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diff --git a/documentation/latex/Makefile b/documentation/latex/Makefile
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@@ -1,27 +0,0 @@
-LATEX_CMD?=pdflatex
-MKIDX_CMD?=makeindex
-BIBTEX_CMD?=bibtex
-LATEX_COUNT?=8
-MANUAL_FILE?=refman
-
-all: $(MANUAL_FILE).pdf
-
-pdf: $(MANUAL_FILE).pdf
-
-$(MANUAL_FILE).pdf: clean $(MANUAL_FILE).tex
-	$(LATEX_CMD) $(MANUAL_FILE)
-	$(MKIDX_CMD) $(MANUAL_FILE).idx
-	$(LATEX_CMD) $(MANUAL_FILE)
-	latex_count=$(LATEX_COUNT) ; \
-	while egrep -s 'Rerun (LaTeX|to get cross-references right|to get bibliographical references right)' $(MANUAL_FILE).log && [ $$latex_count -gt 0 ] ;\
-	    do \
-	      echo "Rerunning latex...." ;\
-	      $(LATEX_CMD) $(MANUAL_FILE) ;\
-	      latex_count=`expr $$latex_count - 1` ;\
-	    done
-	$(MKIDX_CMD) $(MANUAL_FILE).idx
-	$(LATEX_CMD) $(MANUAL_FILE)
-
-
-clean:
-	rm -f *.ps *.dvi *.aux *.toc *.idx *.ind *.ilg *.log *.out *.brf *.blg *.bbl $(MANUAL_FILE).pdf
diff --git a/documentation/latex/_b_n_o08x_8cpp.tex b/documentation/latex/_b_n_o08x_8cpp.tex
deleted file mode 100644
index b7b07cb..0000000
--- a/documentation/latex/_b_n_o08x_8cpp.tex
+++ /dev/null
@@ -1,18 +0,0 @@
-\hypertarget{_b_n_o08x_8cpp}{}\doxysection{BNO08x.\+cpp File Reference}
-\label{_b_n_o08x_8cpp}\index{BNO08x.cpp@{BNO08x.cpp}}
-{\ttfamily \#include \char`\"{}BNO08x.\+hpp\char`\"{}}\newline
-{\ttfamily \#include \char`\"{}BNO08x\+Private\+Types.\+hpp\char`\"{}}\newline
-Include dependency graph for BNO08x.\+cpp\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_8cpp__incl}
-\end{center}
-\end{figure}
-
-
-\doxysubsection{Detailed Description}
-\begin{DoxyAuthor}{Author}
-Myles Parfeniuk 
-\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_8cpp__incl.md5 b/documentation/latex/_b_n_o08x_8cpp__incl.md5
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--- a/documentation/latex/_b_n_o08x_8cpp__incl.md5
+++ /dev/null
@@ -1 +0,0 @@
-dfa942c795c3b1b1f13d3db8932e2aef
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_8cpp__incl.pdf b/documentation/latex/_b_n_o08x_8cpp__incl.pdf
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index 8663fd3..0000000
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+++ /dev/null
@@ -1,45 +0,0 @@
-\hypertarget{_b_n_o08x_8hpp}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\+BNO08x.hpp File Reference}
-\label{_b_n_o08x_8hpp}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/BNO08x.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/BNO08x.hpp}}
-{\ttfamily \#include $<$etl/vector.\+h$>$}\newline
-{\ttfamily \#include $<$etl/variant.\+h$>$}\newline
-{\ttfamily \#include $<$etl/map.\+h$>$}\newline
-{\ttfamily \#include $<$driver/gpio.\+h$>$}\newline
-{\ttfamily \#include $<$driver/spi\+\_\+common.\+h$>$}\newline
-{\ttfamily \#include $<$driver/spi\+\_\+master.\+h$>$}\newline
-{\ttfamily \#include $<$freertos/\+Free\+RTOS.\+h$>$}\newline
-{\ttfamily \#include $<$freertos/task.\+h$>$}\newline
-{\ttfamily \#include $<$freertos/event\+\_\+groups.\+h$>$}\newline
-{\ttfamily \#include $<$freertos/queue.\+h$>$}\newline
-{\ttfamily \#include \char`\"{}BNO08x\+Global\+Types.\+hpp\char`\"{}}\newline
-{\ttfamily \#include \char`\"{}BNO08x\+Private\+Types.\+hpp\char`\"{}}\newline
-{\ttfamily \#include \char`\"{}BNO08x\+SH2\+HAL.\+hpp\char`\"{}}\newline
-{\ttfamily \#include \char`\"{}BNO08x\+Reports.\+hpp\char`\"{}}\newline
-Include dependency graph for BNO08x.\+hpp\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_8hpp__incl}
-\end{center}
-\end{figure}
-This graph shows which files directly or indirectly include this file\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_8hpp__dep__incl}
-\end{center}
-\end{figure}
-\doxysubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-class \mbox{\hyperlink{class_b_n_o08x}{BNO08x}}
-\begin{DoxyCompactList}\small\item\em \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} IMU driver class. \end{DoxyCompactList}\item 
-struct \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t}{BNO08x\+::bno08x\+\_\+reports\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em Contains report implementations. \end{DoxyCompactList}\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-\begin{DoxyAuthor}{Author}
-Myles Parfeniuk 
-\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_8hpp__dep__incl.md5 b/documentation/latex/_b_n_o08x_8hpp__dep__incl.md5
deleted file mode 100644
index ff95fd3..0000000
--- a/documentation/latex/_b_n_o08x_8hpp__dep__incl.md5
+++ /dev/null
@@ -1 +0,0 @@
-500b3ceed4a9df3fb36648b0c2c6a8d5
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_8hpp__dep__incl.pdf b/documentation/latex/_b_n_o08x_8hpp__dep__incl.pdf
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@@ -1 +0,0 @@
-035e28092f7937f4e9cb5864198006ce
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_8hpp__incl.pdf b/documentation/latex/_b_n_o08x_8hpp__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_8hpp_source.tex b/documentation/latex/_b_n_o08x_8hpp_source.tex
deleted file mode 100644
index 51599d1..0000000
--- a/documentation/latex/_b_n_o08x_8hpp_source.tex
+++ /dev/null
@@ -1,282 +0,0 @@
-\hypertarget{_b_n_o08x_8hpp_source}{}\doxysection{BNO08x.\+hpp}
-\label{_b_n_o08x_8hpp_source}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/BNO08x.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/BNO08x.hpp}}
-\mbox{\hyperlink{_b_n_o08x_8hpp}{Go to the documentation of this file.}}
-\begin{DoxyCode}{0}
-\DoxyCodeLine{1 }
-\DoxyCodeLine{6 \textcolor{preprocessor}{\#pragma once}}
-\DoxyCodeLine{7 }
-\DoxyCodeLine{8 \textcolor{comment}{// etl includes}}
-\DoxyCodeLine{9 \textcolor{preprocessor}{\#include <etl/vector.h>}}
-\DoxyCodeLine{10 \textcolor{preprocessor}{\#include <etl/variant.h>}}
-\DoxyCodeLine{11 \textcolor{preprocessor}{\#include <etl/map.h>}}
-\DoxyCodeLine{12 }
-\DoxyCodeLine{13 \textcolor{comment}{// esp-\/idf includes}}
-\DoxyCodeLine{14 \textcolor{preprocessor}{\#include <driver/gpio.h>}}
-\DoxyCodeLine{15 \textcolor{preprocessor}{\#include <driver/spi\_common.h>}}
-\DoxyCodeLine{16 \textcolor{preprocessor}{\#include <driver/spi\_master.h>}}
-\DoxyCodeLine{17 \textcolor{preprocessor}{\#include <freertos/FreeRTOS.h>}}
-\DoxyCodeLine{18 \textcolor{preprocessor}{\#include <freertos/task.h>}}
-\DoxyCodeLine{19 \textcolor{preprocessor}{\#include <freertos/event\_groups.h>}}
-\DoxyCodeLine{20 \textcolor{preprocessor}{\#include <freertos/queue.h>}}
-\DoxyCodeLine{21 \textcolor{comment}{// in-\/house includes}}
-\DoxyCodeLine{22 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_global_types_8hpp}{BNO08xGlobalTypes.hpp}}"{}}}
-\DoxyCodeLine{23 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_private_types_8hpp}{BNO08xPrivateTypes.hpp}}"{}}}
-\DoxyCodeLine{24 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_s_h2_h_a_l_8hpp}{BNO08xSH2HAL.hpp}}"{}}}
-\DoxyCodeLine{25 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_reports_8hpp}{BNO08xReports.hpp}}"{}}}
-\DoxyCodeLine{26 }
-\DoxyCodeLine{32 \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x}{BNO08x}}}
-\DoxyCodeLine{33 \{}
-\DoxyCodeLine{34     \textcolor{keyword}{public}:}
-\DoxyCodeLine{35         \mbox{\hyperlink{class_b_n_o08x_ad12fb6cf310ad7a04a4e53809833bd61}{BNO08x}}(\mbox{\hyperlink{structbno08x__config__t}{bno08x\_config\_t}} imu\_config = \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a648bbdbf22731476890dd8da977d7503}{bno08x\_config\_t}}());}
-\DoxyCodeLine{36         \mbox{\hyperlink{class_b_n_o08x_a687eee44d68e1bcabce04780d7eb5fb9}{\string~BNO08x}}();}
-\DoxyCodeLine{37 }
-\DoxyCodeLine{38         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_aea8e2c6dd7a2c9899479a7f39fe94798}{initialize}}();}
-\DoxyCodeLine{39         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_a28cd1c0b3477571d87133234e6358503}{hard\_reset}}();}
-\DoxyCodeLine{40         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_a973a1b1785f3302ee1b2702c6a27646e}{soft\_reset}}();}
-\DoxyCodeLine{41         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_aebacbe092615cd083cf996b14402bba6}{disable\_all\_reports}}();}
-\DoxyCodeLine{42         \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2}{BNO08xResetReason}} \mbox{\hyperlink{class_b_n_o08x_a96d47dd0f9aedfbe3f731f8ae76b2e85}{get\_reset\_reason}}();}
-\DoxyCodeLine{43 }
-\DoxyCodeLine{44         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_aaaa15b21ad98a3b161065c3d03ff62b5}{on}}();}
-\DoxyCodeLine{45         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_a7c5774a48227e8e3346fa5df7dfa420c}{sleep}}();}
-\DoxyCodeLine{46 }
-\DoxyCodeLine{47         \textcolor{comment}{// bool calibration\_turntable\_start(uint32\_t period\_us);}}
-\DoxyCodeLine{48         \textcolor{comment}{// bool calibration\_turntable\_end(sh2\_CalStatus\_t\& status);}}
-\DoxyCodeLine{49 }
-\DoxyCodeLine{50         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_a90ea8e811d4bea28a356290d6f5caac5}{dynamic\_calibration\_enable}}(\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a25947bbe6bc4a7c9edd7067fdce0e9cc}{BNO08xCalSel}} sensor);}
-\DoxyCodeLine{51         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_a5c7498f6fa4bd43280dff1d322233b95}{dynamic\_calibration\_disable}}(\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a25947bbe6bc4a7c9edd7067fdce0e9cc}{BNO08xCalSel}} sensor);}
-\DoxyCodeLine{52         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_a4e8b49abd33e6e11f23b2ae345058b9b}{dynamic\_calibration\_autosave\_enable}}();}
-\DoxyCodeLine{53         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_a9387728c276734da27388dbea38b6b32}{dynamic\_calibration\_autosave\_disable}}();}
-\DoxyCodeLine{54         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_a85f1eca475ea0e6fbaff75c8a297d671}{dynamic\_calibration\_save}}();}
-\DoxyCodeLine{55         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_a441681a5133b1a125b534925c9bc10f9}{dynamic\_calibration\_data\_clear\_ram}}();}
-\DoxyCodeLine{56         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_a65a7175b6f6ad6ce687e4fd4cd4bc396}{dynamic\_calibration\_data\_delete}}();}
-\DoxyCodeLine{57         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_abcdba0d0e82db480d20ea4564511a276}{dynamic\_calibration\_run\_routine}}(); }
-\DoxyCodeLine{58 }
-\DoxyCodeLine{59         \textcolor{keyword}{constexpr} \textcolor{keyword}{static} \textcolor{keywordtype}{float} \mbox{\hyperlink{class_b_n_o08x_ab8d5ebfc080838870e320494da3fa64d}{SQRT2OVER2}} = 0.7071067811865476f; \textcolor{comment}{// sqrt(2)/2, used for setting system orientation}}
-\DoxyCodeLine{60         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_abba85271f3333b7f395ec55915c1d5f9}{set\_system\_orientation}}(\textcolor{keywordtype}{float} w, \textcolor{keywordtype}{float} x, \textcolor{keywordtype}{float} y, \textcolor{keywordtype}{float} z);}
-\DoxyCodeLine{61         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_ad42c335827c7b09cd2e4ff303a0d3520}{get\_system\_orientation}}(\textcolor{keywordtype}{float} \&w, \textcolor{keywordtype}{float} \&x, \textcolor{keywordtype}{float} \&y, \textcolor{keywordtype}{float} \&z);}
-\DoxyCodeLine{62 }
-\DoxyCodeLine{63         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_a138577792350b8d5cc48cbf46b34c4f3}{get\_frs}}(\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8e}{BNO08xFrsID}} frs\_ID, uint32\_t (\&data)[16], uint16\_t\& rx\_data\_sz);}
-\DoxyCodeLine{64         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_aa616a645a4fc9054194fdbf76ec9c5b5}{write\_frs}}(\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8e}{BNO08xFrsID}} frs\_ID, uint32\_t *data, \textcolor{keyword}{const} uint16\_t tx\_data\_sz);}
-\DoxyCodeLine{65         sh2\_ProductIds\_t \mbox{\hyperlink{class_b_n_o08x_aa8fd64f60de86ff6b8562f90f3b09690}{get\_product\_IDs}}();}
-\DoxyCodeLine{66 }
-\DoxyCodeLine{67         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_a367d525d1c0ba119b3dca3067bb5bccc}{data\_available}}();}
-\DoxyCodeLine{68         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_aadd44524e6d22c48916acd9518b63ec3}{register\_cb}}(std::function<\textcolor{keywordtype}{void}(\textcolor{keywordtype}{void})> cb\_fxn);}
-\DoxyCodeLine{69         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_aadd44524e6d22c48916acd9518b63ec3}{register\_cb}}(std::function<\textcolor{keywordtype}{void}(uint8\_t report\_ID)> cb\_fxn);}
-\DoxyCodeLine{70 }
-\DoxyCodeLine{71         \textcolor{keywordtype}{void} \mbox{\hyperlink{class_b_n_o08x_a7441f7f2477c152deca17054041bf3e6}{print\_product\_ids}}();}
-\DoxyCodeLine{72         \textcolor{keywordtype}{void} \mbox{\hyperlink{class_b_n_o08x_aae4512fa4768becf0e3919a0e0ec34d8}{print\_system\_orientation}}();}
-\DoxyCodeLine{73 }
-\DoxyCodeLine{75         \textcolor{keyword}{typedef} \textcolor{keyword}{struct }\textcolor{keyword}{alignas}(4) \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t}{bno08x\_reports\_t}}}
-\DoxyCodeLine{76         \{}
-\DoxyCodeLine{77                 \mbox{\hyperlink{class_b_n_o08x_rpt_i_gyro_r_v}{BNO08xRptIGyroRV}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a6937b5d9bf8af9344a5013e1c543ab42}{rv\_gyro\_integrated}};}
-\DoxyCodeLine{78                 \mbox{\hyperlink{class_b_n_o08x_rpt_uncal_magnetometer}{BNO08xRptUncalMagnetometer}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a5774fa69fc74264d40478a729aeb5ece}{uncal\_magnetometer}};}
-\DoxyCodeLine{79                 \mbox{\hyperlink{class_b_n_o08x_rpt_uncal_gyro}{BNO08xRptUncalGyro}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a6f1929843393c09c21b1f107a47c8fe3}{uncal\_gyro}};}
-\DoxyCodeLine{80                 \mbox{\hyperlink{class_b_n_o08x_rpt_r_v}{BNO08xRptRV}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_aeab138f8ddfed3f4d6b855a73b7e2db5}{rv}};}
-\DoxyCodeLine{81                 \mbox{\hyperlink{class_b_n_o08x_rpt_game_r_v}{BNO08xRptGameRV}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a7f33ac650137f5933ee1eab1ce936db6}{rv\_game}};}
-\DoxyCodeLine{82                 \mbox{\hyperlink{class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v}{BNO08xRptARVRStabilizedRV}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a027c914e51da445148dc9b2735cc5fc9}{rv\_ARVR\_stabilized}};}
-\DoxyCodeLine{83                 \mbox{\hyperlink{class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v}{BNO08xRptARVRStabilizedGameRV}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_af550968d0e56f114b4afb20a5a442206}{rv\_ARVR\_stabilized\_game}};}
-\DoxyCodeLine{84                 \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_geomag}{BNO08xRptRVGeomag}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a7e17ff7b9763ed040158813c69614a9f}{rv\_geomagnetic}};}
-\DoxyCodeLine{85                 \mbox{\hyperlink{class_b_n_o08x_rpt_activity_classifier}{BNO08xRptActivityClassifier}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a6475bdab7c49091f3086537efc00c12f}{activity\_classifier}};}
-\DoxyCodeLine{86                 \mbox{\hyperlink{class_b_n_o08x_rpt_acceleration}{BNO08xRptAcceleration}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_ab7939486c9ba7e7c70f82d2284fb6119}{accelerometer}};}
-\DoxyCodeLine{87                 \mbox{\hyperlink{class_b_n_o08x_rpt_linear_acceleration}{BNO08xRptLinearAcceleration}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_ac8114db28ee3f7be5578e52f48caa9c3}{linear\_accelerometer}};}
-\DoxyCodeLine{88                 \mbox{\hyperlink{class_b_n_o08x_rpt_gravity}{BNO08xRptGravity}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_af5245d5e4a6f7548a0c3a30af53b7355}{gravity}};}
-\DoxyCodeLine{89                 \mbox{\hyperlink{class_b_n_o08x_rpt_cal_magnetometer}{BNO08xRptCalMagnetometer}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a03d6194225331df5326a97ec6d45b094}{cal\_magnetometer}};}
-\DoxyCodeLine{90                 \mbox{\hyperlink{class_b_n_o08x_rpt_cal_gyro}{BNO08xRptCalGyro}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_adabe838126b5bbc83fc4f69bba78123e}{cal\_gyro}};}
-\DoxyCodeLine{91                 \mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_gyro}{BNO08xRptRawMEMSGyro}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a13357e58bc926c2420ab41e4ffef4196}{raw\_gyro}};}
-\DoxyCodeLine{92                 \mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer}{BNO08xRptRawMEMSAccelerometer}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_aa3a65aaf2adf05aa014b72c2d4485590}{raw\_accelerometer}};}
-\DoxyCodeLine{93                 \mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer}{BNO08xRptRawMEMSMagnetometer}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_aad8698945b261c0a871f2f409897b071}{raw\_magnetometer}};}
-\DoxyCodeLine{94                 \mbox{\hyperlink{class_b_n_o08x_rpt_step_counter}{BNO08xRptStepCounter}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_aee9528ea57ab86ef29e10de9ecfefcf7}{step\_counter}};}
-\DoxyCodeLine{95                 \mbox{\hyperlink{class_b_n_o08x_rpt_tap_detector}{BNO08xRptTapDetector}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a0cabee7da991a7399d607373f09548a7}{tap\_detector}};}
-\DoxyCodeLine{96                 \mbox{\hyperlink{class_b_n_o08x_rpt_stability_classifier}{BNO08xRptStabilityClassifier}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a2edee4386eaea86ef3d316f5840d7a2f}{stability\_classifier}};}
-\DoxyCodeLine{97                 \mbox{\hyperlink{class_b_n_o08x_rpt_shake_detector}{BNO08xRptShakeDetector}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a9d7ff08c5a141c3d1ad3493423e7c49c}{shake\_detector}};}
-\DoxyCodeLine{98 }
-\DoxyCodeLine{99                 \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_aad0b1641e9c31927c33d0f69c174f9cb}{bno08x\_reports\_t}}(\mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}}* sync\_ctx)}
-\DoxyCodeLine{100                     : \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a6937b5d9bf8af9344a5013e1c543ab42}{rv\_gyro\_integrated}}(SH2\_GYRO\_INTEGRATED\_RV, \mbox{\hyperlink{namespace_b_n_o08x_private_types}{BNO08xPrivateTypes}}::\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa6835a63fb08379608cda0a108098aac7}{EVT\_GRP\_RPT\_GYRO\_INTEGRATED\_RV\_BIT}}, sync\_ctx)}
-\DoxyCodeLine{101                     , \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a5774fa69fc74264d40478a729aeb5ece}{uncal\_magnetometer}}(}
-\DoxyCodeLine{102                               SH2\_MAGNETIC\_FIELD\_UNCALIBRATED, \mbox{\hyperlink{namespace_b_n_o08x_private_types}{BNO08xPrivateTypes}}::\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2faa54d15cc17179a6840b9ec3f4e0038cb}{EVT\_GRP\_RPT\_UNCAL\_MAGNETOMETER\_BIT}}, sync\_ctx)}
-\DoxyCodeLine{103                     , \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a6f1929843393c09c21b1f107a47c8fe3}{uncal\_gyro}}(SH2\_GYROSCOPE\_UNCALIBRATED, \mbox{\hyperlink{namespace_b_n_o08x_private_types}{BNO08xPrivateTypes}}::\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa591c062247280798af0e40d6141614c6}{EVT\_GRP\_RPT\_UNCAL\_GYRO\_BIT}}, sync\_ctx)}
-\DoxyCodeLine{104                     , \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_aeab138f8ddfed3f4d6b855a73b7e2db5}{rv}}(SH2\_ROTATION\_VECTOR, \mbox{\hyperlink{namespace_b_n_o08x_private_types}{BNO08xPrivateTypes}}::\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fac0ff3fde600aac814ad76a4769515ae8}{EVT\_GRP\_RPT\_RV\_BIT}}, sync\_ctx)}
-\DoxyCodeLine{105                     , \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a7f33ac650137f5933ee1eab1ce936db6}{rv\_game}}(SH2\_GAME\_ROTATION\_VECTOR, \mbox{\hyperlink{namespace_b_n_o08x_private_types}{BNO08xPrivateTypes}}::\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fad39283f98adf7242b3b3ccf847c150cd}{EVT\_GRP\_RPT\_RV\_GAME\_BIT}}, sync\_ctx)}
-\DoxyCodeLine{106                     , \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a027c914e51da445148dc9b2735cc5fc9}{rv\_ARVR\_stabilized}}(SH2\_ARVR\_STABILIZED\_RV, \mbox{\hyperlink{namespace_b_n_o08x_private_types}{BNO08xPrivateTypes}}::\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fab5d141bdda220e3fa0bd9eb0fe3f31b5}{EVT\_GRP\_RPT\_RV\_ARVR\_S\_BIT}}, sync\_ctx)}
-\DoxyCodeLine{107                     , \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_af550968d0e56f114b4afb20a5a442206}{rv\_ARVR\_stabilized\_game}}(}
-\DoxyCodeLine{108                               SH2\_ARVR\_STABILIZED\_GRV, \mbox{\hyperlink{namespace_b_n_o08x_private_types}{BNO08xPrivateTypes}}::\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fab77588c26929a2d8dd8eeea883b905ca}{EVT\_GRP\_RPT\_RV\_ARVR\_S\_GAME\_BIT}}, sync\_ctx)}
-\DoxyCodeLine{109                     , \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a7e17ff7b9763ed040158813c69614a9f}{rv\_geomagnetic}}(SH2\_GEOMAGNETIC\_ROTATION\_VECTOR, \mbox{\hyperlink{namespace_b_n_o08x_private_types}{BNO08xPrivateTypes}}::\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa728314f4744fc408c6b153e8fbb3feb4}{EVT\_GRP\_RPT\_GEOMAG\_RV\_BIT}}, sync\_ctx)}
-\DoxyCodeLine{110                     , \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a6475bdab7c49091f3086537efc00c12f}{activity\_classifier}}(}
-\DoxyCodeLine{111                               SH2\_PERSONAL\_ACTIVITY\_CLASSIFIER, \mbox{\hyperlink{namespace_b_n_o08x_private_types}{BNO08xPrivateTypes}}::\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa94cddd1837a77bba5644543b1ad8b9e7}{EVT\_GRP\_RPT\_ACTIVITY\_CLASSIFIER\_BIT}}, sync\_ctx)}
-\DoxyCodeLine{112                     , \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_ab7939486c9ba7e7c70f82d2284fb6119}{accelerometer}}(SH2\_ACCELEROMETER, \mbox{\hyperlink{namespace_b_n_o08x_private_types}{BNO08xPrivateTypes}}::\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2faa5b9ffe097d1eb83a6a5a13871da0891}{EVT\_GRP\_RPT\_ACCELEROMETER\_BIT}}, sync\_ctx)}
-\DoxyCodeLine{113                     , \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_ac8114db28ee3f7be5578e52f48caa9c3}{linear\_accelerometer}}(}
-\DoxyCodeLine{114                               SH2\_LINEAR\_ACCELERATION, \mbox{\hyperlink{namespace_b_n_o08x_private_types}{BNO08xPrivateTypes}}::\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa68851003c2b7df34c3acf882251c60e2}{EVT\_GRP\_RPT\_LINEAR\_ACCELEROMETER\_BIT}}, sync\_ctx)}
-\DoxyCodeLine{115                     , \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_af5245d5e4a6f7548a0c3a30af53b7355}{gravity}}(SH2\_GRAVITY, \mbox{\hyperlink{namespace_b_n_o08x_private_types}{BNO08xPrivateTypes}}::\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fabd9e62157a0bc3dc38c3473d7bc2799f}{EVT\_GRP\_RPT\_GRAVITY\_BIT}}, sync\_ctx)}
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-\DoxyCodeLine{119                     , \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a13357e58bc926c2420ab41e4ffef4196}{raw\_gyro}}(SH2\_RAW\_GYROSCOPE, \mbox{\hyperlink{namespace_b_n_o08x_private_types}{BNO08xPrivateTypes}}::\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fadcfcdea69099869ebf7f246ff5b7e8bb}{EVT\_GRP\_RPT\_RAW\_GYRO\_BIT}}, sync\_ctx)}
-\DoxyCodeLine{120                     , \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_aa3a65aaf2adf05aa014b72c2d4485590}{raw\_accelerometer}}(SH2\_RAW\_ACCELEROMETER, \mbox{\hyperlink{namespace_b_n_o08x_private_types}{BNO08xPrivateTypes}}::\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fab7e6b36da354702880ff9118d45b6af2}{EVT\_GRP\_RPT\_RAW\_ACCELEROMETER\_BIT}}, sync\_ctx)}
-\DoxyCodeLine{121                     , \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_aad8698945b261c0a871f2f409897b071}{raw\_magnetometer}}(SH2\_RAW\_MAGNETOMETER, \mbox{\hyperlink{namespace_b_n_o08x_private_types}{BNO08xPrivateTypes}}::\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fab57a2ea711bebb4d4e031a0b449160c7}{EVT\_GRP\_RPT\_RAW\_MAGNETOMETER\_BIT}}, sync\_ctx)}
-\DoxyCodeLine{122                     , \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_aee9528ea57ab86ef29e10de9ecfefcf7}{step\_counter}}(SH2\_STEP\_COUNTER, \mbox{\hyperlink{namespace_b_n_o08x_private_types}{BNO08xPrivateTypes}}::\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fafb8f448edba339f37fdf794bd891f903}{EVT\_GRP\_RPT\_STEP\_COUNTER\_BIT}}, sync\_ctx)}
-\DoxyCodeLine{123                     , \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a0cabee7da991a7399d607373f09548a7}{tap\_detector}}(SH2\_TAP\_DETECTOR, \mbox{\hyperlink{namespace_b_n_o08x_private_types}{BNO08xPrivateTypes}}::\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fad4482fb4fb6693a492584508691f2c77}{EVT\_GRP\_RPT\_TAP\_DETECTOR\_BIT}}, sync\_ctx)}
-\DoxyCodeLine{124                     , \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a2edee4386eaea86ef3d316f5840d7a2f}{stability\_classifier}}(}
-\DoxyCodeLine{125                               SH2\_STABILITY\_CLASSIFIER, \mbox{\hyperlink{namespace_b_n_o08x_private_types}{BNO08xPrivateTypes}}::\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fae138ae8422830982a470025d81c4be4b}{EVT\_GRP\_RPT\_STABILITY\_CLASSIFIER\_BIT}}, sync\_ctx)}
-\DoxyCodeLine{126                     , \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a9d7ff08c5a141c3d1ad3493423e7c49c}{shake\_detector}}(SH2\_SHAKE\_DETECTOR, \mbox{\hyperlink{namespace_b_n_o08x_private_types}{BNO08xPrivateTypes}}::\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fad517d3ea5b1b259f20ed43e1fcf40e0c}{EVT\_GRP\_RPT\_SHAKE\_DETECTOR\_BIT}}, sync\_ctx)}
-\DoxyCodeLine{127                 \{}
-\DoxyCodeLine{128                 \}}
-\DoxyCodeLine{129         \} \mbox{\hyperlink{class_b_n_o08x_ae08bdaff01ecacf0f399ab289fdf0b99}{bno08x\_reports\_t}};}
-\DoxyCodeLine{130 }
-\DoxyCodeLine{131         \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t}{bno08x\_reports\_t}} \mbox{\hyperlink{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}{rpt}};}
-\DoxyCodeLine{132 }
-\DoxyCodeLine{133     \textcolor{keyword}{private}:}
-\DoxyCodeLine{134         \textcolor{comment}{// data processing task}}
-\DoxyCodeLine{135         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} configSTACK\_DEPTH\_TYPE DATA\_PROC\_TASK\_SZ =}
-\DoxyCodeLine{136                 CONFIG\_ESP32\_BNO08X\_DATA\_PROC\_TASK\_SZ; }
-\DoxyCodeLine{137         TaskHandle\_t data\_proc\_task\_hdl;               }
-\DoxyCodeLine{138         \textcolor{keyword}{static} \textcolor{keywordtype}{void} data\_proc\_task\_trampoline(\textcolor{keywordtype}{void}* arg);}
-\DoxyCodeLine{139         \textcolor{keywordtype}{void} data\_proc\_task();}
-\DoxyCodeLine{140 }
-\DoxyCodeLine{141         \textcolor{comment}{// sh2 service task}}
-\DoxyCodeLine{142         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} configSTACK\_DEPTH\_TYPE SH2\_HAL\_SERVICE\_TASK\_SZ =}
-\DoxyCodeLine{143                 CONFIG\_ESP32\_BNO08X\_SH2\_HAL\_SERVICE\_TASK\_SZ; }
-\DoxyCodeLine{144         TaskHandle\_t sh2\_HAL\_service\_task\_hdl;               }
-\DoxyCodeLine{145         \textcolor{keyword}{static} \textcolor{keywordtype}{void} sh2\_HAL\_service\_task\_trampoline(\textcolor{keywordtype}{void}* arg);}
-\DoxyCodeLine{146         \textcolor{keywordtype}{void} sh2\_HAL\_service\_task();}
-\DoxyCodeLine{147 }
-\DoxyCodeLine{148         \textcolor{comment}{// callback task}}
-\DoxyCodeLine{149         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} configSTACK\_DEPTH\_TYPE CB\_TASK\_SZ =}
-\DoxyCodeLine{150                 CONFIG\_ESP32\_BNO08X\_CB\_TASK\_SZ; }
-\DoxyCodeLine{151         TaskHandle\_t cb\_task\_hdl;               }
-\DoxyCodeLine{152         \textcolor{keyword}{static} \textcolor{keywordtype}{void} cb\_task\_trampoline(\textcolor{keywordtype}{void}* arg);}
-\DoxyCodeLine{153         \textcolor{keywordtype}{void} cb\_task();}
-\DoxyCodeLine{154 }
-\DoxyCodeLine{155         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} BaseType\_t CB\_TASK\_AFFINITY = }
-\DoxyCodeLine{156                 CONFIG\_ESP32\_BNO08X\_CB\_TASK\_AFFINITY < 0 ? tskNO\_AFFINITY : CONFIG\_ESP32\_BNO08X\_CB\_TASK\_AFFINITY ;  }
-\DoxyCodeLine{157         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} UBaseType\_t CB\_TASK\_PRIORITY = CONFIG\_ESP32\_BNO08X\_CB\_TASK\_PRIORITY; }
-\DoxyCodeLine{158 }
-\DoxyCodeLine{159         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} BaseType\_t DATA\_PROC\_TASK\_AFFINITY = }
-\DoxyCodeLine{160                 CONFIG\_ESP32\_BNO08X\_DATA\_PROC\_TASK\_AFFINITY < 0 ? tskNO\_AFFINITY : CONFIG\_ESP32\_BNO08X\_DATA\_PROC\_TASK\_AFFINITY; }
-\DoxyCodeLine{161         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} UBaseType\_t DATA\_PROC\_TASK\_PRIORITY = CONFIG\_ESP32\_BNO08X\_DATA\_PROC\_TASK\_PRIORITY; }
-\DoxyCodeLine{162         }
-\DoxyCodeLine{163         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} BaseType\_t SH2\_HAL\_SERVICE\_TASK\_AFFINITY = }
-\DoxyCodeLine{164                 CONFIG\_ESP32\_BNO08X\_SH2\_HAL\_SERVICE\_TASK\_AFFINITY < 0 ? tskNO\_AFFINITY : CONFIG\_ESP32\_BNO08X\_SH2\_HAL\_SERVICE\_TASK\_AFFINITY; }
-\DoxyCodeLine{165         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} UBaseType\_t SH2\_HAL\_SERVICE\_TASK\_PRIORITY = CONFIG\_ESP32\_BNO08X\_SH2\_HAL\_SERVICE\_TASK\_PRIORITY; }
-\DoxyCodeLine{166 }
-\DoxyCodeLine{167 }
-\DoxyCodeLine{168         SemaphoreHandle\_t sem\_kill\_tasks; }
-\DoxyCodeLine{169 }
-\DoxyCodeLine{170         \textcolor{keywordtype}{void} lock\_sh2\_HAL();}
-\DoxyCodeLine{171         \textcolor{keywordtype}{void} unlock\_sh2\_HAL();}
-\DoxyCodeLine{172         \textcolor{keywordtype}{void} lock\_user\_data();}
-\DoxyCodeLine{173         \textcolor{keywordtype}{void} unlock\_user\_data();}
-\DoxyCodeLine{174 }
-\DoxyCodeLine{175         \textcolor{keywordtype}{void} handle\_sensor\_report(sh2\_SensorValue\_t* sensor\_val);}
-\DoxyCodeLine{176         \textcolor{keywordtype}{void} handle\_cb(uint8\_t rpt\_ID, \mbox{\hyperlink{class_b_n_o08x_cb_generic}{BNO08xCbGeneric}}* cb\_entry);}
-\DoxyCodeLine{177 }
-\DoxyCodeLine{178         esp\_err\_t init\_config\_args();}
-\DoxyCodeLine{179         esp\_err\_t init\_gpio();}
-\DoxyCodeLine{180         esp\_err\_t init\_gpio\_inputs();}
-\DoxyCodeLine{181         esp\_err\_t init\_gpio\_outputs();}
-\DoxyCodeLine{182         esp\_err\_t init\_hint\_isr();}
-\DoxyCodeLine{183         esp\_err\_t init\_spi();}
-\DoxyCodeLine{184         esp\_err\_t init\_tasks();}
-\DoxyCodeLine{185         esp\_err\_t init\_sh2\_HAL();}
-\DoxyCodeLine{186 }
-\DoxyCodeLine{187         esp\_err\_t deinit\_gpio();}
-\DoxyCodeLine{188         esp\_err\_t deinit\_gpio\_inputs();}
-\DoxyCodeLine{189         esp\_err\_t deinit\_gpio\_outputs();}
-\DoxyCodeLine{190         esp\_err\_t deinit\_hint\_isr();}
-\DoxyCodeLine{191         esp\_err\_t deinit\_spi();}
-\DoxyCodeLine{192         esp\_err\_t deinit\_tasks();}
-\DoxyCodeLine{193         esp\_err\_t deinit\_sh2\_HAL();}
-\DoxyCodeLine{194 }
-\DoxyCodeLine{195         esp\_err\_t wait\_for\_hint();}
-\DoxyCodeLine{196         esp\_err\_t wait\_for\_reset();}
-\DoxyCodeLine{197 }
-\DoxyCodeLine{198         \textcolor{keywordtype}{void} toggle\_reset();}
-\DoxyCodeLine{199 }
-\DoxyCodeLine{200         esp\_err\_t re\_enable\_reports();}
-\DoxyCodeLine{201 }
-\DoxyCodeLine{202         sh2\_Hal\_t sh2\_HAL; }
-\DoxyCodeLine{203 }
-\DoxyCodeLine{204         QueueHandle\_t}
-\DoxyCodeLine{205                 queue\_rx\_sensor\_event; }
-\DoxyCodeLine{206 }
-\DoxyCodeLine{207         QueueHandle\_t queue\_cb\_report\_id; }
-\DoxyCodeLine{208 }
-\DoxyCodeLine{209         \mbox{\hyperlink{structbno08x__config__t}{bno08x\_config\_t}} imu\_config\{\};                   }
-\DoxyCodeLine{210         spi\_bus\_config\_t bus\_config\{\};                  }
-\DoxyCodeLine{211         spi\_device\_interface\_config\_t imu\_spi\_config\{\}; }
-\DoxyCodeLine{212         spi\_device\_handle\_t spi\_hdl\{\};                  }
-\DoxyCodeLine{213         spi\_transaction\_t spi\_transaction\{\};            }
-\DoxyCodeLine{214         \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t}{BNO08xPrivateTypes::bno08x\_init\_status\_t}}}
-\DoxyCodeLine{215                 init\_status; }
-\DoxyCodeLine{216         \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}} sync\_ctx; }
-\DoxyCodeLine{217         sh2\_ProductIds\_t product\_IDs; }
-\DoxyCodeLine{218 }
-\DoxyCodeLine{219         \textcolor{comment}{// clang-\/format off}}
-\DoxyCodeLine{220         etl::map<uint8\_t, BNO08xRpt*, TOTAL\_RPT\_COUNT, etl::less<uint8\_t>> usr\_reports = }
-\DoxyCodeLine{221         \{}
-\DoxyCodeLine{222                 \{SH2\_ACCELEROMETER, \&\mbox{\hyperlink{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}{rpt}}.\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_ab7939486c9ba7e7c70f82d2284fb6119}{accelerometer}}\},}
-\DoxyCodeLine{223                 \{SH2\_LINEAR\_ACCELERATION, \&\mbox{\hyperlink{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}{rpt}}.\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_ac8114db28ee3f7be5578e52f48caa9c3}{linear\_accelerometer}}\}, }
-\DoxyCodeLine{224                 \{SH2\_GRAVITY, \&\mbox{\hyperlink{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}{rpt}}.\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_af5245d5e4a6f7548a0c3a30af53b7355}{gravity}}\}, }
-\DoxyCodeLine{225                 \{SH2\_MAGNETIC\_FIELD\_CALIBRATED, \&\mbox{\hyperlink{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}{rpt}}.\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a03d6194225331df5326a97ec6d45b094}{cal\_magnetometer}}\},}
-\DoxyCodeLine{226                 \{SH2\_MAGNETIC\_FIELD\_UNCALIBRATED, \&\mbox{\hyperlink{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}{rpt}}.\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a5774fa69fc74264d40478a729aeb5ece}{uncal\_magnetometer}}\}, }
-\DoxyCodeLine{227                 \{SH2\_GYROSCOPE\_CALIBRATED, \&\mbox{\hyperlink{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}{rpt}}.\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_adabe838126b5bbc83fc4f69bba78123e}{cal\_gyro}}\},}
-\DoxyCodeLine{228                 \{SH2\_GYROSCOPE\_UNCALIBRATED, \&\mbox{\hyperlink{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}{rpt}}.\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a6f1929843393c09c21b1f107a47c8fe3}{uncal\_gyro}}\}, }
-\DoxyCodeLine{229                 \{SH2\_ROTATION\_VECTOR, \&\mbox{\hyperlink{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}{rpt}}.\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_aeab138f8ddfed3f4d6b855a73b7e2db5}{rv}}\}, }
-\DoxyCodeLine{230                 \{SH2\_GAME\_ROTATION\_VECTOR, \&\mbox{\hyperlink{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}{rpt}}.\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a7f33ac650137f5933ee1eab1ce936db6}{rv\_game}}\},}
-\DoxyCodeLine{231                 \{SH2\_ARVR\_STABILIZED\_RV, \&\mbox{\hyperlink{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}{rpt}}.\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a027c914e51da445148dc9b2735cc5fc9}{rv\_ARVR\_stabilized}}\}, }
-\DoxyCodeLine{232                 \{SH2\_ARVR\_STABILIZED\_GRV, \&\mbox{\hyperlink{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}{rpt}}.\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_af550968d0e56f114b4afb20a5a442206}{rv\_ARVR\_stabilized\_game}}\},}
-\DoxyCodeLine{233                 \{SH2\_GYRO\_INTEGRATED\_RV, \&\mbox{\hyperlink{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}{rpt}}.\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a6937b5d9bf8af9344a5013e1c543ab42}{rv\_gyro\_integrated}}\}, }
-\DoxyCodeLine{234                 \{SH2\_GEOMAGNETIC\_ROTATION\_VECTOR, \&\mbox{\hyperlink{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}{rpt}}.\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a7e17ff7b9763ed040158813c69614a9f}{rv\_geomagnetic}}\}, }
-\DoxyCodeLine{235                 \{SH2\_RAW\_GYROSCOPE, \&\mbox{\hyperlink{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}{rpt}}.\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a13357e58bc926c2420ab41e4ffef4196}{raw\_gyro}}\},}
-\DoxyCodeLine{236                 \{SH2\_RAW\_ACCELEROMETER, \&\mbox{\hyperlink{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}{rpt}}.\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_aa3a65aaf2adf05aa014b72c2d4485590}{raw\_accelerometer}}\}, }
-\DoxyCodeLine{237                 \{SH2\_RAW\_MAGNETOMETER, \&\mbox{\hyperlink{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}{rpt}}.\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_aad8698945b261c0a871f2f409897b071}{raw\_magnetometer}}\}, }
-\DoxyCodeLine{238                 \{SH2\_STEP\_COUNTER, \&\mbox{\hyperlink{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}{rpt}}.\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_aee9528ea57ab86ef29e10de9ecfefcf7}{step\_counter}}\},}
-\DoxyCodeLine{239                 \{SH2\_PERSONAL\_ACTIVITY\_CLASSIFIER, \&\mbox{\hyperlink{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}{rpt}}.\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a6475bdab7c49091f3086537efc00c12f}{activity\_classifier}}\}, }
-\DoxyCodeLine{240                 \{SH2\_STABILITY\_CLASSIFIER, \&\mbox{\hyperlink{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}{rpt}}.\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a2edee4386eaea86ef3d316f5840d7a2f}{stability\_classifier}}\},}
-\DoxyCodeLine{241                 \{SH2\_SHAKE\_DETECTOR, \&\mbox{\hyperlink{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}{rpt}}.\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a9d7ff08c5a141c3d1ad3493423e7c49c}{shake\_detector}}\}, }
-\DoxyCodeLine{242                 \{SH2\_TAP\_DETECTOR, \&\mbox{\hyperlink{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}{rpt}}.\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a0cabee7da991a7399d607373f09548a7}{tap\_detector}}\},}
-\DoxyCodeLine{243                 }
-\DoxyCodeLine{244                 \textcolor{comment}{// not implemented, see include/report for existing implementations to add your own}}
-\DoxyCodeLine{245                 \{SH2\_PRESSURE, \textcolor{keyword}{nullptr}\}, \textcolor{comment}{// requires auxilary i2c sensor}}
-\DoxyCodeLine{246                 \{SH2\_AMBIENT\_LIGHT, \textcolor{keyword}{nullptr}\},  \textcolor{comment}{// requires auxilary i2c sensor}}
-\DoxyCodeLine{247                 \{SH2\_HUMIDITY, \textcolor{keyword}{nullptr}\},  \textcolor{comment}{// requires auxilary i2c sensor}}
-\DoxyCodeLine{248                 \{SH2\_PROXIMITY, \textcolor{keyword}{nullptr}\},  \textcolor{comment}{// requires auxilary i2c sensor}}
-\DoxyCodeLine{249                 \{SH2\_TEMPERATURE, \textcolor{keyword}{nullptr}\},  \textcolor{comment}{// requires auxilary i2c sensor}}
-\DoxyCodeLine{250                 \{SH2\_HEART\_RATE\_MONITOR, \textcolor{keyword}{nullptr}\},  \textcolor{comment}{// requires auxilary i2c sensor}}
-\DoxyCodeLine{251                 \{SH2\_STEP\_DETECTOR, \textcolor{keyword}{nullptr}\},}
-\DoxyCodeLine{252                 \{SH2\_SIGNIFICANT\_MOTION, \textcolor{keyword}{nullptr}\},}
-\DoxyCodeLine{253                 \{SH2\_FLIP\_DETECTOR, \textcolor{keyword}{nullptr}\},}
-\DoxyCodeLine{254                 \{SH2\_PICKUP\_DETECTOR, \textcolor{keyword}{nullptr}\},}
-\DoxyCodeLine{255                 \{SH2\_STABILITY\_DETECTOR, \textcolor{keyword}{nullptr}\},}
-\DoxyCodeLine{256                 \{SH2\_SLEEP\_DETECTOR, \textcolor{keyword}{nullptr}\},}
-\DoxyCodeLine{257                 \{SH2\_TILT\_DETECTOR, \textcolor{keyword}{nullptr}\},}
-\DoxyCodeLine{258                 \{SH2\_POCKET\_DETECTOR, \textcolor{keyword}{nullptr}\},}
-\DoxyCodeLine{259                 \{SH2\_CIRCLE\_DETECTOR, \textcolor{keyword}{nullptr}\},}
-\DoxyCodeLine{260                 \{SH2\_IZRO\_MOTION\_REQUEST, \textcolor{keyword}{nullptr}\}}
-\DoxyCodeLine{261         \};}
-\DoxyCodeLine{262         \textcolor{comment}{// clang-\/format on}}
-\DoxyCodeLine{263 }
-\DoxyCodeLine{264         \textcolor{keyword}{static} \textcolor{keywordtype}{void} IRAM\_ATTR hint\_handler(\textcolor{keywordtype}{void}* arg);}
-\DoxyCodeLine{265 }
-\DoxyCodeLine{266         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} uint16\_t RX\_DATA\_LENGTH = 300U; }
-\DoxyCodeLine{267 }
-\DoxyCodeLine{268         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} TickType\_t HOST\_INT\_TIMEOUT\_DEFAULT\_MS =}
-\DoxyCodeLine{269                 CONFIG\_ESP32\_BNO08X\_HINT\_TIMEOUT\_MS /}
-\DoxyCodeLine{270                 portTICK\_PERIOD\_MS; }
-\DoxyCodeLine{271 }
-\DoxyCodeLine{272         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} TickType\_t DATA\_AVAILABLE\_TIMEOUT\_MS =}
-\DoxyCodeLine{273                 CONFIG\_ESP32\_BNO08X\_DATA\_AVAILABLE\_TIMEOUT\_MS /}
-\DoxyCodeLine{274                 portTICK\_PERIOD\_MS; }
-\DoxyCodeLine{275 }
-\DoxyCodeLine{276         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} TickType\_t HARD\_RESET\_DELAY\_MS =}
-\DoxyCodeLine{277                 CONFIG\_ESP32\_BNO08X\_HARD\_RESET\_DELAY\_MS /}
-\DoxyCodeLine{278                 portTICK\_PERIOD\_MS; }
-\DoxyCodeLine{279 }
-\DoxyCodeLine{280         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} uint32\_t SCLK\_MAX\_SPEED = 3000000UL; }
-\DoxyCodeLine{281 }
-\DoxyCodeLine{282         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} \textcolor{keywordtype}{char}* TAG = \textcolor{stringliteral}{"{}BNO08x"{}}; }
-\DoxyCodeLine{283 }
-\DoxyCodeLine{284         \textcolor{keyword}{friend} \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x_s_h2_h_a_l}{BNO08xSH2HAL}};}
-\DoxyCodeLine{285         \textcolor{keyword}{friend} \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x_test_helper}{BNO08xTestHelper}};}
-\DoxyCodeLine{286 \};}
-
-\end{DoxyCode}
diff --git a/documentation/latex/_b_n_o08x_cb_generic_8hpp.tex b/documentation/latex/_b_n_o08x_cb_generic_8hpp.tex
deleted file mode 100644
index ab1869a..0000000
--- a/documentation/latex/_b_n_o08x_cb_generic_8hpp.tex
+++ /dev/null
@@ -1,31 +0,0 @@
-\hypertarget{_b_n_o08x_cb_generic_8hpp}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/callback/\+BNO08x\+Cb\+Generic.hpp File Reference}
-\label{_b_n_o08x_cb_generic_8hpp}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/callback/BNO08xCbGeneric.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/callback/BNO08xCbGeneric.hpp}}
-{\ttfamily \#include $<$stdint.\+h$>$}\newline
-{\ttfamily \#include $<$functional$>$}\newline
-Include dependency graph for BNO08x\+Cb\+Generic.\+hpp\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=256pt]{_b_n_o08x_cb_generic_8hpp__incl}
-\end{center}
-\end{figure}
-This graph shows which files directly or indirectly include this file\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_cb_generic_8hpp__dep__incl}
-\end{center}
-\end{figure}
-\doxysubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-class \mbox{\hyperlink{class_b_n_o08x_cb_generic}{BNO08x\+Cb\+Generic}}
-\begin{DoxyCompactList}\small\item\em Parent class to represent callback functions as generic type such that all flavors can be invoked by single type. \end{DoxyCompactList}\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-\begin{DoxyAuthor}{Author}
-Myles Parfeniuk 
-\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_cb_generic_8hpp__dep__incl.md5 b/documentation/latex/_b_n_o08x_cb_generic_8hpp__dep__incl.md5
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-38e5c9fbcf96bdced6707a62185bad63
\ No newline at end of file
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-5e62c66c608f6d7b369b29e9d9d1ff9d
\ No newline at end of file
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--- a/documentation/latex/_b_n_o08x_cb_generic_8hpp_source.tex
+++ /dev/null
@@ -1,26 +0,0 @@
-\hypertarget{_b_n_o08x_cb_generic_8hpp_source}{}\doxysection{BNO08x\+Cb\+Generic.\+hpp}
-\label{_b_n_o08x_cb_generic_8hpp_source}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/callback/BNO08xCbGeneric.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/callback/BNO08xCbGeneric.hpp}}
-\mbox{\hyperlink{_b_n_o08x_cb_generic_8hpp}{Go to the documentation of this file.}}
-\begin{DoxyCode}{0}
-\DoxyCodeLine{1 }
-\DoxyCodeLine{6 \textcolor{preprocessor}{\#pragma once}}
-\DoxyCodeLine{7 }
-\DoxyCodeLine{8 \textcolor{comment}{// standard library includes}}
-\DoxyCodeLine{9 \textcolor{preprocessor}{\#include <stdint.h>}}
-\DoxyCodeLine{10 \textcolor{preprocessor}{\#include <functional>}}
-\DoxyCodeLine{11 }
-\DoxyCodeLine{18 \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x_cb_generic}{BNO08xCbGeneric}}}
-\DoxyCodeLine{19 \{}
-\DoxyCodeLine{20     \textcolor{keyword}{public}:}
-\DoxyCodeLine{21         \textcolor{keyword}{virtual} \textcolor{keywordtype}{void} \mbox{\hyperlink{class_b_n_o08x_cb_generic_a19f9e8a22d039acf29c98801368ff0bb}{invoke}}(uint8\_t \mbox{\hyperlink{class_b_n_o08x_cb_generic_a808841c9f19664cb6ff06f9c217793e1}{rpt\_ID}}) = 0;}
-\DoxyCodeLine{22         \textcolor{keyword}{virtual} \mbox{\hyperlink{class_b_n_o08x_cb_generic_a4caa8d4932c70bc07e187f489542ab87}{\string~BNO08xCbGeneric}}() = \textcolor{keywordflow}{default};}
-\DoxyCodeLine{23         uint8\_t \mbox{\hyperlink{class_b_n_o08x_cb_generic_a808841c9f19664cb6ff06f9c217793e1}{rpt\_ID}};}
-\DoxyCodeLine{24 }
-\DoxyCodeLine{25     \textcolor{keyword}{protected}:}
-\DoxyCodeLine{26         \mbox{\hyperlink{class_b_n_o08x_cb_generic_a5b1984f0111c5ca5e07a7f5487cd5234}{BNO08xCbGeneric}}(uint8\_t \mbox{\hyperlink{class_b_n_o08x_cb_generic_a808841c9f19664cb6ff06f9c217793e1}{rpt\_ID}})}
-\DoxyCodeLine{27             : \mbox{\hyperlink{class_b_n_o08x_cb_generic_a808841c9f19664cb6ff06f9c217793e1}{rpt\_ID}}(\mbox{\hyperlink{class_b_n_o08x_cb_generic_a808841c9f19664cb6ff06f9c217793e1}{rpt\_ID}})}
-\DoxyCodeLine{28         \{}
-\DoxyCodeLine{29         \}}
-\DoxyCodeLine{30 \};}
-
-\end{DoxyCode}
diff --git a/documentation/latex/_b_n_o08x_cb_param_rpt_i_d_8hpp.tex b/documentation/latex/_b_n_o08x_cb_param_rpt_i_d_8hpp.tex
deleted file mode 100644
index f81fca0..0000000
--- a/documentation/latex/_b_n_o08x_cb_param_rpt_i_d_8hpp.tex
+++ /dev/null
@@ -1,30 +0,0 @@
-\hypertarget{_b_n_o08x_cb_param_rpt_i_d_8hpp}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/callback/\+BNO08x\+Cb\+Param\+Rpt\+ID.hpp File Reference}
-\label{_b_n_o08x_cb_param_rpt_i_d_8hpp}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/callback/BNO08xCbParamRptID.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/callback/BNO08xCbParamRptID.hpp}}
-{\ttfamily \#include \char`\"{}BNO08x\+Cb\+Generic.\+hpp\char`\"{}}\newline
-Include dependency graph for BNO08x\+Cb\+Param\+Rpt\+ID.\+hpp\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=256pt]{_b_n_o08x_cb_param_rpt_i_d_8hpp__incl}
-\end{center}
-\end{figure}
-This graph shows which files directly or indirectly include this file\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_cb_param_rpt_i_d_8hpp__dep__incl}
-\end{center}
-\end{figure}
-\doxysubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-class \mbox{\hyperlink{class_b_n_o08x_cb_param_rpt_i_d}{BNO08x\+Cb\+Param\+Rpt\+ID}}
-\begin{DoxyCompactList}\small\item\em Class to hold callback functions which are passed report ID as input parameter. \end{DoxyCompactList}\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-\begin{DoxyAuthor}{Author}
-Myles Parfeniuk 
-\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_cb_param_rpt_i_d_8hpp__dep__incl.md5 b/documentation/latex/_b_n_o08x_cb_param_rpt_i_d_8hpp__dep__incl.md5
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-579226e4f554963fd954c737355195ed
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_cb_param_rpt_i_d_8hpp__dep__incl.pdf b/documentation/latex/_b_n_o08x_cb_param_rpt_i_d_8hpp__dep__incl.pdf
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-1019ef7d8fed53baab22f0b20600b441
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diff --git a/documentation/latex/_b_n_o08x_cb_param_rpt_i_d_8hpp__incl.pdf b/documentation/latex/_b_n_o08x_cb_param_rpt_i_d_8hpp__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_cb_param_rpt_i_d_8hpp_source.tex b/documentation/latex/_b_n_o08x_cb_param_rpt_i_d_8hpp_source.tex
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+++ /dev/null
@@ -1,29 +0,0 @@
-\hypertarget{_b_n_o08x_cb_param_rpt_i_d_8hpp_source}{}\doxysection{BNO08x\+Cb\+Param\+Rpt\+ID.\+hpp}
-\label{_b_n_o08x_cb_param_rpt_i_d_8hpp_source}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/callback/BNO08xCbParamRptID.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/callback/BNO08xCbParamRptID.hpp}}
-\mbox{\hyperlink{_b_n_o08x_cb_param_rpt_i_d_8hpp}{Go to the documentation of this file.}}
-\begin{DoxyCode}{0}
-\DoxyCodeLine{1 }
-\DoxyCodeLine{6 \textcolor{preprocessor}{\#pragma once}}
-\DoxyCodeLine{7 }
-\DoxyCodeLine{8 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_cb_generic_8hpp}{BNO08xCbGeneric.hpp}}"{}}}
-\DoxyCodeLine{9 }
-\DoxyCodeLine{15 \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x_cb_param_rpt_i_d}{BNO08xCbParamRptID}} : \textcolor{keyword}{public} \mbox{\hyperlink{class_b_n_o08x_cb_generic}{BNO08xCbGeneric}}}
-\DoxyCodeLine{16 \{}
-\DoxyCodeLine{17     \textcolor{keyword}{public}:}
-\DoxyCodeLine{18         \mbox{\hyperlink{class_b_n_o08x_cb_param_rpt_i_d_a5ba2a4e27588fdd0ae43133544c76a22}{BNO08xCbParamRptID}}(std::function<\textcolor{keywordtype}{void}(uint8\_t)> cb\_fxn, uint8\_t \mbox{\hyperlink{class_b_n_o08x_cb_generic_a808841c9f19664cb6ff06f9c217793e1}{rpt\_ID}})}
-\DoxyCodeLine{19             : \mbox{\hyperlink{class_b_n_o08x_cb_generic}{BNO08xCbGeneric}}(\mbox{\hyperlink{class_b_n_o08x_cb_generic_a808841c9f19664cb6ff06f9c217793e1}{rpt\_ID}})}
-\DoxyCodeLine{20             , cb\_fxn(cb\_fxn)}
-\DoxyCodeLine{21 }
-\DoxyCodeLine{22         \{}
-\DoxyCodeLine{23         \}}
-\DoxyCodeLine{24 }
-\DoxyCodeLine{32         \textcolor{keywordtype}{void} \mbox{\hyperlink{class_b_n_o08x_cb_param_rpt_i_d_ae263c2af6f9363d1a4fc58824b53cb72}{invoke}}(uint8\_t \mbox{\hyperlink{class_b_n_o08x_cb_generic_a808841c9f19664cb6ff06f9c217793e1}{rpt\_ID}})\textcolor{keyword}{ override}}
-\DoxyCodeLine{33 \textcolor{keyword}{        }\{}
-\DoxyCodeLine{34             cb\_fxn(\mbox{\hyperlink{class_b_n_o08x_cb_generic_a808841c9f19664cb6ff06f9c217793e1}{rpt\_ID}});}
-\DoxyCodeLine{35         \}}
-\DoxyCodeLine{36 }
-\DoxyCodeLine{37     \textcolor{keyword}{private}:}
-\DoxyCodeLine{38         std::function<void(uint8\_t)> cb\_fxn; }
-\DoxyCodeLine{39 \};}
-
-\end{DoxyCode}
diff --git a/documentation/latex/_b_n_o08x_cb_param_void_8hpp.tex b/documentation/latex/_b_n_o08x_cb_param_void_8hpp.tex
deleted file mode 100644
index 97a1d70..0000000
--- a/documentation/latex/_b_n_o08x_cb_param_void_8hpp.tex
+++ /dev/null
@@ -1,30 +0,0 @@
-\hypertarget{_b_n_o08x_cb_param_void_8hpp}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/callback/\+BNO08x\+Cb\+Param\+Void.hpp File Reference}
-\label{_b_n_o08x_cb_param_void_8hpp}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/callback/BNO08xCbParamVoid.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/callback/BNO08xCbParamVoid.hpp}}
-{\ttfamily \#include \char`\"{}BNO08x\+Cb\+Generic.\+hpp\char`\"{}}\newline
-Include dependency graph for BNO08x\+Cb\+Param\+Void.\+hpp\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=256pt]{_b_n_o08x_cb_param_void_8hpp__incl}
-\end{center}
-\end{figure}
-This graph shows which files directly or indirectly include this file\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_cb_param_void_8hpp__dep__incl}
-\end{center}
-\end{figure}
-\doxysubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-class \mbox{\hyperlink{class_b_n_o08x_cb_param_void}{BNO08x\+Cb\+Param\+Void}}
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-\begin{DoxyAuthor}{Author}
-Myles Parfeniuk 
-\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_cb_param_void_8hpp__dep__incl.md5 b/documentation/latex/_b_n_o08x_cb_param_void_8hpp__dep__incl.md5
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-52313f3c5430b62d3e5fd160c2287a5e
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_cb_param_void_8hpp__dep__incl.pdf b/documentation/latex/_b_n_o08x_cb_param_void_8hpp__dep__incl.pdf
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--- a/documentation/latex/_b_n_o08x_cb_param_void_8hpp__incl.md5
+++ /dev/null
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-2ef7262bbf84e64d0f8c133d89d164c6
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_cb_param_void_8hpp__incl.pdf b/documentation/latex/_b_n_o08x_cb_param_void_8hpp__incl.pdf
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index 3d25218..0000000
--- a/documentation/latex/_b_n_o08x_cb_param_void_8hpp_source.tex
+++ /dev/null
@@ -1,28 +0,0 @@
-\hypertarget{_b_n_o08x_cb_param_void_8hpp_source}{}\doxysection{BNO08x\+Cb\+Param\+Void.\+hpp}
-\label{_b_n_o08x_cb_param_void_8hpp_source}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/callback/BNO08xCbParamVoid.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/callback/BNO08xCbParamVoid.hpp}}
-\mbox{\hyperlink{_b_n_o08x_cb_param_void_8hpp}{Go to the documentation of this file.}}
-\begin{DoxyCode}{0}
-\DoxyCodeLine{1 }
-\DoxyCodeLine{6 \textcolor{preprocessor}{\#pragma once}}
-\DoxyCodeLine{7 }
-\DoxyCodeLine{8 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_cb_generic_8hpp}{BNO08xCbGeneric.hpp}}"{}}}
-\DoxyCodeLine{9 }
-\DoxyCodeLine{15 \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x_cb_param_void}{BNO08xCbParamVoid}} : \textcolor{keyword}{public} \mbox{\hyperlink{class_b_n_o08x_cb_generic}{BNO08xCbGeneric}}}
-\DoxyCodeLine{16 \{}
-\DoxyCodeLine{17     \textcolor{keyword}{public}:}
-\DoxyCodeLine{18         \mbox{\hyperlink{class_b_n_o08x_cb_param_void_a989c124bfd9871f80a415b76510d966b}{BNO08xCbParamVoid}}(std::function<\textcolor{keywordtype}{void}(\textcolor{keywordtype}{void})> cb\_fxn, uint8\_t \mbox{\hyperlink{class_b_n_o08x_cb_generic_a808841c9f19664cb6ff06f9c217793e1}{rpt\_ID}})}
-\DoxyCodeLine{19             : \mbox{\hyperlink{class_b_n_o08x_cb_generic}{BNO08xCbGeneric}}(\mbox{\hyperlink{class_b_n_o08x_cb_generic_a808841c9f19664cb6ff06f9c217793e1}{rpt\_ID}})}
-\DoxyCodeLine{20             , cb\_fxn(cb\_fxn)}
-\DoxyCodeLine{21         \{}
-\DoxyCodeLine{22         \}}
-\DoxyCodeLine{23 }
-\DoxyCodeLine{32         \textcolor{keywordtype}{void} \mbox{\hyperlink{class_b_n_o08x_cb_param_void_a5cfdaad83528e3e418f51041d500b6f9}{invoke}}(uint8\_t \mbox{\hyperlink{class_b_n_o08x_cb_generic_a808841c9f19664cb6ff06f9c217793e1}{rpt\_ID}})\textcolor{keyword}{ override}}
-\DoxyCodeLine{33 \textcolor{keyword}{        }\{}
-\DoxyCodeLine{34             cb\_fxn();}
-\DoxyCodeLine{35         \}}
-\DoxyCodeLine{36 }
-\DoxyCodeLine{37     \textcolor{keyword}{private}:}
-\DoxyCodeLine{38         std::function<void(\textcolor{keywordtype}{void})> cb\_fxn; }
-\DoxyCodeLine{39 \};}
-
-\end{DoxyCode}
diff --git a/documentation/latex/_b_n_o08x_global_types_8hpp.tex b/documentation/latex/_b_n_o08x_global_types_8hpp.tex
deleted file mode 100644
index 5ffd013..0000000
--- a/documentation/latex/_b_n_o08x_global_types_8hpp.tex
+++ /dev/null
@@ -1,1186 +0,0 @@
-\hypertarget{_b_n_o08x_global_types_8hpp}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\+BNO08x\+Global\+Types.hpp File Reference}
-\label{_b_n_o08x_global_types_8hpp}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/BNO08xGlobalTypes.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/BNO08xGlobalTypes.hpp}}
-{\ttfamily \#include $<$math.\+h$>$}\newline
-{\ttfamily \#include $<$inttypes.\+h$>$}\newline
-{\ttfamily \#include $<$stdint.\+h$>$}\newline
-{\ttfamily \#include $<$cstring$>$}\newline
-{\ttfamily \#include $<$driver/gpio.\+h$>$}\newline
-{\ttfamily \#include $<$driver/spi\+\_\+common.\+h$>$}\newline
-{\ttfamily \#include $<$driver/spi\+\_\+master.\+h$>$}\newline
-{\ttfamily \#include \char`\"{}sh2\+\_\+\+Sensor\+Value.\+h\char`\"{}}\newline
-Include dependency graph for BNO08x\+Global\+Types.\+hpp\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_global_types_8hpp__incl}
-\end{center}
-\end{figure}
-This graph shows which files directly or indirectly include this file\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_global_types_8hpp__dep__incl}
-\end{center}
-\end{figure}
-\doxysubsection*{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 
-struct \mbox{\hyperlink{structbno08x__quat__t}{bno08x\+\_\+quat\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em Struct to represent unit quaternion. \end{DoxyCompactList}\item 
-struct \mbox{\hyperlink{structbno08x__euler__angle__t}{bno08x\+\_\+euler\+\_\+angle\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em Struct to represent euler angle (units in degrees or rads) \end{DoxyCompactList}\item 
-struct \mbox{\hyperlink{structbno08x__ang__vel__t}{bno08x\+\_\+ang\+\_\+vel\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em Struct to represent angular velocity (units in rad/s) \end{DoxyCompactList}\item 
-struct \mbox{\hyperlink{structbno08x__magf__t}{bno08x\+\_\+magf\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em Struct to represent magnetic field data (units in u\+Tesla) \end{DoxyCompactList}\item 
-struct \mbox{\hyperlink{structbno08x__magf__bias__t}{bno08x\+\_\+magf\+\_\+bias\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em Struct to represent magnetic field bias data (units in u\+Tesla) \end{DoxyCompactList}\item 
-struct \mbox{\hyperlink{structbno08x__gyro__t}{bno08x\+\_\+gyro\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em Struct to represent gyro data (units in rad/s) \end{DoxyCompactList}\item 
-struct \mbox{\hyperlink{structbno08x__gyro__bias__t}{bno08x\+\_\+gyro\+\_\+bias\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em Struct to represent gyro bias data (units in rad/s) \end{DoxyCompactList}\item 
-struct \mbox{\hyperlink{structbno08x__activity__classifier__t}{bno08x\+\_\+activity\+\_\+classifier\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em Struct to represent activity classifier data. \end{DoxyCompactList}\item 
-struct \mbox{\hyperlink{structbno08x__tap__detector__t}{bno08x\+\_\+tap\+\_\+detector\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em Struct to represent tap detector data (flag meaning\+: 0 = no tap, 1 = positive tap on axis, -\/1 = negative tap on axis) \end{DoxyCompactList}\item 
-struct \mbox{\hyperlink{structbno08x__shake__detector__t}{bno08x\+\_\+shake\+\_\+detector\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em Struct to represent shake detector data (flag meaning\+: 0 = no shake 1 = shake detected) \end{DoxyCompactList}\item 
-struct \mbox{\hyperlink{structbno08x__accel__t}{bno08x\+\_\+accel\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em Struct to represent acceleration data from acceleration, linear acceleration, and gravity reports. \end{DoxyCompactList}\item 
-struct \mbox{\hyperlink{structbno08x__step__counter__t}{bno08x\+\_\+step\+\_\+counter\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em Struct to represent step counter data from step counter reports. \end{DoxyCompactList}\item 
-struct \mbox{\hyperlink{structbno08x__raw__gyro__t}{bno08x\+\_\+raw\+\_\+gyro\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em Struct to represent raw mems gyro data from raw gyro reports (units in ADC counts). \end{DoxyCompactList}\item 
-struct \mbox{\hyperlink{structbno08x__raw__accel__t}{bno08x\+\_\+raw\+\_\+accel\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em Struct to represent raw mems accelerometer data from raw accelerometer reports (units in ADC counts). \end{DoxyCompactList}\item 
-struct \mbox{\hyperlink{structbno08x__raw__magf__t}{bno08x\+\_\+raw\+\_\+magf\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em Struct to represent raw mems magnetometer data from raw magnetometer reports (units in ADC counts). \end{DoxyCompactList}\item 
-struct \mbox{\hyperlink{structbno08x__stability__classifier__t}{bno08x\+\_\+stability\+\_\+classifier\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em Struct to represent stability classifier data from stability classifier reports. \end{DoxyCompactList}\item 
-struct \mbox{\hyperlink{structbno08x__sample__counts__t}{bno08x\+\_\+sample\+\_\+counts\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em Struct to represent sample counts, returned from \mbox{\hyperlink{class_b_n_o08x_rpt_a7ce8e48cadf59f49068af7f1cb680b38}{BNO08x\+Rpt\+::get\+\_\+sample\+\_\+counts()}} \end{DoxyCompactList}\item 
-struct \mbox{\hyperlink{structbno08x__meta__data__t}{bno08x\+\_\+meta\+\_\+data\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em Struct to represent sensor/report meta data, returned from \mbox{\hyperlink{class_b_n_o08x_rpt_ad5b054279b01204f61b4c0408acf51cf}{BNO08x\+Rpt\+::get\+\_\+meta\+\_\+data()}} \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Macros}
-\begin{DoxyCompactItemize}
-\item 
-\#define \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_ad0dc59e3a74a39a8e358c945162f6fc8}{TAP\+\_\+\+DETECTED\+\_\+\+X\+\_\+\+AXIS}}(tap)~((tap) \& (1U $<$$<$ 0U) ? 1 \+: 0)
-\item 
-\#define \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8a8a0fbcff17f5123ad111fcd9a375ea}{TAP\+\_\+\+DETECTED\+\_\+\+X\+\_\+\+AXIS\+\_\+\+POSITIVE}}(tap)~((tap) \& (1U $<$$<$ 1U) ? 1 \+: 0)
-\item 
-\#define \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_ad2ab2bbe6f01a4a641f75c41a9064cf6}{TAP\+\_\+\+DETECTED\+\_\+\+Y\+\_\+\+AXIS}}(tap)~((tap) \& (1U $<$$<$ 2U) ? 1 \+: 0)
-\item 
-\#define \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a356ec3a53c785965e8dd24381a3bdcd7}{TAP\+\_\+\+DETECTED\+\_\+\+Y\+\_\+\+AXIS\+\_\+\+POSITIVE}}(tap)~((tap) \& (1U $<$$<$ 3U) ? 1 \+: 0)
-\item 
-\#define \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_aaaf91ed835d5d1a5726806bb147c5938}{TAP\+\_\+\+DETECTED\+\_\+\+Z\+\_\+\+AXIS}}(tap)~((tap) \& (1U $<$$<$ 4U) ? 1 \+: 0)
-\item 
-\#define \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6fd0bd9f4990ced262a8f2d4c41d65d9}{TAP\+\_\+\+DETECTED\+\_\+\+Z\+\_\+\+AXIS\+\_\+\+POSITIVE}}(tap)~((tap) \& (1U $<$$<$ 5U) ? 1 \+: 0)
-\item 
-\#define \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a92a577e216f51fc6156a87e6ecf8ffc5}{TAP\+\_\+\+DETECTED\+\_\+\+DOUBLE}}(tap)~((tap) \& (1U $<$$<$ 6U) ? 1 \+: 0)
-\item 
-\#define \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_ae12bdf0217349447eebadf16d4560869}{SHAKE\+\_\+\+DETECTED\+\_\+X}}(tap)~((tap) \& (1U $<$$<$ 0U) ? 1 \+: 0)
-\item 
-\#define \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a023aa826dbf083e2a6d2d67beba75b27}{SHAKE\+\_\+\+DETECTED\+\_\+Y}}(tap)~((tap) \& (1U $<$$<$ 1U) ? 1 \+: 0)
-\item 
-\#define \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a9951e367fa8ff09a55526994cfaa94be}{SHAKE\+\_\+\+DETECTED\+\_\+Z}}(tap)~((tap) \& (1U $<$$<$ 2U) ? 1 \+: 0)
-\end{DoxyCompactItemize}
-\doxysubsection*{Typedefs}
-\begin{DoxyCompactItemize}
-\item 
-typedef struct \mbox{\hyperlink{structbno08x__config__t}{bno08x\+\_\+config\+\_\+t}} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a648bbdbf22731476890dd8da977d7503}{bno08x\+\_\+config\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em IMU configuration settings passed into constructor. \end{DoxyCompactList}\item 
-typedef \mbox{\hyperlink{structbno08x__config__t}{bno08x\+\_\+config\+\_\+t}} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_aae502b3d91ddf903bba797646fd28d00}{imu\+\_\+config\+\_\+t}}
-\item 
-using \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a03fbbd71180a19088ce30d57ab050a22}{IMUAccuracy}} = \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08x\+Accuracy}}
-\item 
-typedef struct \mbox{\hyperlink{structbno08x__quat__t}{bno08x\+\_\+quat\+\_\+t}} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a0c7367913526c0d634c5f8f5365a55b4}{bno08x\+\_\+quat\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em Struct to represent unit quaternion. \end{DoxyCompactList}\item 
-typedef struct \mbox{\hyperlink{structbno08x__euler__angle__t}{bno08x\+\_\+euler\+\_\+angle\+\_\+t}} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ae22357b6f53c2cf806bb3aeb80814a}{bno08x\+\_\+euler\+\_\+angle\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em Struct to represent euler angle (units in degrees or rads) \end{DoxyCompactList}\item 
-typedef struct \mbox{\hyperlink{structbno08x__ang__vel__t}{bno08x\+\_\+ang\+\_\+vel\+\_\+t}} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a2babea2516c7c91039316693fc23a8c1}{bno08x\+\_\+ang\+\_\+vel\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em Struct to represent angular velocity (units in rad/s) \end{DoxyCompactList}\item 
-typedef struct \mbox{\hyperlink{structbno08x__magf__t}{bno08x\+\_\+magf\+\_\+t}} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a429f861977153379e28e8f3710330b45}{bno08x\+\_\+magf\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em Struct to represent magnetic field data (units in u\+Tesla) \end{DoxyCompactList}\item 
-typedef struct \mbox{\hyperlink{structbno08x__magf__bias__t}{bno08x\+\_\+magf\+\_\+bias\+\_\+t}} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a3d6e56080638d872486935323f393ab7}{bno08x\+\_\+magf\+\_\+bias\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em Struct to represent magnetic field bias data (units in u\+Tesla) \end{DoxyCompactList}\item 
-typedef struct \mbox{\hyperlink{structbno08x__gyro__t}{bno08x\+\_\+gyro\+\_\+t}} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_ac166834f6280e6ef21af7dd8a01be1e4}{bno08x\+\_\+gyro\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em Struct to represent gyro data (units in rad/s) \end{DoxyCompactList}\item 
-typedef struct \mbox{\hyperlink{structbno08x__gyro__bias__t}{bno08x\+\_\+gyro\+\_\+bias\+\_\+t}} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a7bf3b6ed58dd988c0f4566ba56bff415}{bno08x\+\_\+gyro\+\_\+bias\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em Struct to represent gyro bias data (units in rad/s) \end{DoxyCompactList}\item 
-typedef struct \mbox{\hyperlink{structbno08x__activity__classifier__t}{bno08x\+\_\+activity\+\_\+classifier\+\_\+t}} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a7913a36911f75945cfaa0a3249a280e3}{bno08x\+\_\+activity\+\_\+classifier\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em Struct to represent activity classifier data. \end{DoxyCompactList}\item 
-typedef struct \mbox{\hyperlink{structbno08x__tap__detector__t}{bno08x\+\_\+tap\+\_\+detector\+\_\+t}} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_adcfe69b10c9c2244015bad5b978beedd}{bno08x\+\_\+tap\+\_\+detector\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em Struct to represent tap detector data (flag meaning\+: 0 = no tap, 1 = positive tap on axis, -\/1 = negative tap on axis) \end{DoxyCompactList}\item 
-typedef struct \mbox{\hyperlink{structbno08x__shake__detector__t}{bno08x\+\_\+shake\+\_\+detector\+\_\+t}} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a7c22ac348c71afe0d42dcfae6c97ca32}{bno08x\+\_\+shake\+\_\+detector\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em Struct to represent shake detector data (flag meaning\+: 0 = no shake 1 = shake detected) \end{DoxyCompactList}\item 
-typedef struct \mbox{\hyperlink{structbno08x__accel__t}{bno08x\+\_\+accel\+\_\+t}} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a0c22a2a9fede695256dfaa4703497a2e}{bno08x\+\_\+accel\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em Struct to represent acceleration data from acceleration, linear acceleration, and gravity reports. \end{DoxyCompactList}\item 
-typedef struct \mbox{\hyperlink{structbno08x__step__counter__t}{bno08x\+\_\+step\+\_\+counter\+\_\+t}} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_ad52b092f56d1fa0064f2ea3502399cfc}{bno08x\+\_\+step\+\_\+counter\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em Struct to represent step counter data from step counter reports. \end{DoxyCompactList}\item 
-typedef struct \mbox{\hyperlink{structbno08x__raw__gyro__t}{bno08x\+\_\+raw\+\_\+gyro\+\_\+t}} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a3e205d9599aa01b7946d1ed1cbb7f1c4}{bno08x\+\_\+raw\+\_\+gyro\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em Struct to represent raw mems gyro data from raw gyro reports (units in ADC counts). \end{DoxyCompactList}\item 
-typedef struct \mbox{\hyperlink{structbno08x__raw__accel__t}{bno08x\+\_\+raw\+\_\+accel\+\_\+t}} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_ace2ea90ebebddfcdb75e1b8b7b48f905}{bno08x\+\_\+raw\+\_\+accel\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em Struct to represent raw mems accelerometer data from raw accelerometer reports (units in ADC counts). \end{DoxyCompactList}\item 
-typedef struct \mbox{\hyperlink{structbno08x__raw__magf__t}{bno08x\+\_\+raw\+\_\+magf\+\_\+t}} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a673f429cbcd0f48394de3d990d8bda4a}{bno08x\+\_\+raw\+\_\+magf\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em Struct to represent raw mems magnetometer data from raw magnetometer reports (units in ADC counts). \end{DoxyCompactList}\item 
-typedef struct \mbox{\hyperlink{structbno08x__stability__classifier__t}{bno08x\+\_\+stability\+\_\+classifier\+\_\+t}} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a9f0440c67ec56fafcd25a24bf36f842f}{bno08x\+\_\+stability\+\_\+classifier\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em Struct to represent stability classifier data from stability classifier reports. \end{DoxyCompactList}\item 
-typedef struct \mbox{\hyperlink{structbno08x__sample__counts__t}{bno08x\+\_\+sample\+\_\+counts\+\_\+t}} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_afceb7f957002d3e024d4971963ecfa20}{bno08x\+\_\+sample\+\_\+counts\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em Struct to represent sample counts, returned from \mbox{\hyperlink{class_b_n_o08x_rpt_a7ce8e48cadf59f49068af7f1cb680b38}{BNO08x\+Rpt\+::get\+\_\+sample\+\_\+counts()}} \end{DoxyCompactList}\item 
-typedef struct \mbox{\hyperlink{structbno08x__meta__data__t}{bno08x\+\_\+meta\+\_\+data\+\_\+t}} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a1145e5dfd14e96bd70c6e73af017b548}{bno08x\+\_\+meta\+\_\+data\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em Struct to represent sensor/report meta data, returned from \mbox{\hyperlink{class_b_n_o08x_rpt_ad5b054279b01204f61b4c0408acf51cf}{BNO08x\+Rpt\+::get\+\_\+meta\+\_\+data()}} \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Enumerations}
-\begin{DoxyCompactItemize}
-\item 
-enum class \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a25947bbe6bc4a7c9edd7067fdce0e9cc}{BNO08x\+Cal\+Sel}} \+: uint8\+\_\+t \{ \newline
-\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a25947bbe6bc4a7c9edd7067fdce0e9cca0e1275697d4c40b4b0640fbfa3907afa}{accelerometer}} = SH2\+\_\+\+CAL\+\_\+\+ACCEL
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a25947bbe6bc4a7c9edd7067fdce0e9cca41e1db589d90cecf09838a038ebc8aa1}{gyro}} = SH2\+\_\+\+CAL\+\_\+\+GYRO
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a25947bbe6bc4a7c9edd7067fdce0e9cca2c8af00d544b080d3c0d834d1c5dfcbf}{magnetometer}} = SH2\+\_\+\+CAL\+\_\+\+MAG
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a25947bbe6bc4a7c9edd7067fdce0e9ccafcaab1f4c98b7343157c3c59c6a259cb}{planar\+\_\+accelerometer}} = SH2\+\_\+\+CAL\+\_\+\+PLANAR
-, \newline
-\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a25947bbe6bc4a7c9edd7067fdce0e9ccaa181a603769c1f98ad927e7367c7aa51}{all}} = (SH2\+\_\+\+CAL\+\_\+\+ACCEL $\vert$ SH2\+\_\+\+CAL\+\_\+\+GYRO $\vert$ SH2\+\_\+\+CAL\+\_\+\+MAG $\vert$ SH2\+\_\+\+CAL\+\_\+\+PLANAR)
- \}
-\item 
-enum class \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2}{BNO08x\+Reset\+Reason}} \+: uint8\+\_\+t \{ \newline
-\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2a0db45d2a4141101bdfe48e3314cfbca3}{UNDEFINED}}
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2a7b47bb0f9f8c72f84d891e8e22a1fb92}{POR}}
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2acc069cf9b33eb4e7fb3696f0f42d752f}{INT\+\_\+\+RST}}
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2a764caaf44e35ee682f4079bd0878fa36}{WTD}}
-, \newline
-\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2ac4e100317ca17eda786308c1c39eded5}{EXT\+\_\+\+RST}}
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2a03570470bad94692ce93e32700d2e1cb}{OTHER}}
- \}
-\begin{DoxyCompactList}\small\item\em Reason for previous IMU reset (returned by get\+\_\+reset\+\_\+reason()) \end{DoxyCompactList}\item 
-enum class \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08x\+Accuracy}} \+: uint8\+\_\+t \{ \newline
-\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6a6e257e645974b9086ed66e9465e2d80c}{UNRELIABLE}}
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6a41bc94cbd8eebea13ce0491b2ac11b88}{LOW}}
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6a2ad6d5975c45da2e711c796f3a1b029c}{MED}}
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6ab89de3b4b81c4facfac906edf29aec8c}{HIGH}}
-, \newline
-\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6a0db45d2a4141101bdfe48e3314cfbca3}{UNDEFINED}}
- \}
-\begin{DoxyCompactList}\small\item\em Sensor accuracy returned from input reports, corresponds to status bits (see ref. manual 6.\+5.\+1) \end{DoxyCompactList}\item 
-enum class \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3a}{BNO08x\+Activity\+Enable}} \+: uint32\+\_\+t \{ \newline
-\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa696b031073e74bf2cb98e5ef201d4aa3}{UNKNOWN}} = (1U \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 0U)
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aab166a3ce74dd5434e4a940dfa2af76e4}{IN\+\_\+\+VEHICLE}} = (1U \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 1U)
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa93d94a2f3a627533453a40e302fb35a4}{ON\+\_\+\+BICYCLE}} = (1U \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 2U)
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa7089542e0146a3499986c81e24924b58}{ON\+\_\+\+FOOT}} = (1U \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 3U)
-, \newline
-\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa8b572d218013b9626d59e6a2b38f18b6}{STILL}} = (1U \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 4U)
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa69909b62e08f212da31719aebf67b70c}{TILTING}} = (1U \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 5U)
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa606c114184493a665cf1f6a12fbab9d3}{WALKING}} = (1U \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 6U)
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa43491564ebcfd38568918efbd6e840fd}{RUNNING}} = (1U \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 7U)
-, \newline
-\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aabbf2a614429826a84bd76b4a47fc7515}{ON\+\_\+\+STAIRS}} = (1U \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 8U)
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa5fb1f955b45e38e31789286a1790398d}{ALL}} = (UNKNOWN $\vert$ IN\+\_\+\+VEHICLE $\vert$ ON\+\_\+\+BICYCLE $\vert$ ON\+\_\+\+FOOT $\vert$ STILL $\vert$ TILTING $\vert$ WALKING $\vert$ RUNNING $\vert$ ON\+\_\+\+STAIRS)
- \}
-\begin{DoxyCompactList}\small\item\em BNO08x\+Activity Classifier enable bits passed to enable\+\_\+activity\+\_\+classifier() See ref manual 6.\+5.\+36.\+1. \end{DoxyCompactList}\item 
-enum class \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97d}{BNO08x\+Activity}} \+: uint8\+\_\+t \{ \newline
-\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97da696b031073e74bf2cb98e5ef201d4aa3}{UNKNOWN}} = 0
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97dab166a3ce74dd5434e4a940dfa2af76e4}{IN\+\_\+\+VEHICLE}} = 1
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97da93d94a2f3a627533453a40e302fb35a4}{ON\+\_\+\+BICYCLE}} = 2
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97da7089542e0146a3499986c81e24924b58}{ON\+\_\+\+FOOT}} = 3
-, \newline
-\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97da8b572d218013b9626d59e6a2b38f18b6}{STILL}} = 4
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97da69909b62e08f212da31719aebf67b70c}{TILTING}} = 5
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97da606c114184493a665cf1f6a12fbab9d3}{WALKING}} = 6
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97da43491564ebcfd38568918efbd6e840fd}{RUNNING}} = 7
-, \newline
-\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97dabbf2a614429826a84bd76b4a47fc7515}{ON\+\_\+\+STAIRS}} = 8
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97da0db45d2a4141101bdfe48e3314cfbca3}{UNDEFINED}} = 9
- \}
-\begin{DoxyCompactList}\small\item\em BNO08x\+Activity states returned from BNO08x\+::activity\+\_\+classifier.\+get() \end{DoxyCompactList}\item 
-enum class \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cb}{BNO08x\+Stability}} \+: uint8\+\_\+t \{ \newline
-\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cba696b031073e74bf2cb98e5ef201d4aa3}{UNKNOWN}} = 0
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cba71149a62cd9fec4756e3538d1754486a}{ON\+\_\+\+TABLE}} = 1
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cba4120eb7591bd0789af75a8973d5f9146}{STATIONARY}} = 2
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cba32987cdf8a725702042ab18f5c700905}{STABLE}} = 3
-, \newline
-\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cbaf96e6ea7a7375bd60bad3f3caae3cf27}{MOTION}} = 4
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cba83c7f2aa8c3ac10ed8beb75cad162827}{RESERVED}} = 5
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cba0db45d2a4141101bdfe48e3314cfbca3}{UNDEFINED}} = 6
- \}
-\begin{DoxyCompactList}\small\item\em BNO08x\+Stability states returned from BNO08x\+::stability\+\_\+classifier.\+get() \end{DoxyCompactList}\item 
-enum class \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8e}{BNO08x\+Frs\+ID}} \+: uint16\+\_\+t \{ \newline
-\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eae81a7ec9f2eb51db6a66eec214f74329}{STATIC\+\_\+\+CALIBRATION\+\_\+\+AGM}} = 0x7979
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea9b1f79a084136956f5a67145e34b8fcf}{NOMINAL\+\_\+\+CALIBRATION}} = 0x4\+D4D
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eae3e95aa73e5b19b6fc1574c287598a8a}{STATIC\+\_\+\+CALIBRATION\+\_\+\+SRA}} = 0x8\+A8A
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea9575a153f8b803923611e5a7577d8992}{NOMINAL\+\_\+\+CALIBRATION\+\_\+\+SRA}} = 0x4\+E4E
-, \newline
-\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eac843f0dc477c2043015db473c2bbf8b7}{DYNAMIC\+\_\+\+CALIBRATION}} = 0x1\+F1F
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea4003f069dafa6695f634bc4d6cadf21d}{ME\+\_\+\+POWER\+\_\+\+MGMT}} = 0x\+D3\+E2
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea174aa600a99d1fee26df64861c68d4ab}{SYSTEM\+\_\+\+ORIENTATION}} = 0x2\+D3E
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea5a6f607e6dea7e4770d6d44dffc14fe0}{ACCEL\+\_\+\+ORIENTATION}} = 0x2\+D41
-, \newline
-\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea1e56a229eb00e62fc6f98a9c3bf2c41e}{SCREEN\+\_\+\+ACCEL\+\_\+\+ORIENTATION}} = 0x2\+D43
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eab7ba02b55d602fc0e643a0e860144abd}{GYROSCOPE\+\_\+\+ORIENTATION}} = 0x2\+D46
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea7c1bc0a9cbeffed48c3f56f138f059dd}{MAGNETOMETER\+\_\+\+ORIENTATION}} = 0x2\+D4C
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ead41092d568817e7b690859c6a04089ef}{ARVR\+\_\+\+STABILIZATION\+\_\+\+RV}} = 0x3\+E2D
-, \newline
-\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea20d2e66717ed43eb8a6b112e953eb9db}{ARVR\+\_\+\+STABILIZATION\+\_\+\+GRV}} = 0x3\+E2E
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea94ada7efc076c96b78bcb052d4f22ca2}{TAP\+\_\+\+DETECT\+\_\+\+CONFIG}} = 0x\+C269
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eae5d606ae5efeadd9ab249a39b8ed828a}{SIG\+\_\+\+MOTION\+\_\+\+DETECT\+\_\+\+CONFIG}} = 0x\+C274
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea8a41fbc008e0571cf295a0770e995864}{SHAKE\+\_\+\+DETECT\+\_\+\+CONFIG}} = 0x7\+D7D
-, \newline
-\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea2dfcf6ba54eba882fb201bd55b45c4b9}{MAX\+\_\+\+FUSION\+\_\+\+PERIOD}} = 0x\+D7\+D7
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eabac5402bcf9584b3014bd64b8b6ad282}{SERIAL\+\_\+\+NUMBER}} = 0x4\+B4B
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea985e7c8c6bc3500a46530901ac93ab09}{ES\+\_\+\+PRESSURE\+\_\+\+CAL}} = 0x39\+AF
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eae15b6d77b828a0022adb2622ddf30d29}{ES\+\_\+\+TEMPERATURE\+\_\+\+CAL}} = 0x4\+D20
-, \newline
-\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea2ce4d488b1ad35ff763f52aec7191874}{ES\+\_\+\+HUMIDITY\+\_\+\+CAL}} = 0x1\+AC9
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea11c8ae2ec493a78ebc9a808e1df7478c}{ES\+\_\+\+AMBIENT\+\_\+\+LIGHT\+\_\+\+CAL}} = 0x39\+B1
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea0afc9b6963a488212d0d10c1788ca309}{ES\+\_\+\+PROXIMITY\+\_\+\+CAL}} = 0x4\+DA2
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eadc862ae872087053cf308a5c9d12e8ea}{ALS\+\_\+\+CAL}} = 0x\+D401
-, \newline
-\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eabcf02bc8a45fdf7df5390b79184b922e}{PROXIMITY\+\_\+\+SENSOR\+\_\+\+CAL}} = 0x\+D402
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eac9e002e70642b098e7e67cc4083d134d}{PICKUP\+\_\+\+DETECTOR\+\_\+\+CONFIG}} = 0x1\+B2A
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eab0ef80b2f1340b86b39cb82f5ab9d7ee}{FLIP\+\_\+\+DETECTOR\+\_\+\+CONFIG}} = 0x\+FC94
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ead36109c56ef4d0598cc0b03b25dc8d85}{STABILITY\+\_\+\+DETECTOR\+\_\+\+CONFIG}} = 0x\+ED85
-, \newline
-\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eab16df741bbcb037e9fc6830441e21a95}{ACTIVITY\+\_\+\+TRACKER\+\_\+\+CONFIG}} = 0x\+ED88
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea19f33813d80c7da8306762a7f141d9bb}{SLEEP\+\_\+\+DETECTOR\+\_\+\+CONFIG}} = 0x\+ED87
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea6590d7f1041f103cdaab64cd06e0db37}{TILT\+\_\+\+DETECTOR\+\_\+\+CONFIG}} = 0x\+ED89
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eaababe7d27ea06c8f91d48e5b7aa29edd}{POCKET\+\_\+\+DETECTOR\+\_\+\+CONFIG}} = 0x\+EF27
-, \newline
-\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea04c1dfc95c72ddbf41e93f6c894aea7c}{CIRCLE\+\_\+\+DETECTOR\+\_\+\+CONFIG}} = 0x\+EE51
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea5d88297a4f00a18d228e25847cbac419}{USER\+\_\+\+RECORD}} = 0x74\+B4
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea622bd18282b2f88dc49339c638005f7d}{ME\+\_\+\+TIME\+\_\+\+SOURCE\+\_\+\+SELECT}} = 0x\+D403
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea915838bac984c07ae03ec46239375b32}{UART\+\_\+\+FORMAT}} = 0x\+A1\+A1
-, \newline
-\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eacde3a23190df77d7c45b6dcf38727bda}{GYRO\+\_\+\+INTEGRATED\+\_\+\+RV\+\_\+\+CONFIG}} = 0x\+A1\+A2
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea2e4ea1aa76f2cad49db5d57d811e12aa}{META\+\_\+\+RAW\+\_\+\+ACCELEROMETER}} = 0x\+E301
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea465acbc549b49027295fb2df6d89ad9e}{META\+\_\+\+ACCELEROMETER}} = 0x\+E302
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea3308d6a253d373d623aa27e5a7e35b26}{META\+\_\+\+LINEAR\+\_\+\+ACCELERATION}} = 0x\+E303
-, \newline
-\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ead18387364cb570f2dada6577901433b2}{META\+\_\+\+GRAVITY}} = 0x\+E304
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea151beca4927a54850a706fce1bdc6d4f}{META\+\_\+\+RAW\+\_\+\+GYROSCOPE}} = 0x\+E305
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea1bc76fb93c1b3dd08a602f2f4fbe8645}{META\+\_\+\+GYROSCOPE\+\_\+\+CALIBRATED}} = 0x\+E306
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eaa68be0ce226eff099a645026852190b4}{META\+\_\+\+GYROSCOPE\+\_\+\+UNCALIBRATED}} = 0x\+E307
-, \newline
-\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ead97759e77dc0c7c57de6a56bc0f9bad8}{META\+\_\+\+RAW\+\_\+\+MAGNETOMETER}} = 0x\+E308
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eac4042d50ceb28eb1f11e87cb6d6d4b61}{META\+\_\+\+MAGNETIC\+\_\+\+FIELD\+\_\+\+CALIBRATED}} = 0x\+E309
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea34c09ae0fffb459871f75731dd9bdfb1}{META\+\_\+\+MAGNETIC\+\_\+\+FIELD\+\_\+\+UNCALIBRATED}} = 0x\+E30A
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea4a6153a0da5cadc5308e699f0d72de20}{META\+\_\+\+ROTATION\+\_\+\+VECTOR}} = 0x\+E30B
-, \newline
-\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea03247820bfcd6c7518327a501c2f84f2}{META\+\_\+\+GAME\+\_\+\+ROTATION\+\_\+\+VECTOR}} = 0x\+E30C
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea8358c5060ffe770da1411d8779db71a8}{META\+\_\+\+GEOMAGNETIC\+\_\+\+ROTATION\+\_\+\+VECTOR}} = 0x\+E30D
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eaf9c947198092e74abb25848eb7769067}{META\+\_\+\+PRESSURE}} = 0x\+E30E
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea272dc30956f626dd9c57deabae51f34e}{META\+\_\+\+AMBIENT\+\_\+\+LIGHT}} = 0x\+E30F
-, \newline
-\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eaad36e03479240e4335a782c235a5d38a}{META\+\_\+\+HUMIDITY}} = 0x\+E310
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea5672a03a15b0d08bc1dbf6d361f885b6}{META\+\_\+\+PROXIMITY}} = 0x\+E311
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eab95695a3e70032d9b77b4b66c66fc98c}{META\+\_\+\+TEMPERATURE}} = 0x\+E312
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eab16eab94415b5ee4213d1d5091bcbe63}{META\+\_\+\+TAP\+\_\+\+DETECTOR}} = 0x\+E313
-, \newline
-\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eaec9658d47befd647b63e584f101b54be}{META\+\_\+\+STEP\+\_\+\+DETECTOR}} = 0x\+E314
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eaf2f39889d71f8b36825d018c4e9097d0}{META\+\_\+\+STEP\+\_\+\+COUNTER}} = 0x\+E315
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea75cae4a3d64033a6b610ba9bdeca4400}{META\+\_\+\+SIGNIFICANT\+\_\+\+MOTION}} = 0x\+E316
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea74afeef51f861c9990699dce9c3544d0}{META\+\_\+\+STABILITY\+\_\+\+CLASSIFIER}} = 0x\+E317
-, \newline
-\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea9ec318efb06209c42f9199b41d76df40}{META\+\_\+\+SHAKE\+\_\+\+DETECTOR}} = 0x\+E318
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eaeba85c6e59bb27b48782c948858e21e0}{META\+\_\+\+FLIP\+\_\+\+DETECTOR}} = 0x\+E319
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea499a184ec3f1a41ee95704207c3a0907}{META\+\_\+\+PICKUP\+\_\+\+DETECTOR}} = 0x\+E31A
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ead5ca5c5444a4d4078796da85a8a63fd8}{META\+\_\+\+STABILITY\+\_\+\+DETECTOR}} = 0x\+E31B
-, \newline
-\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea6fc1d676928d6b16f1c1639b27a52669}{META\+\_\+\+PERSONAL\+\_\+\+ACTIVITY\+\_\+\+CLASSIFIER}} = 0x\+E31C
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea75c30391bf2c38c3d5451e6f3f1969ef}{META\+\_\+\+SLEEP\+\_\+\+DETECTOR}} = 0x\+E31D
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea66d0073ac3caa41ab4958fc167032f39}{META\+\_\+\+TILT\+\_\+\+DETECTOR}} = 0x\+E31E
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea8fea9f9b77154625f1b543988398610b}{META\+\_\+\+POCKET\+\_\+\+DETECTOR}} = 0x\+E31F
-, \newline
-\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eac26499be839c2f04ca712c388e02b2cd}{META\+\_\+\+CIRCLE\+\_\+\+DETECTOR}} = 0x\+E320
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea41240ea9c983158280d9a1a144d6f9dc}{META\+\_\+\+HEART\+\_\+\+RATE\+\_\+\+MONITOR}} = 0x\+E321
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea61501297c2607c69321c2a5b4c1c945b}{META\+\_\+\+ARVR\+\_\+\+STABILIZED\+\_\+\+RV}} = 0x\+E322
-, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea240edccff7cb86c2486ee9bac60e19ca}{META\+\_\+\+ARVR\+\_\+\+STABILIZED\+\_\+\+GRV}} = 0x\+E323
-, \newline
-\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea928ad374247b43bfa0939406c62d2b31}{META\+\_\+\+GYRO\+\_\+\+INTEGRATED\+\_\+\+RV}} = 0x\+E324
- \}
-\end{DoxyCompactItemize}
-\doxysubsection*{Functions}
-\begin{DoxyCompactItemize}
-\item 
-const constexpr char $\ast$ \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_abb500e98b07c687d37e8ac0548a02e05}{BNO08x\+Accuracy\+\_\+to\+\_\+str}} (\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08x\+Accuracy}} accuracy)
-\item 
-const constexpr char $\ast$ \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a042702b50b2a3617c517cd601e9d7ead}{BNO08x\+Activity\+\_\+to\+\_\+str}} (\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97d}{BNO08x\+Activity}} activity)
-\begin{DoxyCompactList}\small\item\em Converts a BNO08x\+Activity enum to string. \end{DoxyCompactList}\item 
-const constexpr char $\ast$ \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_acd889b071d45f7ba9e7157e7a752bf5a}{BNO08x\+Stability\+\_\+to\+\_\+str}} (\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cb}{BNO08x\+Stability}} stability)
-\begin{DoxyCompactList}\small\item\em Converts a BNO08x\+Stability enum to string. \end{DoxyCompactList}\item 
-const constexpr char $\ast$ \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a79cad23b69ea6ab97bf9d6e0a64a2826}{BNO08x\+Frs\+ID\+\_\+to\+\_\+str}} (\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8e}{BNO08x\+Frs\+ID}} id)
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-\begin{DoxyAuthor}{Author}
-Myles Parfeniuk 
-\end{DoxyAuthor}
-
-
-\doxysubsection{Macro Definition Documentation}
-\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_ae12bdf0217349447eebadf16d4560869}\label{_b_n_o08x_global_types_8hpp_ae12bdf0217349447eebadf16d4560869}} 
-\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!SHAKE\_DETECTED\_X@{SHAKE\_DETECTED\_X}}
-\index{SHAKE\_DETECTED\_X@{SHAKE\_DETECTED\_X}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
-\doxysubsubsection{\texorpdfstring{SHAKE\_DETECTED\_X}{SHAKE\_DETECTED\_X}}
-{\footnotesize\ttfamily \#define SHAKE\+\_\+\+DETECTED\+\_\+X(\begin{DoxyParamCaption}\item[{}]{tap }\end{DoxyParamCaption})~((tap) \& (1U $<$$<$ 0U) ? 1 \+: 0)}
-
-\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a023aa826dbf083e2a6d2d67beba75b27}\label{_b_n_o08x_global_types_8hpp_a023aa826dbf083e2a6d2d67beba75b27}} 
-\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!SHAKE\_DETECTED\_Y@{SHAKE\_DETECTED\_Y}}
-\index{SHAKE\_DETECTED\_Y@{SHAKE\_DETECTED\_Y}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
-\doxysubsubsection{\texorpdfstring{SHAKE\_DETECTED\_Y}{SHAKE\_DETECTED\_Y}}
-{\footnotesize\ttfamily \#define SHAKE\+\_\+\+DETECTED\+\_\+Y(\begin{DoxyParamCaption}\item[{}]{tap }\end{DoxyParamCaption})~((tap) \& (1U $<$$<$ 1U) ? 1 \+: 0)}
-
-\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a9951e367fa8ff09a55526994cfaa94be}\label{_b_n_o08x_global_types_8hpp_a9951e367fa8ff09a55526994cfaa94be}} 
-\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!SHAKE\_DETECTED\_Z@{SHAKE\_DETECTED\_Z}}
-\index{SHAKE\_DETECTED\_Z@{SHAKE\_DETECTED\_Z}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
-\doxysubsubsection{\texorpdfstring{SHAKE\_DETECTED\_Z}{SHAKE\_DETECTED\_Z}}
-{\footnotesize\ttfamily \#define SHAKE\+\_\+\+DETECTED\+\_\+Z(\begin{DoxyParamCaption}\item[{}]{tap }\end{DoxyParamCaption})~((tap) \& (1U $<$$<$ 2U) ? 1 \+: 0)}
-
-\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a92a577e216f51fc6156a87e6ecf8ffc5}\label{_b_n_o08x_global_types_8hpp_a92a577e216f51fc6156a87e6ecf8ffc5}} 
-\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!TAP\_DETECTED\_DOUBLE@{TAP\_DETECTED\_DOUBLE}}
-\index{TAP\_DETECTED\_DOUBLE@{TAP\_DETECTED\_DOUBLE}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
-\doxysubsubsection{\texorpdfstring{TAP\_DETECTED\_DOUBLE}{TAP\_DETECTED\_DOUBLE}}
-{\footnotesize\ttfamily \#define TAP\+\_\+\+DETECTED\+\_\+\+DOUBLE(\begin{DoxyParamCaption}\item[{}]{tap }\end{DoxyParamCaption})~((tap) \& (1U $<$$<$ 6U) ? 1 \+: 0)}
-
-\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_ad0dc59e3a74a39a8e358c945162f6fc8}\label{_b_n_o08x_global_types_8hpp_ad0dc59e3a74a39a8e358c945162f6fc8}} 
-\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!TAP\_DETECTED\_X\_AXIS@{TAP\_DETECTED\_X\_AXIS}}
-\index{TAP\_DETECTED\_X\_AXIS@{TAP\_DETECTED\_X\_AXIS}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
-\doxysubsubsection{\texorpdfstring{TAP\_DETECTED\_X\_AXIS}{TAP\_DETECTED\_X\_AXIS}}
-{\footnotesize\ttfamily \#define TAP\+\_\+\+DETECTED\+\_\+\+X\+\_\+\+AXIS(\begin{DoxyParamCaption}\item[{}]{tap }\end{DoxyParamCaption})~((tap) \& (1U $<$$<$ 0U) ? 1 \+: 0)}
-
-\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8a8a0fbcff17f5123ad111fcd9a375ea}\label{_b_n_o08x_global_types_8hpp_a8a8a0fbcff17f5123ad111fcd9a375ea}} 
-\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!TAP\_DETECTED\_X\_AXIS\_POSITIVE@{TAP\_DETECTED\_X\_AXIS\_POSITIVE}}
-\index{TAP\_DETECTED\_X\_AXIS\_POSITIVE@{TAP\_DETECTED\_X\_AXIS\_POSITIVE}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
-\doxysubsubsection{\texorpdfstring{TAP\_DETECTED\_X\_AXIS\_POSITIVE}{TAP\_DETECTED\_X\_AXIS\_POSITIVE}}
-{\footnotesize\ttfamily \#define TAP\+\_\+\+DETECTED\+\_\+\+X\+\_\+\+AXIS\+\_\+\+POSITIVE(\begin{DoxyParamCaption}\item[{}]{tap }\end{DoxyParamCaption})~((tap) \& (1U $<$$<$ 1U) ? 1 \+: 0)}
-
-\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_ad2ab2bbe6f01a4a641f75c41a9064cf6}\label{_b_n_o08x_global_types_8hpp_ad2ab2bbe6f01a4a641f75c41a9064cf6}} 
-\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!TAP\_DETECTED\_Y\_AXIS@{TAP\_DETECTED\_Y\_AXIS}}
-\index{TAP\_DETECTED\_Y\_AXIS@{TAP\_DETECTED\_Y\_AXIS}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
-\doxysubsubsection{\texorpdfstring{TAP\_DETECTED\_Y\_AXIS}{TAP\_DETECTED\_Y\_AXIS}}
-{\footnotesize\ttfamily \#define TAP\+\_\+\+DETECTED\+\_\+\+Y\+\_\+\+AXIS(\begin{DoxyParamCaption}\item[{}]{tap }\end{DoxyParamCaption})~((tap) \& (1U $<$$<$ 2U) ? 1 \+: 0)}
-
-\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a356ec3a53c785965e8dd24381a3bdcd7}\label{_b_n_o08x_global_types_8hpp_a356ec3a53c785965e8dd24381a3bdcd7}} 
-\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!TAP\_DETECTED\_Y\_AXIS\_POSITIVE@{TAP\_DETECTED\_Y\_AXIS\_POSITIVE}}
-\index{TAP\_DETECTED\_Y\_AXIS\_POSITIVE@{TAP\_DETECTED\_Y\_AXIS\_POSITIVE}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
-\doxysubsubsection{\texorpdfstring{TAP\_DETECTED\_Y\_AXIS\_POSITIVE}{TAP\_DETECTED\_Y\_AXIS\_POSITIVE}}
-{\footnotesize\ttfamily \#define TAP\+\_\+\+DETECTED\+\_\+\+Y\+\_\+\+AXIS\+\_\+\+POSITIVE(\begin{DoxyParamCaption}\item[{}]{tap }\end{DoxyParamCaption})~((tap) \& (1U $<$$<$ 3U) ? 1 \+: 0)}
-
-\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_aaaf91ed835d5d1a5726806bb147c5938}\label{_b_n_o08x_global_types_8hpp_aaaf91ed835d5d1a5726806bb147c5938}} 
-\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!TAP\_DETECTED\_Z\_AXIS@{TAP\_DETECTED\_Z\_AXIS}}
-\index{TAP\_DETECTED\_Z\_AXIS@{TAP\_DETECTED\_Z\_AXIS}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
-\doxysubsubsection{\texorpdfstring{TAP\_DETECTED\_Z\_AXIS}{TAP\_DETECTED\_Z\_AXIS}}
-{\footnotesize\ttfamily \#define TAP\+\_\+\+DETECTED\+\_\+\+Z\+\_\+\+AXIS(\begin{DoxyParamCaption}\item[{}]{tap }\end{DoxyParamCaption})~((tap) \& (1U $<$$<$ 4U) ? 1 \+: 0)}
-
-\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a6fd0bd9f4990ced262a8f2d4c41d65d9}\label{_b_n_o08x_global_types_8hpp_a6fd0bd9f4990ced262a8f2d4c41d65d9}} 
-\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!TAP\_DETECTED\_Z\_AXIS\_POSITIVE@{TAP\_DETECTED\_Z\_AXIS\_POSITIVE}}
-\index{TAP\_DETECTED\_Z\_AXIS\_POSITIVE@{TAP\_DETECTED\_Z\_AXIS\_POSITIVE}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
-\doxysubsubsection{\texorpdfstring{TAP\_DETECTED\_Z\_AXIS\_POSITIVE}{TAP\_DETECTED\_Z\_AXIS\_POSITIVE}}
-{\footnotesize\ttfamily \#define TAP\+\_\+\+DETECTED\+\_\+\+Z\+\_\+\+AXIS\+\_\+\+POSITIVE(\begin{DoxyParamCaption}\item[{}]{tap }\end{DoxyParamCaption})~((tap) \& (1U $<$$<$ 5U) ? 1 \+: 0)}
-
-
-
-\doxysubsection{Typedef Documentation}
-\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a0c22a2a9fede695256dfaa4703497a2e}\label{_b_n_o08x_global_types_8hpp_a0c22a2a9fede695256dfaa4703497a2e}} 
-\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!bno08x\_accel\_t@{bno08x\_accel\_t}}
-\index{bno08x\_accel\_t@{bno08x\_accel\_t}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
-\doxysubsubsection{\texorpdfstring{bno08x\_accel\_t}{bno08x\_accel\_t}}
-{\footnotesize\ttfamily typedef struct \mbox{\hyperlink{structbno08x__accel__t}{bno08x\+\_\+accel\+\_\+t}} \mbox{\hyperlink{structbno08x__accel__t}{bno08x\+\_\+accel\+\_\+t}}}
-
-
-
-Struct to represent acceleration data from acceleration, linear acceleration, and gravity reports. 
-
-\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a7913a36911f75945cfaa0a3249a280e3}\label{_b_n_o08x_global_types_8hpp_a7913a36911f75945cfaa0a3249a280e3}} 
-\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!bno08x\_activity\_classifier\_t@{bno08x\_activity\_classifier\_t}}
-\index{bno08x\_activity\_classifier\_t@{bno08x\_activity\_classifier\_t}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
-\doxysubsubsection{\texorpdfstring{bno08x\_activity\_classifier\_t}{bno08x\_activity\_classifier\_t}}
-{\footnotesize\ttfamily typedef struct \mbox{\hyperlink{structbno08x__activity__classifier__t}{bno08x\+\_\+activity\+\_\+classifier\+\_\+t}} \mbox{\hyperlink{structbno08x__activity__classifier__t}{bno08x\+\_\+activity\+\_\+classifier\+\_\+t}}}
-
-
-
-Struct to represent activity classifier data. 
-
-\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a2babea2516c7c91039316693fc23a8c1}\label{_b_n_o08x_global_types_8hpp_a2babea2516c7c91039316693fc23a8c1}} 
-\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!bno08x\_ang\_vel\_t@{bno08x\_ang\_vel\_t}}
-\index{bno08x\_ang\_vel\_t@{bno08x\_ang\_vel\_t}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
-\doxysubsubsection{\texorpdfstring{bno08x\_ang\_vel\_t}{bno08x\_ang\_vel\_t}}
-{\footnotesize\ttfamily typedef struct \mbox{\hyperlink{structbno08x__ang__vel__t}{bno08x\+\_\+ang\+\_\+vel\+\_\+t}} \mbox{\hyperlink{structbno08x__ang__vel__t}{bno08x\+\_\+ang\+\_\+vel\+\_\+t}}}
-
-
-
-Struct to represent angular velocity (units in rad/s) 
-
-\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a648bbdbf22731476890dd8da977d7503}\label{_b_n_o08x_global_types_8hpp_a648bbdbf22731476890dd8da977d7503}} 
-\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!bno08x\_config\_t@{bno08x\_config\_t}}
-\index{bno08x\_config\_t@{bno08x\_config\_t}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
-\doxysubsubsection{\texorpdfstring{bno08x\_config\_t}{bno08x\_config\_t}}
-{\footnotesize\ttfamily typedef struct \mbox{\hyperlink{structbno08x__config__t}{bno08x\+\_\+config\+\_\+t}} \mbox{\hyperlink{structbno08x__config__t}{bno08x\+\_\+config\+\_\+t}}}
-
-
-
-IMU configuration settings passed into constructor. 
-
-\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ae22357b6f53c2cf806bb3aeb80814a}\label{_b_n_o08x_global_types_8hpp_a8ae22357b6f53c2cf806bb3aeb80814a}} 
-\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!bno08x\_euler\_angle\_t@{bno08x\_euler\_angle\_t}}
-\index{bno08x\_euler\_angle\_t@{bno08x\_euler\_angle\_t}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
-\doxysubsubsection{\texorpdfstring{bno08x\_euler\_angle\_t}{bno08x\_euler\_angle\_t}}
-{\footnotesize\ttfamily typedef struct \mbox{\hyperlink{structbno08x__euler__angle__t}{bno08x\+\_\+euler\+\_\+angle\+\_\+t}} \mbox{\hyperlink{structbno08x__euler__angle__t}{bno08x\+\_\+euler\+\_\+angle\+\_\+t}}}
-
-
-
-Struct to represent euler angle (units in degrees or rads) 
-
-\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a7bf3b6ed58dd988c0f4566ba56bff415}\label{_b_n_o08x_global_types_8hpp_a7bf3b6ed58dd988c0f4566ba56bff415}} 
-\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!bno08x\_gyro\_bias\_t@{bno08x\_gyro\_bias\_t}}
-\index{bno08x\_gyro\_bias\_t@{bno08x\_gyro\_bias\_t}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
-\doxysubsubsection{\texorpdfstring{bno08x\_gyro\_bias\_t}{bno08x\_gyro\_bias\_t}}
-{\footnotesize\ttfamily typedef struct \mbox{\hyperlink{structbno08x__gyro__bias__t}{bno08x\+\_\+gyro\+\_\+bias\+\_\+t}} \mbox{\hyperlink{structbno08x__gyro__bias__t}{bno08x\+\_\+gyro\+\_\+bias\+\_\+t}}}
-
-
-
-Struct to represent gyro bias data (units in rad/s) 
-
-\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_ac166834f6280e6ef21af7dd8a01be1e4}\label{_b_n_o08x_global_types_8hpp_ac166834f6280e6ef21af7dd8a01be1e4}} 
-\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!bno08x\_gyro\_t@{bno08x\_gyro\_t}}
-\index{bno08x\_gyro\_t@{bno08x\_gyro\_t}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
-\doxysubsubsection{\texorpdfstring{bno08x\_gyro\_t}{bno08x\_gyro\_t}}
-{\footnotesize\ttfamily typedef struct \mbox{\hyperlink{structbno08x__gyro__t}{bno08x\+\_\+gyro\+\_\+t}} \mbox{\hyperlink{structbno08x__gyro__t}{bno08x\+\_\+gyro\+\_\+t}}}
-
-
-
-Struct to represent gyro data (units in rad/s) 
-
-\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a3d6e56080638d872486935323f393ab7}\label{_b_n_o08x_global_types_8hpp_a3d6e56080638d872486935323f393ab7}} 
-\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!bno08x\_magf\_bias\_t@{bno08x\_magf\_bias\_t}}
-\index{bno08x\_magf\_bias\_t@{bno08x\_magf\_bias\_t}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
-\doxysubsubsection{\texorpdfstring{bno08x\_magf\_bias\_t}{bno08x\_magf\_bias\_t}}
-{\footnotesize\ttfamily typedef struct \mbox{\hyperlink{structbno08x__magf__bias__t}{bno08x\+\_\+magf\+\_\+bias\+\_\+t}} \mbox{\hyperlink{structbno08x__magf__bias__t}{bno08x\+\_\+magf\+\_\+bias\+\_\+t}}}
-
-
-
-Struct to represent magnetic field bias data (units in u\+Tesla) 
-
-\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a429f861977153379e28e8f3710330b45}\label{_b_n_o08x_global_types_8hpp_a429f861977153379e28e8f3710330b45}} 
-\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!bno08x\_magf\_t@{bno08x\_magf\_t}}
-\index{bno08x\_magf\_t@{bno08x\_magf\_t}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
-\doxysubsubsection{\texorpdfstring{bno08x\_magf\_t}{bno08x\_magf\_t}}
-{\footnotesize\ttfamily typedef struct \mbox{\hyperlink{structbno08x__magf__t}{bno08x\+\_\+magf\+\_\+t}} \mbox{\hyperlink{structbno08x__magf__t}{bno08x\+\_\+magf\+\_\+t}}}
-
-
-
-Struct to represent magnetic field data (units in u\+Tesla) 
-
-\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a1145e5dfd14e96bd70c6e73af017b548}\label{_b_n_o08x_global_types_8hpp_a1145e5dfd14e96bd70c6e73af017b548}} 
-\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}}
-\index{bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
-\doxysubsubsection{\texorpdfstring{bno08x\_meta\_data\_t}{bno08x\_meta\_data\_t}}
-{\footnotesize\ttfamily typedef struct \mbox{\hyperlink{structbno08x__meta__data__t}{bno08x\+\_\+meta\+\_\+data\+\_\+t}} \mbox{\hyperlink{structbno08x__meta__data__t}{bno08x\+\_\+meta\+\_\+data\+\_\+t}}}
-
-
-
-Struct to represent sensor/report meta data, returned from \mbox{\hyperlink{class_b_n_o08x_rpt_ad5b054279b01204f61b4c0408acf51cf}{BNO08x\+Rpt\+::get\+\_\+meta\+\_\+data()}} 
-
-\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a0c7367913526c0d634c5f8f5365a55b4}\label{_b_n_o08x_global_types_8hpp_a0c7367913526c0d634c5f8f5365a55b4}} 
-\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!bno08x\_quat\_t@{bno08x\_quat\_t}}
-\index{bno08x\_quat\_t@{bno08x\_quat\_t}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
-\doxysubsubsection{\texorpdfstring{bno08x\_quat\_t}{bno08x\_quat\_t}}
-{\footnotesize\ttfamily typedef struct \mbox{\hyperlink{structbno08x__quat__t}{bno08x\+\_\+quat\+\_\+t}} \mbox{\hyperlink{structbno08x__quat__t}{bno08x\+\_\+quat\+\_\+t}}}
-
-
-
-Struct to represent unit quaternion. 
-
-\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_ace2ea90ebebddfcdb75e1b8b7b48f905}\label{_b_n_o08x_global_types_8hpp_ace2ea90ebebddfcdb75e1b8b7b48f905}} 
-\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!bno08x\_raw\_accel\_t@{bno08x\_raw\_accel\_t}}
-\index{bno08x\_raw\_accel\_t@{bno08x\_raw\_accel\_t}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
-\doxysubsubsection{\texorpdfstring{bno08x\_raw\_accel\_t}{bno08x\_raw\_accel\_t}}
-{\footnotesize\ttfamily typedef struct \mbox{\hyperlink{structbno08x__raw__accel__t}{bno08x\+\_\+raw\+\_\+accel\+\_\+t}} \mbox{\hyperlink{structbno08x__raw__accel__t}{bno08x\+\_\+raw\+\_\+accel\+\_\+t}}}
-
-
-
-Struct to represent raw mems accelerometer data from raw accelerometer reports (units in ADC counts). 
-
-\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a3e205d9599aa01b7946d1ed1cbb7f1c4}\label{_b_n_o08x_global_types_8hpp_a3e205d9599aa01b7946d1ed1cbb7f1c4}} 
-\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!bno08x\_raw\_gyro\_t@{bno08x\_raw\_gyro\_t}}
-\index{bno08x\_raw\_gyro\_t@{bno08x\_raw\_gyro\_t}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
-\doxysubsubsection{\texorpdfstring{bno08x\_raw\_gyro\_t}{bno08x\_raw\_gyro\_t}}
-{\footnotesize\ttfamily typedef struct \mbox{\hyperlink{structbno08x__raw__gyro__t}{bno08x\+\_\+raw\+\_\+gyro\+\_\+t}} \mbox{\hyperlink{structbno08x__raw__gyro__t}{bno08x\+\_\+raw\+\_\+gyro\+\_\+t}}}
-
-
-
-Struct to represent raw mems gyro data from raw gyro reports (units in ADC counts). 
-
-\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a673f429cbcd0f48394de3d990d8bda4a}\label{_b_n_o08x_global_types_8hpp_a673f429cbcd0f48394de3d990d8bda4a}} 
-\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!bno08x\_raw\_magf\_t@{bno08x\_raw\_magf\_t}}
-\index{bno08x\_raw\_magf\_t@{bno08x\_raw\_magf\_t}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
-\doxysubsubsection{\texorpdfstring{bno08x\_raw\_magf\_t}{bno08x\_raw\_magf\_t}}
-{\footnotesize\ttfamily typedef struct \mbox{\hyperlink{structbno08x__raw__magf__t}{bno08x\+\_\+raw\+\_\+magf\+\_\+t}} \mbox{\hyperlink{structbno08x__raw__magf__t}{bno08x\+\_\+raw\+\_\+magf\+\_\+t}}}
-
-
-
-Struct to represent raw mems magnetometer data from raw magnetometer reports (units in ADC counts). 
-
-\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_afceb7f957002d3e024d4971963ecfa20}\label{_b_n_o08x_global_types_8hpp_afceb7f957002d3e024d4971963ecfa20}} 
-\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!bno08x\_sample\_counts\_t@{bno08x\_sample\_counts\_t}}
-\index{bno08x\_sample\_counts\_t@{bno08x\_sample\_counts\_t}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
-\doxysubsubsection{\texorpdfstring{bno08x\_sample\_counts\_t}{bno08x\_sample\_counts\_t}}
-{\footnotesize\ttfamily typedef struct \mbox{\hyperlink{structbno08x__sample__counts__t}{bno08x\+\_\+sample\+\_\+counts\+\_\+t}} \mbox{\hyperlink{structbno08x__sample__counts__t}{bno08x\+\_\+sample\+\_\+counts\+\_\+t}}}
-
-
-
-Struct to represent sample counts, returned from \mbox{\hyperlink{class_b_n_o08x_rpt_a7ce8e48cadf59f49068af7f1cb680b38}{BNO08x\+Rpt\+::get\+\_\+sample\+\_\+counts()}} 
-
-\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a7c22ac348c71afe0d42dcfae6c97ca32}\label{_b_n_o08x_global_types_8hpp_a7c22ac348c71afe0d42dcfae6c97ca32}} 
-\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!bno08x\_shake\_detector\_t@{bno08x\_shake\_detector\_t}}
-\index{bno08x\_shake\_detector\_t@{bno08x\_shake\_detector\_t}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
-\doxysubsubsection{\texorpdfstring{bno08x\_shake\_detector\_t}{bno08x\_shake\_detector\_t}}
-{\footnotesize\ttfamily typedef struct \mbox{\hyperlink{structbno08x__shake__detector__t}{bno08x\+\_\+shake\+\_\+detector\+\_\+t}} \mbox{\hyperlink{structbno08x__shake__detector__t}{bno08x\+\_\+shake\+\_\+detector\+\_\+t}}}
-
-
-
-Struct to represent shake detector data (flag meaning\+: 0 = no shake 1 = shake detected) 
-
-\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a9f0440c67ec56fafcd25a24bf36f842f}\label{_b_n_o08x_global_types_8hpp_a9f0440c67ec56fafcd25a24bf36f842f}} 
-\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!bno08x\_stability\_classifier\_t@{bno08x\_stability\_classifier\_t}}
-\index{bno08x\_stability\_classifier\_t@{bno08x\_stability\_classifier\_t}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
-\doxysubsubsection{\texorpdfstring{bno08x\_stability\_classifier\_t}{bno08x\_stability\_classifier\_t}}
-{\footnotesize\ttfamily typedef struct \mbox{\hyperlink{structbno08x__stability__classifier__t}{bno08x\+\_\+stability\+\_\+classifier\+\_\+t}} \mbox{\hyperlink{structbno08x__stability__classifier__t}{bno08x\+\_\+stability\+\_\+classifier\+\_\+t}}}
-
-
-
-Struct to represent stability classifier data from stability classifier reports. 
-
-\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_ad52b092f56d1fa0064f2ea3502399cfc}\label{_b_n_o08x_global_types_8hpp_ad52b092f56d1fa0064f2ea3502399cfc}} 
-\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!bno08x\_step\_counter\_t@{bno08x\_step\_counter\_t}}
-\index{bno08x\_step\_counter\_t@{bno08x\_step\_counter\_t}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
-\doxysubsubsection{\texorpdfstring{bno08x\_step\_counter\_t}{bno08x\_step\_counter\_t}}
-{\footnotesize\ttfamily typedef struct \mbox{\hyperlink{structbno08x__step__counter__t}{bno08x\+\_\+step\+\_\+counter\+\_\+t}} \mbox{\hyperlink{structbno08x__step__counter__t}{bno08x\+\_\+step\+\_\+counter\+\_\+t}}}
-
-
-
-Struct to represent step counter data from step counter reports. 
-
-\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_adcfe69b10c9c2244015bad5b978beedd}\label{_b_n_o08x_global_types_8hpp_adcfe69b10c9c2244015bad5b978beedd}} 
-\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!bno08x\_tap\_detector\_t@{bno08x\_tap\_detector\_t}}
-\index{bno08x\_tap\_detector\_t@{bno08x\_tap\_detector\_t}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
-\doxysubsubsection{\texorpdfstring{bno08x\_tap\_detector\_t}{bno08x\_tap\_detector\_t}}
-{\footnotesize\ttfamily typedef struct \mbox{\hyperlink{structbno08x__tap__detector__t}{bno08x\+\_\+tap\+\_\+detector\+\_\+t}} \mbox{\hyperlink{structbno08x__tap__detector__t}{bno08x\+\_\+tap\+\_\+detector\+\_\+t}}}
-
-
-
-Struct to represent tap detector data (flag meaning\+: 0 = no tap, 1 = positive tap on axis, -\/1 = negative tap on axis) 
-
-\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_aae502b3d91ddf903bba797646fd28d00}\label{_b_n_o08x_global_types_8hpp_aae502b3d91ddf903bba797646fd28d00}} 
-\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!imu\_config\_t@{imu\_config\_t}}
-\index{imu\_config\_t@{imu\_config\_t}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
-\doxysubsubsection{\texorpdfstring{imu\_config\_t}{imu\_config\_t}}
-{\footnotesize\ttfamily typedef \mbox{\hyperlink{structbno08x__config__t}{bno08x\+\_\+config\+\_\+t}} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_aae502b3d91ddf903bba797646fd28d00}{imu\+\_\+config\+\_\+t}}}
-
-\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a03fbbd71180a19088ce30d57ab050a22}\label{_b_n_o08x_global_types_8hpp_a03fbbd71180a19088ce30d57ab050a22}} 
-\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!IMUAccuracy@{IMUAccuracy}}
-\index{IMUAccuracy@{IMUAccuracy}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
-\doxysubsubsection{\texorpdfstring{IMUAccuracy}{IMUAccuracy}}
-{\footnotesize\ttfamily using \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{IMUAccuracy}} =  \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08x\+Accuracy}}}
-
-
-
-\doxysubsection{Enumeration Type Documentation}
-\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}\label{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}} 
-\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!BNO08xAccuracy@{BNO08xAccuracy}}
-\index{BNO08xAccuracy@{BNO08xAccuracy}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
-\doxysubsubsection{\texorpdfstring{BNO08xAccuracy}{BNO08xAccuracy}}
-{\footnotesize\ttfamily enum class \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08x\+Accuracy}} \+: uint8\+\_\+t\hspace{0.3cm}{\ttfamily [strong]}}
-
-
-
-Sensor accuracy returned from input reports, corresponds to status bits (see ref. manual 6.\+5.\+1) 
-
-\begin{DoxyEnumFields}{Enumerator}
-\raisebox{\heightof{T}}[0pt][0pt]{\index{UNRELIABLE@{UNRELIABLE}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!UNRELIABLE@{UNRELIABLE}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6a6e257e645974b9086ed66e9465e2d80c}\label{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6a6e257e645974b9086ed66e9465e2d80c}} 
-UNRELIABLE&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{LOW@{LOW}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!LOW@{LOW}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6a41bc94cbd8eebea13ce0491b2ac11b88}\label{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6a41bc94cbd8eebea13ce0491b2ac11b88}} 
-LOW&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{MED@{MED}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!MED@{MED}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6a2ad6d5975c45da2e711c796f3a1b029c}\label{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6a2ad6d5975c45da2e711c796f3a1b029c}} 
-MED&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{HIGH@{HIGH}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!HIGH@{HIGH}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6ab89de3b4b81c4facfac906edf29aec8c}\label{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6ab89de3b4b81c4facfac906edf29aec8c}} 
-HIGH&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{UNDEFINED@{UNDEFINED}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!UNDEFINED@{UNDEFINED}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6a0db45d2a4141101bdfe48e3314cfbca3}\label{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6a0db45d2a4141101bdfe48e3314cfbca3}} 
-UNDEFINED&\\
-\hline
-
-\end{DoxyEnumFields}
-\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97d}\label{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97d}} 
-\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!BNO08xActivity@{BNO08xActivity}}
-\index{BNO08xActivity@{BNO08xActivity}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
-\doxysubsubsection{\texorpdfstring{BNO08xActivity}{BNO08xActivity}}
-{\footnotesize\ttfamily enum class \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97d}{BNO08x\+Activity}} \+: uint8\+\_\+t\hspace{0.3cm}{\ttfamily [strong]}}
-
-
-
-BNO08x\+Activity states returned from BNO08x\+::activity\+\_\+classifier.\+get() 
-
-\begin{DoxyEnumFields}{Enumerator}
-\raisebox{\heightof{T}}[0pt][0pt]{\index{UNKNOWN@{UNKNOWN}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!UNKNOWN@{UNKNOWN}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97da696b031073e74bf2cb98e5ef201d4aa3}\label{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97da696b031073e74bf2cb98e5ef201d4aa3}} 
-UNKNOWN&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{IN\_VEHICLE@{IN\_VEHICLE}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!IN\_VEHICLE@{IN\_VEHICLE}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97dab166a3ce74dd5434e4a940dfa2af76e4}\label{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97dab166a3ce74dd5434e4a940dfa2af76e4}} 
-IN\+\_\+\+VEHICLE&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{ON\_BICYCLE@{ON\_BICYCLE}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!ON\_BICYCLE@{ON\_BICYCLE}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97da93d94a2f3a627533453a40e302fb35a4}\label{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97da93d94a2f3a627533453a40e302fb35a4}} 
-ON\+\_\+\+BICYCLE&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{ON\_FOOT@{ON\_FOOT}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!ON\_FOOT@{ON\_FOOT}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97da7089542e0146a3499986c81e24924b58}\label{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97da7089542e0146a3499986c81e24924b58}} 
-ON\+\_\+\+FOOT&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{STILL@{STILL}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!STILL@{STILL}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97da8b572d218013b9626d59e6a2b38f18b6}\label{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97da8b572d218013b9626d59e6a2b38f18b6}} 
-STILL&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{TILTING@{TILTING}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!TILTING@{TILTING}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97da69909b62e08f212da31719aebf67b70c}\label{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97da69909b62e08f212da31719aebf67b70c}} 
-TILTING&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{WALKING@{WALKING}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!WALKING@{WALKING}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97da606c114184493a665cf1f6a12fbab9d3}\label{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97da606c114184493a665cf1f6a12fbab9d3}} 
-WALKING&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{RUNNING@{RUNNING}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!RUNNING@{RUNNING}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97da43491564ebcfd38568918efbd6e840fd}\label{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97da43491564ebcfd38568918efbd6e840fd}} 
-RUNNING&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{ON\_STAIRS@{ON\_STAIRS}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!ON\_STAIRS@{ON\_STAIRS}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97dabbf2a614429826a84bd76b4a47fc7515}\label{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97dabbf2a614429826a84bd76b4a47fc7515}} 
-ON\+\_\+\+STAIRS&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{UNDEFINED@{UNDEFINED}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!UNDEFINED@{UNDEFINED}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97da0db45d2a4141101bdfe48e3314cfbca3}\label{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97da0db45d2a4141101bdfe48e3314cfbca3}} 
-UNDEFINED&\\
-\hline
-
-\end{DoxyEnumFields}
-\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3a}\label{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3a}} 
-\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!BNO08xActivityEnable@{BNO08xActivityEnable}}
-\index{BNO08xActivityEnable@{BNO08xActivityEnable}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
-\doxysubsubsection{\texorpdfstring{BNO08xActivityEnable}{BNO08xActivityEnable}}
-{\footnotesize\ttfamily enum class \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3a}{BNO08x\+Activity\+Enable}} \+: uint32\+\_\+t\hspace{0.3cm}{\ttfamily [strong]}}
-
-
-
-BNO08x\+Activity Classifier enable bits passed to enable\+\_\+activity\+\_\+classifier() See ref manual 6.\+5.\+36.\+1. 
-
-\begin{DoxyEnumFields}{Enumerator}
-\raisebox{\heightof{T}}[0pt][0pt]{\index{UNKNOWN@{UNKNOWN}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!UNKNOWN@{UNKNOWN}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa696b031073e74bf2cb98e5ef201d4aa3}\label{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa696b031073e74bf2cb98e5ef201d4aa3}} 
-UNKNOWN&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{IN\_VEHICLE@{IN\_VEHICLE}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!IN\_VEHICLE@{IN\_VEHICLE}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aab166a3ce74dd5434e4a940dfa2af76e4}\label{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aab166a3ce74dd5434e4a940dfa2af76e4}} 
-IN\+\_\+\+VEHICLE&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{ON\_BICYCLE@{ON\_BICYCLE}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!ON\_BICYCLE@{ON\_BICYCLE}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa93d94a2f3a627533453a40e302fb35a4}\label{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa93d94a2f3a627533453a40e302fb35a4}} 
-ON\+\_\+\+BICYCLE&\\
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-ON\+\_\+\+FOOT&\\
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-STILL&\\
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-TILTING&\\
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-WALKING&\\
-\hline
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-RUNNING&\\
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-\raisebox{\heightof{T}}[0pt][0pt]{\index{ON\_STAIRS@{ON\_STAIRS}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!ON\_STAIRS@{ON\_STAIRS}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aabbf2a614429826a84bd76b4a47fc7515}\label{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aabbf2a614429826a84bd76b4a47fc7515}} 
-ON\+\_\+\+STAIRS&\\
-\hline
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-\raisebox{\heightof{T}}[0pt][0pt]{\index{ALL@{ALL}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!ALL@{ALL}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa5fb1f955b45e38e31789286a1790398d}\label{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa5fb1f955b45e38e31789286a1790398d}} 
-ALL&\\
-\hline
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-\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!BNO08xCalSel@{BNO08xCalSel}}
-\index{BNO08xCalSel@{BNO08xCalSel}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
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-{\footnotesize\ttfamily enum class \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a25947bbe6bc4a7c9edd7067fdce0e9cc}{BNO08x\+Cal\+Sel}} \+: uint8\+\_\+t\hspace{0.3cm}{\ttfamily [strong]}}
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-\raisebox{\heightof{T}}[0pt][0pt]{\index{accelerometer@{accelerometer}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!accelerometer@{accelerometer}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a25947bbe6bc4a7c9edd7067fdce0e9cca0e1275697d4c40b4b0640fbfa3907afa}\label{_b_n_o08x_global_types_8hpp_a25947bbe6bc4a7c9edd7067fdce0e9cca0e1275697d4c40b4b0640fbfa3907afa}} 
-accelerometer&\\
-\hline
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-\raisebox{\heightof{T}}[0pt][0pt]{\index{gyro@{gyro}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!gyro@{gyro}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a25947bbe6bc4a7c9edd7067fdce0e9cca41e1db589d90cecf09838a038ebc8aa1}\label{_b_n_o08x_global_types_8hpp_a25947bbe6bc4a7c9edd7067fdce0e9cca41e1db589d90cecf09838a038ebc8aa1}} 
-gyro&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{magnetometer@{magnetometer}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!magnetometer@{magnetometer}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a25947bbe6bc4a7c9edd7067fdce0e9cca2c8af00d544b080d3c0d834d1c5dfcbf}\label{_b_n_o08x_global_types_8hpp_a25947bbe6bc4a7c9edd7067fdce0e9cca2c8af00d544b080d3c0d834d1c5dfcbf}} 
-magnetometer&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{planar\_accelerometer@{planar\_accelerometer}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!planar\_accelerometer@{planar\_accelerometer}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a25947bbe6bc4a7c9edd7067fdce0e9ccafcaab1f4c98b7343157c3c59c6a259cb}\label{_b_n_o08x_global_types_8hpp_a25947bbe6bc4a7c9edd7067fdce0e9ccafcaab1f4c98b7343157c3c59c6a259cb}} 
-planar\+\_\+accelerometer&\\
-\hline
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-\raisebox{\heightof{T}}[0pt][0pt]{\index{all@{all}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!all@{all}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a25947bbe6bc4a7c9edd7067fdce0e9ccaa181a603769c1f98ad927e7367c7aa51}\label{_b_n_o08x_global_types_8hpp_a25947bbe6bc4a7c9edd7067fdce0e9ccaa181a603769c1f98ad927e7367c7aa51}} 
-all&\\
-\hline
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-\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!BNO08xFrsID@{BNO08xFrsID}}
-\index{BNO08xFrsID@{BNO08xFrsID}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
-\doxysubsubsection{\texorpdfstring{BNO08xFrsID}{BNO08xFrsID}}
-{\footnotesize\ttfamily enum class \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8e}{BNO08x\+Frs\+ID}} \+: uint16\+\_\+t\hspace{0.3cm}{\ttfamily [strong]}}
-
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-\raisebox{\heightof{T}}[0pt][0pt]{\index{STATIC\_CALIBRATION\_AGM@{STATIC\_CALIBRATION\_AGM}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!STATIC\_CALIBRATION\_AGM@{STATIC\_CALIBRATION\_AGM}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eae81a7ec9f2eb51db6a66eec214f74329}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eae81a7ec9f2eb51db6a66eec214f74329}} 
-STATIC\+\_\+\+CALIBRATION\+\_\+\+AGM&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{NOMINAL\_CALIBRATION@{NOMINAL\_CALIBRATION}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!NOMINAL\_CALIBRATION@{NOMINAL\_CALIBRATION}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea9b1f79a084136956f5a67145e34b8fcf}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea9b1f79a084136956f5a67145e34b8fcf}} 
-NOMINAL\+\_\+\+CALIBRATION&\\
-\hline
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-\raisebox{\heightof{T}}[0pt][0pt]{\index{STATIC\_CALIBRATION\_SRA@{STATIC\_CALIBRATION\_SRA}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!STATIC\_CALIBRATION\_SRA@{STATIC\_CALIBRATION\_SRA}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eae3e95aa73e5b19b6fc1574c287598a8a}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eae3e95aa73e5b19b6fc1574c287598a8a}} 
-STATIC\+\_\+\+CALIBRATION\+\_\+\+SRA&\\
-\hline
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-\raisebox{\heightof{T}}[0pt][0pt]{\index{NOMINAL\_CALIBRATION\_SRA@{NOMINAL\_CALIBRATION\_SRA}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!NOMINAL\_CALIBRATION\_SRA@{NOMINAL\_CALIBRATION\_SRA}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea9575a153f8b803923611e5a7577d8992}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea9575a153f8b803923611e5a7577d8992}} 
-NOMINAL\+\_\+\+CALIBRATION\+\_\+\+SRA&\\
-\hline
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-\raisebox{\heightof{T}}[0pt][0pt]{\index{DYNAMIC\_CALIBRATION@{DYNAMIC\_CALIBRATION}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!DYNAMIC\_CALIBRATION@{DYNAMIC\_CALIBRATION}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eac843f0dc477c2043015db473c2bbf8b7}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eac843f0dc477c2043015db473c2bbf8b7}} 
-DYNAMIC\+\_\+\+CALIBRATION&\\
-\hline
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-\raisebox{\heightof{T}}[0pt][0pt]{\index{ME\_POWER\_MGMT@{ME\_POWER\_MGMT}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!ME\_POWER\_MGMT@{ME\_POWER\_MGMT}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea4003f069dafa6695f634bc4d6cadf21d}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea4003f069dafa6695f634bc4d6cadf21d}} 
-ME\+\_\+\+POWER\+\_\+\+MGMT&\\
-\hline
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-\raisebox{\heightof{T}}[0pt][0pt]{\index{SYSTEM\_ORIENTATION@{SYSTEM\_ORIENTATION}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!SYSTEM\_ORIENTATION@{SYSTEM\_ORIENTATION}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea174aa600a99d1fee26df64861c68d4ab}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea174aa600a99d1fee26df64861c68d4ab}} 
-SYSTEM\+\_\+\+ORIENTATION&\\
-\hline
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-\raisebox{\heightof{T}}[0pt][0pt]{\index{ACCEL\_ORIENTATION@{ACCEL\_ORIENTATION}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!ACCEL\_ORIENTATION@{ACCEL\_ORIENTATION}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea5a6f607e6dea7e4770d6d44dffc14fe0}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea5a6f607e6dea7e4770d6d44dffc14fe0}} 
-ACCEL\+\_\+\+ORIENTATION&\\
-\hline
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-\raisebox{\heightof{T}}[0pt][0pt]{\index{SCREEN\_ACCEL\_ORIENTATION@{SCREEN\_ACCEL\_ORIENTATION}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!SCREEN\_ACCEL\_ORIENTATION@{SCREEN\_ACCEL\_ORIENTATION}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea1e56a229eb00e62fc6f98a9c3bf2c41e}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea1e56a229eb00e62fc6f98a9c3bf2c41e}} 
-SCREEN\+\_\+\+ACCEL\+\_\+\+ORIENTATION&\\
-\hline
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-\raisebox{\heightof{T}}[0pt][0pt]{\index{GYROSCOPE\_ORIENTATION@{GYROSCOPE\_ORIENTATION}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!GYROSCOPE\_ORIENTATION@{GYROSCOPE\_ORIENTATION}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eab7ba02b55d602fc0e643a0e860144abd}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eab7ba02b55d602fc0e643a0e860144abd}} 
-GYROSCOPE\+\_\+\+ORIENTATION&\\
-\hline
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-\raisebox{\heightof{T}}[0pt][0pt]{\index{MAGNETOMETER\_ORIENTATION@{MAGNETOMETER\_ORIENTATION}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!MAGNETOMETER\_ORIENTATION@{MAGNETOMETER\_ORIENTATION}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea7c1bc0a9cbeffed48c3f56f138f059dd}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea7c1bc0a9cbeffed48c3f56f138f059dd}} 
-MAGNETOMETER\+\_\+\+ORIENTATION&\\
-\hline
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-\raisebox{\heightof{T}}[0pt][0pt]{\index{ARVR\_STABILIZATION\_RV@{ARVR\_STABILIZATION\_RV}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!ARVR\_STABILIZATION\_RV@{ARVR\_STABILIZATION\_RV}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ead41092d568817e7b690859c6a04089ef}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ead41092d568817e7b690859c6a04089ef}} 
-ARVR\+\_\+\+STABILIZATION\+\_\+\+RV&\\
-\hline
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-\raisebox{\heightof{T}}[0pt][0pt]{\index{ARVR\_STABILIZATION\_GRV@{ARVR\_STABILIZATION\_GRV}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!ARVR\_STABILIZATION\_GRV@{ARVR\_STABILIZATION\_GRV}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea20d2e66717ed43eb8a6b112e953eb9db}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea20d2e66717ed43eb8a6b112e953eb9db}} 
-ARVR\+\_\+\+STABILIZATION\+\_\+\+GRV&\\
-\hline
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-TAP\+\_\+\+DETECT\+\_\+\+CONFIG&\\
-\hline
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-\raisebox{\heightof{T}}[0pt][0pt]{\index{SIG\_MOTION\_DETECT\_CONFIG@{SIG\_MOTION\_DETECT\_CONFIG}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!SIG\_MOTION\_DETECT\_CONFIG@{SIG\_MOTION\_DETECT\_CONFIG}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eae5d606ae5efeadd9ab249a39b8ed828a}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eae5d606ae5efeadd9ab249a39b8ed828a}} 
-SIG\+\_\+\+MOTION\+\_\+\+DETECT\+\_\+\+CONFIG&\\
-\hline
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-SHAKE\+\_\+\+DETECT\+\_\+\+CONFIG&\\
-\hline
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-MAX\+\_\+\+FUSION\+\_\+\+PERIOD&\\
-\hline
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-\raisebox{\heightof{T}}[0pt][0pt]{\index{SERIAL\_NUMBER@{SERIAL\_NUMBER}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!SERIAL\_NUMBER@{SERIAL\_NUMBER}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eabac5402bcf9584b3014bd64b8b6ad282}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eabac5402bcf9584b3014bd64b8b6ad282}} 
-SERIAL\+\_\+\+NUMBER&\\
-\hline
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-ES\+\_\+\+PRESSURE\+\_\+\+CAL&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{ES\_TEMPERATURE\_CAL@{ES\_TEMPERATURE\_CAL}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!ES\_TEMPERATURE\_CAL@{ES\_TEMPERATURE\_CAL}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eae15b6d77b828a0022adb2622ddf30d29}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eae15b6d77b828a0022adb2622ddf30d29}} 
-ES\+\_\+\+TEMPERATURE\+\_\+\+CAL&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{ES\_HUMIDITY\_CAL@{ES\_HUMIDITY\_CAL}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!ES\_HUMIDITY\_CAL@{ES\_HUMIDITY\_CAL}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea2ce4d488b1ad35ff763f52aec7191874}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea2ce4d488b1ad35ff763f52aec7191874}} 
-ES\+\_\+\+HUMIDITY\+\_\+\+CAL&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{ES\_AMBIENT\_LIGHT\_CAL@{ES\_AMBIENT\_LIGHT\_CAL}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!ES\_AMBIENT\_LIGHT\_CAL@{ES\_AMBIENT\_LIGHT\_CAL}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea11c8ae2ec493a78ebc9a808e1df7478c}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea11c8ae2ec493a78ebc9a808e1df7478c}} 
-ES\+\_\+\+AMBIENT\+\_\+\+LIGHT\+\_\+\+CAL&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{ES\_PROXIMITY\_CAL@{ES\_PROXIMITY\_CAL}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!ES\_PROXIMITY\_CAL@{ES\_PROXIMITY\_CAL}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea0afc9b6963a488212d0d10c1788ca309}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea0afc9b6963a488212d0d10c1788ca309}} 
-ES\+\_\+\+PROXIMITY\+\_\+\+CAL&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{ALS\_CAL@{ALS\_CAL}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!ALS\_CAL@{ALS\_CAL}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eadc862ae872087053cf308a5c9d12e8ea}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eadc862ae872087053cf308a5c9d12e8ea}} 
-ALS\+\_\+\+CAL&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{PROXIMITY\_SENSOR\_CAL@{PROXIMITY\_SENSOR\_CAL}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!PROXIMITY\_SENSOR\_CAL@{PROXIMITY\_SENSOR\_CAL}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eabcf02bc8a45fdf7df5390b79184b922e}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eabcf02bc8a45fdf7df5390b79184b922e}} 
-PROXIMITY\+\_\+\+SENSOR\+\_\+\+CAL&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{PICKUP\_DETECTOR\_CONFIG@{PICKUP\_DETECTOR\_CONFIG}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!PICKUP\_DETECTOR\_CONFIG@{PICKUP\_DETECTOR\_CONFIG}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eac9e002e70642b098e7e67cc4083d134d}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eac9e002e70642b098e7e67cc4083d134d}} 
-PICKUP\+\_\+\+DETECTOR\+\_\+\+CONFIG&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{FLIP\_DETECTOR\_CONFIG@{FLIP\_DETECTOR\_CONFIG}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!FLIP\_DETECTOR\_CONFIG@{FLIP\_DETECTOR\_CONFIG}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eab0ef80b2f1340b86b39cb82f5ab9d7ee}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eab0ef80b2f1340b86b39cb82f5ab9d7ee}} 
-FLIP\+\_\+\+DETECTOR\+\_\+\+CONFIG&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{STABILITY\_DETECTOR\_CONFIG@{STABILITY\_DETECTOR\_CONFIG}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!STABILITY\_DETECTOR\_CONFIG@{STABILITY\_DETECTOR\_CONFIG}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ead36109c56ef4d0598cc0b03b25dc8d85}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ead36109c56ef4d0598cc0b03b25dc8d85}} 
-STABILITY\+\_\+\+DETECTOR\+\_\+\+CONFIG&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{ACTIVITY\_TRACKER\_CONFIG@{ACTIVITY\_TRACKER\_CONFIG}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!ACTIVITY\_TRACKER\_CONFIG@{ACTIVITY\_TRACKER\_CONFIG}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eab16df741bbcb037e9fc6830441e21a95}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eab16df741bbcb037e9fc6830441e21a95}} 
-ACTIVITY\+\_\+\+TRACKER\+\_\+\+CONFIG&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{SLEEP\_DETECTOR\_CONFIG@{SLEEP\_DETECTOR\_CONFIG}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!SLEEP\_DETECTOR\_CONFIG@{SLEEP\_DETECTOR\_CONFIG}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea19f33813d80c7da8306762a7f141d9bb}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea19f33813d80c7da8306762a7f141d9bb}} 
-SLEEP\+\_\+\+DETECTOR\+\_\+\+CONFIG&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{TILT\_DETECTOR\_CONFIG@{TILT\_DETECTOR\_CONFIG}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!TILT\_DETECTOR\_CONFIG@{TILT\_DETECTOR\_CONFIG}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea6590d7f1041f103cdaab64cd06e0db37}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea6590d7f1041f103cdaab64cd06e0db37}} 
-TILT\+\_\+\+DETECTOR\+\_\+\+CONFIG&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{POCKET\_DETECTOR\_CONFIG@{POCKET\_DETECTOR\_CONFIG}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!POCKET\_DETECTOR\_CONFIG@{POCKET\_DETECTOR\_CONFIG}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eaababe7d27ea06c8f91d48e5b7aa29edd}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eaababe7d27ea06c8f91d48e5b7aa29edd}} 
-POCKET\+\_\+\+DETECTOR\+\_\+\+CONFIG&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{CIRCLE\_DETECTOR\_CONFIG@{CIRCLE\_DETECTOR\_CONFIG}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!CIRCLE\_DETECTOR\_CONFIG@{CIRCLE\_DETECTOR\_CONFIG}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea04c1dfc95c72ddbf41e93f6c894aea7c}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea04c1dfc95c72ddbf41e93f6c894aea7c}} 
-CIRCLE\+\_\+\+DETECTOR\+\_\+\+CONFIG&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{USER\_RECORD@{USER\_RECORD}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!USER\_RECORD@{USER\_RECORD}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea5d88297a4f00a18d228e25847cbac419}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea5d88297a4f00a18d228e25847cbac419}} 
-USER\+\_\+\+RECORD&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{ME\_TIME\_SOURCE\_SELECT@{ME\_TIME\_SOURCE\_SELECT}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!ME\_TIME\_SOURCE\_SELECT@{ME\_TIME\_SOURCE\_SELECT}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea622bd18282b2f88dc49339c638005f7d}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea622bd18282b2f88dc49339c638005f7d}} 
-ME\+\_\+\+TIME\+\_\+\+SOURCE\+\_\+\+SELECT&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{UART\_FORMAT@{UART\_FORMAT}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!UART\_FORMAT@{UART\_FORMAT}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea915838bac984c07ae03ec46239375b32}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea915838bac984c07ae03ec46239375b32}} 
-UART\+\_\+\+FORMAT&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{GYRO\_INTEGRATED\_RV\_CONFIG@{GYRO\_INTEGRATED\_RV\_CONFIG}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!GYRO\_INTEGRATED\_RV\_CONFIG@{GYRO\_INTEGRATED\_RV\_CONFIG}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eacde3a23190df77d7c45b6dcf38727bda}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eacde3a23190df77d7c45b6dcf38727bda}} 
-GYRO\+\_\+\+INTEGRATED\+\_\+\+RV\+\_\+\+CONFIG&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{META\_RAW\_ACCELEROMETER@{META\_RAW\_ACCELEROMETER}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!META\_RAW\_ACCELEROMETER@{META\_RAW\_ACCELEROMETER}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea2e4ea1aa76f2cad49db5d57d811e12aa}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea2e4ea1aa76f2cad49db5d57d811e12aa}} 
-META\+\_\+\+RAW\+\_\+\+ACCELEROMETER&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{META\_ACCELEROMETER@{META\_ACCELEROMETER}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!META\_ACCELEROMETER@{META\_ACCELEROMETER}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea465acbc549b49027295fb2df6d89ad9e}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea465acbc549b49027295fb2df6d89ad9e}} 
-META\+\_\+\+ACCELEROMETER&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{META\_LINEAR\_ACCELERATION@{META\_LINEAR\_ACCELERATION}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!META\_LINEAR\_ACCELERATION@{META\_LINEAR\_ACCELERATION}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea3308d6a253d373d623aa27e5a7e35b26}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea3308d6a253d373d623aa27e5a7e35b26}} 
-META\+\_\+\+LINEAR\+\_\+\+ACCELERATION&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{META\_GRAVITY@{META\_GRAVITY}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!META\_GRAVITY@{META\_GRAVITY}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ead18387364cb570f2dada6577901433b2}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ead18387364cb570f2dada6577901433b2}} 
-META\+\_\+\+GRAVITY&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{META\_RAW\_GYROSCOPE@{META\_RAW\_GYROSCOPE}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!META\_RAW\_GYROSCOPE@{META\_RAW\_GYROSCOPE}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea151beca4927a54850a706fce1bdc6d4f}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea151beca4927a54850a706fce1bdc6d4f}} 
-META\+\_\+\+RAW\+\_\+\+GYROSCOPE&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{META\_GYROSCOPE\_CALIBRATED@{META\_GYROSCOPE\_CALIBRATED}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!META\_GYROSCOPE\_CALIBRATED@{META\_GYROSCOPE\_CALIBRATED}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea1bc76fb93c1b3dd08a602f2f4fbe8645}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea1bc76fb93c1b3dd08a602f2f4fbe8645}} 
-META\+\_\+\+GYROSCOPE\+\_\+\+CALIBRATED&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{META\_GYROSCOPE\_UNCALIBRATED@{META\_GYROSCOPE\_UNCALIBRATED}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!META\_GYROSCOPE\_UNCALIBRATED@{META\_GYROSCOPE\_UNCALIBRATED}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eaa68be0ce226eff099a645026852190b4}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eaa68be0ce226eff099a645026852190b4}} 
-META\+\_\+\+GYROSCOPE\+\_\+\+UNCALIBRATED&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{META\_RAW\_MAGNETOMETER@{META\_RAW\_MAGNETOMETER}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!META\_RAW\_MAGNETOMETER@{META\_RAW\_MAGNETOMETER}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ead97759e77dc0c7c57de6a56bc0f9bad8}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ead97759e77dc0c7c57de6a56bc0f9bad8}} 
-META\+\_\+\+RAW\+\_\+\+MAGNETOMETER&\\
-\hline
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-\raisebox{\heightof{T}}[0pt][0pt]{\index{META\_MAGNETIC\_FIELD\_CALIBRATED@{META\_MAGNETIC\_FIELD\_CALIBRATED}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!META\_MAGNETIC\_FIELD\_CALIBRATED@{META\_MAGNETIC\_FIELD\_CALIBRATED}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eac4042d50ceb28eb1f11e87cb6d6d4b61}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eac4042d50ceb28eb1f11e87cb6d6d4b61}} 
-META\+\_\+\+MAGNETIC\+\_\+\+FIELD\+\_\+\+CALIBRATED&\\
-\hline
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-\raisebox{\heightof{T}}[0pt][0pt]{\index{META\_MAGNETIC\_FIELD\_UNCALIBRATED@{META\_MAGNETIC\_FIELD\_UNCALIBRATED}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!META\_MAGNETIC\_FIELD\_UNCALIBRATED@{META\_MAGNETIC\_FIELD\_UNCALIBRATED}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea34c09ae0fffb459871f75731dd9bdfb1}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea34c09ae0fffb459871f75731dd9bdfb1}} 
-META\+\_\+\+MAGNETIC\+\_\+\+FIELD\+\_\+\+UNCALIBRATED&\\
-\hline
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-\raisebox{\heightof{T}}[0pt][0pt]{\index{META\_ROTATION\_VECTOR@{META\_ROTATION\_VECTOR}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!META\_ROTATION\_VECTOR@{META\_ROTATION\_VECTOR}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea4a6153a0da5cadc5308e699f0d72de20}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea4a6153a0da5cadc5308e699f0d72de20}} 
-META\+\_\+\+ROTATION\+\_\+\+VECTOR&\\
-\hline
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-\raisebox{\heightof{T}}[0pt][0pt]{\index{META\_GAME\_ROTATION\_VECTOR@{META\_GAME\_ROTATION\_VECTOR}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!META\_GAME\_ROTATION\_VECTOR@{META\_GAME\_ROTATION\_VECTOR}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea03247820bfcd6c7518327a501c2f84f2}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea03247820bfcd6c7518327a501c2f84f2}} 
-META\+\_\+\+GAME\+\_\+\+ROTATION\+\_\+\+VECTOR&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{META\_GEOMAGNETIC\_ROTATION\_VECTOR@{META\_GEOMAGNETIC\_ROTATION\_VECTOR}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!META\_GEOMAGNETIC\_ROTATION\_VECTOR@{META\_GEOMAGNETIC\_ROTATION\_VECTOR}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea8358c5060ffe770da1411d8779db71a8}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea8358c5060ffe770da1411d8779db71a8}} 
-META\+\_\+\+GEOMAGNETIC\+\_\+\+ROTATION\+\_\+\+VECTOR&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{META\_PRESSURE@{META\_PRESSURE}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!META\_PRESSURE@{META\_PRESSURE}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eaf9c947198092e74abb25848eb7769067}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eaf9c947198092e74abb25848eb7769067}} 
-META\+\_\+\+PRESSURE&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{META\_AMBIENT\_LIGHT@{META\_AMBIENT\_LIGHT}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!META\_AMBIENT\_LIGHT@{META\_AMBIENT\_LIGHT}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea272dc30956f626dd9c57deabae51f34e}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea272dc30956f626dd9c57deabae51f34e}} 
-META\+\_\+\+AMBIENT\+\_\+\+LIGHT&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{META\_HUMIDITY@{META\_HUMIDITY}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!META\_HUMIDITY@{META\_HUMIDITY}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eaad36e03479240e4335a782c235a5d38a}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eaad36e03479240e4335a782c235a5d38a}} 
-META\+\_\+\+HUMIDITY&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{META\_PROXIMITY@{META\_PROXIMITY}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!META\_PROXIMITY@{META\_PROXIMITY}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea5672a03a15b0d08bc1dbf6d361f885b6}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea5672a03a15b0d08bc1dbf6d361f885b6}} 
-META\+\_\+\+PROXIMITY&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{META\_TEMPERATURE@{META\_TEMPERATURE}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!META\_TEMPERATURE@{META\_TEMPERATURE}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eab95695a3e70032d9b77b4b66c66fc98c}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eab95695a3e70032d9b77b4b66c66fc98c}} 
-META\+\_\+\+TEMPERATURE&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{META\_TAP\_DETECTOR@{META\_TAP\_DETECTOR}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!META\_TAP\_DETECTOR@{META\_TAP\_DETECTOR}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eab16eab94415b5ee4213d1d5091bcbe63}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eab16eab94415b5ee4213d1d5091bcbe63}} 
-META\+\_\+\+TAP\+\_\+\+DETECTOR&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{META\_STEP\_DETECTOR@{META\_STEP\_DETECTOR}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!META\_STEP\_DETECTOR@{META\_STEP\_DETECTOR}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eaec9658d47befd647b63e584f101b54be}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eaec9658d47befd647b63e584f101b54be}} 
-META\+\_\+\+STEP\+\_\+\+DETECTOR&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{META\_STEP\_COUNTER@{META\_STEP\_COUNTER}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!META\_STEP\_COUNTER@{META\_STEP\_COUNTER}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eaf2f39889d71f8b36825d018c4e9097d0}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eaf2f39889d71f8b36825d018c4e9097d0}} 
-META\+\_\+\+STEP\+\_\+\+COUNTER&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{META\_SIGNIFICANT\_MOTION@{META\_SIGNIFICANT\_MOTION}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!META\_SIGNIFICANT\_MOTION@{META\_SIGNIFICANT\_MOTION}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea75cae4a3d64033a6b610ba9bdeca4400}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea75cae4a3d64033a6b610ba9bdeca4400}} 
-META\+\_\+\+SIGNIFICANT\+\_\+\+MOTION&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{META\_STABILITY\_CLASSIFIER@{META\_STABILITY\_CLASSIFIER}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!META\_STABILITY\_CLASSIFIER@{META\_STABILITY\_CLASSIFIER}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea74afeef51f861c9990699dce9c3544d0}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea74afeef51f861c9990699dce9c3544d0}} 
-META\+\_\+\+STABILITY\+\_\+\+CLASSIFIER&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{META\_SHAKE\_DETECTOR@{META\_SHAKE\_DETECTOR}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!META\_SHAKE\_DETECTOR@{META\_SHAKE\_DETECTOR}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea9ec318efb06209c42f9199b41d76df40}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea9ec318efb06209c42f9199b41d76df40}} 
-META\+\_\+\+SHAKE\+\_\+\+DETECTOR&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{META\_FLIP\_DETECTOR@{META\_FLIP\_DETECTOR}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!META\_FLIP\_DETECTOR@{META\_FLIP\_DETECTOR}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eaeba85c6e59bb27b48782c948858e21e0}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eaeba85c6e59bb27b48782c948858e21e0}} 
-META\+\_\+\+FLIP\+\_\+\+DETECTOR&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{META\_PICKUP\_DETECTOR@{META\_PICKUP\_DETECTOR}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!META\_PICKUP\_DETECTOR@{META\_PICKUP\_DETECTOR}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea499a184ec3f1a41ee95704207c3a0907}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea499a184ec3f1a41ee95704207c3a0907}} 
-META\+\_\+\+PICKUP\+\_\+\+DETECTOR&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{META\_STABILITY\_DETECTOR@{META\_STABILITY\_DETECTOR}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!META\_STABILITY\_DETECTOR@{META\_STABILITY\_DETECTOR}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ead5ca5c5444a4d4078796da85a8a63fd8}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ead5ca5c5444a4d4078796da85a8a63fd8}} 
-META\+\_\+\+STABILITY\+\_\+\+DETECTOR&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{META\_PERSONAL\_ACTIVITY\_CLASSIFIER@{META\_PERSONAL\_ACTIVITY\_CLASSIFIER}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!META\_PERSONAL\_ACTIVITY\_CLASSIFIER@{META\_PERSONAL\_ACTIVITY\_CLASSIFIER}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea6fc1d676928d6b16f1c1639b27a52669}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea6fc1d676928d6b16f1c1639b27a52669}} 
-META\+\_\+\+PERSONAL\+\_\+\+ACTIVITY\+\_\+\+CLASSIFIER&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{META\_SLEEP\_DETECTOR@{META\_SLEEP\_DETECTOR}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!META\_SLEEP\_DETECTOR@{META\_SLEEP\_DETECTOR}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea75c30391bf2c38c3d5451e6f3f1969ef}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea75c30391bf2c38c3d5451e6f3f1969ef}} 
-META\+\_\+\+SLEEP\+\_\+\+DETECTOR&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{META\_TILT\_DETECTOR@{META\_TILT\_DETECTOR}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!META\_TILT\_DETECTOR@{META\_TILT\_DETECTOR}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea66d0073ac3caa41ab4958fc167032f39}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea66d0073ac3caa41ab4958fc167032f39}} 
-META\+\_\+\+TILT\+\_\+\+DETECTOR&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{META\_POCKET\_DETECTOR@{META\_POCKET\_DETECTOR}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!META\_POCKET\_DETECTOR@{META\_POCKET\_DETECTOR}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea8fea9f9b77154625f1b543988398610b}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea8fea9f9b77154625f1b543988398610b}} 
-META\+\_\+\+POCKET\+\_\+\+DETECTOR&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{META\_CIRCLE\_DETECTOR@{META\_CIRCLE\_DETECTOR}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!META\_CIRCLE\_DETECTOR@{META\_CIRCLE\_DETECTOR}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eac26499be839c2f04ca712c388e02b2cd}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eac26499be839c2f04ca712c388e02b2cd}} 
-META\+\_\+\+CIRCLE\+\_\+\+DETECTOR&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{META\_HEART\_RATE\_MONITOR@{META\_HEART\_RATE\_MONITOR}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!META\_HEART\_RATE\_MONITOR@{META\_HEART\_RATE\_MONITOR}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea41240ea9c983158280d9a1a144d6f9dc}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea41240ea9c983158280d9a1a144d6f9dc}} 
-META\+\_\+\+HEART\+\_\+\+RATE\+\_\+\+MONITOR&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{META\_ARVR\_STABILIZED\_RV@{META\_ARVR\_STABILIZED\_RV}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!META\_ARVR\_STABILIZED\_RV@{META\_ARVR\_STABILIZED\_RV}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea61501297c2607c69321c2a5b4c1c945b}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea61501297c2607c69321c2a5b4c1c945b}} 
-META\+\_\+\+ARVR\+\_\+\+STABILIZED\+\_\+\+RV&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{META\_ARVR\_STABILIZED\_GRV@{META\_ARVR\_STABILIZED\_GRV}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!META\_ARVR\_STABILIZED\_GRV@{META\_ARVR\_STABILIZED\_GRV}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea240edccff7cb86c2486ee9bac60e19ca}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea240edccff7cb86c2486ee9bac60e19ca}} 
-META\+\_\+\+ARVR\+\_\+\+STABILIZED\+\_\+\+GRV&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{META\_GYRO\_INTEGRATED\_RV@{META\_GYRO\_INTEGRATED\_RV}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!META\_GYRO\_INTEGRATED\_RV@{META\_GYRO\_INTEGRATED\_RV}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea928ad374247b43bfa0939406c62d2b31}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea928ad374247b43bfa0939406c62d2b31}} 
-META\+\_\+\+GYRO\+\_\+\+INTEGRATED\+\_\+\+RV&\\
-\hline
-
-\end{DoxyEnumFields}
-\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2}\label{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2}} 
-\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!BNO08xResetReason@{BNO08xResetReason}}
-\index{BNO08xResetReason@{BNO08xResetReason}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
-\doxysubsubsection{\texorpdfstring{BNO08xResetReason}{BNO08xResetReason}}
-{\footnotesize\ttfamily enum class \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2}{BNO08x\+Reset\+Reason}} \+: uint8\+\_\+t\hspace{0.3cm}{\ttfamily [strong]}}
-
-
-
-Reason for previous IMU reset (returned by get\+\_\+reset\+\_\+reason()) 
-
-\begin{DoxyEnumFields}{Enumerator}
-\raisebox{\heightof{T}}[0pt][0pt]{\index{UNDEFINED@{UNDEFINED}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!UNDEFINED@{UNDEFINED}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2a0db45d2a4141101bdfe48e3314cfbca3}\label{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2a0db45d2a4141101bdfe48e3314cfbca3}} 
-UNDEFINED&Undefined reset reason, this should never occur and is an error. \\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{POR@{POR}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!POR@{POR}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2a7b47bb0f9f8c72f84d891e8e22a1fb92}\label{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2a7b47bb0f9f8c72f84d891e8e22a1fb92}} 
-POR&Previous reset was due to power on reset. \\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{INT\_RST@{INT\_RST}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!INT\_RST@{INT\_RST}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2acc069cf9b33eb4e7fb3696f0f42d752f}\label{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2acc069cf9b33eb4e7fb3696f0f42d752f}} 
-INT\+\_\+\+RST&Previous reset was due to internal reset. \\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{WTD@{WTD}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!WTD@{WTD}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2a764caaf44e35ee682f4079bd0878fa36}\label{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2a764caaf44e35ee682f4079bd0878fa36}} 
-WTD&Previous reset was due to watchdog timer. \\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{EXT\_RST@{EXT\_RST}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!EXT\_RST@{EXT\_RST}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2ac4e100317ca17eda786308c1c39eded5}\label{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2ac4e100317ca17eda786308c1c39eded5}} 
-EXT\+\_\+\+RST&Previous reset was due to external reset. \\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{OTHER@{OTHER}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!OTHER@{OTHER}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2a03570470bad94692ce93e32700d2e1cb}\label{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2a03570470bad94692ce93e32700d2e1cb}} 
-OTHER&Previous reset was due to power other reason. \\
-\hline
-
-\end{DoxyEnumFields}
-\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cb}\label{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cb}} 
-\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!BNO08xStability@{BNO08xStability}}
-\index{BNO08xStability@{BNO08xStability}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
-\doxysubsubsection{\texorpdfstring{BNO08xStability}{BNO08xStability}}
-{\footnotesize\ttfamily enum class \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cb}{BNO08x\+Stability}} \+: uint8\+\_\+t\hspace{0.3cm}{\ttfamily [strong]}}
-
-
-
-BNO08x\+Stability states returned from BNO08x\+::stability\+\_\+classifier.\+get() 
-
-\begin{DoxyEnumFields}{Enumerator}
-\raisebox{\heightof{T}}[0pt][0pt]{\index{UNKNOWN@{UNKNOWN}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!UNKNOWN@{UNKNOWN}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cba696b031073e74bf2cb98e5ef201d4aa3}\label{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cba696b031073e74bf2cb98e5ef201d4aa3}} 
-UNKNOWN&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{ON\_TABLE@{ON\_TABLE}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!ON\_TABLE@{ON\_TABLE}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cba71149a62cd9fec4756e3538d1754486a}\label{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cba71149a62cd9fec4756e3538d1754486a}} 
-ON\+\_\+\+TABLE&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{STATIONARY@{STATIONARY}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!STATIONARY@{STATIONARY}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cba4120eb7591bd0789af75a8973d5f9146}\label{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cba4120eb7591bd0789af75a8973d5f9146}} 
-STATIONARY&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{STABLE@{STABLE}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!STABLE@{STABLE}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cba32987cdf8a725702042ab18f5c700905}\label{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cba32987cdf8a725702042ab18f5c700905}} 
-STABLE&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{MOTION@{MOTION}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!MOTION@{MOTION}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cbaf96e6ea7a7375bd60bad3f3caae3cf27}\label{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cbaf96e6ea7a7375bd60bad3f3caae3cf27}} 
-MOTION&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{RESERVED@{RESERVED}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!RESERVED@{RESERVED}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cba83c7f2aa8c3ac10ed8beb75cad162827}\label{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cba83c7f2aa8c3ac10ed8beb75cad162827}} 
-RESERVED&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{UNDEFINED@{UNDEFINED}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!UNDEFINED@{UNDEFINED}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cba0db45d2a4141101bdfe48e3314cfbca3}\label{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cba0db45d2a4141101bdfe48e3314cfbca3}} 
-UNDEFINED&\\
-\hline
-
-\end{DoxyEnumFields}
-
-
-\doxysubsection{Function Documentation}
-\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_abb500e98b07c687d37e8ac0548a02e05}\label{_b_n_o08x_global_types_8hpp_abb500e98b07c687d37e8ac0548a02e05}} 
-\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!BNO08xAccuracy\_to\_str@{BNO08xAccuracy\_to\_str}}
-\index{BNO08xAccuracy\_to\_str@{BNO08xAccuracy\_to\_str}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
-\doxysubsubsection{\texorpdfstring{BNO08xAccuracy\_to\_str()}{BNO08xAccuracy\_to\_str()}}
-{\footnotesize\ttfamily const constexpr char $\ast$ BNO08x\+Accuracy\+\_\+to\+\_\+str (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08x\+Accuracy}}}]{accuracy }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [constexpr]}}
-
-Here is the caller graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_global_types_8hpp_abb500e98b07c687d37e8ac0548a02e05_icgraph}
-\end{center}
-\end{figure}
-\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a042702b50b2a3617c517cd601e9d7ead}\label{_b_n_o08x_global_types_8hpp_a042702b50b2a3617c517cd601e9d7ead}} 
-\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!BNO08xActivity\_to\_str@{BNO08xActivity\_to\_str}}
-\index{BNO08xActivity\_to\_str@{BNO08xActivity\_to\_str}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
-\doxysubsubsection{\texorpdfstring{BNO08xActivity\_to\_str()}{BNO08xActivity\_to\_str()}}
-{\footnotesize\ttfamily const constexpr char $\ast$ BNO08x\+Activity\+\_\+to\+\_\+str (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97d}{BNO08x\+Activity}}}]{activity }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [constexpr]}}
-
-
-
-Converts a BNO08x\+Activity enum to string. 
