From aedfbd846c8393dd69a11beebae4978742f7ee4c Mon Sep 17 00:00:00 2001
From: myles-parfeniuk <myles.parfenyuk@gmail.com>
Date: Tue, 23 Jul 2024 16:25:04 -0700
Subject: [PATCH] Documentation regeneration

---
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diff --git a/README.md b/README.md
index b9884c1..8b38915 100644
--- a/README.md
+++ b/README.md
@@ -1,5 +1,5 @@
 <a name="readme-top"></a>
-![image](esp32_BNO08x_banner.png)
+![image](README_images/esp32_BNO08x_banner.png)
 <summary>Table of Contents</summary>
 <ol>
 <li>
@@ -37,7 +37,7 @@ The default wiring is depicted below, it can be changed at driver initialization
 
 If your ESP does not have the GPIO pin numbers depicted below, you **must change the default GPIO settings in menuconfig**. See the Menuconfig section. 
 
-![image](esp32_BNO08x_wiring.png)
+![image](README_images/esp32_BNO08x_wiring.png)
 <p align="right">(<a href="#readme-top">back to top</a>)</p>
 
 ### Adding to Project
@@ -73,10 +73,10 @@ To access the menu:
     idf.py menuconfig
 
 2. Scroll down to the esp_BNO08x menu and enter it, if you're using vsCode you may have to use the "j" and "k" keys instead of the arrow keys.
-    ![image](esp32_BNO08x_menuconfig_1.png)
+    ![image](README_images/esp32_BNO08x_menuconfig_1.png)
 
 3. Modify whatever settings you'd like from the sub menus. The GPIO Configuration menu allows for the default GPIO pins to be modified, the SPI Configuration menu allows for the default SCLK frequency and host peripheral to be modified.
-    ![image](esp32_BNO08x_menuconfig_2.png)
+    ![image](README_images/esp32_BNO08x_menuconfig_2.png)
 <p align="right">(<a href="#readme-top">back to top</a>)</p>
 
 ### Examples
@@ -198,7 +198,7 @@ API documentation generated with doxygen can be found in the documentation direc
 The following charts illustrate the program flow this library implements for sending and receiving data from BNO08x.  
 These are here to aid development for anyone looking to modify, fork, or contribute.  
 
-![image](esp32_BNO08x_flowchart.png)
+![image](README_images/esp32_BNO08x_flowchart.png)
 <p align="right">(<a href="#readme-top">back to top</a>)</p>
 
 
diff --git a/esp32_BNO08x_banner.png b/README_images/esp32_BNO08x_banner.png
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+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.1</span>
+   </div>
+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
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+</table>
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+<a href="#typedef-members">Typedefs</a> &#124;
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+  <div class="headertitle"><div class="title">BNO08x.hpp File Reference</div></div>
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+<div class="textblock"><code>#include &lt;driver/gpio.h&gt;</code><br />
+<code>#include &lt;driver/spi_common.h&gt;</code><br />
+<code>#include &lt;driver/spi_master.h&gt;</code><br />
+<code>#include &lt;esp_log.h&gt;</code><br />
+<code>#include &lt;esp_rom_gpio.h&gt;</code><br />
+<code>#include &lt;esp_timer.h&gt;</code><br />
+<code>#include &lt;freertos/FreeRTOS.h&gt;</code><br />
+<code>#include &lt;freertos/task.h&gt;</code><br />
+<code>#include &lt;freertos/event_groups.h&gt;</code><br />
+<code>#include &lt;freertos/queue.h&gt;</code><br />
+<code>#include &lt;rom/ets_sys.h&gt;</code><br />
+<code>#include &lt;inttypes.h&gt;</code><br />
+<code>#include &lt;math.h&gt;</code><br />
+<code>#include &lt;stdio.h&gt;</code><br />
+<code>#include &lt;cstring&gt;</code><br />
+<code>#include &lt;functional&gt;</code><br />
+<code>#include &lt;vector&gt;</code><br />
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+<p><a href="_b_n_o08x_8hpp_source.html">Go to the source code of this file.</a></p>
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+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct_b_n_o08x_1_1bno08x__tx__packet__t.html">BNO08x::bno08x_tx_packet_t</a></td></tr>
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+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="typedef-members" name="typedef-members"></a>
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+<tr class="separator:aac50a1392dd0aa905500c755148c556b"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+, <a class="el" href="#adb7d85b4fa619c860031f469261c6279ab89de3b4b81c4facfac906edf29aec8c">HIGH</a>
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+<tr class="memdesc:adb7d85b4fa619c860031f469261c6279"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sensor accuracy returned during sensor calibration.  <a href="#adb7d85b4fa619c860031f469261c6279">More...</a><br /></td></tr>
+<tr class="separator:adb7d85b4fa619c860031f469261c6279"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.1</span>
+   </div>
+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
+  </td>
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+  <div class="headertitle"><div class="title">BNO08x.hpp</div></div>
+</div><!--header-->
+<div class="contents">
+<a href="_b_n_o08x_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span><span class="comment">// esp-idf includes</span></div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a4882dbc698d7b730f57e2401037766a9">    3</a></span><span class="preprocessor">#include &lt;driver/gpio.h&gt;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;driver/spi_common.h&gt;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &lt;driver/spi_master.h&gt;</span></div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#include &lt;esp_log.h&gt;</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#include &lt;esp_rom_gpio.h&gt;</span></div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &lt;esp_timer.h&gt;</span></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="preprocessor">#include &lt;freertos/FreeRTOS.h&gt;</span></div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="preprocessor">#include &lt;freertos/task.h&gt;</span></div>
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="preprocessor">#include &lt;freertos/event_groups.h&gt;</span></div>
+<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span><span class="preprocessor">#include &lt;freertos/queue.h&gt;</span></div>
+<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span><span class="preprocessor">#include &lt;rom/ets_sys.h&gt;</span></div>
+<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span> </div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span><span class="comment">// standard library includes</span></div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span><span class="preprocessor">#include &lt;inttypes.h&gt;</span></div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span><span class="preprocessor">#include &lt;math.h&gt;</span></div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span><span class="preprocessor">#include &lt;stdio.h&gt;</span></div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span><span class="preprocessor">#include &lt;cstring&gt;</span></div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span><span class="preprocessor">#include &lt;functional&gt;</span></div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span><span class="preprocessor">#include &lt;vector&gt;</span></div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span> </div>
+<div class="foldopen" id="foldopen00024" data-start="{" data-end="};">
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"><a class="line" href="_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556b">   24</a></span><span class="keyword">enum</span> <a class="code hl_enumeration" href="_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556b">channels_t</a></div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>{</div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"><a class="line" href="_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556ba1cb5955609063cff1ba49147e786e610">   26</a></span>    <a class="code hl_enumvalue" href="_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556ba1cb5955609063cff1ba49147e786e610">CHANNEL_COMMAND</a>,</div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"><a class="line" href="_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556ba8a5de65712767758887f8fad9523bb72">   27</a></span>    <a class="code hl_enumvalue" href="_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556ba8a5de65712767758887f8fad9523bb72">CHANNEL_EXECUTABLE</a>,</div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"><a class="line" href="_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556ba6c5ca5e5847c55b469afbb435e15b5f0">   28</a></span>    <a class="code hl_enumvalue" href="_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556ba6c5ca5e5847c55b469afbb435e15b5f0">CHANNEL_CONTROL</a>,</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"><a class="line" href="_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556ba22f0b2ae6fcdc8618a078b0579d09e4a">   29</a></span>    <a class="code hl_enumvalue" href="_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556ba22f0b2ae6fcdc8618a078b0579d09e4a">CHANNEL_REPORTS</a>,</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"><a class="line" href="_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556bafbb907d12060466f58dd56d3e2430747">   30</a></span>    <a class="code hl_enumvalue" href="_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556bafbb907d12060466f58dd56d3e2430747">CHANNEL_WAKE_REPORTS</a>,</div>
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+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"><a class="line" href="_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556bafd513a698e54122cec579d9450482832">   32</a></span>};</div>
+</div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span> </div>
+<div class="foldopen" id="foldopen00035" data-start="{" data-end="};">
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"><a class="line" href="_b_n_o08x_8hpp.html#adb7d85b4fa619c860031f469261c6279">   35</a></span><span class="keyword">enum class</span> <a class="code hl_enumeration" href="_b_n_o08x_8hpp.html#adb7d85b4fa619c860031f469261c6279">IMUAccuracy</a></div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>{</div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>    <a class="code hl_enumvalue" href="_b_n_o08x_8hpp.html#adb7d85b4fa619c860031f469261c6279a41bc94cbd8eebea13ce0491b2ac11b88">LOW</a> = 1,</div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>    <a class="code hl_enumvalue" href="_b_n_o08x_8hpp.html#adb7d85b4fa619c860031f469261c6279a2ad6d5975c45da2e711c796f3a1b029c">MED</a>,</div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>    <a class="code hl_enumvalue" href="_b_n_o08x_8hpp.html#adb7d85b4fa619c860031f469261c6279ab89de3b4b81c4facfac906edf29aec8c">HIGH</a></div>
+<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>};</div>
+</div>
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span> </div>
+<div class="foldopen" id="foldopen00043" data-start="{" data-end="};">
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"><a class="line" href="structbno08x__config__t.html">   43</a></span><span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code hl_struct" href="structbno08x__config__t.html">bno08x_config_t</a></div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>{</div>
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"><a class="line" href="structbno08x__config__t.html#a020d2343750bb7debc2a108ae038c9ec">   45</a></span>        spi_host_device_t <a class="code hl_variable" href="structbno08x__config__t.html#a020d2343750bb7debc2a108ae038c9ec">spi_peripheral</a>; </div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"><a class="line" href="structbno08x__config__t.html#a79023fd80039e41a22b7f73ccd5fc861">   46</a></span>        gpio_num_t <a class="code hl_variable" href="structbno08x__config__t.html#a79023fd80039e41a22b7f73ccd5fc861">io_mosi</a>;               </div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"><a class="line" href="structbno08x__config__t.html#a9468180a773892977db39cc5ed9368e3">   47</a></span>        gpio_num_t <a class="code hl_variable" href="structbno08x__config__t.html#a9468180a773892977db39cc5ed9368e3">io_miso</a>;               </div>
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"><a class="line" href="structbno08x__config__t.html#a639685b91ae3198909d722316495246a">   48</a></span>        gpio_num_t <a class="code hl_variable" href="structbno08x__config__t.html#a639685b91ae3198909d722316495246a">io_sclk</a>;               </div>
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"><a class="line" href="structbno08x__config__t.html#ab1b5351b63da0c172c942463d0dc2505">   49</a></span>        gpio_num_t <a class="code hl_variable" href="structbno08x__config__t.html#ab1b5351b63da0c172c942463d0dc2505">io_cs</a>;                 </div>
+<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"><a class="line" href="structbno08x__config__t.html#a3cfe965659cfbc6b0c5269bd0211975f">   50</a></span>        gpio_num_t <a class="code hl_variable" href="structbno08x__config__t.html#a3cfe965659cfbc6b0c5269bd0211975f">io_int</a>;                </div>
+<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"><a class="line" href="structbno08x__config__t.html#a62745c761219139f66ecd173b51577fc">   51</a></span>        gpio_num_t <a class="code hl_variable" href="structbno08x__config__t.html#a62745c761219139f66ecd173b51577fc">io_rst</a>;                </div>
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"><a class="line" href="structbno08x__config__t.html#a90ad7f316dc443874d19dc7e723a0ce0">   52</a></span>        gpio_num_t <a class="code hl_variable" href="structbno08x__config__t.html#a90ad7f316dc443874d19dc7e723a0ce0">io_wake</a>;               </div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"><a class="line" href="structbno08x__config__t.html#a231614c3b20888360def2ce9db83f52a">   53</a></span>        uint32_t <a class="code hl_variable" href="structbno08x__config__t.html#a231614c3b20888360def2ce9db83f52a">sclk_speed</a>;              </div>
+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span> </div>
+<div class="foldopen" id="foldopen00058" data-start="{" data-end="}">
+<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"><a class="line" href="structbno08x__config__t.html#abf8805292192f4c30c5000423175a2e1">   58</a></span>        <a class="code hl_function" href="structbno08x__config__t.html#abf8805292192f4c30c5000423175a2e1">bno08x_config_t</a>()</div>
+<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>            : <a class="code hl_variable" href="structbno08x__config__t.html#a020d2343750bb7debc2a108ae038c9ec">spi_peripheral</a>((spi_host_device_t)CONFIG_ESP32_BNO08x_SPI_HOST)</div>
+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>            , <a class="code hl_variable" href="structbno08x__config__t.html#a79023fd80039e41a22b7f73ccd5fc861">io_mosi</a>((gpio_num_t)CONFIG_ESP32_BNO08X_GPIO_DI) <span class="comment">// default:</span></div>
+<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>            , <a class="code hl_variable" href="structbno08x__config__t.html#a9468180a773892977db39cc5ed9368e3">io_miso</a>((gpio_num_t)CONFIG_ESP32_BNO08X_GPIO_SDA) <span class="comment">// default:</span></div>
+<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>            , <a class="code hl_variable" href="structbno08x__config__t.html#a639685b91ae3198909d722316495246a">io_sclk</a>((gpio_num_t)CONFIG_ESP32_BNO08X_GPIO_SCL) <span class="comment">// default:</span></div>
+<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>            , <a class="code hl_variable" href="structbno08x__config__t.html#ab1b5351b63da0c172c942463d0dc2505">io_cs</a>((gpio_num_t)CONFIG_ESP32_BNO08X_GPIO_CS) <span class="comment">// default:</span></div>
+<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>            , <a class="code hl_variable" href="structbno08x__config__t.html#a3cfe965659cfbc6b0c5269bd0211975f">io_int</a>((gpio_num_t)CONFIG_ESP32_BNO08X_GPIO_HINT) <span class="comment">// default:</span></div>
+<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>            , <a class="code hl_variable" href="structbno08x__config__t.html#a62745c761219139f66ecd173b51577fc">io_rst</a>((gpio_num_t)CONFIG_ESP32_BNO08X_GPIO_RST) <span class="comment">// default:</span></div>
+<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>            , <a class="code hl_variable" href="structbno08x__config__t.html#a90ad7f316dc443874d19dc7e723a0ce0">io_wake</a>((gpio_num_t)CONFIG_ESP32_BNO08X_GPIO_WAKE) <span class="comment">// default: -1 (unused)</span></div>
+<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>            , <a class="code hl_variable" href="structbno08x__config__t.html#a231614c3b20888360def2ce9db83f52a">sclk_speed</a>((uint32_t)CONFIG_ESP32_BNO08X_SCL_SPEED_HZ) <span class="comment">// default: 2MH</span></div>
+<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span> </div>
+<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>        {</div>
+<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>        }</div>
+</div>
+<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span> </div>
+<div class="foldopen" id="foldopen00073" data-start="{" data-end="}">
+<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"><a class="line" href="structbno08x__config__t.html#ae3b4bc522d30f9df7747ed46d0532c23">   73</a></span>        <a class="code hl_function" href="structbno08x__config__t.html#ae3b4bc522d30f9df7747ed46d0532c23">bno08x_config_t</a>(spi_host_device_t <a class="code hl_variable" href="structbno08x__config__t.html#a020d2343750bb7debc2a108ae038c9ec">spi_peripheral</a>, gpio_num_t <a class="code hl_variable" href="structbno08x__config__t.html#a79023fd80039e41a22b7f73ccd5fc861">io_mosi</a>, gpio_num_t <a class="code hl_variable" href="structbno08x__config__t.html#a9468180a773892977db39cc5ed9368e3">io_miso</a>, gpio_num_t <a class="code hl_variable" href="structbno08x__config__t.html#a639685b91ae3198909d722316495246a">io_sclk</a>, gpio_num_t <a class="code hl_variable" href="structbno08x__config__t.html#ab1b5351b63da0c172c942463d0dc2505">io_cs</a>,</div>
+<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>                gpio_num_t <a class="code hl_variable" href="structbno08x__config__t.html#a3cfe965659cfbc6b0c5269bd0211975f">io_int</a>, gpio_num_t <a class="code hl_variable" href="structbno08x__config__t.html#a62745c761219139f66ecd173b51577fc">io_rst</a>, gpio_num_t <a class="code hl_variable" href="structbno08x__config__t.html#a90ad7f316dc443874d19dc7e723a0ce0">io_wake</a>, uint32_t <a class="code hl_variable" href="structbno08x__config__t.html#a231614c3b20888360def2ce9db83f52a">sclk_speed</a>)</div>
+<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>            : <a class="code hl_variable" href="structbno08x__config__t.html#a020d2343750bb7debc2a108ae038c9ec">spi_peripheral</a>(<a class="code hl_variable" href="structbno08x__config__t.html#a020d2343750bb7debc2a108ae038c9ec">spi_peripheral</a>)</div>
+<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>            , <a class="code hl_variable" href="structbno08x__config__t.html#a79023fd80039e41a22b7f73ccd5fc861">io_mosi</a>(<a class="code hl_variable" href="structbno08x__config__t.html#a79023fd80039e41a22b7f73ccd5fc861">io_mosi</a>)</div>
+<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>            , <a class="code hl_variable" href="structbno08x__config__t.html#a9468180a773892977db39cc5ed9368e3">io_miso</a>(<a class="code hl_variable" href="structbno08x__config__t.html#a9468180a773892977db39cc5ed9368e3">io_miso</a>)</div>
+<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>            , <a class="code hl_variable" href="structbno08x__config__t.html#a639685b91ae3198909d722316495246a">io_sclk</a>(<a class="code hl_variable" href="structbno08x__config__t.html#a639685b91ae3198909d722316495246a">io_sclk</a>)</div>
+<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>            , <a class="code hl_variable" href="structbno08x__config__t.html#ab1b5351b63da0c172c942463d0dc2505">io_cs</a>(<a class="code hl_variable" href="structbno08x__config__t.html#ab1b5351b63da0c172c942463d0dc2505">io_cs</a>)</div>
+<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>            , <a class="code hl_variable" href="structbno08x__config__t.html#a3cfe965659cfbc6b0c5269bd0211975f">io_int</a>(<a class="code hl_variable" href="structbno08x__config__t.html#a3cfe965659cfbc6b0c5269bd0211975f">io_int</a>)</div>
+<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>            , <a class="code hl_variable" href="structbno08x__config__t.html#a62745c761219139f66ecd173b51577fc">io_rst</a>(<a class="code hl_variable" href="structbno08x__config__t.html#a62745c761219139f66ecd173b51577fc">io_rst</a>)</div>
+<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>            , <a class="code hl_variable" href="structbno08x__config__t.html#a90ad7f316dc443874d19dc7e723a0ce0">io_wake</a>(<a class="code hl_variable" href="structbno08x__config__t.html#a90ad7f316dc443874d19dc7e723a0ce0">io_wake</a>)</div>
+<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>            , <a class="code hl_variable" href="structbno08x__config__t.html#a231614c3b20888360def2ce9db83f52a">sclk_speed</a>(<a class="code hl_variable" href="structbno08x__config__t.html#a231614c3b20888360def2ce9db83f52a">sclk_speed</a>)</div>
+<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>        {</div>
+<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span>        }</div>
+</div>
+<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"><a class="line" href="_b_n_o08x_8hpp.html#a648bbdbf22731476890dd8da977d7503">   86</a></span>} <a class="code hl_typedef" href="_b_n_o08x_8hpp.html#a648bbdbf22731476890dd8da977d7503">bno08x_config_t</a>;</div>
+</div>
+<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span> </div>
+<div class="foldopen" id="foldopen00088" data-start="{" data-end="};">
+<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html">   88</a></span><span class="keyword">class </span><a class="code hl_class" href="class_b_n_o08x.html">BNO08x</a></div>
+<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>{</div>
+<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>    <span class="keyword">public</span>:</div>
+<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>        <a class="code hl_function" href="class_b_n_o08x.html#a40f7688e843d74b8bd526c6f5ff17845">BNO08x</a>(<a class="code hl_struct" href="structbno08x__config__t.html">bno08x_config_t</a> <a class="code hl_variable" href="class_b_n_o08x.html#aeda443e9f608fccfec0e6770edc90c82">imu_config</a> = <a class="code hl_variable" href="class_b_n_o08x.html#a6232920a05c0aba34e5560951a20ae87">default_imu_config</a>);</div>
+<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>        <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x.html#aea8e2c6dd7a2c9899479a7f39fe94798">initialize</a>();</div>
+<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span> </div>
+<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span>        <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x.html#a28cd1c0b3477571d87133234e6358503">hard_reset</a>();</div>
+<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span>        <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x.html#a973a1b1785f3302ee1b2702c6a27646e">soft_reset</a>();</div>
+<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span>        uint8_t <a class="code hl_function" href="class_b_n_o08x.html#a11bb1b3fa44ad8f28c1492b5c07af886">get_reset_reason</a>();</div>
+<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span> </div>
+<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span>        <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x.html#a176ae0112325c05105eacb4566bbfa0b">mode_sleep</a>();</div>
+<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>        <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x.html#ac1b3de9b552c611ee9c455d7f19be698">mode_on</a>();</div>
+<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>        <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#a27fb24e894f794ec6228ef142b6ff8d9">q_to_float</a>(int16_t fixed_point_value, uint8_t q_point);</div>
+<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span> </div>
+<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span>        <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x.html#ae6e875a27ae74ebed806ee1a4576845a">run_full_calibration_routine</a>();</div>
+<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#afd0ca5f9b9741935543d143a5a43d128">calibrate_all</a>();</div>
+<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#aeffce374f558a167d5b5f19ad627e7cc">calibrate_accelerometer</a>();</div>
+<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a9ada90f8ab6dd33fa2d7c168d9234af1">calibrate_gyro</a>();</div>
+<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#ac26350b55095a346d72598ab8aa74b4a">calibrate_magnetometer</a>();</div>
+<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a1c6c49c97bc098db89db1aaa37e18f26">calibrate_planar_accelerometer</a>();</div>
+<div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#affaaa35abbb872da5299ebab6e2c9b11">request_calibration_status</a>();</div>
+<div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span>        <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x.html#a71ca35f78b98d93d31eb0c187dc8543b">calibration_complete</a>();</div>
+<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#ac9d9b6636745e8180807284da67c92a2">end_calibration</a>();</div>
+<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#aa16609de88bfb7b389348859aa0cee54">save_calibration</a>();</div>
+<div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span> </div>
+<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#ab4c1d5cde156af09b7e88913f3af62c7">enable_rotation_vector</a>(uint32_t time_between_reports);</div>
+<div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#abe04c38b5bd52d331bd8aefae1f51947">enable_game_rotation_vector</a>(uint32_t time_between_reports);</div>
+<div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a8a5f3b985989e846e831f70f7733d0bc">enable_ARVR_stabilized_rotation_vector</a>(uint32_t time_between_reports);</div>
+<div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a5680148a41cb9cc96d1911150c46d2b8">enable_ARVR_stabilized_game_rotation_vector</a>(uint32_t time_between_reports);</div>
+<div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a7388c67de3906ad05b233fd7eff0514d">enable_gyro_integrated_rotation_vector</a>(uint32_t time_between_reports);</div>
+<div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a2795c6579cf03e22f62a5eadc88dee91">enable_accelerometer</a>(uint32_t time_between_reports);</div>
+<div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#ae1435b83ca83bc51b75f3303afe87f7b">enable_linear_accelerometer</a>(uint32_t time_between_reports);</div>
+<div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a030eae12c3586acf09b48e94630b2544">enable_gravity</a>(uint32_t time_between_reports);</div>
+<div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#ad7b322681b9ec5f57edb09e336b988c0">enable_gyro</a>(uint32_t time_between_reports);</div>
+<div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a7fe5de95b1f51da44247a87317fd0c75">enable_uncalibrated_gyro</a>(uint32_t time_between_reports);</div>
+<div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a3c32120bcd0987c3ca1bb72910586b59">enable_magnetometer</a>(uint32_t time_between_reports);</div>
+<div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#ab4c8e37c730ddb168f78c29bd7ae6566">enable_tap_detector</a>(uint32_t time_between_reports);</div>
+<div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a5a0b0f5b8e962247a3b8aee8f1dc8e9f">enable_step_counter</a>(uint32_t time_between_reports);</div>
+<div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#ab0a60844b36fb140cad588a65b3a9655">enable_stability_classifier</a>(uint32_t time_between_reports);</div>
+<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#ad7b83cac874c092583f8513d3bb69bbf">enable_activity_classifier</a>(uint32_t time_between_reports, uint32_t activities_to_enable, uint8_t (&amp;activity_confidence_vals)[9]);</div>
+<div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a3042301cf0f51657c82b1127dce230f4">enable_raw_accelerometer</a>(uint32_t time_between_reports);</div>
+<div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a8d8e75f0234287cb89cbec553cffe52c">enable_raw_gyro</a>(uint32_t time_between_reports);</div>
+<div class="line"><a id="l00130" name="l00130"></a><span class="lineno">  130</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a14ebec501b8d004a38648a9a1f7a2c9e">enable_raw_magnetometer</a>(uint32_t time_between_reports);</div>
+<div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span> </div>
+<div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a1ebd456d2a67a22b5ba0911a95915921">disable_rotation_vector</a>();</div>
+<div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a7665cce95e791c89161ec863f49c0392">disable_game_rotation_vector</a>();</div>
+<div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#aa59e3d8953c96dc1cc5958a1ac628df4">disable_ARVR_stabilized_rotation_vector</a>();</div>
+<div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#ab187fe50fcfbb04bec9e80eb0fccf61c">disable_ARVR_stabilized_game_rotation_vector</a>();</div>
+<div class="line"><a id="l00136" name="l00136"></a><span class="lineno">  136</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#aac0a00bed7825d8a2c357a48c3626931">disable_gyro_integrated_rotation_vector</a>();</div>
+<div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#ad5c991150895b80bee68c933059a4058">disable_accelerometer</a>();</div>
+<div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#afbd2b02d5abe7084ce9de49ee2c9142f">disable_linear_accelerometer</a>();</div>
+<div class="line"><a id="l00139" name="l00139"></a><span class="lineno">  139</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a5e63a9e68dbe2968b37dcb6dae04de6f">disable_gravity</a>();</div>
+<div class="line"><a id="l00140" name="l00140"></a><span class="lineno">  140</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a8296089e2fdbd7d2e85f364cf063af82">disable_gyro</a>();</div>
+<div class="line"><a id="l00141" name="l00141"></a><span class="lineno">  141</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#aaf28212a5f1960c62a73282976142cfc">disable_uncalibrated_gyro</a>();</div>
+<div class="line"><a id="l00142" name="l00142"></a><span class="lineno">  142</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a6671b082d20dda8bf5c53cb47db0c338">disable_magnetometer</a>();</div>
+<div class="line"><a id="l00143" name="l00143"></a><span class="lineno">  143</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a16f83d1e85576a51abf2c65e5de58cd2">disable_tap_detector</a>();</div>
+<div class="line"><a id="l00144" name="l00144"></a><span class="lineno">  144</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a427550a4ba25252912436b899124e157">disable_step_counter</a>();</div>
+<div class="line"><a id="l00145" name="l00145"></a><span class="lineno">  145</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#ab307ed3352e04c9e998ab4dd066f8932">disable_stability_classifier</a>();</div>
+<div class="line"><a id="l00146" name="l00146"></a><span class="lineno">  146</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a4fdc39294922a9553d84cd96bdae4376">disable_activity_classifier</a>();</div>
+<div class="line"><a id="l00147" name="l00147"></a><span class="lineno">  147</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a171d78f4b00598b04c8ca54da16c508b">disable_raw_accelerometer</a>();</div>
+<div class="line"><a id="l00148" name="l00148"></a><span class="lineno">  148</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a75ef3d09f1ee016999c459e43e9e8c44">disable_raw_gyro</a>();</div>
+<div class="line"><a id="l00149" name="l00149"></a><span class="lineno">  149</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#add29c84038558c28bcfca37865cf9244">disable_raw_magnetometer</a>();</div>
+<div class="line"><a id="l00150" name="l00150"></a><span class="lineno">  150</span> </div>
+<div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a4549bbef48208bd9c745fc755b93012f">tare_now</a>(uint8_t axis_sel = <a class="code hl_variable" href="class_b_n_o08x.html#a1ef13f6f330810934416ad5fe0ee55b2">TARE_AXIS_ALL</a>, uint8_t rotation_vector_basis = <a class="code hl_variable" href="class_b_n_o08x.html#a8e2cfc25d0e34ae53a762b88cc3ac3c8">TARE_ROTATION_VECTOR</a>);</div>
+<div class="line"><a id="l00152" name="l00152"></a><span class="lineno">  152</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#afb2ffc4e7ff0498917bc14a83af306e2">save_tare</a>();</div>
+<div class="line"><a id="l00153" name="l00153"></a><span class="lineno">  153</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#afe39bfdede7b9a2b273983cb29a27d6e">clear_tare</a>();</div>
+<div class="line"><a id="l00154" name="l00154"></a><span class="lineno">  154</span> </div>
+<div class="line"><a id="l00155" name="l00155"></a><span class="lineno">  155</span>        <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x.html#a367d525d1c0ba119b3dca3067bb5bccc">data_available</a>();</div>
+<div class="line"><a id="l00156" name="l00156"></a><span class="lineno">  156</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a06bb0c70305421b5357e64f31579fdc7">register_cb</a>(std::function&lt;<span class="keywordtype">void</span>()&gt; cb_fxn);</div>
+<div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span> </div>
+<div class="line"><a id="l00158" name="l00158"></a><span class="lineno">  158</span>        uint32_t <a class="code hl_function" href="class_b_n_o08x.html#ad9137777271421a58159f3fe5e05ed20">get_time_stamp</a>();</div>
+<div class="line"><a id="l00159" name="l00159"></a><span class="lineno">  159</span> </div>
+<div class="line"><a id="l00160" name="l00160"></a><span class="lineno">  160</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a35a224d519a2a243d0d526a34ecde5a8">get_magf</a>(<span class="keywordtype">float</span>&amp; x, <span class="keywordtype">float</span>&amp; y, <span class="keywordtype">float</span>&amp; z, uint8_t&amp; accuracy);</div>
+<div class="line"><a id="l00161" name="l00161"></a><span class="lineno">  161</span>        <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#a111601243b913751eb51c1f37cba4e7d">get_magf_X</a>();</div>
+<div class="line"><a id="l00162" name="l00162"></a><span class="lineno">  162</span>        <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#a82ed8d7b9a5c25374839df75a3d220ea">get_magf_Y</a>();</div>
+<div class="line"><a id="l00163" name="l00163"></a><span class="lineno">  163</span>        <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#ab4c48a91d2f8b29430abc17b7f015282">get_magf_Z</a>();</div>
+<div class="line"><a id="l00164" name="l00164"></a><span class="lineno">  164</span>        uint8_t <a class="code hl_function" href="class_b_n_o08x.html#a487391e6b2dd7f05084804d1fb94976f">get_magf_accuracy</a>();</div>
+<div class="line"><a id="l00165" name="l00165"></a><span class="lineno">  165</span> </div>
+<div class="line"><a id="l00166" name="l00166"></a><span class="lineno">  166</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a386c46ac8965220ab7b9423df838dd4d">get_gravity</a>(<span class="keywordtype">float</span>&amp; x, <span class="keywordtype">float</span>&amp; y, <span class="keywordtype">float</span>&amp; z, uint8_t&amp; accuracy);</div>
+<div class="line"><a id="l00167" name="l00167"></a><span class="lineno">  167</span>        <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#a88679bccd9339b87ec35fc4fc4e745ae">get_gravity_X</a>();</div>
+<div class="line"><a id="l00168" name="l00168"></a><span class="lineno">  168</span>        <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#a8a36db7f1c932f33e05e494632059801">get_gravity_Y</a>();</div>
+<div class="line"><a id="l00169" name="l00169"></a><span class="lineno">  169</span>        <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#a5622b4d1754648ea7eb400c1adf9e807">get_gravity_Z</a>();</div>
+<div class="line"><a id="l00170" name="l00170"></a><span class="lineno">  170</span>        uint8_t <a class="code hl_function" href="class_b_n_o08x.html#accd39f48e9f8ab8267df7184b5b7cd76">get_gravity_accuracy</a>();</div>
+<div class="line"><a id="l00171" name="l00171"></a><span class="lineno">  171</span> </div>
+<div class="line"><a id="l00172" name="l00172"></a><span class="lineno">  172</span>        <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#a89618eba08186ee8e679e7313907ddef">get_roll</a>();</div>
+<div class="line"><a id="l00173" name="l00173"></a><span class="lineno">  173</span>        <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#a1b91f234d81c45f1f5ca2f27c9f0f6a3">get_pitch</a>();</div>
+<div class="line"><a id="l00174" name="l00174"></a><span class="lineno">  174</span>        <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#a64d3e41750c6de9413d6982511f78f17">get_yaw</a>();</div>
+<div class="line"><a id="l00175" name="l00175"></a><span class="lineno">  175</span> </div>
+<div class="line"><a id="l00176" name="l00176"></a><span class="lineno">  176</span>        <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#a7077b9a130f1dcf0192454e387968dd6">get_roll_deg</a>();</div>
+<div class="line"><a id="l00177" name="l00177"></a><span class="lineno">  177</span>        <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#af50010400cbd1445e9ddfa259384b412">get_pitch_deg</a>();</div>
+<div class="line"><a id="l00178" name="l00178"></a><span class="lineno">  178</span>        <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#af80f7795656e695e036d3b1557aed94c">get_yaw_deg</a>();</div>
+<div class="line"><a id="l00179" name="l00179"></a><span class="lineno">  179</span> </div>
+<div class="line"><a id="l00180" name="l00180"></a><span class="lineno">  180</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a51a6d594824de2292e70f788454f8a2d">get_quat</a>(<span class="keywordtype">float</span>&amp; i, <span class="keywordtype">float</span>&amp; j, <span class="keywordtype">float</span>&amp; k, <span class="keywordtype">float</span>&amp; real, <span class="keywordtype">float</span>&amp; rad_accuracy, uint8_t&amp; accuracy);</div>
+<div class="line"><a id="l00181" name="l00181"></a><span class="lineno">  181</span>        <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#a12c12a8e078b28480fb8828d306656f5">get_quat_I</a>();</div>
+<div class="line"><a id="l00182" name="l00182"></a><span class="lineno">  182</span>        <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#a9f6bb642fa0297a7b9bcc94dd7374015">get_quat_J</a>();</div>
+<div class="line"><a id="l00183" name="l00183"></a><span class="lineno">  183</span>        <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#a9f42c70c2337a0d831064a40ecfe2dd8">get_quat_K</a>();</div>
+<div class="line"><a id="l00184" name="l00184"></a><span class="lineno">  184</span>        <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#a5a556c5ec1baaa7f1156779dbe47a7b7">get_quat_real</a>();</div>
+<div class="line"><a id="l00185" name="l00185"></a><span class="lineno">  185</span>        <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#a61b7d10a98afc6903fea6b2cede27630">get_quat_radian_accuracy</a>();</div>
+<div class="line"><a id="l00186" name="l00186"></a><span class="lineno">  186</span>        uint8_t <a class="code hl_function" href="class_b_n_o08x.html#a24ba760d064a1dc45f972c79b9c8d98d">get_quat_accuracy</a>();</div>
+<div class="line"><a id="l00187" name="l00187"></a><span class="lineno">  187</span> </div>
+<div class="line"><a id="l00188" name="l00188"></a><span class="lineno">  188</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a9329c6669282071622c3b3741b1b8142">get_accel</a>(<span class="keywordtype">float</span>&amp; x, <span class="keywordtype">float</span>&amp; y, <span class="keywordtype">float</span>&amp; z, uint8_t&amp; accuracy);</div>
+<div class="line"><a id="l00189" name="l00189"></a><span class="lineno">  189</span>        <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#abce574112a9079d2cbc58cfc352b8a69">get_accel_X</a>();</div>
+<div class="line"><a id="l00190" name="l00190"></a><span class="lineno">  190</span>        <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#afdf24bb3d54518b23972f21f007817c1">get_accel_Y</a>();</div>
+<div class="line"><a id="l00191" name="l00191"></a><span class="lineno">  191</span>        <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#a0a72477cb7a330fedbcb3e2126b882b1">get_accel_Z</a>();</div>
+<div class="line"><a id="l00192" name="l00192"></a><span class="lineno">  192</span>        uint8_t <a class="code hl_function" href="class_b_n_o08x.html#a3fce726d5de821f97ed207036dae2900">get_accel_accuracy</a>();</div>
+<div class="line"><a id="l00193" name="l00193"></a><span class="lineno">  193</span> </div>
+<div class="line"><a id="l00194" name="l00194"></a><span class="lineno">  194</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#ad59b029d04341dbef72e059488951980">get_linear_accel</a>(<span class="keywordtype">float</span>&amp; x, <span class="keywordtype">float</span>&amp; y, <span class="keywordtype">float</span>&amp; z, uint8_t&amp; accuracy);</div>
+<div class="line"><a id="l00195" name="l00195"></a><span class="lineno">  195</span>        <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#a763c3a9699a1081d430fd9b9b7bc49a3">get_linear_accel_X</a>();</div>
+<div class="line"><a id="l00196" name="l00196"></a><span class="lineno">  196</span>        <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#a1033bdd65b42b6706d1dfc67ece66191">get_linear_accel_Y</a>();</div>
+<div class="line"><a id="l00197" name="l00197"></a><span class="lineno">  197</span>        <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#afdfa7d50362702da689c5d18bf17fd84">get_linear_accel_Z</a>();</div>
+<div class="line"><a id="l00198" name="l00198"></a><span class="lineno">  198</span>        uint8_t <a class="code hl_function" href="class_b_n_o08x.html#a33fe3c2f47759cfae5f4b612ddd329ea">get_linear_accel_accuracy</a>();</div>
+<div class="line"><a id="l00199" name="l00199"></a><span class="lineno">  199</span> </div>
+<div class="line"><a id="l00200" name="l00200"></a><span class="lineno">  200</span>        int16_t <a class="code hl_function" href="class_b_n_o08x.html#a1de356dd604c1dffcd1a32faeb4fafe2">get_raw_accel_X</a>();</div>
+<div class="line"><a id="l00201" name="l00201"></a><span class="lineno">  201</span>        int16_t <a class="code hl_function" href="class_b_n_o08x.html#a96563de0eb597a52d595d19da827b1ac">get_raw_accel_Y</a>();</div>
+<div class="line"><a id="l00202" name="l00202"></a><span class="lineno">  202</span>        int16_t <a class="code hl_function" href="class_b_n_o08x.html#a718cdd910e5e7e03fd0a1ad04ee6f0ce">get_raw_accel_Z</a>();</div>
+<div class="line"><a id="l00203" name="l00203"></a><span class="lineno">  203</span> </div>
+<div class="line"><a id="l00204" name="l00204"></a><span class="lineno">  204</span>        int16_t <a class="code hl_function" href="class_b_n_o08x.html#af1b2c3a383a84fc6dfaddae1052b44d4">get_raw_gyro_X</a>();</div>
+<div class="line"><a id="l00205" name="l00205"></a><span class="lineno">  205</span>        int16_t <a class="code hl_function" href="class_b_n_o08x.html#aff7714441d242b3b9b0c03f94e0a9374">get_raw_gyro_Y</a>();</div>
+<div class="line"><a id="l00206" name="l00206"></a><span class="lineno">  206</span>        int16_t <a class="code hl_function" href="class_b_n_o08x.html#a2e28b5a79c442a6baa2fa5165b9ce37d">get_raw_gyro_Z</a>();</div>
+<div class="line"><a id="l00207" name="l00207"></a><span class="lineno">  207</span> </div>
+<div class="line"><a id="l00208" name="l00208"></a><span class="lineno">  208</span>        int16_t <a class="code hl_function" href="class_b_n_o08x.html#adf12600b39de41d258439a343fcc1ad8">get_raw_magf_X</a>();</div>
+<div class="line"><a id="l00209" name="l00209"></a><span class="lineno">  209</span>        int16_t <a class="code hl_function" href="class_b_n_o08x.html#a2c842e43ceae19149f6525bcbc48f1cf">get_raw_magf_Y</a>();</div>
+<div class="line"><a id="l00210" name="l00210"></a><span class="lineno">  210</span>        int16_t <a class="code hl_function" href="class_b_n_o08x.html#a99c1bcc2ec3ca3d8feafd6dd61f9d269">get_raw_magf_Z</a>();</div>
+<div class="line"><a id="l00211" name="l00211"></a><span class="lineno">  211</span> </div>
+<div class="line"><a id="l00212" name="l00212"></a><span class="lineno">  212</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a4d3746a376a22acb7a2641bb750c4c89">get_gyro_calibrated_velocity</a>(<span class="keywordtype">float</span>&amp; x, <span class="keywordtype">float</span>&amp; y, <span class="keywordtype">float</span>&amp; z, uint8_t&amp; accuracy);</div>
+<div class="line"><a id="l00213" name="l00213"></a><span class="lineno">  213</span>        <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#ab7977391191067282e7f734b9ee45059">get_gyro_calibrated_velocity_X</a>();</div>
+<div class="line"><a id="l00214" name="l00214"></a><span class="lineno">  214</span>        <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#ad4fab6e636e239d4b9273f158983ed89">get_gyro_calibrated_velocity_Y</a>();</div>
+<div class="line"><a id="l00215" name="l00215"></a><span class="lineno">  215</span>        <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#a15a29c3bb476048b7229abcfb2b1d52a">get_gyro_calibrated_velocity_Z</a>();</div>
+<div class="line"><a id="l00216" name="l00216"></a><span class="lineno">  216</span>        uint8_t <a class="code hl_function" href="class_b_n_o08x.html#a811999653110858311c97a779c388e5d">get_gyro_accuracy</a>();</div>
+<div class="line"><a id="l00217" name="l00217"></a><span class="lineno">  217</span> </div>
+<div class="line"><a id="l00218" name="l00218"></a><span class="lineno">  218</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a1bd3c33e70354bd35a78b83b6786b531">get_uncalibrated_gyro</a>(<span class="keywordtype">float</span>&amp; x, <span class="keywordtype">float</span>&amp; y, <span class="keywordtype">float</span>&amp; z, <span class="keywordtype">float</span>&amp; bx, <span class="keywordtype">float</span>&amp; by, <span class="keywordtype">float</span>&amp; bz, uint8_t&amp; accuracy);</div>
+<div class="line"><a id="l00219" name="l00219"></a><span class="lineno">  219</span>        <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#a289ff66f51c94be62c4a556f3a5997bf">get_uncalibrated_gyro_X</a>();</div>
+<div class="line"><a id="l00220" name="l00220"></a><span class="lineno">  220</span>        <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#a1874e4bd457bb5b6ecc2c64039b88ba4">get_uncalibrated_gyro_Y</a>();</div>
+<div class="line"><a id="l00221" name="l00221"></a><span class="lineno">  221</span>        <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#a0a73633d8929ce4058b14cefc8cad717">get_uncalibrated_gyro_Z</a>();</div>
+<div class="line"><a id="l00222" name="l00222"></a><span class="lineno">  222</span>        <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#ad228cdf352b7ea95e484da993045a47b">get_uncalibrated_gyro_bias_X</a>();</div>
+<div class="line"><a id="l00223" name="l00223"></a><span class="lineno">  223</span>        <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#a74725517129dd548c7a3de705d5861bd">get_uncalibrated_gyro_bias_Y</a>();</div>
+<div class="line"><a id="l00224" name="l00224"></a><span class="lineno">  224</span>        <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#a5050359272abd146ab3c7a6101effbd7">get_uncalibrated_gyro_bias_Z</a>();</div>
+<div class="line"><a id="l00225" name="l00225"></a><span class="lineno">  225</span>        uint8_t <a class="code hl_function" href="class_b_n_o08x.html#a3285613f18b2f2f4c3f9e6d5c971af10">get_uncalibrated_gyro_accuracy</a>();</div>
+<div class="line"><a id="l00226" name="l00226"></a><span class="lineno">  226</span> </div>
+<div class="line"><a id="l00227" name="l00227"></a><span class="lineno">  227</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#afe6392012669e7ebd1a9e817e2bd313f">get_gyro_velocity</a>(<span class="keywordtype">float</span>&amp; x, <span class="keywordtype">float</span>&amp; y, <span class="keywordtype">float</span>&amp; z);</div>
+<div class="line"><a id="l00228" name="l00228"></a><span class="lineno">  228</span>        <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#acd376cd3e454a87198ec86accbf2ee00">get_gyro_velocity_X</a>();</div>
+<div class="line"><a id="l00229" name="l00229"></a><span class="lineno">  229</span>        <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#acd1819a81818f90dc105950b4a7d0b04">get_gyro_velocity_Y</a>();</div>
+<div class="line"><a id="l00230" name="l00230"></a><span class="lineno">  230</span>        <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#ae2add976af256ec981248371a2f58207">get_gyro_velocity_Z</a>();</div>
+<div class="line"><a id="l00231" name="l00231"></a><span class="lineno">  231</span> </div>
+<div class="line"><a id="l00232" name="l00232"></a><span class="lineno">  232</span>        uint8_t <a class="code hl_function" href="class_b_n_o08x.html#a4797ec731de4c158716da1a7af9d1602">get_tap_detector</a>();</div>
+<div class="line"><a id="l00233" name="l00233"></a><span class="lineno">  233</span>        uint16_t <a class="code hl_function" href="class_b_n_o08x.html#adaff49f3d80fdd19fd4210f0c56d41ef">get_step_count</a>();</div>
+<div class="line"><a id="l00234" name="l00234"></a><span class="lineno">  234</span>        int8_t <a class="code hl_function" href="class_b_n_o08x.html#a0d148e00abcfeec48c689e3084a7e786">get_stability_classifier</a>();</div>
+<div class="line"><a id="l00235" name="l00235"></a><span class="lineno">  235</span>        uint8_t <a class="code hl_function" href="class_b_n_o08x.html#a4f7060b2d3c15b359b70b6346730446a">get_activity_classifier</a>();</div>
+<div class="line"><a id="l00236" name="l00236"></a><span class="lineno">  236</span> </div>
+<div class="line"><a id="l00237" name="l00237"></a><span class="lineno">  237</span>        <span class="comment">// Metadata functions</span></div>
+<div class="line"><a id="l00238" name="l00238"></a><span class="lineno">  238</span>        int16_t <a class="code hl_function" href="class_b_n_o08x.html#a4421c43323945946ad605f8422958dcf">get_Q1</a>(uint16_t record_ID);</div>
+<div class="line"><a id="l00239" name="l00239"></a><span class="lineno">  239</span>        int16_t <a class="code hl_function" href="class_b_n_o08x.html#a954dccdcbe8a8c4f1787f13ebb8d932b">get_Q2</a>(uint16_t record_ID);</div>
+<div class="line"><a id="l00240" name="l00240"></a><span class="lineno">  240</span>        int16_t <a class="code hl_function" href="class_b_n_o08x.html#a1590ba793668f9cb1a32a1f4dd07cb9a">get_Q3</a>(uint16_t record_ID);</div>
+<div class="line"><a id="l00241" name="l00241"></a><span class="lineno">  241</span>        <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#a1d6ea02d0d4b23ff6a15e9d5c6c92372">get_resolution</a>(uint16_t record_ID);</div>
+<div class="line"><a id="l00242" name="l00242"></a><span class="lineno">  242</span>        <span class="keywordtype">float</span> <a class="code hl_function" href="class_b_n_o08x.html#a0fff04c42c9502615ad73cd1457cb9b0">get_range</a>(uint16_t record_ID);</div>
+<div class="line"><a id="l00243" name="l00243"></a><span class="lineno">  243</span>        uint32_t <a class="code hl_function" href="class_b_n_o08x.html#a27f5dce5c994be18a587fb622574ad41">FRS_read_word</a>(uint16_t record_ID, uint8_t word_number);</div>
+<div class="line"><a id="l00244" name="l00244"></a><span class="lineno">  244</span>        <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x.html#adf789e709ac1667656db757c8d559af9">FRS_read_request</a>(uint16_t record_ID, uint16_t read_offset, uint16_t block_size);</div>
+<div class="line"><a id="l00245" name="l00245"></a><span class="lineno">  245</span>        <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x.html#a40607e557eada666a5e1e416f42cd4a1">FRS_read_data</a>(uint16_t record_ID, uint8_t start_location, uint8_t words_to_read);</div>
+<div class="line"><a id="l00246" name="l00246"></a><span class="lineno">  246</span> </div>
+<div class="line"><a id="l00247" name="l00247"></a><span class="lineno">  247</span>        <span class="comment">// Record IDs from figure 29, page 29 reference manual</span></div>
+<div class="line"><a id="l00248" name="l00248"></a><span class="lineno">  248</span>        <span class="comment">// These are used to read the metadata for each sensor type</span></div>
+<div class="line"><a id="l00249" name="l00249"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#ad7ef7d7068af5f92239c12022dbeb16d">  249</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint16_t <a class="code hl_variable" href="class_b_n_o08x.html#ad7ef7d7068af5f92239c12022dbeb16d">FRS_RECORD_ID_ACCELEROMETER</a> =</div>
+<div class="line"><a id="l00250" name="l00250"></a><span class="lineno">  250</span>                0xE302; </div>
+<div class="line"><a id="l00251" name="l00251"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a35d8f641e73c308f92a5a0a772f90f48">  251</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint16_t <a class="code hl_variable" href="class_b_n_o08x.html#a35d8f641e73c308f92a5a0a772f90f48">FRS_RECORD_ID_GYROSCOPE_CALIBRATED</a> =</div>
+<div class="line"><a id="l00252" name="l00252"></a><span class="lineno">  252</span>                0xE306; </div>
+<div class="line"><a id="l00253" name="l00253"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a0992d77f9bae0b8e3c8d9331fe84fe24">  253</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint16_t <a class="code hl_variable" href="class_b_n_o08x.html#a0992d77f9bae0b8e3c8d9331fe84fe24">FRS_RECORD_ID_MAGNETIC_FIELD_CALIBRATED</a> =</div>
+<div class="line"><a id="l00254" name="l00254"></a><span class="lineno">  254</span>                0xE309; </div>
+<div class="line"><a id="l00255" name="l00255"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a9f35840b19c8ad11fd1b4622c3269250">  255</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint16_t <a class="code hl_variable" href="class_b_n_o08x.html#a9f35840b19c8ad11fd1b4622c3269250">FRS_RECORD_ID_ROTATION_VECTOR</a> =</div>
+<div class="line"><a id="l00256" name="l00256"></a><span class="lineno">  256</span>                0xE30B; </div>
+<div class="line"><a id="l00257" name="l00257"></a><span class="lineno">  257</span> </div>
+<div class="line"><a id="l00258" name="l00258"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a1ef13f6f330810934416ad5fe0ee55b2">  258</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a1ef13f6f330810934416ad5fe0ee55b2">TARE_AXIS_ALL</a> = 0x07; </div>
+<div class="line"><a id="l00259" name="l00259"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#aecb3e11c1ca5769fd60f42c17a105731">  259</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#aecb3e11c1ca5769fd60f42c17a105731">TARE_AXIS_Z</a> = 0x04;   </div>
+<div class="line"><a id="l00260" name="l00260"></a><span class="lineno">  260</span> </div>
+<div class="line"><a id="l00261" name="l00261"></a><span class="lineno">  261</span>        <span class="comment">// Which rotation vector to tare, BNO08x saves them seperately</span></div>
+<div class="line"><a id="l00262" name="l00262"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a8e2cfc25d0e34ae53a762b88cc3ac3c8">  262</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a8e2cfc25d0e34ae53a762b88cc3ac3c8">TARE_ROTATION_VECTOR</a> = 0;                      </div>
+<div class="line"><a id="l00263" name="l00263"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#abaf1ec8bb197db1998a9ed3cec6180d5">  263</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#abaf1ec8bb197db1998a9ed3cec6180d5">TARE_GAME_ROTATION_VECTOR</a> = 1;                 </div>
+<div class="line"><a id="l00264" name="l00264"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a225397a04d849e5647992ca80d68febb">  264</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a225397a04d849e5647992ca80d68febb">TARE_GEOMAGNETIC_ROTATION_VECTOR</a> = 2;          </div>
+<div class="line"><a id="l00265" name="l00265"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a9ec354d75249f06f13599abf7bedfde0">  265</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a9ec354d75249f06f13599abf7bedfde0">TARE_GYRO_INTEGRATED_ROTATION_VECTOR</a> = 3;      </div>
+<div class="line"><a id="l00266" name="l00266"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#abff9abe904bcdde951cf88c378284b45">  266</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#abff9abe904bcdde951cf88c378284b45">TARE_ARVR_STABILIZED_ROTATION_VECTOR</a> = 4;      </div>
+<div class="line"><a id="l00267" name="l00267"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a68aaaab144adbe5af00597408f044d9d">  267</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a68aaaab144adbe5af00597408f044d9d">TARE_ARVR_STABILIZED_GAME_ROTATION_VECTOR</a> = 5; </div>
+<div class="line"><a id="l00268" name="l00268"></a><span class="lineno">  268</span> </div>
+<div class="line"><a id="l00269" name="l00269"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a0b19c8f2de2b2bfe033da7f93cdd2608">  269</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> int16_t <a class="code hl_variable" href="class_b_n_o08x.html#a0b19c8f2de2b2bfe033da7f93cdd2608">ROTATION_VECTOR_Q1</a> = 14;          </div>
+<div class="line"><a id="l00270" name="l00270"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a923d65d8568cc31873ad56a3908e1939">  270</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> int16_t <a class="code hl_variable" href="class_b_n_o08x.html#a923d65d8568cc31873ad56a3908e1939">ROTATION_VECTOR_ACCURACY_Q1</a> = 12; </div>
+<div class="line"><a id="l00271" name="l00271"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a0564aaf5b20dc42b54db4fb3115ac1c7">  271</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> int16_t <a class="code hl_variable" href="class_b_n_o08x.html#a0564aaf5b20dc42b54db4fb3115ac1c7">ACCELEROMETER_Q1</a> = 8;             </div>
+<div class="line"><a id="l00272" name="l00272"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#ad0d37fe07ced24f2c9afc21145a74e7b">  272</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> int16_t <a class="code hl_variable" href="class_b_n_o08x.html#ad0d37fe07ced24f2c9afc21145a74e7b">LINEAR_ACCELEROMETER_Q1</a> = 8;      </div>
+<div class="line"><a id="l00273" name="l00273"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#aa3bec8effefa61cec6fa170e9d02c4dd">  273</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> int16_t <a class="code hl_variable" href="class_b_n_o08x.html#aa3bec8effefa61cec6fa170e9d02c4dd">GYRO_Q1</a> = 9;                      </div>
+<div class="line"><a id="l00274" name="l00274"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a9fac9b811b7c2117675a784cb4df204c">  274</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> int16_t <a class="code hl_variable" href="class_b_n_o08x.html#a9fac9b811b7c2117675a784cb4df204c">MAGNETOMETER_Q1</a> = 4;              </div>
+<div class="line"><a id="l00275" name="l00275"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#aafe117561fe9138800073a04a778b4ce">  275</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> int16_t <a class="code hl_variable" href="class_b_n_o08x.html#aafe117561fe9138800073a04a778b4ce">ANGULAR_VELOCITY_Q1</a> = 10;         </div>
+<div class="line"><a id="l00276" name="l00276"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#ae10722334dfce9635e76519598e165a2">  276</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> int16_t <a class="code hl_variable" href="class_b_n_o08x.html#ae10722334dfce9635e76519598e165a2">GRAVITY_Q1</a> = 8;                   </div>
+<div class="line"><a id="l00277" name="l00277"></a><span class="lineno">  277</span> </div>
+<div class="line"><a id="l00278" name="l00278"></a><span class="lineno">  278</span>    <span class="keyword">private</span>:</div>
+<div class="foldopen" id="foldopen00280" data-start="{" data-end="};">
+<div class="line"><a id="l00280" name="l00280"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_1_1bno08x__rx__packet__t.html">  280</a></span>        <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code hl_struct" href="struct_b_n_o08x_1_1bno08x__rx__packet__t.html">bno08x_rx_packet_t</a></div>
+<div class="line"><a id="l00281" name="l00281"></a><span class="lineno">  281</span>        {</div>
+<div class="line"><a id="l00282" name="l00282"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_1_1bno08x__rx__packet__t.html#a667d671ccb272bd375008716e26e0b5b">  282</a></span>                uint8_t <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__rx__packet__t.html#a667d671ccb272bd375008716e26e0b5b">header</a>[4]; </div>
+<div class="line"><a id="l00283" name="l00283"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_1_1bno08x__rx__packet__t.html#ab422d75e1fcd776ef412f4d623cc293e">  283</a></span>                uint8_t <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__rx__packet__t.html#ab422d75e1fcd776ef412f4d623cc293e">body</a>[300]; </div>
+<div class="line"><a id="l00284" name="l00284"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_1_1bno08x__rx__packet__t.html#a645adb6ba8fb2afbb99ec58fe678e205">  284</a></span>                uint16_t <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__rx__packet__t.html#a645adb6ba8fb2afbb99ec58fe678e205">length</a>;   </div>
+<div class="line"><a id="l00285" name="l00285"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a407711b4a84223a52cc043a152aea8ba">  285</a></span>        } <a class="code hl_typedef" href="class_b_n_o08x.html#a407711b4a84223a52cc043a152aea8ba">bno08x_rx_packet_t</a>;</div>
+</div>
+<div class="line"><a id="l00286" name="l00286"></a><span class="lineno">  286</span> </div>
+<div class="foldopen" id="foldopen00288" data-start="{" data-end="};">
+<div class="line"><a id="l00288" name="l00288"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_1_1bno08x__tx__packet__t.html">  288</a></span>        <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code hl_struct" href="struct_b_n_o08x_1_1bno08x__tx__packet__t.html">bno08x_tx_packet_t</a></div>
+<div class="line"><a id="l00289" name="l00289"></a><span class="lineno">  289</span>        {</div>
+<div class="line"><a id="l00290" name="l00290"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_1_1bno08x__tx__packet__t.html#a4478c6cd9e87907eacc56dd06ad4a69d">  290</a></span>                uint8_t <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__tx__packet__t.html#a4478c6cd9e87907eacc56dd06ad4a69d">body</a>[50]; </div>
+<div class="line"><a id="l00291" name="l00291"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_1_1bno08x__tx__packet__t.html#a73180537ea7605340c5e6b2132e2cbf5">  291</a></span>                uint16_t <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__tx__packet__t.html#a73180537ea7605340c5e6b2132e2cbf5">length</a>;  </div>
+<div class="line"><a id="l00292" name="l00292"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a3a1a869ac69e6ee850bd2a7f90dd8945">  292</a></span>        } <a class="code hl_typedef" href="class_b_n_o08x.html#a3a1a869ac69e6ee850bd2a7f90dd8945">bno08x_tx_packet_t</a>;</div>
+</div>
+<div class="line"><a id="l00293" name="l00293"></a><span class="lineno">  293</span> </div>
+<div class="line"><a id="l00294" name="l00294"></a><span class="lineno">  294</span>        <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x.html#a2897a178bf2c53cd99df0d4570edf72e">wait_for_rx_done</a>();</div>
+<div class="line"><a id="l00295" name="l00295"></a><span class="lineno">  295</span>        <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x.html#a7cdeb849e728487de961cdfd4030c773">wait_for_tx_done</a>();</div>
+<div class="line"><a id="l00296" name="l00296"></a><span class="lineno">  296</span>        <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x.html#a4f12de628073f44b2a3fab2688cf1caf">wait_for_data</a>();</div>
+<div class="line"><a id="l00297" name="l00297"></a><span class="lineno">  297</span>        <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x.html#ae540799865934fcff54caed0772df071">receive_packet</a>();</div>
+<div class="line"><a id="l00298" name="l00298"></a><span class="lineno">  298</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a2c359a44a2c8e83ecb258a340e2d0e1a">send_packet</a>(<a class="code hl_typedef" href="class_b_n_o08x.html#a3a1a869ac69e6ee850bd2a7f90dd8945">bno08x_tx_packet_t</a>* packet);</div>
+<div class="line"><a id="l00299" name="l00299"></a><span class="lineno">  299</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a41613e65ea9beef883184b7ef67affdd">enable_report</a>(uint8_t report_ID, uint32_t time_between_reports, <span class="keyword">const</span> EventBits_t report_evt_grp_bit);</div>
+<div class="line"><a id="l00300" name="l00300"></a><span class="lineno">  300</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a00ec3857cb06ae885e32059ef1cab693">disable_report</a>(uint8_t report_ID, <span class="keyword">const</span> EventBits_t report_evt_grp_bit);</div>
+<div class="line"><a id="l00301" name="l00301"></a><span class="lineno">  301</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a62c570ba96512f4d0d10b2594048de1f">queue_packet</a>(uint8_t channel_number, uint8_t data_length, uint8_t* commands);</div>
+<div class="line"><a id="l00302" name="l00302"></a><span class="lineno">  302</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a5cc58139e4d5f0587b90e249ceb476f9">queue_command</a>(uint8_t command, uint8_t* commands);</div>
+<div class="line"><a id="l00303" name="l00303"></a><span class="lineno">  303</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#af2951f6ea448af7cf7932fbfed9fec3c">queue_feature_command</a>(uint8_t report_ID, uint32_t time_between_reports);</div>
+<div class="line"><a id="l00304" name="l00304"></a><span class="lineno">  304</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#af2951f6ea448af7cf7932fbfed9fec3c">queue_feature_command</a>(uint8_t report_ID, uint32_t time_between_reports, uint32_t specific_config);</div>
+<div class="line"><a id="l00305" name="l00305"></a><span class="lineno">  305</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#ad097849616c5caab1fd3eb3632ee2b91">queue_calibrate_command</a>(uint8_t _to_calibrate);</div>
+<div class="line"><a id="l00306" name="l00306"></a><span class="lineno">  306</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a4c6353e795f734ed28613f9a3d161ea2">queue_tare_command</a>(uint8_t command, uint8_t axis = <a class="code hl_variable" href="class_b_n_o08x.html#a1ef13f6f330810934416ad5fe0ee55b2">TARE_AXIS_ALL</a>, uint8_t rotation_vector_basis = <a class="code hl_variable" href="class_b_n_o08x.html#a8e2cfc25d0e34ae53a762b88cc3ac3c8">TARE_ROTATION_VECTOR</a>);</div>
+<div class="line"><a id="l00307" name="l00307"></a><span class="lineno">  307</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#ab5f200069a2f8cb74cb79c6f162da5a1">queue_request_product_id_command</a>();</div>
+<div class="line"><a id="l00308" name="l00308"></a><span class="lineno">  308</span> </div>
+<div class="line"><a id="l00309" name="l00309"></a><span class="lineno">  309</span>        uint16_t <a class="code hl_function" href="class_b_n_o08x.html#a67a697595d6a4d4638a53c6b4a5ef0cd">parse_packet</a>(<a class="code hl_typedef" href="class_b_n_o08x.html#a407711b4a84223a52cc043a152aea8ba">bno08x_rx_packet_t</a>* packet);</div>
+<div class="line"><a id="l00310" name="l00310"></a><span class="lineno">  310</span>        uint16_t <a class="code hl_function" href="class_b_n_o08x.html#a29cfd7fc2816483ebebe9d55b677a036">parse_product_id_report</a>(<a class="code hl_typedef" href="class_b_n_o08x.html#a407711b4a84223a52cc043a152aea8ba">bno08x_rx_packet_t</a>* packet);</div>
+<div class="line"><a id="l00311" name="l00311"></a><span class="lineno">  311</span>        uint16_t <a class="code hl_function" href="class_b_n_o08x.html#a51b360d795563b55559f11efb40be36a">parse_frs_read_response_report</a>(<a class="code hl_typedef" href="class_b_n_o08x.html#a407711b4a84223a52cc043a152aea8ba">bno08x_rx_packet_t</a>* packet);</div>
+<div class="line"><a id="l00312" name="l00312"></a><span class="lineno">  312</span>        uint16_t <a class="code hl_function" href="class_b_n_o08x.html#a8d9db3e1b6208c2661e1c543deefa53d">parse_input_report</a>(<a class="code hl_typedef" href="class_b_n_o08x.html#a407711b4a84223a52cc043a152aea8ba">bno08x_rx_packet_t</a>* packet);</div>
+<div class="line"><a id="l00313" name="l00313"></a><span class="lineno">  313</span>        uint16_t <a class="code hl_function" href="class_b_n_o08x.html#a4f66045a0528a0c17c52421ea51612e7">parse_command_report</a>(<a class="code hl_typedef" href="class_b_n_o08x.html#a407711b4a84223a52cc043a152aea8ba">bno08x_rx_packet_t</a>* packet);</div>
+<div class="line"><a id="l00314" name="l00314"></a><span class="lineno">  314</span> </div>
+<div class="line"><a id="l00315" name="l00315"></a><span class="lineno">  315</span>        <span class="comment">// for debug</span></div>
+<div class="line"><a id="l00316" name="l00316"></a><span class="lineno">  316</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a35856c108a47de8b3b38c4395aabb4eb">print_header</a>(<a class="code hl_typedef" href="class_b_n_o08x.html#a407711b4a84223a52cc043a152aea8ba">bno08x_rx_packet_t</a>* packet);</div>
+<div class="line"><a id="l00317" name="l00317"></a><span class="lineno">  317</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a05e4cd5861b55fc0182d7dd13bb85e49">print_packet</a>(<a class="code hl_typedef" href="class_b_n_o08x.html#a407711b4a84223a52cc043a152aea8ba">bno08x_rx_packet_t</a>* packet);</div>
+<div class="line"><a id="l00318" name="l00318"></a><span class="lineno">  318</span> </div>
+<div class="line"><a id="l00319" name="l00319"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a6232920a05c0aba34e5560951a20ae87">  319</a></span>        <span class="keyword">static</span> <a class="code hl_struct" href="structbno08x__config__t.html">bno08x_config_t</a> <a class="code hl_variable" href="class_b_n_o08x.html#a6232920a05c0aba34e5560951a20ae87">default_imu_config</a>; </div>
+<div class="line"><a id="l00320" name="l00320"></a><span class="lineno">  320</span> </div>
+<div class="line"><a id="l00321" name="l00321"></a><span class="lineno">  321</span>        EventGroupHandle_t</div>
+<div class="line"><a id="l00322" name="l00322"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#aa2b4442b5cc63ebf0c495e6fb537c85e">  322</a></span>                <a class="code hl_variable" href="class_b_n_o08x.html#aa2b4442b5cc63ebf0c495e6fb537c85e">evt_grp_spi</a>; </div>
+<div class="line"><a id="l00323" name="l00323"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a63eb6c8be6f3bc943a86bb0496871275">  323</a></span>        EventGroupHandle_t <a class="code hl_variable" href="class_b_n_o08x.html#a63eb6c8be6f3bc943a86bb0496871275">evt_grp_report_en</a>; </div>
+<div class="line"><a id="l00324" name="l00324"></a><span class="lineno">  324</span> </div>
+<div class="line"><a id="l00325" name="l00325"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a7d4661d3aae56013caa8f2bff0f67c08">  325</a></span>        QueueHandle_t <a class="code hl_variable" href="class_b_n_o08x.html#a7d4661d3aae56013caa8f2bff0f67c08">queue_rx_data</a>;       </div>
+<div class="line"><a id="l00326" name="l00326"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a4d5c5eee87a578de9c8318cd294b3a22">  326</a></span>        QueueHandle_t <a class="code hl_variable" href="class_b_n_o08x.html#a4d5c5eee87a578de9c8318cd294b3a22">queue_tx_data</a>;       </div>
+<div class="line"><a id="l00327" name="l00327"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a9a1c851e8fa5633e11f6abee293d7e9b">  327</a></span>        QueueHandle_t <a class="code hl_variable" href="class_b_n_o08x.html#a9a1c851e8fa5633e11f6abee293d7e9b">queue_frs_read_data</a>; </div>
+<div class="line"><a id="l00328" name="l00328"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a84b3639cc159262e0137adb0db5cf9aa">  328</a></span>        QueueHandle_t <a class="code hl_variable" href="class_b_n_o08x.html#a84b3639cc159262e0137adb0db5cf9aa">queue_reset_reason</a>;  </div>
+<div class="line"><a id="l00329" name="l00329"></a><span class="lineno">  329</span> </div>
+<div class="line"><a id="l00330" name="l00330"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a6a15e3a64dd71ea61f0448afcce96409">  330</a></span>        std::vector&lt;std::function&lt;void()&gt;&gt; <a class="code hl_variable" href="class_b_n_o08x.html#a6a15e3a64dd71ea61f0448afcce96409">cb_list</a>; <span class="comment">// Vector for storing any call-back functions added with register_cb()</span></div>
+<div class="line"><a id="l00331" name="l00331"></a><span class="lineno">  331</span> </div>
+<div class="line"><a id="l00332" name="l00332"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a7bd032712a975e73e66bd72a3502baba">  332</a></span>        uint32_t <a class="code hl_variable" href="class_b_n_o08x.html#a7bd032712a975e73e66bd72a3502baba">meta_data</a>[9]; </div>
+<div class="line"><a id="l00333" name="l00333"></a><span class="lineno">  333</span> </div>
+<div class="line"><a id="l00334" name="l00334"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#aeda443e9f608fccfec0e6770edc90c82">  334</a></span>        <a class="code hl_struct" href="structbno08x__config__t.html">bno08x_config_t</a> <a class="code hl_variable" href="class_b_n_o08x.html#aeda443e9f608fccfec0e6770edc90c82">imu_config</a>{};                   </div>
+<div class="line"><a id="l00335" name="l00335"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a982f065df42f00e53fd87c840efdb0f1">  335</a></span>        spi_bus_config_t <a class="code hl_variable" href="class_b_n_o08x.html#a982f065df42f00e53fd87c840efdb0f1">bus_config</a>{};                  </div>
+<div class="line"><a id="l00336" name="l00336"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a425a1f5a9f3232aadc685caaf4c2f82e">  336</a></span>        spi_device_interface_config_t <a class="code hl_variable" href="class_b_n_o08x.html#a425a1f5a9f3232aadc685caaf4c2f82e">imu_spi_config</a>{}; </div>
+<div class="line"><a id="l00337" name="l00337"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#acc0ea091465fc9a5736f5e0c6a0ce8ef">  337</a></span>        spi_device_handle_t <a class="code hl_variable" href="class_b_n_o08x.html#acc0ea091465fc9a5736f5e0c6a0ce8ef">spi_hdl</a>{};                  </div>
+<div class="line"><a id="l00338" name="l00338"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#ac16adc5f00b0039c98a4921f13895026">  338</a></span>        spi_transaction_t <a class="code hl_variable" href="class_b_n_o08x.html#ac16adc5f00b0039c98a4921f13895026">spi_transaction</a>{};            </div>
+<div class="line"><a id="l00339" name="l00339"></a><span class="lineno">  339</span> </div>
+<div class="line"><a id="l00340" name="l00340"></a><span class="lineno">  340</span>        <span class="comment">// These are the raw sensor values (without Q applied) pulled from the user requested Input Report</span></div>
+<div class="line"><a id="l00341" name="l00341"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#abc972db20affbd0040b4e6c4892dd57b">  341</a></span>        uint32_t <a class="code hl_variable" href="class_b_n_o08x.html#abc972db20affbd0040b4e6c4892dd57b">time_stamp</a>; </div>
+<div class="line"><a id="l00342" name="l00342"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a75fb2f06c5bbe26e3f3c794934ef954c">  342</a></span>        uint16_t <a class="code hl_variable" href="class_b_n_o08x.html#a75fb2f06c5bbe26e3f3c794934ef954c">raw_accel_X</a>, <a class="code hl_variable" href="class_b_n_o08x.html#ab56e2ba505fa293d03e955137625c562">raw_accel_Y</a>, <a class="code hl_variable" href="class_b_n_o08x.html#af254d245b368027df6952b7d7522bd35">raw_accel_Z</a>,</div>
+<div class="line"><a id="l00343" name="l00343"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a3365b7ebde01e284274e655c60343df9">  343</a></span>                <a class="code hl_variable" href="class_b_n_o08x.html#a3365b7ebde01e284274e655c60343df9">accel_accuracy</a>; </div>
+<div class="line"><a id="l00344" name="l00344"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#ae1f71a432cb15e75f522fa18f29f4d50">  344</a></span>        uint16_t <a class="code hl_variable" href="class_b_n_o08x.html#ae1f71a432cb15e75f522fa18f29f4d50">raw_lin_accel_X</a>, <a class="code hl_variable" href="class_b_n_o08x.html#aff3a5590471d1c9fc485a5610433915f">raw_lin_accel_Y</a>, <a class="code hl_variable" href="class_b_n_o08x.html#abc8add47f1babc66c812a015614143d3">raw_lin_accel_Z</a>,</div>
+<div class="line"><a id="l00345" name="l00345"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a35e1635ef5edde8fc8640f978c6f2e3c">  345</a></span>                <a class="code hl_variable" href="class_b_n_o08x.html#a35e1635ef5edde8fc8640f978c6f2e3c">accel_lin_accuracy</a>;                                 </div>
+<div class="line"><a id="l00346" name="l00346"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a98ea35dd0fbd0c409d25fd8a6ed9f277">  346</a></span>        uint16_t <a class="code hl_variable" href="class_b_n_o08x.html#a19696327a056a448ed5ba706e747bbe5">raw_gyro_X</a>, <a class="code hl_variable" href="class_b_n_o08x.html#a61df9f571555f5f682eb51f24a279489">raw_gyro_Y</a>, <a class="code hl_variable" href="class_b_n_o08x.html#a03f567cda2a3cc966301e96732fca9ad">raw_gyro_Z</a>, <a class="code hl_variable" href="class_b_n_o08x.html#a98ea35dd0fbd0c409d25fd8a6ed9f277">gyro_accuracy</a>; </div>
+<div class="line"><a id="l00347" name="l00347"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a69dc7e97875060213085ba964b3bd987">  347</a></span>        uint16_t <a class="code hl_variable" href="class_b_n_o08x.html#a69dc7e97875060213085ba964b3bd987">raw_quat_I</a>, <a class="code hl_variable" href="class_b_n_o08x.html#a61ae05dc5572b326541bf8099f0c2a54">raw_quat_J</a>, <a class="code hl_variable" href="class_b_n_o08x.html#a7720c44ed1c0f1a0663d2adc5e1a1ea1">raw_quat_K</a>, <a class="code hl_variable" href="class_b_n_o08x.html#a867354267253ae828be4fae15c062db3">raw_quat_real</a>, <a class="code hl_variable" href="class_b_n_o08x.html#a033d6cb1aa137743b69cc3e401df67b7">raw_quat_radian_accuracy</a>,</div>
+<div class="line"><a id="l00348" name="l00348"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a36223f7124751fa71e860b2ef55dd2ac">  348</a></span>                <a class="code hl_variable" href="class_b_n_o08x.html#a36223f7124751fa71e860b2ef55dd2ac">quat_accuracy</a>; </div>
+<div class="line"><a id="l00349" name="l00349"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#aa5bb03dbeabed729c012ec7164a3354f">  349</a></span>        uint16_t <a class="code hl_variable" href="class_b_n_o08x.html#aa5bb03dbeabed729c012ec7164a3354f">raw_velocity_gyro_X</a>, <a class="code hl_variable" href="class_b_n_o08x.html#a4f188bf76ba862f07606d1351d28548f">raw_velocity_gyro_Y</a>,</div>
+<div class="line"><a id="l00350" name="l00350"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#ab49f9a6586d709bbd26280ef44a4bbf7">  350</a></span>                <a class="code hl_variable" href="class_b_n_o08x.html#ab49f9a6586d709bbd26280ef44a4bbf7">raw_velocity_gyro_Z</a>; </div>
+<div class="line"><a id="l00351" name="l00351"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#af45016be9ea523d80be8467b2907b499">  351</a></span>        uint16_t <a class="code hl_variable" href="class_b_n_o08x.html#af45016be9ea523d80be8467b2907b499">gravity_X</a>, <a class="code hl_variable" href="class_b_n_o08x.html#af20dcd487a9fe8fa6243817d51e37be5">gravity_Y</a>, <a class="code hl_variable" href="class_b_n_o08x.html#afa1cf5c3afbb258d97c55c5fb187f2d6">gravity_Z</a>,</div>
+<div class="line"><a id="l00352" name="l00352"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#ae01698d287ea999179a11e2244902022">  352</a></span>                <a class="code hl_variable" href="class_b_n_o08x.html#ae01698d287ea999179a11e2244902022">gravity_accuracy</a>; </div>
+<div class="line"><a id="l00353" name="l00353"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a8a2667f668317cee0a9fc4ef0accc3f5">  353</a></span>        uint16_t <a class="code hl_variable" href="class_b_n_o08x.html#afdc5cdb65bd0b36528b5b671b9d27053">raw_uncalib_gyro_X</a>, <a class="code hl_variable" href="class_b_n_o08x.html#acc2c66e2985975266a286385ea855117">raw_uncalib_gyro_Y</a>, <a class="code hl_variable" href="class_b_n_o08x.html#afac9dd4161f4c0051255293680c9082b">raw_uncalib_gyro_Z</a>, <a class="code hl_variable" href="class_b_n_o08x.html#a8a2667f668317cee0a9fc4ef0accc3f5">raw_bias_X</a>, <a class="code hl_variable" href="class_b_n_o08x.html#ac38ff5eb93d3c3db0af2504ba02fd93c">raw_bias_Y</a>, <a class="code hl_variable" href="class_b_n_o08x.html#a0968eaed9b3d979a2caa1aba6e6b417a">raw_bias_Z</a>,</div>
+<div class="line"><a id="l00354" name="l00354"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a081c666a3f24016d0ec5c5edc49f2903">  354</a></span>                <a class="code hl_variable" href="class_b_n_o08x.html#a081c666a3f24016d0ec5c5edc49f2903">uncalib_gyro_accuracy</a>; </div>
+<div class="line"><a id="l00355" name="l00355"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#aa5bdf740161b7c37adcac0154a410118">  355</a></span>        uint16_t <a class="code hl_variable" href="class_b_n_o08x.html#aa5bdf740161b7c37adcac0154a410118">raw_magf_X</a>, <a class="code hl_variable" href="class_b_n_o08x.html#acd365418f24a6da61122c66d82086639">raw_magf_Y</a>, <a class="code hl_variable" href="class_b_n_o08x.html#ab4862de31d0874b44b6745678e1c905e">raw_magf_Z</a>,</div>
+<div class="line"><a id="l00356" name="l00356"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#ac5d4e151690774687efa951ca41c16ae">  356</a></span>                <a class="code hl_variable" href="class_b_n_o08x.html#ac5d4e151690774687efa951ca41c16ae">magf_accuracy</a>;         </div>
+<div class="line"><a id="l00357" name="l00357"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a1171a5738a4e6831ec7fa32a29f15554">  357</a></span>        uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a1171a5738a4e6831ec7fa32a29f15554">tap_detector</a>;          </div>
+<div class="line"><a id="l00358" name="l00358"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#ad80a77973371b12d722ea39063c648be">  358</a></span>        uint16_t <a class="code hl_variable" href="class_b_n_o08x.html#ad80a77973371b12d722ea39063c648be">step_count</a>;           </div>
+<div class="line"><a id="l00359" name="l00359"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a1b12471e92536a79d0c425d77676f2e1">  359</a></span>        uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a1b12471e92536a79d0c425d77676f2e1">stability_classifier</a>;  </div>
+<div class="line"><a id="l00360" name="l00360"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a75cea49c1c08ca28d9fa7e5ed61c6e7b">  360</a></span>        uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a75cea49c1c08ca28d9fa7e5ed61c6e7b">activity_classifier</a>;   </div>
+<div class="line"><a id="l00361" name="l00361"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#af96e8cd070459f945ffbf01b98106e13">  361</a></span>        uint8_t* <a class="code hl_variable" href="class_b_n_o08x.html#af96e8cd070459f945ffbf01b98106e13">activity_confidences</a>; </div>
+<div class="line"><a id="l00362" name="l00362"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#ad212b5028a31e857e76d251ced2724e1">  362</a></span>        uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#ad212b5028a31e857e76d251ced2724e1">calibration_status</a>;    </div>
+<div class="line"><a id="l00363" name="l00363"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a937cbdc4edaac72c8cad041d79de5701">  363</a></span>        uint16_t <a class="code hl_variable" href="class_b_n_o08x.html#a937cbdc4edaac72c8cad041d79de5701">mems_raw_accel_X</a>, <a class="code hl_variable" href="class_b_n_o08x.html#ad83cecb8a5d2be01db6792755b6057e9">mems_raw_accel_Y</a>,</div>
+<div class="line"><a id="l00364" name="l00364"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a59a4d75f1302ab693b1b26e9ccaa5341">  364</a></span>                <a class="code hl_variable" href="class_b_n_o08x.html#a59a4d75f1302ab693b1b26e9ccaa5341">mems_raw_accel_Z</a>; </div>
+<div class="line"><a id="l00365" name="l00365"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a3d6b6257462951ea023af7076c80f6dd">  365</a></span>        uint16_t <a class="code hl_variable" href="class_b_n_o08x.html#a3d6b6257462951ea023af7076c80f6dd">mems_raw_gyro_X</a>, <a class="code hl_variable" href="class_b_n_o08x.html#ab6b142416912a096886dd63ad0beb865">mems_raw_gyro_Y</a>,</div>
+<div class="line"><a id="l00366" name="l00366"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#ac35d5b12721ab876eaeb1f714a9b3b1d">  366</a></span>                <a class="code hl_variable" href="class_b_n_o08x.html#ac35d5b12721ab876eaeb1f714a9b3b1d">mems_raw_gyro_Z</a>; </div>
+<div class="line"><a id="l00367" name="l00367"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#ab587cdf991342b69b7fff3b33f537eb5">  367</a></span>        uint16_t <a class="code hl_variable" href="class_b_n_o08x.html#ab587cdf991342b69b7fff3b33f537eb5">mems_raw_magf_X</a>, <a class="code hl_variable" href="class_b_n_o08x.html#aad926054c81818fff611e10ed913706a">mems_raw_magf_Y</a>,</div>
+<div class="line"><a id="l00368" name="l00368"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a90f0cdf11decc276006f76a494d42ce3">  368</a></span>                <a class="code hl_variable" href="class_b_n_o08x.html#a90f0cdf11decc276006f76a494d42ce3">mems_raw_magf_Z</a>; </div>
+<div class="line"><a id="l00369" name="l00369"></a><span class="lineno">  369</span> </div>
+<div class="line"><a id="l00370" name="l00370"></a><span class="lineno">  370</span>        <span class="comment">// spi task</span></div>
+<div class="line"><a id="l00371" name="l00371"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a615090aae15f1b0410a7e5ecb94957b5">  371</a></span>        TaskHandle_t <a class="code hl_variable" href="class_b_n_o08x.html#a615090aae15f1b0410a7e5ecb94957b5">spi_task_hdl</a>; </div>
+<div class="line"><a id="l00372" name="l00372"></a><span class="lineno">  372</span>        <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a0ce6d9db873555f1ebe7e095251eab74">spi_task_trampoline</a>(<span class="keywordtype">void</span>* arg);</div>
+<div class="line"><a id="l00373" name="l00373"></a><span class="lineno">  373</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a2ecd4ed60f82730ae230c61687ec92bf">spi_task</a>();</div>
+<div class="line"><a id="l00374" name="l00374"></a><span class="lineno">  374</span> </div>
+<div class="line"><a id="l00375" name="l00375"></a><span class="lineno">  375</span>        <span class="comment">// data processing task</span></div>
+<div class="line"><a id="l00376" name="l00376"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#af9b6fbf35e7cd55d517d30c6429a21a4">  376</a></span>        TaskHandle_t <a class="code hl_variable" href="class_b_n_o08x.html#af9b6fbf35e7cd55d517d30c6429a21a4">data_proc_task_hdl</a>; </div>
+<div class="line"><a id="l00377" name="l00377"></a><span class="lineno">  377</span>        <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a0ae135d7bf7a5f047a1d1aa5cc07e520">data_proc_task_trampoline</a>(<span class="keywordtype">void</span>* arg);</div>
+<div class="line"><a id="l00378" name="l00378"></a><span class="lineno">  378</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#ab4373e9b87837ea9fcbc0b536338c7b8">data_proc_task</a>();</div>
+<div class="line"><a id="l00379" name="l00379"></a><span class="lineno">  379</span> </div>
+<div class="line"><a id="l00380" name="l00380"></a><span class="lineno">  380</span>        <span class="keyword">static</span> <span class="keywordtype">void</span> IRAM_ATTR <a class="code hl_function" href="class_b_n_o08x.html#a804b95c58c30d36933fd251626b85bf7">hint_handler</a>(<span class="keywordtype">void</span>* arg);</div>
+<div class="line"><a id="l00381" name="l00381"></a><span class="lineno">  381</span>        <span class="keyword">static</span> <span class="keywordtype">bool</span></div>
+<div class="line"><a id="l00382" name="l00382"></a><span class="lineno">  382</span>                <a class="code hl_variable" href="class_b_n_o08x.html#a4882dbc698d7b730f57e2401037766a9">isr_service_installed</a>; </div>
+<div class="line"><a id="l00383" name="l00383"></a><span class="lineno">  383</span> </div>
+<div class="line"><a id="l00384" name="l00384"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a1a037bda37493cde56732cc6fdc7884b">  384</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint16_t <a class="code hl_variable" href="class_b_n_o08x.html#a1a037bda37493cde56732cc6fdc7884b">RX_DATA_LENGTH</a> = 300;    </div>
+<div class="line"><a id="l00385" name="l00385"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a2a5b978233eab4c103ab01cfc33a1750">  385</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint16_t <a class="code hl_variable" href="class_b_n_o08x.html#a2a5b978233eab4c103ab01cfc33a1750">MAX_METADATA_LENGTH</a> = 9; </div>
+<div class="line"><a id="l00386" name="l00386"></a><span class="lineno">  386</span> </div>
+<div class="line"><a id="l00387" name="l00387"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#ae7f34752f888c637d5619f898e62a6d4">  387</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint64_t <a class="code hl_variable" href="class_b_n_o08x.html#ae7f34752f888c637d5619f898e62a6d4">HOST_INT_TIMEOUT_MS</a> =</div>
+<div class="line"><a id="l00388" name="l00388"></a><span class="lineno">  388</span>                300ULL; </div>
+<div class="line"><a id="l00389" name="l00389"></a><span class="lineno">  389</span> </div>
+<div class="line"><a id="l00390" name="l00390"></a><span class="lineno">  390</span>        <span class="comment">// evt_grp_spi bits</span></div>
+<div class="line"><a id="l00391" name="l00391"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a32cffd8f78881925d22d5a7cb55f2bbc">  391</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> EventBits_t <a class="code hl_variable" href="class_b_n_o08x.html#a32cffd8f78881925d22d5a7cb55f2bbc">EVT_GRP_SPI_RX_DONE_BIT</a> =</div>
+<div class="line"><a id="l00392" name="l00392"></a><span class="lineno">  392</span>                (1 &lt;&lt; 0); </div>
+<div class="line"><a id="l00393" name="l00393"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a603dccfbbead6bdaa3bd970ad28fcd38">  393</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> EventBits_t <a class="code hl_variable" href="class_b_n_o08x.html#a603dccfbbead6bdaa3bd970ad28fcd38">EVT_GRP_SPI_RX_VALID_PACKET</a> =</div>
+<div class="line"><a id="l00394" name="l00394"></a><span class="lineno">  394</span>                (1 &lt;&lt; 1); </div>
+<div class="line"><a id="l00395" name="l00395"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a6415c95701f590c72083f5bdc5f4ae47">  395</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> EventBits_t <a class="code hl_variable" href="class_b_n_o08x.html#a6415c95701f590c72083f5bdc5f4ae47">EVT_GRP_SPI_RX_INVALID_PACKET</a> =</div>
+<div class="line"><a id="l00396" name="l00396"></a><span class="lineno">  396</span>                (1 &lt;&lt; 2);                                                  </div>
+<div class="line"><a id="l00397" name="l00397"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#aa333b17ab88348a9849f0ceb9757dc9c">  397</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> EventBits_t <a class="code hl_variable" href="class_b_n_o08x.html#aa333b17ab88348a9849f0ceb9757dc9c">EVT_GRP_SPI_TX_DONE</a> = (1 &lt;&lt; 3); </div>
+<div class="line"><a id="l00398" name="l00398"></a><span class="lineno">  398</span> </div>
+<div class="line"><a id="l00399" name="l00399"></a><span class="lineno">  399</span>        <span class="comment">// evt_grp_report_en bits</span></div>
+<div class="line"><a id="l00400" name="l00400"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a198da2ee3cd9cfa459c3c41c4f8c44b7">  400</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> EventBits_t <a class="code hl_variable" href="class_b_n_o08x.html#a198da2ee3cd9cfa459c3c41c4f8c44b7">EVT_GRP_RPT_ROTATION_VECTOR_BIT</a> = (1 &lt;&lt; 0);      </div>
+<div class="line"><a id="l00401" name="l00401"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a0f3f33d93b72ba6564f9d5fa93c24f98">  401</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> EventBits_t <a class="code hl_variable" href="class_b_n_o08x.html#a0f3f33d93b72ba6564f9d5fa93c24f98">EVT_GRP_RPT_GAME_ROTATION_VECTOR_BIT</a> = (1 &lt;&lt; 1); </div>
+<div class="line"><a id="l00402" name="l00402"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#aa9703cee46912a545b5e85e671f08e4b">  402</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> EventBits_t <a class="code hl_variable" href="class_b_n_o08x.html#aa9703cee46912a545b5e85e671f08e4b">EVT_GRP_RPT_ARVR_S_ROTATION_VECTOR_BIT</a> =</div>
+<div class="line"><a id="l00403" name="l00403"></a><span class="lineno">  403</span>                (1 &lt;&lt; 2); </div>
+<div class="line"><a id="l00404" name="l00404"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a79d3fff1e0f19467cad231b22edafa0f">  404</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> EventBits_t <a class="code hl_variable" href="class_b_n_o08x.html#a79d3fff1e0f19467cad231b22edafa0f">EVT_GRP_RPT_ARVR_S_GAME_ROTATION_VECTOR_BIT</a> =</div>
+<div class="line"><a id="l00405" name="l00405"></a><span class="lineno">  405</span>                (1 &lt;&lt; 3); </div>
+<div class="line"><a id="l00406" name="l00406"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a541155dc4544193451cf102e2a992da9">  406</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> EventBits_t <a class="code hl_variable" href="class_b_n_o08x.html#a541155dc4544193451cf102e2a992da9">EVT_GRP_RPT_GYRO_ROTATION_VECTOR_BIT</a> =</div>
+<div class="line"><a id="l00407" name="l00407"></a><span class="lineno">  407</span>                (1 &lt;&lt; 4); </div>
+<div class="line"><a id="l00408" name="l00408"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a17b19c32d4dfbc9ae2761a0cdd873314">  408</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> EventBits_t <a class="code hl_variable" href="class_b_n_o08x.html#a17b19c32d4dfbc9ae2761a0cdd873314">EVT_GRP_RPT_ACCELEROMETER_BIT</a> = (1 &lt;&lt; 5);         </div>
+<div class="line"><a id="l00409" name="l00409"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#ad93161968a53ff53a6bb74ab7c34fbff">  409</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> EventBits_t <a class="code hl_variable" href="class_b_n_o08x.html#ad93161968a53ff53a6bb74ab7c34fbff">EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT</a> = (1 &lt;&lt; 6);  </div>
+<div class="line"><a id="l00410" name="l00410"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#ab94a8f69673a3db7556ba67775c5ea93">  410</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> EventBits_t <a class="code hl_variable" href="class_b_n_o08x.html#ab94a8f69673a3db7556ba67775c5ea93">EVT_GRP_RPT_GRAVITY_BIT</a> = (1 &lt;&lt; 7);               </div>
+<div class="line"><a id="l00411" name="l00411"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a3a8b12ea9b75f97191785a60d1aa962a">  411</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> EventBits_t <a class="code hl_variable" href="class_b_n_o08x.html#a3a8b12ea9b75f97191785a60d1aa962a">EVT_GRP_RPT_GYRO_BIT</a> = (1 &lt;&lt; 8);                  </div>
+<div class="line"><a id="l00412" name="l00412"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#af86821bc0f1e7f5897de20b5e47a85bd">  412</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> EventBits_t <a class="code hl_variable" href="class_b_n_o08x.html#af86821bc0f1e7f5897de20b5e47a85bd">EVT_GRP_RPT_GYRO_UNCALIBRATED_BIT</a> = (1 &lt;&lt; 9);     </div>
+<div class="line"><a id="l00413" name="l00413"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a901af6f2d552f197ee830d0a1c06679c">  413</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> EventBits_t <a class="code hl_variable" href="class_b_n_o08x.html#a901af6f2d552f197ee830d0a1c06679c">EVT_GRP_RPT_MAGNETOMETER_BIT</a> = (1 &lt;&lt; 10);         </div>
+<div class="line"><a id="l00414" name="l00414"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a665464f781fe891b9179478d0174af47">  414</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> EventBits_t <a class="code hl_variable" href="class_b_n_o08x.html#a665464f781fe891b9179478d0174af47">EVT_GRP_RPT_TAP_DETECTOR_BIT</a> = (1 &lt;&lt; 11);         </div>
+<div class="line"><a id="l00415" name="l00415"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#ab264b65a3aa5a9a74ed11b8977164a73">  415</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> EventBits_t <a class="code hl_variable" href="class_b_n_o08x.html#ab264b65a3aa5a9a74ed11b8977164a73">EVT_GRP_RPT_STEP_COUNTER_BIT</a> = (1 &lt;&lt; 12);         </div>
+<div class="line"><a id="l00416" name="l00416"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a7d6ee23222f55dbe9f70e04b36d9add2">  416</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> EventBits_t <a class="code hl_variable" href="class_b_n_o08x.html#a7d6ee23222f55dbe9f70e04b36d9add2">EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT</a> = (1 &lt;&lt; 13); </div>
+<div class="line"><a id="l00417" name="l00417"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a96eb1b1bfe1266791fd424b3ce402c56">  417</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> EventBits_t <a class="code hl_variable" href="class_b_n_o08x.html#a96eb1b1bfe1266791fd424b3ce402c56">EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT</a> = (1 &lt;&lt; 14);  </div>
+<div class="line"><a id="l00418" name="l00418"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a3e56d12435f7be81956d68196f1a46b4">  418</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> EventBits_t <a class="code hl_variable" href="class_b_n_o08x.html#a3e56d12435f7be81956d68196f1a46b4">EVT_GRP_RPT_RAW_ACCELEROMETER_BIT</a> = (1 &lt;&lt; 15);    </div>
+<div class="line"><a id="l00419" name="l00419"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a6be7b240e4447c2c643e706954093aa0">  419</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> EventBits_t <a class="code hl_variable" href="class_b_n_o08x.html#a6be7b240e4447c2c643e706954093aa0">EVT_GRP_RPT_RAW_GYRO_BIT</a> = (1 &lt;&lt; 16);             </div>
+<div class="line"><a id="l00420" name="l00420"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#ac28553b40b82c7cb409938681afe6cec">  420</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> EventBits_t <a class="code hl_variable" href="class_b_n_o08x.html#ac28553b40b82c7cb409938681afe6cec">EVT_GRP_RPT_RAW_MAGNETOMETER_BIT</a> = (1 &lt;&lt; 17);     </div>
+<div class="line"><a id="l00421" name="l00421"></a><span class="lineno">  421</span> </div>
+<div class="line"><a id="l00422" name="l00422"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a89399e8a68a53bc2a269ab73625a2da2">  422</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> EventBits_t <a class="code hl_variable" href="class_b_n_o08x.html#a89399e8a68a53bc2a269ab73625a2da2">EVT_GRP_RPT_ALL_BITS</a> =</div>
+<div class="line"><a id="l00423" name="l00423"></a><span class="lineno">  423</span>                <a class="code hl_variable" href="class_b_n_o08x.html#a198da2ee3cd9cfa459c3c41c4f8c44b7">EVT_GRP_RPT_ROTATION_VECTOR_BIT</a> | <a class="code hl_variable" href="class_b_n_o08x.html#a0f3f33d93b72ba6564f9d5fa93c24f98">EVT_GRP_RPT_GAME_ROTATION_VECTOR_BIT</a> | <a class="code hl_variable" href="class_b_n_o08x.html#aa9703cee46912a545b5e85e671f08e4b">EVT_GRP_RPT_ARVR_S_ROTATION_VECTOR_BIT</a> |</div>
+<div class="line"><a id="l00424" name="l00424"></a><span class="lineno">  424</span>                <a class="code hl_variable" href="class_b_n_o08x.html#a79d3fff1e0f19467cad231b22edafa0f">EVT_GRP_RPT_ARVR_S_GAME_ROTATION_VECTOR_BIT</a> | <a class="code hl_variable" href="class_b_n_o08x.html#a541155dc4544193451cf102e2a992da9">EVT_GRP_RPT_GYRO_ROTATION_VECTOR_BIT</a> | <a class="code hl_variable" href="class_b_n_o08x.html#a17b19c32d4dfbc9ae2761a0cdd873314">EVT_GRP_RPT_ACCELEROMETER_BIT</a> |</div>
+<div class="line"><a id="l00425" name="l00425"></a><span class="lineno">  425</span>                <a class="code hl_variable" href="class_b_n_o08x.html#ad93161968a53ff53a6bb74ab7c34fbff">EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT</a> | <a class="code hl_variable" href="class_b_n_o08x.html#ab94a8f69673a3db7556ba67775c5ea93">EVT_GRP_RPT_GRAVITY_BIT</a> | <a class="code hl_variable" href="class_b_n_o08x.html#a3a8b12ea9b75f97191785a60d1aa962a">EVT_GRP_RPT_GYRO_BIT</a> | <a class="code hl_variable" href="class_b_n_o08x.html#af86821bc0f1e7f5897de20b5e47a85bd">EVT_GRP_RPT_GYRO_UNCALIBRATED_BIT</a> |</div>
+<div class="line"><a id="l00426" name="l00426"></a><span class="lineno">  426</span>                <a class="code hl_variable" href="class_b_n_o08x.html#a901af6f2d552f197ee830d0a1c06679c">EVT_GRP_RPT_MAGNETOMETER_BIT</a> | <a class="code hl_variable" href="class_b_n_o08x.html#a665464f781fe891b9179478d0174af47">EVT_GRP_RPT_TAP_DETECTOR_BIT</a> | <a class="code hl_variable" href="class_b_n_o08x.html#ab264b65a3aa5a9a74ed11b8977164a73">EVT_GRP_RPT_STEP_COUNTER_BIT</a> | <a class="code hl_variable" href="class_b_n_o08x.html#a7d6ee23222f55dbe9f70e04b36d9add2">EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT</a> |</div>
+<div class="line"><a id="l00427" name="l00427"></a><span class="lineno">  427</span>                <a class="code hl_variable" href="class_b_n_o08x.html#a96eb1b1bfe1266791fd424b3ce402c56">EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT</a> | <a class="code hl_variable" href="class_b_n_o08x.html#a3e56d12435f7be81956d68196f1a46b4">EVT_GRP_RPT_RAW_ACCELEROMETER_BIT</a> | <a class="code hl_variable" href="class_b_n_o08x.html#a6be7b240e4447c2c643e706954093aa0">EVT_GRP_RPT_RAW_GYRO_BIT</a> | <a class="code hl_variable" href="class_b_n_o08x.html#ac28553b40b82c7cb409938681afe6cec">EVT_GRP_RPT_RAW_MAGNETOMETER_BIT</a>;</div>
+<div class="line"><a id="l00428" name="l00428"></a><span class="lineno">  428</span> </div>
+<div class="line"><a id="l00429" name="l00429"></a><span class="lineno">  429</span>        <span class="comment">// Higher level calibration commands, used by queue_calibrate_command</span></div>
+<div class="line"><a id="l00430" name="l00430"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#acd5b44d705af1f9aaa271a59a9d2d595">  430</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#acd5b44d705af1f9aaa271a59a9d2d595">CALIBRATE_ACCEL</a> = 0;        </div>
+<div class="line"><a id="l00431" name="l00431"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#aeac84719a1cc0f9c8d5a9a749391d4db">  431</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#aeac84719a1cc0f9c8d5a9a749391d4db">CALIBRATE_GYRO</a> = 1;         </div>
+<div class="line"><a id="l00432" name="l00432"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#ac00e8b59ae8d710cf79956eaafa97ddb">  432</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#ac00e8b59ae8d710cf79956eaafa97ddb">CALIBRATE_MAG</a> = 2;          </div>
+<div class="line"><a id="l00433" name="l00433"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a955dcb60da150490e17367a871b3a3d2">  433</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a955dcb60da150490e17367a871b3a3d2">CALIBRATE_PLANAR_ACCEL</a> = 3; </div>
+<div class="line"><a id="l00434" name="l00434"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#af53d9e99f163d97ef92fe989b1dd25cc">  434</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#af53d9e99f163d97ef92fe989b1dd25cc">CALIBRATE_ACCEL_GYRO_MAG</a> =</div>
+<div class="line"><a id="l00435" name="l00435"></a><span class="lineno">  435</span>                4;                                         </div>
+<div class="line"><a id="l00436" name="l00436"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a584bfa04a39feb93279ee673c340db54">  436</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a584bfa04a39feb93279ee673c340db54">CALIBRATE_STOP</a> = 5; </div>
+<div class="line"><a id="l00437" name="l00437"></a><span class="lineno">  437</span> </div>
+<div class="line"><a id="l00438" name="l00438"></a><span class="lineno">  438</span>        <span class="comment">// Command IDs (see Ref. Manual 6.4)</span></div>
+<div class="line"><a id="l00439" name="l00439"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a384a1efc9857ad938be3bb44f871539b">  439</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a384a1efc9857ad938be3bb44f871539b">COMMAND_ERRORS</a> = 1;</div>
+<div class="line"><a id="l00440" name="l00440"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a93dd073c0cc1f3ccfde552649f6ebccc">  440</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a93dd073c0cc1f3ccfde552649f6ebccc">COMMAND_COUNTER</a> = 2;</div>
+<div class="line"><a id="l00441" name="l00441"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a0a1756bc16ba3eac45f4229b1e350107">  441</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a0a1756bc16ba3eac45f4229b1e350107">COMMAND_TARE</a> = 3;            </div>
+<div class="line"><a id="l00442" name="l00442"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a30eb6d305a187d4d36546841e12176b9">  442</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a30eb6d305a187d4d36546841e12176b9">COMMAND_INITIALIZE</a> = 4;      </div>
+<div class="line"><a id="l00443" name="l00443"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#af124a6c1d8b871f3181b6c85f1099cb2">  443</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#af124a6c1d8b871f3181b6c85f1099cb2">COMMAND_DCD</a> = 6;             </div>
+<div class="line"><a id="l00444" name="l00444"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a8381dfe403ddff522f172cb16780731a">  444</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a8381dfe403ddff522f172cb16780731a">COMMAND_ME_CALIBRATE</a> = 7;    </div>
+<div class="line"><a id="l00445" name="l00445"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a7a246989c94cd87f68166b20b7ad4c8b">  445</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a7a246989c94cd87f68166b20b7ad4c8b">COMMAND_DCD_PERIOD_SAVE</a> = 9; </div>
+<div class="line"><a id="l00446" name="l00446"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a308c8b5307d93a67b5b9066d44494aa5">  446</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a308c8b5307d93a67b5b9066d44494aa5">COMMAND_OSCILLATOR</a> = 10;     </div>
+<div class="line"><a id="l00447" name="l00447"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a4f580b3cb232a762ea7019ee7b04d419">  447</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a4f580b3cb232a762ea7019ee7b04d419">COMMAND_CLEAR_DCD</a> = 11;      </div>
+<div class="line"><a id="l00448" name="l00448"></a><span class="lineno">  448</span> </div>
+<div class="line"><a id="l00449" name="l00449"></a><span class="lineno">  449</span>        <span class="comment">// SHTP channel 2 control report IDs, used in communication with sensor (See Ref. Manual 6.2)</span></div>
+<div class="line"><a id="l00450" name="l00450"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a1e5b64caa514b7e4fe64ab214758b875">  450</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a1e5b64caa514b7e4fe64ab214758b875">SHTP_REPORT_COMMAND_RESPONSE</a> = 0xF1;    </div>
+<div class="line"><a id="l00451" name="l00451"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#ab04695dd189412092254e52bd6e5a75a">  451</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#ab04695dd189412092254e52bd6e5a75a">SHTP_REPORT_COMMAND_REQUEST</a> = 0xF2;     </div>
+<div class="line"><a id="l00452" name="l00452"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#aeb760b095dcf808a413ef696f2608e43">  452</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#aeb760b095dcf808a413ef696f2608e43">SHTP_REPORT_FRS_READ_RESPONSE</a> = 0xF3;   </div>
+<div class="line"><a id="l00453" name="l00453"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a74af7eacc35cc825940b647c2de0d368">  453</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a74af7eacc35cc825940b647c2de0d368">SHTP_REPORT_FRS_READ_REQUEST</a> = 0xF4;    </div>
+<div class="line"><a id="l00454" name="l00454"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a0177134162e116501bc9483c6e4b76c3">  454</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a0177134162e116501bc9483c6e4b76c3">SHTP_REPORT_PRODUCT_ID_RESPONSE</a> = 0xF8; </div>
+<div class="line"><a id="l00455" name="l00455"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a542405639c28bd56bc4361b922763c95">  455</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a542405639c28bd56bc4361b922763c95">SHTP_REPORT_PRODUCT_ID_REQUEST</a> = 0xF9;  </div>
+<div class="line"><a id="l00456" name="l00456"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#ae37d6f8431c8c465bfb0c662772b5cb9">  456</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#ae37d6f8431c8c465bfb0c662772b5cb9">SHTP_REPORT_BASE_TIMESTAMP</a> = 0xFB;      </div>
+<div class="line"><a id="l00457" name="l00457"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a1d3bff4e20c2c3d47db322c9e34ef338">  457</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a1d3bff4e20c2c3d47db322c9e34ef338">SHTP_REPORT_SET_FEATURE_COMMAND</a> = 0xFD; </div>
+<div class="line"><a id="l00458" name="l00458"></a><span class="lineno">  458</span> </div>
+<div class="line"><a id="l00459" name="l00459"></a><span class="lineno">  459</span>        <span class="comment">// Sensor report IDs, used when enabling and reading BNO08x reports</span></div>
+<div class="line"><a id="l00460" name="l00460"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a354eaff2218eb382a1851537a75badcc">  460</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a354eaff2218eb382a1851537a75badcc">SENSOR_REPORT_ID_ACCELEROMETER</a> = 0x01;                        </div>
+<div class="line"><a id="l00461" name="l00461"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a224fb8f833806dd530c5f16e7ab5bc7a">  461</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a224fb8f833806dd530c5f16e7ab5bc7a">SENSOR_REPORT_ID_GYROSCOPE</a> = 0x02;                            </div>
+<div class="line"><a id="l00462" name="l00462"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a06058a84d6604054aa66ee008ac64aa9">  462</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a06058a84d6604054aa66ee008ac64aa9">SENSOR_REPORT_ID_MAGNETIC_FIELD</a> = 0x03;                       </div>
+<div class="line"><a id="l00463" name="l00463"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#ace7720a02c9f4ef38e319849f6c36a0b">  463</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#ace7720a02c9f4ef38e319849f6c36a0b">SENSOR_REPORT_ID_LINEAR_ACCELERATION</a> = 0x04;                  </div>
+<div class="line"><a id="l00464" name="l00464"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a37c91f995c385556486df5fbbce8a3d5">  464</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a37c91f995c385556486df5fbbce8a3d5">SENSOR_REPORT_ID_ROTATION_VECTOR</a> = 0x05;                      </div>
+<div class="line"><a id="l00465" name="l00465"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a6730acb92053d44decb690a7b7234032">  465</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a6730acb92053d44decb690a7b7234032">SENSOR_REPORT_ID_GRAVITY</a> = 0x06;                              </div>
+<div class="line"><a id="l00466" name="l00466"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#acb8e83fbb0645d4e98a96120ce9f431c">  466</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#acb8e83fbb0645d4e98a96120ce9f431c">SENSOR_REPORT_ID_UNCALIBRATED_GYRO</a> = 0x07;                    </div>
+<div class="line"><a id="l00467" name="l00467"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#ada7dbda9f7a0bfb0894a787ce0ff9cef">  467</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#ada7dbda9f7a0bfb0894a787ce0ff9cef">SENSOR_REPORT_ID_GAME_ROTATION_VECTOR</a> = 0x08;                 </div>
+<div class="line"><a id="l00468" name="l00468"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#abb6d0586a5a87b7b34f4c65ae52965a4">  468</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#abb6d0586a5a87b7b34f4c65ae52965a4">SENSOR_REPORT_ID_GEOMAGNETIC_ROTATION_VECTOR</a> = 0x09;          </div>
+<div class="line"><a id="l00469" name="l00469"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#acd0fc6ffa70dd2761cba0ac0b88c234f">  469</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#acd0fc6ffa70dd2761cba0ac0b88c234f">SENSOR_REPORT_ID_GYRO_INTEGRATED_ROTATION_VECTOR</a> = 0x2A;      </div>
+<div class="line"><a id="l00470" name="l00470"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a8114460c50e84b0ac750293ab72868c8">  470</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a8114460c50e84b0ac750293ab72868c8">SENSOR_REPORT_ID_TAP_DETECTOR</a> = 0x10;                         </div>
+<div class="line"><a id="l00471" name="l00471"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a2a10161bb564067a07f3fcf4021e00bb">  471</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a2a10161bb564067a07f3fcf4021e00bb">SENSOR_REPORT_ID_STEP_COUNTER</a> = 0x11;                         </div>
+<div class="line"><a id="l00472" name="l00472"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#ab5c29f31714b4755c0edbce7156652f7">  472</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#ab5c29f31714b4755c0edbce7156652f7">SENSOR_REPORT_ID_STABILITY_CLASSIFIER</a> = 0x13;                 </div>
+<div class="line"><a id="l00473" name="l00473"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a80ea70c4787dea6c3eabb48f583f1916">  473</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a80ea70c4787dea6c3eabb48f583f1916">SENSOR_REPORT_ID_RAW_ACCELEROMETER</a> = 0x14;                    </div>
+<div class="line"><a id="l00474" name="l00474"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a03b3000424e6d966b80655443ec546bc">  474</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a03b3000424e6d966b80655443ec546bc">SENSOR_REPORT_ID_RAW_GYROSCOPE</a> = 0x15;                        </div>
+<div class="line"><a id="l00475" name="l00475"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a9e9a7578b7584e7eb2ad562b29565fa7">  475</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a9e9a7578b7584e7eb2ad562b29565fa7">SENSOR_REPORT_ID_RAW_MAGNETOMETER</a> = 0x16;                     </div>
+<div class="line"><a id="l00476" name="l00476"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a7274f6d3bda04da0bb304386b4e8d603">  476</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a7274f6d3bda04da0bb304386b4e8d603">SENSOR_REPORT_ID_PERSONAL_ACTIVITY_CLASSIFIER</a> = 0x1E;         </div>
+<div class="line"><a id="l00477" name="l00477"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a8d4b91149cfc1a3cd615f60a4ad2275e">  477</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a8d4b91149cfc1a3cd615f60a4ad2275e">SENSOR_REPORT_ID_ARVR_STABILIZED_ROTATION_VECTOR</a> = 0x28;      </div>
+<div class="line"><a id="l00478" name="l00478"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#aeb51ebb6c82158cd7e23bd682c08c4e0">  478</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#aeb51ebb6c82158cd7e23bd682c08c4e0">SENSOR_REPORT_ID_ARVR_STABILIZED_GAME_ROTATION_VECTOR</a> = 0x29; </div>
+<div class="line"><a id="l00479" name="l00479"></a><span class="lineno">  479</span> </div>
+<div class="line"><a id="l00480" name="l00480"></a><span class="lineno">  480</span>        <span class="comment">// Tare commands used by queue_tare_command</span></div>
+<div class="line"><a id="l00481" name="l00481"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a27df630f3e52b35552d2c1f2cf3496b0">  481</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a27df630f3e52b35552d2c1f2cf3496b0">TARE_NOW</a> = 0;               </div>
+<div class="line"><a id="l00482" name="l00482"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a115aef7b38ec0dec2085f6917d832912">  482</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a115aef7b38ec0dec2085f6917d832912">TARE_PERSIST</a> = 1;           </div>
+<div class="line"><a id="l00483" name="l00483"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a59cde7dd301c94a20b84735c5d49008e">  483</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t <a class="code hl_variable" href="class_b_n_o08x.html#a59cde7dd301c94a20b84735c5d49008e">TARE_SET_REORIENTATION</a> = 2; </div>
+<div class="line"><a id="l00484" name="l00484"></a><span class="lineno">  484</span> </div>
+<div class="line"><a id="l00485" name="l00485"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a2c98d5f2c406a3efd0b48c5666fa8c46">  485</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> <span class="keywordtype">char</span>* <a class="code hl_variable" href="class_b_n_o08x.html#a2c98d5f2c406a3efd0b48c5666fa8c46">TAG</a> = <span class="stringliteral">&quot;BNO08x&quot;</span>; </div>
+<div class="line"><a id="l00486" name="l00486"></a><span class="lineno">  486</span>};</div>
+</div>
+<div class="ttc" id="a_b_n_o08x_8hpp_html_a648bbdbf22731476890dd8da977d7503"><div class="ttname"><a href="_b_n_o08x_8hpp.html#a648bbdbf22731476890dd8da977d7503">bno08x_config_t</a></div><div class="ttdeci">struct bno08x_config_t bno08x_config_t</div><div class="ttdoc">IMU configuration settings passed into constructor.</div></div>
+<div class="ttc" id="a_b_n_o08x_8hpp_html_aac50a1392dd0aa905500c755148c556b"><div class="ttname"><a href="_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556b">channels_t</a></div><div class="ttdeci">channels_t</div><div class="ttdoc">SHTP protocol channels.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:25</div></div>
