DoxyCompactList}\item -static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_ab5c29f31714b4755c0edbce7156652f7}{SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+STABILITY\+\_\+\+CLASSIFIER}} = 0x13 -\begin{DoxyCompactList}\small\item\em See SH2 Ref. Manual 6.\+5.\+31. \end{DoxyCompactList}\item -static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a80ea70c4787dea6c3eabb48f583f1916}{SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+RAW\+\_\+\+ACCELEROMETER}} = 0x14 -\begin{DoxyCompactList}\small\item\em See SH2 Ref. Manual 6.\+5.\+8. \end{DoxyCompactList}\item -static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a03b3000424e6d966b80655443ec546bc}{SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+RAW\+\_\+\+GYROSCOPE}} = 0x15 -\begin{DoxyCompactList}\small\item\em See SH2 Ref. Manual 6.\+5.\+12. \end{DoxyCompactList}\item -static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a9e9a7578b7584e7eb2ad562b29565fa7}{SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+RAW\+\_\+\+MAGNETOMETER}} = 0x16 -\begin{DoxyCompactList}\small\item\em See SH2 Ref. Manual 6.\+5.\+15. \end{DoxyCompactList}\item -static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a7274f6d3bda04da0bb304386b4e8d603}{SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+PERSONAL\+\_\+\+ACTIVITY\+\_\+\+CLASSIFIER}} = 0x1E -\begin{DoxyCompactList}\small\item\em See SH2 Ref. Manual 6.\+5.\+36. \end{DoxyCompactList}\item -static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a8d4b91149cfc1a3cd615f60a4ad2275e}{SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+ARVR\+\_\+\+STABILIZED\+\_\+\+ROTATION\+\_\+\+VECTOR}} = 0x28 -\begin{DoxyCompactList}\small\item\em See SH2 Ref. Manual 6.\+5.\+42. \end{DoxyCompactList}\item -static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_aeb51ebb6c82158cd7e23bd682c08c4e0}{SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+ARVR\+\_\+\+STABILIZED\+\_\+\+GAME\+\_\+\+ROTATION\+\_\+\+VECTOR}} = 0x29 -\begin{DoxyCompactList}\small\item\em See SH2 Ref. Manual 6.\+5.\+43. \end{DoxyCompactList}\item -static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a27df630f3e52b35552d2c1f2cf3496b0}{TARE\+\_\+\+NOW}} = 0 -\begin{DoxyCompactList}\small\item\em See SH2 Ref. Manual 6.\+4.\+4.\+1. \end{DoxyCompactList}\item -static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a115aef7b38ec0dec2085f6917d832912}{TARE\+\_\+\+PERSIST}} = 1 -\begin{DoxyCompactList}\small\item\em See SH2 Ref. Manual 6.\+4.\+4.\+2. \end{DoxyCompactList}\item -static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a59cde7dd301c94a20b84735c5d49008e}{TARE\+\_\+\+SET\+\_\+\+REORIENTATION}} = 2 -\begin{DoxyCompactList}\small\item\em See SH2 Ref. Manual 6.\+4.\+4.\+3. \end{DoxyCompactList}\item -static const constexpr char \texorpdfstring{$\ast$}{*} \mbox{\hyperlink{class_b_n_o08x_a2c98d5f2c406a3efd0b48c5666fa8c46}{TAG}} = "{}BNO08x"{} -\begin{DoxyCompactList}\small\item\em Class tag used for serial print statements. \end{DoxyCompactList}\end{DoxyCompactItemize} - - -\doxysubsection{Member Typedef Documentation} -\Hypertarget{class_b_n_o08x_a407711b4a84223a52cc043a152aea8ba}\label{class_b_n_o08x_a407711b4a84223a52cc043a152aea8ba} -\index{BNO08x@{BNO08x}!bno08x\_rx\_packet\_t@{bno08x\_rx\_packet\_t}} -\index{bno08x\_rx\_packet\_t@{bno08x\_rx\_packet\_t}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{bno08x\_rx\_packet\_t}{bno08x\_rx\_packet\_t}} -{\footnotesize\ttfamily typedef struct BNO08x\+::bno08x\+\_\+rx\+\_\+packet\+\_\+t BNO08x\+::bno08x\+\_\+rx\+\_\+packet\+\_\+t\hspace{0.3cm}{\ttfamily [private]}} - - - -Holds data that is received over spi. - -\Hypertarget{class_b_n_o08x_a3a1a869ac69e6ee850bd2a7f90dd8945}\label{class_b_n_o08x_a3a1a869ac69e6ee850bd2a7f90dd8945} -\index{BNO08x@{BNO08x}!bno08x\_tx\_packet\_t@{bno08x\_tx\_packet\_t}} -\index{bno08x\_tx\_packet\_t@{bno08x\_tx\_packet\_t}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{bno08x\_tx\_packet\_t}{bno08x\_tx\_packet\_t}} -{\footnotesize\ttfamily typedef struct BNO08x\+::bno08x\+\_\+tx\+\_\+packet\+\_\+t BNO08x\+::bno08x\+\_\+tx\+\_\+packet\+\_\+t\hspace{0.3cm}{\ttfamily [private]}} - - - -Holds data that is sent over spi. - - - -\doxysubsection{Constructor \& Destructor Documentation} -\Hypertarget{class_b_n_o08x_a40f7688e843d74b8bd526c6f5ff17845}\label{class_b_n_o08x_a40f7688e843d74b8bd526c6f5ff17845} -\index{BNO08x@{BNO08x}!BNO08x@{BNO08x}} -\index{BNO08x@{BNO08x}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{BNO08x()}{BNO08x()}} -{\footnotesize\ttfamily BNO08x\+::\+BNO08x (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{structbno08x__config__t}{bno08x\+\_\+config\+\_\+t}}}]{imu\+\_\+config = {\ttfamily \mbox{\hyperlink{class_b_n_o08x_a6232920a05c0aba34e5560951a20ae87}{default\+\_\+imu\+\_\+config}}} }\end{DoxyParamCaption})} - - - -\doxylink{class_b_n_o08x}{BNO08x} imu constructor. - -Construct a \doxylink{class_b_n_o08x}{BNO08x} object for managing a \doxylink{class_b_n_o08x}{BNO08x} sensor. Initializes required GPIO pins, interrupts, SPI peripheral. - - -\begin{DoxyParams}{Parameters} -{\em imu\+\_\+config} & Configuration settings (optional), default settings can be seen in \doxylink{structbno08x__config__t}{bno08x\+\_\+config\+\_\+t} \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -void, nothing to return -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=323pt]{class_b_n_o08x_a40f7688e843d74b8bd526c6f5ff17845_cgraph} -\end{center} -\end{figure} - - -\doxysubsection{Member Function Documentation} -\Hypertarget{class_b_n_o08x_aeffce374f558a167d5b5f19ad627e7cc}\label{class_b_n_o08x_aeffce374f558a167d5b5f19ad627e7cc} -\index{BNO08x@{BNO08x}!calibrate\_accelerometer@{calibrate\_accelerometer}} -\index{calibrate\_accelerometer@{calibrate\_accelerometer}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{calibrate\_accelerometer()}{calibrate\_accelerometer()}} -{\footnotesize\ttfamily void BNO08x\+::calibrate\+\_\+accelerometer (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Sends command to calibrate accelerometer. - -\begin{DoxyReturn}{Returns} -void, nothing to return -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_aeffce374f558a167d5b5f19ad627e7cc_cgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_afd0ca5f9b9741935543d143a5a43d128}\label{class_b_n_o08x_afd0ca5f9b9741935543d143a5a43d128} -\index{BNO08x@{BNO08x}!calibrate\_all@{calibrate\_all}} -\index{calibrate\_all@{calibrate\_all}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{calibrate\_all()}{calibrate\_all()}} -{\footnotesize\ttfamily void BNO08x\+::calibrate\+\_\+all (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Sends command to calibrate accelerometer, gyro, and magnetometer. - -\begin{DoxyReturn}{Returns} -void, nothing to return -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_afd0ca5f9b9741935543d143a5a43d128_cgraph} -\end{center} -\end{figure} -Here is the caller graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_afd0ca5f9b9741935543d143a5a43d128_icgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_a9ada90f8ab6dd33fa2d7c168d9234af1}\label{class_b_n_o08x_a9ada90f8ab6dd33fa2d7c168d9234af1} -\index{BNO08x@{BNO08x}!calibrate\_gyro@{calibrate\_gyro}} -\index{calibrate\_gyro@{calibrate\_gyro}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{calibrate\_gyro()}{calibrate\_gyro()}} -{\footnotesize\ttfamily void BNO08x\+::calibrate\+\_\+gyro (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Sends command to calibrate gyro. - -\begin{DoxyReturn}{Returns} -void, nothing to return -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a9ada90f8ab6dd33fa2d7c168d9234af1_cgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_ac26350b55095a346d72598ab8aa74b4a}\label{class_b_n_o08x_ac26350b55095a346d72598ab8aa74b4a} -\index{BNO08x@{BNO08x}!calibrate\_magnetometer@{calibrate\_magnetometer}} -\index{calibrate\_magnetometer@{calibrate\_magnetometer}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{calibrate\_magnetometer()}{calibrate\_magnetometer()}} -{\footnotesize\ttfamily void BNO08x\+::calibrate\+\_\+magnetometer (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Sends command to calibrate magnetometer. - -\begin{DoxyReturn}{Returns} -void, nothing to return -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_ac26350b55095a346d72598ab8aa74b4a_cgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_a1c6c49c97bc098db89db1aaa37e18f26}\label{class_b_n_o08x_a1c6c49c97bc098db89db1aaa37e18f26} -\index{BNO08x@{BNO08x}!calibrate\_planar\_accelerometer@{calibrate\_planar\_accelerometer}} -\index{calibrate\_planar\_accelerometer@{calibrate\_planar\_accelerometer}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{calibrate\_planar\_accelerometer()}{calibrate\_planar\_accelerometer()}} -{\footnotesize\ttfamily void BNO08x\+::calibrate\+\_\+planar\+\_\+accelerometer (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Sends command to calibrate planar accelerometer. - -\begin{DoxyReturn}{Returns} -void, nothing to return -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a1c6c49c97bc098db89db1aaa37e18f26_cgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_a71ca35f78b98d93d31eb0c187dc8543b}\label{class_b_n_o08x_a71ca35f78b98d93d31eb0c187dc8543b} -\index{BNO08x@{BNO08x}!calibration\_complete@{calibration\_complete}} -\index{calibration\_complete@{calibration\_complete}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{calibration\_complete()}{calibration\_complete()}} -{\footnotesize\ttfamily bool BNO08x\+::calibration\+\_\+complete (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Returns true if calibration has completed. - -\begin{DoxyReturn}{Returns} -void, nothing to return -\end{DoxyReturn} -Here is the caller graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a71ca35f78b98d93d31eb0c187dc8543b_icgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_afe39bfdede7b9a2b273983cb29a27d6e}\label{class_b_n_o08x_afe39bfdede7b9a2b273983cb29a27d6e} -\index{BNO08x@{BNO08x}!clear\_tare@{clear\_tare}} -\index{clear\_tare@{clear\_tare}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{clear\_tare()}{clear\_tare()}} -{\footnotesize\ttfamily void BNO08x\+::clear\+\_\+tare (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Sends command to clear persistent tare settings in non-\/volatile memory of \doxylink{class_b_n_o08x}{BNO08x} (See Ref. Manual 6.\+4.\+4.\+3) - -\begin{DoxyReturn}{Returns} -void, nothing to return -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_afe39bfdede7b9a2b273983cb29a27d6e_cgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_a367d525d1c0ba119b3dca3067bb5bccc}\label{class_b_n_o08x_a367d525d1c0ba119b3dca3067bb5bccc} -\index{BNO08x@{BNO08x}!data\_available@{data\_available}} -\index{data\_available@{data\_available}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{data\_available()}{data\_available()}} -{\footnotesize\ttfamily bool BNO08x\+::data\+\_\+available (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -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} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a367d525d1c0ba119b3dca3067bb5bccc_cgraph} -\end{center} -\end{figure} -Here is the caller graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a367d525d1c0ba119b3dca3067bb5bccc_icgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_ab4373e9b87837ea9fcbc0b536338c7b8}\label{class_b_n_o08x_ab4373e9b87837ea9fcbc0b536338c7b8} -\index{BNO08x@{BNO08x}!data\_proc\_task@{data\_proc\_task}} -\index{data\_proc\_task@{data\_proc\_task}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{data\_proc\_task()}{data\_proc\_task()}} -{\footnotesize\ttfamily void BNO08x\+::data\+\_\+proc\+\_\+task (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [private]}} - - - -Task responsible parsing packets. Executed when SPI task sends a packet to be parsed, notifies \doxylink{class_b_n_o08x_a4f12de628073f44b2a3fab2688cf1caf}{wait\+\_\+for\+\_\+data()} call. - -\begin{DoxyReturn}{Returns} -void, nothing to return -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_ab4373e9b87837ea9fcbc0b536338c7b8_cgraph} -\end{center} -\end{figure} -Here is the caller graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_ab4373e9b87837ea9fcbc0b536338c7b8_icgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_a0ae135d7bf7a5f047a1d1aa5cc07e520}\label{class_b_n_o08x_a0ae135d7bf7a5f047a1d1aa5cc07e520} -\index{BNO08x@{BNO08x}!data\_proc\_task\_trampoline@{data\_proc\_task\_trampoline}} -\index{data\_proc\_task\_trampoline@{data\_proc\_task\_trampoline}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{data\_proc\_task\_trampoline()}{data\_proc\_task\_trampoline()}} -{\footnotesize\ttfamily void BNO08x\+::data\+\_\+proc\+\_\+task\+\_\+trampoline (\begin{DoxyParamCaption}\item[{void \texorpdfstring{$\ast$}{*}}]{arg }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [private]}} - - - -Static function used to launch data processing task. - -Used such that \doxylink{class_b_n_o08x_ab4373e9b87837ea9fcbc0b536338c7b8}{data\+\_\+proc\+\_\+task()} can be non-\/static class member. - - -\begin{DoxyParams}{Parameters} -{\em arg} & void pointer to \doxylink{class_b_n_o08x}{BNO08x} imu object \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -void, nothing to return -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a0ae135d7bf7a5f047a1d1aa5cc07e520_cgraph} -\end{center} -\end{figure} -Here is the caller graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=336pt]{class_b_n_o08x_a0ae135d7bf7a5f047a1d1aa5cc07e520_icgraph} -\end{center} -\end{figure} -\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} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_ad5c991150895b80bee68c933059a4058_cgraph} -\end{center} -\end{figure} -\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} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a4fdc39294922a9553d84cd96bdae4376_cgraph} -\end{center} -\end{figure} -\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} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_ab187fe50fcfbb04bec9e80eb0fccf61c_cgraph} -\end{center} -\end{figure} -\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} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_aa59e3d8953c96dc1cc5958a1ac628df4_cgraph} -\end{center} -\end{figure} -\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} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a7665cce95e791c89161ec863f49c0392_cgraph} -\end{center} -\end{figure} -\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} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a5e63a9e68dbe2968b37dcb6dae04de6f_cgraph} -\end{center} -\end{figure} -\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} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a8296089e2fdbd7d2e85f364cf063af82_cgraph} -\end{center} -\end{figure} -\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} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_aac0a00bed7825d8a2c357a48c3626931_cgraph} -\end{center} -\end{figure} -\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} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_afbd2b02d5abe7084ce9de49ee2c9142f_cgraph} -\end{center} -\end{figure} -\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} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a6671b082d20dda8bf5c53cb47db0c338_cgraph} -\end{center} -\end{figure} -\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} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a171d78f4b00598b04c8ca54da16c508b_cgraph} -\end{center} -\end{figure} -\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} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a75ef3d09f1ee016999c459e43e9e8c44_cgraph} -\end{center} -\end{figure} -\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} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_add29c84038558c28bcfca37865cf9244_cgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_a00ec3857cb06ae885e32059ef1cab693}\label{class_b_n_o08x_a00ec3857cb06ae885e32059ef1cab693} -\index{BNO08x@{BNO08x}!disable\_report@{disable\_report}} -\index{disable\_report@{disable\_report}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{disable\_report()}{disable\_report()}} -{\footnotesize\ttfamily void BNO08x\+::disable\+\_\+report (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{report\+\_\+\+ID, }\item[{const Event\+Bits\+\_\+t}]{report\+\_\+evt\+\_\+grp\+\_\+bit }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [private]}} - - - -Disables a sensor report for a given ID by setting its time interval to 0. - - -\begin{DoxyParams}{Parameters} -{\em report\+\_\+\+ID} & The report ID of the sensor, i.\+e. SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+X \\ -\hline -{\em report\+\_\+evt\+\_\+grp\+\_\+bit} & The event group bit for the respective report, to indicate to \doxylink{class_b_n_o08x_a2ecd4ed60f82730ae230c61687ec92bf}{spi\+\_\+task()} it\textquotesingle{}s disabled, i.\+e. EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+X\\ -\hline -\end{DoxyParams} -If no reports are enabled after disabling, this function will disable interrupts on hint pin. - -\begin{DoxyReturn}{Returns} -void, nothing to return -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a00ec3857cb06ae885e32059ef1cab693_cgraph} -\end{center} -\end{figure} -Here is the caller graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[height=550pt]{class_b_n_o08x_a00ec3857cb06ae885e32059ef1cab693_icgraph} -\end{center} -\end{figure} -\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} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a1ebd456d2a67a22b5ba0911a95915921_cgraph} -\end{center} -\end{figure} -\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} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_ab307ed3352e04c9e998ab4dd066f8932_cgraph} -\end{center} -\end{figure} -\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} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a427550a4ba25252912436b899124e157_cgraph} -\end{center} -\end{figure} -\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} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a16f83d1e85576a51abf2c65e5de58cd2_cgraph} -\end{center} -\end{figure} -\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} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_aaf28212a5f1960c62a73282976142cfc_cgraph} -\end{center} -\end{figure} -\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[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})} - - - -Sends command to enable accelerometer reports (See Ref. Manual 6.\+5.\+9) - - -\begin{DoxyParams}{Parameters} -{\em time\+\_\+between\+\_\+reports} & Desired time between reports in microseconds. \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -void, nothing to return -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a2795c6579cf03e22f62a5eadc88dee91_cgraph} -\end{center} -\end{figure} -\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[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports, }\item[{uint32\+\_\+t}]{activities\+\_\+to\+\_\+enable, }\item[{uint8\+\_\+t(\&)}]{activity\+\_\+confidence\+\_\+vals\mbox{[}9\mbox{]} }\end{DoxyParamCaption})} - - - -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 microseconds. \\ -\hline -{\em activities\+\_\+to\+\_\+enable} & Desired activities to enable (0x1F enables all). \\ -\hline -{\em activity\+\_\+confidence\+\_\+vals} & Returned activity level confidences. \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -void, nothing to return -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_ad7b83cac874c092583f8513d3bb69bbf_cgraph} -\end{center} -\end{figure} -\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[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})} - - - -Sends command to enable ARVR stabilized game rotation vector reports (See Ref. Manual 6.\+5.\+43) - - -\begin{DoxyParams}{Parameters} -{\em time\+\_\+between\+\_\+reports} & Desired time between reports in microseconds. \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -void, nothing to return -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a5680148a41cb9cc96d1911150c46d2b8_cgraph} -\end{center} -\end{figure} -\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[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})} - - - -Sends command to enable ARVR stabilized rotation vector reports (See Ref. Manual 6.\+5.\+42) - - -\begin{DoxyParams}{Parameters} -{\em time\+\_\+between\+\_\+reports} & Desired time between reports in microseconds. \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -void, nothing to return -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a8a5f3b985989e846e831f70f7733d0bc_cgraph} -\end{center} -\end{figure} -\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[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})} - - - -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 microseconds. \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -void, nothing to return -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_abe04c38b5bd52d331bd8aefae1f51947_cgraph} -\end{center} -\end{figure} -Here is the caller graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_abe04c38b5bd52d331bd8aefae1f51947_icgraph} -\end{center} -\end{figure} -\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[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})} - - - -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 microseconds. \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -void, nothing to return -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a030eae12c3586acf09b48e94630b2544_cgraph} -\end{center} -\end{figure} -\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[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})} - - - -Sends command to enable gyro reports (See Ref. Manual 6.\+5.\+13) - - -\begin{DoxyParams}{Parameters} -{\em time\+\_\+between\+\_\+reports} & Desired time between reports in microseconds. \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -void, nothing to return -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_ad7b322681b9ec5f57edb09e336b988c0_cgraph} -\end{center} -\end{figure} -\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[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})} - - - -Sends command to enable gyro integrated rotation vector reports (See Ref. Manual 6.\+5.\+44) - - -\begin{DoxyParams}{Parameters} -{\em time\+\_\+between\+\_\+reports} & Desired time between reports in microseconds. \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -void, nothing to return -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a7388c67de3906ad05b233fd7eff0514d_cgraph} -\end{center} -\end{figure} -\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[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})} - - - -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 microseconds. \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -void, nothing to return -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_ae1435b83ca83bc51b75f3303afe87f7b_cgraph} -\end{center} -\end{figure} -\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[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})} - - - -Sends command to enable magnetometer reports (See Ref. Manual 6.\+5.\+16) - - -\begin{DoxyParams}{Parameters} -{\em time\+\_\+between\+\_\+reports} & Desired time between reports in microseconds. \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -void, nothing to return -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a3c32120bcd0987c3ca1bb72910586b59_cgraph} -\end{center} -\end{figure} -Here is the caller graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a3c32120bcd0987c3ca1bb72910586b59_icgraph} -\end{center} -\end{figure} -\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[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})} - - - -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 microseconds. \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -void, nothing to return -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a3042301cf0f51657c82b1127dce230f4_cgraph} -\end{center} -\end{figure} -\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[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})} - - - -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 microseconds. \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -void, nothing to return -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a8d8e75f0234287cb89cbec553cffe52c_cgraph} -\end{center} -\end{figure} -\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[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})} - - - -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 microseconds. \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -void, nothing to return -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a14ebec501b8d004a38648a9a1f7a2c9e_cgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_a41613e65ea9beef883184b7ef67affdd}\label{class_b_n_o08x_a41613e65ea9beef883184b7ef67affdd} -\index{BNO08x@{BNO08x}!enable\_report@{enable\_report}} -\index{enable\_report@{enable\_report}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{enable\_report()}{enable\_report()}} -{\footnotesize\ttfamily void BNO08x\+::enable\+\_\+report (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{report\+\_\+\+ID, }\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports, }\item[{const Event\+Bits\+\_\+t}]{report\+\_\+evt\+\_\+grp\+\_\+bit }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [private]}} - - - -Enables a sensor report for a given ID. - - -\begin{DoxyParams}{Parameters} -{\em report\+\_\+\+ID} & The report ID of the sensor, i.\+e. SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+X \\ -\hline -{\em time\+\_\+between\+\_\+reports} & The desired time in microseconds between each report. The \doxylink{class_b_n_o08x}{BNO08x} will send reports according to this interval. \\ -\hline -{\em report\+\_\+evt\+\_\+grp\+\_\+bit} & The event group bit for the respective report, to indicate to \doxylink{class_b_n_o08x_a2ecd4ed60f82730ae230c61687ec92bf}{spi\+\_\+task()} it\textquotesingle{}s enabled, i.\+e. EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+X\\ -\hline -\end{DoxyParams} -If no reports were enabled prior to call, this function will re-\/enable interrupts on hint pin. - -\begin{DoxyReturn}{Returns} -void, nothing to return -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a41613e65ea9beef883184b7ef67affdd_cgraph} -\end{center} -\end{figure} -Here is the caller graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[height=550pt]{class_b_n_o08x_a41613e65ea9beef883184b7ef67affdd_icgraph} -\end{center} -\end{figure} -\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[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})} - - - -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 microseconds. \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -void, nothing to return -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_ab4c1d5cde156af09b7e88913f3af62c7_cgraph} -\end{center} -\end{figure} -\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[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})} - - - -Sends command to enable activity stability classifier reports (See Ref. Manual 6.\+5.\+31) - - -\begin{DoxyParams}{Parameters} -{\em time\+\_\+between\+\_\+reports} & Desired time between reports in microseconds. \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -void, nothing to return -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_ab0a60844b36fb140cad588a65b3a9655_cgraph} -\end{center} -\end{figure} -\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[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})} - - - -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 microseconds. \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -void, nothing to return -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a5a0b0f5b8e962247a3b8aee8f1dc8e9f_cgraph} -\end{center} -\end{figure} -\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[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})} - - - -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 microseconds. \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -void, nothing to return -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_ab4c8e37c730ddb168f78c29bd7ae6566_cgraph} -\end{center} -\end{figure} -\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[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})} - - - -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 microseconds. \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -void, nothing to return -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a7fe5de95b1f51da44247a87317fd0c75_cgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_ac9d9b6636745e8180807284da67c92a2}\label{class_b_n_o08x_ac9d9b6636745e8180807284da67c92a2} -\index{BNO08x@{BNO08x}!end\_calibration@{end\_calibration}} -\index{end\_calibration@{end\_calibration}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{end\_calibration()}{end\_calibration()}} -{\footnotesize\ttfamily void BNO08x\+::end\+\_\+calibration (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Sends command to end calibration procedure. - -\begin{DoxyReturn}{Returns} -void, nothing to return -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_ac9d9b6636745e8180807284da67c92a2_cgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_a40607e557eada666a5e1e416f42cd4a1}\label{class_b_n_o08x_a40607e557eada666a5e1e416f42cd4a1} -\index{BNO08x@{BNO08x}!FRS\_read\_data@{FRS\_read\_data}} -\index{FRS\_read\_data@{FRS\_read\_data}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{FRS\_read\_data()}{FRS\_read\_data()}} -{\footnotesize\ttfamily bool BNO08x\+::\+FRS\+\_\+read\+\_\+data (\begin{DoxyParamCaption}\item[{uint16\+\_\+t}]{record\+\_\+\+ID, }\item[{uint8\+\_\+t}]{start\+\_\+location, }\item[{uint8\+\_\+t}]{words\+\_\+to\+\_\+read }\end{DoxyParamCaption})} - - - -Read meta data from \doxylink{class_b_n_o08x}{BNO08x} FRS (flash record system) given the record ID. Contains Q points and other info. (See Ref. Manual 5.\+1 \& 6.\+3.\+7) - -Note that Q points from the data sheet can be used as well, using the ones stored in flash is optional. - - -\begin{DoxyParams}{Parameters} -{\em record\+\_\+\+ID} & Which record ID/ sensor to request meta data from. \\ -\hline -{\em start\+\_\+location} & Start byte location. \\ -\hline -{\em words\+\_\+to\+\_\+read} & Length of words to read.\\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -True if meta data read successfully. -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a40607e557eada666a5e1e416f42cd4a1_cgraph} -\end{center} -\end{figure} -Here is the caller graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a40607e557eada666a5e1e416f42cd4a1_icgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_adf789e709ac1667656db757c8d559af9}\label{class_b_n_o08x_adf789e709ac1667656db757c8d559af9} -\index{BNO08x@{BNO08x}!FRS\_read\_request@{FRS\_read\_request}} -\index{FRS\_read\_request@{FRS\_read\_request}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{FRS\_read\_request()}{FRS\_read\_request()}} -{\footnotesize\ttfamily bool BNO08x\+::\+FRS\+\_\+read\+\_\+request (\begin{DoxyParamCaption}\item[{uint16\+\_\+t}]{record\+\_\+\+ID, }\item[{uint16\+\_\+t}]{read\+\_\+offset, }\item[{uint16\+\_\+t}]{block\+\_\+size }\end{DoxyParamCaption})} - - - -Requests meta data from \doxylink{class_b_n_o08x}{BNO08x} FRS (flash record system) given the record ID. Contains Q points and other info. (See Ref. Manual 5.\+1 \& 6.\+3.\+6) - -Note that Q points from the data sheet can be used as well, using the ones stored in flash is optional. - - -\begin{DoxyParams}{Parameters} -{\em record\+\_\+\+ID} & Which record ID/ sensor to request meta data from. \\ -\hline -{\em start\+\_\+location} & Start byte location. \\ -\hline -{\em words\+\_\+to\+\_\+read} & Length of words to read.\\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -True if read request acknowledged (HINT was asserted) -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_adf789e709ac1667656db757c8d559af9_cgraph} -\end{center} -\end{figure} -Here is the caller graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_adf789e709ac1667656db757c8d559af9_icgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_a27f5dce5c994be18a587fb622574ad41}\label{class_b_n_o08x_a27f5dce5c994be18a587fb622574ad41} -\index{BNO08x@{BNO08x}!FRS\_read\_word@{FRS\_read\_word}} -\index{FRS\_read\_word@{FRS\_read\_word}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{FRS\_read\_word()}{FRS\_read\_word()}} -{\footnotesize\ttfamily uint32\+\_\+t BNO08x\+::\+FRS\+\_\+read\+\_\+word (\begin{DoxyParamCaption}\item[{uint16\+\_\+t}]{record\+\_\+\+ID, }\item[{uint8\+\_\+t}]{word\+\_\+number }\end{DoxyParamCaption})} - - - -Reads meta data word from \doxylink{class_b_n_o08x}{BNO08x} FRS (flash record system) given the record ID and word number. (See Ref. Manual 5.\+1 \& 6.\+3.\+7) - -Note that Q points from the data sheet can be used as well, using the ones stored in flash is optional. - - -\begin{DoxyParams}{Parameters} -{\em record\+\_\+\+ID} & Which record ID/ sensor to request meta data from. \\ -\hline -{\em word\+\_\+number} & Desired word to read.\\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -Requested meta data word, 0 if failed. -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a27f5dce5c994be18a587fb622574ad41_cgraph} -\end{center} -\end{figure} -Here is the caller graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a27f5dce5c994be18a587fb622574ad41_icgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_a9329c6669282071622c3b3741b1b8142}\label{class_b_n_o08x_a9329c6669282071622c3b3741b1b8142} -\index{BNO08x@{BNO08x}!get\_accel@{get\_accel}} -\index{get\_accel@{get\_accel}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_accel()}{get\_accel()}} -{\footnotesize\ttfamily void BNO08x\+::get\+\_\+accel (\begin{DoxyParamCaption}\item[{float \&}]{x, }\item[{float \&}]{y, }\item[{float \&}]{z, }\item[{uint8\+\_\+t \&}]{accuracy }\end{DoxyParamCaption})} - - - -Get full acceleration (total acceleration of device, units in m/s\texorpdfstring{$^\wedge$}{\string^}2). - - -\begin{DoxyParams}{Parameters} -{\em x} & Reference variable to save X axis acceleration. \\ -\hline -{\em y} & Reference variable to save Y axis acceleration. \\ -\hline -{\em z} & Reference variable to save Z axis acceleration. \\ -\hline -{\em accuracy} & Reference variable to save reported acceleration accuracy.\\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -void, nothing to return -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=318pt]{class_b_n_o08x_a9329c6669282071622c3b3741b1b8142_cgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_a3fce726d5de821f97ed207036dae2900}\label{class_b_n_o08x_a3fce726d5de821f97ed207036dae2900} -\index{BNO08x@{BNO08x}!get\_accel\_accuracy@{get\_accel\_accuracy}} -\index{get\_accel\_accuracy@{get\_accel\_accuracy}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_accel\_accuracy()}{get\_accel\_accuracy()}} -{\footnotesize\ttfamily uint8\+\_\+t BNO08x\+::get\+\_\+accel\+\_\+accuracy (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Get accuracy of linear acceleration. - -\begin{DoxyReturn}{Returns} -Accuracy of linear acceleration. -\end{DoxyReturn} -\Hypertarget{class_b_n_o08x_abce574112a9079d2cbc58cfc352b8a69}\label{class_b_n_o08x_abce574112a9079d2cbc58cfc352b8a69} -\index{BNO08x@{BNO08x}!get\_accel\_X@{get\_accel\_X}} -\index{get\_accel\_X@{get\_accel\_X}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_accel\_X()}{get\_accel\_X()}} -{\footnotesize\ttfamily float BNO08x\+::get\+\_\+accel\+\_\+X (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Get x axis acceleration (total acceleration of device, units in m/s\texorpdfstring{$^\wedge$}{\string^}2). - -\begin{DoxyReturn}{Returns} -The angular reported x axis acceleration. -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=328pt]{class_b_n_o08x_abce574112a9079d2cbc58cfc352b8a69_cgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_afdf24bb3d54518b23972f21f007817c1}\label{class_b_n_o08x_afdf24bb3d54518b23972f21f007817c1} -\index{BNO08x@{BNO08x}!get\_accel\_Y@{get\_accel\_Y}} -\index{get\_accel\_Y@{get\_accel\_Y}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_accel\_Y()}{get\_accel\_Y()}} -{\footnotesize\ttfamily float BNO08x\+::get\+\_\+accel\+\_\+Y (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Get y axis acceleration (total acceleration of device, units in m/s\texorpdfstring{$^\wedge$}{\string^}2). - -\begin{DoxyReturn}{Returns} -The angular reported y axis acceleration. -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=330pt]{class_b_n_o08x_afdf24bb3d54518b23972f21f007817c1_cgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_a0a72477cb7a330fedbcb3e2126b882b1}\label{class_b_n_o08x_a0a72477cb7a330fedbcb3e2126b882b1} -\index{BNO08x@{BNO08x}!get\_accel\_Z@{get\_accel\_Z}} -\index{get\_accel\_Z@{get\_accel\_Z}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_accel\_Z()}{get\_accel\_Z()}} -{\footnotesize\ttfamily float BNO08x\+::get\+\_\+accel\+\_\+Z (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Get z axis acceleration (total acceleration of device, units in m/s\texorpdfstring{$^\wedge$}{\string^}2). - -\begin{DoxyReturn}{Returns} -The angular reported z axis acceleration. -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=328pt]{class_b_n_o08x_a0a72477cb7a330fedbcb3e2126b882b1_cgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_a4f7060b2d3c15b359b70b6346730446a}\label{class_b_n_o08x_a4f7060b2d3c15b359b70b6346730446a} -\index{BNO08x@{BNO08x}!get\_activity\_classifier@{get\_activity\_classifier}} -\index{get\_activity\_classifier@{get\_activity\_classifier}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_activity\_classifier()}{get\_activity\_classifier()}} -{\footnotesize\ttfamily uint8\+\_\+t BNO08x\+::get\+\_\+activity\+\_\+classifier (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Get the current activity classifier (Seee Ref. Manual 6.\+5.\+36) - -\begin{DoxyReturn}{Returns} -The current activity\+: 0 = unknown 1 = in vehicle 2 = on bicycle 3 = on foot 4 = still 5 = tilting 6 = walking 7 = runnning 8 = on stairs -\end{DoxyReturn} -\Hypertarget{class_b_n_o08x_a386c46ac8965220ab7b9423df838dd4d}\label{class_b_n_o08x_a386c46ac8965220ab7b9423df838dd4d} -\index{BNO08x@{BNO08x}!get\_gravity@{get\_gravity}} -\index{get\_gravity@{get\_gravity}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_gravity()}{get\_gravity()}} -{\footnotesize\ttfamily void BNO08x\+::get\+\_\+gravity (\begin{DoxyParamCaption}\item[{float \&}]{x, }\item[{float \&}]{y, }\item[{float \&}]{z, }\item[{uint8\+\_\+t \&}]{accuracy }\end{DoxyParamCaption})} - - - -Get full reported gravity vector, units in m/s\texorpdfstring{$^\wedge$}{\string^}2. - - -\begin{DoxyParams}{Parameters} -{\em x} & Reference variable to save X axis gravity. \\ -\hline -{\em y} & Reference variable to save Y axis axis gravity. \\ -\hline -{\em z} & Reference variable to save Z axis axis gravity. \\ -\hline -{\em accuracy} & Reference variable to save reported gravity accuracy.\\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -void, nothing to return -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=322pt]{class_b_n_o08x_a386c46ac8965220ab7b9423df838dd4d_cgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_accd39f48e9f8ab8267df7184b5b7cd76}\label{class_b_n_o08x_accd39f48e9f8ab8267df7184b5b7cd76} -\index{BNO08x@{BNO08x}!get\_gravity\_accuracy@{get\_gravity\_accuracy}} -\index{get\_gravity\_accuracy@{get\_gravity\_accuracy}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_gravity\_accuracy()}{get\_gravity\_accuracy()}} -{\footnotesize\ttfamily uint8\+\_\+t BNO08x\+::get\+\_\+gravity\+\_\+accuracy (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Get the reported gravity accuracy. - -\begin{DoxyReturn}{Returns} -Accuracy of reported gravity. -\end{DoxyReturn} -\Hypertarget{class_b_n_o08x_a88679bccd9339b87ec35fc4fc4e745ae}\label{class_b_n_o08x_a88679bccd9339b87ec35fc4fc4e745ae} -\index{BNO08x@{BNO08x}!get\_gravity\_X@{get\_gravity\_X}} -\index{get\_gravity\_X@{get\_gravity\_X}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_gravity\_X()}{get\_gravity\_X()}} -{\footnotesize\ttfamily float BNO08x\+::get\+\_\+gravity\+\_\+X (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Get the reported x axis gravity. - -\begin{DoxyReturn}{Returns} -x axis gravity in m/s\texorpdfstring{$^\wedge$}{\string^}2 -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=333pt]{class_b_n_o08x_a88679bccd9339b87ec35fc4fc4e745ae_cgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_a8a36db7f1c932f33e05e494632059801}\label{class_b_n_o08x_a8a36db7f1c932f33e05e494632059801} -\index{BNO08x@{BNO08x}!get\_gravity\_Y@{get\_gravity\_Y}} -\index{get\_gravity\_Y@{get\_gravity\_Y}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_gravity\_Y()}{get\_gravity\_Y()}} -{\footnotesize\ttfamily float BNO08x\+::get\+\_\+gravity\+\_\+Y (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Get the reported y axis gravity. - -\begin{DoxyReturn}{Returns} -y axis gravity in m/s\texorpdfstring{$^\wedge$}{\string^}2 -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=334pt]{class_b_n_o08x_a8a36db7f1c932f33e05e494632059801_cgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_a5622b4d1754648ea7eb400c1adf9e807}\label{class_b_n_o08x_a5622b4d1754648ea7eb400c1adf9e807} -\index{BNO08x@{BNO08x}!get\_gravity\_Z@{get\_gravity\_Z}} -\index{get\_gravity\_Z@{get\_gravity\_Z}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_gravity\_Z()}{get\_gravity\_Z()}} -{\footnotesize\ttfamily float BNO08x\+::get\+\_\+gravity\+\_\+Z (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Get the reported z axis gravity. - -\begin{DoxyReturn}{Returns} -z axis gravity in m/s\texorpdfstring{$^\wedge$}{\string^}2 -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=333pt]{class_b_n_o08x_a5622b4d1754648ea7eb400c1adf9e807_cgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_a811999653110858311c97a779c388e5d}\label{class_b_n_o08x_a811999653110858311c97a779c388e5d} -\index{BNO08x@{BNO08x}!get\_gyro\_accuracy@{get\_gyro\_accuracy}} -\index{get\_gyro\_accuracy@{get\_gyro\_accuracy}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_gyro\_accuracy()}{get\_gyro\_accuracy()}} -{\footnotesize\ttfamily uint8\+\_\+t BNO08x\+::get\+\_\+gyro\+\_\+accuracy (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Get calibrated gyro accuracy. - -\begin{DoxyReturn}{Returns} -Accuracy of calibrated gyro. -\end{DoxyReturn} -\Hypertarget{class_b_n_o08x_a4d3746a376a22acb7a2641bb750c4c89}\label{class_b_n_o08x_a4d3746a376a22acb7a2641bb750c4c89} -\index{BNO08x@{BNO08x}!get\_gyro\_calibrated\_velocity@{get\_gyro\_calibrated\_velocity}} -\index{get\_gyro\_calibrated\_velocity@{get\_gyro\_calibrated\_velocity}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_gyro\_calibrated\_velocity()}{get\_gyro\_calibrated\_velocity()}} -{\footnotesize\ttfamily void BNO08x\+::get\+\_\+gyro\+\_\+calibrated\+\_\+velocity (\begin{DoxyParamCaption}\item[{float \&}]{x, }\item[{float \&}]{y, }\item[{float \&}]{z, }\item[{uint8\+\_\+t \&}]{accuracy }\end{DoxyParamCaption})} - - - -Get full rotational velocity with drift compensation (units in Rad/s). - - -\begin{DoxyParams}{Parameters} -{\em x} & Reference variable to save X axis angular velocity \\ -\hline -{\em y} & Reference variable to save Y axis angular velocity \\ -\hline -{\em z} & Reference variable to save Z axis angular velocity \\ -\hline -{\em accuracy} & Reference variable to save reported gyro accuracy.\\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -void, nothing to return -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a4d3746a376a22acb7a2641bb750c4c89_cgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_ab7977391191067282e7f734b9ee45059}\label{class_b_n_o08x_ab7977391191067282e7f734b9ee45059} -\index{BNO08x@{BNO08x}!get\_gyro\_calibrated\_velocity\_X@{get\_gyro\_calibrated\_velocity\_X}} -\index{get\_gyro\_calibrated\_velocity\_X@{get\_gyro\_calibrated\_velocity\_X}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_gyro\_calibrated\_velocity\_X()}{get\_gyro\_calibrated\_velocity\_X()}} -{\footnotesize\ttfamily float BNO08x\+::get\+\_\+gyro\+\_\+calibrated\+\_\+velocity\+\_\+X (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Get calibrated gyro x axis angular velocity measurement. - -\begin{DoxyReturn}{Returns} -The angular reported x axis angular velocity from calibrated gyro (drift compensation applied). -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_ab7977391191067282e7f734b9ee45059_cgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_ad4fab6e636e239d4b9273f158983ed89}\label{class_b_n_o08x_ad4fab6e636e239d4b9273f158983ed89} -\index{BNO08x@{BNO08x}!get\_gyro\_calibrated\_velocity\_Y@{get\_gyro\_calibrated\_velocity\_Y}} -\index{get\_gyro\_calibrated\_velocity\_Y@{get\_gyro\_calibrated\_velocity\_Y}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_gyro\_calibrated\_velocity\_Y()}{get\_gyro\_calibrated\_velocity\_Y()}} -{\footnotesize\ttfamily float BNO08x\+::get\+\_\+gyro\+\_\+calibrated\+\_\+velocity\+\_\+Y (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Get calibrated gyro y axis angular velocity measurement. - -\begin{DoxyReturn}{Returns} -The angular reported y axis angular velocity from calibrated gyro (drift compensation applied). -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_ad4fab6e636e239d4b9273f158983ed89_cgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_a15a29c3bb476048b7229abcfb2b1d52a}\label{class_b_n_o08x_a15a29c3bb476048b7229abcfb2b1d52a} -\index{BNO08x@{BNO08x}!get\_gyro\_calibrated\_velocity\_Z@{get\_gyro\_calibrated\_velocity\_Z}} -\index{get\_gyro\_calibrated\_velocity\_Z@{get\_gyro\_calibrated\_velocity\_Z}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_gyro\_calibrated\_velocity\_Z()}{get\_gyro\_calibrated\_velocity\_Z()}} -{\footnotesize\ttfamily float BNO08x\+::get\+\_\+gyro\+\_\+calibrated\+\_\+velocity\+\_\+Z (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Get calibrated gyro z axis angular velocity measurement. - -\begin{DoxyReturn}{Returns} -The angular reported z axis angular velocity from calibrated gyro (drift compensation applied). -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a15a29c3bb476048b7229abcfb2b1d52a_cgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_afe6392012669e7ebd1a9e817e2bd313f}\label{class_b_n_o08x_afe6392012669e7ebd1a9e817e2bd313f} -\index{BNO08x@{BNO08x}!get\_gyro\_velocity@{get\_gyro\_velocity}} -\index{get\_gyro\_velocity@{get\_gyro\_velocity}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_gyro\_velocity()}{get\_gyro\_velocity()}} -{\footnotesize\ttfamily void BNO08x\+::get\+\_\+gyro\+\_\+velocity (\begin{DoxyParamCaption}\item[{float \&}]{x, }\item[{float \&}]{y, }\item[{float \&}]{z }\end{DoxyParamCaption})} - - - -Full rotational velocity from gyro-\/integrated rotation vector (See Ref. Manual 6.\+5.\+44) - - -\begin{DoxyParams}{Parameters} -{\em x} & Reference variable to save X axis angular velocity \\ -\hline -{\em y} & Reference variable to save Y axis angular velocity \\ -\hline -{\em z} & Reference variable to save Z axis angular velocity\\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -void, nothing to return -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_afe6392012669e7ebd1a9e817e2bd313f_cgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_acd376cd3e454a87198ec86accbf2ee00}\label{class_b_n_o08x_acd376cd3e454a87198ec86accbf2ee00} -\index{BNO08x@{BNO08x}!get\_gyro\_velocity\_X@{get\_gyro\_velocity\_X}} -\index{get\_gyro\_velocity\_X@{get\_gyro\_velocity\_X}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_gyro\_velocity\_X()}{get\_gyro\_velocity\_X()}} -{\footnotesize\ttfamily float BNO08x\+::get\+\_\+gyro\+\_\+velocity\+\_\+X (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Get x axis angular velocity from gyro-\/integrated rotation vector. (See Ref. Manual 6.\+5.\+44) - -\begin{DoxyReturn}{Returns} -The reported x axis angular velocity. -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_acd376cd3e454a87198ec86accbf2ee00_cgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_acd1819a81818f90dc105950b4a7d0b04}\label{class_b_n_o08x_acd1819a81818f90dc105950b4a7d0b04} -\index{BNO08x@{BNO08x}!get\_gyro\_velocity\_Y@{get\_gyro\_velocity\_Y}} -\index{get\_gyro\_velocity\_Y@{get\_gyro\_velocity\_Y}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_gyro\_velocity\_Y()}{get\_gyro\_velocity\_Y()}} -{\footnotesize\ttfamily float BNO08x\+::get\+\_\+gyro\+\_\+velocity\+\_\+Y (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Get y axis angular velocity from gyro-\/integrated rotation vector. (See Ref. Manual 6.\+5.\+44) - -\begin{DoxyReturn}{Returns} -The reported y axis angular velocity. -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_acd1819a81818f90dc105950b4a7d0b04_cgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_ae2add976af256ec981248371a2f58207}\label{class_b_n_o08x_ae2add976af256ec981248371a2f58207} -\index{BNO08x@{BNO08x}!get\_gyro\_velocity\_Z@{get\_gyro\_velocity\_Z}} -\index{get\_gyro\_velocity\_Z@{get\_gyro\_velocity\_Z}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_gyro\_velocity\_Z()}{get\_gyro\_velocity\_Z()}} -{\footnotesize\ttfamily float BNO08x\+::get\+\_\+gyro\+\_\+velocity\+\_\+Z (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Get z axis angular velocity from gyro-\/integrated rotation vector. (See Ref. Manual 6.\+5.\+44) - -\begin{DoxyReturn}{Returns} -The reported Z axis angular velocity. -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_ae2add976af256ec981248371a2f58207_cgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_ad59b029d04341dbef72e059488951980}\label{class_b_n_o08x_ad59b029d04341dbef72e059488951980} -\index{BNO08x@{BNO08x}!get\_linear\_accel@{get\_linear\_accel}} -\index{get\_linear\_accel@{get\_linear\_accel}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_linear\_accel()}{get\_linear\_accel()}} -{\footnotesize\ttfamily void BNO08x\+::get\+\_\+linear\+\_\+accel (\begin{DoxyParamCaption}\item[{float \&}]{x, }\item[{float \&}]{y, }\item[{float \&}]{z, }\item[{uint8\+\_\+t \&}]{accuracy }\end{DoxyParamCaption})} - - - -Get full linear acceleration (acceleration of the device minus gravity, units in m/s\texorpdfstring{$^\wedge$}{\string^}2). - - -\begin{DoxyParams}{Parameters} -{\em x} & Reference variable to save X axis acceleration. \\ -\hline -{\em y} & Reference variable to save Y axis acceleration. \\ -\hline -{\em z} & Reference variable to save Z axis acceleration. \\ -\hline -{\em accuracy} & Reference variable to save reported linear acceleration accuracy.\\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -void, nothing to return -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=318pt]{class_b_n_o08x_ad59b029d04341dbef72e059488951980_cgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_a33fe3c2f47759cfae5f4b612ddd329ea}\label{class_b_n_o08x_a33fe3c2f47759cfae5f4b612ddd329ea} -\index{BNO08x@{BNO08x}!get\_linear\_accel\_accuracy@{get\_linear\_accel\_accuracy}} -\index{get\_linear\_accel\_accuracy@{get\_linear\_accel\_accuracy}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_linear\_accel\_accuracy()}{get\_linear\_accel\_accuracy()}} -{\footnotesize\ttfamily uint8\+\_\+t BNO08x\+::get\+\_\+linear\+\_\+accel\+\_\+accuracy (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Get accuracy of linear acceleration. - -\begin{DoxyReturn}{Returns} -Accuracy of linear acceleration. -\end{DoxyReturn} -\Hypertarget{class_b_n_o08x_a763c3a9699a1081d430fd9b9b7bc49a3}\label{class_b_n_o08x_a763c3a9699a1081d430fd9b9b7bc49a3} -\index{BNO08x@{BNO08x}!get\_linear\_accel\_X@{get\_linear\_accel\_X}} -\index{get\_linear\_accel\_X@{get\_linear\_accel\_X}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_linear\_accel\_X()}{get\_linear\_accel\_X()}} -{\footnotesize\ttfamily float BNO08x\+::get\+\_\+linear\+\_\+accel\+\_\+X (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Get x axis linear acceleration (acceleration of device minus gravity, units in m/s\texorpdfstring{$^\wedge$}{\string^}2) - -\begin{DoxyReturn}{Returns} -The angular reported x axis linear acceleration. -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=318pt]{class_b_n_o08x_a763c3a9699a1081d430fd9b9b7bc49a3_cgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_a1033bdd65b42b6706d1dfc67ece66191}\label{class_b_n_o08x_a1033bdd65b42b6706d1dfc67ece66191} -\index{BNO08x@{BNO08x}!get\_linear\_accel\_Y@{get\_linear\_accel\_Y}} -\index{get\_linear\_accel\_Y@{get\_linear\_accel\_Y}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_linear\_accel\_Y()}{get\_linear\_accel\_Y()}} -{\footnotesize\ttfamily float BNO08x\+::get\+\_\+linear\+\_\+accel\+\_\+Y (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Get y axis linear acceleration (acceleration of device minus gravity, units in m/s\texorpdfstring{$^\wedge$}{\string^}2) - -\begin{DoxyReturn}{Returns} -The angular reported y axis linear acceleration. -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=318pt]{class_b_n_o08x_a1033bdd65b42b6706d1dfc67ece66191_cgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_afdfa7d50362702da689c5d18bf17fd84}\label{class_b_n_o08x_afdfa7d50362702da689c5d18bf17fd84} -\index{BNO08x@{BNO08x}!get\_linear\_accel\_Z@{get\_linear\_accel\_Z}} -\index{get\_linear\_accel\_Z@{get\_linear\_accel\_Z}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_linear\_accel\_Z()}{get\_linear\_accel\_Z()}} -{\footnotesize\ttfamily float BNO08x\+::get\+\_\+linear\+\_\+accel\+\_\+Z (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Get z axis linear acceleration (acceleration of device minus gravity, units in m/s\texorpdfstring{$^\wedge$}{\string^}2) - -\begin{DoxyReturn}{Returns} -The angular reported z axis linear acceleration. -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=318pt]{class_b_n_o08x_afdfa7d50362702da689c5d18bf17fd84_cgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_a35a224d519a2a243d0d526a34ecde5a8}\label{class_b_n_o08x_a35a224d519a2a243d0d526a34ecde5a8} -\index{BNO08x@{BNO08x}!get\_magf@{get\_magf}} -\index{get\_magf@{get\_magf}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_magf()}{get\_magf()}} -{\footnotesize\ttfamily void BNO08x\+::get\+\_\+magf (\begin{DoxyParamCaption}\item[{float \&}]{x, }\item[{float \&}]{y, }\item[{float \&}]{z, }\item[{uint8\+\_\+t \&}]{accuracy }\end{DoxyParamCaption})} - - - -Get the full magnetic field vector. - - -\begin{DoxyParams}{Parameters} -{\em x} & Reference variable to save reported x magnitude. \\ -\hline -{\em y} & Reference variable to save reported y magnitude. \\ -\hline -{\em x} & Reference variable to save reported z magnitude. \\ -\hline -{\em accuracy} & Reference variable save reported accuracy.