-
-\begin{DoxyReturn}{Returns}
-The resulting string conversion of the enum. 
-\end{DoxyReturn}
-\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a79cad23b69ea6ab97bf9d6e0a64a2826}\label{_b_n_o08x_global_types_8hpp_a79cad23b69ea6ab97bf9d6e0a64a2826}} 
-\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!BNO08xFrsID\_to\_str@{BNO08xFrsID\_to\_str}}
-\index{BNO08xFrsID\_to\_str@{BNO08xFrsID\_to\_str}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
-\doxysubsubsection{\texorpdfstring{BNO08xFrsID\_to\_str()}{BNO08xFrsID\_to\_str()}}
-{\footnotesize\ttfamily const constexpr char $\ast$ BNO08x\+Frs\+ID\+\_\+to\+\_\+str (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8e}{BNO08x\+Frs\+ID}}}]{id }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [constexpr]}}
-
-Here is the caller graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_global_types_8hpp_a79cad23b69ea6ab97bf9d6e0a64a2826_icgraph}
-\end{center}
-\end{figure}
-\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_acd889b071d45f7ba9e7157e7a752bf5a}\label{_b_n_o08x_global_types_8hpp_acd889b071d45f7ba9e7157e7a752bf5a}} 
-\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!BNO08xStability\_to\_str@{BNO08xStability\_to\_str}}
-\index{BNO08xStability\_to\_str@{BNO08xStability\_to\_str}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
-\doxysubsubsection{\texorpdfstring{BNO08xStability\_to\_str()}{BNO08xStability\_to\_str()}}
-{\footnotesize\ttfamily const constexpr char $\ast$ BNO08x\+Stability\+\_\+to\+\_\+str (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cb}{BNO08x\+Stability}}}]{stability }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [constexpr]}}
-
-
-
-Converts a BNO08x\+Stability enum to string. 
-
-\begin{DoxyReturn}{Returns}
-The resulting string conversion of the enum. 
-\end{DoxyReturn}
diff --git a/documentation/latex/_b_n_o08x_global_types_8hpp__dep__incl.md5 b/documentation/latex/_b_n_o08x_global_types_8hpp__dep__incl.md5
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-\hypertarget{_b_n_o08x_global_types_8hpp_source}{}\doxysection{BNO08x\+Global\+Types.\+hpp}
-\label{_b_n_o08x_global_types_8hpp_source}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/BNO08xGlobalTypes.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/BNO08xGlobalTypes.hpp}}
-\mbox{\hyperlink{_b_n_o08x_global_types_8hpp}{Go to the documentation of this file.}}
-\begin{DoxyCode}{0}
-\DoxyCodeLine{1 }
-\DoxyCodeLine{6 \textcolor{preprocessor}{\#pragma once}}
-\DoxyCodeLine{7 }
-\DoxyCodeLine{8 \textcolor{comment}{// macros for bno08x\_tap\_detector\_t}}
-\DoxyCodeLine{9 \textcolor{preprocessor}{\#define TAP\_DETECTED\_X\_AXIS(tap) ((tap) \& (1U << 0U) ? 1 : 0)}}
-\DoxyCodeLine{10 \textcolor{preprocessor}{\#define TAP\_DETECTED\_X\_AXIS\_POSITIVE(tap) ((tap) \& (1U << 1U) ? 1 : 0)}}
-\DoxyCodeLine{11 \textcolor{preprocessor}{\#define TAP\_DETECTED\_Y\_AXIS(tap) ((tap) \& (1U << 2U) ? 1 : 0)}}
-\DoxyCodeLine{12 \textcolor{preprocessor}{\#define TAP\_DETECTED\_Y\_AXIS\_POSITIVE(tap) ((tap) \& (1U << 3U) ? 1 : 0)}}
-\DoxyCodeLine{13 \textcolor{preprocessor}{\#define TAP\_DETECTED\_Z\_AXIS(tap) ((tap) \& (1U << 4U) ? 1 : 0)}}
-\DoxyCodeLine{14 \textcolor{preprocessor}{\#define TAP\_DETECTED\_Z\_AXIS\_POSITIVE(tap) ((tap) \& (1U << 5U) ? 1 : 0)}}
-\DoxyCodeLine{15 \textcolor{preprocessor}{\#define TAP\_DETECTED\_DOUBLE(tap) ((tap) \& (1U << 6U) ? 1 : 0)}}
-\DoxyCodeLine{16 }
-\DoxyCodeLine{17 \textcolor{comment}{// macros for bno08x\_shake\_detector\_t}}
-\DoxyCodeLine{18 \textcolor{preprocessor}{\#define SHAKE\_DETECTED\_X(tap) ((tap) \& (1U << 0U) ? 1 : 0)}}
-\DoxyCodeLine{19 \textcolor{preprocessor}{\#define SHAKE\_DETECTED\_Y(tap) ((tap) \& (1U << 1U) ? 1 : 0)}}
-\DoxyCodeLine{20 \textcolor{preprocessor}{\#define SHAKE\_DETECTED\_Z(tap) ((tap) \& (1U << 2U) ? 1 : 0)}}
-\DoxyCodeLine{21 }
-\DoxyCodeLine{22 \textcolor{comment}{// standard library includes}}
-\DoxyCodeLine{23 \textcolor{preprocessor}{\#include <math.h>}}
-\DoxyCodeLine{24 \textcolor{preprocessor}{\#include <inttypes.h>}}
-\DoxyCodeLine{25 \textcolor{preprocessor}{\#include <stdint.h>}}
-\DoxyCodeLine{26 \textcolor{preprocessor}{\#include <cstring>}}
-\DoxyCodeLine{27 }
-\DoxyCodeLine{28 \textcolor{comment}{// esp-\/idf includes}}
-\DoxyCodeLine{29 \textcolor{preprocessor}{\#include <driver/gpio.h>}}
-\DoxyCodeLine{30 \textcolor{preprocessor}{\#include <driver/spi\_common.h>}}
-\DoxyCodeLine{31 \textcolor{preprocessor}{\#include <driver/spi\_master.h>}}
-\DoxyCodeLine{32 }
-\DoxyCodeLine{33 \textcolor{comment}{// third-\/party includes}}
-\DoxyCodeLine{34 \textcolor{preprocessor}{\#include "{}sh2\_SensorValue.h"{}}}
-\DoxyCodeLine{35 }
-\DoxyCodeLine{37 \textcolor{keyword}{typedef} \textcolor{keyword}{struct }\mbox{\hyperlink{structbno08x__config__t}{bno08x\_config\_t}}}
-\DoxyCodeLine{38 \{}
-\DoxyCodeLine{39         spi\_host\_device\_t \mbox{\hyperlink{structbno08x__config__t_a020d2343750bb7debc2a108ae038c9ec}{spi\_peripheral}}; }
-\DoxyCodeLine{40         gpio\_num\_t \mbox{\hyperlink{structbno08x__config__t_a79023fd80039e41a22b7f73ccd5fc861}{io\_mosi}};               }
-\DoxyCodeLine{41         gpio\_num\_t \mbox{\hyperlink{structbno08x__config__t_a9468180a773892977db39cc5ed9368e3}{io\_miso}};               }
-\DoxyCodeLine{42         gpio\_num\_t \mbox{\hyperlink{structbno08x__config__t_a639685b91ae3198909d722316495246a}{io\_sclk}};               }
-\DoxyCodeLine{43         gpio\_num\_t \mbox{\hyperlink{structbno08x__config__t_ab1b5351b63da0c172c942463d0dc2505}{io\_cs}};                 }
-\DoxyCodeLine{44         gpio\_num\_t \mbox{\hyperlink{structbno08x__config__t_a3cfe965659cfbc6b0c5269bd0211975f}{io\_int}};                }
-\DoxyCodeLine{45         gpio\_num\_t \mbox{\hyperlink{structbno08x__config__t_a62745c761219139f66ecd173b51577fc}{io\_rst}};                }
-\DoxyCodeLine{46         uint32\_t \mbox{\hyperlink{structbno08x__config__t_a231614c3b20888360def2ce9db83f52a}{sclk\_speed}};              }
-\DoxyCodeLine{47         \textcolor{keywordtype}{bool} \mbox{\hyperlink{structbno08x__config__t_a0f629aaef6756aa80fec96b34476c627}{install\_isr\_service}}; }
-\DoxyCodeLine{48 }
-\DoxyCodeLine{52         \mbox{\hyperlink{structbno08x__config__t_a68e051212415a62e64c23678e7b40552}{bno08x\_config\_t}}(\textcolor{keywordtype}{bool} \mbox{\hyperlink{structbno08x__config__t_a0f629aaef6756aa80fec96b34476c627}{install\_isr\_service}} = \textcolor{keyword}{true})}
-\DoxyCodeLine{53             : \mbox{\hyperlink{structbno08x__config__t_a020d2343750bb7debc2a108ae038c9ec}{spi\_peripheral}}((spi\_host\_device\_t) CONFIG\_ESP32\_BNO08x\_SPI\_HOST)}
-\DoxyCodeLine{54             , \mbox{\hyperlink{structbno08x__config__t_a79023fd80039e41a22b7f73ccd5fc861}{io\_mosi}}(static\_cast<gpio\_num\_t>(CONFIG\_ESP32\_BNO08X\_GPIO\_DI))       \textcolor{comment}{// default: 23}}
-\DoxyCodeLine{55             , \mbox{\hyperlink{structbno08x__config__t_a9468180a773892977db39cc5ed9368e3}{io\_miso}}(static\_cast<gpio\_num\_t>(CONFIG\_ESP32\_BNO08X\_GPIO\_SDA))      \textcolor{comment}{// default: 19}}
-\DoxyCodeLine{56             , \mbox{\hyperlink{structbno08x__config__t_a639685b91ae3198909d722316495246a}{io\_sclk}}(static\_cast<gpio\_num\_t>(CONFIG\_ESP32\_BNO08X\_GPIO\_SCL))      \textcolor{comment}{// default: 18}}
-\DoxyCodeLine{57             , \mbox{\hyperlink{structbno08x__config__t_ab1b5351b63da0c172c942463d0dc2505}{io\_cs}}(static\_cast<gpio\_num\_t>(CONFIG\_ESP32\_BNO08X\_GPIO\_CS))         \textcolor{comment}{// default: 33}}
-\DoxyCodeLine{58             , \mbox{\hyperlink{structbno08x__config__t_a3cfe965659cfbc6b0c5269bd0211975f}{io\_int}}(static\_cast<gpio\_num\_t>(CONFIG\_ESP32\_BNO08X\_GPIO\_HINT))      \textcolor{comment}{// default: 26}}
-\DoxyCodeLine{59             , \mbox{\hyperlink{structbno08x__config__t_a62745c761219139f66ecd173b51577fc}{io\_rst}}(static\_cast<gpio\_num\_t>(CONFIG\_ESP32\_BNO08X\_GPIO\_RST))       \textcolor{comment}{// default: 32}}
-\DoxyCodeLine{60             , \mbox{\hyperlink{structbno08x__config__t_a231614c3b20888360def2ce9db83f52a}{sclk\_speed}}(static\_cast<uint32\_t>(CONFIG\_ESP32\_BNO08X\_SCL\_SPEED\_HZ)) \textcolor{comment}{// default: 2MHz}}
-\DoxyCodeLine{61             , \mbox{\hyperlink{structbno08x__config__t_a0f629aaef6756aa80fec96b34476c627}{install\_isr\_service}}(\mbox{\hyperlink{structbno08x__config__t_a0f629aaef6756aa80fec96b34476c627}{install\_isr\_service}})                            \textcolor{comment}{// default: true}}
-\DoxyCodeLine{62 }
-\DoxyCodeLine{63         \{}
-\DoxyCodeLine{64         \}}
-\DoxyCodeLine{65 }
-\DoxyCodeLine{67         \mbox{\hyperlink{structbno08x__config__t_afa37d6ffc6f4fc7c9aa7484d49458a4a}{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}},}
-\DoxyCodeLine{68                 gpio\_num\_t \mbox{\hyperlink{structbno08x__config__t_ab1b5351b63da0c172c942463d0dc2505}{io\_cs}}, gpio\_num\_t \mbox{\hyperlink{structbno08x__config__t_a3cfe965659cfbc6b0c5269bd0211975f}{io\_int}}, gpio\_num\_t \mbox{\hyperlink{structbno08x__config__t_a62745c761219139f66ecd173b51577fc}{io\_rst}}, uint32\_t \mbox{\hyperlink{structbno08x__config__t_a231614c3b20888360def2ce9db83f52a}{sclk\_speed}}, \textcolor{keywordtype}{bool} \mbox{\hyperlink{structbno08x__config__t_a0f629aaef6756aa80fec96b34476c627}{install\_isr\_service}} = \textcolor{keyword}{true})}
-\DoxyCodeLine{69             : \mbox{\hyperlink{structbno08x__config__t_a020d2343750bb7debc2a108ae038c9ec}{spi\_peripheral}}(\mbox{\hyperlink{structbno08x__config__t_a020d2343750bb7debc2a108ae038c9ec}{spi\_peripheral}})}
-\DoxyCodeLine{70             , \mbox{\hyperlink{structbno08x__config__t_a79023fd80039e41a22b7f73ccd5fc861}{io\_mosi}}(\mbox{\hyperlink{structbno08x__config__t_a79023fd80039e41a22b7f73ccd5fc861}{io\_mosi}})}
-\DoxyCodeLine{71             , \mbox{\hyperlink{structbno08x__config__t_a9468180a773892977db39cc5ed9368e3}{io\_miso}}(\mbox{\hyperlink{structbno08x__config__t_a9468180a773892977db39cc5ed9368e3}{io\_miso}})}
-\DoxyCodeLine{72             , \mbox{\hyperlink{structbno08x__config__t_a639685b91ae3198909d722316495246a}{io\_sclk}}(\mbox{\hyperlink{structbno08x__config__t_a639685b91ae3198909d722316495246a}{io\_sclk}})}
-\DoxyCodeLine{73             , \mbox{\hyperlink{structbno08x__config__t_ab1b5351b63da0c172c942463d0dc2505}{io\_cs}}(\mbox{\hyperlink{structbno08x__config__t_ab1b5351b63da0c172c942463d0dc2505}{io\_cs}})}
-\DoxyCodeLine{74             , \mbox{\hyperlink{structbno08x__config__t_a3cfe965659cfbc6b0c5269bd0211975f}{io\_int}}(\mbox{\hyperlink{structbno08x__config__t_a3cfe965659cfbc6b0c5269bd0211975f}{io\_int}})}
-\DoxyCodeLine{75             , \mbox{\hyperlink{structbno08x__config__t_a62745c761219139f66ecd173b51577fc}{io\_rst}}(\mbox{\hyperlink{structbno08x__config__t_a62745c761219139f66ecd173b51577fc}{io\_rst}})}
-\DoxyCodeLine{76             , \mbox{\hyperlink{structbno08x__config__t_a231614c3b20888360def2ce9db83f52a}{sclk\_speed}}(\mbox{\hyperlink{structbno08x__config__t_a231614c3b20888360def2ce9db83f52a}{sclk\_speed}})}
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-\DoxyCodeLine{78         \{}
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-\DoxyCodeLine{80 \} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a648bbdbf22731476890dd8da977d7503}{bno08x\_config\_t}};}
-\DoxyCodeLine{81 \textcolor{keyword}{typedef} \mbox{\hyperlink{structbno08x__config__t}{bno08x\_config\_t}} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_aae502b3d91ddf903bba797646fd28d00}{imu\_config\_t}}; \textcolor{comment}{// legacy version compatibility}}
-\DoxyCodeLine{82 }
-\DoxyCodeLine{83 \textcolor{keyword}{enum class} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a25947bbe6bc4a7c9edd7067fdce0e9cc}{BNO08xCalSel}} : uint8\_t}
-\DoxyCodeLine{84 \{}
-\DoxyCodeLine{85     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a25947bbe6bc4a7c9edd7067fdce0e9cca0e1275697d4c40b4b0640fbfa3907afa}{accelerometer}} = SH2\_CAL\_ACCEL,}
-\DoxyCodeLine{86     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a25947bbe6bc4a7c9edd7067fdce0e9cca41e1db589d90cecf09838a038ebc8aa1}{gyro}} = SH2\_CAL\_GYRO,}
-\DoxyCodeLine{87     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a25947bbe6bc4a7c9edd7067fdce0e9cca2c8af00d544b080d3c0d834d1c5dfcbf}{magnetometer}} = SH2\_CAL\_MAG,}
-\DoxyCodeLine{88     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a25947bbe6bc4a7c9edd7067fdce0e9ccafcaab1f4c98b7343157c3c59c6a259cb}{planar\_accelerometer}} = SH2\_CAL\_PLANAR,}
-\DoxyCodeLine{89     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a25947bbe6bc4a7c9edd7067fdce0e9ccaa181a603769c1f98ad927e7367c7aa51}{all}} = (SH2\_CAL\_ACCEL | SH2\_CAL\_GYRO | SH2\_CAL\_MAG | SH2\_CAL\_PLANAR)}
-\DoxyCodeLine{90 \};}
-\DoxyCodeLine{91 }
-\DoxyCodeLine{93 \textcolor{keyword}{enum class} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2}{BNO08xResetReason}} : uint8\_t}
-\DoxyCodeLine{94 \{}
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-\DoxyCodeLine{97     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2acc069cf9b33eb4e7fb3696f0f42d752f}{INT\_RST}},   }
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-\DoxyCodeLine{100     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2a03570470bad94692ce93e32700d2e1cb}{OTHER}}      }
-\DoxyCodeLine{101 \};}
-\DoxyCodeLine{102 }
-\DoxyCodeLine{105 \textcolor{keyword}{enum class} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08xAccuracy}} : uint8\_t}
-\DoxyCodeLine{106 \{}
-\DoxyCodeLine{107     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6a6e257e645974b9086ed66e9465e2d80c}{UNRELIABLE}},}
-\DoxyCodeLine{108     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6a41bc94cbd8eebea13ce0491b2ac11b88}{LOW}},}
-\DoxyCodeLine{109     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6a2ad6d5975c45da2e711c796f3a1b029c}{MED}},}
-\DoxyCodeLine{110     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6ab89de3b4b81c4facfac906edf29aec8c}{HIGH}},}
-\DoxyCodeLine{111     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2a0db45d2a4141101bdfe48e3314cfbca3}{UNDEFINED}}}
-\DoxyCodeLine{112 \};}
-\DoxyCodeLine{113 \textcolor{keyword}{using }\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{IMUAccuracy}} = \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08xAccuracy}}; \textcolor{comment}{// legacy version compatibility}}
-\DoxyCodeLine{114 }
-\DoxyCodeLine{115 \textcolor{keyword}{const} \textcolor{keyword}{constexpr} \textcolor{keywordtype}{char}* \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_abb500e98b07c687d37e8ac0548a02e05}{BNO08xAccuracy\_to\_str}}(\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08xAccuracy}} accuracy)}
-\DoxyCodeLine{116 \{}
-\DoxyCodeLine{117     \textcolor{keywordflow}{switch} (accuracy)}
-\DoxyCodeLine{118     \{}
-\DoxyCodeLine{119         \textcolor{keywordflow}{case} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6a6e257e645974b9086ed66e9465e2d80c}{BNO08xAccuracy::UNRELIABLE}}:}
-\DoxyCodeLine{120             \textcolor{keywordflow}{return} \textcolor{stringliteral}{"{}UNRELIABLE"{}};}
-\DoxyCodeLine{121         \textcolor{keywordflow}{case} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6a41bc94cbd8eebea13ce0491b2ac11b88}{BNO08xAccuracy::LOW}}:}
-\DoxyCodeLine{122             \textcolor{keywordflow}{return} \textcolor{stringliteral}{"{}LOW"{}};}
-\DoxyCodeLine{123         \textcolor{keywordflow}{case} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6a2ad6d5975c45da2e711c796f3a1b029c}{BNO08xAccuracy::MED}}:}
-\DoxyCodeLine{124             \textcolor{keywordflow}{return} \textcolor{stringliteral}{"{}MED"{}};}
-\DoxyCodeLine{125         \textcolor{keywordflow}{case} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6ab89de3b4b81c4facfac906edf29aec8c}{BNO08xAccuracy::HIGH}}:}
-\DoxyCodeLine{126             \textcolor{keywordflow}{return} \textcolor{stringliteral}{"{}HIGH"{}};}
-\DoxyCodeLine{127         \textcolor{keywordflow}{case} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6a0db45d2a4141101bdfe48e3314cfbca3}{BNO08xAccuracy::UNDEFINED}}:}
-\DoxyCodeLine{128             \textcolor{keywordflow}{return} \textcolor{stringliteral}{"{}UNDEFINED"{}};}
-\DoxyCodeLine{129         \textcolor{keywordflow}{default}:}
-\DoxyCodeLine{130             \textcolor{keywordflow}{return} \textcolor{stringliteral}{"{}UNDEFINED"{}};}
-\DoxyCodeLine{131     \}}
-\DoxyCodeLine{132 \}}
-\DoxyCodeLine{133 }
-\DoxyCodeLine{136 \textcolor{keyword}{enum class} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3a}{BNO08xActivityEnable}} : uint32\_t}
-\DoxyCodeLine{137 \{}
-\DoxyCodeLine{138     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa696b031073e74bf2cb98e5ef201d4aa3}{UNKNOWN}} = (1U << 0U),}
-\DoxyCodeLine{139     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aab166a3ce74dd5434e4a940dfa2af76e4}{IN\_VEHICLE}} = (1U << 1U),}
-\DoxyCodeLine{140     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa93d94a2f3a627533453a40e302fb35a4}{ON\_BICYCLE}} = (1U << 2U),}
-\DoxyCodeLine{141     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa7089542e0146a3499986c81e24924b58}{ON\_FOOT}} = (1U << 3U),}
-\DoxyCodeLine{142     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa8b572d218013b9626d59e6a2b38f18b6}{STILL}} = (1U << 4U),}
-\DoxyCodeLine{143     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa69909b62e08f212da31719aebf67b70c}{TILTING}} = (1U << 5U),}
-\DoxyCodeLine{144     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa606c114184493a665cf1f6a12fbab9d3}{WALKING}} = (1U << 6U),}
-\DoxyCodeLine{145     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa43491564ebcfd38568918efbd6e840fd}{RUNNING}} = (1U << 7U),}
-\DoxyCodeLine{146     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aabbf2a614429826a84bd76b4a47fc7515}{ON\_STAIRS}} = (1U << 8U),}
-\DoxyCodeLine{147     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa5fb1f955b45e38e31789286a1790398d}{ALL}} = (\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa696b031073e74bf2cb98e5ef201d4aa3}{UNKNOWN}} | \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aab166a3ce74dd5434e4a940dfa2af76e4}{IN\_VEHICLE}} | \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa93d94a2f3a627533453a40e302fb35a4}{ON\_BICYCLE}} | \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa7089542e0146a3499986c81e24924b58}{ON\_FOOT}} | \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa8b572d218013b9626d59e6a2b38f18b6}{STILL}} | \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa69909b62e08f212da31719aebf67b70c}{TILTING}} | \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa606c114184493a665cf1f6a12fbab9d3}{WALKING}} | \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa43491564ebcfd38568918efbd6e840fd}{RUNNING}} | \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aabbf2a614429826a84bd76b4a47fc7515}{ON\_STAIRS}})}
-\DoxyCodeLine{148 \};}
-\DoxyCodeLine{149 }
-\DoxyCodeLine{151 \textcolor{keyword}{enum class} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97d}{BNO08xActivity}} : uint8\_t}
-\DoxyCodeLine{152 \{}
-\DoxyCodeLine{153     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa696b031073e74bf2cb98e5ef201d4aa3}{UNKNOWN}} = 0,    \textcolor{comment}{// 0 = unknown}}
-\DoxyCodeLine{154     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aab166a3ce74dd5434e4a940dfa2af76e4}{IN\_VEHICLE}} = 1, \textcolor{comment}{// 1 = in vehicle}}
-\DoxyCodeLine{155     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa93d94a2f3a627533453a40e302fb35a4}{ON\_BICYCLE}} = 2, \textcolor{comment}{// 2 = on bicycle}}
-\DoxyCodeLine{156     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa7089542e0146a3499986c81e24924b58}{ON\_FOOT}} = 3,    \textcolor{comment}{// 3 = on foot}}
-\DoxyCodeLine{157     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa8b572d218013b9626d59e6a2b38f18b6}{STILL}} = 4,      \textcolor{comment}{// 4 = still}}
-\DoxyCodeLine{158     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa69909b62e08f212da31719aebf67b70c}{TILTING}} = 5,    \textcolor{comment}{// 5 = tilting}}
-\DoxyCodeLine{159     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa606c114184493a665cf1f6a12fbab9d3}{WALKING}} = 6,    \textcolor{comment}{// 6 = walking}}
-\DoxyCodeLine{160     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa43491564ebcfd38568918efbd6e840fd}{RUNNING}} = 7,    \textcolor{comment}{// 7 = running}}
-\DoxyCodeLine{161     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aabbf2a614429826a84bd76b4a47fc7515}{ON\_STAIRS}} = 8,  \textcolor{comment}{// 8 = on stairs}}
-\DoxyCodeLine{162     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2a0db45d2a4141101bdfe48e3314cfbca3}{UNDEFINED}} = 9   \textcolor{comment}{// used for unit tests}}
-\DoxyCodeLine{163 \};}
-\DoxyCodeLine{164 }
-\DoxyCodeLine{170 \textcolor{keyword}{const} \textcolor{keyword}{constexpr} \textcolor{keywordtype}{char}* \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a042702b50b2a3617c517cd601e9d7ead}{BNO08xActivity\_to\_str}}(\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97d}{BNO08xActivity}} activity)}
-\DoxyCodeLine{171 \{}
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-\DoxyCodeLine{173     \{}
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-\DoxyCodeLine{175             \textcolor{keywordflow}{return} \textcolor{stringliteral}{"{}UNKNOWN"{}};}
-\DoxyCodeLine{176         \textcolor{keywordflow}{case} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97dab166a3ce74dd5434e4a940dfa2af76e4}{BNO08xActivity::IN\_VEHICLE}}:}
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-\DoxyCodeLine{181             \textcolor{keywordflow}{return} \textcolor{stringliteral}{"{}ON\_FOOT"{}};}
-\DoxyCodeLine{182         \textcolor{keywordflow}{case} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97da8b572d218013b9626d59e6a2b38f18b6}{BNO08xActivity::STILL}}:}
-\DoxyCodeLine{183             \textcolor{keywordflow}{return} \textcolor{stringliteral}{"{}STILL"{}};}
-\DoxyCodeLine{184         \textcolor{keywordflow}{case} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97da69909b62e08f212da31719aebf67b70c}{BNO08xActivity::TILTING}}:}
-\DoxyCodeLine{185             \textcolor{keywordflow}{return} \textcolor{stringliteral}{"{}TILTING"{}};}
-\DoxyCodeLine{186         \textcolor{keywordflow}{case} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97da606c114184493a665cf1f6a12fbab9d3}{BNO08xActivity::WALKING}}:}
-\DoxyCodeLine{187             \textcolor{keywordflow}{return} \textcolor{stringliteral}{"{}WALKING"{}};}
-\DoxyCodeLine{188         \textcolor{keywordflow}{case} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97da43491564ebcfd38568918efbd6e840fd}{BNO08xActivity::RUNNING}}:}
-\DoxyCodeLine{189             \textcolor{keywordflow}{return} \textcolor{stringliteral}{"{}RUNNING"{}};}
-\DoxyCodeLine{190         \textcolor{keywordflow}{case} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97dabbf2a614429826a84bd76b4a47fc7515}{BNO08xActivity::ON\_STAIRS}}:}
-\DoxyCodeLine{191             \textcolor{keywordflow}{return} \textcolor{stringliteral}{"{}ON\_STAIRS"{}};}
-\DoxyCodeLine{192         \textcolor{keywordflow}{case} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97da0db45d2a4141101bdfe48e3314cfbca3}{BNO08xActivity::UNDEFINED}}:}
-\DoxyCodeLine{193             \textcolor{keywordflow}{return} \textcolor{stringliteral}{"{}UNDEFINED"{}};}
-\DoxyCodeLine{194         \textcolor{keywordflow}{default}:}
-\DoxyCodeLine{195             \textcolor{keywordflow}{return} \textcolor{stringliteral}{"{}UNDEFINED"{}};}
-\DoxyCodeLine{196     \}}
-\DoxyCodeLine{197 \}}
-\DoxyCodeLine{198 }
-\DoxyCodeLine{200 \textcolor{keyword}{enum class} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cb}{BNO08xStability}} : uint8\_t}
-\DoxyCodeLine{201 \{}
-\DoxyCodeLine{202     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa696b031073e74bf2cb98e5ef201d4aa3}{UNKNOWN}} = 0,    \textcolor{comment}{// 0 = unknown}}
-\DoxyCodeLine{203     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cba71149a62cd9fec4756e3538d1754486a}{ON\_TABLE}} = 1,   \textcolor{comment}{// 1 = on table}}
-\DoxyCodeLine{204     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cba4120eb7591bd0789af75a8973d5f9146}{STATIONARY}} = 2, \textcolor{comment}{// 2 = stationary}}
-\DoxyCodeLine{205     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cba32987cdf8a725702042ab18f5c700905}{STABLE}} = 3,     \textcolor{comment}{// 3 = stable}}
-\DoxyCodeLine{206     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cbaf96e6ea7a7375bd60bad3f3caae3cf27}{MOTION}} = 4,     \textcolor{comment}{// 4 = in motion}}
-\DoxyCodeLine{207     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cba83c7f2aa8c3ac10ed8beb75cad162827}{RESERVED}} = 5,   \textcolor{comment}{// 5 = reserved (not used)}}
-\DoxyCodeLine{208     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2a0db45d2a4141101bdfe48e3314cfbca3}{UNDEFINED}} = 6   \textcolor{comment}{// used for unit tests}}
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-\DoxyCodeLine{451             \textcolor{keywordflow}{return} \textcolor{stringliteral}{"{}META\_SLEEP\_DETECTOR"{}};}
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-\DoxyCodeLine{453             \textcolor{keywordflow}{return} \textcolor{stringliteral}{"{}META\_TILT\_DETECTOR"{}};}
-\DoxyCodeLine{454         \textcolor{keywordflow}{case} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea8fea9f9b77154625f1b543988398610b}{BNO08xFrsID::META\_POCKET\_DETECTOR}}:}
-\DoxyCodeLine{455             \textcolor{keywordflow}{return} \textcolor{stringliteral}{"{}META\_POCKET\_DETECTOR"{}};}
-\DoxyCodeLine{456         \textcolor{keywordflow}{case} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eac26499be839c2f04ca712c388e02b2cd}{BNO08xFrsID::META\_CIRCLE\_DETECTOR}}:}
-\DoxyCodeLine{457             \textcolor{keywordflow}{return} \textcolor{stringliteral}{"{}META\_CIRCLE\_DETECTOR"{}};}
-\DoxyCodeLine{458         \textcolor{keywordflow}{case} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea41240ea9c983158280d9a1a144d6f9dc}{BNO08xFrsID::META\_HEART\_RATE\_MONITOR}}:}
-\DoxyCodeLine{459             \textcolor{keywordflow}{return} \textcolor{stringliteral}{"{}META\_HEART\_RATE\_MONITOR"{}};}
-\DoxyCodeLine{460         \textcolor{keywordflow}{case} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea61501297c2607c69321c2a5b4c1c945b}{BNO08xFrsID::META\_ARVR\_STABILIZED\_RV}}:}
-\DoxyCodeLine{461             \textcolor{keywordflow}{return} \textcolor{stringliteral}{"{}META\_ARVR\_STABILIZED\_RV"{}};}
-\DoxyCodeLine{462         \textcolor{keywordflow}{case} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea240edccff7cb86c2486ee9bac60e19ca}{BNO08xFrsID::META\_ARVR\_STABILIZED\_GRV}}:}
-\DoxyCodeLine{463             \textcolor{keywordflow}{return} \textcolor{stringliteral}{"{}META\_ARVR\_STABILIZED\_GRV"{}};}
-\DoxyCodeLine{464         \textcolor{keywordflow}{case} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea928ad374247b43bfa0939406c62d2b31}{BNO08xFrsID::META\_GYRO\_INTEGRATED\_RV}}:}
-\DoxyCodeLine{465             \textcolor{keywordflow}{return} \textcolor{stringliteral}{"{}META\_GYRO\_INTEGRATED\_RV"{}};}
-\DoxyCodeLine{466         \textcolor{keywordflow}{default}:}
-\DoxyCodeLine{467             \textcolor{keywordflow}{return} \textcolor{stringliteral}{"{}UNKNOWN"{}};}
-\DoxyCodeLine{468     \}}
-\DoxyCodeLine{469 \}}
-\DoxyCodeLine{470 }
-\DoxyCodeLine{472 \textcolor{keyword}{typedef} \textcolor{keyword}{struct }\mbox{\hyperlink{structbno08x__quat__t}{bno08x\_quat\_t}}}
-\DoxyCodeLine{473 \{}
-\DoxyCodeLine{474         \textcolor{keywordtype}{float} \mbox{\hyperlink{structbno08x__quat__t_ab99e5e4f8adad74eee1a94b4e7ef2542}{real}};}
-\DoxyCodeLine{475         \textcolor{keywordtype}{float} \mbox{\hyperlink{structbno08x__quat__t_ac438aba57b7082e1d81e2d1241f87ca0}{i}};}
-\DoxyCodeLine{476         \textcolor{keywordtype}{float} \mbox{\hyperlink{structbno08x__quat__t_aab49754d4967cfa71578d8d1156eef46}{j}};}
-\DoxyCodeLine{477         \textcolor{keywordtype}{float} \mbox{\hyperlink{structbno08x__quat__t_ade2592f6a271cc8b260081ad018772ef}{k}};}
-\DoxyCodeLine{478         \textcolor{keywordtype}{float} \mbox{\hyperlink{structbno08x__quat__t_a7368a7f0524e3b2e1f4465329ecb0912}{rad\_accuracy}};}
-\DoxyCodeLine{479         \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08xAccuracy}} \mbox{\hyperlink{structbno08x__quat__t_afd179bfc02d365b5db4ad9fa810daf7c}{accuracy}};}
-\DoxyCodeLine{480 }
-\DoxyCodeLine{481         \mbox{\hyperlink{structbno08x__quat__t_ae42ec645fe23b60e32e55872a3b9e703}{bno08x\_quat\_t}}()}
-\DoxyCodeLine{482             : \mbox{\hyperlink{structbno08x__quat__t_ab99e5e4f8adad74eee1a94b4e7ef2542}{real}}(0.0f)}
-\DoxyCodeLine{483             , \mbox{\hyperlink{structbno08x__quat__t_ac438aba57b7082e1d81e2d1241f87ca0}{i}}(0.0f)}
-\DoxyCodeLine{484             , \mbox{\hyperlink{structbno08x__quat__t_aab49754d4967cfa71578d8d1156eef46}{j}}(0.0f)}
-\DoxyCodeLine{485             , \mbox{\hyperlink{structbno08x__quat__t_ade2592f6a271cc8b260081ad018772ef}{k}}(0.0f)}
-\DoxyCodeLine{486             , \mbox{\hyperlink{structbno08x__quat__t_a7368a7f0524e3b2e1f4465329ecb0912}{rad\_accuracy}}(0.0f)}
-\DoxyCodeLine{487             , \mbox{\hyperlink{structbno08x__quat__t_afd179bfc02d365b5db4ad9fa810daf7c}{accuracy}}(\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08xAccuracy}}::\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2a0db45d2a4141101bdfe48e3314cfbca3}{UNDEFINED}})}
-\DoxyCodeLine{488         \{}
-\DoxyCodeLine{489         \}}
-\DoxyCodeLine{490 }
-\DoxyCodeLine{491         \textcolor{comment}{// overloaded assignment operator to handle RV with rad accuracy}}
-\DoxyCodeLine{492         \mbox{\hyperlink{structbno08x__quat__t}{bno08x\_quat\_t}}\& \mbox{\hyperlink{structbno08x__quat__t_a081cecab6370ae436f36416e3f7a6ddc}{operator=}}(\textcolor{keyword}{const} sh2\_RotationVectorWAcc\_t\& source)}
-\DoxyCodeLine{493         \{}
-\DoxyCodeLine{494             this-\/>real = source.\mbox{\hyperlink{structbno08x__quat__t_ab99e5e4f8adad74eee1a94b4e7ef2542}{real}};}
-\DoxyCodeLine{495             this-\/>i = source.i;}
-\DoxyCodeLine{496             this-\/>j = source.j;}
-\DoxyCodeLine{497             this-\/>k = source.k;}
-\DoxyCodeLine{498             this-\/>rad\_accuracy = source.accuracy;}
-\DoxyCodeLine{499             \textcolor{keywordflow}{return} *\textcolor{keyword}{this};}
-\DoxyCodeLine{500         \}}
-\DoxyCodeLine{501 }
-\DoxyCodeLine{502         \textcolor{comment}{// overloaded assignment operator to handle RV with w/o rad accuracy}}
-\DoxyCodeLine{503         \mbox{\hyperlink{structbno08x__quat__t}{bno08x\_quat\_t}}\& \mbox{\hyperlink{structbno08x__quat__t_a23cac26e381f9a83657fccdab735046b}{operator=}}(\textcolor{keyword}{const} sh2\_RotationVector\_t\& source)}
-\DoxyCodeLine{504         \{}
-\DoxyCodeLine{505             this-\/>real = source.\mbox{\hyperlink{structbno08x__quat__t_ab99e5e4f8adad74eee1a94b4e7ef2542}{real}};}
-\DoxyCodeLine{506             this-\/>i = source.i;}
-\DoxyCodeLine{507             this-\/>j = source.j;}
-\DoxyCodeLine{508             this-\/>k = source.k;}
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-\DoxyCodeLine{510             \textcolor{keywordflow}{return} *\textcolor{keyword}{this};}
-\DoxyCodeLine{511         \}}
-\DoxyCodeLine{512 }
-\DoxyCodeLine{513         \textcolor{comment}{// overloaded assignment operator to handle IRV report}}
-\DoxyCodeLine{514         \mbox{\hyperlink{structbno08x__quat__t}{bno08x\_quat\_t}}\& \mbox{\hyperlink{structbno08x__quat__t_ae3705dc48882a3d616927cad01c2387d}{operator=}}(\textcolor{keyword}{const} sh2\_GyroIntegratedRV\_t\& source)}
-\DoxyCodeLine{515         \{}
-\DoxyCodeLine{516             this-\/>real = source.\mbox{\hyperlink{structbno08x__quat__t_ab99e5e4f8adad74eee1a94b4e7ef2542}{real}};}
-\DoxyCodeLine{517             this-\/>i = source.i;}
-\DoxyCodeLine{518             this-\/>j = source.j;}
-\DoxyCodeLine{519             this-\/>k = source.k;}
-\DoxyCodeLine{520             this-\/>rad\_accuracy = 0.0f;}
-\DoxyCodeLine{521             \textcolor{keywordflow}{return} *\textcolor{keyword}{this};}
-\DoxyCodeLine{522         \}}
-\DoxyCodeLine{523 }
-\DoxyCodeLine{524 \} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a0c7367913526c0d634c5f8f5365a55b4}{bno08x\_quat\_t}};}
-\DoxyCodeLine{525 }
-\DoxyCodeLine{527 \textcolor{keyword}{typedef} \textcolor{keyword}{struct }\mbox{\hyperlink{structbno08x__euler__angle__t}{bno08x\_euler\_angle\_t}}}
-\DoxyCodeLine{528 \{}
-\DoxyCodeLine{529         \textcolor{keywordtype}{float} \mbox{\hyperlink{structbno08x__euler__angle__t_a7c675704f7bf92a19846de6ee020f0ef}{x}};}
-\DoxyCodeLine{530         \textcolor{keywordtype}{float} \mbox{\hyperlink{structbno08x__euler__angle__t_a0c4f19cb559999d4c2ac2b29d9dc7cfd}{y}};}
-\DoxyCodeLine{531         \textcolor{keywordtype}{float} \mbox{\hyperlink{structbno08x__euler__angle__t_a5237ec5e8fc1ca49b2f108ac784f0032}{z}};}
-\DoxyCodeLine{532         \textcolor{keywordtype}{float} \mbox{\hyperlink{structbno08x__euler__angle__t_a89ab348ee455b14e5d09f1eb5d231c99}{rad\_accuracy}};}
-\DoxyCodeLine{533         \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08xAccuracy}} \mbox{\hyperlink{structbno08x__euler__angle__t_a3b4fad0b84bda3f34e86f7168ef2fee6}{accuracy}};}
-\DoxyCodeLine{534 }
-\DoxyCodeLine{535         \mbox{\hyperlink{structbno08x__euler__angle__t_a29b670ff58d75a6abf02512ee07a6207}{bno08x\_euler\_angle\_t}}()}
-\DoxyCodeLine{536             : \mbox{\hyperlink{structbno08x__euler__angle__t_a7c675704f7bf92a19846de6ee020f0ef}{x}}(0.0f)}
-\DoxyCodeLine{537             , \mbox{\hyperlink{structbno08x__euler__angle__t_a0c4f19cb559999d4c2ac2b29d9dc7cfd}{y}}(0.0f)}
-\DoxyCodeLine{538             , \mbox{\hyperlink{structbno08x__euler__angle__t_a5237ec5e8fc1ca49b2f108ac784f0032}{z}}(0.0f)}
-\DoxyCodeLine{539             , \mbox{\hyperlink{structbno08x__euler__angle__t_a89ab348ee455b14e5d09f1eb5d231c99}{rad\_accuracy}}(0.0f)}
-\DoxyCodeLine{540             , \mbox{\hyperlink{structbno08x__euler__angle__t_a3b4fad0b84bda3f34e86f7168ef2fee6}{accuracy}}(\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08xAccuracy}}::\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2a0db45d2a4141101bdfe48e3314cfbca3}{UNDEFINED}})}
-\DoxyCodeLine{541         \{}
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-\DoxyCodeLine{543 }
-\DoxyCodeLine{544         \textcolor{comment}{// overloaded = operator for quat to euler conversion}}
-\DoxyCodeLine{545         \mbox{\hyperlink{structbno08x__euler__angle__t}{bno08x\_euler\_angle\_t}}\& \mbox{\hyperlink{structbno08x__euler__angle__t_aa7f6954a731e0be492508b5d1dac056e}{operator=}}(\textcolor{keyword}{const} \mbox{\hyperlink{structbno08x__quat__t}{bno08x\_quat\_t}}\& source)}
-\DoxyCodeLine{546         \{}
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-\DoxyCodeLine{548                     1.0f -\/ 2.0f * (source.\mbox{\hyperlink{structbno08x__quat__t_ac438aba57b7082e1d81e2d1241f87ca0}{i}} * source.\mbox{\hyperlink{structbno08x__quat__t_ac438aba57b7082e1d81e2d1241f87ca0}{i}} + source.\mbox{\hyperlink{structbno08x__quat__t_aab49754d4967cfa71578d8d1156eef46}{j}} * source.\mbox{\hyperlink{structbno08x__quat__t_aab49754d4967cfa71578d8d1156eef46}{j}}));}
-\DoxyCodeLine{549             this-\/>y = asin(2.0f * (source.\mbox{\hyperlink{structbno08x__quat__t_ab99e5e4f8adad74eee1a94b4e7ef2542}{real}} * source.\mbox{\hyperlink{structbno08x__quat__t_aab49754d4967cfa71578d8d1156eef46}{j}} -\/ source.\mbox{\hyperlink{structbno08x__quat__t_ade2592f6a271cc8b260081ad018772ef}{k}} * source.\mbox{\hyperlink{structbno08x__quat__t_ac438aba57b7082e1d81e2d1241f87ca0}{i}}));}
-\DoxyCodeLine{550             this-\/>z = atan2(2.0f * (source.\mbox{\hyperlink{structbno08x__quat__t_ab99e5e4f8adad74eee1a94b4e7ef2542}{real}} * source.\mbox{\hyperlink{structbno08x__quat__t_ade2592f6a271cc8b260081ad018772ef}{k}} + source.\mbox{\hyperlink{structbno08x__quat__t_ac438aba57b7082e1d81e2d1241f87ca0}{i}} * source.\mbox{\hyperlink{structbno08x__quat__t_aab49754d4967cfa71578d8d1156eef46}{j}}),}
-\DoxyCodeLine{551                     1.0f -\/ 2.0f * (source.\mbox{\hyperlink{structbno08x__quat__t_aab49754d4967cfa71578d8d1156eef46}{j}} * source.\mbox{\hyperlink{structbno08x__quat__t_aab49754d4967cfa71578d8d1156eef46}{j}} + source.\mbox{\hyperlink{structbno08x__quat__t_ade2592f6a271cc8b260081ad018772ef}{k}} * source.\mbox{\hyperlink{structbno08x__quat__t_ade2592f6a271cc8b260081ad018772ef}{k}}));}
-\DoxyCodeLine{552             this-\/>rad\_accuracy = source.\mbox{\hyperlink{structbno08x__quat__t_a7368a7f0524e3b2e1f4465329ecb0912}{rad\_accuracy}};}
-\DoxyCodeLine{553             this-\/>accuracy = source.\mbox{\hyperlink{structbno08x__quat__t_afd179bfc02d365b5db4ad9fa810daf7c}{accuracy}};}
-\DoxyCodeLine{554             \textcolor{keywordflow}{return} *\textcolor{keyword}{this};}
-\DoxyCodeLine{555         \}}
-\DoxyCodeLine{556 }
-\DoxyCodeLine{557         \textcolor{comment}{// overloaded *= operator for rad2deg conversions}}
-\DoxyCodeLine{558         \textcolor{keyword}{template} <\textcolor{keyword}{typename} T>}
-\DoxyCodeLine{559         \mbox{\hyperlink{structbno08x__euler__angle__t}{bno08x\_euler\_angle\_t}}\& \mbox{\hyperlink{structbno08x__euler__angle__t_a0b1d1fcfc2884937404446ca16829e51}{operator*=}}(T value)}
-\DoxyCodeLine{560         \{}
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-\DoxyCodeLine{562             \mbox{\hyperlink{structbno08x__euler__angle__t_a0c4f19cb559999d4c2ac2b29d9dc7cfd}{y}} *= \textcolor{keyword}{static\_cast<}\textcolor{keywordtype}{float}\textcolor{keyword}{>}(value);}
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-\DoxyCodeLine{564             \mbox{\hyperlink{structbno08x__euler__angle__t_a89ab348ee455b14e5d09f1eb5d231c99}{rad\_accuracy}} *= \textcolor{keyword}{static\_cast<}\textcolor{keywordtype}{float}\textcolor{keyword}{>}(value);}
-\DoxyCodeLine{565             \textcolor{keywordflow}{return} *\textcolor{keyword}{this};}
-\DoxyCodeLine{566         \}}
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-\DoxyCodeLine{568 \} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ae22357b6f53c2cf806bb3aeb80814a}{bno08x\_euler\_angle\_t}};}
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-\DoxyCodeLine{574         \textcolor{keywordtype}{float} \mbox{\hyperlink{structbno08x__ang__vel__t_af6d7d0452271c2d35234371ad1df6a80}{y}};}
-\DoxyCodeLine{575         \textcolor{keywordtype}{float} \mbox{\hyperlink{structbno08x__ang__vel__t_aac5bb11414116bce54e5f8b7dd2d48f6}{z}};}
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-\DoxyCodeLine{577         \mbox{\hyperlink{structbno08x__ang__vel__t_a76cf6d15cef214b31a47008d49b843be}{bno08x\_ang\_vel\_t}}()}
-\DoxyCodeLine{578             : \mbox{\hyperlink{structbno08x__ang__vel__t_aad57f7ad443f1c94b411ff1c3c2d37a3}{x}}(0.0f)}
-\DoxyCodeLine{579             , \mbox{\hyperlink{structbno08x__ang__vel__t_af6d7d0452271c2d35234371ad1df6a80}{y}}(0.0f)}
-\DoxyCodeLine{580             , \mbox{\hyperlink{structbno08x__ang__vel__t_aac5bb11414116bce54e5f8b7dd2d48f6}{z}}(0.0f)}
-\DoxyCodeLine{581         \{}
-\DoxyCodeLine{582         \}}
-\DoxyCodeLine{583 }
-\DoxyCodeLine{584         \textcolor{comment}{// overloaded *= operator for rad2deg conversions}}
-\DoxyCodeLine{585         \textcolor{keyword}{template} <\textcolor{keyword}{typename} T>}
-\DoxyCodeLine{586         \mbox{\hyperlink{structbno08x__ang__vel__t}{bno08x\_ang\_vel\_t}}\& \mbox{\hyperlink{structbno08x__ang__vel__t_ae963f28d8914d5cc2f13620a4a9c57e8}{operator*=}}(T value)}
-\DoxyCodeLine{587         \{}
-\DoxyCodeLine{588             \mbox{\hyperlink{structbno08x__ang__vel__t_aad57f7ad443f1c94b411ff1c3c2d37a3}{x}} *= \textcolor{keyword}{static\_cast<}\textcolor{keywordtype}{float}\textcolor{keyword}{>}(value);}
-\DoxyCodeLine{589             \mbox{\hyperlink{structbno08x__ang__vel__t_af6d7d0452271c2d35234371ad1df6a80}{y}} *= \textcolor{keyword}{static\_cast<}\textcolor{keywordtype}{float}\textcolor{keyword}{>}(value);}
-\DoxyCodeLine{590             \mbox{\hyperlink{structbno08x__ang__vel__t_aac5bb11414116bce54e5f8b7dd2d48f6}{z}} *= \textcolor{keyword}{static\_cast<}\textcolor{keywordtype}{float}\textcolor{keyword}{>}(value);}
-\DoxyCodeLine{591             \textcolor{keywordflow}{return} *\textcolor{keyword}{this};}
-\DoxyCodeLine{592         \}}
-\DoxyCodeLine{593 }
-\DoxyCodeLine{594         \textcolor{comment}{// strip sh2\_GyroIntegratedRV\_t of velocity data for IRV reports}}
-\DoxyCodeLine{595         \mbox{\hyperlink{structbno08x__ang__vel__t}{bno08x\_ang\_vel\_t}}\& \mbox{\hyperlink{structbno08x__ang__vel__t_afe1b100ac38de3ccd0c0b617e5b5d8a2}{operator=}}(\textcolor{keyword}{const} sh2\_GyroIntegratedRV\_t\& source)}
-\DoxyCodeLine{596         \{}
-\DoxyCodeLine{597             this-\/>x = source.angVelX;}
-\DoxyCodeLine{598             this-\/>y = source.angVelY;}
-\DoxyCodeLine{599             this-\/>z = source.angVelZ;}
-\DoxyCodeLine{600             \textcolor{keywordflow}{return} *\textcolor{keyword}{this};}
-\DoxyCodeLine{601         \}}
-\DoxyCodeLine{602 \} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a2babea2516c7c91039316693fc23a8c1}{bno08x\_ang\_vel\_t}};}
-\DoxyCodeLine{603 }
-\DoxyCodeLine{605 \textcolor{keyword}{typedef} \textcolor{keyword}{struct }\mbox{\hyperlink{structbno08x__magf__t}{bno08x\_magf\_t}}}
-\DoxyCodeLine{606 \{}
-\DoxyCodeLine{607         \textcolor{keywordtype}{float} \mbox{\hyperlink{structbno08x__magf__t_ac692d27a0bd9d698a89a8ca58e959d08}{x}};}
-\DoxyCodeLine{608         \textcolor{keywordtype}{float} \mbox{\hyperlink{structbno08x__magf__t_a01b2e4c9a144b3e1c0572db12ed48601}{y}};}
-\DoxyCodeLine{609         \textcolor{keywordtype}{float} \mbox{\hyperlink{structbno08x__magf__t_a0516e3805249e8b62856af2aabf7cc0b}{z}};}
-\DoxyCodeLine{610         \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08xAccuracy}} \mbox{\hyperlink{structbno08x__magf__t_a6b92aa85f81f17034c3f201dd9ff0b46}{accuracy}};}
-\DoxyCodeLine{611 }
-\DoxyCodeLine{612         \mbox{\hyperlink{structbno08x__magf__t_ad8784e25768658f4fa0cb1dd5c1afc36}{bno08x\_magf\_t}}()}
-\DoxyCodeLine{613             : \mbox{\hyperlink{structbno08x__magf__t_ac692d27a0bd9d698a89a8ca58e959d08}{x}}(0.0f)}
-\DoxyCodeLine{614             , \mbox{\hyperlink{structbno08x__magf__t_a01b2e4c9a144b3e1c0572db12ed48601}{y}}(0.0f)}
-\DoxyCodeLine{615             , \mbox{\hyperlink{structbno08x__magf__t_a0516e3805249e8b62856af2aabf7cc0b}{z}}(0.0f)}
-\DoxyCodeLine{616             , \mbox{\hyperlink{structbno08x__magf__t_a6b92aa85f81f17034c3f201dd9ff0b46}{accuracy}}(\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08xAccuracy}}::\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2a0db45d2a4141101bdfe48e3314cfbca3}{UNDEFINED}})}
-\DoxyCodeLine{617         \{}
-\DoxyCodeLine{618         \}}
-\DoxyCodeLine{619 }
-\DoxyCodeLine{620         \textcolor{comment}{// overloaded = operator for sh2\_MagneticField\_t conversion}}
-\DoxyCodeLine{621         \mbox{\hyperlink{structbno08x__magf__t}{bno08x\_magf\_t}}\& \mbox{\hyperlink{structbno08x__magf__t_adadb35e5c67433e47895d7ae5885a00e}{operator=}}(\textcolor{keyword}{const} sh2\_MagneticField\_t\& source)}
-\DoxyCodeLine{622         \{}
-\DoxyCodeLine{623             this-\/>x = source.\mbox{\hyperlink{structbno08x__magf__t_ac692d27a0bd9d698a89a8ca58e959d08}{x}};}
-\DoxyCodeLine{624             this-\/>y = source.y;}
-\DoxyCodeLine{625             this-\/>z = source.z;}
-\DoxyCodeLine{626             \textcolor{keywordflow}{return} *\textcolor{keyword}{this};}
-\DoxyCodeLine{627         \}}
-\DoxyCodeLine{628 }
-\DoxyCodeLine{629         \textcolor{comment}{// overloaded = operator for sh2\_MagneticFieldUncalibrated\_t conversion}}
-\DoxyCodeLine{630         \mbox{\hyperlink{structbno08x__magf__t}{bno08x\_magf\_t}}\& \mbox{\hyperlink{structbno08x__magf__t_a2e0b22e5fa40d5ecd447e0cb451b3282}{operator=}}(\textcolor{keyword}{const} sh2\_MagneticFieldUncalibrated\_t\& source)}
-\DoxyCodeLine{631         \{}
-\DoxyCodeLine{632             this-\/>x = source.\mbox{\hyperlink{structbno08x__magf__t_ac692d27a0bd9d698a89a8ca58e959d08}{x}};}
-\DoxyCodeLine{633             this-\/>y = source.y;}
-\DoxyCodeLine{634             this-\/>z = source.z;}
-\DoxyCodeLine{635             \textcolor{keywordflow}{return} *\textcolor{keyword}{this};}
-\DoxyCodeLine{636         \}}
-\DoxyCodeLine{637 }
-\DoxyCodeLine{638 \} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a429f861977153379e28e8f3710330b45}{bno08x\_magf\_t}};}
-\DoxyCodeLine{639 }
-\DoxyCodeLine{641 \textcolor{keyword}{typedef} \textcolor{keyword}{struct }\mbox{\hyperlink{structbno08x__magf__bias__t}{bno08x\_magf\_bias\_t}}}
-\DoxyCodeLine{642 \{}
-\DoxyCodeLine{643         \textcolor{keywordtype}{float} \mbox{\hyperlink{structbno08x__magf__bias__t_ac4f55ef988b43d3d6c753a2201c60b14}{x}};}
-\DoxyCodeLine{644         \textcolor{keywordtype}{float} \mbox{\hyperlink{structbno08x__magf__bias__t_a0e49d87458853c3478ffe1febffa0279}{y}};}
-\DoxyCodeLine{645         \textcolor{keywordtype}{float} \mbox{\hyperlink{structbno08x__magf__bias__t_a76b135fa354d2646927ff76c2da5a6b3}{z}};}
-\DoxyCodeLine{646 }
-\DoxyCodeLine{647         \mbox{\hyperlink{structbno08x__magf__bias__t_aa0b6af3812168e0dc9329d5a70e54f98}{bno08x\_magf\_bias\_t}}()}
-\DoxyCodeLine{648             : \mbox{\hyperlink{structbno08x__magf__bias__t_ac4f55ef988b43d3d6c753a2201c60b14}{x}}(0.0f)}
-\DoxyCodeLine{649             , \mbox{\hyperlink{structbno08x__magf__bias__t_a0e49d87458853c3478ffe1febffa0279}{y}}(0.0f)}
-\DoxyCodeLine{650             , \mbox{\hyperlink{structbno08x__magf__bias__t_a76b135fa354d2646927ff76c2da5a6b3}{z}}(0.0f)}
-\DoxyCodeLine{651         \{}
-\DoxyCodeLine{652         \}}
-\DoxyCodeLine{653 }
-\DoxyCodeLine{654         \textcolor{comment}{// overloaded = operator for sh2\_MagneticFieldUncalibrated\_t conversion}}
-\DoxyCodeLine{655         \mbox{\hyperlink{structbno08x__magf__bias__t}{bno08x\_magf\_bias\_t}}\& \mbox{\hyperlink{structbno08x__magf__bias__t_aeed524c368c645e3f325ffe387199a31}{operator=}}(\textcolor{keyword}{const} sh2\_MagneticFieldUncalibrated\_t\& source)}
-\DoxyCodeLine{656         \{}
-\DoxyCodeLine{657             this-\/>x = source.biasX;}
-\DoxyCodeLine{658             this-\/>y = source.biasY;}
-\DoxyCodeLine{659             this-\/>z = source.biasZ;}
-\DoxyCodeLine{660             \textcolor{keywordflow}{return} *\textcolor{keyword}{this};}
-\DoxyCodeLine{661         \}}
-\DoxyCodeLine{662 }
-\DoxyCodeLine{663 \} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a3d6e56080638d872486935323f393ab7}{bno08x\_magf\_bias\_t}};}
-\DoxyCodeLine{664 }
-\DoxyCodeLine{666 \textcolor{keyword}{typedef} \textcolor{keyword}{struct }\mbox{\hyperlink{structbno08x__gyro__t}{bno08x\_gyro\_t}}}
-\DoxyCodeLine{667 \{}
-\DoxyCodeLine{668         \textcolor{keywordtype}{float} \mbox{\hyperlink{structbno08x__gyro__t_a63a7bfec63a61b44dab94cd62dc5f50e}{x}};}
-\DoxyCodeLine{669         \textcolor{keywordtype}{float} \mbox{\hyperlink{structbno08x__gyro__t_ab079eb91abc32f71c6d41f3dcf6274df}{y}};}
-\DoxyCodeLine{670         \textcolor{keywordtype}{float} \mbox{\hyperlink{structbno08x__gyro__t_ac9a349e1dad45c041bfd0555b01e273f}{z}};}
-\DoxyCodeLine{671         \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08xAccuracy}} \mbox{\hyperlink{structbno08x__gyro__t_a87ab3be28faed62506a764d411650a12}{accuracy}};}
-\DoxyCodeLine{672 }
-\DoxyCodeLine{673         \mbox{\hyperlink{structbno08x__gyro__t_aa9a075a6b135f4b137b6247768ef5af6}{bno08x\_gyro\_t}}()}
-\DoxyCodeLine{674             : \mbox{\hyperlink{structbno08x__gyro__t_a63a7bfec63a61b44dab94cd62dc5f50e}{x}}(0.0f)}
-\DoxyCodeLine{675             , \mbox{\hyperlink{structbno08x__gyro__t_ab079eb91abc32f71c6d41f3dcf6274df}{y}}(0.0f)}
-\DoxyCodeLine{676             , \mbox{\hyperlink{structbno08x__gyro__t_ac9a349e1dad45c041bfd0555b01e273f}{z}}(0.0f)}
-\DoxyCodeLine{677             , \mbox{\hyperlink{structbno08x__gyro__t_a87ab3be28faed62506a764d411650a12}{accuracy}}(\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08xAccuracy}}::\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2a0db45d2a4141101bdfe48e3314cfbca3}{UNDEFINED}})}
-\DoxyCodeLine{678         \{}
-\DoxyCodeLine{679         \}}
-\DoxyCodeLine{680 }
-\DoxyCodeLine{681         \textcolor{comment}{// overloaded = operator for sh2\_Gyroscope\_t conversion}}
-\DoxyCodeLine{682         \mbox{\hyperlink{structbno08x__gyro__t}{bno08x\_gyro\_t}}\& \mbox{\hyperlink{structbno08x__gyro__t_a13cfb2e5d15b2fe50d1d910bd0c4b868}{operator=}}(\textcolor{keyword}{const} sh2\_Gyroscope\_t\& source)}
-\DoxyCodeLine{683         \{}
-\DoxyCodeLine{684             this-\/>x = source.\mbox{\hyperlink{structbno08x__gyro__t_a63a7bfec63a61b44dab94cd62dc5f50e}{x}};}
-\DoxyCodeLine{685             this-\/>y = source.y;}
-\DoxyCodeLine{686             this-\/>z = source.z;}
-\DoxyCodeLine{687             \textcolor{keywordflow}{return} *\textcolor{keyword}{this};}
-\DoxyCodeLine{688         \}}
-\DoxyCodeLine{689 }
-\DoxyCodeLine{690         \textcolor{comment}{// overloaded = operator for sh2\_GyroscopeUncalibrated conversion}}
-\DoxyCodeLine{691         \mbox{\hyperlink{structbno08x__gyro__t}{bno08x\_gyro\_t}}\& \mbox{\hyperlink{structbno08x__gyro__t_a64d4900e42a8f056a404b699074f1c41}{operator=}}(\textcolor{keyword}{const} sh2\_GyroscopeUncalibrated\& source)}
-\DoxyCodeLine{692         \{}
-\DoxyCodeLine{693             this-\/>x = source.\mbox{\hyperlink{structbno08x__gyro__t_a63a7bfec63a61b44dab94cd62dc5f50e}{x}};}
-\DoxyCodeLine{694             this-\/>y = source.y;}
-\DoxyCodeLine{695             this-\/>z = source.z;}
-\DoxyCodeLine{696             \textcolor{keywordflow}{return} *\textcolor{keyword}{this};}
-\DoxyCodeLine{697         \}}
-\DoxyCodeLine{698 }
-\DoxyCodeLine{699 \} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_ac166834f6280e6ef21af7dd8a01be1e4}{bno08x\_gyro\_t}};}
-\DoxyCodeLine{700 }
-\DoxyCodeLine{702 \textcolor{keyword}{typedef} \textcolor{keyword}{struct }\mbox{\hyperlink{structbno08x__gyro__bias__t}{bno08x\_gyro\_bias\_t}}}
-\DoxyCodeLine{703 \{}
-\DoxyCodeLine{704         \textcolor{keywordtype}{float} \mbox{\hyperlink{structbno08x__gyro__bias__t_a9c592e8c420797c8e02146eb6ba4a923}{x}};}
-\DoxyCodeLine{705         \textcolor{keywordtype}{float} \mbox{\hyperlink{structbno08x__gyro__bias__t_a9bb96e58ed1df186edf40aa66b38bf4a}{y}};}
-\DoxyCodeLine{706         \textcolor{keywordtype}{float} \mbox{\hyperlink{structbno08x__gyro__bias__t_aef04b50ebf86ff49631beb3ba90ae1ba}{z}};}
-\DoxyCodeLine{707 }
-\DoxyCodeLine{708         \mbox{\hyperlink{structbno08x__gyro__bias__t_a779c3000b541664d935b2ffda75a5f14}{bno08x\_gyro\_bias\_t}}()}
-\DoxyCodeLine{709             : \mbox{\hyperlink{structbno08x__gyro__bias__t_a9c592e8c420797c8e02146eb6ba4a923}{x}}(0.0f)}
-\DoxyCodeLine{710             , \mbox{\hyperlink{structbno08x__gyro__bias__t_a9bb96e58ed1df186edf40aa66b38bf4a}{y}}(0.0f)}
-\DoxyCodeLine{711             , \mbox{\hyperlink{structbno08x__gyro__bias__t_aef04b50ebf86ff49631beb3ba90ae1ba}{z}}(0.0f)}
-\DoxyCodeLine{712         \{}
-\DoxyCodeLine{713         \}}
-\DoxyCodeLine{714 }
-\DoxyCodeLine{715         \textcolor{comment}{// overloaded = operator for sh2\_GyroscopeUncalibrated conversion}}
-\DoxyCodeLine{716         \mbox{\hyperlink{structbno08x__gyro__bias__t}{bno08x\_gyro\_bias\_t}}\& \mbox{\hyperlink{structbno08x__gyro__bias__t_aaa3795c61ebd89d4a620600b37ac27fc}{operator=}}(\textcolor{keyword}{const} sh2\_GyroscopeUncalibrated\& source)}
-\DoxyCodeLine{717         \{}
-\DoxyCodeLine{718             this-\/>x = source.biasX;}
-\DoxyCodeLine{719             this-\/>y = source.biasY;}
-\DoxyCodeLine{720             this-\/>z = source.biasZ;}
-\DoxyCodeLine{721             \textcolor{keywordflow}{return} *\textcolor{keyword}{this};}
-\DoxyCodeLine{722         \}}
-\DoxyCodeLine{723 }
-\DoxyCodeLine{724 \} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a7bf3b6ed58dd988c0f4566ba56bff415}{bno08x\_gyro\_bias\_t}};}
-\DoxyCodeLine{725 }
-\DoxyCodeLine{727 \textcolor{keyword}{typedef} \textcolor{keyword}{struct }\mbox{\hyperlink{structbno08x__activity__classifier__t}{bno08x\_activity\_classifier\_t}}}
-\DoxyCodeLine{728 \{}
-\DoxyCodeLine{729         uint8\_t \mbox{\hyperlink{structbno08x__activity__classifier__t_a6c99dd8968d52c7099c6f6b2acf11796}{confidence}}[10];}
-\DoxyCodeLine{730         \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97d}{BNO08xActivity}} \mbox{\hyperlink{structbno08x__activity__classifier__t_a272be5b28ff89a20d3c3cfdbfe63a5b5}{mostLikelyState}};}
-\DoxyCodeLine{731         \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08xAccuracy}} \mbox{\hyperlink{structbno08x__activity__classifier__t_a51df90897f0f47b640ac975ad8f4833f}{accuracy}};}
-\DoxyCodeLine{732         uint8\_t \mbox{\hyperlink{structbno08x__activity__classifier__t_aa3e3a6b479558722bc9d5416b74492ca}{page}};}
-\DoxyCodeLine{733         \textcolor{keywordtype}{bool} \mbox{\hyperlink{structbno08x__activity__classifier__t_a90b7b42f031ed0e5b4c5d0e167caccb9}{lastPage}};}
-\DoxyCodeLine{734 }
-\DoxyCodeLine{735         \mbox{\hyperlink{structbno08x__activity__classifier__t_a302244e7d2d064b126eb92f363add923}{bno08x\_activity\_classifier\_t}}()}
-\DoxyCodeLine{736             : \mbox{\hyperlink{structbno08x__activity__classifier__t_a6c99dd8968d52c7099c6f6b2acf11796}{confidence}}(\{\})}
-\DoxyCodeLine{737             , \mbox{\hyperlink{structbno08x__activity__classifier__t_a272be5b28ff89a20d3c3cfdbfe63a5b5}{mostLikelyState}}(\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97da0db45d2a4141101bdfe48e3314cfbca3}{BNO08xActivity::UNDEFINED}})}
-\DoxyCodeLine{738             , \mbox{\hyperlink{structbno08x__activity__classifier__t_a51df90897f0f47b640ac975ad8f4833f}{accuracy}}(\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6a0db45d2a4141101bdfe48e3314cfbca3}{BNO08xAccuracy::UNDEFINED}})}
-\DoxyCodeLine{739             , \mbox{\hyperlink{structbno08x__activity__classifier__t_aa3e3a6b479558722bc9d5416b74492ca}{page}}(0U)}
-\DoxyCodeLine{740             , \mbox{\hyperlink{structbno08x__activity__classifier__t_a90b7b42f031ed0e5b4c5d0e167caccb9}{lastPage}}(\textcolor{keyword}{false})}
-\DoxyCodeLine{741         \{}
-\DoxyCodeLine{742         \}}
-\DoxyCodeLine{743 }
-\DoxyCodeLine{744         \textcolor{comment}{// conversion from sh2\_PersonalActivityClassifier\_t}}
-\DoxyCodeLine{745         \mbox{\hyperlink{structbno08x__activity__classifier__t}{bno08x\_activity\_classifier\_t}}\& \mbox{\hyperlink{structbno08x__activity__classifier__t_ac9375f65afb421e1d552e11461546a43}{operator=}}(\textcolor{keyword}{const} sh2\_PersonalActivityClassifier\_t\& source)}
-\DoxyCodeLine{746         \{}
-\DoxyCodeLine{747             this-\/>page = source.\mbox{\hyperlink{structbno08x__activity__classifier__t_aa3e3a6b479558722bc9d5416b74492ca}{page}};}
-\DoxyCodeLine{748             this-\/>lastPage = source.lastPage;}
-\DoxyCodeLine{749             this-\/>mostLikelyState = \textcolor{keyword}{static\_cast<}\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97d}{BNO08xActivity}}\textcolor{keyword}{>}(source.mostLikelyState);}
-\DoxyCodeLine{750 }
-\DoxyCodeLine{751             \textcolor{keywordflow}{for} (\textcolor{keywordtype}{int} i = 0; i < 10; ++i)}
-\DoxyCodeLine{752                 this-\/>confidence[i] = source.confidence[i];}
-\DoxyCodeLine{753 }
-\DoxyCodeLine{754             \textcolor{keywordflow}{return} *\textcolor{keyword}{this};}
-\DoxyCodeLine{755         \}}
-\DoxyCodeLine{756 \} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a7913a36911f75945cfaa0a3249a280e3}{bno08x\_activity\_classifier\_t}};}
-\DoxyCodeLine{757 }
-\DoxyCodeLine{760 \textcolor{keyword}{typedef} \textcolor{keyword}{struct }\mbox{\hyperlink{structbno08x__tap__detector__t}{bno08x\_tap\_detector\_t}}}
-\DoxyCodeLine{761 \{}
-\DoxyCodeLine{762         int8\_t \mbox{\hyperlink{structbno08x__tap__detector__t_a1ce57db3616377a16e11701cc04c3442}{x\_flag}};}
-\DoxyCodeLine{763         int8\_t \mbox{\hyperlink{structbno08x__tap__detector__t_ae6ad63cddd8ddd96383448f659226c6f}{y\_flag}};}
-\DoxyCodeLine{764         int8\_t \mbox{\hyperlink{structbno08x__tap__detector__t_aa46d40f151fce8f60fc8ed4cbe6cf2a1}{z\_flag}};}
-\DoxyCodeLine{765         \textcolor{keywordtype}{bool} \mbox{\hyperlink{structbno08x__tap__detector__t_aef875a8e6ff23b29cb9fb73af48db11a}{double\_tap}};}
-\DoxyCodeLine{766         \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08xAccuracy}} \mbox{\hyperlink{structbno08x__tap__detector__t_ad43c32c1d5a57f37e884e756daf9a7ea}{accuracy}};}
-\DoxyCodeLine{767 }
-\DoxyCodeLine{768         \mbox{\hyperlink{structbno08x__tap__detector__t_ab464e512951fb6cf5a1411d2218d51c5}{bno08x\_tap\_detector\_t}}()}
-\DoxyCodeLine{769             : \mbox{\hyperlink{structbno08x__tap__detector__t_a1ce57db3616377a16e11701cc04c3442}{x\_flag}}(0)}
-\DoxyCodeLine{770             , \mbox{\hyperlink{structbno08x__tap__detector__t_ae6ad63cddd8ddd96383448f659226c6f}{y\_flag}}(0)}
-\DoxyCodeLine{771             , \mbox{\hyperlink{structbno08x__tap__detector__t_aa46d40f151fce8f60fc8ed4cbe6cf2a1}{z\_flag}}(0)}
-\DoxyCodeLine{772             , \mbox{\hyperlink{structbno08x__tap__detector__t_aef875a8e6ff23b29cb9fb73af48db11a}{double\_tap}}(false)}
-\DoxyCodeLine{773             , \mbox{\hyperlink{structbno08x__tap__detector__t_ad43c32c1d5a57f37e884e756daf9a7ea}{accuracy}}(\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08xAccuracy}}::\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2a0db45d2a4141101bdfe48e3314cfbca3}{UNDEFINED}})}
-\DoxyCodeLine{774         \{}
-\DoxyCodeLine{775         \}}
-\DoxyCodeLine{776 }
-\DoxyCodeLine{777         \textcolor{comment}{// overloaded = operator for sh2\_GyroscopeUncalibrated conversion}}
-\DoxyCodeLine{778         \mbox{\hyperlink{structbno08x__tap__detector__t}{bno08x\_tap\_detector\_t}}\& \mbox{\hyperlink{structbno08x__tap__detector__t_a4cd8e7c025890f3abfa04ea2a0522f87}{operator=}}(\textcolor{keyword}{const} sh2\_TapDetector\_t\& source)}
-\DoxyCodeLine{779         \{}
-\DoxyCodeLine{780             \textcolor{keywordflow}{if} (\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_ad0dc59e3a74a39a8e358c945162f6fc8}{TAP\_DETECTED\_X\_AXIS}}(source.flags))}
-\DoxyCodeLine{781                 this-\/>x\_flag = -\/1;}
-\DoxyCodeLine{782             \textcolor{keywordflow}{else}}
-\DoxyCodeLine{783                 this-\/>x\_flag = 0;}
-\DoxyCodeLine{784 }
-\DoxyCodeLine{785             \textcolor{keywordflow}{if} (\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8a8a0fbcff17f5123ad111fcd9a375ea}{TAP\_DETECTED\_X\_AXIS\_POSITIVE}}(source.flags))}
-\DoxyCodeLine{786                 this-\/>x\_flag = 1;}
-\DoxyCodeLine{787 }
-\DoxyCodeLine{788             \textcolor{keywordflow}{if} (\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_ad2ab2bbe6f01a4a641f75c41a9064cf6}{TAP\_DETECTED\_Y\_AXIS}}(source.flags))}
-\DoxyCodeLine{789                 this-\/>y\_flag = -\/1;}
-\DoxyCodeLine{790             \textcolor{keywordflow}{else}}
-\DoxyCodeLine{791                 this-\/>y\_flag = 0;}
-\DoxyCodeLine{792 }
-\DoxyCodeLine{793             \textcolor{keywordflow}{if} (\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a356ec3a53c785965e8dd24381a3bdcd7}{TAP\_DETECTED\_Y\_AXIS\_POSITIVE}}(source.flags))}
-\DoxyCodeLine{794                 this-\/>y\_flag = 1;}
-\DoxyCodeLine{795 }
-\DoxyCodeLine{796             \textcolor{keywordflow}{if} (\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_aaaf91ed835d5d1a5726806bb147c5938}{TAP\_DETECTED\_Z\_AXIS}}(source.flags))}
-\DoxyCodeLine{797                 this-\/>z\_flag = -\/1;}
-\DoxyCodeLine{798             \textcolor{keywordflow}{else}}
-\DoxyCodeLine{799                 this-\/>z\_flag = 0;}
-\DoxyCodeLine{800 }
-\DoxyCodeLine{801             \textcolor{keywordflow}{if} (\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6fd0bd9f4990ced262a8f2d4c41d65d9}{TAP\_DETECTED\_Z\_AXIS\_POSITIVE}}(source.flags))}
-\DoxyCodeLine{802                 this-\/>z\_flag = 1;}
-\DoxyCodeLine{803 }
-\DoxyCodeLine{804             \textcolor{keywordflow}{if} (\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a92a577e216f51fc6156a87e6ecf8ffc5}{TAP\_DETECTED\_DOUBLE}}(source.flags))}
-\DoxyCodeLine{805                 this-\/>double\_tap = \textcolor{keyword}{true};}
-\DoxyCodeLine{806             \textcolor{keywordflow}{else}}
-\DoxyCodeLine{807                 this-\/>double\_tap = \textcolor{keyword}{false};}
-\DoxyCodeLine{808 }
-\DoxyCodeLine{809             \textcolor{keywordflow}{return} *\textcolor{keyword}{this};}
-\DoxyCodeLine{810         \}}
-\DoxyCodeLine{811 }
-\DoxyCodeLine{812 \} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_adcfe69b10c9c2244015bad5b978beedd}{bno08x\_tap\_detector\_t}};}
-\DoxyCodeLine{813 }
-\DoxyCodeLine{815 \textcolor{keyword}{typedef} \textcolor{keyword}{struct }\mbox{\hyperlink{structbno08x__shake__detector__t}{bno08x\_shake\_detector\_t}}}
-\DoxyCodeLine{816 \{}
-\DoxyCodeLine{817         uint8\_t \mbox{\hyperlink{structbno08x__shake__detector__t_a24dc1df9bb8089c330865e26054a349e}{x\_flag}};}
-\DoxyCodeLine{818         uint8\_t \mbox{\hyperlink{structbno08x__shake__detector__t_a814745b5a1dd7aa6bb4bfde4981d1caa}{y\_flag}};}
-\DoxyCodeLine{819         uint8\_t \mbox{\hyperlink{structbno08x__shake__detector__t_a7b833f57fc85173adecf666ec6d5477e}{z\_flag}};}
-\DoxyCodeLine{820         \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08xAccuracy}} \mbox{\hyperlink{structbno08x__shake__detector__t_ac643f6c9ac9144c37765b22912212860}{accuracy}};}
-\DoxyCodeLine{821 }
-\DoxyCodeLine{822         \mbox{\hyperlink{structbno08x__shake__detector__t_a57df670bfdac6a4174c986a65a0340be}{bno08x\_shake\_detector\_t}}()}
-\DoxyCodeLine{823             : \mbox{\hyperlink{structbno08x__shake__detector__t_a24dc1df9bb8089c330865e26054a349e}{x\_flag}}(0U)}
-\DoxyCodeLine{824             , \mbox{\hyperlink{structbno08x__shake__detector__t_a814745b5a1dd7aa6bb4bfde4981d1caa}{y\_flag}}(0U)}
-\DoxyCodeLine{825             , \mbox{\hyperlink{structbno08x__shake__detector__t_a7b833f57fc85173adecf666ec6d5477e}{z\_flag}}(0U)}
-\DoxyCodeLine{826             , \mbox{\hyperlink{structbno08x__shake__detector__t_ac643f6c9ac9144c37765b22912212860}{accuracy}}(\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08xAccuracy}}::\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2a0db45d2a4141101bdfe48e3314cfbca3}{UNDEFINED}})}
-\DoxyCodeLine{827         \{}
-\DoxyCodeLine{828         \}}
-\DoxyCodeLine{829 }
-\DoxyCodeLine{830         \textcolor{comment}{// overloaded = operator for sh2\_GyroscopeUncalibrated conversion}}
-\DoxyCodeLine{831         \mbox{\hyperlink{structbno08x__shake__detector__t}{bno08x\_shake\_detector\_t}}\& \mbox{\hyperlink{structbno08x__shake__detector__t_a7fe349111b513b2cd042ad98112791b7}{operator=}}(\textcolor{keyword}{const} sh2\_ShakeDetector\_t\& source)}
-\DoxyCodeLine{832         \{}
-\DoxyCodeLine{833             \textcolor{keywordflow}{if} (\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_ae12bdf0217349447eebadf16d4560869}{SHAKE\_DETECTED\_X}}(source.shake))}
-\DoxyCodeLine{834                 this-\/>x\_flag = 1U;}
-\DoxyCodeLine{835             \textcolor{keywordflow}{else}}
-\DoxyCodeLine{836                 this-\/>x\_flag = 0U;}
-\DoxyCodeLine{837 }
-\DoxyCodeLine{838             \textcolor{keywordflow}{if} (\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a023aa826dbf083e2a6d2d67beba75b27}{SHAKE\_DETECTED\_Y}}(source.shake))}
-\DoxyCodeLine{839                 this-\/>y\_flag = 1U;}
-\DoxyCodeLine{840             \textcolor{keywordflow}{else}}
-\DoxyCodeLine{841                 this-\/>y\_flag = 0U;}
-\DoxyCodeLine{842 }
-\DoxyCodeLine{843             \textcolor{keywordflow}{if} (\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a9951e367fa8ff09a55526994cfaa94be}{SHAKE\_DETECTED\_Z}}(source.shake))}
-\DoxyCodeLine{844                 this-\/>z\_flag = 1U;}
-\DoxyCodeLine{845             \textcolor{keywordflow}{else}}
-\DoxyCodeLine{846                 this-\/>z\_flag = 0U;}
-\DoxyCodeLine{847 }
-\DoxyCodeLine{848             \textcolor{keywordflow}{return} *\textcolor{keyword}{this};}
-\DoxyCodeLine{849         \}}
-\DoxyCodeLine{850 }
-\DoxyCodeLine{851 \} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a7c22ac348c71afe0d42dcfae6c97ca32}{bno08x\_shake\_detector\_t}};}
-\DoxyCodeLine{852 }
-\DoxyCodeLine{855 \textcolor{keyword}{typedef} \textcolor{keyword}{struct }\mbox{\hyperlink{structbno08x__accel__t}{bno08x\_accel\_t}}}
-\DoxyCodeLine{856 \{}
-\DoxyCodeLine{857         \textcolor{keywordtype}{float} \mbox{\hyperlink{structbno08x__accel__t_af72246bad5088682490f6a13e4624b7c}{x}};}
-\DoxyCodeLine{858         \textcolor{keywordtype}{float} \mbox{\hyperlink{structbno08x__accel__t_a9514b06a88cdd4c4777ff8e27d8d52fb}{y}};}
-\DoxyCodeLine{859         \textcolor{keywordtype}{float} \mbox{\hyperlink{structbno08x__accel__t_a391bf7c4ee0c3f571d94f73f047e9a3f}{z}};}
-\DoxyCodeLine{860         \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08xAccuracy}} \mbox{\hyperlink{structbno08x__accel__t_aac8d91a84f911413e4bcc3fdb04c893b}{accuracy}};}
-\DoxyCodeLine{861 }
-\DoxyCodeLine{862         \mbox{\hyperlink{structbno08x__accel__t_a3d71a06304afc576280c56952b4f7a34}{bno08x\_accel\_t}}()}
-\DoxyCodeLine{863             : \mbox{\hyperlink{structbno08x__accel__t_af72246bad5088682490f6a13e4624b7c}{x}}(0.0f)}
-\DoxyCodeLine{864             , \mbox{\hyperlink{structbno08x__accel__t_a9514b06a88cdd4c4777ff8e27d8d52fb}{y}}(0.0f)}
-\DoxyCodeLine{865             , \mbox{\hyperlink{structbno08x__accel__t_a391bf7c4ee0c3f571d94f73f047e9a3f}{z}}(0.0f)}
-\DoxyCodeLine{866             , \mbox{\hyperlink{structbno08x__accel__t_aac8d91a84f911413e4bcc3fdb04c893b}{accuracy}}(\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08xAccuracy}}::\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2a0db45d2a4141101bdfe48e3314cfbca3}{UNDEFINED}})}
-\DoxyCodeLine{867         \{}
-\DoxyCodeLine{868         \}}
-\DoxyCodeLine{869 }
-\DoxyCodeLine{870         \textcolor{comment}{// conversion from sh2\_Accelerometer\_t}}
-\DoxyCodeLine{871         \mbox{\hyperlink{structbno08x__accel__t}{bno08x\_accel\_t}}\& \mbox{\hyperlink{structbno08x__accel__t_a5b3f1b2cc2a889af23d27185c6efd75e}{operator=}}(\textcolor{keyword}{const} sh2\_Accelerometer\_t\& source)}
-\DoxyCodeLine{872         \{}
-\DoxyCodeLine{873             this-\/>x = source.\mbox{\hyperlink{structbno08x__accel__t_af72246bad5088682490f6a13e4624b7c}{x}};}
-\DoxyCodeLine{874             this-\/>y = source.y;}
-\DoxyCodeLine{875             this-\/>z = source.z;}
-\DoxyCodeLine{876             \textcolor{keywordflow}{return} *\textcolor{keyword}{this};}
-\DoxyCodeLine{877         \}}
-\DoxyCodeLine{878 \} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a0c22a2a9fede695256dfaa4703497a2e}{bno08x\_accel\_t}};}
-\DoxyCodeLine{879 }
-\DoxyCodeLine{881 \textcolor{keyword}{typedef} \textcolor{keyword}{struct }\mbox{\hyperlink{structbno08x__step__counter__t}{bno08x\_step\_counter\_t}}}
-\DoxyCodeLine{882 \{}
-\DoxyCodeLine{883         uint32\_t \mbox{\hyperlink{structbno08x__step__counter__t_a8060ef0721d76ff0175ca487617db202}{latency}};}
-\DoxyCodeLine{884         uint16\_t \mbox{\hyperlink{structbno08x__step__counter__t_a6d6be986b770fe1343a46080f35653d3}{steps}};}
-\DoxyCodeLine{885         \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08xAccuracy}} \mbox{\hyperlink{structbno08x__step__counter__t_a7e0f4b2eb32978a33f9e8c1c70b83f13}{accuracy}};}
-\DoxyCodeLine{886 }
-\DoxyCodeLine{887         \mbox{\hyperlink{structbno08x__step__counter__t_a53eb4151dfa16c65871f9a754cf92940}{bno08x\_step\_counter\_t}}()}
-\DoxyCodeLine{888             : \mbox{\hyperlink{structbno08x__step__counter__t_a8060ef0721d76ff0175ca487617db202}{latency}}(0UL)}
-\DoxyCodeLine{889             , \mbox{\hyperlink{structbno08x__step__counter__t_a6d6be986b770fe1343a46080f35653d3}{steps}}(0U)}
-\DoxyCodeLine{890             , \mbox{\hyperlink{structbno08x__step__counter__t_a7e0f4b2eb32978a33f9e8c1c70b83f13}{accuracy}}(\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08xAccuracy}}::\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2a0db45d2a4141101bdfe48e3314cfbca3}{UNDEFINED}})}
-\DoxyCodeLine{891         \{}
-\DoxyCodeLine{892         \}}
-\DoxyCodeLine{893 }
-\DoxyCodeLine{894         \textcolor{comment}{// conversion from sh2\_StepCounter\_t}}
-\DoxyCodeLine{895         \mbox{\hyperlink{structbno08x__step__counter__t}{bno08x\_step\_counter\_t}}\& \mbox{\hyperlink{structbno08x__step__counter__t_ab184ba986a22ae89d5a4028b72efb2c1}{operator=}}(\textcolor{keyword}{const} sh2\_StepCounter\_t\& source)}
-\DoxyCodeLine{896         \{}
-\DoxyCodeLine{897             this-\/>latency = source.\mbox{\hyperlink{structbno08x__step__counter__t_a8060ef0721d76ff0175ca487617db202}{latency}};}
-\DoxyCodeLine{898             this-\/>steps = source.steps;}
-\DoxyCodeLine{899             \textcolor{keywordflow}{return} *\textcolor{keyword}{this};}
-\DoxyCodeLine{900         \}}
-\DoxyCodeLine{901 \} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_ad52b092f56d1fa0064f2ea3502399cfc}{bno08x\_step\_counter\_t}};}
-\DoxyCodeLine{902 }
-\DoxyCodeLine{904 \textcolor{keyword}{typedef} \textcolor{keyword}{struct }\mbox{\hyperlink{structbno08x__raw__gyro__t}{bno08x\_raw\_gyro\_t}}}
-\DoxyCodeLine{905 \{}
-\DoxyCodeLine{906         uint32\_t \mbox{\hyperlink{structbno08x__raw__gyro__t_a99d61a4d56a06fb219dc023fe3e446b5}{timestamp\_us}};}
-\DoxyCodeLine{907         int16\_t \mbox{\hyperlink{structbno08x__raw__gyro__t_a7b7f2f569143c710ac3b1068d434a47f}{x}};}
-\DoxyCodeLine{908         int16\_t \mbox{\hyperlink{structbno08x__raw__gyro__t_af8755b09df8253594de1412f02655651}{y}};}
-\DoxyCodeLine{909         int16\_t \mbox{\hyperlink{structbno08x__raw__gyro__t_afe5677954b4678eb3a460a386f224a78}{z}};}
-\DoxyCodeLine{910         int16\_t \mbox{\hyperlink{structbno08x__raw__gyro__t_adf725827f6f97e16c953f6f5c7bf890b}{temperature}};}
-\DoxyCodeLine{911         \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08xAccuracy}} \mbox{\hyperlink{structbno08x__raw__gyro__t_aa19b4b279b5c218675bf4c83ca872371}{accuracy}};}
-\DoxyCodeLine{912 }
-\DoxyCodeLine{913         \mbox{\hyperlink{structbno08x__raw__gyro__t_a17c759dd38d5a6b78ae5cb77c5e4d93b}{bno08x\_raw\_gyro\_t}}()}
-\DoxyCodeLine{914             : \mbox{\hyperlink{structbno08x__raw__gyro__t_a99d61a4d56a06fb219dc023fe3e446b5}{timestamp\_us}}(0UL)}
-\DoxyCodeLine{915             , \mbox{\hyperlink{structbno08x__raw__gyro__t_a7b7f2f569143c710ac3b1068d434a47f}{x}}(0U)}
-\DoxyCodeLine{916             , \mbox{\hyperlink{structbno08x__raw__gyro__t_af8755b09df8253594de1412f02655651}{y}}(0U)}
-\DoxyCodeLine{917             , \mbox{\hyperlink{structbno08x__raw__gyro__t_afe5677954b4678eb3a460a386f224a78}{z}}(0U)}
-\DoxyCodeLine{918             , \mbox{\hyperlink{structbno08x__raw__gyro__t_adf725827f6f97e16c953f6f5c7bf890b}{temperature}}(0U)}
-\DoxyCodeLine{919             , \mbox{\hyperlink{structbno08x__raw__gyro__t_aa19b4b279b5c218675bf4c83ca872371}{accuracy}}(\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08xAccuracy}}::\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2a0db45d2a4141101bdfe48e3314cfbca3}{UNDEFINED}})}
-\DoxyCodeLine{920         \{}
-\DoxyCodeLine{921         \}}
-\DoxyCodeLine{922 }
-\DoxyCodeLine{923         \textcolor{comment}{// conversion from sh2\_RawGyroscope\_t}}
-\DoxyCodeLine{924         \mbox{\hyperlink{structbno08x__raw__gyro__t}{bno08x\_raw\_gyro\_t}}\& \mbox{\hyperlink{structbno08x__raw__gyro__t_a34c3ff52aaa1898f44ad6b0cf585825a}{operator=}}(\textcolor{keyword}{const} sh2\_RawGyroscope\_t\& source)}
-\DoxyCodeLine{925         \{}
-\DoxyCodeLine{926             this-\/>x = source.\mbox{\hyperlink{structbno08x__raw__gyro__t_a7b7f2f569143c710ac3b1068d434a47f}{x}};}
-\DoxyCodeLine{927             this-\/>y = source.y;}
-\DoxyCodeLine{928             this-\/>z = source.z;}
-\DoxyCodeLine{929             this-\/>temperature = source.temperature;}
-\DoxyCodeLine{930             this-\/>timestamp\_us = source.timestamp;}
-\DoxyCodeLine{931             \textcolor{keywordflow}{return} *\textcolor{keyword}{this};}
-\DoxyCodeLine{932         \}}
-\DoxyCodeLine{933 \} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a3e205d9599aa01b7946d1ed1cbb7f1c4}{bno08x\_raw\_gyro\_t}};}
-\DoxyCodeLine{934 }
-\DoxyCodeLine{937 \textcolor{keyword}{typedef} \textcolor{keyword}{struct }\mbox{\hyperlink{structbno08x__raw__accel__t}{bno08x\_raw\_accel\_t}}}
-\DoxyCodeLine{938 \{}
-\DoxyCodeLine{939         uint32\_t \mbox{\hyperlink{structbno08x__raw__accel__t_a7ca16a89f219b199eb5797fd101d1283}{timestamp\_us}};}
-\DoxyCodeLine{940         int16\_t \mbox{\hyperlink{structbno08x__raw__accel__t_ab5188923307b95f6324d9241e9140def}{x}};}
-\DoxyCodeLine{941         int16\_t \mbox{\hyperlink{structbno08x__raw__accel__t_a917d6b23cb40c7044891624cebac2993}{y}};}
-\DoxyCodeLine{942         int16\_t \mbox{\hyperlink{structbno08x__raw__accel__t_a62d1731746ea51d36b9946594075e67b}{z}};}
-\DoxyCodeLine{943         \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08xAccuracy}} \mbox{\hyperlink{structbno08x__raw__accel__t_aadb4fc1fa1d87d0baf4db5a534ea18ea}{accuracy}};}
-\DoxyCodeLine{944 }
-\DoxyCodeLine{945         \mbox{\hyperlink{structbno08x__raw__accel__t_afb9443ec5846eefe942e1f273570fb7f}{bno08x\_raw\_accel\_t}}()}
-\DoxyCodeLine{946             : \mbox{\hyperlink{structbno08x__raw__accel__t_a7ca16a89f219b199eb5797fd101d1283}{timestamp\_us}}(0UL)}
-\DoxyCodeLine{947             , \mbox{\hyperlink{structbno08x__raw__accel__t_ab5188923307b95f6324d9241e9140def}{x}}(0U)}
-\DoxyCodeLine{948             , \mbox{\hyperlink{structbno08x__raw__accel__t_a917d6b23cb40c7044891624cebac2993}{y}}(0U)}
-\DoxyCodeLine{949             , \mbox{\hyperlink{structbno08x__raw__accel__t_a62d1731746ea51d36b9946594075e67b}{z}}(0U)}
-\DoxyCodeLine{950             , \mbox{\hyperlink{structbno08x__raw__accel__t_aadb4fc1fa1d87d0baf4db5a534ea18ea}{accuracy}}(\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08xAccuracy}}::\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2a0db45d2a4141101bdfe48e3314cfbca3}{UNDEFINED}})}
-\DoxyCodeLine{951         \{}
-\DoxyCodeLine{952         \}}
-\DoxyCodeLine{953 }
-\DoxyCodeLine{954         \textcolor{comment}{// conversion from sh2\_RawAccelerometer\_t}}
-\DoxyCodeLine{955         \mbox{\hyperlink{structbno08x__raw__accel__t}{bno08x\_raw\_accel\_t}}\& \mbox{\hyperlink{structbno08x__raw__accel__t_a8980031b2548b79c945abe299387d44f}{operator=}}(\textcolor{keyword}{const} sh2\_RawAccelerometer\_t\& source)}
-\DoxyCodeLine{956         \{}
-\DoxyCodeLine{957             this-\/>x = source.\mbox{\hyperlink{structbno08x__raw__accel__t_ab5188923307b95f6324d9241e9140def}{x}};}
-\DoxyCodeLine{958             this-\/>y = source.y;}
-\DoxyCodeLine{959             this-\/>z = source.z;}
-\DoxyCodeLine{960             this-\/>timestamp\_us = source.timestamp;}
-\DoxyCodeLine{961             \textcolor{keywordflow}{return} *\textcolor{keyword}{this};}
-\DoxyCodeLine{962         \}}
-\DoxyCodeLine{963 \} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_ace2ea90ebebddfcdb75e1b8b7b48f905}{bno08x\_raw\_accel\_t}};}
-\DoxyCodeLine{964 }
-\DoxyCodeLine{967 \textcolor{keyword}{typedef} \textcolor{keyword}{struct }\mbox{\hyperlink{structbno08x__raw__magf__t}{bno08x\_raw\_magf\_t}}}
-\DoxyCodeLine{968 \{}
-\DoxyCodeLine{969         uint32\_t \mbox{\hyperlink{structbno08x__raw__magf__t_a74cb298f230665c2d600d3298717c321}{timestamp\_us}};}
-\DoxyCodeLine{970         int16\_t \mbox{\hyperlink{structbno08x__raw__magf__t_a6d04fa2589070ad4ee06b7259fc90900}{x}};}
-\DoxyCodeLine{971         int16\_t \mbox{\hyperlink{structbno08x__raw__magf__t_aba0a88c1032210c6db95ac779e280b9a}{y}};}
-\DoxyCodeLine{972         int16\_t \mbox{\hyperlink{structbno08x__raw__magf__t_a5d50e05cccd1f92f36f6ac83e9f911ae}{z}};}
-\DoxyCodeLine{973         \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08xAccuracy}} \mbox{\hyperlink{structbno08x__raw__magf__t_ae1253faa56aecbafd24f24f42dfb3aeb}{accuracy}};}
-\DoxyCodeLine{974 }
-\DoxyCodeLine{975         \mbox{\hyperlink{structbno08x__raw__magf__t_a9bbd61edac01cb1f2e78417efe8573aa}{bno08x\_raw\_magf\_t}}()}
-\DoxyCodeLine{976             : \mbox{\hyperlink{structbno08x__raw__magf__t_a74cb298f230665c2d600d3298717c321}{timestamp\_us}}(0UL)}
-\DoxyCodeLine{977             , \mbox{\hyperlink{structbno08x__raw__magf__t_a6d04fa2589070ad4ee06b7259fc90900}{x}}(0U)}
-\DoxyCodeLine{978             , \mbox{\hyperlink{structbno08x__raw__magf__t_aba0a88c1032210c6db95ac779e280b9a}{y}}(0U)}
-\DoxyCodeLine{979             , \mbox{\hyperlink{structbno08x__raw__magf__t_a5d50e05cccd1f92f36f6ac83e9f911ae}{z}}(0U)}
-\DoxyCodeLine{980             , \mbox{\hyperlink{structbno08x__raw__magf__t_ae1253faa56aecbafd24f24f42dfb3aeb}{accuracy}}(\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08xAccuracy}}::\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2a0db45d2a4141101bdfe48e3314cfbca3}{UNDEFINED}})}
-\DoxyCodeLine{981         \{}
-\DoxyCodeLine{982         \}}
-\DoxyCodeLine{983 }
-\DoxyCodeLine{984         \textcolor{comment}{// conversion from sh2\_RawMagnetometer\_t}}
-\DoxyCodeLine{985         \mbox{\hyperlink{structbno08x__raw__magf__t}{bno08x\_raw\_magf\_t}}\& \mbox{\hyperlink{structbno08x__raw__magf__t_ad58e25ff5c6d8c4c3843264effa63a7c}{operator=}}(\textcolor{keyword}{const} sh2\_RawMagnetometer\_t\& source)}
-\DoxyCodeLine{986         \{}
-\DoxyCodeLine{987             this-\/>x = source.\mbox{\hyperlink{structbno08x__raw__magf__t_a6d04fa2589070ad4ee06b7259fc90900}{x}};}
-\DoxyCodeLine{988             this-\/>y = source.y;}
-\DoxyCodeLine{989             this-\/>z = source.z;}
-\DoxyCodeLine{990             this-\/>timestamp\_us = source.timestamp;}
-\DoxyCodeLine{991             \textcolor{keywordflow}{return} *\textcolor{keyword}{this};}
-\DoxyCodeLine{992         \}}
-\DoxyCodeLine{993 \} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a673f429cbcd0f48394de3d990d8bda4a}{bno08x\_raw\_magf\_t}};}
-\DoxyCodeLine{994 }
-\DoxyCodeLine{996 \textcolor{keyword}{typedef} \textcolor{keyword}{struct }\mbox{\hyperlink{structbno08x__stability__classifier__t}{bno08x\_stability\_classifier\_t}}}
-\DoxyCodeLine{997 \{}
-\DoxyCodeLine{998         \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cb}{BNO08xStability}} \mbox{\hyperlink{structbno08x__stability__classifier__t_a2ecd636f34a6be612833009d9a1c8725}{stability}};}
-\DoxyCodeLine{999         \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08xAccuracy}} \mbox{\hyperlink{structbno08x__stability__classifier__t_aa1eeb8deb186589ae21cbd1b96747bf7}{accuracy}};}
-\DoxyCodeLine{1000 }
-\DoxyCodeLine{1001         \mbox{\hyperlink{structbno08x__stability__classifier__t_a1af6213e40337e7dfff734d542fc3be2}{bno08x\_stability\_classifier\_t}}()}
-\DoxyCodeLine{1002             : \mbox{\hyperlink{structbno08x__stability__classifier__t_a2ecd636f34a6be612833009d9a1c8725}{stability}}(\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cb}{BNO08xStability}}::\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2a0db45d2a4141101bdfe48e3314cfbca3}{UNDEFINED}})}
-\DoxyCodeLine{1003             , \mbox{\hyperlink{structbno08x__stability__classifier__t_aa1eeb8deb186589ae21cbd1b96747bf7}{accuracy}}(\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08xAccuracy}}::\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2a0db45d2a4141101bdfe48e3314cfbca3}{UNDEFINED}})}
-\DoxyCodeLine{1004         \{}
-\DoxyCodeLine{1005         \}}
-\DoxyCodeLine{1006 }
-\DoxyCodeLine{1007         \textcolor{comment}{// conversion from sh2\_StabilityClassifier\_t}}
-\DoxyCodeLine{1008         \mbox{\hyperlink{structbno08x__stability__classifier__t}{bno08x\_stability\_classifier\_t}}\& \mbox{\hyperlink{structbno08x__stability__classifier__t_aff4d78a7c01ef13ae001bb185f825151}{operator=}}(\textcolor{keyword}{const} sh2\_StabilityClassifier\_t\& source)}
-\DoxyCodeLine{1009         \{}
-\DoxyCodeLine{1010             this-\/>stability = \textcolor{keyword}{static\_cast<}\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cb}{BNO08xStability}}\textcolor{keyword}{>}(source.classification);}
-\DoxyCodeLine{1011             \textcolor{keywordflow}{return} *\textcolor{keyword}{this};}
-\DoxyCodeLine{1012         \}}
-\DoxyCodeLine{1013 }
-\DoxyCodeLine{1014 \} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a9f0440c67ec56fafcd25a24bf36f842f}{bno08x\_stability\_classifier\_t}};}
-\DoxyCodeLine{1015 }
-\DoxyCodeLine{1017 \textcolor{keyword}{typedef} \textcolor{keyword}{struct }\mbox{\hyperlink{structbno08x__sample__counts__t}{bno08x\_sample\_counts\_t}}}
-\DoxyCodeLine{1018 \{}
-\DoxyCodeLine{1019         uint32\_t \mbox{\hyperlink{structbno08x__sample__counts__t_aae4244c540f8411246032f1e69125b75}{offered}};  }
-\DoxyCodeLine{1020         uint32\_t \mbox{\hyperlink{structbno08x__sample__counts__t_a055f3d8ff138c7da4a79d4a6fb2af9b9}{on}};       }
-\DoxyCodeLine{1021         uint32\_t \mbox{\hyperlink{structbno08x__sample__counts__t_a2ab3e0999a5e668833eb8dbab6d1f036}{accepted}}; }
-\DoxyCodeLine{1022         uint32\_t}
-\DoxyCodeLine{1023                 \mbox{\hyperlink{structbno08x__sample__counts__t_a8d03182919cce138cfda97c3ff5700b2}{attempted}}; }
-\DoxyCodeLine{1024 }
-\DoxyCodeLine{1025         \mbox{\hyperlink{structbno08x__sample__counts__t_abd1eccfac205719fd1c5aed25fee1fec}{bno08x\_sample\_counts\_t}}()}
-\DoxyCodeLine{1026             : \mbox{\hyperlink{structbno08x__sample__counts__t_aae4244c540f8411246032f1e69125b75}{offered}}(0UL)}
-\DoxyCodeLine{1027             , \mbox{\hyperlink{structbno08x__sample__counts__t_a055f3d8ff138c7da4a79d4a6fb2af9b9}{on}}(0UL)}
-\DoxyCodeLine{1028             , \mbox{\hyperlink{structbno08x__sample__counts__t_a2ab3e0999a5e668833eb8dbab6d1f036}{accepted}}(0UL)}
-\DoxyCodeLine{1029             , \mbox{\hyperlink{structbno08x__sample__counts__t_a8d03182919cce138cfda97c3ff5700b2}{attempted}}(0UL)}
-\DoxyCodeLine{1030         \{}
-\DoxyCodeLine{1031         \}}
-\DoxyCodeLine{1032 }
-\DoxyCodeLine{1033         \textcolor{comment}{// conversion from sh2\_PersonalActivityClassifier\_t}}
-\DoxyCodeLine{1034         \mbox{\hyperlink{structbno08x__sample__counts__t}{bno08x\_sample\_counts\_t}}\& \mbox{\hyperlink{structbno08x__sample__counts__t_af9e52b9fe15c78bd8b2ef3cc5af66a13}{operator=}}(\textcolor{keyword}{const} sh2\_Counts\_t\& source)}
-\DoxyCodeLine{1035         \{}
-\DoxyCodeLine{1036             this-\/>offered = source.\mbox{\hyperlink{structbno08x__sample__counts__t_aae4244c540f8411246032f1e69125b75}{offered}};}
-\DoxyCodeLine{1037             this-\/>on = source.on;}
-\DoxyCodeLine{1038             this-\/>accepted = source.accepted;}
-\DoxyCodeLine{1039             this-\/>\mbox{\hyperlink{structbno08x__sample__counts__t_a8d03182919cce138cfda97c3ff5700b2}{attempted}} = source.attempted;}
-\DoxyCodeLine{1040 }
-\DoxyCodeLine{1041             \textcolor{keywordflow}{return} *\textcolor{keyword}{this};}
-\DoxyCodeLine{1042         \}}
-\DoxyCodeLine{1043 \} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_afceb7f957002d3e024d4971963ecfa20}{bno08x\_sample\_counts\_t}};}
-\DoxyCodeLine{1044 }
-\DoxyCodeLine{1046 \textcolor{keyword}{typedef} \textcolor{keyword}{struct }\mbox{\hyperlink{structbno08x__meta__data__t}{bno08x\_meta\_data\_t}}}
-\DoxyCodeLine{1047 \{}
-\DoxyCodeLine{1048         \textcolor{keywordtype}{char} \mbox{\hyperlink{structbno08x__meta__data__t_a51e1f028175bf00c880cc2dfd4e05412}{vendor\_ID}}[48];           }
-\DoxyCodeLine{1049         uint8\_t \mbox{\hyperlink{structbno08x__meta__data__t_a4134971e13a6242102facae308588072}{sensor\_specific}}[48];  }
-\DoxyCodeLine{1050         uint32\_t \mbox{\hyperlink{structbno08x__meta__data__t_a0efefbb8c4614bd3e81094f25909cc14}{vendor\_id\_len}};       }
-\DoxyCodeLine{1051         uint32\_t \mbox{\hyperlink{structbno08x__meta__data__t_abaa4829463c424c9959d594027ce7ba2}{sensor\_specific\_len}}; }
-\DoxyCodeLine{1052         uint32\_t \mbox{\hyperlink{structbno08x__meta__data__t_a58edad7613b5b2c6e7afd0233106b09f}{range}};               }
-\DoxyCodeLine{1053         uint32\_t \mbox{\hyperlink{structbno08x__meta__data__t_a7683b54fbe7ae8ec15b8f880d17a5a46}{resolution}};          }
-\DoxyCodeLine{1054         uint32\_t \mbox{\hyperlink{structbno08x__meta__data__t_a5384c14c55c8f156ea18a0cc81a2e6fc}{min\_period\_us}};       }
-\DoxyCodeLine{1055         uint32\_t \mbox{\hyperlink{structbno08x__meta__data__t_a3e4ff48e389db8b0643259f9af8c0006}{max\_period\_us}};       }
-\DoxyCodeLine{1056         uint32\_t \mbox{\hyperlink{structbno08x__meta__data__t_a32f6c907d10794a2b64784c4bbe09723}{fifo\_reserved}};       }
-\DoxyCodeLine{1057         uint32\_t \mbox{\hyperlink{structbno08x__meta__data__t_a94c6f70957ab28cde8d41fdbd2f39496}{fifo\_max}};            }
-\DoxyCodeLine{1058         uint32\_t \mbox{\hyperlink{structbno08x__meta__data__t_ac493692919e552ca32e6c87b4623ccd2}{batch\_buffer\_bytes}};  }
-\DoxyCodeLine{1059         uint16\_t \mbox{\hyperlink{structbno08x__meta__data__t_a31816ac79605b829e7304973d61f7d98}{revision}};            }
-\DoxyCodeLine{1060         uint16\_t \mbox{\hyperlink{structbno08x__meta__data__t_ac4297b1db8065c9ad38b6100abda92c1}{power\_mA}};            }
-\DoxyCodeLine{1061         uint16\_t \mbox{\hyperlink{structbno08x__meta__data__t_a1e0a5907ac8d8dd0325cf8830aa5bd66}{q\_point\_1}};           }
-\DoxyCodeLine{1062         uint16\_t \mbox{\hyperlink{structbno08x__meta__data__t_a09ad38c35e9cd63d4c333f851d5e01e7}{q\_point\_2}};           }
-\DoxyCodeLine{1063         uint16\_t \mbox{\hyperlink{structbno08x__meta__data__t_a29cb20721b8dda2c65c6b2b4dfad6551}{q\_point\_3}};           }
-\DoxyCodeLine{1064         uint8\_t \mbox{\hyperlink{structbno08x__meta__data__t_a659afd22d089c9414ef865350c895d3e}{me\_version}};           }
-\DoxyCodeLine{1065         uint8\_t \mbox{\hyperlink{structbno08x__meta__data__t_a5883b0fdc28d754f3fff570ca29e3b3e}{mh\_version}};           }
-\DoxyCodeLine{1066         uint8\_t \mbox{\hyperlink{structbno08x__meta__data__t_a672da8b56be3269bae22c9e0e5424719}{sh\_version}};           }
-\DoxyCodeLine{1067         }
-\DoxyCodeLine{1068 }
-\DoxyCodeLine{1069         \textcolor{comment}{// Default constructor}}
-\DoxyCodeLine{1070         \mbox{\hyperlink{structbno08x__meta__data__t_a3e22f63db62812b5aeeb873553f378c4}{bno08x\_meta\_data\_t}}()}
-\DoxyCodeLine{1071             : \mbox{\hyperlink{structbno08x__meta__data__t_a51e1f028175bf00c880cc2dfd4e05412}{vendor\_ID}}(\{\})}
-\DoxyCodeLine{1072             , \mbox{\hyperlink{structbno08x__meta__data__t_a4134971e13a6242102facae308588072}{sensor\_specific}}(\{\})}
-\DoxyCodeLine{1073             , \mbox{\hyperlink{structbno08x__meta__data__t_a0efefbb8c4614bd3e81094f25909cc14}{vendor\_id\_len}}(0)}
-\DoxyCodeLine{1074             , \mbox{\hyperlink{structbno08x__meta__data__t_abaa4829463c424c9959d594027ce7ba2}{sensor\_specific\_len}}(0)}
-\DoxyCodeLine{1075             , \mbox{\hyperlink{structbno08x__meta__data__t_a58edad7613b5b2c6e7afd0233106b09f}{range}}(0)}
-\DoxyCodeLine{1076             , \mbox{\hyperlink{structbno08x__meta__data__t_a7683b54fbe7ae8ec15b8f880d17a5a46}{resolution}}(0)}
-\DoxyCodeLine{1077             , \mbox{\hyperlink{structbno08x__meta__data__t_a5384c14c55c8f156ea18a0cc81a2e6fc}{min\_period\_us}}(0)}
-\DoxyCodeLine{1078             , \mbox{\hyperlink{structbno08x__meta__data__t_a3e4ff48e389db8b0643259f9af8c0006}{max\_period\_us}}(0)}
-\DoxyCodeLine{1079             , \mbox{\hyperlink{structbno08x__meta__data__t_a32f6c907d10794a2b64784c4bbe09723}{fifo\_reserved}}(0)}
-\DoxyCodeLine{1080             , \mbox{\hyperlink{structbno08x__meta__data__t_a94c6f70957ab28cde8d41fdbd2f39496}{fifo\_max}}(0)}
-\DoxyCodeLine{1081             , \mbox{\hyperlink{structbno08x__meta__data__t_ac493692919e552ca32e6c87b4623ccd2}{batch\_buffer\_bytes}}(0)}
-\DoxyCodeLine{1082             , \mbox{\hyperlink{structbno08x__meta__data__t_a31816ac79605b829e7304973d61f7d98}{revision}}(0)}
-\DoxyCodeLine{1083             , \mbox{\hyperlink{structbno08x__meta__data__t_ac4297b1db8065c9ad38b6100abda92c1}{power\_mA}}(0)}
-\DoxyCodeLine{1084             , \mbox{\hyperlink{structbno08x__meta__data__t_a1e0a5907ac8d8dd0325cf8830aa5bd66}{q\_point\_1}}(0)}
-\DoxyCodeLine{1085             , \mbox{\hyperlink{structbno08x__meta__data__t_a09ad38c35e9cd63d4c333f851d5e01e7}{q\_point\_2}}(0)}
-\DoxyCodeLine{1086             , \mbox{\hyperlink{structbno08x__meta__data__t_a29cb20721b8dda2c65c6b2b4dfad6551}{q\_point\_3}}(0)}
-\DoxyCodeLine{1087             , \mbox{\hyperlink{structbno08x__meta__data__t_a659afd22d089c9414ef865350c895d3e}{me\_version}}(0)}
-\DoxyCodeLine{1088             , \mbox{\hyperlink{structbno08x__meta__data__t_a5883b0fdc28d754f3fff570ca29e3b3e}{mh\_version}}(0)}
-\DoxyCodeLine{1089             , \mbox{\hyperlink{structbno08x__meta__data__t_a672da8b56be3269bae22c9e0e5424719}{sh\_version}}(0)}
-\DoxyCodeLine{1090         \{}
-\DoxyCodeLine{1091             memset(\mbox{\hyperlink{structbno08x__meta__data__t_a51e1f028175bf00c880cc2dfd4e05412}{vendor\_ID}}, 0, \textcolor{keyword}{sizeof}(\mbox{\hyperlink{structbno08x__meta__data__t_a51e1f028175bf00c880cc2dfd4e05412}{vendor\_ID}}));}
-\DoxyCodeLine{1092             memset(\mbox{\hyperlink{structbno08x__meta__data__t_a4134971e13a6242102facae308588072}{sensor\_specific}}, 0, \textcolor{keyword}{sizeof}(\mbox{\hyperlink{structbno08x__meta__data__t_a4134971e13a6242102facae308588072}{sensor\_specific}}));}
-\DoxyCodeLine{1093         \}}
-\DoxyCodeLine{1094 }
-\DoxyCodeLine{1095         \textcolor{comment}{// Conversion constructor from sh2\_SensorMetadata\_t}}
-\DoxyCodeLine{1096         \mbox{\hyperlink{structbno08x__meta__data__t_a549c5e42da7cf07c6ec28ce69548b1d8}{bno08x\_meta\_data\_t}}(\textcolor{keyword}{const} sh2\_SensorMetadata\_t\& src)}
-\DoxyCodeLine{1097         \{}
-\DoxyCodeLine{1098             \mbox{\hyperlink{structbno08x__meta__data__t_a659afd22d089c9414ef865350c895d3e}{me\_version}} = src.meVersion;}
-\DoxyCodeLine{1099             \mbox{\hyperlink{structbno08x__meta__data__t_a5883b0fdc28d754f3fff570ca29e3b3e}{mh\_version}} = src.mhVersion;}
-\DoxyCodeLine{1100             \mbox{\hyperlink{structbno08x__meta__data__t_a672da8b56be3269bae22c9e0e5424719}{sh\_version}} = src.shVersion;}
-\DoxyCodeLine{1101             \mbox{\hyperlink{structbno08x__meta__data__t_a58edad7613b5b2c6e7afd0233106b09f}{range}} = src.range;}
-\DoxyCodeLine{1102             \mbox{\hyperlink{structbno08x__meta__data__t_a7683b54fbe7ae8ec15b8f880d17a5a46}{resolution}} = src.resolution;}
-\DoxyCodeLine{1103             \mbox{\hyperlink{structbno08x__meta__data__t_a31816ac79605b829e7304973d61f7d98}{revision}} = src.revision;}
-\DoxyCodeLine{1104             \mbox{\hyperlink{structbno08x__meta__data__t_ac4297b1db8065c9ad38b6100abda92c1}{power\_mA}} = src.power\_mA;}
-\DoxyCodeLine{1105             \mbox{\hyperlink{structbno08x__meta__data__t_a5384c14c55c8f156ea18a0cc81a2e6fc}{min\_period\_us}} = src.minPeriod\_uS;}
-\DoxyCodeLine{1106             \mbox{\hyperlink{structbno08x__meta__data__t_a3e4ff48e389db8b0643259f9af8c0006}{max\_period\_us}} = src.maxPeriod\_uS;}
-\DoxyCodeLine{1107             \mbox{\hyperlink{structbno08x__meta__data__t_a32f6c907d10794a2b64784c4bbe09723}{fifo\_reserved}} = src.fifoReserved;}
-\DoxyCodeLine{1108             \mbox{\hyperlink{structbno08x__meta__data__t_a94c6f70957ab28cde8d41fdbd2f39496}{fifo\_max}} = src.fifoMax;}
-\DoxyCodeLine{1109             \mbox{\hyperlink{structbno08x__meta__data__t_ac493692919e552ca32e6c87b4623ccd2}{batch\_buffer\_bytes}} = src.batchBufferBytes;}
-\DoxyCodeLine{1110             \mbox{\hyperlink{structbno08x__meta__data__t_a1e0a5907ac8d8dd0325cf8830aa5bd66}{q\_point\_1}} = src.qPoint1;}
-\DoxyCodeLine{1111             \mbox{\hyperlink{structbno08x__meta__data__t_a09ad38c35e9cd63d4c333f851d5e01e7}{q\_point\_2}} = src.qPoint2;}
-\DoxyCodeLine{1112             \mbox{\hyperlink{structbno08x__meta__data__t_a29cb20721b8dda2c65c6b2b4dfad6551}{q\_point\_3}} = src.qPoint3;}
-\DoxyCodeLine{1113             \mbox{\hyperlink{structbno08x__meta__data__t_a0efefbb8c4614bd3e81094f25909cc14}{vendor\_id\_len}} = src.vendorIdLen;}
-\DoxyCodeLine{1114             \mbox{\hyperlink{structbno08x__meta__data__t_abaa4829463c424c9959d594027ce7ba2}{sensor\_specific\_len}} = src.sensorSpecificLen;}
-\DoxyCodeLine{1115             memcpy(\mbox{\hyperlink{structbno08x__meta__data__t_a51e1f028175bf00c880cc2dfd4e05412}{vendor\_ID}}, src.vendorId, \mbox{\hyperlink{structbno08x__meta__data__t_a0efefbb8c4614bd3e81094f25909cc14}{vendor\_id\_len}});}
-\DoxyCodeLine{1116             memcpy(\mbox{\hyperlink{structbno08x__meta__data__t_a4134971e13a6242102facae308588072}{sensor\_specific}}, src.sensorSpecific, \mbox{\hyperlink{structbno08x__meta__data__t_abaa4829463c424c9959d594027ce7ba2}{sensor\_specific\_len}});}
-\DoxyCodeLine{1117         \}}
-\DoxyCodeLine{1118 \} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a1145e5dfd14e96bd70c6e73af017b548}{bno08x\_meta\_data\_t}};}
-\DoxyCodeLine{1119 }
-\DoxyCodeLine{1120 \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} uint8\_t TOTAL\_RPT\_COUNT = 38; }
-
-\end{DoxyCode}
diff --git a/documentation/latex/_b_n_o08x_private_types_8hpp.tex b/documentation/latex/_b_n_o08x_private_types_8hpp.tex
deleted file mode 100644
index 57eb6cd..0000000
--- a/documentation/latex/_b_n_o08x_private_types_8hpp.tex
+++ /dev/null
@@ -1,93 +0,0 @@
-\hypertarget{_b_n_o08x_private_types_8hpp}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\+BNO08x\+Private\+Types.hpp File Reference}
-\label{_b_n_o08x_private_types_8hpp}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/BNO08xPrivateTypes.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/BNO08xPrivateTypes.hpp}}
-{\ttfamily \#include $<$etl/vector.\+h$>$}\newline
-{\ttfamily \#include $<$etl/variant.\+h$>$}\newline
-{\ttfamily \#include $<$freertos/\+Free\+RTOS.\+h$>$}\newline
-{\ttfamily \#include $<$freertos/semphr.\+h$>$}\newline
-{\ttfamily \#include $<$freertos/event\+\_\+groups.\+h$>$}\newline
-{\ttfamily \#include \char`\"{}BNO08x\+Global\+Types.\+hpp\char`\"{}}\newline
-{\ttfamily \#include \char`\"{}BNO08x\+Cb\+Param\+Rpt\+ID.\+hpp\char`\"{}}\newline
-{\ttfamily \#include \char`\"{}BNO08x\+Cb\+Param\+Void.\+hpp\char`\"{}}\newline
-Include dependency graph for BNO08x\+Private\+Types.\+hpp\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_private_types_8hpp__incl}
-\end{center}
-\end{figure}
-This graph shows which files directly or indirectly include this file\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_private_types_8hpp__dep__incl}
-\end{center}
-\end{figure}
-\doxysubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-struct \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+init\+\_\+status\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em Holds info about which functionality has been successfully initialized (used by deconstructor during cleanup). \end{DoxyCompactList}\item 
-struct \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em Holds context used to synchronize tasks and callback execution. \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Namespaces}
-\begin{DoxyCompactItemize}
-\item 
-namespace \mbox{\hyperlink{namespace_b_n_o08x_private_types}{BNO08x\+Private\+Types}}
-\end{DoxyCompactItemize}
-\doxysubsection*{Typedefs}
-\begin{DoxyCompactItemize}
-\item 
-using \mbox{\hyperlink{namespace_b_n_o08x_private_types_a0f0c287ea0571e6c589c638e4bd07703}{BNO08x\+Private\+Types\+::bno08x\+\_\+cb\+\_\+list\+\_\+t}} = etl\+::vector$<$ etl\+::variant$<$ \mbox{\hyperlink{class_b_n_o08x_cb_param_void}{BNO08x\+Cb\+Param\+Void}}, \mbox{\hyperlink{class_b_n_o08x_cb_param_rpt_i_d}{BNO08x\+Cb\+Param\+Rpt\+ID}} $>$, CONFIG\+\_\+\+ESP32\+\_\+\+BNO08\+X\+\_\+\+CB\+\_\+\+MAX $>$
-\begin{DoxyCompactList}\small\item\em Alias for vector type to contain both cb flavors. \end{DoxyCompactList}\item 
-typedef struct \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+init\+\_\+status\+\_\+t}} \mbox{\hyperlink{namespace_b_n_o08x_private_types_a2698bcb8153e67716b43ce3cccc0f31a}{BNO08x\+Private\+Types\+::bno08x\+\_\+init\+\_\+status\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em Holds info about which functionality has been successfully initialized (used by deconstructor during cleanup). \end{DoxyCompactList}\item 
-typedef struct \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} \mbox{\hyperlink{namespace_b_n_o08x_private_types_a67b3b4702d94bb4ba152a213feae944f}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em Holds context used to synchronize tasks and callback execution. \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Enumerations}
-\begin{DoxyCompactItemize}
-\item 
-enum \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2f}{BNO08x\+Private\+Types\+::bno08x\+\_\+rpt\+\_\+bit\+\_\+t}} \+: Event\+Bits\+\_\+t \{ \newline
-\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fac0ff3fde600aac814ad76a4769515ae8}{BNO08x\+Private\+Types\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+RV\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 0U)
-, \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fad39283f98adf7242b3b3ccf847c150cd}{BNO08x\+Private\+Types\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+RV\+\_\+\+GAME\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 1U)
-, \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fab5d141bdda220e3fa0bd9eb0fe3f31b5}{BNO08x\+Private\+Types\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+RV\+\_\+\+ARVR\+\_\+\+S\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 2U)
-, \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fab77588c26929a2d8dd8eeea883b905ca}{BNO08x\+Private\+Types\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+RV\+\_\+\+ARVR\+\_\+\+S\+\_\+\+GAME\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 3U)
-, \newline
-\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa6835a63fb08379608cda0a108098aac7}{BNO08x\+Private\+Types\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+GYRO\+\_\+\+INTEGRATED\+\_\+\+RV\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 4U)
-, \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa728314f4744fc408c6b153e8fbb3feb4}{BNO08x\+Private\+Types\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+GEOMAG\+\_\+\+RV\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 5U)
-, \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2faa5b9ffe097d1eb83a6a5a13871da0891}{BNO08x\+Private\+Types\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+ACCELEROMETER\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 6U)
-, \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa68851003c2b7df34c3acf882251c60e2}{BNO08x\+Private\+Types\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+LINEAR\+\_\+\+ACCELEROMETER\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 7U)
-, \newline
-\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fabd9e62157a0bc3dc38c3473d7bc2799f}{BNO08x\+Private\+Types\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+GRAVITY\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 8U)
-, \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2faeb1961d7852ea305443610b2521aaea7}{BNO08x\+Private\+Types\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+CAL\+\_\+\+GYRO\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 9U)
-, \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa591c062247280798af0e40d6141614c6}{BNO08x\+Private\+Types\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+UNCAL\+\_\+\+GYRO\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 10U)
-, \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fac1d15dddeab169b213c719e6b0fef32d}{BNO08x\+Private\+Types\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+CAL\+\_\+\+MAGNETOMETER\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 11U)
-, \newline
-\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2faa54d15cc17179a6840b9ec3f4e0038cb}{BNO08x\+Private\+Types\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+UNCAL\+\_\+\+MAGNETOMETER\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 12U)
-, \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fad4482fb4fb6693a492584508691f2c77}{BNO08x\+Private\+Types\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+TAP\+\_\+\+DETECTOR\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 13U)
-, \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fafb8f448edba339f37fdf794bd891f903}{BNO08x\+Private\+Types\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+STEP\+\_\+\+COUNTER\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 14U)
-, \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fae138ae8422830982a470025d81c4be4b}{BNO08x\+Private\+Types\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+STABILITY\+\_\+\+CLASSIFIER\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 15U)
-, \newline
-\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa94cddd1837a77bba5644543b1ad8b9e7}{BNO08x\+Private\+Types\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+ACTIVITY\+\_\+\+CLASSIFIER\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 16U)
-, \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fad517d3ea5b1b259f20ed43e1fcf40e0c}{BNO08x\+Private\+Types\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+SHAKE\+\_\+\+DETECTOR\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 17U)
-, \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fab7e6b36da354702880ff9118d45b6af2}{BNO08x\+Private\+Types\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+RAW\+\_\+\+ACCELEROMETER\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 18U)
-, \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fadcfcdea69099869ebf7f246ff5b7e8bb}{BNO08x\+Private\+Types\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+RAW\+\_\+\+GYRO\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 19U)
-, \newline
-\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fab57a2ea711bebb4d4e031a0b449160c7}{BNO08x\+Private\+Types\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+RAW\+\_\+\+MAGNETOMETER\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 20U)
-, \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fab5d7a8690f3b42637a52122d4269da10}{BNO08x\+Private\+Types\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+CIRCLE\+\_\+\+DETECTOR\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 21U)
-, \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa6bb054cdd31ded01373a4395889c84f1}{BNO08x\+Private\+Types\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+ALL}}
- \}
-\begin{DoxyCompactList}\small\item\em Bits for evt\+\_\+grp\+\_\+rpt\+\_\+en \& evt\+\_\+grp\+\_\+rpt\+\_\+data\+\_\+available. \end{DoxyCompactList}\item 
-enum \mbox{\hyperlink{namespace_b_n_o08x_private_types_a59097f108831dd9860e17438d2976c1c}{BNO08x\+Private\+Types\+::bno08x\+\_\+tsk\+\_\+bit\+\_\+t}} \+: Event\+Bits\+\_\+t \{ \mbox{\hyperlink{namespace_b_n_o08x_private_types_a59097f108831dd9860e17438d2976c1ca272952aff639965d61f76664cb4fed15}{BNO08x\+Private\+Types\+::\+EVT\+\_\+\+GRP\+\_\+\+BNO08x\+\_\+\+TASKS\+\_\+\+RUNNING}}
-, \mbox{\hyperlink{namespace_b_n_o08x_private_types_a59097f108831dd9860e17438d2976c1ca616d8458c1a9f54f9d99ba03a773ba41}{BNO08x\+Private\+Types\+::\+EVT\+\_\+\+GRP\+\_\+\+BNO08x\+\_\+\+TASK\+\_\+\+HINT\+\_\+\+ASSRT\+\_\+\+BIT}}
-, \mbox{\hyperlink{namespace_b_n_o08x_private_types_a59097f108831dd9860e17438d2976c1caaddd073f2b8e89319909d7c61f220452}{BNO08x\+Private\+Types\+::\+EVT\+\_\+\+GRP\+\_\+\+BNO08x\+\_\+\+TASK\+\_\+\+RESET\+\_\+\+OCCURRED}}
-, \mbox{\hyperlink{namespace_b_n_o08x_private_types_a59097f108831dd9860e17438d2976c1ca17f12f538e40746dbe8aafee08391fcc}{BNO08x\+Private\+Types\+::\+EVT\+\_\+\+GRP\+\_\+\+BNO08x\+\_\+\+TASK\+\_\+\+DATA\+\_\+\+AVAILABLE}}
- \}
-\begin{DoxyCompactList}\small\item\em Bits for evt\+\_\+grp\+\_\+bno08x\+\_\+task. \end{DoxyCompactList}\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-\begin{DoxyAuthor}{Author}
-Myles Parfeniuk 
-\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_private_types_8hpp__dep__incl.md5 b/documentation/latex/_b_n_o08x_private_types_8hpp__dep__incl.md5
deleted file mode 100644
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-3ae6066378c778e76b80bb1e43ce7d87
\ No newline at end of file
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-6a5474969aa0cde499e12eb78294ebe7
\ No newline at end of file
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deleted file mode 100644
index 2b84b7d..0000000
--- a/documentation/latex/_b_n_o08x_private_types_8hpp_source.tex
+++ /dev/null
@@ -1,133 +0,0 @@
-\hypertarget{_b_n_o08x_private_types_8hpp_source}{}\doxysection{BNO08x\+Private\+Types.\+hpp}
-\label{_b_n_o08x_private_types_8hpp_source}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/BNO08xPrivateTypes.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/BNO08xPrivateTypes.hpp}}
-\mbox{\hyperlink{_b_n_o08x_private_types_8hpp}{Go to the documentation of this file.}}
-\begin{DoxyCode}{0}
-\DoxyCodeLine{1 }
-\DoxyCodeLine{6 \textcolor{preprocessor}{\#pragma once}}
-\DoxyCodeLine{7 }
-\DoxyCodeLine{8 \textcolor{comment}{// etl includes}}
-\DoxyCodeLine{9 \textcolor{preprocessor}{\#include <etl/vector.h>}}
-\DoxyCodeLine{10 \textcolor{preprocessor}{\#include <etl/variant.h>}}
-\DoxyCodeLine{11 \textcolor{comment}{// esp-\/idf includes}}
-\DoxyCodeLine{12 \textcolor{preprocessor}{\#include <freertos/FreeRTOS.h>}}
-\DoxyCodeLine{13 \textcolor{preprocessor}{\#include <freertos/semphr.h>}}
-\DoxyCodeLine{14 \textcolor{preprocessor}{\#include <freertos/event\_groups.h>}}
-\DoxyCodeLine{15 \textcolor{comment}{// in-\/house includes}}
-\DoxyCodeLine{16 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_global_types_8hpp}{BNO08xGlobalTypes.hpp}}"{}}}
-\DoxyCodeLine{17 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_cb_param_rpt_i_d_8hpp}{BNO08xCbParamRptID.hpp}}"{}}}
-\DoxyCodeLine{18 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_cb_param_void_8hpp}{BNO08xCbParamVoid.hpp}}"{}}}
-\DoxyCodeLine{19 }
-\DoxyCodeLine{20 \textcolor{keyword}{namespace }\mbox{\hyperlink{namespace_b_n_o08x_private_types}{BNO08xPrivateTypes}}}
-\DoxyCodeLine{21 \{}
-\DoxyCodeLine{22     \textcolor{keyword}{using }\mbox{\hyperlink{namespace_b_n_o08x_private_types_a0f0c287ea0571e6c589c638e4bd07703}{bno08x\_cb\_list\_t}} = etl::vector<etl::variant<BNO08xCbParamVoid, BNO08xCbParamRptID>,}
-\DoxyCodeLine{23             CONFIG\_ESP32\_BNO08X\_CB\_MAX>; }
-\DoxyCodeLine{24 }
-\DoxyCodeLine{27     \textcolor{keyword}{typedef} \textcolor{keyword}{struct }\mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t}{bno08x\_init\_status\_t}}}
-\DoxyCodeLine{28     \{}
-\DoxyCodeLine{29             \textcolor{keywordtype}{bool} \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_ac74b5a17ec13d4bef4e4775f20ed68df}{gpio\_outputs}};         }
-\DoxyCodeLine{30             \textcolor{keywordtype}{bool} \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_a9b87a879ec795e2241985f0d33856c14}{gpio\_inputs}};          }
-\DoxyCodeLine{31             \textcolor{keywordtype}{bool} \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_a3cec063b6210ec58d30b3bd1d4ead4f9}{isr\_service}};          }
-\DoxyCodeLine{32             \textcolor{keywordtype}{bool} \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_a7c4523e02a434a7be73f5dc5314429bd}{isr\_handler}};          }
-\DoxyCodeLine{33             \textcolor{keywordtype}{bool} \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_a8780317bf985194a58d4b0457d518adf}{spi\_bus}};              }
-\DoxyCodeLine{34             \textcolor{keywordtype}{bool} \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_ab268642c4b6b9fc1eb7c6ceec0e8e64d}{spi\_device}};           }
-\DoxyCodeLine{35             \textcolor{keywordtype}{bool} \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_af303bcbae7a635043e0c082d7869dd40}{data\_proc\_task}};       }
-\DoxyCodeLine{36             \textcolor{keywordtype}{bool} \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_a150665b9f07eea167dd61aa9701d0e66}{sh2\_HAL\_service\_task}}; }
-\DoxyCodeLine{37             \textcolor{keywordtype}{bool} \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_ae1066ea59e52f7d228b71df1f8c2b416}{cb\_task}};              }
-\DoxyCodeLine{38             \textcolor{keywordtype}{bool} \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_a5094148539354e52e4f7b054ba766bce}{sh2\_HAL}};              }
-\DoxyCodeLine{39 }
-\DoxyCodeLine{40             \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_a63b876667ae7fb32e9861dffafb55a64}{bno08x\_init\_status\_t}}()}
-\DoxyCodeLine{41                 : \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_ac74b5a17ec13d4bef4e4775f20ed68df}{gpio\_outputs}}(false)}
-\DoxyCodeLine{42                 , \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_a9b87a879ec795e2241985f0d33856c14}{gpio\_inputs}}(false)}
-\DoxyCodeLine{43                 , \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_a3cec063b6210ec58d30b3bd1d4ead4f9}{isr\_service}}(false)}
-\DoxyCodeLine{44                 , \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_a7c4523e02a434a7be73f5dc5314429bd}{isr\_handler}}(false)}
-\DoxyCodeLine{45                 , \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_a8780317bf985194a58d4b0457d518adf}{spi\_bus}}(false)}
-\DoxyCodeLine{46                 , \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_ab268642c4b6b9fc1eb7c6ceec0e8e64d}{spi\_device}}(false)}
-\DoxyCodeLine{47                 , \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_af303bcbae7a635043e0c082d7869dd40}{data\_proc\_task}}(false)}
-\DoxyCodeLine{48                 , \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_a150665b9f07eea167dd61aa9701d0e66}{sh2\_HAL\_service\_task}}(false)}
-\DoxyCodeLine{49                 , \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_ae1066ea59e52f7d228b71df1f8c2b416}{cb\_task}}(false)}
-\DoxyCodeLine{50                 , \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_a5094148539354e52e4f7b054ba766bce}{sh2\_HAL}}(false)}
-\DoxyCodeLine{51             \{}
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-\DoxyCodeLine{54 }
-\DoxyCodeLine{56     \textcolor{keyword}{typedef} \textcolor{keyword}{struct }\mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{bno08x\_sync\_ctx\_t}}}
-\DoxyCodeLine{57     \{}
-\DoxyCodeLine{58             SemaphoreHandle\_t \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_a5433c33ca93bfd2be4a7575ddff7a8d9}{sh2\_HAL\_lock}}; }
-\DoxyCodeLine{59             SemaphoreHandle\_t}
-\DoxyCodeLine{60                     \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_a551d1eb66d239c54cffa96b558e40a15}{data\_lock}}; }
-\DoxyCodeLine{61             EventGroupHandle\_t \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_aeaeeb8fa04544f63b66c32f3adbb0041}{evt\_grp\_rpt\_en}}; }
-\DoxyCodeLine{62             EventGroupHandle\_t}
-\DoxyCodeLine{63                     \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_a13f4a91c74fbf09059b5b136ed4f09ac}{evt\_grp\_rpt\_data\_available}}; }
-\DoxyCodeLine{64             EventGroupHandle\_t \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_aacddf6425d126d8e854eff620a2dbec0}{evt\_grp\_task}}; }
-\DoxyCodeLine{65             etl::vector<uint8\_t, TOTAL\_RPT\_COUNT> \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_aa63f0d6aa9a27e2f6cdbef17c42c3289}{en\_report\_ids}}; }
-\DoxyCodeLine{66             \mbox{\hyperlink{namespace_b_n_o08x_private_types_a0f0c287ea0571e6c589c638e4bd07703}{bno08x\_cb\_list\_t}} \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_ad38bf7a37a5c9cae7c9d8725b23ff365}{cb\_list}};                            }
-\DoxyCodeLine{67 }
-\DoxyCodeLine{68             \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_a3f9cea8f40f89200c93f2a4bf09039ac}{bno08x\_sync\_ctx\_t}}()}
-\DoxyCodeLine{69                 : \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_a5433c33ca93bfd2be4a7575ddff7a8d9}{sh2\_HAL\_lock}}(xSemaphoreCreateMutex())}
-\DoxyCodeLine{70                 , \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_a551d1eb66d239c54cffa96b558e40a15}{data\_lock}}(xSemaphoreCreateMutex())}
-\DoxyCodeLine{71                 , \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_aeaeeb8fa04544f63b66c32f3adbb0041}{evt\_grp\_rpt\_en}}(xEventGroupCreate())}
-\DoxyCodeLine{72                 , \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_a13f4a91c74fbf09059b5b136ed4f09ac}{evt\_grp\_rpt\_data\_available}}(xEventGroupCreate())}
-\DoxyCodeLine{73                 , \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_aacddf6425d126d8e854eff620a2dbec0}{evt\_grp\_task}}(xEventGroupCreate())}
-\DoxyCodeLine{74             \{}
-\DoxyCodeLine{75             \}}
-\DoxyCodeLine{76     \} \mbox{\hyperlink{namespace_b_n_o08x_private_types_a67b3b4702d94bb4ba152a213feae944f}{bno08x\_sync\_ctx\_t}};}
-\DoxyCodeLine{77 }
-\DoxyCodeLine{79     \textcolor{keyword}{enum} \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2f}{bno08x\_rpt\_bit\_t}} : EventBits\_t}
-\DoxyCodeLine{80     \{}
-\DoxyCodeLine{81         \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fac0ff3fde600aac814ad76a4769515ae8}{EVT\_GRP\_RPT\_RV\_BIT}} = (1UL << 0U),                 }
-\DoxyCodeLine{82         \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fad39283f98adf7242b3b3ccf847c150cd}{EVT\_GRP\_RPT\_RV\_GAME\_BIT}} = (1UL << 1U),            }
-\DoxyCodeLine{83         \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fab5d141bdda220e3fa0bd9eb0fe3f31b5}{EVT\_GRP\_RPT\_RV\_ARVR\_S\_BIT}} = (1UL << 2U),          }
-\DoxyCodeLine{84         \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fab77588c26929a2d8dd8eeea883b905ca}{EVT\_GRP\_RPT\_RV\_ARVR\_S\_GAME\_BIT}} = (1UL << 3U),     }
-\DoxyCodeLine{85         \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa6835a63fb08379608cda0a108098aac7}{EVT\_GRP\_RPT\_GYRO\_INTEGRATED\_RV\_BIT}} = (1UL << 4U), }
-\DoxyCodeLine{86         \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa728314f4744fc408c6b153e8fbb3feb4}{EVT\_GRP\_RPT\_GEOMAG\_RV\_BIT}} = (1UL << 5U),          }
-\DoxyCodeLine{87         \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2faa5b9ffe097d1eb83a6a5a13871da0891}{EVT\_GRP\_RPT\_ACCELEROMETER\_BIT}} = (1UL << 6U),      }
-\DoxyCodeLine{88         \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa68851003c2b7df34c3acf882251c60e2}{EVT\_GRP\_RPT\_LINEAR\_ACCELEROMETER\_BIT}} = (1UL << 7U),  }
-\DoxyCodeLine{89         \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fabd9e62157a0bc3dc38c3473d7bc2799f}{EVT\_GRP\_RPT\_GRAVITY\_BIT}} = (1UL << 8U),               }
-\DoxyCodeLine{90         \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2faeb1961d7852ea305443610b2521aaea7}{EVT\_GRP\_RPT\_CAL\_GYRO\_BIT}} = (1UL << 9U),              }
-\DoxyCodeLine{91         \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa591c062247280798af0e40d6141614c6}{EVT\_GRP\_RPT\_UNCAL\_GYRO\_BIT}} = (1UL << 10U),           }
-\DoxyCodeLine{92         \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fac1d15dddeab169b213c719e6b0fef32d}{EVT\_GRP\_RPT\_CAL\_MAGNETOMETER\_BIT}} = (1UL << 11U),     }
-\DoxyCodeLine{93         \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2faa54d15cc17179a6840b9ec3f4e0038cb}{EVT\_GRP\_RPT\_UNCAL\_MAGNETOMETER\_BIT}} = (1UL << 12U),   }
-\DoxyCodeLine{94         \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fad4482fb4fb6693a492584508691f2c77}{EVT\_GRP\_RPT\_TAP\_DETECTOR\_BIT}} = (1UL << 13U),         }
-\DoxyCodeLine{95         \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fafb8f448edba339f37fdf794bd891f903}{EVT\_GRP\_RPT\_STEP\_COUNTER\_BIT}} = (1UL << 14U),         }
-\DoxyCodeLine{96         \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fae138ae8422830982a470025d81c4be4b}{EVT\_GRP\_RPT\_STABILITY\_CLASSIFIER\_BIT}} = (1UL << 15U), }
-\DoxyCodeLine{97         \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa94cddd1837a77bba5644543b1ad8b9e7}{EVT\_GRP\_RPT\_ACTIVITY\_CLASSIFIER\_BIT}} = (1UL << 16U),  }
-\DoxyCodeLine{98         \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fad517d3ea5b1b259f20ed43e1fcf40e0c}{EVT\_GRP\_RPT\_SHAKE\_DETECTOR\_BIT}} = (1UL << 17U),       }
-\DoxyCodeLine{99         \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fab7e6b36da354702880ff9118d45b6af2}{EVT\_GRP\_RPT\_RAW\_ACCELEROMETER\_BIT}} = (1UL << 18U),    }
-\DoxyCodeLine{100         \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fadcfcdea69099869ebf7f246ff5b7e8bb}{EVT\_GRP\_RPT\_RAW\_GYRO\_BIT}} = (1UL << 19U),             }
-\DoxyCodeLine{101         \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fab57a2ea711bebb4d4e031a0b449160c7}{EVT\_GRP\_RPT\_RAW\_MAGNETOMETER\_BIT}} = (1UL << 20U),     }
-\DoxyCodeLine{102         \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fab5d7a8690f3b42637a52122d4269da10}{EVT\_GRP\_RPT\_CIRCLE\_DETECTOR\_BIT}} = (1UL << 21U),      }
-\DoxyCodeLine{103 }
-\DoxyCodeLine{104         \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa6bb054cdd31ded01373a4395889c84f1}{EVT\_GRP\_RPT\_ALL}} = \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fac0ff3fde600aac814ad76a4769515ae8}{EVT\_GRP\_RPT\_RV\_BIT}} | \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fad39283f98adf7242b3b3ccf847c150cd}{EVT\_GRP\_RPT\_RV\_GAME\_BIT}} | \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fab5d141bdda220e3fa0bd9eb0fe3f31b5}{EVT\_GRP\_RPT\_RV\_ARVR\_S\_BIT}} |}
-\DoxyCodeLine{105                           \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fab77588c26929a2d8dd8eeea883b905ca}{EVT\_GRP\_RPT\_RV\_ARVR\_S\_GAME\_BIT}} | \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa68851003c2b7df34c3acf882251c60e2}{EVT\_GRP\_RPT\_LINEAR\_ACCELEROMETER\_BIT}} | \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fabd9e62157a0bc3dc38c3473d7bc2799f}{EVT\_GRP\_RPT\_GRAVITY\_BIT}} |}
-\DoxyCodeLine{106                           \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2faeb1961d7852ea305443610b2521aaea7}{EVT\_GRP\_RPT\_CAL\_GYRO\_BIT}} | \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa591c062247280798af0e40d6141614c6}{EVT\_GRP\_RPT\_UNCAL\_GYRO\_BIT}} | \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fac1d15dddeab169b213c719e6b0fef32d}{EVT\_GRP\_RPT\_CAL\_MAGNETOMETER\_BIT}} |}
-\DoxyCodeLine{107                           \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fad4482fb4fb6693a492584508691f2c77}{EVT\_GRP\_RPT\_TAP\_DETECTOR\_BIT}} | \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fafb8f448edba339f37fdf794bd891f903}{EVT\_GRP\_RPT\_STEP\_COUNTER\_BIT}} | \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fae138ae8422830982a470025d81c4be4b}{EVT\_GRP\_RPT\_STABILITY\_CLASSIFIER\_BIT}} |}
-\DoxyCodeLine{108                           \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa94cddd1837a77bba5644543b1ad8b9e7}{EVT\_GRP\_RPT\_ACTIVITY\_CLASSIFIER\_BIT}} | \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fab7e6b36da354702880ff9118d45b6af2}{EVT\_GRP\_RPT\_RAW\_ACCELEROMETER\_BIT}} | \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fadcfcdea69099869ebf7f246ff5b7e8bb}{EVT\_GRP\_RPT\_RAW\_GYRO\_BIT}} |}
-\DoxyCodeLine{109                           \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fab57a2ea711bebb4d4e031a0b449160c7}{EVT\_GRP\_RPT\_RAW\_MAGNETOMETER\_BIT}} | \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2faa54d15cc17179a6840b9ec3f4e0038cb}{EVT\_GRP\_RPT\_UNCAL\_MAGNETOMETER\_BIT}} | \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fad517d3ea5b1b259f20ed43e1fcf40e0c}{EVT\_GRP\_RPT\_SHAKE\_DETECTOR\_BIT}} |}
-\DoxyCodeLine{110                           \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2faa5b9ffe097d1eb83a6a5a13871da0891}{EVT\_GRP\_RPT\_ACCELEROMETER\_BIT}} | \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa728314f4744fc408c6b153e8fbb3feb4}{EVT\_GRP\_RPT\_GEOMAG\_RV\_BIT}} | \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa6835a63fb08379608cda0a108098aac7}{EVT\_GRP\_RPT\_GYRO\_INTEGRATED\_RV\_BIT}} |}
-\DoxyCodeLine{111                           \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fab5d7a8690f3b42637a52122d4269da10}{EVT\_GRP\_RPT\_CIRCLE\_DETECTOR\_BIT}}}
-\DoxyCodeLine{112     \};}
-\DoxyCodeLine{113 }
-\DoxyCodeLine{115     \textcolor{keyword}{enum} \mbox{\hyperlink{namespace_b_n_o08x_private_types_a59097f108831dd9860e17438d2976c1c}{bno08x\_tsk\_bit\_t}} : EventBits\_t}
-\DoxyCodeLine{116     \{}
-\DoxyCodeLine{117         \mbox{\hyperlink{namespace_b_n_o08x_private_types_a59097f108831dd9860e17438d2976c1ca272952aff639965d61f76664cb4fed15}{EVT\_GRP\_BNO08x\_TASKS\_RUNNING}} =}
-\DoxyCodeLine{118                 (1UL << 0U), }
-\DoxyCodeLine{119         \mbox{\hyperlink{namespace_b_n_o08x_private_types_a59097f108831dd9860e17438d2976c1ca616d8458c1a9f54f9d99ba03a773ba41}{EVT\_GRP\_BNO08x\_TASK\_HINT\_ASSRT\_BIT}} =}
-\DoxyCodeLine{120                 (1UL << 1U), }
-\DoxyCodeLine{121         \mbox{\hyperlink{namespace_b_n_o08x_private_types_a59097f108831dd9860e17438d2976c1caaddd073f2b8e89319909d7c61f220452}{EVT\_GRP\_BNO08x\_TASK\_RESET\_OCCURRED}} =}
-\DoxyCodeLine{122                 (1UL << 2U), }
-\DoxyCodeLine{123         \mbox{\hyperlink{namespace_b_n_o08x_private_types_a59097f108831dd9860e17438d2976c1ca17f12f538e40746dbe8aafee08391fcc}{EVT\_GRP\_BNO08x\_TASK\_DATA\_AVAILABLE}} =}
-\DoxyCodeLine{124                 (1UL << 3U) }
-\DoxyCodeLine{125     \};}
-\DoxyCodeLine{126 }
-\DoxyCodeLine{127     \textcolor{keyword}{inline} \textcolor{keyword}{static} sh2\_SensorConfig default\_sensor\_cfg = \{ }
-\DoxyCodeLine{128             .changeSensitivityEnabled = \textcolor{keyword}{false},}
-\DoxyCodeLine{129             .changeSensitivityRelative = \textcolor{keyword}{false},}
-\DoxyCodeLine{130             .wakeupEnabled = \textcolor{keyword}{false},}
-\DoxyCodeLine{131             .alwaysOnEnabled = \textcolor{keyword}{false},}
-\DoxyCodeLine{132             .changeSensitivity = 0,}
-\DoxyCodeLine{133             .reportInterval\_us = 0,}
-\DoxyCodeLine{134             .batchInterval\_us = 0,}
-\DoxyCodeLine{135             .sensorSpecific = 0\};}
-\DoxyCodeLine{136 \}; \textcolor{comment}{// namespace BNO08xPrivateTypes}}
-
-\end{DoxyCode}
diff --git a/documentation/latex/_b_n_o08x_reports_8hpp.tex b/documentation/latex/_b_n_o08x_reports_8hpp.tex
deleted file mode 100644
index d99f8a3..0000000
--- a/documentation/latex/_b_n_o08x_reports_8hpp.tex
+++ /dev/null
@@ -1,39 +0,0 @@
-\hypertarget{_b_n_o08x_reports_8hpp}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\+BNO08x\+Reports.hpp File Reference}
-\label{_b_n_o08x_reports_8hpp}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xReports.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xReports.hpp}}
-{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+Acceleration.\+hpp\char`\"{}}\newline
-{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+Linear\+Acceleration.\+hpp\char`\"{}}\newline
-{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+Gravity.\+hpp\char`\"{}}\newline
-{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+Cal\+Magnetometer.\+hpp\char`\"{}}\newline
-{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+Uncal\+Magnetometer.\+hpp\char`\"{}}\newline
-{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+Cal\+Gyro.\+hpp\char`\"{}}\newline
-{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+Uncal\+Gyro.\+hpp\char`\"{}}\newline
-{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+RV.\+hpp\char`\"{}}\newline
-{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+Game\+RV.\+hpp\char`\"{}}\newline
-{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+ARVRStabilized\+RV.\+hpp\char`\"{}}\newline
-{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+ARVRStabilized\+Game\+RV.\+hpp\char`\"{}}\newline
-{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+IGyro\+RV.\+hpp\char`\"{}}\newline
-{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+RVGeomag.\+hpp\char`\"{}}\newline
-{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+Raw\+MEMSGyro.\+hpp\char`\"{}}\newline
-{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+Raw\+MEMSAccelerometer.\+hpp\char`\"{}}\newline
-{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+Raw\+MEMSMagnetometer.\+hpp\char`\"{}}\newline
-{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+Step\+Counter.\+hpp\char`\"{}}\newline
-{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+Activity\+Classifier.\+hpp\char`\"{}}\newline
-{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+Stability\+Classifier.\+hpp\char`\"{}}\newline
-{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+Shake\+Detector.\+hpp\char`\"{}}\newline
-{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+Tap\+Detector.\+hpp\char`\"{}}\newline
-Include dependency graph for BNO08x\+Reports.\+hpp\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_reports_8hpp__incl}
-\end{center}
-\end{figure}
-This graph shows which files directly or indirectly include this file\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_reports_8hpp__dep__incl}
-\end{center}
-\end{figure}
diff --git a/documentation/latex/_b_n_o08x_reports_8hpp__dep__incl.md5 b/documentation/latex/_b_n_o08x_reports_8hpp__dep__incl.md5
deleted file mode 100644
index 7df7c24..0000000
--- a/documentation/latex/_b_n_o08x_reports_8hpp__dep__incl.md5
+++ /dev/null
@@ -1 +0,0 @@
-30986bf456b0a574d10617b3cb28b659
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_reports_8hpp__dep__incl.pdf b/documentation/latex/_b_n_o08x_reports_8hpp__dep__incl.pdf
deleted file mode 100644
index 0ebd45c..0000000
Binary files a/documentation/latex/_b_n_o08x_reports_8hpp__dep__incl.pdf and /dev/null differ
diff --git a/documentation/latex/_b_n_o08x_reports_8hpp__incl.md5 b/documentation/latex/_b_n_o08x_reports_8hpp__incl.md5
deleted file mode 100644
index 93ad48b..0000000
--- a/documentation/latex/_b_n_o08x_reports_8hpp__incl.md5
+++ /dev/null
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diff --git a/documentation/latex/_b_n_o08x_reports_8hpp__incl.pdf b/documentation/latex/_b_n_o08x_reports_8hpp__incl.pdf
deleted file mode 100644
index 1baa40c..0000000
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deleted file mode 100644
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--- a/documentation/latex/_b_n_o08x_reports_8hpp_source.tex
+++ /dev/null
@@ -1,29 +0,0 @@
-\hypertarget{_b_n_o08x_reports_8hpp_source}{}\doxysection{BNO08x\+Reports.\+hpp}
-\label{_b_n_o08x_reports_8hpp_source}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xReports.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xReports.hpp}}
-\mbox{\hyperlink{_b_n_o08x_reports_8hpp}{Go to the documentation of this file.}}
-\begin{DoxyCode}{0}
-\DoxyCodeLine{1 \textcolor{preprocessor}{\#pragma once}}
-\DoxyCodeLine{2 }
-\DoxyCodeLine{3 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_acceleration_8hpp}{BNO08xRptAcceleration.hpp}}"{}}}
-\DoxyCodeLine{4 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_linear_acceleration_8hpp}{BNO08xRptLinearAcceleration.hpp}}"{}}}
-\DoxyCodeLine{5 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_gravity_8hpp}{BNO08xRptGravity.hpp}}"{}}}
-\DoxyCodeLine{6 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_cal_magnetometer_8hpp}{BNO08xRptCalMagnetometer.hpp}}"{}}}
-\DoxyCodeLine{7 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_uncal_magnetometer_8hpp}{BNO08xRptUncalMagnetometer.hpp}}"{}}}
-\DoxyCodeLine{8 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_cal_gyro_8hpp}{BNO08xRptCalGyro.hpp}}"{}}}
-\DoxyCodeLine{9 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_uncal_gyro_8hpp}{BNO08xRptUncalGyro.hpp}}"{}}}
-\DoxyCodeLine{10 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_r_v_8hpp}{BNO08xRptRV.hpp}}"{}}}
-\DoxyCodeLine{11 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_game_r_v_8hpp}{BNO08xRptGameRV.hpp}}"{}}}
-\DoxyCodeLine{12 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8hpp}{BNO08xRptARVRStabilizedRV.hpp}}"{}}}
-\DoxyCodeLine{13 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8hpp}{BNO08xRptARVRStabilizedGameRV.hpp}}"{}}}
-\DoxyCodeLine{14 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_i_gyro_r_v_8hpp}{BNO08xRptIGyroRV.hpp}}"{}}}
-\DoxyCodeLine{15 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_r_v_geomag_8hpp}{BNO08xRptRVGeomag.hpp}}"{}}}
-\DoxyCodeLine{16 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_raw_m_e_m_s_gyro_8hpp}{BNO08xRptRawMEMSGyro.hpp}}"{}}}
-\DoxyCodeLine{17 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8hpp}{BNO08xRptRawMEMSAccelerometer.hpp}}"{}}}
-\DoxyCodeLine{18 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8hpp}{BNO08xRptRawMEMSMagnetometer.hpp}}"{}}}
-\DoxyCodeLine{19 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_step_counter_8hpp}{BNO08xRptStepCounter.hpp}}"{}}}
-\DoxyCodeLine{20 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_activity_classifier_8hpp}{BNO08xRptActivityClassifier.hpp}}"{}}}
-\DoxyCodeLine{21 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_stability_classifier_8hpp}{BNO08xRptStabilityClassifier.hpp}}"{}}}
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-\DoxyCodeLine{23 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_tap_detector_8hpp}{BNO08xRptTapDetector.hpp}}"{}}}
-
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diff --git a/documentation/latex/_b_n_o08x_rpt_8cpp.tex b/documentation/latex/_b_n_o08x_rpt_8cpp.tex
deleted file mode 100644
index f17afd2..0000000
--- a/documentation/latex/_b_n_o08x_rpt_8cpp.tex
+++ /dev/null
@@ -1,17 +0,0 @@
-\hypertarget{_b_n_o08x_rpt_8cpp}{}\doxysection{BNO08x\+Rpt.\+cpp File Reference}
-\label{_b_n_o08x_rpt_8cpp}\index{BNO08xRpt.cpp@{BNO08xRpt.cpp}}
-{\ttfamily \#include \char`\"{}BNO08x\+Rpt.\+hpp\char`\"{}}\newline
-Include dependency graph for BNO08x\+Rpt.\+cpp\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_rpt_8cpp__incl}
-\end{center}
-\end{figure}
-
-
-\doxysubsection{Detailed Description}
-\begin{DoxyAuthor}{Author}
-Myles Parfeniuk 
-\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_8cpp__incl.md5 b/documentation/latex/_b_n_o08x_rpt_8cpp__incl.md5
deleted file mode 100644
index 455c746..0000000
--- a/documentation/latex/_b_n_o08x_rpt_8cpp__incl.md5
+++ /dev/null
@@ -1 +0,0 @@
-d03d5d807ebaa3b7c7c422f9790a95c4
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_8cpp__incl.pdf b/documentation/latex/_b_n_o08x_rpt_8cpp__incl.pdf
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deleted file mode 100644
index 1421526..0000000
--- a/documentation/latex/_b_n_o08x_rpt_8hpp.tex
+++ /dev/null
@@ -1,36 +0,0 @@
-\hypertarget{_b_n_o08x_rpt_8hpp}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\+BNO08x\+Rpt.hpp File Reference}
-\label{_b_n_o08x_rpt_8hpp}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRpt.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRpt.hpp}}
-{\ttfamily \#include $<$functional$>$}\newline
-{\ttfamily \#include \char`\"{}esp\+\_\+log.\+h\char`\"{}}\newline
-{\ttfamily \#include \char`\"{}BNO08x\+Global\+Types.\+hpp\char`\"{}}\newline
-{\ttfamily \#include \char`\"{}BNO08x\+Private\+Types.\+hpp\char`\"{}}\newline
-{\ttfamily \#include \char`\"{}sh2.\+h\char`\"{}}\newline
-{\ttfamily \#include \char`\"{}sh2\+\_\+\+Sensor\+Value.\+h\char`\"{}}\newline
-{\ttfamily \#include \char`\"{}sh2\+\_\+err.\+h\char`\"{}}\newline
-Include dependency graph for BNO08x\+Rpt.\+hpp\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_rpt_8hpp__incl}
-\end{center}
-\end{figure}
-This graph shows which files directly or indirectly include this file\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_rpt_8hpp__dep__incl}
-\end{center}
-\end{figure}
-\doxysubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-class \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08x\+Rpt}}
-\begin{DoxyCompactList}\small\item\em Class to represent and manage reports returned from \mbox{\hyperlink{class_b_n_o08x}{BNO08x}}. \end{DoxyCompactList}\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-\begin{DoxyAuthor}{Author}
-Myles Parfeniuk 
-\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_8hpp__dep__incl.md5 b/documentation/latex/_b_n_o08x_rpt_8hpp__dep__incl.md5
deleted file mode 100644
index 6b6f4e3..0000000
--- a/documentation/latex/_b_n_o08x_rpt_8hpp__dep__incl.md5
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@@ -1 +0,0 @@
-1c9db5f1e9f6b939bb730dfe26d2aa02
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_8hpp__dep__incl.pdf b/documentation/latex/_b_n_o08x_rpt_8hpp__dep__incl.pdf
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--- a/documentation/latex/_b_n_o08x_rpt_8hpp__incl.md5
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-2f0870278413440c6e8356dc8b9cc960
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_8hpp__incl.pdf b/documentation/latex/_b_n_o08x_rpt_8hpp__incl.pdf
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deleted file mode 100644
index a3668e3..0000000
--- a/documentation/latex/_b_n_o08x_rpt_8hpp_source.tex
+++ /dev/null
@@ -1,65 +0,0 @@
-\hypertarget{_b_n_o08x_rpt_8hpp_source}{}\doxysection{BNO08x\+Rpt.\+hpp}
-\label{_b_n_o08x_rpt_8hpp_source}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRpt.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRpt.hpp}}
-\mbox{\hyperlink{_b_n_o08x_rpt_8hpp}{Go to the documentation of this file.}}
-\begin{DoxyCode}{0}
-\DoxyCodeLine{1 }
-\DoxyCodeLine{6 \textcolor{preprocessor}{\#pragma once}}
-\DoxyCodeLine{7 }
-\DoxyCodeLine{8 \textcolor{comment}{// standard library includes}}
-\DoxyCodeLine{9 \textcolor{preprocessor}{\#include <functional>}}
-\DoxyCodeLine{10 \textcolor{comment}{// esp-\/idf includes}}
-\DoxyCodeLine{11 \textcolor{preprocessor}{\#include "{}esp\_log.h"{}}}
-\DoxyCodeLine{12 \textcolor{comment}{// in-\/house includes}}
-\DoxyCodeLine{13 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_global_types_8hpp}{BNO08xGlobalTypes.hpp}}"{}}}
-\DoxyCodeLine{14 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_private_types_8hpp}{BNO08xPrivateTypes.hpp}}"{}}}
-\DoxyCodeLine{15 \textcolor{comment}{// hill-\/crest labs includes (apache 2.0 license, compatible with MIT)}}
-\DoxyCodeLine{16 \textcolor{preprocessor}{\#include "{}sh2.h"{}}}
-\DoxyCodeLine{17 \textcolor{preprocessor}{\#include "{}sh2\_SensorValue.h"{}}}
-\DoxyCodeLine{18 \textcolor{preprocessor}{\#include "{}sh2\_err.h"{}}}
-\DoxyCodeLine{19 }
-\DoxyCodeLine{25 \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08xRpt}}}
-\DoxyCodeLine{26 \{}
-\DoxyCodeLine{27     \textcolor{keyword}{public}:}
-\DoxyCodeLine{28         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_rpt_a7d147e7540a4c6aa19749844e14cdadc}{disable}}(sh2\_SensorConfig\_t sensor\_cfg = BNO08xPrivateTypes::default\_sensor\_cfg);}
-\DoxyCodeLine{29         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_rpt_a5b542b28c81fcd05cf2e3f3d2d437d46}{register\_cb}}(std::function<\textcolor{keywordtype}{void}(\textcolor{keywordtype}{void})> cb\_fxn);}
-\DoxyCodeLine{30         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_rpt_a74f6037286b51382535bab61680297ed}{has\_new\_data}}();}
-\DoxyCodeLine{31         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_rpt_ab3bb962696b135841ef7313bc631fc72}{flush}}();}
-\DoxyCodeLine{32         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_rpt_a7ce8e48cadf59f49068af7f1cb680b38}{get\_sample\_counts}}(\mbox{\hyperlink{structbno08x__sample__counts__t}{bno08x\_sample\_counts\_t}}\& sample\_counts);}
-\DoxyCodeLine{33         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_rpt_a1418be33824d3102dbc8f92558a402a6}{clear\_sample\_counts}}();}
-\DoxyCodeLine{34         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_rpt_ad5b054279b01204f61b4c0408acf51cf}{get\_meta\_data}}(\mbox{\hyperlink{structbno08x__meta__data__t}{bno08x\_meta\_data\_t}}\& meta\_data);}
-\DoxyCodeLine{35         \textcolor{keyword}{virtual} \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_rpt_a4ee529725467412df396d5c610ff7bb4}{enable}}(}
-\DoxyCodeLine{36                 uint32\_t time\_between\_reports, sh2\_SensorConfig\_t sensor\_cfg = BNO08xPrivateTypes::default\_sensor\_cfg) = 0;}
-\DoxyCodeLine{37 }
-\DoxyCodeLine{38     \textcolor{keyword}{protected}:}
-\DoxyCodeLine{39         uint8\_t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}};          }
-\DoxyCodeLine{40         EventBits\_t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}; }
-\DoxyCodeLine{41         uint32\_t \mbox{\hyperlink{class_b_n_o08x_rpt_a1d4d6f4cc6f1eae503863eedf7fb9f52}{period\_us}};  }
-\DoxyCodeLine{42         \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}}* \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}};}
-\DoxyCodeLine{43 }
-\DoxyCodeLine{44         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_rpt_aa0bed98a9a497d1f39e8245d05b02e9c}{rpt\_enable}}(uint32\_t time\_between\_reports, sh2\_SensorConfig\_t sensor\_cfg = BNO08xPrivateTypes::default\_sensor\_cfg);}
-\DoxyCodeLine{45         \textcolor{keyword}{virtual} \textcolor{keywordtype}{void} \mbox{\hyperlink{class_b_n_o08x_rpt_a970fb7e7d3745c62fec626f0ccf0759f}{update\_data}}(sh2\_SensorValue\_t* sensor\_val) = 0;}
-\DoxyCodeLine{46 }
-\DoxyCodeLine{59         \mbox{\hyperlink{class_b_n_o08x_rpt_a15e8eebe3fe90ac19837e3860c76374c}{BNO08xRpt}}(uint8\_t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, EventBits\_t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}}* \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
-\DoxyCodeLine{60             : \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}(\mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}})}
-\DoxyCodeLine{61             , \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}(\mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}})}
-\DoxyCodeLine{62             , \mbox{\hyperlink{class_b_n_o08x_rpt_a1d4d6f4cc6f1eae503863eedf7fb9f52}{period\_us}}(0UL)}
-\DoxyCodeLine{63             , \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}}(\mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
-\DoxyCodeLine{64 }
-\DoxyCodeLine{65         \{}
-\DoxyCodeLine{66         \}}
-\DoxyCodeLine{67 }
-\DoxyCodeLine{68         \textcolor{keywordtype}{void} \mbox{\hyperlink{class_b_n_o08x_rpt_a61e3451e93806e1b7eaf5f1387726765}{unlock\_sh2\_HAL}}();}
-\DoxyCodeLine{69         \textcolor{keywordtype}{void} \mbox{\hyperlink{class_b_n_o08x_rpt_a7a5619a74c1237c5abde2e4bd6619d12}{lock\_sh2\_HAL}}();}
-\DoxyCodeLine{70         \textcolor{keywordtype}{void} \mbox{\hyperlink{class_b_n_o08x_rpt_a26bacc572187119339ec248bb4e7d6f3}{unlock\_user\_data}}();}
-\DoxyCodeLine{71         \textcolor{keywordtype}{void} \mbox{\hyperlink{class_b_n_o08x_rpt_a48e7b1a2c2ebc6b1f2f292735c0832a0}{lock\_user\_data}}();}
-\DoxyCodeLine{72         \textcolor{keywordtype}{void} \mbox{\hyperlink{class_b_n_o08x_rpt_a47a623eb0a1db51af76a03a103c32329}{signal\_data\_available}}();}
-\DoxyCodeLine{73 }
-\DoxyCodeLine{74         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} \textcolor{keywordtype}{float} \mbox{\hyperlink{class_b_n_o08x_rpt_a201aeb71fefb0d9d485914176a82dd80}{RAD\_2\_DEG}} =}
-\DoxyCodeLine{75                 (180.0f / M\_PI); }
-\DoxyCodeLine{76 }
-\DoxyCodeLine{77         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} \textcolor{keywordtype}{char}* \mbox{\hyperlink{class_b_n_o08x_rpt_a2c57f370fb08b793bb10ec22d5acca45}{TAG}} = \textcolor{stringliteral}{"{}BNO08xRpt"{}};}
-\DoxyCodeLine{78 }
-\DoxyCodeLine{79         \textcolor{keyword}{friend} \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x}{BNO08x}};}
-\DoxyCodeLine{80 \};}
-
-\end{DoxyCode}
diff --git a/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8cpp.tex b/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8cpp.tex
deleted file mode 100644
index 5780202..0000000
--- a/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8cpp.tex
+++ /dev/null
@@ -1,17 +0,0 @@
-\hypertarget{_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8cpp}{}\doxysection{report/\+BNO08x\+Rpt\+ARVRStabilized\+Game\+RV.cpp File Reference}
-\label{_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8cpp}\index{report/BNO08xRptARVRStabilizedGameRV.cpp@{report/BNO08xRptARVRStabilizedGameRV.cpp}}
-{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+ARVRStabilized\+Game\+RV.\+hpp\char`\"{}}\newline
-Include dependency graph for BNO08x\+Rpt\+ARVRStabilized\+Game\+RV.\+cpp\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8cpp__incl}
-\end{center}
-\end{figure}
-
-
-\doxysubsection{Detailed Description}
-\begin{DoxyAuthor}{Author}
-Myles Parfeniuk 
-\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8cpp__incl.md5 b/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8cpp__incl.md5
deleted file mode 100644
index cb25f9f..0000000
--- a/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8cpp__incl.md5
+++ /dev/null
@@ -1 +0,0 @@
-f7f1539df84cb56126884b30e3e9f60e
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8cpp__incl.pdf b/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8cpp__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8hpp.tex b/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8hpp.tex
deleted file mode 100644
index da69c44..0000000
--- a/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8hpp.tex
+++ /dev/null
@@ -1,30 +0,0 @@
-\hypertarget{_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8hpp}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\+BNO08x\+Rpt\+ARVRStabilized\+Game\+RV.hpp File Reference}
-\label{_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8hpp}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptARVRStabilizedGameRV.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptARVRStabilizedGameRV.hpp}}
-{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+RVGeneric.\+hpp\char`\"{}}\newline
-Include dependency graph for BNO08x\+Rpt\+ARVRStabilized\+Game\+RV.\+hpp\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8hpp__incl}
-\end{center}
-\end{figure}
-This graph shows which files directly or indirectly include this file\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8hpp__dep__incl}
-\end{center}
-\end{figure}
-\doxysubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-class \mbox{\hyperlink{class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v}{BNO08x\+Rpt\+ARVRStabilized\+Game\+RV}}
-\begin{DoxyCompactList}\small\item\em Class to represent ARVR stabilized rotation vector reports. (See Ref. Manual 6.\+5.\+43) \end{DoxyCompactList}\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-\begin{DoxyAuthor}{Author}
-Myles Parfeniuk 
-\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8hpp__dep__incl.md5 b/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8hpp__dep__incl.md5
deleted file mode 100644
index fb99d07..0000000
--- a/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8hpp__dep__incl.md5
+++ /dev/null
@@ -1 +0,0 @@
-9f742da7de9a41ca9fdcb9c7d41d1c51
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8hpp__dep__incl.pdf b/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8hpp__dep__incl.pdf
