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Synchronization semaphore for hint assert, updated documentation

This commit is contained in:
myles-parfeniuk 2024-03-03 22:55:01 -08:00
parent a372e4cfdd
commit 4ad3fdea40
109 changed files with 10016 additions and 4067 deletions
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32
BNO08x.cpp
View File

@ -14,9 +14,11 @@ bno08x_config_t BNO08x::default_imu_config;
*/ */
BNO08x::BNO08x(bno08x_config_t imu_config) BNO08x::BNO08x(bno08x_config_t imu_config)
: tx_packet_queued(0U) : tx_packet_queued(0U)
, tx_semaphore(xSemaphoreCreateRecursiveMutex())
, int_asserted_semaphore(xSemaphoreCreateBinary())
, imu_config(imu_config) , imu_config(imu_config)
, calibration_status(1) , calibration_status(1)
, int_asserted(false)
{ {
// clear all buffers // clear all buffers
memset(tx_buffer, 0, sizeof(tx_buffer)); memset(tx_buffer, 0, sizeof(tx_buffer));
@ -103,7 +105,6 @@ BNO08x::BNO08x(bno08x_config_t imu_config)
spi_transaction.flags = 0; spi_transaction.flags = 0;
spi_device_polling_transmit(spi_hdl, &spi_transaction); // send data packet spi_device_polling_transmit(spi_hdl, &spi_transaction); // send data packet
tx_semaphore = xSemaphoreCreateRecursiveMutex();
spi_task_hdl = NULL; spi_task_hdl = NULL;
xTaskCreate(&spi_task_trampoline, "spi_task", 4096, this, 8, &spi_task_hdl); // launch SPI task xTaskCreate(&spi_task_trampoline, "spi_task", 4096, this, 8, &spi_task_hdl); // launch SPI task
} }
@ -190,31 +191,21 @@ bool BNO08x::initialize()
*/ */
bool BNO08x::wait_for_device_int() bool BNO08x::wait_for_device_int()
{ {
int64_t start_time = esp_timer_get_time(); // get start time to manager timeout period gpio_intr_enable(imu_config.io_int); // re-enable interrupts
gpio_intr_enable(imu_config.io_int); // re-enable interrupts
// wait until an interrupt has been asserted or timeout has occured // wait until an interrupt has been asserted or timeout has occured
while (!int_asserted) if (xSemaphoreTake(int_asserted_semaphore, HOST_INT_TIMEOUT_MS / portTICK_PERIOD_MS) == pdTRUE)
{
vTaskDelay(10 / portTICK_PERIOD_MS);
if ((esp_timer_get_time() - start_time) > HOST_INT_TIMEOUT_US)
break;
}
if (int_asserted)
{ {
if (imu_config.debug_en) if (imu_config.debug_en)
ESP_LOGI(TAG, "int asserted"); ESP_LOGI(TAG, "int asserted");
int_asserted = false; // reset HINT ISR flag
return true; return true;
} }
else
if (!int_asserted) {
ESP_LOGE(TAG, "Interrupt to host device never asserted."); ESP_LOGE(TAG, "Interrupt to host device never asserted.");
return false;
return false; }
} }
/** /**
@ -2445,9 +2436,8 @@ void BNO08x::spi_task()
else else
receive_packet(); // receive packet receive_packet(); // receive packet
int_asserted = true; // SPI completed, set interrupt asserted flag as true xSemaphoreGive(int_asserted_semaphore); // SPI completed, give int_asserted_semaphore to notify wait_for_int()
xSemaphoreGive(tx_semaphore); // give back the semaphore such that queue packet be blocked
xSemaphoreGive(tx_semaphore); // give back the semaphore such that queue packet be blocked
} }
} }

7
BNO08x.hpp
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@ -289,6 +289,8 @@ class BNO08x
volatile uint8_t volatile uint8_t
tx_packet_queued; ///<Whether or not a packet is currently waiting to be sent, a queued packet is sent on assertion of BNO08x HINT pin) tx_packet_queued; ///<Whether or not a packet is currently waiting to be sent, a queued packet is sent on assertion of BNO08x HINT pin)
SemaphoreHandle_t tx_semaphore; ///<Mutex semaphore used to prevent sending or receiving of packets if packet is currently being queued SemaphoreHandle_t tx_semaphore; ///<Mutex semaphore used to prevent sending or receiving of packets if packet is currently being queued
SemaphoreHandle_t
int_asserted_semaphore; ///<Binary semaphore used to synchronize spi_task() calling wait_for_device_int(), given after hint_handler ISR launches SPI task and it has run to completion
uint8_t rx_buffer[300]; ///<buffer used to receive packet with receive_packet() uint8_t rx_buffer[300]; ///<buffer used to receive packet with receive_packet()
uint8_t tx_buffer[50]; ///<buffer used for sending packet with send_packet() uint8_t tx_buffer[50]; ///<buffer used for sending packet with send_packet()
uint8_t packet_header_rx[4]; ///<SHTP header received with receive_packet() uint8_t packet_header_rx[4]; ///<SHTP header received with receive_packet()
@ -340,13 +342,12 @@ class BNO08x
static void spi_task_trampoline(void* arg); static void spi_task_trampoline(void* arg);
void spi_task(); void spi_task();
volatile bool int_asserted; ///<Interrupt asserted flag, sets true after hint_handler ISR launches SPI task and it has run to completion
static void IRAM_ATTR hint_handler(void* arg); static void IRAM_ATTR hint_handler(void* arg);
static bool static bool
isr_service_installed; ///<true of the isr service has been installed, only has to be done once regardless of how many devices are used isr_service_installed; ///<true of the isr service has been installed, only has to be done once regardless of how many devices are used
static const constexpr uint64_t HOST_INT_TIMEOUT_US = static const constexpr uint64_t HOST_INT_TIMEOUT_MS =
150000ULL; ///<Max wait between HINT being asserted by BNO08x before transaction is considered failed (in microseconds) 150ULL; ///<Max wait between HINT being asserted by BNO08x before transaction is considered failed (in miliseconds)
// Higher level calibration commands, used by queue_calibrate_command // Higher level calibration commands, used by queue_calibrate_command
static const constexpr uint8_t CALIBRATE_ACCEL = 0; ///<Calibrate accelerometer command used by queue_calibrate_command static const constexpr uint8_t CALIBRATE_ACCEL = 0; ///<Calibrate accelerometer command used by queue_calibrate_command

27
documentation/html/dir_b281f91a3dfded60c30f3d31da444793.html → documentation/html/_b_n_o08x_8cpp.html
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@ -3,12 +3,14 @@
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@ -21,7 +23,7 @@
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@ -30,7 +32,7 @@
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<div class="textblock"><code>#include &lt;driver/gpio.h&gt;</code><br />
<code>#include &lt;driver/spi_common.h&gt;</code><br />
<code>#include &lt;driver/spi_master.h&gt;</code><br />
<code>#include &lt;esp_log.h&gt;</code><br />
<code>#include &lt;esp_rom_gpio.h&gt;</code><br />
<code>#include &lt;esp_timer.h&gt;</code><br />
<code>#include &lt;freertos/FreeRTOS.h&gt;</code><br />
<code>#include &lt;freertos/semphr.h&gt;</code><br />
<code>#include &lt;freertos/task.h&gt;</code><br />
<code>#include &lt;rom/ets_sys.h&gt;</code><br />
<code>#include &lt;inttypes.h&gt;</code><br />
<code>#include &lt;math.h&gt;</code><br />
<code>#include &lt;stdio.h&gt;</code><br />
<code>#include &lt;cstring&gt;</code><br />
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structbno08x__config__t.html">bno08x_config_t</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">IMU configuration settings passed into constructor. <a href="structbno08x__config__t.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td></tr>
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<tr class="memitem:a648bbdbf22731476890dd8da977d7503" id="r_a648bbdbf22731476890dd8da977d7503"><td class="memItemLeft" align="right" valign="top">typedef struct bno08x_config_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a648bbdbf22731476890dd8da977d7503">bno08x_config_t</a></td></tr>
<tr class="memdesc:a648bbdbf22731476890dd8da977d7503"><td class="mdescLeft">&#160;</td><td class="mdescRight">IMU configuration settings passed into constructor. <br /></td></tr>
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<tr class="memitem:aac50a1392dd0aa905500c755148c556b" id="r_aac50a1392dd0aa905500c755148c556b"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#aac50a1392dd0aa905500c755148c556b">channels_t</a> { <br />
&#160;&#160;<a class="el" href="#aac50a1392dd0aa905500c755148c556ba1cb5955609063cff1ba49147e786e610">CHANNEL_COMMAND</a>
, <a class="el" href="#aac50a1392dd0aa905500c755148c556ba8a5de65712767758887f8fad9523bb72">CHANNEL_EXECUTABLE</a>
, <a class="el" href="#aac50a1392dd0aa905500c755148c556ba6c5ca5e5847c55b469afbb435e15b5f0">CHANNEL_CONTROL</a>
, <a class="el" href="#aac50a1392dd0aa905500c755148c556ba22f0b2ae6fcdc8618a078b0579d09e4a">CHANNEL_REPORTS</a>
, <br />
&#160;&#160;<a class="el" href="#aac50a1392dd0aa905500c755148c556bafbb907d12060466f58dd56d3e2430747">CHANNEL_WAKE_REPORTS</a>
, <a class="el" href="#aac50a1392dd0aa905500c755148c556bafd513a698e54122cec579d9450482832">CHANNEL_GYRO</a>
<br />
}</td></tr>
<tr class="memdesc:aac50a1392dd0aa905500c755148c556b"><td class="mdescLeft">&#160;</td><td class="mdescRight">SHTP protocol channels. <a href="#aac50a1392dd0aa905500c755148c556b">More...</a><br /></td></tr>
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<tr class="memitem:adb7d85b4fa619c860031f469261c6279" id="r_adb7d85b4fa619c860031f469261c6279"><td class="memItemLeft" align="right" valign="top">enum class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#adb7d85b4fa619c860031f469261c6279">IMUAccuracy</a> { <a class="el" href="#adb7d85b4fa619c860031f469261c6279a41bc94cbd8eebea13ce0491b2ac11b88">LOW</a> = 1
, <a class="el" href="#adb7d85b4fa619c860031f469261c6279a2ad6d5975c45da2e711c796f3a1b029c">MED</a>
, <a class="el" href="#adb7d85b4fa619c860031f469261c6279ab89de3b4b81c4facfac906edf29aec8c">HIGH</a>
}</td></tr>
<tr class="memdesc:adb7d85b4fa619c860031f469261c6279"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sensor accuracy returned during sensor calibration. <a href="#adb7d85b4fa619c860031f469261c6279">More...</a><br /></td></tr>
<tr class="separator:adb7d85b4fa619c860031f469261c6279"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<h2 class="groupheader">Typedef Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a648bbdbf22731476890dd8da977d7503">&#9670;&#160;</a></span>bno08x_config_t</h2>
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<td class="memname">typedef struct bno08x_config_t bno08x_config_t</td>
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<p>IMU configuration settings passed into constructor. </p>
</div>
</div>
<h2 class="groupheader">Enumeration Type Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#aac50a1392dd0aa905500c755148c556b">&#9670;&#160;</a></span>channels_t</h2>
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<td class="memname">enum <a class="el" href="#aac50a1392dd0aa905500c755148c556b">channels_t</a></td>
</tr>
</table>
</div><div class="memdoc">
<p>SHTP protocol channels. </p>
<table class="fieldtable">
<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="aac50a1392dd0aa905500c755148c556ba1cb5955609063cff1ba49147e786e610" name="aac50a1392dd0aa905500c755148c556ba1cb5955609063cff1ba49147e786e610"></a>CHANNEL_COMMAND&#160;</td><td class="fielddoc"></td></tr>
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<h2 class="memtitle"><span class="permalink"><a href="#adb7d85b4fa619c860031f469261c6279">&#9670;&#160;</a></span>IMUAccuracy</h2>
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<td class="memname">enum class <a class="el" href="#adb7d85b4fa619c860031f469261c6279">IMUAccuracy</a></td>
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<span class="mlabels"><span class="mlabel">strong</span></span> </td>
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<p>Sensor accuracy returned during sensor calibration. </p>
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<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#ad212b5028a31e857e76d251ced2724e1">calibration_status</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr> <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#ad212b5028a31e857e76d251ced2724e1">calibration_status</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#afe39bfdede7b9a2b273983cb29a27d6e">clear_tare</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr> <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#afe39bfdede7b9a2b273983cb29a27d6e">clear_tare</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a4f580b3cb232a762ea7019ee7b04d419">COMMAND_CLEAR_DCD</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr> <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a4f580b3cb232a762ea7019ee7b04d419">COMMAND_CLEAR_DCD</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
<tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>COMMAND_COUNTER</b> (defined in <a class="el" href="class_b_n_o08x.html">BNO08x</a>)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr> <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a93dd073c0cc1f3ccfde552649f6ebccc">COMMAND_COUNTER</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#af124a6c1d8b871f3181b6c85f1099cb2">COMMAND_DCD</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr> <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#af124a6c1d8b871f3181b6c85f1099cb2">COMMAND_DCD</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a7a246989c94cd87f68166b20b7ad4c8b">COMMAND_DCD_PERIOD_SAVE</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr> <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a7a246989c94cd87f68166b20b7ad4c8b">COMMAND_DCD_PERIOD_SAVE</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>COMMAND_ERRORS</b> (defined in <a class="el" href="class_b_n_o08x.html">BNO08x</a>)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr> <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a384a1efc9857ad938be3bb44f871539b">COMMAND_ERRORS</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a30eb6d305a187d4d36546841e12176b9">COMMAND_INITIALIZE</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr> <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a30eb6d305a187d4d36546841e12176b9">COMMAND_INITIALIZE</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a8381dfe403ddff522f172cb16780731a">COMMAND_ME_CALIBRATE</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr> <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a8381dfe403ddff522f172cb16780731a">COMMAND_ME_CALIBRATE</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a308c8b5307d93a67b5b9066d44494aa5">COMMAND_OSCILLATOR</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr> <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a308c8b5307d93a67b5b9066d44494aa5">COMMAND_OSCILLATOR</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
@ -133,10 +135,10 @@ $(function() {
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a40607e557eada666a5e1e416f42cd4a1">FRS_read_data</a>(uint16_t record_ID, uint8_t start_location, uint8_t words_to_read)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr> <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a40607e557eada666a5e1e416f42cd4a1">FRS_read_data</a>(uint16_t record_ID, uint8_t start_location, uint8_t words_to_read)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#adf789e709ac1667656db757c8d559af9">FRS_read_request</a>(uint16_t record_ID, uint16_t read_offset, uint16_t block_size)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr> <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#adf789e709ac1667656db757c8d559af9">FRS_read_request</a>(uint16_t record_ID, uint16_t read_offset, uint16_t block_size)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a27f5dce5c994be18a587fb622574ad41">FRS_read_word</a>(uint16_t record_ID, uint8_t word_number)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr> <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a27f5dce5c994be18a587fb622574ad41">FRS_read_word</a>(uint16_t record_ID, uint8_t word_number)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>FRS_RECORDID_ACCELEROMETER</b> (defined in <a class="el" href="class_b_n_o08x.html">BNO08x</a>)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">static</span></td></tr> <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a72d8919cb432a53f57ff63aa29d5f984">FRS_RECORDID_ACCELEROMETER</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>FRS_RECORDID_GYROSCOPE_CALIBRATED</b> (defined in <a class="el" href="class_b_n_o08x.html">BNO08x</a>)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">static</span></td></tr> <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a6dbd6b8c9d1450c97db1e46861c55132">FRS_RECORDID_GYROSCOPE_CALIBRATED</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
<tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>FRS_RECORDID_MAGNETIC_FIELD_CALIBRATED</b> (defined in <a class="el" href="class_b_n_o08x.html">BNO08x</a>)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">static</span></td></tr> <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#ab9519ab682fedb7224e4c0489c7d5619">FRS_RECORDID_MAGNETIC_FIELD_CALIBRATED</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>FRS_RECORDID_ROTATION_VECTOR</b> (defined in <a class="el" href="class_b_n_o08x.html">BNO08x</a>)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">static</span></td></tr> <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a58e7e3a7bf08fbdb4b75b3a0034ed33e">FRS_RECORDID_ROTATION_VECTOR</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a9329c6669282071622c3b3741b1b8142">get_accel</a>(float &amp;x, float &amp;y, float &amp;z, uint8_t &amp;accuracy)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr> <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a9329c6669282071622c3b3741b1b8142">get_accel</a>(float &amp;x, float &amp;y, float &amp;z, uint8_t &amp;accuracy)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a3fce726d5de821f97ed207036dae2900">get_accel_accuracy</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr> <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a3fce726d5de821f97ed207036dae2900">get_accel_accuracy</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#abce574112a9079d2cbc58cfc352b8a69">get_accel_X</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr> <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#abce574112a9079d2cbc58cfc352b8a69">get_accel_X</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
@ -209,31 +211,31 @@ $(function() {
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a64d3e41750c6de9413d6982511f78f17">get_yaw</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr> <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a64d3e41750c6de9413d6982511f78f17">get_yaw</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#af80f7795656e695e036d3b1557aed94c">get_yaw_deg</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr> <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#af80f7795656e695e036d3b1557aed94c">get_yaw_deg</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#ae01698d287ea999179a11e2244902022">gravity_accuracy</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr> <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#ae01698d287ea999179a11e2244902022">gravity_accuracy</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#ae10722334dfce9635e76519598e165a2">GRAVITY_Q1</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr> <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#ae10722334dfce9635e76519598e165a2">GRAVITY_Q1</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>gravity_X</b> (defined in <a class="el" href="class_b_n_o08x.html">BNO08x</a>)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr> <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#af45016be9ea523d80be8467b2907b499">gravity_X</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>gravity_Y</b> (defined in <a class="el" href="class_b_n_o08x.html">BNO08x</a>)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr> <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#af20dcd487a9fe8fa6243817d51e37be5">gravity_Y</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>gravity_Z</b> (defined in <a class="el" href="class_b_n_o08x.html">BNO08x</a>)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr> <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#afa1cf5c3afbb258d97c55c5fb187f2d6">gravity_Z</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a98ea35dd0fbd0c409d25fd8a6ed9f277">gyro_accuracy</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr> <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a98ea35dd0fbd0c409d25fd8a6ed9f277">gyro_accuracy</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#aa3bec8effefa61cec6fa170e9d02c4dd">GYRO_Q1</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr> <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#aa3bec8effefa61cec6fa170e9d02c4dd">GYRO_Q1</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a28cd1c0b3477571d87133234e6358503">hard_reset</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr> <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a28cd1c0b3477571d87133234e6358503">hard_reset</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a804b95c58c30d36933fd251626b85bf7">hint_handler</a>(void *arg)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr> <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a804b95c58c30d36933fd251626b85bf7">hint_handler</a>(void *arg)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a53c4824accdff697948c10df30a15457">HOST_INT_TIMEOUT_US</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr> <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#ae7f34752f888c637d5619f898e62a6d4">HOST_INT_TIMEOUT_MS</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#aeda443e9f608fccfec0e6770edc90c82">imu_config</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr> <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#aeda443e9f608fccfec0e6770edc90c82">imu_config</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a425a1f5a9f3232aadc685caaf4c2f82e">imu_spi_config</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr> <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a425a1f5a9f3232aadc685caaf4c2f82e">imu_spi_config</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#aea8e2c6dd7a2c9899479a7f39fe94798">initialize</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr> <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#aea8e2c6dd7a2c9899479a7f39fe94798">initialize</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a496407fcd9c7c921bf5b3b062024b29d">int_asserted</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr> <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a33aee99f7f0d07c3061bab90831bc309">int_asserted_semaphore</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a4882dbc698d7b730f57e2401037766a9">isr_service_installed</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr> <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a4882dbc698d7b730f57e2401037766a9">isr_service_installed</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#ad0d37fe07ced24f2c9afc21145a74e7b">LINEAR_ACCELEROMETER_Q1</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr> <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#ad0d37fe07ced24f2c9afc21145a74e7b">LINEAR_ACCELEROMETER_Q1</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#ac5d4e151690774687efa951ca41c16ae">magf_accuracy</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr> <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#ac5d4e151690774687efa951ca41c16ae">magf_accuracy</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a9fac9b811b7c2117675a784cb4df204c">MAGNETOMETER_Q1</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr> <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a9fac9b811b7c2117675a784cb4df204c">MAGNETOMETER_Q1</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>mems_raw_accel_X</b> (defined in <a class="el" href="class_b_n_o08x.html">BNO08x</a>)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr> <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a937cbdc4edaac72c8cad041d79de5701">mems_raw_accel_X</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>mems_raw_accel_Y</b> (defined in <a class="el" href="class_b_n_o08x.html">BNO08x</a>)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr> <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#ad83cecb8a5d2be01db6792755b6057e9">mems_raw_accel_Y</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a59a4d75f1302ab693b1b26e9ccaa5341">mems_raw_accel_Z</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr> <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a59a4d75f1302ab693b1b26e9ccaa5341">mems_raw_accel_Z</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>mems_raw_gyro_X</b> (defined in <a class="el" href="class_b_n_o08x.html">BNO08x</a>)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr> <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a3d6b6257462951ea023af7076c80f6dd">mems_raw_gyro_X</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>mems_raw_gyro_Y</b> (defined in <a class="el" href="class_b_n_o08x.html">BNO08x</a>)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr> <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#ab6b142416912a096886dd63ad0beb865">mems_raw_gyro_Y</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#ac35d5b12721ab876eaeb1f714a9b3b1d">mems_raw_gyro_Z</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr> <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#ac35d5b12721ab876eaeb1f714a9b3b1d">mems_raw_gyro_Z</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>mems_raw_magf_X</b> (defined in <a class="el" href="class_b_n_o08x.html">BNO08x</a>)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr> <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#ab587cdf991342b69b7fff3b33f537eb5">mems_raw_magf_X</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>mems_raw_magf_Y</b> (defined in <a class="el" href="class_b_n_o08x.html">BNO08x</a>)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr> <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#aad926054c81818fff611e10ed913706a">mems_raw_magf_Y</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a90f0cdf11decc276006f76a494d42ce3">mems_raw_magf_Z</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr> <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a90f0cdf11decc276006f76a494d42ce3">mems_raw_magf_Z</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a7bd032712a975e73e66bd72a3502baba">meta_data</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr> <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a7bd032712a975e73e66bd72a3502baba">meta_data</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#ac1b3de9b552c611ee9c455d7f19be698">mode_on</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr> <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#ac1b3de9b552c611ee9c455d7f19be698">mode_on</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
@ -244,7 +246,7 @@ $(function() {
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a3762125be0025a335f0d918415f4ce18">parse_command_report</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr> <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a3762125be0025a335f0d918415f4ce18">parse_command_report</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a7ba1d779ed68edf30090dd0f938a5709">parse_input_report</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr> <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a7ba1d779ed68edf30090dd0f938a5709">parse_input_report</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a08f037df7b3c7e2fc3f0e968f4a5f68c">print_header</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr> <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a08f037df7b3c7e2fc3f0e968f4a5f68c">print_header</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>print_packet</b>() (defined in <a class="el" href="class_b_n_o08x.html">BNO08x</a>)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr> <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a0ef39163352bd7a54ac85952e8cb8516">print_packet</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a27fb24e894f794ec6228ef142b6ff8d9">q_to_float</a>(int16_t fixed_point_value, uint8_t q_point)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr> <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a27fb24e894f794ec6228ef142b6ff8d9">q_to_float</a>(int16_t fixed_point_value, uint8_t q_point)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a36223f7124751fa71e860b2ef55dd2ac">quat_accuracy</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr> <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a36223f7124751fa71e860b2ef55dd2ac">quat_accuracy</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#ad097849616c5caab1fd3eb3632ee2b91">queue_calibrate_command</a>(uint8_t _to_calibrate)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr> <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#ad097849616c5caab1fd3eb3632ee2b91">queue_calibrate_command</a>(uint8_t _to_calibrate)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
@ -254,36 +256,36 @@ $(function() {
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a67d0b5302a60083cef1b31936e2b65d8">queue_packet</a>(uint8_t channel_number, uint8_t data_length)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr> <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a67d0b5302a60083cef1b31936e2b65d8">queue_packet</a>(uint8_t channel_number, uint8_t data_length)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#ab5f200069a2f8cb74cb79c6f162da5a1">queue_request_product_id_command</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr> <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#ab5f200069a2f8cb74cb79c6f162da5a1">queue_request_product_id_command</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a4c6353e795f734ed28613f9a3d161ea2">queue_tare_command</a>(uint8_t command, uint8_t axis=TARE_AXIS_ALL, uint8_t rotation_vector_basis=TARE_ROTATION_VECTOR)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr> <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a4c6353e795f734ed28613f9a3d161ea2">queue_tare_command</a>(uint8_t command, uint8_t axis=TARE_AXIS_ALL, uint8_t rotation_vector_basis=TARE_ROTATION_VECTOR)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>raw_accel_X</b> (defined in <a class="el" href="class_b_n_o08x.html">BNO08x</a>)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr> <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a75fb2f06c5bbe26e3f3c794934ef954c">raw_accel_X</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>raw_accel_Y</b> (defined in <a class="el" href="class_b_n_o08x.html">BNO08x</a>)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr> <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#ab56e2ba505fa293d03e955137625c562">raw_accel_Y</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>raw_accel_Z</b> (defined in <a class="el" href="class_b_n_o08x.html">BNO08x</a>)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr> <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#af254d245b368027df6952b7d7522bd35">raw_accel_Z</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>raw_bias_X</b> (defined in <a class="el" href="class_b_n_o08x.html">BNO08x</a>)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr> <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a8a2667f668317cee0a9fc4ef0accc3f5">raw_bias_X</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>raw_bias_Y</b> (defined in <a class="el" href="class_b_n_o08x.html">BNO08x</a>)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr> <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#ac38ff5eb93d3c3db0af2504ba02fd93c">raw_bias_Y</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>raw_bias_Z</b> (defined in <a class="el" href="class_b_n_o08x.html">BNO08x</a>)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr> <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a0968eaed9b3d979a2caa1aba6e6b417a">raw_bias_Z</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>raw_gyro_X</b> (defined in <a class="el" href="class_b_n_o08x.html">BNO08x</a>)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr> <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a19696327a056a448ed5ba706e747bbe5">raw_gyro_X</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>raw_gyro_Y</b> (defined in <a class="el" href="class_b_n_o08x.html">BNO08x</a>)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr> <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a61df9f571555f5f682eb51f24a279489">raw_gyro_Y</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>raw_gyro_Z</b> (defined in <a class="el" href="class_b_n_o08x.html">BNO08x</a>)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr> <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a03f567cda2a3cc966301e96732fca9ad">raw_gyro_Z</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>raw_lin_accel_X</b> (defined in <a class="el" href="class_b_n_o08x.html">BNO08x</a>)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr> <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#ae1f71a432cb15e75f522fa18f29f4d50">raw_lin_accel_X</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>raw_lin_accel_Y</b> (defined in <a class="el" href="class_b_n_o08x.html">BNO08x</a>)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr> <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#aff3a5590471d1c9fc485a5610433915f">raw_lin_accel_Y</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>raw_lin_accel_Z</b> (defined in <a class="el" href="class_b_n_o08x.html">BNO08x</a>)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr> <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#abc8add47f1babc66c812a015614143d3">raw_lin_accel_Z</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>raw_magf_X</b> (defined in <a class="el" href="class_b_n_o08x.html">BNO08x</a>)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr> <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#aa5bdf740161b7c37adcac0154a410118">raw_magf_X</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>raw_magf_Y</b> (defined in <a class="el" href="class_b_n_o08x.html">BNO08x</a>)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr> <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#acd365418f24a6da61122c66d82086639">raw_magf_Y</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>raw_magf_Z</b> (defined in <a class="el" href="class_b_n_o08x.html">BNO08x</a>)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr> <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#ab4862de31d0874b44b6745678e1c905e">raw_magf_Z</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>raw_quat_I</b> (defined in <a class="el" href="class_b_n_o08x.html">BNO08x</a>)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr> <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a69dc7e97875060213085ba964b3bd987">raw_quat_I</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>raw_quat_J</b> (defined in <a class="el" href="class_b_n_o08x.html">BNO08x</a>)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr> <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a61ae05dc5572b326541bf8099f0c2a54">raw_quat_J</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>raw_quat_K</b> (defined in <a class="el" href="class_b_n_o08x.html">BNO08x</a>)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr> <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a7720c44ed1c0f1a0663d2adc5e1a1ea1">raw_quat_K</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>raw_quat_radian_accuracy</b> (defined in <a class="el" href="class_b_n_o08x.html">BNO08x</a>)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr> <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a033d6cb1aa137743b69cc3e401df67b7">raw_quat_radian_accuracy</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>raw_quat_real</b> (defined in <a class="el" href="class_b_n_o08x.html">BNO08x</a>)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr> <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a867354267253ae828be4fae15c062db3">raw_quat_real</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>raw_uncalib_gyro_X</b> (defined in <a class="el" href="class_b_n_o08x.html">BNO08x</a>)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr> <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#afdc5cdb65bd0b36528b5b671b9d27053">raw_uncalib_gyro_X</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>raw_uncalib_gyro_Y</b> (defined in <a class="el" href="class_b_n_o08x.html">BNO08x</a>)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr> <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#acc2c66e2985975266a286385ea855117">raw_uncalib_gyro_Y</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>raw_uncalib_gyro_Z</b> (defined in <a class="el" href="class_b_n_o08x.html">BNO08x</a>)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr> <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#afac9dd4161f4c0051255293680c9082b">raw_uncalib_gyro_Z</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>raw_velocity_gyro_X</b> (defined in <a class="el" href="class_b_n_o08x.html">BNO08x</a>)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr> <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#aa5bb03dbeabed729c012ec7164a3354f">raw_velocity_gyro_X</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>raw_velocity_gyro_Y</b> (defined in <a class="el" href="class_b_n_o08x.html">BNO08x</a>)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr> <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a4f188bf76ba862f07606d1351d28548f">raw_velocity_gyro_Y</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#ab49f9a6586d709bbd26280ef44a4bbf7">raw_velocity_gyro_Z</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr> <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#ab49f9a6586d709bbd26280ef44a4bbf7">raw_velocity_gyro_Z</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#ae540799865934fcff54caed0772df071">receive_packet</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr> <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#ae540799865934fcff54caed0772df071">receive_packet</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#affaaa35abbb872da5299ebab6e2c9b11">request_calibration_status</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr> <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#affaaa35abbb872da5299ebab6e2c9b11">request_calibration_status</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a923d65d8568cc31873ad56a3908e1939">ROTATION_VECTOR_ACCURACY_Q1</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr> <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a923d65d8568cc31873ad56a3908e1939">ROTATION_VECTOR_ACCURACY_Q1</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a0b19c8f2de2b2bfe033da7f93cdd2608">ROTATION_VECTOR_Q1</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr> <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a0b19c8f2de2b2bfe033da7f93cdd2608">ROTATION_VECTOR_Q1</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#ae6e875a27ae74ebed806ee1a4576845a">run_full_calibration_routine</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr> <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#ae6e875a27ae74ebed806ee1a4576845a">run_full_calibration_routine</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a7a85ccea09eadf865e8bbbf00d800e64">rx_buffer</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr> <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a7a85ccea09eadf865e8bbbf00d800e64">rx_buffer</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#aa16609de88bfb7b389348859aa0cee54">save_calibration</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr> <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#aa16609de88bfb7b389348859aa0cee54">save_calibration</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
@ -327,17 +329,17 @@ $(function() {
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#ad80a77973371b12d722ea39063c648be">step_count</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr> <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#ad80a77973371b12d722ea39063c648be">step_count</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a2c98d5f2c406a3efd0b48c5666fa8c46">TAG</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr> <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a2c98d5f2c406a3efd0b48c5666fa8c46">TAG</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a1171a5738a4e6831ec7fa32a29f15554">tap_detector</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr> <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a1171a5738a4e6831ec7fa32a29f15554">tap_detector</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#aed8135fd5e7996ef06bf5968692ccd84">TARE_AR_VR_STABILIZED_GAME_ROTATION_VECTOR</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr> <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#aed8135fd5e7996ef06bf5968692ccd84">TARE_AR_VR_STABILIZED_GAME_ROTATION_VECTOR</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
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4740
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<li class="navelem"><a class="el" href="dir_275089585c7fc1b5fd5d7d42c69cb1da.html">D:</a></li><li class="navelem"><a class="el" href="dir_ebea21e7cbc239e4b984a419d2ec33b9.html">development</a></li><li class="navelem"><a class="el" href="dir_b281f91a3dfded60c30f3d31da444793.html">git</a></li><li class="navelem"><a class="el" href="dir_575a586a6cee2959cc416e08c83a9494.html">esp32_BNO08x</a></li> </ul> <li class="navelem"><a class="el" href="dir_f8bf4cf9c99e2cbdf74bcfc417d31962.html">esp32_BNO08x</a></li> </ul>
</div> </div>
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<div class="header"> <div class="header">
@ -80,13 +82,15 @@ $(function() {
<table class="memberdecls"> <table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="files" name="files"></a> <tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="files" name="files"></a>
Files</h2></td></tr> Files</h2></td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top"><a href="_b_n_o08x_8hpp_source.html"><span class="icondoc"></span></a>&#160;</td><td class="memItemRight" valign="bottom"><b>BNO08x.hpp</b></td></tr> <tr class="memitem:"><td class="memItemLeft" align="right" valign="top"><span class="icondoc"></span>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_b_n_o08x_8cpp.html">BNO08x.cpp</a></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top"><a href="_b_n_o08x_8hpp_source.html"><span class="icondoc"></span></a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_b_n_o08x_8hpp.html">BNO08x.hpp</a></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr> <tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table> </table>
</div><!-- contents --> </div><!-- contents -->
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<hr class="footer"/><address class="footer"><small> <hr class="footer"/><address class="footer"><small>
Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.7 Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0
</small></address> </small></address>
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284
documentation/html/doxygen.css
View File