\\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -void, nothing to return -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=315pt]{class_b_n_o08x_a35a224d519a2a243d0d526a34ecde5a8_cgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_a487391e6b2dd7f05084804d1fb94976f}\label{class_b_n_o08x_a487391e6b2dd7f05084804d1fb94976f} -\index{BNO08x@{BNO08x}!get\_magf\_accuracy@{get\_magf\_accuracy}} -\index{get\_magf\_accuracy@{get\_magf\_accuracy}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_magf\_accuracy()}{get\_magf\_accuracy()}} -{\footnotesize\ttfamily uint8\+\_\+t BNO08x\+::get\+\_\+magf\+\_\+accuracy (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Get accuracy of reported magnetic field vector. - -\begin{DoxyReturn}{Returns} -The accuracy of reported magnetic field vector. -\end{DoxyReturn} -Here is the caller graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a487391e6b2dd7f05084804d1fb94976f_icgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_a111601243b913751eb51c1f37cba4e7d}\label{class_b_n_o08x_a111601243b913751eb51c1f37cba4e7d} -\index{BNO08x@{BNO08x}!get\_magf\_X@{get\_magf\_X}} -\index{get\_magf\_X@{get\_magf\_X}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_magf\_X()}{get\_magf\_X()}} -{\footnotesize\ttfamily float BNO08x\+::get\+\_\+magf\+\_\+X (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Get X component of magnetic field vector. - -\begin{DoxyReturn}{Returns} -The reported X component of magnetic field vector. -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=326pt]{class_b_n_o08x_a111601243b913751eb51c1f37cba4e7d_cgraph} -\end{center} -\end{figure} -Here is the caller graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a111601243b913751eb51c1f37cba4e7d_icgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_a82ed8d7b9a5c25374839df75a3d220ea}\label{class_b_n_o08x_a82ed8d7b9a5c25374839df75a3d220ea} -\index{BNO08x@{BNO08x}!get\_magf\_Y@{get\_magf\_Y}} -\index{get\_magf\_Y@{get\_magf\_Y}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_magf\_Y()}{get\_magf\_Y()}} -{\footnotesize\ttfamily float BNO08x\+::get\+\_\+magf\+\_\+Y (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Get Y component of magnetic field vector. - -\begin{DoxyReturn}{Returns} -The reported Y component of magnetic field vector. -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=327pt]{class_b_n_o08x_a82ed8d7b9a5c25374839df75a3d220ea_cgraph} -\end{center} -\end{figure} -Here is the caller graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a82ed8d7b9a5c25374839df75a3d220ea_icgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_ab4c48a91d2f8b29430abc17b7f015282}\label{class_b_n_o08x_ab4c48a91d2f8b29430abc17b7f015282} -\index{BNO08x@{BNO08x}!get\_magf\_Z@{get\_magf\_Z}} -\index{get\_magf\_Z@{get\_magf\_Z}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_magf\_Z()}{get\_magf\_Z()}} -{\footnotesize\ttfamily float BNO08x\+::get\+\_\+magf\+\_\+Z (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Get Z component of magnetic field vector. - -\begin{DoxyReturn}{Returns} -The reported Z component of magnetic field vector. -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=326pt]{class_b_n_o08x_ab4c48a91d2f8b29430abc17b7f015282_cgraph} -\end{center} -\end{figure} -Here is the caller graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_ab4c48a91d2f8b29430abc17b7f015282_icgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_a1b91f234d81c45f1f5ca2f27c9f0f6a3}\label{class_b_n_o08x_a1b91f234d81c45f1f5ca2f27c9f0f6a3} -\index{BNO08x@{BNO08x}!get\_pitch@{get\_pitch}} -\index{get\_pitch@{get\_pitch}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_pitch()}{get\_pitch()}} -{\footnotesize\ttfamily float BNO08x\+::get\+\_\+pitch (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Get the reported rotation about y axis. - -\begin{DoxyReturn}{Returns} -Rotation about the y axis in radians. -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a1b91f234d81c45f1f5ca2f27c9f0f6a3_cgraph} -\end{center} -\end{figure} -Here is the caller graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=334pt]{class_b_n_o08x_a1b91f234d81c45f1f5ca2f27c9f0f6a3_icgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_af50010400cbd1445e9ddfa259384b412}\label{class_b_n_o08x_af50010400cbd1445e9ddfa259384b412} -\index{BNO08x@{BNO08x}!get\_pitch\_deg@{get\_pitch\_deg}} -\index{get\_pitch\_deg@{get\_pitch\_deg}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_pitch\_deg()}{get\_pitch\_deg()}} -{\footnotesize\ttfamily float BNO08x\+::get\+\_\+pitch\+\_\+deg (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Get the reported rotation about y axis. - -\begin{DoxyReturn}{Returns} -Rotation about the y axis in degrees. -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_af50010400cbd1445e9ddfa259384b412_cgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_a4421c43323945946ad605f8422958dcf}\label{class_b_n_o08x_a4421c43323945946ad605f8422958dcf} -\index{BNO08x@{BNO08x}!get\_Q1@{get\_Q1}} -\index{get\_Q1@{get\_Q1}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_Q1()}{get\_Q1()}} -{\footnotesize\ttfamily int16\+\_\+t BNO08x\+::get\+\_\+\+Q1 (\begin{DoxyParamCaption}\item[{uint16\+\_\+t}]{record\+\_\+\+ID }\end{DoxyParamCaption})} - - - -Gets Q1 point from \doxylink{class_b_n_o08x}{BNO08x} FRS (flash record system). - -Note that Q points from the data sheet can be used as well, using the ones stored in flash is optional. - - -\begin{DoxyParams}{Parameters} -{\em record\+\_\+\+ID} & Which record ID/ sensor to get Q1 value for.\\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -Q1 value for requested sensor. -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a4421c43323945946ad605f8422958dcf_cgraph} -\end{center} -\end{figure} -Here is the caller graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=326pt]{class_b_n_o08x_a4421c43323945946ad605f8422958dcf_icgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_a954dccdcbe8a8c4f1787f13ebb8d932b}\label{class_b_n_o08x_a954dccdcbe8a8c4f1787f13ebb8d932b} -\index{BNO08x@{BNO08x}!get\_Q2@{get\_Q2}} -\index{get\_Q2@{get\_Q2}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_Q2()}{get\_Q2()}} -{\footnotesize\ttfamily int16\+\_\+t BNO08x\+::get\+\_\+\+Q2 (\begin{DoxyParamCaption}\item[{uint16\+\_\+t}]{record\+\_\+\+ID }\end{DoxyParamCaption})} - - - -Gets Q2 point from \doxylink{class_b_n_o08x}{BNO08x} FRS (flash record system). - -Note that Q points from the data sheet can be used as well, using the ones stored in flash is optional. - - -\begin{DoxyParams}{Parameters} -{\em record\+\_\+\+ID} & Which record ID/ sensor to get Q2 value for.\\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -Q2 value for requested sensor. -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a954dccdcbe8a8c4f1787f13ebb8d932b_cgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_a1590ba793668f9cb1a32a1f4dd07cb9a}\label{class_b_n_o08x_a1590ba793668f9cb1a32a1f4dd07cb9a} -\index{BNO08x@{BNO08x}!get\_Q3@{get\_Q3}} -\index{get\_Q3@{get\_Q3}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_Q3()}{get\_Q3()}} -{\footnotesize\ttfamily int16\+\_\+t BNO08x\+::get\+\_\+\+Q3 (\begin{DoxyParamCaption}\item[{uint16\+\_\+t}]{record\+\_\+\+ID }\end{DoxyParamCaption})} - - - -Gets Q3 point from \doxylink{class_b_n_o08x}{BNO08x} FRS (flash record system). - -Note that Q points from the data sheet can be used as well, using the ones stored in flash is optional. - - -\begin{DoxyParams}{Parameters} -{\em record\+\_\+\+ID} & Which record ID/ sensor to get Q3 value for.\\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -Q3 value for requested sensor. -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a1590ba793668f9cb1a32a1f4dd07cb9a_cgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_a51a6d594824de2292e70f788454f8a2d}\label{class_b_n_o08x_a51a6d594824de2292e70f788454f8a2d} -\index{BNO08x@{BNO08x}!get\_quat@{get\_quat}} -\index{get\_quat@{get\_quat}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_quat()}{get\_quat()}} -{\footnotesize\ttfamily void BNO08x\+::get\+\_\+quat (\begin{DoxyParamCaption}\item[{float \&}]{i, }\item[{float \&}]{j, }\item[{float \&}]{k, }\item[{float \&}]{real, }\item[{float \&}]{rad\+\_\+accuracy, }\item[{uint8\+\_\+t \&}]{accuracy }\end{DoxyParamCaption})} - - - -Get the full quaternion reading. - - -\begin{DoxyParams}{Parameters} -{\em i} & Reference variable to save reported i component of quaternion. \\ -\hline -{\em j} & Reference variable to save reported j component of quaternion. \\ -\hline -{\em k} & Reference variable to save reported k component of quaternion. \\ -\hline -{\em real} & Reference variable to save reported real component of quaternion. \\ -\hline -{\em rad\+\_\+accuracy} & Reference variable to save reported raw quaternion radian accuracy. \\ -\hline -{\em accuracy} & Reference variable to save reported quaternion accuracy.\\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -void, nothing to return -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=313pt]{class_b_n_o08x_a51a6d594824de2292e70f788454f8a2d_cgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_a24ba760d064a1dc45f972c79b9c8d98d}\label{class_b_n_o08x_a24ba760d064a1dc45f972c79b9c8d98d} -\index{BNO08x@{BNO08x}!get\_quat\_accuracy@{get\_quat\_accuracy}} -\index{get\_quat\_accuracy@{get\_quat\_accuracy}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_quat\_accuracy()}{get\_quat\_accuracy()}} -{\footnotesize\ttfamily uint8\+\_\+t BNO08x\+::get\+\_\+quat\+\_\+accuracy (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Get accuracy of reported quaternion. - -\begin{DoxyReturn}{Returns} -The accuracy of reported quaternion. -\end{DoxyReturn} -Here is the caller graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a24ba760d064a1dc45f972c79b9c8d98d_icgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_a12c12a8e078b28480fb8828d306656f5}\label{class_b_n_o08x_a12c12a8e078b28480fb8828d306656f5} -\index{BNO08x@{BNO08x}!get\_quat\_I@{get\_quat\_I}} -\index{get\_quat\_I@{get\_quat\_I}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_quat\_I()}{get\_quat\_I()}} -{\footnotesize\ttfamily float BNO08x\+::get\+\_\+quat\+\_\+I (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Get I component of reported quaternion. - -\begin{DoxyReturn}{Returns} -The I component of reported quaternion. -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=321pt]{class_b_n_o08x_a12c12a8e078b28480fb8828d306656f5_cgraph} -\end{center} -\end{figure} -Here is the caller graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a12c12a8e078b28480fb8828d306656f5_icgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_a9f6bb642fa0297a7b9bcc94dd7374015}\label{class_b_n_o08x_a9f6bb642fa0297a7b9bcc94dd7374015} -\index{BNO08x@{BNO08x}!get\_quat\_J@{get\_quat\_J}} -\index{get\_quat\_J@{get\_quat\_J}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_quat\_J()}{get\_quat\_J()}} -{\footnotesize\ttfamily float BNO08x\+::get\+\_\+quat\+\_\+J (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Get J component of reported quaternion. - -\begin{DoxyReturn}{Returns} -The J component of reported quaternion. -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=323pt]{class_b_n_o08x_a9f6bb642fa0297a7b9bcc94dd7374015_cgraph} -\end{center} -\end{figure} -Here is the caller graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a9f6bb642fa0297a7b9bcc94dd7374015_icgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_a9f42c70c2337a0d831064a40ecfe2dd8}\label{class_b_n_o08x_a9f42c70c2337a0d831064a40ecfe2dd8} -\index{BNO08x@{BNO08x}!get\_quat\_K@{get\_quat\_K}} -\index{get\_quat\_K@{get\_quat\_K}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_quat\_K()}{get\_quat\_K()}} -{\footnotesize\ttfamily float BNO08x\+::get\+\_\+quat\+\_\+K (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Get K component of reported quaternion. - -\begin{DoxyReturn}{Returns} -The K component of reported quaternion. -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=325pt]{class_b_n_o08x_a9f42c70c2337a0d831064a40ecfe2dd8_cgraph} -\end{center} -\end{figure} -Here is the caller graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a9f42c70c2337a0d831064a40ecfe2dd8_icgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_a61b7d10a98afc6903fea6b2cede27630}\label{class_b_n_o08x_a61b7d10a98afc6903fea6b2cede27630} -\index{BNO08x@{BNO08x}!get\_quat\_radian\_accuracy@{get\_quat\_radian\_accuracy}} -\index{get\_quat\_radian\_accuracy@{get\_quat\_radian\_accuracy}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_quat\_radian\_accuracy()}{get\_quat\_radian\_accuracy()}} -{\footnotesize\ttfamily float BNO08x\+::get\+\_\+quat\+\_\+radian\+\_\+accuracy (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Get radian accuracy of reported quaternion. - -\begin{DoxyReturn}{Returns} -The radian accuracy of reported quaternion. -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=345pt]{class_b_n_o08x_a61b7d10a98afc6903fea6b2cede27630_cgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_a5a556c5ec1baaa7f1156779dbe47a7b7}\label{class_b_n_o08x_a5a556c5ec1baaa7f1156779dbe47a7b7} -\index{BNO08x@{BNO08x}!get\_quat\_real@{get\_quat\_real}} -\index{get\_quat\_real@{get\_quat\_real}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_quat\_real()}{get\_quat\_real()}} -{\footnotesize\ttfamily float BNO08x\+::get\+\_\+quat\+\_\+real (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Get real component of reported quaternion. - -\begin{DoxyReturn}{Returns} -The real component of reported quaternion. -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=334pt]{class_b_n_o08x_a5a556c5ec1baaa7f1156779dbe47a7b7_cgraph} -\end{center} -\end{figure} -Here is the caller graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a5a556c5ec1baaa7f1156779dbe47a7b7_icgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_a0fff04c42c9502615ad73cd1457cb9b0}\label{class_b_n_o08x_a0fff04c42c9502615ad73cd1457cb9b0} -\index{BNO08x@{BNO08x}!get\_range@{get\_range}} -\index{get\_range@{get\_range}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_range()}{get\_range()}} -{\footnotesize\ttfamily float BNO08x\+::get\+\_\+range (\begin{DoxyParamCaption}\item[{uint16\+\_\+t}]{record\+\_\+\+ID }\end{DoxyParamCaption})} - - - -Gets range from \doxylink{class_b_n_o08x}{BNO08x} FRS (flash record system). - - -\begin{DoxyParams}{Parameters} -{\em record\+\_\+\+ID} & Which record ID/ sensor to get range value for.\\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -The range value for the requested sensor. -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a0fff04c42c9502615ad73cd1457cb9b0_cgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_a1de356dd604c1dffcd1a32faeb4fafe2}\label{class_b_n_o08x_a1de356dd604c1dffcd1a32faeb4fafe2} -\index{BNO08x@{BNO08x}!get\_raw\_accel\_X@{get\_raw\_accel\_X}} -\index{get\_raw\_accel\_X@{get\_raw\_accel\_X}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_raw\_accel\_X()}{get\_raw\_accel\_X()}} -{\footnotesize\ttfamily int16\+\_\+t BNO08x\+::get\+\_\+raw\+\_\+accel\+\_\+X (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Get raw accelerometer x axis reading from physical accelerometer MEMs sensor (See Ref. Manual 6.\+5.\+8) - -\begin{DoxyReturn}{Returns} -Reported raw accelerometer x axis reading from physical MEMs sensor. -\end{DoxyReturn} -\Hypertarget{class_b_n_o08x_a96563de0eb597a52d595d19da827b1ac}\label{class_b_n_o08x_a96563de0eb597a52d595d19da827b1ac} -\index{BNO08x@{BNO08x}!get\_raw\_accel\_Y@{get\_raw\_accel\_Y}} -\index{get\_raw\_accel\_Y@{get\_raw\_accel\_Y}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_raw\_accel\_Y()}{get\_raw\_accel\_Y()}} -{\footnotesize\ttfamily int16\+\_\+t BNO08x\+::get\+\_\+raw\+\_\+accel\+\_\+Y (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Get raw accelerometer y axis reading from physical accelerometer MEMs sensor (See Ref. Manual 6.\+5.\+8) - -\begin{DoxyReturn}{Returns} -Reported raw accelerometer y axis reading from physical MEMs sensor. -\end{DoxyReturn} -\Hypertarget{class_b_n_o08x_a718cdd910e5e7e03fd0a1ad04ee6f0ce}\label{class_b_n_o08x_a718cdd910e5e7e03fd0a1ad04ee6f0ce} -\index{BNO08x@{BNO08x}!get\_raw\_accel\_Z@{get\_raw\_accel\_Z}} -\index{get\_raw\_accel\_Z@{get\_raw\_accel\_Z}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_raw\_accel\_Z()}{get\_raw\_accel\_Z()}} -{\footnotesize\ttfamily int16\+\_\+t BNO08x\+::get\+\_\+raw\+\_\+accel\+\_\+Z (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Get raw accelerometer z axis reading from physical accelerometer MEMs sensor (See Ref. Manual 6.\+5.\+8) - -\begin{DoxyReturn}{Returns} -Reported raw accelerometer z axis reading from physical MEMs sensor. -\end{DoxyReturn} -\Hypertarget{class_b_n_o08x_af1b2c3a383a84fc6dfaddae1052b44d4}\label{class_b_n_o08x_af1b2c3a383a84fc6dfaddae1052b44d4} -\index{BNO08x@{BNO08x}!get\_raw\_gyro\_X@{get\_raw\_gyro\_X}} -\index{get\_raw\_gyro\_X@{get\_raw\_gyro\_X}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_raw\_gyro\_X()}{get\_raw\_gyro\_X()}} -{\footnotesize\ttfamily int16\+\_\+t BNO08x\+::get\+\_\+raw\+\_\+gyro\+\_\+X (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Get raw gyroscope x axis reading from physical gyroscope MEMs sensor (See Ref. Manual 6.\+5.\+12) - -\begin{DoxyReturn}{Returns} -Reported raw gyroscope x axis reading from physical MEMs sensor. -\end{DoxyReturn} -\Hypertarget{class_b_n_o08x_aff7714441d242b3b9b0c03f94e0a9374}\label{class_b_n_o08x_aff7714441d242b3b9b0c03f94e0a9374} -\index{BNO08x@{BNO08x}!get\_raw\_gyro\_Y@{get\_raw\_gyro\_Y}} -\index{get\_raw\_gyro\_Y@{get\_raw\_gyro\_Y}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_raw\_gyro\_Y()}{get\_raw\_gyro\_Y()}} -{\footnotesize\ttfamily int16\+\_\+t BNO08x\+::get\+\_\+raw\+\_\+gyro\+\_\+Y (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Get raw gyroscope y axis reading from physical gyroscope MEMs sensor (See Ref. Manual 6.\+5.\+12) - -\begin{DoxyReturn}{Returns} -Reported raw gyroscope y axis reading from physical MEMs sensor. -\end{DoxyReturn} -\Hypertarget{class_b_n_o08x_a2e28b5a79c442a6baa2fa5165b9ce37d}\label{class_b_n_o08x_a2e28b5a79c442a6baa2fa5165b9ce37d} -\index{BNO08x@{BNO08x}!get\_raw\_gyro\_Z@{get\_raw\_gyro\_Z}} -\index{get\_raw\_gyro\_Z@{get\_raw\_gyro\_Z}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_raw\_gyro\_Z()}{get\_raw\_gyro\_Z()}} -{\footnotesize\ttfamily int16\+\_\+t BNO08x\+::get\+\_\+raw\+\_\+gyro\+\_\+Z (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Get raw gyroscope z axis reading from physical gyroscope MEMs sensor (See Ref. Manual 6.\+5.\+12) - -\begin{DoxyReturn}{Returns} -Reported raw gyroscope z axis reading from physical MEMs sensor. -\end{DoxyReturn} -\Hypertarget{class_b_n_o08x_adf12600b39de41d258439a343fcc1ad8}\label{class_b_n_o08x_adf12600b39de41d258439a343fcc1ad8} -\index{BNO08x@{BNO08x}!get\_raw\_magf\_X@{get\_raw\_magf\_X}} -\index{get\_raw\_magf\_X@{get\_raw\_magf\_X}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_raw\_magf\_X()}{get\_raw\_magf\_X()}} -{\footnotesize\ttfamily int16\+\_\+t BNO08x\+::get\+\_\+raw\+\_\+magf\+\_\+X (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Get raw magnetometer x axis reading from physical magnetometer sensor (See Ref. Manual 6.\+5.\+15) - -\begin{DoxyReturn}{Returns} -Reported raw magnetometer x axis reading from physical magnetometer sensor. -\end{DoxyReturn} -\Hypertarget{class_b_n_o08x_a2c842e43ceae19149f6525bcbc48f1cf}\label{class_b_n_o08x_a2c842e43ceae19149f6525bcbc48f1cf} -\index{BNO08x@{BNO08x}!get\_raw\_magf\_Y@{get\_raw\_magf\_Y}} -\index{get\_raw\_magf\_Y@{get\_raw\_magf\_Y}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_raw\_magf\_Y()}{get\_raw\_magf\_Y()}} -{\footnotesize\ttfamily int16\+\_\+t BNO08x\+::get\+\_\+raw\+\_\+magf\+\_\+Y (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Get raw magnetometer y axis reading from physical magnetometer sensor (See Ref. Manual 6.\+5.\+15) - -\begin{DoxyReturn}{Returns} -Reported raw magnetometer y axis reading from physical magnetometer sensor. -\end{DoxyReturn} -\Hypertarget{class_b_n_o08x_a99c1bcc2ec3ca3d8feafd6dd61f9d269}\label{class_b_n_o08x_a99c1bcc2ec3ca3d8feafd6dd61f9d269} -\index{BNO08x@{BNO08x}!get\_raw\_magf\_Z@{get\_raw\_magf\_Z}} -\index{get\_raw\_magf\_Z@{get\_raw\_magf\_Z}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_raw\_magf\_Z()}{get\_raw\_magf\_Z()}} -{\footnotesize\ttfamily int16\+\_\+t BNO08x\+::get\+\_\+raw\+\_\+magf\+\_\+Z (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Get raw magnetometer z axis reading from physical magnetometer sensor (See Ref. Manual 6.\+5.\+15) - -\begin{DoxyReturn}{Returns} -Reported raw magnetometer z axis reading from physical magnetometer sensor. -\end{DoxyReturn} -\Hypertarget{class_b_n_o08x_a11bb1b3fa44ad8f28c1492b5c07af886}\label{class_b_n_o08x_a11bb1b3fa44ad8f28c1492b5c07af886} -\index{BNO08x@{BNO08x}!get\_reset\_reason@{get\_reset\_reason}} -\index{get\_reset\_reason@{get\_reset\_reason}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_reset\_reason()}{get\_reset\_reason()}} -{\footnotesize\ttfamily uint8\+\_\+t BNO08x\+::get\+\_\+reset\+\_\+reason (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Requests product ID, prints the returned info over serial, and returns the reason for the most resent reset. - -\begin{DoxyReturn}{Returns} -The reason for the most recent recent reset ( 1 = POR (power on reset), 2 = internal reset, 3 = watchdog timer, 4 = external reset 5 = other) -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a11bb1b3fa44ad8f28c1492b5c07af886_cgraph} -\end{center} -\end{figure} -Here is the caller graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=344pt]{class_b_n_o08x_a11bb1b3fa44ad8f28c1492b5c07af886_icgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_a1d6ea02d0d4b23ff6a15e9d5c6c92372}\label{class_b_n_o08x_a1d6ea02d0d4b23ff6a15e9d5c6c92372} -\index{BNO08x@{BNO08x}!get\_resolution@{get\_resolution}} -\index{get\_resolution@{get\_resolution}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_resolution()}{get\_resolution()}} -{\footnotesize\ttfamily float BNO08x\+::get\+\_\+resolution (\begin{DoxyParamCaption}\item[{uint16\+\_\+t}]{record\+\_\+\+ID }\end{DoxyParamCaption})} - - - -Gets resolution from \doxylink{class_b_n_o08x}{BNO08x} FRS (flash record system). - - -\begin{DoxyParams}{Parameters} -{\em record\+\_\+\+ID} & Which record ID/ sensor to get resolution value for.\\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -The resolution value for the requested sensor. -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a1d6ea02d0d4b23ff6a15e9d5c6c92372_cgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_a89618eba08186ee8e679e7313907ddef}\label{class_b_n_o08x_a89618eba08186ee8e679e7313907ddef} -\index{BNO08x@{BNO08x}!get\_roll@{get\_roll}} -\index{get\_roll@{get\_roll}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_roll()}{get\_roll()}} -{\footnotesize\ttfamily float BNO08x\+::get\+\_\+roll (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Get the reported rotation about x axis. - -\begin{DoxyReturn}{Returns} -Rotation about the x axis in radians. -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a89618eba08186ee8e679e7313907ddef_cgraph} -\end{center} -\end{figure} -Here is the caller graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=318pt]{class_b_n_o08x_a89618eba08186ee8e679e7313907ddef_icgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_a7077b9a130f1dcf0192454e387968dd6}\label{class_b_n_o08x_a7077b9a130f1dcf0192454e387968dd6} -\index{BNO08x@{BNO08x}!get\_roll\_deg@{get\_roll\_deg}} -\index{get\_roll\_deg@{get\_roll\_deg}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_roll\_deg()}{get\_roll\_deg()}} -{\footnotesize\ttfamily float BNO08x\+::get\+\_\+roll\+\_\+deg (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Get the reported rotation about x axis. - -\begin{DoxyReturn}{Returns} -Rotation about the x axis in degrees. -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a7077b9a130f1dcf0192454e387968dd6_cgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_a0d148e00abcfeec48c689e3084a7e786}\label{class_b_n_o08x_a0d148e00abcfeec48c689e3084a7e786} -\index{BNO08x@{BNO08x}!get\_stability\_classifier@{get\_stability\_classifier}} -\index{get\_stability\_classifier@{get\_stability\_classifier}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_stability\_classifier()}{get\_stability\_classifier()}} -{\footnotesize\ttfamily int8\+\_\+t BNO08x\+::get\+\_\+stability\+\_\+classifier (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Get the current stability classifier (Seee Ref. Manual 6.\+5.\+31) - -\begin{DoxyReturn}{Returns} -The current stability (0 = unknown, 1 = on table, 2 = stationary) -\end{DoxyReturn} -\Hypertarget{class_b_n_o08x_adaff49f3d80fdd19fd4210f0c56d41ef}\label{class_b_n_o08x_adaff49f3d80fdd19fd4210f0c56d41ef} -\index{BNO08x@{BNO08x}!get\_step\_count@{get\_step\_count}} -\index{get\_step\_count@{get\_step\_count}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_step\_count()}{get\_step\_count()}} -{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::get\+\_\+step\+\_\+count (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Get the counted amount of steps. - -\begin{DoxyReturn}{Returns} -The current amount of counted steps. -\end{DoxyReturn} -\Hypertarget{class_b_n_o08x_a4797ec731de4c158716da1a7af9d1602}\label{class_b_n_o08x_a4797ec731de4c158716da1a7af9d1602} -\index{BNO08x@{BNO08x}!get\_tap\_detector@{get\_tap\_detector}} -\index{get\_tap\_detector@{get\_tap\_detector}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_tap\_detector()}{get\_tap\_detector()}} -{\footnotesize\ttfamily uint8\+\_\+t BNO08x\+::get\+\_\+tap\+\_\+detector (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Get if tap has occured. - -\begin{DoxyReturn}{Returns} -7 bit tap code indicated which axis taps have occurred. (See Ref. Manual 6.\+5.\+27) -\end{DoxyReturn} -\Hypertarget{class_b_n_o08x_ad9137777271421a58159f3fe5e05ed20}\label{class_b_n_o08x_ad9137777271421a58159f3fe5e05ed20} -\index{BNO08x@{BNO08x}!get\_time\_stamp@{get\_time\_stamp}} -\index{get\_time\_stamp@{get\_time\_stamp}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_time\_stamp()}{get\_time\_stamp()}} -{\footnotesize\ttfamily uint32\+\_\+t BNO08x\+::get\+\_\+time\+\_\+stamp (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Return timestamp of most recent report. - -\begin{DoxyReturn}{Returns} -void, nothing to return -\end{DoxyReturn} -\Hypertarget{class_b_n_o08x_a1bd3c33e70354bd35a78b83b6786b531}\label{class_b_n_o08x_a1bd3c33e70354bd35a78b83b6786b531} -\index{BNO08x@{BNO08x}!get\_uncalibrated\_gyro@{get\_uncalibrated\_gyro}} -\index{get\_uncalibrated\_gyro@{get\_uncalibrated\_gyro}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_uncalibrated\_gyro()}{get\_uncalibrated\_gyro()}} -{\footnotesize\ttfamily void BNO08x\+::get\+\_\+uncalibrated\+\_\+gyro (\begin{DoxyParamCaption}\item[{float \&}]{x, }\item[{float \&}]{y, }\item[{float \&}]{z, }\item[{float \&}]{b\+\_\+x, }\item[{float \&}]{b\+\_\+y, }\item[{float \&}]{b\+\_\+z, }\item[{uint8\+\_\+t \&}]{accuracy }\end{DoxyParamCaption})} - - - -Get full rotational velocity without drift compensation (units in Rad/s). An estimate of drift is given but not applied. - - -\begin{DoxyParams}{Parameters} -{\em x} & Reference variable to save X axis angular velocity \\ -\hline -{\em y} & Reference variable to save Y axis angular velocity \\ -\hline -{\em z} & Reference variable to save Z axis angular velocity \\ -\hline -{\em b\+\_\+x} & Reference variable to save X axis drift estimate \\ -\hline -{\em b\+\_\+y} & Reference variable to save Y axis drift estimate \\ -\hline -{\em b\+\_\+z} & Reference variable to save Z axis drift estimate \\ -\hline -{\em accuracy} & Reference variable to save reported gyro accuracy.\\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -void, nothing to return -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a1bd3c33e70354bd35a78b83b6786b531_cgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_a3285613f18b2f2f4c3f9e6d5c971af10}\label{class_b_n_o08x_a3285613f18b2f2f4c3f9e6d5c971af10} -\index{BNO08x@{BNO08x}!get\_uncalibrated\_gyro\_accuracy@{get\_uncalibrated\_gyro\_accuracy}} -\index{get\_uncalibrated\_gyro\_accuracy@{get\_uncalibrated\_gyro\_accuracy}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_uncalibrated\_gyro\_accuracy()}{get\_uncalibrated\_gyro\_accuracy()}} -{\footnotesize\ttfamily uint8\+\_\+t BNO08x\+::get\+\_\+uncalibrated\+\_\+gyro\+\_\+accuracy (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Get uncalibrated gyro accuracy. - -\begin{DoxyReturn}{Returns} -Accuracy of uncalibrated gyro. -\end{DoxyReturn} -\Hypertarget{class_b_n_o08x_ad228cdf352b7ea95e484da993045a47b}\label{class_b_n_o08x_ad228cdf352b7ea95e484da993045a47b} -\index{BNO08x@{BNO08x}!get\_uncalibrated\_gyro\_bias\_X@{get\_uncalibrated\_gyro\_bias\_X}} -\index{get\_uncalibrated\_gyro\_bias\_X@{get\_uncalibrated\_gyro\_bias\_X}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_uncalibrated\_gyro\_bias\_X()}{get\_uncalibrated\_gyro\_bias\_X()}} -{\footnotesize\ttfamily float BNO08x\+::get\+\_\+uncalibrated\+\_\+gyro\+\_\+bias\+\_\+X (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Get uncalibrated gyro x axis drift estimate. - -\begin{DoxyReturn}{Returns} -The angular reported x axis drift estimate. -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=347pt]{class_b_n_o08x_ad228cdf352b7ea95e484da993045a47b_cgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_a74725517129dd548c7a3de705d5861bd}\label{class_b_n_o08x_a74725517129dd548c7a3de705d5861bd} -\index{BNO08x@{BNO08x}!get\_uncalibrated\_gyro\_bias\_Y@{get\_uncalibrated\_gyro\_bias\_Y}} -\index{get\_uncalibrated\_gyro\_bias\_Y@{get\_uncalibrated\_gyro\_bias\_Y}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_uncalibrated\_gyro\_bias\_Y()}{get\_uncalibrated\_gyro\_bias\_Y()}} -{\footnotesize\ttfamily float BNO08x\+::get\+\_\+uncalibrated\+\_\+gyro\+\_\+bias\+\_\+Y (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Get uncalibrated gyro Y axis drift estimate. - -\begin{DoxyReturn}{Returns} -The angular reported Y axis drift estimate. -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=347pt]{class_b_n_o08x_a74725517129dd548c7a3de705d5861bd_cgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_a5050359272abd146ab3c7a6101effbd7}\label{class_b_n_o08x_a5050359272abd146ab3c7a6101effbd7} -\index{BNO08x@{BNO08x}!get\_uncalibrated\_gyro\_bias\_Z@{get\_uncalibrated\_gyro\_bias\_Z}} -\index{get\_uncalibrated\_gyro\_bias\_Z@{get\_uncalibrated\_gyro\_bias\_Z}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_uncalibrated\_gyro\_bias\_Z()}{get\_uncalibrated\_gyro\_bias\_Z()}} -{\footnotesize\ttfamily float BNO08x\+::get\+\_\+uncalibrated\+\_\+gyro\+\_\+bias\+\_\+Z (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Get uncalibrated gyro Z axis drift estimate. - -\begin{DoxyReturn}{Returns} -The angular reported Z axis drift estimate. -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=347pt]{class_b_n_o08x_a5050359272abd146ab3c7a6101effbd7_cgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_a289ff66f51c94be62c4a556f3a5997bf}\label{class_b_n_o08x_a289ff66f51c94be62c4a556f3a5997bf} -\index{BNO08x@{BNO08x}!get\_uncalibrated\_gyro\_X@{get\_uncalibrated\_gyro\_X}} -\index{get\_uncalibrated\_gyro\_X@{get\_uncalibrated\_gyro\_X}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_uncalibrated\_gyro\_X()}{get\_uncalibrated\_gyro\_X()}} -{\footnotesize\ttfamily float BNO08x\+::get\+\_\+uncalibrated\+\_\+gyro\+\_\+X (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Get uncalibrated gyro x axis angular velocity measurement. - -\begin{DoxyReturn}{Returns} -The angular reported x axis angular velocity from uncalibrated gyro. -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=347pt]{class_b_n_o08x_a289ff66f51c94be62c4a556f3a5997bf_cgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_a1874e4bd457bb5b6ecc2c64039b88ba4}\label{class_b_n_o08x_a1874e4bd457bb5b6ecc2c64039b88ba4} -\index{BNO08x@{BNO08x}!get\_uncalibrated\_gyro\_Y@{get\_uncalibrated\_gyro\_Y}} -\index{get\_uncalibrated\_gyro\_Y@{get\_uncalibrated\_gyro\_Y}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_uncalibrated\_gyro\_Y()}{get\_uncalibrated\_gyro\_Y()}} -{\footnotesize\ttfamily float BNO08x\+::get\+\_\+uncalibrated\+\_\+gyro\+\_\+Y (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Get uncalibrated gyro Y axis angular velocity measurement. - -\begin{DoxyReturn}{Returns} -The angular reported Y axis angular velocity from uncalibrated gyro. -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=347pt]{class_b_n_o08x_a1874e4bd457bb5b6ecc2c64039b88ba4_cgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_a0a73633d8929ce4058b14cefc8cad717}\label{class_b_n_o08x_a0a73633d8929ce4058b14cefc8cad717} -\index{BNO08x@{BNO08x}!get\_uncalibrated\_gyro\_Z@{get\_uncalibrated\_gyro\_Z}} -\index{get\_uncalibrated\_gyro\_Z@{get\_uncalibrated\_gyro\_Z}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_uncalibrated\_gyro\_Z()}{get\_uncalibrated\_gyro\_Z()}} -{\footnotesize\ttfamily float BNO08x\+::get\+\_\+uncalibrated\+\_\+gyro\+\_\+Z (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Get uncalibrated gyro Z axis angular velocity measurement. - -\begin{DoxyReturn}{Returns} -The angular reported Z axis angular velocity from uncalibrated gyro. -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=347pt]{class_b_n_o08x_a0a73633d8929ce4058b14cefc8cad717_cgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_a64d3e41750c6de9413d6982511f78f17}\label{class_b_n_o08x_a64d3e41750c6de9413d6982511f78f17} -\index{BNO08x@{BNO08x}!get\_yaw@{get\_yaw}} -\index{get\_yaw@{get\_yaw}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_yaw()}{get\_yaw()}} -{\footnotesize\ttfamily float BNO08x\+::get\+\_\+yaw (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Get the reported rotation about z axis. - -\begin{DoxyReturn}{Returns} -Rotation about the z axis in radians. -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a64d3e41750c6de9413d6982511f78f17_cgraph} -\end{center} -\end{figure} -Here is the caller graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=327pt]{class_b_n_o08x_a64d3e41750c6de9413d6982511f78f17_icgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_af80f7795656e695e036d3b1557aed94c}\label{class_b_n_o08x_af80f7795656e695e036d3b1557aed94c} -\index{BNO08x@{BNO08x}!get\_yaw\_deg@{get\_yaw\_deg}} -\index{get\_yaw\_deg@{get\_yaw\_deg}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{get\_yaw\_deg()}{get\_yaw\_deg()}} -{\footnotesize\ttfamily float BNO08x\+::get\+\_\+yaw\+\_\+deg (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Get the reported rotation about z axis. - -\begin{DoxyReturn}{Returns} -Rotation about the z axis in degrees. -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_af80f7795656e695e036d3b1557aed94c_cgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_a28cd1c0b3477571d87133234e6358503}\label{class_b_n_o08x_a28cd1c0b3477571d87133234e6358503} -\index{BNO08x@{BNO08x}!hard\_reset@{hard\_reset}} -\index{hard\_reset@{hard\_reset}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{hard\_reset()}{hard\_reset()}} -{\footnotesize\ttfamily bool BNO08x\+::hard\+\_\+reset (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Hard resets \doxylink{class_b_n_o08x}{BNO08x} sensor. - -\begin{DoxyReturn}{Returns} -void, nothing to return -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a28cd1c0b3477571d87133234e6358503_cgraph} -\end{center} -\end{figure} -Here is the caller graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=315pt]{class_b_n_o08x_a28cd1c0b3477571d87133234e6358503_icgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_a804b95c58c30d36933fd251626b85bf7}\label{class_b_n_o08x_a804b95c58c30d36933fd251626b85bf7} -\index{BNO08x@{BNO08x}!hint\_handler@{hint\_handler}} -\index{hint\_handler@{hint\_handler}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{hint\_handler()}{hint\_handler()}} -{\footnotesize\ttfamily void IRAM\+\_\+\+ATTR BNO08x\+::hint\+\_\+handler (\begin{DoxyParamCaption}\item[{void \texorpdfstring{$\ast$}{*}}]{arg }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [private]}} - - - -HINT interrupt service routine, handles falling edge of \doxylink{class_b_n_o08x}{BNO08x} HINT pin. - -ISR that launches SPI task to perform transaction upon assertion of \doxylink{class_b_n_o08x}{BNO08x} interrupt pin. - -\begin{DoxyReturn}{Returns} -void, nothing to return -\end{DoxyReturn} -Here is the caller graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=323pt]{class_b_n_o08x_a804b95c58c30d36933fd251626b85bf7_icgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_aea8e2c6dd7a2c9899479a7f39fe94798}\label{class_b_n_o08x_aea8e2c6dd7a2c9899479a7f39fe94798} -\index{BNO08x@{BNO08x}!initialize@{initialize}} -\index{initialize@{initialize}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{initialize()}{initialize()}} -{\footnotesize\ttfamily bool BNO08x\+::initialize (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Initializes \doxylink{class_b_n_o08x}{BNO08x} sensor. - -Resets sensor and goes through initializing process outlined in \doxylink{class_b_n_o08x}{BNO08x} datasheet. Launches two tasks, one to manage SPI transactions, another to process any received data. - -\begin{DoxyReturn}{Returns} -void, nothing to return -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_aea8e2c6dd7a2c9899479a7f39fe94798_cgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_ac1b3de9b552c611ee9c455d7f19be698}\label{class_b_n_o08x_ac1b3de9b552c611ee9c455d7f19be698} -\index{BNO08x@{BNO08x}!mode\_on@{mode\_on}} -\index{mode\_on@{mode\_on}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{mode\_on()}{mode\_on()}} -{\footnotesize\ttfamily bool BNO08x\+::mode\+\_\+on (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Turns on/ brings \doxylink{class_b_n_o08x}{BNO08x} sensor out of sleep mode using executable channel. - -\begin{DoxyReturn}{Returns} -True if exiting sleep mode was success. -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=346pt]{class_b_n_o08x_ac1b3de9b552c611ee9c455d7f19be698_cgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_a176ae0112325c05105eacb4566bbfa0b}\label{class_b_n_o08x_a176ae0112325c05105eacb4566bbfa0b} -\index{BNO08x@{BNO08x}!mode\_sleep@{mode\_sleep}} -\index{mode\_sleep@{mode\_sleep}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{mode\_sleep()}{mode\_sleep()}} -{\footnotesize\ttfamily bool BNO08x\+::mode\+\_\+sleep (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Puts \doxylink{class_b_n_o08x}{BNO08x} sensor into sleep/low power mode using executable channel. - -\begin{DoxyReturn}{Returns} -True if entering sleep mode was success. -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a176ae0112325c05105eacb4566bbfa0b_cgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_a4f66045a0528a0c17c52421ea51612e7}\label{class_b_n_o08x_a4f66045a0528a0c17c52421ea51612e7} -\index{BNO08x@{BNO08x}!parse\_command\_report@{parse\_command\_report}} -\index{parse\_command\_report@{parse\_command\_report}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{parse\_command\_report()}{parse\_command\_report()}} -{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::parse\+\_\+command\+\_\+report (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__rx__packet__t}{bno08x\+\_\+rx\+\_\+packet\+\_\+t}} \texorpdfstring{$\ast$}{*}}]{packet }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [private]}} - - - -Parses received command report sent by \doxylink{class_b_n_o08x}{BNO08x} (See Ref. Manual 6.\+3.\+9) - -\begin{DoxyReturn}{Returns} -The command report ID, 0 if invalid. -\end{DoxyReturn} -Here is the caller graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a4f66045a0528a0c17c52421ea51612e7_icgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_a51b360d795563b55559f11efb40be36a}\label{class_b_n_o08x_a51b360d795563b55559f11efb40be36a} -\index{BNO08x@{BNO08x}!parse\_frs\_read\_response\_report@{parse\_frs\_read\_response\_report}} -\index{parse\_frs\_read\_response\_report@{parse\_frs\_read\_response\_report}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{parse\_frs\_read\_response\_report()}{parse\_frs\_read\_response\_report()}} -{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::parse\+\_\+frs\+\_\+read\+\_\+response\+\_\+report (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__rx__packet__t}{bno08x\+\_\+rx\+\_\+packet\+\_\+t}} \texorpdfstring{$\ast$}{*}}]{packet }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [private]}} - - - -Sends packet to be parsed to meta data function call (frs\+\_\+read\+\_\+word()) through queue. - - -\begin{DoxyParams}{Parameters} -{\em packet} & The packet containing the frs read report. \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -1, always valid, parsing for this happens in frs\+\_\+read\+\_\+word() -\end{DoxyReturn} -Here is the caller graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a51b360d795563b55559f11efb40be36a_icgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_a8d9db3e1b6208c2661e1c543deefa53d}\label{class_b_n_o08x_a8d9db3e1b6208c2661e1c543deefa53d} -\index{BNO08x@{BNO08x}!parse\_input\_report@{parse\_input\_report}} -\index{parse\_input\_report@{parse\_input\_report}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{parse\_input\_report()}{parse\_input\_report()}} -{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::parse\+\_\+input\+\_\+report (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__rx__packet__t}{bno08x\+\_\+rx\+\_\+packet\+\_\+t}} \texorpdfstring{$\ast$}{*}}]{packet }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [private]}} - - - -Parses received input report sent by \doxylink{class_b_n_o08x}{BNO08x}. - -Unit responds with packet that contains the following\+: - -packet-\/\texorpdfstring{$>$}{>}header\mbox{[}0\+:3\mbox{]}\+: First, a 4 byte header packet-\/\texorpdfstring{$>$}{>}body\mbox{[}0\+:4\mbox{]}\+: Then a 5 byte timestamp of microsecond ticks since reading was taken packet-\/\texorpdfstring{$>$}{>}body\mbox{[}5 + 0\mbox{]}\+: Then a feature report ID (0x01 for Accel, 0x05 for Rotation Vector, etc...) packet-\/\texorpdfstring{$>$}{>}body\mbox{[}5 + 1\mbox{]}\+: Sequence number (See Ref.\+Manual 6.\+5.\+8.\+2) packet-\/\texorpdfstring{$>$}{>}body\mbox{[}5 + 2\mbox{]}\+: Status packet-\/\texorpdfstring{$>$}{>}body\mbox{[}3\mbox{]}\+: Delay packet-\/\texorpdfstring{$>$}{>}body\mbox{[}4\+:5\mbox{]}\+: i/accel x/gyro x/etc packet-\/\texorpdfstring{$>$}{>}body\mbox{[}6\+:7\mbox{]}\+: j/accel y/gyro y/etc packet-\/\texorpdfstring{$>$}{>}body\mbox{[}8\+:9\mbox{]}\+: k/accel z/gyro z/etc packet-\/\texorpdfstring{$>$}{>}body\mbox{[}10\+:11\mbox{]}\+: real/gyro temp/etc packet-\/\texorpdfstring{$>$}{>}body\mbox{[}12\+:13\mbox{]}\+: Accuracy estimate - -\begin{DoxyReturn}{Returns} -The report ID of the respective sensor, for ex. SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+GYRO\+\_\+\+INTEGRATED\+\_\+\+ROTATION\+\_\+\+VECTOR, 0 if invalid. -\end{DoxyReturn} -Here is the caller graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a8d9db3e1b6208c2661e1c543deefa53d_icgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_a67a697595d6a4d4638a53c6b4a5ef0cd}\label{class_b_n_o08x_a67a697595d6a4d4638a53c6b4a5ef0cd} -\index{BNO08x@{BNO08x}!parse\_packet@{parse\_packet}} -\index{parse\_packet@{parse\_packet}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{parse\_packet()}{parse\_packet()}} -{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::parse\+\_\+packet (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__rx__packet__t}{bno08x\+\_\+rx\+\_\+packet\+\_\+t}} \texorpdfstring{$\ast$}{*}}]{packet }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [private]}} - - - -Parses a packet received from bno08x, updating any data according to received reports. - - -\begin{DoxyParams}{Parameters} -{\em packet} & The packet to be parsed. \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -0 if invalid packet. -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a67a697595d6a4d4638a53c6b4a5ef0cd_cgraph} -\end{center} -\end{figure} -Here is the caller graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a67a697595d6a4d4638a53c6b4a5ef0cd_icgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_a29cfd7fc2816483ebebe9d55b677a036}\label{class_b_n_o08x_a29cfd7fc2816483ebebe9d55b677a036} -\index{BNO08x@{BNO08x}!parse\_product\_id\_report@{parse\_product\_id\_report}} -\index{parse\_product\_id\_report@{parse\_product\_id\_report}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{parse\_product\_id\_report()}{parse\_product\_id\_report()}} -{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::parse\+\_\+product\+\_\+id\+\_\+report (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__rx__packet__t}{bno08x\+\_\+rx\+\_\+packet\+\_\+t}} \texorpdfstring{$\ast$}{*}}]{packet }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [private]}} - - - -Parses product id report and prints device info. - - -\begin{DoxyParams}{Parameters} -{\em packet} & The packet containing product id report. \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -1, always valid. -\end{DoxyReturn} -Here is the caller graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a29cfd7fc2816483ebebe9d55b677a036_icgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_a35856c108a47de8b3b38c4395aabb4eb}\label{class_b_n_o08x_a35856c108a47de8b3b38c4395aabb4eb} -\index{BNO08x@{BNO08x}!print\_header@{print\_header}} -\index{print\_header@{print\_header}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{print\_header()}{print\_header()}} -{\footnotesize\ttfamily void BNO08x\+::print\+\_\+header (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__rx__packet__t}{bno08x\+\_\+rx\+\_\+packet\+\_\+t}} \texorpdfstring{$\ast$}{*}}]{packet }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [private]}} - - - -Prints the header of the passed SHTP packet to serial console with ESP\+\_\+\+LOG statement. - - -\begin{DoxyParams}{Parameters} -{\em packet} & The packet containing the header to be printed. \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -void, nothing to return -\end{DoxyReturn} -\Hypertarget{class_b_n_o08x_a05e4cd5861b55fc0182d7dd13bb85e49}\label{class_b_n_o08x_a05e4cd5861b55fc0182d7dd13bb85e49} -\index{BNO08x@{BNO08x}!print\_packet@{print\_packet}} -\index{print\_packet@{print\_packet}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{print\_packet()}{print\_packet()}} -{\footnotesize\ttfamily void BNO08x\+::print\+\_\+packet (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__rx__packet__t}{bno08x\+\_\+rx\+\_\+packet\+\_\+t}} \texorpdfstring{$\ast$}{*}}]{packet }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [private]}} - - - -Prints the passed SHTP packet to serial console with ESP\+\_\+\+LOG statement. - - -\begin{DoxyParams}{Parameters} -{\em packet} & The packet to be printed. \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -void, nothing to return -\end{DoxyReturn} -\Hypertarget{class_b_n_o08x_a27fb24e894f794ec6228ef142b6ff8d9}\label{class_b_n_o08x_a27fb24e894f794ec6228ef142b6ff8d9} -\index{BNO08x@{BNO08x}!q\_to\_float@{q\_to\_float}} -\index{q\_to\_float@{q\_to\_float}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{q\_to\_float()}{q\_to\_float()}} -{\footnotesize\ttfamily float BNO08x\+::q\+\_\+to\+\_\+float (\begin{DoxyParamCaption}\item[{int16\+\_\+t}]{fixed\+\_\+point\+\_\+value, }\item[{uint8\+\_\+t}]{q\+\_\+point }\end{DoxyParamCaption})} - - - -Converts a register value to a float using its associated Q point. (See \href{https://en.wikipedia.org/wiki/Q_(number_format)}{\texttt{ https\+://en.\+wikipedia.\+org/wiki/\+Q\+\_\+(number\+\_\+format)}}) - - -\begin{DoxyParams}{Parameters} -{\em q\+\_\+point} & Q point value associated with register. \\ -\hline -{\em fixed\+\_\+point\+\_\+value} & The fixed point value to convert.\\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -void, nothing to return -\end{DoxyReturn} -Here is the caller graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[height=550pt]{class_b_n_o08x_a27fb24e894f794ec6228ef142b6ff8d9_icgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_ad097849616c5caab1fd3eb3632ee2b91}\label{class_b_n_o08x_ad097849616c5caab1fd3eb3632ee2b91} -\index{BNO08x@{BNO08x}!queue\_calibrate\_command@{queue\_calibrate\_command}} -\index{queue\_calibrate\_command@{queue\_calibrate\_command}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{queue\_calibrate\_command()}{queue\_calibrate\_command()}} -{\footnotesize\ttfamily void BNO08x\+::queue\+\_\+calibrate\+\_\+command (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{sensor\+\_\+to\+\_\+calibrate }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [private]}} - - - -Queues a packet containing a command to calibrate the specified sensor. - - -\begin{DoxyParams}{Parameters} -{\em sensor\+\_\+to\+\_\+calibrate} & The sensor to calibrate. \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -void, nothing to return -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_ad097849616c5caab1fd3eb3632ee2b91_cgraph} -\end{center} -\end{figure} -Here is the caller graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_ad097849616c5caab1fd3eb3632ee2b91_icgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_a5cc58139e4d5f0587b90e249ceb476f9}\label{class_b_n_o08x_a5cc58139e4d5f0587b90e249ceb476f9} -\index{BNO08x@{BNO08x}!queue\_command@{queue\_command}} -\index{queue\_command@{queue\_command}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{queue\_command()}{queue\_command()}} -{\footnotesize\ttfamily void BNO08x\+::queue\+\_\+command (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{command, }\item[{uint8\+\_\+t \texorpdfstring{$\ast$}{*}}]{commands }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [private]}} - - - -Queues a packet containing a command. - - -\begin{DoxyParams}{Parameters} -{\em command} & The command to be sent. \\ -\hline -{\em commands} & Command data array, pre-\/packed with exception of first 3 elements (command info)\\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -void, nothing to return -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a5cc58139e4d5f0587b90e249ceb476f9_cgraph} -\end{center} -\end{figure} -Here is the caller graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a5cc58139e4d5f0587b90e249ceb476f9_icgraph} -\end{center} -\end{figure} -\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[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [private]}} - - - -Queues a packet containing a command with a request for sensor reports, reported periodically. (See Ref. Manual 6.\+5.\+4) - - -\begin{DoxyParams}{Parameters} -{\em report\+\_\+\+ID} & ID of sensor report being requested. \\ -\hline -{\em time\+\_\+between\+\_\+reports} & Desired time between reports.\\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -void, nothing to return -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=200pt]{class_b_n_o08x_af2951f6ea448af7cf7932fbfed9fec3c_cgraph} -\end{center} -\end{figure} -Here is the caller graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[height=550pt]{class_b_n_o08x_af2951f6ea448af7cf7932fbfed9fec3c_icgraph} -\end{center} -\end{figure} -\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[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports, }\item[{uint32\+\_\+t}]{specific\+\_\+config }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [private]}} - - - -Queues a packet containing a command with a request for sensor reports, reported periodically. (See Ref. Manual 6.\+5.