+<div class="ttc" id="a_b_n_o08x_8hpp_html_aac50a1392dd0aa905500c755148c556ba1cb5955609063cff1ba49147e786e610"><div class="ttname"><a href="_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556ba1cb5955609063cff1ba49147e786e610">CHANNEL_COMMAND</a></div><div class="ttdeci">@ CHANNEL_COMMAND</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:26</div></div>
+<div class="ttc" id="a_b_n_o08x_8hpp_html_aac50a1392dd0aa905500c755148c556ba22f0b2ae6fcdc8618a078b0579d09e4a"><div class="ttname"><a href="_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556ba22f0b2ae6fcdc8618a078b0579d09e4a">CHANNEL_REPORTS</a></div><div class="ttdeci">@ CHANNEL_REPORTS</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:29</div></div>
+<div class="ttc" id="a_b_n_o08x_8hpp_html_aac50a1392dd0aa905500c755148c556ba6c5ca5e5847c55b469afbb435e15b5f0"><div class="ttname"><a href="_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556ba6c5ca5e5847c55b469afbb435e15b5f0">CHANNEL_CONTROL</a></div><div class="ttdeci">@ CHANNEL_CONTROL</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:28</div></div>
+<div class="ttc" id="a_b_n_o08x_8hpp_html_aac50a1392dd0aa905500c755148c556ba8a5de65712767758887f8fad9523bb72"><div class="ttname"><a href="_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556ba8a5de65712767758887f8fad9523bb72">CHANNEL_EXECUTABLE</a></div><div class="ttdeci">@ CHANNEL_EXECUTABLE</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:27</div></div>
+<div class="ttc" id="a_b_n_o08x_8hpp_html_aac50a1392dd0aa905500c755148c556bafbb907d12060466f58dd56d3e2430747"><div class="ttname"><a href="_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556bafbb907d12060466f58dd56d3e2430747">CHANNEL_WAKE_REPORTS</a></div><div class="ttdeci">@ CHANNEL_WAKE_REPORTS</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:30</div></div>
+<div class="ttc" id="a_b_n_o08x_8hpp_html_aac50a1392dd0aa905500c755148c556bafd513a698e54122cec579d9450482832"><div class="ttname"><a href="_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556bafd513a698e54122cec579d9450482832">CHANNEL_GYRO</a></div><div class="ttdeci">@ CHANNEL_GYRO</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:31</div></div>
+<div class="ttc" id="a_b_n_o08x_8hpp_html_adb7d85b4fa619c860031f469261c6279"><div class="ttname"><a href="_b_n_o08x_8hpp.html#adb7d85b4fa619c860031f469261c6279">IMUAccuracy</a></div><div class="ttdeci">IMUAccuracy</div><div class="ttdoc">Sensor accuracy returned during sensor calibration.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:36</div></div>
+<div class="ttc" id="a_b_n_o08x_8hpp_html_adb7d85b4fa619c860031f469261c6279a2ad6d5975c45da2e711c796f3a1b029c"><div class="ttname"><a href="_b_n_o08x_8hpp.html#adb7d85b4fa619c860031f469261c6279a2ad6d5975c45da2e711c796f3a1b029c">IMUAccuracy::MED</a></div><div class="ttdeci">@ MED</div></div>
+<div class="ttc" id="a_b_n_o08x_8hpp_html_adb7d85b4fa619c860031f469261c6279a41bc94cbd8eebea13ce0491b2ac11b88"><div class="ttname"><a href="_b_n_o08x_8hpp.html#adb7d85b4fa619c860031f469261c6279a41bc94cbd8eebea13ce0491b2ac11b88">IMUAccuracy::LOW</a></div><div class="ttdeci">@ LOW</div></div>
+<div class="ttc" id="a_b_n_o08x_8hpp_html_adb7d85b4fa619c860031f469261c6279ab89de3b4b81c4facfac906edf29aec8c"><div class="ttname"><a href="_b_n_o08x_8hpp.html#adb7d85b4fa619c860031f469261c6279ab89de3b4b81c4facfac906edf29aec8c">IMUAccuracy::HIGH</a></div><div class="ttdeci">@ HIGH</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html"><div class="ttname"><a href="class_b_n_o08x.html">BNO08x</a></div><div class="ttdef"><b>Definition</b> BNO08x.hpp:89</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a00ec3857cb06ae885e32059ef1cab693"><div class="ttname"><a href="class_b_n_o08x.html#a00ec3857cb06ae885e32059ef1cab693">BNO08x::disable_report</a></div><div class="ttdeci">void disable_report(uint8_t report_ID, const EventBits_t report_evt_grp_bit)</div><div class="ttdoc">Disables a sensor report for a given ID by setting its time interval to 0.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:482</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a0177134162e116501bc9483c6e4b76c3"><div class="ttname"><a href="class_b_n_o08x.html#a0177134162e116501bc9483c6e4b76c3">BNO08x::SHTP_REPORT_PRODUCT_ID_RESPONSE</a></div><div class="ttdeci">static const constexpr uint8_t SHTP_REPORT_PRODUCT_ID_RESPONSE</div><div class="ttdoc">See SH2 Ref. Manual 6.3.2.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:454</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a030eae12c3586acf09b48e94630b2544"><div class="ttname"><a href="class_b_n_o08x.html#a030eae12c3586acf09b48e94630b2544">BNO08x::enable_gravity</a></div><div class="ttdeci">void enable_gravity(uint32_t time_between_reports)</div><div class="ttdoc">Sends command to enable gravity reading reports (See Ref. Manual 6.5.11)</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1275</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a033d6cb1aa137743b69cc3e401df67b7"><div class="ttname"><a href="class_b_n_o08x.html#a033d6cb1aa137743b69cc3e401df67b7">BNO08x::raw_quat_radian_accuracy</a></div><div class="ttdeci">uint16_t raw_quat_radian_accuracy</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:347</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a03b3000424e6d966b80655443ec546bc"><div class="ttname"><a href="class_b_n_o08x.html#a03b3000424e6d966b80655443ec546bc">BNO08x::SENSOR_REPORT_ID_RAW_GYROSCOPE</a></div><div class="ttdeci">static const constexpr uint8_t SENSOR_REPORT_ID_RAW_GYROSCOPE</div><div class="ttdoc">See SH2 Ref. Manual 6.5.12.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:474</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a03f567cda2a3cc966301e96732fca9ad"><div class="ttname"><a href="class_b_n_o08x.html#a03f567cda2a3cc966301e96732fca9ad">BNO08x::raw_gyro_Z</a></div><div class="ttdeci">uint16_t raw_gyro_Z</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:346</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a0564aaf5b20dc42b54db4fb3115ac1c7"><div class="ttname"><a href="class_b_n_o08x.html#a0564aaf5b20dc42b54db4fb3115ac1c7">BNO08x::ACCELEROMETER_Q1</a></div><div class="ttdeci">static const constexpr int16_t ACCELEROMETER_Q1</div><div class="ttdoc">Acceleration Q point (See SH-2 Ref. Manual 6.5.9)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:271</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a05e4cd5861b55fc0182d7dd13bb85e49"><div class="ttname"><a href="class_b_n_o08x.html#a05e4cd5861b55fc0182d7dd13bb85e49">BNO08x::print_packet</a></div><div class="ttdeci">void print_packet(bno08x_rx_packet_t *packet)</div><div class="ttdoc">Prints the passed SHTP packet to serial console with ESP_LOG statement.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2446</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a06058a84d6604054aa66ee008ac64aa9"><div class="ttname"><a href="class_b_n_o08x.html#a06058a84d6604054aa66ee008ac64aa9">BNO08x::SENSOR_REPORT_ID_MAGNETIC_FIELD</a></div><div class="ttdeci">static const constexpr uint8_t SENSOR_REPORT_ID_MAGNETIC_FIELD</div><div class="ttdoc">See SH2 Ref. Manual 6.5.16.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:462</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a06bb0c70305421b5357e64f31579fdc7"><div class="ttname"><a href="class_b_n_o08x.html#a06bb0c70305421b5357e64f31579fdc7">BNO08x::register_cb</a></div><div class="ttdeci">void register_cb(std::function&lt; void()&gt; cb_fxn)</div><div class="ttdoc">Registers a callback to execute when new data from a report is received.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:864</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a081c666a3f24016d0ec5c5edc49f2903"><div class="ttname"><a href="class_b_n_o08x.html#a081c666a3f24016d0ec5c5edc49f2903">BNO08x::uncalib_gyro_accuracy</a></div><div class="ttdeci">uint16_t uncalib_gyro_accuracy</div><div class="ttdoc">Uncalibrated gyro reading (See SH-2 Ref. Manual 6.5.14)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:354</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a0968eaed9b3d979a2caa1aba6e6b417a"><div class="ttname"><a href="class_b_n_o08x.html#a0968eaed9b3d979a2caa1aba6e6b417a">BNO08x::raw_bias_Z</a></div><div class="ttdeci">uint16_t raw_bias_Z</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:353</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a0992d77f9bae0b8e3c8d9331fe84fe24"><div class="ttname"><a href="class_b_n_o08x.html#a0992d77f9bae0b8e3c8d9331fe84fe24">BNO08x::FRS_RECORD_ID_MAGNETIC_FIELD_CALIBRATED</a></div><div class="ttdeci">static const constexpr uint16_t FRS_RECORD_ID_MAGNETIC_FIELD_CALIBRATED</div><div class="ttdoc">Calibrated magnetometer record ID, to be passed in metadata functions like get_Q1()</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:253</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a0a1756bc16ba3eac45f4229b1e350107"><div class="ttname"><a href="class_b_n_o08x.html#a0a1756bc16ba3eac45f4229b1e350107">BNO08x::COMMAND_TARE</a></div><div class="ttdeci">static const constexpr uint8_t COMMAND_TARE</div><div class="ttdoc">Command and response to tare command (See Sh2 Ref. Manual 6.4.4)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:441</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a0a72477cb7a330fedbcb3e2126b882b1"><div class="ttname"><a href="class_b_n_o08x.html#a0a72477cb7a330fedbcb3e2126b882b1">BNO08x::get_accel_Z</a></div><div class="ttdeci">float get_accel_Z()</div><div class="ttdoc">Get z axis acceleration (total acceleration of device, units in m/s^2).</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2000</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a0a73633d8929ce4058b14cefc8cad717"><div class="ttname"><a href="class_b_n_o08x.html#a0a73633d8929ce4058b14cefc8cad717">BNO08x::get_uncalibrated_gyro_Z</a></div><div class="ttdeci">float get_uncalibrated_gyro_Z()</div><div class="ttdoc">Get uncalibrated gyro Z axis angular velocity measurement.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2271</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a0ae135d7bf7a5f047a1d1aa5cc07e520"><div class="ttname"><a href="class_b_n_o08x.html#a0ae135d7bf7a5f047a1d1aa5cc07e520">BNO08x::data_proc_task_trampoline</a></div><div class="ttdeci">static void data_proc_task_trampoline(void *arg)</div><div class="ttdoc">Static function used to launch data processing task.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2819</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a0b19c8f2de2b2bfe033da7f93cdd2608"><div class="ttname"><a href="class_b_n_o08x.html#a0b19c8f2de2b2bfe033da7f93cdd2608">BNO08x::ROTATION_VECTOR_Q1</a></div><div class="ttdeci">static const constexpr int16_t ROTATION_VECTOR_Q1</div><div class="ttdoc">Rotation vector Q point (See SH-2 Ref. Manual 6.5.18)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:269</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a0ce6d9db873555f1ebe7e095251eab74"><div class="ttname"><a href="class_b_n_o08x.html#a0ce6d9db873555f1ebe7e095251eab74">BNO08x::spi_task_trampoline</a></div><div class="ttdeci">static void spi_task_trampoline(void *arg)</div><div class="ttdoc">Static function used to launch spi task.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2769</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a0d148e00abcfeec48c689e3084a7e786"><div class="ttname"><a href="class_b_n_o08x.html#a0d148e00abcfeec48c689e3084a7e786">BNO08x::get_stability_classifier</a></div><div class="ttdeci">int8_t get_stability_classifier()</div><div class="ttdoc">Get the current stability classifier (Seee Ref. Manual 6.5.31)</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2389</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a0f3f33d93b72ba6564f9d5fa93c24f98"><div class="ttname"><a href="class_b_n_o08x.html#a0f3f33d93b72ba6564f9d5fa93c24f98">BNO08x::EVT_GRP_RPT_GAME_ROTATION_VECTOR_BIT</a></div><div class="ttdeci">static const constexpr EventBits_t EVT_GRP_RPT_GAME_ROTATION_VECTOR_BIT</div><div class="ttdoc">When set, game rotation vector reports are active.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:401</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a0fff04c42c9502615ad73cd1457cb9b0"><div class="ttname"><a href="class_b_n_o08x.html#a0fff04c42c9502615ad73cd1457cb9b0">BNO08x::get_range</a></div><div class="ttdeci">float get_range(uint16_t record_ID)</div><div class="ttdoc">Gets range from BNO08x FRS (flash record system).</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2557</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a1033bdd65b42b6706d1dfc67ece66191"><div class="ttname"><a href="class_b_n_o08x.html#a1033bdd65b42b6706d1dfc67ece66191">BNO08x::get_linear_accel_Y</a></div><div class="ttdeci">float get_linear_accel_Y()</div><div class="ttdoc">Get y axis linear acceleration (acceleration of device minus gravity, units in m/s^2)</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2048</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a111601243b913751eb51c1f37cba4e7d"><div class="ttname"><a href="class_b_n_o08x.html#a111601243b913751eb51c1f37cba4e7d">BNO08x::get_magf_X</a></div><div class="ttdeci">float get_magf_X()</div><div class="ttdoc">Get X component of magnetic field vector.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1661</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a115aef7b38ec0dec2085f6917d832912"><div class="ttname"><a href="class_b_n_o08x.html#a115aef7b38ec0dec2085f6917d832912">BNO08x::TARE_PERSIST</a></div><div class="ttdeci">static const constexpr uint8_t TARE_PERSIST</div><div class="ttdoc">See SH2 Ref. Manual 6.4.4.2.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:482</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a1171a5738a4e6831ec7fa32a29f15554"><div class="ttname"><a href="class_b_n_o08x.html#a1171a5738a4e6831ec7fa32a29f15554">BNO08x::tap_detector</a></div><div class="ttdeci">uint8_t tap_detector</div><div class="ttdoc">Tap detector reading (See SH-2 Ref. Manual 6.5.27)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:357</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a11bb1b3fa44ad8f28c1492b5c07af886"><div class="ttname"><a href="class_b_n_o08x.html#a11bb1b3fa44ad8f28c1492b5c07af886">BNO08x::get_reset_reason</a></div><div class="ttdeci">uint8_t get_reset_reason()</div><div class="ttdoc">Requests product ID, prints the returned info over serial, and returns the reason for the most resent...</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:322</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a12c12a8e078b28480fb8828d306656f5"><div class="ttname"><a href="class_b_n_o08x.html#a12c12a8e078b28480fb8828d306656f5">BNO08x::get_quat_I</a></div><div class="ttdeci">float get_quat_I()</div><div class="ttdoc">Get I component of reported quaternion.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1897</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a14ebec501b8d004a38648a9a1f7a2c9e"><div class="ttname"><a href="class_b_n_o08x.html#a14ebec501b8d004a38648a9a1f7a2c9e">BNO08x::enable_raw_magnetometer</a></div><div class="ttdeci">void enable_raw_magnetometer(uint32_t time_between_reports)</div><div class="ttdoc">Sends command to enable raw magnetometer reports (See Ref. Manual 6.5.15)</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1388</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a1590ba793668f9cb1a32a1f4dd07cb9a"><div class="ttname"><a href="class_b_n_o08x.html#a1590ba793668f9cb1a32a1f4dd07cb9a">BNO08x::get_Q3</a></div><div class="ttdeci">int16_t get_Q3(uint16_t record_ID)</div><div class="ttdoc">Gets Q3 point from BNO08x FRS (flash record system).</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2527</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a15a29c3bb476048b7229abcfb2b1d52a"><div class="ttname"><a href="class_b_n_o08x.html#a15a29c3bb476048b7229abcfb2b1d52a">BNO08x::get_gyro_calibrated_velocity_Z</a></div><div class="ttdeci">float get_gyro_calibrated_velocity_Z()</div><div class="ttdoc">Get calibrated gyro z axis angular velocity measurement.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2206</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a16f83d1e85576a51abf2c65e5de58cd2"><div class="ttname"><a href="class_b_n_o08x.html#a16f83d1e85576a51abf2c65e5de58cd2">BNO08x::disable_tap_detector</a></div><div class="ttdeci">void disable_tap_detector()</div><div class="ttdoc">Sends command to disable tap detector reports by setting report interval to 0.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1508</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a171d78f4b00598b04c8ca54da16c508b"><div class="ttname"><a href="class_b_n_o08x.html#a171d78f4b00598b04c8ca54da16c508b">BNO08x::disable_raw_accelerometer</a></div><div class="ttdeci">void disable_raw_accelerometer()</div><div class="ttdoc">Sends command to disable raw accelerometer reports by setting report interval to 0.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1548</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a176ae0112325c05105eacb4566bbfa0b"><div class="ttname"><a href="class_b_n_o08x.html#a176ae0112325c05105eacb4566bbfa0b">BNO08x::mode_sleep</a></div><div class="ttdeci">bool mode_sleep()</div><div class="ttdoc">Puts BNO08x sensor into sleep/low power mode using executable channel.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:372</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a17b19c32d4dfbc9ae2761a0cdd873314"><div class="ttname"><a href="class_b_n_o08x.html#a17b19c32d4dfbc9ae2761a0cdd873314">BNO08x::EVT_GRP_RPT_ACCELEROMETER_BIT</a></div><div class="ttdeci">static const constexpr EventBits_t EVT_GRP_RPT_ACCELEROMETER_BIT</div><div class="ttdoc">When set, accelerometer reports are active.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:408</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a1874e4bd457bb5b6ecc2c64039b88ba4"><div class="ttname"><a href="class_b_n_o08x.html#a1874e4bd457bb5b6ecc2c64039b88ba4">BNO08x::get_uncalibrated_gyro_Y</a></div><div class="ttdeci">float get_uncalibrated_gyro_Y()</div><div class="ttdoc">Get uncalibrated gyro Y axis angular velocity measurement.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2261</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a19696327a056a448ed5ba706e747bbe5"><div class="ttname"><a href="class_b_n_o08x.html#a19696327a056a448ed5ba706e747bbe5">BNO08x::raw_gyro_X</a></div><div class="ttdeci">uint16_t raw_gyro_X</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:346</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a198da2ee3cd9cfa459c3c41c4f8c44b7"><div class="ttname"><a href="class_b_n_o08x.html#a198da2ee3cd9cfa459c3c41c4f8c44b7">BNO08x::EVT_GRP_RPT_ROTATION_VECTOR_BIT</a></div><div class="ttdeci">static const constexpr EventBits_t EVT_GRP_RPT_ROTATION_VECTOR_BIT</div><div class="ttdoc">When set, rotation vector reports are active.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:400</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a1a037bda37493cde56732cc6fdc7884b"><div class="ttname"><a href="class_b_n_o08x.html#a1a037bda37493cde56732cc6fdc7884b">BNO08x::RX_DATA_LENGTH</a></div><div class="ttdeci">static const constexpr uint16_t RX_DATA_LENGTH</div><div class="ttdoc">length buffer containing data received over spi</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:384</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a1b12471e92536a79d0c425d77676f2e1"><div class="ttname"><a href="class_b_n_o08x.html#a1b12471e92536a79d0c425d77676f2e1">BNO08x::stability_classifier</a></div><div class="ttdeci">uint8_t stability_classifier</div><div class="ttdoc">Stability status reading (See SH-2 Ref. Manual 6.5.31)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:359</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a1b91f234d81c45f1f5ca2f27c9f0f6a3"><div class="ttname"><a href="class_b_n_o08x.html#a1b91f234d81c45f1f5ca2f27c9f0f6a3">BNO08x::get_pitch</a></div><div class="ttdeci">float get_pitch()</div><div class="ttdoc">Get the reported rotation about y axis.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1789</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a1bd3c33e70354bd35a78b83b6786b531"><div class="ttname"><a href="class_b_n_o08x.html#a1bd3c33e70354bd35a78b83b6786b531">BNO08x::get_uncalibrated_gyro</a></div><div class="ttdeci">void get_uncalibrated_gyro(float &amp;x, float &amp;y, float &amp;z, float &amp;bx, float &amp;by, float &amp;bz, uint8_t &amp;accuracy)</div><div class="ttdoc">Get full rotational velocity without drift compensation (units in Rad/s). An estimate of drift is giv...</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2235</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a1c6c49c97bc098db89db1aaa37e18f26"><div class="ttname"><a href="class_b_n_o08x.html#a1c6c49c97bc098db89db1aaa37e18f26">BNO08x::calibrate_planar_accelerometer</a></div><div class="ttdeci">void calibrate_planar_accelerometer()</div><div class="ttdoc">Sends command to calibrate planar accelerometer.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:632</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a1d3bff4e20c2c3d47db322c9e34ef338"><div class="ttname"><a href="class_b_n_o08x.html#a1d3bff4e20c2c3d47db322c9e34ef338">BNO08x::SHTP_REPORT_SET_FEATURE_COMMAND</a></div><div class="ttdeci">static const constexpr uint8_t SHTP_REPORT_SET_FEATURE_COMMAND</div><div class="ttdoc">See SH2 Ref. Manual 6.5.4.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:457</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a1d6ea02d0d4b23ff6a15e9d5c6c92372"><div class="ttname"><a href="class_b_n_o08x.html#a1d6ea02d0d4b23ff6a15e9d5c6c92372">BNO08x::get_resolution</a></div><div class="ttdeci">float get_resolution(uint16_t record_ID)</div><div class="ttdoc">Gets resolution from BNO08x FRS (flash record system).</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2540</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a1de356dd604c1dffcd1a32faeb4fafe2"><div class="ttname"><a href="class_b_n_o08x.html#a1de356dd604c1dffcd1a32faeb4fafe2">BNO08x::get_raw_accel_X</a></div><div class="ttdeci">int16_t get_raw_accel_X()</div><div class="ttdoc">Get raw accelerometer x axis reading from physical accelerometer MEMs sensor (See Ref....</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2078</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a1e5b64caa514b7e4fe64ab214758b875"><div class="ttname"><a href="class_b_n_o08x.html#a1e5b64caa514b7e4fe64ab214758b875">BNO08x::SHTP_REPORT_COMMAND_RESPONSE</a></div><div class="ttdeci">static const constexpr uint8_t SHTP_REPORT_COMMAND_RESPONSE</div><div class="ttdoc">See SH2 Ref. Manual 6.3.9.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:450</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a1ebd456d2a67a22b5ba0911a95915921"><div class="ttname"><a href="class_b_n_o08x.html#a1ebd456d2a67a22b5ba0911a95915921">BNO08x::disable_rotation_vector</a></div><div class="ttdeci">void disable_rotation_vector()</div><div class="ttdoc">Sends command to disable rotation vector reports by setting report interval to 0.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1398</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a1ef13f6f330810934416ad5fe0ee55b2"><div class="ttname"><a href="class_b_n_o08x.html#a1ef13f6f330810934416ad5fe0ee55b2">BNO08x::TARE_AXIS_ALL</a></div><div class="ttdeci">static const constexpr uint8_t TARE_AXIS_ALL</div><div class="ttdoc">Tare all axes (used with tare now command)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:258</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a224fb8f833806dd530c5f16e7ab5bc7a"><div class="ttname"><a href="class_b_n_o08x.html#a224fb8f833806dd530c5f16e7ab5bc7a">BNO08x::SENSOR_REPORT_ID_GYROSCOPE</a></div><div class="ttdeci">static const constexpr uint8_t SENSOR_REPORT_ID_GYROSCOPE</div><div class="ttdoc">See SH2 Ref. Manual 6.5.13.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:461</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a225397a04d849e5647992ca80d68febb"><div class="ttname"><a href="class_b_n_o08x.html#a225397a04d849e5647992ca80d68febb">BNO08x::TARE_GEOMAGNETIC_ROTATION_VECTOR</a></div><div class="ttdeci">static const constexpr uint8_t TARE_GEOMAGNETIC_ROTATION_VECTOR</div><div class="ttdoc">tare geomagnetic rotation vector</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:264</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a24ba760d064a1dc45f972c79b9c8d98d"><div class="ttname"><a href="class_b_n_o08x.html#a24ba760d064a1dc45f972c79b9c8d98d">BNO08x::get_quat_accuracy</a></div><div class="ttdeci">uint8_t get_quat_accuracy()</div><div class="ttdoc">Get accuracy of reported quaternion.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1952</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a2795c6579cf03e22f62a5eadc88dee91"><div class="ttname"><a href="class_b_n_o08x.html#a2795c6579cf03e22f62a5eadc88dee91">BNO08x::enable_accelerometer</a></div><div class="ttdeci">void enable_accelerometer(uint32_t time_between_reports)</div><div class="ttdoc">Sends command to enable accelerometer reports (See Ref. Manual 6.5.9)</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1253</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a27df630f3e52b35552d2c1f2cf3496b0"><div class="ttname"><a href="class_b_n_o08x.html#a27df630f3e52b35552d2c1f2cf3496b0">BNO08x::TARE_NOW</a></div><div class="ttdeci">static const constexpr uint8_t TARE_NOW</div><div class="ttdoc">See SH2 Ref. Manual 6.4.4.1.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:481</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a27f5dce5c994be18a587fb622574ad41"><div class="ttname"><a href="class_b_n_o08x.html#a27f5dce5c994be18a587fb622574ad41">BNO08x::FRS_read_word</a></div><div class="ttdeci">uint32_t FRS_read_word(uint16_t record_ID, uint8_t word_number)</div><div class="ttdoc">Reads meta data word from BNO08x FRS (flash record system) given the record ID and word number....</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2578</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a27fb24e894f794ec6228ef142b6ff8d9"><div class="ttname"><a href="class_b_n_o08x.html#a27fb24e894f794ec6228ef142b6ff8d9">BNO08x::q_to_float</a></div><div class="ttdeci">float q_to_float(int16_t fixed_point_value, uint8_t q_point)</div><div class="ttdoc">Converts a register value to a float using its associated Q point. (See https://en....</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1621</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a2897a178bf2c53cd99df0d4570edf72e"><div class="ttname"><a href="class_b_n_o08x.html#a2897a178bf2c53cd99df0d4570edf72e">BNO08x::wait_for_rx_done</a></div><div class="ttdeci">bool wait_for_rx_done()</div><div class="ttdoc">Waits for data to be received over SPI, or HOST_INT_TIMEOUT_MS to elapse.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:144</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a289ff66f51c94be62c4a556f3a5997bf"><div class="ttname"><a href="class_b_n_o08x.html#a289ff66f51c94be62c4a556f3a5997bf">BNO08x::get_uncalibrated_gyro_X</a></div><div class="ttdeci">float get_uncalibrated_gyro_X()</div><div class="ttdoc">Get uncalibrated gyro x axis angular velocity measurement.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2251</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a28cd1c0b3477571d87133234e6358503"><div class="ttname"><a href="class_b_n_o08x.html#a28cd1c0b3477571d87133234e6358503">BNO08x::hard_reset</a></div><div class="ttdeci">bool hard_reset()</div><div class="ttdoc">Hard resets BNO08x sensor.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:250</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a29cfd7fc2816483ebebe9d55b677a036"><div class="ttname"><a href="class_b_n_o08x.html#a29cfd7fc2816483ebebe9d55b677a036">BNO08x::parse_product_id_report</a></div><div class="ttdeci">uint16_t parse_product_id_report(bno08x_rx_packet_t *packet)</div><div class="ttdoc">Parses product id report and prints device info.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:928</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a2a10161bb564067a07f3fcf4021e00bb"><div class="ttname"><a href="class_b_n_o08x.html#a2a10161bb564067a07f3fcf4021e00bb">BNO08x::SENSOR_REPORT_ID_STEP_COUNTER</a></div><div class="ttdeci">static const constexpr uint8_t SENSOR_REPORT_ID_STEP_COUNTER</div><div class="ttdoc">See SH2 Ref. Manual 6.5.29.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:471</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a2a5b978233eab4c103ab01cfc33a1750"><div class="ttname"><a href="class_b_n_o08x.html#a2a5b978233eab4c103ab01cfc33a1750">BNO08x::MAX_METADATA_LENGTH</a></div><div class="ttdeci">static const constexpr uint16_t MAX_METADATA_LENGTH</div><div class="ttdoc">max length of metadata used in frs read operations</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:385</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a2c359a44a2c8e83ecb258a340e2d0e1a"><div class="ttname"><a href="class_b_n_o08x.html#a2c359a44a2c8e83ecb258a340e2d0e1a">BNO08x::send_packet</a></div><div class="ttdeci">void send_packet(bno08x_tx_packet_t *packet)</div><div class="ttdoc">Sends a queued SHTP packet via SPI.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:529</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a2c842e43ceae19149f6525bcbc48f1cf"><div class="ttname"><a href="class_b_n_o08x.html#a2c842e43ceae19149f6525bcbc48f1cf">BNO08x::get_raw_magf_Y</a></div><div class="ttdeci">int16_t get_raw_magf_Y()</div><div class="ttdoc">Get raw magnetometer y axis reading from physical magnetometer sensor (See Ref. Manual 6....</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2148</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a2c98d5f2c406a3efd0b48c5666fa8c46"><div class="ttname"><a href="class_b_n_o08x.html#a2c98d5f2c406a3efd0b48c5666fa8c46">BNO08x::TAG</a></div><div class="ttdeci">static const constexpr char * TAG</div><div class="ttdoc">Class tag used for serial print statements.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:485</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a2e28b5a79c442a6baa2fa5165b9ce37d"><div class="ttname"><a href="class_b_n_o08x.html#a2e28b5a79c442a6baa2fa5165b9ce37d">BNO08x::get_raw_gyro_Z</a></div><div class="ttdeci">int16_t get_raw_gyro_Z()</div><div class="ttdoc">Get raw gyroscope z axis reading from physical gyroscope MEMs sensor (See Ref. Manual 6....</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2128</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a2ecd4ed60f82730ae230c61687ec92bf"><div class="ttname"><a href="class_b_n_o08x.html#a2ecd4ed60f82730ae230c61687ec92bf">BNO08x::spi_task</a></div><div class="ttdeci">void spi_task()</div><div class="ttdoc">Task responsible for SPI transactions. Executed when HINT in is asserted by BNO08x.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2780</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a3042301cf0f51657c82b1127dce230f4"><div class="ttname"><a href="class_b_n_o08x.html#a3042301cf0f51657c82b1127dce230f4">BNO08x::enable_raw_accelerometer</a></div><div class="ttdeci">void enable_raw_accelerometer(uint32_t time_between_reports)</div><div class="ttdoc">Sends command to enable raw accelerometer reports (See Ref. Manual 6.5.8)</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1366</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a308c8b5307d93a67b5b9066d44494aa5"><div class="ttname"><a href="class_b_n_o08x.html#a308c8b5307d93a67b5b9066d44494aa5">BNO08x::COMMAND_OSCILLATOR</a></div><div class="ttdeci">static const constexpr uint8_t COMMAND_OSCILLATOR</div><div class="ttdoc">Retrieve oscillator type command (See SH2 Ref. Manual 6.4)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:446</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a30eb6d305a187d4d36546841e12176b9"><div class="ttname"><a href="class_b_n_o08x.html#a30eb6d305a187d4d36546841e12176b9">BNO08x::COMMAND_INITIALIZE</a></div><div class="ttdeci">static const constexpr uint8_t COMMAND_INITIALIZE</div><div class="ttdoc">Reinitialize sensor hub components See (SH2 Ref. Manual 6.4.5)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:442</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a3285613f18b2f2f4c3f9e6d5c971af10"><div class="ttname"><a href="class_b_n_o08x.html#a3285613f18b2f2f4c3f9e6d5c971af10">BNO08x::get_uncalibrated_gyro_accuracy</a></div><div class="ttdeci">uint8_t get_uncalibrated_gyro_accuracy()</div><div class="ttdoc">Get uncalibrated gyro accuracy.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2311</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a32cffd8f78881925d22d5a7cb55f2bbc"><div class="ttname"><a href="class_b_n_o08x.html#a32cffd8f78881925d22d5a7cb55f2bbc">BNO08x::EVT_GRP_SPI_RX_DONE_BIT</a></div><div class="ttdeci">static const constexpr EventBits_t EVT_GRP_SPI_RX_DONE_BIT</div><div class="ttdoc">When this bit is set it indicates a receive procedure has completed.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:391</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a3365b7ebde01e284274e655c60343df9"><div class="ttname"><a href="class_b_n_o08x.html#a3365b7ebde01e284274e655c60343df9">BNO08x::accel_accuracy</a></div><div class="ttdeci">uint16_t accel_accuracy</div><div class="ttdoc">Raw acceleration readings (See SH-2 Ref. Manual 6.5.8)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:343</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a33fe3c2f47759cfae5f4b612ddd329ea"><div class="ttname"><a href="class_b_n_o08x.html#a33fe3c2f47759cfae5f4b612ddd329ea">BNO08x::get_linear_accel_accuracy</a></div><div class="ttdeci">uint8_t get_linear_accel_accuracy()</div><div class="ttdoc">Get accuracy of linear acceleration.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2068</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a354eaff2218eb382a1851537a75badcc"><div class="ttname"><a href="class_b_n_o08x.html#a354eaff2218eb382a1851537a75badcc">BNO08x::SENSOR_REPORT_ID_ACCELEROMETER</a></div><div class="ttdeci">static const constexpr uint8_t SENSOR_REPORT_ID_ACCELEROMETER</div><div class="ttdoc">See SH2 Ref. Manual 6.5.9.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:460</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a35856c108a47de8b3b38c4395aabb4eb"><div class="ttname"><a href="class_b_n_o08x.html#a35856c108a47de8b3b38c4395aabb4eb">BNO08x::print_header</a></div><div class="ttdeci">void print_header(bno08x_rx_packet_t *packet)</div><div class="ttdoc">Prints the header of the passed SHTP packet to serial console with ESP_LOG statement.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2419</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a35a224d519a2a243d0d526a34ecde5a8"><div class="ttname"><a href="class_b_n_o08x.html#a35a224d519a2a243d0d526a34ecde5a8">BNO08x::get_magf</a></div><div class="ttdeci">void get_magf(float &amp;x, float &amp;y, float &amp;z, uint8_t &amp;accuracy)</div><div class="ttdoc">Get the full magnetic field vector.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1648</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a35d8f641e73c308f92a5a0a772f90f48"><div class="ttname"><a href="class_b_n_o08x.html#a35d8f641e73c308f92a5a0a772f90f48">BNO08x::FRS_RECORD_ID_GYROSCOPE_CALIBRATED</a></div><div class="ttdeci">static const constexpr uint16_t FRS_RECORD_ID_GYROSCOPE_CALIBRATED</div><div class="ttdoc">Calirated gyroscope record ID, to be passed in metadata functions like get_Q1()</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:251</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a35e1635ef5edde8fc8640f978c6f2e3c"><div class="ttname"><a href="class_b_n_o08x.html#a35e1635ef5edde8fc8640f978c6f2e3c">BNO08x::accel_lin_accuracy</a></div><div class="ttdeci">uint16_t accel_lin_accuracy</div><div class="ttdoc">Raw linear acceleration (See SH-2 Ref. Manual 6.5.10)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:345</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a36223f7124751fa71e860b2ef55dd2ac"><div class="ttname"><a href="class_b_n_o08x.html#a36223f7124751fa71e860b2ef55dd2ac">BNO08x::quat_accuracy</a></div><div class="ttdeci">uint16_t quat_accuracy</div><div class="ttdoc">Raw quaternion reading (See SH-2 Ref. Manual 6.5.44)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:348</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a367d525d1c0ba119b3dca3067bb5bccc"><div class="ttname"><a href="class_b_n_o08x.html#a367d525d1c0ba119b3dca3067bb5bccc">BNO08x::data_available</a></div><div class="ttdeci">bool data_available()</div><div class="ttdoc">Checks if BNO08x has asserted interrupt and sent data.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:847</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a37c91f995c385556486df5fbbce8a3d5"><div class="ttname"><a href="class_b_n_o08x.html#a37c91f995c385556486df5fbbce8a3d5">BNO08x::SENSOR_REPORT_ID_ROTATION_VECTOR</a></div><div class="ttdeci">static const constexpr uint8_t SENSOR_REPORT_ID_ROTATION_VECTOR</div><div class="ttdoc">See SH2 Ref. Manual 6.5.18.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:464</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a384a1efc9857ad938be3bb44f871539b"><div class="ttname"><a href="class_b_n_o08x.html#a384a1efc9857ad938be3bb44f871539b">BNO08x::COMMAND_ERRORS</a></div><div class="ttdeci">static const constexpr uint8_t COMMAND_ERRORS</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:439</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a386c46ac8965220ab7b9423df838dd4d"><div class="ttname"><a href="class_b_n_o08x.html#a386c46ac8965220ab7b9423df838dd4d">BNO08x::get_gravity</a></div><div class="ttdeci">void get_gravity(float &amp;x, float &amp;y, float &amp;z, uint8_t &amp;accuracy)</div><div class="ttdoc">Get full reported gravity vector, units in m/s^2.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1709</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a3a1a869ac69e6ee850bd2a7f90dd8945"><div class="ttname"><a href="class_b_n_o08x.html#a3a1a869ac69e6ee850bd2a7f90dd8945">BNO08x::bno08x_tx_packet_t</a></div><div class="ttdeci">struct BNO08x::bno08x_tx_packet_t bno08x_tx_packet_t</div><div class="ttdoc">Holds data that is sent over spi.</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a3a8b12ea9b75f97191785a60d1aa962a"><div class="ttname"><a href="class_b_n_o08x.html#a3a8b12ea9b75f97191785a60d1aa962a">BNO08x::EVT_GRP_RPT_GYRO_BIT</a></div><div class="ttdeci">static const constexpr EventBits_t EVT_GRP_RPT_GYRO_BIT</div><div class="ttdoc">When set, gyro reports are active.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:411</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a3c32120bcd0987c3ca1bb72910586b59"><div class="ttname"><a href="class_b_n_o08x.html#a3c32120bcd0987c3ca1bb72910586b59">BNO08x::enable_magnetometer</a></div><div class="ttdeci">void enable_magnetometer(uint32_t time_between_reports)</div><div class="ttdoc">Sends command to enable magnetometer reports (See Ref. Manual 6.5.16)</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1308</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a3d6b6257462951ea023af7076c80f6dd"><div class="ttname"><a href="class_b_n_o08x.html#a3d6b6257462951ea023af7076c80f6dd">BNO08x::mems_raw_gyro_X</a></div><div class="ttdeci">uint16_t mems_raw_gyro_X</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:365</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a3e56d12435f7be81956d68196f1a46b4"><div class="ttname"><a href="class_b_n_o08x.html#a3e56d12435f7be81956d68196f1a46b4">BNO08x::EVT_GRP_RPT_RAW_ACCELEROMETER_BIT</a></div><div class="ttdeci">static const constexpr EventBits_t EVT_GRP_RPT_RAW_ACCELEROMETER_BIT</div><div class="ttdoc">When set, raw accelerometer reports are active.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:418</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a3fce726d5de821f97ed207036dae2900"><div class="ttname"><a href="class_b_n_o08x.html#a3fce726d5de821f97ed207036dae2900">BNO08x::get_accel_accuracy</a></div><div class="ttdeci">uint8_t get_accel_accuracy()</div><div class="ttdoc">Get accuracy of linear acceleration.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2010</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a40607e557eada666a5e1e416f42cd4a1"><div class="ttname"><a href="class_b_n_o08x.html#a40607e557eada666a5e1e416f42cd4a1">BNO08x::FRS_read_data</a></div><div class="ttdeci">bool FRS_read_data(uint16_t record_ID, uint8_t start_location, uint8_t words_to_read)</div><div class="ttdoc">Read meta data from BNO08x FRS (flash record system) given the record ID. Contains Q points and other...</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2630</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a407711b4a84223a52cc043a152aea8ba"><div class="ttname"><a href="class_b_n_o08x.html#a407711b4a84223a52cc043a152aea8ba">BNO08x::bno08x_rx_packet_t</a></div><div class="ttdeci">struct BNO08x::bno08x_rx_packet_t bno08x_rx_packet_t</div><div class="ttdoc">Holds data that is received over spi.</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a40f7688e843d74b8bd526c6f5ff17845"><div class="ttname"><a href="class_b_n_o08x.html#a40f7688e843d74b8bd526c6f5ff17845">BNO08x::BNO08x</a></div><div class="ttdeci">BNO08x(bno08x_config_t imu_config=default_imu_config)</div><div class="ttdoc">BNO08x imu constructor.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:15</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a41613e65ea9beef883184b7ef67affdd"><div class="ttname"><a href="class_b_n_o08x.html#a41613e65ea9beef883184b7ef67affdd">BNO08x::enable_report</a></div><div class="ttdeci">void enable_report(uint8_t report_ID, uint32_t time_between_reports, const EventBits_t report_evt_grp_bit)</div><div class="ttdoc">Enables a sensor report for a given ID.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:455</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a425a1f5a9f3232aadc685caaf4c2f82e"><div class="ttname"><a href="class_b_n_o08x.html#a425a1f5a9f3232aadc685caaf4c2f82e">BNO08x::imu_spi_config</a></div><div class="ttdeci">spi_device_interface_config_t imu_spi_config</div><div class="ttdoc">SPI slave device settings.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:336</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a427550a4ba25252912436b899124e157"><div class="ttname"><a href="class_b_n_o08x.html#a427550a4ba25252912436b899124e157">BNO08x::disable_step_counter</a></div><div class="ttdeci">void disable_step_counter()</div><div class="ttdoc">Sends command to disable step counter reports by setting report interval to 0.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1518</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a4421c43323945946ad605f8422958dcf"><div class="ttname"><a href="class_b_n_o08x.html#a4421c43323945946ad605f8422958dcf">BNO08x::get_Q1</a></div><div class="ttdeci">int16_t get_Q1(uint16_t record_ID)</div><div class="ttdoc">Gets Q1 point from BNO08x FRS (flash record system).</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2497</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a4549bbef48208bd9c745fc755b93012f"><div class="ttname"><a href="class_b_n_o08x.html#a4549bbef48208bd9c745fc755b93012f">BNO08x::tare_now</a></div><div class="ttdeci">void tare_now(uint8_t axis_sel=TARE_AXIS_ALL, uint8_t rotation_vector_basis=TARE_ROTATION_VECTOR)</div><div class="ttdoc">Sends command to tare an axis (See Ref. Manual 6.4.4.1)</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1581</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a4797ec731de4c158716da1a7af9d1602"><div class="ttname"><a href="class_b_n_o08x.html#a4797ec731de4c158716da1a7af9d1602">BNO08x::get_tap_detector</a></div><div class="ttdeci">uint8_t get_tap_detector()</div><div class="ttdoc">Get if tap has occured.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2367</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a487391e6b2dd7f05084804d1fb94976f"><div class="ttname"><a href="class_b_n_o08x.html#a487391e6b2dd7f05084804d1fb94976f">BNO08x::get_magf_accuracy</a></div><div class="ttdeci">uint8_t get_magf_accuracy()</div><div class="ttdoc">Get accuracy of reported magnetic field vector.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1694</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a4882dbc698d7b730f57e2401037766a9"><div class="ttname"><a href="class_b_n_o08x.html#a4882dbc698d7b730f57e2401037766a9">BNO08x::isr_service_installed</a></div><div class="ttdeci">static bool isr_service_installed</div><div class="ttdoc">true of the isr service has been installed, only has to be done once regardless of how many devices a...</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:3</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a4c6353e795f734ed28613f9a3d161ea2"><div class="ttname"><a href="class_b_n_o08x.html#a4c6353e795f734ed28613f9a3d161ea2">BNO08x::queue_tare_command</a></div><div class="ttdeci">void queue_tare_command(uint8_t command, uint8_t axis=TARE_AXIS_ALL, uint8_t rotation_vector_basis=TARE_ROTATION_VECTOR)</div><div class="ttdoc">Queues a packet containing a command related to zeroing sensor's axes. (See Ref. Manual 6....</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2732</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a4d3746a376a22acb7a2641bb750c4c89"><div class="ttname"><a href="class_b_n_o08x.html#a4d3746a376a22acb7a2641bb750c4c89">BNO08x::get_gyro_calibrated_velocity</a></div><div class="ttdeci">void get_gyro_calibrated_velocity(float &amp;x, float &amp;y, float &amp;z, uint8_t &amp;accuracy)</div><div class="ttdoc">Get full rotational velocity with drift compensation (units in Rad/s).</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2173</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a4d5c5eee87a578de9c8318cd294b3a22"><div class="ttname"><a href="class_b_n_o08x.html#a4d5c5eee87a578de9c8318cd294b3a22">BNO08x::queue_tx_data</a></div><div class="ttdeci">QueueHandle_t queue_tx_data</div><div class="ttdoc">Packet queue used to send data to be sent over SPI from sending functions to spi_task.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:326</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a4f12de628073f44b2a3fab2688cf1caf"><div class="ttname"><a href="class_b_n_o08x.html#a4f12de628073f44b2a3fab2688cf1caf">BNO08x::wait_for_data</a></div><div class="ttdeci">bool wait_for_data()</div><div class="ttdoc">Waits for a valid or invalid packet to be received or HOST_INT_TIMEOUT_MS to elapse.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:177</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a4f188bf76ba862f07606d1351d28548f"><div class="ttname"><a href="class_b_n_o08x.html#a4f188bf76ba862f07606d1351d28548f">BNO08x::raw_velocity_gyro_Y</a></div><div class="ttdeci">uint16_t raw_velocity_gyro_Y</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:349</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a4f580b3cb232a762ea7019ee7b04d419"><div class="ttname"><a href="class_b_n_o08x.html#a4f580b3cb232a762ea7019ee7b04d419">BNO08x::COMMAND_CLEAR_DCD</a></div><div class="ttdeci">static const constexpr uint8_t COMMAND_CLEAR_DCD</div><div class="ttdoc">Clear DCD &amp; Reset command (See SH2 Ref. Manual 6.4)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:447</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a4f66045a0528a0c17c52421ea51612e7"><div class="ttname"><a href="class_b_n_o08x.html#a4f66045a0528a0c17c52421ea51612e7">BNO08x::parse_command_report</a></div><div class="ttdeci">uint16_t parse_command_report(bno08x_rx_packet_t *packet)</div><div class="ttdoc">Parses received command report sent by BNO08x (See Ref. Manual 6.3.9)</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1168</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a4f7060b2d3c15b359b70b6346730446a"><div class="ttname"><a href="class_b_n_o08x.html#a4f7060b2d3c15b359b70b6346730446a">BNO08x::get_activity_classifier</a></div><div class="ttdeci">uint8_t get_activity_classifier()</div><div class="ttdoc">Get the current activity classifier (Seee Ref. Manual 6.5.36)</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2408</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a4fdc39294922a9553d84cd96bdae4376"><div class="ttname"><a href="class_b_n_o08x.html#a4fdc39294922a9553d84cd96bdae4376">BNO08x::disable_activity_classifier</a></div><div class="ttdeci">void disable_activity_classifier()</div><div class="ttdoc">Sends command to disable activity classifier reports by setting report interval to 0.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1538</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a5050359272abd146ab3c7a6101effbd7"><div class="ttname"><a href="class_b_n_o08x.html#a5050359272abd146ab3c7a6101effbd7">BNO08x::get_uncalibrated_gyro_bias_Z</a></div><div class="ttdeci">float get_uncalibrated_gyro_bias_Z()</div><div class="ttdoc">Get uncalibrated gyro Z axis drift estimate.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2301</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a51a6d594824de2292e70f788454f8a2d"><div class="ttname"><a href="class_b_n_o08x.html#a51a6d594824de2292e70f788454f8a2d">BNO08x::get_quat</a></div><div class="ttdeci">void get_quat(float &amp;i, float &amp;j, float &amp;k, float &amp;real, float &amp;rad_accuracy, uint8_t &amp;accuracy)</div><div class="ttdoc">Get the full quaternion reading.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1882</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a51b360d795563b55559f11efb40be36a"><div class="ttname"><a href="class_b_n_o08x.html#a51b360d795563b55559f11efb40be36a">BNO08x::parse_frs_read_response_report</a></div><div class="ttdeci">uint16_t parse_frs_read_response_report(bno08x_rx_packet_t *packet)</div><div class="ttdoc">Sends packet to be parsed to meta data function call (frs_read_word()) through queue.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:962</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a541155dc4544193451cf102e2a992da9"><div class="ttname"><a href="class_b_n_o08x.html#a541155dc4544193451cf102e2a992da9">BNO08x::EVT_GRP_RPT_GYRO_ROTATION_VECTOR_BIT</a></div><div class="ttdeci">static const constexpr EventBits_t EVT_GRP_RPT_GYRO_ROTATION_VECTOR_BIT</div><div class="ttdoc">When set, gyro integrator rotation vector reports are active.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:406</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a542405639c28bd56bc4361b922763c95"><div class="ttname"><a href="class_b_n_o08x.html#a542405639c28bd56bc4361b922763c95">BNO08x::SHTP_REPORT_PRODUCT_ID_REQUEST</a></div><div class="ttdeci">static const constexpr uint8_t SHTP_REPORT_PRODUCT_ID_REQUEST</div><div class="ttdoc">See SH2 Ref. Manual 6.3.1.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:455</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a5622b4d1754648ea7eb400c1adf9e807"><div class="ttname"><a href="class_b_n_o08x.html#a5622b4d1754648ea7eb400c1adf9e807">BNO08x::get_gravity_Z</a></div><div class="ttdeci">float get_gravity_Z()</div><div class="ttdoc">Get the reported z axis gravity.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1742</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a5680148a41cb9cc96d1911150c46d2b8"><div class="ttname"><a href="class_b_n_o08x.html#a5680148a41cb9cc96d1911150c46d2b8">BNO08x::enable_ARVR_stabilized_game_rotation_vector</a></div><div class="ttdeci">void enable_ARVR_stabilized_game_rotation_vector(uint32_t time_between_reports)</div><div class="ttdoc">Sends command to enable ARVR stabilized game rotation vector reports (See Ref. Manual 6....</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1231</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a584bfa04a39feb93279ee673c340db54"><div class="ttname"><a href="class_b_n_o08x.html#a584bfa04a39feb93279ee673c340db54">BNO08x::CALIBRATE_STOP</a></div><div class="ttdeci">static const constexpr uint8_t CALIBRATE_STOP</div><div class="ttdoc">Stop calibration command used by queue_calibrate_command.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:436</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a59a4d75f1302ab693b1b26e9ccaa5341"><div class="ttname"><a href="class_b_n_o08x.html#a59a4d75f1302ab693b1b26e9ccaa5341">BNO08x::mems_raw_accel_Z</a></div><div class="ttdeci">uint16_t mems_raw_accel_Z</div><div class="ttdoc">Raw accelerometer readings from MEMS sensor (See SH2 Ref. Manual 6.5.8)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:364</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a59cde7dd301c94a20b84735c5d49008e"><div class="ttname"><a href="class_b_n_o08x.html#a59cde7dd301c94a20b84735c5d49008e">BNO08x::TARE_SET_REORIENTATION</a></div><div class="ttdeci">static const constexpr uint8_t TARE_SET_REORIENTATION</div><div class="ttdoc">See SH2 Ref. Manual 6.4.4.3.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:483</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a5a0b0f5b8e962247a3b8aee8f1dc8e9f"><div class="ttname"><a href="class_b_n_o08x.html#a5a0b0f5b8e962247a3b8aee8f1dc8e9f">BNO08x::enable_step_counter</a></div><div class="ttdeci">void enable_step_counter(uint32_t time_between_reports)</div><div class="ttdoc">Sends command to enable step counter reports (See Ref. Manual 6.5.29)</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1330</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a5a556c5ec1baaa7f1156779dbe47a7b7"><div class="ttname"><a href="class_b_n_o08x.html#a5a556c5ec1baaa7f1156779dbe47a7b7">BNO08x::get_quat_real</a></div><div class="ttdeci">float get_quat_real()</div><div class="ttdoc">Get real component of reported quaternion.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1930</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a5cc58139e4d5f0587b90e249ceb476f9"><div class="ttname"><a href="class_b_n_o08x.html#a5cc58139e4d5f0587b90e249ceb476f9">BNO08x::queue_command</a></div><div class="ttdeci">void queue_command(uint8_t command, uint8_t *commands)</div><div class="ttdoc">Queues a packet containing a command.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:554</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a5e63a9e68dbe2968b37dcb6dae04de6f"><div class="ttname"><a href="class_b_n_o08x.html#a5e63a9e68dbe2968b37dcb6dae04de6f">BNO08x::disable_gravity</a></div><div class="ttdeci">void disable_gravity()</div><div class="ttdoc">Sends command to disable gravity reports by setting report interval to 0.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1468</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a603dccfbbead6bdaa3bd970ad28fcd38"><div class="ttname"><a href="class_b_n_o08x.html#a603dccfbbead6bdaa3bd970ad28fcd38">BNO08x::EVT_GRP_SPI_RX_VALID_PACKET</a></div><div class="ttdeci">static const constexpr EventBits_t EVT_GRP_SPI_RX_VALID_PACKET</div><div class="ttdoc">When this bit is set, it indicates a valid packet has been received and processed.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:393</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a615090aae15f1b0410a7e5ecb94957b5"><div class="ttname"><a href="class_b_n_o08x.html#a615090aae15f1b0410a7e5ecb94957b5">BNO08x::spi_task_hdl</a></div><div class="ttdeci">TaskHandle_t spi_task_hdl</div><div class="ttdoc">spi_task() handle</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:371</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a61ae05dc5572b326541bf8099f0c2a54"><div class="ttname"><a href="class_b_n_o08x.html#a61ae05dc5572b326541bf8099f0c2a54">BNO08x::raw_quat_J</a></div><div class="ttdeci">uint16_t raw_quat_J</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:347</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a61b7d10a98afc6903fea6b2cede27630"><div class="ttname"><a href="class_b_n_o08x.html#a61b7d10a98afc6903fea6b2cede27630">BNO08x::get_quat_radian_accuracy</a></div><div class="ttdeci">float get_quat_radian_accuracy()</div><div class="ttdoc">Get radian accuracy of reported quaternion.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1941</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a61df9f571555f5f682eb51f24a279489"><div class="ttname"><a href="class_b_n_o08x.html#a61df9f571555f5f682eb51f24a279489">BNO08x::raw_gyro_Y</a></div><div class="ttdeci">uint16_t raw_gyro_Y</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:346</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a6232920a05c0aba34e5560951a20ae87"><div class="ttname"><a href="class_b_n_o08x.html#a6232920a05c0aba34e5560951a20ae87">BNO08x::default_imu_config</a></div><div class="ttdeci">static bno08x_config_t default_imu_config</div><div class="ttdoc">default imu config settings</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:319</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a62c570ba96512f4d0d10b2594048de1f"><div class="ttname"><a href="class_b_n_o08x.html#a62c570ba96512f4d0d10b2594048de1f">BNO08x::queue_packet</a></div><div class="ttdeci">void queue_packet(uint8_t channel_number, uint8_t data_length, uint8_t *commands)</div><div class="ttdoc">Queues an SHTP packet to be sent via SPI.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:500</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a63eb6c8be6f3bc943a86bb0496871275"><div class="ttname"><a href="class_b_n_o08x.html#a63eb6c8be6f3bc943a86bb0496871275">BNO08x::evt_grp_report_en</a></div><div class="ttdeci">EventGroupHandle_t evt_grp_report_en</div><div class="ttdoc">Event group for indicating which reports are currently enabled.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:323</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a6415c95701f590c72083f5bdc5f4ae47"><div class="ttname"><a href="class_b_n_o08x.html#a6415c95701f590c72083f5bdc5f4ae47">BNO08x::EVT_GRP_SPI_RX_INVALID_PACKET</a></div><div class="ttdeci">static const constexpr EventBits_t EVT_GRP_SPI_RX_INVALID_PACKET</div><div class="ttdoc">When this bit is set, it indicates an invalid packet has been received.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:395</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a64d3e41750c6de9413d6982511f78f17"><div class="ttname"><a href="class_b_n_o08x.html#a64d3e41750c6de9413d6982511f78f17">BNO08x::get_yaw</a></div><div class="ttdeci">float get_yaw()</div><div class="ttdoc">Get the reported rotation about z axis.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1818</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a665464f781fe891b9179478d0174af47"><div class="ttname"><a href="class_b_n_o08x.html#a665464f781fe891b9179478d0174af47">BNO08x::EVT_GRP_RPT_TAP_DETECTOR_BIT</a></div><div class="ttdeci">static const constexpr EventBits_t EVT_GRP_RPT_TAP_DETECTOR_BIT</div><div class="ttdoc">When set, tap detector reports are active.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:414</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a6671b082d20dda8bf5c53cb47db0c338"><div class="ttname"><a href="class_b_n_o08x.html#a6671b082d20dda8bf5c53cb47db0c338">BNO08x::disable_magnetometer</a></div><div class="ttdeci">void disable_magnetometer()</div><div class="ttdoc">Sends command to disable magnetometer reports by setting report interval to 0.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1498</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a6730acb92053d44decb690a7b7234032"><div class="ttname"><a href="class_b_n_o08x.html#a6730acb92053d44decb690a7b7234032">BNO08x::SENSOR_REPORT_ID_GRAVITY</a></div><div class="ttdeci">static const constexpr uint8_t SENSOR_REPORT_ID_GRAVITY</div><div class="ttdoc">See SH2 Ref. Manual 6.5.11.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:465</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a67a697595d6a4d4638a53c6b4a5ef0cd"><div class="ttname"><a href="class_b_n_o08x.html#a67a697595d6a4d4638a53c6b4a5ef0cd">BNO08x::parse_packet</a></div><div class="ttdeci">uint16_t parse_packet(bno08x_rx_packet_t *packet)</div><div class="ttdoc">Parses a packet received from bno08x, updating any data according to received reports.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:875</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a68aaaab144adbe5af00597408f044d9d"><div class="ttname"><a href="class_b_n_o08x.html#a68aaaab144adbe5af00597408f044d9d">BNO08x::TARE_ARVR_STABILIZED_GAME_ROTATION_VECTOR</a></div><div class="ttdeci">static const constexpr uint8_t TARE_ARVR_STABILIZED_GAME_ROTATION_VECTOR</div><div class="ttdoc">Tare ARVR stabilized game rotation vector.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:267</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a69dc7e97875060213085ba964b3bd987"><div class="ttname"><a href="class_b_n_o08x.html#a69dc7e97875060213085ba964b3bd987">BNO08x::raw_quat_I</a></div><div class="ttdeci">uint16_t raw_quat_I</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:347</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a6a15e3a64dd71ea61f0448afcce96409"><div class="ttname"><a href="class_b_n_o08x.html#a6a15e3a64dd71ea61f0448afcce96409">BNO08x::cb_list</a></div><div class="ttdeci">std::vector&lt; std::function&lt; void()&gt; &gt; cb_list</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:330</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a6be7b240e4447c2c643e706954093aa0"><div class="ttname"><a href="class_b_n_o08x.html#a6be7b240e4447c2c643e706954093aa0">BNO08x::EVT_GRP_RPT_RAW_GYRO_BIT</a></div><div class="ttdeci">static const constexpr EventBits_t EVT_GRP_RPT_RAW_GYRO_BIT</div><div class="ttdoc">When set, raw gyro reports are active.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:419</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a7077b9a130f1dcf0192454e387968dd6"><div class="ttname"><a href="class_b_n_o08x.html#a7077b9a130f1dcf0192454e387968dd6">BNO08x::get_roll_deg</a></div><div class="ttdeci">float get_roll_deg()</div><div class="ttdoc">Get the reported rotation about x axis.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1845</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a718cdd910e5e7e03fd0a1ad04ee6f0ce"><div class="ttname"><a href="class_b_n_o08x.html#a718cdd910e5e7e03fd0a1ad04ee6f0ce">BNO08x::get_raw_accel_Z</a></div><div class="ttdeci">int16_t get_raw_accel_Z()</div><div class="ttdoc">Get raw accelerometer z axis reading from physical accelerometer MEMs sensor (See Ref....</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2098</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a71ca35f78b98d93d31eb0c187dc8543b"><div class="ttname"><a href="class_b_n_o08x.html#a71ca35f78b98d93d31eb0c187dc8543b">BNO08x::calibration_complete</a></div><div class="ttdeci">bool calibration_complete()</div><div class="ttdoc">Returns true if calibration has completed.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:709</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a7274f6d3bda04da0bb304386b4e8d603"><div class="ttname"><a href="class_b_n_o08x.html#a7274f6d3bda04da0bb304386b4e8d603">BNO08x::SENSOR_REPORT_ID_PERSONAL_ACTIVITY_CLASSIFIER</a></div><div class="ttdeci">static const constexpr uint8_t SENSOR_REPORT_ID_PERSONAL_ACTIVITY_CLASSIFIER</div><div class="ttdoc">See SH2 Ref. Manual 6.5.36.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:476</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a7388c67de3906ad05b233fd7eff0514d"><div class="ttname"><a href="class_b_n_o08x.html#a7388c67de3906ad05b233fd7eff0514d">BNO08x::enable_gyro_integrated_rotation_vector</a></div><div class="ttdeci">void enable_gyro_integrated_rotation_vector(uint32_t time_between_reports)</div><div class="ttdoc">Sends command to enable gyro integrated rotation vector reports (See Ref. Manual 6....</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1242</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a74725517129dd548c7a3de705d5861bd"><div class="ttname"><a href="class_b_n_o08x.html#a74725517129dd548c7a3de705d5861bd">BNO08x::get_uncalibrated_gyro_bias_Y</a></div><div class="ttdeci">float get_uncalibrated_gyro_bias_Y()</div><div class="ttdoc">Get uncalibrated gyro Y axis drift estimate.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2291</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a74af7eacc35cc825940b647c2de0d368"><div class="ttname"><a href="class_b_n_o08x.html#a74af7eacc35cc825940b647c2de0d368">BNO08x::SHTP_REPORT_FRS_READ_REQUEST</a></div><div class="ttdeci">static const constexpr uint8_t SHTP_REPORT_FRS_READ_REQUEST</div><div class="ttdoc">See SH2 Ref. Manual 6.3.6.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:453</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a75cea49c1c08ca28d9fa7e5ed61c6e7b"><div class="ttname"><a href="class_b_n_o08x.html#a75cea49c1c08ca28d9fa7e5ed61c6e7b">BNO08x::activity_classifier</a></div><div class="ttdeci">uint8_t activity_classifier</div><div class="ttdoc">Activity status reading (See SH-2 Ref. Manual 6.5.36)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:360</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a75ef3d09f1ee016999c459e43e9e8c44"><div class="ttname"><a href="class_b_n_o08x.html#a75ef3d09f1ee016999c459e43e9e8c44">BNO08x::disable_raw_gyro</a></div><div class="ttdeci">void disable_raw_gyro()</div><div class="ttdoc">Sends command to disable raw gyro reports by setting report interval to 0.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1558</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a75fb2f06c5bbe26e3f3c794934ef954c"><div class="ttname"><a href="class_b_n_o08x.html#a75fb2f06c5bbe26e3f3c794934ef954c">BNO08x::raw_accel_X</a></div><div class="ttdeci">uint16_t raw_accel_X</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:342</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a763c3a9699a1081d430fd9b9b7bc49a3"><div class="ttname"><a href="class_b_n_o08x.html#a763c3a9699a1081d430fd9b9b7bc49a3">BNO08x::get_linear_accel_X</a></div><div class="ttdeci">float get_linear_accel_X()</div><div class="ttdoc">Get x axis linear acceleration (acceleration of device minus gravity, units in m/s^2)</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2038</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a7665cce95e791c89161ec863f49c0392"><div class="ttname"><a href="class_b_n_o08x.html#a7665cce95e791c89161ec863f49c0392">BNO08x::disable_game_rotation_vector</a></div><div class="ttdeci">void disable_game_rotation_vector()</div><div class="ttdoc">Sends command to disable game rotation vector reports by setting report interval to 0.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1408</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a7720c44ed1c0f1a0663d2adc5e1a1ea1"><div class="ttname"><a href="class_b_n_o08x.html#a7720c44ed1c0f1a0663d2adc5e1a1ea1">BNO08x::raw_quat_K</a></div><div class="ttdeci">uint16_t raw_quat_K</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:347</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a79d3fff1e0f19467cad231b22edafa0f"><div class="ttname"><a href="class_b_n_o08x.html#a79d3fff1e0f19467cad231b22edafa0f">BNO08x::EVT_GRP_RPT_ARVR_S_GAME_ROTATION_VECTOR_BIT</a></div><div class="ttdeci">static const constexpr EventBits_t EVT_GRP_RPT_ARVR_S_GAME_ROTATION_VECTOR_BIT</div><div class="ttdoc">When set, ARVR stabilized game rotation vector reports are active.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:404</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a7a246989c94cd87f68166b20b7ad4c8b"><div class="ttname"><a href="class_b_n_o08x.html#a7a246989c94cd87f68166b20b7ad4c8b">BNO08x::COMMAND_DCD_PERIOD_SAVE</a></div><div class="ttdeci">static const constexpr uint8_t COMMAND_DCD_PERIOD_SAVE</div><div class="ttdoc">Configure DCD periodic saving (See SH2 Ref. Manual 6.4)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:445</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a7bd032712a975e73e66bd72a3502baba"><div class="ttname"><a href="class_b_n_o08x.html#a7bd032712a975e73e66bd72a3502baba">BNO08x::meta_data</a></div><div class="ttdeci">uint32_t meta_data[9]</div><div class="ttdoc">First 9 bytes of meta data returned from FRS read operation (we don't really need the rest) (See Ref....</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:332</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a7cdeb849e728487de961cdfd4030c773"><div class="ttname"><a href="class_b_n_o08x.html#a7cdeb849e728487de961cdfd4030c773">BNO08x::wait_for_tx_done</a></div><div class="ttdeci">bool wait_for_tx_done()</div><div class="ttdoc">Waits for a queued packet to be sent or HOST_INT_TIMEOUT_MS to elapse.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:223</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a7d4661d3aae56013caa8f2bff0f67c08"><div class="ttname"><a href="class_b_n_o08x.html#a7d4661d3aae56013caa8f2bff0f67c08">BNO08x::queue_rx_data</a></div><div class="ttdeci">QueueHandle_t queue_rx_data</div><div class="ttdoc">Packet queue used to send data received from bno08x from spi_task to data_proc_task.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:325</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a7d6ee23222f55dbe9f70e04b36d9add2"><div class="ttname"><a href="class_b_n_o08x.html#a7d6ee23222f55dbe9f70e04b36d9add2">BNO08x::EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT</a></div><div class="ttdeci">static const constexpr EventBits_t EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT</div><div class="ttdoc">When set, stability classifier reports are active.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:416</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a7fe5de95b1f51da44247a87317fd0c75"><div class="ttname"><a href="class_b_n_o08x.html#a7fe5de95b1f51da44247a87317fd0c75">BNO08x::enable_uncalibrated_gyro</a></div><div class="ttdeci">void enable_uncalibrated_gyro(uint32_t time_between_reports)</div><div class="ttdoc">Sends command to enable uncalibrated gyro reports (See Ref. Manual 6.5.14)</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1297</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a804b95c58c30d36933fd251626b85bf7"><div class="ttname"><a href="class_b_n_o08x.html#a804b95c58c30d36933fd251626b85bf7">BNO08x::hint_handler</a></div><div class="ttdeci">static void IRAM_ATTR hint_handler(void *arg)</div><div class="ttdoc">HINT interrupt service routine, handles falling edge of BNO08x HINT pin.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2859</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a80ea70c4787dea6c3eabb48f583f1916"><div class="ttname"><a href="class_b_n_o08x.html#a80ea70c4787dea6c3eabb48f583f1916">BNO08x::SENSOR_REPORT_ID_RAW_ACCELEROMETER</a></div><div class="ttdeci">static const constexpr uint8_t SENSOR_REPORT_ID_RAW_ACCELEROMETER</div><div class="ttdoc">See SH2 Ref. Manual 6.5.8.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:473</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a8114460c50e84b0ac750293ab72868c8"><div class="ttname"><a href="class_b_n_o08x.html#a8114460c50e84b0ac750293ab72868c8">BNO08x::SENSOR_REPORT_ID_TAP_DETECTOR</a></div><div class="ttdeci">static const constexpr uint8_t SENSOR_REPORT_ID_TAP_DETECTOR</div><div class="ttdoc">See SH2 Ref. Manual 6.5.27.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:470</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a811999653110858311c97a779c388e5d"><div class="ttname"><a href="class_b_n_o08x.html#a811999653110858311c97a779c388e5d">BNO08x::get_gyro_accuracy</a></div><div class="ttdeci">uint8_t get_gyro_accuracy()</div><div class="ttdoc">Get calibrated gyro accuracy.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2216</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a8296089e2fdbd7d2e85f364cf063af82"><div class="ttname"><a href="class_b_n_o08x.html#a8296089e2fdbd7d2e85f364cf063af82">BNO08x::disable_gyro</a></div><div class="ttdeci">void disable_gyro()</div><div class="ttdoc">Sends command to disable gyro reports by setting report interval to 0.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1478</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a82ed8d7b9a5c25374839df75a3d220ea"><div class="ttname"><a href="class_b_n_o08x.html#a82ed8d7b9a5c25374839df75a3d220ea">BNO08x::get_magf_Y</a></div><div class="ttdeci">float get_magf_Y()</div><div class="ttdoc">Get Y component of magnetic field vector.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1672</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a8381dfe403ddff522f172cb16780731a"><div class="ttname"><a href="class_b_n_o08x.html#a8381dfe403ddff522f172cb16780731a">BNO08x::COMMAND_ME_CALIBRATE</a></div><div class="ttdeci">static const constexpr uint8_t COMMAND_ME_CALIBRATE</div><div class="ttdoc">Command and response to configure ME calibration (See SH2 Ref. Manual 6.4.7)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:444</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a84b3639cc159262e0137adb0db5cf9aa"><div class="ttname"><a href="class_b_n_o08x.html#a84b3639cc159262e0137adb0db5cf9aa">BNO08x::queue_reset_reason</a></div><div class="ttdeci">QueueHandle_t queue_reset_reason</div><div class="ttdoc">Queue used to send reset reason from product id report to reset_reason() function.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:328</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a867354267253ae828be4fae15c062db3"><div class="ttname"><a href="class_b_n_o08x.html#a867354267253ae828be4fae15c062db3">BNO08x::raw_quat_real</a></div><div class="ttdeci">uint16_t raw_quat_real</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:347</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a88679bccd9339b87ec35fc4fc4e745ae"><div class="ttname"><a href="class_b_n_o08x.html#a88679bccd9339b87ec35fc4fc4e745ae">BNO08x::get_gravity_X</a></div><div class="ttdeci">float get_gravity_X()</div><div class="ttdoc">Get the reported x axis gravity.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1722</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a89399e8a68a53bc2a269ab73625a2da2"><div class="ttname"><a href="class_b_n_o08x.html#a89399e8a68a53bc2a269ab73625a2da2">BNO08x::EVT_GRP_RPT_ALL_BITS</a></div><div class="ttdeci">static const constexpr EventBits_t EVT_GRP_RPT_ALL_BITS</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:422</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a89618eba08186ee8e679e7313907ddef"><div class="ttname"><a href="class_b_n_o08x.html#a89618eba08186ee8e679e7313907ddef">BNO08x::get_roll</a></div><div class="ttdeci">float get_roll()</div><div class="ttdoc">Get the reported rotation about x axis.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1762</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a8a2667f668317cee0a9fc4ef0accc3f5"><div class="ttname"><a href="class_b_n_o08x.html#a8a2667f668317cee0a9fc4ef0accc3f5">BNO08x::raw_bias_X</a></div><div class="ttdeci">uint16_t raw_bias_X</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:353</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a8a36db7f1c932f33e05e494632059801"><div class="ttname"><a href="class_b_n_o08x.html#a8a36db7f1c932f33e05e494632059801">BNO08x::get_gravity_Y</a></div><div class="ttdeci">float get_gravity_Y()</div><div class="ttdoc">Get the reported y axis gravity.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1732</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a8a5f3b985989e846e831f70f7733d0bc"><div class="ttname"><a href="class_b_n_o08x.html#a8a5f3b985989e846e831f70f7733d0bc">BNO08x::enable_ARVR_stabilized_rotation_vector</a></div><div class="ttdeci">void enable_ARVR_stabilized_rotation_vector(uint32_t time_between_reports)</div><div class="ttdoc">Sends command to enable ARVR stabilized rotation vector reports (See Ref. Manual 6....</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1220</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a8d4b91149cfc1a3cd615f60a4ad2275e"><div class="ttname"><a href="class_b_n_o08x.html#a8d4b91149cfc1a3cd615f60a4ad2275e">BNO08x::SENSOR_REPORT_ID_ARVR_STABILIZED_ROTATION_VECTOR</a></div><div class="ttdeci">static const constexpr uint8_t SENSOR_REPORT_ID_ARVR_STABILIZED_ROTATION_VECTOR</div><div class="ttdoc">See SH2 Ref. Manual 6.5.42.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:477</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a8d8e75f0234287cb89cbec553cffe52c"><div class="ttname"><a href="class_b_n_o08x.html#a8d8e75f0234287cb89cbec553cffe52c">BNO08x::enable_raw_gyro</a></div><div class="ttdeci">void enable_raw_gyro(uint32_t time_between_reports)</div><div class="ttdoc">Sends command to enable raw gyro reports (See Ref. Manual 6.5.12)</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1377</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a8d9db3e1b6208c2661e1c543deefa53d"><div class="ttname"><a href="class_b_n_o08x.html#a8d9db3e1b6208c2661e1c543deefa53d">BNO08x::parse_input_report</a></div><div class="ttdeci">uint16_t parse_input_report(bno08x_rx_packet_t *packet)</div><div class="ttdoc">Parses received input report sent by BNO08x.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:987</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a8e2cfc25d0e34ae53a762b88cc3ac3c8"><div class="ttname"><a href="class_b_n_o08x.html#a8e2cfc25d0e34ae53a762b88cc3ac3c8">BNO08x::TARE_ROTATION_VECTOR</a></div><div class="ttdeci">static const constexpr uint8_t TARE_ROTATION_VECTOR</div><div class="ttdoc">Tare rotation vector.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:262</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a901af6f2d552f197ee830d0a1c06679c"><div class="ttname"><a href="class_b_n_o08x.html#a901af6f2d552f197ee830d0a1c06679c">BNO08x::EVT_GRP_RPT_MAGNETOMETER_BIT</a></div><div class="ttdeci">static const constexpr EventBits_t EVT_GRP_RPT_MAGNETOMETER_BIT</div><div class="ttdoc">When set, magnetometer reports are active.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:413</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a90f0cdf11decc276006f76a494d42ce3"><div class="ttname"><a href="class_b_n_o08x.html#a90f0cdf11decc276006f76a494d42ce3">BNO08x::mems_raw_magf_Z</a></div><div class="ttdeci">uint16_t mems_raw_magf_Z</div><div class="ttdoc">Raw magnetometer (compass) readings from MEMS sensor (See SH-2 Ref. Manual 6.5.15)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:368</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a923d65d8568cc31873ad56a3908e1939"><div class="ttname"><a href="class_b_n_o08x.html#a923d65d8568cc31873ad56a3908e1939">BNO08x::ROTATION_VECTOR_ACCURACY_Q1</a></div><div class="ttdeci">static const constexpr int16_t ROTATION_VECTOR_ACCURACY_Q1</div><div class="ttdoc">Rotation vector accuracy estimate Q point (See SH-2 Ref. Manual 6.5.18)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:270</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a9329c6669282071622c3b3741b1b8142"><div class="ttname"><a href="class_b_n_o08x.html#a9329c6669282071622c3b3741b1b8142">BNO08x::get_accel</a></div><div class="ttdeci">void get_accel(float &amp;x, float &amp;y, float &amp;z, uint8_t &amp;accuracy)</div><div class="ttdoc">Get full acceleration (total acceleration of device, units in m/s^2).</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1967</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a937cbdc4edaac72c8cad041d79de5701"><div class="ttname"><a href="class_b_n_o08x.html#a937cbdc4edaac72c8cad041d79de5701">BNO08x::mems_raw_accel_X</a></div><div class="ttdeci">uint16_t mems_raw_accel_X</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:363</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a93dd073c0cc1f3ccfde552649f6ebccc"><div class="ttname"><a href="class_b_n_o08x.html#a93dd073c0cc1f3ccfde552649f6ebccc">BNO08x::COMMAND_COUNTER</a></div><div class="ttdeci">static const constexpr uint8_t COMMAND_COUNTER</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:440</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a954dccdcbe8a8c4f1787f13ebb8d932b"><div class="ttname"><a href="class_b_n_o08x.html#a954dccdcbe8a8c4f1787f13ebb8d932b">BNO08x::get_Q2</a></div><div class="ttdeci">int16_t get_Q2(uint16_t record_ID)</div><div class="ttdoc">Gets Q2 point from BNO08x FRS (flash record system).</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2512</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a955dcb60da150490e17367a871b3a3d2"><div class="ttname"><a href="class_b_n_o08x.html#a955dcb60da150490e17367a871b3a3d2">BNO08x::CALIBRATE_PLANAR_ACCEL</a></div><div class="ttdeci">static const constexpr uint8_t CALIBRATE_PLANAR_ACCEL</div><div class="ttdoc">Calibrate planar acceleration command used by queue_calibrate_command.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:433</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a96563de0eb597a52d595d19da827b1ac"><div class="ttname"><a href="class_b_n_o08x.html#a96563de0eb597a52d595d19da827b1ac">BNO08x::get_raw_accel_Y</a></div><div class="ttdeci">int16_t get_raw_accel_Y()</div><div class="ttdoc">Get raw accelerometer y axis reading from physical accelerometer MEMs sensor (See Ref....</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2088</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a96eb1b1bfe1266791fd424b3ce402c56"><div class="ttname"><a href="class_b_n_o08x.html#a96eb1b1bfe1266791fd424b3ce402c56">BNO08x::EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT</a></div><div class="ttdeci">static const constexpr EventBits_t EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT</div><div class="ttdoc">When set, activity classifier reports are active.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:417</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a973a1b1785f3302ee1b2702c6a27646e"><div class="ttname"><a href="class_b_n_o08x.html#a973a1b1785f3302ee1b2702c6a27646e">BNO08x::soft_reset</a></div><div class="ttdeci">bool soft_reset()</div><div class="ttdoc">Soft resets BNO08x sensor using executable channel.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:294</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a982f065df42f00e53fd87c840efdb0f1"><div class="ttname"><a href="class_b_n_o08x.html#a982f065df42f00e53fd87c840efdb0f1">BNO08x::bus_config</a></div><div class="ttdeci">spi_bus_config_t bus_config</div><div class="ttdoc">SPI bus GPIO configuration settings.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:335</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a98ea35dd0fbd0c409d25fd8a6ed9f277"><div class="ttname"><a href="class_b_n_o08x.html#a98ea35dd0fbd0c409d25fd8a6ed9f277">BNO08x::gyro_accuracy</a></div><div class="ttdeci">uint16_t gyro_accuracy</div><div class="ttdoc">Raw gyro reading (See SH-2 Ref. Manual 6.5.13)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:346</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a99c1bcc2ec3ca3d8feafd6dd61f9d269"><div class="ttname"><a href="class_b_n_o08x.html#a99c1bcc2ec3ca3d8feafd6dd61f9d269">BNO08x::get_raw_magf_Z</a></div><div class="ttdeci">int16_t get_raw_magf_Z()</div><div class="ttdoc">Get raw magnetometer z axis reading from physical magnetometer sensor (See Ref. Manual 6....</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2158</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a9a1c851e8fa5633e11f6abee293d7e9b"><div class="ttname"><a href="class_b_n_o08x.html#a9a1c851e8fa5633e11f6abee293d7e9b">BNO08x::queue_frs_read_data</a></div><div class="ttdeci">QueueHandle_t queue_frs_read_data</div><div class="ttdoc">Queue used to send packet body from data_proc_task to frs read functions.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:327</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a9ada90f8ab6dd33fa2d7c168d9234af1"><div class="ttname"><a href="class_b_n_o08x.html#a9ada90f8ab6dd33fa2d7c168d9234af1">BNO08x::calibrate_gyro</a></div><div class="ttdeci">void calibrate_gyro()</div><div class="ttdoc">Sends command to calibrate gyro.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:608</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a9e9a7578b7584e7eb2ad562b29565fa7"><div class="ttname"><a href="class_b_n_o08x.html#a9e9a7578b7584e7eb2ad562b29565fa7">BNO08x::SENSOR_REPORT_ID_RAW_MAGNETOMETER</a></div><div class="ttdeci">static const constexpr uint8_t SENSOR_REPORT_ID_RAW_MAGNETOMETER</div><div class="ttdoc">See SH2 Ref. Manual 6.5.15.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:475</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a9ec354d75249f06f13599abf7bedfde0"><div class="ttname"><a href="class_b_n_o08x.html#a9ec354d75249f06f13599abf7bedfde0">BNO08x::TARE_GYRO_INTEGRATED_ROTATION_VECTOR</a></div><div class="ttdeci">static const constexpr uint8_t TARE_GYRO_INTEGRATED_ROTATION_VECTOR</div><div class="ttdoc">Tare gyro integrated rotation vector.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:265</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a9f35840b19c8ad11fd1b4622c3269250"><div class="ttname"><a href="class_b_n_o08x.html#a9f35840b19c8ad11fd1b4622c3269250">BNO08x::FRS_RECORD_ID_ROTATION_VECTOR</a></div><div class="ttdeci">static const constexpr uint16_t FRS_RECORD_ID_ROTATION_VECTOR</div><div class="ttdoc">Rotation vector record ID, to be passed in metadata functions like get_Q1()</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:255</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a9f42c70c2337a0d831064a40ecfe2dd8"><div class="ttname"><a href="class_b_n_o08x.html#a9f42c70c2337a0d831064a40ecfe2dd8">BNO08x::get_quat_K</a></div><div class="ttdeci">float get_quat_K()</div><div class="ttdoc">Get K component of reported quaternion.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1919</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a9f6bb642fa0297a7b9bcc94dd7374015"><div class="ttname"><a href="class_b_n_o08x.html#a9f6bb642fa0297a7b9bcc94dd7374015">BNO08x::get_quat_J</a></div><div class="ttdeci">float get_quat_J()</div><div class="ttdoc">Get J component of reported quaternion.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1908</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a9fac9b811b7c2117675a784cb4df204c"><div class="ttname"><a href="class_b_n_o08x.html#a9fac9b811b7c2117675a784cb4df204c">BNO08x::MAGNETOMETER_Q1</a></div><div class="ttdeci">static const constexpr int16_t MAGNETOMETER_Q1</div><div class="ttdoc">Magnetometer Q point (See SH-2 Ref. Manual 6.5.16)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:274</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_aa16609de88bfb7b389348859aa0cee54"><div class="ttname"><a href="class_b_n_o08x.html#aa16609de88bfb7b389348859aa0cee54">BNO08x::save_calibration</a></div><div class="ttdeci">void save_calibration()</div><div class="ttdoc">Sends command to save internal calibration data (See Ref. Manual 6.4.7).</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:734</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_aa2b4442b5cc63ebf0c495e6fb537c85e"><div class="ttname"><a href="class_b_n_o08x.html#aa2b4442b5cc63ebf0c495e6fb537c85e">BNO08x::evt_grp_spi</a></div><div class="ttdeci">EventGroupHandle_t evt_grp_spi</div><div class="ttdoc">Event group for indicating when bno08x hint pin has triggered and when new data has been processed....</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:322</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_aa333b17ab88348a9849f0ceb9757dc9c"><div class="ttname"><a href="class_b_n_o08x.html#aa333b17ab88348a9849f0ceb9757dc9c">BNO08x::EVT_GRP_SPI_TX_DONE</a></div><div class="ttdeci">static const constexpr EventBits_t EVT_GRP_SPI_TX_DONE</div><div class="ttdoc">When this bit is set, it indicates a queued packet has been sent.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:397</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_aa3bec8effefa61cec6fa170e9d02c4dd"><div class="ttname"><a href="class_b_n_o08x.html#aa3bec8effefa61cec6fa170e9d02c4dd">BNO08x::GYRO_Q1</a></div><div class="ttdeci">static const constexpr int16_t GYRO_Q1</div><div class="ttdoc">Gyro Q point (See SH-2 Ref. Manual 6.5.13)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:273</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_aa59e3d8953c96dc1cc5958a1ac628df4"><div class="ttname"><a href="class_b_n_o08x.html#aa59e3d8953c96dc1cc5958a1ac628df4">BNO08x::disable_ARVR_stabilized_rotation_vector</a></div><div class="ttdeci">void disable_ARVR_stabilized_rotation_vector()</div><div class="ttdoc">Sends command to disable ARVR stabilized rotation vector reports by setting report interval to 0.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1418</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_aa5bb03dbeabed729c012ec7164a3354f"><div class="ttname"><a href="class_b_n_o08x.html#aa5bb03dbeabed729c012ec7164a3354f">BNO08x::raw_velocity_gyro_X</a></div><div class="ttdeci">uint16_t raw_velocity_gyro_X</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:349</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_aa5bdf740161b7c37adcac0154a410118"><div class="ttname"><a href="class_b_n_o08x.html#aa5bdf740161b7c37adcac0154a410118">BNO08x::raw_magf_X</a></div><div class="ttdeci">uint16_t raw_magf_X</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:355</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_aa9703cee46912a545b5e85e671f08e4b"><div class="ttname"><a href="class_b_n_o08x.html#aa9703cee46912a545b5e85e671f08e4b">BNO08x::EVT_GRP_RPT_ARVR_S_ROTATION_VECTOR_BIT</a></div><div class="ttdeci">static const constexpr EventBits_t EVT_GRP_RPT_ARVR_S_ROTATION_VECTOR_BIT</div><div class="ttdoc">When set, ARVR stabilized rotation vector reports are active.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:402</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_aac0a00bed7825d8a2c357a48c3626931"><div class="ttname"><a href="class_b_n_o08x.html#aac0a00bed7825d8a2c357a48c3626931">BNO08x::disable_gyro_integrated_rotation_vector</a></div><div class="ttdeci">void disable_gyro_integrated_rotation_vector()</div><div class="ttdoc">Sends command to disable gyro integrated rotation vector reports by setting report interval to 0.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1438</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_aad926054c81818fff611e10ed913706a"><div class="ttname"><a href="class_b_n_o08x.html#aad926054c81818fff611e10ed913706a">BNO08x::mems_raw_magf_Y</a></div><div class="ttdeci">uint16_t mems_raw_magf_Y</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:367</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_aaf28212a5f1960c62a73282976142cfc"><div class="ttname"><a href="class_b_n_o08x.html#aaf28212a5f1960c62a73282976142cfc">BNO08x::disable_uncalibrated_gyro</a></div><div class="ttdeci">void disable_uncalibrated_gyro()</div><div class="ttdoc">Sends command to disable uncalibrated gyro reports by setting report interval to 0.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1488</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_aafe117561fe9138800073a04a778b4ce"><div class="ttname"><a href="class_b_n_o08x.html#aafe117561fe9138800073a04a778b4ce">BNO08x::ANGULAR_VELOCITY_Q1</a></div><div class="ttdeci">static const constexpr int16_t ANGULAR_VELOCITY_Q1</div><div class="ttdoc">Angular velocity Q point (See SH-2 Ref. Manual 6.5.44)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:275</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_ab04695dd189412092254e52bd6e5a75a"><div class="ttname"><a href="class_b_n_o08x.html#ab04695dd189412092254e52bd6e5a75a">BNO08x::SHTP_REPORT_COMMAND_REQUEST</a></div><div class="ttdeci">static const constexpr uint8_t SHTP_REPORT_COMMAND_REQUEST</div><div class="ttdoc">See SH2 Ref. Manual 6.3.8.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:451</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_ab0a60844b36fb140cad588a65b3a9655"><div class="ttname"><a href="class_b_n_o08x.html#ab0a60844b36fb140cad588a65b3a9655">BNO08x::enable_stability_classifier</a></div><div class="ttdeci">void enable_stability_classifier(uint32_t time_between_reports)</div><div class="ttdoc">Sends command to enable activity stability classifier reports (See Ref. Manual 6.5....</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1341</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_ab187fe50fcfbb04bec9e80eb0fccf61c"><div class="ttname"><a href="class_b_n_o08x.html#ab187fe50fcfbb04bec9e80eb0fccf61c">BNO08x::disable_ARVR_stabilized_game_rotation_vector</a></div><div class="ttdeci">void disable_ARVR_stabilized_game_rotation_vector()</div><div class="ttdoc">Sends command to disable ARVR stabilized game rotation vector reports by setting report interval to 0...</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1428</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_ab264b65a3aa5a9a74ed11b8977164a73"><div class="ttname"><a href="class_b_n_o08x.html#ab264b65a3aa5a9a74ed11b8977164a73">BNO08x::EVT_GRP_RPT_STEP_COUNTER_BIT</a></div><div class="ttdeci">static const constexpr EventBits_t EVT_GRP_RPT_STEP_COUNTER_BIT</div><div class="ttdoc">When set, step counter reports are active.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:415</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_ab307ed3352e04c9e998ab4dd066f8932"><div class="ttname"><a href="class_b_n_o08x.html#ab307ed3352e04c9e998ab4dd066f8932">BNO08x::disable_stability_classifier</a></div><div class="ttdeci">void disable_stability_classifier()</div><div class="ttdoc">Sends command to disable stability reports by setting report interval to 0.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1528</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_ab4373e9b87837ea9fcbc0b536338c7b8"><div class="ttname"><a href="class_b_n_o08x.html#ab4373e9b87837ea9fcbc0b536338c7b8">BNO08x::data_proc_task</a></div><div class="ttdeci">void data_proc_task()</div><div class="ttdoc">Task responsible parsing packets. Executed when SPI task sends a packet to be parsed,...</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2830</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_ab4862de31d0874b44b6745678e1c905e"><div class="ttname"><a href="class_b_n_o08x.html#ab4862de31d0874b44b6745678e1c905e">BNO08x::raw_magf_Z</a></div><div class="ttdeci">uint16_t raw_magf_Z</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:355</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_ab49f9a6586d709bbd26280ef44a4bbf7"><div class="ttname"><a href="class_b_n_o08x.html#ab49f9a6586d709bbd26280ef44a4bbf7">BNO08x::raw_velocity_gyro_Z</a></div><div class="ttdeci">uint16_t raw_velocity_gyro_Z</div><div class="ttdoc">Raw gyro angular velocity reading (See SH-2 Ref. Manual 6.5.44)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:350</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_ab4c1d5cde156af09b7e88913f3af62c7"><div class="ttname"><a href="class_b_n_o08x.html#ab4c1d5cde156af09b7e88913f3af62c7">BNO08x::enable_rotation_vector</a></div><div class="ttdeci">void enable_rotation_vector(uint32_t time_between_reports)</div><div class="ttdoc">Sends command to enable rotation vector reports (See Ref. Manual 6.5.18)</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1209</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_ab4c48a91d2f8b29430abc17b7f015282"><div class="ttname"><a href="class_b_n_o08x.html#ab4c48a91d2f8b29430abc17b7f015282">BNO08x::get_magf_Z</a></div><div class="ttdeci">float get_magf_Z()</div><div class="ttdoc">Get Z component of magnetic field vector.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1683</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_ab4c8e37c730ddb168f78c29bd7ae6566"><div class="ttname"><a href="class_b_n_o08x.html#ab4c8e37c730ddb168f78c29bd7ae6566">BNO08x::enable_tap_detector</a></div><div class="ttdeci">void enable_tap_detector(uint32_t time_between_reports)</div><div class="ttdoc">Sends command to enable tap detector reports (See Ref. Manual 6.5.27)</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1319</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_ab56e2ba505fa293d03e955137625c562"><div class="ttname"><a href="class_b_n_o08x.html#ab56e2ba505fa293d03e955137625c562">BNO08x::raw_accel_Y</a></div><div class="ttdeci">uint16_t raw_accel_Y</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:342</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_ab587cdf991342b69b7fff3b33f537eb5"><div class="ttname"><a href="class_b_n_o08x.html#ab587cdf991342b69b7fff3b33f537eb5">BNO08x::mems_raw_magf_X</a></div><div class="ttdeci">uint16_t mems_raw_magf_X</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:367</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_ab5c29f31714b4755c0edbce7156652f7"><div class="ttname"><a href="class_b_n_o08x.html#ab5c29f31714b4755c0edbce7156652f7">BNO08x::SENSOR_REPORT_ID_STABILITY_CLASSIFIER</a></div><div class="ttdeci">static const constexpr uint8_t SENSOR_REPORT_ID_STABILITY_CLASSIFIER</div><div class="ttdoc">See SH2 Ref. Manual 6.5.31.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:472</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_ab5f200069a2f8cb74cb79c6f162da5a1"><div class="ttname"><a href="class_b_n_o08x.html#ab5f200069a2f8cb74cb79c6f162da5a1">BNO08x::queue_request_product_id_command</a></div><div class="ttdeci">void queue_request_product_id_command()</div><div class="ttdoc">Queues a packet containing the request product ID command.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:570</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_ab6b142416912a096886dd63ad0beb865"><div class="ttname"><a href="class_b_n_o08x.html#ab6b142416912a096886dd63ad0beb865">BNO08x::mems_raw_gyro_Y</a></div><div class="ttdeci">uint16_t mems_raw_gyro_Y</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:365</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_ab7977391191067282e7f734b9ee45059"><div class="ttname"><a href="class_b_n_o08x.html#ab7977391191067282e7f734b9ee45059">BNO08x::get_gyro_calibrated_velocity_X</a></div><div class="ttdeci">float get_gyro_calibrated_velocity_X()</div><div class="ttdoc">Get calibrated gyro x axis angular velocity measurement.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2186</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_ab94a8f69673a3db7556ba67775c5ea93"><div class="ttname"><a href="class_b_n_o08x.html#ab94a8f69673a3db7556ba67775c5ea93">BNO08x::EVT_GRP_RPT_GRAVITY_BIT</a></div><div class="ttdeci">static const constexpr EventBits_t EVT_GRP_RPT_GRAVITY_BIT</div><div class="ttdoc">When set, gravity reports are active.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:410</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_abaf1ec8bb197db1998a9ed3cec6180d5"><div class="ttname"><a href="class_b_n_o08x.html#abaf1ec8bb197db1998a9ed3cec6180d5">BNO08x::TARE_GAME_ROTATION_VECTOR</a></div><div class="ttdeci">static const constexpr uint8_t TARE_GAME_ROTATION_VECTOR</div><div class="ttdoc">Tare game rotation vector.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:263</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_abb6d0586a5a87b7b34f4c65ae52965a4"><div class="ttname"><a href="class_b_n_o08x.html#abb6d0586a5a87b7b34f4c65ae52965a4">BNO08x::SENSOR_REPORT_ID_GEOMAGNETIC_ROTATION_VECTOR</a></div><div class="ttdeci">static const constexpr uint8_t SENSOR_REPORT_ID_GEOMAGNETIC_ROTATION_VECTOR</div><div class="ttdoc">See SH2 Ref. Manual 6.5.20.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:468</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_abc8add47f1babc66c812a015614143d3"><div class="ttname"><a href="class_b_n_o08x.html#abc8add47f1babc66c812a015614143d3">BNO08x::raw_lin_accel_Z</a></div><div class="ttdeci">uint16_t raw_lin_accel_Z</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:344</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_abc972db20affbd0040b4e6c4892dd57b"><div class="ttname"><a href="class_b_n_o08x.html#abc972db20affbd0040b4e6c4892dd57b">BNO08x::time_stamp</a></div><div class="ttdeci">uint32_t time_stamp</div><div class="ttdoc">Report timestamp (see datasheet 1.3.5.3)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:341</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_abce574112a9079d2cbc58cfc352b8a69"><div class="ttname"><a href="class_b_n_o08x.html#abce574112a9079d2cbc58cfc352b8a69">BNO08x::get_accel_X</a></div><div class="ttdeci">float get_accel_X()</div><div class="ttdoc">Get x axis acceleration (total acceleration of device, units in m/s^2).</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1980</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_abe04c38b5bd52d331bd8aefae1f51947"><div class="ttname"><a href="class_b_n_o08x.html#abe04c38b5bd52d331bd8aefae1f51947">BNO08x::enable_game_rotation_vector</a></div><div class="ttdeci">void enable_game_rotation_vector(uint32_t time_between_reports)</div><div class="ttdoc">Sends command to enable game rotation vector reports (See Ref. Manual 6.5.19)</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1198</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_abff9abe904bcdde951cf88c378284b45"><div class="ttname"><a href="class_b_n_o08x.html#abff9abe904bcdde951cf88c378284b45">BNO08x::TARE_ARVR_STABILIZED_ROTATION_VECTOR</a></div><div class="ttdeci">static const constexpr uint8_t TARE_ARVR_STABILIZED_ROTATION_VECTOR</div><div class="ttdoc">Tare ARVR stabilized rotation vector.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:266</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_ac00e8b59ae8d710cf79956eaafa97ddb"><div class="ttname"><a href="class_b_n_o08x.html#ac00e8b59ae8d710cf79956eaafa97ddb">BNO08x::CALIBRATE_MAG</a></div><div class="ttdeci">static const constexpr uint8_t CALIBRATE_MAG</div><div class="ttdoc">Calibrate magnetometer command used by queue_calibrate_command.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:432</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_ac16adc5f00b0039c98a4921f13895026"><div class="ttname"><a href="class_b_n_o08x.html#ac16adc5f00b0039c98a4921f13895026">BNO08x::spi_transaction</a></div><div class="ttdeci">spi_transaction_t spi_transaction</div><div class="ttdoc">SPI transaction handle.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:338</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_ac1b3de9b552c611ee9c455d7f19be698"><div class="ttname"><a href="class_b_n_o08x.html#ac1b3de9b552c611ee9c455d7f19be698">BNO08x::mode_on</a></div><div class="ttdeci">bool mode_on()</div><div class="ttdoc">Turns on/ brings BNO08x sensor out of sleep mode using executable channel.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:348</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_ac26350b55095a346d72598ab8aa74b4a"><div class="ttname"><a href="class_b_n_o08x.html#ac26350b55095a346d72598ab8aa74b4a">BNO08x::calibrate_magnetometer</a></div><div class="ttdeci">void calibrate_magnetometer()</div><div class="ttdoc">Sends command to calibrate magnetometer.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:620</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_ac28553b40b82c7cb409938681afe6cec"><div class="ttname"><a href="class_b_n_o08x.html#ac28553b40b82c7cb409938681afe6cec">BNO08x::EVT_GRP_RPT_RAW_MAGNETOMETER_BIT</a></div><div class="ttdeci">static const constexpr EventBits_t EVT_GRP_RPT_RAW_MAGNETOMETER_BIT</div><div class="ttdoc">When set, raw magnetometer reports are active.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:420</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_ac35d5b12721ab876eaeb1f714a9b3b1d"><div class="ttname"><a href="class_b_n_o08x.html#ac35d5b12721ab876eaeb1f714a9b3b1d">BNO08x::mems_raw_gyro_Z</a></div><div class="ttdeci">uint16_t mems_raw_gyro_Z</div><div class="ttdoc">Raw gyro readings from MEMS sensor (See SH-2 Ref. Manual 6.5.12)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:366</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_ac38ff5eb93d3c3db0af2504ba02fd93c"><div class="ttname"><a href="class_b_n_o08x.html#ac38ff5eb93d3c3db0af2504ba02fd93c">BNO08x::raw_bias_Y</a></div><div class="ttdeci">uint16_t raw_bias_Y</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:353</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_ac5d4e151690774687efa951ca41c16ae"><div class="ttname"><a href="class_b_n_o08x.html#ac5d4e151690774687efa951ca41c16ae">BNO08x::magf_accuracy</a></div><div class="ttdeci">uint16_t magf_accuracy</div><div class="ttdoc">Calibrated magnetic field reading in uTesla (See SH-2 Ref. Manual 6.5.16)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:356</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_ac9d9b6636745e8180807284da67c92a2"><div class="ttname"><a href="class_b_n_o08x.html#ac9d9b6636745e8180807284da67c92a2">BNO08x::end_calibration</a></div><div class="ttdeci">void end_calibration()</div><div class="ttdoc">Sends command to end calibration procedure.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:722</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_acb8e83fbb0645d4e98a96120ce9f431c"><div class="ttname"><a href="class_b_n_o08x.html#acb8e83fbb0645d4e98a96120ce9f431c">BNO08x::SENSOR_REPORT_ID_UNCALIBRATED_GYRO</a></div><div class="ttdeci">static const constexpr uint8_t SENSOR_REPORT_ID_UNCALIBRATED_GYRO</div><div class="ttdoc">See SH2 Ref. Manual 6.5.14.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:466</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_acc0ea091465fc9a5736f5e0c6a0ce8ef"><div class="ttname"><a href="class_b_n_o08x.html#acc0ea091465fc9a5736f5e0c6a0ce8ef">BNO08x::spi_hdl</a></div><div class="ttdeci">spi_device_handle_t spi_hdl</div><div class="ttdoc">SPI device handle.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:337</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_acc2c66e2985975266a286385ea855117"><div class="ttname"><a href="class_b_n_o08x.html#acc2c66e2985975266a286385ea855117">BNO08x::raw_uncalib_gyro_Y</a></div><div class="ttdeci">uint16_t raw_uncalib_gyro_Y</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:353</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_accd39f48e9f8ab8267df7184b5b7cd76"><div class="ttname"><a href="class_b_n_o08x.html#accd39f48e9f8ab8267df7184b5b7cd76">BNO08x::get_gravity_accuracy</a></div><div class="ttdeci">uint8_t get_gravity_accuracy()</div><div class="ttdoc">Get the reported gravity accuracy.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1752</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_acd0fc6ffa70dd2761cba0ac0b88c234f"><div class="ttname"><a href="class_b_n_o08x.html#acd0fc6ffa70dd2761cba0ac0b88c234f">BNO08x::SENSOR_REPORT_ID_GYRO_INTEGRATED_ROTATION_VECTOR</a></div><div class="ttdeci">static const constexpr uint8_t SENSOR_REPORT_ID_GYRO_INTEGRATED_ROTATION_VECTOR</div><div class="ttdoc">See SH2 Ref. Manual 6.5.44.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:469</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_acd1819a81818f90dc105950b4a7d0b04"><div class="ttname"><a href="class_b_n_o08x.html#acd1819a81818f90dc105950b4a7d0b04">BNO08x::get_gyro_velocity_Y</a></div><div class="ttdeci">float get_gyro_velocity_Y()</div><div class="ttdoc">Get y axis angular velocity from gyro-integrated rotation vector. (See Ref. Manual 6....</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2347</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_acd365418f24a6da61122c66d82086639"><div class="ttname"><a href="class_b_n_o08x.html#acd365418f24a6da61122c66d82086639">BNO08x::raw_magf_Y</a></div><div class="ttdeci">uint16_t raw_magf_Y</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:355</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_acd376cd3e454a87198ec86accbf2ee00"><div class="ttname"><a href="class_b_n_o08x.html#acd376cd3e454a87198ec86accbf2ee00">BNO08x::get_gyro_velocity_X</a></div><div class="ttdeci">float get_gyro_velocity_X()</div><div class="ttdoc">Get x axis angular velocity from gyro-integrated rotation vector. (See Ref. Manual 6....</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2337</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_acd5b44d705af1f9aaa271a59a9d2d595"><div class="ttname"><a href="class_b_n_o08x.html#acd5b44d705af1f9aaa271a59a9d2d595">BNO08x::CALIBRATE_ACCEL</a></div><div class="ttdeci">static const constexpr uint8_t CALIBRATE_ACCEL</div><div class="ttdoc">Calibrate accelerometer command used by queue_calibrate_command.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:430</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_ace7720a02c9f4ef38e319849f6c36a0b"><div class="ttname"><a href="class_b_n_o08x.html#ace7720a02c9f4ef38e319849f6c36a0b">BNO08x::SENSOR_REPORT_ID_LINEAR_ACCELERATION</a></div><div class="ttdeci">static const constexpr uint8_t SENSOR_REPORT_ID_LINEAR_ACCELERATION</div><div class="ttdoc">See SH2 Ref. Manual 6.5.10.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:463</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_ad097849616c5caab1fd3eb3632ee2b91"><div class="ttname"><a href="class_b_n_o08x.html#ad097849616c5caab1fd3eb3632ee2b91">BNO08x::queue_calibrate_command</a></div><div class="ttdeci">void queue_calibrate_command(uint8_t _to_calibrate)</div><div class="ttdoc">Queues a packet containing a command to calibrate the specified sensor.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:645</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_ad0d37fe07ced24f2c9afc21145a74e7b"><div class="ttname"><a href="class_b_n_o08x.html#ad0d37fe07ced24f2c9afc21145a74e7b">BNO08x::LINEAR_ACCELEROMETER_Q1</a></div><div class="ttdeci">static const constexpr int16_t LINEAR_ACCELEROMETER_Q1</div><div class="ttdoc">Linear acceleration Q point (See SH-2 Ref. Manual 6.5.10)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:272</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_ad212b5028a31e857e76d251ced2724e1"><div class="ttname"><a href="class_b_n_o08x.html#ad212b5028a31e857e76d251ced2724e1">BNO08x::calibration_status</a></div><div class="ttdeci">uint8_t calibration_status</div><div class="ttdoc">Calibration status of device (See SH-2 Ref. Manual 6.4.7.1 &amp; 6.4.7.2)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:362</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_ad228cdf352b7ea95e484da993045a47b"><div class="ttname"><a href="class_b_n_o08x.html#ad228cdf352b7ea95e484da993045a47b">BNO08x::get_uncalibrated_gyro_bias_X</a></div><div class="ttdeci">float get_uncalibrated_gyro_bias_X()</div><div class="ttdoc">Get uncalibrated gyro x axis drift estimate.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2281</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_ad4fab6e636e239d4b9273f158983ed89"><div class="ttname"><a href="class_b_n_o08x.html#ad4fab6e636e239d4b9273f158983ed89">BNO08x::get_gyro_calibrated_velocity_Y</a></div><div class="ttdeci">float get_gyro_calibrated_velocity_Y()</div><div class="ttdoc">Get calibrated gyro y axis angular velocity measurement.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2196</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_ad59b029d04341dbef72e059488951980"><div class="ttname"><a href="class_b_n_o08x.html#ad59b029d04341dbef72e059488951980">BNO08x::get_linear_accel</a></div><div class="ttdeci">void get_linear_accel(float &amp;x, float &amp;y, float &amp;z, uint8_t &amp;accuracy)</div><div class="ttdoc">Get full linear acceleration (acceleration of the device minus gravity, units in m/s^2).</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2025</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_ad5c991150895b80bee68c933059a4058"><div class="ttname"><a href="class_b_n_o08x.html#ad5c991150895b80bee68c933059a4058">BNO08x::disable_accelerometer</a></div><div class="ttdeci">void disable_accelerometer()</div><div class="ttdoc">Sends command to disable accelerometer reports by setting report interval to 0.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1448</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_ad7b322681b9ec5f57edb09e336b988c0"><div class="ttname"><a href="class_b_n_o08x.html#ad7b322681b9ec5f57edb09e336b988c0">BNO08x::enable_gyro</a></div><div class="ttdeci">void enable_gyro(uint32_t time_between_reports)</div><div class="ttdoc">Sends command to enable gyro reports (See Ref. Manual 6.5.13)</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1286</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_ad7b83cac874c092583f8513d3bb69bbf"><div class="ttname"><a href="class_b_n_o08x.html#ad7b83cac874c092583f8513d3bb69bbf">BNO08x::enable_activity_classifier</a></div><div class="ttdeci">void enable_activity_classifier(uint32_t time_between_reports, uint32_t activities_to_enable, uint8_t(&amp;activity_confidence_vals)[9])</div><div class="ttdoc">Sends command to enable activity classifier reports (See Ref. Manual 6.5.36)</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1354</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_ad7ef7d7068af5f92239c12022dbeb16d"><div class="ttname"><a href="class_b_n_o08x.html#ad7ef7d7068af5f92239c12022dbeb16d">BNO08x::FRS_RECORD_ID_ACCELEROMETER</a></div><div class="ttdeci">static const constexpr uint16_t FRS_RECORD_ID_ACCELEROMETER</div><div class="ttdoc">Accelerometer record ID, to be passed in metadata functions like get_Q1()</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:249</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_ad80a77973371b12d722ea39063c648be"><div class="ttname"><a href="class_b_n_o08x.html#ad80a77973371b12d722ea39063c648be">BNO08x::step_count</a></div><div class="ttdeci">uint16_t step_count</div><div class="ttdoc">Step counter reading (See SH-2 Ref. Manual 6.5.29)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:358</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_ad83cecb8a5d2be01db6792755b6057e9"><div class="ttname"><a href="class_b_n_o08x.html#ad83cecb8a5d2be01db6792755b6057e9">BNO08x::mems_raw_accel_Y</a></div><div class="ttdeci">uint16_t mems_raw_accel_Y</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:363</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_ad9137777271421a58159f3fe5e05ed20"><div class="ttname"><a href="class_b_n_o08x.html#ad9137777271421a58159f3fe5e05ed20">BNO08x::get_time_stamp</a></div><div class="ttdeci">uint32_t get_time_stamp()</div><div class="ttdoc">Return timestamp of most recent report.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1633</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_ad93161968a53ff53a6bb74ab7c34fbff"><div class="ttname"><a href="class_b_n_o08x.html#ad93161968a53ff53a6bb74ab7c34fbff">BNO08x::EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT</a></div><div class="ttdeci">static const constexpr EventBits_t EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT</div><div class="ttdoc">When set, linear accelerometer reports are active.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:409</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_ada7dbda9f7a0bfb0894a787ce0ff9cef"><div class="ttname"><a href="class_b_n_o08x.html#ada7dbda9f7a0bfb0894a787ce0ff9cef">BNO08x::SENSOR_REPORT_ID_GAME_ROTATION_VECTOR</a></div><div class="ttdeci">static const constexpr uint8_t SENSOR_REPORT_ID_GAME_ROTATION_VECTOR</div><div class="ttdoc">See SH2 Ref. Manual 6.5.19.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:467</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_adaff49f3d80fdd19fd4210f0c56d41ef"><div class="ttname"><a href="class_b_n_o08x.html#adaff49f3d80fdd19fd4210f0c56d41ef">BNO08x::get_step_count</a></div><div class="ttdeci">uint16_t get_step_count()</div><div class="ttdoc">Get the counted amount of steps.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2379</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_add29c84038558c28bcfca37865cf9244"><div class="ttname"><a href="class_b_n_o08x.html#add29c84038558c28bcfca37865cf9244">BNO08x::disable_raw_magnetometer</a></div><div class="ttdeci">void disable_raw_magnetometer()</div><div class="ttdoc">Sends command to disable raw magnetometer reports by setting report interval to 0.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1568</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_adf12600b39de41d258439a343fcc1ad8"><div class="ttname"><a href="class_b_n_o08x.html#adf12600b39de41d258439a343fcc1ad8">BNO08x::get_raw_magf_X</a></div><div class="ttdeci">int16_t get_raw_magf_X()</div><div class="ttdoc">Get raw magnetometer x axis reading from physical magnetometer sensor (See Ref. Manual 6....</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2138</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_adf789e709ac1667656db757c8d559af9"><div class="ttname"><a href="class_b_n_o08x.html#adf789e709ac1667656db757c8d559af9">BNO08x::FRS_read_request</a></div><div class="ttdeci">bool FRS_read_request(uint16_t record_ID, uint16_t read_offset, uint16_t block_size)</div><div class="ttdoc">Requests meta data from BNO08x FRS (flash record system) given the record ID. Contains Q points and o...</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2600</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_ae01698d287ea999179a11e2244902022"><div class="ttname"><a href="class_b_n_o08x.html#ae01698d287ea999179a11e2244902022">BNO08x::gravity_accuracy</a></div><div class="ttdeci">uint16_t gravity_accuracy</div><div class="ttdoc">Gravity reading in m/s^2 (See SH-2 Ref. Manual 6.5.11)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:352</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_ae10722334dfce9635e76519598e165a2"><div class="ttname"><a href="class_b_n_o08x.html#ae10722334dfce9635e76519598e165a2">BNO08x::GRAVITY_Q1</a></div><div class="ttdeci">static const constexpr int16_t GRAVITY_Q1</div><div class="ttdoc">Gravity Q point (See SH-2 Ref. Manual 6.5.11)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:276</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_ae1435b83ca83bc51b75f3303afe87f7b"><div class="ttname"><a href="class_b_n_o08x.html#ae1435b83ca83bc51b75f3303afe87f7b">BNO08x::enable_linear_accelerometer</a></div><div class="ttdeci">void enable_linear_accelerometer(uint32_t time_between_reports)</div><div class="ttdoc">Sends command to enable linear accelerometer reports (See Ref. Manual 6.5.10)</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1264</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_ae1f71a432cb15e75f522fa18f29f4d50"><div class="ttname"><a href="class_b_n_o08x.html#ae1f71a432cb15e75f522fa18f29f4d50">BNO08x::raw_lin_accel_X</a></div><div class="ttdeci">uint16_t raw_lin_accel_X</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:344</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_ae2add976af256ec981248371a2f58207"><div class="ttname"><a href="class_b_n_o08x.html#ae2add976af256ec981248371a2f58207">BNO08x::get_gyro_velocity_Z</a></div><div class="ttdeci">float get_gyro_velocity_Z()</div><div class="ttdoc">Get z axis angular velocity from gyro-integrated rotation vector. (See Ref. Manual 6....</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2357</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_ae37d6f8431c8c465bfb0c662772b5cb9"><div class="ttname"><a href="class_b_n_o08x.html#ae37d6f8431c8c465bfb0c662772b5cb9">BNO08x::SHTP_REPORT_BASE_TIMESTAMP</a></div><div class="ttdeci">static const constexpr uint8_t SHTP_REPORT_BASE_TIMESTAMP</div><div class="ttdoc">See SH2 Ref. Manual 7.2.1.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:456</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_ae540799865934fcff54caed0772df071"><div class="ttname"><a href="class_b_n_o08x.html#ae540799865934fcff54caed0772df071">BNO08x::receive_packet</a></div><div class="ttdeci">bool receive_packet()</div><div class="ttdoc">Receives a SHTP packet via SPI and sends it to data_proc_task()</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:396</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_ae6e875a27ae74ebed806ee1a4576845a"><div class="ttname"><a href="class_b_n_o08x.html#ae6e875a27ae74ebed806ee1a4576845a">BNO08x::run_full_calibration_routine</a></div><div class="ttdeci">bool run_full_calibration_routine()</div><div class="ttdoc">Runs full calibration routine.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:753</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_ae7f34752f888c637d5619f898e62a6d4"><div class="ttname"><a href="class_b_n_o08x.html#ae7f34752f888c637d5619f898e62a6d4">BNO08x::HOST_INT_TIMEOUT_MS</a></div><div class="ttdeci">static const constexpr uint64_t HOST_INT_TIMEOUT_MS</div><div class="ttdoc">Max wait between HINT being asserted by BNO08x before transaction is considered failed (in milisecond...</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:387</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_aea8e2c6dd7a2c9899479a7f39fe94798"><div class="ttname"><a href="class_b_n_o08x.html#aea8e2c6dd7a2c9899479a7f39fe94798">BNO08x::initialize</a></div><div class="ttdeci">bool initialize()</div><div class="ttdoc">Initializes BNO08x sensor.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:114</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_aeac84719a1cc0f9c8d5a9a749391d4db"><div class="ttname"><a href="class_b_n_o08x.html#aeac84719a1cc0f9c8d5a9a749391d4db">BNO08x::CALIBRATE_GYRO</a></div><div class="ttdeci">static const constexpr uint8_t CALIBRATE_GYRO</div><div class="ttdoc">Calibrate gyro command used by queue_calibrate_command.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:431</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_aeb51ebb6c82158cd7e23bd682c08c4e0"><div class="ttname"><a href="class_b_n_o08x.html#aeb51ebb6c82158cd7e23bd682c08c4e0">BNO08x::SENSOR_REPORT_ID_ARVR_STABILIZED_GAME_ROTATION_VECTOR</a></div><div class="ttdeci">static const constexpr uint8_t SENSOR_REPORT_ID_ARVR_STABILIZED_GAME_ROTATION_VECTOR</div><div class="ttdoc">See SH2 Ref. Manual 6.5.43.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:478</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_aeb760b095dcf808a413ef696f2608e43"><div class="ttname"><a href="class_b_n_o08x.html#aeb760b095dcf808a413ef696f2608e43">BNO08x::SHTP_REPORT_FRS_READ_RESPONSE</a></div><div class="ttdeci">static const constexpr uint8_t SHTP_REPORT_FRS_READ_RESPONSE</div><div class="ttdoc">See SH2 Ref. Manual 6.3.7.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:452</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_aecb3e11c1ca5769fd60f42c17a105731"><div class="ttname"><a href="class_b_n_o08x.html#aecb3e11c1ca5769fd60f42c17a105731">BNO08x::TARE_AXIS_Z</a></div><div class="ttdeci">static const constexpr uint8_t TARE_AXIS_Z</div><div class="ttdoc">Tar yaw axis only (used with tare now command)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:259</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_aeda443e9f608fccfec0e6770edc90c82"><div class="ttname"><a href="class_b_n_o08x.html#aeda443e9f608fccfec0e6770edc90c82">BNO08x::imu_config</a></div><div class="ttdeci">bno08x_config_t imu_config</div><div class="ttdoc">IMU configuration settings.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:334</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_aeffce374f558a167d5b5f19ad627e7cc"><div class="ttname"><a href="class_b_n_o08x.html#aeffce374f558a167d5b5f19ad627e7cc">BNO08x::calibrate_accelerometer</a></div><div class="ttdeci">void calibrate_accelerometer()</div><div class="ttdoc">Sends command to calibrate accelerometer.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:596</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_af124a6c1d8b871f3181b6c85f1099cb2"><div class="ttname"><a href="class_b_n_o08x.html#af124a6c1d8b871f3181b6c85f1099cb2">BNO08x::COMMAND_DCD</a></div><div class="ttdeci">static const constexpr uint8_t COMMAND_DCD</div><div class="ttdoc">Save DCD command (See SH2 Ref. Manual 6.4.7)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:443</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_af1b2c3a383a84fc6dfaddae1052b44d4"><div class="ttname"><a href="class_b_n_o08x.html#af1b2c3a383a84fc6dfaddae1052b44d4">BNO08x::get_raw_gyro_X</a></div><div class="ttdeci">int16_t get_raw_gyro_X()</div><div class="ttdoc">Get raw gyroscope x axis reading from physical gyroscope MEMs sensor (See Ref. Manual 6....</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2108</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_af20dcd487a9fe8fa6243817d51e37be5"><div class="ttname"><a href="class_b_n_o08x.html#af20dcd487a9fe8fa6243817d51e37be5">BNO08x::gravity_Y</a></div><div class="ttdeci">uint16_t gravity_Y</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:351</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_af254d245b368027df6952b7d7522bd35"><div class="ttname"><a href="class_b_n_o08x.html#af254d245b368027df6952b7d7522bd35">BNO08x::raw_accel_Z</a></div><div class="ttdeci">uint16_t raw_accel_Z</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:342</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_af2951f6ea448af7cf7932fbfed9fec3c"><div class="ttname"><a href="class_b_n_o08x.html#af2951f6ea448af7cf7932fbfed9fec3c">BNO08x::queue_feature_command</a></div><div class="ttdeci">void queue_feature_command(uint8_t report_ID, uint32_t time_between_reports)</div><div class="ttdoc">Queues a packet containing a command with a request for sensor reports, reported periodically....</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2756</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_af45016be9ea523d80be8467b2907b499"><div class="ttname"><a href="class_b_n_o08x.html#af45016be9ea523d80be8467b2907b499">BNO08x::gravity_X</a></div><div class="ttdeci">uint16_t gravity_X</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:351</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_af50010400cbd1445e9ddfa259384b412"><div class="ttname"><a href="class_b_n_o08x.html#af50010400cbd1445e9ddfa259384b412">BNO08x::get_pitch_deg</a></div><div class="ttdeci">float get_pitch_deg()</div><div class="ttdoc">Get the reported rotation about y axis.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1855</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_af53d9e99f163d97ef92fe989b1dd25cc"><div class="ttname"><a href="class_b_n_o08x.html#af53d9e99f163d97ef92fe989b1dd25cc">BNO08x::CALIBRATE_ACCEL_GYRO_MAG</a></div><div class="ttdeci">static const constexpr uint8_t CALIBRATE_ACCEL_GYRO_MAG</div><div class="ttdoc">Calibrate accelerometer, gyro, &amp; magnetometer command used by queue_calibrate_command.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:434</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_af80f7795656e695e036d3b1557aed94c"><div class="ttname"><a href="class_b_n_o08x.html#af80f7795656e695e036d3b1557aed94c">BNO08x::get_yaw_deg</a></div><div class="ttdeci">float get_yaw_deg()</div><div class="ttdoc">Get the reported rotation about z axis.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1865</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_af86821bc0f1e7f5897de20b5e47a85bd"><div class="ttname"><a href="class_b_n_o08x.html#af86821bc0f1e7f5897de20b5e47a85bd">BNO08x::EVT_GRP_RPT_GYRO_UNCALIBRATED_BIT</a></div><div class="ttdeci">static const constexpr EventBits_t EVT_GRP_RPT_GYRO_UNCALIBRATED_BIT</div><div class="ttdoc">When set, uncalibrated gyro reports are active.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:412</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_af96e8cd070459f945ffbf01b98106e13"><div class="ttname"><a href="class_b_n_o08x.html#af96e8cd070459f945ffbf01b98106e13">BNO08x::activity_confidences</a></div><div class="ttdeci">uint8_t * activity_confidences</div><div class="ttdoc">Confidence of read activities (See SH-2 Ref. Manual 6.5.36)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:361</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_af9b6fbf35e7cd55d517d30c6429a21a4"><div class="ttname"><a href="class_b_n_o08x.html#af9b6fbf35e7cd55d517d30c6429a21a4">BNO08x::data_proc_task_hdl</a></div><div class="ttdeci">TaskHandle_t data_proc_task_hdl</div><div class="ttdoc">data_proc_task() task handle</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:376</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_afa1cf5c3afbb258d97c55c5fb187f2d6"><div class="ttname"><a href="class_b_n_o08x.html#afa1cf5c3afbb258d97c55c5fb187f2d6">BNO08x::gravity_Z</a></div><div class="ttdeci">uint16_t gravity_Z</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:351</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_afac9dd4161f4c0051255293680c9082b"><div class="ttname"><a href="class_b_n_o08x.html#afac9dd4161f4c0051255293680c9082b">BNO08x::raw_uncalib_gyro_Z</a></div><div class="ttdeci">uint16_t raw_uncalib_gyro_Z</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:353</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_afb2ffc4e7ff0498917bc14a83af306e2"><div class="ttname"><a href="class_b_n_o08x.html#afb2ffc4e7ff0498917bc14a83af306e2">BNO08x::save_tare</a></div><div class="ttdeci">void save_tare()</div><div class="ttdoc">Sends command to save tare into non-volatile memory of BNO08x (See Ref. Manual 6.4....</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1593</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_afbd2b02d5abe7084ce9de49ee2c9142f"><div class="ttname"><a href="class_b_n_o08x.html#afbd2b02d5abe7084ce9de49ee2c9142f">BNO08x::disable_linear_accelerometer</a></div><div class="ttdeci">void disable_linear_accelerometer()</div><div class="ttdoc">Sends command to disable linear accelerometer reports by setting report interval to 0.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1458</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_afd0ca5f9b9741935543d143a5a43d128"><div class="ttname"><a href="class_b_n_o08x.html#afd0ca5f9b9741935543d143a5a43d128">BNO08x::calibrate_all</a></div><div class="ttdeci">void calibrate_all()</div><div class="ttdoc">Sends command to calibrate accelerometer, gyro, and magnetometer.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:584</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_afdc5cdb65bd0b36528b5b671b9d27053"><div class="ttname"><a href="class_b_n_o08x.html#afdc5cdb65bd0b36528b5b671b9d27053">BNO08x::raw_uncalib_gyro_X</a></div><div class="ttdeci">uint16_t raw_uncalib_gyro_X</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:353</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_afdf24bb3d54518b23972f21f007817c1"><div class="ttname"><a href="class_b_n_o08x.html#afdf24bb3d54518b23972f21f007817c1">BNO08x::get_accel_Y</a></div><div class="ttdeci">float get_accel_Y()</div><div class="ttdoc">Get y axis acceleration (total acceleration of device, units in m/s^2).</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1990</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_afdfa7d50362702da689c5d18bf17fd84"><div class="ttname"><a href="class_b_n_o08x.html#afdfa7d50362702da689c5d18bf17fd84">BNO08x::get_linear_accel_Z</a></div><div class="ttdeci">float get_linear_accel_Z()</div><div class="ttdoc">Get z axis linear acceleration (acceleration of device minus gravity, units in m/s^2)</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2058</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_afe39bfdede7b9a2b273983cb29a27d6e"><div class="ttname"><a href="class_b_n_o08x.html#afe39bfdede7b9a2b273983cb29a27d6e">BNO08x::clear_tare</a></div><div class="ttdeci">void clear_tare()</div><div class="ttdoc">Sends command to clear persistent tare settings in non-volatile memory of BNO08x (See Ref....</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:1605</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_afe6392012669e7ebd1a9e817e2bd313f"><div class="ttname"><a href="class_b_n_o08x.html#afe6392012669e7ebd1a9e817e2bd313f">BNO08x::get_gyro_velocity</a></div><div class="ttdeci">void get_gyro_velocity(float &amp;x, float &amp;y, float &amp;z)</div><div class="ttdoc">Full rotational velocity from gyro-integrated rotation vector (See Ref. Manual 6.5....</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2325</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_aff3a5590471d1c9fc485a5610433915f"><div class="ttname"><a href="class_b_n_o08x.html#aff3a5590471d1c9fc485a5610433915f">BNO08x::raw_lin_accel_Y</a></div><div class="ttdeci">uint16_t raw_lin_accel_Y</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:344</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_aff7714441d242b3b9b0c03f94e0a9374"><div class="ttname"><a href="class_b_n_o08x.html#aff7714441d242b3b9b0c03f94e0a9374">BNO08x::get_raw_gyro_Y</a></div><div class="ttdeci">int16_t get_raw_gyro_Y()</div><div class="ttdoc">Get raw gyroscope y axis reading from physical gyroscope MEMs sensor (See Ref. Manual 6....</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2118</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_affaaa35abbb872da5299ebab6e2c9b11"><div class="ttname"><a href="class_b_n_o08x.html#affaaa35abbb872da5299ebab6e2c9b11">BNO08x::request_calibration_status</a></div><div class="ttdeci">void request_calibration_status()</div><div class="ttdoc">Requests ME calibration status from BNO08x (see Ref. Manual 6.4.7.2)</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:692</div></div>