@ -1,4 +1,4 @@
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html { html {
/* page base colors */ /* page base colors */
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--fragment-copy-ok-color: #2EC82E;
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--tooltip-background-color: white; --tooltip-background-color: white;
--tooltip-border-color: gray; --tooltip-border-color: gray;
@ -152,6 +153,11 @@ html {
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--tooltip-link-color: #4665A2; --tooltip-link-color: #4665A2;
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--fold-plus-image: url('plus.svg');
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--fold-plus-image-relpath: url('../../plus.svg');
/** font-family */ /** font-family */
--font-family-normal: Roboto,sans-serif; --font-family-normal: Roboto,sans-serif;
@ -163,6 +169,28 @@ html {
--font-family-icon: Arial,Helvetica; --font-family-icon: Arial,Helvetica;
--font-family-tooltip: Roboto,sans-serif; --font-family-tooltip: Roboto,sans-serif;
/** special sections */
--warning-color-bg: #f8d1cc;
--warning-color-hl: #b61825;
--warning-color-text: #75070f;
--note-color-bg: #faf3d8;
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--note-color-text: #5f4204;
--todo-color-bg: #e4f3ff;
--todo-color-hl: #1879C4;
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--test-color-bg: #e8e8ff;
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--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) { @media (prefers-color-scheme: dark) {
@ -298,13 +326,13 @@ html {
--code-char-literal-color: #00E0F0; --code-char-literal-color: #00E0F0;
--code-xml-cdata-color: #C9D1D9; --code-xml-cdata-color: #C9D1D9;
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--code-vhdl-keyword-color: #700070; --code-vhdl-keyword-color: #CF53C9;
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--code-link-color: #79C0FF; --code-link-color: #79C0FF;
--code-external-link-color: #79C0FF; --code-external-link-color: #79C0FF;
--fragment-foreground-color: #C9D1D9; --fragment-foreground-color: #C9D1D9;
--fragment-background-color: black; --fragment-background-color: #090D16;
--fragment-border-color: #30363D; --fragment-border-color: #30363D;
--fragment-lineno-border-color: #30363D; --fragment-lineno-border-color: #30363D;
--fragment-lineno-background-color: black; --fragment-lineno-background-color: black;
@ -313,6 +341,7 @@ html {
--fragment-lineno-link-bg-color: #303030; --fragment-lineno-link-bg-color: #303030;
--fragment-lineno-link-hover-fg-color: #8E96A1; --fragment-lineno-link-hover-fg-color: #8E96A1;
--fragment-lineno-link-hover-bg-color: #505050; --fragment-lineno-link-hover-bg-color: #505050;
--fragment-copy-ok-color: #0EA80E;
--tooltip-foreground-color: #C9D1D9; --tooltip-foreground-color: #C9D1D9;
--tooltip-background-color: #202020; --tooltip-background-color: #202020;
--tooltip-border-color: #C9D1D9; --tooltip-border-color: #C9D1D9;
@ -320,6 +349,11 @@ html {
--tooltip-declaration-color: #20C348; --tooltip-declaration-color: #20C348;
--tooltip-link-color: #79C0FF; --tooltip-link-color: #79C0FF;
--tooltip-shadow: none; --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 */
--font-family-normal: Roboto,sans-serif; --font-family-normal: Roboto,sans-serif;
@ -331,6 +365,28 @@ html {
--font-family-icon: Arial,Helvetica; --font-family-icon: Arial,Helvetica;
--font-family-tooltip: Roboto,sans-serif; --font-family-tooltip: Roboto,sans-serif;
/** special sections */
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--note-color-text: #ceb670;
--todo-color-bg: #163750;
--todo-color-hl: #1982D2;
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--deprecated-color-hl: #738396;
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--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 { body {
background-color: var(--page-background-color); background-color: var(--page-background-color);
@ -347,8 +403,6 @@ body, table, div, p, dl {
/* @group Heading Levels */ /* @group Heading Levels */
.title { .title {
font-weight: 400;
font-size: 14px;
font-family: var(--font-family-normal); font-family: var(--font-family-normal);
line-height: 28px; line-height: 28px;
font-size: 150%; font-size: 150%;
@ -481,6 +535,12 @@ div.qindex{
color: var(--index-separator-color); color: var(--index-separator-color);
} }
#main-menu a:focus {
outline: auto;
z-index: 10;
position: relative;
}
dt.alphachar{ dt.alphachar{
font-size: 180%; font-size: 180%;
font-weight: bold; font-weight: bold;
@ -540,7 +600,13 @@ a {
} }
a:hover { a:hover {
text-decoration: underline; 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 { a.el {
@ -616,30 +682,63 @@ ul.multicol {
.fragment { .fragment {
text-align: left; text-align: left;
direction: ltr; direction: ltr;
overflow-x: auto; /*Fixed: fragment lines overlap floating elements*/ overflow-x: auto;
overflow-y: hidden; 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);
} }
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border: 1px solid var(--fragment-border-color); word-wrap: break-word;
background-color: var(--fragment-background-color); font-size: 10pt;
color: var(--fragment-foreground-color); line-height: 125%;
padding: 4px 6px; font-family: var(--font-family-monospace);
margin: 4px 8px 4px 2px;
overflow: auto;
word-wrap: break-word;
font-size: 9pt;
line-height: 125%;
font-family: var(--font-family-monospace);
font-size: 105%;
} }
div.fragment { .clipboard {
padding: 0 0 1px 0; /*Fixed: last line underline overlap border*/ width: 24px;
margin: 4px 8px 4px 2px; height: 24px;
color: var(--fragment-foreground-color); right: 5px;
background-color: var(--fragment-background-color); top: 5px;
border: 1px solid var(--fragment-border-color); 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 { div.line {
@ -679,6 +778,18 @@ div.line.glow {
box-shadow: 0 0 10px 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 { span.lineno {
padding-right: 4px; padding-right: 4px;
@ -750,10 +861,6 @@ img.light-mode-visible {
display: none; display: none;
} }
img.formulaDsp {
}
img.formulaInl, img.inline { img.formulaInl, img.inline {
vertical-align: middle; vertical-align: middle;
} }
@ -1053,17 +1160,25 @@ dl.reflist dd {
.paramtype { .paramtype {
white-space: nowrap; white-space: nowrap;
padding: 0px;
padding-bottom: 1px;
} }
.paramname { .paramname {
color: var(--memdef-param-name-color);
white-space: nowrap; white-space: nowrap;
padding: 0px;
padding-bottom: 1px;
margin-left: 2px;
} }
.paramname em { .paramname em {
color: var(--memdef-param-name-color);
font-style: normal; font-style: normal;
margin-right: 1px;
} }
.paramname code {
line-height: 14px; .paramname .paramdefval {
font-family: var(--font-family-monospace);
} }
.params, .retval, .exception, .tparams { .params, .retval, .exception, .tparams {
@ -1397,7 +1512,6 @@ table.fieldtable {
{ {
height:32px; height:32px;
display:block; display:block;
text-decoration: none;
outline: none; outline: none;
color: var(--nav-text-normal-color); color: var(--nav-text-normal-color);
font-family: var(--font-family-nav); font-family: var(--font-family-nav);
@ -1486,7 +1600,8 @@ dl {
padding: 0 0 0 0; padding: 0 0 0 0;
} }
/* dl.note, dl.warning, dl.attention, dl.pre, dl.post, dl.invariant, dl.deprecated, dl.todo, dl.test, dl.bug, dl.examples */ /*
dl.section { dl.section {
margin-left: 0px; margin-left: 0px;
padding-left: 0px; padding-left: 0px;
@ -1541,8 +1656,101 @@ dl.bug {
border-color: #C08050; border-color: #C08050;
} }
*/
dl.bug dt a, dl.deprecated dt a, dl.todo dt a, dl.test a {
font-weight: bold !important;
}
dl.warning, dl.attention, dl.note, dl.deprecated, dl.bug,
dl.invariant, dl.pre, dl.post, dl.todo, dl.test, dl.remark {
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margin: 10px 0px;
overflow: hidden;
margin-left: 0;
border-radius: 4px;
}
dl.section dd { dl.section dd {
margin-bottom: 6px; margin-bottom: 2px;
}
dl.warning, dl.attention {
background: var(--warning-color-bg);
border-left: 8px solid var(--warning-color-hl);
color: var(--warning-color-text);
}
dl.warning dt, dl.attention dt {
color: var(--warning-color-hl);
}
dl.note, dl.remark {
background: var(--note-color-bg);
border-left: 8px solid var(--note-color-hl);
color: var(--note-color-text);
}
dl.note dt, dl.remark dt {
color: var(--note-color-hl);
}
dl.todo {
background: var(--todo-color-bg);
border-left: 8px solid var(--todo-color-hl);
color: var(--todo-color-text);
}
dl.todo dt {
color: var(--todo-color-hl);
}
dl.test {
background: var(--test-color-bg);
border-left: 8px solid var(--test-color-hl);
color: var(--test-color-text);
}
dl.test dt {
color: var(--test-color-hl);
}
dl.bug dt a {
color: var(--bug-color-hl) !important;
}
dl.bug {
background: var(--bug-color-bg);
border-left: 8px solid var(--bug-color-hl);
color: var(--bug-color-text);
}
dl.bug dt a {
color: var(--bug-color-hl) !important;
}
dl.deprecated {
background: var(--deprecated-color-bg);
border-left: 8px solid var(--deprecated-color-hl);
color: var(--deprecated-color-text);
}
dl.deprecated dt a {
color: var(--deprecated-color-hl) !important;
}
dl.section dd, dl.bug dd, dl.deprecated dd, dl.todo dd, dl.test dd {
margin-inline-start: 0px;
}
dl.invariant, dl.pre, dl.post {
background: var(--invariant-color-bg);
border-left: 8px solid var(--invariant-color-hl);
color: var(--invariant-color-text);
}
dl.invariant dt, dl.pre dt, dl.post dt {
color: var(--invariant-color-hl);
} }
@ -1557,12 +1765,12 @@ dl.section dd {
vertical-align: bottom; vertical-align: bottom;
border-collapse: separate; border-collapse: separate;
} }
#projectlogo img #projectlogo img
{ {
border: 0px none; border: 0px none;
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#projectalign #projectalign
{ {
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84
documentation/html/doxygen_crawl.html Normal file
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<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
<head>
<title>Validator / crawler helper</title>
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<meta http-equiv="X-UA-Compatible" content="IE=11"/>
<meta name="generator" content="Doxygen 1.10.0"/>
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<a href="md_esp32___b_n_o08x_2_r_e_a_d_m_e.html"/>
<a href="class_b_n_o08x.html"/>
<a href="class_b_n_o08x-members.html"/>
<a href="structbno08x__config__t.html"/>
<a href="structbno08x__config__t-members.html"/>
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245
documentation/html/dynsections.js
View File

@ -22,102 +22,173 @@
@licend The above is the entire license notice for the JavaScript code in this file @licend The above is the entire license notice for the JavaScript code in this file
*/ */
function toggleVisibility(linkObj)
{
var base = $(linkObj).attr('id');
var summary = $('#'+base+'-summary');
var content = $('#'+base+'-content');
var trigger = $('#'+base+'-trigger');
var src=$(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;
}
function updateStripes() let dynsection = {
{
$('table.directory tr').
removeClass('even').filter(':visible:even').addClass('even');
$('table.directory tr').
removeClass('odd').filter(':visible:odd').addClass('odd');
}
function toggleLevel(level) // helper function
{ updateStripes : function() {
$('table.directory tr').each(function() { $('table.directory tr').
var l = this.id.split('_').length-1; removeClass('even').filter(':visible:even').addClass('even');
var i = $('#img'+this.id.substring(3)); $('table.directory tr').
var a = $('#arr'+this.id.substring(3)); removeClass('odd').filter(':visible:odd').addClass('odd');
if (l<level+1) { },
i.removeClass('iconfopen iconfclosed').addClass('iconfopen');
a.html('&#9660;'); toggleVisibility : function(linkObj) {
$(this).show(); const base = $(linkObj).attr('id');
} else if (l==level+1) { const summary = $('#'+base+'-summary');
i.removeClass('iconfclosed iconfopen').addClass('iconfclosed'); const content = $('#'+base+'-content');
a.html('&#9658;'); const trigger = $('#'+base+'-trigger');
$(this).show(); const src=$(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 { } else {
$(this).hide(); content.show();
summary.hide();
$(linkObj).removeClass('closed').addClass('opened');
$(trigger).attr('src',src.substring(0,src.length-10)+'open.png');
} }
}); return false;
updateStripes(); },
}
function toggleFolder(id) toggleLevel : function(level) {
{ $('table.directory tr').each(function() {
// the clicked row const l = this.id.split('_').length-1;
var currentRow = $('#row_'+id); const i = $('#img'+this.id.substring(3));
const a = $('#arr'+this.id.substring(3));
if (l<level+1) {
i.removeClass('iconfopen iconfclosed').addClass('iconfopen');
a.html('&#9660;');
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rows.css('display','table-row'); // using show() causes jump in firefox $(img).attr('src',src.substring(0,src.length-10)+'open.png');
$(img).attr('src',src.substring(0,src.length-10)+'open.png'); }
} },
} };
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opened : true,
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plusImg: [ "var(--fold-plus-image)", "var(--fold-plus-image-relpath)" ],
minusImg: [ "var(--fold-minus-image)", "var(--fold-minus-image-relpath)" ],
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});
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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('<span class="fold" '+
'onclick="javascript:codefold.toggle(\''+id+'\');" '+
'style="background-image:'+codefold.minusImg[relPath]+';"></span>');
// append div for folded (closed) representation
$(this).after('<div id="foldclosed'+id+'" class="foldclosed" style="display:none;"></div>');
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const line = $(this).children().first().clone();
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$(line).find('span[class=fold]').css('background-image',codefold.plusImg[relPath]);
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$(line).append(' '+start+'<a href="javascript:codefold.toggle(\''+id+'\')">&#8230;</a>'+end);
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$('#foldclosed'+id).html(line);
});
},
};
/* @license-end */ /* @license-end */

24
documentation/html/files.html
View File

@ -3,12 +3,14 @@
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<link href="tabs.css" rel="stylesheet" type="text/css"/> <link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script> <script type="text/javascript" src="jquery.js"></script>
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<div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div> <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
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@ -73,19 +75,17 @@ $(function() {
<div class="headertitle"><div class="title">File List</div></div> <div class="headertitle"><div class="title">File List</div></div>
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<div class="contents"> <div class="contents">
<div class="textblock">Here is a list of all documented files with brief descriptions:</div><div class="directory"> <div class="textblock">Here is a list of all files with brief descriptions:</div><div class="directory">
<div class="levels">[detail level <span onclick="javascript:toggleLevel(1);">1</span><span onclick="javascript:toggleLevel(2);">2</span><span onclick="javascript:toggleLevel(3);">3</span><span onclick="javascript:toggleLevel(4);">4</span><span onclick="javascript:toggleLevel(5);">5</span>]</div><table class="directory"> <div class="levels">[detail level <span onclick="javascript:dynsection.toggleLevel(1);">1</span><span onclick="javascript:dynsection.toggleLevel(2);">2</span>]</div><table class="directory">
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Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.7 Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0
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14
documentation/html/functions.html
View File

@ -3,12 +3,14 @@
<head> <head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/> <meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=11"/> <meta http-equiv="X-UA-Compatible" content="IE=11"/>
<meta name="generator" content="Doxygen 1.9.7"/> <meta name="generator" content="Doxygen 1.10.0"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/> <meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>esp32_BNO08x: Class Members</title> <title>esp32_BNO08x: Class Members</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/> <link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script> <script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script> <script type="text/javascript" src="dynsections.js"></script>
<script type="text/javascript" src="clipboard.js"></script>
<script type="text/javascript" src="cookie.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/> <link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script> <script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script> <script type="text/javascript" src="search/search.js"></script>
@ -21,7 +23,7 @@
<tbody> <tbody>
<tr id="projectrow"> <tr id="projectrow">
<td id="projectalign"> <td id="projectalign">
<div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.00</span> <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.01</span>
</div> </div>
<div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div> <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
</td> </td>
@ -30,7 +32,7 @@
</table> </table>
</div> </div>
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@ -42,7 +44,7 @@ var searchBox = new SearchBox("searchBox", "search/",'.html');
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@ -70,7 +72,7 @@ $(function() {
</div> </div>
<div class="contents"> <div class="contents">
<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div> <div class="textblock">Here is a list of all class members with links to the classes they belong to:</div>
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</div><!-- contents --> </div><!-- contents -->
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<hr class="footer"/><address class="footer"><small> <hr class="footer"/><address class="footer"><small>
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14
documentation/html/functions_b.html
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<meta name="viewport" content="width=device-width, initial-scale=1"/> <meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>esp32_BNO08x: Class Members</title> <title>esp32_BNO08x: Class Members</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/> <link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script> <script type="text/javascript" src="jquery.js"></script>
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<script type="text/javascript" src="search/search.js"></script> <script type="text/javascript" src="search/search.js"></script>
@ -21,7 +23,7 @@
<tbody> <tbody>
<tr id="projectrow"> <tr id="projectrow">
<td id="projectalign"> <td id="projectalign">
<div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.00</span> <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.01</span>
</div> </div>
<div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div> <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
</td> </td>
@ -30,7 +32,7 @@
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@ -70,7 +72,7 @@ $(function() {
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<div class="contents"> <div class="contents">
<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div> <div class="textblock">Here is a list of all class members with links to the classes they belong to:</div>
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<hr class="footer"/><address class="footer"><small> <hr class="footer"/><address class="footer"><small>
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16
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14
documentation/html/functions_e.html
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18
documentation/html/functions_f.html
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15
documentation/html/functions_func.html
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<script type="text/javascript" src="jquery.js"></script> <script type="text/javascript" src="jquery.js"></script>
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17
documentation/html/functions_g.html
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<script type="text/javascript" src="jquery.js"></script> <script type="text/javascript" src="jquery.js"></script>
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16
documentation/html/functions_h.html
View File