\+4) - - -\begin{DoxyParams}{Parameters} -{\em report\+\_\+\+ID} & ID of sensor report to be enabled. \\ -\hline -{\em time\+\_\+between\+\_\+reports} & Desired time between reports in microseconds. \\ -\hline -{\em specific\+\_\+config} & Specific config word (used with personal activity classifier)\\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -void, nothing to return -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a2d6de4823893128e6a4b562f34326ae8_cgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_a62c570ba96512f4d0d10b2594048de1f}\label{class_b_n_o08x_a62c570ba96512f4d0d10b2594048de1f} -\index{BNO08x@{BNO08x}!queue\_packet@{queue\_packet}} -\index{queue\_packet@{queue\_packet}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{queue\_packet()}{queue\_packet()}} -{\footnotesize\ttfamily void BNO08x\+::queue\+\_\+packet (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{channel\+\_\+number, }\item[{uint8\+\_\+t}]{data\+\_\+length, }\item[{uint8\+\_\+t \texorpdfstring{$\ast$}{*}}]{commands }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [private]}} - - - -Queues an SHTP packet to be sent via SPI. - -\begin{DoxyReturn}{Returns} -void, nothing to return -\end{DoxyReturn} -Here is the caller graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a62c570ba96512f4d0d10b2594048de1f_icgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_ab5f200069a2f8cb74cb79c6f162da5a1}\label{class_b_n_o08x_ab5f200069a2f8cb74cb79c6f162da5a1} -\index{BNO08x@{BNO08x}!queue\_request\_product\_id\_command@{queue\_request\_product\_id\_command}} -\index{queue\_request\_product\_id\_command@{queue\_request\_product\_id\_command}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{queue\_request\_product\_id\_command()}{queue\_request\_product\_id\_command()}} -{\footnotesize\ttfamily void BNO08x\+::queue\+\_\+request\+\_\+product\+\_\+id\+\_\+command (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [private]}} - - - -Queues a packet containing the request product ID command. - -\begin{DoxyReturn}{Returns} -void, nothing to return -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_ab5f200069a2f8cb74cb79c6f162da5a1_cgraph} -\end{center} -\end{figure} -Here is the caller graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_ab5f200069a2f8cb74cb79c6f162da5a1_icgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_a4c6353e795f734ed28613f9a3d161ea2}\label{class_b_n_o08x_a4c6353e795f734ed28613f9a3d161ea2} -\index{BNO08x@{BNO08x}!queue\_tare\_command@{queue\_tare\_command}} -\index{queue\_tare\_command@{queue\_tare\_command}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{queue\_tare\_command()}{queue\_tare\_command()}} -{\footnotesize\ttfamily void BNO08x\+::queue\+\_\+tare\+\_\+command (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{command, }\item[{uint8\+\_\+t}]{axis = {\ttfamily \mbox{\hyperlink{class_b_n_o08x_a1ef13f6f330810934416ad5fe0ee55b2}{TARE\+\_\+\+AXIS\+\_\+\+ALL}}}, }\item[{uint8\+\_\+t}]{rotation\+\_\+vector\+\_\+basis = {\ttfamily \mbox{\hyperlink{class_b_n_o08x_a8e2cfc25d0e34ae53a762b88cc3ac3c8}{TARE\+\_\+\+ROTATION\+\_\+\+VECTOR}}} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [private]}} - - - -Queues a packet containing a command related to zeroing sensor\textquotesingle{}s axes. (See Ref. Manual 6.\+4.\+4.\+1) - - -\begin{DoxyParams}{Parameters} -{\em command} & Tare command to be sent. \\ -\hline -{\em axis} & Specified axis (can be z or all at once) \\ -\hline -{\em rotation\+\_\+vector\+\_\+basis} & Which rotation vector type to zero axes of, \doxylink{class_b_n_o08x}{BNO08x} saves seperate data for Rotation Vector, Gaming Rotation Vector, etc..)\\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -void, nothing to return -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a4c6353e795f734ed28613f9a3d161ea2_cgraph} -\end{center} -\end{figure} -Here is the caller graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=324pt]{class_b_n_o08x_a4c6353e795f734ed28613f9a3d161ea2_icgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_ae540799865934fcff54caed0772df071}\label{class_b_n_o08x_ae540799865934fcff54caed0772df071} -\index{BNO08x@{BNO08x}!receive\_packet@{receive\_packet}} -\index{receive\_packet@{receive\_packet}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{receive\_packet()}{receive\_packet()}} -{\footnotesize\ttfamily bool BNO08x\+::receive\+\_\+packet (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [private]}} - - - -Receives a SHTP packet via SPI and sends it to \doxylink{class_b_n_o08x_ab4373e9b87837ea9fcbc0b536338c7b8}{data\+\_\+proc\+\_\+task()} - -\begin{DoxyReturn}{Returns} -void, nothing to return -\end{DoxyReturn} -Here is the caller graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_ae540799865934fcff54caed0772df071_icgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_a06bb0c70305421b5357e64f31579fdc7}\label{class_b_n_o08x_a06bb0c70305421b5357e64f31579fdc7} -\index{BNO08x@{BNO08x}!register\_cb@{register\_cb}} -\index{register\_cb@{register\_cb}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{register\_cb()}{register\_cb()}} -{\footnotesize\ttfamily void BNO08x\+::register\+\_\+cb (\begin{DoxyParamCaption}\item[{std\+::function$<$ void()$>$}]{cb\+\_\+fxn }\end{DoxyParamCaption})} - - - -Registers a callback to execute when new data from a report is received. - - -\begin{DoxyParams}{Parameters} -{\em cb\+\_\+fxn} & Pointer to the call-\/back function should be of void return type and void input parameters. \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -void, nothing to return -\end{DoxyReturn} -\Hypertarget{class_b_n_o08x_affaaa35abbb872da5299ebab6e2c9b11}\label{class_b_n_o08x_affaaa35abbb872da5299ebab6e2c9b11} -\index{BNO08x@{BNO08x}!request\_calibration\_status@{request\_calibration\_status}} -\index{request\_calibration\_status@{request\_calibration\_status}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{request\_calibration\_status()}{request\_calibration\_status()}} -{\footnotesize\ttfamily void BNO08x\+::request\+\_\+calibration\+\_\+status (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Requests ME calibration status from \doxylink{class_b_n_o08x}{BNO08x} (see Ref. Manual 6.\+4.\+7.\+2) - -\begin{DoxyReturn}{Returns} -void, nothing to return -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_affaaa35abbb872da5299ebab6e2c9b11_cgraph} -\end{center} -\end{figure} -Here is the caller graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_affaaa35abbb872da5299ebab6e2c9b11_icgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_ae6e875a27ae74ebed806ee1a4576845a}\label{class_b_n_o08x_ae6e875a27ae74ebed806ee1a4576845a} -\index{BNO08x@{BNO08x}!run\_full\_calibration\_routine@{run\_full\_calibration\_routine}} -\index{run\_full\_calibration\_routine@{run\_full\_calibration\_routine}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{run\_full\_calibration\_routine()}{run\_full\_calibration\_routine()}} -{\footnotesize\ttfamily bool BNO08x\+::run\+\_\+full\+\_\+calibration\+\_\+routine (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Runs full calibration routine. - -Enables game rotation vector and magnetometer, starts ME calibration process. Waits for accuracy of returned quaternions and magnetic field vectors to be high, then saves calibration data and returns. - -\begin{DoxyReturn}{Returns} -void, nothing to return -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_ae6e875a27ae74ebed806ee1a4576845a_cgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_aa16609de88bfb7b389348859aa0cee54}\label{class_b_n_o08x_aa16609de88bfb7b389348859aa0cee54} -\index{BNO08x@{BNO08x}!save\_calibration@{save\_calibration}} -\index{save\_calibration@{save\_calibration}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{save\_calibration()}{save\_calibration()}} -{\footnotesize\ttfamily void BNO08x\+::save\+\_\+calibration (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Sends command to save internal calibration data (See Ref. Manual 6.\+4.\+7). - -\begin{DoxyReturn}{Returns} -void, nothing to return -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_aa16609de88bfb7b389348859aa0cee54_cgraph} -\end{center} -\end{figure} -Here is the caller graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_aa16609de88bfb7b389348859aa0cee54_icgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_afb2ffc4e7ff0498917bc14a83af306e2}\label{class_b_n_o08x_afb2ffc4e7ff0498917bc14a83af306e2} -\index{BNO08x@{BNO08x}!save\_tare@{save\_tare}} -\index{save\_tare@{save\_tare}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{save\_tare()}{save\_tare()}} -{\footnotesize\ttfamily void BNO08x\+::save\+\_\+tare (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Sends command to save tare into non-\/volatile memory of \doxylink{class_b_n_o08x}{BNO08x} (See Ref. Manual 6.\+4.\+4.\+2) - -\begin{DoxyReturn}{Returns} -void, nothing to return -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_afb2ffc4e7ff0498917bc14a83af306e2_cgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_a2c359a44a2c8e83ecb258a340e2d0e1a}\label{class_b_n_o08x_a2c359a44a2c8e83ecb258a340e2d0e1a} -\index{BNO08x@{BNO08x}!send\_packet@{send\_packet}} -\index{send\_packet@{send\_packet}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{send\_packet()}{send\_packet()}} -{\footnotesize\ttfamily void BNO08x\+::send\+\_\+packet (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__tx__packet__t}{bno08x\+\_\+tx\+\_\+packet\+\_\+t}} \texorpdfstring{$\ast$}{*}}]{packet }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [private]}} - - - -Sends a queued SHTP packet via SPI. - - -\begin{DoxyParams}{Parameters} -{\em packet} & The packet queued to be sent.\\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -void, nothing to return -\end{DoxyReturn} -Here is the caller graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a2c359a44a2c8e83ecb258a340e2d0e1a_icgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_a973a1b1785f3302ee1b2702c6a27646e}\label{class_b_n_o08x_a973a1b1785f3302ee1b2702c6a27646e} -\index{BNO08x@{BNO08x}!soft\_reset@{soft\_reset}} -\index{soft\_reset@{soft\_reset}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{soft\_reset()}{soft\_reset()}} -{\footnotesize\ttfamily bool BNO08x\+::soft\+\_\+reset (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Soft resets \doxylink{class_b_n_o08x}{BNO08x} sensor using executable channel. - -\begin{DoxyReturn}{Returns} -True if reset was success. -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=349pt]{class_b_n_o08x_a973a1b1785f3302ee1b2702c6a27646e_cgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_a2ecd4ed60f82730ae230c61687ec92bf}\label{class_b_n_o08x_a2ecd4ed60f82730ae230c61687ec92bf} -\index{BNO08x@{BNO08x}!spi\_task@{spi\_task}} -\index{spi\_task@{spi\_task}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{spi\_task()}{spi\_task()}} -{\footnotesize\ttfamily void BNO08x\+::spi\+\_\+task (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [private]}} - - - -Task responsible for SPI transactions. Executed when HINT in is asserted by \doxylink{class_b_n_o08x}{BNO08x}. - -\begin{DoxyReturn}{Returns} -void, nothing to return -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=335pt]{class_b_n_o08x_a2ecd4ed60f82730ae230c61687ec92bf_cgraph} -\end{center} -\end{figure} -Here is the caller graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a2ecd4ed60f82730ae230c61687ec92bf_icgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_a0ce6d9db873555f1ebe7e095251eab74}\label{class_b_n_o08x_a0ce6d9db873555f1ebe7e095251eab74} -\index{BNO08x@{BNO08x}!spi\_task\_trampoline@{spi\_task\_trampoline}} -\index{spi\_task\_trampoline@{spi\_task\_trampoline}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{spi\_task\_trampoline()}{spi\_task\_trampoline()}} -{\footnotesize\ttfamily void BNO08x\+::spi\+\_\+task\+\_\+trampoline (\begin{DoxyParamCaption}\item[{void \texorpdfstring{$\ast$}{*}}]{arg }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [private]}} - - - -Static function used to launch spi task. - -Used such that \doxylink{class_b_n_o08x_a2ecd4ed60f82730ae230c61687ec92bf}{spi\+\_\+task()} can be non-\/static class member. - - -\begin{DoxyParams}{Parameters} -{\em arg} & void pointer to \doxylink{class_b_n_o08x}{BNO08x} imu object \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -void, nothing to return -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a0ce6d9db873555f1ebe7e095251eab74_cgraph} -\end{center} -\end{figure} -Here is the caller graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a0ce6d9db873555f1ebe7e095251eab74_icgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_a4549bbef48208bd9c745fc755b93012f}\label{class_b_n_o08x_a4549bbef48208bd9c745fc755b93012f} -\index{BNO08x@{BNO08x}!tare\_now@{tare\_now}} -\index{tare\_now@{tare\_now}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{tare\_now()}{tare\_now()}} -{\footnotesize\ttfamily void BNO08x\+::tare\+\_\+now (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{axis\+\_\+sel = {\ttfamily \mbox{\hyperlink{class_b_n_o08x_a1ef13f6f330810934416ad5fe0ee55b2}{TARE\+\_\+\+AXIS\+\_\+\+ALL}}}, }\item[{uint8\+\_\+t}]{rotation\+\_\+vector\+\_\+basis = {\ttfamily \mbox{\hyperlink{class_b_n_o08x_a8e2cfc25d0e34ae53a762b88cc3ac3c8}{TARE\+\_\+\+ROTATION\+\_\+\+VECTOR}}} }\end{DoxyParamCaption})} - - - -Sends command to tare an axis (See Ref. Manual 6.\+4.\+4.\+1) - - -\begin{DoxyParams}{Parameters} -{\em axis\+\_\+sel} & Which axes to zero, can be TARE\+\_\+\+AXIS\+\_\+\+ALL (all axes) or TARE\+\_\+\+AXIS\+\_\+Z (only yaw) \\ -\hline -{\em rotation\+\_\+vector\+\_\+basis} & Which rotation vector type to zero axes can be TARE\+\_\+\+ROTATION\+\_\+\+VECTOR, TARE\+\_\+\+GAME\+\_\+\+ROTATION\+\_\+\+VECTOR, TARE\+\_\+\+GEOMAGNETIC\+\_\+\+ROTATION\+\_\+\+VECTOR, etc.. \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -void, nothing to return -\end{DoxyReturn} -Here is the call graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a4549bbef48208bd9c745fc755b93012f_cgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_a4f12de628073f44b2a3fab2688cf1caf}\label{class_b_n_o08x_a4f12de628073f44b2a3fab2688cf1caf} -\index{BNO08x@{BNO08x}!wait\_for\_data@{wait\_for\_data}} -\index{wait\_for\_data@{wait\_for\_data}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{wait\_for\_data()}{wait\_for\_data()}} -{\footnotesize\ttfamily bool BNO08x\+::wait\+\_\+for\+\_\+data (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [private]}} - - - -Waits for a valid or invalid packet to be received or HOST\+\_\+\+INT\+\_\+\+TIMEOUT\+\_\+\+MS to elapse. - -If no reports are currently enabled the hint pin interrupt will be re-\/enabled by this function. - -\begin{DoxyReturn}{Returns} -True if valid packet has been received within HOST\+\_\+\+INT\+\_\+\+TIMEOUT\+\_\+\+MS, false if otherwise. -\end{DoxyReturn} -Here is the caller graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a4f12de628073f44b2a3fab2688cf1caf_icgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_a2897a178bf2c53cd99df0d4570edf72e}\label{class_b_n_o08x_a2897a178bf2c53cd99df0d4570edf72e} -\index{BNO08x@{BNO08x}!wait\_for\_rx\_done@{wait\_for\_rx\_done}} -\index{wait\_for\_rx\_done@{wait\_for\_rx\_done}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{wait\_for\_rx\_done()}{wait\_for\_rx\_done()}} -{\footnotesize\ttfamily bool BNO08x\+::wait\+\_\+for\+\_\+rx\+\_\+done (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [private]}} - - - -Waits for data to be received over SPI, or HOST\+\_\+\+INT\+\_\+\+TIMEOUT\+\_\+\+MS to elapse. - -If no reports are currently enabled the hint pin interrupt will be re-\/enabled by this function. This function is for when the validity of packets is not a concern, it is for flushing packets we do not care about. - -\begin{DoxyReturn}{Returns} -True if data has been received over SPI within HOST\+\_\+\+INT\+\_\+\+TIMEOUT\+\_\+\+MS. -\end{DoxyReturn} -Here is the caller graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{class_b_n_o08x_a2897a178bf2c53cd99df0d4570edf72e_icgraph} -\end{center} -\end{figure} -\Hypertarget{class_b_n_o08x_a7cdeb849e728487de961cdfd4030c773}\label{class_b_n_o08x_a7cdeb849e728487de961cdfd4030c773} -\index{BNO08x@{BNO08x}!wait\_for\_tx\_done@{wait\_for\_tx\_done}} -\index{wait\_for\_tx\_done@{wait\_for\_tx\_done}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{wait\_for\_tx\_done()}{wait\_for\_tx\_done()}} -{\footnotesize\ttfamily bool BNO08x\+::wait\+\_\+for\+\_\+tx\+\_\+done (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [private]}} - - - -Waits for a queued packet to be sent or HOST\+\_\+\+INT\+\_\+\+TIMEOUT\+\_\+\+MS to elapse. - -If no reports are currently enabled the hint pin interrupt will be re-\/enabled by this function. - -\begin{DoxyReturn}{Returns} -True if packet was sent within HOST\+\_\+\+INT\+\_\+\+TIMEOUT\+\_\+\+MS, false if otherwise. -\end{DoxyReturn} -Here is the caller graph for this function\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[height=550pt]{class_b_n_o08x_a7cdeb849e728487de961cdfd4030c773_icgraph} -\end{center} -\end{figure} - - -\doxysubsection{Member Data Documentation} -\Hypertarget{class_b_n_o08x_a3365b7ebde01e284274e655c60343df9}\label{class_b_n_o08x_a3365b7ebde01e284274e655c60343df9} -\index{BNO08x@{BNO08x}!accel\_accuracy@{accel\_accuracy}} -\index{accel\_accuracy@{accel\_accuracy}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{accel\_accuracy}{accel\_accuracy}} -{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::accel\+\_\+accuracy\hspace{0.3cm}{\ttfamily [private]}} - - - -Raw acceleration readings (See SH-\/2 Ref. Manual 6.\+5.\+8) - -\Hypertarget{class_b_n_o08x_a35e1635ef5edde8fc8640f978c6f2e3c}\label{class_b_n_o08x_a35e1635ef5edde8fc8640f978c6f2e3c} -\index{BNO08x@{BNO08x}!accel\_lin\_accuracy@{accel\_lin\_accuracy}} -\index{accel\_lin\_accuracy@{accel\_lin\_accuracy}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{accel\_lin\_accuracy}{accel\_lin\_accuracy}} -{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::accel\+\_\+lin\+\_\+accuracy\hspace{0.3cm}{\ttfamily [private]}} - - - -Raw linear acceleration (See SH-\/2 Ref. Manual 6.\+5.\+10) - -\Hypertarget{class_b_n_o08x_a0564aaf5b20dc42b54db4fb3115ac1c7}\label{class_b_n_o08x_a0564aaf5b20dc42b54db4fb3115ac1c7} -\index{BNO08x@{BNO08x}!ACCELEROMETER\_Q1@{ACCELEROMETER\_Q1}} -\index{ACCELEROMETER\_Q1@{ACCELEROMETER\_Q1}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{ACCELEROMETER\_Q1}{ACCELEROMETER\_Q1}} -{\footnotesize\ttfamily const constexpr int16\+\_\+t BNO08x\+::\+ACCELEROMETER\+\_\+\+Q1 = 8\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}} - - - -Acceleration Q point (See SH-\/2 Ref. Manual 6.\+5.\+9) - -\Hypertarget{class_b_n_o08x_a75cea49c1c08ca28d9fa7e5ed61c6e7b}\label{class_b_n_o08x_a75cea49c1c08ca28d9fa7e5ed61c6e7b} -\index{BNO08x@{BNO08x}!activity\_classifier@{activity\_classifier}} -\index{activity\_classifier@{activity\_classifier}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{activity\_classifier}{activity\_classifier}} -{\footnotesize\ttfamily uint8\+\_\+t BNO08x\+::activity\+\_\+classifier\hspace{0.3cm}{\ttfamily [private]}} - - - -Activity status reading (See SH-\/2 Ref. Manual 6.\+5.\+36) - -\Hypertarget{class_b_n_o08x_af96e8cd070459f945ffbf01b98106e13}\label{class_b_n_o08x_af96e8cd070459f945ffbf01b98106e13} -\index{BNO08x@{BNO08x}!activity\_confidences@{activity\_confidences}} -\index{activity\_confidences@{activity\_confidences}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{activity\_confidences}{activity\_confidences}} -{\footnotesize\ttfamily uint8\+\_\+t\texorpdfstring{$\ast$}{*} BNO08x\+::activity\+\_\+confidences\hspace{0.3cm}{\ttfamily [private]}} - - - -Confidence of read activities (See SH-\/2 Ref. Manual 6.\+5.\+36) - -\Hypertarget{class_b_n_o08x_aafe117561fe9138800073a04a778b4ce}\label{class_b_n_o08x_aafe117561fe9138800073a04a778b4ce} -\index{BNO08x@{BNO08x}!ANGULAR\_VELOCITY\_Q1@{ANGULAR\_VELOCITY\_Q1}} -\index{ANGULAR\_VELOCITY\_Q1@{ANGULAR\_VELOCITY\_Q1}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{ANGULAR\_VELOCITY\_Q1}{ANGULAR\_VELOCITY\_Q1}} -{\footnotesize\ttfamily const constexpr int16\+\_\+t BNO08x\+::\+ANGULAR\+\_\+\+VELOCITY\+\_\+\+Q1 = 10\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}} - - - -Angular velocity Q point (See SH-\/2 Ref. Manual 6.\+5.\+44) - -\Hypertarget{class_b_n_o08x_a982f065df42f00e53fd87c840efdb0f1}\label{class_b_n_o08x_a982f065df42f00e53fd87c840efdb0f1} -\index{BNO08x@{BNO08x}!bus\_config@{bus\_config}} -\index{bus\_config@{bus\_config}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{bus\_config}{bus\_config}} -{\footnotesize\ttfamily spi\+\_\+bus\+\_\+config\+\_\+t BNO08x\+::bus\+\_\+config \{\}\hspace{0.3cm}{\ttfamily [private]}} - - - -SPI bus GPIO configuration settings. - -\Hypertarget{class_b_n_o08x_acd5b44d705af1f9aaa271a59a9d2d595}\label{class_b_n_o08x_acd5b44d705af1f9aaa271a59a9d2d595} -\index{BNO08x@{BNO08x}!CALIBRATE\_ACCEL@{CALIBRATE\_ACCEL}} -\index{CALIBRATE\_ACCEL@{CALIBRATE\_ACCEL}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{CALIBRATE\_ACCEL}{CALIBRATE\_ACCEL}} -{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+CALIBRATE\+\_\+\+ACCEL = 0\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - - - -Calibrate accelerometer command used by queue\+\_\+calibrate\+\_\+command. - -\Hypertarget{class_b_n_o08x_af53d9e99f163d97ef92fe989b1dd25cc}\label{class_b_n_o08x_af53d9e99f163d97ef92fe989b1dd25cc} -\index{BNO08x@{BNO08x}!CALIBRATE\_ACCEL\_GYRO\_MAG@{CALIBRATE\_ACCEL\_GYRO\_MAG}} -\index{CALIBRATE\_ACCEL\_GYRO\_MAG@{CALIBRATE\_ACCEL\_GYRO\_MAG}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{CALIBRATE\_ACCEL\_GYRO\_MAG}{CALIBRATE\_ACCEL\_GYRO\_MAG}} -{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+CALIBRATE\+\_\+\+ACCEL\+\_\+\+GYRO\+\_\+\+MAG\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - -{\bfseries Initial value\+:} -\begin{DoxyCode}{0} -\DoxyCodeLine{=} -\DoxyCodeLine{\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ 4} - -\end{DoxyCode} - - -Calibrate accelerometer, gyro, \& magnetometer command used by queue\+\_\+calibrate\+\_\+command. - -\Hypertarget{class_b_n_o08x_aeac84719a1cc0f9c8d5a9a749391d4db}\label{class_b_n_o08x_aeac84719a1cc0f9c8d5a9a749391d4db} -\index{BNO08x@{BNO08x}!CALIBRATE\_GYRO@{CALIBRATE\_GYRO}} -\index{CALIBRATE\_GYRO@{CALIBRATE\_GYRO}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{CALIBRATE\_GYRO}{CALIBRATE\_GYRO}} -{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+CALIBRATE\+\_\+\+GYRO = 1\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - - - -Calibrate gyro command used by queue\+\_\+calibrate\+\_\+command. - -\Hypertarget{class_b_n_o08x_ac00e8b59ae8d710cf79956eaafa97ddb}\label{class_b_n_o08x_ac00e8b59ae8d710cf79956eaafa97ddb} -\index{BNO08x@{BNO08x}!CALIBRATE\_MAG@{CALIBRATE\_MAG}} -\index{CALIBRATE\_MAG@{CALIBRATE\_MAG}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{CALIBRATE\_MAG}{CALIBRATE\_MAG}} -{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+CALIBRATE\+\_\+\+MAG = 2\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - - - -Calibrate magnetometer command used by queue\+\_\+calibrate\+\_\+command. - -\Hypertarget{class_b_n_o08x_a955dcb60da150490e17367a871b3a3d2}\label{class_b_n_o08x_a955dcb60da150490e17367a871b3a3d2} -\index{BNO08x@{BNO08x}!CALIBRATE\_PLANAR\_ACCEL@{CALIBRATE\_PLANAR\_ACCEL}} -\index{CALIBRATE\_PLANAR\_ACCEL@{CALIBRATE\_PLANAR\_ACCEL}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{CALIBRATE\_PLANAR\_ACCEL}{CALIBRATE\_PLANAR\_ACCEL}} -{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+CALIBRATE\+\_\+\+PLANAR\+\_\+\+ACCEL = 3\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - - - -Calibrate planar acceleration command used by queue\+\_\+calibrate\+\_\+command. - -\Hypertarget{class_b_n_o08x_a584bfa04a39feb93279ee673c340db54}\label{class_b_n_o08x_a584bfa04a39feb93279ee673c340db54} -\index{BNO08x@{BNO08x}!CALIBRATE\_STOP@{CALIBRATE\_STOP}} -\index{CALIBRATE\_STOP@{CALIBRATE\_STOP}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{CALIBRATE\_STOP}{CALIBRATE\_STOP}} -{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+CALIBRATE\+\_\+\+STOP = 5\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - - - -Stop calibration command used by queue\+\_\+calibrate\+\_\+command. - -\Hypertarget{class_b_n_o08x_ad212b5028a31e857e76d251ced2724e1}\label{class_b_n_o08x_ad212b5028a31e857e76d251ced2724e1} -\index{BNO08x@{BNO08x}!calibration\_status@{calibration\_status}} -\index{calibration\_status@{calibration\_status}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{calibration\_status}{calibration\_status}} -{\footnotesize\ttfamily uint8\+\_\+t BNO08x\+::calibration\+\_\+status\hspace{0.3cm}{\ttfamily [private]}} - - - -Calibration status of device (See SH-\/2 Ref. Manual 6.\+4.\+7.\+1 \& 6.\+4.\+7.\+2) - -\Hypertarget{class_b_n_o08x_a6a15e3a64dd71ea61f0448afcce96409}\label{class_b_n_o08x_a6a15e3a64dd71ea61f0448afcce96409} -\index{BNO08x@{BNO08x}!cb\_list@{cb\_list}} -\index{cb\_list@{cb\_list}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{cb\_list}{cb\_list}} -{\footnotesize\ttfamily std\+::vector$<$std\+::function$<$void()$>$ $>$ BNO08x\+::cb\+\_\+list\hspace{0.3cm}{\ttfamily [private]}} - -\Hypertarget{class_b_n_o08x_a4f580b3cb232a762ea7019ee7b04d419}\label{class_b_n_o08x_a4f580b3cb232a762ea7019ee7b04d419} -\index{BNO08x@{BNO08x}!COMMAND\_CLEAR\_DCD@{COMMAND\_CLEAR\_DCD}} -\index{COMMAND\_CLEAR\_DCD@{COMMAND\_CLEAR\_DCD}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{COMMAND\_CLEAR\_DCD}{COMMAND\_CLEAR\_DCD}} -{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+COMMAND\+\_\+\+CLEAR\+\_\+\+DCD = 11\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - - - -Clear DCD \& Reset command (See SH2 Ref. Manual 6.\+4) - -\Hypertarget{class_b_n_o08x_a93dd073c0cc1f3ccfde552649f6ebccc}\label{class_b_n_o08x_a93dd073c0cc1f3ccfde552649f6ebccc} -\index{BNO08x@{BNO08x}!COMMAND\_COUNTER@{COMMAND\_COUNTER}} -\index{COMMAND\_COUNTER@{COMMAND\_COUNTER}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{COMMAND\_COUNTER}{COMMAND\_COUNTER}} -{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+COMMAND\+\_\+\+COUNTER = 2\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - -\Hypertarget{class_b_n_o08x_af124a6c1d8b871f3181b6c85f1099cb2}\label{class_b_n_o08x_af124a6c1d8b871f3181b6c85f1099cb2} -\index{BNO08x@{BNO08x}!COMMAND\_DCD@{COMMAND\_DCD}} -\index{COMMAND\_DCD@{COMMAND\_DCD}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{COMMAND\_DCD}{COMMAND\_DCD}} -{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+COMMAND\+\_\+\+DCD = 6\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - - - -Save DCD command (See SH2 Ref. Manual 6.\+4.\+7) - -\Hypertarget{class_b_n_o08x_a7a246989c94cd87f68166b20b7ad4c8b}\label{class_b_n_o08x_a7a246989c94cd87f68166b20b7ad4c8b} -\index{BNO08x@{BNO08x}!COMMAND\_DCD\_PERIOD\_SAVE@{COMMAND\_DCD\_PERIOD\_SAVE}} -\index{COMMAND\_DCD\_PERIOD\_SAVE@{COMMAND\_DCD\_PERIOD\_SAVE}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{COMMAND\_DCD\_PERIOD\_SAVE}{COMMAND\_DCD\_PERIOD\_SAVE}} -{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+COMMAND\+\_\+\+DCD\+\_\+\+PERIOD\+\_\+\+SAVE = 9\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - - - -Configure DCD periodic saving (See SH2 Ref. Manual 6.\+4) - -\Hypertarget{class_b_n_o08x_a384a1efc9857ad938be3bb44f871539b}\label{class_b_n_o08x_a384a1efc9857ad938be3bb44f871539b} -\index{BNO08x@{BNO08x}!COMMAND\_ERRORS@{COMMAND\_ERRORS}} -\index{COMMAND\_ERRORS@{COMMAND\_ERRORS}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{COMMAND\_ERRORS}{COMMAND\_ERRORS}} -{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+COMMAND\+\_\+\+ERRORS = 1\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - -\Hypertarget{class_b_n_o08x_a30eb6d305a187d4d36546841e12176b9}\label{class_b_n_o08x_a30eb6d305a187d4d36546841e12176b9} -\index{BNO08x@{BNO08x}!COMMAND\_INITIALIZE@{COMMAND\_INITIALIZE}} -\index{COMMAND\_INITIALIZE@{COMMAND\_INITIALIZE}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{COMMAND\_INITIALIZE}{COMMAND\_INITIALIZE}} -{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+COMMAND\+\_\+\+INITIALIZE = 4\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - - - -Reinitialize sensor hub components See (SH2 Ref. Manual 6.\+4.\+5) - -\Hypertarget{class_b_n_o08x_a8381dfe403ddff522f172cb16780731a}\label{class_b_n_o08x_a8381dfe403ddff522f172cb16780731a} -\index{BNO08x@{BNO08x}!COMMAND\_ME\_CALIBRATE@{COMMAND\_ME\_CALIBRATE}} -\index{COMMAND\_ME\_CALIBRATE@{COMMAND\_ME\_CALIBRATE}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{COMMAND\_ME\_CALIBRATE}{COMMAND\_ME\_CALIBRATE}} -{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+COMMAND\+\_\+\+ME\+\_\+\+CALIBRATE = 7\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - - - -Command and response to configure ME calibration (See SH2 Ref. Manual 6.\+4.\+7) - -\Hypertarget{class_b_n_o08x_a308c8b5307d93a67b5b9066d44494aa5}\label{class_b_n_o08x_a308c8b5307d93a67b5b9066d44494aa5} -\index{BNO08x@{BNO08x}!COMMAND\_OSCILLATOR@{COMMAND\_OSCILLATOR}} -\index{COMMAND\_OSCILLATOR@{COMMAND\_OSCILLATOR}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{COMMAND\_OSCILLATOR}{COMMAND\_OSCILLATOR}} -{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+COMMAND\+\_\+\+OSCILLATOR = 10\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - - - -Retrieve oscillator type command (See SH2 Ref. Manual 6.\+4) - -\Hypertarget{class_b_n_o08x_a0a1756bc16ba3eac45f4229b1e350107}\label{class_b_n_o08x_a0a1756bc16ba3eac45f4229b1e350107} -\index{BNO08x@{BNO08x}!COMMAND\_TARE@{COMMAND\_TARE}} -\index{COMMAND\_TARE@{COMMAND\_TARE}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{COMMAND\_TARE}{COMMAND\_TARE}} -{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+COMMAND\+\_\+\+TARE = 3\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - - - -Command and response to tare command (See Sh2 Ref. Manual 6.\+4.\+4) - -\Hypertarget{class_b_n_o08x_af9b6fbf35e7cd55d517d30c6429a21a4}\label{class_b_n_o08x_af9b6fbf35e7cd55d517d30c6429a21a4} -\index{BNO08x@{BNO08x}!data\_proc\_task\_hdl@{data\_proc\_task\_hdl}} -\index{data\_proc\_task\_hdl@{data\_proc\_task\_hdl}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{data\_proc\_task\_hdl}{data\_proc\_task\_hdl}} -{\footnotesize\ttfamily Task\+Handle\+\_\+t BNO08x\+::data\+\_\+proc\+\_\+task\+\_\+hdl\hspace{0.3cm}{\ttfamily [private]}} - - - -\doxylink{class_b_n_o08x_ab4373e9b87837ea9fcbc0b536338c7b8}{data\+\_\+proc\+\_\+task()} task handle - -\Hypertarget{class_b_n_o08x_a6232920a05c0aba34e5560951a20ae87}\label{class_b_n_o08x_a6232920a05c0aba34e5560951a20ae87} -\index{BNO08x@{BNO08x}!default\_imu\_config@{default\_imu\_config}} -\index{default\_imu\_config@{default\_imu\_config}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{default\_imu\_config}{default\_imu\_config}} -{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__config__t}{bno08x\+\_\+config\+\_\+t}} BNO08x\+::default\+\_\+imu\+\_\+config\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [private]}} - - - -default imu config settings - -\Hypertarget{class_b_n_o08x_a63eb6c8be6f3bc943a86bb0496871275}\label{class_b_n_o08x_a63eb6c8be6f3bc943a86bb0496871275} -\index{BNO08x@{BNO08x}!evt\_grp\_report\_en@{evt\_grp\_report\_en}} -\index{evt\_grp\_report\_en@{evt\_grp\_report\_en}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{evt\_grp\_report\_en}{evt\_grp\_report\_en}} -{\footnotesize\ttfamily Event\+Group\+Handle\+\_\+t BNO08x\+::evt\+\_\+grp\+\_\+report\+\_\+en\hspace{0.3cm}{\ttfamily [private]}} - - - -Event group for indicating which reports are currently enabled. - -\Hypertarget{class_b_n_o08x_a17b19c32d4dfbc9ae2761a0cdd873314}\label{class_b_n_o08x_a17b19c32d4dfbc9ae2761a0cdd873314} -\index{BNO08x@{BNO08x}!EVT\_GRP\_RPT\_ACCELEROMETER\_BIT@{EVT\_GRP\_RPT\_ACCELEROMETER\_BIT}} -\index{EVT\_GRP\_RPT\_ACCELEROMETER\_BIT@{EVT\_GRP\_RPT\_ACCELEROMETER\_BIT}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{EVT\_GRP\_RPT\_ACCELEROMETER\_BIT}{EVT\_GRP\_RPT\_ACCELEROMETER\_BIT}} -{\footnotesize\ttfamily const constexpr Event\+Bits\+\_\+t BNO08x\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+ACCELEROMETER\+\_\+\+BIT = (1 $<$$<$ 5)\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - - - -When set, accelerometer reports are active. - -\Hypertarget{class_b_n_o08x_a96eb1b1bfe1266791fd424b3ce402c56}\label{class_b_n_o08x_a96eb1b1bfe1266791fd424b3ce402c56} -\index{BNO08x@{BNO08x}!EVT\_GRP\_RPT\_ACTIVITY\_CLASSIFIER\_BIT@{EVT\_GRP\_RPT\_ACTIVITY\_CLASSIFIER\_BIT}} -\index{EVT\_GRP\_RPT\_ACTIVITY\_CLASSIFIER\_BIT@{EVT\_GRP\_RPT\_ACTIVITY\_CLASSIFIER\_BIT}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{EVT\_GRP\_RPT\_ACTIVITY\_CLASSIFIER\_BIT}{EVT\_GRP\_RPT\_ACTIVITY\_CLASSIFIER\_BIT}} -{\footnotesize\ttfamily const constexpr Event\+Bits\+\_\+t BNO08x\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+ACTIVITY\+\_\+\+CLASSIFIER\+\_\+\+BIT = (1 $<$$<$ 14)\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - - - -When set, activity classifier reports are active. - -\Hypertarget{class_b_n_o08x_a89399e8a68a53bc2a269ab73625a2da2}\label{class_b_n_o08x_a89399e8a68a53bc2a269ab73625a2da2} -\index{BNO08x@{BNO08x}!EVT\_GRP\_RPT\_ALL\_BITS@{EVT\_GRP\_RPT\_ALL\_BITS}} -\index{EVT\_GRP\_RPT\_ALL\_BITS@{EVT\_GRP\_RPT\_ALL\_BITS}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{EVT\_GRP\_RPT\_ALL\_BITS}{EVT\_GRP\_RPT\_ALL\_BITS}} -{\footnotesize\ttfamily const constexpr Event\+Bits\+\_\+t BNO08x\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+ALL\+\_\+\+BITS\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - -{\bfseries Initial value\+:} -\begin{DoxyCode}{0} -\DoxyCodeLine{=} -\DoxyCodeLine{\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_a198da2ee3cd9cfa459c3c41c4f8c44b7}{EVT\_GRP\_RPT\_ROTATION\_VECTOR\_BIT}}\ |\ \mbox{\hyperlink{class_b_n_o08x_a0f3f33d93b72ba6564f9d5fa93c24f98}{EVT\_GRP\_RPT\_GAME\_ROTATION\_VECTOR\_BIT}}\ |\ \mbox{\hyperlink{class_b_n_o08x_aa9703cee46912a545b5e85e671f08e4b}{EVT\_GRP\_RPT\_ARVR\_S\_ROTATION\_VECTOR\_BIT}}\ |} -\DoxyCodeLine{\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_a79d3fff1e0f19467cad231b22edafa0f}{EVT\_GRP\_RPT\_ARVR\_S\_GAME\_ROTATION\_VECTOR\_BIT}}\ |\ \mbox{\hyperlink{class_b_n_o08x_a541155dc4544193451cf102e2a992da9}{EVT\_GRP\_RPT\_GYRO\_ROTATION\_VECTOR\_BIT}}\ |\ \mbox{\hyperlink{class_b_n_o08x_a17b19c32d4dfbc9ae2761a0cdd873314}{EVT\_GRP\_RPT\_ACCELEROMETER\_BIT}}\ |} -\DoxyCodeLine{\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_ad93161968a53ff53a6bb74ab7c34fbff}{EVT\_GRP\_RPT\_LINEAR\_ACCELEROMETER\_BIT}}\ |\ \mbox{\hyperlink{class_b_n_o08x_ab94a8f69673a3db7556ba67775c5ea93}{EVT\_GRP\_RPT\_GRAVITY\_BIT}}\ |\ \mbox{\hyperlink{class_b_n_o08x_a3a8b12ea9b75f97191785a60d1aa962a}{EVT\_GRP\_RPT\_GYRO\_BIT}}\ |\ \mbox{\hyperlink{class_b_n_o08x_af86821bc0f1e7f5897de20b5e47a85bd}{EVT\_GRP\_RPT\_GYRO\_UNCALIBRATED\_BIT}}\ |} -\DoxyCodeLine{\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_a901af6f2d552f197ee830d0a1c06679c}{EVT\_GRP\_RPT\_MAGNETOMETER\_BIT}}\ |\ \mbox{\hyperlink{class_b_n_o08x_a665464f781fe891b9179478d0174af47}{EVT\_GRP\_RPT\_TAP\_DETECTOR\_BIT}}\ |\ \mbox{\hyperlink{class_b_n_o08x_ab264b65a3aa5a9a74ed11b8977164a73}{EVT\_GRP\_RPT\_STEP\_COUNTER\_BIT}}\ |\ \mbox{\hyperlink{class_b_n_o08x_a7d6ee23222f55dbe9f70e04b36d9add2}{EVT\_GRP\_RPT\_STABILITY\_CLASSIFIER\_BIT}}\ |} -\DoxyCodeLine{\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_a96eb1b1bfe1266791fd424b3ce402c56}{EVT\_GRP\_RPT\_ACTIVITY\_CLASSIFIER\_BIT}}\ |\ \mbox{\hyperlink{class_b_n_o08x_a3e56d12435f7be81956d68196f1a46b4}{EVT\_GRP\_RPT\_RAW\_ACCELEROMETER\_BIT}}\ |\ \mbox{\hyperlink{class_b_n_o08x_a6be7b240e4447c2c643e706954093aa0}{EVT\_GRP\_RPT\_RAW\_GYRO\_BIT}}\ |\ \mbox{\hyperlink{class_b_n_o08x_ac28553b40b82c7cb409938681afe6cec}{EVT\_GRP\_RPT\_RAW\_MAGNETOMETER\_BIT}}} - -\end{DoxyCode} -\Hypertarget{class_b_n_o08x_a79d3fff1e0f19467cad231b22edafa0f}\label{class_b_n_o08x_a79d3fff1e0f19467cad231b22edafa0f} -\index{BNO08x@{BNO08x}!EVT\_GRP\_RPT\_ARVR\_S\_GAME\_ROTATION\_VECTOR\_BIT@{EVT\_GRP\_RPT\_ARVR\_S\_GAME\_ROTATION\_VECTOR\_BIT}} -\index{EVT\_GRP\_RPT\_ARVR\_S\_GAME\_ROTATION\_VECTOR\_BIT@{EVT\_GRP\_RPT\_ARVR\_S\_GAME\_ROTATION\_VECTOR\_BIT}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{EVT\_GRP\_RPT\_ARVR\_S\_GAME\_ROTATION\_VECTOR\_BIT}{EVT\_GRP\_RPT\_ARVR\_S\_GAME\_ROTATION\_VECTOR\_BIT}} -{\footnotesize\ttfamily const constexpr Event\+Bits\+\_\+t BNO08x\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+ARVR\+\_\+\+S\+\_\+\+GAME\+\_\+\+ROTATION\+\_\+\+VECTOR\+\_\+\+BIT\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - -{\bfseries Initial value\+:} -\begin{DoxyCode}{0} -\DoxyCodeLine{=} -\DoxyCodeLine{\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ (1\ <<\ 3)} - -\end{DoxyCode} - - -When set, ARVR stabilized game rotation vector reports are active. - -\Hypertarget{class_b_n_o08x_aa9703cee46912a545b5e85e671f08e4b}\label{class_b_n_o08x_aa9703cee46912a545b5e85e671f08e4b} -\index{BNO08x@{BNO08x}!EVT\_GRP\_RPT\_ARVR\_S\_ROTATION\_VECTOR\_BIT@{EVT\_GRP\_RPT\_ARVR\_S\_ROTATION\_VECTOR\_BIT}} -\index{EVT\_GRP\_RPT\_ARVR\_S\_ROTATION\_VECTOR\_BIT@{EVT\_GRP\_RPT\_ARVR\_S\_ROTATION\_VECTOR\_BIT}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{EVT\_GRP\_RPT\_ARVR\_S\_ROTATION\_VECTOR\_BIT}{EVT\_GRP\_RPT\_ARVR\_S\_ROTATION\_VECTOR\_BIT}} -{\footnotesize\ttfamily const constexpr Event\+Bits\+\_\+t BNO08x\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+ARVR\+\_\+\+S\+\_\+\+ROTATION\+\_\+\+VECTOR\+\_\+\+BIT\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - -{\bfseries Initial value\+:} -\begin{DoxyCode}{0} -\DoxyCodeLine{=} -\DoxyCodeLine{\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ (1\ <<\ 2)} - -\end{DoxyCode} - - -When set, ARVR stabilized rotation vector reports are active. - -\Hypertarget{class_b_n_o08x_a0f3f33d93b72ba6564f9d5fa93c24f98}\label{class_b_n_o08x_a0f3f33d93b72ba6564f9d5fa93c24f98} -\index{BNO08x@{BNO08x}!EVT\_GRP\_RPT\_GAME\_ROTATION\_VECTOR\_BIT@{EVT\_GRP\_RPT\_GAME\_ROTATION\_VECTOR\_BIT}} -\index{EVT\_GRP\_RPT\_GAME\_ROTATION\_VECTOR\_BIT@{EVT\_GRP\_RPT\_GAME\_ROTATION\_VECTOR\_BIT}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{EVT\_GRP\_RPT\_GAME\_ROTATION\_VECTOR\_BIT}{EVT\_GRP\_RPT\_GAME\_ROTATION\_VECTOR\_BIT}} -{\footnotesize\ttfamily const constexpr Event\+Bits\+\_\+t BNO08x\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+GAME\+\_\+\+ROTATION\+\_\+\+VECTOR\+\_\+\+BIT = (1 $<$$<$ 1)\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - - - -When set, game rotation vector reports are active. - -\Hypertarget{class_b_n_o08x_ab94a8f69673a3db7556ba67775c5ea93}\label{class_b_n_o08x_ab94a8f69673a3db7556ba67775c5ea93} -\index{BNO08x@{BNO08x}!EVT\_GRP\_RPT\_GRAVITY\_BIT@{EVT\_GRP\_RPT\_GRAVITY\_BIT}} -\index{EVT\_GRP\_RPT\_GRAVITY\_BIT@{EVT\_GRP\_RPT\_GRAVITY\_BIT}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{EVT\_GRP\_RPT\_GRAVITY\_BIT}{EVT\_GRP\_RPT\_GRAVITY\_BIT}} -{\footnotesize\ttfamily const constexpr Event\+Bits\+\_\+t BNO08x\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+GRAVITY\+\_\+\+BIT = (1 $<$$<$ 7)\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - - - -When set, gravity reports are active. - -\Hypertarget{class_b_n_o08x_a3a8b12ea9b75f97191785a60d1aa962a}\label{class_b_n_o08x_a3a8b12ea9b75f97191785a60d1aa962a} -\index{BNO08x@{BNO08x}!EVT\_GRP\_RPT\_GYRO\_BIT@{EVT\_GRP\_RPT\_GYRO\_BIT}} -\index{EVT\_GRP\_RPT\_GYRO\_BIT@{EVT\_GRP\_RPT\_GYRO\_BIT}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{EVT\_GRP\_RPT\_GYRO\_BIT}{EVT\_GRP\_RPT\_GYRO\_BIT}} -{\footnotesize\ttfamily const constexpr Event\+Bits\+\_\+t BNO08x\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+GYRO\+\_\+\+BIT = (1 $<$$<$ 8)\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - - - -When set, gyro reports are active. - -\Hypertarget{class_b_n_o08x_a541155dc4544193451cf102e2a992da9}\label{class_b_n_o08x_a541155dc4544193451cf102e2a992da9} -\index{BNO08x@{BNO08x}!EVT\_GRP\_RPT\_GYRO\_ROTATION\_VECTOR\_BIT@{EVT\_GRP\_RPT\_GYRO\_ROTATION\_VECTOR\_BIT}} -\index{EVT\_GRP\_RPT\_GYRO\_ROTATION\_VECTOR\_BIT@{EVT\_GRP\_RPT\_GYRO\_ROTATION\_VECTOR\_BIT}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{EVT\_GRP\_RPT\_GYRO\_ROTATION\_VECTOR\_BIT}{EVT\_GRP\_RPT\_GYRO\_ROTATION\_VECTOR\_BIT}} -{\footnotesize\ttfamily const constexpr Event\+Bits\+\_\+t BNO08x\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+GYRO\+\_\+\+ROTATION\+\_\+\+VECTOR\+\_\+\+BIT\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - -{\bfseries Initial value\+:} -\begin{DoxyCode}{0} -\DoxyCodeLine{=} -\DoxyCodeLine{\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ (1\ <<\ 4)} - -\end{DoxyCode} - - -When set, gyro integrator rotation vector reports are active. - -\Hypertarget{class_b_n_o08x_af86821bc0f1e7f5897de20b5e47a85bd}\label{class_b_n_o08x_af86821bc0f1e7f5897de20b5e47a85bd} -\index{BNO08x@{BNO08x}!EVT\_GRP\_RPT\_GYRO\_UNCALIBRATED\_BIT@{EVT\_GRP\_RPT\_GYRO\_UNCALIBRATED\_BIT}} -\index{EVT\_GRP\_RPT\_GYRO\_UNCALIBRATED\_BIT@{EVT\_GRP\_RPT\_GYRO\_UNCALIBRATED\_BIT}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{EVT\_GRP\_RPT\_GYRO\_UNCALIBRATED\_BIT}{EVT\_GRP\_RPT\_GYRO\_UNCALIBRATED\_BIT}} -{\footnotesize\ttfamily const constexpr Event\+Bits\+\_\+t BNO08x\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+GYRO\+\_\+\+UNCALIBRATED\+\_\+\+BIT = (1 $<$$<$ 9)\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - - - -When set, uncalibrated gyro reports are active. - -\Hypertarget{class_b_n_o08x_ad93161968a53ff53a6bb74ab7c34fbff}\label{class_b_n_o08x_ad93161968a53ff53a6bb74ab7c34fbff} -\index{BNO08x@{BNO08x}!EVT\_GRP\_RPT\_LINEAR\_ACCELEROMETER\_BIT@{EVT\_GRP\_RPT\_LINEAR\_ACCELEROMETER\_BIT}} -\index{EVT\_GRP\_RPT\_LINEAR\_ACCELEROMETER\_BIT@{EVT\_GRP\_RPT\_LINEAR\_ACCELEROMETER\_BIT}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{EVT\_GRP\_RPT\_LINEAR\_ACCELEROMETER\_BIT}{EVT\_GRP\_RPT\_LINEAR\_ACCELEROMETER\_BIT}} -{\footnotesize\ttfamily const constexpr Event\+Bits\+\_\+t BNO08x\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+LINEAR\+\_\+\+ACCELEROMETER\+\_\+\+BIT = (1 $<$$<$ 6)\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - - - -When set, linear accelerometer reports are active. - -\Hypertarget{class_b_n_o08x_a901af6f2d552f197ee830d0a1c06679c}\label{class_b_n_o08x_a901af6f2d552f197ee830d0a1c06679c} -\index{BNO08x@{BNO08x}!EVT\_GRP\_RPT\_MAGNETOMETER\_BIT@{EVT\_GRP\_RPT\_MAGNETOMETER\_BIT}} -\index{EVT\_GRP\_RPT\_MAGNETOMETER\_BIT@{EVT\_GRP\_RPT\_MAGNETOMETER\_BIT}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{EVT\_GRP\_RPT\_MAGNETOMETER\_BIT}{EVT\_GRP\_RPT\_MAGNETOMETER\_BIT}} -{\footnotesize\ttfamily const constexpr Event\+Bits\+\_\+t BNO08x\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+MAGNETOMETER\+\_\+\+BIT = (1 $<$$<$ 10)\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - - - -When set, magnetometer reports are active. - -\Hypertarget{class_b_n_o08x_a3e56d12435f7be81956d68196f1a46b4}\label{class_b_n_o08x_a3e56d12435f7be81956d68196f1a46b4} -\index{BNO08x@{BNO08x}!EVT\_GRP\_RPT\_RAW\_ACCELEROMETER\_BIT@{EVT\_GRP\_RPT\_RAW\_ACCELEROMETER\_BIT}} -\index{EVT\_GRP\_RPT\_RAW\_ACCELEROMETER\_BIT@{EVT\_GRP\_RPT\_RAW\_ACCELEROMETER\_BIT}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{EVT\_GRP\_RPT\_RAW\_ACCELEROMETER\_BIT}{EVT\_GRP\_RPT\_RAW\_ACCELEROMETER\_BIT}} -{\footnotesize\ttfamily const constexpr Event\+Bits\+\_\+t BNO08x\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+RAW\+\_\+\+ACCELEROMETER\+\_\+\+BIT = (1 $<$$<$ 15)\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - - - -When set, raw accelerometer reports are active. - -\Hypertarget{class_b_n_o08x_a6be7b240e4447c2c643e706954093aa0}\label{class_b_n_o08x_a6be7b240e4447c2c643e706954093aa0} -\index{BNO08x@{BNO08x}!EVT\_GRP\_RPT\_RAW\_GYRO\_BIT@{EVT\_GRP\_RPT\_RAW\_GYRO\_BIT}} -\index{EVT\_GRP\_RPT\_RAW\_GYRO\_BIT@{EVT\_GRP\_RPT\_RAW\_GYRO\_BIT}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{EVT\_GRP\_RPT\_RAW\_GYRO\_BIT}{EVT\_GRP\_RPT\_RAW\_GYRO\_BIT}} -{\footnotesize\ttfamily const constexpr Event\+Bits\+\_\+t BNO08x\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+RAW\+\_\+\+GYRO\+\_\+\+BIT = (1 $<$$<$ 16)\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - - - -When set, raw gyro reports are active. - -\Hypertarget{class_b_n_o08x_ac28553b40b82c7cb409938681afe6cec}\label{class_b_n_o08x_ac28553b40b82c7cb409938681afe6cec} -\index{BNO08x@{BNO08x}!EVT\_GRP\_RPT\_RAW\_MAGNETOMETER\_BIT@{EVT\_GRP\_RPT\_RAW\_MAGNETOMETER\_BIT}} -\index{EVT\_GRP\_RPT\_RAW\_MAGNETOMETER\_BIT@{EVT\_GRP\_RPT\_RAW\_MAGNETOMETER\_BIT}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{EVT\_GRP\_RPT\_RAW\_MAGNETOMETER\_BIT}{EVT\_GRP\_RPT\_RAW\_MAGNETOMETER\_BIT}} -{\footnotesize\ttfamily const constexpr Event\+Bits\+\_\+t BNO08x\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+RAW\+\_\+\+MAGNETOMETER\+\_\+\+BIT = (1 $<$$<$ 17)\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - - - -When set, raw magnetometer reports are active. - -\Hypertarget{class_b_n_o08x_a198da2ee3cd9cfa459c3c41c4f8c44b7}\label{class_b_n_o08x_a198da2ee3cd9cfa459c3c41c4f8c44b7} -\index{BNO08x@{BNO08x}!EVT\_GRP\_RPT\_ROTATION\_VECTOR\_BIT@{EVT\_GRP\_RPT\_ROTATION\_VECTOR\_BIT}} -\index{EVT\_GRP\_RPT\_ROTATION\_VECTOR\_BIT@{EVT\_GRP\_RPT\_ROTATION\_VECTOR\_BIT}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{EVT\_GRP\_RPT\_ROTATION\_VECTOR\_BIT}{EVT\_GRP\_RPT\_ROTATION\_VECTOR\_BIT}} -{\footnotesize\ttfamily const constexpr Event\+Bits\+\_\+t BNO08x\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+ROTATION\+\_\+\+VECTOR\+\_\+\+BIT = (1 $<$$<$ 0)\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - - - -When set, rotation vector reports are active. - -\Hypertarget{class_b_n_o08x_a7d6ee23222f55dbe9f70e04b36d9add2}\label{class_b_n_o08x_a7d6ee23222f55dbe9f70e04b36d9add2} -\index{BNO08x@{BNO08x}!EVT\_GRP\_RPT\_STABILITY\_CLASSIFIER\_BIT@{EVT\_GRP\_RPT\_STABILITY\_CLASSIFIER\_BIT}} -\index{EVT\_GRP\_RPT\_STABILITY\_CLASSIFIER\_BIT@{EVT\_GRP\_RPT\_STABILITY\_CLASSIFIER\_BIT}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{EVT\_GRP\_RPT\_STABILITY\_CLASSIFIER\_BIT}{EVT\_GRP\_RPT\_STABILITY\_CLASSIFIER\_BIT}} -{\footnotesize\ttfamily const constexpr Event\+Bits\+\_\+t BNO08x\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+STABILITY\+\_\+\+CLASSIFIER\+\_\+\+BIT = (1 $<$$<$ 13)\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - - - -When set, stability classifier reports are active. - -\Hypertarget{class_b_n_o08x_ab264b65a3aa5a9a74ed11b8977164a73}\label{class_b_n_o08x_ab264b65a3aa5a9a74ed11b8977164a73} -\index{BNO08x@{BNO08x}!EVT\_GRP\_RPT\_STEP\_COUNTER\_BIT@{EVT\_GRP\_RPT\_STEP\_COUNTER\_BIT}} -\index{EVT\_GRP\_RPT\_STEP\_COUNTER\_BIT@{EVT\_GRP\_RPT\_STEP\_COUNTER\_BIT}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{EVT\_GRP\_RPT\_STEP\_COUNTER\_BIT}{EVT\_GRP\_RPT\_STEP\_COUNTER\_BIT}} -{\footnotesize\ttfamily const constexpr Event\+Bits\+\_\+t BNO08x\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+STEP\+\_\+\+COUNTER\+\_\+\+BIT = (1 $<$$<$ 12)\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - - - -When set, step counter reports are active. - -\Hypertarget{class_b_n_o08x_a665464f781fe891b9179478d0174af47}\label{class_b_n_o08x_a665464f781fe891b9179478d0174af47} -\index{BNO08x@{BNO08x}!EVT\_GRP\_RPT\_TAP\_DETECTOR\_BIT@{EVT\_GRP\_RPT\_TAP\_DETECTOR\_BIT}} -\index{EVT\_GRP\_RPT\_TAP\_DETECTOR\_BIT@{EVT\_GRP\_RPT\_TAP\_DETECTOR\_BIT}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{EVT\_GRP\_RPT\_TAP\_DETECTOR\_BIT}{EVT\_GRP\_RPT\_TAP\_DETECTOR\_BIT}} -{\footnotesize\ttfamily const constexpr Event\+Bits\+\_\+t BNO08x\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+TAP\+\_\+\+DETECTOR\+\_\+\+BIT = (1 $<$$<$ 11)\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - - - -When set, tap detector reports are active. - -\Hypertarget{class_b_n_o08x_aa2b4442b5cc63ebf0c495e6fb537c85e}\label{class_b_n_o08x_aa2b4442b5cc63ebf0c495e6fb537c85e} -\index{BNO08x@{BNO08x}!evt\_grp\_spi@{evt\_grp\_spi}} -\index{evt\_grp\_spi@{evt\_grp\_spi}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{evt\_grp\_spi}{evt\_grp\_spi}} -{\footnotesize\ttfamily Event\+Group\+Handle\+\_\+t BNO08x\+::evt\+\_\+grp\+\_\+spi\hspace{0.3cm}{\ttfamily [private]}} - - - -Event group for indicating when bno08x hint pin has triggered and when new data has been processed. Used by calls to sending or receiving functions. - -\Hypertarget{class_b_n_o08x_a32cffd8f78881925d22d5a7cb55f2bbc}\label{class_b_n_o08x_a32cffd8f78881925d22d5a7cb55f2bbc} -\index{BNO08x@{BNO08x}!EVT\_GRP\_SPI\_RX\_DONE\_BIT@{EVT\_GRP\_SPI\_RX\_DONE\_BIT}} -\index{EVT\_GRP\_SPI\_RX\_DONE\_BIT@{EVT\_GRP\_SPI\_RX\_DONE\_BIT}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{EVT\_GRP\_SPI\_RX\_DONE\_BIT}{EVT\_GRP\_SPI\_RX\_DONE\_BIT}} -{\footnotesize\ttfamily const constexpr Event\+Bits\+\_\+t BNO08x\+::\+EVT\+\_\+\+GRP\+\_\+\+SPI\+\_\+\+RX\+\_\+\+DONE\+\_\+\+BIT\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - -{\bfseries Initial value\+:} -\begin{DoxyCode}{0} -\DoxyCodeLine{=} -\DoxyCodeLine{\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ (1\ <<\ 0)} - -\end{DoxyCode} - - -When this bit is set it indicates a receive procedure has completed. - -\Hypertarget{class_b_n_o08x_a6415c95701f590c72083f5bdc5f4ae47}\label{class_b_n_o08x_a6415c95701f590c72083f5bdc5f4ae47} -\index{BNO08x@{BNO08x}!EVT\_GRP\_SPI\_RX\_INVALID\_PACKET@{EVT\_GRP\_SPI\_RX\_INVALID\_PACKET}} -\index{EVT\_GRP\_SPI\_RX\_INVALID\_PACKET@{EVT\_GRP\_SPI\_RX\_INVALID\_PACKET}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{EVT\_GRP\_SPI\_RX\_INVALID\_PACKET}{EVT\_GRP\_SPI\_RX\_INVALID\_PACKET}} -{\footnotesize\ttfamily const constexpr Event\+Bits\+\_\+t BNO08x\+::\+EVT\+\_\+\+GRP\+\_\+\+SPI\+\_\+\+RX\+\_\+\+INVALID\+\_\+\+PACKET\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - -{\bfseries Initial value\+:} -\begin{DoxyCode}{0} -\DoxyCodeLine{=} -\DoxyCodeLine{\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ (1\ <<\ 2)} - -\end{DoxyCode} - - -When this bit is set, it indicates an invalid packet has been received. - -\Hypertarget{class_b_n_o08x_a603dccfbbead6bdaa3bd970ad28fcd38}\label{class_b_n_o08x_a603dccfbbead6bdaa3bd970ad28fcd38} -\index{BNO08x@{BNO08x}!EVT\_GRP\_SPI\_RX\_VALID\_PACKET@{EVT\_GRP\_SPI\_RX\_VALID\_PACKET}} -\index{EVT\_GRP\_SPI\_RX\_VALID\_PACKET@{EVT\_GRP\_SPI\_RX\_VALID\_PACKET}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{EVT\_GRP\_SPI\_RX\_VALID\_PACKET}{EVT\_GRP\_SPI\_RX\_VALID\_PACKET}} -{\footnotesize\ttfamily const constexpr Event\+Bits\+\_\+t BNO08x\+::\+EVT\+\_\+\+GRP\+\_\+\+SPI\+\_\+\+RX\+\_\+\+VALID\+\_\+\+PACKET\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - -{\bfseries Initial value\+:} -\begin{DoxyCode}{0} -\DoxyCodeLine{=} -\DoxyCodeLine{\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ (1\ <<\ 1)} - -\end{DoxyCode} - - -When this bit is set, it indicates a valid packet has been received and processed. - -\Hypertarget{class_b_n_o08x_aa333b17ab88348a9849f0ceb9757dc9c}\label{class_b_n_o08x_aa333b17ab88348a9849f0ceb9757dc9c} -\index{BNO08x@{BNO08x}!EVT\_GRP\_SPI\_TX\_DONE@{EVT\_GRP\_SPI\_TX\_DONE}} -\index{EVT\_GRP\_SPI\_TX\_DONE@{EVT\_GRP\_SPI\_TX\_DONE}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{EVT\_GRP\_SPI\_TX\_DONE}{EVT\_GRP\_SPI\_TX\_DONE}} -{\footnotesize\ttfamily const constexpr Event\+Bits\+\_\+t BNO08x\+::\+EVT\+\_\+\+GRP\+\_\+\+SPI\+\_\+\+TX\+\_\+\+DONE = (1 $<$$<$ 3)\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - - - -When this bit is set, it indicates a queued packet has been sent. - -\Hypertarget{class_b_n_o08x_ad7ef7d7068af5f92239c12022dbeb16d}\label{class_b_n_o08x_ad7ef7d7068af5f92239c12022dbeb16d} -\index{BNO08x@{BNO08x}!FRS\_RECORD\_ID\_ACCELEROMETER@{FRS\_RECORD\_ID\_ACCELEROMETER}} -\index{FRS\_RECORD\_ID\_ACCELEROMETER@{FRS\_RECORD\_ID\_ACCELEROMETER}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{FRS\_RECORD\_ID\_ACCELEROMETER}{FRS\_RECORD\_ID\_ACCELEROMETER}} -{\footnotesize\ttfamily const constexpr uint16\+\_\+t BNO08x\+::\+FRS\+\_\+\+RECORD\+\_\+\+ID\+\_\+\+ACCELEROMETER\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}} - -{\bfseries Initial value\+:} -\begin{DoxyCode}{0} -\DoxyCodeLine{=} -\DoxyCodeLine{\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ 0xE302} - -\end{DoxyCode} - - -Accelerometer record ID, to be passed in metadata functions like \doxylink{class_b_n_o08x_a4421c43323945946ad605f8422958dcf}{get\+\_\+\+Q1()} - -\Hypertarget{class_b_n_o08x_a35d8f641e73c308f92a5a0a772f90f48}\label{class_b_n_o08x_a35d8f641e73c308f92a5a0a772f90f48} -\index{BNO08x@{BNO08x}!FRS\_RECORD\_ID\_GYROSCOPE\_CALIBRATED@{FRS\_RECORD\_ID\_GYROSCOPE\_CALIBRATED}} -\index{FRS\_RECORD\_ID\_GYROSCOPE\_CALIBRATED@{FRS\_RECORD\_ID\_GYROSCOPE\_CALIBRATED}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{FRS\_RECORD\_ID\_GYROSCOPE\_CALIBRATED}{FRS\_RECORD\_ID\_GYROSCOPE\_CALIBRATED}} -{\footnotesize\ttfamily const constexpr uint16\+\_\+t BNO08x\+::\+FRS\+\_\+\+RECORD\+\_\+\+ID\+\_\+\+GYROSCOPE\+\_\+\+CALIBRATED\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}} - -{\bfseries Initial value\+:} -\begin{DoxyCode}{0} -\DoxyCodeLine{=} -\DoxyCodeLine{\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ 0xE306} - -\end{DoxyCode} - - -Calirated gyroscope record ID, to be passed in metadata functions like \doxylink{class_b_n_o08x_a4421c43323945946ad605f8422958dcf}{get\+\_\+\+Q1()} - -\Hypertarget{class_b_n_o08x_a0992d77f9bae0b8e3c8d9331fe84fe24}\label{class_b_n_o08x_a0992d77f9bae0b8e3c8d9331fe84fe24} -\index{BNO08x@{BNO08x}!FRS\_RECORD\_ID\_MAGNETIC\_FIELD\_CALIBRATED@{FRS\_RECORD\_ID\_MAGNETIC\_FIELD\_CALIBRATED}} -\index{FRS\_RECORD\_ID\_MAGNETIC\_FIELD\_CALIBRATED@{FRS\_RECORD\_ID\_MAGNETIC\_FIELD\_CALIBRATED}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{FRS\_RECORD\_ID\_MAGNETIC\_FIELD\_CALIBRATED}{FRS\_RECORD\_ID\_MAGNETIC\_FIELD\_CALIBRATED}} -{\footnotesize\ttfamily const constexpr uint16\+\_\+t BNO08x\+::\+FRS\+\_\+\+RECORD\+\_\+\+ID\+\_\+\+MAGNETIC\+\_\+\+FIELD\+\_\+\+CALIBRATED\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}} - -{\bfseries Initial value\+:} -\begin{DoxyCode}{0} -\DoxyCodeLine{=} -\DoxyCodeLine{\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ 0xE309} - -\end{DoxyCode} - - -Calibrated magnetometer record ID, to be passed in metadata functions like \doxylink{class_b_n_o08x_a4421c43323945946ad605f8422958dcf}{get\+\_\+\+Q1()} - -\Hypertarget{class_b_n_o08x_a9f35840b19c8ad11fd1b4622c3269250}\label{class_b_n_o08x_a9f35840b19c8ad11fd1b4622c3269250} -\index{BNO08x@{BNO08x}!FRS\_RECORD\_ID\_ROTATION\_VECTOR@{FRS\_RECORD\_ID\_ROTATION\_VECTOR}} -\index{FRS\_RECORD\_ID\_ROTATION\_VECTOR@{FRS\_RECORD\_ID\_ROTATION\_VECTOR}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{FRS\_RECORD\_ID\_ROTATION\_VECTOR}{FRS\_RECORD\_ID\_ROTATION\_VECTOR}} -{\footnotesize\ttfamily const constexpr uint16\+\_\+t BNO08x\+::\+FRS\+\_\+\+RECORD\+\_\+\+ID\+\_\+\+ROTATION\+\_\+\+VECTOR\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}} - -{\bfseries Initial value\+:} -\begin{DoxyCode}{0} -\DoxyCodeLine{=} -\DoxyCodeLine{\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ 0xE30B} - -\end{DoxyCode} - - -Rotation vector record ID, to be passed in metadata functions like \doxylink{class_b_n_o08x_a4421c43323945946ad605f8422958dcf}{get\+\_\+\+Q1()} - -\Hypertarget{class_b_n_o08x_ae01698d287ea999179a11e2244902022}\label{class_b_n_o08x_ae01698d287ea999179a11e2244902022} -\index{BNO08x@{BNO08x}!gravity\_accuracy@{gravity\_accuracy}} -\index{gravity\_accuracy@{gravity\_accuracy}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{gravity\_accuracy}{gravity\_accuracy}} -{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::gravity\+\_\+accuracy\hspace{0.3cm}{\ttfamily [private]}} - - - -Gravity reading in m/s\texorpdfstring{$^\wedge$}{\string^}2 (See SH-\/2 Ref. Manual 6.