+<div class="ttc" id="astruct_b_n_o08x_1_1bno08x__rx__packet__t_html"><div class="ttname"><a href="struct_b_n_o08x_1_1bno08x__rx__packet__t.html">BNO08x::bno08x_rx_packet_t</a></div><div class="ttdoc">Holds data that is received over spi.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:281</div></div>
+<div class="ttc" id="astruct_b_n_o08x_1_1bno08x__rx__packet__t_html_a645adb6ba8fb2afbb99ec58fe678e205"><div class="ttname"><a href="struct_b_n_o08x_1_1bno08x__rx__packet__t.html#a645adb6ba8fb2afbb99ec58fe678e205">BNO08x::bno08x_rx_packet_t::length</a></div><div class="ttdeci">uint16_t length</div><div class="ttdoc">Body of SHTP packet.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:284</div></div>
+<div class="ttc" id="astruct_b_n_o08x_1_1bno08x__rx__packet__t_html_a667d671ccb272bd375008716e26e0b5b"><div class="ttname"><a href="struct_b_n_o08x_1_1bno08x__rx__packet__t.html#a667d671ccb272bd375008716e26e0b5b">BNO08x::bno08x_rx_packet_t::header</a></div><div class="ttdeci">uint8_t header[4]</div><div class="ttdoc">Header of SHTP packet.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:282</div></div>
+<div class="ttc" id="astruct_b_n_o08x_1_1bno08x__rx__packet__t_html_ab422d75e1fcd776ef412f4d623cc293e"><div class="ttname"><a href="struct_b_n_o08x_1_1bno08x__rx__packet__t.html#ab422d75e1fcd776ef412f4d623cc293e">BNO08x::bno08x_rx_packet_t::body</a></div><div class="ttdeci">uint8_t body[300]</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:283</div></div>
+<div class="ttc" id="astruct_b_n_o08x_1_1bno08x__tx__packet__t_html"><div class="ttname"><a href="struct_b_n_o08x_1_1bno08x__tx__packet__t.html">BNO08x::bno08x_tx_packet_t</a></div><div class="ttdoc">Holds data that is sent over spi.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:289</div></div>
+<div class="ttc" id="astruct_b_n_o08x_1_1bno08x__tx__packet__t_html_a4478c6cd9e87907eacc56dd06ad4a69d"><div class="ttname"><a href="struct_b_n_o08x_1_1bno08x__tx__packet__t.html#a4478c6cd9e87907eacc56dd06ad4a69d">BNO08x::bno08x_tx_packet_t::body</a></div><div class="ttdeci">uint8_t body[50]</div><div class="ttdoc">Body of SHTP the packet (header + body)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:290</div></div>
+<div class="ttc" id="astruct_b_n_o08x_1_1bno08x__tx__packet__t_html_a73180537ea7605340c5e6b2132e2cbf5"><div class="ttname"><a href="struct_b_n_o08x_1_1bno08x__tx__packet__t.html#a73180537ea7605340c5e6b2132e2cbf5">BNO08x::bno08x_tx_packet_t::length</a></div><div class="ttdeci">uint16_t length</div><div class="ttdoc">Packet length in bytes.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:291</div></div>
+<div class="ttc" id="astructbno08x__config__t_html"><div class="ttname"><a href="structbno08x__config__t.html">bno08x_config_t</a></div><div class="ttdoc">IMU configuration settings passed into constructor.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:44</div></div>
+<div class="ttc" id="astructbno08x__config__t_html_a020d2343750bb7debc2a108ae038c9ec"><div class="ttname"><a href="structbno08x__config__t.html#a020d2343750bb7debc2a108ae038c9ec">bno08x_config_t::spi_peripheral</a></div><div class="ttdeci">spi_host_device_t spi_peripheral</div><div class="ttdoc">SPI peripheral to be used.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:45</div></div>
+<div class="ttc" id="astructbno08x__config__t_html_a231614c3b20888360def2ce9db83f52a"><div class="ttname"><a href="structbno08x__config__t.html#a231614c3b20888360def2ce9db83f52a">bno08x_config_t::sclk_speed</a></div><div class="ttdeci">uint32_t sclk_speed</div><div class="ttdoc">Desired SPI SCLK speed in Hz (max 3MHz)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:53</div></div>
+<div class="ttc" id="astructbno08x__config__t_html_a3cfe965659cfbc6b0c5269bd0211975f"><div class="ttname"><a href="structbno08x__config__t.html#a3cfe965659cfbc6b0c5269bd0211975f">bno08x_config_t::io_int</a></div><div class="ttdeci">gpio_num_t io_int</div><div class="ttdoc">Chip select pin (connects to BNO08x CS pin)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:50</div></div>
+<div class="ttc" id="astructbno08x__config__t_html_a62745c761219139f66ecd173b51577fc"><div class="ttname"><a href="structbno08x__config__t.html#a62745c761219139f66ecd173b51577fc">bno08x_config_t::io_rst</a></div><div class="ttdeci">gpio_num_t io_rst</div><div class="ttdoc">Host interrupt pin (connects to BNO08x INT pin)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:51</div></div>
+<div class="ttc" id="astructbno08x__config__t_html_a639685b91ae3198909d722316495246a"><div class="ttname"><a href="structbno08x__config__t.html#a639685b91ae3198909d722316495246a">bno08x_config_t::io_sclk</a></div><div class="ttdeci">gpio_num_t io_sclk</div><div class="ttdoc">SCLK pin (connects to BNO08x SCL pin)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:48</div></div>
+<div class="ttc" id="astructbno08x__config__t_html_a79023fd80039e41a22b7f73ccd5fc861"><div class="ttname"><a href="structbno08x__config__t.html#a79023fd80039e41a22b7f73ccd5fc861">bno08x_config_t::io_mosi</a></div><div class="ttdeci">gpio_num_t io_mosi</div><div class="ttdoc">MOSI GPIO pin (connects to BNO08x DI pin)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:46</div></div>
+<div class="ttc" id="astructbno08x__config__t_html_a90ad7f316dc443874d19dc7e723a0ce0"><div class="ttname"><a href="structbno08x__config__t.html#a90ad7f316dc443874d19dc7e723a0ce0">bno08x_config_t::io_wake</a></div><div class="ttdeci">gpio_num_t io_wake</div><div class="ttdoc">Reset pin (connects to BNO08x RST pin)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:52</div></div>
+<div class="ttc" id="astructbno08x__config__t_html_a9468180a773892977db39cc5ed9368e3"><div class="ttname"><a href="structbno08x__config__t.html#a9468180a773892977db39cc5ed9368e3">bno08x_config_t::io_miso</a></div><div class="ttdeci">gpio_num_t io_miso</div><div class="ttdoc">MISO GPIO pin (connects to BNO08x SDA pin)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:47</div></div>
+<div class="ttc" id="astructbno08x__config__t_html_ab1b5351b63da0c172c942463d0dc2505"><div class="ttname"><a href="structbno08x__config__t.html#ab1b5351b63da0c172c942463d0dc2505">bno08x_config_t::io_cs</a></div><div class="ttdeci">gpio_num_t io_cs</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:49</div></div>
+<div class="ttc" id="astructbno08x__config__t_html_abf8805292192f4c30c5000423175a2e1"><div class="ttname"><a href="structbno08x__config__t.html#abf8805292192f4c30c5000423175a2e1">bno08x_config_t::bno08x_config_t</a></div><div class="ttdeci">bno08x_config_t()</div><div class="ttdoc">Default IMU configuration settings constructor. To modify default GPIO pins, run &quot;idf....</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:58</div></div>
+<div class="ttc" id="astructbno08x__config__t_html_ae3b4bc522d30f9df7747ed46d0532c23"><div class="ttname"><a href="structbno08x__config__t.html#ae3b4bc522d30f9df7747ed46d0532c23">bno08x_config_t::bno08x_config_t</a></div><div class="ttdeci">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)</div><div class="ttdoc">Overloaded IMU configuration settings constructor for custom pin settings.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:73</div></div>
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>esp32_BNO08x: Class List</title>
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+<script type="text/javascript" src="dynsections.js"></script>
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+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.1</span>
+   </div>
+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.10.0 -->
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+  <div class="headertitle"><div class="title">Class List</div></div>
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+<div class="contents">
+<div class="textblock">Here are the classes, structs, unions and interfaces with brief descriptions:</div><div class="directory">
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>esp32_BNO08x: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<script type="text/javascript" src="clipboard.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
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+<script type="text/javascript" src="navtree.js"></script>
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+<link href="search/search.css" rel="stylesheet" type="text/css"/>
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+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.1</span>
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+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
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+</table>
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+<div class="header">
+  <div class="headertitle"><div class="title">BNO08x Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="class_b_n_o08x.html">BNO08x</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a3365b7ebde01e284274e655c60343df9">accel_accuracy</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
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+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#aafe117561fe9138800073a04a778b4ce">ANGULAR_VELOCITY_Q1</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
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+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a407711b4a84223a52cc043a152aea8ba">bno08x_rx_packet_t</a> typedef</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a3a1a869ac69e6ee850bd2a7f90dd8945">bno08x_tx_packet_t</a> typedef</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a982f065df42f00e53fd87c840efdb0f1">bus_config</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#acd5b44d705af1f9aaa271a59a9d2d595">CALIBRATE_ACCEL</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#af53d9e99f163d97ef92fe989b1dd25cc">CALIBRATE_ACCEL_GYRO_MAG</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#aeffce374f558a167d5b5f19ad627e7cc">calibrate_accelerometer</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#afd0ca5f9b9741935543d143a5a43d128">calibrate_all</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#aeac84719a1cc0f9c8d5a9a749391d4db">CALIBRATE_GYRO</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a9ada90f8ab6dd33fa2d7c168d9234af1">calibrate_gyro</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#ac00e8b59ae8d710cf79956eaafa97ddb">CALIBRATE_MAG</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#ac26350b55095a346d72598ab8aa74b4a">calibrate_magnetometer</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a955dcb60da150490e17367a871b3a3d2">CALIBRATE_PLANAR_ACCEL</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a1c6c49c97bc098db89db1aaa37e18f26">calibrate_planar_accelerometer</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a584bfa04a39feb93279ee673c340db54">CALIBRATE_STOP</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a71ca35f78b98d93d31eb0c187dc8543b">calibration_complete</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#ad212b5028a31e857e76d251ced2724e1">calibration_status</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a6a15e3a64dd71ea61f0448afcce96409">cb_list</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#afe39bfdede7b9a2b273983cb29a27d6e">clear_tare</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a4f580b3cb232a762ea7019ee7b04d419">COMMAND_CLEAR_DCD</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a93dd073c0cc1f3ccfde552649f6ebccc">COMMAND_COUNTER</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#af124a6c1d8b871f3181b6c85f1099cb2">COMMAND_DCD</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a7a246989c94cd87f68166b20b7ad4c8b">COMMAND_DCD_PERIOD_SAVE</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a384a1efc9857ad938be3bb44f871539b">COMMAND_ERRORS</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a30eb6d305a187d4d36546841e12176b9">COMMAND_INITIALIZE</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a8381dfe403ddff522f172cb16780731a">COMMAND_ME_CALIBRATE</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a308c8b5307d93a67b5b9066d44494aa5">COMMAND_OSCILLATOR</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a0a1756bc16ba3eac45f4229b1e350107">COMMAND_TARE</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a367d525d1c0ba119b3dca3067bb5bccc">data_available</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#ab4373e9b87837ea9fcbc0b536338c7b8">data_proc_task</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#af9b6fbf35e7cd55d517d30c6429a21a4">data_proc_task_hdl</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a0ae135d7bf7a5f047a1d1aa5cc07e520">data_proc_task_trampoline</a>(void *arg)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a6232920a05c0aba34e5560951a20ae87">default_imu_config</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#ad5c991150895b80bee68c933059a4058">disable_accelerometer</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a4fdc39294922a9553d84cd96bdae4376">disable_activity_classifier</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#ab187fe50fcfbb04bec9e80eb0fccf61c">disable_ARVR_stabilized_game_rotation_vector</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#aa59e3d8953c96dc1cc5958a1ac628df4">disable_ARVR_stabilized_rotation_vector</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a7665cce95e791c89161ec863f49c0392">disable_game_rotation_vector</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a5e63a9e68dbe2968b37dcb6dae04de6f">disable_gravity</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a8296089e2fdbd7d2e85f364cf063af82">disable_gyro</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#aac0a00bed7825d8a2c357a48c3626931">disable_gyro_integrated_rotation_vector</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#afbd2b02d5abe7084ce9de49ee2c9142f">disable_linear_accelerometer</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a6671b082d20dda8bf5c53cb47db0c338">disable_magnetometer</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a171d78f4b00598b04c8ca54da16c508b">disable_raw_accelerometer</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a75ef3d09f1ee016999c459e43e9e8c44">disable_raw_gyro</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#add29c84038558c28bcfca37865cf9244">disable_raw_magnetometer</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a00ec3857cb06ae885e32059ef1cab693">disable_report</a>(uint8_t report_ID, const EventBits_t report_evt_grp_bit)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a1ebd456d2a67a22b5ba0911a95915921">disable_rotation_vector</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#ab307ed3352e04c9e998ab4dd066f8932">disable_stability_classifier</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a427550a4ba25252912436b899124e157">disable_step_counter</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a16f83d1e85576a51abf2c65e5de58cd2">disable_tap_detector</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#aaf28212a5f1960c62a73282976142cfc">disable_uncalibrated_gyro</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a2795c6579cf03e22f62a5eadc88dee91">enable_accelerometer</a>(uint32_t time_between_reports)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#ad7b83cac874c092583f8513d3bb69bbf">enable_activity_classifier</a>(uint32_t time_between_reports, uint32_t activities_to_enable, uint8_t(&amp;activity_confidence_vals)[9])</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a5680148a41cb9cc96d1911150c46d2b8">enable_ARVR_stabilized_game_rotation_vector</a>(uint32_t time_between_reports)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a8a5f3b985989e846e831f70f7733d0bc">enable_ARVR_stabilized_rotation_vector</a>(uint32_t time_between_reports)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#abe04c38b5bd52d331bd8aefae1f51947">enable_game_rotation_vector</a>(uint32_t time_between_reports)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a030eae12c3586acf09b48e94630b2544">enable_gravity</a>(uint32_t time_between_reports)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#ad7b322681b9ec5f57edb09e336b988c0">enable_gyro</a>(uint32_t time_between_reports)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a7388c67de3906ad05b233fd7eff0514d">enable_gyro_integrated_rotation_vector</a>(uint32_t time_between_reports)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#ae1435b83ca83bc51b75f3303afe87f7b">enable_linear_accelerometer</a>(uint32_t time_between_reports)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a3c32120bcd0987c3ca1bb72910586b59">enable_magnetometer</a>(uint32_t time_between_reports)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a3042301cf0f51657c82b1127dce230f4">enable_raw_accelerometer</a>(uint32_t time_between_reports)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a8d8e75f0234287cb89cbec553cffe52c">enable_raw_gyro</a>(uint32_t time_between_reports)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a14ebec501b8d004a38648a9a1f7a2c9e">enable_raw_magnetometer</a>(uint32_t time_between_reports)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a41613e65ea9beef883184b7ef67affdd">enable_report</a>(uint8_t report_ID, uint32_t time_between_reports, const EventBits_t report_evt_grp_bit)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#ab4c1d5cde156af09b7e88913f3af62c7">enable_rotation_vector</a>(uint32_t time_between_reports)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#ab0a60844b36fb140cad588a65b3a9655">enable_stability_classifier</a>(uint32_t time_between_reports)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a5a0b0f5b8e962247a3b8aee8f1dc8e9f">enable_step_counter</a>(uint32_t time_between_reports)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#ab4c8e37c730ddb168f78c29bd7ae6566">enable_tap_detector</a>(uint32_t time_between_reports)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a7fe5de95b1f51da44247a87317fd0c75">enable_uncalibrated_gyro</a>(uint32_t time_between_reports)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#ac9d9b6636745e8180807284da67c92a2">end_calibration</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a63eb6c8be6f3bc943a86bb0496871275">evt_grp_report_en</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a17b19c32d4dfbc9ae2761a0cdd873314">EVT_GRP_RPT_ACCELEROMETER_BIT</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a96eb1b1bfe1266791fd424b3ce402c56">EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a89399e8a68a53bc2a269ab73625a2da2">EVT_GRP_RPT_ALL_BITS</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a79d3fff1e0f19467cad231b22edafa0f">EVT_GRP_RPT_ARVR_S_GAME_ROTATION_VECTOR_BIT</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#aa9703cee46912a545b5e85e671f08e4b">EVT_GRP_RPT_ARVR_S_ROTATION_VECTOR_BIT</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a0f3f33d93b72ba6564f9d5fa93c24f98">EVT_GRP_RPT_GAME_ROTATION_VECTOR_BIT</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#ab94a8f69673a3db7556ba67775c5ea93">EVT_GRP_RPT_GRAVITY_BIT</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a3a8b12ea9b75f97191785a60d1aa962a">EVT_GRP_RPT_GYRO_BIT</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a541155dc4544193451cf102e2a992da9">EVT_GRP_RPT_GYRO_ROTATION_VECTOR_BIT</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#af86821bc0f1e7f5897de20b5e47a85bd">EVT_GRP_RPT_GYRO_UNCALIBRATED_BIT</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#ad93161968a53ff53a6bb74ab7c34fbff">EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a901af6f2d552f197ee830d0a1c06679c">EVT_GRP_RPT_MAGNETOMETER_BIT</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a3e56d12435f7be81956d68196f1a46b4">EVT_GRP_RPT_RAW_ACCELEROMETER_BIT</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a6be7b240e4447c2c643e706954093aa0">EVT_GRP_RPT_RAW_GYRO_BIT</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#ac28553b40b82c7cb409938681afe6cec">EVT_GRP_RPT_RAW_MAGNETOMETER_BIT</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a198da2ee3cd9cfa459c3c41c4f8c44b7">EVT_GRP_RPT_ROTATION_VECTOR_BIT</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a7d6ee23222f55dbe9f70e04b36d9add2">EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#ab264b65a3aa5a9a74ed11b8977164a73">EVT_GRP_RPT_STEP_COUNTER_BIT</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a665464f781fe891b9179478d0174af47">EVT_GRP_RPT_TAP_DETECTOR_BIT</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#aa2b4442b5cc63ebf0c495e6fb537c85e">evt_grp_spi</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a32cffd8f78881925d22d5a7cb55f2bbc">EVT_GRP_SPI_RX_DONE_BIT</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a6415c95701f590c72083f5bdc5f4ae47">EVT_GRP_SPI_RX_INVALID_PACKET</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a603dccfbbead6bdaa3bd970ad28fcd38">EVT_GRP_SPI_RX_VALID_PACKET</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#aa333b17ab88348a9849f0ceb9757dc9c">EVT_GRP_SPI_TX_DONE</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a40607e557eada666a5e1e416f42cd4a1">FRS_read_data</a>(uint16_t record_ID, uint8_t start_location, uint8_t words_to_read)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#adf789e709ac1667656db757c8d559af9">FRS_read_request</a>(uint16_t record_ID, uint16_t read_offset, uint16_t block_size)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a27f5dce5c994be18a587fb622574ad41">FRS_read_word</a>(uint16_t record_ID, uint8_t word_number)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#ad7ef7d7068af5f92239c12022dbeb16d">FRS_RECORD_ID_ACCELEROMETER</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a35d8f641e73c308f92a5a0a772f90f48">FRS_RECORD_ID_GYROSCOPE_CALIBRATED</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a0992d77f9bae0b8e3c8d9331fe84fe24">FRS_RECORD_ID_MAGNETIC_FIELD_CALIBRATED</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a9f35840b19c8ad11fd1b4622c3269250">FRS_RECORD_ID_ROTATION_VECTOR</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a9329c6669282071622c3b3741b1b8142">get_accel</a>(float &amp;x, float &amp;y, float &amp;z, uint8_t &amp;accuracy)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a3fce726d5de821f97ed207036dae2900">get_accel_accuracy</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#abce574112a9079d2cbc58cfc352b8a69">get_accel_X</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#afdf24bb3d54518b23972f21f007817c1">get_accel_Y</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a0a72477cb7a330fedbcb3e2126b882b1">get_accel_Z</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a4f7060b2d3c15b359b70b6346730446a">get_activity_classifier</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a386c46ac8965220ab7b9423df838dd4d">get_gravity</a>(float &amp;x, float &amp;y, float &amp;z, uint8_t &amp;accuracy)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#accd39f48e9f8ab8267df7184b5b7cd76">get_gravity_accuracy</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a88679bccd9339b87ec35fc4fc4e745ae">get_gravity_X</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a8a36db7f1c932f33e05e494632059801">get_gravity_Y</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a5622b4d1754648ea7eb400c1adf9e807">get_gravity_Z</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a811999653110858311c97a779c388e5d">get_gyro_accuracy</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a4d3746a376a22acb7a2641bb750c4c89">get_gyro_calibrated_velocity</a>(float &amp;x, float &amp;y, float &amp;z, uint8_t &amp;accuracy)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#ab7977391191067282e7f734b9ee45059">get_gyro_calibrated_velocity_X</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#ad4fab6e636e239d4b9273f158983ed89">get_gyro_calibrated_velocity_Y</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a15a29c3bb476048b7229abcfb2b1d52a">get_gyro_calibrated_velocity_Z</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#afe6392012669e7ebd1a9e817e2bd313f">get_gyro_velocity</a>(float &amp;x, float &amp;y, float &amp;z)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#acd376cd3e454a87198ec86accbf2ee00">get_gyro_velocity_X</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#acd1819a81818f90dc105950b4a7d0b04">get_gyro_velocity_Y</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#ae2add976af256ec981248371a2f58207">get_gyro_velocity_Z</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#ad59b029d04341dbef72e059488951980">get_linear_accel</a>(float &amp;x, float &amp;y, float &amp;z, uint8_t &amp;accuracy)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a33fe3c2f47759cfae5f4b612ddd329ea">get_linear_accel_accuracy</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a763c3a9699a1081d430fd9b9b7bc49a3">get_linear_accel_X</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a1033bdd65b42b6706d1dfc67ece66191">get_linear_accel_Y</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#afdfa7d50362702da689c5d18bf17fd84">get_linear_accel_Z</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a35a224d519a2a243d0d526a34ecde5a8">get_magf</a>(float &amp;x, float &amp;y, float &amp;z, uint8_t &amp;accuracy)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a487391e6b2dd7f05084804d1fb94976f">get_magf_accuracy</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a111601243b913751eb51c1f37cba4e7d">get_magf_X</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a82ed8d7b9a5c25374839df75a3d220ea">get_magf_Y</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#ab4c48a91d2f8b29430abc17b7f015282">get_magf_Z</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a1b91f234d81c45f1f5ca2f27c9f0f6a3">get_pitch</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#af50010400cbd1445e9ddfa259384b412">get_pitch_deg</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a4421c43323945946ad605f8422958dcf">get_Q1</a>(uint16_t record_ID)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a954dccdcbe8a8c4f1787f13ebb8d932b">get_Q2</a>(uint16_t record_ID)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a1590ba793668f9cb1a32a1f4dd07cb9a">get_Q3</a>(uint16_t record_ID)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a51a6d594824de2292e70f788454f8a2d">get_quat</a>(float &amp;i, float &amp;j, float &amp;k, float &amp;real, float &amp;rad_accuracy, uint8_t &amp;accuracy)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a24ba760d064a1dc45f972c79b9c8d98d">get_quat_accuracy</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a12c12a8e078b28480fb8828d306656f5">get_quat_I</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a9f6bb642fa0297a7b9bcc94dd7374015">get_quat_J</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a9f42c70c2337a0d831064a40ecfe2dd8">get_quat_K</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a61b7d10a98afc6903fea6b2cede27630">get_quat_radian_accuracy</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a5a556c5ec1baaa7f1156779dbe47a7b7">get_quat_real</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a0fff04c42c9502615ad73cd1457cb9b0">get_range</a>(uint16_t record_ID)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a1de356dd604c1dffcd1a32faeb4fafe2">get_raw_accel_X</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a96563de0eb597a52d595d19da827b1ac">get_raw_accel_Y</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a718cdd910e5e7e03fd0a1ad04ee6f0ce">get_raw_accel_Z</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#af1b2c3a383a84fc6dfaddae1052b44d4">get_raw_gyro_X</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#aff7714441d242b3b9b0c03f94e0a9374">get_raw_gyro_Y</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a2e28b5a79c442a6baa2fa5165b9ce37d">get_raw_gyro_Z</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#adf12600b39de41d258439a343fcc1ad8">get_raw_magf_X</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a2c842e43ceae19149f6525bcbc48f1cf">get_raw_magf_Y</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a99c1bcc2ec3ca3d8feafd6dd61f9d269">get_raw_magf_Z</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a11bb1b3fa44ad8f28c1492b5c07af886">get_reset_reason</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a1d6ea02d0d4b23ff6a15e9d5c6c92372">get_resolution</a>(uint16_t record_ID)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a89618eba08186ee8e679e7313907ddef">get_roll</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a7077b9a130f1dcf0192454e387968dd6">get_roll_deg</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a0d148e00abcfeec48c689e3084a7e786">get_stability_classifier</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#adaff49f3d80fdd19fd4210f0c56d41ef">get_step_count</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a4797ec731de4c158716da1a7af9d1602">get_tap_detector</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#ad9137777271421a58159f3fe5e05ed20">get_time_stamp</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a1bd3c33e70354bd35a78b83b6786b531">get_uncalibrated_gyro</a>(float &amp;x, float &amp;y, float &amp;z, float &amp;bx, float &amp;by, float &amp;bz, uint8_t &amp;accuracy)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a3285613f18b2f2f4c3f9e6d5c971af10">get_uncalibrated_gyro_accuracy</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#ad228cdf352b7ea95e484da993045a47b">get_uncalibrated_gyro_bias_X</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a74725517129dd548c7a3de705d5861bd">get_uncalibrated_gyro_bias_Y</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a5050359272abd146ab3c7a6101effbd7">get_uncalibrated_gyro_bias_Z</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a289ff66f51c94be62c4a556f3a5997bf">get_uncalibrated_gyro_X</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a1874e4bd457bb5b6ecc2c64039b88ba4">get_uncalibrated_gyro_Y</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a0a73633d8929ce4058b14cefc8cad717">get_uncalibrated_gyro_Z</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a64d3e41750c6de9413d6982511f78f17">get_yaw</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#af80f7795656e695e036d3b1557aed94c">get_yaw_deg</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#ae01698d287ea999179a11e2244902022">gravity_accuracy</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#ae10722334dfce9635e76519598e165a2">GRAVITY_Q1</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#af45016be9ea523d80be8467b2907b499">gravity_X</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#af20dcd487a9fe8fa6243817d51e37be5">gravity_Y</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#afa1cf5c3afbb258d97c55c5fb187f2d6">gravity_Z</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a98ea35dd0fbd0c409d25fd8a6ed9f277">gyro_accuracy</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#aa3bec8effefa61cec6fa170e9d02c4dd">GYRO_Q1</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a28cd1c0b3477571d87133234e6358503">hard_reset</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a804b95c58c30d36933fd251626b85bf7">hint_handler</a>(void *arg)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#ae7f34752f888c637d5619f898e62a6d4">HOST_INT_TIMEOUT_MS</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#aeda443e9f608fccfec0e6770edc90c82">imu_config</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a425a1f5a9f3232aadc685caaf4c2f82e">imu_spi_config</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#aea8e2c6dd7a2c9899479a7f39fe94798">initialize</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a4882dbc698d7b730f57e2401037766a9">isr_service_installed</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#ad0d37fe07ced24f2c9afc21145a74e7b">LINEAR_ACCELEROMETER_Q1</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#ac5d4e151690774687efa951ca41c16ae">magf_accuracy</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a9fac9b811b7c2117675a784cb4df204c">MAGNETOMETER_Q1</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a2a5b978233eab4c103ab01cfc33a1750">MAX_METADATA_LENGTH</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a937cbdc4edaac72c8cad041d79de5701">mems_raw_accel_X</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#ad83cecb8a5d2be01db6792755b6057e9">mems_raw_accel_Y</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a59a4d75f1302ab693b1b26e9ccaa5341">mems_raw_accel_Z</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a3d6b6257462951ea023af7076c80f6dd">mems_raw_gyro_X</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#ab6b142416912a096886dd63ad0beb865">mems_raw_gyro_Y</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#ac35d5b12721ab876eaeb1f714a9b3b1d">mems_raw_gyro_Z</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#ab587cdf991342b69b7fff3b33f537eb5">mems_raw_magf_X</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#aad926054c81818fff611e10ed913706a">mems_raw_magf_Y</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a90f0cdf11decc276006f76a494d42ce3">mems_raw_magf_Z</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a7bd032712a975e73e66bd72a3502baba">meta_data</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#ac1b3de9b552c611ee9c455d7f19be698">mode_on</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a176ae0112325c05105eacb4566bbfa0b">mode_sleep</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a4f66045a0528a0c17c52421ea51612e7">parse_command_report</a>(bno08x_rx_packet_t *packet)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a51b360d795563b55559f11efb40be36a">parse_frs_read_response_report</a>(bno08x_rx_packet_t *packet)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a8d9db3e1b6208c2661e1c543deefa53d">parse_input_report</a>(bno08x_rx_packet_t *packet)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a67a697595d6a4d4638a53c6b4a5ef0cd">parse_packet</a>(bno08x_rx_packet_t *packet)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a29cfd7fc2816483ebebe9d55b677a036">parse_product_id_report</a>(bno08x_rx_packet_t *packet)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a35856c108a47de8b3b38c4395aabb4eb">print_header</a>(bno08x_rx_packet_t *packet)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a05e4cd5861b55fc0182d7dd13bb85e49">print_packet</a>(bno08x_rx_packet_t *packet)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a27fb24e894f794ec6228ef142b6ff8d9">q_to_float</a>(int16_t fixed_point_value, uint8_t q_point)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a36223f7124751fa71e860b2ef55dd2ac">quat_accuracy</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#ad097849616c5caab1fd3eb3632ee2b91">queue_calibrate_command</a>(uint8_t _to_calibrate)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a5cc58139e4d5f0587b90e249ceb476f9">queue_command</a>(uint8_t command, uint8_t *commands)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#af2951f6ea448af7cf7932fbfed9fec3c">queue_feature_command</a>(uint8_t report_ID, uint32_t time_between_reports)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a2d6de4823893128e6a4b562f34326ae8">queue_feature_command</a>(uint8_t report_ID, uint32_t time_between_reports, uint32_t specific_config)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a9a1c851e8fa5633e11f6abee293d7e9b">queue_frs_read_data</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a62c570ba96512f4d0d10b2594048de1f">queue_packet</a>(uint8_t channel_number, uint8_t data_length, uint8_t *commands)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#ab5f200069a2f8cb74cb79c6f162da5a1">queue_request_product_id_command</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a84b3639cc159262e0137adb0db5cf9aa">queue_reset_reason</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a7d4661d3aae56013caa8f2bff0f67c08">queue_rx_data</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a4c6353e795f734ed28613f9a3d161ea2">queue_tare_command</a>(uint8_t command, uint8_t axis=TARE_AXIS_ALL, uint8_t rotation_vector_basis=TARE_ROTATION_VECTOR)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a4d5c5eee87a578de9c8318cd294b3a22">queue_tx_data</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a75fb2f06c5bbe26e3f3c794934ef954c">raw_accel_X</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#ab56e2ba505fa293d03e955137625c562">raw_accel_Y</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#af254d245b368027df6952b7d7522bd35">raw_accel_Z</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a8a2667f668317cee0a9fc4ef0accc3f5">raw_bias_X</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#ac38ff5eb93d3c3db0af2504ba02fd93c">raw_bias_Y</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a0968eaed9b3d979a2caa1aba6e6b417a">raw_bias_Z</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a19696327a056a448ed5ba706e747bbe5">raw_gyro_X</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a61df9f571555f5f682eb51f24a279489">raw_gyro_Y</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a03f567cda2a3cc966301e96732fca9ad">raw_gyro_Z</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#ae1f71a432cb15e75f522fa18f29f4d50">raw_lin_accel_X</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#aff3a5590471d1c9fc485a5610433915f">raw_lin_accel_Y</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#abc8add47f1babc66c812a015614143d3">raw_lin_accel_Z</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#aa5bdf740161b7c37adcac0154a410118">raw_magf_X</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#acd365418f24a6da61122c66d82086639">raw_magf_Y</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#ab4862de31d0874b44b6745678e1c905e">raw_magf_Z</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a69dc7e97875060213085ba964b3bd987">raw_quat_I</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a61ae05dc5572b326541bf8099f0c2a54">raw_quat_J</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a7720c44ed1c0f1a0663d2adc5e1a1ea1">raw_quat_K</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a033d6cb1aa137743b69cc3e401df67b7">raw_quat_radian_accuracy</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a867354267253ae828be4fae15c062db3">raw_quat_real</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#afdc5cdb65bd0b36528b5b671b9d27053">raw_uncalib_gyro_X</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#acc2c66e2985975266a286385ea855117">raw_uncalib_gyro_Y</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#afac9dd4161f4c0051255293680c9082b">raw_uncalib_gyro_Z</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#aa5bb03dbeabed729c012ec7164a3354f">raw_velocity_gyro_X</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a4f188bf76ba862f07606d1351d28548f">raw_velocity_gyro_Y</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#ab49f9a6586d709bbd26280ef44a4bbf7">raw_velocity_gyro_Z</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#ae540799865934fcff54caed0772df071">receive_packet</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a06bb0c70305421b5357e64f31579fdc7">register_cb</a>(std::function&lt; void()&gt; cb_fxn)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#affaaa35abbb872da5299ebab6e2c9b11">request_calibration_status</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a923d65d8568cc31873ad56a3908e1939">ROTATION_VECTOR_ACCURACY_Q1</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a0b19c8f2de2b2bfe033da7f93cdd2608">ROTATION_VECTOR_Q1</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#ae6e875a27ae74ebed806ee1a4576845a">run_full_calibration_routine</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a1a037bda37493cde56732cc6fdc7884b">RX_DATA_LENGTH</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#aa16609de88bfb7b389348859aa0cee54">save_calibration</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#afb2ffc4e7ff0498917bc14a83af306e2">save_tare</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a2c359a44a2c8e83ecb258a340e2d0e1a">send_packet</a>(bno08x_tx_packet_t *packet)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a354eaff2218eb382a1851537a75badcc">SENSOR_REPORT_ID_ACCELEROMETER</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#aeb51ebb6c82158cd7e23bd682c08c4e0">SENSOR_REPORT_ID_ARVR_STABILIZED_GAME_ROTATION_VECTOR</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a8d4b91149cfc1a3cd615f60a4ad2275e">SENSOR_REPORT_ID_ARVR_STABILIZED_ROTATION_VECTOR</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#ada7dbda9f7a0bfb0894a787ce0ff9cef">SENSOR_REPORT_ID_GAME_ROTATION_VECTOR</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#abb6d0586a5a87b7b34f4c65ae52965a4">SENSOR_REPORT_ID_GEOMAGNETIC_ROTATION_VECTOR</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a6730acb92053d44decb690a7b7234032">SENSOR_REPORT_ID_GRAVITY</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#acd0fc6ffa70dd2761cba0ac0b88c234f">SENSOR_REPORT_ID_GYRO_INTEGRATED_ROTATION_VECTOR</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a224fb8f833806dd530c5f16e7ab5bc7a">SENSOR_REPORT_ID_GYROSCOPE</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#ace7720a02c9f4ef38e319849f6c36a0b">SENSOR_REPORT_ID_LINEAR_ACCELERATION</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a06058a84d6604054aa66ee008ac64aa9">SENSOR_REPORT_ID_MAGNETIC_FIELD</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a7274f6d3bda04da0bb304386b4e8d603">SENSOR_REPORT_ID_PERSONAL_ACTIVITY_CLASSIFIER</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a80ea70c4787dea6c3eabb48f583f1916">SENSOR_REPORT_ID_RAW_ACCELEROMETER</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a03b3000424e6d966b80655443ec546bc">SENSOR_REPORT_ID_RAW_GYROSCOPE</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a9e9a7578b7584e7eb2ad562b29565fa7">SENSOR_REPORT_ID_RAW_MAGNETOMETER</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a37c91f995c385556486df5fbbce8a3d5">SENSOR_REPORT_ID_ROTATION_VECTOR</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#ab5c29f31714b4755c0edbce7156652f7">SENSOR_REPORT_ID_STABILITY_CLASSIFIER</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a2a10161bb564067a07f3fcf4021e00bb">SENSOR_REPORT_ID_STEP_COUNTER</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a8114460c50e84b0ac750293ab72868c8">SENSOR_REPORT_ID_TAP_DETECTOR</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#acb8e83fbb0645d4e98a96120ce9f431c">SENSOR_REPORT_ID_UNCALIBRATED_GYRO</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#ae37d6f8431c8c465bfb0c662772b5cb9">SHTP_REPORT_BASE_TIMESTAMP</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#ab04695dd189412092254e52bd6e5a75a">SHTP_REPORT_COMMAND_REQUEST</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a1e5b64caa514b7e4fe64ab214758b875">SHTP_REPORT_COMMAND_RESPONSE</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a74af7eacc35cc825940b647c2de0d368">SHTP_REPORT_FRS_READ_REQUEST</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#aeb760b095dcf808a413ef696f2608e43">SHTP_REPORT_FRS_READ_RESPONSE</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a542405639c28bd56bc4361b922763c95">SHTP_REPORT_PRODUCT_ID_REQUEST</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a0177134162e116501bc9483c6e4b76c3">SHTP_REPORT_PRODUCT_ID_RESPONSE</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a1d3bff4e20c2c3d47db322c9e34ef338">SHTP_REPORT_SET_FEATURE_COMMAND</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a973a1b1785f3302ee1b2702c6a27646e">soft_reset</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#acc0ea091465fc9a5736f5e0c6a0ce8ef">spi_hdl</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a2ecd4ed60f82730ae230c61687ec92bf">spi_task</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a615090aae15f1b0410a7e5ecb94957b5">spi_task_hdl</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a0ce6d9db873555f1ebe7e095251eab74">spi_task_trampoline</a>(void *arg)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#ac16adc5f00b0039c98a4921f13895026">spi_transaction</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a1b12471e92536a79d0c425d77676f2e1">stability_classifier</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#ad80a77973371b12d722ea39063c648be">step_count</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a2c98d5f2c406a3efd0b48c5666fa8c46">TAG</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a1171a5738a4e6831ec7fa32a29f15554">tap_detector</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a68aaaab144adbe5af00597408f044d9d">TARE_ARVR_STABILIZED_GAME_ROTATION_VECTOR</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#abff9abe904bcdde951cf88c378284b45">TARE_ARVR_STABILIZED_ROTATION_VECTOR</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a1ef13f6f330810934416ad5fe0ee55b2">TARE_AXIS_ALL</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#aecb3e11c1ca5769fd60f42c17a105731">TARE_AXIS_Z</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#abaf1ec8bb197db1998a9ed3cec6180d5">TARE_GAME_ROTATION_VECTOR</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a225397a04d849e5647992ca80d68febb">TARE_GEOMAGNETIC_ROTATION_VECTOR</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a9ec354d75249f06f13599abf7bedfde0">TARE_GYRO_INTEGRATED_ROTATION_VECTOR</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a27df630f3e52b35552d2c1f2cf3496b0">TARE_NOW</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a4549bbef48208bd9c745fc755b93012f">tare_now</a>(uint8_t axis_sel=TARE_AXIS_ALL, uint8_t rotation_vector_basis=TARE_ROTATION_VECTOR)</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a115aef7b38ec0dec2085f6917d832912">TARE_PERSIST</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a8e2cfc25d0e34ae53a762b88cc3ac3c8">TARE_ROTATION_VECTOR</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a59cde7dd301c94a20b84735c5d49008e">TARE_SET_REORIENTATION</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#abc972db20affbd0040b4e6c4892dd57b">time_stamp</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a081c666a3f24016d0ec5c5edc49f2903">uncalib_gyro_accuracy</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a4f12de628073f44b2a3fab2688cf1caf">wait_for_data</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a2897a178bf2c53cd99df0d4570edf72e">wait_for_rx_done</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a7cdeb849e728487de961cdfd4030c773">wait_for_tx_done</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+</table></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
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+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0 </li>
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+</html>
diff --git a/documentation/html/class_b_n_o08x.html b/documentation/html/class_b_n_o08x.html
new file mode 100644
index 0000000..1f599c9
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+++ b/documentation/html/class_b_n_o08x.html
@@ -0,0 +1,11854 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<meta name="generator" content="Doxygen 1.10.0"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>esp32_BNO08x: BNO08x Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.1</span>
+   </div>
+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.10.0 -->
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+
+<div class="header">
+  <div class="summary">
+<a href="#nested-classes">Classes</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-attribs">Static Public Attributes</a> &#124;
+<a href="#pri-types">Private Types</a> &#124;
+<a href="#pri-methods">Private Member Functions</a> &#124;
+<a href="#pri-static-methods">Static Private Member Functions</a> &#124;
+<a href="#pri-attribs">Private Attributes</a> &#124;
+<a href="#pri-static-attribs">Static Private Attributes</a> &#124;
+<a href="class_b_n_o08x-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">BNO08x Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="_b_n_o08x_8hpp_source.html">BNO08x.hpp</a>&gt;</code></p>
+<div class="dynheader">
+Collaboration diagram for BNO08x:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x__coll__graph.png" border="0" usemap="#a_b_n_o08x_coll__map" alt="Collaboration graph"/></div>
+<map name="a_b_n_o08x_coll__map" id="a_b_n_o08x_coll__map">
+<area shape="rect" title=" " alt="" coords="28,112,98,139"/>
+<area shape="rect" href="structbno08x__config__t.html" title="IMU configuration settings passed into constructor." alt="" coords="5,5,121,32"/>
+<area shape="poly" title=" " alt="" coords="66,47,66,112,60,112,60,47"/>
+</map>
+<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="nested-classes" name="nested-classes"></a>
+Classes</h2></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct_b_n_o08x_1_1bno08x__rx__packet__t.html">bno08x_rx_packet_t</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Holds data that is received over spi.  <a href="struct_b_n_o08x_1_1bno08x__rx__packet__t.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct_b_n_o08x_1_1bno08x__tx__packet__t.html">bno08x_tx_packet_t</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Holds data that is sent over spi.  <a href="struct_b_n_o08x_1_1bno08x__tx__packet__t.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a40f7688e843d74b8bd526c6f5ff17845" id="r_a40f7688e843d74b8bd526c6f5ff17845"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a40f7688e843d74b8bd526c6f5ff17845">BNO08x</a> (<a class="el" href="structbno08x__config__t.html">bno08x_config_t</a> <a class="el" href="#aeda443e9f608fccfec0e6770edc90c82">imu_config</a>=<a class="el" href="#a6232920a05c0aba34e5560951a20ae87">default_imu_config</a>)</td></tr>
+<tr class="memdesc:a40f7688e843d74b8bd526c6f5ff17845"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="class_b_n_o08x.html">BNO08x</a> imu constructor.  <br /></td></tr>
+<tr class="separator:a40f7688e843d74b8bd526c6f5ff17845"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aea8e2c6dd7a2c9899479a7f39fe94798" id="r_aea8e2c6dd7a2c9899479a7f39fe94798"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#aea8e2c6dd7a2c9899479a7f39fe94798">initialize</a> ()</td></tr>
+<tr class="memdesc:aea8e2c6dd7a2c9899479a7f39fe94798"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initializes <a class="el" href="class_b_n_o08x.html">BNO08x</a> sensor.  <br /></td></tr>
+<tr class="separator:aea8e2c6dd7a2c9899479a7f39fe94798"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a28cd1c0b3477571d87133234e6358503" id="r_a28cd1c0b3477571d87133234e6358503"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a28cd1c0b3477571d87133234e6358503">hard_reset</a> ()</td></tr>
+<tr class="memdesc:a28cd1c0b3477571d87133234e6358503"><td class="mdescLeft">&#160;</td><td class="mdescRight">Hard resets <a class="el" href="class_b_n_o08x.html">BNO08x</a> sensor.  <br /></td></tr>
+<tr class="separator:a28cd1c0b3477571d87133234e6358503"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a973a1b1785f3302ee1b2702c6a27646e" id="r_a973a1b1785f3302ee1b2702c6a27646e"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a973a1b1785f3302ee1b2702c6a27646e">soft_reset</a> ()</td></tr>
+<tr class="memdesc:a973a1b1785f3302ee1b2702c6a27646e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Soft resets <a class="el" href="class_b_n_o08x.html">BNO08x</a> sensor using executable channel.  <br /></td></tr>
+<tr class="separator:a973a1b1785f3302ee1b2702c6a27646e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a11bb1b3fa44ad8f28c1492b5c07af886" id="r_a11bb1b3fa44ad8f28c1492b5c07af886"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a11bb1b3fa44ad8f28c1492b5c07af886">get_reset_reason</a> ()</td></tr>
+<tr class="memdesc:a11bb1b3fa44ad8f28c1492b5c07af886"><td class="mdescLeft">&#160;</td><td class="mdescRight">Requests product ID, prints the returned info over serial, and returns the reason for the most resent reset.  <br /></td></tr>
+<tr class="separator:a11bb1b3fa44ad8f28c1492b5c07af886"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a176ae0112325c05105eacb4566bbfa0b" id="r_a176ae0112325c05105eacb4566bbfa0b"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a176ae0112325c05105eacb4566bbfa0b">mode_sleep</a> ()</td></tr>
+<tr class="memdesc:a176ae0112325c05105eacb4566bbfa0b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Puts <a class="el" href="class_b_n_o08x.html">BNO08x</a> sensor into sleep/low power mode using executable channel.  <br /></td></tr>
+<tr class="separator:a176ae0112325c05105eacb4566bbfa0b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac1b3de9b552c611ee9c455d7f19be698" id="r_ac1b3de9b552c611ee9c455d7f19be698"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ac1b3de9b552c611ee9c455d7f19be698">mode_on</a> ()</td></tr>
+<tr class="memdesc:ac1b3de9b552c611ee9c455d7f19be698"><td class="mdescLeft">&#160;</td><td class="mdescRight">Turns on/ brings <a class="el" href="class_b_n_o08x.html">BNO08x</a> sensor out of sleep mode using executable channel.  <br /></td></tr>
+<tr class="separator:ac1b3de9b552c611ee9c455d7f19be698"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a27fb24e894f794ec6228ef142b6ff8d9" id="r_a27fb24e894f794ec6228ef142b6ff8d9"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a27fb24e894f794ec6228ef142b6ff8d9">q_to_float</a> (int16_t fixed_point_value, uint8_t q_point)</td></tr>
+<tr class="memdesc:a27fb24e894f794ec6228ef142b6ff8d9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Converts a register value to a float using its associated Q point. (See <a href="https://en.wikipedia.org/wiki/Q_(number_format)">https://en.wikipedia.org/wiki/Q_(number_format)</a>)  <br /></td></tr>
+<tr class="separator:a27fb24e894f794ec6228ef142b6ff8d9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae6e875a27ae74ebed806ee1a4576845a" id="r_ae6e875a27ae74ebed806ee1a4576845a"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ae6e875a27ae74ebed806ee1a4576845a">run_full_calibration_routine</a> ()</td></tr>
+<tr class="memdesc:ae6e875a27ae74ebed806ee1a4576845a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Runs full calibration routine.  <br /></td></tr>
+<tr class="separator:ae6e875a27ae74ebed806ee1a4576845a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afd0ca5f9b9741935543d143a5a43d128" id="r_afd0ca5f9b9741935543d143a5a43d128"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#afd0ca5f9b9741935543d143a5a43d128">calibrate_all</a> ()</td></tr>
+<tr class="memdesc:afd0ca5f9b9741935543d143a5a43d128"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sends command to calibrate accelerometer, gyro, and magnetometer.  <br /></td></tr>
+<tr class="separator:afd0ca5f9b9741935543d143a5a43d128"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aeffce374f558a167d5b5f19ad627e7cc" id="r_aeffce374f558a167d5b5f19ad627e7cc"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#aeffce374f558a167d5b5f19ad627e7cc">calibrate_accelerometer</a> ()</td></tr>
+<tr class="memdesc:aeffce374f558a167d5b5f19ad627e7cc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sends command to calibrate accelerometer.  <br /></td></tr>
+<tr class="separator:aeffce374f558a167d5b5f19ad627e7cc"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9ada90f8ab6dd33fa2d7c168d9234af1" id="r_a9ada90f8ab6dd33fa2d7c168d9234af1"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a9ada90f8ab6dd33fa2d7c168d9234af1">calibrate_gyro</a> ()</td></tr>
+<tr class="memdesc:a9ada90f8ab6dd33fa2d7c168d9234af1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sends command to calibrate gyro.  <br /></td></tr>
+<tr class="separator:a9ada90f8ab6dd33fa2d7c168d9234af1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac26350b55095a346d72598ab8aa74b4a" id="r_ac26350b55095a346d72598ab8aa74b4a"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ac26350b55095a346d72598ab8aa74b4a">calibrate_magnetometer</a> ()</td></tr>
+<tr class="memdesc:ac26350b55095a346d72598ab8aa74b4a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sends command to calibrate magnetometer.  <br /></td></tr>
+<tr class="separator:ac26350b55095a346d72598ab8aa74b4a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1c6c49c97bc098db89db1aaa37e18f26" id="r_a1c6c49c97bc098db89db1aaa37e18f26"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a1c6c49c97bc098db89db1aaa37e18f26">calibrate_planar_accelerometer</a> ()</td></tr>
+<tr class="memdesc:a1c6c49c97bc098db89db1aaa37e18f26"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sends command to calibrate planar accelerometer.  <br /></td></tr>
+<tr class="separator:a1c6c49c97bc098db89db1aaa37e18f26"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:affaaa35abbb872da5299ebab6e2c9b11" id="r_affaaa35abbb872da5299ebab6e2c9b11"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#affaaa35abbb872da5299ebab6e2c9b11">request_calibration_status</a> ()</td></tr>
+<tr class="memdesc:affaaa35abbb872da5299ebab6e2c9b11"><td class="mdescLeft">&#160;</td><td class="mdescRight">Requests ME calibration status from <a class="el" href="class_b_n_o08x.html">BNO08x</a> (see Ref. Manual 6.4.7.2)  <br /></td></tr>
+<tr class="separator:affaaa35abbb872da5299ebab6e2c9b11"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a71ca35f78b98d93d31eb0c187dc8543b" id="r_a71ca35f78b98d93d31eb0c187dc8543b"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a71ca35f78b98d93d31eb0c187dc8543b">calibration_complete</a> ()</td></tr>
+<tr class="memdesc:a71ca35f78b98d93d31eb0c187dc8543b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns true if calibration has completed.  <br /></td></tr>
+<tr class="separator:a71ca35f78b98d93d31eb0c187dc8543b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac9d9b6636745e8180807284da67c92a2" id="r_ac9d9b6636745e8180807284da67c92a2"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ac9d9b6636745e8180807284da67c92a2">end_calibration</a> ()</td></tr>
+<tr class="memdesc:ac9d9b6636745e8180807284da67c92a2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sends command to end calibration procedure.  <br /></td></tr>
+<tr class="separator:ac9d9b6636745e8180807284da67c92a2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa16609de88bfb7b389348859aa0cee54" id="r_aa16609de88bfb7b389348859aa0cee54"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#aa16609de88bfb7b389348859aa0cee54">save_calibration</a> ()</td></tr>
+<tr class="memdesc:aa16609de88bfb7b389348859aa0cee54"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sends command to save internal calibration data (See Ref. Manual 6.4.7).  <br /></td></tr>
+<tr class="separator:aa16609de88bfb7b389348859aa0cee54"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab4c1d5cde156af09b7e88913f3af62c7" id="r_ab4c1d5cde156af09b7e88913f3af62c7"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ab4c1d5cde156af09b7e88913f3af62c7">enable_rotation_vector</a> (uint32_t time_between_reports)</td></tr>
+<tr class="memdesc:ab4c1d5cde156af09b7e88913f3af62c7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sends command to enable rotation vector reports (See Ref. Manual 6.5.18)  <br /></td></tr>
+<tr class="separator:ab4c1d5cde156af09b7e88913f3af62c7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abe04c38b5bd52d331bd8aefae1f51947" id="r_abe04c38b5bd52d331bd8aefae1f51947"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#abe04c38b5bd52d331bd8aefae1f51947">enable_game_rotation_vector</a> (uint32_t time_between_reports)</td></tr>
+<tr class="memdesc:abe04c38b5bd52d331bd8aefae1f51947"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sends command to enable game rotation vector reports (See Ref. Manual 6.5.19)  <br /></td></tr>
+<tr class="separator:abe04c38b5bd52d331bd8aefae1f51947"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8a5f3b985989e846e831f70f7733d0bc" id="r_a8a5f3b985989e846e831f70f7733d0bc"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a8a5f3b985989e846e831f70f7733d0bc">enable_ARVR_stabilized_rotation_vector</a> (uint32_t time_between_reports)</td></tr>
+<tr class="memdesc:a8a5f3b985989e846e831f70f7733d0bc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sends command to enable ARVR stabilized rotation vector reports (See Ref. Manual 6.5.42)  <br /></td></tr>
+<tr class="separator:a8a5f3b985989e846e831f70f7733d0bc"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5680148a41cb9cc96d1911150c46d2b8" id="r_a5680148a41cb9cc96d1911150c46d2b8"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a5680148a41cb9cc96d1911150c46d2b8">enable_ARVR_stabilized_game_rotation_vector</a> (uint32_t time_between_reports)</td></tr>
+<tr class="memdesc:a5680148a41cb9cc96d1911150c46d2b8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sends command to enable ARVR stabilized game rotation vector reports (See Ref. Manual 6.5.43)  <br /></td></tr>
+<tr class="separator:a5680148a41cb9cc96d1911150c46d2b8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7388c67de3906ad05b233fd7eff0514d" id="r_a7388c67de3906ad05b233fd7eff0514d"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a7388c67de3906ad05b233fd7eff0514d">enable_gyro_integrated_rotation_vector</a> (uint32_t time_between_reports)</td></tr>
+<tr class="memdesc:a7388c67de3906ad05b233fd7eff0514d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sends command to enable gyro integrated rotation vector reports (See Ref. Manual 6.5.44)  <br /></td></tr>
+<tr class="separator:a7388c67de3906ad05b233fd7eff0514d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2795c6579cf03e22f62a5eadc88dee91" id="r_a2795c6579cf03e22f62a5eadc88dee91"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a2795c6579cf03e22f62a5eadc88dee91">enable_accelerometer</a> (uint32_t time_between_reports)</td></tr>
+<tr class="memdesc:a2795c6579cf03e22f62a5eadc88dee91"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sends command to enable accelerometer reports (See Ref. Manual 6.5.9)  <br /></td></tr>
+<tr class="separator:a2795c6579cf03e22f62a5eadc88dee91"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae1435b83ca83bc51b75f3303afe87f7b" id="r_ae1435b83ca83bc51b75f3303afe87f7b"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ae1435b83ca83bc51b75f3303afe87f7b">enable_linear_accelerometer</a> (uint32_t time_between_reports)</td></tr>
+<tr class="memdesc:ae1435b83ca83bc51b75f3303afe87f7b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sends command to enable linear accelerometer reports (See Ref. Manual 6.5.10)  <br /></td></tr>
+<tr class="separator:ae1435b83ca83bc51b75f3303afe87f7b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a030eae12c3586acf09b48e94630b2544" id="r_a030eae12c3586acf09b48e94630b2544"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a030eae12c3586acf09b48e94630b2544">enable_gravity</a> (uint32_t time_between_reports)</td></tr>
+<tr class="memdesc:a030eae12c3586acf09b48e94630b2544"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sends command to enable gravity reading reports (See Ref. Manual 6.5.11)  <br /></td></tr>
+<tr class="separator:a030eae12c3586acf09b48e94630b2544"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad7b322681b9ec5f57edb09e336b988c0" id="r_ad7b322681b9ec5f57edb09e336b988c0"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ad7b322681b9ec5f57edb09e336b988c0">enable_gyro</a> (uint32_t time_between_reports)</td></tr>
+<tr class="memdesc:ad7b322681b9ec5f57edb09e336b988c0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sends command to enable gyro reports (See Ref. Manual 6.5.13)  <br /></td></tr>
+<tr class="separator:ad7b322681b9ec5f57edb09e336b988c0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7fe5de95b1f51da44247a87317fd0c75" id="r_a7fe5de95b1f51da44247a87317fd0c75"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a7fe5de95b1f51da44247a87317fd0c75">enable_uncalibrated_gyro</a> (uint32_t time_between_reports)</td></tr>
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+<tr class="separator:a7fe5de95b1f51da44247a87317fd0c75"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3c32120bcd0987c3ca1bb72910586b59" id="r_a3c32120bcd0987c3ca1bb72910586b59"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a3c32120bcd0987c3ca1bb72910586b59">enable_magnetometer</a> (uint32_t time_between_reports)</td></tr>
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+<tr class="separator:a3c32120bcd0987c3ca1bb72910586b59"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab4c8e37c730ddb168f78c29bd7ae6566" id="r_ab4c8e37c730ddb168f78c29bd7ae6566"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ab4c8e37c730ddb168f78c29bd7ae6566">enable_tap_detector</a> (uint32_t time_between_reports)</td></tr>
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+<tr class="separator:ab4c8e37c730ddb168f78c29bd7ae6566"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5a0b0f5b8e962247a3b8aee8f1dc8e9f" id="r_a5a0b0f5b8e962247a3b8aee8f1dc8e9f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a5a0b0f5b8e962247a3b8aee8f1dc8e9f">enable_step_counter</a> (uint32_t time_between_reports)</td></tr>
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+<tr class="separator:a5a0b0f5b8e962247a3b8aee8f1dc8e9f"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ab0a60844b36fb140cad588a65b3a9655"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad7b83cac874c092583f8513d3bb69bbf" id="r_ad7b83cac874c092583f8513d3bb69bbf"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ad7b83cac874c092583f8513d3bb69bbf">enable_activity_classifier</a> (uint32_t time_between_reports, uint32_t activities_to_enable, uint8_t(&amp;activity_confidence_vals)[9])</td></tr>
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+<tr class="separator:ad7b83cac874c092583f8513d3bb69bbf"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3042301cf0f51657c82b1127dce230f4" id="r_a3042301cf0f51657c82b1127dce230f4"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a3042301cf0f51657c82b1127dce230f4">enable_raw_accelerometer</a> (uint32_t time_between_reports)</td></tr>
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+<tr class="separator:a3042301cf0f51657c82b1127dce230f4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8d8e75f0234287cb89cbec553cffe52c" id="r_a8d8e75f0234287cb89cbec553cffe52c"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a8d8e75f0234287cb89cbec553cffe52c">enable_raw_gyro</a> (uint32_t time_between_reports)</td></tr>
+<tr class="memdesc:a8d8e75f0234287cb89cbec553cffe52c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sends command to enable raw gyro reports (See Ref. Manual 6.5.12)  <br /></td></tr>
+<tr class="separator:a8d8e75f0234287cb89cbec553cffe52c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a14ebec501b8d004a38648a9a1f7a2c9e" id="r_a14ebec501b8d004a38648a9a1f7a2c9e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a14ebec501b8d004a38648a9a1f7a2c9e">enable_raw_magnetometer</a> (uint32_t time_between_reports)</td></tr>
+<tr class="memdesc:a14ebec501b8d004a38648a9a1f7a2c9e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sends command to enable raw magnetometer reports (See Ref. Manual 6.5.15)  <br /></td></tr>
+<tr class="separator:a14ebec501b8d004a38648a9a1f7a2c9e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1ebd456d2a67a22b5ba0911a95915921" id="r_a1ebd456d2a67a22b5ba0911a95915921"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a1ebd456d2a67a22b5ba0911a95915921">disable_rotation_vector</a> ()</td></tr>
+<tr class="memdesc:a1ebd456d2a67a22b5ba0911a95915921"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sends command to disable rotation vector reports by setting report interval to 0.  <br /></td></tr>
+<tr class="separator:a1ebd456d2a67a22b5ba0911a95915921"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7665cce95e791c89161ec863f49c0392" id="r_a7665cce95e791c89161ec863f49c0392"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a7665cce95e791c89161ec863f49c0392">disable_game_rotation_vector</a> ()</td></tr>
+<tr class="memdesc:a7665cce95e791c89161ec863f49c0392"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sends command to disable game rotation vector reports by setting report interval to 0.  <br /></td></tr>
+<tr class="separator:a7665cce95e791c89161ec863f49c0392"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa59e3d8953c96dc1cc5958a1ac628df4" id="r_aa59e3d8953c96dc1cc5958a1ac628df4"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#aa59e3d8953c96dc1cc5958a1ac628df4">disable_ARVR_stabilized_rotation_vector</a> ()</td></tr>
+<tr class="memdesc:aa59e3d8953c96dc1cc5958a1ac628df4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sends command to disable ARVR stabilized rotation vector reports by setting report interval to 0.  <br /></td></tr>
+<tr class="separator:aa59e3d8953c96dc1cc5958a1ac628df4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab187fe50fcfbb04bec9e80eb0fccf61c" id="r_ab187fe50fcfbb04bec9e80eb0fccf61c"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ab187fe50fcfbb04bec9e80eb0fccf61c">disable_ARVR_stabilized_game_rotation_vector</a> ()</td></tr>
+<tr class="memdesc:ab187fe50fcfbb04bec9e80eb0fccf61c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sends command to disable ARVR stabilized game rotation vector reports by setting report interval to 0.  <br /></td></tr>
+<tr class="separator:ab187fe50fcfbb04bec9e80eb0fccf61c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aac0a00bed7825d8a2c357a48c3626931" id="r_aac0a00bed7825d8a2c357a48c3626931"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#aac0a00bed7825d8a2c357a48c3626931">disable_gyro_integrated_rotation_vector</a> ()</td></tr>
+<tr class="memdesc:aac0a00bed7825d8a2c357a48c3626931"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sends command to disable gyro integrated rotation vector reports by setting report interval to 0.  <br /></td></tr>
+<tr class="separator:aac0a00bed7825d8a2c357a48c3626931"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad5c991150895b80bee68c933059a4058" id="r_ad5c991150895b80bee68c933059a4058"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ad5c991150895b80bee68c933059a4058">disable_accelerometer</a> ()</td></tr>
+<tr class="memdesc:ad5c991150895b80bee68c933059a4058"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sends command to disable accelerometer reports by setting report interval to 0.  <br /></td></tr>
+<tr class="separator:ad5c991150895b80bee68c933059a4058"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afbd2b02d5abe7084ce9de49ee2c9142f" id="r_afbd2b02d5abe7084ce9de49ee2c9142f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#afbd2b02d5abe7084ce9de49ee2c9142f">disable_linear_accelerometer</a> ()</td></tr>
+<tr class="memdesc:afbd2b02d5abe7084ce9de49ee2c9142f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sends command to disable linear accelerometer reports by setting report interval to 0.  <br /></td></tr>
+<tr class="separator:afbd2b02d5abe7084ce9de49ee2c9142f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5e63a9e68dbe2968b37dcb6dae04de6f" id="r_a5e63a9e68dbe2968b37dcb6dae04de6f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a5e63a9e68dbe2968b37dcb6dae04de6f">disable_gravity</a> ()</td></tr>
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+<tr class="separator:a5e63a9e68dbe2968b37dcb6dae04de6f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8296089e2fdbd7d2e85f364cf063af82" id="r_a8296089e2fdbd7d2e85f364cf063af82"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a8296089e2fdbd7d2e85f364cf063af82">disable_gyro</a> ()</td></tr>
+<tr class="memdesc:a8296089e2fdbd7d2e85f364cf063af82"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sends command to disable gyro reports by setting report interval to 0.  <br /></td></tr>
+<tr class="separator:a8296089e2fdbd7d2e85f364cf063af82"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aaf28212a5f1960c62a73282976142cfc" id="r_aaf28212a5f1960c62a73282976142cfc"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#aaf28212a5f1960c62a73282976142cfc">disable_uncalibrated_gyro</a> ()</td></tr>
+<tr class="memdesc:aaf28212a5f1960c62a73282976142cfc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sends command to disable uncalibrated gyro reports by setting report interval to 0.  <br /></td></tr>
+<tr class="separator:aaf28212a5f1960c62a73282976142cfc"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6671b082d20dda8bf5c53cb47db0c338" id="r_a6671b082d20dda8bf5c53cb47db0c338"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a6671b082d20dda8bf5c53cb47db0c338">disable_magnetometer</a> ()</td></tr>
+<tr class="memdesc:a6671b082d20dda8bf5c53cb47db0c338"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sends command to disable magnetometer reports by setting report interval to 0.  <br /></td></tr>
+<tr class="separator:a6671b082d20dda8bf5c53cb47db0c338"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a16f83d1e85576a51abf2c65e5de58cd2" id="r_a16f83d1e85576a51abf2c65e5de58cd2"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a16f83d1e85576a51abf2c65e5de58cd2">disable_tap_detector</a> ()</td></tr>
+<tr class="memdesc:a16f83d1e85576a51abf2c65e5de58cd2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sends command to disable tap detector reports by setting report interval to 0.  <br /></td></tr>
+<tr class="separator:a16f83d1e85576a51abf2c65e5de58cd2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a427550a4ba25252912436b899124e157" id="r_a427550a4ba25252912436b899124e157"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a427550a4ba25252912436b899124e157">disable_step_counter</a> ()</td></tr>
+<tr class="memdesc:a427550a4ba25252912436b899124e157"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sends command to disable step counter reports by setting report interval to 0.  <br /></td></tr>
+<tr class="separator:a427550a4ba25252912436b899124e157"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab307ed3352e04c9e998ab4dd066f8932" id="r_ab307ed3352e04c9e998ab4dd066f8932"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ab307ed3352e04c9e998ab4dd066f8932">disable_stability_classifier</a> ()</td></tr>
+<tr class="memdesc:ab307ed3352e04c9e998ab4dd066f8932"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sends command to disable stability reports by setting report interval to 0.  <br /></td></tr>
+<tr class="separator:ab307ed3352e04c9e998ab4dd066f8932"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4fdc39294922a9553d84cd96bdae4376" id="r_a4fdc39294922a9553d84cd96bdae4376"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a4fdc39294922a9553d84cd96bdae4376">disable_activity_classifier</a> ()</td></tr>
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+<tr class="separator:a4fdc39294922a9553d84cd96bdae4376"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a171d78f4b00598b04c8ca54da16c508b" id="r_a171d78f4b00598b04c8ca54da16c508b"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a171d78f4b00598b04c8ca54da16c508b">disable_raw_accelerometer</a> ()</td></tr>
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+<tr class="separator:a171d78f4b00598b04c8ca54da16c508b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a75ef3d09f1ee016999c459e43e9e8c44" id="r_a75ef3d09f1ee016999c459e43e9e8c44"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a75ef3d09f1ee016999c459e43e9e8c44">disable_raw_gyro</a> ()</td></tr>
+<tr class="memdesc:a75ef3d09f1ee016999c459e43e9e8c44"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sends command to disable raw gyro reports by setting report interval to 0.  <br /></td></tr>
+<tr class="separator:a75ef3d09f1ee016999c459e43e9e8c44"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:add29c84038558c28bcfca37865cf9244" id="r_add29c84038558c28bcfca37865cf9244"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#add29c84038558c28bcfca37865cf9244">disable_raw_magnetometer</a> ()</td></tr>
+<tr class="memdesc:add29c84038558c28bcfca37865cf9244"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sends command to disable raw magnetometer reports by setting report interval to 0.  <br /></td></tr>
+<tr class="separator:add29c84038558c28bcfca37865cf9244"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4549bbef48208bd9c745fc755b93012f" id="r_a4549bbef48208bd9c745fc755b93012f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a4549bbef48208bd9c745fc755b93012f">tare_now</a> (uint8_t axis_sel=<a class="el" href="#a1ef13f6f330810934416ad5fe0ee55b2">TARE_AXIS_ALL</a>, uint8_t rotation_vector_basis=<a class="el" href="#a8e2cfc25d0e34ae53a762b88cc3ac3c8">TARE_ROTATION_VECTOR</a>)</td></tr>
+<tr class="memdesc:a4549bbef48208bd9c745fc755b93012f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sends command to tare an axis (See Ref. Manual 6.4.4.1)  <br /></td></tr>
+<tr class="separator:a4549bbef48208bd9c745fc755b93012f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afb2ffc4e7ff0498917bc14a83af306e2" id="r_afb2ffc4e7ff0498917bc14a83af306e2"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#afb2ffc4e7ff0498917bc14a83af306e2">save_tare</a> ()</td></tr>
+<tr class="memdesc:afb2ffc4e7ff0498917bc14a83af306e2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sends command to save tare into non-volatile memory of <a class="el" href="class_b_n_o08x.html">BNO08x</a> (See Ref. Manual 6.4.4.2)  <br /></td></tr>
+<tr class="separator:afb2ffc4e7ff0498917bc14a83af306e2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afe39bfdede7b9a2b273983cb29a27d6e" id="r_afe39bfdede7b9a2b273983cb29a27d6e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#afe39bfdede7b9a2b273983cb29a27d6e">clear_tare</a> ()</td></tr>
+<tr class="memdesc:afe39bfdede7b9a2b273983cb29a27d6e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sends command to clear persistent tare settings in non-volatile memory of <a class="el" href="class_b_n_o08x.html">BNO08x</a> (See Ref. Manual 6.4.4.3)  <br /></td></tr>
+<tr class="separator:afe39bfdede7b9a2b273983cb29a27d6e"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:af50010400cbd1445e9ddfa259384b412"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the reported rotation about y axis.  <br /></td></tr>
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+<tr class="memdesc:a51a6d594824de2292e70f788454f8a2d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the full quaternion reading.  <br /></td></tr>
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+<tr class="memdesc:a12c12a8e078b28480fb8828d306656f5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get I component of reported quaternion.  <br /></td></tr>
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+<tr class="memdesc:a61b7d10a98afc6903fea6b2cede27630"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get radian accuracy of reported quaternion.  <br /></td></tr>
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+<tr class="memdesc:a9329c6669282071622c3b3741b1b8142"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get full acceleration (total acceleration of device, units in m/s^2).  <br /></td></tr>
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+<tr class="memdesc:abce574112a9079d2cbc58cfc352b8a69"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get x axis acceleration (total acceleration of device, units in m/s^2).  <br /></td></tr>
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+<tr class="memitem:afdf24bb3d54518b23972f21f007817c1" id="r_afdf24bb3d54518b23972f21f007817c1"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#afdf24bb3d54518b23972f21f007817c1">get_accel_Y</a> ()</td></tr>
+<tr class="memdesc:afdf24bb3d54518b23972f21f007817c1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get y axis acceleration (total acceleration of device, units in m/s^2).  <br /></td></tr>
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+<tr class="memitem:a0a72477cb7a330fedbcb3e2126b882b1" id="r_a0a72477cb7a330fedbcb3e2126b882b1"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a0a72477cb7a330fedbcb3e2126b882b1">get_accel_Z</a> ()</td></tr>
+<tr class="memdesc:a0a72477cb7a330fedbcb3e2126b882b1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get z axis acceleration (total acceleration of device, units in m/s^2).  <br /></td></tr>
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+<tr class="memitem:a3fce726d5de821f97ed207036dae2900" id="r_a3fce726d5de821f97ed207036dae2900"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a3fce726d5de821f97ed207036dae2900">get_accel_accuracy</a> ()</td></tr>
+<tr class="memdesc:a3fce726d5de821f97ed207036dae2900"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get accuracy of linear acceleration.  <br /></td></tr>
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+<tr class="memdesc:a4d3746a376a22acb7a2641bb750c4c89"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get full rotational velocity with drift compensation (units in Rad/s).  <br /></td></tr>
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+<tr class="memitem:ad4fab6e636e239d4b9273f158983ed89" id="r_ad4fab6e636e239d4b9273f158983ed89"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ad4fab6e636e239d4b9273f158983ed89">get_gyro_calibrated_velocity_Y</a> ()</td></tr>
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+<tr class="memitem:a15a29c3bb476048b7229abcfb2b1d52a" id="r_a15a29c3bb476048b7229abcfb2b1d52a"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a15a29c3bb476048b7229abcfb2b1d52a">get_gyro_calibrated_velocity_Z</a> ()</td></tr>
+<tr class="memdesc:a15a29c3bb476048b7229abcfb2b1d52a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get calibrated gyro z axis angular velocity measurement.  <br /></td></tr>
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+<tr class="memitem:a811999653110858311c97a779c388e5d" id="r_a811999653110858311c97a779c388e5d"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a811999653110858311c97a779c388e5d">get_gyro_accuracy</a> ()</td></tr>
+<tr class="memdesc:a811999653110858311c97a779c388e5d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get calibrated gyro accuracy.  <br /></td></tr>
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+<tr class="memitem:a1bd3c33e70354bd35a78b83b6786b531" id="r_a1bd3c33e70354bd35a78b83b6786b531"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a1bd3c33e70354bd35a78b83b6786b531">get_uncalibrated_gyro</a> (float &amp;x, float &amp;y, float &amp;z, float &amp;bx, float &amp;by, float &amp;bz, uint8_t &amp;accuracy)</td></tr>
+<tr class="memdesc:a1bd3c33e70354bd35a78b83b6786b531"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get full rotational velocity without drift compensation (units in Rad/s). An estimate of drift is given but not applied.  <br /></td></tr>
+<tr class="separator:a1bd3c33e70354bd35a78b83b6786b531"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a289ff66f51c94be62c4a556f3a5997bf" id="r_a289ff66f51c94be62c4a556f3a5997bf"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a289ff66f51c94be62c4a556f3a5997bf">get_uncalibrated_gyro_X</a> ()</td></tr>
+<tr class="memdesc:a289ff66f51c94be62c4a556f3a5997bf"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get uncalibrated gyro x axis angular velocity measurement.  <br /></td></tr>
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+<tr class="memdesc:a1874e4bd457bb5b6ecc2c64039b88ba4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get uncalibrated gyro Y axis angular velocity measurement.  <br /></td></tr>
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+<tr class="memitem:a5050359272abd146ab3c7a6101effbd7" id="r_a5050359272abd146ab3c7a6101effbd7"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a5050359272abd146ab3c7a6101effbd7">get_uncalibrated_gyro_bias_Z</a> ()</td></tr>
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+<tr class="memitem:a3285613f18b2f2f4c3f9e6d5c971af10" id="r_a3285613f18b2f2f4c3f9e6d5c971af10"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a3285613f18b2f2f4c3f9e6d5c971af10">get_uncalibrated_gyro_accuracy</a> ()</td></tr>
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+<tr class="memitem:acd1819a81818f90dc105950b4a7d0b04" id="r_acd1819a81818f90dc105950b4a7d0b04"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#acd1819a81818f90dc105950b4a7d0b04">get_gyro_velocity_Y</a> ()</td></tr>
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-static-attribs" name="pub-static-attribs"></a>
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+<tr class="memdesc:a225397a04d849e5647992ca80d68febb"><td class="mdescLeft">&#160;</td><td class="mdescRight">tare geomagnetic rotation vector  <br /></td></tr>
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pri-types" name="pri-types"></a>
+Private Types</h2></td></tr>
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+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pri-methods" name="pri-methods"></a>
+Private Member Functions</h2></td></tr>
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+<tr class="memitem:a5cc58139e4d5f0587b90e249ceb476f9" id="r_a5cc58139e4d5f0587b90e249ceb476f9"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a5cc58139e4d5f0587b90e249ceb476f9">queue_command</a> (uint8_t command, uint8_t *commands)</td></tr>
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+<tr class="memdesc:a1e5b64caa514b7e4fe64ab214758b875"><td class="mdescLeft">&#160;</td><td class="mdescRight">See SH2 Ref. Manual 6.3.9.  <br /></td></tr>
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+<tr class="memitem:ab04695dd189412092254e52bd6e5a75a" id="r_ab04695dd189412092254e52bd6e5a75a"><td class="memItemLeft" align="right" valign="top">static const constexpr uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ab04695dd189412092254e52bd6e5a75a">SHTP_REPORT_COMMAND_REQUEST</a> = 0xF2</td></tr>
+<tr class="memdesc:ab04695dd189412092254e52bd6e5a75a"><td class="mdescLeft">&#160;</td><td class="mdescRight">See SH2 Ref. Manual 6.3.8.  <br /></td></tr>
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+<tr class="memitem:aeb760b095dcf808a413ef696f2608e43" id="r_aeb760b095dcf808a413ef696f2608e43"><td class="memItemLeft" align="right" valign="top">static const constexpr uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#aeb760b095dcf808a413ef696f2608e43">SHTP_REPORT_FRS_READ_RESPONSE</a> = 0xF3</td></tr>
+<tr class="memdesc:aeb760b095dcf808a413ef696f2608e43"><td class="mdescLeft">&#160;</td><td class="mdescRight">See SH2 Ref. Manual 6.3.7.  <br /></td></tr>
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+<tr class="memitem:a74af7eacc35cc825940b647c2de0d368" id="r_a74af7eacc35cc825940b647c2de0d368"><td class="memItemLeft" align="right" valign="top">static const constexpr uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a74af7eacc35cc825940b647c2de0d368">SHTP_REPORT_FRS_READ_REQUEST</a> = 0xF4</td></tr>
+<tr class="memdesc:a74af7eacc35cc825940b647c2de0d368"><td class="mdescLeft">&#160;</td><td class="mdescRight">See SH2 Ref. Manual 6.3.6.  <br /></td></tr>
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+<tr class="memitem:a0177134162e116501bc9483c6e4b76c3" id="r_a0177134162e116501bc9483c6e4b76c3"><td class="memItemLeft" align="right" valign="top">static const constexpr uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a0177134162e116501bc9483c6e4b76c3">SHTP_REPORT_PRODUCT_ID_RESPONSE</a> = 0xF8</td></tr>
+<tr class="memdesc:a0177134162e116501bc9483c6e4b76c3"><td class="mdescLeft">&#160;</td><td class="mdescRight">See SH2 Ref. Manual 6.3.2.  <br /></td></tr>
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+<tr class="memitem:a542405639c28bd56bc4361b922763c95" id="r_a542405639c28bd56bc4361b922763c95"><td class="memItemLeft" align="right" valign="top">static const constexpr uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a542405639c28bd56bc4361b922763c95">SHTP_REPORT_PRODUCT_ID_REQUEST</a> = 0xF9</td></tr>
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+<tr class="memitem:ae37d6f8431c8c465bfb0c662772b5cb9" id="r_ae37d6f8431c8c465bfb0c662772b5cb9"><td class="memItemLeft" align="right" valign="top">static const constexpr uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ae37d6f8431c8c465bfb0c662772b5cb9">SHTP_REPORT_BASE_TIMESTAMP</a> = 0xFB</td></tr>
+<tr class="memdesc:ae37d6f8431c8c465bfb0c662772b5cb9"><td class="mdescLeft">&#160;</td><td class="mdescRight">See SH2 Ref. Manual 7.2.1.  <br /></td></tr>
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+<tr class="memitem:a1d3bff4e20c2c3d47db322c9e34ef338" id="r_a1d3bff4e20c2c3d47db322c9e34ef338"><td class="memItemLeft" align="right" valign="top">static const constexpr uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a1d3bff4e20c2c3d47db322c9e34ef338">SHTP_REPORT_SET_FEATURE_COMMAND</a> = 0xFD</td></tr>
+<tr class="memdesc:a1d3bff4e20c2c3d47db322c9e34ef338"><td class="mdescLeft">&#160;</td><td class="mdescRight">See SH2 Ref. Manual 6.5.4.  <br /></td></tr>
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+<tr class="memdesc:a354eaff2218eb382a1851537a75badcc"><td class="mdescLeft">&#160;</td><td class="mdescRight">See SH2 Ref. Manual 6.5.9.  <br /></td></tr>
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+<tr class="memitem:a224fb8f833806dd530c5f16e7ab5bc7a" id="r_a224fb8f833806dd530c5f16e7ab5bc7a"><td class="memItemLeft" align="right" valign="top">static const constexpr uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a224fb8f833806dd530c5f16e7ab5bc7a">SENSOR_REPORT_ID_GYROSCOPE</a> = 0x02</td></tr>
+<tr class="memdesc:a224fb8f833806dd530c5f16e7ab5bc7a"><td class="mdescLeft">&#160;</td><td class="mdescRight">See SH2 Ref. Manual 6.5.13.  <br /></td></tr>
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+<tr class="memitem:a06058a84d6604054aa66ee008ac64aa9" id="r_a06058a84d6604054aa66ee008ac64aa9"><td class="memItemLeft" align="right" valign="top">static const constexpr uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a06058a84d6604054aa66ee008ac64aa9">SENSOR_REPORT_ID_MAGNETIC_FIELD</a> = 0x03</td></tr>
+<tr class="memdesc:a06058a84d6604054aa66ee008ac64aa9"><td class="mdescLeft">&#160;</td><td class="mdescRight">See SH2 Ref. Manual 6.5.16.  <br /></td></tr>
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+<tr class="memitem:ace7720a02c9f4ef38e319849f6c36a0b" id="r_ace7720a02c9f4ef38e319849f6c36a0b"><td class="memItemLeft" align="right" valign="top">static const constexpr uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ace7720a02c9f4ef38e319849f6c36a0b">SENSOR_REPORT_ID_LINEAR_ACCELERATION</a> = 0x04</td></tr>
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+<tr class="memitem:a37c91f995c385556486df5fbbce8a3d5" id="r_a37c91f995c385556486df5fbbce8a3d5"><td class="memItemLeft" align="right" valign="top">static const constexpr uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a37c91f995c385556486df5fbbce8a3d5">SENSOR_REPORT_ID_ROTATION_VECTOR</a> = 0x05</td></tr>
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+<tr class="memitem:a6730acb92053d44decb690a7b7234032" id="r_a6730acb92053d44decb690a7b7234032"><td class="memItemLeft" align="right" valign="top">static const constexpr uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a6730acb92053d44decb690a7b7234032">SENSOR_REPORT_ID_GRAVITY</a> = 0x06</td></tr>
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+<tr class="memitem:acb8e83fbb0645d4e98a96120ce9f431c" id="r_acb8e83fbb0645d4e98a96120ce9f431c"><td class="memItemLeft" align="right" valign="top">static const constexpr uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#acb8e83fbb0645d4e98a96120ce9f431c">SENSOR_REPORT_ID_UNCALIBRATED_GYRO</a> = 0x07</td></tr>
+<tr class="memdesc:acb8e83fbb0645d4e98a96120ce9f431c"><td class="mdescLeft">&#160;</td><td class="mdescRight">See SH2 Ref. Manual 6.5.14.  <br /></td></tr>
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+<tr class="memitem:ada7dbda9f7a0bfb0894a787ce0ff9cef" id="r_ada7dbda9f7a0bfb0894a787ce0ff9cef"><td class="memItemLeft" align="right" valign="top">static const constexpr uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ada7dbda9f7a0bfb0894a787ce0ff9cef">SENSOR_REPORT_ID_GAME_ROTATION_VECTOR</a> = 0x08</td></tr>
+<tr class="memdesc:ada7dbda9f7a0bfb0894a787ce0ff9cef"><td class="mdescLeft">&#160;</td><td class="mdescRight">See SH2 Ref. Manual 6.5.19.  <br /></td></tr>
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+<tr class="memitem:abb6d0586a5a87b7b34f4c65ae52965a4" id="r_abb6d0586a5a87b7b34f4c65ae52965a4"><td class="memItemLeft" align="right" valign="top">static const constexpr uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#abb6d0586a5a87b7b34f4c65ae52965a4">SENSOR_REPORT_ID_GEOMAGNETIC_ROTATION_VECTOR</a> = 0x09</td></tr>
+<tr class="memdesc:abb6d0586a5a87b7b34f4c65ae52965a4"><td class="mdescLeft">&#160;</td><td class="mdescRight">See SH2 Ref. Manual 6.5.20.  <br /></td></tr>
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+<tr class="memitem:acd0fc6ffa70dd2761cba0ac0b88c234f" id="r_acd0fc6ffa70dd2761cba0ac0b88c234f"><td class="memItemLeft" align="right" valign="top">static const constexpr uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#acd0fc6ffa70dd2761cba0ac0b88c234f">SENSOR_REPORT_ID_GYRO_INTEGRATED_ROTATION_VECTOR</a> = 0x2A</td></tr>
+<tr class="memdesc:acd0fc6ffa70dd2761cba0ac0b88c234f"><td class="mdescLeft">&#160;</td><td class="mdescRight">See SH2 Ref. Manual 6.5.44.  <br /></td></tr>
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+<tr class="memdesc:a8114460c50e84b0ac750293ab72868c8"><td class="mdescLeft">&#160;</td><td class="mdescRight">See SH2 Ref. Manual 6.5.27.  <br /></td></tr>
+<tr class="separator:a8114460c50e84b0ac750293ab72868c8"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a2a10161bb564067a07f3fcf4021e00bb"><td class="mdescLeft">&#160;</td><td class="mdescRight">See SH2 Ref. Manual 6.5.29.  <br /></td></tr>
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+<tr class="memdesc:ab5c29f31714b4755c0edbce7156652f7"><td class="mdescLeft">&#160;</td><td class="mdescRight">See SH2 Ref. Manual 6.5.31.  <br /></td></tr>
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+<tr class="memdesc:a9e9a7578b7584e7eb2ad562b29565fa7"><td class="mdescLeft">&#160;</td><td class="mdescRight">See SH2 Ref. Manual 6.5.15.  <br /></td></tr>
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+<tr class="memdesc:a27df630f3e52b35552d2c1f2cf3496b0"><td class="mdescLeft">&#160;</td><td class="mdescRight">See SH2 Ref. Manual 6.4.4.1.  <br /></td></tr>
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+<tr class="memdesc:a59cde7dd301c94a20b84735c5d49008e"><td class="mdescLeft">&#160;</td><td class="mdescRight">See SH2 Ref. Manual 6.4.4.3.  <br /></td></tr>
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+<tr class="memdesc:a2c98d5f2c406a3efd0b48c5666fa8c46"><td class="mdescLeft">&#160;</td><td class="mdescRight">Class tag used for serial print statements.  <br /></td></tr>
+<tr class="separator:a2c98d5f2c406a3efd0b48c5666fa8c46"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Member Typedef Documentation</h2>
+<a id="a407711b4a84223a52cc043a152aea8ba" name="a407711b4a84223a52cc043a152aea8ba"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a407711b4a84223a52cc043a152aea8ba">&#9670;&#160;</a></span>bno08x_rx_packet_t</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef struct BNO08x::bno08x_rx_packet_t BNO08x::bno08x_rx_packet_t</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
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+<p>Holds data that is received over spi. </p>
+
+</div>
+</div>
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+<div class="memitem">
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+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef struct BNO08x::bno08x_tx_packet_t BNO08x::bno08x_tx_packet_t</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Holds data that is sent over spi. </p>
+
+</div>
+</div>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a40f7688e843d74b8bd526c6f5ff17845" name="a40f7688e843d74b8bd526c6f5ff17845"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a40f7688e843d74b8bd526c6f5ff17845">&#9670;&#160;</a></span>BNO08x()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">BNO08x::BNO08x </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="structbno08x__config__t.html">bno08x_config_t</a></td>          <td class="paramname"><span class="paramname"><em>imu_config</em><span class="paramdefsep"> = </span><span class="paramdefval"><a class="el" href="#a6232920a05c0aba34e5560951a20ae87">default_imu_config</a></span></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p><a class="el" href="class_b_n_o08x.html">BNO08x</a> imu constructor. </p>
+<p>Construct a <a class="el" href="class_b_n_o08x.html">BNO08x</a> object for managing a <a class="el" href="class_b_n_o08x.html">BNO08x</a> sensor. Initializes required GPIO pins, interrupts, SPI peripheral.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">imu_config</td><td>Configuration settings (optional), default settings can be seen in <a class="el" href="structbno08x__config__t.html" title="IMU configuration settings passed into constructor.">bno08x_config_t</a> </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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+<a id="aeffce374f558a167d5b5f19ad627e7cc" name="aeffce374f558a167d5b5f19ad627e7cc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aeffce374f558a167d5b5f19ad627e7cc">&#9670;&#160;</a></span>calibrate_accelerometer()</h2>
+
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+          <td class="memname">void BNO08x::calibrate_accelerometer </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Sends command to calibrate accelerometer. </p>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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+<h2 class="memtitle"><span class="permalink"><a href="#afd0ca5f9b9741935543d143a5a43d128">&#9670;&#160;</a></span>calibrate_all()</h2>
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+          <td class="memname">void BNO08x::calibrate_all </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
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+
+<p>Sends command to calibrate accelerometer, gyro, and magnetometer. </p>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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+<h2 class="memtitle"><span class="permalink"><a href="#a9ada90f8ab6dd33fa2d7c168d9234af1">&#9670;&#160;</a></span>calibrate_gyro()</h2>
+
+<div class="memitem">
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+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08x::calibrate_gyro </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Sends command to calibrate gyro. </p>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
+<div class="dynheader">
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+<h2 class="memtitle"><span class="permalink"><a href="#ac26350b55095a346d72598ab8aa74b4a">&#9670;&#160;</a></span>calibrate_magnetometer()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08x::calibrate_magnetometer </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Sends command to calibrate magnetometer. </p>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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+<h2 class="memtitle"><span class="permalink"><a href="#a1c6c49c97bc098db89db1aaa37e18f26">&#9670;&#160;</a></span>calibrate_planar_accelerometer()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08x::calibrate_planar_accelerometer </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Sends command to calibrate planar accelerometer. </p>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
+<div class="dynheader">
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+<h2 class="memtitle"><span class="permalink"><a href="#a71ca35f78b98d93d31eb0c187dc8543b">&#9670;&#160;</a></span>calibration_complete()</h2>
+
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+        <tr>
+          <td class="memname">bool BNO08x::calibration_complete </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
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+
+<p>Returns true if calibration has completed. </p>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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+<h2 class="memtitle"><span class="permalink"><a href="#afe39bfdede7b9a2b273983cb29a27d6e">&#9670;&#160;</a></span>clear_tare()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08x::clear_tare </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Sends command to clear persistent tare settings in non-volatile memory of <a class="el" href="class_b_n_o08x.html">BNO08x</a> (See Ref. Manual 6.4.4.3) </p>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
+<div class="dynheader">
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+<div class="center"><img src="class_b_n_o08x_afe39bfdede7b9a2b273983cb29a27d6e_cgraph.png" border="0" usemap="#aclass_b_n_o08x_afe39bfdede7b9a2b273983cb29a27d6e_cgraph" alt=""/></div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a367d525d1c0ba119b3dca3067bb5bccc">&#9670;&#160;</a></span>data_available()</h2>
+
+<div class="memitem">
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+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08x::data_available </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Checks if <a class="el" href="class_b_n_o08x.html">BNO08x</a> has asserted interrupt and sent data. </p>
+<dl class="section return"><dt>Returns</dt><dd>true if new data has been parsed and saved </dd></dl>
+<div class="dynheader">
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+<h2 class="memtitle"><span class="permalink"><a href="#ab4373e9b87837ea9fcbc0b536338c7b8">&#9670;&#160;</a></span>data_proc_task()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08x::data_proc_task </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Task responsible parsing packets. Executed when SPI task sends a packet to be parsed, notifies <a class="el" href="#a4f12de628073f44b2a3fab2688cf1caf" title="Waits for a valid or invalid packet to be received or HOST_INT_TIMEOUT_MS to elapse.">wait_for_data()</a> call. </p>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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+<h2 class="memtitle"><span class="permalink"><a href="#a0ae135d7bf7a5f047a1d1aa5cc07e520">&#9670;&#160;</a></span>data_proc_task_trampoline()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08x::data_proc_task_trampoline </td>
+          <td>(</td>
+          <td class="paramtype">void *</td>          <td class="paramname"><span class="paramname"><em>arg</em></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Static function used to launch data processing task. </p>
+<p>Used such that <a class="el" href="#ab4373e9b87837ea9fcbc0b536338c7b8" title="Task responsible parsing packets. Executed when SPI task sends a packet to be parsed,...">data_proc_task()</a> can be non-static class member.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">arg</td><td>void pointer to <a class="el" href="class_b_n_o08x.html">BNO08x</a> imu object </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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+<h2 class="memtitle"><span class="permalink"><a href="#ad5c991150895b80bee68c933059a4058">&#9670;&#160;</a></span>disable_accelerometer()</h2>
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+<div class="memitem">
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+        <tr>
+          <td class="memname">void BNO08x::disable_accelerometer </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
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+
+<p>Sends command to disable accelerometer reports by setting report interval to 0. </p>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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+<div class="memitem">
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+        <tr>
+          <td class="memname">void BNO08x::disable_activity_classifier </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
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+<p>Sends command to disable activity classifier reports by setting report interval to 0. </p>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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+
+<div class="memitem">
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+        <tr>
+          <td class="memname">void BNO08x::disable_ARVR_stabilized_game_rotation_vector </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
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+
+<p>Sends command to disable ARVR stabilized game rotation vector reports by setting report interval to 0. </p>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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+
+<div class="memitem">
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+        <tr>
+          <td class="memname">void BNO08x::disable_ARVR_stabilized_rotation_vector </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
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+</div><div class="memdoc">
+
+<p>Sends command to disable ARVR stabilized rotation vector reports by setting report interval to 0. </p>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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+        <tr>