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17
documentation/html/functions_i.html
View File

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<link href="tabs.css" rel="stylesheet" type="text/css"/> <link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script> <script type="text/javascript" src="jquery.js"></script>
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<tbody> <tbody>
<tr id="projectrow"> <tr id="projectrow">
<td id="projectalign"> <td id="projectalign">
<div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.00</span> <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.01</span>
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<tr id="projectrow"> <tr id="projectrow">
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<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div> <div class="textblock">Here is a list of all class members with links to the classes they belong to:</div>
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<tbody> <tbody>
<tr id="projectrow"> <tr id="projectrow">
<td id="projectalign"> <td id="projectalign">
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<link href="doxygen.css" rel="stylesheet" type="text/css" />
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89
documentation/html/globals_eval.html Normal file
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<table cellspacing="0" cellpadding="0">
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<div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.01</span>
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</td>
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</div>
<!-- end header part -->
<!-- Generated by Doxygen 1.10.0 -->
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<div class="SRStatus" id="NoMatches">No Matches</div>
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<div class="contents">
<div class="textblock">Here is a list of all enum values with links to the files they belong to:</div><ul>
<li>CHANNEL_COMMAND&#160;:&#160;<a class="el" href="_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556ba1cb5955609063cff1ba49147e786e610">BNO08x.hpp</a></li>
<li>CHANNEL_CONTROL&#160;:&#160;<a class="el" href="_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556ba6c5ca5e5847c55b469afbb435e15b5f0">BNO08x.hpp</a></li>
<li>CHANNEL_EXECUTABLE&#160;:&#160;<a class="el" href="_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556ba8a5de65712767758887f8fad9523bb72">BNO08x.hpp</a></li>
<li>CHANNEL_GYRO&#160;:&#160;<a class="el" href="_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556bafd513a698e54122cec579d9450482832">BNO08x.hpp</a></li>
<li>CHANNEL_REPORTS&#160;:&#160;<a class="el" href="_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556ba22f0b2ae6fcdc8618a078b0579d09e4a">BNO08x.hpp</a></li>
<li>CHANNEL_WAKE_REPORTS&#160;:&#160;<a class="el" href="_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556bafbb907d12060466f58dd56d3e2430747">BNO08x.hpp</a></li>
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@ -3,12 +3,14 @@
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<title>esp32_BNO08x: D:/development Directory Reference</title> <title>esp32_BNO08x: File Members</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/> <link href="tabs.css" rel="stylesheet" type="text/css"/>
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@ -21,7 +23,7 @@
<tbody> <tbody>
<tr id="projectrow"> <tr id="projectrow">
<td id="projectalign"> <td id="projectalign">
<div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.00</span> <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.01</span>
</div> </div>
<div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div> <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
</td> </td>
@ -30,7 +32,7 @@
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onmouseover="return searchBox.OnSearchSelectShow()" onmouseover="return searchBox.OnSearchSelectShow()"
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<div id="nav-path" class="navpath">
<ul>
<li class="navelem"><a class="el" href="dir_275089585c7fc1b5fd5d7d42c69cb1da.html">D:</a></li><li class="navelem"><a class="el" href="dir_ebea21e7cbc239e4b984a419d2ec33b9.html">development</a></li> </ul>
</div>
</div><!-- top -->
<div class="header">
<div class="headertitle"><div class="title">development Directory Reference</div></div>
</div><!--header-->
<div class="contents"> <div class="contents">
<div class="textblock">Here is a list of all typedefs with links to the files they belong to:</div><ul>
<li>bno08x_config_t&#160;:&#160;<a class="el" href="_b_n_o08x_8hpp.html#a648bbdbf22731476890dd8da977d7503">BNO08x.hpp</a></li>
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13
documentation/html/index.html
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<title>esp32_BNO08x: Main Page</title> <title>esp32_BNO08x: Main Page</title>
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@ -21,7 +23,7 @@
<tbody> <tbody>
<tr id="projectrow"> <tr id="projectrow">
<td id="projectalign"> <td id="projectalign">
<div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.00</span> <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.01</span>
</div> </div>
<div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div> <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
</td> </td>
@ -30,7 +32,7 @@
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var searchBox = new SearchBox("searchBox", "search/",'.html'); var searchBox = new SearchBox("searchBox", "search/",'.html');
@ -42,7 +44,7 @@ var searchBox = new SearchBox("searchBox", "search/",'.html');
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@ -73,10 +75,11 @@ $(function() {
<div class="headertitle"><div class="title">esp32_BNO08x Documentation</div></div> <div class="headertitle"><div class="title">esp32_BNO08x Documentation</div></div>
</div><!--header--> </div><!--header-->
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</body> </body>
</html> </html>

87
documentation/html/md__d_1_2development_2git_2esp32___b_n_o08x_2_r_e_a_d_m_e.html → documentation/html/md_esp32___b_n_o08x_2_r_e_a_d_m_e.html
View File

@ -3,12 +3,14 @@
<head> <head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/> <meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
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<title>esp32_BNO08x: README</title> <title>esp32_BNO08x: README</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/> <link href="tabs.css" rel="stylesheet" type="text/css"/>
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@ -21,7 +23,7 @@
<tbody> <tbody>
<tr id="projectrow"> <tr id="projectrow">
<td id="projectalign"> <td id="projectalign">
<div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.00</span> <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.01</span>
</div> </div>
<div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div> <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
</td> </td>
@ -30,7 +32,7 @@
</table> </table>
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@ -42,7 +44,7 @@ var searchBox = new SearchBox("searchBox", "search/",'.html');
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */ /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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@ -74,7 +76,7 @@ $(function() {
</div><!--header--> </div><!--header-->
<div class="contents"> <div class="contents">
<div class="textblock"><p>Table of Contents.</p> <div class="textblock"><p>Table of Contents.</p>
<p><img src="esp32_BNO08x_banner.png" alt="image" class="inline"/></p> <p><a class="anchor" id="readme-top"></a> <img src="esp32_BNO08x_banner.png" alt="image" class="inline"/></p>
<ol> <ol>
<li> <li>
<a href="#about">About</a> </li> <a href="#about">About</a> </li>
@ -91,6 +93,14 @@ $(function() {
<li> <li>
<a href="#documentation">Documentation</a> </li> <a href="#documentation">Documentation</a> </li>
<li> <li>
<a href="#program-flowcharts">Program Flowcharts</a> <ul>
<li>
<a href="#sending-case">Sending Case</a> </li>
<li>
<a href="#receiving-case">Receiving Case</a> </li>
</ul>
</li>
<li>
<a href="#acknowledgements">Acknowledgements</a> </li> <a href="#acknowledgements">Acknowledgements</a> </li>
<li> <li>
<a href="#license">License</a> </li> <a href="#license">License</a> </li>
@ -99,7 +109,7 @@ $(function() {
</ol> </ol>
<h2><a class="anchor" id="autotoc_md0"></a> <h2><a class="anchor" id="autotoc_md0"></a>
About</h2> About</h2>
<p>esp32_BNO08x is a C++ component written for esp-idf version 5.1 to serve as a driver for the BNO085 or BNO080 IMU. <br /> <p>esp32_BNO08x is a C++ esp-idf v5.x component, intended to serve as a driver for both the BNO080 and BNO085 IMUs. <br />
This library is heavy influenced by the SparkFun BNO080 Arduino Library, it is more or less a port. It supports access to all the same data that the <a class="el" href="class_b_n_o08x.html">BNO08x</a> provides. <br /> This library is heavy influenced by the SparkFun BNO080 Arduino Library, it is more or less a port. It supports access to all the same data that the <a class="el" href="class_b_n_o08x.html">BNO08x</a> provides. <br />
Currently, only SPI is supported, there is no plans to support I2C (esp32 has I2C driver silicone bug, leading to unpredictable behavior). <br /> Currently, only SPI is supported, there is no plans to support I2C (esp32 has I2C driver silicone bug, leading to unpredictable behavior). <br />
I may implement UART at some point in the future.</p> I may implement UART at some point in the future.</p>
@ -121,28 +131,31 @@ Adding to Project</h3>
<li><p class="startli">Cd into the components directory and clone the esp32_BNO08x repo.</p> <li><p class="startli">Cd into the components directory and clone the esp32_BNO08x repo.</p>
<div class="fragment"><div class="line">cd components</div> <div class="fragment"><div class="line">cd components</div>
<div class="line">git clone https://github.com/myles-parfeniuk/esp32_BNO08x.git</div> <div class="line">git clone https://github.com/myles-parfeniuk/esp32_BNO08x.git</div>
</div><!-- fragment --> <p class="startli">(<a href="#readme-top">back to top</a>)</p> </div><!-- fragment --></li>
</li> <li>Ensure you clean your esp-idf project before rebuilding. <br />
Within esp-idf enabled terminal: <div class="fragment"><div class="line">idf.py fullclean</div>
</div><!-- fragment --> </li>
</ol> </ol>
<p>(<a href="#readme-top">back to top</a>)</p>
<h3><a class="anchor" id="autotoc_md4"></a> <h3><a class="anchor" id="autotoc_md4"></a>
Example</h3> Example</h3>
<div class="fragment"><div class="line"><span class="preprocessor">#include &lt;stdio.h&gt;</span></div> <div class="fragment"><div class="line"><span class="preprocessor">#include &lt;stdio.h&gt;</span></div>
<div class="line"><span class="preprocessor">#include &quot;BNO08x.hpp&quot;</span></div> <div class="line"><span class="preprocessor">#include &quot;<a class="code" href="_b_n_o08x_8hpp.html">BNO08x.hpp</a>&quot;</span></div>
<div class="line"> </div> <div class="line"> </div>
<div class="line"><span class="keyword">extern</span> <span class="stringliteral">&quot;C&quot;</span> <span class="keywordtype">void</span> app_main(<span class="keywordtype">void</span>)</div> <div class="line"><span class="keyword">extern</span> <span class="stringliteral">&quot;C&quot;</span> <span class="keywordtype">void</span> app_main(<span class="keywordtype">void</span>)</div>
<div class="line">{</div> <div class="line">{</div>
<div class="line"> <a class="code hl_class" href="class_b_n_o08x.html">BNO08x</a> imu; <span class="comment">//create IMU object with default wiring scheme</span></div> <div class="line"> <a class="code hl_class" href="class_b_n_o08x.html">BNO08x</a> imu; <span class="comment">//create IMU object with default wiring scheme</span></div>
<div class="line"> </div> <div class="line"> </div>
<div class="line"> <span class="comment">//if a custom wiring scheme is desired instead of default:</span></div>
<div class="line"> </div>
<div class="line"> <span class="comment">/*</span></div> <div class="line"> <span class="comment">/*</span></div>
<div class="line"><span class="comment"> //if a custom wiring scheme is desired:</span></div> <div class="line"><span class="comment"> bno08x_config_t imu_config; //create config struct</span></div>
<div class="line"><span class="comment"> //create config struct</span></div> <div class="line"><span class="comment"> imu_config.io_mosi = GPIO_NUM_X; //assign pin</span></div>
<div class="line"><span class="comment"> bno08x_config_t imu_config; </span></div> <div class="line"><span class="comment"> imu_config.io_miso = GPIO_NUM_X; //assign pin</span></div>
<div class="line"><span class="comment"> imu_config.io_mos = GPIO_NUM_X;</span></div>
<div class="line"><span class="comment"> imu_config.io_miso = GPIO_NUM_X;</span></div>
<div class="line"><span class="comment"> //etc...</span></div> <div class="line"><span class="comment"> //etc...</span></div>
<div class="line"><span class="comment"></span> </div> <div class="line"><span class="comment"> BNO08x imu(imu_config); //pass config to BNO08x constructor</span></div>
<div class="line"><span class="comment"> BNO08x imu(imu_config);</span></div>
<div class="line"><span class="comment"> */</span></div> <div class="line"><span class="comment"> */</span></div>
<div class="line"> </div>
<div class="line"> </div> <div class="line"> </div>
<div class="line"> imu.<a class="code hl_function" href="class_b_n_o08x.html#aea8e2c6dd7a2c9899479a7f39fe94798">initialize</a>(); <span class="comment">//initialize IMU</span></div> <div class="line"> imu.<a class="code hl_function" href="class_b_n_o08x.html#aea8e2c6dd7a2c9899479a7f39fe94798">initialize</a>(); <span class="comment">//initialize IMU</span></div>
<div class="line"> </div> <div class="line"> </div>
@ -156,22 +169,23 @@ Example</h3>
<div class="line"> <span class="keywordflow">if</span>(imu.<a class="code hl_function" href="class_b_n_o08x.html#a367d525d1c0ba119b3dca3067bb5bccc">data_available</a>())</div> <div class="line"> <span class="keywordflow">if</span>(imu.<a class="code hl_function" href="class_b_n_o08x.html#a367d525d1c0ba119b3dca3067bb5bccc">data_available</a>())</div>
<div class="line"> {</div> <div class="line"> {</div>
<div class="line"> ESP_LOGW(<span class="stringliteral">&quot;Main&quot;</span>, <span class="stringliteral">&quot;Velocity: x: %.3f y: %.3f z: %.3f&quot;</span>, imu.<a class="code hl_function" href="class_b_n_o08x.html#ab7977391191067282e7f734b9ee45059">get_gyro_calibrated_velocity_X</a>(), imu.<a class="code hl_function" href="class_b_n_o08x.html#ad4fab6e636e239d4b9273f158983ed89">get_gyro_calibrated_velocity_Y</a>(), imu.<a class="code hl_function" href="class_b_n_o08x.html#a15a29c3bb476048b7229abcfb2b1d52a">get_gyro_calibrated_velocity_Z</a>());</div> <div class="line"> ESP_LOGW(<span class="stringliteral">&quot;Main&quot;</span>, <span class="stringliteral">&quot;Velocity: x: %.3f y: %.3f z: %.3f&quot;</span>, imu.<a class="code hl_function" href="class_b_n_o08x.html#ab7977391191067282e7f734b9ee45059">get_gyro_calibrated_velocity_X</a>(), imu.<a class="code hl_function" href="class_b_n_o08x.html#ad4fab6e636e239d4b9273f158983ed89">get_gyro_calibrated_velocity_Y</a>(), imu.<a class="code hl_function" href="class_b_n_o08x.html#a15a29c3bb476048b7229abcfb2b1d52a">get_gyro_calibrated_velocity_Z</a>());</div>
<div class="line"> ESP_LOGI(<span class="stringliteral">&quot;Main&quot;</span>, <span class="stringliteral">&quot;Euler Angle: pitch: %.3f roll: %.3f yaw: %.3f&quot;</span>, imu.<a class="code hl_function" href="class_b_n_o08x.html#af50010400cbd1445e9ddfa259384b412">get_pitch_deg</a>(), imu.<a class="code hl_function" href="class_b_n_o08x.html#a7077b9a130f1dcf0192454e387968dd6">get_roll_deg</a>(), imu.<a class="code hl_function" href="class_b_n_o08x.html#af80f7795656e695e036d3b1557aed94c">get_yaw_deg</a>());</div> <div class="line"> ESP_LOGI(<span class="stringliteral">&quot;Main&quot;</span>, <span class="stringliteral">&quot;Euler Angle: x (roll): %.3f y (pitch): %.3f z (yaw): %.3f&quot;</span>, imu.<a class="code hl_function" href="class_b_n_o08x.html#a7077b9a130f1dcf0192454e387968dd6">get_roll_deg</a>(), imu.<a class="code hl_function" href="class_b_n_o08x.html#af50010400cbd1445e9ddfa259384b412">get_pitch_deg</a>(), imu.<a class="code hl_function" href="class_b_n_o08x.html#af80f7795656e695e036d3b1557aed94c">get_yaw_deg</a>());</div>
<div class="line"> }</div> <div class="line"> }</div>
<div class="line"> }</div> <div class="line"> }</div>
<div class="line"> </div> <div class="line"> </div>
<div class="line">}</div> <div class="line">}</div>
<div class="ttc" id="aclass_b_n_o08x_html"><div class="ttname"><a href="class_b_n_o08x.html">BNO08x</a></div><div class="ttdef"><b>Definition</b> BNO08x.hpp:74</div></div> <div class="ttc" id="a_b_n_o08x_8hpp_html"><div class="ttname"><a href="_b_n_o08x_8hpp.html">BNO08x.hpp</a></div></div>
<div class="ttc" id="aclass_b_n_o08x_html_a15a29c3bb476048b7229abcfb2b1d52a"><div class="ttname"><a href="class_b_n_o08x.html#a15a29c3bb476048b7229abcfb2b1d52a">BNO08x::get_gyro_calibrated_velocity_Z</a></div><div class="ttdeci">float get_gyro_calibrated_velocity_Z()</div><div class="ttdoc">Get calibrated gyro z axis angular velocity measurement.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1862</div></div> <div class="ttc" id="aclass_b_n_o08x_html"><div class="ttname"><a href="class_b_n_o08x.html">BNO08x</a></div><div class="ttdef"><b>Definition</b> BNO08x.hpp:104</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_a15a29c3bb476048b7229abcfb2b1d52a"><div class="ttname"><a href="class_b_n_o08x.html#a15a29c3bb476048b7229abcfb2b1d52a">BNO08x::get_gyro_calibrated_velocity_Z</a></div><div class="ttdeci">float get_gyro_calibrated_velocity_Z()</div><div class="ttdoc">Get calibrated gyro z axis angular velocity measurement.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1866</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_a367d525d1c0ba119b3dca3067bb5bccc"><div class="ttname"><a href="class_b_n_o08x.html#a367d525d1c0ba119b3dca3067bb5bccc">BNO08x::data_available</a></div><div class="ttdeci">bool data_available()</div><div class="ttdoc">Checks if BNO08x has asserted interrupt and sent data.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:725</div></div> <div class="ttc" id="aclass_b_n_o08x_html_a367d525d1c0ba119b3dca3067bb5bccc"><div class="ttname"><a href="class_b_n_o08x.html#a367d525d1c0ba119b3dca3067bb5bccc">BNO08x::data_available</a></div><div class="ttdeci">bool data_available()</div><div class="ttdoc">Checks if BNO08x has asserted interrupt and sent data.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:725</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_a639cb013ed17e0f33057742fac97f1a2"><div class="ttname"><a href="class_b_n_o08x.html#a639cb013ed17e0f33057742fac97f1a2">BNO08x::enable_game_rotation_vector</a></div><div class="ttdeci">void enable_game_rotation_vector(uint16_t time_between_reports)</div><div class="ttdoc">Sends command to enable game rotation vector reports (See Ref. Manual 6.5.19)</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:996</div></div> <div class="ttc" id="aclass_b_n_o08x_html_a639cb013ed17e0f33057742fac97f1a2"><div class="ttname"><a href="class_b_n_o08x.html#a639cb013ed17e0f33057742fac97f1a2">BNO08x::enable_game_rotation_vector</a></div><div class="ttdeci">void enable_game_rotation_vector(uint16_t time_between_reports)</div><div class="ttdoc">Sends command to enable game rotation vector reports (See Ref. Manual 6.5.19)</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1002</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_a7077b9a130f1dcf0192454e387968dd6"><div class="ttname"><a href="class_b_n_o08x.html#a7077b9a130f1dcf0192454e387968dd6">BNO08x::get_roll_deg</a></div><div class="ttdeci">float get_roll_deg()</div><div class="ttdoc">Get the reported rotation about x axis.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1500</div></div> <div class="ttc" id="aclass_b_n_o08x_html_a7077b9a130f1dcf0192454e387968dd6"><div class="ttname"><a href="class_b_n_o08x.html#a7077b9a130f1dcf0192454e387968dd6">BNO08x::get_roll_deg</a></div><div class="ttdeci">float get_roll_deg()</div><div class="ttdoc">Get the reported rotation about x axis.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1505</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_a7619b598cc8e768c4df4805b2958a2c8"><div class="ttname"><a href="class_b_n_o08x.html#a7619b598cc8e768c4df4805b2958a2c8">BNO08x::enable_gyro</a></div><div class="ttdeci">void enable_gyro(uint16_t time_between_reports)</div><div class="ttdoc">Sends command to enable gyro reports (See Ref. Manual 6.5.13)</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1100</div></div> <div class="ttc" id="aclass_b_n_o08x_html_a7619b598cc8e768c4df4805b2958a2c8"><div class="ttname"><a href="class_b_n_o08x.html#a7619b598cc8e768c4df4805b2958a2c8">BNO08x::enable_gyro</a></div><div class="ttdeci">void enable_gyro(uint16_t time_between_reports)</div><div class="ttdoc">Sends command to enable gyro reports (See Ref. Manual 6.5.13)</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1106</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_ab7977391191067282e7f734b9ee45059"><div class="ttname"><a href="class_b_n_o08x.html#ab7977391191067282e7f734b9ee45059">BNO08x::get_gyro_calibrated_velocity_X</a></div><div class="ttdeci">float get_gyro_calibrated_velocity_X()</div><div class="ttdoc">Get calibrated gyro x axis angular velocity measurement.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1842</div></div> <div class="ttc" id="aclass_b_n_o08x_html_ab7977391191067282e7f734b9ee45059"><div class="ttname"><a href="class_b_n_o08x.html#ab7977391191067282e7f734b9ee45059">BNO08x::get_gyro_calibrated_velocity_X</a></div><div class="ttdeci">float get_gyro_calibrated_velocity_X()</div><div class="ttdoc">Get calibrated gyro x axis angular velocity measurement.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1846</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_ad4fab6e636e239d4b9273f158983ed89"><div class="ttname"><a href="class_b_n_o08x.html#ad4fab6e636e239d4b9273f158983ed89">BNO08x::get_gyro_calibrated_velocity_Y</a></div><div class="ttdeci">float get_gyro_calibrated_velocity_Y()</div><div class="ttdoc">Get calibrated gyro y axis angular velocity measurement.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1852</div></div> <div class="ttc" id="aclass_b_n_o08x_html_ad4fab6e636e239d4b9273f158983ed89"><div class="ttname"><a href="class_b_n_o08x.html#ad4fab6e636e239d4b9273f158983ed89">BNO08x::get_gyro_calibrated_velocity_Y</a></div><div class="ttdeci">float get_gyro_calibrated_velocity_Y()</div><div class="ttdoc">Get calibrated gyro y axis angular velocity measurement.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1856</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_aea8e2c6dd7a2c9899479a7f39fe94798"><div class="ttname"><a href="class_b_n_o08x.html#aea8e2c6dd7a2c9899479a7f39fe94798">BNO08x::initialize</a></div><div class="ttdeci">bool initialize()</div><div class="ttdoc">Initializes BNO08x sensor.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:114</div></div> <div class="ttc" id="aclass_b_n_o08x_html_aea8e2c6dd7a2c9899479a7f39fe94798"><div class="ttname"><a href="class_b_n_o08x.html#aea8e2c6dd7a2c9899479a7f39fe94798">BNO08x::initialize</a></div><div class="ttdeci">bool initialize()</div><div class="ttdoc">Initializes BNO08x sensor.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:119</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_af50010400cbd1445e9ddfa259384b412"><div class="ttname"><a href="class_b_n_o08x.html#af50010400cbd1445e9ddfa259384b412">BNO08x::get_pitch_deg</a></div><div class="ttdeci">float get_pitch_deg()</div><div class="ttdoc">Get the reported rotation about y axis.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1510</div></div> <div class="ttc" id="aclass_b_n_o08x_html_af50010400cbd1445e9ddfa259384b412"><div class="ttname"><a href="class_b_n_o08x.html#af50010400cbd1445e9ddfa259384b412">BNO08x::get_pitch_deg</a></div><div class="ttdeci">float get_pitch_deg()</div><div class="ttdoc">Get the reported rotation about y axis.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1515</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_af80f7795656e695e036d3b1557aed94c"><div class="ttname"><a href="class_b_n_o08x.html#af80f7795656e695e036d3b1557aed94c">BNO08x::get_yaw_deg</a></div><div class="ttdeci">float get_yaw_deg()</div><div class="ttdoc">Get the reported rotation about z axis.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1520</div></div> <div class="ttc" id="aclass_b_n_o08x_html_af80f7795656e695e036d3b1557aed94c"><div class="ttname"><a href="class_b_n_o08x.html#af80f7795656e695e036d3b1557aed94c">BNO08x::get_yaw_deg</a></div><div class="ttdeci">float get_yaw_deg()</div><div class="ttdoc">Get the reported rotation about z axis.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1525</div></div>
</div><!-- fragment --> <p>(<a href="#readme-top">back to top</a>)</p> </div><!-- fragment --> <p>(<a href="#readme-top">back to top</a>)</p>
<h2><a class="anchor" id="autotoc_md5"></a> <h2><a class="anchor" id="autotoc_md5"></a>
Documentation</h2> Documentation</h2>
@ -179,6 +193,19 @@ Documentation</h2>
</p> </p>
<p>(<a href="#readme-top">back to top</a>)</p> <p>(<a href="#readme-top">back to top</a>)</p>
<h2><a class="anchor" id="autotoc_md6"></a> <h2><a class="anchor" id="autotoc_md6"></a>
Program Flowcharts</h2>
<p align="right">The following charts illustrate the program flow this library implements for sending and receiving data from <a class="el" href="class_b_n_o08x.html">BNO08x</a>. <br />
These are here to aid development for anyone looking to modify, fork, or contribute. </p>
<p>(<a href="#readme-top">back to top</a>)</p>
<h3><a class="anchor" id="autotoc_md7"></a>
Receiving Case</h3>
<p align="right">This assumes the user as initialized the imu and has sent a command to enable a report (for ex. enable_game_rotation_vector). <img src="esp32_BNO08x_receieve_flowchart.png" alt="image" class="inline"/> </p>
<p>(<a href="#readme-top">back to top</a>)</p>
<h3><a class="anchor" id="autotoc_md8"></a>
Sending Case</h3>
<p align="right"><img src="esp32_BNO08x_send_flowchart.png" alt="image" class="inline"/> </p>
<p>(<a href="#readme-top">back to top</a>)</p>
<h2><a class="anchor" id="autotoc_md9"></a>
Acknowledgements</h2> Acknowledgements</h2>
<p>Special thanks to the original creators of the sparkfun BNO080 library. Developing this without a reference would have been much more time consuming. <br /> <p>Special thanks to the original creators of the sparkfun BNO080 library. Developing this without a reference would have been much more time consuming. <br />
<a href="https://github.com/sparkfun/SparkFun_BNO080_Arduino_Library">https://github.com/sparkfun/SparkFun_BNO080_Arduino_Library</a> <br /> <a href="https://github.com/sparkfun/SparkFun_BNO080_Arduino_Library">https://github.com/sparkfun/SparkFun_BNO080_Arduino_Library</a> <br />
@ -187,11 +214,11 @@ Acknowledgements</h2>
<a href="https://github.com/hwBirdy007">https://github.com/hwBirdy007</a> <br /> <a href="https://github.com/hwBirdy007">https://github.com/hwBirdy007</a> <br />
</p> </p>
<p>(<a href="#readme-top">back to top</a>)</p> <p>(<a href="#readme-top">back to top</a>)</p>
<h2><a class="anchor" id="autotoc_md7"></a> <h2><a class="anchor" id="autotoc_md10"></a>
License</h2> License</h2>
<p align="right">Distributed under the MIT License. See <code>LICENSE.md</code> for more information. </p> <p align="right">Distributed under the MIT License. See <code>LICENSE.md</code> for more information. </p>
<p>(<a href="#readme-top">back to top</a>)</p> <p>(<a href="#readme-top">back to top</a>)</p>
<h2><a class="anchor" id="autotoc_md8"></a> <h2><a class="anchor" id="autotoc_md11"></a>
Contact</h2> Contact</h2>
<p>Myles Parfeniuk - <a href="#" onclick="location.href='mai'+'lto:'+'myl'+'es'+'.pa'+'rf'+'eny'+'uk'+'@gm'+'ai'+'l.c'+'om'; return false;">myles<span class="obfuscator">.nosp@m.</span>.par<span class="obfuscator">.nosp@m.</span>fenyu<span class="obfuscator">.nosp@m.</span>k@gm<span class="obfuscator">.nosp@m.</span>ail.c<span class="obfuscator">.nosp@m.</span>om</a></p> <p>Myles Parfeniuk - <a href="#" onclick="location.href='mai'+'lto:'+'myl'+'es'+'.pa'+'rf'+'eny'+'uk'+'@gm'+'ai'+'l.c'+'om'; return false;">myles<span class="obfuscator">.nosp@m.</span>.par<span class="obfuscator">.nosp@m.</span>fenyu<span class="obfuscator">.nosp@m.</span>k@gm<span class="obfuscator">.nosp@m.</span>ail.c<span class="obfuscator">.nosp@m.</span>om</a></p>
<p align="right">Project Link: <a href="https://github.com/myles-parfeniuk/esp32_BNO08x.git">https://github.com/myles-parfeniuk/esp32_BNO08x.git</a> </p> <p align="right">Project Link: <a href="https://github.com/myles-parfeniuk/esp32_BNO08x.git">https://github.com/myles-parfeniuk/esp32_BNO08x.git</a> </p>
@ -200,7 +227,7 @@ Contact</h2>
</div><!-- PageDoc --> </div><!-- PageDoc -->
<!-- start footer part --> <!-- start footer part -->
<hr class="footer"/><address class="footer"><small> <hr class="footer"/><address class="footer"><small>
Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.7 Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0
</small></address> </small></address>
</body> </body>
</html> </html>