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+++ /dev/null
@@ -1 +0,0 @@
-c8b61b7ddc890166052270156a0d450f
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8hpp__incl.pdf b/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8hpp__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8hpp_source.tex b/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8hpp_source.tex
deleted file mode 100644
index edb42d8..0000000
--- a/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8hpp_source.tex
+++ /dev/null
@@ -1,23 +0,0 @@
-\hypertarget{_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8hpp_source}{}\doxysection{BNO08x\+Rpt\+ARVRStabilized\+Game\+RV.\+hpp}
-\label{_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8hpp_source}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptARVRStabilizedGameRV.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptARVRStabilizedGameRV.hpp}}
-\mbox{\hyperlink{_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8hpp}{Go to the documentation of this file.}}
-\begin{DoxyCode}{0}
-\DoxyCodeLine{1 }
-\DoxyCodeLine{6 \textcolor{preprocessor}{\#pragma once}}
-\DoxyCodeLine{7 }
-\DoxyCodeLine{8 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_r_v_generic_8hpp}{BNO08xRptRVGeneric.hpp}}"{}}}
-\DoxyCodeLine{9 }
-\DoxyCodeLine{15 \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v}{BNO08xRptARVRStabilizedGameRV}} : \textcolor{keyword}{public} \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_generic}{BNO08xRptRVGeneric}}}
-\DoxyCodeLine{16 \{}
-\DoxyCodeLine{17     \textcolor{keyword}{public}:}
-\DoxyCodeLine{18         \mbox{\hyperlink{class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_aabfa5bbfb21fb1f36dda44bd0de7d220}{BNO08xRptARVRStabilizedGameRV}}(uint8\_t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, EventBits\_t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}}* \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
-\DoxyCodeLine{19             : \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_generic}{BNO08xRptRVGeneric}}(\mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
-\DoxyCodeLine{20         \{}
-\DoxyCodeLine{21         \}}
-\DoxyCodeLine{22 }
-\DoxyCodeLine{23     \textcolor{keyword}{private}:}
-\DoxyCodeLine{24         \textcolor{keywordtype}{void} update\_data(sh2\_SensorValue\_t* sensor\_val) \textcolor{keyword}{override};}
-\DoxyCodeLine{25         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} \textcolor{keywordtype}{char}* TAG = \textcolor{stringliteral}{"{}BNO08xRptARVRStabilizedGameRV"{}};}
-\DoxyCodeLine{26 \};}
-
-\end{DoxyCode}
diff --git a/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8cpp.tex b/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8cpp.tex
deleted file mode 100644
index 4d4bbf1..0000000
--- a/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8cpp.tex
+++ /dev/null
@@ -1,17 +0,0 @@
-\hypertarget{_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8cpp}{}\doxysection{report/\+BNO08x\+Rpt\+ARVRStabilized\+RV.cpp File Reference}
-\label{_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8cpp}\index{report/BNO08xRptARVRStabilizedRV.cpp@{report/BNO08xRptARVRStabilizedRV.cpp}}
-{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+ARVRStabilized\+RV.\+hpp\char`\"{}}\newline
-Include dependency graph for BNO08x\+Rpt\+ARVRStabilized\+RV.\+cpp\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8cpp__incl}
-\end{center}
-\end{figure}
-
-
-\doxysubsection{Detailed Description}
-\begin{DoxyAuthor}{Author}
-Myles Parfeniuk 
-\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8cpp__incl.md5 b/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8cpp__incl.md5
deleted file mode 100644
index abe5e93..0000000
--- a/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8cpp__incl.md5
+++ /dev/null
@@ -1 +0,0 @@
-a5841c3d0ebbfcc8bd6ba6024c7e49a1
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8cpp__incl.pdf b/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8cpp__incl.pdf
deleted file mode 100644
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Binary files a/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8cpp__incl.pdf and /dev/null differ
diff --git a/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8hpp.tex b/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8hpp.tex
deleted file mode 100644
index 062236d..0000000
--- a/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8hpp.tex
+++ /dev/null
@@ -1,30 +0,0 @@
-\hypertarget{_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8hpp}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\+BNO08x\+Rpt\+ARVRStabilized\+RV.hpp File Reference}
-\label{_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8hpp}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptARVRStabilizedRV.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptARVRStabilizedRV.hpp}}
-{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+RVGeneric.\+hpp\char`\"{}}\newline
-Include dependency graph for BNO08x\+Rpt\+ARVRStabilized\+RV.\+hpp\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8hpp__incl}
-\end{center}
-\end{figure}
-This graph shows which files directly or indirectly include this file\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8hpp__dep__incl}
-\end{center}
-\end{figure}
-\doxysubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-class \mbox{\hyperlink{class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v}{BNO08x\+Rpt\+ARVRStabilized\+RV}}
-\begin{DoxyCompactList}\small\item\em Class to represent ARVR stabilized rotation vector reports. (See Ref. Manual 6.\+5.\+42) \end{DoxyCompactList}\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-\begin{DoxyAuthor}{Author}
-Myles Parfeniuk 
-\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8hpp__dep__incl.md5 b/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8hpp__dep__incl.md5
deleted file mode 100644
index 2989f42..0000000
--- a/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8hpp__dep__incl.md5
+++ /dev/null
@@ -1 +0,0 @@
-076a48e9e8f9497cc2e8c844a66caa69
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8hpp__dep__incl.pdf b/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8hpp__dep__incl.pdf
deleted file mode 100644
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deleted file mode 100644
index 9867952..0000000
--- a/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8hpp__incl.md5
+++ /dev/null
@@ -1 +0,0 @@
-d86bf84e34cd44cdcafbc4d19dcaab0d
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8hpp__incl.pdf b/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8hpp__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8hpp_source.tex b/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8hpp_source.tex
deleted file mode 100644
index de2f3ff..0000000
--- a/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8hpp_source.tex
+++ /dev/null
@@ -1,23 +0,0 @@
-\hypertarget{_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8hpp_source}{}\doxysection{BNO08x\+Rpt\+ARVRStabilized\+RV.\+hpp}
-\label{_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8hpp_source}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptARVRStabilizedRV.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptARVRStabilizedRV.hpp}}
-\mbox{\hyperlink{_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8hpp}{Go to the documentation of this file.}}
-\begin{DoxyCode}{0}
-\DoxyCodeLine{1 }
-\DoxyCodeLine{6 \textcolor{preprocessor}{\#pragma once}}
-\DoxyCodeLine{7 }
-\DoxyCodeLine{8 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_r_v_generic_8hpp}{BNO08xRptRVGeneric.hpp}}"{}}}
-\DoxyCodeLine{9 }
-\DoxyCodeLine{15 \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v}{BNO08xRptARVRStabilizedRV}} : \textcolor{keyword}{public} \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_generic}{BNO08xRptRVGeneric}}}
-\DoxyCodeLine{16 \{}
-\DoxyCodeLine{17     \textcolor{keyword}{public}:}
-\DoxyCodeLine{18         \mbox{\hyperlink{class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_a7b19b87c861a35b7da1d96b606c21d6d}{BNO08xRptARVRStabilizedRV}}(uint8\_t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, EventBits\_t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}}* \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
-\DoxyCodeLine{19             : \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_generic}{BNO08xRptRVGeneric}}(\mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
-\DoxyCodeLine{20         \{}
-\DoxyCodeLine{21         \}}
-\DoxyCodeLine{22 }
-\DoxyCodeLine{23     \textcolor{keyword}{private}:}
-\DoxyCodeLine{24         \textcolor{keywordtype}{void} update\_data(sh2\_SensorValue\_t* sensor\_val) \textcolor{keyword}{override};}
-\DoxyCodeLine{25         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} \textcolor{keywordtype}{char}* TAG = \textcolor{stringliteral}{"{}BNO08xRptARVRStabilizedRV"{}};}
-\DoxyCodeLine{26 \};}
-
-\end{DoxyCode}
diff --git a/documentation/latex/_b_n_o08x_rpt_acceleration_8cpp.tex b/documentation/latex/_b_n_o08x_rpt_acceleration_8cpp.tex
deleted file mode 100644
index 451bbe1..0000000
--- a/documentation/latex/_b_n_o08x_rpt_acceleration_8cpp.tex
+++ /dev/null
@@ -1,17 +0,0 @@
-\hypertarget{_b_n_o08x_rpt_acceleration_8cpp}{}\doxysection{report/\+BNO08x\+Rpt\+Acceleration.cpp File Reference}
-\label{_b_n_o08x_rpt_acceleration_8cpp}\index{report/BNO08xRptAcceleration.cpp@{report/BNO08xRptAcceleration.cpp}}
-{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+Acceleration.\+hpp\char`\"{}}\newline
-Include dependency graph for BNO08x\+Rpt\+Acceleration.\+cpp\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_rpt_acceleration_8cpp__incl}
-\end{center}
-\end{figure}
-
-
-\doxysubsection{Detailed Description}
-\begin{DoxyAuthor}{Author}
-Myles Parfeniuk 
-\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_acceleration_8cpp__incl.md5 b/documentation/latex/_b_n_o08x_rpt_acceleration_8cpp__incl.md5
deleted file mode 100644
index fdcd236..0000000
--- a/documentation/latex/_b_n_o08x_rpt_acceleration_8cpp__incl.md5
+++ /dev/null
@@ -1 +0,0 @@
-170a01481b5925619c777cb305082579
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_acceleration_8cpp__incl.pdf b/documentation/latex/_b_n_o08x_rpt_acceleration_8cpp__incl.pdf
deleted file mode 100644
index 0a8568a..0000000
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diff --git a/documentation/latex/_b_n_o08x_rpt_acceleration_8hpp.tex b/documentation/latex/_b_n_o08x_rpt_acceleration_8hpp.tex
deleted file mode 100644
index 996e355..0000000
--- a/documentation/latex/_b_n_o08x_rpt_acceleration_8hpp.tex
+++ /dev/null
@@ -1,30 +0,0 @@
-\hypertarget{_b_n_o08x_rpt_acceleration_8hpp}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\+BNO08x\+Rpt\+Acceleration.hpp File Reference}
-\label{_b_n_o08x_rpt_acceleration_8hpp}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptAcceleration.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptAcceleration.hpp}}
-{\ttfamily \#include \char`\"{}BNO08x\+Rpt.\+hpp\char`\"{}}\newline
-Include dependency graph for BNO08x\+Rpt\+Acceleration.\+hpp\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_rpt_acceleration_8hpp__incl}
-\end{center}
-\end{figure}
-This graph shows which files directly or indirectly include this file\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_rpt_acceleration_8hpp__dep__incl}
-\end{center}
-\end{figure}
-\doxysubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-class \mbox{\hyperlink{class_b_n_o08x_rpt_acceleration}{BNO08x\+Rpt\+Acceleration}}
-\begin{DoxyCompactList}\small\item\em Class to represent accelerometer reports. (See Ref. Manual 6.\+5.\+9) \end{DoxyCompactList}\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-\begin{DoxyAuthor}{Author}
-Myles Parfeniuk 
-\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_acceleration_8hpp__dep__incl.md5 b/documentation/latex/_b_n_o08x_rpt_acceleration_8hpp__dep__incl.md5
deleted file mode 100644
index f835f5f..0000000
--- a/documentation/latex/_b_n_o08x_rpt_acceleration_8hpp__dep__incl.md5
+++ /dev/null
@@ -1 +0,0 @@
-f6e04b8c8f2a043c4f91e54753958275
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_acceleration_8hpp__dep__incl.pdf b/documentation/latex/_b_n_o08x_rpt_acceleration_8hpp__dep__incl.pdf
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-fbeff22380dbe3f59316aced1d2c8f7e
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_acceleration_8hpp__incl.pdf b/documentation/latex/_b_n_o08x_rpt_acceleration_8hpp__incl.pdf
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-\hypertarget{_b_n_o08x_rpt_acceleration_8hpp_source}{}\doxysection{BNO08x\+Rpt\+Acceleration.\+hpp}
-\label{_b_n_o08x_rpt_acceleration_8hpp_source}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptAcceleration.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptAcceleration.hpp}}
-\mbox{\hyperlink{_b_n_o08x_rpt_acceleration_8hpp}{Go to the documentation of this file.}}
-\begin{DoxyCode}{0}
-\DoxyCodeLine{1 }
-\DoxyCodeLine{6 \textcolor{preprocessor}{\#pragma once}}
-\DoxyCodeLine{7 }
-\DoxyCodeLine{8 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_8hpp}{BNO08xRpt.hpp}}"{}}}
-\DoxyCodeLine{9 }
-\DoxyCodeLine{15 \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x_rpt_acceleration}{BNO08xRptAcceleration}} : \textcolor{keyword}{public} \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08xRpt}}}
-\DoxyCodeLine{16 \{}
-\DoxyCodeLine{17     \textcolor{keyword}{public}:}
-\DoxyCodeLine{18         \mbox{\hyperlink{class_b_n_o08x_rpt_acceleration_af3a06d4c127a5cebd136489ab5c673e2}{BNO08xRptAcceleration}}(uint8\_t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, EventBits\_t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}}* \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
-\DoxyCodeLine{19             : \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08xRpt}}(\mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
-\DoxyCodeLine{20         \{}
-\DoxyCodeLine{21         \}}
-\DoxyCodeLine{22 }
-\DoxyCodeLine{23         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_rpt_acceleration_a8fde5eefac5f9d714263047426eeee4f}{enable}}(}
-\DoxyCodeLine{24                 uint32\_t time\_between\_reports, sh2\_SensorConfig\_t sensor\_cfg = BNO08xPrivateTypes::default\_sensor\_cfg) \textcolor{keyword}{override};}
-\DoxyCodeLine{25         \mbox{\hyperlink{structbno08x__accel__t}{bno08x\_accel\_t}} \mbox{\hyperlink{class_b_n_o08x_rpt_acceleration_abac65bc939891f7a24b5a611de430328}{get}}();}
-\DoxyCodeLine{26 }
-\DoxyCodeLine{27     \textcolor{keyword}{private}:}
-\DoxyCodeLine{28         \textcolor{keywordtype}{void} update\_data(sh2\_SensorValue\_t* sensor\_val) \textcolor{keyword}{override};}
-\DoxyCodeLine{29         \mbox{\hyperlink{structbno08x__accel__t}{bno08x\_accel\_t}} data;}
-\DoxyCodeLine{30         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} \textcolor{keywordtype}{char}* TAG = \textcolor{stringliteral}{"{}BNO08xRptAcceleration"{}};}
-\DoxyCodeLine{31 \};}
-
-\end{DoxyCode}
diff --git a/documentation/latex/_b_n_o08x_rpt_activity_classifier_8cpp.tex b/documentation/latex/_b_n_o08x_rpt_activity_classifier_8cpp.tex
deleted file mode 100644
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--- a/documentation/latex/_b_n_o08x_rpt_activity_classifier_8cpp.tex
+++ /dev/null
@@ -1,17 +0,0 @@
-\hypertarget{_b_n_o08x_rpt_activity_classifier_8cpp}{}\doxysection{report/\+BNO08x\+Rpt\+Activity\+Classifier.cpp File Reference}
-\label{_b_n_o08x_rpt_activity_classifier_8cpp}\index{report/BNO08xRptActivityClassifier.cpp@{report/BNO08xRptActivityClassifier.cpp}}
-{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+Activity\+Classifier.\+hpp\char`\"{}}\newline
-Include dependency graph for BNO08x\+Rpt\+Activity\+Classifier.\+cpp\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_rpt_activity_classifier_8cpp__incl}
-\end{center}
-\end{figure}
-
-
-\doxysubsection{Detailed Description}
-\begin{DoxyAuthor}{Author}
-Myles Parfeniuk 
-\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_activity_classifier_8cpp__incl.md5 b/documentation/latex/_b_n_o08x_rpt_activity_classifier_8cpp__incl.md5
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--- a/documentation/latex/_b_n_o08x_rpt_activity_classifier_8cpp__incl.md5
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-d9fa122147689e407d030e8c44bd537b
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_activity_classifier_8cpp__incl.pdf b/documentation/latex/_b_n_o08x_rpt_activity_classifier_8cpp__incl.pdf
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-\hypertarget{_b_n_o08x_rpt_activity_classifier_8hpp}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\+BNO08x\+Rpt\+Activity\+Classifier.hpp File Reference}
-\label{_b_n_o08x_rpt_activity_classifier_8hpp}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptActivityClassifier.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptActivityClassifier.hpp}}
-{\ttfamily \#include \char`\"{}BNO08x\+Rpt.\+hpp\char`\"{}}\newline
-Include dependency graph for BNO08x\+Rpt\+Activity\+Classifier.\+hpp\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_rpt_activity_classifier_8hpp__incl}
-\end{center}
-\end{figure}
-This graph shows which files directly or indirectly include this file\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_rpt_activity_classifier_8hpp__dep__incl}
-\end{center}
-\end{figure}
-\doxysubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-class \mbox{\hyperlink{class_b_n_o08x_rpt_activity_classifier}{BNO08x\+Rpt\+Activity\+Classifier}}
-\begin{DoxyCompactList}\small\item\em Class to represent activity classifier reports. (See Ref. Manual 6.\+5.\+36) \end{DoxyCompactList}\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-\begin{DoxyAuthor}{Author}
-Myles Parfeniuk 
-\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_activity_classifier_8hpp__dep__incl.md5 b/documentation/latex/_b_n_o08x_rpt_activity_classifier_8hpp__dep__incl.md5
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@@ -1 +0,0 @@
-75ac56d44f582511aafef094bc22d8db
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_activity_classifier_8hpp__dep__incl.pdf b/documentation/latex/_b_n_o08x_rpt_activity_classifier_8hpp__dep__incl.pdf
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-f48e0fdb8555bf65198b8e99558ecdcd
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_activity_classifier_8hpp__incl.pdf b/documentation/latex/_b_n_o08x_rpt_activity_classifier_8hpp__incl.pdf
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+++ /dev/null
@@ -1,32 +0,0 @@
-\hypertarget{_b_n_o08x_rpt_activity_classifier_8hpp_source}{}\doxysection{BNO08x\+Rpt\+Activity\+Classifier.\+hpp}
-\label{_b_n_o08x_rpt_activity_classifier_8hpp_source}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptActivityClassifier.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptActivityClassifier.hpp}}
-\mbox{\hyperlink{_b_n_o08x_rpt_activity_classifier_8hpp}{Go to the documentation of this file.}}
-\begin{DoxyCode}{0}
-\DoxyCodeLine{1 }
-\DoxyCodeLine{6 \textcolor{preprocessor}{\#pragma once}}
-\DoxyCodeLine{7 }
-\DoxyCodeLine{8 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_8hpp}{BNO08xRpt.hpp}}"{}}}
-\DoxyCodeLine{9 }
-\DoxyCodeLine{15 \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x_rpt_activity_classifier}{BNO08xRptActivityClassifier}} : \textcolor{keyword}{public} \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08xRpt}}}
-\DoxyCodeLine{16 \{}
-\DoxyCodeLine{17     \textcolor{keyword}{public}:}
-\DoxyCodeLine{18         \mbox{\hyperlink{class_b_n_o08x_rpt_activity_classifier_abee4e61d75eb1982f11f08eb542511a5}{BNO08xRptActivityClassifier}}(uint8\_t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, EventBits\_t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}}* \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
-\DoxyCodeLine{19             : \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08xRpt}}(\mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
-\DoxyCodeLine{20         \{}
-\DoxyCodeLine{21         \}}
-\DoxyCodeLine{22 }
-\DoxyCodeLine{23         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_rpt_activity_classifier_a631329523ddaf17f2e93cd0546a42823}{enable}}(}
-\DoxyCodeLine{24                 uint32\_t time\_between\_reports, sh2\_SensorConfig\_t sensor\_cfg = BNO08xPrivateTypes::default\_sensor\_cfg) \textcolor{keyword}{override};}
-\DoxyCodeLine{25         \mbox{\hyperlink{structbno08x__activity__classifier__t}{bno08x\_activity\_classifier\_t}} \mbox{\hyperlink{class_b_n_o08x_rpt_activity_classifier_aa77475212d3a5eb52ec31b9916cfe22d}{get}}();}
-\DoxyCodeLine{26         \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97d}{BNO08xActivity}} \mbox{\hyperlink{class_b_n_o08x_rpt_activity_classifier_a903a426e65752996075798ba6c51bff2}{get\_most\_likely\_activity}}();}
-\DoxyCodeLine{27         \textcolor{keywordtype}{void} \mbox{\hyperlink{class_b_n_o08x_rpt_activity_classifier_adb51886e94e91d114246c51919fd368b}{set\_activities\_to\_enable}}(\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3a}{BNO08xActivityEnable}} activities\_to\_enable);}
-\DoxyCodeLine{28 }
-\DoxyCodeLine{29     \textcolor{keyword}{private}:}
-\DoxyCodeLine{30         \textcolor{keywordtype}{void} update\_data(sh2\_SensorValue\_t* sensor\_val) \textcolor{keyword}{override};}
-\DoxyCodeLine{31         \mbox{\hyperlink{structbno08x__activity__classifier__t}{bno08x\_activity\_classifier\_t}} data; }
-\DoxyCodeLine{32         \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3a}{BNO08xActivityEnable}} activities\_to\_enable =}
-\DoxyCodeLine{33                 \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa5fb1f955b45e38e31789286a1790398d}{BNO08xActivityEnable::ALL}}; }
-\DoxyCodeLine{34         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} \textcolor{keywordtype}{char}* TAG = \textcolor{stringliteral}{"{}BNO08xRptActivityClassifier"{}};}
-\DoxyCodeLine{35 \};}
-
-\end{DoxyCode}
diff --git a/documentation/latex/_b_n_o08x_rpt_cal_gyro_8cpp.tex b/documentation/latex/_b_n_o08x_rpt_cal_gyro_8cpp.tex
deleted file mode 100644
index e899d90..0000000
--- a/documentation/latex/_b_n_o08x_rpt_cal_gyro_8cpp.tex
+++ /dev/null
@@ -1,17 +0,0 @@
-\hypertarget{_b_n_o08x_rpt_cal_gyro_8cpp}{}\doxysection{report/\+BNO08x\+Rpt\+Cal\+Gyro.cpp File Reference}
-\label{_b_n_o08x_rpt_cal_gyro_8cpp}\index{report/BNO08xRptCalGyro.cpp@{report/BNO08xRptCalGyro.cpp}}
-{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+Cal\+Gyro.\+hpp\char`\"{}}\newline
-Include dependency graph for BNO08x\+Rpt\+Cal\+Gyro.\+cpp\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_rpt_cal_gyro_8cpp__incl}
-\end{center}
-\end{figure}
-
-
-\doxysubsection{Detailed Description}
-\begin{DoxyAuthor}{Author}
-Myles Parfeniuk 
-\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_cal_gyro_8cpp__incl.md5 b/documentation/latex/_b_n_o08x_rpt_cal_gyro_8cpp__incl.md5
deleted file mode 100644
index 91e8983..0000000
--- a/documentation/latex/_b_n_o08x_rpt_cal_gyro_8cpp__incl.md5
+++ /dev/null
@@ -1 +0,0 @@
-d370806428a2b9e80b7eb46fc65cc04b
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_cal_gyro_8cpp__incl.pdf b/documentation/latex/_b_n_o08x_rpt_cal_gyro_8cpp__incl.pdf
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index 76d641e..0000000
--- a/documentation/latex/_b_n_o08x_rpt_cal_gyro_8hpp.tex
+++ /dev/null
@@ -1,30 +0,0 @@
-\hypertarget{_b_n_o08x_rpt_cal_gyro_8hpp}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\+BNO08x\+Rpt\+Cal\+Gyro.hpp File Reference}
-\label{_b_n_o08x_rpt_cal_gyro_8hpp}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptCalGyro.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptCalGyro.hpp}}
-{\ttfamily \#include \char`\"{}BNO08x\+Rpt.\+hpp\char`\"{}}\newline
-Include dependency graph for BNO08x\+Rpt\+Cal\+Gyro.\+hpp\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_rpt_cal_gyro_8hpp__incl}
-\end{center}
-\end{figure}
-This graph shows which files directly or indirectly include this file\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_rpt_cal_gyro_8hpp__dep__incl}
-\end{center}
-\end{figure}
-\doxysubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-class \mbox{\hyperlink{class_b_n_o08x_rpt_cal_gyro}{BNO08x\+Rpt\+Cal\+Gyro}}
-\begin{DoxyCompactList}\small\item\em Class to represent calibrated gyro reports. (See Ref. Manual 6.\+5.\+13) \end{DoxyCompactList}\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-\begin{DoxyAuthor}{Author}
-Myles Parfeniuk 
-\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_cal_gyro_8hpp__dep__incl.md5 b/documentation/latex/_b_n_o08x_rpt_cal_gyro_8hpp__dep__incl.md5
deleted file mode 100644
index 842d593..0000000
--- a/documentation/latex/_b_n_o08x_rpt_cal_gyro_8hpp__dep__incl.md5
+++ /dev/null
@@ -1 +0,0 @@
-093bfa3b9531a9b9a435cfccbdfa4e6f
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_cal_gyro_8hpp__dep__incl.pdf b/documentation/latex/_b_n_o08x_rpt_cal_gyro_8hpp__dep__incl.pdf
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--- a/documentation/latex/_b_n_o08x_rpt_cal_gyro_8hpp__incl.md5
+++ /dev/null
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-f203388a8e85d7d2068a10b001013200
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_cal_gyro_8hpp__incl.pdf b/documentation/latex/_b_n_o08x_rpt_cal_gyro_8hpp__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_rpt_cal_gyro_8hpp_source.tex b/documentation/latex/_b_n_o08x_rpt_cal_gyro_8hpp_source.tex
deleted file mode 100644
index 3d13f60..0000000
--- a/documentation/latex/_b_n_o08x_rpt_cal_gyro_8hpp_source.tex
+++ /dev/null
@@ -1,28 +0,0 @@
-\hypertarget{_b_n_o08x_rpt_cal_gyro_8hpp_source}{}\doxysection{BNO08x\+Rpt\+Cal\+Gyro.\+hpp}
-\label{_b_n_o08x_rpt_cal_gyro_8hpp_source}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptCalGyro.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptCalGyro.hpp}}
-\mbox{\hyperlink{_b_n_o08x_rpt_cal_gyro_8hpp}{Go to the documentation of this file.}}
-\begin{DoxyCode}{0}
-\DoxyCodeLine{1 }
-\DoxyCodeLine{6 \textcolor{preprocessor}{\#pragma once}}
-\DoxyCodeLine{7 }
-\DoxyCodeLine{8 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_8hpp}{BNO08xRpt.hpp}}"{}}}
-\DoxyCodeLine{9 }
-\DoxyCodeLine{15 \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x_rpt_cal_gyro}{BNO08xRptCalGyro}} : \textcolor{keyword}{public} \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08xRpt}}}
-\DoxyCodeLine{16 \{}
-\DoxyCodeLine{17     \textcolor{keyword}{public}:}
-\DoxyCodeLine{18         \mbox{\hyperlink{class_b_n_o08x_rpt_cal_gyro_ad351243a258fa1075212d63a38b1e7b5}{BNO08xRptCalGyro}}(uint8\_t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, EventBits\_t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}}* \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
-\DoxyCodeLine{19             : \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08xRpt}}(\mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
-\DoxyCodeLine{20         \{}
-\DoxyCodeLine{21         \}}
-\DoxyCodeLine{22 }
-\DoxyCodeLine{23         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_rpt_cal_gyro_aeb49d86610427c915dc9e58fcba6fddc}{enable}}(}
-\DoxyCodeLine{24                 uint32\_t time\_between\_reports, sh2\_SensorConfig\_t sensor\_cfg = BNO08xPrivateTypes::default\_sensor\_cfg) \textcolor{keyword}{override};}
-\DoxyCodeLine{25         \mbox{\hyperlink{structbno08x__gyro__t}{bno08x\_gyro\_t}} \mbox{\hyperlink{class_b_n_o08x_rpt_cal_gyro_aeb45a1a433c499f2c36dddf393175815}{get}}();}
-\DoxyCodeLine{26 }
-\DoxyCodeLine{27     \textcolor{keyword}{private}:}
-\DoxyCodeLine{28         \textcolor{keywordtype}{void} update\_data(sh2\_SensorValue\_t* sensor\_val) \textcolor{keyword}{override};}
-\DoxyCodeLine{29         \mbox{\hyperlink{structbno08x__gyro__t}{bno08x\_gyro\_t}} data;}
-\DoxyCodeLine{30         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} \textcolor{keywordtype}{char}* TAG = \textcolor{stringliteral}{"{}BNO08xRptCalGyro"{}};}
-\DoxyCodeLine{31 \};}
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diff --git a/documentation/latex/_b_n_o08x_rpt_cal_magnetometer_8cpp.tex b/documentation/latex/_b_n_o08x_rpt_cal_magnetometer_8cpp.tex
deleted file mode 100644
index dce1117..0000000
--- a/documentation/latex/_b_n_o08x_rpt_cal_magnetometer_8cpp.tex
+++ /dev/null
@@ -1,17 +0,0 @@
-\hypertarget{_b_n_o08x_rpt_cal_magnetometer_8cpp}{}\doxysection{report/\+BNO08x\+Rpt\+Cal\+Magnetometer.cpp File Reference}
-\label{_b_n_o08x_rpt_cal_magnetometer_8cpp}\index{report/BNO08xRptCalMagnetometer.cpp@{report/BNO08xRptCalMagnetometer.cpp}}
-{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+Cal\+Magnetometer.\+hpp\char`\"{}}\newline
-Include dependency graph for BNO08x\+Rpt\+Cal\+Magnetometer.\+cpp\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_rpt_cal_magnetometer_8cpp__incl}
-\end{center}
-\end{figure}
-
-
-\doxysubsection{Detailed Description}
-\begin{DoxyAuthor}{Author}
-Myles Parfeniuk 
-\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_cal_magnetometer_8cpp__incl.md5 b/documentation/latex/_b_n_o08x_rpt_cal_magnetometer_8cpp__incl.md5
deleted file mode 100644
index f18cc3a..0000000
--- a/documentation/latex/_b_n_o08x_rpt_cal_magnetometer_8cpp__incl.md5
+++ /dev/null
@@ -1 +0,0 @@
-5d0f7c40dfba8ac815154a9f7fb4c6e8
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_cal_magnetometer_8cpp__incl.pdf b/documentation/latex/_b_n_o08x_rpt_cal_magnetometer_8cpp__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_rpt_cal_magnetometer_8hpp.tex b/documentation/latex/_b_n_o08x_rpt_cal_magnetometer_8hpp.tex
deleted file mode 100644
index 121f6e0..0000000
--- a/documentation/latex/_b_n_o08x_rpt_cal_magnetometer_8hpp.tex
+++ /dev/null
@@ -1,30 +0,0 @@
-\hypertarget{_b_n_o08x_rpt_cal_magnetometer_8hpp}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\+BNO08x\+Rpt\+Cal\+Magnetometer.hpp File Reference}
-\label{_b_n_o08x_rpt_cal_magnetometer_8hpp}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptCalMagnetometer.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptCalMagnetometer.hpp}}
-{\ttfamily \#include \char`\"{}BNO08x\+Rpt.\+hpp\char`\"{}}\newline
-Include dependency graph for BNO08x\+Rpt\+Cal\+Magnetometer.\+hpp\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_rpt_cal_magnetometer_8hpp__incl}
-\end{center}
-\end{figure}
-This graph shows which files directly or indirectly include this file\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_rpt_cal_magnetometer_8hpp__dep__incl}
-\end{center}
-\end{figure}
-\doxysubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-class \mbox{\hyperlink{class_b_n_o08x_rpt_cal_magnetometer}{BNO08x\+Rpt\+Cal\+Magnetometer}}
-\begin{DoxyCompactList}\small\item\em Class to represent calibrated magnetometer reports. (See Ref. Manual 6.\+5.\+16) \end{DoxyCompactList}\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-\begin{DoxyAuthor}{Author}
-Myles Parfeniuk 
-\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_cal_magnetometer_8hpp__dep__incl.md5 b/documentation/latex/_b_n_o08x_rpt_cal_magnetometer_8hpp__dep__incl.md5
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--- a/documentation/latex/_b_n_o08x_rpt_cal_magnetometer_8hpp__dep__incl.md5
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@@ -1 +0,0 @@
-732e5d34dd9c21375596e2407bf36257
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_cal_magnetometer_8hpp__dep__incl.pdf b/documentation/latex/_b_n_o08x_rpt_cal_magnetometer_8hpp__dep__incl.pdf
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--- a/documentation/latex/_b_n_o08x_rpt_cal_magnetometer_8hpp__incl.md5
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-17118ace8ddf8ef26f40e591c7f9b171
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_cal_magnetometer_8hpp__incl.pdf b/documentation/latex/_b_n_o08x_rpt_cal_magnetometer_8hpp__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_rpt_cal_magnetometer_8hpp_source.tex b/documentation/latex/_b_n_o08x_rpt_cal_magnetometer_8hpp_source.tex
deleted file mode 100644
index 2cbd1ca..0000000
--- a/documentation/latex/_b_n_o08x_rpt_cal_magnetometer_8hpp_source.tex
+++ /dev/null
@@ -1,28 +0,0 @@
-\hypertarget{_b_n_o08x_rpt_cal_magnetometer_8hpp_source}{}\doxysection{BNO08x\+Rpt\+Cal\+Magnetometer.\+hpp}
-\label{_b_n_o08x_rpt_cal_magnetometer_8hpp_source}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptCalMagnetometer.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptCalMagnetometer.hpp}}
-\mbox{\hyperlink{_b_n_o08x_rpt_cal_magnetometer_8hpp}{Go to the documentation of this file.}}
-\begin{DoxyCode}{0}
-\DoxyCodeLine{1 }
-\DoxyCodeLine{6 \textcolor{preprocessor}{\#pragma once}}
-\DoxyCodeLine{7 }
-\DoxyCodeLine{8 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_8hpp}{BNO08xRpt.hpp}}"{}}}
-\DoxyCodeLine{9 }
-\DoxyCodeLine{15 \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x_rpt_cal_magnetometer}{BNO08xRptCalMagnetometer}} : \textcolor{keyword}{public} \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08xRpt}}}
-\DoxyCodeLine{16 \{}
-\DoxyCodeLine{17     \textcolor{keyword}{public}:}
-\DoxyCodeLine{18         \mbox{\hyperlink{class_b_n_o08x_rpt_cal_magnetometer_a731d7e69b97b6402b2cf2e18e9a08b06}{BNO08xRptCalMagnetometer}}(uint8\_t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, EventBits\_t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}}* \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
-\DoxyCodeLine{19             : \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08xRpt}}(\mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
-\DoxyCodeLine{20         \{}
-\DoxyCodeLine{21         \}}
-\DoxyCodeLine{22 }
-\DoxyCodeLine{23         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_rpt_cal_magnetometer_a9a371f613ff5053d2227faeebe941393}{enable}}(}
-\DoxyCodeLine{24                 uint32\_t time\_between\_reports, sh2\_SensorConfig\_t sensor\_cfg = BNO08xPrivateTypes::default\_sensor\_cfg) \textcolor{keyword}{override};}
-\DoxyCodeLine{25         \mbox{\hyperlink{structbno08x__magf__t}{bno08x\_magf\_t}} \mbox{\hyperlink{class_b_n_o08x_rpt_cal_magnetometer_a9a07338f7c149aa3d45d2c4f846620e2}{get}}();}
-\DoxyCodeLine{26 }
-\DoxyCodeLine{27     \textcolor{keyword}{private}:}
-\DoxyCodeLine{28         \textcolor{keywordtype}{void} update\_data(sh2\_SensorValue\_t* sensor\_val) \textcolor{keyword}{override};}
-\DoxyCodeLine{29         \mbox{\hyperlink{structbno08x__magf__t}{bno08x\_magf\_t}} data;}
-\DoxyCodeLine{30         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} \textcolor{keywordtype}{char}* TAG = \textcolor{stringliteral}{"{}BNO08xRptCalMagnetometer"{}};}
-\DoxyCodeLine{31 \};}
-
-\end{DoxyCode}
diff --git a/documentation/latex/_b_n_o08x_rpt_game_r_v_8cpp.tex b/documentation/latex/_b_n_o08x_rpt_game_r_v_8cpp.tex
deleted file mode 100644
index 8eb6851..0000000
--- a/documentation/latex/_b_n_o08x_rpt_game_r_v_8cpp.tex
+++ /dev/null
@@ -1,17 +0,0 @@
-\hypertarget{_b_n_o08x_rpt_game_r_v_8cpp}{}\doxysection{report/\+BNO08x\+Rpt\+Game\+RV.cpp File Reference}
-\label{_b_n_o08x_rpt_game_r_v_8cpp}\index{report/BNO08xRptGameRV.cpp@{report/BNO08xRptGameRV.cpp}}
-{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+Game\+RV.\+hpp\char`\"{}}\newline
-Include dependency graph for BNO08x\+Rpt\+Game\+RV.\+cpp\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_rpt_game_r_v_8cpp__incl}
-\end{center}
-\end{figure}
-
-
-\doxysubsection{Detailed Description}
-\begin{DoxyAuthor}{Author}
-Myles Parfeniuk 
-\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_game_r_v_8cpp__incl.md5 b/documentation/latex/_b_n_o08x_rpt_game_r_v_8cpp__incl.md5
deleted file mode 100644
index 59c9edf..0000000
--- a/documentation/latex/_b_n_o08x_rpt_game_r_v_8cpp__incl.md5
+++ /dev/null
@@ -1 +0,0 @@
-66f13c7731410a4e3da3709f007899cb
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_game_r_v_8cpp__incl.pdf b/documentation/latex/_b_n_o08x_rpt_game_r_v_8cpp__incl.pdf
deleted file mode 100644
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diff --git a/documentation/latex/_b_n_o08x_rpt_game_r_v_8hpp.tex b/documentation/latex/_b_n_o08x_rpt_game_r_v_8hpp.tex
deleted file mode 100644
index 60de1b0..0000000
--- a/documentation/latex/_b_n_o08x_rpt_game_r_v_8hpp.tex
+++ /dev/null
@@ -1,30 +0,0 @@
-\hypertarget{_b_n_o08x_rpt_game_r_v_8hpp}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\+BNO08x\+Rpt\+Game\+RV.hpp File Reference}
-\label{_b_n_o08x_rpt_game_r_v_8hpp}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptGameRV.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptGameRV.hpp}}
-{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+RVGeneric.\+hpp\char`\"{}}\newline
-Include dependency graph for BNO08x\+Rpt\+Game\+RV.\+hpp\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_rpt_game_r_v_8hpp__incl}
-\end{center}
-\end{figure}
-This graph shows which files directly or indirectly include this file\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_rpt_game_r_v_8hpp__dep__incl}
-\end{center}
-\end{figure}
-\doxysubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-class \mbox{\hyperlink{class_b_n_o08x_rpt_game_r_v}{BNO08x\+Rpt\+Game\+RV}}
-\begin{DoxyCompactList}\small\item\em Class to represent game rotation vector reports. (See Ref. Manual 6.\+5.\+19) \end{DoxyCompactList}\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-\begin{DoxyAuthor}{Author}
-Myles Parfeniuk 
-\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_game_r_v_8hpp__dep__incl.md5 b/documentation/latex/_b_n_o08x_rpt_game_r_v_8hpp__dep__incl.md5
deleted file mode 100644
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--- a/documentation/latex/_b_n_o08x_rpt_game_r_v_8hpp__dep__incl.md5
+++ /dev/null
@@ -1 +0,0 @@
-8e2bdfc4da0b169ed926fbee93c4ed56
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_game_r_v_8hpp__dep__incl.pdf b/documentation/latex/_b_n_o08x_rpt_game_r_v_8hpp__dep__incl.pdf
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deleted file mode 100644
index d8a8302..0000000
--- a/documentation/latex/_b_n_o08x_rpt_game_r_v_8hpp__incl.md5
+++ /dev/null
@@ -1 +0,0 @@
-55a1c098cc1496f942b348817f90be2e
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_game_r_v_8hpp__incl.pdf b/documentation/latex/_b_n_o08x_rpt_game_r_v_8hpp__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_rpt_game_r_v_8hpp_source.tex b/documentation/latex/_b_n_o08x_rpt_game_r_v_8hpp_source.tex
deleted file mode 100644
index 2d4ca02..0000000
--- a/documentation/latex/_b_n_o08x_rpt_game_r_v_8hpp_source.tex
+++ /dev/null
@@ -1,27 +0,0 @@
-\hypertarget{_b_n_o08x_rpt_game_r_v_8hpp_source}{}\doxysection{BNO08x\+Rpt\+Game\+RV.\+hpp}
-\label{_b_n_o08x_rpt_game_r_v_8hpp_source}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptGameRV.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptGameRV.hpp}}
-\mbox{\hyperlink{_b_n_o08x_rpt_game_r_v_8hpp}{Go to the documentation of this file.}}
-\begin{DoxyCode}{0}
-\DoxyCodeLine{1 }
-\DoxyCodeLine{6 \textcolor{preprocessor}{\#pragma once}}
-\DoxyCodeLine{7 }
-\DoxyCodeLine{8 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_r_v_generic_8hpp}{BNO08xRptRVGeneric.hpp}}"{}}}
-\DoxyCodeLine{9 }
-\DoxyCodeLine{15 \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x_rpt_game_r_v}{BNO08xRptGameRV}} : \textcolor{keyword}{public} \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_generic}{BNO08xRptRVGeneric}}}
-\DoxyCodeLine{16 \{}
-\DoxyCodeLine{17     \textcolor{keyword}{public}:}
-\DoxyCodeLine{18         \mbox{\hyperlink{class_b_n_o08x_rpt_game_r_v_a5ce3525ae691ef37dff5c8d638e98e18}{BNO08xRptGameRV}}(uint8\_t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, EventBits\_t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}}* \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
-\DoxyCodeLine{19             : \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_generic}{BNO08xRptRVGeneric}}(\mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
-\DoxyCodeLine{20         \{}
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-\DoxyCodeLine{23         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_rpt_game_r_v_a773f8e4bf9e5059d6b301fc346cbc9d2}{tare}}(\textcolor{keywordtype}{bool} x = \textcolor{keyword}{true}, \textcolor{keywordtype}{bool} y = \textcolor{keyword}{true}, \textcolor{keywordtype}{bool} z = \textcolor{keyword}{true});}
-\DoxyCodeLine{24         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_rpt_game_r_v_ae91c07ae4d781216065fd704b5c88d06}{tare\_persist}}();}
-\DoxyCodeLine{25         \textcolor{keywordtype}{void} \mbox{\hyperlink{class_b_n_o08x_rpt_game_r_v_ab8844cc390818f2b5cff8afefc89558f}{tare\_clear}}();}
-\DoxyCodeLine{26 }
-\DoxyCodeLine{27     \textcolor{keyword}{private}:}
-\DoxyCodeLine{28         \textcolor{keywordtype}{void} update\_data(sh2\_SensorValue\_t* sensor\_val) \textcolor{keyword}{override};}
-\DoxyCodeLine{29         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} \textcolor{keywordtype}{char}* TAG = \textcolor{stringliteral}{"{}BNO08xRptGameRV"{}};}
-\DoxyCodeLine{30 \};}
-
-\end{DoxyCode}
diff --git a/documentation/latex/_b_n_o08x_rpt_gravity_8cpp.tex b/documentation/latex/_b_n_o08x_rpt_gravity_8cpp.tex
deleted file mode 100644
index 56bb6ce..0000000
--- a/documentation/latex/_b_n_o08x_rpt_gravity_8cpp.tex
+++ /dev/null
@@ -1,17 +0,0 @@
-\hypertarget{_b_n_o08x_rpt_gravity_8cpp}{}\doxysection{report/\+BNO08x\+Rpt\+Gravity.cpp File Reference}
-\label{_b_n_o08x_rpt_gravity_8cpp}\index{report/BNO08xRptGravity.cpp@{report/BNO08xRptGravity.cpp}}
-{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+Gravity.\+hpp\char`\"{}}\newline
-Include dependency graph for BNO08x\+Rpt\+Gravity.\+cpp\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_rpt_gravity_8cpp__incl}
-\end{center}
-\end{figure}
-
-
-\doxysubsection{Detailed Description}
-\begin{DoxyAuthor}{Author}
-Myles Parfeniuk 
-\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_gravity_8cpp__incl.md5 b/documentation/latex/_b_n_o08x_rpt_gravity_8cpp__incl.md5
deleted file mode 100644
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--- a/documentation/latex/_b_n_o08x_rpt_gravity_8cpp__incl.md5
+++ /dev/null
@@ -1 +0,0 @@
-f2017d1e3169d3ca6f6f3d1703cb17ed
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_gravity_8cpp__incl.pdf b/documentation/latex/_b_n_o08x_rpt_gravity_8cpp__incl.pdf
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@@ -1,30 +0,0 @@
-\hypertarget{_b_n_o08x_rpt_gravity_8hpp}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\+BNO08x\+Rpt\+Gravity.hpp File Reference}
-\label{_b_n_o08x_rpt_gravity_8hpp}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptGravity.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptGravity.hpp}}
-{\ttfamily \#include \char`\"{}BNO08x\+Rpt.\+hpp\char`\"{}}\newline
-Include dependency graph for BNO08x\+Rpt\+Gravity.\+hpp\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_rpt_gravity_8hpp__incl}
-\end{center}
-\end{figure}
-This graph shows which files directly or indirectly include this file\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_rpt_gravity_8hpp__dep__incl}
-\end{center}
-\end{figure}
-\doxysubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-class \mbox{\hyperlink{class_b_n_o08x_rpt_gravity}{BNO08x\+Rpt\+Gravity}}
-\begin{DoxyCompactList}\small\item\em Class to represent gravity reports. (See Ref. Manual 6.\+5.\+11) \end{DoxyCompactList}\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-\begin{DoxyAuthor}{Author}
-Myles Parfeniuk 
-\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_gravity_8hpp__dep__incl.md5 b/documentation/latex/_b_n_o08x_rpt_gravity_8hpp__dep__incl.md5
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-5560264a7576a30e00bf9f10dde4fc4a
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_gravity_8hpp__dep__incl.pdf b/documentation/latex/_b_n_o08x_rpt_gravity_8hpp__dep__incl.pdf
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--- a/documentation/latex/_b_n_o08x_rpt_gravity_8hpp__incl.md5
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-c4fde0fccd85b685219afef14ca0138b
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_gravity_8hpp__incl.pdf b/documentation/latex/_b_n_o08x_rpt_gravity_8hpp__incl.pdf
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deleted file mode 100644
index 93e6479..0000000
--- a/documentation/latex/_b_n_o08x_rpt_gravity_8hpp_source.tex
+++ /dev/null
@@ -1,28 +0,0 @@
-\hypertarget{_b_n_o08x_rpt_gravity_8hpp_source}{}\doxysection{BNO08x\+Rpt\+Gravity.\+hpp}
-\label{_b_n_o08x_rpt_gravity_8hpp_source}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptGravity.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptGravity.hpp}}
-\mbox{\hyperlink{_b_n_o08x_rpt_gravity_8hpp}{Go to the documentation of this file.}}
-\begin{DoxyCode}{0}
-\DoxyCodeLine{1 }
-\DoxyCodeLine{6 \textcolor{preprocessor}{\#pragma once}}
-\DoxyCodeLine{7 }
-\DoxyCodeLine{8 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_8hpp}{BNO08xRpt.hpp}}"{}}}
-\DoxyCodeLine{9 }
-\DoxyCodeLine{15 \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x_rpt_gravity}{BNO08xRptGravity}} : \textcolor{keyword}{public} \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08xRpt}}}
-\DoxyCodeLine{16 \{}
-\DoxyCodeLine{17     \textcolor{keyword}{public}:}
-\DoxyCodeLine{18         \mbox{\hyperlink{class_b_n_o08x_rpt_gravity_a472ced1c466461f64dda3d9132813dba}{BNO08xRptGravity}}(uint8\_t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, EventBits\_t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}}* \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
-\DoxyCodeLine{19             : \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08xRpt}}(\mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
-\DoxyCodeLine{20         \{}
-\DoxyCodeLine{21         \}}
-\DoxyCodeLine{22 }
-\DoxyCodeLine{23         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_rpt_gravity_a5bb33cf233c6721fac992e447bd5b571}{enable}}(}
-\DoxyCodeLine{24                 uint32\_t time\_between\_reports, sh2\_SensorConfig\_t sensor\_cfg = BNO08xPrivateTypes::default\_sensor\_cfg) \textcolor{keyword}{override};}
-\DoxyCodeLine{25         \mbox{\hyperlink{structbno08x__accel__t}{bno08x\_accel\_t}} \mbox{\hyperlink{class_b_n_o08x_rpt_gravity_a18ebbe93997c3ea985290e5b8fc23115}{get}}();}
-\DoxyCodeLine{26 }
-\DoxyCodeLine{27     \textcolor{keyword}{private}:}
-\DoxyCodeLine{28         \textcolor{keywordtype}{void} update\_data(sh2\_SensorValue\_t* sensor\_val) \textcolor{keyword}{override};}
-\DoxyCodeLine{29         \mbox{\hyperlink{structbno08x__accel__t}{bno08x\_accel\_t}} data;}
-\DoxyCodeLine{30         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} \textcolor{keywordtype}{char}* TAG = \textcolor{stringliteral}{"{}BNO08xRptGravity"{}};}
-\DoxyCodeLine{31 \};}
-
-\end{DoxyCode}
diff --git a/documentation/latex/_b_n_o08x_rpt_i_gyro_r_v_8cpp.tex b/documentation/latex/_b_n_o08x_rpt_i_gyro_r_v_8cpp.tex
deleted file mode 100644
index f43a8a3..0000000
--- a/documentation/latex/_b_n_o08x_rpt_i_gyro_r_v_8cpp.tex
+++ /dev/null
@@ -1,17 +0,0 @@
-\hypertarget{_b_n_o08x_rpt_i_gyro_r_v_8cpp}{}\doxysection{report/\+BNO08x\+Rpt\+IGyro\+RV.cpp File Reference}
-\label{_b_n_o08x_rpt_i_gyro_r_v_8cpp}\index{report/BNO08xRptIGyroRV.cpp@{report/BNO08xRptIGyroRV.cpp}}
-{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+IGyro\+RV.\+hpp\char`\"{}}\newline
-Include dependency graph for BNO08x\+Rpt\+IGyro\+RV.\+cpp\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_rpt_i_gyro_r_v_8cpp__incl}
-\end{center}
-\end{figure}
-
-
-\doxysubsection{Detailed Description}
-\begin{DoxyAuthor}{Author}
-Myles Parfeniuk 
-\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_i_gyro_r_v_8cpp__incl.md5 b/documentation/latex/_b_n_o08x_rpt_i_gyro_r_v_8cpp__incl.md5
deleted file mode 100644
index f5eb886..0000000
--- a/documentation/latex/_b_n_o08x_rpt_i_gyro_r_v_8cpp__incl.md5
+++ /dev/null
@@ -1 +0,0 @@
-82c5630f754d2067da9bb3debe286cd2
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_i_gyro_r_v_8cpp__incl.pdf b/documentation/latex/_b_n_o08x_rpt_i_gyro_r_v_8cpp__incl.pdf
deleted file mode 100644
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diff --git a/documentation/latex/_b_n_o08x_rpt_i_gyro_r_v_8hpp.tex b/documentation/latex/_b_n_o08x_rpt_i_gyro_r_v_8hpp.tex
deleted file mode 100644
index 72dba19..0000000
--- a/documentation/latex/_b_n_o08x_rpt_i_gyro_r_v_8hpp.tex
+++ /dev/null
@@ -1,30 +0,0 @@
-\hypertarget{_b_n_o08x_rpt_i_gyro_r_v_8hpp}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\+BNO08x\+Rpt\+IGyro\+RV.hpp File Reference}
-\label{_b_n_o08x_rpt_i_gyro_r_v_8hpp}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptIGyroRV.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptIGyroRV.hpp}}
-{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+RVGeneric.\+hpp\char`\"{}}\newline
-Include dependency graph for BNO08x\+Rpt\+IGyro\+RV.\+hpp\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_rpt_i_gyro_r_v_8hpp__incl}
-\end{center}
-\end{figure}
-This graph shows which files directly or indirectly include this file\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_rpt_i_gyro_r_v_8hpp__dep__incl}
-\end{center}
-\end{figure}
-\doxysubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-class \mbox{\hyperlink{class_b_n_o08x_rpt_i_gyro_r_v}{BNO08x\+Rpt\+IGyro\+RV}}
-\begin{DoxyCompactList}\small\item\em Class to represent integrated gyro rotation vector reports. (See Ref. Manual 6.\+5.\+44) \end{DoxyCompactList}\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-\begin{DoxyAuthor}{Author}
-Myles Parfeniuk 
-\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_i_gyro_r_v_8hpp__dep__incl.md5 b/documentation/latex/_b_n_o08x_rpt_i_gyro_r_v_8hpp__dep__incl.md5
deleted file mode 100644
index 7cc34a8..0000000
--- a/documentation/latex/_b_n_o08x_rpt_i_gyro_r_v_8hpp__dep__incl.md5
+++ /dev/null
@@ -1 +0,0 @@
-b8aa1097ea08acf4a4c1c47682a46662
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_i_gyro_r_v_8hpp__dep__incl.pdf b/documentation/latex/_b_n_o08x_rpt_i_gyro_r_v_8hpp__dep__incl.pdf
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--- a/documentation/latex/_b_n_o08x_rpt_i_gyro_r_v_8hpp__incl.md5
+++ /dev/null
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-40b7cb92f7dfca9d6baa15e29fce0059
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_i_gyro_r_v_8hpp__incl.pdf b/documentation/latex/_b_n_o08x_rpt_i_gyro_r_v_8hpp__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_rpt_i_gyro_r_v_8hpp_source.tex b/documentation/latex/_b_n_o08x_rpt_i_gyro_r_v_8hpp_source.tex
deleted file mode 100644
index 647b12a..0000000
--- a/documentation/latex/_b_n_o08x_rpt_i_gyro_r_v_8hpp_source.tex
+++ /dev/null
@@ -1,27 +0,0 @@
-\hypertarget{_b_n_o08x_rpt_i_gyro_r_v_8hpp_source}{}\doxysection{BNO08x\+Rpt\+IGyro\+RV.\+hpp}
-\label{_b_n_o08x_rpt_i_gyro_r_v_8hpp_source}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptIGyroRV.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptIGyroRV.hpp}}
-\mbox{\hyperlink{_b_n_o08x_rpt_i_gyro_r_v_8hpp}{Go to the documentation of this file.}}
-\begin{DoxyCode}{0}
-\DoxyCodeLine{1 }
-\DoxyCodeLine{6 \textcolor{preprocessor}{\#pragma once}}
-\DoxyCodeLine{7 }
-\DoxyCodeLine{8 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_r_v_generic_8hpp}{BNO08xRptRVGeneric.hpp}}"{}}}
-\DoxyCodeLine{9 }
-\DoxyCodeLine{15 \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x_rpt_i_gyro_r_v}{BNO08xRptIGyroRV}} : \textcolor{keyword}{public} \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_generic}{BNO08xRptRVGeneric}}}
-\DoxyCodeLine{16 \{}
-\DoxyCodeLine{17     \textcolor{keyword}{public}:}
-\DoxyCodeLine{18         \mbox{\hyperlink{class_b_n_o08x_rpt_i_gyro_r_v_a5574d6213be1d7176d981e04fb9b4ea4}{BNO08xRptIGyroRV}}(uint8\_t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, EventBits\_t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}}* \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
-\DoxyCodeLine{19             : \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_generic}{BNO08xRptRVGeneric}}(\mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
-\DoxyCodeLine{20         \{}
-\DoxyCodeLine{21         \}}
-\DoxyCodeLine{22 }
-\DoxyCodeLine{23         \textcolor{keywordtype}{void} \mbox{\hyperlink{class_b_n_o08x_rpt_i_gyro_r_v_ae85b4b091ec350432a2aeabcd3b46f55}{get}}(\mbox{\hyperlink{structbno08x__quat__t}{bno08x\_quat\_t}}\& quat, \mbox{\hyperlink{structbno08x__ang__vel__t}{bno08x\_ang\_vel\_t}}\& vel);}
-\DoxyCodeLine{24         \mbox{\hyperlink{structbno08x__ang__vel__t}{bno08x\_ang\_vel\_t}} \mbox{\hyperlink{class_b_n_o08x_rpt_i_gyro_r_v_a8e9877551635f8be5e380d47195b4061}{get\_vel}}();}
-\DoxyCodeLine{25 }
-\DoxyCodeLine{26     \textcolor{keyword}{private}:}
-\DoxyCodeLine{27         \textcolor{keywordtype}{void} update\_data(sh2\_SensorValue\_t* sensor\_val) \textcolor{keyword}{override};}
-\DoxyCodeLine{28         \mbox{\hyperlink{structbno08x__ang__vel__t}{bno08x\_ang\_vel\_t}} data\_vel;}
-\DoxyCodeLine{29         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} \textcolor{keywordtype}{char}* TAG = \textcolor{stringliteral}{"{}BNO08xRptIGyroRV"{}};}
-\DoxyCodeLine{30 \};}
-
-\end{DoxyCode}
diff --git a/documentation/latex/_b_n_o08x_rpt_linear_acceleration_8cpp.tex b/documentation/latex/_b_n_o08x_rpt_linear_acceleration_8cpp.tex
deleted file mode 100644
index 7cc4fc0..0000000
--- a/documentation/latex/_b_n_o08x_rpt_linear_acceleration_8cpp.tex
+++ /dev/null
@@ -1,17 +0,0 @@
-\hypertarget{_b_n_o08x_rpt_linear_acceleration_8cpp}{}\doxysection{report/\+BNO08x\+Rpt\+Linear\+Acceleration.cpp File Reference}
-\label{_b_n_o08x_rpt_linear_acceleration_8cpp}\index{report/BNO08xRptLinearAcceleration.cpp@{report/BNO08xRptLinearAcceleration.cpp}}
-{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+Linear\+Acceleration.\+hpp\char`\"{}}\newline
-Include dependency graph for BNO08x\+Rpt\+Linear\+Acceleration.\+cpp\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_rpt_linear_acceleration_8cpp__incl}
-\end{center}
-\end{figure}
-
-
-\doxysubsection{Detailed Description}
-\begin{DoxyAuthor}{Author}
-Myles Parfeniuk 
-\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_linear_acceleration_8cpp__incl.md5 b/documentation/latex/_b_n_o08x_rpt_linear_acceleration_8cpp__incl.md5
deleted file mode 100644
index e3134ca..0000000
--- a/documentation/latex/_b_n_o08x_rpt_linear_acceleration_8cpp__incl.md5
+++ /dev/null
@@ -1 +0,0 @@
-f5e411ec9bd3d63f1cb45b7eb925ea86
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_linear_acceleration_8cpp__incl.pdf b/documentation/latex/_b_n_o08x_rpt_linear_acceleration_8cpp__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_rpt_linear_acceleration_8hpp.tex b/documentation/latex/_b_n_o08x_rpt_linear_acceleration_8hpp.tex
deleted file mode 100644
index 1dc5871..0000000
--- a/documentation/latex/_b_n_o08x_rpt_linear_acceleration_8hpp.tex
+++ /dev/null
@@ -1,30 +0,0 @@
-\hypertarget{_b_n_o08x_rpt_linear_acceleration_8hpp}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\+BNO08x\+Rpt\+Linear\+Acceleration.hpp File Reference}
-\label{_b_n_o08x_rpt_linear_acceleration_8hpp}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptLinearAcceleration.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptLinearAcceleration.hpp}}
-{\ttfamily \#include \char`\"{}BNO08x\+Rpt.\+hpp\char`\"{}}\newline
-Include dependency graph for BNO08x\+Rpt\+Linear\+Acceleration.\+hpp\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_rpt_linear_acceleration_8hpp__incl}
-\end{center}
-\end{figure}
-This graph shows which files directly or indirectly include this file\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_rpt_linear_acceleration_8hpp__dep__incl}
-\end{center}
-\end{figure}
-\doxysubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-class \mbox{\hyperlink{class_b_n_o08x_rpt_linear_acceleration}{BNO08x\+Rpt\+Linear\+Acceleration}}
-\begin{DoxyCompactList}\small\item\em Class to represent linear accelerometer reports. (See Ref. Manual 6.\+5.\+10) \end{DoxyCompactList}\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-\begin{DoxyAuthor}{Author}
-Myles Parfeniuk 
-\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_linear_acceleration_8hpp__dep__incl.md5 b/documentation/latex/_b_n_o08x_rpt_linear_acceleration_8hpp__dep__incl.md5
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-39ddf17a12515588cccaf0bf170a3102
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_linear_acceleration_8hpp__dep__incl.pdf b/documentation/latex/_b_n_o08x_rpt_linear_acceleration_8hpp__dep__incl.pdf
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-995b07379476b4b4a97104e105613b3a
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_linear_acceleration_8hpp__incl.pdf b/documentation/latex/_b_n_o08x_rpt_linear_acceleration_8hpp__incl.pdf
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+++ /dev/null
@@ -1,28 +0,0 @@
-\hypertarget{_b_n_o08x_rpt_linear_acceleration_8hpp_source}{}\doxysection{BNO08x\+Rpt\+Linear\+Acceleration.\+hpp}
-\label{_b_n_o08x_rpt_linear_acceleration_8hpp_source}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptLinearAcceleration.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptLinearAcceleration.hpp}}
-\mbox{\hyperlink{_b_n_o08x_rpt_linear_acceleration_8hpp}{Go to the documentation of this file.}}
-\begin{DoxyCode}{0}
-\DoxyCodeLine{1 }
-\DoxyCodeLine{6 \textcolor{preprocessor}{\#pragma once}}
-\DoxyCodeLine{7 }
-\DoxyCodeLine{8 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_8hpp}{BNO08xRpt.hpp}}"{}}}
-\DoxyCodeLine{9 }
-\DoxyCodeLine{15 \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x_rpt_linear_acceleration}{BNO08xRptLinearAcceleration}} : \textcolor{keyword}{public} \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08xRpt}}}
-\DoxyCodeLine{16 \{}
-\DoxyCodeLine{17     \textcolor{keyword}{public}:}
-\DoxyCodeLine{18         \mbox{\hyperlink{class_b_n_o08x_rpt_linear_acceleration_ad63032b796912c9be563a5e6da801c59}{BNO08xRptLinearAcceleration}}(uint8\_t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, EventBits\_t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}}* \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
-\DoxyCodeLine{19             : \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08xRpt}}(\mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
-\DoxyCodeLine{20         \{}
-\DoxyCodeLine{21         \}}
-\DoxyCodeLine{22 }
-\DoxyCodeLine{23         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_rpt_linear_acceleration_a4584a181ae543919a851f8f288a316ed}{enable}}(}
-\DoxyCodeLine{24                 uint32\_t time\_between\_reports, sh2\_SensorConfig\_t sensor\_cfg = BNO08xPrivateTypes::default\_sensor\_cfg) \textcolor{keyword}{override};}
-\DoxyCodeLine{25         \mbox{\hyperlink{structbno08x__accel__t}{bno08x\_accel\_t}} \mbox{\hyperlink{class_b_n_o08x_rpt_linear_acceleration_aac2eeab16ffbe7a81ea26a21c4e453d0}{get}}();}
-\DoxyCodeLine{26 }
-\DoxyCodeLine{27     \textcolor{keyword}{private}:}
-\DoxyCodeLine{28         \textcolor{keywordtype}{void} update\_data(sh2\_SensorValue\_t* sensor\_val) \textcolor{keyword}{override};}
-\DoxyCodeLine{29         \mbox{\hyperlink{structbno08x__accel__t}{bno08x\_accel\_t}} data;}
-\DoxyCodeLine{30         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} \textcolor{keywordtype}{char}* TAG = \textcolor{stringliteral}{"{}BNO08xRptLinearAcceleration"{}};}
-\DoxyCodeLine{31 \};}
-
-\end{DoxyCode}
diff --git a/documentation/latex/_b_n_o08x_rpt_r_v_8cpp.tex b/documentation/latex/_b_n_o08x_rpt_r_v_8cpp.tex
deleted file mode 100644
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--- a/documentation/latex/_b_n_o08x_rpt_r_v_8cpp.tex
+++ /dev/null
@@ -1,17 +0,0 @@
-\hypertarget{_b_n_o08x_rpt_r_v_8cpp}{}\doxysection{report/\+BNO08x\+Rpt\+RV.cpp File Reference}
-\label{_b_n_o08x_rpt_r_v_8cpp}\index{report/BNO08xRptRV.cpp@{report/BNO08xRptRV.cpp}}
-{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+RV.\+hpp\char`\"{}}\newline
-Include dependency graph for BNO08x\+Rpt\+RV.\+cpp\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_rpt_r_v_8cpp__incl}
-\end{center}
-\end{figure}
-
-
-\doxysubsection{Detailed Description}
-\begin{DoxyAuthor}{Author}
-Myles Parfeniuk 
-\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_r_v_8cpp__incl.md5 b/documentation/latex/_b_n_o08x_rpt_r_v_8cpp__incl.md5
deleted file mode 100644
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--- a/documentation/latex/_b_n_o08x_rpt_r_v_8cpp__incl.md5
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@@ -1 +0,0 @@
-8945a94f4aca84424659e43efdc68d7d
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_r_v_8cpp__incl.pdf b/documentation/latex/_b_n_o08x_rpt_r_v_8cpp__incl.pdf
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@@ -1,30 +0,0 @@
-\hypertarget{_b_n_o08x_rpt_r_v_8hpp}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\+BNO08x\+Rpt\+RV.hpp File Reference}
-\label{_b_n_o08x_rpt_r_v_8hpp}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptRV.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptRV.hpp}}
-{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+RVGeneric.\+hpp\char`\"{}}\newline
-Include dependency graph for BNO08x\+Rpt\+RV.\+hpp\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_rpt_r_v_8hpp__incl}
-\end{center}
-\end{figure}
-This graph shows which files directly or indirectly include this file\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_rpt_r_v_8hpp__dep__incl}
-\end{center}
-\end{figure}
-\doxysubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-class \mbox{\hyperlink{class_b_n_o08x_rpt_r_v}{BNO08x\+Rpt\+RV}}
-\begin{DoxyCompactList}\small\item\em Class to represent rotation vector reports. (See Ref. Manual 6.\+5.\+18) \end{DoxyCompactList}\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-\begin{DoxyAuthor}{Author}
-Myles Parfeniuk 
-\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_r_v_8hpp__dep__incl.md5 b/documentation/latex/_b_n_o08x_rpt_r_v_8hpp__dep__incl.md5
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-fdd200c6ea60e31220913a4c043241eb
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_r_v_8hpp__dep__incl.pdf b/documentation/latex/_b_n_o08x_rpt_r_v_8hpp__dep__incl.pdf
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-86d603135e65e926f5d3146d94bb00f7
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_r_v_8hpp__incl.pdf b/documentation/latex/_b_n_o08x_rpt_r_v_8hpp__incl.pdf
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+++ /dev/null
@@ -1,27 +0,0 @@
-\hypertarget{_b_n_o08x_rpt_r_v_8hpp_source}{}\doxysection{BNO08x\+Rpt\+RV.\+hpp}
-\label{_b_n_o08x_rpt_r_v_8hpp_source}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptRV.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptRV.hpp}}
-\mbox{\hyperlink{_b_n_o08x_rpt_r_v_8hpp}{Go to the documentation of this file.}}
-\begin{DoxyCode}{0}
-\DoxyCodeLine{1 }
-\DoxyCodeLine{6 \textcolor{preprocessor}{\#pragma once}}
-\DoxyCodeLine{7 }
-\DoxyCodeLine{8 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_r_v_generic_8hpp}{BNO08xRptRVGeneric.hpp}}"{}}}
-\DoxyCodeLine{9 }
-\DoxyCodeLine{15 \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x_rpt_r_v}{BNO08xRptRV}} : \textcolor{keyword}{public} \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_generic}{BNO08xRptRVGeneric}}}
-\DoxyCodeLine{16 \{}
-\DoxyCodeLine{17     \textcolor{keyword}{public}:}
-\DoxyCodeLine{18         \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_a3c4173b40339de15cb7f304f73ae53f3}{BNO08xRptRV}}(uint8\_t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, EventBits\_t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}}* \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
-\DoxyCodeLine{19             : \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_generic}{BNO08xRptRVGeneric}}(\mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
-\DoxyCodeLine{20         \{}
-\DoxyCodeLine{21         \}}
-\DoxyCodeLine{22 }
-\DoxyCodeLine{23         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_aab42904ebfc698d0af0944deaafcd226}{tare}}(\textcolor{keywordtype}{bool} x = \textcolor{keyword}{true}, \textcolor{keywordtype}{bool} y = \textcolor{keyword}{true}, \textcolor{keywordtype}{bool} z = \textcolor{keyword}{true});}
-\DoxyCodeLine{24         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_aa152921434b50a95977b0a4f925abec0}{tare\_persist}}();}
-\DoxyCodeLine{25         \textcolor{keywordtype}{void} \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_a920fb5940c13870657c48538569aff87}{tare\_clear}}();}
-\DoxyCodeLine{26 }
-\DoxyCodeLine{27     \textcolor{keyword}{private}:}
-\DoxyCodeLine{28         \textcolor{keywordtype}{void} update\_data(sh2\_SensorValue\_t* sensor\_val) \textcolor{keyword}{override};}
-\DoxyCodeLine{29         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} \textcolor{keywordtype}{char}* TAG = \textcolor{stringliteral}{"{}BNO08xRptRV"{}};}
-\DoxyCodeLine{30 \};}
-
-\end{DoxyCode}
diff --git a/documentation/latex/_b_n_o08x_rpt_r_v_generic_8cpp.tex b/documentation/latex/_b_n_o08x_rpt_r_v_generic_8cpp.tex
deleted file mode 100644
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--- a/documentation/latex/_b_n_o08x_rpt_r_v_generic_8cpp.tex
+++ /dev/null
@@ -1,17 +0,0 @@
-\hypertarget{_b_n_o08x_rpt_r_v_generic_8cpp}{}\doxysection{report/\+BNO08x\+Rpt\+RVGeneric.cpp File Reference}
-\label{_b_n_o08x_rpt_r_v_generic_8cpp}\index{report/BNO08xRptRVGeneric.cpp@{report/BNO08xRptRVGeneric.cpp}}
-{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+RVGeneric.\+hpp\char`\"{}}\newline
-Include dependency graph for BNO08x\+Rpt\+RVGeneric.\+cpp\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_rpt_r_v_generic_8cpp__incl}
-\end{center}
-\end{figure}
-
-
-\doxysubsection{Detailed Description}
-\begin{DoxyAuthor}{Author}
-Myles Parfeniuk 
-\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_r_v_generic_8cpp__incl.md5 b/documentation/latex/_b_n_o08x_rpt_r_v_generic_8cpp__incl.md5
deleted file mode 100644
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--- a/documentation/latex/_b_n_o08x_rpt_r_v_generic_8cpp__incl.md5
+++ /dev/null
@@ -1 +0,0 @@
-cbf6a88ab12446b6d6e472eb44af4076
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_r_v_generic_8cpp__incl.pdf b/documentation/latex/_b_n_o08x_rpt_r_v_generic_8cpp__incl.pdf
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deleted file mode 100644
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--- a/documentation/latex/_b_n_o08x_rpt_r_v_generic_8hpp.tex
+++ /dev/null
@@ -1,30 +0,0 @@
-\hypertarget{_b_n_o08x_rpt_r_v_generic_8hpp}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\+BNO08x\+Rpt\+RVGeneric.hpp File Reference}
-\label{_b_n_o08x_rpt_r_v_generic_8hpp}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptRVGeneric.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptRVGeneric.hpp}}
-{\ttfamily \#include \char`\"{}BNO08x\+Rpt.\+hpp\char`\"{}}\newline
-Include dependency graph for BNO08x\+Rpt\+RVGeneric.\+hpp\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_rpt_r_v_generic_8hpp__incl}
-\end{center}
-\end{figure}
-This graph shows which files directly or indirectly include this file\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_rpt_r_v_generic_8hpp__dep__incl}
-\end{center}
-\end{figure}
-\doxysubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-class \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_generic}{BNO08x\+Rpt\+RVGeneric}}
-\begin{DoxyCompactList}\small\item\em Class to represent rotation vector reports. \end{DoxyCompactList}\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-\begin{DoxyAuthor}{Author}
-Myles Parfeniuk 
-\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_r_v_generic_8hpp__dep__incl.md5 b/documentation/latex/_b_n_o08x_rpt_r_v_generic_8hpp__dep__incl.md5
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+++ /dev/null
@@ -1 +0,0 @@
-8a429548ee515d0c8e870c3bc8b84496
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_r_v_generic_8hpp__dep__incl.pdf b/documentation/latex/_b_n_o08x_rpt_r_v_generic_8hpp__dep__incl.pdf
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+++ /dev/null
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-40c9b9d2a4d358f2d89740df63212e53
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_r_v_generic_8hpp__incl.pdf b/documentation/latex/_b_n_o08x_rpt_r_v_generic_8hpp__incl.pdf
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deleted file mode 100644
index 32295de..0000000
--- a/documentation/latex/_b_n_o08x_rpt_r_v_generic_8hpp_source.tex
+++ /dev/null
@@ -1,28 +0,0 @@
-\hypertarget{_b_n_o08x_rpt_r_v_generic_8hpp_source}{}\doxysection{BNO08x\+Rpt\+RVGeneric.\+hpp}
-\label{_b_n_o08x_rpt_r_v_generic_8hpp_source}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptRVGeneric.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptRVGeneric.hpp}}
-\mbox{\hyperlink{_b_n_o08x_rpt_r_v_generic_8hpp}{Go to the documentation of this file.}}
-\begin{DoxyCode}{0}
-\DoxyCodeLine{1 }
-\DoxyCodeLine{6 \textcolor{preprocessor}{\#pragma once}}
-\DoxyCodeLine{7 }
-\DoxyCodeLine{8 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_8hpp}{BNO08xRpt.hpp}}"{}}}
-\DoxyCodeLine{9 }
-\DoxyCodeLine{15 \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x_rpt_r_v_generic}{BNO08xRptRVGeneric}} : \textcolor{keyword}{public} \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08xRpt}}}
-\DoxyCodeLine{16 \{}
-\DoxyCodeLine{17     \textcolor{keyword}{public}:}
-\DoxyCodeLine{18         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_generic_a17c6cf89a5f7bf5c3fb9f8ff3ed74e8e}{enable}}(}
-\DoxyCodeLine{19                 uint32\_t time\_between\_reports, sh2\_SensorConfig\_t sensor\_cfg = BNO08xPrivateTypes::default\_sensor\_cfg) \textcolor{keyword}{override};}
-\DoxyCodeLine{20         \mbox{\hyperlink{structbno08x__quat__t}{bno08x\_quat\_t}} \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_generic_afc2accdd72076cd758f9f9108351d7a8}{get\_quat}}();}
-\DoxyCodeLine{21         \mbox{\hyperlink{structbno08x__euler__angle__t}{bno08x\_euler\_angle\_t}} \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_generic_abbaaa6737d578e056f93687d4ad780f7}{get\_euler}}(\textcolor{keywordtype}{bool} in\_degrees = \textcolor{keyword}{true});}
-\DoxyCodeLine{22 }
-\DoxyCodeLine{23     \textcolor{keyword}{protected}:}
-\DoxyCodeLine{24         \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_generic_a7c35188ccfb976cba1b7e4626022987c}{BNO08xRptRVGeneric}}(uint8\_t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, EventBits\_t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}}* \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
-\DoxyCodeLine{25             : \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08xRpt}}(\mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
-\DoxyCodeLine{26         \{}
-\DoxyCodeLine{27         \}}
-\DoxyCodeLine{28         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_generic_ab059dded7c0a7c922e9c624baac34ecd}{tare}}(\textcolor{keywordtype}{bool} x, \textcolor{keywordtype}{bool} y, \textcolor{keywordtype}{bool} z, sh2\_TareBasis\_t basis);}
-\DoxyCodeLine{29         \mbox{\hyperlink{structbno08x__quat__t}{bno08x\_quat\_t}} \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_generic_ad5174665e1c943291110630dc461caff}{data}};}
-\DoxyCodeLine{30         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} \textcolor{keywordtype}{char}* \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_generic_a5315a83517cd15397842254a9926b1c4}{TAG}} = \textcolor{stringliteral}{"{}BNO08xRptRVGeneric"{}};}
-\DoxyCodeLine{31 \};}
-
-\end{DoxyCode}
diff --git a/documentation/latex/_b_n_o08x_rpt_r_v_geomag_8cpp.tex b/documentation/latex/_b_n_o08x_rpt_r_v_geomag_8cpp.tex
deleted file mode 100644
index 2c27667..0000000
--- a/documentation/latex/_b_n_o08x_rpt_r_v_geomag_8cpp.tex
+++ /dev/null
@@ -1,17 +0,0 @@
-\hypertarget{_b_n_o08x_rpt_r_v_geomag_8cpp}{}\doxysection{report/\+BNO08x\+Rpt\+RVGeomag.cpp File Reference}
-\label{_b_n_o08x_rpt_r_v_geomag_8cpp}\index{report/BNO08xRptRVGeomag.cpp@{report/BNO08xRptRVGeomag.cpp}}
-{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+RVGeomag.\+hpp\char`\"{}}\newline
-Include dependency graph for BNO08x\+Rpt\+RVGeomag.\+cpp\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_rpt_r_v_geomag_8cpp__incl}
-\end{center}
-\end{figure}
-
-
-\doxysubsection{Detailed Description}
-\begin{DoxyAuthor}{Author}
-Myles Parfeniuk 
-\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_r_v_geomag_8cpp__incl.md5 b/documentation/latex/_b_n_o08x_rpt_r_v_geomag_8cpp__incl.md5
deleted file mode 100644
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--- a/documentation/latex/_b_n_o08x_rpt_r_v_geomag_8cpp__incl.md5
+++ /dev/null
@@ -1 +0,0 @@
-18cceed5db1d06e7f740e0c0f3734664
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_r_v_geomag_8cpp__incl.pdf b/documentation/latex/_b_n_o08x_rpt_r_v_geomag_8cpp__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_rpt_r_v_geomag_8hpp.tex b/documentation/latex/_b_n_o08x_rpt_r_v_geomag_8hpp.tex
deleted file mode 100644
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--- a/documentation/latex/_b_n_o08x_rpt_r_v_geomag_8hpp.tex
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@@ -1,30 +0,0 @@
-\hypertarget{_b_n_o08x_rpt_r_v_geomag_8hpp}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\+BNO08x\+Rpt\+RVGeomag.hpp File Reference}
-\label{_b_n_o08x_rpt_r_v_geomag_8hpp}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptRVGeomag.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptRVGeomag.hpp}}
-{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+RVGeneric.\+hpp\char`\"{}}\newline
-Include dependency graph for BNO08x\+Rpt\+RVGeomag.\+hpp\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_rpt_r_v_geomag_8hpp__incl}
-\end{center}
-\end{figure}
-This graph shows which files directly or indirectly include this file\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_rpt_r_v_geomag_8hpp__dep__incl}
-\end{center}
-\end{figure}
-\doxysubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-class \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_geomag}{BNO08x\+Rpt\+RVGeomag}}
-\begin{DoxyCompactList}\small\item\em Class to represent geomagnetic rotation vector reports. (See Ref. Manual 6.\+5.\+20) \end{DoxyCompactList}\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-\begin{DoxyAuthor}{Author}
-Myles Parfeniuk 
-\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_r_v_geomag_8hpp__dep__incl.md5 b/documentation/latex/_b_n_o08x_rpt_r_v_geomag_8hpp__dep__incl.md5
deleted file mode 100644
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--- a/documentation/latex/_b_n_o08x_rpt_r_v_geomag_8hpp__dep__incl.md5
+++ /dev/null
@@ -1 +0,0 @@
-b165ee51d2233033aa99f1885f832deb
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_r_v_geomag_8hpp__dep__incl.pdf b/documentation/latex/_b_n_o08x_rpt_r_v_geomag_8hpp__dep__incl.pdf
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-45de6f3e469185a870186e59f9eb2f89
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_r_v_geomag_8hpp__incl.pdf b/documentation/latex/_b_n_o08x_rpt_r_v_geomag_8hpp__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_rpt_r_v_geomag_8hpp_source.tex b/documentation/latex/_b_n_o08x_rpt_r_v_geomag_8hpp_source.tex
deleted file mode 100644
index ddde298..0000000
--- a/documentation/latex/_b_n_o08x_rpt_r_v_geomag_8hpp_source.tex
+++ /dev/null
@@ -1,27 +0,0 @@
-\hypertarget{_b_n_o08x_rpt_r_v_geomag_8hpp_source}{}\doxysection{BNO08x\+Rpt\+RVGeomag.\+hpp}
-\label{_b_n_o08x_rpt_r_v_geomag_8hpp_source}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptRVGeomag.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptRVGeomag.hpp}}
-\mbox{\hyperlink{_b_n_o08x_rpt_r_v_geomag_8hpp}{Go to the documentation of this file.}}
-\begin{DoxyCode}{0}
-\DoxyCodeLine{1 }
-\DoxyCodeLine{6 \textcolor{preprocessor}{\#pragma once}}
-\DoxyCodeLine{7 }
-\DoxyCodeLine{8 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_r_v_generic_8hpp}{BNO08xRptRVGeneric.hpp}}"{}}}
-\DoxyCodeLine{9 }
-\DoxyCodeLine{15 \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x_rpt_r_v_geomag}{BNO08xRptRVGeomag}} : \textcolor{keyword}{public} \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_generic}{BNO08xRptRVGeneric}}}
-\DoxyCodeLine{16 \{}
-\DoxyCodeLine{17     \textcolor{keyword}{public}:}
-\DoxyCodeLine{18         \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_geomag_a32bd70c7777973497b6d1b7f960bea0b}{BNO08xRptRVGeomag}}(uint8\_t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, EventBits\_t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}}* \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
-\DoxyCodeLine{19             : \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_generic}{BNO08xRptRVGeneric}}(\mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
-\DoxyCodeLine{20         \{}
-\DoxyCodeLine{21         \}}
-\DoxyCodeLine{22 }
-\DoxyCodeLine{23         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_geomag_a622f024808e368b09c41ca1b5118a874}{tare}}(\textcolor{keywordtype}{bool} x = \textcolor{keyword}{true}, \textcolor{keywordtype}{bool} y = \textcolor{keyword}{true}, \textcolor{keywordtype}{bool} z = \textcolor{keyword}{true});}
-\DoxyCodeLine{24         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_geomag_a57305f5f72067a56b037cf766fa2ee63}{tare\_persist}}();}
-\DoxyCodeLine{25         \textcolor{keywordtype}{void} \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_geomag_a2c62a41402f167a49025914a9800d062}{tare\_clear}}();}
-\DoxyCodeLine{26 }
-\DoxyCodeLine{27     \textcolor{keyword}{private}:}
-\DoxyCodeLine{28         \textcolor{keywordtype}{void} update\_data(sh2\_SensorValue\_t* sensor\_val) \textcolor{keyword}{override};}
-\DoxyCodeLine{29         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} \textcolor{keywordtype}{char}* TAG = \textcolor{stringliteral}{"{}BNO08xRptRVGeomag"{}};}
-\DoxyCodeLine{30 \};}
-
-\end{DoxyCode}
diff --git a/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8cpp.tex b/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8cpp.tex
deleted file mode 100644
index a140ea7..0000000
--- a/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8cpp.tex
+++ /dev/null
@@ -1,17 +0,0 @@
-\hypertarget{_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8cpp}{}\doxysection{report/\+BNO08x\+Rpt\+Raw\+MEMSAccelerometer.cpp File Reference}
-\label{_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8cpp}\index{report/BNO08xRptRawMEMSAccelerometer.cpp@{report/BNO08xRptRawMEMSAccelerometer.cpp}}
-{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+Raw\+MEMSAccelerometer.\+hpp\char`\"{}}\newline
-Include dependency graph for BNO08x\+Rpt\+Raw\+MEMSAccelerometer.\+cpp\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8cpp__incl}
-\end{center}
-\end{figure}
-
-
-\doxysubsection{Detailed Description}
-\begin{DoxyAuthor}{Author}
-Myles Parfeniuk 
-\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8cpp__incl.md5 b/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8cpp__incl.md5
deleted file mode 100644
index 5cbebb5..0000000
--- a/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8cpp__incl.md5
+++ /dev/null
@@ -1 +0,0 @@
-b6e8030118a9c906442db6450c2e3f45
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8cpp__incl.pdf b/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8cpp__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8hpp.tex b/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8hpp.tex
deleted file mode 100644
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--- a/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8hpp.tex
+++ /dev/null
@@ -1,30 +0,0 @@
-\hypertarget{_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8hpp}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\+BNO08x\+Rpt\+Raw\+MEMSAccelerometer.hpp File Reference}
-\label{_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8hpp}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptRawMEMSAccelerometer.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptRawMEMSAccelerometer.hpp}}
-{\ttfamily \#include \char`\"{}BNO08x\+Rpt.\+hpp\char`\"{}}\newline
-Include dependency graph for BNO08x\+Rpt\+Raw\+MEMSAccelerometer.\+hpp\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8hpp__incl}
-\end{center}
-\end{figure}
-This graph shows which files directly or indirectly include this file\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8hpp__dep__incl}
-\end{center}
-\end{figure}
-\doxysubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-class \mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer}{BNO08x\+Rpt\+Raw\+MEMSAccelerometer}}
-\begin{DoxyCompactList}\small\item\em Class to represent raw accelerometer reports. (See Ref. Manual 6.\+5.\+8) \end{DoxyCompactList}\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-\begin{DoxyAuthor}{Author}
-Myles Parfeniuk 
-\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8hpp__dep__incl.md5 b/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8hpp__dep__incl.md5
deleted file mode 100644
index e109ef3..0000000
--- a/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8hpp__dep__incl.md5
+++ /dev/null
@@ -1 +0,0 @@
-2942eab497fbee782d2edf26e4bfc065
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8hpp__dep__incl.pdf b/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8hpp__dep__incl.pdf
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+++ /dev/null
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-14f91b81b903794ebb0fa690bcc0bf8d
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8hpp__incl.pdf b/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8hpp__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8hpp_source.tex b/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8hpp_source.tex
deleted file mode 100644
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--- a/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8hpp_source.tex
+++ /dev/null
@@ -1,28 +0,0 @@
-\hypertarget{_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8hpp_source}{}\doxysection{BNO08x\+Rpt\+Raw\+MEMSAccelerometer.\+hpp}
-\label{_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8hpp_source}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptRawMEMSAccelerometer.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptRawMEMSAccelerometer.hpp}}
-\mbox{\hyperlink{_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8hpp}{Go to the documentation of this file.}}
-\begin{DoxyCode}{0}
-\DoxyCodeLine{1 }
-\DoxyCodeLine{6 \textcolor{preprocessor}{\#pragma once}}
-\DoxyCodeLine{7 }
-\DoxyCodeLine{8 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_8hpp}{BNO08xRpt.hpp}}"{}}}
-\DoxyCodeLine{9 }
-\DoxyCodeLine{15 \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer}{BNO08xRptRawMEMSAccelerometer}} : \textcolor{keyword}{public} \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08xRpt}}}
-\DoxyCodeLine{16 \{}
-\DoxyCodeLine{17     \textcolor{keyword}{public}:}
-\DoxyCodeLine{18         \mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_a1a7c70a4c2d2004fe827dfa834d789e7}{BNO08xRptRawMEMSAccelerometer}}(uint8\_t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, EventBits\_t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}}* \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
-\DoxyCodeLine{19             : \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08xRpt}}(\mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
-\DoxyCodeLine{20         \{}
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-\DoxyCodeLine{22 }
-\DoxyCodeLine{23         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_a3cfc735c048700fe79a5674ad92b4b03}{enable}}(}
-\DoxyCodeLine{24                 uint32\_t time\_between\_reports, sh2\_SensorConfig\_t sensor\_cfg = BNO08xPrivateTypes::default\_sensor\_cfg) \textcolor{keyword}{override};}
-\DoxyCodeLine{25         \mbox{\hyperlink{structbno08x__raw__accel__t}{bno08x\_raw\_accel\_t}} \mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_ae72428b3455327ecec5ee1c6ad065d56}{get}}();}
-\DoxyCodeLine{26 }
-\DoxyCodeLine{27     \textcolor{keyword}{private}:}
-\DoxyCodeLine{28         \textcolor{keywordtype}{void} update\_data(sh2\_SensorValue\_t* sensor\_val) \textcolor{keyword}{override};}
-\DoxyCodeLine{29         \mbox{\hyperlink{structbno08x__raw__accel__t}{bno08x\_raw\_accel\_t}} data;}
-\DoxyCodeLine{30         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} \textcolor{keywordtype}{char}* TAG = \textcolor{stringliteral}{"{}BNO08xRptRawMEMSAccelerometer"{}};}
-\DoxyCodeLine{31 \};}
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diff --git a/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_gyro_8cpp.tex b/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_gyro_8cpp.tex
deleted file mode 100644
index 590601f..0000000
--- a/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_gyro_8cpp.tex
+++ /dev/null
@@ -1,17 +0,0 @@
-\hypertarget{_b_n_o08x_rpt_raw_m_e_m_s_gyro_8cpp}{}\doxysection{report/\+BNO08x\+Rpt\+Raw\+MEMSGyro.cpp File Reference}
-\label{_b_n_o08x_rpt_raw_m_e_m_s_gyro_8cpp}\index{report/BNO08xRptRawMEMSGyro.cpp@{report/BNO08xRptRawMEMSGyro.cpp}}
-{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+Raw\+MEMSGyro.\+hpp\char`\"{}}\newline
-Include dependency graph for BNO08x\+Rpt\+Raw\+MEMSGyro.\+cpp\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_rpt_raw_m_e_m_s_gyro_8cpp__incl}
-\end{center}
-\end{figure}
-
-
-\doxysubsection{Detailed Description}
-\begin{DoxyAuthor}{Author}
-Myles Parfeniuk 
-\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_gyro_8cpp__incl.md5 b/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_gyro_8cpp__incl.md5
deleted file mode 100644
index a46c607..0000000
--- a/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_gyro_8cpp__incl.md5
+++ /dev/null
@@ -1 +0,0 @@
-ff98a16bbfa5892692448fcb931326ff
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_gyro_8cpp__incl.pdf b/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_gyro_8cpp__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_gyro_8hpp.tex b/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_gyro_8hpp.tex
deleted file mode 100644
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--- a/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_gyro_8hpp.tex
+++ /dev/null
@@ -1,30 +0,0 @@
-\hypertarget{_b_n_o08x_rpt_raw_m_e_m_s_gyro_8hpp}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\+BNO08x\+Rpt\+Raw\+MEMSGyro.hpp File Reference}
-\label{_b_n_o08x_rpt_raw_m_e_m_s_gyro_8hpp}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptRawMEMSGyro.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptRawMEMSGyro.hpp}}
-{\ttfamily \#include \char`\"{}BNO08x\+Rpt.\+hpp\char`\"{}}\newline
-Include dependency graph for BNO08x\+Rpt\+Raw\+MEMSGyro.\+hpp\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_rpt_raw_m_e_m_s_gyro_8hpp__incl}
-\end{center}
-\end{figure}
-This graph shows which files directly or indirectly include this file\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_rpt_raw_m_e_m_s_gyro_8hpp__dep__incl}
-\end{center}
-\end{figure}
-\doxysubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-class \mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_gyro}{BNO08x\+Rpt\+Raw\+MEMSGyro}}
-\begin{DoxyCompactList}\small\item\em Class to represent raw gyro reports. (See Ref. Manual 6.\+5.\+12) \end{DoxyCompactList}\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-\begin{DoxyAuthor}{Author}
-Myles Parfeniuk 
-\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_gyro_8hpp__dep__incl.md5 b/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_gyro_8hpp__dep__incl.md5
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--- a/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_gyro_8hpp__dep__incl.md5
+++ /dev/null
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-a2b10b3d9cf8e624962702aa53541922
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_gyro_8hpp__dep__incl.pdf b/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_gyro_8hpp__dep__incl.pdf
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-809af7bcd69bf701ce16eb9abb5b9d91
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_gyro_8hpp__incl.pdf b/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_gyro_8hpp__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_gyro_8hpp_source.tex b/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_gyro_8hpp_source.tex
deleted file mode 100644
index 99ae644..0000000
--- a/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_gyro_8hpp_source.tex
+++ /dev/null
@@ -1,28 +0,0 @@
-\hypertarget{_b_n_o08x_rpt_raw_m_e_m_s_gyro_8hpp_source}{}\doxysection{BNO08x\+Rpt\+Raw\+MEMSGyro.\+hpp}
-\label{_b_n_o08x_rpt_raw_m_e_m_s_gyro_8hpp_source}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptRawMEMSGyro.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptRawMEMSGyro.hpp}}
-\mbox{\hyperlink{_b_n_o08x_rpt_raw_m_e_m_s_gyro_8hpp}{Go to the documentation of this file.}}
-\begin{DoxyCode}{0}
-\DoxyCodeLine{1 }
-\DoxyCodeLine{6 \textcolor{preprocessor}{\#pragma once}}
-\DoxyCodeLine{7 }
-\DoxyCodeLine{8 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_8hpp}{BNO08xRpt.hpp}}"{}}}
-\DoxyCodeLine{9 }
-\DoxyCodeLine{15 \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_gyro}{BNO08xRptRawMEMSGyro}} : \textcolor{keyword}{public} \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08xRpt}}}
-\DoxyCodeLine{16 \{}
-\DoxyCodeLine{17     \textcolor{keyword}{public}:}
-\DoxyCodeLine{18         \mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_gyro_a9ad8a6a41c6680302f5ddb8154360ba2}{BNO08xRptRawMEMSGyro}}(uint8\_t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, EventBits\_t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}}* \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
-\DoxyCodeLine{19             : \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08xRpt}}(\mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
-\DoxyCodeLine{20         \{}
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-\DoxyCodeLine{22 }
-\DoxyCodeLine{23         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_gyro_ae872f24befd81352f812bc998acb573d}{enable}}(}
-\DoxyCodeLine{24                 uint32\_t time\_between\_reports, sh2\_SensorConfig\_t sensor\_cfg = BNO08xPrivateTypes::default\_sensor\_cfg) \textcolor{keyword}{override};}
-\DoxyCodeLine{25         \mbox{\hyperlink{structbno08x__raw__gyro__t}{bno08x\_raw\_gyro\_t}} \mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_gyro_ac9a43087ac86ca6d2309adae996747d5}{get}}();}
-\DoxyCodeLine{26 }
-\DoxyCodeLine{27     \textcolor{keyword}{private}:}
-\DoxyCodeLine{28         \textcolor{keywordtype}{void} update\_data(sh2\_SensorValue\_t* sensor\_val) \textcolor{keyword}{override};}
-\DoxyCodeLine{29         \mbox{\hyperlink{structbno08x__raw__gyro__t}{bno08x\_raw\_gyro\_t}} data;}
-\DoxyCodeLine{30         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} \textcolor{keywordtype}{char}* TAG = \textcolor{stringliteral}{"{}BNO08xRptRawMEMSGyro"{}};}
-\DoxyCodeLine{31 \};}
-
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diff --git a/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8cpp.tex b/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8cpp.tex
deleted file mode 100644
index 4cb6906..0000000
--- a/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8cpp.tex
+++ /dev/null
@@ -1,17 +0,0 @@
-\hypertarget{_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8cpp}{}\doxysection{report/\+BNO08x\+Rpt\+Raw\+MEMSMagnetometer.cpp File Reference}
-\label{_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8cpp}\index{report/BNO08xRptRawMEMSMagnetometer.cpp@{report/BNO08xRptRawMEMSMagnetometer.cpp}}
-{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+Raw\+MEMSMagnetometer.\+hpp\char`\"{}}\newline
-Include dependency graph for BNO08x\+Rpt\+Raw\+MEMSMagnetometer.\+cpp\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8cpp__incl}
-\end{center}
-\end{figure}
-
-
-\doxysubsection{Detailed Description}
-\begin{DoxyAuthor}{Author}
-Myles Parfeniuk 
-\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8cpp__incl.md5 b/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8cpp__incl.md5
deleted file mode 100644
index 59f8f55..0000000
--- a/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8cpp__incl.md5
+++ /dev/null
@@ -1 +0,0 @@
-d76b87736511036f22f415f3edacc47e
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8cpp__incl.pdf b/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8cpp__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8hpp.tex b/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8hpp.tex
deleted file mode 100644
index 95d0b7b..0000000
--- a/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8hpp.tex
+++ /dev/null
@@ -1,30 +0,0 @@
-\hypertarget{_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8hpp}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\+BNO08x\+Rpt\+Raw\+MEMSMagnetometer.hpp File Reference}
-\label{_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8hpp}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptRawMEMSMagnetometer.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptRawMEMSMagnetometer.hpp}}
-{\ttfamily \#include \char`\"{}BNO08x\+Rpt.\+hpp\char`\"{}}\newline
-Include dependency graph for BNO08x\+Rpt\+Raw\+MEMSMagnetometer.\+hpp\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8hpp__incl}
-\end{center}
-\end{figure}
-This graph shows which files directly or indirectly include this file\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8hpp__dep__incl}
-\end{center}
-\end{figure}
-\doxysubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-class \mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer}{BNO08x\+Rpt\+Raw\+MEMSMagnetometer}}
-\begin{DoxyCompactList}\small\item\em Class to represent raw magnetometer reports. (See Ref. Manual 6.\+5.\+15) \end{DoxyCompactList}\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-\begin{DoxyAuthor}{Author}
-Myles Parfeniuk 
-\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8hpp__dep__incl.md5 b/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8hpp__dep__incl.md5
deleted file mode 100644
index fa52708..0000000
--- a/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8hpp__dep__incl.md5
+++ /dev/null
@@ -1 +0,0 @@
-c4d762eb2feba2510582008e2008ea21
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8hpp__dep__incl.pdf b/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8hpp__dep__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8hpp__incl.md5 b/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8hpp__incl.md5
deleted file mode 100644
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--- a/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8hpp__incl.md5
+++ /dev/null
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-5c5e84fe8908ff4d959a44e714c2c894
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8hpp__incl.pdf b/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8hpp__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8hpp_source.tex b/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8hpp_source.tex
deleted file mode 100644
index 4bbd115..0000000
--- a/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8hpp_source.tex
+++ /dev/null
@@ -1,28 +0,0 @@
-\hypertarget{_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8hpp_source}{}\doxysection{BNO08x\+Rpt\+Raw\+MEMSMagnetometer.\+hpp}
-\label{_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8hpp_source}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptRawMEMSMagnetometer.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptRawMEMSMagnetometer.hpp}}
-\mbox{\hyperlink{_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8hpp}{Go to the documentation of this file.}}
-\begin{DoxyCode}{0}
-\DoxyCodeLine{1 }
-\DoxyCodeLine{6 \textcolor{preprocessor}{\#pragma once}}
-\DoxyCodeLine{7 }
-\DoxyCodeLine{8 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_8hpp}{BNO08xRpt.hpp}}"{}}}
-\DoxyCodeLine{9 }
-\DoxyCodeLine{15 \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer}{BNO08xRptRawMEMSMagnetometer}} : \textcolor{keyword}{public} \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08xRpt}}}
-\DoxyCodeLine{16 \{}
-\DoxyCodeLine{17     \textcolor{keyword}{public}:}
-\DoxyCodeLine{18         \mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_a1033eaa9b7533a381781c8a750bac04b}{BNO08xRptRawMEMSMagnetometer}}(uint8\_t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, EventBits\_t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}}* \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
-\DoxyCodeLine{19             : \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08xRpt}}(\mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
-\DoxyCodeLine{20         \{}
-\DoxyCodeLine{21         \}}
-\DoxyCodeLine{22 }
-\DoxyCodeLine{23         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_a92832fd0bff6abddbbd87779de5b57fb}{enable}}(}
-\DoxyCodeLine{24                 uint32\_t time\_between\_reports, sh2\_SensorConfig\_t sensor\_cfg = BNO08xPrivateTypes::default\_sensor\_cfg) \textcolor{keyword}{override};}
-\DoxyCodeLine{25         \mbox{\hyperlink{structbno08x__raw__magf__t}{bno08x\_raw\_magf\_t}} \mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_a44247c8dbd3376ff81599c192b7dfc71}{get}}();}
-\DoxyCodeLine{26 }
-\DoxyCodeLine{27     \textcolor{keyword}{private}:}
-\DoxyCodeLine{28         \textcolor{keywordtype}{void} update\_data(sh2\_SensorValue\_t* sensor\_val) \textcolor{keyword}{override};}
-\DoxyCodeLine{29         \mbox{\hyperlink{structbno08x__raw__magf__t}{bno08x\_raw\_magf\_t}} data;}
-\DoxyCodeLine{30         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} \textcolor{keywordtype}{char}* TAG = \textcolor{stringliteral}{"{}BNO08xRptRawMEMSMagnetometer"{}};}
-\DoxyCodeLine{31 \};}
-
-\end{DoxyCode}
diff --git a/documentation/latex/_b_n_o08x_rpt_shake_detector_8cpp.tex b/documentation/latex/_b_n_o08x_rpt_shake_detector_8cpp.tex
deleted file mode 100644
index af62a42..0000000
--- a/documentation/latex/_b_n_o08x_rpt_shake_detector_8cpp.tex
+++ /dev/null
@@ -1,17 +0,0 @@
-\hypertarget{_b_n_o08x_rpt_shake_detector_8cpp}{}\doxysection{report/\+BNO08x\+Rpt\+Shake\+Detector.cpp File Reference}
-\label{_b_n_o08x_rpt_shake_detector_8cpp}\index{report/BNO08xRptShakeDetector.cpp@{report/BNO08xRptShakeDetector.cpp}}
-{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+Shake\+Detector.\+hpp\char`\"{}}\newline
-Include dependency graph for BNO08x\+Rpt\+Shake\+Detector.\+cpp\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_rpt_shake_detector_8cpp__incl}
-\end{center}
-\end{figure}
-
-
-\doxysubsection{Detailed Description}
-\begin{DoxyAuthor}{Author}
-Myles Parfeniuk 
-\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_shake_detector_8cpp__incl.md5 b/documentation/latex/_b_n_o08x_rpt_shake_detector_8cpp__incl.md5
deleted file mode 100644
index 11fbc71..0000000
--- a/documentation/latex/_b_n_o08x_rpt_shake_detector_8cpp__incl.md5
+++ /dev/null
@@ -1 +0,0 @@
-e504dc11feedc75eed90c89ab0c479b2
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_shake_detector_8cpp__incl.pdf b/documentation/latex/_b_n_o08x_rpt_shake_detector_8cpp__incl.pdf
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--- a/documentation/latex/_b_n_o08x_rpt_shake_detector_8hpp.tex
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-\hypertarget{_b_n_o08x_rpt_shake_detector_8hpp}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\+BNO08x\+Rpt\+Shake\+Detector.hpp File Reference}
-\label{_b_n_o08x_rpt_shake_detector_8hpp}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptShakeDetector.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptShakeDetector.hpp}}
-{\ttfamily \#include \char`\"{}BNO08x\+Rpt.\+hpp\char`\"{}}\newline
-Include dependency graph for BNO08x\+Rpt\+Shake\+Detector.\+hpp\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_rpt_shake_detector_8hpp__incl}
-\end{center}
-\end{figure}
-This graph shows which files directly or indirectly include this file\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_rpt_shake_detector_8hpp__dep__incl}
-\end{center}
-\end{figure}
-\doxysubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-class \mbox{\hyperlink{class_b_n_o08x_rpt_shake_detector}{BNO08x\+Rpt\+Shake\+Detector}}
-\begin{DoxyCompactList}\small\item\em Class to represent shake detector reports. (See Ref. Manual 6.\+5.\+32) \end{DoxyCompactList}\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-\begin{DoxyAuthor}{Author}
-Myles Parfeniuk 
-\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_shake_detector_8hpp__dep__incl.md5 b/documentation/latex/_b_n_o08x_rpt_shake_detector_8hpp__dep__incl.md5
deleted file mode 100644
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-b3ed618a923e302a1211bd1ce79a1076
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_shake_detector_8hpp__dep__incl.pdf b/documentation/latex/_b_n_o08x_rpt_shake_detector_8hpp__dep__incl.pdf
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-ff7a9f6bd24cb4a39e4d8837c92a9cd3
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_shake_detector_8hpp__incl.pdf b/documentation/latex/_b_n_o08x_rpt_shake_detector_8hpp__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_rpt_shake_detector_8hpp_source.tex b/documentation/latex/_b_n_o08x_rpt_shake_detector_8hpp_source.tex
deleted file mode 100644
index f64b1dd..0000000
--- a/documentation/latex/_b_n_o08x_rpt_shake_detector_8hpp_source.tex
+++ /dev/null
@@ -1,28 +0,0 @@
-\hypertarget{_b_n_o08x_rpt_shake_detector_8hpp_source}{}\doxysection{BNO08x\+Rpt\+Shake\+Detector.\+hpp}
-\label{_b_n_o08x_rpt_shake_detector_8hpp_source}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptShakeDetector.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptShakeDetector.hpp}}
-\mbox{\hyperlink{_b_n_o08x_rpt_shake_detector_8hpp}{Go to the documentation of this file.}}
-\begin{DoxyCode}{0}
-\DoxyCodeLine{1 }
-\DoxyCodeLine{6 \textcolor{preprocessor}{\#pragma once}}
-\DoxyCodeLine{7 }
-\DoxyCodeLine{8 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_8hpp}{BNO08xRpt.hpp}}"{}}}
-\DoxyCodeLine{9 }
-\DoxyCodeLine{15 \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x_rpt_shake_detector}{BNO08xRptShakeDetector}} : \textcolor{keyword}{public} \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08xRpt}}}
-\DoxyCodeLine{16 \{}
-\DoxyCodeLine{17     \textcolor{keyword}{public}:}
-\DoxyCodeLine{18         \mbox{\hyperlink{class_b_n_o08x_rpt_shake_detector_a22021e497ed9a31b2070b884f7eb6bd8}{BNO08xRptShakeDetector}}(uint8\_t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, EventBits\_t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}}* \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
-\DoxyCodeLine{19             : \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08xRpt}}(\mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
-\DoxyCodeLine{20         \{}
-\DoxyCodeLine{21         \}}
-\DoxyCodeLine{22 }
-\DoxyCodeLine{23         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_rpt_shake_detector_aa28fa73b51bd892f0239e647aa6ceeb8}{enable}}(}
-\DoxyCodeLine{24                 uint32\_t time\_between\_reports, sh2\_SensorConfig\_t sensor\_cfg = BNO08xPrivateTypes::default\_sensor\_cfg) \textcolor{keyword}{override};}
-\DoxyCodeLine{25         \mbox{\hyperlink{structbno08x__shake__detector__t}{bno08x\_shake\_detector\_t}} \mbox{\hyperlink{class_b_n_o08x_rpt_shake_detector_adf134a67833f9e2c71f76858abc88ee6}{get}}();}
-\DoxyCodeLine{26 }
-\DoxyCodeLine{27     \textcolor{keyword}{private}:}
-\DoxyCodeLine{28         \textcolor{keywordtype}{void} update\_data(sh2\_SensorValue\_t* sensor\_val) \textcolor{keyword}{override};}
-\DoxyCodeLine{29         \mbox{\hyperlink{structbno08x__shake__detector__t}{bno08x\_shake\_detector\_t}} data;}
-\DoxyCodeLine{30         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} \textcolor{keywordtype}{char}* TAG = \textcolor{stringliteral}{"{}BNO08xRptShakeDetector"{}};}
-\DoxyCodeLine{31 \};}
-
-\end{DoxyCode}
diff --git a/documentation/latex/_b_n_o08x_rpt_stability_classifier_8cpp.tex b/documentation/latex/_b_n_o08x_rpt_stability_classifier_8cpp.tex
deleted file mode 100644
index 2161c6a..0000000
--- a/documentation/latex/_b_n_o08x_rpt_stability_classifier_8cpp.tex
+++ /dev/null
@@ -1,17 +0,0 @@
-\hypertarget{_b_n_o08x_rpt_stability_classifier_8cpp}{}\doxysection{report/\+BNO08x\+Rpt\+Stability\+Classifier.cpp File Reference}
-\label{_b_n_o08x_rpt_stability_classifier_8cpp}\index{report/BNO08xRptStabilityClassifier.cpp@{report/BNO08xRptStabilityClassifier.cpp}}
-{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+Stability\+Classifier.\+hpp\char`\"{}}\newline
-Include dependency graph for BNO08x\+Rpt\+Stability\+Classifier.\+cpp\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_rpt_stability_classifier_8cpp__incl}
-\end{center}
-\end{figure}
-
-
-\doxysubsection{Detailed Description}
-\begin{DoxyAuthor}{Author}
-Myles Parfeniuk 
-\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_stability_classifier_8cpp__incl.md5 b/documentation/latex/_b_n_o08x_rpt_stability_classifier_8cpp__incl.md5
deleted file mode 100644
index 980ce51..0000000
--- a/documentation/latex/_b_n_o08x_rpt_stability_classifier_8cpp__incl.md5
+++ /dev/null
@@ -1 +0,0 @@
-bdaa5db998649188b8d48f1c01f1458b
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_stability_classifier_8cpp__incl.pdf b/documentation/latex/_b_n_o08x_rpt_stability_classifier_8cpp__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_rpt_stability_classifier_8hpp.tex b/documentation/latex/_b_n_o08x_rpt_stability_classifier_8hpp.tex
deleted file mode 100644
index 1af1f6a..0000000
--- a/documentation/latex/_b_n_o08x_rpt_stability_classifier_8hpp.tex
+++ /dev/null
@@ -1,30 +0,0 @@
-\hypertarget{_b_n_o08x_rpt_stability_classifier_8hpp}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\+BNO08x\+Rpt\+Stability\+Classifier.hpp File Reference}
-\label{_b_n_o08x_rpt_stability_classifier_8hpp}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptStabilityClassifier.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptStabilityClassifier.hpp}}
-{\ttfamily \#include \char`\"{}BNO08x\+Rpt.\+hpp\char`\"{}}\newline
-Include dependency graph for BNO08x\+Rpt\+Stability\+Classifier.\+hpp\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_rpt_stability_classifier_8hpp__incl}
-\end{center}
-\end{figure}
-This graph shows which files directly or indirectly include this file\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_rpt_stability_classifier_8hpp__dep__incl}
-\end{center}
-\end{figure}
-\doxysubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-class \mbox{\hyperlink{class_b_n_o08x_rpt_stability_classifier}{BNO08x\+Rpt\+Stability\+Classifier}}
-\begin{DoxyCompactList}\small\item\em Class to represent stability classifier reports. (See Ref. Manual 6.\+5.\+31) \end{DoxyCompactList}\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-\begin{DoxyAuthor}{Author}
-Myles Parfeniuk 
-\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_stability_classifier_8hpp__dep__incl.md5 b/documentation/latex/_b_n_o08x_rpt_stability_classifier_8hpp__dep__incl.md5
deleted file mode 100644
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--- a/documentation/latex/_b_n_o08x_rpt_stability_classifier_8hpp__dep__incl.md5
+++ /dev/null
@@ -1 +0,0 @@
-08b6bf51fad3a7079682f75070777b53
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_stability_classifier_8hpp__dep__incl.pdf b/documentation/latex/_b_n_o08x_rpt_stability_classifier_8hpp__dep__incl.pdf
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deleted file mode 100644
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--- a/documentation/latex/_b_n_o08x_rpt_stability_classifier_8hpp__incl.md5
+++ /dev/null
@@ -1 +0,0 @@
-1a2e93a07ee621a24db6475bae4f0a26
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_stability_classifier_8hpp__incl.pdf b/documentation/latex/_b_n_o08x_rpt_stability_classifier_8hpp__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_rpt_stability_classifier_8hpp_source.tex b/documentation/latex/_b_n_o08x_rpt_stability_classifier_8hpp_source.tex
deleted file mode 100644
index 840e851..0000000
--- a/documentation/latex/_b_n_o08x_rpt_stability_classifier_8hpp_source.tex
+++ /dev/null
@@ -1,29 +0,0 @@
-\hypertarget{_b_n_o08x_rpt_stability_classifier_8hpp_source}{}\doxysection{BNO08x\+Rpt\+Stability\+Classifier.\+hpp}
-\label{_b_n_o08x_rpt_stability_classifier_8hpp_source}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptStabilityClassifier.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptStabilityClassifier.hpp}}
-\mbox{\hyperlink{_b_n_o08x_rpt_stability_classifier_8hpp}{Go to the documentation of this file.}}
-\begin{DoxyCode}{0}
-\DoxyCodeLine{1 }
-\DoxyCodeLine{6 \textcolor{preprocessor}{\#pragma once}}
-\DoxyCodeLine{7 }
-\DoxyCodeLine{8 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_8hpp}{BNO08xRpt.hpp}}"{}}}
-\DoxyCodeLine{9 }
-\DoxyCodeLine{15 \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x_rpt_stability_classifier}{BNO08xRptStabilityClassifier}} : \textcolor{keyword}{public} \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08xRpt}}}
-\DoxyCodeLine{16 \{}
-\DoxyCodeLine{17     \textcolor{keyword}{public}:}
-\DoxyCodeLine{18         \mbox{\hyperlink{class_b_n_o08x_rpt_stability_classifier_a41052d651d03bccc414b14d6e9b670ab}{BNO08xRptStabilityClassifier}}(uint8\_t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, EventBits\_t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}}* \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
-\DoxyCodeLine{19             : \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08xRpt}}(\mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
-\DoxyCodeLine{20         \{}
-\DoxyCodeLine{21         \}}
-\DoxyCodeLine{22 }
-\DoxyCodeLine{23         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_rpt_stability_classifier_a4959110a01f638d04d87696d8a03dd60}{enable}}(}
-\DoxyCodeLine{24                 uint32\_t time\_between\_reports, sh2\_SensorConfig\_t sensor\_cfg = BNO08xPrivateTypes::default\_sensor\_cfg) \textcolor{keyword}{override};}
-\DoxyCodeLine{25         \mbox{\hyperlink{structbno08x__stability__classifier__t}{bno08x\_stability\_classifier\_t}} \mbox{\hyperlink{class_b_n_o08x_rpt_stability_classifier_a552b8df91df3905c7e2242ee42d11931}{get}}();}
-\DoxyCodeLine{26         \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cb}{BNO08xStability}} \mbox{\hyperlink{class_b_n_o08x_rpt_stability_classifier_a8c8c794004f8b2a5e67656286beae7cd}{get\_stability}}();}
-\DoxyCodeLine{27 }
-\DoxyCodeLine{28     \textcolor{keyword}{private}:}
-\DoxyCodeLine{29         \textcolor{keywordtype}{void} update\_data(sh2\_SensorValue\_t* sensor\_val) \textcolor{keyword}{override};}
-\DoxyCodeLine{30         \mbox{\hyperlink{structbno08x__stability__classifier__t}{bno08x\_stability\_classifier\_t}} data;}
-\DoxyCodeLine{31         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} \textcolor{keywordtype}{char}* TAG = \textcolor{stringliteral}{"{}BNO08xRptStabilityClassifier"{}};}
-\DoxyCodeLine{32 \};}
-
-\end{DoxyCode}
diff --git a/documentation/latex/_b_n_o08x_rpt_step_counter_8cpp.tex b/documentation/latex/_b_n_o08x_rpt_step_counter_8cpp.tex
deleted file mode 100644
index 6d1fa9f..0000000
--- a/documentation/latex/_b_n_o08x_rpt_step_counter_8cpp.tex
+++ /dev/null
@@ -1,17 +0,0 @@
-\hypertarget{_b_n_o08x_rpt_step_counter_8cpp}{}\doxysection{report/\+BNO08x\+Rpt\+Step\+Counter.cpp File Reference}
-\label{_b_n_o08x_rpt_step_counter_8cpp}\index{report/BNO08xRptStepCounter.cpp@{report/BNO08xRptStepCounter.cpp}}
-{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+Step\+Counter.\+hpp\char`\"{}}\newline
-Include dependency graph for BNO08x\+Rpt\+Step\+Counter.\+cpp\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_rpt_step_counter_8cpp__incl}
-\end{center}
-\end{figure}
-
-
-\doxysubsection{Detailed Description}
-\begin{DoxyAuthor}{Author}
-Myles Parfeniuk 
-\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_step_counter_8cpp__incl.md5 b/documentation/latex/_b_n_o08x_rpt_step_counter_8cpp__incl.md5
deleted file mode 100644
index e43a1b8..0000000
--- a/documentation/latex/_b_n_o08x_rpt_step_counter_8cpp__incl.md5
+++ /dev/null
@@ -1 +0,0 @@
-e8289ee1599d90a6d8d86f1640207188
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_step_counter_8cpp__incl.pdf b/documentation/latex/_b_n_o08x_rpt_step_counter_8cpp__incl.pdf
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deleted file mode 100644
index e8853c4..0000000
--- a/documentation/latex/_b_n_o08x_rpt_step_counter_8hpp.tex
+++ /dev/null
@@ -1,30 +0,0 @@
-\hypertarget{_b_n_o08x_rpt_step_counter_8hpp}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\+BNO08x\+Rpt\+Step\+Counter.hpp File Reference}
-\label{_b_n_o08x_rpt_step_counter_8hpp}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptStepCounter.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptStepCounter.hpp}}
-{\ttfamily \#include \char`\"{}BNO08x\+Rpt.\+hpp\char`\"{}}\newline
-Include dependency graph for BNO08x\+Rpt\+Step\+Counter.\+hpp\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_rpt_step_counter_8hpp__incl}
-\end{center}
-\end{figure}
-This graph shows which files directly or indirectly include this file\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_rpt_step_counter_8hpp__dep__incl}
-\end{center}
-\end{figure}
-\doxysubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-class \mbox{\hyperlink{class_b_n_o08x_rpt_step_counter}{BNO08x\+Rpt\+Step\+Counter}}
-\begin{DoxyCompactList}\small\item\em Class to represent step counter reports. (See Ref. Manual 6.\+5.\+29) \end{DoxyCompactList}\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-\begin{DoxyAuthor}{Author}
-Myles Parfeniuk 
-\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_step_counter_8hpp__dep__incl.md5 b/documentation/latex/_b_n_o08x_rpt_step_counter_8hpp__dep__incl.md5
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@@ -1 +0,0 @@
-602f43f363048314f246a5367b505c12
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_step_counter_8hpp__dep__incl.pdf b/documentation/latex/_b_n_o08x_rpt_step_counter_8hpp__dep__incl.pdf
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--- a/documentation/latex/_b_n_o08x_rpt_step_counter_8hpp__incl.md5
+++ /dev/null
@@ -1 +0,0 @@
-1a1ceed37e59779ab35e2baaeb23ed73
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_step_counter_8hpp__incl.pdf b/documentation/latex/_b_n_o08x_rpt_step_counter_8hpp__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_rpt_step_counter_8hpp_source.tex b/documentation/latex/_b_n_o08x_rpt_step_counter_8hpp_source.tex
deleted file mode 100644
index 91e1656..0000000
--- a/documentation/latex/_b_n_o08x_rpt_step_counter_8hpp_source.tex
+++ /dev/null
@@ -1,31 +0,0 @@
-\hypertarget{_b_n_o08x_rpt_step_counter_8hpp_source}{}\doxysection{BNO08x\+Rpt\+Step\+Counter.\+hpp}
-\label{_b_n_o08x_rpt_step_counter_8hpp_source}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptStepCounter.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptStepCounter.hpp}}
-\mbox{\hyperlink{_b_n_o08x_rpt_step_counter_8hpp}{Go to the documentation of this file.}}
-\begin{DoxyCode}{0}
-\DoxyCodeLine{1 }
-\DoxyCodeLine{6 \textcolor{preprocessor}{\#pragma once}}
-\DoxyCodeLine{7 }
-\DoxyCodeLine{8 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_8hpp}{BNO08xRpt.hpp}}"{}}}
-\DoxyCodeLine{9 }
-\DoxyCodeLine{15 \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x_rpt_step_counter}{BNO08xRptStepCounter}} : \textcolor{keyword}{public} \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08xRpt}}}
-\DoxyCodeLine{16 \{}
-\DoxyCodeLine{17     \textcolor{keyword}{public}:}
-\DoxyCodeLine{18         \mbox{\hyperlink{class_b_n_o08x_rpt_step_counter_a0a85682a68010aa66ddb2ccc337263a0}{BNO08xRptStepCounter}}(uint8\_t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, EventBits\_t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}}* \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
-\DoxyCodeLine{19             : \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08xRpt}}(\mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
-\DoxyCodeLine{20         \{}
-\DoxyCodeLine{21         \}}
-\DoxyCodeLine{22 }
-\DoxyCodeLine{23         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_rpt_step_counter_adf0a697561b064a7dd90a44009efbcf1}{enable}}(}
-\DoxyCodeLine{24                 uint32\_t time\_between\_reports, sh2\_SensorConfig\_t sensor\_cfg = BNO08xPrivateTypes::default\_sensor\_cfg) \textcolor{keyword}{override};}
-\DoxyCodeLine{25         \mbox{\hyperlink{structbno08x__step__counter__t}{bno08x\_step\_counter\_t}} \mbox{\hyperlink{class_b_n_o08x_rpt_step_counter_affe413eea0483147578e58a1a9c5cd8f}{get}}();}
-\DoxyCodeLine{26         uint32\_t \mbox{\hyperlink{class_b_n_o08x_rpt_step_counter_a017b389771b4d8816b4cfd06c6d9184a}{get\_total\_steps}}();}
-\DoxyCodeLine{27 }
-\DoxyCodeLine{28     \textcolor{keyword}{private}:}
-\DoxyCodeLine{29         \textcolor{keywordtype}{void} update\_data(sh2\_SensorValue\_t* sensor\_val) \textcolor{keyword}{override};}
-\DoxyCodeLine{30         \mbox{\hyperlink{structbno08x__step__counter__t}{bno08x\_step\_counter\_t}} data; }
-\DoxyCodeLine{31         uint32\_t step\_accumulator =}
-\DoxyCodeLine{32                 0UL; }
-\DoxyCodeLine{33         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} \textcolor{keywordtype}{char}* TAG = \textcolor{stringliteral}{"{}BNO08xRptStepCounter"{}};}
-\DoxyCodeLine{34 \};}
-
-\end{DoxyCode}
diff --git a/documentation/latex/_b_n_o08x_rpt_tap_detector_8cpp.tex b/documentation/latex/_b_n_o08x_rpt_tap_detector_8cpp.tex
deleted file mode 100644
index 86ff055..0000000
--- a/documentation/latex/_b_n_o08x_rpt_tap_detector_8cpp.tex
+++ /dev/null
@@ -1,17 +0,0 @@
-\hypertarget{_b_n_o08x_rpt_tap_detector_8cpp}{}\doxysection{report/\+BNO08x\+Rpt\+Tap\+Detector.cpp File Reference}
-\label{_b_n_o08x_rpt_tap_detector_8cpp}\index{report/BNO08xRptTapDetector.cpp@{report/BNO08xRptTapDetector.cpp}}
-{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+Tap\+Detector.\+hpp\char`\"{}}\newline
-Include dependency graph for BNO08x\+Rpt\+Tap\+Detector.\+cpp\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_rpt_tap_detector_8cpp__incl}
-\end{center}
-\end{figure}
-
-
-\doxysubsection{Detailed Description}
-\begin{DoxyAuthor}{Author}
-Myles Parfeniuk 
-\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_tap_detector_8cpp__incl.md5 b/documentation/latex/_b_n_o08x_rpt_tap_detector_8cpp__incl.md5
deleted file mode 100644
index 74f2f96..0000000
--- a/documentation/latex/_b_n_o08x_rpt_tap_detector_8cpp__incl.md5
+++ /dev/null
@@ -1 +0,0 @@
-1cca1a71da2504e0c7646a0c3ab3c72f
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_tap_detector_8cpp__incl.pdf b/documentation/latex/_b_n_o08x_rpt_tap_detector_8cpp__incl.pdf
deleted file mode 100644
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diff --git a/documentation/latex/_b_n_o08x_rpt_tap_detector_8hpp.tex b/documentation/latex/_b_n_o08x_rpt_tap_detector_8hpp.tex
deleted file mode 100644
index e1555e8..0000000
--- a/documentation/latex/_b_n_o08x_rpt_tap_detector_8hpp.tex
+++ /dev/null
@@ -1,30 +0,0 @@
-\hypertarget{_b_n_o08x_rpt_tap_detector_8hpp}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\+BNO08x\+Rpt\+Tap\+Detector.hpp File Reference}
-\label{_b_n_o08x_rpt_tap_detector_8hpp}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptTapDetector.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptTapDetector.hpp}}
-{\ttfamily \#include \char`\"{}BNO08x\+Rpt.\+hpp\char`\"{}}\newline
-Include dependency graph for BNO08x\+Rpt\+Tap\+Detector.\+hpp\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_rpt_tap_detector_8hpp__incl}
-\end{center}
-\end{figure}
-This graph shows which files directly or indirectly include this file\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_rpt_tap_detector_8hpp__dep__incl}
-\end{center}
-\end{figure}
-\doxysubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-class \mbox{\hyperlink{class_b_n_o08x_rpt_tap_detector}{BNO08x\+Rpt\+Tap\+Detector}}
-\begin{DoxyCompactList}\small\item\em Class to represent tap detector reports. (See Ref. Manual 6.\+5.\+27) \end{DoxyCompactList}\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-\begin{DoxyAuthor}{Author}
-Myles Parfeniuk 
-\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_tap_detector_8hpp__dep__incl.md5 b/documentation/latex/_b_n_o08x_rpt_tap_detector_8hpp__dep__incl.md5
deleted file mode 100644
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--- a/documentation/latex/_b_n_o08x_rpt_tap_detector_8hpp__dep__incl.md5
+++ /dev/null
@@ -1 +0,0 @@
-7ed81da6e2694d824f84d61f2cf0dd25
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_tap_detector_8hpp__dep__incl.pdf b/documentation/latex/_b_n_o08x_rpt_tap_detector_8hpp__dep__incl.pdf
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deleted file mode 100644
index 9ab35d3..0000000
--- a/documentation/latex/_b_n_o08x_rpt_tap_detector_8hpp__incl.md5
+++ /dev/null
@@ -1 +0,0 @@
-64315dd40c37c3795c97584a8c502c0e
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_tap_detector_8hpp__incl.pdf b/documentation/latex/_b_n_o08x_rpt_tap_detector_8hpp__incl.pdf
deleted file mode 100644
index e87f091..0000000
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diff --git a/documentation/latex/_b_n_o08x_rpt_tap_detector_8hpp_source.tex b/documentation/latex/_b_n_o08x_rpt_tap_detector_8hpp_source.tex
deleted file mode 100644
index 237a193..0000000
--- a/documentation/latex/_b_n_o08x_rpt_tap_detector_8hpp_source.tex
+++ /dev/null
@@ -1,28 +0,0 @@
-\hypertarget{_b_n_o08x_rpt_tap_detector_8hpp_source}{}\doxysection{BNO08x\+Rpt\+Tap\+Detector.\+hpp}
-\label{_b_n_o08x_rpt_tap_detector_8hpp_source}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptTapDetector.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptTapDetector.hpp}}
-\mbox{\hyperlink{_b_n_o08x_rpt_tap_detector_8hpp}{Go to the documentation of this file.}}
-\begin{DoxyCode}{0}
-\DoxyCodeLine{1 }
-\DoxyCodeLine{6 \textcolor{preprocessor}{\#pragma once}}
-\DoxyCodeLine{7 }
-\DoxyCodeLine{8 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_8hpp}{BNO08xRpt.hpp}}"{}}}
-\DoxyCodeLine{9 }
-\DoxyCodeLine{15 \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x_rpt_tap_detector}{BNO08xRptTapDetector}} : \textcolor{keyword}{public} \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08xRpt}}}
-\DoxyCodeLine{16 \{}
-\DoxyCodeLine{17     \textcolor{keyword}{public}:}
-\DoxyCodeLine{18         \mbox{\hyperlink{class_b_n_o08x_rpt_tap_detector_ad4761f72a20f120e545b941b6e198b6a}{BNO08xRptTapDetector}}(uint8\_t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, EventBits\_t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}}* \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
-\DoxyCodeLine{19             : \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08xRpt}}(\mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
-\DoxyCodeLine{20         \{}
-\DoxyCodeLine{21         \}}
-\DoxyCodeLine{22 }
-\DoxyCodeLine{23         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_rpt_tap_detector_ad8b716b7a2f2c2f52113eaaf75a391dc}{enable}}(}
-\DoxyCodeLine{24                 uint32\_t time\_between\_reports, sh2\_SensorConfig\_t sensor\_cfg = BNO08xPrivateTypes::default\_sensor\_cfg) \textcolor{keyword}{override};}
-\DoxyCodeLine{25         \mbox{\hyperlink{structbno08x__tap__detector__t}{bno08x\_tap\_detector\_t}} \mbox{\hyperlink{class_b_n_o08x_rpt_tap_detector_ac0c0642fbb086a480edf32c92a470a2e}{get}}();}
-\DoxyCodeLine{26 }
-\DoxyCodeLine{27     \textcolor{keyword}{private}:}
-\DoxyCodeLine{28         \textcolor{keywordtype}{void} update\_data(sh2\_SensorValue\_t* sensor\_val) \textcolor{keyword}{override};}
-\DoxyCodeLine{29         \mbox{\hyperlink{structbno08x__tap__detector__t}{bno08x\_tap\_detector\_t}} data;}
-\DoxyCodeLine{30         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} \textcolor{keywordtype}{char}* TAG = \textcolor{stringliteral}{"{}BNO08xRptTapDetector"{}};}
-\DoxyCodeLine{31 \};}
-
-\end{DoxyCode}
diff --git a/documentation/latex/_b_n_o08x_rpt_uncal_gyro_8cpp.tex b/documentation/latex/_b_n_o08x_rpt_uncal_gyro_8cpp.tex
deleted file mode 100644
index c31917a..0000000
--- a/documentation/latex/_b_n_o08x_rpt_uncal_gyro_8cpp.tex
+++ /dev/null
@@ -1,17 +0,0 @@
-\hypertarget{_b_n_o08x_rpt_uncal_gyro_8cpp}{}\doxysection{report/\+BNO08x\+Rpt\+Uncal\+Gyro.cpp File Reference}
-\label{_b_n_o08x_rpt_uncal_gyro_8cpp}\index{report/BNO08xRptUncalGyro.cpp@{report/BNO08xRptUncalGyro.cpp}}
-{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+Uncal\+Gyro.\+hpp\char`\"{}}\newline
-Include dependency graph for BNO08x\+Rpt\+Uncal\+Gyro.\+cpp\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_rpt_uncal_gyro_8cpp__incl}
-\end{center}
-\end{figure}
-
-
-\doxysubsection{Detailed Description}
-\begin{DoxyAuthor}{Author}
-Myles Parfeniuk 
-\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_uncal_gyro_8cpp__incl.md5 b/documentation/latex/_b_n_o08x_rpt_uncal_gyro_8cpp__incl.md5
deleted file mode 100644
index 2386579..0000000
--- a/documentation/latex/_b_n_o08x_rpt_uncal_gyro_8cpp__incl.md5
+++ /dev/null
@@ -1 +0,0 @@
-0b868f43378816dec85a1d1594212bda
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_uncal_gyro_8cpp__incl.pdf b/documentation/latex/_b_n_o08x_rpt_uncal_gyro_8cpp__incl.pdf
deleted file mode 100644
index 1a13d0d..0000000
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diff --git a/documentation/latex/_b_n_o08x_rpt_uncal_gyro_8hpp.tex b/documentation/latex/_b_n_o08x_rpt_uncal_gyro_8hpp.tex
deleted file mode 100644
index 8abc39b..0000000
--- a/documentation/latex/_b_n_o08x_rpt_uncal_gyro_8hpp.tex
+++ /dev/null
@@ -1,30 +0,0 @@
-\hypertarget{_b_n_o08x_rpt_uncal_gyro_8hpp}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\+BNO08x\+Rpt\+Uncal\+Gyro.hpp File Reference}
-\label{_b_n_o08x_rpt_uncal_gyro_8hpp}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptUncalGyro.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptUncalGyro.hpp}}
-{\ttfamily \#include \char`\"{}BNO08x\+Rpt.\+hpp\char`\"{}}\newline
-Include dependency graph for BNO08x\+Rpt\+Uncal\+Gyro.\+hpp\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_rpt_uncal_gyro_8hpp__incl}
-\end{center}
-\end{figure}
-This graph shows which files directly or indirectly include this file\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_rpt_uncal_gyro_8hpp__dep__incl}
-\end{center}
-\end{figure}
-\doxysubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-class \mbox{\hyperlink{class_b_n_o08x_rpt_uncal_gyro}{BNO08x\+Rpt\+Uncal\+Gyro}}
-\begin{DoxyCompactList}\small\item\em Class to represent uncalibrated gyro reports. (See Ref. Manual 6.\+5.\+14) \end{DoxyCompactList}\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-\begin{DoxyAuthor}{Author}
-Myles Parfeniuk 
-\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_uncal_gyro_8hpp__dep__incl.md5 b/documentation/latex/_b_n_o08x_rpt_uncal_gyro_8hpp__dep__incl.md5
deleted file mode 100644
index 8fd295c..0000000
--- a/documentation/latex/_b_n_o08x_rpt_uncal_gyro_8hpp__dep__incl.md5
+++ /dev/null
@@ -1 +0,0 @@
-b254b6acfb24847a1cba6f8b9a542cde
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_uncal_gyro_8hpp__dep__incl.pdf b/documentation/latex/_b_n_o08x_rpt_uncal_gyro_8hpp__dep__incl.pdf
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-51a213884cf75925430f96d72a241c99
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_uncal_gyro_8hpp__incl.pdf b/documentation/latex/_b_n_o08x_rpt_uncal_gyro_8hpp__incl.pdf
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-\hypertarget{_b_n_o08x_rpt_uncal_gyro_8hpp_source}{}\doxysection{BNO08x\+Rpt\+Uncal\+Gyro.\+hpp}
-\label{_b_n_o08x_rpt_uncal_gyro_8hpp_source}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptUncalGyro.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptUncalGyro.hpp}}
-\mbox{\hyperlink{_b_n_o08x_rpt_uncal_gyro_8hpp}{Go to the documentation of this file.}}
-\begin{DoxyCode}{0}
-\DoxyCodeLine{1 }
-\DoxyCodeLine{6 \textcolor{preprocessor}{\#pragma once}}
-\DoxyCodeLine{7 }
-\DoxyCodeLine{8 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_8hpp}{BNO08xRpt.hpp}}"{}}}
-\DoxyCodeLine{9 }
-\DoxyCodeLine{15 \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x_rpt_uncal_gyro}{BNO08xRptUncalGyro}} : \textcolor{keyword}{public} \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08xRpt}}}
-\DoxyCodeLine{16 \{}
-\DoxyCodeLine{17     \textcolor{keyword}{public}:}
-\DoxyCodeLine{18         \mbox{\hyperlink{class_b_n_o08x_rpt_uncal_gyro_a3b728331f32e6ca7854c64b06ca28ea8}{BNO08xRptUncalGyro}}(uint8\_t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, EventBits\_t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}}* \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
-\DoxyCodeLine{19             : \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08xRpt}}(\mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
-\DoxyCodeLine{20         \{}
-\DoxyCodeLine{21         \}}
-\DoxyCodeLine{22 }
-\DoxyCodeLine{23         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_rpt_uncal_gyro_a404d36091a61af543c6fec7b6e077706}{enable}}(}
-\DoxyCodeLine{24                 uint32\_t time\_between\_reports, sh2\_SensorConfig\_t sensor\_cfg = BNO08xPrivateTypes::default\_sensor\_cfg) \textcolor{keyword}{override};}
-\DoxyCodeLine{25         \textcolor{keywordtype}{void} \mbox{\hyperlink{class_b_n_o08x_rpt_uncal_gyro_ae2fec54b70d897124720abe1dcccd793}{get}}(\mbox{\hyperlink{structbno08x__gyro__t}{bno08x\_gyro\_t}}\& vel, \mbox{\hyperlink{structbno08x__gyro__bias__t}{bno08x\_gyro\_bias\_t}}\& bias);}
-\DoxyCodeLine{26         \mbox{\hyperlink{structbno08x__gyro__t}{bno08x\_gyro\_t}} \mbox{\hyperlink{class_b_n_o08x_rpt_uncal_gyro_a13c875a4ef09df3a82ac4bfa5109fdf7}{get\_vel}}();}
-\DoxyCodeLine{27         \mbox{\hyperlink{structbno08x__gyro__bias__t}{bno08x\_gyro\_bias\_t}} \mbox{\hyperlink{class_b_n_o08x_rpt_uncal_gyro_a08b722174d100d1d9363eaf4989a8ecd}{get\_bias}}();}
-\DoxyCodeLine{28 }
-\DoxyCodeLine{29     \textcolor{keyword}{private}:}
-\DoxyCodeLine{30         \textcolor{keywordtype}{void} update\_data(sh2\_SensorValue\_t* sensor\_val) \textcolor{keyword}{override};}
-\DoxyCodeLine{31         \mbox{\hyperlink{structbno08x__gyro__t}{bno08x\_gyro\_t}} data;}
-\DoxyCodeLine{32         \mbox{\hyperlink{structbno08x__gyro__bias__t}{bno08x\_gyro\_bias\_t}} bias\_data;}
-\DoxyCodeLine{33         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} \textcolor{keywordtype}{char}* TAG = \textcolor{stringliteral}{"{}BNO08xRptUncalGyro"{}};}
-\DoxyCodeLine{34 \};}
-
-\end{DoxyCode}
diff --git a/documentation/latex/_b_n_o08x_rpt_uncal_magnetometer_8cpp.tex b/documentation/latex/_b_n_o08x_rpt_uncal_magnetometer_8cpp.tex
deleted file mode 100644
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--- a/documentation/latex/_b_n_o08x_rpt_uncal_magnetometer_8cpp.tex
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@@ -1,17 +0,0 @@
-\hypertarget{_b_n_o08x_rpt_uncal_magnetometer_8cpp}{}\doxysection{report/\+BNO08x\+Rpt\+Uncal\+Magnetometer.cpp File Reference}
-\label{_b_n_o08x_rpt_uncal_magnetometer_8cpp}\index{report/BNO08xRptUncalMagnetometer.cpp@{report/BNO08xRptUncalMagnetometer.cpp}}
-{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+Uncal\+Magnetometer.\+hpp\char`\"{}}\newline
-Include dependency graph for BNO08x\+Rpt\+Uncal\+Magnetometer.\+cpp\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_rpt_uncal_magnetometer_8cpp__incl}
-\end{center}
-\end{figure}
-
-
-\doxysubsection{Detailed Description}
-\begin{DoxyAuthor}{Author}
-Myles Parfeniuk 
-\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_uncal_magnetometer_8cpp__incl.md5 b/documentation/latex/_b_n_o08x_rpt_uncal_magnetometer_8cpp__incl.md5
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-f4606dfa613cecafa20a90c7a1025e5d
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_uncal_magnetometer_8cpp__incl.pdf b/documentation/latex/_b_n_o08x_rpt_uncal_magnetometer_8cpp__incl.pdf
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-\hypertarget{_b_n_o08x_rpt_uncal_magnetometer_8hpp}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\+BNO08x\+Rpt\+Uncal\+Magnetometer.hpp File Reference}
-\label{_b_n_o08x_rpt_uncal_magnetometer_8hpp}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptUncalMagnetometer.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptUncalMagnetometer.hpp}}
-{\ttfamily \#include \char`\"{}BNO08x\+Rpt.\+hpp\char`\"{}}\newline
-Include dependency graph for BNO08x\+Rpt\+Uncal\+Magnetometer.\+hpp\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_rpt_uncal_magnetometer_8hpp__incl}
-\end{center}
-\end{figure}
-This graph shows which files directly or indirectly include this file\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_rpt_uncal_magnetometer_8hpp__dep__incl}
-\end{center}
-\end{figure}
-\doxysubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-class \mbox{\hyperlink{class_b_n_o08x_rpt_uncal_magnetometer}{BNO08x\+Rpt\+Uncal\+Magnetometer}}
-\begin{DoxyCompactList}\small\item\em Class to represent uncalibrated magnetometer reports. (See Ref. Manual 6.\+5.\+17) \end{DoxyCompactList}\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-\begin{DoxyAuthor}{Author}
-Myles Parfeniuk 
-\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_uncal_magnetometer_8hpp__dep__incl.md5 b/documentation/latex/_b_n_o08x_rpt_uncal_magnetometer_8hpp__dep__incl.md5
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-a2a36b43f993c510fc82857d5e514324
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_uncal_magnetometer_8hpp__dep__incl.pdf b/documentation/latex/_b_n_o08x_rpt_uncal_magnetometer_8hpp__dep__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_rpt_uncal_magnetometer_8hpp__incl.pdf b/documentation/latex/_b_n_o08x_rpt_uncal_magnetometer_8hpp__incl.pdf
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deleted file mode 100644
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+++ /dev/null
@@ -1,31 +0,0 @@
-\hypertarget{_b_n_o08x_rpt_uncal_magnetometer_8hpp_source}{}\doxysection{BNO08x\+Rpt\+Uncal\+Magnetometer.\+hpp}
-\label{_b_n_o08x_rpt_uncal_magnetometer_8hpp_source}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptUncalMagnetometer.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptUncalMagnetometer.hpp}}
-\mbox{\hyperlink{_b_n_o08x_rpt_uncal_magnetometer_8hpp}{Go to the documentation of this file.}}
-\begin{DoxyCode}{0}
-\DoxyCodeLine{1 }
-\DoxyCodeLine{7 \textcolor{preprocessor}{\#pragma once}}
-\DoxyCodeLine{8 }
-\DoxyCodeLine{9 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_8hpp}{BNO08xRpt.hpp}}"{}}}
-\DoxyCodeLine{10 }
-\DoxyCodeLine{16 \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x_rpt_uncal_magnetometer}{BNO08xRptUncalMagnetometer}} : \textcolor{keyword}{public} \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08xRpt}}}
-\DoxyCodeLine{17 \{}
-\DoxyCodeLine{18     \textcolor{keyword}{public}:}
-\DoxyCodeLine{19         \mbox{\hyperlink{class_b_n_o08x_rpt_uncal_magnetometer_a8ac1f7e58879febd738b85a8035411a0}{BNO08xRptUncalMagnetometer}}(uint8\_t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, EventBits\_t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}}* \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
-\DoxyCodeLine{20             : \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08xRpt}}(\mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
-\DoxyCodeLine{21         \{}
-\DoxyCodeLine{22         \}}
-\DoxyCodeLine{23 }
-\DoxyCodeLine{24         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_rpt_uncal_magnetometer_a80ae48107ca1cc27551fd799625f2867}{enable}}(}
-\DoxyCodeLine{25                 uint32\_t time\_between\_reports, sh2\_SensorConfig\_t sensor\_cfg = BNO08xPrivateTypes::default\_sensor\_cfg) \textcolor{keyword}{override};}
-\DoxyCodeLine{26         \textcolor{keywordtype}{void} \mbox{\hyperlink{class_b_n_o08x_rpt_uncal_magnetometer_ad4d5abc8875955b6236bbe526be1e8fb}{get}}(\mbox{\hyperlink{structbno08x__magf__t}{bno08x\_magf\_t}}\& magf, \mbox{\hyperlink{structbno08x__magf__bias__t}{bno08x\_magf\_bias\_t}}\& bias);}
-\DoxyCodeLine{27         \mbox{\hyperlink{structbno08x__magf__t}{bno08x\_magf\_t}} \mbox{\hyperlink{class_b_n_o08x_rpt_uncal_magnetometer_ae5a99ef7523dcafc4638a538e141306b}{get\_magf}}();}
-\DoxyCodeLine{28         \mbox{\hyperlink{structbno08x__magf__bias__t}{bno08x\_magf\_bias\_t}} \mbox{\hyperlink{class_b_n_o08x_rpt_uncal_magnetometer_aa6818f72419eaebb55cba9ffec28c704}{get\_bias}}();}
-\DoxyCodeLine{29 }
-\DoxyCodeLine{30     \textcolor{keyword}{private}:}
-\DoxyCodeLine{31         \textcolor{keywordtype}{void} update\_data(sh2\_SensorValue\_t* sensor\_val) \textcolor{keyword}{override};}
-\DoxyCodeLine{32         \mbox{\hyperlink{structbno08x__magf__t}{bno08x\_magf\_t}} data;}
-\DoxyCodeLine{33         \mbox{\hyperlink{structbno08x__magf__bias__t}{bno08x\_magf\_bias\_t}} bias\_data;}
-\DoxyCodeLine{34         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} \textcolor{keywordtype}{char}* TAG = \textcolor{stringliteral}{"{}BNO08xRptUncalMagnetometer"{}};}
-\DoxyCodeLine{35 \};}
-
-\end{DoxyCode}
diff --git a/documentation/latex/_b_n_o08x_s_h2_h_a_l_8cpp.tex b/documentation/latex/_b_n_o08x_s_h2_h_a_l_8cpp.tex
deleted file mode 100644
index da6d377..0000000
--- a/documentation/latex/_b_n_o08x_s_h2_h_a_l_8cpp.tex
+++ /dev/null
@@ -1,18 +0,0 @@
-\hypertarget{_b_n_o08x_s_h2_h_a_l_8cpp}{}\doxysection{BNO08x\+SH2\+HAL.\+cpp File Reference}
-\label{_b_n_o08x_s_h2_h_a_l_8cpp}\index{BNO08xSH2HAL.cpp@{BNO08xSH2HAL.cpp}}
-{\ttfamily \#include \char`\"{}BNO08x\+SH2\+HAL.\+hpp\char`\"{}}\newline
-{\ttfamily \#include \char`\"{}BNO08x.\+hpp\char`\"{}}\newline
-Include dependency graph for BNO08x\+SH2\+HAL.\+cpp\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_s_h2_h_a_l_8cpp__incl}
-\end{center}
-\end{figure}
-
-
-\doxysubsection{Detailed Description}
-\begin{DoxyAuthor}{Author}
-Myles Parfeniuk 
-\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_s_h2_h_a_l_8cpp__incl.md5 b/documentation/latex/_b_n_o08x_s_h2_h_a_l_8cpp__incl.md5
deleted file mode 100644
index d8cf874..0000000
--- a/documentation/latex/_b_n_o08x_s_h2_h_a_l_8cpp__incl.md5
+++ /dev/null
@@ -1 +0,0 @@
-6ab3b38c8ebef6d5f2cb2e761f171757
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_s_h2_h_a_l_8cpp__incl.pdf b/documentation/latex/_b_n_o08x_s_h2_h_a_l_8cpp__incl.pdf
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deleted file mode 100644
index cc5d86e..0000000
--- a/documentation/latex/_b_n_o08x_s_h2_h_a_l_8hpp.tex
+++ /dev/null
@@ -1,145 +0,0 @@
-\hypertarget{_b_n_o08x_s_h2_h_a_l_8hpp}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\+BNO08x\+SH2\+HAL.hpp File Reference}
-\label{_b_n_o08x_s_h2_h_a_l_8hpp}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/BNO08xSH2HAL.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/BNO08xSH2HAL.hpp}}
-{\ttfamily \#include \char`\"{}sh2.\+h\char`\"{}}\newline
-{\ttfamily \#include \char`\"{}sh2\+\_\+\+Sensor\+Value.\+h\char`\"{}}\newline
-{\ttfamily \#include \char`\"{}sh2\+\_\+err.\+h\char`\"{}}\newline
-{\ttfamily \#include $<$esp\+\_\+log.\+h$>$}\newline
-{\ttfamily \#include $<$esp\+\_\+timer.\+h$>$}\newline
-{\ttfamily \#include \char`\"{}BNO08x\+Private\+Types.\+hpp\char`\"{}}\newline
-Include dependency graph for BNO08x\+SH2\+HAL.\+hpp\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_s_h2_h_a_l_8hpp__incl}
-\end{center}
-\end{figure}
-This graph shows which files directly or indirectly include this file\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_s_h2_h_a_l_8hpp__dep__incl}
-\end{center}
-\end{figure}
-\doxysubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-class \mbox{\hyperlink{class_b_n_o08x_s_h2_h_a_l}{BNO08x\+SH2\+HAL}}
-\begin{DoxyCompactList}\small\item\em Fully static class containing callback implementations for sh2 HAL lib. \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Macros}
-\begin{DoxyCompactItemize}
-\item 
-\#define \mbox{\hyperlink{_b_n_o08x_s_h2_h_a_l_8hpp_ad98f2fa811436866ff297a8288e34f40}{UINT16\+\_\+\+CLR\+\_\+\+MSB}}(val\+\_\+16bit)~((val\+\_\+16bit) \& 0x00\+FFU)
-\begin{DoxyCompactList}\small\item\em Clears the most significant byte of a 16-\/bit value. \end{DoxyCompactList}\item 
-\#define \mbox{\hyperlink{_b_n_o08x_s_h2_h_a_l_8hpp_ac89a0ae0c3d3067f02e9fa275521606b}{UINT16\+\_\+\+CLR\+\_\+\+LSB}}(val\+\_\+16bit)~((val\+\_\+16bit) \& 0x\+FF00U)
-\begin{DoxyCompactList}\small\item\em Clears the least significant byte of a 16-\/bit value. \end{DoxyCompactList}\item 
-\#define \mbox{\hyperlink{_b_n_o08x_s_h2_h_a_l_8hpp_a7de5c0b84ba545981105e1216925d8e9}{UINT32\+\_\+\+CLR\+\_\+\+BYTE}}(val\+\_\+32bit,  byte2clear)~((val\+\_\+32bit) \& $\sim$(0x\+FFUL $<$$<$ (byte2clear $\ast$ 8UL)))
-\begin{DoxyCompactList}\small\item\em Clears a specified byte in a 32-\/bit value. \end{DoxyCompactList}\item 
-\#define \mbox{\hyperlink{_b_n_o08x_s_h2_h_a_l_8hpp_a6f459cc2cce1722c63d22a9556f06bc8}{UINT32\+\_\+\+MSK\+\_\+\+BYTE}}(val\+\_\+32bit,  byte2mask)~((val\+\_\+32bit) \& (0x\+FFUL $<$$<$ (byte2mask $\ast$ 8UL)))
-\begin{DoxyCompactList}\small\item\em Masks a specified byte in a 32-\/bit value. \end{DoxyCompactList}\item 
-\#define \mbox{\hyperlink{_b_n_o08x_s_h2_h_a_l_8hpp_aaed5b6cbf0d2f27550d1b4a975c46c34}{PARSE\+\_\+\+PACKET\+\_\+\+LENGTH}}(header)~    (\mbox{\hyperlink{_b_n_o08x_s_h2_h_a_l_8hpp_ac89a0ae0c3d3067f02e9fa275521606b}{UINT16\+\_\+\+CLR\+\_\+\+LSB}}(static\+\_\+cast$<$uint16\+\_\+t$>$(header\mbox{[}1\mbox{]}) $<$$<$ 8U) $\vert$ \mbox{\hyperlink{_b_n_o08x_s_h2_h_a_l_8hpp_ad98f2fa811436866ff297a8288e34f40}{UINT16\+\_\+\+CLR\+\_\+\+MSB}}(static\+\_\+cast$<$uint16\+\_\+t$>$(header\mbox{[}0\mbox{]})))
-\begin{DoxyCompactList}\small\item\em Parse length from SHTP packet header. \end{DoxyCompactList}\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-\begin{DoxyAuthor}{Author}
-Myles Parfeniuk 
-\end{DoxyAuthor}
-
-
-\doxysubsection{Macro Definition Documentation}
-\mbox{\Hypertarget{_b_n_o08x_s_h2_h_a_l_8hpp_aaed5b6cbf0d2f27550d1b4a975c46c34}\label{_b_n_o08x_s_h2_h_a_l_8hpp_aaed5b6cbf0d2f27550d1b4a975c46c34}} 
-\index{BNO08xSH2HAL.hpp@{BNO08xSH2HAL.hpp}!PARSE\_PACKET\_LENGTH@{PARSE\_PACKET\_LENGTH}}
-\index{PARSE\_PACKET\_LENGTH@{PARSE\_PACKET\_LENGTH}!BNO08xSH2HAL.hpp@{BNO08xSH2HAL.hpp}}
-\doxysubsubsection{\texorpdfstring{PARSE\_PACKET\_LENGTH}{PARSE\_PACKET\_LENGTH}}
-{\footnotesize\ttfamily \#define PARSE\+\_\+\+PACKET\+\_\+\+LENGTH(\begin{DoxyParamCaption}\item[{}]{header }\end{DoxyParamCaption})~    (\mbox{\hyperlink{_b_n_o08x_s_h2_h_a_l_8hpp_ac89a0ae0c3d3067f02e9fa275521606b}{UINT16\+\_\+\+CLR\+\_\+\+LSB}}(static\+\_\+cast$<$uint16\+\_\+t$>$(header\mbox{[}1\mbox{]}) $<$$<$ 8U) $\vert$ \mbox{\hyperlink{_b_n_o08x_s_h2_h_a_l_8hpp_ad98f2fa811436866ff297a8288e34f40}{UINT16\+\_\+\+CLR\+\_\+\+MSB}}(static\+\_\+cast$<$uint16\+\_\+t$>$(header\mbox{[}0\mbox{]})))}
-
-
-
-Parse length from SHTP packet header. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em packet} & Pointer to bno08x\+\_\+rx\+\_\+packet\+\_\+t containing data. \\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-Length of SHTP packet. 