+          <td class="memname">void BNO08x::disable_game_rotation_vector </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
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+</div><div class="memdoc">
+
+<p>Sends command to disable game rotation vector reports by setting report interval to 0. </p>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
+<div class="dynheader">
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+<h2 class="memtitle"><span class="permalink"><a href="#a5e63a9e68dbe2968b37dcb6dae04de6f">&#9670;&#160;</a></span>disable_gravity()</h2>
+
+<div class="memitem">
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+          <td class="memname">void BNO08x::disable_gravity </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
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+
+<p>Sends command to disable gravity reports by setting report interval to 0. </p>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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+<h2 class="memtitle"><span class="permalink"><a href="#a8296089e2fdbd7d2e85f364cf063af82">&#9670;&#160;</a></span>disable_gyro()</h2>
+
+<div class="memitem">
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+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08x::disable_gyro </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
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+</div><div class="memdoc">
+
+<p>Sends command to disable gyro reports by setting report interval to 0. </p>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
+<div class="dynheader">
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+<h2 class="memtitle"><span class="permalink"><a href="#aac0a00bed7825d8a2c357a48c3626931">&#9670;&#160;</a></span>disable_gyro_integrated_rotation_vector()</h2>
+
+<div class="memitem">
+<div class="memproto">
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+        <tr>
+          <td class="memname">void BNO08x::disable_gyro_integrated_rotation_vector </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Sends command to disable gyro integrated rotation vector reports by setting report interval to 0. </p>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
+<div class="dynheader">
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+
+<div class="memitem">
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+        <tr>
+          <td class="memname">void BNO08x::disable_linear_accelerometer </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
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+        </tr>
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+<p>Sends command to disable linear accelerometer reports by setting report interval to 0. </p>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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+<h2 class="memtitle"><span class="permalink"><a href="#a6671b082d20dda8bf5c53cb47db0c338">&#9670;&#160;</a></span>disable_magnetometer()</h2>
+
+<div class="memitem">
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+        <tr>
+          <td class="memname">void BNO08x::disable_magnetometer </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
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+
+<p>Sends command to disable magnetometer reports by setting report interval to 0. </p>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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+        <tr>
+          <td class="memname">void BNO08x::disable_raw_accelerometer </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
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+</div><div class="memdoc">
+
+<p>Sends command to disable raw accelerometer reports by setting report interval to 0. </p>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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+<h2 class="memtitle"><span class="permalink"><a href="#a75ef3d09f1ee016999c459e43e9e8c44">&#9670;&#160;</a></span>disable_raw_gyro()</h2>
+
+<div class="memitem">
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+        <tr>
+          <td class="memname">void BNO08x::disable_raw_gyro </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Sends command to disable raw gyro reports by setting report interval to 0. </p>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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+
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+        <tr>
+          <td class="memname">void BNO08x::disable_raw_magnetometer </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Sends command to disable raw magnetometer reports by setting report interval to 0. </p>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
+<div class="dynheader">
+Here is the call graph for this function:</div>
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+<div class="center"><img src="class_b_n_o08x_add29c84038558c28bcfca37865cf9244_cgraph.png" border="0" usemap="#aclass_b_n_o08x_add29c84038558c28bcfca37865cf9244_cgraph" alt=""/></div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a00ec3857cb06ae885e32059ef1cab693">&#9670;&#160;</a></span>disable_report()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08x::disable_report </td>
+          <td>(</td>
+          <td class="paramtype">uint8_t</td>          <td class="paramname"><span class="paramname"><em>report_ID</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const EventBits_t</td>          <td class="paramname"><span class="paramname"><em>report_evt_grp_bit</em></span>&#160;)</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Disables a sensor report for a given ID by setting its time interval to 0. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">report_ID</td><td>The report ID of the sensor, i.e. SENSOR_REPORT_ID_X </td></tr>
+    <tr><td class="paramname">report_evt_grp_bit</td><td>The event group bit for the respective report, to indicate to <a class="el" href="#a2ecd4ed60f82730ae230c61687ec92bf" title="Task responsible for SPI transactions. Executed when HINT in is asserted by BNO08x.">spi_task()</a> it's disabled, i.e. EVT_GRP_RPT_X</td></tr>
+  </table>
+  </dd>
+</dl>
+<p>If no reports are enabled after disabling, this function will disable interrupts on hint pin.</p>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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+
+<div class="memitem">
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+        <tr>
+          <td class="memname">void BNO08x::disable_rotation_vector </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Sends command to disable rotation vector reports by setting report interval to 0. </p>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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+<h2 class="memtitle"><span class="permalink"><a href="#ab307ed3352e04c9e998ab4dd066f8932">&#9670;&#160;</a></span>disable_stability_classifier()</h2>
+
+<div class="memitem">
+<div class="memproto">
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+        <tr>
+          <td class="memname">void BNO08x::disable_stability_classifier </td>
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+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
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+
+<p>Sends command to disable stability reports by setting report interval to 0. </p>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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+<h2 class="memtitle"><span class="permalink"><a href="#a427550a4ba25252912436b899124e157">&#9670;&#160;</a></span>disable_step_counter()</h2>
+
+<div class="memitem">
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+          <td class="memname">void BNO08x::disable_step_counter </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
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+
+<p>Sends command to disable step counter reports by setting report interval to 0. </p>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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+<h2 class="memtitle"><span class="permalink"><a href="#a16f83d1e85576a51abf2c65e5de58cd2">&#9670;&#160;</a></span>disable_tap_detector()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08x::disable_tap_detector </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Sends command to disable tap detector reports by setting report interval to 0. </p>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
+<div class="dynheader">
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+<h2 class="memtitle"><span class="permalink"><a href="#aaf28212a5f1960c62a73282976142cfc">&#9670;&#160;</a></span>disable_uncalibrated_gyro()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08x::disable_uncalibrated_gyro </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
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+</div><div class="memdoc">
+
+<p>Sends command to disable uncalibrated gyro reports by setting report interval to 0. </p>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
+<div class="dynheader">
+Here is the call graph for this function:</div>
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+<div class="center"><img src="class_b_n_o08x_aaf28212a5f1960c62a73282976142cfc_cgraph.png" border="0" usemap="#aclass_b_n_o08x_aaf28212a5f1960c62a73282976142cfc_cgraph" alt=""/></div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a2795c6579cf03e22f62a5eadc88dee91">&#9670;&#160;</a></span>enable_accelerometer()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08x::enable_accelerometer </td>
+          <td>(</td>
+          <td class="paramtype">uint32_t</td>          <td class="paramname"><span class="paramname"><em>time_between_reports</em></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Sends command to enable accelerometer reports (See Ref. Manual 6.5.9) </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">time_between_reports</td><td>Desired time between reports in microseconds. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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+</div>
+<a id="ad7b83cac874c092583f8513d3bb69bbf" name="ad7b83cac874c092583f8513d3bb69bbf"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad7b83cac874c092583f8513d3bb69bbf">&#9670;&#160;</a></span>enable_activity_classifier()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08x::enable_activity_classifier </td>
+          <td>(</td>
+          <td class="paramtype">uint32_t</td>          <td class="paramname"><span class="paramname"><em>time_between_reports</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">uint32_t</td>          <td class="paramname"><span class="paramname"><em>activities_to_enable</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">uint8_t(&amp;)</td>          <td class="paramname"><span class="paramname"><em>activity_confidence_vals</em>[9]</span>&#160;)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Sends command to enable activity classifier reports (See Ref. Manual 6.5.36) </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">time_between_reports</td><td>Desired time between reports in microseconds. </td></tr>
+    <tr><td class="paramname">activities_to_enable</td><td>Desired activities to enable (0x1F enables all). </td></tr>
+    <tr><td class="paramname">activity_confidence_vals</td><td>Returned activity level confidences. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
+<div class="dynheader">
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+<h2 class="memtitle"><span class="permalink"><a href="#a5680148a41cb9cc96d1911150c46d2b8">&#9670;&#160;</a></span>enable_ARVR_stabilized_game_rotation_vector()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08x::enable_ARVR_stabilized_game_rotation_vector </td>
+          <td>(</td>
+          <td class="paramtype">uint32_t</td>          <td class="paramname"><span class="paramname"><em>time_between_reports</em></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Sends command to enable ARVR stabilized game rotation vector reports (See Ref. Manual 6.5.43) </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">time_between_reports</td><td>Desired time between reports in microseconds. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
+<div class="dynheader">
+Here is the call graph for this function:</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a8a5f3b985989e846e831f70f7733d0bc">&#9670;&#160;</a></span>enable_ARVR_stabilized_rotation_vector()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08x::enable_ARVR_stabilized_rotation_vector </td>
+          <td>(</td>
+          <td class="paramtype">uint32_t</td>          <td class="paramname"><span class="paramname"><em>time_between_reports</em></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Sends command to enable ARVR stabilized rotation vector reports (See Ref. Manual 6.5.42) </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">time_between_reports</td><td>Desired time between reports in microseconds. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
+<div class="dynheader">
+Here is the call graph for this function:</div>
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+<div class="center"><img src="class_b_n_o08x_a8a5f3b985989e846e831f70f7733d0bc_cgraph.png" border="0" usemap="#aclass_b_n_o08x_a8a5f3b985989e846e831f70f7733d0bc_cgraph" alt=""/></div>
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+<h2 class="memtitle"><span class="permalink"><a href="#abe04c38b5bd52d331bd8aefae1f51947">&#9670;&#160;</a></span>enable_game_rotation_vector()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08x::enable_game_rotation_vector </td>
+          <td>(</td>
+          <td class="paramtype">uint32_t</td>          <td class="paramname"><span class="paramname"><em>time_between_reports</em></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Sends command to enable game rotation vector reports (See Ref. Manual 6.5.19) </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">time_between_reports</td><td>Desired time between reports in microseconds. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
+<div class="dynheader">
+Here is the call graph for this function:</div>
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+<div class="center"><img src="class_b_n_o08x_abe04c38b5bd52d331bd8aefae1f51947_cgraph.png" border="0" usemap="#aclass_b_n_o08x_abe04c38b5bd52d331bd8aefae1f51947_cgraph" alt=""/></div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a030eae12c3586acf09b48e94630b2544">&#9670;&#160;</a></span>enable_gravity()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08x::enable_gravity </td>
+          <td>(</td>
+          <td class="paramtype">uint32_t</td>          <td class="paramname"><span class="paramname"><em>time_between_reports</em></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Sends command to enable gravity reading reports (See Ref. Manual 6.5.11) </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">time_between_reports</td><td>Desired time between reports in microseconds. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
+<div class="dynheader">
+Here is the call graph for this function:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_a030eae12c3586acf09b48e94630b2544_cgraph.png" border="0" usemap="#aclass_b_n_o08x_a030eae12c3586acf09b48e94630b2544_cgraph" alt=""/></div>
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+<h2 class="memtitle"><span class="permalink"><a href="#ad7b322681b9ec5f57edb09e336b988c0">&#9670;&#160;</a></span>enable_gyro()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08x::enable_gyro </td>
+          <td>(</td>
+          <td class="paramtype">uint32_t</td>          <td class="paramname"><span class="paramname"><em>time_between_reports</em></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Sends command to enable gyro reports (See Ref. Manual 6.5.13) </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">time_between_reports</td><td>Desired time between reports in microseconds. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
+<div class="dynheader">
+Here is the call graph for this function:</div>
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+<div class="center"><img src="class_b_n_o08x_ad7b322681b9ec5f57edb09e336b988c0_cgraph.png" border="0" usemap="#aclass_b_n_o08x_ad7b322681b9ec5f57edb09e336b988c0_cgraph" alt=""/></div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a7388c67de3906ad05b233fd7eff0514d">&#9670;&#160;</a></span>enable_gyro_integrated_rotation_vector()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08x::enable_gyro_integrated_rotation_vector </td>
+          <td>(</td>
+          <td class="paramtype">uint32_t</td>          <td class="paramname"><span class="paramname"><em>time_between_reports</em></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Sends command to enable gyro integrated rotation vector reports (See Ref. Manual 6.5.44) </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">time_between_reports</td><td>Desired time between reports in microseconds. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
+<div class="dynheader">
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+<h2 class="memtitle"><span class="permalink"><a href="#ae1435b83ca83bc51b75f3303afe87f7b">&#9670;&#160;</a></span>enable_linear_accelerometer()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08x::enable_linear_accelerometer </td>
+          <td>(</td>
+          <td class="paramtype">uint32_t</td>          <td class="paramname"><span class="paramname"><em>time_between_reports</em></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Sends command to enable linear accelerometer reports (See Ref. Manual 6.5.10) </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">time_between_reports</td><td>Desired time between reports in microseconds. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
+<div class="dynheader">
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+<h2 class="memtitle"><span class="permalink"><a href="#a3c32120bcd0987c3ca1bb72910586b59">&#9670;&#160;</a></span>enable_magnetometer()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08x::enable_magnetometer </td>
+          <td>(</td>
+          <td class="paramtype">uint32_t</td>          <td class="paramname"><span class="paramname"><em>time_between_reports</em></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Sends command to enable magnetometer reports (See Ref. Manual 6.5.16) </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">time_between_reports</td><td>Desired time between reports in microseconds. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
+<div class="dynheader">
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+<h2 class="memtitle"><span class="permalink"><a href="#a3042301cf0f51657c82b1127dce230f4">&#9670;&#160;</a></span>enable_raw_accelerometer()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08x::enable_raw_accelerometer </td>
+          <td>(</td>
+          <td class="paramtype">uint32_t</td>          <td class="paramname"><span class="paramname"><em>time_between_reports</em></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Sends command to enable raw accelerometer reports (See Ref. Manual 6.5.8) </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">time_between_reports</td><td>Desired time between reports in microseconds. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
+<div class="dynheader">
+Here is the call graph for this function:</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a8d8e75f0234287cb89cbec553cffe52c">&#9670;&#160;</a></span>enable_raw_gyro()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08x::enable_raw_gyro </td>
+          <td>(</td>
+          <td class="paramtype">uint32_t</td>          <td class="paramname"><span class="paramname"><em>time_between_reports</em></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Sends command to enable raw gyro reports (See Ref. Manual 6.5.12) </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">time_between_reports</td><td>Desired time between reports in microseconds. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
+<div class="dynheader">
+Here is the call graph for this function:</div>
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+<div class="center"><img src="class_b_n_o08x_a8d8e75f0234287cb89cbec553cffe52c_cgraph.png" border="0" usemap="#aclass_b_n_o08x_a8d8e75f0234287cb89cbec553cffe52c_cgraph" alt=""/></div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a14ebec501b8d004a38648a9a1f7a2c9e">&#9670;&#160;</a></span>enable_raw_magnetometer()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08x::enable_raw_magnetometer </td>
+          <td>(</td>
+          <td class="paramtype">uint32_t</td>          <td class="paramname"><span class="paramname"><em>time_between_reports</em></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Sends command to enable raw magnetometer reports (See Ref. Manual 6.5.15) </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">time_between_reports</td><td>Desired time between reports in microseconds. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
+<div class="dynheader">
+Here is the call graph for this function:</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a41613e65ea9beef883184b7ef67affdd">&#9670;&#160;</a></span>enable_report()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08x::enable_report </td>
+          <td>(</td>
+          <td class="paramtype">uint8_t</td>          <td class="paramname"><span class="paramname"><em>report_ID</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">uint32_t</td>          <td class="paramname"><span class="paramname"><em>time_between_reports</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const EventBits_t</td>          <td class="paramname"><span class="paramname"><em>report_evt_grp_bit</em></span>&#160;)</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Enables a sensor report for a given ID. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">report_ID</td><td>The report ID of the sensor, i.e. SENSOR_REPORT_ID_X </td></tr>
+    <tr><td class="paramname">time_between_reports</td><td>The desired time in microseconds between each report. The <a class="el" href="class_b_n_o08x.html">BNO08x</a> will send reports according to this interval. </td></tr>
+    <tr><td class="paramname">report_evt_grp_bit</td><td>The event group bit for the respective report, to indicate to <a class="el" href="#a2ecd4ed60f82730ae230c61687ec92bf" title="Task responsible for SPI transactions. Executed when HINT in is asserted by BNO08x.">spi_task()</a> it's enabled, i.e. EVT_GRP_RPT_X</td></tr>
+  </table>
+  </dd>
+</dl>
+<p>If no reports were enabled prior to call, this function will re-enable interrupts on hint pin.</p>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
+<div class="dynheader">
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+<h2 class="memtitle"><span class="permalink"><a href="#ab4c1d5cde156af09b7e88913f3af62c7">&#9670;&#160;</a></span>enable_rotation_vector()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08x::enable_rotation_vector </td>
+          <td>(</td>
+          <td class="paramtype">uint32_t</td>          <td class="paramname"><span class="paramname"><em>time_between_reports</em></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Sends command to enable rotation vector reports (See Ref. Manual 6.5.18) </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">time_between_reports</td><td>Desired time between reports in microseconds. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
+<div class="dynheader">
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+<h2 class="memtitle"><span class="permalink"><a href="#ab0a60844b36fb140cad588a65b3a9655">&#9670;&#160;</a></span>enable_stability_classifier()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08x::enable_stability_classifier </td>
+          <td>(</td>
+          <td class="paramtype">uint32_t</td>          <td class="paramname"><span class="paramname"><em>time_between_reports</em></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Sends command to enable activity stability classifier reports (See Ref. Manual 6.5.31) </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">time_between_reports</td><td>Desired time between reports in microseconds. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
+<div class="dynheader">
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+<h2 class="memtitle"><span class="permalink"><a href="#a5a0b0f5b8e962247a3b8aee8f1dc8e9f">&#9670;&#160;</a></span>enable_step_counter()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08x::enable_step_counter </td>
+          <td>(</td>
+          <td class="paramtype">uint32_t</td>          <td class="paramname"><span class="paramname"><em>time_between_reports</em></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Sends command to enable step counter reports (See Ref. Manual 6.5.29) </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">time_between_reports</td><td>Desired time between reports in microseconds. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
+<div class="dynheader">
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+<h2 class="memtitle"><span class="permalink"><a href="#ab4c8e37c730ddb168f78c29bd7ae6566">&#9670;&#160;</a></span>enable_tap_detector()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08x::enable_tap_detector </td>
+          <td>(</td>
+          <td class="paramtype">uint32_t</td>          <td class="paramname"><span class="paramname"><em>time_between_reports</em></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Sends command to enable tap detector reports (See Ref. Manual 6.5.27) </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">time_between_reports</td><td>Desired time between reports in microseconds. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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+<h2 class="memtitle"><span class="permalink"><a href="#a7fe5de95b1f51da44247a87317fd0c75">&#9670;&#160;</a></span>enable_uncalibrated_gyro()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08x::enable_uncalibrated_gyro </td>
+          <td>(</td>
+          <td class="paramtype">uint32_t</td>          <td class="paramname"><span class="paramname"><em>time_between_reports</em></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Sends command to enable uncalibrated gyro reports (See Ref. Manual 6.5.14) </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">time_between_reports</td><td>Desired time between reports in microseconds. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
+<div class="dynheader">
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+<h2 class="memtitle"><span class="permalink"><a href="#ac9d9b6636745e8180807284da67c92a2">&#9670;&#160;</a></span>end_calibration()</h2>
+
+<div class="memitem">
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+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08x::end_calibration </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Sends command to end calibration procedure. </p>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
+<div class="dynheader">
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+<h2 class="memtitle"><span class="permalink"><a href="#a40607e557eada666a5e1e416f42cd4a1">&#9670;&#160;</a></span>FRS_read_data()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08x::FRS_read_data </td>
+          <td>(</td>
+          <td class="paramtype">uint16_t</td>          <td class="paramname"><span class="paramname"><em>record_ID</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">uint8_t</td>          <td class="paramname"><span class="paramname"><em>start_location</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">uint8_t</td>          <td class="paramname"><span class="paramname"><em>words_to_read</em></span>&#160;)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Read meta data from <a class="el" href="class_b_n_o08x.html">BNO08x</a> FRS (flash record system) given the record ID. Contains Q points and other info. (See Ref. Manual 5.1 &amp; 6.3.7) </p>
+<p>Note that Q points from the data sheet can be used as well, using the ones stored in flash is optional.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">record_ID</td><td>Which record ID/ sensor to request meta data from. </td></tr>
+    <tr><td class="paramname">start_location</td><td>Start byte location. </td></tr>
+    <tr><td class="paramname">words_to_read</td><td>Length of words to read.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>True if meta data read successfully. </dd></dl>
+<div class="dynheader">
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+<div class="center"><img src="class_b_n_o08x_a40607e557eada666a5e1e416f42cd4a1_cgraph.png" border="0" usemap="#aclass_b_n_o08x_a40607e557eada666a5e1e416f42cd4a1_cgraph" alt=""/></div>
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+<h2 class="memtitle"><span class="permalink"><a href="#adf789e709ac1667656db757c8d559af9">&#9670;&#160;</a></span>FRS_read_request()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08x::FRS_read_request </td>
+          <td>(</td>
+          <td class="paramtype">uint16_t</td>          <td class="paramname"><span class="paramname"><em>record_ID</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">uint16_t</td>          <td class="paramname"><span class="paramname"><em>read_offset</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">uint16_t</td>          <td class="paramname"><span class="paramname"><em>block_size</em></span>&#160;)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Requests meta data from <a class="el" href="class_b_n_o08x.html">BNO08x</a> FRS (flash record system) given the record ID. Contains Q points and other info. (See Ref. Manual 5.1 &amp; 6.3.6) </p>
+<p>Note that Q points from the data sheet can be used as well, using the ones stored in flash is optional.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">record_ID</td><td>Which record ID/ sensor to request meta data from. </td></tr>
+    <tr><td class="paramname">start_location</td><td>Start byte location. </td></tr>
+    <tr><td class="paramname">words_to_read</td><td>Length of words to read.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>True if read request acknowledged (HINT was asserted) </dd></dl>
+<div class="dynheader">
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+<h2 class="memtitle"><span class="permalink"><a href="#a27f5dce5c994be18a587fb622574ad41">&#9670;&#160;</a></span>FRS_read_word()</h2>
+
+<div class="memitem">
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+      <table class="memname">
+        <tr>
+          <td class="memname">uint32_t BNO08x::FRS_read_word </td>
+          <td>(</td>
+          <td class="paramtype">uint16_t</td>          <td class="paramname"><span class="paramname"><em>record_ID</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">uint8_t</td>          <td class="paramname"><span class="paramname"><em>word_number</em></span>&#160;)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Reads meta data word from <a class="el" href="class_b_n_o08x.html">BNO08x</a> FRS (flash record system) given the record ID and word number. (See Ref. Manual 5.1 &amp; 6.3.7) </p>
+<p>Note that Q points from the data sheet can be used as well, using the ones stored in flash is optional.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">record_ID</td><td>Which record ID/ sensor to request meta data from. </td></tr>
+    <tr><td class="paramname">word_number</td><td>Desired word to read.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Requested meta data word, 0 if failed. </dd></dl>
+<div class="dynheader">
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+<h2 class="memtitle"><span class="permalink"><a href="#a9329c6669282071622c3b3741b1b8142">&#9670;&#160;</a></span>get_accel()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08x::get_accel </td>
+          <td>(</td>
+          <td class="paramtype">float &amp;</td>          <td class="paramname"><span class="paramname"><em>x</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">float &amp;</td>          <td class="paramname"><span class="paramname"><em>y</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">float &amp;</td>          <td class="paramname"><span class="paramname"><em>z</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">uint8_t &amp;</td>          <td class="paramname"><span class="paramname"><em>accuracy</em></span>&#160;)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get full acceleration (total acceleration of device, units in m/s^2). </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">x</td><td>Reference variable to save X axis acceleration. </td></tr>
+    <tr><td class="paramname">y</td><td>Reference variable to save Y axis acceleration. </td></tr>
+    <tr><td class="paramname">z</td><td>Reference variable to save Z axis acceleration. </td></tr>
+    <tr><td class="paramname">accuracy</td><td>Reference variable to save reported acceleration accuracy.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
+<div class="dynheader">
+Here is the call graph for this function:</div>
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+<div class="center"><img src="class_b_n_o08x_a9329c6669282071622c3b3741b1b8142_cgraph.png" border="0" usemap="#aclass_b_n_o08x_a9329c6669282071622c3b3741b1b8142_cgraph" alt=""/></div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a3fce726d5de821f97ed207036dae2900">&#9670;&#160;</a></span>get_accel_accuracy()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint8_t BNO08x::get_accel_accuracy </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get accuracy of linear acceleration. </p>
+<dl class="section return"><dt>Returns</dt><dd>Accuracy of linear acceleration. </dd></dl>
+
+</div>
+</div>
+<a id="abce574112a9079d2cbc58cfc352b8a69" name="abce574112a9079d2cbc58cfc352b8a69"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abce574112a9079d2cbc58cfc352b8a69">&#9670;&#160;</a></span>get_accel_X()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">float BNO08x::get_accel_X </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get x axis acceleration (total acceleration of device, units in m/s^2). </p>
+<dl class="section return"><dt>Returns</dt><dd>The angular reported x axis acceleration. </dd></dl>
+<div class="dynheader">
+Here is the call graph for this function:</div>
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+<div class="center"><img src="class_b_n_o08x_abce574112a9079d2cbc58cfc352b8a69_cgraph.png" border="0" usemap="#aclass_b_n_o08x_abce574112a9079d2cbc58cfc352b8a69_cgraph" alt=""/></div>
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+<h2 class="memtitle"><span class="permalink"><a href="#afdf24bb3d54518b23972f21f007817c1">&#9670;&#160;</a></span>get_accel_Y()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">float BNO08x::get_accel_Y </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get y axis acceleration (total acceleration of device, units in m/s^2). </p>
+<dl class="section return"><dt>Returns</dt><dd>The angular reported y axis acceleration. </dd></dl>
+<div class="dynheader">
+Here is the call graph for this function:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_afdf24bb3d54518b23972f21f007817c1_cgraph.png" border="0" usemap="#aclass_b_n_o08x_afdf24bb3d54518b23972f21f007817c1_cgraph" alt=""/></div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a0a72477cb7a330fedbcb3e2126b882b1">&#9670;&#160;</a></span>get_accel_Z()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">float BNO08x::get_accel_Z </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get z axis acceleration (total acceleration of device, units in m/s^2). </p>
+<dl class="section return"><dt>Returns</dt><dd>The angular reported z axis acceleration. </dd></dl>
+<div class="dynheader">
+Here is the call graph for this function:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_a0a72477cb7a330fedbcb3e2126b882b1_cgraph.png" border="0" usemap="#aclass_b_n_o08x_a0a72477cb7a330fedbcb3e2126b882b1_cgraph" alt=""/></div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a4f7060b2d3c15b359b70b6346730446a">&#9670;&#160;</a></span>get_activity_classifier()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint8_t BNO08x::get_activity_classifier </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get the current activity classifier (Seee Ref. Manual 6.5.36) </p>
+<dl class="section return"><dt>Returns</dt><dd>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 </dd></dl>
+
+</div>
+</div>
+<a id="a386c46ac8965220ab7b9423df838dd4d" name="a386c46ac8965220ab7b9423df838dd4d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a386c46ac8965220ab7b9423df838dd4d">&#9670;&#160;</a></span>get_gravity()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08x::get_gravity </td>
+          <td>(</td>
+          <td class="paramtype">float &amp;</td>          <td class="paramname"><span class="paramname"><em>x</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">float &amp;</td>          <td class="paramname"><span class="paramname"><em>y</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">float &amp;</td>          <td class="paramname"><span class="paramname"><em>z</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">uint8_t &amp;</td>          <td class="paramname"><span class="paramname"><em>accuracy</em></span>&#160;)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get full reported gravity vector, units in m/s^2. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">x</td><td>Reference variable to save X axis gravity. </td></tr>
+    <tr><td class="paramname">y</td><td>Reference variable to save Y axis axis gravity. </td></tr>
+    <tr><td class="paramname">z</td><td>Reference variable to save Z axis axis gravity. </td></tr>
+    <tr><td class="paramname">accuracy</td><td>Reference variable to save reported gravity accuracy.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
+<div class="dynheader">
+Here is the call graph for this function:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_a386c46ac8965220ab7b9423df838dd4d_cgraph.png" border="0" usemap="#aclass_b_n_o08x_a386c46ac8965220ab7b9423df838dd4d_cgraph" alt=""/></div>
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+<h2 class="memtitle"><span class="permalink"><a href="#accd39f48e9f8ab8267df7184b5b7cd76">&#9670;&#160;</a></span>get_gravity_accuracy()</h2>
+
+<div class="memitem">
+<div class="memproto">
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+        <tr>
+          <td class="memname">uint8_t BNO08x::get_gravity_accuracy </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get the reported gravity accuracy. </p>
+<dl class="section return"><dt>Returns</dt><dd>Accuracy of reported gravity. </dd></dl>
+
+</div>
+</div>
+<a id="a88679bccd9339b87ec35fc4fc4e745ae" name="a88679bccd9339b87ec35fc4fc4e745ae"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a88679bccd9339b87ec35fc4fc4e745ae">&#9670;&#160;</a></span>get_gravity_X()</h2>
+
+<div class="memitem">
+<div class="memproto">
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+        <tr>
+          <td class="memname">float BNO08x::get_gravity_X </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get the reported x axis gravity. </p>
+<dl class="section return"><dt>Returns</dt><dd>x axis gravity in m/s^2 </dd></dl>
+<div class="dynheader">
+Here is the call graph for this function:</div>
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+<div class="center"><img src="class_b_n_o08x_a88679bccd9339b87ec35fc4fc4e745ae_cgraph.png" border="0" usemap="#aclass_b_n_o08x_a88679bccd9339b87ec35fc4fc4e745ae_cgraph" alt=""/></div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a8a36db7f1c932f33e05e494632059801">&#9670;&#160;</a></span>get_gravity_Y()</h2>
+
+<div class="memitem">
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+        <tr>
+          <td class="memname">float BNO08x::get_gravity_Y </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get the reported y axis gravity. </p>
+<dl class="section return"><dt>Returns</dt><dd>y axis gravity in m/s^2 </dd></dl>
+<div class="dynheader">
+Here is the call graph for this function:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_a8a36db7f1c932f33e05e494632059801_cgraph.png" border="0" usemap="#aclass_b_n_o08x_a8a36db7f1c932f33e05e494632059801_cgraph" alt=""/></div>
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+<div class="memitem">
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+          <td class="memname">float BNO08x::get_gravity_Z </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get the reported z axis gravity. </p>
+<dl class="section return"><dt>Returns</dt><dd>z axis gravity in m/s^2 </dd></dl>
+<div class="dynheader">
+Here is the call graph for this function:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_a5622b4d1754648ea7eb400c1adf9e807_cgraph.png" border="0" usemap="#aclass_b_n_o08x_a5622b4d1754648ea7eb400c1adf9e807_cgraph" alt=""/></div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a811999653110858311c97a779c388e5d">&#9670;&#160;</a></span>get_gyro_accuracy()</h2>
+
+<div class="memitem">
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+        <tr>
+          <td class="memname">uint8_t BNO08x::get_gyro_accuracy </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get calibrated gyro accuracy. </p>
+<dl class="section return"><dt>Returns</dt><dd>Accuracy of calibrated gyro. </dd></dl>
+
+</div>
+</div>
+<a id="a4d3746a376a22acb7a2641bb750c4c89" name="a4d3746a376a22acb7a2641bb750c4c89"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4d3746a376a22acb7a2641bb750c4c89">&#9670;&#160;</a></span>get_gyro_calibrated_velocity()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08x::get_gyro_calibrated_velocity </td>
+          <td>(</td>
+          <td class="paramtype">float &amp;</td>          <td class="paramname"><span class="paramname"><em>x</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">float &amp;</td>          <td class="paramname"><span class="paramname"><em>y</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">float &amp;</td>          <td class="paramname"><span class="paramname"><em>z</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">uint8_t &amp;</td>          <td class="paramname"><span class="paramname"><em>accuracy</em></span>&#160;)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get full rotational velocity with drift compensation (units in Rad/s). </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">x</td><td>Reference variable to save X axis angular velocity </td></tr>
+    <tr><td class="paramname">y</td><td>Reference variable to save Y axis angular velocity </td></tr>
+    <tr><td class="paramname">z</td><td>Reference variable to save Z axis angular velocity </td></tr>
+    <tr><td class="paramname">accuracy</td><td>Reference variable to save reported gyro accuracy.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
+<div class="dynheader">
+Here is the call graph for this function:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_a4d3746a376a22acb7a2641bb750c4c89_cgraph.png" border="0" usemap="#aclass_b_n_o08x_a4d3746a376a22acb7a2641bb750c4c89_cgraph" alt=""/></div>
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+<h2 class="memtitle"><span class="permalink"><a href="#ab7977391191067282e7f734b9ee45059">&#9670;&#160;</a></span>get_gyro_calibrated_velocity_X()</h2>
+
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+<div class="memproto">
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+        <tr>
+          <td class="memname">float BNO08x::get_gyro_calibrated_velocity_X </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get calibrated gyro x axis angular velocity measurement. </p>
+<dl class="section return"><dt>Returns</dt><dd>The angular reported x axis angular velocity from calibrated gyro (drift compensation applied). </dd></dl>
+<div class="dynheader">
+Here is the call graph for this function:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_ab7977391191067282e7f734b9ee45059_cgraph.png" border="0" usemap="#aclass_b_n_o08x_ab7977391191067282e7f734b9ee45059_cgraph" alt=""/></div>
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+
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+          <td class="memname">float BNO08x::get_gyro_calibrated_velocity_Y </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get calibrated gyro y axis angular velocity measurement. </p>
+<dl class="section return"><dt>Returns</dt><dd>The angular reported y axis angular velocity from calibrated gyro (drift compensation applied). </dd></dl>
+<div class="dynheader">
+Here is the call graph for this function:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_ad4fab6e636e239d4b9273f158983ed89_cgraph.png" border="0" usemap="#aclass_b_n_o08x_ad4fab6e636e239d4b9273f158983ed89_cgraph" alt=""/></div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a15a29c3bb476048b7229abcfb2b1d52a">&#9670;&#160;</a></span>get_gyro_calibrated_velocity_Z()</h2>
+
+<div class="memitem">
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+        <tr>
+          <td class="memname">float BNO08x::get_gyro_calibrated_velocity_Z </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get calibrated gyro z axis angular velocity measurement. </p>
+<dl class="section return"><dt>Returns</dt><dd>The angular reported z axis angular velocity from calibrated gyro (drift compensation applied). </dd></dl>
+<div class="dynheader">
+Here is the call graph for this function:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_a15a29c3bb476048b7229abcfb2b1d52a_cgraph.png" border="0" usemap="#aclass_b_n_o08x_a15a29c3bb476048b7229abcfb2b1d52a_cgraph" alt=""/></div>
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+<h2 class="memtitle"><span class="permalink"><a href="#afe6392012669e7ebd1a9e817e2bd313f">&#9670;&#160;</a></span>get_gyro_velocity()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08x::get_gyro_velocity </td>
+          <td>(</td>
+          <td class="paramtype">float &amp;</td>          <td class="paramname"><span class="paramname"><em>x</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">float &amp;</td>          <td class="paramname"><span class="paramname"><em>y</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">float &amp;</td>          <td class="paramname"><span class="paramname"><em>z</em></span>&#160;)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Full rotational velocity from gyro-integrated rotation vector (See Ref. Manual 6.5.44) </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">x</td><td>Reference variable to save X axis angular velocity </td></tr>
+    <tr><td class="paramname">y</td><td>Reference variable to save Y axis angular velocity </td></tr>
+    <tr><td class="paramname">z</td><td>Reference variable to save Z axis angular velocity</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
+<div class="dynheader">
+Here is the call graph for this function:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_afe6392012669e7ebd1a9e817e2bd313f_cgraph.png" border="0" usemap="#aclass_b_n_o08x_afe6392012669e7ebd1a9e817e2bd313f_cgraph" alt=""/></div>
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+<h2 class="memtitle"><span class="permalink"><a href="#acd376cd3e454a87198ec86accbf2ee00">&#9670;&#160;</a></span>get_gyro_velocity_X()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">float BNO08x::get_gyro_velocity_X </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get x axis angular velocity from gyro-integrated rotation vector. (See Ref. Manual 6.5.44) </p>
+<dl class="section return"><dt>Returns</dt><dd>The reported x axis angular velocity. </dd></dl>
+<div class="dynheader">
+Here is the call graph for this function:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_acd376cd3e454a87198ec86accbf2ee00_cgraph.png" border="0" usemap="#aclass_b_n_o08x_acd376cd3e454a87198ec86accbf2ee00_cgraph" alt=""/></div>
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+          <td class="memname">float BNO08x::get_gyro_velocity_Y </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get y axis angular velocity from gyro-integrated rotation vector. (See Ref. Manual 6.5.44) </p>
+<dl class="section return"><dt>Returns</dt><dd>The reported y axis angular velocity. </dd></dl>
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+
+<div class="memitem">
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+          <td class="memname">float BNO08x::get_gyro_velocity_Z </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get z axis angular velocity from gyro-integrated rotation vector. (See Ref. Manual 6.5.44) </p>
+<dl class="section return"><dt>Returns</dt><dd>The reported Z axis angular velocity. </dd></dl>
+<div class="dynheader">
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+<div class="center"><img src="class_b_n_o08x_ae2add976af256ec981248371a2f58207_cgraph.png" border="0" usemap="#aclass_b_n_o08x_ae2add976af256ec981248371a2f58207_cgraph" alt=""/></div>
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+<h2 class="memtitle"><span class="permalink"><a href="#ad59b029d04341dbef72e059488951980">&#9670;&#160;</a></span>get_linear_accel()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08x::get_linear_accel </td>
+          <td>(</td>
+          <td class="paramtype">float &amp;</td>          <td class="paramname"><span class="paramname"><em>x</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">float &amp;</td>          <td class="paramname"><span class="paramname"><em>y</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">float &amp;</td>          <td class="paramname"><span class="paramname"><em>z</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">uint8_t &amp;</td>          <td class="paramname"><span class="paramname"><em>accuracy</em></span>&#160;)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get full linear acceleration (acceleration of the device minus gravity, units in m/s^2). </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">x</td><td>Reference variable to save X axis acceleration. </td></tr>
+    <tr><td class="paramname">y</td><td>Reference variable to save Y axis acceleration. </td></tr>
+    <tr><td class="paramname">z</td><td>Reference variable to save Z axis acceleration. </td></tr>
+    <tr><td class="paramname">accuracy</td><td>Reference variable to save reported linear acceleration accuracy.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
+<div class="dynheader">
+Here is the call graph for this function:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_ad59b029d04341dbef72e059488951980_cgraph.png" border="0" usemap="#aclass_b_n_o08x_ad59b029d04341dbef72e059488951980_cgraph" alt=""/></div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a33fe3c2f47759cfae5f4b612ddd329ea">&#9670;&#160;</a></span>get_linear_accel_accuracy()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint8_t BNO08x::get_linear_accel_accuracy </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get accuracy of linear acceleration. </p>
+<dl class="section return"><dt>Returns</dt><dd>Accuracy of linear acceleration. </dd></dl>
+
+</div>
+</div>
+<a id="a763c3a9699a1081d430fd9b9b7bc49a3" name="a763c3a9699a1081d430fd9b9b7bc49a3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a763c3a9699a1081d430fd9b9b7bc49a3">&#9670;&#160;</a></span>get_linear_accel_X()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">float BNO08x::get_linear_accel_X </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get x axis linear acceleration (acceleration of device minus gravity, units in m/s^2) </p>
+<dl class="section return"><dt>Returns</dt><dd>The angular reported x axis linear acceleration. </dd></dl>
+<div class="dynheader">
+Here is the call graph for this function:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_a763c3a9699a1081d430fd9b9b7bc49a3_cgraph.png" border="0" usemap="#aclass_b_n_o08x_a763c3a9699a1081d430fd9b9b7bc49a3_cgraph" alt=""/></div>
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+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">float BNO08x::get_linear_accel_Y </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get y axis linear acceleration (acceleration of device minus gravity, units in m/s^2) </p>
+<dl class="section return"><dt>Returns</dt><dd>The angular reported y axis linear acceleration. </dd></dl>
+<div class="dynheader">
+Here is the call graph for this function:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_a1033bdd65b42b6706d1dfc67ece66191_cgraph.png" border="0" usemap="#aclass_b_n_o08x_a1033bdd65b42b6706d1dfc67ece66191_cgraph" alt=""/></div>
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+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">float BNO08x::get_linear_accel_Z </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get z axis linear acceleration (acceleration of device minus gravity, units in m/s^2) </p>
+<dl class="section return"><dt>Returns</dt><dd>The angular reported z axis linear acceleration. </dd></dl>
+<div class="dynheader">
+Here is the call graph for this function:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_afdfa7d50362702da689c5d18bf17fd84_cgraph.png" border="0" usemap="#aclass_b_n_o08x_afdfa7d50362702da689c5d18bf17fd84_cgraph" alt=""/></div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a35a224d519a2a243d0d526a34ecde5a8">&#9670;&#160;</a></span>get_magf()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08x::get_magf </td>
+          <td>(</td>
+          <td class="paramtype">float &amp;</td>          <td class="paramname"><span class="paramname"><em>x</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">float &amp;</td>          <td class="paramname"><span class="paramname"><em>y</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">float &amp;</td>          <td class="paramname"><span class="paramname"><em>z</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">uint8_t &amp;</td>          <td class="paramname"><span class="paramname"><em>accuracy</em></span>&#160;)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get the full magnetic field vector. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">x</td><td>Reference variable to save reported x magnitude. </td></tr>
+    <tr><td class="paramname">y</td><td>Reference variable to save reported y magnitude. </td></tr>
+    <tr><td class="paramname">x</td><td>Reference variable to save reported z magnitude. </td></tr>
+    <tr><td class="paramname">accuracy</td><td>Reference variable save reported accuracy.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
+<div class="dynheader">
+Here is the call graph for this function:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_a35a224d519a2a243d0d526a34ecde5a8_cgraph.png" border="0" usemap="#aclass_b_n_o08x_a35a224d519a2a243d0d526a34ecde5a8_cgraph" alt=""/></div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a487391e6b2dd7f05084804d1fb94976f">&#9670;&#160;</a></span>get_magf_accuracy()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint8_t BNO08x::get_magf_accuracy </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get accuracy of reported magnetic field vector. </p>
+<dl class="section return"><dt>Returns</dt><dd>The accuracy of reported magnetic field vector. </dd></dl>
+<div class="dynheader">
+Here is the caller graph for this function:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_a487391e6b2dd7f05084804d1fb94976f_icgraph.png" border="0" usemap="#aclass_b_n_o08x_a487391e6b2dd7f05084804d1fb94976f_icgraph" alt=""/></div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a111601243b913751eb51c1f37cba4e7d">&#9670;&#160;</a></span>get_magf_X()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">float BNO08x::get_magf_X </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get X component of magnetic field vector. </p>
+<dl class="section return"><dt>Returns</dt><dd>The reported X component of magnetic field vector. </dd></dl>
+<div class="dynheader">
+Here is the call graph for this function:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_a111601243b913751eb51c1f37cba4e7d_cgraph.png" border="0" usemap="#aclass_b_n_o08x_a111601243b913751eb51c1f37cba4e7d_cgraph" alt=""/></div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a82ed8d7b9a5c25374839df75a3d220ea">&#9670;&#160;</a></span>get_magf_Y()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">float BNO08x::get_magf_Y </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get Y component of magnetic field vector. </p>
+<dl class="section return"><dt>Returns</dt><dd>The reported Y component of magnetic field vector. </dd></dl>
+<div class="dynheader">
+Here is the call graph for this function:</div>
+<div class="dyncontent">
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+<h2 class="memtitle"><span class="permalink"><a href="#ab4c48a91d2f8b29430abc17b7f015282">&#9670;&#160;</a></span>get_magf_Z()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">float BNO08x::get_magf_Z </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get Z component of magnetic field vector. </p>
+<dl class="section return"><dt>Returns</dt><dd>The reported Z component of magnetic field vector. </dd></dl>
+<div class="dynheader">
+Here is the call graph for this function:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_ab4c48a91d2f8b29430abc17b7f015282_cgraph.png" border="0" usemap="#aclass_b_n_o08x_ab4c48a91d2f8b29430abc17b7f015282_cgraph" alt=""/></div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a1b91f234d81c45f1f5ca2f27c9f0f6a3">&#9670;&#160;</a></span>get_pitch()</h2>
+
+<div class="memitem">
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+          <td class="memname">float BNO08x::get_pitch </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get the reported rotation about y axis. </p>
+<dl class="section return"><dt>Returns</dt><dd>Rotation about the y axis in radians. </dd></dl>
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+<h2 class="memtitle"><span class="permalink"><a href="#af50010400cbd1445e9ddfa259384b412">&#9670;&#160;</a></span>get_pitch_deg()</h2>
+
+<div class="memitem">
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+          <td class="memname">float BNO08x::get_pitch_deg </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
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+
+<p>Get the reported rotation about y axis. </p>
+<dl class="section return"><dt>Returns</dt><dd>Rotation about the y axis in degrees. </dd></dl>
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+<h2 class="memtitle"><span class="permalink"><a href="#a4421c43323945946ad605f8422958dcf">&#9670;&#160;</a></span>get_Q1()</h2>
+
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+        <tr>
+          <td class="memname">int16_t BNO08x::get_Q1 </td>
+          <td>(</td>
+          <td class="paramtype">uint16_t</td>          <td class="paramname"><span class="paramname"><em>record_ID</em></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Gets Q1 point from <a class="el" href="class_b_n_o08x.html">BNO08x</a> FRS (flash record system). </p>
+<p>Note that Q points from the data sheet can be used as well, using the ones stored in flash is optional.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">record_ID</td><td>Which record ID/ sensor to get Q1 value for.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Q1 value for requested sensor. </dd></dl>
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+<h2 class="memtitle"><span class="permalink"><a href="#a954dccdcbe8a8c4f1787f13ebb8d932b">&#9670;&#160;</a></span>get_Q2()</h2>
+
+<div class="memitem">
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+        <tr>
+          <td class="memname">int16_t BNO08x::get_Q2 </td>
+          <td>(</td>
+          <td class="paramtype">uint16_t</td>          <td class="paramname"><span class="paramname"><em>record_ID</em></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Gets Q2 point from <a class="el" href="class_b_n_o08x.html">BNO08x</a> FRS (flash record system). </p>
+<p>Note that Q points from the data sheet can be used as well, using the ones stored in flash is optional.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">record_ID</td><td>Which record ID/ sensor to get Q2 value for.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Q2 value for requested sensor. </dd></dl>
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+<h2 class="memtitle"><span class="permalink"><a href="#a1590ba793668f9cb1a32a1f4dd07cb9a">&#9670;&#160;</a></span>get_Q3()</h2>
+
+<div class="memitem">
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+      <table class="memname">
+        <tr>
+          <td class="memname">int16_t BNO08x::get_Q3 </td>
+          <td>(</td>
+          <td class="paramtype">uint16_t</td>          <td class="paramname"><span class="paramname"><em>record_ID</em></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Gets Q3 point from <a class="el" href="class_b_n_o08x.html">BNO08x</a> FRS (flash record system). </p>
+<p>Note that Q points from the data sheet can be used as well, using the ones stored in flash is optional.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">record_ID</td><td>Which record ID/ sensor to get Q3 value for.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Q3 value for requested sensor. </dd></dl>
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+<h2 class="memtitle"><span class="permalink"><a href="#a51a6d594824de2292e70f788454f8a2d">&#9670;&#160;</a></span>get_quat()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08x::get_quat </td>
+          <td>(</td>
+          <td class="paramtype">float &amp;</td>          <td class="paramname"><span class="paramname"><em>i</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">float &amp;</td>          <td class="paramname"><span class="paramname"><em>j</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">float &amp;</td>          <td class="paramname"><span class="paramname"><em>k</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">float &amp;</td>          <td class="paramname"><span class="paramname"><em>real</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">float &amp;</td>          <td class="paramname"><span class="paramname"><em>rad_accuracy</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">uint8_t &amp;</td>          <td class="paramname"><span class="paramname"><em>accuracy</em></span>&#160;)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get the full quaternion reading. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">i</td><td>Reference variable to save reported i component of quaternion. </td></tr>
+    <tr><td class="paramname">j</td><td>Reference variable to save reported j component of quaternion. </td></tr>
+    <tr><td class="paramname">k</td><td>Reference variable to save reported k component of quaternion. </td></tr>
+    <tr><td class="paramname">real</td><td>Reference variable to save reported real component of quaternion. </td></tr>
+    <tr><td class="paramname">rad_accuracy</td><td>Reference variable to save reported raw quaternion radian accuracy. </td></tr>
+    <tr><td class="paramname">accuracy</td><td>Reference variable to save reported quaternion accuracy.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
+<div class="dynheader">
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+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get accuracy of reported quaternion. </p>
+<dl class="section return"><dt>Returns</dt><dd>The accuracy of reported quaternion. </dd></dl>
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+          <td></td>
+        </tr>
+      </table>
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+
+<p>Get I component of reported quaternion. </p>
+<dl class="section return"><dt>Returns</dt><dd>The I component of reported quaternion. </dd></dl>
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+<h2 class="memtitle"><span class="permalink"><a href="#a9f6bb642fa0297a7b9bcc94dd7374015">&#9670;&#160;</a></span>get_quat_J()</h2>
+
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+          <td class="memname">float BNO08x::get_quat_J </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
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+<p>Get J component of reported quaternion. </p>
+<dl class="section return"><dt>Returns</dt><dd>The J component of reported quaternion. </dd></dl>
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+<h2 class="memtitle"><span class="permalink"><a href="#a9f42c70c2337a0d831064a40ecfe2dd8">&#9670;&#160;</a></span>get_quat_K()</h2>
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+          <td class="memname">float BNO08x::get_quat_K </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
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+<p>Get K component of reported quaternion. </p>
+<dl class="section return"><dt>Returns</dt><dd>The K component of reported quaternion. </dd></dl>
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+<h2 class="memtitle"><span class="permalink"><a href="#a61b7d10a98afc6903fea6b2cede27630">&#9670;&#160;</a></span>get_quat_radian_accuracy()</h2>
+
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+          <td class="memname">float BNO08x::get_quat_radian_accuracy </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
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+<p>Get radian accuracy of reported quaternion. </p>
+<dl class="section return"><dt>Returns</dt><dd>The radian accuracy of reported quaternion. </dd></dl>
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+<h2 class="memtitle"><span class="permalink"><a href="#a5a556c5ec1baaa7f1156779dbe47a7b7">&#9670;&#160;</a></span>get_quat_real()</h2>
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+<div class="memitem">
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+          <td class="memname">float BNO08x::get_quat_real </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
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+<p>Get real component of reported quaternion. </p>
+<dl class="section return"><dt>Returns</dt><dd>The real component of reported quaternion. </dd></dl>
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+<h2 class="memtitle"><span class="permalink"><a href="#a0fff04c42c9502615ad73cd1457cb9b0">&#9670;&#160;</a></span>get_range()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">float BNO08x::get_range </td>
+          <td>(</td>
+          <td class="paramtype">uint16_t</td>          <td class="paramname"><span class="paramname"><em>record_ID</em></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Gets range from <a class="el" href="class_b_n_o08x.html">BNO08x</a> FRS (flash record system). </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">record_ID</td><td>Which record ID/ sensor to get range value for.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>The range value for the requested sensor. </dd></dl>
+<div class="dynheader">
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+<h2 class="memtitle"><span class="permalink"><a href="#a1de356dd604c1dffcd1a32faeb4fafe2">&#9670;&#160;</a></span>get_raw_accel_X()</h2>
+
+<div class="memitem">
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+        <tr>
+          <td class="memname">int16_t BNO08x::get_raw_accel_X </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get raw accelerometer x axis reading from physical accelerometer MEMs sensor (See Ref. Manual 6.5.8) </p>
+<dl class="section return"><dt>Returns</dt><dd>Reported raw accelerometer x axis reading from physical MEMs sensor. </dd></dl>
+
+</div>
+</div>
+<a id="a96563de0eb597a52d595d19da827b1ac" name="a96563de0eb597a52d595d19da827b1ac"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a96563de0eb597a52d595d19da827b1ac">&#9670;&#160;</a></span>get_raw_accel_Y()</h2>
+
+<div class="memitem">
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+        <tr>
+          <td class="memname">int16_t BNO08x::get_raw_accel_Y </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get raw accelerometer y axis reading from physical accelerometer MEMs sensor (See Ref. Manual 6.5.8) </p>
+<dl class="section return"><dt>Returns</dt><dd>Reported raw accelerometer y axis reading from physical MEMs sensor. </dd></dl>
+
+</div>
+</div>
+<a id="a718cdd910e5e7e03fd0a1ad04ee6f0ce" name="a718cdd910e5e7e03fd0a1ad04ee6f0ce"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a718cdd910e5e7e03fd0a1ad04ee6f0ce">&#9670;&#160;</a></span>get_raw_accel_Z()</h2>
+
+<div class="memitem">
+<div class="memproto">
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+        <tr>
+          <td class="memname">int16_t BNO08x::get_raw_accel_Z </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get raw accelerometer z axis reading from physical accelerometer MEMs sensor (See Ref. Manual 6.5.8) </p>
+<dl class="section return"><dt>Returns</dt><dd>Reported raw accelerometer z axis reading from physical MEMs sensor. </dd></dl>
+
+</div>
+</div>
+<a id="af1b2c3a383a84fc6dfaddae1052b44d4" name="af1b2c3a383a84fc6dfaddae1052b44d4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af1b2c3a383a84fc6dfaddae1052b44d4">&#9670;&#160;</a></span>get_raw_gyro_X()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">int16_t BNO08x::get_raw_gyro_X </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get raw gyroscope x axis reading from physical gyroscope MEMs sensor (See Ref. Manual 6.5.12) </p>
+<dl class="section return"><dt>Returns</dt><dd>Reported raw gyroscope x axis reading from physical MEMs sensor. </dd></dl>
+
+</div>
+</div>
+<a id="aff7714441d242b3b9b0c03f94e0a9374" name="aff7714441d242b3b9b0c03f94e0a9374"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aff7714441d242b3b9b0c03f94e0a9374">&#9670;&#160;</a></span>get_raw_gyro_Y()</h2>
+
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+        <tr>
+          <td class="memname">int16_t BNO08x::get_raw_gyro_Y </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get raw gyroscope y axis reading from physical gyroscope MEMs sensor (See Ref. Manual 6.5.12) </p>
+<dl class="section return"><dt>Returns</dt><dd>Reported raw gyroscope y axis reading from physical MEMs sensor. </dd></dl>
+
+</div>
+</div>
+<a id="a2e28b5a79c442a6baa2fa5165b9ce37d" name="a2e28b5a79c442a6baa2fa5165b9ce37d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2e28b5a79c442a6baa2fa5165b9ce37d">&#9670;&#160;</a></span>get_raw_gyro_Z()</h2>
+
+<div class="memitem">
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+        <tr>
+          <td class="memname">int16_t BNO08x::get_raw_gyro_Z </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get raw gyroscope z axis reading from physical gyroscope MEMs sensor (See Ref. Manual 6.5.12) </p>
+<dl class="section return"><dt>Returns</dt><dd>Reported raw gyroscope z axis reading from physical MEMs sensor. </dd></dl>
+
+</div>
+</div>
+<a id="adf12600b39de41d258439a343fcc1ad8" name="adf12600b39de41d258439a343fcc1ad8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adf12600b39de41d258439a343fcc1ad8">&#9670;&#160;</a></span>get_raw_magf_X()</h2>
+
+<div class="memitem">
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+        <tr>
+          <td class="memname">int16_t BNO08x::get_raw_magf_X </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get raw magnetometer x axis reading from physical magnetometer sensor (See Ref. Manual 6.5.15) </p>
+<dl class="section return"><dt>Returns</dt><dd>Reported raw magnetometer x axis reading from physical magnetometer sensor. </dd></dl>
+
+</div>
+</div>
+<a id="a2c842e43ceae19149f6525bcbc48f1cf" name="a2c842e43ceae19149f6525bcbc48f1cf"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2c842e43ceae19149f6525bcbc48f1cf">&#9670;&#160;</a></span>get_raw_magf_Y()</h2>
+
+<div class="memitem">
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+        <tr>
+          <td class="memname">int16_t BNO08x::get_raw_magf_Y </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get raw magnetometer y axis reading from physical magnetometer sensor (See Ref. Manual 6.5.15) </p>
+<dl class="section return"><dt>Returns</dt><dd>Reported raw magnetometer y axis reading from physical magnetometer sensor. </dd></dl>
+
+</div>
+</div>
+<a id="a99c1bcc2ec3ca3d8feafd6dd61f9d269" name="a99c1bcc2ec3ca3d8feafd6dd61f9d269"></a>
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+
+<div class="memitem">
+<div class="memproto">
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+        <tr>
+          <td class="memname">int16_t BNO08x::get_raw_magf_Z </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
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+</div><div class="memdoc">
+
+<p>Get raw magnetometer z axis reading from physical magnetometer sensor (See Ref. Manual 6.5.15) </p>
+<dl class="section return"><dt>Returns</dt><dd>Reported raw magnetometer z axis reading from physical magnetometer sensor. </dd></dl>
+
+</div>
+</div>
+<a id="a11bb1b3fa44ad8f28c1492b5c07af886" name="a11bb1b3fa44ad8f28c1492b5c07af886"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a11bb1b3fa44ad8f28c1492b5c07af886">&#9670;&#160;</a></span>get_reset_reason()</h2>
+
+<div class="memitem">
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+          <td class="memname">uint8_t BNO08x::get_reset_reason </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
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+
+<p>Requests product ID, prints the returned info over serial, and returns the reason for the most resent reset. </p>
+<dl class="section return"><dt>Returns</dt><dd>The reason for the most recent recent reset ( 1 = POR (power on reset), 2 = internal reset, 3 = watchdog timer, 4 = external reset 5 = other) </dd></dl>
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+<h2 class="memtitle"><span class="permalink"><a href="#a1d6ea02d0d4b23ff6a15e9d5c6c92372">&#9670;&#160;</a></span>get_resolution()</h2>
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+          <td class="memname">float BNO08x::get_resolution </td>
+          <td>(</td>
+          <td class="paramtype">uint16_t</td>          <td class="paramname"><span class="paramname"><em>record_ID</em></span></td><td>)</td>
+          <td></td>
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+      </table>
+</div><div class="memdoc">
+
+<p>Gets resolution from <a class="el" href="class_b_n_o08x.html">BNO08x</a> FRS (flash record system). </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">record_ID</td><td>Which record ID/ sensor to get resolution value for.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>The resolution value for the requested sensor. </dd></dl>
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+<h2 class="memtitle"><span class="permalink"><a href="#a89618eba08186ee8e679e7313907ddef">&#9670;&#160;</a></span>get_roll()</h2>
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+          <td class="memname">float BNO08x::get_roll </td>
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+<p>Get the reported rotation about x axis. </p>
+<dl class="section return"><dt>Returns</dt><dd>Rotation about the x axis in radians. </dd></dl>
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+<h2 class="memtitle"><span class="permalink"><a href="#a7077b9a130f1dcf0192454e387968dd6">&#9670;&#160;</a></span>get_roll_deg()</h2>
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+          <td></td>
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+<p>Get the reported rotation about x axis. </p>
+<dl class="section return"><dt>Returns</dt><dd>Rotation about the x axis in degrees. </dd></dl>
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+<h2 class="memtitle"><span class="permalink"><a href="#a0d148e00abcfeec48c689e3084a7e786">&#9670;&#160;</a></span>get_stability_classifier()</h2>
+
+<div class="memitem">
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+        <tr>
+          <td class="memname">int8_t BNO08x::get_stability_classifier </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
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+</div><div class="memdoc">
+
+<p>Get the current stability classifier (Seee Ref. Manual 6.5.31) </p>
+<dl class="section return"><dt>Returns</dt><dd>The current stability (0 = unknown, 1 = on table, 2 = stationary) </dd></dl>
+
+</div>
+</div>
+<a id="adaff49f3d80fdd19fd4210f0c56d41ef" name="adaff49f3d80fdd19fd4210f0c56d41ef"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adaff49f3d80fdd19fd4210f0c56d41ef">&#9670;&#160;</a></span>get_step_count()</h2>
+
+<div class="memitem">
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+      <table class="memname">
+        <tr>
+          <td class="memname">uint16_t BNO08x::get_step_count </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get the counted amount of steps. </p>
+<dl class="section return"><dt>Returns</dt><dd>The current amount of counted steps. </dd></dl>
+
+</div>
+</div>
+<a id="a4797ec731de4c158716da1a7af9d1602" name="a4797ec731de4c158716da1a7af9d1602"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4797ec731de4c158716da1a7af9d1602">&#9670;&#160;</a></span>get_tap_detector()</h2>
+
+<div class="memitem">
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+      <table class="memname">
+        <tr>
+          <td class="memname">uint8_t BNO08x::get_tap_detector </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get if tap has occured. </p>
+<dl class="section return"><dt>Returns</dt><dd>7 bit tap code indicated which axis taps have occurred. (See Ref. Manual 6.5.27) </dd></dl>
+
+</div>
+</div>
+<a id="ad9137777271421a58159f3fe5e05ed20" name="ad9137777271421a58159f3fe5e05ed20"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad9137777271421a58159f3fe5e05ed20">&#9670;&#160;</a></span>get_time_stamp()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint32_t BNO08x::get_time_stamp </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Return timestamp of most recent report. </p>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
+
+</div>
+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a1bd3c33e70354bd35a78b83b6786b531">&#9670;&#160;</a></span>get_uncalibrated_gyro()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08x::get_uncalibrated_gyro </td>
+          <td>(</td>
+          <td class="paramtype">float &amp;</td>          <td class="paramname"><span class="paramname"><em>x</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">float &amp;</td>          <td class="paramname"><span class="paramname"><em>y</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">float &amp;</td>          <td class="paramname"><span class="paramname"><em>z</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">float &amp;</td>          <td class="paramname"><span class="paramname"><em>b_x</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">float &amp;</td>          <td class="paramname"><span class="paramname"><em>b_y</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">float &amp;</td>          <td class="paramname"><span class="paramname"><em>b_z</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">uint8_t &amp;</td>          <td class="paramname"><span class="paramname"><em>accuracy</em></span>&#160;)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get full rotational velocity without drift compensation (units in Rad/s). An estimate of drift is given but not applied. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">x</td><td>Reference variable to save X axis angular velocity </td></tr>
+    <tr><td class="paramname">y</td><td>Reference variable to save Y axis angular velocity </td></tr>
+    <tr><td class="paramname">z</td><td>Reference variable to save Z axis angular velocity </td></tr>
+    <tr><td class="paramname">b_x</td><td>Reference variable to save X axis drift estimate </td></tr>
+    <tr><td class="paramname">b_y</td><td>Reference variable to save Y axis drift estimate </td></tr>
+    <tr><td class="paramname">b_z</td><td>Reference variable to save Z axis drift estimate </td></tr>
+    <tr><td class="paramname">accuracy</td><td>Reference variable to save reported gyro accuracy.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
+<div class="dynheader">
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+<h2 class="memtitle"><span class="permalink"><a href="#a3285613f18b2f2f4c3f9e6d5c971af10">&#9670;&#160;</a></span>get_uncalibrated_gyro_accuracy()</h2>
+
+<div class="memitem">
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+        <tr>
+          <td class="memname">uint8_t BNO08x::get_uncalibrated_gyro_accuracy </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get uncalibrated gyro accuracy. </p>
+<dl class="section return"><dt>Returns</dt><dd>Accuracy of uncalibrated gyro. </dd></dl>
+
+</div>
+</div>
+<a id="ad228cdf352b7ea95e484da993045a47b" name="ad228cdf352b7ea95e484da993045a47b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad228cdf352b7ea95e484da993045a47b">&#9670;&#160;</a></span>get_uncalibrated_gyro_bias_X()</h2>
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+          <td class="memname">float BNO08x::get_uncalibrated_gyro_bias_X </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get uncalibrated gyro x axis drift estimate. </p>
+<dl class="section return"><dt>Returns</dt><dd>The angular reported x axis drift estimate. </dd></dl>
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+<p>Get uncalibrated gyro Y axis drift estimate. </p>
+<dl class="section return"><dt>Returns</dt><dd>The angular reported Y axis drift estimate. </dd></dl>
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+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
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+<p>Get uncalibrated gyro Z axis drift estimate. </p>
+<dl class="section return"><dt>Returns</dt><dd>The angular reported Z axis drift estimate. </dd></dl>
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+          <td class="memname">float BNO08x::get_uncalibrated_gyro_X </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
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+</div><div class="memdoc">
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+<p>Get uncalibrated gyro x axis angular velocity measurement. </p>
+<dl class="section return"><dt>Returns</dt><dd>The angular reported x axis angular velocity from uncalibrated gyro. </dd></dl>
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+          <td class="memname">float BNO08x::get_uncalibrated_gyro_Y </td>
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+          <td></td>
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+<p>Get uncalibrated gyro Y axis angular velocity measurement. </p>
+<dl class="section return"><dt>Returns</dt><dd>The angular reported Y axis angular velocity from uncalibrated gyro. </dd></dl>
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+<p>Get uncalibrated gyro Z axis angular velocity measurement. </p>
+<dl class="section return"><dt>Returns</dt><dd>The angular reported Z axis angular velocity from uncalibrated gyro. </dd></dl>
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+          <td></td>
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+<p>Get the reported rotation about z axis. </p>
+<dl class="section return"><dt>Returns</dt><dd>Rotation about the z axis in radians. </dd></dl>
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+          <td class="memname">float BNO08x::get_yaw_deg </td>
+          <td>(</td>
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+<p>Get the reported rotation about z axis. </p>
+<dl class="section return"><dt>Returns</dt><dd>Rotation about the z axis in degrees. </dd></dl>
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+          <td>(</td>
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+          <td></td>
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+</div><div class="memdoc">
+
+<p>Hard resets <a class="el" href="class_b_n_o08x.html">BNO08x</a> sensor. </p>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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+<h2 class="memtitle"><span class="permalink"><a href="#a804b95c58c30d36933fd251626b85bf7">&#9670;&#160;</a></span>hint_handler()</h2>
+
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+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void IRAM_ATTR BNO08x::hint_handler </td>
+          <td>(</td>
+          <td class="paramtype">void *</td>          <td class="paramname"><span class="paramname"><em>arg</em></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">private</span></span>  </td>
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+</div><div class="memdoc">
+
+<p>HINT interrupt service routine, handles falling edge of <a class="el" href="class_b_n_o08x.html">BNO08x</a> HINT pin. </p>
+<p>ISR that launches SPI task to perform transaction upon assertion of <a class="el" href="class_b_n_o08x.html">BNO08x</a> interrupt pin.</p>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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+        <tr>
+          <td class="memname">bool BNO08x::initialize </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Initializes <a class="el" href="class_b_n_o08x.html">BNO08x</a> sensor. </p>
+<p>Resets sensor and goes through initializing process outlined in <a class="el" href="class_b_n_o08x.html">BNO08x</a> datasheet. Launches two tasks, one to manage SPI transactions, another to process any received data.</p>
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+<h2 class="memtitle"><span class="permalink"><a href="#ac1b3de9b552c611ee9c455d7f19be698">&#9670;&#160;</a></span>mode_on()</h2>
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+          <td class="memname">bool BNO08x::mode_on </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
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+
+<p>Turns on/ brings <a class="el" href="class_b_n_o08x.html">BNO08x</a> sensor out of sleep mode using executable channel. </p>
+<dl class="section return"><dt>Returns</dt><dd>True if exiting sleep mode was success. </dd></dl>
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+<h2 class="memtitle"><span class="permalink"><a href="#a176ae0112325c05105eacb4566bbfa0b">&#9670;&#160;</a></span>mode_sleep()</h2>
+
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+          <td class="memname">bool BNO08x::mode_sleep </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
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+
+<p>Puts <a class="el" href="class_b_n_o08x.html">BNO08x</a> sensor into sleep/low power mode using executable channel. </p>
+<dl class="section return"><dt>Returns</dt><dd>True if entering sleep mode was success. </dd></dl>
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+<h2 class="memtitle"><span class="permalink"><a href="#a4f66045a0528a0c17c52421ea51612e7">&#9670;&#160;</a></span>parse_command_report()</h2>
+
+<div class="memitem">
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+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint16_t BNO08x::parse_command_report </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="struct_b_n_o08x_1_1bno08x__rx__packet__t.html">bno08x_rx_packet_t</a> *</td>          <td class="paramname"><span class="paramname"><em>packet</em></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Parses received command report sent by <a class="el" href="class_b_n_o08x.html">BNO08x</a> (See Ref. Manual 6.3.9) </p>
+<dl class="section return"><dt>Returns</dt><dd>The command report ID, 0 if invalid. </dd></dl>
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+<h2 class="memtitle"><span class="permalink"><a href="#a51b360d795563b55559f11efb40be36a">&#9670;&#160;</a></span>parse_frs_read_response_report()</h2>
+
+<div class="memitem">
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+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint16_t BNO08x::parse_frs_read_response_report </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="struct_b_n_o08x_1_1bno08x__rx__packet__t.html">bno08x_rx_packet_t</a> *</td>          <td class="paramname"><span class="paramname"><em>packet</em></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Sends packet to be parsed to meta data function call (frs_read_word()) through queue. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">packet</td><td>The packet containing the frs read report. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>1, always valid, parsing for this happens in frs_read_word() </dd></dl>
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+<h2 class="memtitle"><span class="permalink"><a href="#a8d9db3e1b6208c2661e1c543deefa53d">&#9670;&#160;</a></span>parse_input_report()</h2>
+
+<div class="memitem">
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+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
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+          <td class="memname">uint16_t BNO08x::parse_input_report </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="struct_b_n_o08x_1_1bno08x__rx__packet__t.html">bno08x_rx_packet_t</a> *</td>          <td class="paramname"><span class="paramname"><em>packet</em></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Parses received input report sent by <a class="el" href="class_b_n_o08x.html">BNO08x</a>. </p>
+<p>Unit responds with packet that contains the following:</p>
+<p>packet-&gt;header[0:3]: First, a 4 byte header packet-&gt;body[0:4]: Then a 5 byte timestamp of microsecond ticks since reading was taken packet-&gt;body[5 + 0]: Then a feature report ID (0x01 for Accel, 0x05 for Rotation Vector, etc...) packet-&gt;body[5 + 1]: Sequence number (See Ref.Manual 6.5.8.2) packet-&gt;body[5 + 2]: Status packet-&gt;body[3]: Delay packet-&gt;body[4:5]: i/accel x/gyro x/etc packet-&gt;body[6:7]: j/accel y/gyro y/etc packet-&gt;body[8:9]: k/accel z/gyro z/etc packet-&gt;body[10:11]: real/gyro temp/etc packet-&gt;body[12:13]: Accuracy estimate</p>
+<dl class="section return"><dt>Returns</dt><dd>The report ID of the respective sensor, for ex. SENSOR_REPORT_ID_GYRO_INTEGRATED_ROTATION_VECTOR, 0 if invalid. </dd></dl>
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+<h2 class="memtitle"><span class="permalink"><a href="#a67a697595d6a4d4638a53c6b4a5ef0cd">&#9670;&#160;</a></span>parse_packet()</h2>
+
+<div class="memitem">
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+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint16_t BNO08x::parse_packet </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="struct_b_n_o08x_1_1bno08x__rx__packet__t.html">bno08x_rx_packet_t</a> *</td>          <td class="paramname"><span class="paramname"><em>packet</em></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Parses a packet received from bno08x, updating any data according to received reports. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">packet</td><td>The packet to be parsed. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>0 if invalid packet. </dd></dl>
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+<h2 class="memtitle"><span class="permalink"><a href="#a29cfd7fc2816483ebebe9d55b677a036">&#9670;&#160;</a></span>parse_product_id_report()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint16_t BNO08x::parse_product_id_report </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="struct_b_n_o08x_1_1bno08x__rx__packet__t.html">bno08x_rx_packet_t</a> *</td>          <td class="paramname"><span class="paramname"><em>packet</em></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Parses product id report and prints device info. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">packet</td><td>The packet containing product id report. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>1, always valid. </dd></dl>
+<div class="dynheader">
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+<h2 class="memtitle"><span class="permalink"><a href="#a35856c108a47de8b3b38c4395aabb4eb">&#9670;&#160;</a></span>print_header()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08x::print_header </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="struct_b_n_o08x_1_1bno08x__rx__packet__t.html">bno08x_rx_packet_t</a> *</td>          <td class="paramname"><span class="paramname"><em>packet</em></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Prints the header of the passed SHTP packet to serial console with ESP_LOG statement. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">packet</td><td>The packet containing the header to be printed. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
+
+</div>
+</div>
+<a id="a05e4cd5861b55fc0182d7dd13bb85e49" name="a05e4cd5861b55fc0182d7dd13bb85e49"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a05e4cd5861b55fc0182d7dd13bb85e49">&#9670;&#160;</a></span>print_packet()</h2>
+
+<div class="memitem">
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+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08x::print_packet </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="struct_b_n_o08x_1_1bno08x__rx__packet__t.html">bno08x_rx_packet_t</a> *</td>          <td class="paramname"><span class="paramname"><em>packet</em></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Prints the passed SHTP packet to serial console with ESP_LOG statement. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">packet</td><td>The packet to be printed. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
+
+</div>
+</div>
+<a id="a27fb24e894f794ec6228ef142b6ff8d9" name="a27fb24e894f794ec6228ef142b6ff8d9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a27fb24e894f794ec6228ef142b6ff8d9">&#9670;&#160;</a></span>q_to_float()</h2>
+
+<div class="memitem">
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+      <table class="memname">
+        <tr>
+          <td class="memname">float BNO08x::q_to_float </td>
+          <td>(</td>
+          <td class="paramtype">int16_t</td>          <td class="paramname"><span class="paramname"><em>fixed_point_value</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">uint8_t</td>          <td class="paramname"><span class="paramname"><em>q_point</em></span>&#160;)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Converts a register value to a float using its associated Q point. (See <a href="https://en.wikipedia.org/wiki/Q_(number_format)">https://en.wikipedia.org/wiki/Q_(number_format)</a>) </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">q_point</td><td>Q point value associated with register. </td></tr>
+    <tr><td class="paramname">fixed_point_value</td><td>The fixed point value to convert.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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+<h2 class="memtitle"><span class="permalink"><a href="#ad097849616c5caab1fd3eb3632ee2b91">&#9670;&#160;</a></span>queue_calibrate_command()</h2>
+
+<div class="memitem">
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+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08x::queue_calibrate_command </td>
+          <td>(</td>
+          <td class="paramtype">uint8_t</td>          <td class="paramname"><span class="paramname"><em>sensor_to_calibrate</em></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Queues a packet containing a command to calibrate the specified sensor. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">sensor_to_calibrate</td><td>The sensor to calibrate. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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+<h2 class="memtitle"><span class="permalink"><a href="#a5cc58139e4d5f0587b90e249ceb476f9">&#9670;&#160;</a></span>queue_command()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08x::queue_command </td>
+          <td>(</td>
+          <td class="paramtype">uint8_t</td>          <td class="paramname"><span class="paramname"><em>command</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">uint8_t *</td>          <td class="paramname"><span class="paramname"><em>commands</em></span>&#160;)</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Queues a packet containing a command. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">command</td><td>The command to be sent. </td></tr>
+    <tr><td class="paramname">commands</td><td>Command data array, pre-packed with exception of first 3 elements (command info)</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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+<h2 class="memtitle"><span class="permalink"><a href="#af2951f6ea448af7cf7932fbfed9fec3c">&#9670;&#160;</a></span>queue_feature_command() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08x::queue_feature_command </td>
+          <td>(</td>
+          <td class="paramtype">uint8_t</td>          <td class="paramname"><span class="paramname"><em>report_ID</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">uint32_t</td>          <td class="paramname"><span class="paramname"><em>time_between_reports</em></span>&#160;)</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Queues a packet containing a command with a request for sensor reports, reported periodically. (See Ref. Manual 6.5.4) </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">report_ID</td><td>ID of sensor report being requested. </td></tr>
+    <tr><td class="paramname">time_between_reports</td><td>Desired time between reports.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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+<h2 class="memtitle"><span class="permalink"><a href="#a2d6de4823893128e6a4b562f34326ae8">&#9670;&#160;</a></span>queue_feature_command() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08x::queue_feature_command </td>
+          <td>(</td>
+          <td class="paramtype">uint8_t</td>          <td class="paramname"><span class="paramname"><em>report_ID</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">uint32_t</td>          <td class="paramname"><span class="paramname"><em>time_between_reports</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">uint32_t</td>          <td class="paramname"><span class="paramname"><em>specific_config</em></span>&#160;)</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Queues a packet containing a command with a request for sensor reports, reported periodically. (See Ref. Manual 6.5.4) </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">report_ID</td><td>ID of sensor report to be enabled. </td></tr>
+    <tr><td class="paramname">time_between_reports</td><td>Desired time between reports in microseconds. </td></tr>
+    <tr><td class="paramname">specific_config</td><td>Specific config word (used with personal activity classifier)</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
+<div class="dynheader">
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+<h2 class="memtitle"><span class="permalink"><a href="#a62c570ba96512f4d0d10b2594048de1f">&#9670;&#160;</a></span>queue_packet()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08x::queue_packet </td>
+          <td>(</td>
+          <td class="paramtype">uint8_t</td>          <td class="paramname"><span class="paramname"><em>channel_number</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">uint8_t</td>          <td class="paramname"><span class="paramname"><em>data_length</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">uint8_t *</td>          <td class="paramname"><span class="paramname"><em>commands</em></span>&#160;)</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Queues an SHTP packet to be sent via SPI. </p>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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+<h2 class="memtitle"><span class="permalink"><a href="#ab5f200069a2f8cb74cb79c6f162da5a1">&#9670;&#160;</a></span>queue_request_product_id_command()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08x::queue_request_product_id_command </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Queues a packet containing the request product ID command. </p>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
+<div class="dynheader">
+Here is the call graph for this function:</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a4c6353e795f734ed28613f9a3d161ea2">&#9670;&#160;</a></span>queue_tare_command()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08x::queue_tare_command </td>
+          <td>(</td>
+          <td class="paramtype">uint8_t</td>          <td class="paramname"><span class="paramname"><em>command</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">uint8_t</td>          <td class="paramname"><span class="paramname"><em>axis</em><span class="paramdefsep"> = </span><span class="paramdefval"><a class="el" href="#a1ef13f6f330810934416ad5fe0ee55b2">TARE_AXIS_ALL</a></span>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">uint8_t</td>          <td class="paramname"><span class="paramname"><em>rotation_vector_basis</em><span class="paramdefsep"> = </span><span class="paramdefval"><a class="el" href="#a8e2cfc25d0e34ae53a762b88cc3ac3c8">TARE_ROTATION_VECTOR</a></span></span>&#160;)</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Queues a packet containing a command related to zeroing sensor's axes. (See Ref. Manual 6.4.4.1) </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">command</td><td>Tare command to be sent. </td></tr>
+    <tr><td class="paramname">axis</td><td>Specified axis (can be z or all at once) </td></tr>
+    <tr><td class="paramname">rotation_vector_basis</td><td>Which rotation vector type to zero axes of, <a class="el" href="class_b_n_o08x.html">BNO08x</a> saves seperate data for Rotation Vector, Gaming Rotation Vector, etc..)</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
+<div class="dynheader">
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+<h2 class="memtitle"><span class="permalink"><a href="#ae540799865934fcff54caed0772df071">&#9670;&#160;</a></span>receive_packet()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08x::receive_packet </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Receives a SHTP packet via SPI and sends it to <a class="el" href="#ab4373e9b87837ea9fcbc0b536338c7b8" title="Task responsible parsing packets. Executed when SPI task sends a packet to be parsed,...">data_proc_task()</a> </p>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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+<h2 class="memtitle"><span class="permalink"><a href="#a06bb0c70305421b5357e64f31579fdc7">&#9670;&#160;</a></span>register_cb()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08x::register_cb </td>
+          <td>(</td>
+          <td class="paramtype">std::function&lt; void()&gt;</td>          <td class="paramname"><span class="paramname"><em>cb_fxn</em></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Registers a callback to execute when new data from a report is received. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">cb_fxn</td><td>Pointer to the call-back function should be of void return type and void input parameters. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
+
+</div>
+</div>
+<a id="affaaa35abbb872da5299ebab6e2c9b11" name="affaaa35abbb872da5299ebab6e2c9b11"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#affaaa35abbb872da5299ebab6e2c9b11">&#9670;&#160;</a></span>request_calibration_status()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08x::request_calibration_status </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Requests ME calibration status from <a class="el" href="class_b_n_o08x.html">BNO08x</a> (see Ref. Manual 6.4.7.2) </p>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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+<h2 class="memtitle"><span class="permalink"><a href="#ae6e875a27ae74ebed806ee1a4576845a">&#9670;&#160;</a></span>run_full_calibration_routine()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08x::run_full_calibration_routine </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Runs full calibration routine. </p>
+<p>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.</p>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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+<h2 class="memtitle"><span class="permalink"><a href="#aa16609de88bfb7b389348859aa0cee54">&#9670;&#160;</a></span>save_calibration()</h2>
+
+<div class="memitem">
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+        <tr>
+          <td class="memname">void BNO08x::save_calibration </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Sends command to save internal calibration data (See Ref. Manual 6.4.7). </p>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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+<h2 class="memtitle"><span class="permalink"><a href="#afb2ffc4e7ff0498917bc14a83af306e2">&#9670;&#160;</a></span>save_tare()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08x::save_tare </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Sends command to save tare into non-volatile memory of <a class="el" href="class_b_n_o08x.html">BNO08x</a> (See Ref. Manual 6.4.4.2) </p>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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+<h2 class="memtitle"><span class="permalink"><a href="#a2c359a44a2c8e83ecb258a340e2d0e1a">&#9670;&#160;</a></span>send_packet()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08x::send_packet </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="struct_b_n_o08x_1_1bno08x__tx__packet__t.html">bno08x_tx_packet_t</a> *</td>          <td class="paramname"><span class="paramname"><em>packet</em></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Sends a queued SHTP packet via SPI. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">packet</td><td>The packet queued to be sent.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
+<div class="dynheader">
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+<div class="center"><img src="class_b_n_o08x_a2c359a44a2c8e83ecb258a340e2d0e1a_icgraph.png" border="0" usemap="#aclass_b_n_o08x_a2c359a44a2c8e83ecb258a340e2d0e1a_icgraph" alt=""/></div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a973a1b1785f3302ee1b2702c6a27646e">&#9670;&#160;</a></span>soft_reset()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08x::soft_reset </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Soft resets <a class="el" href="class_b_n_o08x.html">BNO08x</a> sensor using executable channel. </p>
+<dl class="section return"><dt>Returns</dt><dd>True if reset was success. </dd></dl>
+<div class="dynheader">
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+<h2 class="memtitle"><span class="permalink"><a href="#a2ecd4ed60f82730ae230c61687ec92bf">&#9670;&#160;</a></span>spi_task()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08x::spi_task </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Task responsible for SPI transactions. Executed when HINT in is asserted by <a class="el" href="class_b_n_o08x.html">BNO08x</a>. </p>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
+<div class="dynheader">
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+<h2 class="memtitle"><span class="permalink"><a href="#a0ce6d9db873555f1ebe7e095251eab74">&#9670;&#160;</a></span>spi_task_trampoline()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08x::spi_task_trampoline </td>
+          <td>(</td>
+          <td class="paramtype">void *</td>          <td class="paramname"><span class="paramname"><em>arg</em></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Static function used to launch spi task. </p>
+<p>Used such that <a class="el" href="#a2ecd4ed60f82730ae230c61687ec92bf" title="Task responsible for SPI transactions. Executed when HINT in is asserted by BNO08x.">spi_task()</a> can be non-static class member.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">arg</td><td>void pointer to <a class="el" href="class_b_n_o08x.html">BNO08x</a> imu object </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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+<h2 class="memtitle"><span class="permalink"><a href="#a4549bbef48208bd9c745fc755b93012f">&#9670;&#160;</a></span>tare_now()</h2>
+
+<div class="memitem">
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+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08x::tare_now </td>
+          <td>(</td>
+          <td class="paramtype">uint8_t</td>          <td class="paramname"><span class="paramname"><em>axis_sel</em><span class="paramdefsep"> = </span><span class="paramdefval"><a class="el" href="#a1ef13f6f330810934416ad5fe0ee55b2">TARE_AXIS_ALL</a></span>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">uint8_t</td>          <td class="paramname"><span class="paramname"><em>rotation_vector_basis</em><span class="paramdefsep"> = </span><span class="paramdefval"><a class="el" href="#a8e2cfc25d0e34ae53a762b88cc3ac3c8">TARE_ROTATION_VECTOR</a></span></span>&#160;)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Sends command to tare an axis (See Ref. Manual 6.4.4.1) </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">axis_sel</td><td>Which axes to zero, can be TARE_AXIS_ALL (all axes) or TARE_AXIS_Z (only yaw) </td></tr>
+    <tr><td class="paramname">rotation_vector_basis</td><td>Which rotation vector type to zero axes can be TARE_ROTATION_VECTOR, TARE_GAME_ROTATION_VECTOR, TARE_GEOMAGNETIC_ROTATION_VECTOR, etc.. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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+<h2 class="memtitle"><span class="permalink"><a href="#a4f12de628073f44b2a3fab2688cf1caf">&#9670;&#160;</a></span>wait_for_data()</h2>
+
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+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08x::wait_for_data </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Waits for a valid or invalid packet to be received or HOST_INT_TIMEOUT_MS to elapse. </p>
+<p>If no reports are currently enabled the hint pin interrupt will be re-enabled by this function.</p>
+<dl class="section return"><dt>Returns</dt><dd>True if valid packet has been received within HOST_INT_TIMEOUT_MS, false if otherwise. </dd></dl>
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+
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+          <td class="memname">bool BNO08x::wait_for_rx_done </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
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+
+<p>Waits for data to be received over SPI, or HOST_INT_TIMEOUT_MS to elapse. </p>
+<p>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.</p>
+<dl class="section return"><dt>Returns</dt><dd>True if data has been received over SPI within HOST_INT_TIMEOUT_MS. </dd></dl>
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+<h2 class="memtitle"><span class="permalink"><a href="#a7cdeb849e728487de961cdfd4030c773">&#9670;&#160;</a></span>wait_for_tx_done()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08x::wait_for_tx_done </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Waits for a queued packet to be sent or HOST_INT_TIMEOUT_MS to elapse. </p>
+<p>If no reports are currently enabled the hint pin interrupt will be re-enabled by this function.</p>
+<dl class="section return"><dt>Returns</dt><dd>True if packet was sent within HOST_INT_TIMEOUT_MS, false if otherwise. </dd></dl>
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+</div>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a3365b7ebde01e284274e655c60343df9" name="a3365b7ebde01e284274e655c60343df9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3365b7ebde01e284274e655c60343df9">&#9670;&#160;</a></span>accel_accuracy</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint16_t BNO08x::accel_accuracy</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Raw acceleration readings (See SH-2 Ref. Manual 6.5.8) </p>
+
+</div>
+</div>
+<a id="a35e1635ef5edde8fc8640f978c6f2e3c" name="a35e1635ef5edde8fc8640f978c6f2e3c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a35e1635ef5edde8fc8640f978c6f2e3c">&#9670;&#160;</a></span>accel_lin_accuracy</h2>
+
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+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint16_t BNO08x::accel_lin_accuracy</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Raw linear acceleration (See SH-2 Ref. Manual 6.5.10) </p>
+
+</div>
+</div>
+<a id="a0564aaf5b20dc42b54db4fb3115ac1c7" name="a0564aaf5b20dc42b54db4fb3115ac1c7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0564aaf5b20dc42b54db4fb3115ac1c7">&#9670;&#160;</a></span>ACCELEROMETER_Q1</h2>
+
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+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr int16_t BNO08x::ACCELEROMETER_Q1 = 8</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Acceleration Q point (See SH-2 Ref. Manual 6.5.9) </p>
+
+</div>
+</div>
+<a id="a75cea49c1c08ca28d9fa7e5ed61c6e7b" name="a75cea49c1c08ca28d9fa7e5ed61c6e7b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a75cea49c1c08ca28d9fa7e5ed61c6e7b">&#9670;&#160;</a></span>activity_classifier</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint8_t BNO08x::activity_classifier</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Activity status reading (See SH-2 Ref. Manual 6.5.36) </p>
+
+</div>
+</div>
+<a id="af96e8cd070459f945ffbf01b98106e13" name="af96e8cd070459f945ffbf01b98106e13"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af96e8cd070459f945ffbf01b98106e13">&#9670;&#160;</a></span>activity_confidences</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint8_t* BNO08x::activity_confidences</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Confidence of read activities (See SH-2 Ref. Manual 6.5.36) </p>
+
+</div>
+</div>
+<a id="aafe117561fe9138800073a04a778b4ce" name="aafe117561fe9138800073a04a778b4ce"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aafe117561fe9138800073a04a778b4ce">&#9670;&#160;</a></span>ANGULAR_VELOCITY_Q1</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr int16_t BNO08x::ANGULAR_VELOCITY_Q1 = 10</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Angular velocity Q point (See SH-2 Ref. Manual 6.5.44) </p>
+
+</div>
+</div>
+<a id="a982f065df42f00e53fd87c840efdb0f1" name="a982f065df42f00e53fd87c840efdb0f1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a982f065df42f00e53fd87c840efdb0f1">&#9670;&#160;</a></span>bus_config</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">spi_bus_config_t BNO08x::bus_config {}</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>SPI bus GPIO configuration settings. </p>
+
+</div>
+</div>
+<a id="acd5b44d705af1f9aaa271a59a9d2d595" name="acd5b44d705af1f9aaa271a59a9d2d595"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acd5b44d705af1f9aaa271a59a9d2d595">&#9670;&#160;</a></span>CALIBRATE_ACCEL</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr uint8_t BNO08x::CALIBRATE_ACCEL = 0</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Calibrate accelerometer command used by queue_calibrate_command. </p>
+
+</div>
+</div>
+<a id="af53d9e99f163d97ef92fe989b1dd25cc" name="af53d9e99f163d97ef92fe989b1dd25cc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af53d9e99f163d97ef92fe989b1dd25cc">&#9670;&#160;</a></span>CALIBRATE_ACCEL_GYRO_MAG</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr uint8_t BNO08x::CALIBRATE_ACCEL_GYRO_MAG</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<b>Initial value:</b><div class="fragment"><div class="line">=</div>
+<div class="line">                4</div>
+</div><!-- fragment -->
+<p>Calibrate accelerometer, gyro, &amp; magnetometer command used by queue_calibrate_command. </p>
+
+</div>
+</div>
+<a id="aeac84719a1cc0f9c8d5a9a749391d4db" name="aeac84719a1cc0f9c8d5a9a749391d4db"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aeac84719a1cc0f9c8d5a9a749391d4db">&#9670;&#160;</a></span>CALIBRATE_GYRO</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr uint8_t BNO08x::CALIBRATE_GYRO = 1</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Calibrate gyro command used by queue_calibrate_command. </p>
+
+</div>
+</div>
+<a id="ac00e8b59ae8d710cf79956eaafa97ddb" name="ac00e8b59ae8d710cf79956eaafa97ddb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac00e8b59ae8d710cf79956eaafa97ddb">&#9670;&#160;</a></span>CALIBRATE_MAG</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr uint8_t BNO08x::CALIBRATE_MAG = 2</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Calibrate magnetometer command used by queue_calibrate_command. </p>
+
+</div>
+</div>
+<a id="a955dcb60da150490e17367a871b3a3d2" name="a955dcb60da150490e17367a871b3a3d2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a955dcb60da150490e17367a871b3a3d2">&#9670;&#160;</a></span>CALIBRATE_PLANAR_ACCEL</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr uint8_t BNO08x::CALIBRATE_PLANAR_ACCEL = 3</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Calibrate planar acceleration command used by queue_calibrate_command. </p>
+
+</div>
+</div>
+<a id="a584bfa04a39feb93279ee673c340db54" name="a584bfa04a39feb93279ee673c340db54"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a584bfa04a39feb93279ee673c340db54">&#9670;&#160;</a></span>CALIBRATE_STOP</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr uint8_t BNO08x::CALIBRATE_STOP = 5</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Stop calibration command used by queue_calibrate_command. </p>
+
+</div>
+</div>
+<a id="ad212b5028a31e857e76d251ced2724e1" name="ad212b5028a31e857e76d251ced2724e1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad212b5028a31e857e76d251ced2724e1">&#9670;&#160;</a></span>calibration_status</h2>
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+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint8_t BNO08x::calibration_status</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Calibration status of device (See SH-2 Ref. Manual 6.4.7.1 &amp; 6.4.7.2) </p>
+
+</div>
+</div>