34
documentation/html/menu.js
View File

@ -24,13 +24,12 @@
*/ */
function initMenu(relPath,searchEnabled,serverSide,searchPage,search) { function initMenu(relPath,searchEnabled,serverSide,searchPage,search) {
function makeTree(data,relPath) { function makeTree(data,relPath) {
var result=''; let result='';
if ('children' in data) { if ('children' in data) {
result+='<ul>'; result+='<ul>';
for (var i in data.children) { for (let i in data.children) {
var url; let url;
var link; const link = data.children[i].url;
link = data.children[i].url;
if (link.substring(0,1)=='^') { if (link.substring(0,1)=='^') {
url = link.substring(1); url = link.substring(1);
} else { } else {
@ -44,7 +43,7 @@ function initMenu(relPath,searchEnabled,serverSide,searchPage,search) {
} }
return result; return result;
} }
var searchBoxHtml; let searchBoxHtml;
if (searchEnabled) { if (searchEnabled) {
if (serverSide) { if (serverSide) {
searchBoxHtml='<div id="MSearchBox" class="MSearchBoxInactive">'+ searchBoxHtml='<div id="MSearchBox" class="MSearchBoxInactive">'+
@ -88,29 +87,28 @@ function initMenu(relPath,searchEnabled,serverSide,searchPage,search) {
if (searchBoxHtml) { if (searchBoxHtml) {
$('#main-menu').append('<li id="searchBoxPos2" style="float:right"></li>'); $('#main-menu').append('<li id="searchBoxPos2" style="float:right"></li>');
} }
var $mainMenuState = $('#main-menu-state'); const $mainMenuState = $('#main-menu-state');
var prevWidth = 0; let prevWidth = 0;
if ($mainMenuState.length) { if ($mainMenuState.length) {
function initResizableIfExists() { const initResizableIfExists = function() {
if (typeof initResizable==='function') initResizable(); if (typeof initResizable==='function') initResizable();
} }
// animate mobile menu // animate mobile menu
$mainMenuState.change(function(e) { $mainMenuState.change(function() {
var $menu = $('#main-menu'); const $menu = $('#main-menu');
var options = { duration: 250, step: initResizableIfExists }; let options = { duration: 250, step: initResizableIfExists };
if (this.checked) { if (this.checked) {
options['complete'] = function() { $menu.css('display', 'block') }; options['complete'] = () => $menu.css('display', 'block');
$menu.hide().slideDown(options); $menu.hide().slideDown(options);
} else { } else {
options['complete'] = function() { $menu.css('display', 'none') }; options['complete'] = () => $menu.css('display', 'none');
$menu.show().slideUp(options); $menu.show().slideUp(options);
} }
}); });
// set default menu visibility // set default menu visibility
function resetState() { const resetState = function() {
var $menu = $('#main-menu'); const $menu = $('#main-menu');
var $mainMenuState = $('#main-menu-state'); const newWidth = $(window).outerWidth();
var newWidth = $(window).outerWidth();
if (newWidth!=prevWidth) { if (newWidth!=prevWidth) {
if ($(window).outerWidth()<768) { if ($(window).outerWidth()<768) {
$mainMenuState.prop('checked',false); $menu.hide(); $mainMenuState.prop('checked',false); $menu.hide();

8
documentation/html/menudata.js
View File

@ -69,6 +69,7 @@ var menudata={children:[
{text:"b",url:"functions_vars.html#index_b"}, {text:"b",url:"functions_vars.html#index_b"},
{text:"c",url:"functions_vars.html#index_c"}, {text:"c",url:"functions_vars.html#index_c"},
{text:"d",url:"functions_vars.html#index_d"}, {text:"d",url:"functions_vars.html#index_d"},
{text:"f",url:"functions_vars.html#index_f"},
{text:"g",url:"functions_vars.html#index_g"}, {text:"g",url:"functions_vars.html#index_g"},
{text:"h",url:"functions_vars.html#index_h"}, {text:"h",url:"functions_vars.html#index_h"},
{text:"i",url:"functions_vars.html#index_i"}, {text:"i",url:"functions_vars.html#index_i"},
@ -81,4 +82,9 @@ var menudata={children:[
{text:"t",url:"functions_vars.html#index_t"}, {text:"t",url:"functions_vars.html#index_t"},
{text:"u",url:"functions_vars.html#index_u"}]}]}]}, {text:"u",url:"functions_vars.html#index_u"}]}]}]},
{text:"Files",url:"files.html",children:[ {text:"Files",url:"files.html",children:[
{text:"File List",url:"files.html"}]}]} {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"}]}]}]}

8
documentation/html/minus.svg Normal file
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@ -0,0 +1,8 @@
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<svg width="12px" height="12px" viewBox="0 0 105.83333 105.83333" version="1.1" xmlns="http://www.w3.org/2000/svg" xmlns:svg="http://www.w3.org/2000/svg">
<g>
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<p>This is the complete list of members for <a class="el" href="structbno08x__config__t.html">bno08x_config_t</a>, including all inherited members.</p> <p>This is the complete list of members for <a class="el" href="structbno08x__config__t.html">bno08x_config_t</a>, including all inherited members.</p>
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<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>io_cs</b> (defined in <a class="el" href="structbno08x__config__t.html">bno08x_config_t</a>)</td><td class="entry"><a class="el" href="structbno08x__config__t.html">bno08x_config_t</a></td><td class="entry"></td></tr> <tr class="even"><td class="entry"><a class="el" href="structbno08x__config__t.html#a720c215a75b3922ffa6f683e7ca70abe">debug_en</a></td><td class="entry"><a class="el" href="structbno08x__config__t.html">bno08x_config_t</a></td><td class="entry"></td></tr>
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<tr class="even"><td class="entry"><a class="el" href="structbno08x__config__t.html#a9468180a773892977db39cc5ed9368e3">io_miso</a></td><td class="entry"><a class="el" href="structbno08x__config__t.html">bno08x_config_t</a></td><td class="entry"></td></tr> <tr class="even"><td class="entry"><a class="el" href="structbno08x__config__t.html#a3cfe965659cfbc6b0c5269bd0211975f">io_int</a></td><td class="entry"><a class="el" href="structbno08x__config__t.html">bno08x_config_t</a></td><td class="entry"></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="structbno08x__config__t.html#a79023fd80039e41a22b7f73ccd5fc861">io_mosi</a></td><td class="entry"><a class="el" href="structbno08x__config__t.html">bno08x_config_t</a></td><td class="entry"></td></tr> <tr class="odd"><td class="entry"><a class="el" href="structbno08x__config__t.html#a9468180a773892977db39cc5ed9368e3">io_miso</a></td><td class="entry"><a class="el" href="structbno08x__config__t.html">bno08x_config_t</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="structbno08x__config__t.html#a62745c761219139f66ecd173b51577fc">io_rst</a></td><td class="entry"><a class="el" href="structbno08x__config__t.html">bno08x_config_t</a></td><td class="entry"></td></tr> <tr class="even"><td class="entry"><a class="el" href="structbno08x__config__t.html#a79023fd80039e41a22b7f73ccd5fc861">io_mosi</a></td><td class="entry"><a class="el" href="structbno08x__config__t.html">bno08x_config_t</a></td><td class="entry"></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="structbno08x__config__t.html#a639685b91ae3198909d722316495246a">io_sclk</a></td><td class="entry"><a class="el" href="structbno08x__config__t.html">bno08x_config_t</a></td><td class="entry"></td></tr> <tr class="odd"><td class="entry"><a class="el" href="structbno08x__config__t.html#a62745c761219139f66ecd173b51577fc">io_rst</a></td><td class="entry"><a class="el" href="structbno08x__config__t.html">bno08x_config_t</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="structbno08x__config__t.html#a90ad7f316dc443874d19dc7e723a0ce0">io_wake</a></td><td class="entry"><a class="el" href="structbno08x__config__t.html">bno08x_config_t</a></td><td class="entry"></td></tr> <tr class="even"><td class="entry"><a class="el" href="structbno08x__config__t.html#a639685b91ae3198909d722316495246a">io_sclk</a></td><td class="entry"><a class="el" href="structbno08x__config__t.html">bno08x_config_t</a></td><td class="entry"></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="structbno08x__config__t.html#a652ad01310ba21afcae1bb765de51cfe">sclk_speed</a></td><td class="entry"><a class="el" href="structbno08x__config__t.html">bno08x_config_t</a></td><td class="entry"></td></tr> <tr class="odd"><td class="entry"><a class="el" href="structbno08x__config__t.html#a90ad7f316dc443874d19dc7e723a0ce0">io_wake</a></td><td class="entry"><a class="el" href="structbno08x__config__t.html">bno08x_config_t</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="structbno08x__config__t.html#a020d2343750bb7debc2a108ae038c9ec">spi_peripheral</a></td><td class="entry"><a class="el" href="structbno08x__config__t.html">bno08x_config_t</a></td><td class="entry"></td></tr> <tr class="even"><td class="entry"><a class="el" href="structbno08x__config__t.html#a652ad01310ba21afcae1bb765de51cfe">sclk_speed</a></td><td class="entry"><a class="el" href="structbno08x__config__t.html">bno08x_config_t</a></td><td class="entry"></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="structbno08x__config__t.html#a020d2343750bb7debc2a108ae038c9ec">spi_peripheral</a></td><td class="entry"><a class="el" href="structbno08x__config__t.html">bno08x_config_t</a></td><td class="entry"></td></tr>
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<title>esp32_BNO08x: bno08x_config_t Struct Reference</title> <title>esp32_BNO08x: bno08x_config_t Struct Reference</title>
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<div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.00</span> <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.01</span>
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<div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div> <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
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<p>IMU configuration settings passed into constructor. <p>IMU configuration settings passed into constructor.
<a href="structbno08x__config__t.html#details">More...</a></p> <a href="#details">More...</a></p>
<p><code>#include &lt;<a class="el" href="_b_n_o08x_8hpp_source.html">BNO08x.hpp</a>&gt;</code></p> <p><code>#include &lt;<a class="el" href="_b_n_o08x_8hpp_source.html">BNO08x.hpp</a>&gt;</code></p>
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Public Member Functions</h2></td></tr> Public Member Functions</h2></td></tr>
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<tr class="memdesc:ae02a72c63211b734cc420cee6f4b5017"><td class="mdescLeft">&#160;</td><td class="mdescRight">Overloaded IMU configuration settings constructor for custom pin settings. <br /></td></tr>
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Public Attributes</h2></td></tr> Public Attributes</h2></td></tr>
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<tr class="memdesc:a90ad7f316dc443874d19dc7e723a0ce0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Reset pin (connects to <a class="el" href="class_b_n_o08x.html">BNO08x</a> RST pin) <br /></td></tr> <tr class="memdesc:a90ad7f316dc443874d19dc7e723a0ce0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Reset pin (connects to <a class="el" href="class_b_n_o08x.html">BNO08x</a> RST pin) <br /></td></tr>
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<tr class="memitem:a652ad01310ba21afcae1bb765de51cfe"><td class="memItemLeft" align="right" valign="top"><a id="a652ad01310ba21afcae1bb765de51cfe" name="a652ad01310ba21afcae1bb765de51cfe"></a> <tr class="memitem:a652ad01310ba21afcae1bb765de51cfe" id="r_a652ad01310ba21afcae1bb765de51cfe"><td class="memItemLeft" align="right" valign="top">uint64_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a652ad01310ba21afcae1bb765de51cfe">sclk_speed</a></td></tr>
uint64_t&#160;</td><td class="memItemRight" valign="bottom"><b>sclk_speed</b></td></tr> <tr class="memdesc:a652ad01310ba21afcae1bb765de51cfe"><td class="mdescLeft">&#160;</td><td class="mdescRight">Desired SPI SCLK speed in Hz (max 3MHz) <br /></td></tr>
<tr class="memdesc:a652ad01310ba21afcae1bb765de51cfe"><td class="mdescLeft">&#160;</td><td class="mdescRight">Desired SPI SCLK speed in Hz (max 3MHz) <br /></td></tr>
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<tr class="memitem:a720c215a75b3922ffa6f683e7ca70abe"><td class="memItemLeft" align="right" valign="top"><a id="a720c215a75b3922ffa6f683e7ca70abe" name="a720c215a75b3922ffa6f683e7ca70abe"></a> <tr class="memitem:a720c215a75b3922ffa6f683e7ca70abe" id="r_a720c215a75b3922ffa6f683e7ca70abe"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a720c215a75b3922ffa6f683e7ca70abe">debug_en</a></td></tr>
bool&#160;</td><td class="memItemRight" valign="bottom"><b>debug_en</b></td></tr> <tr class="memdesc:a720c215a75b3922ffa6f683e7ca70abe"><td class="mdescLeft">&#160;</td><td class="mdescRight">Whether or not debugging print statements are enabled. <br /></td></tr>
<tr class="memdesc:a720c215a75b3922ffa6f683e7ca70abe"><td class="mdescLeft">&#160;</td><td class="mdescRight">Whether or not debugging print statements are enabled. <br /></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2> <a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>IMU configuration settings passed into constructor. </p> <div class="textblock"><p>IMU configuration settings passed into constructor. </p>
</div><h2 class="groupheader">Member Data Documentation</h2> </div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#abf8805292192f4c30c5000423175a2e1">&#9670;&#160;</a></span>bno08x_config_t() <span class="overload">[1/2]</span></h2>
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<td class="memname">bno08x_config_t::bno08x_config_t </td>
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<p>Default IMU configuration settings constructor for ESP32. </p>
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<h2 class="memtitle"><span class="permalink"><a href="#ae02a72c63211b734cc420cee6f4b5017">&#9670;&#160;</a></span>bno08x_config_t() <span class="overload">[2/2]</span></h2>
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<td class="memname">bno08x_config_t::bno08x_config_t </td>
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<td class="paramtype">spi_host_device_t</td> <td class="paramname"><span class="paramname"><em>spi_peripheral</em>, </span></td>
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<td class="paramtype">gpio_num_t</td> <td class="paramname"><span class="paramname"><em>io_mosi</em>, </span></td>
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<td class="paramtype">gpio_num_t</td> <td class="paramname"><span class="paramname"><em>io_miso</em>, </span></td>
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<td class="paramtype">gpio_num_t</td> <td class="paramname"><span class="paramname"><em>io_sclk</em>, </span></td>
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<td class="paramtype">gpio_num_t</td> <td class="paramname"><span class="paramname"><em>io_cs</em>, </span></td>
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<td class="paramtype">gpio_num_t</td> <td class="paramname"><span class="paramname"><em>io_int</em>, </span></td>
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<td class="paramtype">gpio_num_t</td> <td class="paramname"><span class="paramname"><em>io_rst</em>, </span></td>
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<td class="paramtype">gpio_num_t</td> <td class="paramname"><span class="paramname"><em>io_wake</em>, </span></td>
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<td class="paramtype">uint64_t</td> <td class="paramname"><span class="paramname"><em>sclk_speed</em>, </span></td>
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<td class="paramtype">bool</td> <td class="paramname"><span class="paramname"><em>debug</em></span>&#160;)</td>
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<p>Overloaded IMU configuration settings constructor for custom pin settings. </p>
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<h2 class="groupheader">Member Data Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a720c215a75b3922ffa6f683e7ca70abe">&#9670;&#160;</a></span>debug_en</h2>
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<p>Whether or not debugging print statements are enabled. </p>
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<p>Chip select pin (connects to <a class="el" href="class_b_n_o08x.html">BNO08x</a> CS pin) </p>
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<p>MISO GPIO pin (connects to <a class="el" href="class_b_n_o08x.html">BNO08x</a> SDA pin) </p>
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<p>MOSI GPIO pin (connects to <a class="el" href="class_b_n_o08x.html">BNO08x</a> DI pin) </p>
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<p>Host interrupt pin (connects to <a class="el" href="class_b_n_o08x.html">BNO08x</a> INT pin) </p>
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<p>SCLK pin (connects to <a class="el" href="class_b_n_o08x.html">BNO08x</a> SCL pin) </p>
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<h2 class="memtitle"><span class="permalink"><a href="#a90ad7f316dc443874d19dc7e723a0ce0">&#9670;&#160;</a></span>io_wake</h2> <h2 class="memtitle"><span class="permalink"><a href="#a90ad7f316dc443874d19dc7e723a0ce0">&#9670;&#160;</a></span>io_wake</h2>
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<p>Reset pin (connects to <a class="el" href="class_b_n_o08x.html">BNO08x</a> RST pin) </p> <p>Reset pin (connects to <a class="el" href="class_b_n_o08x.html">BNO08x</a> RST pin) </p>
<p>Wake pin (optional, connects to <a class="el" href="class_b_n_o08x.html">BNO08x</a> P0) </p> <p>Wake pin (optional, connects to <a class="el" href="class_b_n_o08x.html">BNO08x</a> P0) </p>
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<h2 class="memtitle"><span class="permalink"><a href="#a652ad01310ba21afcae1bb765de51cfe">&#9670;&#160;</a></span>sclk_speed</h2>
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<p>Desired SPI SCLK speed in Hz (max 3MHz) </p>
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<h2 class="memtitle"><span class="permalink"><a href="#a020d2343750bb7debc2a108ae038c9ec">&#9670;&#160;</a></span>spi_peripheral</h2>
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<p>SPI peripheral to be used. </p>
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<hr/>The documentation for this struct was generated from the following file:<ul> <hr/>The documentation for this struct was generated from the following file:<ul>
<li>D:/development/git/esp32_BNO08x/<a class="el" href="_b_n_o08x_8hpp_source.html">BNO08x.hpp</a></li> <li>esp32_BNO08x/<a class="el" href="_b_n_o08x_8hpp_source.html">BNO08x.hpp</a></li>
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\doxysection{esp32\+\_\+\+BNO08x/\+BNO08x.cpp File Reference}
\hypertarget{_b_n_o08x_8cpp}{}\label{_b_n_o08x_8cpp}\index{esp32\_BNO08x/BNO08x.cpp@{esp32\_BNO08x/BNO08x.cpp}}
{\ttfamily \#include "{}BNO08x.\+hpp"{}}\newline

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\doxysection{esp32\+\_\+\+BNO08x/\+BNO08x.hpp File Reference}
\hypertarget{_b_n_o08x_8hpp}{}\label{_b_n_o08x_8hpp}\index{esp32\_BNO08x/BNO08x.hpp@{esp32\_BNO08x/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/semphr.\+h$>$}\newline
{\ttfamily \#include $<$freertos/task.\+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
\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}}
\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}