\+5.\+11) - -\Hypertarget{class_b_n_o08x_ae10722334dfce9635e76519598e165a2}\label{class_b_n_o08x_ae10722334dfce9635e76519598e165a2} -\index{BNO08x@{BNO08x}!GRAVITY\_Q1@{GRAVITY\_Q1}} -\index{GRAVITY\_Q1@{GRAVITY\_Q1}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{GRAVITY\_Q1}{GRAVITY\_Q1}} -{\footnotesize\ttfamily const constexpr int16\+\_\+t BNO08x\+::\+GRAVITY\+\_\+\+Q1 = 8\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}} - - - -Gravity Q point (See SH-\/2 Ref. Manual 6.\+5.\+11) - -\Hypertarget{class_b_n_o08x_af45016be9ea523d80be8467b2907b499}\label{class_b_n_o08x_af45016be9ea523d80be8467b2907b499} -\index{BNO08x@{BNO08x}!gravity\_X@{gravity\_X}} -\index{gravity\_X@{gravity\_X}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{gravity\_X}{gravity\_X}} -{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::gravity\+\_\+X\hspace{0.3cm}{\ttfamily [private]}} - -\Hypertarget{class_b_n_o08x_af20dcd487a9fe8fa6243817d51e37be5}\label{class_b_n_o08x_af20dcd487a9fe8fa6243817d51e37be5} -\index{BNO08x@{BNO08x}!gravity\_Y@{gravity\_Y}} -\index{gravity\_Y@{gravity\_Y}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{gravity\_Y}{gravity\_Y}} -{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::gravity\+\_\+Y\hspace{0.3cm}{\ttfamily [private]}} - -\Hypertarget{class_b_n_o08x_afa1cf5c3afbb258d97c55c5fb187f2d6}\label{class_b_n_o08x_afa1cf5c3afbb258d97c55c5fb187f2d6} -\index{BNO08x@{BNO08x}!gravity\_Z@{gravity\_Z}} -\index{gravity\_Z@{gravity\_Z}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{gravity\_Z}{gravity\_Z}} -{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::gravity\+\_\+Z\hspace{0.3cm}{\ttfamily [private]}} - -\Hypertarget{class_b_n_o08x_a98ea35dd0fbd0c409d25fd8a6ed9f277}\label{class_b_n_o08x_a98ea35dd0fbd0c409d25fd8a6ed9f277} -\index{BNO08x@{BNO08x}!gyro\_accuracy@{gyro\_accuracy}} -\index{gyro\_accuracy@{gyro\_accuracy}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{gyro\_accuracy}{gyro\_accuracy}} -{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::gyro\+\_\+accuracy\hspace{0.3cm}{\ttfamily [private]}} - - - -Raw gyro reading (See SH-\/2 Ref. Manual 6.\+5.\+13) - -\Hypertarget{class_b_n_o08x_aa3bec8effefa61cec6fa170e9d02c4dd}\label{class_b_n_o08x_aa3bec8effefa61cec6fa170e9d02c4dd} -\index{BNO08x@{BNO08x}!GYRO\_Q1@{GYRO\_Q1}} -\index{GYRO\_Q1@{GYRO\_Q1}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{GYRO\_Q1}{GYRO\_Q1}} -{\footnotesize\ttfamily const constexpr int16\+\_\+t BNO08x\+::\+GYRO\+\_\+\+Q1 = 9\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}} - - - -Gyro Q point (See SH-\/2 Ref. Manual 6.\+5.\+13) - -\Hypertarget{class_b_n_o08x_ae7f34752f888c637d5619f898e62a6d4}\label{class_b_n_o08x_ae7f34752f888c637d5619f898e62a6d4} -\index{BNO08x@{BNO08x}!HOST\_INT\_TIMEOUT\_MS@{HOST\_INT\_TIMEOUT\_MS}} -\index{HOST\_INT\_TIMEOUT\_MS@{HOST\_INT\_TIMEOUT\_MS}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{HOST\_INT\_TIMEOUT\_MS}{HOST\_INT\_TIMEOUT\_MS}} -{\footnotesize\ttfamily const constexpr uint64\+\_\+t BNO08x\+::\+HOST\+\_\+\+INT\+\_\+\+TIMEOUT\+\_\+\+MS\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - -{\bfseries Initial value\+:} -\begin{DoxyCode}{0} -\DoxyCodeLine{=} -\DoxyCodeLine{\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ 300ULL} - -\end{DoxyCode} - - -Max wait between HINT being asserted by \doxylink{class_b_n_o08x}{BNO08x} before transaction is considered failed (in miliseconds) - -\Hypertarget{class_b_n_o08x_aeda443e9f608fccfec0e6770edc90c82}\label{class_b_n_o08x_aeda443e9f608fccfec0e6770edc90c82} -\index{BNO08x@{BNO08x}!imu\_config@{imu\_config}} -\index{imu\_config@{imu\_config}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{imu\_config}{imu\_config}} -{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__config__t}{bno08x\+\_\+config\+\_\+t}} BNO08x\+::imu\+\_\+config \{\}\hspace{0.3cm}{\ttfamily [private]}} - - - -IMU configuration settings. - -\Hypertarget{class_b_n_o08x_a425a1f5a9f3232aadc685caaf4c2f82e}\label{class_b_n_o08x_a425a1f5a9f3232aadc685caaf4c2f82e} -\index{BNO08x@{BNO08x}!imu\_spi\_config@{imu\_spi\_config}} -\index{imu\_spi\_config@{imu\_spi\_config}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{imu\_spi\_config}{imu\_spi\_config}} -{\footnotesize\ttfamily spi\+\_\+device\+\_\+interface\+\_\+config\+\_\+t BNO08x\+::imu\+\_\+spi\+\_\+config \{\}\hspace{0.3cm}{\ttfamily [private]}} - - - -SPI slave device settings. - -\Hypertarget{class_b_n_o08x_a4882dbc698d7b730f57e2401037766a9}\label{class_b_n_o08x_a4882dbc698d7b730f57e2401037766a9} -\index{BNO08x@{BNO08x}!isr\_service\_installed@{isr\_service\_installed}} -\index{isr\_service\_installed@{isr\_service\_installed}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{isr\_service\_installed}{isr\_service\_installed}} -{\footnotesize\ttfamily bool BNO08x\+::isr\+\_\+service\+\_\+installed = \{false\}\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [private]}} - - - -true of the isr service has been installed, only has to be done once regardless of how many devices are used - -\Hypertarget{class_b_n_o08x_ad0d37fe07ced24f2c9afc21145a74e7b}\label{class_b_n_o08x_ad0d37fe07ced24f2c9afc21145a74e7b} -\index{BNO08x@{BNO08x}!LINEAR\_ACCELEROMETER\_Q1@{LINEAR\_ACCELEROMETER\_Q1}} -\index{LINEAR\_ACCELEROMETER\_Q1@{LINEAR\_ACCELEROMETER\_Q1}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{LINEAR\_ACCELEROMETER\_Q1}{LINEAR\_ACCELEROMETER\_Q1}} -{\footnotesize\ttfamily const constexpr int16\+\_\+t BNO08x\+::\+LINEAR\+\_\+\+ACCELEROMETER\+\_\+\+Q1 = 8\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}} - - - -Linear acceleration Q point (See SH-\/2 Ref. Manual 6.\+5.\+10) - -\Hypertarget{class_b_n_o08x_ac5d4e151690774687efa951ca41c16ae}\label{class_b_n_o08x_ac5d4e151690774687efa951ca41c16ae} -\index{BNO08x@{BNO08x}!magf\_accuracy@{magf\_accuracy}} -\index{magf\_accuracy@{magf\_accuracy}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{magf\_accuracy}{magf\_accuracy}} -{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::magf\+\_\+accuracy\hspace{0.3cm}{\ttfamily [private]}} - - - -Calibrated magnetic field reading in u\+Tesla (See SH-\/2 Ref. Manual 6.\+5.\+16) - -\Hypertarget{class_b_n_o08x_a9fac9b811b7c2117675a784cb4df204c}\label{class_b_n_o08x_a9fac9b811b7c2117675a784cb4df204c} -\index{BNO08x@{BNO08x}!MAGNETOMETER\_Q1@{MAGNETOMETER\_Q1}} -\index{MAGNETOMETER\_Q1@{MAGNETOMETER\_Q1}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{MAGNETOMETER\_Q1}{MAGNETOMETER\_Q1}} -{\footnotesize\ttfamily const constexpr int16\+\_\+t BNO08x\+::\+MAGNETOMETER\+\_\+\+Q1 = 4\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}} - - - -Magnetometer Q point (See SH-\/2 Ref. Manual 6.\+5.\+16) - -\Hypertarget{class_b_n_o08x_a2a5b978233eab4c103ab01cfc33a1750}\label{class_b_n_o08x_a2a5b978233eab4c103ab01cfc33a1750} -\index{BNO08x@{BNO08x}!MAX\_METADATA\_LENGTH@{MAX\_METADATA\_LENGTH}} -\index{MAX\_METADATA\_LENGTH@{MAX\_METADATA\_LENGTH}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{MAX\_METADATA\_LENGTH}{MAX\_METADATA\_LENGTH}} -{\footnotesize\ttfamily const constexpr uint16\+\_\+t BNO08x\+::\+MAX\+\_\+\+METADATA\+\_\+\+LENGTH = 9\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - - - -max length of metadata used in frs read operations - -\Hypertarget{class_b_n_o08x_a937cbdc4edaac72c8cad041d79de5701}\label{class_b_n_o08x_a937cbdc4edaac72c8cad041d79de5701} -\index{BNO08x@{BNO08x}!mems\_raw\_accel\_X@{mems\_raw\_accel\_X}} -\index{mems\_raw\_accel\_X@{mems\_raw\_accel\_X}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{mems\_raw\_accel\_X}{mems\_raw\_accel\_X}} -{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::mems\+\_\+raw\+\_\+accel\+\_\+X\hspace{0.3cm}{\ttfamily [private]}} - -\Hypertarget{class_b_n_o08x_ad83cecb8a5d2be01db6792755b6057e9}\label{class_b_n_o08x_ad83cecb8a5d2be01db6792755b6057e9} -\index{BNO08x@{BNO08x}!mems\_raw\_accel\_Y@{mems\_raw\_accel\_Y}} -\index{mems\_raw\_accel\_Y@{mems\_raw\_accel\_Y}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{mems\_raw\_accel\_Y}{mems\_raw\_accel\_Y}} -{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::mems\+\_\+raw\+\_\+accel\+\_\+Y\hspace{0.3cm}{\ttfamily [private]}} - -\Hypertarget{class_b_n_o08x_a59a4d75f1302ab693b1b26e9ccaa5341}\label{class_b_n_o08x_a59a4d75f1302ab693b1b26e9ccaa5341} -\index{BNO08x@{BNO08x}!mems\_raw\_accel\_Z@{mems\_raw\_accel\_Z}} -\index{mems\_raw\_accel\_Z@{mems\_raw\_accel\_Z}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{mems\_raw\_accel\_Z}{mems\_raw\_accel\_Z}} -{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::mems\+\_\+raw\+\_\+accel\+\_\+Z\hspace{0.3cm}{\ttfamily [private]}} - - - -Raw accelerometer readings from MEMS sensor (See SH2 Ref. Manual 6.\+5.\+8) - -\Hypertarget{class_b_n_o08x_a3d6b6257462951ea023af7076c80f6dd}\label{class_b_n_o08x_a3d6b6257462951ea023af7076c80f6dd} -\index{BNO08x@{BNO08x}!mems\_raw\_gyro\_X@{mems\_raw\_gyro\_X}} -\index{mems\_raw\_gyro\_X@{mems\_raw\_gyro\_X}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{mems\_raw\_gyro\_X}{mems\_raw\_gyro\_X}} -{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::mems\+\_\+raw\+\_\+gyro\+\_\+X\hspace{0.3cm}{\ttfamily [private]}} - -\Hypertarget{class_b_n_o08x_ab6b142416912a096886dd63ad0beb865}\label{class_b_n_o08x_ab6b142416912a096886dd63ad0beb865} -\index{BNO08x@{BNO08x}!mems\_raw\_gyro\_Y@{mems\_raw\_gyro\_Y}} -\index{mems\_raw\_gyro\_Y@{mems\_raw\_gyro\_Y}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{mems\_raw\_gyro\_Y}{mems\_raw\_gyro\_Y}} -{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::mems\+\_\+raw\+\_\+gyro\+\_\+Y\hspace{0.3cm}{\ttfamily [private]}} - -\Hypertarget{class_b_n_o08x_ac35d5b12721ab876eaeb1f714a9b3b1d}\label{class_b_n_o08x_ac35d5b12721ab876eaeb1f714a9b3b1d} -\index{BNO08x@{BNO08x}!mems\_raw\_gyro\_Z@{mems\_raw\_gyro\_Z}} -\index{mems\_raw\_gyro\_Z@{mems\_raw\_gyro\_Z}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{mems\_raw\_gyro\_Z}{mems\_raw\_gyro\_Z}} -{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::mems\+\_\+raw\+\_\+gyro\+\_\+Z\hspace{0.3cm}{\ttfamily [private]}} - - - -Raw gyro readings from MEMS sensor (See SH-\/2 Ref. Manual 6.\+5.\+12) - -\Hypertarget{class_b_n_o08x_ab587cdf991342b69b7fff3b33f537eb5}\label{class_b_n_o08x_ab587cdf991342b69b7fff3b33f537eb5} -\index{BNO08x@{BNO08x}!mems\_raw\_magf\_X@{mems\_raw\_magf\_X}} -\index{mems\_raw\_magf\_X@{mems\_raw\_magf\_X}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{mems\_raw\_magf\_X}{mems\_raw\_magf\_X}} -{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::mems\+\_\+raw\+\_\+magf\+\_\+X\hspace{0.3cm}{\ttfamily [private]}} - -\Hypertarget{class_b_n_o08x_aad926054c81818fff611e10ed913706a}\label{class_b_n_o08x_aad926054c81818fff611e10ed913706a} -\index{BNO08x@{BNO08x}!mems\_raw\_magf\_Y@{mems\_raw\_magf\_Y}} -\index{mems\_raw\_magf\_Y@{mems\_raw\_magf\_Y}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{mems\_raw\_magf\_Y}{mems\_raw\_magf\_Y}} -{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::mems\+\_\+raw\+\_\+magf\+\_\+Y\hspace{0.3cm}{\ttfamily [private]}} - -\Hypertarget{class_b_n_o08x_a90f0cdf11decc276006f76a494d42ce3}\label{class_b_n_o08x_a90f0cdf11decc276006f76a494d42ce3} -\index{BNO08x@{BNO08x}!mems\_raw\_magf\_Z@{mems\_raw\_magf\_Z}} -\index{mems\_raw\_magf\_Z@{mems\_raw\_magf\_Z}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{mems\_raw\_magf\_Z}{mems\_raw\_magf\_Z}} -{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::mems\+\_\+raw\+\_\+magf\+\_\+Z\hspace{0.3cm}{\ttfamily [private]}} - - - -Raw magnetometer (compass) readings from MEMS sensor (See SH-\/2 Ref. Manual 6.\+5.\+15) - -\Hypertarget{class_b_n_o08x_a7bd032712a975e73e66bd72a3502baba}\label{class_b_n_o08x_a7bd032712a975e73e66bd72a3502baba} -\index{BNO08x@{BNO08x}!meta\_data@{meta\_data}} -\index{meta\_data@{meta\_data}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{meta\_data}{meta\_data}} -{\footnotesize\ttfamily uint32\+\_\+t BNO08x\+::meta\+\_\+data\mbox{[}9\mbox{]}\hspace{0.3cm}{\ttfamily [private]}} - - - -First 9 bytes of meta data returned from FRS read operation (we don\textquotesingle{}t really need the rest) (See Ref. Manual 5.\+1) - -\Hypertarget{class_b_n_o08x_a36223f7124751fa71e860b2ef55dd2ac}\label{class_b_n_o08x_a36223f7124751fa71e860b2ef55dd2ac} -\index{BNO08x@{BNO08x}!quat\_accuracy@{quat\_accuracy}} -\index{quat\_accuracy@{quat\_accuracy}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{quat\_accuracy}{quat\_accuracy}} -{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::quat\+\_\+accuracy\hspace{0.3cm}{\ttfamily [private]}} - - - -Raw quaternion reading (See SH-\/2 Ref. Manual 6.\+5.\+44) - -\Hypertarget{class_b_n_o08x_a9a1c851e8fa5633e11f6abee293d7e9b}\label{class_b_n_o08x_a9a1c851e8fa5633e11f6abee293d7e9b} -\index{BNO08x@{BNO08x}!queue\_frs\_read\_data@{queue\_frs\_read\_data}} -\index{queue\_frs\_read\_data@{queue\_frs\_read\_data}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{queue\_frs\_read\_data}{queue\_frs\_read\_data}} -{\footnotesize\ttfamily Queue\+Handle\+\_\+t BNO08x\+::queue\+\_\+frs\+\_\+read\+\_\+data\hspace{0.3cm}{\ttfamily [private]}} - - - -Queue used to send packet body from data\+\_\+proc\+\_\+task to frs read functions. - -\Hypertarget{class_b_n_o08x_a84b3639cc159262e0137adb0db5cf9aa}\label{class_b_n_o08x_a84b3639cc159262e0137adb0db5cf9aa} -\index{BNO08x@{BNO08x}!queue\_reset\_reason@{queue\_reset\_reason}} -\index{queue\_reset\_reason@{queue\_reset\_reason}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{queue\_reset\_reason}{queue\_reset\_reason}} -{\footnotesize\ttfamily Queue\+Handle\+\_\+t BNO08x\+::queue\+\_\+reset\+\_\+reason\hspace{0.3cm}{\ttfamily [private]}} - - - -Queue used to send reset reason from product id report to reset\+\_\+reason() function. - -\Hypertarget{class_b_n_o08x_a7d4661d3aae56013caa8f2bff0f67c08}\label{class_b_n_o08x_a7d4661d3aae56013caa8f2bff0f67c08} -\index{BNO08x@{BNO08x}!queue\_rx\_data@{queue\_rx\_data}} -\index{queue\_rx\_data@{queue\_rx\_data}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{queue\_rx\_data}{queue\_rx\_data}} -{\footnotesize\ttfamily Queue\+Handle\+\_\+t BNO08x\+::queue\+\_\+rx\+\_\+data\hspace{0.3cm}{\ttfamily [private]}} - - - -Packet queue used to send data received from bno08x from spi\+\_\+task to data\+\_\+proc\+\_\+task. - -\Hypertarget{class_b_n_o08x_a4d5c5eee87a578de9c8318cd294b3a22}\label{class_b_n_o08x_a4d5c5eee87a578de9c8318cd294b3a22} -\index{BNO08x@{BNO08x}!queue\_tx\_data@{queue\_tx\_data}} -\index{queue\_tx\_data@{queue\_tx\_data}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{queue\_tx\_data}{queue\_tx\_data}} -{\footnotesize\ttfamily Queue\+Handle\+\_\+t BNO08x\+::queue\+\_\+tx\+\_\+data\hspace{0.3cm}{\ttfamily [private]}} - - - -Packet queue used to send data to be sent over SPI from sending functions to spi\+\_\+task. - -\Hypertarget{class_b_n_o08x_a75fb2f06c5bbe26e3f3c794934ef954c}\label{class_b_n_o08x_a75fb2f06c5bbe26e3f3c794934ef954c} -\index{BNO08x@{BNO08x}!raw\_accel\_X@{raw\_accel\_X}} -\index{raw\_accel\_X@{raw\_accel\_X}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{raw\_accel\_X}{raw\_accel\_X}} -{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::raw\+\_\+accel\+\_\+X\hspace{0.3cm}{\ttfamily [private]}} - -\Hypertarget{class_b_n_o08x_ab56e2ba505fa293d03e955137625c562}\label{class_b_n_o08x_ab56e2ba505fa293d03e955137625c562} -\index{BNO08x@{BNO08x}!raw\_accel\_Y@{raw\_accel\_Y}} -\index{raw\_accel\_Y@{raw\_accel\_Y}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{raw\_accel\_Y}{raw\_accel\_Y}} -{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::raw\+\_\+accel\+\_\+Y\hspace{0.3cm}{\ttfamily [private]}} - -\Hypertarget{class_b_n_o08x_af254d245b368027df6952b7d7522bd35}\label{class_b_n_o08x_af254d245b368027df6952b7d7522bd35} -\index{BNO08x@{BNO08x}!raw\_accel\_Z@{raw\_accel\_Z}} -\index{raw\_accel\_Z@{raw\_accel\_Z}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{raw\_accel\_Z}{raw\_accel\_Z}} -{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::raw\+\_\+accel\+\_\+Z\hspace{0.3cm}{\ttfamily [private]}} - -\Hypertarget{class_b_n_o08x_a8a2667f668317cee0a9fc4ef0accc3f5}\label{class_b_n_o08x_a8a2667f668317cee0a9fc4ef0accc3f5} -\index{BNO08x@{BNO08x}!raw\_bias\_X@{raw\_bias\_X}} -\index{raw\_bias\_X@{raw\_bias\_X}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{raw\_bias\_X}{raw\_bias\_X}} -{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::raw\+\_\+bias\+\_\+X\hspace{0.3cm}{\ttfamily [private]}} - -\Hypertarget{class_b_n_o08x_ac38ff5eb93d3c3db0af2504ba02fd93c}\label{class_b_n_o08x_ac38ff5eb93d3c3db0af2504ba02fd93c} -\index{BNO08x@{BNO08x}!raw\_bias\_Y@{raw\_bias\_Y}} -\index{raw\_bias\_Y@{raw\_bias\_Y}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{raw\_bias\_Y}{raw\_bias\_Y}} -{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::raw\+\_\+bias\+\_\+Y\hspace{0.3cm}{\ttfamily [private]}} - -\Hypertarget{class_b_n_o08x_a0968eaed9b3d979a2caa1aba6e6b417a}\label{class_b_n_o08x_a0968eaed9b3d979a2caa1aba6e6b417a} -\index{BNO08x@{BNO08x}!raw\_bias\_Z@{raw\_bias\_Z}} -\index{raw\_bias\_Z@{raw\_bias\_Z}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{raw\_bias\_Z}{raw\_bias\_Z}} -{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::raw\+\_\+bias\+\_\+Z\hspace{0.3cm}{\ttfamily [private]}} - -\Hypertarget{class_b_n_o08x_a19696327a056a448ed5ba706e747bbe5}\label{class_b_n_o08x_a19696327a056a448ed5ba706e747bbe5} -\index{BNO08x@{BNO08x}!raw\_gyro\_X@{raw\_gyro\_X}} -\index{raw\_gyro\_X@{raw\_gyro\_X}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{raw\_gyro\_X}{raw\_gyro\_X}} -{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::raw\+\_\+gyro\+\_\+X\hspace{0.3cm}{\ttfamily [private]}} - -\Hypertarget{class_b_n_o08x_a61df9f571555f5f682eb51f24a279489}\label{class_b_n_o08x_a61df9f571555f5f682eb51f24a279489} -\index{BNO08x@{BNO08x}!raw\_gyro\_Y@{raw\_gyro\_Y}} -\index{raw\_gyro\_Y@{raw\_gyro\_Y}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{raw\_gyro\_Y}{raw\_gyro\_Y}} -{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::raw\+\_\+gyro\+\_\+Y\hspace{0.3cm}{\ttfamily [private]}} - -\Hypertarget{class_b_n_o08x_a03f567cda2a3cc966301e96732fca9ad}\label{class_b_n_o08x_a03f567cda2a3cc966301e96732fca9ad} -\index{BNO08x@{BNO08x}!raw\_gyro\_Z@{raw\_gyro\_Z}} -\index{raw\_gyro\_Z@{raw\_gyro\_Z}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{raw\_gyro\_Z}{raw\_gyro\_Z}} -{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::raw\+\_\+gyro\+\_\+Z\hspace{0.3cm}{\ttfamily [private]}} - -\Hypertarget{class_b_n_o08x_ae1f71a432cb15e75f522fa18f29f4d50}\label{class_b_n_o08x_ae1f71a432cb15e75f522fa18f29f4d50} -\index{BNO08x@{BNO08x}!raw\_lin\_accel\_X@{raw\_lin\_accel\_X}} -\index{raw\_lin\_accel\_X@{raw\_lin\_accel\_X}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{raw\_lin\_accel\_X}{raw\_lin\_accel\_X}} -{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::raw\+\_\+lin\+\_\+accel\+\_\+X\hspace{0.3cm}{\ttfamily [private]}} - -\Hypertarget{class_b_n_o08x_aff3a5590471d1c9fc485a5610433915f}\label{class_b_n_o08x_aff3a5590471d1c9fc485a5610433915f} -\index{BNO08x@{BNO08x}!raw\_lin\_accel\_Y@{raw\_lin\_accel\_Y}} -\index{raw\_lin\_accel\_Y@{raw\_lin\_accel\_Y}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{raw\_lin\_accel\_Y}{raw\_lin\_accel\_Y}} -{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::raw\+\_\+lin\+\_\+accel\+\_\+Y\hspace{0.3cm}{\ttfamily [private]}} - -\Hypertarget{class_b_n_o08x_abc8add47f1babc66c812a015614143d3}\label{class_b_n_o08x_abc8add47f1babc66c812a015614143d3} -\index{BNO08x@{BNO08x}!raw\_lin\_accel\_Z@{raw\_lin\_accel\_Z}} -\index{raw\_lin\_accel\_Z@{raw\_lin\_accel\_Z}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{raw\_lin\_accel\_Z}{raw\_lin\_accel\_Z}} -{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::raw\+\_\+lin\+\_\+accel\+\_\+Z\hspace{0.3cm}{\ttfamily [private]}} - -\Hypertarget{class_b_n_o08x_aa5bdf740161b7c37adcac0154a410118}\label{class_b_n_o08x_aa5bdf740161b7c37adcac0154a410118} -\index{BNO08x@{BNO08x}!raw\_magf\_X@{raw\_magf\_X}} -\index{raw\_magf\_X@{raw\_magf\_X}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{raw\_magf\_X}{raw\_magf\_X}} -{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::raw\+\_\+magf\+\_\+X\hspace{0.3cm}{\ttfamily [private]}} - -\Hypertarget{class_b_n_o08x_acd365418f24a6da61122c66d82086639}\label{class_b_n_o08x_acd365418f24a6da61122c66d82086639} -\index{BNO08x@{BNO08x}!raw\_magf\_Y@{raw\_magf\_Y}} -\index{raw\_magf\_Y@{raw\_magf\_Y}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{raw\_magf\_Y}{raw\_magf\_Y}} -{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::raw\+\_\+magf\+\_\+Y\hspace{0.3cm}{\ttfamily [private]}} - -\Hypertarget{class_b_n_o08x_ab4862de31d0874b44b6745678e1c905e}\label{class_b_n_o08x_ab4862de31d0874b44b6745678e1c905e} -\index{BNO08x@{BNO08x}!raw\_magf\_Z@{raw\_magf\_Z}} -\index{raw\_magf\_Z@{raw\_magf\_Z}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{raw\_magf\_Z}{raw\_magf\_Z}} -{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::raw\+\_\+magf\+\_\+Z\hspace{0.3cm}{\ttfamily [private]}} - -\Hypertarget{class_b_n_o08x_a69dc7e97875060213085ba964b3bd987}\label{class_b_n_o08x_a69dc7e97875060213085ba964b3bd987} -\index{BNO08x@{BNO08x}!raw\_quat\_I@{raw\_quat\_I}} -\index{raw\_quat\_I@{raw\_quat\_I}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{raw\_quat\_I}{raw\_quat\_I}} -{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::raw\+\_\+quat\+\_\+I\hspace{0.3cm}{\ttfamily [private]}} - -\Hypertarget{class_b_n_o08x_a61ae05dc5572b326541bf8099f0c2a54}\label{class_b_n_o08x_a61ae05dc5572b326541bf8099f0c2a54} -\index{BNO08x@{BNO08x}!raw\_quat\_J@{raw\_quat\_J}} -\index{raw\_quat\_J@{raw\_quat\_J}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{raw\_quat\_J}{raw\_quat\_J}} -{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::raw\+\_\+quat\+\_\+J\hspace{0.3cm}{\ttfamily [private]}} - -\Hypertarget{class_b_n_o08x_a7720c44ed1c0f1a0663d2adc5e1a1ea1}\label{class_b_n_o08x_a7720c44ed1c0f1a0663d2adc5e1a1ea1} -\index{BNO08x@{BNO08x}!raw\_quat\_K@{raw\_quat\_K}} -\index{raw\_quat\_K@{raw\_quat\_K}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{raw\_quat\_K}{raw\_quat\_K}} -{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::raw\+\_\+quat\+\_\+K\hspace{0.3cm}{\ttfamily [private]}} - -\Hypertarget{class_b_n_o08x_a033d6cb1aa137743b69cc3e401df67b7}\label{class_b_n_o08x_a033d6cb1aa137743b69cc3e401df67b7} -\index{BNO08x@{BNO08x}!raw\_quat\_radian\_accuracy@{raw\_quat\_radian\_accuracy}} -\index{raw\_quat\_radian\_accuracy@{raw\_quat\_radian\_accuracy}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{raw\_quat\_radian\_accuracy}{raw\_quat\_radian\_accuracy}} -{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::raw\+\_\+quat\+\_\+radian\+\_\+accuracy\hspace{0.3cm}{\ttfamily [private]}} - -\Hypertarget{class_b_n_o08x_a867354267253ae828be4fae15c062db3}\label{class_b_n_o08x_a867354267253ae828be4fae15c062db3} -\index{BNO08x@{BNO08x}!raw\_quat\_real@{raw\_quat\_real}} -\index{raw\_quat\_real@{raw\_quat\_real}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{raw\_quat\_real}{raw\_quat\_real}} -{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::raw\+\_\+quat\+\_\+real\hspace{0.3cm}{\ttfamily [private]}} - -\Hypertarget{class_b_n_o08x_afdc5cdb65bd0b36528b5b671b9d27053}\label{class_b_n_o08x_afdc5cdb65bd0b36528b5b671b9d27053} -\index{BNO08x@{BNO08x}!raw\_uncalib\_gyro\_X@{raw\_uncalib\_gyro\_X}} -\index{raw\_uncalib\_gyro\_X@{raw\_uncalib\_gyro\_X}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{raw\_uncalib\_gyro\_X}{raw\_uncalib\_gyro\_X}} -{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::raw\+\_\+uncalib\+\_\+gyro\+\_\+X\hspace{0.3cm}{\ttfamily [private]}} - -\Hypertarget{class_b_n_o08x_acc2c66e2985975266a286385ea855117}\label{class_b_n_o08x_acc2c66e2985975266a286385ea855117} -\index{BNO08x@{BNO08x}!raw\_uncalib\_gyro\_Y@{raw\_uncalib\_gyro\_Y}} -\index{raw\_uncalib\_gyro\_Y@{raw\_uncalib\_gyro\_Y}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{raw\_uncalib\_gyro\_Y}{raw\_uncalib\_gyro\_Y}} -{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::raw\+\_\+uncalib\+\_\+gyro\+\_\+Y\hspace{0.3cm}{\ttfamily [private]}} - -\Hypertarget{class_b_n_o08x_afac9dd4161f4c0051255293680c9082b}\label{class_b_n_o08x_afac9dd4161f4c0051255293680c9082b} -\index{BNO08x@{BNO08x}!raw\_uncalib\_gyro\_Z@{raw\_uncalib\_gyro\_Z}} -\index{raw\_uncalib\_gyro\_Z@{raw\_uncalib\_gyro\_Z}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{raw\_uncalib\_gyro\_Z}{raw\_uncalib\_gyro\_Z}} -{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::raw\+\_\+uncalib\+\_\+gyro\+\_\+Z\hspace{0.3cm}{\ttfamily [private]}} - -\Hypertarget{class_b_n_o08x_aa5bb03dbeabed729c012ec7164a3354f}\label{class_b_n_o08x_aa5bb03dbeabed729c012ec7164a3354f} -\index{BNO08x@{BNO08x}!raw\_velocity\_gyro\_X@{raw\_velocity\_gyro\_X}} -\index{raw\_velocity\_gyro\_X@{raw\_velocity\_gyro\_X}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{raw\_velocity\_gyro\_X}{raw\_velocity\_gyro\_X}} -{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::raw\+\_\+velocity\+\_\+gyro\+\_\+X\hspace{0.3cm}{\ttfamily [private]}} - -\Hypertarget{class_b_n_o08x_a4f188bf76ba862f07606d1351d28548f}\label{class_b_n_o08x_a4f188bf76ba862f07606d1351d28548f} -\index{BNO08x@{BNO08x}!raw\_velocity\_gyro\_Y@{raw\_velocity\_gyro\_Y}} -\index{raw\_velocity\_gyro\_Y@{raw\_velocity\_gyro\_Y}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{raw\_velocity\_gyro\_Y}{raw\_velocity\_gyro\_Y}} -{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::raw\+\_\+velocity\+\_\+gyro\+\_\+Y\hspace{0.3cm}{\ttfamily [private]}} - -\Hypertarget{class_b_n_o08x_ab49f9a6586d709bbd26280ef44a4bbf7}\label{class_b_n_o08x_ab49f9a6586d709bbd26280ef44a4bbf7} -\index{BNO08x@{BNO08x}!raw\_velocity\_gyro\_Z@{raw\_velocity\_gyro\_Z}} -\index{raw\_velocity\_gyro\_Z@{raw\_velocity\_gyro\_Z}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{raw\_velocity\_gyro\_Z}{raw\_velocity\_gyro\_Z}} -{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::raw\+\_\+velocity\+\_\+gyro\+\_\+Z\hspace{0.3cm}{\ttfamily [private]}} - - - -Raw gyro angular velocity reading (See SH-\/2 Ref. Manual 6.\+5.\+44) - -\Hypertarget{class_b_n_o08x_a923d65d8568cc31873ad56a3908e1939}\label{class_b_n_o08x_a923d65d8568cc31873ad56a3908e1939} -\index{BNO08x@{BNO08x}!ROTATION\_VECTOR\_ACCURACY\_Q1@{ROTATION\_VECTOR\_ACCURACY\_Q1}} -\index{ROTATION\_VECTOR\_ACCURACY\_Q1@{ROTATION\_VECTOR\_ACCURACY\_Q1}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{ROTATION\_VECTOR\_ACCURACY\_Q1}{ROTATION\_VECTOR\_ACCURACY\_Q1}} -{\footnotesize\ttfamily const constexpr int16\+\_\+t BNO08x\+::\+ROTATION\+\_\+\+VECTOR\+\_\+\+ACCURACY\+\_\+\+Q1 = 12\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}} - - - -Rotation vector accuracy estimate Q point (See SH-\/2 Ref. Manual 6.\+5.\+18) - -\Hypertarget{class_b_n_o08x_a0b19c8f2de2b2bfe033da7f93cdd2608}\label{class_b_n_o08x_a0b19c8f2de2b2bfe033da7f93cdd2608} -\index{BNO08x@{BNO08x}!ROTATION\_VECTOR\_Q1@{ROTATION\_VECTOR\_Q1}} -\index{ROTATION\_VECTOR\_Q1@{ROTATION\_VECTOR\_Q1}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{ROTATION\_VECTOR\_Q1}{ROTATION\_VECTOR\_Q1}} -{\footnotesize\ttfamily const constexpr int16\+\_\+t BNO08x\+::\+ROTATION\+\_\+\+VECTOR\+\_\+\+Q1 = 14\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}} - - - -Rotation vector Q point (See SH-\/2 Ref. Manual 6.\+5.\+18) - -\Hypertarget{class_b_n_o08x_a1a037bda37493cde56732cc6fdc7884b}\label{class_b_n_o08x_a1a037bda37493cde56732cc6fdc7884b} -\index{BNO08x@{BNO08x}!RX\_DATA\_LENGTH@{RX\_DATA\_LENGTH}} -\index{RX\_DATA\_LENGTH@{RX\_DATA\_LENGTH}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{RX\_DATA\_LENGTH}{RX\_DATA\_LENGTH}} -{\footnotesize\ttfamily const constexpr uint16\+\_\+t BNO08x\+::\+RX\+\_\+\+DATA\+\_\+\+LENGTH = 300\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - - - -length buffer containing data received over spi - -\Hypertarget{class_b_n_o08x_a354eaff2218eb382a1851537a75badcc}\label{class_b_n_o08x_a354eaff2218eb382a1851537a75badcc} -\index{BNO08x@{BNO08x}!SENSOR\_REPORT\_ID\_ACCELEROMETER@{SENSOR\_REPORT\_ID\_ACCELEROMETER}} -\index{SENSOR\_REPORT\_ID\_ACCELEROMETER@{SENSOR\_REPORT\_ID\_ACCELEROMETER}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{SENSOR\_REPORT\_ID\_ACCELEROMETER}{SENSOR\_REPORT\_ID\_ACCELEROMETER}} -{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+ACCELEROMETER = 0x01\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - - - -See SH2 Ref. Manual 6.\+5.\+9. - -\Hypertarget{class_b_n_o08x_aeb51ebb6c82158cd7e23bd682c08c4e0}\label{class_b_n_o08x_aeb51ebb6c82158cd7e23bd682c08c4e0} -\index{BNO08x@{BNO08x}!SENSOR\_REPORT\_ID\_ARVR\_STABILIZED\_GAME\_ROTATION\_VECTOR@{SENSOR\_REPORT\_ID\_ARVR\_STABILIZED\_GAME\_ROTATION\_VECTOR}} -\index{SENSOR\_REPORT\_ID\_ARVR\_STABILIZED\_GAME\_ROTATION\_VECTOR@{SENSOR\_REPORT\_ID\_ARVR\_STABILIZED\_GAME\_ROTATION\_VECTOR}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{SENSOR\_REPORT\_ID\_ARVR\_STABILIZED\_GAME\_ROTATION\_VECTOR}{SENSOR\_REPORT\_ID\_ARVR\_STABILIZED\_GAME\_ROTATION\_VECTOR}} -{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+ARVR\+\_\+\+STABILIZED\+\_\+\+GAME\+\_\+\+ROTATION\+\_\+\+VECTOR = 0x29\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - - - -See SH2 Ref. Manual 6.\+5.\+43. - -\Hypertarget{class_b_n_o08x_a8d4b91149cfc1a3cd615f60a4ad2275e}\label{class_b_n_o08x_a8d4b91149cfc1a3cd615f60a4ad2275e} -\index{BNO08x@{BNO08x}!SENSOR\_REPORT\_ID\_ARVR\_STABILIZED\_ROTATION\_VECTOR@{SENSOR\_REPORT\_ID\_ARVR\_STABILIZED\_ROTATION\_VECTOR}} -\index{SENSOR\_REPORT\_ID\_ARVR\_STABILIZED\_ROTATION\_VECTOR@{SENSOR\_REPORT\_ID\_ARVR\_STABILIZED\_ROTATION\_VECTOR}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{SENSOR\_REPORT\_ID\_ARVR\_STABILIZED\_ROTATION\_VECTOR}{SENSOR\_REPORT\_ID\_ARVR\_STABILIZED\_ROTATION\_VECTOR}} -{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+ARVR\+\_\+\+STABILIZED\+\_\+\+ROTATION\+\_\+\+VECTOR = 0x28\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - - - -See SH2 Ref. Manual 6.\+5.\+42. - -\Hypertarget{class_b_n_o08x_ada7dbda9f7a0bfb0894a787ce0ff9cef}\label{class_b_n_o08x_ada7dbda9f7a0bfb0894a787ce0ff9cef} -\index{BNO08x@{BNO08x}!SENSOR\_REPORT\_ID\_GAME\_ROTATION\_VECTOR@{SENSOR\_REPORT\_ID\_GAME\_ROTATION\_VECTOR}} -\index{SENSOR\_REPORT\_ID\_GAME\_ROTATION\_VECTOR@{SENSOR\_REPORT\_ID\_GAME\_ROTATION\_VECTOR}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{SENSOR\_REPORT\_ID\_GAME\_ROTATION\_VECTOR}{SENSOR\_REPORT\_ID\_GAME\_ROTATION\_VECTOR}} -{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+GAME\+\_\+\+ROTATION\+\_\+\+VECTOR = 0x08\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - - - -See SH2 Ref. Manual 6.\+5.\+19. - -\Hypertarget{class_b_n_o08x_abb6d0586a5a87b7b34f4c65ae52965a4}\label{class_b_n_o08x_abb6d0586a5a87b7b34f4c65ae52965a4} -\index{BNO08x@{BNO08x}!SENSOR\_REPORT\_ID\_GEOMAGNETIC\_ROTATION\_VECTOR@{SENSOR\_REPORT\_ID\_GEOMAGNETIC\_ROTATION\_VECTOR}} -\index{SENSOR\_REPORT\_ID\_GEOMAGNETIC\_ROTATION\_VECTOR@{SENSOR\_REPORT\_ID\_GEOMAGNETIC\_ROTATION\_VECTOR}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{SENSOR\_REPORT\_ID\_GEOMAGNETIC\_ROTATION\_VECTOR}{SENSOR\_REPORT\_ID\_GEOMAGNETIC\_ROTATION\_VECTOR}} -{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+GEOMAGNETIC\+\_\+\+ROTATION\+\_\+\+VECTOR = 0x09\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - - - -See SH2 Ref. Manual 6.\+5.\+20. - -\Hypertarget{class_b_n_o08x_a6730acb92053d44decb690a7b7234032}\label{class_b_n_o08x_a6730acb92053d44decb690a7b7234032} -\index{BNO08x@{BNO08x}!SENSOR\_REPORT\_ID\_GRAVITY@{SENSOR\_REPORT\_ID\_GRAVITY}} -\index{SENSOR\_REPORT\_ID\_GRAVITY@{SENSOR\_REPORT\_ID\_GRAVITY}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{SENSOR\_REPORT\_ID\_GRAVITY}{SENSOR\_REPORT\_ID\_GRAVITY}} -{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+GRAVITY = 0x06\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - - - -See SH2 Ref. Manual 6.\+5.\+11. - -\Hypertarget{class_b_n_o08x_acd0fc6ffa70dd2761cba0ac0b88c234f}\label{class_b_n_o08x_acd0fc6ffa70dd2761cba0ac0b88c234f} -\index{BNO08x@{BNO08x}!SENSOR\_REPORT\_ID\_GYRO\_INTEGRATED\_ROTATION\_VECTOR@{SENSOR\_REPORT\_ID\_GYRO\_INTEGRATED\_ROTATION\_VECTOR}} -\index{SENSOR\_REPORT\_ID\_GYRO\_INTEGRATED\_ROTATION\_VECTOR@{SENSOR\_REPORT\_ID\_GYRO\_INTEGRATED\_ROTATION\_VECTOR}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{SENSOR\_REPORT\_ID\_GYRO\_INTEGRATED\_ROTATION\_VECTOR}{SENSOR\_REPORT\_ID\_GYRO\_INTEGRATED\_ROTATION\_VECTOR}} -{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+GYRO\+\_\+\+INTEGRATED\+\_\+\+ROTATION\+\_\+\+VECTOR = 0x2A\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - - - -See SH2 Ref. Manual 6.\+5.\+44. - -\Hypertarget{class_b_n_o08x_a224fb8f833806dd530c5f16e7ab5bc7a}\label{class_b_n_o08x_a224fb8f833806dd530c5f16e7ab5bc7a} -\index{BNO08x@{BNO08x}!SENSOR\_REPORT\_ID\_GYROSCOPE@{SENSOR\_REPORT\_ID\_GYROSCOPE}} -\index{SENSOR\_REPORT\_ID\_GYROSCOPE@{SENSOR\_REPORT\_ID\_GYROSCOPE}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{SENSOR\_REPORT\_ID\_GYROSCOPE}{SENSOR\_REPORT\_ID\_GYROSCOPE}} -{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+GYROSCOPE = 0x02\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - - - -See SH2 Ref. Manual 6.\+5.\+13. - -\Hypertarget{class_b_n_o08x_ace7720a02c9f4ef38e319849f6c36a0b}\label{class_b_n_o08x_ace7720a02c9f4ef38e319849f6c36a0b} -\index{BNO08x@{BNO08x}!SENSOR\_REPORT\_ID\_LINEAR\_ACCELERATION@{SENSOR\_REPORT\_ID\_LINEAR\_ACCELERATION}} -\index{SENSOR\_REPORT\_ID\_LINEAR\_ACCELERATION@{SENSOR\_REPORT\_ID\_LINEAR\_ACCELERATION}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{SENSOR\_REPORT\_ID\_LINEAR\_ACCELERATION}{SENSOR\_REPORT\_ID\_LINEAR\_ACCELERATION}} -{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+LINEAR\+\_\+\+ACCELERATION = 0x04\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - - - -See SH2 Ref. Manual 6.\+5.\+10. - -\Hypertarget{class_b_n_o08x_a06058a84d6604054aa66ee008ac64aa9}\label{class_b_n_o08x_a06058a84d6604054aa66ee008ac64aa9} -\index{BNO08x@{BNO08x}!SENSOR\_REPORT\_ID\_MAGNETIC\_FIELD@{SENSOR\_REPORT\_ID\_MAGNETIC\_FIELD}} -\index{SENSOR\_REPORT\_ID\_MAGNETIC\_FIELD@{SENSOR\_REPORT\_ID\_MAGNETIC\_FIELD}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{SENSOR\_REPORT\_ID\_MAGNETIC\_FIELD}{SENSOR\_REPORT\_ID\_MAGNETIC\_FIELD}} -{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+MAGNETIC\+\_\+\+FIELD = 0x03\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - - - -See SH2 Ref. Manual 6.\+5.\+16. - -\Hypertarget{class_b_n_o08x_a7274f6d3bda04da0bb304386b4e8d603}\label{class_b_n_o08x_a7274f6d3bda04da0bb304386b4e8d603} -\index{BNO08x@{BNO08x}!SENSOR\_REPORT\_ID\_PERSONAL\_ACTIVITY\_CLASSIFIER@{SENSOR\_REPORT\_ID\_PERSONAL\_ACTIVITY\_CLASSIFIER}} -\index{SENSOR\_REPORT\_ID\_PERSONAL\_ACTIVITY\_CLASSIFIER@{SENSOR\_REPORT\_ID\_PERSONAL\_ACTIVITY\_CLASSIFIER}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{SENSOR\_REPORT\_ID\_PERSONAL\_ACTIVITY\_CLASSIFIER}{SENSOR\_REPORT\_ID\_PERSONAL\_ACTIVITY\_CLASSIFIER}} -{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+PERSONAL\+\_\+\+ACTIVITY\+\_\+\+CLASSIFIER = 0x1E\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - - - -See SH2 Ref. Manual 6.\+5.\+36. - -\Hypertarget{class_b_n_o08x_a80ea70c4787dea6c3eabb48f583f1916}\label{class_b_n_o08x_a80ea70c4787dea6c3eabb48f583f1916} -\index{BNO08x@{BNO08x}!SENSOR\_REPORT\_ID\_RAW\_ACCELEROMETER@{SENSOR\_REPORT\_ID\_RAW\_ACCELEROMETER}} -\index{SENSOR\_REPORT\_ID\_RAW\_ACCELEROMETER@{SENSOR\_REPORT\_ID\_RAW\_ACCELEROMETER}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{SENSOR\_REPORT\_ID\_RAW\_ACCELEROMETER}{SENSOR\_REPORT\_ID\_RAW\_ACCELEROMETER}} -{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+RAW\+\_\+\+ACCELEROMETER = 0x14\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - - - -See SH2 Ref. Manual 6.\+5.\+8. - -\Hypertarget{class_b_n_o08x_a03b3000424e6d966b80655443ec546bc}\label{class_b_n_o08x_a03b3000424e6d966b80655443ec546bc} -\index{BNO08x@{BNO08x}!SENSOR\_REPORT\_ID\_RAW\_GYROSCOPE@{SENSOR\_REPORT\_ID\_RAW\_GYROSCOPE}} -\index{SENSOR\_REPORT\_ID\_RAW\_GYROSCOPE@{SENSOR\_REPORT\_ID\_RAW\_GYROSCOPE}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{SENSOR\_REPORT\_ID\_RAW\_GYROSCOPE}{SENSOR\_REPORT\_ID\_RAW\_GYROSCOPE}} -{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+RAW\+\_\+\+GYROSCOPE = 0x15\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - - - -See SH2 Ref. Manual 6.\+5.\+12. - -\Hypertarget{class_b_n_o08x_a9e9a7578b7584e7eb2ad562b29565fa7}\label{class_b_n_o08x_a9e9a7578b7584e7eb2ad562b29565fa7} -\index{BNO08x@{BNO08x}!SENSOR\_REPORT\_ID\_RAW\_MAGNETOMETER@{SENSOR\_REPORT\_ID\_RAW\_MAGNETOMETER}} -\index{SENSOR\_REPORT\_ID\_RAW\_MAGNETOMETER@{SENSOR\_REPORT\_ID\_RAW\_MAGNETOMETER}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{SENSOR\_REPORT\_ID\_RAW\_MAGNETOMETER}{SENSOR\_REPORT\_ID\_RAW\_MAGNETOMETER}} -{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+RAW\+\_\+\+MAGNETOMETER = 0x16\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - - - -See SH2 Ref. Manual 6.\+5.\+15. - -\Hypertarget{class_b_n_o08x_a37c91f995c385556486df5fbbce8a3d5}\label{class_b_n_o08x_a37c91f995c385556486df5fbbce8a3d5} -\index{BNO08x@{BNO08x}!SENSOR\_REPORT\_ID\_ROTATION\_VECTOR@{SENSOR\_REPORT\_ID\_ROTATION\_VECTOR}} -\index{SENSOR\_REPORT\_ID\_ROTATION\_VECTOR@{SENSOR\_REPORT\_ID\_ROTATION\_VECTOR}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{SENSOR\_REPORT\_ID\_ROTATION\_VECTOR}{SENSOR\_REPORT\_ID\_ROTATION\_VECTOR}} -{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+ROTATION\+\_\+\+VECTOR = 0x05\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - - - -See SH2 Ref. Manual 6.\+5.\+18. - -\Hypertarget{class_b_n_o08x_ab5c29f31714b4755c0edbce7156652f7}\label{class_b_n_o08x_ab5c29f31714b4755c0edbce7156652f7} -\index{BNO08x@{BNO08x}!SENSOR\_REPORT\_ID\_STABILITY\_CLASSIFIER@{SENSOR\_REPORT\_ID\_STABILITY\_CLASSIFIER}} -\index{SENSOR\_REPORT\_ID\_STABILITY\_CLASSIFIER@{SENSOR\_REPORT\_ID\_STABILITY\_CLASSIFIER}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{SENSOR\_REPORT\_ID\_STABILITY\_CLASSIFIER}{SENSOR\_REPORT\_ID\_STABILITY\_CLASSIFIER}} -{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+STABILITY\+\_\+\+CLASSIFIER = 0x13\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - - - -See SH2 Ref. Manual 6.\+5.\+31. - -\Hypertarget{class_b_n_o08x_a2a10161bb564067a07f3fcf4021e00bb}\label{class_b_n_o08x_a2a10161bb564067a07f3fcf4021e00bb} -\index{BNO08x@{BNO08x}!SENSOR\_REPORT\_ID\_STEP\_COUNTER@{SENSOR\_REPORT\_ID\_STEP\_COUNTER}} -\index{SENSOR\_REPORT\_ID\_STEP\_COUNTER@{SENSOR\_REPORT\_ID\_STEP\_COUNTER}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{SENSOR\_REPORT\_ID\_STEP\_COUNTER}{SENSOR\_REPORT\_ID\_STEP\_COUNTER}} -{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+STEP\+\_\+\+COUNTER = 0x11\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - - - -See SH2 Ref. Manual 6.\+5.\+29. - -\Hypertarget{class_b_n_o08x_a8114460c50e84b0ac750293ab72868c8}\label{class_b_n_o08x_a8114460c50e84b0ac750293ab72868c8} -\index{BNO08x@{BNO08x}!SENSOR\_REPORT\_ID\_TAP\_DETECTOR@{SENSOR\_REPORT\_ID\_TAP\_DETECTOR}} -\index{SENSOR\_REPORT\_ID\_TAP\_DETECTOR@{SENSOR\_REPORT\_ID\_TAP\_DETECTOR}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{SENSOR\_REPORT\_ID\_TAP\_DETECTOR}{SENSOR\_REPORT\_ID\_TAP\_DETECTOR}} -{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+TAP\+\_\+\+DETECTOR = 0x10\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - - - -See SH2 Ref. Manual 6.\+5.\+27. - -\Hypertarget{class_b_n_o08x_acb8e83fbb0645d4e98a96120ce9f431c}\label{class_b_n_o08x_acb8e83fbb0645d4e98a96120ce9f431c} -\index{BNO08x@{BNO08x}!SENSOR\_REPORT\_ID\_UNCALIBRATED\_GYRO@{SENSOR\_REPORT\_ID\_UNCALIBRATED\_GYRO}} -\index{SENSOR\_REPORT\_ID\_UNCALIBRATED\_GYRO@{SENSOR\_REPORT\_ID\_UNCALIBRATED\_GYRO}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{SENSOR\_REPORT\_ID\_UNCALIBRATED\_GYRO}{SENSOR\_REPORT\_ID\_UNCALIBRATED\_GYRO}} -{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+UNCALIBRATED\+\_\+\+GYRO = 0x07\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - - - -See SH2 Ref. Manual 6.\+5.\+14. - -\Hypertarget{class_b_n_o08x_ae37d6f8431c8c465bfb0c662772b5cb9}\label{class_b_n_o08x_ae37d6f8431c8c465bfb0c662772b5cb9} -\index{BNO08x@{BNO08x}!SHTP\_REPORT\_BASE\_TIMESTAMP@{SHTP\_REPORT\_BASE\_TIMESTAMP}} -\index{SHTP\_REPORT\_BASE\_TIMESTAMP@{SHTP\_REPORT\_BASE\_TIMESTAMP}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{SHTP\_REPORT\_BASE\_TIMESTAMP}{SHTP\_REPORT\_BASE\_TIMESTAMP}} -{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+SHTP\+\_\+\+REPORT\+\_\+\+BASE\+\_\+\+TIMESTAMP = 0x\+FB\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - - - -See SH2 Ref. Manual 7.\+2.\+1. - -\Hypertarget{class_b_n_o08x_ab04695dd189412092254e52bd6e5a75a}\label{class_b_n_o08x_ab04695dd189412092254e52bd6e5a75a} -\index{BNO08x@{BNO08x}!SHTP\_REPORT\_COMMAND\_REQUEST@{SHTP\_REPORT\_COMMAND\_REQUEST}} -\index{SHTP\_REPORT\_COMMAND\_REQUEST@{SHTP\_REPORT\_COMMAND\_REQUEST}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{SHTP\_REPORT\_COMMAND\_REQUEST}{SHTP\_REPORT\_COMMAND\_REQUEST}} -{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+SHTP\+\_\+\+REPORT\+\_\+\+COMMAND\+\_\+\+REQUEST = 0x\+F2\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - - - -See SH2 Ref. Manual 6.\+3.\+8. - -\Hypertarget{class_b_n_o08x_a1e5b64caa514b7e4fe64ab214758b875}\label{class_b_n_o08x_a1e5b64caa514b7e4fe64ab214758b875} -\index{BNO08x@{BNO08x}!SHTP\_REPORT\_COMMAND\_RESPONSE@{SHTP\_REPORT\_COMMAND\_RESPONSE}} -\index{SHTP\_REPORT\_COMMAND\_RESPONSE@{SHTP\_REPORT\_COMMAND\_RESPONSE}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{SHTP\_REPORT\_COMMAND\_RESPONSE}{SHTP\_REPORT\_COMMAND\_RESPONSE}} -{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+SHTP\+\_\+\+REPORT\+\_\+\+COMMAND\+\_\+\+RESPONSE = 0x\+F1\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - - - -See SH2 Ref. Manual 6.\+3.\+9. - -\Hypertarget{class_b_n_o08x_a74af7eacc35cc825940b647c2de0d368}\label{class_b_n_o08x_a74af7eacc35cc825940b647c2de0d368} -\index{BNO08x@{BNO08x}!SHTP\_REPORT\_FRS\_READ\_REQUEST@{SHTP\_REPORT\_FRS\_READ\_REQUEST}} -\index{SHTP\_REPORT\_FRS\_READ\_REQUEST@{SHTP\_REPORT\_FRS\_READ\_REQUEST}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{SHTP\_REPORT\_FRS\_READ\_REQUEST}{SHTP\_REPORT\_FRS\_READ\_REQUEST}} -{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+SHTP\+\_\+\+REPORT\+\_\+\+FRS\+\_\+\+READ\+\_\+\+REQUEST = 0x\+F4\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - - - -See SH2 Ref. Manual 6.\+3.\+6. - -\Hypertarget{class_b_n_o08x_aeb760b095dcf808a413ef696f2608e43}\label{class_b_n_o08x_aeb760b095dcf808a413ef696f2608e43} -\index{BNO08x@{BNO08x}!SHTP\_REPORT\_FRS\_READ\_RESPONSE@{SHTP\_REPORT\_FRS\_READ\_RESPONSE}} -\index{SHTP\_REPORT\_FRS\_READ\_RESPONSE@{SHTP\_REPORT\_FRS\_READ\_RESPONSE}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{SHTP\_REPORT\_FRS\_READ\_RESPONSE}{SHTP\_REPORT\_FRS\_READ\_RESPONSE}} -{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+SHTP\+\_\+\+REPORT\+\_\+\+FRS\+\_\+\+READ\+\_\+\+RESPONSE = 0x\+F3\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - - - -See SH2 Ref. Manual 6.\+3.\+7. - -\Hypertarget{class_b_n_o08x_a542405639c28bd56bc4361b922763c95}\label{class_b_n_o08x_a542405639c28bd56bc4361b922763c95} -\index{BNO08x@{BNO08x}!SHTP\_REPORT\_PRODUCT\_ID\_REQUEST@{SHTP\_REPORT\_PRODUCT\_ID\_REQUEST}} -\index{SHTP\_REPORT\_PRODUCT\_ID\_REQUEST@{SHTP\_REPORT\_PRODUCT\_ID\_REQUEST}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{SHTP\_REPORT\_PRODUCT\_ID\_REQUEST}{SHTP\_REPORT\_PRODUCT\_ID\_REQUEST}} -{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+SHTP\+\_\+\+REPORT\+\_\+\+PRODUCT\+\_\+\+ID\+\_\+\+REQUEST = 0x\+F9\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - - - -See SH2 Ref. Manual 6.\+3.\+1. - -\Hypertarget{class_b_n_o08x_a0177134162e116501bc9483c6e4b76c3}\label{class_b_n_o08x_a0177134162e116501bc9483c6e4b76c3} -\index{BNO08x@{BNO08x}!SHTP\_REPORT\_PRODUCT\_ID\_RESPONSE@{SHTP\_REPORT\_PRODUCT\_ID\_RESPONSE}} -\index{SHTP\_REPORT\_PRODUCT\_ID\_RESPONSE@{SHTP\_REPORT\_PRODUCT\_ID\_RESPONSE}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{SHTP\_REPORT\_PRODUCT\_ID\_RESPONSE}{SHTP\_REPORT\_PRODUCT\_ID\_RESPONSE}} -{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+SHTP\+\_\+\+REPORT\+\_\+\+PRODUCT\+\_\+\+ID\+\_\+\+RESPONSE = 0x\+F8\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - - - -See SH2 Ref. Manual 6.\+3.\+2. - -\Hypertarget{class_b_n_o08x_a1d3bff4e20c2c3d47db322c9e34ef338}\label{class_b_n_o08x_a1d3bff4e20c2c3d47db322c9e34ef338} -\index{BNO08x@{BNO08x}!SHTP\_REPORT\_SET\_FEATURE\_COMMAND@{SHTP\_REPORT\_SET\_FEATURE\_COMMAND}} -\index{SHTP\_REPORT\_SET\_FEATURE\_COMMAND@{SHTP\_REPORT\_SET\_FEATURE\_COMMAND}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{SHTP\_REPORT\_SET\_FEATURE\_COMMAND}{SHTP\_REPORT\_SET\_FEATURE\_COMMAND}} -{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+SHTP\+\_\+\+REPORT\+\_\+\+SET\+\_\+\+FEATURE\+\_\+\+COMMAND = 0x\+FD\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - - - -See SH2 Ref. Manual 6.\+5.\+4. - -\Hypertarget{class_b_n_o08x_acc0ea091465fc9a5736f5e0c6a0ce8ef}\label{class_b_n_o08x_acc0ea091465fc9a5736f5e0c6a0ce8ef} -\index{BNO08x@{BNO08x}!spi\_hdl@{spi\_hdl}} -\index{spi\_hdl@{spi\_hdl}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{spi\_hdl}{spi\_hdl}} -{\footnotesize\ttfamily spi\+\_\+device\+\_\+handle\+\_\+t BNO08x\+::spi\+\_\+hdl \{\}\hspace{0.3cm}{\ttfamily [private]}} - - - -SPI device handle. - -\Hypertarget{class_b_n_o08x_a615090aae15f1b0410a7e5ecb94957b5}\label{class_b_n_o08x_a615090aae15f1b0410a7e5ecb94957b5} -\index{BNO08x@{BNO08x}!spi\_task\_hdl@{spi\_task\_hdl}} -\index{spi\_task\_hdl@{spi\_task\_hdl}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{spi\_task\_hdl}{spi\_task\_hdl}} -{\footnotesize\ttfamily Task\+Handle\+\_\+t BNO08x\+::spi\+\_\+task\+\_\+hdl\hspace{0.3cm}{\ttfamily [private]}} - - - -\doxylink{class_b_n_o08x_a2ecd4ed60f82730ae230c61687ec92bf}{spi\+\_\+task()} handle - -\Hypertarget{class_b_n_o08x_ac16adc5f00b0039c98a4921f13895026}\label{class_b_n_o08x_ac16adc5f00b0039c98a4921f13895026} -\index{BNO08x@{BNO08x}!spi\_transaction@{spi\_transaction}} -\index{spi\_transaction@{spi\_transaction}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{spi\_transaction}{spi\_transaction}} -{\footnotesize\ttfamily spi\+\_\+transaction\+\_\+t BNO08x\+::spi\+\_\+transaction \{\}\hspace{0.3cm}{\ttfamily [private]}} - - - -SPI transaction handle. - -\Hypertarget{class_b_n_o08x_a1b12471e92536a79d0c425d77676f2e1}\label{class_b_n_o08x_a1b12471e92536a79d0c425d77676f2e1} -\index{BNO08x@{BNO08x}!stability\_classifier@{stability\_classifier}} -\index{stability\_classifier@{stability\_classifier}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{stability\_classifier}{stability\_classifier}} -{\footnotesize\ttfamily uint8\+\_\+t BNO08x\+::stability\+\_\+classifier\hspace{0.3cm}{\ttfamily [private]}} - - - -Stability status reading (See SH-\/2 Ref. Manual 6.\+5.\+31) - -\Hypertarget{class_b_n_o08x_ad80a77973371b12d722ea39063c648be}\label{class_b_n_o08x_ad80a77973371b12d722ea39063c648be} -\index{BNO08x@{BNO08x}!step\_count@{step\_count}} -\index{step\_count@{step\_count}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{step\_count}{step\_count}} -{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::step\+\_\+count\hspace{0.3cm}{\ttfamily [private]}} - - - -Step counter reading (See SH-\/2 Ref. Manual 6.\+5.\+29) - -\Hypertarget{class_b_n_o08x_a2c98d5f2c406a3efd0b48c5666fa8c46}\label{class_b_n_o08x_a2c98d5f2c406a3efd0b48c5666fa8c46} -\index{BNO08x@{BNO08x}!TAG@{TAG}} -\index{TAG@{TAG}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{TAG}{TAG}} -{\footnotesize\ttfamily const constexpr char\texorpdfstring{$\ast$}{*} BNO08x\+::\+TAG = "{}BNO08x"{}\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - - - -Class tag used for serial print statements. - -\Hypertarget{class_b_n_o08x_a1171a5738a4e6831ec7fa32a29f15554}\label{class_b_n_o08x_a1171a5738a4e6831ec7fa32a29f15554} -\index{BNO08x@{BNO08x}!tap\_detector@{tap\_detector}} -\index{tap\_detector@{tap\_detector}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{tap\_detector}{tap\_detector}} -{\footnotesize\ttfamily uint8\+\_\+t BNO08x\+::tap\+\_\+detector\hspace{0.3cm}{\ttfamily [private]}} - - - -Tap detector reading (See SH-\/2 Ref. Manual 6.\+5.\+27) - -\Hypertarget{class_b_n_o08x_a68aaaab144adbe5af00597408f044d9d}\label{class_b_n_o08x_a68aaaab144adbe5af00597408f044d9d} -\index{BNO08x@{BNO08x}!TARE\_ARVR\_STABILIZED\_GAME\_ROTATION\_VECTOR@{TARE\_ARVR\_STABILIZED\_GAME\_ROTATION\_VECTOR}} -\index{TARE\_ARVR\_STABILIZED\_GAME\_ROTATION\_VECTOR@{TARE\_ARVR\_STABILIZED\_GAME\_ROTATION\_VECTOR}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{TARE\_ARVR\_STABILIZED\_GAME\_ROTATION\_VECTOR}{TARE\_ARVR\_STABILIZED\_GAME\_ROTATION\_VECTOR}} -{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+TARE\+\_\+\+ARVR\+\_\+\+STABILIZED\+\_\+\+GAME\+\_\+\+ROTATION\+\_\+\+VECTOR = 5\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}} - - - -Tare ARVR stabilized game rotation vector. - -\Hypertarget{class_b_n_o08x_abff9abe904bcdde951cf88c378284b45}\label{class_b_n_o08x_abff9abe904bcdde951cf88c378284b45} -\index{BNO08x@{BNO08x}!TARE\_ARVR\_STABILIZED\_ROTATION\_VECTOR@{TARE\_ARVR\_STABILIZED\_ROTATION\_VECTOR}} -\index{TARE\_ARVR\_STABILIZED\_ROTATION\_VECTOR@{TARE\_ARVR\_STABILIZED\_ROTATION\_VECTOR}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{TARE\_ARVR\_STABILIZED\_ROTATION\_VECTOR}{TARE\_ARVR\_STABILIZED\_ROTATION\_VECTOR}} -{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+TARE\+\_\+\+ARVR\+\_\+\+STABILIZED\+\_\+\+ROTATION\+\_\+\+VECTOR = 4\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}} - - - -Tare ARVR stabilized rotation vector. - -\Hypertarget{class_b_n_o08x_a1ef13f6f330810934416ad5fe0ee55b2}\label{class_b_n_o08x_a1ef13f6f330810934416ad5fe0ee55b2} -\index{BNO08x@{BNO08x}!TARE\_AXIS\_ALL@{TARE\_AXIS\_ALL}} -\index{TARE\_AXIS\_ALL@{TARE\_AXIS\_ALL}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{TARE\_AXIS\_ALL}{TARE\_AXIS\_ALL}} -{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+TARE\+\_\+\+AXIS\+\_\+\+ALL = 0x07\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}} - - - -Tare all axes (used with tare now command) - -\Hypertarget{class_b_n_o08x_aecb3e11c1ca5769fd60f42c17a105731}\label{class_b_n_o08x_aecb3e11c1ca5769fd60f42c17a105731} -\index{BNO08x@{BNO08x}!TARE\_AXIS\_Z@{TARE\_AXIS\_Z}} -\index{TARE\_AXIS\_Z@{TARE\_AXIS\_Z}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{TARE\_AXIS\_Z}{TARE\_AXIS\_Z}} -{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+TARE\+\_\+\+AXIS\+\_\+Z = 0x04\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}} - - - -Tar yaw axis only (used with tare now command) - -\Hypertarget{class_b_n_o08x_abaf1ec8bb197db1998a9ed3cec6180d5}\label{class_b_n_o08x_abaf1ec8bb197db1998a9ed3cec6180d5} -\index{BNO08x@{BNO08x}!TARE\_GAME\_ROTATION\_VECTOR@{TARE\_GAME\_ROTATION\_VECTOR}} -\index{TARE\_GAME\_ROTATION\_VECTOR@{TARE\_GAME\_ROTATION\_VECTOR}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{TARE\_GAME\_ROTATION\_VECTOR}{TARE\_GAME\_ROTATION\_VECTOR}} -{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+TARE\+\_\+\+GAME\+\_\+\+ROTATION\+\_\+\+VECTOR = 1\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}} - - - -Tare game rotation vector. - -\Hypertarget{class_b_n_o08x_a225397a04d849e5647992ca80d68febb}\label{class_b_n_o08x_a225397a04d849e5647992ca80d68febb} -\index{BNO08x@{BNO08x}!TARE\_GEOMAGNETIC\_ROTATION\_VECTOR@{TARE\_GEOMAGNETIC\_ROTATION\_VECTOR}} -\index{TARE\_GEOMAGNETIC\_ROTATION\_VECTOR@{TARE\_GEOMAGNETIC\_ROTATION\_VECTOR}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{TARE\_GEOMAGNETIC\_ROTATION\_VECTOR}{TARE\_GEOMAGNETIC\_ROTATION\_VECTOR}} -{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+TARE\+\_\+\+GEOMAGNETIC\+\_\+\+ROTATION\+\_\+\+VECTOR = 2\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}} - - - -tare geomagnetic rotation vector - -\Hypertarget{class_b_n_o08x_a9ec354d75249f06f13599abf7bedfde0}\label{class_b_n_o08x_a9ec354d75249f06f13599abf7bedfde0} -\index{BNO08x@{BNO08x}!TARE\_GYRO\_INTEGRATED\_ROTATION\_VECTOR@{TARE\_GYRO\_INTEGRATED\_ROTATION\_VECTOR}} -\index{TARE\_GYRO\_INTEGRATED\_ROTATION\_VECTOR@{TARE\_GYRO\_INTEGRATED\_ROTATION\_VECTOR}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{TARE\_GYRO\_INTEGRATED\_ROTATION\_VECTOR}{TARE\_GYRO\_INTEGRATED\_ROTATION\_VECTOR}} -{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+TARE\+\_\+\+GYRO\+\_\+\+INTEGRATED\+\_\+\+ROTATION\+\_\+\+VECTOR = 3\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}} - - - -Tare gyro integrated rotation vector. - -\Hypertarget{class_b_n_o08x_a27df630f3e52b35552d2c1f2cf3496b0}\label{class_b_n_o08x_a27df630f3e52b35552d2c1f2cf3496b0} -\index{BNO08x@{BNO08x}!TARE\_NOW@{TARE\_NOW}} -\index{TARE\_NOW@{TARE\_NOW}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{TARE\_NOW}{TARE\_NOW}} -{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+TARE\+\_\+\+NOW = 0\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - - - -See SH2 Ref. Manual 6.