-\end{DoxyReturn}
-\mbox{\Hypertarget{_b_n_o08x_s_h2_h_a_l_8hpp_ac89a0ae0c3d3067f02e9fa275521606b}\label{_b_n_o08x_s_h2_h_a_l_8hpp_ac89a0ae0c3d3067f02e9fa275521606b}} 
-\index{BNO08xSH2HAL.hpp@{BNO08xSH2HAL.hpp}!UINT16\_CLR\_LSB@{UINT16\_CLR\_LSB}}
-\index{UINT16\_CLR\_LSB@{UINT16\_CLR\_LSB}!BNO08xSH2HAL.hpp@{BNO08xSH2HAL.hpp}}
-\doxysubsubsection{\texorpdfstring{UINT16\_CLR\_LSB}{UINT16\_CLR\_LSB}}
-{\footnotesize\ttfamily \#define UINT16\+\_\+\+CLR\+\_\+\+LSB(\begin{DoxyParamCaption}\item[{}]{val\+\_\+16bit }\end{DoxyParamCaption})~((val\+\_\+16bit) \& 0x\+FF00U)}
-
-
-
-Clears the least significant byte of a 16-\/bit value. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em val\+\_\+16bit} & The 16-\/bit value to modify. \\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-The value with the MSB cleared. 
-\end{DoxyReturn}
-\mbox{\Hypertarget{_b_n_o08x_s_h2_h_a_l_8hpp_ad98f2fa811436866ff297a8288e34f40}\label{_b_n_o08x_s_h2_h_a_l_8hpp_ad98f2fa811436866ff297a8288e34f40}} 
-\index{BNO08xSH2HAL.hpp@{BNO08xSH2HAL.hpp}!UINT16\_CLR\_MSB@{UINT16\_CLR\_MSB}}
-\index{UINT16\_CLR\_MSB@{UINT16\_CLR\_MSB}!BNO08xSH2HAL.hpp@{BNO08xSH2HAL.hpp}}
-\doxysubsubsection{\texorpdfstring{UINT16\_CLR\_MSB}{UINT16\_CLR\_MSB}}
-{\footnotesize\ttfamily \#define UINT16\+\_\+\+CLR\+\_\+\+MSB(\begin{DoxyParamCaption}\item[{}]{val\+\_\+16bit }\end{DoxyParamCaption})~((val\+\_\+16bit) \& 0x00\+FFU)}
-
-
-
-Clears the most significant byte of a 16-\/bit value. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em val\+\_\+16bit} & The 16-\/bit value to modify. \\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-The value with the MSB cleared. 
-\end{DoxyReturn}
-\mbox{\Hypertarget{_b_n_o08x_s_h2_h_a_l_8hpp_a7de5c0b84ba545981105e1216925d8e9}\label{_b_n_o08x_s_h2_h_a_l_8hpp_a7de5c0b84ba545981105e1216925d8e9}} 
-\index{BNO08xSH2HAL.hpp@{BNO08xSH2HAL.hpp}!UINT32\_CLR\_BYTE@{UINT32\_CLR\_BYTE}}
-\index{UINT32\_CLR\_BYTE@{UINT32\_CLR\_BYTE}!BNO08xSH2HAL.hpp@{BNO08xSH2HAL.hpp}}
-\doxysubsubsection{\texorpdfstring{UINT32\_CLR\_BYTE}{UINT32\_CLR\_BYTE}}
-{\footnotesize\ttfamily \#define UINT32\+\_\+\+CLR\+\_\+\+BYTE(\begin{DoxyParamCaption}\item[{}]{val\+\_\+32bit,  }\item[{}]{byte2clear }\end{DoxyParamCaption})~((val\+\_\+32bit) \& $\sim$(0x\+FFUL $<$$<$ (byte2clear $\ast$ 8UL)))}
-
-
-
-Clears a specified byte in a 32-\/bit value. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em val\+\_\+32bit} & The 32-\/bit value to modify. \\
-\hline
-{\em byte2clear} & The byte index to clear (0 = LSB, 3 = MSB). \\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-The value with the specified byte cleared. 
-\end{DoxyReturn}
-\mbox{\Hypertarget{_b_n_o08x_s_h2_h_a_l_8hpp_a6f459cc2cce1722c63d22a9556f06bc8}\label{_b_n_o08x_s_h2_h_a_l_8hpp_a6f459cc2cce1722c63d22a9556f06bc8}} 
-\index{BNO08xSH2HAL.hpp@{BNO08xSH2HAL.hpp}!UINT32\_MSK\_BYTE@{UINT32\_MSK\_BYTE}}
-\index{UINT32\_MSK\_BYTE@{UINT32\_MSK\_BYTE}!BNO08xSH2HAL.hpp@{BNO08xSH2HAL.hpp}}
-\doxysubsubsection{\texorpdfstring{UINT32\_MSK\_BYTE}{UINT32\_MSK\_BYTE}}
-{\footnotesize\ttfamily \#define UINT32\+\_\+\+MSK\+\_\+\+BYTE(\begin{DoxyParamCaption}\item[{}]{val\+\_\+32bit,  }\item[{}]{byte2mask }\end{DoxyParamCaption})~((val\+\_\+32bit) \& (0x\+FFUL $<$$<$ (byte2mask $\ast$ 8UL)))}
-
-
-
-Masks a specified byte in a 32-\/bit value. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em val\+\_\+32bit} & The 32-\/bit value to modify. \\
-\hline
-{\em byte2mask} & The byte index to mask (0 = LSB, 3 = MSB). \\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-The value with the specified byte masked. 
-\end{DoxyReturn}
diff --git a/documentation/latex/_b_n_o08x_s_h2_h_a_l_8hpp__dep__incl.md5 b/documentation/latex/_b_n_o08x_s_h2_h_a_l_8hpp__dep__incl.md5
deleted file mode 100644
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+++ /dev/null
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-92b43f1c6ef35011c4dcc673567c9c86
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_s_h2_h_a_l_8hpp__dep__incl.pdf b/documentation/latex/_b_n_o08x_s_h2_h_a_l_8hpp__dep__incl.pdf
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--- a/documentation/latex/_b_n_o08x_s_h2_h_a_l_8hpp__incl.md5
+++ /dev/null
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-aa4fd149608e3a75d173568d0ecd61c5
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_s_h2_h_a_l_8hpp__incl.pdf b/documentation/latex/_b_n_o08x_s_h2_h_a_l_8hpp__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_s_h2_h_a_l_8hpp_source.tex b/documentation/latex/_b_n_o08x_s_h2_h_a_l_8hpp_source.tex
deleted file mode 100644
index e5b538e..0000000
--- a/documentation/latex/_b_n_o08x_s_h2_h_a_l_8hpp_source.tex
+++ /dev/null
@@ -1,57 +0,0 @@
-\hypertarget{_b_n_o08x_s_h2_h_a_l_8hpp_source}{}\doxysection{BNO08x\+SH2\+HAL.\+hpp}
-\label{_b_n_o08x_s_h2_h_a_l_8hpp_source}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/BNO08xSH2HAL.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/BNO08xSH2HAL.hpp}}
-\mbox{\hyperlink{_b_n_o08x_s_h2_h_a_l_8hpp}{Go to the documentation of this file.}}
-\begin{DoxyCode}{0}
-\DoxyCodeLine{1 }
-\DoxyCodeLine{6 \textcolor{preprocessor}{\#pragma once}}
-\DoxyCodeLine{7 }
-\DoxyCodeLine{8 \textcolor{comment}{// hill-\/crest labs includes (apache 2.0 license, compatible with MIT)}}
-\DoxyCodeLine{9 \textcolor{preprocessor}{\#include "{}sh2.h"{}}}
-\DoxyCodeLine{10 \textcolor{preprocessor}{\#include "{}sh2\_SensorValue.h"{}}}
-\DoxyCodeLine{11 \textcolor{preprocessor}{\#include "{}sh2\_err.h"{}}}
-\DoxyCodeLine{12 \textcolor{comment}{// esp-\/idf includes}}
-\DoxyCodeLine{13 \textcolor{preprocessor}{\#include <esp\_log.h>}}
-\DoxyCodeLine{14 \textcolor{preprocessor}{\#include <esp\_timer.h>}}
-\DoxyCodeLine{15 \textcolor{comment}{// in-\/house includes}}
-\DoxyCodeLine{16 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_private_types_8hpp}{BNO08xPrivateTypes.hpp}}"{}}}
-\DoxyCodeLine{17 }
-\DoxyCodeLine{24 \textcolor{preprocessor}{\#define UINT16\_CLR\_MSB(val\_16bit) ((val\_16bit) \& 0x00FFU)}}
-\DoxyCodeLine{25 }
-\DoxyCodeLine{32 \textcolor{preprocessor}{\#define UINT16\_CLR\_LSB(val\_16bit) ((val\_16bit) \& 0xFF00U)}}
-\DoxyCodeLine{33 }
-\DoxyCodeLine{41 \textcolor{preprocessor}{\#define UINT32\_CLR\_BYTE(val\_32bit, byte2clear) ((val\_32bit) \& \string~(0xFFUL << (byte2clear * 8UL)))}}
-\DoxyCodeLine{42 }
-\DoxyCodeLine{50 \textcolor{preprocessor}{\#define UINT32\_MSK\_BYTE(val\_32bit, byte2mask) ((val\_32bit) \& (0xFFUL << (byte2mask * 8UL)))}}
-\DoxyCodeLine{51 }
-\DoxyCodeLine{52 \textcolor{comment}{// parsing universal to any packet}}
-\DoxyCodeLine{53 }
-\DoxyCodeLine{60 \textcolor{preprocessor}{\#define PARSE\_PACKET\_LENGTH(header)                                                                                              \(\backslash\)}}
-\DoxyCodeLine{61 \textcolor{preprocessor}{    (UINT16\_CLR\_LSB(static\_cast<uint16\_t>(header[1]) << 8U) | UINT16\_CLR\_MSB(static\_cast<uint16\_t>(header[0])))}}
-\DoxyCodeLine{62 }
-\DoxyCodeLine{63 \textcolor{comment}{// forward dec to prevent compile errors}}
-\DoxyCodeLine{64 \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x}{BNO08x}};}
-\DoxyCodeLine{65 }
-\DoxyCodeLine{71 \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x_s_h2_h_a_l}{BNO08xSH2HAL}}}
-\DoxyCodeLine{72 \{}
-\DoxyCodeLine{73     \textcolor{keyword}{public}:}
-\DoxyCodeLine{74         \textcolor{keyword}{static} \textcolor{keywordtype}{void} \mbox{\hyperlink{class_b_n_o08x_s_h2_h_a_l_a236ccf0ff8d36060b465bc1f4f0a37fa}{set\_hal\_imu}}(\mbox{\hyperlink{class_b_n_o08x}{BNO08x}}* hal\_imu);}
-\DoxyCodeLine{75 }
-\DoxyCodeLine{76         \textcolor{keyword}{static} \textcolor{keywordtype}{int} \mbox{\hyperlink{class_b_n_o08x_s_h2_h_a_l_ae079b1384cba806a778eb0e27f981da0}{spi\_open}}(sh2\_Hal\_t* self);}
-\DoxyCodeLine{77         \textcolor{keyword}{static} \textcolor{keywordtype}{void} \mbox{\hyperlink{class_b_n_o08x_s_h2_h_a_l_a5fa6b901d1790fcd7dc0905f62ae040f}{spi\_close}}(sh2\_Hal\_t* self);}
-\DoxyCodeLine{78         \textcolor{keyword}{static} \textcolor{keywordtype}{int} \mbox{\hyperlink{class_b_n_o08x_s_h2_h_a_l_a3e691461235b3e3c59866ac179d06f25}{spi\_read}}(sh2\_Hal\_t* self, uint8\_t* pBuffer, \textcolor{keywordtype}{unsigned} len, uint32\_t* t\_us);}
-\DoxyCodeLine{79         \textcolor{keyword}{static} \textcolor{keywordtype}{int} \mbox{\hyperlink{class_b_n_o08x_s_h2_h_a_l_a96d5b8fa7669f22cd0ecaf1feee13299}{spi\_write}}(sh2\_Hal\_t* self, uint8\_t* pBuffer, \textcolor{keywordtype}{unsigned} len);}
-\DoxyCodeLine{80         \textcolor{keyword}{static} uint32\_t \mbox{\hyperlink{class_b_n_o08x_s_h2_h_a_l_ad89b6a3166e2eee003ad87a517a31cd5}{get\_time\_us}}(sh2\_Hal\_t* self);}
-\DoxyCodeLine{81         \textcolor{keyword}{static} \textcolor{keywordtype}{void} \mbox{\hyperlink{class_b_n_o08x_s_h2_h_a_l_a1add67e38698c9f33541af7bd2912d8f}{hal\_cb}}(\textcolor{keywordtype}{void}* cookie, sh2\_AsyncEvent\_t* pEvent);}
-\DoxyCodeLine{82         \textcolor{keyword}{static} \textcolor{keywordtype}{void} \mbox{\hyperlink{class_b_n_o08x_s_h2_h_a_l_a19c041ef614d7eda85b94b10202a3997}{sensor\_event\_cb}}(\textcolor{keywordtype}{void}* cookie, sh2\_SensorEvent\_t* event);}
-\DoxyCodeLine{83 }
-\DoxyCodeLine{84     \textcolor{keyword}{private}:}
-\DoxyCodeLine{85         \textcolor{keyword}{static} \mbox{\hyperlink{class_b_n_o08x}{BNO08x}}* imu;}
-\DoxyCodeLine{86         \textcolor{keyword}{static} \textcolor{keywordtype}{void} hardware\_reset();}
-\DoxyCodeLine{87         \textcolor{keyword}{static} \textcolor{keywordtype}{bool} spi\_wait\_for\_int();}
-\DoxyCodeLine{88         \textcolor{keyword}{static} uint16\_t spi\_read\_sh2\_packet\_header(uint8\_t* pBuffer);}
-\DoxyCodeLine{89         \textcolor{keyword}{static} \textcolor{keywordtype}{int} spi\_read\_sh2\_packet\_body(uint8\_t* pBuffer, uint16\_t packet\_sz);}
-\DoxyCodeLine{90 }
-\DoxyCodeLine{91         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} \textcolor{keywordtype}{char}* TAG = \textcolor{stringliteral}{"{}BNO08xSH2HAL"{}};}
-\DoxyCodeLine{92 \};}
-
-\end{DoxyCode}
diff --git a/documentation/latex/_b_n_o08x_test_helper_8hpp.tex b/documentation/latex/_b_n_o08x_test_helper_8hpp.tex
deleted file mode 100644
index cbd8d61..0000000
--- a/documentation/latex/_b_n_o08x_test_helper_8hpp.tex
+++ /dev/null
@@ -1,30 +0,0 @@
-\hypertarget{_b_n_o08x_test_helper_8hpp}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\+BNO08x\+Test\+Helper.hpp File Reference}
-\label{_b_n_o08x_test_helper_8hpp}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/BNO08xTestHelper.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/BNO08xTestHelper.hpp}}
-{\ttfamily \#include \char`\"{}BNO08x.\+hpp\char`\"{}}\newline
-Include dependency graph for BNO08x\+Test\+Helper.\+hpp\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_test_helper_8hpp__incl}
-\end{center}
-\end{figure}
-This graph shows which files directly or indirectly include this file\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=274pt]{_b_n_o08x_test_helper_8hpp__dep__incl}
-\end{center}
-\end{figure}
-\doxysubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-class \mbox{\hyperlink{class_b_n_o08x_test_helper}{BNO08x\+Test\+Helper}}
-\begin{DoxyCompactList}\small\item\em \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} unit test helper class. \end{DoxyCompactList}\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-\begin{DoxyAuthor}{Author}
-Myles Parfeniuk 
-\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_test_helper_8hpp__dep__incl.md5 b/documentation/latex/_b_n_o08x_test_helper_8hpp__dep__incl.md5
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-045541ef7c60d3088e3f7066226399dc
\ No newline at end of file
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--- a/documentation/latex/_b_n_o08x_test_helper_8hpp__incl.md5
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-c83009f4414d67e2e6ae076f68aa23bc
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_test_helper_8hpp__incl.pdf b/documentation/latex/_b_n_o08x_test_helper_8hpp__incl.pdf
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deleted file mode 100644
index 2b55931..0000000
--- a/documentation/latex/_b_n_o08x_test_helper_8hpp_source.tex
+++ /dev/null
@@ -1,152 +0,0 @@
-\hypertarget{_b_n_o08x_test_helper_8hpp_source}{}\doxysection{BNO08x\+Test\+Helper.\+hpp}
-\label{_b_n_o08x_test_helper_8hpp_source}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/BNO08xTestHelper.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/BNO08xTestHelper.hpp}}
-\mbox{\hyperlink{_b_n_o08x_test_helper_8hpp}{Go to the documentation of this file.}}
-\begin{DoxyCode}{0}
-\DoxyCodeLine{1 }
-\DoxyCodeLine{6 \textcolor{preprocessor}{\#pragma once}}
-\DoxyCodeLine{7 }
-\DoxyCodeLine{8 \textcolor{comment}{// in-\/house includes}}
-\DoxyCodeLine{9 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_8hpp}{BNO08x.hpp}}"{}}}
-\DoxyCodeLine{10 }
-\DoxyCodeLine{16 \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x_test_helper}{BNO08xTestHelper}}}
-\DoxyCodeLine{17 \{}
-\DoxyCodeLine{18     \textcolor{keyword}{private}:}
-\DoxyCodeLine{19         \textcolor{keyword}{static} \textcolor{keyword}{inline} uint8\_t test\_imu\_buffer[\textcolor{keyword}{sizeof}(\mbox{\hyperlink{class_b_n_o08x}{BNO08x}})];}
-\DoxyCodeLine{20         \textcolor{keyword}{inline} \textcolor{keyword}{static} \mbox{\hyperlink{class_b_n_o08x}{BNO08x}}* test\_imu = \textcolor{keyword}{nullptr};}
-\DoxyCodeLine{21         \textcolor{keyword}{inline} \textcolor{keyword}{static} \mbox{\hyperlink{structbno08x__config__t}{bno08x\_config\_t}} imu\_cfg;}
-\DoxyCodeLine{22 }
-\DoxyCodeLine{23         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} \textcolor{keywordtype}{char}* TAG = \textcolor{stringliteral}{"{}BNO08xTestHelper"{}};}
-\DoxyCodeLine{24 }
-\DoxyCodeLine{25     \textcolor{keyword}{public}:}
-\DoxyCodeLine{33         \textcolor{keyword}{static} \textcolor{keywordtype}{void} \mbox{\hyperlink{class_b_n_o08x_test_helper_a066f8389fd1c682ec9565ebc3060d885}{print\_test\_start\_banner}}(\textcolor{keyword}{const} \textcolor{keywordtype}{char}* TEST\_TAG)}
-\DoxyCodeLine{34         \{}
-\DoxyCodeLine{35             printf(\textcolor{stringliteral}{"{}-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/ BEGIN TEST: \%s -\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/\(\backslash\)n\(\backslash\)r"{}}, TEST\_TAG);}
-\DoxyCodeLine{36         \}}
-\DoxyCodeLine{37 }
-\DoxyCodeLine{45         \textcolor{keyword}{static} \textcolor{keywordtype}{void} \mbox{\hyperlink{class_b_n_o08x_test_helper_a16423fc3250e88eb5392800022f82919}{print\_test\_end\_banner}}(\textcolor{keyword}{const} \textcolor{keywordtype}{char}* TEST\_TAG)}
-\DoxyCodeLine{46         \{}
-\DoxyCodeLine{47             printf(\textcolor{stringliteral}{"{}-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/ END TEST: \%s -\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/\(\backslash\)n\(\backslash\)r"{}}, TEST\_TAG);}
-\DoxyCodeLine{48         \}}
-\DoxyCodeLine{49 }
-\DoxyCodeLine{58         \textcolor{keyword}{static} \textcolor{keywordtype}{void} \mbox{\hyperlink{class_b_n_o08x_test_helper_a23593453a05f7cac26fd341371197a8c}{print\_test\_msg}}(\textcolor{keyword}{const} \textcolor{keywordtype}{char}* TEST\_TAG, \textcolor{keyword}{const} \textcolor{keywordtype}{char}* msg)}
-\DoxyCodeLine{59         \{}
-\DoxyCodeLine{60             printf(\textcolor{stringliteral}{"{}\%s: \%s: \%s\(\backslash\)n\(\backslash\)r"{}}, TAG, TEST\_TAG, msg);}
-\DoxyCodeLine{61         \}}
-\DoxyCodeLine{62 }
-\DoxyCodeLine{70         \textcolor{keyword}{static} \textcolor{keywordtype}{void} \mbox{\hyperlink{class_b_n_o08x_test_helper_a9e2f9bf13f28f1a6ba87e86bc5947cf1}{set\_test\_imu\_cfg}}(\mbox{\hyperlink{structbno08x__config__t}{bno08x\_config\_t}} cfg)}
-\DoxyCodeLine{71         \{}
-\DoxyCodeLine{72             imu\_cfg = cfg;}
-\DoxyCodeLine{73         \}}
-\DoxyCodeLine{74 }
-\DoxyCodeLine{80         \textcolor{keyword}{static} \textcolor{keywordtype}{void} \mbox{\hyperlink{class_b_n_o08x_test_helper_a6bd040c7d670a9713f2ab8a8a3913518}{create\_test\_imu}}()}
-\DoxyCodeLine{81         \{}
-\DoxyCodeLine{82             \textcolor{keywordflow}{if} (test\_imu != \textcolor{keyword}{nullptr})}
-\DoxyCodeLine{83                 \mbox{\hyperlink{class_b_n_o08x_test_helper_ae2d6df7dcfdbd106c2247803461bbc40}{destroy\_test\_imu}}();}
-\DoxyCodeLine{84 }
-\DoxyCodeLine{85             test\_imu = \textcolor{keyword}{new} (\&test\_imu\_buffer) \mbox{\hyperlink{class_b_n_o08x}{BNO08x}}();}
-\DoxyCodeLine{86         \}}
-\DoxyCodeLine{87 }
-\DoxyCodeLine{93         \textcolor{keyword}{static} \textcolor{keywordtype}{void} \mbox{\hyperlink{class_b_n_o08x_test_helper_ae2d6df7dcfdbd106c2247803461bbc40}{destroy\_test\_imu}}()}
-\DoxyCodeLine{94         \{}
-\DoxyCodeLine{95             \textcolor{keywordflow}{if} (test\_imu != \textcolor{keyword}{nullptr})}
-\DoxyCodeLine{96             \{}
-\DoxyCodeLine{97                 test\_imu-\/>\string~BNO08x();  }
-\DoxyCodeLine{98                 test\_imu = \textcolor{keyword}{nullptr};}
-\DoxyCodeLine{99             \}}
-\DoxyCodeLine{100         \}}
-\DoxyCodeLine{101 }
-\DoxyCodeLine{107         \textcolor{keyword}{static} \mbox{\hyperlink{class_b_n_o08x}{BNO08x}}* \mbox{\hyperlink{class_b_n_o08x_test_helper_a41a432a3fe288e45b6ab139a00bd7d6b}{get\_test\_imu}}()}
-\DoxyCodeLine{108         \{}
-\DoxyCodeLine{109             \textcolor{keywordflow}{return} test\_imu;}
-\DoxyCodeLine{110         \}}
-\DoxyCodeLine{111 }
-\DoxyCodeLine{117         \textcolor{keyword}{static} esp\_err\_t \mbox{\hyperlink{class_b_n_o08x_test_helper_a71d9fd7d459a98a7e9089a8587a21f8d}{call\_init\_config\_args}}()}
-\DoxyCodeLine{118         \{}
-\DoxyCodeLine{119             \textcolor{keywordflow}{if} (test\_imu == \textcolor{keyword}{nullptr})}
-\DoxyCodeLine{120                 \textcolor{keywordflow}{return} ESP\_FAIL;}
-\DoxyCodeLine{121 }
-\DoxyCodeLine{122             \textcolor{keywordflow}{return} test\_imu-\/>init\_config\_args();}
-\DoxyCodeLine{123         \}}
-\DoxyCodeLine{124 }
-\DoxyCodeLine{130         \textcolor{keyword}{static} esp\_err\_t \mbox{\hyperlink{class_b_n_o08x_test_helper_a504749533ccd91890d73440809d38161}{call\_init\_gpio}}()}
-\DoxyCodeLine{131         \{}
-\DoxyCodeLine{132             \textcolor{keywordflow}{if} (test\_imu == \textcolor{keyword}{nullptr})}
-\DoxyCodeLine{133                 \textcolor{keywordflow}{return} ESP\_FAIL;}
-\DoxyCodeLine{134 }
-\DoxyCodeLine{135             \textcolor{keywordflow}{return} test\_imu-\/>init\_gpio();}
-\DoxyCodeLine{136         \}}
-\DoxyCodeLine{137 }
-\DoxyCodeLine{143         \textcolor{keyword}{static} esp\_err\_t \mbox{\hyperlink{class_b_n_o08x_test_helper_a836c928981ac85d34668c9b97af17a15}{call\_init\_hint\_isr}}()}
-\DoxyCodeLine{144         \{}
-\DoxyCodeLine{145             \textcolor{keywordflow}{if} (test\_imu == \textcolor{keyword}{nullptr})}
-\DoxyCodeLine{146                 \textcolor{keywordflow}{return} ESP\_FAIL;}
-\DoxyCodeLine{147 }
-\DoxyCodeLine{148             \textcolor{keywordflow}{return} test\_imu-\/>init\_hint\_isr();}
-\DoxyCodeLine{149         \}}
-\DoxyCodeLine{150 }
-\DoxyCodeLine{156         \textcolor{keyword}{static} esp\_err\_t \mbox{\hyperlink{class_b_n_o08x_test_helper_a7d2d784da1e850dab41154b35d7cdab5}{call\_init\_spi}}()}
-\DoxyCodeLine{157         \{}
-\DoxyCodeLine{158             \textcolor{keywordflow}{if} (test\_imu == \textcolor{keyword}{nullptr})}
-\DoxyCodeLine{159                 \textcolor{keywordflow}{return} ESP\_FAIL;}
-\DoxyCodeLine{160 }
-\DoxyCodeLine{161             \textcolor{keywordflow}{return} test\_imu-\/>init\_spi();}
-\DoxyCodeLine{162         \}}
-\DoxyCodeLine{163 }
-\DoxyCodeLine{169         \textcolor{keyword}{static} esp\_err\_t \mbox{\hyperlink{class_b_n_o08x_test_helper_a935a69784981caf90b4e135e3e257db4}{call\_init\_tasks}}()}
-\DoxyCodeLine{170         \{}
-\DoxyCodeLine{171             \textcolor{keywordflow}{if} (test\_imu == \textcolor{keyword}{nullptr})}
-\DoxyCodeLine{172                 \textcolor{keywordflow}{return} ESP\_FAIL;}
-\DoxyCodeLine{173 }
-\DoxyCodeLine{174             \textcolor{keywordflow}{return} test\_imu-\/>init\_tasks();}
-\DoxyCodeLine{175         \}}
-\DoxyCodeLine{176 }
-\DoxyCodeLine{182         \textcolor{keyword}{static} esp\_err\_t \mbox{\hyperlink{class_b_n_o08x_test_helper_a854c60f602fe6d9af1da1a07eee0a449}{call\_init\_sh2\_HAL}}()}
-\DoxyCodeLine{183         \{}
-\DoxyCodeLine{184             \textcolor{keywordflow}{if} (test\_imu == \textcolor{keyword}{nullptr})}
-\DoxyCodeLine{185                 \textcolor{keywordflow}{return} ESP\_FAIL;}
-\DoxyCodeLine{186 }
-\DoxyCodeLine{187             \textcolor{keywordflow}{return} test\_imu-\/>init\_sh2\_HAL();}
-\DoxyCodeLine{188         \}}
-\DoxyCodeLine{189 }
-\DoxyCodeLine{195         \textcolor{keyword}{static} esp\_err\_t \mbox{\hyperlink{class_b_n_o08x_test_helper_a347b8ca2697388394b7cb68c8895494b}{call\_deinit\_gpio}}()}
-\DoxyCodeLine{196         \{}
-\DoxyCodeLine{197             \textcolor{keywordflow}{if} (test\_imu == \textcolor{keyword}{nullptr})}
-\DoxyCodeLine{198                 \textcolor{keywordflow}{return} ESP\_FAIL;}
-\DoxyCodeLine{199 }
-\DoxyCodeLine{200             \textcolor{keywordflow}{return} test\_imu-\/>deinit\_gpio();}
-\DoxyCodeLine{201         \}}
-\DoxyCodeLine{202 }
-\DoxyCodeLine{208         \textcolor{keyword}{static} esp\_err\_t \mbox{\hyperlink{class_b_n_o08x_test_helper_ac15a216ea5561b190f25f83caa749261}{call\_deinit\_hint\_isr}}()}
-\DoxyCodeLine{209         \{}
-\DoxyCodeLine{210             \textcolor{keywordflow}{if} (test\_imu == \textcolor{keyword}{nullptr})}
-\DoxyCodeLine{211                 \textcolor{keywordflow}{return} ESP\_FAIL;}
-\DoxyCodeLine{212 }
-\DoxyCodeLine{213             \textcolor{keywordflow}{return} test\_imu-\/>deinit\_hint\_isr();}
-\DoxyCodeLine{214         \}}
-\DoxyCodeLine{215 }
-\DoxyCodeLine{221         \textcolor{keyword}{static} esp\_err\_t \mbox{\hyperlink{class_b_n_o08x_test_helper_a56ec98df9439461469bf0d2c23bb3868}{call\_deinit\_spi}}()}
-\DoxyCodeLine{222         \{}
-\DoxyCodeLine{223             \textcolor{keywordflow}{if} (test\_imu == \textcolor{keyword}{nullptr})}
-\DoxyCodeLine{224                 \textcolor{keywordflow}{return} ESP\_FAIL;}
-\DoxyCodeLine{225 }
-\DoxyCodeLine{226             \textcolor{keywordflow}{return} test\_imu-\/>deinit\_spi();}
-\DoxyCodeLine{227         \}}
-\DoxyCodeLine{228 }
-\DoxyCodeLine{234         \textcolor{keyword}{static} esp\_err\_t \mbox{\hyperlink{class_b_n_o08x_test_helper_a3be103abfab70eef3c1b1609a0c46bec}{call\_deinit\_tasks}}()}
-\DoxyCodeLine{235         \{}
-\DoxyCodeLine{236             \textcolor{keywordflow}{if} (test\_imu == \textcolor{keyword}{nullptr})}
-\DoxyCodeLine{237                 \textcolor{keywordflow}{return} ESP\_FAIL;}
-\DoxyCodeLine{238 }
-\DoxyCodeLine{239             \textcolor{keywordflow}{return} test\_imu-\/>deinit\_tasks();}
-\DoxyCodeLine{240         \}}
-\DoxyCodeLine{241 }
-\DoxyCodeLine{247         \textcolor{keyword}{static} esp\_err\_t \mbox{\hyperlink{class_b_n_o08x_test_helper_ab1f8d61956fbceecf0baf08cb878397d}{call\_deinit\_sh2\_HAL}}()}
-\DoxyCodeLine{248         \{}
-\DoxyCodeLine{249             \textcolor{keywordflow}{if} (test\_imu == \textcolor{keyword}{nullptr})}
-\DoxyCodeLine{250                 \textcolor{keywordflow}{return} ESP\_FAIL;}
-\DoxyCodeLine{251 }
-\DoxyCodeLine{252             \textcolor{keywordflow}{return} test\_imu-\/>deinit\_sh2\_HAL();}
-\DoxyCodeLine{253         \}}
-\DoxyCodeLine{254 \};}
-
-\end{DoxyCode}
diff --git a/documentation/latex/_b_n_o08x_test_suite_8hpp.tex b/documentation/latex/_b_n_o08x_test_suite_8hpp.tex
deleted file mode 100644
index e9b22fa..0000000
--- a/documentation/latex/_b_n_o08x_test_suite_8hpp.tex
+++ /dev/null
@@ -1,23 +0,0 @@
-\hypertarget{_b_n_o08x_test_suite_8hpp}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\+BNO08x\+Test\+Suite.hpp File Reference}
-\label{_b_n_o08x_test_suite_8hpp}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/BNO08xTestSuite.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/BNO08xTestSuite.hpp}}
-{\ttfamily \#include \char`\"{}unity.\+h\char`\"{}}\newline
-{\ttfamily \#include \char`\"{}BNO08x\+Test\+Helper.\+hpp\char`\"{}}\newline
-Include dependency graph for BNO08x\+Test\+Suite.\+hpp\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{_b_n_o08x_test_suite_8hpp__incl}
-\end{center}
-\end{figure}
-\doxysubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-class \mbox{\hyperlink{class_b_n_o08x_test_suite}{BNO08x\+Test\+Suite}}
-\begin{DoxyCompactList}\small\item\em \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} unit test launch point class. \end{DoxyCompactList}\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-\begin{DoxyAuthor}{Author}
-Myles Parfeniuk 
-\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_test_suite_8hpp__incl.md5 b/documentation/latex/_b_n_o08x_test_suite_8hpp__incl.md5
deleted file mode 100644
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--- a/documentation/latex/_b_n_o08x_test_suite_8hpp__incl.md5
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@@ -1 +0,0 @@
-b4cb8128032e1f01678a53e5970e5628
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_test_suite_8hpp__incl.pdf b/documentation/latex/_b_n_o08x_test_suite_8hpp__incl.pdf
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index a6ff963..0000000
Binary files a/documentation/latex/_b_n_o08x_test_suite_8hpp__incl.pdf and /dev/null differ
diff --git a/documentation/latex/_b_n_o08x_test_suite_8hpp_source.tex b/documentation/latex/_b_n_o08x_test_suite_8hpp_source.tex
deleted file mode 100644
index 656b244..0000000
--- a/documentation/latex/_b_n_o08x_test_suite_8hpp_source.tex
+++ /dev/null
@@ -1,119 +0,0 @@
-\hypertarget{_b_n_o08x_test_suite_8hpp_source}{}\doxysection{BNO08x\+Test\+Suite.\+hpp}
-\label{_b_n_o08x_test_suite_8hpp_source}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/BNO08xTestSuite.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/BNO08xTestSuite.hpp}}
-\mbox{\hyperlink{_b_n_o08x_test_suite_8hpp}{Go to the documentation of this file.}}
-\begin{DoxyCode}{0}
-\DoxyCodeLine{1 }
-\DoxyCodeLine{6 \textcolor{preprocessor}{\#pragma once}}
-\DoxyCodeLine{7 }
-\DoxyCodeLine{8 \textcolor{comment}{// esp-\/idf includes}}
-\DoxyCodeLine{9 \textcolor{preprocessor}{\#include "{}unity.h"{}}}
-\DoxyCodeLine{10 \textcolor{comment}{// in-\/house includes}}
-\DoxyCodeLine{11 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_test_helper_8hpp}{BNO08xTestHelper.hpp}}"{}}}
-\DoxyCodeLine{12 }
-\DoxyCodeLine{18 \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x_test_suite}{BNO08xTestSuite}}}
-\DoxyCodeLine{19 \{}
-\DoxyCodeLine{20 }
-\DoxyCodeLine{21     \textcolor{keyword}{private}:}
-\DoxyCodeLine{22         \textcolor{keyword}{static} \textcolor{keywordtype}{void} print\_begin\_tests\_banner(\textcolor{keyword}{const} \textcolor{keywordtype}{char}* test\_set\_name)}
-\DoxyCodeLine{23         \{}
-\DoxyCodeLine{24             printf(\textcolor{stringliteral}{"{}\#\#\#\#\#\#\#\#\#\#\#\#\#\#\#\#\#\#\#\#\#\#\# BEGIN TESTS: \%s \#\#\#\#\#\#\#\#\#\#\#\#\#\#\#\#\#\#\#\#\#\#\#\(\backslash\)n\(\backslash\)r"{}}, test\_set\_name);}
-\DoxyCodeLine{25         \}}
-\DoxyCodeLine{26 }
-\DoxyCodeLine{27         \textcolor{keyword}{static} \textcolor{keywordtype}{void} print\_end\_tests\_banner(\textcolor{keyword}{const} \textcolor{keywordtype}{char}* test\_set\_name)}
-\DoxyCodeLine{28         \{}
-\DoxyCodeLine{29             printf(\textcolor{stringliteral}{"{}\#\#\#\#\#\#\#\#\#\#\#\#\#\#\#\#\#\#\#\#\#\#\# END TESTS: \%s \#\#\#\#\#\#\#\#\#\#\#\#\#\#\#\#\#\#\#\#\#\#\#\(\backslash\)n\(\backslash\)r"{}}, test\_set\_name);}
-\DoxyCodeLine{30         \}}
-\DoxyCodeLine{31 }
-\DoxyCodeLine{32     \textcolor{keyword}{public}:}
-\DoxyCodeLine{33         \textcolor{keyword}{static} \textcolor{keywordtype}{void} \mbox{\hyperlink{class_b_n_o08x_test_suite_ac12545fe311a98e9c0ae6fea77da95fd}{run\_all\_tests}}()}
-\DoxyCodeLine{34         \{}
-\DoxyCodeLine{35             UNITY\_BEGIN();}
-\DoxyCodeLine{36             \mbox{\hyperlink{class_b_n_o08x_test_suite_a53de9b0fe1b28c18e3a1ca4c68a06f16}{run\_init\_deinit\_tests}}(\textcolor{keyword}{false});}
-\DoxyCodeLine{37             \mbox{\hyperlink{class_b_n_o08x_test_suite_a37899d7bf67fce5c3dd77dd5647f8ecb}{run\_single\_report\_tests}}(\textcolor{keyword}{false});}
-\DoxyCodeLine{38             \mbox{\hyperlink{class_b_n_o08x_test_suite_a916cff374791381de61f1035f9935ac5}{run\_multi\_report\_tests}}(\textcolor{keyword}{false});}
-\DoxyCodeLine{39             \mbox{\hyperlink{class_b_n_o08x_test_suite_a8e294955bf512e2e88c086f04f6030a8}{run\_callback\_tests}}(\textcolor{keyword}{false});}
-\DoxyCodeLine{40             \mbox{\hyperlink{class_b_n_o08x_test_suite_a8d7a3485fdf1ff9c0a09736654187434}{run\_feature\_tests}}(\textcolor{keyword}{false});}
-\DoxyCodeLine{41             UNITY\_END();}
-\DoxyCodeLine{42         \}}
-\DoxyCodeLine{43 }
-\DoxyCodeLine{44         \textcolor{keyword}{static} \textcolor{keywordtype}{void} \mbox{\hyperlink{class_b_n_o08x_test_suite_a53de9b0fe1b28c18e3a1ca4c68a06f16}{run\_init\_deinit\_tests}}(\textcolor{keywordtype}{bool} call\_unity\_end\_begin = \textcolor{keyword}{true})}
-\DoxyCodeLine{45         \{}
-\DoxyCodeLine{46             print\_begin\_tests\_banner(\textcolor{stringliteral}{"{}init\_denit\_tests"{}});}
-\DoxyCodeLine{47 }
-\DoxyCodeLine{48             \textcolor{keywordflow}{if} (call\_unity\_end\_begin)}
-\DoxyCodeLine{49                 UNITY\_BEGIN();}
-\DoxyCodeLine{50 }
-\DoxyCodeLine{51             unity\_run\_tests\_by\_tag(\textcolor{stringliteral}{"{}[InitComprehensive]"{}}, \textcolor{keyword}{false});}
-\DoxyCodeLine{52             unity\_run\_tests\_by\_tag(\textcolor{stringliteral}{"{}[DeinitComprehensive]"{}}, \textcolor{keyword}{false});}
-\DoxyCodeLine{53             unity\_run\_tests\_by\_tag(\textcolor{stringliteral}{"{}[InitDenit]"{}}, \textcolor{keyword}{false});}
-\DoxyCodeLine{54 }
-\DoxyCodeLine{55             \textcolor{keywordflow}{if} (call\_unity\_end\_begin)}
-\DoxyCodeLine{56                 UNITY\_END();}
-\DoxyCodeLine{57 }
-\DoxyCodeLine{58             print\_end\_tests\_banner(\textcolor{stringliteral}{"{}init\_denit\_tests"{}});}
-\DoxyCodeLine{59         \}}
-\DoxyCodeLine{60 }
-\DoxyCodeLine{61         \textcolor{keyword}{static} \textcolor{keywordtype}{void} \mbox{\hyperlink{class_b_n_o08x_test_suite_a37899d7bf67fce5c3dd77dd5647f8ecb}{run\_single\_report\_tests}}(\textcolor{keywordtype}{bool} call\_unity\_end\_begin = \textcolor{keyword}{true})}
-\DoxyCodeLine{62         \{}
-\DoxyCodeLine{63             print\_begin\_tests\_banner(\textcolor{stringliteral}{"{}single\_report\_enable\_disable\_tests"{}});}
-\DoxyCodeLine{64 }
-\DoxyCodeLine{65             \textcolor{keywordflow}{if} (call\_unity\_end\_begin)}
-\DoxyCodeLine{66                 UNITY\_BEGIN();}
-\DoxyCodeLine{67 }
-\DoxyCodeLine{68             unity\_run\_tests\_by\_tag(\textcolor{stringliteral}{"{}[SingleReportEnableDisable]"{}}, \textcolor{keyword}{false});}
-\DoxyCodeLine{69 }
-\DoxyCodeLine{70             \textcolor{keywordflow}{if} (call\_unity\_end\_begin)}
-\DoxyCodeLine{71                 UNITY\_END();}
-\DoxyCodeLine{72 }
-\DoxyCodeLine{73             print\_end\_tests\_banner(\textcolor{stringliteral}{"{}single\_report\_enable\_disable\_tests"{}});}
-\DoxyCodeLine{74         \}}
-\DoxyCodeLine{75 }
-\DoxyCodeLine{76         \textcolor{keyword}{static} \textcolor{keywordtype}{void} \mbox{\hyperlink{class_b_n_o08x_test_suite_a916cff374791381de61f1035f9935ac5}{run\_multi\_report\_tests}}(\textcolor{keywordtype}{bool} call\_unity\_end\_begin = \textcolor{keyword}{true})}
-\DoxyCodeLine{77         \{}
-\DoxyCodeLine{78             print\_begin\_tests\_banner(\textcolor{stringliteral}{"{}multi\_report\_enable\_disable\_tests"{}});}
-\DoxyCodeLine{79 }
-\DoxyCodeLine{80             \textcolor{keywordflow}{if} (call\_unity\_end\_begin)}
-\DoxyCodeLine{81                 UNITY\_BEGIN();}
-\DoxyCodeLine{82 }
-\DoxyCodeLine{83             unity\_run\_tests\_by\_tag(\textcolor{stringliteral}{"{}[MultiReportEnableDisable]"{}}, \textcolor{keyword}{false});}
-\DoxyCodeLine{84 }
-\DoxyCodeLine{85             \textcolor{keywordflow}{if} (call\_unity\_end\_begin)}
-\DoxyCodeLine{86                 UNITY\_END();}
-\DoxyCodeLine{87 }
-\DoxyCodeLine{88             print\_end\_tests\_banner(\textcolor{stringliteral}{"{}multi\_report\_enable\_disable\_tests"{}});}
-\DoxyCodeLine{89         \}}
-\DoxyCodeLine{90 }
-\DoxyCodeLine{91         \textcolor{keyword}{static} \textcolor{keywordtype}{void} \mbox{\hyperlink{class_b_n_o08x_test_suite_a8e294955bf512e2e88c086f04f6030a8}{run\_callback\_tests}}(\textcolor{keywordtype}{bool} call\_unity\_end\_begin = \textcolor{keyword}{true})}
-\DoxyCodeLine{92         \{}
-\DoxyCodeLine{93             print\_begin\_tests\_banner(\textcolor{stringliteral}{"{}callback\_tests"{}});}
-\DoxyCodeLine{94 }
-\DoxyCodeLine{95             \textcolor{keywordflow}{if} (call\_unity\_end\_begin)}
-\DoxyCodeLine{96                 UNITY\_BEGIN();}
-\DoxyCodeLine{97 }
-\DoxyCodeLine{98             unity\_run\_tests\_by\_tag(\textcolor{stringliteral}{"{}[CallbackAllReportVoidInputParam]"{}}, \textcolor{keyword}{false});}
-\DoxyCodeLine{99             unity\_run\_tests\_by\_tag(\textcolor{stringliteral}{"{}[CallbackAllReportIDInputParam]"{}}, \textcolor{keyword}{false});}
-\DoxyCodeLine{100             unity\_run\_tests\_by\_tag(\textcolor{stringliteral}{"{}[CallbackSingleReportVoidInputParam]"{}}, \textcolor{keyword}{false});}
-\DoxyCodeLine{101 }
-\DoxyCodeLine{102             \textcolor{keywordflow}{if} (call\_unity\_end\_begin)}
-\DoxyCodeLine{103                 UNITY\_END();}
-\DoxyCodeLine{104 }
-\DoxyCodeLine{105             print\_end\_tests\_banner(\textcolor{stringliteral}{"{}callback\_tests"{}});}
-\DoxyCodeLine{106         \}}
-\DoxyCodeLine{107 }
-\DoxyCodeLine{108         \textcolor{keyword}{static} \textcolor{keywordtype}{void} \mbox{\hyperlink{class_b_n_o08x_test_suite_a8d7a3485fdf1ff9c0a09736654187434}{run\_feature\_tests}}(\textcolor{keywordtype}{bool} call\_unity\_end\_begin = \textcolor{keyword}{true})}
-\DoxyCodeLine{109         \{}
-\DoxyCodeLine{110             print\_begin\_tests\_banner(\textcolor{stringliteral}{"{}feature\_tests"{}});}
-\DoxyCodeLine{111 }
-\DoxyCodeLine{112             \textcolor{keywordflow}{if} (call\_unity\_end\_begin)}
-\DoxyCodeLine{113                 UNITY\_BEGIN();}
-\DoxyCodeLine{114 }
-\DoxyCodeLine{115             unity\_run\_tests\_by\_tag(\textcolor{stringliteral}{"{}[FeatureTests]"{}}, \textcolor{keyword}{false});}
-\DoxyCodeLine{116 }
-\DoxyCodeLine{117             \textcolor{keywordflow}{if} (call\_unity\_end\_begin)}
-\DoxyCodeLine{118                 UNITY\_END();}
-\DoxyCodeLine{119 }
-\DoxyCodeLine{120             print\_end\_tests\_banner(\textcolor{stringliteral}{"{}feature\_tests"{}});}
-\DoxyCodeLine{121         \}}
-\DoxyCodeLine{122 \};}
-
-\end{DoxyCode}
diff --git a/documentation/latex/annotated.tex b/documentation/latex/annotated.tex
deleted file mode 100644
index a114cec..0000000
--- a/documentation/latex/annotated.tex
+++ /dev/null
@@ -1,55 +0,0 @@
-\doxysection{Class List}
-Here are the classes, structs, unions and interfaces with brief descriptions\+:\begin{DoxyCompactList}
-\item\contentsline{section}{\mbox{\hyperlink{class_b_n_o08x}{BNO08x}} \\*\mbox{\hyperlink{class_b_n_o08x}{BNO08x}} IMU driver class }{\pageref{class_b_n_o08x}}{}
-\item\contentsline{section}{\mbox{\hyperlink{structbno08x__accel__t}{bno08x\+\_\+accel\+\_\+t}} \\*Struct to represent acceleration data from acceleration, linear acceleration, and gravity reports }{\pageref{structbno08x__accel__t}}{}
-\item\contentsline{section}{\mbox{\hyperlink{structbno08x__activity__classifier__t}{bno08x\+\_\+activity\+\_\+classifier\+\_\+t}} \\*Struct to represent activity classifier data }{\pageref{structbno08x__activity__classifier__t}}{}
-\item\contentsline{section}{\mbox{\hyperlink{structbno08x__ang__vel__t}{bno08x\+\_\+ang\+\_\+vel\+\_\+t}} \\*Struct to represent angular velocity (units in rad/s) }{\pageref{structbno08x__ang__vel__t}}{}
-\item\contentsline{section}{\mbox{\hyperlink{structbno08x__config__t}{bno08x\+\_\+config\+\_\+t}} \\*IMU configuration settings passed into constructor }{\pageref{structbno08x__config__t}}{}
-\item\contentsline{section}{\mbox{\hyperlink{structbno08x__euler__angle__t}{bno08x\+\_\+euler\+\_\+angle\+\_\+t}} \\*Struct to represent euler angle (units in degrees or rads) }{\pageref{structbno08x__euler__angle__t}}{}
-\item\contentsline{section}{\mbox{\hyperlink{structbno08x__gyro__bias__t}{bno08x\+\_\+gyro\+\_\+bias\+\_\+t}} \\*Struct to represent gyro bias data (units in rad/s) }{\pageref{structbno08x__gyro__bias__t}}{}
-\item\contentsline{section}{\mbox{\hyperlink{structbno08x__gyro__t}{bno08x\+\_\+gyro\+\_\+t}} \\*Struct to represent gyro data (units in rad/s) }{\pageref{structbno08x__gyro__t}}{}
-\item\contentsline{section}{\mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+init\+\_\+status\+\_\+t}} \\*Holds info about which functionality has been successfully initialized (used by deconstructor during cleanup) }{\pageref{struct_b_n_o08x_private_types_1_1bno08x__init__status__t}}{}
-\item\contentsline{section}{\mbox{\hyperlink{structbno08x__magf__bias__t}{bno08x\+\_\+magf\+\_\+bias\+\_\+t}} \\*Struct to represent magnetic field bias data (units in u\+Tesla) }{\pageref{structbno08x__magf__bias__t}}{}
-\item\contentsline{section}{\mbox{\hyperlink{structbno08x__magf__t}{bno08x\+\_\+magf\+\_\+t}} \\*Struct to represent magnetic field data (units in u\+Tesla) }{\pageref{structbno08x__magf__t}}{}
-\item\contentsline{section}{\mbox{\hyperlink{structbno08x__meta__data__t}{bno08x\+\_\+meta\+\_\+data\+\_\+t}} \\*Struct to represent sensor/report meta data, returned from \mbox{\hyperlink{class_b_n_o08x_rpt_ad5b054279b01204f61b4c0408acf51cf}{BNO08x\+Rpt\+::get\+\_\+meta\+\_\+data()}} }{\pageref{structbno08x__meta__data__t}}{}
-\item\contentsline{section}{\mbox{\hyperlink{structbno08x__quat__t}{bno08x\+\_\+quat\+\_\+t}} \\*Struct to represent unit quaternion }{\pageref{structbno08x__quat__t}}{}
-\item\contentsline{section}{\mbox{\hyperlink{structbno08x__raw__accel__t}{bno08x\+\_\+raw\+\_\+accel\+\_\+t}} \\*Struct to represent raw mems accelerometer data from raw accelerometer reports (units in ADC counts) }{\pageref{structbno08x__raw__accel__t}}{}
-\item\contentsline{section}{\mbox{\hyperlink{structbno08x__raw__gyro__t}{bno08x\+\_\+raw\+\_\+gyro\+\_\+t}} \\*Struct to represent raw mems gyro data from raw gyro reports (units in ADC counts) }{\pageref{structbno08x__raw__gyro__t}}{}
-\item\contentsline{section}{\mbox{\hyperlink{structbno08x__raw__magf__t}{bno08x\+\_\+raw\+\_\+magf\+\_\+t}} \\*Struct to represent raw mems magnetometer data from raw magnetometer reports (units in ADC counts) }{\pageref{structbno08x__raw__magf__t}}{}
-\item\contentsline{section}{\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t}{BNO08x\+::bno08x\+\_\+reports\+\_\+t}} \\*Contains report implementations }{\pageref{struct_b_n_o08x_1_1bno08x__reports__t}}{}
-\item\contentsline{section}{\mbox{\hyperlink{structbno08x__sample__counts__t}{bno08x\+\_\+sample\+\_\+counts\+\_\+t}} \\*Struct to represent sample counts, returned from \mbox{\hyperlink{class_b_n_o08x_rpt_a7ce8e48cadf59f49068af7f1cb680b38}{BNO08x\+Rpt\+::get\+\_\+sample\+\_\+counts()}} }{\pageref{structbno08x__sample__counts__t}}{}
-\item\contentsline{section}{\mbox{\hyperlink{structbno08x__shake__detector__t}{bno08x\+\_\+shake\+\_\+detector\+\_\+t}} \\*Struct to represent shake detector data (flag meaning\+: 0 = no shake 1 = shake detected) }{\pageref{structbno08x__shake__detector__t}}{}
-\item\contentsline{section}{\mbox{\hyperlink{structbno08x__stability__classifier__t}{bno08x\+\_\+stability\+\_\+classifier\+\_\+t}} \\*Struct to represent stability classifier data from stability classifier reports }{\pageref{structbno08x__stability__classifier__t}}{}
-\item\contentsline{section}{\mbox{\hyperlink{structbno08x__step__counter__t}{bno08x\+\_\+step\+\_\+counter\+\_\+t}} \\*Struct to represent step counter data from step counter reports }{\pageref{structbno08x__step__counter__t}}{}
-\item\contentsline{section}{\mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} \\*Holds context used to synchronize tasks and callback execution }{\pageref{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}}{}
-\item\contentsline{section}{\mbox{\hyperlink{structbno08x__tap__detector__t}{bno08x\+\_\+tap\+\_\+detector\+\_\+t}} \\*Struct to represent tap detector data (flag meaning\+: 0 = no tap, 1 = positive tap on axis, -\/1 = negative tap on axis) }{\pageref{structbno08x__tap__detector__t}}{}
-\item\contentsline{section}{\mbox{\hyperlink{class_b_n_o08x_cb_generic}{BNO08x\+Cb\+Generic}} \\*Parent class to represent callback functions as generic type such that all flavors can be invoked by single type }{\pageref{class_b_n_o08x_cb_generic}}{}
-\item\contentsline{section}{\mbox{\hyperlink{class_b_n_o08x_cb_param_rpt_i_d}{BNO08x\+Cb\+Param\+Rpt\+ID}} \\*Class to hold callback functions which are passed report ID as input parameter }{\pageref{class_b_n_o08x_cb_param_rpt_i_d}}{}
-\item\contentsline{section}{\mbox{\hyperlink{class_b_n_o08x_cb_param_void}{BNO08x\+Cb\+Param\+Void}} }{\pageref{class_b_n_o08x_cb_param_void}}{}
-\item\contentsline{section}{\mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08x\+Rpt}} \\*Class to represent and manage reports returned from \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} }{\pageref{class_b_n_o08x_rpt}}{}
-\item\contentsline{section}{\mbox{\hyperlink{class_b_n_o08x_rpt_acceleration}{BNO08x\+Rpt\+Acceleration}} \\*Class to represent accelerometer reports. (See Ref. Manual 6.\+5.\+9) }{\pageref{class_b_n_o08x_rpt_acceleration}}{}
-\item\contentsline{section}{\mbox{\hyperlink{class_b_n_o08x_rpt_activity_classifier}{BNO08x\+Rpt\+Activity\+Classifier}} \\*Class to represent activity classifier reports. (See Ref. Manual 6.\+5.\+36) }{\pageref{class_b_n_o08x_rpt_activity_classifier}}{}
-\item\contentsline{section}{\mbox{\hyperlink{class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v}{BNO08x\+Rpt\+ARVRStabilized\+Game\+RV}} \\*Class to represent ARVR stabilized rotation vector reports. (See Ref. Manual 6.\+5.\+43) }{\pageref{class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v}}{}
-\item\contentsline{section}{\mbox{\hyperlink{class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v}{BNO08x\+Rpt\+ARVRStabilized\+RV}} \\*Class to represent ARVR stabilized rotation vector reports. (See Ref. Manual 6.\+5.\+42) }{\pageref{class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v}}{}
-\item\contentsline{section}{\mbox{\hyperlink{class_b_n_o08x_rpt_cal_gyro}{BNO08x\+Rpt\+Cal\+Gyro}} \\*Class to represent calibrated gyro reports. (See Ref. Manual 6.\+5.\+13) }{\pageref{class_b_n_o08x_rpt_cal_gyro}}{}
-\item\contentsline{section}{\mbox{\hyperlink{class_b_n_o08x_rpt_cal_magnetometer}{BNO08x\+Rpt\+Cal\+Magnetometer}} \\*Class to represent calibrated magnetometer reports. (See Ref. Manual 6.\+5.\+16) }{\pageref{class_b_n_o08x_rpt_cal_magnetometer}}{}
-\item\contentsline{section}{\mbox{\hyperlink{class_b_n_o08x_rpt_game_r_v}{BNO08x\+Rpt\+Game\+RV}} \\*Class to represent game rotation vector reports. (See Ref. Manual 6.\+5.\+19) }{\pageref{class_b_n_o08x_rpt_game_r_v}}{}
-\item\contentsline{section}{\mbox{\hyperlink{class_b_n_o08x_rpt_gravity}{BNO08x\+Rpt\+Gravity}} \\*Class to represent gravity reports. (See Ref. Manual 6.\+5.\+11) }{\pageref{class_b_n_o08x_rpt_gravity}}{}
-\item\contentsline{section}{\mbox{\hyperlink{class_b_n_o08x_rpt_i_gyro_r_v}{BNO08x\+Rpt\+IGyro\+RV}} \\*Class to represent integrated gyro rotation vector reports. (See Ref. Manual 6.\+5.\+44) }{\pageref{class_b_n_o08x_rpt_i_gyro_r_v}}{}
-\item\contentsline{section}{\mbox{\hyperlink{class_b_n_o08x_rpt_linear_acceleration}{BNO08x\+Rpt\+Linear\+Acceleration}} \\*Class to represent linear accelerometer reports. (See Ref. Manual 6.\+5.\+10) }{\pageref{class_b_n_o08x_rpt_linear_acceleration}}{}
-\item\contentsline{section}{\mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer}{BNO08x\+Rpt\+Raw\+MEMSAccelerometer}} \\*Class to represent raw accelerometer reports. (See Ref. Manual 6.\+5.\+8) }{\pageref{class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer}}{}
-\item\contentsline{section}{\mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_gyro}{BNO08x\+Rpt\+Raw\+MEMSGyro}} \\*Class to represent raw gyro reports. (See Ref. Manual 6.\+5.\+12) }{\pageref{class_b_n_o08x_rpt_raw_m_e_m_s_gyro}}{}
-\item\contentsline{section}{\mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer}{BNO08x\+Rpt\+Raw\+MEMSMagnetometer}} \\*Class to represent raw magnetometer reports. (See Ref. Manual 6.\+5.\+15) }{\pageref{class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer}}{}
-\item\contentsline{section}{\mbox{\hyperlink{class_b_n_o08x_rpt_r_v}{BNO08x\+Rpt\+RV}} \\*Class to represent rotation vector reports. (See Ref. Manual 6.\+5.\+18) }{\pageref{class_b_n_o08x_rpt_r_v}}{}
-\item\contentsline{section}{\mbox{\hyperlink{class_b_n_o08x_rpt_r_v_generic}{BNO08x\+Rpt\+RVGeneric}} \\*Class to represent rotation vector reports }{\pageref{class_b_n_o08x_rpt_r_v_generic}}{}
-\item\contentsline{section}{\mbox{\hyperlink{class_b_n_o08x_rpt_r_v_geomag}{BNO08x\+Rpt\+RVGeomag}} \\*Class to represent geomagnetic rotation vector reports. (See Ref. Manual 6.\+5.\+20) }{\pageref{class_b_n_o08x_rpt_r_v_geomag}}{}
-\item\contentsline{section}{\mbox{\hyperlink{class_b_n_o08x_rpt_shake_detector}{BNO08x\+Rpt\+Shake\+Detector}} \\*Class to represent shake detector reports. (See Ref. Manual 6.\+5.\+32) }{\pageref{class_b_n_o08x_rpt_shake_detector}}{}
-\item\contentsline{section}{\mbox{\hyperlink{class_b_n_o08x_rpt_stability_classifier}{BNO08x\+Rpt\+Stability\+Classifier}} \\*Class to represent stability classifier reports. (See Ref. Manual 6.\+5.\+31) }{\pageref{class_b_n_o08x_rpt_stability_classifier}}{}
-\item\contentsline{section}{\mbox{\hyperlink{class_b_n_o08x_rpt_step_counter}{BNO08x\+Rpt\+Step\+Counter}} \\*Class to represent step counter reports. (See Ref. Manual 6.\+5.\+29) }{\pageref{class_b_n_o08x_rpt_step_counter}}{}
-\item\contentsline{section}{\mbox{\hyperlink{class_b_n_o08x_rpt_tap_detector}{BNO08x\+Rpt\+Tap\+Detector}} \\*Class to represent tap detector reports. (See Ref. Manual 6.\+5.\+27) }{\pageref{class_b_n_o08x_rpt_tap_detector}}{}
-\item\contentsline{section}{\mbox{\hyperlink{class_b_n_o08x_rpt_uncal_gyro}{BNO08x\+Rpt\+Uncal\+Gyro}} \\*Class to represent uncalibrated gyro reports. (See Ref. Manual 6.\+5.\+14) }{\pageref{class_b_n_o08x_rpt_uncal_gyro}}{}
-\item\contentsline{section}{\mbox{\hyperlink{class_b_n_o08x_rpt_uncal_magnetometer}{BNO08x\+Rpt\+Uncal\+Magnetometer}} \\*Class to represent uncalibrated magnetometer reports. (See Ref. Manual 6.\+5.\+17) }{\pageref{class_b_n_o08x_rpt_uncal_magnetometer}}{}
-\item\contentsline{section}{\mbox{\hyperlink{class_b_n_o08x_s_h2_h_a_l}{BNO08x\+SH2\+HAL}} \\*Fully static class containing callback implementations for sh2 HAL lib }{\pageref{class_b_n_o08x_s_h2_h_a_l}}{}
-\item\contentsline{section}{\mbox{\hyperlink{class_b_n_o08x_test_helper}{BNO08x\+Test\+Helper}} \\*\mbox{\hyperlink{class_b_n_o08x}{BNO08x}} unit test helper class }{\pageref{class_b_n_o08x_test_helper}}{}
-\item\contentsline{section}{\mbox{\hyperlink{class_b_n_o08x_test_suite}{BNO08x\+Test\+Suite}} \\*\mbox{\hyperlink{class_b_n_o08x}{BNO08x}} unit test launch point class }{\pageref{class_b_n_o08x_test_suite}}{}
-\end{DoxyCompactList}
diff --git a/documentation/latex/class_b_n_o08x.tex b/documentation/latex/class_b_n_o08x.tex
deleted file mode 100644
index fb15289..0000000
--- a/documentation/latex/class_b_n_o08x.tex
+++ /dev/null
@@ -1,780 +0,0 @@
-\hypertarget{class_b_n_o08x}{}\doxysection{BNO08x Class Reference}
-\label{class_b_n_o08x}\index{BNO08x@{BNO08x}}
-
-
-\mbox{\hyperlink{class_b_n_o08x}{BNO08x}} IMU driver class.  
-
-
-
-
-{\ttfamily \#include $<$BNO08x.\+hpp$>$}
-
-
-
-Collaboration diagram for BNO08x\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x__coll__graph}
-\end{center}
-\end{figure}
-\doxysubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-struct \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t}{bno08x\+\_\+reports\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em Contains report implementations. \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Public Types}
-\begin{DoxyCompactItemize}
-\item 
-typedef struct \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t}{BNO08x\+::bno08x\+\_\+reports\+\_\+t}} \mbox{\hyperlink{class_b_n_o08x_ae08bdaff01ecacf0f399ab289fdf0b99}{bno08x\+\_\+reports\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em Contains report implementations. \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{class_b_n_o08x_ad12fb6cf310ad7a04a4e53809833bd61}{BNO08x}} (\mbox{\hyperlink{structbno08x__config__t}{bno08x\+\_\+config\+\_\+t}} imu\+\_\+config=\mbox{\hyperlink{structbno08x__config__t}{bno08x\+\_\+config\+\_\+t}}())
-\begin{DoxyCompactList}\small\item\em \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} imu constructor. \end{DoxyCompactList}\item 
-\mbox{\hyperlink{class_b_n_o08x_a687eee44d68e1bcabce04780d7eb5fb9}{$\sim$\+BNO08x}} ()
-\begin{DoxyCompactList}\small\item\em \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} imu deconstructor. \end{DoxyCompactList}\item 
-bool \mbox{\hyperlink{class_b_n_o08x_aea8e2c6dd7a2c9899479a7f39fe94798}{initialize}} ()
-\begin{DoxyCompactList}\small\item\em Initializes \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} sensor. \end{DoxyCompactList}\item 
-bool \mbox{\hyperlink{class_b_n_o08x_a28cd1c0b3477571d87133234e6358503}{hard\+\_\+reset}} ()
-\begin{DoxyCompactList}\small\item\em Hard resets \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} device. \end{DoxyCompactList}\item 
-bool \mbox{\hyperlink{class_b_n_o08x_a973a1b1785f3302ee1b2702c6a27646e}{soft\+\_\+reset}} ()
-\begin{DoxyCompactList}\small\item\em Soft resets \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} device by sending RESET (1) command on \char`\"{}device\char`\"{} channel. \end{DoxyCompactList}\item 
-bool \mbox{\hyperlink{class_b_n_o08x_aebacbe092615cd083cf996b14402bba6}{disable\+\_\+all\+\_\+reports}} ()
-\begin{DoxyCompactList}\small\item\em Disables all currently enabled reports. \end{DoxyCompactList}\item 
-\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2}{BNO08x\+Reset\+Reason}} \mbox{\hyperlink{class_b_n_o08x_a96d47dd0f9aedfbe3f731f8ae76b2e85}{get\+\_\+reset\+\_\+reason}} ()
-\begin{DoxyCompactList}\small\item\em Returns reason for previous reset via product ID report. \end{DoxyCompactList}\item 
-bool \mbox{\hyperlink{class_b_n_o08x_aaaa15b21ad98a3b161065c3d03ff62b5}{on}} ()
-\begin{DoxyCompactList}\small\item\em Places \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} device in on state by sending ON (2) command on \char`\"{}device\char`\"{} channel. \end{DoxyCompactList}\item 
-bool \mbox{\hyperlink{class_b_n_o08x_a7c5774a48227e8e3346fa5df7dfa420c}{sleep}} ()
-\begin{DoxyCompactList}\small\item\em Places \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} device in sleep state by sending SLEEP (3) command on \char`\"{}device\char`\"{} channel. \end{DoxyCompactList}\item 
-bool \mbox{\hyperlink{class_b_n_o08x_a90ea8e811d4bea28a356290d6f5caac5}{dynamic\+\_\+calibration\+\_\+enable}} (\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a25947bbe6bc4a7c9edd7067fdce0e9cc}{BNO08x\+Cal\+Sel}} sensor)
-\begin{DoxyCompactList}\small\item\em Starts simple calibration, see ref. manual 6.\+4.\+10.\+1. \end{DoxyCompactList}\item 
-bool \mbox{\hyperlink{class_b_n_o08x_a5c7498f6fa4bd43280dff1d322233b95}{dynamic\+\_\+calibration\+\_\+disable}} (\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a25947bbe6bc4a7c9edd7067fdce0e9cc}{BNO08x\+Cal\+Sel}} sensor)
-\begin{DoxyCompactList}\small\item\em Disables dynamic/motion engine calibration for specified sensor(s), see ref. manual 6.\+4.\+6.\+1. \end{DoxyCompactList}\item 
-bool \mbox{\hyperlink{class_b_n_o08x_a4e8b49abd33e6e11f23b2ae345058b9b}{dynamic\+\_\+calibration\+\_\+autosave\+\_\+enable}} ()
-\begin{DoxyCompactList}\small\item\em Enables the automatic saving of dynamic/\+ME calibration data to \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} internal flash See ref manual 6.\+4.\+7.\+1. \end{DoxyCompactList}\item 
-bool \mbox{\hyperlink{class_b_n_o08x_a9387728c276734da27388dbea38b6b32}{dynamic\+\_\+calibration\+\_\+autosave\+\_\+disable}} ()
-\begin{DoxyCompactList}\small\item\em Disables the automatic saving of dynamic/\+ME calibration data to \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} internal flash See ref manual 6.\+4.\+7.\+1. \end{DoxyCompactList}\item 
-bool \mbox{\hyperlink{class_b_n_o08x_a85f1eca475ea0e6fbaff75c8a297d671}{dynamic\+\_\+calibration\+\_\+save}} ()
-\begin{DoxyCompactList}\small\item\em Saves dynamic/motion engine calibration data to \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} internal flash immediately. See ref manual 6.\+4.\+5.\+1. \end{DoxyCompactList}\item 
-bool \mbox{\hyperlink{class_b_n_o08x_a441681a5133b1a125b534925c9bc10f9}{dynamic\+\_\+calibration\+\_\+data\+\_\+clear\+\_\+ram}} ()
-\begin{DoxyCompactList}\small\item\em Clears dynamic/motion engine calibration data from ram and resets \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} device. See ref manual 6.\+4.\+9.\+1. \end{DoxyCompactList}\item 
-bool \mbox{\hyperlink{class_b_n_o08x_a65a7175b6f6ad6ce687e4fd4cd4bc396}{dynamic\+\_\+calibration\+\_\+data\+\_\+delete}} ()
-\begin{DoxyCompactList}\small\item\em Deletes dynamic calibration data from \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} internal flash and resets the device. Follows the steps outlined in ref. manual 6.\+4.\+9. \end{DoxyCompactList}\item 
-bool \mbox{\hyperlink{class_b_n_o08x_abcdba0d0e82db480d20ea4564511a276}{dynamic\+\_\+calibration\+\_\+run\+\_\+routine}} ()
-\begin{DoxyCompactList}\small\item\em Example calibration routine using dynamic/\+ME calibration commands. \end{DoxyCompactList}\item 
-bool \mbox{\hyperlink{class_b_n_o08x_abba85271f3333b7f395ec55915c1d5f9}{set\+\_\+system\+\_\+orientation}} (float w, float x, float y, float z)
-\begin{DoxyCompactList}\small\item\em Sets the system orientation of the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} device and persist it in flash (FRS). \end{DoxyCompactList}\item 
-bool \mbox{\hyperlink{class_b_n_o08x_ad42c335827c7b09cd2e4ff303a0d3520}{get\+\_\+system\+\_\+orientation}} (float \&w, float \&x, float \&y, float \&z)
-\begin{DoxyCompactList}\small\item\em Retrieves the system orientation of the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} device and converts to float. \end{DoxyCompactList}\item 
-bool \mbox{\hyperlink{class_b_n_o08x_a138577792350b8d5cc48cbf46b34c4f3}{get\+\_\+frs}} (\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8e}{BNO08x\+Frs\+ID}} frs\+\_\+\+ID, uint32\+\_\+t(\&data)\mbox{[}16\mbox{]}, uint16\+\_\+t \&rx\+\_\+data\+\_\+sz)
-\begin{DoxyCompactList}\small\item\em Retrieves a record from flash record system (if your goal is to retrieve sensor specific meta data use the \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08x\+Rpt}}\+:get\+\_\+meta\+\_\+data() method instead) \end{DoxyCompactList}\item 
-bool \mbox{\hyperlink{class_b_n_o08x_aa616a645a4fc9054194fdbf76ec9c5b5}{write\+\_\+frs}} (\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8e}{BNO08x\+Frs\+ID}} frs\+\_\+\+ID, uint32\+\_\+t $\ast$data, const uint16\+\_\+t tx\+\_\+data\+\_\+sz)
-\begin{DoxyCompactList}\small\item\em Writes a record to flash record system. \end{DoxyCompactList}\item 
-sh2\+\_\+\+Product\+Ids\+\_\+t \mbox{\hyperlink{class_b_n_o08x_aa8fd64f60de86ff6b8562f90f3b09690}{get\+\_\+product\+\_\+\+IDs}} ()
-\begin{DoxyCompactList}\small\item\em Returns product ID info sent by IMU at initialization. \end{DoxyCompactList}\item 
-bool \mbox{\hyperlink{class_b_n_o08x_a367d525d1c0ba119b3dca3067bb5bccc}{data\+\_\+available}} ()
-\begin{DoxyCompactList}\small\item\em Polls for new data/report to become available. \end{DoxyCompactList}\item 
-bool \mbox{\hyperlink{class_b_n_o08x_aadd44524e6d22c48916acd9518b63ec3}{register\+\_\+cb}} (std\+::function$<$ void(void)$>$ cb\+\_\+fxn)
-\begin{DoxyCompactList}\small\item\em Registers a callback to execute when new data from a report is received. \end{DoxyCompactList}\item 
-bool \mbox{\hyperlink{class_b_n_o08x_a082c79d9951ac32ea5fa25de90255a41}{register\+\_\+cb}} (std\+::function$<$ void(uint8\+\_\+t report\+\_\+\+ID)$>$ cb\+\_\+fxn)
-\begin{DoxyCompactList}\small\item\em Registers a callback to execute when new data from a report is received, overloaded with callback param for most recent report ID. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{class_b_n_o08x_a7441f7f2477c152deca17054041bf3e6}{print\+\_\+product\+\_\+ids}} ()
-\begin{DoxyCompactList}\small\item\em Prints product IDs received at initialization. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{class_b_n_o08x_aae4512fa4768becf0e3919a0e0ec34d8}{print\+\_\+system\+\_\+orientation}} ()
-\begin{DoxyCompactList}\small\item\em Retrieves and prints system orientation. \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Public Attributes}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t}{bno08x\+\_\+reports\+\_\+t}} \mbox{\hyperlink{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}{rpt}}
-\end{DoxyCompactItemize}
-\doxysubsection*{Static Public Attributes}
-\begin{DoxyCompactItemize}
-\item 
-static constexpr float \mbox{\hyperlink{class_b_n_o08x_ab8d5ebfc080838870e320494da3fa64d}{SQRT2\+OVER2}} = 0.\+7071067811865476f
-\end{DoxyCompactItemize}
-\doxysubsection*{Friends}
-\begin{DoxyCompactItemize}
-\item 
-class \mbox{\hyperlink{class_b_n_o08x_a6dd0081dc9eb0cfb019bfdca3aa31802}{BNO08x\+SH2\+HAL}}
-\item 
-class \mbox{\hyperlink{class_b_n_o08x_a190775b71c35d8007faae7dd6a9f1030}{BNO08x\+Test\+Helper}}
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-\mbox{\hyperlink{class_b_n_o08x}{BNO08x}} IMU driver class. 
-
-\doxysubsection{Member Typedef Documentation}
-\mbox{\Hypertarget{class_b_n_o08x_ae08bdaff01ecacf0f399ab289fdf0b99}\label{class_b_n_o08x_ae08bdaff01ecacf0f399ab289fdf0b99}} 
-\index{BNO08x@{BNO08x}!bno08x\_reports\_t@{bno08x\_reports\_t}}
-\index{bno08x\_reports\_t@{bno08x\_reports\_t}!BNO08x@{BNO08x}}
-\doxysubsubsection{\texorpdfstring{bno08x\_reports\_t}{bno08x\_reports\_t}}
-{\footnotesize\ttfamily typedef struct \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t}{BNO08x\+::bno08x\+\_\+reports\+\_\+t}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t}{BNO08x\+::bno08x\+\_\+reports\+\_\+t}}}
-
-
-
-Contains report implementations. 
-
-
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\mbox{\Hypertarget{class_b_n_o08x_ad12fb6cf310ad7a04a4e53809833bd61}\label{class_b_n_o08x_ad12fb6cf310ad7a04a4e53809833bd61}} 
-\index{BNO08x@{BNO08x}!BNO08x@{BNO08x}}
-\index{BNO08x@{BNO08x}!BNO08x@{BNO08x}}
-\doxysubsubsection{\texorpdfstring{BNO08x()}{BNO08x()}}
-{\footnotesize\ttfamily BNO08x\+::\+BNO08x (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{structbno08x__config__t}{bno08x\+\_\+config\+\_\+t}}}]{imu\+\_\+config = {\ttfamily \mbox{\hyperlink{structbno08x__config__t}{bno08x\+\_\+config\+\_\+t}}()} }\end{DoxyParamCaption})}
-
-
-
-\mbox{\hyperlink{class_b_n_o08x}{BNO08x}} imu constructor. 
-
-Construct a \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} object for managing a \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} sensor.
-
-
-\begin{DoxyParams}{Parameters}
-{\em imu\+\_\+config} & Configuration settings (optional), default settings can be seen in \mbox{\hyperlink{structbno08x__config__t}{bno08x\+\_\+config\+\_\+t}} \\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-void, nothing to return 
-\end{DoxyReturn}
-\mbox{\Hypertarget{class_b_n_o08x_a687eee44d68e1bcabce04780d7eb5fb9}\label{class_b_n_o08x_a687eee44d68e1bcabce04780d7eb5fb9}} 
-\index{BNO08x@{BNO08x}!````~BNO08x@{$\sim$BNO08x}}
-\index{````~BNO08x@{$\sim$BNO08x}!BNO08x@{BNO08x}}
-\doxysubsubsection{\texorpdfstring{$\sim$BNO08x()}{~BNO08x()}}
-{\footnotesize\ttfamily BNO08x\+::$\sim$\+BNO08x (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
-
-
-
-\mbox{\hyperlink{class_b_n_o08x}{BNO08x}} imu deconstructor. 
-
-Deconstructs a \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} object and releases any utilized resources.
-
-\begin{DoxyReturn}{Returns}
-void, nothing to return. 
-\end{DoxyReturn}
-
-
-\doxysubsection{Member Function Documentation}
-\mbox{\Hypertarget{class_b_n_o08x_a367d525d1c0ba119b3dca3067bb5bccc}\label{class_b_n_o08x_a367d525d1c0ba119b3dca3067bb5bccc}} 
-\index{BNO08x@{BNO08x}!data\_available@{data\_available}}
-\index{data\_available@{data\_available}!BNO08x@{BNO08x}}
-\doxysubsubsection{\texorpdfstring{data\_available()}{data\_available()}}
-{\footnotesize\ttfamily bool BNO08x\+::data\+\_\+available (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
-
-
-
-Polls for new data/report to become available. 
-
-\begin{DoxyReturn}{Returns}
-True if new data/report became available before DATA\+\_\+\+AVAILABLE\+\_\+\+TIMEOUT\+\_\+\+MS. 
-\end{DoxyReturn}
-Here is the caller graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_a367d525d1c0ba119b3dca3067bb5bccc_icgraph}
-\end{center}
-\end{figure}
-\mbox{\Hypertarget{class_b_n_o08x_aebacbe092615cd083cf996b14402bba6}\label{class_b_n_o08x_aebacbe092615cd083cf996b14402bba6}} 
-\index{BNO08x@{BNO08x}!disable\_all\_reports@{disable\_all\_reports}}
-\index{disable\_all\_reports@{disable\_all\_reports}!BNO08x@{BNO08x}}
-\doxysubsubsection{\texorpdfstring{disable\_all\_reports()}{disable\_all\_reports()}}
-{\footnotesize\ttfamily bool BNO08x\+::disable\+\_\+all\+\_\+reports (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
-
-
-
-Disables all currently enabled reports. 
-
-\begin{DoxyReturn}{Returns}
-True if all currently enabled reports were disabled successfully. 
-\end{DoxyReturn}
-Here is the caller graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_aebacbe092615cd083cf996b14402bba6_icgraph}
-\end{center}
-\end{figure}
-\mbox{\Hypertarget{class_b_n_o08x_a9387728c276734da27388dbea38b6b32}\label{class_b_n_o08x_a9387728c276734da27388dbea38b6b32}} 
-\index{BNO08x@{BNO08x}!dynamic\_calibration\_autosave\_disable@{dynamic\_calibration\_autosave\_disable}}
-\index{dynamic\_calibration\_autosave\_disable@{dynamic\_calibration\_autosave\_disable}!BNO08x@{BNO08x}}
-\doxysubsubsection{\texorpdfstring{dynamic\_calibration\_autosave\_disable()}{dynamic\_calibration\_autosave\_disable()}}
-{\footnotesize\ttfamily bool BNO08x\+::dynamic\+\_\+calibration\+\_\+autosave\+\_\+disable (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
-
-
-
-Disables the automatic saving of dynamic/\+ME calibration data to \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} internal flash See ref manual 6.\+4.\+7.\+1. 
-
-\begin{DoxyReturn}{Returns}
-True if dynamic/\+ME calibration autosave data enable succeeded. 
-\end{DoxyReturn}
-\mbox{\Hypertarget{class_b_n_o08x_a4e8b49abd33e6e11f23b2ae345058b9b}\label{class_b_n_o08x_a4e8b49abd33e6e11f23b2ae345058b9b}} 
-\index{BNO08x@{BNO08x}!dynamic\_calibration\_autosave\_enable@{dynamic\_calibration\_autosave\_enable}}
-\index{dynamic\_calibration\_autosave\_enable@{dynamic\_calibration\_autosave\_enable}!BNO08x@{BNO08x}}
-\doxysubsubsection{\texorpdfstring{dynamic\_calibration\_autosave\_enable()}{dynamic\_calibration\_autosave\_enable()}}
-{\footnotesize\ttfamily bool BNO08x\+::dynamic\+\_\+calibration\+\_\+autosave\+\_\+enable (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
-
-
-
-Enables the automatic saving of dynamic/\+ME calibration data to \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} internal flash See ref manual 6.\+4.\+7.\+1. 
-
-\begin{DoxyReturn}{Returns}
-True if dynamic/\+ME calibration autosave data enable succeeded. 
-\end{DoxyReturn}
-\mbox{\Hypertarget{class_b_n_o08x_a441681a5133b1a125b534925c9bc10f9}\label{class_b_n_o08x_a441681a5133b1a125b534925c9bc10f9}} 
-\index{BNO08x@{BNO08x}!dynamic\_calibration\_data\_clear\_ram@{dynamic\_calibration\_data\_clear\_ram}}
-\index{dynamic\_calibration\_data\_clear\_ram@{dynamic\_calibration\_data\_clear\_ram}!BNO08x@{BNO08x}}
-\doxysubsubsection{\texorpdfstring{dynamic\_calibration\_data\_clear\_ram()}{dynamic\_calibration\_data\_clear\_ram()}}
-{\footnotesize\ttfamily bool BNO08x\+::dynamic\+\_\+calibration\+\_\+data\+\_\+clear\+\_\+ram (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
-
-
-
-Clears dynamic/motion engine calibration data from ram and resets \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} device. See ref manual 6.\+4.\+9.\+1. 
-
-\begin{DoxyReturn}{Returns}
-True if save dynamic/\+ME calibration data succeeded. 
-\end{DoxyReturn}
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-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_a441681a5133b1a125b534925c9bc10f9_cgraph}
-\end{center}
-\end{figure}
-Here is the caller graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_a441681a5133b1a125b534925c9bc10f9_icgraph}
-\end{center}
-\end{figure}
-\mbox{\Hypertarget{class_b_n_o08x_a65a7175b6f6ad6ce687e4fd4cd4bc396}\label{class_b_n_o08x_a65a7175b6f6ad6ce687e4fd4cd4bc396}} 
-\index{BNO08x@{BNO08x}!dynamic\_calibration\_data\_delete@{dynamic\_calibration\_data\_delete}}
-\index{dynamic\_calibration\_data\_delete@{dynamic\_calibration\_data\_delete}!BNO08x@{BNO08x}}
-\doxysubsubsection{\texorpdfstring{dynamic\_calibration\_data\_delete()}{dynamic\_calibration\_data\_delete()}}
-{\footnotesize\ttfamily bool BNO08x\+::dynamic\+\_\+calibration\+\_\+data\+\_\+delete (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
-
-
-
-Deletes dynamic calibration data from \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} internal flash and resets the device. Follows the steps outlined in ref. manual 6.\+4.\+9. 
-
-\begin{DoxyReturn}{Returns}
-True if delete dynamic calibration data operation succeeded. 
-\end{DoxyReturn}
-Here is the call graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_a65a7175b6f6ad6ce687e4fd4cd4bc396_cgraph}
-\end{center}
-\end{figure}
-\mbox{\Hypertarget{class_b_n_o08x_a5c7498f6fa4bd43280dff1d322233b95}\label{class_b_n_o08x_a5c7498f6fa4bd43280dff1d322233b95}} 
-\index{BNO08x@{BNO08x}!dynamic\_calibration\_disable@{dynamic\_calibration\_disable}}
-\index{dynamic\_calibration\_disable@{dynamic\_calibration\_disable}!BNO08x@{BNO08x}}
-\doxysubsubsection{\texorpdfstring{dynamic\_calibration\_disable()}{dynamic\_calibration\_disable()}}
-{\footnotesize\ttfamily bool BNO08x\+::dynamic\+\_\+calibration\+\_\+disable (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a25947bbe6bc4a7c9edd7067fdce0e9cc}{BNO08x\+Cal\+Sel}}}]{sensor }\end{DoxyParamCaption})}
-
-
-
-Disables dynamic/motion engine calibration for specified sensor(s), see ref. manual 6.\+4.\+6.\+1. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em sensor} & The sensor(s) to disable dynamic/\+ME calibration for.\\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-True if disable dynamic/\+ME calibration succeeded. 
-\end{DoxyReturn}
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-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_a5c7498f6fa4bd43280dff1d322233b95_icgraph}
-\end{center}
-\end{figure}
-\mbox{\Hypertarget{class_b_n_o08x_a90ea8e811d4bea28a356290d6f5caac5}\label{class_b_n_o08x_a90ea8e811d4bea28a356290d6f5caac5}} 
-\index{BNO08x@{BNO08x}!dynamic\_calibration\_enable@{dynamic\_calibration\_enable}}
-\index{dynamic\_calibration\_enable@{dynamic\_calibration\_enable}!BNO08x@{BNO08x}}
-\doxysubsubsection{\texorpdfstring{dynamic\_calibration\_enable()}{dynamic\_calibration\_enable()}}
-{\footnotesize\ttfamily bool BNO08x\+::dynamic\+\_\+calibration\+\_\+enable (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a25947bbe6bc4a7c9edd7067fdce0e9cc}{BNO08x\+Cal\+Sel}}}]{sensor }\end{DoxyParamCaption})}
-
-
-
-Starts simple calibration, see ref. manual 6.\+4.\+10.\+1. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em period\+\_\+us} & This interval should be set to whatever rate the sensor hub is expected to run at after calibration.\\
-\hline
-\end{DoxyParams}
-After the calibration is started, the IMU should be rotated 180 degrees. After the IMU has been rotated call calibration\+\_\+end(). See ref. manual 6.\+4.\+10 for more detailed instructions.
-
-\begin{DoxyReturn}{Returns}
-True if start simple calibration operation succeeded.
-\end{DoxyReturn}
-Ends turn-\/table calibration, see ref. manual 6.\+4.\+10.\+2
-
-
-\begin{DoxyParams}{Parameters}
-{\em status} & Returned status bits indicating result of turntable calibration.\\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-True if enable start turn-\/table calibration operation succeeded.
-\end{DoxyReturn}
-Enables dynamic/motion engine calibration for specified sensor(s), see ref. manual 6.\+4.\+6.\+1
-
-
-\begin{DoxyParams}{Parameters}
-{\em sensor} & The sensor(s) to enable dynamic/\+ME calibration for.\\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-True if enable dynamic/\+ME calibration succeeded. 
-\end{DoxyReturn}
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-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_a90ea8e811d4bea28a356290d6f5caac5_icgraph}
-\end{center}
-\end{figure}
-\mbox{\Hypertarget{class_b_n_o08x_abcdba0d0e82db480d20ea4564511a276}\label{class_b_n_o08x_abcdba0d0e82db480d20ea4564511a276}} 
-\index{BNO08x@{BNO08x}!dynamic\_calibration\_run\_routine@{dynamic\_calibration\_run\_routine}}
-\index{dynamic\_calibration\_run\_routine@{dynamic\_calibration\_run\_routine}!BNO08x@{BNO08x}}
-\doxysubsubsection{\texorpdfstring{dynamic\_calibration\_run\_routine()}{dynamic\_calibration\_run\_routine()}}
-{\footnotesize\ttfamily bool BNO08x\+::dynamic\+\_\+calibration\+\_\+run\+\_\+routine (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
-
-
-
-Example calibration routine using dynamic/\+ME calibration commands. 
-
-Routine does the following\+:alignas
-
-1) disables all enabled reports 2) sends a command to enable dynamic/motion engine calibration for all possible options (SH2\+\_\+\+CAL\+\_\+\+ACCEL $\vert$ SH2\+\_\+\+CAL\+\_\+\+GYRO $\vert$ SH2\+\_\+\+CAL\+\_\+\+MAG $\vert$ SH2\+\_\+\+CAL\+\_\+\+PLANAR) 3) enables game rotation vector reports and calibrated magnetic field reports 4) moving window average for accuracy received through reports 5) deems calibration accuracy threshold met when magf accuracy avg is \texorpdfstring{$>$}{>}=2 (MED) and quat accuracy avg \texorpdfstring{$>$}{>}=3 (HIGH) for longer than 5 seconds 6) sends command to save dynamic calibration data 7) disables all enabled reports
-
-Note the DCD commands don\textquotesingle{}t have to be used this way, this is just an example, but the \mbox{\hyperlink{class_b_n_o08x_a4e8b49abd33e6e11f23b2ae345058b9b}{dynamic\+\_\+calibration\+\_\+autosave\+\_\+enable()}} allows calibration to be run and saved constantly even while data is used for other operations.
-
-\begin{DoxyReturn}{Returns}
-True if calibration routine succeeded. 
-\end{DoxyReturn}
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-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_abcdba0d0e82db480d20ea4564511a276_cgraph}
-\end{center}
-\end{figure}
-\mbox{\Hypertarget{class_b_n_o08x_a85f1eca475ea0e6fbaff75c8a297d671}\label{class_b_n_o08x_a85f1eca475ea0e6fbaff75c8a297d671}} 
-\index{BNO08x@{BNO08x}!dynamic\_calibration\_save@{dynamic\_calibration\_save}}
-\index{dynamic\_calibration\_save@{dynamic\_calibration\_save}!BNO08x@{BNO08x}}
-\doxysubsubsection{\texorpdfstring{dynamic\_calibration\_save()}{dynamic\_calibration\_save()}}
-{\footnotesize\ttfamily bool BNO08x\+::dynamic\+\_\+calibration\+\_\+save (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
-
-
-
-Saves dynamic/motion engine calibration data to \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} internal flash immediately. See ref manual 6.\+4.\+5.\+1. 
-
-\begin{DoxyReturn}{Returns}
-True if save dynamic/\+ME calibration data succeeded. 
-\end{DoxyReturn}
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-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_a85f1eca475ea0e6fbaff75c8a297d671_icgraph}
-\end{center}
-\end{figure}
-\mbox{\Hypertarget{class_b_n_o08x_a138577792350b8d5cc48cbf46b34c4f3}\label{class_b_n_o08x_a138577792350b8d5cc48cbf46b34c4f3}} 
-\index{BNO08x@{BNO08x}!get\_frs@{get\_frs}}
-\index{get\_frs@{get\_frs}!BNO08x@{BNO08x}}
-\doxysubsubsection{\texorpdfstring{get\_frs()}{get\_frs()}}
-{\footnotesize\ttfamily bool BNO08x\+::get\+\_\+frs (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8e}{BNO08x\+Frs\+ID}}}]{frs\+\_\+\+ID,  }\item[{uint32\+\_\+t(\&)}]{data\mbox{[}16\mbox{]},  }\item[{uint16\+\_\+t \&}]{rx\+\_\+data\+\_\+sz }\end{DoxyParamCaption})}
-
-
-
-Retrieves a record from flash record system (if your goal is to retrieve sensor specific meta data use the \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08x\+Rpt}}\+:get\+\_\+meta\+\_\+data() method instead) 
-
-For more details on returned and data and frs\+\_\+\+IDs see ref. manual 6.\+3.\+7 \& 4.\+3
-
-
-\begin{DoxyParams}{Parameters}
-{\em frs\+\_\+\+ID} & The ID of the desired record to retrieve from flash. \\
-\hline
-{\em data} & Buffer of 16 uint32\+\_\+t to store retrieved data. \\
-\hline
-{\em rx\+\_\+data\+\_\+sz} & Reference to store number of 32 bit words retrieved from flash.\\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-True if get flash record system operation succeeded. 
-\end{DoxyReturn}
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-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=326pt]{class_b_n_o08x_a138577792350b8d5cc48cbf46b34c4f3_cgraph}
-\end{center}
-\end{figure}
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-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_a138577792350b8d5cc48cbf46b34c4f3_icgraph}
-\end{center}
-\end{figure}
-\mbox{\Hypertarget{class_b_n_o08x_aa8fd64f60de86ff6b8562f90f3b09690}\label{class_b_n_o08x_aa8fd64f60de86ff6b8562f90f3b09690}} 
-\index{BNO08x@{BNO08x}!get\_product\_IDs@{get\_product\_IDs}}
-\index{get\_product\_IDs@{get\_product\_IDs}!BNO08x@{BNO08x}}
-\doxysubsubsection{\texorpdfstring{get\_product\_IDs()}{get\_product\_IDs()}}
-{\footnotesize\ttfamily sh2\+\_\+\+Product\+Ids\+\_\+t BNO08x\+::get\+\_\+product\+\_\+\+IDs (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
-
-
-
-Returns product ID info sent by IMU at initialization. 
-
-\begin{DoxyReturn}{Returns}
-The product ID info returned at initialization. 
-\end{DoxyReturn}
-\mbox{\Hypertarget{class_b_n_o08x_a96d47dd0f9aedfbe3f731f8ae76b2e85}\label{class_b_n_o08x_a96d47dd0f9aedfbe3f731f8ae76b2e85}} 
-\index{BNO08x@{BNO08x}!get\_reset\_reason@{get\_reset\_reason}}
-\index{get\_reset\_reason@{get\_reset\_reason}!BNO08x@{BNO08x}}
-\doxysubsubsection{\texorpdfstring{get\_reset\_reason()}{get\_reset\_reason()}}
-{\footnotesize\ttfamily \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2}{BNO08x\+Reset\+Reason}} BNO08x\+::get\+\_\+reset\+\_\+reason (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
-
-
-
-Returns reason for previous reset via product ID report. 
-
-\begin{DoxyReturn}{Returns}
-Enum object containing reset reason, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2a0db45d2a4141101bdfe48e3314cfbca3}{BNO08x\+Reset\+Reason\+::\+UNDEFINED}} if failure. 
-\end{DoxyReturn}
-Here is the caller graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_a96d47dd0f9aedfbe3f731f8ae76b2e85_icgraph}
-\end{center}
-\end{figure}
-\mbox{\Hypertarget{class_b_n_o08x_ad42c335827c7b09cd2e4ff303a0d3520}\label{class_b_n_o08x_ad42c335827c7b09cd2e4ff303a0d3520}} 
-\index{BNO08x@{BNO08x}!get\_system\_orientation@{get\_system\_orientation}}
-\index{get\_system\_orientation@{get\_system\_orientation}!BNO08x@{BNO08x}}
-\doxysubsubsection{\texorpdfstring{get\_system\_orientation()}{get\_system\_orientation()}}
-{\footnotesize\ttfamily bool BNO08x\+::get\+\_\+system\+\_\+orientation (\begin{DoxyParamCaption}\item[{float \&}]{Qw,  }\item[{float \&}]{Qx,  }\item[{float \&}]{Qy,  }\item[{float \&}]{Qz }\end{DoxyParamCaption})}
-
-
-
-Retrieves the system orientation of the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} device and converts to float. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em Qw} & Reference to save real component of mapping quaternion. \\
-\hline
-{\em Qx} & Reference to save X (i) component of mapping quaternion. \\
-\hline
-{\em Qy} & Reference to save Y (j) component of mapping quaternion. \\
-\hline
-{\em Qz} & Reference to save Z (k) component of mapping quaternion. \\
-\hline
-\end{DoxyParams}
-Here is the call graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_ad42c335827c7b09cd2e4ff303a0d3520_cgraph}
-\end{center}
-\end{figure}
-Here is the caller graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_ad42c335827c7b09cd2e4ff303a0d3520_icgraph}
-\end{center}
-\end{figure}
-\mbox{\Hypertarget{class_b_n_o08x_a28cd1c0b3477571d87133234e6358503}\label{class_b_n_o08x_a28cd1c0b3477571d87133234e6358503}} 
-\index{BNO08x@{BNO08x}!hard\_reset@{hard\_reset}}
-\index{hard\_reset@{hard\_reset}!BNO08x@{BNO08x}}
-\doxysubsubsection{\texorpdfstring{hard\_reset()}{hard\_reset()}}
-{\footnotesize\ttfamily bool BNO08x\+::hard\+\_\+reset (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
-
-
-
-Hard resets \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} device. 
-
-\begin{DoxyReturn}{Returns}
-True if reset was success. 
-\end{DoxyReturn}
-Here is the call graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_a28cd1c0b3477571d87133234e6358503_cgraph}
-\end{center}
-\end{figure}
-Here is the caller graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_a28cd1c0b3477571d87133234e6358503_icgraph}
-\end{center}
-\end{figure}
-\mbox{\Hypertarget{class_b_n_o08x_aea8e2c6dd7a2c9899479a7f39fe94798}\label{class_b_n_o08x_aea8e2c6dd7a2c9899479a7f39fe94798}} 
-\index{BNO08x@{BNO08x}!initialize@{initialize}}
-\index{initialize@{initialize}!BNO08x@{BNO08x}}
-\doxysubsubsection{\texorpdfstring{initialize()}{initialize()}}
-{\footnotesize\ttfamily bool BNO08x\+::initialize (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
-
-
-
-Initializes \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} sensor. 
-
-Resets sensor and goes through initialization process. Configures GPIO, required ISRs, and launches two tasks, one to manage SPI transactions, another to process any received data.
-
-\begin{DoxyReturn}{Returns}
-True if initialization was success, false if otherwise. 
-\end{DoxyReturn}
-\mbox{\Hypertarget{class_b_n_o08x_aaaa15b21ad98a3b161065c3d03ff62b5}\label{class_b_n_o08x_aaaa15b21ad98a3b161065c3d03ff62b5}} 
-\index{BNO08x@{BNO08x}!on@{on}}
-\index{on@{on}!BNO08x@{BNO08x}}
-\doxysubsubsection{\texorpdfstring{on()}{on()}}
-{\footnotesize\ttfamily bool BNO08x\+::on (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
-
-
-
-Places \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} device in on state by sending ON (2) command on \char`\"{}device\char`\"{} channel. 
-
-\begin{DoxyReturn}{Returns}
-True if on operation succeeded. 
-\end{DoxyReturn}
-\mbox{\Hypertarget{class_b_n_o08x_a7441f7f2477c152deca17054041bf3e6}\label{class_b_n_o08x_a7441f7f2477c152deca17054041bf3e6}} 
-\index{BNO08x@{BNO08x}!print\_product\_ids@{print\_product\_ids}}
-\index{print\_product\_ids@{print\_product\_ids}!BNO08x@{BNO08x}}
-\doxysubsubsection{\texorpdfstring{print\_product\_ids()}{print\_product\_ids()}}
-{\footnotesize\ttfamily void BNO08x\+::print\+\_\+product\+\_\+ids (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
-
-
-
-Prints product IDs received at initialization. 
-
-\begin{DoxyReturn}{Returns}
-void, nothing to return 
-\end{DoxyReturn}
-\mbox{\Hypertarget{class_b_n_o08x_aae4512fa4768becf0e3919a0e0ec34d8}\label{class_b_n_o08x_aae4512fa4768becf0e3919a0e0ec34d8}} 
-\index{BNO08x@{BNO08x}!print\_system\_orientation@{print\_system\_orientation}}
-\index{print\_system\_orientation@{print\_system\_orientation}!BNO08x@{BNO08x}}
-\doxysubsubsection{\texorpdfstring{print\_system\_orientation()}{print\_system\_orientation()}}
-{\footnotesize\ttfamily void BNO08x\+::print\+\_\+system\+\_\+orientation (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
-
-
-
-Retrieves and prints system orientation. 
-
-\begin{DoxyReturn}{Returns}
-void, nothing to return 
-\end{DoxyReturn}
-Here is the call graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_aae4512fa4768becf0e3919a0e0ec34d8_cgraph}
-\end{center}
-\end{figure}
-\mbox{\Hypertarget{class_b_n_o08x_a082c79d9951ac32ea5fa25de90255a41}\label{class_b_n_o08x_a082c79d9951ac32ea5fa25de90255a41}} 
-\index{BNO08x@{BNO08x}!register\_cb@{register\_cb}}
-\index{register\_cb@{register\_cb}!BNO08x@{BNO08x}}
-\doxysubsubsection{\texorpdfstring{register\_cb()}{register\_cb()}\hspace{0.1cm}{\footnotesize\ttfamily [1/2]}}
-{\footnotesize\ttfamily bool BNO08x\+::register\+\_\+cb (\begin{DoxyParamCaption}\item[{std\+::function$<$ void(uint8\+\_\+t report\+\_\+\+ID)$>$}]{cb\+\_\+fxn }\end{DoxyParamCaption})}
-
-
-
-Registers a callback to execute when new data from a report is received, overloaded with callback param for most recent report ID. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em cb\+\_\+fxn} & Pointer to the call-\/back function should be of void return type with single input param of uint8\+\_\+t for most recent report ID.\\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-void, nothing to return 
-\end{DoxyReturn}
-\mbox{\Hypertarget{class_b_n_o08x_aadd44524e6d22c48916acd9518b63ec3}\label{class_b_n_o08x_aadd44524e6d22c48916acd9518b63ec3}} 
-\index{BNO08x@{BNO08x}!register\_cb@{register\_cb}}
-\index{register\_cb@{register\_cb}!BNO08x@{BNO08x}}
-\doxysubsubsection{\texorpdfstring{register\_cb()}{register\_cb()}\hspace{0.1cm}{\footnotesize\ttfamily [2/2]}}
-{\footnotesize\ttfamily bool BNO08x\+::register\+\_\+cb (\begin{DoxyParamCaption}\item[{std\+::function$<$ void(void)$>$}]{cb\+\_\+fxn }\end{DoxyParamCaption})}
-
-
-
-Registers a callback to execute when new data from a report is received. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em cb\+\_\+fxn} & Pointer to the call-\/back function should be of void return type void input param.\\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-void, nothing to return 
-\end{DoxyReturn}
-\mbox{\Hypertarget{class_b_n_o08x_abba85271f3333b7f395ec55915c1d5f9}\label{class_b_n_o08x_abba85271f3333b7f395ec55915c1d5f9}} 
-\index{BNO08x@{BNO08x}!set\_system\_orientation@{set\_system\_orientation}}
-\index{set\_system\_orientation@{set\_system\_orientation}!BNO08x@{BNO08x}}
-\doxysubsubsection{\texorpdfstring{set\_system\_orientation()}{set\_system\_orientation()}}
-{\footnotesize\ttfamily bool BNO08x\+::set\+\_\+system\+\_\+orientation (\begin{DoxyParamCaption}\item[{float}]{Qw,  }\item[{float}]{Qx,  }\item[{float}]{Qy,  }\item[{float}]{Qz }\end{DoxyParamCaption})}
-
-
-
-Sets the system orientation of the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} device and persist it in flash (FRS). 
-
-\begin{DoxyNote}{Note}
-Datasheet Figure 4.\+3 for reference of physical mounting position relative to mapping quaternion. 
-
-Use SQRT2\+OVER2 as a constant for sqrt(2)/2 
-
-that a reset is required to apply changes. 
-
-This configuration seems only to work if reports are already enabled. e.\+g. set .rpt.\+rv.\+enable(\+PERIOD) prior this call
-\end{DoxyNote}
-
-\begin{DoxyParams}{Parameters}
-{\em Qw} & Real component of mapping quaternion. \\
-\hline
-{\em Qx} & X (i) component of mapping quaternion. \\
-\hline
-{\em Qy} & Y (j) component of mapping quaternion. \\
-\hline
-{\em Qz} & Z (k) component of mapping quaternion. \\
-\hline
-\end{DoxyParams}
-\mbox{\Hypertarget{class_b_n_o08x_a7c5774a48227e8e3346fa5df7dfa420c}\label{class_b_n_o08x_a7c5774a48227e8e3346fa5df7dfa420c}} 
-\index{BNO08x@{BNO08x}!sleep@{sleep}}
-\index{sleep@{sleep}!BNO08x@{BNO08x}}
-\doxysubsubsection{\texorpdfstring{sleep()}{sleep()}}
-{\footnotesize\ttfamily bool BNO08x\+::sleep (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
-
-
-
-Places \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} device in sleep state by sending SLEEP (3) command on \char`\"{}device\char`\"{} channel. 
-
-\begin{DoxyReturn}{Returns}
-True if sleep operation succeeded. 
-\end{DoxyReturn}
-\mbox{\Hypertarget{class_b_n_o08x_a973a1b1785f3302ee1b2702c6a27646e}\label{class_b_n_o08x_a973a1b1785f3302ee1b2702c6a27646e}} 
-\index{BNO08x@{BNO08x}!soft\_reset@{soft\_reset}}
-\index{soft\_reset@{soft\_reset}!BNO08x@{BNO08x}}
-\doxysubsubsection{\texorpdfstring{soft\_reset()}{soft\_reset()}}
-{\footnotesize\ttfamily bool BNO08x\+::soft\+\_\+reset (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
-
-
-
-Soft resets \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} device by sending RESET (1) command on \char`\"{}device\char`\"{} channel. 
-
-\begin{DoxyReturn}{Returns}
-True if soft reset operation succeeded. 
-\end{DoxyReturn}
-Here is the call graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_a973a1b1785f3302ee1b2702c6a27646e_cgraph}
-\end{center}
-\end{figure}
-\mbox{\Hypertarget{class_b_n_o08x_aa616a645a4fc9054194fdbf76ec9c5b5}\label{class_b_n_o08x_aa616a645a4fc9054194fdbf76ec9c5b5}} 
-\index{BNO08x@{BNO08x}!write\_frs@{write\_frs}}
-\index{write\_frs@{write\_frs}!BNO08x@{BNO08x}}
-\doxysubsubsection{\texorpdfstring{write\_frs()}{write\_frs()}}
-{\footnotesize\ttfamily bool BNO08x\+::write\+\_\+frs (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8e}{BNO08x\+Frs\+ID}}}]{frs\+\_\+\+ID,  }\item[{uint32\+\_\+t $\ast$}]{data,  }\item[{const uint16\+\_\+t}]{tx\+\_\+data\+\_\+sz }\end{DoxyParamCaption})}
-
-
-
-Writes a record to flash record system. 
-
-For more details on flash records and frs\+\_\+\+IDs see ref. manual 6.\+3.\+6 \& 4.\+3
-
-
-\begin{DoxyParams}{Parameters}
-{\em frs\+\_\+\+ID} & The ID of the desired to write to flash. \\
-\hline
-{\em data} & Buffer of 16 uint32\+\_\+t to store data to send. \\
-\hline
-{\em tx\+\_\+data\+\_\+sz} & Length of data, amount of 32 bit words to write to flash.\\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-True if get flash record system operation succeeded. 
-\end{DoxyReturn}
-Here is the call graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=335pt]{class_b_n_o08x_aa616a645a4fc9054194fdbf76ec9c5b5_cgraph}
-\end{center}
-\end{figure}
-Here is the caller graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_aa616a645a4fc9054194fdbf76ec9c5b5_icgraph}
-\end{center}
-\end{figure}
-
-
-\doxysubsection{Friends And Related Function Documentation}
-\mbox{\Hypertarget{class_b_n_o08x_a6dd0081dc9eb0cfb019bfdca3aa31802}\label{class_b_n_o08x_a6dd0081dc9eb0cfb019bfdca3aa31802}} 
-\index{BNO08x@{BNO08x}!BNO08xSH2HAL@{BNO08xSH2HAL}}
-\index{BNO08xSH2HAL@{BNO08xSH2HAL}!BNO08x@{BNO08x}}
-\doxysubsubsection{\texorpdfstring{BNO08xSH2HAL}{BNO08xSH2HAL}}
-{\footnotesize\ttfamily friend class \mbox{\hyperlink{class_b_n_o08x_s_h2_h_a_l}{BNO08x\+SH2\+HAL}}\hspace{0.3cm}{\ttfamily [friend]}}
-
-\mbox{\Hypertarget{class_b_n_o08x_a190775b71c35d8007faae7dd6a9f1030}\label{class_b_n_o08x_a190775b71c35d8007faae7dd6a9f1030}} 
-\index{BNO08x@{BNO08x}!BNO08xTestHelper@{BNO08xTestHelper}}
-\index{BNO08xTestHelper@{BNO08xTestHelper}!BNO08x@{BNO08x}}
-\doxysubsubsection{\texorpdfstring{BNO08xTestHelper}{BNO08xTestHelper}}
-{\footnotesize\ttfamily friend class \mbox{\hyperlink{class_b_n_o08x_test_helper}{BNO08x\+Test\+Helper}}\hspace{0.3cm}{\ttfamily [friend]}}
-
-
-
-\doxysubsection{Member Data Documentation}
-\mbox{\Hypertarget{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}\label{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}} 
-\index{BNO08x@{BNO08x}!rpt@{rpt}}
-\index{rpt@{rpt}!BNO08x@{BNO08x}}
-\doxysubsubsection{\texorpdfstring{rpt}{rpt}}
-{\footnotesize\ttfamily \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t}{bno08x\+\_\+reports\+\_\+t}} BNO08x\+::rpt}
-
-\mbox{\Hypertarget{class_b_n_o08x_ab8d5ebfc080838870e320494da3fa64d}\label{class_b_n_o08x_ab8d5ebfc080838870e320494da3fa64d}} 
-\index{BNO08x@{BNO08x}!SQRT2OVER2@{SQRT2OVER2}}
-\index{SQRT2OVER2@{SQRT2OVER2}!BNO08x@{BNO08x}}
-\doxysubsubsection{\texorpdfstring{SQRT2OVER2}{SQRT2OVER2}}
-{\footnotesize\ttfamily constexpr float BNO08x\+::\+SQRT2\+OVER2 = 0.\+7071067811865476f\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}}
-
-
-
-The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
-\item 
-/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\mbox{\hyperlink{_b_n_o08x_8hpp}{BNO08x.\+hpp}}\item 
-\mbox{\hyperlink{_b_n_o08x_8cpp}{BNO08x.\+cpp}}\end{DoxyCompactItemize}
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-\hypertarget{class_b_n_o08x_cb_generic}{}\doxysection{BNO08x\+Cb\+Generic Class Reference}
-\label{class_b_n_o08x_cb_generic}\index{BNO08xCbGeneric@{BNO08xCbGeneric}}
-
-
-Parent class to represent callback functions as generic type such that all flavors can be invoked by single type.  
-
-
-
-
-{\ttfamily \#include $<$callback/\+BNO08x\+Cb\+Generic.\+hpp$>$}
-
-
-
-Inheritance diagram for BNO08x\+Cb\+Generic\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=346pt]{class_b_n_o08x_cb_generic__inherit__graph}
-\end{center}
-\end{figure}
-\doxysubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-virtual void \mbox{\hyperlink{class_b_n_o08x_cb_generic_a19f9e8a22d039acf29c98801368ff0bb}{invoke}} (uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_cb_generic_a808841c9f19664cb6ff06f9c217793e1}{rpt\+\_\+\+ID}})=0
-\item 
-virtual \mbox{\hyperlink{class_b_n_o08x_cb_generic_a4caa8d4932c70bc07e187f489542ab87}{$\sim$\+BNO08x\+Cb\+Generic}} ()=default
-\end{DoxyCompactItemize}
-\doxysubsection*{Public Attributes}
-\begin{DoxyCompactItemize}
-\item 
-uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_cb_generic_a808841c9f19664cb6ff06f9c217793e1}{rpt\+\_\+\+ID}}
-\end{DoxyCompactItemize}
-\doxysubsection*{Protected Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{class_b_n_o08x_cb_generic_a5b1984f0111c5ca5e07a7f5487cd5234}{BNO08x\+Cb\+Generic}} (uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_cb_generic_a808841c9f19664cb6ff06f9c217793e1}{rpt\+\_\+\+ID}})
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-Parent class to represent callback functions as generic type such that all flavors can be invoked by single type. 
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\mbox{\Hypertarget{class_b_n_o08x_cb_generic_a4caa8d4932c70bc07e187f489542ab87}\label{class_b_n_o08x_cb_generic_a4caa8d4932c70bc07e187f489542ab87}} 
-\index{BNO08xCbGeneric@{BNO08xCbGeneric}!````~BNO08xCbGeneric@{$\sim$BNO08xCbGeneric}}
-\index{````~BNO08xCbGeneric@{$\sim$BNO08xCbGeneric}!BNO08xCbGeneric@{BNO08xCbGeneric}}
-\doxysubsubsection{\texorpdfstring{$\sim$BNO08xCbGeneric()}{~BNO08xCbGeneric()}}
-{\footnotesize\ttfamily virtual BNO08x\+Cb\+Generic\+::$\sim$\+BNO08x\+Cb\+Generic (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [virtual]}, {\ttfamily [default]}}
-
-\mbox{\Hypertarget{class_b_n_o08x_cb_generic_a5b1984f0111c5ca5e07a7f5487cd5234}\label{class_b_n_o08x_cb_generic_a5b1984f0111c5ca5e07a7f5487cd5234}} 
-\index{BNO08xCbGeneric@{BNO08xCbGeneric}!BNO08xCbGeneric@{BNO08xCbGeneric}}
-\index{BNO08xCbGeneric@{BNO08xCbGeneric}!BNO08xCbGeneric@{BNO08xCbGeneric}}
-\doxysubsubsection{\texorpdfstring{BNO08xCbGeneric()}{BNO08xCbGeneric()}}
-{\footnotesize\ttfamily BNO08x\+Cb\+Generic\+::\+BNO08x\+Cb\+Generic (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{rpt\+\_\+\+ID }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}}
-
-
-
-\doxysubsection{Member Function Documentation}
-\mbox{\Hypertarget{class_b_n_o08x_cb_generic_a19f9e8a22d039acf29c98801368ff0bb}\label{class_b_n_o08x_cb_generic_a19f9e8a22d039acf29c98801368ff0bb}} 
-\index{BNO08xCbGeneric@{BNO08xCbGeneric}!invoke@{invoke}}
-\index{invoke@{invoke}!BNO08xCbGeneric@{BNO08xCbGeneric}}
-\doxysubsubsection{\texorpdfstring{invoke()}{invoke()}}
-{\footnotesize\ttfamily virtual void BNO08x\+Cb\+Generic\+::invoke (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{rpt\+\_\+\+ID }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [pure virtual]}}
-
-
-
-Implemented in \mbox{\hyperlink{class_b_n_o08x_cb_param_rpt_i_d_ae263c2af6f9363d1a4fc58824b53cb72}{BNO08x\+Cb\+Param\+Rpt\+ID}}, and \mbox{\hyperlink{class_b_n_o08x_cb_param_void_a5cfdaad83528e3e418f51041d500b6f9}{BNO08x\+Cb\+Param\+Void}}.
-
-
-
-\doxysubsection{Member Data Documentation}
-\mbox{\Hypertarget{class_b_n_o08x_cb_generic_a808841c9f19664cb6ff06f9c217793e1}\label{class_b_n_o08x_cb_generic_a808841c9f19664cb6ff06f9c217793e1}} 
-\index{BNO08xCbGeneric@{BNO08xCbGeneric}!rpt\_ID@{rpt\_ID}}
-\index{rpt\_ID@{rpt\_ID}!BNO08xCbGeneric@{BNO08xCbGeneric}}
-\doxysubsubsection{\texorpdfstring{rpt\_ID}{rpt\_ID}}
-{\footnotesize\ttfamily uint8\+\_\+t BNO08x\+Cb\+Generic\+::rpt\+\_\+\+ID}
-
-
-
-The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/callback/\mbox{\hyperlink{_b_n_o08x_cb_generic_8hpp}{BNO08x\+Cb\+Generic.\+hpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/class_b_n_o08x_cb_generic__inherit__graph.md5 b/documentation/latex/class_b_n_o08x_cb_generic__inherit__graph.md5
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\ No newline at end of file
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-\hypertarget{class_b_n_o08x_cb_param_rpt_i_d}{}\doxysection{BNO08x\+Cb\+Param\+Rpt\+ID Class Reference}
-\label{class_b_n_o08x_cb_param_rpt_i_d}\index{BNO08xCbParamRptID@{BNO08xCbParamRptID}}
-
-
-Class to hold callback functions which are passed report ID as input parameter.  
-
-
-
-
-{\ttfamily \#include $<$callback/\+BNO08x\+Cb\+Param\+Rpt\+ID.\+hpp$>$}
-
-
-
-Inheritance diagram for BNO08x\+Cb\+Param\+Rpt\+ID\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=207pt]{class_b_n_o08x_cb_param_rpt_i_d__inherit__graph}
-\end{center}
-\end{figure}
-
-
-Collaboration diagram for BNO08x\+Cb\+Param\+Rpt\+ID\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=207pt]{class_b_n_o08x_cb_param_rpt_i_d__coll__graph}
-\end{center}
-\end{figure}
-\doxysubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{class_b_n_o08x_cb_param_rpt_i_d_a5ba2a4e27588fdd0ae43133544c76a22}{BNO08x\+Cb\+Param\+Rpt\+ID}} (std\+::function$<$ void(uint8\+\_\+t)$>$ cb\+\_\+fxn, uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_cb_generic_a808841c9f19664cb6ff06f9c217793e1}{rpt\+\_\+\+ID}})
-\item 
-void \mbox{\hyperlink{class_b_n_o08x_cb_param_rpt_i_d_ae263c2af6f9363d1a4fc58824b53cb72}{invoke}} (uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_cb_generic_a808841c9f19664cb6ff06f9c217793e1}{rpt\+\_\+\+ID}}) override
-\begin{DoxyCompactList}\small\item\em Invokes contained callback function. \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Additional Inherited Members}
-
-
-\doxysubsection{Detailed Description}
-Class to hold callback functions which are passed report ID as input parameter. 
-
-Class to hold callback functions with void input parameters. 
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\mbox{\Hypertarget{class_b_n_o08x_cb_param_rpt_i_d_a5ba2a4e27588fdd0ae43133544c76a22}\label{class_b_n_o08x_cb_param_rpt_i_d_a5ba2a4e27588fdd0ae43133544c76a22}} 
-\index{BNO08xCbParamRptID@{BNO08xCbParamRptID}!BNO08xCbParamRptID@{BNO08xCbParamRptID}}
-\index{BNO08xCbParamRptID@{BNO08xCbParamRptID}!BNO08xCbParamRptID@{BNO08xCbParamRptID}}
-\doxysubsubsection{\texorpdfstring{BNO08xCbParamRptID()}{BNO08xCbParamRptID()}}
-{\footnotesize\ttfamily BNO08x\+Cb\+Param\+Rpt\+ID\+::\+BNO08x\+Cb\+Param\+Rpt\+ID (\begin{DoxyParamCaption}\item[{std\+::function$<$ void(uint8\+\_\+t)$>$}]{cb\+\_\+fxn,  }\item[{uint8\+\_\+t}]{rpt\+\_\+\+ID }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Function Documentation}
-\mbox{\Hypertarget{class_b_n_o08x_cb_param_rpt_i_d_ae263c2af6f9363d1a4fc58824b53cb72}\label{class_b_n_o08x_cb_param_rpt_i_d_ae263c2af6f9363d1a4fc58824b53cb72}} 
-\index{BNO08xCbParamRptID@{BNO08xCbParamRptID}!invoke@{invoke}}
-\index{invoke@{invoke}!BNO08xCbParamRptID@{BNO08xCbParamRptID}}
-\doxysubsubsection{\texorpdfstring{invoke()}{invoke()}}
-{\footnotesize\ttfamily void BNO08x\+Cb\+Param\+Rpt\+ID\+::invoke (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{rpt\+\_\+\+ID }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
-
-
-
-Invokes contained callback function. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em rpt\+\_\+\+ID} & Report ID to be passed to contained callback.\\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-void, nothing to return 
-\end{DoxyReturn}
-
-
-Implements \mbox{\hyperlink{class_b_n_o08x_cb_generic_a19f9e8a22d039acf29c98801368ff0bb}{BNO08x\+Cb\+Generic}}.
-
-
-
-The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/callback/\mbox{\hyperlink{_b_n_o08x_cb_param_rpt_i_d_8hpp}{BNO08x\+Cb\+Param\+Rpt\+ID.\+hpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/class_b_n_o08x_cb_param_rpt_i_d__coll__graph.md5 b/documentation/latex/class_b_n_o08x_cb_param_rpt_i_d__coll__graph.md5
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-afd03ca0cb33c56799f2e5eb98020005
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+++ /dev/null
@@ -1,73 +0,0 @@
-\hypertarget{class_b_n_o08x_cb_param_void}{}\doxysection{BNO08x\+Cb\+Param\+Void Class Reference}
-\label{class_b_n_o08x_cb_param_void}\index{BNO08xCbParamVoid@{BNO08xCbParamVoid}}
-
-
-{\ttfamily \#include $<$callback/\+BNO08x\+Cb\+Param\+Void.\+hpp$>$}
-
-
-
-Inheritance diagram for BNO08x\+Cb\+Param\+Void\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=201pt]{class_b_n_o08x_cb_param_void__inherit__graph}
-\end{center}
-\end{figure}
-
-
-Collaboration diagram for BNO08x\+Cb\+Param\+Void\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=201pt]{class_b_n_o08x_cb_param_void__coll__graph}
-\end{center}
-\end{figure}
-\doxysubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{class_b_n_o08x_cb_param_void_a989c124bfd9871f80a415b76510d966b}{BNO08x\+Cb\+Param\+Void}} (std\+::function$<$ void(void)$>$ cb\+\_\+fxn, uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_cb_generic_a808841c9f19664cb6ff06f9c217793e1}{rpt\+\_\+\+ID}})
-\item 
-void \mbox{\hyperlink{class_b_n_o08x_cb_param_void_a5cfdaad83528e3e418f51041d500b6f9}{invoke}} (uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_cb_generic_a808841c9f19664cb6ff06f9c217793e1}{rpt\+\_\+\+ID}}) override
-\begin{DoxyCompactList}\small\item\em Invokes contained callback function. \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Additional Inherited Members}
-
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\mbox{\Hypertarget{class_b_n_o08x_cb_param_void_a989c124bfd9871f80a415b76510d966b}\label{class_b_n_o08x_cb_param_void_a989c124bfd9871f80a415b76510d966b}} 
-\index{BNO08xCbParamVoid@{BNO08xCbParamVoid}!BNO08xCbParamVoid@{BNO08xCbParamVoid}}
-\index{BNO08xCbParamVoid@{BNO08xCbParamVoid}!BNO08xCbParamVoid@{BNO08xCbParamVoid}}
-\doxysubsubsection{\texorpdfstring{BNO08xCbParamVoid()}{BNO08xCbParamVoid()}}
-{\footnotesize\ttfamily BNO08x\+Cb\+Param\+Void\+::\+BNO08x\+Cb\+Param\+Void (\begin{DoxyParamCaption}\item[{std\+::function$<$ void(void)$>$}]{cb\+\_\+fxn,  }\item[{uint8\+\_\+t}]{rpt\+\_\+\+ID }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Function Documentation}
-\mbox{\Hypertarget{class_b_n_o08x_cb_param_void_a5cfdaad83528e3e418f51041d500b6f9}\label{class_b_n_o08x_cb_param_void_a5cfdaad83528e3e418f51041d500b6f9}} 
-\index{BNO08xCbParamVoid@{BNO08xCbParamVoid}!invoke@{invoke}}
-\index{invoke@{invoke}!BNO08xCbParamVoid@{BNO08xCbParamVoid}}
-\doxysubsubsection{\texorpdfstring{invoke()}{invoke()}}
-{\footnotesize\ttfamily void BNO08x\+Cb\+Param\+Void\+::invoke (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{rpt\+\_\+\+ID }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
-
-
-
-Invokes contained callback function. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em rpt\+\_\+\+ID} & n/a, not used, kept to maintain same prototype as \mbox{\hyperlink{class_b_n_o08x_cb_param_rpt_i_d_ae263c2af6f9363d1a4fc58824b53cb72}{BNO08x\+Cb\+Param\+Rpt\+ID\+::invoke()}}\\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-void, nothing to return 
-\end{DoxyReturn}
-
-
-Implements \mbox{\hyperlink{class_b_n_o08x_cb_generic_a19f9e8a22d039acf29c98801368ff0bb}{BNO08x\+Cb\+Generic}}.
-
-
-
-The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/callback/\mbox{\hyperlink{_b_n_o08x_cb_param_void_8hpp}{BNO08x\+Cb\+Param\+Void.\+hpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/class_b_n_o08x_cb_param_void__coll__graph.md5 b/documentation/latex/class_b_n_o08x_cb_param_void__coll__graph.md5
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@@ -1 +0,0 @@
-b0c8fac9f72a0749936054ef3a316c32
\ No newline at end of file
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-b0c8fac9f72a0749936054ef3a316c32
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deleted file mode 100644
index 7dfd500..0000000
--- a/documentation/latex/class_b_n_o08x_rpt.tex
+++ /dev/null
@@ -1,510 +0,0 @@
-\hypertarget{class_b_n_o08x_rpt}{}\doxysection{BNO08x\+Rpt Class Reference}
-\label{class_b_n_o08x_rpt}\index{BNO08xRpt@{BNO08xRpt}}
-
-
-Class to represent and manage reports returned from \mbox{\hyperlink{class_b_n_o08x}{BNO08x}}.  
-
-
-
-
-{\ttfamily \#include $<$report/\+BNO08x\+Rpt.\+hpp$>$}
-
-
-
-Inheritance diagram for BNO08x\+Rpt\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_rpt__inherit__graph}
-\end{center}
-\end{figure}
-
-
-Collaboration diagram for BNO08x\+Rpt\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=199pt]{class_b_n_o08x_rpt__coll__graph}
-\end{center}
-\end{figure}
-\doxysubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-bool \mbox{\hyperlink{class_b_n_o08x_rpt_a7d147e7540a4c6aa19749844e14cdadc}{disable}} (sh2\+\_\+\+Sensor\+Config\+\_\+t sensor\+\_\+cfg=BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg)
-\begin{DoxyCompactList}\small\item\em Disables a sensor report by setting its period to 0us such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} stops sending it. \end{DoxyCompactList}\item 
-bool \mbox{\hyperlink{class_b_n_o08x_rpt_a5b542b28c81fcd05cf2e3f3d2d437d46}{register\+\_\+cb}} (std\+::function$<$ void(void)$>$ cb\+\_\+fxn)
-\begin{DoxyCompactList}\small\item\em Registers a callback to execute when new data from a specific report is received. \end{DoxyCompactList}\item 
-bool \mbox{\hyperlink{class_b_n_o08x_rpt_a74f6037286b51382535bab61680297ed}{has\+\_\+new\+\_\+data}} ()
-\begin{DoxyCompactList}\small\item\em Checks if a new report has been received since the last time this function was called. \end{DoxyCompactList}\item 
-bool \mbox{\hyperlink{class_b_n_o08x_rpt_ab3bb962696b135841ef7313bc631fc72}{flush}} ()
-\begin{DoxyCompactList}\small\item\em Flush all buffered reports for this sensor/report module. \end{DoxyCompactList}\item 
-bool \mbox{\hyperlink{class_b_n_o08x_rpt_a7ce8e48cadf59f49068af7f1cb680b38}{get\+\_\+sample\+\_\+counts}} (\mbox{\hyperlink{structbno08x__sample__counts__t}{bno08x\+\_\+sample\+\_\+counts\+\_\+t}} \&sample\+\_\+counts)
-\begin{DoxyCompactList}\small\item\em Gets sample counts for this sensor (see SH-\/2 ref manual 6.\+4.\+3.\+1) \end{DoxyCompactList}\item 
-bool \mbox{\hyperlink{class_b_n_o08x_rpt_a1418be33824d3102dbc8f92558a402a6}{clear\+\_\+sample\+\_\+counts}} ()
-\begin{DoxyCompactList}\small\item\em Clears \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} internal sample counts for this sensor. (see SH-\/2 ref manual 6.\+4.\+3.\+1) \end{DoxyCompactList}\item 
-bool \mbox{\hyperlink{class_b_n_o08x_rpt_ad5b054279b01204f61b4c0408acf51cf}{get\+\_\+meta\+\_\+data}} (\mbox{\hyperlink{structbno08x__meta__data__t}{bno08x\+\_\+meta\+\_\+data\+\_\+t}} \&meta\+\_\+data)
-\begin{DoxyCompactList}\small\item\em Retrieves meta data for this sensor/report by reading respective record in FRS (flash record system). \end{DoxyCompactList}\item 
-virtual bool \mbox{\hyperlink{class_b_n_o08x_rpt_a4ee529725467412df396d5c610ff7bb4}{enable}} (uint32\+\_\+t time\+\_\+between\+\_\+reports, sh2\+\_\+\+Sensor\+Config\+\_\+t sensor\+\_\+cfg=BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg)=0
-\end{DoxyCompactItemize}
-\doxysubsection*{Protected Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-bool \mbox{\hyperlink{class_b_n_o08x_rpt_aa0bed98a9a497d1f39e8245d05b02e9c}{rpt\+\_\+enable}} (uint32\+\_\+t time\+\_\+between\+\_\+reports, sh2\+\_\+\+Sensor\+Config\+\_\+t sensor\+\_\+cfg=BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg)
-\begin{DoxyCompactList}\small\item\em Enables a sensor report such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} begins sending it. \end{DoxyCompactList}\item 
-virtual void \mbox{\hyperlink{class_b_n_o08x_rpt_a970fb7e7d3745c62fec626f0ccf0759f}{update\+\_\+data}} (sh2\+\_\+\+Sensor\+Value\+\_\+t $\ast$sensor\+\_\+val)=0
-\item 
-\mbox{\hyperlink{class_b_n_o08x_rpt_a15e8eebe3fe90ac19837e3860c76374c}{BNO08x\+Rpt}} (uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\+\_\+bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$\mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\+\_\+ctx}})
-\begin{DoxyCompactList}\small\item\em \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08x\+Rpt}} report constructor. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{class_b_n_o08x_rpt_a61e3451e93806e1b7eaf5f1387726765}{unlock\+\_\+sh2\+\_\+\+HAL}} ()
-\begin{DoxyCompactList}\small\item\em Unlocks sh2 HAL lib to allow other tasks to call its APIs. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{class_b_n_o08x_rpt_a7a5619a74c1237c5abde2e4bd6619d12}{lock\+\_\+sh2\+\_\+\+HAL}} ()
-\begin{DoxyCompactList}\small\item\em Locks sh2 HAL lib to only allow the calling task to call its APIs. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{class_b_n_o08x_rpt_a26bacc572187119339ec248bb4e7d6f3}{unlock\+\_\+user\+\_\+data}} ()
-\begin{DoxyCompactList}\small\item\em Unlocks user data to allow other tasks to read/modify it. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{class_b_n_o08x_rpt_a48e7b1a2c2ebc6b1f2f292735c0832a0}{lock\+\_\+user\+\_\+data}} ()
-\begin{DoxyCompactList}\small\item\em Locks locks user data to only allow the calling task to read/modify it. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{class_b_n_o08x_rpt_a47a623eb0a1db51af76a03a103c32329}{signal\+\_\+data\+\_\+available}} ()
-\begin{DoxyCompactList}\small\item\em Signals to \mbox{\hyperlink{class_b_n_o08x_a367d525d1c0ba119b3dca3067bb5bccc}{BNO08x\+::data\+\_\+available()}} that a new report has arrived. \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Protected Attributes}
-\begin{DoxyCompactItemize}
-\item 
-uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}
-\begin{DoxyCompactList}\small\item\em Report ID, ex. SH2\+\_\+\+ACCELERATION. \end{DoxyCompactList}\item 
-Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\+\_\+bit}}
-\begin{DoxyCompactList}\small\item\em Respective enable and data bit for report in evt\+\_\+grp\+\_\+rpt\+\_\+en and evt\+\_\+grp\+\_\+rpt\+\_\+data. \end{DoxyCompactList}\item 
-uint32\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_a1d4d6f4cc6f1eae503863eedf7fb9f52}{period\+\_\+us}}
-\begin{DoxyCompactList}\small\item\em The period/interval of the report in microseconds. \end{DoxyCompactList}\item 
-\mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$ \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\+\_\+ctx}}
-\end{DoxyCompactItemize}
-\doxysubsection*{Static Protected Attributes}
-\begin{DoxyCompactItemize}
-\item 
-static const constexpr float \mbox{\hyperlink{class_b_n_o08x_rpt_a201aeb71fefb0d9d485914176a82dd80}{RAD\+\_\+2\+\_\+\+DEG}}
-\begin{DoxyCompactList}\small\item\em Constant for radian to degree conversions, sed in quaternion to euler function conversions. \end{DoxyCompactList}\item 
-static const constexpr char $\ast$ \mbox{\hyperlink{class_b_n_o08x_rpt_a2c57f370fb08b793bb10ec22d5acca45}{TAG}} = \char`\"{}BNO08x\+Rpt\char`\"{}
-\end{DoxyCompactItemize}
-\doxysubsection*{Friends}
-\begin{DoxyCompactItemize}
-\item 
-class \mbox{\hyperlink{class_b_n_o08x_rpt_a9313d906399750f09e3fe4dae87cec15}{BNO08x}}
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-Class to represent and manage reports returned from \mbox{\hyperlink{class_b_n_o08x}{BNO08x}}. 
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_a15e8eebe3fe90ac19837e3860c76374c}\label{class_b_n_o08x_rpt_a15e8eebe3fe90ac19837e3860c76374c}} 
-\index{BNO08xRpt@{BNO08xRpt}!BNO08xRpt@{BNO08xRpt}}
-\index{BNO08xRpt@{BNO08xRpt}!BNO08xRpt@{BNO08xRpt}}
-\doxysubsubsection{\texorpdfstring{BNO08xRpt()}{BNO08xRpt()}}
-{\footnotesize\ttfamily BNO08x\+Rpt\+::\+BNO08x\+Rpt (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ID,  }\item[{Event\+Bits\+\_\+t}]{rpt\+\_\+bit,  }\item[{\mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$}]{sync\+\_\+ctx }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}}
-
-
-
-\mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08x\+Rpt}} report constructor. 
-
-Construct a \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08x\+Rpt}} object for managing a \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} sensor report.
-
-
-\begin{DoxyParams}{Parameters}
-{\em imu} & Pointer to \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} imu object. \\
-\hline
-{\em report\+\_\+\+ID} & Report ID, ex. SH2\+\_\+\+ACCELERATION. \\
-\hline
-{\em rpt\+\_\+bit} & Respective enable bit for report in BNO08x\+::evt\+\_\+grp\+\_\+report\+\_\+en. \\
-\hline
-{\em period\+\_\+us} & The period/interval of the report in microseconds.\\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-void, nothing to return 
-\end{DoxyReturn}
-
-
-\doxysubsection{Member Function Documentation}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_a1418be33824d3102dbc8f92558a402a6}\label{class_b_n_o08x_rpt_a1418be33824d3102dbc8f92558a402a6}} 
-\index{BNO08xRpt@{BNO08xRpt}!clear\_sample\_counts@{clear\_sample\_counts}}
-\index{clear\_sample\_counts@{clear\_sample\_counts}!BNO08xRpt@{BNO08xRpt}}
-\doxysubsubsection{\texorpdfstring{clear\_sample\_counts()}{clear\_sample\_counts()}}
-{\footnotesize\ttfamily bool BNO08x\+Rpt\+::clear\+\_\+sample\+\_\+counts (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
-
-
-
-Clears \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} internal sample counts for this sensor. (see SH-\/2 ref manual 6.\+4.\+3.\+1) 
-
-\begin{DoxyReturn}{Returns}
-True clear counts operation succeeded. 
-\end{DoxyReturn}
-Here is the call graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_rpt_a1418be33824d3102dbc8f92558a402a6_cgraph}
-\end{center}
-\end{figure}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_a7d147e7540a4c6aa19749844e14cdadc}\label{class_b_n_o08x_rpt_a7d147e7540a4c6aa19749844e14cdadc}} 
-\index{BNO08xRpt@{BNO08xRpt}!disable@{disable}}
-\index{disable@{disable}!BNO08xRpt@{BNO08xRpt}}
-\doxysubsubsection{\texorpdfstring{disable()}{disable()}}
-{\footnotesize\ttfamily bool BNO08x\+Rpt\+::disable (\begin{DoxyParamCaption}\item[{sh2\+\_\+\+Sensor\+Config\+\_\+t}]{sensor\+\_\+cfg = {\ttfamily BNO08xPrivateTypes\+:\+:default\+\_\+sensor\+\_\+cfg} }\end{DoxyParamCaption})}
-
-
-
-Disables a sensor report by setting its period to 0us such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} stops sending it. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em sensor\+\_\+\+ID} & The ID of the sensor for the respective report to be disabled. \\
-\hline
-{\em sensor\+\_\+cfg} & Sensor special configuration.\\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-ESP\+\_\+\+OK if report was successfully disabled. 
-\end{DoxyReturn}
-Here is the call graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_rpt_a7d147e7540a4c6aa19749844e14cdadc_cgraph}
-\end{center}
-\end{figure}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_a4ee529725467412df396d5c610ff7bb4}\label{class_b_n_o08x_rpt_a4ee529725467412df396d5c610ff7bb4}} 
-\index{BNO08xRpt@{BNO08xRpt}!enable@{enable}}
-\index{enable@{enable}!BNO08xRpt@{BNO08xRpt}}
-\doxysubsubsection{\texorpdfstring{enable()}{enable()}}
-{\footnotesize\ttfamily virtual bool BNO08x\+Rpt\+::enable (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports,  }\item[{sh2\+\_\+\+Sensor\+Config\+\_\+t}]{sensor\+\_\+cfg = {\ttfamily BNO08xPrivateTypes\+:\+:default\+\_\+sensor\+\_\+cfg} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [pure virtual]}}
-
-
-
-Implemented in \mbox{\hyperlink{class_b_n_o08x_rpt_acceleration_a8fde5eefac5f9d714263047426eeee4f}{BNO08x\+Rpt\+Acceleration}}, \mbox{\hyperlink{class_b_n_o08x_rpt_activity_classifier_a631329523ddaf17f2e93cd0546a42823}{BNO08x\+Rpt\+Activity\+Classifier}}, \mbox{\hyperlink{class_b_n_o08x_rpt_cal_gyro_aeb49d86610427c915dc9e58fcba6fddc}{BNO08x\+Rpt\+Cal\+Gyro}}, \mbox{\hyperlink{class_b_n_o08x_rpt_cal_magnetometer_a9a371f613ff5053d2227faeebe941393}{BNO08x\+Rpt\+Cal\+Magnetometer}}, \mbox{\hyperlink{class_b_n_o08x_rpt_gravity_a5bb33cf233c6721fac992e447bd5b571}{BNO08x\+Rpt\+Gravity}}, \mbox{\hyperlink{class_b_n_o08x_rpt_linear_acceleration_a4584a181ae543919a851f8f288a316ed}{BNO08x\+Rpt\+Linear\+Acceleration}}, \mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_a3cfc735c048700fe79a5674ad92b4b03}{BNO08x\+Rpt\+Raw\+MEMSAccelerometer}}, \mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_gyro_ae872f24befd81352f812bc998acb573d}{BNO08x\+Rpt\+Raw\+MEMSGyro}}, \mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_a92832fd0bff6abddbbd87779de5b57fb}{BNO08x\+Rpt\+Raw\+MEMSMagnetometer}}, \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_generic_a17c6cf89a5f7bf5c3fb9f8ff3ed74e8e}{BNO08x\+Rpt\+RVGeneric}}, \mbox{\hyperlink{class_b_n_o08x_rpt_shake_detector_aa28fa73b51bd892f0239e647aa6ceeb8}{BNO08x\+Rpt\+Shake\+Detector}}, \mbox{\hyperlink{class_b_n_o08x_rpt_stability_classifier_a4959110a01f638d04d87696d8a03dd60}{BNO08x\+Rpt\+Stability\+Classifier}}, \mbox{\hyperlink{class_b_n_o08x_rpt_step_counter_adf0a697561b064a7dd90a44009efbcf1}{BNO08x\+Rpt\+Step\+Counter}}, \mbox{\hyperlink{class_b_n_o08x_rpt_tap_detector_ad8b716b7a2f2c2f52113eaaf75a391dc}{BNO08x\+Rpt\+Tap\+Detector}}, \mbox{\hyperlink{class_b_n_o08x_rpt_uncal_gyro_a404d36091a61af543c6fec7b6e077706}{BNO08x\+Rpt\+Uncal\+Gyro}}, and \mbox{\hyperlink{class_b_n_o08x_rpt_uncal_magnetometer_a80ae48107ca1cc27551fd799625f2867}{BNO08x\+Rpt\+Uncal\+Magnetometer}}.
-
-\mbox{\Hypertarget{class_b_n_o08x_rpt_ab3bb962696b135841ef7313bc631fc72}\label{class_b_n_o08x_rpt_ab3bb962696b135841ef7313bc631fc72}} 
-\index{BNO08xRpt@{BNO08xRpt}!flush@{flush}}
-\index{flush@{flush}!BNO08xRpt@{BNO08xRpt}}
-\doxysubsubsection{\texorpdfstring{flush()}{flush()}}
-{\footnotesize\ttfamily bool BNO08x\+Rpt\+::flush (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
-
-
-
-Flush all buffered reports for this sensor/report module. 
-
-\begin{DoxyReturn}{Returns}
-True if flush operation succeeded. 
-\end{DoxyReturn}
-Here is the call graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_rpt_ab3bb962696b135841ef7313bc631fc72_cgraph}
-\end{center}
-\end{figure}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_ad5b054279b01204f61b4c0408acf51cf}\label{class_b_n_o08x_rpt_ad5b054279b01204f61b4c0408acf51cf}} 
-\index{BNO08xRpt@{BNO08xRpt}!get\_meta\_data@{get\_meta\_data}}
-\index{get\_meta\_data@{get\_meta\_data}!BNO08xRpt@{BNO08xRpt}}
-\doxysubsubsection{\texorpdfstring{get\_meta\_data()}{get\_meta\_data()}}
-{\footnotesize\ttfamily bool BNO08x\+Rpt\+::get\+\_\+meta\+\_\+data (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{structbno08x__meta__data__t}{bno08x\+\_\+meta\+\_\+data\+\_\+t}} \&}]{meta\+\_\+data }\end{DoxyParamCaption})}
-
-
-
-Retrieves meta data for this sensor/report by reading respective record in FRS (flash record system). 
-
-Can be used to retrieve the minimum period, maximum period, actual Q points, resolution, and other info for a given sensor.
-
-\begin{DoxyReturn}{Returns}
-True clear get meta data operation succeeded. 
-\end{DoxyReturn}
-Here is the call graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_rpt_ad5b054279b01204f61b4c0408acf51cf_cgraph}
-\end{center}
-\end{figure}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_a7ce8e48cadf59f49068af7f1cb680b38}\label{class_b_n_o08x_rpt_a7ce8e48cadf59f49068af7f1cb680b38}} 
-\index{BNO08xRpt@{BNO08xRpt}!get\_sample\_counts@{get\_sample\_counts}}
-\index{get\_sample\_counts@{get\_sample\_counts}!BNO08xRpt@{BNO08xRpt}}
-\doxysubsubsection{\texorpdfstring{get\_sample\_counts()}{get\_sample\_counts()}}
-{\footnotesize\ttfamily bool BNO08x\+Rpt\+::get\+\_\+sample\+\_\+counts (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{structbno08x__sample__counts__t}{bno08x\+\_\+sample\+\_\+counts\+\_\+t}} \&}]{sample\+\_\+counts }\end{DoxyParamCaption})}
-
-
-
-Gets sample counts for this sensor (see SH-\/2 ref manual 6.\+4.\+3.\+1) 
-
-
-\begin{DoxyParams}{Parameters}
-{\em Struct} & to store requested data.\\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-True get counts operation succeeded. 
-\end{DoxyReturn}
-Here is the call graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_rpt_a7ce8e48cadf59f49068af7f1cb680b38_cgraph}
-\end{center}
-\end{figure}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_a74f6037286b51382535bab61680297ed}\label{class_b_n_o08x_rpt_a74f6037286b51382535bab61680297ed}} 
-\index{BNO08xRpt@{BNO08xRpt}!has\_new\_data@{has\_new\_data}}
-\index{has\_new\_data@{has\_new\_data}!BNO08xRpt@{BNO08xRpt}}
-\doxysubsubsection{\texorpdfstring{has\_new\_data()}{has\_new\_data()}}
-{\footnotesize\ttfamily bool BNO08x\+Rpt\+::has\+\_\+new\+\_\+data (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
-
-
-
-Checks if a new report has been received since the last time this function was called. 