+<a id="a6a15e3a64dd71ea61f0448afcce96409" name="a6a15e3a64dd71ea61f0448afcce96409"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6a15e3a64dd71ea61f0448afcce96409">&#9670;&#160;</a></span>cb_list</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::vector&lt;std::function&lt;void()&gt; &gt; BNO08x::cb_list</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a4f580b3cb232a762ea7019ee7b04d419" name="a4f580b3cb232a762ea7019ee7b04d419"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4f580b3cb232a762ea7019ee7b04d419">&#9670;&#160;</a></span>COMMAND_CLEAR_DCD</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr uint8_t BNO08x::COMMAND_CLEAR_DCD = 11</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Clear DCD &amp; Reset command (See SH2 Ref. Manual 6.4) </p>
+
+</div>
+</div>
+<a id="a93dd073c0cc1f3ccfde552649f6ebccc" name="a93dd073c0cc1f3ccfde552649f6ebccc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a93dd073c0cc1f3ccfde552649f6ebccc">&#9670;&#160;</a></span>COMMAND_COUNTER</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr uint8_t BNO08x::COMMAND_COUNTER = 2</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="af124a6c1d8b871f3181b6c85f1099cb2" name="af124a6c1d8b871f3181b6c85f1099cb2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af124a6c1d8b871f3181b6c85f1099cb2">&#9670;&#160;</a></span>COMMAND_DCD</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr uint8_t BNO08x::COMMAND_DCD = 6</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Save DCD command (See SH2 Ref. Manual 6.4.7) </p>
+
+</div>
+</div>
+<a id="a7a246989c94cd87f68166b20b7ad4c8b" name="a7a246989c94cd87f68166b20b7ad4c8b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7a246989c94cd87f68166b20b7ad4c8b">&#9670;&#160;</a></span>COMMAND_DCD_PERIOD_SAVE</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr uint8_t BNO08x::COMMAND_DCD_PERIOD_SAVE = 9</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Configure DCD periodic saving (See SH2 Ref. Manual 6.4) </p>
+
+</div>
+</div>
+<a id="a384a1efc9857ad938be3bb44f871539b" name="a384a1efc9857ad938be3bb44f871539b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a384a1efc9857ad938be3bb44f871539b">&#9670;&#160;</a></span>COMMAND_ERRORS</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr uint8_t BNO08x::COMMAND_ERRORS = 1</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a30eb6d305a187d4d36546841e12176b9" name="a30eb6d305a187d4d36546841e12176b9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a30eb6d305a187d4d36546841e12176b9">&#9670;&#160;</a></span>COMMAND_INITIALIZE</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr uint8_t BNO08x::COMMAND_INITIALIZE = 4</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Reinitialize sensor hub components See (SH2 Ref. Manual 6.4.5) </p>
+
+</div>
+</div>
+<a id="a8381dfe403ddff522f172cb16780731a" name="a8381dfe403ddff522f172cb16780731a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8381dfe403ddff522f172cb16780731a">&#9670;&#160;</a></span>COMMAND_ME_CALIBRATE</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr uint8_t BNO08x::COMMAND_ME_CALIBRATE = 7</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Command and response to configure ME calibration (See SH2 Ref. Manual 6.4.7) </p>
+
+</div>
+</div>
+<a id="a308c8b5307d93a67b5b9066d44494aa5" name="a308c8b5307d93a67b5b9066d44494aa5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a308c8b5307d93a67b5b9066d44494aa5">&#9670;&#160;</a></span>COMMAND_OSCILLATOR</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr uint8_t BNO08x::COMMAND_OSCILLATOR = 10</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Retrieve oscillator type command (See SH2 Ref. Manual 6.4) </p>
+
+</div>
+</div>
+<a id="a0a1756bc16ba3eac45f4229b1e350107" name="a0a1756bc16ba3eac45f4229b1e350107"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0a1756bc16ba3eac45f4229b1e350107">&#9670;&#160;</a></span>COMMAND_TARE</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr uint8_t BNO08x::COMMAND_TARE = 3</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Command and response to tare command (See Sh2 Ref. Manual 6.4.4) </p>
+
+</div>
+</div>
+<a id="af9b6fbf35e7cd55d517d30c6429a21a4" name="af9b6fbf35e7cd55d517d30c6429a21a4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af9b6fbf35e7cd55d517d30c6429a21a4">&#9670;&#160;</a></span>data_proc_task_hdl</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">TaskHandle_t BNO08x::data_proc_task_hdl</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p><a class="el" href="#ab4373e9b87837ea9fcbc0b536338c7b8" title="Task responsible parsing packets. Executed when SPI task sends a packet to be parsed,...">data_proc_task()</a> task handle </p>
+
+</div>
+</div>
+<a id="a6232920a05c0aba34e5560951a20ae87" name="a6232920a05c0aba34e5560951a20ae87"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6232920a05c0aba34e5560951a20ae87">&#9670;&#160;</a></span>default_imu_config</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="structbno08x__config__t.html">bno08x_config_t</a> BNO08x::default_imu_config</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>default imu config settings </p>
+
+</div>
+</div>
+<a id="a63eb6c8be6f3bc943a86bb0496871275" name="a63eb6c8be6f3bc943a86bb0496871275"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a63eb6c8be6f3bc943a86bb0496871275">&#9670;&#160;</a></span>evt_grp_report_en</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">EventGroupHandle_t BNO08x::evt_grp_report_en</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Event group for indicating which reports are currently enabled. </p>
+
+</div>
+</div>
+<a id="a17b19c32d4dfbc9ae2761a0cdd873314" name="a17b19c32d4dfbc9ae2761a0cdd873314"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a17b19c32d4dfbc9ae2761a0cdd873314">&#9670;&#160;</a></span>EVT_GRP_RPT_ACCELEROMETER_BIT</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr EventBits_t BNO08x::EVT_GRP_RPT_ACCELEROMETER_BIT = (1 &lt;&lt; 5)</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>When set, accelerometer reports are active. </p>
+
+</div>
+</div>
+<a id="a96eb1b1bfe1266791fd424b3ce402c56" name="a96eb1b1bfe1266791fd424b3ce402c56"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a96eb1b1bfe1266791fd424b3ce402c56">&#9670;&#160;</a></span>EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr EventBits_t BNO08x::EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT = (1 &lt;&lt; 14)</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>When set, activity classifier reports are active. </p>
+
+</div>
+</div>
+<a id="a89399e8a68a53bc2a269ab73625a2da2" name="a89399e8a68a53bc2a269ab73625a2da2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a89399e8a68a53bc2a269ab73625a2da2">&#9670;&#160;</a></span>EVT_GRP_RPT_ALL_BITS</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr EventBits_t BNO08x::EVT_GRP_RPT_ALL_BITS</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<b>Initial value:</b><div class="fragment"><div class="line">=</div>
+<div class="line">                <a class="code hl_variable" href="#a198da2ee3cd9cfa459c3c41c4f8c44b7">EVT_GRP_RPT_ROTATION_VECTOR_BIT</a> | <a class="code hl_variable" href="#a0f3f33d93b72ba6564f9d5fa93c24f98">EVT_GRP_RPT_GAME_ROTATION_VECTOR_BIT</a> | <a class="code hl_variable" href="#aa9703cee46912a545b5e85e671f08e4b">EVT_GRP_RPT_ARVR_S_ROTATION_VECTOR_BIT</a> |</div>
+<div class="line">                <a class="code hl_variable" href="#a79d3fff1e0f19467cad231b22edafa0f">EVT_GRP_RPT_ARVR_S_GAME_ROTATION_VECTOR_BIT</a> | <a class="code hl_variable" href="#a541155dc4544193451cf102e2a992da9">EVT_GRP_RPT_GYRO_ROTATION_VECTOR_BIT</a> | <a class="code hl_variable" href="#a17b19c32d4dfbc9ae2761a0cdd873314">EVT_GRP_RPT_ACCELEROMETER_BIT</a> |</div>
+<div class="line">                <a class="code hl_variable" href="#ad93161968a53ff53a6bb74ab7c34fbff">EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT</a> | <a class="code hl_variable" href="#ab94a8f69673a3db7556ba67775c5ea93">EVT_GRP_RPT_GRAVITY_BIT</a> | <a class="code hl_variable" href="#a3a8b12ea9b75f97191785a60d1aa962a">EVT_GRP_RPT_GYRO_BIT</a> | <a class="code hl_variable" href="#af86821bc0f1e7f5897de20b5e47a85bd">EVT_GRP_RPT_GYRO_UNCALIBRATED_BIT</a> |</div>
+<div class="line">                <a class="code hl_variable" href="#a901af6f2d552f197ee830d0a1c06679c">EVT_GRP_RPT_MAGNETOMETER_BIT</a> | <a class="code hl_variable" href="#a665464f781fe891b9179478d0174af47">EVT_GRP_RPT_TAP_DETECTOR_BIT</a> | <a class="code hl_variable" href="#ab264b65a3aa5a9a74ed11b8977164a73">EVT_GRP_RPT_STEP_COUNTER_BIT</a> | <a class="code hl_variable" href="#a7d6ee23222f55dbe9f70e04b36d9add2">EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT</a> |</div>
+<div class="line">                <a class="code hl_variable" href="#a96eb1b1bfe1266791fd424b3ce402c56">EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT</a> | <a class="code hl_variable" href="#a3e56d12435f7be81956d68196f1a46b4">EVT_GRP_RPT_RAW_ACCELEROMETER_BIT</a> | <a class="code hl_variable" href="#a6be7b240e4447c2c643e706954093aa0">EVT_GRP_RPT_RAW_GYRO_BIT</a> | <a class="code hl_variable" href="#ac28553b40b82c7cb409938681afe6cec">EVT_GRP_RPT_RAW_MAGNETOMETER_BIT</a></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a0f3f33d93b72ba6564f9d5fa93c24f98"><div class="ttname"><a href="#a0f3f33d93b72ba6564f9d5fa93c24f98">BNO08x::EVT_GRP_RPT_GAME_ROTATION_VECTOR_BIT</a></div><div class="ttdeci">static const constexpr EventBits_t EVT_GRP_RPT_GAME_ROTATION_VECTOR_BIT</div><div class="ttdoc">When set, game rotation vector reports are active.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:401</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a17b19c32d4dfbc9ae2761a0cdd873314"><div class="ttname"><a href="#a17b19c32d4dfbc9ae2761a0cdd873314">BNO08x::EVT_GRP_RPT_ACCELEROMETER_BIT</a></div><div class="ttdeci">static const constexpr EventBits_t EVT_GRP_RPT_ACCELEROMETER_BIT</div><div class="ttdoc">When set, accelerometer reports are active.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:408</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a198da2ee3cd9cfa459c3c41c4f8c44b7"><div class="ttname"><a href="#a198da2ee3cd9cfa459c3c41c4f8c44b7">BNO08x::EVT_GRP_RPT_ROTATION_VECTOR_BIT</a></div><div class="ttdeci">static const constexpr EventBits_t EVT_GRP_RPT_ROTATION_VECTOR_BIT</div><div class="ttdoc">When set, rotation vector reports are active.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:400</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a3a8b12ea9b75f97191785a60d1aa962a"><div class="ttname"><a href="#a3a8b12ea9b75f97191785a60d1aa962a">BNO08x::EVT_GRP_RPT_GYRO_BIT</a></div><div class="ttdeci">static const constexpr EventBits_t EVT_GRP_RPT_GYRO_BIT</div><div class="ttdoc">When set, gyro reports are active.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:411</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a3e56d12435f7be81956d68196f1a46b4"><div class="ttname"><a href="#a3e56d12435f7be81956d68196f1a46b4">BNO08x::EVT_GRP_RPT_RAW_ACCELEROMETER_BIT</a></div><div class="ttdeci">static const constexpr EventBits_t EVT_GRP_RPT_RAW_ACCELEROMETER_BIT</div><div class="ttdoc">When set, raw accelerometer reports are active.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:418</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a541155dc4544193451cf102e2a992da9"><div class="ttname"><a href="#a541155dc4544193451cf102e2a992da9">BNO08x::EVT_GRP_RPT_GYRO_ROTATION_VECTOR_BIT</a></div><div class="ttdeci">static const constexpr EventBits_t EVT_GRP_RPT_GYRO_ROTATION_VECTOR_BIT</div><div class="ttdoc">When set, gyro integrator rotation vector reports are active.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:406</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a665464f781fe891b9179478d0174af47"><div class="ttname"><a href="#a665464f781fe891b9179478d0174af47">BNO08x::EVT_GRP_RPT_TAP_DETECTOR_BIT</a></div><div class="ttdeci">static const constexpr EventBits_t EVT_GRP_RPT_TAP_DETECTOR_BIT</div><div class="ttdoc">When set, tap detector reports are active.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:414</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a6be7b240e4447c2c643e706954093aa0"><div class="ttname"><a href="#a6be7b240e4447c2c643e706954093aa0">BNO08x::EVT_GRP_RPT_RAW_GYRO_BIT</a></div><div class="ttdeci">static const constexpr EventBits_t EVT_GRP_RPT_RAW_GYRO_BIT</div><div class="ttdoc">When set, raw gyro reports are active.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:419</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a79d3fff1e0f19467cad231b22edafa0f"><div class="ttname"><a href="#a79d3fff1e0f19467cad231b22edafa0f">BNO08x::EVT_GRP_RPT_ARVR_S_GAME_ROTATION_VECTOR_BIT</a></div><div class="ttdeci">static const constexpr EventBits_t EVT_GRP_RPT_ARVR_S_GAME_ROTATION_VECTOR_BIT</div><div class="ttdoc">When set, ARVR stabilized game rotation vector reports are active.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:404</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a7d6ee23222f55dbe9f70e04b36d9add2"><div class="ttname"><a href="#a7d6ee23222f55dbe9f70e04b36d9add2">BNO08x::EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT</a></div><div class="ttdeci">static const constexpr EventBits_t EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT</div><div class="ttdoc">When set, stability classifier reports are active.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:416</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a901af6f2d552f197ee830d0a1c06679c"><div class="ttname"><a href="#a901af6f2d552f197ee830d0a1c06679c">BNO08x::EVT_GRP_RPT_MAGNETOMETER_BIT</a></div><div class="ttdeci">static const constexpr EventBits_t EVT_GRP_RPT_MAGNETOMETER_BIT</div><div class="ttdoc">When set, magnetometer reports are active.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:413</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a96eb1b1bfe1266791fd424b3ce402c56"><div class="ttname"><a href="#a96eb1b1bfe1266791fd424b3ce402c56">BNO08x::EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT</a></div><div class="ttdeci">static const constexpr EventBits_t EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT</div><div class="ttdoc">When set, activity classifier reports are active.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:417</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_aa9703cee46912a545b5e85e671f08e4b"><div class="ttname"><a href="#aa9703cee46912a545b5e85e671f08e4b">BNO08x::EVT_GRP_RPT_ARVR_S_ROTATION_VECTOR_BIT</a></div><div class="ttdeci">static const constexpr EventBits_t EVT_GRP_RPT_ARVR_S_ROTATION_VECTOR_BIT</div><div class="ttdoc">When set, ARVR stabilized rotation vector reports are active.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:402</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_ab264b65a3aa5a9a74ed11b8977164a73"><div class="ttname"><a href="#ab264b65a3aa5a9a74ed11b8977164a73">BNO08x::EVT_GRP_RPT_STEP_COUNTER_BIT</a></div><div class="ttdeci">static const constexpr EventBits_t EVT_GRP_RPT_STEP_COUNTER_BIT</div><div class="ttdoc">When set, step counter reports are active.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:415</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_ab94a8f69673a3db7556ba67775c5ea93"><div class="ttname"><a href="#ab94a8f69673a3db7556ba67775c5ea93">BNO08x::EVT_GRP_RPT_GRAVITY_BIT</a></div><div class="ttdeci">static const constexpr EventBits_t EVT_GRP_RPT_GRAVITY_BIT</div><div class="ttdoc">When set, gravity reports are active.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:410</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_ac28553b40b82c7cb409938681afe6cec"><div class="ttname"><a href="#ac28553b40b82c7cb409938681afe6cec">BNO08x::EVT_GRP_RPT_RAW_MAGNETOMETER_BIT</a></div><div class="ttdeci">static const constexpr EventBits_t EVT_GRP_RPT_RAW_MAGNETOMETER_BIT</div><div class="ttdoc">When set, raw magnetometer reports are active.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:420</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_ad93161968a53ff53a6bb74ab7c34fbff"><div class="ttname"><a href="#ad93161968a53ff53a6bb74ab7c34fbff">BNO08x::EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT</a></div><div class="ttdeci">static const constexpr EventBits_t EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT</div><div class="ttdoc">When set, linear accelerometer reports are active.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:409</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_af86821bc0f1e7f5897de20b5e47a85bd"><div class="ttname"><a href="#af86821bc0f1e7f5897de20b5e47a85bd">BNO08x::EVT_GRP_RPT_GYRO_UNCALIBRATED_BIT</a></div><div class="ttdeci">static const constexpr EventBits_t EVT_GRP_RPT_GYRO_UNCALIBRATED_BIT</div><div class="ttdoc">When set, uncalibrated gyro reports are active.</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:412</div></div>
+</div><!-- fragment -->
+</div>
+</div>
+<a id="a79d3fff1e0f19467cad231b22edafa0f" name="a79d3fff1e0f19467cad231b22edafa0f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a79d3fff1e0f19467cad231b22edafa0f">&#9670;&#160;</a></span>EVT_GRP_RPT_ARVR_S_GAME_ROTATION_VECTOR_BIT</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr EventBits_t BNO08x::EVT_GRP_RPT_ARVR_S_GAME_ROTATION_VECTOR_BIT</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<b>Initial value:</b><div class="fragment"><div class="line">=</div>
+<div class="line">                (1 &lt;&lt; 3)</div>
+</div><!-- fragment -->
+<p>When set, ARVR stabilized game rotation vector reports are active. </p>
+
+</div>
+</div>
+<a id="aa9703cee46912a545b5e85e671f08e4b" name="aa9703cee46912a545b5e85e671f08e4b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa9703cee46912a545b5e85e671f08e4b">&#9670;&#160;</a></span>EVT_GRP_RPT_ARVR_S_ROTATION_VECTOR_BIT</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr EventBits_t BNO08x::EVT_GRP_RPT_ARVR_S_ROTATION_VECTOR_BIT</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<b>Initial value:</b><div class="fragment"><div class="line">=</div>
+<div class="line">                (1 &lt;&lt; 2)</div>
+</div><!-- fragment -->
+<p>When set, ARVR stabilized rotation vector reports are active. </p>
+
+</div>
+</div>
+<a id="a0f3f33d93b72ba6564f9d5fa93c24f98" name="a0f3f33d93b72ba6564f9d5fa93c24f98"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0f3f33d93b72ba6564f9d5fa93c24f98">&#9670;&#160;</a></span>EVT_GRP_RPT_GAME_ROTATION_VECTOR_BIT</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr EventBits_t BNO08x::EVT_GRP_RPT_GAME_ROTATION_VECTOR_BIT = (1 &lt;&lt; 1)</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>When set, game rotation vector reports are active. </p>
+
+</div>
+</div>
+<a id="ab94a8f69673a3db7556ba67775c5ea93" name="ab94a8f69673a3db7556ba67775c5ea93"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab94a8f69673a3db7556ba67775c5ea93">&#9670;&#160;</a></span>EVT_GRP_RPT_GRAVITY_BIT</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr EventBits_t BNO08x::EVT_GRP_RPT_GRAVITY_BIT = (1 &lt;&lt; 7)</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>When set, gravity reports are active. </p>
+
+</div>
+</div>
+<a id="a3a8b12ea9b75f97191785a60d1aa962a" name="a3a8b12ea9b75f97191785a60d1aa962a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3a8b12ea9b75f97191785a60d1aa962a">&#9670;&#160;</a></span>EVT_GRP_RPT_GYRO_BIT</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr EventBits_t BNO08x::EVT_GRP_RPT_GYRO_BIT = (1 &lt;&lt; 8)</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>When set, gyro reports are active. </p>
+
+</div>
+</div>
+<a id="a541155dc4544193451cf102e2a992da9" name="a541155dc4544193451cf102e2a992da9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a541155dc4544193451cf102e2a992da9">&#9670;&#160;</a></span>EVT_GRP_RPT_GYRO_ROTATION_VECTOR_BIT</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr EventBits_t BNO08x::EVT_GRP_RPT_GYRO_ROTATION_VECTOR_BIT</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<b>Initial value:</b><div class="fragment"><div class="line">=</div>
+<div class="line">                (1 &lt;&lt; 4)</div>
+</div><!-- fragment -->
+<p>When set, gyro integrator rotation vector reports are active. </p>
+
+</div>
+</div>
+<a id="af86821bc0f1e7f5897de20b5e47a85bd" name="af86821bc0f1e7f5897de20b5e47a85bd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af86821bc0f1e7f5897de20b5e47a85bd">&#9670;&#160;</a></span>EVT_GRP_RPT_GYRO_UNCALIBRATED_BIT</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr EventBits_t BNO08x::EVT_GRP_RPT_GYRO_UNCALIBRATED_BIT = (1 &lt;&lt; 9)</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>When set, uncalibrated gyro reports are active. </p>
+
+</div>
+</div>
+<a id="ad93161968a53ff53a6bb74ab7c34fbff" name="ad93161968a53ff53a6bb74ab7c34fbff"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad93161968a53ff53a6bb74ab7c34fbff">&#9670;&#160;</a></span>EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr EventBits_t BNO08x::EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT = (1 &lt;&lt; 6)</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>When set, linear accelerometer reports are active. </p>
+
+</div>
+</div>
+<a id="a901af6f2d552f197ee830d0a1c06679c" name="a901af6f2d552f197ee830d0a1c06679c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a901af6f2d552f197ee830d0a1c06679c">&#9670;&#160;</a></span>EVT_GRP_RPT_MAGNETOMETER_BIT</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr EventBits_t BNO08x::EVT_GRP_RPT_MAGNETOMETER_BIT = (1 &lt;&lt; 10)</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>When set, magnetometer reports are active. </p>
+
+</div>
+</div>
+<a id="a3e56d12435f7be81956d68196f1a46b4" name="a3e56d12435f7be81956d68196f1a46b4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3e56d12435f7be81956d68196f1a46b4">&#9670;&#160;</a></span>EVT_GRP_RPT_RAW_ACCELEROMETER_BIT</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr EventBits_t BNO08x::EVT_GRP_RPT_RAW_ACCELEROMETER_BIT = (1 &lt;&lt; 15)</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>When set, raw accelerometer reports are active. </p>
+
+</div>
+</div>
+<a id="a6be7b240e4447c2c643e706954093aa0" name="a6be7b240e4447c2c643e706954093aa0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6be7b240e4447c2c643e706954093aa0">&#9670;&#160;</a></span>EVT_GRP_RPT_RAW_GYRO_BIT</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr EventBits_t BNO08x::EVT_GRP_RPT_RAW_GYRO_BIT = (1 &lt;&lt; 16)</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>When set, raw gyro reports are active. </p>
+
+</div>
+</div>
+<a id="ac28553b40b82c7cb409938681afe6cec" name="ac28553b40b82c7cb409938681afe6cec"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac28553b40b82c7cb409938681afe6cec">&#9670;&#160;</a></span>EVT_GRP_RPT_RAW_MAGNETOMETER_BIT</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr EventBits_t BNO08x::EVT_GRP_RPT_RAW_MAGNETOMETER_BIT = (1 &lt;&lt; 17)</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>When set, raw magnetometer reports are active. </p>
+
+</div>
+</div>
+<a id="a198da2ee3cd9cfa459c3c41c4f8c44b7" name="a198da2ee3cd9cfa459c3c41c4f8c44b7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a198da2ee3cd9cfa459c3c41c4f8c44b7">&#9670;&#160;</a></span>EVT_GRP_RPT_ROTATION_VECTOR_BIT</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr EventBits_t BNO08x::EVT_GRP_RPT_ROTATION_VECTOR_BIT = (1 &lt;&lt; 0)</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>When set, rotation vector reports are active. </p>
+
+</div>
+</div>
+<a id="a7d6ee23222f55dbe9f70e04b36d9add2" name="a7d6ee23222f55dbe9f70e04b36d9add2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7d6ee23222f55dbe9f70e04b36d9add2">&#9670;&#160;</a></span>EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr EventBits_t BNO08x::EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT = (1 &lt;&lt; 13)</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>When set, stability classifier reports are active. </p>
+
+</div>
+</div>
+<a id="ab264b65a3aa5a9a74ed11b8977164a73" name="ab264b65a3aa5a9a74ed11b8977164a73"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab264b65a3aa5a9a74ed11b8977164a73">&#9670;&#160;</a></span>EVT_GRP_RPT_STEP_COUNTER_BIT</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr EventBits_t BNO08x::EVT_GRP_RPT_STEP_COUNTER_BIT = (1 &lt;&lt; 12)</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>When set, step counter reports are active. </p>
+
+</div>
+</div>
+<a id="a665464f781fe891b9179478d0174af47" name="a665464f781fe891b9179478d0174af47"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a665464f781fe891b9179478d0174af47">&#9670;&#160;</a></span>EVT_GRP_RPT_TAP_DETECTOR_BIT</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr EventBits_t BNO08x::EVT_GRP_RPT_TAP_DETECTOR_BIT = (1 &lt;&lt; 11)</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>When set, tap detector reports are active. </p>
+
+</div>
+</div>
+<a id="aa2b4442b5cc63ebf0c495e6fb537c85e" name="aa2b4442b5cc63ebf0c495e6fb537c85e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa2b4442b5cc63ebf0c495e6fb537c85e">&#9670;&#160;</a></span>evt_grp_spi</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">EventGroupHandle_t BNO08x::evt_grp_spi</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>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. </p>
+
+</div>
+</div>
+<a id="a32cffd8f78881925d22d5a7cb55f2bbc" name="a32cffd8f78881925d22d5a7cb55f2bbc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a32cffd8f78881925d22d5a7cb55f2bbc">&#9670;&#160;</a></span>EVT_GRP_SPI_RX_DONE_BIT</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr EventBits_t BNO08x::EVT_GRP_SPI_RX_DONE_BIT</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<b>Initial value:</b><div class="fragment"><div class="line">=</div>
+<div class="line">                (1 &lt;&lt; 0)</div>
+</div><!-- fragment -->
+<p>When this bit is set it indicates a receive procedure has completed. </p>
+
+</div>
+</div>
+<a id="a6415c95701f590c72083f5bdc5f4ae47" name="a6415c95701f590c72083f5bdc5f4ae47"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6415c95701f590c72083f5bdc5f4ae47">&#9670;&#160;</a></span>EVT_GRP_SPI_RX_INVALID_PACKET</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr EventBits_t BNO08x::EVT_GRP_SPI_RX_INVALID_PACKET</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<b>Initial value:</b><div class="fragment"><div class="line">=</div>
+<div class="line">                (1 &lt;&lt; 2)</div>
+</div><!-- fragment -->
+<p>When this bit is set, it indicates an invalid packet has been received. </p>
+
+</div>
+</div>
+<a id="a603dccfbbead6bdaa3bd970ad28fcd38" name="a603dccfbbead6bdaa3bd970ad28fcd38"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a603dccfbbead6bdaa3bd970ad28fcd38">&#9670;&#160;</a></span>EVT_GRP_SPI_RX_VALID_PACKET</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr EventBits_t BNO08x::EVT_GRP_SPI_RX_VALID_PACKET</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<b>Initial value:</b><div class="fragment"><div class="line">=</div>
+<div class="line">                (1 &lt;&lt; 1)</div>
+</div><!-- fragment -->
+<p>When this bit is set, it indicates a valid packet has been received and processed. </p>
+
+</div>
+</div>
+<a id="aa333b17ab88348a9849f0ceb9757dc9c" name="aa333b17ab88348a9849f0ceb9757dc9c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa333b17ab88348a9849f0ceb9757dc9c">&#9670;&#160;</a></span>EVT_GRP_SPI_TX_DONE</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr EventBits_t BNO08x::EVT_GRP_SPI_TX_DONE = (1 &lt;&lt; 3)</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>When this bit is set, it indicates a queued packet has been sent. </p>
+
+</div>
+</div>
+<a id="ad7ef7d7068af5f92239c12022dbeb16d" name="ad7ef7d7068af5f92239c12022dbeb16d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad7ef7d7068af5f92239c12022dbeb16d">&#9670;&#160;</a></span>FRS_RECORD_ID_ACCELEROMETER</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr uint16_t BNO08x::FRS_RECORD_ID_ACCELEROMETER</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<b>Initial value:</b><div class="fragment"><div class="line">=</div>
+<div class="line">                0xE302</div>
+</div><!-- fragment -->
+<p>Accelerometer record ID, to be passed in metadata functions like <a class="el" href="#a4421c43323945946ad605f8422958dcf" title="Gets Q1 point from BNO08x FRS (flash record system).">get_Q1()</a> </p>
+
+</div>
+</div>
+<a id="a35d8f641e73c308f92a5a0a772f90f48" name="a35d8f641e73c308f92a5a0a772f90f48"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a35d8f641e73c308f92a5a0a772f90f48">&#9670;&#160;</a></span>FRS_RECORD_ID_GYROSCOPE_CALIBRATED</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr uint16_t BNO08x::FRS_RECORD_ID_GYROSCOPE_CALIBRATED</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<b>Initial value:</b><div class="fragment"><div class="line">=</div>
+<div class="line">                0xE306</div>
+</div><!-- fragment -->
+<p>Calirated gyroscope record ID, to be passed in metadata functions like <a class="el" href="#a4421c43323945946ad605f8422958dcf" title="Gets Q1 point from BNO08x FRS (flash record system).">get_Q1()</a> </p>
+
+</div>
+</div>
+<a id="a0992d77f9bae0b8e3c8d9331fe84fe24" name="a0992d77f9bae0b8e3c8d9331fe84fe24"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0992d77f9bae0b8e3c8d9331fe84fe24">&#9670;&#160;</a></span>FRS_RECORD_ID_MAGNETIC_FIELD_CALIBRATED</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr uint16_t BNO08x::FRS_RECORD_ID_MAGNETIC_FIELD_CALIBRATED</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<b>Initial value:</b><div class="fragment"><div class="line">=</div>
+<div class="line">                0xE309</div>
+</div><!-- fragment -->
+<p>Calibrated magnetometer record ID, to be passed in metadata functions like <a class="el" href="#a4421c43323945946ad605f8422958dcf" title="Gets Q1 point from BNO08x FRS (flash record system).">get_Q1()</a> </p>
+
+</div>
+</div>
+<a id="a9f35840b19c8ad11fd1b4622c3269250" name="a9f35840b19c8ad11fd1b4622c3269250"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9f35840b19c8ad11fd1b4622c3269250">&#9670;&#160;</a></span>FRS_RECORD_ID_ROTATION_VECTOR</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr uint16_t BNO08x::FRS_RECORD_ID_ROTATION_VECTOR</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<b>Initial value:</b><div class="fragment"><div class="line">=</div>
+<div class="line">                0xE30B</div>
+</div><!-- fragment -->
+<p>Rotation vector record ID, to be passed in metadata functions like <a class="el" href="#a4421c43323945946ad605f8422958dcf" title="Gets Q1 point from BNO08x FRS (flash record system).">get_Q1()</a> </p>
+
+</div>
+</div>
+<a id="ae01698d287ea999179a11e2244902022" name="ae01698d287ea999179a11e2244902022"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae01698d287ea999179a11e2244902022">&#9670;&#160;</a></span>gravity_accuracy</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint16_t BNO08x::gravity_accuracy</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Gravity reading in m/s^2 (See SH-2 Ref. Manual 6.5.11) </p>
+
+</div>
+</div>
+<a id="ae10722334dfce9635e76519598e165a2" name="ae10722334dfce9635e76519598e165a2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae10722334dfce9635e76519598e165a2">&#9670;&#160;</a></span>GRAVITY_Q1</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr int16_t BNO08x::GRAVITY_Q1 = 8</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Gravity Q point (See SH-2 Ref. Manual 6.5.11) </p>
+
+</div>
+</div>
+<a id="af45016be9ea523d80be8467b2907b499" name="af45016be9ea523d80be8467b2907b499"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af45016be9ea523d80be8467b2907b499">&#9670;&#160;</a></span>gravity_X</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint16_t BNO08x::gravity_X</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="af20dcd487a9fe8fa6243817d51e37be5" name="af20dcd487a9fe8fa6243817d51e37be5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af20dcd487a9fe8fa6243817d51e37be5">&#9670;&#160;</a></span>gravity_Y</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint16_t BNO08x::gravity_Y</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="afa1cf5c3afbb258d97c55c5fb187f2d6" name="afa1cf5c3afbb258d97c55c5fb187f2d6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afa1cf5c3afbb258d97c55c5fb187f2d6">&#9670;&#160;</a></span>gravity_Z</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint16_t BNO08x::gravity_Z</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a98ea35dd0fbd0c409d25fd8a6ed9f277" name="a98ea35dd0fbd0c409d25fd8a6ed9f277"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a98ea35dd0fbd0c409d25fd8a6ed9f277">&#9670;&#160;</a></span>gyro_accuracy</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint16_t BNO08x::gyro_accuracy</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Raw gyro reading (See SH-2 Ref. Manual 6.5.13) </p>
+
+</div>
+</div>
+<a id="aa3bec8effefa61cec6fa170e9d02c4dd" name="aa3bec8effefa61cec6fa170e9d02c4dd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa3bec8effefa61cec6fa170e9d02c4dd">&#9670;&#160;</a></span>GYRO_Q1</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr int16_t BNO08x::GYRO_Q1 = 9</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Gyro Q point (See SH-2 Ref. Manual 6.5.13) </p>
+
+</div>
+</div>
+<a id="ae7f34752f888c637d5619f898e62a6d4" name="ae7f34752f888c637d5619f898e62a6d4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae7f34752f888c637d5619f898e62a6d4">&#9670;&#160;</a></span>HOST_INT_TIMEOUT_MS</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr uint64_t BNO08x::HOST_INT_TIMEOUT_MS</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<b>Initial value:</b><div class="fragment"><div class="line">=</div>
+<div class="line">                300ULL</div>
+</div><!-- fragment -->
+<p>Max wait between HINT being asserted by <a class="el" href="class_b_n_o08x.html">BNO08x</a> before transaction is considered failed (in miliseconds) </p>
+
+</div>
+</div>
+<a id="aeda443e9f608fccfec0e6770edc90c82" name="aeda443e9f608fccfec0e6770edc90c82"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aeda443e9f608fccfec0e6770edc90c82">&#9670;&#160;</a></span>imu_config</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="structbno08x__config__t.html">bno08x_config_t</a> BNO08x::imu_config {}</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>IMU configuration settings. </p>
+
+</div>
+</div>
+<a id="a425a1f5a9f3232aadc685caaf4c2f82e" name="a425a1f5a9f3232aadc685caaf4c2f82e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a425a1f5a9f3232aadc685caaf4c2f82e">&#9670;&#160;</a></span>imu_spi_config</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">spi_device_interface_config_t BNO08x::imu_spi_config {}</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>SPI slave device settings. </p>
+
+</div>
+</div>
+<a id="a4882dbc698d7b730f57e2401037766a9" name="a4882dbc698d7b730f57e2401037766a9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4882dbc698d7b730f57e2401037766a9">&#9670;&#160;</a></span>isr_service_installed</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08x::isr_service_installed = {false}</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>true of the isr service has been installed, only has to be done once regardless of how many devices are used </p>
+
+</div>
+</div>
+<a id="ad0d37fe07ced24f2c9afc21145a74e7b" name="ad0d37fe07ced24f2c9afc21145a74e7b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad0d37fe07ced24f2c9afc21145a74e7b">&#9670;&#160;</a></span>LINEAR_ACCELEROMETER_Q1</h2>
+
+<div class="memitem">
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+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr int16_t BNO08x::LINEAR_ACCELEROMETER_Q1 = 8</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Linear acceleration Q point (See SH-2 Ref. Manual 6.5.10) </p>
+
+</div>
+</div>
+<a id="ac5d4e151690774687efa951ca41c16ae" name="ac5d4e151690774687efa951ca41c16ae"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac5d4e151690774687efa951ca41c16ae">&#9670;&#160;</a></span>magf_accuracy</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint16_t BNO08x::magf_accuracy</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Calibrated magnetic field reading in uTesla (See SH-2 Ref. Manual 6.5.16) </p>
+
+</div>
+</div>
+<a id="a9fac9b811b7c2117675a784cb4df204c" name="a9fac9b811b7c2117675a784cb4df204c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9fac9b811b7c2117675a784cb4df204c">&#9670;&#160;</a></span>MAGNETOMETER_Q1</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr int16_t BNO08x::MAGNETOMETER_Q1 = 4</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Magnetometer Q point (See SH-2 Ref. Manual 6.5.16) </p>
+
+</div>
+</div>
+<a id="a2a5b978233eab4c103ab01cfc33a1750" name="a2a5b978233eab4c103ab01cfc33a1750"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2a5b978233eab4c103ab01cfc33a1750">&#9670;&#160;</a></span>MAX_METADATA_LENGTH</h2>
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+<div class="memitem">
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+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr uint16_t BNO08x::MAX_METADATA_LENGTH = 9</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>max length of metadata used in frs read operations </p>
+
+</div>
+</div>
+<a id="a937cbdc4edaac72c8cad041d79de5701" name="a937cbdc4edaac72c8cad041d79de5701"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a937cbdc4edaac72c8cad041d79de5701">&#9670;&#160;</a></span>mems_raw_accel_X</h2>
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+          <td class="memname">uint16_t BNO08x::mems_raw_accel_X</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
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+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#ad83cecb8a5d2be01db6792755b6057e9">&#9670;&#160;</a></span>mems_raw_accel_Y</h2>
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+          <td class="memname">uint16_t BNO08x::mems_raw_accel_Y</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a59a4d75f1302ab693b1b26e9ccaa5341" name="a59a4d75f1302ab693b1b26e9ccaa5341"></a>
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+<table class="mlabels">
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+  <td class="mlabels-left">
+      <table class="memname">
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+          <td class="memname">uint16_t BNO08x::mems_raw_accel_Z</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Raw accelerometer readings from MEMS sensor (See SH2 Ref. Manual 6.5.8) </p>
+
+</div>
+</div>
+<a id="a3d6b6257462951ea023af7076c80f6dd" name="a3d6b6257462951ea023af7076c80f6dd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3d6b6257462951ea023af7076c80f6dd">&#9670;&#160;</a></span>mems_raw_gyro_X</h2>
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+          <td class="memname">uint16_t BNO08x::mems_raw_gyro_X</td>
+        </tr>
+      </table>
+  </td>
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+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
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+          <td class="memname">uint16_t BNO08x::mems_raw_gyro_Y</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
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+</div>
+<a id="ac35d5b12721ab876eaeb1f714a9b3b1d" name="ac35d5b12721ab876eaeb1f714a9b3b1d"></a>
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+<div class="memproto">
+<table class="mlabels">
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+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint16_t BNO08x::mems_raw_gyro_Z</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Raw gyro readings from MEMS sensor (See SH-2 Ref. Manual 6.5.12) </p>
+
+</div>
+</div>
+<a id="ab587cdf991342b69b7fff3b33f537eb5" name="ab587cdf991342b69b7fff3b33f537eb5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab587cdf991342b69b7fff3b33f537eb5">&#9670;&#160;</a></span>mems_raw_magf_X</h2>
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+<table class="mlabels">
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+      <table class="memname">
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+          <td class="memname">uint16_t BNO08x::mems_raw_magf_X</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
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+<a id="aad926054c81818fff611e10ed913706a" name="aad926054c81818fff611e10ed913706a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aad926054c81818fff611e10ed913706a">&#9670;&#160;</a></span>mems_raw_magf_Y</h2>
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+  <tr>
+  <td class="mlabels-left">
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+          <td class="memname">uint16_t BNO08x::mems_raw_magf_Y</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a90f0cdf11decc276006f76a494d42ce3" name="a90f0cdf11decc276006f76a494d42ce3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a90f0cdf11decc276006f76a494d42ce3">&#9670;&#160;</a></span>mems_raw_magf_Z</h2>
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+<div class="memproto">
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+  <tr>
+  <td class="mlabels-left">
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+          <td class="memname">uint16_t BNO08x::mems_raw_magf_Z</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Raw magnetometer (compass) readings from MEMS sensor (See SH-2 Ref. Manual 6.5.15) </p>
+
+</div>
+</div>
+<a id="a7bd032712a975e73e66bd72a3502baba" name="a7bd032712a975e73e66bd72a3502baba"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7bd032712a975e73e66bd72a3502baba">&#9670;&#160;</a></span>meta_data</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint32_t BNO08x::meta_data[9]</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>First 9 bytes of meta data returned from FRS read operation (we don't really need the rest) (See Ref. Manual 5.1) </p>
+
+</div>
+</div>
+<a id="a36223f7124751fa71e860b2ef55dd2ac" name="a36223f7124751fa71e860b2ef55dd2ac"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a36223f7124751fa71e860b2ef55dd2ac">&#9670;&#160;</a></span>quat_accuracy</h2>
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+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
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+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint16_t BNO08x::quat_accuracy</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Raw quaternion reading (See SH-2 Ref. Manual 6.5.44) </p>
+
+</div>
+</div>
+<a id="a9a1c851e8fa5633e11f6abee293d7e9b" name="a9a1c851e8fa5633e11f6abee293d7e9b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9a1c851e8fa5633e11f6abee293d7e9b">&#9670;&#160;</a></span>queue_frs_read_data</h2>
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+<div class="memproto">
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+  <td class="mlabels-left">
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+        <tr>
+          <td class="memname">QueueHandle_t BNO08x::queue_frs_read_data</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Queue used to send packet body from data_proc_task to frs read functions. </p>
+
+</div>
+</div>
+<a id="a84b3639cc159262e0137adb0db5cf9aa" name="a84b3639cc159262e0137adb0db5cf9aa"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a84b3639cc159262e0137adb0db5cf9aa">&#9670;&#160;</a></span>queue_reset_reason</h2>
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+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">QueueHandle_t BNO08x::queue_reset_reason</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
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+</table>
+</div><div class="memdoc">
+
+<p>Queue used to send reset reason from product id report to reset_reason() function. </p>
+
+</div>
+</div>
+<a id="a7d4661d3aae56013caa8f2bff0f67c08" name="a7d4661d3aae56013caa8f2bff0f67c08"></a>
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+<div class="memproto">
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+          <td class="memname">QueueHandle_t BNO08x::queue_rx_data</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
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+
+<p>Packet queue used to send data received from bno08x from spi_task to data_proc_task. </p>
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+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a4d5c5eee87a578de9c8318cd294b3a22">&#9670;&#160;</a></span>queue_tx_data</h2>
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+  <td class="mlabels-left">
+      <table class="memname">
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+          <td class="memname">QueueHandle_t BNO08x::queue_tx_data</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
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+</div><div class="memdoc">
+
+<p>Packet queue used to send data to be sent over SPI from sending functions to spi_task. </p>
+
+</div>
+</div>
+<a id="a75fb2f06c5bbe26e3f3c794934ef954c" name="a75fb2f06c5bbe26e3f3c794934ef954c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a75fb2f06c5bbe26e3f3c794934ef954c">&#9670;&#160;</a></span>raw_accel_X</h2>
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+  <td class="mlabels-left">
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+          <td class="memname">uint16_t BNO08x::raw_accel_X</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
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+        </tr>
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+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
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+          <td class="memname">uint16_t BNO08x::raw_accel_Z</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
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+<p>Raw gyro angular velocity reading (See SH-2 Ref. Manual 6.5.44) </p>
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+<p>Rotation vector accuracy estimate Q point (See SH-2 Ref. Manual 6.5.18) </p>
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+</div>
+</div>
+<a id="a1a037bda37493cde56732cc6fdc7884b" name="a1a037bda37493cde56732cc6fdc7884b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1a037bda37493cde56732cc6fdc7884b">&#9670;&#160;</a></span>RX_DATA_LENGTH</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr uint16_t BNO08x::RX_DATA_LENGTH = 300</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>length buffer containing data received over spi </p>
+
+</div>
+</div>
+<a id="a354eaff2218eb382a1851537a75badcc" name="a354eaff2218eb382a1851537a75badcc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a354eaff2218eb382a1851537a75badcc">&#9670;&#160;</a></span>SENSOR_REPORT_ID_ACCELEROMETER</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr uint8_t BNO08x::SENSOR_REPORT_ID_ACCELEROMETER = 0x01</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>See SH2 Ref. Manual 6.5.9. </p>
+
+</div>
+</div>
+<a id="aeb51ebb6c82158cd7e23bd682c08c4e0" name="aeb51ebb6c82158cd7e23bd682c08c4e0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aeb51ebb6c82158cd7e23bd682c08c4e0">&#9670;&#160;</a></span>SENSOR_REPORT_ID_ARVR_STABILIZED_GAME_ROTATION_VECTOR</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr uint8_t BNO08x::SENSOR_REPORT_ID_ARVR_STABILIZED_GAME_ROTATION_VECTOR = 0x29</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>See SH2 Ref. Manual 6.5.43. </p>
+
+</div>
+</div>
+<a id="a8d4b91149cfc1a3cd615f60a4ad2275e" name="a8d4b91149cfc1a3cd615f60a4ad2275e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8d4b91149cfc1a3cd615f60a4ad2275e">&#9670;&#160;</a></span>SENSOR_REPORT_ID_ARVR_STABILIZED_ROTATION_VECTOR</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr uint8_t BNO08x::SENSOR_REPORT_ID_ARVR_STABILIZED_ROTATION_VECTOR = 0x28</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>See SH2 Ref. Manual 6.5.42. </p>
+
+</div>
+</div>
+<a id="ada7dbda9f7a0bfb0894a787ce0ff9cef" name="ada7dbda9f7a0bfb0894a787ce0ff9cef"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ada7dbda9f7a0bfb0894a787ce0ff9cef">&#9670;&#160;</a></span>SENSOR_REPORT_ID_GAME_ROTATION_VECTOR</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr uint8_t BNO08x::SENSOR_REPORT_ID_GAME_ROTATION_VECTOR = 0x08</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>See SH2 Ref. Manual 6.5.19. </p>
+
+</div>
+</div>
+<a id="abb6d0586a5a87b7b34f4c65ae52965a4" name="abb6d0586a5a87b7b34f4c65ae52965a4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abb6d0586a5a87b7b34f4c65ae52965a4">&#9670;&#160;</a></span>SENSOR_REPORT_ID_GEOMAGNETIC_ROTATION_VECTOR</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr uint8_t BNO08x::SENSOR_REPORT_ID_GEOMAGNETIC_ROTATION_VECTOR = 0x09</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>See SH2 Ref. Manual 6.5.20. </p>
+
+</div>
+</div>
+<a id="a6730acb92053d44decb690a7b7234032" name="a6730acb92053d44decb690a7b7234032"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6730acb92053d44decb690a7b7234032">&#9670;&#160;</a></span>SENSOR_REPORT_ID_GRAVITY</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr uint8_t BNO08x::SENSOR_REPORT_ID_GRAVITY = 0x06</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>See SH2 Ref. Manual 6.5.11. </p>
+
+</div>
+</div>
+<a id="acd0fc6ffa70dd2761cba0ac0b88c234f" name="acd0fc6ffa70dd2761cba0ac0b88c234f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acd0fc6ffa70dd2761cba0ac0b88c234f">&#9670;&#160;</a></span>SENSOR_REPORT_ID_GYRO_INTEGRATED_ROTATION_VECTOR</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr uint8_t BNO08x::SENSOR_REPORT_ID_GYRO_INTEGRATED_ROTATION_VECTOR = 0x2A</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>See SH2 Ref. Manual 6.5.44. </p>
+
+</div>
+</div>
+<a id="a224fb8f833806dd530c5f16e7ab5bc7a" name="a224fb8f833806dd530c5f16e7ab5bc7a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a224fb8f833806dd530c5f16e7ab5bc7a">&#9670;&#160;</a></span>SENSOR_REPORT_ID_GYROSCOPE</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr uint8_t BNO08x::SENSOR_REPORT_ID_GYROSCOPE = 0x02</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>See SH2 Ref. Manual 6.5.13. </p>
+
+</div>
+</div>
+<a id="ace7720a02c9f4ef38e319849f6c36a0b" name="ace7720a02c9f4ef38e319849f6c36a0b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ace7720a02c9f4ef38e319849f6c36a0b">&#9670;&#160;</a></span>SENSOR_REPORT_ID_LINEAR_ACCELERATION</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr uint8_t BNO08x::SENSOR_REPORT_ID_LINEAR_ACCELERATION = 0x04</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>See SH2 Ref. Manual 6.5.10. </p>
+
+</div>
+</div>
+<a id="a06058a84d6604054aa66ee008ac64aa9" name="a06058a84d6604054aa66ee008ac64aa9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a06058a84d6604054aa66ee008ac64aa9">&#9670;&#160;</a></span>SENSOR_REPORT_ID_MAGNETIC_FIELD</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr uint8_t BNO08x::SENSOR_REPORT_ID_MAGNETIC_FIELD = 0x03</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>See SH2 Ref. Manual 6.5.16. </p>
+
+</div>
+</div>
+<a id="a7274f6d3bda04da0bb304386b4e8d603" name="a7274f6d3bda04da0bb304386b4e8d603"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7274f6d3bda04da0bb304386b4e8d603">&#9670;&#160;</a></span>SENSOR_REPORT_ID_PERSONAL_ACTIVITY_CLASSIFIER</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr uint8_t BNO08x::SENSOR_REPORT_ID_PERSONAL_ACTIVITY_CLASSIFIER = 0x1E</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>See SH2 Ref. Manual 6.5.36. </p>
+
+</div>
+</div>
+<a id="a80ea70c4787dea6c3eabb48f583f1916" name="a80ea70c4787dea6c3eabb48f583f1916"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a80ea70c4787dea6c3eabb48f583f1916">&#9670;&#160;</a></span>SENSOR_REPORT_ID_RAW_ACCELEROMETER</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr uint8_t BNO08x::SENSOR_REPORT_ID_RAW_ACCELEROMETER = 0x14</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>See SH2 Ref. Manual 6.5.8. </p>
+
+</div>
+</div>
+<a id="a03b3000424e6d966b80655443ec546bc" name="a03b3000424e6d966b80655443ec546bc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a03b3000424e6d966b80655443ec546bc">&#9670;&#160;</a></span>SENSOR_REPORT_ID_RAW_GYROSCOPE</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr uint8_t BNO08x::SENSOR_REPORT_ID_RAW_GYROSCOPE = 0x15</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>See SH2 Ref. Manual 6.5.12. </p>
+
+</div>
+</div>
+<a id="a9e9a7578b7584e7eb2ad562b29565fa7" name="a9e9a7578b7584e7eb2ad562b29565fa7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9e9a7578b7584e7eb2ad562b29565fa7">&#9670;&#160;</a></span>SENSOR_REPORT_ID_RAW_MAGNETOMETER</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr uint8_t BNO08x::SENSOR_REPORT_ID_RAW_MAGNETOMETER = 0x16</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>See SH2 Ref. Manual 6.5.15. </p>
+
+</div>
+</div>
+<a id="a37c91f995c385556486df5fbbce8a3d5" name="a37c91f995c385556486df5fbbce8a3d5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a37c91f995c385556486df5fbbce8a3d5">&#9670;&#160;</a></span>SENSOR_REPORT_ID_ROTATION_VECTOR</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr uint8_t BNO08x::SENSOR_REPORT_ID_ROTATION_VECTOR = 0x05</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>See SH2 Ref. Manual 6.5.18. </p>
+
+</div>
+</div>
+<a id="ab5c29f31714b4755c0edbce7156652f7" name="ab5c29f31714b4755c0edbce7156652f7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab5c29f31714b4755c0edbce7156652f7">&#9670;&#160;</a></span>SENSOR_REPORT_ID_STABILITY_CLASSIFIER</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr uint8_t BNO08x::SENSOR_REPORT_ID_STABILITY_CLASSIFIER = 0x13</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>See SH2 Ref. Manual 6.5.31. </p>
+
+</div>
+</div>
+<a id="a2a10161bb564067a07f3fcf4021e00bb" name="a2a10161bb564067a07f3fcf4021e00bb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2a10161bb564067a07f3fcf4021e00bb">&#9670;&#160;</a></span>SENSOR_REPORT_ID_STEP_COUNTER</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr uint8_t BNO08x::SENSOR_REPORT_ID_STEP_COUNTER = 0x11</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>See SH2 Ref. Manual 6.5.29. </p>
+
+</div>
+</div>
+<a id="a8114460c50e84b0ac750293ab72868c8" name="a8114460c50e84b0ac750293ab72868c8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8114460c50e84b0ac750293ab72868c8">&#9670;&#160;</a></span>SENSOR_REPORT_ID_TAP_DETECTOR</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr uint8_t BNO08x::SENSOR_REPORT_ID_TAP_DETECTOR = 0x10</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>See SH2 Ref. Manual 6.5.27. </p>
+
+</div>
+</div>
+<a id="acb8e83fbb0645d4e98a96120ce9f431c" name="acb8e83fbb0645d4e98a96120ce9f431c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acb8e83fbb0645d4e98a96120ce9f431c">&#9670;&#160;</a></span>SENSOR_REPORT_ID_UNCALIBRATED_GYRO</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr uint8_t BNO08x::SENSOR_REPORT_ID_UNCALIBRATED_GYRO = 0x07</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>See SH2 Ref. Manual 6.5.14. </p>
+
+</div>
+</div>
+<a id="ae37d6f8431c8c465bfb0c662772b5cb9" name="ae37d6f8431c8c465bfb0c662772b5cb9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae37d6f8431c8c465bfb0c662772b5cb9">&#9670;&#160;</a></span>SHTP_REPORT_BASE_TIMESTAMP</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr uint8_t BNO08x::SHTP_REPORT_BASE_TIMESTAMP = 0xFB</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>See SH2 Ref. Manual 7.2.1. </p>
+
+</div>
+</div>
+<a id="ab04695dd189412092254e52bd6e5a75a" name="ab04695dd189412092254e52bd6e5a75a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab04695dd189412092254e52bd6e5a75a">&#9670;&#160;</a></span>SHTP_REPORT_COMMAND_REQUEST</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr uint8_t BNO08x::SHTP_REPORT_COMMAND_REQUEST = 0xF2</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>See SH2 Ref. Manual 6.3.8. </p>
+
+</div>
+</div>
+<a id="a1e5b64caa514b7e4fe64ab214758b875" name="a1e5b64caa514b7e4fe64ab214758b875"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1e5b64caa514b7e4fe64ab214758b875">&#9670;&#160;</a></span>SHTP_REPORT_COMMAND_RESPONSE</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr uint8_t BNO08x::SHTP_REPORT_COMMAND_RESPONSE = 0xF1</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>See SH2 Ref. Manual 6.3.9. </p>
+
+</div>
+</div>
+<a id="a74af7eacc35cc825940b647c2de0d368" name="a74af7eacc35cc825940b647c2de0d368"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a74af7eacc35cc825940b647c2de0d368">&#9670;&#160;</a></span>SHTP_REPORT_FRS_READ_REQUEST</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr uint8_t BNO08x::SHTP_REPORT_FRS_READ_REQUEST = 0xF4</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>See SH2 Ref. Manual 6.3.6. </p>
+
+</div>
+</div>
+<a id="aeb760b095dcf808a413ef696f2608e43" name="aeb760b095dcf808a413ef696f2608e43"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aeb760b095dcf808a413ef696f2608e43">&#9670;&#160;</a></span>SHTP_REPORT_FRS_READ_RESPONSE</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr uint8_t BNO08x::SHTP_REPORT_FRS_READ_RESPONSE = 0xF3</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>See SH2 Ref. Manual 6.3.7. </p>
+
+</div>
+</div>
+<a id="a542405639c28bd56bc4361b922763c95" name="a542405639c28bd56bc4361b922763c95"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a542405639c28bd56bc4361b922763c95">&#9670;&#160;</a></span>SHTP_REPORT_PRODUCT_ID_REQUEST</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr uint8_t BNO08x::SHTP_REPORT_PRODUCT_ID_REQUEST = 0xF9</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>See SH2 Ref. Manual 6.3.1. </p>
+
+</div>
+</div>
+<a id="a0177134162e116501bc9483c6e4b76c3" name="a0177134162e116501bc9483c6e4b76c3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0177134162e116501bc9483c6e4b76c3">&#9670;&#160;</a></span>SHTP_REPORT_PRODUCT_ID_RESPONSE</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr uint8_t BNO08x::SHTP_REPORT_PRODUCT_ID_RESPONSE = 0xF8</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>See SH2 Ref. Manual 6.3.2. </p>
+
+</div>
+</div>
+<a id="a1d3bff4e20c2c3d47db322c9e34ef338" name="a1d3bff4e20c2c3d47db322c9e34ef338"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1d3bff4e20c2c3d47db322c9e34ef338">&#9670;&#160;</a></span>SHTP_REPORT_SET_FEATURE_COMMAND</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr uint8_t BNO08x::SHTP_REPORT_SET_FEATURE_COMMAND = 0xFD</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>See SH2 Ref. Manual 6.5.4. </p>
+
+</div>
+</div>
+<a id="acc0ea091465fc9a5736f5e0c6a0ce8ef" name="acc0ea091465fc9a5736f5e0c6a0ce8ef"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acc0ea091465fc9a5736f5e0c6a0ce8ef">&#9670;&#160;</a></span>spi_hdl</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">spi_device_handle_t BNO08x::spi_hdl {}</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>SPI device handle. </p>
+
+</div>
+</div>
+<a id="a615090aae15f1b0410a7e5ecb94957b5" name="a615090aae15f1b0410a7e5ecb94957b5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a615090aae15f1b0410a7e5ecb94957b5">&#9670;&#160;</a></span>spi_task_hdl</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">TaskHandle_t BNO08x::spi_task_hdl</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p><a class="el" href="#a2ecd4ed60f82730ae230c61687ec92bf" title="Task responsible for SPI transactions. Executed when HINT in is asserted by BNO08x.">spi_task()</a> handle </p>
+
+</div>
+</div>
+<a id="ac16adc5f00b0039c98a4921f13895026" name="ac16adc5f00b0039c98a4921f13895026"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac16adc5f00b0039c98a4921f13895026">&#9670;&#160;</a></span>spi_transaction</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">spi_transaction_t BNO08x::spi_transaction {}</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>SPI transaction handle. </p>
+
+</div>
+</div>
+<a id="a1b12471e92536a79d0c425d77676f2e1" name="a1b12471e92536a79d0c425d77676f2e1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1b12471e92536a79d0c425d77676f2e1">&#9670;&#160;</a></span>stability_classifier</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint8_t BNO08x::stability_classifier</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Stability status reading (See SH-2 Ref. Manual 6.5.31) </p>
+
+</div>
+</div>
+<a id="ad80a77973371b12d722ea39063c648be" name="ad80a77973371b12d722ea39063c648be"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad80a77973371b12d722ea39063c648be">&#9670;&#160;</a></span>step_count</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint16_t BNO08x::step_count</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Step counter reading (See SH-2 Ref. Manual 6.5.29) </p>
+
+</div>
+</div>
+<a id="a2c98d5f2c406a3efd0b48c5666fa8c46" name="a2c98d5f2c406a3efd0b48c5666fa8c46"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2c98d5f2c406a3efd0b48c5666fa8c46">&#9670;&#160;</a></span>TAG</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr char* BNO08x::TAG = &quot;BNO08x&quot;</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Class tag used for serial print statements. </p>
+
+</div>
+</div>
+<a id="a1171a5738a4e6831ec7fa32a29f15554" name="a1171a5738a4e6831ec7fa32a29f15554"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1171a5738a4e6831ec7fa32a29f15554">&#9670;&#160;</a></span>tap_detector</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint8_t BNO08x::tap_detector</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Tap detector reading (See SH-2 Ref. Manual 6.5.27) </p>
+
+</div>
+</div>
+<a id="a68aaaab144adbe5af00597408f044d9d" name="a68aaaab144adbe5af00597408f044d9d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a68aaaab144adbe5af00597408f044d9d">&#9670;&#160;</a></span>TARE_ARVR_STABILIZED_GAME_ROTATION_VECTOR</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr uint8_t BNO08x::TARE_ARVR_STABILIZED_GAME_ROTATION_VECTOR = 5</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Tare ARVR stabilized game rotation vector. </p>
+
+</div>
+</div>
+<a id="abff9abe904bcdde951cf88c378284b45" name="abff9abe904bcdde951cf88c378284b45"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abff9abe904bcdde951cf88c378284b45">&#9670;&#160;</a></span>TARE_ARVR_STABILIZED_ROTATION_VECTOR</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr uint8_t BNO08x::TARE_ARVR_STABILIZED_ROTATION_VECTOR = 4</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Tare ARVR stabilized rotation vector. </p>
+
+</div>
+</div>
+<a id="a1ef13f6f330810934416ad5fe0ee55b2" name="a1ef13f6f330810934416ad5fe0ee55b2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1ef13f6f330810934416ad5fe0ee55b2">&#9670;&#160;</a></span>TARE_AXIS_ALL</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr uint8_t BNO08x::TARE_AXIS_ALL = 0x07</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Tare all axes (used with tare now command) </p>
+
+</div>
+</div>
+<a id="aecb3e11c1ca5769fd60f42c17a105731" name="aecb3e11c1ca5769fd60f42c17a105731"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aecb3e11c1ca5769fd60f42c17a105731">&#9670;&#160;</a></span>TARE_AXIS_Z</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr uint8_t BNO08x::TARE_AXIS_Z = 0x04</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Tar yaw axis only (used with tare now command) </p>
+
+</div>
+</div>
+<a id="abaf1ec8bb197db1998a9ed3cec6180d5" name="abaf1ec8bb197db1998a9ed3cec6180d5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abaf1ec8bb197db1998a9ed3cec6180d5">&#9670;&#160;</a></span>TARE_GAME_ROTATION_VECTOR</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr uint8_t BNO08x::TARE_GAME_ROTATION_VECTOR = 1</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Tare game rotation vector. </p>
+
+</div>
+</div>
+<a id="a225397a04d849e5647992ca80d68febb" name="a225397a04d849e5647992ca80d68febb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a225397a04d849e5647992ca80d68febb">&#9670;&#160;</a></span>TARE_GEOMAGNETIC_ROTATION_VECTOR</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr uint8_t BNO08x::TARE_GEOMAGNETIC_ROTATION_VECTOR = 2</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>tare geomagnetic rotation vector </p>
+
+</div>
+</div>
+<a id="a9ec354d75249f06f13599abf7bedfde0" name="a9ec354d75249f06f13599abf7bedfde0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9ec354d75249f06f13599abf7bedfde0">&#9670;&#160;</a></span>TARE_GYRO_INTEGRATED_ROTATION_VECTOR</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr uint8_t BNO08x::TARE_GYRO_INTEGRATED_ROTATION_VECTOR = 3</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Tare gyro integrated rotation vector. </p>
+
+</div>
+</div>
+<a id="a27df630f3e52b35552d2c1f2cf3496b0" name="a27df630f3e52b35552d2c1f2cf3496b0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a27df630f3e52b35552d2c1f2cf3496b0">&#9670;&#160;</a></span>TARE_NOW</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr uint8_t BNO08x::TARE_NOW = 0</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>See SH2 Ref. Manual 6.4.4.1. </p>
+
+</div>
+</div>
+<a id="a115aef7b38ec0dec2085f6917d832912" name="a115aef7b38ec0dec2085f6917d832912"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a115aef7b38ec0dec2085f6917d832912">&#9670;&#160;</a></span>TARE_PERSIST</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr uint8_t BNO08x::TARE_PERSIST = 1</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>See SH2 Ref. Manual 6.4.4.2. </p>
+
+</div>
+</div>
+<a id="a8e2cfc25d0e34ae53a762b88cc3ac3c8" name="a8e2cfc25d0e34ae53a762b88cc3ac3c8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8e2cfc25d0e34ae53a762b88cc3ac3c8">&#9670;&#160;</a></span>TARE_ROTATION_VECTOR</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr uint8_t BNO08x::TARE_ROTATION_VECTOR = 0</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Tare rotation vector. </p>
+
+</div>
+</div>
+<a id="a59cde7dd301c94a20b84735c5d49008e" name="a59cde7dd301c94a20b84735c5d49008e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a59cde7dd301c94a20b84735c5d49008e">&#9670;&#160;</a></span>TARE_SET_REORIENTATION</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr uint8_t BNO08x::TARE_SET_REORIENTATION = 2</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>See SH2 Ref. Manual 6.4.4.3. </p>
+
+</div>
+</div>
+<a id="abc972db20affbd0040b4e6c4892dd57b" name="abc972db20affbd0040b4e6c4892dd57b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abc972db20affbd0040b4e6c4892dd57b">&#9670;&#160;</a></span>time_stamp</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint32_t BNO08x::time_stamp</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Report timestamp (see datasheet 1.3.5.3) </p>
+
+</div>
+</div>
+<a id="a081c666a3f24016d0ec5c5edc49f2903" name="a081c666a3f24016d0ec5c5edc49f2903"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a081c666a3f24016d0ec5c5edc49f2903">&#9670;&#160;</a></span>uncalib_gyro_accuracy</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint16_t BNO08x::uncalib_gyro_accuracy</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Uncalibrated gyro reading (See SH-2 Ref. Manual 6.5.14) </p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li><a class="el" href="_b_n_o08x_8hpp_source.html">BNO08x.hpp</a></li>
+<li><a class="el" href="_b_n_o08x_8cpp.html">BNO08x.cpp</a></li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="class_b_n_o08x.html">BNO08x</a></li>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0 </li>
+  </ul>
+</div>
+</body>
+</html>
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new file mode 100644
index 0000000..2801bb8
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new file mode 100644
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diff --git a/documentation/html/class_b_n_o08x_a67a697595d6a4d4638a53c6b4a5ef0cd_icgraph.map b/documentation/html/class_b_n_o08x_a67a697595d6a4d4638a53c6b4a5ef0cd_icgraph.map
new file mode 100644
index 0000000..c525bfc
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_a67a697595d6a4d4638a53c6b4a5ef0cd_icgraph.map
@@ -0,0 +1,9 @@
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new file mode 100644
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diff --git a/documentation/html/class_b_n_o08x_a8296089e2fdbd7d2e85f364cf063af82_cgraph.map b/documentation/html/class_b_n_o08x_a8296089e2fdbd7d2e85f364cf063af82_cgraph.map
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diff --git a/documentation/html/class_b_n_o08x_a9329c6669282071622c3b3741b1b8142_cgraph.map b/documentation/html/class_b_n_o08x_a9329c6669282071622c3b3741b1b8142_cgraph.map
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diff --git a/documentation/html/class_b_n_o08x_a9329c6669282071622c3b3741b1b8142_cgraph.md5 b/documentation/html/class_b_n_o08x_a9329c6669282071622c3b3741b1b8142_cgraph.md5
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diff --git a/documentation/html/class_b_n_o08x_a954dccdcbe8a8c4f1787f13ebb8d932b_cgraph.map b/documentation/html/class_b_n_o08x_a954dccdcbe8a8c4f1787f13ebb8d932b_cgraph.map
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diff --git a/documentation/html/class_b_n_o08x_a954dccdcbe8a8c4f1787f13ebb8d932b_cgraph.md5 b/documentation/html/class_b_n_o08x_a954dccdcbe8a8c4f1787f13ebb8d932b_cgraph.md5
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diff --git a/documentation/html/class_b_n_o08x_a9f6bb642fa0297a7b9bcc94dd7374015_cgraph.map b/documentation/html/class_b_n_o08x_a9f6bb642fa0297a7b9bcc94dd7374015_cgraph.map
new file mode 100644
index 0000000..b09cd0f
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_a9f6bb642fa0297a7b9bcc94dd7374015_cgraph.map
@@ -0,0 +1,5 @@
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diff --git a/documentation/html/class_b_n_o08x_ab4c48a91d2f8b29430abc17b7f015282_cgraph.md5 b/documentation/html/class_b_n_o08x_ab4c48a91d2f8b29430abc17b7f015282_cgraph.md5
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+<div class="contents">
+<div class="qindex"><a class="qindex" href="#letter_B">B</a></div>
+<div class="classindex">
+<dl class="classindex even">
+<dt class="alphachar"><a id="letter_B" name="letter_B">B</a></dt>
+<dd><a class="el" href="class_b_n_o08x.html">BNO08x</a></dd><dd><a class="el" href="structbno08x__config__t.html">bno08x_config_t</a></dd><dd><a class="el" href="struct_b_n_o08x_1_1bno08x__rx__packet__t.html">BNO08x::bno08x_rx_packet_t</a></dd><dd><a class="el" href="struct_b_n_o08x_1_1bno08x__tx__packet__t.html">BNO08x::bno08x_tx_packet_t</a></dd></dl>
+</div>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/documentation/html/clipboard.js b/documentation/html/clipboard.js
new file mode 100644
index 0000000..42c1fb0
--- /dev/null
+++ b/documentation/html/clipboard.js
@@ -0,0 +1,61 @@
+/**
+
+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 = `<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24" width="24" height="24"><path d="M0 0h24v24H0V0z" fill="none"/><path d="M16 1H4c-1.1 0-2 .9-2 2v14h2V3h12V1zm3 4H8c-1.1 0-2 .9-2 2v14c0 1.1.9 2 2 2h11c1.1 0 2-.9 2-2V7c0-1.1-.9-2-2-2zm0 16H8V7h11v14z"/></svg>`
+let clipboard_successIcon = `<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24" width="24" height="24"><path d="M0 0h24v24H0V0z" fill="none"/><path d="M9 16.17L4.83 12l-1.42 1.41L9 19 21 7l-1.41-1.41L9 16.17z"/></svg>`
+let clipboard_successDuration = 1000
+
+$(function() {
+  if(navigator.clipboard) {
+    const fragments = document.getElementsByClassName("fragment")
+    for(const fragment of fragments) {
+      const clipboard_div = document.createElement("div")
+      clipboard_div.classList.add("clipboard")
+      clipboard_div.innerHTML = clipboard_icon
+      clipboard_div.title = clipboard_title
+      $(clipboard_div).click(function() {
+        const content = this.parentNode.cloneNode(true)
+        // filter out line number and folded fragments from file listings
+        content.querySelectorAll(".lineno, .ttc, .foldclosed").forEach((node) => { node.remove() })
+        let text = content.textContent
+        // remove trailing newlines and trailing spaces from empty lines
+        text = text.replace(/^\s*\n/gm,'\n').replace(/\n*$/,'')
+        navigator.clipboard.writeText(text);
+        this.classList.add("success")
+        this.innerHTML = clipboard_successIcon
+        window.setTimeout(() => { // switch back to normal icon after timeout
+            this.classList.remove("success")
+            this.innerHTML = clipboard_icon
+        }, clipboard_successDuration);
+      })
+      fragment.insertBefore(clipboard_div, fragment.firstChild)
+    }
+  }
+})
diff --git a/documentation/html/closed.png b/documentation/html/closed.png
new file mode 100644
index 0000000000000000000000000000000000000000..98cc2c909da37a6df914fbf67780eebd99c597f5
GIT binary patch
literal 132
zcmeAS@N?(olHy`uVBq!ia0vp^oFL4>1|%O$WD@{V-kvUwAr*{o@8<G4C~~x2bkCl7
zlF9slZh~6z%aUT|WfKm3{P*dDAfv<6>{^CZMh(5KoB^r_<4^zF@3)Cp&&t3hdujKf
f*?bjBoY!V+E))@{xMcbjXe@)LtDnm{r-UW|*e5JT

literal 0
HcmV?d00001

diff --git a/documentation/html/cookie.js b/documentation/html/cookie.js
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 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!DOCTYPE svg PUBLIC "-//W3C//DTD SVG 1.1//EN"
+ "https://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd">
+<svg version="1.1" width="16" height="24" viewBox="0 0 80 60" id="doc" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" xml:space="preserve">
+<g style="fill:#4665A2">
+<path d="m 14,-1.1445312 c -2.824372,0 -5.1445313,2.320159 -5.1445312,5.1445312 v 72 c 0,2.824372 2.3201592,5.144531 5.1445312,5.144531 h 52 c 2.824372,0 5.144531,-2.320159 5.144531,-5.144531 V 23.699219 a 1.1447968,1.1447968 0 0 0 -0.01563,-0.1875 C 70.977847,22.605363 70.406495,21.99048 70.007812,21.591797 L 48.208984,-0.20898438 C 47.606104,-0.81186474 46.804652,-1.1445313 46,-1.1445312 Z m 1.144531,6.2890624 H 42.855469 V 24 c 0,1.724372 1.420159,3.144531 3.144531,3.144531 H 64.855469 V 74.855469 H 15.144531 Z m 34,4.4179688 L 60.4375,20.855469 H 49.144531 Z"/>
+</g>
+<g style="fill:#D8DFEE;stroke-width:0">
+<path d="M 3.0307167,13.993174 V 7.0307167 h 2.7576792 2.7576792 v 1.8826151 c 0,1.2578262 0.0099,1.9287572 0.029818,2.0216512 0.03884,0.181105 0.168631,0.348218 0.33827,0.43554 l 0.1355017,0.06975 1.9598092,0.0079 1.959809,0.0078 v 4.749829 4.749829 H 8 3.0307167 Z" transform="matrix(5,0,0,5,0,-30)" />
+<path d="M 9.8293515,9.0581469 V 7.9456453 l 1.1058025,1.1055492 c 0.608191,0.6080521 1.105802,1.1086775 1.105802,1.1125015 0,0.0038 -0.497611,0.007 -1.105802,0.007 H 9.8293515 Z" transform="matrix(5,0,0,5,0,-30)" />
+</g>
+</svg>
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 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!DOCTYPE svg PUBLIC "-//W3C//DTD SVG 1.1//EN"
+ "https://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd">
+<svg version="1.1" width="16" height="24" viewBox="0 0 80 60" id="doc" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" xml:space="preserve">
+<g style="fill:#C4CFE5">
+<path d="m 14,-1.1445312 c -2.824372,0 -5.1445313,2.320159 -5.1445312,5.1445312 v 72 c 0,2.824372 2.3201592,5.144531 5.1445312,5.144531 h 52 c 2.824372,0 5.144531,-2.320159 5.144531,-5.144531 V 23.699219 a 1.1447968,1.1447968 0 0 0 -0.01563,-0.1875 C 70.977847,22.605363 70.406495,21.99048 70.007812,21.591797 L 48.208984,-0.20898438 C 47.606104,-0.81186474 46.804652,-1.1445313 46,-1.1445312 Z m 1.144531,6.2890624 H 42.855469 V 24 c 0,1.724372 1.420159,3.144531 3.144531,3.144531 H 64.855469 V 74.855469 H 15.144531 Z m 34,4.4179688 L 60.4375,20.855469 H 49.144531 Z"/>
+</g>
+<g style="fill:#4665A2;stroke-width:0">
+<path d="M 3.0307167,13.993174 V 7.0307167 h 2.7576792 2.7576792 v 1.8826151 c 0,1.2578262 0.0099,1.9287572 0.029818,2.0216512 0.03884,0.181105 0.168631,0.348218 0.33827,0.43554 l 0.1355017,0.06975 1.9598092,0.0079 1.959809,0.0078 v 4.749829 4.749829 H 8 3.0307167 Z" transform="matrix(5,0,0,5,0,-30)" />
+<path d="M 9.8293515,9.0581469 V 7.9456453 l 1.1058025,1.1055492 c 0.608191,0.6080521 1.105802,1.1086775 1.105802,1.1125015 0,0.0038 -0.497611,0.007 -1.105802,0.007 H 9.8293515 Z" transform="matrix(5,0,0,5,0,-30)" />
+</g>
+</svg>
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,<svg xmlns='http://www.w3.org/2000/svg' version='1.1' height='10px' width='5px' fill='grey'><text x='0' y='5' font-size='10'>&%238595;</text></svg>");
+
+/** 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,<svg xmlns='http://www.w3.org/2000/svg' version='1.1' height='10px' width='5px'><text x='0' y='5' font-size='10' fill='grey'>&%238595;</text></svg>");
+
+/** search field */
+--search-background-color: black;
+--search-foreground-color: #C5C5C5;
+--search-magnification-image: url('mag_d.svg');
+--search-magnification-select-image: url('mag_seld.svg');
+--search-active-color: #C5C5C5;
+--search-filter-background-color: #101826;
+--search-filter-foreground-color: #90A5CE;
+--search-filter-border-color: #7C95C6;
+--search-filter-highlight-text-color: #BCC9E2;
+--search-filter-highlight-bg-color: #283A5D;
+--search-results-background-color: #101826;
+--search-results-foreground-color: #90A5CE;
+--search-results-border-color: #7C95C6;
+--search-box-shadow: inset 0.5px 0.5px 3px 0px #2F436C;
+
+/** code fragments */
+--code-keyword-color: #CC99CD;
+--code-type-keyword-color: #AB99CD;
+--code-flow-keyword-color: #E08000;
+--code-comment-color: #717790;
+--code-preprocessor-color: #65CABE;
+--code-string-literal-color: #7EC699;
+--code-char-literal-color: #00E0F0;
+--code-xml-cdata-color: #C9D1D9;
+--code-vhdl-digit-color: #FF00FF;
+--code-vhdl-char-color: #C0C0C0;
+--code-vhdl-keyword-color: #CF53C9;
+--code-vhdl-logic-color: #FF0000;
+--code-link-color: #79C0FF;
+--code-external-link-color: #79C0FF;
+--fragment-foreground-color: #C9D1D9;
+--fragment-background-color: #090D16;
+--fragment-border-color: #30363D;
+--fragment-lineno-border-color: #30363D;
+--fragment-lineno-background-color: black;
+--fragment-lineno-foreground-color: #6E7681;
+--fragment-lineno-link-fg-color: #6E7681;
+--fragment-lineno-link-bg-color: #303030;
+--fragment-lineno-link-hover-fg-color: #8E96A1;
+--fragment-lineno-link-hover-bg-color: #505050;
+--fragment-copy-ok-color: #0EA80E;
+--tooltip-foreground-color: #C9D1D9;
+--tooltip-background-color: #202020;
+--tooltip-border-color: #C9D1D9;
+--tooltip-doc-color: #D9E1E9;
+--tooltip-declaration-color: #20C348;
+--tooltip-link-color: #79C0FF;
+--tooltip-shadow: none;
+--fold-line-color: #808080;
+--fold-minus-image: url('minusd.svg');
+--fold-plus-image: url('plusd.svg');
+--fold-minus-image-relpath: url('../../minusd.svg');
+--fold-plus-image-relpath: url('../../plusd.svg');
+
+/** font-family */
+--font-family-normal: Roboto,sans-serif;
+--font-family-monospace: 'JetBrains Mono',Consolas,Monaco,'Andale Mono','Ubuntu Mono',monospace,fixed;
+--font-family-nav: 'Lucida Grande',Geneva,Helvetica,Arial,sans-serif;
+--font-family-title: Tahoma,Arial,sans-serif;
+--font-family-toc: Verdana,'DejaVu Sans',Geneva,sans-serif;
+--font-family-search: Arial,Verdana,sans-serif;
+--font-family-icon: Arial,Helvetica;
+--font-family-tooltip: Roboto,sans-serif;
+
+/** special sections */
+--warning-color-bg: #2e1917;
+--warning-color-hl: #ad2617;
+--warning-color-text: #f5b1aa;
+--note-color-bg: #3b2e04;
+--note-color-hl: #f1b602;
+--note-color-text: #ceb670;
+--todo-color-bg: #163750;
+--todo-color-hl: #1982D2;
+--todo-color-text: #dcf0fa;
+--test-color-bg: #121258;
+--test-color-hl: #4242cf;
+--test-color-text: #c0c0da;
+--deprecated-color-bg: #2e323b;
+--deprecated-color-hl: #738396;
+--deprecated-color-text: #abb0bd;
+--bug-color-bg: #2a2536;
+--bug-color-hl: #7661b3;
+--bug-color-text: #ae9ed6;
+--invariant-color-bg: #303a35;
+--invariant-color-hl: #76ce96;
+--invariant-color-text: #cceed5;
+}}
+body {
+    background-color: var(--page-background-color);
+    color: var(--page-foreground-color);
+}
+
+body, table, div, p, dl {
+	font-weight: 400;
+	font-size: 14px;
+	font-family: var(--font-family-normal);
+	line-height: 22px;
+}
+
+/* @group Heading Levels */
+
+.title {
+	font-family: var(--font-family-normal);
+	line-height: 28px;
+	font-size: 150%;
+	font-weight: bold;
+	margin: 10px 2px;
+}
+
+h1.groupheader {
+	font-size: 150%;
+}
+
+h2.groupheader {
+	border-bottom: 1px solid var(--group-header-separator-color);
+	color: var(--group-header-color);
+	font-size: 150%;
+	font-weight: normal;
+	margin-top: 1.75em;
+	padding-top: 8px;
+	padding-bottom: 4px;
+	width: 100%;
+}
+
+h3.groupheader {
+	font-size: 100%;
+}
+
+h1, h2, h3, h4, h5, h6 {
+	-webkit-transition: text-shadow 0.5s linear;
+	-moz-transition: text-shadow 0.5s linear;
+	-ms-transition: text-shadow 0.5s linear;
+	-o-transition: text-shadow 0.5s linear;
+	transition: text-shadow 0.5s linear;
+	margin-right: 15px;
+}
+
+h1.glow, h2.glow, h3.glow, h4.glow, h5.glow, h6.glow {
+	text-shadow: 0 0 15px var(--glow-color);
+}
+
+dt {
+	font-weight: bold;
+}
+
+p.startli, p.startdd {
+	margin-top: 2px;
+}
+
+th p.starttd, th p.intertd, th p.endtd {
+        font-size: 100%;
+        font-weight: 700;
+}
+
+p.starttd {
+	margin-top: 0px;
+}
+
+p.endli {
+	margin-bottom: 0px;
+}
+
+p.enddd {
+	margin-bottom: 4px;
+}
+
+p.endtd {
+	margin-bottom: 2px;
+}
+
+p.interli {
+}
+
+p.interdd {
+}
+
+p.intertd {
+}
+
+/* @end */
+
+caption {
+	font-weight: bold;
+}
+
+span.legend {
+	font-size: 70%;
+	text-align: center;
+}
+
+h3.version {
+	font-size: 90%;
+	text-align: center;
+}
+
+div.navtab {
+	padding-right: 15px;
+	text-align: right;
+	line-height: 110%;
+}
+
+div.navtab table {
+	border-spacing: 0;
+}
+
+td.navtab {
+	padding-right: 6px;
+	padding-left: 6px;
+}
+
+td.navtabHL {
+	background-image: var(--nav-gradient-active-image);
+	background-repeat:repeat-x;
+	padding-right: 6px;
+	padding-left: 6px;
+}
+
+td.navtabHL a, td.navtabHL a:visited {
+	color: var(--nav-text-hover-color);
+	text-shadow: var(--nav-text-hover-shadow);
+}
+
+a.navtab {
+	font-weight: bold;
+}
+
+div.qindex{
+	text-align: center;
+	width: 100%;
+	line-height: 140%;
+	font-size: 130%;
+	color: var(--index-separator-color);
+}
+
+#main-menu a:focus {
+	outline: auto;
+	z-index: 10;
+	position: relative;
+}
+
+dt.alphachar{
+	font-size: 180%;
+	font-weight: bold;
+}
+
+.alphachar a{
+	color: var(--index-header-color);
+}
+
+.alphachar a:hover, .alphachar a:visited{
+	text-decoration: none;
+}
+
+.classindex dl {
+	padding: 25px;
+	column-count:1
+}
+
+.classindex dd {
+	display:inline-block;
+	margin-left: 50px;
+	width: 90%;
+	line-height: 1.15em;
+}
+
+.classindex dl.even {
+	background-color: var(--index-even-item-bg-color);
+}
+
+.classindex dl.odd {
+	background-color: var(--index-odd-item-bg-color);
+}
+
+@media(min-width: 1120px) {
+	.classindex dl {
+		column-count:2
+	}
+}
+
+@media(min-width: 1320px) {
+	.classindex dl {
+		column-count:3
+	}
+}
+
+
+/* @group Link Styling */
+
+a {
+	color: var(--page-link-color);
+	font-weight: normal;
+	text-decoration: none;
+}
+
+.contents a:visited {
+	color: var(--page-visited-link-color);
+}
+
+a:hover {
+	text-decoration: none;
+	background:   linear-gradient(to bottom, transparent 0,transparent calc(100% - 1px), currentColor 100%);
+}
+
+a:hover > span.arrow {
+        text-decoration: none;
+        background : var(--nav-background-color);
+}
+
+a.el {
+	font-weight: bold;
+}
+
+a.elRef {
+}
+
+a.code, a.code:visited, a.line, a.line:visited {
+	color: var(--code-link-color);
+}
+
+a.codeRef, a.codeRef:visited, a.lineRef, a.lineRef:visited {
+	color: var(--code-external-link-color);
+}
+
+a.code.hl_class { /* style for links to class names in code snippets */ }
+a.code.hl_struct { /* style for links to struct names in code snippets */ }
+a.code.hl_union { /* style for links to union names in code snippets */ }
+a.code.hl_interface { /* style for links to interface names in code snippets */ }
+a.code.hl_protocol { /* style for links to protocol names in code snippets */ }
+a.code.hl_category { /* style for links to category names in code snippets */ }
+a.code.hl_exception { /* style for links to exception names in code snippets */ }
+a.code.hl_service { /* style for links to service names in code snippets */ }
+a.code.hl_singleton { /* style for links to singleton names in code snippets */ }
+a.code.hl_concept { /* style for links to concept names in code snippets */ }
+a.code.hl_namespace { /* style for links to namespace names in code snippets */ }
+a.code.hl_package { /* style for links to package names in code snippets */ }
+a.code.hl_define { /* style for links to macro names in code snippets */ }
+a.code.hl_function { /* style for links to function names in code snippets */ }
+a.code.hl_variable { /* style for links to variable names in code snippets */ }
+a.code.hl_typedef { /* style for links to typedef names in code snippets */ }
+a.code.hl_enumvalue { /* style for links to enum value names in code snippets */ }
+a.code.hl_enumeration { /* style for links to enumeration names in code snippets */ }
+a.code.hl_signal { /* style for links to Qt signal names in code snippets */ }
+a.code.hl_slot { /* style for links to Qt slot names in code snippets */ }
+a.code.hl_friend { /* style for links to friend names in code snippets */ }
+a.code.hl_dcop { /* style for links to KDE3 DCOP names in code snippets */ }
+a.code.hl_property { /* style for links to property names in code snippets */ }
+a.code.hl_event { /* style for links to event names in code snippets */ }
+a.code.hl_sequence { /* style for links to sequence names in code snippets */ }
+a.code.hl_dictionary { /* style for links to dictionary names in code snippets */ }
+
+/* @end */
+
+dl.el {
+	margin-left: -1cm;
+}
+
+ul {
+  overflow: visible;
+}
+
+ul.multicol {
+        -moz-column-gap: 1em;
+        -webkit-column-gap: 1em;
+        column-gap: 1em;
+        -moz-column-count: 3;
+        -webkit-column-count: 3;
+        column-count: 3;
+        list-style-type: none;
+}
+
+#side-nav ul {
+  overflow: visible; /* reset ul rule for scroll bar in GENERATE_TREEVIEW window */
+}
+
+#main-nav ul {
+  overflow: visible; /* reset ul rule for the navigation bar drop down lists */
+}
+
+.fragment {
+  text-align: left;
+  direction: ltr;
+  overflow-x: auto;
+  overflow-y: hidden;
+  position: relative;
+  min-height: 12px;
+  margin: 10px 0px;
+  padding: 10px 10px;
+  border: 1px solid var(--fragment-border-color);
+  border-radius: 4px;
+  background-color: var(--fragment-background-color);
+  color: var(--fragment-foreground-color);
+}
+
+pre.fragment {
+  word-wrap: break-word;
+  font-size:  10pt;
+  line-height: 125%;
+  font-family: var(--font-family-monospace);
+}
+
+.clipboard {
+        width: 24px;
+        height: 24px;
+        right: 5px;
+        top: 5px;
+        opacity: 0;
+        position: absolute;
+        display: inline;
+        overflow: auto;
+        fill: var(--fragment-foreground-color);
+        justify-content: center;
+        align-items: center;
+        cursor: pointer;
+}
+
+.clipboard.success {
+        border: 1px solid var(--fragment-foreground-color);
+        border-radius: 4px;
+}
+
+.fragment:hover .clipboard, .clipboard.success {
+        opacity: .28;
+}
+
+.clipboard:hover, .clipboard.success {
+        opacity: 1 !important;
+}
+
+.clipboard:active:not([class~=success]) svg {
+        transform: scale(.91);
+}
+
+.clipboard.success svg {
+        fill: var(--fragment-copy-ok-color);
+}
+
+.clipboard.success {
+        border-color: var(--fragment-copy-ok-color);
+}
+
+div.line {
+	font-family: var(--font-family-monospace);
+        font-size: 13px;
+	min-height: 13px;
+	line-height: 1.2;
+	text-wrap: unrestricted;
+	white-space: -moz-pre-wrap; /* Moz */
+	white-space: -pre-wrap;     /* Opera 4-6 */
+	white-space: -o-pre-wrap;   /* Opera 7 */
+	white-space: pre-wrap;      /* CSS3  */
+	word-wrap: break-word;      /* IE 5.5+ */
+	text-indent: -53px;
+	padding-left: 53px;
+	padding-bottom: 0px;
+	margin: 0px;
+	-webkit-transition-property: background-color, box-shadow;
+	-webkit-transition-duration: 0.5s;
+	-moz-transition-property: background-color, box-shadow;
+	-moz-transition-duration: 0.5s;
+	-ms-transition-property: background-color, box-shadow;
+	-ms-transition-duration: 0.5s;
+	-o-transition-property: background-color, box-shadow;
+	-o-transition-duration: 0.5s;
+	transition-property: background-color, box-shadow;
+	transition-duration: 0.5s;
+}
+
+div.line:after {
+    content:"\000A";
+    white-space: pre;
+}
+
+div.line.glow {
+	background-color: var(--glow-color);
+	box-shadow: 0 0 10px var(--glow-color);
+}
+
+span.fold {
+        margin-left: 5px;
+        margin-right: 1px;
+        margin-top: 0px;
+        margin-bottom: 0px;
+        padding: 0px;
+	display: inline-block;
+	width: 12px;
+	height: 12px;
+	background-repeat:no-repeat;
+        background-position:center;
+}
+
+span.lineno {
+	padding-right: 4px;
+        margin-right: 9px;
+	text-align: right;
+	border-right: 2px solid var(--fragment-lineno-border-color);
+	color: var(--fragment-lineno-foreground-color);
+	background-color: var(--fragment-lineno-background-color);
+        white-space: pre;
+}
+span.lineno a, span.lineno a:visited {
+	color: var(--fragment-lineno-link-fg-color);
+	background-color: var(--fragment-lineno-link-bg-color);
+}
+
+span.lineno a:hover {
+	color: var(--fragment-lineno-link-hover-fg-color);
+	background-color: var(--fragment-lineno-link-hover-bg-color);
+}
+
+.lineno {
+	-webkit-touch-callout: none;
+	-webkit-user-select: none;
+	-khtml-user-select: none;
+	-moz-user-select: none;
+	-ms-user-select: none;
+	user-select: none;
+}
+
+div.classindex ul {
+        list-style: none;
+        padding-left: 0;
+}
+
+div.classindex span.ai {
+        display: inline-block;
+}
+
+div.groupHeader {
+	margin-left: 16px;
+	margin-top: 12px;
+	font-weight: bold;
+}
+
+div.groupText {
+	margin-left: 16px;
+	font-style: italic;
+}
+
+body {
+	color: var(--page-foreground-color);
+        margin: 0;
+}
+
+div.contents {
+	margin-top: 10px;
+	margin-left: 12px;
+	margin-right: 8px;
+}
+
+p.formulaDsp {
+	text-align: center;
+}
+
+img.dark-mode-visible {
+	display: none;
+}
+img.light-mode-visible {
+	display: none;
+}
+
+img.formulaInl, img.inline {
+	vertical-align: middle;
+}
+
+div.center {
+	text-align: center;
+        margin-top: 0px;
+        margin-bottom: 0px;
+        padding: 0px;
+}
+
+div.center img {
+	border: 0px;
+}
+
+address.footer {
+	text-align: right;
+	padding-right: 12px;
+}
+
+img.footer {
+	border: 0px;
+	vertical-align: middle;
+	width: var(--footer-logo-width);
+}
+
+.compoundTemplParams {
+	color: var(--memdecl-template-color);
+	font-size: 80%;
+	line-height: 120%;
+}
+
+/* @group Code Colorization */
+
+span.keyword {
+	color: var(--code-keyword-color);
+}
+
+span.keywordtype {
+	color: var(--code-type-keyword-color);
+}
+
+span.keywordflow {
+	color: var(--code-flow-keyword-color);
+}
+
+span.comment {
+	color: var(--code-comment-color);
+}
+
+span.preprocessor {
+	color: var(--code-preprocessor-color);
+}
+
+span.stringliteral {
+	color: var(--code-string-literal-color);
+}
+
+span.charliteral {
+	color: var(--code-char-literal-color);
+}
+
+span.xmlcdata {
+	color: var(--code-xml-cdata-color);
+}
+
+span.vhdldigit { 
+	color: var(--code-vhdl-digit-color);
+}
+
+span.vhdlchar { 
+	color: var(--code-vhdl-char-color);
+}
+
+span.vhdlkeyword { 
+	color: var(--code-vhdl-keyword-color);
+}
+
+span.vhdllogic { 
+	color: var(--code-vhdl-logic-color);
+}
+
+blockquote {
+        background-color: var(--blockquote-background-color);
+        border-left: 2px solid var(--blockquote-border-color);
+        margin: 0 24px 0 4px;
+        padding: 0 12px 0 16px;
+}
+
+/* @end */
+
+td.tiny {
+	font-size: 75%;
+}
+
+.dirtab {
+	padding: 4px;
+	border-collapse: collapse;
+	border: 1px solid var(--table-cell-border-color);
+}
+
+th.dirtab {
+	background-color: var(--table-header-background-color);
+	color: var(--table-header-foreground-color);
+	font-weight: bold;
+}
+
+hr {
+	height: 0px;
+	border: none;
+	border-top: 1px solid var(--separator-color);
+}
+
+hr.footer {
+	height: 1px;
+}
+
+/* @group Member Descriptions */
+
+table.memberdecls {
+	border-spacing: 0px;
+	padding: 0px;
+}
+
+.memberdecls td, .fieldtable tr {
+	-webkit-transition-property: background-color, box-shadow;
+	-webkit-transition-duration: 0.5s;
+	-moz-transition-property: background-color, box-shadow;
+	-moz-transition-duration: 0.5s;
+	-ms-transition-property: background-color, box-shadow;
+	-ms-transition-duration: 0.5s;
+	-o-transition-property: background-color, box-shadow;
+	-o-transition-duration: 0.5s;
+	transition-property: background-color, box-shadow;
+	transition-duration: 0.5s;
+}
+
+.memberdecls td.glow, .fieldtable tr.glow {
+	background-color: var(--glow-color);
+	box-shadow: 0 0 15px var(--glow-color);
+}
+
+.mdescLeft, .mdescRight,
+.memItemLeft, .memItemRight,
+.memTemplItemLeft, .memTemplItemRight, .memTemplParams {
+	background-color: var(--memdecl-background-color);
+	border: none;
+	margin: 4px;
+	padding: 1px 0 0 8px;
+}
+
+.mdescLeft, .mdescRight {
+	padding: 0px 8px 4px 8px;
+	color: var(--memdecl-foreground-color);
+}
+
+.memSeparator {
+        border-bottom: 1px solid var(--memdecl-separator-color);
+        line-height: 1px;
+        margin: 0px;
+        padding: 0px;
+}
+
+.memItemLeft, .memTemplItemLeft {
+        white-space: nowrap;
+}
+
+.memItemRight, .memTemplItemRight {
+	width: 100%;
+}
+
+.memTemplParams {
+	color: var(--memdecl-template-color);
+        white-space: nowrap;
+	font-size: 80%;
+}
+
+/* @end */
+
+/* @group Member Details */
+
+/* Styles for detailed member documentation */
+
+.memtitle {
+	padding: 8px;
+	border-top: 1px solid var(--memdef-border-color);
+	border-left: 1px solid var(--memdef-border-color);
+	border-right: 1px solid var(--memdef-border-color);
+	border-top-right-radius: 4px;
+	border-top-left-radius: 4px;
+	margin-bottom: -1px;
+	background-image: var(--memdef-title-gradient-image);
+	background-repeat: repeat-x;
+	background-color: var(--memdef-title-background-color);
+	line-height: 1.25;
+	font-weight: 300;
+	float:left;
+}
+
+.permalink
+{
+        font-size: 65%;
+        display: inline-block;
+        vertical-align: middle;
+}
+
+.memtemplate {
+	font-size: 80%;
+	color: var(--memdef-template-color);
+	font-weight: normal;
+	margin-left: 9px;
+}
+
+.mempage {
+	width: 100%;
+}
+
+.memitem {
+	padding: 0;
+	margin-bottom: 10px;
+	margin-right: 5px;
+        -webkit-transition: box-shadow 0.5s linear;
+        -moz-transition: box-shadow 0.5s linear;
+        -ms-transition: box-shadow 0.5s linear;
+        -o-transition: box-shadow 0.5s linear;
+        transition: box-shadow 0.5s linear;
+        display: table !important;
+        width: 100%;
+}
+
+.memitem.glow {
+         box-shadow: 0 0 15px var(--glow-color);
+}
+
+.memname {
+        font-weight: 400;
+        margin-left: 6px;
+}
+
+.memname td {
+	vertical-align: bottom;
+}
+
+.memproto, dl.reflist dt {
+        border-top: 1px solid var(--memdef-border-color);
+        border-left: 1px solid var(--memdef-border-color);
+        border-right: 1px solid var(--memdef-border-color);
+        padding: 6px 0px 6px 0px;
+        color: var(--memdef-proto-text-color);
+        font-weight: bold;
+        text-shadow: var(--memdef-proto-text-shadow);
+        background-color: var(--memdef-proto-background-color);
+        box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
+        border-top-right-radius: 4px;
+}
+
+.overload {
+        font-family: var(--font-family-monospace);
+	font-size: 65%;
+}
+
+.memdoc, dl.reflist dd {
+        border-bottom: 1px solid var(--memdef-border-color);
+        border-left: 1px solid var(--memdef-border-color);
+        border-right: 1px solid var(--memdef-border-color);
+        padding: 6px 10px 2px 10px;
+        border-top-width: 0;
+        background-image:url('nav_g.png');
+        background-repeat:repeat-x;
+        background-color: var(--memdef-doc-background-color);
+        /* opera specific markup */
+        border-bottom-left-radius: 4px;
+        border-bottom-right-radius: 4px;
+        box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
+        /* firefox specific markup */
+        -moz-border-radius-bottomleft: 4px;
+        -moz-border-radius-bottomright: 4px;
+        -moz-box-shadow: rgba(0, 0, 0, 0.15) 5px 5px 5px;
+        /* webkit specific markup */
+        -webkit-border-bottom-left-radius: 4px;
+        -webkit-border-bottom-right-radius: 4px;
+        -webkit-box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
+}
+
+dl.reflist dt {
+        padding: 5px;
+}
+
+dl.reflist dd {
+        margin: 0px 0px 10px 0px;
+        padding: 5px;
+}
+
+.paramkey {
+	text-align: right;
+}
+
+.paramtype {
+	white-space: nowrap;
+	padding: 0px;
+	padding-bottom: 1px;
+}
+
+.paramname {
+	white-space: nowrap;
+        padding: 0px;
+        padding-bottom: 1px;
+        margin-left: 2px;
+}
+
+.paramname em {
+	color: var(--memdef-param-name-color);
+	font-style: normal;
+	margin-right: 1px;
+}
+
+.paramname .paramdefval {
+	font-family: var(--font-family-monospace);
+}
+
+.params, .retval, .exception, .tparams {
+        margin-left: 0px;
+        padding-left: 0px;
+}
+
+.params .paramname, .retval .paramname, .tparams .paramname, .exception .paramname {
+        font-weight: bold;
+        vertical-align: top;
+}
+
+.params .paramtype, .tparams .paramtype {
+        font-style: italic;
+        vertical-align: top;
+}
+
+.params .paramdir, .tparams .paramdir {
+        font-family: var(--font-family-monospace);
+        vertical-align: top;
+}
+
+table.mlabels {
+	border-spacing: 0px;
+}
+
+td.mlabels-left {
+	width: 100%;
+	padding: 0px;
+}
+
+td.mlabels-right {
+	vertical-align: bottom;
+	padding: 0px;
+	white-space: nowrap;
+}
+
+span.mlabels {
+        margin-left: 8px;
+}
+
+span.mlabel {
+        background-color: var(--label-background-color);
+        border-top:1px solid var(--label-left-top-border-color);
+        border-left:1px solid var(--label-left-top-border-color);
+        border-right:1px solid var(--label-right-bottom-border-color);
+        border-bottom:1px solid var(--label-right-bottom-border-color);
+	text-shadow: none;
+	color: var(--label-foreground-color);
+	margin-right: 4px;
+	padding: 2px 3px;
+	border-radius: 3px;
+	font-size: 7pt;
+	white-space: nowrap;
+	vertical-align: middle;
+}
+
+
+
+/* @end */
+
+/* these are for tree view inside a (index) page */
+
+div.directory {
+        margin: 10px 0px;
+        border-top: 1px solid var(--directory-separator-color);
+        border-bottom: 1px solid var(--directory-separator-color);
+        width: 100%;
+}
+
+.directory table {
+        border-collapse:collapse;
+}
+
+.directory td {
+        margin: 0px;
+        padding: 0px;
+	vertical-align: top;
+}
+
+.directory td.entry {
+        white-space: nowrap;
+        padding-right: 6px;
+	padding-top: 3px;
+}
+
+.directory td.entry a {
+        outline:none;
+}
+
+.directory td.entry a img {
+        border: none;
+}
+
+.directory td.desc {
+        width: 100%;
+        padding-left: 6px;
+	padding-right: 6px;
+	padding-top: 3px;
+	border-left: 1px solid rgba(0,0,0,0.05);
+}
+
+.directory tr.odd {
+	padding-left: 6px;
+	background-color: var(--index-odd-item-bg-color);
+}
+
+.directory tr.even {
+	padding-left: 6px;
+	background-color: var(--index-even-item-bg-color);
+}
+
+.directory img {
+	vertical-align: -30%;
+}
+
+.directory .levels {
+        white-space: nowrap;
+        width: 100%;
+        text-align: right;
+        font-size: 9pt;
+}
+
+.directory .levels span {
+        cursor: pointer;
+        padding-left: 2px;
+        padding-right: 2px;
+	color: var(--page-link-color);
+}
+
+.arrow {
+    color: var(--nav-arrow-color);
+    -webkit-user-select: none;
+    -khtml-user-select: none;
+    -moz-user-select: none;
+    -ms-user-select: none;
+    user-select: none;
+    cursor: pointer;
+    font-size: 80%;
+    display: inline-block;
+    width: 16px;
+    height: 22px;
+}
+
+.icon {
+    font-family: var(--font-family-icon);
+    line-height: normal;
+    font-weight: bold;
+    font-size: 12px;
+    height: 14px;
+    width: 16px;
+    display: inline-block;
+    background-color: var(--icon-background-color);
+    color: var(--icon-foreground-color);
+    text-align: center;
+    border-radius: 4px;
+    margin-left: 2px;
+    margin-right: 2px;
+}
+
+.icona {
+    width: 24px;
+    height: 22px;
+    display: inline-block;
+}
+
+.iconfopen {
+    width: 24px;
+    height: 18px;
+    margin-bottom: 4px;
+    background-image:var(--icon-folder-open-image);
+    background-repeat: repeat-y;
+    vertical-align:top;
+    display: inline-block;
+}
+
+.iconfclosed {
+    width: 24px;
+    height: 18px;
+    margin-bottom: 4px;
+    background-image:var(--icon-folder-closed-image);
+    background-repeat: repeat-y;
+    vertical-align:top;
+    display: inline-block;
+}
+
+.icondoc {
+    width: 24px;
+    height: 18px;
+    margin-bottom: 4px;
+    background-image:var(--icon-doc-image);
+    background-position: 0px -4px;
+    background-repeat: repeat-y;
+    vertical-align:top;
+    display: inline-block;
+}
+
+/* @end */
+
+div.dynheader {
+        margin-top: 8px;
+	-webkit-touch-callout: none;
+	-webkit-user-select: none;
+	-khtml-user-select: none;
+	-moz-user-select: none;
+	-ms-user-select: none;
+	user-select: none;
+}
+
+address {
+	font-style: normal;
+	color: var(--footer-foreground-color);
+}
+
+table.doxtable caption {
+	caption-side: top;
+}
+
+table.doxtable {
+	border-collapse:collapse;
+        margin-top: 4px;
+        margin-bottom: 4px;
+}
+
+table.doxtable td, table.doxtable th {
+	border: 1px solid var(--table-cell-border-color);
+	padding: 3px 7px 2px;
+}
+
+table.doxtable th {
+	background-color: var(--table-header-background-color);
+	color: var(--table-header-foreground-color);
+	font-size: 110%;
+	padding-bottom: 4px;
+	padding-top: 5px;
+}
+
+table.fieldtable {
+        margin-bottom: 10px;
+        border: 1px solid var(--memdef-border-color);
+        border-spacing: 0px;
+        border-radius: 4px;
+        box-shadow: 2px 2px 2px rgba(0, 0, 0, 0.15);
+}
+
+.fieldtable td, .fieldtable th {
+        padding: 3px 7px 2px;
+}
+
+.fieldtable td.fieldtype, .fieldtable td.fieldname {
+        white-space: nowrap;
+        border-right: 1px solid var(--memdef-border-color);
+        border-bottom: 1px solid var(--memdef-border-color);
+        vertical-align: top;
+}
+
+.fieldtable td.fieldname {
+        padding-top: 3px;
+}
+
+.fieldtable td.fielddoc {
+        border-bottom: 1px solid var(--memdef-border-color);
+}
+
+.fieldtable td.fielddoc p:first-child {
+        margin-top: 0px;
+}
+
+.fieldtable td.fielddoc p:last-child {
+        margin-bottom: 2px;
+}
+
+.fieldtable tr:last-child td {
+        border-bottom: none;
+}
+
+.fieldtable th {
+        background-image: var(--memdef-title-gradient-image);
+        background-repeat:repeat-x;
+        background-color: var(--memdef-title-background-color);
+        font-size: 90%;
+        color: var(--memdef-proto-text-color);
+        padding-bottom: 4px;
+        padding-top: 5px;
+        text-align:left;
+        font-weight: 400;
+        border-top-left-radius: 4px;
+        border-top-right-radius: 4px;
+        border-bottom: 1px solid var(--memdef-border-color);
+}
+
+
+.tabsearch {
+	top: 0px;
+	left: 10px;
+	height: 36px;
+	background-image: var(--nav-gradient-image);
+	z-index: 101;
+	overflow: hidden;
+	font-size: 13px;
+}
+
+.navpath ul
+{
+	font-size: 11px;
+	background-image: var(--nav-gradient-image);
+	background-repeat:repeat-x;
+	background-position: 0 -5px;
+	height:30px;
+	line-height:30px;
+	color:var(--nav-text-normal-color);
+	border:solid 1px var(--nav-breadcrumb-border-color);
+	overflow:hidden;
+	margin:0px;
+	padding:0px;
+}
+
+.navpath li
+{
+	list-style-type:none;
+	float:left;
+	padding-left:10px;
+	padding-right:15px;
+	background-image:var(--nav-breadcrumb-image);
+	background-repeat:no-repeat;
+	background-position:right;
+	color: var(--nav-foreground-color);
+}
+
+.navpath li.navelem a
+{
+	height:32px;
+	display:block;
+	outline: none;
+	color: var(--nav-text-normal-color);
+	font-family: var(--font-family-nav);
+	text-shadow: var(--nav-text-normal-shadow);
+	text-decoration: none;
+}
+
+.navpath li.navelem a:hover
+{
+	color: var(--nav-text-hover-color);
+	text-shadow: var(--nav-text-hover-shadow);
+}
+
+.navpath li.footer
+{
+        list-style-type:none;
+        float:right;
+        padding-left:10px;
+        padding-right:15px;
+        background-image:none;
+        background-repeat:no-repeat;
+        background-position:right;
+        color: var(--footer-foreground-color);
+        font-size: 8pt;
+}
+
+
+div.summary
+{
+	float: right;
+	font-size: 8pt;
+	padding-right: 5px;
+	width: 50%;
+	text-align: right;
+}
+
+div.summary a
+{
+	white-space: nowrap;
+}
+
+table.classindex
+{
+        margin: 10px;
+        white-space: nowrap;
+        margin-left: 3%;
+        margin-right: 3%;
+        width: 94%;
+        border: 0;
+        border-spacing: 0;
+        padding: 0;
+}
+
+div.ingroups
+{
+	font-size: 8pt;
+	width: 50%;
+	text-align: left;
+}
+
+div.ingroups a
+{
+	white-space: nowrap;
+}
+
+div.header
+{
+        background-image: var(--header-gradient-image);
+        background-repeat:repeat-x;
+	background-color: var(--header-background-color);
+	margin:  0px;
+	border-bottom: 1px solid var(--header-separator-color);
+}
+
+div.headertitle
+{
+	padding: 5px 5px 5px 10px;
+}
+
+.PageDocRTL-title div.headertitle {
+  text-align: right;
+  direction: rtl;
+}
+
+dl {
+        padding: 0 0 0 0;
+}
+
+/*
+
+dl.section {
+	margin-left: 0px;
+	padding-left: 0px;
+}
+
+dl.note {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #D0C000;
+}
+
+dl.warning, dl.attention {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #FF0000;
+}
+
+dl.pre, dl.post, dl.invariant {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #00D000;
+}
+
+dl.deprecated {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #505050;
+}
+
+dl.todo {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #00C0E0;
+}
+
+dl.test {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #3030E0;
+}
+
+dl.bug {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #C08050;
+}
+
+*/
+
+dl.bug dt a, dl.deprecated dt a, dl.todo dt a, dl.test a {
+    font-weight: bold !important;
+}
+
+dl.warning, dl.attention, dl.note, dl.deprecated, dl.bug,
+dl.invariant, dl.pre, dl.post, dl.todo, dl.test, dl.remark {
+    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;
+}
+
+dl.invariant, dl.pre, dl.post {
+    background: var(--invariant-color-bg);
+    border-left: 8px solid var(--invariant-color-hl);
+    color: var(--invariant-color-text);
+}
+
+dl.invariant dt, dl.pre dt, dl.post dt {
+    color: var(--invariant-color-hl);
+}
+
+
+#projectrow
+{
+	height: 56px;
+}
+
+#projectlogo
+{
+	text-align: center;
+	vertical-align: bottom;
+	border-collapse: separate;
+}
+
+#projectlogo img
+{
+	border: 0px none;
+}
+
+#projectalign
+{
+        vertical-align: middle;
+        padding-left: 0.5em;
+}
+
+#projectname
+{
+	font-size: 200%;
+	font-family: var(--font-family-title);
+	margin: 0px;
+	padding: 2px 0px;
+}
+
+#projectbrief
+{
+	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);
+}
+
+.image
+{
+        text-align: center;
+}
+
+.dotgraph
+{
+        text-align: center;
+}
+
+.mscgraph
+{
+        text-align: center;
+}
+
+.plantumlgraph
+{
+        text-align: center;
+}
+
+.diagraph
+{
+        text-align: center;
+}
+
+.caption
+{
+	font-weight: bold;
+}
+
+dl.citelist {
+        margin-bottom:50px;
+}
+
+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;
+}
+
+div.toc {
+        padding: 14px 25px;
+        background-color: var(--toc-background-color);
+        border: 1px solid var(--toc-border-color);
+        border-radius: 7px 7px 7px 7px;
+        float: right;
+        height: auto;
+        margin: 0 8px 10px 10px;
+        width: 200px;
+}
+
+div.toc li {
+        background: var(--toc-down-arrow-image) no-repeat scroll 0 5px transparent;
+        font: 10px/1.2 var(--font-family-toc);
+        margin-top: 5px;
+        padding-left: 10px;
+        padding-top: 2px;
+}
+
+div.toc h3 {
+        font: bold 12px/1.2 var(--font-family-toc);
+	color: var(--toc-header-color);
+        border-bottom: 0 none;
+        margin: 0;
+}
+
+div.toc ul {
+        list-style: none outside none;
+        border: medium none;
+        padding: 0px;
+}
+
+div.toc li.level1 {
+        margin-left: 0px;
+}
+
+div.toc li.level2 {
+        margin-left: 15px;
+}
+
+div.toc li.level3 {
+        margin-left: 15px;
+}
+
+div.toc li.level4 {
+        margin-left: 15px;
+}
+
+span.emoji {
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+         */
+}
+
+span.obfuscator {
+  display: none;
+}
+
+.inherit_header {
+        font-weight: bold;
+        color: var(--inherit-header-color);
+        cursor: pointer;
+	-webkit-touch-callout: none;
+	-webkit-user-select: none;
+	-khtml-user-select: none;
+	-moz-user-select: none;
+	-ms-user-select: none;
+	user-select: none;
+}
+
+.inherit_header td {
+        padding: 6px 0px 2px 5px;
+}
+
+.inherit {
+        display: none;
+}
+
+tr.heading h2 {
+        margin-top: 12px;
+        margin-bottom: 4px;
+}
+
+/* tooltip related style info */
+
+.ttc {
+        position: absolute;
+        display: none;
+}
+
+#powerTip {
+	cursor: default;
+	/*white-space: nowrap;*/
+        color: var(--tooltip-foreground-color);
+	background-color: var(--tooltip-background-color);
+	border: 1px solid var(--tooltip-border-color);
+	border-radius: 4px 4px 4px 4px;
+	box-shadow: var(--tooltip-shadow);
+	display: none;
+	font-size: smaller;
+	max-width: 80%;
+	opacity: 0.9;
+	padding: 1ex 1em 1em;
+	position: absolute;
+	z-index: 2147483647;
+}
+
+#powerTip div.ttdoc {
+        color: var(--tooltip-doc-color);
+	font-style: italic;
+}
+
+#powerTip div.ttname a {
+        font-weight: bold;
+}
+
+#powerTip a {
+	color: var(--tooltip-link-color);
+}
+
+#powerTip div.ttname {
+        font-weight: bold;
+}
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+#powerTip div.ttdeci {
+        color: var(--tooltip-declaration-color);
+}
+
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+        margin: 0px;
+        padding: 0px;
+        font-size: 12px;
+       	font-family: var(--font-family-tooltip);
+	line-height: 16px;
+}
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+	position: absolute;
+	margin: 0px;
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+	height: 0;
+	width: 0;
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+}
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+}
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+}
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+}
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+	border-top-color: var(--tooltip-background-color);
+	border-width: 10px;
+	margin: 0px -10px;
+}
+#powerTip.n:before, #powerTip.ne:before, #powerTip.nw:before {
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+}
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+	border-width: 10px;
+	margin: 0px -10px;
+}
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+	border-bottom-color: var(--tooltip-border-color);
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+	margin: 0px -11px;
+}
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+	border-left-color: var(--tooltip-border-color);
+	border-width: 10px;
+	top: 50%;
+	margin-top: -10px;
+}
+#powerTip.e:before {
+	border-left-color: var(--tooltip-border-color);
+	border-width: 11px;
+	top: 50%;
+	margin-top: -11px;
+}
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+#powerTip.w:after, #powerTip.w:before {
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+	border-right-color: var(--tooltip-border-color);
+	border-width: 10px;
+	top: 50%;
+	margin-top: -10px;
+}
+#powerTip.w:before {
+	border-right-color: var(--tooltip-border-color);
+	border-width: 11px;
+	top: 50%;
+	margin-top: -11px;
+}
+
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+{
+  #top { display: none; }
+  #side-nav { display: none; }
+  #nav-path { display: none; }
+  body { overflow:visible; }
+  h1, h2, h3, h4, h5, h6 { page-break-after: avoid; }
+  .summary { display: none; }
+  .memitem { page-break-inside: avoid; }
+  #doc-content
+  {
+    margin-left:0 !important;
+    height:auto !important;
+    width:auto !important;
+    overflow:inherit;
+    display:inline;
+  }
+}
+
+/* @group Markdown */
+
+table.markdownTable {
+	border-collapse:collapse;
+        margin-top: 4px;
+        margin-bottom: 4px;
+}
+
+table.markdownTable td, table.markdownTable th {
+	border: 1px solid var(--table-cell-border-color);
+	padding: 3px 7px 2px;
+}
+
+table.markdownTable tr {
+}
+
+th.markdownTableHeadLeft, th.markdownTableHeadRight, th.markdownTableHeadCenter, th.markdownTableHeadNone {
+	background-color: var(--table-header-background-color);
+	color: var(--table-header-foreground-color);
+	font-size: 110%;
+	padding-bottom: 4px;
+	padding-top: 5px;
+}
+
+th.markdownTableHeadLeft, td.markdownTableBodyLeft {
+	text-align: left
+}
+
+th.markdownTableHeadRight, td.markdownTableBodyRight {
+	text-align: right
+}
+
+th.markdownTableHeadCenter, td.markdownTableBodyCenter {
+	text-align: center
+}
+
+tt, code, kbd, samp
+{
+  display: inline-block;
+}
+/* @end */
+
+u {
+	text-decoration: underline;
+}
+
+details>summary {
+  list-style-type: none;
+}
+
+details > summary::-webkit-details-marker {
+    display: none;
+}
+
+details>summary::before {
+    content: "\25ba";
+    padding-right:4px;
+    font-size: 80%;
+}
+
+details[open]>summary::before {
+    content: "\25bc";
+    padding-right:4px;
+    font-size: 80%;
+}
+
+body {
+    scrollbar-color: var(--scrollbar-thumb-color) var(--scrollbar-background-color);
+}
+
+::-webkit-scrollbar {
+        background-color: var(--scrollbar-background-color);
+        height: 12px;
+        width: 12px;
+}
+::-webkit-scrollbar-thumb {
+        border-radius: 6px;
+        box-shadow: inset 0 0 12px 12px var(--scrollbar-thumb-color);
+        border: solid 2px transparent;
+}
+::-webkit-scrollbar-corner {
+        background-color: var(--scrollbar-background-color);
+}
+
diff --git a/documentation/html/doxygen.svg b/documentation/html/doxygen.svg
new file mode 100644
index 0000000..79a7635
--- /dev/null
+++ b/documentation/html/doxygen.svg
@@ -0,0 +1,28 @@
+<?xml version="1.0" encoding="UTF-8"?>
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+ <defs>
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+ </g>
+</svg>
diff --git a/documentation/html/doxygen_crawl.html b/documentation/html/doxygen_crawl.html
new file mode 100644
index 0000000..ab282eb
--- /dev/null
+++ b/documentation/html/doxygen_crawl.html
@@ -0,0 +1,89 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<title>Validator / crawler helper</title>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.10.0"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+</head>
+<body>
+<a href="_b_n_o08x_8hpp_source.html"/>
+<a href="_b_n_o08x_8cpp.html"/>
+<a href="_b_n_o08x_8hpp.html"/>
+<a href="_r_e_a_d_m_e_8md.html"/>
+<a href="md__r_e_a_d_m_e.html"/>
+<a href="class_b_n_o08x.html"/>
+<a href="class_b_n_o08x-members.html"/>
+<a href="struct_b_n_o08x_1_1bno08x__rx__packet__t.html"/>
+<a href="struct_b_n_o08x_1_1bno08x__rx__packet__t-members.html"/>
+<a href="struct_b_n_o08x_1_1bno08x__tx__packet__t.html"/>
+<a href="struct_b_n_o08x_1_1bno08x__tx__packet__t-members.html"/>
+<a href="structbno08x__config__t.html"/>
+<a href="structbno08x__config__t-members.html"/>
+<a href="graph_legend.html"/>
+<a href="index.html"/>
+<a href="doxygen_crawl.html"/>
+<a href="pages.html"/>
+<a href="annotated.html"/>
+<a href="classes.html"/>
+<a href="functions.html"/>
+<a href="functions_b.html"/>
+<a href="functions_c.html"/>
+<a href="functions_d.html"/>
+<a href="functions_e.html"/>
+<a href="functions_f.html"/>
+<a href="functions_g.html"/>
+<a href="functions_h.html"/>
+<a href="functions_i.html"/>
+<a href="functions_l.html"/>
+<a href="functions_m.html"/>
+<a href="functions_p.html"/>
+<a href="functions_q.html"/>
+<a href="functions_r.html"/>
+<a href="functions_s.html"/>
+<a href="functions_t.html"/>
+<a href="functions_u.html"/>
+<a href="functions_w.html"/>
+<a href="functions_func.html"/>
+<a href="functions_func.html"/>
+<a href="functions_func.html"/>
+<a href="functions_func.html"/>
+<a href="functions_func.html"/>
+<a href="functions_func.html"/>
+<a href="functions_func.html"/>
+<a href="functions_func.html"/>
+<a href="functions_func.html"/>
+<a href="functions_func.html"/>
+<a href="functions_func.html"/>
+<a href="functions_func.html"/>
+<a href="functions_func.html"/>
+<a href="functions_func.html"/>
+<a href="functions_func.html"/>
+<a href="functions_vars.html"/>
+<a href="functions_vars.html"/>
+<a href="functions_vars.html"/>
+<a href="functions_vars.html"/>
+<a href="functions_vars.html"/>
+<a href="functions_vars.html"/>
+<a href="functions_vars.html"/>
+<a href="functions_vars.html"/>
+<a href="functions_vars.html"/>
+<a href="functions_vars.html"/>
+<a href="functions_vars.html"/>
+<a href="functions_vars.html"/>
+<a href="functions_vars.html"/>
+<a href="functions_vars.html"/>
+<a href="functions_vars.html"/>
+<a href="functions_vars.html"/>
+<a href="functions_type.html"/>
+<a href="files.html"/>
+<a href="globals.html"/>
+<a href="globals.html"/>
+<a href="globals.html"/>
+<a href="globals_type.html"/>
+<a href="globals_enum.html"/>
+<a href="globals_enum.html"/>
+<a href="globals_eval.html"/>
+</body>
+</html>
diff --git a/documentation/html/dynsections.js b/documentation/html/dynsections.js
new file mode 100644
index 0000000..8f49326
--- /dev/null
+++ b/documentation/html/dynsections.js
@@ -0,0 +1,194 @@
+/*
+ @licstart  The following is the entire license notice for the JavaScript code in this file.
+
+ The MIT License (MIT)
+
+ Copyright (C) 1997-2020 by Dimitri van Heesch
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ and associated documentation files (the "Software"), to deal in the Software without restriction,
+ including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in all copies or
+ substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+ @licend  The above is the entire license notice for the JavaScript code in this file
+ */
+
+let dynsection = {
+
+  // helper function
+  updateStripes : function() {
+    $('table.directory tr').
+      removeClass('even').filter(':visible:even').addClass('even');
+    $('table.directory tr').
