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+ esp32_BNO08x 1.1
+
+ C++ BNO08x IMU driver component for esp-idf.
+ |
+
+
+
+
+
+
+
+
+
+
+
+
+
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+Loading...
+Searching...
+No Matches
+
+
+
+BNO08x.cpp File Reference
+
+
+#include "BNO08x.hpp"+
+Include dependency graph for BNO08x.cpp:
+
+
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+
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- Generated by
1.10.0
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+|
+ esp32_BNO08x 1.1
+
+ C++ BNO08x IMU driver component for esp-idf.
+ |
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
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+
+
+Loading...
+Searching...
+No Matches
+
+
+
+
+BNO08x.hpp File Reference
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+
+#include <driver/gpio.h>+
#include <driver/spi_common.h>+
#include <driver/spi_master.h>+
#include <esp_log.h>+
#include <esp_rom_gpio.h>+
#include <esp_timer.h>+
#include <freertos/FreeRTOS.h>+
#include <freertos/task.h>+
#include <freertos/event_groups.h>+
#include <freertos/queue.h>+
#include <rom/ets_sys.h>+
#include <inttypes.h>+
#include <math.h>+
#include <stdio.h>+
#include <cstring>+
#include <functional>+
#include <vector>+
+Include dependency graph for BNO08x.hpp:
+
+
+
+
+
+This graph shows which files directly or indirectly include this file:
+
+
+
+
+Go to the source code of this file.
++Classes | |
| struct | bno08x_config_t |
| IMU configuration settings passed into constructor. More... | |
| class | BNO08x |
| struct | BNO08x::bno08x_rx_packet_t |
| Holds data that is received over spi. More... | |
| struct | BNO08x::bno08x_tx_packet_t |
| Holds data that is sent over spi. More... | |
+Typedefs | |
| typedef struct bno08x_config_t | bno08x_config_t |
| IMU configuration settings passed into constructor. | |
+Enumerations | |
| enum | channels_t { + CHANNEL_COMMAND +, CHANNEL_EXECUTABLE +, CHANNEL_CONTROL +, CHANNEL_REPORTS +, + CHANNEL_WAKE_REPORTS +, CHANNEL_GYRO + + } |
| SHTP protocol channels. More... | |
| enum class | IMUAccuracy { LOW = 1 +, MED +, HIGH + } |
| Sensor accuracy returned during sensor calibration. More... | |
Typedef Documentation
+ +◆ bno08x_config_t
+ +
+
+
+
+
+
| typedef struct bno08x_config_t bno08x_config_t | +
+
+
+IMU configuration settings passed into constructor.
+ +Enumeration Type Documentation
+ +◆ channels_t
+ +
+
+
+
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+
+
+| enum channels_t | +
◆ IMUAccuracy
+ +
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|
+ +strong | +
+
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+
diff --git a/documentation/html/_b_n_o08x_8hpp.js b/documentation/html/_b_n_o08x_8hpp.js
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+var _b_n_o08x_8hpp =
+[
+ [ "bno08x_config_t", "structbno08x__config__t.html", "structbno08x__config__t" ],
+ [ "BNO08x", "class_b_n_o08x.html", "class_b_n_o08x" ],
+ [ "BNO08x::bno08x_rx_packet_t", "struct_b_n_o08x_1_1bno08x__rx__packet__t.html", "struct_b_n_o08x_1_1bno08x__rx__packet__t" ],
+ [ "BNO08x::bno08x_tx_packet_t", "struct_b_n_o08x_1_1bno08x__tx__packet__t.html", "struct_b_n_o08x_1_1bno08x__tx__packet__t" ],
+ [ "bno08x_config_t", "_b_n_o08x_8hpp.html#a648bbdbf22731476890dd8da977d7503", null ],
+ [ "channels_t", "_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556b", [
+ [ "CHANNEL_COMMAND", "_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556ba1cb5955609063cff1ba49147e786e610", null ],
+ [ "CHANNEL_EXECUTABLE", "_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556ba8a5de65712767758887f8fad9523bb72", null ],
+ [ "CHANNEL_CONTROL", "_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556ba6c5ca5e5847c55b469afbb435e15b5f0", null ],
+ [ "CHANNEL_REPORTS", "_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556ba22f0b2ae6fcdc8618a078b0579d09e4a", null ],
+ [ "CHANNEL_WAKE_REPORTS", "_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556bafbb907d12060466f58dd56d3e2430747", null ],
+ [ "CHANNEL_GYRO", "_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556bafd513a698e54122cec579d9450482832", null ]
+ ] ],
+ [ "IMUAccuracy", "_b_n_o08x_8hpp.html#adb7d85b4fa619c860031f469261c6279", [
+ [ "LOW", "_b_n_o08x_8hpp.html#adb7d85b4fa619c860031f469261c6279a41bc94cbd8eebea13ce0491b2ac11b88", null ],
+ [ "MED", "_b_n_o08x_8hpp.html#adb7d85b4fa619c860031f469261c6279a2ad6d5975c45da2e711c796f3a1b029c", null ],
+ [ "HIGH", "_b_n_o08x_8hpp.html#adb7d85b4fa619c860031f469261c6279ab89de3b4b81c4facfac906edf29aec8c", null ]
+ ] ]
+];
\ No newline at end of file
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+
+
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- Generated by 1.10.0
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+|
+ esp32_BNO08x 1.1
+
+ C++ BNO08x IMU driver component for esp-idf.
+ |
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+Loading...
+Searching...
+No Matches
+
+
+
+BNO08x.hpp
+Go to the documentation of this file.
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+ 73 bno08x_config_t(spi_host_device_t spi_peripheral, gpio_num_t io_mosi, gpio_num_t io_miso, gpio_num_t io_sclk, gpio_num_t io_cs,
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+ 127 void enable_activity_classifier(uint32_t time_between_reports, uint32_t activities_to_enable, uint8_t (&activity_confidence_vals)[9]);
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+ 151 void tare_now(uint8_t axis_sel = TARE_AXIS_ALL, uint8_t rotation_vector_basis = TARE_ROTATION_VECTOR);
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+ 180 void get_quat(float& i, float& j, float& k, float& real, float& rad_accuracy, uint8_t& accuracy);
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+ 218 void get_uncalibrated_gyro(float& x, float& y, float& z, float& bx, float& by, float& bz, uint8_t& accuracy);
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+ 299 void enable_report(uint8_t report_ID, uint32_t time_between_reports, const EventBits_t report_evt_grp_bit);
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+ 304 void queue_feature_command(uint8_t report_ID, uint32_t time_between_reports, uint32_t specific_config);
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+ 306 void queue_tare_command(uint8_t command, uint8_t axis = TARE_AXIS_ALL, uint8_t rotation_vector_basis = TARE_ROTATION_VECTOR);
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+ 330 std::vector<std::function<void()>> cb_list; // Vector for storing any call-back functions added with register_cb()
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+ 340 // These are the raw sensor values (without Q applied) pulled from the user requested Input Report
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+ 353 uint16_t raw_uncalib_gyro_X, raw_uncalib_gyro_Y, raw_uncalib_gyro_Z, raw_bias_X, raw_bias_Y, raw_bias_Z,
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+ 423 EVT_GRP_RPT_ROTATION_VECTOR_BIT | EVT_GRP_RPT_GAME_ROTATION_VECTOR_BIT | EVT_GRP_RPT_ARVR_S_ROTATION_VECTOR_BIT |
+ 424 EVT_GRP_RPT_ARVR_S_GAME_ROTATION_VECTOR_BIT | EVT_GRP_RPT_GYRO_ROTATION_VECTOR_BIT | EVT_GRP_RPT_ACCELEROMETER_BIT |
+ 425 EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT | EVT_GRP_RPT_GRAVITY_BIT | EVT_GRP_RPT_GYRO_BIT | EVT_GRP_RPT_GYRO_UNCALIBRATED_BIT |
+ 426 EVT_GRP_RPT_MAGNETOMETER_BIT | EVT_GRP_RPT_TAP_DETECTOR_BIT | EVT_GRP_RPT_STEP_COUNTER_BIT | EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT |
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+struct bno08x_config_t bno08x_config_t
IMU configuration settings passed into constructor.
@ MED
@ LOW
@ HIGH
Definition BNO08x.hpp:89
void disable_report(uint8_t report_ID, const EventBits_t report_evt_grp_bit)
Disables a sensor report for a given ID by setting its time interval to 0.
Definition BNO08x.cpp:482
static const constexpr uint8_t SHTP_REPORT_PRODUCT_ID_RESPONSE
See SH2 Ref. Manual 6.3.2.
Definition BNO08x.hpp:454
void enable_gravity(uint32_t time_between_reports)
Sends command to enable gravity reading reports (See Ref. Manual 6.5.11)
Definition BNO08x.cpp:1275
static const constexpr uint8_t SENSOR_REPORT_ID_RAW_GYROSCOPE
See SH2 Ref. Manual 6.5.12.
Definition BNO08x.hpp:474
static const constexpr int16_t ACCELEROMETER_Q1
Acceleration Q point (See SH-2 Ref. Manual 6.5.9)
Definition BNO08x.hpp:271
void print_packet(bno08x_rx_packet_t *packet)
Prints the passed SHTP packet to serial console with ESP_LOG statement.
Definition BNO08x.cpp:2446
static const constexpr uint8_t SENSOR_REPORT_ID_MAGNETIC_FIELD
See SH2 Ref. Manual 6.5.16.
Definition BNO08x.hpp:462
void register_cb(std::function< void()> cb_fxn)
Registers a callback to execute when new data from a report is received.
Definition BNO08x.cpp:864
uint16_t uncalib_gyro_accuracy
Uncalibrated gyro reading (See SH-2 Ref. Manual 6.5.14)
Definition BNO08x.hpp:354
static const constexpr uint16_t FRS_RECORD_ID_MAGNETIC_FIELD_CALIBRATED
Calibrated magnetometer record ID, to be passed in metadata functions like get_Q1()
Definition BNO08x.hpp:253
static const constexpr uint8_t COMMAND_TARE
Command and response to tare command (See Sh2 Ref. Manual 6.4.4)
Definition BNO08x.hpp:441
float get_accel_Z()
Get z axis acceleration (total acceleration of device, units in m/s^2).
Definition BNO08x.cpp:2000
float get_uncalibrated_gyro_Z()
Get uncalibrated gyro Z axis angular velocity measurement.
Definition BNO08x.cpp:2271
static void data_proc_task_trampoline(void *arg)
Static function used to launch data processing task.
Definition BNO08x.cpp:2819
static const constexpr int16_t ROTATION_VECTOR_Q1
Rotation vector Q point (See SH-2 Ref. Manual 6.5.18)
Definition BNO08x.hpp:269
static void spi_task_trampoline(void *arg)
Static function used to launch spi task.
Definition BNO08x.cpp:2769
int8_t get_stability_classifier()
Get the current stability classifier (Seee Ref. Manual 6.5.31)
Definition BNO08x.cpp:2389
static const constexpr EventBits_t EVT_GRP_RPT_GAME_ROTATION_VECTOR_BIT
When set, game rotation vector reports are active.
Definition BNO08x.hpp:401
float get_range(uint16_t record_ID)
Gets range from BNO08x FRS (flash record system).
Definition BNO08x.cpp:2557
float get_linear_accel_Y()
Get y axis linear acceleration (acceleration of device minus gravity, units in m/s^2)
Definition BNO08x.cpp:2048
float get_magf_X()
Get X component of magnetic field vector.
Definition BNO08x.cpp:1661
static const constexpr uint8_t TARE_PERSIST
See SH2 Ref. Manual 6.4.4.2.
Definition BNO08x.hpp:482
uint8_t tap_detector
Tap detector reading (See SH-2 Ref. Manual 6.5.27)
Definition BNO08x.hpp:357
uint8_t get_reset_reason()
Requests product ID, prints the returned info over serial, and returns the reason for the most resent...
Definition BNO08x.cpp:322
float get_quat_I()
Get I component of reported quaternion.
Definition BNO08x.cpp:1897
void enable_raw_magnetometer(uint32_t time_between_reports)
Sends command to enable raw magnetometer reports (See Ref. Manual 6.5.15)
Definition BNO08x.cpp:1388
int16_t get_Q3(uint16_t record_ID)
Gets Q3 point from BNO08x FRS (flash record system).
Definition BNO08x.cpp:2527
float get_gyro_calibrated_velocity_Z()
Get calibrated gyro z axis angular velocity measurement.
Definition BNO08x.cpp:2206
void disable_tap_detector()
Sends command to disable tap detector reports by setting report interval to 0.
Definition BNO08x.cpp:1508
void disable_raw_accelerometer()
Sends command to disable raw accelerometer reports by setting report interval to 0.
Definition BNO08x.cpp:1548
bool mode_sleep()
Puts BNO08x sensor into sleep/low power mode using executable channel.
Definition BNO08x.cpp:372
static const constexpr EventBits_t EVT_GRP_RPT_ACCELEROMETER_BIT
When set, accelerometer reports are active.
Definition BNO08x.hpp:408
float get_uncalibrated_gyro_Y()
Get uncalibrated gyro Y axis angular velocity measurement.
Definition BNO08x.cpp:2261
static const constexpr EventBits_t EVT_GRP_RPT_ROTATION_VECTOR_BIT
When set, rotation vector reports are active.
Definition BNO08x.hpp:400
static const constexpr uint16_t RX_DATA_LENGTH
length buffer containing data received over spi
Definition BNO08x.hpp:384
uint8_t stability_classifier
Stability status reading (See SH-2 Ref. Manual 6.5.31)
Definition BNO08x.hpp:359
void get_uncalibrated_gyro(float &x, float &y, float &z, float &bx, float &by, float &bz, uint8_t &accuracy)
Get full rotational velocity without drift compensation (units in Rad/s). An estimate of drift is giv...
Definition BNO08x.cpp:2235
void calibrate_planar_accelerometer()
Sends command to calibrate planar accelerometer.
Definition BNO08x.cpp:632
static const constexpr uint8_t SHTP_REPORT_SET_FEATURE_COMMAND
See SH2 Ref. Manual 6.5.4.
Definition BNO08x.hpp:457
float get_resolution(uint16_t record_ID)
Gets resolution from BNO08x FRS (flash record system).
Definition BNO08x.cpp:2540
int16_t get_raw_accel_X()
Get raw accelerometer x axis reading from physical accelerometer MEMs sensor (See Ref....
Definition BNO08x.cpp:2078
static const constexpr uint8_t SHTP_REPORT_COMMAND_RESPONSE
See SH2 Ref. Manual 6.3.9.
Definition BNO08x.hpp:450
void disable_rotation_vector()
Sends command to disable rotation vector reports by setting report interval to 0.
Definition BNO08x.cpp:1398
static const constexpr uint8_t TARE_AXIS_ALL
Tare all axes (used with tare now command)
Definition BNO08x.hpp:258
static const constexpr uint8_t SENSOR_REPORT_ID_GYROSCOPE
See SH2 Ref. Manual 6.5.13.
Definition BNO08x.hpp:461
static const constexpr uint8_t TARE_GEOMAGNETIC_ROTATION_VECTOR
tare geomagnetic rotation vector
Definition BNO08x.hpp:264
uint8_t get_quat_accuracy()
Get accuracy of reported quaternion.
Definition BNO08x.cpp:1952
void enable_accelerometer(uint32_t time_between_reports)
Sends command to enable accelerometer reports (See Ref. Manual 6.5.9)
Definition BNO08x.cpp:1253
static const constexpr uint8_t TARE_NOW
See SH2 Ref. Manual 6.4.4.1.
Definition BNO08x.hpp:481
uint32_t FRS_read_word(uint16_t record_ID, uint8_t word_number)
Reads meta data word from BNO08x FRS (flash record system) given the record ID and word number....
Definition BNO08x.cpp:2578
float q_to_float(int16_t fixed_point_value, uint8_t q_point)
Converts a register value to a float using its associated Q point. (See https://en....
Definition BNO08x.cpp:1621
bool wait_for_rx_done()
Waits for data to be received over SPI, or HOST_INT_TIMEOUT_MS to elapse.
Definition BNO08x.cpp:144
float get_uncalibrated_gyro_X()
Get uncalibrated gyro x axis angular velocity measurement.
Definition BNO08x.cpp:2251
uint16_t parse_product_id_report(bno08x_rx_packet_t *packet)
Parses product id report and prints device info.
Definition BNO08x.cpp:928
static const constexpr uint8_t SENSOR_REPORT_ID_STEP_COUNTER
See SH2 Ref. Manual 6.5.29.
Definition BNO08x.hpp:471
static const constexpr uint16_t MAX_METADATA_LENGTH
max length of metadata used in frs read operations
Definition BNO08x.hpp:385
void send_packet(bno08x_tx_packet_t *packet)
Sends a queued SHTP packet via SPI.
Definition BNO08x.cpp:529
int16_t get_raw_magf_Y()
Get raw magnetometer y axis reading from physical magnetometer sensor (See Ref. Manual 6....
Definition BNO08x.cpp:2148
static const constexpr char * TAG
Class tag used for serial print statements.
Definition BNO08x.hpp:485
int16_t get_raw_gyro_Z()
Get raw gyroscope z axis reading from physical gyroscope MEMs sensor (See Ref. Manual 6....
Definition BNO08x.cpp:2128
void spi_task()
Task responsible for SPI transactions. Executed when HINT in is asserted by BNO08x.
Definition BNO08x.cpp:2780
void enable_raw_accelerometer(uint32_t time_between_reports)
Sends command to enable raw accelerometer reports (See Ref. Manual 6.5.8)
Definition BNO08x.cpp:1366
static const constexpr uint8_t COMMAND_OSCILLATOR
Retrieve oscillator type command (See SH2 Ref. Manual 6.4)
Definition BNO08x.hpp:446
static const constexpr uint8_t COMMAND_INITIALIZE
Reinitialize sensor hub components See (SH2 Ref. Manual 6.4.5)
Definition BNO08x.hpp:442
uint8_t get_uncalibrated_gyro_accuracy()
Get uncalibrated gyro accuracy.
Definition BNO08x.cpp:2311
static const constexpr EventBits_t EVT_GRP_SPI_RX_DONE_BIT
When this bit is set it indicates a receive procedure has completed.
Definition BNO08x.hpp:391
uint16_t accel_accuracy
Raw acceleration readings (See SH-2 Ref. Manual 6.5.8)
Definition BNO08x.hpp:343
uint8_t get_linear_accel_accuracy()
Get accuracy of linear acceleration.
Definition BNO08x.cpp:2068
static const constexpr uint8_t SENSOR_REPORT_ID_ACCELEROMETER
See SH2 Ref. Manual 6.5.9.
Definition BNO08x.hpp:460
void print_header(bno08x_rx_packet_t *packet)
Prints the header of the passed SHTP packet to serial console with ESP_LOG statement.
Definition BNO08x.cpp:2419
void get_magf(float &x, float &y, float &z, uint8_t &accuracy)
Get the full magnetic field vector.
Definition BNO08x.cpp:1648
static const constexpr uint16_t FRS_RECORD_ID_GYROSCOPE_CALIBRATED
Calirated gyroscope record ID, to be passed in metadata functions like get_Q1()
Definition BNO08x.hpp:251
uint16_t accel_lin_accuracy
Raw linear acceleration (See SH-2 Ref. Manual 6.5.10)
Definition BNO08x.hpp:345
uint16_t quat_accuracy
Raw quaternion reading (See SH-2 Ref. Manual 6.5.44)
Definition BNO08x.hpp:348
bool data_available()
Checks if BNO08x has asserted interrupt and sent data.
Definition BNO08x.cpp:847
static const constexpr uint8_t SENSOR_REPORT_ID_ROTATION_VECTOR
See SH2 Ref. Manual 6.5.18.
Definition BNO08x.hpp:464
void get_gravity(float &x, float &y, float &z, uint8_t &accuracy)
Get full reported gravity vector, units in m/s^2.
Definition BNO08x.cpp:1709
struct BNO08x::bno08x_tx_packet_t bno08x_tx_packet_t
Holds data that is sent over spi.
static const constexpr EventBits_t EVT_GRP_RPT_GYRO_BIT
When set, gyro reports are active.
Definition BNO08x.hpp:411
void enable_magnetometer(uint32_t time_between_reports)
Sends command to enable magnetometer reports (See Ref. Manual 6.5.16)
Definition BNO08x.cpp:1308
static const constexpr EventBits_t EVT_GRP_RPT_RAW_ACCELEROMETER_BIT
When set, raw accelerometer reports are active.
Definition BNO08x.hpp:418
uint8_t get_accel_accuracy()
Get accuracy of linear acceleration.
Definition BNO08x.cpp:2010
bool FRS_read_data(uint16_t record_ID, uint8_t start_location, uint8_t words_to_read)
Read meta data from BNO08x FRS (flash record system) given the record ID. Contains Q points and other...
Definition BNO08x.cpp:2630
struct BNO08x::bno08x_rx_packet_t bno08x_rx_packet_t
Holds data that is received over spi.
BNO08x(bno08x_config_t imu_config=default_imu_config)
BNO08x imu constructor.
Definition BNO08x.cpp:15
void enable_report(uint8_t report_ID, uint32_t time_between_reports, const EventBits_t report_evt_grp_bit)
Enables a sensor report for a given ID.
Definition BNO08x.cpp:455
spi_device_interface_config_t imu_spi_config
SPI slave device settings.
Definition BNO08x.hpp:336
void disable_step_counter()
Sends command to disable step counter reports by setting report interval to 0.
Definition BNO08x.cpp:1518
int16_t get_Q1(uint16_t record_ID)
Gets Q1 point from BNO08x FRS (flash record system).
Definition BNO08x.cpp:2497
void tare_now(uint8_t axis_sel=TARE_AXIS_ALL, uint8_t rotation_vector_basis=TARE_ROTATION_VECTOR)
Sends command to tare an axis (See Ref. Manual 6.4.4.1)
Definition BNO08x.cpp:1581
uint8_t get_magf_accuracy()
Get accuracy of reported magnetic field vector.
Definition BNO08x.cpp:1694
static bool isr_service_installed
true of the isr service has been installed, only has to be done once regardless of how many devices a...
Definition BNO08x.hpp:3
void queue_tare_command(uint8_t command, uint8_t axis=TARE_AXIS_ALL, uint8_t rotation_vector_basis=TARE_ROTATION_VECTOR)
Queues a packet containing a command related to zeroing sensor's axes. (See Ref. Manual 6....
Definition BNO08x.cpp:2732
void get_gyro_calibrated_velocity(float &x, float &y, float &z, uint8_t &accuracy)
Get full rotational velocity with drift compensation (units in Rad/s).
Definition BNO08x.cpp:2173
QueueHandle_t queue_tx_data
Packet queue used to send data to be sent over SPI from sending functions to spi_task.
Definition BNO08x.hpp:326
bool wait_for_data()
Waits for a valid or invalid packet to be received or HOST_INT_TIMEOUT_MS to elapse.
Definition BNO08x.cpp:177
static const constexpr uint8_t COMMAND_CLEAR_DCD
Clear DCD & Reset command (See SH2 Ref. Manual 6.4)
Definition BNO08x.hpp:447
uint16_t parse_command_report(bno08x_rx_packet_t *packet)
Parses received command report sent by BNO08x (See Ref. Manual 6.3.9)
Definition BNO08x.cpp:1168
uint8_t get_activity_classifier()
Get the current activity classifier (Seee Ref. Manual 6.5.36)
Definition BNO08x.cpp:2408
void disable_activity_classifier()
Sends command to disable activity classifier reports by setting report interval to 0.
Definition BNO08x.cpp:1538
float get_uncalibrated_gyro_bias_Z()
Get uncalibrated gyro Z axis drift estimate.
Definition BNO08x.cpp:2301
void get_quat(float &i, float &j, float &k, float &real, float &rad_accuracy, uint8_t &accuracy)
Get the full quaternion reading.
Definition BNO08x.cpp:1882
uint16_t parse_frs_read_response_report(bno08x_rx_packet_t *packet)
Sends packet to be parsed to meta data function call (frs_read_word()) through queue.
Definition BNO08x.cpp:962
static const constexpr EventBits_t EVT_GRP_RPT_GYRO_ROTATION_VECTOR_BIT
When set, gyro integrator rotation vector reports are active.
Definition BNO08x.hpp:406
static const constexpr uint8_t SHTP_REPORT_PRODUCT_ID_REQUEST
See SH2 Ref. Manual 6.3.1.
Definition BNO08x.hpp:455
float get_gravity_Z()
Get the reported z axis gravity.
Definition BNO08x.cpp:1742
void enable_ARVR_stabilized_game_rotation_vector(uint32_t time_between_reports)
Sends command to enable ARVR stabilized game rotation vector reports (See Ref. Manual 6....
Definition BNO08x.cpp:1231
static const constexpr uint8_t CALIBRATE_STOP
Stop calibration command used by queue_calibrate_command.
Definition BNO08x.hpp:436
uint16_t mems_raw_accel_Z
Raw accelerometer readings from MEMS sensor (See SH2 Ref. Manual 6.5.8)
Definition BNO08x.hpp:364
static const constexpr uint8_t TARE_SET_REORIENTATION
See SH2 Ref. Manual 6.4.4.3.
Definition BNO08x.hpp:483
void enable_step_counter(uint32_t time_between_reports)
Sends command to enable step counter reports (See Ref. Manual 6.5.29)
Definition BNO08x.cpp:1330
float get_quat_real()
Get real component of reported quaternion.
Definition BNO08x.cpp:1930
void queue_command(uint8_t command, uint8_t *commands)
Queues a packet containing a command.
Definition BNO08x.cpp:554
void disable_gravity()
Sends command to disable gravity reports by setting report interval to 0.
Definition BNO08x.cpp:1468
static const constexpr EventBits_t EVT_GRP_SPI_RX_VALID_PACKET
When this bit is set, it indicates a valid packet has been received and processed.
Definition BNO08x.hpp:393
float get_quat_radian_accuracy()
Get radian accuracy of reported quaternion.
Definition BNO08x.cpp:1941
static bno08x_config_t default_imu_config
default imu config settings
Definition BNO08x.hpp:319
void queue_packet(uint8_t channel_number, uint8_t data_length, uint8_t *commands)
Queues an SHTP packet to be sent via SPI.
Definition BNO08x.cpp:500
EventGroupHandle_t evt_grp_report_en
Event group for indicating which reports are currently enabled.
Definition BNO08x.hpp:323
static const constexpr EventBits_t EVT_GRP_SPI_RX_INVALID_PACKET
When this bit is set, it indicates an invalid packet has been received.
Definition BNO08x.hpp:395
static const constexpr EventBits_t EVT_GRP_RPT_TAP_DETECTOR_BIT
When set, tap detector reports are active.
Definition BNO08x.hpp:414
void disable_magnetometer()
Sends command to disable magnetometer reports by setting report interval to 0.
Definition BNO08x.cpp:1498
static const constexpr uint8_t SENSOR_REPORT_ID_GRAVITY
See SH2 Ref. Manual 6.5.11.
Definition BNO08x.hpp:465
uint16_t parse_packet(bno08x_rx_packet_t *packet)
Parses a packet received from bno08x, updating any data according to received reports.
Definition BNO08x.cpp:875
static const constexpr uint8_t TARE_ARVR_STABILIZED_GAME_ROTATION_VECTOR
Tare ARVR stabilized game rotation vector.
Definition BNO08x.hpp:267
static const constexpr EventBits_t EVT_GRP_RPT_RAW_GYRO_BIT
When set, raw gyro reports are active.
Definition BNO08x.hpp:419
float get_roll_deg()
Get the reported rotation about x axis.
Definition BNO08x.cpp:1845
int16_t get_raw_accel_Z()
Get raw accelerometer z axis reading from physical accelerometer MEMs sensor (See Ref....
Definition BNO08x.cpp:2098
bool calibration_complete()
Returns true if calibration has completed.
Definition BNO08x.cpp:709
static const constexpr uint8_t SENSOR_REPORT_ID_PERSONAL_ACTIVITY_CLASSIFIER
See SH2 Ref. Manual 6.5.36.
Definition BNO08x.hpp:476
void enable_gyro_integrated_rotation_vector(uint32_t time_between_reports)
Sends command to enable gyro integrated rotation vector reports (See Ref. Manual 6....
Definition BNO08x.cpp:1242
float get_uncalibrated_gyro_bias_Y()
Get uncalibrated gyro Y axis drift estimate.
Definition BNO08x.cpp:2291
static const constexpr uint8_t SHTP_REPORT_FRS_READ_REQUEST
See SH2 Ref. Manual 6.3.6.
Definition BNO08x.hpp:453
uint8_t activity_classifier
Activity status reading (See SH-2 Ref. Manual 6.5.36)
Definition BNO08x.hpp:360
void disable_raw_gyro()
Sends command to disable raw gyro reports by setting report interval to 0.
Definition BNO08x.cpp:1558
float get_linear_accel_X()
Get x axis linear acceleration (acceleration of device minus gravity, units in m/s^2)
Definition BNO08x.cpp:2038
void disable_game_rotation_vector()
Sends command to disable game rotation vector reports by setting report interval to 0.
Definition BNO08x.cpp:1408
static const constexpr EventBits_t EVT_GRP_RPT_ARVR_S_GAME_ROTATION_VECTOR_BIT
When set, ARVR stabilized game rotation vector reports are active.
Definition BNO08x.hpp:404
static const constexpr uint8_t COMMAND_DCD_PERIOD_SAVE
Configure DCD periodic saving (See SH2 Ref. Manual 6.4)
Definition BNO08x.hpp:445
uint32_t meta_data[9]
First 9 bytes of meta data returned from FRS read operation (we don't really need the rest) (See Ref....
Definition BNO08x.hpp:332
bool wait_for_tx_done()
Waits for a queued packet to be sent or HOST_INT_TIMEOUT_MS to elapse.
Definition BNO08x.cpp:223
QueueHandle_t queue_rx_data
Packet queue used to send data received from bno08x from spi_task to data_proc_task.
Definition BNO08x.hpp:325
static const constexpr EventBits_t EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT
When set, stability classifier reports are active.
Definition BNO08x.hpp:416
void enable_uncalibrated_gyro(uint32_t time_between_reports)
Sends command to enable uncalibrated gyro reports (See Ref. Manual 6.5.14)
Definition BNO08x.cpp:1297
static void IRAM_ATTR hint_handler(void *arg)
HINT interrupt service routine, handles falling edge of BNO08x HINT pin.
Definition BNO08x.cpp:2859
static const constexpr uint8_t SENSOR_REPORT_ID_RAW_ACCELEROMETER
See SH2 Ref. Manual 6.5.8.
Definition BNO08x.hpp:473
static const constexpr uint8_t SENSOR_REPORT_ID_TAP_DETECTOR
See SH2 Ref. Manual 6.5.27.
Definition BNO08x.hpp:470
uint8_t get_gyro_accuracy()
Get calibrated gyro accuracy.
Definition BNO08x.cpp:2216
void disable_gyro()
Sends command to disable gyro reports by setting report interval to 0.
Definition BNO08x.cpp:1478
float get_magf_Y()
Get Y component of magnetic field vector.
Definition BNO08x.cpp:1672
static const constexpr uint8_t COMMAND_ME_CALIBRATE
Command and response to configure ME calibration (See SH2 Ref. Manual 6.4.7)
Definition BNO08x.hpp:444
QueueHandle_t queue_reset_reason
Queue used to send reset reason from product id report to reset_reason() function.
Definition BNO08x.hpp:328
float get_gravity_X()
Get the reported x axis gravity.
Definition BNO08x.cpp:1722
static const constexpr EventBits_t EVT_GRP_RPT_ALL_BITS
Definition BNO08x.hpp:422
float get_gravity_Y()
Get the reported y axis gravity.
Definition BNO08x.cpp:1732
void enable_ARVR_stabilized_rotation_vector(uint32_t time_between_reports)
Sends command to enable ARVR stabilized rotation vector reports (See Ref. Manual 6....
Definition BNO08x.cpp:1220
static const constexpr uint8_t SENSOR_REPORT_ID_ARVR_STABILIZED_ROTATION_VECTOR
See SH2 Ref. Manual 6.5.42.
Definition BNO08x.hpp:477
void enable_raw_gyro(uint32_t time_between_reports)
Sends command to enable raw gyro reports (See Ref. Manual 6.5.12)
Definition BNO08x.cpp:1377
uint16_t parse_input_report(bno08x_rx_packet_t *packet)
Parses received input report sent by BNO08x.
Definition BNO08x.cpp:987
static const constexpr uint8_t TARE_ROTATION_VECTOR
Tare rotation vector.
Definition BNO08x.hpp:262
static const constexpr EventBits_t EVT_GRP_RPT_MAGNETOMETER_BIT
When set, magnetometer reports are active.
Definition BNO08x.hpp:413
uint16_t mems_raw_magf_Z
Raw magnetometer (compass) readings from MEMS sensor (See SH-2 Ref. Manual 6.5.15)
Definition BNO08x.hpp:368
static const constexpr int16_t ROTATION_VECTOR_ACCURACY_Q1
Rotation vector accuracy estimate Q point (See SH-2 Ref. Manual 6.5.18)
Definition BNO08x.hpp:270
void get_accel(float &x, float &y, float &z, uint8_t &accuracy)
Get full acceleration (total acceleration of device, units in m/s^2).
Definition BNO08x.cpp:1967
int16_t get_Q2(uint16_t record_ID)
Gets Q2 point from BNO08x FRS (flash record system).
Definition BNO08x.cpp:2512
static const constexpr uint8_t CALIBRATE_PLANAR_ACCEL
Calibrate planar acceleration command used by queue_calibrate_command.
Definition BNO08x.hpp:433
int16_t get_raw_accel_Y()
Get raw accelerometer y axis reading from physical accelerometer MEMs sensor (See Ref....
Definition BNO08x.cpp:2088
static const constexpr EventBits_t EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT
When set, activity classifier reports are active.
Definition BNO08x.hpp:417
bool soft_reset()
Soft resets BNO08x sensor using executable channel.
Definition BNO08x.cpp:294
spi_bus_config_t bus_config
SPI bus GPIO configuration settings.
Definition BNO08x.hpp:335
uint16_t gyro_accuracy
Raw gyro reading (See SH-2 Ref. Manual 6.5.13)
Definition BNO08x.hpp:346
int16_t get_raw_magf_Z()
Get raw magnetometer z axis reading from physical magnetometer sensor (See Ref. Manual 6....
Definition BNO08x.cpp:2158
QueueHandle_t queue_frs_read_data
Queue used to send packet body from data_proc_task to frs read functions.
Definition BNO08x.hpp:327
void calibrate_gyro()
Sends command to calibrate gyro.
Definition BNO08x.cpp:608
static const constexpr uint8_t SENSOR_REPORT_ID_RAW_MAGNETOMETER
See SH2 Ref. Manual 6.5.15.
Definition BNO08x.hpp:475
static const constexpr uint8_t TARE_GYRO_INTEGRATED_ROTATION_VECTOR
Tare gyro integrated rotation vector.
Definition BNO08x.hpp:265
static const constexpr uint16_t FRS_RECORD_ID_ROTATION_VECTOR
Rotation vector record ID, to be passed in metadata functions like get_Q1()
Definition BNO08x.hpp:255
float get_quat_K()
Get K component of reported quaternion.
Definition BNO08x.cpp:1919
float get_quat_J()
Get J component of reported quaternion.
Definition BNO08x.cpp:1908
static const constexpr int16_t MAGNETOMETER_Q1
Magnetometer Q point (See SH-2 Ref. Manual 6.5.16)
Definition BNO08x.hpp:274
void save_calibration()
Sends command to save internal calibration data (See Ref. Manual 6.4.7).
Definition BNO08x.cpp:734
EventGroupHandle_t evt_grp_spi
Event group for indicating when bno08x hint pin has triggered and when new data has been processed....
Definition BNO08x.hpp:322
static const constexpr EventBits_t EVT_GRP_SPI_TX_DONE
When this bit is set, it indicates a queued packet has been sent.