755
documentation/latex/_b_n_o08x_8hpp_source.tex
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@ -1,369 +1,408 @@
\doxysection{BNO08x.\+hpp} \doxysection{BNO08x.\+hpp}
\label{_b_n_o08x_8hpp_source}\index{D:/development/git/esp32\_BNO08x/BNO08x.hpp@{D:/development/git/esp32\_BNO08x/BNO08x.hpp}} \hypertarget{_b_n_o08x_8hpp_source}{}\label{_b_n_o08x_8hpp_source}\index{esp32\_BNO08x/BNO08x.hpp@{esp32\_BNO08x/BNO08x.hpp}}
\mbox{\hyperlink{_b_n_o08x_8hpp}{Go to the documentation of this file.}}
\begin{DoxyCode}{0} \begin{DoxyCode}{0}
\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}} \DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
\DoxyCodeLine{00002\ } \DoxyCodeLine{00002\ \textcolor{preprocessor}{\#include\ <driver/gpio.h>}}
\DoxyCodeLine{00003\ \textcolor{comment}{//standard\ library\ includes}} \DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ <driver/spi\_common.h>}}
\DoxyCodeLine{00004\ \textcolor{preprocessor}{\#include\ <stdio.h>}} \DoxyCodeLine{00004\ \textcolor{preprocessor}{\#include\ <driver/spi\_master.h>}}
\DoxyCodeLine{00005\ \textcolor{preprocessor}{\#include\ <cstring>}} \DoxyCodeLine{00005\ \textcolor{preprocessor}{\#include\ <esp\_log.h>}}
\DoxyCodeLine{00006\ \textcolor{preprocessor}{\#include\ <inttypes.h>}} \DoxyCodeLine{00006\ \textcolor{preprocessor}{\#include\ <esp\_rom\_gpio.h>}}
\DoxyCodeLine{00007\ \textcolor{preprocessor}{\#include\ <math.h>}} \DoxyCodeLine{00007\ \textcolor{preprocessor}{\#include\ <esp\_timer.h>}}
\DoxyCodeLine{00008\ } \DoxyCodeLine{00008\ \textcolor{preprocessor}{\#include\ <freertos/FreeRTOS.h>}}
\DoxyCodeLine{00009\ \textcolor{comment}{//esp-\/idf\ includes}} \DoxyCodeLine{00009\ \textcolor{preprocessor}{\#include\ <freertos/semphr.h>}}
\DoxyCodeLine{00010\ \textcolor{preprocessor}{\#include\ "{}driver/gpio.h"{}}} \DoxyCodeLine{00010\ \textcolor{preprocessor}{\#include\ <freertos/task.h>}}
\DoxyCodeLine{00011\ \textcolor{preprocessor}{\#include\ "{}esp\_rom\_gpio.h"{}}} \DoxyCodeLine{00011\ \textcolor{preprocessor}{\#include\ <rom/ets\_sys.h>}}
\DoxyCodeLine{00012\ \textcolor{preprocessor}{\#include\ "{}driver/spi\_common.h"{}}} \DoxyCodeLine{00012\ }
\DoxyCodeLine{00013\ \textcolor{preprocessor}{\#include\ "{}driver/spi\_master.h"{}}} \DoxyCodeLine{00013\ \textcolor{preprocessor}{\#include\ <inttypes.h>}}
\DoxyCodeLine{00014\ \textcolor{preprocessor}{\#include\ "{}freertos/FreeRTOS.h"{}}} \DoxyCodeLine{00014\ \textcolor{preprocessor}{\#include\ <math.h>}}
\DoxyCodeLine{00015\ \textcolor{preprocessor}{\#include\ "{}freertos/task.h"{}}} \DoxyCodeLine{00015\ \textcolor{preprocessor}{\#include\ <stdio.h>}}
\DoxyCodeLine{00016\ \textcolor{preprocessor}{\#include\ "{}freertos/semphr.h"{}}} \DoxyCodeLine{00016\ \textcolor{preprocessor}{\#include\ <cstring>}}
\DoxyCodeLine{00017\ \textcolor{preprocessor}{\#include\ "{}esp\_log.h"{}}} \DoxyCodeLine{00017\ }
\DoxyCodeLine{00018\ \textcolor{preprocessor}{\#include\ "{}esp\_timer.h"{}}} \DoxyCodeLine{00019\ \textcolor{keyword}{enum}\ \mbox{\hyperlink{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556b}{channels\_t}}}
\DoxyCodeLine{00019\ \textcolor{preprocessor}{\#include\ "{}rom/ets\_sys.h"{}}} \DoxyCodeLine{00020\ \{}
\DoxyCodeLine{00020\ } \DoxyCodeLine{00021\ \ \ \ \ \mbox{\hyperlink{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556ba1cb5955609063cff1ba49147e786e610}{CHANNEL\_COMMAND}},}
\DoxyCodeLine{00022\ \textcolor{keyword}{enum}\ channels\_t\ } \DoxyCodeLine{00022\ \ \ \ \ \mbox{\hyperlink{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556ba8a5de65712767758887f8fad9523bb72}{CHANNEL\_EXECUTABLE}},}
\DoxyCodeLine{00023\ \{} \DoxyCodeLine{00023\ \ \ \ \ \mbox{\hyperlink{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556ba6c5ca5e5847c55b469afbb435e15b5f0}{CHANNEL\_CONTROL}},}
\DoxyCodeLine{00024\ \ \ \ \ CHANNEL\_COMMAND,\ } \DoxyCodeLine{00024\ \ \ \ \ \mbox{\hyperlink{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556ba22f0b2ae6fcdc8618a078b0579d09e4a}{CHANNEL\_REPORTS}},}
\DoxyCodeLine{00025\ \ \ \ \ CHANNEL\_EXECUTABLE,} \DoxyCodeLine{00025\ \ \ \ \ \mbox{\hyperlink{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556bafbb907d12060466f58dd56d3e2430747}{CHANNEL\_WAKE\_REPORTS}},}
\DoxyCodeLine{00026\ \ \ \ \ CHANNEL\_CONTROL,} \DoxyCodeLine{00026\ \ \ \ \ \mbox{\hyperlink{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556bafd513a698e54122cec579d9450482832}{CHANNEL\_GYRO}}}
\DoxyCodeLine{00027\ \ \ \ \ CHANNEL\_REPORTS,} \DoxyCodeLine{00027\ \};}
\DoxyCodeLine{00028\ \ \ \ \ CHANNEL\_WAKE\_REPORTS,} \DoxyCodeLine{00028\ }
\DoxyCodeLine{00029\ \ \ \ \ CHANNEL\_GYRO} \DoxyCodeLine{00030\ \textcolor{keyword}{enum\ class}\ \mbox{\hyperlink{_b_n_o08x_8hpp_adb7d85b4fa619c860031f469261c6279}{IMUAccuracy}}}
\DoxyCodeLine{00030\ \};} \DoxyCodeLine{00031\ \{}
\DoxyCodeLine{00031\ } \DoxyCodeLine{00032\ \ \ \ \ \mbox{\hyperlink{_b_n_o08x_8hpp_adb7d85b4fa619c860031f469261c6279a41bc94cbd8eebea13ce0491b2ac11b88}{LOW}}\ =\ 1,}
\DoxyCodeLine{00033\ \textcolor{keyword}{enum}\ sensor\_accuracy\_t} \DoxyCodeLine{00033\ \ \ \ \ \mbox{\hyperlink{_b_n_o08x_8hpp_adb7d85b4fa619c860031f469261c6279a2ad6d5975c45da2e711c796f3a1b029c}{MED}},}
\DoxyCodeLine{00034\ \{\ \ \ } \DoxyCodeLine{00034\ \ \ \ \ \mbox{\hyperlink{_b_n_o08x_8hpp_adb7d85b4fa619c860031f469261c6279ab89de3b4b81c4facfac906edf29aec8c}{HIGH}}}
\DoxyCodeLine{00035\ \ \ \ \ LOW\_ACCURACY\ =\ 1,} \DoxyCodeLine{00035\ \};}
\DoxyCodeLine{00036\ \ \ \ \ MED\_ACCURACY,} \DoxyCodeLine{00036\ }
\DoxyCodeLine{00037\ \ \ \ \ HIGH\_ACCURACY} \DoxyCodeLine{00038\ \textcolor{keyword}{typedef}\ \textcolor{keyword}{struct\ }\mbox{\hyperlink{structbno08x__config__t}{bno08x\_config\_t}}}
\DoxyCodeLine{00038\ \};} \DoxyCodeLine{00039\ \{}
\DoxyCodeLine{00039\ } \DoxyCodeLine{00040\ \ \ \ \ \ \ \ \ spi\_host\_device\_t\ \mbox{\hyperlink{structbno08x__config__t_a020d2343750bb7debc2a108ae038c9ec}{spi\_peripheral}};\ }
\DoxyCodeLine{00041\ \textcolor{keyword}{typedef}\ \textcolor{keyword}{struct\ }bno08x\_config\_t\ } \DoxyCodeLine{00041\ \ \ \ \ \ \ \ \ gpio\_num\_t\ \mbox{\hyperlink{structbno08x__config__t_a79023fd80039e41a22b7f73ccd5fc861}{io\_mosi}};\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00042\ \{} \DoxyCodeLine{00042\ \ \ \ \ \ \ \ \ gpio\_num\_t\ \mbox{\hyperlink{structbno08x__config__t_a9468180a773892977db39cc5ed9368e3}{io\_miso}};\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00043\ \ \ \ \ spi\_host\_device\_t\ spi\_peripheral;\ } \DoxyCodeLine{00043\ \ \ \ \ \ \ \ \ gpio\_num\_t\ \mbox{\hyperlink{structbno08x__config__t_a639685b91ae3198909d722316495246a}{io\_sclk}};\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00044\ \ \ \ \ gpio\_num\_t\ io\_mosi;\ } \DoxyCodeLine{00044\ \ \ \ \ \ \ \ \ gpio\_num\_t\ \mbox{\hyperlink{structbno08x__config__t_ab1b5351b63da0c172c942463d0dc2505}{io\_cs}};\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00045\ \ \ \ \ gpio\_num\_t\ io\_miso;\ } \DoxyCodeLine{00045\ \ \ \ \ \ \ \ \ gpio\_num\_t\ \mbox{\hyperlink{structbno08x__config__t_a3cfe965659cfbc6b0c5269bd0211975f}{io\_int}};\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00046\ \ \ \ \ gpio\_num\_t\ io\_sclk;\ } \DoxyCodeLine{00046\ \ \ \ \ \ \ \ \ gpio\_num\_t\ \mbox{\hyperlink{structbno08x__config__t_a62745c761219139f66ecd173b51577fc}{io\_rst}};\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00047\ \ \ \ \ gpio\_num\_t\ io\_cs;\ } \DoxyCodeLine{00047\ \ \ \ \ \ \ \ \ gpio\_num\_t\ \mbox{\hyperlink{structbno08x__config__t_a90ad7f316dc443874d19dc7e723a0ce0}{io\_wake}};\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00048\ \ \ \ \ gpio\_num\_t\ io\_int;\ } \DoxyCodeLine{00048\ \ \ \ \ \ \ \ \ uint64\_t\ \mbox{\hyperlink{structbno08x__config__t_a652ad01310ba21afcae1bb765de51cfe}{sclk\_speed}};\ \ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00049\ \ \ \ \ gpio\_num\_t\ io\_rst;\ } \DoxyCodeLine{00049\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{structbno08x__config__t_a720c215a75b3922ffa6f683e7ca70abe}{debug\_en}};\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00050\ \ \ \ \ gpio\_num\_t\ io\_wake;\ \ } \DoxyCodeLine{00050\ }
\DoxyCodeLine{00051\ \ \ \ \ uint64\_t\ sclk\_speed;\ } \DoxyCodeLine{00051\ \textcolor{preprocessor}{\#ifdef\ ESP32C3\_IMU\_CONFIG}}
\DoxyCodeLine{00052\ \ \ \ \ \textcolor{keywordtype}{bool}\ debug\_en;\ } \DoxyCodeLine{00054\ \ \ \ \ \ \ \ \ \mbox{\hyperlink{structbno08x__config__t_abf8805292192f4c30c5000423175a2e1}{bno08x\_config\_t}}()}
\DoxyCodeLine{00053\ \ \ \ \ } \DoxyCodeLine{00055\ \ \ \ \ \ \ \ \ \ \ \ \ :\ \mbox{\hyperlink{structbno08x__config__t_a020d2343750bb7debc2a108ae038c9ec}{spi\_peripheral}}(SPI2\_HOST)}
\DoxyCodeLine{00055\ \ \ \ \ bno08x\_config\_t()\ :\ } \DoxyCodeLine{00056\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_a79023fd80039e41a22b7f73ccd5fc861}{io\_mosi}}(GPIO\_NUM\_4)}
\DoxyCodeLine{00056\ \ \ \ \ spi\_peripheral(SPI3\_HOST),\ } \DoxyCodeLine{00057\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_a9468180a773892977db39cc5ed9368e3}{io\_miso}}(GPIO\_NUM\_19)}
\DoxyCodeLine{00057\ \ \ \ \ io\_mosi(GPIO\_NUM\_23),\ } \DoxyCodeLine{00058\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_a639685b91ae3198909d722316495246a}{io\_sclk}}(GPIO\_NUM\_18)}
\DoxyCodeLine{00058\ \ \ \ \ io\_miso(GPIO\_NUM\_19),\ } \DoxyCodeLine{00059\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_ab1b5351b63da0c172c942463d0dc2505}{io\_cs}}(GPIO\_NUM\_5)}
\DoxyCodeLine{00059\ \ \ \ \ io\_sclk(GPIO\_NUM\_18),\ \ } \DoxyCodeLine{00060\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_a3cfe965659cfbc6b0c5269bd0211975f}{io\_int}}(GPIO\_NUM\_6)}
\DoxyCodeLine{00060\ \ \ \ \ io\_cs(GPIO\_NUM\_33),\ } \DoxyCodeLine{00061\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_a62745c761219139f66ecd173b51577fc}{io\_rst}}(GPIO\_NUM\_7)}
\DoxyCodeLine{00061\ \ \ \ \ io\_int(GPIO\_NUM\_26),\ } \DoxyCodeLine{00062\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_a90ad7f316dc443874d19dc7e723a0ce0}{io\_wake}}(GPIO\_NUM\_NC)}
\DoxyCodeLine{00062\ \ \ \ \ io\_rst(GPIO\_NUM\_32),} \DoxyCodeLine{00063\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_a652ad01310ba21afcae1bb765de51cfe}{sclk\_speed}}(2000000UL)\ \textcolor{comment}{//\ 2MHz\ SCLK\ speed}}
\DoxyCodeLine{00063\ \ \ \ \ io\_wake(GPIO\_NUM\_4),} \DoxyCodeLine{00064\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_a720c215a75b3922ffa6f683e7ca70abe}{debug\_en}}(false)}
\DoxyCodeLine{00064\ \ \ \ \ \textcolor{comment}{//sclk\_speed(10000U),\ //clock\ slowed\ to\ see\ on\ AD2}} \DoxyCodeLine{00065\ \ \ \ \ \ \ \ \ \{}
\DoxyCodeLine{00065\ \ \ \ \ sclk\_speed(2000000U),\ \textcolor{comment}{//1MHz\ SCLK\ speed\ }} \DoxyCodeLine{00066\ \ \ \ \ \ \ \ \ \}}
\DoxyCodeLine{00066\ \ \ \ \ debug\_en(false)} \DoxyCodeLine{00067\ \textcolor{preprocessor}{\#else}}
\DoxyCodeLine{00067\ } \DoxyCodeLine{00069\ \ \ \ \ \ \ \ \ \mbox{\hyperlink{structbno08x__config__t_abf8805292192f4c30c5000423175a2e1}{bno08x\_config\_t}}()}
\DoxyCodeLine{00068\ \ \ \ \ \{} \DoxyCodeLine{00070\ \ \ \ \ \ \ \ \ \ \ \ \ :\ \mbox{\hyperlink{structbno08x__config__t_a020d2343750bb7debc2a108ae038c9ec}{spi\_peripheral}}(SPI3\_HOST)}
\DoxyCodeLine{00069\ \ \ \ \ \}\ \ } \DoxyCodeLine{00071\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_a79023fd80039e41a22b7f73ccd5fc861}{io\_mosi}}(GPIO\_NUM\_23)}
\DoxyCodeLine{00070\ } \DoxyCodeLine{00072\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_a9468180a773892977db39cc5ed9368e3}{io\_miso}}(GPIO\_NUM\_19)}
\DoxyCodeLine{00071\ \}\ bno08x\_config\_t;} \DoxyCodeLine{00073\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_a639685b91ae3198909d722316495246a}{io\_sclk}}(GPIO\_NUM\_18)}
\DoxyCodeLine{00072\ } \DoxyCodeLine{00074\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_ab1b5351b63da0c172c942463d0dc2505}{io\_cs}}(GPIO\_NUM\_33)}
\DoxyCodeLine{00073\ \textcolor{keyword}{class\ }BNO08x\ } \DoxyCodeLine{00075\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_a3cfe965659cfbc6b0c5269bd0211975f}{io\_int}}(GPIO\_NUM\_26)}
\DoxyCodeLine{00074\ \{} \DoxyCodeLine{00076\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_a62745c761219139f66ecd173b51577fc}{io\_rst}}(GPIO\_NUM\_32)}
\DoxyCodeLine{00075\ \ \ \ \ \textcolor{keyword}{public}:} \DoxyCodeLine{00077\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_a90ad7f316dc443874d19dc7e723a0ce0}{io\_wake}}(GPIO\_NUM\_NC)}
\DoxyCodeLine{00076\ \ \ \ \ \ \ \ \ BNO08x(bno08x\_config\_t\ imu\_config\ =\ default\_imu\_config);} \DoxyCodeLine{00078\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_a652ad01310ba21afcae1bb765de51cfe}{sclk\_speed}}(2000000UL)\ \textcolor{comment}{//\ 2MHz\ SCLK\ speed}}
\DoxyCodeLine{00077\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{bool}\ initialize();} \DoxyCodeLine{00079\ \ \ \ \ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ ,\ sclk\_speed(10000U),\ //clock\ slowed\ to\ see\ on\ AD2}}
\DoxyCodeLine{00078\ } \DoxyCodeLine{00080\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_a720c215a75b3922ffa6f683e7ca70abe}{debug\_en}}(false)}
\DoxyCodeLine{00079\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{bool}\ hard\_reset();} \DoxyCodeLine{00081\ }
\DoxyCodeLine{00080\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{bool}\ soft\_reset();} \DoxyCodeLine{00082\ \ \ \ \ \ \ \ \ \{}
\DoxyCodeLine{00081\ \ \ \ \ \ \ \ \ uint8\_t\ get\_reset\_reason();} \DoxyCodeLine{00083\ \ \ \ \ \ \ \ \ \}}
\DoxyCodeLine{00082\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{bool}\ mode\_sleep();} \DoxyCodeLine{00084\ \textcolor{preprocessor}{\#endif}}
\DoxyCodeLine{00083\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{bool}\ mode\_on();\ } \DoxyCodeLine{00086\ \ \ \ \ \ \ \ \ \mbox{\hyperlink{structbno08x__config__t_ae02a72c63211b734cc420cee6f4b5017}{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{00084\ \ \ \ \ \ \ \ \ } \DoxyCodeLine{00087\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ 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}},\ uint64\_t\ \mbox{\hyperlink{structbno08x__config__t_a652ad01310ba21afcae1bb765de51cfe}{sclk\_speed}},\ \textcolor{keywordtype}{bool}\ debug)}
\DoxyCodeLine{00085\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ q\_to\_float(int16\_t\ fixed\_point\_value,\ uint8\_t\ q\_point);} \DoxyCodeLine{00088\ \ \ \ \ \ \ \ \ \ \ \ \ :\ \mbox{\hyperlink{structbno08x__config__t_a020d2343750bb7debc2a108ae038c9ec}{spi\_peripheral}}(\mbox{\hyperlink{structbno08x__config__t_a020d2343750bb7debc2a108ae038c9ec}{spi\_peripheral}})}
\DoxyCodeLine{00086\ \ \ \ \ \ \ \ \ } \DoxyCodeLine{00089\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_a79023fd80039e41a22b7f73ccd5fc861}{io\_mosi}}(\mbox{\hyperlink{structbno08x__config__t_a79023fd80039e41a22b7f73ccd5fc861}{io\_mosi}})}
\DoxyCodeLine{00087\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{bool}\ run\_full\_calibration\_routine();\ } \DoxyCodeLine{00090\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_a9468180a773892977db39cc5ed9368e3}{io\_miso}}(\mbox{\hyperlink{structbno08x__config__t_a9468180a773892977db39cc5ed9368e3}{io\_miso}})}
\DoxyCodeLine{00088\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ calibrate\_all();} \DoxyCodeLine{00091\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_a639685b91ae3198909d722316495246a}{io\_sclk}}(\mbox{\hyperlink{structbno08x__config__t_a639685b91ae3198909d722316495246a}{io\_sclk}})}
\DoxyCodeLine{00089\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ calibrate\_accelerometer();} \DoxyCodeLine{00092\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_ab1b5351b63da0c172c942463d0dc2505}{io\_cs}}(\mbox{\hyperlink{structbno08x__config__t_ab1b5351b63da0c172c942463d0dc2505}{io\_cs}})}
\DoxyCodeLine{00090\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ calibrate\_gyro();} \DoxyCodeLine{00093\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_a3cfe965659cfbc6b0c5269bd0211975f}{io\_int}}(\mbox{\hyperlink{structbno08x__config__t_a3cfe965659cfbc6b0c5269bd0211975f}{io\_int}})}
\DoxyCodeLine{00091\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ calibrate\_magnetometer();} \DoxyCodeLine{00094\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_a62745c761219139f66ecd173b51577fc}{io\_rst}}(\mbox{\hyperlink{structbno08x__config__t_a62745c761219139f66ecd173b51577fc}{io\_rst}})}
\DoxyCodeLine{00092\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ calibrate\_planar\_accelerometer();} \DoxyCodeLine{00095\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_a90ad7f316dc443874d19dc7e723a0ce0}{io\_wake}}(\mbox{\hyperlink{structbno08x__config__t_a90ad7f316dc443874d19dc7e723a0ce0}{io\_wake}})}
\DoxyCodeLine{00093\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ request\_calibration\_status();\ } \DoxyCodeLine{00096\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_a652ad01310ba21afcae1bb765de51cfe}{sclk\_speed}}(\mbox{\hyperlink{structbno08x__config__t_a652ad01310ba21afcae1bb765de51cfe}{sclk\_speed}})}
\DoxyCodeLine{00094\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{bool}\ calibration\_complete();\ } \DoxyCodeLine{00097\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_a720c215a75b3922ffa6f683e7ca70abe}{debug\_en}}(false)}
\DoxyCodeLine{00095\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ end\_calibration();} \DoxyCodeLine{00098\ }
\DoxyCodeLine{00096\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ save\_calibration();} \DoxyCodeLine{00099\ \ \ \ \ \ \ \ \ \{}
\DoxyCodeLine{00097\ } \DoxyCodeLine{00100\ \ \ \ \ \ \ \ \ \}}
\DoxyCodeLine{00098\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ enable\_rotation\_vector(uint16\_t\ time\_between\_reports);} \DoxyCodeLine{00101\ \}\ \mbox{\hyperlink{_b_n_o08x_8hpp_a648bbdbf22731476890dd8da977d7503}{bno08x\_config\_t}};}
\DoxyCodeLine{00099\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ enable\_game\_rotation\_vector(uint16\_t\ time\_between\_reports);} \DoxyCodeLine{00102\ }
\DoxyCodeLine{00100\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ enable\_ARVR\_stabilized\_rotation\_vector(uint16\_t\ time\_between\_reports);} \DoxyCodeLine{00103\ \textcolor{keyword}{class\ }\mbox{\hyperlink{class_b_n_o08x}{BNO08x}}}
\DoxyCodeLine{00101\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ enable\_ARVR\_stabilized\_game\_rotation\_vector(uint16\_t\ time\_between\_reports);} \DoxyCodeLine{00104\ \{}
\DoxyCodeLine{00102\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ enable\_gyro\_integrated\_rotation\_vector(uint16\_t\ timeBetweenReports);} \DoxyCodeLine{00105\ \ \ \ \ \textcolor{keyword}{public}:}
\DoxyCodeLine{00103\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ enable\_accelerometer(uint16\_t\ time\_between\_reports);} \DoxyCodeLine{00106\ \ \ \ \ \ \ \ \ \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{00104\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ enable\_linear\_accelerometer(uint16\_t\ time\_between\_reports);} \DoxyCodeLine{00107\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{class_b_n_o08x_aea8e2c6dd7a2c9899479a7f39fe94798}{initialize}}();}
\DoxyCodeLine{00105\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ enable\_gravity(uint16\_t\ time\_between\_reports);} \DoxyCodeLine{00108\ }
\DoxyCodeLine{00106\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ enable\_gyro(uint16\_t\ time\_between\_reports);} \DoxyCodeLine{00109\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{class_b_n_o08x_a28cd1c0b3477571d87133234e6358503}{hard\_reset}}();}
\DoxyCodeLine{00107\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ enable\_uncalibrated\_gyro(uint16\_t\ time\_between\_reports);} \DoxyCodeLine{00110\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{class_b_n_o08x_a973a1b1785f3302ee1b2702c6a27646e}{soft\_reset}}();}
\DoxyCodeLine{00108\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ enable\_magnetometer(uint16\_t\ time\_between\_reports);} \DoxyCodeLine{00111\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a11bb1b3fa44ad8f28c1492b5c07af886}{get\_reset\_reason}}();}
\DoxyCodeLine{00109\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ enable\_tap\_detector(uint16\_t\ time\_between\_reports);} \DoxyCodeLine{00112\ }
\DoxyCodeLine{00110\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ enable\_step\_counter(uint16\_t\ time\_between\_reports);} \DoxyCodeLine{00113\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{class_b_n_o08x_a176ae0112325c05105eacb4566bbfa0b}{mode\_sleep}}();}
\DoxyCodeLine{00111\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ enable\_stability\_classifier(uint16\_t\ time\_between\_reports);} \DoxyCodeLine{00114\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{class_b_n_o08x_ac1b3de9b552c611ee9c455d7f19be698}{mode\_on}}();}
\DoxyCodeLine{00112\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ enable\_activity\_classifier(uint16\_t\ time\_between\_reports,\ uint32\_t\ activities\_to\_enable,\ uint8\_t\ (\&activity\_confidence\_vals)[9]);} \DoxyCodeLine{00115\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a27fb24e894f794ec6228ef142b6ff8d9}{q\_to\_float}}(int16\_t\ fixed\_point\_value,\ uint8\_t\ q\_point);}
\DoxyCodeLine{00113\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ enable\_raw\_accelerometer(uint16\_t\ time\_between\_reports);} \DoxyCodeLine{00116\ }
\DoxyCodeLine{00114\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ enable\_raw\_gyro(uint16\_t\ time\_between\_reports);} \DoxyCodeLine{00117\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{class_b_n_o08x_ae6e875a27ae74ebed806ee1a4576845a}{run\_full\_calibration\_routine}}();}
\DoxyCodeLine{00115\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ enable\_raw\_magnetometer(uint16\_t\ time\_between\_reports);} \DoxyCodeLine{00118\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_afd0ca5f9b9741935543d143a5a43d128}{calibrate\_all}}();}
\DoxyCodeLine{00116\ \ \ \ } \DoxyCodeLine{00119\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_aeffce374f558a167d5b5f19ad627e7cc}{calibrate\_accelerometer}}();}
\DoxyCodeLine{00117\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ tare\_now(uint8\_t\ axis\_sel\ =\ TARE\_AXIS\_ALL,\ uint8\_t\ rotation\_vector\_basis\ =\ TARE\_ROTATION\_VECTOR);} \DoxyCodeLine{00120\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a9ada90f8ab6dd33fa2d7c168d9234af1}{calibrate\_gyro}}();}