\+4.\+4.\+1. - -\Hypertarget{class_b_n_o08x_a115aef7b38ec0dec2085f6917d832912}\label{class_b_n_o08x_a115aef7b38ec0dec2085f6917d832912} -\index{BNO08x@{BNO08x}!TARE\_PERSIST@{TARE\_PERSIST}} -\index{TARE\_PERSIST@{TARE\_PERSIST}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{TARE\_PERSIST}{TARE\_PERSIST}} -{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+TARE\+\_\+\+PERSIST = 1\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - - - -See SH2 Ref. Manual 6.\+4.\+4.\+2. - -\Hypertarget{class_b_n_o08x_a8e2cfc25d0e34ae53a762b88cc3ac3c8}\label{class_b_n_o08x_a8e2cfc25d0e34ae53a762b88cc3ac3c8} -\index{BNO08x@{BNO08x}!TARE\_ROTATION\_VECTOR@{TARE\_ROTATION\_VECTOR}} -\index{TARE\_ROTATION\_VECTOR@{TARE\_ROTATION\_VECTOR}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{TARE\_ROTATION\_VECTOR}{TARE\_ROTATION\_VECTOR}} -{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+TARE\+\_\+\+ROTATION\+\_\+\+VECTOR = 0\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}} - - - -Tare rotation vector. - -\Hypertarget{class_b_n_o08x_a59cde7dd301c94a20b84735c5d49008e}\label{class_b_n_o08x_a59cde7dd301c94a20b84735c5d49008e} -\index{BNO08x@{BNO08x}!TARE\_SET\_REORIENTATION@{TARE\_SET\_REORIENTATION}} -\index{TARE\_SET\_REORIENTATION@{TARE\_SET\_REORIENTATION}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{TARE\_SET\_REORIENTATION}{TARE\_SET\_REORIENTATION}} -{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+TARE\+\_\+\+SET\+\_\+\+REORIENTATION = 2\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}} - - - -See SH2 Ref. Manual 6.\+4.\+4.\+3. - -\Hypertarget{class_b_n_o08x_abc972db20affbd0040b4e6c4892dd57b}\label{class_b_n_o08x_abc972db20affbd0040b4e6c4892dd57b} -\index{BNO08x@{BNO08x}!time\_stamp@{time\_stamp}} -\index{time\_stamp@{time\_stamp}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{time\_stamp}{time\_stamp}} -{\footnotesize\ttfamily uint32\+\_\+t BNO08x\+::time\+\_\+stamp\hspace{0.3cm}{\ttfamily [private]}} - - - -Report timestamp (see datasheet 1.\+3.\+5.\+3) - -\Hypertarget{class_b_n_o08x_a081c666a3f24016d0ec5c5edc49f2903}\label{class_b_n_o08x_a081c666a3f24016d0ec5c5edc49f2903} -\index{BNO08x@{BNO08x}!uncalib\_gyro\_accuracy@{uncalib\_gyro\_accuracy}} -\index{uncalib\_gyro\_accuracy@{uncalib\_gyro\_accuracy}!BNO08x@{BNO08x}} -\doxysubsubsection{\texorpdfstring{uncalib\_gyro\_accuracy}{uncalib\_gyro\_accuracy}} -{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::uncalib\+\_\+gyro\+\_\+accuracy\hspace{0.3cm}{\ttfamily [private]}} - - - -Uncalibrated gyro reading (See SH-\/2 Ref. Manual 6.\+5.\+14) - - - -The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize} -\item -\mbox{\hyperlink{_b_n_o08x_8hpp}{BNO08x.\+hpp}}\item -\mbox{\hyperlink{_b_n_o08x_8cpp}{BNO08x.\+cpp}}\end{DoxyCompactItemize} diff --git a/documentation/latex/class_b_n_o08x__coll__graph.md5 b/documentation/latex/class_b_n_o08x__coll__graph.md5 deleted file mode 100644 index c234b0b..0000000 --- a/documentation/latex/class_b_n_o08x__coll__graph.md5 +++ /dev/null @@ -1 +0,0 @@ -a144944ded84790e46a0a180804d269e \ No newline at end of file diff --git a/documentation/latex/class_b_n_o08x__coll__graph.pdf b/documentation/latex/class_b_n_o08x__coll__graph.pdf deleted file mode 100644 index 2895b6e..0000000 Binary files a/documentation/latex/class_b_n_o08x__coll__graph.pdf and /dev/null differ diff --git a/documentation/latex/class_b_n_o08x_a00ec3857cb06ae885e32059ef1cab693_cgraph.md5 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{} - {\Etoc@oldLaTeXtrue - \PackageInfo{etoc}{Old LaTeX (\fmtversion) detected!\MessageBreak - Since 1.1a (2023/01/14), etoc prefers LaTeX at least\MessageBreak - as recent as 2020-10-01, for reasons of the .toc file,\MessageBreak - and used to require it (from 1.1a to 1.2).\MessageBreak - This etoc (1.2b) does not *require* it, but has not been\MessageBreak - tested thoroughly on old LaTeX (especially if document\MessageBreak - does not use hyperref) and retrofitting was done only\MessageBreak - on basis of author partial remembrances of old context.\MessageBreak - Reported}} -\RequirePackage{kvoptions} -\SetupKeyvalOptions{prefix=Etoc@} -\newif\ifEtoc@lof -\DeclareVoidOption{lof}{\Etoc@loftrue - \PackageInfo{etoc}{Experimental support for \string\locallistoffigures.\MessageBreak - Barely tested, use at own risk}% -} -\newif\ifEtoc@lot -\DeclareVoidOption{lot}{\Etoc@lottrue - \PackageInfo{etoc}{Experimental support for \string\locallistoftables.\MessageBreak - Barely tested, use at own risk}% -} -\@ifclassloaded{memoir}{ -\PackageInfo{etoc} - {As this is with memoir class, all `...totoc' options\MessageBreak - are set true by default. Reported} -\DeclareBoolOption[true]{maintoctotoc} -\DeclareBoolOption[true]{localtoctotoc} -\DeclareBoolOption[true]{localloftotoc} -\DeclareBoolOption[true]{locallottotoc} -}{ -\DeclareBoolOption[false]{maintoctotoc} -\DeclareBoolOption[false]{localtoctotoc} -\DeclareBoolOption[false]{localloftotoc} -\DeclareBoolOption[false]{locallottotoc} -} -\DeclareBoolOption[true]{ouroboros} -\DeclareBoolOption[false]{deeplevels} -\DeclareDefaultOption{\PackageWarning{etoc}{Option `\CurrentOption' is unknown.}} -\ProcessKeyvalOptions* -\DisableKeyvalOption[action=error,package=etoc]{etoc}{lof} -\DisableKeyvalOption[action=error,package=etoc]{etoc}{lot} -\DisableKeyvalOption[action=error,package=etoc]{etoc}{deeplevels} -\def\etocsetup#1{\setkeys{etoc}{#1}} -\def\etocifmaintoctotoc{\ifEtoc@maintoctotoc - \expandafter\@firstoftwo - \else - \expandafter\@secondoftwo - \fi} -\def\etociflocaltoctotoc{\ifEtoc@localtoctotoc - \expandafter\@firstoftwo - \else - \expandafter\@secondoftwo - \fi} -\def\etociflocalloftotoc{\ifEtoc@localloftotoc - \expandafter\@firstoftwo - \else - \expandafter\@secondoftwo - \fi} -\def\etociflocallottotoc{\ifEtoc@locallottotoc - \expandafter\@firstoftwo - \else - \expandafter\@secondoftwo - \fi} -\RequirePackage{multicol} -\def\etoc@{\etoc@} -\long\def\Etoc@gobtoetoc@ #1\etoc@{} -\newtoks\Etoc@toctoks -\def\Etoc@par{\par} -\def\etocinline{\def\Etoc@par{}} -\let\etocnopar\etocinline -\def\etocdisplay{\def\Etoc@par{\par}} -\let\Etoc@global\@empty -\def\etocglobaldefs{\let\Etoc@global\global\let\tof@global\global} -\def\etoclocaldefs {\let\Etoc@global\@empty\let\tof@global\@empty} -\newif\ifEtoc@numbered -\newif\ifEtoc@hyperref -\newif\ifEtoc@parskip -\newif\ifEtoc@tocwithid -\newif\ifEtoc@standardlines -\newif\ifEtoc@etocstyle -\newif\ifEtoc@classstyle -\newif\ifEtoc@keeporiginaltoc -\newif\ifEtoc@skipprefix -\newif\ifEtoc@isfirst -\newif\ifEtoc@localtoc -\newif\ifEtoc@skipthisone -\newif\ifEtoc@stoptoc -\newif\ifEtoc@notactive -\newif\ifEtoc@mustclosegroup -\newif\ifEtoc@isemptytoc -\newif\ifEtoc@checksemptiness -\def\etocchecksemptiness {\Etoc@checksemptinesstrue } -\def\etocdoesnotcheckemptiness {\Etoc@checksemptinessfalse } -\newif\ifEtoc@notocifnotoc -\def\etocnotocifnotoc {\Etoc@checksemptinesstrue\Etoc@notocifnotoctrue } -\newcounter{etoc@tocid} -\def\Etoc@tocext{toc} -\def\Etoc@lofext{lof} -\def\Etoc@lotext{lot} -\let\Etoc@currext\Etoc@tocext -\def\etocifislocal{\ifEtoc@localtoc\expandafter\@firstoftwo\else - \expandafter\@secondoftwo\fi - } -\def\etocifislocaltoc{\etocifislocal{\ifx\Etoc@currext\Etoc@tocext - \expandafter\@firstoftwo\else - \expandafter\@secondoftwo\fi}% - {\@secondoftwo}% - } -\def\etocifislocallof{\etocifislocal{\ifx\Etoc@currext\Etoc@lofext - \expandafter\@firstoftwo\else - \expandafter\@secondoftwo\fi}% - {\@secondoftwo}% - } -\def\etocifislocallot{\etocifislocal{\ifx\Etoc@currext\Etoc@lotext - \expandafter\@firstoftwo\else - \expandafter\@secondoftwo\fi}% - {\@secondoftwo}% - } -\expandafter\def\csname Etoc@-3@@\endcsname {-\thr@@} -\expandafter\def\csname Etoc@-2@@\endcsname {-\tw@} -\expandafter\let\csname Etoc@-1@@\endcsname \m@ne -\expandafter\let\csname Etoc@0@@\endcsname \z@ -\expandafter\let\csname Etoc@1@@\endcsname \@ne -\expandafter\let\csname Etoc@2@@\endcsname \tw@ -\expandafter\let\csname Etoc@3@@\endcsname \thr@@ -\expandafter\chardef\csname Etoc@4@@\endcsname 4 -\expandafter\chardef\csname Etoc@5@@\endcsname 5 -\expandafter\chardef\csname Etoc@6@@\endcsname 6 -\ifEtoc@deeplevels - \expandafter\chardef\csname Etoc@7@@\endcsname 7 - \expandafter\chardef\csname Etoc@8@@\endcsname 8 - \expandafter\chardef\csname Etoc@9@@\endcsname 9 - \expandafter\chardef\csname Etoc@10@@\endcsname 10 - \expandafter\chardef\csname Etoc@11@@\endcsname 11 - \expandafter\chardef\csname Etoc@12@@\endcsname 12 -\fi -\expandafter\let\expandafter\Etoc@maxlevel - \csname Etoc@\ifEtoc@deeplevels12\else6\fi @@\endcsname -\edef\etocthemaxlevel{\number\Etoc@maxlevel} -\@ifclassloaded{memoir}{\def\Etoc@minf{-\thr@@}}{\def\Etoc@minf{-\tw@}} -\let\Etoc@none@@ \Etoc@minf -\expandafter\let\expandafter\Etoc@all@@ - \csname Etoc@\ifEtoc@deeplevels11\else5\fi @@\endcsname -\let\Etoc@dolevels\@empty -\def\Etoc@newlevel #1{\expandafter\def\expandafter\Etoc@dolevels\expandafter - {\Etoc@dolevels\Etoc@do{#1}}} -\ifdefined\expanded - \def\etocsetlevel#1#2{\expanded{\noexpand\etoc@setlevel{#1}{#2}}}% -\else - \def\etocsetlevel#1#2{{\edef\Etoc@tmp{\noexpand\etoc@setlevel{#1}{#2}}\expandafter}\Etoc@tmp}% -\fi -\def\etoc@setlevel#1#2{% - \edef\Etoc@tmp{\the\numexpr#2}% - \if1\ifnum\Etoc@tmp>\Etoc@maxlevel0\fi\unless\ifnum\Etoc@minf<\Etoc@tmp;\fi1% - \ifEtoc@deeplevels - \in@{.#1,}{.none,.all,.figure,.table,.-3,.-2,.-1,.0,.1,.2,.3,.4,.5,.6,% - .7,.8,.9,.10,.11,.12,}% - \else - \in@{.#1,}{.none,.all,.figure,.table,.-3,.-2,.-1,.0,.1,.2,.3,.4,.5,.6,}% - \fi - \ifin@\else\if\@car#1\@nil @\in@true\fi\fi - \ifin@ - \PackageWarning{etoc} - {Sorry, but `#1' is forbidden as level name.\MessageBreak - \if\@car#1\@nil @% - (because of the @ as first character)\MessageBreak\fi - Reported}% - \else - \etocifunknownlevelTF{#1}{\Etoc@newlevel{#1}}{}% - \expandafter\let\csname Etoc@#1@@\expandafter\endcsname - \csname Etoc@\Etoc@tmp @@\endcsname - \expandafter\edef\csname Etoc@@#1@@\endcsname - {\expandafter\noexpand\csname Etoc@#1@@\endcsname}% - \expandafter\edef\csname toclevel@@#1\endcsname - {\expandafter\noexpand\csname toclevel@#1\endcsname}% - \fi - \else - \PackageWarning{etoc} - {Argument `\detokenize{#2}' of \string\etocsetlevel\space should - represent one of\MessageBreak - \ifnum\Etoc@minf=-\thr@@-2, \fi-1, 0, 1, 2, \ifEtoc@deeplevels ...\else3, 4\fi, - \the\numexpr\Etoc@maxlevel-1, or \number\Etoc@maxlevel\space - but evaluates to \Etoc@tmp.\MessageBreak - The level of `#1' will be set to \number\Etoc@maxlevel.\MessageBreak - Tables of contents will ignore `#1' as long\MessageBreak - as its level is \number\Etoc@maxlevel\space (=\string\etocthemaxlevel).% - \MessageBreak - Reported}% - \etocifunknownlevelTF{#1}{\Etoc@newlevel{#1}}{}% - \expandafter\let\csname Etoc@#1@@\endcsname\Etoc@maxlevel - \fi -} -\def\etoclevel#1{\csname Etoc@#1@@\endcsname} -\def\etocthelevel#1{\number\csname Etoc@#1@@\endcsname} -\def\etocifunknownlevelTF#1{\@ifundefined{Etoc@#1@@}} -\@ifclassloaded{memoir}{\etocsetlevel{book}{-2}}{} -\etocsetlevel{part}{-1} -\etocsetlevel{chapter}{0} -\etocsetlevel{section}{1} -\etocsetlevel{subsection}{2} -\etocsetlevel{subsubsection}{3} -\etocsetlevel{paragraph}{4} -\etocsetlevel{subparagraph}{5} -\ifdefined\c@chapter - \etocsetlevel{appendix}{0} -\else - \etocsetlevel{appendix}{1} -\fi -\def\Etoc@do#1{\@namedef{l@@#1}{\csname l@#1\endcsname}} -\Etoc@dolevels -\let\Etoc@figure@@\Etoc@maxlevel -\let\Etoc@table@@ \Etoc@maxlevel -\let\Etoc@gobblethreeorfour\@gobblefour -\ifdefined\@gobblethree - \let\Etoc@gobblethree\@gobblethree -\else - \long\def\Etoc@gobblethree#1#2#3{}% -\fi -\AtBeginDocument{% -\@ifpackageloaded{parskip}{\Etoc@parskiptrue}{}% -\@ifpackageloaded{hyperref} - {\Etoc@hyperreftrue} - {\ifEtoc@oldLaTeX - \let\Etoc@gobblethreeorfour\Etoc@gobblethree - \let\Etoc@etoccontentsline@fourargs\Etoc@etoccontentsline@ - \long\def\Etoc@etoccontentsline@#1#2#3{% - \Etoc@etoccontentsline@fourargs{#1}{#2}{#3}{}% - }% - \fi - }% -} -\def\etocskipfirstprefix {\global\Etoc@skipprefixtrue } -\def\Etoc@updatestackofends#1\etoc@{\gdef\Etoc@stackofends{#1}} -\def\Etoc@stackofends{{-3}{}} -\def\Etoc@doendsandbegin{% - \expandafter\Etoc@traversestackofends\Etoc@stackofends\etoc@ -} -\def\Etoc@traversestackofends#1{% - \ifnum#1>\Etoc@level - \csname Etoc@end@#1\endcsname - \expandafter\Etoc@traversestackofends - \else - \Etoc@traversestackofends@done{#1}% - \fi -} -\def\Etoc@traversestackofends@done#1#2{#2% - \ifnum#1<\Etoc@level - \csname Etoc@begin@\the\numexpr\Etoc@level\endcsname - \Etoc@global\Etoc@isfirsttrue - \edef\Etoc@tmp{{\the\numexpr\Etoc@level}}% - \else - \Etoc@global\Etoc@isfirstfalse - \let\Etoc@tmp\@empty - \fi - \expandafter\Etoc@updatestackofends\Etoc@tmp{#1}% -} -\def\Etoc@etoccontentsline #1{% - \let\Etoc@next\Etoc@gobblethreeorfour - \ifnum\csname Etoc@#1@@\endcsname=\Etoc@maxlevel - \else - \Etoc@skipthisonefalse - \global\expandafter\let\expandafter\Etoc@level\csname Etoc@#1@@\endcsname - \if @\@car#1\@nil\else\global\let\Etoc@virtualtop\Etoc@level\fi - \ifEtoc@localtoc - \ifEtoc@stoptoc - \Etoc@skipthisonetrue - \else - \ifEtoc@notactive - \Etoc@skipthisonetrue - \else - \unless\ifnum\Etoc@level>\etoclocaltop - \Etoc@skipthisonetrue - \global\Etoc@stoptoctrue - \fi - \fi - \fi - \fi - \ifEtoc@skipthisone - \else - \unless\ifnum\Etoc@level>\c@tocdepth - \ifEtoc@standardlines - \let\Etoc@next\Etoc@savedcontentsline - \else - \let\Etoc@next\Etoc@etoccontentsline@ - \fi - \fi - \fi - \fi - \Etoc@next{#1}% -} -\def\Etoc@etoccontentsline@ #1#2#3#4{% - \Etoc@doendsandbegin - \Etoc@global\edef\Etoc@prefix {\expandafter\noexpand - \csname Etoc@prefix@\the\numexpr\Etoc@level\endcsname }% - \Etoc@global\edef\Etoc@contents{\expandafter\noexpand - \csname Etoc@contents@\the\numexpr\Etoc@level\endcsname }% - \ifEtoc@skipprefix \Etoc@global\def\Etoc@prefix{\@empty}\fi - \global\Etoc@skipprefixfalse - \Etoc@lxyz{#2}{#3}{#4}% - \Etoc@prefix - \Etoc@contents -} -\def\Etoc@lxyz #1#2#3{% - \ifEtoc@hyperref - \Etoc@global\def\etocthelink##1{\hyperlink{#3}{##1}}% - \else - \Etoc@global\let\etocthelink\@firstofone - \fi - \Etoc@global\def\etocthepage {#2}% - \ifEtoc@hyperref - \ifx\etocthepage\@empty - \Etoc@global\let\etocthelinkedpage\@empty - \else - \Etoc@global\def\etocthelinkedpage{\hyperlink {#3}{#2}}% - \fi - \else - \Etoc@global\let\etocthelinkedpage\etocthepage - \fi - \Etoc@global\def\etocthename{#1}% - \futurelet\Etoc@getnb@token\Etoc@@getnb #1\hspace\etoc@ - \ifEtoc@hyperref - \def\Etoc@tmp##1##2{\Etoc@global\def##2{\hyperlink{#3}{##1}}}% - \expandafter\Etoc@tmp\expandafter{\etocthename}\etocthelinkedname - \ifEtoc@numbered - \expandafter\Etoc@tmp\expandafter{\etocthenumber}\etocthelinkednumber - \else - \Etoc@global\let\etocthelinkednumber\@empty - \fi - \else - \Etoc@global\let\etocthelinkedname \etocthename - \Etoc@global\let\etocthelinkednumber\etocthenumber - \fi - \Etoc@global\expandafter\let\csname etoclink \endcsname \etocthelink - \Etoc@global\expandafter\let\csname etocname \endcsname \etocthename - \Etoc@global\expandafter\let\csname etocnumber \endcsname\etocthenumber - \Etoc@global\expandafter\let\csname etocpage \endcsname \etocthepage - \ifEtoc@hyperref - \Etoc@lxyz@linktoc - \fi -} -\def\Etoc@lxyz@linktoc{% - \ifcase\Hy@linktoc - \or - \Etoc@global\expandafter\let\csname etocname \endcsname\etocthelinkedname - \Etoc@global\expandafter\let\csname etocnumber \endcsname\etocthelinkednumber - \or % page - \Etoc@global\expandafter\let\csname etocpage \endcsname\etocthelinkedpage - \else % all - \Etoc@global\expandafter\let\csname etocname \endcsname\etocthelinkedname - \Etoc@global\expandafter\let\csname etocnumber \endcsname\etocthelinkednumber - \Etoc@global\expandafter\let\csname etocpage \endcsname\etocthelinkedpage - \fi -} -\def\Etoc@@getnb {% - \let\Etoc@next\Etoc@getnb - \ifx\Etoc@getnb@token\@sptoken\let\Etoc@next\Etoc@getnb@nonbr\fi - \ifx\Etoc@getnb@token\bgroup \let\Etoc@next\Etoc@getnb@nonbr\fi - \Etoc@next -} -\def\Etoc@getnb #1{% - \in@{#1}{\numberline\chapternumberline\partnumberline\booknumberline}% - \ifin@ - \let\Etoc@next\Etoc@getnb@nmbrd - \else - \ifnum\Etoc@level=\m@ne - \let\Etoc@next\Etoc@@getit - \else - \let\Etoc@next\Etoc@getnb@nonbr - \fi - \in@{#1}{\nonumberline}% - \ifin@ - \let\Etoc@next\Etoc@getnb@nonumberline - \fi - \fi - \Etoc@next #1% -} -\def\Etoc@getnb@nmbrd #1#2{% - \Etoc@global\Etoc@numberedtrue - \Etoc@global\def\etocthenumber {#2}% - \Etoc@getnb@nmbrd@getname\@empty -}% -\def\Etoc@getnb@nmbrd@getname #1\hspace\etoc@ {% - \Etoc@global\expandafter\def\expandafter\etocthename\expandafter{#1}% -} -\def\Etoc@getnb@nonbr #1\etoc@ {% - \Etoc@global\Etoc@numberedfalse - \Etoc@global\let\etocthenumber \@empty -} -\def\Etoc@getnb@nonumberline #1\hspace\etoc@ {% - \Etoc@global\Etoc@numberedfalse - \Etoc@global\let\etocthenumber \@empty - \Etoc@global\expandafter\def\expandafter\etocthename\expandafter{\@gobble#1}% -} -\def\Etoc@@getit #1\hspace#2{% - \ifx\etoc@#2% - \Etoc@global\Etoc@numberedfalse - \Etoc@global\let\etocthenumber \@empty - \else - \Etoc@global\Etoc@numberedtrue - \Etoc@global\def\etocthenumber {#1}% - \expandafter\Etoc@getit@getname \expandafter\@empty - \fi -} -\def\Etoc@getit@getname #1\hspace\etoc@ {% - \Etoc@global\expandafter\def\expandafter\etocthename\expandafter{#1}% -} -\let\etocthename \@empty -\let\etocthenumber \@empty -\let\etocthepage \@empty -\let\etocthelinkedname \@empty -\let\etocthelinkednumber \@empty -\let\etocthelinkedpage \@empty -\let\etocthelink \@firstofone -\DeclareRobustCommand*{\etocname} {} -\DeclareRobustCommand*{\etocnumber}{} -\DeclareRobustCommand*{\etocpage} {} -\DeclareRobustCommand*{\etoclink} {\@firstofone} -\DeclareRobustCommand*{\etocifnumbered} - {\ifEtoc@numbered\expandafter\@firstoftwo\else\expandafter\@secondoftwo\fi} -\expandafter\let\expandafter\etocxifnumbered\csname etocifnumbered \endcsname -\DeclareRobustCommand*{\etociffirst} - {\ifEtoc@isfirst\expandafter\@firstoftwo\else\expandafter\@secondoftwo\fi} -\expandafter\let\expandafter\etocxiffirst\csname etociffirst \endcsname -\def\Etoc@readtoc {% - \ifeof \Etoc@tf - \else - \read \Etoc@tf to \Etoc@buffer - \Etoc@toctoks=\expandafter\expandafter\expandafter - {\expandafter\the\expandafter\Etoc@toctoks\Etoc@buffer}% - \expandafter\Etoc@readtoc - \fi -} -\Etoc@toctoks {}% (superfluous, but for clarity) -\AtBeginDocument{\IfFileExists{\jobname.toc} - {{\endlinechar=\m@ne - \makeatletter - \newread\Etoc@tf - \openin\Etoc@tf\@filef@und - \Etoc@readtoc - \global\Etoc@toctoks=\expandafter{\the\Etoc@toctoks}% - \closein\Etoc@tf}} - {\typeout{No file \jobname.toc.}}} -\def\Etoc@openouttoc{% - \ifEtoc@hyperref - \ifx\hyper@last\@undefined - \IfFileExists{\jobname .toc} - {\Hy@WarningNoLine - {old toc file detected; run LaTeX again (cheers from `etoc')}% - \global\Etoc@toctoks={}% - } - {}% - \fi - \fi - \if@filesw - \newwrite \tf@toc - \immediate \openout \tf@toc \jobname .toc\relax - \fi - \global\let\Etoc@openouttoc\empty -} -\def\Etoc@toctoc{% - \gdef\Etoc@stackofends{{-3}{}}% - \global\let\Etoc@level\Etoc@minf - \global\let\Etoc@virtualtop\Etoc@minf - \the\Etoc@toctoks - \ifEtoc@notactive - \else - \gdef\Etoc@level{-\thr@@}% - \Etoc@doendsandbegin - \fi -} -\def\Etoc@@startlocaltoc#1#2{% - \ifEtoc@localtoc - \ifnum #1=#2\relax - \global\let\etoclocaltop\Etoc@virtualtop - \Etoc@@startlocaltochook - \etoclocaltableofcontentshook - \ifEtoc@etocstyle - \etocetoclocaltocmaketitle - \fi - \ifx\Etoc@aftertitlehook\@empty - \else - \ifEtoc@localtoctotoc - \ifEtoc@ouroboros - \else - \let\Etoc@tmp\contentsline - \def\contentsline{\let\contentsline\Etoc@tmp\Etoc@gobblethreeorfour}% - \fi - \fi - \fi - \global\Etoc@notactivefalse - \fi - \fi -} -\let\etoc@startlocaltoc\@gobble -\let\Etoc@@startlocaltoc@toc\Etoc@@startlocaltoc -\let\Etoc@@startlocaltochook\@empty -\unless\ifEtoc@deeplevels - \def\etocdivisionnameatlevel#1{% - \ifcase\numexpr#1\relax - \ifdefined\c@chapter chapter\else section\fi% - \or section% - \or subsection% - \or subsubsection% - \or paragraph% - \or subparagraph% - \or empty% - \else\ifnum\numexpr#1<\m@ne - book% - \else - part% - \fi - \fi - } -\else - \def\etocdivisionnameatlevel#1{% - \ifcase\numexpr#1\relax - \ifdefined\c@chapter chapter\else section\fi% - \or section% - \or subsection% - \or subsubsection% - \or subsubsubsection% - \or subsubsubsubsection% - \or subsubsubsubsubsection% - \or subsubsubsubsubsubsection% - \or paragraph% - \or subparagraph% - \else\ifnum\numexpr#1>\z@ - empty% - \else\ifnum\numexpr#1=\m@ne - part% - \else - book% - \fi\fi - \fi - } -\fi -\def\etoclocalheadtotoc#1#2{\addcontentsline{toc}{@#1}{#2}} -\def\etocglobalheadtotoc{\addcontentsline{toc}} -\providecommand*\UseName{\@nameuse} -\def\etocetoclocaltocmaketitle{% - \UseName{\etocdivisionnameatlevel{\etoclocaltop+1}}*{\localcontentsname}% - \if@noskipsec\leavevmode\par\fi - \etociflocaltoctotoc - {\etocifisstarred - {}% star variant, do not add to toc - {\etoclocalheadtotoc - {\etocdivisionnameatlevel{\etoclocaltop+1}}% - {\localcontentsname}% - }% - }% - {}% -}% -\def\localcontentsname {\contentsname}% -\let\etoclocaltableofcontentshook\@empty -\if1\ifEtoc@lof0\fi\ifEtoc@lot0\fi1% -\else -\AtBeginDocument{% - \let\Etoc@originaladdcontentsline\addcontentsline - \def\addcontentsline{\Etoc@hackedaddcontentsline}% -}% -\fi -\ifEtoc@lof - \ifEtoc@lot - \def\Etoc@hackedaddcontentsline#1{% - \expanded{\noexpand\in@{.#1,}}{.lof,.lot,}% - \ifin@\expandafter\Etoc@hackedaddcontentsline@i - \else\expandafter\Etoc@originaladdcontentsline - \fi {#1}} - \else - \def\Etoc@hackedaddcontentsline#1{% - \expanded{\noexpand\in@{.#1,}}{.lof,}% - \ifin@\expandafter\Etoc@hackedaddcontentsline@i - \else\expandafter\Etoc@originaladdcontentsline - \fi {#1}} - \fi -\else - \def\Etoc@hackedaddcontentsline#1{% - \expanded{\noexpand\in@{.#1,}}{.lot,}% - \ifin@\expandafter\Etoc@hackedaddcontentsline@i - \else\expandafter\Etoc@originaladdcontentsline - \fi {#1}} -\fi -\def\Etoc@hackedaddcontentsline@i#1#2#3{% - \expanded{\noexpand\in@{.#1;#2,}}{.lof;figure,.lot;table,}% - \ifin@ - \addtocontents {toc}{% - \protect\contentsline{#2}{#3}{\thepage}{\ifEtoc@hyperref\@currentHref\fi}% - \ifdefined\protected@file@percent\protected@file@percent\fi - }% - \fi - \Etoc@originaladdcontentsline{#1}{#2}{#3}% -} -\unless\ifdefined\expanded - \def\Etoc@hackedaddcontentsline#1{% - {\edef\Etoc@tmp{\noexpand\in@{.#1,}{\ifEtoc@lof.lof,\fi\ifEtoc@lot.lot,\fi}}\expandafter}% - \Etoc@tmp - \ifin@\expandafter\Etoc@hackedaddcontentsline@i - \else\expandafter\Etoc@originaladdcontentsline - \fi {#1}% - } - \def\Etoc@hackedaddcontentsline@i#1#2#3{% - {\edef\Etoc@tmp{\noexpand\in@{.#1;#2,}}\expandafter}% - \Etoc@tmp{.lof;figure,.lot;table,}% - \ifin@ - \addtocontents {toc}{% - \protect\contentsline{#2}{#3}{\thepage}{\ifEtoc@hyperref\@currentHref\fi}% - \ifdefined\protected@file@percent\protected@file@percent\fi - }% - \fi - \Etoc@originaladdcontentsline{#1}{#2}{#3}% - } -\fi -\def\Etoc@@startlocallistof#1#2#3{% - \ifEtoc@localtoc - \ifnum #2=#3\relax - \global\let\etoclocaltop\Etoc@virtualtop - \global\Etoc@notactivefalse - \Etoc@@startlocaltochook - \csname etoclocallistof#1shook\endcsname - \ifEtoc@etocstyle - \csname etocetoclistof#1smaketitle\endcsname - \fi - \fi - \fi -} -\def\Etoc@@startlocallistof@setlevels#1{% - \ifnum\etoclocaltop<\z@ - \expandafter\let\csname Etoc@#1@@\endcsname\@ne - \else - \expandafter\let\csname Etoc@#1@@\expandafter\endcsname - \csname Etoc@\the\numexpr\etoclocaltop+\@ne @@\endcsname - \fi - \def\Etoc@do##1{% - \ifnum\etoclevel{##1}>\etoclocaltop - \expandafter\let\csname Etoc@##1@@\endcsname\Etoc@maxlevel - \fi}% - \Etoc@dolevels -} -\def\etoclocallistoffigureshook{\etocstandardlines} -\def\etoclocallistoftableshook {\etocstandardlines} -\def\locallistfigurename{\listfigurename} -\def\locallisttablename {\listtablename} -\def\etocetoclistoffiguresmaketitle{% - \UseName{\etocdivisionnameatlevel{\etoclocaltop+1}}*{\locallistfigurename}% - \ifnum\etoclocaltop>\tw@\mbox{}\par\fi - \etociflocalloftotoc - {\etocifisstarred - {}% star variant, do not add to toc - {\etoclocalheadtotoc - {\etocdivisionnameatlevel{\etoclocaltop+1}}% - {\locallistfigurename}% - }% - }% - {}% -}% -\def\etocetoclistoftablesmaketitle{% - \UseName{\etocdivisionnameatlevel{\etoclocaltop+1}}*{\locallisttablename}% - \ifnum\etoclocaltop>\tw@\mbox{}\par\fi - \etociflocallottotoc - {\etocifisstarred - {}% star variant, do not add to toc - {\etoclocalheadtotoc - {\etocdivisionnameatlevel{\etoclocaltop+1}}% - {\locallisttablename}% - }% - }% - {}% -}% -\let\Etoc@listofreset\@empty -\ifEtoc@lof - \def\locallistoffigures{% - \def\Etoc@listofreset{% - \let\Etoc@currext\Etoc@tocext - \let\Etoc@@startlocaltoc\Etoc@@startlocaltoc@toc - \let\Etoc@@startlocaltochook\@empty - \let\Etoc@listofreset\@empty - \let\Etoc@listofhook\@empty - }% - \let\Etoc@currext\Etoc@lofext - \def\Etoc@@startlocaltoc{\Etoc@@startlocallistof{figure}}% - \def\Etoc@@startlocaltochook{\Etoc@@startlocallistof@setlevels{figure}}% - \def\Etoc@listofhook{% - \def\Etoc@do####1{% - \expandafter\let\csname Etoc@@####1@@\endcsname\Etoc@maxlevel - }% - \Etoc@dolevels - }% - \localtableofcontents - } -\else - \def\locallistoffigures{% - \PackageError{etoc}{% - \string\locallistoffigures \on@line\space but\MessageBreak - package was loaded without `lof' option}% - {Try again with \string\usepackage[lof]{etoc}}% - } -\fi -\ifEtoc@lot - \def\locallistoftables{% - \def\Etoc@listofreset{% - \let\Etoc@currext\Etoc@tocext - \let\Etoc@@startlocaltoc\Etoc@@startlocaltoc@toc - \let\Etoc@@startlocaltochook\@empty - \let\Etoc@listofreset\@empty - \let\Etoc@listofhook\@empty - }% - \let\Etoc@currext\Etoc@lotext - \def\Etoc@@startlocaltoc{\Etoc@@startlocallistof{table}}% - \def\Etoc@@startlocaltochook{\Etoc@@startlocallistof@setlevels{table}}% - \def\Etoc@listofhook{% - \def\Etoc@do####1{% - \expandafter\let\csname Etoc@@####1@@\endcsname\Etoc@maxlevel - }% - \Etoc@dolevels - }% - \localtableofcontents - } -\else - \def\locallistoftables{% - \PackageError{etoc}{% - \string\locallistoftable \on@line\space but\MessageBreak - package was loaded without `lot' option}% - {Try again with \string\usepackage[lot]{etoc}}% - } -\fi -\def\Etoc@checkifempty {% - \global\Etoc@isemptytoctrue - \global\Etoc@stoptocfalse - \global\let\Etoc@level\Etoc@minf - \global\let\Etoc@virtualtop\Etoc@minf - \gdef\Etoc@stackofends{{-3}{}}% - \begingroup - \ifEtoc@localtoc - \def\etoc@startlocaltoc##1{% - \ifnum##1=\Etoc@tocid\relax - \global\let\etoclocaltop\Etoc@virtualtop - \Etoc@@startlocaltochook - \global\Etoc@notactivefalse - \fi - }% - \let\contentsline\Etoc@testingcontentslinelocal - \else - \let\contentsline\Etoc@testingcontentsline - \fi - \Etoc@storetocdepth - \let\Etoc@setlocaltop@doendsandbegin\@empty - \the\Etoc@toctoks - \Etoc@restoretocdepth - \endgroup -} -\DeclareRobustCommand*\etocifwasempty - {\ifEtoc@isemptytoc\expandafter\@firstoftwo\else\expandafter\@secondoftwo\fi } -\expandafter\let\expandafter\etocxifwasempty\csname etocifwasempty \endcsname -\def\Etoc@testingcontentslinelocal #1{% - \ifEtoc@stoptoc - \else - \ifnum\csname Etoc@#1@@\endcsname=\Etoc@maxlevel - \else - \global\expandafter\let\expandafter\Etoc@level\csname Etoc@#1@@\endcsname - \if @\@car#1\@nil\else\global\let\Etoc@virtualtop\Etoc@level\fi - \ifEtoc@notactive - \else - \ifnum\Etoc@level>\etoclocaltop - \unless\ifnum\Etoc@level>\c@tocdepth - \global\Etoc@isemptytocfalse - \global\Etoc@stoptoctrue - \fi - \else - \global\Etoc@stoptoctrue - \fi - \fi - \fi - \fi - \Etoc@gobblethreeorfour{}% -} -\def\Etoc@testingcontentsline #1{% - \ifEtoc@stoptoc - \else - \ifnum\csname Etoc@#1@@\endcsname=\Etoc@maxlevel - \else - \unless\ifnum\csname Etoc@#1@@\endcsname>\c@tocdepth - \global\Etoc@isemptytocfalse - \global\Etoc@stoptoctrue - \fi - \fi - \fi - \Etoc@gobblethreeorfour{}% -} -\def\Etoc@localtableofcontents#1{% - \gdef\etoclocaltop{-\@m}% - \Etoc@localtoctrue - \global\Etoc@isemptytocfalse - \edef\Etoc@tocid{#1}% - \ifnum\Etoc@tocid<\@ne - \setbox0\hbox{\ref{Unknown toc ref \@secondoftwo#1. \space Rerun LaTeX}}% - \global\Etoc@stoptoctrue - \gdef\etoclocaltop{-\thr@@}% - \Etoc@tableofcontents - \expandafter\Etoc@gobtoetoc@ - \fi - \global\Etoc@notactivetrue - \ifEtoc@checksemptiness - \Etoc@checkifempty - \fi - \ifEtoc@isemptytoc - \ifEtoc@notactive - \setbox0\hbox{\ref{Unknown toc ID \number\Etoc@tocid. \space Rerun LaTeX}}% - \global\Etoc@isemptytocfalse - \global\Etoc@stoptoctrue - \gdef\etoclocaltop{-\thr@@}% - \Etoc@tableofcontents - \expandafter\expandafter\expandafter\Etoc@gobtoetoc@ - \fi - \else - \global\Etoc@stoptocfalse - \global\Etoc@notactivetrue - \edef\etoc@startlocaltoc##1% - {\noexpand\Etoc@@startlocaltoc{##1}{\Etoc@tocid}}% - \Etoc@tableofcontents - \fi - \@gobble\etoc@ - \endgroup\ifEtoc@mustclosegroup\endgroup\fi - \Etoc@tocdepthreset - \Etoc@listofreset - \etocaftertochook -}% \Etoc@localtableofcontents -\def\Etoc@getref #1{% - \@ifundefined{r@#1} - {0} - {\expandafter\Etoc@getref@i\romannumeral-`0% - \expandafter\expandafter\expandafter - \@car\csname r@#1\endcsname0\@nil\@etoc - }% -} -\def\Etoc@getref@i#1#2\@etoc{\ifnum9<1\string#1 #1#2\else 0\fi} -\def\Etoc@ref#1{\Etoc@localtableofcontents{\Etoc@getref{#1}}} -\def\Etoc@label#1{\label{#1}\futurelet\Etoc@nexttoken\Etoc@t@bleofcontents} -\@firstofone{\def\Etoc@again} {\futurelet\Etoc@nexttoken\Etoc@t@bleofcontents} -\def\Etoc@dothis #1#2\etoc@ {\fi #1} -\def\Etoc@t@bleofcontents{% - \gdef\etoclocaltop{-\@M}% - \ifx\Etoc@nexttoken\label\Etoc@dothis{\expandafter\Etoc@label\@gobble}\fi - \ifx\Etoc@nexttoken\@sptoken\Etoc@dothis{\Etoc@again}\fi - \ifx\Etoc@nexttoken\ref\Etoc@dothis{\expandafter\Etoc@ref\@gobble}\fi - \ifEtoc@tocwithid\Etoc@dothis{\Etoc@localtableofcontents{\c@etoc@tocid}}\fi - \global\Etoc@isemptytocfalse - \ifEtoc@checksemptiness\Etoc@checkifempty\fi - \ifEtoc@isemptytoc - \ifEtoc@notocifnotoc - \expandafter\expandafter\expandafter\@gobble - \fi - \fi - \Etoc@tableofcontents - \endgroup - \ifEtoc@mustclosegroup\endgroup\fi - \Etoc@tocdepthreset - \Etoc@listofreset - \etocaftertochook - \@gobble\etoc@ - }% \Etoc@t@bleofcontents -\def\Etoc@table@fcontents{% - \refstepcounter{etoc@tocid}% - \Etoc@tocwithidfalse - \futurelet\Etoc@nexttoken\Etoc@t@bleofcontents -} -\def\Etoc@localtable@fcontents{% - \refstepcounter{etoc@tocid}% - \addtocontents{toc}{\string\etoc@startlocaltoc{\the\c@etoc@tocid}}% - \Etoc@tocwithidtrue - \futurelet\Etoc@nexttoken\Etoc@t@bleofcontents -} -\def\etoctableofcontents{% - \Etoc@openouttoc - \Etoc@tocdepthset - \begingroup - \@ifstar - {\let\Etoc@aftertitlehook\@empty\Etoc@table@fcontents} - {\def\Etoc@aftertitlehook{\etocaftertitlehook}\Etoc@table@fcontents}% -}% \etoctableofcontents -\def\etocifisstarred{\ifx\Etoc@aftertitlehook\@empty - \expandafter\@firstoftwo\else - \expandafter\@secondoftwo - \fi} -\let\etocoriginaltableofcontents\tableofcontents -\let\tableofcontents\etoctableofcontents -\let\Etoc@listofhook\@empty -\newcommand*\localtableofcontents{% - \Etoc@openouttoc - \Etoc@tocdepthset - \begingroup - \Etoc@listofhook - \@ifstar - {\let\Etoc@aftertitlehook\@empty\Etoc@localtable@fcontents} - {\def\Etoc@aftertitlehook{\etocaftertitlehook}\Etoc@localtable@fcontents}% -}% \localtableofcontents -\newcommand*\localtableofcontentswithrelativedepth[1]{% - \def\Etoc@@startlocaltochook{% - \global\c@tocdepth\numexpr\etoclocaltop+#1\relax - }% - \def\Etoc@listofreset{\let\Etoc@@startlocaltochook\@empty - \let\Etoc@listofreset\@empty}% - \localtableofcontents -}% \localtableofcontentswithrelativedepth -\newcommand\etocsettocstyle[2]{% - \Etoc@etocstylefalse - \Etoc@classstylefalse - \def\Etoc@tableofcontents@user@before{#1}% - \def\Etoc@tableofcontents@user@after {#2}% -}% -\def\etocstoretocstyleinto#1{% -%% \@ifdefinable#1{% - \edef#1{\noexpand\Etoc@etocstylefalse\noexpand\Etoc@classstylefalse - \def\noexpand\Etoc@tableofcontents@user@before{% - \unexpanded\expandafter{\Etoc@tableofcontents@user@before}% - }% - \def\noexpand\Etoc@tableofcontents@user@after{% - \unexpanded\expandafter{\Etoc@tableofcontents@user@after}% - }% - }% -%% }% -}% -\def\Etoc@tableofcontents {% - \Etoc@tableofcontents@etoc@before - \ifEtoc@localtoc\ifEtoc@etocstyle\expandafter\expandafter\expandafter\@gobble\fi\fi - \Etoc@tableofcontents@user@before - \Etoc@tableofcontents@contents - \ifEtoc@localtoc\ifEtoc@etocstyle\expandafter\expandafter\expandafter\@gobble\fi\fi - \Etoc@tableofcontents@user@after - \Etoc@tableofcontents@etoc@after - \@gobble\etoc@ -} -\def\Etoc@tableofcontents@etoc@before{% - \ifnum\c@tocdepth>\Etoc@minf - \else - \expandafter\Etoc@gobtoetoc@ - \fi - \Etoc@par - \Etoc@beforetitlehook - \etocbeforetitlehook - \Etoc@storetocdepth - \let\Etoc@savedcontentsline\contentsline - \let\contentsline\Etoc@etoccontentsline - \ifEtoc@standardlines - \else - \def\Etoc@do##1{% - \expandafter\def\csname etocsaved##1tocline\endcsname - {\PackageError{etoc}{% - \expandafter\string\csname etocsaved##1tocline\endcsname\space - has been deprecated\MessageBreak - at 1.1a and is removed at 1.2.\MessageBreak - Use \expandafter\string\csname l@##1\endcsname\space directly.\MessageBreak - Reported \on@line}% - {I will use \expandafter\string - \csname l@##1\endcsname\space myself for this time.% - }% - \csname l@##1\endcsname - }% - }% - \Etoc@dolevels - \fi -}% -\def\Etoc@tableofcontents@contents{% - \Etoc@tocdepthset - \ifEtoc@parskip\parskip\z@skip\fi - \Etoc@aftertitlehook - \gdef\etoclocaltop{-\thr@@}% - \Etoc@toctoc - \etocaftercontentshook -}% -\def\Etoc@tableofcontents@etoc@after{% - \@nobreakfalse - \Etoc@restoretocdepth - \ifx\Etoc@global\global - \@ifundefined{tof@finish} - {} - {\ifx\tof@finish\@empty - \else - \global\let\contentsline\Etoc@savedcontentsline - \fi - }% - \fi -} -\def\etocsetstyle#1{\ifcsname Etoc@#1@@\endcsname - \expandafter\Etoc@setstyle@a - \else - \expandafter\Etoc@setstyle@error - \fi {#1}% -} -\def\Etoc@setstyle@error #1{% - \PackageWarning{etoc}{`#1' is unknown to etoc. \space Did you\MessageBreak - forget some \string\etocsetlevel{#1}{}?\MessageBreak - Reported}% - \@gobblefour -} -\def\Etoc@setstyle@a #1{% - \edef\Etoc@tmp{\the\numexpr\csname Etoc@#1@@\endcsname}% - \if1\unless\ifnum\Etoc@tmp<\Etoc@maxlevel 0\fi - \unless\ifnum\Etoc@tmp>\Etoc@minf 0\fi1% - \Etoc@standardlinesfalse - \expandafter\Etoc@setstyle@b\expandafter\Etoc@tmp - \else - \ifnum\Etoc@tmp=\Etoc@maxlevel - \in@{.#1,}{.figure,.table,}% - \ifin@ - \PackageWarning{etoc} - {You can not use \string\etocsetstyle\space with `#1'.\MessageBreak - Check the package documentation (in particular about\MessageBreak - \string\etoclocallistoffigureshook/\string\etoclocallistoftableshook)% - \MessageBreak on how to customize - figure and table entries in local\MessageBreak lists. Reported}% - \else - \PackageInfo{etoc} - {Attempt to set the style of `#1',\MessageBreak - whose level is currently the maximal one \etocthemaxlevel,\MessageBreak - which is never displayed. \space This will be ignored\MessageBreak - but note that we do quit compatibility mode.\MessageBreak - Reported}% - \Etoc@standardlinesfalse - \fi - \else - \PackageWarning{etoc}{This should not happen. Reported}% - \fi - \expandafter\@gobblefour - \fi -} -\long\def\Etoc@setstyle@b#1#2#3#4#5{% - \expandafter\def\csname Etoc@begin@#1\endcsname {#2}% - \expandafter\def\csname Etoc@prefix@#1\endcsname {#3}% - \expandafter\def\csname Etoc@contents@#1\endcsname {#4}% - \expandafter\def\csname Etoc@end@#1\endcsname {#5}% -} -\def\Etoc@setstyle@e#1{% - \expandafter\let\csname Etoc@begin@#1\endcsname \@empty - \expandafter\let\csname Etoc@prefix@#1\endcsname \@empty - \expandafter\let\csname Etoc@contents@#1\endcsname \@empty - \expandafter\let\csname Etoc@end@#1\endcsname \@empty -} -\def\Etoc@storelines@a#1{% - \noexpand\Etoc@setstyle@b{#1}% - {\expandafter\Etoc@expandonce\csname Etoc@begin@#1\endcsname}% - {\expandafter\Etoc@expandonce\csname Etoc@prefix@#1\endcsname}% - {\expandafter\Etoc@expandonce\csname Etoc@contents@#1\endcsname}% - {\expandafter\Etoc@expandonce\csname Etoc@end@#1\endcsname}% -} -\def\Etoc@expandonce#1{\unexpanded\expandafter{#1}} -\def\etocstorelinestylesinto#1{% - \edef#1{\Etoc@storelines@a{-2}\Etoc@storelines@a{-1}\Etoc@storelines@a{0}% - \Etoc@storelines@a {1}\Etoc@storelines@a {2}\Etoc@storelines@a{3}% - \Etoc@storelines@a {4}\Etoc@storelines@a {5}% - \ifEtoc@deeplevels - \Etoc@storelines@a{6}\Etoc@storelines@a{7}\Etoc@storelines@a{8}% - \Etoc@storelines@a{9}\Etoc@storelines@a{10}\Etoc@storelines@a{11}% - \fi - }% -} -\def\etocstorethislinestyleinto#1#2{% - \edef#2{\expandafter\Etoc@storelines@a\expandafter{\number\etoclevel{#1}}}% -}% -\def\etocfontminustwo {\normalfont \LARGE \bfseries} -\def\etocfontminusone {\normalfont \large \bfseries} -\def\etocfontzero {\normalfont \large \bfseries} -\def\etocfontone {\normalfont \normalsize \bfseries} -\def\etocfonttwo {\normalfont \normalsize} -\def\etocfontthree {\normalfont \footnotesize} -\def\etocsepminustwo {4ex \@plus .5ex \@minus .5ex} -\def\etocsepminusone {4ex \@plus .5ex \@minus .5ex} -\def\etocsepzero {2.5ex \@plus .4ex \@minus .4ex} -\def\etocsepone {1.5ex \@plus .3ex \@minus .3ex} -\def\etocseptwo {.5ex \@plus .1ex \@minus .1ex} -\def\etocsepthree {.25ex \@plus .05ex \@minus .05ex} -\def\etocbaselinespreadminustwo {1} -\def\etocbaselinespreadminusone {1} -\def\etocbaselinespreadzero {1} -\def\etocbaselinespreadone {1} -\def\etocbaselinespreadtwo {1} -\def\etocbaselinespreadthree {.9} -\def\etocminustwoleftmargin {1.5em plus 0.5fil} -\def\etocminustworightmargin {1.5em plus -0.5fil} -\def\etocminusoneleftmargin {1em} -\def\etocminusonerightmargin {1em} -\def\etoctoclineleaders - {\hbox{\normalfont\normalsize\hb@xt@2ex {\hss.\hss}}} -\def\etocabbrevpagename {p.~} -\def\etocpartname {Part} -\def\etocbookname {Book} -\def\etocdefaultlines{% - \Etoc@standardlinesfalse - \etocdefaultlines@setbook - \etocdefaultlines@setpart - \etocdefaultlines@setchapter - \etocdefaultlines@setsection - \etocdefaultlines@setsubsection - \etocdefaultlines@setsubsubsection - \etocdefaultlines@setdeeperones -} -\def\etocnoprotrusion{\leavevmode\kern-\p@\kern\p@} -\@ifclassloaded{memoir}{% - \def\etocdefaultlines@setbook{% - \Etoc@setstyle@b - {-2}% - {\addpenalty\@M\etocskipfirstprefix} - {\addpenalty\@secpenalty} - {\begingroup - \etocfontminustwo - \addvspace{\etocsepminustwo}% - \parindent \z@ - \leftskip \etocminustwoleftmargin - \rightskip \etocminustworightmargin - \parfillskip \@flushglue - \vbox{\etocifnumbered{\etoclink{\etocbookname\enspace\etocthenumber:\quad}}{}% - \etocname - \baselineskip\etocbaselinespreadminustwo\baselineskip - \par}% - \addpenalty\@M\addvspace{\etocsepminusone}% - \endgroup} - {}% - } - }{\let\etocdefaultlines@setbook\@empty} -\def\etocdefaultlines@setpart{% -\Etoc@setstyle@b - {-1}% - {\addpenalty\@M\etocskipfirstprefix} - {\addpenalty\@secpenalty} - {\begingroup - \etocfontminusone - \addvspace{\etocsepminusone}% - \parindent \z@ - \leftskip \etocminusoneleftmargin - \rightskip \etocminusonerightmargin - \parfillskip \@flushglue - \vbox{\etocifnumbered{\etoclink{\etocpartname\enspace\etocthenumber.\quad}}{}% - \etocname - \baselineskip\etocbaselinespreadminusone\baselineskip - \par}% - \addpenalty\@M\addvspace{\etocsepzero}% - \endgroup} - {}% -} -\def\etocdefaultlines@setchapter{% -\Etoc@setstyle@b - {0}% - {\addpenalty\@M\etocskipfirstprefix} - {\addpenalty\@itempenalty} - {\begingroup - \etocfontzero - \addvspace{\etocsepzero}% - \parindent \z@ \parfillskip \@flushglue - \vbox{\etocifnumbered{\etocnumber.\enspace}{}\etocname - \baselineskip\etocbaselinespreadzero\baselineskip - \par}% - \endgroup} - {\addpenalty{-\@highpenalty}\addvspace{\etocsepminusone}}% -} -\def\etocdefaultlines@setsection{% -\Etoc@setstyle@b - {1}% - {\addpenalty\@M\etocskipfirstprefix} - {\addpenalty\@itempenalty} - {\begingroup - \etocfontone - \addvspace{\etocsepone}% - \parindent \z@ \parfillskip \z@ - \setbox\z@\vbox{\parfillskip\@flushglue - \etocname\par - \setbox\tw@\lastbox - \global\setbox\@ne\hbox{\unhbox\tw@\ }}% - \dimen\z@=\wd\@ne - \setbox\z@=\etoctoclineleaders - \advance\dimen\z@\wd\z@ - \etocifnumbered - {\setbox\tw@\hbox{\etocnumber, \etocabbrevpagename\etocpage\etocnoprotrusion}} - {\setbox\tw@\hbox{\etocabbrevpagename\etocpage\etocnoprotrusion}}% - \advance\dimen\z@\wd\tw@ - \ifdim\dimen\z@ < \linewidth - \vbox{\etocname~% - \leaders\box\z@\hfil\box\tw@ - \baselineskip\etocbaselinespreadone\baselineskip - \par}% - \else - \vbox{\etocname~% - \leaders\copy\z@\hfil\break - \hbox{}\leaders\box\z@\hfil\box\tw@ - \baselineskip\etocbaselinespreadone\baselineskip - \par}% - \fi - \endgroup} - {\addpenalty\@secpenalty\addvspace{\etocsepzero}}% -} -\def\etocdefaultlines@setsubsection{% -\Etoc@setstyle@b - {2}% - {\addpenalty\@medpenalty\etocskipfirstprefix} - {\addpenalty\@itempenalty} - {\begingroup - \etocfonttwo - \addvspace{\etocseptwo}% - \parindent \z@ \parfillskip \z@ - \setbox\z@\vbox{\parfillskip\@flushglue - \etocname\par\setbox\tw@\lastbox - \global\setbox\@ne\hbox{\unhbox\tw@}}% - \dimen\z@=\wd\@ne - \setbox\z@=\etoctoclineleaders - \advance\dimen\z@\wd\z@ - \etocifnumbered - {\setbox\tw@\hbox{\etocnumber, \etocabbrevpagename\etocpage\etocnoprotrusion}} - {\setbox\tw@\hbox{\etocabbrevpagename\etocpage\etocnoprotrusion}}% - \advance\dimen\z@\wd\tw@ - \ifdim\dimen\z@ < \linewidth - \vbox{\etocname~% - \leaders\box\z@\hfil\box\tw@ - \baselineskip\etocbaselinespreadtwo\baselineskip - \par}% - \else - \vbox{\etocname~% - \leaders\copy\z@\hfil\break - \hbox{}\leaders\box\z@\hfil\box\tw@ - \baselineskip\etocbaselinespreadtwo\baselineskip - \par}% - \fi - \endgroup} - {\addpenalty\@secpenalty\addvspace{\etocsepone}}% -} -\def\etocdefaultlines@setsubsubsection{% -\Etoc@setstyle@b - {3}% - {\addpenalty\@M - \etocfontthree - \vspace{\etocsepthree}% - \noindent - \etocskipfirstprefix} - {\allowbreak\,--\,} - {\etocname} - {.\hfil - \begingroup - \baselineskip\etocbaselinespreadthree\baselineskip - \par - \endgroup - \addpenalty{-\@highpenalty}} -} -\def\etocdefaultlines@setdeeperones{% -\Etoc@setstyle@e{4}% -\Etoc@setstyle@e{5}% -\ifEtoc@deeplevels - \Etoc@setstyle@e{6}% - \Etoc@setstyle@e{7}% - \Etoc@setstyle@e{8}% - \Etoc@setstyle@e{9}% - \Etoc@setstyle@e{10}% - \Etoc@setstyle@e{11}% -\fi -} -\def\etocabovetocskip{3.5ex \@plus 1ex \@minus .2ex} -\def\etocbelowtocskip{3.5ex \@plus 1ex \@minus .2ex} -\def\etoccolumnsep{2em} -\def\etocmulticolsep{0ex} -\def\etocmulticolpretolerance{-1} -\def\etocmulticoltolerance{200} -\def\etocdefaultnbcol{2} -\def\etocinnertopsep{2ex} -\newcommand\etocmulticolstyle[2][\etocdefaultnbcol]{% -\etocsettocstyle - {\let\etocoldpar\par - \addvspace{\etocabovetocskip}% - \ifnum #1>\@ne - \expandafter\@firstoftwo - \else \expandafter\@secondoftwo - \fi - {\multicolpretolerance\etocmulticolpretolerance - \multicoltolerance\etocmulticoltolerance - \setlength{\columnsep}{\etoccolumnsep}% - \setlength{\multicolsep}{\etocmulticolsep}% - \begin{multicols}{#1}[#2\etocoldpar\addvspace{\etocinnertopsep}]} - {#2\ifvmode\else\begingroup\interlinepenalty\@M\parskip\z@skip - \@@par\endgroup - \fi - \nobreak\addvspace{\etocinnertopsep}% - \pretolerance\etocmulticolpretolerance - \tolerance\etocmulticoltolerance}% - }% - {\ifnum #1>\@ne - \expandafter\@firstofone - \else \expandafter\@gobble - \fi - {\end{multicols}}% - \addvspace{\etocbelowtocskip}}% -} -\def\etocinnerbottomsep{3.5ex} -\def\etocinnerleftsep{2em} -\def\etocinnerrightsep{2em} -\def\etoctoprule{\hrule} -\def\etocleftrule{\vrule} -\def\etocrightrule{\vrule} -\def\etocbottomrule{\hrule} -\def\etoctoprulecolorcmd{\relax} -\def\etocbottomrulecolorcmd{\relax} -\def\etocleftrulecolorcmd{\relax} -\def\etocrightrulecolorcmd{\relax} -\def\etoc@ruledheading #1{% - \hb@xt@\linewidth{\color@begingroup - \hss #1\hss\hskip-\linewidth - \etoctoprulecolorcmd\leaders\etoctoprule\hss - \phantom{#1}% - \leaders\etoctoprule\hss\color@endgroup}% - \nointerlineskip\nobreak\vskip\etocinnertopsep} -\newcommand*\etocruledstyle[2][\etocdefaultnbcol]{% -\etocsettocstyle - {\addvspace{\etocabovetocskip}% - \ifnum #1>\@ne - \expandafter\@firstoftwo - \else \expandafter\@secondoftwo - \fi - {\multicolpretolerance\etocmulticolpretolerance - \multicoltolerance\etocmulticoltolerance - \setlength{\columnsep}{\etoccolumnsep}% - \setlength{\multicolsep}{\etocmulticolsep}% - \begin{multicols}{#1}[\etoc@ruledheading{#2}]} - {\etoc@ruledheading{#2}% - \pretolerance\etocmulticolpretolerance - \tolerance\etocmulticoltolerance}} - {\ifnum #1>\@ne\expandafter\@firstofone - \else \expandafter\@gobble - \fi - {\end{multicols}}% - \addvspace{\etocbelowtocskip}}} -\def\etocframedmphook{\relax} -\long\def\etocbkgcolorcmd{\relax} -\long\def\Etoc@relax{\relax} -\newbox\etoc@framed@titlebox -\newbox\etoc@framed@contentsbox -\newcommand*\etocframedstyle[2][\etocdefaultnbcol]{% -\etocsettocstyle{% - \addvspace{\etocabovetocskip}% - \sbox\z@{#2}% - \dimen\z@\dp\z@ - \ifdim\wd\z@<\linewidth \dp\z@\z@ \else \dimen\z@\z@ \fi - \setbox\etoc@framed@titlebox=\hb@xt@\linewidth{\color@begingroup - \hss - \ifx\etocbkgcolorcmd\Etoc@relax - \else - \sbox\tw@{\color{white}% - \vrule\@width\wd\z@\@height\ht\z@\@depth\dimen\z@}% - \ifdim\wd\z@<\linewidth \dp\tw@\z@\fi - \box\tw@ - \hskip-\wd\z@ - \fi - \copy\z@ - \hss - \hskip-\linewidth - \etoctoprulecolorcmd\leaders\etoctoprule\hss - \hskip\wd\z@ - \etoctoprulecolorcmd\leaders\etoctoprule\hss\color@endgroup}% - \setbox\z@\hbox{\etocleftrule\etocrightrule}% - \dimen\tw@\linewidth\advance\dimen\tw@-\wd\z@ - \advance\dimen\tw@-\etocinnerleftsep - \advance\dimen\tw@-\etocinnerrightsep - \setbox\etoc@framed@contentsbox=\vbox\bgroup - \hsize\dimen\tw@ - \kern\dimen\z@ - \vskip\etocinnertopsep - \hbox\bgroup - \begin{minipage}{\hsize}% - \etocframedmphook - \ifnum #1>\@ne - \expandafter\@firstoftwo - \else \expandafter\@secondoftwo - \fi - {\multicolpretolerance\etocmulticolpretolerance - \multicoltolerance\etocmulticoltolerance - \setlength{\columnsep}{\etoccolumnsep}% - \setlength{\multicolsep}{\etocmulticolsep}% - \begin{multicols}{#1}} - {\pretolerance\etocmulticolpretolerance - \tolerance\etocmulticoltolerance}} - {\ifnum #1>\@ne\expandafter\@firstofone - \else \expandafter\@gobble - \fi - {\end{multicols}\unskip }% - \end{minipage}% - \egroup - \vskip\etocinnerbottomsep - \egroup - \vbox{\hsize\linewidth - \ifx\etocbkgcolorcmd\Etoc@relax - \else - \kern\ht\etoc@framed@titlebox - \kern\dp\etoc@framed@titlebox - \hb@xt@\linewidth{\color@begingroup - \etocleftrulecolorcmd\etocleftrule - \etocbkgcolorcmd - \leaders\vrule - \@height\ht\etoc@framed@contentsbox - \@depth\dp\etoc@framed@contentsbox - \hss - \etocrightrulecolorcmd\etocrightrule - \color@endgroup}\nointerlineskip - \vskip-\dp\etoc@framed@contentsbox - \vskip-\ht\etoc@framed@contentsbox - \vskip-\dp\etoc@framed@titlebox - \vskip-\ht\etoc@framed@titlebox - \fi - \box\etoc@framed@titlebox\nointerlineskip - \hb@xt@\linewidth{\color@begingroup - {\etocleftrulecolorcmd\etocleftrule}% - \hss\box\etoc@framed@contentsbox\hss - \etocrightrulecolorcmd\etocrightrule\color@endgroup} - \nointerlineskip - \vskip\ht\etoc@framed@contentsbox - \vskip\dp\etoc@framed@contentsbox - \hb@xt@\linewidth{\color@begingroup\etocbottomrulecolorcmd - \leaders\etocbottomrule\hss\color@endgroup}} - \addvspace{\etocbelowtocskip}}} -\newcommand\etoc@multicoltoc[2][\etocdefaultnbcol]{% - \etocmulticolstyle[#1]{#2}% - \tableofcontents} -\newcommand\etoc@multicoltoci[2][\etocdefaultnbcol]{% - \etocmulticolstyle[#1]{#2}% - \tableofcontents*} -\newcommand\etoc@local@multicoltoc[2][\etocdefaultnbcol]{% - \etocmulticolstyle[#1]{#2}% - \localtableofcontents} -\newcommand\etoc@local@multicoltoci[2][\etocdefaultnbcol]{% - \etocmulticolstyle[#1]{#2}% - \localtableofcontents*} -\newcommand*\etoc@ruledtoc[2][\etocdefaultnbcol]{% - \etocruledstyle[#1]{#2}% - \tableofcontents} -\newcommand*\etoc@ruledtoci[2][\etocdefaultnbcol]{% - \etocruledstyle[#1]{#2}% - \tableofcontents*} -\newcommand*\etoc@local@ruledtoc[2][\etocdefaultnbcol]{% - \etocruledstyle[#1]{#2}% - \localtableofcontents} -\newcommand*\etoc@local@ruledtoci[2][\etocdefaultnbcol]{% - \etocruledstyle[#1]{#2}% - \localtableofcontents*} -\newcommand*\etoc@framedtoc[2][\etocdefaultnbcol]{% - \etocframedstyle[#1]{#2}% - \tableofcontents} -\newcommand*\etoc@framedtoci[2][\etocdefaultnbcol]{% - \etocframedstyle[#1]{#2}% - \tableofcontents*} -\newcommand*\etoc@local@framedtoc[2][\etocdefaultnbcol]{% - \etocframedstyle[#1]{#2}% - \localtableofcontents} -\newcommand*\etoc@local@framedtoci[2][\etocdefaultnbcol]{% - \etocframedstyle[#1]{#2}% - \localtableofcontents*} -\def\etocmulticol{\begingroup - \Etoc@mustclosegrouptrue - \@ifstar - {\etoc@multicoltoci} - {\etoc@multicoltoc}} -\def\etocruled{\begingroup - \Etoc@mustclosegrouptrue - \@ifstar - {\etoc@ruledtoci} - {\etoc@ruledtoc}} -\def\etocframed{\begingroup - \Etoc@mustclosegrouptrue - \@ifstar - {\etoc@framedtoci} - {\etoc@framedtoc}} -\def\etoclocalmulticol{\begingroup - \Etoc@mustclosegrouptrue - \@ifstar - {\etoc@local@multicoltoci} - {\etoc@local@multicoltoc}} -\def\etoclocalruled{\begingroup - \Etoc@mustclosegrouptrue - \@ifstar - {\etoc@local@ruledtoci} - {\etoc@local@ruledtoc}} -\def\etoclocalframed{\begingroup - \Etoc@mustclosegrouptrue - \@ifstar - {\etoc@local@framedtoci} - {\etoc@local@framedtoc}} -\def\etocmemoirtoctotocfmt #1#2{% - \PackageWarning{etoc} - {\string\etocmemoirtoctotocfmt\space is deprecated.\MessageBreak - Use in its place \string\etocsettoclineforclasstoc,\MessageBreak - and \string\etocsettoclineforclasslistof{toc} (or {lof}, {lot}). - I will do this now.