Definition BNO08x.hpp:397
static const constexpr int16_t GYRO_Q1
Gyro Q point (See SH-2 Ref. Manual 6.5.13)
Definition BNO08x.hpp:273
void disable_ARVR_stabilized_rotation_vector()
Sends command to disable ARVR stabilized rotation vector reports by setting report interval to 0.
Definition BNO08x.cpp:1418
static const constexpr EventBits_t EVT_GRP_RPT_ARVR_S_ROTATION_VECTOR_BIT
When set, ARVR stabilized rotation vector reports are active.
Definition BNO08x.hpp:402
void disable_gyro_integrated_rotation_vector()
Sends command to disable gyro integrated rotation vector reports by setting report interval to 0.
Definition BNO08x.cpp:1438
void disable_uncalibrated_gyro()
Sends command to disable uncalibrated gyro reports by setting report interval to 0.
Definition BNO08x.cpp:1488
static const constexpr int16_t ANGULAR_VELOCITY_Q1
Angular velocity Q point (See SH-2 Ref. Manual 6.5.44)
Definition BNO08x.hpp:275
static const constexpr uint8_t SHTP_REPORT_COMMAND_REQUEST
See SH2 Ref. Manual 6.3.8.
Definition BNO08x.hpp:451
void enable_stability_classifier(uint32_t time_between_reports)
Sends command to enable activity stability classifier reports (See Ref. Manual 6.5....
Definition BNO08x.cpp:1341
void disable_ARVR_stabilized_game_rotation_vector()
Sends command to disable ARVR stabilized game rotation vector reports by setting report interval to 0...
Definition BNO08x.cpp:1428
static const constexpr EventBits_t EVT_GRP_RPT_STEP_COUNTER_BIT
When set, step counter reports are active.
Definition BNO08x.hpp:415
void disable_stability_classifier()
Sends command to disable stability reports by setting report interval to 0.
Definition BNO08x.cpp:1528
void data_proc_task()
Task responsible parsing packets. Executed when SPI task sends a packet to be parsed,...
Definition BNO08x.cpp:2830
uint16_t raw_velocity_gyro_Z
Raw gyro angular velocity reading (See SH-2 Ref. Manual 6.5.44)
Definition BNO08x.hpp:350
void enable_rotation_vector(uint32_t time_between_reports)
Sends command to enable rotation vector reports (See Ref. Manual 6.5.18)
Definition BNO08x.cpp:1209
float get_magf_Z()
Get Z component of magnetic field vector.
Definition BNO08x.cpp:1683
void enable_tap_detector(uint32_t time_between_reports)
Sends command to enable tap detector reports (See Ref. Manual 6.5.27)
Definition BNO08x.cpp:1319
static const constexpr uint8_t SENSOR_REPORT_ID_STABILITY_CLASSIFIER
See SH2 Ref. Manual 6.5.31.
Definition BNO08x.hpp:472
void queue_request_product_id_command()
Queues a packet containing the request product ID command.
Definition BNO08x.cpp:570
float get_gyro_calibrated_velocity_X()
Get calibrated gyro x axis angular velocity measurement.
Definition BNO08x.cpp:2186
static const constexpr EventBits_t EVT_GRP_RPT_GRAVITY_BIT
When set, gravity reports are active.
Definition BNO08x.hpp:410
static const constexpr uint8_t TARE_GAME_ROTATION_VECTOR
Tare game rotation vector.
Definition BNO08x.hpp:263
static const constexpr uint8_t SENSOR_REPORT_ID_GEOMAGNETIC_ROTATION_VECTOR
See SH2 Ref. Manual 6.5.20.
Definition BNO08x.hpp:468
uint32_t time_stamp
Report timestamp (see datasheet 1.3.5.3)
Definition BNO08x.hpp:341
float get_accel_X()
Get x axis acceleration (total acceleration of device, units in m/s^2).
Definition BNO08x.cpp:1980
void enable_game_rotation_vector(uint32_t time_between_reports)
Sends command to enable game rotation vector reports (See Ref. Manual 6.5.19)
Definition BNO08x.cpp:1198
static const constexpr uint8_t TARE_ARVR_STABILIZED_ROTATION_VECTOR
Tare ARVR stabilized rotation vector.
Definition BNO08x.hpp:266
static const constexpr uint8_t CALIBRATE_MAG
Calibrate magnetometer command used by queue_calibrate_command.
Definition BNO08x.hpp:432
spi_transaction_t spi_transaction
SPI transaction handle.
Definition BNO08x.hpp:338
bool mode_on()
Turns on/ brings BNO08x sensor out of sleep mode using executable channel.
Definition BNO08x.cpp:348
void calibrate_magnetometer()
Sends command to calibrate magnetometer.
Definition BNO08x.cpp:620
static const constexpr EventBits_t EVT_GRP_RPT_RAW_MAGNETOMETER_BIT
When set, raw magnetometer reports are active.
Definition BNO08x.hpp:420
uint16_t mems_raw_gyro_Z
Raw gyro readings from MEMS sensor (See SH-2 Ref. Manual 6.5.12)
Definition BNO08x.hpp:366
uint16_t magf_accuracy
Calibrated magnetic field reading in uTesla (See SH-2 Ref. Manual 6.5.16)
Definition BNO08x.hpp:356
void end_calibration()
Sends command to end calibration procedure.
Definition BNO08x.cpp:722
static const constexpr uint8_t SENSOR_REPORT_ID_UNCALIBRATED_GYRO
See SH2 Ref. Manual 6.5.14.
Definition BNO08x.hpp:466
uint8_t get_gravity_accuracy()
Get the reported gravity accuracy.
Definition BNO08x.cpp:1752
static const constexpr uint8_t SENSOR_REPORT_ID_GYRO_INTEGRATED_ROTATION_VECTOR
See SH2 Ref. Manual 6.5.44.
Definition BNO08x.hpp:469
float get_gyro_velocity_Y()
Get y axis angular velocity from gyro-integrated rotation vector. (See Ref. Manual 6....
Definition BNO08x.cpp:2347
float get_gyro_velocity_X()
Get x axis angular velocity from gyro-integrated rotation vector. (See Ref. Manual 6....
Definition BNO08x.cpp:2337
static const constexpr uint8_t CALIBRATE_ACCEL
Calibrate accelerometer command used by queue_calibrate_command.
Definition BNO08x.hpp:430
static const constexpr uint8_t SENSOR_REPORT_ID_LINEAR_ACCELERATION
See SH2 Ref. Manual 6.5.10.
Definition BNO08x.hpp:463
void queue_calibrate_command(uint8_t _to_calibrate)
Queues a packet containing a command to calibrate the specified sensor.
Definition BNO08x.cpp:645
static const constexpr int16_t LINEAR_ACCELEROMETER_Q1
Linear acceleration Q point (See SH-2 Ref. Manual 6.5.10)
Definition BNO08x.hpp:272
uint8_t calibration_status
Calibration status of device (See SH-2 Ref. Manual 6.4.7.1 & 6.4.7.2)
Definition BNO08x.hpp:362
float get_uncalibrated_gyro_bias_X()
Get uncalibrated gyro x axis drift estimate.
Definition BNO08x.cpp:2281
float get_gyro_calibrated_velocity_Y()
Get calibrated gyro y axis angular velocity measurement.
Definition BNO08x.cpp:2196
void get_linear_accel(float &x, float &y, float &z, uint8_t &accuracy)
Get full linear acceleration (acceleration of the device minus gravity, units in m/s^2).
Definition BNO08x.cpp:2025
void disable_accelerometer()
Sends command to disable accelerometer reports by setting report interval to 0.
Definition BNO08x.cpp:1448
void enable_gyro(uint32_t time_between_reports)
Sends command to enable gyro reports (See Ref. Manual 6.5.13)
Definition BNO08x.cpp:1286
void enable_activity_classifier(uint32_t time_between_reports, uint32_t activities_to_enable, uint8_t(&activity_confidence_vals)[9])
Sends command to enable activity classifier reports (See Ref. Manual 6.5.36)
Definition BNO08x.cpp:1354
static const constexpr uint16_t FRS_RECORD_ID_ACCELEROMETER
Accelerometer record ID, to be passed in metadata functions like get_Q1()
Definition BNO08x.hpp:249
uint16_t step_count
Step counter reading (See SH-2 Ref. Manual 6.5.29)
Definition BNO08x.hpp:358
uint32_t get_time_stamp()
Return timestamp of most recent report.
Definition BNO08x.cpp:1633
static const constexpr EventBits_t EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT
When set, linear accelerometer reports are active.
Definition BNO08x.hpp:409
static const constexpr uint8_t SENSOR_REPORT_ID_GAME_ROTATION_VECTOR
See SH2 Ref. Manual 6.5.19.
Definition BNO08x.hpp:467
uint16_t get_step_count()
Get the counted amount of steps.
Definition BNO08x.cpp:2379
void disable_raw_magnetometer()
Sends command to disable raw magnetometer reports by setting report interval to 0.
Definition BNO08x.cpp:1568
int16_t get_raw_magf_X()
Get raw magnetometer x axis reading from physical magnetometer sensor (See Ref. Manual 6....
Definition BNO08x.cpp:2138
bool FRS_read_request(uint16_t record_ID, uint16_t read_offset, uint16_t block_size)
Requests meta data from BNO08x FRS (flash record system) given the record ID. Contains Q points and o...
Definition BNO08x.cpp:2600
uint16_t gravity_accuracy
Gravity reading in m/s^2 (See SH-2 Ref. Manual 6.5.11)
Definition BNO08x.hpp:352
static const constexpr int16_t GRAVITY_Q1
Gravity Q point (See SH-2 Ref. Manual 6.5.11)
Definition BNO08x.hpp:276
void enable_linear_accelerometer(uint32_t time_between_reports)
Sends command to enable linear accelerometer reports (See Ref. Manual 6.5.10)
Definition BNO08x.cpp:1264
float get_gyro_velocity_Z()
Get z axis angular velocity from gyro-integrated rotation vector. (See Ref. Manual 6....
Definition BNO08x.cpp:2357
static const constexpr uint8_t SHTP_REPORT_BASE_TIMESTAMP
See SH2 Ref. Manual 7.2.1.
Definition BNO08x.hpp:456
bool receive_packet()
Receives a SHTP packet via SPI and sends it to data_proc_task()
Definition BNO08x.cpp:396
bool run_full_calibration_routine()
Runs full calibration routine.
Definition BNO08x.cpp:753
static const constexpr uint64_t HOST_INT_TIMEOUT_MS
Max wait between HINT being asserted by BNO08x before transaction is considered failed (in milisecond...
Definition BNO08x.hpp:387
static const constexpr uint8_t CALIBRATE_GYRO
Calibrate gyro command used by queue_calibrate_command.
Definition BNO08x.hpp:431
static const constexpr uint8_t SENSOR_REPORT_ID_ARVR_STABILIZED_GAME_ROTATION_VECTOR
See SH2 Ref. Manual 6.5.43.
Definition BNO08x.hpp:478
static const constexpr uint8_t SHTP_REPORT_FRS_READ_RESPONSE
See SH2 Ref. Manual 6.3.7.
Definition BNO08x.hpp:452
static const constexpr uint8_t TARE_AXIS_Z
Tar yaw axis only (used with tare now command)
Definition BNO08x.hpp:259
void calibrate_accelerometer()
Sends command to calibrate accelerometer.
Definition BNO08x.cpp:596
static const constexpr uint8_t COMMAND_DCD
Save DCD command (See SH2 Ref. Manual 6.4.7)
Definition BNO08x.hpp:443
int16_t get_raw_gyro_X()
Get raw gyroscope x axis reading from physical gyroscope MEMs sensor (See Ref. Manual 6....
Definition BNO08x.cpp:2108
void queue_feature_command(uint8_t report_ID, uint32_t time_between_reports)
Queues a packet containing a command with a request for sensor reports, reported periodically....
Definition BNO08x.cpp:2756
float get_pitch_deg()
Get the reported rotation about y axis.
Definition BNO08x.cpp:1855
static const constexpr uint8_t CALIBRATE_ACCEL_GYRO_MAG
Calibrate accelerometer, gyro, & magnetometer command used by queue_calibrate_command.
Definition BNO08x.hpp:434
float get_yaw_deg()
Get the reported rotation about z axis.
Definition BNO08x.cpp:1865
static const constexpr EventBits_t EVT_GRP_RPT_GYRO_UNCALIBRATED_BIT
When set, uncalibrated gyro reports are active.
Definition BNO08x.hpp:412
uint8_t * activity_confidences
Confidence of read activities (See SH-2 Ref. Manual 6.5.36)
Definition BNO08x.hpp:361
TaskHandle_t data_proc_task_hdl
data_proc_task() task handle
Definition BNO08x.hpp:376
void save_tare()
Sends command to save tare into non-volatile memory of BNO08x (See Ref. Manual 6.4....
Definition BNO08x.cpp:1593
void disable_linear_accelerometer()
Sends command to disable linear accelerometer reports by setting report interval to 0.
Definition BNO08x.cpp:1458
void calibrate_all()
Sends command to calibrate accelerometer, gyro, and magnetometer.
Definition BNO08x.cpp:584
float get_accel_Y()
Get y axis acceleration (total acceleration of device, units in m/s^2).
Definition BNO08x.cpp:1990
float get_linear_accel_Z()
Get z axis linear acceleration (acceleration of device minus gravity, units in m/s^2)
Definition BNO08x.cpp:2058
void clear_tare()
Sends command to clear persistent tare settings in non-volatile memory of BNO08x (See Ref....
Definition BNO08x.cpp:1605
void get_gyro_velocity(float &x, float &y, float &z)
Full rotational velocity from gyro-integrated rotation vector (See Ref. Manual 6.5....
Definition BNO08x.cpp:2325
int16_t get_raw_gyro_Y()
Get raw gyroscope y axis reading from physical gyroscope MEMs sensor (See Ref. Manual 6....
Definition BNO08x.cpp:2118
void request_calibration_status()
Requests ME calibration status from BNO08x (see Ref. Manual 6.4.7.2)
Definition BNO08x.cpp:692
uint8_t body[50]
Body of SHTP the packet (header + body)
Definition BNO08x.hpp:290
spi_host_device_t spi_peripheral
SPI peripheral to be used.
Definition BNO08x.hpp:45
uint32_t sclk_speed
Desired SPI SCLK speed in Hz (max 3MHz)
Definition BNO08x.hpp:53
gpio_num_t io_int
Chip select pin (connects to BNO08x CS pin)
Definition BNO08x.hpp:50
gpio_num_t io_rst
Host interrupt pin (connects to BNO08x INT pin)
Definition BNO08x.hpp:51
gpio_num_t io_sclk
SCLK pin (connects to BNO08x SCL pin)
Definition BNO08x.hpp:48
gpio_num_t io_mosi
MOSI GPIO pin (connects to BNO08x DI pin)
Definition BNO08x.hpp:46
gpio_num_t io_wake
Reset pin (connects to BNO08x RST pin)
Definition BNO08x.hpp:52
gpio_num_t io_miso
MISO GPIO pin (connects to BNO08x SDA pin)
Definition BNO08x.hpp:47
bno08x_config_t()
Default IMU configuration settings constructor. To modify default GPIO pins, run "idf....
Definition BNO08x.hpp:58
bno08x_config_t(spi_host_device_t spi_peripheral, gpio_num_t io_mosi, gpio_num_t io_miso, gpio_num_t io_sclk, gpio_num_t io_cs, gpio_num_t io_int, gpio_num_t io_rst, gpio_num_t io_wake, uint32_t sclk_speed)
Overloaded IMU configuration settings constructor for custom pin settings.
Definition BNO08x.hpp:73
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+ esp32_BNO08x 1.1
+
+ C++ BNO08x IMU driver component for esp-idf.
+ |
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+README.md File Reference
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diff --git a/documentation/html/annotated.html b/documentation/html/annotated.html
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- Generated by 1.10.0
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+ esp32_BNO08x 1.1
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+ C++ BNO08x IMU driver component for esp-idf.
+ |
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+Class List
+
+Here are the classes, structs, unions and interfaces with brief descriptions:
+
+
+
+[detail level 12]
| ▼CBNO08x | |
| Cbno08x_rx_packet_t | Holds data that is received over spi |
| Cbno08x_tx_packet_t | Holds data that is sent over spi |
| Cbno08x_config_t | IMU configuration settings passed into constructor |
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+
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+var annotated_dup =
+[
+ [ "BNO08x", "class_b_n_o08x.html", "class_b_n_o08x" ],
+ [ "bno08x_config_t", "structbno08x__config__t.html", "structbno08x__config__t" ]
+];
\ No newline at end of file
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- Generated by 1.10.0
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+ esp32_BNO08x 1.1
+
+ C++ BNO08x IMU driver component for esp-idf.
+ |
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+BNO08x Member List
+
+
+This is the complete list of members for BNO08x, including all inherited members.
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- Generated by 1.10.0
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+ esp32_BNO08x 1.1
+
+ C++ BNO08x IMU driver component for esp-idf.
+ |
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+Classes |
+Public Member Functions |
+Static Public Attributes |
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+Private Attributes |
+Static Private Attributes |
+List of all members
+ BNO08x Class Reference
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+
The documentation for this class was generated from the following files:
+#include <BNO08x.hpp>
+Collaboration diagram for BNO08x:
+
+
+
+[legend]
++Classes | |
| struct | bno08x_rx_packet_t |
| Holds data that is received over spi. More... | |
| struct | bno08x_tx_packet_t |
| Holds data that is sent over spi. More... | |
+Public Member Functions | |
| BNO08x (bno08x_config_t imu_config=default_imu_config) | |
| BNO08x imu constructor. | |
| bool | initialize () |
| Initializes BNO08x sensor. | |
| bool | hard_reset () |
| Hard resets BNO08x sensor. | |
| bool | soft_reset () |
| Soft resets BNO08x sensor using executable channel. | |
| uint8_t | get_reset_reason () |
| Requests product ID, prints the returned info over serial, and returns the reason for the most resent reset. | |
| bool | mode_sleep () |
| Puts BNO08x sensor into sleep/low power mode using executable channel. | |
| bool | mode_on () |
| Turns on/ brings BNO08x sensor out of sleep mode using executable channel. | |
| float | q_to_float (int16_t fixed_point_value, uint8_t q_point) |
| Converts a register value to a float using its associated Q point. (See https://en.wikipedia.org/wiki/Q_(number_format)) | |
| bool | run_full_calibration_routine () |
| Runs full calibration routine. | |
| void | calibrate_all () |
| Sends command to calibrate accelerometer, gyro, and magnetometer. | |
| void | calibrate_accelerometer () |
| Sends command to calibrate accelerometer. | |
| void | calibrate_gyro () |
| Sends command to calibrate gyro. | |
| void | calibrate_magnetometer () |
| Sends command to calibrate magnetometer. | |
| void | calibrate_planar_accelerometer () |
| Sends command to calibrate planar accelerometer. | |
| void | request_calibration_status () |
| Requests ME calibration status from BNO08x (see Ref. Manual 6.4.7.2) | |
| bool | calibration_complete () |
| Returns true if calibration has completed. | |
| void | end_calibration () |
| Sends command to end calibration procedure. | |
| void | save_calibration () |
| Sends command to save internal calibration data (See Ref. Manual 6.4.7). | |
| void | enable_rotation_vector (uint32_t time_between_reports) |
| Sends command to enable rotation vector reports (See Ref. Manual 6.5.18) | |
| void | enable_game_rotation_vector (uint32_t time_between_reports) |
| Sends command to enable game rotation vector reports (See Ref. Manual 6.5.19) | |
| void | enable_ARVR_stabilized_rotation_vector (uint32_t time_between_reports) |
| Sends command to enable ARVR stabilized rotation vector reports (See Ref. Manual 6.5.42) | |
| void | enable_ARVR_stabilized_game_rotation_vector (uint32_t time_between_reports) |
| Sends command to enable ARVR stabilized game rotation vector reports (See Ref. Manual 6.5.43) | |
| void | enable_gyro_integrated_rotation_vector (uint32_t time_between_reports) |
| Sends command to enable gyro integrated rotation vector reports (See Ref. Manual 6.5.44) | |
| void | enable_accelerometer (uint32_t time_between_reports) |
| Sends command to enable accelerometer reports (See Ref. Manual 6.5.9) | |
| void | enable_linear_accelerometer (uint32_t time_between_reports) |
| Sends command to enable linear accelerometer reports (See Ref. Manual 6.5.10) | |
| void | enable_gravity (uint32_t time_between_reports) |
| Sends command to enable gravity reading reports (See Ref. Manual 6.5.11) | |
| void | enable_gyro (uint32_t time_between_reports) |
| Sends command to enable gyro reports (See Ref. Manual 6.5.13) | |
| void | enable_uncalibrated_gyro (uint32_t time_between_reports) |
| Sends command to enable uncalibrated gyro reports (See Ref. Manual 6.5.14) | |
| void | enable_magnetometer (uint32_t time_between_reports) |
| Sends command to enable magnetometer reports (See Ref. Manual 6.5.16) | |
| void | enable_tap_detector (uint32_t time_between_reports) |
| Sends command to enable tap detector reports (See Ref. Manual 6.5.27) | |
| void | enable_step_counter (uint32_t time_between_reports) |
| Sends command to enable step counter reports (See Ref. Manual 6.5.29) | |
| void | enable_stability_classifier (uint32_t time_between_reports) |
| Sends command to enable activity stability classifier reports (See Ref. Manual 6.5.31) | |
| void | enable_activity_classifier (uint32_t time_between_reports, uint32_t activities_to_enable, uint8_t(&activity_confidence_vals)[9]) |
| Sends command to enable activity classifier reports (See Ref. Manual 6.5.36) | |
| void | enable_raw_accelerometer (uint32_t time_between_reports) |
| Sends command to enable raw accelerometer reports (See Ref. Manual 6.5.8) | |
| void | enable_raw_gyro (uint32_t time_between_reports) |
| Sends command to enable raw gyro reports (See Ref. Manual 6.5.12) | |
| void | enable_raw_magnetometer (uint32_t time_between_reports) |
| Sends command to enable raw magnetometer reports (See Ref. Manual 6.5.15) | |
| void | disable_rotation_vector () |
| Sends command to disable rotation vector reports by setting report interval to 0. | |
| void | disable_game_rotation_vector () |
| Sends command to disable game rotation vector reports by setting report interval to 0. | |
| void | disable_ARVR_stabilized_rotation_vector () |
| Sends command to disable ARVR stabilized rotation vector reports by setting report interval to 0. | |
| void | disable_ARVR_stabilized_game_rotation_vector () |
| Sends command to disable ARVR stabilized game rotation vector reports by setting report interval to 0. | |
| void | disable_gyro_integrated_rotation_vector () |
| Sends command to disable gyro integrated rotation vector reports by setting report interval to 0. | |
| void | disable_accelerometer () |
| Sends command to disable accelerometer reports by setting report interval to 0. | |
| void | disable_linear_accelerometer () |
| Sends command to disable linear accelerometer reports by setting report interval to 0. | |
| void | disable_gravity () |
| Sends command to disable gravity reports by setting report interval to 0. | |
| void | disable_gyro () |
| Sends command to disable gyro reports by setting report interval to 0. | |
| void | disable_uncalibrated_gyro () |
| Sends command to disable uncalibrated gyro reports by setting report interval to 0. | |
| void | disable_magnetometer () |
| Sends command to disable magnetometer reports by setting report interval to 0. | |
| void | disable_tap_detector () |
| Sends command to disable tap detector reports by setting report interval to 0. | |
| void | disable_step_counter () |
| Sends command to disable step counter reports by setting report interval to 0. | |
| void | disable_stability_classifier () |
| Sends command to disable stability reports by setting report interval to 0. | |
| void | disable_activity_classifier () |
| Sends command to disable activity classifier reports by setting report interval to 0. | |
| void | disable_raw_accelerometer () |
| Sends command to disable raw accelerometer reports by setting report interval to 0. | |
| void | disable_raw_gyro () |
| Sends command to disable raw gyro reports by setting report interval to 0. | |
| void | disable_raw_magnetometer () |
| Sends command to disable raw magnetometer reports by setting report interval to 0. | |
| void | tare_now (uint8_t axis_sel=TARE_AXIS_ALL, uint8_t rotation_vector_basis=TARE_ROTATION_VECTOR) |
| Sends command to tare an axis (See Ref. Manual 6.4.4.1) | |
| void | save_tare () |
| Sends command to save tare into non-volatile memory of BNO08x (See Ref. Manual 6.4.4.2) | |
| void | clear_tare () |
| Sends command to clear persistent tare settings in non-volatile memory of BNO08x (See Ref. Manual 6.4.4.3) | |
| bool | data_available () |
| Checks if BNO08x has asserted interrupt and sent data. | |
| void | register_cb (std::function< void()> cb_fxn) |
| Registers a callback to execute when new data from a report is received. | |
| uint32_t | get_time_stamp () |
| Return timestamp of most recent report. | |
| void | get_magf (float &x, float &y, float &z, uint8_t &accuracy) |
| Get the full magnetic field vector. | |
| float | get_magf_X () |
| Get X component of magnetic field vector. | |
| float | get_magf_Y () |
| Get Y component of magnetic field vector. | |
| float | get_magf_Z () |
| Get Z component of magnetic field vector. | |
| uint8_t | get_magf_accuracy () |
| Get accuracy of reported magnetic field vector. | |
| void | get_gravity (float &x, float &y, float &z, uint8_t &accuracy) |
| Get full reported gravity vector, units in m/s^2. | |
| float | get_gravity_X () |
| Get the reported x axis gravity. | |
| float | get_gravity_Y () |
| Get the reported y axis gravity. | |
| float | get_gravity_Z () |
| Get the reported z axis gravity. | |
| uint8_t | get_gravity_accuracy () |
| Get the reported gravity accuracy. | |
| float | get_roll () |
| Get the reported rotation about x axis. | |
| float | get_pitch () |
| Get the reported rotation about y axis. | |
| float | get_yaw () |
| Get the reported rotation about z axis. | |
| float | get_roll_deg () |
| Get the reported rotation about x axis. | |
| float | get_pitch_deg () |
| Get the reported rotation about y axis. | |
| float | get_yaw_deg () |
| Get the reported rotation about z axis. | |
| void | get_quat (float &i, float &j, float &k, float &real, float &rad_accuracy, uint8_t &accuracy) |
| Get the full quaternion reading. | |
| float | get_quat_I () |
| Get I component of reported quaternion. | |
| float | get_quat_J () |
| Get J component of reported quaternion. | |
| float | get_quat_K () |
| Get K component of reported quaternion. | |
| float | get_quat_real () |
| Get real component of reported quaternion. | |
| float | get_quat_radian_accuracy () |
| Get radian accuracy of reported quaternion. | |
| uint8_t | get_quat_accuracy () |
| Get accuracy of reported quaternion. | |
| void | get_accel (float &x, float &y, float &z, uint8_t &accuracy) |
| Get full acceleration (total acceleration of device, units in m/s^2). | |
| float | get_accel_X () |
| Get x axis acceleration (total acceleration of device, units in m/s^2). | |
| float | get_accel_Y () |
| Get y axis acceleration (total acceleration of device, units in m/s^2). | |
| float | get_accel_Z () |
| Get z axis acceleration (total acceleration of device, units in m/s^2). | |
| uint8_t | get_accel_accuracy () |
| Get accuracy of linear acceleration. | |
| void | get_linear_accel (float &x, float &y, float &z, uint8_t &accuracy) |
| Get full linear acceleration (acceleration of the device minus gravity, units in m/s^2). | |
| float | get_linear_accel_X () |
| Get x axis linear acceleration (acceleration of device minus gravity, units in m/s^2) | |
| float | get_linear_accel_Y () |
| Get y axis linear acceleration (acceleration of device minus gravity, units in m/s^2) | |
| float | get_linear_accel_Z () |
| Get z axis linear acceleration (acceleration of device minus gravity, units in m/s^2) | |
| uint8_t | get_linear_accel_accuracy () |
| Get accuracy of linear acceleration. | |
| int16_t | get_raw_accel_X () |
| Get raw accelerometer x axis reading from physical accelerometer MEMs sensor (See Ref. Manual 6.5.8) | |
| int16_t | get_raw_accel_Y () |
| Get raw accelerometer y axis reading from physical accelerometer MEMs sensor (See Ref. Manual 6.5.8) | |
| int16_t | get_raw_accel_Z () |
| Get raw accelerometer z axis reading from physical accelerometer MEMs sensor (See Ref. Manual 6.5.8) | |
| int16_t | get_raw_gyro_X () |
| Get raw gyroscope x axis reading from physical gyroscope MEMs sensor (See Ref. Manual 6.5.12) | |
| int16_t | get_raw_gyro_Y () |
| Get raw gyroscope y axis reading from physical gyroscope MEMs sensor (See Ref. Manual 6.5.12) | |
| int16_t | get_raw_gyro_Z () |
| Get raw gyroscope z axis reading from physical gyroscope MEMs sensor (See Ref. Manual 6.5.12) | |
| int16_t | get_raw_magf_X () |
| Get raw magnetometer x axis reading from physical magnetometer sensor (See Ref. Manual 6.5.15) | |
| int16_t | get_raw_magf_Y () |
| Get raw magnetometer y axis reading from physical magnetometer sensor (See Ref. Manual 6.5.15) | |
| int16_t | get_raw_magf_Z () |
| Get raw magnetometer z axis reading from physical magnetometer sensor (See Ref. Manual 6.5.15) | |
| void | get_gyro_calibrated_velocity (float &x, float &y, float &z, uint8_t &accuracy) |
| Get full rotational velocity with drift compensation (units in Rad/s). | |
| float | get_gyro_calibrated_velocity_X () |
| Get calibrated gyro x axis angular velocity measurement. | |
| float | get_gyro_calibrated_velocity_Y () |
| Get calibrated gyro y axis angular velocity measurement. | |
| float | get_gyro_calibrated_velocity_Z () |
| Get calibrated gyro z axis angular velocity measurement. | |
| uint8_t | get_gyro_accuracy () |
| Get calibrated gyro accuracy. | |
| void | get_uncalibrated_gyro (float &x, float &y, float &z, float &bx, float &by, float &bz, uint8_t &accuracy) |
| Get full rotational velocity without drift compensation (units in Rad/s). An estimate of drift is given but not applied. | |
| float | get_uncalibrated_gyro_X () |
| Get uncalibrated gyro x axis angular velocity measurement. | |
| float | get_uncalibrated_gyro_Y () |
| Get uncalibrated gyro Y axis angular velocity measurement. | |
| float | get_uncalibrated_gyro_Z () |
| Get uncalibrated gyro Z axis angular velocity measurement. | |
| float | get_uncalibrated_gyro_bias_X () |
| Get uncalibrated gyro x axis drift estimate. | |
| float | get_uncalibrated_gyro_bias_Y () |
| Get uncalibrated gyro Y axis drift estimate. | |
| float | get_uncalibrated_gyro_bias_Z () |
| Get uncalibrated gyro Z axis drift estimate. | |
| uint8_t | get_uncalibrated_gyro_accuracy () |
| Get uncalibrated gyro accuracy. | |
| void | get_gyro_velocity (float &x, float &y, float &z) |
| Full rotational velocity from gyro-integrated rotation vector (See Ref. Manual 6.5.44) | |
| float | get_gyro_velocity_X () |
| Get x axis angular velocity from gyro-integrated rotation vector. (See Ref. Manual 6.5.44) | |
| float | get_gyro_velocity_Y () |
| Get y axis angular velocity from gyro-integrated rotation vector. (See Ref. Manual 6.5.44) | |
| float | get_gyro_velocity_Z () |
| Get z axis angular velocity from gyro-integrated rotation vector. (See Ref. Manual 6.5.44) | |
| uint8_t | get_tap_detector () |
| Get if tap has occured. | |
| uint16_t | get_step_count () |
| Get the counted amount of steps. | |
| int8_t | get_stability_classifier () |
| Get the current stability classifier (Seee Ref. Manual 6.5.31) | |
| uint8_t | get_activity_classifier () |
| Get the current activity classifier (Seee Ref. Manual 6.5.36) | |
| int16_t | get_Q1 (uint16_t record_ID) |
| Gets Q1 point from BNO08x FRS (flash record system). | |
| int16_t | get_Q2 (uint16_t record_ID) |
| Gets Q2 point from BNO08x FRS (flash record system). | |
| int16_t | get_Q3 (uint16_t record_ID) |
| Gets Q3 point from BNO08x FRS (flash record system). | |
| float | get_resolution (uint16_t record_ID) |
| Gets resolution from BNO08x FRS (flash record system). | |
| float | get_range (uint16_t record_ID) |
| Gets range from BNO08x FRS (flash record system). | |
| uint32_t | FRS_read_word (uint16_t record_ID, uint8_t word_number) |
| Reads meta data word from BNO08x FRS (flash record system) given the record ID and word number. (See Ref. Manual 5.1 & 6.3.7) | |
| bool | FRS_read_request (uint16_t record_ID, uint16_t read_offset, uint16_t block_size) |
| Requests meta data from BNO08x FRS (flash record system) given the record ID. Contains Q points and other info. (See Ref. Manual 5.1 & 6.3.6) | |
| bool | FRS_read_data (uint16_t record_ID, uint8_t start_location, uint8_t words_to_read) |
| Read meta data from BNO08x FRS (flash record system) given the record ID. Contains Q points and other info. (See Ref. Manual 5.1 & 6.3.7) | |
+Static Public Attributes | |
| static const constexpr uint16_t | FRS_RECORD_ID_ACCELEROMETER |
| Accelerometer record ID, to be passed in metadata functions like get_Q1() | |
| static const constexpr uint16_t | FRS_RECORD_ID_GYROSCOPE_CALIBRATED |
| Calirated gyroscope record ID, to be passed in metadata functions like get_Q1() | |
| static const constexpr uint16_t | FRS_RECORD_ID_MAGNETIC_FIELD_CALIBRATED |
| Calibrated magnetometer record ID, to be passed in metadata functions like get_Q1() | |
| static const constexpr uint16_t | FRS_RECORD_ID_ROTATION_VECTOR |
| Rotation vector record ID, to be passed in metadata functions like get_Q1() | |
| static const constexpr uint8_t | TARE_AXIS_ALL = 0x07 |
| Tare all axes (used with tare now command) | |
| static const constexpr uint8_t | TARE_AXIS_Z = 0x04 |
| Tar yaw axis only (used with tare now command) | |
| static const constexpr uint8_t | TARE_ROTATION_VECTOR = 0 |
| Tare rotation vector. | |
| static const constexpr uint8_t | TARE_GAME_ROTATION_VECTOR = 1 |
| Tare game rotation vector. | |
| static const constexpr uint8_t | TARE_GEOMAGNETIC_ROTATION_VECTOR = 2 |
| tare geomagnetic rotation vector | |
| static const constexpr uint8_t | TARE_GYRO_INTEGRATED_ROTATION_VECTOR = 3 |
| Tare gyro integrated rotation vector. | |
| static const constexpr uint8_t | TARE_ARVR_STABILIZED_ROTATION_VECTOR = 4 |
| Tare ARVR stabilized rotation vector. | |
| static const constexpr uint8_t | TARE_ARVR_STABILIZED_GAME_ROTATION_VECTOR = 5 |
| Tare ARVR stabilized game rotation vector. | |
| static const constexpr int16_t | ROTATION_VECTOR_Q1 = 14 |
| Rotation vector Q point (See SH-2 Ref. Manual 6.5.18) | |