+      removeClass('odd').filter(':visible:odd').addClass('odd');
+  },
+
+  toggleVisibility : function(linkObj) {
+    const base = $(linkObj).attr('id');
+    const summary = $('#'+base+'-summary');
+    const content = $('#'+base+'-content');
+    const trigger = $('#'+base+'-trigger');
+    const src=$(trigger).attr('src');
+    if (content.is(':visible')===true) {
+      content.hide();
+      summary.show();
+      $(linkObj).addClass('closed').removeClass('opened');
+      $(trigger).attr('src',src.substring(0,src.length-8)+'closed.png');
+    } else {
+      content.show();
+      summary.hide();
+      $(linkObj).removeClass('closed').addClass('opened');
+      $(trigger).attr('src',src.substring(0,src.length-10)+'open.png');
+    }
+    return false;
+  },
+
+  toggleLevel : function(level) {
+    $('table.directory tr').each(function() {
+      const l = this.id.split('_').length-1;
+      const i = $('#img'+this.id.substring(3));
+      const a = $('#arr'+this.id.substring(3));
+      if (l<level+1) {
+        i.removeClass('iconfopen iconfclosed').addClass('iconfopen');
+        a.html('&#9660;');
+        $(this).show();
+      } else if (l==level+1) {
+        i.removeClass('iconfclosed iconfopen').addClass('iconfclosed');
+        a.html('&#9658;');
+        $(this).show();
+      } else {
+        $(this).hide();
+      }
+    });
+    this.updateStripes();
+  },
+
+  toggleFolder : function(id) {
+    // the clicked row
+    const currentRow = $('#row_'+id);
+
+    // all rows after the clicked row
+    const rows = currentRow.nextAll("tr");
+
+    const re = new RegExp('^row_'+id+'\\d+_$', "i"); //only one sub
+
+    // only match elements AFTER this one (can't hide elements before)
+    const childRows = rows.filter(function() { return this.id.match(re); });
+
+    // first row is visible we are HIDING
+    if (childRows.filter(':first').is(':visible')===true) {
+      // replace down arrow by right arrow for current row
+      const currentRowSpans = currentRow.find("span");
+      currentRowSpans.filter(".iconfopen").removeClass("iconfopen").addClass("iconfclosed");
+      currentRowSpans.filter(".arrow").html('&#9658;');
+      rows.filter("[id^=row_"+id+"]").hide(); // hide all children
+    } else { // we are SHOWING
+      // replace right arrow by down arrow for current row
+      const currentRowSpans = currentRow.find("span");
+      currentRowSpans.filter(".iconfclosed").removeClass("iconfclosed").addClass("iconfopen");
+      currentRowSpans.filter(".arrow").html('&#9660;');
+      // replace down arrows by right arrows for child rows
+      const childRowsSpans = childRows.find("span");
+      childRowsSpans.filter(".iconfopen").removeClass("iconfopen").addClass("iconfclosed");
+      childRowsSpans.filter(".arrow").html('&#9658;');
+      childRows.show(); //show all children
+    }
+    this.updateStripes();
+  },
+
+  toggleInherit : function(id) {
+    const rows = $('tr.inherit.'+id);
+    const img = $('tr.inherit_header.'+id+' img');
+    const src = $(img).attr('src');
+    if (rows.filter(':first').is(':visible')===true) {
+      rows.css('display','none');
+      $(img).attr('src',src.substring(0,src.length-8)+'closed.png');
+    } else {
+      rows.css('display','table-row'); // using show() causes jump in firefox
+      $(img).attr('src',src.substring(0,src.length-10)+'open.png');
+    }
+  },
+};
+
+let codefold = {
+  opened : true,
+
+  // in case HTML_COLORSTYLE is LIGHT or DARK the vars will be replaced, so we write them out explicitly and use double quotes
+  plusImg:  [ "var(--fold-plus-image)",  "var(--fold-plus-image-relpath)" ],
+  minusImg: [ "var(--fold-minus-image)", "var(--fold-minus-image-relpath)" ],
+
+  // toggle all folding blocks
+  toggle_all : function(relPath) {
+    if (this.opened) {
+      $('#fold_all').css('background-image',this.plusImg[relPath]);
+      $('div[id^=foldopen]').hide();
+      $('div[id^=foldclosed]').show();
+    } else {
+      $('#fold_all').css('background-image',this.minusImg[relPath]);
+      $('div[id^=foldopen]').show();
+      $('div[id^=foldclosed]').hide();
+    }
+    this.opened=!this.opened;
+  },
+
+  // toggle single folding block
+  toggle : function(id) {
+    $('#foldopen'+id).toggle();
+    $('#foldclosed'+id).toggle();
+  },
+
+  init : function(relPath) {
+    $('span[class=lineno]').css({
+      'padding-right':'4px',
+      'margin-right':'2px',
+      'display':'inline-block',
+      'width':'54px',
+      'background':'linear-gradient(var(--fold-line-color),var(--fold-line-color)) no-repeat 46px/2px 100%'
+    });
+    // add global toggle to first line
+    $('span[class=lineno]:first').append('<span class="fold" id="fold_all" '+
+      'onclick="javascript:codefold.toggle_all('+relPath+');" '+
+      'style="background-image:'+this.minusImg[relPath]+';"></span>');
+    // add vertical lines to other rows
+    $('span[class=lineno]').not(':eq(0)').append('<span class="fold"></span>');
+    // add toggle controls to lines with fold divs
+    $('div[class=foldopen]').each(function() {
+      // extract specific id to use
+      const id    = $(this).attr('id').replace('foldopen','');
+      // extract start and end foldable fragment attributes
+      const start = $(this).attr('data-start');
+      const end   = $(this).attr('data-end');
+      // replace normal fold span with controls for the first line of a foldable fragment
+      $(this).find('span[class=fold]:first').replaceWith('<span class="fold" '+
+                   'onclick="javascript:codefold.toggle(\''+id+'\');" '+
+                   'style="background-image:'+codefold.minusImg[relPath]+';"></span>');
+      // append div for folded (closed) representation
+      $(this).after('<div id="foldclosed'+id+'" class="foldclosed" style="display:none;"></div>');
+      // extract the first line from the "open" section to represent closed content
+      const line = $(this).children().first().clone();
+      // remove any glow that might still be active on the original line
+      $(line).removeClass('glow');
+      if (start) {
+        // if line already ends with a start marker (e.g. trailing {), remove it
+        $(line).html($(line).html().replace(new RegExp('\\s*'+start+'\\s*$','g'),''));
+      }
+      // replace minus with plus symbol
+      $(line).find('span[class=fold]').css('background-image',codefold.plusImg[relPath]);
+      // append ellipsis
+      $(line).append(' '+start+'<a href="javascript:codefold.toggle(\''+id+'\')">&#8230;</a>'+end);
+      // insert constructed line into closed div
+      $('#foldclosed'+id).html(line);
+    });
+  },
+};
+/* @license-end */
diff --git a/documentation/html/files.html b/documentation/html/files.html
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+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>esp32_BNO08x: File List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.1</span>
+   </div>
+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.10.0 -->
+<script type="text/javascript">
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+/* @license-end */
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+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+/* @license-end */
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+</div>
+</div>
+</div>
+</div>
+
+<div class="header">
+  <div class="headertitle"><div class="title">File List</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock">Here is a list of all files with brief descriptions:</div><div class="directory">
+<table class="directory">
+<tr id="row_0_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icondoc"></span><a class="el" href="_b_n_o08x_8cpp.html" target="_self">BNO08x.cpp</a></td><td class="desc"></td></tr>
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+</div><!-- directory -->
+</div><!-- contents -->
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+  <ul>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0 </li>
+  </ul>
+</div>
+</body>
+</html>
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+<title>esp32_BNO08x: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<script type="text/javascript" src="clipboard.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
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+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.1</span>
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+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
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+</div>
+</div>
+</div>
+
+<div class="contents">
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+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.1</span>
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+<div class="contents">
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+<li>enable_uncalibrated_gyro()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a7fe5de95b1f51da44247a87317fd0c75">BNO08x</a></li>
+<li>end_calibration()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ac9d9b6636745e8180807284da67c92a2">BNO08x</a></li>
+<li>evt_grp_report_en&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a63eb6c8be6f3bc943a86bb0496871275">BNO08x</a></li>
+<li>EVT_GRP_RPT_ACCELEROMETER_BIT&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a17b19c32d4dfbc9ae2761a0cdd873314">BNO08x</a></li>
+<li>EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a96eb1b1bfe1266791fd424b3ce402c56">BNO08x</a></li>
+<li>EVT_GRP_RPT_ALL_BITS&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a89399e8a68a53bc2a269ab73625a2da2">BNO08x</a></li>
+<li>EVT_GRP_RPT_ARVR_S_GAME_ROTATION_VECTOR_BIT&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a79d3fff1e0f19467cad231b22edafa0f">BNO08x</a></li>
+<li>EVT_GRP_RPT_ARVR_S_ROTATION_VECTOR_BIT&#160;:&#160;<a class="el" href="class_b_n_o08x.html#aa9703cee46912a545b5e85e671f08e4b">BNO08x</a></li>
+<li>EVT_GRP_RPT_GAME_ROTATION_VECTOR_BIT&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a0f3f33d93b72ba6564f9d5fa93c24f98">BNO08x</a></li>
+<li>EVT_GRP_RPT_GRAVITY_BIT&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ab94a8f69673a3db7556ba67775c5ea93">BNO08x</a></li>
+<li>EVT_GRP_RPT_GYRO_BIT&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a3a8b12ea9b75f97191785a60d1aa962a">BNO08x</a></li>
+<li>EVT_GRP_RPT_GYRO_ROTATION_VECTOR_BIT&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a541155dc4544193451cf102e2a992da9">BNO08x</a></li>
+<li>EVT_GRP_RPT_GYRO_UNCALIBRATED_BIT&#160;:&#160;<a class="el" href="class_b_n_o08x.html#af86821bc0f1e7f5897de20b5e47a85bd">BNO08x</a></li>
+<li>EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ad93161968a53ff53a6bb74ab7c34fbff">BNO08x</a></li>
+<li>EVT_GRP_RPT_MAGNETOMETER_BIT&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a901af6f2d552f197ee830d0a1c06679c">BNO08x</a></li>
+<li>EVT_GRP_RPT_RAW_ACCELEROMETER_BIT&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a3e56d12435f7be81956d68196f1a46b4">BNO08x</a></li>
+<li>EVT_GRP_RPT_RAW_GYRO_BIT&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a6be7b240e4447c2c643e706954093aa0">BNO08x</a></li>
+<li>EVT_GRP_RPT_RAW_MAGNETOMETER_BIT&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ac28553b40b82c7cb409938681afe6cec">BNO08x</a></li>
+<li>EVT_GRP_RPT_ROTATION_VECTOR_BIT&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a198da2ee3cd9cfa459c3c41c4f8c44b7">BNO08x</a></li>
+<li>EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a7d6ee23222f55dbe9f70e04b36d9add2">BNO08x</a></li>
+<li>EVT_GRP_RPT_STEP_COUNTER_BIT&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ab264b65a3aa5a9a74ed11b8977164a73">BNO08x</a></li>
+<li>EVT_GRP_RPT_TAP_DETECTOR_BIT&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a665464f781fe891b9179478d0174af47">BNO08x</a></li>
+<li>evt_grp_spi&#160;:&#160;<a class="el" href="class_b_n_o08x.html#aa2b4442b5cc63ebf0c495e6fb537c85e">BNO08x</a></li>
+<li>EVT_GRP_SPI_RX_DONE_BIT&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a32cffd8f78881925d22d5a7cb55f2bbc">BNO08x</a></li>
+<li>EVT_GRP_SPI_RX_INVALID_PACKET&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a6415c95701f590c72083f5bdc5f4ae47">BNO08x</a></li>
+<li>EVT_GRP_SPI_RX_VALID_PACKET&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a603dccfbbead6bdaa3bd970ad28fcd38">BNO08x</a></li>
+<li>EVT_GRP_SPI_TX_DONE&#160;:&#160;<a class="el" href="class_b_n_o08x.html#aa333b17ab88348a9849f0ceb9757dc9c">BNO08x</a></li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0 </li>
+  </ul>
+</div>
+</body>
+</html>
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 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.10.0"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>esp32_BNO08x: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<script type="text/javascript" src="clipboard.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<script type="text/javascript" src="cookie.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.1</span>
+   </div>
+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.10.0 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function(){initNavTree('functions_f.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<div id="MSearchResults">
+<div class="SRPage">
+<div id="SRIndex">
+<div id="SRResults"></div>
+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all class members with links to the classes they belong to:</div>
+
+<h3><a id="index_f" name="index_f"></a>- f -</h3><ul>
+<li>FRS_read_data()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a40607e557eada666a5e1e416f42cd4a1">BNO08x</a></li>
+<li>FRS_read_request()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#adf789e709ac1667656db757c8d559af9">BNO08x</a></li>
+<li>FRS_read_word()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a27f5dce5c994be18a587fb622574ad41">BNO08x</a></li>
+<li>FRS_RECORD_ID_ACCELEROMETER&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ad7ef7d7068af5f92239c12022dbeb16d">BNO08x</a></li>
+<li>FRS_RECORD_ID_GYROSCOPE_CALIBRATED&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a35d8f641e73c308f92a5a0a772f90f48">BNO08x</a></li>
+<li>FRS_RECORD_ID_MAGNETIC_FIELD_CALIBRATED&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a0992d77f9bae0b8e3c8d9331fe84fe24">BNO08x</a></li>
+<li>FRS_RECORD_ID_ROTATION_VECTOR&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a9f35840b19c8ad11fd1b4622c3269250">BNO08x</a></li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0 </li>
+  </ul>
+</div>
+</body>
+</html>
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 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.10.0"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>esp32_BNO08x: Class Members - Functions</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<script type="text/javascript" src="clipboard.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<script type="text/javascript" src="cookie.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.1</span>
+   </div>
+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.10.0 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function(){initNavTree('functions_func.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<div id="MSearchResults">
+<div class="SRPage">
+<div id="SRIndex">
+<div id="SRResults"></div>
+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all functions with links to the classes they belong to:</div>
+
+<h3><a id="index_b" name="index_b"></a>- b -</h3><ul>
+<li>BNO08x()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a40f7688e843d74b8bd526c6f5ff17845">BNO08x</a></li>
+<li>bno08x_config_t()&#160;:&#160;<a class="el" href="structbno08x__config__t.html#abf8805292192f4c30c5000423175a2e1">bno08x_config_t</a></li>
+</ul>
+
+
+<h3><a id="index_c" name="index_c"></a>- c -</h3><ul>
+<li>calibrate_accelerometer()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#aeffce374f558a167d5b5f19ad627e7cc">BNO08x</a></li>
+<li>calibrate_all()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#afd0ca5f9b9741935543d143a5a43d128">BNO08x</a></li>
+<li>calibrate_gyro()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a9ada90f8ab6dd33fa2d7c168d9234af1">BNO08x</a></li>
+<li>calibrate_magnetometer()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ac26350b55095a346d72598ab8aa74b4a">BNO08x</a></li>
+<li>calibrate_planar_accelerometer()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a1c6c49c97bc098db89db1aaa37e18f26">BNO08x</a></li>
+<li>calibration_complete()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a71ca35f78b98d93d31eb0c187dc8543b">BNO08x</a></li>
+<li>clear_tare()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#afe39bfdede7b9a2b273983cb29a27d6e">BNO08x</a></li>
+</ul>
+
+
+<h3><a id="index_d" name="index_d"></a>- d -</h3><ul>
+<li>data_available()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a367d525d1c0ba119b3dca3067bb5bccc">BNO08x</a></li>
+<li>data_proc_task()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ab4373e9b87837ea9fcbc0b536338c7b8">BNO08x</a></li>
+<li>data_proc_task_trampoline()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a0ae135d7bf7a5f047a1d1aa5cc07e520">BNO08x</a></li>
+<li>disable_accelerometer()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ad5c991150895b80bee68c933059a4058">BNO08x</a></li>
+<li>disable_activity_classifier()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a4fdc39294922a9553d84cd96bdae4376">BNO08x</a></li>
+<li>disable_ARVR_stabilized_game_rotation_vector()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ab187fe50fcfbb04bec9e80eb0fccf61c">BNO08x</a></li>
+<li>disable_ARVR_stabilized_rotation_vector()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#aa59e3d8953c96dc1cc5958a1ac628df4">BNO08x</a></li>
+<li>disable_game_rotation_vector()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a7665cce95e791c89161ec863f49c0392">BNO08x</a></li>
+<li>disable_gravity()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a5e63a9e68dbe2968b37dcb6dae04de6f">BNO08x</a></li>
+<li>disable_gyro()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a8296089e2fdbd7d2e85f364cf063af82">BNO08x</a></li>
+<li>disable_gyro_integrated_rotation_vector()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#aac0a00bed7825d8a2c357a48c3626931">BNO08x</a></li>
+<li>disable_linear_accelerometer()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#afbd2b02d5abe7084ce9de49ee2c9142f">BNO08x</a></li>
+<li>disable_magnetometer()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a6671b082d20dda8bf5c53cb47db0c338">BNO08x</a></li>
+<li>disable_raw_accelerometer()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a171d78f4b00598b04c8ca54da16c508b">BNO08x</a></li>
+<li>disable_raw_gyro()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a75ef3d09f1ee016999c459e43e9e8c44">BNO08x</a></li>
+<li>disable_raw_magnetometer()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#add29c84038558c28bcfca37865cf9244">BNO08x</a></li>
+<li>disable_report()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a00ec3857cb06ae885e32059ef1cab693">BNO08x</a></li>
+<li>disable_rotation_vector()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a1ebd456d2a67a22b5ba0911a95915921">BNO08x</a></li>
+<li>disable_stability_classifier()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ab307ed3352e04c9e998ab4dd066f8932">BNO08x</a></li>
+<li>disable_step_counter()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a427550a4ba25252912436b899124e157">BNO08x</a></li>
+<li>disable_tap_detector()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a16f83d1e85576a51abf2c65e5de58cd2">BNO08x</a></li>
+<li>disable_uncalibrated_gyro()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#aaf28212a5f1960c62a73282976142cfc">BNO08x</a></li>
+</ul>
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+
+<h3><a id="index_e" name="index_e"></a>- e -</h3><ul>
+<li>enable_accelerometer()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a2795c6579cf03e22f62a5eadc88dee91">BNO08x</a></li>
+<li>enable_activity_classifier()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ad7b83cac874c092583f8513d3bb69bbf">BNO08x</a></li>
+<li>enable_ARVR_stabilized_game_rotation_vector()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a5680148a41cb9cc96d1911150c46d2b8">BNO08x</a></li>
+<li>enable_ARVR_stabilized_rotation_vector()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a8a5f3b985989e846e831f70f7733d0bc">BNO08x</a></li>
+<li>enable_game_rotation_vector()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#abe04c38b5bd52d331bd8aefae1f51947">BNO08x</a></li>
+<li>enable_gravity()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a030eae12c3586acf09b48e94630b2544">BNO08x</a></li>
+<li>enable_gyro()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ad7b322681b9ec5f57edb09e336b988c0">BNO08x</a></li>
+<li>enable_gyro_integrated_rotation_vector()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a7388c67de3906ad05b233fd7eff0514d">BNO08x</a></li>
+<li>enable_linear_accelerometer()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ae1435b83ca83bc51b75f3303afe87f7b">BNO08x</a></li>
+<li>enable_magnetometer()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a3c32120bcd0987c3ca1bb72910586b59">BNO08x</a></li>
+<li>enable_raw_accelerometer()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a3042301cf0f51657c82b1127dce230f4">BNO08x</a></li>
+<li>enable_raw_gyro()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a8d8e75f0234287cb89cbec553cffe52c">BNO08x</a></li>
+<li>enable_raw_magnetometer()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a14ebec501b8d004a38648a9a1f7a2c9e">BNO08x</a></li>
+<li>enable_report()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a41613e65ea9beef883184b7ef67affdd">BNO08x</a></li>
+<li>enable_rotation_vector()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ab4c1d5cde156af09b7e88913f3af62c7">BNO08x</a></li>
+<li>enable_stability_classifier()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ab0a60844b36fb140cad588a65b3a9655">BNO08x</a></li>
+<li>enable_step_counter()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a5a0b0f5b8e962247a3b8aee8f1dc8e9f">BNO08x</a></li>
+<li>enable_tap_detector()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ab4c8e37c730ddb168f78c29bd7ae6566">BNO08x</a></li>
+<li>enable_uncalibrated_gyro()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a7fe5de95b1f51da44247a87317fd0c75">BNO08x</a></li>
+<li>end_calibration()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ac9d9b6636745e8180807284da67c92a2">BNO08x</a></li>
+</ul>
+
+
+<h3><a id="index_f" name="index_f"></a>- f -</h3><ul>
+<li>FRS_read_data()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a40607e557eada666a5e1e416f42cd4a1">BNO08x</a></li>
+<li>FRS_read_request()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#adf789e709ac1667656db757c8d559af9">BNO08x</a></li>
+<li>FRS_read_word()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a27f5dce5c994be18a587fb622574ad41">BNO08x</a></li>
+</ul>
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+
+<h3><a id="index_g" name="index_g"></a>- g -</h3><ul>
+<li>get_accel()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a9329c6669282071622c3b3741b1b8142">BNO08x</a></li>
+<li>get_accel_accuracy()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a3fce726d5de821f97ed207036dae2900">BNO08x</a></li>
+<li>get_accel_X()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#abce574112a9079d2cbc58cfc352b8a69">BNO08x</a></li>
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+<li>get_activity_classifier()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a4f7060b2d3c15b359b70b6346730446a">BNO08x</a></li>
+<li>get_gravity()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a386c46ac8965220ab7b9423df838dd4d">BNO08x</a></li>
+<li>get_gravity_accuracy()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#accd39f48e9f8ab8267df7184b5b7cd76">BNO08x</a></li>
+<li>get_gravity_X()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a88679bccd9339b87ec35fc4fc4e745ae">BNO08x</a></li>
+<li>get_gravity_Y()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a8a36db7f1c932f33e05e494632059801">BNO08x</a></li>
+<li>get_gravity_Z()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a5622b4d1754648ea7eb400c1adf9e807">BNO08x</a></li>
+<li>get_gyro_accuracy()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a811999653110858311c97a779c388e5d">BNO08x</a></li>
+<li>get_gyro_calibrated_velocity()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a4d3746a376a22acb7a2641bb750c4c89">BNO08x</a></li>
+<li>get_gyro_calibrated_velocity_X()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ab7977391191067282e7f734b9ee45059">BNO08x</a></li>
+<li>get_gyro_calibrated_velocity_Y()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ad4fab6e636e239d4b9273f158983ed89">BNO08x</a></li>
+<li>get_gyro_calibrated_velocity_Z()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a15a29c3bb476048b7229abcfb2b1d52a">BNO08x</a></li>
+<li>get_gyro_velocity()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#afe6392012669e7ebd1a9e817e2bd313f">BNO08x</a></li>
+<li>get_gyro_velocity_X()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#acd376cd3e454a87198ec86accbf2ee00">BNO08x</a></li>
+<li>get_gyro_velocity_Y()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#acd1819a81818f90dc105950b4a7d0b04">BNO08x</a></li>
+<li>get_gyro_velocity_Z()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ae2add976af256ec981248371a2f58207">BNO08x</a></li>
+<li>get_linear_accel()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ad59b029d04341dbef72e059488951980">BNO08x</a></li>
+<li>get_linear_accel_accuracy()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a33fe3c2f47759cfae5f4b612ddd329ea">BNO08x</a></li>
+<li>get_linear_accel_X()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a763c3a9699a1081d430fd9b9b7bc49a3">BNO08x</a></li>
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+<li>get_linear_accel_Z()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#afdfa7d50362702da689c5d18bf17fd84">BNO08x</a></li>
+<li>get_magf()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a35a224d519a2a243d0d526a34ecde5a8">BNO08x</a></li>
+<li>get_magf_accuracy()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a487391e6b2dd7f05084804d1fb94976f">BNO08x</a></li>
+<li>get_magf_X()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a111601243b913751eb51c1f37cba4e7d">BNO08x</a></li>
+<li>get_magf_Y()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a82ed8d7b9a5c25374839df75a3d220ea">BNO08x</a></li>
+<li>get_magf_Z()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ab4c48a91d2f8b29430abc17b7f015282">BNO08x</a></li>
+<li>get_pitch()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a1b91f234d81c45f1f5ca2f27c9f0f6a3">BNO08x</a></li>
+<li>get_pitch_deg()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#af50010400cbd1445e9ddfa259384b412">BNO08x</a></li>
+<li>get_Q1()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a4421c43323945946ad605f8422958dcf">BNO08x</a></li>
+<li>get_Q2()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a954dccdcbe8a8c4f1787f13ebb8d932b">BNO08x</a></li>
+<li>get_Q3()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a1590ba793668f9cb1a32a1f4dd07cb9a">BNO08x</a></li>
+<li>get_quat()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a51a6d594824de2292e70f788454f8a2d">BNO08x</a></li>
+<li>get_quat_accuracy()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a24ba760d064a1dc45f972c79b9c8d98d">BNO08x</a></li>
+<li>get_quat_I()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a12c12a8e078b28480fb8828d306656f5">BNO08x</a></li>
+<li>get_quat_J()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a9f6bb642fa0297a7b9bcc94dd7374015">BNO08x</a></li>
+<li>get_quat_K()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a9f42c70c2337a0d831064a40ecfe2dd8">BNO08x</a></li>
+<li>get_quat_radian_accuracy()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a61b7d10a98afc6903fea6b2cede27630">BNO08x</a></li>
+<li>get_quat_real()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a5a556c5ec1baaa7f1156779dbe47a7b7">BNO08x</a></li>
+<li>get_range()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a0fff04c42c9502615ad73cd1457cb9b0">BNO08x</a></li>
+<li>get_raw_accel_X()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a1de356dd604c1dffcd1a32faeb4fafe2">BNO08x</a></li>
+<li>get_raw_accel_Y()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a96563de0eb597a52d595d19da827b1ac">BNO08x</a></li>
+<li>get_raw_accel_Z()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a718cdd910e5e7e03fd0a1ad04ee6f0ce">BNO08x</a></li>
+<li>get_raw_gyro_X()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#af1b2c3a383a84fc6dfaddae1052b44d4">BNO08x</a></li>
+<li>get_raw_gyro_Y()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#aff7714441d242b3b9b0c03f94e0a9374">BNO08x</a></li>
+<li>get_raw_gyro_Z()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a2e28b5a79c442a6baa2fa5165b9ce37d">BNO08x</a></li>
+<li>get_raw_magf_X()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#adf12600b39de41d258439a343fcc1ad8">BNO08x</a></li>
+<li>get_raw_magf_Y()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a2c842e43ceae19149f6525bcbc48f1cf">BNO08x</a></li>
+<li>get_raw_magf_Z()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a99c1bcc2ec3ca3d8feafd6dd61f9d269">BNO08x</a></li>
+<li>get_reset_reason()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a11bb1b3fa44ad8f28c1492b5c07af886">BNO08x</a></li>
+<li>get_resolution()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a1d6ea02d0d4b23ff6a15e9d5c6c92372">BNO08x</a></li>
+<li>get_roll()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a89618eba08186ee8e679e7313907ddef">BNO08x</a></li>
+<li>get_roll_deg()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a7077b9a130f1dcf0192454e387968dd6">BNO08x</a></li>
+<li>get_stability_classifier()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a0d148e00abcfeec48c689e3084a7e786">BNO08x</a></li>
+<li>get_step_count()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#adaff49f3d80fdd19fd4210f0c56d41ef">BNO08x</a></li>
+<li>get_tap_detector()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a4797ec731de4c158716da1a7af9d1602">BNO08x</a></li>
+<li>get_time_stamp()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ad9137777271421a58159f3fe5e05ed20">BNO08x</a></li>
+<li>get_uncalibrated_gyro()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a1bd3c33e70354bd35a78b83b6786b531">BNO08x</a></li>
+<li>get_uncalibrated_gyro_accuracy()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a3285613f18b2f2f4c3f9e6d5c971af10">BNO08x</a></li>
+<li>get_uncalibrated_gyro_bias_X()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ad228cdf352b7ea95e484da993045a47b">BNO08x</a></li>
+<li>get_uncalibrated_gyro_bias_Y()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a74725517129dd548c7a3de705d5861bd">BNO08x</a></li>
+<li>get_uncalibrated_gyro_bias_Z()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a5050359272abd146ab3c7a6101effbd7">BNO08x</a></li>
+<li>get_uncalibrated_gyro_X()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a289ff66f51c94be62c4a556f3a5997bf">BNO08x</a></li>
+<li>get_uncalibrated_gyro_Y()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a1874e4bd457bb5b6ecc2c64039b88ba4">BNO08x</a></li>
+<li>get_uncalibrated_gyro_Z()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a0a73633d8929ce4058b14cefc8cad717">BNO08x</a></li>
+<li>get_yaw()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a64d3e41750c6de9413d6982511f78f17">BNO08x</a></li>
+<li>get_yaw_deg()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#af80f7795656e695e036d3b1557aed94c">BNO08x</a></li>
+</ul>
+
+
+<h3><a id="index_h" name="index_h"></a>- h -</h3><ul>
+<li>hard_reset()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a28cd1c0b3477571d87133234e6358503">BNO08x</a></li>
+<li>hint_handler()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a804b95c58c30d36933fd251626b85bf7">BNO08x</a></li>
+</ul>
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+
+<h3><a id="index_i" name="index_i"></a>- i -</h3><ul>
+<li>initialize()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#aea8e2c6dd7a2c9899479a7f39fe94798">BNO08x</a></li>
+</ul>
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+
+<h3><a id="index_m" name="index_m"></a>- m -</h3><ul>
+<li>mode_on()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ac1b3de9b552c611ee9c455d7f19be698">BNO08x</a></li>
+<li>mode_sleep()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a176ae0112325c05105eacb4566bbfa0b">BNO08x</a></li>
+</ul>
+
+
+<h3><a id="index_p" name="index_p"></a>- p -</h3><ul>
+<li>parse_command_report()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a4f66045a0528a0c17c52421ea51612e7">BNO08x</a></li>
+<li>parse_frs_read_response_report()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a51b360d795563b55559f11efb40be36a">BNO08x</a></li>
+<li>parse_input_report()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a8d9db3e1b6208c2661e1c543deefa53d">BNO08x</a></li>
+<li>parse_packet()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a67a697595d6a4d4638a53c6b4a5ef0cd">BNO08x</a></li>
+<li>parse_product_id_report()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a29cfd7fc2816483ebebe9d55b677a036">BNO08x</a></li>
+<li>print_header()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a35856c108a47de8b3b38c4395aabb4eb">BNO08x</a></li>
+<li>print_packet()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a05e4cd5861b55fc0182d7dd13bb85e49">BNO08x</a></li>
+</ul>
+
+
+<h3><a id="index_q" name="index_q"></a>- q -</h3><ul>
+<li>q_to_float()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a27fb24e894f794ec6228ef142b6ff8d9">BNO08x</a></li>
+<li>queue_calibrate_command()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ad097849616c5caab1fd3eb3632ee2b91">BNO08x</a></li>
+<li>queue_command()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a5cc58139e4d5f0587b90e249ceb476f9">BNO08x</a></li>
+<li>queue_feature_command()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#af2951f6ea448af7cf7932fbfed9fec3c">BNO08x</a></li>
+<li>queue_packet()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a62c570ba96512f4d0d10b2594048de1f">BNO08x</a></li>
+<li>queue_request_product_id_command()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ab5f200069a2f8cb74cb79c6f162da5a1">BNO08x</a></li>
+<li>queue_tare_command()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a4c6353e795f734ed28613f9a3d161ea2">BNO08x</a></li>
+</ul>
+
+
+<h3><a id="index_r" name="index_r"></a>- r -</h3><ul>
+<li>receive_packet()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ae540799865934fcff54caed0772df071">BNO08x</a></li>
+<li>register_cb()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a06bb0c70305421b5357e64f31579fdc7">BNO08x</a></li>
+<li>request_calibration_status()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#affaaa35abbb872da5299ebab6e2c9b11">BNO08x</a></li>
+<li>run_full_calibration_routine()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ae6e875a27ae74ebed806ee1a4576845a">BNO08x</a></li>
+</ul>
+
+
+<h3><a id="index_s" name="index_s"></a>- s -</h3><ul>
+<li>save_calibration()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#aa16609de88bfb7b389348859aa0cee54">BNO08x</a></li>
+<li>save_tare()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#afb2ffc4e7ff0498917bc14a83af306e2">BNO08x</a></li>
+<li>send_packet()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a2c359a44a2c8e83ecb258a340e2d0e1a">BNO08x</a></li>
+<li>soft_reset()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a973a1b1785f3302ee1b2702c6a27646e">BNO08x</a></li>
+<li>spi_task()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a2ecd4ed60f82730ae230c61687ec92bf">BNO08x</a></li>
+<li>spi_task_trampoline()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a0ce6d9db873555f1ebe7e095251eab74">BNO08x</a></li>
+</ul>
+
+
+<h3><a id="index_t" name="index_t"></a>- t -</h3><ul>
+<li>tare_now()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a4549bbef48208bd9c745fc755b93012f">BNO08x</a></li>
+</ul>
+
+
+<h3><a id="index_w" name="index_w"></a>- w -</h3><ul>
+<li>wait_for_data()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a4f12de628073f44b2a3fab2688cf1caf">BNO08x</a></li>
+<li>wait_for_rx_done()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a2897a178bf2c53cd99df0d4570edf72e">BNO08x</a></li>
+<li>wait_for_tx_done()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a7cdeb849e728487de961cdfd4030c773">BNO08x</a></li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0 </li>
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diff --git a/documentation/html/functions_g.html b/documentation/html/functions_g.html
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+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.10.0"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>esp32_BNO08x: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<script type="text/javascript" src="clipboard.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
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+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.1</span>
+   </div>
+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.10.0 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+<script type="text/javascript" src="menudata.js"></script>
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+<script type="text/javascript">
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+/* @license-end */
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+<div id="main-nav"></div>
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+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function(){initNavTree('functions_g.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
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+<!-- iframe showing the search results (closed by default) -->
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+<div id="SRIndex">
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+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all class members with links to the classes they belong to:</div>
+
+<h3><a id="index_g" name="index_g"></a>- g -</h3><ul>
+<li>get_accel()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a9329c6669282071622c3b3741b1b8142">BNO08x</a></li>
+<li>get_accel_accuracy()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a3fce726d5de821f97ed207036dae2900">BNO08x</a></li>
+<li>get_accel_X()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#abce574112a9079d2cbc58cfc352b8a69">BNO08x</a></li>
+<li>get_accel_Y()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#afdf24bb3d54518b23972f21f007817c1">BNO08x</a></li>
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+<li>get_activity_classifier()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a4f7060b2d3c15b359b70b6346730446a">BNO08x</a></li>
+<li>get_gravity()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a386c46ac8965220ab7b9423df838dd4d">BNO08x</a></li>
+<li>get_gravity_accuracy()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#accd39f48e9f8ab8267df7184b5b7cd76">BNO08x</a></li>
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+<li>get_gyro_velocity()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#afe6392012669e7ebd1a9e817e2bd313f">BNO08x</a></li>
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+<li>get_linear_accel()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ad59b029d04341dbef72e059488951980">BNO08x</a></li>
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+<li>get_step_count()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#adaff49f3d80fdd19fd4210f0c56d41ef">BNO08x</a></li>
+<li>get_tap_detector()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a4797ec731de4c158716da1a7af9d1602">BNO08x</a></li>
+<li>get_time_stamp()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ad9137777271421a58159f3fe5e05ed20">BNO08x</a></li>
+<li>get_uncalibrated_gyro()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a1bd3c33e70354bd35a78b83b6786b531">BNO08x</a></li>
+<li>get_uncalibrated_gyro_accuracy()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a3285613f18b2f2f4c3f9e6d5c971af10">BNO08x</a></li>
+<li>get_uncalibrated_gyro_bias_X()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ad228cdf352b7ea95e484da993045a47b">BNO08x</a></li>
+<li>get_uncalibrated_gyro_bias_Y()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a74725517129dd548c7a3de705d5861bd">BNO08x</a></li>
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+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.1</span>
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+<div class="contents">
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+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.1</span>
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+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+  initMenu('',true,false,'search.php','Search');
+  $(function() { init_search(); });
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+/* @license-end */
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+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
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+  </div>
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+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+<!-- iframe showing the search results (closed by default) -->
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+<div id="SRIndex">
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+<div class="SRStatus" id="Loading">Loading...</div>
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+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all class members with links to the classes they belong to:</div>
+
+<h3><a id="index_t" name="index_t"></a>- t -</h3><ul>
+<li>TAG&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a2c98d5f2c406a3efd0b48c5666fa8c46">BNO08x</a></li>
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+<li>TARE_ARVR_STABILIZED_GAME_ROTATION_VECTOR&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a68aaaab144adbe5af00597408f044d9d">BNO08x</a></li>
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+<li>TARE_AXIS_ALL&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a1ef13f6f330810934416ad5fe0ee55b2">BNO08x</a></li>
+<li>TARE_AXIS_Z&#160;:&#160;<a class="el" href="class_b_n_o08x.html#aecb3e11c1ca5769fd60f42c17a105731">BNO08x</a></li>
+<li>TARE_GAME_ROTATION_VECTOR&#160;:&#160;<a class="el" href="class_b_n_o08x.html#abaf1ec8bb197db1998a9ed3cec6180d5">BNO08x</a></li>
+<li>TARE_GEOMAGNETIC_ROTATION_VECTOR&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a225397a04d849e5647992ca80d68febb">BNO08x</a></li>
+<li>TARE_GYRO_INTEGRATED_ROTATION_VECTOR&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a9ec354d75249f06f13599abf7bedfde0">BNO08x</a></li>
+<li>tare_now()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a4549bbef48208bd9c745fc755b93012f">BNO08x</a></li>
+<li>TARE_NOW&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a27df630f3e52b35552d2c1f2cf3496b0">BNO08x</a></li>
+<li>TARE_PERSIST&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a115aef7b38ec0dec2085f6917d832912">BNO08x</a></li>
+<li>TARE_ROTATION_VECTOR&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a8e2cfc25d0e34ae53a762b88cc3ac3c8">BNO08x</a></li>
+<li>TARE_SET_REORIENTATION&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a59cde7dd301c94a20b84735c5d49008e">BNO08x</a></li>
+<li>time_stamp&#160;:&#160;<a class="el" href="class_b_n_o08x.html#abc972db20affbd0040b4e6c4892dd57b">BNO08x</a></li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0 </li>
+  </ul>
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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
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.10.0"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>esp32_BNO08x: Class Members - Typedefs</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<script type="text/javascript" src="clipboard.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<script type="text/javascript" src="cookie.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.1</span>
+   </div>
+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.10.0 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function(){initNavTree('functions_type.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<div id="MSearchResults">
+<div class="SRPage">
+<div id="SRIndex">
+<div id="SRResults"></div>
+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all typedefs with links to the classes they belong to:</div><ul>
+<li>bno08x_rx_packet_t&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a407711b4a84223a52cc043a152aea8ba">BNO08x</a></li>
+<li>bno08x_tx_packet_t&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a3a1a869ac69e6ee850bd2a7f90dd8945">BNO08x</a></li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0 </li>
+  </ul>
+</div>
+</body>
+</html>
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 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.10.0"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>esp32_BNO08x: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<script type="text/javascript" src="clipboard.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<script type="text/javascript" src="cookie.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.1</span>
+   </div>
+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.10.0 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function(){initNavTree('functions_u.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<div id="MSearchResults">
+<div class="SRPage">
+<div id="SRIndex">
+<div id="SRResults"></div>
+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all class members with links to the classes they belong to:</div>
+
+<h3><a id="index_u" name="index_u"></a>- u -</h3><ul>
+<li>uncalib_gyro_accuracy&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a081c666a3f24016d0ec5c5edc49f2903">BNO08x</a></li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0 </li>
+  </ul>
+</div>
+</body>
+</html>
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 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.10.0"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>esp32_BNO08x: Class Members - Variables</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<script type="text/javascript" src="clipboard.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<script type="text/javascript" src="cookie.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.1</span>
+   </div>
+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.10.0 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function(){initNavTree('functions_vars.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<div id="MSearchResults">
+<div class="SRPage">
+<div id="SRIndex">
+<div id="SRResults"></div>
+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all variables with links to the classes they belong to:</div>
+
+<h3><a id="index_a" name="index_a"></a>- a -</h3><ul>
+<li>accel_accuracy&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a3365b7ebde01e284274e655c60343df9">BNO08x</a></li>
+<li>accel_lin_accuracy&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a35e1635ef5edde8fc8640f978c6f2e3c">BNO08x</a></li>
+<li>ACCELEROMETER_Q1&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a0564aaf5b20dc42b54db4fb3115ac1c7">BNO08x</a></li>
+<li>activity_classifier&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a75cea49c1c08ca28d9fa7e5ed61c6e7b">BNO08x</a></li>
+<li>activity_confidences&#160;:&#160;<a class="el" href="class_b_n_o08x.html#af96e8cd070459f945ffbf01b98106e13">BNO08x</a></li>
+<li>ANGULAR_VELOCITY_Q1&#160;:&#160;<a class="el" href="class_b_n_o08x.html#aafe117561fe9138800073a04a778b4ce">BNO08x</a></li>
+</ul>
+
+
+<h3><a id="index_b" name="index_b"></a>- b -</h3><ul>
+<li>body&#160;:&#160;<a class="el" href="struct_b_n_o08x_1_1bno08x__rx__packet__t.html#ab422d75e1fcd776ef412f4d623cc293e">BNO08x::bno08x_rx_packet_t</a>, <a class="el" href="struct_b_n_o08x_1_1bno08x__tx__packet__t.html#a4478c6cd9e87907eacc56dd06ad4a69d">BNO08x::bno08x_tx_packet_t</a></li>
+<li>bus_config&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a982f065df42f00e53fd87c840efdb0f1">BNO08x</a></li>
+</ul>
+
+
+<h3><a id="index_c" name="index_c"></a>- c -</h3><ul>
+<li>CALIBRATE_ACCEL&#160;:&#160;<a class="el" href="class_b_n_o08x.html#acd5b44d705af1f9aaa271a59a9d2d595">BNO08x</a></li>
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+<li>CHANNEL_EXECUTABLE&#160;:&#160;<a class="el" href="_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556ba8a5de65712767758887f8fad9523bb72">BNO08x.hpp</a></li>
+<li>CHANNEL_GYRO&#160;:&#160;<a class="el" href="_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556bafd513a698e54122cec579d9450482832">BNO08x.hpp</a></li>
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+<li>CHANNEL_WAKE_REPORTS&#160;:&#160;<a class="el" href="_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556bafbb907d12060466f58dd56d3e2430747">BNO08x.hpp</a></li>
+<li>channels_t&#160;:&#160;<a class="el" href="_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556b">BNO08x.hpp</a></li>
+<li>IMUAccuracy&#160;:&#160;<a class="el" href="_b_n_o08x_8hpp.html#adb7d85b4fa619c860031f469261c6279">BNO08x.hpp</a></li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0 </li>
+  </ul>
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new file mode 100644
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+<meta name="generator" content="Doxygen 1.10.0"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>esp32_BNO08x: File Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<script type="text/javascript" src="clipboard.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
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+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.1</span>
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+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
+  </td>
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+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.10.0 -->
+<script type="text/javascript">
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+/* @license-end */
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+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+<div id="doc-content">
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+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+</div>
+</div>
+</div>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all enums with links to the files they belong to:</div><ul>
+<li>channels_t&#160;:&#160;<a class="el" href="_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556b">BNO08x.hpp</a></li>
+<li>IMUAccuracy&#160;:&#160;<a class="el" href="_b_n_o08x_8hpp.html#adb7d85b4fa619c860031f469261c6279">BNO08x.hpp</a></li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/documentation/html/globals_eval.html b/documentation/html/globals_eval.html
new file mode 100644
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+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.10.0"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>esp32_BNO08x: File Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<script type="text/javascript" src="clipboard.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<script type="text/javascript" src="cookie.js"></script>
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+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.1</span>
+   </div>
+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.10.0 -->
+<script type="text/javascript">
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+/* @license-end */
+</script>
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+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(function() { init_search(); });
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+/* @license-end */
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+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+/* @license-end */
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+<div id="doc-content">
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+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all enum values with links to the files they belong to:</div><ul>
+<li>CHANNEL_COMMAND&#160;:&#160;<a class="el" href="_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556ba1cb5955609063cff1ba49147e786e610">BNO08x.hpp</a></li>
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+<li>CHANNEL_EXECUTABLE&#160;:&#160;<a class="el" href="_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556ba8a5de65712767758887f8fad9523bb72">BNO08x.hpp</a></li>
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+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0 </li>
+  </ul>
+</div>
+</body>
+</html>
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+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.10.0"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>esp32_BNO08x: File Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<script type="text/javascript" src="clipboard.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<script type="text/javascript" src="cookie.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.1</span>
+   </div>
+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.10.0 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function(){initNavTree('globals_type.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
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+<!-- iframe showing the search results (closed by default) -->
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+<div class="SRStatus" id="Loading">Loading...</div>
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+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all typedefs with links to the files they belong to:</div><ul>
+<li>bno08x_config_t&#160;:&#160;<a class="el" href="_b_n_o08x_8hpp.html#a648bbdbf22731476890dd8da977d7503">BNO08x.hpp</a></li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0 </li>
+  </ul>
+</div>
+</body>
+</html>
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 @@
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+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.10.0"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>esp32_BNO08x: Graph Legend</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<script type="text/javascript" src="clipboard.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<script type="text/javascript" src="cookie.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.1</span>
+   </div>
+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.10.0 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+/* @license-end */
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+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+  $(function() { init_search(); });
+});
+/* @license-end */
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+  <div id="nav-tree">
+    <div id="nav-tree-contents">
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+    </div>
+  </div>
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+  </div>
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+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+/* @license-end */
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+<div id="doc-content">
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+<div id="MSearchResults">
+<div class="SRPage">
+<div id="SRIndex">
+<div id="SRResults"></div>
+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="header">
+  <div class="headertitle"><div class="title">Graph Legend</div></div>
+</div><!--header-->
+<div class="contents">
+<p>This page explains how to interpret the graphs that are generated by doxygen.</p>
+<p>Consider the following example: </p><div class="fragment"><div class="line"><span class="comment">/*! Invisible class because of truncation */</span></div>
+<div class="line"><span class="keyword">class </span>Invisible { };</div>
+<div class="line"><span class="comment"></span> </div>
+<div class="line"><span class="comment">/*! Truncated class, inheritance relation is hidden */</span></div>
+<div class="line"><span class="keyword">class </span>Truncated : <span class="keyword">public</span> Invisible { };</div>
+<div class="line"> </div>
+<div class="line"><span class="comment">/* Class not documented with doxygen comments */</span></div>
+<div class="line"><span class="keyword">class </span>Undocumented { };</div>
+<div class="line"><span class="comment"></span> </div>
+<div class="line"><span class="comment">/*! Class that is inherited using public inheritance */</span></div>
+<div class="line"><span class="keyword">class </span>PublicBase : <span class="keyword">public</span> Truncated { };</div>
+<div class="line"><span class="comment"></span> </div>
+<div class="line"><span class="comment">/*! A template class */</span></div>
+<div class="line"><span class="keyword">template</span>&lt;<span class="keyword">class</span> T&gt; <span class="keyword">class </span>Templ { };</div>
+<div class="line"><span class="comment"></span> </div>
+<div class="line"><span class="comment">/*! Class that is inherited using protected inheritance */</span></div>
+<div class="line"><span class="keyword">class </span>ProtectedBase { };</div>
+<div class="line"><span class="comment"></span> </div>
+<div class="line"><span class="comment">/*! Class that is inherited using private inheritance */</span></div>
+<div class="line"><span class="keyword">class </span>PrivateBase { };</div>
+<div class="line"><span class="comment"></span> </div>
+<div class="line"><span class="comment">/*! Class that is used by the Inherited class */</span></div>
+<div class="line"><span class="keyword">class </span>Used { };</div>
+<div class="line"><span class="comment"></span> </div>
+<div class="line"><span class="comment">/*! Super class that inherits a number of other classes */</span></div>
+<div class="line"><span class="keyword">class </span>Inherited : <span class="keyword">public</span> PublicBase,</div>
+<div class="line">                  <span class="keyword">protected</span> ProtectedBase,</div>
+<div class="line">                  <span class="keyword">private</span> PrivateBase,</div>
+<div class="line">                  <span class="keyword">public</span> Undocumented,</div>
+<div class="line">                  <span class="keyword">public</span> Templ&lt;int&gt;</div>
+<div class="line">{</div>
+<div class="line">  <span class="keyword">private</span>:</div>
+<div class="line">    Used *m_usedClass;</div>
+<div class="line">};</div>
+</div><!-- fragment --><p> This will result in the following graph:</p>
+<center><img src="graph_legend.png" alt="" class="inline"/></center><p>The boxes in the above graph have the following meaning: </p>
+<ul>
+<li>
+A filled gray box represents the struct or class for which the graph is generated. </li>
+<li>
+A box with a black border denotes a documented struct or class. </li>
+<li>
+A box with a gray border denotes an undocumented struct or class. </li>
+<li>
+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. </li>
+</ul>
+<p>The arrows have the following meaning: </p>
+<ul>
+<li>
+A blue arrow is used to visualize a public inheritance relation between two classes. </li>
+<li>
+A dark green arrow is used for protected inheritance. </li>
+<li>
+A dark red arrow is used for private inheritance. </li>
+<li>
+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. </li>
+<li>
+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. </li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0 </li>
+  </ul>
+</div>
+</body>
+</html>
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
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+ * Copyright (c) 2007 Ariel Flesler - aflesler ○ gmail • com | https://github.com/flesler
+ * Licensed under MIT
+ * @author Ariel Flesler
+ * @version 2.1.2
+ */
+;(function(f){"use strict";"function"===typeof define&&define.amd?define(["jquery"],f):"undefined"!==typeof module&&module.exports?module.exports=f(require("jquery")):f(jQuery)})(function($){"use strict";function n(a){return!a.nodeName||-1!==$.inArray(a.nodeName.toLowerCase(),["iframe","#document","html","body"])}function h(a){return $.isFunction(a)||$.isPlainObject(a)?a:{top:a,left:a}}var p=$.scrollTo=function(a,d,b){return $(window).scrollTo(a,d,b)};p.defaults={axis:"xy",duration:0,limit:!0};$.fn.scrollTo=function(a,d,b){"object"=== typeof d&&(b=d,d=0);"function"===typeof b&&(b={onAfter:b});"max"===a&&(a=9E9);b=$.extend({},p.defaults,b);d=d||b.duration;var u=b.queue&&1<b.axis.length;u&&(d/=2);b.offset=h(b.offset);b.over=h(b.over);return this.each(function(){function k(a){var k=$.extend({},b,{queue:!0,duration:d,complete:a&&function(){a.call(q,e,b)}});r.animate(f,k)}if(null!==a){var l=n(this),q=l?this.contentWindow||window:this,r=$(q),e=a,f={},t;switch(typeof e){case "number":case "string":if(/^([+-]=?)?\d+(\.\d+)?(px|%)?$/.test(e)){e= h(e);break}e=l?$(e):$(e,q);case "object":if(e.length===0)return;if(e.is||e.style)t=(e=$(e)).offset()}var v=$.isFunction(b.offset)&&b.offset(q,e)||b.offset;$.each(b.axis.split(""),function(a,c){var d="x"===c?"Left":"Top",m=d.toLowerCase(),g="scroll"+d,h=r[g](),n=p.max(q,c);t?(f[g]=t[m]+(l?0:h-r.offset()[m]),b.margin&&(f[g]-=parseInt(e.css("margin"+d),10)||0,f[g]-=parseInt(e.css("border"+d+"Width"),10)||0),f[g]+=v[m]||0,b.over[m]&&(f[g]+=e["x"===c?"width":"height"]()*b.over[m])):(d=e[m],f[g]=d.slice&& "%"===d.slice(-1)?parseFloat(d)/100*n:d);b.limit&&/^\d+$/.test(f[g])&&(f[g]=0>=f[g]?0:Math.min(f[g],n));!a&&1<b.axis.length&&(h===f[g]?f={}:u&&(k(b.onAfterFirst),f={}))});k(b.onAfter)}})};p.max=function(a,d){var b="x"===d?"Width":"Height",h="scroll"+b;if(!n(a))return a[h]-$(a)[b.toLowerCase()]();var b="client"+b,k=a.ownerDocument||a.document,l=k.documentElement,k=k.body;return Math.max(l[h],k[h])-Math.min(l[b],k[b])};$.Tween.propHooks.scrollLeft=$.Tween.propHooks.scrollTop={get:function(a){return $(a.elem)[a.prop]()}, set:function(a){var d=this.get(a);if(a.options.interrupt&&a._last&&a._last!==d)return $(a.elem).stop();var b=Math.round(a.now);d!==b&&($(a.elem)[a.prop](b),a._last=this.get(a))}};return p});
+/*!
+ PowerTip v1.3.1 (2018-04-15)
+ https://stevenbenner.github.io/jquery-powertip/
+ Copyright (c) 2018 Steven Benner (http://stevenbenner.com/).
+ Released under MIT license.
+ https://raw.github.com/stevenbenner/jquery-powertip/master/LICENSE.txt
+*/
+(function(root,factory){if(typeof define==="function"&&define.amd){define(["jquery"],factory)}else if(typeof module==="object"&&module.exports){module.exports=factory(require("jquery"))}else{factory(root.jQuery)}})(this,function($){var $document=$(document),$window=$(window),$body=$("body");var DATA_DISPLAYCONTROLLER="displayController",DATA_HASACTIVEHOVER="hasActiveHover",DATA_FORCEDOPEN="forcedOpen",DATA_HASMOUSEMOVE="hasMouseMove",DATA_MOUSEONTOTIP="mouseOnToPopup",DATA_ORIGINALTITLE="originalTitle",DATA_POWERTIP="powertip",DATA_POWERTIPJQ="powertipjq",DATA_POWERTIPTARGET="powertiptarget",EVENT_NAMESPACE=".powertip",RAD2DEG=180/Math.PI,MOUSE_EVENTS=["click","dblclick","mousedown","mouseup","mousemove","mouseover","mouseout","mouseenter","mouseleave","contextmenu"];var 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+ * jQuery UI Touch Punch 0.2.3
+ *
+ * Copyright 2011–2014, Dave Furfero
+ * Dual licensed under the MIT or GPL Version 2 licenses.
+ *
+ * Depends:
+ *  jquery.ui.widget.js
+ *  jquery.ui.mouse.js
+ */
+!function(a){function f(a,b){if(!(a.originalEvent.touches.length>1)){a.preventDefault();var c=a.originalEvent.changedTouches[0],d=document.createEvent("MouseEvents");d.initMouseEvent(b,!0,!0,window,1,c.screenX,c.screenY,c.clientX,c.clientY,!1,!1,!1,!1,0,null),a.target.dispatchEvent(d)}}if(a.support.touch="ontouchend"in document,a.support.touch){var e,b=a.ui.mouse.prototype,c=b._mouseInit,d=b._mouseDestroy;b._touchStart=function(a){var b=this;!e&&b._mouseCapture(a.originalEvent.changedTouches[0])&&(e=!0,b._touchMoved=!1,f(a,"mouseover"),f(a,"mousemove"),f(a,"mousedown"))},b._touchMove=function(a){e&&(this._touchMoved=!0,f(a,"mousemove"))},b._touchEnd=function(a){e&&(f(a,"mouseup"),f(a,"mouseout"),this._touchMoved||f(a,"click"),e=!1)},b._mouseInit=function(){var b=this;b.element.bind({touchstart:a.proxy(b,"_touchStart"),touchmove:a.proxy(b,"_touchMove"),touchend:a.proxy(b,"_touchEnd")}),c.call(b)},b._mouseDestroy=function(){var b=this;b.element.unbind({touchstart:a.proxy(b,"_touchStart"),touchmove:a.proxy(b,"_touchMove"),touchend:a.proxy(b,"_touchEnd")}),d.call(b)}}}(jQuery);/*! SmartMenus jQuery Plugin - v1.1.0 - September 17, 2017
+ * http://www.smartmenus.org/
+ * Copyright Vasil Dinkov, Vadikom Web Ltd. http://vadikom.com; Licensed MIT */(function(t){"function"==typeof define&&define.amd?define(["jquery"],t):"object"==typeof module&&"object"==typeof module.exports?module.exports=t(require("jquery")):t(jQuery)})(function($){function initMouseDetection(t){var e=".smartmenus_mouse";if(mouseDetectionEnabled||t)mouseDetectionEnabled&&t&&($(document).off(e),mouseDetectionEnabled=!1);else{var i=!0,s=null,o={mousemove:function(t){var e={x:t.pageX,y:t.pageY,timeStamp:(new Date).getTime()};if(s){var o=Math.abs(s.x-e.x),a=Math.abs(s.y-e.y);if((o>0||a>0)&&2>=o&&2>=a&&300>=e.timeStamp-s.timeStamp&&(mouse=!0,i)){var n=$(t.target).closest("a");n.is("a")&&$.each(menuTrees,function(){return $.contains(this.$root[0],n[0])?(this.itemEnter({currentTarget:n[0]}),!1):void 0}),i=!1}}s=e}};o[touchEvents?"touchstart":"pointerover pointermove pointerout MSPointerOver MSPointerMove 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+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.1</span>
+   </div>
+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
+  </td>
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+<div><div class="header">
+  <div class="headertitle"><div class="title">README</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><p>Table of Contents.</p>
+<p><a class="anchor" id="readme-top"></a> <img src="esp32_BNO08x_banner.png" alt="image" class="inline"/></p>
+<ol>
+<li>
+<a href="#about">About</a>  </li>
+<li>
+<a href="#getting-started">Getting Started</a> <ul>
+<li>
+<a href="#wiring">Wiring</a> </li>
+<li>
+<a href="#adding-to-project">Adding to Project</a> </li>
+<li>
+<a href="#menuconfig">Menuconfig</a> </li>
+<li>
+<a href="#examples">Examples</a> </li>
+</ul>
+</li>
+<li>
+<a href="#documentation">Documentation</a> </li>
+<li>
+<a href="#program-flowcharts">Program Flowcharts</a> </li>
+<li>
+<a href="#acknowledgements">Acknowledgements</a> </li>
+<li>
+<a href="#license">License</a> </li>
+<li>
+<a href="#contact">Contact</a> </li>
+</ol>
+<h2><a class="anchor" id="autotoc_md0"></a>
+About</h2>
+<p>esp32_BNO08x is a C++ component for esp-idf v5.x, serving as a driver for both BNO080 and BNO085 IMUs. <br  />
+</p>
+<p>Originally based on the SparkFun BNO080 Arduino Library, it has since diverged significantly in implementation while retaining all original features and more, including callback functions enabled by its multi-tasked approach.</p>
+<p>Currently, only SPI is supported. There are no plans to support I2C due to unpredictable behavior caused by an esp32 I2C driver silicon bug. UART support may be implemented in the future.</p>
+<h2><a class="anchor" id="autotoc_md1"></a>
+Getting Started</h2>
+<p>(<a href="#readme-top">back to top</a>)</p>
+<h3><a class="anchor" id="autotoc_md2"></a>
+Wiring</h3>
+<p>The default wiring is depicted below, it can be changed at driver initialization (see example section). <br  />
+</p>
+<p>If your ESP does not have the GPIO pin numbers depicted below, you <b>must change the default GPIO settings in menuconfig</b>. See the Menuconfig section.</p>
+<p align="right"><img src="esp32_BNO08x_wiring.png" alt="image" class="inline"/> </p>
+<p>(<a href="#readme-top">back to top</a>)</p>
+<h3><a class="anchor" id="autotoc_md3"></a>
+Adding to Project</h3>
+<ol type="1">
+<li><p class="startli">Create a "components" directory in the root workspace directory of your esp-idf project if it does not exist already. <br  />
+</p>
+<p class="startli">In workspace directory: <br  />
+ </p><div class="fragment"><div class="line">mkdir components</div>
+</div><!-- fragment --></li>
+<li><p class="startli">Cd into the components directory and clone the esp32_BNO08x repo.</p>
+<div class="fragment"><div class="line">cd components</div>
+<div class="line">git clone https://github.com/myles-parfeniuk/esp32_BNO08x.git</div>
+</div><!-- fragment --></li>
+<li>Ensure you clean your esp-idf project before rebuilding. <br  />
+ Within esp-idf enabled terminal: <div class="fragment"><div class="line">idf.py fullclean</div>
+</div><!-- fragment --> </li>
+</ol>
+<p>(<a href="#readme-top">back to top</a>)</p>
+<h3><a class="anchor" id="autotoc_md4"></a>
+Menuconfig</h3>
+<p>This library provides a menuconfig menu configured in Kconfig.projbuild. It contains settings to control the default GPIO and a few other things. <br  />
+</p>
+<p>To access the menu:</p>
+<ol type="1">
+<li>Within esp-idf enabled terminal, execute the menuconfig command: <div class="fragment"><div class="line">    idf.py menuconfig</div>
+<div class="line"> </div>
+<div class="line">2. Scroll down to the esp_BNO08x menu and enter it, if you&#39;re using vsCode you may have to use the &quot;j&quot; and &quot;k&quot; keys instead of the arrow keys.</div>
+<div class="line">    ![image](esp32_BNO08x_menuconfig_1.png)</div>
+<div class="line"> </div>
+<div class="line">3. Modify whatever settings you&#39;d like from the sub menus. The GPIO Configuration menu allows for the default GPIO pins to be modified, the SPI Configuration menu allows for the default SCLK frequency and host peripheral to be modified.</div>
+<div class="line">    ![image](esp32_BNO08x_menuconfig_2.png)</div>
+<div class="line">&lt;p align=&quot;right&quot;&gt;(&lt;a href=&quot;#readme-top&quot;&gt;back to top&lt;/a&gt;)&lt;/p&gt;</div>
+<div class="line"> </div>
+<div class="line">### Examples</div>
+<div class="line">There are two ways data returned from the BNO08x can be accessed with this library:</div>
+<div class="line"> </div>
+<div class="line">1. Polling Method with `data_available()` Function:</div>
+<div class="line">  - Use the `data_available()` function to poll for new data, similar to the SparkFun library.</div>
+<div class="line">  - Behavior: It is a blocking function that returns `true` when new data is received or `false` if a timeout occurs.</div>
+<div class="line">  - See the **Polling Example** below.</div>
+<div class="line"> </div>
+<div class="line">2. Callback Registration with `register_cb()` Function:</div>
+<div class="line">  - Register callback functions that automatically execute upon receiving new data.</div>
+<div class="line">  - Behavior: The registered callback will be invoked whenever new data is available.</div>
+<div class="line">  - See the **Call-Back Function Example** below. </div>
+<div class="line">  </div>
+<div class="line">#### Polling Example</div>
+</div><!-- fragment --> cpp #include &lt;stdio.h&gt; #include "BNO08x.hpp"</li>
+</ol>
+<p>extern "C" void app_main(void) { <a class="el" href="class_b_n_o08x.html">BNO08x</a> imu; //create IMU object with default wiring scheme float x, y, z = 0;</p>
+<p>//if a custom wiring scheme is desired instead of default:</p>
+<p>/* <a class="el" href="structbno08x__config__t.html" title="IMU configuration settings passed into constructor.">bno08x_config_t</a> imu_config; //create config struct imu_config.io_mosi = GPIO_NUM_X; //assign pin imu_config.io_miso = GPIO_NUM_X; //assign pin //etc... <a class="el" href="class_b_n_o08x.html">BNO08x</a> imu(imu_config); //pass config to <a class="el" href="class_b_n_o08x.html">BNO08x</a> constructor */</p>
+<p>imu.initialize(); //initialize IMU</p>
+<p>//enable gyro &amp; game rotation vector imu.enable_game_rotation_vector(100000UL); //100,000us == 100ms report interval imu.enable_gyro(150000UL); //150,000us == 150ms report interval</p>
+<p>while(1) { //print absolute heading in degrees and angular velocity in Rad/s if(imu.data_available()) { x = imu.get_gyro_calibrated_velocity_X(); y = imu.get_gyro_calibrated_velocity_Y(); z = imu.get_gyro_calibrated_velocity_Z(); ESP_LOGW("Main", "Velocity: x: %.3f y: %.3f z: %.3f", x, y, z);</p>
+<p>x = imu.get_roll_deg(); y = imu.get_pitch_deg(); z = imu.get_yaw_deg(); ESP_LOGI("Main", "Euler Angle: x (roll): %.3f y (pitch): %.3f z (yaw): %.3f", x, y, z); } }</p>
+<p>} </p><div class="fragment"><div class="line">#### Call-Back Function Example</div>
+</div><!-- fragment --><p> cpp #include &lt;stdio.h&gt; #include "BNO08x.hpp"</p>
+<p>extern "C" void app_main(void) { <a class="el" href="class_b_n_o08x.html">BNO08x</a> imu; // create IMU object with default wiring scheme</p>
+<p>// if a custom wiring scheme is desired instead of default:</p>
+<p>/* <a class="el" href="structbno08x__config__t.html" title="IMU configuration settings passed into constructor.">bno08x_config_t</a> imu_config; //create config struct imu_config.io_mosi = GPIO_NUM_X; //assign pin imu_config.io_miso = GPIO_NUM_X; //assign pin //etc... <a class="el" href="class_b_n_o08x.html">BNO08x</a> imu(imu_config); //pass config to <a class="el" href="class_b_n_o08x.html">BNO08x</a> constructor */</p>
+<p>imu.initialize(); // initialize IMU</p>
+<p>// enable gyro &amp; game rotation vector imu.enable_game_rotation_vector(100000UL); // 100,000us == 100ms report interval imu.enable_gyro(150000UL); // 150,000us == 150ms report interval</p>
+<p>// register a callback function (in this case a lambda function, but it doesn't have to be) imu.register_cb( [&amp;imu]() { // callback function contents, executed whenever new data is parsed // print absolute heading in degrees and angular velocity in Rad/s float x, y, z = 0; x = imu.get_gyro_calibrated_velocity_X(); y = imu.get_gyro_calibrated_velocity_Y(); z = imu.get_gyro_calibrated_velocity_Z(); ESP_LOGW("Main", "Velocity: x: %.3f y: %.3f z: %.3f", x, y, z);</p>
+<p>x = imu.get_roll_deg(); y = imu.get_pitch_deg(); z = imu.get_yaw_deg(); ESP_LOGI("Main", "Euler Angle: x (roll): %.3f y (pitch): %.3f z (yaw): %.3f", x, y, z); });</p>
+<p align="right">while (1) { vTaskDelay(300 / portTICK_PERIOD_MS); // delay here is irrelevant, we just don't want to trip cpu watchdog } } ``` </p>
+<p>(<a href="#readme-top">back to top</a>)</p>
+<h2><a class="anchor" id="autotoc_md5"></a>
+Documentation</h2>
+<p align="right">API documentation generated with doxygen can be found in the documentation directory of the master branch. <br  />
+ </p>
+<p>(<a href="#readme-top">back to top</a>)</p>
+<h2><a class="anchor" id="autotoc_md6"></a>
+Program Flowcharts</h2>
+<p>The following charts illustrate the program flow this library implements for sending and receiving data from <a class="el" href="class_b_n_o08x.html">BNO08x</a>. <br  />
+ These are here to aid development for anyone looking to modify, fork, or contribute. <br  />
+</p>
+<p align="right"><img src="esp32_BNO08x_flowchart.png" alt="image" class="inline"/> </p>
+<p>(<a href="#readme-top">back to top</a>)</p>
+<h2><a class="anchor" id="autotoc_md7"></a>
+Acknowledgements</h2>
+<p>Special thanks to the original creators of the sparkfun BNO080 library. Developing this without a reference would have been much more time consuming. <br  />
+ <a href="https://github.com/sparkfun/SparkFun_BNO080_Arduino_Library">https://github.com/sparkfun/SparkFun_BNO080_Arduino_Library</a> <br  />
+</p>
+<p>Special thanks to Anton Babiy, aka hwBirdy007 for helping with debugging SPI. <br  />
+ <a href="https://github.com/hwBirdy007">https://github.com/hwBirdy007</a> <br  />
+</p>
+<p>(<a href="#readme-top">back to top</a>)</p>
+<h2><a class="anchor" id="autotoc_md8"></a>
+License</h2>
+<p align="right">Distributed under the MIT License. See <code>LICENSE.md</code> for more information. </p>
+<p>(<a href="#readme-top">back to top</a>)</p>
+<h2><a class="anchor" id="autotoc_md9"></a>
+Contact</h2>
+<p>Myles Parfeniuk - <a href="#" onclick="location.href='mai'+'lto:'+'myl'+'es'+'.pa'+'rf'+'eny'+'uk'+'@gm'+'ai'+'l.c'+'om'; return false;">myles<span class="obfuscator">.nosp@m.</span>.par<span class="obfuscator">.nosp@m.</span>fenyu<span class="obfuscator">.nosp@m.</span>k@gm<span class="obfuscator">.nosp@m.</span>ail.c<span class="obfuscator">.nosp@m.</span>om</a></p>
+<p align="right">Project Link: <a href="https://github.com/myles-parfeniuk/esp32_BNO08x.git">https://github.com/myles-parfeniuk/esp32_BNO08x.git</a> </p>
+<p>(<a href="#readme-top">back to top</a>)</p>
+</div></div><!-- contents -->
+</div><!-- PageDoc -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/documentation/html/menu.js b/documentation/html/menu.js
new file mode 100644
index 0000000..717761d
--- /dev/null
+++ b/documentation/html/menu.js
@@ -0,0 +1,134 @@
+/*
+ @licstart  The following is the entire license notice for the JavaScript code in this file.
+
+ The MIT License (MIT)
+
+ Copyright (C) 1997-2020 by Dimitri van Heesch
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ and associated documentation files (the "Software"), to deal in the Software without restriction,
+ including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in all copies or
+ substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+ @licend  The above is the entire license notice for the JavaScript code in this file
+ */
+function initMenu(relPath,searchEnabled,serverSide,searchPage,search) {
+  function makeTree(data,relPath) {
+    let result='';
+    if ('children' in data) {
+      result+='<ul>';
+      for (let i in data.children) {
+        let url;
+        const link = data.children[i].url;
+        if (link.substring(0,1)=='^') {
+          url = link.substring(1);
+        } else {
+          url = relPath+link;
+        }
+        result+='<li><a href="'+url+'">'+
+                                data.children[i].text+'</a>'+
+                                makeTree(data.children[i],relPath)+'</li>';
+      }
+      result+='</ul>';
+    }
+    return result;
+  }
+  let searchBoxHtml;
+  if (searchEnabled) {
+    if (serverSide) {
+      searchBoxHtml='<div id="MSearchBox" class="MSearchBoxInactive">'+
+                 '<div class="left">'+
+                  '<form id="FSearchBox" action="'+relPath+searchPage+
+                    '" method="get"><span id="MSearchSelectExt">&#160;</span>'+
+                  '<input type="text" id="MSearchField" name="query" value="" placeholder="'+search+
+                    '" size="20" accesskey="S" onfocus="searchBox.OnSearchFieldFocus(true)"'+
+                    ' onblur="searchBox.OnSearchFieldFocus(false)"/>'+
+                  '</form>'+
+                 '</div>'+
+                 '<div class="right"></div>'+
+                '</div>';
+    } else {
+      searchBoxHtml='<div id="MSearchBox" class="MSearchBoxInactive">'+
+                 '<span class="left">'+
+                  '<span id="MSearchSelect" onmouseover="return searchBox.OnSearchSelectShow()"'+
+                     ' onmouseout="return searchBox.OnSearchSelectHide()">&#160;</span>'+
+                  '<input type="text" id="MSearchField" value="" placeholder="'+search+
+                    '" accesskey="S" onfocus="searchBox.OnSearchFieldFocus(true)" '+
+                    'onblur="searchBox.OnSearchFieldFocus(false)" '+
+                    'onkeyup="searchBox.OnSearchFieldChange(event)"/>'+
+                 '</span>'+
+                 '<span class="right"><a id="MSearchClose" '+
+                  'href="javascript:searchBox.CloseResultsWindow()">'+
+                  '<img id="MSearchCloseImg" border="0" src="'+relPath+
+                  'search/close.svg" alt=""/></a>'+
+                 '</span>'+
+                '</div>';
+    }
+  }
+
+  $('#main-nav').before('<div class="sm sm-dox"><input id="main-menu-state" type="checkbox"/>'+
+                        '<label class="main-menu-btn" for="main-menu-state">'+
+                        '<span class="main-menu-btn-icon"></span> '+
+                        'Toggle main menu visibility</label>'+
+                        '<span id="searchBoxPos1" style="position:absolute;right:8px;top:8px;height:36px;"></span>'+
+                        '</div>');
+  $('#main-nav').append(makeTree(menudata,relPath));
+  $('#main-nav').children(':first').addClass('sm sm-dox').attr('id','main-menu');
+  if (searchBoxHtml) {
+    $('#main-menu').append('<li id="searchBoxPos2" style="float:right"></li>');
+  }
+  const $mainMenuState = $('#main-menu-state');
+  let prevWidth = 0;
+  if ($mainMenuState.length) {
+    const initResizableIfExists = function() {
+      if (typeof initResizable==='function') initResizable();
+    }
+    // animate mobile menu
+    $mainMenuState.change(function() {
+      const $menu = $('#main-menu');
+      let options = { duration: 250, step: initResizableIfExists };
+      if (this.checked) {
+        options['complete'] = () => $menu.css('display', 'block');
+        $menu.hide().slideDown(options);
+      } else {
+        options['complete'] = () => $menu.css('display', 'none');
+        $menu.show().slideUp(options);
+      }
+    });
+    // set default menu visibility
+    const resetState = function() {
+      const $menu = $('#main-menu');
+      const newWidth = $(window).outerWidth();
+      if (newWidth!=prevWidth) {
+        if ($(window).outerWidth()<768) {
+          $mainMenuState.prop('checked',false); $menu.hide();
+          $('#searchBoxPos1').html(searchBoxHtml);
+          $('#searchBoxPos2').hide();
+        } else {
+          $menu.show();
+          $('#searchBoxPos1').empty();
+          $('#searchBoxPos2').html(searchBoxHtml);
+          $('#searchBoxPos2').show();
+        }
+        if (typeof searchBox!=='undefined') {
+          searchBox.CloseResultsWindow();
+        }
+        prevWidth = newWidth;
+      }
+    }
+    $(window).ready(function() { resetState(); initResizableIfExists(); });
+    $(window).resize(resetState);
+  }
+  $('#main-menu').smartmenus();
+}
+/* @license-end */
diff --git a/documentation/html/menudata.js b/documentation/html/menudata.js
new file mode 100644
index 0000000..e1f7452
--- /dev/null
+++ b/documentation/html/menudata.js
@@ -0,0 +1,91 @@
+/*
+ @licstart  The following is the entire license notice for the JavaScript code in this file.
+
+ The MIT License (MIT)
+
+ Copyright (C) 1997-2020 by Dimitri van Heesch
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ and associated documentation files (the "Software"), to deal in the Software without restriction,
+ including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in all copies or
+ substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+ @licend  The above is the entire license notice for the JavaScript code in this file
+*/
+var menudata={children:[
+{text:"Main Page",url:"index.html"},
+{text:"Related Pages",url:"pages.html"},
+{text:"Classes",url:"annotated.html",children:[
+{text:"Class List",url:"annotated.html"},
+{text:"Class Index",url:"classes.html"},
+{text:"Class Members",url:"functions.html",children:[
+{text:"All",url:"functions.html",children:[
+{text:"a",url:"functions.html#index_a"},
+{text:"b",url:"functions_b.html#index_b"},
+{text:"c",url:"functions_c.html#index_c"},
+{text:"d",url:"functions_d.html#index_d"},
+{text:"e",url:"functions_e.html#index_e"},
+{text:"f",url:"functions_f.html#index_f"},
+{text:"g",url:"functions_g.html#index_g"},
+{text:"h",url:"functions_h.html#index_h"},
+{text:"i",url:"functions_i.html#index_i"},
+{text:"l",url:"functions_l.html#index_l"},
+{text:"m",url:"functions_m.html#index_m"},
+{text:"p",url:"functions_p.html#index_p"},
+{text:"q",url:"functions_q.html#index_q"},
+{text:"r",url:"functions_r.html#index_r"},
+{text:"s",url:"functions_s.html#index_s"},
+{text:"t",url:"functions_t.html#index_t"},
+{text:"u",url:"functions_u.html#index_u"},
+{text:"w",url:"functions_w.html#index_w"}]},
+{text:"Functions",url:"functions_func.html",children:[
+{text:"b",url:"functions_func.html#index_b"},
+{text:"c",url:"functions_func.html#index_c"},
+{text:"d",url:"functions_func.html#index_d"},
+{text:"e",url:"functions_func.html#index_e"},
+{text:"f",url:"functions_func.html#index_f"},
+{text:"g",url:"functions_func.html#index_g"},
+{text:"h",url:"functions_func.html#index_h"},
+{text:"i",url:"functions_func.html#index_i"},
+{text:"m",url:"functions_func.html#index_m"},
+{text:"p",url:"functions_func.html#index_p"},
+{text:"q",url:"functions_func.html#index_q"},
+{text:"r",url:"functions_func.html#index_r"},
+{text:"s",url:"functions_func.html#index_s"},
+{text:"t",url:"functions_func.html#index_t"},
+{text:"w",url:"functions_func.html#index_w"}]},
+{text:"Variables",url:"functions_vars.html",children:[
+{text:"a",url:"functions_vars.html#index_a"},
+{text:"b",url:"functions_vars.html#index_b"},
+{text:"c",url:"functions_vars.html#index_c"},
+{text:"d",url:"functions_vars.html#index_d"},
+{text:"e",url:"functions_vars.html#index_e"},
+{text:"f",url:"functions_vars.html#index_f"},
+{text:"g",url:"functions_vars.html#index_g"},
+{text:"h",url:"functions_vars.html#index_h"},
+{text:"i",url:"functions_vars.html#index_i"},
+{text:"l",url:"functions_vars.html#index_l"},
+{text:"m",url:"functions_vars.html#index_m"},
+{text:"q",url:"functions_vars.html#index_q"},
+{text:"r",url:"functions_vars.html#index_r"},
+{text:"s",url:"functions_vars.html#index_s"},
+{text:"t",url:"functions_vars.html#index_t"},
+{text:"u",url:"functions_vars.html#index_u"}]},
+{text:"Typedefs",url:"functions_type.html"}]}]},
+{text:"Files",url:"files.html",children:[
+{text:"File List",url:"files.html"},
+{text:"File Members",url:"globals.html",children:[
+{text:"All",url:"globals.html"},
+{text:"Typedefs",url:"globals_type.html"},
+{text:"Enumerations",url:"globals_enum.html"},
+{text:"Enumerator",url:"globals_eval.html"}]}]}]}
diff --git a/documentation/html/minus.svg b/documentation/html/minus.svg
new file mode 100644
index 0000000..f70d0c1
--- /dev/null
+++ b/documentation/html/minus.svg
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<svg width="12px" height="12px" viewBox="0 0 105.83333 105.83333" version="1.1" xmlns="http://www.w3.org/2000/svg" xmlns:svg="http://www.w3.org/2000/svg">
+  <g>
+    <rect style="fill:#808080;stroke-width:0" width="105.83333" height="105.83334" x="4.2409692e-08" y="-1.2701158e-06" ry="0" />
+    <rect style="fill:#fcfcfc;stroke-width:0" width="79.375" height="79.375" x="13.229166" y="13.229166" />
+    <rect style="fill:#808080;stroke-width:0" width="52.916668" height="15.874998" x="26.458332" y="44.979168" />
+  </g>
+</svg>
diff --git a/documentation/html/minusd.svg b/documentation/html/minusd.svg
new file mode 100644
index 0000000..5f8e879
--- /dev/null
+++ b/documentation/html/minusd.svg
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<svg width="12px" height="12px" viewBox="0 0 105.83333 105.83333" version="1.1" xmlns="http://www.w3.org/2000/svg" xmlns:svg="http://www.w3.org/2000/svg">
+  <g>
+    <rect style="fill:#808080;stroke-width:0" width="105.83333" height="105.83334" x="4.2409692e-08" y="-1.2701158e-06" ry="0" />
+    <rect style="fill:#000000;stroke-width:0" width="79.375" height="79.375" x="13.229166" y="13.229166" />
+    <rect style="fill:#808080;stroke-width:0" width="52.916668" height="15.874998" x="26.458332" y="44.979168" />
+  </g>
+</svg>
diff --git a/documentation/html/nav_f.png b/documentation/html/nav_f.png
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diff --git a/documentation/html/navtree.css b/documentation/html/navtree.css
new file mode 100644
index 0000000..69211d4
--- /dev/null
+++ b/documentation/html/navtree.css
@@ -0,0 +1,149 @@
+#nav-tree .children_ul {
+  margin:0;
+  padding:4px;
+}
+
+#nav-tree ul {
+  list-style:none outside none;
+  margin:0px;
+  padding:0px;
+}
+
+#nav-tree li {
+  white-space:nowrap;
+  margin:0px;
+  padding:0px;
+}
+
+#nav-tree .plus {
+  margin:0px;
+}
+
+#nav-tree .selected {
+  background-image: url('tab_a.png');
+  background-repeat:repeat-x;
+  color: var(--nav-text-active-color);
+  text-shadow: var(--nav-text-active-shadow);
+}
+
+#nav-tree .selected .arrow {
+  color: var(--nav-arrow-selected-color);
+  text-shadow: none;
+}
+
+#nav-tree img {
+  margin:0px;
+  padding:0px;
+  border:0px;
+  vertical-align: middle;
+}
+
+#nav-tree a {
+  text-decoration:none;
+  padding:0px;
+  margin:0px;
+}
+
+#nav-tree .label {
+  margin:0px;
+  padding:0px;
+  font: 12px var(--font-family-nav);
+}
+
+#nav-tree .label a {
+  padding:2px;
+}
+
+#nav-tree .selected a {
+  text-decoration:none;
+  color:var(--nav-text-active-color);
+}
+
+#nav-tree .children_ul {
+  margin:0px;
+  padding:0px;
+}
+
+#nav-tree .item {
+  margin:0px;
+  padding:0px;
+}
+
+#nav-tree {
+  padding: 0px 0px;
+  font-size:14px;
+  overflow:auto;
+}
+
+#doc-content {
+  overflow:auto;
+  display:block;
+  padding:0px;
+  margin:0px;
+  -webkit-overflow-scrolling : touch; /* iOS 5+ */
+}
+
+#side-nav {
+  padding:0 6px 0 0;
+  margin: 0px;
+  display:block;
+  position: absolute;
+  left: 0px;
+  width: $width;
+  overflow : hidden;
+}
+
+.ui-resizable .ui-resizable-handle {
+  display:block;
+}
+
+.ui-resizable-e {
+  background-image:var(--nav-splitbar-image);
+  background-size:100%;
+  background-repeat:repeat-y;
+  background-attachment: scroll;
+  cursor:ew-resize;
+  height:100%;
+  right:0;
+  top:0;
+  width:6px;
+}
+
+.ui-resizable-handle {
+  display:none;
+  font-size:0.1px;
+  position:absolute;
+  z-index:1;
+}
+
+#nav-tree-contents {
+  margin: 6px 0px 0px 0px;
+}
+
+#nav-tree {
+  background-repeat:repeat-x;
+  background-color: var(--nav-background-color);
+  -webkit-overflow-scrolling : touch; /* iOS 5+ */
+}
+
+#nav-sync {
+  position:absolute;
+  top:5px;
+  right:24px;
+  z-index:0;
+}
+
+#nav-sync img {
+  opacity:0.3;
+}
+
+#nav-sync img:hover {
+  opacity:0.9;
+}
+
+@media print
+{
+  #nav-tree { display: none; }
+  div.ui-resizable-handle { display: none; position: relative; }
+}
+
diff --git a/documentation/html/navtree.js b/documentation/html/navtree.js
new file mode 100644
index 0000000..884b79b
--- /dev/null
+++ b/documentation/html/navtree.js
@@ -0,0 +1,482 @@
+/*
+ @licstart  The following is the entire license notice for the JavaScript code in this file.
+
+ The MIT License (MIT)
+
+ Copyright (C) 1997-2020 by Dimitri van Heesch
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ and associated documentation files (the "Software"), to deal in the Software without restriction,
+ including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in all copies or
+ substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+ @licend  The above is the entire license notice for the JavaScript code in this file
+ */
+
+function initNavTree(toroot,relpath) {
+  let navTreeSubIndices = [];
+  const ARROW_DOWN = '&#9660;';
+  const ARROW_RIGHT = '&#9658;';
+  const NAVPATH_COOKIE_NAME = ''+'navpath';
+
+  const getData = function(varName) {
+    const i = varName.lastIndexOf('/');
+    const n = i>=0 ? varName.substring(i+1) : varName;
+    return eval(n.replace(/-/g,'_'));
+  }
+
+  const stripPath = function(uri) {
+    return uri.substring(uri.lastIndexOf('/')+1);
+  }
+
+  const stripPath2 = function(uri) {
+    const i = uri.lastIndexOf('/');
+    const s = uri.substring(i+1);
+    const m = uri.substring(0,i+1).match(/\/d\w\/d\w\w\/$/);
+    return m ? uri.substring(i-6) : s;
+  }
+
+  const hashValue = function() {
+    return $(location).attr('hash').substring(1).replace(/[^\w-]/g,'');
+  }
+
+  const hashUrl = function() {
+    return '#'+hashValue();
+  }
+
+  const pathName = function() {
+    return $(location).attr('pathname').replace(/[^-A-Za-z0-9+&@#/%?=~_|!:,.;()]/g, '');
+  }
+
+  const storeLink = function(link) {
+    if (!$("#nav-sync").hasClass('sync')) {
+      Cookie.writeSetting(NAVPATH_COOKIE_NAME,link,0);
+    }
+  }
+
+  const deleteLink = function() {
+    Cookie.eraseSetting(NAVPATH_COOKIE_NAME);
+  }
+
+  const cachedLink = function() {
+    return Cookie.readSetting(NAVPATH_COOKIE_NAME,'');
+  }
+
+  const getScript = function(scriptName,func) {
+    const head = document.getElementsByTagName("head")[0];
+    const script = document.createElement('script');
+    script.id = scriptName;
+    script.type = 'text/javascript';
+    script.onload = func;
+    script.src = scriptName+'.js';
+    head.appendChild(script);
+  }
+
+  const createIndent = function(o,domNode,node) {
+    let level=-1;
+    let n = node;
+    while (n.parentNode) { level++; n=n.parentNode; }
+    if (node.childrenData) {
+      const imgNode = document.createElement("span");
+      imgNode.className = 'arrow';
+      imgNode.style.paddingLeft=(16*level).toString()+'px';
+      imgNode.innerHTML=ARROW_RIGHT;
+      node.plus_img = imgNode;
+      node.expandToggle = document.createElement("a");
+      node.expandToggle.href = "javascript:void(0)";
+      node.expandToggle.onclick = function() {
+        if (node.expanded) {
+          $(node.getChildrenUL()).slideUp("fast");
+          node.plus_img.innerHTML=ARROW_RIGHT;
+          node.expanded = false;
+        } else {
+          expandNode(o, node, false, true);
+        }
+      }
+      node.expandToggle.appendChild(imgNode);
+      domNode.appendChild(node.expandToggle);
+    } else {
+      let span = document.createElement("span");
+      span.className = 'arrow';
+      span.style.width   = 16*(level+1)+'px';
+      span.innerHTML = '&#160;';
+      domNode.appendChild(span);
+    }
+  }
+
+  let animationInProgress = false;
+
+  const gotoAnchor = function(anchor,aname) {
+    let pos, docContent = $('#doc-content');
+    let ancParent = $(anchor.parent());
+    if (ancParent.hasClass('memItemLeft') || ancParent.hasClass('memtitle')  ||
+        ancParent.hasClass('fieldname')   || ancParent.hasClass('fieldtype') ||
+        ancParent.is(':header')) {
+      pos = ancParent.position().top;
+    } else if (anchor.position()) {
+      pos = anchor.position().top;
+    }
+    if (pos) {
+      const dcOffset    = docContent.offset().top;
+      const dcHeight    = docContent.height();
+      const dcScrHeight = docContent[0].scrollHeight
+      const dcScrTop    = docContent.scrollTop();
+      let dist = Math.abs(Math.min(pos-dcOffset,dcScrHeight-dcHeight-dcScrTop));
+      animationInProgress = true;
+      docContent.animate({
+        scrollTop: pos + dcScrTop - dcOffset
+      },Math.max(50,Math.min(500,dist)),function() {
+        window.location.href=aname;
+        animationInProgress=false;
+      });
+    }
+  }
+
+  const newNode = function(o, po, text, link, childrenData, lastNode) {
+    const node = {
+      children     : [],
+      childrenData : childrenData,
+      depth        : po.depth + 1,
+      relpath      : po.relpath,
+      isLast       : lastNode,
+      li           : document.createElement("li"),
+      parentNode   : po,
+      itemDiv      : document.createElement("div"),
+      labelSpan    : document.createElement("span"),
+      label        : document.createTextNode(text),
+      expanded     : false,
+      childrenUL   : null,
+      getChildrenUL : function() {
+        if (!this.childrenUL) {
+          this.childrenUL = document.createElement("ul");
+          this.childrenUL.className = "children_ul";
+          this.childrenUL.style.display = "none";
+          this.li.appendChild(node.childrenUL);
+        }
+        return node.childrenUL;
+      },
+    };
+
+    node.itemDiv.className = "item";
+    node.labelSpan.className = "label";
+    createIndent(o,node.itemDiv,node);
+    node.itemDiv.appendChild(node.labelSpan);
+    node.li.appendChild(node.itemDiv);
+
+    const a = document.createElement("a");
+    node.labelSpan.appendChild(a);
+    po.getChildrenUL().appendChild(node.li);
+    a.appendChild(node.label);
+    if (link) {
+      let url;
+      if (link.substring(0,1)=='^') {
+        url = link.substring(1);
+        link = url;
+      } else {
+        url = node.relpath+link;
+      }
+      a.className = stripPath(link.replace('#',':'));
+      if (link.indexOf('#')!=-1) {
+        const aname = '#'+link.split('#')[1];
+        const srcPage = stripPath(pathName());
+        const targetPage = stripPath(link.split('#')[0]);
+        a.href = srcPage!=targetPage ? url : aname;
+        a.onclick = function() {
+          storeLink(link);
+          aPPar = $(a).parent().parent();
+          if (!aPPar.hasClass('selected')) {
+            $('.item').removeClass('selected');
+            $('.item').removeAttr('id');
+            aPPar.addClass('selected');
+            aPPar.attr('id','selected');
+          }
+          const anchor = $(aname);
+          gotoAnchor(anchor,aname);
+        };
+      } else {
+        a.href = url;
+        a.onclick = () => storeLink(link);
+      }
+    } else if (childrenData != null) {
+      a.className = "nolink";
+      a.href = "javascript:void(0)";
+      a.onclick = node.expandToggle.onclick;
+    }
+    return node;
+  }
+
+  const showRoot = function() {
+    const headerHeight = $("#top").height();
+    const footerHeight = $("#nav-path").height();
+    const windowHeight = $(window).height() - headerHeight - footerHeight;
+    (function() { // retry until we can scroll to the selected item
+      try {
+        const navtree=$('#nav-tree');
+        navtree.scrollTo('#selected',100,{offset:-windowHeight/2});
+      } catch (err) {
+        setTimeout(arguments.callee, 0);
+      }
+    })();
+  }
+
+  const expandNode = function(o, node, imm, setFocus) {
+    if (node.childrenData && !node.expanded) {
+      if (typeof(node.childrenData)==='string') {
+        const varName = node.childrenData;
+        getScript(node.relpath+varName,function() {
+          node.childrenData = getData(varName);
+          expandNode(o, node, imm, setFocus);
+        });
+      } else {
+        if (!node.childrenVisited) {
+          getNode(o, node);
+        }
+        $(node.getChildrenUL()).slideDown("fast");
+        node.plus_img.innerHTML = ARROW_DOWN;
+        node.expanded = true;
+        if (setFocus) {
+          $(node.expandToggle).focus();
+        }
+      }
+    }
+  }
+
+  const glowEffect = function(n,duration) {
+    n.addClass('glow').delay(duration).queue(function(next) {
+      $(this).removeClass('glow');next();
+    });
+  }
+
+  const highlightAnchor = function() {
+    const aname = hashUrl();
+    const anchor = $(aname);
+    if (anchor.parent().attr('class')=='memItemLeft') {
+      let rows = $('.memberdecls tr[class$="'+hashValue()+'"]');
+      glowEffect(rows.children(),300); // member without details
+    } else if (anchor.parent().attr('class')=='fieldname') {
+      glowEffect(anchor.parent().parent(),1000); // enum value
+    } else if (anchor.parent().attr('class')=='fieldtype') {
+      glowEffect(anchor.parent().parent(),1000); // struct field
+    } else if (anchor.parent().is(":header")) {
+      glowEffect(anchor.parent(),1000); // section header
+    } else {
+      glowEffect(anchor.next(),1000); // normal member
+    }
+    gotoAnchor(anchor,aname);
+  }
+
+  const selectAndHighlight = function(hash,n) {
+    let a;
+    if (hash) {
+      const link=stripPath(pathName())+':'+hash.substring(1);
+      a=$('.item a[class$="'+link+'"]');
+    }
+    if (a && a.length) {
+      a.parent().parent().addClass('selected');
+      a.parent().parent().attr('id','selected');
+      highlightAnchor();
+    } else if (n) {
+      $(n.itemDiv).addClass('selected');
+      $(n.itemDiv).attr('id','selected');
+    }
+    let topOffset=5;
+    if ($('#nav-tree-contents .item:first').hasClass('selected')) {
+      topOffset+=25;
+    }
+    $('#nav-sync').css('top',topOffset+'px');
+    showRoot();
+  }
+
+  const showNode = function(o, node, index, hash) {
+    if (node && node.childrenData) {
+      if (typeof(node.childrenData)==='string') {
+        const varName = node.childrenData;
+        getScript(node.relpath+varName,function() {
+          node.childrenData = getData(varName);
+          showNode(o,node,index,hash);
+        });
+      } else {
+        if (!node.childrenVisited) {
+          getNode(o, node);
+        }
+        $(node.getChildrenUL()).css({'display':'block'});
+        node.plus_img.innerHTML = ARROW_DOWN;
+        node.expanded = true;
+        const n = node.children[o.breadcrumbs[index]];
+        if (index+1<o.breadcrumbs.length) {
+          showNode(o,n,index+1,hash);
+        } else if (typeof(n.childrenData)==='string') {
+          const varName = n.childrenData;
+          getScript(n.relpath+varName,function() {
+            n.childrenData = getData(varName);
+            node.expanded=false;
+            showNode(o,node,index,hash); // retry with child node expanded
+          });
+        } else {
+          const rootBase = stripPath(o.toroot.replace(/\..+$/, ''));
+          if (rootBase=="index" || rootBase=="pages" || rootBase=="search") {
+            expandNode(o, n, true, false);
+          }
+          selectAndHighlight(hash,n);
+        }
+      }
+    } else {
+      selectAndHighlight(hash);
+    }
+  }
+
+  const removeToInsertLater = function(element) {
+    const parentNode = element.parentNode;
+    const nextSibling = element.nextSibling;
+    parentNode.removeChild(element);
+    return function() {
+      if (nextSibling) {
+        parentNode.insertBefore(element, nextSibling);
+      } else {
+        parentNode.appendChild(element);
+      }
+    };
+  }
+
+  const getNode = function(o, po) {
+    const insertFunction = removeToInsertLater(po.li);
+    po.childrenVisited = true;
+    const l = po.childrenData.length-1;
+    for (let i in po.childrenData) {
+      const nodeData = po.childrenData[i];
+      po.children[i] = newNode(o, po, nodeData[0], nodeData[1], nodeData[2], i==l);
+    }
+    insertFunction();
+  }
+
+  const gotoNode = function(o,subIndex,root,hash,relpath) {
+    const nti = navTreeSubIndices[subIndex][root+hash];
+    o.breadcrumbs = $.extend(true, [], nti ? nti : navTreeSubIndices[subIndex][root]);
+    if (!o.breadcrumbs && root!=NAVTREE[0][1]) { // fallback: show index
+      navTo(o,NAVTREE[0][1],"",relpath);
+      $('.item').removeClass('selected');
+      $('.item').removeAttr('id');
+    }
+    if (o.breadcrumbs) {
+      o.breadcrumbs.unshift(0); // add 0 for root node
+      showNode(o, o.node, 0, hash);
+    }
+  }
+
+  const navTo = function(o,root,hash,relpath) {
+    const link = cachedLink();
+    if (link) {
+      const parts = link.split('#');
+      root = parts[0];
+      hash = parts.length>1 ? '#'+parts[1].replace(/[^\w-]/g,'') : '';
+    }
+    if (hash.match(/^#l\d+$/)) {
+      const anchor=$('a[name='+hash.substring(1)+']');
+      glowEffect(anchor.parent(),1000); // line number
+      hash=''; // strip line number anchors
+    }
+    const url=root+hash;
+    let i=-1;
+    while (NAVTREEINDEX[i+1]<=url) i++;
+    if (i==-1) { i=0; root=NAVTREE[0][1]; } // fallback: show index
+    if (navTreeSubIndices[i]) {
+      gotoNode(o,i,root,hash,relpath)
+    } else {
+      getScript(relpath+'navtreeindex'+i,function() {
+        navTreeSubIndices[i] = eval('NAVTREEINDEX'+i);
+        if (navTreeSubIndices[i]) {
+          gotoNode(o,i,root,hash,relpath);
+        }
+      });
+    }
+  }
+
+  const showSyncOff = function(n,relpath) {
+    n.html('<img src="'+relpath+'sync_off.png" title="'+SYNCOFFMSG+'"/>');
+  }
+
+  const showSyncOn = function(n,relpath) {
+    n.html('<img src="'+relpath+'sync_on.png" title="'+SYNCONMSG+'"/>');
+  }
+
+  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(/</g,'\\3c ')+'"]');
+      }
+      if (a==null || !$(a).parent().parent().hasClass('selected')) {
+        $('.item').removeClass('selected');
+        $('.item').removeAttr('id');
+      }
+      const link=stripPath2(pathName());
+      navTo(o,link,hashUrl(),relpath);
+    } else if (!animationInProgress) {
+      $('#doc-content').scrollTop(0);
+      $('.item').removeClass('selected');
+      $('.item').removeAttr('id');
+      navTo(o,toroot,hashUrl(),relpath);
+    }
+  });
+
+  $("div.toc a[href]").click(function(e) {
+    e.preventDefault();
+    const aname = $(this).attr("href");
+    gotoAnchor($(aname),aname);
+  });
+}
+/* @license-end */
diff --git a/documentation/html/navtreedata.js b/documentation/html/navtreedata.js
new file mode 100644
index 0000000..3194c39
--- /dev/null
+++ b/documentation/html/navtreedata.js
@@ -0,0 +1,58 @@
+/*
+ @licstart  The following is the entire license notice for the JavaScript code in this file.
+
+ The MIT License (MIT)
+
+ Copyright (C) 1997-2020 by Dimitri van Heesch
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ and associated documentation files (the "Software"), to deal in the Software without restriction,
+ including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in all copies or
+ substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+ @licend  The above is the entire license notice for the JavaScript code in this file
+*/
+var NAVTREE =
+[
+  [ "esp32_BNO08x", "index.html", [
+    [ "README", "md__r_e_a_d_m_e.html", null ],
+    [ "Classes", "annotated.html", [
+      [ "Class List", "annotated.html", "annotated_dup" ],
+      [ "Class Index", "classes.html", null ],
+      [ "Class Members", "functions.html", [
+        [ "All", "functions.html", "functions_dup" ],
+        [ "Functions", "functions_func.html", null ],
+        [ "Variables", "functions_vars.html", null ],
+        [ "Typedefs", "functions_type.html", null ]
+      ] ]
+    ] ],
+    [ "Files", "files.html", [
+      [ "File List", "files.html", "files_dup" ],
+      [ "File Members", "globals.html", [
+        [ "All", "globals.html", null ],
+        [ "Typedefs", "globals_type.html", null ],
+        [ "Enumerations", "globals_enum.html", null ],
+        [ "Enumerator", "globals_eval.html", null ]
+      ] ]
+    ] ]
+  ] ]
+];
+
+var NAVTREEINDEX =
+[
+"_b_n_o08x_8cpp.html",
+"class_b_n_o08x.html#ab94a8f69673a3db7556ba67775c5ea93"
+];
+
+var SYNCONMSG = 'click to disable panel synchronisation';
+var SYNCOFFMSG = 'click to enable panel synchronisation';
\ No newline at end of file
diff --git a/documentation/html/navtreeindex0.js b/documentation/html/navtreeindex0.js
new file mode 100644
index 0000000..a01fab3
--- /dev/null
+++ b/documentation/html/navtreeindex0.js
@@ -0,0 +1,253 @@
+var NAVTREEINDEX0 =
+{
+"_b_n_o08x_8cpp.html":[2,0,0],
+"_b_n_o08x_8hpp.html":[2,0,1],
+"_b_n_o08x_8hpp.html#a648bbdbf22731476890dd8da977d7503":[2,0,1,4],
+"_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556b":[2,0,1,5],
+"_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556ba1cb5955609063cff1ba49147e786e610":[2,0,1,5,0],
+"_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556ba22f0b2ae6fcdc8618a078b0579d09e4a":[2,0,1,5,3],
+"_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556ba6c5ca5e5847c55b469afbb435e15b5f0":[2,0,1,5,2],
+"_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556ba8a5de65712767758887f8fad9523bb72":[2,0,1,5,1],
+"_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556bafbb907d12060466f58dd56d3e2430747":[2,0,1,5,4],
+"_b_n_o08x_8hpp.html#aac50a1392dd0aa905500c755148c556bafd513a698e54122cec579d9450482832":[2,0,1,5,5],
+"_b_n_o08x_8hpp.html#adb7d85b4fa619c860031f469261c6279":[2,0,1,6],
+"_b_n_o08x_8hpp.html#adb7d85b4fa619c860031f469261c6279a2ad6d5975c45da2e711c796f3a1b029c":[2,0,1,6,1],
+"_b_n_o08x_8hpp.html#adb7d85b4fa619c860031f469261c6279a41bc94cbd8eebea13ce0491b2ac11b88":[2,0,1,6,0],
+"_b_n_o08x_8hpp.html#adb7d85b4fa619c860031f469261c6279ab89de3b4b81c4facfac906edf29aec8c":[2,0,1,6,2],
+"_b_n_o08x_8hpp_source.html":[2,0,1],
+"annotated.html":[1,0],
+"class_b_n_o08x.html":[1,0,0],
+"class_b_n_o08x.html#a00ec3857cb06ae885e32059ef1cab693":[1,0,0,28],
+"class_b_n_o08x.html#a0177134162e116501bc9483c6e4b76c3":[1,0,0,300],
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+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="header">
+  <div class="headertitle"><div class="title">Related Pages</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock">Here is a list of all related documentation pages:</div><div class="directory">
+<table class="directory">
+<tr id="row_0_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><a class="el" href="md__r_e_a_d_m_e.html" target="_self">README</a></td><td class="desc">Table of Contents </td></tr>
+</table>
+</div><!-- directory -->
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0 </li>
+  </ul>
+</div>
+</body>
+</html>
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--- /dev/null
+++ b/documentation/html/resize.js
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+/*
+ @licstart  The following is the entire license notice for the JavaScript code in this file.
+
+ The MIT License (MIT)
+
+ Copyright (C) 1997-2020 by Dimitri van Heesch
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ and associated documentation files (the "Software"), to deal in the Software without restriction,
+ including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in all copies or
+ substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+ @licend  The above is the entire license notice for the JavaScript code in this file
+ */
+
+function initResizable() {
+  let sidenav,navtree,content,header,footer,barWidth=6;
+  const RESIZE_COOKIE_NAME = ''+'width';
+
+  function resizeWidth() {
+    const sidenavWidth = $(sidenav).outerWidth();
+    content.css({marginLeft:parseInt(sidenavWidth)+"px"});
+    if (typeof page_layout!=='undefined' && page_layout==1) {
+      footer.css({marginLeft:parseInt(sidenavWidth)+"px"});
+    }
+    Cookie.writeSetting(RESIZE_COOKIE_NAME,sidenavWidth-barWidth);
+  }
+
+  function restoreWidth(navWidth) {
+    content.css({marginLeft:parseInt(navWidth)+barWidth+"px"});
+    if (typeof page_layout!=='undefined' && page_layout==1) {
+      footer.css({marginLeft:parseInt(navWidth)+barWidth+"px"});
+    }
+    sidenav.css({width:navWidth + "px"});
+  }
+
+  function resizeHeight() {
+    const headerHeight = header.outerHeight();
+    const footerHeight = footer.outerHeight();
+    const windowHeight = $(window).height();
+    let contentHeight,navtreeHeight,sideNavHeight;
+    if (typeof page_layout==='undefined' || page_layout==0) { /* DISABLE_INDEX=NO */
+      contentHeight = windowHeight - headerHeight - footerHeight;
+      navtreeHeight = contentHeight;
+      sideNavHeight = contentHeight;
+    } else if (page_layout==1) { /* DISABLE_INDEX=YES */
+      contentHeight = windowHeight - footerHeight;
+      navtreeHeight = windowHeight - headerHeight;
+      sideNavHeight = windowHeight;
+    }
+    content.css({height:contentHeight + "px"});
+    navtree.css({height:navtreeHeight + "px"});
+    sidenav.css({height:sideNavHeight + "px"});
+    if (location.hash.slice(1)) {
+      (document.getElementById(location.hash.slice(1))||document.body).scrollIntoView();
+    }
+  }
+
+  function collapseExpand() {
+    let newWidth;
+    if (sidenav.width()>0) {
+      newWidth=0;
+    } else {
+      const width = Cookie.readSetting(RESIZE_COOKIE_NAME,250);
+      newWidth = (width>250 && width<$(window).width()) ? width : 250;
+    }
+    restoreWidth(newWidth);
+    const sidenavWidth = $(sidenav).outerWidth();
+    Cookie.writeSetting(RESIZE_COOKIE_NAME,sidenavWidth-barWidth);
+  }
+
+  header  = $("#top");
+  sidenav = $("#side-nav");
+  content = $("#doc-content");
+  navtree = $("#nav-tree");
+  footer  = $("#nav-path");
+  $(".side-nav-resizable").resizable({resize: () => resizeWidth() });
+  $(sidenav).resizable({ minWidth: 0 });
+  $(window).resize(() => resizeHeight());
+  const device = navigator.userAgent.toLowerCase();
+  const touch_device = device.match(/(iphone|ipod|ipad|android)/);
+  if (touch_device) { /* wider split bar for touch only devices */
+    $(sidenav).css({ paddingRight:'20px' });
+    $('.ui-resizable-e').css({ width:'20px' });
+    $('#nav-sync').css({ right:'34px' });
+    barWidth=20;
+  }
+  const width = Cookie.readSetting(RESIZE_COOKIE_NAME,250);
+  if (width) { restoreWidth(width); } else { resizeWidth(); }
+  resizeHeight();
+  const url = location.href;
+  const i=url.indexOf("#");
+  if (i>=0) window.location.hash=url.substr(i);
+  const _preventDefault = (evt) => evt.preventDefault();
+  $("#splitbar").bind("dragstart", _preventDefault).bind("selectstart", _preventDefault);
+  $(".ui-resizable-handle").dblclick(collapseExpand);
+  $(window).on('load',resizeHeight);
+}
+/* @license-end */
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+  <path
+     style="fill:#c5C5C5;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+     d="M 11,7 13.5,10 16,7 Z"
+     id="path4609"
+     />
+  <path
+     style="fill:none;stroke:#c5C5C5;stroke-width:1.4;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
+     d="m 8.1085854,11.109059 2.7823556,2.782356"
+     id="path4630"
+     />
+</svg>
diff --git a/documentation/html/search/pages_0.js b/documentation/html/search/pages_0.js
new file mode 100644
index 0000000..72b4213
--- /dev/null
+++ b/documentation/html/search/pages_0.js
@@ -0,0 +1,4 @@
+var searchData=
+[
+  ['readme_0',['README',['../md__r_e_a_d_m_e.html',1,'']]]
+];
diff --git a/documentation/html/search/search.css b/documentation/html/search/search.css
new file mode 100644
index 0000000..19f76f9
--- /dev/null
+++ b/documentation/html/search/search.css
@@ -0,0 +1,291 @@
+/*---------------- Search Box positioning */
+
+#main-menu > li:last-child {
+    /* This <li> object is the parent of the search bar */
+    display: flex;
+    justify-content: center;
+    align-items: center;
+    height: 36px;
+    margin-right: 1em;
+}
+
+/*---------------- Search box styling */
+
+.SRPage * {
+    font-weight: normal;
+    line-height: normal;
+}
+
+dark-mode-toggle {
+    margin-left: 5px;
+    display: flex;
+    float: right;
+}
+
+#MSearchBox {
+    display: inline-block;
+    white-space : nowrap;
+    background: var(--search-background-color);
+    border-radius: 0.65em;
+    box-shadow: var(--search-box-shadow);
+    z-index: 102;
+}
+
+#MSearchBox .left {
+    display: inline-block;
+    vertical-align: middle;
+    height: 1.4em;
+}
+
+#MSearchSelect {
+    display: inline-block;
+    vertical-align: middle;
+    width: 20px;
+    height: 19px;
+    background-image: var(--search-magnification-select-image);
+    margin: 0 0 0 0.3em;
+    padding: 0;
+}
+
+#MSearchSelectExt {
+    display: inline-block;
+    vertical-align: middle;
+    width: 10px;
+    height: 19px;
+    background-image: var(--search-magnification-image);
+    margin: 0 0 0 0.5em;
+    padding: 0;
+}
+
+
+#MSearchField {
+    display: inline-block;
+    vertical-align: middle;
+    width: 7.5em;
+    height: 19px;
+    margin: 0 0.15em;
+    padding: 0;
+    line-height: 1em;
+    border:none;
+    color: var(--search-foreground-color);
+    outline: none;
+    font-family: var(--font-family-search);
+    -webkit-border-radius: 0px;
+    border-radius: 0px;
+    background: none;
+}
+
+@media(hover: none) {
+    /* to avoid zooming on iOS */
+    #MSearchField {
+        font-size: 16px;
+    }
+}
+
+#MSearchBox .right {
+    display: inline-block;
+    vertical-align: middle;
+    width: 1.4em;
+    height: 1.4em;
+}
+
+#MSearchClose {
+    display: none;
+    font-size: inherit;
+    background : none;
+    border: none;
+    margin: 0;
+    padding: 0;
+    outline: none;
+
+}
+
+#MSearchCloseImg {
+    padding: 0.3em;
+    margin: 0;
+}
+
+.MSearchBoxActive #MSearchField {
+    color: var(--search-active-color);
+}
+
+
+
+/*---------------- Search filter selection */
+
+#MSearchSelectWindow {
+    display: none;
+    position: absolute;
+    left: 0; top: 0;
+    border: 1px solid var(--search-filter-border-color);
+    background-color: var(--search-filter-background-color);
+    z-index: 10001;
+    padding-top: 4px;
+    padding-bottom: 4px;
+    -moz-border-radius: 4px;
+    -webkit-border-top-left-radius: 4px;
+    -webkit-border-top-right-radius: 4px;
+    -webkit-border-bottom-left-radius: 4px;
+    -webkit-border-bottom-right-radius: 4px;
+    -webkit-box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
+}
+
+.SelectItem {
+    font: 8pt var(--font-family-search);
+    padding-left:  2px;
+    padding-right: 12px;
+    border: 0px;
+}
+
+span.SelectionMark {
+    margin-right: 4px;
+    font-family: var(--font-family-monospace);
+    outline-style: none;
+    text-decoration: none;
+}
+
+a.SelectItem {
+    display: block;
+    outline-style: none;
+    color: var(--search-filter-foreground-color);
+    text-decoration: none;
+    padding-left:   6px;
+    padding-right: 12px;
+}
+
+a.SelectItem:focus,
+a.SelectItem:active {
+    color: var(--search-filter-foreground-color);
+    outline-style: none;
+    text-decoration: none;
+}
+
+a.SelectItem:hover {
+    color: var(--search-filter-highlight-text-color);
+    background-color: var(--search-filter-highlight-bg-color);
+    outline-style: none;
+    text-decoration: none;
+    cursor: pointer;
+    display: block;
+}
+
+/*---------------- Search results window */
+
+iframe#MSearchResults {
+    /*width: 60ex;*/
+    height: 15em;
+}
+
+#MSearchResultsWindow {
+    display: none;
+    position: absolute;
+    left: 0; top: 0;
+    border: 1px solid var(--search-results-border-color);
+    background-color: var(--search-results-background-color);
+    z-index:10000;
+    width: 300px;
+    height: 400px;
+    overflow: auto;
+}
+
+/* ----------------------------------- */
+
+
+#SRIndex {
+    clear:both; 
+}
+
+.SREntry {
+    font-size: 10pt;
+    padding-left: 1ex;
+}
+
+.SRPage .SREntry {
+    font-size: 8pt;
+    padding: 1px 5px;
+}
+
+div.SRPage {
+    margin: 5px 2px;
+    background-color: var(--search-results-background-color);
+}
+
+.SRChildren {
+    padding-left: 3ex; padding-bottom: .5em 
+}
+
+.SRPage .SRChildren {
+    display: none;
+}
+
+.SRSymbol {
+    font-weight: bold;
+    color: var(--search-results-foreground-color);
+    font-family: var(--font-family-search);
+    text-decoration: none;
+    outline: none;
+}
+
+a.SRScope {
+    display: block;
+    color: var(--search-results-foreground-color);
+    font-family: var(--font-family-search);
+    font-size: 8pt;
+    text-decoration: none;
+    outline: none;
+}
+
+a.SRSymbol:focus, a.SRSymbol:active,
+a.SRScope:focus, a.SRScope:active {
+    text-decoration: underline;
+}
+
+span.SRScope {
+    padding-left: 4px;
+    font-family: var(--font-family-search);
+}
+
+.SRPage .SRStatus {
+    padding: 2px 5px;
+    font-size: 8pt;
+    font-style: italic;
+    font-family: var(--font-family-search);
+}
+
+.SRResult {
+    display: none;
+}
+
+div.searchresults {
+    margin-left: 10px;
+    margin-right: 10px;
+}
+
+/*---------------- External search page results */
+
+.pages b {
+   color: white;
+   padding: 5px 5px 3px 5px;
+   background-image: var(--nav-gradient-active-image-parent);
+   background-repeat: repeat-x;
+   text-shadow: 0 1px 1px #000000;
+}
+
+.pages {
+    line-height: 17px;
+    margin-left: 4px;
+    text-decoration: none;
+}
+
+.hl {
+    font-weight: bold;
+}
+
+#searchresults {
+    margin-bottom: 20px;
+}
+
+.searchpages {
+    margin-top: 10px;
+}
+
diff --git a/documentation/html/search/search.js b/documentation/html/search/search.js
new file mode 100644
index 0000000..666af01
--- /dev/null
+++ b/documentation/html/search/search.js
@@ -0,0 +1,694 @@
+/*
+ @licstart  The following is the entire license notice for the JavaScript code in this file.
+
+ The MIT License (MIT)
+
+ Copyright (C) 1997-2020 by Dimitri van Heesch
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ and associated documentation files (the "Software"), to deal in the Software without restriction,
+ including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in all copies or
+ substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+ @licend  The above is the entire license notice for the JavaScript code in this file
+ */
+const SEARCH_COOKIE_NAME = ''+'search_grp';
+
+const searchResults = new SearchResults();
+
+/* A class handling everything associated with the search panel.
+
+   Parameters:
+   name - The name of the global variable that will be
+          storing this instance.  Is needed to be able to set timeouts.