\DoxyCodeLine{00118\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ save\_tare();} \DoxyCodeLine{00121\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_ac26350b55095a346d72598ab8aa74b4a}{calibrate\_magnetometer}}();}
\DoxyCodeLine{00119\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ clear\_tare();\ } \DoxyCodeLine{00122\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a1c6c49c97bc098db89db1aaa37e18f26}{calibrate\_planar\_accelerometer}}();}
\DoxyCodeLine{00120\ } \DoxyCodeLine{00123\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_affaaa35abbb872da5299ebab6e2c9b11}{request\_calibration\_status}}();}
\DoxyCodeLine{00121\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{bool}\ data\_available();\ } \DoxyCodeLine{00124\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{class_b_n_o08x_a71ca35f78b98d93d31eb0c187dc8543b}{calibration\_complete}}();}
\DoxyCodeLine{00122\ \ \ \ \ \ \ \ \ uint16\_t\ parse\_input\_report();\ \ \ } \DoxyCodeLine{00125\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_ac9d9b6636745e8180807284da67c92a2}{end\_calibration}}();}
\DoxyCodeLine{00123\ \ \ \ \ \ \ \ \ uint16\_t\ parse\_command\_report();\ } \DoxyCodeLine{00126\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_aa16609de88bfb7b389348859aa0cee54}{save\_calibration}}();}
\DoxyCodeLine{00124\ \ \ \ \ \ \ \ \ uint16\_t\ get\_readings();}
\DoxyCodeLine{00125\ }
\DoxyCodeLine{00126\ \ \ \ \ \ \ \ \ uint32\_t\ get\_time\_stamp();}
\DoxyCodeLine{00127\ } \DoxyCodeLine{00127\ }
\DoxyCodeLine{00128\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ get\_magf(\textcolor{keywordtype}{float}\ \&x,\ \textcolor{keywordtype}{float}\ \&y,\ \textcolor{keywordtype}{float}\ \&z,\ uint8\_t\ \&accuracy);} \DoxyCodeLine{00128\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_abe9acd2eb1ce2f2e72b7a48c8d025cc4}{enable\_rotation\_vector}}(uint16\_t\ time\_between\_reports);}
\DoxyCodeLine{00129\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ get\_magf\_X();} \DoxyCodeLine{00129\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a639cb013ed17e0f33057742fac97f1a2}{enable\_game\_rotation\_vector}}(uint16\_t\ time\_between\_reports);}
\DoxyCodeLine{00130\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ get\_magf\_Y();} \DoxyCodeLine{00130\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a04290cb6ba09b93d5a9ef337c13d1abb}{enable\_ARVR\_stabilized\_rotation\_vector}}(uint16\_t\ time\_between\_reports);}
\DoxyCodeLine{00131\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ get\_magf\_Z();} \DoxyCodeLine{00131\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_ad9e26658c53c728d7d10381db680765e}{enable\_ARVR\_stabilized\_game\_rotation\_vector}}(uint16\_t\ time\_between\_reports);}
\DoxyCodeLine{00132\ \ \ \ \ \ \ \ \ uint8\_t\ get\_magf\_accuracy();} \DoxyCodeLine{00132\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a09a0306abec5895dd0450b2fe970347c}{enable\_gyro\_integrated\_rotation\_vector}}(uint16\_t\ timeBetweenReports);}
\DoxyCodeLine{00133\ } \DoxyCodeLine{00133\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a1d68494d911f7efbbb620d349fb9da0d}{enable\_accelerometer}}(uint16\_t\ time\_between\_reports);}
\DoxyCodeLine{00134\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ get\_gravity(\textcolor{keywordtype}{float}\ \&x,\ \textcolor{keywordtype}{float}\ \&y,\ \textcolor{keywordtype}{float}\ \&z,\ uint8\_t\ \&accuracy);} \DoxyCodeLine{00134\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_ad3724e7e602feb2b695d2d88a61d5328}{enable\_linear\_accelerometer}}(uint16\_t\ time\_between\_reports);}
\DoxyCodeLine{00135\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ get\_gravity\_X();} \DoxyCodeLine{00135\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a2dc0cd5bc04ca7eb3b4fffd2a3a6f27a}{enable\_gravity}}(uint16\_t\ time\_between\_reports);}
\DoxyCodeLine{00136\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ get\_gravity\_Y();} \DoxyCodeLine{00136\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a7619b598cc8e768c4df4805b2958a2c8}{enable\_gyro}}(uint16\_t\ time\_between\_reports);}
\DoxyCodeLine{00137\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ get\_gravity\_Z();} \DoxyCodeLine{00137\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_ac7b5815c5ad8b83a34ad0855423601e8}{enable\_uncalibrated\_gyro}}(uint16\_t\ time\_between\_reports);}
\DoxyCodeLine{00138\ \ \ \ \ \ \ \ \ uint8\_t\ get\_gravity\_accuracy();} \DoxyCodeLine{00138\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_acf4a83a44a221f6495263f00f1b8d849}{enable\_magnetometer}}(uint16\_t\ time\_between\_reports);}
\DoxyCodeLine{00139\ } \DoxyCodeLine{00139\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a919c7d94226f4c6adbb8edf6fd1613a9}{enable\_tap\_detector}}(uint16\_t\ time\_between\_reports);}
\DoxyCodeLine{00140\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ get\_roll();} \DoxyCodeLine{00140\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_ad550085fa1b51495ce3d8894538f33d5}{enable\_step\_counter}}(uint16\_t\ time\_between\_reports);}
\DoxyCodeLine{00141\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ get\_pitch();} \DoxyCodeLine{00141\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a5378a235e3114ccdc63b26bc3fae5dad}{enable\_stability\_classifier}}(uint16\_t\ time\_between\_reports);}
\DoxyCodeLine{00142\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ get\_yaw();} \DoxyCodeLine{00142\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a0960ce957058af565dd4c43ad6c40225}{enable\_activity\_classifier}}(uint16\_t\ time\_between\_reports,\ uint32\_t\ activities\_to\_enable,\ uint8\_t\ (\&activity\_confidence\_vals)[9]);}
\DoxyCodeLine{00143\ } \DoxyCodeLine{00143\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_ad6adf3b24a8a559d3bb57e6abcef4ce8}{enable\_raw\_accelerometer}}(uint16\_t\ time\_between\_reports);}
\DoxyCodeLine{00144\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ get\_roll\_deg();} \DoxyCodeLine{00144\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_af984deb77c92746fe4d193457312be63}{enable\_raw\_gyro}}(uint16\_t\ time\_between\_reports);}
\DoxyCodeLine{00145\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ get\_pitch\_deg();} \DoxyCodeLine{00145\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_ad1ca07ee06ef98d4e11a74dde18e9623}{enable\_raw\_magnetometer}}(uint16\_t\ time\_between\_reports);}
\DoxyCodeLine{00146\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ get\_yaw\_deg();} \DoxyCodeLine{00146\ }
\DoxyCodeLine{00147\ } \DoxyCodeLine{00147\ \ \ \ \ \ \ \ \ \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{00148\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ 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{00148\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_afb2ffc4e7ff0498917bc14a83af306e2}{save\_tare}}();}
\DoxyCodeLine{00149\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ get\_quat\_I();} \DoxyCodeLine{00149\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_afe39bfdede7b9a2b273983cb29a27d6e}{clear\_tare}}();}
\DoxyCodeLine{00150\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ get\_quat\_J();} \DoxyCodeLine{00150\ }
\DoxyCodeLine{00151\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ get\_quat\_K();} \DoxyCodeLine{00151\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{class_b_n_o08x_a367d525d1c0ba119b3dca3067bb5bccc}{data\_available}}();}
\DoxyCodeLine{00152\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ get\_quat\_real();} \DoxyCodeLine{00152\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_a7ba1d779ed68edf30090dd0f938a5709}{parse\_input\_report}}();}
\DoxyCodeLine{00153\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ get\_quat\_radian\_accuracy();} \DoxyCodeLine{00153\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_a3762125be0025a335f0d918415f4ce18}{parse\_command\_report}}();}
\DoxyCodeLine{00154\ \ \ \ \ \ \ \ \ uint8\_t\ get\_quat\_accuracy();} \DoxyCodeLine{00154\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_a9cc47f0e5b7d679c80992c993a910ccf}{get\_readings}}();}
\DoxyCodeLine{00155\ } \DoxyCodeLine{00155\ }
\DoxyCodeLine{00156\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ get\_accel(\textcolor{keywordtype}{float}\ \&x,\ \textcolor{keywordtype}{float}\ \&y,\ \textcolor{keywordtype}{float}\ \&z,\ uint8\_t\ \&accuracy);} \DoxyCodeLine{00156\ \ \ \ \ \ \ \ \ uint32\_t\ \mbox{\hyperlink{class_b_n_o08x_ad9137777271421a58159f3fe5e05ed20}{get\_time\_stamp}}();}
\DoxyCodeLine{00157\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ get\_accel\_X();} \DoxyCodeLine{00157\ }
\DoxyCodeLine{00158\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ get\_accel\_Y();} \DoxyCodeLine{00158\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a35a224d519a2a243d0d526a34ecde5a8}{get\_magf}}(\textcolor{keywordtype}{float}\&\ x,\ \textcolor{keywordtype}{float}\&\ y,\ \textcolor{keywordtype}{float}\&\ z,\ uint8\_t\&\ accuracy);}
\DoxyCodeLine{00159\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ get\_accel\_Z();} \DoxyCodeLine{00159\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a111601243b913751eb51c1f37cba4e7d}{get\_magf\_X}}();}
\DoxyCodeLine{00160\ \ \ \ \ \ \ \ \ uint8\_t\ get\_accel\_accuracy();} \DoxyCodeLine{00160\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a82ed8d7b9a5c25374839df75a3d220ea}{get\_magf\_Y}}();}
\DoxyCodeLine{00161\ \ \ \ \ \ \ \ \ } \DoxyCodeLine{00161\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_ab4c48a91d2f8b29430abc17b7f015282}{get\_magf\_Z}}();}
\DoxyCodeLine{00162\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ get\_linear\_accel(\textcolor{keywordtype}{float}\ \&x,\ \textcolor{keywordtype}{float}\ \&y,\ \textcolor{keywordtype}{float}\ \&z,\ uint8\_t\ \&accuracy);} \DoxyCodeLine{00162\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a487391e6b2dd7f05084804d1fb94976f}{get\_magf\_accuracy}}();}
\DoxyCodeLine{00163\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ get\_linear\_accel\_X();} \DoxyCodeLine{00163\ }
\DoxyCodeLine{00164\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ get\_linear\_accel\_Y();} \DoxyCodeLine{00164\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a386c46ac8965220ab7b9423df838dd4d}{get\_gravity}}(\textcolor{keywordtype}{float}\&\ x,\ \textcolor{keywordtype}{float}\&\ y,\ \textcolor{keywordtype}{float}\&\ z,\ uint8\_t\&\ accuracy);}
\DoxyCodeLine{00165\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ get\_linear\_accel\_Z();} \DoxyCodeLine{00165\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a88679bccd9339b87ec35fc4fc4e745ae}{get\_gravity\_X}}();}
\DoxyCodeLine{00166\ \ \ \ \ \ \ \ \ uint8\_t\ get\_linear\_accel\_accuracy();} \DoxyCodeLine{00166\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a8a36db7f1c932f33e05e494632059801}{get\_gravity\_Y}}();}
\DoxyCodeLine{00167\ } \DoxyCodeLine{00167\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a5622b4d1754648ea7eb400c1adf9e807}{get\_gravity\_Z}}();}
\DoxyCodeLine{00168\ \ \ \ \ \ \ \ \ int16\_t\ get\_raw\_accel\_X();} \DoxyCodeLine{00168\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_accd39f48e9f8ab8267df7184b5b7cd76}{get\_gravity\_accuracy}}();}
\DoxyCodeLine{00169\ \ \ \ \ \ \ \ \ int16\_t\ get\_raw\_accel\_Y();} \DoxyCodeLine{00169\ }
\DoxyCodeLine{00170\ \ \ \ \ \ \ \ \ int16\_t\ get\_raw\_accel\_Z();} \DoxyCodeLine{00170\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a89618eba08186ee8e679e7313907ddef}{get\_roll}}();}
\DoxyCodeLine{00171\ } \DoxyCodeLine{00171\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a1b91f234d81c45f1f5ca2f27c9f0f6a3}{get\_pitch}}();}
\DoxyCodeLine{00172\ \ \ \ \ \ \ \ \ int16\_t\ get\_raw\_gyro\_X();} \DoxyCodeLine{00172\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a64d3e41750c6de9413d6982511f78f17}{get\_yaw}}();}
\DoxyCodeLine{00173\ \ \ \ \ \ \ \ \ int16\_t\ get\_raw\_gyro\_Y();} \DoxyCodeLine{00173\ }
\DoxyCodeLine{00174\ \ \ \ \ \ \ \ \ int16\_t\ get\_raw\_gyro\_Z();} \DoxyCodeLine{00174\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a7077b9a130f1dcf0192454e387968dd6}{get\_roll\_deg}}();}
\DoxyCodeLine{00175\ } \DoxyCodeLine{00175\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_af50010400cbd1445e9ddfa259384b412}{get\_pitch\_deg}}();}
\DoxyCodeLine{00176\ \ \ \ \ \ \ \ \ int16\_t\ get\_raw\_magf\_X();} \DoxyCodeLine{00176\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_af80f7795656e695e036d3b1557aed94c}{get\_yaw\_deg}}();}
\DoxyCodeLine{00177\ \ \ \ \ \ \ \ \ int16\_t\ get\_raw\_magf\_Y();} \DoxyCodeLine{00177\ }
\DoxyCodeLine{00178\ \ \ \ \ \ \ \ \ int16\_t\ get\_raw\_magf\_Z();} \DoxyCodeLine{00178\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a51a6d594824de2292e70f788454f8a2d}{get\_quat}}(\textcolor{keywordtype}{float}\&\ i,\ \textcolor{keywordtype}{float}\&\ j,\ \textcolor{keywordtype}{float}\&\ k,\ \textcolor{keywordtype}{float}\&\ real,\ \textcolor{keywordtype}{float}\&\ rad\_accuracy,\ uint8\_t\&\ accuracy);}
\DoxyCodeLine{00179\ } \DoxyCodeLine{00179\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a12c12a8e078b28480fb8828d306656f5}{get\_quat\_I}}();}
\DoxyCodeLine{00180\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ get\_gyro\_calibrated\_velocity(\textcolor{keywordtype}{float}\ \&x,\ \textcolor{keywordtype}{float}\ \&y,\ \textcolor{keywordtype}{float}\ \&z,\ uint8\_t\ \&accuracy);} \DoxyCodeLine{00180\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a9f6bb642fa0297a7b9bcc94dd7374015}{get\_quat\_J}}();}
\DoxyCodeLine{00181\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ get\_gyro\_calibrated\_velocity\_X();} \DoxyCodeLine{00181\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a9f42c70c2337a0d831064a40ecfe2dd8}{get\_quat\_K}}();}
\DoxyCodeLine{00182\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ get\_gyro\_calibrated\_velocity\_Y();} \DoxyCodeLine{00182\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a5a556c5ec1baaa7f1156779dbe47a7b7}{get\_quat\_real}}();}
\DoxyCodeLine{00183\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ get\_gyro\_calibrated\_velocity\_Z();} \DoxyCodeLine{00183\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a61b7d10a98afc6903fea6b2cede27630}{get\_quat\_radian\_accuracy}}();}
\DoxyCodeLine{00184\ \ \ \ \ \ \ \ \ uint8\_t\ get\_gyro\_accuracy();} \DoxyCodeLine{00184\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a24ba760d064a1dc45f972c79b9c8d98d}{get\_quat\_accuracy}}();}
\DoxyCodeLine{00185\ } \DoxyCodeLine{00185\ }
\DoxyCodeLine{00186\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ 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{00186\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a9329c6669282071622c3b3741b1b8142}{get\_accel}}(\textcolor{keywordtype}{float}\&\ x,\ \textcolor{keywordtype}{float}\&\ y,\ \textcolor{keywordtype}{float}\&\ z,\ uint8\_t\&\ accuracy);}
\DoxyCodeLine{00187\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ get\_uncalibrated\_gyro\_X();} \DoxyCodeLine{00187\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_abce574112a9079d2cbc58cfc352b8a69}{get\_accel\_X}}();}
\DoxyCodeLine{00188\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ get\_uncalibrated\_gyro\_Y();} \DoxyCodeLine{00188\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_afdf24bb3d54518b23972f21f007817c1}{get\_accel\_Y}}();}
\DoxyCodeLine{00189\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ get\_uncalibrated\_gyro\_Z();} \DoxyCodeLine{00189\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a0a72477cb7a330fedbcb3e2126b882b1}{get\_accel\_Z}}();}
\DoxyCodeLine{00190\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ get\_uncalibrated\_gyro\_bias\_X();} \DoxyCodeLine{00190\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a3fce726d5de821f97ed207036dae2900}{get\_accel\_accuracy}}();}
\DoxyCodeLine{00191\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ get\_uncalibrated\_gyro\_bias\_Y();} \DoxyCodeLine{00191\ }
\DoxyCodeLine{00192\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ get\_uncalibrated\_gyro\_bias\_Z();} \DoxyCodeLine{00192\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_ad59b029d04341dbef72e059488951980}{get\_linear\_accel}}(\textcolor{keywordtype}{float}\&\ x,\ \textcolor{keywordtype}{float}\&\ y,\ \textcolor{keywordtype}{float}\&\ z,\ uint8\_t\&\ accuracy);}
\DoxyCodeLine{00193\ \ \ \ \ \ \ \ \ uint8\_t\ get\_uncalibrated\_gyro\_accuracy();} \DoxyCodeLine{00193\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a763c3a9699a1081d430fd9b9b7bc49a3}{get\_linear\_accel\_X}}();}
\DoxyCodeLine{00194\ } \DoxyCodeLine{00194\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a1033bdd65b42b6706d1dfc67ece66191}{get\_linear\_accel\_Y}}();}
\DoxyCodeLine{00195\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ get\_gyro\_velocity(\textcolor{keywordtype}{float}\ \&x,\ \textcolor{keywordtype}{float}\ \&y,\ \textcolor{keywordtype}{float}\ \&z);} \DoxyCodeLine{00195\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_afdfa7d50362702da689c5d18bf17fd84}{get\_linear\_accel\_Z}}();}
\DoxyCodeLine{00196\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ get\_gyro\_velocity\_X();} \DoxyCodeLine{00196\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a33fe3c2f47759cfae5f4b612ddd329ea}{get\_linear\_accel\_accuracy}}();}
\DoxyCodeLine{00197\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ get\_gyro\_velocity\_Y();} \DoxyCodeLine{00197\ }
\DoxyCodeLine{00198\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ get\_gyro\_velocity\_Z();} \DoxyCodeLine{00198\ \ \ \ \ \ \ \ \ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_a1de356dd604c1dffcd1a32faeb4fafe2}{get\_raw\_accel\_X}}();}
\DoxyCodeLine{00199\ } \DoxyCodeLine{00199\ \ \ \ \ \ \ \ \ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_a96563de0eb597a52d595d19da827b1ac}{get\_raw\_accel\_Y}}();}
\DoxyCodeLine{00200\ \ \ \ \ \ \ \ \ uint8\_t\ get\_tap\_detector();} \DoxyCodeLine{00200\ \ \ \ \ \ \ \ \ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_a718cdd910e5e7e03fd0a1ad04ee6f0ce}{get\_raw\_accel\_Z}}();}
\DoxyCodeLine{00201\ \ \ \ \ \ \ \ \ uint16\_t\ get\_step\_count();} \DoxyCodeLine{00201\ }
\DoxyCodeLine{00202\ \ \ \ \ \ \ \ \ int8\_t\ get\_stability\_classifier();} \DoxyCodeLine{00202\ \ \ \ \ \ \ \ \ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_af1b2c3a383a84fc6dfaddae1052b44d4}{get\_raw\_gyro\_X}}();}
\DoxyCodeLine{00203\ \ \ \ \ \ \ \ \ uint8\_t\ get\_activity\_classifier();} \DoxyCodeLine{00203\ \ \ \ \ \ \ \ \ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_aff7714441d242b3b9b0c03f94e0a9374}{get\_raw\_gyro\_Y}}();}
\DoxyCodeLine{00204\ } \DoxyCodeLine{00204\ \ \ \ \ \ \ \ \ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_a2e28b5a79c442a6baa2fa5165b9ce37d}{get\_raw\_gyro\_Z}}();}
\DoxyCodeLine{00205\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ print\_header();} \DoxyCodeLine{00205\ }
\DoxyCodeLine{00206\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ print\_packet();} \DoxyCodeLine{00206\ \ \ \ \ \ \ \ \ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_adf12600b39de41d258439a343fcc1ad8}{get\_raw\_magf\_X}}();}
\DoxyCodeLine{00207\ } \DoxyCodeLine{00207\ \ \ \ \ \ \ \ \ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_a2c842e43ceae19149f6525bcbc48f1cf}{get\_raw\_magf\_Y}}();}
\DoxyCodeLine{00208\ \ \ \ \ \ \ \ \ \textcolor{comment}{//Metadata\ functions}} \DoxyCodeLine{00208\ \ \ \ \ \ \ \ \ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_a99c1bcc2ec3ca3d8feafd6dd61f9d269}{get\_raw\_magf\_Z}}();}
\DoxyCodeLine{00209\ \ \ \ \ \ \ \ \ int16\_t\ get\_Q1(uint16\_t\ record\_ID);} \DoxyCodeLine{00209\ }
\DoxyCodeLine{00210\ \ \ \ \ \ \ \ \ int16\_t\ get\_Q2(uint16\_t\ record\_ID);} \DoxyCodeLine{00210\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a4d3746a376a22acb7a2641bb750c4c89}{get\_gyro\_calibrated\_velocity}}(\textcolor{keywordtype}{float}\&\ x,\ \textcolor{keywordtype}{float}\&\ y,\ \textcolor{keywordtype}{float}\&\ z,\ uint8\_t\&\ accuracy);}
\DoxyCodeLine{00211\ \ \ \ \ \ \ \ \ int16\_t\ get\_Q3(uint16\_t\ record\_ID);} \DoxyCodeLine{00211\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_ab7977391191067282e7f734b9ee45059}{get\_gyro\_calibrated\_velocity\_X}}();}
\DoxyCodeLine{00212\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ get\_resolution(uint16\_t\ record\_ID);} \DoxyCodeLine{00212\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_ad4fab6e636e239d4b9273f158983ed89}{get\_gyro\_calibrated\_velocity\_Y}}();}
\DoxyCodeLine{00213\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ get\_range(uint16\_t\ record\_ID);} \DoxyCodeLine{00213\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a15a29c3bb476048b7229abcfb2b1d52a}{get\_gyro\_calibrated\_velocity\_Z}}();}
\DoxyCodeLine{00214\ \ \ \ \ \ \ \ \ uint32\_t\ FRS\_read\_word(uint16\_t\ record\_ID,\ uint8\_t\ word\_number);} \DoxyCodeLine{00214\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a811999653110858311c97a779c388e5d}{get\_gyro\_accuracy}}();}
\DoxyCodeLine{00215\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{bool}\ FRS\_read\_request(uint16\_t\ record\_ID,\ uint16\_t\ read\_offset,\ uint16\_t\ block\_size);} \DoxyCodeLine{00215\ }
\DoxyCodeLine{00216\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{bool}\ FRS\_read\_data(uint16\_t\ record\_ID,\ uint8\_t\ start\_location,\ uint8\_t\ words\_to\_read);} \DoxyCodeLine{00216\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a1bd3c33e70354bd35a78b83b6786b531}{get\_uncalibrated\_gyro}}(\textcolor{keywordtype}{float}\&\ x,\ \textcolor{keywordtype}{float}\&\ y,\ \textcolor{keywordtype}{float}\&\ z,\ \textcolor{keywordtype}{float}\&\ bx,\ \textcolor{keywordtype}{float}\&\ by,\ \textcolor{keywordtype}{float}\&\ bz,\ uint8\_t\&\ accuracy);}
\DoxyCodeLine{00217\ } \DoxyCodeLine{00217\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a289ff66f51c94be62c4a556f3a5997bf}{get\_uncalibrated\_gyro\_X}}();}
\DoxyCodeLine{00218\ \ \ \ \ \ \ \ \ \textcolor{comment}{//Record\ IDs\ from\ figure\ 29,\ page\ 29\ reference\ manual}} \DoxyCodeLine{00218\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a1874e4bd457bb5b6ecc2c64039b88ba4}{get\_uncalibrated\_gyro\_Y}}();}