| static const constexpr int16_t | ROTATION_VECTOR_ACCURACY_Q1 = 12 |
| Rotation vector accuracy estimate Q point (See SH-2 Ref. Manual 6.5.18) | |
| static const constexpr int16_t | ACCELEROMETER_Q1 = 8 |
| Acceleration Q point (See SH-2 Ref. Manual 6.5.9) | |
| static const constexpr int16_t | LINEAR_ACCELEROMETER_Q1 = 8 |
| Linear acceleration Q point (See SH-2 Ref. Manual 6.5.10) | |
| static const constexpr int16_t | GYRO_Q1 = 9 |
| Gyro Q point (See SH-2 Ref. Manual 6.5.13) | |
| static const constexpr int16_t | MAGNETOMETER_Q1 = 4 |
| Magnetometer Q point (See SH-2 Ref. Manual 6.5.16) | |
| static const constexpr int16_t | ANGULAR_VELOCITY_Q1 = 10 |
| Angular velocity Q point (See SH-2 Ref. Manual 6.5.44) | |
| static const constexpr int16_t | GRAVITY_Q1 = 8 |
| Gravity Q point (See SH-2 Ref. Manual 6.5.11) | |
+Private Types | |
| typedef struct BNO08x::bno08x_rx_packet_t | bno08x_rx_packet_t |
| Holds data that is received over spi. | |
| typedef struct BNO08x::bno08x_tx_packet_t | bno08x_tx_packet_t |
| Holds data that is sent over spi. | |
+Private Member Functions | |
| bool | wait_for_rx_done () |
| Waits for data to be received over SPI, or HOST_INT_TIMEOUT_MS to elapse. | |
| bool | wait_for_tx_done () |
| Waits for a queued packet to be sent or HOST_INT_TIMEOUT_MS to elapse. | |
| bool | wait_for_data () |
| Waits for a valid or invalid packet to be received or HOST_INT_TIMEOUT_MS to elapse. | |
| bool | receive_packet () |
| Receives a SHTP packet via SPI and sends it to data_proc_task() | |
| void | send_packet (bno08x_tx_packet_t *packet) |
| Sends a queued SHTP packet via SPI. | |
| void | enable_report (uint8_t report_ID, uint32_t time_between_reports, const EventBits_t report_evt_grp_bit) |
| Enables a sensor report for a given ID. | |
| void | disable_report (uint8_t report_ID, const EventBits_t report_evt_grp_bit) |
| Disables a sensor report for a given ID by setting its time interval to 0. | |
| void | queue_packet (uint8_t channel_number, uint8_t data_length, uint8_t *commands) |
| Queues an SHTP packet to be sent via SPI. | |
| void | queue_command (uint8_t command, uint8_t *commands) |
| Queues a packet containing a command. | |
| void | queue_feature_command (uint8_t report_ID, uint32_t time_between_reports) |
| Queues a packet containing a command with a request for sensor reports, reported periodically. (See Ref. Manual 6.5.4) | |
| void | queue_feature_command (uint8_t report_ID, uint32_t time_between_reports, uint32_t specific_config) |
| Queues a packet containing a command with a request for sensor reports, reported periodically. (See Ref. Manual 6.5.4) | |
| void | queue_calibrate_command (uint8_t _to_calibrate) |
| Queues a packet containing a command to calibrate the specified sensor. | |
| void | queue_tare_command (uint8_t command, uint8_t axis=TARE_AXIS_ALL, uint8_t rotation_vector_basis=TARE_ROTATION_VECTOR) |
| Queues a packet containing a command related to zeroing sensor's axes. (See Ref. Manual 6.4.4.1) | |
| void | queue_request_product_id_command () |
| Queues a packet containing the request product ID command. | |
| uint16_t | parse_packet (bno08x_rx_packet_t *packet) |
| Parses a packet received from bno08x, updating any data according to received reports. | |
| uint16_t | parse_product_id_report (bno08x_rx_packet_t *packet) |
| Parses product id report and prints device info. | |
| uint16_t | parse_frs_read_response_report (bno08x_rx_packet_t *packet) |
| Sends packet to be parsed to meta data function call (frs_read_word()) through queue. | |
| uint16_t | parse_input_report (bno08x_rx_packet_t *packet) |
| Parses received input report sent by BNO08x. | |
| uint16_t | parse_command_report (bno08x_rx_packet_t *packet) |
| Parses received command report sent by BNO08x (See Ref. Manual 6.3.9) | |
| void | print_header (bno08x_rx_packet_t *packet) |
| Prints the header of the passed SHTP packet to serial console with ESP_LOG statement. | |
| void | print_packet (bno08x_rx_packet_t *packet) |
| Prints the passed SHTP packet to serial console with ESP_LOG statement. | |
| void | spi_task () |
| Task responsible for SPI transactions. Executed when HINT in is asserted by BNO08x. | |
| void | data_proc_task () |
| Task responsible parsing packets. Executed when SPI task sends a packet to be parsed, notifies wait_for_data() call. | |
+Static Private Member Functions | |
| static void | spi_task_trampoline (void *arg) |
| Static function used to launch spi task. | |
| static void | data_proc_task_trampoline (void *arg) |
| Static function used to launch data processing task. | |
| static void IRAM_ATTR | hint_handler (void *arg) |
| HINT interrupt service routine, handles falling edge of BNO08x HINT pin. | |
+Private Attributes | |
| EventGroupHandle_t | evt_grp_spi |
| Event group for indicating when bno08x hint pin has triggered and when new data has been processed. Used by calls to sending or receiving functions. | |
| EventGroupHandle_t | evt_grp_report_en |
| Event group for indicating which reports are currently enabled. | |
| QueueHandle_t | queue_rx_data |
| Packet queue used to send data received from bno08x from spi_task to data_proc_task. | |
| QueueHandle_t | queue_tx_data |
| Packet queue used to send data to be sent over SPI from sending functions to spi_task. | |
| QueueHandle_t | queue_frs_read_data |
| Queue used to send packet body from data_proc_task to frs read functions. | |
| QueueHandle_t | queue_reset_reason |
| Queue used to send reset reason from product id report to reset_reason() function. | |
| std::vector< std::function< void()> > | cb_list |
| uint32_t | meta_data [9] |
| First 9 bytes of meta data returned from FRS read operation (we don't really need the rest) (See Ref. Manual 5.1) | |
| bno08x_config_t | imu_config {} |
| IMU configuration settings. | |
| spi_bus_config_t | bus_config {} |
| SPI bus GPIO configuration settings. | |
| spi_device_interface_config_t | imu_spi_config {} |
| SPI slave device settings. | |
| spi_device_handle_t | spi_hdl {} |
| SPI device handle. | |
| spi_transaction_t | spi_transaction {} |
| SPI transaction handle. | |
| uint32_t | time_stamp |
| Report timestamp (see datasheet 1.3.5.3) | |
| uint16_t | raw_accel_X |
| uint16_t | raw_accel_Y |
| uint16_t | raw_accel_Z |
| uint16_t | accel_accuracy |
| Raw acceleration readings (See SH-2 Ref. Manual 6.5.8) | |
| uint16_t | raw_lin_accel_X |
| uint16_t | raw_lin_accel_Y |
| uint16_t | raw_lin_accel_Z |
| uint16_t | accel_lin_accuracy |
| Raw linear acceleration (See SH-2 Ref. Manual 6.5.10) | |
| uint16_t | raw_gyro_X |
| uint16_t | raw_gyro_Y |
| uint16_t | raw_gyro_Z |
| uint16_t | gyro_accuracy |
| Raw gyro reading (See SH-2 Ref. Manual 6.5.13) | |
| uint16_t | raw_quat_I |
| uint16_t | raw_quat_J |
| uint16_t | raw_quat_K |
| uint16_t | raw_quat_real |
| uint16_t | raw_quat_radian_accuracy |
| uint16_t | quat_accuracy |
| Raw quaternion reading (See SH-2 Ref. Manual 6.5.44) | |
| uint16_t | raw_velocity_gyro_X |
| uint16_t | raw_velocity_gyro_Y |
| uint16_t | raw_velocity_gyro_Z |
| Raw gyro angular velocity reading (See SH-2 Ref. Manual 6.5.44) | |
| uint16_t | gravity_X |
| uint16_t | gravity_Y |
| uint16_t | gravity_Z |
| uint16_t | gravity_accuracy |
| Gravity reading in m/s^2 (See SH-2 Ref. Manual 6.5.11) | |
| uint16_t | raw_uncalib_gyro_X |
| uint16_t | raw_uncalib_gyro_Y |
| uint16_t | raw_uncalib_gyro_Z |
| uint16_t | raw_bias_X |
| uint16_t | raw_bias_Y |
| uint16_t | raw_bias_Z |
| uint16_t | uncalib_gyro_accuracy |
| Uncalibrated gyro reading (See SH-2 Ref. Manual 6.5.14) | |
| uint16_t | raw_magf_X |
| uint16_t | raw_magf_Y |
| uint16_t | raw_magf_Z |
| uint16_t | magf_accuracy |
| Calibrated magnetic field reading in uTesla (See SH-2 Ref. Manual 6.5.16) | |
| uint8_t | tap_detector |
| Tap detector reading (See SH-2 Ref. Manual 6.5.27) | |
| uint16_t | step_count |
| Step counter reading (See SH-2 Ref. Manual 6.5.29) | |
| uint8_t | stability_classifier |
| Stability status reading (See SH-2 Ref. Manual 6.5.31) | |
| uint8_t | activity_classifier |
| Activity status reading (See SH-2 Ref. Manual 6.5.36) | |
| uint8_t * | activity_confidences |
| Confidence of read activities (See SH-2 Ref. Manual 6.5.36) | |
| uint8_t | calibration_status |
| Calibration status of device (See SH-2 Ref. Manual 6.4.7.1 & 6.4.7.2) | |
| uint16_t | mems_raw_accel_X |
| uint16_t | mems_raw_accel_Y |
| uint16_t | mems_raw_accel_Z |
| Raw accelerometer readings from MEMS sensor (See SH2 Ref. Manual 6.5.8) | |
| uint16_t | mems_raw_gyro_X |
| uint16_t | mems_raw_gyro_Y |
| uint16_t | mems_raw_gyro_Z |
| Raw gyro readings from MEMS sensor (See SH-2 Ref. Manual 6.5.12) | |
| uint16_t | mems_raw_magf_X |
| uint16_t | mems_raw_magf_Y |
| uint16_t | mems_raw_magf_Z |
| Raw magnetometer (compass) readings from MEMS sensor (See SH-2 Ref. Manual 6.5.15) | |
| TaskHandle_t | spi_task_hdl |
| spi_task() handle | |
| TaskHandle_t | data_proc_task_hdl |
| data_proc_task() task handle | |
+Static Private Attributes | |
| static bno08x_config_t | default_imu_config |
| default imu config settings | |
| static bool | isr_service_installed = {false} |
| true of the isr service has been installed, only has to be done once regardless of how many devices are used | |
| static const constexpr uint16_t | RX_DATA_LENGTH = 300 |
| length buffer containing data received over spi | |
| static const constexpr uint16_t | MAX_METADATA_LENGTH = 9 |
| max length of metadata used in frs read operations | |
| static const constexpr uint64_t | HOST_INT_TIMEOUT_MS |
| Max wait between HINT being asserted by BNO08x before transaction is considered failed (in miliseconds) | |
| static const constexpr EventBits_t | EVT_GRP_SPI_RX_DONE_BIT |
| When this bit is set it indicates a receive procedure has completed. | |
| static const constexpr EventBits_t | EVT_GRP_SPI_RX_VALID_PACKET |
| When this bit is set, it indicates a valid packet has been received and processed. | |
| static const constexpr EventBits_t | EVT_GRP_SPI_RX_INVALID_PACKET |
| When this bit is set, it indicates an invalid packet has been received. | |
| static const constexpr EventBits_t | EVT_GRP_SPI_TX_DONE = (1 << 3) |
| When this bit is set, it indicates a queued packet has been sent. | |
| static const constexpr EventBits_t | EVT_GRP_RPT_ROTATION_VECTOR_BIT = (1 << 0) |
| When set, rotation vector reports are active. | |
| static const constexpr EventBits_t | EVT_GRP_RPT_GAME_ROTATION_VECTOR_BIT = (1 << 1) |
| When set, game rotation vector reports are active. | |
| static const constexpr EventBits_t | EVT_GRP_RPT_ARVR_S_ROTATION_VECTOR_BIT |
| When set, ARVR stabilized rotation vector reports are active. | |
| static const constexpr EventBits_t | EVT_GRP_RPT_ARVR_S_GAME_ROTATION_VECTOR_BIT |
| When set, ARVR stabilized game rotation vector reports are active. | |
| static const constexpr EventBits_t | EVT_GRP_RPT_GYRO_ROTATION_VECTOR_BIT |
| When set, gyro integrator rotation vector reports are active. | |
| static const constexpr EventBits_t | EVT_GRP_RPT_ACCELEROMETER_BIT = (1 << 5) |
| When set, accelerometer reports are active. | |
| static const constexpr EventBits_t | EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT = (1 << 6) |
| When set, linear accelerometer reports are active. | |
| static const constexpr EventBits_t | EVT_GRP_RPT_GRAVITY_BIT = (1 << 7) |
| When set, gravity reports are active. | |
| static const constexpr EventBits_t | EVT_GRP_RPT_GYRO_BIT = (1 << 8) |
| When set, gyro reports are active. | |
| static const constexpr EventBits_t | EVT_GRP_RPT_GYRO_UNCALIBRATED_BIT = (1 << 9) |
| When set, uncalibrated gyro reports are active. | |
| static const constexpr EventBits_t | EVT_GRP_RPT_MAGNETOMETER_BIT = (1 << 10) |
| When set, magnetometer reports are active. | |
| static const constexpr EventBits_t | EVT_GRP_RPT_TAP_DETECTOR_BIT = (1 << 11) |
| When set, tap detector reports are active. | |
| static const constexpr EventBits_t | EVT_GRP_RPT_STEP_COUNTER_BIT = (1 << 12) |
| When set, step counter reports are active. | |
| static const constexpr EventBits_t | EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT = (1 << 13) |
| When set, stability classifier reports are active. | |
| static const constexpr EventBits_t | EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT = (1 << 14) |
| When set, activity classifier reports are active. | |
| static const constexpr EventBits_t | EVT_GRP_RPT_RAW_ACCELEROMETER_BIT = (1 << 15) |
| When set, raw accelerometer reports are active. | |
| static const constexpr EventBits_t | EVT_GRP_RPT_RAW_GYRO_BIT = (1 << 16) |
| When set, raw gyro reports are active. | |
| static const constexpr EventBits_t | EVT_GRP_RPT_RAW_MAGNETOMETER_BIT = (1 << 17) |
| When set, raw magnetometer reports are active. | |
| static const constexpr EventBits_t | EVT_GRP_RPT_ALL_BITS |
| static const constexpr uint8_t | CALIBRATE_ACCEL = 0 |
| Calibrate accelerometer command used by queue_calibrate_command. | |
| static const constexpr uint8_t | CALIBRATE_GYRO = 1 |
| Calibrate gyro command used by queue_calibrate_command. | |
| static const constexpr uint8_t | CALIBRATE_MAG = 2 |
| Calibrate magnetometer command used by queue_calibrate_command. | |
| static const constexpr uint8_t | CALIBRATE_PLANAR_ACCEL = 3 |
| Calibrate planar acceleration command used by queue_calibrate_command. | |
| static const constexpr uint8_t | CALIBRATE_ACCEL_GYRO_MAG |
| Calibrate accelerometer, gyro, & magnetometer command used by queue_calibrate_command. | |
| static const constexpr uint8_t | CALIBRATE_STOP = 5 |
| Stop calibration command used by queue_calibrate_command. | |
| static const constexpr uint8_t | COMMAND_ERRORS = 1 |
| static const constexpr uint8_t | COMMAND_COUNTER = 2 |
| static const constexpr uint8_t | COMMAND_TARE = 3 |
| Command and response to tare command (See Sh2 Ref. Manual 6.4.4) | |
| static const constexpr uint8_t | COMMAND_INITIALIZE = 4 |
| Reinitialize sensor hub components See (SH2 Ref. Manual 6.4.5) | |
| static const constexpr uint8_t | COMMAND_DCD = 6 |
| Save DCD command (See SH2 Ref. Manual 6.4.7) | |
| static const constexpr uint8_t | COMMAND_ME_CALIBRATE = 7 |
| Command and response to configure ME calibration (See SH2 Ref. Manual 6.4.7) | |
| static const constexpr uint8_t | COMMAND_DCD_PERIOD_SAVE = 9 |
| Configure DCD periodic saving (See SH2 Ref. Manual 6.4) | |
| static const constexpr uint8_t | COMMAND_OSCILLATOR = 10 |
| Retrieve oscillator type command (See SH2 Ref. Manual 6.4) | |
| static const constexpr uint8_t | COMMAND_CLEAR_DCD = 11 |
| Clear DCD & Reset command (See SH2 Ref. Manual 6.4) | |
| static const constexpr uint8_t | SHTP_REPORT_COMMAND_RESPONSE = 0xF1 |
| See SH2 Ref. Manual 6.3.9. | |
| static const constexpr uint8_t | SHTP_REPORT_COMMAND_REQUEST = 0xF2 |
| See SH2 Ref. Manual 6.3.8. | |
| static const constexpr uint8_t | SHTP_REPORT_FRS_READ_RESPONSE = 0xF3 |
| See SH2 Ref. Manual 6.3.7. | |
| static const constexpr uint8_t | SHTP_REPORT_FRS_READ_REQUEST = 0xF4 |
| See SH2 Ref. Manual 6.3.6. | |
| static const constexpr uint8_t | SHTP_REPORT_PRODUCT_ID_RESPONSE = 0xF8 |
| See SH2 Ref. Manual 6.3.2. | |
| static const constexpr uint8_t | SHTP_REPORT_PRODUCT_ID_REQUEST = 0xF9 |
| See SH2 Ref. Manual 6.3.1. | |
| static const constexpr uint8_t | SHTP_REPORT_BASE_TIMESTAMP = 0xFB |
| See SH2 Ref. Manual 7.2.1. | |
| static const constexpr uint8_t | SHTP_REPORT_SET_FEATURE_COMMAND = 0xFD |
| See SH2 Ref. Manual 6.5.4. | |
| static const constexpr uint8_t | SENSOR_REPORT_ID_ACCELEROMETER = 0x01 |
| See SH2 Ref. Manual 6.5.9. | |
| static const constexpr uint8_t | SENSOR_REPORT_ID_GYROSCOPE = 0x02 |
| See SH2 Ref. Manual 6.5.13. | |
| static const constexpr uint8_t | SENSOR_REPORT_ID_MAGNETIC_FIELD = 0x03 |
| See SH2 Ref. Manual 6.5.16. | |
| static const constexpr uint8_t | SENSOR_REPORT_ID_LINEAR_ACCELERATION = 0x04 |
| See SH2 Ref. Manual 6.5.10. | |
| static const constexpr uint8_t | SENSOR_REPORT_ID_ROTATION_VECTOR = 0x05 |
| See SH2 Ref. Manual 6.5.18. | |
| static const constexpr uint8_t | SENSOR_REPORT_ID_GRAVITY = 0x06 |
| See SH2 Ref. Manual 6.5.11. | |
| static const constexpr uint8_t | SENSOR_REPORT_ID_UNCALIBRATED_GYRO = 0x07 |
| See SH2 Ref. Manual 6.5.14. | |
| static const constexpr uint8_t | SENSOR_REPORT_ID_GAME_ROTATION_VECTOR = 0x08 |
| See SH2 Ref. Manual 6.5.19. | |
| static const constexpr uint8_t | SENSOR_REPORT_ID_GEOMAGNETIC_ROTATION_VECTOR = 0x09 |
| See SH2 Ref. Manual 6.5.20. | |
| static const constexpr uint8_t | SENSOR_REPORT_ID_GYRO_INTEGRATED_ROTATION_VECTOR = 0x2A |
| See SH2 Ref. Manual 6.5.44. | |
| static const constexpr uint8_t | SENSOR_REPORT_ID_TAP_DETECTOR = 0x10 |
| See SH2 Ref. Manual 6.5.27. | |
| static const constexpr uint8_t | SENSOR_REPORT_ID_STEP_COUNTER = 0x11 |
| See SH2 Ref. Manual 6.5.29. | |
| static const constexpr uint8_t | SENSOR_REPORT_ID_STABILITY_CLASSIFIER = 0x13 |
| See SH2 Ref. Manual 6.5.31. | |
| static const constexpr uint8_t | SENSOR_REPORT_ID_RAW_ACCELEROMETER = 0x14 |
| See SH2 Ref. Manual 6.5.8. | |
| static const constexpr uint8_t | SENSOR_REPORT_ID_RAW_GYROSCOPE = 0x15 |
| See SH2 Ref. Manual 6.5.12. | |
| static const constexpr uint8_t | SENSOR_REPORT_ID_RAW_MAGNETOMETER = 0x16 |
| See SH2 Ref. Manual 6.5.15. | |
| static const constexpr uint8_t | SENSOR_REPORT_ID_PERSONAL_ACTIVITY_CLASSIFIER = 0x1E |
| See SH2 Ref. Manual 6.5.36. | |
| static const constexpr uint8_t | SENSOR_REPORT_ID_ARVR_STABILIZED_ROTATION_VECTOR = 0x28 |
| See SH2 Ref. Manual 6.5.42. | |
| static const constexpr uint8_t | SENSOR_REPORT_ID_ARVR_STABILIZED_GAME_ROTATION_VECTOR = 0x29 |
| See SH2 Ref. Manual 6.5.43. | |
| static const constexpr uint8_t | TARE_NOW = 0 |
| See SH2 Ref. Manual 6.4.4.1. | |
| static const constexpr uint8_t | TARE_PERSIST = 1 |
| See SH2 Ref. Manual 6.4.4.2. | |
| static const constexpr uint8_t | TARE_SET_REORIENTATION = 2 |
| See SH2 Ref. Manual 6.4.4.3. | |
| static const constexpr char * | TAG = "BNO08x" |
| Class tag used for serial print statements. | |
Member Typedef Documentation
+ +◆ bno08x_rx_packet_t
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+Holds data that is received over spi.
+ +◆ bno08x_tx_packet_t
+ +
+
+
+
+
+
+
|
+ +private | +
+
+
+Holds data that is sent over spi.
+ +Constructor & Destructor Documentation
+ +◆ BNO08x()
+ +
+
+
+
+
+
| BNO08x::BNO08x | +( | +bno08x_config_t | imu_config = default_imu_config | ) | ++ |
+
+
+BNO08x imu constructor.
+Construct a BNO08x object for managing a BNO08x sensor. Initializes required GPIO pins, interrupts, SPI peripheral.
+- Parameters
-
+
+
+imu_config Configuration settings (optional), default settings can be seen in bno08x_config_t
+
- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+Member Function Documentation
+ +◆ calibrate_accelerometer()
+ +
+
+
+
+
+
+
| void BNO08x::calibrate_accelerometer | +( | +) | ++ |
+
+
+Sends command to calibrate accelerometer.
+- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+◆ calibrate_all()
+ +
+
+
+
+
+
+
| void BNO08x::calibrate_all | +( | +) | ++ |
+
+
+Sends command to calibrate accelerometer, gyro, and magnetometer.
+- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+Here is the caller graph for this function:
+
+
+
+
+
+◆ calibrate_gyro()
+ +
+
+
+
+
+
+
| void BNO08x::calibrate_gyro | +( | +) | ++ |
+
+
+Sends command to calibrate gyro.
+- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+◆ calibrate_magnetometer()
+ +
+
+
+
+
+
+
| void BNO08x::calibrate_magnetometer | +( | +) | ++ |
+
+
+Sends command to calibrate magnetometer.
+- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+◆ calibrate_planar_accelerometer()
+ +
+
+
+
+
+
+
| void BNO08x::calibrate_planar_accelerometer | +( | +) | ++ |
+
+
+Sends command to calibrate planar accelerometer.
+- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+◆ calibration_complete()
+ +
+
+
+
+
+
+
| bool BNO08x::calibration_complete | +( | +) | ++ |
+
+
+Returns true if calibration has completed.
+- Returns
- void, nothing to return
+Here is the caller graph for this function:
+
+
+
+
+
+◆ clear_tare()
+ +
+
+
+
+
+
+
| void BNO08x::clear_tare | +( | +) | ++ |
+
+
+Sends command to clear persistent tare settings in non-volatile memory of BNO08x (See Ref. Manual 6.4.4.3)
+- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+◆ data_available()
+ +
+
+
+
+
+
+
| bool BNO08x::data_available | +( | +) | ++ |
+
+
+Checks if BNO08x has asserted interrupt and sent data.
+- Returns
- true if new data has been parsed and saved
+Here is the call graph for this function:
+
+
+
+
+
+Here is the caller graph for this function:
+
+
+
+
+
+◆ data_proc_task()
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+Task responsible parsing packets. Executed when SPI task sends a packet to be parsed, notifies wait_for_data() call.
+- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+Here is the caller graph for this function:
+
+
+
+
+
+◆ data_proc_task_trampoline()
+ +
+
+
+
+
+
+
+
|
+ +staticprivate | +
+
+
+Static function used to launch data processing task.
+Used such that data_proc_task() can be non-static class member.
+- Parameters
-
+
+
+arg void pointer to BNO08x imu object
+
- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+Here is the caller graph for this function:
+
+
+
+
+
+◆ disable_accelerometer()
+ +
+
+
+
+
+
+
| void BNO08x::disable_accelerometer | +( | +) | ++ |
+
+
+Sends command to disable accelerometer reports by setting report interval to 0.
+- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+◆ disable_activity_classifier()
+ +
+
+
+
+
+
+
| void BNO08x::disable_activity_classifier | +( | +) | ++ |
+
+
+Sends command to disable activity classifier reports by setting report interval to 0.
+- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+◆ disable_ARVR_stabilized_game_rotation_vector()
+ +
+
+
+
+
+
+
| void BNO08x::disable_ARVR_stabilized_game_rotation_vector | +( | +) | ++ |
+
+
+Sends command to disable ARVR stabilized game rotation vector reports by setting report interval to 0.
+- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+◆ disable_ARVR_stabilized_rotation_vector()
+ +
+
+
+
+
+
+
| void BNO08x::disable_ARVR_stabilized_rotation_vector | +( | +) | ++ |
+
+
+Sends command to disable ARVR stabilized rotation vector reports by setting report interval to 0.
+- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+◆ disable_game_rotation_vector()
+ +
+
+
+
+
+
+
| void BNO08x::disable_game_rotation_vector | +( | +) | ++ |
+
+
+Sends command to disable game rotation vector reports by setting report interval to 0.
+- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+◆ disable_gravity()
+ +
+
+
+
+
+
+
| void BNO08x::disable_gravity | +( | +) | ++ |
+
+
+Sends command to disable gravity reports by setting report interval to 0.
+- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+◆ disable_gyro()
+ +
+
+
+
+
+
+
| void BNO08x::disable_gyro | +( | +) | ++ |
+
+
+Sends command to disable gyro reports by setting report interval to 0.
+- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+◆ disable_gyro_integrated_rotation_vector()
+ +
+
+
+
+
+
+
| void BNO08x::disable_gyro_integrated_rotation_vector | +( | +) | ++ |
+
+
+Sends command to disable gyro integrated rotation vector reports by setting report interval to 0.
+- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+◆ disable_linear_accelerometer()
+ +
+
+
+
+
+
+
| void BNO08x::disable_linear_accelerometer | +( | +) | ++ |
+
+
+Sends command to disable linear accelerometer reports by setting report interval to 0.
+- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+◆ disable_magnetometer()
+ +
+
+
+
+
+
+
| void BNO08x::disable_magnetometer | +( | +) | ++ |
+
+
+Sends command to disable magnetometer reports by setting report interval to 0.
+- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+◆ disable_raw_accelerometer()
+ +
+
+
+
+
+
+
| void BNO08x::disable_raw_accelerometer | +( | +) | ++ |
+
+
+Sends command to disable raw accelerometer reports by setting report interval to 0.
+- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+◆ disable_raw_gyro()
+ +
+
+
+
+
+
+
| void BNO08x::disable_raw_gyro | +( | +) | ++ |
+
+
+Sends command to disable raw gyro reports by setting report interval to 0.
+- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+◆ disable_raw_magnetometer()
+ +
+
+
+
+
+
+
| void BNO08x::disable_raw_magnetometer | +( | +) | ++ |
+
+
+Sends command to disable raw magnetometer reports by setting report interval to 0.
+- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+◆ disable_report()
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+Disables a sensor report for a given ID by setting its time interval to 0.
+- Parameters
-
+
+
+report_ID The report ID of the sensor, i.e. SENSOR_REPORT_ID_X report_evt_grp_bit The event group bit for the respective report, to indicate to spi_task() it's disabled, i.e. EVT_GRP_RPT_X
+
If no reports are enabled after disabling, this function will disable interrupts on hint pin.
+- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+Here is the caller graph for this function:
+
+
+
+
+
+◆ disable_rotation_vector()
+ +
+
+
+
+
+
+
| void BNO08x::disable_rotation_vector | +( | +) | ++ |
+
+
+Sends command to disable rotation vector reports by setting report interval to 0.
+- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+◆ disable_stability_classifier()
+ +
+
+
+
+
+
+
| void BNO08x::disable_stability_classifier | +( | +) | ++ |
+
+
+Sends command to disable stability reports by setting report interval to 0.
+- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+◆ disable_step_counter()
+ +
+
+
+
+
+
+
| void BNO08x::disable_step_counter | +( | +) | ++ |
+
+
+Sends command to disable step counter reports by setting report interval to 0.
+- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+◆ disable_tap_detector()
+ +
+
+
+
+
+
+
| void BNO08x::disable_tap_detector | +( | +) | ++ |
+
+
+Sends command to disable tap detector reports by setting report interval to 0.
+- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+◆ disable_uncalibrated_gyro()
+ +
+
+
+
+
+
+
| void BNO08x::disable_uncalibrated_gyro | +( | +) | ++ |
+
+
+Sends command to disable uncalibrated gyro reports by setting report interval to 0.
+- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+◆ enable_accelerometer()
+ +
+
+
+
+
+
+
| void BNO08x::enable_accelerometer | +( | +uint32_t | time_between_reports | ) | ++ |
+
+
+Sends command to enable accelerometer reports (See Ref. Manual 6.5.9)
+- Parameters
-
+
+
+time_between_reports Desired time between reports in microseconds.
+
- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+◆ enable_activity_classifier()
+ +
+
+
+
+
+
+
| void BNO08x::enable_activity_classifier | +( | +uint32_t | time_between_reports, | +
| + | + | uint32_t | activities_to_enable, | +
| + | + | uint8_t(&) | activity_confidence_vals[9] ) | +
+
+
+Sends command to enable activity classifier reports (See Ref. Manual 6.5.36)
+- Parameters
-
+
+
+time_between_reports Desired time between reports in microseconds. activities_to_enable Desired activities to enable (0x1F enables all). activity_confidence_vals Returned activity level confidences.
+
- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+◆ enable_ARVR_stabilized_game_rotation_vector()
+ +
+
+
+
+
+
+
| void BNO08x::enable_ARVR_stabilized_game_rotation_vector | +( | +uint32_t | time_between_reports | ) | ++ |
+
+
+Sends command to enable ARVR stabilized game rotation vector reports (See Ref. Manual 6.5.43)
+- Parameters
-
+
+
+time_between_reports Desired time between reports in microseconds.
+
- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+◆ enable_ARVR_stabilized_rotation_vector()
+ +
+
+
+
+
+
+
| void BNO08x::enable_ARVR_stabilized_rotation_vector | +( | +uint32_t | time_between_reports | ) | ++ |
+
+
+Sends command to enable ARVR stabilized rotation vector reports (See Ref. Manual 6.5.42)
+- Parameters
-
+
+
+time_between_reports Desired time between reports in microseconds.
+
- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+◆ enable_game_rotation_vector()
+ +
+
+
+
+
+
+
| void BNO08x::enable_game_rotation_vector | +( | +uint32_t | time_between_reports | ) | ++ |
+
+
+Sends command to enable game rotation vector reports (See Ref. Manual 6.5.19)
+- Parameters
-
+
+
+time_between_reports Desired time between reports in microseconds.
+
- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+Here is the caller graph for this function:
+
+
+
+
+
+◆ enable_gravity()
+ +
+
+
+
+
+
+
| void BNO08x::enable_gravity | +( | +uint32_t | time_between_reports | ) | ++ |
+
+
+Sends command to enable gravity reading reports (See Ref. Manual 6.5.11)
+- Parameters
-
+
+
+time_between_reports Desired time between reports in microseconds.
+
- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+◆ enable_gyro()
+ +
+
+
+
+
+
+
| void BNO08x::enable_gyro | +( | +uint32_t | time_between_reports | ) | ++ |
+
+
+Sends command to enable gyro reports (See Ref. Manual 6.5.13)
+- Parameters
-
+
+
+time_between_reports Desired time between reports in microseconds.
+
- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+◆ enable_gyro_integrated_rotation_vector()
+ +
+
+
+
+
+
+
| void BNO08x::enable_gyro_integrated_rotation_vector | +( | +uint32_t | time_between_reports | ) | ++ |
+
+
+Sends command to enable gyro integrated rotation vector reports (See Ref. Manual 6.5.44)
+- Parameters
-
+
+
+time_between_reports Desired time between reports in microseconds.
+
- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+◆ enable_linear_accelerometer()
+ +
+
+
+
+
+
+
| void BNO08x::enable_linear_accelerometer | +( | +uint32_t | time_between_reports | ) | ++ |
+
+
+Sends command to enable linear accelerometer reports (See Ref. Manual 6.5.10)
+- Parameters
-
+
+
+time_between_reports Desired time between reports in microseconds.
+
- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+◆ enable_magnetometer()
+ +
+
+
+
+
+
+
| void BNO08x::enable_magnetometer | +( | +uint32_t | time_between_reports | ) | ++ |
+
+
+Sends command to enable magnetometer reports (See Ref. Manual 6.5.16)
+- Parameters
-
+
+
+time_between_reports Desired time between reports in microseconds.
+
- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+Here is the caller graph for this function:
+
+
+
+
+
+◆ enable_raw_accelerometer()
+ +
+
+
+
+
+
+
| void BNO08x::enable_raw_accelerometer | +( | +uint32_t | time_between_reports | ) | ++ |
+
+
+Sends command to enable raw accelerometer reports (See Ref. Manual 6.5.8)
+- Parameters
-
+
+
+time_between_reports Desired time between reports in microseconds.
+
- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+◆ enable_raw_gyro()
+ +
+
+
+
+
+
+
| void BNO08x::enable_raw_gyro | +( | +uint32_t | time_between_reports | ) | ++ |
+
+
+Sends command to enable raw gyro reports (See Ref. Manual 6.5.12)
+- Parameters
-
+
+
+time_between_reports Desired time between reports in microseconds.
+
- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+◆ enable_raw_magnetometer()
+ +
+
+
+
+
+
+
| void BNO08x::enable_raw_magnetometer | +( | +uint32_t | time_between_reports | ) | ++ |
+
+
+Sends command to enable raw magnetometer reports (See Ref. Manual 6.5.15)
+- Parameters
-
+
+
+time_between_reports Desired time between reports in microseconds.
+
- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+◆ enable_report()
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+Enables a sensor report for a given ID.
+- Parameters
-
+
+
+report_ID The report ID of the sensor, i.e. SENSOR_REPORT_ID_X time_between_reports The desired time in microseconds between each report. The BNO08x will send reports according to this interval. report_evt_grp_bit The event group bit for the respective report, to indicate to spi_task() it's enabled, i.e. EVT_GRP_RPT_X
+
If no reports were enabled prior to call, this function will re-enable interrupts on hint pin.
+- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+Here is the caller graph for this function:
+
+
+
+
+
+◆ enable_rotation_vector()
+ +
+
+
+
+
+
+
| void BNO08x::enable_rotation_vector | +( | +uint32_t | time_between_reports | ) | ++ |
+
+
+Sends command to enable rotation vector reports (See Ref. Manual 6.5.18)
+- Parameters
-
+
+
+time_between_reports Desired time between reports in microseconds.
+
- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+◆ enable_stability_classifier()
+ +
+
+
+
+
+
+
| void BNO08x::enable_stability_classifier | +( | +uint32_t | time_between_reports | ) | ++ |
+
+
+Sends command to enable activity stability classifier reports (See Ref. Manual 6.5.31)
+- Parameters
-
+
+
+time_between_reports Desired time between reports in microseconds.