\MessageBreak - Reported}% - \etocsettoclineforclasstoc{#1}{#2}% - \etocsettoclineforclasslistof{toc}{#1}{#2}% -} -\def\etocsettoclineforclasstoc #1#2{% - \def\etocclassmaintocaddtotoc{\etocglobalheadtotoc{#1}{#2}}% -} -\def\etocsettoclineforclasslistof #1#2#3{% - \@namedef{etocclasslocal#1addtotoc}{\etoclocalheadtotoc{#2}{#3}}% -} -\let\etocclasslocaltocaddtotoc\@empty -\let\etocclasslocallofaddtotoc\@empty -\let\etocclasslocallotaddtotoc\@empty -\ifdefined\c@chapter - \def\etocclasslocaltocmaketitle{\section*{\localcontentsname}} - \def\etocclasslocallofmaketitle{\section*{\locallistfigurename}} - \def\etocclasslocallotmaketitle{\section*{\locallisttablename}} - \etocsettoclineforclasstoc {chapter}{\contentsname} - \etocsettoclineforclasslistof{toc}{section}{\localcontentsname} - \etocsettoclineforclasslistof{lof}{section}{\locallistfigurename} - \etocsettoclineforclasslistof{lot}{section}{\locallisttablename} -\else - \def\etocclasslocaltocmaketitle{\subsection*{\localcontentsname}}% - \def\etocclasslocallofmaketitle{\subsection*{\locallistfigurename}}% - \def\etocclasslocallotmaketitle{\subsection*{\locallisttablename}}% - \etocsettoclineforclasstoc {section}{\contentsname} - \etocsettoclineforclasslistof{toc}{subsection}{\localcontentsname} - \etocsettoclineforclasslistof{lof}{subsection}{\locallistfigurename} - \etocsettoclineforclasslistof{lot}{subsection}{\locallisttablename} -\fi -\def\etocclasslocalperhapsaddtotoc #1{% - \etocifisstarred - {} - {\csname ifEtoc@local#1totoc\endcsname - \csname etocclasslocal#1addtotoc\endcsname - \fi - }% -} -\def\etocarticlestyle{% - \etocsettocstyle - {\ifEtoc@localtoc - \@nameuse{etocclasslocal\Etoc@currext maketitle}% - \etocclasslocalperhapsaddtotoc\Etoc@currext - \else - \section *{\contentsname - \@mkboth {\MakeUppercase \contentsname} - {\MakeUppercase \contentsname}}% - \etocifisstarred{}{\etocifmaintoctotoc{\etocclassmaintocaddtotoc}{}}% - \fi - } - {}% -} -\def\etocarticlestylenomarks{% - \etocsettocstyle - {\ifEtoc@localtoc - \@nameuse{etocclasslocal\Etoc@currext maketitle}% - \etocclasslocalperhapsaddtotoc\Etoc@currext - \else - \section *{\contentsname}% - \etocifisstarred{}{\etocifmaintoctotoc{\etocclassmaintocaddtotoc}{}}% - \fi - } - {}% -} -\def\etocbookstyle{% - \etocsettocstyle - {\if@twocolumn \@restonecoltrue \onecolumn \else \@restonecolfalse \fi - \ifEtoc@localtoc - \@nameuse{etocclasslocal\Etoc@currext maketitle}% - \etocclasslocalperhapsaddtotoc\Etoc@currext - \else - \chapter *{\contentsname - \@mkboth {\MakeUppercase \contentsname} - {\MakeUppercase \contentsname}}% - \etocifisstarred{}{\etocifmaintoctotoc{\etocclassmaintocaddtotoc}{}}% - \fi - }% - {\if@restonecol \twocolumn \fi}% -} -\def\etocbookstylenomarks{% - \etocsettocstyle - {\if@twocolumn \@restonecoltrue \onecolumn \else \@restonecolfalse \fi - \ifEtoc@localtoc - \@nameuse{etocclasslocal\Etoc@currext maketitle}% - \etocclasslocalperhapsaddtotoc\Etoc@currext - \else - \chapter *{\contentsname}% - \etocifisstarred{}{\etocifmaintoctotoc{\etocclassmaintocaddtotoc}{}}% - \fi - }% - {\if@restonecol \twocolumn \fi}% -} -\let\etocreportstyle\etocbookstyle -\let\etocreportstylenomarks\etocbookstylenomarks -\def\etocmemoirstyle{% - \etocsettocstyle - {\ensureonecol \par \begingroup \phantomsection - \ifx\Etoc@aftertitlehook\@empty - \else - \ifmem@em@starred@listof - \else - \ifEtoc@localtoc - \etocclasslocalperhapsaddtotoc\Etoc@currext - \else - \ifEtoc@maintoctotoc - \etocclassmaintocaddtotoc - \fi - \fi - \fi - \fi - \ifEtoc@localtoc - \@namedef{@\Etoc@currext maketitle}{% - \@nameuse{etocclasslocal\Etoc@currext maketitle}% - }% - \fi - \@nameuse {@\Etoc@currext maketitle} %<< space token here from memoir code - \ifx\Etoc@aftertitlehook\@empty - \else - \Etoc@aftertitlehook \let \Etoc@aftertitlehook \relax - \fi - \parskip \cftparskip \@nameuse {cft\Etoc@currext beforelisthook}% - }% - {\@nameuse {cft\Etoc@currext afterlisthook}% - \endgroup\restorefromonecol - }% -} -\let\Etoc@beforetitlehook\@empty -\if1\@ifclassloaded{scrartcl}0{\@ifclassloaded{scrbook}0{\@ifclassloaded{scrreprt}01}}% -\expandafter\@gobble -\else - \ifdefined\setuptoc - \def\Etoc@beforetitlehook{% - \ifEtoc@localtoc - \etocclasslocalperhapsaddtotoc\Etoc@currext - \setuptoc{\Etoc@currext}{leveldown}% - \else - \etocifisstarred{}{\etocifmaintoctotoc{\setuptoc{toc}{totoc}}}% - \fi - }% - \fi -\expandafter\@firstofone -\fi -{\def\etocclasslocalperhapsaddtotoc #1{% - \etocifisstarred - {}% - {\csname ifEtoc@local#1totoc\endcsname - \setuptoc{\Etoc@currext}{totoc}% - \fi - }% - }% -} -\ifdefined\Iftocfeature - \def\etoc@Iftocfeature{\Iftocfeature}% -\else - \def\etoc@Iftocfeature{\iftocfeature}% -\fi -\def\etocscrartclstyle{% - \etocsettocstyle - {\ifx\Etoc@currext\Etoc@tocext - \expandafter\@firstofone - \else - \expandafter\@gobble - \fi - {\let\if@dynlist\if@tocleft}% - \edef\@currext{\Etoc@currext}% - \@ifundefined{listof\@currext name}% - {\def\list@fname{\listofname~\@currext}}% - {\expandafter\let\expandafter\list@fname - \csname listof\@currext name\endcsname}% - \etoc@Iftocfeature {\@currext}{onecolumn} - {\etoc@Iftocfeature {\@currext}{leveldown} - {} - {\if@twocolumn \aftergroup \twocolumn \onecolumn \fi }} - {}% - \etoc@Iftocfeature {\@currext}{numberline}% - {\def \nonumberline {\numberline {}}}{}% - \expandafter\tocbasic@listhead\expandafter {\list@fname}% - \begingroup \expandafter \expandafter \expandafter - \endgroup \expandafter - \ifx - \csname microtypesetup\endcsname \relax - \else - \etoc@Iftocfeature {\@currext}{noprotrusion}{} - {\microtypesetup {protrusion=false}% - \PackageInfo {tocbasic}% - {character protrusion at \@currext\space deactivated}}% - \fi - \etoc@Iftocfeature{\@currext}{noparskipfake}{}{% - \ifvmode \@tempskipa\lastskip \vskip-\lastskip - \addtolength{\@tempskipa}{\parskip}\vskip\@tempskipa\fi - }% - \setlength {\parskip }{\z@ }% - \setlength {\parindent }{\z@ }% - \setlength {\parfillskip }{\z@ \@plus 1fil}% - \csname tocbasic@@before@hook\endcsname - \csname tb@\@currext @before@hook\endcsname - }% end of before_toc - {% start of after_toc - \providecommand\tocbasic@end@toc@file{}\tocbasic@end@toc@file - \edef\@currext{\Etoc@currext}% - \csname tb@\@currext @after@hook\endcsname - \csname tocbasic@@after@hook\endcsname - }% end of after_toc -} -\let\etocscrbookstyle\etocscrartclstyle -\let\etocscrreprtstyle\etocscrartclstyle -\def\etocclasstocstyle{\etocarticlestyle} -\newcommand*\etocmarkboth[1]{% - \@mkboth{\MakeUppercase{#1}}{\MakeUppercase{#1}}} -\newcommand*\etocmarkbothnouc[1]{\@mkboth{#1}{#1}} -\newcommand\etoctocstyle[3][section]{\etocmulticolstyle[#2]% - {\csname #1\endcsname *{#3}}} -\newcommand\etoctocstylewithmarks[4][section]{\etocmulticolstyle[#2]% - {\csname #1\endcsname *{#3\etocmarkboth{#4}}}} -\newcommand\etoctocstylewithmarksnouc[4][section]{\etocmulticolstyle[#2]% - {\csname #1\endcsname *{#3\etocmarkbothnouc{#4}}}} -\def\Etoc@redefetocstylesforchapters{% - \renewcommand\etoctocstylewithmarks[4][chapter]{% - \etocmulticolstyle[##2]{\csname ##1\endcsname *{##3\etocmarkboth{##4}}}% - } - \renewcommand\etoctocstylewithmarksnouc[4][chapter]{% - \etocmulticolstyle[##2]{\csname ##1\endcsname *{##3\etocmarkbothnouc{##4}}}% - } - \renewcommand\etoctocstyle[3][chapter]{% - \etocmulticolstyle[##2]{\csname ##1\endcsname *{##3}} - } -} -\@ifclassloaded{scrartcl} - {\renewcommand*\etocclasstocstyle{\etocscrartclstyle}}{} -\@ifclassloaded{book} - {\renewcommand*\etocfontone{\normalfont\normalsize} - \renewcommand*\etocclasstocstyle{\etocbookstyle} - \Etoc@redefetocstylesforchapters}{} -\@ifclassloaded{report} - {\renewcommand*\etocfontone{\normalfont\normalsize} - \renewcommand*\etocclasstocstyle{\etocreportstyle} - \Etoc@redefetocstylesforchapters}{} -\@ifclassloaded{scrbook} - {\renewcommand*\etocfontone{\normalfont\normalsize} - \renewcommand*\etocclasstocstyle{\etocscrbookstyle} - \Etoc@redefetocstylesforchapters}{} -\@ifclassloaded{scrreprt} - {\renewcommand*\etocfontone{\normalfont\normalsize} - \renewcommand*\etocclasstocstyle{\etocscrreprtstyle} - \Etoc@redefetocstylesforchapters}{} -\@ifclassloaded{memoir} - {\renewcommand*\etocfontone{\normalfont\normalsize} - \renewcommand*\etocclasstocstyle{\etocmemoirstyle} - \Etoc@redefetocstylesforchapters}{} -\def\etoctocloftstyle {% - \etocsettocstyle{% - \@cfttocstart - \par - \begingroup - \parindent\z@ \parskip\cftparskip - \@nameuse{@cftmake\Etoc@currext title}% - \ifEtoc@localtoc - \etoctocloftlocalperhapsaddtotoc\Etoc@currext - \else - \etocifisstarred {}{\ifEtoc@maintoctotoc\@cftdobibtoc\fi}% - \fi - }% - {% - \endgroup - \@cfttocfinish - }% -} -\def\etoctocloftlocalperhapsaddtotoc#1{% - \etocifisstarred - {}% - {\csname ifEtoc@local#1totoc\endcsname - \ifdefined\c@chapter\def\@tocextra{@section}\else\def\@tocextra{@subsection}\fi - \csname @cftdobib#1\endcsname - \fi - }% -} -\def\etoctocbibindstyle {% - \etocsettocstyle {% - \toc@start - \ifEtoc@localtoc - \@nameuse{etocclasslocal\Etoc@currext maketitle}% - \etocclasslocalperhapsaddtotoc\Etoc@currext - \else - \etoc@tocbibind@dotoctitle - \fi - }% - {\toc@finish}% -} -\def\etoc@tocbibind@dotoctitle {% - \if@bibchapter - \etocifisstarred - {\chapter*{\contentsname}\prw@mkboth{\contentsname} % id. - }% - {\ifEtoc@maintoctotoc - \toc@chapter{\contentsname} %<-space from original - \else - \chapter*{\contentsname}\prw@mkboth{\contentsname} % id. - \fi - }% - \else - \etocifisstarred - {\@nameuse{\@tocextra}*{\contentsname\prw@mkboth{\contentsname}} %<-space - } - {\ifEtoc@maintoctotoc - \toc@section{\@tocextra}{\contentsname} %<-space from original - \else - \@nameuse{\@tocextra}*{\contentsname\prw@mkboth{\contentsname}} % id. - \fi - }% - \fi -}% -\@ifclassloaded{memoir} -{} -{% memoir not loaded - \@ifpackageloaded{tocloft} - {\if@cftnctoc\else - \ifEtoc@keeporiginaltoc - \else - \AtBeginDocument{\let\tableofcontents\etoctableofcontents}% - \fi - \fi } - {\AtBeginDocument - {\@ifpackageloaded{tocloft} - {\if@cftnctoc\else - \PackageWarningNoLine {etoc} - {Package `tocloft' was loaded after `etoc'.\MessageBreak - To prevent it from overwriting \protect\tableofcontents, it will\MessageBreak - be tricked into believing to have been loaded with its\MessageBreak - option `titles'. \space But this will cause the `tocloft'\MessageBreak - customization of the titles of the main list of figures\MessageBreak - and list of tables to not apply either.\MessageBreak - You should load `tocloft' before `etoc'.}% - \AtEndDocument{\PackageWarning{etoc} - {Please load `tocloft' before `etoc'!\@gobbletwo}}% - \fi - \@cftnctoctrue }% - {}% - }% - }% -} -\@ifclassloaded{memoir} -{} -{% memoir not loaded - \AtBeginDocument{% - \@ifpackageloaded{tocloft} - {% - \def\etocclasstocstyle{% - \etoctocloftstyle - \Etoc@classstyletrue - }% - \ifEtoc@etocstyle - \ifEtoc@classstyle - \etocclasstocstyle - \Etoc@etocstyletrue - \fi - \else - \ifEtoc@classstyle - \etocclasstocstyle - \fi - \fi - }% - {% no tocloft - \@ifpackageloaded {tocbibind} - {\if@dotoctoc - \def\etocclasstocstyle{% - \etoctocbibindstyle - \Etoc@classstyletrue - }% - \ifEtoc@etocstyle - \ifEtoc@classstyle - \etocclasstocstyle - \Etoc@etocstyletrue - \fi - \else - \ifEtoc@classstyle - \etocclasstocstyle - \fi - \fi - \ifEtoc@keeporiginaltoc - \else - \let\tableofcontents\etoctableofcontents - \fi - }% - {}% - }% - \@ifpackageloaded{tocbibind} - {% tocbibind, perhaps with tocloft - \if@dotoctoc - \ifEtoc@keeporiginaltoc - \else - \let\tableofcontents\etoctableofcontents - \fi - \etocsetup{maintoctotoc,localtoctotoc}% - \PackageInfo{etoc}{% - Setting (or re-setting) the options `maintoctotoc' and\MessageBreak - `localtoctotoc' to true as tocbibind was detected and\MessageBreak - found to be configured for `TOC to toc'.\MessageBreak - Reported at begin document}% - \fi - \if@dotoclof - \ifEtoc@lof - \etocsetup{localloftotoc}% - \PackageInfo{etoc}{% - Setting (or re-setting) `localloftotoc=true' as the\MessageBreak - package tocbibind was detected and is configured for\MessageBreak - `LOF to toc'. Reported at begin document}% - \fi - \fi - \if@dotoclot - \ifEtoc@lot - \etocsetup{locallottotoc}% - \PackageInfo{etoc}{% - Setting (or re-setting) `locallottotoc=true' as the\MessageBreak - package tocbibind was detected and is configured for\MessageBreak - `LOT to toc'. Reported at begin document}% - \fi - \fi - }% end of tocbibind branch - {}% - }% end of at begin document -}% end of not with memoir branch -\def\Etoc@addtocontents #1#2{% - \addtocontents {toc}{% - \protect\contentsline{#1}{#2}{\thepage}{\ifEtoc@hyperref\@currentHref\fi}% - \ifdefined\protected@file@percent\protected@file@percent\fi - }% -} -\def\Etoc@addcontentsline@ #1#2#3{% - \@namedef{toclevel@#1}{#3}\addcontentsline {toc}{#1}{#2}% -} -\DeclareRobustCommand*{\etoctoccontentsline} - {\@ifstar{\Etoc@addcontentsline@}{\Etoc@addtocontents}} -\def\Etoc@addtocontents@immediately#1#2{% - \begingroup - \let\Etoc@originalwrite\write - \def\write{\immediate\Etoc@originalwrite}% - \Etoc@addtocontents{#1}{#2}% - \endgroup -} -\def\Etoc@addcontentsline@@immediately#1#2#3{% - \begingroup - \let\Etoc@originalwrite\write - \def\write{\immediate\Etoc@originalwrite}% - \Etoc@addcontentsline@{#1}{#2}{#3}% - \endgoroup -} -\DeclareRobustCommand*{\etocimmediatetoccontentsline} - {\@ifstar{\Etoc@addcontentsline@@immediately}{\Etoc@addtocontents@immediately}} -\def\Etoc@storetocdepth {\xdef\Etoc@savedtocdepth{\number\c@tocdepth}} -\def\Etoc@restoretocdepth {\global\c@tocdepth\Etoc@savedtocdepth\relax} -\def\etocobeytoctocdepth {\def\etoc@settocdepth - {\afterassignment\Etoc@@nottoodeep \global\c@tocdepth}} -\def\Etoc@@nottoodeep {\ifnum\Etoc@savedtocdepth<\c@tocdepth - \global\c@tocdepth\Etoc@savedtocdepth\relax\fi } -\def\etocignoretoctocdepth {\let\etoc@settocdepth\@gobble } -\def\etocsettocdepth {\futurelet\Etoc@nexttoken\Etoc@set@tocdepth } -\def\Etoc@set@tocdepth {\ifx\Etoc@nexttoken\bgroup - \expandafter\Etoc@set@tocdepth@ - \else\expandafter\Etoc@set@toctocdepth - \fi } -\def\Etoc@set@tocdepth@ #1{\@ifundefined {Etoc@#1@@} - {\PackageWarning{etoc} - {Unknown sectioning unit #1, \protect\etocsettocdepth\space ignored}} - {\global\c@tocdepth\csname Etoc@#1@@\endcsname}% -} -\def\Etoc@set@toctocdepth #1#{\Etoc@set@toctocdepth@ } -\def\Etoc@set@toctocdepth@ #1{% - \@ifundefined{Etoc@#1@@}% - {\PackageWarning{etoc} - {Unknown sectioning depth #1, \protect\etocsettocdepth.toc ignored}}% - {\addtocontents {toc} - {\protect\etoc@settocdepth\expandafter\protect\csname Etoc@#1@@\endcsname}}% -} -\def\etocimmediatesettocdepth #1#{\Etoc@set@toctocdepth@immediately} -\def\Etoc@set@toctocdepth@immediately #1{% - \@ifundefined{Etoc@#1@@}% - {\PackageWarning{etoc} - {Unknown sectioning depth #1, \protect\etocimmediatesettocdepth.toc ignored}}% - {\begingroup - \let\Etoc@originalwrite\write - \def\write{\immediate\Etoc@originalwrite}% - \addtocontents {toc} - {\protect\etoc@settocdepth\expandafter\protect - \csname Etoc@#1@@\endcsname}% - \endgroup - }% -} -\def\etocdepthtag #1#{\Etoc@depthtag } -\def\Etoc@depthtag #1{\addtocontents {toc}{\protect\etoc@depthtag {#1}}} -\def\etocimmediatedepthtag #1#{\Etoc@depthtag@immediately } -\def\Etoc@depthtag@immediately #1{% - \begingroup - \let\Etoc@originalwrite\write - \def\write{\immediate\Etoc@originalwrite}% - \addtocontents {toc}{\protect\etoc@depthtag {#1}}% - \endgroup -} -\def\etocignoredepthtags {\let\etoc@depthtag \@gobble } -\def\etocobeydepthtags {\let\etoc@depthtag \Etoc@depthtag@ } -\def\Etoc@depthtag@ #1{\@ifundefined{Etoc@depthof@#1}% - {}% ignore in silence if tag has no associated depth - {\afterassignment\Etoc@@nottoodeep - \global\c@tocdepth\csname Etoc@depthof@#1\endcsname}% -} -\def\etocsettagdepth #1#2{\@ifundefined{Etoc@#2@@}% - {\PackageWarning{etoc} - {Unknown sectioning depth #2, \protect\etocsettagdepth\space ignored}}% - {\@namedef{Etoc@depthof@#1}{\@nameuse{Etoc@#2@@}}}% -} -\def\Etoc@tocvsec@err #1{\PackageError {etoc} - {The command \protect#1\space is incompatible with `etoc'} - {Use \protect\etocsettocdepth.toc as replacement}% -}% -\AtBeginDocument {% - \@ifclassloaded{memoir} - {\PackageInfo {etoc} - {Regarding `memoir' class command \protect\settocdepth, consider\MessageBreak - \protect\etocsettocdepth.toc as a drop-in replacement with more\MessageBreak - capabilities (see `etoc' manual). \space - Also, \protect\etocsettocdepth\MessageBreak - and \protect\etocsetnexttocdepth\space should be used in place of\MessageBreak - `memoir' command \protect\maxtocdepth\@gobble}% - }% - {\@ifpackageloaded {tocvsec2}{% - \def\maxtocdepth #1{\Etoc@tocvsec@err \maxtocdepth }% - \def\settocdepth #1{\Etoc@tocvsec@err \settocdepth }% - \def\resettocdepth {\@ifstar {\Etoc@tocvsec@err \resettocdepth }% - {\Etoc@tocvsec@err \resettocdepth }% - }% - \def\save@tocdepth #1#2#3{}% - \let\reset@tocdepth\relax - \let\remax@tocdepth\relax - \let\tableofcontents\etoctableofcontents - \PackageWarningNoLine {etoc} - {Package `tocvsec2' detected and its modification of\MessageBreak - \protect\tableofcontents\space reverted. \space Use - \protect\etocsettocdepth.toc\MessageBreak as a replacement - for `tocvsec2' toc-related commands}% - }% tocvsec2 loaded - {}% tocvsec2 not loaded - }% -}% -\def\invisibletableofcontents {\etocsetnexttocdepth {-3}\tableofcontents }% -\def\invisiblelocaltableofcontents - {\etocsetnexttocdepth {-3}\localtableofcontents }% -\def\etocsetnexttocdepth #1{% - \@ifundefined{Etoc@#1@@} - {\PackageWarning{etoc} - {Unknown sectioning unit #1, \protect\etocsetnextocdepth\space ignored}} - {\Etoc@setnexttocdepth{\csname Etoc@#1@@\endcsname}}% -}% -\def\Etoc@setnexttocdepth#1{% - \def\Etoc@tocdepthset{% - \Etoc@tocdepthreset - \edef\Etoc@tocdepthreset {% - \global\c@tocdepth\the\c@tocdepth\space - \global\let\noexpand\Etoc@tocdepthreset\noexpand\@empty - }% - \global\c@tocdepth#1% - \global\let\Etoc@tocdepthset\@empty - }% -}% -\let\Etoc@tocdepthreset\@empty -\let\Etoc@tocdepthset \@empty -\def\etocsetlocaltop #1#{\Etoc@set@localtop}% -\def\Etoc@set@localtop #1{% - \@ifundefined{Etoc@#1@@}% - {\PackageWarning{etoc} - {Unknown sectioning depth #1, \protect\etocsetlocaltop.toc ignored}}% - {\addtocontents {toc} - {\protect\etoc@setlocaltop\expandafter\protect\csname Etoc@#1@@\endcsname}}% -}% -\def\etocimmediatesetlocaltop #1#{\Etoc@set@localtop@immediately}% -\def\Etoc@set@localtop@immediately #1{% - \@ifundefined{Etoc@#1@@}% - {\PackageWarning{etoc} - {Unknown sectioning depth #1, \protect\etocimmediatesetlocaltop.toc ignored}}% - {\begingroup - \let\Etoc@originalwrite\write - \def\write{\immediate\Etoc@originalwrite}% - \addtocontents {toc} - {\protect\etoc@setlocaltop\expandafter\protect - \csname Etoc@#1@@\endcsname}% - \endgroup - }% -}% -\def\etoc@setlocaltop #1{% - \ifnum#1=\Etoc@maxlevel - \Etoc@skipthisonetrue - \else - \Etoc@skipthisonefalse - \global\let\Etoc@level #1% - \global\let\Etoc@virtualtop #1% - \ifEtoc@localtoc - \ifEtoc@stoptoc - \Etoc@skipthisonetrue - \else - \ifEtoc@notactive - \Etoc@skipthisonetrue - \else - \unless\ifnum\Etoc@level>\etoclocaltop - \Etoc@skipthisonetrue - \global\Etoc@stoptoctrue - \fi - \fi - \fi - \fi - \fi - \let\Etoc@next\@empty - \ifEtoc@skipthisone - \else - \ifnum\Etoc@level>\c@tocdepth - \else - \ifEtoc@standardlines - \else - \let\Etoc@next\Etoc@setlocaltop@doendsandbegin - \fi - \fi - \fi - \Etoc@next -}% -\def\Etoc@setlocaltop@doendsandbegin{% - \Etoc@doendsandbegin - \global\Etoc@skipprefixfalse -} -\addtocontents {toc}{\protect\@ifundefined{etoctocstyle}% - {\let\protect\etoc@startlocaltoc\protect\@gobble - \let\protect\etoc@settocdepth\protect\@gobble - \let\protect\etoc@depthtag\protect\@gobble - \let\protect\etoc@setlocaltop\protect\@gobble}{}}% -\def\etocstandardlines {\Etoc@standardlinestrue} -\def\etoctoclines {\Etoc@standardlinesfalse} -\etocdefaultlines -\etocstandardlines -\def\etocstandarddisplaystyle{% - \PackageWarningNoLine{etoc}{% - \string\etocstandarddisplaystyle \on@line\MessageBreak - is deprecated. \space Please use \string\etocclasstocstyle}% -} -\expandafter\def\expandafter\etocclasstocstyle\expandafter{% - \etocclasstocstyle - \Etoc@classstyletrue -} -\def\etocetoclocaltocstyle{\Etoc@etocstyletrue} -\def\etocusertocstyle{\Etoc@etocstylefalse} -\etocclasstocstyle -\etocetoclocaltocstyle -\etocobeytoctocdepth -\etocobeydepthtags -\let\etocbeforetitlehook \@empty -\let\etocaftertitlehook \@empty -\let\etocaftercontentshook \@empty -\let\etocaftertochook \@empty -\def\etockeeporiginaltableofcontents - {\Etoc@keeporiginaltoctrue\let\tableofcontents\etocoriginaltableofcontents}% -\endinput -%% -%% End of file `etoc.sty'. diff --git a/documentation/latex/files.tex b/documentation/latex/files.tex deleted file mode 100644 index a280b01..0000000 --- a/documentation/latex/files.tex +++ /dev/null @@ -1,5 +0,0 @@ -\doxysection{File List} -Here is a list of all files with brief descriptions\+:\begin{DoxyCompactList} -\item\contentsline{section}{\mbox{\hyperlink{_b_n_o08x_8cpp}{BNO08x.\+cpp}} }{\pageref{_b_n_o08x_8cpp}}{} -\item\contentsline{section}{\mbox{\hyperlink{_b_n_o08x_8hpp}{BNO08x.\+hpp}} }{\pageref{_b_n_o08x_8hpp}}{} -\end{DoxyCompactList} diff --git a/documentation/latex/longtable_doxygen.sty b/documentation/latex/longtable_doxygen.sty deleted file mode 100644 index e94b78b..0000000 --- a/documentation/latex/longtable_doxygen.sty +++ /dev/null @@ -1,456 +0,0 @@ -%% -%% This is file `longtable.sty', -%% generated with the docstrip utility. -%% -%% The original source files were: -%% -%% longtable.dtx (with options: `package') -%% -%% This is a generated file. -%% -%% The source is maintained by the LaTeX Project team and bug -%% reports for it can be opened at http://latex-project.org/bugs.html -%% (but please observe conditions on bug reports sent to that address!) -%% -%% Copyright 1993-2016 -%% The LaTeX3 Project and any individual authors listed elsewhere -%% in this file. -%% -%% This file was generated from file(s) of the Standard LaTeX `Tools Bundle'. -%% -------------------------------------------------------------------------- -%% -%% It may be distributed and/or modified under the -%% conditions of the LaTeX Project Public License, either version 1.3c -%% of this license or (at your option) any later version. -%% The latest version of this license is in -%% http://www.latex-project.org/lppl.txt -%% and version 1.3c or later is part of all distributions of LaTeX -%% version 2005/12/01 or later. -%% -%% This file may only be distributed together with a copy of the LaTeX -%% `Tools Bundle'. You may however distribute the LaTeX `Tools Bundle' -%% without such generated files. -%% -%% The list of all files belonging to the LaTeX `Tools Bundle' is -%% given in the file `manifest.txt'. -%% -%% File: longtable.dtx Copyright (C) 1990-2001 David Carlisle -\NeedsTeXFormat{LaTeX2e}[1995/06/01] -\ProvidesPackage{longtable_doxygen} - [2014/10/28 v4.11 Multi-page Table package (DPC) - frozen version for doxygen] -\def\LT@err{\PackageError{longtable}} -\def\LT@warn{\PackageWarning{longtable}} -\def\LT@final@warn{% - \AtEndDocument{% - \LT@warn{Table \@width s have changed. Rerun LaTeX.\@gobbletwo}}% - \global\let\LT@final@warn\relax} -\DeclareOption{errorshow}{% - \def\LT@warn{\PackageInfo{longtable}}} -\DeclareOption{pausing}{% - \def\LT@warn#1{% - \LT@err{#1}{This is not really an error}}} -\DeclareOption{set}{} -\DeclareOption{final}{} -\ProcessOptions -\newskip\LTleft \LTleft=\fill -\newskip\LTright \LTright=\fill -\newskip\LTpre \LTpre=\bigskipamount -\newskip\LTpost \LTpost=\bigskipamount -\newcount\LTchunksize \LTchunksize=20 -\let\c@LTchunksize\LTchunksize -\newdimen\LTcapwidth \LTcapwidth=4in -\newbox\LT@head -\newbox\LT@firsthead -\newbox\LT@foot -\newbox\LT@lastfoot -\newcount\LT@cols -\newcount\LT@rows -\newcounter{LT@tables} -\newcounter{LT@chunks}[LT@tables] -\ifx\c@table\undefined - \newcounter{table} - \def\fnum@table{\tablename~\thetable} -\fi -\ifx\tablename\undefined - \def\tablename{Table} -\fi -\newtoks\LT@p@ftn -\mathchardef\LT@end@pen=30000 -\def\longtable{% - \par - \ifx\multicols\@undefined - \else - \ifnum\col@number>\@ne - \@twocolumntrue - \fi - \fi - \if@twocolumn - \LT@err{longtable not in 1-column mode}\@ehc - \fi - \begingroup - \@ifnextchar[\LT@array{\LT@array[x]}} -\def\LT@array[#1]#2{% - \refstepcounter{table}\stepcounter{LT@tables}% - \if l#1% - \LTleft\z@ \LTright\fill - \else\if r#1% - \LTleft\fill \LTright\z@ - \else\if c#1% - \LTleft\fill \LTright\fill - \fi\fi\fi - \let\LT@mcol\multicolumn - \let\LT@@tabarray\@tabarray - \let\LT@@hl\hline - \def\@tabarray{% - \let\hline\LT@@hl - \LT@@tabarray}% - \let\\\LT@tabularcr\let\tabularnewline\\% - \def\newpage{\noalign{\break}}% - \def\pagebreak{\noalign{\ifnum`}=0\fi\@testopt{\LT@no@pgbk-}4}% - \def\nopagebreak{\noalign{\ifnum`}=0\fi\@testopt\LT@no@pgbk4}% - \let\hline\LT@hline \let\kill\LT@kill\let\caption\LT@caption - \@tempdima\ht\strutbox - \let\@endpbox\LT@endpbox - \ifx\extrarowheight\@undefined - \let\@acol\@tabacol - \let\@classz\@tabclassz \let\@classiv\@tabclassiv - \def\@startpbox{\vtop\LT@startpbox}% - \let\@@startpbox\@startpbox - \let\@@endpbox\@endpbox - \let\LT@LL@FM@cr\@tabularcr - \else - \advance\@tempdima\extrarowheight - \col@sep\tabcolsep - \let\@startpbox\LT@startpbox\let\LT@LL@FM@cr\@arraycr - \fi - \setbox\@arstrutbox\hbox{\vrule - \@height \arraystretch \@tempdima - \@depth \arraystretch \dp \strutbox - \@width \z@}% - \let\@sharp##\let\protect\relax - \begingroup - \@mkpream{#2}% - \xdef\LT@bchunk{% - \global\advance\c@LT@chunks\@ne - \global\LT@rows\z@\setbox\z@\vbox\bgroup - \LT@setprevdepth - \tabskip\LTleft \noexpand\halign to\hsize\bgroup - \tabskip\z@ \@arstrut \@preamble \tabskip\LTright \cr}% - \endgroup - \expandafter\LT@nofcols\LT@bchunk&\LT@nofcols - \LT@make@row - \m@th\let\par\@empty - \everycr{}\lineskip\z@\baselineskip\z@ - \LT@bchunk} -\def\LT@no@pgbk#1[#2]{\penalty #1\@getpen{#2}\ifnum`{=0\fi}} -\def\LT@start{% - \let\LT@start\endgraf - \endgraf\penalty\z@\vskip\LTpre - \dimen@\pagetotal - \advance\dimen@ \ht\ifvoid\LT@firsthead\LT@head\else\LT@firsthead\fi - \advance\dimen@ \dp\ifvoid\LT@firsthead\LT@head\else\LT@firsthead\fi - \advance\dimen@ \ht\LT@foot - \dimen@ii\vfuzz - \vfuzz\maxdimen - \setbox\tw@\copy\z@ - \setbox\tw@\vsplit\tw@ to \ht\@arstrutbox - \setbox\tw@\vbox{\unvbox\tw@}% - \vfuzz\dimen@ii - \advance\dimen@ \ht - \ifdim\ht\@arstrutbox>\ht\tw@\@arstrutbox\else\tw@\fi - \advance\dimen@\dp - \ifdim\dp\@arstrutbox>\dp\tw@\@arstrutbox\else\tw@\fi - \advance\dimen@ -\pagegoal - \ifdim \dimen@>\z@\vfil\break\fi - \global\@colroom\@colht - \ifvoid\LT@foot\else - \advance\vsize-\ht\LT@foot - \global\advance\@colroom-\ht\LT@foot - \dimen@\pagegoal\advance\dimen@-\ht\LT@foot\pagegoal\dimen@ - \maxdepth\z@ - \fi - \ifvoid\LT@firsthead\copy\LT@head\else\box\LT@firsthead\fi\nobreak - \output{\LT@output}} -\def\endlongtable{% - \crcr - \noalign{% - \let\LT@entry\LT@entry@chop - \xdef\LT@save@row{\LT@save@row}}% - \LT@echunk - \LT@start - \unvbox\z@ - \LT@get@widths - \if@filesw - {\let\LT@entry\LT@entry@write\immediate\write\@auxout{% - \gdef\expandafter\noexpand - \csname LT@\romannumeral\c@LT@tables\endcsname - {\LT@save@row}}}% - \fi - \ifx\LT@save@row\LT@@save@row - \else - \LT@warn{Column \@width s have changed\MessageBreak - in table \thetable}% - \LT@final@warn - \fi - \endgraf\penalty -\LT@end@pen - \endgroup - \global\@mparbottom\z@ - \pagegoal\vsize - \endgraf\penalty\z@\addvspace\LTpost - \ifvoid\footins\else\insert\footins{}\fi} -\def\LT@nofcols#1&{% - \futurelet\@let@token\LT@n@fcols} -\def\LT@n@fcols{% - \advance\LT@cols\@ne - \ifx\@let@token\LT@nofcols - \expandafter\@gobble - \else - \expandafter\LT@nofcols - \fi} -\def\LT@tabularcr{% - \relax\iffalse{\fi\ifnum0=`}\fi - \@ifstar - {\def\crcr{\LT@crcr\noalign{\nobreak}}\let\cr\crcr - \LT@t@bularcr}% - {\LT@t@bularcr}} -\let\LT@crcr\crcr -\let\LT@setprevdepth\relax -\def\LT@t@bularcr{% - \global\advance\LT@rows\@ne - \ifnum\LT@rows=\LTchunksize - \gdef\LT@setprevdepth{% - \prevdepth\z@\global - \global\let\LT@setprevdepth\relax}% - \expandafter\LT@xtabularcr - \else - \ifnum0=`{}\fi - \expandafter\LT@LL@FM@cr - \fi} -\def\LT@xtabularcr{% - \@ifnextchar[\LT@argtabularcr\LT@ntabularcr} -\def\LT@ntabularcr{% - \ifnum0=`{}\fi - \LT@echunk - \LT@start - \unvbox\z@ - \LT@get@widths - \LT@bchunk} -\def\LT@argtabularcr[#1]{% - \ifnum0=`{}\fi - \ifdim #1>\z@ - \unskip\@xargarraycr{#1}% - \else - \@yargarraycr{#1}% - \fi - \LT@echunk - \LT@start - \unvbox\z@ - \LT@get@widths - \LT@bchunk} -\def\LT@echunk{% - \crcr\LT@save@row\cr\egroup - \global\setbox\@ne\lastbox - \unskip - \egroup} -\def\LT@entry#1#2{% - \ifhmode\@firstofone{&}\fi\omit - \ifnum#1=\c@LT@chunks - \else - \kern#2\relax - \fi} -\def\LT@entry@chop#1#2{% - \noexpand\LT@entry - {\ifnum#1>\c@LT@chunks - 1}{0pt% - \else - #1}{#2% - \fi}} -\def\LT@entry@write{% - \noexpand\LT@entry^^J% - \@spaces} -\def\LT@kill{% - \LT@echunk - \LT@get@widths - \expandafter\LT@rebox\LT@bchunk} -\def\LT@rebox#1\bgroup{% - #1\bgroup - \unvbox\z@ - \unskip - \setbox\z@\lastbox} -\def\LT@blank@row{% - \xdef\LT@save@row{\expandafter\LT@build@blank - \romannumeral\number\LT@cols 001 }} -\def\LT@build@blank#1{% - \if#1m% - \noexpand\LT@entry{1}{0pt}% - \expandafter\LT@build@blank - \fi} -\def\LT@make@row{% - \global\expandafter\let\expandafter\LT@save@row - \csname LT@\romannumeral\c@LT@tables\endcsname - \ifx\LT@save@row\relax - \LT@blank@row - \else - {\let\LT@entry\or - \if!% - \ifcase\expandafter\expandafter\expandafter\LT@cols - \expandafter\@gobble\LT@save@row - \or - \else - \relax - \fi - !% - \else - \aftergroup\LT@blank@row - \fi}% - \fi} -\let\setlongtables\relax -\def\LT@get@widths{% - \setbox\tw@\hbox{% - \unhbox\@ne - \let\LT@old@row\LT@save@row - \global\let\LT@save@row\@empty - \count@\LT@cols - \loop - \unskip - \setbox\tw@\lastbox - \ifhbox\tw@ - \LT@def@row - \advance\count@\m@ne - \repeat}% - \ifx\LT@@save@row\@undefined - \let\LT@@save@row\LT@save@row - \fi} -\def\LT@def@row{% - \let\LT@entry\or - \edef\@tempa{% - \ifcase\expandafter\count@\LT@old@row - \else - {1}{0pt}% - \fi}% - \let\LT@entry\relax - \xdef\LT@save@row{% - \LT@entry - \expandafter\LT@max@sel\@tempa - \LT@save@row}} -\def\LT@max@sel#1#2{% - {\ifdim#2=\wd\tw@ - #1% - \else - \number\c@LT@chunks - \fi}% - {\the\wd\tw@}} -\def\LT@hline{% - \noalign{\ifnum0=`}\fi - \penalty\@M - \futurelet\@let@token\LT@@hline} -\def\LT@@hline{% - \ifx\@let@token\hline - \global\let\@gtempa\@gobble - \gdef\LT@sep{\penalty-\@medpenalty\vskip\doublerulesep}% - \else - \global\let\@gtempa\@empty - \gdef\LT@sep{\penalty-\@lowpenalty\vskip-\arrayrulewidth}% - \fi - \ifnum0=`{\fi}% - \multispan\LT@cols - \unskip\leaders\hrule\@height\arrayrulewidth\hfill\cr - \noalign{\LT@sep}% - \multispan\LT@cols - \unskip\leaders\hrule\@height\arrayrulewidth\hfill\cr - \noalign{\penalty\@M}% - \@gtempa} -\def\LT@caption{% - \noalign\bgroup - \@ifnextchar[{\egroup\LT@c@ption\@firstofone}\LT@capti@n} -\def\LT@c@ption#1[#2]#3{% - \LT@makecaption#1\fnum@table{#3}% - \def\@tempa{#2}% - \ifx\@tempa\@empty\else - {\let\\\space - \addcontentsline{lot}{table}{\protect\numberline{\thetable}{#2}}}% - \fi} -\def\LT@capti@n{% - \@ifstar - {\egroup\LT@c@ption\@gobble[]}% - {\egroup\@xdblarg{\LT@c@ption\@firstofone}}} -\def\LT@makecaption#1#2#3{% - \LT@mcol\LT@cols c{\hbox to\z@{\hss\parbox[t]\LTcapwidth{% - \sbox\@tempboxa{#1{#2: }#3}% - \ifdim\wd\@tempboxa>\hsize - #1{#2: }#3% - \else - \hbox to\hsize{\hfil\box\@tempboxa\hfil}% - \fi - \endgraf\vskip\baselineskip}% - \hss}}} -\def\LT@output{% - \ifnum\outputpenalty <-\@Mi - \ifnum\outputpenalty > -\LT@end@pen - \LT@err{floats and marginpars not allowed in a longtable}\@ehc - \else - \setbox\z@\vbox{\unvbox\@cclv}% - \ifdim \ht\LT@lastfoot>\ht\LT@foot - \dimen@\pagegoal - \advance\dimen@-\ht\LT@lastfoot - \ifdim\dimen@<\ht\z@ - \setbox\@cclv\vbox{\unvbox\z@\copy\LT@foot\vss}% - \@makecol - \@outputpage - \setbox\z@\vbox{\box\LT@head}% - \fi - \fi - \global\@colroom\@colht - \global\vsize\@colht - \vbox - {\unvbox\z@\box\ifvoid\LT@lastfoot\LT@foot\else\LT@lastfoot\fi}% - \fi - \else - \setbox\@cclv\vbox{\unvbox\@cclv\copy\LT@foot\vss}% - \@makecol - \@outputpage - \global\vsize\@colroom - \copy\LT@head\nobreak - \fi} -\def\LT@end@hd@ft#1{% - \LT@echunk - \ifx\LT@start\endgraf - \LT@err - 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-\@namedef{ver@longtable.sty}{2014/10/28 v4.11 Multi-page Table package (DPC) - frozen version for doxygen} -\endinput -%% -%% End of file `longtable.sty'. diff --git a/documentation/latex/make.bat b/documentation/latex/make.bat deleted file mode 100644 index 96da1c8..0000000 --- a/documentation/latex/make.bat +++ /dev/null @@ -1,56 +0,0 @@ -pushd %~dp0 -if not %errorlevel% == 0 goto :end - -set ORG_LATEX_CMD=%LATEX_CMD% -set ORG_MKIDX_CMD=%MKIDX_CMD% -set ORG_BIBTEX_CMD=%BIBTEX_CMD% -set ORG_LATEX_COUNT=%LATEX_COUNT% -set ORG_MANUAL_FILE=%MANUAL_FILE% -if "X"%LATEX_CMD% == "X" set LATEX_CMD=pdflatex -if "X"%MKIDX_CMD% == "X" set MKIDX_CMD=makeindex -if "X"%BIBTEX_CMD% == "X" set BIBTEX_CMD=bibtex -if "X"%LATEX_COUNT% == "X" set LATEX_COUNT=8 -if "X"%MANUAL_FILE% == "X" set MANUAL_FILE=refman - -del /s /f *.ps *.dvi *.aux *.toc *.idx *.ind *.ilg *.log *.out *.brf *.blg *.bbl %MANUAL_FILE%.pdf - - -%LATEX_CMD% %MANUAL_FILE% -echo ---- -%MKIDX_CMD% %MANUAL_FILE%.idx -echo ---- -%LATEX_CMD% %MANUAL_FILE% - 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EQU 0 goto :skip - -echo ---- -%LATEX_CMD% %MANUAL_FILE% -goto :repeat -:skip -endlocal -%MKIDX_CMD% %MANUAL_FILE%.idx -%LATEX_CMD% %MANUAL_FILE% - -@REM reset environment -popd -set LATEX_CMD=%ORG_LATEX_CMD% -set ORG_LATEX_CMD= -set MKIDX_CMD=%ORG_MKIDX_CMD% -set ORG_MKIDX_CMD= -set BIBTEX_CMD=%ORG_BIBTEX_CMD% -set ORG_BIBTEX_CMD= -set MANUAL_FILE=%ORG_MANUAL_FILE% -set ORG_MANUAL_FILE= -set LATEX_COUNT=%ORG_LATEX_COUNT% -set ORG_LATEX_COUNT= - -:end diff --git a/documentation/latex/md__r_e_a_d_m_e.tex b/documentation/latex/md__r_e_a_d_m_e.tex deleted file mode 100644 index a5e135d..0000000 --- a/documentation/latex/md__r_e_a_d_m_e.tex +++ /dev/null @@ -1,173 +0,0 @@ -\chapter{README} -\hypertarget{md__r_e_a_d_m_e}{}\label{md__r_e_a_d_m_e}\index{README@{README}} -Table of Contents. - -\label{md__r_e_a_d_m_e_readme-top}% -\Hypertarget{md__r_e_a_d_m_e_readme-top}% - - - -\begin{DoxyEnumerate} -\item \href{\#about}{\texttt{ About}} -\item \href{\#getting-started}{\texttt{ Getting Started}} -\begin{DoxyItemize} -\item \href{\#wiring}{\texttt{ Wiring}} -\item \href{\#adding-to-project}{\texttt{ Adding to Project}} -\item \href{\#menuconfig}{\texttt{ Menuconfig}} -\item \href{\#examples}{\texttt{ Examples}} -\end{DoxyItemize} -\item \href{\#documentation}{\texttt{ Documentation}} -\item \href{\#program-flowcharts}{\texttt{ Program Flowcharts}} -\item \href{\#acknowledgements}{\texttt{ Acknowledgements}} -\item \href{\#license}{\texttt{ License}} -\item \href{\#contact}{\texttt{ Contact}} -\end{DoxyEnumerate}\hypertarget{md__r_e_a_d_m_e_autotoc_md0}{}\doxysubsection{\texorpdfstring{About}{About}}\label{md__r_e_a_d_m_e_autotoc_md0} -esp32\+\_\+\+BNO08x is a C++ component for esp-\/idf v5.\+x, serving as a driver for both BNO080 and BNO085 IMUs. ~\newline - - -Originally based on the Spark\+Fun BNO080 Arduino Library, it has since diverged significantly in implementation while retaining all original features and more, including callback functions enabled by its multi-\/tasked approach. - -Currently, only SPI is supported. There are no plans to support I2C due to unpredictable behavior caused by an esp32 I2C driver silicon bug. UART support may be implemented in the future.\hypertarget{md__r_e_a_d_m_e_autotoc_md1}{}\doxysubsection{\texorpdfstring{Getting Started}{Getting Started}}\label{md__r_e_a_d_m_e_autotoc_md1} -(\href{\#readme-top}{\texttt{ back to top}})\hypertarget{md__r_e_a_d_m_e_autotoc_md2}{}\doxysubsubsection{\texorpdfstring{Wiring}{Wiring}}\label{md__r_e_a_d_m_e_autotoc_md2} -The default wiring is depicted below, it can be changed at driver initialization (see example section). ~\newline - - -If your ESP does not have the GPIO pin numbers depicted below, you {\bfseries{must change the default GPIO settings in menuconfig}}. See the Menuconfig section. - - - -(\href{\#readme-top}{\texttt{ back to top}})\hypertarget{md__r_e_a_d_m_e_autotoc_md3}{}\doxysubsubsection{\texorpdfstring{Adding to Project}{Adding to Project}}\label{md__r_e_a_d_m_e_autotoc_md3} - -\begin{DoxyEnumerate} -\item Create a "{}components"{} directory in the root workspace directory of your esp-\/idf project if it does not exist already. ~\newline - - -In workspace directory\+: ~\newline - -\begin{DoxyCode}{0} -\DoxyCodeLine{mkdir\ components} - -\end{DoxyCode} - -\item Cd into the components directory and clone the esp32\+\_\+\+BNO08x repo. - - -\begin{DoxyCode}{0} -\DoxyCodeLine{cd\ components} -\DoxyCodeLine{git\ clone\ https://github.com/myles-\/parfeniuk/esp32\_BNO08x.git} - -\end{DoxyCode} - -\item Ensure you clean your esp-\/idf project before rebuilding. ~\newline - Within esp-\/idf enabled terminal\+: -\begin{DoxyCode}{0} -\DoxyCodeLine{idf.py\ fullclean} - -\end{DoxyCode} - -\end{DoxyEnumerate} - -(\href{\#readme-top}{\texttt{ back to top}})\hypertarget{md__r_e_a_d_m_e_autotoc_md4}{}\doxysubsubsection{\texorpdfstring{Menuconfig}{Menuconfig}}\label{md__r_e_a_d_m_e_autotoc_md4} -This library provides a menuconfig menu configured in Kconfig.\+projbuild. It contains settings to control the default GPIO and a few other things. ~\newline - - -To access the menu\+: - - -\begin{DoxyEnumerate} -\item Within esp-\/idf enabled terminal, execute the menuconfig command\+: -\begin{DoxyCode}{0} -\DoxyCodeLine{\ \ \ \ idf.py\ menuconfig} -\DoxyCodeLine{} -\DoxyCodeLine{2.\ Scroll\ down\ to\ the\ esp\_BNO08x\ menu\ and\ enter\ it,\ if\ you're\ using\ vsCode\ you\ may\ have\ to\ use\ the\ "{}j"{}\ and\ "{}k"{}\ keys\ instead\ of\ the\ arrow\ keys.} -\DoxyCodeLine{\ \ \ \ ![image](esp32\_BNO08x\_menuconfig\_1.png)} -\DoxyCodeLine{} -\DoxyCodeLine{3.\ Modify\ whatever\ settings\ you'd\ like\ from\ the\ sub\ menus.\ The\ GPIO\ Configuration\ menu\ allows\ for\ the\ default\ GPIO\ pins\ to\ be\ modified,\ the\ SPI\ Configuration\ menu\ allows\ for\ the\ default\ SCLK\ frequency\ and\ host\ peripheral\ to\ be\ modified.} -\DoxyCodeLine{\ \ \ \ ![image](esp32\_BNO08x\_menuconfig\_2.png)} -\DoxyCodeLine{(back\ to\ top)

    } -\DoxyCodeLine{} -\DoxyCodeLine{\#\#\#\ Examples} -\DoxyCodeLine{There\ are\ two\ ways\ data\ returned\ from\ the\ BNO08x\ can\ be\ accessed\ with\ this\ library:} -\DoxyCodeLine{} -\DoxyCodeLine{1.\ Polling\ Method\ with\ \`{}data\_available()`\ Function:} -\DoxyCodeLine{\ \ -\/\ Use\ the\ \`{}data\_available()`\ function\ to\ poll\ for\ new\ data,\ similar\ to\ the\ SparkFun\ library.} -\DoxyCodeLine{\ \ -\/\ Behavior:\ It\ is\ a\ blocking\ function\ that\ returns\ \`{}true`\ when\ new\ data\ is\ received\ or\ \`{}false`\ if\ a\ timeout\ occurs.} -\DoxyCodeLine{\ \ -\/\ See\ the\ **Polling\ Example**\ below.} -\DoxyCodeLine{} -\DoxyCodeLine{2.\ Callback\ Registration\ with\ \`{}register\_cb()`\ Function:} -\DoxyCodeLine{\ \ -\/\ Register\ callback\ functions\ that\ automatically\ execute\ upon\ receiving\ new\ data.} -\DoxyCodeLine{\ \ -\/\ Behavior:\ The\ registered\ callback\ will\ be\ invoked\ whenever\ new\ data\ is\ available.} -\DoxyCodeLine{\ \ -\/\ See\ the\ **Call-\/Back\ Function\ Example**\ below.\ } -\DoxyCodeLine{\ \ } -\DoxyCodeLine{\#\#\#\#\ Polling\ Example} - -\end{DoxyCode} - cpp \#include \texorpdfstring{$<$}{<}stdio.\+h\texorpdfstring{$>$}{>} \#include "{}\+BNO08x.\+hpp"{} -\end{DoxyEnumerate} - -extern "{}\+C"{} void app\+\_\+main(void) \{ \doxylink{class_b_n_o08x}{BNO08x} imu; //create IMU object with default wiring scheme float x, y, z = 0; - -//if a custom wiring scheme is desired instead of default\+: - -/\texorpdfstring{$\ast$}{*} \doxylink{structbno08x__config__t}{bno08x\+\_\+config\+\_\+t} imu\+\_\+config; //create config struct imu\+\_\+config.\+io\+\_\+mosi = GPIO\+\_\+\+NUM\+\_\+X; //assign pin imu\+\_\+config.\+io\+\_\+miso = GPIO\+\_\+\+NUM\+\_\+X; //assign pin //etc... \doxylink{class_b_n_o08x}{BNO08x} imu(imu\+\_\+config); //pass config to \doxylink{class_b_n_o08x}{BNO08x} constructor \texorpdfstring{$\ast$}{*}/ - -imu.\+initialize(); //initialize IMU - -//enable gyro \& game rotation vector imu.\+enable\+\_\+game\+\_\+rotation\+\_\+vector(100000\+UL); //100,000us == 100ms report interval imu.\+enable\+\_\+gyro(150000\+UL); //150,000us == 150ms report interval - -while(1) \{ //print absolute heading in degrees and angular velocity in Rad/s if(imu.\+data\+\_\+available()) \{ x = imu.\+get\+\_\+gyro\+\_\+calibrated\+\_\+velocity\+\_\+\+X(); y = imu.\+get\+\_\+gyro\+\_\+calibrated\+\_\+velocity\+\_\+\+Y(); z = imu.\+get\+\_\+gyro\+\_\+calibrated\+\_\+velocity\+\_\+\+Z(); ESP\+\_\+\+LOGW("{}\+Main"{}, "{}\+Velocity\+: x\+: \%.\+3f y\+: \%.\+3f z\+: \%.\+3f"{}, x, y, z); - -x = imu.\+get\+\_\+roll\+\_\+deg(); y = imu.\+get\+\_\+pitch\+\_\+deg(); z = imu.\+get\+\_\+yaw\+\_\+deg(); ESP\+\_\+\+LOGI("{}\+Main"{}, "{}\+Euler Angle\+: x (roll)\+: \%.\+3f y (pitch)\+: \%.\+3f z (yaw)\+: \%.\+3f"{}, x, y, z); \} \} - -\} -\begin{DoxyCode}{0} -\DoxyCodeLine{\#\#\#\#\ Call-\/Back\ Function\ Example} - -\end{DoxyCode} - cpp \#include \texorpdfstring{$<$}{<}stdio.\+h\texorpdfstring{$>$}{>} \#include "{}\+BNO08x.\+hpp"{} - -extern "{}\+C"{} void app\+\_\+main(void) \{ \doxylink{class_b_n_o08x}{BNO08x} imu; // create IMU object with default wiring scheme - -// if a custom wiring scheme is desired instead of default\+: - -/\texorpdfstring{$\ast$}{*} \doxylink{structbno08x__config__t}{bno08x\+\_\+config\+\_\+t} imu\+\_\+config; //create config struct imu\+\_\+config.\+io\+\_\+mosi = GPIO\+\_\+\+NUM\+\_\+X; //assign pin imu\+\_\+config.\+io\+\_\+miso = GPIO\+\_\+\+NUM\+\_\+X; //assign pin //etc... \doxylink{class_b_n_o08x}{BNO08x} imu(imu\+\_\+config); //pass config to \doxylink{class_b_n_o08x}{BNO08x} constructor \texorpdfstring{$\ast$}{*}/ - -imu.\+initialize(); // initialize IMU - -// enable gyro \& game rotation vector imu.\+enable\+\_\+game\+\_\+rotation\+\_\+vector(100000\+UL); // 100,000us == 100ms report interval imu.\+enable\+\_\+gyro(150000\+UL); // 150,000us == 150ms report interval - -// register a callback function (in this case a lambda function, but it doesn\textquotesingle{}t have to be) imu.\+register\+\_\+cb( \mbox{[}\&imu\mbox{]}() \{ // callback function contents, executed whenever new data is parsed // print absolute heading in degrees and angular velocity in Rad/s float x, y, z = 0; x = imu.\+get\+\_\+gyro\+\_\+calibrated\+\_\+velocity\+\_\+\+X(); y = imu.\+get\+\_\+gyro\+\_\+calibrated\+\_\+velocity\+\_\+\+Y(); z = imu.\+get\+\_\+gyro\+\_\+calibrated\+\_\+velocity\+\_\+\+Z(); ESP\+\_\+\+LOGW("{}\+Main"{}, "{}\+Velocity\+: x\+: \%.\+3f y\+: \%.\+3f z\+: \%.\+3f"{}, x, y, z); - -x = imu.\+get\+\_\+roll\+\_\+deg(); y = imu.\+get\+\_\+pitch\+\_\+deg(); z = imu.\+get\+\_\+yaw\+\_\+deg(); ESP\+\_\+\+LOGI("{}\+Main"{}, "{}\+Euler Angle\+: x (roll)\+: \%.\+3f y (pitch)\+: \%.\+3f z (yaw)\+: \%.\+3f"{}, x, y, z); \}); - -while (1) \{ v\+Task\+Delay(300 / port\+TICK\+\_\+\+PERIOD\+\_\+\+MS); // delay here is irrelevant, we just don\textquotesingle{}t want to trip cpu watchdog \} \} \`{}\`{}\`{} - -(\href{\#readme-top}{\texttt{ back to top}})\hypertarget{md__r_e_a_d_m_e_autotoc_md5}{}\doxysubsection{\texorpdfstring{Documentation}{Documentation}}\label{md__r_e_a_d_m_e_autotoc_md5} -API documentation generated with doxygen can be found in the documentation directory of the master branch. ~\newline - - -(\href{\#readme-top}{\texttt{ back to top}})\hypertarget{md__r_e_a_d_m_e_autotoc_md6}{}\doxysubsection{\texorpdfstring{Program Flowcharts}{Program Flowcharts}}\label{md__r_e_a_d_m_e_autotoc_md6} -The following charts illustrate the program flow this library implements for sending and receiving data from \doxylink{class_b_n_o08x}{BNO08x}. ~\newline - These are here to aid development for anyone looking to modify, fork, or contribute. ~\newline - - - - -(\href{\#readme-top}{\texttt{ back to top}})\hypertarget{md__r_e_a_d_m_e_autotoc_md7}{}\doxysubsection{\texorpdfstring{Acknowledgements}{Acknowledgements}}\label{md__r_e_a_d_m_e_autotoc_md7} -Special thanks to the original creators of the sparkfun BNO080 library. Developing this without a reference would have been much more time consuming. ~\newline - \href{https://github.com/sparkfun/SparkFun_BNO080_Arduino_Library}{\texttt{ https\+://github.\+com/sparkfun/\+Spark\+Fun\+\_\+\+BNO080\+\_\+\+Arduino\+\_\+\+Library}} ~\newline - - -Special thanks to Anton Babiy, aka hw\+Birdy007 for helping with debugging SPI. ~\newline - \href{https://github.com/hwBirdy007}{\texttt{ https\+://github.\+com/hw\+Birdy007}} ~\newline - - -(\href{\#readme-top}{\texttt{ back to top}})\hypertarget{md__r_e_a_d_m_e_autotoc_md8}{}\doxysubsection{\texorpdfstring{License}{License}}\label{md__r_e_a_d_m_e_autotoc_md8} -Distributed under the MIT License. See {\ttfamily LICENSE.\+md} for more information. - -(\href{\#readme-top}{\texttt{ back to top}})\hypertarget{md__r_e_a_d_m_e_autotoc_md9}{}\doxysubsection{\texorpdfstring{Contact}{Contact}}\label{md__r_e_a_d_m_e_autotoc_md9} -Myles Parfeniuk -\/ \href{mailto:myles.parfenyuk@gmail.com}{\texttt{ myles.\+parfenyuk@gmail.\+com}} - -Project Link\+: \href{https://github.com/myles-parfeniuk/esp32_BNO08x.git}{\texttt{ https\+://github.\+com/myles-\/parfeniuk/esp32\+\_\+\+BNO08x.\+git}} - -(\href{\#readme-top}{\texttt{ back to top}}) \ No newline at end of file diff --git a/documentation/latex/refman.tex b/documentation/latex/refman.tex deleted file mode 100644 index 402e433..0000000 --- a/documentation/latex/refman.tex +++ /dev/null @@ -1,234 +0,0 @@ - % Handle batch mode - % to overcome problems with too many open files - \let\mypdfximage\pdfximage\def\pdfximage{\immediate\mypdfximage} - \pdfminorversion=7 - % Set document class depending on configuration - \documentclass[twoside]{book} - %% moved from doxygen.sty due to workaround for LaTex 2019 version and unmaintained tabu package - 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\else - \ifxetex - \usepackage[pagebackref=true]{hyperref} - \else - \usepackage[ps2pdf,pagebackref=true]{hyperref} - \fi - \fi - \hypersetup{% - colorlinks=true,% - linkcolor=blue,% - citecolor=blue,% - unicode,% - pdftitle={esp32\+\_\+\+BNO08x},% - pdfsubject={C++ BNO08x IMU driver component for esp-\/idf.}% - } - % Custom commands used by the header - % Custom commands - \newcommand{\clearemptydoublepage}{% - \newpage{\pagestyle{empty}\cleardoublepage}% - } - % caption style definition - \usepackage{caption} - \captionsetup{labelsep=space,justification=centering,font={bf},singlelinecheck=off,skip=4pt,position=top} - % in page table of contents - \IfFormatAtLeastTF{2023/05/01}{\usepackage[deeplevels]{etoc}}{\usepackage[deeplevels]{etoc_doxygen}} - \etocsettocstyle{\doxytocparskip}{\doxynormalparskip} - \etocsetlevel{subsubsubsection}{4} - \etocsetlevel{subsubsubsubsection}{5} - \etocsetlevel{subsubsubsubsubsection}{6} - \etocsetlevel{subsubsubsubsubsubsection}{7} - \etocsetlevel{paragraph}{8} - \etocsetlevel{subparagraph}{9} - % prevent numbers overlap the titles in toc - \renewcommand{\numberline}[1]{#1~} -% End of preamble, now comes the document contents -%===== C O N T E N T S ===== -\begin{document} - \raggedbottom - % Titlepage & ToC - % To avoid duplicate page anchors due to reuse of same numbers for - % the index (be it as roman numbers) - \hypersetup{pageanchor=false, - bookmarksnumbered=true, - pdfencoding=unicode - } - \pagenumbering{alph} - \begin{titlepage} - \vspace*{7cm} - \begin{center}% - {\Large esp32\+\_\+\+BNO08x}\\ - [1ex]\large 1.\+1 \\ - \vspace*{1cm} - {\large Generated by Doxygen 1.10.0}\\ - \end{center} - \end{titlepage} - \clearemptydoublepage - \pagenumbering{roman} - \tableofcontents - \clearemptydoublepage - \pagenumbering{arabic} - % re-enable anchors again - \hypersetup{pageanchor=true} -%--- Begin generated contents --- -\input{md__r_e_a_d_m_e} -\chapter{Class Index} -\input{annotated} -\chapter{File Index} -\input{files} -\chapter{Class Documentation} -\input{class_b_n_o08x} -\input{structbno08x__config__t} -\input{struct_b_n_o08x_1_1bno08x__rx__packet__t} -\input{struct_b_n_o08x_1_1bno08x__tx__packet__t} -\chapter{File Documentation} -\input{_b_n_o08x_8cpp} -\input{_b_n_o08x_8hpp} -\input{_b_n_o08x_8hpp_source} -\input{_r_e_a_d_m_e_8md} -%--- End generated contents --- -% Index - \backmatter - \newpage - \phantomsection - \clearemptydoublepage - \addcontentsline{toc}{chapter}{\indexname} - \printindex -% Required for some languages (in combination with latexdocumentpre from the header) -\end{document} diff --git a/documentation/latex/struct_b_n_o08x_1_1bno08x__rx__packet__t.tex b/documentation/latex/struct_b_n_o08x_1_1bno08x__rx__packet__t.tex deleted file mode 100644 index 993b8de..0000000 --- a/documentation/latex/struct_b_n_o08x_1_1bno08x__rx__packet__t.tex +++ /dev/null @@ -1,53 +0,0 @@ -\doxysection{BNO08x\+::bno08x\+\_\+rx\+\_\+packet\+\_\+t Struct Reference} -\hypertarget{struct_b_n_o08x_1_1bno08x__rx__packet__t}{}\label{struct_b_n_o08x_1_1bno08x__rx__packet__t}\index{BNO08x::bno08x\_rx\_packet\_t@{BNO08x::bno08x\_rx\_packet\_t}} - - -Holds data that is received over spi. - - -\doxysubsubsection*{Public Attributes} -\begin{DoxyCompactItemize} -\item -uint8\+\_\+t \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__rx__packet__t_a667d671ccb272bd375008716e26e0b5b}{header}} \mbox{[}4\mbox{]} -\begin{DoxyCompactList}\small\item\em Header of SHTP packet. \end{DoxyCompactList}\item -uint8\+\_\+t \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__rx__packet__t_ab422d75e1fcd776ef412f4d623cc293e}{body}} \mbox{[}300\mbox{]} -\item -uint16\+\_\+t \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__rx__packet__t_a645adb6ba8fb2afbb99ec58fe678e205}{length}} -\begin{DoxyCompactList}\small\item\em Body of SHTP packet. \end{DoxyCompactList}\end{DoxyCompactItemize} - - -\doxysubsection{Detailed Description} -Holds data that is received over spi. - -\doxysubsection{Member Data Documentation} -\Hypertarget{struct_b_n_o08x_1_1bno08x__rx__packet__t_ab422d75e1fcd776ef412f4d623cc293e}\label{struct_b_n_o08x_1_1bno08x__rx__packet__t_ab422d75e1fcd776ef412f4d623cc293e} -\index{BNO08x::bno08x\_rx\_packet\_t@{BNO08x::bno08x\_rx\_packet\_t}!body@{body}} -\index{body@{body}!BNO08x::bno08x\_rx\_packet\_t@{BNO08x::bno08x\_rx\_packet\_t}} -\doxysubsubsection{\texorpdfstring{body}{body}} -{\footnotesize\ttfamily uint8\+\_\+t BNO08x\+::bno08x\+\_\+rx\+\_\+packet\+\_\+t\+::body\mbox{[}300\mbox{]}} - -\Hypertarget{struct_b_n_o08x_1_1bno08x__rx__packet__t_a667d671ccb272bd375008716e26e0b5b}\label{struct_b_n_o08x_1_1bno08x__rx__packet__t_a667d671ccb272bd375008716e26e0b5b} -\index{BNO08x::bno08x\_rx\_packet\_t@{BNO08x::bno08x\_rx\_packet\_t}!header@{header}} -\index{header@{header}!BNO08x::bno08x\_rx\_packet\_t@{BNO08x::bno08x\_rx\_packet\_t}} -\doxysubsubsection{\texorpdfstring{header}{header}} -{\footnotesize\ttfamily uint8\+\_\+t BNO08x\+::bno08x\+\_\+rx\+\_\+packet\+\_\+t\+::header\mbox{[}4\mbox{]}} - - - -Header of SHTP packet. - -\Hypertarget{struct_b_n_o08x_1_1bno08x__rx__packet__t_a645adb6ba8fb2afbb99ec58fe678e205}\label{struct_b_n_o08x_1_1bno08x__rx__packet__t_a645adb6ba8fb2afbb99ec58fe678e205} -\index{BNO08x::bno08x\_rx\_packet\_t@{BNO08x::bno08x\_rx\_packet\_t}!length@{length}} -\index{length@{length}!BNO08x::bno08x\_rx\_packet\_t@{BNO08x::bno08x\_rx\_packet\_t}} -\doxysubsubsection{\texorpdfstring{length}{length}} -{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::bno08x\+\_\+rx\+\_\+packet\+\_\+t\+::length} - - - -Body of SHTP packet. - -Packet length in bytes. - -The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize} -\item -\mbox{\hyperlink{_b_n_o08x_8hpp}{BNO08x.\+hpp}}\end{DoxyCompactItemize} diff --git a/documentation/latex/struct_b_n_o08x_1_1bno08x__tx__packet__t.tex b/documentation/latex/struct_b_n_o08x_1_1bno08x__tx__packet__t.tex deleted file mode 100644 index dc206e8..0000000 --- a/documentation/latex/struct_b_n_o08x_1_1bno08x__tx__packet__t.tex +++ /dev/null @@ -1,45 +0,0 @@ -\doxysection{BNO08x\+::bno08x\+\_\+tx\+\_\+packet\+\_\+t Struct Reference} -\hypertarget{struct_b_n_o08x_1_1bno08x__tx__packet__t}{}\label{struct_b_n_o08x_1_1bno08x__tx__packet__t}\index{BNO08x::bno08x\_tx\_packet\_t@{BNO08x::bno08x\_tx\_packet\_t}} - - -Holds data that is sent over spi. - - -\doxysubsubsection*{Public Attributes} -\begin{DoxyCompactItemize} -\item -uint8\+\_\+t \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__tx__packet__t_a4478c6cd9e87907eacc56dd06ad4a69d}{body}} \mbox{[}50\mbox{]} -\begin{DoxyCompactList}\small\item\em Body of SHTP the packet (header + body) \end{DoxyCompactList}\item -uint16\+\_\+t \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__tx__packet__t_a73180537ea7605340c5e6b2132e2cbf5}{length}} -\begin{DoxyCompactList}\small\item\em Packet length in bytes. \end{DoxyCompactList}\end{DoxyCompactItemize} - - -\doxysubsection{Detailed Description} -Holds data that is sent over spi. - -\doxysubsection{Member Data Documentation} -\Hypertarget{struct_b_n_o08x_1_1bno08x__tx__packet__t_a4478c6cd9e87907eacc56dd06ad4a69d}\label{struct_b_n_o08x_1_1bno08x__tx__packet__t_a4478c6cd9e87907eacc56dd06ad4a69d} -\index{BNO08x::bno08x\_tx\_packet\_t@{BNO08x::bno08x\_tx\_packet\_t}!body@{body}} -\index{body@{body}!BNO08x::bno08x\_tx\_packet\_t@{BNO08x::bno08x\_tx\_packet\_t}} -\doxysubsubsection{\texorpdfstring{body}{body}} -{\footnotesize\ttfamily uint8\+\_\+t BNO08x\+::bno08x\+\_\+tx\+\_\+packet\+\_\+t\+::body\mbox{[}50\mbox{]}} - - - -Body of SHTP the packet (header + body) - -\Hypertarget{struct_b_n_o08x_1_1bno08x__tx__packet__t_a73180537ea7605340c5e6b2132e2cbf5}\label{struct_b_n_o08x_1_1bno08x__tx__packet__t_a73180537ea7605340c5e6b2132e2cbf5} -\index{BNO08x::bno08x\_tx\_packet\_t@{BNO08x::bno08x\_tx\_packet\_t}!length@{length}} -\index{length@{length}!BNO08x::bno08x\_tx\_packet\_t@{BNO08x::bno08x\_tx\_packet\_t}} -\doxysubsubsection{\texorpdfstring{length}{length}} -{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::bno08x\+\_\+tx\+\_\+packet\+\_\+t\+::length} - - - -Packet length in bytes. - - - -The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize} -\item -\mbox{\hyperlink{_b_n_o08x_8hpp}{BNO08x.\+hpp}}\end{DoxyCompactItemize} diff --git a/documentation/latex/structbno08x__config__t.tex b/documentation/latex/structbno08x__config__t.tex deleted file mode 100644 index 2e256fd..0000000 --- a/documentation/latex/structbno08x__config__t.tex +++ /dev/null @@ -1,159 +0,0 @@ -\doxysection{bno08x\+\_\+config\+\_\+t Struct Reference} -\hypertarget{structbno08x__config__t}{}\label{structbno08x__config__t}\index{bno08x\_config\_t@{bno08x\_config\_t}} - - -IMU configuration settings passed into constructor. - - - - -{\ttfamily \#include $<$BNO08x.\+hpp$>$} - -\doxysubsubsection*{Public Member Functions} -\begin{DoxyCompactItemize} -\item -\mbox{\hyperlink{structbno08x__config__t_abf8805292192f4c30c5000423175a2e1}{bno08x\+\_\+config\+\_\+t}} () -\begin{DoxyCompactList}\small\item\em Default IMU configuration settings constructor. To modify default GPIO pins, run "{}idf.\+py menuconfig"{} esp32\+\_\+\+BNO08x-\/\texorpdfstring{$>$}{>}GPIO Configuration. Alternatively, edit the default values in "{}\+Kconfig.\+projbuild"{}. \end{DoxyCompactList}\item -\mbox{\hyperlink{structbno08x__config__t_ae3b4bc522d30f9df7747ed46d0532c23}{bno08x\+\_\+config\+\_\+t}} (spi\+\_\+host\+\_\+device\+\_\+t \mbox{\hyperlink{structbno08x__config__t_a020d2343750bb7debc2a108ae038c9ec}{spi\+\_\+peripheral}}, gpio\+\_\+num\+\_\+t \mbox{\hyperlink{structbno08x__config__t_a79023fd80039e41a22b7f73ccd5fc861}{io\+\_\+mosi}}, gpio\+\_\+num\+\_\+t \mbox{\hyperlink{structbno08x__config__t_a9468180a773892977db39cc5ed9368e3}{io\+\_\+miso}}, gpio\+\_\+num\+\_\+t \mbox{\hyperlink{structbno08x__config__t_a639685b91ae3198909d722316495246a}{io\+\_\+sclk}}, gpio\+\_\+num\+\_\+t \mbox{\hyperlink{structbno08x__config__t_ab1b5351b63da0c172c942463d0dc2505}{io\+\_\+cs}}, gpio\+\_\+num\+\_\+t \mbox{\hyperlink{structbno08x__config__t_a3cfe965659cfbc6b0c5269bd0211975f}{io\+\_\+int}}, gpio\+\_\+num\+\_\+t \mbox{\hyperlink{structbno08x__config__t_a62745c761219139f66ecd173b51577fc}{io\+\_\+rst}}, gpio\+\_\+num\+\_\+t \mbox{\hyperlink{structbno08x__config__t_a90ad7f316dc443874d19dc7e723a0ce0}{io\+\_\+wake}}, uint32\+\_\+t \mbox{\hyperlink{structbno08x__config__t_a231614c3b20888360def2ce9db83f52a}{sclk\+\_\+speed}}) -\begin{DoxyCompactList}\small\item\em Overloaded IMU configuration settings constructor for custom pin settings. \end{DoxyCompactList}\end{DoxyCompactItemize} -\doxysubsubsection*{Public Attributes} -\begin{DoxyCompactItemize} -\item -spi\+\_\+host\+\_\+device\+\_\+t \mbox{\hyperlink{structbno08x__config__t_a020d2343750bb7debc2a108ae038c9ec}{spi\+\_\+peripheral}} -\begin{DoxyCompactList}\small\item\em SPI peripheral to be used. \end{DoxyCompactList}\item -gpio\+\_\+num\+\_\+t \mbox{\hyperlink{structbno08x__config__t_a79023fd80039e41a22b7f73ccd5fc861}{io\+\_\+mosi}} -\begin{DoxyCompactList}\small\item\em MOSI GPIO pin (connects to \doxylink{class_b_n_o08x}{BNO08x} DI pin) \end{DoxyCompactList}\item -gpio\+\_\+num\+\_\+t \mbox{\hyperlink{structbno08x__config__t_a9468180a773892977db39cc5ed9368e3}{io\+\_\+miso}} -\begin{DoxyCompactList}\small\item\em MISO GPIO pin (connects to \doxylink{class_b_n_o08x}{BNO08x} SDA pin) \end{DoxyCompactList}\item -gpio\+\_\+num\+\_\+t \mbox{\hyperlink{structbno08x__config__t_a639685b91ae3198909d722316495246a}{io\+\_\+sclk}} -\begin{DoxyCompactList}\small\item\em SCLK pin (connects to \doxylink{class_b_n_o08x}{BNO08x} SCL pin) \end{DoxyCompactList}\item -gpio\+\_\+num\+\_\+t \mbox{\hyperlink{structbno08x__config__t_ab1b5351b63da0c172c942463d0dc2505}{io\+\_\+cs}} -\item -gpio\+\_\+num\+\_\+t \mbox{\hyperlink{structbno08x__config__t_a3cfe965659cfbc6b0c5269bd0211975f}{io\+\_\+int}} -\begin{DoxyCompactList}\small\item\em Chip select pin (connects to \doxylink{class_b_n_o08x}{BNO08x} CS pin) \end{DoxyCompactList}\item -gpio\+\_\+num\+\_\+t \mbox{\hyperlink{structbno08x__config__t_a62745c761219139f66ecd173b51577fc}{io\+\_\+rst}} -\begin{DoxyCompactList}\small\item\em Host interrupt pin (connects to \doxylink{class_b_n_o08x}{BNO08x} INT pin) \end{DoxyCompactList}\item -gpio\+\_\+num\+\_\+t \mbox{\hyperlink{structbno08x__config__t_a90ad7f316dc443874d19dc7e723a0ce0}{io\+\_\+wake}} -\begin{DoxyCompactList}\small\item\em Reset pin (connects to \doxylink{class_b_n_o08x}{BNO08x} RST pin) \end{DoxyCompactList}\item -uint32\+\_\+t \mbox{\hyperlink{structbno08x__config__t_a231614c3b20888360def2ce9db83f52a}{sclk\+\_\+speed}} -\begin{DoxyCompactList}\small\item\em Desired SPI SCLK speed in Hz (max 3MHz) \end{DoxyCompactList}\end{DoxyCompactItemize} - - -\doxysubsection{Detailed Description} -IMU configuration settings passed into constructor. - -\doxysubsection{Constructor \& Destructor Documentation} -\Hypertarget{structbno08x__config__t_abf8805292192f4c30c5000423175a2e1}\label{structbno08x__config__t_abf8805292192f4c30c5000423175a2e1} -\index{bno08x\_config\_t@{bno08x\_config\_t}!bno08x\_config\_t@{bno08x\_config\_t}} -\index{bno08x\_config\_t@{bno08x\_config\_t}!bno08x\_config\_t@{bno08x\_config\_t}} -\doxysubsubsection{\texorpdfstring{bno08x\_config\_t()}{bno08x\_config\_t()}\hspace{0.1cm}{\footnotesize\ttfamily [1/2]}} -{\footnotesize\ttfamily bno08x\+\_\+config\+\_\+t\+::bno08x\+\_\+config\+\_\+t (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}} - - - -Default IMU configuration settings constructor. To modify default GPIO pins, run "{}idf.