-
-\begin{DoxyReturn}{Returns}
-True if a new report was received since the last time this function was called. 
-\end{DoxyReturn}
-Here is the caller graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_rpt_a74f6037286b51382535bab61680297ed_icgraph}
-\end{center}
-\end{figure}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_a7a5619a74c1237c5abde2e4bd6619d12}\label{class_b_n_o08x_rpt_a7a5619a74c1237c5abde2e4bd6619d12}} 
-\index{BNO08xRpt@{BNO08xRpt}!lock\_sh2\_HAL@{lock\_sh2\_HAL}}
-\index{lock\_sh2\_HAL@{lock\_sh2\_HAL}!BNO08xRpt@{BNO08xRpt}}
-\doxysubsubsection{\texorpdfstring{lock\_sh2\_HAL()}{lock\_sh2\_HAL()}}
-{\footnotesize\ttfamily void BNO08x\+Rpt\+::lock\+\_\+sh2\+\_\+\+HAL (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [protected]}}
-
-
-
-Locks sh2 HAL lib to only allow the calling task to call its APIs. 
-
-\begin{DoxyReturn}{Returns}
-void, nothing to return 
-\end{DoxyReturn}
-Here is the caller graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_rpt_a7a5619a74c1237c5abde2e4bd6619d12_icgraph}
-\end{center}
-\end{figure}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_a48e7b1a2c2ebc6b1f2f292735c0832a0}\label{class_b_n_o08x_rpt_a48e7b1a2c2ebc6b1f2f292735c0832a0}} 
-\index{BNO08xRpt@{BNO08xRpt}!lock\_user\_data@{lock\_user\_data}}
-\index{lock\_user\_data@{lock\_user\_data}!BNO08xRpt@{BNO08xRpt}}
-\doxysubsubsection{\texorpdfstring{lock\_user\_data()}{lock\_user\_data()}}
-{\footnotesize\ttfamily void BNO08x\+Rpt\+::lock\+\_\+user\+\_\+data (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [protected]}}
-
-
-
-Locks locks user data to only allow the calling task to read/modify it. 
-
-\begin{DoxyReturn}{Returns}
-void, nothing to return 
-\end{DoxyReturn}
-Here is the caller graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[height=550pt]{class_b_n_o08x_rpt_a48e7b1a2c2ebc6b1f2f292735c0832a0_icgraph}
-\end{center}
-\end{figure}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_a5b542b28c81fcd05cf2e3f3d2d437d46}\label{class_b_n_o08x_rpt_a5b542b28c81fcd05cf2e3f3d2d437d46}} 
-\index{BNO08xRpt@{BNO08xRpt}!register\_cb@{register\_cb}}
-\index{register\_cb@{register\_cb}!BNO08xRpt@{BNO08xRpt}}
-\doxysubsubsection{\texorpdfstring{register\_cb()}{register\_cb()}}
-{\footnotesize\ttfamily bool BNO08x\+Rpt\+::register\+\_\+cb (\begin{DoxyParamCaption}\item[{std\+::function$<$ void(void)$>$}]{cb\+\_\+fxn }\end{DoxyParamCaption})}
-
-
-
-Registers a callback to execute when new data from a specific report is received. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em cb\+\_\+fxn} & Pointer to the call-\/back function should be of void return type void input param.\\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-void, nothing to return 
-\end{DoxyReturn}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_aa0bed98a9a497d1f39e8245d05b02e9c}\label{class_b_n_o08x_rpt_aa0bed98a9a497d1f39e8245d05b02e9c}} 
-\index{BNO08xRpt@{BNO08xRpt}!rpt\_enable@{rpt\_enable}}
-\index{rpt\_enable@{rpt\_enable}!BNO08xRpt@{BNO08xRpt}}
-\doxysubsubsection{\texorpdfstring{rpt\_enable()}{rpt\_enable()}}
-{\footnotesize\ttfamily bool BNO08x\+Rpt\+::rpt\+\_\+enable (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports,  }\item[{sh2\+\_\+\+Sensor\+Config\+\_\+t}]{sensor\+\_\+cfg = {\ttfamily BNO08xPrivateTypes\+:\+:default\+\_\+sensor\+\_\+cfg} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [protected]}}
-
-
-
-Enables a sensor report such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} begins sending it. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em report\+\_\+period\+\_\+us} & The period/interval of the report in microseconds. \\
-\hline
-{\em sensor\+\_\+cfg} & Sensor special configuration (optional, see BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg for defaults).\\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-True if report was successfully enabled. 
-\end{DoxyReturn}
-Here is the call graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_rpt_aa0bed98a9a497d1f39e8245d05b02e9c_cgraph}
-\end{center}
-\end{figure}
-Here is the caller graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_rpt_aa0bed98a9a497d1f39e8245d05b02e9c_icgraph}
-\end{center}
-\end{figure}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_a47a623eb0a1db51af76a03a103c32329}\label{class_b_n_o08x_rpt_a47a623eb0a1db51af76a03a103c32329}} 
-\index{BNO08xRpt@{BNO08xRpt}!signal\_data\_available@{signal\_data\_available}}
-\index{signal\_data\_available@{signal\_data\_available}!BNO08xRpt@{BNO08xRpt}}
-\doxysubsubsection{\texorpdfstring{signal\_data\_available()}{signal\_data\_available()}}
-{\footnotesize\ttfamily void BNO08x\+Rpt\+::signal\+\_\+data\+\_\+available (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [protected]}}
-
-
-
-Signals to \mbox{\hyperlink{class_b_n_o08x_a367d525d1c0ba119b3dca3067bb5bccc}{BNO08x\+::data\+\_\+available()}} that a new report has arrived. 
-
-\begin{DoxyReturn}{Returns}
-void, nothing to return 
-\end{DoxyReturn}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_a61e3451e93806e1b7eaf5f1387726765}\label{class_b_n_o08x_rpt_a61e3451e93806e1b7eaf5f1387726765}} 
-\index{BNO08xRpt@{BNO08xRpt}!unlock\_sh2\_HAL@{unlock\_sh2\_HAL}}
-\index{unlock\_sh2\_HAL@{unlock\_sh2\_HAL}!BNO08xRpt@{BNO08xRpt}}
-\doxysubsubsection{\texorpdfstring{unlock\_sh2\_HAL()}{unlock\_sh2\_HAL()}}
-{\footnotesize\ttfamily void BNO08x\+Rpt\+::unlock\+\_\+sh2\+\_\+\+HAL (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [protected]}}
-
-
-
-Unlocks sh2 HAL lib to allow other tasks to call its APIs. 
-
-\begin{DoxyReturn}{Returns}
-void, nothing to return 
-\end{DoxyReturn}
-Here is the caller graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_rpt_a61e3451e93806e1b7eaf5f1387726765_icgraph}
-\end{center}
-\end{figure}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_a26bacc572187119339ec248bb4e7d6f3}\label{class_b_n_o08x_rpt_a26bacc572187119339ec248bb4e7d6f3}} 
-\index{BNO08xRpt@{BNO08xRpt}!unlock\_user\_data@{unlock\_user\_data}}
-\index{unlock\_user\_data@{unlock\_user\_data}!BNO08xRpt@{BNO08xRpt}}
-\doxysubsubsection{\texorpdfstring{unlock\_user\_data()}{unlock\_user\_data()}}
-{\footnotesize\ttfamily void BNO08x\+Rpt\+::unlock\+\_\+user\+\_\+data (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [protected]}}
-
-
-
-Unlocks user data to allow other tasks to read/modify it. 
-
-\begin{DoxyReturn}{Returns}
-void, nothing to return 
-\end{DoxyReturn}
-Here is the caller graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[height=550pt]{class_b_n_o08x_rpt_a26bacc572187119339ec248bb4e7d6f3_icgraph}
-\end{center}
-\end{figure}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_a970fb7e7d3745c62fec626f0ccf0759f}\label{class_b_n_o08x_rpt_a970fb7e7d3745c62fec626f0ccf0759f}} 
-\index{BNO08xRpt@{BNO08xRpt}!update\_data@{update\_data}}
-\index{update\_data@{update\_data}!BNO08xRpt@{BNO08xRpt}}
-\doxysubsubsection{\texorpdfstring{update\_data()}{update\_data()}}
-{\footnotesize\ttfamily virtual void BNO08x\+Rpt\+::update\+\_\+data (\begin{DoxyParamCaption}\item[{sh2\+\_\+\+Sensor\+Value\+\_\+t $\ast$}]{sensor\+\_\+val }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [protected]}, {\ttfamily [pure virtual]}}
-
-
-
-\doxysubsection{Friends And Related Function Documentation}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_a9313d906399750f09e3fe4dae87cec15}\label{class_b_n_o08x_rpt_a9313d906399750f09e3fe4dae87cec15}} 
-\index{BNO08xRpt@{BNO08xRpt}!BNO08x@{BNO08x}}
-\index{BNO08x@{BNO08x}!BNO08xRpt@{BNO08xRpt}}
-\doxysubsubsection{\texorpdfstring{BNO08x}{BNO08x}}
-{\footnotesize\ttfamily friend class \mbox{\hyperlink{class_b_n_o08x}{BNO08x}}\hspace{0.3cm}{\ttfamily [friend]}}
-
-
-
-\doxysubsection{Member Data Documentation}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}\label{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}} 
-\index{BNO08xRpt@{BNO08xRpt}!ID@{ID}}
-\index{ID@{ID}!BNO08xRpt@{BNO08xRpt}}
-\doxysubsubsection{\texorpdfstring{ID}{ID}}
-{\footnotesize\ttfamily uint8\+\_\+t BNO08x\+Rpt\+::\+ID\hspace{0.3cm}{\ttfamily [protected]}}
-
-
-
-Report ID, ex. SH2\+\_\+\+ACCELERATION. 
-
-\mbox{\Hypertarget{class_b_n_o08x_rpt_a1d4d6f4cc6f1eae503863eedf7fb9f52}\label{class_b_n_o08x_rpt_a1d4d6f4cc6f1eae503863eedf7fb9f52}} 
-\index{BNO08xRpt@{BNO08xRpt}!period\_us@{period\_us}}
-\index{period\_us@{period\_us}!BNO08xRpt@{BNO08xRpt}}
-\doxysubsubsection{\texorpdfstring{period\_us}{period\_us}}
-{\footnotesize\ttfamily uint32\+\_\+t BNO08x\+Rpt\+::period\+\_\+us\hspace{0.3cm}{\ttfamily [protected]}}
-
-
-
-The period/interval of the report in microseconds. 
-
-\mbox{\Hypertarget{class_b_n_o08x_rpt_a201aeb71fefb0d9d485914176a82dd80}\label{class_b_n_o08x_rpt_a201aeb71fefb0d9d485914176a82dd80}} 
-\index{BNO08xRpt@{BNO08xRpt}!RAD\_2\_DEG@{RAD\_2\_DEG}}
-\index{RAD\_2\_DEG@{RAD\_2\_DEG}!BNO08xRpt@{BNO08xRpt}}
-\doxysubsubsection{\texorpdfstring{RAD\_2\_DEG}{RAD\_2\_DEG}}
-{\footnotesize\ttfamily const constexpr float BNO08x\+Rpt\+::\+RAD\+\_\+2\+\_\+\+DEG\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [protected]}}
-
-{\bfseries Initial value\+:}
-\begin{DoxyCode}{0}
-\DoxyCodeLine{=}
-\DoxyCodeLine{                (180.0f / M\_PI)}
-
-\end{DoxyCode}
-
-
-Constant for radian to degree conversions, sed in quaternion to euler function conversions. 
-
-\mbox{\Hypertarget{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}\label{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}} 
-\index{BNO08xRpt@{BNO08xRpt}!rpt\_bit@{rpt\_bit}}
-\index{rpt\_bit@{rpt\_bit}!BNO08xRpt@{BNO08xRpt}}
-\doxysubsubsection{\texorpdfstring{rpt\_bit}{rpt\_bit}}
-{\footnotesize\ttfamily Event\+Bits\+\_\+t BNO08x\+Rpt\+::rpt\+\_\+bit\hspace{0.3cm}{\ttfamily [protected]}}
-
-
-
-Respective enable and data bit for report in evt\+\_\+grp\+\_\+rpt\+\_\+en and evt\+\_\+grp\+\_\+rpt\+\_\+data. 
-
-\mbox{\Hypertarget{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}\label{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}} 
-\index{BNO08xRpt@{BNO08xRpt}!sync\_ctx@{sync\_ctx}}
-\index{sync\_ctx@{sync\_ctx}!BNO08xRpt@{BNO08xRpt}}
-\doxysubsubsection{\texorpdfstring{sync\_ctx}{sync\_ctx}}
-{\footnotesize\ttfamily \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}}$\ast$ BNO08x\+Rpt\+::sync\+\_\+ctx\hspace{0.3cm}{\ttfamily [protected]}}
-
-\mbox{\Hypertarget{class_b_n_o08x_rpt_a2c57f370fb08b793bb10ec22d5acca45}\label{class_b_n_o08x_rpt_a2c57f370fb08b793bb10ec22d5acca45}} 
-\index{BNO08xRpt@{BNO08xRpt}!TAG@{TAG}}
-\index{TAG@{TAG}!BNO08xRpt@{BNO08xRpt}}
-\doxysubsubsection{\texorpdfstring{TAG}{TAG}}
-{\footnotesize\ttfamily const constexpr char$\ast$ BNO08x\+Rpt\+::\+TAG = \char`\"{}BNO08x\+Rpt\char`\"{}\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [protected]}}
-
-
-
-The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
-\item 
-/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_8hpp}{BNO08x\+Rpt.\+hpp}}\item 
-\mbox{\hyperlink{_b_n_o08x_rpt_8cpp}{BNO08x\+Rpt.\+cpp}}\end{DoxyCompactItemize}
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diff --git a/documentation/latex/class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v.tex b/documentation/latex/class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v.tex
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+++ /dev/null
@@ -1,55 +0,0 @@
-\hypertarget{class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v}{}\doxysection{BNO08x\+Rpt\+ARVRStabilized\+Game\+RV Class Reference}
-\label{class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v}\index{BNO08xRptARVRStabilizedGameRV@{BNO08xRptARVRStabilizedGameRV}}
-
-
-Class to represent ARVR stabilized rotation vector reports. (See Ref. Manual 6.\+5.\+43)  
-
-
-
-
-{\ttfamily \#include $<$report/\+BNO08x\+Rpt\+ARVRStabilized\+Game\+RV.\+hpp$>$}
-
-
-
-Inheritance diagram for BNO08x\+Rpt\+ARVRStabilized\+Game\+RV\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=271pt]{class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v__inherit__graph}
-\end{center}
-\end{figure}
-
-
-Collaboration diagram for BNO08x\+Rpt\+ARVRStabilized\+Game\+RV\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=309pt]{class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v__coll__graph}
-\end{center}
-\end{figure}
-\doxysubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_aabfa5bbfb21fb1f36dda44bd0de7d220}{BNO08x\+Rpt\+ARVRStabilized\+Game\+RV}} (uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\+\_\+bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$\mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\+\_\+ctx}})
-\end{DoxyCompactItemize}
-\doxysubsection*{Additional Inherited Members}
-
-
-\doxysubsection{Detailed Description}
-Class to represent ARVR stabilized rotation vector reports. (See Ref. Manual 6.\+5.\+43) 
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_aabfa5bbfb21fb1f36dda44bd0de7d220}\label{class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_aabfa5bbfb21fb1f36dda44bd0de7d220}} 
-\index{BNO08xRptARVRStabilizedGameRV@{BNO08xRptARVRStabilizedGameRV}!BNO08xRptARVRStabilizedGameRV@{BNO08xRptARVRStabilizedGameRV}}
-\index{BNO08xRptARVRStabilizedGameRV@{BNO08xRptARVRStabilizedGameRV}!BNO08xRptARVRStabilizedGameRV@{BNO08xRptARVRStabilizedGameRV}}
-\doxysubsubsection{\texorpdfstring{BNO08xRptARVRStabilizedGameRV()}{BNO08xRptARVRStabilizedGameRV()}}
-{\footnotesize\ttfamily BNO08x\+Rpt\+ARVRStabilized\+Game\+RV\+::\+BNO08x\+Rpt\+ARVRStabilized\+Game\+RV (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ID,  }\item[{Event\+Bits\+\_\+t}]{rpt\+\_\+bit,  }\item[{\mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$}]{sync\+\_\+ctx }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
-\item 
-/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8hpp}{BNO08x\+Rpt\+ARVRStabilized\+Game\+RV.\+hpp}}\item 
-report/\mbox{\hyperlink{_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8cpp}{BNO08x\+Rpt\+ARVRStabilized\+Game\+RV.\+cpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v__coll__graph.md5 b/documentation/latex/class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v__coll__graph.md5
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-76e18a2099aa107493c2098abb8695c5
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-\hypertarget{class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v}{}\doxysection{BNO08x\+Rpt\+ARVRStabilized\+RV Class Reference}
-\label{class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v}\index{BNO08xRptARVRStabilizedRV@{BNO08xRptARVRStabilizedRV}}
-
-
-Class to represent ARVR stabilized rotation vector reports. (See Ref. Manual 6.\+5.\+42)  
-
-
-
-
-{\ttfamily \#include $<$report/\+BNO08x\+Rpt\+ARVRStabilized\+RV.\+hpp$>$}
-
-
-
-Inheritance diagram for BNO08x\+Rpt\+ARVRStabilized\+RV\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=241pt]{class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v__inherit__graph}
-\end{center}
-\end{figure}
-
-
-Collaboration diagram for BNO08x\+Rpt\+ARVRStabilized\+RV\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=294pt]{class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v__coll__graph}
-\end{center}
-\end{figure}
-\doxysubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_a7b19b87c861a35b7da1d96b606c21d6d}{BNO08x\+Rpt\+ARVRStabilized\+RV}} (uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\+\_\+bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$\mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\+\_\+ctx}})
-\end{DoxyCompactItemize}
-\doxysubsection*{Additional Inherited Members}
-
-
-\doxysubsection{Detailed Description}
-Class to represent ARVR stabilized rotation vector reports. (See Ref. Manual 6.\+5.\+42) 
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_a7b19b87c861a35b7da1d96b606c21d6d}\label{class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_a7b19b87c861a35b7da1d96b606c21d6d}} 
-\index{BNO08xRptARVRStabilizedRV@{BNO08xRptARVRStabilizedRV}!BNO08xRptARVRStabilizedRV@{BNO08xRptARVRStabilizedRV}}
-\index{BNO08xRptARVRStabilizedRV@{BNO08xRptARVRStabilizedRV}!BNO08xRptARVRStabilizedRV@{BNO08xRptARVRStabilizedRV}}
-\doxysubsubsection{\texorpdfstring{BNO08xRptARVRStabilizedRV()}{BNO08xRptARVRStabilizedRV()}}
-{\footnotesize\ttfamily BNO08x\+Rpt\+ARVRStabilized\+RV\+::\+BNO08x\+Rpt\+ARVRStabilized\+RV (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ID,  }\item[{Event\+Bits\+\_\+t}]{rpt\+\_\+bit,  }\item[{\mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$}]{sync\+\_\+ctx }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
-\item 
-/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8hpp}{BNO08x\+Rpt\+ARVRStabilized\+RV.\+hpp}}\item 
-report/\mbox{\hyperlink{_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8cpp}{BNO08x\+Rpt\+ARVRStabilized\+RV.\+cpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v__coll__graph.md5 b/documentation/latex/class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v__coll__graph.md5
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-\hypertarget{class_b_n_o08x_rpt_acceleration}{}\doxysection{BNO08x\+Rpt\+Acceleration Class Reference}
-\label{class_b_n_o08x_rpt_acceleration}\index{BNO08xRptAcceleration@{BNO08xRptAcceleration}}
-
-
-Class to represent accelerometer reports. (See Ref. Manual 6.\+5.\+9)  
-
-
-
-
-{\ttfamily \#include $<$report/\+BNO08x\+Rpt\+Acceleration.\+hpp$>$}
-
-
-
-Inheritance diagram for BNO08x\+Rpt\+Acceleration\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=214pt]{class_b_n_o08x_rpt_acceleration__inherit__graph}
-\end{center}
-\end{figure}
-
-
-Collaboration diagram for BNO08x\+Rpt\+Acceleration\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=214pt]{class_b_n_o08x_rpt_acceleration__coll__graph}
-\end{center}
-\end{figure}
-\doxysubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{class_b_n_o08x_rpt_acceleration_af3a06d4c127a5cebd136489ab5c673e2}{BNO08x\+Rpt\+Acceleration}} (uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\+\_\+bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$\mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\+\_\+ctx}})
-\item 
-bool \mbox{\hyperlink{class_b_n_o08x_rpt_acceleration_a8fde5eefac5f9d714263047426eeee4f}{enable}} (uint32\+\_\+t time\+\_\+between\+\_\+reports, sh2\+\_\+\+Sensor\+Config\+\_\+t sensor\+\_\+cfg=BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg) override
-\begin{DoxyCompactList}\small\item\em Enables acceleration reports such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} begins sending them. \end{DoxyCompactList}\item 
-\mbox{\hyperlink{structbno08x__accel__t}{bno08x\+\_\+accel\+\_\+t}} \mbox{\hyperlink{class_b_n_o08x_rpt_acceleration_abac65bc939891f7a24b5a611de430328}{get}} ()
-\begin{DoxyCompactList}\small\item\em Grabs most recent acceleration data (including gravity), units are in m/s$^\wedge$2. \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Additional Inherited Members}
-
-
-\doxysubsection{Detailed Description}
-Class to represent accelerometer reports. (See Ref. Manual 6.\+5.\+9) 
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_acceleration_af3a06d4c127a5cebd136489ab5c673e2}\label{class_b_n_o08x_rpt_acceleration_af3a06d4c127a5cebd136489ab5c673e2}} 
-\index{BNO08xRptAcceleration@{BNO08xRptAcceleration}!BNO08xRptAcceleration@{BNO08xRptAcceleration}}
-\index{BNO08xRptAcceleration@{BNO08xRptAcceleration}!BNO08xRptAcceleration@{BNO08xRptAcceleration}}
-\doxysubsubsection{\texorpdfstring{BNO08xRptAcceleration()}{BNO08xRptAcceleration()}}
-{\footnotesize\ttfamily BNO08x\+Rpt\+Acceleration\+::\+BNO08x\+Rpt\+Acceleration (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ID,  }\item[{Event\+Bits\+\_\+t}]{rpt\+\_\+bit,  }\item[{\mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$}]{sync\+\_\+ctx }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Function Documentation}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_acceleration_a8fde5eefac5f9d714263047426eeee4f}\label{class_b_n_o08x_rpt_acceleration_a8fde5eefac5f9d714263047426eeee4f}} 
-\index{BNO08xRptAcceleration@{BNO08xRptAcceleration}!enable@{enable}}
-\index{enable@{enable}!BNO08xRptAcceleration@{BNO08xRptAcceleration}}
-\doxysubsubsection{\texorpdfstring{enable()}{enable()}}
-{\footnotesize\ttfamily bool BNO08x\+Rpt\+Acceleration\+::enable (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports,  }\item[{sh2\+\_\+\+Sensor\+Config\+\_\+t}]{sensor\+\_\+cfg = {\ttfamily BNO08xPrivateTypes\+:\+:default\+\_\+sensor\+\_\+cfg} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [override]}, {\ttfamily [virtual]}}
-
-
-
-Enables acceleration reports such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} begins sending them. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em report\+\_\+period\+\_\+us} & The period/interval of the report in microseconds. \\
-\hline
-{\em sensor\+\_\+cfg} & Sensor special configuration (optional, see BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg for defaults).\\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-True if report was successfully enabled. 
-\end{DoxyReturn}
-
-
-Implements \mbox{\hyperlink{class_b_n_o08x_rpt_a4ee529725467412df396d5c610ff7bb4}{BNO08x\+Rpt}}.
-
-Here is the call graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_rpt_acceleration_a8fde5eefac5f9d714263047426eeee4f_cgraph}
-\end{center}
-\end{figure}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_acceleration_abac65bc939891f7a24b5a611de430328}\label{class_b_n_o08x_rpt_acceleration_abac65bc939891f7a24b5a611de430328}} 
-\index{BNO08xRptAcceleration@{BNO08xRptAcceleration}!get@{get}}
-\index{get@{get}!BNO08xRptAcceleration@{BNO08xRptAcceleration}}
-\doxysubsubsection{\texorpdfstring{get()}{get()}}
-{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__accel__t}{bno08x\+\_\+accel\+\_\+t}} BNO08x\+Rpt\+Acceleration\+::get (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
-
-
-
-Grabs most recent acceleration data (including gravity), units are in m/s$^\wedge$2. 
-
-\begin{DoxyReturn}{Returns}
-Struct containing requested data. 
-\end{DoxyReturn}
-Here is the call graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_rpt_acceleration_abac65bc939891f7a24b5a611de430328_cgraph}
-\end{center}
-\end{figure}
-
-
-The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
-\item 
-/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_acceleration_8hpp}{BNO08x\+Rpt\+Acceleration.\+hpp}}\item 
-report/\mbox{\hyperlink{_b_n_o08x_rpt_acceleration_8cpp}{BNO08x\+Rpt\+Acceleration.\+cpp}}\end{DoxyCompactItemize}
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diff --git a/documentation/latex/class_b_n_o08x_rpt_acceleration_abac65bc939891f7a24b5a611de430328_cgraph.pdf b/documentation/latex/class_b_n_o08x_rpt_acceleration_abac65bc939891f7a24b5a611de430328_cgraph.pdf
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diff --git a/documentation/latex/class_b_n_o08x_rpt_activity_classifier.tex b/documentation/latex/class_b_n_o08x_rpt_activity_classifier.tex
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-\hypertarget{class_b_n_o08x_rpt_activity_classifier}{}\doxysection{BNO08x\+Rpt\+Activity\+Classifier Class Reference}
-\label{class_b_n_o08x_rpt_activity_classifier}\index{BNO08xRptActivityClassifier@{BNO08xRptActivityClassifier}}
-
-
-Class to represent activity classifier reports. (See Ref. Manual 6.\+5.\+36)  
-
-
-
-
-{\ttfamily \#include $<$report/\+BNO08x\+Rpt\+Activity\+Classifier.\+hpp$>$}
-
-
-
-Inheritance diagram for BNO08x\+Rpt\+Activity\+Classifier\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=235pt]{class_b_n_o08x_rpt_activity_classifier__inherit__graph}
-\end{center}
-\end{figure}
-
-
-Collaboration diagram for BNO08x\+Rpt\+Activity\+Classifier\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=235pt]{class_b_n_o08x_rpt_activity_classifier__coll__graph}
-\end{center}
-\end{figure}
-\doxysubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{class_b_n_o08x_rpt_activity_classifier_abee4e61d75eb1982f11f08eb542511a5}{BNO08x\+Rpt\+Activity\+Classifier}} (uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\+\_\+bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$\mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\+\_\+ctx}})
-\item 
-bool \mbox{\hyperlink{class_b_n_o08x_rpt_activity_classifier_a631329523ddaf17f2e93cd0546a42823}{enable}} (uint32\+\_\+t time\+\_\+between\+\_\+reports, sh2\+\_\+\+Sensor\+Config\+\_\+t sensor\+\_\+cfg=BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg) override
-\begin{DoxyCompactList}\small\item\em Enables activity classifier reports such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} begins sending them. \end{DoxyCompactList}\item 
-\mbox{\hyperlink{structbno08x__activity__classifier__t}{bno08x\+\_\+activity\+\_\+classifier\+\_\+t}} \mbox{\hyperlink{class_b_n_o08x_rpt_activity_classifier_aa77475212d3a5eb52ec31b9916cfe22d}{get}} ()
-\begin{DoxyCompactList}\small\item\em Grabs most recent activity classifier data. \end{DoxyCompactList}\item 
-\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97d}{BNO08x\+Activity}} \mbox{\hyperlink{class_b_n_o08x_rpt_activity_classifier_a903a426e65752996075798ba6c51bff2}{get\+\_\+most\+\_\+likely\+\_\+activity}} ()
-\begin{DoxyCompactList}\small\item\em Grabs most the most likely activity from most recent activity classifier data. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{class_b_n_o08x_rpt_activity_classifier_adb51886e94e91d114246c51919fd368b}{set\+\_\+activities\+\_\+to\+\_\+enable}} (\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3a}{BNO08x\+Activity\+Enable}} activities\+\_\+to\+\_\+enable)
-\begin{DoxyCompactList}\small\item\em Sets the activities to be monitored for with Activity\+Classifier reports, all enable after setting. \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Additional Inherited Members}
-
-
-\doxysubsection{Detailed Description}
-Class to represent activity classifier reports. (See Ref. Manual 6.\+5.\+36) 
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_activity_classifier_abee4e61d75eb1982f11f08eb542511a5}\label{class_b_n_o08x_rpt_activity_classifier_abee4e61d75eb1982f11f08eb542511a5}} 
-\index{BNO08xRptActivityClassifier@{BNO08xRptActivityClassifier}!BNO08xRptActivityClassifier@{BNO08xRptActivityClassifier}}
-\index{BNO08xRptActivityClassifier@{BNO08xRptActivityClassifier}!BNO08xRptActivityClassifier@{BNO08xRptActivityClassifier}}
-\doxysubsubsection{\texorpdfstring{BNO08xRptActivityClassifier()}{BNO08xRptActivityClassifier()}}
-{\footnotesize\ttfamily BNO08x\+Rpt\+Activity\+Classifier\+::\+BNO08x\+Rpt\+Activity\+Classifier (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ID,  }\item[{Event\+Bits\+\_\+t}]{rpt\+\_\+bit,  }\item[{\mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$}]{sync\+\_\+ctx }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Function Documentation}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_activity_classifier_a631329523ddaf17f2e93cd0546a42823}\label{class_b_n_o08x_rpt_activity_classifier_a631329523ddaf17f2e93cd0546a42823}} 
-\index{BNO08xRptActivityClassifier@{BNO08xRptActivityClassifier}!enable@{enable}}
-\index{enable@{enable}!BNO08xRptActivityClassifier@{BNO08xRptActivityClassifier}}
-\doxysubsubsection{\texorpdfstring{enable()}{enable()}}
-{\footnotesize\ttfamily bool BNO08x\+Rpt\+Activity\+Classifier\+::enable (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports,  }\item[{sh2\+\_\+\+Sensor\+Config\+\_\+t}]{sensor\+\_\+cfg = {\ttfamily BNO08xPrivateTypes\+:\+:default\+\_\+sensor\+\_\+cfg} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [override]}, {\ttfamily [virtual]}}
-
-
-
-Enables activity classifier reports such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} begins sending them. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em report\+\_\+period\+\_\+us} & The period/interval of the report in microseconds. \\
-\hline
-{\em sensor\+\_\+cfg} & Sensor special configuration (optional, see BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg for defaults).\\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-True if report was successfully enabled. 
-\end{DoxyReturn}
-
-
-Implements \mbox{\hyperlink{class_b_n_o08x_rpt_a4ee529725467412df396d5c610ff7bb4}{BNO08x\+Rpt}}.
-
-Here is the call graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_rpt_activity_classifier_a631329523ddaf17f2e93cd0546a42823_cgraph}
-\end{center}
-\end{figure}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_activity_classifier_aa77475212d3a5eb52ec31b9916cfe22d}\label{class_b_n_o08x_rpt_activity_classifier_aa77475212d3a5eb52ec31b9916cfe22d}} 
-\index{BNO08xRptActivityClassifier@{BNO08xRptActivityClassifier}!get@{get}}
-\index{get@{get}!BNO08xRptActivityClassifier@{BNO08xRptActivityClassifier}}
-\doxysubsubsection{\texorpdfstring{get()}{get()}}
-{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__activity__classifier__t}{bno08x\+\_\+activity\+\_\+classifier\+\_\+t}} BNO08x\+Rpt\+Activity\+Classifier\+::get (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
-
-
-
-Grabs most recent activity classifier data. 
-
-\begin{DoxyReturn}{Returns}
-Struct containing requested data. 
-\end{DoxyReturn}
-Here is the call graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_rpt_activity_classifier_aa77475212d3a5eb52ec31b9916cfe22d_cgraph}
-\end{center}
-\end{figure}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_activity_classifier_a903a426e65752996075798ba6c51bff2}\label{class_b_n_o08x_rpt_activity_classifier_a903a426e65752996075798ba6c51bff2}} 
-\index{BNO08xRptActivityClassifier@{BNO08xRptActivityClassifier}!get\_most\_likely\_activity@{get\_most\_likely\_activity}}
-\index{get\_most\_likely\_activity@{get\_most\_likely\_activity}!BNO08xRptActivityClassifier@{BNO08xRptActivityClassifier}}
-\doxysubsubsection{\texorpdfstring{get\_most\_likely\_activity()}{get\_most\_likely\_activity()}}
-{\footnotesize\ttfamily \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97d}{BNO08x\+Activity}} BNO08x\+Rpt\+Activity\+Classifier\+::get\+\_\+most\+\_\+likely\+\_\+activity (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
-
-
-
-Grabs most the most likely activity from most recent activity classifier data. 
-
-\begin{DoxyReturn}{Returns}
-BNO08x\+Activity object with detected state. 
-\end{DoxyReturn}
-Here is the call graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_rpt_activity_classifier_a903a426e65752996075798ba6c51bff2_cgraph}
-\end{center}
-\end{figure}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_activity_classifier_adb51886e94e91d114246c51919fd368b}\label{class_b_n_o08x_rpt_activity_classifier_adb51886e94e91d114246c51919fd368b}} 
-\index{BNO08xRptActivityClassifier@{BNO08xRptActivityClassifier}!set\_activities\_to\_enable@{set\_activities\_to\_enable}}
-\index{set\_activities\_to\_enable@{set\_activities\_to\_enable}!BNO08xRptActivityClassifier@{BNO08xRptActivityClassifier}}
-\doxysubsubsection{\texorpdfstring{set\_activities\_to\_enable()}{set\_activities\_to\_enable()}}
-{\footnotesize\ttfamily void BNO08x\+Rpt\+Activity\+Classifier\+::set\+\_\+activities\+\_\+to\+\_\+enable (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3a}{BNO08x\+Activity\+Enable}}}]{activities\+\_\+to\+\_\+enable }\end{DoxyParamCaption})}
-
-
-
-Sets the activities to be monitored for with Activity\+Classifier reports, all enable after setting. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em activities\+\_\+to\+\_\+enable} & The activities to be monitored with sent reports.\\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-void, nothing to return 
-\end{DoxyReturn}
-
-
-The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
-\item 
-/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_activity_classifier_8hpp}{BNO08x\+Rpt\+Activity\+Classifier.\+hpp}}\item 
-report/\mbox{\hyperlink{_b_n_o08x_rpt_activity_classifier_8cpp}{BNO08x\+Rpt\+Activity\+Classifier.\+cpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/class_b_n_o08x_rpt_activity_classifier__coll__graph.md5 b/documentation/latex/class_b_n_o08x_rpt_activity_classifier__coll__graph.md5
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diff --git a/documentation/latex/class_b_n_o08x_rpt_cal_gyro.tex b/documentation/latex/class_b_n_o08x_rpt_cal_gyro.tex
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-\hypertarget{class_b_n_o08x_rpt_cal_gyro}{}\doxysection{BNO08x\+Rpt\+Cal\+Gyro Class Reference}
-\label{class_b_n_o08x_rpt_cal_gyro}\index{BNO08xRptCalGyro@{BNO08xRptCalGyro}}
-
-
-Class to represent calibrated gyro reports. (See Ref. Manual 6.\+5.\+13)  
-
-
-
-
-{\ttfamily \#include $<$report/\+BNO08x\+Rpt\+Cal\+Gyro.\+hpp$>$}
-
-
-
-Inheritance diagram for BNO08x\+Rpt\+Cal\+Gyro\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=192pt]{class_b_n_o08x_rpt_cal_gyro__inherit__graph}
-\end{center}
-\end{figure}
-
-
-Collaboration diagram for BNO08x\+Rpt\+Cal\+Gyro\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=199pt]{class_b_n_o08x_rpt_cal_gyro__coll__graph}
-\end{center}
-\end{figure}
-\doxysubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{class_b_n_o08x_rpt_cal_gyro_ad351243a258fa1075212d63a38b1e7b5}{BNO08x\+Rpt\+Cal\+Gyro}} (uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\+\_\+bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$\mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\+\_\+ctx}})
-\item 
-bool \mbox{\hyperlink{class_b_n_o08x_rpt_cal_gyro_aeb49d86610427c915dc9e58fcba6fddc}{enable}} (uint32\+\_\+t time\+\_\+between\+\_\+reports, sh2\+\_\+\+Sensor\+Config\+\_\+t sensor\+\_\+cfg=BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg) override
-\begin{DoxyCompactList}\small\item\em Enables calibrated gyro reports such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} begins sending them. \end{DoxyCompactList}\item 
-\mbox{\hyperlink{structbno08x__gyro__t}{bno08x\+\_\+gyro\+\_\+t}} \mbox{\hyperlink{class_b_n_o08x_rpt_cal_gyro_aeb45a1a433c499f2c36dddf393175815}{get}} ()
-\begin{DoxyCompactList}\small\item\em Grabs most recent gyroscope data (velocity), units are in rad/s. \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Additional Inherited Members}
-
-
-\doxysubsection{Detailed Description}
-Class to represent calibrated gyro reports. (See Ref. Manual 6.\+5.\+13) 
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_cal_gyro_ad351243a258fa1075212d63a38b1e7b5}\label{class_b_n_o08x_rpt_cal_gyro_ad351243a258fa1075212d63a38b1e7b5}} 
-\index{BNO08xRptCalGyro@{BNO08xRptCalGyro}!BNO08xRptCalGyro@{BNO08xRptCalGyro}}
-\index{BNO08xRptCalGyro@{BNO08xRptCalGyro}!BNO08xRptCalGyro@{BNO08xRptCalGyro}}
-\doxysubsubsection{\texorpdfstring{BNO08xRptCalGyro()}{BNO08xRptCalGyro()}}
-{\footnotesize\ttfamily BNO08x\+Rpt\+Cal\+Gyro\+::\+BNO08x\+Rpt\+Cal\+Gyro (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ID,  }\item[{Event\+Bits\+\_\+t}]{rpt\+\_\+bit,  }\item[{\mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$}]{sync\+\_\+ctx }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Function Documentation}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_cal_gyro_aeb49d86610427c915dc9e58fcba6fddc}\label{class_b_n_o08x_rpt_cal_gyro_aeb49d86610427c915dc9e58fcba6fddc}} 
-\index{BNO08xRptCalGyro@{BNO08xRptCalGyro}!enable@{enable}}
-\index{enable@{enable}!BNO08xRptCalGyro@{BNO08xRptCalGyro}}
-\doxysubsubsection{\texorpdfstring{enable()}{enable()}}
-{\footnotesize\ttfamily bool BNO08x\+Rpt\+Cal\+Gyro\+::enable (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports,  }\item[{sh2\+\_\+\+Sensor\+Config\+\_\+t}]{sensor\+\_\+cfg = {\ttfamily BNO08xPrivateTypes\+:\+:default\+\_\+sensor\+\_\+cfg} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [override]}, {\ttfamily [virtual]}}
-
-
-
-Enables calibrated gyro reports such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} begins sending them. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em report\+\_\+period\+\_\+us} & The period/interval of the report in microseconds. \\
-\hline
-{\em sensor\+\_\+cfg} & Sensor special configuration (optional, see BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg for defaults).\\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-True if report was successfully enabled. 
-\end{DoxyReturn}
-
-
-Implements \mbox{\hyperlink{class_b_n_o08x_rpt_a4ee529725467412df396d5c610ff7bb4}{BNO08x\+Rpt}}.
-
-Here is the call graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_rpt_cal_gyro_aeb49d86610427c915dc9e58fcba6fddc_cgraph}
-\end{center}
-\end{figure}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_cal_gyro_aeb45a1a433c499f2c36dddf393175815}\label{class_b_n_o08x_rpt_cal_gyro_aeb45a1a433c499f2c36dddf393175815}} 
-\index{BNO08xRptCalGyro@{BNO08xRptCalGyro}!get@{get}}
-\index{get@{get}!BNO08xRptCalGyro@{BNO08xRptCalGyro}}
-\doxysubsubsection{\texorpdfstring{get()}{get()}}
-{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__gyro__t}{bno08x\+\_\+gyro\+\_\+t}} BNO08x\+Rpt\+Cal\+Gyro\+::get (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
-
-
-
-Grabs most recent gyroscope data (velocity), units are in rad/s. 
-
-\begin{DoxyReturn}{Returns}
-Struct containing requested data. 
-\end{DoxyReturn}
-Here is the call graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_rpt_cal_gyro_aeb45a1a433c499f2c36dddf393175815_cgraph}
-\end{center}
-\end{figure}
-
-
-The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
-\item 
-/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_cal_gyro_8hpp}{BNO08x\+Rpt\+Cal\+Gyro.\+hpp}}\item 
-report/\mbox{\hyperlink{_b_n_o08x_rpt_cal_gyro_8cpp}{BNO08x\+Rpt\+Cal\+Gyro.\+cpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/class_b_n_o08x_rpt_cal_gyro__coll__graph.md5 b/documentation/latex/class_b_n_o08x_rpt_cal_gyro__coll__graph.md5
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-\hypertarget{class_b_n_o08x_rpt_cal_magnetometer}{}\doxysection{BNO08x\+Rpt\+Cal\+Magnetometer Class Reference}
-\label{class_b_n_o08x_rpt_cal_magnetometer}\index{BNO08xRptCalMagnetometer@{BNO08xRptCalMagnetometer}}
-
-
-Class to represent calibrated magnetometer reports. (See Ref. Manual 6.\+5.\+16)  
-
-
-
-
-{\ttfamily \#include $<$report/\+BNO08x\+Rpt\+Cal\+Magnetometer.\+hpp$>$}
-
-
-
-Inheritance diagram for BNO08x\+Rpt\+Cal\+Magnetometer\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=241pt]{class_b_n_o08x_rpt_cal_magnetometer__inherit__graph}
-\end{center}
-\end{figure}
-
-
-Collaboration diagram for BNO08x\+Rpt\+Cal\+Magnetometer\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=241pt]{class_b_n_o08x_rpt_cal_magnetometer__coll__graph}
-\end{center}
-\end{figure}
-\doxysubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{class_b_n_o08x_rpt_cal_magnetometer_a731d7e69b97b6402b2cf2e18e9a08b06}{BNO08x\+Rpt\+Cal\+Magnetometer}} (uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\+\_\+bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$\mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\+\_\+ctx}})
-\item 
-bool \mbox{\hyperlink{class_b_n_o08x_rpt_cal_magnetometer_a9a371f613ff5053d2227faeebe941393}{enable}} (uint32\+\_\+t time\+\_\+between\+\_\+reports, sh2\+\_\+\+Sensor\+Config\+\_\+t sensor\+\_\+cfg=BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg) override
-\begin{DoxyCompactList}\small\item\em Enables calibrated magnetometer reports such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} begins sending them. \end{DoxyCompactList}\item 
-\mbox{\hyperlink{structbno08x__magf__t}{bno08x\+\_\+magf\+\_\+t}} \mbox{\hyperlink{class_b_n_o08x_rpt_cal_magnetometer_a9a07338f7c149aa3d45d2c4f846620e2}{get}} ()
-\begin{DoxyCompactList}\small\item\em Grabs most recent calibrated magnetometer data, units are in u\+Tesla. \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Additional Inherited Members}
-
-
-\doxysubsection{Detailed Description}
-Class to represent calibrated magnetometer reports. (See Ref. Manual 6.\+5.\+16) 
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_cal_magnetometer_a731d7e69b97b6402b2cf2e18e9a08b06}\label{class_b_n_o08x_rpt_cal_magnetometer_a731d7e69b97b6402b2cf2e18e9a08b06}} 
-\index{BNO08xRptCalMagnetometer@{BNO08xRptCalMagnetometer}!BNO08xRptCalMagnetometer@{BNO08xRptCalMagnetometer}}
-\index{BNO08xRptCalMagnetometer@{BNO08xRptCalMagnetometer}!BNO08xRptCalMagnetometer@{BNO08xRptCalMagnetometer}}
-\doxysubsubsection{\texorpdfstring{BNO08xRptCalMagnetometer()}{BNO08xRptCalMagnetometer()}}
-{\footnotesize\ttfamily BNO08x\+Rpt\+Cal\+Magnetometer\+::\+BNO08x\+Rpt\+Cal\+Magnetometer (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ID,  }\item[{Event\+Bits\+\_\+t}]{rpt\+\_\+bit,  }\item[{\mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$}]{sync\+\_\+ctx }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Function Documentation}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_cal_magnetometer_a9a371f613ff5053d2227faeebe941393}\label{class_b_n_o08x_rpt_cal_magnetometer_a9a371f613ff5053d2227faeebe941393}} 
-\index{BNO08xRptCalMagnetometer@{BNO08xRptCalMagnetometer}!enable@{enable}}
-\index{enable@{enable}!BNO08xRptCalMagnetometer@{BNO08xRptCalMagnetometer}}
-\doxysubsubsection{\texorpdfstring{enable()}{enable()}}
-{\footnotesize\ttfamily bool BNO08x\+Rpt\+Cal\+Magnetometer\+::enable (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports,  }\item[{sh2\+\_\+\+Sensor\+Config\+\_\+t}]{sensor\+\_\+cfg = {\ttfamily BNO08xPrivateTypes\+:\+:default\+\_\+sensor\+\_\+cfg} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [override]}, {\ttfamily [virtual]}}
-
-
-
-Enables calibrated magnetometer reports such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} begins sending them. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em report\+\_\+period\+\_\+us} & The period/interval of the report in microseconds. \\
-\hline
-{\em sensor\+\_\+cfg} & Sensor special configuration (optional, see BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg for defaults).\\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-True if report was successfully enabled. 
-\end{DoxyReturn}
-
-
-Implements \mbox{\hyperlink{class_b_n_o08x_rpt_a4ee529725467412df396d5c610ff7bb4}{BNO08x\+Rpt}}.
-
-Here is the call graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_rpt_cal_magnetometer_a9a371f613ff5053d2227faeebe941393_cgraph}
-\end{center}
-\end{figure}
-Here is the caller graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_rpt_cal_magnetometer_a9a371f613ff5053d2227faeebe941393_icgraph}
-\end{center}
-\end{figure}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_cal_magnetometer_a9a07338f7c149aa3d45d2c4f846620e2}\label{class_b_n_o08x_rpt_cal_magnetometer_a9a07338f7c149aa3d45d2c4f846620e2}} 
-\index{BNO08xRptCalMagnetometer@{BNO08xRptCalMagnetometer}!get@{get}}
-\index{get@{get}!BNO08xRptCalMagnetometer@{BNO08xRptCalMagnetometer}}
-\doxysubsubsection{\texorpdfstring{get()}{get()}}
-{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__magf__t}{bno08x\+\_\+magf\+\_\+t}} BNO08x\+Rpt\+Cal\+Magnetometer\+::get (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
-
-
-
-Grabs most recent calibrated magnetometer data, units are in u\+Tesla. 
-
-\begin{DoxyReturn}{Returns}
-Struct containing requested data. 
-\end{DoxyReturn}
-Here is the call graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_rpt_cal_magnetometer_a9a07338f7c149aa3d45d2c4f846620e2_cgraph}
-\end{center}
-\end{figure}
-Here is the caller graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_rpt_cal_magnetometer_a9a07338f7c149aa3d45d2c4f846620e2_icgraph}
-\end{center}
-\end{figure}
-
-
-The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
-\item 
-/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_cal_magnetometer_8hpp}{BNO08x\+Rpt\+Cal\+Magnetometer.\+hpp}}\item 
-report/\mbox{\hyperlink{_b_n_o08x_rpt_cal_magnetometer_8cpp}{BNO08x\+Rpt\+Cal\+Magnetometer.\+cpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/class_b_n_o08x_rpt_cal_magnetometer__coll__graph.md5 b/documentation/latex/class_b_n_o08x_rpt_cal_magnetometer__coll__graph.md5
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-\hypertarget{class_b_n_o08x_rpt_game_r_v}{}\doxysection{BNO08x\+Rpt\+Game\+RV Class Reference}
-\label{class_b_n_o08x_rpt_game_r_v}\index{BNO08xRptGameRV@{BNO08xRptGameRV}}
-
-
-Class to represent game rotation vector reports. (See Ref. Manual 6.\+5.\+19)  
-
-
-
-
-{\ttfamily \#include $<$report/\+BNO08x\+Rpt\+Game\+RV.\+hpp$>$}
-
-
-
-Inheritance diagram for BNO08x\+Rpt\+Game\+RV\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=204pt]{class_b_n_o08x_rpt_game_r_v__inherit__graph}
-\end{center}
-\end{figure}
-
-
-Collaboration diagram for BNO08x\+Rpt\+Game\+RV\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=283pt]{class_b_n_o08x_rpt_game_r_v__coll__graph}
-\end{center}
-\end{figure}
-\doxysubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{class_b_n_o08x_rpt_game_r_v_a5ce3525ae691ef37dff5c8d638e98e18}{BNO08x\+Rpt\+Game\+RV}} (uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\+\_\+bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$\mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\+\_\+ctx}})
-\item 
-bool \mbox{\hyperlink{class_b_n_o08x_rpt_game_r_v_a773f8e4bf9e5059d6b301fc346cbc9d2}{tare}} (bool x=true, bool y=true, bool z=true)
-\begin{DoxyCompactList}\small\item\em Tares game rotation vector axis. \end{DoxyCompactList}\item 
-bool \mbox{\hyperlink{class_b_n_o08x_rpt_game_r_v_ae91c07ae4d781216065fd704b5c88d06}{tare\+\_\+persist}} ()
-\begin{DoxyCompactList}\small\item\em Saves most recent tare operation to \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} internal flash, such that it persists on reset. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{class_b_n_o08x_rpt_game_r_v_ab8844cc390818f2b5cff8afefc89558f}{tare\+\_\+clear}} ()
-\begin{DoxyCompactList}\small\item\em Clears most recent tare operation. \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Additional Inherited Members}
-
-
-\doxysubsection{Detailed Description}
-Class to represent game rotation vector reports. (See Ref. Manual 6.\+5.\+19) 
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_game_r_v_a5ce3525ae691ef37dff5c8d638e98e18}\label{class_b_n_o08x_rpt_game_r_v_a5ce3525ae691ef37dff5c8d638e98e18}} 
-\index{BNO08xRptGameRV@{BNO08xRptGameRV}!BNO08xRptGameRV@{BNO08xRptGameRV}}
-\index{BNO08xRptGameRV@{BNO08xRptGameRV}!BNO08xRptGameRV@{BNO08xRptGameRV}}
-\doxysubsubsection{\texorpdfstring{BNO08xRptGameRV()}{BNO08xRptGameRV()}}
-{\footnotesize\ttfamily BNO08x\+Rpt\+Game\+RV\+::\+BNO08x\+Rpt\+Game\+RV (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ID,  }\item[{Event\+Bits\+\_\+t}]{rpt\+\_\+bit,  }\item[{\mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$}]{sync\+\_\+ctx }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Function Documentation}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_game_r_v_a773f8e4bf9e5059d6b301fc346cbc9d2}\label{class_b_n_o08x_rpt_game_r_v_a773f8e4bf9e5059d6b301fc346cbc9d2}} 
-\index{BNO08xRptGameRV@{BNO08xRptGameRV}!tare@{tare}}
-\index{tare@{tare}!BNO08xRptGameRV@{BNO08xRptGameRV}}
-\doxysubsubsection{\texorpdfstring{tare()}{tare()}}
-{\footnotesize\ttfamily bool BNO08x\+Rpt\+Game\+RV\+::tare (\begin{DoxyParamCaption}\item[{bool}]{x = {\ttfamily true},  }\item[{bool}]{y = {\ttfamily true},  }\item[{bool}]{z = {\ttfamily true} }\end{DoxyParamCaption})}
-
-
-
-Tares game rotation vector axis. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em x} & If true tare x axis (optional, default true). \\
-\hline
-{\em y} & If true tare y axis (optional, default true). \\
-\hline
-{\em z} & If true tare z axis (optional, default true).\\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-True if tare operation succeeded. 
-\end{DoxyReturn}
-Here is the call graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_rpt_game_r_v_a773f8e4bf9e5059d6b301fc346cbc9d2_cgraph}
-\end{center}
-\end{figure}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_game_r_v_ab8844cc390818f2b5cff8afefc89558f}\label{class_b_n_o08x_rpt_game_r_v_ab8844cc390818f2b5cff8afefc89558f}} 
-\index{BNO08xRptGameRV@{BNO08xRptGameRV}!tare\_clear@{tare\_clear}}
-\index{tare\_clear@{tare\_clear}!BNO08xRptGameRV@{BNO08xRptGameRV}}
-\doxysubsubsection{\texorpdfstring{tare\_clear()}{tare\_clear()}}
-{\footnotesize\ttfamily void BNO08x\+Rpt\+Game\+RV\+::tare\+\_\+clear (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
-
-
-
-Clears most recent tare operation. 
-
-\begin{DoxyReturn}{Returns}
-void, nothing to return 
-\end{DoxyReturn}
-Here is the call graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_rpt_game_r_v_ab8844cc390818f2b5cff8afefc89558f_cgraph}
-\end{center}
-\end{figure}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_game_r_v_ae91c07ae4d781216065fd704b5c88d06}\label{class_b_n_o08x_rpt_game_r_v_ae91c07ae4d781216065fd704b5c88d06}} 
-\index{BNO08xRptGameRV@{BNO08xRptGameRV}!tare\_persist@{tare\_persist}}
-\index{tare\_persist@{tare\_persist}!BNO08xRptGameRV@{BNO08xRptGameRV}}
-\doxysubsubsection{\texorpdfstring{tare\_persist()}{tare\_persist()}}
-{\footnotesize\ttfamily bool BNO08x\+Rpt\+Game\+RV\+::tare\+\_\+persist (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
-
-
-
-Saves most recent tare operation to \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} internal flash, such that it persists on reset. 
-
-\begin{DoxyReturn}{Returns}
-True if tare operation succeeded. 
-\end{DoxyReturn}
-Here is the call graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_rpt_game_r_v_ae91c07ae4d781216065fd704b5c88d06_cgraph}
-\end{center}
-\end{figure}
-
-
-The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
-\item 
-/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_game_r_v_8hpp}{BNO08x\+Rpt\+Game\+RV.\+hpp}}\item 
-report/\mbox{\hyperlink{_b_n_o08x_rpt_game_r_v_8cpp}{BNO08x\+Rpt\+Game\+RV.\+cpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/class_b_n_o08x_rpt_game_r_v__coll__graph.md5 b/documentation/latex/class_b_n_o08x_rpt_game_r_v__coll__graph.md5
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-caa392caa24926d62013494e3656c6f5
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+++ /dev/null
@@ -1,115 +0,0 @@
-\hypertarget{class_b_n_o08x_rpt_gravity}{}\doxysection{BNO08x\+Rpt\+Gravity Class Reference}
-\label{class_b_n_o08x_rpt_gravity}\index{BNO08xRptGravity@{BNO08xRptGravity}}
-
-
-Class to represent gravity reports. (See Ref. Manual 6.\+5.\+11)  
-
-
-
-
-{\ttfamily \#include $<$report/\+BNO08x\+Rpt\+Gravity.\+hpp$>$}
-
-
-
-Inheritance diagram for BNO08x\+Rpt\+Gravity\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=189pt]{class_b_n_o08x_rpt_gravity__inherit__graph}
-\end{center}
-\end{figure}
-
-
-Collaboration diagram for BNO08x\+Rpt\+Gravity\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=199pt]{class_b_n_o08x_rpt_gravity__coll__graph}
-\end{center}
-\end{figure}
-\doxysubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{class_b_n_o08x_rpt_gravity_a472ced1c466461f64dda3d9132813dba}{BNO08x\+Rpt\+Gravity}} (uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\+\_\+bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$\mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\+\_\+ctx}})
-\item 
-bool \mbox{\hyperlink{class_b_n_o08x_rpt_gravity_a5bb33cf233c6721fac992e447bd5b571}{enable}} (uint32\+\_\+t time\+\_\+between\+\_\+reports, sh2\+\_\+\+Sensor\+Config\+\_\+t sensor\+\_\+cfg=BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg) override
-\begin{DoxyCompactList}\small\item\em Enables gravity reports such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} begins sending them. \end{DoxyCompactList}\item 
-\mbox{\hyperlink{structbno08x__accel__t}{bno08x\+\_\+accel\+\_\+t}} \mbox{\hyperlink{class_b_n_o08x_rpt_gravity_a18ebbe93997c3ea985290e5b8fc23115}{get}} ()
-\begin{DoxyCompactList}\small\item\em Grabs most recent gravity data, units are in m/s$^\wedge$2. \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Additional Inherited Members}
-
-
-\doxysubsection{Detailed Description}
-Class to represent gravity reports. (See Ref. Manual 6.\+5.\+11) 
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_gravity_a472ced1c466461f64dda3d9132813dba}\label{class_b_n_o08x_rpt_gravity_a472ced1c466461f64dda3d9132813dba}} 
-\index{BNO08xRptGravity@{BNO08xRptGravity}!BNO08xRptGravity@{BNO08xRptGravity}}
-\index{BNO08xRptGravity@{BNO08xRptGravity}!BNO08xRptGravity@{BNO08xRptGravity}}
-\doxysubsubsection{\texorpdfstring{BNO08xRptGravity()}{BNO08xRptGravity()}}
-{\footnotesize\ttfamily BNO08x\+Rpt\+Gravity\+::\+BNO08x\+Rpt\+Gravity (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ID,  }\item[{Event\+Bits\+\_\+t}]{rpt\+\_\+bit,  }\item[{\mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$}]{sync\+\_\+ctx }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Function Documentation}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_gravity_a5bb33cf233c6721fac992e447bd5b571}\label{class_b_n_o08x_rpt_gravity_a5bb33cf233c6721fac992e447bd5b571}} 
-\index{BNO08xRptGravity@{BNO08xRptGravity}!enable@{enable}}
-\index{enable@{enable}!BNO08xRptGravity@{BNO08xRptGravity}}
-\doxysubsubsection{\texorpdfstring{enable()}{enable()}}
-{\footnotesize\ttfamily bool BNO08x\+Rpt\+Gravity\+::enable (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports,  }\item[{sh2\+\_\+\+Sensor\+Config\+\_\+t}]{sensor\+\_\+cfg = {\ttfamily BNO08xPrivateTypes\+:\+:default\+\_\+sensor\+\_\+cfg} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [override]}, {\ttfamily [virtual]}}
-
-
-
-Enables gravity reports such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} begins sending them. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em report\+\_\+period\+\_\+us} & The period/interval of the report in microseconds. \\
-\hline
-{\em sensor\+\_\+cfg} & Sensor special configuration (optional, see BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg for defaults).\\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-True if report was successfully enabled. 
-\end{DoxyReturn}
-
-
-Implements \mbox{\hyperlink{class_b_n_o08x_rpt_a4ee529725467412df396d5c610ff7bb4}{BNO08x\+Rpt}}.
-
-Here is the call graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_rpt_gravity_a5bb33cf233c6721fac992e447bd5b571_cgraph}
-\end{center}
-\end{figure}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_gravity_a18ebbe93997c3ea985290e5b8fc23115}\label{class_b_n_o08x_rpt_gravity_a18ebbe93997c3ea985290e5b8fc23115}} 
-\index{BNO08xRptGravity@{BNO08xRptGravity}!get@{get}}
-\index{get@{get}!BNO08xRptGravity@{BNO08xRptGravity}}
-\doxysubsubsection{\texorpdfstring{get()}{get()}}
-{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__accel__t}{bno08x\+\_\+accel\+\_\+t}} BNO08x\+Rpt\+Gravity\+::get (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
-
-
-
-Grabs most recent gravity data, units are in m/s$^\wedge$2. 
-
-\begin{DoxyReturn}{Returns}
-Struct containing requested data. 
-\end{DoxyReturn}
-Here is the call graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_rpt_gravity_a18ebbe93997c3ea985290e5b8fc23115_cgraph}
-\end{center}
-\end{figure}
-
-
-The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
-\item 
-/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_gravity_8hpp}{BNO08x\+Rpt\+Gravity.\+hpp}}\item 
-report/\mbox{\hyperlink{_b_n_o08x_rpt_gravity_8cpp}{BNO08x\+Rpt\+Gravity.\+cpp}}\end{DoxyCompactItemize}
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diff --git a/documentation/latex/class_b_n_o08x_rpt_i_gyro_r_v.tex b/documentation/latex/class_b_n_o08x_rpt_i_gyro_r_v.tex
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-\hypertarget{class_b_n_o08x_rpt_i_gyro_r_v}{}\doxysection{BNO08x\+Rpt\+IGyro\+RV Class Reference}
-\label{class_b_n_o08x_rpt_i_gyro_r_v}\index{BNO08xRptIGyroRV@{BNO08xRptIGyroRV}}
-
-
-Class to represent integrated gyro rotation vector reports. (See Ref. Manual 6.\+5.\+44)  
-
-
-
-
-{\ttfamily \#include $<$report/\+BNO08x\+Rpt\+IGyro\+RV.\+hpp$>$}
-
-
-
-Inheritance diagram for BNO08x\+Rpt\+IGyro\+RV\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=204pt]{class_b_n_o08x_rpt_i_gyro_r_v__inherit__graph}
-\end{center}
-\end{figure}
-
-
-Collaboration diagram for BNO08x\+Rpt\+IGyro\+RV\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=283pt]{class_b_n_o08x_rpt_i_gyro_r_v__coll__graph}
-\end{center}
-\end{figure}
-\doxysubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{class_b_n_o08x_rpt_i_gyro_r_v_a5574d6213be1d7176d981e04fb9b4ea4}{BNO08x\+Rpt\+IGyro\+RV}} (uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\+\_\+bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$\mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\+\_\+ctx}})
-\item 
-void \mbox{\hyperlink{class_b_n_o08x_rpt_i_gyro_r_v_ae85b4b091ec350432a2aeabcd3b46f55}{get}} (\mbox{\hyperlink{structbno08x__quat__t}{bno08x\+\_\+quat\+\_\+t}} \&quat, \mbox{\hyperlink{structbno08x__ang__vel__t}{bno08x\+\_\+ang\+\_\+vel\+\_\+t}} \&vel)
-\begin{DoxyCompactList}\small\item\em Grabs most recent gyro integrated rotation vector data. \end{DoxyCompactList}\item 
-\mbox{\hyperlink{structbno08x__ang__vel__t}{bno08x\+\_\+ang\+\_\+vel\+\_\+t}} \mbox{\hyperlink{class_b_n_o08x_rpt_i_gyro_r_v_a8e9877551635f8be5e380d47195b4061}{get\+\_\+vel}} ()
-\begin{DoxyCompactList}\small\item\em Grabs most recent gyro integrated rotation vector angular velocity data, units are in rad/s. \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Additional Inherited Members}
-
-
-\doxysubsection{Detailed Description}
-Class to represent integrated gyro rotation vector reports. (See Ref. Manual 6.\+5.\+44) 
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_i_gyro_r_v_a5574d6213be1d7176d981e04fb9b4ea4}\label{class_b_n_o08x_rpt_i_gyro_r_v_a5574d6213be1d7176d981e04fb9b4ea4}} 
-\index{BNO08xRptIGyroRV@{BNO08xRptIGyroRV}!BNO08xRptIGyroRV@{BNO08xRptIGyroRV}}
-\index{BNO08xRptIGyroRV@{BNO08xRptIGyroRV}!BNO08xRptIGyroRV@{BNO08xRptIGyroRV}}
-\doxysubsubsection{\texorpdfstring{BNO08xRptIGyroRV()}{BNO08xRptIGyroRV()}}
-{\footnotesize\ttfamily BNO08x\+Rpt\+IGyro\+RV\+::\+BNO08x\+Rpt\+IGyro\+RV (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ID,  }\item[{Event\+Bits\+\_\+t}]{rpt\+\_\+bit,  }\item[{\mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$}]{sync\+\_\+ctx }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Function Documentation}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_i_gyro_r_v_ae85b4b091ec350432a2aeabcd3b46f55}\label{class_b_n_o08x_rpt_i_gyro_r_v_ae85b4b091ec350432a2aeabcd3b46f55}} 
-\index{BNO08xRptIGyroRV@{BNO08xRptIGyroRV}!get@{get}}
-\index{get@{get}!BNO08xRptIGyroRV@{BNO08xRptIGyroRV}}
-\doxysubsubsection{\texorpdfstring{get()}{get()}}
-{\footnotesize\ttfamily void BNO08x\+Rpt\+IGyro\+RV\+::get (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{structbno08x__quat__t}{bno08x\+\_\+quat\+\_\+t}} \&}]{quat,  }\item[{\mbox{\hyperlink{structbno08x__ang__vel__t}{bno08x\+\_\+ang\+\_\+vel\+\_\+t}} \&}]{vel }\end{DoxyParamCaption})}
-
-
-
-Grabs most recent gyro integrated rotation vector data. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em quat} & Struct to store requested unit quaternion data. \\
-\hline
-{\em vel} & Struct to store requested velocity data (units in rad/s).\\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-void, nothing to return 
-\end{DoxyReturn}
-Here is the call graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_rpt_i_gyro_r_v_ae85b4b091ec350432a2aeabcd3b46f55_cgraph}
-\end{center}
-\end{figure}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_i_gyro_r_v_a8e9877551635f8be5e380d47195b4061}\label{class_b_n_o08x_rpt_i_gyro_r_v_a8e9877551635f8be5e380d47195b4061}} 
-\index{BNO08xRptIGyroRV@{BNO08xRptIGyroRV}!get\_vel@{get\_vel}}
-\index{get\_vel@{get\_vel}!BNO08xRptIGyroRV@{BNO08xRptIGyroRV}}
-\doxysubsubsection{\texorpdfstring{get\_vel()}{get\_vel()}}
-{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__ang__vel__t}{bno08x\+\_\+ang\+\_\+vel\+\_\+t}} BNO08x\+Rpt\+IGyro\+RV\+::get\+\_\+vel (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
-
-
-
-Grabs most recent gyro integrated rotation vector angular velocity data, units are in rad/s. 
-
-\begin{DoxyReturn}{Returns}
-Struct containing requested data. 
-\end{DoxyReturn}
-Here is the call graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_rpt_i_gyro_r_v_a8e9877551635f8be5e380d47195b4061_cgraph}
-\end{center}
-\end{figure}
-
-
-The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
-\item 
-/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_i_gyro_r_v_8hpp}{BNO08x\+Rpt\+IGyro\+RV.\+hpp}}\item 
-report/\mbox{\hyperlink{_b_n_o08x_rpt_i_gyro_r_v_8cpp}{BNO08x\+Rpt\+IGyro\+RV.\+cpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/class_b_n_o08x_rpt_i_gyro_r_v__coll__graph.md5 b/documentation/latex/class_b_n_o08x_rpt_i_gyro_r_v__coll__graph.md5
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-fa83661ca4b9626272d00755b474ad1f
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diff --git a/documentation/latex/class_b_n_o08x_rpt_i_gyro_r_v_ae85b4b091ec350432a2aeabcd3b46f55_cgraph.pdf b/documentation/latex/class_b_n_o08x_rpt_i_gyro_r_v_ae85b4b091ec350432a2aeabcd3b46f55_cgraph.pdf
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diff --git a/documentation/latex/class_b_n_o08x_rpt_linear_acceleration.tex b/documentation/latex/class_b_n_o08x_rpt_linear_acceleration.tex
deleted file mode 100644
index 2482dda..0000000
--- a/documentation/latex/class_b_n_o08x_rpt_linear_acceleration.tex
+++ /dev/null
@@ -1,115 +0,0 @@
-\hypertarget{class_b_n_o08x_rpt_linear_acceleration}{}\doxysection{BNO08x\+Rpt\+Linear\+Acceleration Class Reference}
-\label{class_b_n_o08x_rpt_linear_acceleration}\index{BNO08xRptLinearAcceleration@{BNO08xRptLinearAcceleration}}
-
-
-Class to represent linear accelerometer reports. (See Ref. Manual 6.\+5.\+10)  
-
-
-
-
-{\ttfamily \#include $<$report/\+BNO08x\+Rpt\+Linear\+Acceleration.\+hpp$>$}
-
-
-
-Inheritance diagram for BNO08x\+Rpt\+Linear\+Acceleration\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=244pt]{class_b_n_o08x_rpt_linear_acceleration__inherit__graph}
-\end{center}
-\end{figure}
-
-
-Collaboration diagram for BNO08x\+Rpt\+Linear\+Acceleration\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=244pt]{class_b_n_o08x_rpt_linear_acceleration__coll__graph}
-\end{center}
-\end{figure}
-\doxysubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{class_b_n_o08x_rpt_linear_acceleration_ad63032b796912c9be563a5e6da801c59}{BNO08x\+Rpt\+Linear\+Acceleration}} (uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\+\_\+bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$\mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\+\_\+ctx}})
-\item 
-bool \mbox{\hyperlink{class_b_n_o08x_rpt_linear_acceleration_a4584a181ae543919a851f8f288a316ed}{enable}} (uint32\+\_\+t time\+\_\+between\+\_\+reports, sh2\+\_\+\+Sensor\+Config\+\_\+t sensor\+\_\+cfg=BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg) override
-\begin{DoxyCompactList}\small\item\em Enables linear acceleration reports such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} begins sending them. \end{DoxyCompactList}\item 
-\mbox{\hyperlink{structbno08x__accel__t}{bno08x\+\_\+accel\+\_\+t}} \mbox{\hyperlink{class_b_n_o08x_rpt_linear_acceleration_aac2eeab16ffbe7a81ea26a21c4e453d0}{get}} ()
-\begin{DoxyCompactList}\small\item\em Grabs most recent acceleration data (including gravity), units are in m/s$^\wedge$2. \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Additional Inherited Members}
-
-
-\doxysubsection{Detailed Description}
-Class to represent linear accelerometer reports. (See Ref. Manual 6.\+5.\+10) 
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_linear_acceleration_ad63032b796912c9be563a5e6da801c59}\label{class_b_n_o08x_rpt_linear_acceleration_ad63032b796912c9be563a5e6da801c59}} 
-\index{BNO08xRptLinearAcceleration@{BNO08xRptLinearAcceleration}!BNO08xRptLinearAcceleration@{BNO08xRptLinearAcceleration}}
-\index{BNO08xRptLinearAcceleration@{BNO08xRptLinearAcceleration}!BNO08xRptLinearAcceleration@{BNO08xRptLinearAcceleration}}
-\doxysubsubsection{\texorpdfstring{BNO08xRptLinearAcceleration()}{BNO08xRptLinearAcceleration()}}
-{\footnotesize\ttfamily BNO08x\+Rpt\+Linear\+Acceleration\+::\+BNO08x\+Rpt\+Linear\+Acceleration (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ID,  }\item[{Event\+Bits\+\_\+t}]{rpt\+\_\+bit,  }\item[{\mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$}]{sync\+\_\+ctx }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Function Documentation}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_linear_acceleration_a4584a181ae543919a851f8f288a316ed}\label{class_b_n_o08x_rpt_linear_acceleration_a4584a181ae543919a851f8f288a316ed}} 
-\index{BNO08xRptLinearAcceleration@{BNO08xRptLinearAcceleration}!enable@{enable}}
-\index{enable@{enable}!BNO08xRptLinearAcceleration@{BNO08xRptLinearAcceleration}}
-\doxysubsubsection{\texorpdfstring{enable()}{enable()}}
-{\footnotesize\ttfamily bool BNO08x\+Rpt\+Linear\+Acceleration\+::enable (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports,  }\item[{sh2\+\_\+\+Sensor\+Config\+\_\+t}]{sensor\+\_\+cfg = {\ttfamily BNO08xPrivateTypes\+:\+:default\+\_\+sensor\+\_\+cfg} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [override]}, {\ttfamily [virtual]}}
-
-
-
-Enables linear acceleration reports such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} begins sending them. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em report\+\_\+period\+\_\+us} & The period/interval of the report in microseconds. \\
-\hline
-{\em sensor\+\_\+cfg} & Sensor special configuration (optional, see BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg for defaults).\\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-True if report was successfully enabled. 
-\end{DoxyReturn}
-
-
-Implements \mbox{\hyperlink{class_b_n_o08x_rpt_a4ee529725467412df396d5c610ff7bb4}{BNO08x\+Rpt}}.
-
-Here is the call graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_rpt_linear_acceleration_a4584a181ae543919a851f8f288a316ed_cgraph}
-\end{center}
-\end{figure}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_linear_acceleration_aac2eeab16ffbe7a81ea26a21c4e453d0}\label{class_b_n_o08x_rpt_linear_acceleration_aac2eeab16ffbe7a81ea26a21c4e453d0}} 
-\index{BNO08xRptLinearAcceleration@{BNO08xRptLinearAcceleration}!get@{get}}
-\index{get@{get}!BNO08xRptLinearAcceleration@{BNO08xRptLinearAcceleration}}
-\doxysubsubsection{\texorpdfstring{get()}{get()}}
-{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__accel__t}{bno08x\+\_\+accel\+\_\+t}} BNO08x\+Rpt\+Linear\+Acceleration\+::get (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
-
-
-
-Grabs most recent acceleration data (including gravity), units are in m/s$^\wedge$2. 
-
-\begin{DoxyReturn}{Returns}
-Struct containing requested data. 
-\end{DoxyReturn}
-Here is the call graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_rpt_linear_acceleration_aac2eeab16ffbe7a81ea26a21c4e453d0_cgraph}
-\end{center}
-\end{figure}
-
-
-The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
-\item 
-/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_linear_acceleration_8hpp}{BNO08x\+Rpt\+Linear\+Acceleration.\+hpp}}\item 
-report/\mbox{\hyperlink{_b_n_o08x_rpt_linear_acceleration_8cpp}{BNO08x\+Rpt\+Linear\+Acceleration.\+cpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/class_b_n_o08x_rpt_linear_acceleration__coll__graph.md5 b/documentation/latex/class_b_n_o08x_rpt_linear_acceleration__coll__graph.md5
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+++ /dev/null
@@ -1 +0,0 @@
-f7415b2e414528d595b755922a774cda
\ No newline at end of file
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-\hypertarget{class_b_n_o08x_rpt_r_v}{}\doxysection{BNO08x\+Rpt\+RV Class Reference}
-\label{class_b_n_o08x_rpt_r_v}\index{BNO08xRptRV@{BNO08xRptRV}}
-
-
-Class to represent rotation vector reports. (See Ref. Manual 6.\+5.\+18)  
-
-
-
-
-{\ttfamily \#include $<$report/\+BNO08x\+Rpt\+RV.\+hpp$>$}
-
-
-
-Inheritance diagram for BNO08x\+Rpt\+RV\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=204pt]{class_b_n_o08x_rpt_r_v__inherit__graph}
-\end{center}
-\end{figure}
-
-
-Collaboration diagram for BNO08x\+Rpt\+RV\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=283pt]{class_b_n_o08x_rpt_r_v__coll__graph}
-\end{center}
-\end{figure}
-\doxysubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{class_b_n_o08x_rpt_r_v_a3c4173b40339de15cb7f304f73ae53f3}{BNO08x\+Rpt\+RV}} (uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\+\_\+bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$\mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\+\_\+ctx}})
-\item 
-bool \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_aab42904ebfc698d0af0944deaafcd226}{tare}} (bool x=true, bool y=true, bool z=true)
-\begin{DoxyCompactList}\small\item\em Tares rotation vector axis. \end{DoxyCompactList}\item 
-bool \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_aa152921434b50a95977b0a4f925abec0}{tare\+\_\+persist}} ()
-\begin{DoxyCompactList}\small\item\em Saves most recent tare operation to \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} internal flash, such that it persists on reset. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_a920fb5940c13870657c48538569aff87}{tare\+\_\+clear}} ()
-\begin{DoxyCompactList}\small\item\em Clears most recent tare operation. \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Additional Inherited Members}
-
-
-\doxysubsection{Detailed Description}
-Class to represent rotation vector reports. (See Ref. Manual 6.\+5.\+18) 
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_r_v_a3c4173b40339de15cb7f304f73ae53f3}\label{class_b_n_o08x_rpt_r_v_a3c4173b40339de15cb7f304f73ae53f3}} 
-\index{BNO08xRptRV@{BNO08xRptRV}!BNO08xRptRV@{BNO08xRptRV}}
-\index{BNO08xRptRV@{BNO08xRptRV}!BNO08xRptRV@{BNO08xRptRV}}
-\doxysubsubsection{\texorpdfstring{BNO08xRptRV()}{BNO08xRptRV()}}
-{\footnotesize\ttfamily BNO08x\+Rpt\+RV\+::\+BNO08x\+Rpt\+RV (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ID,  }\item[{Event\+Bits\+\_\+t}]{rpt\+\_\+bit,  }\item[{\mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$}]{sync\+\_\+ctx }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Function Documentation}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_r_v_aab42904ebfc698d0af0944deaafcd226}\label{class_b_n_o08x_rpt_r_v_aab42904ebfc698d0af0944deaafcd226}} 
-\index{BNO08xRptRV@{BNO08xRptRV}!tare@{tare}}
-\index{tare@{tare}!BNO08xRptRV@{BNO08xRptRV}}
-\doxysubsubsection{\texorpdfstring{tare()}{tare()}}
-{\footnotesize\ttfamily bool BNO08x\+Rpt\+RV\+::tare (\begin{DoxyParamCaption}\item[{bool}]{x = {\ttfamily true},  }\item[{bool}]{y = {\ttfamily true},  }\item[{bool}]{z = {\ttfamily true} }\end{DoxyParamCaption})}
-
-
-
-Tares rotation vector axis. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em x} & If true tare x axis (optional, default true). \\
-\hline
-{\em y} & If true tare y axis (optional, default true). \\
-\hline
-{\em z} & If true tare z axis (optional, default true).\\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-True if tare operation succeeded. 
-\end{DoxyReturn}
-Here is the call graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_rpt_r_v_aab42904ebfc698d0af0944deaafcd226_cgraph}
-\end{center}
-\end{figure}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_r_v_a920fb5940c13870657c48538569aff87}\label{class_b_n_o08x_rpt_r_v_a920fb5940c13870657c48538569aff87}} 
-\index{BNO08xRptRV@{BNO08xRptRV}!tare\_clear@{tare\_clear}}
-\index{tare\_clear@{tare\_clear}!BNO08xRptRV@{BNO08xRptRV}}
-\doxysubsubsection{\texorpdfstring{tare\_clear()}{tare\_clear()}}
-{\footnotesize\ttfamily void BNO08x\+Rpt\+RV\+::tare\+\_\+clear (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
-
-
-
-Clears most recent tare operation. 
-
-\begin{DoxyReturn}{Returns}
-void, nothing to return 
-\end{DoxyReturn}
-Here is the call graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_rpt_r_v_a920fb5940c13870657c48538569aff87_cgraph}
-\end{center}
-\end{figure}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_r_v_aa152921434b50a95977b0a4f925abec0}\label{class_b_n_o08x_rpt_r_v_aa152921434b50a95977b0a4f925abec0}} 
-\index{BNO08xRptRV@{BNO08xRptRV}!tare\_persist@{tare\_persist}}
-\index{tare\_persist@{tare\_persist}!BNO08xRptRV@{BNO08xRptRV}}
-\doxysubsubsection{\texorpdfstring{tare\_persist()}{tare\_persist()}}
-{\footnotesize\ttfamily bool BNO08x\+Rpt\+RV\+::tare\+\_\+persist (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
-
-
-
-Saves most recent tare operation to \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} internal flash, such that it persists on reset. 
-
-\begin{DoxyReturn}{Returns}
-True if tare operation succeeded. 
-\end{DoxyReturn}
-Here is the call graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_rpt_r_v_aa152921434b50a95977b0a4f925abec0_cgraph}
-\end{center}
-\end{figure}
-
-
-The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
-\item 
-/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_r_v_8hpp}{BNO08x\+Rpt\+RV.\+hpp}}\item 
-report/\mbox{\hyperlink{_b_n_o08x_rpt_r_v_8cpp}{BNO08x\+Rpt\+RV.\+cpp}}\end{DoxyCompactItemize}
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+++ /dev/null
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-\hypertarget{class_b_n_o08x_rpt_r_v_generic}{}\doxysection{BNO08x\+Rpt\+RVGeneric Class Reference}
-\label{class_b_n_o08x_rpt_r_v_generic}\index{BNO08xRptRVGeneric@{BNO08xRptRVGeneric}}
-
-
-Class to represent rotation vector reports.  
-
-
-
-
-{\ttfamily \#include $<$report/\+BNO08x\+Rpt\+RVGeneric.\+hpp$>$}
-
-
-
-Inheritance diagram for BNO08x\+Rpt\+RVGeneric\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_rpt_r_v_generic__inherit__graph}
-\end{center}
-\end{figure}
-
-
-Collaboration diagram for BNO08x\+Rpt\+RVGeneric\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=283pt]{class_b_n_o08x_rpt_r_v_generic__coll__graph}
-\end{center}
-\end{figure}
-\doxysubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-bool \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_generic_a17c6cf89a5f7bf5c3fb9f8ff3ed74e8e}{enable}} (uint32\+\_\+t time\+\_\+between\+\_\+reports, sh2\+\_\+\+Sensor\+Config\+\_\+t sensor\+\_\+cfg=BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg) override
-\begin{DoxyCompactList}\small\item\em Enables a rotation vector report such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} begins it. \end{DoxyCompactList}\item 
-\mbox{\hyperlink{structbno08x__quat__t}{bno08x\+\_\+quat\+\_\+t}} \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_generic_afc2accdd72076cd758f9f9108351d7a8}{get\+\_\+quat}} ()
-\begin{DoxyCompactList}\small\item\em Grabs most recent rotation vector data in form of unit quaternion, rad accuracy units in radians (if available, else constant 0.\+0f). \end{DoxyCompactList}\item 
-\mbox{\hyperlink{structbno08x__euler__angle__t}{bno08x\+\_\+euler\+\_\+angle\+\_\+t}} \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_generic_abbaaa6737d578e056f93687d4ad780f7}{get\+\_\+euler}} (bool in\+\_\+degrees=true)
-\begin{DoxyCompactList}\small\item\em Grabs most recent rotation vector data in form of an euler angle, units are in degrees or rads. \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Protected Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{class_b_n_o08x_rpt_r_v_generic_a7c35188ccfb976cba1b7e4626022987c}{BNO08x\+Rpt\+RVGeneric}} (uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\+\_\+bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$\mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\+\_\+ctx}})
-\item 
-bool \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_generic_ab059dded7c0a7c922e9c624baac34ecd}{tare}} (bool x, bool y, bool z, sh2\+\_\+\+Tare\+Basis\+\_\+t basis)
-\begin{DoxyCompactList}\small\item\em Tares vector basis according to axis flags. \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Protected Attributes}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{structbno08x__quat__t}{bno08x\+\_\+quat\+\_\+t}} \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_generic_ad5174665e1c943291110630dc461caff}{data}}
-\end{DoxyCompactItemize}
-\doxysubsection*{Static Protected Attributes}
-\begin{DoxyCompactItemize}
-\item 
-static const constexpr char $\ast$ \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_generic_a5315a83517cd15397842254a9926b1c4}{TAG}} = \char`\"{}BNO08x\+Rpt\+RVGeneric\char`\"{}
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-Class to represent rotation vector reports. 
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_r_v_generic_a7c35188ccfb976cba1b7e4626022987c}\label{class_b_n_o08x_rpt_r_v_generic_a7c35188ccfb976cba1b7e4626022987c}} 
-\index{BNO08xRptRVGeneric@{BNO08xRptRVGeneric}!BNO08xRptRVGeneric@{BNO08xRptRVGeneric}}
-\index{BNO08xRptRVGeneric@{BNO08xRptRVGeneric}!BNO08xRptRVGeneric@{BNO08xRptRVGeneric}}
-\doxysubsubsection{\texorpdfstring{BNO08xRptRVGeneric()}{BNO08xRptRVGeneric()}}
-{\footnotesize\ttfamily BNO08x\+Rpt\+RVGeneric\+::\+BNO08x\+Rpt\+RVGeneric (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ID,  }\item[{Event\+Bits\+\_\+t}]{rpt\+\_\+bit,  }\item[{\mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$}]{sync\+\_\+ctx }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}}
-
-
-
-\doxysubsection{Member Function Documentation}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_r_v_generic_a17c6cf89a5f7bf5c3fb9f8ff3ed74e8e}\label{class_b_n_o08x_rpt_r_v_generic_a17c6cf89a5f7bf5c3fb9f8ff3ed74e8e}} 
-\index{BNO08xRptRVGeneric@{BNO08xRptRVGeneric}!enable@{enable}}
-\index{enable@{enable}!BNO08xRptRVGeneric@{BNO08xRptRVGeneric}}
-\doxysubsubsection{\texorpdfstring{enable()}{enable()}}
-{\footnotesize\ttfamily bool BNO08x\+Rpt\+RVGeneric\+::enable (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports,  }\item[{sh2\+\_\+\+Sensor\+Config\+\_\+t}]{sensor\+\_\+cfg = {\ttfamily BNO08xPrivateTypes\+:\+:default\+\_\+sensor\+\_\+cfg} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [override]}, {\ttfamily [virtual]}}
-
-
-
-Enables a rotation vector report such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} begins it. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em report\+\_\+period\+\_\+us} & The period/interval of the report in microseconds. \\
-\hline
-{\em sensor\+\_\+cfg} & Sensor special configuration (optional, see BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg for defaults).\\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-True if report was successfully enabled. 
-\end{DoxyReturn}
-
-
-Implements \mbox{\hyperlink{class_b_n_o08x_rpt_a4ee529725467412df396d5c610ff7bb4}{BNO08x\+Rpt}}.
-
-Here is the call graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_rpt_r_v_generic_a17c6cf89a5f7bf5c3fb9f8ff3ed74e8e_cgraph}
-\end{center}
-\end{figure}
-Here is the caller graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_rpt_r_v_generic_a17c6cf89a5f7bf5c3fb9f8ff3ed74e8e_icgraph}
-\end{center}
-\end{figure}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_r_v_generic_abbaaa6737d578e056f93687d4ad780f7}\label{class_b_n_o08x_rpt_r_v_generic_abbaaa6737d578e056f93687d4ad780f7}} 
-\index{BNO08xRptRVGeneric@{BNO08xRptRVGeneric}!get\_euler@{get\_euler}}
-\index{get\_euler@{get\_euler}!BNO08xRptRVGeneric@{BNO08xRptRVGeneric}}
-\doxysubsubsection{\texorpdfstring{get\_euler()}{get\_euler()}}
-{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__euler__angle__t}{bno08x\+\_\+euler\+\_\+angle\+\_\+t}} BNO08x\+Rpt\+RVGeneric\+::get\+\_\+euler (\begin{DoxyParamCaption}\item[{bool}]{in\+\_\+degrees = {\ttfamily true} }\end{DoxyParamCaption})}
-
-
-
-Grabs most recent rotation vector data in form of an euler angle, units are in degrees or rads. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em in\+\_\+degrees} & If true returned euler angle is in degrees, if false in radians\\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-Struct containing requested data. 
-\end{DoxyReturn}
-Here is the call graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_rpt_r_v_generic_abbaaa6737d578e056f93687d4ad780f7_cgraph}
-\end{center}
-\end{figure}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_r_v_generic_afc2accdd72076cd758f9f9108351d7a8}\label{class_b_n_o08x_rpt_r_v_generic_afc2accdd72076cd758f9f9108351d7a8}} 
-\index{BNO08xRptRVGeneric@{BNO08xRptRVGeneric}!get\_quat@{get\_quat}}
-\index{get\_quat@{get\_quat}!BNO08xRptRVGeneric@{BNO08xRptRVGeneric}}
-\doxysubsubsection{\texorpdfstring{get\_quat()}{get\_quat()}}
-{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__quat__t}{bno08x\+\_\+quat\+\_\+t}} BNO08x\+Rpt\+RVGeneric\+::get\+\_\+quat (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
-
-
-
-Grabs most recent rotation vector data in form of unit quaternion, rad accuracy units in radians (if available, else constant 0.\+0f). 
-
-The following RV reports have rad accuracy data\+:
-
-
-\begin{DoxyItemize}
-\item rotation vector
-\item geomagnetic rotation vector
-\end{DoxyItemize}
-
-\begin{DoxyReturn}{Returns}
-Struct containing requested data. 
-\end{DoxyReturn}
-Here is the call graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_rpt_r_v_generic_afc2accdd72076cd758f9f9108351d7a8_cgraph}
-\end{center}
-\end{figure}
-Here is the caller graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_rpt_r_v_generic_afc2accdd72076cd758f9f9108351d7a8_icgraph}
-\end{center}
-\end{figure}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_r_v_generic_ab059dded7c0a7c922e9c624baac34ecd}\label{class_b_n_o08x_rpt_r_v_generic_ab059dded7c0a7c922e9c624baac34ecd}} 
-\index{BNO08xRptRVGeneric@{BNO08xRptRVGeneric}!tare@{tare}}
-\index{tare@{tare}!BNO08xRptRVGeneric@{BNO08xRptRVGeneric}}
-\doxysubsubsection{\texorpdfstring{tare()}{tare()}}
-{\footnotesize\ttfamily bool BNO08x\+Rpt\+RVGeneric\+::tare (\begin{DoxyParamCaption}\item[{bool}]{x,  }\item[{bool}]{y,  }\item[{bool}]{z,  }\item[{sh2\+\_\+\+Tare\+Basis\+\_\+t}]{basis }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [protected]}}
-
-
-
-Tares vector basis according to axis flags. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em x} & If true tare x axis. \\
-\hline
-{\em y} & If true tare y axis. \\
-\hline
-{\em z} & If true tare z axis. \\
-\hline
-{\em basis} & Rotation vector basis to undergo tare operation.\\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-True if tare operation succeeded. 
-\end{DoxyReturn}
-Here is the call graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_rpt_r_v_generic_ab059dded7c0a7c922e9c624baac34ecd_cgraph}
-\end{center}
-\end{figure}
-Here is the caller graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_rpt_r_v_generic_ab059dded7c0a7c922e9c624baac34ecd_icgraph}
-\end{center}
-\end{figure}
-
-
-\doxysubsection{Member Data Documentation}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_r_v_generic_ad5174665e1c943291110630dc461caff}\label{class_b_n_o08x_rpt_r_v_generic_ad5174665e1c943291110630dc461caff}} 
-\index{BNO08xRptRVGeneric@{BNO08xRptRVGeneric}!data@{data}}
-\index{data@{data}!BNO08xRptRVGeneric@{BNO08xRptRVGeneric}}
-\doxysubsubsection{\texorpdfstring{data}{data}}
-{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__quat__t}{bno08x\+\_\+quat\+\_\+t}} BNO08x\+Rpt\+RVGeneric\+::data\hspace{0.3cm}{\ttfamily [protected]}}
-
-\mbox{\Hypertarget{class_b_n_o08x_rpt_r_v_generic_a5315a83517cd15397842254a9926b1c4}\label{class_b_n_o08x_rpt_r_v_generic_a5315a83517cd15397842254a9926b1c4}} 
-\index{BNO08xRptRVGeneric@{BNO08xRptRVGeneric}!TAG@{TAG}}
-\index{TAG@{TAG}!BNO08xRptRVGeneric@{BNO08xRptRVGeneric}}
-\doxysubsubsection{\texorpdfstring{TAG}{TAG}}
-{\footnotesize\ttfamily const constexpr char$\ast$ BNO08x\+Rpt\+RVGeneric\+::\+TAG = \char`\"{}BNO08x\+Rpt\+RVGeneric\char`\"{}\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [protected]}}
-
-
-
-The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
-\item 
-/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_r_v_generic_8hpp}{BNO08x\+Rpt\+RVGeneric.\+hpp}}\item 
-report/\mbox{\hyperlink{_b_n_o08x_rpt_r_v_generic_8cpp}{BNO08x\+Rpt\+RVGeneric.\+cpp}}\end{DoxyCompactItemize}
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-\hypertarget{class_b_n_o08x_rpt_r_v_geomag}{}\doxysection{BNO08x\+Rpt\+RVGeomag Class Reference}
-\label{class_b_n_o08x_rpt_r_v_geomag}\index{BNO08xRptRVGeomag@{BNO08xRptRVGeomag}}
-
-
-Class to represent geomagnetic rotation vector reports. (See Ref. Manual 6.\+5.\+20)  
-
-
-
-
-{\ttfamily \#include $<$report/\+BNO08x\+Rpt\+RVGeomag.\+hpp$>$}
-
-
-
-Inheritance diagram for BNO08x\+Rpt\+RVGeomag\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=208pt]{class_b_n_o08x_rpt_r_v_geomag__inherit__graph}
-\end{center}
-\end{figure}
-
-
-Collaboration diagram for BNO08x\+Rpt\+RVGeomag\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=283pt]{class_b_n_o08x_rpt_r_v_geomag__coll__graph}
-\end{center}
-\end{figure}
-\doxysubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{class_b_n_o08x_rpt_r_v_geomag_a32bd70c7777973497b6d1b7f960bea0b}{BNO08x\+Rpt\+RVGeomag}} (uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\+\_\+bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$\mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\+\_\+ctx}})
-\item 
-bool \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_geomag_a622f024808e368b09c41ca1b5118a874}{tare}} (bool x=true, bool y=true, bool z=true)
-\begin{DoxyCompactList}\small\item\em Tares geomagnetic rotation vector. \end{DoxyCompactList}\item 
-bool \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_geomag_a57305f5f72067a56b037cf766fa2ee63}{tare\+\_\+persist}} ()
-\begin{DoxyCompactList}\small\item\em Saves most recent tare operation to \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} internal flash, such that it persists on reset. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_geomag_a2c62a41402f167a49025914a9800d062}{tare\+\_\+clear}} ()
-\begin{DoxyCompactList}\small\item\em Clears most recent tare operation. \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Additional Inherited Members}
-
-
-\doxysubsection{Detailed Description}
-Class to represent geomagnetic rotation vector reports. (See Ref. Manual 6.\+5.\+20) 
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_r_v_geomag_a32bd70c7777973497b6d1b7f960bea0b}\label{class_b_n_o08x_rpt_r_v_geomag_a32bd70c7777973497b6d1b7f960bea0b}} 
-\index{BNO08xRptRVGeomag@{BNO08xRptRVGeomag}!BNO08xRptRVGeomag@{BNO08xRptRVGeomag}}
-\index{BNO08xRptRVGeomag@{BNO08xRptRVGeomag}!BNO08xRptRVGeomag@{BNO08xRptRVGeomag}}
-\doxysubsubsection{\texorpdfstring{BNO08xRptRVGeomag()}{BNO08xRptRVGeomag()}}
-{\footnotesize\ttfamily BNO08x\+Rpt\+RVGeomag\+::\+BNO08x\+Rpt\+RVGeomag (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ID,  }\item[{Event\+Bits\+\_\+t}]{rpt\+\_\+bit,  }\item[{\mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$}]{sync\+\_\+ctx }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Function Documentation}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_r_v_geomag_a622f024808e368b09c41ca1b5118a874}\label{class_b_n_o08x_rpt_r_v_geomag_a622f024808e368b09c41ca1b5118a874}} 
-\index{BNO08xRptRVGeomag@{BNO08xRptRVGeomag}!tare@{tare}}
-\index{tare@{tare}!BNO08xRptRVGeomag@{BNO08xRptRVGeomag}}
-\doxysubsubsection{\texorpdfstring{tare()}{tare()}}
-{\footnotesize\ttfamily bool BNO08x\+Rpt\+RVGeomag\+::tare (\begin{DoxyParamCaption}\item[{bool}]{x = {\ttfamily true},  }\item[{bool}]{y = {\ttfamily true},  }\item[{bool}]{z = {\ttfamily true} }\end{DoxyParamCaption})}
-
-
-
-Tares geomagnetic rotation vector. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em x} & If true tare x axis (optional, default true). \\
-\hline
-{\em y} & If true tare y axis (optional, default true). \\
-\hline
-{\em z} & If true tare z axis (optional, default true).\\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-True if tare operation succeeded. 
-\end{DoxyReturn}
-Here is the call graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_rpt_r_v_geomag_a622f024808e368b09c41ca1b5118a874_cgraph}
-\end{center}
-\end{figure}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_r_v_geomag_a2c62a41402f167a49025914a9800d062}\label{class_b_n_o08x_rpt_r_v_geomag_a2c62a41402f167a49025914a9800d062}} 
-\index{BNO08xRptRVGeomag@{BNO08xRptRVGeomag}!tare\_clear@{tare\_clear}}
-\index{tare\_clear@{tare\_clear}!BNO08xRptRVGeomag@{BNO08xRptRVGeomag}}
-\doxysubsubsection{\texorpdfstring{tare\_clear()}{tare\_clear()}}
-{\footnotesize\ttfamily void BNO08x\+Rpt\+RVGeomag\+::tare\+\_\+clear (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
-
-
-
-Clears most recent tare operation. 
-
-\begin{DoxyReturn}{Returns}
-void, nothing to return 
-\end{DoxyReturn}
-Here is the call graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_rpt_r_v_geomag_a2c62a41402f167a49025914a9800d062_cgraph}
-\end{center}
-\end{figure}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_r_v_geomag_a57305f5f72067a56b037cf766fa2ee63}\label{class_b_n_o08x_rpt_r_v_geomag_a57305f5f72067a56b037cf766fa2ee63}} 
-\index{BNO08xRptRVGeomag@{BNO08xRptRVGeomag}!tare\_persist@{tare\_persist}}
-\index{tare\_persist@{tare\_persist}!BNO08xRptRVGeomag@{BNO08xRptRVGeomag}}
-\doxysubsubsection{\texorpdfstring{tare\_persist()}{tare\_persist()}}
-{\footnotesize\ttfamily bool BNO08x\+Rpt\+RVGeomag\+::tare\+\_\+persist (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
-
-
-
-Saves most recent tare operation to \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} internal flash, such that it persists on reset. 
-
-\begin{DoxyReturn}{Returns}
-True if tare operation succeeded. 
-\end{DoxyReturn}
-Here is the call graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_rpt_r_v_geomag_a57305f5f72067a56b037cf766fa2ee63_cgraph}
-\end{center}
-\end{figure}
-
-
-The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
-\item 
-/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_r_v_geomag_8hpp}{BNO08x\+Rpt\+RVGeomag.\+hpp}}\item 
-report/\mbox{\hyperlink{_b_n_o08x_rpt_r_v_geomag_8cpp}{BNO08x\+Rpt\+RVGeomag.\+cpp}}\end{DoxyCompactItemize}
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diff --git a/documentation/latex/class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer.tex b/documentation/latex/class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer.tex
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-\hypertarget{class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer}{}\doxysection{BNO08x\+Rpt\+Raw\+MEMSAccelerometer Class Reference}
-\label{class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer}\index{BNO08xRptRawMEMSAccelerometer@{BNO08xRptRawMEMSAccelerometer}}
-
-
-Class to represent raw accelerometer reports. (See Ref. Manual 6.\+5.\+8)  
-
-
-
-
-{\ttfamily \#include $<$report/\+BNO08x\+Rpt\+Raw\+MEMSAccelerometer.\+hpp$>$}
-
-
-
-Inheritance diagram for BNO08x\+Rpt\+Raw\+MEMSAccelerometer\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=276pt]{class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer__inherit__graph}
-\end{center}
-\end{figure}
-
-
-Collaboration diagram for BNO08x\+Rpt\+Raw\+MEMSAccelerometer\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=276pt]{class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer__coll__graph}
-\end{center}
-\end{figure}
-\doxysubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_a1a7c70a4c2d2004fe827dfa834d789e7}{BNO08x\+Rpt\+Raw\+MEMSAccelerometer}} (uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\+\_\+bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$\mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\+\_\+ctx}})
-\item 
-bool \mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_a3cfc735c048700fe79a5674ad92b4b03}{enable}} (uint32\+\_\+t time\+\_\+between\+\_\+reports, sh2\+\_\+\+Sensor\+Config\+\_\+t sensor\+\_\+cfg=BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg) override
-\begin{DoxyCompactList}\small\item\em Enables raw accelerometer reports such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} begins sending them. \end{DoxyCompactList}\item 
-\mbox{\hyperlink{structbno08x__raw__accel__t}{bno08x\+\_\+raw\+\_\+accel\+\_\+t}} \mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_ae72428b3455327ecec5ee1c6ad065d56}{get}} ()
-\begin{DoxyCompactList}\small\item\em Grabs most recent raw accelerometer data, units are ADC counts, time\+\_\+stamp in microseconds. \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Additional Inherited Members}
-
-
-\doxysubsection{Detailed Description}
-Class to represent raw accelerometer reports. (See Ref. Manual 6.\+5.\+8) 
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_a1a7c70a4c2d2004fe827dfa834d789e7}\label{class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_a1a7c70a4c2d2004fe827dfa834d789e7}} 
-\index{BNO08xRptRawMEMSAccelerometer@{BNO08xRptRawMEMSAccelerometer}!BNO08xRptRawMEMSAccelerometer@{BNO08xRptRawMEMSAccelerometer}}
-\index{BNO08xRptRawMEMSAccelerometer@{BNO08xRptRawMEMSAccelerometer}!BNO08xRptRawMEMSAccelerometer@{BNO08xRptRawMEMSAccelerometer}}
-\doxysubsubsection{\texorpdfstring{BNO08xRptRawMEMSAccelerometer()}{BNO08xRptRawMEMSAccelerometer()}}
-{\footnotesize\ttfamily BNO08x\+Rpt\+Raw\+MEMSAccelerometer\+::\+BNO08x\+Rpt\+Raw\+MEMSAccelerometer (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ID,  }\item[{Event\+Bits\+\_\+t}]{rpt\+\_\+bit,  }\item[{\mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$}]{sync\+\_\+ctx }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Function Documentation}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_a3cfc735c048700fe79a5674ad92b4b03}\label{class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_a3cfc735c048700fe79a5674ad92b4b03}} 
-\index{BNO08xRptRawMEMSAccelerometer@{BNO08xRptRawMEMSAccelerometer}!enable@{enable}}
-\index{enable@{enable}!BNO08xRptRawMEMSAccelerometer@{BNO08xRptRawMEMSAccelerometer}}
-\doxysubsubsection{\texorpdfstring{enable()}{enable()}}
-{\footnotesize\ttfamily bool BNO08x\+Rpt\+Raw\+MEMSAccelerometer\+::enable (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports,  }\item[{sh2\+\_\+\+Sensor\+Config\+\_\+t}]{sensor\+\_\+cfg = {\ttfamily BNO08xPrivateTypes\+:\+:default\+\_\+sensor\+\_\+cfg} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [override]}, {\ttfamily [virtual]}}
-
-
-
-Enables raw accelerometer reports such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} begins sending them. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em report\+\_\+period\+\_\+us} & The period/interval of the report in microseconds. \\
-\hline
-{\em sensor\+\_\+cfg} & Sensor special configuration (optional, see BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg for defaults).\\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-True if report was successfully enabled. 
-\end{DoxyReturn}
-
-
-Implements \mbox{\hyperlink{class_b_n_o08x_rpt_a4ee529725467412df396d5c610ff7bb4}{BNO08x\+Rpt}}.
-
-Here is the call graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_a3cfc735c048700fe79a5674ad92b4b03_cgraph}
-\end{center}
-\end{figure}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_ae72428b3455327ecec5ee1c6ad065d56}\label{class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_ae72428b3455327ecec5ee1c6ad065d56}} 
-\index{BNO08xRptRawMEMSAccelerometer@{BNO08xRptRawMEMSAccelerometer}!get@{get}}
-\index{get@{get}!BNO08xRptRawMEMSAccelerometer@{BNO08xRptRawMEMSAccelerometer}}
-\doxysubsubsection{\texorpdfstring{get()}{get()}}
-{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__raw__accel__t}{bno08x\+\_\+raw\+\_\+accel\+\_\+t}} BNO08x\+Rpt\+Raw\+MEMSAccelerometer\+::get (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
-
-
-
-Grabs most recent raw accelerometer data, units are ADC counts, time\+\_\+stamp in microseconds. 
-
-\begin{DoxyReturn}{Returns}
-Struct containing requested data. 
-\end{DoxyReturn}
-Here is the call graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_ae72428b3455327ecec5ee1c6ad065d56_cgraph}
-\end{center}
-\end{figure}
-
-
-The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
-\item 
-/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8hpp}{BNO08x\+Rpt\+Raw\+MEMSAccelerometer.\+hpp}}\item 
-report/\mbox{\hyperlink{_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8cpp}{BNO08x\+Rpt\+Raw\+MEMSAccelerometer.\+cpp}}\end{DoxyCompactItemize}
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diff --git a/documentation/latex/class_b_n_o08x_rpt_raw_m_e_m_s_gyro.tex b/documentation/latex/class_b_n_o08x_rpt_raw_m_e_m_s_gyro.tex
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--- a/documentation/latex/class_b_n_o08x_rpt_raw_m_e_m_s_gyro.tex
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@@ -1,115 +0,0 @@
-\hypertarget{class_b_n_o08x_rpt_raw_m_e_m_s_gyro}{}\doxysection{BNO08x\+Rpt\+Raw\+MEMSGyro Class Reference}
-\label{class_b_n_o08x_rpt_raw_m_e_m_s_gyro}\index{BNO08xRptRawMEMSGyro@{BNO08xRptRawMEMSGyro}}
-
-
-Class to represent raw gyro reports. (See Ref. Manual 6.\+5.\+12)  
-
-
-
-
-{\ttfamily \#include $<$report/\+BNO08x\+Rpt\+Raw\+MEMSGyro.\+hpp$>$}
-
-
-
-Inheritance diagram for BNO08x\+Rpt\+Raw\+MEMSGyro\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=227pt]{class_b_n_o08x_rpt_raw_m_e_m_s_gyro__inherit__graph}
-\end{center}
-\end{figure}
-
-
-Collaboration diagram for BNO08x\+Rpt\+Raw\+MEMSGyro\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=227pt]{class_b_n_o08x_rpt_raw_m_e_m_s_gyro__coll__graph}
-\end{center}
-\end{figure}
-\doxysubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_gyro_a9ad8a6a41c6680302f5ddb8154360ba2}{BNO08x\+Rpt\+Raw\+MEMSGyro}} (uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\+\_\+bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$\mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\+\_\+ctx}})
-\item 
-bool \mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_gyro_ae872f24befd81352f812bc998acb573d}{enable}} (uint32\+\_\+t time\+\_\+between\+\_\+reports, sh2\+\_\+\+Sensor\+Config\+\_\+t sensor\+\_\+cfg=BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg) override
-\begin{DoxyCompactList}\small\item\em Enables raw gyro reports such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} begins sending them. \end{DoxyCompactList}\item 
-\mbox{\hyperlink{structbno08x__raw__gyro__t}{bno08x\+\_\+raw\+\_\+gyro\+\_\+t}} \mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_gyro_ac9a43087ac86ca6d2309adae996747d5}{get}} ()
-\begin{DoxyCompactList}\small\item\em Grabs most recent raw mems gyro report (units in ADC counts, time\+\_\+stamp in microseconds) \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Additional Inherited Members}
-
-
-\doxysubsection{Detailed Description}
-Class to represent raw gyro reports. (See Ref. Manual 6.\+5.\+12) 
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_raw_m_e_m_s_gyro_a9ad8a6a41c6680302f5ddb8154360ba2}\label{class_b_n_o08x_rpt_raw_m_e_m_s_gyro_a9ad8a6a41c6680302f5ddb8154360ba2}} 
-\index{BNO08xRptRawMEMSGyro@{BNO08xRptRawMEMSGyro}!BNO08xRptRawMEMSGyro@{BNO08xRptRawMEMSGyro}}
-\index{BNO08xRptRawMEMSGyro@{BNO08xRptRawMEMSGyro}!BNO08xRptRawMEMSGyro@{BNO08xRptRawMEMSGyro}}
-\doxysubsubsection{\texorpdfstring{BNO08xRptRawMEMSGyro()}{BNO08xRptRawMEMSGyro()}}
-{\footnotesize\ttfamily BNO08x\+Rpt\+Raw\+MEMSGyro\+::\+BNO08x\+Rpt\+Raw\+MEMSGyro (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ID,  }\item[{Event\+Bits\+\_\+t}]{rpt\+\_\+bit,  }\item[{\mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$}]{sync\+\_\+ctx }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Function Documentation}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_raw_m_e_m_s_gyro_ae872f24befd81352f812bc998acb573d}\label{class_b_n_o08x_rpt_raw_m_e_m_s_gyro_ae872f24befd81352f812bc998acb573d}} 
-\index{BNO08xRptRawMEMSGyro@{BNO08xRptRawMEMSGyro}!enable@{enable}}
-\index{enable@{enable}!BNO08xRptRawMEMSGyro@{BNO08xRptRawMEMSGyro}}
-\doxysubsubsection{\texorpdfstring{enable()}{enable()}}
-{\footnotesize\ttfamily bool BNO08x\+Rpt\+Raw\+MEMSGyro\+::enable (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports,  }\item[{sh2\+\_\+\+Sensor\+Config\+\_\+t}]{sensor\+\_\+cfg = {\ttfamily BNO08xPrivateTypes\+:\+:default\+\_\+sensor\+\_\+cfg} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [override]}, {\ttfamily [virtual]}}
-
-
-
-Enables raw gyro reports such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} begins sending them. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em report\+\_\+period\+\_\+us} & The period/interval of the report in microseconds. \\
-\hline
-{\em sensor\+\_\+cfg} & Sensor special configuration (optional, see BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg for defaults).\\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-True if report was successfully enabled. 
-\end{DoxyReturn}
-
-
-Implements \mbox{\hyperlink{class_b_n_o08x_rpt_a4ee529725467412df396d5c610ff7bb4}{BNO08x\+Rpt}}.
-
-Here is the call graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_rpt_raw_m_e_m_s_gyro_ae872f24befd81352f812bc998acb573d_cgraph}
-\end{center}
-\end{figure}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_raw_m_e_m_s_gyro_ac9a43087ac86ca6d2309adae996747d5}\label{class_b_n_o08x_rpt_raw_m_e_m_s_gyro_ac9a43087ac86ca6d2309adae996747d5}} 
-\index{BNO08xRptRawMEMSGyro@{BNO08xRptRawMEMSGyro}!get@{get}}
-\index{get@{get}!BNO08xRptRawMEMSGyro@{BNO08xRptRawMEMSGyro}}
-\doxysubsubsection{\texorpdfstring{get()}{get()}}
-{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__raw__gyro__t}{bno08x\+\_\+raw\+\_\+gyro\+\_\+t}} BNO08x\+Rpt\+Raw\+MEMSGyro\+::get (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
-
-
-
-Grabs most recent raw mems gyro report (units in ADC counts, time\+\_\+stamp in microseconds) 
-
-\begin{DoxyReturn}{Returns}
-Struct containing requested data. 
-\end{DoxyReturn}
-Here is the call graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_rpt_raw_m_e_m_s_gyro_ac9a43087ac86ca6d2309adae996747d5_cgraph}
-\end{center}
-\end{figure}
-
-
-The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
-\item 
-/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_raw_m_e_m_s_gyro_8hpp}{BNO08x\+Rpt\+Raw\+MEMSGyro.\+hpp}}\item 
-report/\mbox{\hyperlink{_b_n_o08x_rpt_raw_m_e_m_s_gyro_8cpp}{BNO08x\+Rpt\+Raw\+MEMSGyro.\+cpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/class_b_n_o08x_rpt_raw_m_e_m_s_gyro__coll__graph.md5 b/documentation/latex/class_b_n_o08x_rpt_raw_m_e_m_s_gyro__coll__graph.md5
deleted file mode 100644
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--- a/documentation/latex/class_b_n_o08x_rpt_raw_m_e_m_s_gyro__coll__graph.md5
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-4c7191ea53da91ed2ca4851be9d6cbbd
\ No newline at end of file
diff --git a/documentation/latex/class_b_n_o08x_rpt_raw_m_e_m_s_gyro__coll__graph.pdf b/documentation/latex/class_b_n_o08x_rpt_raw_m_e_m_s_gyro__coll__graph.pdf
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-77d9fc1c5a565643f28d57ce81aa4da9
\ No newline at end of file
diff --git a/documentation/latex/class_b_n_o08x_rpt_raw_m_e_m_s_gyro__inherit__graph.pdf b/documentation/latex/class_b_n_o08x_rpt_raw_m_e_m_s_gyro__inherit__graph.pdf
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deleted file mode 100644
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--- a/documentation/latex/class_b_n_o08x_rpt_raw_m_e_m_s_gyro_ac9a43087ac86ca6d2309adae996747d5_cgraph.md5
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-8e9fbc05e2780640272c7c88b5d922d0
\ No newline at end of file
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diff --git a/documentation/latex/class_b_n_o08x_rpt_raw_m_e_m_s_gyro_ae872f24befd81352f812bc998acb573d_cgraph.md5 b/documentation/latex/class_b_n_o08x_rpt_raw_m_e_m_s_gyro_ae872f24befd81352f812bc998acb573d_cgraph.md5
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-72cb7e9dc3342605442eeaa4af6d7ed6
\ No newline at end of file
diff --git a/documentation/latex/class_b_n_o08x_rpt_raw_m_e_m_s_gyro_ae872f24befd81352f812bc998acb573d_cgraph.pdf b/documentation/latex/class_b_n_o08x_rpt_raw_m_e_m_s_gyro_ae872f24befd81352f812bc998acb573d_cgraph.pdf
deleted file mode 100644
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diff --git a/documentation/latex/class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer.tex b/documentation/latex/class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer.tex
deleted file mode 100644
index 5a96739..0000000
--- a/documentation/latex/class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer.tex
+++ /dev/null
@@ -1,115 +0,0 @@
-\hypertarget{class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer}{}\doxysection{BNO08x\+Rpt\+Raw\+MEMSMagnetometer Class Reference}
-\label{class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer}\index{BNO08xRptRawMEMSMagnetometer@{BNO08xRptRawMEMSMagnetometer}}
-
-
-Class to represent raw magnetometer reports. (See Ref. Manual 6.\+5.\+15)  
-
-
-
-
-{\ttfamily \#include $<$report/\+BNO08x\+Rpt\+Raw\+MEMSMagnetometer.\+hpp$>$}
-
-
-
-Inheritance diagram for BNO08x\+Rpt\+Raw\+MEMSMagnetometer\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=276pt]{class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer__inherit__graph}
-\end{center}
-\end{figure}
-
-
-Collaboration diagram for BNO08x\+Rpt\+Raw\+MEMSMagnetometer\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=276pt]{class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer__coll__graph}
-\end{center}
-\end{figure}
-\doxysubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_a1033eaa9b7533a381781c8a750bac04b}{BNO08x\+Rpt\+Raw\+MEMSMagnetometer}} (uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\+\_\+bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$\mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\+\_\+ctx}})
-\item 
-bool \mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_a92832fd0bff6abddbbd87779de5b57fb}{enable}} (uint32\+\_\+t time\+\_\+between\+\_\+reports, sh2\+\_\+\+Sensor\+Config\+\_\+t sensor\+\_\+cfg=BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg) override
-\begin{DoxyCompactList}\small\item\em Enables raw magnetometer such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} begins sending them. \end{DoxyCompactList}\item 
-\mbox{\hyperlink{structbno08x__raw__magf__t}{bno08x\+\_\+raw\+\_\+magf\+\_\+t}} \mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_a44247c8dbd3376ff81599c192b7dfc71}{get}} ()
-\begin{DoxyCompactList}\small\item\em Grabs most recent raw magnetometer data, units are ADC counts, time\+\_\+stamp in microseconds. \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Additional Inherited Members}
-
-
-\doxysubsection{Detailed Description}
-Class to represent raw magnetometer reports. (See Ref. Manual 6.\+5.\+15) 
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_a1033eaa9b7533a381781c8a750bac04b}\label{class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_a1033eaa9b7533a381781c8a750bac04b}} 
-\index{BNO08xRptRawMEMSMagnetometer@{BNO08xRptRawMEMSMagnetometer}!BNO08xRptRawMEMSMagnetometer@{BNO08xRptRawMEMSMagnetometer}}
-\index{BNO08xRptRawMEMSMagnetometer@{BNO08xRptRawMEMSMagnetometer}!BNO08xRptRawMEMSMagnetometer@{BNO08xRptRawMEMSMagnetometer}}
-\doxysubsubsection{\texorpdfstring{BNO08xRptRawMEMSMagnetometer()}{BNO08xRptRawMEMSMagnetometer()}}
-{\footnotesize\ttfamily BNO08x\+Rpt\+Raw\+MEMSMagnetometer\+::\+BNO08x\+Rpt\+Raw\+MEMSMagnetometer (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ID,  }\item[{Event\+Bits\+\_\+t}]{rpt\+\_\+bit,  }\item[{\mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$}]{sync\+\_\+ctx }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Function Documentation}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_a92832fd0bff6abddbbd87779de5b57fb}\label{class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_a92832fd0bff6abddbbd87779de5b57fb}} 
-\index{BNO08xRptRawMEMSMagnetometer@{BNO08xRptRawMEMSMagnetometer}!enable@{enable}}
-\index{enable@{enable}!BNO08xRptRawMEMSMagnetometer@{BNO08xRptRawMEMSMagnetometer}}
-\doxysubsubsection{\texorpdfstring{enable()}{enable()}}
-{\footnotesize\ttfamily bool BNO08x\+Rpt\+Raw\+MEMSMagnetometer\+::enable (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports,  }\item[{sh2\+\_\+\+Sensor\+Config\+\_\+t}]{sensor\+\_\+cfg = {\ttfamily BNO08xPrivateTypes\+:\+:default\+\_\+sensor\+\_\+cfg} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [override]}, {\ttfamily [virtual]}}
-
-
-
-Enables raw magnetometer such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} begins sending them. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em report\+\_\+period\+\_\+us} & The period/interval of the report in microseconds. \\
-\hline
-{\em sensor\+\_\+cfg} & Sensor special configuration (optional, see BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg for defaults).\\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-True if report was successfully enabled. 
-\end{DoxyReturn}
-
-
-Implements \mbox{\hyperlink{class_b_n_o08x_rpt_a4ee529725467412df396d5c610ff7bb4}{BNO08x\+Rpt}}.
-
-Here is the call graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_a92832fd0bff6abddbbd87779de5b57fb_cgraph}
-\end{center}
-\end{figure}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_a44247c8dbd3376ff81599c192b7dfc71}\label{class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_a44247c8dbd3376ff81599c192b7dfc71}} 
-\index{BNO08xRptRawMEMSMagnetometer@{BNO08xRptRawMEMSMagnetometer}!get@{get}}
-\index{get@{get}!BNO08xRptRawMEMSMagnetometer@{BNO08xRptRawMEMSMagnetometer}}
-\doxysubsubsection{\texorpdfstring{get()}{get()}}
-{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__raw__magf__t}{bno08x\+\_\+raw\+\_\+magf\+\_\+t}} BNO08x\+Rpt\+Raw\+MEMSMagnetometer\+::get (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
-
-
-
-Grabs most recent raw magnetometer data, units are ADC counts, time\+\_\+stamp in microseconds. 
-
-\begin{DoxyReturn}{Returns}
-Struct containing requested data. 
-\end{DoxyReturn}
-Here is the call graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_a44247c8dbd3376ff81599c192b7dfc71_cgraph}
-\end{center}
-\end{figure}
-
-
-The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
-\item 
-/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8hpp}{BNO08x\+Rpt\+Raw\+MEMSMagnetometer.\+hpp}}\item 
-report/\mbox{\hyperlink{_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8cpp}{BNO08x\+Rpt\+Raw\+MEMSMagnetometer.\+cpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer__coll__graph.md5 b/documentation/latex/class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer__coll__graph.md5
deleted file mode 100644
index 8a5e338..0000000
--- a/documentation/latex/class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer__coll__graph.md5
+++ /dev/null
@@ -1 +0,0 @@
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-\hypertarget{class_b_n_o08x_rpt_shake_detector}{}\doxysection{BNO08x\+Rpt\+Shake\+Detector Class Reference}
-\label{class_b_n_o08x_rpt_shake_detector}\index{BNO08xRptShakeDetector@{BNO08xRptShakeDetector}}
-
-
-Class to represent shake detector reports. (See Ref. Manual 6.\+5.\+32)  
-
-
-
-
-{\ttfamily \#include $<$report/\+BNO08x\+Rpt\+Shake\+Detector.\+hpp$>$}
-
-
-
-Inheritance diagram for BNO08x\+Rpt\+Shake\+Detector\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=224pt]{class_b_n_o08x_rpt_shake_detector__inherit__graph}
-\end{center}
-\end{figure}
-
-
-Collaboration diagram for BNO08x\+Rpt\+Shake\+Detector\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=224pt]{class_b_n_o08x_rpt_shake_detector__coll__graph}
-\end{center}
-\end{figure}
-\doxysubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{class_b_n_o08x_rpt_shake_detector_a22021e497ed9a31b2070b884f7eb6bd8}{BNO08x\+Rpt\+Shake\+Detector}} (uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\+\_\+bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$\mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\+\_\+ctx}})
-\item 
-bool \mbox{\hyperlink{class_b_n_o08x_rpt_shake_detector_aa28fa73b51bd892f0239e647aa6ceeb8}{enable}} (uint32\+\_\+t time\+\_\+between\+\_\+reports, sh2\+\_\+\+Sensor\+Config\+\_\+t sensor\+\_\+cfg=BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg) override
-\begin{DoxyCompactList}\small\item\em Enables shake detector reports such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} begins sending them (only sends reports when a shake is detected). \end{DoxyCompactList}\item 
-\mbox{\hyperlink{structbno08x__shake__detector__t}{bno08x\+\_\+shake\+\_\+detector\+\_\+t}} \mbox{\hyperlink{class_b_n_o08x_rpt_shake_detector_adf134a67833f9e2c71f76858abc88ee6}{get}} ()
-\begin{DoxyCompactList}\small\item\em Grabs most recent shake detector detector data. \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Additional Inherited Members}
-
-
-\doxysubsection{Detailed Description}
-Class to represent shake detector reports. (See Ref. Manual 6.\+5.\+32) 
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_shake_detector_a22021e497ed9a31b2070b884f7eb6bd8}\label{class_b_n_o08x_rpt_shake_detector_a22021e497ed9a31b2070b884f7eb6bd8}} 
-\index{BNO08xRptShakeDetector@{BNO08xRptShakeDetector}!BNO08xRptShakeDetector@{BNO08xRptShakeDetector}}
-\index{BNO08xRptShakeDetector@{BNO08xRptShakeDetector}!BNO08xRptShakeDetector@{BNO08xRptShakeDetector}}
-\doxysubsubsection{\texorpdfstring{BNO08xRptShakeDetector()}{BNO08xRptShakeDetector()}}
-{\footnotesize\ttfamily BNO08x\+Rpt\+Shake\+Detector\+::\+BNO08x\+Rpt\+Shake\+Detector (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ID,  }\item[{Event\+Bits\+\_\+t}]{rpt\+\_\+bit,  }\item[{\mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$}]{sync\+\_\+ctx }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Function Documentation}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_shake_detector_aa28fa73b51bd892f0239e647aa6ceeb8}\label{class_b_n_o08x_rpt_shake_detector_aa28fa73b51bd892f0239e647aa6ceeb8}} 
-\index{BNO08xRptShakeDetector@{BNO08xRptShakeDetector}!enable@{enable}}
-\index{enable@{enable}!BNO08xRptShakeDetector@{BNO08xRptShakeDetector}}
-\doxysubsubsection{\texorpdfstring{enable()}{enable()}}
-{\footnotesize\ttfamily bool BNO08x\+Rpt\+Shake\+Detector\+::enable (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports,  }\item[{sh2\+\_\+\+Sensor\+Config\+\_\+t}]{sensor\+\_\+cfg = {\ttfamily BNO08xPrivateTypes\+:\+:default\+\_\+sensor\+\_\+cfg} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [override]}, {\ttfamily [virtual]}}
-
-
-
-Enables shake detector reports such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} begins sending them (only sends reports when a shake is detected). 
-
-
-\begin{DoxyParams}{Parameters}
-{\em report\+\_\+period\+\_\+us} & The period/interval of the report in microseconds. \\
-\hline
-{\em sensor\+\_\+cfg} & Sensor special configuration (optional, see BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg for defaults).\\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-True if report was successfully enabled. 
-\end{DoxyReturn}
-
-
-Implements \mbox{\hyperlink{class_b_n_o08x_rpt_a4ee529725467412df396d5c610ff7bb4}{BNO08x\+Rpt}}.
-
-Here is the call graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_rpt_shake_detector_aa28fa73b51bd892f0239e647aa6ceeb8_cgraph}
-\end{center}
-\end{figure}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_shake_detector_adf134a67833f9e2c71f76858abc88ee6}\label{class_b_n_o08x_rpt_shake_detector_adf134a67833f9e2c71f76858abc88ee6}} 
-\index{BNO08xRptShakeDetector@{BNO08xRptShakeDetector}!get@{get}}
-\index{get@{get}!BNO08xRptShakeDetector@{BNO08xRptShakeDetector}}
-\doxysubsubsection{\texorpdfstring{get()}{get()}}
-{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__shake__detector__t}{bno08x\+\_\+shake\+\_\+detector\+\_\+t}} BNO08x\+Rpt\+Shake\+Detector\+::get (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
-
-
-
-Grabs most recent shake detector detector data. 
-
-\begin{DoxyReturn}{Returns}
-Struct containing the requested data. 
-\end{DoxyReturn}
-Here is the call graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_rpt_shake_detector_adf134a67833f9e2c71f76858abc88ee6_cgraph}
-\end{center}
-\end{figure}
-
-
-The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
-\item 
-/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_shake_detector_8hpp}{BNO08x\+Rpt\+Shake\+Detector.\+hpp}}\item 
-report/\mbox{\hyperlink{_b_n_o08x_rpt_shake_detector_8cpp}{BNO08x\+Rpt\+Shake\+Detector.\+cpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/class_b_n_o08x_rpt_shake_detector__coll__graph.md5 b/documentation/latex/class_b_n_o08x_rpt_shake_detector__coll__graph.md5
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-19f7e3fed4b3f9a848235d5e9d320b43
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-7173003d309104e4ef696840b161e46e
\ No newline at end of file
diff --git a/documentation/latex/class_b_n_o08x_rpt_shake_detector_adf134a67833f9e2c71f76858abc88ee6_cgraph.pdf b/documentation/latex/class_b_n_o08x_rpt_shake_detector_adf134a67833f9e2c71f76858abc88ee6_cgraph.pdf
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diff --git a/documentation/latex/class_b_n_o08x_rpt_stability_classifier.tex b/documentation/latex/class_b_n_o08x_rpt_stability_classifier.tex
deleted file mode 100644
index 24f868a..0000000
--- a/documentation/latex/class_b_n_o08x_rpt_stability_classifier.tex
+++ /dev/null
@@ -1,138 +0,0 @@
-\hypertarget{class_b_n_o08x_rpt_stability_classifier}{}\doxysection{BNO08x\+Rpt\+Stability\+Classifier Class Reference}
-\label{class_b_n_o08x_rpt_stability_classifier}\index{BNO08xRptStabilityClassifier@{BNO08xRptStabilityClassifier}}
-
-
-Class to represent stability classifier reports. (See Ref. Manual 6.\+5.\+31)  
-
-
-
-
-{\ttfamily \#include $<$report/\+BNO08x\+Rpt\+Stability\+Classifier.\+hpp$>$}
-
-
-
-Inheritance diagram for BNO08x\+Rpt\+Stability\+Classifier\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=238pt]{class_b_n_o08x_rpt_stability_classifier__inherit__graph}
-\end{center}
-\end{figure}
-
-
-Collaboration diagram for BNO08x\+Rpt\+Stability\+Classifier\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=238pt]{class_b_n_o08x_rpt_stability_classifier__coll__graph}
-\end{center}
-\end{figure}
-\doxysubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{class_b_n_o08x_rpt_stability_classifier_a41052d651d03bccc414b14d6e9b670ab}{BNO08x\+Rpt\+Stability\+Classifier}} (uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\+\_\+bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$\mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\+\_\+ctx}})
-\item 
-bool \mbox{\hyperlink{class_b_n_o08x_rpt_stability_classifier_a4959110a01f638d04d87696d8a03dd60}{enable}} (uint32\+\_\+t time\+\_\+between\+\_\+reports, sh2\+\_\+\+Sensor\+Config\+\_\+t sensor\+\_\+cfg=BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg) override
-\begin{DoxyCompactList}\small\item\em Enables stability classifier reports such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} begins sending them. \end{DoxyCompactList}\item 
-\mbox{\hyperlink{structbno08x__stability__classifier__t}{bno08x\+\_\+stability\+\_\+classifier\+\_\+t}} \mbox{\hyperlink{class_b_n_o08x_rpt_stability_classifier_a552b8df91df3905c7e2242ee42d11931}{get}} ()
-\begin{DoxyCompactList}\small\item\em Grabs most recent stability classifier data. \end{DoxyCompactList}\item 
-\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cb}{BNO08x\+Stability}} \mbox{\hyperlink{class_b_n_o08x_rpt_stability_classifier_a8c8c794004f8b2a5e67656286beae7cd}{get\+\_\+stability}} ()
-\begin{DoxyCompactList}\small\item\em Grabs most recent stability classifier reading (excludes accuracy) \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Additional Inherited Members}
-
-
-\doxysubsection{Detailed Description}
-Class to represent stability classifier reports. (See Ref. Manual 6.\+5.\+31) 
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_stability_classifier_a41052d651d03bccc414b14d6e9b670ab}\label{class_b_n_o08x_rpt_stability_classifier_a41052d651d03bccc414b14d6e9b670ab}} 
-\index{BNO08xRptStabilityClassifier@{BNO08xRptStabilityClassifier}!BNO08xRptStabilityClassifier@{BNO08xRptStabilityClassifier}}
-\index{BNO08xRptStabilityClassifier@{BNO08xRptStabilityClassifier}!BNO08xRptStabilityClassifier@{BNO08xRptStabilityClassifier}}
-\doxysubsubsection{\texorpdfstring{BNO08xRptStabilityClassifier()}{BNO08xRptStabilityClassifier()}}
-{\footnotesize\ttfamily BNO08x\+Rpt\+Stability\+Classifier\+::\+BNO08x\+Rpt\+Stability\+Classifier (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ID,  }\item[{Event\+Bits\+\_\+t}]{rpt\+\_\+bit,  }\item[{\mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$}]{sync\+\_\+ctx }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Function Documentation}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_stability_classifier_a4959110a01f638d04d87696d8a03dd60}\label{class_b_n_o08x_rpt_stability_classifier_a4959110a01f638d04d87696d8a03dd60}} 
-\index{BNO08xRptStabilityClassifier@{BNO08xRptStabilityClassifier}!enable@{enable}}
-\index{enable@{enable}!BNO08xRptStabilityClassifier@{BNO08xRptStabilityClassifier}}
-\doxysubsubsection{\texorpdfstring{enable()}{enable()}}
-{\footnotesize\ttfamily bool BNO08x\+Rpt\+Stability\+Classifier\+::enable (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports,  }\item[{sh2\+\_\+\+Sensor\+Config\+\_\+t}]{sensor\+\_\+cfg = {\ttfamily BNO08xPrivateTypes\+:\+:default\+\_\+sensor\+\_\+cfg} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [override]}, {\ttfamily [virtual]}}
-
-
-
-Enables stability classifier reports such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} begins sending them. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em report\+\_\+period\+\_\+us} & The period/interval of the report in microseconds. \\
-\hline
-{\em sensor\+\_\+cfg} & Sensor special configuration (optional, see BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg for defaults).\\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-True if report was successfully enabled. 
-\end{DoxyReturn}
-
-
-Implements \mbox{\hyperlink{class_b_n_o08x_rpt_a4ee529725467412df396d5c610ff7bb4}{BNO08x\+Rpt}}.
-
-Here is the call graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_rpt_stability_classifier_a4959110a01f638d04d87696d8a03dd60_cgraph}
-\end{center}
-\end{figure}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_stability_classifier_a552b8df91df3905c7e2242ee42d11931}\label{class_b_n_o08x_rpt_stability_classifier_a552b8df91df3905c7e2242ee42d11931}} 
-\index{BNO08xRptStabilityClassifier@{BNO08xRptStabilityClassifier}!get@{get}}
-\index{get@{get}!BNO08xRptStabilityClassifier@{BNO08xRptStabilityClassifier}}
-\doxysubsubsection{\texorpdfstring{get()}{get()}}
-{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__stability__classifier__t}{bno08x\+\_\+stability\+\_\+classifier\+\_\+t}} BNO08x\+Rpt\+Stability\+Classifier\+::get (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
-
-
-
-Grabs most recent stability classifier data. 
-
-\begin{DoxyReturn}{Returns}
-BNO08x\+Stability enum object with detected state. 
-\end{DoxyReturn}
-Here is the call graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_rpt_stability_classifier_a552b8df91df3905c7e2242ee42d11931_cgraph}
-\end{center}
-\end{figure}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_stability_classifier_a8c8c794004f8b2a5e67656286beae7cd}\label{class_b_n_o08x_rpt_stability_classifier_a8c8c794004f8b2a5e67656286beae7cd}} 
-\index{BNO08xRptStabilityClassifier@{BNO08xRptStabilityClassifier}!get\_stability@{get\_stability}}
-\index{get\_stability@{get\_stability}!BNO08xRptStabilityClassifier@{BNO08xRptStabilityClassifier}}
-\doxysubsubsection{\texorpdfstring{get\_stability()}{get\_stability()}}
-{\footnotesize\ttfamily \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cb}{BNO08x\+Stability}} BNO08x\+Rpt\+Stability\+Classifier\+::get\+\_\+stability (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
-
-
-
-Grabs most recent stability classifier reading (excludes accuracy) 
-
-\begin{DoxyReturn}{Returns}
-BNO08x\+Stability enum object with detected state. 
-\end{DoxyReturn}
-Here is the call graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_rpt_stability_classifier_a8c8c794004f8b2a5e67656286beae7cd_cgraph}
-\end{center}
-\end{figure}
-
-
-The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
-\item 
-/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_stability_classifier_8hpp}{BNO08x\+Rpt\+Stability\+Classifier.\+hpp}}\item 
-report/\mbox{\hyperlink{_b_n_o08x_rpt_stability_classifier_8cpp}{BNO08x\+Rpt\+Stability\+Classifier.\+cpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/class_b_n_o08x_rpt_stability_classifier__coll__graph.md5 b/documentation/latex/class_b_n_o08x_rpt_stability_classifier__coll__graph.md5
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-\hypertarget{class_b_n_o08x_rpt_step_counter}{}\doxysection{BNO08x\+Rpt\+Step\+Counter Class Reference}
-\label{class_b_n_o08x_rpt_step_counter}\index{BNO08xRptStepCounter@{BNO08xRptStepCounter}}
-
-
-Class to represent step counter reports. (See Ref. Manual 6.\+5.\+29)  
-
-
-
-
-{\ttfamily \#include $<$report/\+BNO08x\+Rpt\+Step\+Counter.\+hpp$>$}
-
-
-
-Inheritance diagram for BNO08x\+Rpt\+Step\+Counter\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=213pt]{class_b_n_o08x_rpt_step_counter__inherit__graph}
-\end{center}
-\end{figure}
-
-
-Collaboration diagram for BNO08x\+Rpt\+Step\+Counter\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=213pt]{class_b_n_o08x_rpt_step_counter__coll__graph}
-\end{center}
-\end{figure}
-\doxysubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{class_b_n_o08x_rpt_step_counter_a0a85682a68010aa66ddb2ccc337263a0}{BNO08x\+Rpt\+Step\+Counter}} (uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\+\_\+bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$\mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\+\_\+ctx}})
-\item 
-bool \mbox{\hyperlink{class_b_n_o08x_rpt_step_counter_adf0a697561b064a7dd90a44009efbcf1}{enable}} (uint32\+\_\+t time\+\_\+between\+\_\+reports, sh2\+\_\+\+Sensor\+Config\+\_\+t sensor\+\_\+cfg=BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg) override
-\begin{DoxyCompactList}\small\item\em Enables step counter reports such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} begins sending them. \end{DoxyCompactList}\item 
-\mbox{\hyperlink{structbno08x__step__counter__t}{bno08x\+\_\+step\+\_\+counter\+\_\+t}} \mbox{\hyperlink{class_b_n_o08x_rpt_step_counter_affe413eea0483147578e58a1a9c5cd8f}{get}} ()
-\begin{DoxyCompactList}\small\item\em Grabs most recent step counter data (rollover not accounted for in step count, just most recent report data). \end{DoxyCompactList}\item 
-uint32\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_step_counter_a017b389771b4d8816b4cfd06c6d9184a}{get\+\_\+total\+\_\+steps}} ()
-\begin{DoxyCompactList}\small\item\em Grabs the total step count since boot, accounts for rollover in report data. \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Additional Inherited Members}
-
-
-\doxysubsection{Detailed Description}
-Class to represent step counter reports. (See Ref. Manual 6.\+5.\+29) 
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_step_counter_a0a85682a68010aa66ddb2ccc337263a0}\label{class_b_n_o08x_rpt_step_counter_a0a85682a68010aa66ddb2ccc337263a0}} 
-\index{BNO08xRptStepCounter@{BNO08xRptStepCounter}!BNO08xRptStepCounter@{BNO08xRptStepCounter}}
-\index{BNO08xRptStepCounter@{BNO08xRptStepCounter}!BNO08xRptStepCounter@{BNO08xRptStepCounter}}
-\doxysubsubsection{\texorpdfstring{BNO08xRptStepCounter()}{BNO08xRptStepCounter()}}
-{\footnotesize\ttfamily BNO08x\+Rpt\+Step\+Counter\+::\+BNO08x\+Rpt\+Step\+Counter (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ID,  }\item[{Event\+Bits\+\_\+t}]{rpt\+\_\+bit,  }\item[{\mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$}]{sync\+\_\+ctx }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Function Documentation}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_step_counter_adf0a697561b064a7dd90a44009efbcf1}\label{class_b_n_o08x_rpt_step_counter_adf0a697561b064a7dd90a44009efbcf1}} 
-\index{BNO08xRptStepCounter@{BNO08xRptStepCounter}!enable@{enable}}
-\index{enable@{enable}!BNO08xRptStepCounter@{BNO08xRptStepCounter}}
-\doxysubsubsection{\texorpdfstring{enable()}{enable()}}
-{\footnotesize\ttfamily bool BNO08x\+Rpt\+Step\+Counter\+::enable (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports,  }\item[{sh2\+\_\+\+Sensor\+Config\+\_\+t}]{sensor\+\_\+cfg = {\ttfamily BNO08xPrivateTypes\+:\+:default\+\_\+sensor\+\_\+cfg} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [override]}, {\ttfamily [virtual]}}
-
-
-
-Enables step counter reports such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} begins sending them. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em report\+\_\+period\+\_\+us} & The period/interval of the report in microseconds. \\
-\hline
-{\em sensor\+\_\+cfg} & Sensor special configuration (optional, see BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg for defaults).\\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-True if report was successfully enabled. 
-\end{DoxyReturn}
-
-
-Implements \mbox{\hyperlink{class_b_n_o08x_rpt_a4ee529725467412df396d5c610ff7bb4}{BNO08x\+Rpt}}.
-
-Here is the call graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_rpt_step_counter_adf0a697561b064a7dd90a44009efbcf1_cgraph}
-\end{center}
-\end{figure}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_step_counter_affe413eea0483147578e58a1a9c5cd8f}\label{class_b_n_o08x_rpt_step_counter_affe413eea0483147578e58a1a9c5cd8f}} 
-\index{BNO08xRptStepCounter@{BNO08xRptStepCounter}!get@{get}}
-\index{get@{get}!BNO08xRptStepCounter@{BNO08xRptStepCounter}}
-\doxysubsubsection{\texorpdfstring{get()}{get()}}
-{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__step__counter__t}{bno08x\+\_\+step\+\_\+counter\+\_\+t}} BNO08x\+Rpt\+Step\+Counter\+::get (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
-
-
-
-Grabs most recent step counter data (rollover not accounted for in step count, just most recent report data). 
-
-\begin{DoxyReturn}{Returns}
-Struct containing requested data. 
-\end{DoxyReturn}
-Here is the call graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_rpt_step_counter_affe413eea0483147578e58a1a9c5cd8f_cgraph}
-\end{center}
-\end{figure}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_step_counter_a017b389771b4d8816b4cfd06c6d9184a}\label{class_b_n_o08x_rpt_step_counter_a017b389771b4d8816b4cfd06c6d9184a}} 
-\index{BNO08xRptStepCounter@{BNO08xRptStepCounter}!get\_total\_steps@{get\_total\_steps}}
-\index{get\_total\_steps@{get\_total\_steps}!BNO08xRptStepCounter@{BNO08xRptStepCounter}}
-\doxysubsubsection{\texorpdfstring{get\_total\_steps()}{get\_total\_steps()}}
-{\footnotesize\ttfamily uint32\+\_\+t BNO08x\+Rpt\+Step\+Counter\+::get\+\_\+total\+\_\+steps (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
-
-
-
-Grabs the total step count since boot, accounts for rollover in report data. 
-
-\begin{DoxyReturn}{Returns}
-Total steps since boot. 
-\end{DoxyReturn}
-Here is the call graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_rpt_step_counter_a017b389771b4d8816b4cfd06c6d9184a_cgraph}
-\end{center}
-\end{figure}
-
-
-The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
-\item 
-/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_step_counter_8hpp}{BNO08x\+Rpt\+Step\+Counter.\+hpp}}\item 
-report/\mbox{\hyperlink{_b_n_o08x_rpt_step_counter_8cpp}{BNO08x\+Rpt\+Step\+Counter.\+cpp}}\end{DoxyCompactItemize}
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index b3606c2..0000000
--- a/documentation/latex/class_b_n_o08x_rpt_tap_detector.tex
+++ /dev/null
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-\hypertarget{class_b_n_o08x_rpt_tap_detector}{}\doxysection{BNO08x\+Rpt\+Tap\+Detector Class Reference}
-\label{class_b_n_o08x_rpt_tap_detector}\index{BNO08xRptTapDetector@{BNO08xRptTapDetector}}
-
-
-Class to represent tap detector reports. (See Ref. Manual 6.\+5.\+27)  
-
-
-
-
-{\ttfamily \#include $<$report/\+BNO08x\+Rpt\+Tap\+Detector.\+hpp$>$}
-
-
-
-Inheritance diagram for BNO08x\+Rpt\+Tap\+Detector\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=211pt]{class_b_n_o08x_rpt_tap_detector__inherit__graph}
-\end{center}
-\end{figure}
-
-
-Collaboration diagram for BNO08x\+Rpt\+Tap\+Detector\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=211pt]{class_b_n_o08x_rpt_tap_detector__coll__graph}
-\end{center}
-\end{figure}
-\doxysubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{class_b_n_o08x_rpt_tap_detector_ad4761f72a20f120e545b941b6e198b6a}{BNO08x\+Rpt\+Tap\+Detector}} (uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\+\_\+bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$\mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\+\_\+ctx}})
-\item 
-bool \mbox{\hyperlink{class_b_n_o08x_rpt_tap_detector_ad8b716b7a2f2c2f52113eaaf75a391dc}{enable}} (uint32\+\_\+t time\+\_\+between\+\_\+reports, sh2\+\_\+\+Sensor\+Config\+\_\+t sensor\+\_\+cfg=BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg) override
-\begin{DoxyCompactList}\small\item\em Enables tap detector reports such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} begins sending them (only sends reports when a tap is detected). \end{DoxyCompactList}\item 
-\mbox{\hyperlink{structbno08x__tap__detector__t}{bno08x\+\_\+tap\+\_\+detector\+\_\+t}} \mbox{\hyperlink{class_b_n_o08x_rpt_tap_detector_ac0c0642fbb086a480edf32c92a470a2e}{get}} ()
-\begin{DoxyCompactList}\small\item\em Grabs most recent tap detector detector data. \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Additional Inherited Members}
-
-
-\doxysubsection{Detailed Description}
-Class to represent tap detector reports. (See Ref. Manual 6.\+5.\+27) 
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_tap_detector_ad4761f72a20f120e545b941b6e198b6a}\label{class_b_n_o08x_rpt_tap_detector_ad4761f72a20f120e545b941b6e198b6a}} 
-\index{BNO08xRptTapDetector@{BNO08xRptTapDetector}!BNO08xRptTapDetector@{BNO08xRptTapDetector}}
-\index{BNO08xRptTapDetector@{BNO08xRptTapDetector}!BNO08xRptTapDetector@{BNO08xRptTapDetector}}
-\doxysubsubsection{\texorpdfstring{BNO08xRptTapDetector()}{BNO08xRptTapDetector()}}
-{\footnotesize\ttfamily BNO08x\+Rpt\+Tap\+Detector\+::\+BNO08x\+Rpt\+Tap\+Detector (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ID,  }\item[{Event\+Bits\+\_\+t}]{rpt\+\_\+bit,  }\item[{\mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$}]{sync\+\_\+ctx }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Function Documentation}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_tap_detector_ad8b716b7a2f2c2f52113eaaf75a391dc}\label{class_b_n_o08x_rpt_tap_detector_ad8b716b7a2f2c2f52113eaaf75a391dc}} 
-\index{BNO08xRptTapDetector@{BNO08xRptTapDetector}!enable@{enable}}
-\index{enable@{enable}!BNO08xRptTapDetector@{BNO08xRptTapDetector}}
-\doxysubsubsection{\texorpdfstring{enable()}{enable()}}
-{\footnotesize\ttfamily bool BNO08x\+Rpt\+Tap\+Detector\+::enable (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports,  }\item[{sh2\+\_\+\+Sensor\+Config\+\_\+t}]{sensor\+\_\+cfg = {\ttfamily BNO08xPrivateTypes\+:\+:default\+\_\+sensor\+\_\+cfg} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [override]}, {\ttfamily [virtual]}}
-
-
-
-Enables tap detector reports such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} begins sending them (only sends reports when a tap is detected). 
-
-
-\begin{DoxyParams}{Parameters}
-{\em time\+\_\+between\+\_\+reports} & The period/interval of the report in microseconds. \\
-\hline
-{\em sensor\+\_\+cfg} & Sensor special configuration (optional, see BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg for defaults).\\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-True if report was successfully enabled. 
-\end{DoxyReturn}
-
-
-Implements \mbox{\hyperlink{class_b_n_o08x_rpt_a4ee529725467412df396d5c610ff7bb4}{BNO08x\+Rpt}}.
-
-Here is the call graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_rpt_tap_detector_ad8b716b7a2f2c2f52113eaaf75a391dc_cgraph}
-\end{center}
-\end{figure}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_tap_detector_ac0c0642fbb086a480edf32c92a470a2e}\label{class_b_n_o08x_rpt_tap_detector_ac0c0642fbb086a480edf32c92a470a2e}} 
-\index{BNO08xRptTapDetector@{BNO08xRptTapDetector}!get@{get}}
-\index{get@{get}!BNO08xRptTapDetector@{BNO08xRptTapDetector}}
-\doxysubsubsection{\texorpdfstring{get()}{get()}}
-{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__tap__detector__t}{bno08x\+\_\+tap\+\_\+detector\+\_\+t}} BNO08x\+Rpt\+Tap\+Detector\+::get (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
-
-
-
-Grabs most recent tap detector detector data. 
-
-\begin{DoxyReturn}{Returns}
-Struct containing requested data; 
-\end{DoxyReturn}
-Here is the call graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_rpt_tap_detector_ac0c0642fbb086a480edf32c92a470a2e_cgraph}
-\end{center}
-\end{figure}
-
-
-The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
-\item 
-/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_tap_detector_8hpp}{BNO08x\+Rpt\+Tap\+Detector.\+hpp}}\item 
-report/\mbox{\hyperlink{_b_n_o08x_rpt_tap_detector_8cpp}{BNO08x\+Rpt\+Tap\+Detector.\+cpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/class_b_n_o08x_rpt_tap_detector__coll__graph.md5 b/documentation/latex/class_b_n_o08x_rpt_tap_detector__coll__graph.md5
deleted file mode 100644
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+++ /dev/null
@@ -1 +0,0 @@
-dfb17a910def6d4f8d284b31c20b7c99
\ No newline at end of file
diff --git a/documentation/latex/class_b_n_o08x_rpt_tap_detector__coll__graph.pdf b/documentation/latex/class_b_n_o08x_rpt_tap_detector__coll__graph.pdf
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-b7e09a32fd0806a4acb00aed399dbae8
\ No newline at end of file
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-db5633129dadcc4fdb401f0a405b448d
\ No newline at end of file
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-e8b60fcf61bc864403d6131b2a8a825a
\ No newline at end of file
diff --git a/documentation/latex/class_b_n_o08x_rpt_tap_detector_ad8b716b7a2f2c2f52113eaaf75a391dc_cgraph.pdf b/documentation/latex/class_b_n_o08x_rpt_tap_detector_ad8b716b7a2f2c2f52113eaaf75a391dc_cgraph.pdf
deleted file mode 100644
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diff --git a/documentation/latex/class_b_n_o08x_rpt_uncal_gyro.tex b/documentation/latex/class_b_n_o08x_rpt_uncal_gyro.tex
deleted file mode 100644
index 83344a3..0000000
--- a/documentation/latex/class_b_n_o08x_rpt_uncal_gyro.tex
+++ /dev/null
@@ -1,168 +0,0 @@
-\hypertarget{class_b_n_o08x_rpt_uncal_gyro}{}\doxysection{BNO08x\+Rpt\+Uncal\+Gyro Class Reference}
-\label{class_b_n_o08x_rpt_uncal_gyro}\index{BNO08xRptUncalGyro@{BNO08xRptUncalGyro}}
-
-
-Class to represent uncalibrated gyro reports. (See Ref. Manual 6.\+5.\+14)  
-
-
-
-
-{\ttfamily \#include $<$report/\+BNO08x\+Rpt\+Uncal\+Gyro.\+hpp$>$}
-
-
-
-Inheritance diagram for BNO08x\+Rpt\+Uncal\+Gyro\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=204pt]{class_b_n_o08x_rpt_uncal_gyro__inherit__graph}
-\end{center}
-\end{figure}
-
-
-Collaboration diagram for BNO08x\+Rpt\+Uncal\+Gyro\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=204pt]{class_b_n_o08x_rpt_uncal_gyro__coll__graph}
-\end{center}
-\end{figure}
-\doxysubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{class_b_n_o08x_rpt_uncal_gyro_a3b728331f32e6ca7854c64b06ca28ea8}{BNO08x\+Rpt\+Uncal\+Gyro}} (uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\+\_\+bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$\mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\+\_\+ctx}})
-\item 
-bool \mbox{\hyperlink{class_b_n_o08x_rpt_uncal_gyro_a404d36091a61af543c6fec7b6e077706}{enable}} (uint32\+\_\+t time\+\_\+between\+\_\+reports, sh2\+\_\+\+Sensor\+Config\+\_\+t sensor\+\_\+cfg=BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg) override
-\begin{DoxyCompactList}\small\item\em Enables uncalibrated gyro reports such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} begins sending them. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{class_b_n_o08x_rpt_uncal_gyro_ae2fec54b70d897124720abe1dcccd793}{get}} (\mbox{\hyperlink{structbno08x__gyro__t}{bno08x\+\_\+gyro\+\_\+t}} \&vel, \mbox{\hyperlink{structbno08x__gyro__bias__t}{bno08x\+\_\+gyro\+\_\+bias\+\_\+t}} \&bias)
-\begin{DoxyCompactList}\small\item\em Grabs most recent uncalibrated gyroscope data, units are in rad/s. \end{DoxyCompactList}\item 
-\mbox{\hyperlink{structbno08x__gyro__t}{bno08x\+\_\+gyro\+\_\+t}} \mbox{\hyperlink{class_b_n_o08x_rpt_uncal_gyro_a13c875a4ef09df3a82ac4bfa5109fdf7}{get\+\_\+vel}} ()
-\begin{DoxyCompactList}\small\item\em Grabs most recent uncalibrated gyroscope velocity data, units are in rad/s. \end{DoxyCompactList}\item 
-\mbox{\hyperlink{structbno08x__gyro__bias__t}{bno08x\+\_\+gyro\+\_\+bias\+\_\+t}} \mbox{\hyperlink{class_b_n_o08x_rpt_uncal_gyro_a08b722174d100d1d9363eaf4989a8ecd}{get\+\_\+bias}} ()
-\begin{DoxyCompactList}\small\item\em Grabs most recent uncalibrated gyroscope bias data, units are in rad/s. \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Additional Inherited Members}
-
-
-\doxysubsection{Detailed Description}
-Class to represent uncalibrated gyro reports. (See Ref. Manual 6.\+5.\+14) 
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_uncal_gyro_a3b728331f32e6ca7854c64b06ca28ea8}\label{class_b_n_o08x_rpt_uncal_gyro_a3b728331f32e6ca7854c64b06ca28ea8}} 
-\index{BNO08xRptUncalGyro@{BNO08xRptUncalGyro}!BNO08xRptUncalGyro@{BNO08xRptUncalGyro}}
-\index{BNO08xRptUncalGyro@{BNO08xRptUncalGyro}!BNO08xRptUncalGyro@{BNO08xRptUncalGyro}}
-\doxysubsubsection{\texorpdfstring{BNO08xRptUncalGyro()}{BNO08xRptUncalGyro()}}
-{\footnotesize\ttfamily BNO08x\+Rpt\+Uncal\+Gyro\+::\+BNO08x\+Rpt\+Uncal\+Gyro (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ID,  }\item[{Event\+Bits\+\_\+t}]{rpt\+\_\+bit,  }\item[{\mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$}]{sync\+\_\+ctx }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Function Documentation}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_uncal_gyro_a404d36091a61af543c6fec7b6e077706}\label{class_b_n_o08x_rpt_uncal_gyro_a404d36091a61af543c6fec7b6e077706}} 
-\index{BNO08xRptUncalGyro@{BNO08xRptUncalGyro}!enable@{enable}}
-\index{enable@{enable}!BNO08xRptUncalGyro@{BNO08xRptUncalGyro}}
-\doxysubsubsection{\texorpdfstring{enable()}{enable()}}
-{\footnotesize\ttfamily bool BNO08x\+Rpt\+Uncal\+Gyro\+::enable (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports,  }\item[{sh2\+\_\+\+Sensor\+Config\+\_\+t}]{sensor\+\_\+cfg = {\ttfamily BNO08xPrivateTypes\+:\+:default\+\_\+sensor\+\_\+cfg} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [override]}, {\ttfamily [virtual]}}
-
-
-
-Enables uncalibrated gyro reports such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} begins sending them. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em report\+\_\+period\+\_\+us} & The period/interval of the report in microseconds. \\
-\hline
-{\em sensor\+\_\+cfg} & Sensor special configuration (optional, see BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg for defaults).\\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-True if report was successfully enabled. 
-\end{DoxyReturn}
-
-
-Implements \mbox{\hyperlink{class_b_n_o08x_rpt_a4ee529725467412df396d5c610ff7bb4}{BNO08x\+Rpt}}.
-
-Here is the call graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_rpt_uncal_gyro_a404d36091a61af543c6fec7b6e077706_cgraph}
-\end{center}
-\end{figure}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_uncal_gyro_ae2fec54b70d897124720abe1dcccd793}\label{class_b_n_o08x_rpt_uncal_gyro_ae2fec54b70d897124720abe1dcccd793}} 
-\index{BNO08xRptUncalGyro@{BNO08xRptUncalGyro}!get@{get}}
-\index{get@{get}!BNO08xRptUncalGyro@{BNO08xRptUncalGyro}}
-\doxysubsubsection{\texorpdfstring{get()}{get()}}
-{\footnotesize\ttfamily void BNO08x\+Rpt\+Uncal\+Gyro\+::get (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{structbno08x__gyro__t}{bno08x\+\_\+gyro\+\_\+t}} \&}]{vel,  }\item[{\mbox{\hyperlink{structbno08x__gyro__bias__t}{bno08x\+\_\+gyro\+\_\+bias\+\_\+t}} \&}]{bias }\end{DoxyParamCaption})}
-
-
-
-Grabs most recent uncalibrated gyroscope data, units are in rad/s. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em vel} & Reference to save velocity data. \\
-\hline
-{\em bias} & Reference to save bias data.\\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-void, nothing to return 
-\end{DoxyReturn}
-Here is the call graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_rpt_uncal_gyro_ae2fec54b70d897124720abe1dcccd793_cgraph}
-\end{center}
-\end{figure}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_uncal_gyro_a08b722174d100d1d9363eaf4989a8ecd}\label{class_b_n_o08x_rpt_uncal_gyro_a08b722174d100d1d9363eaf4989a8ecd}} 
-\index{BNO08xRptUncalGyro@{BNO08xRptUncalGyro}!get\_bias@{get\_bias}}
-\index{get\_bias@{get\_bias}!BNO08xRptUncalGyro@{BNO08xRptUncalGyro}}
-\doxysubsubsection{\texorpdfstring{get\_bias()}{get\_bias()}}
-{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__gyro__bias__t}{bno08x\+\_\+gyro\+\_\+bias\+\_\+t}} BNO08x\+Rpt\+Uncal\+Gyro\+::get\+\_\+bias (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
-
-
-
-Grabs most recent uncalibrated gyroscope bias data, units are in rad/s. 
-
-\begin{DoxyReturn}{Returns}
-Struct containing requested data. 
-\end{DoxyReturn}
-Here is the call graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_rpt_uncal_gyro_a08b722174d100d1d9363eaf4989a8ecd_cgraph}
-\end{center}
-\end{figure}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_uncal_gyro_a13c875a4ef09df3a82ac4bfa5109fdf7}\label{class_b_n_o08x_rpt_uncal_gyro_a13c875a4ef09df3a82ac4bfa5109fdf7}} 
-\index{BNO08xRptUncalGyro@{BNO08xRptUncalGyro}!get\_vel@{get\_vel}}
-\index{get\_vel@{get\_vel}!BNO08xRptUncalGyro@{BNO08xRptUncalGyro}}
-\doxysubsubsection{\texorpdfstring{get\_vel()}{get\_vel()}}
-{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__gyro__t}{bno08x\+\_\+gyro\+\_\+t}} BNO08x\+Rpt\+Uncal\+Gyro\+::get\+\_\+vel (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
-
-
-
-Grabs most recent uncalibrated gyroscope velocity data, units are in rad/s. 
-
-\begin{DoxyReturn}{Returns}
-Struct containing requested data. 