+
- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+◆ enable_step_counter()
+ +
+
+
+
+
+
+
| void BNO08x::enable_step_counter | +( | +uint32_t | time_between_reports | ) | ++ |
+
+
+Sends command to enable step counter reports (See Ref. Manual 6.5.29)
+- Parameters
-
+
+
+time_between_reports Desired time between reports in microseconds.
+
- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+◆ enable_tap_detector()
+ +
+
+
+
+
+
+
| void BNO08x::enable_tap_detector | +( | +uint32_t | time_between_reports | ) | ++ |
+
+
+Sends command to enable tap detector reports (See Ref. Manual 6.5.27)
+- Parameters
-
+
+
+time_between_reports Desired time between reports in microseconds.
+
- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+◆ enable_uncalibrated_gyro()
+ +
+
+
+
+
+
+
| void BNO08x::enable_uncalibrated_gyro | +( | +uint32_t | time_between_reports | ) | ++ |
+
+
+Sends command to enable uncalibrated gyro reports (See Ref. Manual 6.5.14)
+- Parameters
-
+
+
+time_between_reports Desired time between reports in microseconds.
+
- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+◆ end_calibration()
+ +
+
+
+
+
+
+
| void BNO08x::end_calibration | +( | +) | ++ |
+
+
+Sends command to end calibration procedure.
+- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+◆ FRS_read_data()
+ +
+
+
+
+
+
+
| bool BNO08x::FRS_read_data | +( | +uint16_t | record_ID, | +
| + | + | uint8_t | start_location, | +
| + | + | uint8_t | words_to_read ) | +
+
+
+Read meta data from BNO08x FRS (flash record system) given the record ID. Contains Q points and other info. (See Ref. Manual 5.1 & 6.3.7)
+Note that Q points from the data sheet can be used as well, using the ones stored in flash is optional.
+- Parameters
-
+
+
+record_ID Which record ID/ sensor to request meta data from. start_location Start byte location. words_to_read Length of words to read.
+
- Returns
- True if meta data read successfully.
+Here is the call graph for this function:
+
+
+
+
+
+Here is the caller graph for this function:
+
+
+
+
+
+◆ FRS_read_request()
+ +
+
+
+
+
+
+
| bool BNO08x::FRS_read_request | +( | +uint16_t | record_ID, | +
| + | + | uint16_t | read_offset, | +
| + | + | uint16_t | block_size ) | +
+
+
+Requests meta data from BNO08x FRS (flash record system) given the record ID. Contains Q points and other info. (See Ref. Manual 5.1 & 6.3.6)
+Note that Q points from the data sheet can be used as well, using the ones stored in flash is optional.
+- Parameters
-
+
+
+record_ID Which record ID/ sensor to request meta data from. start_location Start byte location. words_to_read Length of words to read.
+
- Returns
- True if read request acknowledged (HINT was asserted)
+Here is the call graph for this function:
+
+
+
+
+
+Here is the caller graph for this function:
+
+
+
+
+
+◆ FRS_read_word()
+ +
+
+
+
+
+
+
| uint32_t BNO08x::FRS_read_word | +( | +uint16_t | record_ID, | +
| + | + | uint8_t | word_number ) | +
+
+
+Reads meta data word from BNO08x FRS (flash record system) given the record ID and word number. (See Ref. Manual 5.1 & 6.3.7)
+Note that Q points from the data sheet can be used as well, using the ones stored in flash is optional.
+- Parameters
-
+
+
+record_ID Which record ID/ sensor to request meta data from. word_number Desired word to read.
+
- Returns
- Requested meta data word, 0 if failed.
+Here is the call graph for this function:
+
+
+
+
+
+Here is the caller graph for this function:
+
+
+
+
+
+◆ get_accel()
+ +
+
+
+
+
+
+
| void BNO08x::get_accel | +( | +float & | x, | +
| + | + | float & | y, | +
| + | + | float & | z, | +
| + | + | uint8_t & | accuracy ) | +
+
+
+Get full acceleration (total acceleration of device, units in m/s^2).
+- Parameters
-
+
+
+x Reference variable to save X axis acceleration. y Reference variable to save Y axis acceleration. z Reference variable to save Z axis acceleration. accuracy Reference variable to save reported acceleration accuracy.
+
- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+◆ get_accel_accuracy()
+ +
+
+
+
+
+
+
| uint8_t BNO08x::get_accel_accuracy | +( | +) | ++ |
+
+
+Get accuracy of linear acceleration.
+- Returns
- Accuracy of linear acceleration.
◆ get_accel_X()
+ +
+
+
+
+
+
+
| float BNO08x::get_accel_X | +( | +) | ++ |
+
+
+Get x axis acceleration (total acceleration of device, units in m/s^2).
+- Returns
- The angular reported x axis acceleration.
+Here is the call graph for this function:
+
+
+
+
+
+◆ get_accel_Y()
+ +
+
+
+
+
+
+
| float BNO08x::get_accel_Y | +( | +) | ++ |
+
+
+Get y axis acceleration (total acceleration of device, units in m/s^2).
+- Returns
- The angular reported y axis acceleration.
+Here is the call graph for this function:
+
+
+
+
+
+◆ get_accel_Z()
+ +
+
+
+
+
+
+
| float BNO08x::get_accel_Z | +( | +) | ++ |
+
+
+Get z axis acceleration (total acceleration of device, units in m/s^2).
+- Returns
- The angular reported z axis acceleration.
+Here is the call graph for this function:
+
+
+
+
+
+◆ get_activity_classifier()
+ +
+
+
+
+
+
+
| uint8_t BNO08x::get_activity_classifier | +( | +) | ++ |
+
+
+Get the current activity classifier (Seee Ref. Manual 6.5.36)
+- Returns
- The current activity: 0 = unknown 1 = in vehicle 2 = on bicycle 3 = on foot 4 = still 5 = tilting 6 = walking 7 = runnning 8 = on stairs
◆ get_gravity()
+ +
+
+
+
+
+
+
| void BNO08x::get_gravity | +( | +float & | x, | +
| + | + | float & | y, | +
| + | + | float & | z, | +
| + | + | uint8_t & | accuracy ) | +
+
+
+Get full reported gravity vector, units in m/s^2.
+- Parameters
-
+
+
+x Reference variable to save X axis gravity. y Reference variable to save Y axis axis gravity. z Reference variable to save Z axis axis gravity. accuracy Reference variable to save reported gravity accuracy.
+
- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+◆ get_gravity_accuracy()
+ +
+
+
+
+
+
+
| uint8_t BNO08x::get_gravity_accuracy | +( | +) | ++ |
+
+
+Get the reported gravity accuracy.
+- Returns
- Accuracy of reported gravity.
◆ get_gravity_X()
+ +
+
+
+
+
+
+
| float BNO08x::get_gravity_X | +( | +) | ++ |
+
+
+Get the reported x axis gravity.
+- Returns
- x axis gravity in m/s^2
+Here is the call graph for this function:
+
+
+
+
+
+◆ get_gravity_Y()
+ +
+
+
+
+
+
+
| float BNO08x::get_gravity_Y | +( | +) | ++ |
+
+
+Get the reported y axis gravity.
+- Returns
- y axis gravity in m/s^2
+Here is the call graph for this function:
+
+
+
+
+
+◆ get_gravity_Z()
+ +
+
+
+
+
+
+
| float BNO08x::get_gravity_Z | +( | +) | ++ |
+
+
+Get the reported z axis gravity.
+- Returns
- z axis gravity in m/s^2
+Here is the call graph for this function:
+
+
+
+
+
+◆ get_gyro_accuracy()
+ +
+
+
+
+
+
+
| uint8_t BNO08x::get_gyro_accuracy | +( | +) | ++ |
+
+
+Get calibrated gyro accuracy.
+- Returns
- Accuracy of calibrated gyro.
◆ get_gyro_calibrated_velocity()
+ +
+
+
+
+
+
+
| void BNO08x::get_gyro_calibrated_velocity | +( | +float & | x, | +
| + | + | float & | y, | +
| + | + | float & | z, | +
| + | + | uint8_t & | accuracy ) | +
+
+
+Get full rotational velocity with drift compensation (units in Rad/s).
+- Parameters
-
+
+
+x Reference variable to save X axis angular velocity y Reference variable to save Y axis angular velocity z Reference variable to save Z axis angular velocity accuracy Reference variable to save reported gyro accuracy.
+
- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+◆ get_gyro_calibrated_velocity_X()
+ +
+
+
+
+
+
+
| float BNO08x::get_gyro_calibrated_velocity_X | +( | +) | ++ |
+
+
+Get calibrated gyro x axis angular velocity measurement.
+- Returns
- The angular reported x axis angular velocity from calibrated gyro (drift compensation applied).
+Here is the call graph for this function:
+
+
+
+
+
+◆ get_gyro_calibrated_velocity_Y()
+ +
+
+
+
+
+
+
| float BNO08x::get_gyro_calibrated_velocity_Y | +( | +) | ++ |
+
+
+Get calibrated gyro y axis angular velocity measurement.
+- Returns
- The angular reported y axis angular velocity from calibrated gyro (drift compensation applied).
+Here is the call graph for this function:
+
+
+
+
+
+◆ get_gyro_calibrated_velocity_Z()
+ +
+
+
+
+
+
+
| float BNO08x::get_gyro_calibrated_velocity_Z | +( | +) | ++ |
+
+
+Get calibrated gyro z axis angular velocity measurement.
+- Returns
- The angular reported z axis angular velocity from calibrated gyro (drift compensation applied).
+Here is the call graph for this function:
+
+
+
+
+
+◆ get_gyro_velocity()
+ +
+
+
+
+
+
+
| void BNO08x::get_gyro_velocity | +( | +float & | x, | +
| + | + | float & | y, | +
| + | + | float & | z ) | +
+
+
+Full rotational velocity from gyro-integrated rotation vector (See Ref. Manual 6.5.44)
+- Parameters
-
+
+
+x Reference variable to save X axis angular velocity y Reference variable to save Y axis angular velocity z Reference variable to save Z axis angular velocity
+
- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+◆ get_gyro_velocity_X()
+ +
+
+
+
+
+
+
| float BNO08x::get_gyro_velocity_X | +( | +) | ++ |
+
+
+Get x axis angular velocity from gyro-integrated rotation vector. (See Ref. Manual 6.5.44)
+- Returns
- The reported x axis angular velocity.
+Here is the call graph for this function:
+
+
+
+
+
+◆ get_gyro_velocity_Y()
+ +
+
+
+
+
+
+
| float BNO08x::get_gyro_velocity_Y | +( | +) | ++ |
+
+
+Get y axis angular velocity from gyro-integrated rotation vector. (See Ref. Manual 6.5.44)
+- Returns
- The reported y axis angular velocity.
+Here is the call graph for this function:
+
+
+
+
+
+◆ get_gyro_velocity_Z()
+ +
+
+
+
+
+
+
| float BNO08x::get_gyro_velocity_Z | +( | +) | ++ |
+
+
+Get z axis angular velocity from gyro-integrated rotation vector. (See Ref. Manual 6.5.44)
+- Returns
- The reported Z axis angular velocity.
+Here is the call graph for this function:
+
+
+
+
+
+◆ get_linear_accel()
+ +
+
+
+
+
+
+
| void BNO08x::get_linear_accel | +( | +float & | x, | +
| + | + | float & | y, | +
| + | + | float & | z, | +
| + | + | uint8_t & | accuracy ) | +
+
+
+Get full linear acceleration (acceleration of the device minus gravity, units in m/s^2).
+- Parameters
-
+
+
+x Reference variable to save X axis acceleration. y Reference variable to save Y axis acceleration. z Reference variable to save Z axis acceleration. accuracy Reference variable to save reported linear acceleration accuracy.
+
- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+◆ get_linear_accel_accuracy()
+ +
+
+
+
+
+
+
| uint8_t BNO08x::get_linear_accel_accuracy | +( | +) | ++ |
+
+
+Get accuracy of linear acceleration.
+- Returns
- Accuracy of linear acceleration.
◆ get_linear_accel_X()
+ +
+
+
+
+
+
+
| float BNO08x::get_linear_accel_X | +( | +) | ++ |
+
+
+Get x axis linear acceleration (acceleration of device minus gravity, units in m/s^2)
+- Returns
- The angular reported x axis linear acceleration.
+Here is the call graph for this function:
+
+
+
+
+
+◆ get_linear_accel_Y()
+ +
+
+
+
+
+
+
| float BNO08x::get_linear_accel_Y | +( | +) | ++ |
+
+
+Get y axis linear acceleration (acceleration of device minus gravity, units in m/s^2)
+- Returns
- The angular reported y axis linear acceleration.
+Here is the call graph for this function:
+
+
+
+
+
+◆ get_linear_accel_Z()
+ +
+
+
+
+
+
+
| float BNO08x::get_linear_accel_Z | +( | +) | ++ |
+
+
+Get z axis linear acceleration (acceleration of device minus gravity, units in m/s^2)
+- Returns
- The angular reported z axis linear acceleration.
+Here is the call graph for this function:
+
+
+
+
+
+◆ get_magf()
+ +
+
+
+
+
+
+
| void BNO08x::get_magf | +( | +float & | x, | +
| + | + | float & | y, | +
| + | + | float & | z, | +
| + | + | uint8_t & | accuracy ) | +
+
+
+Get the full magnetic field vector.
+- Parameters
-
+
+
+x Reference variable to save reported x magnitude. y Reference variable to save reported y magnitude. x Reference variable to save reported z magnitude. accuracy Reference variable save reported accuracy.
+
- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+◆ get_magf_accuracy()
+ +
+
+
+
+
+
+
| uint8_t BNO08x::get_magf_accuracy | +( | +) | ++ |
+
+
+Get accuracy of reported magnetic field vector.
+- Returns
- The accuracy of reported magnetic field vector.
+Here is the caller graph for this function:
+
+
+
+
+
+◆ get_magf_X()
+ +
+
+
+
+
+
+
| float BNO08x::get_magf_X | +( | +) | ++ |
+
+
+Get X component of magnetic field vector.
+- Returns
- The reported X component of magnetic field vector.
+Here is the call graph for this function:
+
+
+
+
+
+Here is the caller graph for this function:
+
+
+
+
+
+◆ get_magf_Y()
+ +
+
+
+
+
+
+
| float BNO08x::get_magf_Y | +( | +) | ++ |
+
+
+Get Y component of magnetic field vector.
+- Returns
- The reported Y component of magnetic field vector.
+Here is the call graph for this function:
+
+
+
+
+
+Here is the caller graph for this function:
+
+
+
+
+
+◆ get_magf_Z()
+ +
+
+
+
+
+
+
| float BNO08x::get_magf_Z | +( | +) | ++ |
+
+
+Get Z component of magnetic field vector.
+- Returns
- The reported Z component of magnetic field vector.
+Here is the call graph for this function:
+
+
+
+
+
+Here is the caller graph for this function:
+
+
+
+
+
+◆ get_pitch()
+ +
+
+
+
+
+
+
| float BNO08x::get_pitch | +( | +) | ++ |
+
+
+Get the reported rotation about y axis.
+- Returns
- Rotation about the y axis in radians.
+Here is the call graph for this function:
+
+
+
+
+
+Here is the caller graph for this function:
+
+
+
+
+
+◆ get_pitch_deg()
+ +
+
+
+
+
+
+
| float BNO08x::get_pitch_deg | +( | +) | ++ |
+
+
+Get the reported rotation about y axis.
+- Returns
- Rotation about the y axis in degrees.
+Here is the call graph for this function:
+
+
+
+
+
+◆ get_Q1()
+ +
+
+
+
+
+
+
| int16_t BNO08x::get_Q1 | +( | +uint16_t | record_ID | ) | ++ |
+
+
+Gets Q1 point from BNO08x FRS (flash record system).
+Note that Q points from the data sheet can be used as well, using the ones stored in flash is optional.
+- Parameters
-
+
+
+record_ID Which record ID/ sensor to get Q1 value for.
+
- Returns
- Q1 value for requested sensor.
+Here is the call graph for this function:
+
+
+
+
+
+Here is the caller graph for this function:
+
+
+
+
+
+◆ get_Q2()
+ +
+
+
+
+
+
+
| int16_t BNO08x::get_Q2 | +( | +uint16_t | record_ID | ) | ++ |
+
+
+Gets Q2 point from BNO08x FRS (flash record system).
+Note that Q points from the data sheet can be used as well, using the ones stored in flash is optional.
+- Parameters
-
+
+
+record_ID Which record ID/ sensor to get Q2 value for.
+
- Returns
- Q2 value for requested sensor.
+Here is the call graph for this function:
+
+
+
+
+
+◆ get_Q3()
+ +
+
+
+
+
+
+
| int16_t BNO08x::get_Q3 | +( | +uint16_t | record_ID | ) | ++ |
+
+
+Gets Q3 point from BNO08x FRS (flash record system).
+Note that Q points from the data sheet can be used as well, using the ones stored in flash is optional.
+- Parameters
-
+
+
+record_ID Which record ID/ sensor to get Q3 value for.
+
- Returns
- Q3 value for requested sensor.
+Here is the call graph for this function:
+
+
+
+
+
+◆ get_quat()
+ +
+
+
+
+
+
+
| void BNO08x::get_quat | +( | +float & | i, | +
| + | + | float & | j, | +
| + | + | float & | k, | +
| + | + | float & | real, | +
| + | + | float & | rad_accuracy, | +
| + | + | uint8_t & | accuracy ) | +
+
+
+Get the full quaternion reading.
+- Parameters
-
+
+
+i Reference variable to save reported i component of quaternion. j Reference variable to save reported j component of quaternion. k Reference variable to save reported k component of quaternion. real Reference variable to save reported real component of quaternion. rad_accuracy Reference variable to save reported raw quaternion radian accuracy. accuracy Reference variable to save reported quaternion accuracy.
+
- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+◆ get_quat_accuracy()
+ +
+
+
+
+
+
+
| uint8_t BNO08x::get_quat_accuracy | +( | +) | ++ |
+
+
+Get accuracy of reported quaternion.
+- Returns
- The accuracy of reported quaternion.
+Here is the caller graph for this function:
+
+
+
+
+
+◆ get_quat_I()
+ +
+
+
+
+
+
+
| float BNO08x::get_quat_I | +( | +) | ++ |
+
+
+Get I component of reported quaternion.
+- Returns
- The I component of reported quaternion.
+Here is the call graph for this function:
+
+
+
+
+
+Here is the caller graph for this function:
+
+
+
+
+
+◆ get_quat_J()
+ +
+
+
+
+
+
+
| float BNO08x::get_quat_J | +( | +) | ++ |
+
+
+Get J component of reported quaternion.
+- Returns
- The J component of reported quaternion.
+Here is the call graph for this function:
+
+
+
+
+
+Here is the caller graph for this function:
+
+
+
+
+
+◆ get_quat_K()
+ +
+
+
+
+
+
+
| float BNO08x::get_quat_K | +( | +) | ++ |
+
+
+Get K component of reported quaternion.
+- Returns
- The K component of reported quaternion.
+Here is the call graph for this function:
+
+
+
+
+
+Here is the caller graph for this function:
+
+
+
+
+
+◆ get_quat_radian_accuracy()
+ +
+
+
+
+
+
+
| float BNO08x::get_quat_radian_accuracy | +( | +) | ++ |
+
+
+Get radian accuracy of reported quaternion.
+- Returns
- The radian accuracy of reported quaternion.
+Here is the call graph for this function:
+
+
+
+
+
+◆ get_quat_real()
+ +
+
+
+
+
+
+
| float BNO08x::get_quat_real | +( | +) | ++ |
+
+
+Get real component of reported quaternion.
+- Returns
- The real component of reported quaternion.
+Here is the call graph for this function:
+
+
+
+
+
+Here is the caller graph for this function:
+
+
+
+
+
+◆ get_range()
+ +
+
+
+
+
+
+
| float BNO08x::get_range | +( | +uint16_t | record_ID | ) | ++ |
+
+
+Gets range from BNO08x FRS (flash record system).
+- Parameters
-
+
+
+record_ID Which record ID/ sensor to get range value for.
+
- Returns
- The range value for the requested sensor.
+Here is the call graph for this function:
+
+
+
+
+
+◆ get_raw_accel_X()
+ +
+
+
+
+
+
+
| int16_t BNO08x::get_raw_accel_X | +( | +) | ++ |
+
+
+Get raw accelerometer x axis reading from physical accelerometer MEMs sensor (See Ref. Manual 6.5.8)
+- Returns
- Reported raw accelerometer x axis reading from physical MEMs sensor.
◆ get_raw_accel_Y()
+ +
+
+
+
+
+
+
| int16_t BNO08x::get_raw_accel_Y | +( | +) | ++ |
+
+
+Get raw accelerometer y axis reading from physical accelerometer MEMs sensor (See Ref. Manual 6.5.8)
+- Returns
- Reported raw accelerometer y axis reading from physical MEMs sensor.
◆ get_raw_accel_Z()
+ +
+
+
+
+
+
+
| int16_t BNO08x::get_raw_accel_Z | +( | +) | ++ |
+
+
+Get raw accelerometer z axis reading from physical accelerometer MEMs sensor (See Ref. Manual 6.5.8)
+- Returns
- Reported raw accelerometer z axis reading from physical MEMs sensor.
◆ get_raw_gyro_X()
+ +
+
+
+
+
+
+
| int16_t BNO08x::get_raw_gyro_X | +( | +) | ++ |
+
+
+Get raw gyroscope x axis reading from physical gyroscope MEMs sensor (See Ref. Manual 6.5.12)
+- Returns
- Reported raw gyroscope x axis reading from physical MEMs sensor.
◆ get_raw_gyro_Y()
+ +
+
+
+
+
+
+
| int16_t BNO08x::get_raw_gyro_Y | +( | +) | ++ |
+
+
+Get raw gyroscope y axis reading from physical gyroscope MEMs sensor (See Ref. Manual 6.5.12)
+- Returns
- Reported raw gyroscope y axis reading from physical MEMs sensor.
◆ get_raw_gyro_Z()
+ +
+
+
+
+
+
+
| int16_t BNO08x::get_raw_gyro_Z | +( | +) | ++ |
+
+
+Get raw gyroscope z axis reading from physical gyroscope MEMs sensor (See Ref. Manual 6.5.12)
+- Returns
- Reported raw gyroscope z axis reading from physical MEMs sensor.
◆ get_raw_magf_X()
+ +
+
+
+
+
+
+
| int16_t BNO08x::get_raw_magf_X | +( | +) | ++ |
+
+
+Get raw magnetometer x axis reading from physical magnetometer sensor (See Ref. Manual 6.5.15)
+- Returns
- Reported raw magnetometer x axis reading from physical magnetometer sensor.
◆ get_raw_magf_Y()
+ +
+
+
+
+
+
+
| int16_t BNO08x::get_raw_magf_Y | +( | +) | ++ |
+
+
+Get raw magnetometer y axis reading from physical magnetometer sensor (See Ref. Manual 6.5.15)
+- Returns
- Reported raw magnetometer y axis reading from physical magnetometer sensor.
◆ get_raw_magf_Z()
+ +
+
+
+
+
+
+
| int16_t BNO08x::get_raw_magf_Z | +( | +) | ++ |
+
+
+Get raw magnetometer z axis reading from physical magnetometer sensor (See Ref. Manual 6.5.15)
+- Returns
- Reported raw magnetometer z axis reading from physical magnetometer sensor.
◆ get_reset_reason()
+ +
+
+
+
+
+
+
| uint8_t BNO08x::get_reset_reason | +( | +) | ++ |
+
+
+Requests product ID, prints the returned info over serial, and returns the reason for the most resent reset.
+- Returns
- The reason for the most recent recent reset ( 1 = POR (power on reset), 2 = internal reset, 3 = watchdog timer, 4 = external reset 5 = other)
+Here is the call graph for this function:
+
+
+
+
+
+Here is the caller graph for this function:
+
+
+
+
+
+◆ get_resolution()
+ +
+
+
+
+
+
+
| float BNO08x::get_resolution | +( | +uint16_t | record_ID | ) | ++ |
+
+
+Gets resolution from BNO08x FRS (flash record system).
+- Parameters
-
+
+
+record_ID Which record ID/ sensor to get resolution value for.
+
- Returns
- The resolution value for the requested sensor.
+Here is the call graph for this function:
+
+
+
+
+
+◆ get_roll()
+ +
+
+
+
+
+
+
| float BNO08x::get_roll | +( | +) | ++ |
+
+
+Get the reported rotation about x axis.
+- Returns
- Rotation about the x axis in radians.
+Here is the call graph for this function:
+
+
+
+
+
+Here is the caller graph for this function:
+
+
+
+
+
+◆ get_roll_deg()
+ +
+
+
+
+
+
+
| float BNO08x::get_roll_deg | +( | +) | ++ |
+
+
+Get the reported rotation about x axis.
+- Returns
- Rotation about the x axis in degrees.
+Here is the call graph for this function:
+
+
+
+
+
+◆ get_stability_classifier()
+ +
+
+
+
+
+
+
| int8_t BNO08x::get_stability_classifier | +( | +) | ++ |
+
+
+Get the current stability classifier (Seee Ref. Manual 6.5.31)
+- Returns
- The current stability (0 = unknown, 1 = on table, 2 = stationary)
◆ get_step_count()
+ +
+
+
+
+
+
+
| uint16_t BNO08x::get_step_count | +( | +) | ++ |
+
+
+Get the counted amount of steps.
+- Returns
- The current amount of counted steps.
◆ get_tap_detector()
+ +
+
+
+
+
+
+
| uint8_t BNO08x::get_tap_detector | +( | +) | ++ |
+
+
+Get if tap has occured.
+- Returns
- 7 bit tap code indicated which axis taps have occurred. (See Ref. Manual 6.5.27)
◆ get_time_stamp()
+ +
+
+
+
+
+
+
| uint32_t BNO08x::get_time_stamp | +( | +) | ++ |
+
+
+Return timestamp of most recent report.
+- Returns
- void, nothing to return
◆ get_uncalibrated_gyro()
+ +
+
+
+
+
+
+
| void BNO08x::get_uncalibrated_gyro | +( | +float & | x, | +
| + | + | float & | y, | +
| + | + | float & | z, | +
| + | + | float & | b_x, | +
| + | + | float & | b_y, | +
| + | + | float & | b_z, | +
| + | + | uint8_t & | accuracy ) | +
+
+
+Get full rotational velocity without drift compensation (units in Rad/s). An estimate of drift is given but not applied.
+- Parameters
-
+
+
+x Reference variable to save X axis angular velocity y Reference variable to save Y axis angular velocity z Reference variable to save Z axis angular velocity b_x Reference variable to save X axis drift estimate b_y Reference variable to save Y axis drift estimate b_z Reference variable to save Z axis drift estimate accuracy Reference variable to save reported gyro accuracy.
+
- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+◆ get_uncalibrated_gyro_accuracy()
+ +
+
+
+
+
+
+
| uint8_t BNO08x::get_uncalibrated_gyro_accuracy | +( | +) | ++ |
+
+
+Get uncalibrated gyro accuracy.
+- Returns
- Accuracy of uncalibrated gyro.
◆ get_uncalibrated_gyro_bias_X()
+ +
+
+
+
+
+
+
| float BNO08x::get_uncalibrated_gyro_bias_X | +( | +) | ++ |
+
+
+Get uncalibrated gyro x axis drift estimate.
+- Returns
- The angular reported x axis drift estimate.
+Here is the call graph for this function:
+
+
+
+
+
+◆ get_uncalibrated_gyro_bias_Y()
+ +
+
+
+
+
+
+
| float BNO08x::get_uncalibrated_gyro_bias_Y | +( | +) | ++ |
+
+
+Get uncalibrated gyro Y axis drift estimate.
+- Returns
- The angular reported Y axis drift estimate.
+Here is the call graph for this function:
+
+
+
+
+
+◆ get_uncalibrated_gyro_bias_Z()
+ +
+
+
+
+
+
+
| float BNO08x::get_uncalibrated_gyro_bias_Z | +( | +) | ++ |
+
+
+Get uncalibrated gyro Z axis drift estimate.
+- Returns
- The angular reported Z axis drift estimate.
+Here is the call graph for this function:
+
+
+
+
+
+◆ get_uncalibrated_gyro_X()
+ +
+
+
+
+
+
+
| float BNO08x::get_uncalibrated_gyro_X | +( | +) | ++ |
+
+
+Get uncalibrated gyro x axis angular velocity measurement.
+- Returns
- The angular reported x axis angular velocity from uncalibrated gyro.
+Here is the call graph for this function:
+
+
+
+
+
+◆ get_uncalibrated_gyro_Y()
+ +
+
+
+
+
+
+
| float BNO08x::get_uncalibrated_gyro_Y | +( | +) | ++ |
+
+
+Get uncalibrated gyro Y axis angular velocity measurement.
+- Returns
- The angular reported Y axis angular velocity from uncalibrated gyro.
+Here is the call graph for this function:
+
+
+
+
+
+◆ get_uncalibrated_gyro_Z()
+ +
+
+
+
+
+
+
| float BNO08x::get_uncalibrated_gyro_Z | +( | +) | ++ |
+
+
+Get uncalibrated gyro Z axis angular velocity measurement.
+- Returns
- The angular reported Z axis angular velocity from uncalibrated gyro.
+Here is the call graph for this function:
+
+
+
+
+
+◆ get_yaw()
+ +
+
+
+
+
+
+
| float BNO08x::get_yaw | +( | +) | ++ |
+
+
+Get the reported rotation about z axis.
+- Returns
- Rotation about the z axis in radians.
+Here is the call graph for this function:
+
+
+
+
+
+Here is the caller graph for this function:
+
+
+
+
+
+◆ get_yaw_deg()
+ +
+
+
+
+
+
+
| float BNO08x::get_yaw_deg | +( | +) | ++ |
+
+
+Get the reported rotation about z axis.
+- Returns
- Rotation about the z axis in degrees.
+Here is the call graph for this function:
+
+
+
+
+
+◆ hard_reset()
+ +
+
+
+
+
+
+
| bool BNO08x::hard_reset | +( | +) | ++ |
+
+
+Hard resets BNO08x sensor.
+- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+Here is the caller graph for this function:
+
+
+
+
+
+◆ hint_handler()
+ +
+
+
+
+
+
+
+
+
|
+ +staticprivate | +
◆ initialize()
+ +
+
+
+
+
+
+
+| bool BNO08x::initialize | +( | +) | ++ |
◆ mode_on()
+ +
+
+
+
+
+
+
| bool BNO08x::mode_on | +( | +) | ++ |
+
+
+Turns on/ brings BNO08x sensor out of sleep mode using executable channel.
+- Returns
- True if exiting sleep mode was success.
+Here is the call graph for this function:
+
+
+
+
+
+◆ mode_sleep()
+ +
+
+
+
+
+
+
| bool BNO08x::mode_sleep | +( | +) | ++ |
+
+
+Puts BNO08x sensor into sleep/low power mode using executable channel.
+- Returns
- True if entering sleep mode was success.
+Here is the call graph for this function:
+
+
+
+
+
+◆ parse_command_report()
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+Parses received command report sent by BNO08x (See Ref. Manual 6.3.9)
+- Returns
- The command report ID, 0 if invalid.
+Here is the caller graph for this function:
+
+
+
+
+
+◆ parse_frs_read_response_report()
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+Sends packet to be parsed to meta data function call (frs_read_word()) through queue.
+- Parameters
-
+
+
+packet The packet containing the frs read report.
+
- Returns
- 1, always valid, parsing for this happens in frs_read_word()
+Here is the caller graph for this function:
+
+
+
+
+
+◆ parse_input_report()
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+Parses received input report sent by BNO08x.
+Unit responds with packet that contains the following:
+packet->header[0:3]: First, a 4 byte header packet->body[0:4]: Then a 5 byte timestamp of microsecond ticks since reading was taken packet->body[5 + 0]: Then a feature report ID (0x01 for Accel, 0x05 for Rotation Vector, etc...) packet->body[5 + 1]: Sequence number (See Ref.Manual 6.5.8.2) packet->body[5 + 2]: Status packet->body[3]: Delay packet->body[4:5]: i/accel x/gyro x/etc packet->body[6:7]: j/accel y/gyro y/etc packet->body[8:9]: k/accel z/gyro z/etc packet->body[10:11]: real/gyro temp/etc packet->body[12:13]: Accuracy estimate
+- Returns
- The report ID of the respective sensor, for ex. SENSOR_REPORT_ID_GYRO_INTEGRATED_ROTATION_VECTOR, 0 if invalid.
+Here is the caller graph for this function:
+
+
+
+
+
+◆ parse_packet()
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+Parses a packet received from bno08x, updating any data according to received reports.
+- Parameters
-
+
+
+packet The packet to be parsed.
+
- Returns
- 0 if invalid packet.
+Here is the call graph for this function:
+
+
+
+
+
+Here is the caller graph for this function:
+
+
+
+
+
+◆ parse_product_id_report()
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+Parses product id report and prints device info.
+- Parameters
-
+
+
+packet The packet containing product id report.
+
- Returns
- 1, always valid.
+Here is the caller graph for this function:
+
+
+
+
+
+◆ print_header()
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+Prints the header of the passed SHTP packet to serial console with ESP_LOG statement.
+- Parameters
-
+
+
+packet The packet containing the header to be printed.
+
- Returns
- void, nothing to return
◆ print_packet()
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+Prints the passed SHTP packet to serial console with ESP_LOG statement.
+- Parameters
-
+
+
+packet The packet to be printed.
+
- Returns
- void, nothing to return
◆ q_to_float()
+ +
+
+
+
+
+
+
| float BNO08x::q_to_float | +( | +int16_t | fixed_point_value, | +
| + | + | uint8_t | q_point ) | +
+
+
+Converts a register value to a float using its associated Q point. (See https://en.wikipedia.org/wiki/Q_(number_format))
+- Parameters
-
+
+
+q_point Q point value associated with register. fixed_point_value The fixed point value to convert.
+
- Returns
- void, nothing to return
+Here is the caller graph for this function:
+
+
+
+
+
+◆ queue_calibrate_command()
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+Queues a packet containing a command to calibrate the specified sensor.
+- Parameters
-
+
+
+sensor_to_calibrate The sensor to calibrate.
+
- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+Here is the caller graph for this function:
+
+
+
+
+
+◆ queue_command()
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+Queues a packet containing a command.
+- Parameters
-
+
+
+command The command to be sent. commands Command data array, pre-packed with exception of first 3 elements (command info)
+
- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+Here is the caller graph for this function:
+
+
+
+
+
+◆ queue_feature_command() [1/2]
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+Queues a packet containing a command with a request for sensor reports, reported periodically. (See Ref. Manual 6.5.4)
+- Parameters
-
+
+
+report_ID ID of sensor report being requested. time_between_reports Desired time between reports.
+
- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+Here is the caller graph for this function:
+
+
+
+
+
+◆ queue_feature_command() [2/2]
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+Queues a packet containing a command with a request for sensor reports, reported periodically. (See Ref. Manual 6.5.4)
+- Parameters
-
+
+
+report_ID ID of sensor report to be enabled. time_between_reports Desired time between reports in microseconds. specific_config Specific config word (used with personal activity classifier)
+
- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+◆ queue_packet()
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+Queues an SHTP packet to be sent via SPI.
+- Returns
- void, nothing to return
+Here is the caller graph for this function:
+
+
+
+
+
+◆ queue_request_product_id_command()
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+Queues a packet containing the request product ID command.
+- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+Here is the caller graph for this function:
+
+
+
+
+
+◆ queue_tare_command()
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+Queues a packet containing a command related to zeroing sensor's axes. (See Ref. Manual 6.4.4.1)
+- Parameters
-
+
+
+command Tare command to be sent. axis Specified axis (can be z or all at once) rotation_vector_basis Which rotation vector type to zero axes of, BNO08x saves seperate data for Rotation Vector, Gaming Rotation Vector, etc..)