\+py menuconfig"{} esp32\+\_\+\+BNO08x-\/\texorpdfstring{$>$}{>}GPIO Configuration. Alternatively, edit the default values in "{}\+Kconfig.\+projbuild"{}. - -\Hypertarget{structbno08x__config__t_ae3b4bc522d30f9df7747ed46d0532c23}\label{structbno08x__config__t_ae3b4bc522d30f9df7747ed46d0532c23} -\index{bno08x\_config\_t@{bno08x\_config\_t}!bno08x\_config\_t@{bno08x\_config\_t}} -\index{bno08x\_config\_t@{bno08x\_config\_t}!bno08x\_config\_t@{bno08x\_config\_t}} -\doxysubsubsection{\texorpdfstring{bno08x\_config\_t()}{bno08x\_config\_t()}\hspace{0.1cm}{\footnotesize\ttfamily [2/2]}} -{\footnotesize\ttfamily bno08x\+\_\+config\+\_\+t\+::bno08x\+\_\+config\+\_\+t (\begin{DoxyParamCaption}\item[{spi\+\_\+host\+\_\+device\+\_\+t}]{spi\+\_\+peripheral, }\item[{gpio\+\_\+num\+\_\+t}]{io\+\_\+mosi, }\item[{gpio\+\_\+num\+\_\+t}]{io\+\_\+miso, }\item[{gpio\+\_\+num\+\_\+t}]{io\+\_\+sclk, }\item[{gpio\+\_\+num\+\_\+t}]{io\+\_\+cs, }\item[{gpio\+\_\+num\+\_\+t}]{io\+\_\+int, }\item[{gpio\+\_\+num\+\_\+t}]{io\+\_\+rst, }\item[{gpio\+\_\+num\+\_\+t}]{io\+\_\+wake, }\item[{uint32\+\_\+t}]{sclk\+\_\+speed }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}} - - - -Overloaded IMU configuration settings constructor for custom pin settings. - - - -\doxysubsection{Member Data Documentation} -\Hypertarget{structbno08x__config__t_ab1b5351b63da0c172c942463d0dc2505}\label{structbno08x__config__t_ab1b5351b63da0c172c942463d0dc2505} -\index{bno08x\_config\_t@{bno08x\_config\_t}!io\_cs@{io\_cs}} -\index{io\_cs@{io\_cs}!bno08x\_config\_t@{bno08x\_config\_t}} -\doxysubsubsection{\texorpdfstring{io\_cs}{io\_cs}} -{\footnotesize\ttfamily gpio\+\_\+num\+\_\+t bno08x\+\_\+config\+\_\+t\+::io\+\_\+cs} - -\Hypertarget{structbno08x__config__t_a3cfe965659cfbc6b0c5269bd0211975f}\label{structbno08x__config__t_a3cfe965659cfbc6b0c5269bd0211975f} -\index{bno08x\_config\_t@{bno08x\_config\_t}!io\_int@{io\_int}} -\index{io\_int@{io\_int}!bno08x\_config\_t@{bno08x\_config\_t}} -\doxysubsubsection{\texorpdfstring{io\_int}{io\_int}} -{\footnotesize\ttfamily gpio\+\_\+num\+\_\+t bno08x\+\_\+config\+\_\+t\+::io\+\_\+int} - - - -Chip select pin (connects to \doxylink{class_b_n_o08x}{BNO08x} CS pin) - -\Hypertarget{structbno08x__config__t_a9468180a773892977db39cc5ed9368e3}\label{structbno08x__config__t_a9468180a773892977db39cc5ed9368e3} -\index{bno08x\_config\_t@{bno08x\_config\_t}!io\_miso@{io\_miso}} -\index{io\_miso@{io\_miso}!bno08x\_config\_t@{bno08x\_config\_t}} -\doxysubsubsection{\texorpdfstring{io\_miso}{io\_miso}} -{\footnotesize\ttfamily gpio\+\_\+num\+\_\+t bno08x\+\_\+config\+\_\+t\+::io\+\_\+miso} - - - -MISO GPIO pin (connects to \doxylink{class_b_n_o08x}{BNO08x} SDA pin) - -\Hypertarget{structbno08x__config__t_a79023fd80039e41a22b7f73ccd5fc861}\label{structbno08x__config__t_a79023fd80039e41a22b7f73ccd5fc861} -\index{bno08x\_config\_t@{bno08x\_config\_t}!io\_mosi@{io\_mosi}} -\index{io\_mosi@{io\_mosi}!bno08x\_config\_t@{bno08x\_config\_t}} -\doxysubsubsection{\texorpdfstring{io\_mosi}{io\_mosi}} -{\footnotesize\ttfamily gpio\+\_\+num\+\_\+t bno08x\+\_\+config\+\_\+t\+::io\+\_\+mosi} - - - -MOSI GPIO pin (connects to \doxylink{class_b_n_o08x}{BNO08x} DI pin) - -\Hypertarget{structbno08x__config__t_a62745c761219139f66ecd173b51577fc}\label{structbno08x__config__t_a62745c761219139f66ecd173b51577fc} -\index{bno08x\_config\_t@{bno08x\_config\_t}!io\_rst@{io\_rst}} -\index{io\_rst@{io\_rst}!bno08x\_config\_t@{bno08x\_config\_t}} -\doxysubsubsection{\texorpdfstring{io\_rst}{io\_rst}} -{\footnotesize\ttfamily gpio\+\_\+num\+\_\+t bno08x\+\_\+config\+\_\+t\+::io\+\_\+rst} - - - -Host interrupt pin (connects to \doxylink{class_b_n_o08x}{BNO08x} INT pin) - -\Hypertarget{structbno08x__config__t_a639685b91ae3198909d722316495246a}\label{structbno08x__config__t_a639685b91ae3198909d722316495246a} -\index{bno08x\_config\_t@{bno08x\_config\_t}!io\_sclk@{io\_sclk}} -\index{io\_sclk@{io\_sclk}!bno08x\_config\_t@{bno08x\_config\_t}} -\doxysubsubsection{\texorpdfstring{io\_sclk}{io\_sclk}} -{\footnotesize\ttfamily gpio\+\_\+num\+\_\+t bno08x\+\_\+config\+\_\+t\+::io\+\_\+sclk} - - - -SCLK pin (connects to \doxylink{class_b_n_o08x}{BNO08x} SCL pin) - -\Hypertarget{structbno08x__config__t_a90ad7f316dc443874d19dc7e723a0ce0}\label{structbno08x__config__t_a90ad7f316dc443874d19dc7e723a0ce0} -\index{bno08x\_config\_t@{bno08x\_config\_t}!io\_wake@{io\_wake}} -\index{io\_wake@{io\_wake}!bno08x\_config\_t@{bno08x\_config\_t}} -\doxysubsubsection{\texorpdfstring{io\_wake}{io\_wake}} -{\footnotesize\ttfamily gpio\+\_\+num\+\_\+t bno08x\+\_\+config\+\_\+t\+::io\+\_\+wake} - - - -Reset pin (connects to \doxylink{class_b_n_o08x}{BNO08x} RST pin) - -Wake pin (optional, connects to \doxylink{class_b_n_o08x}{BNO08x} P0) \Hypertarget{structbno08x__config__t_a231614c3b20888360def2ce9db83f52a}\label{structbno08x__config__t_a231614c3b20888360def2ce9db83f52a} -\index{bno08x\_config\_t@{bno08x\_config\_t}!sclk\_speed@{sclk\_speed}} -\index{sclk\_speed@{sclk\_speed}!bno08x\_config\_t@{bno08x\_config\_t}} -\doxysubsubsection{\texorpdfstring{sclk\_speed}{sclk\_speed}} -{\footnotesize\ttfamily uint32\+\_\+t bno08x\+\_\+config\+\_\+t\+::sclk\+\_\+speed} - - - -Desired SPI SCLK speed in Hz (max 3MHz) - -\Hypertarget{structbno08x__config__t_a020d2343750bb7debc2a108ae038c9ec}\label{structbno08x__config__t_a020d2343750bb7debc2a108ae038c9ec} -\index{bno08x\_config\_t@{bno08x\_config\_t}!spi\_peripheral@{spi\_peripheral}} -\index{spi\_peripheral@{spi\_peripheral}!bno08x\_config\_t@{bno08x\_config\_t}} -\doxysubsubsection{\texorpdfstring{spi\_peripheral}{spi\_peripheral}} -{\footnotesize\ttfamily spi\+\_\+host\+\_\+device\+\_\+t bno08x\+\_\+config\+\_\+t\+::spi\+\_\+peripheral} - - - -SPI peripheral to be used. - - - -The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize} -\item -\mbox{\hyperlink{_b_n_o08x_8hpp}{BNO08x.\+hpp}}\end{DoxyCompactItemize} diff --git a/documentation/latex/tabu_doxygen.sty b/documentation/latex/tabu_doxygen.sty deleted file mode 100644 index 3f17d1d..0000000 --- a/documentation/latex/tabu_doxygen.sty +++ /dev/null @@ -1,2557 +0,0 @@ -%% -%% This is file `tabu.sty', -%% generated with the docstrip utility. -%% -%% The original source files were: -%% -%% tabu.dtx (with options: `package') -%% -%% This is a generated file. -%% Copyright (FC) 2010-2011 - lppl -%% -%% tabu : 2011/02/26 v2.8 - tabu : Flexible LaTeX tabulars -%% -%% ********************************************************************************************** -%% \begin{tabu} { preamble } => default target: \linewidth or \linegoal -%% \begin{tabu} to { preamble } => target specified -%% \begin{tabu} spread { preamble } => target relative to the ``natural width'' -%% -%% tabu works in text and in math modes. -%% -%% X columns: automatic width adjustment + horizontal and vertical alignment -%% \begin{tabu} { X[4c] X[1c] X[-2ml] } -%% -%% Horizontal lines and / or leaders: -%% \hline\hline => double horizontal line -%% \firsthline\hline => for nested tabulars -%% \lasthline\hline => for nested tabulars -%% \tabucline[line spec]{column-column} => ``funny'' lines (dash/leader) -%% Automatic lines / leaders : -%% \everyrow{\hline\hline} -%% -%% Vertical lines and / or leaders: -%% \begin{tabu} { |[3pt red] X[4c] X[1c] X[-2ml] |[3pt blue] } -%% \begin{tabu} { |[3pt red] X[4c] X[1c] X[-2ml] |[3pt on 2pt off 4pt blue] } -%% -%% Fixed vertical spacing adjustment: -%% \extrarowheight= \extrarowdepth= -%% or: \extrarowsep= => may be prefixed by \global -%% -%% Dynamic vertical spacing adjustment: -%% \abovetabulinesep= \belowtabulinesep= -%% or: \tabulinesep= => may be prefixed by \global -%% -%% delarray.sty shortcuts: in math and text modes -%% \begin{tabu} .... \({ preamble }\) -%% -%% Algorithms reports: -%% \tracingtabu=1 \tracingtabu=2 -%% -%% ********************************************************************************************** -%% -%% This work may be distributed and/or modified under the -%% conditions of the LaTeX Project Public License, either -%% version 1.3 of this license or (at your option) any later -%% version. The latest version of this license is in -%% http://www.latex-project.org/lppl.txt -%% -%% This work consists of the main source file tabu.dtx -%% and the derived files -%% tabu.sty, tabu.pdf, tabu.ins -%% -%% tabu : Flexible LaTeX tabulars -%% lppl copyright 2010-2011 by FC -%% - -\NeedsTeXFormat{LaTeX2e}[2005/12/01] -\ProvidesPackage{tabu_doxygen}[2011/02/26 v2.8 - flexible LaTeX tabulars (FC), frozen version for doxygen] -\RequirePackage{array}[2008/09/09] -\RequirePackage{varwidth}[2009/03/30] -\AtEndOfPackage{\tabu@AtEnd \let\tabu@AtEnd \@undefined} -\let\tabu@AtEnd\@empty -\def\TMP@EnsureCode#1={% - \edef\tabu@AtEnd{\tabu@AtEnd - \catcode#1 \the\catcode#1}% - \catcode#1=% -}% \TMP@EnsureCode -\TMP@EnsureCode 33 = 12 % ! -\TMP@EnsureCode 58 = 12 % : (for siunitx) -\TMP@EnsureCode124 = 12 % | -\TMP@EnsureCode 36 = 3 % $ = math shift -\TMP@EnsureCode 38 = 4 % & = tab alignment character -\TMP@EnsureCode 32 = 10 % space -\TMP@EnsureCode 94 = 7 % ^ -\TMP@EnsureCode 95 = 8 % _ -%% Constants -------------------------------------------------------- -\newcount \c@taburow \def\thetaburow {\number\c@taburow} -\newcount \tabu@nbcols -\newcount \tabu@cnt -\newcount \tabu@Xcol -\let\tabu@start \@tempcnta -\let\tabu@stop \@tempcntb -\newcount \tabu@alloc \tabu@alloc=\m@ne -\newcount \tabu@nested -\def\tabu@alloc@{\global\advance\tabu@alloc \@ne \tabu@nested\tabu@alloc} -\newdimen \tabu@target -\newdimen \tabu@spreadtarget -\newdimen \tabu@naturalX -\newdimen \tabucolX -\let\tabu@DELTA \@tempdimc -\let\tabu@thick \@tempdima -\let\tabu@on \@tempdimb -\let\tabu@off \@tempdimc -\newdimen \tabu@Xsum -\newdimen \extrarowdepth -\newdimen \abovetabulinesep -\newdimen \belowtabulinesep -\newdimen \tabustrutrule \tabustrutrule \z@ -\newtoks \tabu@thebody -\newtoks \tabu@footnotes -\newsavebox \tabu@box -\newsavebox \tabu@arstrutbox -\newsavebox \tabu@hleads -\newsavebox \tabu@vleads -\newif \iftabu@colortbl -\newif \iftabu@siunitx -\newif \iftabu@measuring -\newif \iftabu@spread -\newif \iftabu@negcoef -\newif \iftabu@everyrow -\def\tabu@everyrowtrue {\global\let\iftabu@everyrow \iftrue} -\def\tabu@everyrowfalse{\global\let\iftabu@everyrow \iffalse} -\newif \iftabu@long -\newif \iftabuscantokens -\def\tabu@rescan {\tabu@verbatim \scantokens } -%% Utilities (for internal usage) ----------------------------------- -\def\tabu@gobblespace #1 {#1} -\def\tabu@gobbletoken #1#2{#1} -\def\tabu@gobbleX{\futurelet\@let@token \tabu@gobblex} -\def\tabu@gobblex{\if ^^J\noexpand\@let@token \expandafter\@gobble - \else\ifx \@sptoken\@let@token - \expandafter\tabu@gobblespace\expandafter\tabu@gobbleX - \fi\fi -}% \tabu@gobblex -\def\tabu@X{^^J} -{\obeyspaces -\global\let\tabu@spxiii= % saves an active space (for \ifx) -\gdef\tabu@@spxiii{ }} -\def\tabu@ifenvir {% only for \multicolumn - \expandafter\tabu@if@nvir\csname\@currenvir\endcsname -}% \tabu@ifenvir -\def\tabu@if@nvir #1{\csname @\ifx\tabu#1first\else - \ifx\longtabu#1first\else - second\fi\fi oftwo\endcsname -}% \tabu@ifenvir -\def\tabu@modulo #1#2{\numexpr\ifnum\numexpr#1=\z@ 0\else #1-(#1-(#2-1)/2)/(#2)*(#2)\fi} -{\catcode`\&=3 -\gdef\tabu@strtrim #1{% #1 = control sequence to trim - \ifodd 1\ifx #1\@empty \else \ifx #1\space \else 0\fi \fi - \let\tabu@c@l@r \@empty \let#1\@empty - \else \expandafter \tabu@trimspaces #1\@nnil - \fi -}% \tabu@strtrim -\gdef\tabu@trimspaces #1\@nnil{\let\tabu@c@l@r=#2\tabu@firstspace .#1& }% -\gdef\tabu@firstspace #1#2#3 &{\tabu@lastspace #2#3&} -\gdef\tabu@lastspace #1{\def #3{#1}% - \ifx #3\tabu@c@l@r \def\tabu@c@l@r{\protect\color{#1}}\expandafter\remove@to@nnil \fi - \tabu@trimspaces #1\@nnil} -}% \catcode -\def\tabu@sanitizearg #1#2{{% - \csname \ifcsname if@safe@actives\endcsname % - @safe@activestrue\else - relax\fi \endcsname - \edef#2{#1}\tabu@strtrim#2\@onelevel@sanitize#2% - \expandafter}\expandafter\def\expandafter#2\expandafter{#2}% -}% \tabu@sanitizearg -\def\tabu@textbar #1{\begingroup \endlinechar\m@ne \scantokens{\def\:{|}}% - \expandafter\endgroup \expandafter#1\:% !!! semi simple group !!! -}% \tabu@textbar -\def\tabu@everyrow@bgroup{\iftabu@everyrow \begingroup \else \noalign{\ifnum0=`}\fi \fi} -\def\tabu@everyrow@egroup{% - \iftabu@everyrow \expandafter \endgroup \the\toks@ - \else \ifnum0=`{\fi}% - \fi -}% \tabu@everyrow@egroup -\def\tabu@arstrut {\global\setbox\@arstrutbox \hbox{\vrule - height \arraystretch \dimexpr\ht\strutbox+\extrarowheight - depth \arraystretch \dimexpr\dp\strutbox+\extrarowdepth - width \z@}% -}% \tabu@arstrut -\def\tabu@rearstrut {% - \@tempdima \arraystretch\dimexpr\ht\strutbox+\extrarowheight \relax - \@tempdimb \arraystretch\dimexpr\dp\strutbox+\extrarowdepth \relax - \ifodd 1\ifdim \ht\@arstrutbox=\@tempdima - \ifdim \dp\@arstrutbox=\@tempdimb 0 \fi\fi - \tabu@mkarstrut - \fi -}% \tabu@rearstrut -\def\tabu@@DBG #1{\ifdim\tabustrutrule>\z@ \color{#1}\fi} -\def\tabu@DBG@arstrut {\global\setbox\@arstrutbox - \hbox to\z@{\hbox to\z@{\hss - {\tabu@DBG{cyan}\vrule - height \arraystretch \dimexpr\ht\strutbox+\extrarowheight - depth \z@ - width \tabustrutrule}\kern-\tabustrutrule - {\tabu@DBG{pink}\vrule - height \z@ - depth \arraystretch \dimexpr\dp\strutbox+\extrarowdepth - width \tabustrutrule}}}% -}% \tabu@DBG@arstrut -\def\tabu@save@decl{\toks\count@ \expandafter{\the\toks\expandafter\count@ - \@nextchar}}% -\def\tabu@savedecl{\ifcat$\d@llarend\else - \let\save@decl \tabu@save@decl \fi % no inversion of tokens in text mode -}% \tabu@savedecl -\def\tabu@finalstrut #1{\unskip\ifhmode\nobreak\fi\vrule height\z@ depth\z@ width\z@} -\newcommand*\tabuDisableCommands {\g@addto@macro\tabu@trialh@@k } -\let\tabu@trialh@@k \@empty -\def\tabu@nowrite #1#{{\afterassignment}\toks@} -\let\tabu@write\write -\let\tabu@immediate\immediate -\def\tabu@WRITE{\begingroup - \def\immediate\write{\aftergroup\endgroup - \tabu@immediate\tabu@write}% -}% \tabu@WRITE -\expandafter\def\expandafter\tabu@GenericError\expandafter{% - \expandafter\tabu@WRITE\GenericError} -\def\tabu@warn{\tabu@WRITE\PackageWarning{tabu}} -\def\tabu@noxfootnote [#1]{\@gobble} -\def\tabu@nocolor #1#{\@gobble} -\newcommand*\tabu@norowcolor[2][]{} -\def\tabu@maybesiunitx #1{\def\tabu@temp{#1}% - \futurelet\@let@token \tabu@m@ybesiunitx} -\def\tabu@m@ybesiunitx #1{\def\tabu@m@ybesiunitx {% - \ifx #1\@let@token \let\tabu@cellleft \@empty \let\tabu@cellright \@empty \fi - \tabu@temp}% \tabu@m@ybesiunitx -}\expandafter\tabu@m@ybesiunitx \csname siunitx_table_collect_begin:Nn\endcsname -\def\tabu@celllalign@def #1{\def\tabu@celllalign{\tabu@maybesiunitx{#1}}}% -%% Fixed vertical spacing adjustment: \extrarowsep ------------------ -\newcommand*\extrarowsep{\edef\tabu@C@extra{\the\numexpr\tabu@C@extra+1}% - \iftabu@everyrow \aftergroup\tabu@Gextra - \else \aftergroup\tabu@n@Gextra - \fi - \@ifnextchar={\tabu@gobbletoken\tabu@extra} \tabu@extra -}% \extrarowsep -\def\tabu@extra {\@ifnextchar_% - {\tabu@gobbletoken{\tabu@setextra\extrarowheight \extrarowdepth}} - {\ifx ^\@let@token \def\tabu@temp{% - \tabu@gobbletoken{\tabu@setextra\extrarowdepth \extrarowheight}}% - \else \let\tabu@temp \@empty - \afterassignment \tabu@setextrasep \extrarowdepth - \fi \tabu@temp}% -}% \tabu@extra -\def\tabu@setextra #1#2{\def\tabu@temp{\tabu@extr@#1#2}\afterassignment\tabu@temp#2} -\def\tabu@extr@ #1#2{\@ifnextchar^% - {\tabu@gobbletoken{\tabu@setextra\extrarowdepth \extrarowheight}} - {\ifx _\@let@token \def\tabu@temp{% - \tabu@gobbletoken{\tabu@setextra\extrarowheight \extrarowdepth}}% - \else \let\tabu@temp \@empty - \tabu@Gsave \tabu@G@extra \tabu@C@extra \extrarowheight \extrarowdepth - \fi \tabu@temp}% -}% \tabu@extr@ -\def\tabu@setextrasep {\extrarowheight=\extrarowdepth - \tabu@Gsave \tabu@G@extra \tabu@C@extra \extrarowheight \extrarowdepth -}% \tabu@setextrasep -\def\tabu@Gextra{\ifx \tabu@G@extra\@empty \else {\tabu@Rextra}\fi} -\def\tabu@n@Gextra{\ifx \tabu@G@extra\@empty \else \noalign{\tabu@Rextra}\fi} -\def\tabu@Rextra{\tabu@Grestore \tabu@G@extra \tabu@C@extra} -\let\tabu@C@extra \z@ -\let\tabu@G@extra \@empty -%% Dynamic vertical spacing adjustment: \tabulinesep ---------------- -\newcommand*\tabulinesep{\edef\tabu@C@linesep{\the\numexpr\tabu@C@linesep+1}% - \iftabu@everyrow \aftergroup\tabu@Glinesep - \else \aftergroup\tabu@n@Glinesep - \fi - \@ifnextchar={\tabu@gobbletoken\tabu@linesep} \tabu@linesep -}% \tabulinesep -\def\tabu@linesep {\@ifnextchar_% - {\tabu@gobbletoken{\tabu@setsep\abovetabulinesep \belowtabulinesep}} - {\ifx ^\@let@token \def\tabu@temp{% - \tabu@gobbletoken{\tabu@setsep\belowtabulinesep \abovetabulinesep}}% - \else \let\tabu@temp \@empty - \afterassignment \tabu@setlinesep \abovetabulinesep - \fi \tabu@temp}% -}% \tabu@linesep -\def\tabu@setsep #1#2{\def\tabu@temp{\tabu@sets@p#1#2}\afterassignment\tabu@temp#2} -\def\tabu@sets@p #1#2{\@ifnextchar^% - {\tabu@gobbletoken{\tabu@setsep\belowtabulinesep \abovetabulinesep}} - {\ifx _\@let@token \def\tabu@temp{% - \tabu@gobbletoken{\tabu@setsep\abovetabulinesep \belowtabulinesep}}% - \else \let\tabu@temp \@empty - \tabu@Gsave \tabu@G@linesep \tabu@C@linesep \abovetabulinesep \belowtabulinesep - \fi \tabu@temp}% -}% \tabu@sets@p -\def\tabu@setlinesep {\belowtabulinesep=\abovetabulinesep - \tabu@Gsave \tabu@G@linesep \tabu@C@linesep \abovetabulinesep \belowtabulinesep -}% \tabu@setlinesep -\def\tabu@Glinesep{\ifx \tabu@G@linesep\@empty \else {\tabu@Rlinesep}\fi} -\def\tabu@n@Glinesep{\ifx \tabu@G@linesep\@empty \else \noalign{\tabu@Rlinesep}\fi} -\def\tabu@Rlinesep{\tabu@Grestore \tabu@G@linesep \tabu@C@linesep} -\let\tabu@C@linesep \z@ -\let\tabu@G@linesep \@empty -%% \global\extrarowsep and \global\tabulinesep ------------------- -\def\tabu@Gsave #1#2#3#4{\xdef#1{#1% - \toks#2{\toks\the\currentgrouplevel{\global#3\the#3\global#4\the#4}}}% -}% \tabu@Gsave -\def\tabu@Grestore#1#2{% - \toks#2{}#1\toks\currentgrouplevel\expandafter{\expandafter}\the\toks#2\relax - \ifcat$\the\toks\currentgrouplevel$\else - \global\let#1\@empty \global\let#2\z@ - \the\toks\currentgrouplevel - \fi -}% \tabu@Grestore -%% Setting code for every row --------------------------------------- -\newcommand*\everyrow{\tabu@everyrow@bgroup - \tabu@start \z@ \tabu@stop \z@ \tabu@evrstartstop -}% \everyrow -\def\tabu@evrstartstop {\@ifnextchar^% - {\afterassignment \tabu@evrstartstop \tabu@stop=}% - {\ifx ^\@let@token - \afterassignment\tabu@evrstartstop \tabu@start=% - \else \afterassignment\tabu@everyr@w \toks@ - \fi}% -}% \tabu@evrstartstop -\def\tabu@everyr@w {% - \xdef\tabu@everyrow{% - \noexpand\tabu@everyrowfalse - \let\noalign \relax - \noexpand\tabu@rowfontreset - \iftabu@colortbl \noexpand\tabu@rc@ \fi % \taburowcolors - \let\noexpand\tabu@docline \noexpand\tabu@docline@evr - \the\toks@ - \noexpand\tabu@evrh@@k - \noexpand\tabu@rearstrut - \global\advance\c@taburow \@ne}% - \iftabu@everyrow \toks@\expandafter - {\expandafter\def\expandafter\tabu@evr@L\expandafter{\the\toks@}\ignorespaces}% - \else \xdef\tabu@evr@G{\the\toks@}% - \fi - \tabu@everyrow@egroup -}% \tabu@everyr@w -\def\tabu@evr {\def\tabu@evrh@@k} % for internal use only -\tabu@evr{} -%% line style and leaders ------------------------------------------- -\newcommand*\newtabulinestyle [1]{% - {\@for \@tempa :=#1\do{\expandafter\tabu@newlinestyle \@tempa==\@nil}}% -}% \newtabulinestyle -\def\tabu@newlinestyle #1=#2=#3\@nil{\tabu@getline {#2}% - \tabu@sanitizearg {#1}\@tempa - \ifodd 1\ifx \@tempa\@empty \ifdefined\tabu@linestyle@ 0 \fi\fi - \global\expandafter\let - \csname tabu@linestyle@\@tempa \endcsname =\tabu@thestyle \fi -}% \tabu@newlinestyle -\newcommand*\tabulinestyle [1]{\tabu@everyrow@bgroup \tabu@getline{#1}% - \iftabu@everyrow - \toks@\expandafter{\expandafter \def \expandafter - \tabu@ls@L\expandafter{\tabu@thestyle}\ignorespaces}% - \gdef\tabu@ls@{\tabu@ls@L}% - \else - \global\let\tabu@ls@G \tabu@thestyle - \gdef\tabu@ls@{\tabu@ls@G}% - \fi - \tabu@everyrow@egroup -}% \tabulinestyle -\newcommand*\taburulecolor{\tabu@everyrow@bgroup \tabu@textbar \tabu@rulecolor} -\def\tabu@rulecolor #1{\toks@{}% - \def\tabu@temp #1##1#1{\tabu@ruledrsc{##1}}\@ifnextchar #1% - \tabu@temp - \tabu@rulearc -}% \tabu@rulecolor -\def\tabu@ruledrsc #1{\edef\tabu@temp{#1}\tabu@strtrim\tabu@temp - \ifx \tabu@temp\@empty \def\tabu@temp{\tabu@rule@drsc@ {}{}}% - \else \edef\tabu@temp{\noexpand\tabu@rule@drsc@ {}{\tabu@temp}}% - \fi - \tabu@temp -}% \tabu@ruledrsc@ -\def\tabu@ruledrsc@ #1#{\tabu@rule@drsc@ {#1}} -\def\tabu@rule@drsc@ #1#2{% - \iftabu@everyrow - \ifx \\#1#2\\\toks@{\let\CT@drsc@ \relax}% - \else \toks@{\def\CT@drsc@{\color #1{#2}}}% - \fi - \else - \ifx \\#1#2\\\global\let\CT@drsc@ \relax - \else \gdef\CT@drsc@{\color #1{#2}}% - \fi - \fi - \tabu@rulearc -}% \tabu@rule@drsc@ -\def\tabu@rulearc #1#{\tabu@rule@arc@ {#1}} -\def\tabu@rule@arc@ #1#2{% - \iftabu@everyrow - \ifx \\#1#2\\\toks@\expandafter{\the\toks@ \def\CT@arc@{}}% - \else \toks@\expandafter{\the\toks@ \def\CT@arc@{\color #1{#2}}}% - \fi - \toks@\expandafter{\the\toks@ - \let\tabu@arc@L \CT@arc@ - \let\tabu@drsc@L \CT@drsc@ - \ignorespaces}% - \else - \ifx \\#1#2\\\gdef\CT@arc@{}% - \else \gdef\CT@arc@{\color #1{#2}}% - \fi - \global\let\tabu@arc@G \CT@arc@ - \global\let\tabu@drsc@G \CT@drsc@ - \fi - \tabu@everyrow@egroup -}% \tabu@rule@arc@ -\def\taburowcolors {\tabu@everyrow@bgroup \@testopt \tabu@rowcolors 1} -\def\tabu@rowcolors [#1]#2#{\tabu@rowc@lors{#1}{#2}} -\def\tabu@rowc@lors #1#2#3{% - \toks@{}\@defaultunits \count@ =\number0#2\relax \@nnil - \@defaultunits \tabu@start =\number0#1\relax \@nnil - \ifnum \count@<\tw@ \count@=\tw@ \fi - \advance\tabu@start \m@ne - \ifnum \tabu@start<\z@ \tabu@start \z@ \fi - \tabu@rowcolorseries #3\in@..\in@ \@nnil -}% \tabu@rowcolors -\def\tabu@rowcolorseries #1..#2\in@ #3\@nnil {% - \ifx \in@#1\relax - \iftabu@everyrow \toks@{\def\tabu@rc@{}\let\tabu@rc@L \tabu@rc@}% - \else \gdef\tabu@rc@{}\global\let\tabu@rc@G \tabu@rc@ - \fi - \else - \ifx \\#2\\\tabu@rowcolorserieserror \fi - \tabu@sanitizearg{#1}\tabu@temp - \tabu@sanitizearg{#2}\@tempa - \advance\count@ \m@ne - \iftabu@everyrow - \def\tabu@rc@ ##1##2##3##4{\def\tabu@rc@{% - \ifnum ##2=\c@taburow - \definecolorseries{tabu@rcseries@\the\tabu@nested}{rgb}{last}{##3}{##4}\fi - \ifnum \c@taburow<##2 \else - \ifnum \tabu@modulo {\c@taburow-##2}{##1+1}=\z@ - \resetcolorseries[{##1}]{tabu@rcseries@\the\tabu@nested}\fi - \xglobal\colorlet{tabu@rc@\the\tabu@nested}{tabu@rcseries@\the\tabu@nested!!+}% - \rowcolor{tabu@rc@\the\tabu@nested}\fi}% - }\edef\x{\noexpand\tabu@rc@ {\the\count@} - {\the\tabu@start} - {\tabu@temp} - {\@tempa}% - }\x - \toks@\expandafter{\expandafter\def\expandafter\tabu@rc@\expandafter{\tabu@rc@}}% - \toks@\expandafter{\the\toks@ \let\tabu@rc@L \tabu@rc@ \ignorespaces}% - \else % inside \noalign - \definecolorseries{tabu@rcseries@\the\tabu@nested}{rgb}{last}{\tabu@temp}{\@tempa}% - \expandafter\resetcolorseries\expandafter[\the\count@]{tabu@rcseries@\the\tabu@nested}% - \xglobal\colorlet{tabu@rc@\the\tabu@nested}{tabu@rcseries@\the\tabu@nested!!+}% - \let\noalign \relax \rowcolor{tabu@rc@\the\tabu@nested}% - \def\tabu@rc@ ##1##2{\gdef\tabu@rc@{% - \ifnum \tabu@modulo {\c@taburow-##2}{##1+1}=\@ne - \resetcolorseries[{##1}]{tabu@rcseries@\the\tabu@nested}\fi - \xglobal\colorlet{tabu@rc@\the\tabu@nested}{tabu@rcseries@\the\tabu@nested!!+}% - \rowcolor{tabu@rc@\the\tabu@nested}}% - }\edef\x{\noexpand\tabu@rc@{\the\count@}{\the\c@taburow}}\x - \global\let\tabu@rc@G \tabu@rc@ - \fi - \fi - \tabu@everyrow@egroup -}% \tabu@rowcolorseries -\tabuDisableCommands {\let\tabu@rc@ \@empty } -\def\tabu@rowcolorserieserror {\PackageError{tabu} - {Invalid syntax for \string\taburowcolors - \MessageBreak Please look at the documentation!}\@ehd -}% \tabu@rowcolorserieserror -\newcommand*\tabureset {% - \tabulinesep=\z@ \extrarowsep=\z@ \extratabsurround=\z@ - \tabulinestyle{}\everyrow{}\taburulecolor||{}\taburowcolors{}% -}% \tabureset -%% Parsing the line styles ------------------------------------------ -\def\tabu@getline #1{\begingroup - \csname \ifcsname if@safe@actives\endcsname % - @safe@activestrue\else - relax\fi \endcsname - \edef\tabu@temp{#1}\tabu@sanitizearg{#1}\@tempa - \let\tabu@thestyle \relax - \ifcsname tabu@linestyle@\@tempa \endcsname - \edef\tabu@thestyle{\endgroup - \def\tabu@thestyle{\expandafter\noexpand - \csname tabu@linestyle@\@tempa\endcsname}% - }\tabu@thestyle - \else \expandafter\tabu@definestyle \tabu@temp \@nil - \fi -}% \tabu@getline -\def\tabu@definestyle #1#2\@nil {\endlinechar \m@ne \makeatletter - \tabu@thick \maxdimen \tabu@on \maxdimen \tabu@off \maxdimen - \let\tabu@c@lon \@undefined \let\tabu@c@loff \@undefined - \ifodd 1\ifcat .#1\else\ifcat\relax #1\else 0\fi\fi % catcode 12 or non expandable cs - \def\tabu@temp{\tabu@getparam{thick}}% - \else \def\tabu@temp{\tabu@getparam{thick}\maxdimen}% - \fi - {% - \let\tabu@ \relax - \def\:{\obeyspaces \tabu@oXIII \tabu@commaXIII \edef\:}% (space active \: happy ;-)) - \scantokens{\:{\tabu@temp #1#2 \tabu@\tabu@}}% - \expandafter}\expandafter - \def\expandafter\:\expandafter{\:}% line spec rewritten now ;-) - \def\;{\def\:}% - \scantokens\expandafter{\expandafter\;\expandafter{\:}}% space is now inactive (catcode 10) - \let\tabu@ \tabu@getcolor \:% all arguments are ready now ;-) - \ifdefined\tabu@c@lon \else \let\tabu@c@lon\@empty \fi - \ifx \tabu@c@lon\@empty \def\tabu@c@lon{\CT@arc@}\fi - \ifdefined\tabu@c@loff \else \let\tabu@c@loff \@empty \fi - \ifdim \tabu@on=\maxdimen \ifdim \tabu@off<\maxdimen - \tabu@on \tabulineon \fi\fi - \ifdim \tabu@off=\maxdimen \ifdim \tabu@on<\maxdimen - \tabu@off \tabulineoff \fi\fi - \ifodd 1\ifdim \tabu@off=\maxdimen \ifdim \tabu@on=\maxdimen 0 \fi\fi - \in@true % - \else \in@false % - \fi - \ifdim\tabu@thick=\maxdimen \def\tabu@thick{\arrayrulewidth}% - \else \edef\tabu@thick{\the\tabu@thick}% - \fi - \edef \tabu@thestyle ##1##2{\endgroup - \def\tabu@thestyle{% - \ifin@ \noexpand\tabu@leadersstyle {\tabu@thick} - {\the\tabu@on}{##1} - {\the\tabu@off}{##2}% - \else \noexpand\tabu@rulesstyle - {##1\vrule width \tabu@thick}% - {##1\leaders \hrule height \tabu@thick \hfil}% - \fi}% - }\expandafter \expandafter - \expandafter \tabu@thestyle \expandafter - \expandafter \expandafter - {\expandafter\tabu@c@lon\expandafter}\expandafter{\tabu@c@loff}% -}% \tabu@definestyle -{\catcode`\O=\active \lccode`\O=`\o \catcode`\,=\active - \lowercase{\gdef\tabu@oXIII {\catcode`\o=\active \let O=\tabu@oxiii}} - \gdef\tabu@commaXIII {\catcode`\,=\active \let ,=\space} -}% \catcode -\def\tabu@oxiii #1{% - \ifcase \ifx n#1\z@ \else - \ifx f#1\@ne\else - \tw@ \fi\fi - \expandafter\tabu@onxiii - \or \expandafter\tabu@ofxiii - \else o% - \fi#1}% -\def\tabu@onxiii #1#2{% - \ifcase \ifx !#2\tw@ \else - \ifcat.\noexpand#2\z@ \else - \ifx \tabu@spxiii#2\@ne\else - \tw@ \fi\fi\fi - \tabu@getparam{on}#2\expandafter\@gobble - \or \expandafter\tabu@onxiii % (space is active) - \else o\expandafter\@firstofone - \fi{#1#2}}% -\def\tabu@ofxiii #1#2{% - \ifx #2f\expandafter\tabu@offxiii - \else o\expandafter\@firstofone - \fi{#1#2}} -\def\tabu@offxiii #1#2{% - \ifcase \ifx !#2\tw@ \else - \ifcat.\noexpand#2\z@ \else - \ifx\tabu@spxiii#2\@ne \else - \tw@ \fi\fi\fi - \tabu@getparam{off}#2\expandafter\@gobble - \or \expandafter\tabu@offxiii % (space is active) - \else o\expandafter\@firstofone - \fi{#1#2}} -\def\tabu@getparam #1{\tabu@ \csname tabu@#1\endcsname=} -\def\tabu@getcolor #1{% \tabu@ <- \tabu@getcolor after \edef - \ifx \tabu@#1\else % no more spec - \let\tabu@theparam=#1\afterassignment \tabu@getc@l@r #1\fi -}% \tabu@getcolor -\def\tabu@getc@l@r #1\tabu@ {% - \def\tabu@temp{#1}\tabu@strtrim \tabu@temp - \ifx \tabu@temp\@empty - \else%\ifcsname \string\color@\tabu@temp \endcsname % if the color exists - \ifx \tabu@theparam \tabu@off \let\tabu@c@loff \tabu@c@l@r - \else \let\tabu@c@lon \tabu@c@l@r - \fi - %\else \tabu@warncolour{\tabu@temp}% - \fi%\fi - \tabu@ % next spec -}% \tabu@getc@l@r -\def\tabu@warncolour #1{\PackageWarning{tabu} - {Color #1 is not defined. Default color used}% -}% \tabu@warncolour -\def\tabu@leadersstyle #1#2#3#4#5{\def\tabu@leaders{{#1}{#2}{#3}{#4}{#5}}% - \ifx \tabu@leaders\tabu@leaders@G \else - \tabu@LEADERS{#1}{#2}{#3}{#4}{#5}\fi -}% \tabu@leadersstyle -\def\tabu@rulesstyle #1#2{\let\tabu@leaders \@undefined - \gdef\tabu@thevrule{#1}\gdef\tabu@thehrule{#2}% -}% \tabu@rulesstyle -%% The leaders boxes ------------------------------------------------ -\def\tabu@LEADERS #1#2#3#4#5{%% width, dash, dash color, gap, gap color - {\let\color \tabu@color % => during trials -> \color = \tabu@nocolor - {% % but the leaders boxes should have colors ! - \def\@therule{\vrule}\def\@thick{height}\def\@length{width}% - \def\@box{\hbox}\def\@unbox{\unhbox}\def\@elt{\wd}% - \def\@skip{\hskip}\def\@ss{\hss}\def\tabu@leads{\tabu@hleads}% - \tabu@l@@d@rs {#1}{#2}{#3}{#4}{#5}% - \global\let\tabu@thehleaders \tabu@theleaders - }% - {% - \def\@therule{\hrule}\def\@thick{width}\def\@length{height}% - \def\@box{\vbox}\def\@unbox{\unvbox}\def\@elt{\ht}% - \def\@skip{\vskip}\def\@ss{\vss}\def\tabu@leads{\tabu@vleads}% - \tabu@l@@d@rs {#1}{#2}{#3}{#4}{#5}% - \global\let\tabu@thevleaders \tabu@theleaders - }% - \gdef\tabu@leaders@G{{#1}{#2}{#3}{#4}{#5}}% - }% -}% \tabu@LEADERS -\def\tabu@therule #1#2{\@therule \@thick#1\@length\dimexpr#2/2 \@depth\z@} -\def\tabu@l@@d@rs #1#2#3#4#5{%% width, dash, dash color, gap, gap color - \global\setbox \tabu@leads=\@box{% - {#3\tabu@therule{#1}{#2}}% - \ifx\\#5\\\@skip#4\else{#5\tabu@therule{#1}{#4*2}}\fi - {#3\tabu@therule{#1}{#2}}}% - \global\setbox\tabu@leads=\@box to\@elt\tabu@leads{\@ss - {#3\tabu@therule{#1}{#2}}\@unbox\tabu@leads}% - \edef\tabu@theleaders ##1{\def\noexpand\tabu@theleaders {% - {##1\tabu@therule{#1}{#2}}% - \xleaders \copy\tabu@leads \@ss - \tabu@therule{0pt}{-#2}{##1\tabu@therule{#1}{#2}}}% - }\tabu@theleaders{#3}% -}% \tabu@l@@d@rs -%% \tabu \endtabu \tabu* \longtabu \endlongtabu \longtabu* ---------- -\newcommand*\tabu {\tabu@longfalse - \ifmmode \def\tabu@ {\array}\def\endtabu {\endarray}% - \else \def\tabu@ {\tabu@tabular}\def\endtabu {\endtabular}\fi - \expandafter\let\csname tabu*\endcsname \tabu - \expandafter\def\csname endtabu*\endcsname{\endtabu}% - \tabu@spreadfalse \tabu@negcoeffalse \tabu@settarget -}% {tabu} -\let\tabu@tabular \tabular % -\expandafter\def\csname tabu*\endcsname{\tabuscantokenstrue \tabu} -\newcommand*\longtabu {\tabu@longtrue - \ifmmode\PackageError{tabu}{longtabu not allowed in math mode}\fi - \def\tabu@{\longtable}\def\endlongtabu{\endlongtable}% - \LTchunksize=\@M - \expandafter\let\csname tabu*\endcsname \tabu - \expandafter\def\csname endlongtabu*\endcsname{\endlongtabu}% - \let\LT@startpbox \tabu@LT@startpbox % \everypar{ array struts } - \tabu@spreadfalse \tabu@negcoeffalse \tabu@settarget -}% {longtabu} -\expandafter\def\csname longtabu*\endcsname{\tabuscantokenstrue \longtabu} -\def\tabu@nolongtabu{\PackageError{tabu} - {longtabu requires the longtable package}\@ehd} -%% Read the target and then : \tabular or \@array ------------------ -\def\tabu@settarget {\futurelet\@let@token \tabu@sett@rget } -\def\tabu@sett@rget {\tabu@target \z@ - \ifcase \ifx \bgroup\@let@token \z@ \else - \ifx \@sptoken\@let@token \@ne \else - \if t\@let@token \tw@ \else - \if s\@let@token \thr@@\else - \z@\fi\fi\fi\fi - \expandafter\tabu@begin - \or \expandafter\tabu@gobblespace\expandafter\tabu@settarget - \or \expandafter\tabu@to - \or \expandafter\tabu@spread - \fi -}% \tabu@sett@rget -\def\tabu@to to{\def\tabu@halignto{to}\tabu@gettarget} -\def\tabu@spread spread{\tabu@spreadtrue\def\tabu@halignto{spread}\tabu@gettarget} -\def\tabu@gettarget {\afterassignment\tabu@linegoaltarget \tabu@target } -\def\tabu@linegoaltarget {\futurelet\tabu@temp \tabu@linegoalt@rget } -\def\tabu@linegoalt@rget {% - \ifx \tabu@temp\LNGL@setlinegoal - \LNGL@setlinegoal \expandafter \@firstoftwo \fi % @gobbles \LNGL@setlinegoal - \tabu@begin -}% \tabu@linegoalt@rget -\def\tabu@begin #1#{% - \iftabu@measuring \expandafter\tabu@nestedmeasure \fi - \ifdim \tabu@target=\z@ \let\tabu@halignto \@empty - \else \edef\tabu@halignto{\tabu@halignto\the\tabu@target}% - \fi - \@testopt \tabu@tabu@ \tabu@aligndefault #1\@nil -}% \tabu@begin -\long\def\tabu@tabu@ [#1]#2\@nil #3{\tabu@setup - \def\tabu@align {#1}\def\tabu@savedpream{\NC@find #3}% - \tabu@ [\tabu@align ]#2{#3\tabu@rewritefirst }% -}% \tabu@tabu@ -\def\tabu@nestedmeasure {% - \ifodd 1\iftabu@spread \else \ifdim\tabu@target=\z@ \else 0 \fi\fi\relax - \tabu@spreadtrue - \else \begingroup \iffalse{\fi \ifnum0=`}\fi - \toks@{}\def\tabu@stack{b}% - \expandafter\tabu@collectbody\expandafter\tabu@quickrule - \expandafter\endgroup - \fi -}% \tabu@nestedmeasure -\def\tabu@quickrule {\indent\vrule height\z@ depth\z@ width\tabu@target} -%% \tabu@setup \tabu@init \tabu@indent -\def\tabu@setup{\tabu@alloc@ - \ifcase \tabu@nested - \ifmmode \else \iftabu@spread\else \ifdim\tabu@target=\z@ - \let\tabu@afterendpar \par - \fi\fi\fi - \def\tabu@aligndefault{c}\tabu@init \tabu@indent - \else % - \def\tabu@aligndefault{t}\let\tabudefaulttarget \linewidth - \fi - \let\tabu@thetarget \tabudefaulttarget \let\tabu@restored \@undefined - \edef\tabu@NC@list{\the\NC@list}\NC@list{\NC@do \tabu@rewritefirst}% - \everycr{}\let\@startpbox \tabu@startpbox % for nested tabu inside longtabu... - \let\@endpbox \tabu@endpbox % idem " " " " " " - \let\@tabarray \tabu@tabarray % idem " " " " " " - \tabu@setcleanup \tabu@setreset -}% \tabu@setup -\def\tabu@init{\tabu@starttimer \tabu@measuringfalse - \edef\tabu@hfuzz {\the\dimexpr\hfuzz+1sp}\global\tabu@footnotes{}% - \let\firsthline \tabu@firsthline \let\lasthline \tabu@lasthline - \let\firstline \tabu@firstline \let\lastline \tabu@lastline - \let\hline \tabu@hline \let\@xhline \tabu@xhline - \let\color \tabu@color \let\@arstrutbox \tabu@arstrutbox - \iftabu@colortbl\else\let\LT@@hline \tabu@LT@@hline \fi - \tabu@trivlist % - \let\@footnotetext \tabu@footnotetext \let\@xfootnotetext \tabu@xfootnotetext - \let\@xfootnote \tabu@xfootnote \let\centering \tabu@centering - \let\raggedright \tabu@raggedright \let\raggedleft \tabu@raggedleft - \let\tabudecimal \tabu@tabudecimal \let\Centering \tabu@Centering - \let\RaggedRight \tabu@RaggedRight \let\RaggedLeft \tabu@RaggedLeft - \let\justifying \tabu@justifying \let\rowfont \tabu@rowfont - \let\fbox \tabu@fbox \let\color@b@x \tabu@color@b@x - \let\tabu@@everycr \everycr \let\tabu@@everypar \everypar - \let\tabu@prepnext@tokORI \prepnext@tok\let\prepnext@tok \tabu@prepnext@tok - \let\tabu@multicolumnORI\multicolumn \let\multicolumn \tabu@multicolumn - \let\tabu@startpbox \@startpbox % for nested tabu inside longtabu pfff !!! - \let\tabu@endpbox \@endpbox % idem " " " " " " " - \let\tabu@tabarray \@tabarray % idem " " " " " " " - \tabu@adl@fix \let\endarray \tabu@endarray % colortbl & arydshln (delarray) - \iftabu@colortbl\CT@everycr\expandafter{\expandafter\iftabu@everyrow \the\CT@everycr \fi}\fi -}% \tabu@init -\def\tabu@indent{% correction for indentation - \ifdim \parindent>\z@\ifx \linewidth\tabudefaulttarget - \everypar\expandafter{% - \the\everypar\everypar\expandafter{\the\everypar}% - \setbox\z@=\lastbox - \ifdim\wd\z@>\z@ \edef\tabu@thetarget - {\the\dimexpr -\wd\z@+\tabudefaulttarget}\fi - \box\z@}% - \fi\fi -}% \tabu@indent -\def\tabu@setcleanup {% saves last global assignments - \ifodd 1\ifmmode \else \iftabu@long \else 0\fi\fi\relax - \def\tabu@aftergroupcleanup{% - \def\tabu@aftergroupcleanup{\aftergroup\tabu@cleanup}}% - \else - \def\tabu@aftergroupcleanup{% - \aftergroup\aftergroup\aftergroup\tabu@cleanup - \let\tabu@aftergroupcleanup \relax}% - \fi - \let\tabu@arc@Gsave \tabu@arc@G - \let\tabu@arc@G \tabu@arc@L % - \let\tabu@drsc@Gsave \tabu@drsc@G - \let\tabu@drsc@G \tabu@drsc@L % - \let\tabu@ls@Gsave \tabu@ls@G - \let\tabu@ls@G \tabu@ls@L % - \let\tabu@rc@Gsave \tabu@rc@G - \let\tabu@rc@G \tabu@rc@L % - \let\tabu@evr@Gsave \tabu@evr@G - \let\tabu@evr@G \tabu@evr@L % - \let\tabu@celllalign@save \tabu@celllalign - \let\tabu@cellralign@save \tabu@cellralign - \let\tabu@cellleft@save \tabu@cellleft - \let\tabu@cellright@save \tabu@cellright - \let\tabu@@celllalign@save \tabu@@celllalign - \let\tabu@@cellralign@save \tabu@@cellralign - \let\tabu@@cellleft@save \tabu@@cellleft - \let\tabu@@cellright@save \tabu@@cellright - \let\tabu@rowfontreset@save \tabu@rowfontreset - \let\tabu@@rowfontreset@save\tabu@@rowfontreset - \let\tabu@rowfontreset \@empty - \edef\tabu@alloc@save {\the\tabu@alloc}% restore at \tabu@reset - \edef\c@taburow@save {\the\c@taburow}% - \edef\tabu@naturalX@save {\the\tabu@naturalX}% - \let\tabu@naturalXmin@save \tabu@naturalXmin - \let\tabu@naturalXmax@save \tabu@naturalXmax - \let\tabu@mkarstrut@save \tabu@mkarstrut - \edef\tabu@clarstrut{% - \extrarowheight \the\dimexpr \ht\@arstrutbox-\ht\strutbox \relax - \extrarowdepth \the\dimexpr \dp\@arstrutbox-\dp\strutbox \relax - \let\noexpand\@arraystretch \@ne \noexpand\tabu@rearstrut}% -}% \tabu@setcleanup -\def\tabu@cleanup {\begingroup - \globaldefs\@ne \tabu@everyrowtrue - \let\tabu@arc@G \tabu@arc@Gsave - \let\CT@arc@ \tabu@arc@G - \let\tabu@drsc@G \tabu@drsc@Gsave - \let\CT@drsc@ \tabu@drsc@G - \let\tabu@ls@G \tabu@ls@Gsave - \let\tabu@ls@ \tabu@ls@G - \let\tabu@rc@G \tabu@rc@Gsave - \let\tabu@rc@ \tabu@rc@G - \let\CT@do@color \relax - \let\tabu@evr@G \tabu@evr@Gsave - \let\tabu@celllalign \tabu@celllalign@save - \let\tabu@cellralign \tabu@cellralign@save - \let\tabu@cellleft \tabu@cellleft@save - \let\tabu@cellright \tabu@cellright@save - \let\tabu@@celllalign \tabu@@celllalign@save - \let\tabu@@cellralign \tabu@@cellralign@save - \let\tabu@@cellleft \tabu@@cellleft@save - \let\tabu@@cellright \tabu@@cellright@save - \let\tabu@rowfontreset \tabu@rowfontreset@save - \let\tabu@@rowfontreset \tabu@@rowfontreset@save - \tabu@naturalX =\tabu@naturalX@save - \let\tabu@naturalXmax \tabu@naturalXmax@save - \let\tabu@naturalXmin \tabu@naturalXmin@save - \let\tabu@mkarstrut \tabu@mkarstrut@save - \c@taburow =\c@taburow@save - \ifcase \tabu@nested \tabu@alloc \m@ne\fi - \endgroup % - \ifcase \tabu@nested - \the\tabu@footnotes \global\tabu@footnotes{}% - \tabu@afterendpar \tabu@elapsedtime - \fi - \tabu@clarstrut - \everyrow\expandafter {\tabu@evr@G}% -}% \tabu@cleanup -\let\tabu@afterendpar \relax -\def\tabu@setreset {% - \edef\tabu@savedparams {% \relax for \tabu@message@save - \ifmmode \col@sep \the\arraycolsep - \else \col@sep \the\tabcolsep \fi \relax - \arrayrulewidth \the\arrayrulewidth \relax - \doublerulesep \the\doublerulesep \relax - \extratabsurround \the\extratabsurround \relax - \extrarowheight \the\extrarowheight \relax - \extrarowdepth \the\extrarowdepth \relax - \abovetabulinesep \the\abovetabulinesep \relax - \belowtabulinesep \the\belowtabulinesep \relax - \def\noexpand\arraystretch{\arraystretch}% - \ifdefined\minrowclearance \minrowclearance\the\minrowclearance\relax\fi}% - \begingroup - \@temptokena\expandafter{\tabu@savedparams}% => only for \savetabu / \usetabu - \ifx \tabu@arc@L\relax \else \tabu@setsave \tabu@arc@L \fi - \ifx \tabu@drsc@L\relax \else \tabu@setsave \tabu@drsc@L \fi - \tabu@setsave \tabu@ls@L \tabu@setsave \tabu@evr@L - \expandafter \endgroup \expandafter - \def\expandafter\tabu@saved@ \expandafter{\the\@temptokena - \let\tabu@arc@G \tabu@arc@L - \let\tabu@drsc@G \tabu@drsc@L - \let\tabu@ls@G \tabu@ls@L - \let\tabu@rc@G \tabu@rc@L - \let\tabu@evr@G \tabu@evr@L}% - \def\tabu@reset{\tabu@savedparams - \tabu@everyrowtrue \c@taburow \z@ - \let\CT@arc@ \tabu@arc@L - \let\CT@drsc@ \tabu@drsc@L - \let\tabu@ls@ \tabu@ls@L - \let\tabu@rc@ \tabu@rc@L - \global\tabu@alloc \tabu@alloc@save - \everyrow\expandafter{\tabu@evr@L}}% -}% \tabu@reset -\def\tabu@setsave #1{\expandafter\tabu@sets@ve #1\@nil{#1}} -\long\def\tabu@sets@ve #1\@nil #2{\@temptokena\expandafter{\the\@temptokena \def#2{#1}}} -%% The Rewriting Process ------------------------------------------- -\def\tabu@newcolumntype #1{% - \expandafter\tabu@new@columntype - \csname NC@find@\string#1\expandafter\endcsname - \csname NC@rewrite@\string#1\endcsname - {#1}% -}% \tabu@newcolumntype -\def\tabu@new@columntype #1#2#3{% - \def#1##1#3{\NC@{##1}}% - \let#2\relax \newcommand*#2% -}% \tabu@new@columntype -\def\tabu@privatecolumntype #1{% - \expandafter\tabu@private@columntype - \csname NC@find@\string#1\expandafter\endcsname - \csname NC@rewrite@\string#1\expandafter\endcsname - \csname tabu@NC@find@\string#1\expandafter\endcsname - \csname tabu@NC@rewrite@\string#1\endcsname - {#1}% -}% \tabu@privatecolumntype -\def\tabu@private@columntype#1#2#3#4{% - \g@addto@macro\tabu@privatecolumns{\let#1#3\let#2#4}% - \tabu@new@columntype#3#4% -}% \tabu@private@columntype -\let\tabu@privatecolumns \@empty -\newcommand*\tabucolumn [1]{\expandafter \def \expandafter - \tabu@highprioritycolumns\expandafter{\tabu@highprioritycolumns - \NC@do #1}}% -\let\tabu@highprioritycolumns \@empty -%% The | ``column'' : rewriting process -------------------------- -\tabu@privatecolumntype |{\tabu@rewritevline} -\newcommand*\tabu@rewritevline[1][]{\tabu@vlinearg{#1}% - \expandafter \NC@find \tabu@rewritten} -\def\tabu@lines #1{% - \ifx|#1\else \tabu@privatecolumntype #1{\tabu@rewritevline}\fi - \NC@list\expandafter{\the\NC@list \NC@do #1}% -}% \tabu@lines@ -\def\tabu@vlinearg #1{% - \ifx\\#1\\\def\tabu@thestyle {\tabu@ls@}% - \else\tabu@getline {#1}% - \fi - \def\tabu@rewritten ##1{\def\tabu@rewritten{!{##1\tabu@thevline}}% - }\expandafter\tabu@rewritten\expandafter{\tabu@thestyle}% - \expandafter \tabu@keepls \tabu@thestyle \@nil -}% \tabu@vlinearg -\def\tabu@keepls #1\@nil{% - \ifcat $\@cdr #1\@nil $% - \ifx \relax#1\else - \ifx \tabu@ls@#1\else - \let#1\relax - \xdef\tabu@mkpreambuffer{\tabu@mkpreambuffer - \tabu@savels\noexpand#1}\fi\fi\fi -}% \tabu@keepls -\def\tabu@thevline {\begingroup - \ifdefined\tabu@leaders - \setbox\@tempboxa=\vtop to\dimexpr - \ht\@arstrutbox+\dp\@arstrutbox{{\tabu@thevleaders}}% - \ht\@tempboxa=\ht\@arstrutbox \dp\@tempboxa=\dp\@arstrutbox - \box\@tempboxa - \else - \tabu@thevrule - \fi \endgroup -}% \tabu@thevline -\def\tabu@savels #1{% - \expandafter\let\csname\string#1\endcsname #1% - \expandafter\def\expandafter\tabu@reset\expandafter{\tabu@reset - \tabu@resetls#1}}% -\def\tabu@resetls #1{\expandafter\let\expandafter#1\csname\string#1\endcsname}% -%% \multicolumn inside tabu environment ----------------------------- -\tabu@newcolumntype \tabu@rewritemulticolumn{% - \aftergroup \tabu@endrewritemulticolumn % after \@mkpream group - \NC@list{\NC@do *}\tabu@textbar \tabu@lines - \tabu@savedecl - \tabu@privatecolumns - \NC@list\expandafter{\the\expandafter\NC@list \tabu@NC@list}% - \let\tabu@savels \relax - \NC@find -}% \tabu@rewritemulticolumn -\def\tabu@endrewritemulticolumn{\gdef\tabu@mkpreambuffer{}\endgroup} -\def\tabu@multicolumn{\tabu@ifenvir \tabu@multic@lumn \tabu@multicolumnORI} -\long\def\tabu@multic@lumn #1#2#3{\multispan{#1}\begingroup - \tabu@everyrowtrue - \NC@list{\NC@do \tabu@rewritemulticolumn}% - \expandafter\@gobbletwo % gobbles \multispan{#1} - \tabu@multicolumnORI{#1}{\tabu@rewritemulticolumn #2}% - {\iftabuscantokens \tabu@rescan \else \expandafter\@firstofone \fi - {#3}}% -}% \tabu@multic@lumn -%% The X column(s): rewriting process ----------------------------- -\tabu@privatecolumntype X[1][]{\begingroup \tabu@siunitx{\endgroup \tabu@rewriteX {#1}}} -\def\tabu@nosiunitx #1{#1{}{}\expandafter \NC@find \tabu@rewritten } -\def\tabu@siunitx #1{\@ifnextchar \bgroup - {\tabu@rewriteX@Ss{#1}} - {\tabu@nosiunitx{#1}}} -\def\tabu@rewriteX@Ss #1#2{\@temptokena{}% - \@defaultunits \let\tabu@temp =#2\relax\@nnil - \ifodd 1\ifx S\tabu@temp \else \ifx s\tabu@temp \else 0 \fi\fi - \def\NC@find{\def\NC@find >####1####2<####3\relax{#1 {####1}{####3}% - }\expandafter\NC@find \the\@temptokena \relax - }\expandafter\NC@rewrite@S \@gobble #2\relax - \else \tabu@siunitxerror - \fi - \expandafter \NC@find \tabu@rewritten -}% \tabu@rewriteX@Ss -\def\tabu@siunitxerror {\PackageError{tabu}{Not a S nor s column ! - \MessageBreak X column can only embed siunitx S or s columns}\@ehd -}% \tabu@siunitxerror -\def\tabu@rewriteX #1#2#3{\tabu@Xarg {#1}{#2}{#3}% - \iftabu@measuring - \else \tabu@measuringtrue % first X column found in the preamble - \let\@halignto \relax \let\tabu@halignto \relax - \iftabu@spread \tabu@spreadtarget \tabu@target \tabu@target \z@ - \else \tabu@spreadtarget \z@ \fi - \ifdim \tabu@target=\z@ - \setlength\tabu@target \tabu@thetarget - \tabu@message{\tabu@message@defaulttarget}% - \else \tabu@message{\tabu@message@target}\fi - \fi -}% \tabu@rewriteX -\def\tabu@rewriteXrestore #1#2#3{\let\@halignto \relax - \def\tabu@rewritten{l}} -\def\tabu@Xarg #1#2#3{% - \advance\tabu@Xcol \@ne \let\tabu@Xlcr \@empty - \let\tabu@Xdisp \@empty \let\tabu@Xmath \@empty - \ifx\\#1\\% - \def\tabu@rewritten{p}\tabucolX \p@ % - \else - \let\tabu@rewritten \@empty \let\tabu@temp \@empty \tabucolX \z@ - \tabu@Xparse {}#1\relax - \fi - \tabu@Xrewritten{#2}{#3}% -}% \tabu@Xarg -\def\tabu@Xparse #1{\futurelet\@let@token \tabu@Xtest} -\expandafter\def\expandafter\tabu@Xparsespace\space{\tabu@Xparse{}} -\def\tabu@Xtest{% - \ifcase \ifx \relax\@let@token \z@ \else - \if ,\@let@token \m@ne\else - \if p\@let@token 1\else - \if m\@let@token 2\else - \if b\@let@token 3\else - \if l\@let@token 4\else - \if c\@let@token 5\else - \if r\@let@token 6\else - \if j\@let@token 7\else - \if L\@let@token 8\else - \if C\@let@token 9\else - \if R\@let@token 10\else - \if J\@let@token 11\else - \ifx \@sptoken\@let@token 12\else - \if .\@let@token 13\else - \if -\@let@token 13\else - \ifcat $\@let@token 14\else - 15\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\relax - \or \tabu@Xtype {p}% - \or \tabu@Xtype {m}% - \or \tabu@Xtype {b}% - \or \tabu@Xalign \raggedright\relax - \or \tabu@Xalign \centering\relax - \or \tabu@Xalign \raggedleft\relax - \or \tabu@Xalign \tabu@justify\relax - \or \tabu@Xalign \RaggedRight\raggedright - \or \tabu@Xalign \Centering\centering - \or \tabu@Xalign \RaggedLeft\raggedleft - \or \tabu@Xalign \justifying\tabu@justify - \or \expandafter \tabu@Xparsespace - \or \expandafter \tabu@Xcoef - \or \expandafter \tabu@Xm@th - \or \tabu@Xcoef{}% - \else\expandafter \tabu@Xparse - \fi -}% \tabu@Xtest -\def\tabu@Xalign #1#2{% - \ifx \tabu@Xlcr\@empty \else \PackageWarning{tabu} - {Duplicate horizontal alignment specification}\fi - \ifdefined#1\def\tabu@Xlcr{#1}\let#1\relax - \else \def\tabu@Xlcr{#2}\let#2\relax\fi - \expandafter\tabu@Xparse -}% \tabu@Xalign -\def\tabu@Xtype #1{% - \ifx \tabu@rewritten\@empty \else \PackageWarning{tabu} - {Duplicate vertical alignment specification}\fi - \def\tabu@rewritten{#1}\expandafter\tabu@Xparse -}% \tabu@Xtype -\def\tabu@Xcoef#1{\edef\tabu@temp{\tabu@temp#1}% - \afterassignment\tabu@Xc@ef \tabu@cnt\number\if-#10\fi -}% \tabu@Xcoef -\def\tabu@Xc@ef{\advance\tabucolX \tabu@temp\the\tabu@cnt\p@ - \tabu@Xparse{}% -}% \tabu@Xc@ef -\def\tabu@Xm@th #1{\futurelet \@let@token \tabu@Xd@sp} -\def\tabu@Xd@sp{\let\tabu@Xmath=$% - \ifx $\@let@token \def\tabu@Xdisp{\displaystyle}% - \expandafter\tabu@Xparse - \else \expandafter\tabu@Xparse\expandafter{\expandafter}% - \fi -}% \tabu@Xd@sp -\def\tabu@Xrewritten {% - \ifx \tabu@rewritten\@empty \def\tabu@rewritten{p}\fi - \ifdim \tabucolX<\z@ \tabu@negcoeftrue - \else\ifdim \tabucolX=\z@ \tabucolX \p@ - \fi\fi - \edef\tabu@temp{{\the\tabu@Xcol}{\tabu@strippt\tabucolX}}% - \edef\tabu@Xcoefs{\tabu@Xcoefs \tabu@ \tabu@temp}% - \edef\tabu@rewritten ##1##2{\def\noexpand\tabu@rewritten{% - >{\tabu@Xlcr \ifx$\tabu@Xmath$\tabu@Xdisp\fi ##1}% - \tabu@rewritten {\tabu@hsize \tabu@temp}% - <{##2\ifx$\tabu@Xmath$\fi}}% - }\tabu@rewritten -}% \tabu@Xrewritten -\def\tabu@hsize #1#2{% - \ifdim #2\p@<\z@ - \ifdim \tabucolX=\maxdimen \tabu@wd{#1}\else - \ifdim \tabu@wd{#1}<-#2\tabucolX \tabu@wd{#1}\else -#2\tabucolX\fi - \fi - \else #2\tabucolX - \fi -}% \tabu@hsize -%% \usetabu and \preamble: rewriting process --------------------- -\tabu@privatecolumntype \usetabu [1]{% - \ifx\\#1\\\tabu@saveerr{}\else - \@ifundefined{tabu@saved@\string#1} - {\tabu@saveerr{#1}} - {\let\tabu@rewriteX \tabu@rewriteXrestore - \csname tabu@saved@\string#1\expandafter\endcsname\expandafter\@ne}% - \fi -}% \NC@rewrite@\usetabu -\tabu@privatecolumntype \preamble [1]{% - \ifx\\#1\\\tabu@saveerr{}\else - \@ifundefined{tabu@saved@\string#1} - {\tabu@saveerr{#1}} - {\csname tabu@saved@\string#1\expandafter\endcsname\expandafter\z@}% - \fi -}% \NC@rewrite@\preamble -%% Controlling the rewriting process ------------------------------- -\tabu@newcolumntype \tabu@rewritefirst{% - \iftabu@long \aftergroup \tabu@longpream % - \else \aftergroup \tabu@pream - \fi - \let\tabu@ \relax \let\tabu@hsize \relax - \let\tabu@Xcoefs \@empty \let\tabu@savels \relax - \tabu@Xcol \z@ \tabu@cnt \tw@ - \gdef\tabu@mkpreambuffer{\tabu@{}}\tabu@measuringfalse - \global\setbox\@arstrutbox \box\@arstrutbox - \NC@list{\NC@do *}\tabu@textbar \tabu@lines - \NC@list\expandafter{\the\NC@list \NC@do X}% - \iftabu@siunitx % - \NC@list\expandafter{\the\NC@list \NC@do S\NC@do s}\fi - \NC@list\expandafter{\the\expandafter\NC@list \tabu@highprioritycolumns}% - \expandafter\def\expandafter\tabu@NC@list\expandafter{% - \the\expandafter\NC@list \tabu@NC@list}% % * | X S - \NC@list\expandafter{\expandafter \NC@do \expandafter\usetabu - \expandafter \NC@do \expandafter\preamble - \the\NC@list \NC@do \tabu@rewritemiddle - \NC@do \tabu@rewritelast}% - \tabu@savedecl - \tabu@privatecolumns - \edef\tabu@prev{\the\@temptokena}\NC@find \tabu@rewritemiddle -}% NC@rewrite@\tabu@rewritefirst -\tabu@newcolumntype \tabu@rewritemiddle{% - \edef\tabu@temp{\the\@temptokena}\NC@find \tabu@rewritelast -}% \NC@rewrite@\tabu@rewritemiddle -\tabu@newcolumntype \tabu@rewritelast{% - \ifx \tabu@temp\tabu@prev \advance\tabu@cnt \m@ne - \NC@list\expandafter{\tabu@NC@list \NC@do \tabu@rewritemiddle - \NC@do \tabu@rewritelast}% - \else \let\tabu@prev\tabu@temp - \fi - \ifcase \tabu@cnt \expandafter\tabu@endrewrite - \else \expandafter\NC@find \expandafter\tabu@rewritemiddle - \fi -}% \NC@rewrite@\tabu@rewritelast -%% Choosing the strategy -------------------------------------------- -\def\tabu@endrewrite {% - \let\tabu@temp \NC@find - \ifx \@arrayright\relax \let\@arrayright \@empty \fi - \count@=% - \ifx \@finalstrut\tabu@finalstrut \z@ % outer in mode 0 print - \iftabu@measuring - \xdef\tabu@mkpreambuffer{\tabu@mkpreambuffer - \tabu@target \csname tabu@\the\tabu@nested.T\endcsname - \tabucolX \csname tabu@\the\tabu@nested.X\endcsname - \edef\@halignto {\ifx\@arrayright\@empty to\tabu@target\fi}}% - \fi - \else\iftabu@measuring 4 % X columns - \xdef\tabu@mkpreambuffer{\tabu@{\tabu@mkpreambuffer - \tabu@target \the\tabu@target - \tabu@spreadtarget \the\tabu@spreadtarget}% - \def\noexpand\tabu@Xcoefs{\tabu@Xcoefs}% - \edef\tabu@halignto{\ifx \@arrayright\@empty to\tabu@target\fi}}% - \let\tabu@Xcoefs \relax - \else\ifcase\tabu@nested \thr@@ % outer, no X - \global\let\tabu@afterendpar \relax - \else \@ne % inner, no X, outer in mode 1 or 2 - \fi - \ifdefined\tabu@usetabu - \else \ifdim\tabu@target=\z@ - \else \let\tabu@temp \tabu@extracolsep - \fi\fi - \fi - \fi - \xdef\tabu@mkpreambuffer{\count@ \the\count@ \tabu@mkpreambuffer}% - \tabu@temp -}% \tabu@endrewrite -\def\tabu@extracolsep{\@defaultunits \expandafter\let - \expandafter\tabu@temp \expandafter=\the\@temptokena \relax\@nnil - \ifx \tabu@temp\@sptoken - \expandafter\tabu@gobblespace \expandafter\tabu@extracolsep - \else - \edef\tabu@temp{\noexpand\NC@find - \if |\noexpand\tabu@temp @% - \else\if !\noexpand\tabu@temp @% - \else !