+   resultPath - path to use for external files
+*/
+function SearchBox(name, resultsPath, extension) {
+  if (!name || !resultsPath) {  alert("Missing parameters to SearchBox."); }
+  if (!extension || extension == "") { extension = ".html"; }
+
+  function getXPos(item) {
+    let x = 0;
+    if (item.offsetWidth) {
+      while (item && item!=document.body) {
+        x   += item.offsetLeft;
+        item = item.offsetParent;
+      }
+    }
+    return x;
+  }
+
+  function getYPos(item) {
+    let y = 0;
+    if (item.offsetWidth) {
+      while (item && item!=document.body) {
+        y   += item.offsetTop;
+        item = item.offsetParent;
+      }
+    }
+    return y;
+  }
+
+  // ---------- Instance variables
+  this.name                  = name;
+  this.resultsPath           = resultsPath;
+  this.keyTimeout            = 0;
+  this.keyTimeoutLength      = 500;
+  this.closeSelectionTimeout = 300;
+  this.lastSearchValue       = "";
+  this.lastResultsPage       = "";
+  this.hideTimeout           = 0;
+  this.searchIndex           = 0;
+  this.searchActive          = false;
+  this.extension             = extension;
+
+  // ----------- DOM Elements
+
+  this.DOMSearchField              = () => document.getElementById("MSearchField");
+  this.DOMSearchSelect             = () => document.getElementById("MSearchSelect");
+  this.DOMSearchSelectWindow       = () => document.getElementById("MSearchSelectWindow");
+  this.DOMPopupSearchResults       = () => document.getElementById("MSearchResults");
+  this.DOMPopupSearchResultsWindow = () => document.getElementById("MSearchResultsWindow");
+  this.DOMSearchClose              = () => document.getElementById("MSearchClose");
+  this.DOMSearchBox                = () => document.getElementById("MSearchBox");
+
+  // ------------ Event Handlers
+
+  // Called when focus is added or removed from the search field.
+  this.OnSearchFieldFocus = function(isActive) {
+    this.Activate(isActive);
+  }
+
+  this.OnSearchSelectShow = function() {
+    const searchSelectWindow = this.DOMSearchSelectWindow();
+    const searchField        = this.DOMSearchSelect();
+
+    const left = getXPos(searchField);
+    const top  = getYPos(searchField) + searchField.offsetHeight;
+
+    // show search selection popup
+    searchSelectWindow.style.display='block';
+    searchSelectWindow.style.left =  left + 'px';
+    searchSelectWindow.style.top  =  top  + 'px';
+
+    // stop selection hide timer
+    if (this.hideTimeout) {
+      clearTimeout(this.hideTimeout);
+      this.hideTimeout=0;
+    }
+    return false; // to avoid "image drag" default event
+  }
+
+  this.OnSearchSelectHide = function() {
+    this.hideTimeout = setTimeout(this.CloseSelectionWindow.bind(this),
+                                  this.closeSelectionTimeout);
+  }
+
+  // Called when the content of the search field is changed.
+  this.OnSearchFieldChange = function(evt) {
+    if (this.keyTimeout) { // kill running timer
+      clearTimeout(this.keyTimeout);
+      this.keyTimeout = 0;
+    }
+
+    const e = evt ? evt : window.event; // for IE
+    if (e.keyCode==40 || e.keyCode==13) {
+      if (e.shiftKey==1) {
+        this.OnSearchSelectShow();
+        const win=this.DOMSearchSelectWindow();
+        for (let i=0;i<win.childNodes.length;i++) {
+          const child = win.childNodes[i]; // get span within a
+          if (child.className=='SelectItem') {
+            child.focus();
+            return;
+          }
+        }
+        return;
+      } else {
+        const elem = searchResults.NavNext(0);
+        if (elem) elem.focus();
+      }
+    } else if (e.keyCode==27) { // Escape out of the search field
+      e.stopPropagation();
+      this.DOMSearchField().blur();
+      this.DOMPopupSearchResultsWindow().style.display = 'none';
+      this.DOMSearchClose().style.display = 'none';
+      this.lastSearchValue = '';
+      this.Activate(false);
+      return;
+    }
+
+    // strip whitespaces
+    const searchValue = this.DOMSearchField().value.replace(/ +/g, "");
+
+    if (searchValue != this.lastSearchValue) { // search value has changed
+      if (searchValue != "") { // non-empty search
+        // set timer for search update
+        this.keyTimeout = setTimeout(this.Search.bind(this), this.keyTimeoutLength);
+      } else { // empty search field
+        this.DOMPopupSearchResultsWindow().style.display = 'none';
+        this.DOMSearchClose().style.display = 'none';
+        this.lastSearchValue = '';
+      }
+    }
+  }
+
+  this.SelectItemCount = function() {
+    let count=0;
+    const win=this.DOMSearchSelectWindow();
+    for (let i=0;i<win.childNodes.length;i++) {
+      const child = win.childNodes[i]; // get span within a
+      if (child.className=='SelectItem') {
+        count++;
+      }
+    }
+    return count;
+  }
+
+  this.GetSelectionIdByName = function(name) {
+    let j=0;
+    const win=this.DOMSearchSelectWindow();
+    for (let i=0;i<win.childNodes.length;i++) {
+      const child = win.childNodes[i];
+      if (child.className=='SelectItem') {
+        if (child.childNodes[1].nodeValue==name) {
+          return j;
+        }
+        j++;
+      }
+    }
+    return 0;
+  }
+
+  this.SelectItemSet = function(id) {
+    let j=0;
+    const win=this.DOMSearchSelectWindow();
+    for (let i=0;i<win.childNodes.length;i++) {
+      const child = win.childNodes[i]; // get span within a
+      if (child.className=='SelectItem') {
+        const node = child.firstChild;
+        if (j==id) {
+          node.innerHTML='&#8226;';
+          Cookie.writeSetting(SEARCH_COOKIE_NAME, child.childNodes[1].nodeValue, 0)
+        } else {
+          node.innerHTML='&#160;';
+        }
+        j++;
+      }
+    }
+  }
+
+  // Called when an search filter selection is made.
+  // set item with index id as the active item
+  this.OnSelectItem = function(id) {
+    this.searchIndex = id;
+    this.SelectItemSet(id);
+    const searchValue = this.DOMSearchField().value.replace(/ +/g, "");
+    if (searchValue!="" && this.searchActive) { // something was found -> do a search
+      this.Search();
+    }
+  }
+
+  this.OnSearchSelectKey = function(evt) {
+    const e = (evt) ? evt : window.event; // for IE
+    if (e.keyCode==40 && this.searchIndex<this.SelectItemCount()) { // Down
+      this.searchIndex++;
+      this.OnSelectItem(this.searchIndex);
+    } else if (e.keyCode==38 && this.searchIndex>0) { // Up
+      this.searchIndex--;
+      this.OnSelectItem(this.searchIndex);
+    } else if (e.keyCode==13 || e.keyCode==27) {
+      e.stopPropagation();
+      this.OnSelectItem(this.searchIndex);
+      this.CloseSelectionWindow();
+      this.DOMSearchField().focus();
+    }
+    return false;
+  }
+
+  // --------- Actions
+
+  // Closes the results window.
+  this.CloseResultsWindow = function() {
+    this.DOMPopupSearchResultsWindow().style.display = 'none';
+    this.DOMSearchClose().style.display = 'none';
+    this.Activate(false);
+  }
+
+  this.CloseSelectionWindow = function() {
+    this.DOMSearchSelectWindow().style.display = 'none';
+  }
+
+  // Performs a search.
+  this.Search = function() {
+    this.keyTimeout = 0;
+
+    // strip leading whitespace
+    const searchValue = this.DOMSearchField().value.replace(/^ +/, "");
+
+    const code = searchValue.toLowerCase().charCodeAt(0);
+    let idxChar = searchValue.substr(0, 1).toLowerCase();
+    if ( 0xD800 <= code && code <= 0xDBFF && searchValue > 1) { // surrogate pair
+      idxChar = searchValue.substr(0, 2);
+    }
+
+    let jsFile;
+    let idx = indexSectionsWithContent[this.searchIndex].indexOf(idxChar);
+    if (idx!=-1) {
+      const hexCode=idx.toString(16);
+      jsFile = this.resultsPath + indexSectionNames[this.searchIndex] + '_' + hexCode + '.js';
+    }
+
+    const loadJS = function(url, impl, loc) {
+      const scriptTag = document.createElement('script');
+      scriptTag.src = url;
+      scriptTag.onload = impl;
+      scriptTag.onreadystatechange = impl;
+      loc.appendChild(scriptTag);
+    }
+
+    const domPopupSearchResultsWindow = this.DOMPopupSearchResultsWindow();
+    const domSearchBox = this.DOMSearchBox();
+    const domPopupSearchResults = this.DOMPopupSearchResults();
+    const domSearchClose = this.DOMSearchClose();
+    const resultsPath = this.resultsPath;
+
+    const handleResults = function() {
+      document.getElementById("Loading").style.display="none";
+      if (typeof searchData !== 'undefined') {
+        createResults(resultsPath);
+        document.getElementById("NoMatches").style.display="none";
+      }
+
+      if (idx!=-1) {
+        searchResults.Search(searchValue);
+      } else { // no file with search results => force empty search results
+        searchResults.Search('====');
+      }
+
+      if (domPopupSearchResultsWindow.style.display!='block') {
+        domSearchClose.style.display = 'inline-block';
+        let left = getXPos(domSearchBox) + 150;
+        let top  = getYPos(domSearchBox) + 20;
+        domPopupSearchResultsWindow.style.display = 'block';
+        left -= domPopupSearchResults.offsetWidth;
+        const maxWidth  = document.body.clientWidth;
+        const maxHeight = document.body.clientHeight;
+        let width = 300;
+        if (left<10) left=10;
+        if (width+left+8>maxWidth) width=maxWidth-left-8;
+        let height = 400;
+        if (height+top+8>maxHeight) height=maxHeight-top-8;
+        domPopupSearchResultsWindow.style.top     = top  + 'px';
+        domPopupSearchResultsWindow.style.left    = left + 'px';
+        domPopupSearchResultsWindow.style.width   = width + 'px';
+        domPopupSearchResultsWindow.style.height  = height + 'px';
+      }
+    }
+
+    if (jsFile) {
+      loadJS(jsFile, handleResults, this.DOMPopupSearchResultsWindow());
+    } else {
+      handleResults();
+    }
+
+    this.lastSearchValue = searchValue;
+  }
+
+  // -------- Activation Functions
+
+  // Activates or deactivates the search panel, resetting things to
+  // their default values if necessary.
+  this.Activate = function(isActive) {
+    if (isActive || // open it
+      this.DOMPopupSearchResultsWindow().style.display == 'block'
+    ) {
+      this.DOMSearchBox().className = 'MSearchBoxActive';
+      this.searchActive = true;
+    } else if (!isActive) { // directly remove the panel
+      this.DOMSearchBox().className = 'MSearchBoxInactive';
+      this.searchActive             = false;
+      this.lastSearchValue          = ''
+      this.lastResultsPage          = '';
+      this.DOMSearchField().value   = '';
+    }
+  }
+}
+
+// -----------------------------------------------------------------------
+
+// The class that handles everything on the search results page.
+function SearchResults() {
+
+  function convertToId(search) {
+    let result = '';
+    for (let i=0;i<search.length;i++) {
+      const c = search.charAt(i);
+      const cn = c.charCodeAt(0);
+      if (c.match(/[a-z0-9\u0080-\uFFFF]/)) {
+        result+=c;
+      } else if (cn<16) {
+        result+="_0"+cn.toString(16);
+      } else {
+        result+="_"+cn.toString(16);
+      }
+    }
+    return result;
+  }
+
+  // The number of matches from the last run of <Search()>.
+  this.lastMatchCount = 0;
+  this.lastKey = 0;
+  this.repeatOn = false;
+
+  // Toggles the visibility of the passed element ID.
+  this.FindChildElement = function(id) {
+    const parentElement = document.getElementById(id);
+    let element = parentElement.firstChild;
+
+    while (element && element!=parentElement) {
+      if (element.nodeName.toLowerCase() == 'div' && element.className == 'SRChildren') {
+        return element;
+      }
+
+      if (element.nodeName.toLowerCase() == 'div' && element.hasChildNodes()) {
+        element = element.firstChild;
+      } else if (element.nextSibling) {
+        element = element.nextSibling;
+      } else {
+        do {
+          element = element.parentNode;
+        }
+        while (element && element!=parentElement && !element.nextSibling);
+
+        if (element && element!=parentElement) {
+          element = element.nextSibling;
+        }
+      }
+    }
+  }
+
+  this.Toggle = function(id) {
+    const element = this.FindChildElement(id);
+    if (element) {
+      if (element.style.display == 'block') {
+        element.style.display = 'none';
+      } else {
+        element.style.display = 'block';
+      }
+    }
+  }
+
+  // Searches for the passed string.  If there is no parameter,
+  // it takes it from the URL query.
+  //
+  // Always returns true, since other documents may try to call it
+  // and that may or may not be possible.
+  this.Search = function(search) {
+    if (!search) { // get search word from URL
+      search = window.location.search;
+      search = search.substring(1);  // Remove the leading '?'
+      search = unescape(search);
+    }
+
+    search = search.replace(/^ +/, ""); // strip leading spaces
+    search = search.replace(/ +$/, ""); // strip trailing spaces
+    search = search.toLowerCase();
+    search = convertToId(search);
+
+    const resultRows = document.getElementsByTagName("div");
+    let matches = 0;
+
+    let i = 0;
+    while (i < resultRows.length) {
+      const row = resultRows.item(i);
+      if (row.className == "SRResult") {
+        let rowMatchName = row.id.toLowerCase();
+        rowMatchName = rowMatchName.replace(/^sr\d*_/, ''); // strip 'sr123_'
+
+        if (search.length<=rowMatchName.length &&
+          rowMatchName.substr(0, search.length)==search) {
+          row.style.display = 'block';
+          matches++;
+        } else {
+          row.style.display = 'none';
+        }
+      }
+      i++;
+    }
+    document.getElementById("Searching").style.display='none';
+    if (matches == 0) { // no results
+      document.getElementById("NoMatches").style.display='block';
+    } else { // at least one result
+      document.getElementById("NoMatches").style.display='none';
+    }
+    this.lastMatchCount = matches;
+    return true;
+  }
+
+  // return the first item with index index or higher that is visible
+  this.NavNext = function(index) {
+    let focusItem;
+    for (;;) {
+      const focusName = 'Item'+index;
+      focusItem = document.getElementById(focusName);
+      if (focusItem && focusItem.parentNode.parentNode.style.display=='block') {
+        break;
+      } else if (!focusItem) { // last element
+        break;
+      }
+      focusItem=null;
+      index++;
+    }
+    return focusItem;
+  }
+
+  this.NavPrev = function(index) {
+    let focusItem;
+    for (;;) {
+      const focusName = 'Item'+index;
+      focusItem = document.getElementById(focusName);
+      if (focusItem && focusItem.parentNode.parentNode.style.display=='block') {
+        break;
+      } else if (!focusItem) { // last element
+        break;
+      }
+      focusItem=null;
+      index--;
+    }
+    return focusItem;
+  }
+
+  this.ProcessKeys = function(e) {
+    if (e.type == "keydown") {
+      this.repeatOn = false;
+      this.lastKey = e.keyCode;
+    } else if (e.type == "keypress") {
+      if (!this.repeatOn) {
+        if (this.lastKey) this.repeatOn = true;
+        return false; // ignore first keypress after keydown
+      }
+    } else if (e.type == "keyup") {
+      this.lastKey = 0;
+      this.repeatOn = false;
+    }
+    return this.lastKey!=0;
+  }
+
+  this.Nav = function(evt,itemIndex) {
+    const e  = (evt) ? evt : window.event; // for IE
+    if (e.keyCode==13) return true;
+    if (!this.ProcessKeys(e)) return false;
+
+    if (this.lastKey==38) { // Up
+      const newIndex = itemIndex-1;
+      let focusItem = this.NavPrev(newIndex);
+      if (focusItem) {
+        let child = this.FindChildElement(focusItem.parentNode.parentNode.id);
+        if (child && child.style.display == 'block') { // children visible
+          let n=0;
+          let tmpElem;
+          for (;;) { // search for last child
+            tmpElem = document.getElementById('Item'+newIndex+'_c'+n);
+            if (tmpElem) {
+              focusItem = tmpElem;
+            } else { // found it!
+              break;
+            }
+            n++;
+          }
+        }
+      }
+      if (focusItem) {
+        focusItem.focus();
+      } else { // return focus to search field
+        document.getElementById("MSearchField").focus();
+      }
+    } else if (this.lastKey==40) { // Down
+      const newIndex = itemIndex+1;
+      let focusItem;
+      const item = document.getElementById('Item'+itemIndex);
+      const elem = this.FindChildElement(item.parentNode.parentNode.id);
+      if (elem && elem.style.display == 'block') { // children visible
+        focusItem = document.getElementById('Item'+itemIndex+'_c0');
+      }
+      if (!focusItem) focusItem = this.NavNext(newIndex);
+      if (focusItem)  focusItem.focus();
+    } else if (this.lastKey==39) { // Right
+      const item = document.getElementById('Item'+itemIndex);
+      const elem = this.FindChildElement(item.parentNode.parentNode.id);
+      if (elem) elem.style.display = 'block';
+    } else if (this.lastKey==37) { // Left
+      const item = document.getElementById('Item'+itemIndex);
+      const elem = this.FindChildElement(item.parentNode.parentNode.id);
+      if (elem) elem.style.display = 'none';
+    } else if (this.lastKey==27) { // Escape
+      e.stopPropagation();
+      searchBox.CloseResultsWindow();
+      document.getElementById("MSearchField").focus();
+    } else if (this.lastKey==13) { // Enter
+      return true;
+    }
+    return false;
+  }
+
+  this.NavChild = function(evt,itemIndex,childIndex) {
+    const e  = (evt) ? evt : window.event; // for IE
+    if (e.keyCode==13) return true;
+    if (!this.ProcessKeys(e)) return false;
+
+    if (this.lastKey==38) { // Up
+      if (childIndex>0) {
+        const newIndex = childIndex-1;
+        document.getElementById('Item'+itemIndex+'_c'+newIndex).focus();
+      } else { // already at first child, jump to parent
+        document.getElementById('Item'+itemIndex).focus();
+      }
+    } else if (this.lastKey==40) { // Down
+      const newIndex = childIndex+1;
+      let elem = document.getElementById('Item'+itemIndex+'_c'+newIndex);
+      if (!elem) { // last child, jump to parent next parent
+        elem = this.NavNext(itemIndex+1);
+      }
+      if (elem) {
+        elem.focus();
+      }
+    } else if (this.lastKey==27) { // Escape
+      e.stopPropagation();
+      searchBox.CloseResultsWindow();
+      document.getElementById("MSearchField").focus();
+    } else if (this.lastKey==13) { // Enter
+      return true;
+    }
+    return false;
+  }
+}
+
+function createResults(resultsPath) {
+
+  function setKeyActions(elem,action) {
+    elem.setAttribute('onkeydown',action);
+    elem.setAttribute('onkeypress',action);
+    elem.setAttribute('onkeyup',action);
+  }
+
+  function setClassAttr(elem,attr) {
+    elem.setAttribute('class',attr);
+    elem.setAttribute('className',attr);
+  }
+
+  const results = document.getElementById("SRResults");
+  results.innerHTML = '';
+  searchData.forEach((elem,index) => {
+    const id = elem[0];
+    const srResult = document.createElement('div');
+    srResult.setAttribute('id','SR_'+id);
+    setClassAttr(srResult,'SRResult');
+    const srEntry = document.createElement('div');
+    setClassAttr(srEntry,'SREntry');
+    const srLink = document.createElement('a');
+    srLink.setAttribute('id','Item'+index);
+    setKeyActions(srLink,'return searchResults.Nav(event,'+index+')');
+    setClassAttr(srLink,'SRSymbol');
+    srLink.innerHTML = elem[1][0];
+    srEntry.appendChild(srLink);
+    if (elem[1].length==2) { // single result
+      srLink.setAttribute('href',resultsPath+elem[1][1][0]);
+      srLink.setAttribute('onclick','searchBox.CloseResultsWindow()');
+      if (elem[1][1][1]) {
+       srLink.setAttribute('target','_parent');
+      } else {
+       srLink.setAttribute('target','_blank');
+      }
+      const srScope = document.createElement('span');
+      setClassAttr(srScope,'SRScope');
+      srScope.innerHTML = elem[1][1][2];
+      srEntry.appendChild(srScope);
+    } else { // multiple results
+      srLink.setAttribute('href','javascript:searchResults.Toggle("SR_'+id+'")');
+      const srChildren = document.createElement('div');
+      setClassAttr(srChildren,'SRChildren');
+      for (let c=0; c<elem[1].length-1; c++) {
+        const srChild = document.createElement('a');
+        srChild.setAttribute('id','Item'+index+'_c'+c);
+        setKeyActions(srChild,'return searchResults.NavChild(event,'+index+','+c+')');
+        setClassAttr(srChild,'SRScope');
+        srChild.setAttribute('href',resultsPath+elem[1][c+1][0]);
+        srChild.setAttribute('onclick','searchBox.CloseResultsWindow()');
+        if (elem[1][c+1][1]) {
+         srChild.setAttribute('target','_parent');
+        } else {
+         srChild.setAttribute('target','_blank');
+        }
+        srChild.innerHTML = elem[1][c+1][2];
+        srChildren.appendChild(srChild);
+      }
+      srEntry.appendChild(srChildren);
+    }
+    srResult.appendChild(srEntry);
+    results.appendChild(srResult);
+  });
+}
+
+function init_search() {
+  const results = document.getElementById("MSearchSelectWindow");
+
+  results.tabIndex=0;
+  for (let key in indexSectionLabels) {
+    const link = document.createElement('a');
+    link.setAttribute('class','SelectItem');
+    link.setAttribute('onclick','searchBox.OnSelectItem('+key+')');
+    link.href='javascript:void(0)';
+    link.innerHTML='<span class="SelectionMark">&#160;</span>'+indexSectionLabels[key];
+    results.appendChild(link);
+  }
+
+  const input = document.getElementById("MSearchSelect");
+  const searchSelectWindow = document.getElementById("MSearchSelectWindow");
+  input.tabIndex=0;
+  input.addEventListener("keydown", function(event) {
+    if (event.keyCode==13 || event.keyCode==40) {
+      event.preventDefault();
+      if (searchSelectWindow.style.display == 'block') {
+        searchBox.CloseSelectionWindow();
+      } else {
+        searchBox.OnSearchSelectShow();
+        searchBox.DOMSearchSelectWindow().focus();
+      }
+    }
+  });
+  const name = Cookie.readSetting(SEARCH_COOKIE_NAME,0);
+  const id = searchBox.GetSelectionIdByName(name);
+  searchBox.OnSelectItem(id);
+}
+/* @license-end */
diff --git a/documentation/html/search/searchdata.js b/documentation/html/search/searchdata.js
new file mode 100644
index 0000000..1b3ac27
--- /dev/null
+++ b/documentation/html/search/searchdata.js
@@ -0,0 +1,39 @@
+var indexSectionsWithContent =
+{
+  0: "abcdefghilmpqrstuw",
+  1: "b",
+  2: "br",
+  3: "bcdefghimpqrstw",
+  4: "abcdefghilmqrstu",
+  5: "b",
+  6: "ci",
+  7: "chlm",
+  8: "r"
+};
+
+var indexSectionNames =
+{
+  0: "all",
+  1: "classes",
+  2: "files",
+  3: "functions",
+  4: "variables",
+  5: "typedefs",
+  6: "enums",
+  7: "enumvalues",
+  8: "pages"
+};
+
+var indexSectionLabels =
+{
+  0: "All",
+  1: "Classes",
+  2: "Files",
+  3: "Functions",
+  4: "Variables",
+  5: "Typedefs",
+  6: "Enumerations",
+  7: "Enumerator",
+  8: "Pages"
+};
+
diff --git a/documentation/html/search/typedefs_0.js b/documentation/html/search/typedefs_0.js
new file mode 100644
index 0000000..46e5668
--- /dev/null
+++ b/documentation/html/search/typedefs_0.js
@@ -0,0 +1,6 @@
+var searchData=
+[
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+  ['bno08x_5frx_5fpacket_5ft_1',['bno08x_rx_packet_t',['../class_b_n_o08x.html#a407711b4a84223a52cc043a152aea8ba',1,'BNO08x']]],
+  ['bno08x_5ftx_5fpacket_5ft_2',['bno08x_tx_packet_t',['../class_b_n_o08x.html#a3a1a869ac69e6ee850bd2a7f90dd8945',1,'BNO08x']]]
+];
diff --git a/documentation/html/search/variables_0.js b/documentation/html/search/variables_0.js
new file mode 100644
index 0000000..9755124
--- /dev/null
+++ b/documentation/html/search/variables_0.js
@@ -0,0 +1,9 @@
+var searchData=
+[
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+  ['accel_5flin_5faccuracy_1',['accel_lin_accuracy',['../class_b_n_o08x.html#a35e1635ef5edde8fc8640f978c6f2e3c',1,'BNO08x']]],
+  ['accelerometer_5fq1_2',['ACCELEROMETER_Q1',['../class_b_n_o08x.html#a0564aaf5b20dc42b54db4fb3115ac1c7',1,'BNO08x']]],
+  ['activity_5fclassifier_3',['activity_classifier',['../class_b_n_o08x.html#a75cea49c1c08ca28d9fa7e5ed61c6e7b',1,'BNO08x']]],
+  ['activity_5fconfidences_4',['activity_confidences',['../class_b_n_o08x.html#af96e8cd070459f945ffbf01b98106e13',1,'BNO08x']]],
+  ['angular_5fvelocity_5fq1_5',['ANGULAR_VELOCITY_Q1',['../class_b_n_o08x.html#aafe117561fe9138800073a04a778b4ce',1,'BNO08x']]]
+];
diff --git a/documentation/html/search/variables_1.js b/documentation/html/search/variables_1.js
new file mode 100644
index 0000000..d54ba3f
--- /dev/null
+++ b/documentation/html/search/variables_1.js
@@ -0,0 +1,5 @@
+var searchData=
+[
+  ['body_0',['body',['../struct_b_n_o08x_1_1bno08x__rx__packet__t.html#ab422d75e1fcd776ef412f4d623cc293e',1,'BNO08x::bno08x_rx_packet_t::body'],['../struct_b_n_o08x_1_1bno08x__tx__packet__t.html#a4478c6cd9e87907eacc56dd06ad4a69d',1,'BNO08x::bno08x_tx_packet_t::body']]],
+  ['bus_5fconfig_1',['bus_config',['../class_b_n_o08x.html#a982f065df42f00e53fd87c840efdb0f1',1,'BNO08x']]]
+];
diff --git a/documentation/html/search/variables_2.js b/documentation/html/search/variables_2.js
new file mode 100644
index 0000000..6e59c36
--- /dev/null
+++ b/documentation/html/search/variables_2.js
@@ -0,0 +1,20 @@
+var searchData=
+[
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+  ['calibrate_5faccel_5fgyro_5fmag_1',['CALIBRATE_ACCEL_GYRO_MAG',['../class_b_n_o08x.html#af53d9e99f163d97ef92fe989b1dd25cc',1,'BNO08x']]],
+  ['calibrate_5fgyro_2',['CALIBRATE_GYRO',['../class_b_n_o08x.html#aeac84719a1cc0f9c8d5a9a749391d4db',1,'BNO08x']]],
+  ['calibrate_5fmag_3',['CALIBRATE_MAG',['../class_b_n_o08x.html#ac00e8b59ae8d710cf79956eaafa97ddb',1,'BNO08x']]],
+  ['calibrate_5fplanar_5faccel_4',['CALIBRATE_PLANAR_ACCEL',['../class_b_n_o08x.html#a955dcb60da150490e17367a871b3a3d2',1,'BNO08x']]],
+  ['calibrate_5fstop_5',['CALIBRATE_STOP',['../class_b_n_o08x.html#a584bfa04a39feb93279ee673c340db54',1,'BNO08x']]],
+  ['calibration_5fstatus_6',['calibration_status',['../class_b_n_o08x.html#ad212b5028a31e857e76d251ced2724e1',1,'BNO08x']]],
+  ['cb_5flist_7',['cb_list',['../class_b_n_o08x.html#a6a15e3a64dd71ea61f0448afcce96409',1,'BNO08x']]],
+  ['command_5fclear_5fdcd_8',['COMMAND_CLEAR_DCD',['../class_b_n_o08x.html#a4f580b3cb232a762ea7019ee7b04d419',1,'BNO08x']]],
+  ['command_5fcounter_9',['COMMAND_COUNTER',['../class_b_n_o08x.html#a93dd073c0cc1f3ccfde552649f6ebccc',1,'BNO08x']]],
+  ['command_5fdcd_10',['COMMAND_DCD',['../class_b_n_o08x.html#af124a6c1d8b871f3181b6c85f1099cb2',1,'BNO08x']]],
+  ['command_5fdcd_5fperiod_5fsave_11',['COMMAND_DCD_PERIOD_SAVE',['../class_b_n_o08x.html#a7a246989c94cd87f68166b20b7ad4c8b',1,'BNO08x']]],
+  ['command_5ferrors_12',['COMMAND_ERRORS',['../class_b_n_o08x.html#a384a1efc9857ad938be3bb44f871539b',1,'BNO08x']]],
+  ['command_5finitialize_13',['COMMAND_INITIALIZE',['../class_b_n_o08x.html#a30eb6d305a187d4d36546841e12176b9',1,'BNO08x']]],
+  ['command_5fme_5fcalibrate_14',['COMMAND_ME_CALIBRATE',['../class_b_n_o08x.html#a8381dfe403ddff522f172cb16780731a',1,'BNO08x']]],
+  ['command_5foscillator_15',['COMMAND_OSCILLATOR',['../class_b_n_o08x.html#a308c8b5307d93a67b5b9066d44494aa5',1,'BNO08x']]],
+  ['command_5ftare_16',['COMMAND_TARE',['../class_b_n_o08x.html#a0a1756bc16ba3eac45f4229b1e350107',1,'BNO08x']]]
+];
diff --git a/documentation/html/search/variables_3.js b/documentation/html/search/variables_3.js
new file mode 100644
index 0000000..ccbfb65
--- /dev/null
+++ b/documentation/html/search/variables_3.js
@@ -0,0 +1,5 @@
+var searchData=
+[
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+  ['default_5fimu_5fconfig_1',['default_imu_config',['../class_b_n_o08x.html#a6232920a05c0aba34e5560951a20ae87',1,'BNO08x']]]
+];
diff --git a/documentation/html/search/variables_4.js b/documentation/html/search/variables_4.js
new file mode 100644
index 0000000..f512731
--- /dev/null
+++ b/documentation/html/search/variables_4.js
@@ -0,0 +1,28 @@
+var searchData=
+[
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+  ['evt_5fgrp_5frpt_5fstability_5fclassifier_5fbit_17',['EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT',['../class_b_n_o08x.html#a7d6ee23222f55dbe9f70e04b36d9add2',1,'BNO08x']]],
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+<tr class="memdesc:a645adb6ba8fb2afbb99ec58fe678e205"><td class="mdescLeft">&#160;</td><td class="mdescRight">Body of SHTP packet.  <br /></td></tr>
+<tr class="separator:a645adb6ba8fb2afbb99ec58fe678e205"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Holds data that is received over spi. </p>
+</div><h2 class="groupheader">Member Data Documentation</h2>
+<a id="ab422d75e1fcd776ef412f4d623cc293e" name="ab422d75e1fcd776ef412f4d623cc293e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab422d75e1fcd776ef412f4d623cc293e">&#9670;&#160;</a></span>body</h2>
+
+<div class="memitem">
+<div class="memproto">
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+      </table>
+</div><div class="memdoc">
+
+</div>
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+<p>Header of SHTP packet. </p>
+
+</div>
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+<p>Body of SHTP packet. </p>
+<p>Packet length in bytes. </p>
+
+</div>
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diff --git a/documentation/html/struct_b_n_o08x_1_1bno08x__tx__packet__t.html b/documentation/html/struct_b_n_o08x_1_1bno08x__tx__packet__t.html
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+<title>esp32_BNO08x: BNO08x::bno08x_tx_packet_t Struct Reference</title>
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+<script type="text/javascript" src="dynsections.js"></script>
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+<div class="header">
+  <div class="summary">
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="struct_b_n_o08x_1_1bno08x__tx__packet__t-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">BNO08x::bno08x_tx_packet_t Struct Reference</div></div>
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+<p>Holds data that is sent over spi.  
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+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
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+</div><h2 class="groupheader">Member Data Documentation</h2>
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+<p>Body of SHTP the packet (header + body) </p>
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+<p>Packet length in bytes. </p>
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li><a class="el" href="_b_n_o08x_8hpp_source.html">BNO08x.hpp</a></li>
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+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.1</span>
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+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
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+<p>This is the complete list of members for <a class="el" href="structbno08x__config__t.html">bno08x_config_t</a>, including all inherited members.</p>
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+  <tr class="odd"><td class="entry"><a class="el" href="structbno08x__config__t.html#ae3b4bc522d30f9df7747ed46d0532c23">bno08x_config_t</a>(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)</td><td class="entry"><a class="el" href="structbno08x__config__t.html">bno08x_config_t</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structbno08x__config__t.html#ab1b5351b63da0c172c942463d0dc2505">io_cs</a></td><td class="entry"><a class="el" href="structbno08x__config__t.html">bno08x_config_t</a></td><td class="entry"></td></tr>
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+  <tr class="even"><td class="entry"><a class="el" href="structbno08x__config__t.html#a9468180a773892977db39cc5ed9368e3">io_miso</a></td><td class="entry"><a class="el" href="structbno08x__config__t.html">bno08x_config_t</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="structbno08x__config__t.html#a79023fd80039e41a22b7f73ccd5fc861">io_mosi</a></td><td class="entry"><a class="el" href="structbno08x__config__t.html">bno08x_config_t</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structbno08x__config__t.html#a62745c761219139f66ecd173b51577fc">io_rst</a></td><td class="entry"><a class="el" href="structbno08x__config__t.html">bno08x_config_t</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="structbno08x__config__t.html#a639685b91ae3198909d722316495246a">io_sclk</a></td><td class="entry"><a class="el" href="structbno08x__config__t.html">bno08x_config_t</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structbno08x__config__t.html#a90ad7f316dc443874d19dc7e723a0ce0">io_wake</a></td><td class="entry"><a class="el" href="structbno08x__config__t.html">bno08x_config_t</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="structbno08x__config__t.html#a231614c3b20888360def2ce9db83f52a">sclk_speed</a></td><td class="entry"><a class="el" href="structbno08x__config__t.html">bno08x_config_t</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structbno08x__config__t.html#a020d2343750bb7debc2a108ae038c9ec">spi_peripheral</a></td><td class="entry"><a class="el" href="structbno08x__config__t.html">bno08x_config_t</a></td><td class="entry"></td></tr>
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+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.1</span>
+   </div>
+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
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+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structbno08x__config__t-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">bno08x_config_t Struct Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>IMU configuration settings passed into constructor.  
+ <a href="#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="_b_n_o08x_8hpp_source.html">BNO08x.hpp</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
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+<tr class="memitem:abf8805292192f4c30c5000423175a2e1" id="r_abf8805292192f4c30c5000423175a2e1"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#abf8805292192f4c30c5000423175a2e1">bno08x_config_t</a> ()</td></tr>
+<tr class="memdesc:abf8805292192f4c30c5000423175a2e1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Default IMU configuration settings constructor. To modify default GPIO pins, run "idf.py menuconfig" esp32_BNO08x-&gt;GPIO Configuration. Alternatively, edit the default values in "Kconfig.projbuild".  <br /></td></tr>
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+<tr class="memdesc:ae3b4bc522d30f9df7747ed46d0532c23"><td class="mdescLeft">&#160;</td><td class="mdescRight">Overloaded IMU configuration settings constructor for custom pin settings.  <br /></td></tr>
+<tr class="separator:ae3b4bc522d30f9df7747ed46d0532c23"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-attribs" name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a020d2343750bb7debc2a108ae038c9ec" id="r_a020d2343750bb7debc2a108ae038c9ec"><td class="memItemLeft" align="right" valign="top">spi_host_device_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a020d2343750bb7debc2a108ae038c9ec">spi_peripheral</a></td></tr>
+<tr class="memdesc:a020d2343750bb7debc2a108ae038c9ec"><td class="mdescLeft">&#160;</td><td class="mdescRight">SPI peripheral to be used.  <br /></td></tr>
+<tr class="separator:a020d2343750bb7debc2a108ae038c9ec"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a79023fd80039e41a22b7f73ccd5fc861" id="r_a79023fd80039e41a22b7f73ccd5fc861"><td class="memItemLeft" align="right" valign="top">gpio_num_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a79023fd80039e41a22b7f73ccd5fc861">io_mosi</a></td></tr>
+<tr class="memdesc:a79023fd80039e41a22b7f73ccd5fc861"><td class="mdescLeft">&#160;</td><td class="mdescRight">MOSI GPIO pin (connects to <a class="el" href="class_b_n_o08x.html">BNO08x</a> DI pin)  <br /></td></tr>
+<tr class="separator:a79023fd80039e41a22b7f73ccd5fc861"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9468180a773892977db39cc5ed9368e3" id="r_a9468180a773892977db39cc5ed9368e3"><td class="memItemLeft" align="right" valign="top">gpio_num_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a9468180a773892977db39cc5ed9368e3">io_miso</a></td></tr>
+<tr class="memdesc:a9468180a773892977db39cc5ed9368e3"><td class="mdescLeft">&#160;</td><td class="mdescRight">MISO GPIO pin (connects to <a class="el" href="class_b_n_o08x.html">BNO08x</a> SDA pin)  <br /></td></tr>
+<tr class="separator:a9468180a773892977db39cc5ed9368e3"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a639685b91ae3198909d722316495246a"><td class="mdescLeft">&#160;</td><td class="mdescRight">SCLK pin (connects to <a class="el" href="class_b_n_o08x.html">BNO08x</a> SCL pin)  <br /></td></tr>
+<tr class="separator:a639685b91ae3198909d722316495246a"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a3cfe965659cfbc6b0c5269bd0211975f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Chip select pin (connects to <a class="el" href="class_b_n_o08x.html">BNO08x</a> CS pin)  <br /></td></tr>
+<tr class="separator:a3cfe965659cfbc6b0c5269bd0211975f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a62745c761219139f66ecd173b51577fc" id="r_a62745c761219139f66ecd173b51577fc"><td class="memItemLeft" align="right" valign="top">gpio_num_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a62745c761219139f66ecd173b51577fc">io_rst</a></td></tr>
+<tr class="memdesc:a62745c761219139f66ecd173b51577fc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Host interrupt pin (connects to <a class="el" href="class_b_n_o08x.html">BNO08x</a> INT pin)  <br /></td></tr>
+<tr class="separator:a62745c761219139f66ecd173b51577fc"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a90ad7f316dc443874d19dc7e723a0ce0" id="r_a90ad7f316dc443874d19dc7e723a0ce0"><td class="memItemLeft" align="right" valign="top">gpio_num_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a90ad7f316dc443874d19dc7e723a0ce0">io_wake</a></td></tr>
+<tr class="memdesc:a90ad7f316dc443874d19dc7e723a0ce0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Reset pin (connects to <a class="el" href="class_b_n_o08x.html">BNO08x</a> RST pin)  <br /></td></tr>
+<tr class="separator:a90ad7f316dc443874d19dc7e723a0ce0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a231614c3b20888360def2ce9db83f52a" id="r_a231614c3b20888360def2ce9db83f52a"><td class="memItemLeft" align="right" valign="top">uint32_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a231614c3b20888360def2ce9db83f52a">sclk_speed</a></td></tr>
+<tr class="memdesc:a231614c3b20888360def2ce9db83f52a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Desired SPI SCLK speed in Hz (max 3MHz)  <br /></td></tr>
+<tr class="separator:a231614c3b20888360def2ce9db83f52a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>IMU configuration settings passed into constructor. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="abf8805292192f4c30c5000423175a2e1" name="abf8805292192f4c30c5000423175a2e1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abf8805292192f4c30c5000423175a2e1">&#9670;&#160;</a></span>bno08x_config_t() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bno08x_config_t::bno08x_config_t </td>
+          <td>(</td>
+          <td class="paramname"><span class="paramname"></span></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
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+</div><div class="memdoc">
+
+<p>Default IMU configuration settings constructor. To modify default GPIO pins, run "idf.py menuconfig" esp32_BNO08x-&gt;GPIO Configuration. Alternatively, edit the default values in "Kconfig.projbuild". </p>
+
+</div>
+</div>
+<a id="ae3b4bc522d30f9df7747ed46d0532c23" name="ae3b4bc522d30f9df7747ed46d0532c23"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae3b4bc522d30f9df7747ed46d0532c23">&#9670;&#160;</a></span>bno08x_config_t() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bno08x_config_t::bno08x_config_t </td>
+          <td>(</td>
+          <td class="paramtype">spi_host_device_t</td>          <td class="paramname"><span class="paramname"><em>spi_peripheral</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">gpio_num_t</td>          <td class="paramname"><span class="paramname"><em>io_mosi</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">gpio_num_t</td>          <td class="paramname"><span class="paramname"><em>io_miso</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">gpio_num_t</td>          <td class="paramname"><span class="paramname"><em>io_sclk</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">gpio_num_t</td>          <td class="paramname"><span class="paramname"><em>io_cs</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">gpio_num_t</td>          <td class="paramname"><span class="paramname"><em>io_int</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">gpio_num_t</td>          <td class="paramname"><span class="paramname"><em>io_rst</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">gpio_num_t</td>          <td class="paramname"><span class="paramname"><em>io_wake</em>, </span></td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">uint32_t</td>          <td class="paramname"><span class="paramname"><em>sclk_speed</em></span>&#160;)</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Overloaded IMU configuration settings constructor for custom pin settings. </p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="ab1b5351b63da0c172c942463d0dc2505" name="ab1b5351b63da0c172c942463d0dc2505"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab1b5351b63da0c172c942463d0dc2505">&#9670;&#160;</a></span>io_cs</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">gpio_num_t bno08x_config_t::io_cs</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a3cfe965659cfbc6b0c5269bd0211975f" name="a3cfe965659cfbc6b0c5269bd0211975f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3cfe965659cfbc6b0c5269bd0211975f">&#9670;&#160;</a></span>io_int</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">gpio_num_t bno08x_config_t::io_int</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Chip select pin (connects to <a class="el" href="class_b_n_o08x.html">BNO08x</a> CS pin) </p>
+
+</div>
+</div>
+<a id="a9468180a773892977db39cc5ed9368e3" name="a9468180a773892977db39cc5ed9368e3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9468180a773892977db39cc5ed9368e3">&#9670;&#160;</a></span>io_miso</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">gpio_num_t bno08x_config_t::io_miso</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>MISO GPIO pin (connects to <a class="el" href="class_b_n_o08x.html">BNO08x</a> SDA pin) </p>
+
+</div>
+</div>
+<a id="a79023fd80039e41a22b7f73ccd5fc861" name="a79023fd80039e41a22b7f73ccd5fc861"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a79023fd80039e41a22b7f73ccd5fc861">&#9670;&#160;</a></span>io_mosi</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">gpio_num_t bno08x_config_t::io_mosi</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>MOSI GPIO pin (connects to <a class="el" href="class_b_n_o08x.html">BNO08x</a> DI pin) </p>
+
+</div>
+</div>
+<a id="a62745c761219139f66ecd173b51577fc" name="a62745c761219139f66ecd173b51577fc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a62745c761219139f66ecd173b51577fc">&#9670;&#160;</a></span>io_rst</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">gpio_num_t bno08x_config_t::io_rst</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Host interrupt pin (connects to <a class="el" href="class_b_n_o08x.html">BNO08x</a> INT pin) </p>
+
+</div>
+</div>
+<a id="a639685b91ae3198909d722316495246a" name="a639685b91ae3198909d722316495246a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a639685b91ae3198909d722316495246a">&#9670;&#160;</a></span>io_sclk</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">gpio_num_t bno08x_config_t::io_sclk</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>SCLK pin (connects to <a class="el" href="class_b_n_o08x.html">BNO08x</a> SCL pin) </p>
+
+</div>
+</div>
+<a id="a90ad7f316dc443874d19dc7e723a0ce0" name="a90ad7f316dc443874d19dc7e723a0ce0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a90ad7f316dc443874d19dc7e723a0ce0">&#9670;&#160;</a></span>io_wake</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">gpio_num_t bno08x_config_t::io_wake</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Reset pin (connects to <a class="el" href="class_b_n_o08x.html">BNO08x</a> RST pin) </p>
+<p>Wake pin (optional, connects to <a class="el" href="class_b_n_o08x.html">BNO08x</a> P0) </p>
+
+</div>
+</div>
+<a id="a231614c3b20888360def2ce9db83f52a" name="a231614c3b20888360def2ce9db83f52a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a231614c3b20888360def2ce9db83f52a">&#9670;&#160;</a></span>sclk_speed</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint32_t bno08x_config_t::sclk_speed</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Desired SPI SCLK speed in Hz (max 3MHz) </p>
+
+</div>
+</div>
+<a id="a020d2343750bb7debc2a108ae038c9ec" name="a020d2343750bb7debc2a108ae038c9ec"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a020d2343750bb7debc2a108ae038c9ec">&#9670;&#160;</a></span>spi_peripheral</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">spi_host_device_t bno08x_config_t::spi_peripheral</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>SPI peripheral to be used. </p>
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li><a class="el" href="_b_n_o08x_8hpp_source.html">BNO08x.hpp</a></li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="structbno08x__config__t.html">bno08x_config_t</a></li>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0 </li>
+  </ul>
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diff --git a/documentation/html/structbno08x__config__t.js b/documentation/html/structbno08x__config__t.js
new file mode 100644
index 0000000..ce75647
--- /dev/null
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+var structbno08x__config__t =
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+    [ "bno08x_config_t", "structbno08x__config__t.html#ae3b4bc522d30f9df7747ed46d0532c23", null ],
+    [ "io_cs", "structbno08x__config__t.html#ab1b5351b63da0c172c942463d0dc2505", null ],
+    [ "io_int", "structbno08x__config__t.html#a3cfe965659cfbc6b0c5269bd0211975f", null ],
+    [ "io_miso", "structbno08x__config__t.html#a9468180a773892977db39cc5ed9368e3", null ],
+    [ "io_mosi", "structbno08x__config__t.html#a79023fd80039e41a22b7f73ccd5fc861", null ],
+    [ "io_rst", "structbno08x__config__t.html#a62745c761219139f66ecd173b51577fc", null ],
+    [ "io_sclk", "structbno08x__config__t.html#a639685b91ae3198909d722316495246a", null ],
+    [ "io_wake", "structbno08x__config__t.html#a90ad7f316dc443874d19dc7e723a0ce0", null ],
+    [ "sclk_speed", "structbno08x__config__t.html#a231614c3b20888360def2ce9db83f52a", null ],
+    [ "spi_peripheral", "structbno08x__config__t.html#a020d2343750bb7debc2a108ae038c9ec", null ]
+];
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diff --git a/documentation/latex/Makefile b/documentation/latex/Makefile
new file mode 100644
index 0000000..7f82972
--- /dev/null
+++ b/documentation/latex/Makefile
@@ -0,0 +1,27 @@
+LATEX_CMD?=pdflatex
+MKIDX_CMD?=makeindex
+BIBTEX_CMD?=bibtex
+LATEX_COUNT?=8
+MANUAL_FILE?=refman
+
+all: $(MANUAL_FILE).pdf
+
+pdf: $(MANUAL_FILE).pdf
+
+$(MANUAL_FILE).pdf: clean $(MANUAL_FILE).tex
+	$(LATEX_CMD) $(MANUAL_FILE)
+	$(MKIDX_CMD) $(MANUAL_FILE).idx
+	$(LATEX_CMD) $(MANUAL_FILE)
+	latex_count=$(LATEX_COUNT) ; \
+	while grep -E -s 'Rerun (LaTeX|to get cross-references right|to get bibliographical references right)' $(MANUAL_FILE).log && [ $$latex_count -gt 0 ] ;\
+	    do \
+	      echo "Rerunning latex...." ;\
+	      $(LATEX_CMD) $(MANUAL_FILE) ;\
+	      latex_count=`expr $$latex_count - 1` ;\
+	    done
+	$(MKIDX_CMD) $(MANUAL_FILE).idx
+	$(LATEX_CMD) $(MANUAL_FILE)
+
+
+clean:
+	rm -f *.ps *.dvi *.aux *.toc *.idx *.ind *.ilg *.log *.out *.brf *.blg *.bbl $(MANUAL_FILE).pdf
diff --git a/documentation/latex/_b_n_o08x_8cpp.tex b/documentation/latex/_b_n_o08x_8cpp.tex
new file mode 100644
index 0000000..212164d
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_8cpp.tex
@@ -0,0 +1,11 @@
+\doxysection{BNO08x.\+cpp File Reference}
+\hypertarget{_b_n_o08x_8cpp}{}\label{_b_n_o08x_8cpp}\index{BNO08x.cpp@{BNO08x.cpp}}
+{\ttfamily \#include "{}BNO08x.\+hpp"{}}\newline
+Include dependency graph for BNO08x.\+cpp\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_8cpp__incl}
+\end{center}
+\end{figure}
diff --git a/documentation/latex/_b_n_o08x_8cpp__incl.md5 b/documentation/latex/_b_n_o08x_8cpp__incl.md5
new file mode 100644
index 0000000..aa4c2d4
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_8cpp__incl.md5
@@ -0,0 +1 @@
+c0ac2dff25e78209f8b6c692fa3431ec
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_8cpp__incl.pdf b/documentation/latex/_b_n_o08x_8cpp__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_8hpp.tex b/documentation/latex/_b_n_o08x_8hpp.tex
new file mode 100644
index 0000000..69d7091
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_8hpp.tex
@@ -0,0 +1,145 @@
+\doxysection{BNO08x.\+hpp File Reference}
+\hypertarget{_b_n_o08x_8hpp}{}\label{_b_n_o08x_8hpp}\index{BNO08x.hpp@{BNO08x.hpp}}
+{\ttfamily \#include $<$driver/gpio.\+h$>$}\newline
+{\ttfamily \#include $<$driver/spi\+\_\+common.\+h$>$}\newline
+{\ttfamily \#include $<$driver/spi\+\_\+master.\+h$>$}\newline
+{\ttfamily \#include $<$esp\+\_\+log.\+h$>$}\newline
+{\ttfamily \#include $<$esp\+\_\+rom\+\_\+gpio.\+h$>$}\newline
+{\ttfamily \#include $<$esp\+\_\+timer.\+h$>$}\newline
+{\ttfamily \#include $<$freertos/\+Free\+RTOS.\+h$>$}\newline
+{\ttfamily \#include $<$freertos/task.\+h$>$}\newline
+{\ttfamily \#include $<$freertos/event\+\_\+groups.\+h$>$}\newline
+{\ttfamily \#include $<$freertos/queue.\+h$>$}\newline
+{\ttfamily \#include $<$rom/ets\+\_\+sys.\+h$>$}\newline
+{\ttfamily \#include $<$inttypes.\+h$>$}\newline
+{\ttfamily \#include $<$math.\+h$>$}\newline
+{\ttfamily \#include $<$stdio.\+h$>$}\newline
+{\ttfamily \#include $<$cstring$>$}\newline
+{\ttfamily \#include $<$functional$>$}\newline
+{\ttfamily \#include $<$vector$>$}\newline
+Include dependency graph for BNO08x.\+hpp\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=152pt]{_b_n_o08x_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+struct \mbox{\hyperlink{structbno08x__config__t}{bno08x\+\_\+config\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em IMU configuration settings passed into constructor. \end{DoxyCompactList}\item 
+class \mbox{\hyperlink{class_b_n_o08x}{BNO08x}}
+\item 
+struct \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__rx__packet__t}{BNO08x\+::bno08x\+\_\+rx\+\_\+packet\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em Holds data that is received over spi. \end{DoxyCompactList}\item 
+struct \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__tx__packet__t}{BNO08x\+::bno08x\+\_\+tx\+\_\+packet\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em Holds data that is sent over spi. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Typedefs}
+\begin{DoxyCompactItemize}
+\item 
+typedef struct bno08x\+\_\+config\+\_\+t \mbox{\hyperlink{_b_n_o08x_8hpp_a648bbdbf22731476890dd8da977d7503}{bno08x\+\_\+config\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em IMU configuration settings passed into constructor. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Enumerations}
+\begin{DoxyCompactItemize}
+\item 
+enum \mbox{\hyperlink{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556b}{channels\+\_\+t}} \{ \newline
+\mbox{\hyperlink{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556ba1cb5955609063cff1ba49147e786e610}{CHANNEL\+\_\+\+COMMAND}}
+, \mbox{\hyperlink{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556ba8a5de65712767758887f8fad9523bb72}{CHANNEL\+\_\+\+EXECUTABLE}}
+, \mbox{\hyperlink{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556ba6c5ca5e5847c55b469afbb435e15b5f0}{CHANNEL\+\_\+\+CONTROL}}
+, \mbox{\hyperlink{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556ba22f0b2ae6fcdc8618a078b0579d09e4a}{CHANNEL\+\_\+\+REPORTS}}
+, \newline
+\mbox{\hyperlink{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556bafbb907d12060466f58dd56d3e2430747}{CHANNEL\+\_\+\+WAKE\+\_\+\+REPORTS}}
+, \mbox{\hyperlink{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556bafd513a698e54122cec579d9450482832}{CHANNEL\+\_\+\+GYRO}}
+ \}
+\begin{DoxyCompactList}\small\item\em SHTP protocol channels. \end{DoxyCompactList}\item 
+enum class \mbox{\hyperlink{_b_n_o08x_8hpp_adb7d85b4fa619c860031f469261c6279}{IMUAccuracy}} \{ \mbox{\hyperlink{_b_n_o08x_8hpp_adb7d85b4fa619c860031f469261c6279a41bc94cbd8eebea13ce0491b2ac11b88}{LOW}} = 1
+, \mbox{\hyperlink{_b_n_o08x_8hpp_adb7d85b4fa619c860031f469261c6279a2ad6d5975c45da2e711c796f3a1b029c}{MED}}
+, \mbox{\hyperlink{_b_n_o08x_8hpp_adb7d85b4fa619c860031f469261c6279ab89de3b4b81c4facfac906edf29aec8c}{HIGH}}
+ \}
+\begin{DoxyCompactList}\small\item\em Sensor accuracy returned during sensor calibration. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Typedef Documentation}
+\Hypertarget{_b_n_o08x_8hpp_a648bbdbf22731476890dd8da977d7503}\label{_b_n_o08x_8hpp_a648bbdbf22731476890dd8da977d7503} 
+\index{BNO08x.hpp@{BNO08x.hpp}!bno08x\_config\_t@{bno08x\_config\_t}}
+\index{bno08x\_config\_t@{bno08x\_config\_t}!BNO08x.hpp@{BNO08x.hpp}}
+\doxysubsubsection{\texorpdfstring{bno08x\_config\_t}{bno08x\_config\_t}}
+{\footnotesize\ttfamily typedef struct bno08x\+\_\+config\+\_\+t bno08x\+\_\+config\+\_\+t}
+
+
+
+IMU configuration settings passed into constructor. 
+
+
+
+\doxysubsection{Enumeration Type Documentation}
+\Hypertarget{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556b}\label{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556b} 
+\index{BNO08x.hpp@{BNO08x.hpp}!channels\_t@{channels\_t}}
+\index{channels\_t@{channels\_t}!BNO08x.hpp@{BNO08x.hpp}}
+\doxysubsubsection{\texorpdfstring{channels\_t}{channels\_t}}
+{\footnotesize\ttfamily enum \mbox{\hyperlink{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556b}{channels\+\_\+t}}}
+
+
+
+SHTP protocol channels. 
+
+\begin{DoxyEnumFields}{Enumerator}
+\raisebox{\heightof{T}}[0pt][0pt]{\index{CHANNEL\_COMMAND@{CHANNEL\_COMMAND}!BNO08x.hpp@{BNO08x.hpp}}\index{BNO08x.hpp@{BNO08x.hpp}!CHANNEL\_COMMAND@{CHANNEL\_COMMAND}}}\Hypertarget{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556ba1cb5955609063cff1ba49147e786e610}\label{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556ba1cb5955609063cff1ba49147e786e610} 
+CHANNEL\+\_\+\+COMMAND&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{CHANNEL\_EXECUTABLE@{CHANNEL\_EXECUTABLE}!BNO08x.hpp@{BNO08x.hpp}}\index{BNO08x.hpp@{BNO08x.hpp}!CHANNEL\_EXECUTABLE@{CHANNEL\_EXECUTABLE}}}\Hypertarget{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556ba8a5de65712767758887f8fad9523bb72}\label{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556ba8a5de65712767758887f8fad9523bb72} 
+CHANNEL\+\_\+\+EXECUTABLE&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{CHANNEL\_CONTROL@{CHANNEL\_CONTROL}!BNO08x.hpp@{BNO08x.hpp}}\index{BNO08x.hpp@{BNO08x.hpp}!CHANNEL\_CONTROL@{CHANNEL\_CONTROL}}}\Hypertarget{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556ba6c5ca5e5847c55b469afbb435e15b5f0}\label{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556ba6c5ca5e5847c55b469afbb435e15b5f0} 
+CHANNEL\+\_\+\+CONTROL&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{CHANNEL\_REPORTS@{CHANNEL\_REPORTS}!BNO08x.hpp@{BNO08x.hpp}}\index{BNO08x.hpp@{BNO08x.hpp}!CHANNEL\_REPORTS@{CHANNEL\_REPORTS}}}\Hypertarget{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556ba22f0b2ae6fcdc8618a078b0579d09e4a}\label{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556ba22f0b2ae6fcdc8618a078b0579d09e4a} 
+CHANNEL\+\_\+\+REPORTS&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{CHANNEL\_WAKE\_REPORTS@{CHANNEL\_WAKE\_REPORTS}!BNO08x.hpp@{BNO08x.hpp}}\index{BNO08x.hpp@{BNO08x.hpp}!CHANNEL\_WAKE\_REPORTS@{CHANNEL\_WAKE\_REPORTS}}}\Hypertarget{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556bafbb907d12060466f58dd56d3e2430747}\label{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556bafbb907d12060466f58dd56d3e2430747} 
+CHANNEL\+\_\+\+WAKE\+\_\+\+REPORTS&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{CHANNEL\_GYRO@{CHANNEL\_GYRO}!BNO08x.hpp@{BNO08x.hpp}}\index{BNO08x.hpp@{BNO08x.hpp}!CHANNEL\_GYRO@{CHANNEL\_GYRO}}}\Hypertarget{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556bafd513a698e54122cec579d9450482832}\label{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556bafd513a698e54122cec579d9450482832} 
+CHANNEL\+\_\+\+GYRO&\\
+\hline
+
+\end{DoxyEnumFields}
+\Hypertarget{_b_n_o08x_8hpp_adb7d85b4fa619c860031f469261c6279}\label{_b_n_o08x_8hpp_adb7d85b4fa619c860031f469261c6279} 
+\index{BNO08x.hpp@{BNO08x.hpp}!IMUAccuracy@{IMUAccuracy}}
+\index{IMUAccuracy@{IMUAccuracy}!BNO08x.hpp@{BNO08x.hpp}}
+\doxysubsubsection{\texorpdfstring{IMUAccuracy}{IMUAccuracy}}
+{\footnotesize\ttfamily enum class \mbox{\hyperlink{_b_n_o08x_8hpp_adb7d85b4fa619c860031f469261c6279}{IMUAccuracy}}\hspace{0.3cm}{\ttfamily [strong]}}
+
+
+
+Sensor accuracy returned during sensor calibration. 
+
+\begin{DoxyEnumFields}{Enumerator}
+\raisebox{\heightof{T}}[0pt][0pt]{\index{LOW@{LOW}!BNO08x.hpp@{BNO08x.hpp}}\index{BNO08x.hpp@{BNO08x.hpp}!LOW@{LOW}}}\Hypertarget{_b_n_o08x_8hpp_adb7d85b4fa619c860031f469261c6279a41bc94cbd8eebea13ce0491b2ac11b88}\label{_b_n_o08x_8hpp_adb7d85b4fa619c860031f469261c6279a41bc94cbd8eebea13ce0491b2ac11b88} 
+LOW&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{MED@{MED}!BNO08x.hpp@{BNO08x.hpp}}\index{BNO08x.hpp@{BNO08x.hpp}!MED@{MED}}}\Hypertarget{_b_n_o08x_8hpp_adb7d85b4fa619c860031f469261c6279a2ad6d5975c45da2e711c796f3a1b029c}\label{_b_n_o08x_8hpp_adb7d85b4fa619c860031f469261c6279a2ad6d5975c45da2e711c796f3a1b029c} 
+MED&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{HIGH@{HIGH}!BNO08x.hpp@{BNO08x.hpp}}\index{BNO08x.hpp@{BNO08x.hpp}!HIGH@{HIGH}}}\Hypertarget{_b_n_o08x_8hpp_adb7d85b4fa619c860031f469261c6279ab89de3b4b81c4facfac906edf29aec8c}\label{_b_n_o08x_8hpp_adb7d85b4fa619c860031f469261c6279ab89de3b4b81c4facfac906edf29aec8c} 
+HIGH&\\
+\hline
+
+\end{DoxyEnumFields}
diff --git a/documentation/latex/_b_n_o08x_8hpp__dep__incl.md5 b/documentation/latex/_b_n_o08x_8hpp__dep__incl.md5
new file mode 100644
index 0000000..e405e15
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@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_8hpp__dep__incl.pdf b/documentation/latex/_b_n_o08x_8hpp__dep__incl.pdf
new file mode 100644
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diff --git a/documentation/latex/_b_n_o08x_8hpp_source.tex b/documentation/latex/_b_n_o08x_8hpp_source.tex
new file mode 100644
index 0000000..8311e07
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_8hpp_source.tex
@@ -0,0 +1,482 @@
+\doxysection{BNO08x.\+hpp}
+\hypertarget{_b_n_o08x_8hpp_source}{}\label{_b_n_o08x_8hpp_source}\mbox{\hyperlink{_b_n_o08x_8hpp}{Go to the documentation of this file.}}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
+\DoxyCodeLine{00002\ \textcolor{comment}{//\ esp-\/idf\ includes}}
+\DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ <driver/gpio.h>}}
+\DoxyCodeLine{00004\ \textcolor{preprocessor}{\#include\ <driver/spi\_common.h>}}
+\DoxyCodeLine{00005\ \textcolor{preprocessor}{\#include\ <driver/spi\_master.h>}}
+\DoxyCodeLine{00006\ \textcolor{preprocessor}{\#include\ <esp\_log.h>}}
+\DoxyCodeLine{00007\ \textcolor{preprocessor}{\#include\ <esp\_rom\_gpio.h>}}
+\DoxyCodeLine{00008\ \textcolor{preprocessor}{\#include\ <esp\_timer.h>}}
+\DoxyCodeLine{00009\ \textcolor{preprocessor}{\#include\ <freertos/FreeRTOS.h>}}
+\DoxyCodeLine{00010\ \textcolor{preprocessor}{\#include\ <freertos/task.h>}}
+\DoxyCodeLine{00011\ \textcolor{preprocessor}{\#include\ <freertos/event\_groups.h>}}
+\DoxyCodeLine{00012\ \textcolor{preprocessor}{\#include\ <freertos/queue.h>}}
+\DoxyCodeLine{00013\ \textcolor{preprocessor}{\#include\ <rom/ets\_sys.h>}}
+\DoxyCodeLine{00014\ }
+\DoxyCodeLine{00015\ \textcolor{comment}{//\ standard\ library\ includes}}
+\DoxyCodeLine{00016\ \textcolor{preprocessor}{\#include\ <inttypes.h>}}
+\DoxyCodeLine{00017\ \textcolor{preprocessor}{\#include\ <math.h>}}
+\DoxyCodeLine{00018\ \textcolor{preprocessor}{\#include\ <stdio.h>}}
+\DoxyCodeLine{00019\ \textcolor{preprocessor}{\#include\ <cstring>}}
+\DoxyCodeLine{00020\ \textcolor{preprocessor}{\#include\ <functional>}}
+\DoxyCodeLine{00021\ \textcolor{preprocessor}{\#include\ <vector>}}
+\DoxyCodeLine{00022\ }
+\DoxyCodeLine{00024\ \textcolor{keyword}{enum}\ \mbox{\hyperlink{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556b}{channels\_t}}}
+\DoxyCodeLine{00025\ \{}
+\DoxyCodeLine{00026\ \ \ \ \ \mbox{\hyperlink{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556ba1cb5955609063cff1ba49147e786e610}{CHANNEL\_COMMAND}},}
+\DoxyCodeLine{00027\ \ \ \ \ \mbox{\hyperlink{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556ba8a5de65712767758887f8fad9523bb72}{CHANNEL\_EXECUTABLE}},}
+\DoxyCodeLine{00028\ \ \ \ \ \mbox{\hyperlink{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556ba6c5ca5e5847c55b469afbb435e15b5f0}{CHANNEL\_CONTROL}},}
+\DoxyCodeLine{00029\ \ \ \ \ \mbox{\hyperlink{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556ba22f0b2ae6fcdc8618a078b0579d09e4a}{CHANNEL\_REPORTS}},}
+\DoxyCodeLine{00030\ \ \ \ \ \mbox{\hyperlink{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556bafbb907d12060466f58dd56d3e2430747}{CHANNEL\_WAKE\_REPORTS}},}
+\DoxyCodeLine{00031\ \ \ \ \ \mbox{\hyperlink{_b_n_o08x_8hpp_aac50a1392dd0aa905500c755148c556bafd513a698e54122cec579d9450482832}{CHANNEL\_GYRO}}}
+\DoxyCodeLine{00032\ \};}
+\DoxyCodeLine{00033\ }
+\DoxyCodeLine{00035\ \textcolor{keyword}{enum\ class}\ \mbox{\hyperlink{_b_n_o08x_8hpp_adb7d85b4fa619c860031f469261c6279}{IMUAccuracy}}}
+\DoxyCodeLine{00036\ \{}
+\DoxyCodeLine{00037\ \ \ \ \ \mbox{\hyperlink{_b_n_o08x_8hpp_adb7d85b4fa619c860031f469261c6279a41bc94cbd8eebea13ce0491b2ac11b88}{LOW}}\ =\ 1,}
+\DoxyCodeLine{00038\ \ \ \ \ \mbox{\hyperlink{_b_n_o08x_8hpp_adb7d85b4fa619c860031f469261c6279a2ad6d5975c45da2e711c796f3a1b029c}{MED}},}
+\DoxyCodeLine{00039\ \ \ \ \ \mbox{\hyperlink{_b_n_o08x_8hpp_adb7d85b4fa619c860031f469261c6279ab89de3b4b81c4facfac906edf29aec8c}{HIGH}}}
+\DoxyCodeLine{00040\ \};}
+\DoxyCodeLine{00041\ }
+\DoxyCodeLine{00043\ \textcolor{keyword}{typedef}\ \textcolor{keyword}{struct\ }\mbox{\hyperlink{structbno08x__config__t}{bno08x\_config\_t}}}
+\DoxyCodeLine{00044\ \{}
+\DoxyCodeLine{00045\ \ \ \ \ \ \ \ \ spi\_host\_device\_t\ \mbox{\hyperlink{structbno08x__config__t_a020d2343750bb7debc2a108ae038c9ec}{spi\_peripheral}};\ }
+\DoxyCodeLine{00046\ \ \ \ \ \ \ \ \ gpio\_num\_t\ \mbox{\hyperlink{structbno08x__config__t_a79023fd80039e41a22b7f73ccd5fc861}{io\_mosi}};\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
+\DoxyCodeLine{00047\ \ \ \ \ \ \ \ \ gpio\_num\_t\ \mbox{\hyperlink{structbno08x__config__t_a9468180a773892977db39cc5ed9368e3}{io\_miso}};\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
+\DoxyCodeLine{00048\ \ \ \ \ \ \ \ \ gpio\_num\_t\ \mbox{\hyperlink{structbno08x__config__t_a639685b91ae3198909d722316495246a}{io\_sclk}};\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
+\DoxyCodeLine{00049\ \ \ \ \ \ \ \ \ gpio\_num\_t\ \mbox{\hyperlink{structbno08x__config__t_ab1b5351b63da0c172c942463d0dc2505}{io\_cs}};\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
+\DoxyCodeLine{00050\ \ \ \ \ \ \ \ \ gpio\_num\_t\ \mbox{\hyperlink{structbno08x__config__t_a3cfe965659cfbc6b0c5269bd0211975f}{io\_int}};\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
+\DoxyCodeLine{00051\ \ \ \ \ \ \ \ \ gpio\_num\_t\ \mbox{\hyperlink{structbno08x__config__t_a62745c761219139f66ecd173b51577fc}{io\_rst}};\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
+\DoxyCodeLine{00052\ \ \ \ \ \ \ \ \ gpio\_num\_t\ \mbox{\hyperlink{structbno08x__config__t_a90ad7f316dc443874d19dc7e723a0ce0}{io\_wake}};\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
+\DoxyCodeLine{00053\ \ \ \ \ \ \ \ \ uint32\_t\ \mbox{\hyperlink{structbno08x__config__t_a231614c3b20888360def2ce9db83f52a}{sclk\_speed}};\ \ \ \ \ \ \ \ \ \ \ \ \ \ }
+\DoxyCodeLine{00054\ }
+\DoxyCodeLine{00058\ \ \ \ \ \ \ \ \ \mbox{\hyperlink{structbno08x__config__t_abf8805292192f4c30c5000423175a2e1}{bno08x\_config\_t}}()}
+\DoxyCodeLine{00059\ \ \ \ \ \ \ \ \ \ \ \ \ :\ \mbox{\hyperlink{structbno08x__config__t_a020d2343750bb7debc2a108ae038c9ec}{spi\_peripheral}}((spi\_host\_device\_t)CONFIG\_ESP32\_BNO08x\_SPI\_HOST)}
+\DoxyCodeLine{00060\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_a79023fd80039e41a22b7f73ccd5fc861}{io\_mosi}}((gpio\_num\_t)CONFIG\_ESP32\_BNO08X\_GPIO\_DI)\ \textcolor{comment}{//\ default:}}
+\DoxyCodeLine{00061\ \ \ \ \ \ \ \ \ \ \ \ \ ,\ \mbox{\hyperlink{structbno08x__config__t_a9468180a773892977db39cc5ed9368e3}{io\_miso}}((gpio\_num\_t)CONFIG\_ESP32\_BNO08X\_GPIO\_SDA)\ \textcolor{comment}{//\ default:}}
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+\DoxyCodeLine{00184\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a5a556c5ec1baaa7f1156779dbe47a7b7}{get\_quat\_real}}();}
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+\DoxyCodeLine{00188\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a9329c6669282071622c3b3741b1b8142}{get\_accel}}(\textcolor{keywordtype}{float}\&\ x,\ \textcolor{keywordtype}{float}\&\ y,\ \textcolor{keywordtype}{float}\&\ z,\ uint8\_t\&\ accuracy);}
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+\DoxyCodeLine{00194\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_ad59b029d04341dbef72e059488951980}{get\_linear\_accel}}(\textcolor{keywordtype}{float}\&\ x,\ \textcolor{keywordtype}{float}\&\ y,\ \textcolor{keywordtype}{float}\&\ z,\ uint8\_t\&\ accuracy);}
+\DoxyCodeLine{00195\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a763c3a9699a1081d430fd9b9b7bc49a3}{get\_linear\_accel\_X}}();}
+\DoxyCodeLine{00196\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a1033bdd65b42b6706d1dfc67ece66191}{get\_linear\_accel\_Y}}();}
+\DoxyCodeLine{00197\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_afdfa7d50362702da689c5d18bf17fd84}{get\_linear\_accel\_Z}}();}
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+\DoxyCodeLine{00208\ \ \ \ \ \ \ \ \ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_adf12600b39de41d258439a343fcc1ad8}{get\_raw\_magf\_X}}();}
+\DoxyCodeLine{00209\ \ \ \ \ \ \ \ \ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_a2c842e43ceae19149f6525bcbc48f1cf}{get\_raw\_magf\_Y}}();}
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+\DoxyCodeLine{00213\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_ab7977391191067282e7f734b9ee45059}{get\_gyro\_calibrated\_velocity\_X}}();}
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+\DoxyCodeLine{00218\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a1bd3c33e70354bd35a78b83b6786b531}{get\_uncalibrated\_gyro}}(\textcolor{keywordtype}{float}\&\ x,\ \textcolor{keywordtype}{float}\&\ y,\ \textcolor{keywordtype}{float}\&\ z,\ \textcolor{keywordtype}{float}\&\ bx,\ \textcolor{keywordtype}{float}\&\ by,\ \textcolor{keywordtype}{float}\&\ bz,\ uint8\_t\&\ accuracy);}
+\DoxyCodeLine{00219\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a289ff66f51c94be62c4a556f3a5997bf}{get\_uncalibrated\_gyro\_X}}();}
+\DoxyCodeLine{00220\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a1874e4bd457bb5b6ecc2c64039b88ba4}{get\_uncalibrated\_gyro\_Y}}();}
+\DoxyCodeLine{00221\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a0a73633d8929ce4058b14cefc8cad717}{get\_uncalibrated\_gyro\_Z}}();}
+\DoxyCodeLine{00222\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_ad228cdf352b7ea95e484da993045a47b}{get\_uncalibrated\_gyro\_bias\_X}}();}
+\DoxyCodeLine{00223\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a74725517129dd548c7a3de705d5861bd}{get\_uncalibrated\_gyro\_bias\_Y}}();}
+\DoxyCodeLine{00224\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a5050359272abd146ab3c7a6101effbd7}{get\_uncalibrated\_gyro\_bias\_Z}}();}
+\DoxyCodeLine{00225\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a3285613f18b2f2f4c3f9e6d5c971af10}{get\_uncalibrated\_gyro\_accuracy}}();}
+\DoxyCodeLine{00226\ }
+\DoxyCodeLine{00227\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_afe6392012669e7ebd1a9e817e2bd313f}{get\_gyro\_velocity}}(\textcolor{keywordtype}{float}\&\ x,\ \textcolor{keywordtype}{float}\&\ y,\ \textcolor{keywordtype}{float}\&\ z);}
+\DoxyCodeLine{00228\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_acd376cd3e454a87198ec86accbf2ee00}{get\_gyro\_velocity\_X}}();}
+\DoxyCodeLine{00229\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_acd1819a81818f90dc105950b4a7d0b04}{get\_gyro\_velocity\_Y}}();}
+\DoxyCodeLine{00230\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_ae2add976af256ec981248371a2f58207}{get\_gyro\_velocity\_Z}}();}
+\DoxyCodeLine{00231\ }
+\DoxyCodeLine{00232\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a4797ec731de4c158716da1a7af9d1602}{get\_tap\_detector}}();}
+\DoxyCodeLine{00233\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_adaff49f3d80fdd19fd4210f0c56d41ef}{get\_step\_count}}();}
+\DoxyCodeLine{00234\ \ \ \ \ \ \ \ \ int8\_t\ \mbox{\hyperlink{class_b_n_o08x_a0d148e00abcfeec48c689e3084a7e786}{get\_stability\_classifier}}();}
+\DoxyCodeLine{00235\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a4f7060b2d3c15b359b70b6346730446a}{get\_activity\_classifier}}();}
+\DoxyCodeLine{00236\ }
+\DoxyCodeLine{00237\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ Metadata\ functions}}
+\DoxyCodeLine{00238\ \ \ \ \ \ \ \ \ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_a4421c43323945946ad605f8422958dcf}{get\_Q1}}(uint16\_t\ record\_ID);}
+\DoxyCodeLine{00239\ \ \ \ \ \ \ \ \ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_a954dccdcbe8a8c4f1787f13ebb8d932b}{get\_Q2}}(uint16\_t\ record\_ID);}
+\DoxyCodeLine{00240\ \ \ \ \ \ \ \ \ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_a1590ba793668f9cb1a32a1f4dd07cb9a}{get\_Q3}}(uint16\_t\ record\_ID);}
+\DoxyCodeLine{00241\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a1d6ea02d0d4b23ff6a15e9d5c6c92372}{get\_resolution}}(uint16\_t\ record\_ID);}
+\DoxyCodeLine{00242\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{float}\ \mbox{\hyperlink{class_b_n_o08x_a0fff04c42c9502615ad73cd1457cb9b0}{get\_range}}(uint16\_t\ record\_ID);}
+\DoxyCodeLine{00243\ \ \ \ \ \ \ \ \ uint32\_t\ \mbox{\hyperlink{class_b_n_o08x_a27f5dce5c994be18a587fb622574ad41}{FRS\_read\_word}}(uint16\_t\ record\_ID,\ uint8\_t\ word\_number);}
+\DoxyCodeLine{00244\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{class_b_n_o08x_adf789e709ac1667656db757c8d559af9}{FRS\_read\_request}}(uint16\_t\ record\_ID,\ uint16\_t\ read\_offset,\ uint16\_t\ block\_size);}
+\DoxyCodeLine{00245\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{class_b_n_o08x_a40607e557eada666a5e1e416f42cd4a1}{FRS\_read\_data}}(uint16\_t\ record\_ID,\ uint8\_t\ start\_location,\ uint8\_t\ words\_to\_read);}
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+\DoxyCodeLine{00247\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ Record\ IDs\ from\ figure\ 29,\ page\ 29\ reference\ manual}}
+\DoxyCodeLine{00248\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ These\ are\ used\ to\ read\ the\ metadata\ for\ each\ sensor\ type}}
+\DoxyCodeLine{00249\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_ad7ef7d7068af5f92239c12022dbeb16d}{FRS\_RECORD\_ID\_ACCELEROMETER}}\ =}
+\DoxyCodeLine{00250\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ 0xE302;\ }
+\DoxyCodeLine{00251\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_a35d8f641e73c308f92a5a0a772f90f48}{FRS\_RECORD\_ID\_GYROSCOPE\_CALIBRATED}}\ =}
+\DoxyCodeLine{00252\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ 0xE306;\ }
+\DoxyCodeLine{00253\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_a0992d77f9bae0b8e3c8d9331fe84fe24}{FRS\_RECORD\_ID\_MAGNETIC\_FIELD\_CALIBRATED}}\ =}
+\DoxyCodeLine{00254\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ 0xE309;\ }
+\DoxyCodeLine{00255\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_a9f35840b19c8ad11fd1b4622c3269250}{FRS\_RECORD\_ID\_ROTATION\_VECTOR}}\ =}
+\DoxyCodeLine{00256\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ 0xE30B;\ }
+\DoxyCodeLine{00257\ }
+\DoxyCodeLine{00258\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a1ef13f6f330810934416ad5fe0ee55b2}{TARE\_AXIS\_ALL}}\ =\ 0x07;\ }
+\DoxyCodeLine{00259\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_aecb3e11c1ca5769fd60f42c17a105731}{TARE\_AXIS\_Z}}\ =\ 0x04;\ \ \ }
+\DoxyCodeLine{00260\ }
+\DoxyCodeLine{00261\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ Which\ rotation\ vector\ to\ tare,\ BNO08x\ saves\ them\ seperately}}
+\DoxyCodeLine{00262\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a8e2cfc25d0e34ae53a762b88cc3ac3c8}{TARE\_ROTATION\_VECTOR}}\ =\ 0;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
+\DoxyCodeLine{00263\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_abaf1ec8bb197db1998a9ed3cec6180d5}{TARE\_GAME\_ROTATION\_VECTOR}}\ =\ 1;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
+\DoxyCodeLine{00264\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a225397a04d849e5647992ca80d68febb}{TARE\_GEOMAGNETIC\_ROTATION\_VECTOR}}\ =\ 2;\ \ \ \ \ \ \ \ \ \ }
+\DoxyCodeLine{00265\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a9ec354d75249f06f13599abf7bedfde0}{TARE\_GYRO\_INTEGRATED\_ROTATION\_VECTOR}}\ =\ 3;\ \ \ \ \ \ }
+\DoxyCodeLine{00266\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_abff9abe904bcdde951cf88c378284b45}{TARE\_ARVR\_STABILIZED\_ROTATION\_VECTOR}}\ =\ 4;\ \ \ \ \ \ }
+\DoxyCodeLine{00267\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a68aaaab144adbe5af00597408f044d9d}{TARE\_ARVR\_STABILIZED\_GAME\_ROTATION\_VECTOR}}\ =\ 5;\ }
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+\DoxyCodeLine{00270\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_a923d65d8568cc31873ad56a3908e1939}{ROTATION\_VECTOR\_ACCURACY\_Q1}}\ =\ 12;\ }
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+\DoxyCodeLine{00272\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_ad0d37fe07ced24f2c9afc21145a74e7b}{LINEAR\_ACCELEROMETER\_Q1}}\ =\ 8;\ \ \ \ \ \ }
+\DoxyCodeLine{00273\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_aa3bec8effefa61cec6fa170e9d02c4dd}{GYRO\_Q1}}\ =\ 9;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
+\DoxyCodeLine{00274\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_a9fac9b811b7c2117675a784cb4df204c}{MAGNETOMETER\_Q1}}\ =\ 4;\ \ \ \ \ \ \ \ \ \ \ \ \ \ }
+\DoxyCodeLine{00275\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_aafe117561fe9138800073a04a778b4ce}{ANGULAR\_VELOCITY\_Q1}}\ =\ 10;\ \ \ \ \ \ \ \ \ }
+\DoxyCodeLine{00276\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ int16\_t\ \mbox{\hyperlink{class_b_n_o08x_ae10722334dfce9635e76519598e165a2}{GRAVITY\_Q1}}\ =\ 8;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
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+\DoxyCodeLine{00278\ \ \ \ \ \textcolor{keyword}{private}:}
+\DoxyCodeLine{00280\ \ \ \ \ \ \ \ \ \textcolor{keyword}{typedef}\ \textcolor{keyword}{struct\ }\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__rx__packet__t}{bno08x\_rx\_packet\_t}}}
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+\DoxyCodeLine{00284\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__rx__packet__t_a645adb6ba8fb2afbb99ec58fe678e205}{length}};\ \ \ }
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+\DoxyCodeLine{00286\ }
+\DoxyCodeLine{00288\ \ \ \ \ \ \ \ \ \textcolor{keyword}{typedef}\ \textcolor{keyword}{struct\ }\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__tx__packet__t}{bno08x\_tx\_packet\_t}}}
+\DoxyCodeLine{00289\ \ \ \ \ \ \ \ \ \{}
+\DoxyCodeLine{00290\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__tx__packet__t_a4478c6cd9e87907eacc56dd06ad4a69d}{body}}[50];\ }
+\DoxyCodeLine{00291\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__tx__packet__t_a73180537ea7605340c5e6b2132e2cbf5}{length}};\ \ }
+\DoxyCodeLine{00292\ \ \ \ \ \ \ \ \ \}\ \mbox{\hyperlink{class_b_n_o08x_a3a1a869ac69e6ee850bd2a7f90dd8945}{bno08x\_tx\_packet\_t}};}
+\DoxyCodeLine{00293\ }
+\DoxyCodeLine{00294\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{class_b_n_o08x_a2897a178bf2c53cd99df0d4570edf72e}{wait\_for\_rx\_done}}();}
+\DoxyCodeLine{00295\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{class_b_n_o08x_a7cdeb849e728487de961cdfd4030c773}{wait\_for\_tx\_done}}();}
+\DoxyCodeLine{00296\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{class_b_n_o08x_a4f12de628073f44b2a3fab2688cf1caf}{wait\_for\_data}}();}
+\DoxyCodeLine{00297\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{class_b_n_o08x_ae540799865934fcff54caed0772df071}{receive\_packet}}();}
+\DoxyCodeLine{00298\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a2c359a44a2c8e83ecb258a340e2d0e1a}{send\_packet}}(\mbox{\hyperlink{class_b_n_o08x_a3a1a869ac69e6ee850bd2a7f90dd8945}{bno08x\_tx\_packet\_t}}*\ packet);}
+\DoxyCodeLine{00299\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a41613e65ea9beef883184b7ef67affdd}{enable\_report}}(uint8\_t\ report\_ID,\ uint32\_t\ time\_between\_reports,\ \textcolor{keyword}{const}\ EventBits\_t\ report\_evt\_grp\_bit);}
+\DoxyCodeLine{00300\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a00ec3857cb06ae885e32059ef1cab693}{disable\_report}}(uint8\_t\ report\_ID,\ \textcolor{keyword}{const}\ EventBits\_t\ report\_evt\_grp\_bit);}
+\DoxyCodeLine{00301\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a62c570ba96512f4d0d10b2594048de1f}{queue\_packet}}(uint8\_t\ channel\_number,\ uint8\_t\ data\_length,\ uint8\_t*\ commands);}
+\DoxyCodeLine{00302\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a5cc58139e4d5f0587b90e249ceb476f9}{queue\_command}}(uint8\_t\ command,\ uint8\_t*\ commands);}
+\DoxyCodeLine{00303\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_af2951f6ea448af7cf7932fbfed9fec3c}{queue\_feature\_command}}(uint8\_t\ report\_ID,\ uint32\_t\ time\_between\_reports);}
+\DoxyCodeLine{00304\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_af2951f6ea448af7cf7932fbfed9fec3c}{queue\_feature\_command}}(uint8\_t\ report\_ID,\ uint32\_t\ time\_between\_reports,\ uint32\_t\ specific\_config);}
+\DoxyCodeLine{00305\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_ad097849616c5caab1fd3eb3632ee2b91}{queue\_calibrate\_command}}(uint8\_t\ \_to\_calibrate);}
+\DoxyCodeLine{00306\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a4c6353e795f734ed28613f9a3d161ea2}{queue\_tare\_command}}(uint8\_t\ command,\ uint8\_t\ axis\ =\ \mbox{\hyperlink{class_b_n_o08x_a1ef13f6f330810934416ad5fe0ee55b2}{TARE\_AXIS\_ALL}},\ uint8\_t\ rotation\_vector\_basis\ =\ \mbox{\hyperlink{class_b_n_o08x_a8e2cfc25d0e34ae53a762b88cc3ac3c8}{TARE\_ROTATION\_VECTOR}});}
+\DoxyCodeLine{00307\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_ab5f200069a2f8cb74cb79c6f162da5a1}{queue\_request\_product\_id\_command}}();}
+\DoxyCodeLine{00308\ }
+\DoxyCodeLine{00309\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_a67a697595d6a4d4638a53c6b4a5ef0cd}{parse\_packet}}(\mbox{\hyperlink{class_b_n_o08x_a407711b4a84223a52cc043a152aea8ba}{bno08x\_rx\_packet\_t}}*\ packet);}
+\DoxyCodeLine{00310\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_a29cfd7fc2816483ebebe9d55b677a036}{parse\_product\_id\_report}}(\mbox{\hyperlink{class_b_n_o08x_a407711b4a84223a52cc043a152aea8ba}{bno08x\_rx\_packet\_t}}*\ packet);}
+\DoxyCodeLine{00311\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_a51b360d795563b55559f11efb40be36a}{parse\_frs\_read\_response\_report}}(\mbox{\hyperlink{class_b_n_o08x_a407711b4a84223a52cc043a152aea8ba}{bno08x\_rx\_packet\_t}}*\ packet);}
+\DoxyCodeLine{00312\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_a8d9db3e1b6208c2661e1c543deefa53d}{parse\_input\_report}}(\mbox{\hyperlink{class_b_n_o08x_a407711b4a84223a52cc043a152aea8ba}{bno08x\_rx\_packet\_t}}*\ packet);}
+\DoxyCodeLine{00313\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_a4f66045a0528a0c17c52421ea51612e7}{parse\_command\_report}}(\mbox{\hyperlink{class_b_n_o08x_a407711b4a84223a52cc043a152aea8ba}{bno08x\_rx\_packet\_t}}*\ packet);}
+\DoxyCodeLine{00314\ }
+\DoxyCodeLine{00315\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ for\ debug}}
+\DoxyCodeLine{00316\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a35856c108a47de8b3b38c4395aabb4eb}{print\_header}}(\mbox{\hyperlink{class_b_n_o08x_a407711b4a84223a52cc043a152aea8ba}{bno08x\_rx\_packet\_t}}*\ packet);}
+\DoxyCodeLine{00317\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a05e4cd5861b55fc0182d7dd13bb85e49}{print\_packet}}(\mbox{\hyperlink{class_b_n_o08x_a407711b4a84223a52cc043a152aea8ba}{bno08x\_rx\_packet\_t}}*\ packet);}
+\DoxyCodeLine{00318\ }
+\DoxyCodeLine{00319\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \mbox{\hyperlink{structbno08x__config__t}{bno08x\_config\_t}}\ \mbox{\hyperlink{class_b_n_o08x_a6232920a05c0aba34e5560951a20ae87}{default\_imu\_config}};\ }
+\DoxyCodeLine{00320\ }
+\DoxyCodeLine{00321\ \ \ \ \ \ \ \ \ EventGroupHandle\_t}
+\DoxyCodeLine{00322\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_aa2b4442b5cc63ebf0c495e6fb537c85e}{evt\_grp\_spi}};\ }
+\DoxyCodeLine{00323\ \ \ \ \ \ \ \ \ EventGroupHandle\_t\ \mbox{\hyperlink{class_b_n_o08x_a63eb6c8be6f3bc943a86bb0496871275}{evt\_grp\_report\_en}};\ }
+\DoxyCodeLine{00324\ }
+\DoxyCodeLine{00325\ \ \ \ \ \ \ \ \ QueueHandle\_t\ \mbox{\hyperlink{class_b_n_o08x_a7d4661d3aae56013caa8f2bff0f67c08}{queue\_rx\_data}};\ \ \ \ \ \ \ }
+\DoxyCodeLine{00326\ \ \ \ \ \ \ \ \ QueueHandle\_t\ \mbox{\hyperlink{class_b_n_o08x_a4d5c5eee87a578de9c8318cd294b3a22}{queue\_tx\_data}};\ \ \ \ \ \ \ }
+\DoxyCodeLine{00327\ \ \ \ \ \ \ \ \ QueueHandle\_t\ \mbox{\hyperlink{class_b_n_o08x_a9a1c851e8fa5633e11f6abee293d7e9b}{queue\_frs\_read\_data}};\ }
+\DoxyCodeLine{00328\ \ \ \ \ \ \ \ \ QueueHandle\_t\ \mbox{\hyperlink{class_b_n_o08x_a84b3639cc159262e0137adb0db5cf9aa}{queue\_reset\_reason}};\ \ }
+\DoxyCodeLine{00329\ }
+\DoxyCodeLine{00330\ \ \ \ \ \ \ \ \ std::vector<std::function<void()>>\ \mbox{\hyperlink{class_b_n_o08x_a6a15e3a64dd71ea61f0448afcce96409}{cb\_list}};\ \textcolor{comment}{//\ Vector\ for\ storing\ any\ call-\/back\ functions\ added\ with\ register\_cb()}}
+\DoxyCodeLine{00331\ }
+\DoxyCodeLine{00332\ \ \ \ \ \ \ \ \ uint32\_t\ \mbox{\hyperlink{class_b_n_o08x_a7bd032712a975e73e66bd72a3502baba}{meta\_data}}[9];\ }
+\DoxyCodeLine{00333\ }
+\DoxyCodeLine{00334\ \ \ \ \ \ \ \ \ \mbox{\hyperlink{structbno08x__config__t}{bno08x\_config\_t}}\ \mbox{\hyperlink{class_b_n_o08x_aeda443e9f608fccfec0e6770edc90c82}{imu\_config}}\{\};\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
+\DoxyCodeLine{00335\ \ \ \ \ \ \ \ \ spi\_bus\_config\_t\ \mbox{\hyperlink{class_b_n_o08x_a982f065df42f00e53fd87c840efdb0f1}{bus\_config}}\{\};\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
+\DoxyCodeLine{00336\ \ \ \ \ \ \ \ \ spi\_device\_interface\_config\_t\ \mbox{\hyperlink{class_b_n_o08x_a425a1f5a9f3232aadc685caaf4c2f82e}{imu\_spi\_config}}\{\};\ }
+\DoxyCodeLine{00337\ \ \ \ \ \ \ \ \ spi\_device\_handle\_t\ \mbox{\hyperlink{class_b_n_o08x_acc0ea091465fc9a5736f5e0c6a0ce8ef}{spi\_hdl}}\{\};\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
+\DoxyCodeLine{00338\ \ \ \ \ \ \ \ \ spi\_transaction\_t\ \mbox{\hyperlink{class_b_n_o08x_ac16adc5f00b0039c98a4921f13895026}{spi\_transaction}}\{\};\ \ \ \ \ \ \ \ \ \ \ \ }
+\DoxyCodeLine{00339\ }
+\DoxyCodeLine{00340\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ These\ are\ the\ raw\ sensor\ values\ (without\ Q\ applied)\ pulled\ from\ the\ user\ requested\ Input\ Report}}
+\DoxyCodeLine{00341\ \ \ \ \ \ \ \ \ uint32\_t\ \mbox{\hyperlink{class_b_n_o08x_abc972db20affbd0040b4e6c4892dd57b}{time\_stamp}};\ }
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+\DoxyCodeLine{00343\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_a3365b7ebde01e284274e655c60343df9}{accel\_accuracy}};\ }
+\DoxyCodeLine{00344\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_ae1f71a432cb15e75f522fa18f29f4d50}{raw\_lin\_accel\_X}},\ \mbox{\hyperlink{class_b_n_o08x_aff3a5590471d1c9fc485a5610433915f}{raw\_lin\_accel\_Y}},\ \mbox{\hyperlink{class_b_n_o08x_abc8add47f1babc66c812a015614143d3}{raw\_lin\_accel\_Z}},}
+\DoxyCodeLine{00345\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_a35e1635ef5edde8fc8640f978c6f2e3c}{accel\_lin\_accuracy}};\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
+\DoxyCodeLine{00346\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_a19696327a056a448ed5ba706e747bbe5}{raw\_gyro\_X}},\ \mbox{\hyperlink{class_b_n_o08x_a61df9f571555f5f682eb51f24a279489}{raw\_gyro\_Y}},\ \mbox{\hyperlink{class_b_n_o08x_a03f567cda2a3cc966301e96732fca9ad}{raw\_gyro\_Z}},\ \mbox{\hyperlink{class_b_n_o08x_a98ea35dd0fbd0c409d25fd8a6ed9f277}{gyro\_accuracy}};\ }
+\DoxyCodeLine{00347\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_a69dc7e97875060213085ba964b3bd987}{raw\_quat\_I}},\ \mbox{\hyperlink{class_b_n_o08x_a61ae05dc5572b326541bf8099f0c2a54}{raw\_quat\_J}},\ \mbox{\hyperlink{class_b_n_o08x_a7720c44ed1c0f1a0663d2adc5e1a1ea1}{raw\_quat\_K}},\ \mbox{\hyperlink{class_b_n_o08x_a867354267253ae828be4fae15c062db3}{raw\_quat\_real}},\ \mbox{\hyperlink{class_b_n_o08x_a033d6cb1aa137743b69cc3e401df67b7}{raw\_quat\_radian\_accuracy}},}
+\DoxyCodeLine{00348\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_a36223f7124751fa71e860b2ef55dd2ac}{quat\_accuracy}};\ }
+\DoxyCodeLine{00349\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_aa5bb03dbeabed729c012ec7164a3354f}{raw\_velocity\_gyro\_X}},\ \mbox{\hyperlink{class_b_n_o08x_a4f188bf76ba862f07606d1351d28548f}{raw\_velocity\_gyro\_Y}},}
+\DoxyCodeLine{00350\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_ab49f9a6586d709bbd26280ef44a4bbf7}{raw\_velocity\_gyro\_Z}};\ }
+\DoxyCodeLine{00351\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_af45016be9ea523d80be8467b2907b499}{gravity\_X}},\ \mbox{\hyperlink{class_b_n_o08x_af20dcd487a9fe8fa6243817d51e37be5}{gravity\_Y}},\ \mbox{\hyperlink{class_b_n_o08x_afa1cf5c3afbb258d97c55c5fb187f2d6}{gravity\_Z}},}
+\DoxyCodeLine{00352\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_ae01698d287ea999179a11e2244902022}{gravity\_accuracy}};\ }
+\DoxyCodeLine{00353\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_afdc5cdb65bd0b36528b5b671b9d27053}{raw\_uncalib\_gyro\_X}},\ \mbox{\hyperlink{class_b_n_o08x_acc2c66e2985975266a286385ea855117}{raw\_uncalib\_gyro\_Y}},\ \mbox{\hyperlink{class_b_n_o08x_afac9dd4161f4c0051255293680c9082b}{raw\_uncalib\_gyro\_Z}},\ \mbox{\hyperlink{class_b_n_o08x_a8a2667f668317cee0a9fc4ef0accc3f5}{raw\_bias\_X}},\ \mbox{\hyperlink{class_b_n_o08x_ac38ff5eb93d3c3db0af2504ba02fd93c}{raw\_bias\_Y}},\ \mbox{\hyperlink{class_b_n_o08x_a0968eaed9b3d979a2caa1aba6e6b417a}{raw\_bias\_Z}},}
+\DoxyCodeLine{00354\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_a081c666a3f24016d0ec5c5edc49f2903}{uncalib\_gyro\_accuracy}};\ }
+\DoxyCodeLine{00355\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_aa5bdf740161b7c37adcac0154a410118}{raw\_magf\_X}},\ \mbox{\hyperlink{class_b_n_o08x_acd365418f24a6da61122c66d82086639}{raw\_magf\_Y}},\ \mbox{\hyperlink{class_b_n_o08x_ab4862de31d0874b44b6745678e1c905e}{raw\_magf\_Z}},}
+\DoxyCodeLine{00356\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_ac5d4e151690774687efa951ca41c16ae}{magf\_accuracy}};\ \ \ \ \ \ \ \ \ }
+\DoxyCodeLine{00357\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a1171a5738a4e6831ec7fa32a29f15554}{tap\_detector}};\ \ \ \ \ \ \ \ \ \ }
+\DoxyCodeLine{00358\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_ad80a77973371b12d722ea39063c648be}{step\_count}};\ \ \ \ \ \ \ \ \ \ \ }
+\DoxyCodeLine{00359\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a1b12471e92536a79d0c425d77676f2e1}{stability\_classifier}};\ \ }
+\DoxyCodeLine{00360\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a75cea49c1c08ca28d9fa7e5ed61c6e7b}{activity\_classifier}};\ \ \ }
+\DoxyCodeLine{00361\ \ \ \ \ \ \ \ \ uint8\_t*\ \mbox{\hyperlink{class_b_n_o08x_af96e8cd070459f945ffbf01b98106e13}{activity\_confidences}};\ }
+\DoxyCodeLine{00362\ \ \ \ \ \ \ \ \ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_ad212b5028a31e857e76d251ced2724e1}{calibration\_status}};\ \ \ \ }
+\DoxyCodeLine{00363\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_a937cbdc4edaac72c8cad041d79de5701}{mems\_raw\_accel\_X}},\ \mbox{\hyperlink{class_b_n_o08x_ad83cecb8a5d2be01db6792755b6057e9}{mems\_raw\_accel\_Y}},}
+\DoxyCodeLine{00364\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_a59a4d75f1302ab693b1b26e9ccaa5341}{mems\_raw\_accel\_Z}};\ }
+\DoxyCodeLine{00365\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_a3d6b6257462951ea023af7076c80f6dd}{mems\_raw\_gyro\_X}},\ \mbox{\hyperlink{class_b_n_o08x_ab6b142416912a096886dd63ad0beb865}{mems\_raw\_gyro\_Y}},}
+\DoxyCodeLine{00366\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_ac35d5b12721ab876eaeb1f714a9b3b1d}{mems\_raw\_gyro\_Z}};\ }
+\DoxyCodeLine{00367\ \ \ \ \ \ \ \ \ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_ab587cdf991342b69b7fff3b33f537eb5}{mems\_raw\_magf\_X}},\ \mbox{\hyperlink{class_b_n_o08x_aad926054c81818fff611e10ed913706a}{mems\_raw\_magf\_Y}},}
+\DoxyCodeLine{00368\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_a90f0cdf11decc276006f76a494d42ce3}{mems\_raw\_magf\_Z}};\ }
+\DoxyCodeLine{00369\ }
+\DoxyCodeLine{00370\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ spi\ task}}
+\DoxyCodeLine{00371\ \ \ \ \ \ \ \ \ TaskHandle\_t\ \mbox{\hyperlink{class_b_n_o08x_a615090aae15f1b0410a7e5ecb94957b5}{spi\_task\_hdl}};\ }
+\DoxyCodeLine{00372\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a0ce6d9db873555f1ebe7e095251eab74}{spi\_task\_trampoline}}(\textcolor{keywordtype}{void}*\ arg);}
+\DoxyCodeLine{00373\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a2ecd4ed60f82730ae230c61687ec92bf}{spi\_task}}();}
+\DoxyCodeLine{00374\ }
+\DoxyCodeLine{00375\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ data\ processing\ task}}
+\DoxyCodeLine{00376\ \ \ \ \ \ \ \ \ TaskHandle\_t\ \mbox{\hyperlink{class_b_n_o08x_af9b6fbf35e7cd55d517d30c6429a21a4}{data\_proc\_task\_hdl}};\ }
+\DoxyCodeLine{00377\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_a0ae135d7bf7a5f047a1d1aa5cc07e520}{data\_proc\_task\_trampoline}}(\textcolor{keywordtype}{void}*\ arg);}
+\DoxyCodeLine{00378\ \ \ \ \ \ \ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_b_n_o08x_ab4373e9b87837ea9fcbc0b536338c7b8}{data\_proc\_task}}();}
+\DoxyCodeLine{00379\ }
+\DoxyCodeLine{00380\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keywordtype}{void}\ IRAM\_ATTR\ \mbox{\hyperlink{class_b_n_o08x_a804b95c58c30d36933fd251626b85bf7}{hint\_handler}}(\textcolor{keywordtype}{void}*\ arg);}
+\DoxyCodeLine{00381\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keywordtype}{bool}}
+\DoxyCodeLine{00382\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_a4882dbc698d7b730f57e2401037766a9}{isr\_service\_installed}};\ }
+\DoxyCodeLine{00383\ }
+\DoxyCodeLine{00384\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_a1a037bda37493cde56732cc6fdc7884b}{RX\_DATA\_LENGTH}}\ =\ 300;\ \ \ \ }
+\DoxyCodeLine{00385\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint16\_t\ \mbox{\hyperlink{class_b_n_o08x_a2a5b978233eab4c103ab01cfc33a1750}{MAX\_METADATA\_LENGTH}}\ =\ 9;\ }
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+\DoxyCodeLine{00387\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint64\_t\ \mbox{\hyperlink{class_b_n_o08x_ae7f34752f888c637d5619f898e62a6d4}{HOST\_INT\_TIMEOUT\_MS}}\ =}
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+\DoxyCodeLine{00389\ }
+\DoxyCodeLine{00390\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ evt\_grp\_spi\ bits}}
+\DoxyCodeLine{00391\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ EventBits\_t\ \mbox{\hyperlink{class_b_n_o08x_a32cffd8f78881925d22d5a7cb55f2bbc}{EVT\_GRP\_SPI\_RX\_DONE\_BIT}}\ =}
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+\DoxyCodeLine{00393\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ EventBits\_t\ \mbox{\hyperlink{class_b_n_o08x_a603dccfbbead6bdaa3bd970ad28fcd38}{EVT\_GRP\_SPI\_RX\_VALID\_PACKET}}\ =}
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+\DoxyCodeLine{00395\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ EventBits\_t\ \mbox{\hyperlink{class_b_n_o08x_a6415c95701f590c72083f5bdc5f4ae47}{EVT\_GRP\_SPI\_RX\_INVALID\_PACKET}}\ =}
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+\DoxyCodeLine{00398\ }
+\DoxyCodeLine{00399\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ evt\_grp\_report\_en\ bits}}
+\DoxyCodeLine{00400\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ EventBits\_t\ \mbox{\hyperlink{class_b_n_o08x_a198da2ee3cd9cfa459c3c41c4f8c44b7}{EVT\_GRP\_RPT\_ROTATION\_VECTOR\_BIT}}\ =\ (1\ <<\ 0);\ \ \ \ \ \ }
+\DoxyCodeLine{00401\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ EventBits\_t\ \mbox{\hyperlink{class_b_n_o08x_a0f3f33d93b72ba6564f9d5fa93c24f98}{EVT\_GRP\_RPT\_GAME\_ROTATION\_VECTOR\_BIT}}\ =\ (1\ <<\ 1);\ }
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+\DoxyCodeLine{00404\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ EventBits\_t\ \mbox{\hyperlink{class_b_n_o08x_a79d3fff1e0f19467cad231b22edafa0f}{EVT\_GRP\_RPT\_ARVR\_S\_GAME\_ROTATION\_VECTOR\_BIT}}\ =}
+\DoxyCodeLine{00405\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ (1\ <<\ 3);\ }
+\DoxyCodeLine{00406\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ EventBits\_t\ \mbox{\hyperlink{class_b_n_o08x_a541155dc4544193451cf102e2a992da9}{EVT\_GRP\_RPT\_GYRO\_ROTATION\_VECTOR\_BIT}}\ =}
+\DoxyCodeLine{00407\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ (1\ <<\ 4);\ }
+\DoxyCodeLine{00408\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ EventBits\_t\ \mbox{\hyperlink{class_b_n_o08x_a17b19c32d4dfbc9ae2761a0cdd873314}{EVT\_GRP\_RPT\_ACCELEROMETER\_BIT}}\ =\ (1\ <<\ 5);\ \ \ \ \ \ \ \ \ }
+\DoxyCodeLine{00409\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ EventBits\_t\ \mbox{\hyperlink{class_b_n_o08x_ad93161968a53ff53a6bb74ab7c34fbff}{EVT\_GRP\_RPT\_LINEAR\_ACCELEROMETER\_BIT}}\ =\ (1\ <<\ 6);\ \ }
+\DoxyCodeLine{00410\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ EventBits\_t\ \mbox{\hyperlink{class_b_n_o08x_ab94a8f69673a3db7556ba67775c5ea93}{EVT\_GRP\_RPT\_GRAVITY\_BIT}}\ =\ (1\ <<\ 7);\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
+\DoxyCodeLine{00411\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ EventBits\_t\ \mbox{\hyperlink{class_b_n_o08x_a3a8b12ea9b75f97191785a60d1aa962a}{EVT\_GRP\_RPT\_GYRO\_BIT}}\ =\ (1\ <<\ 8);\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
+\DoxyCodeLine{00412\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ EventBits\_t\ \mbox{\hyperlink{class_b_n_o08x_af86821bc0f1e7f5897de20b5e47a85bd}{EVT\_GRP\_RPT\_GYRO\_UNCALIBRATED\_BIT}}\ =\ (1\ <<\ 9);\ \ \ \ \ }
+\DoxyCodeLine{00413\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ EventBits\_t\ \mbox{\hyperlink{class_b_n_o08x_a901af6f2d552f197ee830d0a1c06679c}{EVT\_GRP\_RPT\_MAGNETOMETER\_BIT}}\ =\ (1\ <<\ 10);\ \ \ \ \ \ \ \ \ }
+\DoxyCodeLine{00414\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ EventBits\_t\ \mbox{\hyperlink{class_b_n_o08x_a665464f781fe891b9179478d0174af47}{EVT\_GRP\_RPT\_TAP\_DETECTOR\_BIT}}\ =\ (1\ <<\ 11);\ \ \ \ \ \ \ \ \ }
+\DoxyCodeLine{00415\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ EventBits\_t\ \mbox{\hyperlink{class_b_n_o08x_ab264b65a3aa5a9a74ed11b8977164a73}{EVT\_GRP\_RPT\_STEP\_COUNTER\_BIT}}\ =\ (1\ <<\ 12);\ \ \ \ \ \ \ \ \ }
+\DoxyCodeLine{00416\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ EventBits\_t\ \mbox{\hyperlink{class_b_n_o08x_a7d6ee23222f55dbe9f70e04b36d9add2}{EVT\_GRP\_RPT\_STABILITY\_CLASSIFIER\_BIT}}\ =\ (1\ <<\ 13);\ }
+\DoxyCodeLine{00417\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ EventBits\_t\ \mbox{\hyperlink{class_b_n_o08x_a96eb1b1bfe1266791fd424b3ce402c56}{EVT\_GRP\_RPT\_ACTIVITY\_CLASSIFIER\_BIT}}\ =\ (1\ <<\ 14);\ \ }
+\DoxyCodeLine{00418\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ EventBits\_t\ \mbox{\hyperlink{class_b_n_o08x_a3e56d12435f7be81956d68196f1a46b4}{EVT\_GRP\_RPT\_RAW\_ACCELEROMETER\_BIT}}\ =\ (1\ <<\ 15);\ \ \ \ }
+\DoxyCodeLine{00419\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ EventBits\_t\ \mbox{\hyperlink{class_b_n_o08x_a6be7b240e4447c2c643e706954093aa0}{EVT\_GRP\_RPT\_RAW\_GYRO\_BIT}}\ =\ (1\ <<\ 16);\ \ \ \ \ \ \ \ \ \ \ \ \ }
+\DoxyCodeLine{00420\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ EventBits\_t\ \mbox{\hyperlink{class_b_n_o08x_ac28553b40b82c7cb409938681afe6cec}{EVT\_GRP\_RPT\_RAW\_MAGNETOMETER\_BIT}}\ =\ (1\ <<\ 17);\ \ \ \ \ }
+\DoxyCodeLine{00421\ }
+\DoxyCodeLine{00422\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ EventBits\_t\ \mbox{\hyperlink{class_b_n_o08x_a89399e8a68a53bc2a269ab73625a2da2}{EVT\_GRP\_RPT\_ALL\_BITS}}\ =}
+\DoxyCodeLine{00423\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_a198da2ee3cd9cfa459c3c41c4f8c44b7}{EVT\_GRP\_RPT\_ROTATION\_VECTOR\_BIT}}\ |\ \mbox{\hyperlink{class_b_n_o08x_a0f3f33d93b72ba6564f9d5fa93c24f98}{EVT\_GRP\_RPT\_GAME\_ROTATION\_VECTOR\_BIT}}\ |\ \mbox{\hyperlink{class_b_n_o08x_aa9703cee46912a545b5e85e671f08e4b}{EVT\_GRP\_RPT\_ARVR\_S\_ROTATION\_VECTOR\_BIT}}\ |}