+
- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+Here is the caller graph for this function:
+
+
+
+
+
+◆ receive_packet()
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+Receives a SHTP packet via SPI and sends it to data_proc_task()
+- Returns
- void, nothing to return
+Here is the caller graph for this function:
+
+
+
+
+
+◆ register_cb()
+ +
+
+
+
+
+
+
| void BNO08x::register_cb | +( | +std::function< void()> | cb_fxn | ) | ++ |
+
+
+Registers a callback to execute when new data from a report is received.
+- Parameters
-
+
+
+cb_fxn Pointer to the call-back function should be of void return type and void input parameters.
+
- Returns
- void, nothing to return
◆ request_calibration_status()
+ +
+
+
+
+
+
+
| void BNO08x::request_calibration_status | +( | +) | ++ |
+
+
+Requests ME calibration status from BNO08x (see Ref. Manual 6.4.7.2)
+- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+Here is the caller graph for this function:
+
+
+
+
+
+◆ run_full_calibration_routine()
+ +
+
+
+
+
+
+
| bool BNO08x::run_full_calibration_routine | +( | +) | ++ |
+
+
+Runs full calibration routine.
+Enables game rotation vector and magnetometer, starts ME calibration process. Waits for accuracy of returned quaternions and magnetic field vectors to be high, then saves calibration data and returns.
+- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+◆ save_calibration()
+ +
+
+
+
+
+
+
| void BNO08x::save_calibration | +( | +) | ++ |
+
+
+Sends command to save internal calibration data (See Ref. Manual 6.4.7).
+- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+Here is the caller graph for this function:
+
+
+
+
+
+◆ save_tare()
+ +
+
+
+
+
+
+
| void BNO08x::save_tare | +( | +) | ++ |
+
+
+Sends command to save tare into non-volatile memory of BNO08x (See Ref. Manual 6.4.4.2)
+- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+◆ send_packet()
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+Sends a queued SHTP packet via SPI.
+- Parameters
-
+
+
+packet The packet queued to be sent.
+
- Returns
- void, nothing to return
+Here is the caller graph for this function:
+
+
+
+
+
+◆ soft_reset()
+ +
+
+
+
+
+
+
| bool BNO08x::soft_reset | +( | +) | ++ |
+
+
+Soft resets BNO08x sensor using executable channel.
+- Returns
- True if reset was success.
+Here is the call graph for this function:
+
+
+
+
+
+◆ spi_task()
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+Task responsible for SPI transactions. Executed when HINT in is asserted by BNO08x.
+- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+Here is the caller graph for this function:
+
+
+
+
+
+◆ spi_task_trampoline()
+ +
+
+
+
+
+
+
+
|
+ +staticprivate | +
+
+
+Static function used to launch spi task.
+Used such that spi_task() can be non-static class member.
+- Parameters
-
+
+
+arg void pointer to BNO08x imu object
+
- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+Here is the caller graph for this function:
+
+
+
+
+
+◆ tare_now()
+ +
+
+
+
+
+
+
| void BNO08x::tare_now | +( | +uint8_t | axis_sel = TARE_AXIS_ALL, | +
| + | + | uint8_t | rotation_vector_basis = TARE_ROTATION_VECTOR ) | +
+
+
+Sends command to tare an axis (See Ref. Manual 6.4.4.1)
+- Parameters
-
+
+
+axis_sel Which axes to zero, can be TARE_AXIS_ALL (all axes) or TARE_AXIS_Z (only yaw) rotation_vector_basis Which rotation vector type to zero axes can be TARE_ROTATION_VECTOR, TARE_GAME_ROTATION_VECTOR, TARE_GEOMAGNETIC_ROTATION_VECTOR, etc..
+
- Returns
- void, nothing to return
+Here is the call graph for this function:
+
+
+
+
+
+◆ wait_for_data()
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+Waits for a valid or invalid packet to be received or HOST_INT_TIMEOUT_MS to elapse.
+If no reports are currently enabled the hint pin interrupt will be re-enabled by this function.
+- Returns
- True if valid packet has been received within HOST_INT_TIMEOUT_MS, false if otherwise.
+Here is the caller graph for this function:
+
+
+
+
+
+◆ wait_for_rx_done()
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+Waits for data to be received over SPI, or HOST_INT_TIMEOUT_MS to elapse.
+If no reports are currently enabled the hint pin interrupt will be re-enabled by this function. This function is for when the validity of packets is not a concern, it is for flushing packets we do not care about.
+- Returns
- True if data has been received over SPI within HOST_INT_TIMEOUT_MS.
+Here is the caller graph for this function:
+
+
+
+
+
+◆ wait_for_tx_done()
+ +
+
+
+
+
+
+
|
+ +private | +
+
+
+Waits for a queued packet to be sent or HOST_INT_TIMEOUT_MS to elapse.
+If no reports are currently enabled the hint pin interrupt will be re-enabled by this function.
+- Returns
- True if packet was sent within HOST_INT_TIMEOUT_MS, false if otherwise.
+Here is the caller graph for this function:
+
+
+
+
+
+Member Data Documentation
+ +◆ accel_accuracy
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+Raw acceleration readings (See SH-2 Ref. Manual 6.5.8)
+ +◆ accel_lin_accuracy
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+Raw linear acceleration (See SH-2 Ref. Manual 6.5.10)
+ +◆ ACCELEROMETER_Q1
+ +
+
+
+
+
+
+
+
|
+ +staticconstexpr | +
+
+
+Acceleration Q point (See SH-2 Ref. Manual 6.5.9)
+ +◆ activity_classifier
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+Activity status reading (See SH-2 Ref. Manual 6.5.36)
+ +◆ activity_confidences
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+Confidence of read activities (See SH-2 Ref. Manual 6.5.36)
+ +◆ ANGULAR_VELOCITY_Q1
+ +
+
+
+
+
+
+
+
|
+ +staticconstexpr | +
+
+
+Angular velocity Q point (See SH-2 Ref. Manual 6.5.44)
+ +◆ bus_config
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+SPI bus GPIO configuration settings.
+ +◆ CALIBRATE_ACCEL
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+
+
+Calibrate accelerometer command used by queue_calibrate_command.
+ +◆ CALIBRATE_ACCEL_GYRO_MAG
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+Initial value:
+
+=
+ 4
+Calibrate accelerometer, gyro, & magnetometer command used by queue_calibrate_command.
+ +◆ CALIBRATE_GYRO
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+
+
+Calibrate gyro command used by queue_calibrate_command.
+ +◆ CALIBRATE_MAG
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+
+
+Calibrate magnetometer command used by queue_calibrate_command.
+ +◆ CALIBRATE_PLANAR_ACCEL
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+
+
+Calibrate planar acceleration command used by queue_calibrate_command.
+ +◆ CALIBRATE_STOP
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+
+
+Stop calibration command used by queue_calibrate_command.
+ +◆ calibration_status
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+Calibration status of device (See SH-2 Ref. Manual 6.4.7.1 & 6.4.7.2)
+ +◆ cb_list
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+◆ COMMAND_CLEAR_DCD
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+
+
+Clear DCD & Reset command (See SH2 Ref. Manual 6.4)
+ +◆ COMMAND_COUNTER
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+
+
+◆ COMMAND_DCD
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+
+
+Save DCD command (See SH2 Ref. Manual 6.4.7)
+ +◆ COMMAND_DCD_PERIOD_SAVE
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+
+
+Configure DCD periodic saving (See SH2 Ref. Manual 6.4)
+ +◆ COMMAND_ERRORS
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+
+
+◆ COMMAND_INITIALIZE
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+
+
+Reinitialize sensor hub components See (SH2 Ref. Manual 6.4.5)
+ +◆ COMMAND_ME_CALIBRATE
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+
+
+Command and response to configure ME calibration (See SH2 Ref. Manual 6.4.7)
+ +◆ COMMAND_OSCILLATOR
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+
+
+Retrieve oscillator type command (See SH2 Ref. Manual 6.4)
+ +◆ COMMAND_TARE
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+
+
+Command and response to tare command (See Sh2 Ref. Manual 6.4.4)
+ +◆ data_proc_task_hdl
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+data_proc_task() task handle
+ +◆ default_imu_config
+ +
+
+
+
+
+
+
+
|
+ +staticprivate | +
+
+
+default imu config settings
+ +◆ evt_grp_report_en
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+Event group for indicating which reports are currently enabled.
+ +◆ EVT_GRP_RPT_ACCELEROMETER_BIT
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+
+
+When set, accelerometer reports are active.
+ +◆ EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+
+
+When set, activity classifier reports are active.
+ +◆ EVT_GRP_RPT_ALL_BITS
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+Initial value:
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+=
+ EVT_GRP_RPT_ROTATION_VECTOR_BIT | EVT_GRP_RPT_GAME_ROTATION_VECTOR_BIT | EVT_GRP_RPT_ARVR_S_ROTATION_VECTOR_BIT |
+ EVT_GRP_RPT_ARVR_S_GAME_ROTATION_VECTOR_BIT | EVT_GRP_RPT_GYRO_ROTATION_VECTOR_BIT | EVT_GRP_RPT_ACCELEROMETER_BIT |
+ EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT | EVT_GRP_RPT_GRAVITY_BIT | EVT_GRP_RPT_GYRO_BIT | EVT_GRP_RPT_GYRO_UNCALIBRATED_BIT |
+ EVT_GRP_RPT_MAGNETOMETER_BIT | EVT_GRP_RPT_TAP_DETECTOR_BIT | EVT_GRP_RPT_STEP_COUNTER_BIT | EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT |
+ EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT | EVT_GRP_RPT_RAW_ACCELEROMETER_BIT | EVT_GRP_RPT_RAW_GYRO_BIT | EVT_GRP_RPT_RAW_MAGNETOMETER_BIT
+static const constexpr EventBits_t EVT_GRP_RPT_GAME_ROTATION_VECTOR_BIT
When set, game rotation vector reports are active.
Definition BNO08x.hpp:401
static const constexpr EventBits_t EVT_GRP_RPT_ACCELEROMETER_BIT
When set, accelerometer reports are active.
Definition BNO08x.hpp:408
static const constexpr EventBits_t EVT_GRP_RPT_ROTATION_VECTOR_BIT
When set, rotation vector reports are active.
Definition BNO08x.hpp:400
static const constexpr EventBits_t EVT_GRP_RPT_GYRO_BIT
When set, gyro reports are active.
Definition BNO08x.hpp:411
static const constexpr EventBits_t EVT_GRP_RPT_RAW_ACCELEROMETER_BIT
When set, raw accelerometer reports are active.
Definition BNO08x.hpp:418
static const constexpr EventBits_t EVT_GRP_RPT_GYRO_ROTATION_VECTOR_BIT
When set, gyro integrator rotation vector reports are active.
Definition BNO08x.hpp:406
static const constexpr EventBits_t EVT_GRP_RPT_TAP_DETECTOR_BIT
When set, tap detector reports are active.
Definition BNO08x.hpp:414
static const constexpr EventBits_t EVT_GRP_RPT_RAW_GYRO_BIT
When set, raw gyro reports are active.
Definition BNO08x.hpp:419
static const constexpr EventBits_t EVT_GRP_RPT_ARVR_S_GAME_ROTATION_VECTOR_BIT
When set, ARVR stabilized game rotation vector reports are active.
Definition BNO08x.hpp:404
static const constexpr EventBits_t EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT
When set, stability classifier reports are active.
Definition BNO08x.hpp:416
static const constexpr EventBits_t EVT_GRP_RPT_MAGNETOMETER_BIT
When set, magnetometer reports are active.
Definition BNO08x.hpp:413
static const constexpr EventBits_t EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT
When set, activity classifier reports are active.
Definition BNO08x.hpp:417
static const constexpr EventBits_t EVT_GRP_RPT_ARVR_S_ROTATION_VECTOR_BIT
When set, ARVR stabilized rotation vector reports are active.
Definition BNO08x.hpp:402
static const constexpr EventBits_t EVT_GRP_RPT_STEP_COUNTER_BIT
When set, step counter reports are active.
Definition BNO08x.hpp:415
static const constexpr EventBits_t EVT_GRP_RPT_GRAVITY_BIT
When set, gravity reports are active.
Definition BNO08x.hpp:410
static const constexpr EventBits_t EVT_GRP_RPT_RAW_MAGNETOMETER_BIT
When set, raw magnetometer reports are active.
Definition BNO08x.hpp:420
static const constexpr EventBits_t EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT
When set, linear accelerometer reports are active.
Definition BNO08x.hpp:409
static const constexpr EventBits_t EVT_GRP_RPT_GYRO_UNCALIBRATED_BIT
When set, uncalibrated gyro reports are active.
Definition BNO08x.hpp:412
◆ EVT_GRP_RPT_ARVR_S_GAME_ROTATION_VECTOR_BIT
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+Initial value:
+
+=
+ (1 << 3)
+When set, ARVR stabilized game rotation vector reports are active.
+ +◆ EVT_GRP_RPT_ARVR_S_ROTATION_VECTOR_BIT
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+Initial value:
+
+=
+ (1 << 2)
+When set, ARVR stabilized rotation vector reports are active.
+ +◆ EVT_GRP_RPT_GAME_ROTATION_VECTOR_BIT
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+
+
+When set, game rotation vector reports are active.
+ +◆ EVT_GRP_RPT_GRAVITY_BIT
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+
+
+When set, gravity reports are active.
+ +◆ EVT_GRP_RPT_GYRO_BIT
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+
+
+When set, gyro reports are active.
+ +◆ EVT_GRP_RPT_GYRO_ROTATION_VECTOR_BIT
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+Initial value:
+
+=
+ (1 << 4)
+When set, gyro integrator rotation vector reports are active.
+ +◆ EVT_GRP_RPT_GYRO_UNCALIBRATED_BIT
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+
+
+When set, uncalibrated gyro reports are active.
+ +◆ EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+
+
+When set, linear accelerometer reports are active.
+ +◆ EVT_GRP_RPT_MAGNETOMETER_BIT
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+
+
+When set, magnetometer reports are active.
+ +◆ EVT_GRP_RPT_RAW_ACCELEROMETER_BIT
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+
+
+When set, raw accelerometer reports are active.
+ +◆ EVT_GRP_RPT_RAW_GYRO_BIT
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+
+
+When set, raw gyro reports are active.
+ +◆ EVT_GRP_RPT_RAW_MAGNETOMETER_BIT
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+
+
+When set, raw magnetometer reports are active.
+ +◆ EVT_GRP_RPT_ROTATION_VECTOR_BIT
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+
+
+When set, rotation vector reports are active.
+ +◆ EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+
+
+When set, stability classifier reports are active.
+ +◆ EVT_GRP_RPT_STEP_COUNTER_BIT
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+
+
+When set, step counter reports are active.
+ +◆ EVT_GRP_RPT_TAP_DETECTOR_BIT
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+
+
+When set, tap detector reports are active.
+ +◆ evt_grp_spi
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+Event group for indicating when bno08x hint pin has triggered and when new data has been processed. Used by calls to sending or receiving functions.
+ +◆ EVT_GRP_SPI_RX_DONE_BIT
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+Initial value:
+
+=
+ (1 << 0)
+When this bit is set it indicates a receive procedure has completed.
+ +◆ EVT_GRP_SPI_RX_INVALID_PACKET
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+Initial value:
+
+=
+ (1 << 2)
+When this bit is set, it indicates an invalid packet has been received.
+ +◆ EVT_GRP_SPI_RX_VALID_PACKET
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+Initial value:
+
+=
+ (1 << 1)
+When this bit is set, it indicates a valid packet has been received and processed.
+ +◆ EVT_GRP_SPI_TX_DONE
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+
+
+When this bit is set, it indicates a queued packet has been sent.
+ +◆ FRS_RECORD_ID_ACCELEROMETER
+ +
+
+
+
+
+
+
+
|
+ +staticconstexpr | +
+Initial value:
+
+=
+ 0xE302
+Accelerometer record ID, to be passed in metadata functions like get_Q1()
+ +◆ FRS_RECORD_ID_GYROSCOPE_CALIBRATED
+ +
+
+
+
+
+
+
+
|
+ +staticconstexpr | +
+Initial value:
+
+=
+ 0xE306
+Calirated gyroscope record ID, to be passed in metadata functions like get_Q1()
+ +◆ FRS_RECORD_ID_MAGNETIC_FIELD_CALIBRATED
+ +
+
+
+
+
+
+
+
|
+ +staticconstexpr | +
+Initial value:
+
+=
+ 0xE309
+Calibrated magnetometer record ID, to be passed in metadata functions like get_Q1()
+ +◆ FRS_RECORD_ID_ROTATION_VECTOR
+ +
+
+
+
+
+
+
+
|
+ +staticconstexpr | +
+Initial value:
+
+=
+ 0xE30B
+Rotation vector record ID, to be passed in metadata functions like get_Q1()
+ +◆ gravity_accuracy
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+Gravity reading in m/s^2 (See SH-2 Ref. Manual 6.5.11)
+ +◆ GRAVITY_Q1
+ +
+
+
+
+
+
+
+
|
+ +staticconstexpr | +
+
+
+Gravity Q point (See SH-2 Ref. Manual 6.5.11)
+ +◆ gravity_X
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+◆ gravity_Y
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+◆ gravity_Z
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+◆ gyro_accuracy
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+Raw gyro reading (See SH-2 Ref. Manual 6.5.13)
+ +◆ GYRO_Q1
+ +
+
+
+
+
+
+
+
|
+ +staticconstexpr | +
+
+
+Gyro Q point (See SH-2 Ref. Manual 6.5.13)
+ +◆ HOST_INT_TIMEOUT_MS
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+Initial value:
+
+=
+ 300ULL
+Max wait between HINT being asserted by BNO08x before transaction is considered failed (in miliseconds)
+ +◆ imu_config
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+IMU configuration settings.
+ +◆ imu_spi_config
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+SPI slave device settings.
+ +◆ isr_service_installed
+ +
+
+
+
+
+
+
+
|
+ +staticprivate | +
+
+
+true of the isr service has been installed, only has to be done once regardless of how many devices are used
+ +◆ LINEAR_ACCELEROMETER_Q1
+ +
+
+
+
+
+
+
+
|
+ +staticconstexpr | +
+
+
+Linear acceleration Q point (See SH-2 Ref. Manual 6.5.10)
+ +◆ magf_accuracy
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+Calibrated magnetic field reading in uTesla (See SH-2 Ref. Manual 6.5.16)
+ +◆ MAGNETOMETER_Q1
+ +
+
+
+
+
+
+
+
|
+ +staticconstexpr | +
+
+
+Magnetometer Q point (See SH-2 Ref. Manual 6.5.16)
+ +◆ MAX_METADATA_LENGTH
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+
+
+max length of metadata used in frs read operations
+ +◆ mems_raw_accel_X
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+◆ mems_raw_accel_Y
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+◆ mems_raw_accel_Z
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+Raw accelerometer readings from MEMS sensor (See SH2 Ref. Manual 6.5.8)
+ +◆ mems_raw_gyro_X
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+◆ mems_raw_gyro_Y
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+◆ mems_raw_gyro_Z
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+Raw gyro readings from MEMS sensor (See SH-2 Ref. Manual 6.5.12)
+ +◆ mems_raw_magf_X
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+◆ mems_raw_magf_Y
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+◆ mems_raw_magf_Z
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+Raw magnetometer (compass) readings from MEMS sensor (See SH-2 Ref. Manual 6.5.15)
+ +◆ meta_data
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+First 9 bytes of meta data returned from FRS read operation (we don't really need the rest) (See Ref. Manual 5.1)
+ +◆ quat_accuracy
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+Raw quaternion reading (See SH-2 Ref. Manual 6.5.44)
+ +◆ queue_frs_read_data
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+Queue used to send packet body from data_proc_task to frs read functions.
+ +◆ queue_reset_reason
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+Queue used to send reset reason from product id report to reset_reason() function.
+ +◆ queue_rx_data
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+Packet queue used to send data received from bno08x from spi_task to data_proc_task.
+ +◆ queue_tx_data
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+Packet queue used to send data to be sent over SPI from sending functions to spi_task.
+ +◆ raw_accel_X
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+◆ raw_accel_Y
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+◆ raw_accel_Z
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+◆ raw_bias_X
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+◆ raw_bias_Y
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+◆ raw_bias_Z
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+◆ raw_gyro_X
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+◆ raw_gyro_Y
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+◆ raw_gyro_Z
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+◆ raw_lin_accel_X
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+◆ raw_lin_accel_Y
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+◆ raw_lin_accel_Z
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+◆ raw_magf_X
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+◆ raw_magf_Y
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+◆ raw_magf_Z
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+◆ raw_quat_I
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+◆ raw_quat_J
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+◆ raw_quat_K
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+◆ raw_quat_radian_accuracy
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+◆ raw_quat_real
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+◆ raw_uncalib_gyro_X
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+◆ raw_uncalib_gyro_Y
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+◆ raw_uncalib_gyro_Z
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+◆ raw_velocity_gyro_X
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+◆ raw_velocity_gyro_Y
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+◆ raw_velocity_gyro_Z
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+Raw gyro angular velocity reading (See SH-2 Ref. Manual 6.5.44)
+ +◆ ROTATION_VECTOR_ACCURACY_Q1
+ +
+
+
+
+
+
+
+
|
+ +staticconstexpr | +
+
+
+Rotation vector accuracy estimate Q point (See SH-2 Ref. Manual 6.5.18)
+ +◆ ROTATION_VECTOR_Q1
+ +
+
+
+
+
+
+
+
|
+ +staticconstexpr | +
+
+
+Rotation vector Q point (See SH-2 Ref. Manual 6.5.18)
+ +◆ RX_DATA_LENGTH
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+
+
+length buffer containing data received over spi
+ +◆ SENSOR_REPORT_ID_ACCELEROMETER
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+
+
+See SH2 Ref. Manual 6.5.9.
+ +◆ SENSOR_REPORT_ID_ARVR_STABILIZED_GAME_ROTATION_VECTOR
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+
+
+See SH2 Ref. Manual 6.5.43.
+ +◆ SENSOR_REPORT_ID_ARVR_STABILIZED_ROTATION_VECTOR
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+
+
+See SH2 Ref. Manual 6.5.42.
+ +◆ SENSOR_REPORT_ID_GAME_ROTATION_VECTOR
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+
+
+See SH2 Ref. Manual 6.5.19.
+ +◆ SENSOR_REPORT_ID_GEOMAGNETIC_ROTATION_VECTOR
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+
+
+See SH2 Ref. Manual 6.5.20.
+ +◆ SENSOR_REPORT_ID_GRAVITY
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+
+
+See SH2 Ref. Manual 6.5.11.
+ +◆ SENSOR_REPORT_ID_GYRO_INTEGRATED_ROTATION_VECTOR
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+
+
+See SH2 Ref. Manual 6.5.44.
+ +◆ SENSOR_REPORT_ID_GYROSCOPE
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+
+
+See SH2 Ref. Manual 6.5.13.
+ +◆ SENSOR_REPORT_ID_LINEAR_ACCELERATION
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+
+
+See SH2 Ref. Manual 6.5.10.
+ +◆ SENSOR_REPORT_ID_MAGNETIC_FIELD
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+
+
+See SH2 Ref. Manual 6.5.16.
+ +◆ SENSOR_REPORT_ID_PERSONAL_ACTIVITY_CLASSIFIER
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+
+
+See SH2 Ref. Manual 6.5.36.
+ +◆ SENSOR_REPORT_ID_RAW_ACCELEROMETER
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+
+
+See SH2 Ref. Manual 6.5.8.
+ +◆ SENSOR_REPORT_ID_RAW_GYROSCOPE
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+
+
+See SH2 Ref. Manual 6.5.12.
+ +◆ SENSOR_REPORT_ID_RAW_MAGNETOMETER
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+
+
+See SH2 Ref. Manual 6.5.15.
+ +◆ SENSOR_REPORT_ID_ROTATION_VECTOR
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+
+
+See SH2 Ref. Manual 6.5.18.
+ +◆ SENSOR_REPORT_ID_STABILITY_CLASSIFIER
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+
+
+See SH2 Ref. Manual 6.5.31.
+ +◆ SENSOR_REPORT_ID_STEP_COUNTER
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+
+
+See SH2 Ref. Manual 6.5.29.
+ +◆ SENSOR_REPORT_ID_TAP_DETECTOR
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+
+
+See SH2 Ref. Manual 6.5.27.
+ +◆ SENSOR_REPORT_ID_UNCALIBRATED_GYRO
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+
+
+See SH2 Ref. Manual 6.5.14.
+ +◆ SHTP_REPORT_BASE_TIMESTAMP
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+
+
+See SH2 Ref. Manual 7.2.1.
+ +◆ SHTP_REPORT_COMMAND_REQUEST
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+
+
+See SH2 Ref. Manual 6.3.8.
+ +◆ SHTP_REPORT_COMMAND_RESPONSE
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+
+
+See SH2 Ref. Manual 6.3.9.
+ +◆ SHTP_REPORT_FRS_READ_REQUEST
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+
+
+See SH2 Ref. Manual 6.3.6.
+ +◆ SHTP_REPORT_FRS_READ_RESPONSE
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+
+
+See SH2 Ref. Manual 6.3.7.
+ +◆ SHTP_REPORT_PRODUCT_ID_REQUEST
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+
+
+See SH2 Ref. Manual 6.3.1.
+ +◆ SHTP_REPORT_PRODUCT_ID_RESPONSE
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+
+
+See SH2 Ref. Manual 6.3.2.
+ +◆ SHTP_REPORT_SET_FEATURE_COMMAND
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+
+
+See SH2 Ref. Manual 6.5.4.
+ +◆ spi_hdl
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+SPI device handle.
+ +◆ spi_task_hdl
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+spi_task() handle
+ +◆ spi_transaction
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+SPI transaction handle.
+ +◆ stability_classifier
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+Stability status reading (See SH-2 Ref. Manual 6.5.31)
+ +◆ step_count
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+Step counter reading (See SH-2 Ref. Manual 6.5.29)
+ +◆ TAG
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+
+
+Class tag used for serial print statements.
+ +◆ tap_detector
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+Tap detector reading (See SH-2 Ref. Manual 6.5.27)
+ +◆ TARE_ARVR_STABILIZED_GAME_ROTATION_VECTOR
+ +
+
+
+
+
+
+
+
|
+ +staticconstexpr | +
+
+
+Tare ARVR stabilized game rotation vector.
+ +◆ TARE_ARVR_STABILIZED_ROTATION_VECTOR
+ +
+
+
+
+
+
+
+
|
+ +staticconstexpr | +
+
+
+Tare ARVR stabilized rotation vector.
+ +◆ TARE_AXIS_ALL
+ +
+
+
+
+
+
+
+
|
+ +staticconstexpr | +
+
+
+Tare all axes (used with tare now command)
+ +◆ TARE_AXIS_Z
+ +
+
+
+
+
+
+
+
|
+ +staticconstexpr | +
+
+
+Tar yaw axis only (used with tare now command)
+ +◆ TARE_GAME_ROTATION_VECTOR
+ +
+
+
+
+
+
+
+
|
+ +staticconstexpr | +
+
+
+Tare game rotation vector.
+ +◆ TARE_GEOMAGNETIC_ROTATION_VECTOR
+ +
+
+
+
+
+
+
+
|
+ +staticconstexpr | +
+
+
+tare geomagnetic rotation vector
+ +◆ TARE_GYRO_INTEGRATED_ROTATION_VECTOR
+ +
+
+
+
+
+
+
+
|
+ +staticconstexpr | +
+
+
+Tare gyro integrated rotation vector.
+ +◆ TARE_NOW
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+
+
+See SH2 Ref. Manual 6.4.4.1.
+ +◆ TARE_PERSIST
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+
+
+See SH2 Ref. Manual 6.4.4.2.
+ +◆ TARE_ROTATION_VECTOR
+ +
+
+
+
+
+
+
+
|
+ +staticconstexpr | +
+
+
+Tare rotation vector.
+ +◆ TARE_SET_REORIENTATION
+ +
+
+
+
+
+
+
+
|
+ +staticconstexprprivate | +
+
+
+See SH2 Ref. Manual 6.4.4.3.
+ +◆ time_stamp
+ +
+
+
+
+
+
+
+
|
+ +private | +
+
+
+Report timestamp (see datasheet 1.3.5.3)
+ +◆ uncalib_gyro_accuracy
+ +
+
+
+
+
+
+
|
+ +private | +
+
+
+Uncalibrated gyro reading (See SH-2 Ref. Manual 6.5.14)
+ +The documentation for this class was generated from the following files:
-
+
- BNO08x.hpp +
- BNO08x.cpp +
+
+
+
diff --git a/documentation/html/class_b_n_o08x.js b/documentation/html/class_b_n_o08x.js
new file mode 100644
index 0000000..2801bb8
--- /dev/null
+++ b/documentation/html/class_b_n_o08x.js
@@ -0,0 +1,325 @@
+var class_b_n_o08x =
+[
+ [ "bno08x_rx_packet_t", "struct_b_n_o08x_1_1bno08x__rx__packet__t.html", "struct_b_n_o08x_1_1bno08x__rx__packet__t" ],
+ [ "bno08x_tx_packet_t", "struct_b_n_o08x_1_1bno08x__tx__packet__t.html", "struct_b_n_o08x_1_1bno08x__tx__packet__t" ],
+ [ "bno08x_rx_packet_t", "class_b_n_o08x.html#a407711b4a84223a52cc043a152aea8ba", null ],
+ [ "bno08x_tx_packet_t", "class_b_n_o08x.html#a3a1a869ac69e6ee850bd2a7f90dd8945", null ],
+ [ "BNO08x", "class_b_n_o08x.html#a40f7688e843d74b8bd526c6f5ff17845", null ],
+ [ "calibrate_accelerometer", "class_b_n_o08x.html#aeffce374f558a167d5b5f19ad627e7cc", null ],
+ [ "calibrate_all", "class_b_n_o08x.html#afd0ca5f9b9741935543d143a5a43d128", null ],
+ [ "calibrate_gyro", "class_b_n_o08x.html#a9ada90f8ab6dd33fa2d7c168d9234af1", null ],
+ [ "calibrate_magnetometer", "class_b_n_o08x.html#ac26350b55095a346d72598ab8aa74b4a", null ],
+ [ "calibrate_planar_accelerometer", "class_b_n_o08x.html#a1c6c49c97bc098db89db1aaa37e18f26", null ],
+ [ "calibration_complete", "class_b_n_o08x.html#a71ca35f78b98d93d31eb0c187dc8543b", null ],
+ [ "clear_tare", "class_b_n_o08x.html#afe39bfdede7b9a2b273983cb29a27d6e", null ],
+ [ "data_available", "class_b_n_o08x.html#a367d525d1c0ba119b3dca3067bb5bccc", null ],
+ [ "data_proc_task", "class_b_n_o08x.html#ab4373e9b87837ea9fcbc0b536338c7b8", null ],
+ [ "data_proc_task_trampoline", "class_b_n_o08x.html#a0ae135d7bf7a5f047a1d1aa5cc07e520", null ],
+ [ "disable_accelerometer", "class_b_n_o08x.html#ad5c991150895b80bee68c933059a4058", null ],
+ [ "disable_activity_classifier", "class_b_n_o08x.html#a4fdc39294922a9553d84cd96bdae4376", null ],
+ [ "disable_ARVR_stabilized_game_rotation_vector", "class_b_n_o08x.html#ab187fe50fcfbb04bec9e80eb0fccf61c", null ],
+ [ "disable_ARVR_stabilized_rotation_vector", "class_b_n_o08x.html#aa59e3d8953c96dc1cc5958a1ac628df4", null ],
+ [ "disable_game_rotation_vector", "class_b_n_o08x.html#a7665cce95e791c89161ec863f49c0392", null ],
+ [ "disable_gravity", "class_b_n_o08x.html#a5e63a9e68dbe2968b37dcb6dae04de6f", null ],
+ [ "disable_gyro", "class_b_n_o08x.html#a8296089e2fdbd7d2e85f364cf063af82", null ],
+ [ "disable_gyro_integrated_rotation_vector", "class_b_n_o08x.html#aac0a00bed7825d8a2c357a48c3626931", null ],
+ [ "disable_linear_accelerometer", "class_b_n_o08x.html#afbd2b02d5abe7084ce9de49ee2c9142f", null ],
+ [ "disable_magnetometer", "class_b_n_o08x.html#a6671b082d20dda8bf5c53cb47db0c338", null ],
+ [ "disable_raw_accelerometer", "class_b_n_o08x.html#a171d78f4b00598b04c8ca54da16c508b", null ],
+ [ "disable_raw_gyro", "class_b_n_o08x.html#a75ef3d09f1ee016999c459e43e9e8c44", null ],
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- Generated by 1.10.0
+
+
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+
+
+
+|
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+ |
+
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+
+The code below is based on the Doxygen Awesome project, see
+https://github.com/jothepro/doxygen-awesome-css
+
+MIT License
+
+Copyright (c) 2021 - 2022 jothepro
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+*/
+
+let clipboard_title = "Copy to clipboard"
+let clipboard_icon = ``
+let clipboard_successIcon = ``
+let clipboard_successDuration = 1000
+
+$(function() {
+ if(navigator.clipboard) {
+ const fragments = document.getElementsByClassName("fragment")
+ for(const fragment of fragments) {
+ const clipboard_div = document.createElement("div")
+ clipboard_div.classList.add("clipboard")
+ clipboard_div.innerHTML = clipboard_icon
+ clipboard_div.title = clipboard_title
+ $(clipboard_div).click(function() {
+ const content = this.parentNode.cloneNode(true)
+ // filter out line number and folded fragments from file listings
+ content.querySelectorAll(".lineno, .ttc, .foldclosed").forEach((node) => { node.remove() })
+ let text = content.textContent
+ // remove trailing newlines and trailing spaces from empty lines
+ text = text.replace(/^\s*\n/gm,'\n').replace(/\n*$/,'')
+ navigator.clipboard.writeText(text);
+ this.classList.add("success")
+ this.innerHTML = clipboard_successIcon
+ window.setTimeout(() => { // switch back to normal icon after timeout
+ this.classList.remove("success")
+ this.innerHTML = clipboard_icon
+ }, clipboard_successDuration);
+ })
+ fragment.insertBefore(clipboard_div, fragment.firstChild)
+ }
+ }
+})
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new file mode 100644
index 0000000..53ad21d
--- /dev/null
+++ b/documentation/html/cookie.js
@@ -0,0 +1,58 @@
+/*!
+ Cookie helper functions
+ Copyright (c) 2023 Dimitri van Heesch
+ Released under MIT license.