% - \fi\fi - {\noexpand\extracolsep\noexpand\@flushglue}}% - \fi - \tabu@temp -}% \tabu@extrac@lsep -%% Implementing the strategy ---------------------------------------- -\long\def\tabu@pream #1\@preamble {% - \let\tabu@ \tabu@@ \tabu@mkpreambuffer \tabu@aftergroupcleanup - \NC@list\expandafter {\tabu@NC@list}% in case of nesting... - \ifdefined\tabu@usetabu \tabu@usetabu \tabu@target \z@ \fi - \let\tabu@savedpreamble \@preamble - \global\let\tabu@elapsedtime \relax - \tabu@thebody ={#1\tabu@aftergroupcleanup}% - \tabu@thebody =\expandafter{\the\expandafter\tabu@thebody - \@preamble}% - \edef\tabuthepreamble {\the\tabu@thebody}% ( no @ allowed for \scantokens ) - \tabu@select -}% \tabu@pream -\long\def\tabu@longpream #1\LT@bchunk #2\LT@bchunk{% - \let\tabu@ \tabu@@ \tabu@mkpreambuffer \tabu@aftergroupcleanup - \NC@list\expandafter {\tabu@NC@list}% in case of nesting... - \let\tabu@savedpreamble \@preamble - \global\let\tabu@elapsedtime \relax - \tabu@thebody ={#1\LT@bchunk #2\tabu@aftergroupcleanup \LT@bchunk}% - \edef\tabuthepreamble {\the\tabu@thebody}% ( no @ allowed for \scantokens ) - \tabu@select -}% \tabu@longpream -\def\tabu@select {% - \ifnum\tabu@nested>\z@ \tabuscantokensfalse \fi - \ifnum \count@=\@ne \iftabu@measuring \count@=\tw@ \fi\fi - \ifcase \count@ - \global\let\tabu@elapsedtime \relax - \tabu@seteverycr - \expandafter \tabuthepreamble % vertical adjustment (inherited from outer) - \or % exit in vertical measure + struts per cell because no X and outer in mode 3 - \tabu@evr{\tabu@verticalinit}\tabu@celllalign@def{\tabu@verticalmeasure}% - \def\tabu@cellralign{\tabu@verticalspacing}% - \tabu@seteverycr - \expandafter \tabuthepreamble - \or % exit without measure because no X and outer in mode 4 - \tabu@evr{}\tabu@celllalign@def{}\let\tabu@cellralign \@empty - \tabu@seteverycr - \expandafter \tabuthepreamble - \else % needs trials - \tabu@evr{}\tabu@celllalign@def{}\let\tabu@cellralign \@empty - \tabu@savecounters - \expandafter \tabu@setstrategy - \fi -}% \tabu@select -\def\tabu@@ {\gdef\tabu@mkpreambuffer} -%% Protections to set up before trials ------------------------------ -\def\tabu@setstrategy {\begingroup % - \tabu@trialh@@k \tabu@cnt \z@ % number of trials - \hbadness \@M \let\hbadness \@tempcnta - \hfuzz \maxdimen \let\hfuzz \@tempdima - \let\write \tabu@nowrite\let\GenericError \tabu@GenericError - \let\savetabu \@gobble \let\tabudefaulttarget \linewidth - \let\@footnotetext \@gobble \let\@xfootnote \tabu@xfootnote - \let\color \tabu@nocolor\let\rowcolor \tabu@norowcolor - \let\tabu@aftergroupcleanup \relax % only after the last trial - \tabu@mkpreambuffer - \ifnum \count@>\thr@@ \let\@halignto \@empty \tabucolX@init - \def\tabu@lasttry{\m@ne\p@}\fi - \begingroup \iffalse{\fi \ifnum0=`}\fi - \toks@{}\def\tabu@stack{b}\iftabuscantokens \endlinechar=10 \obeyspaces \fi % - \tabu@collectbody \tabu@strategy % -}% \tabu@setstrategy -\def\tabu@savecounters{% - \def\@elt ##1{\csname c@##1\endcsname\the\csname c@##1\endcsname}% - \edef\tabu@clckpt {\begingroup \globaldefs=\@ne \cl@@ckpt \endgroup}\let\@elt \relax -}% \tabu@savecounters -\def\tabucolX@init {% \tabucolX <= \tabu@target / (sum coefs > 0) - \dimen@ \z@ \tabu@Xsum \z@ \tabucolX \z@ \let\tabu@ \tabu@Xinit \tabu@Xcoefs - \ifdim \dimen@>\z@ - \@tempdima \dimexpr \tabu@target *\p@/\dimen@ + \tabu@hfuzz\relax - \ifdim \tabucolX<\@tempdima \tabucolX \@tempdima \fi - \fi -}% \tabucolX@init -\def\tabu@Xinit #1#2{\tabu@Xcol #1 \advance \tabu@Xsum - \ifdim #2\p@>\z@ #2\p@ \advance\dimen@ #2\p@ - \else -#2\p@ \tabu@negcoeftrue - \@tempdima \dimexpr \tabu@target*\p@/\dimexpr-#2\p@\relax \relax - \ifdim \tabucolX<\@tempdima \tabucolX \@tempdima \fi - \tabu@wddef{#1}{0pt}% - \fi -}% \tabu@Xinit -%% Collecting the environment body ---------------------------------- -\long\def\tabu@collectbody #1#2\end #3{% - \edef\tabu@stack{\tabu@pushbegins #2\begin\end\expandafter\@gobble\tabu@stack}% - \ifx \tabu@stack\@empty - \toks@\expandafter{\expandafter\tabu@thebody\expandafter{\the\toks@ #2}% - \def\tabu@end@envir{\end{#3}}% - \iftabuscantokens - \iftabu@long \def\tabu@endenvir {\end{#3}\tabu@gobbleX}% - \else \def\tabu@endenvir {\let\endarray \@empty - \end{#3}\tabu@gobbleX}% - \fi - \else \def\tabu@endenvir {\end{#3}}\fi}% - \let\tabu@collectbody \tabu@endofcollect - \else\def\tabu@temp{#3}% - \ifx \tabu@temp\@empty \toks@\expandafter{\the\toks@ #2\end }% - \else \ifx\tabu@temp\tabu@@spxiii \toks@\expandafter{\the\toks@ #2\end #3}% - \else \ifx\tabu@temp\tabu@X \toks@\expandafter{\the\toks@ #2\end #3}% - \else \toks@\expandafter{\the\toks@ #2\end{#3}}% - \fi\fi\fi - \fi - \tabu@collectbody{#1}% -}% \tabu@collectbody -\long\def\tabu@pushbegins#1\begin#2{\ifx\end#2\else b\expandafter\tabu@pushbegins\fi}% -\def\tabu@endofcollect #1{\ifnum0=`{}\fi - \expandafter\endgroup \the\toks@ #1% -}% \tabu@endofcollect -%% The trials: switching between strategies ------------------------- -\def\tabu@strategy {\relax % stops \count@ assignment ! - \ifcase\count@ % case 0 = print with vertical adjustment (outer is finished) - \expandafter \tabu@endoftrials - \or % case 1 = exit in vertical measure (outer in mode 3) - \expandafter\xdef\csname tabu@\the\tabu@nested.T\endcsname{\the\tabu@target}% - \expandafter\xdef\csname tabu@\the\tabu@nested.X\endcsname{\the\tabucolX}% - \expandafter \tabu@endoftrials - \or % case 2 = exit with a rule replacing the table (outer in mode 4) - \expandafter \tabu@quickend - \or % case 3 = outer is in mode 3 because of no X - \begingroup - \tabu@evr{\tabu@verticalinit}\tabu@celllalign@def{\tabu@verticalmeasure}% - \def\tabu@cellralign{\tabu@verticalspacing}% - \expandafter \tabu@measuring - \else % case 4 = horizontal measure - \begingroup - \global\let\tabu@elapsedtime \tabu@message@etime - \long\def\multicolumn##1##2##3{\multispan{##1}}% - \let\tabu@startpboxORI \@startpbox - \iftabu@spread - \def\tabu@naturalXmax {\z@}% - \let\tabu@naturalXmin \tabu@naturalXmax - \tabu@evr{\global\tabu@naturalX \z@}% - \let\@startpbox \tabu@startpboxmeasure - \else\iftabu@negcoef - \let\@startpbox \tabu@startpboxmeasure - \else \let\@startpbox \tabu@startpboxquick - \fi\fi - \expandafter \tabu@measuring - \fi -}% \tabu@strategy -\def\tabu@measuring{\expandafter \tabu@trial \expandafter - \count@ \the\count@ \tabu@endtrial -}% \tabu@measuring -\def\tabu@trial{\iftabu@long \tabu@longtrial \else \tabu@shorttrial \fi} -\def\tabu@shorttrial {\setbox\tabu@box \hbox\bgroup \tabu@seteverycr - \ifx \tabu@savecounters\relax \else - \let\tabu@savecounters \relax \tabu@clckpt \fi - $\iftabuscantokens \tabu@rescan \else \expandafter\@secondoftwo \fi - \expandafter{\expandafter \tabuthepreamble - \the\tabu@thebody - \csname tabu@adl@endtrial\endcsname - \endarray}$\egroup % got \tabu@box -}% \tabu@shorttrial -\def\tabu@longtrial {\setbox\tabu@box \hbox\bgroup \tabu@seteverycr - \ifx \tabu@savecounters\relax \else - \let\tabu@savecounters \relax \tabu@clckpt \fi - \iftabuscantokens \tabu@rescan \else \expandafter\@secondoftwo \fi - \expandafter{\expandafter \tabuthepreamble - \the\tabu@thebody - \tabuendlongtrial}\egroup % got \tabu@box -}% \tabu@longtrial -\def\tabuendlongtrial{% no @ allowed for \scantokens - \LT@echunk \global\setbox\@ne \hbox{\unhbox\@ne}\kern\wd\@ne - \LT@get@widths -}% \tabuendlongtrial -\def\tabu@adl@endtrial{% - \crcr \noalign{\global\adl@ncol \tabu@nbcols}}% anything global is crap, junky and fails ! -\def\tabu@seteverycr {\tabu@reset - \everycr \expandafter{\the\everycr \tabu@everycr}% - \let\everycr \tabu@noeverycr % -}% \tabu@seteverycr -\def\tabu@noeverycr{{\aftergroup\tabu@restoreeverycr \afterassignment}\toks@} -\def\tabu@restoreeverycr {\let\everycr \tabu@@everycr} -\def\tabu@everycr {\iftabu@everyrow \noalign{\tabu@everyrow}\fi} -\def\tabu@endoftrials {% - \iftabuscantokens \expandafter\@firstoftwo - \else \expandafter\@secondoftwo - \fi - {\expandafter \tabu@closetrialsgroup \expandafter - \tabu@rescan \expandafter{% - \expandafter\tabuthepreamble - \the\expandafter\tabu@thebody - \iftabu@long \else \endarray \fi}} - {\expandafter\tabu@closetrialsgroup \expandafter - \tabuthepreamble - \the\tabu@thebody}% - \tabu@endenvir % Finish ! -}% \tabu@endoftrials -\def\tabu@closetrialsgroup {% - \toks@\expandafter{\tabu@endenvir}% - \edef\tabu@bufferX{\endgroup - \tabucolX \the\tabucolX - \tabu@target \the\tabu@target - \tabu@cnt \the\tabu@cnt - \def\noexpand\tabu@endenvir{\the\toks@}% - %Quid de \@halignto = \tabu@halignto ?? - }% \tabu@bufferX - \tabu@bufferX - \ifcase\tabu@nested % print out (outer in mode 0) - \global\tabu@cnt \tabu@cnt - \tabu@evr{\tabu@verticaldynamicadjustment}% - \tabu@celllalign@def{\everypar{}}\let\tabu@cellralign \@empty - \let\@finalstrut \tabu@finalstrut - \else % vertical measure of nested tabu - \tabu@evr{\tabu@verticalinit}% - \tabu@celllalign@def{\tabu@verticalmeasure}% - \def\tabu@cellralign{\tabu@verticalspacing}% - \fi - \tabu@clckpt \let\@halignto \tabu@halignto - \let\@halignto \@empty - \tabu@seteverycr - \ifdim \tabustrutrule>\z@ \ifnum\tabu@nested=\z@ - \setbox\@arstrutbox \box\voidb@x % force \@arstrutbox to be rebuilt (visible struts) - \fi\fi -}% \tabu@closetrialsgroup -\def\tabu@quickend {\expandafter \endgroup \expandafter - \tabu@target \the\tabu@target \tabu@quickrule - \let\endarray \relax \tabu@endenvir -}% \tabu@quickend -\def\tabu@endtrial {\relax % stops \count@ assignment ! - \ifcase \count@ \tabu@err % case 0 = impossible here - \or \tabu@err % case 1 = impossible here - \or \tabu@err % case 2 = impossible here - \or % case 3 = outer goes into mode 0 - \def\tabu@bufferX{\endgroup}\count@ \z@ - \else % case 4 = outer goes into mode 3 - \iftabu@spread \tabu@spreadarith % inner into mode 1 (outer in mode 3) - \else \tabu@arith % or 2 (outer in mode 4) - \fi - \count@=% - \ifcase\tabu@nested \thr@@ % outer goes into mode 3 - \else\iftabu@measuring \tw@ % outer is in mode 4 - \else \@ne % outer is in mode 3 - \fi\fi - \edef\tabu@bufferX{\endgroup - \tabucolX \the\tabucolX - \tabu@target \the\tabu@target}% - \fi - \expandafter \tabu@bufferX \expandafter - \count@ \the\count@ \tabu@strategy -}% \tabu@endtrial -\def\tabu@err{\errmessage{(tabu) Internal impossible error! (\count@=\the\count@)}} -%% The algorithms: compute the widths / stop or go on --------------- -\def\tabu@arithnegcoef {% - \@tempdima \z@ \dimen@ \z@ \let\tabu@ \tabu@arith@negcoef \tabu@Xcoefs -}% \tabu@arithnegcoef -\def\tabu@arith@negcoef #1#2{% - \ifdim #2\p@>\z@ \advance\dimen@ #2\p@ % saturated by definition - \advance\@tempdima #2\tabucolX - \else - \ifdim -#2\tabucolX <\tabu@wd{#1}% c_i X < natural width <= \tabu@target-> saturated - \advance\dimen@ -#2\p@ - \advance\@tempdima -#2\tabucolX - \else - \advance\@tempdima \tabu@wd{#1}% natural width <= c_i X => neutralised - \ifdim \tabu@wd{#1}<\tabu@target \else % neutralised - \advance\dimen@ -#2\p@ % saturated (natural width = tabu@target) - \fi - \fi - \fi -}% \tabu@arith@negcoef -\def\tabu@givespace #1#2{% here \tabu@DELTA < \z@ - \ifdim \@tempdima=\z@ - \tabu@wddef{#1}{\the\dimexpr -\tabu@DELTA*\p@/\tabu@Xsum}% - \else - \tabu@wddef{#1}{\the\dimexpr \tabu@hsize{#1}{#2} - *(\p@ -\tabu@DELTA*\p@/\@tempdima)/\p@\relax}% - \fi -}% \tabu@givespace -\def\tabu@arith {\advance\tabu@cnt \@ne - \ifnum \tabu@cnt=\@ne \tabu@message{\tabu@titles}\fi - \tabu@arithnegcoef - \@tempdimb \dimexpr \wd\tabu@box -\@tempdima \relax % - \tabu@DELTA = \dimexpr \wd\tabu@box - \tabu@target \relax - \tabu@message{\tabu@message@arith}% - \ifdim \tabu@DELTA <\tabu@hfuzz - \ifdim \tabu@DELTA<\z@ % wd (tabu)<\tabu@target ? - \let\tabu@ \tabu@givespace \tabu@Xcoefs - \advance\@tempdima \@tempdimb \advance\@tempdima -\tabu@DELTA % for message - \else % already converged: nothing to do but nearly impossible... - \fi - \tabucolX \maxdimen - \tabu@measuringfalse - \else % need for narrower X columns - \tabucolX =\dimexpr (\@tempdima -\tabu@DELTA) *\p@/\tabu@Xsum \relax - \tabu@measuringtrue - \@whilesw \iftabu@measuring\fi {% - \advance\tabu@cnt \@ne - \tabu@arithnegcoef - \tabu@DELTA =\dimexpr \@tempdima+\@tempdimb -\tabu@target \relax % always < 0 here - \tabu@message{\tabu@header - \tabu@msgalign \tabucolX { }{ }{ }{ }{ }\@@ - \tabu@msgalign \@tempdima+\@tempdimb { }{ }{ }{ }{ }\@@ - \tabu@msgalign \tabu@target { }{ }{ }{ }{ }\@@ - \tabu@msgalign@PT \dimen@ { }{}{}{}{}{}{}\@@ - \ifdim -\tabu@DELTA<\tabu@hfuzz \tabu@spaces target ok\else - \tabu@msgalign \dimexpr -\tabu@DELTA *\p@/\dimen@ {}{}{}{}{}\@@ - \fi}% - \ifdim -\tabu@DELTA<\tabu@hfuzz - \advance\@tempdima \@tempdimb % for message - \tabu@measuringfalse - \else - \advance\tabucolX \dimexpr -\tabu@DELTA *\p@/\dimen@ \relax - \fi - }% - \fi - \tabu@message{\tabu@message@reached}% - \edef\tabu@bufferX{\endgroup \tabu@cnt \the\tabu@cnt - \tabucolX \the\tabucolX - \tabu@target \the\tabu@target}% -}% \tabu@arith -\def\tabu@spreadarith {% - \dimen@ \z@ \@tempdima \tabu@naturalXmax \let\tabu@ \tabu@spread@arith \tabu@Xcoefs - \edef\tabu@naturalXmin {\the\dimexpr\tabu@naturalXmin*\dimen@/\p@}% - \@tempdimc =\dimexpr \wd\tabu@box -\tabu@naturalXmax+\tabu@naturalXmin \relax - \iftabu@measuring - \tabu@target =\dimexpr \@tempdimc+\tabu@spreadtarget \relax - \edef\tabu@bufferX{\endgroup \tabucolX \the\tabucolX \tabu@target\the\tabu@target}% - \else - \tabu@message{\tabu@message@spreadarith}% - \ifdim \dimexpr \@tempdimc+\tabu@spreadtarget >\tabu@target - \tabu@message{(tabu) spread - \ifdim \@tempdimc>\tabu@target useless here: default target used% - \else too large: reduced to fit default target\fi.}% - \else - \tabu@target =\dimexpr \@tempdimc+\tabu@spreadtarget \relax - \tabu@message{(tabu) spread: New target set to \the\tabu@target^^J}% - \fi - \begingroup \let\tabu@wddef \@gobbletwo - \@tempdimb \@tempdima - \tabucolX@init - \tabu@arithnegcoef - \wd\tabu@box =\dimexpr \wd\tabu@box +\@tempdima-\@tempdimb \relax - \expandafter\endgroup \expandafter\tabucolX \the\tabucolX - \tabu@arith - \fi -}% \tabu@spreadarith -\def\tabu@spread@arith #1#2{% - \ifdim #2\p@>\z@ \advance\dimen@ #2\p@ - \else \advance\@tempdima \tabu@wd{#1}\relax - \fi -}% \tabu@spread@arith -%% Reporting in the .log file --------------------------------------- -\def\tabu@message@defaulttarget{% - \ifnum\tabu@nested=\z@^^J(tabu) Default target: - \ifx\tabudefaulttarget\linewidth \string\linewidth - \ifdim \tabu@thetarget=\linewidth \else - -\the\dimexpr\linewidth-\tabu@thetarget\fi = - \else\ifx\tabudefaulttarget\linegoal\string\linegoal= - \fi\fi - \else (tabu) Default target (nested): \fi - \the\tabu@target \on@line - \ifnum\tabu@nested=\z@ , page \the\c@page\fi} -\def\tabu@message@target {^^J(tabu) Target specified: - \the\tabu@target \on@line, page \the\c@page} -\def\tabu@message@arith {\tabu@header - \tabu@msgalign \tabucolX { }{ }{ }{ }{ }\@@ - \tabu@msgalign \wd\tabu@box { }{ }{ }{ }{ }\@@ - \tabu@msgalign \tabu@target { }{ }{ }{ }{ }\@@ - \tabu@msgalign@PT \dimen@ { }{}{}{}{}{}{}\@@ - \ifdim \tabu@DELTA<\tabu@hfuzz giving space\else - \tabu@msgalign \dimexpr (\@tempdima-\tabu@DELTA) *\p@/\tabu@Xsum -\tabucolX {}{}{}{}{}\@@ - \fi -}% \tabu@message@arith -\def\tabu@message@spreadarith {\tabu@spreadheader - \tabu@msgalign \tabu@spreadtarget { }{ }{ }{ }{}\@@ - \tabu@msgalign \wd\tabu@box { }{ }{ }{ }{}\@@ - \tabu@msgalign -\tabu@naturalXmax { }{}{}{}{}\@@ - \tabu@msgalign \tabu@naturalXmin { }{ }{ }{ }{}\@@ - \tabu@msgalign \ifdim \dimexpr\@tempdimc>\tabu@target \tabu@target - \else \@tempdimc+\tabu@spreadtarget \fi - {}{}{}{}{}\@@} -\def\tabu@message@negcoef #1#2{ - \tabu@spaces\tabu@spaces\space * #1. X[\rem@pt#2]: - \space width = \tabu@wd {#1} - \expandafter\string\csname tabu@\the\tabu@nested.W\number#1\endcsname - \ifdim -\tabu@pt#2\tabucolX<\tabu@target - < \number-\rem@pt#2 X - = \the\dimexpr -\tabu@pt#2\tabucolX \relax - \else - <= \the\tabu@target\space < \number-\rem@pt#2 X\fi} -\def\tabu@message@reached{\tabu@header - ******* Reached Target: - hfuzz = \tabu@hfuzz\on@line\space *******} -\def\tabu@message@etime{\edef\tabu@stoptime{\the\pdfelapsedtime}% - \tabu@message{(tabu)\tabu@spaces Time elapsed during measure: - \the\numexpr(\tabu@stoptime-\tabu@starttime-32767)/65536\relax sec - \the\numexpr\numexpr(\tabu@stoptime-\tabu@starttime) - -\numexpr(\tabu@stoptime-\tabu@starttime-32767)/65536\relax*65536\relax - *1000/65536\relax ms \tabu@spaces(\the\tabu@cnt\space - cycle\ifnum\tabu@cnt>\@ne s\fi)^^J^^J}} -\def\tabu@message@verticalsp {% - \ifdim \@tempdima>\tabu@ht - \ifdim \@tempdimb>\tabu@dp - \expandafter\expandafter\expandafter\string\tabu@ht = - \tabu@msgalign \@tempdima { }{ }{ }{ }{ }\@@ - \expandafter\expandafter\expandafter\string\tabu@dp = - \tabu@msgalign \@tempdimb { }{ }{ }{ }{ }\@@^^J% - \else - \expandafter\expandafter\expandafter\string\tabu@ht = - \tabu@msgalign \@tempdima { }{ }{ }{ }{ }\@@^^J% - \fi - \else\ifdim \@tempdimb>\tabu@dp - \tabu@spaces\tabu@spaces\tabu@spaces - \expandafter\expandafter\expandafter\string\tabu@dp = - \tabu@msgalign \@tempdimb { }{ }{ }{ }{ }\@@^^J\fi - \fi -}% \tabu@message@verticalsp -\edef\tabu@spaces{\@spaces} -\def\tabu@strippt{\expandafter\tabu@pt\the} -{\@makeother\P \@makeother\T\lowercase{\gdef\tabu@pt #1PT{#1}}} -\def\tabu@msgalign{\expandafter\tabu@msg@align\the\dimexpr} -\def\tabu@msgalign@PT{\expandafter\tabu@msg@align\romannumeral-`\0\tabu@strippt} -\def\do #1{% - \def\tabu@msg@align##1.##2##3##4##5##6##7##8##9\@@{% - \ifnum##1<10 #1 #1\else - \ifnum##1<100 #1 \else - \ifnum##1<\@m #1\fi\fi\fi - ##1.##2##3##4##5##6##7##8#1}% - \def\tabu@header{(tabu) \ifnum\tabu@cnt<10 #1\fi\the\tabu@cnt) }% - \def\tabu@titles{\ifnum \tabu@nested=\z@ - (tabu) Try#1 #1 tabu X #1 #1 #1tabu Width #1 #1 Target - #1 #1 #1 Coefs #1 #1 #1 Update^^J\fi}% - \def\tabu@spreadheader{% - (tabu) Try#1 #1 Spread #1 #1 tabu Width #1 #1 #1 Nat. X #1 #1 #1 #1Nat. Min. - #1 New Target^^J% - (tabu) sprd} - \def\tabu@message@save {\begingroup - \def\x ####1{\tabu@msg@align ####1{ }{ }{ }{ }{}\@@} - \def\z ####1{\expandafter\x\expandafter{\romannumeral-`\0\tabu@strippt - \dimexpr####1\p@{ }{ }}}% - \let\color \relax \def\tabu@rulesstyle ####1####2{\detokenize{####1}}% - \let\CT@arc@ \relax \let\@preamble \@gobble - \let\tabu@savedpream \@firstofone - \let\tabu@savedparams \@firstofone - \def\tabu@target ####1\relax {(tabu) target #1 #1 #1 #1 #1 = \x{####1}^^J}% - \def\tabucolX ####1\relax {(tabu) X columns width#1 = \x{####1}^^J}% - \def\tabu@nbcols ####1\relax {(tabu) Number of columns: \z{####1}^^J}% - \def\tabu@aligndefault ####1{(tabu) Default alignment: #1 #1 ####1^^J}% - \def\col@sep ####1\relax {(tabu) column sep #1 #1 #1 = \x{####1}^^J}% - \def\arrayrulewidth ####1\relax{(tabu) arrayrulewidth #1 = \x{####1}}% - \def\doublerulesep ####1\relax { doublerulesep = \x{####1}^^J}% - \def\extratabsurround####1\relax{(tabu) extratabsurround = \x{####1}^^J}% - \def\extrarowheight ####1\relax{(tabu) extrarowheight #1 = \x{####1}}% - \def\extrarowdepth ####1\relax {extrarowdepth = \x{####1}^^J}% - \def\abovetabulinesep####1\relax{(tabu) abovetabulinesep=\x{####1} }% - \def\belowtabulinesep####1\relax{ belowtabulinesep=\x{####1}^^J}% - \def\arraystretch ####1{(tabu) arraystretch #1 #1 = \z{####1}^^J}% - \def\minrowclearance####1\relax{(tabu) minrowclearance #1 = \x{####1}^^J}% - \def\tabu@arc@L ####1{(tabu) taburulecolor #1 #1 = ####1^^J}% - \def\tabu@drsc@L ####1{(tabu) tabudoublerulecolor= ####1^^J}% - \def\tabu@evr@L ####1{(tabu) everyrow #1 #1 #1 #1 = \detokenize{####1}^^J}% - \def\tabu@ls@L ####1{(tabu) line style = \detokenize{####1}^^J}% - \def\NC@find ####1\@nil{(tabu) tabu preamble#1 #1 = \detokenize{####1}^^J}% - \def\tabu@wddef####1####2{(tabu) Natural width ####1 = \x{####2}^^J}% - \let\edef \@gobbletwo \let\def \@empty \let\let \@gobbletwo - \tabu@message{% - (tabu) \string\savetabu{\tabu@temp}: \on@line^^J% - \tabu@usetabu \@nil^^J}% - \endgroup} -}\do{ } -%% Measuring the natural width (varwidth) - store the results ------- -\def\tabu@startpboxmeasure #1{\bgroup % entering \vtop - \edef\tabu@temp{\expandafter\@secondoftwo \ifx\tabu@hsize #1\else\relax\fi}% - \ifodd 1\ifx \tabu@temp\@empty 0 \else % starts with \tabu@hsize ? - \iftabu@spread \else % if spread -> measure - \ifdim \tabu@temp\p@>\z@ 0 \fi\fi\fi% if coef>0 -> do not measure - \let\@startpbox \tabu@startpboxORI % restore immediately (nesting) - \tabu@measuringtrue % for the quick option... - \tabu@Xcol =\expandafter\@firstoftwo\ifx\tabu@hsize #1\fi - \ifdim \tabu@temp\p@>\z@ \ifdim \tabu@temp\tabucolX<\tabu@target - \tabu@target=\tabu@temp\tabucolX \fi\fi - \setbox\tabu@box \hbox \bgroup - \begin{varwidth}\tabu@target - \let\FV@ListProcessLine \tabu@FV@ListProcessLine % \hbox to natural width... - \narrowragged \arraybackslash \parfillskip \@flushglue - \ifdefined\pdfadjustspacing \pdfadjustspacing\z@ \fi - \bgroup \aftergroup\tabu@endpboxmeasure - \ifdefined \cellspacetoplimit \tabu@cellspacepatch \fi - \else \expandafter\@gobble - \tabu@startpboxquick{#1}% \@gobble \bgroup - \fi -}% \tabu@startpboxmeasure -\def\tabu@cellspacepatch{\def\bcolumn##1\@nil{}\let\ecolumn\@empty - \bgroup\color@begingroup} -\def\tabu@endpboxmeasure {% - \@finalstrut \@arstrutbox - \end{varwidth}\egroup % - \ifdim \tabu@temp\p@ <\z@ % neg coef - \ifdim \tabu@wd\tabu@Xcol <\wd\tabu@box - \tabu@wddef\tabu@Xcol {\the\wd\tabu@box}% - \tabu@debug{\tabu@message@endpboxmeasure}% - \fi - \else % spread coef>0 - \global\advance \tabu@naturalX \wd\tabu@box - \@tempdima =\dimexpr \wd\tabu@box *\p@/\dimexpr \tabu@temp\p@\relax \relax - \ifdim \tabu@naturalXmax <\tabu@naturalX - \xdef\tabu@naturalXmax {\the\tabu@naturalX}\fi - \ifdim \tabu@naturalXmin <\@tempdima - \xdef\tabu@naturalXmin {\the\@tempdima}\fi - \fi - \box\tabu@box \egroup % end of \vtop (measure) restore \tabu@target -}% \tabu@endpboxmeasure -\def\tabu@wddef #1{\expandafter\xdef - \csname tabu@\the\tabu@nested.W\number#1\endcsname} -\def\tabu@wd #1{\csname tabu@\the\tabu@nested.W\number#1\endcsname} -\def\tabu@message@endpboxmeasure{\tabu@spaces\tabu@spaces<-> % <-> save natural wd - \the\tabu@Xcol. X[\tabu@temp]: - target = \the\tabucolX \space - \expandafter\expandafter\expandafter\string\tabu@wd\tabu@Xcol - =\tabu@wd\tabu@Xcol -}% \tabu@message@endpboxmeasure -\def\tabu@startpboxquick {\bgroup - \let\@startpbox \tabu@startpboxORI % restore immediately - \let\tabu \tabu@quick % \begin is expanded before... - \expandafter\@gobble \@startpbox % gobbles \bgroup -}% \tabu@startpboxquick -\def\tabu@quick {\begingroup \iffalse{\fi \ifnum0=`}\fi - \toks@{}\def\tabu@stack{b}\tabu@collectbody \tabu@endquick -}% \tabu@quick -\def\tabu@endquick {% - \ifodd 1\ifx\tabu@end@envir\tabu@endtabu \else - \ifx\tabu@end@envir\tabu@endtabus \else 0\fi\fi\relax - \endgroup - \else \let\endtabu \relax - \tabu@end@envir - \fi -}% \tabu@quick -\def\tabu@endtabu {\end{tabu}} -\def\tabu@endtabus {\end{tabu*}} -%% Measuring the heights and depths - store the results ------------- -\def\tabu@verticalmeasure{\everypar{}% - \ifnum \currentgrouptype>12 % 14=semi-simple, 15=math shift group - \setbox\tabu@box =\hbox\bgroup - \let\tabu@verticalspacing \tabu@verticalsp@lcr - \d@llarbegin % after \hbox ... - \else - \edef\tabu@temp{\ifnum\currentgrouptype=5\vtop - \else\ifnum\currentgrouptype=12\vcenter - \else\vbox\fi\fi}% - \setbox\tabu@box \hbox\bgroup$\tabu@temp \bgroup - \let\tabu@verticalspacing \tabu@verticalsp@pmb - \fi -}% \tabu@verticalmeasure -\def\tabu@verticalsp@lcr{% - \d@llarend \egroup % - \@tempdima \dimexpr \ht\tabu@box+\abovetabulinesep - \@tempdimb \dimexpr \dp\tabu@box+\belowtabulinesep \relax - \ifdim\tabustrutrule>\z@ \tabu@debug{\tabu@message@verticalsp}\fi - \ifdim \tabu@ht<\@tempdima \tabu@htdef{\the\@tempdima}\fi - \ifdim \tabu@dp<\@tempdimb \tabu@dpdef{\the\@tempdimb}\fi - \noindent\vrule height\@tempdima depth\@tempdimb -}% \tabu@verticalsp@lcr -\def\tabu@verticalsp@pmb{% inserts struts as needed - \par \expandafter\egroup - \expandafter$\expandafter - \egroup \expandafter - \@tempdimc \the\prevdepth - \@tempdima \dimexpr \ht\tabu@box+\abovetabulinesep - \@tempdimb \dimexpr \dp\tabu@box+\belowtabulinesep \relax - \ifdim\tabustrutrule>\z@ \tabu@debug{\tabu@message@verticalsp}\fi - \ifdim \tabu@ht<\@tempdima \tabu@htdef{\the\@tempdima}\fi - \ifdim \tabu@dp<\@tempdimb \tabu@dpdef{\the\@tempdimb}\fi - \let\@finalstrut \@gobble - \hrule height\@tempdima depth\@tempdimb width\hsize -%% \box\tabu@box -}% \tabu@verticalsp@pmb - -\def\tabu@verticalinit{% - \ifnum \c@taburow=\z@ \tabu@rearstrut \fi % after \tabu@reset ! - \advance\c@taburow \@ne - \tabu@htdef{\the\ht\@arstrutbox}\tabu@dpdef{\the\dp\@arstrutbox}% - \advance\c@taburow \m@ne -}% \tabu@verticalinit -\def\tabu@htdef {\expandafter\xdef \csname tabu@\the\tabu@nested.H\the\c@taburow\endcsname} -\def\tabu@ht {\csname tabu@\the\tabu@nested.H\the\c@taburow\endcsname} -\def\tabu@dpdef {\expandafter\xdef \csname tabu@\the\tabu@nested.D\the\c@taburow\endcsname} -\def\tabu@dp {\csname tabu@\the\tabu@nested.D\the\c@taburow\endcsname} -\def\tabu@verticaldynamicadjustment {% - \advance\c@taburow \@ne - \extrarowheight \dimexpr\tabu@ht - \ht\strutbox - \extrarowdepth \dimexpr\tabu@dp - \dp\strutbox - \let\arraystretch \@empty - \advance\c@taburow \m@ne -}% \tabu@verticaldynamicadjustment -\def\tabuphantomline{\crcr \noalign{% - {\globaldefs \@ne - \setbox\@arstrutbox \box\voidb@x - \let\tabu@@celllalign \tabu@celllalign - \let\tabu@@cellralign \tabu@cellralign - \let\tabu@@cellleft \tabu@cellleft - \let\tabu@@cellright \tabu@cellright - \let\tabu@@thevline \tabu@thevline - \let\tabu@celllalign \@empty - \let\tabu@cellralign \@empty - \let\tabu@cellright \@empty - \let\tabu@cellleft \@empty - \let\tabu@thevline \relax}% - \edef\tabu@temp{\tabu@multispan \tabu@nbcols{\noindent &}}% - \toks@\expandafter{\tabu@temp \noindent\tabu@everyrowfalse \cr - \noalign{\tabu@rearstrut - {\globaldefs\@ne - \let\tabu@celllalign \tabu@@celllalign - \let\tabu@cellralign \tabu@@cellralign - \let\tabu@cellleft \tabu@@cellleft - \let\tabu@cellright \tabu@@cellright - \let\tabu@thevline \tabu@@thevline}}}% - \expandafter}\the\toks@ -}% \tabuphantomline -%% \firsthline and \lasthline corrections --------------------------- -\def\tabu@firstline {\tabu@hlineAZ \tabu@firsthlinecorrection {}} -\def\tabu@firsthline{\tabu@hlineAZ \tabu@firsthlinecorrection \hline} -\def\tabu@lastline {\tabu@hlineAZ \tabu@lasthlinecorrection {}} -\def\tabu@lasthline {\tabu@hlineAZ \tabu@lasthlinecorrection \hline} -\def\tabu@hline {% replaces \hline if no colortbl (see \AtBeginDocument) - \noalign{\ifnum0=`}\fi - {\CT@arc@\hrule height\arrayrulewidth}% - \futurelet \tabu@temp \tabu@xhline -}% \tabu@hline -\def\tabu@xhline{% - \ifx \tabu@temp \hline - {\ifx \CT@drsc@\relax \vskip - \else\ifx \CT@drsc@\@empty \vskip - \else \CT@drsc@\hrule height - \fi\fi - \doublerulesep}% - \fi - \ifnum0=`{\fi}% -}% \tabu@xhline -\def\tabu@hlineAZ #1#2{\noalign{\ifnum0=`}\fi \dimen@ \z@ \count@ \z@ - \toks@{}\def\tabu@hlinecorrection{#1}\def\tabu@temp{#2}% - \tabu@hlineAZsurround -}% \tabu@hlineAZ -\newcommand*\tabu@hlineAZsurround[1][\extratabsurround]{% - \extratabsurround #1\let\tabucline \tabucline@scan - \let\hline \tabu@hlinescan \let\firsthline \hline - \let\cline \tabu@clinescan \let\lasthline \hline - \expandafter \futurelet \expandafter \tabu@temp - \expandafter \tabu@nexthlineAZ \tabu@temp -}% \tabu@hlineAZsurround -\def\tabu@hlinescan {\tabu@thick \arrayrulewidth \tabu@xhlineAZ \hline} -\def\tabu@clinescan #1{\tabu@thick \arrayrulewidth \tabu@xhlineAZ {\cline{#1}}} -\def\tabucline@scan{\@testopt \tabucline@sc@n {}} -\def\tabucline@sc@n #1[#2]{\tabu@xhlineAZ {\tabucline[{#1}]{#2}}} -\def\tabu@nexthlineAZ{% - \ifx \tabu@temp\hline \else - \ifx \tabu@temp\cline \else - \ifx \tabu@temp\tabucline \else - \tabu@hlinecorrection - \fi\fi\fi -}% \tabu@nexthlineAZ -\def\tabu@xhlineAZ #1{% - \toks@\expandafter{\the\toks@ #1}% - \@tempdimc \tabu@thick % The last line width - \ifcase\count@ \@tempdimb \tabu@thick % The first line width - \else \advance\dimen@ \dimexpr \tabu@thick+\doublerulesep \relax - \fi - \advance\count@ \@ne \futurelet \tabu@temp \tabu@nexthlineAZ -}% \tabu@xhlineAZ -\def\tabu@firsthlinecorrection{% \count@ = number of \hline -1 - \@tempdima \dimexpr \ht\@arstrutbox+\dimen@ - \edef\firsthline{% - \omit \hbox to\z@{\hss{\noexpand\tabu@DBG{yellow}\vrule - height \the\dimexpr\@tempdima+\extratabsurround - depth \dp\@arstrutbox - width \tabustrutrule}\hss}\cr - \noalign{\vskip -\the\dimexpr \@tempdima+\@tempdimb - +\dp\@arstrutbox \relax}% - \the\toks@ - }\ifnum0=`{\fi - \expandafter}\firsthline % we are then ! -}% \tabu@firsthlinecorrection -\def\tabu@lasthlinecorrection{% - \@tempdima \dimexpr \dp\@arstrutbox+\dimen@+\@tempdimb+\@tempdimc - \edef\lasthline{% - \the\toks@ - \noalign{\vskip -\the\dimexpr\dimen@+\@tempdimb+\dp\@arstrutbox}% - \omit \hbox to\z@{\hss{\noexpand\tabu@DBG{yellow}\vrule - depth \the\dimexpr \dp\@arstrutbox+\@tempdimb+\dimen@ - +\extratabsurround-\@tempdimc - height \z@ - width \tabustrutrule}\hss}\cr - }\ifnum0=`{\fi - \expandafter}\lasthline % we are then ! -}% \tabu@lasthlinecorrection -\def\tabu@LT@@hline{% - \ifx\LT@next\hline - \global\let\LT@next \@gobble - \ifx \CT@drsc@\relax - \gdef\CT@LT@sep{% - \noalign{\penalty-\@medpenalty\vskip\doublerulesep}}% - \else - \gdef\CT@LT@sep{% - \multispan\LT@cols{% - \CT@drsc@\leaders\hrule\@height\doublerulesep\hfill}\cr}% - \fi - \else - \global\let\LT@next\empty - \gdef\CT@LT@sep{% - \noalign{\penalty-\@lowpenalty\vskip-\arrayrulewidth}}% - \fi - \ifnum0=`{\fi}% - \multispan\LT@cols - {\CT@arc@\leaders\hrule\@height\arrayrulewidth\hfill}\cr - \CT@LT@sep - \multispan\LT@cols - {\CT@arc@\leaders\hrule\@height\arrayrulewidth\hfill}\cr - \noalign{\penalty\@M}% - \LT@next -}% \tabu@LT@@hline -%% Horizontal lines : \tabucline ------------------------------------ -\let\tabu@start \@tempcnta -\let\tabu@stop \@tempcntb -\newcommand*\tabucline{\noalign{\ifnum0=`}\fi \tabu@cline} -\newcommand*\tabu@cline[2][]{\tabu@startstop{#2}% - \ifnum \tabu@stop<\z@ \toks@{}% - \else \tabu@clinearg{#1}\tabu@thestyle - \edef\tabucline{\toks@{% - \ifnum \tabu@start>\z@ \omit - \tabu@multispan\tabu@start {\span\omit}&\fi - \omit \tabu@multispan\tabu@stop {\span\omit}% - \tabu@thehline\cr - }}\tabucline - \tabu@tracinglines{(tabu:tabucline) Style: #1^^J\the\toks@^^J^^J}% - \fi - \futurelet \tabu@temp \tabu@xcline -}% \tabu@cline -\def\tabu@clinearg #1{% - \ifx\\#1\\\let\tabu@thestyle \tabu@ls@ - \else \@defaultunits \expandafter\let\expandafter\@tempa - \romannumeral-`\0#1\relax \@nnil - \ifx \hbox\@tempa \tabu@clinebox{#1}% - \else\ifx \box\@tempa \tabu@clinebox{#1}% - \else\ifx \vbox\@tempa \tabu@clinebox{#1}% - \else\ifx \vtop\@tempa \tabu@clinebox{#1}% - \else\ifx \copy\@tempa \tabu@clinebox{#1}% - \else\ifx \leaders\@tempa \tabu@clineleads{#1}% - \else\ifx \cleaders\@tempa \tabu@clineleads{#1}% - \else\ifx \xleaders\@tempa \tabu@clineleads{#1}% - \else\tabu@getline {#1}% - \fi\fi\fi\fi\fi\fi\fi\fi - \fi -}% \tabu@clinearg -\def\tabu@clinebox #1{\tabu@clineleads{\xleaders#1\hss}} -\def\tabu@clineleads #1{% - \let\tabu@thestyle \relax \let\tabu@leaders \@undefined - \gdef\tabu@thehrule{#1}} -\def\tabu@thehline{\begingroup - \ifdefined\tabu@leaders - \noexpand\tabu@thehleaders - \else \noexpand\tabu@thehrule - \fi \endgroup -}% \tabu@thehline -\def\tabu@xcline{% - \ifx \tabu@temp\tabucline - \toks@\expandafter{\the\toks@ \noalign - {\ifx\CT@drsc@\relax \vskip - \else \CT@drsc@\hrule height - \fi - \doublerulesep}}% - \fi - \tabu@docline -}% \tabu@xcline -\def\tabu@docline {\ifnum0=`{\fi \expandafter}\the\toks@} -\def\tabu@docline@evr {\xdef\tabu@doclineafter{\the\toks@}% - \ifnum0=`{\fi}\aftergroup\tabu@doclineafter} -\def\tabu@multispan #1#2{% - \ifnum\numexpr#1>\@ne #2\expandafter\tabu@multispan - \else \expandafter\@gobbletwo - \fi {#1-1}{#2}% -}% \tabu@multispan -\def\tabu@startstop #1{\tabu@start@stop #1\relax 1-\tabu@nbcols \@nnil} -\def\tabu@start@stop #1-#2\@nnil{% - \@defaultunits \tabu@start\number 0#1\relax \@nnil - \@defaultunits \tabu@stop \number 0#2\relax \@nnil - \tabu@stop \ifnum \tabu@start>\tabu@nbcols \m@ne - \else\ifnum \tabu@stop=\z@ \tabu@nbcols - \else\ifnum \tabu@stop>\tabu@nbcols \tabu@nbcols - \else \tabu@stop - \fi\fi\fi - \advance\tabu@start \m@ne - \ifnum \tabu@start>\z@ \advance\tabu@stop -\tabu@start \fi -}% \tabu@start@stop -%% Numbers: siunitx S columns (and \tabudecimal) ------------------- -\def\tabu@tabudecimal #1{% - \def\tabu@decimal{#1}\@temptokena{}% - \let\tabu@getdecimal@ \tabu@getdecimal@ignorespaces - \tabu@scandecimal -}% \tabu@tabudecimal -\def\tabu@scandecimal{\futurelet \tabu@temp \tabu@getdecimal@} -\def\tabu@skipdecimal#1{#1\tabu@scandecimal} -\def\tabu@getdecimal@ignorespaces{% - \ifcase 0\ifx\tabu@temp\ignorespaces\else - \ifx\tabu@temp\@sptoken1\else - 2\fi\fi\relax - \let\tabu@getdecimal@ \tabu@getdecimal - \expandafter\tabu@skipdecimal - \or \expandafter\tabu@gobblespace\expandafter\tabu@scandecimal - \else \expandafter\tabu@skipdecimal - \fi -}% \tabu@getdecimal@ignorespaces -\def\tabu@get@decimal#1{\@temptokena\expandafter{\the\@temptokena #1}% - \tabu@scandecimal} -\def\do#1{% - \def\tabu@get@decimalspace#1{% - \@temptokena\expandafter{\the\@temptokena #1}\tabu@scandecimal}% -}\do{ } -\let\tabu@@tabudecimal \tabu@tabudecimal -\def\tabu@getdecimal{% - \ifcase 0\ifx 0\tabu@temp\else - \ifx 1\tabu@temp\else - \ifx 2\tabu@temp\else - \ifx 3\tabu@temp\else - \ifx 4\tabu@temp\else - \ifx 5\tabu@temp\else - \ifx 6\tabu@temp\else - \ifx 7\tabu@temp\else - \ifx 8\tabu@temp\else - \ifx 9\tabu@temp\else - \ifx .\tabu@temp\else - \ifx ,\tabu@temp\else - \ifx -\tabu@temp\else - \ifx +\tabu@temp\else - \ifx e\tabu@temp\else - \ifx E\tabu@temp\else - \ifx\tabu@cellleft\tabu@temp1\else - \ifx\ignorespaces\tabu@temp1\else - \ifx\@sptoken\tabu@temp2\else - 3\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\relax - \expandafter\tabu@get@decimal - \or \expandafter\tabu@skipdecimal - \or \expandafter\tabu@get@decimalspace - \else\expandafter\tabu@printdecimal - \fi -}% \tabu@getdecimal -\def\tabu@printdecimal{% - \edef\tabu@temp{\the\@temptokena}% - \ifx\tabu@temp\@empty\else - \ifx\tabu@temp\space\else - \expandafter\tabu@decimal\expandafter{\the\@temptokena}% - \fi\fi -}% \tabu@printdecimal -%% Verbatim inside X columns ---------------------------------------- -\def\tabu@verbatim{% - \let\verb \tabu@verb - \let\FV@DefineCheckEnd \tabu@FV@DefineCheckEnd -}% \tabu@verbatim -\let\tabu@ltx@verb \verb -\def\tabu@verb{\@ifstar {\tabu@ltx@verb*} \tabu@ltx@verb} -\def\tabu@fancyvrb {% - \def\tabu@FV@DefineCheckEnd ##1{% - \def\tabu@FV@DefineCheckEnd{% - ##1% - \let\FV@CheckEnd \tabu@FV@CheckEnd - \let\FV@@CheckEnd \tabu@FV@@CheckEnd - \let\FV@@@CheckEnd \tabu@FV@@@CheckEnd - \edef\FV@EndScanning{% - \def\noexpand\next{\noexpand\end{\FV@EnvironName}}% - \global\let\noexpand\FV@EnvironName\relax - \noexpand\next}% - \xdef\FV@EnvironName{\detokenize\expandafter{\FV@EnvironName}}}% - }\expandafter\tabu@FV@DefineCheckEnd\expandafter{\FV@DefineCheckEnd} -}% \tabu@fancyvrb -\def\tabu@FV@CheckEnd #1{\expandafter\FV@@CheckEnd \detokenize{#1\end{}}\@nil} -\edef\tabu@FV@@@CheckEnd {\detokenize{\end{}}} -\begingroup -\catcode`\[1 \catcode`\]2 -\@makeother\{ \@makeother\} - \edef\x[\endgroup - \def\noexpand\tabu@FV@@CheckEnd ##1\detokenize[\end{]##2\detokenize[}]##3% - ]\x \@nil{\def\@tempa{#2}\def\@tempb{#3}} -\def\tabu@FV@ListProcessLine #1{% - \hbox {%to \hsize{% - \kern\leftmargin - \hbox {%to \linewidth{% - \FV@LeftListNumber - \FV@LeftListFrame - \FancyVerbFormatLine{#1}\hss -%% DG/SR modification begin - Jan. 28, 1998 (for numbers=right add-on) -%% \FV@RightListFrame}% - \FV@RightListFrame - \FV@RightListNumber}% -%% DG/SR modification end - \hss}} -%% \savetabu -------------------------------------------------------- -\newcommand*\savetabu[1]{\noalign{% - \tabu@sanitizearg{#1}\tabu@temp - \ifx \tabu@temp\@empty \tabu@savewarn{}{The tabu will not be saved}\else - \@ifundefined{tabu@saved@\tabu@temp}{}{\tabu@savewarn{#1}{Overwriting}}% - \ifdefined\tabu@restored \expandafter\let - \csname tabu@saved@\tabu@temp \endcsname \tabu@restored - \else {\tabu@save}% - \fi - \fi}% -}% \savetabu -\def\tabu@save {% - \toks0\expandafter{\tabu@saved@}% - \iftabu@negcoef - \let\tabu@wddef \relax \let\tabu@ \tabu@savewd \edef\tabu@savewd{\tabu@Xcoefs}% - \toks0\expandafter{\the\toks\expandafter0\tabu@savewd}\fi - \toks1\expandafter{\tabu@savedpream}% - \toks2\expandafter{\tabu@savedpreamble}% - \let\@preamble \relax - \let\tabu@savedpream \relax \let\tabu@savedparams \relax - \edef\tabu@preamble{% - \def\noexpand\tabu@aligndefault{\tabu@align}% - \def\tabu@savedparams {\noexpand\the\toks0}% - \def\tabu@savedpream {\noexpand\the\toks1}}% - \edef\tabu@usetabu{% - \def\@preamble {\noexpand\the\toks2}% - \tabu@target \the\tabu@target \relax - \tabucolX \the\tabucolX \relax - \tabu@nbcols \the\tabu@nbcols \relax - \def\noexpand\tabu@aligndefault{\tabu@align}% - \def\tabu@savedparams {\noexpand\the\toks0}% - \def\tabu@savedpream {\noexpand\the\toks1}}% - \let\tabu@aligndefault \relax \let\@sharp \relax - \edef\@tempa{\noexpand\tabu@s@ved - {\tabu@usetabu} - {\tabu@preamble} - {\the\toks1}}\@tempa - \tabu@message@save -}% \tabu@save -\long\def\tabu@s@ved #1#2#3{% - \def\tabu@usetabu{#1}% - \expandafter\gdef\csname tabu@saved@\tabu@temp\endcsname ##1{% - \ifodd ##1% \usetabu - \tabu@measuringfalse \tabu@spreadfalse % Just in case... - \gdef\tabu@usetabu {% - \ifdim \tabu@target>\z@ \tabu@warn@usetabu \fi - \global\let\tabu@usetabu \@undefined - \def\@halignto {to\tabu@target}% - #1% - \ifx \tabu@align\tabu@aligndefault@text - \ifnum \tabu@nested=\z@ - \let\tabu@align \tabu@aligndefault \fi\fi}% - \else % \preamble - \gdef\tabu@preamble {% - \global\let\tabu@preamble \@undefined - #2% - \ifx \tabu@align\tabu@aligndefault@text - \ifnum \tabu@nested=\z@ - \let\tabu@align \tabu@aligndefault \fi\fi}% - \fi - #3}% -}% \tabu@s@ved -\def\tabu@aligndefault@text {\tabu@aligndefault}% -\def\tabu@warn@usetabu {\PackageWarning{tabu} - {Specifying a target with \string\usetabu\space is useless - \MessageBreak The target cannot be changed!}} -\def\tabu@savewd #1#2{\ifdim #2\p@<\z@ \tabu@wddef{#1}{\tabu@wd{#1}}\fi} -\def\tabu@savewarn#1#2{\PackageInfo{tabu} - {User-name `#1' already used for \string\savetabu - \MessageBreak #2}}% -\def\tabu@saveerr#1{\PackageError{tabu} - {User-name `#1' is unknown for \string\usetabu - \MessageBreak I cannot restore an unknown preamble!}\@ehd} -%% \rowfont --------------------------------------------------------- -\newskip \tabu@cellskip -\def\tabu@rowfont{\ifdim \baselineskip=\z@\noalign\fi - {\ifnum0=`}\fi \tabu@row@font} -\newcommand*\tabu@row@font[2][]{% - \ifnum7=\currentgrouptype - \global\let\tabu@@cellleft \tabu@cellleft - \global\let\tabu@@cellright \tabu@cellright - \global\let\tabu@@celllalign \tabu@celllalign - \global\let\tabu@@cellralign \tabu@cellralign - \global\let\tabu@@rowfontreset\tabu@rowfontreset - \fi - \global\let\tabu@rowfontreset \tabu@rowfont@reset - \expandafter\gdef\expandafter\tabu@cellleft\expandafter{\tabu@cellleft #2}% - \ifcsname tabu@cell@#1\endcsname % row alignment - \csname tabu@cell@#1\endcsname \fi - \ifnum0=`{\fi}% end of group / noalign group -}% \rowfont -\def\tabu@ifcolorleavevmode #1{\let\color \tabu@leavevmodecolor #1\let\color\tabu@color}% -\def\tabu@rowfont@reset{% - \global\let\tabu@rowfontreset \tabu@@rowfontreset - \global\let\tabu@cellleft \tabu@@cellleft - \global\let\tabu@cellright \tabu@@cellright - \global\let\tabu@cellfont \@empty - \global\let\tabu@celllalign \tabu@@celllalign - \global\let\tabu@cellralign \tabu@@cellralign -}% \tabu@@rowfontreset -\let\tabu@rowfontreset \@empty % overwritten \AtBeginDocument if colortbl -%% \tabu@prepnext@tok ----------------------------------------------- -\newif \iftabu@cellright -\def\tabu@prepnext@tok{% - \ifnum \count@<\z@ % - \@tempcnta \@M % - \tabu@nbcols\z@ - \let\tabu@fornoopORI \@fornoop - \tabu@cellrightfalse - \else - \ifcase \numexpr \count@-\@tempcnta \relax % (case 0): prev. token is left - \advance \tabu@nbcols \@ne - \iftabu@cellright % before-previous token is right and is finished - \tabu@cellrightfalse % - \tabu@righttok - \fi - \tabu@lefttok - \or % (case 1) previous token is right - \tabu@cellrighttrue \let\@fornoop \tabu@lastnoop - \else % special column: do not change the token - \iftabu@cellright % before-previous token is right - \tabu@cellrightfalse - \tabu@righttok - \fi - \fi % \ifcase - \fi - \tabu@prepnext@tokORI -}% \tabu@prepnext@tok -\long\def\tabu@lastnoop#1\@@#2#3{\tabu@lastn@@p #2\@nextchar \in@\in@@} -\def\tabu@lastn@@p #1\@nextchar #2#3\in@@{% - \ifx \in@#2\else - \let\@fornoop \tabu@fornoopORI - \xdef\tabu@mkpreambuffer{\tabu@nbcols\the\tabu@nbcols \tabu@mkpreambuffer}% - \toks0\expandafter{\expandafter\tabu@everyrowtrue \the\toks0}% - \expandafter\prepnext@tok - \fi -}% \tabu@lastnoop -\def\tabu@righttok{% - \advance \count@ \m@ne - \toks\count@\expandafter {\the\toks\count@ \tabu@cellright \tabu@cellralign}% - \advance \count@ \@ne -}% \tabu@righttok -\def\tabu@lefttok{\toks\count@\expandafter{\expandafter\tabu@celllalign - \the\toks\count@ \tabu@cellleft}% after because of $ -}% \tabu@lefttok -%% Neutralisation of glues ------------------------------------------ -\let\tabu@cellleft \@empty -\let\tabu@cellright \@empty -\tabu@celllalign@def{\tabu@cellleft}% -\let\tabu@cellralign \@empty -\def\tabu@cell@align #1#2#3{% - \let\tabu@maybesiunitx \toks@ \tabu@celllalign - \global \expandafter \tabu@celllalign@def \expandafter {\the\toks@ #1}% - \toks@\expandafter{\tabu@cellralign #2}% - \xdef\tabu@cellralign{\the\toks@}% - \toks@\expandafter{\tabu@cellleft #3}% - \xdef\tabu@cellleft{\the\toks@}% -}% \tabu@cell@align -\def\tabu@cell@l{% force alignment to left - \tabu@cell@align - {\tabu@removehfil \raggedright \tabu@cellleft}% left - {\tabu@flush1\tabu@ignorehfil}% right - \raggedright -}% \tabu@cell@l -\def\tabu@cell@c{% force alignment to center - \tabu@cell@align - {\tabu@removehfil \centering \tabu@flush{.5}\tabu@cellleft} - {\tabu@flush{.5}\tabu@ignorehfil} - \centering -}% \tabu@cell@c -\def\tabu@cell@r{% force alignment to right - \tabu@cell@align - {\tabu@removehfil \raggedleft \tabu@flush1\tabu@cellleft} - \tabu@ignorehfil - \raggedleft -}% \tabu@cell@r -\def\tabu@cell@j{% force justification (for p, m, b columns) - \tabu@cell@align - {\tabu@justify\tabu@cellleft} - {} - \tabu@justify -}% \tabu@cell@j -\def\tabu@justify{% - \leftskip\z@skip \@rightskip\leftskip \rightskip\@rightskip - \parfillskip\@flushglue -}% \tabu@justify -%% ragged2e settings -\def\tabu@cell@L{% force alignment to left (ragged2e) - \tabu@cell@align - {\tabu@removehfil \RaggedRight \tabu@cellleft} - {\tabu@flush 1\tabu@ignorehfil} - \RaggedRight -}% \tabu@cell@L -\def\tabu@cell@C{% force alignment to center (ragged2e) - \tabu@cell@align - {\tabu@removehfil \Centering \tabu@flush{.5}\tabu@cellleft} - {\tabu@flush{.5}\tabu@ignorehfil} - \Centering -}% \tabu@cell@C -\def\tabu@cell@R{% force alignment to right (ragged2e) - \tabu@cell@align - {\tabu@removehfil \RaggedLeft \tabu@flush 1\tabu@cellleft} - \tabu@ignorehfil - \RaggedLeft -}% \tabu@cell@R -\def\tabu@cell@J{% force justification (ragged2e) - \tabu@cell@align - {\justifying \tabu@cellleft} - {} - \justifying -}% \tabu@cell@J -\def\tabu@flush#1{% - \iftabu@colortbl % colortbl uses \hfill rather than \hfil - \hskip \ifnum13<\currentgrouptype \stretch{#1}% - \else \ifdim#1pt<\p@ \tabu@cellskip - \else \stretch{#1} - \fi\fi \relax - \else % array.sty - \ifnum 13<\currentgrouptype - \hfil \hskip1sp \relax \fi - \fi -}% \tabu@flush -\let\tabu@hfil \hfil -\let\tabu@hfill \hfill -\let\tabu@hskip \hskip -\def\tabu@removehfil{% - \iftabu@colortbl - \unkern \tabu@cellskip =\lastskip - \ifnum\gluestretchorder\tabu@cellskip =\tw@ \hskip-\tabu@cellskip - \else \tabu@cellskip \z@skip - \fi - \else - \ifdim\lastskip=1sp\unskip\fi - \ifnum\gluestretchorder\lastskip =\@ne - \hfilneg % \hfilneg for array.sty but not for colortbl... - \fi - \fi -}% \tabu@removehfil -\def\tabu@ignorehfil{\aftergroup \tabu@nohfil} -\def\tabu@nohfil{% \hfil -> do nothing + restore original \hfil - \def\hfil{\let\hfil \tabu@hfil}% local to (alignment template) group -}% \tabu@nohfil -\def\tabu@colortblalignments {% if colortbl - \def\tabu@nohfil{% - \def\hfil {\let\hfil \tabu@hfil}% local to (alignment template) group - \def\hfill {\let\hfill \tabu@hfill}% (colortbl uses \hfill) pfff... - \def\hskip ####1\relax{\let\hskip \tabu@hskip}}% local -}% \tabu@colortblalignments -%% Taking care of footnotes and hyperfootnotes ---------------------- -\long\def\tabu@footnotetext #1{% - \edef\@tempa{\the\tabu@footnotes - \noexpand\footnotetext [\the\csname c@\@mpfn\endcsname]}% - \global\tabu@footnotes\expandafter{\@tempa {#1}}}% -\long\def\tabu@xfootnotetext [#1]#2{% - \global\tabu@footnotes\expandafter{\the\tabu@footnotes - \footnotetext [{#1}]{#2}}} -\let\tabu@xfootnote \@xfootnote -\long\def\tabu@Hy@ftntext{\tabu@Hy@ftntxt {\the \c@footnote }} -\long\def\tabu@Hy@xfootnote [#1]{% - \begingroup - \value\@mpfn #1\relax - \protected@xdef \@thefnmark {\thempfn}% - \endgroup - \@footnotemark \tabu@Hy@ftntxt {#1}% -}% \tabu@Hy@xfootnote -\long\def\tabu@Hy@ftntxt #1#2{% - \edef\@tempa{% - \the\tabu@footnotes - \begingroup - \value\@mpfn #1\relax - \noexpand\protected@xdef\noexpand\@thefnmark {\noexpand\thempfn}% - \expandafter \noexpand \expandafter - \tabu@Hy@footnotetext \expandafter{\Hy@footnote@currentHref}% - }% - \global\tabu@footnotes\expandafter{\@tempa {#2}% - \endgroup}% -}% \tabu@Hy@ftntxt -\long\def\tabu@Hy@footnotetext #1#2{% - \H@@footnotetext{% - \ifHy@nesting - \hyper@@anchor {#1}{#2}% - \else - \Hy@raisedlink{% - \hyper@@anchor {#1}{\relax}% - }% - \def\@currentHref {#1}% - \let\@currentlabelname \@empty - #2% - \fi - }% -}% \tabu@Hy@footnotetext -%% No need for \arraybackslash ! ------------------------------------ -\def\tabu@latextwoe {% -\def\tabu@temp##1##2##3{{\toks@\expandafter{##2##3}\xdef##1{\the\toks@}}} -\tabu@temp \tabu@centering \centering \arraybackslash -\tabu@temp \tabu@raggedleft \raggedleft \arraybackslash -\tabu@temp \tabu@raggedright \raggedright \arraybackslash -}% \tabu@latextwoe -\def\tabu@raggedtwoe {% -\def\tabu@temp ##1##2##3{{\toks@\expandafter{##2##3}\xdef##1{\the\toks@}}} -\tabu@temp \tabu@Centering \Centering \arraybackslash -\tabu@temp \tabu@RaggedLeft \RaggedLeft \arraybackslash -\tabu@temp \tabu@RaggedRight \RaggedRight \arraybackslash -\tabu@temp \tabu@justifying \justifying \arraybackslash -}% \tabu@raggedtwoe -\def\tabu@normalcrbackslash{\let\\\@normalcr} -\def\tabu@trivlist{\expandafter\def\expandafter\@trivlist\expandafter{% - \expandafter\tabu@normalcrbackslash \@trivlist}} -%% Utilities: \fbox \fcolorbox and \tabudecimal ------------------- -\def\tabu@fbox {\leavevmode\afterassignment\tabu@beginfbox \setbox\@tempboxa\hbox} -\def\tabu@beginfbox {\bgroup \kern\fboxsep - \bgroup\aftergroup\tabu@endfbox} -\def\tabu@endfbox {\kern\fboxsep\egroup\egroup - \@frameb@x\relax} -\def\tabu@color@b@x #1#2{\leavevmode \bgroup - \def\tabu@docolor@b@x{#1{#2\color@block{\wd\z@}{\ht\z@}{\dp\z@}\box\z@}}% - \afterassignment\tabu@begincolor@b@x \setbox\z@ \hbox -}% \tabu@color@b@x -\def\tabu@begincolor@b@x {\kern\fboxsep \bgroup - \aftergroup\tabu@endcolor@b@x \set@color} -\def\tabu@endcolor@b@x {\kern\fboxsep \egroup - \dimen@\ht\z@ \advance\dimen@ \fboxsep \ht\z@ \dimen@ - \dimen@\dp\z@ \advance\dimen@ \fboxsep \dp\z@ \dimen@ - \tabu@docolor@b@x \egroup -}% \tabu@endcolor@b@x -%% Corrections (arydshln, delarray, colortbl) ----------------------- -\def\tabu@fix@arrayright {%% \@arrayright is missing from \endarray - \iftabu@colortbl - \ifdefined\adl@array % - \def\tabu@endarray{% - \adl@endarray \egroup \adl@arrayrestore \CT@end \egroup % - \@arrayright % - \gdef\@preamble{}}% - \else % - \def\tabu@endarray{% - \crcr \egroup \egroup % - \@arrayright % - \gdef\@preamble{}\CT@end}% - \fi - \else - \ifdefined\adl@array % - \def\tabu@endarray{% - \adl@endarray \egroup \adl@arrayrestore \egroup % - \@arrayright % - \gdef\@preamble{}}% - \else % - \PackageWarning{tabu} - {\string\@arrayright\space is missing from the - \MessageBreak definition of \string\endarray. - \MessageBreak Compatibility with delarray.sty is broken.}% - \fi\fi -}% \tabu@fix@arrayright -\def\tabu@adl@xarraydashrule #1#2#3{% - \ifnum\@lastchclass=\adl@class@start\else - \ifnum\@lastchclass=\@ne\else - \ifnum\@lastchclass=5 \else % @-arg (class 5) and !-arg (class 1) - \adl@leftrulefalse \fi\fi % must be treated the same - \fi - \ifadl@zwvrule\else \ifadl@inactive\else - \@addtopreamble{\vrule\@width\arrayrulewidth - \@height\z@ \@depth\z@}\fi \fi - \ifadl@leftrule - \@addtopreamble{\adl@vlineL{\CT@arc@}{\adl@dashgapcolor}% - {\number#1}#3}% - \else \@addtopreamble{\adl@vlineR{\CT@arc@}{\adl@dashgapcolor}% - {\number#2}#3} - \fi -}% \tabu@adl@xarraydashrule -\def\tabu@adl@act@endpbox {% - \unskip \ifhmode \nobreak \fi \@finalstrut \@arstrutbox - \egroup \egroup - \adl@colhtdp \box\adl@box \hfil -}% \tabu@adl@act@endpbox -\def\tabu@adl@fix {% - \let\adl@xarraydashrule \tabu@adl@xarraydashrule % arydshln - \let\adl@act@endpbox \tabu@adl@act@endpbox % arydshln - \let\adl@act@@endpbox \tabu@adl@act@endpbox % arydshln - \let\@preamerror \@preamerr % arydshln -}% \tabu@adl@fix -%% Correction for longtable' \@startbox definition ------------------ -%% => \everypar is ``missing'' : TeX should be in vertical mode -\def\tabu@LT@startpbox #1{% - \bgroup - \let\@footnotetext\LT@p@ftntext - \setlength\hsize{#1}% - \@arrayparboxrestore - \everypar{% - \vrule \@height \ht\@arstrutbox \@width \z@ - \everypar{}}% -}% \tabu@LT@startpbox -%% \tracingtabu and the package options ------------------ -\DeclareOption{delarray}{\AtEndOfPackage{\RequirePackage{delarray}}} -\DeclareOption{linegoal}{% - \AtEndOfPackage{% - \RequirePackage{linegoal}[2010/12/07]% - \let\tabudefaulttarget \linegoal% \linegoal is \linewidth if not pdfTeX -}} -\DeclareOption{scantokens}{\tabuscantokenstrue} -\DeclareOption{debugshow}{\AtEndOfPackage{\tracingtabu=\tw@}} -\def\tracingtabu {\begingroup\@ifnextchar=% - {\afterassignment\tabu@tracing\count@} - {\afterassignment\tabu@tracing\count@1\relax}} -\def\tabu@tracing{\expandafter\endgroup - \expandafter\tabu@tr@cing \the\count@ \relax -}% \tabu@tracing -\def\tabu@tr@cing #1\relax {% - \ifnum#1>\thr@@ \let\tabu@tracinglines\message - \else \let\tabu@tracinglines\@gobble - \fi - \ifnum#1>\tw@ \let\tabu@DBG \tabu@@DBG - \def\tabu@mkarstrut {\tabu@DBG@arstrut}% - \tabustrutrule 1.5\p@ - \else \let\tabu@DBG \@gobble - \def\tabu@mkarstrut {\tabu@arstrut}% - \tabustrutrule \z@ - \fi - \ifnum#1>\@ne \let\tabu@debug \message - \else \let\tabu@debug \@gobble - \fi - \ifnum#1>\z@ - \let\tabu@message \message - \let\tabu@tracing@save \tabu@message@save - \let\tabu@starttimer \tabu@pdftimer - \else - \let\tabu@message \@gobble - \let\tabu@tracing@save \@gobble - \let\tabu@starttimer \relax - \fi -}% \tabu@tr@cing -%% Setup \AtBeginDocument -\AtBeginDocument{\tabu@AtBeginDocument} -\def\tabu@AtBeginDocument{\let\tabu@AtBeginDocument \@undefined - \ifdefined\arrayrulecolor \tabu@colortbltrue % - \tabu@colortblalignments % different glues are used - \else \tabu@colortblfalse \fi - \ifdefined\CT@arc@ \else \let\CT@arc@ \relax \fi - \ifdefined\CT@drsc@\else \let\CT@drsc@ \relax \fi - \let\tabu@arc@L \CT@arc@ \let\tabu@drsc@L \CT@drsc@ - \ifodd 1\ifcsname siunitx_table_collect_begin:Nn\endcsname % - \expandafter\ifx - \csname siunitx_table_collect_begin:Nn\endcsname\relax 0\fi\fi\relax - \tabu@siunitxtrue - \else \let\tabu@maybesiunitx \@firstofone % - \let\tabu@siunitx \tabu@nosiunitx - \tabu@siunitxfalse - \fi - \ifdefined\adl@array % - \else \let\tabu@adl@fix \relax - \let\tabu@adl@endtrial \@empty \fi - \ifdefined\longtable % - \else \let\longtabu \tabu@nolongtabu \fi - \ifdefined\cellspacetoplimit \tabu@warn@cellspace\fi - \csname\ifcsname ifHy@hyperfootnotes\endcsname % - ifHy@hyperfootnotes\else iffalse\fi\endcsname - \let\tabu@footnotetext \tabu@Hy@ftntext - \let\tabu@xfootnote \tabu@Hy@xfootnote \fi - \ifdefined\FV@DefineCheckEnd% - \tabu@fancyvrb \fi - \ifdefined\color % - \let\tabu@color \color - \def\tabu@leavevmodecolor ##1{% - \def\tabu@leavevmodecolor {\leavevmode ##1}% - }\expandafter\tabu@leavevmodecolor\expandafter{\color}% - \else - \let\tabu@color \tabu@nocolor - \let\tabu@leavevmodecolor \@firstofone \fi - \tabu@latextwoe - \ifdefined\@raggedtwoe@everyselectfont % - \tabu@raggedtwoe - \else - \let\tabu@cell@L \tabu@cell@l - \let\tabu@cell@R \tabu@cell@r - \let\tabu@cell@C \tabu@cell@c - \let\tabu@cell@J \tabu@cell@j \fi - \expandafter\in@ \expandafter\@arrayright \expandafter{\endarray}% - \ifin@ \let\tabu@endarray \endarray - \else \tabu@fix@arrayright \fi% - \everyrow{}% -}% \tabu@AtBeginDocument -\def\tabu@warn@cellspace{% - \PackageWarning{tabu}{% - Package cellspace has some limitations - \MessageBreak And redefines some macros of array.sty. - \MessageBreak Please use \string\tabulinesep\space to control - \MessageBreak vertical spacing of lines inside tabu environment}% -}% \tabu@warn@cellspace -%% tabu Package initialisation -\tabuscantokensfalse -\let\tabu@arc@G \relax -\let\tabu@drsc@G \relax -\let\tabu@evr@G \@empty -\let\tabu@rc@G \@empty -\def\tabu@ls@G {\tabu@linestyle@}% -\let\tabu@@rowfontreset \@empty % -\let\tabu@@celllalign \@empty -\let\tabu@@cellralign \@empty -\let\tabu@@cellleft \@empty -\let\tabu@@cellright \@empty -\def\tabu@naturalXmin {\z@} -\def\tabu@naturalXmax {\z@} -\let\tabu@rowfontreset \@empty -\def\tabulineon {4pt}\let\tabulineoff \tabulineon -\tabu@everyrowtrue -\ifdefined\pdfelapsedtime % - \def\tabu@pdftimer {\xdef\tabu@starttime{\the\pdfelapsedtime}}% -\else \let\tabu@pdftimer \relax \let\tabu@message@etime \relax -\fi -\tracingtabu=\z@ -\newtabulinestyle {=\maxdimen}% creates the 'factory' settings \tabu@linestyle@ -\tabulinestyle{} -\taburowcolors{} -\let\tabudefaulttarget \linewidth -\ProcessOptions* % \ProcessOptions* is quicker ! -\endinput -%% -%% End of file `tabu.sty'. diff --git a/include/BNO08x.hpp b/include/BNO08x.hpp index 96da1c7..98d9105 100644 --- a/include/BNO08x.hpp +++ b/include/BNO08x.hpp @@ -27,6 +27,7 @@ /** * @class BNO08x + * * @brief BNO08x IMU driver class. * */ class BNO08x diff --git a/include/BNO08xTestHelper.hpp b/include/BNO08xTestHelper.hpp index 9d6ceeb..a435a3b 100644 --- a/include/BNO08xTestHelper.hpp +++ b/include/BNO08xTestHelper.hpp @@ -9,6 +9,7 @@ /** * @class BNO08xTestHelper + * * @brief BNO08x unit test helper class. * */ class BNO08xTestHelper diff --git a/include/BNO08xTestSuite.hpp b/include/BNO08xTestSuite.hpp index f20f0ae..98e0aac 100644 --- a/include/BNO08xTestSuite.hpp +++ b/include/BNO08xTestSuite.hpp @@ -15,6 +15,7 @@ /** * @class BNO08xTestSuite + * * @brief BNO08x unit test launch point class. * */ class BNO08xTestSuite diff --git a/include/BNO08x_macros.hpp b/include/BNO08x_macros.hpp index 1cfa7a7..d5a94d0 100644 --- a/include/BNO08x_macros.hpp +++ b/include/BNO08x_macros.hpp @@ -1,5 +1,5 @@ /** - * @file BNO08xTestHelper.hpp + * @file BNO08x_macros.hpp * @author Myles Parfeniuk */ #pragma once