\DoxyCodeLine{00219\ \ \ \ \ \ \ \ \ \textcolor{comment}{//These\ are\ used\ to\ read\ the\ metadata\ for\ each\ sensor\ type}} \DoxyCodeLine{00219\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a0a73633d8929ce4058b14cefc8cad717}{get\_uncalibrated\_gyro\_Z}}();}
\DoxyCodeLine{00220\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint16\_t\ FRS\_RECORDID\_ACCELEROMETER\ =\ 0xE302;} \DoxyCodeLine{00220\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_ad228cdf352b7ea95e484da993045a47b}{get\_uncalibrated\_gyro\_bias\_X}}();}
\DoxyCodeLine{00221\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint16\_t\ \ FRS\_RECORDID\_GYROSCOPE\_CALIBRATED\ =\ 0xE306;} \DoxyCodeLine{00221\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a74725517129dd548c7a3de705d5861bd}{get\_uncalibrated\_gyro\_bias\_Y}}();}
\DoxyCodeLine{00222\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint16\_t\ \ FRS\_RECORDID\_MAGNETIC\_FIELD\_CALIBRATED\ =\ 0xE309;} \DoxyCodeLine{00222\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a5050359272abd146ab3c7a6101effbd7}{get\_uncalibrated\_gyro\_bias\_Z}}();}
\DoxyCodeLine{00223\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint16\_t\ \ FRS\_RECORDID\_ROTATION\_VECTOR\ =\ 0xE30B;} \DoxyCodeLine{00223\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a3285613f18b2f2f4c3f9e6d5c971af10}{get\_uncalibrated\_gyro\_accuracy}}();}
\DoxyCodeLine{00224\ } \DoxyCodeLine{00224\ }
\DoxyCodeLine{00225\ \ \ \ \ } \DoxyCodeLine{00225\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_afe6392012669e7ebd1a9e817e2bd313f}{get\_gyro\_velocity}}(\textcolor{keywordtype}{float}\&\ x,\ \textcolor{keywordtype}{float}\&\ y,\ \textcolor{keywordtype}{float}\&\ z);}
\DoxyCodeLine{00226\ \ \ \ \ \textcolor{keyword}{private}:} \DoxyCodeLine{00226\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_acd376cd3e454a87198ec86accbf2ee00}{get\_gyro\_velocity\_X}}();}
\DoxyCodeLine{00227\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{bool}\ wait\_for\_device\_int();\ } \DoxyCodeLine{00227\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_acd1819a81818f90dc105950b4a7d0b04}{get\_gyro\_velocity\_Y}}();}
\DoxyCodeLine{00228\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{bool}\ receive\_packet();} \DoxyCodeLine{00228\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_ae2add976af256ec981248371a2f58207}{get\_gyro\_velocity\_Z}}();}
\DoxyCodeLine{00229\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ send\_packet();\ } \DoxyCodeLine{00229\ }
\DoxyCodeLine{00230\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ queue\_packet(uint8\_t\ channel\_number,\ uint8\_t\ data\_length);\ } \DoxyCodeLine{00230\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a4797ec731de4c158716da1a7af9d1602}{get\_tap\_detector}}();}
\DoxyCodeLine{00231\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ queue\_command(uint8\_t\ command);\ } \DoxyCodeLine{00231\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_adaff49f3d80fdd19fd4210f0c56d41ef}{get\_step\_count}}();}
\DoxyCodeLine{00232\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ queue\_feature\_command(uint8\_t\ report\_ID,\ uint16\_t\ time\_between\_reports);} \DoxyCodeLine{00232\ \ \ \ \ \ \ \ \ int8\_t\ \mbox{\hyperlink{class_b_n_o08x_a0d148e00abcfeec48c689e3084a7e786}{get\_stability\_classifier}}();}
\DoxyCodeLine{00233\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ queue\_feature\_command(uint8\_t\ report\_ID,\ uint16\_t\ time\_between\_reports,\ uint32\_t\ specific\_config);} \DoxyCodeLine{00233\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a4f7060b2d3c15b359b70b6346730446a}{get\_activity\_classifier}}();}
\DoxyCodeLine{00234\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ queue\_calibrate\_command(uint8\_t\ \_to\_calibrate);\ } \DoxyCodeLine{00234\ }
\DoxyCodeLine{00235\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ queue\_tare\_command(uint8\_t\ command,\ uint8\_t\ axis\ =\ TARE\_AXIS\_ALL,\ uint8\_t\ rotation\_vector\_basis\ =\ TARE\_ROTATION\_VECTOR);\ } \DoxyCodeLine{00235\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a08f037df7b3c7e2fc3f0e968f4a5f68c}{print\_header}}();}
\DoxyCodeLine{00236\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ queue\_request\_product\_id\_command();\ } \DoxyCodeLine{00236\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a0ef39163352bd7a54ac85952e8cb8516}{print\_packet}}();}
\DoxyCodeLine{00237\ } \DoxyCodeLine{00237\ }
\DoxyCodeLine{00238\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ bno08x\_config\_t\ default\_imu\_config;\ } \DoxyCodeLine{00238\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ Metadata\ functions}}
\DoxyCodeLine{00239\ } \DoxyCodeLine{00239\ \ \ \ \ \ \ \ \ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_a4421c43323945946ad605f8422958dcf}{get\_Q1}}(uint16\_t\ record\_ID);}
\DoxyCodeLine{00240\ \ \ \ \ \ \ \ \ \textcolor{keyword}{volatile}\ uint8\_t\ tx\_packet\_queued;\ } \DoxyCodeLine{00240\ \ \ \ \ \ \ \ \ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_a954dccdcbe8a8c4f1787f13ebb8d932b}{get\_Q2}}(uint16\_t\ record\_ID);}
\DoxyCodeLine{00241\ \ \ \ \ \ \ \ \ SemaphoreHandle\_t\ tx\_semaphore;\ } \DoxyCodeLine{00241\ \ \ \ \ \ \ \ \ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_a1590ba793668f9cb1a32a1f4dd07cb9a}{get\_Q3}}(uint16\_t\ record\_ID);}
\DoxyCodeLine{00242\ \ \ \ \ \ \ \ \ uint8\_t\ rx\_buffer[300];\ } \DoxyCodeLine{00242\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a1d6ea02d0d4b23ff6a15e9d5c6c92372}{get\_resolution}}(uint16\_t\ record\_ID);}
\DoxyCodeLine{00243\ \ \ \ \ \ \ \ \ uint8\_t\ tx\_buffer[50];\ } \DoxyCodeLine{00243\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a0fff04c42c9502615ad73cd1457cb9b0}{get\_range}}(uint16\_t\ record\_ID);}
\DoxyCodeLine{00244\ \ \ \ \ \ \ \ \ uint8\_t\ packet\_header\_rx[4];\ } \DoxyCodeLine{00244\ \ \ \ \ \ \ \ \ uint32\_t\ \mbox{\hyperlink{class_b_n_o08x_a27f5dce5c994be18a587fb622574ad41}{FRS\_read\_word}}(uint16\_t\ record\_ID,\ uint8\_t\ word\_number);}
\DoxyCodeLine{00245\ \ \ \ \ \ \ \ \ uint8\_t\ commands[20];\ } \DoxyCodeLine{00245\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{class_b_n_o08x_adf789e709ac1667656db757c8d559af9}{FRS\_read\_request}}(uint16\_t\ record\_ID,\ uint16\_t\ read\_offset,\ uint16\_t\ block\_size);}
\DoxyCodeLine{00246\ \ \ \ \ \ \ \ \ uint8\_t\ sequence\_number[6];\ } \DoxyCodeLine{00246\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{class_b_n_o08x_a40607e557eada666a5e1e416f42cd4a1}{FRS\_read\_data}}(uint16\_t\ record\_ID,\ uint8\_t\ start\_location,\ uint8\_t\ words\_to\_read);}
\DoxyCodeLine{00247\ \ \ \ \ \ \ \ \ uint32\_t\ meta\_data[9];\ } \DoxyCodeLine{00247\ }
\DoxyCodeLine{00248\ \ \ \ \ \ \ \ \ uint8\_t\ command\_sequence\_number\ =\ 0;\ } \DoxyCodeLine{00248\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ Record\ IDs\ from\ figure\ 29,\ page\ 29\ reference\ manual}}
\DoxyCodeLine{00249\ \ \ \ \ \ \ \ \ uint16\_t\ packet\_length\_tx\ =\ 0;\ } \DoxyCodeLine{00249\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ These\ are\ used\ to\ read\ the\ metadata\ for\ each\ sensor\ type}}
\DoxyCodeLine{00250\ \ \ \ \ \ \ \ \ uint16\_t\ packet\_length\_rx\ =\ 0;\ } \DoxyCodeLine{00250\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_a72d8919cb432a53f57ff63aa29d5f984}{FRS\_RECORDID\_ACCELEROMETER}}\ =\ 0xE302;}
\DoxyCodeLine{00251\ } \DoxyCodeLine{00251\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_a6dbd6b8c9d1450c97db1e46861c55132}{FRS\_RECORDID\_GYROSCOPE\_CALIBRATED}}\ =\ 0xE306;}
\DoxyCodeLine{00252\ \ \ \ \ \ \ \ \ bno08x\_config\_t\ imu\_config\{\};\ } \DoxyCodeLine{00252\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_ab9519ab682fedb7224e4c0489c7d5619}{FRS\_RECORDID\_MAGNETIC\_FIELD\_CALIBRATED}}\ =\ 0xE309;}
\DoxyCodeLine{00253\ \ \ \ \ \ \ \ \ spi\_bus\_config\_t\ bus\_config\{\};\ } \DoxyCodeLine{00253\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_a58e7e3a7bf08fbdb4b75b3a0034ed33e}{FRS\_RECORDID\_ROTATION\_VECTOR}}\ =\ 0xE30B;}
\DoxyCodeLine{00254\ \ \ \ \ \ \ \ \ spi\_device\_interface\_config\_t\ imu\_spi\_config\{\};\ } \DoxyCodeLine{00254\ }
\DoxyCodeLine{00255\ \ \ \ \ \ \ \ \ spi\_device\_handle\_t\ spi\_hdl\{\};\ } \DoxyCodeLine{00255\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a1ef13f6f330810934416ad5fe0ee55b2}{TARE\_AXIS\_ALL}}\ =\ 0x07;\ }
\DoxyCodeLine{00256\ \ \ \ \ \ \ \ \ spi\_transaction\_t\ spi\_transaction\{\};\ } \DoxyCodeLine{00256\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_aecb3e11c1ca5769fd60f42c17a105731}{TARE\_AXIS\_Z}}\ =\ 0x04;\ \ \ }
\DoxyCodeLine{00257\ } \DoxyCodeLine{00257\ }
\DoxyCodeLine{00258\ \ \ \ \ \ \ \ \ \textcolor{comment}{//These\ are\ the\ raw\ sensor\ values\ (without\ Q\ applied)\ pulled\ from\ the\ user\ requested\ Input\ Report}} \DoxyCodeLine{00258\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ Which\ rotation\ vector\ to\ tare,\ BNO08x\ saves\ them\ seperately}}
\DoxyCodeLine{00259\ \ \ \ \ \ \ \ \ uint32\_t\ time\_stamp;\ } \DoxyCodeLine{00259\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a8e2cfc25d0e34ae53a762b88cc3ac3c8}{TARE\_ROTATION\_VECTOR}}\ =\ 0;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00260\ \ \ \ \ \ \ \ \ uint16\_t\ raw\_accel\_X,\ raw\_accel\_Y,\ raw\_accel\_Z,\ accel\_accuracy;\ } \DoxyCodeLine{00260\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_abaf1ec8bb197db1998a9ed3cec6180d5}{TARE\_GAME\_ROTATION\_VECTOR}}\ =\ 1;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00261\ \ \ \ \ \ \ \ \ uint16\_t\ raw\_lin\_accel\_X,\ raw\_lin\_accel\_Y,\ raw\_lin\_accel\_Z,\ accel\_lin\_accuracy;\ } \DoxyCodeLine{00261\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a225397a04d849e5647992ca80d68febb}{TARE\_GEOMAGNETIC\_ROTATION\_VECTOR}}\ =\ 2;\ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00262\ \ \ \ \ \ \ \ \ uint16\_t\ raw\_gyro\_X,\ raw\_gyro\_Y,\ raw\_gyro\_Z,\ gyro\_accuracy;\ } \DoxyCodeLine{00262\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a9ec354d75249f06f13599abf7bedfde0}{TARE\_GYRO\_INTEGRATED\_ROTATION\_VECTOR}}\ =\ 3;\ \ \ \ \ \ \ }
\DoxyCodeLine{00263\ \ \ \ \ \ \ \ \ uint16\_t\ raw\_quat\_I,\ raw\_quat\_J,\ raw\_quat\_K,\ raw\_quat\_real,\ raw\_quat\_radian\_accuracy,\ quat\_accuracy;\ } \DoxyCodeLine{00263\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a32204963cefc4ae64a80f43e71c8667a}{TARE\_AR\_VR\_STABILIZED\_ROTATION\_VECTOR}}\ =\ 4;\ \ \ \ \ \ }
\DoxyCodeLine{00264\ \ \ \ \ \ \ \ \ uint16\_t\ raw\_velocity\_gyro\_X,\ raw\_velocity\_gyro\_Y,\ raw\_velocity\_gyro\_Z;} \DoxyCodeLine{00264\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_aed8135fd5e7996ef06bf5968692ccd84}{TARE\_AR\_VR\_STABILIZED\_GAME\_ROTATION\_VECTOR}}\ =\ 5;\ }
\DoxyCodeLine{00265\ \ \ \ \ \ \ \ \ uint16\_t\ gravity\_X,\ gravity\_Y,\ gravity\_Z,\ gravity\_accuracy;\ } \DoxyCodeLine{00265\ }
\DoxyCodeLine{00266\ \ \ \ \ \ \ \ \ uint16\_t\ raw\_uncalib\_gyro\_X,\ raw\_uncalib\_gyro\_Y,\ raw\_uncalib\_gyro\_Z,\ raw\_bias\_X,\ raw\_bias\_Y,\ raw\_bias\_Z,\ uncalib\_gyro\_accuracy;\ } \DoxyCodeLine{00266\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_a0b19c8f2de2b2bfe033da7f93cdd2608}{ROTATION\_VECTOR\_Q1}}\ =\ 14;\ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00267\ \ \ \ \ \ \ \ \ uint16\_t\ raw\_magf\_X,\ raw\_magf\_Y,\ raw\_magf\_Z,\ magf\_accuracy;\ } \DoxyCodeLine{00267\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_a923d65d8568cc31873ad56a3908e1939}{ROTATION\_VECTOR\_ACCURACY\_Q1}}\ =\ 12;\ }
\DoxyCodeLine{00268\ \ \ \ \ \ \ \ \ uint8\_t\ tap\_detector;\ } \DoxyCodeLine{00268\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_a0564aaf5b20dc42b54db4fb3115ac1c7}{ACCELEROMETER\_Q1}}\ =\ 8;\ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00269\ \ \ \ \ \ \ \ \ uint16\_t\ step\_count;\ } \DoxyCodeLine{00269\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_ad0d37fe07ced24f2c9afc21145a74e7b}{LINEAR\_ACCELEROMETER\_Q1}}\ =\ 8;\ \ \ \ \ \ }
\DoxyCodeLine{00270\ \ \ \ \ \ \ \ \ uint8\_t\ stability\_classifier;} \DoxyCodeLine{00270\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_aa3bec8effefa61cec6fa170e9d02c4dd}{GYRO\_Q1}}\ =\ 9;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00271\ \ \ \ \ \ \ \ \ uint8\_t\ activity\_classifier;\ } \DoxyCodeLine{00271\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_a9fac9b811b7c2117675a784cb4df204c}{MAGNETOMETER\_Q1}}\ =\ 4;\ \ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00272\ \ \ \ \ \ \ \ \ uint8\_t\ *activity\_confidences;} \DoxyCodeLine{00272\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_aafe117561fe9138800073a04a778b4ce}{ANGULAR\_VELOCITY\_Q1}}\ =\ 10;\ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00273\ \ \ \ \ \ \ \ \ uint8\_t\ calibration\_status;\ } \DoxyCodeLine{00273\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_ae10722334dfce9635e76519598e165a2}{GRAVITY\_Q1}}\ =\ 8;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00274\ \ \ \ \ \ \ \ \ uint16\_t\ mems\_raw\_accel\_X,\ mems\_raw\_accel\_Y,\ mems\_raw\_accel\_Z;\ } \DoxyCodeLine{00274\ }
\DoxyCodeLine{00275\ \ \ \ \ \ \ \ \ uint16\_t\ mems\_raw\_gyro\_X,\ mems\_raw\_gyro\_Y,\ mems\_raw\_gyro\_Z;\ \ } \DoxyCodeLine{00275\ \ \ \ \ \textcolor{keyword}{private}:}
\DoxyCodeLine{00276\ \ \ \ \ \ \ \ \ uint16\_t\ mems\_raw\_magf\_X,\ mems\_raw\_magf\_Y,\ mems\_raw\_magf\_Z;\ \ \ \ } \DoxyCodeLine{00276\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{class_b_n_o08x_a988c45b4afa4dcd6a24610ff308c1faa}{wait\_for\_device\_int}}();}
\DoxyCodeLine{00277\ } \DoxyCodeLine{00277\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{class_b_n_o08x_ae540799865934fcff54caed0772df071}{receive\_packet}}();}
\DoxyCodeLine{00278\ \ \ \ \ \ \ \ \ \textcolor{comment}{//spi\ task}} \DoxyCodeLine{00278\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a0ee58cedbc06d4a7db8821f40c0ee207}{send\_packet}}();}
\DoxyCodeLine{00279\ \ \ \ \ \ \ \ \ TaskHandle\_t\ spi\_task\_hdl;\ } \DoxyCodeLine{00279\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a67d0b5302a60083cef1b31936e2b65d8}{queue\_packet}}(uint8\_t\ channel\_number,\ uint8\_t\ data\_length);}
\DoxyCodeLine{00280\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keywordtype}{void}\ spi\_task\_trampoline(\textcolor{keywordtype}{void}\ *arg);\ } \DoxyCodeLine{00280\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a1742d6445ffb6e9297b8bf84dec24f22}{queue\_command}}(uint8\_t\ command);}
\DoxyCodeLine{00281\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ spi\_task();\ } \DoxyCodeLine{00281\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a6c004a16b146527aa9eeeb6ff37db281}{queue\_feature\_command}}(uint8\_t\ report\_ID,\ uint16\_t\ time\_between\_reports);}
\DoxyCodeLine{00282\ } \DoxyCodeLine{00282\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a6c004a16b146527aa9eeeb6ff37db281}{queue\_feature\_command}}(uint8\_t\ report\_ID,\ uint16\_t\ time\_between\_reports,\ uint32\_t\ specific\_config);}
\DoxyCodeLine{00283\ \ \ \ \ \ \ \ \ \textcolor{keyword}{volatile}\ \textcolor{keywordtype}{bool}\ int\_asserted;\ } \DoxyCodeLine{00283\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_ad097849616c5caab1fd3eb3632ee2b91}{queue\_calibrate\_command}}(uint8\_t\ \_to\_calibrate);}
\DoxyCodeLine{00284\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keywordtype}{void}\ IRAM\_ATTR\ hint\_handler(\textcolor{keywordtype}{void}\ *arg);} \DoxyCodeLine{00284\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a4c6353e795f734ed28613f9a3d161ea2}{queue\_tare\_command}}(uint8\_t\ command,\ uint8\_t\ axis\ =\ \mbox{\hyperlink{class_b_n_o08x_a1ef13f6f330810934416ad5fe0ee55b2}{TARE\_AXIS\_ALL}},\ uint8\_t\ rotation\_vector\_basis\ =\ \mbox{\hyperlink{class_b_n_o08x_a8e2cfc25d0e34ae53a762b88cc3ac3c8}{TARE\_ROTATION\_VECTOR}});}
\DoxyCodeLine{00285\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keywordtype}{bool}\ isr\_service\_installed;\ } \DoxyCodeLine{00285\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_ab5f200069a2f8cb74cb79c6f162da5a1}{queue\_request\_product\_id\_command}}();}
\DoxyCodeLine{00286\ \ \ \ \ \ \ \ \ } \DoxyCodeLine{00286\ }
\DoxyCodeLine{00287\ } \DoxyCodeLine{00287\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \mbox{\hyperlink{structbno08x__config__t}{bno08x\_config\_t}}\ \mbox{\hyperlink{class_b_n_o08x_a6232920a05c0aba34e5560951a20ae87}{default\_imu\_config}};\ }
\DoxyCodeLine{00288\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ int16\_t\ ROTATION\_VECTOR\_Q1\ =\ 14;\ } \DoxyCodeLine{00288\ }
\DoxyCodeLine{00289\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ int16\_t\ ROTATION\_VECTOR\_ACCURACY\_Q1\ =\ 12;\ } \DoxyCodeLine{00289\ \ \ \ \ \ \ \ \ \textcolor{keyword}{volatile}\ uint8\_t}
\DoxyCodeLine{00290\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ int16\_t\ ACCELEROMETER\_Q1\ =\ 8;\ } \DoxyCodeLine{00290\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_a5b1f13a3170f1c8fdcc886353efa0c08}{tx\_packet\_queued}};\ }
\DoxyCodeLine{00291\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ int16\_t\ LINEAR\_ACCELEROMETER\_Q1\ =\ 8;\ } \DoxyCodeLine{00291\ \ \ \ \ \ \ \ \ SemaphoreHandle\_t\ \mbox{\hyperlink{class_b_n_o08x_aee2d0bcb8e9d7bacacccacbb04ded661}{tx\_semaphore}};\ }
\DoxyCodeLine{00292\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ int16\_t\ GYRO\_Q1\ =\ 9;\ } \DoxyCodeLine{00292\ \ \ \ \ \ \ \ \ SemaphoreHandle\_t}
\DoxyCodeLine{00293\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ int16\_t\ MAGNETOMETER\_Q1\ =\ 4;\ } \DoxyCodeLine{00293\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_a33aee99f7f0d07c3061bab90831bc309}{int\_asserted\_semaphore}};\ }
\DoxyCodeLine{00294\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ int16\_t\ ANGULAR\_VELOCITY\_Q1\ =\ 10;\ } \DoxyCodeLine{00294\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a7a85ccea09eadf865e8bbbf00d800e64}{rx\_buffer}}[300];\ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00295\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ int16\_t\ GRAVITY\_Q1\ =\ 8;\ } \DoxyCodeLine{00295\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a74d936708ba924b6ba21004ff9a0b30b}{tx\_buffer}}[50];\ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00296\ } \DoxyCodeLine{00296\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a908264b797fff9dc6679abde5e7584a5}{packet\_header\_rx}}[4];\ \ \ \ }
\DoxyCodeLine{00297\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint64\_t\ HOST\_INT\_TIMEOUT\_US\ =\ 150000ULL;\ } \DoxyCodeLine{00297\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_acbca88b37c8c5a590ca971b241dac64f}{commands}}[20];\ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00298\ } \DoxyCodeLine{00298\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_aa722dbc6f6f07c63e9ea2a9271614af3}{sequence\_number}}[6];\ \ \ \ \ }
\DoxyCodeLine{00299\ \ \ \ \ \ \ \ \ \textcolor{comment}{//Higher\ level\ calibration\ commands,\ used\ by\ queue\_calibrate\_command}} \DoxyCodeLine{00299\ \ \ \ \ \ \ \ \ uint32\_t\ \mbox{\hyperlink{class_b_n_o08x_a7bd032712a975e73e66bd72a3502baba}{meta\_data}}[9];\ }
\DoxyCodeLine{00300\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ CALIBRATE\_ACCEL\ =\ 0;\ } \DoxyCodeLine{00300\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_ac1daa730e75d17e6afd1edaa288260ae}{command\_sequence\_number}}\ =\ 0;\ }
\DoxyCodeLine{00301\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ CALIBRATE\_GYRO\ =\ 1;} \DoxyCodeLine{00301\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_a6fbc6d086654b022a3ea53dfacd4fdf5}{packet\_length\_tx}}\ =\ 0;\ \ \ \ \ \ \ }
\DoxyCodeLine{00302\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ CALIBRATE\_MAG\ =\ 2;\ } \DoxyCodeLine{00302\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_af65e3fd0bfdb5b82dcf775e2c061c65a}{packet\_length\_rx}}\ =\ 0;\ \ \ \ \ \ \ }
\DoxyCodeLine{00303\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ CALIBRATE\_PLANAR\_ACCEL\ =\ 3;\ } \DoxyCodeLine{00303\ }
\DoxyCodeLine{00304\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ CALIBRATE\_ACCEL\_GYRO\_MAG\ =\ 4;\ } \DoxyCodeLine{00304\ \ \ \ \ \ \ \ \ \mbox{\hyperlink{structbno08x__config__t}{bno08x\_config\_t}}\ \mbox{\hyperlink{class_b_n_o08x_aeda443e9f608fccfec0e6770edc90c82}{imu\_config}}\{\};\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00305\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ CALIBRATE\_STOP\ =\ 5;\ } \DoxyCodeLine{00305\ \ \ \ \ \ \ \ \ spi\_bus\_config\_t\ \mbox{\hyperlink{class_b_n_o08x_a982f065df42f00e53fd87c840efdb0f1}{bus\_config}}\{\};\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00306\ } \DoxyCodeLine{00306\ \ \ \ \ \ \ \ \ spi\_device\_interface\_config\_t\ \mbox{\hyperlink{class_b_n_o08x_a425a1f5a9f3232aadc685caaf4c2f82e}{imu\_spi\_config}}\{\};\ }
\DoxyCodeLine{00307\ \ \ \ \ \ \ \ \ \textcolor{comment}{//Command\ IDs\ (see\ Ref.\ Manual\ 6.4)}} \DoxyCodeLine{00307\ \ \ \ \ \ \ \ \ spi\_device\_handle\_t\ \mbox{\hyperlink{class_b_n_o08x_acc0ea091465fc9a5736f5e0c6a0ce8ef}{spi\_hdl}}\{\};\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00308\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ COMMAND\_ERRORS\ =\ 1;} \DoxyCodeLine{00308\ \ \ \ \ \ \ \ \ spi\_transaction\_t\ \mbox{\hyperlink{class_b_n_o08x_ac16adc5f00b0039c98a4921f13895026}{spi\_transaction}}\{\};\ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00309\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ COMMAND\_COUNTER\ =\ 2;} \DoxyCodeLine{00309\ }
\DoxyCodeLine{00310\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ COMMAND\_TARE\ =\ 3;\ } \DoxyCodeLine{00310\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ These\ are\ the\ raw\ sensor\ values\ (without\ Q\ applied)\ pulled\ from\ the\ user\ requested\ Input\ Report}}
\DoxyCodeLine{00311\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ COMMAND\_INITIALIZE\ =\ 4;\ } \DoxyCodeLine{00311\ \ \ \ \ \ \ \ \ uint32\_t\ \mbox{\hyperlink{class_b_n_o08x_abc972db20affbd0040b4e6c4892dd57b}{time\_stamp}};\ }