+*/
+let Cookie = {
+ cookie_namespace: 'doxygen_',
+
+ readSetting(cookie,defVal) {
+ if (window.chrome) {
+ const val = localStorage.getItem(this.cookie_namespace+cookie) ||
+ sessionStorage.getItem(this.cookie_namespace+cookie);
+ if (val) return val;
+ } else {
+ let myCookie = this.cookie_namespace+cookie+"=";
+ if (document.cookie) {
+ const index = document.cookie.indexOf(myCookie);
+ if (index != -1) {
+ const valStart = index + myCookie.length;
+ let valEnd = document.cookie.indexOf(";", valStart);
+ if (valEnd == -1) {
+ valEnd = document.cookie.length;
+ }
+ return document.cookie.substring(valStart, valEnd);
+ }
+ }
+ }
+ return defVal;
+ },
+
+ writeSetting(cookie,val,days=10*365) { // default days='forever', 0=session cookie, -1=delete
+ if (window.chrome) {
+ if (days==0) {
+ sessionStorage.setItem(this.cookie_namespace+cookie,val);
+ } else {
+ localStorage.setItem(this.cookie_namespace+cookie,val);
+ }
+ } else {
+ let date = new Date();
+ date.setTime(date.getTime()+(days*24*60*60*1000));
+ const expiration = days!=0 ? "expires="+date.toGMTString()+";" : "";
+ document.cookie = this.cookie_namespace + cookie + "=" +
+ val + "; SameSite=Lax;" + expiration + "path=/";
+ }
+ },
+
+ eraseSetting(cookie) {
+ if (window.chrome) {
+ if (localStorage.getItem(this.cookie_namespace+cookie)) {
+ localStorage.removeItem(this.cookie_namespace+cookie);
+ } else if (sessionStorage.getItem(this.cookie_namespace+cookie)) {
+ sessionStorage.removeItem(this.cookie_namespace+cookie);
+ }
+ } else {
+ this.writeSetting(cookie,'',-1);
+ }
+ },
+}
diff --git a/documentation/html/doc.svg b/documentation/html/doc.svg
new file mode 100644
index 0000000..0b928a5
--- /dev/null
+++ b/documentation/html/doc.svg
@@ -0,0 +1,12 @@
+
+
+
diff --git a/documentation/html/docd.svg b/documentation/html/docd.svg
new file mode 100644
index 0000000..ac18b27
--- /dev/null
+++ b/documentation/html/docd.svg
@@ -0,0 +1,12 @@
+
+
+
diff --git a/documentation/html/doxygen.css b/documentation/html/doxygen.css
new file mode 100644
index 0000000..7b7d851
--- /dev/null
+++ b/documentation/html/doxygen.css
@@ -0,0 +1,2225 @@
+/* The standard CSS for doxygen 1.10.0*/
+
+html {
+/* page base colors */
+--page-background-color: white;
+--page-foreground-color: black;
+--page-link-color: #3D578C;
+--page-visited-link-color: #4665A2;
+
+/* index */
+--index-odd-item-bg-color: #F8F9FC;
+--index-even-item-bg-color: white;
+--index-header-color: black;
+--index-separator-color: #A0A0A0;
+
+/* header */
+--header-background-color: #F9FAFC;
+--header-separator-color: #C4CFE5;
+--header-gradient-image: url('nav_h.png');
+--group-header-separator-color: #879ECB;
+--group-header-color: #354C7B;
+--inherit-header-color: gray;
+
+--footer-foreground-color: #2A3D61;
+--footer-logo-width: 104px;
+--citation-label-color: #334975;
+--glow-color: cyan;
+
+--title-background-color: white;
+--title-separator-color: #5373B4;
+--directory-separator-color: #9CAFD4;
+--separator-color: #4A6AAA;
+
+--blockquote-background-color: #F7F8FB;
+--blockquote-border-color: #9CAFD4;
+
+--scrollbar-thumb-color: #9CAFD4;
+--scrollbar-background-color: #F9FAFC;
+
+--icon-background-color: #728DC1;
+--icon-foreground-color: white;
+--icon-doc-image: url('doc.svg');
+--icon-folder-open-image: url('folderopen.svg');
+--icon-folder-closed-image: url('folderclosed.svg');
+
+/* brief member declaration list */
+--memdecl-background-color: #F9FAFC;
+--memdecl-separator-color: #DEE4F0;
+--memdecl-foreground-color: #555;
+--memdecl-template-color: #4665A2;
+
+/* detailed member list */
+--memdef-border-color: #A8B8D9;
+--memdef-title-background-color: #E2E8F2;
+--memdef-title-gradient-image: url('nav_f.png');
+--memdef-proto-background-color: #DFE5F1;
+--memdef-proto-text-color: #253555;
+--memdef-proto-text-shadow: 0px 1px 1px rgba(255, 255, 255, 0.9);
+--memdef-doc-background-color: white;
+--memdef-param-name-color: #602020;
+--memdef-template-color: #4665A2;
+
+/* tables */
+--table-cell-border-color: #2D4068;
+--table-header-background-color: #374F7F;
+--table-header-foreground-color: #FFFFFF;
+
+/* labels */
+--label-background-color: #728DC1;
+--label-left-top-border-color: #5373B4;
+--label-right-bottom-border-color: #C4CFE5;
+--label-foreground-color: white;
+
+/** navigation bar/tree/menu */
+--nav-background-color: #F9FAFC;
+--nav-foreground-color: #364D7C;
+--nav-gradient-image: url('tab_b.png');
+--nav-gradient-hover-image: url('tab_h.png');
+--nav-gradient-active-image: url('tab_a.png');
+--nav-gradient-active-image-parent: url("../tab_a.png");
+--nav-separator-image: url('tab_s.png');
+--nav-breadcrumb-image: url('bc_s.png');
+--nav-breadcrumb-border-color: #C2CDE4;
+--nav-splitbar-image: url('splitbar.png');
+--nav-font-size-level1: 13px;
+--nav-font-size-level2: 10px;
+--nav-font-size-level3: 9px;
+--nav-text-normal-color: #283A5D;
+--nav-text-hover-color: white;
+--nav-text-active-color: white;
+--nav-text-normal-shadow: 0px 1px 1px rgba(255, 255, 255, 0.9);
+--nav-text-hover-shadow: 0px 1px 1px rgba(0, 0, 0, 1.0);
+--nav-text-active-shadow: 0px 1px 1px rgba(0, 0, 0, 1.0);
+--nav-menu-button-color: #364D7C;
+--nav-menu-background-color: white;
+--nav-menu-foreground-color: #555555;
+--nav-menu-toggle-color: rgba(255, 255, 255, 0.5);
+--nav-arrow-color: #9CAFD4;
+--nav-arrow-selected-color: #9CAFD4;
+
+/* table of contents */
+--toc-background-color: #F4F6FA;
+--toc-border-color: #D8DFEE;
+--toc-header-color: #4665A2;
+--toc-down-arrow-image: url("data:image/svg+xml;utf8,");
+
+/** search field */
+--search-background-color: white;
+--search-foreground-color: #909090;
+--search-magnification-image: url('mag.svg');
+--search-magnification-select-image: url('mag_sel.svg');
+--search-active-color: black;
+--search-filter-background-color: #F9FAFC;
+--search-filter-foreground-color: black;
+--search-filter-border-color: #90A5CE;
+--search-filter-highlight-text-color: white;
+--search-filter-highlight-bg-color: #3D578C;
+--search-results-foreground-color: #425E97;
+--search-results-background-color: #EEF1F7;
+--search-results-border-color: black;
+--search-box-shadow: inset 0.5px 0.5px 3px 0px #555;
+
+/** code fragments */
+--code-keyword-color: #008000;
+--code-type-keyword-color: #604020;
+--code-flow-keyword-color: #E08000;
+--code-comment-color: #800000;
+--code-preprocessor-color: #806020;
+--code-string-literal-color: #002080;
+--code-char-literal-color: #008080;
+--code-xml-cdata-color: black;
+--code-vhdl-digit-color: #FF00FF;
+--code-vhdl-char-color: #000000;
+--code-vhdl-keyword-color: #700070;
+--code-vhdl-logic-color: #FF0000;
+--code-link-color: #4665A2;
+--code-external-link-color: #4665A2;
+--fragment-foreground-color: black;
+--fragment-background-color: #FBFCFD;
+--fragment-border-color: #C4CFE5;
+--fragment-lineno-border-color: #00FF00;
+--fragment-lineno-background-color: #E8E8E8;
+--fragment-lineno-foreground-color: black;
+--fragment-lineno-link-fg-color: #4665A2;
+--fragment-lineno-link-bg-color: #D8D8D8;
+--fragment-lineno-link-hover-fg-color: #4665A2;
+--fragment-lineno-link-hover-bg-color: #C8C8C8;
+--fragment-copy-ok-color: #2EC82E;
+--tooltip-foreground-color: black;
+--tooltip-background-color: white;
+--tooltip-border-color: gray;
+--tooltip-doc-color: grey;
+--tooltip-declaration-color: #006318;
+--tooltip-link-color: #4665A2;
+--tooltip-shadow: 1px 1px 7px gray;
+--fold-line-color: #808080;
+--fold-minus-image: url('minus.svg');
+--fold-plus-image: url('plus.svg');
+--fold-minus-image-relpath: url('../../minus.svg');
+--fold-plus-image-relpath: url('../../plus.svg');
+
+/** font-family */
+--font-family-normal: Roboto,sans-serif;
+--font-family-monospace: 'JetBrains Mono',Consolas,Monaco,'Andale Mono','Ubuntu Mono',monospace,fixed;
+--font-family-nav: 'Lucida Grande',Geneva,Helvetica,Arial,sans-serif;
+--font-family-title: Tahoma,Arial,sans-serif;
+--font-family-toc: Verdana,'DejaVu Sans',Geneva,sans-serif;
+--font-family-search: Arial,Verdana,sans-serif;
+--font-family-icon: Arial,Helvetica;
+--font-family-tooltip: Roboto,sans-serif;
+
+/** special sections */
+--warning-color-bg: #f8d1cc;
+--warning-color-hl: #b61825;
+--warning-color-text: #75070f;
+--note-color-bg: #faf3d8;
+--note-color-hl: #f3a600;
+--note-color-text: #5f4204;
+--todo-color-bg: #e4f3ff;
+--todo-color-hl: #1879C4;
+--todo-color-text: #274a5c;
+--test-color-bg: #e8e8ff;
+--test-color-hl: #3939C4;
+--test-color-text: #1a1a5c;
+--deprecated-color-bg: #ecf0f3;
+--deprecated-color-hl: #5b6269;
+--deprecated-color-text: #43454a;
+--bug-color-bg: #e4dafd;
+--bug-color-hl: #5b2bdd;
+--bug-color-text: #2a0d72;
+--invariant-color-bg: #d8f1e3;
+--invariant-color-hl: #44b86f;
+--invariant-color-text: #265532;
+}
+
+@media (prefers-color-scheme: dark) {
+ html:not(.dark-mode) {
+ color-scheme: dark;
+
+/* page base colors */
+--page-background-color: black;
+--page-foreground-color: #C9D1D9;
+--page-link-color: #90A5CE;
+--page-visited-link-color: #A3B4D7;
+
+/* index */
+--index-odd-item-bg-color: #0B101A;
+--index-even-item-bg-color: black;
+--index-header-color: #C4CFE5;
+--index-separator-color: #334975;
+
+/* header */
+--header-background-color: #070B11;
+--header-separator-color: #141C2E;
+--header-gradient-image: url('nav_hd.png');
+--group-header-separator-color: #283A5D;
+--group-header-color: #90A5CE;
+--inherit-header-color: #A0A0A0;
+
+--footer-foreground-color: #5B7AB7;
+--footer-logo-width: 60px;
+--citation-label-color: #90A5CE;
+--glow-color: cyan;
+
+--title-background-color: #090D16;
+--title-separator-color: #354C79;
+--directory-separator-color: #283A5D;
+--separator-color: #283A5D;
+
+--blockquote-background-color: #101826;
+--blockquote-border-color: #283A5D;
+
+--scrollbar-thumb-color: #283A5D;
+--scrollbar-background-color: #070B11;
+
+--icon-background-color: #334975;
+--icon-foreground-color: #C4CFE5;
+--icon-doc-image: url('docd.svg');
+--icon-folder-open-image: url('folderopend.svg');
+--icon-folder-closed-image: url('folderclosedd.svg');
+
+/* brief member declaration list */
+--memdecl-background-color: #0B101A;
+--memdecl-separator-color: #2C3F65;
+--memdecl-foreground-color: #BBB;
+--memdecl-template-color: #7C95C6;
+
+/* detailed member list */
+--memdef-border-color: #233250;
+--memdef-title-background-color: #1B2840;
+--memdef-title-gradient-image: url('nav_fd.png');
+--memdef-proto-background-color: #19243A;
+--memdef-proto-text-color: #9DB0D4;
+--memdef-proto-text-shadow: 0px 1px 1px rgba(0, 0, 0, 0.9);
+--memdef-doc-background-color: black;
+--memdef-param-name-color: #D28757;
+--memdef-template-color: #7C95C6;
+
+/* tables */
+--table-cell-border-color: #283A5D;
+--table-header-background-color: #283A5D;
+--table-header-foreground-color: #C4CFE5;
+
+/* labels */
+--label-background-color: #354C7B;
+--label-left-top-border-color: #4665A2;
+--label-right-bottom-border-color: #283A5D;
+--label-foreground-color: #CCCCCC;
+
+/** navigation bar/tree/menu */
+--nav-background-color: #101826;
+--nav-foreground-color: #364D7C;
+--nav-gradient-image: url('tab_bd.png');
+--nav-gradient-hover-image: url('tab_hd.png');
+--nav-gradient-active-image: url('tab_ad.png');
+--nav-gradient-active-image-parent: url("../tab_ad.png");
+--nav-separator-image: url('tab_sd.png');
+--nav-breadcrumb-image: url('bc_sd.png');
+--nav-breadcrumb-border-color: #2A3D61;
+--nav-splitbar-image: url('splitbard.png');
+--nav-font-size-level1: 13px;
+--nav-font-size-level2: 10px;
+--nav-font-size-level3: 9px;
+--nav-text-normal-color: #B6C4DF;
+--nav-text-hover-color: #DCE2EF;
+--nav-text-active-color: #DCE2EF;
+--nav-text-normal-shadow: 0px 1px 1px black;
+--nav-text-hover-shadow: 0px 1px 1px rgba(0, 0, 0, 1.0);
+--nav-text-active-shadow: 0px 1px 1px rgba(0, 0, 0, 1.0);
+--nav-menu-button-color: #B6C4DF;
+--nav-menu-background-color: #05070C;
+--nav-menu-foreground-color: #BBBBBB;
+--nav-menu-toggle-color: rgba(255, 255, 255, 0.2);
+--nav-arrow-color: #334975;
+--nav-arrow-selected-color: #90A5CE;
+
+/* table of contents */
+--toc-background-color: #151E30;
+--toc-border-color: #202E4A;
+--toc-header-color: #A3B4D7;
+--toc-down-arrow-image: url("data:image/svg+xml;utf8,");
+
+/** search field */
+--search-background-color: black;
+--search-foreground-color: #C5C5C5;
+--search-magnification-image: url('mag_d.svg');
+--search-magnification-select-image: url('mag_seld.svg');
+--search-active-color: #C5C5C5;
+--search-filter-background-color: #101826;
+--search-filter-foreground-color: #90A5CE;
+--search-filter-border-color: #7C95C6;
+--search-filter-highlight-text-color: #BCC9E2;
+--search-filter-highlight-bg-color: #283A5D;
+--search-results-background-color: #101826;
+--search-results-foreground-color: #90A5CE;
+--search-results-border-color: #7C95C6;
+--search-box-shadow: inset 0.5px 0.5px 3px 0px #2F436C;
+
+/** code fragments */
+--code-keyword-color: #CC99CD;
+--code-type-keyword-color: #AB99CD;
+--code-flow-keyword-color: #E08000;
+--code-comment-color: #717790;
+--code-preprocessor-color: #65CABE;
+--code-string-literal-color: #7EC699;
+--code-char-literal-color: #00E0F0;
+--code-xml-cdata-color: #C9D1D9;
+--code-vhdl-digit-color: #FF00FF;
+--code-vhdl-char-color: #C0C0C0;
+--code-vhdl-keyword-color: #CF53C9;
+--code-vhdl-logic-color: #FF0000;
+--code-link-color: #79C0FF;
+--code-external-link-color: #79C0FF;
+--fragment-foreground-color: #C9D1D9;
+--fragment-background-color: #090D16;
+--fragment-border-color: #30363D;
+--fragment-lineno-border-color: #30363D;
+--fragment-lineno-background-color: black;
+--fragment-lineno-foreground-color: #6E7681;
+--fragment-lineno-link-fg-color: #6E7681;
+--fragment-lineno-link-bg-color: #303030;
+--fragment-lineno-link-hover-fg-color: #8E96A1;
+--fragment-lineno-link-hover-bg-color: #505050;
+--fragment-copy-ok-color: #0EA80E;
+--tooltip-foreground-color: #C9D1D9;
+--tooltip-background-color: #202020;
+--tooltip-border-color: #C9D1D9;
+--tooltip-doc-color: #D9E1E9;
+--tooltip-declaration-color: #20C348;
+--tooltip-link-color: #79C0FF;
+--tooltip-shadow: none;
+--fold-line-color: #808080;
+--fold-minus-image: url('minusd.svg');
+--fold-plus-image: url('plusd.svg');
+--fold-minus-image-relpath: url('../../minusd.svg');
+--fold-plus-image-relpath: url('../../plusd.svg');
+
+/** font-family */
+--font-family-normal: Roboto,sans-serif;
+--font-family-monospace: 'JetBrains Mono',Consolas,Monaco,'Andale Mono','Ubuntu Mono',monospace,fixed;
+--font-family-nav: 'Lucida Grande',Geneva,Helvetica,Arial,sans-serif;
+--font-family-title: Tahoma,Arial,sans-serif;
+--font-family-toc: Verdana,'DejaVu Sans',Geneva,sans-serif;
+--font-family-search: Arial,Verdana,sans-serif;
+--font-family-icon: Arial,Helvetica;
+--font-family-tooltip: Roboto,sans-serif;
+
+/** special sections */
+--warning-color-bg: #2e1917;
+--warning-color-hl: #ad2617;
+--warning-color-text: #f5b1aa;
+--note-color-bg: #3b2e04;
+--note-color-hl: #f1b602;
+--note-color-text: #ceb670;
+--todo-color-bg: #163750;
+--todo-color-hl: #1982D2;
+--todo-color-text: #dcf0fa;
+--test-color-bg: #121258;
+--test-color-hl: #4242cf;
+--test-color-text: #c0c0da;
+--deprecated-color-bg: #2e323b;
+--deprecated-color-hl: #738396;
+--deprecated-color-text: #abb0bd;
+--bug-color-bg: #2a2536;
+--bug-color-hl: #7661b3;
+--bug-color-text: #ae9ed6;
+--invariant-color-bg: #303a35;
+--invariant-color-hl: #76ce96;
+--invariant-color-text: #cceed5;
+}}
+body {
+ background-color: var(--page-background-color);
+ color: var(--page-foreground-color);
+}
+
+body, table, div, p, dl {
+ font-weight: 400;
+ font-size: 14px;
+ font-family: var(--font-family-normal);
+ line-height: 22px;
+}
+
+/* @group Heading Levels */
+
+.title {
+ font-family: var(--font-family-normal);
+ line-height: 28px;
+ font-size: 150%;
+ font-weight: bold;
+ margin: 10px 2px;
+}
+
+h1.groupheader {
+ font-size: 150%;
+}
+
+h2.groupheader {
+ border-bottom: 1px solid var(--group-header-separator-color);
+ color: var(--group-header-color);
+ font-size: 150%;
+ font-weight: normal;
+ margin-top: 1.75em;
+ padding-top: 8px;
+ padding-bottom: 4px;
+ width: 100%;
+}
+
+h3.groupheader {
+ font-size: 100%;
+}
+
+h1, h2, h3, h4, h5, h6 {
+ -webkit-transition: text-shadow 0.5s linear;
+ -moz-transition: text-shadow 0.5s linear;
+ -ms-transition: text-shadow 0.5s linear;
+ -o-transition: text-shadow 0.5s linear;
+ transition: text-shadow 0.5s linear;
+ margin-right: 15px;
+}
+
+h1.glow, h2.glow, h3.glow, h4.glow, h5.glow, h6.glow {
+ text-shadow: 0 0 15px var(--glow-color);
+}
+
+dt {
+ font-weight: bold;
+}
+
+p.startli, p.startdd {
+ margin-top: 2px;
+}
+
+th p.starttd, th p.intertd, th p.endtd {
+ font-size: 100%;
+ font-weight: 700;
+}
+
+p.starttd {
+ margin-top: 0px;
+}
+
+p.endli {
+ margin-bottom: 0px;
+}
+
+p.enddd {
+ margin-bottom: 4px;
+}
+
+p.endtd {
+ margin-bottom: 2px;
+}
+
+p.interli {
+}
+
+p.interdd {
+}
+
+p.intertd {
+}
+
+/* @end */
+
+caption {
+ font-weight: bold;
+}
+
+span.legend {
+ font-size: 70%;
+ text-align: center;
+}
+
+h3.version {
+ font-size: 90%;
+ text-align: center;
+}
+
+div.navtab {
+ padding-right: 15px;
+ text-align: right;
+ line-height: 110%;
+}
+
+div.navtab table {
+ border-spacing: 0;
+}
+
+td.navtab {
+ padding-right: 6px;
+ padding-left: 6px;
+}
+
+td.navtabHL {
+ background-image: var(--nav-gradient-active-image);
+ background-repeat:repeat-x;
+ padding-right: 6px;
+ padding-left: 6px;
+}
+
+td.navtabHL a, td.navtabHL a:visited {
+ color: var(--nav-text-hover-color);
+ text-shadow: var(--nav-text-hover-shadow);
+}
+
+a.navtab {
+ font-weight: bold;
+}
+
+div.qindex{
+ text-align: center;
+ width: 100%;
+ line-height: 140%;
+ font-size: 130%;
+ color: var(--index-separator-color);
+}
+
+#main-menu a:focus {
+ outline: auto;
+ z-index: 10;
+ position: relative;
+}
+
+dt.alphachar{
+ font-size: 180%;
+ font-weight: bold;
+}
+
+.alphachar a{
+ color: var(--index-header-color);
+}
+
+.alphachar a:hover, .alphachar a:visited{
+ text-decoration: none;
+}
+
+.classindex dl {
+ padding: 25px;
+ column-count:1
+}
+
+.classindex dd {
+ display:inline-block;
+ margin-left: 50px;
+ width: 90%;
+ line-height: 1.15em;
+}
+
+.classindex dl.even {
+ background-color: var(--index-even-item-bg-color);
+}
+
+.classindex dl.odd {
+ background-color: var(--index-odd-item-bg-color);
+}
+
+@media(min-width: 1120px) {
+ .classindex dl {
+ column-count:2
+ }
+}
+
+@media(min-width: 1320px) {
+ .classindex dl {
+ column-count:3
+ }
+}
+
+
+/* @group Link Styling */
+
+a {
+ color: var(--page-link-color);
+ font-weight: normal;
+ text-decoration: none;
+}
+
+.contents a:visited {
+ color: var(--page-visited-link-color);
+}
+
+a:hover {
+ text-decoration: none;
+ background: linear-gradient(to bottom, transparent 0,transparent calc(100% - 1px), currentColor 100%);
+}
+
+a:hover > span.arrow {
+ text-decoration: none;
+ background : var(--nav-background-color);
+}
+
+a.el {
+ font-weight: bold;
+}
+
+a.elRef {
+}
+
+a.code, a.code:visited, a.line, a.line:visited {
+ color: var(--code-link-color);
+}
+
+a.codeRef, a.codeRef:visited, a.lineRef, a.lineRef:visited {
+ color: var(--code-external-link-color);
+}
+
+a.code.hl_class { /* style for links to class names in code snippets */ }
+a.code.hl_struct { /* style for links to struct names in code snippets */ }
+a.code.hl_union { /* style for links to union names in code snippets */ }
+a.code.hl_interface { /* style for links to interface names in code snippets */ }
+a.code.hl_protocol { /* style for links to protocol names in code snippets */ }
+a.code.hl_category { /* style for links to category names in code snippets */ }
+a.code.hl_exception { /* style for links to exception names in code snippets */ }
+a.code.hl_service { /* style for links to service names in code snippets */ }
+a.code.hl_singleton { /* style for links to singleton names in code snippets */ }
+a.code.hl_concept { /* style for links to concept names in code snippets */ }
+a.code.hl_namespace { /* style for links to namespace names in code snippets */ }
+a.code.hl_package { /* style for links to package names in code snippets */ }
+a.code.hl_define { /* style for links to macro names in code snippets */ }
+a.code.hl_function { /* style for links to function names in code snippets */ }
+a.code.hl_variable { /* style for links to variable names in code snippets */ }
+a.code.hl_typedef { /* style for links to typedef names in code snippets */ }
+a.code.hl_enumvalue { /* style for links to enum value names in code snippets */ }
+a.code.hl_enumeration { /* style for links to enumeration names in code snippets */ }
+a.code.hl_signal { /* style for links to Qt signal names in code snippets */ }
+a.code.hl_slot { /* style for links to Qt slot names in code snippets */ }
+a.code.hl_friend { /* style for links to friend names in code snippets */ }
+a.code.hl_dcop { /* style for links to KDE3 DCOP names in code snippets */ }
+a.code.hl_property { /* style for links to property names in code snippets */ }
+a.code.hl_event { /* style for links to event names in code snippets */ }
+a.code.hl_sequence { /* style for links to sequence names in code snippets */ }
+a.code.hl_dictionary { /* style for links to dictionary names in code snippets */ }
+
+/* @end */
+
+dl.el {
+ margin-left: -1cm;
+}
+
+ul {
+ overflow: visible;
+}
+
+ul.multicol {
+ -moz-column-gap: 1em;
+ -webkit-column-gap: 1em;
+ column-gap: 1em;
+ -moz-column-count: 3;
+ -webkit-column-count: 3;
+ column-count: 3;
+ list-style-type: none;
+}
+
+#side-nav ul {
+ overflow: visible; /* reset ul rule for scroll bar in GENERATE_TREEVIEW window */
+}
+
+#main-nav ul {
+ overflow: visible; /* reset ul rule for the navigation bar drop down lists */
+}
+
+.fragment {
+ text-align: left;
+ direction: ltr;
+ overflow-x: auto;
+ overflow-y: hidden;
+ position: relative;
+ min-height: 12px;
+ margin: 10px 0px;
+ padding: 10px 10px;
+ border: 1px solid var(--fragment-border-color);
+ border-radius: 4px;
+ background-color: var(--fragment-background-color);
+ color: var(--fragment-foreground-color);
+}
+
+pre.fragment {
+ word-wrap: break-word;
+ font-size: 10pt;
+ line-height: 125%;
+ font-family: var(--font-family-monospace);
+}
+
+.clipboard {
+ width: 24px;
+ height: 24px;
+ right: 5px;
+ top: 5px;
+ opacity: 0;
+ position: absolute;
+ display: inline;
+ overflow: auto;
+ fill: var(--fragment-foreground-color);
+ justify-content: center;
+ align-items: center;
+ cursor: pointer;
+}
+
+.clipboard.success {
+ border: 1px solid var(--fragment-foreground-color);
+ border-radius: 4px;
+}
+
+.fragment:hover .clipboard, .clipboard.success {
+ opacity: .28;
+}
+
+.clipboard:hover, .clipboard.success {
+ opacity: 1 !important;
+}
+
+.clipboard:active:not([class~=success]) svg {
+ transform: scale(.91);
+}
+
+.clipboard.success svg {
+ fill: var(--fragment-copy-ok-color);
+}
+
+.clipboard.success {
+ border-color: var(--fragment-copy-ok-color);
+}
+
+div.line {
+ font-family: var(--font-family-monospace);
+ font-size: 13px;
+ min-height: 13px;
+ line-height: 1.2;
+ text-wrap: unrestricted;
+ white-space: -moz-pre-wrap; /* Moz */
+ white-space: -pre-wrap; /* Opera 4-6 */
+ white-space: -o-pre-wrap; /* Opera 7 */
+ white-space: pre-wrap; /* CSS3 */
+ word-wrap: break-word; /* IE 5.5+ */
+ text-indent: -53px;
+ padding-left: 53px;
+ padding-bottom: 0px;
+ margin: 0px;
+ -webkit-transition-property: background-color, box-shadow;
+ -webkit-transition-duration: 0.5s;
+ -moz-transition-property: background-color, box-shadow;
+ -moz-transition-duration: 0.5s;
+ -ms-transition-property: background-color, box-shadow;
+ -ms-transition-duration: 0.5s;
+ -o-transition-property: background-color, box-shadow;
+ -o-transition-duration: 0.5s;
+ transition-property: background-color, box-shadow;
+ transition-duration: 0.5s;
+}
+
+div.line:after {
+ content:"\000A";
+ white-space: pre;
+}
+
+div.line.glow {
+ background-color: var(--glow-color);
+ box-shadow: 0 0 10px var(--glow-color);
+}
+
+span.fold {
+ margin-left: 5px;
+ margin-right: 1px;
+ margin-top: 0px;
+ margin-bottom: 0px;
+ padding: 0px;
+ display: inline-block;
+ width: 12px;
+ height: 12px;
+ background-repeat:no-repeat;
+ background-position:center;
+}
+
+span.lineno {
+ padding-right: 4px;
+ margin-right: 9px;
+ text-align: right;
+ border-right: 2px solid var(--fragment-lineno-border-color);
+ color: var(--fragment-lineno-foreground-color);
+ background-color: var(--fragment-lineno-background-color);
+ white-space: pre;
+}
+span.lineno a, span.lineno a:visited {
+ color: var(--fragment-lineno-link-fg-color);
+ background-color: var(--fragment-lineno-link-bg-color);
+}
+
+span.lineno a:hover {
+ color: var(--fragment-lineno-link-hover-fg-color);
+ background-color: var(--fragment-lineno-link-hover-bg-color);
+}
+
+.lineno {
+ -webkit-touch-callout: none;
+ -webkit-user-select: none;
+ -khtml-user-select: none;
+ -moz-user-select: none;
+ -ms-user-select: none;
+ user-select: none;
+}
+
+div.classindex ul {
+ list-style: none;
+ padding-left: 0;
+}
+
+div.classindex span.ai {
+ display: inline-block;
+}
+
+div.groupHeader {
+ margin-left: 16px;
+ margin-top: 12px;
+ font-weight: bold;
+}
+
+div.groupText {
+ margin-left: 16px;
+ font-style: italic;
+}
+
+body {
+ color: var(--page-foreground-color);
+ margin: 0;
+}
+
+div.contents {
+ margin-top: 10px;
+ margin-left: 12px;
+ margin-right: 8px;
+}
+
+p.formulaDsp {
+ text-align: center;
+}
+
+img.dark-mode-visible {
+ display: none;
+}
+img.light-mode-visible {
+ display: none;
+}
+
+img.formulaInl, img.inline {
+ vertical-align: middle;
+}
+
+div.center {
+ text-align: center;
+ margin-top: 0px;
+ margin-bottom: 0px;
+ padding: 0px;
+}
+
+div.center img {
+ border: 0px;
+}
+
+address.footer {
+ text-align: right;
+ padding-right: 12px;
+}
+
+img.footer {
+ border: 0px;
+ vertical-align: middle;
+ width: var(--footer-logo-width);
+}
+
+.compoundTemplParams {
+ color: var(--memdecl-template-color);
+ font-size: 80%;
+ line-height: 120%;
+}
+
+/* @group Code Colorization */
+
+span.keyword {
+ color: var(--code-keyword-color);
+}
+
+span.keywordtype {
+ color: var(--code-type-keyword-color);
+}
+
+span.keywordflow {
+ color: var(--code-flow-keyword-color);
+}
+
+span.comment {
+ color: var(--code-comment-color);
+}
+
+span.preprocessor {
+ color: var(--code-preprocessor-color);
+}
+
+span.stringliteral {
+ color: var(--code-string-literal-color);
+}
+
+span.charliteral {
+ color: var(--code-char-literal-color);
+}
+
+span.xmlcdata {
+ color: var(--code-xml-cdata-color);
+}
+
+span.vhdldigit {
+ color: var(--code-vhdl-digit-color);
+}
+
+span.vhdlchar {
+ color: var(--code-vhdl-char-color);
+}
+
+span.vhdlkeyword {
+ color: var(--code-vhdl-keyword-color);
+}
+
+span.vhdllogic {
+ color: var(--code-vhdl-logic-color);
+}
+
+blockquote {
+ background-color: var(--blockquote-background-color);
+ border-left: 2px solid var(--blockquote-border-color);
+ margin: 0 24px 0 4px;
+ padding: 0 12px 0 16px;
+}
+
+/* @end */
+
+td.tiny {
+ font-size: 75%;
+}
+
+.dirtab {
+ padding: 4px;
+ border-collapse: collapse;
+ border: 1px solid var(--table-cell-border-color);
+}
+
+th.dirtab {
+ background-color: var(--table-header-background-color);
+ color: var(--table-header-foreground-color);
+ font-weight: bold;
+}
+
+hr {
+ height: 0px;
+ border: none;
+ border-top: 1px solid var(--separator-color);
+}
+
+hr.footer {
+ height: 1px;
+}
+
+/* @group Member Descriptions */
+
+table.memberdecls {
+ border-spacing: 0px;
+ padding: 0px;
+}
+
+.memberdecls td, .fieldtable tr {
+ -webkit-transition-property: background-color, box-shadow;
+ -webkit-transition-duration: 0.5s;
+ -moz-transition-property: background-color, box-shadow;
+ -moz-transition-duration: 0.5s;
+ -ms-transition-property: background-color, box-shadow;
+ -ms-transition-duration: 0.5s;
+ -o-transition-property: background-color, box-shadow;
+ -o-transition-duration: 0.5s;
+ transition-property: background-color, box-shadow;
+ transition-duration: 0.5s;
+}
+
+.memberdecls td.glow, .fieldtable tr.glow {
+ background-color: var(--glow-color);
+ box-shadow: 0 0 15px var(--glow-color);
+}
+
+.mdescLeft, .mdescRight,
+.memItemLeft, .memItemRight,
+.memTemplItemLeft, .memTemplItemRight, .memTemplParams {
+ background-color: var(--memdecl-background-color);
+ border: none;
+ margin: 4px;
+ padding: 1px 0 0 8px;
+}
+
+.mdescLeft, .mdescRight {
+ padding: 0px 8px 4px 8px;
+ color: var(--memdecl-foreground-color);
+}
+
+.memSeparator {
+ border-bottom: 1px solid var(--memdecl-separator-color);
+ line-height: 1px;
+ margin: 0px;
+ padding: 0px;
+}
+
+.memItemLeft, .memTemplItemLeft {
+ white-space: nowrap;
+}
+
+.memItemRight, .memTemplItemRight {
+ width: 100%;
+}
+
+.memTemplParams {
+ color: var(--memdecl-template-color);
+ white-space: nowrap;
+ font-size: 80%;
+}
+
+/* @end */
+
+/* @group Member Details */
+
+/* Styles for detailed member documentation */
+
+.memtitle {
+ padding: 8px;
+ border-top: 1px solid var(--memdef-border-color);
+ border-left: 1px solid var(--memdef-border-color);
+ border-right: 1px solid var(--memdef-border-color);
+ border-top-right-radius: 4px;
+ border-top-left-radius: 4px;
+ margin-bottom: -1px;
+ background-image: var(--memdef-title-gradient-image);
+ background-repeat: repeat-x;
+ background-color: var(--memdef-title-background-color);
+ line-height: 1.25;
+ font-weight: 300;
+ float:left;
+}
+
+.permalink
+{
+ font-size: 65%;
+ display: inline-block;
+ vertical-align: middle;
+}
+
+.memtemplate {
+ font-size: 80%;
+ color: var(--memdef-template-color);
+ font-weight: normal;
+ margin-left: 9px;
+}
+
+.mempage {
+ width: 100%;
+}
+
+.memitem {
+ padding: 0;
+ margin-bottom: 10px;
+ margin-right: 5px;
+ -webkit-transition: box-shadow 0.5s linear;
+ -moz-transition: box-shadow 0.5s linear;
+ -ms-transition: box-shadow 0.5s linear;
+ -o-transition: box-shadow 0.5s linear;
+ transition: box-shadow 0.5s linear;
+ display: table !important;
+ width: 100%;
+}
+
+.memitem.glow {
+ box-shadow: 0 0 15px var(--glow-color);
+}
+
+.memname {
+ font-weight: 400;
+ margin-left: 6px;
+}
+
+.memname td {
+ vertical-align: bottom;
+}
+
+.memproto, dl.reflist dt {
+ border-top: 1px solid var(--memdef-border-color);
+ border-left: 1px solid var(--memdef-border-color);
+ border-right: 1px solid var(--memdef-border-color);
+ padding: 6px 0px 6px 0px;
+ color: var(--memdef-proto-text-color);
+ font-weight: bold;
+ text-shadow: var(--memdef-proto-text-shadow);
+ background-color: var(--memdef-proto-background-color);
+ box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
+ border-top-right-radius: 4px;
+}
+
+.overload {
+ font-family: var(--font-family-monospace);
+ font-size: 65%;
+}
+
+.memdoc, dl.reflist dd {
+ border-bottom: 1px solid var(--memdef-border-color);
+ border-left: 1px solid var(--memdef-border-color);
+ border-right: 1px solid var(--memdef-border-color);
+ padding: 6px 10px 2px 10px;
+ border-top-width: 0;
+ background-image:url('nav_g.png');
+ background-repeat:repeat-x;
+ background-color: var(--memdef-doc-background-color);
+ /* opera specific markup */
+ border-bottom-left-radius: 4px;
+ border-bottom-right-radius: 4px;
+ box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
+ /* firefox specific markup */
+ -moz-border-radius-bottomleft: 4px;
+ -moz-border-radius-bottomright: 4px;
+ -moz-box-shadow: rgba(0, 0, 0, 0.15) 5px 5px 5px;
+ /* webkit specific markup */
+ -webkit-border-bottom-left-radius: 4px;
+ -webkit-border-bottom-right-radius: 4px;
+ -webkit-box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
+}
+
+dl.reflist dt {
+ padding: 5px;
+}
+
+dl.reflist dd {
+ margin: 0px 0px 10px 0px;
+ padding: 5px;
+}
+
+.paramkey {
+ text-align: right;
+}
+
+.paramtype {
+ white-space: nowrap;
+ padding: 0px;
+ padding-bottom: 1px;
+}
+
+.paramname {
+ white-space: nowrap;
+ padding: 0px;
+ padding-bottom: 1px;
+ margin-left: 2px;
+}
+
+.paramname em {
+ color: var(--memdef-param-name-color);
+ font-style: normal;
+ margin-right: 1px;
+}
+
+.paramname .paramdefval {
+ font-family: var(--font-family-monospace);