-\end{DoxyReturn}
-Here is the call graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_rpt_uncal_gyro_a13c875a4ef09df3a82ac4bfa5109fdf7_cgraph}
-\end{center}
-\end{figure}
-
-
-The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
-\item 
-/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_uncal_gyro_8hpp}{BNO08x\+Rpt\+Uncal\+Gyro.\+hpp}}\item 
-report/\mbox{\hyperlink{_b_n_o08x_rpt_uncal_gyro_8cpp}{BNO08x\+Rpt\+Uncal\+Gyro.\+cpp}}\end{DoxyCompactItemize}
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-\hypertarget{class_b_n_o08x_rpt_uncal_magnetometer}{}\doxysection{BNO08x\+Rpt\+Uncal\+Magnetometer Class Reference}
-\label{class_b_n_o08x_rpt_uncal_magnetometer}\index{BNO08xRptUncalMagnetometer@{BNO08xRptUncalMagnetometer}}
-
-
-Class to represent uncalibrated magnetometer reports. (See Ref. Manual 6.\+5.\+17)  
-
-
-
-
-{\ttfamily \#include $<$report/\+BNO08x\+Rpt\+Uncal\+Magnetometer.\+hpp$>$}
-
-
-
-Inheritance diagram for BNO08x\+Rpt\+Uncal\+Magnetometer\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=253pt]{class_b_n_o08x_rpt_uncal_magnetometer__inherit__graph}
-\end{center}
-\end{figure}
-
-
-Collaboration diagram for BNO08x\+Rpt\+Uncal\+Magnetometer\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=253pt]{class_b_n_o08x_rpt_uncal_magnetometer__coll__graph}
-\end{center}
-\end{figure}
-\doxysubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{class_b_n_o08x_rpt_uncal_magnetometer_a8ac1f7e58879febd738b85a8035411a0}{BNO08x\+Rpt\+Uncal\+Magnetometer}} (uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\+\_\+bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$\mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\+\_\+ctx}})
-\item 
-bool \mbox{\hyperlink{class_b_n_o08x_rpt_uncal_magnetometer_a80ae48107ca1cc27551fd799625f2867}{enable}} (uint32\+\_\+t time\+\_\+between\+\_\+reports, sh2\+\_\+\+Sensor\+Config\+\_\+t sensor\+\_\+cfg=BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg) override
-\begin{DoxyCompactList}\small\item\em Enables uncalibrated magnetometer reports such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} begins sending them. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{class_b_n_o08x_rpt_uncal_magnetometer_ad4d5abc8875955b6236bbe526be1e8fb}{get}} (\mbox{\hyperlink{structbno08x__magf__t}{bno08x\+\_\+magf\+\_\+t}} \&magf, \mbox{\hyperlink{structbno08x__magf__bias__t}{bno08x\+\_\+magf\+\_\+bias\+\_\+t}} \&bias)
-\begin{DoxyCompactList}\small\item\em Grabs most recent uncalibrated magnetometer data, units are in u\+Tesla. \end{DoxyCompactList}\item 
-\mbox{\hyperlink{structbno08x__magf__t}{bno08x\+\_\+magf\+\_\+t}} \mbox{\hyperlink{class_b_n_o08x_rpt_uncal_magnetometer_ae5a99ef7523dcafc4638a538e141306b}{get\+\_\+magf}} ()
-\begin{DoxyCompactList}\small\item\em Grabs most recent uncalibrated magnetometer magnetic field data, units are in u\+Tesla. \end{DoxyCompactList}\item 
-\mbox{\hyperlink{structbno08x__magf__bias__t}{bno08x\+\_\+magf\+\_\+bias\+\_\+t}} \mbox{\hyperlink{class_b_n_o08x_rpt_uncal_magnetometer_aa6818f72419eaebb55cba9ffec28c704}{get\+\_\+bias}} ()
-\begin{DoxyCompactList}\small\item\em Grabs most recent uncalibrated magnetometer bias data, units are in u\+Tesla. \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Additional Inherited Members}
-
-
-\doxysubsection{Detailed Description}
-Class to represent uncalibrated magnetometer reports. (See Ref. Manual 6.\+5.\+17) 
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_uncal_magnetometer_a8ac1f7e58879febd738b85a8035411a0}\label{class_b_n_o08x_rpt_uncal_magnetometer_a8ac1f7e58879febd738b85a8035411a0}} 
-\index{BNO08xRptUncalMagnetometer@{BNO08xRptUncalMagnetometer}!BNO08xRptUncalMagnetometer@{BNO08xRptUncalMagnetometer}}
-\index{BNO08xRptUncalMagnetometer@{BNO08xRptUncalMagnetometer}!BNO08xRptUncalMagnetometer@{BNO08xRptUncalMagnetometer}}
-\doxysubsubsection{\texorpdfstring{BNO08xRptUncalMagnetometer()}{BNO08xRptUncalMagnetometer()}}
-{\footnotesize\ttfamily BNO08x\+Rpt\+Uncal\+Magnetometer\+::\+BNO08x\+Rpt\+Uncal\+Magnetometer (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ID,  }\item[{Event\+Bits\+\_\+t}]{rpt\+\_\+bit,  }\item[{\mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$}]{sync\+\_\+ctx }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Function Documentation}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_uncal_magnetometer_a80ae48107ca1cc27551fd799625f2867}\label{class_b_n_o08x_rpt_uncal_magnetometer_a80ae48107ca1cc27551fd799625f2867}} 
-\index{BNO08xRptUncalMagnetometer@{BNO08xRptUncalMagnetometer}!enable@{enable}}
-\index{enable@{enable}!BNO08xRptUncalMagnetometer@{BNO08xRptUncalMagnetometer}}
-\doxysubsubsection{\texorpdfstring{enable()}{enable()}}
-{\footnotesize\ttfamily bool BNO08x\+Rpt\+Uncal\+Magnetometer\+::enable (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports,  }\item[{sh2\+\_\+\+Sensor\+Config\+\_\+t}]{sensor\+\_\+cfg = {\ttfamily BNO08xPrivateTypes\+:\+:default\+\_\+sensor\+\_\+cfg} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [override]}, {\ttfamily [virtual]}}
-
-
-
-Enables uncalibrated magnetometer reports such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} begins sending them. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em report\+\_\+period\+\_\+us} & The period/interval of the report in microseconds. \\
-\hline
-{\em sensor\+\_\+cfg} & Sensor special configuration (optional, see BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg for defaults).\\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-True if report was successfully enabled. 
-\end{DoxyReturn}
-
-
-Implements \mbox{\hyperlink{class_b_n_o08x_rpt_a4ee529725467412df396d5c610ff7bb4}{BNO08x\+Rpt}}.
-
-Here is the call graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_rpt_uncal_magnetometer_a80ae48107ca1cc27551fd799625f2867_cgraph}
-\end{center}
-\end{figure}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_uncal_magnetometer_ad4d5abc8875955b6236bbe526be1e8fb}\label{class_b_n_o08x_rpt_uncal_magnetometer_ad4d5abc8875955b6236bbe526be1e8fb}} 
-\index{BNO08xRptUncalMagnetometer@{BNO08xRptUncalMagnetometer}!get@{get}}
-\index{get@{get}!BNO08xRptUncalMagnetometer@{BNO08xRptUncalMagnetometer}}
-\doxysubsubsection{\texorpdfstring{get()}{get()}}
-{\footnotesize\ttfamily void BNO08x\+Rpt\+Uncal\+Magnetometer\+::get (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{structbno08x__magf__t}{bno08x\+\_\+magf\+\_\+t}} \&}]{magf,  }\item[{\mbox{\hyperlink{structbno08x__magf__bias__t}{bno08x\+\_\+magf\+\_\+bias\+\_\+t}} \&}]{bias }\end{DoxyParamCaption})}
-
-
-
-Grabs most recent uncalibrated magnetometer data, units are in u\+Tesla. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em magf} & Struct to store requested magf data. \\
-\hline
-{\em bias} & Struct to store requested bias data.\\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-void, nothing to return 
-\end{DoxyReturn}
-Here is the call graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_rpt_uncal_magnetometer_ad4d5abc8875955b6236bbe526be1e8fb_cgraph}
-\end{center}
-\end{figure}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_uncal_magnetometer_aa6818f72419eaebb55cba9ffec28c704}\label{class_b_n_o08x_rpt_uncal_magnetometer_aa6818f72419eaebb55cba9ffec28c704}} 
-\index{BNO08xRptUncalMagnetometer@{BNO08xRptUncalMagnetometer}!get\_bias@{get\_bias}}
-\index{get\_bias@{get\_bias}!BNO08xRptUncalMagnetometer@{BNO08xRptUncalMagnetometer}}
-\doxysubsubsection{\texorpdfstring{get\_bias()}{get\_bias()}}
-{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__magf__bias__t}{bno08x\+\_\+magf\+\_\+bias\+\_\+t}} BNO08x\+Rpt\+Uncal\+Magnetometer\+::get\+\_\+bias (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
-
-
-
-Grabs most recent uncalibrated magnetometer bias data, units are in u\+Tesla. 
-
-\begin{DoxyReturn}{Returns}
-Struct containing requested data. 
-\end{DoxyReturn}
-Here is the call graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_rpt_uncal_magnetometer_aa6818f72419eaebb55cba9ffec28c704_cgraph}
-\end{center}
-\end{figure}
-\mbox{\Hypertarget{class_b_n_o08x_rpt_uncal_magnetometer_ae5a99ef7523dcafc4638a538e141306b}\label{class_b_n_o08x_rpt_uncal_magnetometer_ae5a99ef7523dcafc4638a538e141306b}} 
-\index{BNO08xRptUncalMagnetometer@{BNO08xRptUncalMagnetometer}!get\_magf@{get\_magf}}
-\index{get\_magf@{get\_magf}!BNO08xRptUncalMagnetometer@{BNO08xRptUncalMagnetometer}}
-\doxysubsubsection{\texorpdfstring{get\_magf()}{get\_magf()}}
-{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__magf__t}{bno08x\+\_\+magf\+\_\+t}} BNO08x\+Rpt\+Uncal\+Magnetometer\+::get\+\_\+magf (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
-
-
-
-Grabs most recent uncalibrated magnetometer magnetic field data, units are in u\+Tesla. 
-
-\begin{DoxyReturn}{Returns}
-Struct containing requested data. 
-\end{DoxyReturn}
-Here is the call graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_rpt_uncal_magnetometer_ae5a99ef7523dcafc4638a538e141306b_cgraph}
-\end{center}
-\end{figure}
-
-
-The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
-\item 
-/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_uncal_magnetometer_8hpp}{BNO08x\+Rpt\+Uncal\+Magnetometer.\+hpp}}\item 
-report/\mbox{\hyperlink{_b_n_o08x_rpt_uncal_magnetometer_8cpp}{BNO08x\+Rpt\+Uncal\+Magnetometer.\+cpp}}\end{DoxyCompactItemize}
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-\hypertarget{class_b_n_o08x_s_h2_h_a_l}{}\doxysection{BNO08x\+SH2\+HAL Class Reference}
-\label{class_b_n_o08x_s_h2_h_a_l}\index{BNO08xSH2HAL@{BNO08xSH2HAL}}
-
-
-Fully static class containing callback implementations for sh2 HAL lib.  
-
-
-
-
-{\ttfamily \#include $<$BNO08x\+SH2\+HAL.\+hpp$>$}
-
-\doxysubsection*{Static Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-static void \mbox{\hyperlink{class_b_n_o08x_s_h2_h_a_l_a236ccf0ff8d36060b465bc1f4f0a37fa}{set\+\_\+hal\+\_\+imu}} (\mbox{\hyperlink{class_b_n_o08x}{BNO08x}} $\ast$hal\+\_\+imu)
-\begin{DoxyCompactList}\small\item\em Sets the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} driver object to be used with sh2 HAL lib callbacks. \end{DoxyCompactList}\item 
-static int \mbox{\hyperlink{class_b_n_o08x_s_h2_h_a_l_ae079b1384cba806a778eb0e27f981da0}{spi\+\_\+open}} (sh2\+\_\+\+Hal\+\_\+t $\ast$self)
-\begin{DoxyCompactList}\small\item\em Opens SPI instance by waiting for interrupt. \end{DoxyCompactList}\item 
-static void \mbox{\hyperlink{class_b_n_o08x_s_h2_h_a_l_a5fa6b901d1790fcd7dc0905f62ae040f}{spi\+\_\+close}} (sh2\+\_\+\+Hal\+\_\+t $\ast$self)
-\begin{DoxyCompactList}\small\item\em Closes SPI instance (nothing to do here, but required by sh2 HAL lib for cases where other communication protocols are used.) \end{DoxyCompactList}\item 
-static int \mbox{\hyperlink{class_b_n_o08x_s_h2_h_a_l_a3e691461235b3e3c59866ac179d06f25}{spi\+\_\+read}} (sh2\+\_\+\+Hal\+\_\+t $\ast$self, uint8\+\_\+t $\ast$p\+Buffer, unsigned len, uint32\+\_\+t $\ast$t\+\_\+us)
-\begin{DoxyCompactList}\small\item\em SPI rx callback for sh2 HAL lib. \end{DoxyCompactList}\item 
-static int \mbox{\hyperlink{class_b_n_o08x_s_h2_h_a_l_a96d5b8fa7669f22cd0ecaf1feee13299}{spi\+\_\+write}} (sh2\+\_\+\+Hal\+\_\+t $\ast$self, uint8\+\_\+t $\ast$p\+Buffer, unsigned len)
-\begin{DoxyCompactList}\small\item\em SPI tx callback for sh2 HAL lib. \end{DoxyCompactList}\item 
-static uint32\+\_\+t \mbox{\hyperlink{class_b_n_o08x_s_h2_h_a_l_ad89b6a3166e2eee003ad87a517a31cd5}{get\+\_\+time\+\_\+us}} (sh2\+\_\+\+Hal\+\_\+t $\ast$self)
-\begin{DoxyCompactList}\small\item\em Get time in microseconds callback for sh2 HAL lib. \end{DoxyCompactList}\item 
-static void \mbox{\hyperlink{class_b_n_o08x_s_h2_h_a_l_a1add67e38698c9f33541af7bd2912d8f}{hal\+\_\+cb}} (void $\ast$cookie, sh2\+\_\+\+Async\+Event\+\_\+t $\ast$p\+Event)
-\begin{DoxyCompactList}\small\item\em General event callback for sh2 HAL lib, used to notify tasks of reset. \end{DoxyCompactList}\item 
-static void \mbox{\hyperlink{class_b_n_o08x_s_h2_h_a_l_a19c041ef614d7eda85b94b10202a3997}{sensor\+\_\+event\+\_\+cb}} (void $\ast$cookie, sh2\+\_\+\+Sensor\+Event\+\_\+t $\ast$event)
-\begin{DoxyCompactList}\small\item\em Sensor event callback for sh2 HAL lib, sends received reports to data\+\_\+proc\+\_\+task(). \end{DoxyCompactList}\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-Fully static class containing callback implementations for sh2 HAL lib. 
-
-\doxysubsection{Member Function Documentation}
-\mbox{\Hypertarget{class_b_n_o08x_s_h2_h_a_l_ad89b6a3166e2eee003ad87a517a31cd5}\label{class_b_n_o08x_s_h2_h_a_l_ad89b6a3166e2eee003ad87a517a31cd5}} 
-\index{BNO08xSH2HAL@{BNO08xSH2HAL}!get\_time\_us@{get\_time\_us}}
-\index{get\_time\_us@{get\_time\_us}!BNO08xSH2HAL@{BNO08xSH2HAL}}
-\doxysubsubsection{\texorpdfstring{get\_time\_us()}{get\_time\_us()}}
-{\footnotesize\ttfamily uint32\+\_\+t BNO08x\+SH2\+HAL\+::get\+\_\+time\+\_\+us (\begin{DoxyParamCaption}\item[{sh2\+\_\+\+Hal\+\_\+t $\ast$}]{self }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [static]}}
-
-
-
-Get time in microseconds callback for sh2 HAL lib. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em self} & sh2 HAL lib object being used with \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} driver instance.\\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-Time in microseconds. 
-\end{DoxyReturn}
-\mbox{\Hypertarget{class_b_n_o08x_s_h2_h_a_l_a1add67e38698c9f33541af7bd2912d8f}\label{class_b_n_o08x_s_h2_h_a_l_a1add67e38698c9f33541af7bd2912d8f}} 
-\index{BNO08xSH2HAL@{BNO08xSH2HAL}!hal\_cb@{hal\_cb}}
-\index{hal\_cb@{hal\_cb}!BNO08xSH2HAL@{BNO08xSH2HAL}}
-\doxysubsubsection{\texorpdfstring{hal\_cb()}{hal\_cb()}}
-{\footnotesize\ttfamily void BNO08x\+SH2\+HAL\+::hal\+\_\+cb (\begin{DoxyParamCaption}\item[{void $\ast$}]{cookie,  }\item[{sh2\+\_\+\+Async\+Event\+\_\+t $\ast$}]{p\+Event }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [static]}}
-
-
-
-General event callback for sh2 HAL lib, used to notify tasks of reset. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em cookie} & User set input parameter as void pointer (unused), see sh2\+\_\+\+Open(). \\
-\hline
-{\em p\+Event} & Pointer to asynchronous event.\\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-void, nothing to return 
-\end{DoxyReturn}
-\mbox{\Hypertarget{class_b_n_o08x_s_h2_h_a_l_a19c041ef614d7eda85b94b10202a3997}\label{class_b_n_o08x_s_h2_h_a_l_a19c041ef614d7eda85b94b10202a3997}} 
-\index{BNO08xSH2HAL@{BNO08xSH2HAL}!sensor\_event\_cb@{sensor\_event\_cb}}
-\index{sensor\_event\_cb@{sensor\_event\_cb}!BNO08xSH2HAL@{BNO08xSH2HAL}}
-\doxysubsubsection{\texorpdfstring{sensor\_event\_cb()}{sensor\_event\_cb()}}
-{\footnotesize\ttfamily void BNO08x\+SH2\+HAL\+::sensor\+\_\+event\+\_\+cb (\begin{DoxyParamCaption}\item[{void $\ast$}]{cookie,  }\item[{sh2\+\_\+\+Sensor\+Event\+\_\+t $\ast$}]{event }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [static]}}
-
-
-
-Sensor event callback for sh2 HAL lib, sends received reports to data\+\_\+proc\+\_\+task(). 
-
-
-\begin{DoxyParams}{Parameters}
-{\em cookie} & User set input parameter as void pointer (unused), see sh2\+\_\+\+Open(). \\
-\hline
-{\em event} & Pointer to sensor event.\\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-void, nothing to return 
-\end{DoxyReturn}
-\mbox{\Hypertarget{class_b_n_o08x_s_h2_h_a_l_a236ccf0ff8d36060b465bc1f4f0a37fa}\label{class_b_n_o08x_s_h2_h_a_l_a236ccf0ff8d36060b465bc1f4f0a37fa}} 
-\index{BNO08xSH2HAL@{BNO08xSH2HAL}!set\_hal\_imu@{set\_hal\_imu}}
-\index{set\_hal\_imu@{set\_hal\_imu}!BNO08xSH2HAL@{BNO08xSH2HAL}}
-\doxysubsubsection{\texorpdfstring{set\_hal\_imu()}{set\_hal\_imu()}}
-{\footnotesize\ttfamily void BNO08x\+SH2\+HAL\+::set\+\_\+hal\+\_\+imu (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{class_b_n_o08x}{BNO08x}} $\ast$}]{hal\+\_\+imu }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [static]}}
-
-
-
-Sets the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} driver object to be used with sh2 HAL lib callbacks. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em hal\+\_\+imu} & Pointer to \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} driver object to be used with sh2 HAL lib callbacks.\\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-void, nothing to return 
-\end{DoxyReturn}
-\mbox{\Hypertarget{class_b_n_o08x_s_h2_h_a_l_a5fa6b901d1790fcd7dc0905f62ae040f}\label{class_b_n_o08x_s_h2_h_a_l_a5fa6b901d1790fcd7dc0905f62ae040f}} 
-\index{BNO08xSH2HAL@{BNO08xSH2HAL}!spi\_close@{spi\_close}}
-\index{spi\_close@{spi\_close}!BNO08xSH2HAL@{BNO08xSH2HAL}}
-\doxysubsubsection{\texorpdfstring{spi\_close()}{spi\_close()}}
-{\footnotesize\ttfamily void BNO08x\+SH2\+HAL\+::spi\+\_\+close (\begin{DoxyParamCaption}\item[{sh2\+\_\+\+Hal\+\_\+t $\ast$}]{self }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [static]}}
-
-
-
-Closes SPI instance (nothing to do here, but required by sh2 HAL lib for cases where other communication protocols are used.) 
-
-\begin{DoxyReturn}{Returns}
-void, nothing to return 
-\end{DoxyReturn}
-\mbox{\Hypertarget{class_b_n_o08x_s_h2_h_a_l_ae079b1384cba806a778eb0e27f981da0}\label{class_b_n_o08x_s_h2_h_a_l_ae079b1384cba806a778eb0e27f981da0}} 
-\index{BNO08xSH2HAL@{BNO08xSH2HAL}!spi\_open@{spi\_open}}
-\index{spi\_open@{spi\_open}!BNO08xSH2HAL@{BNO08xSH2HAL}}
-\doxysubsubsection{\texorpdfstring{spi\_open()}{spi\_open()}}
-{\footnotesize\ttfamily int BNO08x\+SH2\+HAL\+::spi\+\_\+open (\begin{DoxyParamCaption}\item[{sh2\+\_\+\+Hal\+\_\+t $\ast$}]{self }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [static]}}
-
-
-
-Opens SPI instance by waiting for interrupt. 
-
-\begin{DoxyReturn}{Returns}
-Always returns 0. 
-\end{DoxyReturn}
-\mbox{\Hypertarget{class_b_n_o08x_s_h2_h_a_l_a3e691461235b3e3c59866ac179d06f25}\label{class_b_n_o08x_s_h2_h_a_l_a3e691461235b3e3c59866ac179d06f25}} 
-\index{BNO08xSH2HAL@{BNO08xSH2HAL}!spi\_read@{spi\_read}}
-\index{spi\_read@{spi\_read}!BNO08xSH2HAL@{BNO08xSH2HAL}}
-\doxysubsubsection{\texorpdfstring{spi\_read()}{spi\_read()}}
-{\footnotesize\ttfamily int BNO08x\+SH2\+HAL\+::spi\+\_\+read (\begin{DoxyParamCaption}\item[{sh2\+\_\+\+Hal\+\_\+t $\ast$}]{self,  }\item[{uint8\+\_\+t $\ast$}]{p\+Buffer,  }\item[{unsigned}]{len,  }\item[{uint32\+\_\+t $\ast$}]{t\+\_\+us }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [static]}}
-
-
-
-SPI rx callback for sh2 HAL lib. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em self} & sh2 HAL lib object being used with \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} driver instance. \\
-\hline
-{\em p\+Buffer} & Buffer to store received packet. \\
-\hline
-{\em len} & Length of bytes to read. \\
-\hline
-{\em t\+\_\+us} & Time in microseconds (unused, forced sh2 HAL lib required function type)\\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-Size of received packet in bytes, 0 on failure. 
-\end{DoxyReturn}
-\mbox{\Hypertarget{class_b_n_o08x_s_h2_h_a_l_a96d5b8fa7669f22cd0ecaf1feee13299}\label{class_b_n_o08x_s_h2_h_a_l_a96d5b8fa7669f22cd0ecaf1feee13299}} 
-\index{BNO08xSH2HAL@{BNO08xSH2HAL}!spi\_write@{spi\_write}}
-\index{spi\_write@{spi\_write}!BNO08xSH2HAL@{BNO08xSH2HAL}}
-\doxysubsubsection{\texorpdfstring{spi\_write()}{spi\_write()}}
-{\footnotesize\ttfamily int BNO08x\+SH2\+HAL\+::spi\+\_\+write (\begin{DoxyParamCaption}\item[{sh2\+\_\+\+Hal\+\_\+t $\ast$}]{self,  }\item[{uint8\+\_\+t $\ast$}]{p\+Buffer,  }\item[{unsigned}]{len }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [static]}}
-
-
-
-SPI tx callback for sh2 HAL lib. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em self} & sh2 HAL lib object being used with \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} driver instance. \\
-\hline
-{\em p\+Buffer} & Buffer containing data to write. \\
-\hline
-{\em len} & Length in bytes to write.\\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-Size of sent data (len param), 0 on failure. 
-\end{DoxyReturn}
-
-
-The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
-\item 
-/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\mbox{\hyperlink{_b_n_o08x_s_h2_h_a_l_8hpp}{BNO08x\+SH2\+HAL.\+hpp}}\item 
-\mbox{\hyperlink{_b_n_o08x_s_h2_h_a_l_8cpp}{BNO08x\+SH2\+HAL.\+cpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/class_b_n_o08x_test_helper.tex b/documentation/latex/class_b_n_o08x_test_helper.tex
deleted file mode 100644
index 05c9dd9..0000000
--- a/documentation/latex/class_b_n_o08x_test_helper.tex
+++ /dev/null
@@ -1,333 +0,0 @@
-\hypertarget{class_b_n_o08x_test_helper}{}\doxysection{BNO08x\+Test\+Helper Class Reference}
-\label{class_b_n_o08x_test_helper}\index{BNO08xTestHelper@{BNO08xTestHelper}}
-
-
-\mbox{\hyperlink{class_b_n_o08x}{BNO08x}} unit test helper class.  
-
-
-
-
-{\ttfamily \#include $<$BNO08x\+Test\+Helper.\+hpp$>$}
-
-\doxysubsection*{Static Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-static void \mbox{\hyperlink{class_b_n_o08x_test_helper_a066f8389fd1c682ec9565ebc3060d885}{print\+\_\+test\+\_\+start\+\_\+banner}} (const char $\ast$TEST\+\_\+\+TAG)
-\begin{DoxyCompactList}\small\item\em Prints test begin banner. \end{DoxyCompactList}\item 
-static void \mbox{\hyperlink{class_b_n_o08x_test_helper_a16423fc3250e88eb5392800022f82919}{print\+\_\+test\+\_\+end\+\_\+banner}} (const char $\ast$TEST\+\_\+\+TAG)
-\begin{DoxyCompactList}\small\item\em Prints end begin banner. \end{DoxyCompactList}\item 
-static void \mbox{\hyperlink{class_b_n_o08x_test_helper_a23593453a05f7cac26fd341371197a8c}{print\+\_\+test\+\_\+msg}} (const char $\ast$TEST\+\_\+\+TAG, const char $\ast$msg)
-\begin{DoxyCompactList}\small\item\em Prints a message during a test. \end{DoxyCompactList}\item 
-static void \mbox{\hyperlink{class_b_n_o08x_test_helper_a9e2f9bf13f28f1a6ba87e86bc5947cf1}{set\+\_\+test\+\_\+imu\+\_\+cfg}} (\mbox{\hyperlink{structbno08x__config__t}{bno08x\+\_\+config\+\_\+t}} cfg)
-\begin{DoxyCompactList}\small\item\em Set test imu configuration used with \mbox{\hyperlink{class_b_n_o08x_test_helper_a6bd040c7d670a9713f2ab8a8a3913518}{create\+\_\+test\+\_\+imu()}} \end{DoxyCompactList}\item 
-static void \mbox{\hyperlink{class_b_n_o08x_test_helper_a6bd040c7d670a9713f2ab8a8a3913518}{create\+\_\+test\+\_\+imu}} ()
-\begin{DoxyCompactList}\small\item\em Calls \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} constructor and creates new test IMU on heap. \end{DoxyCompactList}\item 
-static void \mbox{\hyperlink{class_b_n_o08x_test_helper_ae2d6df7dcfdbd106c2247803461bbc40}{destroy\+\_\+test\+\_\+imu}} ()
-\begin{DoxyCompactList}\small\item\em Deletes test IMU calling deconstructor and releases heap allocated memory. \end{DoxyCompactList}\item 
-static \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} $\ast$ \mbox{\hyperlink{class_b_n_o08x_test_helper_a41a432a3fe288e45b6ab139a00bd7d6b}{get\+\_\+test\+\_\+imu}} ()
-\begin{DoxyCompactList}\small\item\em Deletes test IMU calling deconstructor and releases heap allocated memory. \end{DoxyCompactList}\item 
-static esp\+\_\+err\+\_\+t \mbox{\hyperlink{class_b_n_o08x_test_helper_a71d9fd7d459a98a7e9089a8587a21f8d}{call\+\_\+init\+\_\+config\+\_\+args}} ()
-\begin{DoxyCompactList}\small\item\em Used to call private BNO08x\+::init\+\_\+config\+\_\+args() member for tests. \end{DoxyCompactList}\item 
-static esp\+\_\+err\+\_\+t \mbox{\hyperlink{class_b_n_o08x_test_helper_a504749533ccd91890d73440809d38161}{call\+\_\+init\+\_\+gpio}} ()
-\begin{DoxyCompactList}\small\item\em Used to call private BNO08x\+::init\+\_\+gpio() member for tests. \end{DoxyCompactList}\item 
-static esp\+\_\+err\+\_\+t \mbox{\hyperlink{class_b_n_o08x_test_helper_a836c928981ac85d34668c9b97af17a15}{call\+\_\+init\+\_\+hint\+\_\+isr}} ()
-\begin{DoxyCompactList}\small\item\em Used to call private BNO08x\+::init\+\_\+hint\+\_\+isr() member for tests. \end{DoxyCompactList}\item 
-static esp\+\_\+err\+\_\+t \mbox{\hyperlink{class_b_n_o08x_test_helper_a7d2d784da1e850dab41154b35d7cdab5}{call\+\_\+init\+\_\+spi}} ()
-\begin{DoxyCompactList}\small\item\em Used to call private BNO08x\+::init\+\_\+spi() member for tests. \end{DoxyCompactList}\item 
-static esp\+\_\+err\+\_\+t \mbox{\hyperlink{class_b_n_o08x_test_helper_a935a69784981caf90b4e135e3e257db4}{call\+\_\+init\+\_\+tasks}} ()
-\begin{DoxyCompactList}\small\item\em Used to call private BNO08x\+::init\+\_\+tasks() member for tests. \end{DoxyCompactList}\item 
-static esp\+\_\+err\+\_\+t \mbox{\hyperlink{class_b_n_o08x_test_helper_a854c60f602fe6d9af1da1a07eee0a449}{call\+\_\+init\+\_\+sh2\+\_\+\+HAL}} ()
-\begin{DoxyCompactList}\small\item\em Used to call private BNO08x\+::init\+\_\+tasks() member for tests. \end{DoxyCompactList}\item 
-static esp\+\_\+err\+\_\+t \mbox{\hyperlink{class_b_n_o08x_test_helper_a347b8ca2697388394b7cb68c8895494b}{call\+\_\+deinit\+\_\+gpio}} ()
-\begin{DoxyCompactList}\small\item\em Used to call private BNO08x\+::deinit\+\_\+gpio() member for tests. \end{DoxyCompactList}\item 
-static esp\+\_\+err\+\_\+t \mbox{\hyperlink{class_b_n_o08x_test_helper_ac15a216ea5561b190f25f83caa749261}{call\+\_\+deinit\+\_\+hint\+\_\+isr}} ()
-\begin{DoxyCompactList}\small\item\em Used to call private BNO08x\+::deinit\+\_\+hint\+\_\+isr() member for tests. \end{DoxyCompactList}\item 
-static esp\+\_\+err\+\_\+t \mbox{\hyperlink{class_b_n_o08x_test_helper_a56ec98df9439461469bf0d2c23bb3868}{call\+\_\+deinit\+\_\+spi}} ()
-\begin{DoxyCompactList}\small\item\em Used to call private BNO08x\+::deinit\+\_\+spi() member for tests. \end{DoxyCompactList}\item 
-static esp\+\_\+err\+\_\+t \mbox{\hyperlink{class_b_n_o08x_test_helper_a3be103abfab70eef3c1b1609a0c46bec}{call\+\_\+deinit\+\_\+tasks}} ()
-\begin{DoxyCompactList}\small\item\em Used to call private BNO08x\+::deinit\+\_\+tasks() member for tests. \end{DoxyCompactList}\item 
-static esp\+\_\+err\+\_\+t \mbox{\hyperlink{class_b_n_o08x_test_helper_ab1f8d61956fbceecf0baf08cb878397d}{call\+\_\+deinit\+\_\+sh2\+\_\+\+HAL}} ()
-\begin{DoxyCompactList}\small\item\em Used to call private BNO08x\+::deinit\+\_\+tasks() member for tests. \end{DoxyCompactList}\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-\mbox{\hyperlink{class_b_n_o08x}{BNO08x}} unit test helper class. 
-
-\doxysubsection{Member Function Documentation}
-\mbox{\Hypertarget{class_b_n_o08x_test_helper_a347b8ca2697388394b7cb68c8895494b}\label{class_b_n_o08x_test_helper_a347b8ca2697388394b7cb68c8895494b}} 
-\index{BNO08xTestHelper@{BNO08xTestHelper}!call\_deinit\_gpio@{call\_deinit\_gpio}}
-\index{call\_deinit\_gpio@{call\_deinit\_gpio}!BNO08xTestHelper@{BNO08xTestHelper}}
-\doxysubsubsection{\texorpdfstring{call\_deinit\_gpio()}{call\_deinit\_gpio()}}
-{\footnotesize\ttfamily static esp\+\_\+err\+\_\+t BNO08x\+Test\+Helper\+::call\+\_\+deinit\+\_\+gpio (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [static]}}
-
-
-
-Used to call private BNO08x\+::deinit\+\_\+gpio() member for tests. 
-
-\begin{DoxyReturn}{Returns}
-ESP\+\_\+\+OK if deinit succeeded. 
-\end{DoxyReturn}
-\mbox{\Hypertarget{class_b_n_o08x_test_helper_ac15a216ea5561b190f25f83caa749261}\label{class_b_n_o08x_test_helper_ac15a216ea5561b190f25f83caa749261}} 
-\index{BNO08xTestHelper@{BNO08xTestHelper}!call\_deinit\_hint\_isr@{call\_deinit\_hint\_isr}}
-\index{call\_deinit\_hint\_isr@{call\_deinit\_hint\_isr}!BNO08xTestHelper@{BNO08xTestHelper}}
-\doxysubsubsection{\texorpdfstring{call\_deinit\_hint\_isr()}{call\_deinit\_hint\_isr()}}
-{\footnotesize\ttfamily static esp\+\_\+err\+\_\+t BNO08x\+Test\+Helper\+::call\+\_\+deinit\+\_\+hint\+\_\+isr (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [static]}}
-
-
-
-Used to call private BNO08x\+::deinit\+\_\+hint\+\_\+isr() member for tests. 
-
-\begin{DoxyReturn}{Returns}
-ESP\+\_\+\+OK if deinit succeeded. 
-\end{DoxyReturn}
-\mbox{\Hypertarget{class_b_n_o08x_test_helper_ab1f8d61956fbceecf0baf08cb878397d}\label{class_b_n_o08x_test_helper_ab1f8d61956fbceecf0baf08cb878397d}} 
-\index{BNO08xTestHelper@{BNO08xTestHelper}!call\_deinit\_sh2\_HAL@{call\_deinit\_sh2\_HAL}}
-\index{call\_deinit\_sh2\_HAL@{call\_deinit\_sh2\_HAL}!BNO08xTestHelper@{BNO08xTestHelper}}
-\doxysubsubsection{\texorpdfstring{call\_deinit\_sh2\_HAL()}{call\_deinit\_sh2\_HAL()}}
-{\footnotesize\ttfamily static esp\+\_\+err\+\_\+t BNO08x\+Test\+Helper\+::call\+\_\+deinit\+\_\+sh2\+\_\+\+HAL (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [static]}}
-
-
-
-Used to call private BNO08x\+::deinit\+\_\+tasks() member for tests. 
-
-\begin{DoxyReturn}{Returns}
-ESP\+\_\+\+OK if deinit succeeded. 
-\end{DoxyReturn}
-\mbox{\Hypertarget{class_b_n_o08x_test_helper_a56ec98df9439461469bf0d2c23bb3868}\label{class_b_n_o08x_test_helper_a56ec98df9439461469bf0d2c23bb3868}} 
-\index{BNO08xTestHelper@{BNO08xTestHelper}!call\_deinit\_spi@{call\_deinit\_spi}}
-\index{call\_deinit\_spi@{call\_deinit\_spi}!BNO08xTestHelper@{BNO08xTestHelper}}
-\doxysubsubsection{\texorpdfstring{call\_deinit\_spi()}{call\_deinit\_spi()}}
-{\footnotesize\ttfamily static esp\+\_\+err\+\_\+t BNO08x\+Test\+Helper\+::call\+\_\+deinit\+\_\+spi (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [static]}}
-
-
-
-Used to call private BNO08x\+::deinit\+\_\+spi() member for tests. 
-
-\begin{DoxyReturn}{Returns}
-ESP\+\_\+\+OK if deinit succeeded. 
-\end{DoxyReturn}
-\mbox{\Hypertarget{class_b_n_o08x_test_helper_a3be103abfab70eef3c1b1609a0c46bec}\label{class_b_n_o08x_test_helper_a3be103abfab70eef3c1b1609a0c46bec}} 
-\index{BNO08xTestHelper@{BNO08xTestHelper}!call\_deinit\_tasks@{call\_deinit\_tasks}}
-\index{call\_deinit\_tasks@{call\_deinit\_tasks}!BNO08xTestHelper@{BNO08xTestHelper}}
-\doxysubsubsection{\texorpdfstring{call\_deinit\_tasks()}{call\_deinit\_tasks()}}
-{\footnotesize\ttfamily static esp\+\_\+err\+\_\+t BNO08x\+Test\+Helper\+::call\+\_\+deinit\+\_\+tasks (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [static]}}
-
-
-
-Used to call private BNO08x\+::deinit\+\_\+tasks() member for tests. 
-
-\begin{DoxyReturn}{Returns}
-ESP\+\_\+\+OK if deinit succeeded. 
-\end{DoxyReturn}
-\mbox{\Hypertarget{class_b_n_o08x_test_helper_a71d9fd7d459a98a7e9089a8587a21f8d}\label{class_b_n_o08x_test_helper_a71d9fd7d459a98a7e9089a8587a21f8d}} 
-\index{BNO08xTestHelper@{BNO08xTestHelper}!call\_init\_config\_args@{call\_init\_config\_args}}
-\index{call\_init\_config\_args@{call\_init\_config\_args}!BNO08xTestHelper@{BNO08xTestHelper}}
-\doxysubsubsection{\texorpdfstring{call\_init\_config\_args()}{call\_init\_config\_args()}}
-{\footnotesize\ttfamily static esp\+\_\+err\+\_\+t BNO08x\+Test\+Helper\+::call\+\_\+init\+\_\+config\+\_\+args (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [static]}}
-
-
-
-Used to call private BNO08x\+::init\+\_\+config\+\_\+args() member for tests. 
-
-\begin{DoxyReturn}{Returns}
-ESP\+\_\+\+OK if init succeeded. 
-\end{DoxyReturn}
-\mbox{\Hypertarget{class_b_n_o08x_test_helper_a504749533ccd91890d73440809d38161}\label{class_b_n_o08x_test_helper_a504749533ccd91890d73440809d38161}} 
-\index{BNO08xTestHelper@{BNO08xTestHelper}!call\_init\_gpio@{call\_init\_gpio}}
-\index{call\_init\_gpio@{call\_init\_gpio}!BNO08xTestHelper@{BNO08xTestHelper}}
-\doxysubsubsection{\texorpdfstring{call\_init\_gpio()}{call\_init\_gpio()}}
-{\footnotesize\ttfamily static esp\+\_\+err\+\_\+t BNO08x\+Test\+Helper\+::call\+\_\+init\+\_\+gpio (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [static]}}
-
-
-
-Used to call private BNO08x\+::init\+\_\+gpio() member for tests. 
-
-\begin{DoxyReturn}{Returns}
-ESP\+\_\+\+OK if init succeeded. 
-\end{DoxyReturn}
-\mbox{\Hypertarget{class_b_n_o08x_test_helper_a836c928981ac85d34668c9b97af17a15}\label{class_b_n_o08x_test_helper_a836c928981ac85d34668c9b97af17a15}} 
-\index{BNO08xTestHelper@{BNO08xTestHelper}!call\_init\_hint\_isr@{call\_init\_hint\_isr}}
-\index{call\_init\_hint\_isr@{call\_init\_hint\_isr}!BNO08xTestHelper@{BNO08xTestHelper}}
-\doxysubsubsection{\texorpdfstring{call\_init\_hint\_isr()}{call\_init\_hint\_isr()}}
-{\footnotesize\ttfamily static esp\+\_\+err\+\_\+t BNO08x\+Test\+Helper\+::call\+\_\+init\+\_\+hint\+\_\+isr (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [static]}}
-
-
-
-Used to call private BNO08x\+::init\+\_\+hint\+\_\+isr() member for tests. 
-
-\begin{DoxyReturn}{Returns}
-ESP\+\_\+\+OK if init succeeded. 
-\end{DoxyReturn}
-\mbox{\Hypertarget{class_b_n_o08x_test_helper_a854c60f602fe6d9af1da1a07eee0a449}\label{class_b_n_o08x_test_helper_a854c60f602fe6d9af1da1a07eee0a449}} 
-\index{BNO08xTestHelper@{BNO08xTestHelper}!call\_init\_sh2\_HAL@{call\_init\_sh2\_HAL}}
-\index{call\_init\_sh2\_HAL@{call\_init\_sh2\_HAL}!BNO08xTestHelper@{BNO08xTestHelper}}
-\doxysubsubsection{\texorpdfstring{call\_init\_sh2\_HAL()}{call\_init\_sh2\_HAL()}}
-{\footnotesize\ttfamily static esp\+\_\+err\+\_\+t BNO08x\+Test\+Helper\+::call\+\_\+init\+\_\+sh2\+\_\+\+HAL (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [static]}}
-
-
-
-Used to call private BNO08x\+::init\+\_\+tasks() member for tests. 
-
-\begin{DoxyReturn}{Returns}
-ESP\+\_\+\+OK if init succeeded. 
-\end{DoxyReturn}
-\mbox{\Hypertarget{class_b_n_o08x_test_helper_a7d2d784da1e850dab41154b35d7cdab5}\label{class_b_n_o08x_test_helper_a7d2d784da1e850dab41154b35d7cdab5}} 
-\index{BNO08xTestHelper@{BNO08xTestHelper}!call\_init\_spi@{call\_init\_spi}}
-\index{call\_init\_spi@{call\_init\_spi}!BNO08xTestHelper@{BNO08xTestHelper}}
-\doxysubsubsection{\texorpdfstring{call\_init\_spi()}{call\_init\_spi()}}
-{\footnotesize\ttfamily static esp\+\_\+err\+\_\+t BNO08x\+Test\+Helper\+::call\+\_\+init\+\_\+spi (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [static]}}
-
-
-
-Used to call private BNO08x\+::init\+\_\+spi() member for tests. 
-
-\begin{DoxyReturn}{Returns}
-ESP\+\_\+\+OK if init succeeded. 
-\end{DoxyReturn}
-\mbox{\Hypertarget{class_b_n_o08x_test_helper_a935a69784981caf90b4e135e3e257db4}\label{class_b_n_o08x_test_helper_a935a69784981caf90b4e135e3e257db4}} 
-\index{BNO08xTestHelper@{BNO08xTestHelper}!call\_init\_tasks@{call\_init\_tasks}}
-\index{call\_init\_tasks@{call\_init\_tasks}!BNO08xTestHelper@{BNO08xTestHelper}}
-\doxysubsubsection{\texorpdfstring{call\_init\_tasks()}{call\_init\_tasks()}}
-{\footnotesize\ttfamily static esp\+\_\+err\+\_\+t BNO08x\+Test\+Helper\+::call\+\_\+init\+\_\+tasks (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [static]}}
-
-
-
-Used to call private BNO08x\+::init\+\_\+tasks() member for tests. 
-
-\begin{DoxyReturn}{Returns}
-ESP\+\_\+\+OK if init succeeded. 
-\end{DoxyReturn}
-\mbox{\Hypertarget{class_b_n_o08x_test_helper_a6bd040c7d670a9713f2ab8a8a3913518}\label{class_b_n_o08x_test_helper_a6bd040c7d670a9713f2ab8a8a3913518}} 
-\index{BNO08xTestHelper@{BNO08xTestHelper}!create\_test\_imu@{create\_test\_imu}}
-\index{create\_test\_imu@{create\_test\_imu}!BNO08xTestHelper@{BNO08xTestHelper}}
-\doxysubsubsection{\texorpdfstring{create\_test\_imu()}{create\_test\_imu()}}
-{\footnotesize\ttfamily static void BNO08x\+Test\+Helper\+::create\+\_\+test\+\_\+imu (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [static]}}
-
-
-
-Calls \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} constructor and creates new test IMU on heap. 
-
-\begin{DoxyReturn}{Returns}
-void, nothing to return 
-\end{DoxyReturn}
-Here is the call graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_test_helper_a6bd040c7d670a9713f2ab8a8a3913518_cgraph}
-\end{center}
-\end{figure}
-\mbox{\Hypertarget{class_b_n_o08x_test_helper_ae2d6df7dcfdbd106c2247803461bbc40}\label{class_b_n_o08x_test_helper_ae2d6df7dcfdbd106c2247803461bbc40}} 
-\index{BNO08xTestHelper@{BNO08xTestHelper}!destroy\_test\_imu@{destroy\_test\_imu}}
-\index{destroy\_test\_imu@{destroy\_test\_imu}!BNO08xTestHelper@{BNO08xTestHelper}}
-\doxysubsubsection{\texorpdfstring{destroy\_test\_imu()}{destroy\_test\_imu()}}
-{\footnotesize\ttfamily static void BNO08x\+Test\+Helper\+::destroy\+\_\+test\+\_\+imu (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [static]}}
-
-
-
-Deletes test IMU calling deconstructor and releases heap allocated memory. 
-
-\begin{DoxyReturn}{Returns}
-void, nothing to return 
-\end{DoxyReturn}
-Here is the caller graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_test_helper_ae2d6df7dcfdbd106c2247803461bbc40_icgraph}
-\end{center}
-\end{figure}
-\mbox{\Hypertarget{class_b_n_o08x_test_helper_a41a432a3fe288e45b6ab139a00bd7d6b}\label{class_b_n_o08x_test_helper_a41a432a3fe288e45b6ab139a00bd7d6b}} 
-\index{BNO08xTestHelper@{BNO08xTestHelper}!get\_test\_imu@{get\_test\_imu}}
-\index{get\_test\_imu@{get\_test\_imu}!BNO08xTestHelper@{BNO08xTestHelper}}
-\doxysubsubsection{\texorpdfstring{get\_test\_imu()}{get\_test\_imu()}}
-{\footnotesize\ttfamily static \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} $\ast$ BNO08x\+Test\+Helper\+::get\+\_\+test\+\_\+imu (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [static]}}
-
-
-
-Deletes test IMU calling deconstructor and releases heap allocated memory. 
-
-\begin{DoxyReturn}{Returns}
-Pointer to \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} IMU object to test. 
-\end{DoxyReturn}
-\mbox{\Hypertarget{class_b_n_o08x_test_helper_a16423fc3250e88eb5392800022f82919}\label{class_b_n_o08x_test_helper_a16423fc3250e88eb5392800022f82919}} 
-\index{BNO08xTestHelper@{BNO08xTestHelper}!print\_test\_end\_banner@{print\_test\_end\_banner}}
-\index{print\_test\_end\_banner@{print\_test\_end\_banner}!BNO08xTestHelper@{BNO08xTestHelper}}
-\doxysubsubsection{\texorpdfstring{print\_test\_end\_banner()}{print\_test\_end\_banner()}}
-{\footnotesize\ttfamily static void BNO08x\+Test\+Helper\+::print\+\_\+test\+\_\+end\+\_\+banner (\begin{DoxyParamCaption}\item[{const char $\ast$}]{TEST\+\_\+\+TAG }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [static]}}
-
-
-
-Prints end begin banner. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em TEST\+\_\+\+TAG} & String containing test name.\\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-void, nothing to return 
-\end{DoxyReturn}
-\mbox{\Hypertarget{class_b_n_o08x_test_helper_a23593453a05f7cac26fd341371197a8c}\label{class_b_n_o08x_test_helper_a23593453a05f7cac26fd341371197a8c}} 
-\index{BNO08xTestHelper@{BNO08xTestHelper}!print\_test\_msg@{print\_test\_msg}}
-\index{print\_test\_msg@{print\_test\_msg}!BNO08xTestHelper@{BNO08xTestHelper}}
-\doxysubsubsection{\texorpdfstring{print\_test\_msg()}{print\_test\_msg()}}
-{\footnotesize\ttfamily static void BNO08x\+Test\+Helper\+::print\+\_\+test\+\_\+msg (\begin{DoxyParamCaption}\item[{const char $\ast$}]{TEST\+\_\+\+TAG,  }\item[{const char $\ast$}]{msg }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [static]}}
-
-
-
-Prints a message during a test. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em TEST\+\_\+\+TAG} & String containing test name. \\
-\hline
-{\em msg} & String containing message to print.\\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-void, nothing to return 
-\end{DoxyReturn}
-\mbox{\Hypertarget{class_b_n_o08x_test_helper_a066f8389fd1c682ec9565ebc3060d885}\label{class_b_n_o08x_test_helper_a066f8389fd1c682ec9565ebc3060d885}} 
-\index{BNO08xTestHelper@{BNO08xTestHelper}!print\_test\_start\_banner@{print\_test\_start\_banner}}
-\index{print\_test\_start\_banner@{print\_test\_start\_banner}!BNO08xTestHelper@{BNO08xTestHelper}}
-\doxysubsubsection{\texorpdfstring{print\_test\_start\_banner()}{print\_test\_start\_banner()}}
-{\footnotesize\ttfamily static void BNO08x\+Test\+Helper\+::print\+\_\+test\+\_\+start\+\_\+banner (\begin{DoxyParamCaption}\item[{const char $\ast$}]{TEST\+\_\+\+TAG }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [static]}}
-
-
-
-Prints test begin banner. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em TEST\+\_\+\+TAG} & String containing test name.\\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-void, nothing to return 
-\end{DoxyReturn}
-\mbox{\Hypertarget{class_b_n_o08x_test_helper_a9e2f9bf13f28f1a6ba87e86bc5947cf1}\label{class_b_n_o08x_test_helper_a9e2f9bf13f28f1a6ba87e86bc5947cf1}} 
-\index{BNO08xTestHelper@{BNO08xTestHelper}!set\_test\_imu\_cfg@{set\_test\_imu\_cfg}}
-\index{set\_test\_imu\_cfg@{set\_test\_imu\_cfg}!BNO08xTestHelper@{BNO08xTestHelper}}
-\doxysubsubsection{\texorpdfstring{set\_test\_imu\_cfg()}{set\_test\_imu\_cfg()}}
-{\footnotesize\ttfamily static void BNO08x\+Test\+Helper\+::set\+\_\+test\+\_\+imu\+\_\+cfg (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{structbno08x__config__t}{bno08x\+\_\+config\+\_\+t}}}]{cfg }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [static]}}
-
-
-
-Set test imu configuration used with \mbox{\hyperlink{class_b_n_o08x_test_helper_a6bd040c7d670a9713f2ab8a8a3913518}{create\+\_\+test\+\_\+imu()}} 
-
-
-\begin{DoxyParams}{Parameters}
-{\em cfg} & String containing test name.\\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-void, nothing to return 
-\end{DoxyReturn}
-
-
-The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\mbox{\hyperlink{_b_n_o08x_test_helper_8hpp}{BNO08x\+Test\+Helper.\+hpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/class_b_n_o08x_test_helper_a6bd040c7d670a9713f2ab8a8a3913518_cgraph.md5 b/documentation/latex/class_b_n_o08x_test_helper_a6bd040c7d670a9713f2ab8a8a3913518_cgraph.md5
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+++ /dev/null
@@ -1 +0,0 @@
-e96e323a56fe016372a410d592e18887
\ No newline at end of file
diff --git a/documentation/latex/class_b_n_o08x_test_helper_a6bd040c7d670a9713f2ab8a8a3913518_cgraph.pdf b/documentation/latex/class_b_n_o08x_test_helper_a6bd040c7d670a9713f2ab8a8a3913518_cgraph.pdf
deleted file mode 100644
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diff --git a/documentation/latex/class_b_n_o08x_test_helper_ae2d6df7dcfdbd106c2247803461bbc40_icgraph.md5 b/documentation/latex/class_b_n_o08x_test_helper_ae2d6df7dcfdbd106c2247803461bbc40_icgraph.md5
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+++ /dev/null
@@ -1 +0,0 @@
-dcf507f41c3342582d51f63bca992e83
\ No newline at end of file
diff --git a/documentation/latex/class_b_n_o08x_test_helper_ae2d6df7dcfdbd106c2247803461bbc40_icgraph.pdf b/documentation/latex/class_b_n_o08x_test_helper_ae2d6df7dcfdbd106c2247803461bbc40_icgraph.pdf
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deleted file mode 100644
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+++ /dev/null
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-\hypertarget{class_b_n_o08x_test_suite}{}\doxysection{BNO08x\+Test\+Suite Class Reference}
-\label{class_b_n_o08x_test_suite}\index{BNO08xTestSuite@{BNO08xTestSuite}}
-
-
-\mbox{\hyperlink{class_b_n_o08x}{BNO08x}} unit test launch point class.  
-
-
-
-
-{\ttfamily \#include $<$BNO08x\+Test\+Suite.\+hpp$>$}
-
-\doxysubsection*{Static Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-static void \mbox{\hyperlink{class_b_n_o08x_test_suite_ac12545fe311a98e9c0ae6fea77da95fd}{run\+\_\+all\+\_\+tests}} ()
-\item 
-static void \mbox{\hyperlink{class_b_n_o08x_test_suite_a53de9b0fe1b28c18e3a1ca4c68a06f16}{run\+\_\+init\+\_\+deinit\+\_\+tests}} (bool call\+\_\+unity\+\_\+end\+\_\+begin=true)
-\item 
-static void \mbox{\hyperlink{class_b_n_o08x_test_suite_a37899d7bf67fce5c3dd77dd5647f8ecb}{run\+\_\+single\+\_\+report\+\_\+tests}} (bool call\+\_\+unity\+\_\+end\+\_\+begin=true)
-\item 
-static void \mbox{\hyperlink{class_b_n_o08x_test_suite_a916cff374791381de61f1035f9935ac5}{run\+\_\+multi\+\_\+report\+\_\+tests}} (bool call\+\_\+unity\+\_\+end\+\_\+begin=true)
-\item 
-static void \mbox{\hyperlink{class_b_n_o08x_test_suite_a8e294955bf512e2e88c086f04f6030a8}{run\+\_\+callback\+\_\+tests}} (bool call\+\_\+unity\+\_\+end\+\_\+begin=true)
-\item 
-static void \mbox{\hyperlink{class_b_n_o08x_test_suite_a8d7a3485fdf1ff9c0a09736654187434}{run\+\_\+feature\+\_\+tests}} (bool call\+\_\+unity\+\_\+end\+\_\+begin=true)
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-\mbox{\hyperlink{class_b_n_o08x}{BNO08x}} unit test launch point class. 
-
-\doxysubsection{Member Function Documentation}
-\mbox{\Hypertarget{class_b_n_o08x_test_suite_ac12545fe311a98e9c0ae6fea77da95fd}\label{class_b_n_o08x_test_suite_ac12545fe311a98e9c0ae6fea77da95fd}} 
-\index{BNO08xTestSuite@{BNO08xTestSuite}!run\_all\_tests@{run\_all\_tests}}
-\index{run\_all\_tests@{run\_all\_tests}!BNO08xTestSuite@{BNO08xTestSuite}}
-\doxysubsubsection{\texorpdfstring{run\_all\_tests()}{run\_all\_tests()}}
-{\footnotesize\ttfamily static void BNO08x\+Test\+Suite\+::run\+\_\+all\+\_\+tests (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [static]}}
-
-Here is the call graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_test_suite_ac12545fe311a98e9c0ae6fea77da95fd_cgraph}
-\end{center}
-\end{figure}
-\mbox{\Hypertarget{class_b_n_o08x_test_suite_a8e294955bf512e2e88c086f04f6030a8}\label{class_b_n_o08x_test_suite_a8e294955bf512e2e88c086f04f6030a8}} 
-\index{BNO08xTestSuite@{BNO08xTestSuite}!run\_callback\_tests@{run\_callback\_tests}}
-\index{run\_callback\_tests@{run\_callback\_tests}!BNO08xTestSuite@{BNO08xTestSuite}}
-\doxysubsubsection{\texorpdfstring{run\_callback\_tests()}{run\_callback\_tests()}}
-{\footnotesize\ttfamily static void BNO08x\+Test\+Suite\+::run\+\_\+callback\+\_\+tests (\begin{DoxyParamCaption}\item[{bool}]{call\+\_\+unity\+\_\+end\+\_\+begin = {\ttfamily true} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [static]}}
-
-Here is the caller graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_test_suite_a8e294955bf512e2e88c086f04f6030a8_icgraph}
-\end{center}
-\end{figure}
-\mbox{\Hypertarget{class_b_n_o08x_test_suite_a8d7a3485fdf1ff9c0a09736654187434}\label{class_b_n_o08x_test_suite_a8d7a3485fdf1ff9c0a09736654187434}} 
-\index{BNO08xTestSuite@{BNO08xTestSuite}!run\_feature\_tests@{run\_feature\_tests}}
-\index{run\_feature\_tests@{run\_feature\_tests}!BNO08xTestSuite@{BNO08xTestSuite}}
-\doxysubsubsection{\texorpdfstring{run\_feature\_tests()}{run\_feature\_tests()}}
-{\footnotesize\ttfamily static void BNO08x\+Test\+Suite\+::run\+\_\+feature\+\_\+tests (\begin{DoxyParamCaption}\item[{bool}]{call\+\_\+unity\+\_\+end\+\_\+begin = {\ttfamily true} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [static]}}
-
-Here is the caller graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_test_suite_a8d7a3485fdf1ff9c0a09736654187434_icgraph}
-\end{center}
-\end{figure}
-\mbox{\Hypertarget{class_b_n_o08x_test_suite_a53de9b0fe1b28c18e3a1ca4c68a06f16}\label{class_b_n_o08x_test_suite_a53de9b0fe1b28c18e3a1ca4c68a06f16}} 
-\index{BNO08xTestSuite@{BNO08xTestSuite}!run\_init\_deinit\_tests@{run\_init\_deinit\_tests}}
-\index{run\_init\_deinit\_tests@{run\_init\_deinit\_tests}!BNO08xTestSuite@{BNO08xTestSuite}}
-\doxysubsubsection{\texorpdfstring{run\_init\_deinit\_tests()}{run\_init\_deinit\_tests()}}
-{\footnotesize\ttfamily static void BNO08x\+Test\+Suite\+::run\+\_\+init\+\_\+deinit\+\_\+tests (\begin{DoxyParamCaption}\item[{bool}]{call\+\_\+unity\+\_\+end\+\_\+begin = {\ttfamily true} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [static]}}
-
-Here is the caller graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_test_suite_a53de9b0fe1b28c18e3a1ca4c68a06f16_icgraph}
-\end{center}
-\end{figure}
-\mbox{\Hypertarget{class_b_n_o08x_test_suite_a916cff374791381de61f1035f9935ac5}\label{class_b_n_o08x_test_suite_a916cff374791381de61f1035f9935ac5}} 
-\index{BNO08xTestSuite@{BNO08xTestSuite}!run\_multi\_report\_tests@{run\_multi\_report\_tests}}
-\index{run\_multi\_report\_tests@{run\_multi\_report\_tests}!BNO08xTestSuite@{BNO08xTestSuite}}
-\doxysubsubsection{\texorpdfstring{run\_multi\_report\_tests()}{run\_multi\_report\_tests()}}
-{\footnotesize\ttfamily static void BNO08x\+Test\+Suite\+::run\+\_\+multi\+\_\+report\+\_\+tests (\begin{DoxyParamCaption}\item[{bool}]{call\+\_\+unity\+\_\+end\+\_\+begin = {\ttfamily true} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [static]}}
-
-Here is the caller graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_test_suite_a916cff374791381de61f1035f9935ac5_icgraph}
-\end{center}
-\end{figure}
-\mbox{\Hypertarget{class_b_n_o08x_test_suite_a37899d7bf67fce5c3dd77dd5647f8ecb}\label{class_b_n_o08x_test_suite_a37899d7bf67fce5c3dd77dd5647f8ecb}} 
-\index{BNO08xTestSuite@{BNO08xTestSuite}!run\_single\_report\_tests@{run\_single\_report\_tests}}
-\index{run\_single\_report\_tests@{run\_single\_report\_tests}!BNO08xTestSuite@{BNO08xTestSuite}}
-\doxysubsubsection{\texorpdfstring{run\_single\_report\_tests()}{run\_single\_report\_tests()}}
-{\footnotesize\ttfamily static void BNO08x\+Test\+Suite\+::run\+\_\+single\+\_\+report\+\_\+tests (\begin{DoxyParamCaption}\item[{bool}]{call\+\_\+unity\+\_\+end\+\_\+begin = {\ttfamily true} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [static]}}
-
-Here is the caller graph for this function\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{class_b_n_o08x_test_suite_a37899d7bf67fce5c3dd77dd5647f8ecb_icgraph}
-\end{center}
-\end{figure}
-
-
-The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\mbox{\hyperlink{_b_n_o08x_test_suite_8hpp}{BNO08x\+Test\+Suite.\+hpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/class_b_n_o08x_test_suite_a37899d7bf67fce5c3dd77dd5647f8ecb_icgraph.md5 b/documentation/latex/class_b_n_o08x_test_suite_a37899d7bf67fce5c3dd77dd5647f8ecb_icgraph.md5
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-ebbdbeeb4c7ce8fdad685f03847f3057
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-6eacf96fcf92816cbfb2fc6e0cc08ba1
\ No newline at end of file
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--- a/documentation/latex/dir_265603ded410f2aca2b4448eafbf9ea2.tex
+++ /dev/null
@@ -1,19 +0,0 @@
-\hypertarget{dir_265603ded410f2aca2b4448eafbf9ea2}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/callback Directory Reference}
-\label{dir_265603ded410f2aca2b4448eafbf9ea2}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/callback Directory Reference@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/callback Directory Reference}}
-Directory dependency graph for callback\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=170pt]{dir_265603ded410f2aca2b4448eafbf9ea2_dep}
-\end{center}
-\end{figure}
-\doxysubsection*{Files}
-\begin{DoxyCompactItemize}
-\item 
-file \mbox{\hyperlink{_b_n_o08x_cb_generic_8hpp}{BNO08x\+Cb\+Generic.\+hpp}}
-\item 
-file \mbox{\hyperlink{_b_n_o08x_cb_param_rpt_i_d_8hpp}{BNO08x\+Cb\+Param\+Rpt\+ID.\+hpp}}
-\item 
-file \mbox{\hyperlink{_b_n_o08x_cb_param_void_8hpp}{BNO08x\+Cb\+Param\+Void.\+hpp}}
-\end{DoxyCompactItemize}
diff --git a/documentation/latex/dir_265603ded410f2aca2b4448eafbf9ea2_dep.md5 b/documentation/latex/dir_265603ded410f2aca2b4448eafbf9ea2_dep.md5
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index 2be20d8..0000000
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@@ -1 +0,0 @@
-2e79d43e64bfd67643809d22004257bd
\ No newline at end of file
diff --git a/documentation/latex/dir_265603ded410f2aca2b4448eafbf9ea2_dep.pdf b/documentation/latex/dir_265603ded410f2aca2b4448eafbf9ea2_dep.pdf
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+++ /dev/null
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-\hypertarget{dir_7f19fe0488f3daa36ae73de472a8d793}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report Directory Reference}
-\label{dir_7f19fe0488f3daa36ae73de472a8d793}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report Directory Reference@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report Directory Reference}}
-Directory dependency graph for report\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=166pt]{dir_7f19fe0488f3daa36ae73de472a8d793_dep}
-\end{center}
-\end{figure}
-\doxysubsection*{Files}
-\begin{DoxyCompactItemize}
-\item 
-file \mbox{\hyperlink{_b_n_o08x_reports_8hpp}{BNO08x\+Reports.\+hpp}}
-\item 
-file \mbox{\hyperlink{_b_n_o08x_rpt_8hpp}{BNO08x\+Rpt.\+hpp}}
-\item 
-file \mbox{\hyperlink{_b_n_o08x_rpt_acceleration_8hpp}{BNO08x\+Rpt\+Acceleration.\+hpp}}
-\item 
-file \mbox{\hyperlink{_b_n_o08x_rpt_activity_classifier_8hpp}{BNO08x\+Rpt\+Activity\+Classifier.\+hpp}}
-\item 
-file \mbox{\hyperlink{_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8hpp}{BNO08x\+Rpt\+ARVRStabilized\+Game\+RV.\+hpp}}
-\item 
-file \mbox{\hyperlink{_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8hpp}{BNO08x\+Rpt\+ARVRStabilized\+RV.\+hpp}}
-\item 
-file \mbox{\hyperlink{_b_n_o08x_rpt_cal_gyro_8hpp}{BNO08x\+Rpt\+Cal\+Gyro.\+hpp}}
-\item 
-file \mbox{\hyperlink{_b_n_o08x_rpt_cal_magnetometer_8hpp}{BNO08x\+Rpt\+Cal\+Magnetometer.\+hpp}}
-\item 
-file \mbox{\hyperlink{_b_n_o08x_rpt_game_r_v_8hpp}{BNO08x\+Rpt\+Game\+RV.\+hpp}}
-\item 
-file \mbox{\hyperlink{_b_n_o08x_rpt_gravity_8hpp}{BNO08x\+Rpt\+Gravity.\+hpp}}
-\item 
-file \mbox{\hyperlink{_b_n_o08x_rpt_i_gyro_r_v_8hpp}{BNO08x\+Rpt\+IGyro\+RV.\+hpp}}
-\item 
-file \mbox{\hyperlink{_b_n_o08x_rpt_linear_acceleration_8hpp}{BNO08x\+Rpt\+Linear\+Acceleration.\+hpp}}
-\item 
-file \mbox{\hyperlink{_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8hpp}{BNO08x\+Rpt\+Raw\+MEMSAccelerometer.\+hpp}}
-\item 
-file \mbox{\hyperlink{_b_n_o08x_rpt_raw_m_e_m_s_gyro_8hpp}{BNO08x\+Rpt\+Raw\+MEMSGyro.\+hpp}}
-\item 
-file \mbox{\hyperlink{_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8hpp}{BNO08x\+Rpt\+Raw\+MEMSMagnetometer.\+hpp}}
-\item 
-file \mbox{\hyperlink{_b_n_o08x_rpt_r_v_8hpp}{BNO08x\+Rpt\+RV.\+hpp}}
-\item 
-file \mbox{\hyperlink{_b_n_o08x_rpt_r_v_generic_8hpp}{BNO08x\+Rpt\+RVGeneric.\+hpp}}
-\item 
-file \mbox{\hyperlink{_b_n_o08x_rpt_r_v_geomag_8hpp}{BNO08x\+Rpt\+RVGeomag.\+hpp}}
-\item 
-file \mbox{\hyperlink{_b_n_o08x_rpt_shake_detector_8hpp}{BNO08x\+Rpt\+Shake\+Detector.\+hpp}}
-\item 
-file \mbox{\hyperlink{_b_n_o08x_rpt_stability_classifier_8hpp}{BNO08x\+Rpt\+Stability\+Classifier.\+hpp}}
-\item 
-file \mbox{\hyperlink{_b_n_o08x_rpt_step_counter_8hpp}{BNO08x\+Rpt\+Step\+Counter.\+hpp}}
-\item 
-file \mbox{\hyperlink{_b_n_o08x_rpt_tap_detector_8hpp}{BNO08x\+Rpt\+Tap\+Detector.\+hpp}}
-\item 
-file \mbox{\hyperlink{_b_n_o08x_rpt_uncal_gyro_8hpp}{BNO08x\+Rpt\+Uncal\+Gyro.\+hpp}}
-\item 
-file \mbox{\hyperlink{_b_n_o08x_rpt_uncal_magnetometer_8hpp}{BNO08x\+Rpt\+Uncal\+Magnetometer.\+hpp}}
-\end{DoxyCompactItemize}
diff --git a/documentation/latex/dir_7f19fe0488f3daa36ae73de472a8d793_dep.md5 b/documentation/latex/dir_7f19fe0488f3daa36ae73de472a8d793_dep.md5
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index 036982d..0000000
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index 26714e2..0000000
--- a/documentation/latex/dir_d44c64559bbebec7f509842c48db8b23.tex
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-\hypertarget{dir_d44c64559bbebec7f509842c48db8b23}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include Directory Reference}
-\label{dir_d44c64559bbebec7f509842c48db8b23}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include Directory Reference@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include Directory Reference}}
-Directory dependency graph for include\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=242pt]{dir_d44c64559bbebec7f509842c48db8b23_dep}
-\end{center}
-\end{figure}
-\doxysubsection*{Directories}
-\begin{DoxyCompactItemize}
-\item 
-directory \mbox{\hyperlink{dir_265603ded410f2aca2b4448eafbf9ea2}{callback}}
-\item 
-directory \mbox{\hyperlink{dir_7f19fe0488f3daa36ae73de472a8d793}{report}}
-\end{DoxyCompactItemize}
-\doxysubsection*{Files}
-\begin{DoxyCompactItemize}
-\item 
-file \mbox{\hyperlink{_b_n_o08x_8hpp}{BNO08x.\+hpp}}
-\item 
-file \mbox{\hyperlink{_b_n_o08x_global_types_8hpp}{BNO08x\+Global\+Types.\+hpp}}
-\item 
-file \mbox{\hyperlink{_b_n_o08x_private_types_8hpp}{BNO08x\+Private\+Types.\+hpp}}
-\item 
-file \mbox{\hyperlink{_b_n_o08x_s_h2_h_a_l_8hpp}{BNO08x\+SH2\+HAL.\+hpp}}
-\item 
-file \mbox{\hyperlink{_b_n_o08x_test_helper_8hpp}{BNO08x\+Test\+Helper.\+hpp}}
-\item 
-file \mbox{\hyperlink{_b_n_o08x_test_suite_8hpp}{BNO08x\+Test\+Suite.\+hpp}}
-\end{DoxyCompactItemize}
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index 85d7562..0000000
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-99a08030e27dfdf7b7487014dcd55a7f
\ No newline at end of file
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deleted file mode 100644
index fe78d6d..0000000
--- a/documentation/latex/dir_f3240a40405e637e3754c29e78869df9.tex
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-\hypertarget{dir_f3240a40405e637e3754c29e78869df9}{}\doxysection{report Directory Reference}
-\label{dir_f3240a40405e637e3754c29e78869df9}\index{report Directory Reference@{report Directory Reference}}
-Directory dependency graph for report\+:
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-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=134pt]{dir_f3240a40405e637e3754c29e78869df9_dep}
-\end{center}
-\end{figure}
-\doxysubsection*{Files}
-\begin{DoxyCompactItemize}
-\item 
-file \mbox{\hyperlink{_b_n_o08x_rpt_acceleration_8cpp}{BNO08x\+Rpt\+Acceleration.\+cpp}}
-\item 
-file \mbox{\hyperlink{_b_n_o08x_rpt_activity_classifier_8cpp}{BNO08x\+Rpt\+Activity\+Classifier.\+cpp}}
-\item 
-file \mbox{\hyperlink{_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8cpp}{BNO08x\+Rpt\+ARVRStabilized\+Game\+RV.\+cpp}}
-\item 
-file \mbox{\hyperlink{_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8cpp}{BNO08x\+Rpt\+ARVRStabilized\+RV.\+cpp}}
-\item 
-file \mbox{\hyperlink{_b_n_o08x_rpt_cal_gyro_8cpp}{BNO08x\+Rpt\+Cal\+Gyro.\+cpp}}
-\item 
-file \mbox{\hyperlink{_b_n_o08x_rpt_cal_magnetometer_8cpp}{BNO08x\+Rpt\+Cal\+Magnetometer.\+cpp}}
-\item 
-file \mbox{\hyperlink{_b_n_o08x_rpt_game_r_v_8cpp}{BNO08x\+Rpt\+Game\+RV.\+cpp}}
-\item 
-file \mbox{\hyperlink{_b_n_o08x_rpt_gravity_8cpp}{BNO08x\+Rpt\+Gravity.\+cpp}}
-\item 
-file \mbox{\hyperlink{_b_n_o08x_rpt_i_gyro_r_v_8cpp}{BNO08x\+Rpt\+IGyro\+RV.\+cpp}}
-\item 
-file \mbox{\hyperlink{_b_n_o08x_rpt_linear_acceleration_8cpp}{BNO08x\+Rpt\+Linear\+Acceleration.\+cpp}}
-\item 
-file \mbox{\hyperlink{_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8cpp}{BNO08x\+Rpt\+Raw\+MEMSAccelerometer.\+cpp}}
-\item 
-file \mbox{\hyperlink{_b_n_o08x_rpt_raw_m_e_m_s_gyro_8cpp}{BNO08x\+Rpt\+Raw\+MEMSGyro.\+cpp}}
-\item 
-file \mbox{\hyperlink{_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8cpp}{BNO08x\+Rpt\+Raw\+MEMSMagnetometer.\+cpp}}
-\item 
-file \mbox{\hyperlink{_b_n_o08x_rpt_r_v_8cpp}{BNO08x\+Rpt\+RV.\+cpp}}
-\item 
-file \mbox{\hyperlink{_b_n_o08x_rpt_r_v_generic_8cpp}{BNO08x\+Rpt\+RVGeneric.\+cpp}}
-\item 
-file \mbox{\hyperlink{_b_n_o08x_rpt_r_v_geomag_8cpp}{BNO08x\+Rpt\+RVGeomag.\+cpp}}
-\item 
-file \mbox{\hyperlink{_b_n_o08x_rpt_shake_detector_8cpp}{BNO08x\+Rpt\+Shake\+Detector.\+cpp}}
-\item 
-file \mbox{\hyperlink{_b_n_o08x_rpt_stability_classifier_8cpp}{BNO08x\+Rpt\+Stability\+Classifier.\+cpp}}
-\item 
-file \mbox{\hyperlink{_b_n_o08x_rpt_step_counter_8cpp}{BNO08x\+Rpt\+Step\+Counter.\+cpp}}
-\item 
-file \mbox{\hyperlink{_b_n_o08x_rpt_tap_detector_8cpp}{BNO08x\+Rpt\+Tap\+Detector.\+cpp}}
-\item 
-file \mbox{\hyperlink{_b_n_o08x_rpt_uncal_gyro_8cpp}{BNO08x\+Rpt\+Uncal\+Gyro.\+cpp}}
-\item 
-file \mbox{\hyperlink{_b_n_o08x_rpt_uncal_magnetometer_8cpp}{BNO08x\+Rpt\+Uncal\+Magnetometer.\+cpp}}
-\end{DoxyCompactItemize}
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index a346a86..0000000
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diff --git a/documentation/latex/files.tex b/documentation/latex/files.tex
deleted file mode 100644
index 72c2106..0000000
--- a/documentation/latex/files.tex
+++ /dev/null
@@ -1,61 +0,0 @@
-\doxysection{File List}
-Here is a list of all files with brief descriptions\+:\begin{DoxyCompactList}
-\item\contentsline{section}{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\mbox{\hyperlink{_b_n_o08x_8hpp}{BNO08x.\+hpp}} }{\pageref{_b_n_o08x_8hpp}}{}
-\item\contentsline{section}{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\mbox{\hyperlink{_b_n_o08x_global_types_8hpp}{BNO08x\+Global\+Types.\+hpp}} }{\pageref{_b_n_o08x_global_types_8hpp}}{}
-\item\contentsline{section}{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\mbox{\hyperlink{_b_n_o08x_private_types_8hpp}{BNO08x\+Private\+Types.\+hpp}} }{\pageref{_b_n_o08x_private_types_8hpp}}{}
-\item\contentsline{section}{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\mbox{\hyperlink{_b_n_o08x_s_h2_h_a_l_8hpp}{BNO08x\+SH2\+HAL.\+hpp}} }{\pageref{_b_n_o08x_s_h2_h_a_l_8hpp}}{}
-\item\contentsline{section}{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\mbox{\hyperlink{_b_n_o08x_test_helper_8hpp}{BNO08x\+Test\+Helper.\+hpp}} }{\pageref{_b_n_o08x_test_helper_8hpp}}{}
-\item\contentsline{section}{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\mbox{\hyperlink{_b_n_o08x_test_suite_8hpp}{BNO08x\+Test\+Suite.\+hpp}} }{\pageref{_b_n_o08x_test_suite_8hpp}}{}
-\item\contentsline{section}{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/callback/\mbox{\hyperlink{_b_n_o08x_cb_generic_8hpp}{BNO08x\+Cb\+Generic.\+hpp}} }{\pageref{_b_n_o08x_cb_generic_8hpp}}{}
-\item\contentsline{section}{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/callback/\mbox{\hyperlink{_b_n_o08x_cb_param_rpt_i_d_8hpp}{BNO08x\+Cb\+Param\+Rpt\+ID.\+hpp}} }{\pageref{_b_n_o08x_cb_param_rpt_i_d_8hpp}}{}
-\item\contentsline{section}{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/callback/\mbox{\hyperlink{_b_n_o08x_cb_param_void_8hpp}{BNO08x\+Cb\+Param\+Void.\+hpp}} }{\pageref{_b_n_o08x_cb_param_void_8hpp}}{}
-\item\contentsline{section}{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_reports_8hpp}{BNO08x\+Reports.\+hpp}} }{\pageref{_b_n_o08x_reports_8hpp}}{}
-\item\contentsline{section}{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_8hpp}{BNO08x\+Rpt.\+hpp}} }{\pageref{_b_n_o08x_rpt_8hpp}}{}
-\item\contentsline{section}{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_acceleration_8hpp}{BNO08x\+Rpt\+Acceleration.\+hpp}} }{\pageref{_b_n_o08x_rpt_acceleration_8hpp}}{}
-\item\contentsline{section}{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_activity_classifier_8hpp}{BNO08x\+Rpt\+Activity\+Classifier.\+hpp}} }{\pageref{_b_n_o08x_rpt_activity_classifier_8hpp}}{}
-\item\contentsline{section}{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8hpp}{BNO08x\+Rpt\+ARVRStabilized\+Game\+RV.\+hpp}} }{\pageref{_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8hpp}}{}
-\item\contentsline{section}{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8hpp}{BNO08x\+Rpt\+ARVRStabilized\+RV.\+hpp}} }{\pageref{_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8hpp}}{}
-\item\contentsline{section}{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_cal_gyro_8hpp}{BNO08x\+Rpt\+Cal\+Gyro.\+hpp}} }{\pageref{_b_n_o08x_rpt_cal_gyro_8hpp}}{}
-\item\contentsline{section}{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_cal_magnetometer_8hpp}{BNO08x\+Rpt\+Cal\+Magnetometer.\+hpp}} }{\pageref{_b_n_o08x_rpt_cal_magnetometer_8hpp}}{}
-\item\contentsline{section}{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_game_r_v_8hpp}{BNO08x\+Rpt\+Game\+RV.\+hpp}} }{\pageref{_b_n_o08x_rpt_game_r_v_8hpp}}{}
-\item\contentsline{section}{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_gravity_8hpp}{BNO08x\+Rpt\+Gravity.\+hpp}} }{\pageref{_b_n_o08x_rpt_gravity_8hpp}}{}
-\item\contentsline{section}{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_i_gyro_r_v_8hpp}{BNO08x\+Rpt\+IGyro\+RV.\+hpp}} }{\pageref{_b_n_o08x_rpt_i_gyro_r_v_8hpp}}{}
-\item\contentsline{section}{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_linear_acceleration_8hpp}{BNO08x\+Rpt\+Linear\+Acceleration.\+hpp}} }{\pageref{_b_n_o08x_rpt_linear_acceleration_8hpp}}{}
-\item\contentsline{section}{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8hpp}{BNO08x\+Rpt\+Raw\+MEMSAccelerometer.\+hpp}} }{\pageref{_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8hpp}}{}
-\item\contentsline{section}{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_raw_m_e_m_s_gyro_8hpp}{BNO08x\+Rpt\+Raw\+MEMSGyro.\+hpp}} }{\pageref{_b_n_o08x_rpt_raw_m_e_m_s_gyro_8hpp}}{}
-\item\contentsline{section}{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8hpp}{BNO08x\+Rpt\+Raw\+MEMSMagnetometer.\+hpp}} }{\pageref{_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8hpp}}{}
-\item\contentsline{section}{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_r_v_8hpp}{BNO08x\+Rpt\+RV.\+hpp}} }{\pageref{_b_n_o08x_rpt_r_v_8hpp}}{}
-\item\contentsline{section}{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_r_v_generic_8hpp}{BNO08x\+Rpt\+RVGeneric.\+hpp}} }{\pageref{_b_n_o08x_rpt_r_v_generic_8hpp}}{}
-\item\contentsline{section}{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_r_v_geomag_8hpp}{BNO08x\+Rpt\+RVGeomag.\+hpp}} }{\pageref{_b_n_o08x_rpt_r_v_geomag_8hpp}}{}
-\item\contentsline{section}{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_shake_detector_8hpp}{BNO08x\+Rpt\+Shake\+Detector.\+hpp}} }{\pageref{_b_n_o08x_rpt_shake_detector_8hpp}}{}
-\item\contentsline{section}{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_stability_classifier_8hpp}{BNO08x\+Rpt\+Stability\+Classifier.\+hpp}} }{\pageref{_b_n_o08x_rpt_stability_classifier_8hpp}}{}
-\item\contentsline{section}{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_step_counter_8hpp}{BNO08x\+Rpt\+Step\+Counter.\+hpp}} }{\pageref{_b_n_o08x_rpt_step_counter_8hpp}}{}
-\item\contentsline{section}{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_tap_detector_8hpp}{BNO08x\+Rpt\+Tap\+Detector.\+hpp}} }{\pageref{_b_n_o08x_rpt_tap_detector_8hpp}}{}
-\item\contentsline{section}{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_uncal_gyro_8hpp}{BNO08x\+Rpt\+Uncal\+Gyro.\+hpp}} }{\pageref{_b_n_o08x_rpt_uncal_gyro_8hpp}}{}
-\item\contentsline{section}{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_uncal_magnetometer_8hpp}{BNO08x\+Rpt\+Uncal\+Magnetometer.\+hpp}} }{\pageref{_b_n_o08x_rpt_uncal_magnetometer_8hpp}}{}
-\item\contentsline{section}{\mbox{\hyperlink{_b_n_o08x_8cpp}{BNO08x.\+cpp}} }{\pageref{_b_n_o08x_8cpp}}{}
-\item\contentsline{section}{\mbox{\hyperlink{_b_n_o08x_rpt_8cpp}{BNO08x\+Rpt.\+cpp}} }{\pageref{_b_n_o08x_rpt_8cpp}}{}
-\item\contentsline{section}{\mbox{\hyperlink{_b_n_o08x_s_h2_h_a_l_8cpp}{BNO08x\+SH2\+HAL.\+cpp}} }{\pageref{_b_n_o08x_s_h2_h_a_l_8cpp}}{}
-\item\contentsline{section}{report/\mbox{\hyperlink{_b_n_o08x_rpt_acceleration_8cpp}{BNO08x\+Rpt\+Acceleration.\+cpp}} }{\pageref{_b_n_o08x_rpt_acceleration_8cpp}}{}
-\item\contentsline{section}{report/\mbox{\hyperlink{_b_n_o08x_rpt_activity_classifier_8cpp}{BNO08x\+Rpt\+Activity\+Classifier.\+cpp}} }{\pageref{_b_n_o08x_rpt_activity_classifier_8cpp}}{}
-\item\contentsline{section}{report/\mbox{\hyperlink{_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8cpp}{BNO08x\+Rpt\+ARVRStabilized\+Game\+RV.\+cpp}} }{\pageref{_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8cpp}}{}
-\item\contentsline{section}{report/\mbox{\hyperlink{_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8cpp}{BNO08x\+Rpt\+ARVRStabilized\+RV.\+cpp}} }{\pageref{_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8cpp}}{}
-\item\contentsline{section}{report/\mbox{\hyperlink{_b_n_o08x_rpt_cal_gyro_8cpp}{BNO08x\+Rpt\+Cal\+Gyro.\+cpp}} }{\pageref{_b_n_o08x_rpt_cal_gyro_8cpp}}{}
-\item\contentsline{section}{report/\mbox{\hyperlink{_b_n_o08x_rpt_cal_magnetometer_8cpp}{BNO08x\+Rpt\+Cal\+Magnetometer.\+cpp}} }{\pageref{_b_n_o08x_rpt_cal_magnetometer_8cpp}}{}
-\item\contentsline{section}{report/\mbox{\hyperlink{_b_n_o08x_rpt_game_r_v_8cpp}{BNO08x\+Rpt\+Game\+RV.\+cpp}} }{\pageref{_b_n_o08x_rpt_game_r_v_8cpp}}{}
-\item\contentsline{section}{report/\mbox{\hyperlink{_b_n_o08x_rpt_gravity_8cpp}{BNO08x\+Rpt\+Gravity.\+cpp}} }{\pageref{_b_n_o08x_rpt_gravity_8cpp}}{}
-\item\contentsline{section}{report/\mbox{\hyperlink{_b_n_o08x_rpt_i_gyro_r_v_8cpp}{BNO08x\+Rpt\+IGyro\+RV.\+cpp}} }{\pageref{_b_n_o08x_rpt_i_gyro_r_v_8cpp}}{}
-\item\contentsline{section}{report/\mbox{\hyperlink{_b_n_o08x_rpt_linear_acceleration_8cpp}{BNO08x\+Rpt\+Linear\+Acceleration.\+cpp}} }{\pageref{_b_n_o08x_rpt_linear_acceleration_8cpp}}{}
-\item\contentsline{section}{report/\mbox{\hyperlink{_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8cpp}{BNO08x\+Rpt\+Raw\+MEMSAccelerometer.\+cpp}} }{\pageref{_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8cpp}}{}
-\item\contentsline{section}{report/\mbox{\hyperlink{_b_n_o08x_rpt_raw_m_e_m_s_gyro_8cpp}{BNO08x\+Rpt\+Raw\+MEMSGyro.\+cpp}} }{\pageref{_b_n_o08x_rpt_raw_m_e_m_s_gyro_8cpp}}{}
-\item\contentsline{section}{report/\mbox{\hyperlink{_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8cpp}{BNO08x\+Rpt\+Raw\+MEMSMagnetometer.\+cpp}} }{\pageref{_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8cpp}}{}
-\item\contentsline{section}{report/\mbox{\hyperlink{_b_n_o08x_rpt_r_v_8cpp}{BNO08x\+Rpt\+RV.\+cpp}} }{\pageref{_b_n_o08x_rpt_r_v_8cpp}}{}
-\item\contentsline{section}{report/\mbox{\hyperlink{_b_n_o08x_rpt_r_v_generic_8cpp}{BNO08x\+Rpt\+RVGeneric.\+cpp}} }{\pageref{_b_n_o08x_rpt_r_v_generic_8cpp}}{}
-\item\contentsline{section}{report/\mbox{\hyperlink{_b_n_o08x_rpt_r_v_geomag_8cpp}{BNO08x\+Rpt\+RVGeomag.\+cpp}} }{\pageref{_b_n_o08x_rpt_r_v_geomag_8cpp}}{}
-\item\contentsline{section}{report/\mbox{\hyperlink{_b_n_o08x_rpt_shake_detector_8cpp}{BNO08x\+Rpt\+Shake\+Detector.\+cpp}} }{\pageref{_b_n_o08x_rpt_shake_detector_8cpp}}{}
-\item\contentsline{section}{report/\mbox{\hyperlink{_b_n_o08x_rpt_stability_classifier_8cpp}{BNO08x\+Rpt\+Stability\+Classifier.\+cpp}} }{\pageref{_b_n_o08x_rpt_stability_classifier_8cpp}}{}
-\item\contentsline{section}{report/\mbox{\hyperlink{_b_n_o08x_rpt_step_counter_8cpp}{BNO08x\+Rpt\+Step\+Counter.\+cpp}} }{\pageref{_b_n_o08x_rpt_step_counter_8cpp}}{}
-\item\contentsline{section}{report/\mbox{\hyperlink{_b_n_o08x_rpt_tap_detector_8cpp}{BNO08x\+Rpt\+Tap\+Detector.\+cpp}} }{\pageref{_b_n_o08x_rpt_tap_detector_8cpp}}{}
-\item\contentsline{section}{report/\mbox{\hyperlink{_b_n_o08x_rpt_uncal_gyro_8cpp}{BNO08x\+Rpt\+Uncal\+Gyro.\+cpp}} }{\pageref{_b_n_o08x_rpt_uncal_gyro_8cpp}}{}
-\item\contentsline{section}{report/\mbox{\hyperlink{_b_n_o08x_rpt_uncal_magnetometer_8cpp}{BNO08x\+Rpt\+Uncal\+Magnetometer.\+cpp}} }{\pageref{_b_n_o08x_rpt_uncal_magnetometer_8cpp}}{}
-\end{DoxyCompactList}
diff --git a/documentation/latex/hierarchy.tex b/documentation/latex/hierarchy.tex
deleted file mode 100644
index a0bbb20..0000000
--- a/documentation/latex/hierarchy.tex
+++ /dev/null
@@ -1,61 +0,0 @@
-\doxysection{Class Hierarchy}
-This inheritance list is sorted roughly, but not completely, alphabetically\+:\begin{DoxyCompactList}
-\item \contentsline{section}{BNO08x}{\pageref{class_b_n_o08x}}{}
-\item \contentsline{section}{bno08x\+\_\+accel\+\_\+t}{\pageref{structbno08x__accel__t}}{}
-\item \contentsline{section}{bno08x\+\_\+activity\+\_\+classifier\+\_\+t}{\pageref{structbno08x__activity__classifier__t}}{}
-\item \contentsline{section}{bno08x\+\_\+ang\+\_\+vel\+\_\+t}{\pageref{structbno08x__ang__vel__t}}{}
-\item \contentsline{section}{bno08x\+\_\+config\+\_\+t}{\pageref{structbno08x__config__t}}{}
-\item \contentsline{section}{bno08x\+\_\+euler\+\_\+angle\+\_\+t}{\pageref{structbno08x__euler__angle__t}}{}
-\item \contentsline{section}{bno08x\+\_\+gyro\+\_\+bias\+\_\+t}{\pageref{structbno08x__gyro__bias__t}}{}
-\item \contentsline{section}{bno08x\+\_\+gyro\+\_\+t}{\pageref{structbno08x__gyro__t}}{}
-\item \contentsline{section}{BNO08x\+Private\+Types\+::bno08x\+\_\+init\+\_\+status\+\_\+t}{\pageref{struct_b_n_o08x_private_types_1_1bno08x__init__status__t}}{}
-\item \contentsline{section}{bno08x\+\_\+magf\+\_\+bias\+\_\+t}{\pageref{structbno08x__magf__bias__t}}{}
-\item \contentsline{section}{bno08x\+\_\+magf\+\_\+t}{\pageref{structbno08x__magf__t}}{}
-\item \contentsline{section}{bno08x\+\_\+meta\+\_\+data\+\_\+t}{\pageref{structbno08x__meta__data__t}}{}
-\item \contentsline{section}{bno08x\+\_\+quat\+\_\+t}{\pageref{structbno08x__quat__t}}{}
-\item \contentsline{section}{bno08x\+\_\+raw\+\_\+accel\+\_\+t}{\pageref{structbno08x__raw__accel__t}}{}
-\item \contentsline{section}{bno08x\+\_\+raw\+\_\+gyro\+\_\+t}{\pageref{structbno08x__raw__gyro__t}}{}
-\item \contentsline{section}{bno08x\+\_\+raw\+\_\+magf\+\_\+t}{\pageref{structbno08x__raw__magf__t}}{}
-\item \contentsline{section}{BNO08x\+::bno08x\+\_\+reports\+\_\+t}{\pageref{struct_b_n_o08x_1_1bno08x__reports__t}}{}
-\item \contentsline{section}{bno08x\+\_\+sample\+\_\+counts\+\_\+t}{\pageref{structbno08x__sample__counts__t}}{}
-\item \contentsline{section}{bno08x\+\_\+shake\+\_\+detector\+\_\+t}{\pageref{structbno08x__shake__detector__t}}{}
-\item \contentsline{section}{bno08x\+\_\+stability\+\_\+classifier\+\_\+t}{\pageref{structbno08x__stability__classifier__t}}{}
-\item \contentsline{section}{bno08x\+\_\+step\+\_\+counter\+\_\+t}{\pageref{structbno08x__step__counter__t}}{}
-\item \contentsline{section}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}{\pageref{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}}{}
-\item \contentsline{section}{bno08x\+\_\+tap\+\_\+detector\+\_\+t}{\pageref{structbno08x__tap__detector__t}}{}
-\item \contentsline{section}{BNO08x\+Cb\+Generic}{\pageref{class_b_n_o08x_cb_generic}}{}
-\begin{DoxyCompactList}
-\item \contentsline{section}{BNO08x\+Cb\+Param\+Rpt\+ID}{\pageref{class_b_n_o08x_cb_param_rpt_i_d}}{}
-\item \contentsline{section}{BNO08x\+Cb\+Param\+Void}{\pageref{class_b_n_o08x_cb_param_void}}{}
-\end{DoxyCompactList}
-\item \contentsline{section}{BNO08x\+Rpt}{\pageref{class_b_n_o08x_rpt}}{}
-\begin{DoxyCompactList}
-\item \contentsline{section}{BNO08x\+Rpt\+Acceleration}{\pageref{class_b_n_o08x_rpt_acceleration}}{}
-\item \contentsline{section}{BNO08x\+Rpt\+Activity\+Classifier}{\pageref{class_b_n_o08x_rpt_activity_classifier}}{}
-\item \contentsline{section}{BNO08x\+Rpt\+Cal\+Gyro}{\pageref{class_b_n_o08x_rpt_cal_gyro}}{}
-\item \contentsline{section}{BNO08x\+Rpt\+Cal\+Magnetometer}{\pageref{class_b_n_o08x_rpt_cal_magnetometer}}{}
-\item \contentsline{section}{BNO08x\+Rpt\+Gravity}{\pageref{class_b_n_o08x_rpt_gravity}}{}
-\item \contentsline{section}{BNO08x\+Rpt\+Linear\+Acceleration}{\pageref{class_b_n_o08x_rpt_linear_acceleration}}{}
-\item \contentsline{section}{BNO08x\+Rpt\+RVGeneric}{\pageref{class_b_n_o08x_rpt_r_v_generic}}{}
-\begin{DoxyCompactList}
-\item \contentsline{section}{BNO08x\+Rpt\+ARVRStabilized\+Game\+RV}{\pageref{class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v}}{}
-\item \contentsline{section}{BNO08x\+Rpt\+ARVRStabilized\+RV}{\pageref{class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v}}{}
-\item \contentsline{section}{BNO08x\+Rpt\+Game\+RV}{\pageref{class_b_n_o08x_rpt_game_r_v}}{}
-\item \contentsline{section}{BNO08x\+Rpt\+IGyro\+RV}{\pageref{class_b_n_o08x_rpt_i_gyro_r_v}}{}
-\item \contentsline{section}{BNO08x\+Rpt\+RV}{\pageref{class_b_n_o08x_rpt_r_v}}{}
-\item \contentsline{section}{BNO08x\+Rpt\+RVGeomag}{\pageref{class_b_n_o08x_rpt_r_v_geomag}}{}
-\end{DoxyCompactList}
-\item \contentsline{section}{BNO08x\+Rpt\+Raw\+MEMSAccelerometer}{\pageref{class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer}}{}
-\item \contentsline{section}{BNO08x\+Rpt\+Raw\+MEMSGyro}{\pageref{class_b_n_o08x_rpt_raw_m_e_m_s_gyro}}{}
-\item \contentsline{section}{BNO08x\+Rpt\+Raw\+MEMSMagnetometer}{\pageref{class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer}}{}
-\item \contentsline{section}{BNO08x\+Rpt\+Shake\+Detector}{\pageref{class_b_n_o08x_rpt_shake_detector}}{}
-\item \contentsline{section}{BNO08x\+Rpt\+Stability\+Classifier}{\pageref{class_b_n_o08x_rpt_stability_classifier}}{}
-\item \contentsline{section}{BNO08x\+Rpt\+Step\+Counter}{\pageref{class_b_n_o08x_rpt_step_counter}}{}
-\item \contentsline{section}{BNO08x\+Rpt\+Tap\+Detector}{\pageref{class_b_n_o08x_rpt_tap_detector}}{}
-\item \contentsline{section}{BNO08x\+Rpt\+Uncal\+Gyro}{\pageref{class_b_n_o08x_rpt_uncal_gyro}}{}
-\item \contentsline{section}{BNO08x\+Rpt\+Uncal\+Magnetometer}{\pageref{class_b_n_o08x_rpt_uncal_magnetometer}}{}
-\end{DoxyCompactList}
-\item \contentsline{section}{BNO08x\+SH2\+HAL}{\pageref{class_b_n_o08x_s_h2_h_a_l}}{}
-\item \contentsline{section}{BNO08x\+Test\+Helper}{\pageref{class_b_n_o08x_test_helper}}{}
-\item \contentsline{section}{BNO08x\+Test\+Suite}{\pageref{class_b_n_o08x_test_suite}}{}
-\end{DoxyCompactList}
diff --git a/documentation/latex/longtable_doxygen.sty b/documentation/latex/longtable_doxygen.sty
deleted file mode 100644
index a0eb314..0000000
--- a/documentation/latex/longtable_doxygen.sty
+++ /dev/null
@@ -1,448 +0,0 @@
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-%% The source is maintained by the LaTeX Project team and bug
-%% reports for it can be opened at http://latex-project.org/bugs.html
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-%% Copyright 1993-2016
-%% The LaTeX3 Project and any individual authors listed elsewhere
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-%% 
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-%% --------------------------------------------------------------------------
-%% 
-%% It may be distributed and/or modified under the
-%% conditions of the LaTeX Project Public License, either version 1.3c
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-%% and version 1.3c or later is part of all distributions of LaTeX
-%% version 2005/12/01 or later.
-%% 
-%% This file may only be distributed together with a copy of the LaTeX
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-\def\LT@end@hd@ft#1{%
-  \LT@echunk
-  \ifx\LT@start\endgraf
-    \LT@err
-     {Longtable head or foot not at start of table}%
-     {Increase LTchunksize}%
-  \fi
-  \setbox#1\box\z@
-  \LT@get@widths
-  \LT@bchunk}
-\def\endfirsthead{\LT@end@hd@ft\LT@firsthead}
-\def\endhead{\LT@end@hd@ft\LT@head}
-\def\endfoot{\LT@end@hd@ft\LT@foot}
-\def\endlastfoot{\LT@end@hd@ft\LT@lastfoot}
-\def\LT@startpbox#1{%
-  \bgroup
-    \let\@footnotetext\LT@p@ftntext
-    \setlength\hsize{#1}%
-    \@arrayparboxrestore
-    \vrule \@height \ht\@arstrutbox \@width \z@}
-\def\LT@endpbox{%
-  \@finalstrut\@arstrutbox
-  \egroup
-  \the\LT@p@ftn
-  \global\LT@p@ftn{}%
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-\def\LT@p@ftntext#1{%
-  \edef\@tempa{\the\LT@p@ftn\noexpand\footnotetext[\the\c@footnote]}%
-  \global\LT@p@ftn\expandafter{\@tempa{#1}}}%
-
-\@namedef{ver@longtable.sty}{2014/10/28 v4.11 Multi-page Table package (DPC) - frozen version for doxygen}
-\endinput
-%%
-%% End of file `longtable.sty'.
diff --git a/documentation/latex/namespace_b_n_o08x_private_types.tex b/documentation/latex/namespace_b_n_o08x_private_types.tex
deleted file mode 100644
index ef53741..0000000
--- a/documentation/latex/namespace_b_n_o08x_private_types.tex
+++ /dev/null
@@ -1,226 +0,0 @@
-\hypertarget{namespace_b_n_o08x_private_types}{}\doxysection{BNO08x\+Private\+Types Namespace Reference}
-\label{namespace_b_n_o08x_private_types}\index{BNO08xPrivateTypes@{BNO08xPrivateTypes}}
-\doxysubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-struct \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t}{bno08x\+\_\+init\+\_\+status\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em Holds info about which functionality has been successfully initialized (used by deconstructor during cleanup). \end{DoxyCompactList}\item 
-struct \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{bno08x\+\_\+sync\+\_\+ctx\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em Holds context used to synchronize tasks and callback execution. \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Typedefs}
-\begin{DoxyCompactItemize}
-\item 
-using \mbox{\hyperlink{namespace_b_n_o08x_private_types_a0f0c287ea0571e6c589c638e4bd07703}{bno08x\+\_\+cb\+\_\+list\+\_\+t}} = etl\+::vector$<$ etl\+::variant$<$ \mbox{\hyperlink{class_b_n_o08x_cb_param_void}{BNO08x\+Cb\+Param\+Void}}, \mbox{\hyperlink{class_b_n_o08x_cb_param_rpt_i_d}{BNO08x\+Cb\+Param\+Rpt\+ID}} $>$, CONFIG\+\_\+\+ESP32\+\_\+\+BNO08\+X\+\_\+\+CB\+\_\+\+MAX $>$
-\begin{DoxyCompactList}\small\item\em Alias for vector type to contain both cb flavors. \end{DoxyCompactList}\item 
-typedef struct \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+init\+\_\+status\+\_\+t}} \mbox{\hyperlink{namespace_b_n_o08x_private_types_a2698bcb8153e67716b43ce3cccc0f31a}{bno08x\+\_\+init\+\_\+status\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em Holds info about which functionality has been successfully initialized (used by deconstructor during cleanup). \end{DoxyCompactList}\item 
-typedef struct \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} \mbox{\hyperlink{namespace_b_n_o08x_private_types_a67b3b4702d94bb4ba152a213feae944f}{bno08x\+\_\+sync\+\_\+ctx\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em Holds context used to synchronize tasks and callback execution. \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Enumerations}
-\begin{DoxyCompactItemize}
-\item 
-enum \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2f}{bno08x\+\_\+rpt\+\_\+bit\+\_\+t}} \+: Event\+Bits\+\_\+t \{ \newline
-\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fac0ff3fde600aac814ad76a4769515ae8}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+RV\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 0U)
-, \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fad39283f98adf7242b3b3ccf847c150cd}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+RV\+\_\+\+GAME\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 1U)
-, \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fab5d141bdda220e3fa0bd9eb0fe3f31b5}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+RV\+\_\+\+ARVR\+\_\+\+S\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 2U)
-, \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fab77588c26929a2d8dd8eeea883b905ca}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+RV\+\_\+\+ARVR\+\_\+\+S\+\_\+\+GAME\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 3U)
-, \newline
-\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa6835a63fb08379608cda0a108098aac7}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+GYRO\+\_\+\+INTEGRATED\+\_\+\+RV\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 4U)
-, \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa728314f4744fc408c6b153e8fbb3feb4}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+GEOMAG\+\_\+\+RV\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 5U)
-, \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2faa5b9ffe097d1eb83a6a5a13871da0891}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+ACCELEROMETER\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 6U)
-, \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa68851003c2b7df34c3acf882251c60e2}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+LINEAR\+\_\+\+ACCELEROMETER\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 7U)
-, \newline
-\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fabd9e62157a0bc3dc38c3473d7bc2799f}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+GRAVITY\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 8U)
-, \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2faeb1961d7852ea305443610b2521aaea7}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+CAL\+\_\+\+GYRO\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 9U)
-, \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa591c062247280798af0e40d6141614c6}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+UNCAL\+\_\+\+GYRO\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 10U)
-, \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fac1d15dddeab169b213c719e6b0fef32d}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+CAL\+\_\+\+MAGNETOMETER\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 11U)
-, \newline
-\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2faa54d15cc17179a6840b9ec3f4e0038cb}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+UNCAL\+\_\+\+MAGNETOMETER\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 12U)
-, \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fad4482fb4fb6693a492584508691f2c77}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+TAP\+\_\+\+DETECTOR\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 13U)
-, \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fafb8f448edba339f37fdf794bd891f903}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+STEP\+\_\+\+COUNTER\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 14U)
-, \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fae138ae8422830982a470025d81c4be4b}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+STABILITY\+\_\+\+CLASSIFIER\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 15U)
-, \newline
-\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa94cddd1837a77bba5644543b1ad8b9e7}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+ACTIVITY\+\_\+\+CLASSIFIER\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 16U)
-, \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fad517d3ea5b1b259f20ed43e1fcf40e0c}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+SHAKE\+\_\+\+DETECTOR\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 17U)
-, \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fab7e6b36da354702880ff9118d45b6af2}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+RAW\+\_\+\+ACCELEROMETER\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 18U)
-, \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fadcfcdea69099869ebf7f246ff5b7e8bb}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+RAW\+\_\+\+GYRO\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 19U)
-, \newline
-\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fab57a2ea711bebb4d4e031a0b449160c7}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+RAW\+\_\+\+MAGNETOMETER\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 20U)
-, \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fab5d7a8690f3b42637a52122d4269da10}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+CIRCLE\+\_\+\+DETECTOR\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 21U)
-, \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa6bb054cdd31ded01373a4395889c84f1}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+ALL}}
- \}
-\begin{DoxyCompactList}\small\item\em Bits for evt\+\_\+grp\+\_\+rpt\+\_\+en \& evt\+\_\+grp\+\_\+rpt\+\_\+data\+\_\+available. \end{DoxyCompactList}\item 
-enum \mbox{\hyperlink{namespace_b_n_o08x_private_types_a59097f108831dd9860e17438d2976c1c}{bno08x\+\_\+tsk\+\_\+bit\+\_\+t}} \+: Event\+Bits\+\_\+t \{ \mbox{\hyperlink{namespace_b_n_o08x_private_types_a59097f108831dd9860e17438d2976c1ca272952aff639965d61f76664cb4fed15}{EVT\+\_\+\+GRP\+\_\+\+BNO08x\+\_\+\+TASKS\+\_\+\+RUNNING}}
-, \mbox{\hyperlink{namespace_b_n_o08x_private_types_a59097f108831dd9860e17438d2976c1ca616d8458c1a9f54f9d99ba03a773ba41}{EVT\+\_\+\+GRP\+\_\+\+BNO08x\+\_\+\+TASK\+\_\+\+HINT\+\_\+\+ASSRT\+\_\+\+BIT}}
-, \mbox{\hyperlink{namespace_b_n_o08x_private_types_a59097f108831dd9860e17438d2976c1caaddd073f2b8e89319909d7c61f220452}{EVT\+\_\+\+GRP\+\_\+\+BNO08x\+\_\+\+TASK\+\_\+\+RESET\+\_\+\+OCCURRED}}
-, \mbox{\hyperlink{namespace_b_n_o08x_private_types_a59097f108831dd9860e17438d2976c1ca17f12f538e40746dbe8aafee08391fcc}{EVT\+\_\+\+GRP\+\_\+\+BNO08x\+\_\+\+TASK\+\_\+\+DATA\+\_\+\+AVAILABLE}}
- \}
-\begin{DoxyCompactList}\small\item\em Bits for evt\+\_\+grp\+\_\+bno08x\+\_\+task. \end{DoxyCompactList}\end{DoxyCompactItemize}
-
-
-\doxysubsection{Typedef Documentation}
-\mbox{\Hypertarget{namespace_b_n_o08x_private_types_a0f0c287ea0571e6c589c638e4bd07703}\label{namespace_b_n_o08x_private_types_a0f0c287ea0571e6c589c638e4bd07703}} 
-\index{BNO08xPrivateTypes@{BNO08xPrivateTypes}!bno08x\_cb\_list\_t@{bno08x\_cb\_list\_t}}
-\index{bno08x\_cb\_list\_t@{bno08x\_cb\_list\_t}!BNO08xPrivateTypes@{BNO08xPrivateTypes}}
-\doxysubsubsection{\texorpdfstring{bno08x\_cb\_list\_t}{bno08x\_cb\_list\_t}}
-{\footnotesize\ttfamily using \mbox{\hyperlink{namespace_b_n_o08x_private_types_a0f0c287ea0571e6c589c638e4bd07703}{BNO08x\+Private\+Types\+::bno08x\+\_\+cb\+\_\+list\+\_\+t}} = typedef etl\+::vector$<$etl\+::variant$<$\mbox{\hyperlink{class_b_n_o08x_cb_param_void}{BNO08x\+Cb\+Param\+Void}}, \mbox{\hyperlink{class_b_n_o08x_cb_param_rpt_i_d}{BNO08x\+Cb\+Param\+Rpt\+ID}}$>$, CONFIG\+\_\+\+ESP32\+\_\+\+BNO08\+X\+\_\+\+CB\+\_\+\+MAX$>$}
-
-
-
-Alias for vector type to contain both cb flavors. 
-
-\mbox{\Hypertarget{namespace_b_n_o08x_private_types_a2698bcb8153e67716b43ce3cccc0f31a}\label{namespace_b_n_o08x_private_types_a2698bcb8153e67716b43ce3cccc0f31a}} 
-\index{BNO08xPrivateTypes@{BNO08xPrivateTypes}!bno08x\_init\_status\_t@{bno08x\_init\_status\_t}}
-\index{bno08x\_init\_status\_t@{bno08x\_init\_status\_t}!BNO08xPrivateTypes@{BNO08xPrivateTypes}}
-\doxysubsubsection{\texorpdfstring{bno08x\_init\_status\_t}{bno08x\_init\_status\_t}}
-{\footnotesize\ttfamily typedef struct \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+init\+\_\+status\+\_\+t}} \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+init\+\_\+status\+\_\+t}}}
-
-
-
-Holds info about which functionality has been successfully initialized (used by deconstructor during cleanup). 
-
-\mbox{\Hypertarget{namespace_b_n_o08x_private_types_a67b3b4702d94bb4ba152a213feae944f}\label{namespace_b_n_o08x_private_types_a67b3b4702d94bb4ba152a213feae944f}} 
-\index{BNO08xPrivateTypes@{BNO08xPrivateTypes}!bno08x\_sync\_ctx\_t@{bno08x\_sync\_ctx\_t}}
-\index{bno08x\_sync\_ctx\_t@{bno08x\_sync\_ctx\_t}!BNO08xPrivateTypes@{BNO08xPrivateTypes}}
-\doxysubsubsection{\texorpdfstring{bno08x\_sync\_ctx\_t}{bno08x\_sync\_ctx\_t}}
-{\footnotesize\ttfamily typedef struct \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}}}
-
-
-
-Holds context used to synchronize tasks and callback execution. 
-
-
-
-\doxysubsection{Enumeration Type Documentation}
-\mbox{\Hypertarget{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2f}\label{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2f}} 
-\index{BNO08xPrivateTypes@{BNO08xPrivateTypes}!bno08x\_rpt\_bit\_t@{bno08x\_rpt\_bit\_t}}
-\index{bno08x\_rpt\_bit\_t@{bno08x\_rpt\_bit\_t}!BNO08xPrivateTypes@{BNO08xPrivateTypes}}
-\doxysubsubsection{\texorpdfstring{bno08x\_rpt\_bit\_t}{bno08x\_rpt\_bit\_t}}
-{\footnotesize\ttfamily enum \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2f}{BNO08x\+Private\+Types\+::bno08x\+\_\+rpt\+\_\+bit\+\_\+t}} \+: Event\+Bits\+\_\+t}
-
-
-
-Bits for evt\+\_\+grp\+\_\+rpt\+\_\+en \& evt\+\_\+grp\+\_\+rpt\+\_\+data\+\_\+available. 
-
-\begin{DoxyEnumFields}{Enumerator}
-\raisebox{\heightof{T}}[0pt][0pt]{\index{EVT\_GRP\_RPT\_RV\_BIT@{EVT\_GRP\_RPT\_RV\_BIT}!BNO08xPrivateTypes@{BNO08xPrivateTypes}}\index{BNO08xPrivateTypes@{BNO08xPrivateTypes}!EVT\_GRP\_RPT\_RV\_BIT@{EVT\_GRP\_RPT\_RV\_BIT}}}\mbox{\Hypertarget{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fac0ff3fde600aac814ad76a4769515ae8}\label{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fac0ff3fde600aac814ad76a4769515ae8}} 
-EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+RV\+\_\+\+BIT&When set, rotation vector reports are active. \\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{EVT\_GRP\_RPT\_RV\_GAME\_BIT@{EVT\_GRP\_RPT\_RV\_GAME\_BIT}!BNO08xPrivateTypes@{BNO08xPrivateTypes}}\index{BNO08xPrivateTypes@{BNO08xPrivateTypes}!EVT\_GRP\_RPT\_RV\_GAME\_BIT@{EVT\_GRP\_RPT\_RV\_GAME\_BIT}}}\mbox{\Hypertarget{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fad39283f98adf7242b3b3ccf847c150cd}\label{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fad39283f98adf7242b3b3ccf847c150cd}} 
-EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+RV\+\_\+\+GAME\+\_\+\+BIT&When set, game rotation vector reports are active. \\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{EVT\_GRP\_RPT\_RV\_ARVR\_S\_BIT@{EVT\_GRP\_RPT\_RV\_ARVR\_S\_BIT}!BNO08xPrivateTypes@{BNO08xPrivateTypes}}\index{BNO08xPrivateTypes@{BNO08xPrivateTypes}!EVT\_GRP\_RPT\_RV\_ARVR\_S\_BIT@{EVT\_GRP\_RPT\_RV\_ARVR\_S\_BIT}}}\mbox{\Hypertarget{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fab5d141bdda220e3fa0bd9eb0fe3f31b5}\label{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fab5d141bdda220e3fa0bd9eb0fe3f31b5}} 
-EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+RV\+\_\+\+ARVR\+\_\+\+S\+\_\+\+BIT&When set, ARVR stabilized rotation vector reports are active. \\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{EVT\_GRP\_RPT\_RV\_ARVR\_S\_GAME\_BIT@{EVT\_GRP\_RPT\_RV\_ARVR\_S\_GAME\_BIT}!BNO08xPrivateTypes@{BNO08xPrivateTypes}}\index{BNO08xPrivateTypes@{BNO08xPrivateTypes}!EVT\_GRP\_RPT\_RV\_ARVR\_S\_GAME\_BIT@{EVT\_GRP\_RPT\_RV\_ARVR\_S\_GAME\_BIT}}}\mbox{\Hypertarget{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fab77588c26929a2d8dd8eeea883b905ca}\label{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fab77588c26929a2d8dd8eeea883b905ca}} 
-EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+RV\+\_\+\+ARVR\+\_\+\+S\+\_\+\+GAME\+\_\+\+BIT&When set, ARVR stabilized game rotation vector reports are active. \\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{EVT\_GRP\_RPT\_GYRO\_INTEGRATED\_RV\_BIT@{EVT\_GRP\_RPT\_GYRO\_INTEGRATED\_RV\_BIT}!BNO08xPrivateTypes@{BNO08xPrivateTypes}}\index{BNO08xPrivateTypes@{BNO08xPrivateTypes}!EVT\_GRP\_RPT\_GYRO\_INTEGRATED\_RV\_BIT@{EVT\_GRP\_RPT\_GYRO\_INTEGRATED\_RV\_BIT}}}\mbox{\Hypertarget{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa6835a63fb08379608cda0a108098aac7}\label{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa6835a63fb08379608cda0a108098aac7}} 
-EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+GYRO\+\_\+\+INTEGRATED\+\_\+\+RV\+\_\+\+BIT&When set, gyro integrator rotation vector reports are active. \\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{EVT\_GRP\_RPT\_GEOMAG\_RV\_BIT@{EVT\_GRP\_RPT\_GEOMAG\_RV\_BIT}!BNO08xPrivateTypes@{BNO08xPrivateTypes}}\index{BNO08xPrivateTypes@{BNO08xPrivateTypes}!EVT\_GRP\_RPT\_GEOMAG\_RV\_BIT@{EVT\_GRP\_RPT\_GEOMAG\_RV\_BIT}}}\mbox{\Hypertarget{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa728314f4744fc408c6b153e8fbb3feb4}\label{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa728314f4744fc408c6b153e8fbb3feb4}} 
-EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+GEOMAG\+\_\+\+RV\+\_\+\+BIT&When set, geomagnetic rotation vector reports are active. \\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{EVT\_GRP\_RPT\_ACCELEROMETER\_BIT@{EVT\_GRP\_RPT\_ACCELEROMETER\_BIT}!BNO08xPrivateTypes@{BNO08xPrivateTypes}}\index{BNO08xPrivateTypes@{BNO08xPrivateTypes}!EVT\_GRP\_RPT\_ACCELEROMETER\_BIT@{EVT\_GRP\_RPT\_ACCELEROMETER\_BIT}}}\mbox{\Hypertarget{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2faa5b9ffe097d1eb83a6a5a13871da0891}\label{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2faa5b9ffe097d1eb83a6a5a13871da0891}} 
-EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+ACCELEROMETER\+\_\+\+BIT&When set, accelerometer reports are active. \\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{EVT\_GRP\_RPT\_LINEAR\_ACCELEROMETER\_BIT@{EVT\_GRP\_RPT\_LINEAR\_ACCELEROMETER\_BIT}!BNO08xPrivateTypes@{BNO08xPrivateTypes}}\index{BNO08xPrivateTypes@{BNO08xPrivateTypes}!EVT\_GRP\_RPT\_LINEAR\_ACCELEROMETER\_BIT@{EVT\_GRP\_RPT\_LINEAR\_ACCELEROMETER\_BIT}}}\mbox{\Hypertarget{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa68851003c2b7df34c3acf882251c60e2}\label{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa68851003c2b7df34c3acf882251c60e2}} 
-EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+LINEAR\+\_\+\+ACCELEROMETER\+\_\+\+BIT&When set, linear accelerometer reports are active. \\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{EVT\_GRP\_RPT\_GRAVITY\_BIT@{EVT\_GRP\_RPT\_GRAVITY\_BIT}!BNO08xPrivateTypes@{BNO08xPrivateTypes}}\index{BNO08xPrivateTypes@{BNO08xPrivateTypes}!EVT\_GRP\_RPT\_GRAVITY\_BIT@{EVT\_GRP\_RPT\_GRAVITY\_BIT}}}\mbox{\Hypertarget{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fabd9e62157a0bc3dc38c3473d7bc2799f}\label{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fabd9e62157a0bc3dc38c3473d7bc2799f}} 
-EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+GRAVITY\+\_\+\+BIT&When set, gravity reports are active. \\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{EVT\_GRP\_RPT\_CAL\_GYRO\_BIT@{EVT\_GRP\_RPT\_CAL\_GYRO\_BIT}!BNO08xPrivateTypes@{BNO08xPrivateTypes}}\index{BNO08xPrivateTypes@{BNO08xPrivateTypes}!EVT\_GRP\_RPT\_CAL\_GYRO\_BIT@{EVT\_GRP\_RPT\_CAL\_GYRO\_BIT}}}\mbox{\Hypertarget{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2faeb1961d7852ea305443610b2521aaea7}\label{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2faeb1961d7852ea305443610b2521aaea7}} 
-EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+CAL\+\_\+\+GYRO\+\_\+\+BIT&When set, calibrated gyro reports are active. \\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{EVT\_GRP\_RPT\_UNCAL\_GYRO\_BIT@{EVT\_GRP\_RPT\_UNCAL\_GYRO\_BIT}!BNO08xPrivateTypes@{BNO08xPrivateTypes}}\index{BNO08xPrivateTypes@{BNO08xPrivateTypes}!EVT\_GRP\_RPT\_UNCAL\_GYRO\_BIT@{EVT\_GRP\_RPT\_UNCAL\_GYRO\_BIT}}}\mbox{\Hypertarget{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa591c062247280798af0e40d6141614c6}\label{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa591c062247280798af0e40d6141614c6}} 
-EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+UNCAL\+\_\+\+GYRO\+\_\+\+BIT&When set, uncalibrated gyro reports are active. \\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{EVT\_GRP\_RPT\_CAL\_MAGNETOMETER\_BIT@{EVT\_GRP\_RPT\_CAL\_MAGNETOMETER\_BIT}!BNO08xPrivateTypes@{BNO08xPrivateTypes}}\index{BNO08xPrivateTypes@{BNO08xPrivateTypes}!EVT\_GRP\_RPT\_CAL\_MAGNETOMETER\_BIT@{EVT\_GRP\_RPT\_CAL\_MAGNETOMETER\_BIT}}}\mbox{\Hypertarget{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fac1d15dddeab169b213c719e6b0fef32d}\label{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fac1d15dddeab169b213c719e6b0fef32d}} 
-EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+CAL\+\_\+\+MAGNETOMETER\+\_\+\+BIT&When set, calibrated magnetometer reports are active. \\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{EVT\_GRP\_RPT\_UNCAL\_MAGNETOMETER\_BIT@{EVT\_GRP\_RPT\_UNCAL\_MAGNETOMETER\_BIT}!BNO08xPrivateTypes@{BNO08xPrivateTypes}}\index{BNO08xPrivateTypes@{BNO08xPrivateTypes}!EVT\_GRP\_RPT\_UNCAL\_MAGNETOMETER\_BIT@{EVT\_GRP\_RPT\_UNCAL\_MAGNETOMETER\_BIT}}}\mbox{\Hypertarget{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2faa54d15cc17179a6840b9ec3f4e0038cb}\label{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2faa54d15cc17179a6840b9ec3f4e0038cb}} 
-EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+UNCAL\+\_\+\+MAGNETOMETER\+\_\+\+BIT&When set, uncalibrated magnetometer reports are active. \\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{EVT\_GRP\_RPT\_TAP\_DETECTOR\_BIT@{EVT\_GRP\_RPT\_TAP\_DETECTOR\_BIT}!BNO08xPrivateTypes@{BNO08xPrivateTypes}}\index{BNO08xPrivateTypes@{BNO08xPrivateTypes}!EVT\_GRP\_RPT\_TAP\_DETECTOR\_BIT@{EVT\_GRP\_RPT\_TAP\_DETECTOR\_BIT}}}\mbox{\Hypertarget{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fad4482fb4fb6693a492584508691f2c77}\label{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fad4482fb4fb6693a492584508691f2c77}} 
-EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+TAP\+\_\+\+DETECTOR\+\_\+\+BIT&When set, tap detector reports are active. \\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{EVT\_GRP\_RPT\_STEP\_COUNTER\_BIT@{EVT\_GRP\_RPT\_STEP\_COUNTER\_BIT}!BNO08xPrivateTypes@{BNO08xPrivateTypes}}\index{BNO08xPrivateTypes@{BNO08xPrivateTypes}!EVT\_GRP\_RPT\_STEP\_COUNTER\_BIT@{EVT\_GRP\_RPT\_STEP\_COUNTER\_BIT}}}\mbox{\Hypertarget{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fafb8f448edba339f37fdf794bd891f903}\label{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fafb8f448edba339f37fdf794bd891f903}} 
-EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+STEP\+\_\+\+COUNTER\+\_\+\+BIT&When set, step counter reports are active. \\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{EVT\_GRP\_RPT\_STABILITY\_CLASSIFIER\_BIT@{EVT\_GRP\_RPT\_STABILITY\_CLASSIFIER\_BIT}!BNO08xPrivateTypes@{BNO08xPrivateTypes}}\index{BNO08xPrivateTypes@{BNO08xPrivateTypes}!EVT\_GRP\_RPT\_STABILITY\_CLASSIFIER\_BIT@{EVT\_GRP\_RPT\_STABILITY\_CLASSIFIER\_BIT}}}\mbox{\Hypertarget{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fae138ae8422830982a470025d81c4be4b}\label{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fae138ae8422830982a470025d81c4be4b}} 
-EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+STABILITY\+\_\+\+CLASSIFIER\+\_\+\+BIT&When set, stability classifier reports are active. \\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{EVT\_GRP\_RPT\_ACTIVITY\_CLASSIFIER\_BIT@{EVT\_GRP\_RPT\_ACTIVITY\_CLASSIFIER\_BIT}!BNO08xPrivateTypes@{BNO08xPrivateTypes}}\index{BNO08xPrivateTypes@{BNO08xPrivateTypes}!EVT\_GRP\_RPT\_ACTIVITY\_CLASSIFIER\_BIT@{EVT\_GRP\_RPT\_ACTIVITY\_CLASSIFIER\_BIT}}}\mbox{\Hypertarget{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa94cddd1837a77bba5644543b1ad8b9e7}\label{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa94cddd1837a77bba5644543b1ad8b9e7}} 
-EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+ACTIVITY\+\_\+\+CLASSIFIER\+\_\+\+BIT&When set, activity classifier reports are active. \\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{EVT\_GRP\_RPT\_SHAKE\_DETECTOR\_BIT@{EVT\_GRP\_RPT\_SHAKE\_DETECTOR\_BIT}!BNO08xPrivateTypes@{BNO08xPrivateTypes}}\index{BNO08xPrivateTypes@{BNO08xPrivateTypes}!EVT\_GRP\_RPT\_SHAKE\_DETECTOR\_BIT@{EVT\_GRP\_RPT\_SHAKE\_DETECTOR\_BIT}}}\mbox{\Hypertarget{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fad517d3ea5b1b259f20ed43e1fcf40e0c}\label{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fad517d3ea5b1b259f20ed43e1fcf40e0c}} 
-EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+SHAKE\+\_\+\+DETECTOR\+\_\+\+BIT&When set, shake detector reports are active. \\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{EVT\_GRP\_RPT\_RAW\_ACCELEROMETER\_BIT@{EVT\_GRP\_RPT\_RAW\_ACCELEROMETER\_BIT}!BNO08xPrivateTypes@{BNO08xPrivateTypes}}\index{BNO08xPrivateTypes@{BNO08xPrivateTypes}!EVT\_GRP\_RPT\_RAW\_ACCELEROMETER\_BIT@{EVT\_GRP\_RPT\_RAW\_ACCELEROMETER\_BIT}}}\mbox{\Hypertarget{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fab7e6b36da354702880ff9118d45b6af2}\label{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fab7e6b36da354702880ff9118d45b6af2}} 
-EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+RAW\+\_\+\+ACCELEROMETER\+\_\+\+BIT&When set, raw accelerometer reports are active. \\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{EVT\_GRP\_RPT\_RAW\_GYRO\_BIT@{EVT\_GRP\_RPT\_RAW\_GYRO\_BIT}!BNO08xPrivateTypes@{BNO08xPrivateTypes}}\index{BNO08xPrivateTypes@{BNO08xPrivateTypes}!EVT\_GRP\_RPT\_RAW\_GYRO\_BIT@{EVT\_GRP\_RPT\_RAW\_GYRO\_BIT}}}\mbox{\Hypertarget{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fadcfcdea69099869ebf7f246ff5b7e8bb}\label{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fadcfcdea69099869ebf7f246ff5b7e8bb}} 
-EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+RAW\+\_\+\+GYRO\+\_\+\+BIT&When set, raw gyro reports are active. \\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{EVT\_GRP\_RPT\_RAW\_MAGNETOMETER\_BIT@{EVT\_GRP\_RPT\_RAW\_MAGNETOMETER\_BIT}!BNO08xPrivateTypes@{BNO08xPrivateTypes}}\index{BNO08xPrivateTypes@{BNO08xPrivateTypes}!EVT\_GRP\_RPT\_RAW\_MAGNETOMETER\_BIT@{EVT\_GRP\_RPT\_RAW\_MAGNETOMETER\_BIT}}}\mbox{\Hypertarget{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fab57a2ea711bebb4d4e031a0b449160c7}\label{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fab57a2ea711bebb4d4e031a0b449160c7}} 
-EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+RAW\+\_\+\+MAGNETOMETER\+\_\+\+BIT&When set, raw magnetometer reports are active. \\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{EVT\_GRP\_RPT\_CIRCLE\_DETECTOR\_BIT@{EVT\_GRP\_RPT\_CIRCLE\_DETECTOR\_BIT}!BNO08xPrivateTypes@{BNO08xPrivateTypes}}\index{BNO08xPrivateTypes@{BNO08xPrivateTypes}!EVT\_GRP\_RPT\_CIRCLE\_DETECTOR\_BIT@{EVT\_GRP\_RPT\_CIRCLE\_DETECTOR\_BIT}}}\mbox{\Hypertarget{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fab5d7a8690f3b42637a52122d4269da10}\label{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fab5d7a8690f3b42637a52122d4269da10}} 
-EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+CIRCLE\+\_\+\+DETECTOR\+\_\+\+BIT&When set, circle detector reports are active. \\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{EVT\_GRP\_RPT\_ALL@{EVT\_GRP\_RPT\_ALL}!BNO08xPrivateTypes@{BNO08xPrivateTypes}}\index{BNO08xPrivateTypes@{BNO08xPrivateTypes}!EVT\_GRP\_RPT\_ALL@{EVT\_GRP\_RPT\_ALL}}}\mbox{\Hypertarget{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa6bb054cdd31ded01373a4395889c84f1}\label{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa6bb054cdd31ded01373a4395889c84f1}} 
-EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+ALL&\\
-\hline
-
-\end{DoxyEnumFields}
-\mbox{\Hypertarget{namespace_b_n_o08x_private_types_a59097f108831dd9860e17438d2976c1c}\label{namespace_b_n_o08x_private_types_a59097f108831dd9860e17438d2976c1c}} 
-\index{BNO08xPrivateTypes@{BNO08xPrivateTypes}!bno08x\_tsk\_bit\_t@{bno08x\_tsk\_bit\_t}}
-\index{bno08x\_tsk\_bit\_t@{bno08x\_tsk\_bit\_t}!BNO08xPrivateTypes@{BNO08xPrivateTypes}}
-\doxysubsubsection{\texorpdfstring{bno08x\_tsk\_bit\_t}{bno08x\_tsk\_bit\_t}}
-{\footnotesize\ttfamily enum \mbox{\hyperlink{namespace_b_n_o08x_private_types_a59097f108831dd9860e17438d2976c1c}{BNO08x\+Private\+Types\+::bno08x\+\_\+tsk\+\_\+bit\+\_\+t}} \+: Event\+Bits\+\_\+t}
-
-
-
-Bits for evt\+\_\+grp\+\_\+bno08x\+\_\+task. 
-
-\begin{DoxyEnumFields}{Enumerator}
-\raisebox{\heightof{T}}[0pt][0pt]{\index{EVT\_GRP\_BNO08x\_TASKS\_RUNNING@{EVT\_GRP\_BNO08x\_TASKS\_RUNNING}!BNO08xPrivateTypes@{BNO08xPrivateTypes}}\index{BNO08xPrivateTypes@{BNO08xPrivateTypes}!EVT\_GRP\_BNO08x\_TASKS\_RUNNING@{EVT\_GRP\_BNO08x\_TASKS\_RUNNING}}}\mbox{\Hypertarget{namespace_b_n_o08x_private_types_a59097f108831dd9860e17438d2976c1ca272952aff639965d61f76664cb4fed15}\label{namespace_b_n_o08x_private_types_a59097f108831dd9860e17438d2976c1ca272952aff639965d61f76664cb4fed15}} 
-EVT\+\_\+\+GRP\+\_\+\+BNO08x\+\_\+\+TASKS\+\_\+\+RUNNING&When this bit is set it indicates the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} tasks are running, it is always set to 1 for the duration of the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} driver object. Cleared in the destructor for safe task deletion. \\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{EVT\_GRP\_BNO08x\_TASK\_HINT\_ASSRT\_BIT@{EVT\_GRP\_BNO08x\_TASK\_HINT\_ASSRT\_BIT}!BNO08xPrivateTypes@{BNO08xPrivateTypes}}\index{BNO08xPrivateTypes@{BNO08xPrivateTypes}!EVT\_GRP\_BNO08x\_TASK\_HINT\_ASSRT\_BIT@{EVT\_GRP\_BNO08x\_TASK\_HINT\_ASSRT\_BIT}}}\mbox{\Hypertarget{namespace_b_n_o08x_private_types_a59097f108831dd9860e17438d2976c1ca616d8458c1a9f54f9d99ba03a773ba41}\label{namespace_b_n_o08x_private_types_a59097f108831dd9860e17438d2976c1ca616d8458c1a9f54f9d99ba03a773ba41}} 
-EVT\+\_\+\+GRP\+\_\+\+BNO08x\+\_\+\+TASK\+\_\+\+HINT\+\_\+\+ASSRT\+\_\+\+BIT&When this bit is set it indicates the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} has asserted its host interrupt pin, thus an SPI transaction should commence. \\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{EVT\_GRP\_BNO08x\_TASK\_RESET\_OCCURRED@{EVT\_GRP\_BNO08x\_TASK\_RESET\_OCCURRED}!BNO08xPrivateTypes@{BNO08xPrivateTypes}}\index{BNO08xPrivateTypes@{BNO08xPrivateTypes}!EVT\_GRP\_BNO08x\_TASK\_RESET\_OCCURRED@{EVT\_GRP\_BNO08x\_TASK\_RESET\_OCCURRED}}}\mbox{\Hypertarget{namespace_b_n_o08x_private_types_a59097f108831dd9860e17438d2976c1caaddd073f2b8e89319909d7c61f220452}\label{namespace_b_n_o08x_private_types_a59097f108831dd9860e17438d2976c1caaddd073f2b8e89319909d7c61f220452}} 
-EVT\+\_\+\+GRP\+\_\+\+BNO08x\+\_\+\+TASK\+\_\+\+RESET\+\_\+\+OCCURRED&When this bit is set it indicates the SH2 HAL lib has reset the IMU, any reports enabled by the user must be re-\/enabled. \\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{EVT\_GRP\_BNO08x\_TASK\_DATA\_AVAILABLE@{EVT\_GRP\_BNO08x\_TASK\_DATA\_AVAILABLE}!BNO08xPrivateTypes@{BNO08xPrivateTypes}}\index{BNO08xPrivateTypes@{BNO08xPrivateTypes}!EVT\_GRP\_BNO08x\_TASK\_DATA\_AVAILABLE@{EVT\_GRP\_BNO08x\_TASK\_DATA\_AVAILABLE}}}\mbox{\Hypertarget{namespace_b_n_o08x_private_types_a59097f108831dd9860e17438d2976c1ca17f12f538e40746dbe8aafee08391fcc}\label{namespace_b_n_o08x_private_types_a59097f108831dd9860e17438d2976c1ca17f12f538e40746dbe8aafee08391fcc}} 
-EVT\+\_\+\+GRP\+\_\+\+BNO08x\+\_\+\+TASK\+\_\+\+DATA\+\_\+\+AVAILABLE&When this bit is set it indicates a report has been received for the user to read, cleared in data\+\_\+available() set/cleared in handle\+\_\+sensor\+\_\+report(). \\
-\hline
-
-\end{DoxyEnumFields}
diff --git a/documentation/latex/namespaces.tex b/documentation/latex/namespaces.tex
deleted file mode 100644
index 033598a..0000000
--- a/documentation/latex/namespaces.tex
+++ /dev/null
@@ -1,4 +0,0 @@
-\doxysection{Namespace List}
-Here is a list of all namespaces with brief descriptions\+:\begin{DoxyCompactList}
-\item\contentsline{section}{\mbox{\hyperlink{namespace_b_n_o08x_private_types}{BNO08x\+Private\+Types}} }{\pageref{namespace_b_n_o08x_private_types}}{}
-\end{DoxyCompactList}
diff --git a/documentation/latex/refman.tex b/documentation/latex/refman.tex
deleted file mode 100644
index 464a688..0000000
--- a/documentation/latex/refman.tex
+++ /dev/null
@@ -1,342 +0,0 @@
-  % Handle batch mode
-  % to overcome problems with too many open files
-  \let\mypdfximage\pdfximage\def\pdfximage{\immediate\mypdfximage}
-  % Set document class depending on configuration
-  \documentclass[twoside]{book}
-  %% moved from doxygen.sty due to workaround for LaTex 2019 version and unmaintained tabu package
-  \usepackage{ifthen}
-  \ifx\requestedLaTeXdate\undefined
-    \usepackage{array}
-  \else
-    \usepackage{array}[=2016-10-06]
-  \fi
-  %%
-  % Packages required by doxygen
-  \usepackage{fixltx2e} % for \textsubscript
-  \usepackage{doxygen}
-  \usepackage{graphicx}
-  \usepackage[utf8]{inputenc}
-  \usepackage{makeidx}
-  \PassOptionsToPackage{warn}{textcomp}
-  \usepackage{textcomp}
-  \usepackage[nointegrals]{wasysym}
-  \usepackage{ifxetex}
-  % NLS support packages
-  % Define default fonts
-  % Font selection
-  \usepackage[T1]{fontenc}
-  % set main and monospaced font
-  \usepackage[scaled=.90]{helvet}
-\usepackage{courier}
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-  \usepackage{sectsty}
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-    \fontseries{bc}\selectfont%
-    \color{darkgray}%
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-  \newcommand{\+}{\discretionary{\mbox{\scriptsize$\hookleftarrow$}}{}{}}
-   % Arguments of doxygenemoji:
-   % 1) ':<text>:' form of the emoji, already LaTeX-escaped
-   % 2) file with the name of the emoji without the .png extension
-   % in case image exist use this otherwise use the ':<text>:' form
-   \newcommand{\doxygenemoji}[2]{%
-     \IfFileExists{./#2.png}{\raisebox{-0.1em}{\includegraphics[height=0.9em]{./#2.png}}}{#1}%
-   }
-  % Page & text layout
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diff --git a/documentation/latex/struct_b_n_o08x_1_1bno08x__reports__t.tex b/documentation/latex/struct_b_n_o08x_1_1bno08x__reports__t.tex
deleted file mode 100644
index 014ea04..0000000
--- a/documentation/latex/struct_b_n_o08x_1_1bno08x__reports__t.tex
+++ /dev/null
@@ -1,217 +0,0 @@
-\hypertarget{struct_b_n_o08x_1_1bno08x__reports__t}{}\doxysection{BNO08x\+::bno08x\+\_\+reports\+\_\+t Struct Reference}
-\label{struct_b_n_o08x_1_1bno08x__reports__t}\index{BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}}
-
-
-Contains report implementations.  
-
-
-
-
-{\ttfamily \#include $<$BNO08x.\+hpp$>$}
-
-
-
-Collaboration diagram for BNO08x\+::bno08x\+\_\+reports\+\_\+t\+:
-\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{struct_b_n_o08x_1_1bno08x__reports__t__coll__graph}
-\end{center}
-\end{figure}
-\doxysubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_aad0b1641e9c31927c33d0f69c174f9cb}{bno08x\+\_\+reports\+\_\+t}} (\mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$sync\+\_\+ctx)
-\end{DoxyCompactItemize}
-\doxysubsection*{Public Attributes}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{class_b_n_o08x_rpt_i_gyro_r_v}{BNO08x\+Rpt\+IGyro\+RV}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a6937b5d9bf8af9344a5013e1c543ab42}{rv\+\_\+gyro\+\_\+integrated}}
-\item 
-\mbox{\hyperlink{class_b_n_o08x_rpt_uncal_magnetometer}{BNO08x\+Rpt\+Uncal\+Magnetometer}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a5774fa69fc74264d40478a729aeb5ece}{uncal\+\_\+magnetometer}}
-\item 
-\mbox{\hyperlink{class_b_n_o08x_rpt_uncal_gyro}{BNO08x\+Rpt\+Uncal\+Gyro}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a6f1929843393c09c21b1f107a47c8fe3}{uncal\+\_\+gyro}}
-\item 
-\mbox{\hyperlink{class_b_n_o08x_rpt_r_v}{BNO08x\+Rpt\+RV}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_aeab138f8ddfed3f4d6b855a73b7e2db5}{rv}}
-\item 
-\mbox{\hyperlink{class_b_n_o08x_rpt_game_r_v}{BNO08x\+Rpt\+Game\+RV}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a7f33ac650137f5933ee1eab1ce936db6}{rv\+\_\+game}}
-\item 
-\mbox{\hyperlink{class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v}{BNO08x\+Rpt\+ARVRStabilized\+RV}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a027c914e51da445148dc9b2735cc5fc9}{rv\+\_\+\+ARVR\+\_\+stabilized}}
-\item 
-\mbox{\hyperlink{class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v}{BNO08x\+Rpt\+ARVRStabilized\+Game\+RV}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_af550968d0e56f114b4afb20a5a442206}{rv\+\_\+\+ARVR\+\_\+stabilized\+\_\+game}}
-\item 
-\mbox{\hyperlink{class_b_n_o08x_rpt_r_v_geomag}{BNO08x\+Rpt\+RVGeomag}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a7e17ff7b9763ed040158813c69614a9f}{rv\+\_\+geomagnetic}}
-\item 
-\mbox{\hyperlink{class_b_n_o08x_rpt_activity_classifier}{BNO08x\+Rpt\+Activity\+Classifier}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a6475bdab7c49091f3086537efc00c12f}{activity\+\_\+classifier}}
-\item 
-\mbox{\hyperlink{class_b_n_o08x_rpt_acceleration}{BNO08x\+Rpt\+Acceleration}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_ab7939486c9ba7e7c70f82d2284fb6119}{accelerometer}}
-\item 
-\mbox{\hyperlink{class_b_n_o08x_rpt_linear_acceleration}{BNO08x\+Rpt\+Linear\+Acceleration}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_ac8114db28ee3f7be5578e52f48caa9c3}{linear\+\_\+accelerometer}}
-\item 
-\mbox{\hyperlink{class_b_n_o08x_rpt_gravity}{BNO08x\+Rpt\+Gravity}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_af5245d5e4a6f7548a0c3a30af53b7355}{gravity}}
-\item 
-\mbox{\hyperlink{class_b_n_o08x_rpt_cal_magnetometer}{BNO08x\+Rpt\+Cal\+Magnetometer}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a03d6194225331df5326a97ec6d45b094}{cal\+\_\+magnetometer}}
-\item 
-\mbox{\hyperlink{class_b_n_o08x_rpt_cal_gyro}{BNO08x\+Rpt\+Cal\+Gyro}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_adabe838126b5bbc83fc4f69bba78123e}{cal\+\_\+gyro}}
-\item 
-\mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_gyro}{BNO08x\+Rpt\+Raw\+MEMSGyro}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a13357e58bc926c2420ab41e4ffef4196}{raw\+\_\+gyro}}
-\item 
-\mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer}{BNO08x\+Rpt\+Raw\+MEMSAccelerometer}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_aa3a65aaf2adf05aa014b72c2d4485590}{raw\+\_\+accelerometer}}
-\item 
-\mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer}{BNO08x\+Rpt\+Raw\+MEMSMagnetometer}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_aad8698945b261c0a871f2f409897b071}{raw\+\_\+magnetometer}}
-\item 
-\mbox{\hyperlink{class_b_n_o08x_rpt_step_counter}{BNO08x\+Rpt\+Step\+Counter}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_aee9528ea57ab86ef29e10de9ecfefcf7}{step\+\_\+counter}}
-\item 
-\mbox{\hyperlink{class_b_n_o08x_rpt_tap_detector}{BNO08x\+Rpt\+Tap\+Detector}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a0cabee7da991a7399d607373f09548a7}{tap\+\_\+detector}}
-\item 
-\mbox{\hyperlink{class_b_n_o08x_rpt_stability_classifier}{BNO08x\+Rpt\+Stability\+Classifier}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a2edee4386eaea86ef3d316f5840d7a2f}{stability\+\_\+classifier}}
-\item 
-\mbox{\hyperlink{class_b_n_o08x_rpt_shake_detector}{BNO08x\+Rpt\+Shake\+Detector}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a9d7ff08c5a141c3d1ad3493423e7c49c}{shake\+\_\+detector}}
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-Contains report implementations. 
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\mbox{\Hypertarget{struct_b_n_o08x_1_1bno08x__reports__t_aad0b1641e9c31927c33d0f69c174f9cb}\label{struct_b_n_o08x_1_1bno08x__reports__t_aad0b1641e9c31927c33d0f69c174f9cb}} 
-\index{BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}!bno08x\_reports\_t@{bno08x\_reports\_t}}
-\index{bno08x\_reports\_t@{bno08x\_reports\_t}!BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}}
-\doxysubsubsection{\texorpdfstring{bno08x\_reports\_t()}{bno08x\_reports\_t()}}
-{\footnotesize\ttfamily BNO08x\+::bno08x\+\_\+reports\+\_\+t\+::bno08x\+\_\+reports\+\_\+t (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$}]{sync\+\_\+ctx }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Data Documentation}
-\mbox{\Hypertarget{struct_b_n_o08x_1_1bno08x__reports__t_ab7939486c9ba7e7c70f82d2284fb6119}\label{struct_b_n_o08x_1_1bno08x__reports__t_ab7939486c9ba7e7c70f82d2284fb6119}} 
-\index{BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}!accelerometer@{accelerometer}}
-\index{accelerometer@{accelerometer}!BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}}
-\doxysubsubsection{\texorpdfstring{accelerometer}{accelerometer}}
-{\footnotesize\ttfamily \mbox{\hyperlink{class_b_n_o08x_rpt_acceleration}{BNO08x\+Rpt\+Acceleration}} BNO08x\+::bno08x\+\_\+reports\+\_\+t\+::accelerometer}
-
-\mbox{\Hypertarget{struct_b_n_o08x_1_1bno08x__reports__t_a6475bdab7c49091f3086537efc00c12f}\label{struct_b_n_o08x_1_1bno08x__reports__t_a6475bdab7c49091f3086537efc00c12f}} 
-\index{BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}!activity\_classifier@{activity\_classifier}}
-\index{activity\_classifier@{activity\_classifier}!BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}}
-\doxysubsubsection{\texorpdfstring{activity\_classifier}{activity\_classifier}}
-{\footnotesize\ttfamily \mbox{\hyperlink{class_b_n_o08x_rpt_activity_classifier}{BNO08x\+Rpt\+Activity\+Classifier}} BNO08x\+::bno08x\+\_\+reports\+\_\+t\+::activity\+\_\+classifier}
-
-\mbox{\Hypertarget{struct_b_n_o08x_1_1bno08x__reports__t_adabe838126b5bbc83fc4f69bba78123e}\label{struct_b_n_o08x_1_1bno08x__reports__t_adabe838126b5bbc83fc4f69bba78123e}} 
-\index{BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}!cal\_gyro@{cal\_gyro}}
-\index{cal\_gyro@{cal\_gyro}!BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}}
-\doxysubsubsection{\texorpdfstring{cal\_gyro}{cal\_gyro}}
-{\footnotesize\ttfamily \mbox{\hyperlink{class_b_n_o08x_rpt_cal_gyro}{BNO08x\+Rpt\+Cal\+Gyro}} BNO08x\+::bno08x\+\_\+reports\+\_\+t\+::cal\+\_\+gyro}
-
-\mbox{\Hypertarget{struct_b_n_o08x_1_1bno08x__reports__t_a03d6194225331df5326a97ec6d45b094}\label{struct_b_n_o08x_1_1bno08x__reports__t_a03d6194225331df5326a97ec6d45b094}} 
-\index{BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}!cal\_magnetometer@{cal\_magnetometer}}
-\index{cal\_magnetometer@{cal\_magnetometer}!BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}}
-\doxysubsubsection{\texorpdfstring{cal\_magnetometer}{cal\_magnetometer}}
-{\footnotesize\ttfamily \mbox{\hyperlink{class_b_n_o08x_rpt_cal_magnetometer}{BNO08x\+Rpt\+Cal\+Magnetometer}} BNO08x\+::bno08x\+\_\+reports\+\_\+t\+::cal\+\_\+magnetometer}
-
-\mbox{\Hypertarget{struct_b_n_o08x_1_1bno08x__reports__t_af5245d5e4a6f7548a0c3a30af53b7355}\label{struct_b_n_o08x_1_1bno08x__reports__t_af5245d5e4a6f7548a0c3a30af53b7355}} 
-\index{BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}!gravity@{gravity}}
-\index{gravity@{gravity}!BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}}
-\doxysubsubsection{\texorpdfstring{gravity}{gravity}}
-{\footnotesize\ttfamily \mbox{\hyperlink{class_b_n_o08x_rpt_gravity}{BNO08x\+Rpt\+Gravity}} BNO08x\+::bno08x\+\_\+reports\+\_\+t\+::gravity}
-
-\mbox{\Hypertarget{struct_b_n_o08x_1_1bno08x__reports__t_ac8114db28ee3f7be5578e52f48caa9c3}\label{struct_b_n_o08x_1_1bno08x__reports__t_ac8114db28ee3f7be5578e52f48caa9c3}} 
-\index{BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}!linear\_accelerometer@{linear\_accelerometer}}
-\index{linear\_accelerometer@{linear\_accelerometer}!BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}}
-\doxysubsubsection{\texorpdfstring{linear\_accelerometer}{linear\_accelerometer}}
-{\footnotesize\ttfamily \mbox{\hyperlink{class_b_n_o08x_rpt_linear_acceleration}{BNO08x\+Rpt\+Linear\+Acceleration}} BNO08x\+::bno08x\+\_\+reports\+\_\+t\+::linear\+\_\+accelerometer}
-
-\mbox{\Hypertarget{struct_b_n_o08x_1_1bno08x__reports__t_aa3a65aaf2adf05aa014b72c2d4485590}\label{struct_b_n_o08x_1_1bno08x__reports__t_aa3a65aaf2adf05aa014b72c2d4485590}} 
-\index{BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}!raw\_accelerometer@{raw\_accelerometer}}
-\index{raw\_accelerometer@{raw\_accelerometer}!BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}}
-\doxysubsubsection{\texorpdfstring{raw\_accelerometer}{raw\_accelerometer}}
-{\footnotesize\ttfamily \mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer}{BNO08x\+Rpt\+Raw\+MEMSAccelerometer}} BNO08x\+::bno08x\+\_\+reports\+\_\+t\+::raw\+\_\+accelerometer}
-
-\mbox{\Hypertarget{struct_b_n_o08x_1_1bno08x__reports__t_a13357e58bc926c2420ab41e4ffef4196}\label{struct_b_n_o08x_1_1bno08x__reports__t_a13357e58bc926c2420ab41e4ffef4196}} 
-\index{BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}!raw\_gyro@{raw\_gyro}}
-\index{raw\_gyro@{raw\_gyro}!BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}}
-\doxysubsubsection{\texorpdfstring{raw\_gyro}{raw\_gyro}}
-{\footnotesize\ttfamily \mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_gyro}{BNO08x\+Rpt\+Raw\+MEMSGyro}} BNO08x\+::bno08x\+\_\+reports\+\_\+t\+::raw\+\_\+gyro}
-
-\mbox{\Hypertarget{struct_b_n_o08x_1_1bno08x__reports__t_aad8698945b261c0a871f2f409897b071}\label{struct_b_n_o08x_1_1bno08x__reports__t_aad8698945b261c0a871f2f409897b071}} 
-\index{BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}!raw\_magnetometer@{raw\_magnetometer}}
-\index{raw\_magnetometer@{raw\_magnetometer}!BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}}
-\doxysubsubsection{\texorpdfstring{raw\_magnetometer}{raw\_magnetometer}}
-{\footnotesize\ttfamily \mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer}{BNO08x\+Rpt\+Raw\+MEMSMagnetometer}} BNO08x\+::bno08x\+\_\+reports\+\_\+t\+::raw\+\_\+magnetometer}
-
-\mbox{\Hypertarget{struct_b_n_o08x_1_1bno08x__reports__t_aeab138f8ddfed3f4d6b855a73b7e2db5}\label{struct_b_n_o08x_1_1bno08x__reports__t_aeab138f8ddfed3f4d6b855a73b7e2db5}} 
-\index{BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}!rv@{rv}}
-\index{rv@{rv}!BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}}
-\doxysubsubsection{\texorpdfstring{rv}{rv}}
-{\footnotesize\ttfamily \mbox{\hyperlink{class_b_n_o08x_rpt_r_v}{BNO08x\+Rpt\+RV}} BNO08x\+::bno08x\+\_\+reports\+\_\+t\+::rv}
-
-\mbox{\Hypertarget{struct_b_n_o08x_1_1bno08x__reports__t_a027c914e51da445148dc9b2735cc5fc9}\label{struct_b_n_o08x_1_1bno08x__reports__t_a027c914e51da445148dc9b2735cc5fc9}} 
-\index{BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}!rv\_ARVR\_stabilized@{rv\_ARVR\_stabilized}}
-\index{rv\_ARVR\_stabilized@{rv\_ARVR\_stabilized}!BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}}
-\doxysubsubsection{\texorpdfstring{rv\_ARVR\_stabilized}{rv\_ARVR\_stabilized}}
-{\footnotesize\ttfamily \mbox{\hyperlink{class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v}{BNO08x\+Rpt\+ARVRStabilized\+RV}} BNO08x\+::bno08x\+\_\+reports\+\_\+t\+::rv\+\_\+\+ARVR\+\_\+stabilized}
-
-\mbox{\Hypertarget{struct_b_n_o08x_1_1bno08x__reports__t_af550968d0e56f114b4afb20a5a442206}\label{struct_b_n_o08x_1_1bno08x__reports__t_af550968d0e56f114b4afb20a5a442206}} 
-\index{BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}!rv\_ARVR\_stabilized\_game@{rv\_ARVR\_stabilized\_game}}
-\index{rv\_ARVR\_stabilized\_game@{rv\_ARVR\_stabilized\_game}!BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}}
-\doxysubsubsection{\texorpdfstring{rv\_ARVR\_stabilized\_game}{rv\_ARVR\_stabilized\_game}}
-{\footnotesize\ttfamily \mbox{\hyperlink{class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v}{BNO08x\+Rpt\+ARVRStabilized\+Game\+RV}} BNO08x\+::bno08x\+\_\+reports\+\_\+t\+::rv\+\_\+\+ARVR\+\_\+stabilized\+\_\+game}
-
-\mbox{\Hypertarget{struct_b_n_o08x_1_1bno08x__reports__t_a7f33ac650137f5933ee1eab1ce936db6}\label{struct_b_n_o08x_1_1bno08x__reports__t_a7f33ac650137f5933ee1eab1ce936db6}} 
-\index{BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}!rv\_game@{rv\_game}}
-\index{rv\_game@{rv\_game}!BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}}
-\doxysubsubsection{\texorpdfstring{rv\_game}{rv\_game}}
-{\footnotesize\ttfamily \mbox{\hyperlink{class_b_n_o08x_rpt_game_r_v}{BNO08x\+Rpt\+Game\+RV}} BNO08x\+::bno08x\+\_\+reports\+\_\+t\+::rv\+\_\+game}
-
-\mbox{\Hypertarget{struct_b_n_o08x_1_1bno08x__reports__t_a7e17ff7b9763ed040158813c69614a9f}\label{struct_b_n_o08x_1_1bno08x__reports__t_a7e17ff7b9763ed040158813c69614a9f}} 
-\index{BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}!rv\_geomagnetic@{rv\_geomagnetic}}
-\index{rv\_geomagnetic@{rv\_geomagnetic}!BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}}
-\doxysubsubsection{\texorpdfstring{rv\_geomagnetic}{rv\_geomagnetic}}
-{\footnotesize\ttfamily \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_geomag}{BNO08x\+Rpt\+RVGeomag}} BNO08x\+::bno08x\+\_\+reports\+\_\+t\+::rv\+\_\+geomagnetic}
-
-\mbox{\Hypertarget{struct_b_n_o08x_1_1bno08x__reports__t_a6937b5d9bf8af9344a5013e1c543ab42}\label{struct_b_n_o08x_1_1bno08x__reports__t_a6937b5d9bf8af9344a5013e1c543ab42}} 
-\index{BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}!rv\_gyro\_integrated@{rv\_gyro\_integrated}}
-\index{rv\_gyro\_integrated@{rv\_gyro\_integrated}!BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}}
-\doxysubsubsection{\texorpdfstring{rv\_gyro\_integrated}{rv\_gyro\_integrated}}
-{\footnotesize\ttfamily \mbox{\hyperlink{class_b_n_o08x_rpt_i_gyro_r_v}{BNO08x\+Rpt\+IGyro\+RV}} BNO08x\+::bno08x\+\_\+reports\+\_\+t\+::rv\+\_\+gyro\+\_\+integrated}
-
-\mbox{\Hypertarget{struct_b_n_o08x_1_1bno08x__reports__t_a9d7ff08c5a141c3d1ad3493423e7c49c}\label{struct_b_n_o08x_1_1bno08x__reports__t_a9d7ff08c5a141c3d1ad3493423e7c49c}} 
-\index{BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}!shake\_detector@{shake\_detector}}
-\index{shake\_detector@{shake\_detector}!BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}}
-\doxysubsubsection{\texorpdfstring{shake\_detector}{shake\_detector}}
-{\footnotesize\ttfamily \mbox{\hyperlink{class_b_n_o08x_rpt_shake_detector}{BNO08x\+Rpt\+Shake\+Detector}} BNO08x\+::bno08x\+\_\+reports\+\_\+t\+::shake\+\_\+detector}
-
-\mbox{\Hypertarget{struct_b_n_o08x_1_1bno08x__reports__t_a2edee4386eaea86ef3d316f5840d7a2f}\label{struct_b_n_o08x_1_1bno08x__reports__t_a2edee4386eaea86ef3d316f5840d7a2f}} 
-\index{BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}!stability\_classifier@{stability\_classifier}}
-\index{stability\_classifier@{stability\_classifier}!BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}}
-\doxysubsubsection{\texorpdfstring{stability\_classifier}{stability\_classifier}}
-{\footnotesize\ttfamily \mbox{\hyperlink{class_b_n_o08x_rpt_stability_classifier}{BNO08x\+Rpt\+Stability\+Classifier}} BNO08x\+::bno08x\+\_\+reports\+\_\+t\+::stability\+\_\+classifier}
-
-\mbox{\Hypertarget{struct_b_n_o08x_1_1bno08x__reports__t_aee9528ea57ab86ef29e10de9ecfefcf7}\label{struct_b_n_o08x_1_1bno08x__reports__t_aee9528ea57ab86ef29e10de9ecfefcf7}} 
-\index{BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}!step\_counter@{step\_counter}}
-\index{step\_counter@{step\_counter}!BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}}
-\doxysubsubsection{\texorpdfstring{step\_counter}{step\_counter}}
-{\footnotesize\ttfamily \mbox{\hyperlink{class_b_n_o08x_rpt_step_counter}{BNO08x\+Rpt\+Step\+Counter}} BNO08x\+::bno08x\+\_\+reports\+\_\+t\+::step\+\_\+counter}
-
-\mbox{\Hypertarget{struct_b_n_o08x_1_1bno08x__reports__t_a0cabee7da991a7399d607373f09548a7}\label{struct_b_n_o08x_1_1bno08x__reports__t_a0cabee7da991a7399d607373f09548a7}} 
-\index{BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}!tap\_detector@{tap\_detector}}
-\index{tap\_detector@{tap\_detector}!BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}}
-\doxysubsubsection{\texorpdfstring{tap\_detector}{tap\_detector}}
-{\footnotesize\ttfamily \mbox{\hyperlink{class_b_n_o08x_rpt_tap_detector}{BNO08x\+Rpt\+Tap\+Detector}} BNO08x\+::bno08x\+\_\+reports\+\_\+t\+::tap\+\_\+detector}
-
-\mbox{\Hypertarget{struct_b_n_o08x_1_1bno08x__reports__t_a6f1929843393c09c21b1f107a47c8fe3}\label{struct_b_n_o08x_1_1bno08x__reports__t_a6f1929843393c09c21b1f107a47c8fe3}} 
-\index{BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}!uncal\_gyro@{uncal\_gyro}}
-\index{uncal\_gyro@{uncal\_gyro}!BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}}
-\doxysubsubsection{\texorpdfstring{uncal\_gyro}{uncal\_gyro}}
-{\footnotesize\ttfamily \mbox{\hyperlink{class_b_n_o08x_rpt_uncal_gyro}{BNO08x\+Rpt\+Uncal\+Gyro}} BNO08x\+::bno08x\+\_\+reports\+\_\+t\+::uncal\+\_\+gyro}
-
-\mbox{\Hypertarget{struct_b_n_o08x_1_1bno08x__reports__t_a5774fa69fc74264d40478a729aeb5ece}\label{struct_b_n_o08x_1_1bno08x__reports__t_a5774fa69fc74264d40478a729aeb5ece}} 
-\index{BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}!uncal\_magnetometer@{uncal\_magnetometer}}
-\index{uncal\_magnetometer@{uncal\_magnetometer}!BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}}
-\doxysubsubsection{\texorpdfstring{uncal\_magnetometer}{uncal\_magnetometer}}
-{\footnotesize\ttfamily \mbox{\hyperlink{class_b_n_o08x_rpt_uncal_magnetometer}{BNO08x\+Rpt\+Uncal\+Magnetometer}} BNO08x\+::bno08x\+\_\+reports\+\_\+t\+::uncal\+\_\+magnetometer}
-
-
-
-The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\mbox{\hyperlink{_b_n_o08x_8hpp}{BNO08x.\+hpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/struct_b_n_o08x_1_1bno08x__reports__t__coll__graph.md5 b/documentation/latex/struct_b_n_o08x_1_1bno08x__reports__t__coll__graph.md5
deleted file mode 100644
index 619e191..0000000
--- a/documentation/latex/struct_b_n_o08x_1_1bno08x__reports__t__coll__graph.md5
+++ /dev/null
@@ -1 +0,0 @@
-ecfd2e25a2354a9495f3a7ac80604798
\ No newline at end of file
diff --git a/documentation/latex/struct_b_n_o08x_1_1bno08x__reports__t__coll__graph.pdf b/documentation/latex/struct_b_n_o08x_1_1bno08x__reports__t__coll__graph.pdf
deleted file mode 100644
index 671ef75..0000000
Binary files a/documentation/latex/struct_b_n_o08x_1_1bno08x__reports__t__coll__graph.pdf and /dev/null differ
diff --git a/documentation/latex/struct_b_n_o08x_private_types_1_1bno08x__init__status__t.tex b/documentation/latex/struct_b_n_o08x_private_types_1_1bno08x__init__status__t.tex
deleted file mode 100644
index 75be137..0000000
--- a/documentation/latex/struct_b_n_o08x_private_types_1_1bno08x__init__status__t.tex
+++ /dev/null
@@ -1,159 +0,0 @@
-\hypertarget{struct_b_n_o08x_private_types_1_1bno08x__init__status__t}{}\doxysection{BNO08x\+Private\+Types\+::bno08x\+\_\+init\+\_\+status\+\_\+t Struct Reference}
-\label{struct_b_n_o08x_private_types_1_1bno08x__init__status__t}\index{BNO08xPrivateTypes::bno08x\_init\_status\_t@{BNO08xPrivateTypes::bno08x\_init\_status\_t}}
-
-
-Holds info about which functionality has been successfully initialized (used by deconstructor during cleanup).  
