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esp32_BNO08x
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use default_sensor_cfg arg

This commit is contained in:
myles-parfeniuk 2024-11-19 21:40:52 -08:00
parent 54ceea449f
commit 4ef38a040d
1 changed files with 5 additions and 20 deletions
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25
source/BNO08x.cpp
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@ -850,7 +850,6 @@ bool BNO08x::enable_gravity(uint32_t time_between_reports, sh2_SensorConfig_t se
} }
else else
{ {
ESP_LOGE(TAG, "ENABLED");
user_report_periods.gravity = time_between_reports; user_report_periods.gravity = time_between_reports;
xEventGroupSetBits(evt_grp_report_en, EVT_GRP_RPT_GRAVITY_BIT_EN); xEventGroupSetBits(evt_grp_report_en, EVT_GRP_RPT_GRAVITY_BIT_EN);
return true; return true;
@ -952,31 +951,17 @@ esp_err_t BNO08x::wait_for_hint()
*/ */
esp_err_t BNO08x::enable_report(sh2_SensorId_t sensor_ID, uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg) esp_err_t BNO08x::enable_report(sh2_SensorId_t sensor_ID, uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg)
{ {
int sh2_res = SH2_ERR;
static sh2_SensorConfig_t config;
xSemaphoreTake(sh2_HAL_lock, portMAX_DELAY); xSemaphoreTake(sh2_HAL_lock, portMAX_DELAY);
// These sensor options are disabled or not used in most cases sensor_cfg.reportInterval_us = time_between_reports;
config.changeSensitivityEnabled = false; sh2_res = sh2_setSensorConfig(sensor_ID, &sensor_cfg);
config.wakeupEnabled = false; xSemaphoreGive(sh2_HAL_lock);
config.changeSensitivityRelative = false;
config.alwaysOnEnabled = false;
config.changeSensitivity = 0;
config.batchInterval_us = 0;
config.sensorSpecific = 0;
config.reportInterval_us = time_between_reports; if (sh2_res != SH2_OK)
if (sh2_setSensorConfig(sensor_ID, &config) != SH2_OK)
{
xSemaphoreGive(sh2_HAL_lock);
return ESP_FAIL; return ESP_FAIL;
}
else else
{
xSemaphoreGive(sh2_HAL_lock);
return ESP_OK; return ESP_OK;
}
} }
esp_err_t BNO08x::re_enable_reports() esp_err_t BNO08x::re_enable_reports()