+}
+
+.params, .retval, .exception, .tparams {
+ margin-left: 0px;
+ padding-left: 0px;
+}
+
+.params .paramname, .retval .paramname, .tparams .paramname, .exception .paramname {
+ font-weight: bold;
+ vertical-align: top;
+}
+
+.params .paramtype, .tparams .paramtype {
+ font-style: italic;
+ vertical-align: top;
+}
+
+.params .paramdir, .tparams .paramdir {
+ font-family: var(--font-family-monospace);
+ vertical-align: top;
+}
+
+table.mlabels {
+ border-spacing: 0px;
+}
+
+td.mlabels-left {
+ width: 100%;
+ padding: 0px;
+}
+
+td.mlabels-right {
+ vertical-align: bottom;
+ padding: 0px;
+ white-space: nowrap;
+}
+
+span.mlabels {
+ margin-left: 8px;
+}
+
+span.mlabel {
+ background-color: var(--label-background-color);
+ border-top:1px solid var(--label-left-top-border-color);
+ border-left:1px solid var(--label-left-top-border-color);
+ border-right:1px solid var(--label-right-bottom-border-color);
+ border-bottom:1px solid var(--label-right-bottom-border-color);
+ text-shadow: none;
+ color: var(--label-foreground-color);
+ margin-right: 4px;
+ padding: 2px 3px;
+ border-radius: 3px;
+ font-size: 7pt;
+ white-space: nowrap;
+ vertical-align: middle;
+}
+
+
+
+/* @end */
+
+/* these are for tree view inside a (index) page */
+
+div.directory {
+ margin: 10px 0px;
+ border-top: 1px solid var(--directory-separator-color);
+ border-bottom: 1px solid var(--directory-separator-color);
+ width: 100%;
+}
+
+.directory table {
+ border-collapse:collapse;
+}
+
+.directory td {
+ margin: 0px;
+ padding: 0px;
+ vertical-align: top;
+}
+
+.directory td.entry {
+ white-space: nowrap;
+ padding-right: 6px;
+ padding-top: 3px;
+}
+
+.directory td.entry a {
+ outline:none;
+}
+
+.directory td.entry a img {
+ border: none;
+}
+
+.directory td.desc {
+ width: 100%;
+ padding-left: 6px;
+ padding-right: 6px;
+ padding-top: 3px;
+ border-left: 1px solid rgba(0,0,0,0.05);
+}
+
+.directory tr.odd {
+ padding-left: 6px;
+ background-color: var(--index-odd-item-bg-color);
+}
+
+.directory tr.even {
+ padding-left: 6px;
+ background-color: var(--index-even-item-bg-color);
+}
+
+.directory img {
+ vertical-align: -30%;
+}
+
+.directory .levels {
+ white-space: nowrap;
+ width: 100%;
+ text-align: right;
+ font-size: 9pt;
+}
+
+.directory .levels span {
+ cursor: pointer;
+ padding-left: 2px;
+ padding-right: 2px;
+ color: var(--page-link-color);
+}
+
+.arrow {
+ color: var(--nav-arrow-color);
+ -webkit-user-select: none;
+ -khtml-user-select: none;
+ -moz-user-select: none;
+ -ms-user-select: none;
+ user-select: none;
+ cursor: pointer;
+ font-size: 80%;
+ display: inline-block;
+ width: 16px;
+ height: 22px;
+}
+
+.icon {
+ font-family: var(--font-family-icon);
+ line-height: normal;
+ font-weight: bold;
+ font-size: 12px;
+ height: 14px;
+ width: 16px;
+ display: inline-block;
+ background-color: var(--icon-background-color);
+ color: var(--icon-foreground-color);
+ text-align: center;
+ border-radius: 4px;
+ margin-left: 2px;
+ margin-right: 2px;
+}
+
+.icona {
+ width: 24px;
+ height: 22px;
+ display: inline-block;
+}
+
+.iconfopen {
+ width: 24px;
+ height: 18px;
+ margin-bottom: 4px;
+ background-image:var(--icon-folder-open-image);
+ background-repeat: repeat-y;
+ vertical-align:top;
+ display: inline-block;
+}
+
+.iconfclosed {
+ width: 24px;
+ height: 18px;
+ margin-bottom: 4px;
+ background-image:var(--icon-folder-closed-image);
+ background-repeat: repeat-y;
+ vertical-align:top;
+ display: inline-block;
+}
+
+.icondoc {
+ width: 24px;
+ height: 18px;
+ margin-bottom: 4px;
+ background-image:var(--icon-doc-image);
+ background-position: 0px -4px;
+ background-repeat: repeat-y;
+ vertical-align:top;
+ display: inline-block;
+}
+
+/* @end */
+
+div.dynheader {
+ margin-top: 8px;
+ -webkit-touch-callout: none;
+ -webkit-user-select: none;
+ -khtml-user-select: none;
+ -moz-user-select: none;
+ -ms-user-select: none;
+ user-select: none;
+}
+
+address {
+ font-style: normal;
+ color: var(--footer-foreground-color);
+}
+
+table.doxtable caption {
+ caption-side: top;
+}
+
+table.doxtable {
+ border-collapse:collapse;
+ margin-top: 4px;
+ margin-bottom: 4px;
+}
+
+table.doxtable td, table.doxtable th {
+ border: 1px solid var(--table-cell-border-color);
+ padding: 3px 7px 2px;
+}
+
+table.doxtable th {
+ background-color: var(--table-header-background-color);
+ color: var(--table-header-foreground-color);
+ font-size: 110%;
+ padding-bottom: 4px;
+ padding-top: 5px;
+}
+
+table.fieldtable {
+ margin-bottom: 10px;
+ border: 1px solid var(--memdef-border-color);
+ border-spacing: 0px;
+ border-radius: 4px;
+ box-shadow: 2px 2px 2px rgba(0, 0, 0, 0.15);
+}
+
+.fieldtable td, .fieldtable th {
+ padding: 3px 7px 2px;
+}
+
+.fieldtable td.fieldtype, .fieldtable td.fieldname {
+ white-space: nowrap;
+ border-right: 1px solid var(--memdef-border-color);
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+}
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+}
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+ border-bottom: 1px solid var(--memdef-border-color);
+}
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+}
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+}
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+}
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+ color: var(--memdef-proto-text-color);
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+ border-bottom: 1px solid var(--memdef-border-color);
+}
+
+
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+ left: 10px;
+ height: 36px;
+ background-image: var(--nav-gradient-image);
+ z-index: 101;
+ overflow: hidden;
+ font-size: 13px;
+}
+
+.navpath ul
+{
+ font-size: 11px;
+ background-image: var(--nav-gradient-image);
+ background-repeat:repeat-x;
+ background-position: 0 -5px;
+ height:30px;
+ line-height:30px;
+ color:var(--nav-text-normal-color);
+ border:solid 1px var(--nav-breadcrumb-border-color);
+ overflow:hidden;
+ margin:0px;
+ padding:0px;
+}
+
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+{
+ list-style-type:none;
+ float:left;
+ padding-left:10px;
+ padding-right:15px;
+ background-image:var(--nav-breadcrumb-image);
+ background-repeat:no-repeat;
+ background-position:right;
+ color: var(--nav-foreground-color);
+}
+
+.navpath li.navelem a
+{
+ height:32px;
+ display:block;
+ outline: none;
+ color: var(--nav-text-normal-color);
+ font-family: var(--font-family-nav);
+ text-shadow: var(--nav-text-normal-shadow);
+ text-decoration: none;
+}
+
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+{
+ color: var(--nav-text-hover-color);
+ text-shadow: var(--nav-text-hover-shadow);
+}
+
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+{
+ list-style-type:none;
+ float:right;
+ padding-left:10px;
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+ background-image:none;
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+ background-position:right;
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+ font-size: 8pt;
+}
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+ font-size: 8pt;
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+ width: 50%;
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+}
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+}
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+}
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+}
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+div.ingroups a
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+}
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+}
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+}
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+}
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+}
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+}
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+}
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+}
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+ border-left: 4px solid;
+ border-color: #C08050;
+}
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+ font-weight: bold !important;
+}
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+dl.invariant, dl.pre, dl.post, dl.todo, dl.test, dl.remark {
+ padding: 10px;
+ margin: 10px 0px;
+ overflow: hidden;
+ margin-left: 0;
+ border-radius: 4px;
+}
+
+dl.section dd {
+ margin-bottom: 2px;
+}
+
+dl.warning, dl.attention {
+ background: var(--warning-color-bg);
+ border-left: 8px solid var(--warning-color-hl);
+ color: var(--warning-color-text);
+}
+
+dl.warning dt, dl.attention dt {
+ color: var(--warning-color-hl);
+}
+
+dl.note, dl.remark {
+ background: var(--note-color-bg);
+ border-left: 8px solid var(--note-color-hl);
+ color: var(--note-color-text);
+}
+
+dl.note dt, dl.remark dt {
+ color: var(--note-color-hl);
+}
+
+dl.todo {
+ background: var(--todo-color-bg);
+ border-left: 8px solid var(--todo-color-hl);
+ color: var(--todo-color-text);
+}
+
+dl.todo dt {
+ color: var(--todo-color-hl);
+}
+
+dl.test {
+ background: var(--test-color-bg);
+ border-left: 8px solid var(--test-color-hl);
+ color: var(--test-color-text);
+}
+
+dl.test dt {
+ color: var(--test-color-hl);
+}
+
+dl.bug dt a {
+ color: var(--bug-color-hl) !important;
+}
+
+dl.bug {
+ background: var(--bug-color-bg);
+ border-left: 8px solid var(--bug-color-hl);
+ color: var(--bug-color-text);
+}
+
+dl.bug dt a {
+ color: var(--bug-color-hl) !important;
+}
+
+dl.deprecated {
+ background: var(--deprecated-color-bg);
+ border-left: 8px solid var(--deprecated-color-hl);
+ color: var(--deprecated-color-text);
+}
+
+dl.deprecated dt a {
+ color: var(--deprecated-color-hl) !important;
+}
+
+dl.section dd, dl.bug dd, dl.deprecated dd, dl.todo dd, dl.test dd {
+ margin-inline-start: 0px;
+}
+
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+ background: var(--invariant-color-bg);
+ border-left: 8px solid var(--invariant-color-hl);
+ color: var(--invariant-color-text);
+}
+
+dl.invariant dt, dl.pre dt, dl.post dt {
+ color: var(--invariant-color-hl);
+}
+
+
+#projectrow
+{
+ height: 56px;
+}
+
+#projectlogo
+{
+ text-align: center;
+ vertical-align: bottom;
+ border-collapse: separate;
+}
+
+#projectlogo img
+{
+ border: 0px none;
+}
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+{
+ vertical-align: middle;
+ padding-left: 0.5em;
+}
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+ font-family: var(--font-family-title);
+ margin: 0px;
+ padding: 2px 0px;
+}
+
+#projectbrief
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+ font-size: 90%;
+ font-family: var(--font-family-title);
+ margin: 0px;
+ padding: 0px;
+}
+
+#projectnumber
+{
+ font-size: 50%;
+ font-family: 50% var(--font-family-title);
+ margin: 0px;
+ padding: 0px;
+}
+
+#titlearea
+{
+ padding: 0px;
+ margin: 0px;
+ width: 100%;
+ border-bottom: 1px solid var(--title-separator-color);
+ background-color: var(--title-background-color);
+}
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+.image
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+ text-align: center;
+}
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+ text-align: center;
+}
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+}
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+}
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+}
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+ font-weight: bold;
+}
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+ margin-bottom:50px;
+}
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+dl.citelist dt {
+ color:var(--citation-label-color);
+ float:left;
+ font-weight:bold;
+ margin-right:10px;
+ padding:5px;
+ text-align:right;
+ width:52px;
+}
+
+dl.citelist dd {
+ margin:2px 0 2px 72px;
+ padding:5px 0;
+}
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+div.toc {
+ padding: 14px 25px;
+ background-color: var(--toc-background-color);
+ border: 1px solid var(--toc-border-color);
+ border-radius: 7px 7px 7px 7px;
+ float: right;
+ height: auto;
+ margin: 0 8px 10px 10px;
+ width: 200px;
+}
+
+div.toc li {
+ background: var(--toc-down-arrow-image) no-repeat scroll 0 5px transparent;
+ font: 10px/1.2 var(--font-family-toc);
+ margin-top: 5px;
+ padding-left: 10px;
+ padding-top: 2px;
+}
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+div.toc h3 {
+ font: bold 12px/1.2 var(--font-family-toc);
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+}
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+}
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+}
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+}
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+}
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+}
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+}
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+}
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+ display: none;
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+ opacity: 0.9;
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+}
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+}
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+}
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+}
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+}
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+}
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+ margin-top: -10px;
+}
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+}
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+ margin-top: -10px;
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+ margin-top: -11px;
+}
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+ display:inline;
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+}
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+ margin-bottom: 4px;
+}
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+}
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+}
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+ font-size: 110%;
+ padding-bottom: 4px;
+ padding-top: 5px;
+}
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+th.markdownTableHeadLeft, td.markdownTableBodyLeft {
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+}
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+}
+
+th.markdownTableHeadCenter, td.markdownTableBodyCenter {
+ text-align: center
+}
+
+tt, code, kbd, samp
+{
+ display: inline-block;
+}
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+u {
+ text-decoration: underline;
+}
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+ list-style-type: none;
+}
+
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+}
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+ padding-right:4px;
+ font-size: 80%;
+}
+
+details[open]>summary::before {
+ content: "\25bc";
+ padding-right:4px;
+ font-size: 80%;
+}
+
+body {
+ scrollbar-color: var(--scrollbar-thumb-color) var(--scrollbar-background-color);
+}
+
+::-webkit-scrollbar {
+ background-color: var(--scrollbar-background-color);
+ height: 12px;
+ width: 12px;
+}
+::-webkit-scrollbar-thumb {
+ border-radius: 6px;
+ box-shadow: inset 0 0 12px 12px var(--scrollbar-thumb-color);
+ border: solid 2px transparent;
+}
+::-webkit-scrollbar-corner {
+ background-color: var(--scrollbar-background-color);
+}
+
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| BNO08x.hpp |
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diff --git a/documentation/html/files_dup.js b/documentation/html/files_dup.js
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diff --git a/documentation/html/functions_b.html b/documentation/html/functions_b.html
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+
+
+-
+
- Generated by 1.10.0
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+|
+ esp32_BNO08x 1.1
+
+ C++ BNO08x IMU driver component for esp-idf.
+ |
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+Loading...
+Searching...
+No Matches
+
+
+Here is a list of all class members with links to the classes they belong to:
+
+- b -
-
+
- BNO08x() : BNO08x +
- bno08x_config_t() : bno08x_config_t +
- bno08x_rx_packet_t : BNO08x +
- bno08x_tx_packet_t : BNO08x +
- body : BNO08x::bno08x_rx_packet_t, BNO08x::bno08x_tx_packet_t +
- bus_config : BNO08x +
+
+
+
diff --git a/documentation/html/functions_c.html b/documentation/html/functions_c.html
new file mode 100644
index 0000000..81e8541
--- /dev/null
+++ b/documentation/html/functions_c.html
@@ -0,0 +1,132 @@
+
+
+
+
+
+
+
+-
+
- Generated by 1.10.0
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+|
+ esp32_BNO08x 1.1
+
+ C++ BNO08x IMU driver component for esp-idf.
+ |
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+Loading...
+Searching...
+No Matches
+
+
+Here is a list of all class members with links to the classes they belong to:
+
+- c -
-
+
- CALIBRATE_ACCEL : BNO08x +
- CALIBRATE_ACCEL_GYRO_MAG : BNO08x +
- calibrate_accelerometer() : BNO08x +
- calibrate_all() : BNO08x +
- CALIBRATE_GYRO : BNO08x +
- calibrate_gyro() : BNO08x +
- CALIBRATE_MAG : BNO08x +
- calibrate_magnetometer() : BNO08x +
- CALIBRATE_PLANAR_ACCEL : BNO08x +
- calibrate_planar_accelerometer() : BNO08x +
- CALIBRATE_STOP : BNO08x +
- calibration_complete() : BNO08x +
- calibration_status : BNO08x +
- cb_list : BNO08x +
- clear_tare() : BNO08x +
- COMMAND_CLEAR_DCD : BNO08x +
- COMMAND_COUNTER : BNO08x +
- COMMAND_DCD : BNO08x +
- COMMAND_DCD_PERIOD_SAVE : BNO08x +
- COMMAND_ERRORS : BNO08x +
- COMMAND_INITIALIZE : BNO08x +
- COMMAND_ME_CALIBRATE : BNO08x +
- COMMAND_OSCILLATOR : BNO08x +
- COMMAND_TARE : BNO08x +
+
+
+
diff --git a/documentation/html/functions_d.html b/documentation/html/functions_d.html
new file mode 100644
index 0000000..cfa18dd
--- /dev/null
+++ b/documentation/html/functions_d.html
@@ -0,0 +1,132 @@
+
+
+
+
+
+
+
+-
+
- Generated by 1.10.0
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+|
+ esp32_BNO08x 1.1
+
+ C++ BNO08x IMU driver component for esp-idf.
+ |
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+Loading...
+Searching...
+No Matches
+
+
+Here is a list of all class members with links to the classes they belong to:
+
+- d -
-
+
- data_available() : BNO08x +
- data_proc_task() : BNO08x +
- data_proc_task_hdl : BNO08x +
- data_proc_task_trampoline() : BNO08x +
- default_imu_config : BNO08x +
- disable_accelerometer() : BNO08x +
- disable_activity_classifier() : BNO08x +
- disable_ARVR_stabilized_game_rotation_vector() : BNO08x +
- disable_ARVR_stabilized_rotation_vector() : BNO08x +
- disable_game_rotation_vector() : BNO08x +
- disable_gravity() : BNO08x +
- disable_gyro() : BNO08x +
- disable_gyro_integrated_rotation_vector() : BNO08x +
- disable_linear_accelerometer() : BNO08x +
- disable_magnetometer() : BNO08x +
- disable_raw_accelerometer() : BNO08x +
- disable_raw_gyro() : BNO08x +
- disable_raw_magnetometer() : BNO08x +
- disable_report() : BNO08x +
- disable_rotation_vector() : BNO08x +
- disable_stability_classifier() : BNO08x +
- disable_step_counter() : BNO08x +
- disable_tap_detector() : BNO08x +
- disable_uncalibrated_gyro() : BNO08x +
+
+
+
diff --git a/documentation/html/functions_dup.js b/documentation/html/functions_dup.js
new file mode 100644
index 0000000..a809955
--- /dev/null
+++ b/documentation/html/functions_dup.js
@@ -0,0 +1,21 @@
+var functions_dup =
+[
+ [ "a", "functions.html", null ],
+ [ "b", "functions_b.html", null ],
+ [ "c", "functions_c.html", null ],
+ [ "d", "functions_d.html", null ],
+ [ "e", "functions_e.html", null ],
+ [ "f", "functions_f.html", null ],
+ [ "g", "functions_g.html", null ],
+ [ "h", "functions_h.html", null ],
+ [ "i", "functions_i.html", null ],
+ [ "l", "functions_l.html", null ],
+ [ "m", "functions_m.html", null ],
+ [ "p", "functions_p.html", null ],
+ [ "q", "functions_q.html", null ],
+ [ "r", "functions_r.html", null ],
+ [ "s", "functions_s.html", null ],
+ [ "t", "functions_t.html", null ],
+ [ "u", "functions_u.html", null ],
+ [ "w", "functions_w.html", null ]
+];
\ No newline at end of file
diff --git a/documentation/html/functions_e.html b/documentation/html/functions_e.html
new file mode 100644
index 0000000..c9b710e
--- /dev/null
+++ b/documentation/html/functions_e.html
@@ -0,0 +1,153 @@
+
+
+
+
+
+
+
+-
+
- Generated by 1.10.0
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+|
+ esp32_BNO08x 1.1
+
+ C++ BNO08x IMU driver component for esp-idf.
+ |
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+Loading...
+Searching...
+No Matches
+
+
+Here is a list of all class members with links to the classes they belong to:
+
+- e -
-
+
- enable_accelerometer() : BNO08x +
- enable_activity_classifier() : BNO08x +
- enable_ARVR_stabilized_game_rotation_vector() : BNO08x +
- enable_ARVR_stabilized_rotation_vector() : BNO08x +
- enable_game_rotation_vector() : BNO08x +
- enable_gravity() : BNO08x +
- enable_gyro() : BNO08x +
- enable_gyro_integrated_rotation_vector() : BNO08x +
- enable_linear_accelerometer() : BNO08x +
- enable_magnetometer() : BNO08x +
- enable_raw_accelerometer() : BNO08x +
- enable_raw_gyro() : BNO08x +
- enable_raw_magnetometer() : BNO08x +
- enable_report() : BNO08x +
- enable_rotation_vector() : BNO08x +
- enable_stability_classifier() : BNO08x +
- enable_step_counter() : BNO08x +
- enable_tap_detector() : BNO08x +
- enable_uncalibrated_gyro() : BNO08x +
- end_calibration() : BNO08x +
- evt_grp_report_en : BNO08x +
- EVT_GRP_RPT_ACCELEROMETER_BIT : BNO08x +
- EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT : BNO08x +
- EVT_GRP_RPT_ALL_BITS : BNO08x +
- EVT_GRP_RPT_ARVR_S_GAME_ROTATION_VECTOR_BIT : BNO08x +
- EVT_GRP_RPT_ARVR_S_ROTATION_VECTOR_BIT : BNO08x +
- EVT_GRP_RPT_GAME_ROTATION_VECTOR_BIT : BNO08x +
- EVT_GRP_RPT_GRAVITY_BIT : BNO08x +
- EVT_GRP_RPT_GYRO_BIT : BNO08x +
- EVT_GRP_RPT_GYRO_ROTATION_VECTOR_BIT : BNO08x +
- EVT_GRP_RPT_GYRO_UNCALIBRATED_BIT : BNO08x +
- EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT : BNO08x +
- EVT_GRP_RPT_MAGNETOMETER_BIT : BNO08x +
- EVT_GRP_RPT_RAW_ACCELEROMETER_BIT : BNO08x +
- EVT_GRP_RPT_RAW_GYRO_BIT : BNO08x +
- EVT_GRP_RPT_RAW_MAGNETOMETER_BIT : BNO08x +
- EVT_GRP_RPT_ROTATION_VECTOR_BIT : BNO08x +
- EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT : BNO08x +
- EVT_GRP_RPT_STEP_COUNTER_BIT : BNO08x +
- EVT_GRP_RPT_TAP_DETECTOR_BIT : BNO08x +
- evt_grp_spi : BNO08x +
- EVT_GRP_SPI_RX_DONE_BIT : BNO08x +
- EVT_GRP_SPI_RX_INVALID_PACKET : BNO08x +
- EVT_GRP_SPI_RX_VALID_PACKET : BNO08x +
- EVT_GRP_SPI_TX_DONE : BNO08x +
+
+
+
diff --git a/documentation/html/functions_f.html b/documentation/html/functions_f.html
new file mode 100644
index 0000000..b641914
--- /dev/null
+++ b/documentation/html/functions_f.html
@@ -0,0 +1,115 @@
+
+
+
+
+
+
+
+-
+
- Generated by 1.10.0
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+|
+ esp32_BNO08x 1.1
+
+ C++ BNO08x IMU driver component for esp-idf.
+ |
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+Loading...
+Searching...
+No Matches
+
+
+
+
diff --git a/documentation/html/functions_func.html b/documentation/html/functions_func.html
new file mode 100644
index 0000000..dbb300c
--- /dev/null
+++ b/documentation/html/functions_func.html
@@ -0,0 +1,321 @@
+
+
+
+
+
+
+
+-
+
- Generated by 1.10.0
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+|
+ esp32_BNO08x 1.1
+
+ C++ BNO08x IMU driver component for esp-idf.
+ |
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+Loading...
+Searching...
+No Matches
+
+
+Here is a list of all functions with links to the classes they belong to:
+
+- b -
-
+
- BNO08x() : BNO08x +
- bno08x_config_t() : bno08x_config_t +
- c -
-
+
- calibrate_accelerometer() : BNO08x +
- calibrate_all() : BNO08x +
- calibrate_gyro() : BNO08x +
- calibrate_magnetometer() : BNO08x +
- calibrate_planar_accelerometer() : BNO08x +
- calibration_complete() : BNO08x +
- clear_tare() : BNO08x +
- d -
-
+
- data_available() : BNO08x +
- data_proc_task() : BNO08x +
- data_proc_task_trampoline() : BNO08x +
- disable_accelerometer() : BNO08x +
- disable_activity_classifier() : BNO08x +
- disable_ARVR_stabilized_game_rotation_vector() : BNO08x +
- disable_ARVR_stabilized_rotation_vector() : BNO08x +
- disable_game_rotation_vector() : BNO08x +
- disable_gravity() : BNO08x +
- disable_gyro() : BNO08x +
- disable_gyro_integrated_rotation_vector() : BNO08x +
- disable_linear_accelerometer() : BNO08x +
- disable_magnetometer() : BNO08x +
- disable_raw_accelerometer() : BNO08x +
- disable_raw_gyro() : BNO08x +
- disable_raw_magnetometer() : BNO08x +
- disable_report() : BNO08x +
- disable_rotation_vector() : BNO08x +
- disable_stability_classifier() : BNO08x +
- disable_step_counter() : BNO08x +
- disable_tap_detector() : BNO08x +
- disable_uncalibrated_gyro() : BNO08x +
- e -
-
+
- enable_accelerometer() : BNO08x +
- enable_activity_classifier() : BNO08x +
- enable_ARVR_stabilized_game_rotation_vector() : BNO08x +
- enable_ARVR_stabilized_rotation_vector() : BNO08x +
- enable_game_rotation_vector() : BNO08x +
- enable_gravity() : BNO08x +
- enable_gyro() : BNO08x +
- enable_gyro_integrated_rotation_vector() : BNO08x +
- enable_linear_accelerometer() : BNO08x +
- enable_magnetometer() : BNO08x +
- enable_raw_accelerometer() : BNO08x +
- enable_raw_gyro() : BNO08x +
- enable_raw_magnetometer() : BNO08x +
- enable_report() : BNO08x +
- enable_rotation_vector() : BNO08x +
- enable_stability_classifier() : BNO08x +
- enable_step_counter() : BNO08x +
- enable_tap_detector() : BNO08x +
- enable_uncalibrated_gyro() : BNO08x +
- end_calibration() : BNO08x +
- f -
+ + +- g -
-
+
- get_accel() : BNO08x +
- get_accel_accuracy() : BNO08x +
- get_accel_X() : BNO08x +
- get_accel_Y() : BNO08x +
- get_accel_Z() : BNO08x +
- get_activity_classifier() : BNO08x +
- get_gravity() : BNO08x +
- get_gravity_accuracy() : BNO08x +
- get_gravity_X() : BNO08x +
- get_gravity_Y() : BNO08x +
- get_gravity_Z() : BNO08x +
- get_gyro_accuracy() : BNO08x +
- get_gyro_calibrated_velocity() : BNO08x +
- get_gyro_calibrated_velocity_X() : BNO08x +
- get_gyro_calibrated_velocity_Y() : BNO08x +
- get_gyro_calibrated_velocity_Z() : BNO08x +
- get_gyro_velocity() : BNO08x +
- get_gyro_velocity_X() : BNO08x +
- get_gyro_velocity_Y() : BNO08x +
- get_gyro_velocity_Z() : BNO08x +
- get_linear_accel() : BNO08x +
- get_linear_accel_accuracy() : BNO08x +
- get_linear_accel_X() : BNO08x +
- get_linear_accel_Y() : BNO08x +
- get_linear_accel_Z() : BNO08x +
- get_magf() : BNO08x +
- get_magf_accuracy() : BNO08x +
- get_magf_X() : BNO08x +
- get_magf_Y() : BNO08x +
- get_magf_Z() : BNO08x +
- get_pitch() : BNO08x +
- get_pitch_deg() : BNO08x +
- get_Q1() : BNO08x +
- get_Q2() : BNO08x +
- get_Q3() : BNO08x +
- get_quat() : BNO08x +
- get_quat_accuracy() : BNO08x +
- get_quat_I() : BNO08x +
- get_quat_J() : BNO08x +
- get_quat_K() : BNO08x +
- get_quat_radian_accuracy() : BNO08x +
- get_quat_real() : BNO08x +
- get_range() : BNO08x +
- get_raw_accel_X() : BNO08x +
- get_raw_accel_Y() : BNO08x +
- get_raw_accel_Z() : BNO08x +
- get_raw_gyro_X() : BNO08x +
- get_raw_gyro_Y() : BNO08x +
- get_raw_gyro_Z() : BNO08x +
- get_raw_magf_X() : BNO08x +
- get_raw_magf_Y() : BNO08x +
- get_raw_magf_Z() : BNO08x +
- get_reset_reason() : BNO08x +
- get_resolution() : BNO08x +
- get_roll() : BNO08x +
- get_roll_deg() : BNO08x +
- get_stability_classifier() : BNO08x +
- get_step_count() : BNO08x +
- get_tap_detector() : BNO08x +
- get_time_stamp() : BNO08x +
- get_uncalibrated_gyro() : BNO08x +
- get_uncalibrated_gyro_accuracy() : BNO08x +
- get_uncalibrated_gyro_bias_X() : BNO08x +
- get_uncalibrated_gyro_bias_Y() : BNO08x +
- get_uncalibrated_gyro_bias_Z() : BNO08x +
- get_uncalibrated_gyro_X() : BNO08x +
- get_uncalibrated_gyro_Y() : BNO08x +
- get_uncalibrated_gyro_Z() : BNO08x +
- get_yaw() : BNO08x +
- get_yaw_deg() : BNO08x +
- h -
+ + +- i -
-
+
- initialize() : BNO08x +
- m -
+ + +- p -
-
+
- parse_command_report() : BNO08x +
- parse_frs_read_response_report() : BNO08x +
- parse_input_report() : BNO08x +
- parse_packet() : BNO08x +
- parse_product_id_report() : BNO08x +
- print_header() : BNO08x +
- print_packet() : BNO08x +
- q -
-
+
- q_to_float() : BNO08x +
- queue_calibrate_command() : BNO08x +
- queue_command() : BNO08x +
- queue_feature_command() : BNO08x +
- queue_packet() : BNO08x +
- queue_request_product_id_command() : BNO08x +
- queue_tare_command() : BNO08x +
- r -
-
+
- receive_packet() : BNO08x +
- register_cb() : BNO08x +
- request_calibration_status() : BNO08x +
- run_full_calibration_routine() : BNO08x +
- s -
-
+
- save_calibration() : BNO08x +
- save_tare() : BNO08x +
- send_packet() : BNO08x +
- soft_reset() : BNO08x +
- spi_task() : BNO08x +
- spi_task_trampoline() : BNO08x +
- t -
-
+
- tare_now() : BNO08x +
- w -
+
+
+
+
diff --git a/documentation/html/functions_g.html b/documentation/html/functions_g.html
new file mode 100644
index 0000000..0cd2c2b
--- /dev/null
+++ b/documentation/html/functions_g.html
@@ -0,0 +1,185 @@
+
+
+
+
+
+
+
+-
+
- Generated by 1.10.0
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+|
+ esp32_BNO08x 1.1
+
+ C++ BNO08x IMU driver component for esp-idf.
+ |
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+Loading...
+Searching...
+No Matches
+
+
+Here is a list of all class members with links to the classes they belong to:
+
+- g -
-
+
- get_accel() : BNO08x +
- get_accel_accuracy() : BNO08x +
- get_accel_X() : BNO08x +
- get_accel_Y() : BNO08x +
- get_accel_Z() : BNO08x +
- get_activity_classifier() : BNO08x +
- get_gravity() : BNO08x +
- get_gravity_accuracy() : BNO08x +
- get_gravity_X() : BNO08x +
- get_gravity_Y() : BNO08x +
- get_gravity_Z() : BNO08x +
- get_gyro_accuracy() : BNO08x +
- get_gyro_calibrated_velocity() : BNO08x +
- get_gyro_calibrated_velocity_X() : BNO08x +
- get_gyro_calibrated_velocity_Y() : BNO08x +
- get_gyro_calibrated_velocity_Z() : BNO08x +
- get_gyro_velocity() : BNO08x +
- get_gyro_velocity_X() : BNO08x +
- get_gyro_velocity_Y() : BNO08x +
- get_gyro_velocity_Z() : BNO08x +
- get_linear_accel() : BNO08x +
- get_linear_accel_accuracy() : BNO08x +
- get_linear_accel_X() : BNO08x +
- get_linear_accel_Y() : BNO08x +
- get_linear_accel_Z() : BNO08x +
- get_magf() : BNO08x +
- get_magf_accuracy() : BNO08x +
- get_magf_X() : BNO08x +
- get_magf_Y() : BNO08x +
- get_magf_Z() : BNO08x +
- get_pitch() : BNO08x +
- get_pitch_deg() : BNO08x +
- get_Q1() : BNO08x +
- get_Q2() : BNO08x +
- get_Q3() : BNO08x +
- get_quat() : BNO08x +
- get_quat_accuracy() : BNO08x +
- get_quat_I() : BNO08x +
- get_quat_J() : BNO08x +
- get_quat_K() : BNO08x +
- get_quat_radian_accuracy() : BNO08x +
- get_quat_real() : BNO08x +
- get_range() : BNO08x +
- get_raw_accel_X() : BNO08x +
- get_raw_accel_Y() : BNO08x +
- get_raw_accel_Z() : BNO08x +
- get_raw_gyro_X() : BNO08x +
- get_raw_gyro_Y() : BNO08x +
- get_raw_gyro_Z() : BNO08x +
- get_raw_magf_X() : BNO08x +
- get_raw_magf_Y() : BNO08x +
- get_raw_magf_Z() : BNO08x +
- get_reset_reason() : BNO08x +
- get_resolution() : BNO08x +
- get_roll() : BNO08x +
- get_roll_deg() : BNO08x +
- get_stability_classifier() : BNO08x +
- get_step_count() : BNO08x +
- get_tap_detector() : BNO08x +
- get_time_stamp() : BNO08x +
- get_uncalibrated_gyro() : BNO08x +
- get_uncalibrated_gyro_accuracy() : BNO08x +
- get_uncalibrated_gyro_bias_X() : BNO08x +
- get_uncalibrated_gyro_bias_Y() : BNO08x +
- get_uncalibrated_gyro_bias_Z() : BNO08x +
- get_uncalibrated_gyro_X() : BNO08x +
- get_uncalibrated_gyro_Y() : BNO08x +
- get_uncalibrated_gyro_Z() : BNO08x +
- get_yaw() : BNO08x +
- get_yaw_deg() : BNO08x +
- gravity_accuracy : BNO08x +
- GRAVITY_Q1 : BNO08x +
- gravity_X : BNO08x +
- gravity_Y : BNO08x +
- gravity_Z : BNO08x +
- gyro_accuracy : BNO08x +
- GYRO_Q1 : BNO08x +
+
+
+
diff --git a/documentation/html/functions_h.html b/documentation/html/functions_h.html
new file mode 100644
index 0000000..2328589
--- /dev/null
+++ b/documentation/html/functions_h.html
@@ -0,0 +1,112 @@
+
+
+
+
+
+
+
+-
+
- Generated by 1.10.0
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+|
+ esp32_BNO08x 1.1
+
+ C++ BNO08x IMU driver component for esp-idf.