-
-
-
-
-{\ttfamily \#include $<$BNO08x\+Private\+Types.\+hpp$>$}
-
-\doxysubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_a63b876667ae7fb32e9861dffafb55a64}{bno08x\+\_\+init\+\_\+status\+\_\+t}} ()
-\end{DoxyCompactItemize}
-\doxysubsection*{Public Attributes}
-\begin{DoxyCompactItemize}
-\item 
-bool \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_ac74b5a17ec13d4bef4e4775f20ed68df}{gpio\+\_\+outputs}}
-\begin{DoxyCompactList}\small\item\em True if GPIO outputs have been initialized. \end{DoxyCompactList}\item 
-bool \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_a9b87a879ec795e2241985f0d33856c14}{gpio\+\_\+inputs}}
-\begin{DoxyCompactList}\small\item\em True if GPIO inputs have been initialized. \end{DoxyCompactList}\item 
-bool \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_a3cec063b6210ec58d30b3bd1d4ead4f9}{isr\+\_\+service}}
-\begin{DoxyCompactList}\small\item\em True if global ISR service has been initialized. \end{DoxyCompactList}\item 
-bool \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_a7c4523e02a434a7be73f5dc5314429bd}{isr\+\_\+handler}}
-\begin{DoxyCompactList}\small\item\em True if HINT ISR handler has been initialized. \end{DoxyCompactList}\item 
-bool \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_a8780317bf985194a58d4b0457d518adf}{spi\+\_\+bus}}
-\begin{DoxyCompactList}\small\item\em True if spi\+\_\+bus\+\_\+initialize() has been called successfully. \end{DoxyCompactList}\item 
-bool \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_ab268642c4b6b9fc1eb7c6ceec0e8e64d}{spi\+\_\+device}}
-\begin{DoxyCompactList}\small\item\em True if spi\+\_\+bus\+\_\+add\+\_\+device() has been called successfully. \end{DoxyCompactList}\item 
-bool \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_af303bcbae7a635043e0c082d7869dd40}{data\+\_\+proc\+\_\+task}}
-\begin{DoxyCompactList}\small\item\em True if x\+Task\+Create has been called successfully for data\+\_\+proc\+\_\+task. \end{DoxyCompactList}\item 
-bool \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_a150665b9f07eea167dd61aa9701d0e66}{sh2\+\_\+\+HAL\+\_\+service\+\_\+task}}
-\begin{DoxyCompactList}\small\item\em True if x\+Task\+Create has been called successfully for sh2\+\_\+\+HAL\+\_\+service\+\_\+task. \end{DoxyCompactList}\item 
-bool \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_ae1066ea59e52f7d228b71df1f8c2b416}{cb\+\_\+task}}
-\begin{DoxyCompactList}\small\item\em True if x\+Task\+Create has been called successfully for cb\+\_\+task. \end{DoxyCompactList}\item 
-bool \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_a5094148539354e52e4f7b054ba766bce}{sh2\+\_\+\+HAL}}
-\begin{DoxyCompactList}\small\item\em True if sh2\+\_\+open() has been called successfully. \end{DoxyCompactList}\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-Holds info about which functionality has been successfully initialized (used by deconstructor during cleanup). 
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\mbox{\Hypertarget{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_a63b876667ae7fb32e9861dffafb55a64}\label{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_a63b876667ae7fb32e9861dffafb55a64}} 
-\index{BNO08xPrivateTypes::bno08x\_init\_status\_t@{BNO08xPrivateTypes::bno08x\_init\_status\_t}!bno08x\_init\_status\_t@{bno08x\_init\_status\_t}}
-\index{bno08x\_init\_status\_t@{bno08x\_init\_status\_t}!BNO08xPrivateTypes::bno08x\_init\_status\_t@{BNO08xPrivateTypes::bno08x\_init\_status\_t}}
-\doxysubsubsection{\texorpdfstring{bno08x\_init\_status\_t()}{bno08x\_init\_status\_t()}}
-{\footnotesize\ttfamily BNO08x\+Private\+Types\+::bno08x\+\_\+init\+\_\+status\+\_\+t\+::bno08x\+\_\+init\+\_\+status\+\_\+t (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Data Documentation}
-\mbox{\Hypertarget{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_ae1066ea59e52f7d228b71df1f8c2b416}\label{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_ae1066ea59e52f7d228b71df1f8c2b416}} 
-\index{BNO08xPrivateTypes::bno08x\_init\_status\_t@{BNO08xPrivateTypes::bno08x\_init\_status\_t}!cb\_task@{cb\_task}}
-\index{cb\_task@{cb\_task}!BNO08xPrivateTypes::bno08x\_init\_status\_t@{BNO08xPrivateTypes::bno08x\_init\_status\_t}}
-\doxysubsubsection{\texorpdfstring{cb\_task}{cb\_task}}
-{\footnotesize\ttfamily bool BNO08x\+Private\+Types\+::bno08x\+\_\+init\+\_\+status\+\_\+t\+::cb\+\_\+task}
-
-
-
-True if x\+Task\+Create has been called successfully for cb\+\_\+task. 
-
-\mbox{\Hypertarget{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_af303bcbae7a635043e0c082d7869dd40}\label{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_af303bcbae7a635043e0c082d7869dd40}} 
-\index{BNO08xPrivateTypes::bno08x\_init\_status\_t@{BNO08xPrivateTypes::bno08x\_init\_status\_t}!data\_proc\_task@{data\_proc\_task}}
-\index{data\_proc\_task@{data\_proc\_task}!BNO08xPrivateTypes::bno08x\_init\_status\_t@{BNO08xPrivateTypes::bno08x\_init\_status\_t}}
-\doxysubsubsection{\texorpdfstring{data\_proc\_task}{data\_proc\_task}}
-{\footnotesize\ttfamily bool BNO08x\+Private\+Types\+::bno08x\+\_\+init\+\_\+status\+\_\+t\+::data\+\_\+proc\+\_\+task}
-
-
-
-True if x\+Task\+Create has been called successfully for data\+\_\+proc\+\_\+task. 
-
-\mbox{\Hypertarget{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_a9b87a879ec795e2241985f0d33856c14}\label{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_a9b87a879ec795e2241985f0d33856c14}} 
-\index{BNO08xPrivateTypes::bno08x\_init\_status\_t@{BNO08xPrivateTypes::bno08x\_init\_status\_t}!gpio\_inputs@{gpio\_inputs}}
-\index{gpio\_inputs@{gpio\_inputs}!BNO08xPrivateTypes::bno08x\_init\_status\_t@{BNO08xPrivateTypes::bno08x\_init\_status\_t}}
-\doxysubsubsection{\texorpdfstring{gpio\_inputs}{gpio\_inputs}}
-{\footnotesize\ttfamily bool BNO08x\+Private\+Types\+::bno08x\+\_\+init\+\_\+status\+\_\+t\+::gpio\+\_\+inputs}
-
-
-
-True if GPIO inputs have been initialized. 
-
-\mbox{\Hypertarget{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_ac74b5a17ec13d4bef4e4775f20ed68df}\label{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_ac74b5a17ec13d4bef4e4775f20ed68df}} 
-\index{BNO08xPrivateTypes::bno08x\_init\_status\_t@{BNO08xPrivateTypes::bno08x\_init\_status\_t}!gpio\_outputs@{gpio\_outputs}}
-\index{gpio\_outputs@{gpio\_outputs}!BNO08xPrivateTypes::bno08x\_init\_status\_t@{BNO08xPrivateTypes::bno08x\_init\_status\_t}}
-\doxysubsubsection{\texorpdfstring{gpio\_outputs}{gpio\_outputs}}
-{\footnotesize\ttfamily bool BNO08x\+Private\+Types\+::bno08x\+\_\+init\+\_\+status\+\_\+t\+::gpio\+\_\+outputs}
-
-
-
-True if GPIO outputs have been initialized. 
-
-\mbox{\Hypertarget{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_a7c4523e02a434a7be73f5dc5314429bd}\label{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_a7c4523e02a434a7be73f5dc5314429bd}} 
-\index{BNO08xPrivateTypes::bno08x\_init\_status\_t@{BNO08xPrivateTypes::bno08x\_init\_status\_t}!isr\_handler@{isr\_handler}}
-\index{isr\_handler@{isr\_handler}!BNO08xPrivateTypes::bno08x\_init\_status\_t@{BNO08xPrivateTypes::bno08x\_init\_status\_t}}
-\doxysubsubsection{\texorpdfstring{isr\_handler}{isr\_handler}}
-{\footnotesize\ttfamily bool BNO08x\+Private\+Types\+::bno08x\+\_\+init\+\_\+status\+\_\+t\+::isr\+\_\+handler}
-
-
-
-True if HINT ISR handler has been initialized. 
-
-\mbox{\Hypertarget{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_a3cec063b6210ec58d30b3bd1d4ead4f9}\label{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_a3cec063b6210ec58d30b3bd1d4ead4f9}} 
-\index{BNO08xPrivateTypes::bno08x\_init\_status\_t@{BNO08xPrivateTypes::bno08x\_init\_status\_t}!isr\_service@{isr\_service}}
-\index{isr\_service@{isr\_service}!BNO08xPrivateTypes::bno08x\_init\_status\_t@{BNO08xPrivateTypes::bno08x\_init\_status\_t}}
-\doxysubsubsection{\texorpdfstring{isr\_service}{isr\_service}}
-{\footnotesize\ttfamily bool BNO08x\+Private\+Types\+::bno08x\+\_\+init\+\_\+status\+\_\+t\+::isr\+\_\+service}
-
-
-
-True if global ISR service has been initialized. 
-
-\mbox{\Hypertarget{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_a5094148539354e52e4f7b054ba766bce}\label{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_a5094148539354e52e4f7b054ba766bce}} 
-\index{BNO08xPrivateTypes::bno08x\_init\_status\_t@{BNO08xPrivateTypes::bno08x\_init\_status\_t}!sh2\_HAL@{sh2\_HAL}}
-\index{sh2\_HAL@{sh2\_HAL}!BNO08xPrivateTypes::bno08x\_init\_status\_t@{BNO08xPrivateTypes::bno08x\_init\_status\_t}}
-\doxysubsubsection{\texorpdfstring{sh2\_HAL}{sh2\_HAL}}
-{\footnotesize\ttfamily bool BNO08x\+Private\+Types\+::bno08x\+\_\+init\+\_\+status\+\_\+t\+::sh2\+\_\+\+HAL}
-
-
-
-True if sh2\+\_\+open() has been called successfully. 
-
-\mbox{\Hypertarget{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_a150665b9f07eea167dd61aa9701d0e66}\label{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_a150665b9f07eea167dd61aa9701d0e66}} 
-\index{BNO08xPrivateTypes::bno08x\_init\_status\_t@{BNO08xPrivateTypes::bno08x\_init\_status\_t}!sh2\_HAL\_service\_task@{sh2\_HAL\_service\_task}}
-\index{sh2\_HAL\_service\_task@{sh2\_HAL\_service\_task}!BNO08xPrivateTypes::bno08x\_init\_status\_t@{BNO08xPrivateTypes::bno08x\_init\_status\_t}}
-\doxysubsubsection{\texorpdfstring{sh2\_HAL\_service\_task}{sh2\_HAL\_service\_task}}
-{\footnotesize\ttfamily bool BNO08x\+Private\+Types\+::bno08x\+\_\+init\+\_\+status\+\_\+t\+::sh2\+\_\+\+HAL\+\_\+service\+\_\+task}
-
-
-
-True if x\+Task\+Create has been called successfully for sh2\+\_\+\+HAL\+\_\+service\+\_\+task. 
-
-\mbox{\Hypertarget{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_a8780317bf985194a58d4b0457d518adf}\label{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_a8780317bf985194a58d4b0457d518adf}} 
-\index{BNO08xPrivateTypes::bno08x\_init\_status\_t@{BNO08xPrivateTypes::bno08x\_init\_status\_t}!spi\_bus@{spi\_bus}}
-\index{spi\_bus@{spi\_bus}!BNO08xPrivateTypes::bno08x\_init\_status\_t@{BNO08xPrivateTypes::bno08x\_init\_status\_t}}
-\doxysubsubsection{\texorpdfstring{spi\_bus}{spi\_bus}}
-{\footnotesize\ttfamily bool BNO08x\+Private\+Types\+::bno08x\+\_\+init\+\_\+status\+\_\+t\+::spi\+\_\+bus}
-
-
-
-True if spi\+\_\+bus\+\_\+initialize() has been called successfully. 
-
-\mbox{\Hypertarget{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_ab268642c4b6b9fc1eb7c6ceec0e8e64d}\label{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_ab268642c4b6b9fc1eb7c6ceec0e8e64d}} 
-\index{BNO08xPrivateTypes::bno08x\_init\_status\_t@{BNO08xPrivateTypes::bno08x\_init\_status\_t}!spi\_device@{spi\_device}}
-\index{spi\_device@{spi\_device}!BNO08xPrivateTypes::bno08x\_init\_status\_t@{BNO08xPrivateTypes::bno08x\_init\_status\_t}}
-\doxysubsubsection{\texorpdfstring{spi\_device}{spi\_device}}
-{\footnotesize\ttfamily bool BNO08x\+Private\+Types\+::bno08x\+\_\+init\+\_\+status\+\_\+t\+::spi\+\_\+device}
-
-
-
-True if spi\+\_\+bus\+\_\+add\+\_\+device() has been called successfully. 
-
-
-
-The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\mbox{\hyperlink{_b_n_o08x_private_types_8hpp}{BNO08x\+Private\+Types.\+hpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.tex b/documentation/latex/struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.tex
deleted file mode 100644
index 254b458..0000000
--- a/documentation/latex/struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.tex
+++ /dev/null
@@ -1,123 +0,0 @@
-\hypertarget{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{}\doxysection{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t Struct Reference}
-\label{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}\index{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t@{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}}
-
-
-Holds context used to synchronize tasks and callback execution.  
-
-
-
-
-{\ttfamily \#include $<$BNO08x\+Private\+Types.\+hpp$>$}
-
-\doxysubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_a3f9cea8f40f89200c93f2a4bf09039ac}{bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} ()
-\end{DoxyCompactItemize}
-\doxysubsection*{Public Attributes}
-\begin{DoxyCompactItemize}
-\item 
-Semaphore\+Handle\+\_\+t \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_a5433c33ca93bfd2be4a7575ddff7a8d9}{sh2\+\_\+\+HAL\+\_\+lock}}
-\begin{DoxyCompactList}\small\item\em Mutex to prevent sh2 HAL lib functions from being accessed at same time. \end{DoxyCompactList}\item 
-Semaphore\+Handle\+\_\+t \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_a551d1eb66d239c54cffa96b558e40a15}{data\+\_\+lock}}
-\begin{DoxyCompactList}\small\item\em Mutex to prevent user from reading data while data\+\_\+proc\+\_\+task() updates it, and vice versa. \end{DoxyCompactList}\item 
-Event\+Group\+Handle\+\_\+t \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_aeaeeb8fa04544f63b66c32f3adbb0041}{evt\+\_\+grp\+\_\+rpt\+\_\+en}}
-\begin{DoxyCompactList}\small\item\em Event group for indicating which reports are currently enabled. \end{DoxyCompactList}\item 
-Event\+Group\+Handle\+\_\+t \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_a13f4a91c74fbf09059b5b136ed4f09ac}{evt\+\_\+grp\+\_\+rpt\+\_\+data\+\_\+available}}
-\begin{DoxyCompactList}\small\item\em Event group for indicating to \mbox{\hyperlink{class_b_n_o08x_rpt_a74f6037286b51382535bab61680297ed}{BNO08x\+Rpt\+::has\+\_\+new\+\_\+data()}} that a module received a new report. \end{DoxyCompactList}\item 
-Event\+Group\+Handle\+\_\+t \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_aacddf6425d126d8e854eff620a2dbec0}{evt\+\_\+grp\+\_\+task}}
-\begin{DoxyCompactList}\small\item\em Event group for indicating various \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} related events between tasks. \end{DoxyCompactList}\item 
-etl\+::vector$<$ uint8\+\_\+t, TOTAL\+\_\+\+RPT\+\_\+\+COUNT $>$ \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_aa63f0d6aa9a27e2f6cdbef17c42c3289}{en\+\_\+report\+\_\+ids}}
-\begin{DoxyCompactList}\small\item\em Vector to contain IDs of currently enabled reports. \end{DoxyCompactList}\item 
-\mbox{\hyperlink{namespace_b_n_o08x_private_types_a0f0c287ea0571e6c589c638e4bd07703}{bno08x\+\_\+cb\+\_\+list\+\_\+t}} \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_ad38bf7a37a5c9cae7c9d8725b23ff365}{cb\+\_\+list}}
-\begin{DoxyCompactList}\small\item\em Vector to contain registered callbacks. \end{DoxyCompactList}\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-Holds context used to synchronize tasks and callback execution. 
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\mbox{\Hypertarget{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_a3f9cea8f40f89200c93f2a4bf09039ac}\label{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_a3f9cea8f40f89200c93f2a4bf09039ac}} 
-\index{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t@{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}!bno08x\_sync\_ctx\_t@{bno08x\_sync\_ctx\_t}}
-\index{bno08x\_sync\_ctx\_t@{bno08x\_sync\_ctx\_t}!BNO08xPrivateTypes::bno08x\_sync\_ctx\_t@{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}}
-\doxysubsubsection{\texorpdfstring{bno08x\_sync\_ctx\_t()}{bno08x\_sync\_ctx\_t()}}
-{\footnotesize\ttfamily BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Data Documentation}
-\mbox{\Hypertarget{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_ad38bf7a37a5c9cae7c9d8725b23ff365}\label{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_ad38bf7a37a5c9cae7c9d8725b23ff365}} 
-\index{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t@{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}!cb\_list@{cb\_list}}
-\index{cb\_list@{cb\_list}!BNO08xPrivateTypes::bno08x\_sync\_ctx\_t@{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}}
-\doxysubsubsection{\texorpdfstring{cb\_list}{cb\_list}}
-{\footnotesize\ttfamily \mbox{\hyperlink{namespace_b_n_o08x_private_types_a0f0c287ea0571e6c589c638e4bd07703}{bno08x\+\_\+cb\+\_\+list\+\_\+t}} BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t\+::cb\+\_\+list}
-
-
-
-Vector to contain registered callbacks. 
-
-\mbox{\Hypertarget{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_a551d1eb66d239c54cffa96b558e40a15}\label{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_a551d1eb66d239c54cffa96b558e40a15}} 
-\index{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t@{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}!data\_lock@{data\_lock}}
-\index{data\_lock@{data\_lock}!BNO08xPrivateTypes::bno08x\_sync\_ctx\_t@{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}}
-\doxysubsubsection{\texorpdfstring{data\_lock}{data\_lock}}
-{\footnotesize\ttfamily Semaphore\+Handle\+\_\+t BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t\+::data\+\_\+lock}
-
-
-
-Mutex to prevent user from reading data while data\+\_\+proc\+\_\+task() updates it, and vice versa. 
-
-\mbox{\Hypertarget{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_aa63f0d6aa9a27e2f6cdbef17c42c3289}\label{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_aa63f0d6aa9a27e2f6cdbef17c42c3289}} 
-\index{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t@{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}!en\_report\_ids@{en\_report\_ids}}
-\index{en\_report\_ids@{en\_report\_ids}!BNO08xPrivateTypes::bno08x\_sync\_ctx\_t@{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}}
-\doxysubsubsection{\texorpdfstring{en\_report\_ids}{en\_report\_ids}}
-{\footnotesize\ttfamily etl\+::vector$<$uint8\+\_\+t, TOTAL\+\_\+\+RPT\+\_\+\+COUNT$>$ BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t\+::en\+\_\+report\+\_\+ids}
-
-
-
-Vector to contain IDs of currently enabled reports. 
-
-\mbox{\Hypertarget{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_a13f4a91c74fbf09059b5b136ed4f09ac}\label{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_a13f4a91c74fbf09059b5b136ed4f09ac}} 
-\index{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t@{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}!evt\_grp\_rpt\_data\_available@{evt\_grp\_rpt\_data\_available}}
-\index{evt\_grp\_rpt\_data\_available@{evt\_grp\_rpt\_data\_available}!BNO08xPrivateTypes::bno08x\_sync\_ctx\_t@{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}}
-\doxysubsubsection{\texorpdfstring{evt\_grp\_rpt\_data\_available}{evt\_grp\_rpt\_data\_available}}
-{\footnotesize\ttfamily Event\+Group\+Handle\+\_\+t BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t\+::evt\+\_\+grp\+\_\+rpt\+\_\+data\+\_\+available}
-
-
-
-Event group for indicating to \mbox{\hyperlink{class_b_n_o08x_rpt_a74f6037286b51382535bab61680297ed}{BNO08x\+Rpt\+::has\+\_\+new\+\_\+data()}} that a module received a new report. 
-
-\mbox{\Hypertarget{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_aeaeeb8fa04544f63b66c32f3adbb0041}\label{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_aeaeeb8fa04544f63b66c32f3adbb0041}} 
-\index{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t@{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}!evt\_grp\_rpt\_en@{evt\_grp\_rpt\_en}}
-\index{evt\_grp\_rpt\_en@{evt\_grp\_rpt\_en}!BNO08xPrivateTypes::bno08x\_sync\_ctx\_t@{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}}
-\doxysubsubsection{\texorpdfstring{evt\_grp\_rpt\_en}{evt\_grp\_rpt\_en}}
-{\footnotesize\ttfamily Event\+Group\+Handle\+\_\+t BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t\+::evt\+\_\+grp\+\_\+rpt\+\_\+en}
-
-
-
-Event group for indicating which reports are currently enabled. 
-
-\mbox{\Hypertarget{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_aacddf6425d126d8e854eff620a2dbec0}\label{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_aacddf6425d126d8e854eff620a2dbec0}} 
-\index{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t@{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}!evt\_grp\_task@{evt\_grp\_task}}
-\index{evt\_grp\_task@{evt\_grp\_task}!BNO08xPrivateTypes::bno08x\_sync\_ctx\_t@{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}}
-\doxysubsubsection{\texorpdfstring{evt\_grp\_task}{evt\_grp\_task}}
-{\footnotesize\ttfamily Event\+Group\+Handle\+\_\+t BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t\+::evt\+\_\+grp\+\_\+task}
-
-
-
-Event group for indicating various \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} related events between tasks. 
-
-\mbox{\Hypertarget{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_a5433c33ca93bfd2be4a7575ddff7a8d9}\label{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_a5433c33ca93bfd2be4a7575ddff7a8d9}} 
-\index{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t@{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}!sh2\_HAL\_lock@{sh2\_HAL\_lock}}
-\index{sh2\_HAL\_lock@{sh2\_HAL\_lock}!BNO08xPrivateTypes::bno08x\_sync\_ctx\_t@{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}}
-\doxysubsubsection{\texorpdfstring{sh2\_HAL\_lock}{sh2\_HAL\_lock}}
-{\footnotesize\ttfamily Semaphore\+Handle\+\_\+t BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t\+::sh2\+\_\+\+HAL\+\_\+lock}
-
-
-
-Mutex to prevent sh2 HAL lib functions from being accessed at same time. 
-
-
-
-The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\mbox{\hyperlink{_b_n_o08x_private_types_8hpp}{BNO08x\+Private\+Types.\+hpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/structbno08x__accel__t.tex b/documentation/latex/structbno08x__accel__t.tex
deleted file mode 100644
index 65b261d..0000000
--- a/documentation/latex/structbno08x__accel__t.tex
+++ /dev/null
@@ -1,82 +0,0 @@
-\hypertarget{structbno08x__accel__t}{}\doxysection{bno08x\+\_\+accel\+\_\+t Struct Reference}
-\label{structbno08x__accel__t}\index{bno08x\_accel\_t@{bno08x\_accel\_t}}
-
-
-Struct to represent acceleration data from acceleration, linear acceleration, and gravity reports.  
-
-
-
-
-{\ttfamily \#include $<$BNO08x\+Global\+Types.\+hpp$>$}
-
-\doxysubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{structbno08x__accel__t_a3d71a06304afc576280c56952b4f7a34}{bno08x\+\_\+accel\+\_\+t}} ()
-\item 
-\mbox{\hyperlink{structbno08x__accel__t}{bno08x\+\_\+accel\+\_\+t}} \& \mbox{\hyperlink{structbno08x__accel__t_a5b3f1b2cc2a889af23d27185c6efd75e}{operator=}} (const sh2\+\_\+\+Accelerometer\+\_\+t \&source)
-\end{DoxyCompactItemize}
-\doxysubsection*{Public Attributes}
-\begin{DoxyCompactItemize}
-\item 
-float \mbox{\hyperlink{structbno08x__accel__t_af72246bad5088682490f6a13e4624b7c}{x}}
-\item 
-float \mbox{\hyperlink{structbno08x__accel__t_a9514b06a88cdd4c4777ff8e27d8d52fb}{y}}
-\item 
-float \mbox{\hyperlink{structbno08x__accel__t_a391bf7c4ee0c3f571d94f73f047e9a3f}{z}}
-\item 
-\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08x\+Accuracy}} \mbox{\hyperlink{structbno08x__accel__t_aac8d91a84f911413e4bcc3fdb04c893b}{accuracy}}
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-Struct to represent acceleration data from acceleration, linear acceleration, and gravity reports. 
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\mbox{\Hypertarget{structbno08x__accel__t_a3d71a06304afc576280c56952b4f7a34}\label{structbno08x__accel__t_a3d71a06304afc576280c56952b4f7a34}} 
-\index{bno08x\_accel\_t@{bno08x\_accel\_t}!bno08x\_accel\_t@{bno08x\_accel\_t}}
-\index{bno08x\_accel\_t@{bno08x\_accel\_t}!bno08x\_accel\_t@{bno08x\_accel\_t}}
-\doxysubsubsection{\texorpdfstring{bno08x\_accel\_t()}{bno08x\_accel\_t()}}
-{\footnotesize\ttfamily bno08x\+\_\+accel\+\_\+t\+::bno08x\+\_\+accel\+\_\+t (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Function Documentation}
-\mbox{\Hypertarget{structbno08x__accel__t_a5b3f1b2cc2a889af23d27185c6efd75e}\label{structbno08x__accel__t_a5b3f1b2cc2a889af23d27185c6efd75e}} 
-\index{bno08x\_accel\_t@{bno08x\_accel\_t}!operator=@{operator=}}
-\index{operator=@{operator=}!bno08x\_accel\_t@{bno08x\_accel\_t}}
-\doxysubsubsection{\texorpdfstring{operator=()}{operator=()}}
-{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__accel__t}{bno08x\+\_\+accel\+\_\+t}} \& bno08x\+\_\+accel\+\_\+t\+::operator= (\begin{DoxyParamCaption}\item[{const sh2\+\_\+\+Accelerometer\+\_\+t \&}]{source }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Data Documentation}
-\mbox{\Hypertarget{structbno08x__accel__t_aac8d91a84f911413e4bcc3fdb04c893b}\label{structbno08x__accel__t_aac8d91a84f911413e4bcc3fdb04c893b}} 
-\index{bno08x\_accel\_t@{bno08x\_accel\_t}!accuracy@{accuracy}}
-\index{accuracy@{accuracy}!bno08x\_accel\_t@{bno08x\_accel\_t}}
-\doxysubsubsection{\texorpdfstring{accuracy}{accuracy}}
-{\footnotesize\ttfamily \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08x\+Accuracy}} bno08x\+\_\+accel\+\_\+t\+::accuracy}
-
-\mbox{\Hypertarget{structbno08x__accel__t_af72246bad5088682490f6a13e4624b7c}\label{structbno08x__accel__t_af72246bad5088682490f6a13e4624b7c}} 
-\index{bno08x\_accel\_t@{bno08x\_accel\_t}!x@{x}}
-\index{x@{x}!bno08x\_accel\_t@{bno08x\_accel\_t}}
-\doxysubsubsection{\texorpdfstring{x}{x}}
-{\footnotesize\ttfamily float bno08x\+\_\+accel\+\_\+t\+::x}
-
-\mbox{\Hypertarget{structbno08x__accel__t_a9514b06a88cdd4c4777ff8e27d8d52fb}\label{structbno08x__accel__t_a9514b06a88cdd4c4777ff8e27d8d52fb}} 
-\index{bno08x\_accel\_t@{bno08x\_accel\_t}!y@{y}}
-\index{y@{y}!bno08x\_accel\_t@{bno08x\_accel\_t}}
-\doxysubsubsection{\texorpdfstring{y}{y}}
-{\footnotesize\ttfamily float bno08x\+\_\+accel\+\_\+t\+::y}
-
-\mbox{\Hypertarget{structbno08x__accel__t_a391bf7c4ee0c3f571d94f73f047e9a3f}\label{structbno08x__accel__t_a391bf7c4ee0c3f571d94f73f047e9a3f}} 
-\index{bno08x\_accel\_t@{bno08x\_accel\_t}!z@{z}}
-\index{z@{z}!bno08x\_accel\_t@{bno08x\_accel\_t}}
-\doxysubsubsection{\texorpdfstring{z}{z}}
-{\footnotesize\ttfamily float bno08x\+\_\+accel\+\_\+t\+::z}
-
-
-
-The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\mbox{\hyperlink{_b_n_o08x_global_types_8hpp}{BNO08x\+Global\+Types.\+hpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/structbno08x__activity__classifier__t.tex b/documentation/latex/structbno08x__activity__classifier__t.tex
deleted file mode 100644
index 8e16cc1..0000000
--- a/documentation/latex/structbno08x__activity__classifier__t.tex
+++ /dev/null
@@ -1,90 +0,0 @@
-\hypertarget{structbno08x__activity__classifier__t}{}\doxysection{bno08x\+\_\+activity\+\_\+classifier\+\_\+t Struct Reference}
-\label{structbno08x__activity__classifier__t}\index{bno08x\_activity\_classifier\_t@{bno08x\_activity\_classifier\_t}}
-
-
-Struct to represent activity classifier data.  
-
-
-
-
-{\ttfamily \#include $<$BNO08x\+Global\+Types.\+hpp$>$}
-
-\doxysubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{structbno08x__activity__classifier__t_a302244e7d2d064b126eb92f363add923}{bno08x\+\_\+activity\+\_\+classifier\+\_\+t}} ()
-\item 
-\mbox{\hyperlink{structbno08x__activity__classifier__t}{bno08x\+\_\+activity\+\_\+classifier\+\_\+t}} \& \mbox{\hyperlink{structbno08x__activity__classifier__t_ac9375f65afb421e1d552e11461546a43}{operator=}} (const sh2\+\_\+\+Personal\+Activity\+Classifier\+\_\+t \&source)
-\end{DoxyCompactItemize}
-\doxysubsection*{Public Attributes}
-\begin{DoxyCompactItemize}
-\item 
-uint8\+\_\+t \mbox{\hyperlink{structbno08x__activity__classifier__t_a6c99dd8968d52c7099c6f6b2acf11796}{confidence}} \mbox{[}10\mbox{]}
-\item 
-\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97d}{BNO08x\+Activity}} \mbox{\hyperlink{structbno08x__activity__classifier__t_a272be5b28ff89a20d3c3cfdbfe63a5b5}{most\+Likely\+State}}
-\item 
-\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08x\+Accuracy}} \mbox{\hyperlink{structbno08x__activity__classifier__t_a51df90897f0f47b640ac975ad8f4833f}{accuracy}}
-\item 
-uint8\+\_\+t \mbox{\hyperlink{structbno08x__activity__classifier__t_aa3e3a6b479558722bc9d5416b74492ca}{page}}
-\item 
-bool \mbox{\hyperlink{structbno08x__activity__classifier__t_a90b7b42f031ed0e5b4c5d0e167caccb9}{last\+Page}}
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-Struct to represent activity classifier data. 
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\mbox{\Hypertarget{structbno08x__activity__classifier__t_a302244e7d2d064b126eb92f363add923}\label{structbno08x__activity__classifier__t_a302244e7d2d064b126eb92f363add923}} 
-\index{bno08x\_activity\_classifier\_t@{bno08x\_activity\_classifier\_t}!bno08x\_activity\_classifier\_t@{bno08x\_activity\_classifier\_t}}
-\index{bno08x\_activity\_classifier\_t@{bno08x\_activity\_classifier\_t}!bno08x\_activity\_classifier\_t@{bno08x\_activity\_classifier\_t}}
-\doxysubsubsection{\texorpdfstring{bno08x\_activity\_classifier\_t()}{bno08x\_activity\_classifier\_t()}}
-{\footnotesize\ttfamily bno08x\+\_\+activity\+\_\+classifier\+\_\+t\+::bno08x\+\_\+activity\+\_\+classifier\+\_\+t (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Function Documentation}
-\mbox{\Hypertarget{structbno08x__activity__classifier__t_ac9375f65afb421e1d552e11461546a43}\label{structbno08x__activity__classifier__t_ac9375f65afb421e1d552e11461546a43}} 
-\index{bno08x\_activity\_classifier\_t@{bno08x\_activity\_classifier\_t}!operator=@{operator=}}
-\index{operator=@{operator=}!bno08x\_activity\_classifier\_t@{bno08x\_activity\_classifier\_t}}
-\doxysubsubsection{\texorpdfstring{operator=()}{operator=()}}
-{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__activity__classifier__t}{bno08x\+\_\+activity\+\_\+classifier\+\_\+t}} \& bno08x\+\_\+activity\+\_\+classifier\+\_\+t\+::operator= (\begin{DoxyParamCaption}\item[{const sh2\+\_\+\+Personal\+Activity\+Classifier\+\_\+t \&}]{source }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Data Documentation}
-\mbox{\Hypertarget{structbno08x__activity__classifier__t_a51df90897f0f47b640ac975ad8f4833f}\label{structbno08x__activity__classifier__t_a51df90897f0f47b640ac975ad8f4833f}} 
-\index{bno08x\_activity\_classifier\_t@{bno08x\_activity\_classifier\_t}!accuracy@{accuracy}}
-\index{accuracy@{accuracy}!bno08x\_activity\_classifier\_t@{bno08x\_activity\_classifier\_t}}
-\doxysubsubsection{\texorpdfstring{accuracy}{accuracy}}
-{\footnotesize\ttfamily \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08x\+Accuracy}} bno08x\+\_\+activity\+\_\+classifier\+\_\+t\+::accuracy}
-
-\mbox{\Hypertarget{structbno08x__activity__classifier__t_a6c99dd8968d52c7099c6f6b2acf11796}\label{structbno08x__activity__classifier__t_a6c99dd8968d52c7099c6f6b2acf11796}} 
-\index{bno08x\_activity\_classifier\_t@{bno08x\_activity\_classifier\_t}!confidence@{confidence}}
-\index{confidence@{confidence}!bno08x\_activity\_classifier\_t@{bno08x\_activity\_classifier\_t}}
-\doxysubsubsection{\texorpdfstring{confidence}{confidence}}
-{\footnotesize\ttfamily uint8\+\_\+t bno08x\+\_\+activity\+\_\+classifier\+\_\+t\+::confidence\mbox{[}10\mbox{]}}
-
-\mbox{\Hypertarget{structbno08x__activity__classifier__t_a90b7b42f031ed0e5b4c5d0e167caccb9}\label{structbno08x__activity__classifier__t_a90b7b42f031ed0e5b4c5d0e167caccb9}} 
-\index{bno08x\_activity\_classifier\_t@{bno08x\_activity\_classifier\_t}!lastPage@{lastPage}}
-\index{lastPage@{lastPage}!bno08x\_activity\_classifier\_t@{bno08x\_activity\_classifier\_t}}
-\doxysubsubsection{\texorpdfstring{lastPage}{lastPage}}
-{\footnotesize\ttfamily bool bno08x\+\_\+activity\+\_\+classifier\+\_\+t\+::last\+Page}
-
-\mbox{\Hypertarget{structbno08x__activity__classifier__t_a272be5b28ff89a20d3c3cfdbfe63a5b5}\label{structbno08x__activity__classifier__t_a272be5b28ff89a20d3c3cfdbfe63a5b5}} 
-\index{bno08x\_activity\_classifier\_t@{bno08x\_activity\_classifier\_t}!mostLikelyState@{mostLikelyState}}
-\index{mostLikelyState@{mostLikelyState}!bno08x\_activity\_classifier\_t@{bno08x\_activity\_classifier\_t}}
-\doxysubsubsection{\texorpdfstring{mostLikelyState}{mostLikelyState}}
-{\footnotesize\ttfamily \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97d}{BNO08x\+Activity}} bno08x\+\_\+activity\+\_\+classifier\+\_\+t\+::most\+Likely\+State}
-
-\mbox{\Hypertarget{structbno08x__activity__classifier__t_aa3e3a6b479558722bc9d5416b74492ca}\label{structbno08x__activity__classifier__t_aa3e3a6b479558722bc9d5416b74492ca}} 
-\index{bno08x\_activity\_classifier\_t@{bno08x\_activity\_classifier\_t}!page@{page}}
-\index{page@{page}!bno08x\_activity\_classifier\_t@{bno08x\_activity\_classifier\_t}}
-\doxysubsubsection{\texorpdfstring{page}{page}}
-{\footnotesize\ttfamily uint8\+\_\+t bno08x\+\_\+activity\+\_\+classifier\+\_\+t\+::page}
-
-
-
-The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\mbox{\hyperlink{_b_n_o08x_global_types_8hpp}{BNO08x\+Global\+Types.\+hpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/structbno08x__ang__vel__t.tex b/documentation/latex/structbno08x__ang__vel__t.tex
deleted file mode 100644
index c397c32..0000000
--- a/documentation/latex/structbno08x__ang__vel__t.tex
+++ /dev/null
@@ -1,83 +0,0 @@
-\hypertarget{structbno08x__ang__vel__t}{}\doxysection{bno08x\+\_\+ang\+\_\+vel\+\_\+t Struct Reference}
-\label{structbno08x__ang__vel__t}\index{bno08x\_ang\_vel\_t@{bno08x\_ang\_vel\_t}}
-
-
-Struct to represent angular velocity (units in rad/s)  
-
-
-
-
-{\ttfamily \#include $<$BNO08x\+Global\+Types.\+hpp$>$}
-
-\doxysubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{structbno08x__ang__vel__t_a76cf6d15cef214b31a47008d49b843be}{bno08x\+\_\+ang\+\_\+vel\+\_\+t}} ()
-\item 
-{\footnotesize template$<$typename T $>$ }\\\mbox{\hyperlink{structbno08x__ang__vel__t}{bno08x\+\_\+ang\+\_\+vel\+\_\+t}} \& \mbox{\hyperlink{structbno08x__ang__vel__t_ae963f28d8914d5cc2f13620a4a9c57e8}{operator$\ast$=}} (T value)
-\item 
-\mbox{\hyperlink{structbno08x__ang__vel__t}{bno08x\+\_\+ang\+\_\+vel\+\_\+t}} \& \mbox{\hyperlink{structbno08x__ang__vel__t_afe1b100ac38de3ccd0c0b617e5b5d8a2}{operator=}} (const sh2\+\_\+\+Gyro\+Integrated\+RV\+\_\+t \&source)
-\end{DoxyCompactItemize}
-\doxysubsection*{Public Attributes}
-\begin{DoxyCompactItemize}
-\item 
-float \mbox{\hyperlink{structbno08x__ang__vel__t_aad57f7ad443f1c94b411ff1c3c2d37a3}{x}}
-\item 
-float \mbox{\hyperlink{structbno08x__ang__vel__t_af6d7d0452271c2d35234371ad1df6a80}{y}}
-\item 
-float \mbox{\hyperlink{structbno08x__ang__vel__t_aac5bb11414116bce54e5f8b7dd2d48f6}{z}}
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-Struct to represent angular velocity (units in rad/s) 
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\mbox{\Hypertarget{structbno08x__ang__vel__t_a76cf6d15cef214b31a47008d49b843be}\label{structbno08x__ang__vel__t_a76cf6d15cef214b31a47008d49b843be}} 
-\index{bno08x\_ang\_vel\_t@{bno08x\_ang\_vel\_t}!bno08x\_ang\_vel\_t@{bno08x\_ang\_vel\_t}}
-\index{bno08x\_ang\_vel\_t@{bno08x\_ang\_vel\_t}!bno08x\_ang\_vel\_t@{bno08x\_ang\_vel\_t}}
-\doxysubsubsection{\texorpdfstring{bno08x\_ang\_vel\_t()}{bno08x\_ang\_vel\_t()}}
-{\footnotesize\ttfamily bno08x\+\_\+ang\+\_\+vel\+\_\+t\+::bno08x\+\_\+ang\+\_\+vel\+\_\+t (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Function Documentation}
-\mbox{\Hypertarget{structbno08x__ang__vel__t_ae963f28d8914d5cc2f13620a4a9c57e8}\label{structbno08x__ang__vel__t_ae963f28d8914d5cc2f13620a4a9c57e8}} 
-\index{bno08x\_ang\_vel\_t@{bno08x\_ang\_vel\_t}!operator$\ast$=@{operator$\ast$=}}
-\index{operator$\ast$=@{operator$\ast$=}!bno08x\_ang\_vel\_t@{bno08x\_ang\_vel\_t}}
-\doxysubsubsection{\texorpdfstring{operator$\ast$=()}{operator*=()}}
-{\footnotesize\ttfamily template$<$typename T $>$ \\
-\mbox{\hyperlink{structbno08x__ang__vel__t}{bno08x\+\_\+ang\+\_\+vel\+\_\+t}} \& bno08x\+\_\+ang\+\_\+vel\+\_\+t\+::operator$\ast$= (\begin{DoxyParamCaption}\item[{T}]{value }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-\mbox{\Hypertarget{structbno08x__ang__vel__t_afe1b100ac38de3ccd0c0b617e5b5d8a2}\label{structbno08x__ang__vel__t_afe1b100ac38de3ccd0c0b617e5b5d8a2}} 
-\index{bno08x\_ang\_vel\_t@{bno08x\_ang\_vel\_t}!operator=@{operator=}}
-\index{operator=@{operator=}!bno08x\_ang\_vel\_t@{bno08x\_ang\_vel\_t}}
-\doxysubsubsection{\texorpdfstring{operator=()}{operator=()}}
-{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__ang__vel__t}{bno08x\+\_\+ang\+\_\+vel\+\_\+t}} \& bno08x\+\_\+ang\+\_\+vel\+\_\+t\+::operator= (\begin{DoxyParamCaption}\item[{const sh2\+\_\+\+Gyro\+Integrated\+RV\+\_\+t \&}]{source }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Data Documentation}
-\mbox{\Hypertarget{structbno08x__ang__vel__t_aad57f7ad443f1c94b411ff1c3c2d37a3}\label{structbno08x__ang__vel__t_aad57f7ad443f1c94b411ff1c3c2d37a3}} 
-\index{bno08x\_ang\_vel\_t@{bno08x\_ang\_vel\_t}!x@{x}}
-\index{x@{x}!bno08x\_ang\_vel\_t@{bno08x\_ang\_vel\_t}}
-\doxysubsubsection{\texorpdfstring{x}{x}}
-{\footnotesize\ttfamily float bno08x\+\_\+ang\+\_\+vel\+\_\+t\+::x}
-
-\mbox{\Hypertarget{structbno08x__ang__vel__t_af6d7d0452271c2d35234371ad1df6a80}\label{structbno08x__ang__vel__t_af6d7d0452271c2d35234371ad1df6a80}} 
-\index{bno08x\_ang\_vel\_t@{bno08x\_ang\_vel\_t}!y@{y}}
-\index{y@{y}!bno08x\_ang\_vel\_t@{bno08x\_ang\_vel\_t}}
-\doxysubsubsection{\texorpdfstring{y}{y}}
-{\footnotesize\ttfamily float bno08x\+\_\+ang\+\_\+vel\+\_\+t\+::y}
-
-\mbox{\Hypertarget{structbno08x__ang__vel__t_aac5bb11414116bce54e5f8b7dd2d48f6}\label{structbno08x__ang__vel__t_aac5bb11414116bce54e5f8b7dd2d48f6}} 
-\index{bno08x\_ang\_vel\_t@{bno08x\_ang\_vel\_t}!z@{z}}
-\index{z@{z}!bno08x\_ang\_vel\_t@{bno08x\_ang\_vel\_t}}
-\doxysubsubsection{\texorpdfstring{z}{z}}
-{\footnotesize\ttfamily float bno08x\+\_\+ang\+\_\+vel\+\_\+t\+::z}
-
-
-
-The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\mbox{\hyperlink{_b_n_o08x_global_types_8hpp}{BNO08x\+Global\+Types.\+hpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/structbno08x__config__t.tex b/documentation/latex/structbno08x__config__t.tex
deleted file mode 100644
index ec7dbc5..0000000
--- a/documentation/latex/structbno08x__config__t.tex
+++ /dev/null
@@ -1,159 +0,0 @@
-\hypertarget{structbno08x__config__t}{}\doxysection{bno08x\+\_\+config\+\_\+t Struct Reference}
-\label{structbno08x__config__t}\index{bno08x\_config\_t@{bno08x\_config\_t}}
-
-
-IMU configuration settings passed into constructor.  
-
-
-
-
-{\ttfamily \#include $<$BNO08x\+Global\+Types.\+hpp$>$}
-
-\doxysubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{structbno08x__config__t_a68e051212415a62e64c23678e7b40552}{bno08x\+\_\+config\+\_\+t}} (bool \mbox{\hyperlink{structbno08x__config__t_a0f629aaef6756aa80fec96b34476c627}{install\+\_\+isr\+\_\+service}}=true)
-\begin{DoxyCompactList}\small\item\em Default IMU configuration settings constructor. To modify default GPIO pins, run \char`\"{}idf.\+py menuconfig\char`\"{} esp32\+\_\+\+BNO08x-\/\texorpdfstring{$>$}{>}GPIO Configuration. Alternatively, edit the default values in \char`\"{}\+Kconfig.\+projbuild\char`\"{}. \end{DoxyCompactList}\item 
-\mbox{\hyperlink{structbno08x__config__t_afa37d6ffc6f4fc7c9aa7484d49458a4a}{bno08x\+\_\+config\+\_\+t}} (spi\+\_\+host\+\_\+device\+\_\+t \mbox{\hyperlink{structbno08x__config__t_a020d2343750bb7debc2a108ae038c9ec}{spi\+\_\+peripheral}}, gpio\+\_\+num\+\_\+t \mbox{\hyperlink{structbno08x__config__t_a79023fd80039e41a22b7f73ccd5fc861}{io\+\_\+mosi}}, gpio\+\_\+num\+\_\+t \mbox{\hyperlink{structbno08x__config__t_a9468180a773892977db39cc5ed9368e3}{io\+\_\+miso}}, gpio\+\_\+num\+\_\+t \mbox{\hyperlink{structbno08x__config__t_a639685b91ae3198909d722316495246a}{io\+\_\+sclk}}, gpio\+\_\+num\+\_\+t \mbox{\hyperlink{structbno08x__config__t_ab1b5351b63da0c172c942463d0dc2505}{io\+\_\+cs}}, gpio\+\_\+num\+\_\+t \mbox{\hyperlink{structbno08x__config__t_a3cfe965659cfbc6b0c5269bd0211975f}{io\+\_\+int}}, gpio\+\_\+num\+\_\+t \mbox{\hyperlink{structbno08x__config__t_a62745c761219139f66ecd173b51577fc}{io\+\_\+rst}}, uint32\+\_\+t \mbox{\hyperlink{structbno08x__config__t_a231614c3b20888360def2ce9db83f52a}{sclk\+\_\+speed}}, bool \mbox{\hyperlink{structbno08x__config__t_a0f629aaef6756aa80fec96b34476c627}{install\+\_\+isr\+\_\+service}}=true)
-\begin{DoxyCompactList}\small\item\em Overloaded IMU configuration settings constructor for custom pin settings. \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Public Attributes}
-\begin{DoxyCompactItemize}
-\item 
-spi\+\_\+host\+\_\+device\+\_\+t \mbox{\hyperlink{structbno08x__config__t_a020d2343750bb7debc2a108ae038c9ec}{spi\+\_\+peripheral}}
-\begin{DoxyCompactList}\small\item\em SPI peripheral to be used. \end{DoxyCompactList}\item 
-gpio\+\_\+num\+\_\+t \mbox{\hyperlink{structbno08x__config__t_a79023fd80039e41a22b7f73ccd5fc861}{io\+\_\+mosi}}
-\begin{DoxyCompactList}\small\item\em MOSI GPIO pin (connects to \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} DI pin) \end{DoxyCompactList}\item 
-gpio\+\_\+num\+\_\+t \mbox{\hyperlink{structbno08x__config__t_a9468180a773892977db39cc5ed9368e3}{io\+\_\+miso}}
-\begin{DoxyCompactList}\small\item\em MISO GPIO pin (connects to \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} SDA pin) \end{DoxyCompactList}\item 
-gpio\+\_\+num\+\_\+t \mbox{\hyperlink{structbno08x__config__t_a639685b91ae3198909d722316495246a}{io\+\_\+sclk}}
-\begin{DoxyCompactList}\small\item\em SCLK pin (connects to \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} SCL pin) \end{DoxyCompactList}\item 
-gpio\+\_\+num\+\_\+t \mbox{\hyperlink{structbno08x__config__t_ab1b5351b63da0c172c942463d0dc2505}{io\+\_\+cs}}
-\item 
-gpio\+\_\+num\+\_\+t \mbox{\hyperlink{structbno08x__config__t_a3cfe965659cfbc6b0c5269bd0211975f}{io\+\_\+int}}
-\begin{DoxyCompactList}\small\item\em Chip select pin (connects to \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} CS pin) \end{DoxyCompactList}\item 
-gpio\+\_\+num\+\_\+t \mbox{\hyperlink{structbno08x__config__t_a62745c761219139f66ecd173b51577fc}{io\+\_\+rst}}
-\begin{DoxyCompactList}\small\item\em Host interrupt pin (connects to \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} INT pin) \end{DoxyCompactList}\item 
-uint32\+\_\+t \mbox{\hyperlink{structbno08x__config__t_a231614c3b20888360def2ce9db83f52a}{sclk\+\_\+speed}}
-\begin{DoxyCompactList}\small\item\em Reset pin (connects to \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} RST pin) \end{DoxyCompactList}\item 
-bool \mbox{\hyperlink{structbno08x__config__t_a0f629aaef6756aa80fec96b34476c627}{install\+\_\+isr\+\_\+service}}
-\begin{DoxyCompactList}\small\item\em Indicates whether the ISR service for the HINT should be installed at IMU initialization, (if gpio\+\_\+install\+\_\+isr\+\_\+service() is called before initialize() set this to false) \end{DoxyCompactList}\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-IMU configuration settings passed into constructor. 
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\mbox{\Hypertarget{structbno08x__config__t_a68e051212415a62e64c23678e7b40552}\label{structbno08x__config__t_a68e051212415a62e64c23678e7b40552}} 
-\index{bno08x\_config\_t@{bno08x\_config\_t}!bno08x\_config\_t@{bno08x\_config\_t}}
-\index{bno08x\_config\_t@{bno08x\_config\_t}!bno08x\_config\_t@{bno08x\_config\_t}}
-\doxysubsubsection{\texorpdfstring{bno08x\_config\_t()}{bno08x\_config\_t()}\hspace{0.1cm}{\footnotesize\ttfamily [1/2]}}
-{\footnotesize\ttfamily bno08x\+\_\+config\+\_\+t\+::bno08x\+\_\+config\+\_\+t (\begin{DoxyParamCaption}\item[{bool}]{install\+\_\+isr\+\_\+service = {\ttfamily true} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-Default IMU configuration settings constructor. To modify default GPIO pins, run \char`\"{}idf.\+py menuconfig\char`\"{} esp32\+\_\+\+BNO08x-\/\texorpdfstring{$>$}{>}GPIO Configuration. Alternatively, edit the default values in \char`\"{}\+Kconfig.\+projbuild\char`\"{}. 
-
-\mbox{\Hypertarget{structbno08x__config__t_afa37d6ffc6f4fc7c9aa7484d49458a4a}\label{structbno08x__config__t_afa37d6ffc6f4fc7c9aa7484d49458a4a}} 
-\index{bno08x\_config\_t@{bno08x\_config\_t}!bno08x\_config\_t@{bno08x\_config\_t}}
-\index{bno08x\_config\_t@{bno08x\_config\_t}!bno08x\_config\_t@{bno08x\_config\_t}}
-\doxysubsubsection{\texorpdfstring{bno08x\_config\_t()}{bno08x\_config\_t()}\hspace{0.1cm}{\footnotesize\ttfamily [2/2]}}
-{\footnotesize\ttfamily bno08x\+\_\+config\+\_\+t\+::bno08x\+\_\+config\+\_\+t (\begin{DoxyParamCaption}\item[{spi\+\_\+host\+\_\+device\+\_\+t}]{spi\+\_\+peripheral,  }\item[{gpio\+\_\+num\+\_\+t}]{io\+\_\+mosi,  }\item[{gpio\+\_\+num\+\_\+t}]{io\+\_\+miso,  }\item[{gpio\+\_\+num\+\_\+t}]{io\+\_\+sclk,  }\item[{gpio\+\_\+num\+\_\+t}]{io\+\_\+cs,  }\item[{gpio\+\_\+num\+\_\+t}]{io\+\_\+int,  }\item[{gpio\+\_\+num\+\_\+t}]{io\+\_\+rst,  }\item[{uint32\+\_\+t}]{sclk\+\_\+speed,  }\item[{bool}]{install\+\_\+isr\+\_\+service = {\ttfamily true} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-Overloaded IMU configuration settings constructor for custom pin settings. 
-
-
-
-\doxysubsection{Member Data Documentation}
-\mbox{\Hypertarget{structbno08x__config__t_a0f629aaef6756aa80fec96b34476c627}\label{structbno08x__config__t_a0f629aaef6756aa80fec96b34476c627}} 
-\index{bno08x\_config\_t@{bno08x\_config\_t}!install\_isr\_service@{install\_isr\_service}}
-\index{install\_isr\_service@{install\_isr\_service}!bno08x\_config\_t@{bno08x\_config\_t}}
-\doxysubsubsection{\texorpdfstring{install\_isr\_service}{install\_isr\_service}}
-{\footnotesize\ttfamily bool bno08x\+\_\+config\+\_\+t\+::install\+\_\+isr\+\_\+service}
-
-
-
-Indicates whether the ISR service for the HINT should be installed at IMU initialization, (if gpio\+\_\+install\+\_\+isr\+\_\+service() is called before initialize() set this to false) 
-
-\mbox{\Hypertarget{structbno08x__config__t_ab1b5351b63da0c172c942463d0dc2505}\label{structbno08x__config__t_ab1b5351b63da0c172c942463d0dc2505}} 
-\index{bno08x\_config\_t@{bno08x\_config\_t}!io\_cs@{io\_cs}}
-\index{io\_cs@{io\_cs}!bno08x\_config\_t@{bno08x\_config\_t}}
-\doxysubsubsection{\texorpdfstring{io\_cs}{io\_cs}}
-{\footnotesize\ttfamily gpio\+\_\+num\+\_\+t bno08x\+\_\+config\+\_\+t\+::io\+\_\+cs}
-
-\mbox{\Hypertarget{structbno08x__config__t_a3cfe965659cfbc6b0c5269bd0211975f}\label{structbno08x__config__t_a3cfe965659cfbc6b0c5269bd0211975f}} 
-\index{bno08x\_config\_t@{bno08x\_config\_t}!io\_int@{io\_int}}
-\index{io\_int@{io\_int}!bno08x\_config\_t@{bno08x\_config\_t}}
-\doxysubsubsection{\texorpdfstring{io\_int}{io\_int}}
-{\footnotesize\ttfamily gpio\+\_\+num\+\_\+t bno08x\+\_\+config\+\_\+t\+::io\+\_\+int}
-
-
-
-Chip select pin (connects to \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} CS pin) 
-
-\mbox{\Hypertarget{structbno08x__config__t_a9468180a773892977db39cc5ed9368e3}\label{structbno08x__config__t_a9468180a773892977db39cc5ed9368e3}} 
-\index{bno08x\_config\_t@{bno08x\_config\_t}!io\_miso@{io\_miso}}
-\index{io\_miso@{io\_miso}!bno08x\_config\_t@{bno08x\_config\_t}}
-\doxysubsubsection{\texorpdfstring{io\_miso}{io\_miso}}
-{\footnotesize\ttfamily gpio\+\_\+num\+\_\+t bno08x\+\_\+config\+\_\+t\+::io\+\_\+miso}
-
-
-
-MISO GPIO pin (connects to \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} SDA pin) 
-
-\mbox{\Hypertarget{structbno08x__config__t_a79023fd80039e41a22b7f73ccd5fc861}\label{structbno08x__config__t_a79023fd80039e41a22b7f73ccd5fc861}} 
-\index{bno08x\_config\_t@{bno08x\_config\_t}!io\_mosi@{io\_mosi}}
-\index{io\_mosi@{io\_mosi}!bno08x\_config\_t@{bno08x\_config\_t}}
-\doxysubsubsection{\texorpdfstring{io\_mosi}{io\_mosi}}
-{\footnotesize\ttfamily gpio\+\_\+num\+\_\+t bno08x\+\_\+config\+\_\+t\+::io\+\_\+mosi}
-
-
-
-MOSI GPIO pin (connects to \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} DI pin) 
-
-\mbox{\Hypertarget{structbno08x__config__t_a62745c761219139f66ecd173b51577fc}\label{structbno08x__config__t_a62745c761219139f66ecd173b51577fc}} 
-\index{bno08x\_config\_t@{bno08x\_config\_t}!io\_rst@{io\_rst}}
-\index{io\_rst@{io\_rst}!bno08x\_config\_t@{bno08x\_config\_t}}
-\doxysubsubsection{\texorpdfstring{io\_rst}{io\_rst}}
-{\footnotesize\ttfamily gpio\+\_\+num\+\_\+t bno08x\+\_\+config\+\_\+t\+::io\+\_\+rst}
-
-
-
-Host interrupt pin (connects to \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} INT pin) 
-
-\mbox{\Hypertarget{structbno08x__config__t_a639685b91ae3198909d722316495246a}\label{structbno08x__config__t_a639685b91ae3198909d722316495246a}} 
-\index{bno08x\_config\_t@{bno08x\_config\_t}!io\_sclk@{io\_sclk}}
-\index{io\_sclk@{io\_sclk}!bno08x\_config\_t@{bno08x\_config\_t}}
-\doxysubsubsection{\texorpdfstring{io\_sclk}{io\_sclk}}
-{\footnotesize\ttfamily gpio\+\_\+num\+\_\+t bno08x\+\_\+config\+\_\+t\+::io\+\_\+sclk}
-
-
-
-SCLK pin (connects to \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} SCL pin) 
-
-\mbox{\Hypertarget{structbno08x__config__t_a231614c3b20888360def2ce9db83f52a}\label{structbno08x__config__t_a231614c3b20888360def2ce9db83f52a}} 
-\index{bno08x\_config\_t@{bno08x\_config\_t}!sclk\_speed@{sclk\_speed}}
-\index{sclk\_speed@{sclk\_speed}!bno08x\_config\_t@{bno08x\_config\_t}}
-\doxysubsubsection{\texorpdfstring{sclk\_speed}{sclk\_speed}}
-{\footnotesize\ttfamily uint32\+\_\+t bno08x\+\_\+config\+\_\+t\+::sclk\+\_\+speed}
-
-
-
-Reset pin (connects to \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} RST pin) 
-
-Desired SPI SCLK speed in Hz (max 3MHz) \mbox{\Hypertarget{structbno08x__config__t_a020d2343750bb7debc2a108ae038c9ec}\label{structbno08x__config__t_a020d2343750bb7debc2a108ae038c9ec}} 
-\index{bno08x\_config\_t@{bno08x\_config\_t}!spi\_peripheral@{spi\_peripheral}}
-\index{spi\_peripheral@{spi\_peripheral}!bno08x\_config\_t@{bno08x\_config\_t}}
-\doxysubsubsection{\texorpdfstring{spi\_peripheral}{spi\_peripheral}}
-{\footnotesize\ttfamily spi\+\_\+host\+\_\+device\+\_\+t bno08x\+\_\+config\+\_\+t\+::spi\+\_\+peripheral}
-
-
-
-SPI peripheral to be used. 
-
-
-
-The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\mbox{\hyperlink{_b_n_o08x_global_types_8hpp}{BNO08x\+Global\+Types.\+hpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/structbno08x__euler__angle__t.tex b/documentation/latex/structbno08x__euler__angle__t.tex
deleted file mode 100644
index 0f0053a..0000000
--- a/documentation/latex/structbno08x__euler__angle__t.tex
+++ /dev/null
@@ -1,99 +0,0 @@
-\hypertarget{structbno08x__euler__angle__t}{}\doxysection{bno08x\+\_\+euler\+\_\+angle\+\_\+t Struct Reference}
-\label{structbno08x__euler__angle__t}\index{bno08x\_euler\_angle\_t@{bno08x\_euler\_angle\_t}}
-
-
-Struct to represent euler angle (units in degrees or rads)  
-
-
-
-
-{\ttfamily \#include $<$BNO08x\+Global\+Types.\+hpp$>$}
-
-\doxysubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{structbno08x__euler__angle__t_a29b670ff58d75a6abf02512ee07a6207}{bno08x\+\_\+euler\+\_\+angle\+\_\+t}} ()
-\item 
-\mbox{\hyperlink{structbno08x__euler__angle__t}{bno08x\+\_\+euler\+\_\+angle\+\_\+t}} \& \mbox{\hyperlink{structbno08x__euler__angle__t_aa7f6954a731e0be492508b5d1dac056e}{operator=}} (const \mbox{\hyperlink{structbno08x__quat__t}{bno08x\+\_\+quat\+\_\+t}} \&source)
-\item 
-{\footnotesize template$<$typename T $>$ }\\\mbox{\hyperlink{structbno08x__euler__angle__t}{bno08x\+\_\+euler\+\_\+angle\+\_\+t}} \& \mbox{\hyperlink{structbno08x__euler__angle__t_a0b1d1fcfc2884937404446ca16829e51}{operator$\ast$=}} (T value)
-\end{DoxyCompactItemize}
-\doxysubsection*{Public Attributes}
-\begin{DoxyCompactItemize}
-\item 
-float \mbox{\hyperlink{structbno08x__euler__angle__t_a7c675704f7bf92a19846de6ee020f0ef}{x}}
-\item 
-float \mbox{\hyperlink{structbno08x__euler__angle__t_a0c4f19cb559999d4c2ac2b29d9dc7cfd}{y}}
-\item 
-float \mbox{\hyperlink{structbno08x__euler__angle__t_a5237ec5e8fc1ca49b2f108ac784f0032}{z}}
-\item 
-float \mbox{\hyperlink{structbno08x__euler__angle__t_a89ab348ee455b14e5d09f1eb5d231c99}{rad\+\_\+accuracy}}
-\item 
-\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08x\+Accuracy}} \mbox{\hyperlink{structbno08x__euler__angle__t_a3b4fad0b84bda3f34e86f7168ef2fee6}{accuracy}}
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-Struct to represent euler angle (units in degrees or rads) 
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\mbox{\Hypertarget{structbno08x__euler__angle__t_a29b670ff58d75a6abf02512ee07a6207}\label{structbno08x__euler__angle__t_a29b670ff58d75a6abf02512ee07a6207}} 
-\index{bno08x\_euler\_angle\_t@{bno08x\_euler\_angle\_t}!bno08x\_euler\_angle\_t@{bno08x\_euler\_angle\_t}}
-\index{bno08x\_euler\_angle\_t@{bno08x\_euler\_angle\_t}!bno08x\_euler\_angle\_t@{bno08x\_euler\_angle\_t}}
-\doxysubsubsection{\texorpdfstring{bno08x\_euler\_angle\_t()}{bno08x\_euler\_angle\_t()}}
-{\footnotesize\ttfamily bno08x\+\_\+euler\+\_\+angle\+\_\+t\+::bno08x\+\_\+euler\+\_\+angle\+\_\+t (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Function Documentation}
-\mbox{\Hypertarget{structbno08x__euler__angle__t_a0b1d1fcfc2884937404446ca16829e51}\label{structbno08x__euler__angle__t_a0b1d1fcfc2884937404446ca16829e51}} 
-\index{bno08x\_euler\_angle\_t@{bno08x\_euler\_angle\_t}!operator$\ast$=@{operator$\ast$=}}
-\index{operator$\ast$=@{operator$\ast$=}!bno08x\_euler\_angle\_t@{bno08x\_euler\_angle\_t}}
-\doxysubsubsection{\texorpdfstring{operator$\ast$=()}{operator*=()}}
-{\footnotesize\ttfamily template$<$typename T $>$ \\
-\mbox{\hyperlink{structbno08x__euler__angle__t}{bno08x\+\_\+euler\+\_\+angle\+\_\+t}} \& bno08x\+\_\+euler\+\_\+angle\+\_\+t\+::operator$\ast$= (\begin{DoxyParamCaption}\item[{T}]{value }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-\mbox{\Hypertarget{structbno08x__euler__angle__t_aa7f6954a731e0be492508b5d1dac056e}\label{structbno08x__euler__angle__t_aa7f6954a731e0be492508b5d1dac056e}} 
-\index{bno08x\_euler\_angle\_t@{bno08x\_euler\_angle\_t}!operator=@{operator=}}
-\index{operator=@{operator=}!bno08x\_euler\_angle\_t@{bno08x\_euler\_angle\_t}}
-\doxysubsubsection{\texorpdfstring{operator=()}{operator=()}}
-{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__euler__angle__t}{bno08x\+\_\+euler\+\_\+angle\+\_\+t}} \& bno08x\+\_\+euler\+\_\+angle\+\_\+t\+::operator= (\begin{DoxyParamCaption}\item[{const \mbox{\hyperlink{structbno08x__quat__t}{bno08x\+\_\+quat\+\_\+t}} \&}]{source }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Data Documentation}
-\mbox{\Hypertarget{structbno08x__euler__angle__t_a3b4fad0b84bda3f34e86f7168ef2fee6}\label{structbno08x__euler__angle__t_a3b4fad0b84bda3f34e86f7168ef2fee6}} 
-\index{bno08x\_euler\_angle\_t@{bno08x\_euler\_angle\_t}!accuracy@{accuracy}}
-\index{accuracy@{accuracy}!bno08x\_euler\_angle\_t@{bno08x\_euler\_angle\_t}}
-\doxysubsubsection{\texorpdfstring{accuracy}{accuracy}}
-{\footnotesize\ttfamily \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08x\+Accuracy}} bno08x\+\_\+euler\+\_\+angle\+\_\+t\+::accuracy}
-
-\mbox{\Hypertarget{structbno08x__euler__angle__t_a89ab348ee455b14e5d09f1eb5d231c99}\label{structbno08x__euler__angle__t_a89ab348ee455b14e5d09f1eb5d231c99}} 
-\index{bno08x\_euler\_angle\_t@{bno08x\_euler\_angle\_t}!rad\_accuracy@{rad\_accuracy}}
-\index{rad\_accuracy@{rad\_accuracy}!bno08x\_euler\_angle\_t@{bno08x\_euler\_angle\_t}}
-\doxysubsubsection{\texorpdfstring{rad\_accuracy}{rad\_accuracy}}
-{\footnotesize\ttfamily float bno08x\+\_\+euler\+\_\+angle\+\_\+t\+::rad\+\_\+accuracy}
-
-\mbox{\Hypertarget{structbno08x__euler__angle__t_a7c675704f7bf92a19846de6ee020f0ef}\label{structbno08x__euler__angle__t_a7c675704f7bf92a19846de6ee020f0ef}} 
-\index{bno08x\_euler\_angle\_t@{bno08x\_euler\_angle\_t}!x@{x}}
-\index{x@{x}!bno08x\_euler\_angle\_t@{bno08x\_euler\_angle\_t}}
-\doxysubsubsection{\texorpdfstring{x}{x}}
-{\footnotesize\ttfamily float bno08x\+\_\+euler\+\_\+angle\+\_\+t\+::x}
-
-\mbox{\Hypertarget{structbno08x__euler__angle__t_a0c4f19cb559999d4c2ac2b29d9dc7cfd}\label{structbno08x__euler__angle__t_a0c4f19cb559999d4c2ac2b29d9dc7cfd}} 
-\index{bno08x\_euler\_angle\_t@{bno08x\_euler\_angle\_t}!y@{y}}
-\index{y@{y}!bno08x\_euler\_angle\_t@{bno08x\_euler\_angle\_t}}
-\doxysubsubsection{\texorpdfstring{y}{y}}
-{\footnotesize\ttfamily float bno08x\+\_\+euler\+\_\+angle\+\_\+t\+::y}
-
-\mbox{\Hypertarget{structbno08x__euler__angle__t_a5237ec5e8fc1ca49b2f108ac784f0032}\label{structbno08x__euler__angle__t_a5237ec5e8fc1ca49b2f108ac784f0032}} 
-\index{bno08x\_euler\_angle\_t@{bno08x\_euler\_angle\_t}!z@{z}}
-\index{z@{z}!bno08x\_euler\_angle\_t@{bno08x\_euler\_angle\_t}}
-\doxysubsubsection{\texorpdfstring{z}{z}}
-{\footnotesize\ttfamily float bno08x\+\_\+euler\+\_\+angle\+\_\+t\+::z}
-
-
-
-The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\mbox{\hyperlink{_b_n_o08x_global_types_8hpp}{BNO08x\+Global\+Types.\+hpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/structbno08x__gyro__bias__t.tex b/documentation/latex/structbno08x__gyro__bias__t.tex
deleted file mode 100644
index 4ead079..0000000
--- a/documentation/latex/structbno08x__gyro__bias__t.tex
+++ /dev/null
@@ -1,74 +0,0 @@
-\hypertarget{structbno08x__gyro__bias__t}{}\doxysection{bno08x\+\_\+gyro\+\_\+bias\+\_\+t Struct Reference}
-\label{structbno08x__gyro__bias__t}\index{bno08x\_gyro\_bias\_t@{bno08x\_gyro\_bias\_t}}
-
-
-Struct to represent gyro bias data (units in rad/s)  
-
-
-
-
-{\ttfamily \#include $<$BNO08x\+Global\+Types.\+hpp$>$}
-
-\doxysubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{structbno08x__gyro__bias__t_a779c3000b541664d935b2ffda75a5f14}{bno08x\+\_\+gyro\+\_\+bias\+\_\+t}} ()
-\item 
-\mbox{\hyperlink{structbno08x__gyro__bias__t}{bno08x\+\_\+gyro\+\_\+bias\+\_\+t}} \& \mbox{\hyperlink{structbno08x__gyro__bias__t_aaa3795c61ebd89d4a620600b37ac27fc}{operator=}} (const sh2\+\_\+\+Gyroscope\+Uncalibrated \&source)
-\end{DoxyCompactItemize}
-\doxysubsection*{Public Attributes}
-\begin{DoxyCompactItemize}
-\item 
-float \mbox{\hyperlink{structbno08x__gyro__bias__t_a9c592e8c420797c8e02146eb6ba4a923}{x}}
-\item 
-float \mbox{\hyperlink{structbno08x__gyro__bias__t_a9bb96e58ed1df186edf40aa66b38bf4a}{y}}
-\item 
-float \mbox{\hyperlink{structbno08x__gyro__bias__t_aef04b50ebf86ff49631beb3ba90ae1ba}{z}}
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-Struct to represent gyro bias data (units in rad/s) 
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\mbox{\Hypertarget{structbno08x__gyro__bias__t_a779c3000b541664d935b2ffda75a5f14}\label{structbno08x__gyro__bias__t_a779c3000b541664d935b2ffda75a5f14}} 
-\index{bno08x\_gyro\_bias\_t@{bno08x\_gyro\_bias\_t}!bno08x\_gyro\_bias\_t@{bno08x\_gyro\_bias\_t}}
-\index{bno08x\_gyro\_bias\_t@{bno08x\_gyro\_bias\_t}!bno08x\_gyro\_bias\_t@{bno08x\_gyro\_bias\_t}}
-\doxysubsubsection{\texorpdfstring{bno08x\_gyro\_bias\_t()}{bno08x\_gyro\_bias\_t()}}
-{\footnotesize\ttfamily bno08x\+\_\+gyro\+\_\+bias\+\_\+t\+::bno08x\+\_\+gyro\+\_\+bias\+\_\+t (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Function Documentation}
-\mbox{\Hypertarget{structbno08x__gyro__bias__t_aaa3795c61ebd89d4a620600b37ac27fc}\label{structbno08x__gyro__bias__t_aaa3795c61ebd89d4a620600b37ac27fc}} 
-\index{bno08x\_gyro\_bias\_t@{bno08x\_gyro\_bias\_t}!operator=@{operator=}}
-\index{operator=@{operator=}!bno08x\_gyro\_bias\_t@{bno08x\_gyro\_bias\_t}}
-\doxysubsubsection{\texorpdfstring{operator=()}{operator=()}}
-{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__gyro__bias__t}{bno08x\+\_\+gyro\+\_\+bias\+\_\+t}} \& bno08x\+\_\+gyro\+\_\+bias\+\_\+t\+::operator= (\begin{DoxyParamCaption}\item[{const sh2\+\_\+\+Gyroscope\+Uncalibrated \&}]{source }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Data Documentation}
-\mbox{\Hypertarget{structbno08x__gyro__bias__t_a9c592e8c420797c8e02146eb6ba4a923}\label{structbno08x__gyro__bias__t_a9c592e8c420797c8e02146eb6ba4a923}} 
-\index{bno08x\_gyro\_bias\_t@{bno08x\_gyro\_bias\_t}!x@{x}}
-\index{x@{x}!bno08x\_gyro\_bias\_t@{bno08x\_gyro\_bias\_t}}
-\doxysubsubsection{\texorpdfstring{x}{x}}
-{\footnotesize\ttfamily float bno08x\+\_\+gyro\+\_\+bias\+\_\+t\+::x}
-
-\mbox{\Hypertarget{structbno08x__gyro__bias__t_a9bb96e58ed1df186edf40aa66b38bf4a}\label{structbno08x__gyro__bias__t_a9bb96e58ed1df186edf40aa66b38bf4a}} 
-\index{bno08x\_gyro\_bias\_t@{bno08x\_gyro\_bias\_t}!y@{y}}
-\index{y@{y}!bno08x\_gyro\_bias\_t@{bno08x\_gyro\_bias\_t}}
-\doxysubsubsection{\texorpdfstring{y}{y}}
-{\footnotesize\ttfamily float bno08x\+\_\+gyro\+\_\+bias\+\_\+t\+::y}
-
-\mbox{\Hypertarget{structbno08x__gyro__bias__t_aef04b50ebf86ff49631beb3ba90ae1ba}\label{structbno08x__gyro__bias__t_aef04b50ebf86ff49631beb3ba90ae1ba}} 
-\index{bno08x\_gyro\_bias\_t@{bno08x\_gyro\_bias\_t}!z@{z}}
-\index{z@{z}!bno08x\_gyro\_bias\_t@{bno08x\_gyro\_bias\_t}}
-\doxysubsubsection{\texorpdfstring{z}{z}}
-{\footnotesize\ttfamily float bno08x\+\_\+gyro\+\_\+bias\+\_\+t\+::z}
-
-
-
-The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\mbox{\hyperlink{_b_n_o08x_global_types_8hpp}{BNO08x\+Global\+Types.\+hpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/structbno08x__gyro__t.tex b/documentation/latex/structbno08x__gyro__t.tex
deleted file mode 100644
index 9173608..0000000
--- a/documentation/latex/structbno08x__gyro__t.tex
+++ /dev/null
@@ -1,90 +0,0 @@
-\hypertarget{structbno08x__gyro__t}{}\doxysection{bno08x\+\_\+gyro\+\_\+t Struct Reference}
-\label{structbno08x__gyro__t}\index{bno08x\_gyro\_t@{bno08x\_gyro\_t}}
-
-
-Struct to represent gyro data (units in rad/s)  
-
-
-
-
-{\ttfamily \#include $<$BNO08x\+Global\+Types.\+hpp$>$}
-
-\doxysubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{structbno08x__gyro__t_aa9a075a6b135f4b137b6247768ef5af6}{bno08x\+\_\+gyro\+\_\+t}} ()
-\item 
-\mbox{\hyperlink{structbno08x__gyro__t}{bno08x\+\_\+gyro\+\_\+t}} \& \mbox{\hyperlink{structbno08x__gyro__t_a13cfb2e5d15b2fe50d1d910bd0c4b868}{operator=}} (const sh2\+\_\+\+Gyroscope\+\_\+t \&source)
-\item 
-\mbox{\hyperlink{structbno08x__gyro__t}{bno08x\+\_\+gyro\+\_\+t}} \& \mbox{\hyperlink{structbno08x__gyro__t_a64d4900e42a8f056a404b699074f1c41}{operator=}} (const sh2\+\_\+\+Gyroscope\+Uncalibrated \&source)
-\end{DoxyCompactItemize}
-\doxysubsection*{Public Attributes}
-\begin{DoxyCompactItemize}
-\item 
-float \mbox{\hyperlink{structbno08x__gyro__t_a63a7bfec63a61b44dab94cd62dc5f50e}{x}}
-\item 
-float \mbox{\hyperlink{structbno08x__gyro__t_ab079eb91abc32f71c6d41f3dcf6274df}{y}}
-\item 
-float \mbox{\hyperlink{structbno08x__gyro__t_ac9a349e1dad45c041bfd0555b01e273f}{z}}
-\item 
-\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08x\+Accuracy}} \mbox{\hyperlink{structbno08x__gyro__t_a87ab3be28faed62506a764d411650a12}{accuracy}}
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-Struct to represent gyro data (units in rad/s) 
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\mbox{\Hypertarget{structbno08x__gyro__t_aa9a075a6b135f4b137b6247768ef5af6}\label{structbno08x__gyro__t_aa9a075a6b135f4b137b6247768ef5af6}} 
-\index{bno08x\_gyro\_t@{bno08x\_gyro\_t}!bno08x\_gyro\_t@{bno08x\_gyro\_t}}
-\index{bno08x\_gyro\_t@{bno08x\_gyro\_t}!bno08x\_gyro\_t@{bno08x\_gyro\_t}}
-\doxysubsubsection{\texorpdfstring{bno08x\_gyro\_t()}{bno08x\_gyro\_t()}}
-{\footnotesize\ttfamily bno08x\+\_\+gyro\+\_\+t\+::bno08x\+\_\+gyro\+\_\+t (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Function Documentation}
-\mbox{\Hypertarget{structbno08x__gyro__t_a13cfb2e5d15b2fe50d1d910bd0c4b868}\label{structbno08x__gyro__t_a13cfb2e5d15b2fe50d1d910bd0c4b868}} 
-\index{bno08x\_gyro\_t@{bno08x\_gyro\_t}!operator=@{operator=}}
-\index{operator=@{operator=}!bno08x\_gyro\_t@{bno08x\_gyro\_t}}
-\doxysubsubsection{\texorpdfstring{operator=()}{operator=()}\hspace{0.1cm}{\footnotesize\ttfamily [1/2]}}
-{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__gyro__t}{bno08x\+\_\+gyro\+\_\+t}} \& bno08x\+\_\+gyro\+\_\+t\+::operator= (\begin{DoxyParamCaption}\item[{const sh2\+\_\+\+Gyroscope\+\_\+t \&}]{source }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-\mbox{\Hypertarget{structbno08x__gyro__t_a64d4900e42a8f056a404b699074f1c41}\label{structbno08x__gyro__t_a64d4900e42a8f056a404b699074f1c41}} 
-\index{bno08x\_gyro\_t@{bno08x\_gyro\_t}!operator=@{operator=}}
-\index{operator=@{operator=}!bno08x\_gyro\_t@{bno08x\_gyro\_t}}
-\doxysubsubsection{\texorpdfstring{operator=()}{operator=()}\hspace{0.1cm}{\footnotesize\ttfamily [2/2]}}
-{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__gyro__t}{bno08x\+\_\+gyro\+\_\+t}} \& bno08x\+\_\+gyro\+\_\+t\+::operator= (\begin{DoxyParamCaption}\item[{const sh2\+\_\+\+Gyroscope\+Uncalibrated \&}]{source }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Data Documentation}
-\mbox{\Hypertarget{structbno08x__gyro__t_a87ab3be28faed62506a764d411650a12}\label{structbno08x__gyro__t_a87ab3be28faed62506a764d411650a12}} 
-\index{bno08x\_gyro\_t@{bno08x\_gyro\_t}!accuracy@{accuracy}}
-\index{accuracy@{accuracy}!bno08x\_gyro\_t@{bno08x\_gyro\_t}}
-\doxysubsubsection{\texorpdfstring{accuracy}{accuracy}}
-{\footnotesize\ttfamily \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08x\+Accuracy}} bno08x\+\_\+gyro\+\_\+t\+::accuracy}
-
-\mbox{\Hypertarget{structbno08x__gyro__t_a63a7bfec63a61b44dab94cd62dc5f50e}\label{structbno08x__gyro__t_a63a7bfec63a61b44dab94cd62dc5f50e}} 
-\index{bno08x\_gyro\_t@{bno08x\_gyro\_t}!x@{x}}
-\index{x@{x}!bno08x\_gyro\_t@{bno08x\_gyro\_t}}
-\doxysubsubsection{\texorpdfstring{x}{x}}
-{\footnotesize\ttfamily float bno08x\+\_\+gyro\+\_\+t\+::x}
-
-\mbox{\Hypertarget{structbno08x__gyro__t_ab079eb91abc32f71c6d41f3dcf6274df}\label{structbno08x__gyro__t_ab079eb91abc32f71c6d41f3dcf6274df}} 
-\index{bno08x\_gyro\_t@{bno08x\_gyro\_t}!y@{y}}
-\index{y@{y}!bno08x\_gyro\_t@{bno08x\_gyro\_t}}
-\doxysubsubsection{\texorpdfstring{y}{y}}
-{\footnotesize\ttfamily float bno08x\+\_\+gyro\+\_\+t\+::y}
-
-\mbox{\Hypertarget{structbno08x__gyro__t_ac9a349e1dad45c041bfd0555b01e273f}\label{structbno08x__gyro__t_ac9a349e1dad45c041bfd0555b01e273f}} 
-\index{bno08x\_gyro\_t@{bno08x\_gyro\_t}!z@{z}}
-\index{z@{z}!bno08x\_gyro\_t@{bno08x\_gyro\_t}}
-\doxysubsubsection{\texorpdfstring{z}{z}}
-{\footnotesize\ttfamily float bno08x\+\_\+gyro\+\_\+t\+::z}
-
-
-
-The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\mbox{\hyperlink{_b_n_o08x_global_types_8hpp}{BNO08x\+Global\+Types.\+hpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/structbno08x__magf__bias__t.tex b/documentation/latex/structbno08x__magf__bias__t.tex
deleted file mode 100644
index 4983bc2..0000000
--- a/documentation/latex/structbno08x__magf__bias__t.tex
+++ /dev/null
@@ -1,74 +0,0 @@
-\hypertarget{structbno08x__magf__bias__t}{}\doxysection{bno08x\+\_\+magf\+\_\+bias\+\_\+t Struct Reference}
-\label{structbno08x__magf__bias__t}\index{bno08x\_magf\_bias\_t@{bno08x\_magf\_bias\_t}}
-
-
-Struct to represent magnetic field bias data (units in u\+Tesla)  
-
-
-
-
-{\ttfamily \#include $<$BNO08x\+Global\+Types.\+hpp$>$}
-
-\doxysubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{structbno08x__magf__bias__t_aa0b6af3812168e0dc9329d5a70e54f98}{bno08x\+\_\+magf\+\_\+bias\+\_\+t}} ()
-\item 
-\mbox{\hyperlink{structbno08x__magf__bias__t}{bno08x\+\_\+magf\+\_\+bias\+\_\+t}} \& \mbox{\hyperlink{structbno08x__magf__bias__t_aeed524c368c645e3f325ffe387199a31}{operator=}} (const sh2\+\_\+\+Magnetic\+Field\+Uncalibrated\+\_\+t \&source)
-\end{DoxyCompactItemize}
-\doxysubsection*{Public Attributes}
-\begin{DoxyCompactItemize}
-\item 
-float \mbox{\hyperlink{structbno08x__magf__bias__t_ac4f55ef988b43d3d6c753a2201c60b14}{x}}
-\item 
-float \mbox{\hyperlink{structbno08x__magf__bias__t_a0e49d87458853c3478ffe1febffa0279}{y}}
-\item 
-float \mbox{\hyperlink{structbno08x__magf__bias__t_a76b135fa354d2646927ff76c2da5a6b3}{z}}
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-Struct to represent magnetic field bias data (units in u\+Tesla) 
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\mbox{\Hypertarget{structbno08x__magf__bias__t_aa0b6af3812168e0dc9329d5a70e54f98}\label{structbno08x__magf__bias__t_aa0b6af3812168e0dc9329d5a70e54f98}} 
-\index{bno08x\_magf\_bias\_t@{bno08x\_magf\_bias\_t}!bno08x\_magf\_bias\_t@{bno08x\_magf\_bias\_t}}
-\index{bno08x\_magf\_bias\_t@{bno08x\_magf\_bias\_t}!bno08x\_magf\_bias\_t@{bno08x\_magf\_bias\_t}}
-\doxysubsubsection{\texorpdfstring{bno08x\_magf\_bias\_t()}{bno08x\_magf\_bias\_t()}}
-{\footnotesize\ttfamily bno08x\+\_\+magf\+\_\+bias\+\_\+t\+::bno08x\+\_\+magf\+\_\+bias\+\_\+t (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Function Documentation}
-\mbox{\Hypertarget{structbno08x__magf__bias__t_aeed524c368c645e3f325ffe387199a31}\label{structbno08x__magf__bias__t_aeed524c368c645e3f325ffe387199a31}} 
-\index{bno08x\_magf\_bias\_t@{bno08x\_magf\_bias\_t}!operator=@{operator=}}
-\index{operator=@{operator=}!bno08x\_magf\_bias\_t@{bno08x\_magf\_bias\_t}}
-\doxysubsubsection{\texorpdfstring{operator=()}{operator=()}}
-{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__magf__bias__t}{bno08x\+\_\+magf\+\_\+bias\+\_\+t}} \& bno08x\+\_\+magf\+\_\+bias\+\_\+t\+::operator= (\begin{DoxyParamCaption}\item[{const sh2\+\_\+\+Magnetic\+Field\+Uncalibrated\+\_\+t \&}]{source }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Data Documentation}
-\mbox{\Hypertarget{structbno08x__magf__bias__t_ac4f55ef988b43d3d6c753a2201c60b14}\label{structbno08x__magf__bias__t_ac4f55ef988b43d3d6c753a2201c60b14}} 
-\index{bno08x\_magf\_bias\_t@{bno08x\_magf\_bias\_t}!x@{x}}
-\index{x@{x}!bno08x\_magf\_bias\_t@{bno08x\_magf\_bias\_t}}
-\doxysubsubsection{\texorpdfstring{x}{x}}
-{\footnotesize\ttfamily float bno08x\+\_\+magf\+\_\+bias\+\_\+t\+::x}
-
-\mbox{\Hypertarget{structbno08x__magf__bias__t_a0e49d87458853c3478ffe1febffa0279}\label{structbno08x__magf__bias__t_a0e49d87458853c3478ffe1febffa0279}} 
-\index{bno08x\_magf\_bias\_t@{bno08x\_magf\_bias\_t}!y@{y}}
-\index{y@{y}!bno08x\_magf\_bias\_t@{bno08x\_magf\_bias\_t}}
-\doxysubsubsection{\texorpdfstring{y}{y}}
-{\footnotesize\ttfamily float bno08x\+\_\+magf\+\_\+bias\+\_\+t\+::y}
-
-\mbox{\Hypertarget{structbno08x__magf__bias__t_a76b135fa354d2646927ff76c2da5a6b3}\label{structbno08x__magf__bias__t_a76b135fa354d2646927ff76c2da5a6b3}} 
-\index{bno08x\_magf\_bias\_t@{bno08x\_magf\_bias\_t}!z@{z}}
-\index{z@{z}!bno08x\_magf\_bias\_t@{bno08x\_magf\_bias\_t}}
-\doxysubsubsection{\texorpdfstring{z}{z}}
-{\footnotesize\ttfamily float bno08x\+\_\+magf\+\_\+bias\+\_\+t\+::z}
-
-
-
-The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\mbox{\hyperlink{_b_n_o08x_global_types_8hpp}{BNO08x\+Global\+Types.\+hpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/structbno08x__magf__t.tex b/documentation/latex/structbno08x__magf__t.tex
deleted file mode 100644
index 625df61..0000000
--- a/documentation/latex/structbno08x__magf__t.tex
+++ /dev/null
@@ -1,90 +0,0 @@
-\hypertarget{structbno08x__magf__t}{}\doxysection{bno08x\+\_\+magf\+\_\+t Struct Reference}
-\label{structbno08x__magf__t}\index{bno08x\_magf\_t@{bno08x\_magf\_t}}
-
-
-Struct to represent magnetic field data (units in u\+Tesla)  
-
-
-
-
-{\ttfamily \#include $<$BNO08x\+Global\+Types.\+hpp$>$}
-
-\doxysubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{structbno08x__magf__t_ad8784e25768658f4fa0cb1dd5c1afc36}{bno08x\+\_\+magf\+\_\+t}} ()
-\item 
-\mbox{\hyperlink{structbno08x__magf__t}{bno08x\+\_\+magf\+\_\+t}} \& \mbox{\hyperlink{structbno08x__magf__t_adadb35e5c67433e47895d7ae5885a00e}{operator=}} (const sh2\+\_\+\+Magnetic\+Field\+\_\+t \&source)
-\item 
-\mbox{\hyperlink{structbno08x__magf__t}{bno08x\+\_\+magf\+\_\+t}} \& \mbox{\hyperlink{structbno08x__magf__t_a2e0b22e5fa40d5ecd447e0cb451b3282}{operator=}} (const sh2\+\_\+\+Magnetic\+Field\+Uncalibrated\+\_\+t \&source)
-\end{DoxyCompactItemize}
-\doxysubsection*{Public Attributes}
-\begin{DoxyCompactItemize}
-\item 
-float \mbox{\hyperlink{structbno08x__magf__t_ac692d27a0bd9d698a89a8ca58e959d08}{x}}
-\item 
-float \mbox{\hyperlink{structbno08x__magf__t_a01b2e4c9a144b3e1c0572db12ed48601}{y}}
-\item 
-float \mbox{\hyperlink{structbno08x__magf__t_a0516e3805249e8b62856af2aabf7cc0b}{z}}
-\item 
-\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08x\+Accuracy}} \mbox{\hyperlink{structbno08x__magf__t_a6b92aa85f81f17034c3f201dd9ff0b46}{accuracy}}
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-Struct to represent magnetic field data (units in u\+Tesla) 
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\mbox{\Hypertarget{structbno08x__magf__t_ad8784e25768658f4fa0cb1dd5c1afc36}\label{structbno08x__magf__t_ad8784e25768658f4fa0cb1dd5c1afc36}} 
-\index{bno08x\_magf\_t@{bno08x\_magf\_t}!bno08x\_magf\_t@{bno08x\_magf\_t}}
-\index{bno08x\_magf\_t@{bno08x\_magf\_t}!bno08x\_magf\_t@{bno08x\_magf\_t}}
-\doxysubsubsection{\texorpdfstring{bno08x\_magf\_t()}{bno08x\_magf\_t()}}
-{\footnotesize\ttfamily bno08x\+\_\+magf\+\_\+t\+::bno08x\+\_\+magf\+\_\+t (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Function Documentation}
-\mbox{\Hypertarget{structbno08x__magf__t_adadb35e5c67433e47895d7ae5885a00e}\label{structbno08x__magf__t_adadb35e5c67433e47895d7ae5885a00e}} 
-\index{bno08x\_magf\_t@{bno08x\_magf\_t}!operator=@{operator=}}
-\index{operator=@{operator=}!bno08x\_magf\_t@{bno08x\_magf\_t}}
-\doxysubsubsection{\texorpdfstring{operator=()}{operator=()}\hspace{0.1cm}{\footnotesize\ttfamily [1/2]}}
-{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__magf__t}{bno08x\+\_\+magf\+\_\+t}} \& bno08x\+\_\+magf\+\_\+t\+::operator= (\begin{DoxyParamCaption}\item[{const sh2\+\_\+\+Magnetic\+Field\+\_\+t \&}]{source }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-\mbox{\Hypertarget{structbno08x__magf__t_a2e0b22e5fa40d5ecd447e0cb451b3282}\label{structbno08x__magf__t_a2e0b22e5fa40d5ecd447e0cb451b3282}} 
-\index{bno08x\_magf\_t@{bno08x\_magf\_t}!operator=@{operator=}}
-\index{operator=@{operator=}!bno08x\_magf\_t@{bno08x\_magf\_t}}
-\doxysubsubsection{\texorpdfstring{operator=()}{operator=()}\hspace{0.1cm}{\footnotesize\ttfamily [2/2]}}
-{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__magf__t}{bno08x\+\_\+magf\+\_\+t}} \& bno08x\+\_\+magf\+\_\+t\+::operator= (\begin{DoxyParamCaption}\item[{const sh2\+\_\+\+Magnetic\+Field\+Uncalibrated\+\_\+t \&}]{source }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Data Documentation}
-\mbox{\Hypertarget{structbno08x__magf__t_a6b92aa85f81f17034c3f201dd9ff0b46}\label{structbno08x__magf__t_a6b92aa85f81f17034c3f201dd9ff0b46}} 
-\index{bno08x\_magf\_t@{bno08x\_magf\_t}!accuracy@{accuracy}}
-\index{accuracy@{accuracy}!bno08x\_magf\_t@{bno08x\_magf\_t}}
-\doxysubsubsection{\texorpdfstring{accuracy}{accuracy}}
-{\footnotesize\ttfamily \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08x\+Accuracy}} bno08x\+\_\+magf\+\_\+t\+::accuracy}
-
-\mbox{\Hypertarget{structbno08x__magf__t_ac692d27a0bd9d698a89a8ca58e959d08}\label{structbno08x__magf__t_ac692d27a0bd9d698a89a8ca58e959d08}} 
-\index{bno08x\_magf\_t@{bno08x\_magf\_t}!x@{x}}
-\index{x@{x}!bno08x\_magf\_t@{bno08x\_magf\_t}}
-\doxysubsubsection{\texorpdfstring{x}{x}}
-{\footnotesize\ttfamily float bno08x\+\_\+magf\+\_\+t\+::x}
-
-\mbox{\Hypertarget{structbno08x__magf__t_a01b2e4c9a144b3e1c0572db12ed48601}\label{structbno08x__magf__t_a01b2e4c9a144b3e1c0572db12ed48601}} 
-\index{bno08x\_magf\_t@{bno08x\_magf\_t}!y@{y}}
-\index{y@{y}!bno08x\_magf\_t@{bno08x\_magf\_t}}
-\doxysubsubsection{\texorpdfstring{y}{y}}
-{\footnotesize\ttfamily float bno08x\+\_\+magf\+\_\+t\+::y}
-
-\mbox{\Hypertarget{structbno08x__magf__t_a0516e3805249e8b62856af2aabf7cc0b}\label{structbno08x__magf__t_a0516e3805249e8b62856af2aabf7cc0b}} 
-\index{bno08x\_magf\_t@{bno08x\_magf\_t}!z@{z}}
-\index{z@{z}!bno08x\_magf\_t@{bno08x\_magf\_t}}
-\doxysubsubsection{\texorpdfstring{z}{z}}
-{\footnotesize\ttfamily float bno08x\+\_\+magf\+\_\+t\+::z}
-
-
-
-The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\mbox{\hyperlink{_b_n_o08x_global_types_8hpp}{BNO08x\+Global\+Types.\+hpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/structbno08x__meta__data__t.tex b/documentation/latex/structbno08x__meta__data__t.tex
deleted file mode 100644
index 5bff4ab..0000000
--- a/documentation/latex/structbno08x__meta__data__t.tex
+++ /dev/null
@@ -1,275 +0,0 @@
-\hypertarget{structbno08x__meta__data__t}{}\doxysection{bno08x\+\_\+meta\+\_\+data\+\_\+t Struct Reference}
-\label{structbno08x__meta__data__t}\index{bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}}
-
-
-Struct to represent sensor/report meta data, returned from \mbox{\hyperlink{class_b_n_o08x_rpt_ad5b054279b01204f61b4c0408acf51cf}{BNO08x\+Rpt\+::get\+\_\+meta\+\_\+data()}}  
-
-
-
-
-{\ttfamily \#include $<$BNO08x\+Global\+Types.\+hpp$>$}
-
-\doxysubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{structbno08x__meta__data__t_a3e22f63db62812b5aeeb873553f378c4}{bno08x\+\_\+meta\+\_\+data\+\_\+t}} ()
-\item 
-\mbox{\hyperlink{structbno08x__meta__data__t_a549c5e42da7cf07c6ec28ce69548b1d8}{bno08x\+\_\+meta\+\_\+data\+\_\+t}} (const sh2\+\_\+\+Sensor\+Metadata\+\_\+t \&src)
-\end{DoxyCompactItemize}
-\doxysubsection*{Public Attributes}
-\begin{DoxyCompactItemize}
-\item 
-char \mbox{\hyperlink{structbno08x__meta__data__t_a51e1f028175bf00c880cc2dfd4e05412}{vendor\+\_\+\+ID}} \mbox{[}48\mbox{]}
-\begin{DoxyCompactList}\small\item\em Vendor name and part number. \end{DoxyCompactList}\item 
-uint8\+\_\+t \mbox{\hyperlink{structbno08x__meta__data__t_a4134971e13a6242102facae308588072}{sensor\+\_\+specific}} \mbox{[}48\mbox{]}
-\begin{DoxyCompactList}\small\item\em See SH-\/2 Reference Manual. \end{DoxyCompactList}\item 
-uint32\+\_\+t \mbox{\hyperlink{structbno08x__meta__data__t_a0efefbb8c4614bd3e81094f25909cc14}{vendor\+\_\+id\+\_\+len}}
-\begin{DoxyCompactList}\small\item\em \mbox{[}bytes\mbox{]} \end{DoxyCompactList}\item 
-uint32\+\_\+t \mbox{\hyperlink{structbno08x__meta__data__t_abaa4829463c424c9959d594027ce7ba2}{sensor\+\_\+specific\+\_\+len}}
-\begin{DoxyCompactList}\small\item\em \mbox{[}bytes\mbox{]} \end{DoxyCompactList}\item 
-uint32\+\_\+t \mbox{\hyperlink{structbno08x__meta__data__t_a58edad7613b5b2c6e7afd0233106b09f}{range}}
-\begin{DoxyCompactList}\small\item\em Same units as sensor reports. \end{DoxyCompactList}\item 
-uint32\+\_\+t \mbox{\hyperlink{structbno08x__meta__data__t_a7683b54fbe7ae8ec15b8f880d17a5a46}{resolution}}
-\begin{DoxyCompactList}\small\item\em Same units as sensor reports. \end{DoxyCompactList}\item 
-uint32\+\_\+t \mbox{\hyperlink{structbno08x__meta__data__t_a5384c14c55c8f156ea18a0cc81a2e6fc}{min\+\_\+period\+\_\+us}}
-\begin{DoxyCompactList}\small\item\em \mbox{[}uS\mbox{]} min period to use with enable\+\_\+report \end{DoxyCompactList}\item 
-uint32\+\_\+t \mbox{\hyperlink{structbno08x__meta__data__t_a3e4ff48e389db8b0643259f9af8c0006}{max\+\_\+period\+\_\+us}}
-\begin{DoxyCompactList}\small\item\em \mbox{[}uS\mbox{]} max period to use with enable\+\_\+report \end{DoxyCompactList}\item 
-uint32\+\_\+t \mbox{\hyperlink{structbno08x__meta__data__t_a32f6c907d10794a2b64784c4bbe09723}{fifo\+\_\+reserved}}
-\begin{DoxyCompactList}\small\item\em (Unused) \end{DoxyCompactList}\item 
-uint32\+\_\+t \mbox{\hyperlink{structbno08x__meta__data__t_a94c6f70957ab28cde8d41fdbd2f39496}{fifo\+\_\+max}}
-\begin{DoxyCompactList}\small\item\em (Unused) \end{DoxyCompactList}\item 
-uint32\+\_\+t \mbox{\hyperlink{structbno08x__meta__data__t_ac493692919e552ca32e6c87b4623ccd2}{batch\+\_\+buffer\+\_\+bytes}}
-\begin{DoxyCompactList}\small\item\em (Unused) \end{DoxyCompactList}\item 
-uint16\+\_\+t \mbox{\hyperlink{structbno08x__meta__data__t_a31816ac79605b829e7304973d61f7d98}{revision}}
-\begin{DoxyCompactList}\small\item\em Metadata record format revision. \end{DoxyCompactList}\item 
-uint16\+\_\+t \mbox{\hyperlink{structbno08x__meta__data__t_ac4297b1db8065c9ad38b6100abda92c1}{power\+\_\+mA}}
-\begin{DoxyCompactList}\small\item\em \mbox{[}mA\mbox{]} Fixed point 16Q10 format \end{DoxyCompactList}\item 
-uint16\+\_\+t \mbox{\hyperlink{structbno08x__meta__data__t_a1e0a5907ac8d8dd0325cf8830aa5bd66}{q\+\_\+point\+\_\+1}}
-\begin{DoxyCompactList}\small\item\em q point for sensor values \end{DoxyCompactList}\item 
-uint16\+\_\+t \mbox{\hyperlink{structbno08x__meta__data__t_a09ad38c35e9cd63d4c333f851d5e01e7}{q\+\_\+point\+\_\+2}}
-\begin{DoxyCompactList}\small\item\em q point for accuracy or bias fields \end{DoxyCompactList}\item 
-uint16\+\_\+t \mbox{\hyperlink{structbno08x__meta__data__t_a29cb20721b8dda2c65c6b2b4dfad6551}{q\+\_\+point\+\_\+3}}
-\begin{DoxyCompactList}\small\item\em q point for sensor data change sensitivity \end{DoxyCompactList}\item 
-uint8\+\_\+t \mbox{\hyperlink{structbno08x__meta__data__t_a659afd22d089c9414ef865350c895d3e}{me\+\_\+version}}
-\begin{DoxyCompactList}\small\item\em Motion Engine Version. \end{DoxyCompactList}\item 
-uint8\+\_\+t \mbox{\hyperlink{structbno08x__meta__data__t_a5883b0fdc28d754f3fff570ca29e3b3e}{mh\+\_\+version}}
-\begin{DoxyCompactList}\small\item\em Motion Hub Version. \end{DoxyCompactList}\item 
-uint8\+\_\+t \mbox{\hyperlink{structbno08x__meta__data__t_a672da8b56be3269bae22c9e0e5424719}{sh\+\_\+version}}
-\begin{DoxyCompactList}\small\item\em Sensor\+Hub Version. \end{DoxyCompactList}\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-Struct to represent sensor/report meta data, returned from \mbox{\hyperlink{class_b_n_o08x_rpt_ad5b054279b01204f61b4c0408acf51cf}{BNO08x\+Rpt\+::get\+\_\+meta\+\_\+data()}} 
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\mbox{\Hypertarget{structbno08x__meta__data__t_a3e22f63db62812b5aeeb873553f378c4}\label{structbno08x__meta__data__t_a3e22f63db62812b5aeeb873553f378c4}} 
-\index{bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}!bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}}
-\index{bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}!bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}}
-\doxysubsubsection{\texorpdfstring{bno08x\_meta\_data\_t()}{bno08x\_meta\_data\_t()}\hspace{0.1cm}{\footnotesize\ttfamily [1/2]}}
-{\footnotesize\ttfamily bno08x\+\_\+meta\+\_\+data\+\_\+t\+::bno08x\+\_\+meta\+\_\+data\+\_\+t (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-\mbox{\Hypertarget{structbno08x__meta__data__t_a549c5e42da7cf07c6ec28ce69548b1d8}\label{structbno08x__meta__data__t_a549c5e42da7cf07c6ec28ce69548b1d8}} 
-\index{bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}!bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}}
-\index{bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}!bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}}
-\doxysubsubsection{\texorpdfstring{bno08x\_meta\_data\_t()}{bno08x\_meta\_data\_t()}\hspace{0.1cm}{\footnotesize\ttfamily [2/2]}}
-{\footnotesize\ttfamily bno08x\+\_\+meta\+\_\+data\+\_\+t\+::bno08x\+\_\+meta\+\_\+data\+\_\+t (\begin{DoxyParamCaption}\item[{const sh2\+\_\+\+Sensor\+Metadata\+\_\+t \&}]{src }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Data Documentation}
-\mbox{\Hypertarget{structbno08x__meta__data__t_ac493692919e552ca32e6c87b4623ccd2}\label{structbno08x__meta__data__t_ac493692919e552ca32e6c87b4623ccd2}} 
-\index{bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}!batch\_buffer\_bytes@{batch\_buffer\_bytes}}
-\index{batch\_buffer\_bytes@{batch\_buffer\_bytes}!bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}}
-\doxysubsubsection{\texorpdfstring{batch\_buffer\_bytes}{batch\_buffer\_bytes}}
-{\footnotesize\ttfamily uint32\+\_\+t bno08x\+\_\+meta\+\_\+data\+\_\+t\+::batch\+\_\+buffer\+\_\+bytes}
-
-
-
-(Unused) 
-
-\mbox{\Hypertarget{structbno08x__meta__data__t_a94c6f70957ab28cde8d41fdbd2f39496}\label{structbno08x__meta__data__t_a94c6f70957ab28cde8d41fdbd2f39496}} 
-\index{bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}!fifo\_max@{fifo\_max}}
-\index{fifo\_max@{fifo\_max}!bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}}
-\doxysubsubsection{\texorpdfstring{fifo\_max}{fifo\_max}}
-{\footnotesize\ttfamily uint32\+\_\+t bno08x\+\_\+meta\+\_\+data\+\_\+t\+::fifo\+\_\+max}
-
-
-
-(Unused) 
-
-\mbox{\Hypertarget{structbno08x__meta__data__t_a32f6c907d10794a2b64784c4bbe09723}\label{structbno08x__meta__data__t_a32f6c907d10794a2b64784c4bbe09723}} 
-\index{bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}!fifo\_reserved@{fifo\_reserved}}
-\index{fifo\_reserved@{fifo\_reserved}!bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}}
-\doxysubsubsection{\texorpdfstring{fifo\_reserved}{fifo\_reserved}}
-{\footnotesize\ttfamily uint32\+\_\+t bno08x\+\_\+meta\+\_\+data\+\_\+t\+::fifo\+\_\+reserved}
-
-
-
-(Unused) 
-
-\mbox{\Hypertarget{structbno08x__meta__data__t_a3e4ff48e389db8b0643259f9af8c0006}\label{structbno08x__meta__data__t_a3e4ff48e389db8b0643259f9af8c0006}} 
-\index{bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}!max\_period\_us@{max\_period\_us}}
-\index{max\_period\_us@{max\_period\_us}!bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}}
-\doxysubsubsection{\texorpdfstring{max\_period\_us}{max\_period\_us}}
-{\footnotesize\ttfamily uint32\+\_\+t bno08x\+\_\+meta\+\_\+data\+\_\+t\+::max\+\_\+period\+\_\+us}
-
-
-
-\mbox{[}uS\mbox{]} max period to use with enable\+\_\+report 
-
-\mbox{\Hypertarget{structbno08x__meta__data__t_a659afd22d089c9414ef865350c895d3e}\label{structbno08x__meta__data__t_a659afd22d089c9414ef865350c895d3e}} 
-\index{bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}!me\_version@{me\_version}}
-\index{me\_version@{me\_version}!bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}}
-\doxysubsubsection{\texorpdfstring{me\_version}{me\_version}}
-{\footnotesize\ttfamily uint8\+\_\+t bno08x\+\_\+meta\+\_\+data\+\_\+t\+::me\+\_\+version}
-
-
-
-Motion Engine Version. 
-
-\mbox{\Hypertarget{structbno08x__meta__data__t_a5883b0fdc28d754f3fff570ca29e3b3e}\label{structbno08x__meta__data__t_a5883b0fdc28d754f3fff570ca29e3b3e}} 
-\index{bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}!mh\_version@{mh\_version}}
-\index{mh\_version@{mh\_version}!bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}}
-\doxysubsubsection{\texorpdfstring{mh\_version}{mh\_version}}
-{\footnotesize\ttfamily uint8\+\_\+t bno08x\+\_\+meta\+\_\+data\+\_\+t\+::mh\+\_\+version}
-
-
-
-Motion Hub Version. 
-
-\mbox{\Hypertarget{structbno08x__meta__data__t_a5384c14c55c8f156ea18a0cc81a2e6fc}\label{structbno08x__meta__data__t_a5384c14c55c8f156ea18a0cc81a2e6fc}} 
-\index{bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}!min\_period\_us@{min\_period\_us}}
-\index{min\_period\_us@{min\_period\_us}!bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}}
-\doxysubsubsection{\texorpdfstring{min\_period\_us}{min\_period\_us}}
-{\footnotesize\ttfamily uint32\+\_\+t bno08x\+\_\+meta\+\_\+data\+\_\+t\+::min\+\_\+period\+\_\+us}
-
-
-
-\mbox{[}uS\mbox{]} min period to use with enable\+\_\+report 
-
-\mbox{\Hypertarget{structbno08x__meta__data__t_ac4297b1db8065c9ad38b6100abda92c1}\label{structbno08x__meta__data__t_ac4297b1db8065c9ad38b6100abda92c1}} 
-\index{bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}!power\_mA@{power\_mA}}
-\index{power\_mA@{power\_mA}!bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}}
-\doxysubsubsection{\texorpdfstring{power\_mA}{power\_mA}}
-{\footnotesize\ttfamily uint16\+\_\+t bno08x\+\_\+meta\+\_\+data\+\_\+t\+::power\+\_\+mA}
-
-
-
-\mbox{[}mA\mbox{]} Fixed point 16Q10 format 
-
-\mbox{\Hypertarget{structbno08x__meta__data__t_a1e0a5907ac8d8dd0325cf8830aa5bd66}\label{structbno08x__meta__data__t_a1e0a5907ac8d8dd0325cf8830aa5bd66}} 
-\index{bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}!q\_point\_1@{q\_point\_1}}
-\index{q\_point\_1@{q\_point\_1}!bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}}
-\doxysubsubsection{\texorpdfstring{q\_point\_1}{q\_point\_1}}
-{\footnotesize\ttfamily uint16\+\_\+t bno08x\+\_\+meta\+\_\+data\+\_\+t\+::q\+\_\+point\+\_\+1}
-
-
-
-q point for sensor values 
-
-\mbox{\Hypertarget{structbno08x__meta__data__t_a09ad38c35e9cd63d4c333f851d5e01e7}\label{structbno08x__meta__data__t_a09ad38c35e9cd63d4c333f851d5e01e7}} 
-\index{bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}!q\_point\_2@{q\_point\_2}}
-\index{q\_point\_2@{q\_point\_2}!bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}}
-\doxysubsubsection{\texorpdfstring{q\_point\_2}{q\_point\_2}}
-{\footnotesize\ttfamily uint16\+\_\+t bno08x\+\_\+meta\+\_\+data\+\_\+t\+::q\+\_\+point\+\_\+2}
-
-
-
-q point for accuracy or bias fields 
-
-\mbox{\Hypertarget{structbno08x__meta__data__t_a29cb20721b8dda2c65c6b2b4dfad6551}\label{structbno08x__meta__data__t_a29cb20721b8dda2c65c6b2b4dfad6551}} 
-\index{bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}!q\_point\_3@{q\_point\_3}}
-\index{q\_point\_3@{q\_point\_3}!bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}}
-\doxysubsubsection{\texorpdfstring{q\_point\_3}{q\_point\_3}}
-{\footnotesize\ttfamily uint16\+\_\+t bno08x\+\_\+meta\+\_\+data\+\_\+t\+::q\+\_\+point\+\_\+3}
-
-
-
-q point for sensor data change sensitivity 
-
-\mbox{\Hypertarget{structbno08x__meta__data__t_a58edad7613b5b2c6e7afd0233106b09f}\label{structbno08x__meta__data__t_a58edad7613b5b2c6e7afd0233106b09f}} 
-\index{bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}!range@{range}}
-\index{range@{range}!bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}}
-\doxysubsubsection{\texorpdfstring{range}{range}}
-{\footnotesize\ttfamily uint32\+\_\+t bno08x\+\_\+meta\+\_\+data\+\_\+t\+::range}
-
-
-
-Same units as sensor reports. 
-
-\mbox{\Hypertarget{structbno08x__meta__data__t_a7683b54fbe7ae8ec15b8f880d17a5a46}\label{structbno08x__meta__data__t_a7683b54fbe7ae8ec15b8f880d17a5a46}} 
-\index{bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}!resolution@{resolution}}
-\index{resolution@{resolution}!bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}}
-\doxysubsubsection{\texorpdfstring{resolution}{resolution}}
-{\footnotesize\ttfamily uint32\+\_\+t bno08x\+\_\+meta\+\_\+data\+\_\+t\+::resolution}
-
-
-
-Same units as sensor reports. 
-
-\mbox{\Hypertarget{structbno08x__meta__data__t_a31816ac79605b829e7304973d61f7d98}\label{structbno08x__meta__data__t_a31816ac79605b829e7304973d61f7d98}} 
-\index{bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}!revision@{revision}}
-\index{revision@{revision}!bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}}
-\doxysubsubsection{\texorpdfstring{revision}{revision}}
-{\footnotesize\ttfamily uint16\+\_\+t bno08x\+\_\+meta\+\_\+data\+\_\+t\+::revision}
-
-
-
-Metadata record format revision. 
-
-\mbox{\Hypertarget{structbno08x__meta__data__t_a4134971e13a6242102facae308588072}\label{structbno08x__meta__data__t_a4134971e13a6242102facae308588072}} 
-\index{bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}!sensor\_specific@{sensor\_specific}}
-\index{sensor\_specific@{sensor\_specific}!bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}}
-\doxysubsubsection{\texorpdfstring{sensor\_specific}{sensor\_specific}}
-{\footnotesize\ttfamily uint8\+\_\+t bno08x\+\_\+meta\+\_\+data\+\_\+t\+::sensor\+\_\+specific\mbox{[}48\mbox{]}}
-
-
-
-See SH-\/2 Reference Manual. 
-
-\mbox{\Hypertarget{structbno08x__meta__data__t_abaa4829463c424c9959d594027ce7ba2}\label{structbno08x__meta__data__t_abaa4829463c424c9959d594027ce7ba2}} 
-\index{bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}!sensor\_specific\_len@{sensor\_specific\_len}}
-\index{sensor\_specific\_len@{sensor\_specific\_len}!bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}}
-\doxysubsubsection{\texorpdfstring{sensor\_specific\_len}{sensor\_specific\_len}}
-{\footnotesize\ttfamily uint32\+\_\+t bno08x\+\_\+meta\+\_\+data\+\_\+t\+::sensor\+\_\+specific\+\_\+len}
-
-
-
-\mbox{[}bytes\mbox{]} 
-
-\mbox{\Hypertarget{structbno08x__meta__data__t_a672da8b56be3269bae22c9e0e5424719}\label{structbno08x__meta__data__t_a672da8b56be3269bae22c9e0e5424719}} 
-\index{bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}!sh\_version@{sh\_version}}
-\index{sh\_version@{sh\_version}!bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}}
-\doxysubsubsection{\texorpdfstring{sh\_version}{sh\_version}}
-{\footnotesize\ttfamily uint8\+\_\+t bno08x\+\_\+meta\+\_\+data\+\_\+t\+::sh\+\_\+version}
-
-
-
-Sensor\+Hub Version. 
-
-\mbox{\Hypertarget{structbno08x__meta__data__t_a51e1f028175bf00c880cc2dfd4e05412}\label{structbno08x__meta__data__t_a51e1f028175bf00c880cc2dfd4e05412}} 
-\index{bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}!vendor\_ID@{vendor\_ID}}
-\index{vendor\_ID@{vendor\_ID}!bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}}
-\doxysubsubsection{\texorpdfstring{vendor\_ID}{vendor\_ID}}
-{\footnotesize\ttfamily char bno08x\+\_\+meta\+\_\+data\+\_\+t\+::vendor\+\_\+\+ID\mbox{[}48\mbox{]}}
-
-
-
-Vendor name and part number. 
-
-\mbox{\Hypertarget{structbno08x__meta__data__t_a0efefbb8c4614bd3e81094f25909cc14}\label{structbno08x__meta__data__t_a0efefbb8c4614bd3e81094f25909cc14}} 
-\index{bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}!vendor\_id\_len@{vendor\_id\_len}}
-\index{vendor\_id\_len@{vendor\_id\_len}!bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}}
-\doxysubsubsection{\texorpdfstring{vendor\_id\_len}{vendor\_id\_len}}
-{\footnotesize\ttfamily uint32\+\_\+t bno08x\+\_\+meta\+\_\+data\+\_\+t\+::vendor\+\_\+id\+\_\+len}
-
-
-
-\mbox{[}bytes\mbox{]} 
-
-
-
-The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\mbox{\hyperlink{_b_n_o08x_global_types_8hpp}{BNO08x\+Global\+Types.\+hpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/structbno08x__quat__t.tex b/documentation/latex/structbno08x__quat__t.tex
deleted file mode 100644
index 78c18ae..0000000
--- a/documentation/latex/structbno08x__quat__t.tex
+++ /dev/null
@@ -1,114 +0,0 @@
-\hypertarget{structbno08x__quat__t}{}\doxysection{bno08x\+\_\+quat\+\_\+t Struct Reference}
-\label{structbno08x__quat__t}\index{bno08x\_quat\_t@{bno08x\_quat\_t}}
-
-
-Struct to represent unit quaternion.  
-
-
-
-
-{\ttfamily \#include $<$BNO08x\+Global\+Types.\+hpp$>$}
-
-\doxysubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{structbno08x__quat__t_ae42ec645fe23b60e32e55872a3b9e703}{bno08x\+\_\+quat\+\_\+t}} ()
-\item 
-\mbox{\hyperlink{structbno08x__quat__t}{bno08x\+\_\+quat\+\_\+t}} \& \mbox{\hyperlink{structbno08x__quat__t_a081cecab6370ae436f36416e3f7a6ddc}{operator=}} (const sh2\+\_\+\+Rotation\+Vector\+WAcc\+\_\+t \&source)
-\item 
-\mbox{\hyperlink{structbno08x__quat__t}{bno08x\+\_\+quat\+\_\+t}} \& \mbox{\hyperlink{structbno08x__quat__t_a23cac26e381f9a83657fccdab735046b}{operator=}} (const sh2\+\_\+\+Rotation\+Vector\+\_\+t \&source)
-\item 
-\mbox{\hyperlink{structbno08x__quat__t}{bno08x\+\_\+quat\+\_\+t}} \& \mbox{\hyperlink{structbno08x__quat__t_ae3705dc48882a3d616927cad01c2387d}{operator=}} (const sh2\+\_\+\+Gyro\+Integrated\+RV\+\_\+t \&source)
-\end{DoxyCompactItemize}
-\doxysubsection*{Public Attributes}
-\begin{DoxyCompactItemize}
-\item 
-float \mbox{\hyperlink{structbno08x__quat__t_ab99e5e4f8adad74eee1a94b4e7ef2542}{real}}
-\item 
-float \mbox{\hyperlink{structbno08x__quat__t_ac438aba57b7082e1d81e2d1241f87ca0}{i}}
-\item 
-float \mbox{\hyperlink{structbno08x__quat__t_aab49754d4967cfa71578d8d1156eef46}{j}}
-\item 
-float \mbox{\hyperlink{structbno08x__quat__t_ade2592f6a271cc8b260081ad018772ef}{k}}
-\item 
-float \mbox{\hyperlink{structbno08x__quat__t_a7368a7f0524e3b2e1f4465329ecb0912}{rad\+\_\+accuracy}}
-\item 
-\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08x\+Accuracy}} \mbox{\hyperlink{structbno08x__quat__t_afd179bfc02d365b5db4ad9fa810daf7c}{accuracy}}
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-Struct to represent unit quaternion. 
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\mbox{\Hypertarget{structbno08x__quat__t_ae42ec645fe23b60e32e55872a3b9e703}\label{structbno08x__quat__t_ae42ec645fe23b60e32e55872a3b9e703}} 
-\index{bno08x\_quat\_t@{bno08x\_quat\_t}!bno08x\_quat\_t@{bno08x\_quat\_t}}
-\index{bno08x\_quat\_t@{bno08x\_quat\_t}!bno08x\_quat\_t@{bno08x\_quat\_t}}
-\doxysubsubsection{\texorpdfstring{bno08x\_quat\_t()}{bno08x\_quat\_t()}}
-{\footnotesize\ttfamily bno08x\+\_\+quat\+\_\+t\+::bno08x\+\_\+quat\+\_\+t (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Function Documentation}
-\mbox{\Hypertarget{structbno08x__quat__t_ae3705dc48882a3d616927cad01c2387d}\label{structbno08x__quat__t_ae3705dc48882a3d616927cad01c2387d}} 
-\index{bno08x\_quat\_t@{bno08x\_quat\_t}!operator=@{operator=}}
-\index{operator=@{operator=}!bno08x\_quat\_t@{bno08x\_quat\_t}}
-\doxysubsubsection{\texorpdfstring{operator=()}{operator=()}\hspace{0.1cm}{\footnotesize\ttfamily [1/3]}}
-{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__quat__t}{bno08x\+\_\+quat\+\_\+t}} \& bno08x\+\_\+quat\+\_\+t\+::operator= (\begin{DoxyParamCaption}\item[{const sh2\+\_\+\+Gyro\+Integrated\+RV\+\_\+t \&}]{source }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-\mbox{\Hypertarget{structbno08x__quat__t_a23cac26e381f9a83657fccdab735046b}\label{structbno08x__quat__t_a23cac26e381f9a83657fccdab735046b}} 
-\index{bno08x\_quat\_t@{bno08x\_quat\_t}!operator=@{operator=}}
-\index{operator=@{operator=}!bno08x\_quat\_t@{bno08x\_quat\_t}}
-\doxysubsubsection{\texorpdfstring{operator=()}{operator=()}\hspace{0.1cm}{\footnotesize\ttfamily [2/3]}}
-{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__quat__t}{bno08x\+\_\+quat\+\_\+t}} \& bno08x\+\_\+quat\+\_\+t\+::operator= (\begin{DoxyParamCaption}\item[{const sh2\+\_\+\+Rotation\+Vector\+\_\+t \&}]{source }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-\mbox{\Hypertarget{structbno08x__quat__t_a081cecab6370ae436f36416e3f7a6ddc}\label{structbno08x__quat__t_a081cecab6370ae436f36416e3f7a6ddc}} 
-\index{bno08x\_quat\_t@{bno08x\_quat\_t}!operator=@{operator=}}
-\index{operator=@{operator=}!bno08x\_quat\_t@{bno08x\_quat\_t}}
-\doxysubsubsection{\texorpdfstring{operator=()}{operator=()}\hspace{0.1cm}{\footnotesize\ttfamily [3/3]}}
-{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__quat__t}{bno08x\+\_\+quat\+\_\+t}} \& bno08x\+\_\+quat\+\_\+t\+::operator= (\begin{DoxyParamCaption}\item[{const sh2\+\_\+\+Rotation\+Vector\+WAcc\+\_\+t \&}]{source }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Data Documentation}
-\mbox{\Hypertarget{structbno08x__quat__t_afd179bfc02d365b5db4ad9fa810daf7c}\label{structbno08x__quat__t_afd179bfc02d365b5db4ad9fa810daf7c}} 
-\index{bno08x\_quat\_t@{bno08x\_quat\_t}!accuracy@{accuracy}}
-\index{accuracy@{accuracy}!bno08x\_quat\_t@{bno08x\_quat\_t}}
-\doxysubsubsection{\texorpdfstring{accuracy}{accuracy}}
-{\footnotesize\ttfamily \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08x\+Accuracy}} bno08x\+\_\+quat\+\_\+t\+::accuracy}
-
-\mbox{\Hypertarget{structbno08x__quat__t_ac438aba57b7082e1d81e2d1241f87ca0}\label{structbno08x__quat__t_ac438aba57b7082e1d81e2d1241f87ca0}} 
-\index{bno08x\_quat\_t@{bno08x\_quat\_t}!i@{i}}
-\index{i@{i}!bno08x\_quat\_t@{bno08x\_quat\_t}}
-\doxysubsubsection{\texorpdfstring{i}{i}}
-{\footnotesize\ttfamily float bno08x\+\_\+quat\+\_\+t\+::i}
-
-\mbox{\Hypertarget{structbno08x__quat__t_aab49754d4967cfa71578d8d1156eef46}\label{structbno08x__quat__t_aab49754d4967cfa71578d8d1156eef46}} 
-\index{bno08x\_quat\_t@{bno08x\_quat\_t}!j@{j}}
-\index{j@{j}!bno08x\_quat\_t@{bno08x\_quat\_t}}
-\doxysubsubsection{\texorpdfstring{j}{j}}
-{\footnotesize\ttfamily float bno08x\+\_\+quat\+\_\+t\+::j}
-
-\mbox{\Hypertarget{structbno08x__quat__t_ade2592f6a271cc8b260081ad018772ef}\label{structbno08x__quat__t_ade2592f6a271cc8b260081ad018772ef}} 
-\index{bno08x\_quat\_t@{bno08x\_quat\_t}!k@{k}}
-\index{k@{k}!bno08x\_quat\_t@{bno08x\_quat\_t}}
-\doxysubsubsection{\texorpdfstring{k}{k}}
-{\footnotesize\ttfamily float bno08x\+\_\+quat\+\_\+t\+::k}
-
-\mbox{\Hypertarget{structbno08x__quat__t_a7368a7f0524e3b2e1f4465329ecb0912}\label{structbno08x__quat__t_a7368a7f0524e3b2e1f4465329ecb0912}} 
-\index{bno08x\_quat\_t@{bno08x\_quat\_t}!rad\_accuracy@{rad\_accuracy}}
-\index{rad\_accuracy@{rad\_accuracy}!bno08x\_quat\_t@{bno08x\_quat\_t}}
-\doxysubsubsection{\texorpdfstring{rad\_accuracy}{rad\_accuracy}}
-{\footnotesize\ttfamily float bno08x\+\_\+quat\+\_\+t\+::rad\+\_\+accuracy}
-
-\mbox{\Hypertarget{structbno08x__quat__t_ab99e5e4f8adad74eee1a94b4e7ef2542}\label{structbno08x__quat__t_ab99e5e4f8adad74eee1a94b4e7ef2542}} 
-\index{bno08x\_quat\_t@{bno08x\_quat\_t}!real@{real}}
-\index{real@{real}!bno08x\_quat\_t@{bno08x\_quat\_t}}
-\doxysubsubsection{\texorpdfstring{real}{real}}
-{\footnotesize\ttfamily float bno08x\+\_\+quat\+\_\+t\+::real}
-
-
-
-The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\mbox{\hyperlink{_b_n_o08x_global_types_8hpp}{BNO08x\+Global\+Types.\+hpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/structbno08x__raw__accel__t.tex b/documentation/latex/structbno08x__raw__accel__t.tex
deleted file mode 100644
index 87642e5..0000000
--- a/documentation/latex/structbno08x__raw__accel__t.tex
+++ /dev/null
@@ -1,90 +0,0 @@
-\hypertarget{structbno08x__raw__accel__t}{}\doxysection{bno08x\+\_\+raw\+\_\+accel\+\_\+t Struct Reference}
-\label{structbno08x__raw__accel__t}\index{bno08x\_raw\_accel\_t@{bno08x\_raw\_accel\_t}}
-
-
-Struct to represent raw mems accelerometer data from raw accelerometer reports (units in ADC counts).  
-
-
-
-
-{\ttfamily \#include $<$BNO08x\+Global\+Types.\+hpp$>$}
-
-\doxysubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{structbno08x__raw__accel__t_afb9443ec5846eefe942e1f273570fb7f}{bno08x\+\_\+raw\+\_\+accel\+\_\+t}} ()
-\item 
-\mbox{\hyperlink{structbno08x__raw__accel__t}{bno08x\+\_\+raw\+\_\+accel\+\_\+t}} \& \mbox{\hyperlink{structbno08x__raw__accel__t_a8980031b2548b79c945abe299387d44f}{operator=}} (const sh2\+\_\+\+Raw\+Accelerometer\+\_\+t \&source)
-\end{DoxyCompactItemize}
-\doxysubsection*{Public Attributes}
-\begin{DoxyCompactItemize}
-\item 
-uint32\+\_\+t \mbox{\hyperlink{structbno08x__raw__accel__t_a7ca16a89f219b199eb5797fd101d1283}{timestamp\+\_\+us}}
-\item 
-int16\+\_\+t \mbox{\hyperlink{structbno08x__raw__accel__t_ab5188923307b95f6324d9241e9140def}{x}}
-\item 
-int16\+\_\+t \mbox{\hyperlink{structbno08x__raw__accel__t_a917d6b23cb40c7044891624cebac2993}{y}}
-\item 
-int16\+\_\+t \mbox{\hyperlink{structbno08x__raw__accel__t_a62d1731746ea51d36b9946594075e67b}{z}}
-\item 
-\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08x\+Accuracy}} \mbox{\hyperlink{structbno08x__raw__accel__t_aadb4fc1fa1d87d0baf4db5a534ea18ea}{accuracy}}
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-Struct to represent raw mems accelerometer data from raw accelerometer reports (units in ADC counts). 
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\mbox{\Hypertarget{structbno08x__raw__accel__t_afb9443ec5846eefe942e1f273570fb7f}\label{structbno08x__raw__accel__t_afb9443ec5846eefe942e1f273570fb7f}} 
-\index{bno08x\_raw\_accel\_t@{bno08x\_raw\_accel\_t}!bno08x\_raw\_accel\_t@{bno08x\_raw\_accel\_t}}
-\index{bno08x\_raw\_accel\_t@{bno08x\_raw\_accel\_t}!bno08x\_raw\_accel\_t@{bno08x\_raw\_accel\_t}}
-\doxysubsubsection{\texorpdfstring{bno08x\_raw\_accel\_t()}{bno08x\_raw\_accel\_t()}}
-{\footnotesize\ttfamily bno08x\+\_\+raw\+\_\+accel\+\_\+t\+::bno08x\+\_\+raw\+\_\+accel\+\_\+t (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Function Documentation}
-\mbox{\Hypertarget{structbno08x__raw__accel__t_a8980031b2548b79c945abe299387d44f}\label{structbno08x__raw__accel__t_a8980031b2548b79c945abe299387d44f}} 
-\index{bno08x\_raw\_accel\_t@{bno08x\_raw\_accel\_t}!operator=@{operator=}}
-\index{operator=@{operator=}!bno08x\_raw\_accel\_t@{bno08x\_raw\_accel\_t}}
-\doxysubsubsection{\texorpdfstring{operator=()}{operator=()}}
-{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__raw__accel__t}{bno08x\+\_\+raw\+\_\+accel\+\_\+t}} \& bno08x\+\_\+raw\+\_\+accel\+\_\+t\+::operator= (\begin{DoxyParamCaption}\item[{const sh2\+\_\+\+Raw\+Accelerometer\+\_\+t \&}]{source }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Data Documentation}
-\mbox{\Hypertarget{structbno08x__raw__accel__t_aadb4fc1fa1d87d0baf4db5a534ea18ea}\label{structbno08x__raw__accel__t_aadb4fc1fa1d87d0baf4db5a534ea18ea}} 
-\index{bno08x\_raw\_accel\_t@{bno08x\_raw\_accel\_t}!accuracy@{accuracy}}
-\index{accuracy@{accuracy}!bno08x\_raw\_accel\_t@{bno08x\_raw\_accel\_t}}
-\doxysubsubsection{\texorpdfstring{accuracy}{accuracy}}
-{\footnotesize\ttfamily \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08x\+Accuracy}} bno08x\+\_\+raw\+\_\+accel\+\_\+t\+::accuracy}
-
-\mbox{\Hypertarget{structbno08x__raw__accel__t_a7ca16a89f219b199eb5797fd101d1283}\label{structbno08x__raw__accel__t_a7ca16a89f219b199eb5797fd101d1283}} 
-\index{bno08x\_raw\_accel\_t@{bno08x\_raw\_accel\_t}!timestamp\_us@{timestamp\_us}}
-\index{timestamp\_us@{timestamp\_us}!bno08x\_raw\_accel\_t@{bno08x\_raw\_accel\_t}}
-\doxysubsubsection{\texorpdfstring{timestamp\_us}{timestamp\_us}}
-{\footnotesize\ttfamily uint32\+\_\+t bno08x\+\_\+raw\+\_\+accel\+\_\+t\+::timestamp\+\_\+us}
-
-\mbox{\Hypertarget{structbno08x__raw__accel__t_ab5188923307b95f6324d9241e9140def}\label{structbno08x__raw__accel__t_ab5188923307b95f6324d9241e9140def}} 
-\index{bno08x\_raw\_accel\_t@{bno08x\_raw\_accel\_t}!x@{x}}
-\index{x@{x}!bno08x\_raw\_accel\_t@{bno08x\_raw\_accel\_t}}
-\doxysubsubsection{\texorpdfstring{x}{x}}
-{\footnotesize\ttfamily int16\+\_\+t bno08x\+\_\+raw\+\_\+accel\+\_\+t\+::x}
-
-\mbox{\Hypertarget{structbno08x__raw__accel__t_a917d6b23cb40c7044891624cebac2993}\label{structbno08x__raw__accel__t_a917d6b23cb40c7044891624cebac2993}} 
-\index{bno08x\_raw\_accel\_t@{bno08x\_raw\_accel\_t}!y@{y}}
-\index{y@{y}!bno08x\_raw\_accel\_t@{bno08x\_raw\_accel\_t}}
-\doxysubsubsection{\texorpdfstring{y}{y}}
-{\footnotesize\ttfamily int16\+\_\+t bno08x\+\_\+raw\+\_\+accel\+\_\+t\+::y}
-
-\mbox{\Hypertarget{structbno08x__raw__accel__t_a62d1731746ea51d36b9946594075e67b}\label{structbno08x__raw__accel__t_a62d1731746ea51d36b9946594075e67b}} 
-\index{bno08x\_raw\_accel\_t@{bno08x\_raw\_accel\_t}!z@{z}}
-\index{z@{z}!bno08x\_raw\_accel\_t@{bno08x\_raw\_accel\_t}}
-\doxysubsubsection{\texorpdfstring{z}{z}}
-{\footnotesize\ttfamily int16\+\_\+t bno08x\+\_\+raw\+\_\+accel\+\_\+t\+::z}
-
-
-
-The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\mbox{\hyperlink{_b_n_o08x_global_types_8hpp}{BNO08x\+Global\+Types.\+hpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/structbno08x__raw__gyro__t.tex b/documentation/latex/structbno08x__raw__gyro__t.tex
deleted file mode 100644
index d1b873d..0000000
--- a/documentation/latex/structbno08x__raw__gyro__t.tex
+++ /dev/null
@@ -1,98 +0,0 @@
-\hypertarget{structbno08x__raw__gyro__t}{}\doxysection{bno08x\+\_\+raw\+\_\+gyro\+\_\+t Struct Reference}
-\label{structbno08x__raw__gyro__t}\index{bno08x\_raw\_gyro\_t@{bno08x\_raw\_gyro\_t}}
-
-
-Struct to represent raw mems gyro data from raw gyro reports (units in ADC counts).  
-
-
-
-
-{\ttfamily \#include $<$BNO08x\+Global\+Types.\+hpp$>$}
-
-\doxysubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{structbno08x__raw__gyro__t_a17c759dd38d5a6b78ae5cb77c5e4d93b}{bno08x\+\_\+raw\+\_\+gyro\+\_\+t}} ()
-\item 
-\mbox{\hyperlink{structbno08x__raw__gyro__t}{bno08x\+\_\+raw\+\_\+gyro\+\_\+t}} \& \mbox{\hyperlink{structbno08x__raw__gyro__t_a34c3ff52aaa1898f44ad6b0cf585825a}{operator=}} (const sh2\+\_\+\+Raw\+Gyroscope\+\_\+t \&source)
-\end{DoxyCompactItemize}
-\doxysubsection*{Public Attributes}
-\begin{DoxyCompactItemize}
-\item 
-uint32\+\_\+t \mbox{\hyperlink{structbno08x__raw__gyro__t_a99d61a4d56a06fb219dc023fe3e446b5}{timestamp\+\_\+us}}
-\item 
-int16\+\_\+t \mbox{\hyperlink{structbno08x__raw__gyro__t_a7b7f2f569143c710ac3b1068d434a47f}{x}}
-\item 
-int16\+\_\+t \mbox{\hyperlink{structbno08x__raw__gyro__t_af8755b09df8253594de1412f02655651}{y}}
-\item 
-int16\+\_\+t \mbox{\hyperlink{structbno08x__raw__gyro__t_afe5677954b4678eb3a460a386f224a78}{z}}
-\item 
-int16\+\_\+t \mbox{\hyperlink{structbno08x__raw__gyro__t_adf725827f6f97e16c953f6f5c7bf890b}{temperature}}
-\item 
-\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08x\+Accuracy}} \mbox{\hyperlink{structbno08x__raw__gyro__t_aa19b4b279b5c218675bf4c83ca872371}{accuracy}}
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-Struct to represent raw mems gyro data from raw gyro reports (units in ADC counts). 
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\mbox{\Hypertarget{structbno08x__raw__gyro__t_a17c759dd38d5a6b78ae5cb77c5e4d93b}\label{structbno08x__raw__gyro__t_a17c759dd38d5a6b78ae5cb77c5e4d93b}} 
-\index{bno08x\_raw\_gyro\_t@{bno08x\_raw\_gyro\_t}!bno08x\_raw\_gyro\_t@{bno08x\_raw\_gyro\_t}}
-\index{bno08x\_raw\_gyro\_t@{bno08x\_raw\_gyro\_t}!bno08x\_raw\_gyro\_t@{bno08x\_raw\_gyro\_t}}
-\doxysubsubsection{\texorpdfstring{bno08x\_raw\_gyro\_t()}{bno08x\_raw\_gyro\_t()}}
-{\footnotesize\ttfamily bno08x\+\_\+raw\+\_\+gyro\+\_\+t\+::bno08x\+\_\+raw\+\_\+gyro\+\_\+t (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Function Documentation}
-\mbox{\Hypertarget{structbno08x__raw__gyro__t_a34c3ff52aaa1898f44ad6b0cf585825a}\label{structbno08x__raw__gyro__t_a34c3ff52aaa1898f44ad6b0cf585825a}} 
-\index{bno08x\_raw\_gyro\_t@{bno08x\_raw\_gyro\_t}!operator=@{operator=}}
-\index{operator=@{operator=}!bno08x\_raw\_gyro\_t@{bno08x\_raw\_gyro\_t}}
-\doxysubsubsection{\texorpdfstring{operator=()}{operator=()}}
-{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__raw__gyro__t}{bno08x\+\_\+raw\+\_\+gyro\+\_\+t}} \& bno08x\+\_\+raw\+\_\+gyro\+\_\+t\+::operator= (\begin{DoxyParamCaption}\item[{const sh2\+\_\+\+Raw\+Gyroscope\+\_\+t \&}]{source }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Data Documentation}
-\mbox{\Hypertarget{structbno08x__raw__gyro__t_aa19b4b279b5c218675bf4c83ca872371}\label{structbno08x__raw__gyro__t_aa19b4b279b5c218675bf4c83ca872371}} 
-\index{bno08x\_raw\_gyro\_t@{bno08x\_raw\_gyro\_t}!accuracy@{accuracy}}
-\index{accuracy@{accuracy}!bno08x\_raw\_gyro\_t@{bno08x\_raw\_gyro\_t}}
-\doxysubsubsection{\texorpdfstring{accuracy}{accuracy}}
-{\footnotesize\ttfamily \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08x\+Accuracy}} bno08x\+\_\+raw\+\_\+gyro\+\_\+t\+::accuracy}
-
-\mbox{\Hypertarget{structbno08x__raw__gyro__t_adf725827f6f97e16c953f6f5c7bf890b}\label{structbno08x__raw__gyro__t_adf725827f6f97e16c953f6f5c7bf890b}} 
-\index{bno08x\_raw\_gyro\_t@{bno08x\_raw\_gyro\_t}!temperature@{temperature}}
-\index{temperature@{temperature}!bno08x\_raw\_gyro\_t@{bno08x\_raw\_gyro\_t}}
-\doxysubsubsection{\texorpdfstring{temperature}{temperature}}
-{\footnotesize\ttfamily int16\+\_\+t bno08x\+\_\+raw\+\_\+gyro\+\_\+t\+::temperature}
-
-\mbox{\Hypertarget{structbno08x__raw__gyro__t_a99d61a4d56a06fb219dc023fe3e446b5}\label{structbno08x__raw__gyro__t_a99d61a4d56a06fb219dc023fe3e446b5}} 
-\index{bno08x\_raw\_gyro\_t@{bno08x\_raw\_gyro\_t}!timestamp\_us@{timestamp\_us}}
-\index{timestamp\_us@{timestamp\_us}!bno08x\_raw\_gyro\_t@{bno08x\_raw\_gyro\_t}}
-\doxysubsubsection{\texorpdfstring{timestamp\_us}{timestamp\_us}}
-{\footnotesize\ttfamily uint32\+\_\+t bno08x\+\_\+raw\+\_\+gyro\+\_\+t\+::timestamp\+\_\+us}
-
-\mbox{\Hypertarget{structbno08x__raw__gyro__t_a7b7f2f569143c710ac3b1068d434a47f}\label{structbno08x__raw__gyro__t_a7b7f2f569143c710ac3b1068d434a47f}} 
-\index{bno08x\_raw\_gyro\_t@{bno08x\_raw\_gyro\_t}!x@{x}}
-\index{x@{x}!bno08x\_raw\_gyro\_t@{bno08x\_raw\_gyro\_t}}
-\doxysubsubsection{\texorpdfstring{x}{x}}
-{\footnotesize\ttfamily int16\+\_\+t bno08x\+\_\+raw\+\_\+gyro\+\_\+t\+::x}
-
-\mbox{\Hypertarget{structbno08x__raw__gyro__t_af8755b09df8253594de1412f02655651}\label{structbno08x__raw__gyro__t_af8755b09df8253594de1412f02655651}} 
-\index{bno08x\_raw\_gyro\_t@{bno08x\_raw\_gyro\_t}!y@{y}}
-\index{y@{y}!bno08x\_raw\_gyro\_t@{bno08x\_raw\_gyro\_t}}
-\doxysubsubsection{\texorpdfstring{y}{y}}
-{\footnotesize\ttfamily int16\+\_\+t bno08x\+\_\+raw\+\_\+gyro\+\_\+t\+::y}
-
-\mbox{\Hypertarget{structbno08x__raw__gyro__t_afe5677954b4678eb3a460a386f224a78}\label{structbno08x__raw__gyro__t_afe5677954b4678eb3a460a386f224a78}} 
-\index{bno08x\_raw\_gyro\_t@{bno08x\_raw\_gyro\_t}!z@{z}}
-\index{z@{z}!bno08x\_raw\_gyro\_t@{bno08x\_raw\_gyro\_t}}
-\doxysubsubsection{\texorpdfstring{z}{z}}
-{\footnotesize\ttfamily int16\+\_\+t bno08x\+\_\+raw\+\_\+gyro\+\_\+t\+::z}
-
-
-
-The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\mbox{\hyperlink{_b_n_o08x_global_types_8hpp}{BNO08x\+Global\+Types.\+hpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/structbno08x__raw__magf__t.tex b/documentation/latex/structbno08x__raw__magf__t.tex
deleted file mode 100644
index 175b7a6..0000000
--- a/documentation/latex/structbno08x__raw__magf__t.tex
+++ /dev/null
@@ -1,90 +0,0 @@
-\hypertarget{structbno08x__raw__magf__t}{}\doxysection{bno08x\+\_\+raw\+\_\+magf\+\_\+t Struct Reference}
-\label{structbno08x__raw__magf__t}\index{bno08x\_raw\_magf\_t@{bno08x\_raw\_magf\_t}}
-
-
-Struct to represent raw mems magnetometer data from raw magnetometer reports (units in ADC counts).  
-
-
-
-
-{\ttfamily \#include $<$BNO08x\+Global\+Types.\+hpp$>$}
-
-\doxysubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{structbno08x__raw__magf__t_a9bbd61edac01cb1f2e78417efe8573aa}{bno08x\+\_\+raw\+\_\+magf\+\_\+t}} ()
-\item 
-\mbox{\hyperlink{structbno08x__raw__magf__t}{bno08x\+\_\+raw\+\_\+magf\+\_\+t}} \& \mbox{\hyperlink{structbno08x__raw__magf__t_ad58e25ff5c6d8c4c3843264effa63a7c}{operator=}} (const sh2\+\_\+\+Raw\+Magnetometer\+\_\+t \&source)
-\end{DoxyCompactItemize}
-\doxysubsection*{Public Attributes}
-\begin{DoxyCompactItemize}
-\item 
-uint32\+\_\+t \mbox{\hyperlink{structbno08x__raw__magf__t_a74cb298f230665c2d600d3298717c321}{timestamp\+\_\+us}}
-\item 
-int16\+\_\+t \mbox{\hyperlink{structbno08x__raw__magf__t_a6d04fa2589070ad4ee06b7259fc90900}{x}}
-\item 
-int16\+\_\+t \mbox{\hyperlink{structbno08x__raw__magf__t_aba0a88c1032210c6db95ac779e280b9a}{y}}
-\item 
-int16\+\_\+t \mbox{\hyperlink{structbno08x__raw__magf__t_a5d50e05cccd1f92f36f6ac83e9f911ae}{z}}
-\item 
-\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08x\+Accuracy}} \mbox{\hyperlink{structbno08x__raw__magf__t_ae1253faa56aecbafd24f24f42dfb3aeb}{accuracy}}
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-Struct to represent raw mems magnetometer data from raw magnetometer reports (units in ADC counts). 
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\mbox{\Hypertarget{structbno08x__raw__magf__t_a9bbd61edac01cb1f2e78417efe8573aa}\label{structbno08x__raw__magf__t_a9bbd61edac01cb1f2e78417efe8573aa}} 
-\index{bno08x\_raw\_magf\_t@{bno08x\_raw\_magf\_t}!bno08x\_raw\_magf\_t@{bno08x\_raw\_magf\_t}}
-\index{bno08x\_raw\_magf\_t@{bno08x\_raw\_magf\_t}!bno08x\_raw\_magf\_t@{bno08x\_raw\_magf\_t}}
-\doxysubsubsection{\texorpdfstring{bno08x\_raw\_magf\_t()}{bno08x\_raw\_magf\_t()}}
-{\footnotesize\ttfamily bno08x\+\_\+raw\+\_\+magf\+\_\+t\+::bno08x\+\_\+raw\+\_\+magf\+\_\+t (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Function Documentation}
-\mbox{\Hypertarget{structbno08x__raw__magf__t_ad58e25ff5c6d8c4c3843264effa63a7c}\label{structbno08x__raw__magf__t_ad58e25ff5c6d8c4c3843264effa63a7c}} 
-\index{bno08x\_raw\_magf\_t@{bno08x\_raw\_magf\_t}!operator=@{operator=}}
-\index{operator=@{operator=}!bno08x\_raw\_magf\_t@{bno08x\_raw\_magf\_t}}
-\doxysubsubsection{\texorpdfstring{operator=()}{operator=()}}
-{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__raw__magf__t}{bno08x\+\_\+raw\+\_\+magf\+\_\+t}} \& bno08x\+\_\+raw\+\_\+magf\+\_\+t\+::operator= (\begin{DoxyParamCaption}\item[{const sh2\+\_\+\+Raw\+Magnetometer\+\_\+t \&}]{source }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Data Documentation}
-\mbox{\Hypertarget{structbno08x__raw__magf__t_ae1253faa56aecbafd24f24f42dfb3aeb}\label{structbno08x__raw__magf__t_ae1253faa56aecbafd24f24f42dfb3aeb}} 
-\index{bno08x\_raw\_magf\_t@{bno08x\_raw\_magf\_t}!accuracy@{accuracy}}
-\index{accuracy@{accuracy}!bno08x\_raw\_magf\_t@{bno08x\_raw\_magf\_t}}
-\doxysubsubsection{\texorpdfstring{accuracy}{accuracy}}
-{\footnotesize\ttfamily \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08x\+Accuracy}} bno08x\+\_\+raw\+\_\+magf\+\_\+t\+::accuracy}
-
-\mbox{\Hypertarget{structbno08x__raw__magf__t_a74cb298f230665c2d600d3298717c321}\label{structbno08x__raw__magf__t_a74cb298f230665c2d600d3298717c321}} 
-\index{bno08x\_raw\_magf\_t@{bno08x\_raw\_magf\_t}!timestamp\_us@{timestamp\_us}}
-\index{timestamp\_us@{timestamp\_us}!bno08x\_raw\_magf\_t@{bno08x\_raw\_magf\_t}}
-\doxysubsubsection{\texorpdfstring{timestamp\_us}{timestamp\_us}}
-{\footnotesize\ttfamily uint32\+\_\+t bno08x\+\_\+raw\+\_\+magf\+\_\+t\+::timestamp\+\_\+us}
-
-\mbox{\Hypertarget{structbno08x__raw__magf__t_a6d04fa2589070ad4ee06b7259fc90900}\label{structbno08x__raw__magf__t_a6d04fa2589070ad4ee06b7259fc90900}} 
-\index{bno08x\_raw\_magf\_t@{bno08x\_raw\_magf\_t}!x@{x}}
-\index{x@{x}!bno08x\_raw\_magf\_t@{bno08x\_raw\_magf\_t}}
-\doxysubsubsection{\texorpdfstring{x}{x}}
-{\footnotesize\ttfamily int16\+\_\+t bno08x\+\_\+raw\+\_\+magf\+\_\+t\+::x}
-
-\mbox{\Hypertarget{structbno08x__raw__magf__t_aba0a88c1032210c6db95ac779e280b9a}\label{structbno08x__raw__magf__t_aba0a88c1032210c6db95ac779e280b9a}} 
-\index{bno08x\_raw\_magf\_t@{bno08x\_raw\_magf\_t}!y@{y}}
-\index{y@{y}!bno08x\_raw\_magf\_t@{bno08x\_raw\_magf\_t}}
-\doxysubsubsection{\texorpdfstring{y}{y}}
-{\footnotesize\ttfamily int16\+\_\+t bno08x\+\_\+raw\+\_\+magf\+\_\+t\+::y}
-
-\mbox{\Hypertarget{structbno08x__raw__magf__t_a5d50e05cccd1f92f36f6ac83e9f911ae}\label{structbno08x__raw__magf__t_a5d50e05cccd1f92f36f6ac83e9f911ae}} 
-\index{bno08x\_raw\_magf\_t@{bno08x\_raw\_magf\_t}!z@{z}}
-\index{z@{z}!bno08x\_raw\_magf\_t@{bno08x\_raw\_magf\_t}}
-\doxysubsubsection{\texorpdfstring{z}{z}}
-{\footnotesize\ttfamily int16\+\_\+t bno08x\+\_\+raw\+\_\+magf\+\_\+t\+::z}
-
-
-
-The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\mbox{\hyperlink{_b_n_o08x_global_types_8hpp}{BNO08x\+Global\+Types.\+hpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/structbno08x__sample__counts__t.tex b/documentation/latex/structbno08x__sample__counts__t.tex
deleted file mode 100644
index 1e3a3e4..0000000
--- a/documentation/latex/structbno08x__sample__counts__t.tex
+++ /dev/null
@@ -1,98 +0,0 @@
-\hypertarget{structbno08x__sample__counts__t}{}\doxysection{bno08x\+\_\+sample\+\_\+counts\+\_\+t Struct Reference}
-\label{structbno08x__sample__counts__t}\index{bno08x\_sample\_counts\_t@{bno08x\_sample\_counts\_t}}
-
-
-Struct to represent sample counts, returned from \mbox{\hyperlink{class_b_n_o08x_rpt_a7ce8e48cadf59f49068af7f1cb680b38}{BNO08x\+Rpt\+::get\+\_\+sample\+\_\+counts()}}  
-
-
-
-
-{\ttfamily \#include $<$BNO08x\+Global\+Types.\+hpp$>$}
-
-\doxysubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{structbno08x__sample__counts__t_abd1eccfac205719fd1c5aed25fee1fec}{bno08x\+\_\+sample\+\_\+counts\+\_\+t}} ()
-\item 
-\mbox{\hyperlink{structbno08x__sample__counts__t}{bno08x\+\_\+sample\+\_\+counts\+\_\+t}} \& \mbox{\hyperlink{structbno08x__sample__counts__t_af9e52b9fe15c78bd8b2ef3cc5af66a13}{operator=}} (const sh2\+\_\+\+Counts\+\_\+t \&source)
-\end{DoxyCompactItemize}
-\doxysubsection*{Public Attributes}
-\begin{DoxyCompactItemize}
-\item 
-uint32\+\_\+t \mbox{\hyperlink{structbno08x__sample__counts__t_aae4244c540f8411246032f1e69125b75}{offered}}
-\begin{DoxyCompactList}\small\item\em Number of samples produced by underlying data source. \end{DoxyCompactList}\item 
-uint32\+\_\+t \mbox{\hyperlink{structbno08x__sample__counts__t_a055f3d8ff138c7da4a79d4a6fb2af9b9}{on}}
-\begin{DoxyCompactList}\small\item\em Number of \char`\"{}offered\char`\"{} samples while this sensor was requested by host. \end{DoxyCompactList}\item 
-uint32\+\_\+t \mbox{\hyperlink{structbno08x__sample__counts__t_a2ab3e0999a5e668833eb8dbab6d1f036}{accepted}}
-\begin{DoxyCompactList}\small\item\em Number of \char`\"{}on\char`\"{} samples that passed decimation filter. \end{DoxyCompactList}\item 
-uint32\+\_\+t \mbox{\hyperlink{structbno08x__sample__counts__t_a8d03182919cce138cfda97c3ff5700b2}{attempted}}
-\begin{DoxyCompactList}\small\item\em Number of \char`\"{}accepted\char`\"{} samples that passed threshold requirements and had transmission to the host attempted. \end{DoxyCompactList}\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-Struct to represent sample counts, returned from \mbox{\hyperlink{class_b_n_o08x_rpt_a7ce8e48cadf59f49068af7f1cb680b38}{BNO08x\+Rpt\+::get\+\_\+sample\+\_\+counts()}} 
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\mbox{\Hypertarget{structbno08x__sample__counts__t_abd1eccfac205719fd1c5aed25fee1fec}\label{structbno08x__sample__counts__t_abd1eccfac205719fd1c5aed25fee1fec}} 
-\index{bno08x\_sample\_counts\_t@{bno08x\_sample\_counts\_t}!bno08x\_sample\_counts\_t@{bno08x\_sample\_counts\_t}}
-\index{bno08x\_sample\_counts\_t@{bno08x\_sample\_counts\_t}!bno08x\_sample\_counts\_t@{bno08x\_sample\_counts\_t}}
-\doxysubsubsection{\texorpdfstring{bno08x\_sample\_counts\_t()}{bno08x\_sample\_counts\_t()}}
-{\footnotesize\ttfamily bno08x\+\_\+sample\+\_\+counts\+\_\+t\+::bno08x\+\_\+sample\+\_\+counts\+\_\+t (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Function Documentation}
-\mbox{\Hypertarget{structbno08x__sample__counts__t_af9e52b9fe15c78bd8b2ef3cc5af66a13}\label{structbno08x__sample__counts__t_af9e52b9fe15c78bd8b2ef3cc5af66a13}} 
-\index{bno08x\_sample\_counts\_t@{bno08x\_sample\_counts\_t}!operator=@{operator=}}
-\index{operator=@{operator=}!bno08x\_sample\_counts\_t@{bno08x\_sample\_counts\_t}}
-\doxysubsubsection{\texorpdfstring{operator=()}{operator=()}}
-{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__sample__counts__t}{bno08x\+\_\+sample\+\_\+counts\+\_\+t}} \& bno08x\+\_\+sample\+\_\+counts\+\_\+t\+::operator= (\begin{DoxyParamCaption}\item[{const sh2\+\_\+\+Counts\+\_\+t \&}]{source }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Data Documentation}
-\mbox{\Hypertarget{structbno08x__sample__counts__t_a2ab3e0999a5e668833eb8dbab6d1f036}\label{structbno08x__sample__counts__t_a2ab3e0999a5e668833eb8dbab6d1f036}} 
-\index{bno08x\_sample\_counts\_t@{bno08x\_sample\_counts\_t}!accepted@{accepted}}
-\index{accepted@{accepted}!bno08x\_sample\_counts\_t@{bno08x\_sample\_counts\_t}}
-\doxysubsubsection{\texorpdfstring{accepted}{accepted}}
-{\footnotesize\ttfamily uint32\+\_\+t bno08x\+\_\+sample\+\_\+counts\+\_\+t\+::accepted}
-
-
-
-Number of \char`\"{}on\char`\"{} samples that passed decimation filter. 
-
-\mbox{\Hypertarget{structbno08x__sample__counts__t_a8d03182919cce138cfda97c3ff5700b2}\label{structbno08x__sample__counts__t_a8d03182919cce138cfda97c3ff5700b2}} 
-\index{bno08x\_sample\_counts\_t@{bno08x\_sample\_counts\_t}!attempted@{attempted}}
-\index{attempted@{attempted}!bno08x\_sample\_counts\_t@{bno08x\_sample\_counts\_t}}
-\doxysubsubsection{\texorpdfstring{attempted}{attempted}}
-{\footnotesize\ttfamily uint32\+\_\+t bno08x\+\_\+sample\+\_\+counts\+\_\+t\+::attempted}
-
-
-
-Number of \char`\"{}accepted\char`\"{} samples that passed threshold requirements and had transmission to the host attempted. 
-
-\mbox{\Hypertarget{structbno08x__sample__counts__t_aae4244c540f8411246032f1e69125b75}\label{structbno08x__sample__counts__t_aae4244c540f8411246032f1e69125b75}} 
-\index{bno08x\_sample\_counts\_t@{bno08x\_sample\_counts\_t}!offered@{offered}}
-\index{offered@{offered}!bno08x\_sample\_counts\_t@{bno08x\_sample\_counts\_t}}
-\doxysubsubsection{\texorpdfstring{offered}{offered}}
-{\footnotesize\ttfamily uint32\+\_\+t bno08x\+\_\+sample\+\_\+counts\+\_\+t\+::offered}
-
-
-
-Number of samples produced by underlying data source. 
-
-\mbox{\Hypertarget{structbno08x__sample__counts__t_a055f3d8ff138c7da4a79d4a6fb2af9b9}\label{structbno08x__sample__counts__t_a055f3d8ff138c7da4a79d4a6fb2af9b9}} 
-\index{bno08x\_sample\_counts\_t@{bno08x\_sample\_counts\_t}!on@{on}}
-\index{on@{on}!bno08x\_sample\_counts\_t@{bno08x\_sample\_counts\_t}}
-\doxysubsubsection{\texorpdfstring{on}{on}}
-{\footnotesize\ttfamily uint32\+\_\+t bno08x\+\_\+sample\+\_\+counts\+\_\+t\+::on}
-
-
-
-Number of \char`\"{}offered\char`\"{} samples while this sensor was requested by host. 