\DoxyCodeLine{00312\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ COMMAND\_DCD\ =\ 6;\ } \DoxyCodeLine{00312\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_a75fb2f06c5bbe26e3f3c794934ef954c}{raw\_accel\_X}},\ \mbox{\hyperlink{class_b_n_o08x_ab56e2ba505fa293d03e955137625c562}{raw\_accel\_Y}},\ \mbox{\hyperlink{class_b_n_o08x_af254d245b368027df6952b7d7522bd35}{raw\_accel\_Z}},}
\DoxyCodeLine{00313\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ COMMAND\_ME\_CALIBRATE\ =\ 7;\ } \DoxyCodeLine{00313\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_a3365b7ebde01e284274e655c60343df9}{accel\_accuracy}};\ }
\DoxyCodeLine{00314\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ COMMAND\_DCD\_PERIOD\_SAVE\ =\ 9;\ } \DoxyCodeLine{00314\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_ae1f71a432cb15e75f522fa18f29f4d50}{raw\_lin\_accel\_X}},\ \mbox{\hyperlink{class_b_n_o08x_aff3a5590471d1c9fc485a5610433915f}{raw\_lin\_accel\_Y}},\ \mbox{\hyperlink{class_b_n_o08x_abc8add47f1babc66c812a015614143d3}{raw\_lin\_accel\_Z}},}
\DoxyCodeLine{00315\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ COMMAND\_OSCILLATOR\ =\ 10;\ } \DoxyCodeLine{00315\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_a35e1635ef5edde8fc8640f978c6f2e3c}{accel\_lin\_accuracy}};\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00316\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ COMMAND\_CLEAR\_DCD\ =\ 11;\ } \DoxyCodeLine{00316\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_a19696327a056a448ed5ba706e747bbe5}{raw\_gyro\_X}},\ \mbox{\hyperlink{class_b_n_o08x_a61df9f571555f5f682eb51f24a279489}{raw\_gyro\_Y}},\ \mbox{\hyperlink{class_b_n_o08x_a03f567cda2a3cc966301e96732fca9ad}{raw\_gyro\_Z}},\ \mbox{\hyperlink{class_b_n_o08x_a98ea35dd0fbd0c409d25fd8a6ed9f277}{gyro\_accuracy}};\ }
\DoxyCodeLine{00317\ } \DoxyCodeLine{00317\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_a69dc7e97875060213085ba964b3bd987}{raw\_quat\_I}},\ \mbox{\hyperlink{class_b_n_o08x_a61ae05dc5572b326541bf8099f0c2a54}{raw\_quat\_J}},\ \mbox{\hyperlink{class_b_n_o08x_a7720c44ed1c0f1a0663d2adc5e1a1ea1}{raw\_quat\_K}},\ \mbox{\hyperlink{class_b_n_o08x_a867354267253ae828be4fae15c062db3}{raw\_quat\_real}},\ \mbox{\hyperlink{class_b_n_o08x_a033d6cb1aa137743b69cc3e401df67b7}{raw\_quat\_radian\_accuracy}},}
\DoxyCodeLine{00318\ \ \ \ \ \ \ \ \ \textcolor{comment}{//SHTP\ channel\ 2\ control\ report\ IDs,\ used\ in\ communication\ with\ sensor\ (See\ Ref.\ Manual\ 6.2)}} \DoxyCodeLine{00318\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_a36223f7124751fa71e860b2ef55dd2ac}{quat\_accuracy}};\ }
\DoxyCodeLine{00319\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ SHTP\_REPORT\_COMMAND\_RESPONSE\ =\ 0xF1;\ } \DoxyCodeLine{00319\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_aa5bb03dbeabed729c012ec7164a3354f}{raw\_velocity\_gyro\_X}},\ \mbox{\hyperlink{class_b_n_o08x_a4f188bf76ba862f07606d1351d28548f}{raw\_velocity\_gyro\_Y}},}
\DoxyCodeLine{00320\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ SHTP\_REPORT\_COMMAND\_REQUEST\ =\ 0xF2;\ } \DoxyCodeLine{00320\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_ab49f9a6586d709bbd26280ef44a4bbf7}{raw\_velocity\_gyro\_Z}};\ }
\DoxyCodeLine{00321\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ SHTP\_REPORT\_FRS\_READ\_RESPONSE\ =\ 0xF3;\ } \DoxyCodeLine{00321\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_af45016be9ea523d80be8467b2907b499}{gravity\_X}},\ \mbox{\hyperlink{class_b_n_o08x_af20dcd487a9fe8fa6243817d51e37be5}{gravity\_Y}},\ \mbox{\hyperlink{class_b_n_o08x_afa1cf5c3afbb258d97c55c5fb187f2d6}{gravity\_Z}},}
\DoxyCodeLine{00322\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ SHTP\_REPORT\_FRS\_READ\_REQUEST\ =\ 0xF4;\ } \DoxyCodeLine{00322\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_ae01698d287ea999179a11e2244902022}{gravity\_accuracy}};\ }
\DoxyCodeLine{00323\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ SHTP\_REPORT\_PRODUCT\_ID\_RESPONSE\ =\ 0xF8;\ } \DoxyCodeLine{00323\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_afdc5cdb65bd0b36528b5b671b9d27053}{raw\_uncalib\_gyro\_X}},\ \mbox{\hyperlink{class_b_n_o08x_acc2c66e2985975266a286385ea855117}{raw\_uncalib\_gyro\_Y}},\ \mbox{\hyperlink{class_b_n_o08x_afac9dd4161f4c0051255293680c9082b}{raw\_uncalib\_gyro\_Z}},\ \mbox{\hyperlink{class_b_n_o08x_a8a2667f668317cee0a9fc4ef0accc3f5}{raw\_bias\_X}},\ \mbox{\hyperlink{class_b_n_o08x_ac38ff5eb93d3c3db0af2504ba02fd93c}{raw\_bias\_Y}},\ \mbox{\hyperlink{class_b_n_o08x_a0968eaed9b3d979a2caa1aba6e6b417a}{raw\_bias\_Z}},}
\DoxyCodeLine{00324\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ SHTP\_REPORT\_PRODUCT\_ID\_REQUEST\ =\ 0xF9;\ } \DoxyCodeLine{00324\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_a081c666a3f24016d0ec5c5edc49f2903}{uncalib\_gyro\_accuracy}};\ }
\DoxyCodeLine{00325\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ SHTP\_REPORT\_BASE\_TIMESTAMP\ =\ 0xFB;\ } \DoxyCodeLine{00325\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_aa5bdf740161b7c37adcac0154a410118}{raw\_magf\_X}},\ \mbox{\hyperlink{class_b_n_o08x_acd365418f24a6da61122c66d82086639}{raw\_magf\_Y}},\ \mbox{\hyperlink{class_b_n_o08x_ab4862de31d0874b44b6745678e1c905e}{raw\_magf\_Z}},}
\DoxyCodeLine{00326\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ SHTP\_REPORT\_SET\_FEATURE\_COMMAND\ =\ 0xFD;\ } \DoxyCodeLine{00326\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_ac5d4e151690774687efa951ca41c16ae}{magf\_accuracy}};\ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00327\ } \DoxyCodeLine{00327\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a1171a5738a4e6831ec7fa32a29f15554}{tap\_detector}};\ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00328\ } \DoxyCodeLine{00328\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_ad80a77973371b12d722ea39063c648be}{step\_count}};\ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00329\ \ \ \ \ \ \ \ \ \textcolor{comment}{//Sensor\ report\ IDs,\ used\ when\ enabling\ and\ reading\ BNO08x\ reports}} \DoxyCodeLine{00329\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a1b12471e92536a79d0c425d77676f2e1}{stability\_classifier}};\ \ }
\DoxyCodeLine{00330\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ SENSOR\_REPORTID\_ACCELEROMETER\ =\ 0x01;\ } \DoxyCodeLine{00330\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a75cea49c1c08ca28d9fa7e5ed61c6e7b}{activity\_classifier}};\ \ \ }
\DoxyCodeLine{00331\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ SENSOR\_REPORTID\_GYROSCOPE\ =\ 0x02;\ } \DoxyCodeLine{00331\ \ \ \ \ \ \ \ \ uint8\_t*\ \mbox{\hyperlink{class_b_n_o08x_af96e8cd070459f945ffbf01b98106e13}{activity\_confidences}};\ }
\DoxyCodeLine{00332\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ SENSOR\_REPORTID\_MAGNETIC\_FIELD\ =\ 0x03;\ } \DoxyCodeLine{00332\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_ad212b5028a31e857e76d251ced2724e1}{calibration\_status}};\ \ \ \ }
\DoxyCodeLine{00333\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ SENSOR\_REPORTID\_LINEAR\_ACCELERATION\ =\ 0x04;\ } \DoxyCodeLine{00333\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_a937cbdc4edaac72c8cad041d79de5701}{mems\_raw\_accel\_X}},\ \mbox{\hyperlink{class_b_n_o08x_ad83cecb8a5d2be01db6792755b6057e9}{mems\_raw\_accel\_Y}},}
\DoxyCodeLine{00334\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ SENSOR\_REPORTID\_ROTATION\_VECTOR\ =\ 0x05;\ } \DoxyCodeLine{00334\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_a59a4d75f1302ab693b1b26e9ccaa5341}{mems\_raw\_accel\_Z}};\ }
\DoxyCodeLine{00335\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ SENSOR\_REPORTID\_GRAVITY\ =\ 0x06;\ } \DoxyCodeLine{00335\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_a3d6b6257462951ea023af7076c80f6dd}{mems\_raw\_gyro\_X}},\ \mbox{\hyperlink{class_b_n_o08x_ab6b142416912a096886dd63ad0beb865}{mems\_raw\_gyro\_Y}},}
\DoxyCodeLine{00336\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ SENSOR\_REPORTID\_UNCALIBRATED\_GYRO\ =\ 0x07;\ } \DoxyCodeLine{00336\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_ac35d5b12721ab876eaeb1f714a9b3b1d}{mems\_raw\_gyro\_Z}};\ }
\DoxyCodeLine{00337\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ SENSOR\_REPORTID\_GAME\_ROTATION\_VECTOR\ =\ 0x08;\ } \DoxyCodeLine{00337\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_ab587cdf991342b69b7fff3b33f537eb5}{mems\_raw\_magf\_X}},\ \mbox{\hyperlink{class_b_n_o08x_aad926054c81818fff611e10ed913706a}{mems\_raw\_magf\_Y}},}
\DoxyCodeLine{00338\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ SENSOR\_REPORTID\_GEOMAGNETIC\_ROTATION\_VECTOR\ =\ 0x09;\ } \DoxyCodeLine{00338\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_a90f0cdf11decc276006f76a494d42ce3}{mems\_raw\_magf\_Z}};\ }
\DoxyCodeLine{00339\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ SENSOR\_REPORTID\_GYRO\_INTEGRATED\_ROTATION\_VECTOR\ =\ 0x2A;\ } \DoxyCodeLine{00339\ }
\DoxyCodeLine{00340\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ SENSOR\_REPORTID\_TAP\_DETECTOR\ =\ 0x10;} \DoxyCodeLine{00340\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ spi\ task}}
\DoxyCodeLine{00341\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ SENSOR\_REPORTID\_STEP\_COUNTER\ =\ 0x11;\ } \DoxyCodeLine{00341\ \ \ \ \ \ \ \ \ TaskHandle\_t\ \mbox{\hyperlink{class_b_n_o08x_a615090aae15f1b0410a7e5ecb94957b5}{spi\_task\_hdl}};\ }
\DoxyCodeLine{00342\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ SENSOR\_REPORTID\_STABILITY\_CLASSIFIER\ =\ 0x13;\ } \DoxyCodeLine{00342\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a0ce6d9db873555f1ebe7e095251eab74}{spi\_task\_trampoline}}(\textcolor{keywordtype}{void}*\ arg);}
\DoxyCodeLine{00343\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ SENSOR\_REPORTID\_RAW\_ACCELEROMETER\ =\ 0x14;\ } \DoxyCodeLine{00343\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a2ecd4ed60f82730ae230c61687ec92bf}{spi\_task}}();}
\DoxyCodeLine{00344\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ SENSOR\_REPORTID\_RAW\_GYROSCOPE\ =\ 0x15;\ } \DoxyCodeLine{00344\ }
\DoxyCodeLine{00345\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ SENSOR\_REPORTID\_RAW\_MAGNETOMETER\ =\ 0x16;\ } \DoxyCodeLine{00345\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keywordtype}{void}\ IRAM\_ATTR\ \mbox{\hyperlink{class_b_n_o08x_a804b95c58c30d36933fd251626b85bf7}{hint\_handler}}(\textcolor{keywordtype}{void}*\ arg);}
\DoxyCodeLine{00346\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ SENSOR\_REPORTID\_PERSONAL\_ACTIVITY\_CLASSIFIER\ =\ 0x1E;\ } \DoxyCodeLine{00346\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keywordtype}{bool}}
\DoxyCodeLine{00347\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ SENSOR\_REPORTID\_AR\_VR\_STABILIZED\_ROTATION\_VECTOR\ =\ 0x28;\ } \DoxyCodeLine{00347\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_a4882dbc698d7b730f57e2401037766a9}{isr\_service\_installed}};\ }
\DoxyCodeLine{00348\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ SENSOR\_REPORTID\_AR\_VR\_STABILIZED\_GAME\_ROTATION\_VECTOR\ =\ 0x29;\ } \DoxyCodeLine{00348\ }
\DoxyCodeLine{00349\ } \DoxyCodeLine{00349\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint64\_t\ \mbox{\hyperlink{class_b_n_o08x_ae7f34752f888c637d5619f898e62a6d4}{HOST\_INT\_TIMEOUT\_MS}}\ =}
\DoxyCodeLine{00350\ \ \ \ \ \ \ \ \ \textcolor{comment}{//Tare\ commands\ used\ by\ queue\_tare\_command}} \DoxyCodeLine{00350\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ 150ULL;\ }
\DoxyCodeLine{00351\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ TARE\_NOW\ =\ 0;\ } \DoxyCodeLine{00351\ }
\DoxyCodeLine{00352\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ TARE\_PERSIST\ =\ 1;\ } \DoxyCodeLine{00352\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ Higher\ level\ calibration\ commands,\ used\ by\ queue\_calibrate\_command}}
\DoxyCodeLine{00353\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ TARE\_SET\_REORIENTATION\ =\ 2;\ } \DoxyCodeLine{00353\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_acd5b44d705af1f9aaa271a59a9d2d595}{CALIBRATE\_ACCEL}}\ =\ 0;\ \ \ \ \ \ \ \ }
\DoxyCodeLine{00354\ } \DoxyCodeLine{00354\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_aeac84719a1cc0f9c8d5a9a749391d4db}{CALIBRATE\_GYRO}}\ =\ 1;\ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00355\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ TARE\_AXIS\_ALL\ =\ 0x07;\ } \DoxyCodeLine{00355\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_ac00e8b59ae8d710cf79956eaafa97ddb}{CALIBRATE\_MAG}}\ =\ 2;\ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00356\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ TARE\_AXIS\_Z\ \ \ =\ 0x04;\ } \DoxyCodeLine{00356\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a955dcb60da150490e17367a871b3a3d2}{CALIBRATE\_PLANAR\_ACCEL}}\ =\ 3;\ }
\DoxyCodeLine{00357\ } \DoxyCodeLine{00357\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_af53d9e99f163d97ef92fe989b1dd25cc}{CALIBRATE\_ACCEL\_GYRO\_MAG}}\ =}
\DoxyCodeLine{00358\ \ \ \ \ \ \ \ \ \textcolor{comment}{//Which\ rotation\ vector\ to\ tare,\ BNO08x\ saves\ them\ seperately}} \DoxyCodeLine{00358\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ 4;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00359\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ TARE\_ROTATION\_VECTOR\ =\ 0;\ } \DoxyCodeLine{00359\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a584bfa04a39feb93279ee673c340db54}{CALIBRATE\_STOP}}\ =\ 5;\ }
\DoxyCodeLine{00360\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ TARE\_GAME\_ROTATION\_VECTOR\ =\ 1;\ } \DoxyCodeLine{00360\ }
\DoxyCodeLine{00361\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ TARE\_GEOMAGNETIC\_ROTATION\_VECTOR\ =\ 2;} \DoxyCodeLine{00361\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ Command\ IDs\ (see\ Ref.\ Manual\ 6.4)}}
\DoxyCodeLine{00362\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ TARE\_GYRO\_INTEGRATED\_ROTATION\_VECTOR\ =\ 3;\ } \DoxyCodeLine{00362\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a384a1efc9857ad938be3bb44f871539b}{COMMAND\_ERRORS}}\ =\ 1;}
\DoxyCodeLine{00363\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ TARE\_AR\_VR\_STABILIZED\_ROTATION\_VECTOR\ =\ 4;\ } \DoxyCodeLine{00363\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a93dd073c0cc1f3ccfde552649f6ebccc}{COMMAND\_COUNTER}}\ =\ 2;}
\DoxyCodeLine{00364\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ TARE\_AR\_VR\_STABILIZED\_GAME\_ROTATION\_VECTOR\ =\ 5;\ } \DoxyCodeLine{00364\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a0a1756bc16ba3eac45f4229b1e350107}{COMMAND\_TARE}}\ =\ 3;\ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00365\ } \DoxyCodeLine{00365\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a30eb6d305a187d4d36546841e12176b9}{COMMAND\_INITIALIZE}}\ =\ 4;\ \ \ \ \ \ }
\DoxyCodeLine{00366\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ \textcolor{keywordtype}{char}\ *TAG\ =\ \textcolor{stringliteral}{"{}BNO08x"{}};\ } \DoxyCodeLine{00366\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_af124a6c1d8b871f3181b6c85f1099cb2}{COMMAND\_DCD}}\ =\ 6;\ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00367\ \};} \DoxyCodeLine{00367\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a8381dfe403ddff522f172cb16780731a}{COMMAND\_ME\_CALIBRATE}}\ =\ 7;\ \ \ \ }
\DoxyCodeLine{00368\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a7a246989c94cd87f68166b20b7ad4c8b}{COMMAND\_DCD\_PERIOD\_SAVE}}\ =\ 9;\ }
\DoxyCodeLine{00369\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a308c8b5307d93a67b5b9066d44494aa5}{COMMAND\_OSCILLATOR}}\ =\ 10;\ \ \ \ \ }
\DoxyCodeLine{00370\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a4f580b3cb232a762ea7019ee7b04d419}{COMMAND\_CLEAR\_DCD}}\ =\ 11;\ \ \ \ \ \ }
\DoxyCodeLine{00371\ }
\DoxyCodeLine{00372\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ SHTP\ channel\ 2\ control\ report\ IDs,\ used\ in\ communication\ with\ sensor\ (See\ Ref.\ Manual\ 6.2)}}
\DoxyCodeLine{00373\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a1e5b64caa514b7e4fe64ab214758b875}{SHTP\_REPORT\_COMMAND\_RESPONSE}}\ =\ 0xF1;\ \ \ \ }
\DoxyCodeLine{00374\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_ab04695dd189412092254e52bd6e5a75a}{SHTP\_REPORT\_COMMAND\_REQUEST}}\ =\ 0xF2;\ \ \ \ \ }
\DoxyCodeLine{00375\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_aeb760b095dcf808a413ef696f2608e43}{SHTP\_REPORT\_FRS\_READ\_RESPONSE}}\ =\ 0xF3;\ \ \ }
\DoxyCodeLine{00376\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a74af7eacc35cc825940b647c2de0d368}{SHTP\_REPORT\_FRS\_READ\_REQUEST}}\ =\ 0xF4;\ \ \ \ }
\DoxyCodeLine{00377\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a0177134162e116501bc9483c6e4b76c3}{SHTP\_REPORT\_PRODUCT\_ID\_RESPONSE}}\ =\ 0xF8;\ }
\DoxyCodeLine{00378\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a542405639c28bd56bc4361b922763c95}{SHTP\_REPORT\_PRODUCT\_ID\_REQUEST}}\ =\ 0xF9;\ \ }
\DoxyCodeLine{00379\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_ae37d6f8431c8c465bfb0c662772b5cb9}{SHTP\_REPORT\_BASE\_TIMESTAMP}}\ =\ 0xFB;\ \ \ \ \ \ }
\DoxyCodeLine{00380\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a1d3bff4e20c2c3d47db322c9e34ef338}{SHTP\_REPORT\_SET\_FEATURE\_COMMAND}}\ =\ 0xFD;\ }
\DoxyCodeLine{00381\ }
\DoxyCodeLine{00382\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ Sensor\ report\ IDs,\ used\ when\ enabling\ and\ reading\ BNO08x\ reports}}
\DoxyCodeLine{00383\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a476b35f11a2f096cdb70f7ee73cf2e90}{SENSOR\_REPORTID\_ACCELEROMETER}}\ =\ 0x01;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00384\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a29ab9f86763cce89e833392553f7abb4}{SENSOR\_REPORTID\_GYROSCOPE}}\ =\ 0x02;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00385\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a6f3bf6774ceb583c5c56f2ad80573834}{SENSOR\_REPORTID\_MAGNETIC\_FIELD}}\ =\ 0x03;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00386\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a53898b82dbac7ef27e1adb519dfcd686}{SENSOR\_REPORTID\_LINEAR\_ACCELERATION}}\ =\ 0x04;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00387\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_ab0279e8622ed188ee48411e074fb7e9d}{SENSOR\_REPORTID\_ROTATION\_VECTOR}}\ =\ 0x05;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00388\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_aeeb54b0b516917f3ff58cb655ae707a8}{SENSOR\_REPORTID\_GRAVITY}}\ =\ 0x06;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00389\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_ab94bfdbbffc0a7a255e752244b22322a}{SENSOR\_REPORTID\_UNCALIBRATED\_GYRO}}\ =\ 0x07;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00390\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_ab3dc8b362050d438d8a05b26e86af638}{SENSOR\_REPORTID\_GAME\_ROTATION\_VECTOR}}\ =\ 0x08;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00391\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_aec618850b70a4e32a5148b05281aa8f0}{SENSOR\_REPORTID\_GEOMAGNETIC\_ROTATION\_VECTOR}}\ =\ 0x09;\ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00392\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a8b55a8131c251bb234d5391b0cd6aa48}{SENSOR\_REPORTID\_GYRO\_INTEGRATED\_ROTATION\_VECTOR}}\ =\ 0x2A;\ \ \ \ \ \ \ }
\DoxyCodeLine{00393\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a437fed4cb82edd32f839d88679ff8ed9}{SENSOR\_REPORTID\_TAP\_DETECTOR}}\ =\ 0x10;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00394\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_aaff9af63d5f35c05f0a1e485f3d97bc5}{SENSOR\_REPORTID\_STEP\_COUNTER}}\ =\ 0x11;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00395\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_afad93ba52698512205df714109cadcfc}{SENSOR\_REPORTID\_STABILITY\_CLASSIFIER}}\ =\ 0x13;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00396\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_aa8d2d5c66b72af3966dca751e7343a97}{SENSOR\_REPORTID\_RAW\_ACCELEROMETER}}\ =\ 0x14;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00397\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_aaed7faffc8f2bba8a2ae56933236f9f7}{SENSOR\_REPORTID\_RAW\_GYROSCOPE}}\ =\ 0x15;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00398\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_ac719a06278c239cc36f666b99a41b1c0}{SENSOR\_REPORTID\_RAW\_MAGNETOMETER}}\ =\ 0x16;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00399\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a001b45f56e347fb8e8149bcecbe2b40c}{SENSOR\_REPORTID\_PERSONAL\_ACTIVITY\_CLASSIFIER}}\ =\ 0x1E;\ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00400\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a263b8c25089c38f9ffa85493aef79606}{SENSOR\_REPORTID\_AR\_VR\_STABILIZED\_ROTATION\_VECTOR}}\ =\ 0x28;\ \ \ \ \ \ }
\DoxyCodeLine{00401\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a09dd6846e22801427b92b325385653e0}{SENSOR\_REPORTID\_AR\_VR\_STABILIZED\_GAME\_ROTATION\_VECTOR}}\ =\ 0x29;\ }
\DoxyCodeLine{00402\ }
\DoxyCodeLine{00403\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ Tare\ commands\ used\ by\ queue\_tare\_command}}
\DoxyCodeLine{00404\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a27df630f3e52b35552d2c1f2cf3496b0}{TARE\_NOW}}\ =\ 0;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00405\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a115aef7b38ec0dec2085f6917d832912}{TARE\_PERSIST}}\ =\ 1;\ \ \ \ \ \ \ \ \ \ \ }
\DoxyCodeLine{00406\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a59cde7dd301c94a20b84735c5d49008e}{TARE\_SET\_REORIENTATION}}\ =\ 2;\ }
\DoxyCodeLine{00407\ }
\DoxyCodeLine{00408\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ \textcolor{keywordtype}{char}*\ \mbox{\hyperlink{class_b_n_o08x_a2c98d5f2c406a3efd0b48c5666fa8c46}{TAG}}\ =\ \textcolor{stringliteral}{"{}BNO08x"{}};\ }
\DoxyCodeLine{00409\ \};}
\end{DoxyCode} \end{DoxyCode}

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\doxysection{esp32\+\_\+\+BNO08x/\+README.md File Reference}
\hypertarget{_r_e_a_d_m_e_8md}{}\label{_r_e_a_d_m_e_8md}\index{esp32\_BNO08x/README.md@{esp32\_BNO08x/README.md}}

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