+ |
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+Loading...
+Searching...
+No Matches
+
+
+Here is a list of all class members with links to the classes they belong to:
+
+- h -
-
+
- hard_reset() : BNO08x +
- header : BNO08x::bno08x_rx_packet_t +
- hint_handler() : BNO08x +
- HOST_INT_TIMEOUT_MS : BNO08x +
+
+
+
diff --git a/documentation/html/functions_i.html b/documentation/html/functions_i.html
new file mode 100644
index 0000000..564cc5f
--- /dev/null
+++ b/documentation/html/functions_i.html
@@ -0,0 +1,119 @@
+
+
+
+
+
+
+
+-
+
- Generated by 1.10.0
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+|
+ esp32_BNO08x 1.1
+
+ C++ BNO08x IMU driver component for esp-idf.
+ |
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+Loading...
+Searching...
+No Matches
+
+
+Here is a list of all class members with links to the classes they belong to:
+
+- i -
-
+
- imu_config : BNO08x +
- imu_spi_config : BNO08x +
- initialize() : BNO08x +
- io_cs : bno08x_config_t +
- io_int : bno08x_config_t +
- io_miso : bno08x_config_t +
- io_mosi : bno08x_config_t +
- io_rst : bno08x_config_t +
- io_sclk : bno08x_config_t +
- io_wake : bno08x_config_t +
- isr_service_installed : BNO08x +
+
+
+
diff --git a/documentation/html/functions_l.html b/documentation/html/functions_l.html
new file mode 100644
index 0000000..6aef62c
--- /dev/null
+++ b/documentation/html/functions_l.html
@@ -0,0 +1,110 @@
+
+
+
+
+
+
+
+-
+
- Generated by 1.10.0
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+|
+ esp32_BNO08x 1.1
+
+ C++ BNO08x IMU driver component for esp-idf.
+ |
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+Loading...
+Searching...
+No Matches
+
+
+Here is a list of all class members with links to the classes they belong to:
+
+- l -
-
+
- length : BNO08x::bno08x_rx_packet_t, BNO08x::bno08x_tx_packet_t +
- LINEAR_ACCELEROMETER_Q1 : BNO08x +
+
+
+
diff --git a/documentation/html/functions_m.html b/documentation/html/functions_m.html
new file mode 100644
index 0000000..0ee61fe
--- /dev/null
+++ b/documentation/html/functions_m.html
@@ -0,0 +1,123 @@
+
+
+
+
+
+
+
+-
+
- Generated by 1.10.0
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+|
+ esp32_BNO08x 1.1
+
+ C++ BNO08x IMU driver component for esp-idf.
+ |
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+Loading...
+Searching...
+No Matches
+
+
+Here is a list of all class members with links to the classes they belong to:
+
+- m -
-
+
- magf_accuracy : BNO08x +
- MAGNETOMETER_Q1 : BNO08x +
- MAX_METADATA_LENGTH : BNO08x +
- mems_raw_accel_X : BNO08x +
- mems_raw_accel_Y : BNO08x +
- mems_raw_accel_Z : BNO08x +
- mems_raw_gyro_X : BNO08x +
- mems_raw_gyro_Y : BNO08x +
- mems_raw_gyro_Z : BNO08x +
- mems_raw_magf_X : BNO08x +
- mems_raw_magf_Y : BNO08x +
- mems_raw_magf_Z : BNO08x +
- meta_data : BNO08x +
- mode_on() : BNO08x +
- mode_sleep() : BNO08x +
+
+
+
diff --git a/documentation/html/functions_p.html b/documentation/html/functions_p.html
new file mode 100644
index 0000000..fea36be
--- /dev/null
+++ b/documentation/html/functions_p.html
@@ -0,0 +1,115 @@
+
+
+
+
+
+
+
+-
+
- Generated by 1.10.0
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+|
+ esp32_BNO08x 1.1
+
+ C++ BNO08x IMU driver component for esp-idf.
+ |
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+Loading...
+Searching...
+No Matches
+
+
+
+
diff --git a/documentation/html/functions_q.html b/documentation/html/functions_q.html
new file mode 100644
index 0000000..4ede2b4
--- /dev/null
+++ b/documentation/html/functions_q.html
@@ -0,0 +1,120 @@
+
+
+
+
+
+
+
+-
+
- Generated by 1.10.0
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+|
+ esp32_BNO08x 1.1
+
+ C++ BNO08x IMU driver component for esp-idf.
+ |
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+Loading...
+Searching...
+No Matches
+
+
+Here is a list of all class members with links to the classes they belong to:
+
+- q -
-
+
- q_to_float() : BNO08x +
- quat_accuracy : BNO08x +
- queue_calibrate_command() : BNO08x +
- queue_command() : BNO08x +
- queue_feature_command() : BNO08x +
- queue_frs_read_data : BNO08x +
- queue_packet() : BNO08x +
- queue_request_product_id_command() : BNO08x +
- queue_reset_reason : BNO08x +
- queue_rx_data : BNO08x +
- queue_tare_command() : BNO08x +
- queue_tx_data : BNO08x +
+
+
+
diff --git a/documentation/html/functions_r.html b/documentation/html/functions_r.html
new file mode 100644
index 0000000..a4bfcb0
--- /dev/null
+++ b/documentation/html/functions_r.html
@@ -0,0 +1,141 @@
+
+
+
+
+
+
+
+-
+
- Generated by 1.10.0
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+|
+ esp32_BNO08x 1.1
+
+ C++ BNO08x IMU driver component for esp-idf.
+ |
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+Loading...
+Searching...
+No Matches
+
+
+Here is a list of all class members with links to the classes they belong to:
+
+- r -
-
+
- raw_accel_X : BNO08x +
- raw_accel_Y : BNO08x +
- raw_accel_Z : BNO08x +
- raw_bias_X : BNO08x +
- raw_bias_Y : BNO08x +
- raw_bias_Z : BNO08x +
- raw_gyro_X : BNO08x +
- raw_gyro_Y : BNO08x +
- raw_gyro_Z : BNO08x +
- raw_lin_accel_X : BNO08x +
- raw_lin_accel_Y : BNO08x +
- raw_lin_accel_Z : BNO08x +
- raw_magf_X : BNO08x +
- raw_magf_Y : BNO08x +
- raw_magf_Z : BNO08x +
- raw_quat_I : BNO08x +
- raw_quat_J : BNO08x +
- raw_quat_K : BNO08x +
- raw_quat_radian_accuracy : BNO08x +
- raw_quat_real : BNO08x +
- raw_uncalib_gyro_X : BNO08x +
- raw_uncalib_gyro_Y : BNO08x +
- raw_uncalib_gyro_Z : BNO08x +
- raw_velocity_gyro_X : BNO08x +
- raw_velocity_gyro_Y : BNO08x +
- raw_velocity_gyro_Z : BNO08x +
- receive_packet() : BNO08x +
- register_cb() : BNO08x +
- request_calibration_status() : BNO08x +
- ROTATION_VECTOR_ACCURACY_Q1 : BNO08x +
- ROTATION_VECTOR_Q1 : BNO08x +
- run_full_calibration_routine() : BNO08x +
- RX_DATA_LENGTH : BNO08x +
+
+
+
diff --git a/documentation/html/functions_s.html b/documentation/html/functions_s.html
new file mode 100644
index 0000000..582d8a9
--- /dev/null
+++ b/documentation/html/functions_s.html
@@ -0,0 +1,148 @@
+
+
+
+
+
+
+
+-
+
- Generated by 1.10.0
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+|
+ esp32_BNO08x 1.1
+
+ C++ BNO08x IMU driver component for esp-idf.
+ |
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+Loading...
+Searching...
+No Matches
+
+
+Here is a list of all class members with links to the classes they belong to:
+
+- s -
-
+
- save_calibration() : BNO08x +
- save_tare() : BNO08x +
- sclk_speed : bno08x_config_t +
- send_packet() : BNO08x +
- SENSOR_REPORT_ID_ACCELEROMETER : BNO08x +
- SENSOR_REPORT_ID_ARVR_STABILIZED_GAME_ROTATION_VECTOR : BNO08x +
- SENSOR_REPORT_ID_ARVR_STABILIZED_ROTATION_VECTOR : BNO08x +
- SENSOR_REPORT_ID_GAME_ROTATION_VECTOR : BNO08x +
- SENSOR_REPORT_ID_GEOMAGNETIC_ROTATION_VECTOR : BNO08x +
- SENSOR_REPORT_ID_GRAVITY : BNO08x +
- SENSOR_REPORT_ID_GYRO_INTEGRATED_ROTATION_VECTOR : BNO08x +
- SENSOR_REPORT_ID_GYROSCOPE : BNO08x +
- SENSOR_REPORT_ID_LINEAR_ACCELERATION : BNO08x +
- SENSOR_REPORT_ID_MAGNETIC_FIELD : BNO08x +
- SENSOR_REPORT_ID_PERSONAL_ACTIVITY_CLASSIFIER : BNO08x +
- SENSOR_REPORT_ID_RAW_ACCELEROMETER : BNO08x +
- SENSOR_REPORT_ID_RAW_GYROSCOPE : BNO08x +
- SENSOR_REPORT_ID_RAW_MAGNETOMETER : BNO08x +
- SENSOR_REPORT_ID_ROTATION_VECTOR : BNO08x +
- SENSOR_REPORT_ID_STABILITY_CLASSIFIER : BNO08x +
- SENSOR_REPORT_ID_STEP_COUNTER : BNO08x +
- SENSOR_REPORT_ID_TAP_DETECTOR : BNO08x +
- SENSOR_REPORT_ID_UNCALIBRATED_GYRO : BNO08x +
- SHTP_REPORT_BASE_TIMESTAMP : BNO08x +
- SHTP_REPORT_COMMAND_REQUEST : BNO08x +
- SHTP_REPORT_COMMAND_RESPONSE : BNO08x +
- SHTP_REPORT_FRS_READ_REQUEST : BNO08x +
- SHTP_REPORT_FRS_READ_RESPONSE : BNO08x +
- SHTP_REPORT_PRODUCT_ID_REQUEST : BNO08x +
- SHTP_REPORT_PRODUCT_ID_RESPONSE : BNO08x +
- SHTP_REPORT_SET_FEATURE_COMMAND : BNO08x +
- soft_reset() : BNO08x +
- spi_hdl : BNO08x +
- spi_peripheral : bno08x_config_t +
- spi_task() : BNO08x +
- spi_task_hdl : BNO08x +
- spi_task_trampoline() : BNO08x +
- spi_transaction : BNO08x +
- stability_classifier : BNO08x +
- step_count : BNO08x +
+
+
+
diff --git a/documentation/html/functions_t.html b/documentation/html/functions_t.html
new file mode 100644
index 0000000..8b139e4
--- /dev/null
+++ b/documentation/html/functions_t.html
@@ -0,0 +1,123 @@
+
+
+
+
+
+
+
+-
+
- Generated by 1.10.0
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+|
+ esp32_BNO08x 1.1
+
+ C++ BNO08x IMU driver component for esp-idf.
+ |
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+Loading...
+Searching...
+No Matches
+
+
+Here is a list of all class members with links to the classes they belong to:
+
+- t -
-
+
- TAG : BNO08x +
- tap_detector : BNO08x +
- TARE_ARVR_STABILIZED_GAME_ROTATION_VECTOR : BNO08x +
- TARE_ARVR_STABILIZED_ROTATION_VECTOR : BNO08x +
- TARE_AXIS_ALL : BNO08x +
- TARE_AXIS_Z : BNO08x +
- TARE_GAME_ROTATION_VECTOR : BNO08x +
- TARE_GEOMAGNETIC_ROTATION_VECTOR : BNO08x +
- TARE_GYRO_INTEGRATED_ROTATION_VECTOR : BNO08x +
- tare_now() : BNO08x +
- TARE_NOW : BNO08x +
- TARE_PERSIST : BNO08x +
- TARE_ROTATION_VECTOR : BNO08x +
- TARE_SET_REORIENTATION : BNO08x +
- time_stamp : BNO08x +
+
+
+
diff --git a/documentation/html/functions_type.html b/documentation/html/functions_type.html
new file mode 100644
index 0000000..7962e05
--- /dev/null
+++ b/documentation/html/functions_type.html
@@ -0,0 +1,108 @@
+
+
+
+
+
+
+
+-
+
- Generated by 1.10.0
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+|
+ esp32_BNO08x 1.1
+
+ C++ BNO08x IMU driver component for esp-idf.
+ |
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+Loading...
+Searching...
+No Matches
+
+
+
+
diff --git a/documentation/html/functions_u.html b/documentation/html/functions_u.html
new file mode 100644
index 0000000..fbc2538
--- /dev/null
+++ b/documentation/html/functions_u.html
@@ -0,0 +1,109 @@
+
+
+
+
+
+
+
+-
+
- Generated by 1.10.0
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+|
+ esp32_BNO08x 1.1
+
+ C++ BNO08x IMU driver component for esp-idf.
+ |
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+Loading...
+Searching...
+No Matches
+
+
+Here is a list of all class members with links to the classes they belong to:
+
+- u -
-
+
- uncalib_gyro_accuracy : BNO08x +
+
+
+
diff --git a/documentation/html/functions_vars.html b/documentation/html/functions_vars.html
new file mode 100644
index 0000000..15c4f83
--- /dev/null
+++ b/documentation/html/functions_vars.html
@@ -0,0 +1,341 @@
+
+
+
+
+
+
+
+-
+
- Generated by 1.10.0
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+|
+ esp32_BNO08x 1.1
+
+ C++ BNO08x IMU driver component for esp-idf.
+ |
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+Loading...
+Searching...
+No Matches
+
+
+Here is a list of all variables with links to the classes they belong to:
+
+- a -
-
+
- accel_accuracy : BNO08x +
- accel_lin_accuracy : BNO08x +
- ACCELEROMETER_Q1 : BNO08x +
- activity_classifier : BNO08x +
- activity_confidences : BNO08x +
- ANGULAR_VELOCITY_Q1 : BNO08x +
- b -
-
+
- body : BNO08x::bno08x_rx_packet_t, BNO08x::bno08x_tx_packet_t +
- bus_config : BNO08x +
- c -
-
+
- CALIBRATE_ACCEL : BNO08x +
- CALIBRATE_ACCEL_GYRO_MAG : BNO08x +
- CALIBRATE_GYRO : BNO08x +
- CALIBRATE_MAG : BNO08x +
- CALIBRATE_PLANAR_ACCEL : BNO08x +
- CALIBRATE_STOP : BNO08x +
- calibration_status : BNO08x +
- cb_list : BNO08x +
- COMMAND_CLEAR_DCD : BNO08x +
- COMMAND_COUNTER : BNO08x +
- COMMAND_DCD : BNO08x +
- COMMAND_DCD_PERIOD_SAVE : BNO08x +
- COMMAND_ERRORS : BNO08x +
- COMMAND_INITIALIZE : BNO08x +
- COMMAND_ME_CALIBRATE : BNO08x +
- COMMAND_OSCILLATOR : BNO08x +
- COMMAND_TARE : BNO08x +
- d -
+ + +- e -
-
+
- evt_grp_report_en : BNO08x +
- EVT_GRP_RPT_ACCELEROMETER_BIT : BNO08x +
- EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT : BNO08x +
- EVT_GRP_RPT_ALL_BITS : BNO08x +
- EVT_GRP_RPT_ARVR_S_GAME_ROTATION_VECTOR_BIT : BNO08x +
- EVT_GRP_RPT_ARVR_S_ROTATION_VECTOR_BIT : BNO08x +
- EVT_GRP_RPT_GAME_ROTATION_VECTOR_BIT : BNO08x +
- EVT_GRP_RPT_GRAVITY_BIT : BNO08x +
- EVT_GRP_RPT_GYRO_BIT : BNO08x +
- EVT_GRP_RPT_GYRO_ROTATION_VECTOR_BIT : BNO08x +
- EVT_GRP_RPT_GYRO_UNCALIBRATED_BIT : BNO08x +
- EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT : BNO08x +
- EVT_GRP_RPT_MAGNETOMETER_BIT : BNO08x +
- EVT_GRP_RPT_RAW_ACCELEROMETER_BIT : BNO08x +
- EVT_GRP_RPT_RAW_GYRO_BIT : BNO08x +
- EVT_GRP_RPT_RAW_MAGNETOMETER_BIT : BNO08x +
- EVT_GRP_RPT_ROTATION_VECTOR_BIT : BNO08x +
- EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT : BNO08x +
- EVT_GRP_RPT_STEP_COUNTER_BIT : BNO08x +
- EVT_GRP_RPT_TAP_DETECTOR_BIT : BNO08x +
- evt_grp_spi : BNO08x +
- EVT_GRP_SPI_RX_DONE_BIT : BNO08x +
- EVT_GRP_SPI_RX_INVALID_PACKET : BNO08x +
- EVT_GRP_SPI_RX_VALID_PACKET : BNO08x +
- EVT_GRP_SPI_TX_DONE : BNO08x +
- f -
-
+
- FRS_RECORD_ID_ACCELEROMETER : BNO08x +
- FRS_RECORD_ID_GYROSCOPE_CALIBRATED : BNO08x +
- FRS_RECORD_ID_MAGNETIC_FIELD_CALIBRATED : BNO08x +
- FRS_RECORD_ID_ROTATION_VECTOR : BNO08x +
- g -
-
+
- gravity_accuracy : BNO08x +
- GRAVITY_Q1 : BNO08x +
- gravity_X : BNO08x +
- gravity_Y : BNO08x +
- gravity_Z : BNO08x +
- gyro_accuracy : BNO08x +
- GYRO_Q1 : BNO08x +
- h -
-
+
- header : BNO08x::bno08x_rx_packet_t +
- HOST_INT_TIMEOUT_MS : BNO08x +
- i -
-
+
- imu_config : BNO08x +
- imu_spi_config : BNO08x +
- io_cs : bno08x_config_t +
- io_int : bno08x_config_t +
- io_miso : bno08x_config_t +
- io_mosi : bno08x_config_t +
- io_rst : bno08x_config_t +
- io_sclk : bno08x_config_t +
- io_wake : bno08x_config_t +
- isr_service_installed : BNO08x +
- l -
-
+
- length : BNO08x::bno08x_rx_packet_t, BNO08x::bno08x_tx_packet_t +
- LINEAR_ACCELEROMETER_Q1 : BNO08x +
- m -
-
+
- magf_accuracy : BNO08x +
- MAGNETOMETER_Q1 : BNO08x +
- MAX_METADATA_LENGTH : BNO08x +
- mems_raw_accel_X : BNO08x +
- mems_raw_accel_Y : BNO08x +
- mems_raw_accel_Z : BNO08x +
- mems_raw_gyro_X : BNO08x +
- mems_raw_gyro_Y : BNO08x +
- mems_raw_gyro_Z : BNO08x +
- mems_raw_magf_X : BNO08x +
- mems_raw_magf_Y : BNO08x +
- mems_raw_magf_Z : BNO08x +
- meta_data : BNO08x +
- q -
-
+
- quat_accuracy : BNO08x +
- queue_frs_read_data : BNO08x +
- queue_reset_reason : BNO08x +
- queue_rx_data : BNO08x +
- queue_tx_data : BNO08x +
- r -
-
+
- raw_accel_X : BNO08x +
- raw_accel_Y : BNO08x +
- raw_accel_Z : BNO08x +
- raw_bias_X : BNO08x +
- raw_bias_Y : BNO08x +
- raw_bias_Z : BNO08x +
- raw_gyro_X : BNO08x +
- raw_gyro_Y : BNO08x +
- raw_gyro_Z : BNO08x +
- raw_lin_accel_X : BNO08x +
- raw_lin_accel_Y : BNO08x +
- raw_lin_accel_Z : BNO08x +
- raw_magf_X : BNO08x +
- raw_magf_Y : BNO08x +
- raw_magf_Z : BNO08x +
- raw_quat_I : BNO08x +
- raw_quat_J : BNO08x +
- raw_quat_K : BNO08x +
- raw_quat_radian_accuracy : BNO08x +
- raw_quat_real : BNO08x +
- raw_uncalib_gyro_X : BNO08x +
- raw_uncalib_gyro_Y : BNO08x +
- raw_uncalib_gyro_Z : BNO08x +
- raw_velocity_gyro_X : BNO08x +
- raw_velocity_gyro_Y : BNO08x +
- raw_velocity_gyro_Z : BNO08x +
- ROTATION_VECTOR_ACCURACY_Q1 : BNO08x +
- ROTATION_VECTOR_Q1 : BNO08x +
- RX_DATA_LENGTH : BNO08x +
- s -
-
+
- sclk_speed : bno08x_config_t +
- SENSOR_REPORT_ID_ACCELEROMETER : BNO08x +
- SENSOR_REPORT_ID_ARVR_STABILIZED_GAME_ROTATION_VECTOR : BNO08x +
- SENSOR_REPORT_ID_ARVR_STABILIZED_ROTATION_VECTOR : BNO08x +
- SENSOR_REPORT_ID_GAME_ROTATION_VECTOR : BNO08x +
- SENSOR_REPORT_ID_GEOMAGNETIC_ROTATION_VECTOR : BNO08x +
- SENSOR_REPORT_ID_GRAVITY : BNO08x +
- SENSOR_REPORT_ID_GYRO_INTEGRATED_ROTATION_VECTOR : BNO08x +
- SENSOR_REPORT_ID_GYROSCOPE : BNO08x +
- SENSOR_REPORT_ID_LINEAR_ACCELERATION : BNO08x +
- SENSOR_REPORT_ID_MAGNETIC_FIELD : BNO08x +
- SENSOR_REPORT_ID_PERSONAL_ACTIVITY_CLASSIFIER : BNO08x +
- SENSOR_REPORT_ID_RAW_ACCELEROMETER : BNO08x +
- SENSOR_REPORT_ID_RAW_GYROSCOPE : BNO08x +
- SENSOR_REPORT_ID_RAW_MAGNETOMETER : BNO08x +
- SENSOR_REPORT_ID_ROTATION_VECTOR : BNO08x +
- SENSOR_REPORT_ID_STABILITY_CLASSIFIER : BNO08x +
- SENSOR_REPORT_ID_STEP_COUNTER : BNO08x +
- SENSOR_REPORT_ID_TAP_DETECTOR : BNO08x +
- SENSOR_REPORT_ID_UNCALIBRATED_GYRO : BNO08x +
- SHTP_REPORT_BASE_TIMESTAMP : BNO08x +
- SHTP_REPORT_COMMAND_REQUEST : BNO08x +
- SHTP_REPORT_COMMAND_RESPONSE : BNO08x +
- SHTP_REPORT_FRS_READ_REQUEST : BNO08x +
- SHTP_REPORT_FRS_READ_RESPONSE : BNO08x +
- SHTP_REPORT_PRODUCT_ID_REQUEST : BNO08x +
- SHTP_REPORT_PRODUCT_ID_RESPONSE : BNO08x +
- SHTP_REPORT_SET_FEATURE_COMMAND : BNO08x +
- spi_hdl : BNO08x +
- spi_peripheral : bno08x_config_t +
- spi_task_hdl : BNO08x +
- spi_transaction : BNO08x +
- stability_classifier : BNO08x +
- step_count : BNO08x +
- t -
-
+
- TAG : BNO08x +
- tap_detector : BNO08x +
- TARE_ARVR_STABILIZED_GAME_ROTATION_VECTOR : BNO08x +
- TARE_ARVR_STABILIZED_ROTATION_VECTOR : BNO08x +
- TARE_AXIS_ALL : BNO08x +
- TARE_AXIS_Z : BNO08x +
- TARE_GAME_ROTATION_VECTOR : BNO08x +
- TARE_GEOMAGNETIC_ROTATION_VECTOR : BNO08x +
- TARE_GYRO_INTEGRATED_ROTATION_VECTOR : BNO08x +
- TARE_NOW : BNO08x +
- TARE_PERSIST : BNO08x +
- TARE_ROTATION_VECTOR : BNO08x +
- TARE_SET_REORIENTATION : BNO08x +
- time_stamp : BNO08x +
- u -
-
+
- uncalib_gyro_accuracy : BNO08x +
+
+
+
diff --git a/documentation/html/functions_w.html b/documentation/html/functions_w.html
new file mode 100644
index 0000000..b0ae138
--- /dev/null
+++ b/documentation/html/functions_w.html
@@ -0,0 +1,111 @@
+
+
+
+
+
+
+
+-
+
- Generated by 1.10.0
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+|
+ esp32_BNO08x 1.1
+
+ C++ BNO08x IMU driver component for esp-idf.
+ |
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+Loading...
+Searching...
+No Matches
+
+
+
+
diff --git a/documentation/html/globals.html b/documentation/html/globals.html
new file mode 100644
index 0000000..9e9a67c
--- /dev/null
+++ b/documentation/html/globals.html
@@ -0,0 +1,115 @@
+
+
+
+
+
+
+
+-
+
- Generated by 1.10.0
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+|
+ esp32_BNO08x 1.1
+
+ C++ BNO08x IMU driver component for esp-idf.
+ |
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+Loading...
+Searching...
+No Matches
+
+
+Here is a list of all file members with links to the files they belong to:
-
+
- bno08x_config_t : BNO08x.hpp +
- CHANNEL_COMMAND : BNO08x.hpp +
- CHANNEL_CONTROL : BNO08x.hpp +
- CHANNEL_EXECUTABLE : BNO08x.hpp +
- CHANNEL_GYRO : BNO08x.hpp +
- CHANNEL_REPORTS : BNO08x.hpp +
- CHANNEL_WAKE_REPORTS : BNO08x.hpp +
- channels_t : BNO08x.hpp +
- IMUAccuracy : BNO08x.hpp +
+
+
+
diff --git a/documentation/html/globals_enum.html b/documentation/html/globals_enum.html
new file mode 100644
index 0000000..334187e
--- /dev/null
+++ b/documentation/html/globals_enum.html
@@ -0,0 +1,108 @@
+
+
+
+
+
+
+
+-
+
- Generated by 1.10.0
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+|
+ esp32_BNO08x 1.1
+
+ C++ BNO08x IMU driver component for esp-idf.
+ |
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+Loading...
+Searching...
+No Matches
+
+
+Here is a list of all enums with links to the files they belong to:
-
+
- channels_t : BNO08x.hpp +
- IMUAccuracy : BNO08x.hpp +
+
+
+
diff --git a/documentation/html/globals_eval.html b/documentation/html/globals_eval.html
new file mode 100644
index 0000000..5a90531
--- /dev/null
+++ b/documentation/html/globals_eval.html
@@ -0,0 +1,112 @@
+
+
+
+
+
+
+
+-
+
- Generated by 1.10.0
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+|
+ esp32_BNO08x 1.1
+
+ C++ BNO08x IMU driver component for esp-idf.
+ |
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+Loading...
+Searching...
+No Matches
+
+
+Here is a list of all enum values with links to the files they belong to:
-
+
- CHANNEL_COMMAND : BNO08x.hpp +
- CHANNEL_CONTROL : BNO08x.hpp +
- CHANNEL_EXECUTABLE : BNO08x.hpp +
- CHANNEL_GYRO : BNO08x.hpp +
- CHANNEL_REPORTS : BNO08x.hpp +
- CHANNEL_WAKE_REPORTS : BNO08x.hpp +
+
+
+
diff --git a/documentation/html/globals_type.html b/documentation/html/globals_type.html
new file mode 100644
index 0000000..a49a194
--- /dev/null
+++ b/documentation/html/globals_type.html
@@ -0,0 +1,107 @@
+
+
+
+
+
+
+
+-
+
- Generated by 1.10.0
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+|
+ esp32_BNO08x 1.1
+
+ C++ BNO08x IMU driver component for esp-idf.
+ |
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+Loading...
+Searching...
+No Matches
+
+
+Here is a list of all typedefs with links to the files they belong to:
-
+
- bno08x_config_t : BNO08x.hpp +
+
+
+
diff --git a/documentation/html/graph_legend.html b/documentation/html/graph_legend.html
new file mode 100644
index 0000000..0a7dbb3
--- /dev/null
+++ b/documentation/html/graph_legend.html
@@ -0,0 +1,167 @@
+
+
+
+
+
+
+
+-
+
- Generated by 1.10.0
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+|
+ esp32_BNO08x 1.1
+
+ C++ BNO08x IMU driver component for esp-idf.
+ |
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+Loading...
+Searching...
+No Matches
+
+
+
+Graph Legend
+
+
+
+
+
+
+
+
+
+This page explains how to interpret the graphs that are generated by doxygen.
+Consider the following example:
/*! Invisible class because of truncation */
+class Invisible { };
+/*! Truncated class, inheritance relation is hidden */
+class Truncated : public Invisible { };
+/* Class not documented with doxygen comments */
+class Undocumented { };
+/*! Class that is inherited using public inheritance */
+class PublicBase : public Truncated { };
+/*! A template class */
+template<class T> class Templ { };
+/*! Class that is inherited using protected inheritance */
+class ProtectedBase { };
+/*! Class that is inherited using private inheritance */
+class PrivateBase { };
+/*! Class that is used by the Inherited class */
+class Used { };
+/*! Super class that inherits a number of other classes */
+class Inherited : public PublicBase,
+ protected ProtectedBase,
+ private PrivateBase,
+ public Undocumented,
+ public Templ<int>
+{
+ private:
+ Used *m_usedClass;
+};
+This will result in the following graph:
+The boxes in the above graph have the following meaning:
+-
+
- +A filled gray box represents the struct or class for which the graph is generated. +
- +A box with a black border denotes a documented struct or class. +
- +A box with a gray border denotes an undocumented struct or class. +
- +A box with a red border denotes a documented struct or class forwhich not all inheritance/containment relations are shown. A graph is truncated if it does not fit within the specified boundaries. +
The arrows have the following meaning:
+-
+
- +A blue arrow is used to visualize a public inheritance relation between two classes. +
- +A dark green arrow is used for protected inheritance. +
- +A dark red arrow is used for private inheritance. +
- +A purple dashed arrow is used if a class is contained or used by another class. The arrow is labelled with the variable(s) through which the pointed class or struct is accessible. +
- +A yellow dashed arrow denotes a relation between a template instance and the template class it was instantiated from. The arrow is labelled with the template parameters of the instance. +
+
+
+
diff --git a/documentation/html/graph_legend.md5 b/documentation/html/graph_legend.md5
new file mode 100644
index 0000000..da515da
--- /dev/null
+++ b/documentation/html/graph_legend.md5
@@ -0,0 +1 @@
+f74606a252eb303675caf37987d0b7af
\ No newline at end of file
diff --git a/documentation/html/graph_legend.png b/documentation/html/graph_legend.png
new file mode 100644
index 0000000..22d00a2
Binary files /dev/null and b/documentation/html/graph_legend.png differ
diff --git a/documentation/html/index.html b/documentation/html/index.html
new file mode 100644
index 0000000..9e03678
--- /dev/null
+++ b/documentation/html/index.html
@@ -0,0 +1,108 @@
+
+
+
+
+
+
+
+-
+
- Generated by 1.10.0
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+|
+ esp32_BNO08x 1.1
+
+ C++ BNO08x IMU driver component for esp-idf.
+ |
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+Loading...
+Searching...
+No Matches
+
+
+
+
+esp32_BNO08x Documentation
+
+
+
diff --git a/documentation/html/jquery.js b/documentation/html/jquery.js
new file mode 100644
index 0000000..1dffb65
--- /dev/null
+++ b/documentation/html/jquery.js
@@ -0,0 +1,34 @@
+/*! jQuery v3.6.0 | (c) OpenJS Foundation and other contributors | jquery.org/license */
+!function(e,t){"use strict";"object"==typeof module&&"object"==typeof module.exports?module.exports=e.document?t(e,!0):function(e){if(!e.document)throw new Error("jQuery requires a window with a document");return t(e)}:t(e)}("undefined"!=typeof window?window:this,function(C,e){"use strict";var t=[],r=Object.getPrototypeOf,s=t.slice,g=t.flat?function(e){return t.flat.call(e)}:function(e){return t.concat.apply([],e)},u=t.push,i=t.indexOf,n={},o=n.toString,v=n.hasOwnProperty,a=v.toString,l=a.call(Object),y={},m=function(e){return"function"==typeof e&&"number"!=typeof e.nodeType&&"function"!=typeof e.item},x=function(e){return null!=e&&e===e.window},E=C.document,c={type:!0,src:!0,nonce:!0,noModule:!0};function b(e,t,n){var r,i,o=(n=n||E).createElement("script");if(o.text=e,t)for(r in c)(i=t[r]||t.getAttribute&&t.getAttribute(r))&&o.setAttribute(r,i);n.head.appendChild(o).parentNode.removeChild(o)}function w(e){return null==e?e+"":"object"==typeof e||"function"==typeof e?n[o.call(e)]||"object":typeof e}var f="3.6.0",S=function(e,t){return new S.fn.init(e,t)};function p(e){var t=!!e&&"length"in e&&e.length,n=w(e);return!m(e)&&!x(e)&&("array"===n||0===t||"number"==typeof t&&0-
+
- Generated by 1.10.0
+
');
+ }
+
+ const showSyncOn = function(n,relpath) {
+ n.html('
');
+ }
+
+ const o = {
+ toroot : toroot,
+ node : {
+ childrenData : NAVTREE,
+ children : [],
+ childrenUL : document.createElement("ul"),
+ getChildrenUL : function() { return this.childrenUL },
+ li : document.getElementById("nav-tree-contents"),
+ depth : 0,
+ relpath : relpath,
+ expanded : false,
+ isLast : true,
+ plus_img : document.createElement("span"),
+ },
+ };
+ o.node.li.appendChild(o.node.childrenUL);
+ o.node.plus_img.className = 'arrow';
+ o.node.plus_img.innerHTML = ARROW_RIGHT;
+
+ const navSync = $('#nav-sync');
+ if (cachedLink()) {
+ showSyncOff(navSync,relpath);
+ navSync.removeClass('sync');
+ } else {
+ showSyncOn(navSync,relpath);
+ }
+
+ navSync.click(() => {
+ const navSync = $('#nav-sync');
+ if (navSync.hasClass('sync')) {
+ navSync.removeClass('sync');
+ showSyncOff(navSync,relpath);
+ storeLink(stripPath2(pathName())+hashUrl());
+ } else {
+ navSync.addClass('sync');
+ showSyncOn(navSync,relpath);
+ deleteLink();
+ }
+ });
+
+ navTo(o,toroot,hashUrl(),relpath);
+ showRoot();
+
+ $(window).bind('hashchange', () => {
+ if (window.location.hash && window.location.hash.length>1) {
+ let a;
+ if ($(location).attr('hash')) {
+ const clslink=stripPath(pathName())+':'+hashValue();
+ a=$('.item a[class$="'+clslink.replace(/
+
+
+
+
+
+
+