-
-
-
-The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\mbox{\hyperlink{_b_n_o08x_global_types_8hpp}{BNO08x\+Global\+Types.\+hpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/structbno08x__shake__detector__t.tex b/documentation/latex/structbno08x__shake__detector__t.tex
deleted file mode 100644
index 9cc118d..0000000
--- a/documentation/latex/structbno08x__shake__detector__t.tex
+++ /dev/null
@@ -1,82 +0,0 @@
-\hypertarget{structbno08x__shake__detector__t}{}\doxysection{bno08x\+\_\+shake\+\_\+detector\+\_\+t Struct Reference}
-\label{structbno08x__shake__detector__t}\index{bno08x\_shake\_detector\_t@{bno08x\_shake\_detector\_t}}
-
-
-Struct to represent shake detector data (flag meaning\+: 0 = no shake 1 = shake detected)  
-
-
-
-
-{\ttfamily \#include $<$BNO08x\+Global\+Types.\+hpp$>$}
-
-\doxysubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{structbno08x__shake__detector__t_a57df670bfdac6a4174c986a65a0340be}{bno08x\+\_\+shake\+\_\+detector\+\_\+t}} ()
-\item 
-\mbox{\hyperlink{structbno08x__shake__detector__t}{bno08x\+\_\+shake\+\_\+detector\+\_\+t}} \& \mbox{\hyperlink{structbno08x__shake__detector__t_a7fe349111b513b2cd042ad98112791b7}{operator=}} (const sh2\+\_\+\+Shake\+Detector\+\_\+t \&source)
-\end{DoxyCompactItemize}
-\doxysubsection*{Public Attributes}
-\begin{DoxyCompactItemize}
-\item 
-uint8\+\_\+t \mbox{\hyperlink{structbno08x__shake__detector__t_a24dc1df9bb8089c330865e26054a349e}{x\+\_\+flag}}
-\item 
-uint8\+\_\+t \mbox{\hyperlink{structbno08x__shake__detector__t_a814745b5a1dd7aa6bb4bfde4981d1caa}{y\+\_\+flag}}
-\item 
-uint8\+\_\+t \mbox{\hyperlink{structbno08x__shake__detector__t_a7b833f57fc85173adecf666ec6d5477e}{z\+\_\+flag}}
-\item 
-\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08x\+Accuracy}} \mbox{\hyperlink{structbno08x__shake__detector__t_ac643f6c9ac9144c37765b22912212860}{accuracy}}
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-Struct to represent shake detector data (flag meaning\+: 0 = no shake 1 = shake detected) 
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\mbox{\Hypertarget{structbno08x__shake__detector__t_a57df670bfdac6a4174c986a65a0340be}\label{structbno08x__shake__detector__t_a57df670bfdac6a4174c986a65a0340be}} 
-\index{bno08x\_shake\_detector\_t@{bno08x\_shake\_detector\_t}!bno08x\_shake\_detector\_t@{bno08x\_shake\_detector\_t}}
-\index{bno08x\_shake\_detector\_t@{bno08x\_shake\_detector\_t}!bno08x\_shake\_detector\_t@{bno08x\_shake\_detector\_t}}
-\doxysubsubsection{\texorpdfstring{bno08x\_shake\_detector\_t()}{bno08x\_shake\_detector\_t()}}
-{\footnotesize\ttfamily bno08x\+\_\+shake\+\_\+detector\+\_\+t\+::bno08x\+\_\+shake\+\_\+detector\+\_\+t (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Function Documentation}
-\mbox{\Hypertarget{structbno08x__shake__detector__t_a7fe349111b513b2cd042ad98112791b7}\label{structbno08x__shake__detector__t_a7fe349111b513b2cd042ad98112791b7}} 
-\index{bno08x\_shake\_detector\_t@{bno08x\_shake\_detector\_t}!operator=@{operator=}}
-\index{operator=@{operator=}!bno08x\_shake\_detector\_t@{bno08x\_shake\_detector\_t}}
-\doxysubsubsection{\texorpdfstring{operator=()}{operator=()}}
-{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__shake__detector__t}{bno08x\+\_\+shake\+\_\+detector\+\_\+t}} \& bno08x\+\_\+shake\+\_\+detector\+\_\+t\+::operator= (\begin{DoxyParamCaption}\item[{const sh2\+\_\+\+Shake\+Detector\+\_\+t \&}]{source }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Data Documentation}
-\mbox{\Hypertarget{structbno08x__shake__detector__t_ac643f6c9ac9144c37765b22912212860}\label{structbno08x__shake__detector__t_ac643f6c9ac9144c37765b22912212860}} 
-\index{bno08x\_shake\_detector\_t@{bno08x\_shake\_detector\_t}!accuracy@{accuracy}}
-\index{accuracy@{accuracy}!bno08x\_shake\_detector\_t@{bno08x\_shake\_detector\_t}}
-\doxysubsubsection{\texorpdfstring{accuracy}{accuracy}}
-{\footnotesize\ttfamily \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08x\+Accuracy}} bno08x\+\_\+shake\+\_\+detector\+\_\+t\+::accuracy}
-
-\mbox{\Hypertarget{structbno08x__shake__detector__t_a24dc1df9bb8089c330865e26054a349e}\label{structbno08x__shake__detector__t_a24dc1df9bb8089c330865e26054a349e}} 
-\index{bno08x\_shake\_detector\_t@{bno08x\_shake\_detector\_t}!x\_flag@{x\_flag}}
-\index{x\_flag@{x\_flag}!bno08x\_shake\_detector\_t@{bno08x\_shake\_detector\_t}}
-\doxysubsubsection{\texorpdfstring{x\_flag}{x\_flag}}
-{\footnotesize\ttfamily uint8\+\_\+t bno08x\+\_\+shake\+\_\+detector\+\_\+t\+::x\+\_\+flag}
-
-\mbox{\Hypertarget{structbno08x__shake__detector__t_a814745b5a1dd7aa6bb4bfde4981d1caa}\label{structbno08x__shake__detector__t_a814745b5a1dd7aa6bb4bfde4981d1caa}} 
-\index{bno08x\_shake\_detector\_t@{bno08x\_shake\_detector\_t}!y\_flag@{y\_flag}}
-\index{y\_flag@{y\_flag}!bno08x\_shake\_detector\_t@{bno08x\_shake\_detector\_t}}
-\doxysubsubsection{\texorpdfstring{y\_flag}{y\_flag}}
-{\footnotesize\ttfamily uint8\+\_\+t bno08x\+\_\+shake\+\_\+detector\+\_\+t\+::y\+\_\+flag}
-
-\mbox{\Hypertarget{structbno08x__shake__detector__t_a7b833f57fc85173adecf666ec6d5477e}\label{structbno08x__shake__detector__t_a7b833f57fc85173adecf666ec6d5477e}} 
-\index{bno08x\_shake\_detector\_t@{bno08x\_shake\_detector\_t}!z\_flag@{z\_flag}}
-\index{z\_flag@{z\_flag}!bno08x\_shake\_detector\_t@{bno08x\_shake\_detector\_t}}
-\doxysubsubsection{\texorpdfstring{z\_flag}{z\_flag}}
-{\footnotesize\ttfamily uint8\+\_\+t bno08x\+\_\+shake\+\_\+detector\+\_\+t\+::z\+\_\+flag}
-
-
-
-The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\mbox{\hyperlink{_b_n_o08x_global_types_8hpp}{BNO08x\+Global\+Types.\+hpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/structbno08x__stability__classifier__t.tex b/documentation/latex/structbno08x__stability__classifier__t.tex
deleted file mode 100644
index 1373f67..0000000
--- a/documentation/latex/structbno08x__stability__classifier__t.tex
+++ /dev/null
@@ -1,66 +0,0 @@
-\hypertarget{structbno08x__stability__classifier__t}{}\doxysection{bno08x\+\_\+stability\+\_\+classifier\+\_\+t Struct Reference}
-\label{structbno08x__stability__classifier__t}\index{bno08x\_stability\_classifier\_t@{bno08x\_stability\_classifier\_t}}
-
-
-Struct to represent stability classifier data from stability classifier reports.  
-
-
-
-
-{\ttfamily \#include $<$BNO08x\+Global\+Types.\+hpp$>$}
-
-\doxysubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{structbno08x__stability__classifier__t_a1af6213e40337e7dfff734d542fc3be2}{bno08x\+\_\+stability\+\_\+classifier\+\_\+t}} ()
-\item 
-\mbox{\hyperlink{structbno08x__stability__classifier__t}{bno08x\+\_\+stability\+\_\+classifier\+\_\+t}} \& \mbox{\hyperlink{structbno08x__stability__classifier__t_aff4d78a7c01ef13ae001bb185f825151}{operator=}} (const sh2\+\_\+\+Stability\+Classifier\+\_\+t \&source)
-\end{DoxyCompactItemize}
-\doxysubsection*{Public Attributes}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cb}{BNO08x\+Stability}} \mbox{\hyperlink{structbno08x__stability__classifier__t_a2ecd636f34a6be612833009d9a1c8725}{stability}}
-\item 
-\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08x\+Accuracy}} \mbox{\hyperlink{structbno08x__stability__classifier__t_aa1eeb8deb186589ae21cbd1b96747bf7}{accuracy}}
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-Struct to represent stability classifier data from stability classifier reports. 
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\mbox{\Hypertarget{structbno08x__stability__classifier__t_a1af6213e40337e7dfff734d542fc3be2}\label{structbno08x__stability__classifier__t_a1af6213e40337e7dfff734d542fc3be2}} 
-\index{bno08x\_stability\_classifier\_t@{bno08x\_stability\_classifier\_t}!bno08x\_stability\_classifier\_t@{bno08x\_stability\_classifier\_t}}
-\index{bno08x\_stability\_classifier\_t@{bno08x\_stability\_classifier\_t}!bno08x\_stability\_classifier\_t@{bno08x\_stability\_classifier\_t}}
-\doxysubsubsection{\texorpdfstring{bno08x\_stability\_classifier\_t()}{bno08x\_stability\_classifier\_t()}}
-{\footnotesize\ttfamily bno08x\+\_\+stability\+\_\+classifier\+\_\+t\+::bno08x\+\_\+stability\+\_\+classifier\+\_\+t (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Function Documentation}
-\mbox{\Hypertarget{structbno08x__stability__classifier__t_aff4d78a7c01ef13ae001bb185f825151}\label{structbno08x__stability__classifier__t_aff4d78a7c01ef13ae001bb185f825151}} 
-\index{bno08x\_stability\_classifier\_t@{bno08x\_stability\_classifier\_t}!operator=@{operator=}}
-\index{operator=@{operator=}!bno08x\_stability\_classifier\_t@{bno08x\_stability\_classifier\_t}}
-\doxysubsubsection{\texorpdfstring{operator=()}{operator=()}}
-{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__stability__classifier__t}{bno08x\+\_\+stability\+\_\+classifier\+\_\+t}} \& bno08x\+\_\+stability\+\_\+classifier\+\_\+t\+::operator= (\begin{DoxyParamCaption}\item[{const sh2\+\_\+\+Stability\+Classifier\+\_\+t \&}]{source }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Data Documentation}
-\mbox{\Hypertarget{structbno08x__stability__classifier__t_aa1eeb8deb186589ae21cbd1b96747bf7}\label{structbno08x__stability__classifier__t_aa1eeb8deb186589ae21cbd1b96747bf7}} 
-\index{bno08x\_stability\_classifier\_t@{bno08x\_stability\_classifier\_t}!accuracy@{accuracy}}
-\index{accuracy@{accuracy}!bno08x\_stability\_classifier\_t@{bno08x\_stability\_classifier\_t}}
-\doxysubsubsection{\texorpdfstring{accuracy}{accuracy}}
-{\footnotesize\ttfamily \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08x\+Accuracy}} bno08x\+\_\+stability\+\_\+classifier\+\_\+t\+::accuracy}
-
-\mbox{\Hypertarget{structbno08x__stability__classifier__t_a2ecd636f34a6be612833009d9a1c8725}\label{structbno08x__stability__classifier__t_a2ecd636f34a6be612833009d9a1c8725}} 
-\index{bno08x\_stability\_classifier\_t@{bno08x\_stability\_classifier\_t}!stability@{stability}}
-\index{stability@{stability}!bno08x\_stability\_classifier\_t@{bno08x\_stability\_classifier\_t}}
-\doxysubsubsection{\texorpdfstring{stability}{stability}}
-{\footnotesize\ttfamily \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cb}{BNO08x\+Stability}} bno08x\+\_\+stability\+\_\+classifier\+\_\+t\+::stability}
-
-
-
-The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\mbox{\hyperlink{_b_n_o08x_global_types_8hpp}{BNO08x\+Global\+Types.\+hpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/structbno08x__step__counter__t.tex b/documentation/latex/structbno08x__step__counter__t.tex
deleted file mode 100644
index 14a149d..0000000
--- a/documentation/latex/structbno08x__step__counter__t.tex
+++ /dev/null
@@ -1,74 +0,0 @@
-\hypertarget{structbno08x__step__counter__t}{}\doxysection{bno08x\+\_\+step\+\_\+counter\+\_\+t Struct Reference}
-\label{structbno08x__step__counter__t}\index{bno08x\_step\_counter\_t@{bno08x\_step\_counter\_t}}
-
-
-Struct to represent step counter data from step counter reports.  
-
-
-
-
-{\ttfamily \#include $<$BNO08x\+Global\+Types.\+hpp$>$}
-
-\doxysubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{structbno08x__step__counter__t_a53eb4151dfa16c65871f9a754cf92940}{bno08x\+\_\+step\+\_\+counter\+\_\+t}} ()
-\item 
-\mbox{\hyperlink{structbno08x__step__counter__t}{bno08x\+\_\+step\+\_\+counter\+\_\+t}} \& \mbox{\hyperlink{structbno08x__step__counter__t_ab184ba986a22ae89d5a4028b72efb2c1}{operator=}} (const sh2\+\_\+\+Step\+Counter\+\_\+t \&source)
-\end{DoxyCompactItemize}
-\doxysubsection*{Public Attributes}
-\begin{DoxyCompactItemize}
-\item 
-uint32\+\_\+t \mbox{\hyperlink{structbno08x__step__counter__t_a8060ef0721d76ff0175ca487617db202}{latency}}
-\item 
-uint16\+\_\+t \mbox{\hyperlink{structbno08x__step__counter__t_a6d6be986b770fe1343a46080f35653d3}{steps}}
-\item 
-\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08x\+Accuracy}} \mbox{\hyperlink{structbno08x__step__counter__t_a7e0f4b2eb32978a33f9e8c1c70b83f13}{accuracy}}
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-Struct to represent step counter data from step counter reports. 
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\mbox{\Hypertarget{structbno08x__step__counter__t_a53eb4151dfa16c65871f9a754cf92940}\label{structbno08x__step__counter__t_a53eb4151dfa16c65871f9a754cf92940}} 
-\index{bno08x\_step\_counter\_t@{bno08x\_step\_counter\_t}!bno08x\_step\_counter\_t@{bno08x\_step\_counter\_t}}
-\index{bno08x\_step\_counter\_t@{bno08x\_step\_counter\_t}!bno08x\_step\_counter\_t@{bno08x\_step\_counter\_t}}
-\doxysubsubsection{\texorpdfstring{bno08x\_step\_counter\_t()}{bno08x\_step\_counter\_t()}}
-{\footnotesize\ttfamily bno08x\+\_\+step\+\_\+counter\+\_\+t\+::bno08x\+\_\+step\+\_\+counter\+\_\+t (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Function Documentation}
-\mbox{\Hypertarget{structbno08x__step__counter__t_ab184ba986a22ae89d5a4028b72efb2c1}\label{structbno08x__step__counter__t_ab184ba986a22ae89d5a4028b72efb2c1}} 
-\index{bno08x\_step\_counter\_t@{bno08x\_step\_counter\_t}!operator=@{operator=}}
-\index{operator=@{operator=}!bno08x\_step\_counter\_t@{bno08x\_step\_counter\_t}}
-\doxysubsubsection{\texorpdfstring{operator=()}{operator=()}}
-{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__step__counter__t}{bno08x\+\_\+step\+\_\+counter\+\_\+t}} \& bno08x\+\_\+step\+\_\+counter\+\_\+t\+::operator= (\begin{DoxyParamCaption}\item[{const sh2\+\_\+\+Step\+Counter\+\_\+t \&}]{source }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Data Documentation}
-\mbox{\Hypertarget{structbno08x__step__counter__t_a7e0f4b2eb32978a33f9e8c1c70b83f13}\label{structbno08x__step__counter__t_a7e0f4b2eb32978a33f9e8c1c70b83f13}} 
-\index{bno08x\_step\_counter\_t@{bno08x\_step\_counter\_t}!accuracy@{accuracy}}
-\index{accuracy@{accuracy}!bno08x\_step\_counter\_t@{bno08x\_step\_counter\_t}}
-\doxysubsubsection{\texorpdfstring{accuracy}{accuracy}}
-{\footnotesize\ttfamily \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08x\+Accuracy}} bno08x\+\_\+step\+\_\+counter\+\_\+t\+::accuracy}
-
-\mbox{\Hypertarget{structbno08x__step__counter__t_a8060ef0721d76ff0175ca487617db202}\label{structbno08x__step__counter__t_a8060ef0721d76ff0175ca487617db202}} 
-\index{bno08x\_step\_counter\_t@{bno08x\_step\_counter\_t}!latency@{latency}}
-\index{latency@{latency}!bno08x\_step\_counter\_t@{bno08x\_step\_counter\_t}}
-\doxysubsubsection{\texorpdfstring{latency}{latency}}
-{\footnotesize\ttfamily uint32\+\_\+t bno08x\+\_\+step\+\_\+counter\+\_\+t\+::latency}
-
-\mbox{\Hypertarget{structbno08x__step__counter__t_a6d6be986b770fe1343a46080f35653d3}\label{structbno08x__step__counter__t_a6d6be986b770fe1343a46080f35653d3}} 
-\index{bno08x\_step\_counter\_t@{bno08x\_step\_counter\_t}!steps@{steps}}
-\index{steps@{steps}!bno08x\_step\_counter\_t@{bno08x\_step\_counter\_t}}
-\doxysubsubsection{\texorpdfstring{steps}{steps}}
-{\footnotesize\ttfamily uint16\+\_\+t bno08x\+\_\+step\+\_\+counter\+\_\+t\+::steps}
-
-
-
-The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\mbox{\hyperlink{_b_n_o08x_global_types_8hpp}{BNO08x\+Global\+Types.\+hpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/structbno08x__tap__detector__t.tex b/documentation/latex/structbno08x__tap__detector__t.tex
deleted file mode 100644
index 727c22f..0000000
--- a/documentation/latex/structbno08x__tap__detector__t.tex
+++ /dev/null
@@ -1,90 +0,0 @@
-\hypertarget{structbno08x__tap__detector__t}{}\doxysection{bno08x\+\_\+tap\+\_\+detector\+\_\+t Struct Reference}
-\label{structbno08x__tap__detector__t}\index{bno08x\_tap\_detector\_t@{bno08x\_tap\_detector\_t}}
-
-
-Struct to represent tap detector data (flag meaning\+: 0 = no tap, 1 = positive tap on axis, -\/1 = negative tap on axis)  
-
-
-
-
-{\ttfamily \#include $<$BNO08x\+Global\+Types.\+hpp$>$}
-
-\doxysubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{structbno08x__tap__detector__t_ab464e512951fb6cf5a1411d2218d51c5}{bno08x\+\_\+tap\+\_\+detector\+\_\+t}} ()
-\item 
-\mbox{\hyperlink{structbno08x__tap__detector__t}{bno08x\+\_\+tap\+\_\+detector\+\_\+t}} \& \mbox{\hyperlink{structbno08x__tap__detector__t_a4cd8e7c025890f3abfa04ea2a0522f87}{operator=}} (const sh2\+\_\+\+Tap\+Detector\+\_\+t \&source)
-\end{DoxyCompactItemize}
-\doxysubsection*{Public Attributes}
-\begin{DoxyCompactItemize}
-\item 
-int8\+\_\+t \mbox{\hyperlink{structbno08x__tap__detector__t_a1ce57db3616377a16e11701cc04c3442}{x\+\_\+flag}}
-\item 
-int8\+\_\+t \mbox{\hyperlink{structbno08x__tap__detector__t_ae6ad63cddd8ddd96383448f659226c6f}{y\+\_\+flag}}
-\item 
-int8\+\_\+t \mbox{\hyperlink{structbno08x__tap__detector__t_aa46d40f151fce8f60fc8ed4cbe6cf2a1}{z\+\_\+flag}}
-\item 
-bool \mbox{\hyperlink{structbno08x__tap__detector__t_aef875a8e6ff23b29cb9fb73af48db11a}{double\+\_\+tap}}
-\item 
-\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08x\+Accuracy}} \mbox{\hyperlink{structbno08x__tap__detector__t_ad43c32c1d5a57f37e884e756daf9a7ea}{accuracy}}
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-Struct to represent tap detector data (flag meaning\+: 0 = no tap, 1 = positive tap on axis, -\/1 = negative tap on axis) 
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\mbox{\Hypertarget{structbno08x__tap__detector__t_ab464e512951fb6cf5a1411d2218d51c5}\label{structbno08x__tap__detector__t_ab464e512951fb6cf5a1411d2218d51c5}} 
-\index{bno08x\_tap\_detector\_t@{bno08x\_tap\_detector\_t}!bno08x\_tap\_detector\_t@{bno08x\_tap\_detector\_t}}
-\index{bno08x\_tap\_detector\_t@{bno08x\_tap\_detector\_t}!bno08x\_tap\_detector\_t@{bno08x\_tap\_detector\_t}}
-\doxysubsubsection{\texorpdfstring{bno08x\_tap\_detector\_t()}{bno08x\_tap\_detector\_t()}}
-{\footnotesize\ttfamily bno08x\+\_\+tap\+\_\+detector\+\_\+t\+::bno08x\+\_\+tap\+\_\+detector\+\_\+t (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Function Documentation}
-\mbox{\Hypertarget{structbno08x__tap__detector__t_a4cd8e7c025890f3abfa04ea2a0522f87}\label{structbno08x__tap__detector__t_a4cd8e7c025890f3abfa04ea2a0522f87}} 
-\index{bno08x\_tap\_detector\_t@{bno08x\_tap\_detector\_t}!operator=@{operator=}}
-\index{operator=@{operator=}!bno08x\_tap\_detector\_t@{bno08x\_tap\_detector\_t}}
-\doxysubsubsection{\texorpdfstring{operator=()}{operator=()}}
-{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__tap__detector__t}{bno08x\+\_\+tap\+\_\+detector\+\_\+t}} \& bno08x\+\_\+tap\+\_\+detector\+\_\+t\+::operator= (\begin{DoxyParamCaption}\item[{const sh2\+\_\+\+Tap\+Detector\+\_\+t \&}]{source }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Data Documentation}
-\mbox{\Hypertarget{structbno08x__tap__detector__t_ad43c32c1d5a57f37e884e756daf9a7ea}\label{structbno08x__tap__detector__t_ad43c32c1d5a57f37e884e756daf9a7ea}} 
-\index{bno08x\_tap\_detector\_t@{bno08x\_tap\_detector\_t}!accuracy@{accuracy}}
-\index{accuracy@{accuracy}!bno08x\_tap\_detector\_t@{bno08x\_tap\_detector\_t}}
-\doxysubsubsection{\texorpdfstring{accuracy}{accuracy}}
-{\footnotesize\ttfamily \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08x\+Accuracy}} bno08x\+\_\+tap\+\_\+detector\+\_\+t\+::accuracy}
-
-\mbox{\Hypertarget{structbno08x__tap__detector__t_aef875a8e6ff23b29cb9fb73af48db11a}\label{structbno08x__tap__detector__t_aef875a8e6ff23b29cb9fb73af48db11a}} 
-\index{bno08x\_tap\_detector\_t@{bno08x\_tap\_detector\_t}!double\_tap@{double\_tap}}
-\index{double\_tap@{double\_tap}!bno08x\_tap\_detector\_t@{bno08x\_tap\_detector\_t}}
-\doxysubsubsection{\texorpdfstring{double\_tap}{double\_tap}}
-{\footnotesize\ttfamily bool bno08x\+\_\+tap\+\_\+detector\+\_\+t\+::double\+\_\+tap}
-
-\mbox{\Hypertarget{structbno08x__tap__detector__t_a1ce57db3616377a16e11701cc04c3442}\label{structbno08x__tap__detector__t_a1ce57db3616377a16e11701cc04c3442}} 
-\index{bno08x\_tap\_detector\_t@{bno08x\_tap\_detector\_t}!x\_flag@{x\_flag}}
-\index{x\_flag@{x\_flag}!bno08x\_tap\_detector\_t@{bno08x\_tap\_detector\_t}}
-\doxysubsubsection{\texorpdfstring{x\_flag}{x\_flag}}
-{\footnotesize\ttfamily int8\+\_\+t bno08x\+\_\+tap\+\_\+detector\+\_\+t\+::x\+\_\+flag}
-
-\mbox{\Hypertarget{structbno08x__tap__detector__t_ae6ad63cddd8ddd96383448f659226c6f}\label{structbno08x__tap__detector__t_ae6ad63cddd8ddd96383448f659226c6f}} 
-\index{bno08x\_tap\_detector\_t@{bno08x\_tap\_detector\_t}!y\_flag@{y\_flag}}
-\index{y\_flag@{y\_flag}!bno08x\_tap\_detector\_t@{bno08x\_tap\_detector\_t}}
-\doxysubsubsection{\texorpdfstring{y\_flag}{y\_flag}}
-{\footnotesize\ttfamily int8\+\_\+t bno08x\+\_\+tap\+\_\+detector\+\_\+t\+::y\+\_\+flag}
-
-\mbox{\Hypertarget{structbno08x__tap__detector__t_aa46d40f151fce8f60fc8ed4cbe6cf2a1}\label{structbno08x__tap__detector__t_aa46d40f151fce8f60fc8ed4cbe6cf2a1}} 
-\index{bno08x\_tap\_detector\_t@{bno08x\_tap\_detector\_t}!z\_flag@{z\_flag}}
-\index{z\_flag@{z\_flag}!bno08x\_tap\_detector\_t@{bno08x\_tap\_detector\_t}}
-\doxysubsubsection{\texorpdfstring{z\_flag}{z\_flag}}
-{\footnotesize\ttfamily int8\+\_\+t bno08x\+\_\+tap\+\_\+detector\+\_\+t\+::z\+\_\+flag}
-
-
-
-The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\mbox{\hyperlink{_b_n_o08x_global_types_8hpp}{BNO08x\+Global\+Types.\+hpp}}\end{DoxyCompactItemize}
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deleted file mode 100644
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-\def\tabu@Rextra{\tabu@Grestore \tabu@G@extra \tabu@C@extra}
-\let\tabu@C@extra \z@
-\let\tabu@G@extra \@empty
-%% Dynamic vertical spacing adjustment: \tabulinesep ----------------
-\newcommand*\tabulinesep{\edef\tabu@C@linesep{\the\numexpr\tabu@C@linesep+1}%
-    \iftabu@everyrow    \aftergroup\tabu@Glinesep
-    \else               \aftergroup\tabu@n@Glinesep
-    \fi
-    \@ifnextchar={\tabu@gobbletoken\tabu@linesep} \tabu@linesep
-}% \tabulinesep
-\def\tabu@linesep {\@ifnextchar_%
-    {\tabu@gobbletoken{\tabu@setsep\abovetabulinesep \belowtabulinesep}}
-    {\ifx ^\@let@token \def\tabu@temp{%
-            \tabu@gobbletoken{\tabu@setsep\belowtabulinesep \abovetabulinesep}}%
-     \else  \let\tabu@temp \@empty
-            \afterassignment \tabu@setlinesep \abovetabulinesep
-     \fi \tabu@temp}%
-}% \tabu@linesep
-\def\tabu@setsep #1#2{\def\tabu@temp{\tabu@sets@p#1#2}\afterassignment\tabu@temp#2}
-\def\tabu@sets@p #1#2{\@ifnextchar^%
-    {\tabu@gobbletoken{\tabu@setsep\belowtabulinesep \abovetabulinesep}}
-    {\ifx _\@let@token \def\tabu@temp{%
-            \tabu@gobbletoken{\tabu@setsep\abovetabulinesep \belowtabulinesep}}%
-    \else   \let\tabu@temp \@empty
-            \tabu@Gsave \tabu@G@linesep \tabu@C@linesep \abovetabulinesep \belowtabulinesep
-    \fi \tabu@temp}%
-}% \tabu@sets@p
-\def\tabu@setlinesep {\belowtabulinesep=\abovetabulinesep
-    \tabu@Gsave \tabu@G@linesep \tabu@C@linesep \abovetabulinesep \belowtabulinesep
-}% \tabu@setlinesep
-\def\tabu@Glinesep{\ifx \tabu@G@linesep\@empty \else {\tabu@Rlinesep}\fi}
-\def\tabu@n@Glinesep{\ifx \tabu@G@linesep\@empty \else \noalign{\tabu@Rlinesep}\fi}
-\def\tabu@Rlinesep{\tabu@Grestore \tabu@G@linesep \tabu@C@linesep}
-\let\tabu@C@linesep \z@
-\let\tabu@G@linesep \@empty
-%% \global\extrarowsep  and  \global\tabulinesep  -------------------
-\def\tabu@Gsave #1#2#3#4{\xdef#1{#1%
-    \toks#2{\toks\the\currentgrouplevel{\global#3\the#3\global#4\the#4}}}%
-}% \tabu@Gsave
-\def\tabu@Grestore#1#2{%
-    \toks#2{}#1\toks\currentgrouplevel\expandafter{\expandafter}\the\toks#2\relax
-    \ifcat$\the\toks\currentgrouplevel$\else
-        \global\let#1\@empty \global\let#2\z@
-        \the\toks\currentgrouplevel
-    \fi
-}% \tabu@Grestore
-%% Setting code for every row ---------------------------------------
-\newcommand*\everyrow{\tabu@everyrow@bgroup
-                      \tabu@start \z@ \tabu@stop \z@ \tabu@evrstartstop
-}% \everyrow
-\def\tabu@evrstartstop {\@ifnextchar^%
-    {\afterassignment \tabu@evrstartstop \tabu@stop=}%
-    {\ifx ^\@let@token
-            \afterassignment\tabu@evrstartstop \tabu@start=%
-     \else  \afterassignment\tabu@everyr@w     \toks@
-     \fi}%
-}% \tabu@evrstartstop
-\def\tabu@everyr@w {%
-    \xdef\tabu@everyrow{%
-        \noexpand\tabu@everyrowfalse
-        \let\noalign \relax
-        \noexpand\tabu@rowfontreset
-        \iftabu@colortbl \noexpand\tabu@rc@ \fi % \taburowcolors
-        \let\noexpand\tabu@docline \noexpand\tabu@docline@evr
-        \the\toks@
-        \noexpand\tabu@evrh@@k
-        \noexpand\tabu@rearstrut
-        \global\advance\c@taburow \@ne}%
-    \iftabu@everyrow \toks@\expandafter
-        {\expandafter\def\expandafter\tabu@evr@L\expandafter{\the\toks@}\ignorespaces}%
-    \else \xdef\tabu@evr@G{\the\toks@}%
-    \fi
-    \tabu@everyrow@egroup
-}% \tabu@everyr@w
-\def\tabu@evr {\def\tabu@evrh@@k}         % for internal use only
-\tabu@evr{}
-%% line style and leaders -------------------------------------------
-\newcommand*\newtabulinestyle [1]{%
-    {\@for \@tempa :=#1\do{\expandafter\tabu@newlinestyle \@tempa==\@nil}}%
-}% \newtabulinestyle
-\def\tabu@newlinestyle #1=#2=#3\@nil{\tabu@getline {#2}%
-    \tabu@sanitizearg {#1}\@tempa
-    \ifodd 1\ifx \@tempa\@empty \ifdefined\tabu@linestyle@ 0 \fi\fi
-    \global\expandafter\let
-        \csname tabu@linestyle@\@tempa \endcsname =\tabu@thestyle \fi
-}% \tabu@newlinestyle
-\newcommand*\tabulinestyle [1]{\tabu@everyrow@bgroup \tabu@getline{#1}%
-    \iftabu@everyrow
-        \toks@\expandafter{\expandafter \def \expandafter
-                    \tabu@ls@L\expandafter{\tabu@thestyle}\ignorespaces}%
-        \gdef\tabu@ls@{\tabu@ls@L}%
-    \else
-        \global\let\tabu@ls@G \tabu@thestyle
-        \gdef\tabu@ls@{\tabu@ls@G}%
-    \fi
-    \tabu@everyrow@egroup
-}% \tabulinestyle
-\newcommand*\taburulecolor{\tabu@everyrow@bgroup \tabu@textbar \tabu@rulecolor}
-\def\tabu@rulecolor #1{\toks@{}%
-    \def\tabu@temp #1##1#1{\tabu@ruledrsc{##1}}\@ifnextchar #1%
-                                                    \tabu@temp
-                                                 \tabu@rulearc
-}% \tabu@rulecolor
-\def\tabu@ruledrsc #1{\edef\tabu@temp{#1}\tabu@strtrim\tabu@temp
-    \ifx \tabu@temp\@empty \def\tabu@temp{\tabu@rule@drsc@ {}{}}%
-    \else \edef\tabu@temp{\noexpand\tabu@rule@drsc@ {}{\tabu@temp}}%
-    \fi
-    \tabu@temp
-}% \tabu@ruledrsc@
-\def\tabu@ruledrsc@   #1#{\tabu@rule@drsc@ {#1}}
-\def\tabu@rule@drsc@ #1#2{%
-    \iftabu@everyrow
-        \ifx \\#1#2\\\toks@{\let\CT@drsc@ \relax}%
-        \else        \toks@{\def\CT@drsc@{\color #1{#2}}}%
-        \fi
-    \else
-        \ifx \\#1#2\\\global\let\CT@drsc@ \relax
-        \else        \gdef\CT@drsc@{\color #1{#2}}%
-        \fi
-    \fi
-    \tabu@rulearc
-}% \tabu@rule@drsc@
-\def\tabu@rulearc    #1#{\tabu@rule@arc@ {#1}}
-\def\tabu@rule@arc@ #1#2{%
-    \iftabu@everyrow
-        \ifx \\#1#2\\\toks@\expandafter{\the\toks@ \def\CT@arc@{}}%
-        \else        \toks@\expandafter{\the\toks@ \def\CT@arc@{\color #1{#2}}}%
-        \fi
-        \toks@\expandafter{\the\toks@
-            \let\tabu@arc@L  \CT@arc@
-            \let\tabu@drsc@L \CT@drsc@
-            \ignorespaces}%
-    \else
-        \ifx \\#1#2\\\gdef\CT@arc@{}%
-        \else        \gdef\CT@arc@{\color #1{#2}}%
-        \fi
-        \global\let\tabu@arc@G  \CT@arc@
-        \global\let\tabu@drsc@G \CT@drsc@
-    \fi
-    \tabu@everyrow@egroup
-}% \tabu@rule@arc@
-\def\taburowcolors {\tabu@everyrow@bgroup \@testopt \tabu@rowcolors 1}
-\def\tabu@rowcolors [#1]#2#{\tabu@rowc@lors{#1}{#2}}
-\def\tabu@rowc@lors #1#2#3{%
-    \toks@{}\@defaultunits \count@      =\number0#2\relax \@nnil
-            \@defaultunits \tabu@start  =\number0#1\relax \@nnil
-    \ifnum \count@<\tw@ \count@=\tw@ \fi
-    \advance\tabu@start \m@ne
-    \ifnum \tabu@start<\z@ \tabu@start \z@ \fi
-    \tabu@rowcolorseries #3\in@..\in@ \@nnil
-}% \tabu@rowcolors
-\def\tabu@rowcolorseries #1..#2\in@ #3\@nnil {%
-    \ifx \in@#1\relax
-        \iftabu@everyrow \toks@{\def\tabu@rc@{}\let\tabu@rc@L \tabu@rc@}%
-        \else   \gdef\tabu@rc@{}\global\let\tabu@rc@G \tabu@rc@
-        \fi
-    \else
-        \ifx \\#2\\\tabu@rowcolorserieserror \fi
-        \tabu@sanitizearg{#1}\tabu@temp
-        \tabu@sanitizearg{#2}\@tempa
-        \advance\count@ \m@ne
-    \iftabu@everyrow
-        \def\tabu@rc@ ##1##2##3##4{\def\tabu@rc@{%
-            \ifnum ##2=\c@taburow
-                \definecolorseries{tabu@rcseries@\the\tabu@nested}{rgb}{last}{##3}{##4}\fi
-            \ifnum \c@taburow<##2 \else
-                \ifnum \tabu@modulo {\c@taburow-##2}{##1+1}=\z@
-                    \resetcolorseries[{##1}]{tabu@rcseries@\the\tabu@nested}\fi
-                \xglobal\colorlet{tabu@rc@\the\tabu@nested}{tabu@rcseries@\the\tabu@nested!!+}%
-                \rowcolor{tabu@rc@\the\tabu@nested}\fi}%
-        }\edef\x{\noexpand\tabu@rc@           {\the\count@}
-                                          {\the\tabu@start}
-                                               {\tabu@temp}
-                                                  {\@tempa}%
-                }\x
-        \toks@\expandafter{\expandafter\def\expandafter\tabu@rc@\expandafter{\tabu@rc@}}%
-        \toks@\expandafter{\the\toks@ \let\tabu@rc@L \tabu@rc@ \ignorespaces}%
-    \else   % inside \noalign
-        \definecolorseries{tabu@rcseries@\the\tabu@nested}{rgb}{last}{\tabu@temp}{\@tempa}%
-        \expandafter\resetcolorseries\expandafter[\the\count@]{tabu@rcseries@\the\tabu@nested}%
-        \xglobal\colorlet{tabu@rc@\the\tabu@nested}{tabu@rcseries@\the\tabu@nested!!+}%
-        \let\noalign \relax \rowcolor{tabu@rc@\the\tabu@nested}%
-        \def\tabu@rc@ ##1##2{\gdef\tabu@rc@{%
-            \ifnum \tabu@modulo {\c@taburow-##2}{##1+1}=\@ne
-                \resetcolorseries[{##1}]{tabu@rcseries@\the\tabu@nested}\fi
-            \xglobal\colorlet{tabu@rc@\the\tabu@nested}{tabu@rcseries@\the\tabu@nested!!+}%
-            \rowcolor{tabu@rc@\the\tabu@nested}}%
-        }\edef\x{\noexpand\tabu@rc@{\the\count@}{\the\c@taburow}}\x
-        \global\let\tabu@rc@G \tabu@rc@
-    \fi
-    \fi
-    \tabu@everyrow@egroup
-}% \tabu@rowcolorseries
-\tabuDisableCommands {\let\tabu@rc@ \@empty }
-\def\tabu@rowcolorserieserror {\PackageError{tabu}
-    {Invalid syntax for \string\taburowcolors
-    \MessageBreak Please look at the documentation!}\@ehd
-}% \tabu@rowcolorserieserror
-\newcommand*\tabureset {%
-    \tabulinesep=\z@ \extrarowsep=\z@ \extratabsurround=\z@
-    \tabulinestyle{}\everyrow{}\taburulecolor||{}\taburowcolors{}%
-}% \tabureset
-%% Parsing the line styles ------------------------------------------
-\def\tabu@getline #1{\begingroup
-    \csname \ifcsname if@safe@actives\endcsname         % <babel>
-                      @safe@activestrue\else
-                      relax\fi       \endcsname
-    \edef\tabu@temp{#1}\tabu@sanitizearg{#1}\@tempa
-    \let\tabu@thestyle \relax
-    \ifcsname tabu@linestyle@\@tempa \endcsname
-            \edef\tabu@thestyle{\endgroup
-                \def\tabu@thestyle{\expandafter\noexpand
-                    \csname tabu@linestyle@\@tempa\endcsname}%
-            }\tabu@thestyle
-    \else   \expandafter\tabu@definestyle \tabu@temp \@nil
-    \fi
-}% \tabu@getline
-\def\tabu@definestyle #1#2\@nil {\endlinechar \m@ne \makeatletter
-    \tabu@thick \maxdimen  \tabu@on \maxdimen   \tabu@off \maxdimen
-    \let\tabu@c@lon \@undefined  \let\tabu@c@loff \@undefined
-    \ifodd 1\ifcat .#1\else\ifcat\relax #1\else 0\fi\fi % catcode 12 or non expandable cs
-            \def\tabu@temp{\tabu@getparam{thick}}%
-    \else   \def\tabu@temp{\tabu@getparam{thick}\maxdimen}%
-    \fi
-    {%
-        \let\tabu@ \relax
-        \def\:{\obeyspaces \tabu@oXIII \tabu@commaXIII \edef\:}% (space active \: happy ;-))
-        \scantokens{\:{\tabu@temp #1#2 \tabu@\tabu@}}%
-                        \expandafter}\expandafter
-                                \def\expandafter\:\expandafter{\:}% line spec rewritten now ;-)
-    \def\;{\def\:}%
-    \scantokens\expandafter{\expandafter\;\expandafter{\:}}% space is now inactive (catcode 10)
-    \let\tabu@ \tabu@getcolor    \:%    all arguments are ready now ;-)
-    \ifdefined\tabu@c@lon \else \let\tabu@c@lon\@empty \fi
-    \ifx \tabu@c@lon\@empty \def\tabu@c@lon{\CT@arc@}\fi
-    \ifdefined\tabu@c@loff \else \let\tabu@c@loff \@empty        \fi
-    \ifdim \tabu@on=\maxdimen \ifdim \tabu@off<\maxdimen
-                                  \tabu@on \tabulineon        \fi\fi
-    \ifdim \tabu@off=\maxdimen \ifdim \tabu@on<\maxdimen
-                                  \tabu@off \tabulineoff      \fi\fi
-    \ifodd 1\ifdim \tabu@off=\maxdimen \ifdim \tabu@on=\maxdimen 0 \fi\fi
-            \in@true    % <leaders>
-    \else   \in@false   % <rule>
-    \fi
-    \ifdim\tabu@thick=\maxdimen \def\tabu@thick{\arrayrulewidth}%
-    \else                       \edef\tabu@thick{\the\tabu@thick}%
-    \fi
-    \edef \tabu@thestyle ##1##2{\endgroup
-        \def\tabu@thestyle{%
-            \ifin@  \noexpand\tabu@leadersstyle {\tabu@thick}
-                                                {\the\tabu@on}{##1}
-                                                {\the\tabu@off}{##2}%
-            \else   \noexpand\tabu@rulesstyle
-                            {##1\vrule width \tabu@thick}%
-                            {##1\leaders \hrule height \tabu@thick \hfil}%
-            \fi}%
-    }\expandafter \expandafter
-        \expandafter \tabu@thestyle \expandafter
-            \expandafter \expandafter
-                {\expandafter\tabu@c@lon\expandafter}\expandafter{\tabu@c@loff}%
-}% \tabu@definestyle
-{\catcode`\O=\active \lccode`\O=`\o \catcode`\,=\active
-    \lowercase{\gdef\tabu@oXIII {\catcode`\o=\active \let O=\tabu@oxiii}}
-    \gdef\tabu@commaXIII {\catcode`\,=\active \let ,=\space}
-}% \catcode
-\def\tabu@oxiii #1{%
-    \ifcase  \ifx n#1\z@ \else
-             \ifx f#1\@ne\else
-             \tw@       \fi\fi
-          \expandafter\tabu@onxiii
-    \or   \expandafter\tabu@ofxiii
-    \else o%
-    \fi#1}%
-\def\tabu@onxiii #1#2{%
-    \ifcase  \ifx  !#2\tw@          \else
-             \ifcat.\noexpand#2\z@  \else
-             \ifx \tabu@spxiii#2\@ne\else
-             \tw@               \fi\fi\fi
-          \tabu@getparam{on}#2\expandafter\@gobble
-    \or   \expandafter\tabu@onxiii    % (space is active)
-    \else o\expandafter\@firstofone
-    \fi{#1#2}}%
-\def\tabu@ofxiii #1#2{%
-    \ifx #2f\expandafter\tabu@offxiii
-    \else   o\expandafter\@firstofone
-    \fi{#1#2}}
-\def\tabu@offxiii #1#2{%
-    \ifcase \ifx  !#2\tw@           \else
-            \ifcat.\noexpand#2\z@   \else
-            \ifx\tabu@spxiii#2\@ne  \else
-            \tw@                \fi\fi\fi
-          \tabu@getparam{off}#2\expandafter\@gobble
-    \or   \expandafter\tabu@offxiii   % (space is active)
-    \else o\expandafter\@firstofone
-    \fi{#1#2}}
-\def\tabu@getparam #1{\tabu@ \csname tabu@#1\endcsname=}
-\def\tabu@getcolor #1{% \tabu@ <- \tabu@getcolor after \edef
-    \ifx \tabu@#1\else   % no more spec
-        \let\tabu@theparam=#1\afterassignment \tabu@getc@l@r #1\fi
-}% \tabu@getcolor
-\def\tabu@getc@l@r #1\tabu@ {%
-    \def\tabu@temp{#1}\tabu@strtrim \tabu@temp
-    \ifx \tabu@temp\@empty
-    \else%\ifcsname \string\color@\tabu@temp \endcsname  % if the color exists
-        \ifx \tabu@theparam \tabu@off   \let\tabu@c@loff \tabu@c@l@r
-        \else                           \let\tabu@c@lon  \tabu@c@l@r
-        \fi
-    %\else \tabu@warncolour{\tabu@temp}%
-    \fi%\fi
-    \tabu@ % next spec
-}% \tabu@getc@l@r
-\def\tabu@warncolour #1{\PackageWarning{tabu}
-    {Color #1 is not defined. Default color used}%
-}% \tabu@warncolour
-\def\tabu@leadersstyle #1#2#3#4#5{\def\tabu@leaders{{#1}{#2}{#3}{#4}{#5}}%
-    \ifx \tabu@leaders\tabu@leaders@G \else
-                \tabu@LEADERS{#1}{#2}{#3}{#4}{#5}\fi
-}% \tabu@leadersstyle
-\def\tabu@rulesstyle #1#2{\let\tabu@leaders \@undefined
-        \gdef\tabu@thevrule{#1}\gdef\tabu@thehrule{#2}%
-}% \tabu@rulesstyle
-%% The leaders boxes ------------------------------------------------
-\def\tabu@LEADERS #1#2#3#4#5{%% width, dash, dash color, gap, gap color
-    {\let\color \tabu@color % => during trials ->  \color = \tabu@nocolor
-    {%                      %    but the leaders boxes should have colors !
-    \def\@therule{\vrule}\def\@thick{height}\def\@length{width}%
-    \def\@box{\hbox}\def\@unbox{\unhbox}\def\@elt{\wd}%
-    \def\@skip{\hskip}\def\@ss{\hss}\def\tabu@leads{\tabu@hleads}%
-    \tabu@l@@d@rs {#1}{#2}{#3}{#4}{#5}%
-    \global\let\tabu@thehleaders \tabu@theleaders
-    }%
-    {%
-    \def\@therule{\hrule}\def\@thick{width}\def\@length{height}%
-    \def\@box{\vbox}\def\@unbox{\unvbox}\def\@elt{\ht}%
-    \def\@skip{\vskip}\def\@ss{\vss}\def\tabu@leads{\tabu@vleads}%
-    \tabu@l@@d@rs {#1}{#2}{#3}{#4}{#5}%
-    \global\let\tabu@thevleaders \tabu@theleaders
-    }%
-    \gdef\tabu@leaders@G{{#1}{#2}{#3}{#4}{#5}}%
-    }%
-}% \tabu@LEADERS
-\def\tabu@therule #1#2{\@therule \@thick#1\@length\dimexpr#2/2 \@depth\z@}
-\def\tabu@l@@d@rs #1#2#3#4#5{%% width, dash, dash color, gap, gap color
-    \global\setbox \tabu@leads=\@box{%
-        {#3\tabu@therule{#1}{#2}}%
-        \ifx\\#5\\\@skip#4\else{#5\tabu@therule{#1}{#4*2}}\fi
-        {#3\tabu@therule{#1}{#2}}}%
-    \global\setbox\tabu@leads=\@box to\@elt\tabu@leads{\@ss
-        {#3\tabu@therule{#1}{#2}}\@unbox\tabu@leads}%
-    \edef\tabu@theleaders ##1{\def\noexpand\tabu@theleaders {%
-        {##1\tabu@therule{#1}{#2}}%
-        \xleaders \copy\tabu@leads \@ss
-        \tabu@therule{0pt}{-#2}{##1\tabu@therule{#1}{#2}}}%
-    }\tabu@theleaders{#3}%
-}% \tabu@l@@d@rs
-%% \tabu \endtabu \tabu* \longtabu \endlongtabu \longtabu* ----------
-\newcommand*\tabu {\tabu@longfalse
-    \ifmmode \def\tabu@ {\array}\def\endtabu {\endarray}%
-    \else  \def\tabu@ {\tabu@tabular}\def\endtabu {\endtabular}\fi
-    \expandafter\let\csname tabu*\endcsname \tabu
-    \expandafter\def\csname endtabu*\endcsname{\endtabu}%
-    \tabu@spreadfalse \tabu@negcoeffalse \tabu@settarget
-}% {tabu}
-\let\tabu@tabular \tabular % <For LyX: some users redefine \tabular...>
-\expandafter\def\csname tabu*\endcsname{\tabuscantokenstrue \tabu}
-\newcommand*\longtabu {\tabu@longtrue
-   \ifmmode\PackageError{tabu}{longtabu not allowed in math mode}\fi
-   \def\tabu@{\longtable}\def\endlongtabu{\endlongtable}%
-   \LTchunksize=\@M
-   \expandafter\let\csname tabu*\endcsname \tabu
-   \expandafter\def\csname endlongtabu*\endcsname{\endlongtabu}%
-   \let\LT@startpbox \tabu@LT@startpbox % \everypar{ array struts }
-   \tabu@spreadfalse \tabu@negcoeffalse \tabu@settarget
-}% {longtabu}
-\expandafter\def\csname longtabu*\endcsname{\tabuscantokenstrue \longtabu}
-\def\tabu@nolongtabu{\PackageError{tabu}
-   {longtabu requires the longtable package}\@ehd}
-%% Read the target and  then : \tabular or \@array ------------------
-\def\tabu@settarget {\futurelet\@let@token \tabu@sett@rget }
-\def\tabu@sett@rget {\tabu@target \z@
-   \ifcase \ifx \bgroup\@let@token   \z@  \else
-           \ifx \@sptoken\@let@token \@ne \else
-           \if t\@let@token          \tw@ \else
-           \if s\@let@token          \thr@@\else
-           \z@\fi\fi\fi\fi
-         \expandafter\tabu@begin
-   \or   \expandafter\tabu@gobblespace\expandafter\tabu@settarget
-   \or   \expandafter\tabu@to
-   \or   \expandafter\tabu@spread
-   \fi
-}% \tabu@sett@rget
-\def\tabu@to to{\def\tabu@halignto{to}\tabu@gettarget}
-\def\tabu@spread spread{\tabu@spreadtrue\def\tabu@halignto{spread}\tabu@gettarget}
-\def\tabu@gettarget {\afterassignment\tabu@linegoaltarget \tabu@target }
-\def\tabu@linegoaltarget {\futurelet\tabu@temp \tabu@linegoalt@rget }
-\def\tabu@linegoalt@rget {%
-   \ifx \tabu@temp\LNGL@setlinegoal
-        \LNGL@setlinegoal \expandafter \@firstoftwo \fi % @gobbles \LNGL@setlinegoal
-   \tabu@begin
-}% \tabu@linegoalt@rget
-\def\tabu@begin #1#{%
-    \iftabu@measuring \expandafter\tabu@nestedmeasure \fi
-    \ifdim \tabu@target=\z@ \let\tabu@halignto \@empty
-    \else                   \edef\tabu@halignto{\tabu@halignto\the\tabu@target}%
-    \fi
-    \@testopt \tabu@tabu@ \tabu@aligndefault #1\@nil
-}% \tabu@begin
-\long\def\tabu@tabu@ [#1]#2\@nil #3{\tabu@setup
-   \def\tabu@align {#1}\def\tabu@savedpream{\NC@find #3}%
-   \tabu@ [\tabu@align ]#2{#3\tabu@rewritefirst }%
-}% \tabu@tabu@
-\def\tabu@nestedmeasure {%
-    \ifodd 1\iftabu@spread \else \ifdim\tabu@target=\z@ \else 0 \fi\fi\relax
-            \tabu@spreadtrue
-    \else   \begingroup \iffalse{\fi \ifnum0=`}\fi
-            \toks@{}\def\tabu@stack{b}%
-            \expandafter\tabu@collectbody\expandafter\tabu@quickrule
-                                         \expandafter\endgroup
-    \fi
-}% \tabu@nestedmeasure
-\def\tabu@quickrule {\indent\vrule height\z@ depth\z@ width\tabu@target}
-%% \tabu@setup  \tabu@init  \tabu@indent
-\def\tabu@setup{\tabu@alloc@
-    \ifcase \tabu@nested
-        \ifmmode \else \iftabu@spread\else \ifdim\tabu@target=\z@
-            \let\tabu@afterendpar \par
-        \fi\fi\fi
-        \def\tabu@aligndefault{c}\tabu@init \tabu@indent
-    \else       % <nested tabu>
-        \def\tabu@aligndefault{t}\let\tabudefaulttarget \linewidth
-    \fi
-    \let\tabu@thetarget \tabudefaulttarget \let\tabu@restored \@undefined
-    \edef\tabu@NC@list{\the\NC@list}\NC@list{\NC@do \tabu@rewritefirst}%
-    \everycr{}\let\@startpbox \tabu@startpbox % for nested tabu inside longtabu...
-              \let\@endpbox   \tabu@endpbox   % idem "    "    "    "    "    "
-              \let\@tabarray  \tabu@tabarray  % idem "    "    "    "    "    "
-    \tabu@setcleanup \tabu@setreset
-}% \tabu@setup
-\def\tabu@init{\tabu@starttimer \tabu@measuringfalse
-    \edef\tabu@hfuzz  {\the\dimexpr\hfuzz+1sp}\global\tabu@footnotes{}%
-    \let\firsthline    \tabu@firsthline   \let\lasthline      \tabu@lasthline
-    \let\firstline     \tabu@firstline    \let\lastline       \tabu@lastline
-    \let\hline         \tabu@hline        \let\@xhline        \tabu@xhline
-    \let\color         \tabu@color        \let\@arstrutbox    \tabu@arstrutbox
-    \iftabu@colortbl\else\let\LT@@hline   \tabu@LT@@hline \fi
-    \tabu@trivlist     %<restore \\=\@normalcr inside lists>
-    \let\@footnotetext \tabu@footnotetext \let\@xfootnotetext \tabu@xfootnotetext
-    \let\@xfootnote    \tabu@xfootnote    \let\centering      \tabu@centering
-    \let\raggedright   \tabu@raggedright  \let\raggedleft     \tabu@raggedleft
-    \let\tabudecimal   \tabu@tabudecimal  \let\Centering      \tabu@Centering
-    \let\RaggedRight   \tabu@RaggedRight  \let\RaggedLeft     \tabu@RaggedLeft
-    \let\justifying    \tabu@justifying   \let\rowfont        \tabu@rowfont
-    \let\fbox          \tabu@fbox         \let\color@b@x      \tabu@color@b@x
-    \let\tabu@@everycr \everycr           \let\tabu@@everypar \everypar
-    \let\tabu@prepnext@tokORI \prepnext@tok\let\prepnext@tok  \tabu@prepnext@tok
-    \let\tabu@multicolumnORI\multicolumn  \let\multicolumn    \tabu@multicolumn
-    \let\tabu@startpbox \@startpbox      % for nested tabu inside longtabu pfff !!!
-    \let\tabu@endpbox   \@endpbox        % idem  "    "    "    "    "    "    "
-    \let\tabu@tabarray  \@tabarray       % idem  "    "    "    "    "    "    "
-    \tabu@adl@fix      \let\endarray      \tabu@endarray % <fix> colortbl & arydshln (delarray)
-    \iftabu@colortbl\CT@everycr\expandafter{\expandafter\iftabu@everyrow \the\CT@everycr \fi}\fi
-}% \tabu@init
-\def\tabu@indent{% correction for indentation
-    \ifdim \parindent>\z@\ifx \linewidth\tabudefaulttarget
-    \everypar\expandafter{%
-        \the\everypar\everypar\expandafter{\the\everypar}%
-            \setbox\z@=\lastbox
-            \ifdim\wd\z@>\z@ \edef\tabu@thetarget
-                {\the\dimexpr -\wd\z@+\tabudefaulttarget}\fi
-            \box\z@}%
-    \fi\fi
-}% \tabu@indent
-\def\tabu@setcleanup {% saves last global assignments
-    \ifodd 1\ifmmode \else \iftabu@long \else 0\fi\fi\relax
-        \def\tabu@aftergroupcleanup{%
-                \def\tabu@aftergroupcleanup{\aftergroup\tabu@cleanup}}%
-    \else
-        \def\tabu@aftergroupcleanup{%
-                \aftergroup\aftergroup\aftergroup\tabu@cleanup
-                \let\tabu@aftergroupcleanup \relax}%
-    \fi
-    \let\tabu@arc@Gsave         \tabu@arc@G
-    \let\tabu@arc@G             \tabu@arc@L   % <init>
-    \let\tabu@drsc@Gsave        \tabu@drsc@G
-    \let\tabu@drsc@G            \tabu@drsc@L  % <init>
-    \let\tabu@ls@Gsave          \tabu@ls@G
-    \let\tabu@ls@G              \tabu@ls@L    % <init>
-    \let\tabu@rc@Gsave          \tabu@rc@G
-    \let\tabu@rc@G              \tabu@rc@L    % <init>
-    \let\tabu@evr@Gsave         \tabu@evr@G
-    \let\tabu@evr@G             \tabu@evr@L   % <init>
-    \let\tabu@celllalign@save   \tabu@celllalign
-    \let\tabu@cellralign@save   \tabu@cellralign
-    \let\tabu@cellleft@save     \tabu@cellleft
-    \let\tabu@cellright@save    \tabu@cellright
-    \let\tabu@@celllalign@save  \tabu@@celllalign
-    \let\tabu@@cellralign@save  \tabu@@cellralign
-    \let\tabu@@cellleft@save    \tabu@@cellleft
-    \let\tabu@@cellright@save   \tabu@@cellright
-    \let\tabu@rowfontreset@save \tabu@rowfontreset
-    \let\tabu@@rowfontreset@save\tabu@@rowfontreset
-    \let\tabu@rowfontreset      \@empty
-    \edef\tabu@alloc@save      {\the\tabu@alloc}%   restore at \tabu@reset
-    \edef\c@taburow@save       {\the\c@taburow}%
-    \edef\tabu@naturalX@save   {\the\tabu@naturalX}%
-    \let\tabu@naturalXmin@save  \tabu@naturalXmin
-    \let\tabu@naturalXmax@save  \tabu@naturalXmax
-    \let\tabu@mkarstrut@save    \tabu@mkarstrut
-    \edef\tabu@clarstrut{%
-        \extrarowheight \the\dimexpr \ht\@arstrutbox-\ht\strutbox \relax
-        \extrarowdepth \the\dimexpr \dp\@arstrutbox-\dp\strutbox \relax
-        \let\noexpand\@arraystretch \@ne \noexpand\tabu@rearstrut}%
-}% \tabu@setcleanup
-\def\tabu@cleanup {\begingroup
-    \globaldefs\@ne         \tabu@everyrowtrue
-    \let\tabu@arc@G         \tabu@arc@Gsave
-    \let\CT@arc@            \tabu@arc@G
-    \let\tabu@drsc@G        \tabu@drsc@Gsave
-    \let\CT@drsc@           \tabu@drsc@G
-    \let\tabu@ls@G          \tabu@ls@Gsave
-    \let\tabu@ls@           \tabu@ls@G
-    \let\tabu@rc@G          \tabu@rc@Gsave
-    \let\tabu@rc@           \tabu@rc@G
-    \let\CT@do@color        \relax
-    \let\tabu@evr@G         \tabu@evr@Gsave
-    \let\tabu@celllalign    \tabu@celllalign@save
-    \let\tabu@cellralign    \tabu@cellralign@save
-    \let\tabu@cellleft      \tabu@cellleft@save
-    \let\tabu@cellright     \tabu@cellright@save
-    \let\tabu@@celllalign   \tabu@@celllalign@save
-    \let\tabu@@cellralign   \tabu@@cellralign@save
-    \let\tabu@@cellleft     \tabu@@cellleft@save
-    \let\tabu@@cellright    \tabu@@cellright@save
-    \let\tabu@rowfontreset  \tabu@rowfontreset@save
-    \let\tabu@@rowfontreset \tabu@@rowfontreset@save
-    \tabu@naturalX         =\tabu@naturalX@save
-    \let\tabu@naturalXmax   \tabu@naturalXmax@save
-    \let\tabu@naturalXmin   \tabu@naturalXmin@save
-    \let\tabu@mkarstrut     \tabu@mkarstrut@save
-    \c@taburow             =\c@taburow@save
-    \ifcase \tabu@nested    \tabu@alloc \m@ne\fi
-    \endgroup               % <end of \globaldefs>
-    \ifcase \tabu@nested
-        \the\tabu@footnotes \global\tabu@footnotes{}%
-        \tabu@afterendpar   \tabu@elapsedtime
-    \fi
-    \tabu@clarstrut
-    \everyrow\expandafter   {\tabu@evr@G}%
-}% \tabu@cleanup
-\let\tabu@afterendpar \relax
-\def\tabu@setreset {%
-    \edef\tabu@savedparams {%         \relax for \tabu@message@save
-        \ifmmode \col@sep \the\arraycolsep
-        \else    \col@sep \the\tabcolsep \fi    \relax
-        \arrayrulewidth   \the\arrayrulewidth   \relax
-        \doublerulesep    \the\doublerulesep    \relax
-        \extratabsurround \the\extratabsurround \relax
-        \extrarowheight   \the\extrarowheight   \relax
-        \extrarowdepth    \the\extrarowdepth    \relax
-        \abovetabulinesep \the\abovetabulinesep \relax
-        \belowtabulinesep \the\belowtabulinesep \relax
-        \def\noexpand\arraystretch{\arraystretch}%
-        \ifdefined\minrowclearance \minrowclearance\the\minrowclearance\relax\fi}%
-    \begingroup
-        \@temptokena\expandafter{\tabu@savedparams}% => only for \savetabu / \usetabu
-        \ifx \tabu@arc@L\relax  \else \tabu@setsave \tabu@arc@L \fi
-        \ifx \tabu@drsc@L\relax \else \tabu@setsave \tabu@drsc@L \fi
-        \tabu@setsave \tabu@ls@L      \tabu@setsave \tabu@evr@L
-        \expandafter \endgroup \expandafter
-            \def\expandafter\tabu@saved@ \expandafter{\the\@temptokena
-                \let\tabu@arc@G  \tabu@arc@L
-                \let\tabu@drsc@G \tabu@drsc@L
-                \let\tabu@ls@G   \tabu@ls@L
-                \let\tabu@rc@G   \tabu@rc@L
-                \let\tabu@evr@G  \tabu@evr@L}%
-    \def\tabu@reset{\tabu@savedparams
-        \tabu@everyrowtrue  \c@taburow \z@
-        \let\CT@arc@        \tabu@arc@L
-        \let\CT@drsc@       \tabu@drsc@L
-        \let\tabu@ls@       \tabu@ls@L
-        \let\tabu@rc@       \tabu@rc@L
-        \global\tabu@alloc  \tabu@alloc@save
-        \everyrow\expandafter{\tabu@evr@L}}%
-}% \tabu@reset
-\def\tabu@setsave #1{\expandafter\tabu@sets@ve #1\@nil{#1}}
-\long\def\tabu@sets@ve #1\@nil #2{\@temptokena\expandafter{\the\@temptokena \def#2{#1}}}
-%% The Rewriting Process -------------------------------------------
-\def\tabu@newcolumntype #1{%
-    \expandafter\tabu@new@columntype
-        \csname NC@find@\string#1\expandafter\endcsname
-        \csname NC@rewrite@\string#1\endcsname
-        {#1}%
-}% \tabu@newcolumntype
-\def\tabu@new@columntype #1#2#3{%
-    \def#1##1#3{\NC@{##1}}%
-    \let#2\relax \newcommand*#2%
-}% \tabu@new@columntype
-\def\tabu@privatecolumntype #1{%
-    \expandafter\tabu@private@columntype
-        \csname NC@find@\string#1\expandafter\endcsname
-        \csname NC@rewrite@\string#1\expandafter\endcsname
-        \csname tabu@NC@find@\string#1\expandafter\endcsname
-        \csname tabu@NC@rewrite@\string#1\endcsname
-        {#1}%
-}% \tabu@privatecolumntype
-\def\tabu@private@columntype#1#2#3#4{%
-    \g@addto@macro\tabu@privatecolumns{\let#1#3\let#2#4}%
-    \tabu@new@columntype#3#4%
-}% \tabu@private@columntype
-\let\tabu@privatecolumns \@empty
-\newcommand*\tabucolumn [1]{\expandafter \def \expandafter
-    \tabu@highprioritycolumns\expandafter{\tabu@highprioritycolumns
-                                          \NC@do #1}}%
-\let\tabu@highprioritycolumns \@empty
-%% The  |  ``column'' : rewriting process --------------------------
-\tabu@privatecolumntype |{\tabu@rewritevline}
-\newcommand*\tabu@rewritevline[1][]{\tabu@vlinearg{#1}%
-                \expandafter \NC@find \tabu@rewritten}
-\def\tabu@lines #1{%
-    \ifx|#1\else \tabu@privatecolumntype #1{\tabu@rewritevline}\fi
-    \NC@list\expandafter{\the\NC@list \NC@do #1}%
-}% \tabu@lines@
-\def\tabu@vlinearg #1{%
-    \ifx\\#1\\\def\tabu@thestyle {\tabu@ls@}%
-    \else\tabu@getline {#1}%
-    \fi
-    \def\tabu@rewritten ##1{\def\tabu@rewritten{!{##1\tabu@thevline}}%
-    }\expandafter\tabu@rewritten\expandafter{\tabu@thestyle}%
-    \expandafter \tabu@keepls \tabu@thestyle \@nil
-}% \tabu@vlinearg
-\def\tabu@keepls #1\@nil{%
-    \ifcat $\@cdr #1\@nil $%
-    \ifx \relax#1\else
-    \ifx \tabu@ls@#1\else
-        \let#1\relax
-        \xdef\tabu@mkpreambuffer{\tabu@mkpreambuffer
-                \tabu@savels\noexpand#1}\fi\fi\fi
-}% \tabu@keepls
-\def\tabu@thevline {\begingroup
-    \ifdefined\tabu@leaders
-        \setbox\@tempboxa=\vtop to\dimexpr
-                      \ht\@arstrutbox+\dp\@arstrutbox{{\tabu@thevleaders}}%
-        \ht\@tempboxa=\ht\@arstrutbox \dp\@tempboxa=\dp\@arstrutbox
-        \box\@tempboxa
-    \else
-                \tabu@thevrule
-    \fi             \endgroup
-}% \tabu@thevline
-\def\tabu@savels #1{%
-    \expandafter\let\csname\string#1\endcsname #1%
-    \expandafter\def\expandafter\tabu@reset\expandafter{\tabu@reset
-                                                    \tabu@resetls#1}}%
-\def\tabu@resetls #1{\expandafter\let\expandafter#1\csname\string#1\endcsname}%
-%% \multicolumn inside tabu environment -----------------------------
-\tabu@newcolumntype \tabu@rewritemulticolumn{%
-    \aftergroup \tabu@endrewritemulticolumn % after \@mkpream group
-    \NC@list{\NC@do *}\tabu@textbar \tabu@lines
-    \tabu@savedecl
-    \tabu@privatecolumns
-    \NC@list\expandafter{\the\expandafter\NC@list \tabu@NC@list}%
-    \let\tabu@savels \relax
-    \NC@find
-}% \tabu@rewritemulticolumn
-\def\tabu@endrewritemulticolumn{\gdef\tabu@mkpreambuffer{}\endgroup}
-\def\tabu@multicolumn{\tabu@ifenvir \tabu@multic@lumn \tabu@multicolumnORI}
-\long\def\tabu@multic@lumn #1#2#3{\multispan{#1}\begingroup
-    \tabu@everyrowtrue
-    \NC@list{\NC@do \tabu@rewritemulticolumn}%
-    \expandafter\@gobbletwo % gobbles \multispan{#1}
-         \tabu@multicolumnORI{#1}{\tabu@rewritemulticolumn #2}%
-                {\iftabuscantokens \tabu@rescan \else \expandafter\@firstofone \fi
-                {#3}}%
-}% \tabu@multic@lumn
-%% The X column(s): rewriting process -----------------------------
-\tabu@privatecolumntype X[1][]{\begingroup \tabu@siunitx{\endgroup \tabu@rewriteX {#1}}}
-\def\tabu@nosiunitx #1{#1{}{}\expandafter \NC@find \tabu@rewritten }
-\def\tabu@siunitx   #1{\@ifnextchar \bgroup
-                     {\tabu@rewriteX@Ss{#1}}
-                      {\tabu@nosiunitx{#1}}}
-\def\tabu@rewriteX@Ss #1#2{\@temptokena{}%
-    \@defaultunits \let\tabu@temp =#2\relax\@nnil
-    \ifodd 1\ifx S\tabu@temp \else \ifx s\tabu@temp \else 0 \fi\fi
-        \def\NC@find{\def\NC@find >####1####2<####3\relax{#1 {####1}{####3}%
-            }\expandafter\NC@find \the\@temptokena \relax
-        }\expandafter\NC@rewrite@S \@gobble #2\relax
-    \else \tabu@siunitxerror
-    \fi
-    \expandafter \NC@find \tabu@rewritten
-}% \tabu@rewriteX@Ss
-\def\tabu@siunitxerror {\PackageError{tabu}{Not a S nor s column !
-        \MessageBreak X column can only embed siunitx S or s columns}\@ehd
-}% \tabu@siunitxerror
-\def\tabu@rewriteX #1#2#3{\tabu@Xarg {#1}{#2}{#3}%
-    \iftabu@measuring
-    \else \tabu@measuringtrue % first X column found in the preamble
-        \let\@halignto \relax   \let\tabu@halignto \relax
-        \iftabu@spread \tabu@spreadtarget \tabu@target \tabu@target \z@
-        \else          \tabu@spreadtarget \z@ \fi
-        \ifdim \tabu@target=\z@
-                \setlength\tabu@target \tabu@thetarget
-                \tabu@message{\tabu@message@defaulttarget}%
-        \else   \tabu@message{\tabu@message@target}\fi
-    \fi
-}% \tabu@rewriteX
-\def\tabu@rewriteXrestore #1#2#3{\let\@halignto \relax
-                                \def\tabu@rewritten{l}}
-\def\tabu@Xarg #1#2#3{%
-   \advance\tabu@Xcol \@ne      \let\tabu@Xlcr  \@empty
-   \let\tabu@Xdisp    \@empty   \let\tabu@Xmath \@empty
-    \ifx\\#1\\%    <shortcut when no option>
-         \def\tabu@rewritten{p}\tabucolX \p@        % <default coef = 1>
-    \else
-         \let\tabu@rewritten \@empty   \let\tabu@temp \@empty  \tabucolX \z@
-         \tabu@Xparse {}#1\relax
-    \fi
-    \tabu@Xrewritten{#2}{#3}%
-}% \tabu@Xarg
-\def\tabu@Xparse #1{\futurelet\@let@token \tabu@Xtest}
-\expandafter\def\expandafter\tabu@Xparsespace\space{\tabu@Xparse{}}
-\def\tabu@Xtest{%
-   \ifcase \ifx \relax\@let@token \z@ \else
-           \if ,\@let@token \m@ne\else
-           \if p\@let@token 1\else
-           \if m\@let@token 2\else
-           \if b\@let@token 3\else
-           \if l\@let@token 4\else
-           \if c\@let@token 5\else
-           \if r\@let@token 6\else
-           \if j\@let@token 7\else
-           \if L\@let@token 8\else
-           \if C\@let@token 9\else
-           \if R\@let@token 10\else
-           \if J\@let@token 11\else
-           \ifx \@sptoken\@let@token 12\else
-           \if .\@let@token 13\else
-           \if -\@let@token 13\else
-           \ifcat $\@let@token 14\else
-           15\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\relax
-   \or \tabu@Xtype {p}%
-   \or \tabu@Xtype {m}%
-   \or \tabu@Xtype {b}%
-   \or \tabu@Xalign \raggedright\relax
-   \or \tabu@Xalign \centering\relax
-   \or \tabu@Xalign \raggedleft\relax
-   \or \tabu@Xalign \tabu@justify\relax
-   \or \tabu@Xalign \RaggedRight\raggedright
-   \or \tabu@Xalign \Centering\centering
-   \or \tabu@Xalign \RaggedLeft\raggedleft
-   \or \tabu@Xalign \justifying\tabu@justify
-   \or \expandafter \tabu@Xparsespace
-   \or \expandafter \tabu@Xcoef
-   \or \expandafter \tabu@Xm@th
-   \or \tabu@Xcoef{}%
-   \else\expandafter \tabu@Xparse
-   \fi
-}% \tabu@Xtest
-\def\tabu@Xalign #1#2{%
-    \ifx \tabu@Xlcr\@empty \else \PackageWarning{tabu}
-       {Duplicate horizontal alignment specification}\fi
-    \ifdefined#1\def\tabu@Xlcr{#1}\let#1\relax
-    \else       \def\tabu@Xlcr{#2}\let#2\relax\fi
-    \expandafter\tabu@Xparse
-}% \tabu@Xalign
-\def\tabu@Xtype #1{%
-    \ifx \tabu@rewritten\@empty \else \PackageWarning{tabu}
-            {Duplicate vertical alignment specification}\fi
-    \def\tabu@rewritten{#1}\expandafter\tabu@Xparse
-}% \tabu@Xtype
-\def\tabu@Xcoef#1{\edef\tabu@temp{\tabu@temp#1}%
-    \afterassignment\tabu@Xc@ef \tabu@cnt\number\if-#10\fi
-}% \tabu@Xcoef
-\def\tabu@Xc@ef{\advance\tabucolX \tabu@temp\the\tabu@cnt\p@
-    \tabu@Xparse{}%
-}% \tabu@Xc@ef
-\def\tabu@Xm@th #1{\futurelet \@let@token \tabu@Xd@sp}
-\def\tabu@Xd@sp{\let\tabu@Xmath=$%
-    \ifx $\@let@token \def\tabu@Xdisp{\displaystyle}%
-            \expandafter\tabu@Xparse
-    \else   \expandafter\tabu@Xparse\expandafter{\expandafter}%
-    \fi
-}% \tabu@Xd@sp
-\def\tabu@Xrewritten {%
-   \ifx  \tabu@rewritten\@empty \def\tabu@rewritten{p}\fi
-   \ifdim \tabucolX<\z@         \tabu@negcoeftrue
-   \else\ifdim \tabucolX=\z@    \tabucolX \p@
-   \fi\fi
-   \edef\tabu@temp{{\the\tabu@Xcol}{\tabu@strippt\tabucolX}}%
-   \edef\tabu@Xcoefs{\tabu@Xcoefs    \tabu@      \tabu@temp}%
-   \edef\tabu@rewritten ##1##2{\def\noexpand\tabu@rewritten{%
-        >{\tabu@Xlcr \ifx$\tabu@Xmath$\tabu@Xdisp\fi ##1}%
-                    \tabu@rewritten {\tabu@hsize \tabu@temp}%
-        <{##2\ifx$\tabu@Xmath$\fi}}%
-   }\tabu@rewritten
-}% \tabu@Xrewritten
-\def\tabu@hsize #1#2{%
-    \ifdim #2\p@<\z@
-        \ifdim \tabucolX=\maxdimen \tabu@wd{#1}\else
-        \ifdim \tabu@wd{#1}<-#2\tabucolX \tabu@wd{#1}\else -#2\tabucolX\fi
-        \fi
-   \else #2\tabucolX
-   \fi
-}% \tabu@hsize
-%% \usetabu  and  \preamble: rewriting process ---------------------
-\tabu@privatecolumntype \usetabu [1]{%
-    \ifx\\#1\\\tabu@saveerr{}\else
-        \@ifundefined{tabu@saved@\string#1}
-            {\tabu@saveerr{#1}}
-            {\let\tabu@rewriteX \tabu@rewriteXrestore
-             \csname tabu@saved@\string#1\expandafter\endcsname\expandafter\@ne}%
-    \fi
-}% \NC@rewrite@\usetabu
-\tabu@privatecolumntype \preamble [1]{%
-    \ifx\\#1\\\tabu@saveerr{}\else
-        \@ifundefined{tabu@saved@\string#1}
-            {\tabu@saveerr{#1}}
-            {\csname tabu@saved@\string#1\expandafter\endcsname\expandafter\z@}%
-    \fi
-}% \NC@rewrite@\preamble
-%% Controlling the rewriting process -------------------------------
-\tabu@newcolumntype \tabu@rewritefirst{%
-    \iftabu@long    \aftergroup \tabu@longpream  % <the whole implementation is here !>
-    \else           \aftergroup \tabu@pream
-    \fi
-    \let\tabu@          \relax      \let\tabu@hsize     \relax
-    \let\tabu@Xcoefs    \@empty     \let\tabu@savels    \relax
-    \tabu@Xcol          \z@         \tabu@cnt           \tw@
-    \gdef\tabu@mkpreambuffer{\tabu@{}}\tabu@measuringfalse
-    \global\setbox\@arstrutbox \box\@arstrutbox
-    \NC@list{\NC@do *}\tabu@textbar \tabu@lines
-    \NC@list\expandafter{\the\NC@list \NC@do X}%
-    \iftabu@siunitx     % <siunitx S and s columns>
-            \NC@list\expandafter{\the\NC@list \NC@do S\NC@do s}\fi
-    \NC@list\expandafter{\the\expandafter\NC@list \tabu@highprioritycolumns}%
-    \expandafter\def\expandafter\tabu@NC@list\expandafter{%
-                    \the\expandafter\NC@list \tabu@NC@list}%    % * | X S <original>
-    \NC@list\expandafter{\expandafter \NC@do \expandafter\usetabu
-                         \expandafter \NC@do \expandafter\preamble
-                         \the\NC@list \NC@do \tabu@rewritemiddle
-                                      \NC@do \tabu@rewritelast}%
-    \tabu@savedecl
-    \tabu@privatecolumns
-    \edef\tabu@prev{\the\@temptokena}\NC@find \tabu@rewritemiddle
-}% NC@rewrite@\tabu@rewritefirst
-\tabu@newcolumntype \tabu@rewritemiddle{%
-    \edef\tabu@temp{\the\@temptokena}\NC@find \tabu@rewritelast
-}% \NC@rewrite@\tabu@rewritemiddle
-\tabu@newcolumntype \tabu@rewritelast{%
-    \ifx \tabu@temp\tabu@prev   \advance\tabu@cnt \m@ne
-            \NC@list\expandafter{\tabu@NC@list \NC@do \tabu@rewritemiddle
-                                               \NC@do \tabu@rewritelast}%
-    \else \let\tabu@prev\tabu@temp
-    \fi
-    \ifcase \tabu@cnt   \expandafter\tabu@endrewrite
-    \else               \expandafter\NC@find \expandafter\tabu@rewritemiddle
-    \fi
-}% \NC@rewrite@\tabu@rewritelast
-%% Choosing the strategy --------------------------------------------
-\def\tabu@endrewrite {%
-    \let\tabu@temp \NC@find
-    \ifx \@arrayright\relax \let\@arrayright \@empty  \fi
-    \count@=%
-        \ifx \@finalstrut\tabu@finalstrut \z@ % outer in mode 0 print
-             \iftabu@measuring
-                \xdef\tabu@mkpreambuffer{\tabu@mkpreambuffer
-                    \tabu@target        \csname tabu@\the\tabu@nested.T\endcsname
-                    \tabucolX           \csname tabu@\the\tabu@nested.X\endcsname
-                    \edef\@halignto {\ifx\@arrayright\@empty to\tabu@target\fi}}%
-             \fi
-        \else\iftabu@measuring        4       % X columns
-                \xdef\tabu@mkpreambuffer{\tabu@{\tabu@mkpreambuffer
-                    \tabu@target        \the\tabu@target
-                    \tabu@spreadtarget  \the\tabu@spreadtarget}%
-                    \def\noexpand\tabu@Xcoefs{\tabu@Xcoefs}%
-                    \edef\tabu@halignto{\ifx \@arrayright\@empty to\tabu@target\fi}}%
-                 \let\tabu@Xcoefs \relax
-             \else\ifcase\tabu@nested \thr@@  % outer, no X
-                                      \global\let\tabu@afterendpar \relax
-                  \else               \@ne    % inner, no X, outer in mode 1 or 2
-                  \fi
-                  \ifdefined\tabu@usetabu
-                  \else \ifdim\tabu@target=\z@
-                  \else \let\tabu@temp \tabu@extracolsep
-                  \fi\fi
-             \fi
-        \fi
-    \xdef\tabu@mkpreambuffer{\count@ \the\count@ \tabu@mkpreambuffer}%
-    \tabu@temp
-}% \tabu@endrewrite
-\def\tabu@extracolsep{\@defaultunits    \expandafter\let
-    \expandafter\tabu@temp \expandafter=\the\@temptokena \relax\@nnil
-    \ifx \tabu@temp\@sptoken
-        \expandafter\tabu@gobblespace \expandafter\tabu@extracolsep
-    \else
-        \edef\tabu@temp{\noexpand\NC@find
-            \if |\noexpand\tabu@temp        @%
-            \else\if !\noexpand\tabu@temp   @%
-            \else                           !%
-            \fi\fi
-            {\noexpand\extracolsep\noexpand\@flushglue}}%
-    \fi
-    \tabu@temp
-}% \tabu@extrac@lsep
-%% Implementing the strategy ----------------------------------------
-\long\def\tabu@pream #1\@preamble {%
-    \let\tabu@ \tabu@@  \tabu@mkpreambuffer     \tabu@aftergroupcleanup
-    \NC@list\expandafter {\tabu@NC@list}%    in case of nesting...
-    \ifdefined\tabu@usetabu \tabu@usetabu \tabu@target \z@ \fi
-    \let\tabu@savedpreamble \@preamble
-    \global\let\tabu@elapsedtime \relax
-    \tabu@thebody ={#1\tabu@aftergroupcleanup}%
-    \tabu@thebody =\expandafter{\the\expandafter\tabu@thebody
-                                                \@preamble}%
-    \edef\tabuthepreamble {\the\tabu@thebody}% ( no @ allowed for \scantokens )
-    \tabu@select
-}% \tabu@pream
-\long\def\tabu@longpream #1\LT@bchunk #2\LT@bchunk{%
-    \let\tabu@ \tabu@@  \tabu@mkpreambuffer     \tabu@aftergroupcleanup
-    \NC@list\expandafter {\tabu@NC@list}%    in case of nesting...
-    \let\tabu@savedpreamble \@preamble
-    \global\let\tabu@elapsedtime \relax
-    \tabu@thebody ={#1\LT@bchunk #2\tabu@aftergroupcleanup \LT@bchunk}%
-    \edef\tabuthepreamble {\the\tabu@thebody}% ( no @ allowed for \scantokens )
-    \tabu@select
-}% \tabu@longpream
-\def\tabu@select {%
-    \ifnum\tabu@nested>\z@ \tabuscantokensfalse \fi
-    \ifnum \count@=\@ne \iftabu@measuring \count@=\tw@ \fi\fi
-    \ifcase \count@
-        \global\let\tabu@elapsedtime \relax
-        \tabu@seteverycr
-        \expandafter \tabuthepreamble       % vertical adjustment (inherited from outer)
-    \or      % exit in vertical measure + struts per cell because no X and outer in mode 3
-        \tabu@evr{\tabu@verticalinit}\tabu@celllalign@def{\tabu@verticalmeasure}%
-        \def\tabu@cellralign{\tabu@verticalspacing}%
-        \tabu@seteverycr
-        \expandafter \tabuthepreamble
-    \or                            % exit without measure because no X and outer in mode 4
-        \tabu@evr{}\tabu@celllalign@def{}\let\tabu@cellralign \@empty
-        \tabu@seteverycr
-        \expandafter \tabuthepreamble
-    \else                                   % needs trials
-        \tabu@evr{}\tabu@celllalign@def{}\let\tabu@cellralign \@empty
-        \tabu@savecounters
-        \expandafter \tabu@setstrategy
-    \fi
-}% \tabu@select
-\def\tabu@@ {\gdef\tabu@mkpreambuffer}
-%% Protections to set up before trials ------------------------------
-\def\tabu@setstrategy {\begingroup  % <trials group>
-    \tabu@trialh@@k    \tabu@cnt    \z@  % number of trials
-    \hbadness          \@M          \let\hbadness          \@tempcnta
-    \hfuzz             \maxdimen    \let\hfuzz             \@tempdima
-    \let\write         \tabu@nowrite\let\GenericError      \tabu@GenericError
-    \let\savetabu      \@gobble     \let\tabudefaulttarget \linewidth
-    \let\@footnotetext \@gobble     \let\@xfootnote        \tabu@xfootnote
-    \let\color         \tabu@nocolor\let\rowcolor          \tabu@norowcolor
-    \let\tabu@aftergroupcleanup \relax % only after the last trial
-    \tabu@mkpreambuffer
-    \ifnum \count@>\thr@@ \let\@halignto \@empty  \tabucolX@init
-                          \def\tabu@lasttry{\m@ne\p@}\fi
-    \begingroup \iffalse{\fi \ifnum0=`}\fi
-        \toks@{}\def\tabu@stack{b}\iftabuscantokens \endlinechar=10 \obeyspaces \fi %
-                                  \tabu@collectbody \tabu@strategy %
-}% \tabu@setstrategy
-\def\tabu@savecounters{%
-    \def\@elt ##1{\csname c@##1\endcsname\the\csname c@##1\endcsname}%
-    \edef\tabu@clckpt {\begingroup \globaldefs=\@ne \cl@@ckpt \endgroup}\let\@elt \relax
-}% \tabu@savecounters
-\def\tabucolX@init {%  \tabucolX <= \tabu@target / (sum coefs > 0)
-    \dimen@ \z@ \tabu@Xsum \z@ \tabucolX \z@ \let\tabu@ \tabu@Xinit \tabu@Xcoefs
-    \ifdim \dimen@>\z@
-        \@tempdima \dimexpr \tabu@target *\p@/\dimen@ + \tabu@hfuzz\relax
-        \ifdim \tabucolX<\@tempdima \tabucolX \@tempdima \fi
-    \fi
-}% \tabucolX@init
-\def\tabu@Xinit #1#2{\tabu@Xcol #1 \advance \tabu@Xsum
-    \ifdim #2\p@>\z@ #2\p@  \advance\dimen@ #2\p@
-    \else           -#2\p@  \tabu@negcoeftrue
-                            \@tempdima \dimexpr \tabu@target*\p@/\dimexpr-#2\p@\relax \relax
-                            \ifdim \tabucolX<\@tempdima \tabucolX \@tempdima \fi
-                            \tabu@wddef{#1}{0pt}%
-    \fi
-}% \tabu@Xinit
-%% Collecting the environment body ----------------------------------
-\long\def\tabu@collectbody #1#2\end #3{%
-    \edef\tabu@stack{\tabu@pushbegins #2\begin\end\expandafter\@gobble\tabu@stack}%
-    \ifx \tabu@stack\@empty
-        \toks@\expandafter{\expandafter\tabu@thebody\expandafter{\the\toks@ #2}%
-                \def\tabu@end@envir{\end{#3}}%
-                \iftabuscantokens
-                    \iftabu@long \def\tabu@endenvir {\end{#3}\tabu@gobbleX}%
-                    \else        \def\tabu@endenvir {\let\endarray \@empty
-                                                     \end{#3}\tabu@gobbleX}%
-                    \fi
-                \else           \def\tabu@endenvir  {\end{#3}}\fi}%
-        \let\tabu@collectbody \tabu@endofcollect
-    \else\def\tabu@temp{#3}%
-        \ifx \tabu@temp\@empty \toks@\expandafter{\the\toks@ #2\end }%
-        \else \ifx\tabu@temp\tabu@@spxiii \toks@\expandafter{\the\toks@ #2\end #3}%
-        \else \ifx\tabu@temp\tabu@X \toks@\expandafter{\the\toks@ #2\end #3}%
-        \else \toks@\expandafter{\the\toks@ #2\end{#3}}%
-        \fi\fi\fi
-    \fi
-    \tabu@collectbody{#1}%
-}% \tabu@collectbody
-\long\def\tabu@pushbegins#1\begin#2{\ifx\end#2\else b\expandafter\tabu@pushbegins\fi}%
-\def\tabu@endofcollect #1{\ifnum0=`{}\fi
-                          \expandafter\endgroup \the\toks@  #1%
-}% \tabu@endofcollect
-%% The trials: switching between strategies -------------------------
-\def\tabu@strategy {\relax  % stops \count@ assignment !
-    \ifcase\count@          % case 0 = print with vertical adjustment (outer is finished)
-        \expandafter \tabu@endoftrials
-    \or                     % case 1 = exit in vertical measure (outer in mode 3)
-        \expandafter\xdef\csname tabu@\the\tabu@nested.T\endcsname{\the\tabu@target}%
-        \expandafter\xdef\csname tabu@\the\tabu@nested.X\endcsname{\the\tabucolX}%
-        \expandafter \tabu@endoftrials
-    \or                     % case 2 = exit with a rule replacing the table (outer in mode 4)
-        \expandafter \tabu@quickend
-    \or                     % case 3 = outer is in mode 3 because of no X
-        \begingroup
-            \tabu@evr{\tabu@verticalinit}\tabu@celllalign@def{\tabu@verticalmeasure}%
-            \def\tabu@cellralign{\tabu@verticalspacing}%
-            \expandafter \tabu@measuring
-    \else                   % case 4 = horizontal measure
-        \begingroup
-            \global\let\tabu@elapsedtime \tabu@message@etime
-            \long\def\multicolumn##1##2##3{\multispan{##1}}%
-            \let\tabu@startpboxORI \@startpbox
-            \iftabu@spread
-                    \def\tabu@naturalXmax {\z@}%
-                    \let\tabu@naturalXmin \tabu@naturalXmax
-                    \tabu@evr{\global\tabu@naturalX \z@}%
-                    \let\@startpbox \tabu@startpboxmeasure
-            \else\iftabu@negcoef
-                    \let\@startpbox \tabu@startpboxmeasure
-            \else   \let\@startpbox \tabu@startpboxquick
-            \fi\fi
-            \expandafter \tabu@measuring
-    \fi
-}% \tabu@strategy
-\def\tabu@measuring{\expandafter \tabu@trial \expandafter
-                                                \count@ \the\count@ \tabu@endtrial
-}% \tabu@measuring
-\def\tabu@trial{\iftabu@long \tabu@longtrial \else \tabu@shorttrial \fi}
-\def\tabu@shorttrial {\setbox\tabu@box \hbox\bgroup \tabu@seteverycr
-    \ifx \tabu@savecounters\relax \else
-                \let\tabu@savecounters \relax \tabu@clckpt \fi
-    $\iftabuscantokens \tabu@rescan \else \expandafter\@secondoftwo \fi
-       \expandafter{\expandafter \tabuthepreamble
-                         \the\tabu@thebody
-                         \csname tabu@adl@endtrial\endcsname
-                         \endarray}$\egroup             % got \tabu@box
-}% \tabu@shorttrial
-\def\tabu@longtrial {\setbox\tabu@box \hbox\bgroup \tabu@seteverycr
-    \ifx \tabu@savecounters\relax \else
-                \let\tabu@savecounters \relax \tabu@clckpt \fi
-    \iftabuscantokens \tabu@rescan \else \expandafter\@secondoftwo \fi
-       \expandafter{\expandafter \tabuthepreamble
-                         \the\tabu@thebody
-                         \tabuendlongtrial}\egroup      % got \tabu@box
-}% \tabu@longtrial
-\def\tabuendlongtrial{% no @ allowed for \scantokens
-    \LT@echunk  \global\setbox\@ne \hbox{\unhbox\@ne}\kern\wd\@ne
-                \LT@get@widths
-}% \tabuendlongtrial
-\def\tabu@adl@endtrial{% <arydshln in nested trials - problem for global column counters!>
-    \crcr \noalign{\global\adl@ncol \tabu@nbcols}}% anything global is crap, junky and fails !
-\def\tabu@seteverycr {\tabu@reset
-    \everycr \expandafter{\the\everycr  \tabu@everycr}%
-    \let\everycr \tabu@noeverycr                      % <for ialign>
-}% \tabu@seteverycr
-\def\tabu@noeverycr{{\aftergroup\tabu@restoreeverycr \afterassignment}\toks@}
-\def\tabu@restoreeverycr {\let\everycr \tabu@@everycr}
-\def\tabu@everycr {\iftabu@everyrow \noalign{\tabu@everyrow}\fi}
-\def\tabu@endoftrials {%
-    \iftabuscantokens   \expandafter\@firstoftwo
-    \else               \expandafter\@secondoftwo
-    \fi
-        {\expandafter \tabu@closetrialsgroup \expandafter
-         \tabu@rescan \expandafter{%
-                    \expandafter\tabuthepreamble
-                        \the\expandafter\tabu@thebody
-                                    \iftabu@long \else \endarray \fi}}
-        {\expandafter\tabu@closetrialsgroup \expandafter
-                    \tabuthepreamble
-                        \the\tabu@thebody}%
-                                        \tabu@endenvir      % Finish !
-}% \tabu@endoftrials
-\def\tabu@closetrialsgroup {%
-    \toks@\expandafter{\tabu@endenvir}%
-    \edef\tabu@bufferX{\endgroup
-        \tabucolX       \the\tabucolX
-        \tabu@target    \the\tabu@target
-        \tabu@cnt       \the\tabu@cnt
-        \def\noexpand\tabu@endenvir{\the\toks@}%
-        %Quid de \@halignto = \tabu@halignto ??
-    }% \tabu@bufferX
-    \tabu@bufferX
-    \ifcase\tabu@nested % print out (outer in mode 0)
-        \global\tabu@cnt \tabu@cnt
-        \tabu@evr{\tabu@verticaldynamicadjustment}%
-        \tabu@celllalign@def{\everypar{}}\let\tabu@cellralign \@empty
-        \let\@finalstrut \tabu@finalstrut
-    \else               % vertical measure of nested tabu
-        \tabu@evr{\tabu@verticalinit}%
-        \tabu@celllalign@def{\tabu@verticalmeasure}%
-        \def\tabu@cellralign{\tabu@verticalspacing}%
-    \fi
-    \tabu@clckpt \let\@halignto \tabu@halignto
-    \let\@halignto \@empty
-    \tabu@seteverycr
-    \ifdim \tabustrutrule>\z@ \ifnum\tabu@nested=\z@
-        \setbox\@arstrutbox \box\voidb@x % force \@arstrutbox to be rebuilt (visible struts)
-    \fi\fi
-}% \tabu@closetrialsgroup
-\def\tabu@quickend {\expandafter \endgroup \expandafter
-                        \tabu@target \the\tabu@target \tabu@quickrule
-                        \let\endarray \relax \tabu@endenvir
-}% \tabu@quickend
-\def\tabu@endtrial {\relax      % stops \count@ assignment !
-    \ifcase \count@ \tabu@err   % case 0 = impossible here
-    \or             \tabu@err   % case 1 = impossible here
-    \or             \tabu@err   % case 2 = impossible here
-    \or                         % case 3 = outer goes into mode 0
-        \def\tabu@bufferX{\endgroup}\count@ \z@
-    \else                       % case 4 = outer goes into mode 3
-        \iftabu@spread  \tabu@spreadarith % inner into mode 1 (outer in mode 3)
-        \else           \tabu@arith       %              or 2 (outer in mode 4)
-        \fi
-        \count@=%
-            \ifcase\tabu@nested     \thr@@  % outer goes into mode 3
-            \else\iftabu@measuring  \tw@    % outer is in mode 4
-            \else                   \@ne    % outer is in mode 3
-            \fi\fi
-        \edef\tabu@bufferX{\endgroup
-                           \tabucolX        \the\tabucolX
-                           \tabu@target     \the\tabu@target}%
-    \fi
-    \expandafter \tabu@bufferX \expandafter
-                                    \count@ \the\count@  \tabu@strategy
-}% \tabu@endtrial
-\def\tabu@err{\errmessage{(tabu) Internal impossible error! (\count@=\the\count@)}}
-%% The algorithms: compute the widths / stop or go on ---------------
-\def\tabu@arithnegcoef {%
-    \@tempdima \z@ \dimen@ \z@ \let\tabu@ \tabu@arith@negcoef \tabu@Xcoefs
-}% \tabu@arithnegcoef
-\def\tabu@arith@negcoef #1#2{%
-    \ifdim #2\p@>\z@    \advance\dimen@     #2\p@       % saturated by definition
-                        \advance\@tempdima  #2\tabucolX
-    \else
-        \ifdim -#2\tabucolX <\tabu@wd{#1}% c_i X < natural width <= \tabu@target-> saturated
-                        \advance\dimen@     -#2\p@
-                        \advance\@tempdima  -#2\tabucolX
-        \else
-                        \advance\@tempdima \tabu@wd{#1}% natural width <= c_i X => neutralised
-                        \ifdim \tabu@wd{#1}<\tabu@target \else % neutralised
-                        \advance\dimen@     -#2\p@ % saturated (natural width = tabu@target)
-                        \fi
-        \fi
-    \fi
-}% \tabu@arith@negcoef
-\def\tabu@givespace #1#2{% here \tabu@DELTA < \z@
-    \ifdim \@tempdima=\z@
-        \tabu@wddef{#1}{\the\dimexpr -\tabu@DELTA*\p@/\tabu@Xsum}%
-    \else
-        \tabu@wddef{#1}{\the\dimexpr \tabu@hsize{#1}{#2}
-                    *(\p@ -\tabu@DELTA*\p@/\@tempdima)/\p@\relax}%
-    \fi
-}% \tabu@givespace
-\def\tabu@arith {\advance\tabu@cnt \@ne
-    \ifnum \tabu@cnt=\@ne \tabu@message{\tabu@titles}\fi
-    \tabu@arithnegcoef
-    \@tempdimb \dimexpr \wd\tabu@box -\@tempdima \relax % <incompressible material>
-    \tabu@DELTA = \dimexpr \wd\tabu@box - \tabu@target \relax
-    \tabu@message{\tabu@message@arith}%
-    \ifdim \tabu@DELTA <\tabu@hfuzz
-        \ifdim \tabu@DELTA<\z@          % wd (tabu)<\tabu@target ?
-            \let\tabu@ \tabu@givespace \tabu@Xcoefs
-            \advance\@tempdima \@tempdimb \advance\@tempdima -\tabu@DELTA % for message
-        \else   % already converged: nothing to do but nearly impossible...
-        \fi
-        \tabucolX \maxdimen
-        \tabu@measuringfalse
-    \else                               % need for narrower X columns
-        \tabucolX =\dimexpr (\@tempdima -\tabu@DELTA) *\p@/\tabu@Xsum \relax
-        \tabu@measuringtrue
-        \@whilesw \iftabu@measuring\fi {%
-            \advance\tabu@cnt \@ne
-            \tabu@arithnegcoef
-            \tabu@DELTA =\dimexpr \@tempdima+\@tempdimb -\tabu@target \relax % always < 0 here
-            \tabu@message{\tabu@header
-                \tabu@msgalign \tabucolX { }{ }{ }{ }{ }\@@
-                \tabu@msgalign \@tempdima+\@tempdimb { }{ }{ }{ }{ }\@@
-                \tabu@msgalign \tabu@target { }{ }{ }{ }{ }\@@
-                \tabu@msgalign@PT \dimen@ { }{}{}{}{}{}{}\@@
-                \ifdim -\tabu@DELTA<\tabu@hfuzz \tabu@spaces target ok\else
-                \tabu@msgalign \dimexpr -\tabu@DELTA *\p@/\dimen@ {}{}{}{}{}\@@
-                \fi}%
-            \ifdim -\tabu@DELTA<\tabu@hfuzz
-                \advance\@tempdima \@tempdimb % for message
-                \tabu@measuringfalse
-            \else
-                \advance\tabucolX \dimexpr -\tabu@DELTA *\p@/\dimen@ \relax
-            \fi
-        }%
-    \fi
-    \tabu@message{\tabu@message@reached}%
-    \edef\tabu@bufferX{\endgroup \tabu@cnt    \the\tabu@cnt
-                                 \tabucolX    \the\tabucolX
-                                 \tabu@target \the\tabu@target}%
-}% \tabu@arith
-\def\tabu@spreadarith {%
-    \dimen@ \z@ \@tempdima \tabu@naturalXmax \let\tabu@ \tabu@spread@arith \tabu@Xcoefs
-    \edef\tabu@naturalXmin {\the\dimexpr\tabu@naturalXmin*\dimen@/\p@}%
-    \@tempdimc =\dimexpr \wd\tabu@box -\tabu@naturalXmax+\tabu@naturalXmin \relax
-    \iftabu@measuring
-        \tabu@target =\dimexpr \@tempdimc+\tabu@spreadtarget \relax
-        \edef\tabu@bufferX{\endgroup \tabucolX \the\tabucolX \tabu@target\the\tabu@target}%
-    \else
-        \tabu@message{\tabu@message@spreadarith}%
-        \ifdim \dimexpr \@tempdimc+\tabu@spreadtarget >\tabu@target
-            \tabu@message{(tabu) spread
-                \ifdim \@tempdimc>\tabu@target useless here: default target used%
-                \else too large: reduced to fit default target\fi.}%
-        \else
-            \tabu@target =\dimexpr \@tempdimc+\tabu@spreadtarget \relax
-            \tabu@message{(tabu) spread: New target set to \the\tabu@target^^J}%
-        \fi
-        \begingroup \let\tabu@wddef \@gobbletwo
-            \@tempdimb \@tempdima
-            \tabucolX@init
-            \tabu@arithnegcoef
-            \wd\tabu@box =\dimexpr \wd\tabu@box +\@tempdima-\@tempdimb \relax
-        \expandafter\endgroup \expandafter\tabucolX \the\tabucolX
-        \tabu@arith
-    \fi
-}% \tabu@spreadarith
-\def\tabu@spread@arith #1#2{%
-    \ifdim #2\p@>\z@ \advance\dimen@ #2\p@
-    \else            \advance\@tempdima \tabu@wd{#1}\relax
-    \fi
-}% \tabu@spread@arith
-%% Reporting in the .log file ---------------------------------------
-\def\tabu@message@defaulttarget{%
-    \ifnum\tabu@nested=\z@^^J(tabu) Default target:
-    \ifx\tabudefaulttarget\linewidth    \string\linewidth
-        \ifdim \tabu@thetarget=\linewidth \else
-            -\the\dimexpr\linewidth-\tabu@thetarget\fi  =
-    \else\ifx\tabudefaulttarget\linegoal\string\linegoal=
-    \fi\fi
-    \else (tabu) Default target (nested): \fi
-    \the\tabu@target \on@line
-    \ifnum\tabu@nested=\z@ , page \the\c@page\fi}
-\def\tabu@message@target {^^J(tabu) Target specified:
-   \the\tabu@target \on@line, page \the\c@page}
-\def\tabu@message@arith {\tabu@header
-    \tabu@msgalign \tabucolX { }{ }{ }{ }{ }\@@
-    \tabu@msgalign \wd\tabu@box { }{ }{ }{ }{ }\@@
-    \tabu@msgalign \tabu@target { }{ }{ }{ }{ }\@@
-    \tabu@msgalign@PT \dimen@ { }{}{}{}{}{}{}\@@
-    \ifdim \tabu@DELTA<\tabu@hfuzz giving space\else
-    \tabu@msgalign \dimexpr (\@tempdima-\tabu@DELTA) *\p@/\tabu@Xsum -\tabucolX {}{}{}{}{}\@@
-    \fi
-}% \tabu@message@arith
-\def\tabu@message@spreadarith {\tabu@spreadheader
-   \tabu@msgalign \tabu@spreadtarget { }{ }{ }{ }{}\@@
-   \tabu@msgalign \wd\tabu@box { }{ }{ }{ }{}\@@
-   \tabu@msgalign -\tabu@naturalXmax { }{}{}{}{}\@@
-   \tabu@msgalign \tabu@naturalXmin { }{ }{ }{ }{}\@@
-   \tabu@msgalign \ifdim \dimexpr\@tempdimc>\tabu@target \tabu@target
-                  \else  \@tempdimc+\tabu@spreadtarget \fi
-                  {}{}{}{}{}\@@}
-\def\tabu@message@negcoef #1#2{
-    \tabu@spaces\tabu@spaces\space * #1. X[\rem@pt#2]:
-    \space width = \tabu@wd {#1}
-        \expandafter\string\csname tabu@\the\tabu@nested.W\number#1\endcsname
-    \ifdim -\tabu@pt#2\tabucolX<\tabu@target
-    < \number-\rem@pt#2 X
-    = \the\dimexpr -\tabu@pt#2\tabucolX \relax
-    \else
-    <= \the\tabu@target\space < \number-\rem@pt#2 X\fi}
-\def\tabu@message@reached{\tabu@header
-     ******* Reached Target:
-            hfuzz = \tabu@hfuzz\on@line\space *******}
-\def\tabu@message@etime{\edef\tabu@stoptime{\the\pdfelapsedtime}%
-    \tabu@message{(tabu)\tabu@spaces Time elapsed during measure:
-    \the\numexpr(\tabu@stoptime-\tabu@starttime-32767)/65536\relax sec
-    \the\numexpr\numexpr(\tabu@stoptime-\tabu@starttime)
-    -\numexpr(\tabu@stoptime-\tabu@starttime-32767)/65536\relax*65536\relax
-    *1000/65536\relax ms \tabu@spaces(\the\tabu@cnt\space
-                                        cycle\ifnum\tabu@cnt>\@ne s\fi)^^J^^J}}
-\def\tabu@message@verticalsp {%
-    \ifdim \@tempdima>\tabu@ht
-        \ifdim \@tempdimb>\tabu@dp
-        \expandafter\expandafter\expandafter\string\tabu@ht =
-            \tabu@msgalign \@tempdima { }{ }{ }{ }{ }\@@
-        \expandafter\expandafter\expandafter\string\tabu@dp =
-            \tabu@msgalign \@tempdimb { }{ }{ }{ }{ }\@@^^J%
-        \else
-        \expandafter\expandafter\expandafter\string\tabu@ht =
-            \tabu@msgalign \@tempdima { }{ }{ }{ }{ }\@@^^J%
-        \fi
-    \else\ifdim \@tempdimb>\tabu@dp
-        \tabu@spaces\tabu@spaces\tabu@spaces
-        \expandafter\expandafter\expandafter\string\tabu@dp =
-            \tabu@msgalign \@tempdimb { }{ }{ }{ }{ }\@@^^J\fi
-    \fi
-}% \tabu@message@verticalsp
-\edef\tabu@spaces{\@spaces}
-\def\tabu@strippt{\expandafter\tabu@pt\the}
-{\@makeother\P \@makeother\T\lowercase{\gdef\tabu@pt #1PT{#1}}}
-\def\tabu@msgalign{\expandafter\tabu@msg@align\the\dimexpr}
-\def\tabu@msgalign@PT{\expandafter\tabu@msg@align\romannumeral-`\0\tabu@strippt}
-\def\do #1{%
-    \def\tabu@msg@align##1.##2##3##4##5##6##7##8##9\@@{%
-    \ifnum##1<10 #1 #1\else
-    \ifnum##1<100 #1 \else
-    \ifnum##1<\@m #1\fi\fi\fi
-    ##1.##2##3##4##5##6##7##8#1}%
-    \def\tabu@header{(tabu) \ifnum\tabu@cnt<10 #1\fi\the\tabu@cnt) }%
-    \def\tabu@titles{\ifnum \tabu@nested=\z@
-      (tabu) Try#1 #1 tabu X #1 #1 #1tabu Width #1 #1 Target
-                  #1 #1 #1 Coefs #1 #1 #1 Update^^J\fi}%
-    \def\tabu@spreadheader{%
-      (tabu) Try#1 #1 Spread #1 #1 tabu Width #1 #1 #1 Nat. X #1 #1 #1 #1Nat. Min.
-                                                      #1 New Target^^J%
-      (tabu) sprd}
-    \def\tabu@message@save {\begingroup
-        \def\x ####1{\tabu@msg@align ####1{ }{ }{ }{ }{}\@@}
-        \def\z ####1{\expandafter\x\expandafter{\romannumeral-`\0\tabu@strippt
-                                                     \dimexpr####1\p@{ }{ }}}%
-        \let\color \relax \def\tabu@rulesstyle ####1####2{\detokenize{####1}}%
-        \let\CT@arc@ \relax \let\@preamble \@gobble
-        \let\tabu@savedpream  \@firstofone
-        \let\tabu@savedparams \@firstofone
-        \def\tabu@target ####1\relax   {(tabu) target #1 #1 #1 #1 #1 = \x{####1}^^J}%
-        \def\tabucolX ####1\relax      {(tabu) X columns width#1 = \x{####1}^^J}%
-        \def\tabu@nbcols ####1\relax   {(tabu) Number of columns: \z{####1}^^J}%
-        \def\tabu@aligndefault    ####1{(tabu) Default alignment: #1 #1 ####1^^J}%
-        \def\col@sep ####1\relax       {(tabu) column sep #1 #1 #1 = \x{####1}^^J}%
-        \def\arrayrulewidth ####1\relax{(tabu) arrayrulewidth #1 = \x{####1}}%
-        \def\doublerulesep ####1\relax { doublerulesep = \x{####1}^^J}%
-        \def\extratabsurround####1\relax{(tabu) extratabsurround = \x{####1}^^J}%
-        \def\extrarowheight ####1\relax{(tabu) extrarowheight #1 = \x{####1}}%
-        \def\extrarowdepth ####1\relax {extrarowdepth = \x{####1}^^J}%
-        \def\abovetabulinesep####1\relax{(tabu) abovetabulinesep=\x{####1} }%
-        \def\belowtabulinesep####1\relax{ belowtabulinesep=\x{####1}^^J}%
-        \def\arraystretch         ####1{(tabu) arraystretch #1 #1 = \z{####1}^^J}%
-        \def\minrowclearance####1\relax{(tabu) minrowclearance #1 = \x{####1}^^J}%
-        \def\tabu@arc@L           ####1{(tabu) taburulecolor #1 #1 = ####1^^J}%
-        \def\tabu@drsc@L          ####1{(tabu) tabudoublerulecolor=  ####1^^J}%
-        \def\tabu@evr@L           ####1{(tabu) everyrow #1 #1 #1 #1 = \detokenize{####1}^^J}%
-        \def\tabu@ls@L            ####1{(tabu) line style = \detokenize{####1}^^J}%
-        \def\NC@find ####1\@nil{(tabu) tabu preamble#1 #1 = \detokenize{####1}^^J}%
-        \def\tabu@wddef####1####2{(tabu) Natural width ####1 = \x{####2}^^J}%
-        \let\edef \@gobbletwo \let\def \@empty \let\let \@gobbletwo
-        \tabu@message{%
-         (tabu) \string\savetabu{\tabu@temp}: \on@line^^J%
-         \tabu@usetabu \@nil^^J}%
-        \endgroup}
-}\do{ }
-%% Measuring the natural width (varwidth) - store the results -------
-\def\tabu@startpboxmeasure #1{\bgroup   % entering \vtop
-    \edef\tabu@temp{\expandafter\@secondoftwo \ifx\tabu@hsize #1\else\relax\fi}%
-    \ifodd 1\ifx \tabu@temp\@empty 0 \else      % starts with \tabu@hsize ?
-            \iftabu@spread           \else      % if spread -> measure
-            \ifdim \tabu@temp\p@>\z@ 0 \fi\fi\fi% if coef>0 -> do not measure
-        \let\@startpbox \tabu@startpboxORI      % restore immediately (nesting)
-        \tabu@measuringtrue                     % for the quick option...
-        \tabu@Xcol =\expandafter\@firstoftwo\ifx\tabu@hsize #1\fi
-        \ifdim \tabu@temp\p@>\z@ \ifdim \tabu@temp\tabucolX<\tabu@target
-                                        \tabu@target=\tabu@temp\tabucolX \fi\fi
-        \setbox\tabu@box  \hbox \bgroup
-            \begin{varwidth}\tabu@target
-                \let\FV@ListProcessLine \tabu@FV@ListProcessLine  % \hbox to natural width...
-                \narrowragged \arraybackslash \parfillskip \@flushglue
-                \ifdefined\pdfadjustspacing \pdfadjustspacing\z@ \fi
-                \bgroup \aftergroup\tabu@endpboxmeasure
-                \ifdefined \cellspacetoplimit \tabu@cellspacepatch \fi
-    \else \expandafter\@gobble
-                            \tabu@startpboxquick{#1}% \@gobble \bgroup
-    \fi
-}% \tabu@startpboxmeasure
-\def\tabu@cellspacepatch{\def\bcolumn##1\@nil{}\let\ecolumn\@empty
-                                          \bgroup\color@begingroup}
-\def\tabu@endpboxmeasure {%
-    \@finalstrut \@arstrutbox
-                    \end{varwidth}\egroup    % <got my \tabu@box>
-    \ifdim \tabu@temp\p@ <\z@   % neg coef
-        \ifdim \tabu@wd\tabu@Xcol <\wd\tabu@box
-            \tabu@wddef\tabu@Xcol {\the\wd\tabu@box}%
-            \tabu@debug{\tabu@message@endpboxmeasure}%
-        \fi
-    \else                       % spread coef>0
-        \global\advance \tabu@naturalX \wd\tabu@box
-        \@tempdima =\dimexpr \wd\tabu@box *\p@/\dimexpr \tabu@temp\p@\relax \relax
-        \ifdim \tabu@naturalXmax <\tabu@naturalX
-            \xdef\tabu@naturalXmax {\the\tabu@naturalX}\fi
-        \ifdim \tabu@naturalXmin <\@tempdima
-            \xdef\tabu@naturalXmin {\the\@tempdima}\fi
-    \fi
-   \box\tabu@box \egroup % end of \vtop (measure) restore \tabu@target
-}% \tabu@endpboxmeasure
-\def\tabu@wddef #1{\expandafter\xdef
-                   \csname tabu@\the\tabu@nested.W\number#1\endcsname}
-\def\tabu@wd    #1{\csname tabu@\the\tabu@nested.W\number#1\endcsname}
-\def\tabu@message@endpboxmeasure{\tabu@spaces\tabu@spaces<-> % <-> save natural wd
-    \the\tabu@Xcol. X[\tabu@temp]:
-    target = \the\tabucolX \space
-    \expandafter\expandafter\expandafter\string\tabu@wd\tabu@Xcol
-    =\tabu@wd\tabu@Xcol
-}% \tabu@message@endpboxmeasure
-\def\tabu@startpboxquick {\bgroup
-    \let\@startpbox \tabu@startpboxORI  % restore immediately
-    \let\tabu \tabu@quick               % \begin is expanded before...
-    \expandafter\@gobble \@startpbox    % gobbles \bgroup
-}% \tabu@startpboxquick
-\def\tabu@quick {\begingroup \iffalse{\fi \ifnum0=`}\fi
-    \toks@{}\def\tabu@stack{b}\tabu@collectbody \tabu@endquick
-}% \tabu@quick
-\def\tabu@endquick {%
-    \ifodd 1\ifx\tabu@end@envir\tabu@endtabu  \else
-            \ifx\tabu@end@envir\tabu@endtabus \else 0\fi\fi\relax
-            \endgroup
-    \else   \let\endtabu \relax
-            \tabu@end@envir
-    \fi
-}% \tabu@quick
-\def\tabu@endtabu   {\end{tabu}}
-\def\tabu@endtabus  {\end{tabu*}}
-%% Measuring the heights and depths - store the results -------------
-\def\tabu@verticalmeasure{\everypar{}%
-    \ifnum \currentgrouptype>12         % 14=semi-simple, 15=math shift group
-        \setbox\tabu@box =\hbox\bgroup
-            \let\tabu@verticalspacing \tabu@verticalsp@lcr
-            \d@llarbegin                % after \hbox ...
-    \else
-        \edef\tabu@temp{\ifnum\currentgrouptype=5\vtop
-                        \else\ifnum\currentgrouptype=12\vcenter
-                        \else\vbox\fi\fi}%
-        \setbox\tabu@box \hbox\bgroup$\tabu@temp \bgroup
-            \let\tabu@verticalspacing \tabu@verticalsp@pmb
-    \fi
-}% \tabu@verticalmeasure
-\def\tabu@verticalsp@lcr{%
-    \d@llarend \egroup       % <got my \tabu@box>
-    \@tempdima \dimexpr \ht\tabu@box+\abovetabulinesep
-    \@tempdimb \dimexpr \dp\tabu@box+\belowtabulinesep \relax
-        \ifdim\tabustrutrule>\z@ \tabu@debug{\tabu@message@verticalsp}\fi
-    \ifdim \tabu@ht<\@tempdima    \tabu@htdef{\the\@tempdima}\fi
-    \ifdim \tabu@dp<\@tempdimb    \tabu@dpdef{\the\@tempdimb}\fi
-    \noindent\vrule height\@tempdima depth\@tempdimb
-}% \tabu@verticalsp@lcr
-\def\tabu@verticalsp@pmb{% inserts struts as needed
-    \par \expandafter\egroup
-            \expandafter$\expandafter
-                    \egroup \expandafter
-                            \@tempdimc \the\prevdepth
-    \@tempdima \dimexpr \ht\tabu@box+\abovetabulinesep
-    \@tempdimb \dimexpr \dp\tabu@box+\belowtabulinesep \relax
-        \ifdim\tabustrutrule>\z@ \tabu@debug{\tabu@message@verticalsp}\fi
-    \ifdim \tabu@ht<\@tempdima    \tabu@htdef{\the\@tempdima}\fi
-    \ifdim \tabu@dp<\@tempdimb    \tabu@dpdef{\the\@tempdimb}\fi
-    \let\@finalstrut \@gobble
-    \hrule height\@tempdima depth\@tempdimb width\hsize
-%%    \box\tabu@box
-}% \tabu@verticalsp@pmb
-
-\def\tabu@verticalinit{%
-    \ifnum \c@taburow=\z@ \tabu@rearstrut \fi       % after \tabu@reset !
-    \advance\c@taburow \@ne
-    \tabu@htdef{\the\ht\@arstrutbox}\tabu@dpdef{\the\dp\@arstrutbox}%
-    \advance\c@taburow \m@ne
-}% \tabu@verticalinit
-\def\tabu@htdef {\expandafter\xdef \csname tabu@\the\tabu@nested.H\the\c@taburow\endcsname}
-\def\tabu@ht                      {\csname tabu@\the\tabu@nested.H\the\c@taburow\endcsname}
-\def\tabu@dpdef {\expandafter\xdef \csname tabu@\the\tabu@nested.D\the\c@taburow\endcsname}
-\def\tabu@dp                      {\csname tabu@\the\tabu@nested.D\the\c@taburow\endcsname}
-\def\tabu@verticaldynamicadjustment {%
-    \advance\c@taburow \@ne
-        \extrarowheight \dimexpr\tabu@ht - \ht\strutbox
-        \extrarowdepth  \dimexpr\tabu@dp - \dp\strutbox
-        \let\arraystretch \@empty
-    \advance\c@taburow \m@ne
-}% \tabu@verticaldynamicadjustment
-\def\tabuphantomline{\crcr \noalign{%
-    {\globaldefs \@ne
-        \setbox\@arstrutbox     \box\voidb@x
-        \let\tabu@@celllalign   \tabu@celllalign
-        \let\tabu@@cellralign   \tabu@cellralign
-        \let\tabu@@cellleft     \tabu@cellleft
-        \let\tabu@@cellright    \tabu@cellright
-        \let\tabu@@thevline     \tabu@thevline
-        \let\tabu@celllalign    \@empty
-        \let\tabu@cellralign    \@empty
-        \let\tabu@cellright     \@empty
-        \let\tabu@cellleft      \@empty
-        \let\tabu@thevline      \relax}%
-    \edef\tabu@temp{\tabu@multispan \tabu@nbcols{\noindent &}}%
-    \toks@\expandafter{\tabu@temp \noindent\tabu@everyrowfalse \cr
-        \noalign{\tabu@rearstrut
-            {\globaldefs\@ne
-                \let\tabu@celllalign \tabu@@celllalign
-                \let\tabu@cellralign \tabu@@cellralign
-                \let\tabu@cellleft   \tabu@@cellleft
-                \let\tabu@cellright  \tabu@@cellright
-                \let\tabu@thevline   \tabu@@thevline}}}%
-    \expandafter}\the\toks@
-}% \tabuphantomline
-%% \firsthline and \lasthline corrections ---------------------------
-\def\tabu@firstline {\tabu@hlineAZ  \tabu@firsthlinecorrection     {}}
-\def\tabu@firsthline{\tabu@hlineAZ  \tabu@firsthlinecorrection \hline}
-\def\tabu@lastline  {\tabu@hlineAZ  \tabu@lasthlinecorrection      {}}
-\def\tabu@lasthline {\tabu@hlineAZ  \tabu@lasthlinecorrection  \hline}
-\def\tabu@hline {% replaces \hline if no colortbl (see \AtBeginDocument)
-    \noalign{\ifnum0=`}\fi
-    {\CT@arc@\hrule height\arrayrulewidth}%
-    \futurelet \tabu@temp \tabu@xhline
-}% \tabu@hline
-\def\tabu@xhline{%
-    \ifx \tabu@temp \hline
-        {\ifx \CT@drsc@\relax \vskip
-         \else\ifx \CT@drsc@\@empty \vskip
-         \else \CT@drsc@\hrule height
-         \fi\fi
-         \doublerulesep}%
-    \fi
-    \ifnum0=`{\fi}%
-}% \tabu@xhline
-\def\tabu@hlineAZ #1#2{\noalign{\ifnum0=`}\fi \dimen@ \z@ \count@ \z@
-    \toks@{}\def\tabu@hlinecorrection{#1}\def\tabu@temp{#2}%
-    \tabu@hlineAZsurround
-}% \tabu@hlineAZ
-\newcommand*\tabu@hlineAZsurround[1][\extratabsurround]{%
-    \extratabsurround #1\let\tabucline \tabucline@scan
-    \let\hline     \tabu@hlinescan \let\firsthline \hline
-    \let\cline     \tabu@clinescan \let\lasthline  \hline
-    \expandafter \futurelet \expandafter \tabu@temp
-                \expandafter \tabu@nexthlineAZ \tabu@temp
-}% \tabu@hlineAZsurround
-\def\tabu@hlinescan   {\tabu@thick \arrayrulewidth \tabu@xhlineAZ \hline}
-\def\tabu@clinescan #1{\tabu@thick \arrayrulewidth \tabu@xhlineAZ {\cline{#1}}}
-\def\tabucline@scan{\@testopt \tabucline@sc@n {}}
-\def\tabucline@sc@n #1[#2]{\tabu@xhlineAZ {\tabucline[{#1}]{#2}}}
-\def\tabu@nexthlineAZ{%
-    \ifx \tabu@temp\hline \else
-    \ifx \tabu@temp\cline \else
-    \ifx \tabu@temp\tabucline \else
-         \tabu@hlinecorrection
-    \fi\fi\fi
-}% \tabu@nexthlineAZ
-\def\tabu@xhlineAZ #1{%
-    \toks@\expandafter{\the\toks@ #1}%
-    \@tempdimc \tabu@thick                  % The last line width
-    \ifcase\count@ \@tempdimb \tabu@thick   % The first line width
-    \else \advance\dimen@ \dimexpr \tabu@thick+\doublerulesep \relax
-    \fi
-    \advance\count@ \@ne    \futurelet \tabu@temp \tabu@nexthlineAZ
-}% \tabu@xhlineAZ
-\def\tabu@firsthlinecorrection{% \count@ = number of \hline -1
-    \@tempdima \dimexpr \ht\@arstrutbox+\dimen@
-    \edef\firsthline{%      <local in \noalign>
-        \omit \hbox to\z@{\hss{\noexpand\tabu@DBG{yellow}\vrule
-                    height \the\dimexpr\@tempdima+\extratabsurround
-                    depth  \dp\@arstrutbox
-                    width  \tabustrutrule}\hss}\cr
-        \noalign{\vskip -\the\dimexpr   \@tempdima+\@tempdimb
-                                        +\dp\@arstrutbox \relax}%
-        \the\toks@
-   }\ifnum0=`{\fi
-            \expandafter}\firsthline % we are then !
-}% \tabu@firsthlinecorrection
-\def\tabu@lasthlinecorrection{%
-    \@tempdima \dimexpr  \dp\@arstrutbox+\dimen@+\@tempdimb+\@tempdimc
-    \edef\lasthline{%   <local in \noalign>
-        \the\toks@
-        \noalign{\vskip -\the\dimexpr\dimen@+\@tempdimb+\dp\@arstrutbox}%
-        \omit \hbox to\z@{\hss{\noexpand\tabu@DBG{yellow}\vrule
-                    depth \the\dimexpr \dp\@arstrutbox+\@tempdimb+\dimen@
-                                       +\extratabsurround-\@tempdimc
-                    height \z@
-                    width \tabustrutrule}\hss}\cr
-    }\ifnum0=`{\fi
-            \expandafter}\lasthline % we are then !
-}% \tabu@lasthlinecorrection
-\def\tabu@LT@@hline{%
-    \ifx\LT@next\hline
-        \global\let\LT@next \@gobble
-        \ifx \CT@drsc@\relax
-            \gdef\CT@LT@sep{%
-                \noalign{\penalty-\@medpenalty\vskip\doublerulesep}}%
-        \else
-            \gdef\CT@LT@sep{%
-                \multispan\LT@cols{%
-                \CT@drsc@\leaders\hrule\@height\doublerulesep\hfill}\cr}%
-        \fi
-    \else
-        \global\let\LT@next\empty
-        \gdef\CT@LT@sep{%
-            \noalign{\penalty-\@lowpenalty\vskip-\arrayrulewidth}}%
-    \fi
-    \ifnum0=`{\fi}%
-    \multispan\LT@cols
-        {\CT@arc@\leaders\hrule\@height\arrayrulewidth\hfill}\cr
-    \CT@LT@sep
-    \multispan\LT@cols
-        {\CT@arc@\leaders\hrule\@height\arrayrulewidth\hfill}\cr
-    \noalign{\penalty\@M}%
-    \LT@next
-}% \tabu@LT@@hline
-%% Horizontal lines : \tabucline ------------------------------------
-\let\tabu@start \@tempcnta
-\let\tabu@stop  \@tempcntb
-\newcommand*\tabucline{\noalign{\ifnum0=`}\fi \tabu@cline}
-\newcommand*\tabu@cline[2][]{\tabu@startstop{#2}%
-   \ifnum \tabu@stop<\z@   \toks@{}%
-   \else \tabu@clinearg{#1}\tabu@thestyle
-        \edef\tabucline{\toks@{%
-            \ifnum \tabu@start>\z@ \omit
-                  \tabu@multispan\tabu@start {\span\omit}&\fi
-            \omit \tabu@multispan\tabu@stop {\span\omit}%
-                                        \tabu@thehline\cr
-        }}\tabucline
-        \tabu@tracinglines{(tabu:tabucline) Style: #1^^J\the\toks@^^J^^J}%
-    \fi
-    \futurelet \tabu@temp \tabu@xcline
-}% \tabu@cline
-\def\tabu@clinearg #1{%
-    \ifx\\#1\\\let\tabu@thestyle \tabu@ls@
-    \else \@defaultunits \expandafter\let\expandafter\@tempa
-                                    \romannumeral-`\0#1\relax \@nnil
-        \ifx \hbox\@tempa           \tabu@clinebox{#1}%
-        \else\ifx \box\@tempa       \tabu@clinebox{#1}%
-        \else\ifx \vbox\@tempa      \tabu@clinebox{#1}%
-        \else\ifx \vtop\@tempa      \tabu@clinebox{#1}%
-        \else\ifx \copy\@tempa      \tabu@clinebox{#1}%
-        \else\ifx \leaders\@tempa   \tabu@clineleads{#1}%
-        \else\ifx \cleaders\@tempa  \tabu@clineleads{#1}%
-        \else\ifx \xleaders\@tempa  \tabu@clineleads{#1}%
-        \else\tabu@getline {#1}%
-        \fi\fi\fi\fi\fi\fi\fi\fi
-    \fi
-}% \tabu@clinearg
-\def\tabu@clinebox #1{\tabu@clineleads{\xleaders#1\hss}}
-\def\tabu@clineleads #1{%
-    \let\tabu@thestyle \relax \let\tabu@leaders \@undefined
-    \gdef\tabu@thehrule{#1}}
-\def\tabu@thehline{\begingroup
-    \ifdefined\tabu@leaders
-            \noexpand\tabu@thehleaders
-    \else   \noexpand\tabu@thehrule
-    \fi            \endgroup
-}% \tabu@thehline
-\def\tabu@xcline{%
-    \ifx \tabu@temp\tabucline
-        \toks@\expandafter{\the\toks@ \noalign
-        {\ifx\CT@drsc@\relax \vskip
-         \else \CT@drsc@\hrule height
-         \fi
-         \doublerulesep}}%
-    \fi
-    \tabu@docline
-}% \tabu@xcline
-\def\tabu@docline {\ifnum0=`{\fi \expandafter}\the\toks@}
-\def\tabu@docline@evr {\xdef\tabu@doclineafter{\the\toks@}%
-              \ifnum0=`{\fi}\aftergroup\tabu@doclineafter}
-\def\tabu@multispan #1#2{%
-    \ifnum\numexpr#1>\@ne #2\expandafter\tabu@multispan
-    \else                   \expandafter\@gobbletwo
-    \fi  {#1-1}{#2}%
-}% \tabu@multispan
-\def\tabu@startstop #1{\tabu@start@stop #1\relax 1-\tabu@nbcols \@nnil}
-\def\tabu@start@stop #1-#2\@nnil{%
-   \@defaultunits   \tabu@start\number 0#1\relax    \@nnil
-   \@defaultunits   \tabu@stop \number 0#2\relax    \@nnil
-   \tabu@stop   \ifnum \tabu@start>\tabu@nbcols     \m@ne
-                \else\ifnum \tabu@stop=\z@          \tabu@nbcols
-                \else\ifnum \tabu@stop>\tabu@nbcols \tabu@nbcols
-                \else                               \tabu@stop
-                \fi\fi\fi
-   \advance\tabu@start \m@ne
-   \ifnum \tabu@start>\z@ \advance\tabu@stop -\tabu@start \fi
-}% \tabu@start@stop
-%% Numbers: siunitx S columns  (and \tabudecimal) -------------------
-\def\tabu@tabudecimal #1{%
-    \def\tabu@decimal{#1}\@temptokena{}%
-    \let\tabu@getdecimal@ \tabu@getdecimal@ignorespaces
-    \tabu@scandecimal
-}% \tabu@tabudecimal
-\def\tabu@scandecimal{\futurelet \tabu@temp \tabu@getdecimal@}
-\def\tabu@skipdecimal#1{#1\tabu@scandecimal}
-\def\tabu@getdecimal@ignorespaces{%
-    \ifcase 0\ifx\tabu@temp\ignorespaces\else
-             \ifx\tabu@temp\@sptoken1\else
-             2\fi\fi\relax
-            \let\tabu@getdecimal@ \tabu@getdecimal
-            \expandafter\tabu@skipdecimal
-    \or     \expandafter\tabu@gobblespace\expandafter\tabu@scandecimal
-    \else   \expandafter\tabu@skipdecimal
-    \fi
-}% \tabu@getdecimal@ignorespaces
-\def\tabu@get@decimal#1{\@temptokena\expandafter{\the\@temptokena #1}%
-                        \tabu@scandecimal}
-\def\do#1{%
-    \def\tabu@get@decimalspace#1{%
-        \@temptokena\expandafter{\the\@temptokena #1}\tabu@scandecimal}%
-}\do{ }
-\let\tabu@@tabudecimal \tabu@tabudecimal
-\def\tabu@getdecimal{%
-   \ifcase    0\ifx 0\tabu@temp\else
-               \ifx 1\tabu@temp\else
-               \ifx 2\tabu@temp\else
-               \ifx 3\tabu@temp\else
-               \ifx 4\tabu@temp\else
-               \ifx 5\tabu@temp\else
-               \ifx 6\tabu@temp\else
-               \ifx 7\tabu@temp\else
-               \ifx 8\tabu@temp\else
-               \ifx 9\tabu@temp\else
-               \ifx .\tabu@temp\else
-               \ifx ,\tabu@temp\else
-               \ifx -\tabu@temp\else
-               \ifx +\tabu@temp\else
-               \ifx e\tabu@temp\else
-               \ifx E\tabu@temp\else
-               \ifx\tabu@cellleft\tabu@temp1\else
-               \ifx\ignorespaces\tabu@temp1\else
-               \ifx\@sptoken\tabu@temp2\else
-            3\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\relax
-       \expandafter\tabu@get@decimal
-   \or \expandafter\tabu@skipdecimal
-   \or \expandafter\tabu@get@decimalspace
-   \else\expandafter\tabu@printdecimal
-   \fi
-}% \tabu@getdecimal
-\def\tabu@printdecimal{%
-    \edef\tabu@temp{\the\@temptokena}%
-    \ifx\tabu@temp\@empty\else
-    \ifx\tabu@temp\space\else
-        \expandafter\tabu@decimal\expandafter{\the\@temptokena}%
-    \fi\fi
-}% \tabu@printdecimal
-%% Verbatim inside X columns ----------------------------------------
-\def\tabu@verbatim{%
-    \let\verb \tabu@verb
-    \let\FV@DefineCheckEnd \tabu@FV@DefineCheckEnd
-}% \tabu@verbatim
-\let\tabu@ltx@verb \verb
-\def\tabu@verb{\@ifstar {\tabu@ltx@verb*} \tabu@ltx@verb}
-\def\tabu@fancyvrb {%
-    \def\tabu@FV@DefineCheckEnd ##1{%
-        \def\tabu@FV@DefineCheckEnd{%
-            ##1% <original definition (if fancyvrb is loaded)>
-            \let\FV@CheckEnd     \tabu@FV@CheckEnd
-            \let\FV@@CheckEnd    \tabu@FV@@CheckEnd
-            \let\FV@@@CheckEnd   \tabu@FV@@@CheckEnd
-            \edef\FV@EndScanning{%
-            \def\noexpand\next{\noexpand\end{\FV@EnvironName}}%
-                \global\let\noexpand\FV@EnvironName\relax
-                \noexpand\next}%
-            \xdef\FV@EnvironName{\detokenize\expandafter{\FV@EnvironName}}}%
-    }\expandafter\tabu@FV@DefineCheckEnd\expandafter{\FV@DefineCheckEnd}
-}% \tabu@fancyvrb
-\def\tabu@FV@CheckEnd  #1{\expandafter\FV@@CheckEnd \detokenize{#1\end{}}\@nil}
-\edef\tabu@FV@@@CheckEnd {\detokenize{\end{}}}
-\begingroup
-\catcode`\[1      \catcode`\]2
-\@makeother\{     \@makeother\}
-   \edef\x[\endgroup
-      \def\noexpand\tabu@FV@@CheckEnd ##1\detokenize[\end{]##2\detokenize[}]##3%
-   ]\x               \@nil{\def\@tempa{#2}\def\@tempb{#3}}
-\def\tabu@FV@ListProcessLine #1{%
-  \hbox {%to \hsize{%
-    \kern\leftmargin
-    \hbox {%to \linewidth{%
-      \FV@LeftListNumber
-      \FV@LeftListFrame
-      \FancyVerbFormatLine{#1}\hss
-%% DG/SR modification begin - Jan. 28, 1998 (for numbers=right add-on)
-%%      \FV@RightListFrame}%
-      \FV@RightListFrame
-      \FV@RightListNumber}%
-%% DG/SR modification end
-    \hss}}
-%% \savetabu --------------------------------------------------------
-\newcommand*\savetabu[1]{\noalign{%
-    \tabu@sanitizearg{#1}\tabu@temp
-    \ifx \tabu@temp\@empty  \tabu@savewarn{}{The tabu will not be saved}\else
-        \@ifundefined{tabu@saved@\tabu@temp}{}{\tabu@savewarn{#1}{Overwriting}}%
-        \ifdefined\tabu@restored \expandafter\let
-            \csname tabu@saved@\tabu@temp \endcsname \tabu@restored
-        \else {\tabu@save}%
-        \fi
-    \fi}%
-}% \savetabu
-\def\tabu@save {%
-    \toks0\expandafter{\tabu@saved@}%
-    \iftabu@negcoef
-        \let\tabu@wddef \relax \let\tabu@ \tabu@savewd \edef\tabu@savewd{\tabu@Xcoefs}%
-        \toks0\expandafter{\the\toks\expandafter0\tabu@savewd}\fi
-    \toks1\expandafter{\tabu@savedpream}%
-    \toks2\expandafter{\tabu@savedpreamble}%
-    \let\@preamble \relax
-    \let\tabu@savedpream \relax \let\tabu@savedparams \relax
-    \edef\tabu@preamble{%
-        \def\noexpand\tabu@aligndefault{\tabu@align}%
-        \def\tabu@savedparams {\noexpand\the\toks0}%
-        \def\tabu@savedpream  {\noexpand\the\toks1}}%
-    \edef\tabu@usetabu{%
-        \def\@preamble {\noexpand\the\toks2}%
-        \tabu@target \the\tabu@target \relax
-        \tabucolX    \the\tabucolX    \relax
-        \tabu@nbcols \the\tabu@nbcols \relax
-        \def\noexpand\tabu@aligndefault{\tabu@align}%
-        \def\tabu@savedparams {\noexpand\the\toks0}%
-        \def\tabu@savedpream  {\noexpand\the\toks1}}%
-    \let\tabu@aligndefault \relax \let\@sharp \relax
-    \edef\@tempa{\noexpand\tabu@s@ved
-                          {\tabu@usetabu}
-                         {\tabu@preamble}
-                            {\the\toks1}}\@tempa
-    \tabu@message@save
-}% \tabu@save
-\long\def\tabu@s@ved #1#2#3{%
-    \def\tabu@usetabu{#1}% <for \tabu@message@save>
-    \expandafter\gdef\csname tabu@saved@\tabu@temp\endcsname ##1{%
-        \ifodd ##1%     \usetabu
-            \tabu@measuringfalse \tabu@spreadfalse  % Just in case...
-            \gdef\tabu@usetabu {%
-                \ifdim \tabu@target>\z@ \tabu@warn@usetabu \fi
-                \global\let\tabu@usetabu \@undefined
-                \def\@halignto {to\tabu@target}%
-                #1%
-                \ifx \tabu@align\tabu@aligndefault@text
-                \ifnum \tabu@nested=\z@
-                       \let\tabu@align \tabu@aligndefault \fi\fi}%
-        \else     %     \preamble
-            \gdef\tabu@preamble {%
-                \global\let\tabu@preamble \@undefined
-                #2%
-                \ifx \tabu@align\tabu@aligndefault@text
-                \ifnum \tabu@nested=\z@
-                       \let\tabu@align \tabu@aligndefault \fi\fi}%
-        \fi
-        #3}%
-}% \tabu@s@ved
-\def\tabu@aligndefault@text {\tabu@aligndefault}%
-\def\tabu@warn@usetabu {\PackageWarning{tabu}
-    {Specifying a target with \string\usetabu\space is useless
-    \MessageBreak The target cannot be changed!}}
-\def\tabu@savewd #1#2{\ifdim #2\p@<\z@ \tabu@wddef{#1}{\tabu@wd{#1}}\fi}
-\def\tabu@savewarn#1#2{\PackageInfo{tabu}
-    {User-name `#1' already used for \string\savetabu
-    \MessageBreak #2}}%
-\def\tabu@saveerr#1{\PackageError{tabu}
-    {User-name `#1' is unknown for \string\usetabu
-    \MessageBreak I cannot restore an unknown preamble!}\@ehd}
-%% \rowfont ---------------------------------------------------------
-\newskip \tabu@cellskip
-\def\tabu@rowfont{\ifdim \baselineskip=\z@\noalign\fi
-                    {\ifnum0=`}\fi    \tabu@row@font}
-\newcommand*\tabu@row@font[2][]{%
-    \ifnum7=\currentgrouptype
-        \global\let\tabu@@cellleft    \tabu@cellleft
-        \global\let\tabu@@cellright   \tabu@cellright
-        \global\let\tabu@@celllalign  \tabu@celllalign
-        \global\let\tabu@@cellralign  \tabu@cellralign
-        \global\let\tabu@@rowfontreset\tabu@rowfontreset
-    \fi
-    \global\let\tabu@rowfontreset \tabu@rowfont@reset
-    \expandafter\gdef\expandafter\tabu@cellleft\expandafter{\tabu@cellleft #2}%
-    \ifcsname tabu@cell@#1\endcsname       % row alignment
-            \csname tabu@cell@#1\endcsname \fi
-    \ifnum0=`{\fi}% end of group / noalign group
-}% \rowfont
-\def\tabu@ifcolorleavevmode #1{\let\color \tabu@leavevmodecolor #1\let\color\tabu@color}%
-\def\tabu@rowfont@reset{%
-    \global\let\tabu@rowfontreset \tabu@@rowfontreset
-    \global\let\tabu@cellleft     \tabu@@cellleft
-    \global\let\tabu@cellright    \tabu@@cellright
-    \global\let\tabu@cellfont     \@empty
-    \global\let\tabu@celllalign   \tabu@@celllalign
-    \global\let\tabu@cellralign   \tabu@@cellralign
-}% \tabu@@rowfontreset
-\let\tabu@rowfontreset \@empty     % overwritten \AtBeginDocument if colortbl
-%% \tabu@prepnext@tok -----------------------------------------------
-\newif \iftabu@cellright
-\def\tabu@prepnext@tok{%
-    \ifnum \count@<\z@   % <first initialisation>
-            \@tempcnta  \@M   % <not initialized by array.sty>
-            \tabu@nbcols\z@
-            \let\tabu@fornoopORI \@fornoop
-            \tabu@cellrightfalse
-    \else
-        \ifcase \numexpr \count@-\@tempcnta \relax % (case 0): prev. token is left
-                \advance \tabu@nbcols \@ne
-                \iftabu@cellright % before-previous token is right and is finished
-                    \tabu@cellrightfalse % <only once>
-                    \tabu@righttok
-                \fi
-                \tabu@lefttok
-        \or                     % (case 1) previous token is right
-                \tabu@cellrighttrue \let\@fornoop \tabu@lastnoop
-        \else % special column: do not change the token
-                \iftabu@cellright    % before-previous token is right
-                    \tabu@cellrightfalse
-                    \tabu@righttok
-                \fi
-        \fi % \ifcase
-    \fi
-    \tabu@prepnext@tokORI
-}% \tabu@prepnext@tok
-\long\def\tabu@lastnoop#1\@@#2#3{\tabu@lastn@@p #2\@nextchar \in@\in@@}
-\def\tabu@lastn@@p #1\@nextchar #2#3\in@@{%
-    \ifx \in@#2\else
-        \let\@fornoop \tabu@fornoopORI
-        \xdef\tabu@mkpreambuffer{\tabu@nbcols\the\tabu@nbcols \tabu@mkpreambuffer}%
-        \toks0\expandafter{\expandafter\tabu@everyrowtrue \the\toks0}%
-        \expandafter\prepnext@tok
-    \fi
-}% \tabu@lastnoop
-\def\tabu@righttok{%
-    \advance \count@ \m@ne
-    \toks\count@\expandafter {\the\toks\count@ \tabu@cellright \tabu@cellralign}%
-    \advance \count@ \@ne
-}% \tabu@righttok
-\def\tabu@lefttok{\toks\count@\expandafter{\expandafter\tabu@celllalign
-                                    \the\toks\count@ \tabu@cellleft}% after because of $
-}% \tabu@lefttok
-%% Neutralisation of glues ------------------------------------------
-\let\tabu@cellleft   \@empty
-\let\tabu@cellright  \@empty
-\tabu@celllalign@def{\tabu@cellleft}%
-\let\tabu@cellralign \@empty
-\def\tabu@cell@align #1#2#3{%
-    \let\tabu@maybesiunitx \toks@ \tabu@celllalign
-    \global \expandafter \tabu@celllalign@def \expandafter {\the\toks@ #1}%
-    \toks@\expandafter{\tabu@cellralign #2}%
-    \xdef\tabu@cellralign{\the\toks@}%
-    \toks@\expandafter{\tabu@cellleft #3}%
-    \xdef\tabu@cellleft{\the\toks@}%
-}% \tabu@cell@align
-\def\tabu@cell@l{% force alignment to left
-   \tabu@cell@align
-      {\tabu@removehfil \raggedright \tabu@cellleft}% left
-      {\tabu@flush1\tabu@ignorehfil}%                 right
-      \raggedright
-}% \tabu@cell@l
-\def\tabu@cell@c{% force alignment to center
-   \tabu@cell@align
-      {\tabu@removehfil \centering \tabu@flush{.5}\tabu@cellleft}
-      {\tabu@flush{.5}\tabu@ignorehfil}
-      \centering
-}% \tabu@cell@c
-\def\tabu@cell@r{% force alignment to right
-   \tabu@cell@align
-      {\tabu@removehfil \raggedleft \tabu@flush1\tabu@cellleft}
-      \tabu@ignorehfil
-      \raggedleft
-}% \tabu@cell@r
-\def\tabu@cell@j{% force justification (for p, m, b columns)
-      \tabu@cell@align
-         {\tabu@justify\tabu@cellleft}
-         {}
-         \tabu@justify
-}% \tabu@cell@j
-\def\tabu@justify{%
-   \leftskip\z@skip \@rightskip\leftskip \rightskip\@rightskip
-   \parfillskip\@flushglue
-}% \tabu@justify
-%% ragged2e settings
-\def\tabu@cell@L{% force alignment to left (ragged2e)
-   \tabu@cell@align
-      {\tabu@removehfil \RaggedRight \tabu@cellleft}
-      {\tabu@flush 1\tabu@ignorehfil}
-      \RaggedRight
-}% \tabu@cell@L
-\def\tabu@cell@C{% force alignment to center (ragged2e)
-   \tabu@cell@align
-      {\tabu@removehfil \Centering \tabu@flush{.5}\tabu@cellleft}
-      {\tabu@flush{.5}\tabu@ignorehfil}
-      \Centering
-}% \tabu@cell@C
-\def\tabu@cell@R{% force alignment to right (ragged2e)
-   \tabu@cell@align
-      {\tabu@removehfil \RaggedLeft \tabu@flush 1\tabu@cellleft}
-      \tabu@ignorehfil
-      \RaggedLeft
-}% \tabu@cell@R
-\def\tabu@cell@J{% force justification (ragged2e)
-   \tabu@cell@align
-      {\justifying \tabu@cellleft}
-      {}
-      \justifying
-}% \tabu@cell@J
-\def\tabu@flush#1{%
-    \iftabu@colortbl      % colortbl uses \hfill rather than \hfil
-        \hskip \ifnum13<\currentgrouptype \stretch{#1}%
-        \else  \ifdim#1pt<\p@ \tabu@cellskip
-        \else  \stretch{#1}
-        \fi\fi \relax
-    \else                % array.sty
-        \ifnum 13<\currentgrouptype
-                \hfil \hskip1sp \relax  \fi
-    \fi
-}% \tabu@flush
-\let\tabu@hfil  \hfil
-\let\tabu@hfill \hfill
-\let\tabu@hskip \hskip
-\def\tabu@removehfil{%
-    \iftabu@colortbl
-        \unkern \tabu@cellskip =\lastskip
-        \ifnum\gluestretchorder\tabu@cellskip =\tw@ \hskip-\tabu@cellskip
-        \else \tabu@cellskip \z@skip
-        \fi
-    \else
-        \ifdim\lastskip=1sp\unskip\fi
-        \ifnum\gluestretchorder\lastskip =\@ne
-            \hfilneg % \hfilneg for array.sty but not for colortbl...
-        \fi
-    \fi
-}% \tabu@removehfil
-\def\tabu@ignorehfil{\aftergroup \tabu@nohfil}
-\def\tabu@nohfil{% \hfil -> do nothing + restore original \hfil
-   \def\hfil{\let\hfil \tabu@hfil}%   local to (alignment template) group
-}% \tabu@nohfil
-\def\tabu@colortblalignments {% if colortbl
-    \def\tabu@nohfil{%
-        \def\hfil  {\let\hfil \tabu@hfil}% local to (alignment template) group
-        \def\hfill {\let\hfill \tabu@hfill}% (colortbl uses \hfill) pfff...
-        \def\hskip ####1\relax{\let\hskip \tabu@hskip}}% local
-}% \tabu@colortblalignments
-%% Taking care of footnotes and hyperfootnotes ----------------------
-\long\def\tabu@footnotetext #1{%
-   \edef\@tempa{\the\tabu@footnotes
-      \noexpand\footnotetext [\the\csname c@\@mpfn\endcsname]}%
-   \global\tabu@footnotes\expandafter{\@tempa {#1}}}%
-\long\def\tabu@xfootnotetext [#1]#2{%
-   \global\tabu@footnotes\expandafter{\the\tabu@footnotes
-                               \footnotetext [{#1}]{#2}}}
-\let\tabu@xfootnote \@xfootnote
-\long\def\tabu@Hy@ftntext{\tabu@Hy@ftntxt {\the \c@footnote }}
-\long\def\tabu@Hy@xfootnote [#1]{%
-   \begingroup
-      \value\@mpfn #1\relax
-      \protected@xdef \@thefnmark  {\thempfn}%
-   \endgroup
-   \@footnotemark \tabu@Hy@ftntxt {#1}%
-}% \tabu@Hy@xfootnote
-\long\def\tabu@Hy@ftntxt #1#2{%
-    \edef\@tempa{%
-        \the\tabu@footnotes
-        \begingroup
-            \value\@mpfn #1\relax
-            \noexpand\protected@xdef\noexpand\@thefnmark {\noexpand\thempfn}%
-            \expandafter \noexpand \expandafter
-                \tabu@Hy@footnotetext \expandafter{\Hy@footnote@currentHref}%
-    }%
-    \global\tabu@footnotes\expandafter{\@tempa {#2}%
-                                         \endgroup}%
-}% \tabu@Hy@ftntxt
-\long\def\tabu@Hy@footnotetext #1#2{%
-    \H@@footnotetext{%
-        \ifHy@nesting
-            \hyper@@anchor {#1}{#2}%
-        \else
-            \Hy@raisedlink{%
-                \hyper@@anchor {#1}{\relax}%
-            }%
-            \def\@currentHref {#1}%
-            \let\@currentlabelname \@empty
-            #2%
-        \fi
-    }%
-}% \tabu@Hy@footnotetext
-%% No need for \arraybackslash ! ------------------------------------
-\def\tabu@latextwoe {%
-\def\tabu@temp##1##2##3{{\toks@\expandafter{##2##3}\xdef##1{\the\toks@}}}
-\tabu@temp \tabu@centering   \centering   \arraybackslash
-\tabu@temp \tabu@raggedleft  \raggedleft  \arraybackslash
-\tabu@temp \tabu@raggedright \raggedright \arraybackslash
-}% \tabu@latextwoe
-\def\tabu@raggedtwoe {%
-\def\tabu@temp ##1##2##3{{\toks@\expandafter{##2##3}\xdef##1{\the\toks@}}}
-\tabu@temp \tabu@Centering   \Centering   \arraybackslash
-\tabu@temp \tabu@RaggedLeft  \RaggedLeft  \arraybackslash
-\tabu@temp \tabu@RaggedRight \RaggedRight \arraybackslash
-\tabu@temp \tabu@justifying  \justifying  \arraybackslash
-}% \tabu@raggedtwoe
-\def\tabu@normalcrbackslash{\let\\\@normalcr}
-\def\tabu@trivlist{\expandafter\def\expandafter\@trivlist\expandafter{%
-                       \expandafter\tabu@normalcrbackslash \@trivlist}}
-%% Utilities: \fbox  \fcolorbox  and \tabudecimal -------------------
-\def\tabu@fbox      {\leavevmode\afterassignment\tabu@beginfbox \setbox\@tempboxa\hbox}
-\def\tabu@beginfbox {\bgroup \kern\fboxsep
-                     \bgroup\aftergroup\tabu@endfbox}
-\def\tabu@endfbox   {\kern\fboxsep\egroup\egroup
-                     \@frameb@x\relax}
-\def\tabu@color@b@x #1#2{\leavevmode \bgroup
-    \def\tabu@docolor@b@x{#1{#2\color@block{\wd\z@}{\ht\z@}{\dp\z@}\box\z@}}%
-    \afterassignment\tabu@begincolor@b@x \setbox\z@ \hbox
-}% \tabu@color@b@x
-\def\tabu@begincolor@b@x {\kern\fboxsep \bgroup
-       \aftergroup\tabu@endcolor@b@x \set@color}
-\def\tabu@endcolor@b@x {\kern\fboxsep \egroup
-    \dimen@\ht\z@ \advance\dimen@ \fboxsep \ht\z@ \dimen@
-    \dimen@\dp\z@ \advance\dimen@ \fboxsep \dp\z@ \dimen@
-    \tabu@docolor@b@x \egroup
-}% \tabu@endcolor@b@x
-%% Corrections (arydshln, delarray, colortbl) -----------------------
-\def\tabu@fix@arrayright {%% \@arrayright is missing from \endarray
-    \iftabu@colortbl
-        \ifdefined\adl@array  % <colortbl + arydshln>
-        \def\tabu@endarray{%
-            \adl@endarray \egroup \adl@arrayrestore \CT@end \egroup %<original>
-            \@arrayright      % <FC>
-            \gdef\@preamble{}}% <FC>
-        \else                 % <colortbl / no arydshln>
-        \def\tabu@endarray{%
-            \crcr \egroup \egroup    %<original>
-            \@arrayright             % <FC>
-            \gdef\@preamble{}\CT@end}%
-        \fi
-    \else
-        \ifdefined\adl@array  % <arydshln / no colortbl>
-        \def\tabu@endarray{%
-            \adl@endarray \egroup \adl@arrayrestore \egroup %<original>
-            \@arrayright      % <FC>
-            \gdef\@preamble{}}% <FC>
-    \else                   % <no arydshln / no colotbl + \@arrayright missing>
-        \PackageWarning{tabu}
-        {\string\@arrayright\space is missing from the
-        \MessageBreak definition of \string\endarray.
-        \MessageBreak Compatibility with delarray.sty is broken.}%
-    \fi\fi
-}% \tabu@fix@arrayright
-\def\tabu@adl@xarraydashrule #1#2#3{%
-     \ifnum\@lastchclass=\adl@class@start\else
-     \ifnum\@lastchclass=\@ne\else
-     \ifnum\@lastchclass=5 \else % <FC> @-arg (class 5) and !-arg (class 1)
-             \adl@leftrulefalse \fi\fi           % must be treated the same
-     \fi
-     \ifadl@zwvrule\else \ifadl@inactive\else
-             \@addtopreamble{\vrule\@width\arrayrulewidth
-                     \@height\z@ \@depth\z@}\fi \fi
-     \ifadl@leftrule
-             \@addtopreamble{\adl@vlineL{\CT@arc@}{\adl@dashgapcolor}%
-                     {\number#1}#3}%
-     \else   \@addtopreamble{\adl@vlineR{\CT@arc@}{\adl@dashgapcolor}%
-                     {\number#2}#3}
-     \fi
-}% \tabu@adl@xarraydashrule
-\def\tabu@adl@act@endpbox {%
-    \unskip \ifhmode \nobreak \fi    \@finalstrut \@arstrutbox
-    \egroup \egroup
-    \adl@colhtdp \box\adl@box \hfil
-}% \tabu@adl@act@endpbox
-\def\tabu@adl@fix {%
-    \let\adl@xarraydashrule \tabu@adl@xarraydashrule % <fix> arydshln
-    \let\adl@act@endpbox    \tabu@adl@act@endpbox    % <fix> arydshln
-    \let\adl@act@@endpbox   \tabu@adl@act@endpbox    % <fix> arydshln
-    \let\@preamerror        \@preamerr               % <fix> arydshln
-}% \tabu@adl@fix
-%% Correction for longtable' \@startbox definition ------------------
-%%    => \everypar is ``missing'' : TeX should be in vertical mode
-\def\tabu@LT@startpbox #1{%
-    \bgroup
-        \let\@footnotetext\LT@p@ftntext
-        \setlength\hsize{#1}%
-        \@arrayparboxrestore
-        \everypar{%
-            \vrule \@height \ht\@arstrutbox \@width \z@
-            \everypar{}}%
-}% \tabu@LT@startpbox
-%% \tracingtabu  and  the package options ------------------
-\DeclareOption{delarray}{\AtEndOfPackage{\RequirePackage{delarray}}}
-\DeclareOption{linegoal}{%
-   \AtEndOfPackage{%
-      \RequirePackage{linegoal}[2010/12/07]%
-      \let\tabudefaulttarget \linegoal% \linegoal is \linewidth if not pdfTeX
-}}
-\DeclareOption{scantokens}{\tabuscantokenstrue}
-\DeclareOption{debugshow}{\AtEndOfPackage{\tracingtabu=\tw@}}
-\def\tracingtabu {\begingroup\@ifnextchar=%
-    {\afterassignment\tabu@tracing\count@}
-    {\afterassignment\tabu@tracing\count@1\relax}}
-\def\tabu@tracing{\expandafter\endgroup
-    \expandafter\tabu@tr@cing \the\count@ \relax
-}% \tabu@tracing
-\def\tabu@tr@cing #1\relax {%
-    \ifnum#1>\thr@@ \let\tabu@tracinglines\message
-    \else           \let\tabu@tracinglines\@gobble
-    \fi
-    \ifnum#1>\tw@   \let\tabu@DBG        \tabu@@DBG
-                    \def\tabu@mkarstrut {\tabu@DBG@arstrut}%
-                    \tabustrutrule      1.5\p@
-    \else           \let\tabu@DBG        \@gobble
-                    \def\tabu@mkarstrut {\tabu@arstrut}%
-                    \tabustrutrule      \z@
-    \fi
-    \ifnum#1>\@ne   \let\tabu@debug      \message
-    \else           \let\tabu@debug      \@gobble
-    \fi
-    \ifnum#1>\z@
-        \let\tabu@message             \message
-        \let\tabu@tracing@save        \tabu@message@save
-        \let\tabu@starttimer          \tabu@pdftimer
-    \else
-        \let\tabu@message             \@gobble
-        \let\tabu@tracing@save        \@gobble
-        \let\tabu@starttimer          \relax
-    \fi
-}% \tabu@tr@cing
-%% Setup \AtBeginDocument
-\AtBeginDocument{\tabu@AtBeginDocument}
-\def\tabu@AtBeginDocument{\let\tabu@AtBeginDocument \@undefined
-    \ifdefined\arrayrulecolor   \tabu@colortbltrue       % <colortbl>
-                                \tabu@colortblalignments % different glues are used
-    \else                       \tabu@colortblfalse \fi
-    \ifdefined\CT@arc@ \else \let\CT@arc@  \relax \fi
-    \ifdefined\CT@drsc@\else \let\CT@drsc@ \relax \fi
-    \let\tabu@arc@L \CT@arc@ \let\tabu@drsc@L \CT@drsc@
-    \ifodd 1\ifcsname siunitx_table_collect_begin:Nn\endcsname   % <siunitx: ok>
-            \expandafter\ifx
-                \csname siunitx_table_collect_begin:Nn\endcsname\relax 0\fi\fi\relax
-            \tabu@siunitxtrue
-    \else   \let\tabu@maybesiunitx   \@firstofone                % <not siunitx: setup>
-            \let\tabu@siunitx        \tabu@nosiunitx
-            \tabu@siunitxfalse
-    \fi
-    \ifdefined\adl@array        % <arydshln>
-    \else     \let\tabu@adl@fix \relax
-              \let\tabu@adl@endtrial \@empty \fi
-    \ifdefined\longtable        % <longtable>
-    \else     \let\longtabu \tabu@nolongtabu \fi
-    \ifdefined\cellspacetoplimit \tabu@warn@cellspace\fi
-    \csname\ifcsname ifHy@hyperfootnotes\endcsname % <hyperfootnotes>
-            ifHy@hyperfootnotes\else iffalse\fi\endcsname
-        \let\tabu@footnotetext \tabu@Hy@ftntext
-        \let\tabu@xfootnote    \tabu@Hy@xfootnote \fi
-    \ifdefined\FV@DefineCheckEnd% <fancyvrb>
-            \tabu@fancyvrb  \fi
-    \ifdefined\color            % <color / xcolor>
-        \let\tabu@color \color
-        \def\tabu@leavevmodecolor ##1{%
-            \def\tabu@leavevmodecolor {\leavevmode ##1}%
-        }\expandafter\tabu@leavevmodecolor\expandafter{\color}%
-    \else
-        \let\tabu@color           \tabu@nocolor
-        \let\tabu@leavevmodecolor \@firstofone \fi
-    \tabu@latextwoe
-    \ifdefined\@raggedtwoe@everyselectfont    % <ragged2e>
-        \tabu@raggedtwoe
-    \else
-        \let\tabu@cell@L \tabu@cell@l
-        \let\tabu@cell@R \tabu@cell@r
-        \let\tabu@cell@C \tabu@cell@c
-        \let\tabu@cell@J \tabu@cell@j   \fi
-    \expandafter\in@ \expandafter\@arrayright \expandafter{\endarray}%
-    \ifin@ \let\tabu@endarray \endarray
-    \else  \tabu@fix@arrayright \fi% <fix for colortbl & arydshln (delarray)>
-    \everyrow{}%
-}% \tabu@AtBeginDocument
-\def\tabu@warn@cellspace{%
-    \PackageWarning{tabu}{%
-                  Package cellspace has some limitations
-    \MessageBreak And redefines some macros of array.sty.
-    \MessageBreak Please use \string\tabulinesep\space to control
-    \MessageBreak vertical spacing of lines inside tabu environment}%
-}% \tabu@warn@cellspace
-%% tabu Package initialisation
-\tabuscantokensfalse
-\let\tabu@arc@G         \relax
-\let\tabu@drsc@G        \relax
-\let\tabu@evr@G         \@empty
-\let\tabu@rc@G          \@empty
-\def\tabu@ls@G          {\tabu@linestyle@}%
-\let\tabu@@rowfontreset \@empty % <init>
-\let\tabu@@celllalign   \@empty
-\let\tabu@@cellralign   \@empty
-\let\tabu@@cellleft     \@empty
-\let\tabu@@cellright    \@empty
-\def\tabu@naturalXmin   {\z@}
-\def\tabu@naturalXmax   {\z@}
-\let\tabu@rowfontreset  \@empty
-\def\tabulineon {4pt}\let\tabulineoff \tabulineon
-\tabu@everyrowtrue
-\ifdefined\pdfelapsedtime                   % <pdfTeX>
-        \def\tabu@pdftimer {\xdef\tabu@starttime{\the\pdfelapsedtime}}%
-\else   \let\tabu@pdftimer \relax \let\tabu@message@etime \relax
-\fi
-\tracingtabu=\z@
-\newtabulinestyle {=\maxdimen}% creates the 'factory' settings \tabu@linestyle@
-\tabulinestyle{}
-\taburowcolors{}
-\let\tabudefaulttarget  \linewidth
-\ProcessOptions*                % \ProcessOptions* is quicker !
-\endinput
-%%
-%% End of file `tabu.sty'.
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