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+\DoxyCodeLine{00427\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_a96eb1b1bfe1266791fd424b3ce402c56}{EVT\_GRP\_RPT\_ACTIVITY\_CLASSIFIER\_BIT}}\ |\ \mbox{\hyperlink{class_b_n_o08x_a3e56d12435f7be81956d68196f1a46b4}{EVT\_GRP\_RPT\_RAW\_ACCELEROMETER\_BIT}}\ |\ \mbox{\hyperlink{class_b_n_o08x_a6be7b240e4447c2c643e706954093aa0}{EVT\_GRP\_RPT\_RAW\_GYRO\_BIT}}\ |\ \mbox{\hyperlink{class_b_n_o08x_ac28553b40b82c7cb409938681afe6cec}{EVT\_GRP\_RPT\_RAW\_MAGNETOMETER\_BIT}};}
+\DoxyCodeLine{00428\ }
+\DoxyCodeLine{00429\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ Higher\ level\ calibration\ commands,\ used\ by\ queue\_calibrate\_command}}
+\DoxyCodeLine{00430\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_acd5b44d705af1f9aaa271a59a9d2d595}{CALIBRATE\_ACCEL}}\ =\ 0;\ \ \ \ \ \ \ \ }
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+\DoxyCodeLine{00432\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_ac00e8b59ae8d710cf79956eaafa97ddb}{CALIBRATE\_MAG}}\ =\ 2;\ \ \ \ \ \ \ \ \ \ }
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+\DoxyCodeLine{00434\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_af53d9e99f163d97ef92fe989b1dd25cc}{CALIBRATE\_ACCEL\_GYRO\_MAG}}\ =}
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+\DoxyCodeLine{00437\ }
+\DoxyCodeLine{00438\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ Command\ IDs\ (see\ Ref.\ Manual\ 6.4)}}
+\DoxyCodeLine{00439\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a384a1efc9857ad938be3bb44f871539b}{COMMAND\_ERRORS}}\ =\ 1;}
+\DoxyCodeLine{00440\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a93dd073c0cc1f3ccfde552649f6ebccc}{COMMAND\_COUNTER}}\ =\ 2;}
+\DoxyCodeLine{00441\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a0a1756bc16ba3eac45f4229b1e350107}{COMMAND\_TARE}}\ =\ 3;\ \ \ \ \ \ \ \ \ \ \ \ }
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+\DoxyCodeLine{00444\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a8381dfe403ddff522f172cb16780731a}{COMMAND\_ME\_CALIBRATE}}\ =\ 7;\ \ \ \ }
+\DoxyCodeLine{00445\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a7a246989c94cd87f68166b20b7ad4c8b}{COMMAND\_DCD\_PERIOD\_SAVE}}\ =\ 9;\ }
+\DoxyCodeLine{00446\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a308c8b5307d93a67b5b9066d44494aa5}{COMMAND\_OSCILLATOR}}\ =\ 10;\ \ \ \ \ }
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+\DoxyCodeLine{00448\ }
+\DoxyCodeLine{00449\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ SHTP\ channel\ 2\ control\ report\ IDs,\ used\ in\ communication\ with\ sensor\ (See\ Ref.\ Manual\ 6.2)}}
+\DoxyCodeLine{00450\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a1e5b64caa514b7e4fe64ab214758b875}{SHTP\_REPORT\_COMMAND\_RESPONSE}}\ =\ 0xF1;\ \ \ \ }
+\DoxyCodeLine{00451\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_ab04695dd189412092254e52bd6e5a75a}{SHTP\_REPORT\_COMMAND\_REQUEST}}\ =\ 0xF2;\ \ \ \ \ }
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+\DoxyCodeLine{00453\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a74af7eacc35cc825940b647c2de0d368}{SHTP\_REPORT\_FRS\_READ\_REQUEST}}\ =\ 0xF4;\ \ \ \ }
+\DoxyCodeLine{00454\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a0177134162e116501bc9483c6e4b76c3}{SHTP\_REPORT\_PRODUCT\_ID\_RESPONSE}}\ =\ 0xF8;\ }
+\DoxyCodeLine{00455\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a542405639c28bd56bc4361b922763c95}{SHTP\_REPORT\_PRODUCT\_ID\_REQUEST}}\ =\ 0xF9;\ \ }
+\DoxyCodeLine{00456\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_ae37d6f8431c8c465bfb0c662772b5cb9}{SHTP\_REPORT\_BASE\_TIMESTAMP}}\ =\ 0xFB;\ \ \ \ \ \ }
+\DoxyCodeLine{00457\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a1d3bff4e20c2c3d47db322c9e34ef338}{SHTP\_REPORT\_SET\_FEATURE\_COMMAND}}\ =\ 0xFD;\ }
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+\DoxyCodeLine{00459\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ Sensor\ report\ IDs,\ used\ when\ enabling\ and\ reading\ BNO08x\ reports}}
+\DoxyCodeLine{00460\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a354eaff2218eb382a1851537a75badcc}{SENSOR\_REPORT\_ID\_ACCELEROMETER}}\ =\ 0x01;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
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+\DoxyCodeLine{00463\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_ace7720a02c9f4ef38e319849f6c36a0b}{SENSOR\_REPORT\_ID\_LINEAR\_ACCELERATION}}\ =\ 0x04;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
+\DoxyCodeLine{00464\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a37c91f995c385556486df5fbbce8a3d5}{SENSOR\_REPORT\_ID\_ROTATION\_VECTOR}}\ =\ 0x05;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
+\DoxyCodeLine{00465\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a6730acb92053d44decb690a7b7234032}{SENSOR\_REPORT\_ID\_GRAVITY}}\ =\ 0x06;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
+\DoxyCodeLine{00466\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_acb8e83fbb0645d4e98a96120ce9f431c}{SENSOR\_REPORT\_ID\_UNCALIBRATED\_GYRO}}\ =\ 0x07;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
+\DoxyCodeLine{00467\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_ada7dbda9f7a0bfb0894a787ce0ff9cef}{SENSOR\_REPORT\_ID\_GAME\_ROTATION\_VECTOR}}\ =\ 0x08;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
+\DoxyCodeLine{00468\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_abb6d0586a5a87b7b34f4c65ae52965a4}{SENSOR\_REPORT\_ID\_GEOMAGNETIC\_ROTATION\_VECTOR}}\ =\ 0x09;\ \ \ \ \ \ \ \ \ \ }
+\DoxyCodeLine{00469\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_acd0fc6ffa70dd2761cba0ac0b88c234f}{SENSOR\_REPORT\_ID\_GYRO\_INTEGRATED\_ROTATION\_VECTOR}}\ =\ 0x2A;\ \ \ \ \ \ }
+\DoxyCodeLine{00470\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a8114460c50e84b0ac750293ab72868c8}{SENSOR\_REPORT\_ID\_TAP\_DETECTOR}}\ =\ 0x10;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
+\DoxyCodeLine{00471\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a2a10161bb564067a07f3fcf4021e00bb}{SENSOR\_REPORT\_ID\_STEP\_COUNTER}}\ =\ 0x11;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
+\DoxyCodeLine{00472\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_ab5c29f31714b4755c0edbce7156652f7}{SENSOR\_REPORT\_ID\_STABILITY\_CLASSIFIER}}\ =\ 0x13;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
+\DoxyCodeLine{00473\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a80ea70c4787dea6c3eabb48f583f1916}{SENSOR\_REPORT\_ID\_RAW\_ACCELEROMETER}}\ =\ 0x14;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
+\DoxyCodeLine{00474\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a03b3000424e6d966b80655443ec546bc}{SENSOR\_REPORT\_ID\_RAW\_GYROSCOPE}}\ =\ 0x15;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
+\DoxyCodeLine{00475\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a9e9a7578b7584e7eb2ad562b29565fa7}{SENSOR\_REPORT\_ID\_RAW\_MAGNETOMETER}}\ =\ 0x16;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
+\DoxyCodeLine{00476\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a7274f6d3bda04da0bb304386b4e8d603}{SENSOR\_REPORT\_ID\_PERSONAL\_ACTIVITY\_CLASSIFIER}}\ =\ 0x1E;\ \ \ \ \ \ \ \ \ }
+\DoxyCodeLine{00477\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a8d4b91149cfc1a3cd615f60a4ad2275e}{SENSOR\_REPORT\_ID\_ARVR\_STABILIZED\_ROTATION\_VECTOR}}\ =\ 0x28;\ \ \ \ \ \ }
+\DoxyCodeLine{00478\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_aeb51ebb6c82158cd7e23bd682c08c4e0}{SENSOR\_REPORT\_ID\_ARVR\_STABILIZED\_GAME\_ROTATION\_VECTOR}}\ =\ 0x29;\ }
+\DoxyCodeLine{00479\ }
+\DoxyCodeLine{00480\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ Tare\ commands\ used\ by\ queue\_tare\_command}}
+\DoxyCodeLine{00481\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a27df630f3e52b35552d2c1f2cf3496b0}{TARE\_NOW}}\ =\ 0;\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }
+\DoxyCodeLine{00482\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a115aef7b38ec0dec2085f6917d832912}{TARE\_PERSIST}}\ =\ 1;\ \ \ \ \ \ \ \ \ \ \ }
+\DoxyCodeLine{00483\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ uint8\_t\ \mbox{\hyperlink{class_b_n_o08x_a59cde7dd301c94a20b84735c5d49008e}{TARE\_SET\_REORIENTATION}}\ =\ 2;\ }
+\DoxyCodeLine{00484\ }
+\DoxyCodeLine{00485\ \ \ \ \ \ \ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ \textcolor{keyword}{constexpr}\ \textcolor{keywordtype}{char}*\ \mbox{\hyperlink{class_b_n_o08x_a2c98d5f2c406a3efd0b48c5666fa8c46}{TAG}}\ =\ \textcolor{stringliteral}{"{}BNO08x"{}};\ }
+\DoxyCodeLine{00486\ \};}
+
+\end{DoxyCode}
diff --git a/documentation/latex/_r_e_a_d_m_e_8md.tex b/documentation/latex/_r_e_a_d_m_e_8md.tex
new file mode 100644
index 0000000..dffc600
--- /dev/null
+++ b/documentation/latex/_r_e_a_d_m_e_8md.tex
@@ -0,0 +1,2 @@
+\doxysection{README.\+md File Reference}
+\hypertarget{_r_e_a_d_m_e_8md}{}\label{_r_e_a_d_m_e_8md}\index{README.md@{README.md}}
diff --git a/documentation/latex/annotated.tex b/documentation/latex/annotated.tex
new file mode 100644
index 0000000..1fdaacf
--- /dev/null
+++ b/documentation/latex/annotated.tex
@@ -0,0 +1,7 @@
+\doxysection{Class List}
+Here are the classes, structs, unions and interfaces with brief descriptions\+:\begin{DoxyCompactList}
+\item\contentsline{section}{\mbox{\hyperlink{class_b_n_o08x}{BNO08x}} }{\pageref{class_b_n_o08x}}{}
+\item\contentsline{section}{\mbox{\hyperlink{structbno08x__config__t}{bno08x\+\_\+config\+\_\+t}} \\*IMU configuration settings passed into constructor }{\pageref{structbno08x__config__t}}{}
+\item\contentsline{section}{\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__rx__packet__t}{BNO08x\+::bno08x\+\_\+rx\+\_\+packet\+\_\+t}} \\*Holds data that is received over spi }{\pageref{struct_b_n_o08x_1_1bno08x__rx__packet__t}}{}
+\item\contentsline{section}{\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__tx__packet__t}{BNO08x\+::bno08x\+\_\+tx\+\_\+packet\+\_\+t}} \\*Holds data that is sent over spi }{\pageref{struct_b_n_o08x_1_1bno08x__tx__packet__t}}{}
+\end{DoxyCompactList}
diff --git a/documentation/latex/class_b_n_o08x.tex b/documentation/latex/class_b_n_o08x.tex
new file mode 100644
index 0000000..84aa15c
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x.tex
@@ -0,0 +1,6050 @@
+\doxysection{BNO08x Class Reference}
+\hypertarget{class_b_n_o08x}{}\label{class_b_n_o08x}\index{BNO08x@{BNO08x}}
+
+
+{\ttfamily \#include $<$BNO08x.\+hpp$>$}
+
+
+
+Collaboration diagram for BNO08x\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=207pt]{class_b_n_o08x__coll__graph}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+struct \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__rx__packet__t}{bno08x\+\_\+rx\+\_\+packet\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em Holds data that is received over spi. \end{DoxyCompactList}\item 
+struct \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__tx__packet__t}{bno08x\+\_\+tx\+\_\+packet\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em Holds data that is sent over spi. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{class_b_n_o08x_a40f7688e843d74b8bd526c6f5ff17845}{BNO08x}} (\mbox{\hyperlink{structbno08x__config__t}{bno08x\+\_\+config\+\_\+t}} \mbox{\hyperlink{class_b_n_o08x_aeda443e9f608fccfec0e6770edc90c82}{imu\+\_\+config}}=\mbox{\hyperlink{class_b_n_o08x_a6232920a05c0aba34e5560951a20ae87}{default\+\_\+imu\+\_\+config}})
+\begin{DoxyCompactList}\small\item\em \doxylink{class_b_n_o08x}{BNO08x} imu constructor. \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{class_b_n_o08x_aea8e2c6dd7a2c9899479a7f39fe94798}{initialize}} ()
+\begin{DoxyCompactList}\small\item\em Initializes \doxylink{class_b_n_o08x}{BNO08x} sensor. \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{class_b_n_o08x_a28cd1c0b3477571d87133234e6358503}{hard\+\_\+reset}} ()
+\begin{DoxyCompactList}\small\item\em Hard resets \doxylink{class_b_n_o08x}{BNO08x} sensor. \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{class_b_n_o08x_a973a1b1785f3302ee1b2702c6a27646e}{soft\+\_\+reset}} ()
+\begin{DoxyCompactList}\small\item\em Soft resets \doxylink{class_b_n_o08x}{BNO08x} sensor using executable channel. \end{DoxyCompactList}\item 
+uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a11bb1b3fa44ad8f28c1492b5c07af886}{get\+\_\+reset\+\_\+reason}} ()
+\begin{DoxyCompactList}\small\item\em Requests product ID, prints the returned info over serial, and returns the reason for the most resent reset. \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{class_b_n_o08x_a176ae0112325c05105eacb4566bbfa0b}{mode\+\_\+sleep}} ()
+\begin{DoxyCompactList}\small\item\em Puts \doxylink{class_b_n_o08x}{BNO08x} sensor into sleep/low power mode using executable channel. \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{class_b_n_o08x_ac1b3de9b552c611ee9c455d7f19be698}{mode\+\_\+on}} ()
+\begin{DoxyCompactList}\small\item\em Turns on/ brings \doxylink{class_b_n_o08x}{BNO08x} sensor out of sleep mode using executable channel. \end{DoxyCompactList}\item 
+float \mbox{\hyperlink{class_b_n_o08x_a27fb24e894f794ec6228ef142b6ff8d9}{q\+\_\+to\+\_\+float}} (int16\+\_\+t fixed\+\_\+point\+\_\+value, uint8\+\_\+t q\+\_\+point)
+\begin{DoxyCompactList}\small\item\em Converts a register value to a float using its associated Q point. (See \href{https://en.wikipedia.org/wiki/Q_(number_format)}{\texttt{ https\+://en.\+wikipedia.\+org/wiki/\+Q\+\_\+(number\+\_\+format)}}) \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{class_b_n_o08x_ae6e875a27ae74ebed806ee1a4576845a}{run\+\_\+full\+\_\+calibration\+\_\+routine}} ()
+\begin{DoxyCompactList}\small\item\em Runs full calibration routine. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_afd0ca5f9b9741935543d143a5a43d128}{calibrate\+\_\+all}} ()
+\begin{DoxyCompactList}\small\item\em Sends command to calibrate accelerometer, gyro, and magnetometer. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_aeffce374f558a167d5b5f19ad627e7cc}{calibrate\+\_\+accelerometer}} ()
+\begin{DoxyCompactList}\small\item\em Sends command to calibrate accelerometer. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_a9ada90f8ab6dd33fa2d7c168d9234af1}{calibrate\+\_\+gyro}} ()
+\begin{DoxyCompactList}\small\item\em Sends command to calibrate gyro. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_ac26350b55095a346d72598ab8aa74b4a}{calibrate\+\_\+magnetometer}} ()
+\begin{DoxyCompactList}\small\item\em Sends command to calibrate magnetometer. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_a1c6c49c97bc098db89db1aaa37e18f26}{calibrate\+\_\+planar\+\_\+accelerometer}} ()
+\begin{DoxyCompactList}\small\item\em Sends command to calibrate planar accelerometer. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_affaaa35abbb872da5299ebab6e2c9b11}{request\+\_\+calibration\+\_\+status}} ()
+\begin{DoxyCompactList}\small\item\em Requests ME calibration status from \doxylink{class_b_n_o08x}{BNO08x} (see Ref. Manual 6.\+4.\+7.\+2) \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{class_b_n_o08x_a71ca35f78b98d93d31eb0c187dc8543b}{calibration\+\_\+complete}} ()
+\begin{DoxyCompactList}\small\item\em Returns true if calibration has completed. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_ac9d9b6636745e8180807284da67c92a2}{end\+\_\+calibration}} ()
+\begin{DoxyCompactList}\small\item\em Sends command to end calibration procedure. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_aa16609de88bfb7b389348859aa0cee54}{save\+\_\+calibration}} ()
+\begin{DoxyCompactList}\small\item\em Sends command to save internal calibration data (See Ref. Manual 6.\+4.\+7). \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_ab4c1d5cde156af09b7e88913f3af62c7}{enable\+\_\+rotation\+\_\+vector}} (uint32\+\_\+t time\+\_\+between\+\_\+reports)
+\begin{DoxyCompactList}\small\item\em Sends command to enable rotation vector reports (See Ref. Manual 6.\+5.\+18) \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_abe04c38b5bd52d331bd8aefae1f51947}{enable\+\_\+game\+\_\+rotation\+\_\+vector}} (uint32\+\_\+t time\+\_\+between\+\_\+reports)
+\begin{DoxyCompactList}\small\item\em Sends command to enable game rotation vector reports (See Ref. Manual 6.\+5.\+19) \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_a8a5f3b985989e846e831f70f7733d0bc}{enable\+\_\+\+ARVR\+\_\+stabilized\+\_\+rotation\+\_\+vector}} (uint32\+\_\+t time\+\_\+between\+\_\+reports)
+\begin{DoxyCompactList}\small\item\em Sends command to enable ARVR stabilized rotation vector reports (See Ref. Manual 6.\+5.\+42) \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_a5680148a41cb9cc96d1911150c46d2b8}{enable\+\_\+\+ARVR\+\_\+stabilized\+\_\+game\+\_\+rotation\+\_\+vector}} (uint32\+\_\+t time\+\_\+between\+\_\+reports)
+\begin{DoxyCompactList}\small\item\em Sends command to enable ARVR stabilized game rotation vector reports (See Ref. Manual 6.\+5.\+43) \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_a7388c67de3906ad05b233fd7eff0514d}{enable\+\_\+gyro\+\_\+integrated\+\_\+rotation\+\_\+vector}} (uint32\+\_\+t time\+\_\+between\+\_\+reports)
+\begin{DoxyCompactList}\small\item\em Sends command to enable gyro integrated rotation vector reports (See Ref. Manual 6.\+5.\+44) \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_a2795c6579cf03e22f62a5eadc88dee91}{enable\+\_\+accelerometer}} (uint32\+\_\+t time\+\_\+between\+\_\+reports)
+\begin{DoxyCompactList}\small\item\em Sends command to enable accelerometer reports (See Ref. Manual 6.\+5.\+9) \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_ae1435b83ca83bc51b75f3303afe87f7b}{enable\+\_\+linear\+\_\+accelerometer}} (uint32\+\_\+t time\+\_\+between\+\_\+reports)
+\begin{DoxyCompactList}\small\item\em Sends command to enable linear accelerometer reports (See Ref. Manual 6.\+5.\+10) \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_a030eae12c3586acf09b48e94630b2544}{enable\+\_\+gravity}} (uint32\+\_\+t time\+\_\+between\+\_\+reports)
+\begin{DoxyCompactList}\small\item\em Sends command to enable gravity reading reports (See Ref. Manual 6.\+5.\+11) \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_ad7b322681b9ec5f57edb09e336b988c0}{enable\+\_\+gyro}} (uint32\+\_\+t time\+\_\+between\+\_\+reports)
+\begin{DoxyCompactList}\small\item\em Sends command to enable gyro reports (See Ref. Manual 6.\+5.\+13) \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_a7fe5de95b1f51da44247a87317fd0c75}{enable\+\_\+uncalibrated\+\_\+gyro}} (uint32\+\_\+t time\+\_\+between\+\_\+reports)
+\begin{DoxyCompactList}\small\item\em Sends command to enable uncalibrated gyro reports (See Ref. Manual 6.\+5.\+14) \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_a3c32120bcd0987c3ca1bb72910586b59}{enable\+\_\+magnetometer}} (uint32\+\_\+t time\+\_\+between\+\_\+reports)
+\begin{DoxyCompactList}\small\item\em Sends command to enable magnetometer reports (See Ref. Manual 6.\+5.\+16) \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_ab4c8e37c730ddb168f78c29bd7ae6566}{enable\+\_\+tap\+\_\+detector}} (uint32\+\_\+t time\+\_\+between\+\_\+reports)
+\begin{DoxyCompactList}\small\item\em Sends command to enable tap detector reports (See Ref. Manual 6.\+5.\+27) \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_a5a0b0f5b8e962247a3b8aee8f1dc8e9f}{enable\+\_\+step\+\_\+counter}} (uint32\+\_\+t time\+\_\+between\+\_\+reports)
+\begin{DoxyCompactList}\small\item\em Sends command to enable step counter reports (See Ref. Manual 6.\+5.\+29) \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_ab0a60844b36fb140cad588a65b3a9655}{enable\+\_\+stability\+\_\+classifier}} (uint32\+\_\+t time\+\_\+between\+\_\+reports)
+\begin{DoxyCompactList}\small\item\em Sends command to enable activity stability classifier reports (See Ref. Manual 6.\+5.\+31) \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_ad7b83cac874c092583f8513d3bb69bbf}{enable\+\_\+activity\+\_\+classifier}} (uint32\+\_\+t time\+\_\+between\+\_\+reports, uint32\+\_\+t activities\+\_\+to\+\_\+enable, uint8\+\_\+t(\&activity\+\_\+confidence\+\_\+vals)\mbox{[}9\mbox{]})
+\begin{DoxyCompactList}\small\item\em Sends command to enable activity classifier reports (See Ref. Manual 6.\+5.\+36) \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_a3042301cf0f51657c82b1127dce230f4}{enable\+\_\+raw\+\_\+accelerometer}} (uint32\+\_\+t time\+\_\+between\+\_\+reports)
+\begin{DoxyCompactList}\small\item\em Sends command to enable raw accelerometer reports (See Ref. Manual 6.\+5.\+8) \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_a8d8e75f0234287cb89cbec553cffe52c}{enable\+\_\+raw\+\_\+gyro}} (uint32\+\_\+t time\+\_\+between\+\_\+reports)
+\begin{DoxyCompactList}\small\item\em Sends command to enable raw gyro reports (See Ref. Manual 6.\+5.\+12) \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_a14ebec501b8d004a38648a9a1f7a2c9e}{enable\+\_\+raw\+\_\+magnetometer}} (uint32\+\_\+t time\+\_\+between\+\_\+reports)
+\begin{DoxyCompactList}\small\item\em Sends command to enable raw magnetometer reports (See Ref. Manual 6.\+5.\+15) \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_a1ebd456d2a67a22b5ba0911a95915921}{disable\+\_\+rotation\+\_\+vector}} ()
+\begin{DoxyCompactList}\small\item\em Sends command to disable rotation vector reports by setting report interval to 0. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_a7665cce95e791c89161ec863f49c0392}{disable\+\_\+game\+\_\+rotation\+\_\+vector}} ()
+\begin{DoxyCompactList}\small\item\em Sends command to disable game rotation vector reports by setting report interval to 0. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_aa59e3d8953c96dc1cc5958a1ac628df4}{disable\+\_\+\+ARVR\+\_\+stabilized\+\_\+rotation\+\_\+vector}} ()
+\begin{DoxyCompactList}\small\item\em Sends command to disable ARVR stabilized rotation vector reports by setting report interval to 0. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_ab187fe50fcfbb04bec9e80eb0fccf61c}{disable\+\_\+\+ARVR\+\_\+stabilized\+\_\+game\+\_\+rotation\+\_\+vector}} ()
+\begin{DoxyCompactList}\small\item\em Sends command to disable ARVR stabilized game rotation vector reports by setting report interval to 0. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_aac0a00bed7825d8a2c357a48c3626931}{disable\+\_\+gyro\+\_\+integrated\+\_\+rotation\+\_\+vector}} ()
+\begin{DoxyCompactList}\small\item\em Sends command to disable gyro integrated rotation vector reports by setting report interval to 0. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_ad5c991150895b80bee68c933059a4058}{disable\+\_\+accelerometer}} ()
+\begin{DoxyCompactList}\small\item\em Sends command to disable accelerometer reports by setting report interval to 0. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_afbd2b02d5abe7084ce9de49ee2c9142f}{disable\+\_\+linear\+\_\+accelerometer}} ()
+\begin{DoxyCompactList}\small\item\em Sends command to disable linear accelerometer reports by setting report interval to 0. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_a5e63a9e68dbe2968b37dcb6dae04de6f}{disable\+\_\+gravity}} ()
+\begin{DoxyCompactList}\small\item\em Sends command to disable gravity reports by setting report interval to 0. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_a8296089e2fdbd7d2e85f364cf063af82}{disable\+\_\+gyro}} ()
+\begin{DoxyCompactList}\small\item\em Sends command to disable gyro reports by setting report interval to 0. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_aaf28212a5f1960c62a73282976142cfc}{disable\+\_\+uncalibrated\+\_\+gyro}} ()
+\begin{DoxyCompactList}\small\item\em Sends command to disable uncalibrated gyro reports by setting report interval to 0. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_a6671b082d20dda8bf5c53cb47db0c338}{disable\+\_\+magnetometer}} ()
+\begin{DoxyCompactList}\small\item\em Sends command to disable magnetometer reports by setting report interval to 0. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_a16f83d1e85576a51abf2c65e5de58cd2}{disable\+\_\+tap\+\_\+detector}} ()
+\begin{DoxyCompactList}\small\item\em Sends command to disable tap detector reports by setting report interval to 0. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_a427550a4ba25252912436b899124e157}{disable\+\_\+step\+\_\+counter}} ()
+\begin{DoxyCompactList}\small\item\em Sends command to disable step counter reports by setting report interval to 0. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_ab307ed3352e04c9e998ab4dd066f8932}{disable\+\_\+stability\+\_\+classifier}} ()
+\begin{DoxyCompactList}\small\item\em Sends command to disable stability reports by setting report interval to 0. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_a4fdc39294922a9553d84cd96bdae4376}{disable\+\_\+activity\+\_\+classifier}} ()
+\begin{DoxyCompactList}\small\item\em Sends command to disable activity classifier reports by setting report interval to 0. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_a171d78f4b00598b04c8ca54da16c508b}{disable\+\_\+raw\+\_\+accelerometer}} ()
+\begin{DoxyCompactList}\small\item\em Sends command to disable raw accelerometer reports by setting report interval to 0. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_a75ef3d09f1ee016999c459e43e9e8c44}{disable\+\_\+raw\+\_\+gyro}} ()
+\begin{DoxyCompactList}\small\item\em Sends command to disable raw gyro reports by setting report interval to 0. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_add29c84038558c28bcfca37865cf9244}{disable\+\_\+raw\+\_\+magnetometer}} ()
+\begin{DoxyCompactList}\small\item\em Sends command to disable raw magnetometer reports by setting report interval to 0. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_a4549bbef48208bd9c745fc755b93012f}{tare\+\_\+now}} (uint8\+\_\+t axis\+\_\+sel=\mbox{\hyperlink{class_b_n_o08x_a1ef13f6f330810934416ad5fe0ee55b2}{TARE\+\_\+\+AXIS\+\_\+\+ALL}}, uint8\+\_\+t rotation\+\_\+vector\+\_\+basis=\mbox{\hyperlink{class_b_n_o08x_a8e2cfc25d0e34ae53a762b88cc3ac3c8}{TARE\+\_\+\+ROTATION\+\_\+\+VECTOR}})
+\begin{DoxyCompactList}\small\item\em Sends command to tare an axis (See Ref. Manual 6.\+4.\+4.\+1) \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_afb2ffc4e7ff0498917bc14a83af306e2}{save\+\_\+tare}} ()
+\begin{DoxyCompactList}\small\item\em Sends command to save tare into non-\/volatile memory of \doxylink{class_b_n_o08x}{BNO08x} (See Ref. Manual 6.\+4.\+4.\+2) \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_afe39bfdede7b9a2b273983cb29a27d6e}{clear\+\_\+tare}} ()
+\begin{DoxyCompactList}\small\item\em Sends command to clear persistent tare settings in non-\/volatile memory of \doxylink{class_b_n_o08x}{BNO08x} (See Ref. Manual 6.\+4.\+4.\+3) \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{class_b_n_o08x_a367d525d1c0ba119b3dca3067bb5bccc}{data\+\_\+available}} ()
+\begin{DoxyCompactList}\small\item\em Checks if \doxylink{class_b_n_o08x}{BNO08x} has asserted interrupt and sent data. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_a06bb0c70305421b5357e64f31579fdc7}{register\+\_\+cb}} (std\+::function$<$ void()$>$ cb\+\_\+fxn)
+\begin{DoxyCompactList}\small\item\em Registers a callback to execute when new data from a report is received. \end{DoxyCompactList}\item 
+uint32\+\_\+t \mbox{\hyperlink{class_b_n_o08x_ad9137777271421a58159f3fe5e05ed20}{get\+\_\+time\+\_\+stamp}} ()
+\begin{DoxyCompactList}\small\item\em Return timestamp of most recent report. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_a35a224d519a2a243d0d526a34ecde5a8}{get\+\_\+magf}} (float \&x, float \&y, float \&z, uint8\+\_\+t \&accuracy)
+\begin{DoxyCompactList}\small\item\em Get the full magnetic field vector. \end{DoxyCompactList}\item 
+float \mbox{\hyperlink{class_b_n_o08x_a111601243b913751eb51c1f37cba4e7d}{get\+\_\+magf\+\_\+X}} ()
+\begin{DoxyCompactList}\small\item\em Get X component of magnetic field vector. \end{DoxyCompactList}\item 
+float \mbox{\hyperlink{class_b_n_o08x_a82ed8d7b9a5c25374839df75a3d220ea}{get\+\_\+magf\+\_\+Y}} ()
+\begin{DoxyCompactList}\small\item\em Get Y component of magnetic field vector. \end{DoxyCompactList}\item 
+float \mbox{\hyperlink{class_b_n_o08x_ab4c48a91d2f8b29430abc17b7f015282}{get\+\_\+magf\+\_\+Z}} ()
+\begin{DoxyCompactList}\small\item\em Get Z component of magnetic field vector. \end{DoxyCompactList}\item 
+uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a487391e6b2dd7f05084804d1fb94976f}{get\+\_\+magf\+\_\+accuracy}} ()
+\begin{DoxyCompactList}\small\item\em Get accuracy of reported magnetic field vector. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_a386c46ac8965220ab7b9423df838dd4d}{get\+\_\+gravity}} (float \&x, float \&y, float \&z, uint8\+\_\+t \&accuracy)
+\begin{DoxyCompactList}\small\item\em Get full reported gravity vector, units in m/s\texorpdfstring{$^\wedge$}{\string^}2. \end{DoxyCompactList}\item 
+float \mbox{\hyperlink{class_b_n_o08x_a88679bccd9339b87ec35fc4fc4e745ae}{get\+\_\+gravity\+\_\+X}} ()
+\begin{DoxyCompactList}\small\item\em Get the reported x axis gravity. \end{DoxyCompactList}\item 
+float \mbox{\hyperlink{class_b_n_o08x_a8a36db7f1c932f33e05e494632059801}{get\+\_\+gravity\+\_\+Y}} ()
+\begin{DoxyCompactList}\small\item\em Get the reported y axis gravity. \end{DoxyCompactList}\item 
+float \mbox{\hyperlink{class_b_n_o08x_a5622b4d1754648ea7eb400c1adf9e807}{get\+\_\+gravity\+\_\+Z}} ()
+\begin{DoxyCompactList}\small\item\em Get the reported z axis gravity. \end{DoxyCompactList}\item 
+uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_accd39f48e9f8ab8267df7184b5b7cd76}{get\+\_\+gravity\+\_\+accuracy}} ()
+\begin{DoxyCompactList}\small\item\em Get the reported gravity accuracy. \end{DoxyCompactList}\item 
+float \mbox{\hyperlink{class_b_n_o08x_a89618eba08186ee8e679e7313907ddef}{get\+\_\+roll}} ()
+\begin{DoxyCompactList}\small\item\em Get the reported rotation about x axis. \end{DoxyCompactList}\item 
+float \mbox{\hyperlink{class_b_n_o08x_a1b91f234d81c45f1f5ca2f27c9f0f6a3}{get\+\_\+pitch}} ()
+\begin{DoxyCompactList}\small\item\em Get the reported rotation about y axis. \end{DoxyCompactList}\item 
+float \mbox{\hyperlink{class_b_n_o08x_a64d3e41750c6de9413d6982511f78f17}{get\+\_\+yaw}} ()
+\begin{DoxyCompactList}\small\item\em Get the reported rotation about z axis. \end{DoxyCompactList}\item 
+float \mbox{\hyperlink{class_b_n_o08x_a7077b9a130f1dcf0192454e387968dd6}{get\+\_\+roll\+\_\+deg}} ()
+\begin{DoxyCompactList}\small\item\em Get the reported rotation about x axis. \end{DoxyCompactList}\item 
+float \mbox{\hyperlink{class_b_n_o08x_af50010400cbd1445e9ddfa259384b412}{get\+\_\+pitch\+\_\+deg}} ()
+\begin{DoxyCompactList}\small\item\em Get the reported rotation about y axis. \end{DoxyCompactList}\item 
+float \mbox{\hyperlink{class_b_n_o08x_af80f7795656e695e036d3b1557aed94c}{get\+\_\+yaw\+\_\+deg}} ()
+\begin{DoxyCompactList}\small\item\em Get the reported rotation about z axis. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_a51a6d594824de2292e70f788454f8a2d}{get\+\_\+quat}} (float \&i, float \&j, float \&k, float \&real, float \&rad\+\_\+accuracy, uint8\+\_\+t \&accuracy)
+\begin{DoxyCompactList}\small\item\em Get the full quaternion reading. \end{DoxyCompactList}\item 
+float \mbox{\hyperlink{class_b_n_o08x_a12c12a8e078b28480fb8828d306656f5}{get\+\_\+quat\+\_\+I}} ()
+\begin{DoxyCompactList}\small\item\em Get I component of reported quaternion. \end{DoxyCompactList}\item 
+float \mbox{\hyperlink{class_b_n_o08x_a9f6bb642fa0297a7b9bcc94dd7374015}{get\+\_\+quat\+\_\+J}} ()
+\begin{DoxyCompactList}\small\item\em Get J component of reported quaternion. \end{DoxyCompactList}\item 
+float \mbox{\hyperlink{class_b_n_o08x_a9f42c70c2337a0d831064a40ecfe2dd8}{get\+\_\+quat\+\_\+K}} ()
+\begin{DoxyCompactList}\small\item\em Get K component of reported quaternion. \end{DoxyCompactList}\item 
+float \mbox{\hyperlink{class_b_n_o08x_a5a556c5ec1baaa7f1156779dbe47a7b7}{get\+\_\+quat\+\_\+real}} ()
+\begin{DoxyCompactList}\small\item\em Get real component of reported quaternion. \end{DoxyCompactList}\item 
+float \mbox{\hyperlink{class_b_n_o08x_a61b7d10a98afc6903fea6b2cede27630}{get\+\_\+quat\+\_\+radian\+\_\+accuracy}} ()
+\begin{DoxyCompactList}\small\item\em Get radian accuracy of reported quaternion. \end{DoxyCompactList}\item 
+uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a24ba760d064a1dc45f972c79b9c8d98d}{get\+\_\+quat\+\_\+accuracy}} ()
+\begin{DoxyCompactList}\small\item\em Get accuracy of reported quaternion. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_a9329c6669282071622c3b3741b1b8142}{get\+\_\+accel}} (float \&x, float \&y, float \&z, uint8\+\_\+t \&accuracy)
+\begin{DoxyCompactList}\small\item\em Get full acceleration (total acceleration of device, units in m/s\texorpdfstring{$^\wedge$}{\string^}2). \end{DoxyCompactList}\item 
+float \mbox{\hyperlink{class_b_n_o08x_abce574112a9079d2cbc58cfc352b8a69}{get\+\_\+accel\+\_\+X}} ()
+\begin{DoxyCompactList}\small\item\em Get x axis acceleration (total acceleration of device, units in m/s\texorpdfstring{$^\wedge$}{\string^}2). \end{DoxyCompactList}\item 
+float \mbox{\hyperlink{class_b_n_o08x_afdf24bb3d54518b23972f21f007817c1}{get\+\_\+accel\+\_\+Y}} ()
+\begin{DoxyCompactList}\small\item\em Get y axis acceleration (total acceleration of device, units in m/s\texorpdfstring{$^\wedge$}{\string^}2). \end{DoxyCompactList}\item 
+float \mbox{\hyperlink{class_b_n_o08x_a0a72477cb7a330fedbcb3e2126b882b1}{get\+\_\+accel\+\_\+Z}} ()
+\begin{DoxyCompactList}\small\item\em Get z axis acceleration (total acceleration of device, units in m/s\texorpdfstring{$^\wedge$}{\string^}2). \end{DoxyCompactList}\item 
+uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a3fce726d5de821f97ed207036dae2900}{get\+\_\+accel\+\_\+accuracy}} ()
+\begin{DoxyCompactList}\small\item\em Get accuracy of linear acceleration. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_ad59b029d04341dbef72e059488951980}{get\+\_\+linear\+\_\+accel}} (float \&x, float \&y, float \&z, uint8\+\_\+t \&accuracy)
+\begin{DoxyCompactList}\small\item\em Get full linear acceleration (acceleration of the device minus gravity, units in m/s\texorpdfstring{$^\wedge$}{\string^}2). \end{DoxyCompactList}\item 
+float \mbox{\hyperlink{class_b_n_o08x_a763c3a9699a1081d430fd9b9b7bc49a3}{get\+\_\+linear\+\_\+accel\+\_\+X}} ()
+\begin{DoxyCompactList}\small\item\em Get x axis linear acceleration (acceleration of device minus gravity, units in m/s\texorpdfstring{$^\wedge$}{\string^}2) \end{DoxyCompactList}\item 
+float \mbox{\hyperlink{class_b_n_o08x_a1033bdd65b42b6706d1dfc67ece66191}{get\+\_\+linear\+\_\+accel\+\_\+Y}} ()
+\begin{DoxyCompactList}\small\item\em Get y axis linear acceleration (acceleration of device minus gravity, units in m/s\texorpdfstring{$^\wedge$}{\string^}2) \end{DoxyCompactList}\item 
+float \mbox{\hyperlink{class_b_n_o08x_afdfa7d50362702da689c5d18bf17fd84}{get\+\_\+linear\+\_\+accel\+\_\+Z}} ()
+\begin{DoxyCompactList}\small\item\em Get z axis linear acceleration (acceleration of device minus gravity, units in m/s\texorpdfstring{$^\wedge$}{\string^}2) \end{DoxyCompactList}\item 
+uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a33fe3c2f47759cfae5f4b612ddd329ea}{get\+\_\+linear\+\_\+accel\+\_\+accuracy}} ()
+\begin{DoxyCompactList}\small\item\em Get accuracy of linear acceleration. \end{DoxyCompactList}\item 
+int16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a1de356dd604c1dffcd1a32faeb4fafe2}{get\+\_\+raw\+\_\+accel\+\_\+X}} ()
+\begin{DoxyCompactList}\small\item\em Get raw accelerometer x axis reading from physical accelerometer MEMs sensor (See Ref. Manual 6.\+5.\+8) \end{DoxyCompactList}\item 
+int16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a96563de0eb597a52d595d19da827b1ac}{get\+\_\+raw\+\_\+accel\+\_\+Y}} ()
+\begin{DoxyCompactList}\small\item\em Get raw accelerometer y axis reading from physical accelerometer MEMs sensor (See Ref. Manual 6.\+5.\+8) \end{DoxyCompactList}\item 
+int16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a718cdd910e5e7e03fd0a1ad04ee6f0ce}{get\+\_\+raw\+\_\+accel\+\_\+Z}} ()
+\begin{DoxyCompactList}\small\item\em Get raw accelerometer z axis reading from physical accelerometer MEMs sensor (See Ref. Manual 6.\+5.\+8) \end{DoxyCompactList}\item 
+int16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_af1b2c3a383a84fc6dfaddae1052b44d4}{get\+\_\+raw\+\_\+gyro\+\_\+X}} ()
+\begin{DoxyCompactList}\small\item\em Get raw gyroscope x axis reading from physical gyroscope MEMs sensor (See Ref. Manual 6.\+5.\+12) \end{DoxyCompactList}\item 
+int16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_aff7714441d242b3b9b0c03f94e0a9374}{get\+\_\+raw\+\_\+gyro\+\_\+Y}} ()
+\begin{DoxyCompactList}\small\item\em Get raw gyroscope y axis reading from physical gyroscope MEMs sensor (See Ref. Manual 6.\+5.\+12) \end{DoxyCompactList}\item 
+int16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a2e28b5a79c442a6baa2fa5165b9ce37d}{get\+\_\+raw\+\_\+gyro\+\_\+Z}} ()
+\begin{DoxyCompactList}\small\item\em Get raw gyroscope z axis reading from physical gyroscope MEMs sensor (See Ref. Manual 6.\+5.\+12) \end{DoxyCompactList}\item 
+int16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_adf12600b39de41d258439a343fcc1ad8}{get\+\_\+raw\+\_\+magf\+\_\+X}} ()
+\begin{DoxyCompactList}\small\item\em Get raw magnetometer x axis reading from physical magnetometer sensor (See Ref. Manual 6.\+5.\+15) \end{DoxyCompactList}\item 
+int16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a2c842e43ceae19149f6525bcbc48f1cf}{get\+\_\+raw\+\_\+magf\+\_\+Y}} ()
+\begin{DoxyCompactList}\small\item\em Get raw magnetometer y axis reading from physical magnetometer sensor (See Ref. Manual 6.\+5.\+15) \end{DoxyCompactList}\item 
+int16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a99c1bcc2ec3ca3d8feafd6dd61f9d269}{get\+\_\+raw\+\_\+magf\+\_\+Z}} ()
+\begin{DoxyCompactList}\small\item\em Get raw magnetometer z axis reading from physical magnetometer sensor (See Ref. Manual 6.\+5.\+15) \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_a4d3746a376a22acb7a2641bb750c4c89}{get\+\_\+gyro\+\_\+calibrated\+\_\+velocity}} (float \&x, float \&y, float \&z, uint8\+\_\+t \&accuracy)
+\begin{DoxyCompactList}\small\item\em Get full rotational velocity with drift compensation (units in Rad/s). \end{DoxyCompactList}\item 
+float \mbox{\hyperlink{class_b_n_o08x_ab7977391191067282e7f734b9ee45059}{get\+\_\+gyro\+\_\+calibrated\+\_\+velocity\+\_\+X}} ()
+\begin{DoxyCompactList}\small\item\em Get calibrated gyro x axis angular velocity measurement. \end{DoxyCompactList}\item 
+float \mbox{\hyperlink{class_b_n_o08x_ad4fab6e636e239d4b9273f158983ed89}{get\+\_\+gyro\+\_\+calibrated\+\_\+velocity\+\_\+Y}} ()
+\begin{DoxyCompactList}\small\item\em Get calibrated gyro y axis angular velocity measurement. \end{DoxyCompactList}\item 
+float \mbox{\hyperlink{class_b_n_o08x_a15a29c3bb476048b7229abcfb2b1d52a}{get\+\_\+gyro\+\_\+calibrated\+\_\+velocity\+\_\+Z}} ()
+\begin{DoxyCompactList}\small\item\em Get calibrated gyro z axis angular velocity measurement. \end{DoxyCompactList}\item 
+uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a811999653110858311c97a779c388e5d}{get\+\_\+gyro\+\_\+accuracy}} ()
+\begin{DoxyCompactList}\small\item\em Get calibrated gyro accuracy. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_a1bd3c33e70354bd35a78b83b6786b531}{get\+\_\+uncalibrated\+\_\+gyro}} (float \&x, float \&y, float \&z, float \&bx, float \&by, float \&bz, uint8\+\_\+t \&accuracy)
+\begin{DoxyCompactList}\small\item\em Get full rotational velocity without drift compensation (units in Rad/s). An estimate of drift is given but not applied. \end{DoxyCompactList}\item 
+float \mbox{\hyperlink{class_b_n_o08x_a289ff66f51c94be62c4a556f3a5997bf}{get\+\_\+uncalibrated\+\_\+gyro\+\_\+X}} ()
+\begin{DoxyCompactList}\small\item\em Get uncalibrated gyro x axis angular velocity measurement. \end{DoxyCompactList}\item 
+float \mbox{\hyperlink{class_b_n_o08x_a1874e4bd457bb5b6ecc2c64039b88ba4}{get\+\_\+uncalibrated\+\_\+gyro\+\_\+Y}} ()
+\begin{DoxyCompactList}\small\item\em Get uncalibrated gyro Y axis angular velocity measurement. \end{DoxyCompactList}\item 
+float \mbox{\hyperlink{class_b_n_o08x_a0a73633d8929ce4058b14cefc8cad717}{get\+\_\+uncalibrated\+\_\+gyro\+\_\+Z}} ()
+\begin{DoxyCompactList}\small\item\em Get uncalibrated gyro Z axis angular velocity measurement. \end{DoxyCompactList}\item 
+float \mbox{\hyperlink{class_b_n_o08x_ad228cdf352b7ea95e484da993045a47b}{get\+\_\+uncalibrated\+\_\+gyro\+\_\+bias\+\_\+X}} ()
+\begin{DoxyCompactList}\small\item\em Get uncalibrated gyro x axis drift estimate. \end{DoxyCompactList}\item 
+float \mbox{\hyperlink{class_b_n_o08x_a74725517129dd548c7a3de705d5861bd}{get\+\_\+uncalibrated\+\_\+gyro\+\_\+bias\+\_\+Y}} ()
+\begin{DoxyCompactList}\small\item\em Get uncalibrated gyro Y axis drift estimate. \end{DoxyCompactList}\item 
+float \mbox{\hyperlink{class_b_n_o08x_a5050359272abd146ab3c7a6101effbd7}{get\+\_\+uncalibrated\+\_\+gyro\+\_\+bias\+\_\+Z}} ()
+\begin{DoxyCompactList}\small\item\em Get uncalibrated gyro Z axis drift estimate. \end{DoxyCompactList}\item 
+uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a3285613f18b2f2f4c3f9e6d5c971af10}{get\+\_\+uncalibrated\+\_\+gyro\+\_\+accuracy}} ()
+\begin{DoxyCompactList}\small\item\em Get uncalibrated gyro accuracy. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_afe6392012669e7ebd1a9e817e2bd313f}{get\+\_\+gyro\+\_\+velocity}} (float \&x, float \&y, float \&z)
+\begin{DoxyCompactList}\small\item\em Full rotational velocity from gyro-\/integrated rotation vector (See Ref. Manual 6.\+5.\+44) \end{DoxyCompactList}\item 
+float \mbox{\hyperlink{class_b_n_o08x_acd376cd3e454a87198ec86accbf2ee00}{get\+\_\+gyro\+\_\+velocity\+\_\+X}} ()
+\begin{DoxyCompactList}\small\item\em Get x axis angular velocity from gyro-\/integrated rotation vector. (See Ref. Manual 6.\+5.\+44) \end{DoxyCompactList}\item 
+float \mbox{\hyperlink{class_b_n_o08x_acd1819a81818f90dc105950b4a7d0b04}{get\+\_\+gyro\+\_\+velocity\+\_\+Y}} ()
+\begin{DoxyCompactList}\small\item\em Get y axis angular velocity from gyro-\/integrated rotation vector. (See Ref. Manual 6.\+5.\+44) \end{DoxyCompactList}\item 
+float \mbox{\hyperlink{class_b_n_o08x_ae2add976af256ec981248371a2f58207}{get\+\_\+gyro\+\_\+velocity\+\_\+Z}} ()
+\begin{DoxyCompactList}\small\item\em Get z axis angular velocity from gyro-\/integrated rotation vector. (See Ref. Manual 6.\+5.\+44) \end{DoxyCompactList}\item 
+uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a4797ec731de4c158716da1a7af9d1602}{get\+\_\+tap\+\_\+detector}} ()
+\begin{DoxyCompactList}\small\item\em Get if tap has occured. \end{DoxyCompactList}\item 
+uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_adaff49f3d80fdd19fd4210f0c56d41ef}{get\+\_\+step\+\_\+count}} ()
+\begin{DoxyCompactList}\small\item\em Get the counted amount of steps. \end{DoxyCompactList}\item 
+int8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a0d148e00abcfeec48c689e3084a7e786}{get\+\_\+stability\+\_\+classifier}} ()
+\begin{DoxyCompactList}\small\item\em Get the current stability classifier (Seee Ref. Manual 6.\+5.\+31) \end{DoxyCompactList}\item 
+uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a4f7060b2d3c15b359b70b6346730446a}{get\+\_\+activity\+\_\+classifier}} ()
+\begin{DoxyCompactList}\small\item\em Get the current activity classifier (Seee Ref. Manual 6.\+5.\+36) \end{DoxyCompactList}\item 
+int16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a4421c43323945946ad605f8422958dcf}{get\+\_\+\+Q1}} (uint16\+\_\+t record\+\_\+\+ID)
+\begin{DoxyCompactList}\small\item\em Gets Q1 point from \doxylink{class_b_n_o08x}{BNO08x} FRS (flash record system). \end{DoxyCompactList}\item 
+int16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a954dccdcbe8a8c4f1787f13ebb8d932b}{get\+\_\+\+Q2}} (uint16\+\_\+t record\+\_\+\+ID)
+\begin{DoxyCompactList}\small\item\em Gets Q2 point from \doxylink{class_b_n_o08x}{BNO08x} FRS (flash record system). \end{DoxyCompactList}\item 
+int16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a1590ba793668f9cb1a32a1f4dd07cb9a}{get\+\_\+\+Q3}} (uint16\+\_\+t record\+\_\+\+ID)
+\begin{DoxyCompactList}\small\item\em Gets Q3 point from \doxylink{class_b_n_o08x}{BNO08x} FRS (flash record system). \end{DoxyCompactList}\item 
+float \mbox{\hyperlink{class_b_n_o08x_a1d6ea02d0d4b23ff6a15e9d5c6c92372}{get\+\_\+resolution}} (uint16\+\_\+t record\+\_\+\+ID)
+\begin{DoxyCompactList}\small\item\em Gets resolution from \doxylink{class_b_n_o08x}{BNO08x} FRS (flash record system). \end{DoxyCompactList}\item 
+float \mbox{\hyperlink{class_b_n_o08x_a0fff04c42c9502615ad73cd1457cb9b0}{get\+\_\+range}} (uint16\+\_\+t record\+\_\+\+ID)
+\begin{DoxyCompactList}\small\item\em Gets range from \doxylink{class_b_n_o08x}{BNO08x} FRS (flash record system). \end{DoxyCompactList}\item 
+uint32\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a27f5dce5c994be18a587fb622574ad41}{FRS\+\_\+read\+\_\+word}} (uint16\+\_\+t record\+\_\+\+ID, uint8\+\_\+t word\+\_\+number)
+\begin{DoxyCompactList}\small\item\em Reads meta data word from \doxylink{class_b_n_o08x}{BNO08x} FRS (flash record system) given the record ID and word number. (See Ref. Manual 5.\+1 \& 6.\+3.\+7) \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{class_b_n_o08x_adf789e709ac1667656db757c8d559af9}{FRS\+\_\+read\+\_\+request}} (uint16\+\_\+t record\+\_\+\+ID, uint16\+\_\+t read\+\_\+offset, uint16\+\_\+t block\+\_\+size)
+\begin{DoxyCompactList}\small\item\em Requests meta data from \doxylink{class_b_n_o08x}{BNO08x} FRS (flash record system) given the record ID. Contains Q points and other info. (See Ref. Manual 5.\+1 \& 6.\+3.\+6) \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{class_b_n_o08x_a40607e557eada666a5e1e416f42cd4a1}{FRS\+\_\+read\+\_\+data}} (uint16\+\_\+t record\+\_\+\+ID, uint8\+\_\+t start\+\_\+location, uint8\+\_\+t words\+\_\+to\+\_\+read)
+\begin{DoxyCompactList}\small\item\em Read meta data from \doxylink{class_b_n_o08x}{BNO08x} FRS (flash record system) given the record ID. Contains Q points and other info. (See Ref. Manual 5.\+1 \& 6.\+3.\+7) \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Static Public Attributes}
+\begin{DoxyCompactItemize}
+\item 
+static const constexpr uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_ad7ef7d7068af5f92239c12022dbeb16d}{FRS\+\_\+\+RECORD\+\_\+\+ID\+\_\+\+ACCELEROMETER}}
+\begin{DoxyCompactList}\small\item\em Accelerometer record ID, to be passed in metadata functions like \doxylink{class_b_n_o08x_a4421c43323945946ad605f8422958dcf}{get\+\_\+\+Q1()} \end{DoxyCompactList}\item 
+static const constexpr uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a35d8f641e73c308f92a5a0a772f90f48}{FRS\+\_\+\+RECORD\+\_\+\+ID\+\_\+\+GYROSCOPE\+\_\+\+CALIBRATED}}
+\begin{DoxyCompactList}\small\item\em Calirated gyroscope record ID, to be passed in metadata functions like \doxylink{class_b_n_o08x_a4421c43323945946ad605f8422958dcf}{get\+\_\+\+Q1()} \end{DoxyCompactList}\item 
+static const constexpr uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a0992d77f9bae0b8e3c8d9331fe84fe24}{FRS\+\_\+\+RECORD\+\_\+\+ID\+\_\+\+MAGNETIC\+\_\+\+FIELD\+\_\+\+CALIBRATED}}
+\begin{DoxyCompactList}\small\item\em Calibrated magnetometer record ID, to be passed in metadata functions like \doxylink{class_b_n_o08x_a4421c43323945946ad605f8422958dcf}{get\+\_\+\+Q1()} \end{DoxyCompactList}\item 
+static const constexpr uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a9f35840b19c8ad11fd1b4622c3269250}{FRS\+\_\+\+RECORD\+\_\+\+ID\+\_\+\+ROTATION\+\_\+\+VECTOR}}
+\begin{DoxyCompactList}\small\item\em Rotation vector record ID, to be passed in metadata functions like \doxylink{class_b_n_o08x_a4421c43323945946ad605f8422958dcf}{get\+\_\+\+Q1()} \end{DoxyCompactList}\item 
+static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a1ef13f6f330810934416ad5fe0ee55b2}{TARE\+\_\+\+AXIS\+\_\+\+ALL}} = 0x07
+\begin{DoxyCompactList}\small\item\em Tare all axes (used with tare now command) \end{DoxyCompactList}\item 
+static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_aecb3e11c1ca5769fd60f42c17a105731}{TARE\+\_\+\+AXIS\+\_\+Z}} = 0x04
+\begin{DoxyCompactList}\small\item\em Tar yaw axis only (used with tare now command) \end{DoxyCompactList}\item 
+static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a8e2cfc25d0e34ae53a762b88cc3ac3c8}{TARE\+\_\+\+ROTATION\+\_\+\+VECTOR}} = 0
+\begin{DoxyCompactList}\small\item\em Tare rotation vector. \end{DoxyCompactList}\item 
+static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_abaf1ec8bb197db1998a9ed3cec6180d5}{TARE\+\_\+\+GAME\+\_\+\+ROTATION\+\_\+\+VECTOR}} = 1
+\begin{DoxyCompactList}\small\item\em Tare game rotation vector. \end{DoxyCompactList}\item 
+static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a225397a04d849e5647992ca80d68febb}{TARE\+\_\+\+GEOMAGNETIC\+\_\+\+ROTATION\+\_\+\+VECTOR}} = 2
+\begin{DoxyCompactList}\small\item\em tare geomagnetic rotation vector \end{DoxyCompactList}\item 
+static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a9ec354d75249f06f13599abf7bedfde0}{TARE\+\_\+\+GYRO\+\_\+\+INTEGRATED\+\_\+\+ROTATION\+\_\+\+VECTOR}} = 3
+\begin{DoxyCompactList}\small\item\em Tare gyro integrated rotation vector. \end{DoxyCompactList}\item 
+static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_abff9abe904bcdde951cf88c378284b45}{TARE\+\_\+\+ARVR\+\_\+\+STABILIZED\+\_\+\+ROTATION\+\_\+\+VECTOR}} = 4
+\begin{DoxyCompactList}\small\item\em Tare ARVR stabilized rotation vector. \end{DoxyCompactList}\item 
+static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a68aaaab144adbe5af00597408f044d9d}{TARE\+\_\+\+ARVR\+\_\+\+STABILIZED\+\_\+\+GAME\+\_\+\+ROTATION\+\_\+\+VECTOR}} = 5
+\begin{DoxyCompactList}\small\item\em Tare ARVR stabilized game rotation vector. \end{DoxyCompactList}\item 
+static const constexpr int16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a0b19c8f2de2b2bfe033da7f93cdd2608}{ROTATION\+\_\+\+VECTOR\+\_\+\+Q1}} = 14
+\begin{DoxyCompactList}\small\item\em Rotation vector Q point (See SH-\/2 Ref. Manual 6.\+5.\+18) \end{DoxyCompactList}\item 
+static const constexpr int16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a923d65d8568cc31873ad56a3908e1939}{ROTATION\+\_\+\+VECTOR\+\_\+\+ACCURACY\+\_\+\+Q1}} = 12
+\begin{DoxyCompactList}\small\item\em Rotation vector accuracy estimate Q point (See SH-\/2 Ref. Manual 6.\+5.\+18) \end{DoxyCompactList}\item 
+static const constexpr int16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a0564aaf5b20dc42b54db4fb3115ac1c7}{ACCELEROMETER\+\_\+\+Q1}} = 8
+\begin{DoxyCompactList}\small\item\em Acceleration Q point (See SH-\/2 Ref. Manual 6.\+5.\+9) \end{DoxyCompactList}\item 
+static const constexpr int16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_ad0d37fe07ced24f2c9afc21145a74e7b}{LINEAR\+\_\+\+ACCELEROMETER\+\_\+\+Q1}} = 8
+\begin{DoxyCompactList}\small\item\em Linear acceleration Q point (See SH-\/2 Ref. Manual 6.\+5.\+10) \end{DoxyCompactList}\item 
+static const constexpr int16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_aa3bec8effefa61cec6fa170e9d02c4dd}{GYRO\+\_\+\+Q1}} = 9
+\begin{DoxyCompactList}\small\item\em Gyro Q point (See SH-\/2 Ref. Manual 6.\+5.\+13) \end{DoxyCompactList}\item 
+static const constexpr int16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a9fac9b811b7c2117675a784cb4df204c}{MAGNETOMETER\+\_\+\+Q1}} = 4
+\begin{DoxyCompactList}\small\item\em Magnetometer Q point (See SH-\/2 Ref. Manual 6.\+5.\+16) \end{DoxyCompactList}\item 
+static const constexpr int16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_aafe117561fe9138800073a04a778b4ce}{ANGULAR\+\_\+\+VELOCITY\+\_\+\+Q1}} = 10
+\begin{DoxyCompactList}\small\item\em Angular velocity Q point (See SH-\/2 Ref. Manual 6.\+5.\+44) \end{DoxyCompactList}\item 
+static const constexpr int16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_ae10722334dfce9635e76519598e165a2}{GRAVITY\+\_\+\+Q1}} = 8
+\begin{DoxyCompactList}\small\item\em Gravity Q point (See SH-\/2 Ref. Manual 6.\+5.\+11) \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Private Types}
+\begin{DoxyCompactItemize}
+\item 
+typedef struct BNO08x\+::bno08x\+\_\+rx\+\_\+packet\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a407711b4a84223a52cc043a152aea8ba}{bno08x\+\_\+rx\+\_\+packet\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em Holds data that is received over spi. \end{DoxyCompactList}\item 
+typedef struct BNO08x\+::bno08x\+\_\+tx\+\_\+packet\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a3a1a869ac69e6ee850bd2a7f90dd8945}{bno08x\+\_\+tx\+\_\+packet\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em Holds data that is sent over spi. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Private Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+bool \mbox{\hyperlink{class_b_n_o08x_a2897a178bf2c53cd99df0d4570edf72e}{wait\+\_\+for\+\_\+rx\+\_\+done}} ()
+\begin{DoxyCompactList}\small\item\em Waits for data to be received over SPI, or HOST\+\_\+\+INT\+\_\+\+TIMEOUT\+\_\+\+MS to elapse. \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{class_b_n_o08x_a7cdeb849e728487de961cdfd4030c773}{wait\+\_\+for\+\_\+tx\+\_\+done}} ()
+\begin{DoxyCompactList}\small\item\em Waits for a queued packet to be sent or HOST\+\_\+\+INT\+\_\+\+TIMEOUT\+\_\+\+MS to elapse. \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{class_b_n_o08x_a4f12de628073f44b2a3fab2688cf1caf}{wait\+\_\+for\+\_\+data}} ()
+\begin{DoxyCompactList}\small\item\em Waits for a valid or invalid packet to be received or HOST\+\_\+\+INT\+\_\+\+TIMEOUT\+\_\+\+MS to elapse. \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{class_b_n_o08x_ae540799865934fcff54caed0772df071}{receive\+\_\+packet}} ()
+\begin{DoxyCompactList}\small\item\em Receives a SHTP packet via SPI and sends it to \doxylink{class_b_n_o08x_ab4373e9b87837ea9fcbc0b536338c7b8}{data\+\_\+proc\+\_\+task()} \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_a2c359a44a2c8e83ecb258a340e2d0e1a}{send\+\_\+packet}} (\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__tx__packet__t}{bno08x\+\_\+tx\+\_\+packet\+\_\+t}} \texorpdfstring{$\ast$}{*}packet)
+\begin{DoxyCompactList}\small\item\em Sends a queued SHTP packet via SPI. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_a41613e65ea9beef883184b7ef67affdd}{enable\+\_\+report}} (uint8\+\_\+t report\+\_\+\+ID, uint32\+\_\+t time\+\_\+between\+\_\+reports, const Event\+Bits\+\_\+t report\+\_\+evt\+\_\+grp\+\_\+bit)
+\begin{DoxyCompactList}\small\item\em Enables a sensor report for a given ID. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_a00ec3857cb06ae885e32059ef1cab693}{disable\+\_\+report}} (uint8\+\_\+t report\+\_\+\+ID, const Event\+Bits\+\_\+t report\+\_\+evt\+\_\+grp\+\_\+bit)
+\begin{DoxyCompactList}\small\item\em Disables a sensor report for a given ID by setting its time interval to 0. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_a62c570ba96512f4d0d10b2594048de1f}{queue\+\_\+packet}} (uint8\+\_\+t channel\+\_\+number, uint8\+\_\+t data\+\_\+length, uint8\+\_\+t \texorpdfstring{$\ast$}{*}commands)
+\begin{DoxyCompactList}\small\item\em Queues an SHTP packet to be sent via SPI. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_a5cc58139e4d5f0587b90e249ceb476f9}{queue\+\_\+command}} (uint8\+\_\+t command, uint8\+\_\+t \texorpdfstring{$\ast$}{*}commands)
+\begin{DoxyCompactList}\small\item\em Queues a packet containing a command. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_af2951f6ea448af7cf7932fbfed9fec3c}{queue\+\_\+feature\+\_\+command}} (uint8\+\_\+t report\+\_\+\+ID, uint32\+\_\+t time\+\_\+between\+\_\+reports)
+\begin{DoxyCompactList}\small\item\em Queues a packet containing a command with a request for sensor reports, reported periodically. (See Ref. Manual 6.\+5.\+4) \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_a2d6de4823893128e6a4b562f34326ae8}{queue\+\_\+feature\+\_\+command}} (uint8\+\_\+t report\+\_\+\+ID, uint32\+\_\+t time\+\_\+between\+\_\+reports, uint32\+\_\+t specific\+\_\+config)
+\begin{DoxyCompactList}\small\item\em Queues a packet containing a command with a request for sensor reports, reported periodically. (See Ref. Manual 6.\+5.\+4) \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_ad097849616c5caab1fd3eb3632ee2b91}{queue\+\_\+calibrate\+\_\+command}} (uint8\+\_\+t \+\_\+to\+\_\+calibrate)
+\begin{DoxyCompactList}\small\item\em Queues a packet containing a command to calibrate the specified sensor. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_a4c6353e795f734ed28613f9a3d161ea2}{queue\+\_\+tare\+\_\+command}} (uint8\+\_\+t command, uint8\+\_\+t axis=\mbox{\hyperlink{class_b_n_o08x_a1ef13f6f330810934416ad5fe0ee55b2}{TARE\+\_\+\+AXIS\+\_\+\+ALL}}, uint8\+\_\+t rotation\+\_\+vector\+\_\+basis=\mbox{\hyperlink{class_b_n_o08x_a8e2cfc25d0e34ae53a762b88cc3ac3c8}{TARE\+\_\+\+ROTATION\+\_\+\+VECTOR}})
+\begin{DoxyCompactList}\small\item\em Queues a packet containing a command related to zeroing sensor\textquotesingle{}s axes. (See Ref. Manual 6.\+4.\+4.\+1) \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_ab5f200069a2f8cb74cb79c6f162da5a1}{queue\+\_\+request\+\_\+product\+\_\+id\+\_\+command}} ()
+\begin{DoxyCompactList}\small\item\em Queues a packet containing the request product ID command. \end{DoxyCompactList}\item 
+uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a67a697595d6a4d4638a53c6b4a5ef0cd}{parse\+\_\+packet}} (\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__rx__packet__t}{bno08x\+\_\+rx\+\_\+packet\+\_\+t}} \texorpdfstring{$\ast$}{*}packet)
+\begin{DoxyCompactList}\small\item\em Parses a packet received from bno08x, updating any data according to received reports. \end{DoxyCompactList}\item 
+uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a29cfd7fc2816483ebebe9d55b677a036}{parse\+\_\+product\+\_\+id\+\_\+report}} (\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__rx__packet__t}{bno08x\+\_\+rx\+\_\+packet\+\_\+t}} \texorpdfstring{$\ast$}{*}packet)
+\begin{DoxyCompactList}\small\item\em Parses product id report and prints device info. \end{DoxyCompactList}\item 
+uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a51b360d795563b55559f11efb40be36a}{parse\+\_\+frs\+\_\+read\+\_\+response\+\_\+report}} (\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__rx__packet__t}{bno08x\+\_\+rx\+\_\+packet\+\_\+t}} \texorpdfstring{$\ast$}{*}packet)
+\begin{DoxyCompactList}\small\item\em Sends packet to be parsed to meta data function call (frs\+\_\+read\+\_\+word()) through queue. \end{DoxyCompactList}\item 
+uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a8d9db3e1b6208c2661e1c543deefa53d}{parse\+\_\+input\+\_\+report}} (\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__rx__packet__t}{bno08x\+\_\+rx\+\_\+packet\+\_\+t}} \texorpdfstring{$\ast$}{*}packet)
+\begin{DoxyCompactList}\small\item\em Parses received input report sent by \doxylink{class_b_n_o08x}{BNO08x}. \end{DoxyCompactList}\item 
+uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a4f66045a0528a0c17c52421ea51612e7}{parse\+\_\+command\+\_\+report}} (\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__rx__packet__t}{bno08x\+\_\+rx\+\_\+packet\+\_\+t}} \texorpdfstring{$\ast$}{*}packet)
+\begin{DoxyCompactList}\small\item\em Parses received command report sent by \doxylink{class_b_n_o08x}{BNO08x} (See Ref. Manual 6.\+3.\+9) \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_a35856c108a47de8b3b38c4395aabb4eb}{print\+\_\+header}} (\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__rx__packet__t}{bno08x\+\_\+rx\+\_\+packet\+\_\+t}} \texorpdfstring{$\ast$}{*}packet)
+\begin{DoxyCompactList}\small\item\em Prints the header of the passed SHTP packet to serial console with ESP\+\_\+\+LOG statement. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_a05e4cd5861b55fc0182d7dd13bb85e49}{print\+\_\+packet}} (\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__rx__packet__t}{bno08x\+\_\+rx\+\_\+packet\+\_\+t}} \texorpdfstring{$\ast$}{*}packet)
+\begin{DoxyCompactList}\small\item\em Prints the passed SHTP packet to serial console with ESP\+\_\+\+LOG statement. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_a2ecd4ed60f82730ae230c61687ec92bf}{spi\+\_\+task}} ()
+\begin{DoxyCompactList}\small\item\em Task responsible for SPI transactions. Executed when HINT in is asserted by \doxylink{class_b_n_o08x}{BNO08x}. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_ab4373e9b87837ea9fcbc0b536338c7b8}{data\+\_\+proc\+\_\+task}} ()
+\begin{DoxyCompactList}\small\item\em Task responsible parsing packets. Executed when SPI task sends a packet to be parsed, notifies \doxylink{class_b_n_o08x_a4f12de628073f44b2a3fab2688cf1caf}{wait\+\_\+for\+\_\+data()} call. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Static Private Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+static void \mbox{\hyperlink{class_b_n_o08x_a0ce6d9db873555f1ebe7e095251eab74}{spi\+\_\+task\+\_\+trampoline}} (void \texorpdfstring{$\ast$}{*}arg)
+\begin{DoxyCompactList}\small\item\em Static function used to launch spi task. \end{DoxyCompactList}\item 
+static void \mbox{\hyperlink{class_b_n_o08x_a0ae135d7bf7a5f047a1d1aa5cc07e520}{data\+\_\+proc\+\_\+task\+\_\+trampoline}} (void \texorpdfstring{$\ast$}{*}arg)
+\begin{DoxyCompactList}\small\item\em Static function used to launch data processing task. \end{DoxyCompactList}\item 
+static void IRAM\+\_\+\+ATTR \mbox{\hyperlink{class_b_n_o08x_a804b95c58c30d36933fd251626b85bf7}{hint\+\_\+handler}} (void \texorpdfstring{$\ast$}{*}arg)
+\begin{DoxyCompactList}\small\item\em HINT interrupt service routine, handles falling edge of \doxylink{class_b_n_o08x}{BNO08x} HINT pin. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Private Attributes}
+\begin{DoxyCompactItemize}
+\item 
+Event\+Group\+Handle\+\_\+t \mbox{\hyperlink{class_b_n_o08x_aa2b4442b5cc63ebf0c495e6fb537c85e}{evt\+\_\+grp\+\_\+spi}}
+\begin{DoxyCompactList}\small\item\em Event group for indicating when bno08x hint pin has triggered and when new data has been processed. Used by calls to sending or receiving functions. \end{DoxyCompactList}\item 
+Event\+Group\+Handle\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a63eb6c8be6f3bc943a86bb0496871275}{evt\+\_\+grp\+\_\+report\+\_\+en}}
+\begin{DoxyCompactList}\small\item\em Event group for indicating which reports are currently enabled. \end{DoxyCompactList}\item 
+Queue\+Handle\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a7d4661d3aae56013caa8f2bff0f67c08}{queue\+\_\+rx\+\_\+data}}
+\begin{DoxyCompactList}\small\item\em Packet queue used to send data received from bno08x from spi\+\_\+task to data\+\_\+proc\+\_\+task. \end{DoxyCompactList}\item 
+Queue\+Handle\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a4d5c5eee87a578de9c8318cd294b3a22}{queue\+\_\+tx\+\_\+data}}
+\begin{DoxyCompactList}\small\item\em Packet queue used to send data to be sent over SPI from sending functions to spi\+\_\+task. \end{DoxyCompactList}\item 
+Queue\+Handle\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a9a1c851e8fa5633e11f6abee293d7e9b}{queue\+\_\+frs\+\_\+read\+\_\+data}}
+\begin{DoxyCompactList}\small\item\em Queue used to send packet body from data\+\_\+proc\+\_\+task to frs read functions. \end{DoxyCompactList}\item 
+Queue\+Handle\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a84b3639cc159262e0137adb0db5cf9aa}{queue\+\_\+reset\+\_\+reason}}
+\begin{DoxyCompactList}\small\item\em Queue used to send reset reason from product id report to reset\+\_\+reason() function. \end{DoxyCompactList}\item 
+std\+::vector$<$ std\+::function$<$ void()$>$ $>$ \mbox{\hyperlink{class_b_n_o08x_a6a15e3a64dd71ea61f0448afcce96409}{cb\+\_\+list}}
+\item 
+uint32\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a7bd032712a975e73e66bd72a3502baba}{meta\+\_\+data}} \mbox{[}9\mbox{]}
+\begin{DoxyCompactList}\small\item\em First 9 bytes of meta data returned from FRS read operation (we don\textquotesingle{}t really need the rest) (See Ref. Manual 5.\+1) \end{DoxyCompactList}\item 
+\mbox{\hyperlink{structbno08x__config__t}{bno08x\+\_\+config\+\_\+t}} \mbox{\hyperlink{class_b_n_o08x_aeda443e9f608fccfec0e6770edc90c82}{imu\+\_\+config}} \{\}
+\begin{DoxyCompactList}\small\item\em IMU configuration settings. \end{DoxyCompactList}\item 
+spi\+\_\+bus\+\_\+config\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a982f065df42f00e53fd87c840efdb0f1}{bus\+\_\+config}} \{\}
+\begin{DoxyCompactList}\small\item\em SPI bus GPIO configuration settings. \end{DoxyCompactList}\item 
+spi\+\_\+device\+\_\+interface\+\_\+config\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a425a1f5a9f3232aadc685caaf4c2f82e}{imu\+\_\+spi\+\_\+config}} \{\}
+\begin{DoxyCompactList}\small\item\em SPI slave device settings. \end{DoxyCompactList}\item 
+spi\+\_\+device\+\_\+handle\+\_\+t \mbox{\hyperlink{class_b_n_o08x_acc0ea091465fc9a5736f5e0c6a0ce8ef}{spi\+\_\+hdl}} \{\}
+\begin{DoxyCompactList}\small\item\em SPI device handle. \end{DoxyCompactList}\item 
+spi\+\_\+transaction\+\_\+t \mbox{\hyperlink{class_b_n_o08x_ac16adc5f00b0039c98a4921f13895026}{spi\+\_\+transaction}} \{\}
+\begin{DoxyCompactList}\small\item\em SPI transaction handle. \end{DoxyCompactList}\item 
+uint32\+\_\+t \mbox{\hyperlink{class_b_n_o08x_abc972db20affbd0040b4e6c4892dd57b}{time\+\_\+stamp}}
+\begin{DoxyCompactList}\small\item\em Report timestamp (see datasheet 1.\+3.\+5.\+3) \end{DoxyCompactList}\item 
+uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a75fb2f06c5bbe26e3f3c794934ef954c}{raw\+\_\+accel\+\_\+X}}
+\item 
+uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_ab56e2ba505fa293d03e955137625c562}{raw\+\_\+accel\+\_\+Y}}
+\item 
+uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_af254d245b368027df6952b7d7522bd35}{raw\+\_\+accel\+\_\+Z}}
+\item 
+uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a3365b7ebde01e284274e655c60343df9}{accel\+\_\+accuracy}}
+\begin{DoxyCompactList}\small\item\em Raw acceleration readings (See SH-\/2 Ref. Manual 6.\+5.\+8) \end{DoxyCompactList}\item 
+uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_ae1f71a432cb15e75f522fa18f29f4d50}{raw\+\_\+lin\+\_\+accel\+\_\+X}}
+\item 
+uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_aff3a5590471d1c9fc485a5610433915f}{raw\+\_\+lin\+\_\+accel\+\_\+Y}}
+\item 
+uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_abc8add47f1babc66c812a015614143d3}{raw\+\_\+lin\+\_\+accel\+\_\+Z}}
+\item 
+uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a35e1635ef5edde8fc8640f978c6f2e3c}{accel\+\_\+lin\+\_\+accuracy}}
+\begin{DoxyCompactList}\small\item\em Raw linear acceleration (See SH-\/2 Ref. Manual 6.\+5.\+10) \end{DoxyCompactList}\item 
+uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a19696327a056a448ed5ba706e747bbe5}{raw\+\_\+gyro\+\_\+X}}
+\item 
+uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a61df9f571555f5f682eb51f24a279489}{raw\+\_\+gyro\+\_\+Y}}
+\item 
+uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a03f567cda2a3cc966301e96732fca9ad}{raw\+\_\+gyro\+\_\+Z}}
+\item 
+uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a98ea35dd0fbd0c409d25fd8a6ed9f277}{gyro\+\_\+accuracy}}
+\begin{DoxyCompactList}\small\item\em Raw gyro reading (See SH-\/2 Ref. Manual 6.\+5.\+13) \end{DoxyCompactList}\item 
+uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a69dc7e97875060213085ba964b3bd987}{raw\+\_\+quat\+\_\+I}}
+\item 
+uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a61ae05dc5572b326541bf8099f0c2a54}{raw\+\_\+quat\+\_\+J}}
+\item 
+uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a7720c44ed1c0f1a0663d2adc5e1a1ea1}{raw\+\_\+quat\+\_\+K}}
+\item 
+uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a867354267253ae828be4fae15c062db3}{raw\+\_\+quat\+\_\+real}}
+\item 
+uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a033d6cb1aa137743b69cc3e401df67b7}{raw\+\_\+quat\+\_\+radian\+\_\+accuracy}}
+\item 
+uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a36223f7124751fa71e860b2ef55dd2ac}{quat\+\_\+accuracy}}
+\begin{DoxyCompactList}\small\item\em Raw quaternion reading (See SH-\/2 Ref. Manual 6.\+5.\+44) \end{DoxyCompactList}\item 
+uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_aa5bb03dbeabed729c012ec7164a3354f}{raw\+\_\+velocity\+\_\+gyro\+\_\+X}}
+\item 
+uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a4f188bf76ba862f07606d1351d28548f}{raw\+\_\+velocity\+\_\+gyro\+\_\+Y}}
+\item 
+uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_ab49f9a6586d709bbd26280ef44a4bbf7}{raw\+\_\+velocity\+\_\+gyro\+\_\+Z}}
+\begin{DoxyCompactList}\small\item\em Raw gyro angular velocity reading (See SH-\/2 Ref. Manual 6.\+5.\+44) \end{DoxyCompactList}\item 
+uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_af45016be9ea523d80be8467b2907b499}{gravity\+\_\+X}}
+\item 
+uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_af20dcd487a9fe8fa6243817d51e37be5}{gravity\+\_\+Y}}
+\item 
+uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_afa1cf5c3afbb258d97c55c5fb187f2d6}{gravity\+\_\+Z}}
+\item 
+uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_ae01698d287ea999179a11e2244902022}{gravity\+\_\+accuracy}}
+\begin{DoxyCompactList}\small\item\em Gravity reading in m/s\texorpdfstring{$^\wedge$}{\string^}2 (See SH-\/2 Ref. Manual 6.\+5.\+11) \end{DoxyCompactList}\item 
+uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_afdc5cdb65bd0b36528b5b671b9d27053}{raw\+\_\+uncalib\+\_\+gyro\+\_\+X}}
+\item 
+uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_acc2c66e2985975266a286385ea855117}{raw\+\_\+uncalib\+\_\+gyro\+\_\+Y}}
+\item 
+uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_afac9dd4161f4c0051255293680c9082b}{raw\+\_\+uncalib\+\_\+gyro\+\_\+Z}}
+\item 
+uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a8a2667f668317cee0a9fc4ef0accc3f5}{raw\+\_\+bias\+\_\+X}}
+\item 
+uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_ac38ff5eb93d3c3db0af2504ba02fd93c}{raw\+\_\+bias\+\_\+Y}}
+\item 
+uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a0968eaed9b3d979a2caa1aba6e6b417a}{raw\+\_\+bias\+\_\+Z}}
+\item 
+uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a081c666a3f24016d0ec5c5edc49f2903}{uncalib\+\_\+gyro\+\_\+accuracy}}
+\begin{DoxyCompactList}\small\item\em Uncalibrated gyro reading (See SH-\/2 Ref. Manual 6.\+5.\+14) \end{DoxyCompactList}\item 
+uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_aa5bdf740161b7c37adcac0154a410118}{raw\+\_\+magf\+\_\+X}}
+\item 
+uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_acd365418f24a6da61122c66d82086639}{raw\+\_\+magf\+\_\+Y}}
+\item 
+uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_ab4862de31d0874b44b6745678e1c905e}{raw\+\_\+magf\+\_\+Z}}
+\item 
+uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_ac5d4e151690774687efa951ca41c16ae}{magf\+\_\+accuracy}}
+\begin{DoxyCompactList}\small\item\em Calibrated magnetic field reading in u\+Tesla (See SH-\/2 Ref. Manual 6.\+5.\+16) \end{DoxyCompactList}\item 
+uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a1171a5738a4e6831ec7fa32a29f15554}{tap\+\_\+detector}}
+\begin{DoxyCompactList}\small\item\em Tap detector reading (See SH-\/2 Ref. Manual 6.\+5.\+27) \end{DoxyCompactList}\item 
+uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_ad80a77973371b12d722ea39063c648be}{step\+\_\+count}}
+\begin{DoxyCompactList}\small\item\em Step counter reading (See SH-\/2 Ref. Manual 6.\+5.\+29) \end{DoxyCompactList}\item 
+uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a1b12471e92536a79d0c425d77676f2e1}{stability\+\_\+classifier}}
+\begin{DoxyCompactList}\small\item\em Stability status reading (See SH-\/2 Ref. Manual 6.\+5.\+31) \end{DoxyCompactList}\item 
+uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a75cea49c1c08ca28d9fa7e5ed61c6e7b}{activity\+\_\+classifier}}
+\begin{DoxyCompactList}\small\item\em Activity status reading (See SH-\/2 Ref. Manual 6.\+5.\+36) \end{DoxyCompactList}\item 
+uint8\+\_\+t \texorpdfstring{$\ast$}{*} \mbox{\hyperlink{class_b_n_o08x_af96e8cd070459f945ffbf01b98106e13}{activity\+\_\+confidences}}
+\begin{DoxyCompactList}\small\item\em Confidence of read activities (See SH-\/2 Ref. Manual 6.\+5.\+36) \end{DoxyCompactList}\item 
+uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_ad212b5028a31e857e76d251ced2724e1}{calibration\+\_\+status}}
+\begin{DoxyCompactList}\small\item\em Calibration status of device (See SH-\/2 Ref. Manual 6.\+4.\+7.\+1 \& 6.\+4.\+7.\+2) \end{DoxyCompactList}\item 
+uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a937cbdc4edaac72c8cad041d79de5701}{mems\+\_\+raw\+\_\+accel\+\_\+X}}
+\item 
+uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_ad83cecb8a5d2be01db6792755b6057e9}{mems\+\_\+raw\+\_\+accel\+\_\+Y}}
+\item 
+uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a59a4d75f1302ab693b1b26e9ccaa5341}{mems\+\_\+raw\+\_\+accel\+\_\+Z}}
+\begin{DoxyCompactList}\small\item\em Raw accelerometer readings from MEMS sensor (See SH2 Ref. Manual 6.\+5.\+8) \end{DoxyCompactList}\item 
+uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a3d6b6257462951ea023af7076c80f6dd}{mems\+\_\+raw\+\_\+gyro\+\_\+X}}
+\item 
+uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_ab6b142416912a096886dd63ad0beb865}{mems\+\_\+raw\+\_\+gyro\+\_\+Y}}
+\item 
+uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_ac35d5b12721ab876eaeb1f714a9b3b1d}{mems\+\_\+raw\+\_\+gyro\+\_\+Z}}
+\begin{DoxyCompactList}\small\item\em Raw gyro readings from MEMS sensor (See SH-\/2 Ref. Manual 6.\+5.\+12) \end{DoxyCompactList}\item 
+uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_ab587cdf991342b69b7fff3b33f537eb5}{mems\+\_\+raw\+\_\+magf\+\_\+X}}
+\item 
+uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_aad926054c81818fff611e10ed913706a}{mems\+\_\+raw\+\_\+magf\+\_\+Y}}
+\item 
+uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a90f0cdf11decc276006f76a494d42ce3}{mems\+\_\+raw\+\_\+magf\+\_\+Z}}
+\begin{DoxyCompactList}\small\item\em Raw magnetometer (compass) readings from MEMS sensor (See SH-\/2 Ref. Manual 6.\+5.\+15) \end{DoxyCompactList}\item 
+Task\+Handle\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a615090aae15f1b0410a7e5ecb94957b5}{spi\+\_\+task\+\_\+hdl}}
+\begin{DoxyCompactList}\small\item\em \doxylink{class_b_n_o08x_a2ecd4ed60f82730ae230c61687ec92bf}{spi\+\_\+task()} handle \end{DoxyCompactList}\item 
+Task\+Handle\+\_\+t \mbox{\hyperlink{class_b_n_o08x_af9b6fbf35e7cd55d517d30c6429a21a4}{data\+\_\+proc\+\_\+task\+\_\+hdl}}
+\begin{DoxyCompactList}\small\item\em \doxylink{class_b_n_o08x_ab4373e9b87837ea9fcbc0b536338c7b8}{data\+\_\+proc\+\_\+task()} task handle \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Static Private Attributes}
+\begin{DoxyCompactItemize}
+\item 
+static \mbox{\hyperlink{structbno08x__config__t}{bno08x\+\_\+config\+\_\+t}} \mbox{\hyperlink{class_b_n_o08x_a6232920a05c0aba34e5560951a20ae87}{default\+\_\+imu\+\_\+config}}
+\begin{DoxyCompactList}\small\item\em default imu config settings \end{DoxyCompactList}\item 
+static bool \mbox{\hyperlink{class_b_n_o08x_a4882dbc698d7b730f57e2401037766a9}{isr\+\_\+service\+\_\+installed}} = \{false\}
+\begin{DoxyCompactList}\small\item\em true of the isr service has been installed, only has to be done once regardless of how many devices are used \end{DoxyCompactList}\item 
+static const constexpr uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a1a037bda37493cde56732cc6fdc7884b}{RX\+\_\+\+DATA\+\_\+\+LENGTH}} = 300
+\begin{DoxyCompactList}\small\item\em length buffer containing data received over spi \end{DoxyCompactList}\item 
+static const constexpr uint16\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a2a5b978233eab4c103ab01cfc33a1750}{MAX\+\_\+\+METADATA\+\_\+\+LENGTH}} = 9
+\begin{DoxyCompactList}\small\item\em max length of metadata used in frs read operations \end{DoxyCompactList}\item 
+static const constexpr uint64\+\_\+t \mbox{\hyperlink{class_b_n_o08x_ae7f34752f888c637d5619f898e62a6d4}{HOST\+\_\+\+INT\+\_\+\+TIMEOUT\+\_\+\+MS}}
+\begin{DoxyCompactList}\small\item\em Max wait between HINT being asserted by \doxylink{class_b_n_o08x}{BNO08x} before transaction is considered failed (in miliseconds) \end{DoxyCompactList}\item 
+static const constexpr Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a32cffd8f78881925d22d5a7cb55f2bbc}{EVT\+\_\+\+GRP\+\_\+\+SPI\+\_\+\+RX\+\_\+\+DONE\+\_\+\+BIT}}
+\begin{DoxyCompactList}\small\item\em When this bit is set it indicates a receive procedure has completed. \end{DoxyCompactList}\item 
+static const constexpr Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a603dccfbbead6bdaa3bd970ad28fcd38}{EVT\+\_\+\+GRP\+\_\+\+SPI\+\_\+\+RX\+\_\+\+VALID\+\_\+\+PACKET}}
+\begin{DoxyCompactList}\small\item\em When this bit is set, it indicates a valid packet has been received and processed. \end{DoxyCompactList}\item 
+static const constexpr Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a6415c95701f590c72083f5bdc5f4ae47}{EVT\+\_\+\+GRP\+\_\+\+SPI\+\_\+\+RX\+\_\+\+INVALID\+\_\+\+PACKET}}
+\begin{DoxyCompactList}\small\item\em When this bit is set, it indicates an invalid packet has been received. \end{DoxyCompactList}\item 
+static const constexpr Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_aa333b17ab88348a9849f0ceb9757dc9c}{EVT\+\_\+\+GRP\+\_\+\+SPI\+\_\+\+TX\+\_\+\+DONE}} = (1 $<$$<$ 3)
+\begin{DoxyCompactList}\small\item\em When this bit is set, it indicates a queued packet has been sent. \end{DoxyCompactList}\item 
+static const constexpr Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a198da2ee3cd9cfa459c3c41c4f8c44b7}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+ROTATION\+\_\+\+VECTOR\+\_\+\+BIT}} = (1 $<$$<$ 0)
+\begin{DoxyCompactList}\small\item\em When set, rotation vector reports are active. \end{DoxyCompactList}\item 
+static const constexpr Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a0f3f33d93b72ba6564f9d5fa93c24f98}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+GAME\+\_\+\+ROTATION\+\_\+\+VECTOR\+\_\+\+BIT}} = (1 $<$$<$ 1)
+\begin{DoxyCompactList}\small\item\em When set, game rotation vector reports are active. \end{DoxyCompactList}\item 
+static const constexpr Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_aa9703cee46912a545b5e85e671f08e4b}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+ARVR\+\_\+\+S\+\_\+\+ROTATION\+\_\+\+VECTOR\+\_\+\+BIT}}
+\begin{DoxyCompactList}\small\item\em When set, ARVR stabilized rotation vector reports are active. \end{DoxyCompactList}\item 
+static const constexpr Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a79d3fff1e0f19467cad231b22edafa0f}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+ARVR\+\_\+\+S\+\_\+\+GAME\+\_\+\+ROTATION\+\_\+\+VECTOR\+\_\+\+BIT}}
+\begin{DoxyCompactList}\small\item\em When set, ARVR stabilized game rotation vector reports are active. \end{DoxyCompactList}\item 
+static const constexpr Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a541155dc4544193451cf102e2a992da9}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+GYRO\+\_\+\+ROTATION\+\_\+\+VECTOR\+\_\+\+BIT}}
+\begin{DoxyCompactList}\small\item\em When set, gyro integrator rotation vector reports are active. \end{DoxyCompactList}\item 
+static const constexpr Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a17b19c32d4dfbc9ae2761a0cdd873314}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+ACCELEROMETER\+\_\+\+BIT}} = (1 $<$$<$ 5)
+\begin{DoxyCompactList}\small\item\em When set, accelerometer reports are active. \end{DoxyCompactList}\item 
+static const constexpr Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_ad93161968a53ff53a6bb74ab7c34fbff}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+LINEAR\+\_\+\+ACCELEROMETER\+\_\+\+BIT}} = (1 $<$$<$ 6)
+\begin{DoxyCompactList}\small\item\em When set, linear accelerometer reports are active. \end{DoxyCompactList}\item 
+static const constexpr Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_ab94a8f69673a3db7556ba67775c5ea93}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+GRAVITY\+\_\+\+BIT}} = (1 $<$$<$ 7)
+\begin{DoxyCompactList}\small\item\em When set, gravity reports are active. \end{DoxyCompactList}\item 
+static const constexpr Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a3a8b12ea9b75f97191785a60d1aa962a}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+GYRO\+\_\+\+BIT}} = (1 $<$$<$ 8)
+\begin{DoxyCompactList}\small\item\em When set, gyro reports are active. \end{DoxyCompactList}\item 
+static const constexpr Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_af86821bc0f1e7f5897de20b5e47a85bd}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+GYRO\+\_\+\+UNCALIBRATED\+\_\+\+BIT}} = (1 $<$$<$ 9)
+\begin{DoxyCompactList}\small\item\em When set, uncalibrated gyro reports are active. \end{DoxyCompactList}\item 
+static const constexpr Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a901af6f2d552f197ee830d0a1c06679c}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+MAGNETOMETER\+\_\+\+BIT}} = (1 $<$$<$ 10)
+\begin{DoxyCompactList}\small\item\em When set, magnetometer reports are active. \end{DoxyCompactList}\item 
+static const constexpr Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a665464f781fe891b9179478d0174af47}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+TAP\+\_\+\+DETECTOR\+\_\+\+BIT}} = (1 $<$$<$ 11)
+\begin{DoxyCompactList}\small\item\em When set, tap detector reports are active. \end{DoxyCompactList}\item 
+static const constexpr Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_ab264b65a3aa5a9a74ed11b8977164a73}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+STEP\+\_\+\+COUNTER\+\_\+\+BIT}} = (1 $<$$<$ 12)
+\begin{DoxyCompactList}\small\item\em When set, step counter reports are active. \end{DoxyCompactList}\item 
+static const constexpr Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a7d6ee23222f55dbe9f70e04b36d9add2}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+STABILITY\+\_\+\+CLASSIFIER\+\_\+\+BIT}} = (1 $<$$<$ 13)
+\begin{DoxyCompactList}\small\item\em When set, stability classifier reports are active. \end{DoxyCompactList}\item 
+static const constexpr Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a96eb1b1bfe1266791fd424b3ce402c56}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+ACTIVITY\+\_\+\+CLASSIFIER\+\_\+\+BIT}} = (1 $<$$<$ 14)
+\begin{DoxyCompactList}\small\item\em When set, activity classifier reports are active. \end{DoxyCompactList}\item 
+static const constexpr Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a3e56d12435f7be81956d68196f1a46b4}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+RAW\+\_\+\+ACCELEROMETER\+\_\+\+BIT}} = (1 $<$$<$ 15)
+\begin{DoxyCompactList}\small\item\em When set, raw accelerometer reports are active. \end{DoxyCompactList}\item 
+static const constexpr Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a6be7b240e4447c2c643e706954093aa0}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+RAW\+\_\+\+GYRO\+\_\+\+BIT}} = (1 $<$$<$ 16)
+\begin{DoxyCompactList}\small\item\em When set, raw gyro reports are active. \end{DoxyCompactList}\item 
+static const constexpr Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_ac28553b40b82c7cb409938681afe6cec}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+RAW\+\_\+\+MAGNETOMETER\+\_\+\+BIT}} = (1 $<$$<$ 17)
+\begin{DoxyCompactList}\small\item\em When set, raw magnetometer reports are active. \end{DoxyCompactList}\item 
+static const constexpr Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a89399e8a68a53bc2a269ab73625a2da2}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+ALL\+\_\+\+BITS}}
+\item 
+static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_acd5b44d705af1f9aaa271a59a9d2d595}{CALIBRATE\+\_\+\+ACCEL}} = 0
+\begin{DoxyCompactList}\small\item\em Calibrate accelerometer command used by queue\+\_\+calibrate\+\_\+command. \end{DoxyCompactList}\item 
+static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_aeac84719a1cc0f9c8d5a9a749391d4db}{CALIBRATE\+\_\+\+GYRO}} = 1
+\begin{DoxyCompactList}\small\item\em Calibrate gyro command used by queue\+\_\+calibrate\+\_\+command. \end{DoxyCompactList}\item 
+static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_ac00e8b59ae8d710cf79956eaafa97ddb}{CALIBRATE\+\_\+\+MAG}} = 2
+\begin{DoxyCompactList}\small\item\em Calibrate magnetometer command used by queue\+\_\+calibrate\+\_\+command. \end{DoxyCompactList}\item 
+static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a955dcb60da150490e17367a871b3a3d2}{CALIBRATE\+\_\+\+PLANAR\+\_\+\+ACCEL}} = 3
+\begin{DoxyCompactList}\small\item\em Calibrate planar acceleration command used by queue\+\_\+calibrate\+\_\+command. \end{DoxyCompactList}\item 
+static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_af53d9e99f163d97ef92fe989b1dd25cc}{CALIBRATE\+\_\+\+ACCEL\+\_\+\+GYRO\+\_\+\+MAG}}
+\begin{DoxyCompactList}\small\item\em Calibrate accelerometer, gyro, \& magnetometer command used by queue\+\_\+calibrate\+\_\+command. \end{DoxyCompactList}\item 
+static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a584bfa04a39feb93279ee673c340db54}{CALIBRATE\+\_\+\+STOP}} = 5
+\begin{DoxyCompactList}\small\item\em Stop calibration command used by queue\+\_\+calibrate\+\_\+command. \end{DoxyCompactList}\item 
+static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a384a1efc9857ad938be3bb44f871539b}{COMMAND\+\_\+\+ERRORS}} = 1
+\item 
+static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a93dd073c0cc1f3ccfde552649f6ebccc}{COMMAND\+\_\+\+COUNTER}} = 2
+\item 
+static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a0a1756bc16ba3eac45f4229b1e350107}{COMMAND\+\_\+\+TARE}} = 3
+\begin{DoxyCompactList}\small\item\em Command and response to tare command (See Sh2 Ref. Manual 6.\+4.\+4) \end{DoxyCompactList}\item 
+static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a30eb6d305a187d4d36546841e12176b9}{COMMAND\+\_\+\+INITIALIZE}} = 4
+\begin{DoxyCompactList}\small\item\em Reinitialize sensor hub components See (SH2 Ref. Manual 6.\+4.\+5) \end{DoxyCompactList}\item 
+static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_af124a6c1d8b871f3181b6c85f1099cb2}{COMMAND\+\_\+\+DCD}} = 6
+\begin{DoxyCompactList}\small\item\em Save DCD command (See SH2 Ref. Manual 6.\+4.\+7) \end{DoxyCompactList}\item 
+static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a8381dfe403ddff522f172cb16780731a}{COMMAND\+\_\+\+ME\+\_\+\+CALIBRATE}} = 7
+\begin{DoxyCompactList}\small\item\em Command and response to configure ME calibration (See SH2 Ref. Manual 6.\+4.\+7) \end{DoxyCompactList}\item 
+static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a7a246989c94cd87f68166b20b7ad4c8b}{COMMAND\+\_\+\+DCD\+\_\+\+PERIOD\+\_\+\+SAVE}} = 9
+\begin{DoxyCompactList}\small\item\em Configure DCD periodic saving (See SH2 Ref. Manual 6.\+4) \end{DoxyCompactList}\item 
+static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a308c8b5307d93a67b5b9066d44494aa5}{COMMAND\+\_\+\+OSCILLATOR}} = 10
+\begin{DoxyCompactList}\small\item\em Retrieve oscillator type command (See SH2 Ref. Manual 6.\+4) \end{DoxyCompactList}\item 
+static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a4f580b3cb232a762ea7019ee7b04d419}{COMMAND\+\_\+\+CLEAR\+\_\+\+DCD}} = 11
+\begin{DoxyCompactList}\small\item\em Clear DCD \& Reset command (See SH2 Ref. Manual 6.\+4) \end{DoxyCompactList}\item 
+static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a1e5b64caa514b7e4fe64ab214758b875}{SHTP\+\_\+\+REPORT\+\_\+\+COMMAND\+\_\+\+RESPONSE}} = 0x\+F1
+\begin{DoxyCompactList}\small\item\em See SH2 Ref. Manual 6.\+3.\+9. \end{DoxyCompactList}\item 
+static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_ab04695dd189412092254e52bd6e5a75a}{SHTP\+\_\+\+REPORT\+\_\+\+COMMAND\+\_\+\+REQUEST}} = 0x\+F2
+\begin{DoxyCompactList}\small\item\em See SH2 Ref. Manual 6.\+3.\+8. \end{DoxyCompactList}\item 
+static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_aeb760b095dcf808a413ef696f2608e43}{SHTP\+\_\+\+REPORT\+\_\+\+FRS\+\_\+\+READ\+\_\+\+RESPONSE}} = 0x\+F3
+\begin{DoxyCompactList}\small\item\em See SH2 Ref. Manual 6.\+3.\+7. \end{DoxyCompactList}\item 
+static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a74af7eacc35cc825940b647c2de0d368}{SHTP\+\_\+\+REPORT\+\_\+\+FRS\+\_\+\+READ\+\_\+\+REQUEST}} = 0x\+F4
+\begin{DoxyCompactList}\small\item\em See SH2 Ref. Manual 6.\+3.\+6. \end{DoxyCompactList}\item 
+static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a0177134162e116501bc9483c6e4b76c3}{SHTP\+\_\+\+REPORT\+\_\+\+PRODUCT\+\_\+\+ID\+\_\+\+RESPONSE}} = 0x\+F8
+\begin{DoxyCompactList}\small\item\em See SH2 Ref. Manual 6.\+3.\+2. \end{DoxyCompactList}\item 
+static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a542405639c28bd56bc4361b922763c95}{SHTP\+\_\+\+REPORT\+\_\+\+PRODUCT\+\_\+\+ID\+\_\+\+REQUEST}} = 0x\+F9
+\begin{DoxyCompactList}\small\item\em See SH2 Ref. Manual 6.\+3.\+1. \end{DoxyCompactList}\item 
+static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_ae37d6f8431c8c465bfb0c662772b5cb9}{SHTP\+\_\+\+REPORT\+\_\+\+BASE\+\_\+\+TIMESTAMP}} = 0x\+FB
+\begin{DoxyCompactList}\small\item\em See SH2 Ref. Manual 7.\+2.\+1. \end{DoxyCompactList}\item 
+static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a1d3bff4e20c2c3d47db322c9e34ef338}{SHTP\+\_\+\+REPORT\+\_\+\+SET\+\_\+\+FEATURE\+\_\+\+COMMAND}} = 0x\+FD
+\begin{DoxyCompactList}\small\item\em See SH2 Ref. Manual 6.\+5.\+4. \end{DoxyCompactList}\item 
+static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a354eaff2218eb382a1851537a75badcc}{SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+ACCELEROMETER}} = 0x01
+\begin{DoxyCompactList}\small\item\em See SH2 Ref. Manual 6.\+5.\+9. \end{DoxyCompactList}\item 
+static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a224fb8f833806dd530c5f16e7ab5bc7a}{SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+GYROSCOPE}} = 0x02
+\begin{DoxyCompactList}\small\item\em See SH2 Ref. Manual 6.\+5.\+13. \end{DoxyCompactList}\item 
+static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a06058a84d6604054aa66ee008ac64aa9}{SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+MAGNETIC\+\_\+\+FIELD}} = 0x03
+\begin{DoxyCompactList}\small\item\em See SH2 Ref. Manual 6.\+5.\+16. \end{DoxyCompactList}\item 
+static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_ace7720a02c9f4ef38e319849f6c36a0b}{SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+LINEAR\+\_\+\+ACCELERATION}} = 0x04
+\begin{DoxyCompactList}\small\item\em See SH2 Ref. Manual 6.\+5.\+10. \end{DoxyCompactList}\item 
+static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a37c91f995c385556486df5fbbce8a3d5}{SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+ROTATION\+\_\+\+VECTOR}} = 0x05
+\begin{DoxyCompactList}\small\item\em See SH2 Ref. Manual 6.\+5.\+18. \end{DoxyCompactList}\item 
+static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a6730acb92053d44decb690a7b7234032}{SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+GRAVITY}} = 0x06
+\begin{DoxyCompactList}\small\item\em See SH2 Ref. Manual 6.\+5.\+11. \end{DoxyCompactList}\item 
+static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_acb8e83fbb0645d4e98a96120ce9f431c}{SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+UNCALIBRATED\+\_\+\+GYRO}} = 0x07
+\begin{DoxyCompactList}\small\item\em See SH2 Ref. Manual 6.\+5.\+14. \end{DoxyCompactList}\item 
+static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_ada7dbda9f7a0bfb0894a787ce0ff9cef}{SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+GAME\+\_\+\+ROTATION\+\_\+\+VECTOR}} = 0x08
+\begin{DoxyCompactList}\small\item\em See SH2 Ref. Manual 6.\+5.\+19. \end{DoxyCompactList}\item 
+static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_abb6d0586a5a87b7b34f4c65ae52965a4}{SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+GEOMAGNETIC\+\_\+\+ROTATION\+\_\+\+VECTOR}} = 0x09
+\begin{DoxyCompactList}\small\item\em See SH2 Ref. Manual 6.\+5.\+20. \end{DoxyCompactList}\item 
+static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_acd0fc6ffa70dd2761cba0ac0b88c234f}{SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+GYRO\+\_\+\+INTEGRATED\+\_\+\+ROTATION\+\_\+\+VECTOR}} = 0x2A
+\begin{DoxyCompactList}\small\item\em See SH2 Ref. Manual 6.\+5.\+44. \end{DoxyCompactList}\item 
+static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a8114460c50e84b0ac750293ab72868c8}{SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+TAP\+\_\+\+DETECTOR}} = 0x10
+\begin{DoxyCompactList}\small\item\em See SH2 Ref. Manual 6.\+5.\+27. \end{DoxyCompactList}\item 
+static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a2a10161bb564067a07f3fcf4021e00bb}{SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+STEP\+\_\+\+COUNTER}} = 0x11
+\begin{DoxyCompactList}\small\item\em See SH2 Ref. Manual 6.\+5.\+29. \end{DoxyCompactList}\item 
+static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_ab5c29f31714b4755c0edbce7156652f7}{SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+STABILITY\+\_\+\+CLASSIFIER}} = 0x13
+\begin{DoxyCompactList}\small\item\em See SH2 Ref. Manual 6.\+5.\+31. \end{DoxyCompactList}\item 
+static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a80ea70c4787dea6c3eabb48f583f1916}{SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+RAW\+\_\+\+ACCELEROMETER}} = 0x14
+\begin{DoxyCompactList}\small\item\em See SH2 Ref. Manual 6.\+5.\+8. \end{DoxyCompactList}\item 
+static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a03b3000424e6d966b80655443ec546bc}{SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+RAW\+\_\+\+GYROSCOPE}} = 0x15
+\begin{DoxyCompactList}\small\item\em See SH2 Ref. Manual 6.\+5.\+12. \end{DoxyCompactList}\item 
+static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a9e9a7578b7584e7eb2ad562b29565fa7}{SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+RAW\+\_\+\+MAGNETOMETER}} = 0x16
+\begin{DoxyCompactList}\small\item\em See SH2 Ref. Manual 6.\+5.\+15. \end{DoxyCompactList}\item 
+static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a7274f6d3bda04da0bb304386b4e8d603}{SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+PERSONAL\+\_\+\+ACTIVITY\+\_\+\+CLASSIFIER}} = 0x1E
+\begin{DoxyCompactList}\small\item\em See SH2 Ref. Manual 6.\+5.\+36. \end{DoxyCompactList}\item 
+static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a8d4b91149cfc1a3cd615f60a4ad2275e}{SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+ARVR\+\_\+\+STABILIZED\+\_\+\+ROTATION\+\_\+\+VECTOR}} = 0x28
+\begin{DoxyCompactList}\small\item\em See SH2 Ref. Manual 6.\+5.\+42. \end{DoxyCompactList}\item 
+static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_aeb51ebb6c82158cd7e23bd682c08c4e0}{SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+ARVR\+\_\+\+STABILIZED\+\_\+\+GAME\+\_\+\+ROTATION\+\_\+\+VECTOR}} = 0x29
+\begin{DoxyCompactList}\small\item\em See SH2 Ref. Manual 6.\+5.\+43. \end{DoxyCompactList}\item 
+static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a27df630f3e52b35552d2c1f2cf3496b0}{TARE\+\_\+\+NOW}} = 0
+\begin{DoxyCompactList}\small\item\em See SH2 Ref. Manual 6.\+4.\+4.\+1. \end{DoxyCompactList}\item 
+static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a115aef7b38ec0dec2085f6917d832912}{TARE\+\_\+\+PERSIST}} = 1
+\begin{DoxyCompactList}\small\item\em See SH2 Ref. Manual 6.\+4.\+4.\+2. \end{DoxyCompactList}\item 
+static const constexpr uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_a59cde7dd301c94a20b84735c5d49008e}{TARE\+\_\+\+SET\+\_\+\+REORIENTATION}} = 2
+\begin{DoxyCompactList}\small\item\em See SH2 Ref. Manual 6.\+4.\+4.\+3. \end{DoxyCompactList}\item 
+static const constexpr char \texorpdfstring{$\ast$}{*} \mbox{\hyperlink{class_b_n_o08x_a2c98d5f2c406a3efd0b48c5666fa8c46}{TAG}} = "{}BNO08x"{}
+\begin{DoxyCompactList}\small\item\em Class tag used for serial print statements. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Member Typedef Documentation}
+\Hypertarget{class_b_n_o08x_a407711b4a84223a52cc043a152aea8ba}\label{class_b_n_o08x_a407711b4a84223a52cc043a152aea8ba} 
+\index{BNO08x@{BNO08x}!bno08x\_rx\_packet\_t@{bno08x\_rx\_packet\_t}}
+\index{bno08x\_rx\_packet\_t@{bno08x\_rx\_packet\_t}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{bno08x\_rx\_packet\_t}{bno08x\_rx\_packet\_t}}
+{\footnotesize\ttfamily typedef struct BNO08x\+::bno08x\+\_\+rx\+\_\+packet\+\_\+t BNO08x\+::bno08x\+\_\+rx\+\_\+packet\+\_\+t\hspace{0.3cm}{\ttfamily [private]}}
+
+
+
+Holds data that is received over spi. 
+
+\Hypertarget{class_b_n_o08x_a3a1a869ac69e6ee850bd2a7f90dd8945}\label{class_b_n_o08x_a3a1a869ac69e6ee850bd2a7f90dd8945} 
+\index{BNO08x@{BNO08x}!bno08x\_tx\_packet\_t@{bno08x\_tx\_packet\_t}}
+\index{bno08x\_tx\_packet\_t@{bno08x\_tx\_packet\_t}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{bno08x\_tx\_packet\_t}{bno08x\_tx\_packet\_t}}
+{\footnotesize\ttfamily typedef struct BNO08x\+::bno08x\+\_\+tx\+\_\+packet\+\_\+t BNO08x\+::bno08x\+\_\+tx\+\_\+packet\+\_\+t\hspace{0.3cm}{\ttfamily [private]}}
+
+
+
+Holds data that is sent over spi. 
+
+
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\Hypertarget{class_b_n_o08x_a40f7688e843d74b8bd526c6f5ff17845}\label{class_b_n_o08x_a40f7688e843d74b8bd526c6f5ff17845} 
+\index{BNO08x@{BNO08x}!BNO08x@{BNO08x}}
+\index{BNO08x@{BNO08x}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{BNO08x()}{BNO08x()}}
+{\footnotesize\ttfamily BNO08x\+::\+BNO08x (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{structbno08x__config__t}{bno08x\+\_\+config\+\_\+t}}}]{imu\+\_\+config = {\ttfamily \mbox{\hyperlink{class_b_n_o08x_a6232920a05c0aba34e5560951a20ae87}{default\+\_\+imu\+\_\+config}}} }\end{DoxyParamCaption})}
+
+
+
+\doxylink{class_b_n_o08x}{BNO08x} imu constructor. 
+
+Construct a \doxylink{class_b_n_o08x}{BNO08x} object for managing a \doxylink{class_b_n_o08x}{BNO08x} sensor. Initializes required GPIO pins, interrupts, SPI peripheral.
+
+
+\begin{DoxyParams}{Parameters}
+{\em imu\+\_\+config} & Configuration settings (optional), default settings can be seen in \doxylink{structbno08x__config__t}{bno08x\+\_\+config\+\_\+t} \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=323pt]{class_b_n_o08x_a40f7688e843d74b8bd526c6f5ff17845_cgraph}
+\end{center}
+\end{figure}
+
+
+\doxysubsection{Member Function Documentation}
+\Hypertarget{class_b_n_o08x_aeffce374f558a167d5b5f19ad627e7cc}\label{class_b_n_o08x_aeffce374f558a167d5b5f19ad627e7cc} 
+\index{BNO08x@{BNO08x}!calibrate\_accelerometer@{calibrate\_accelerometer}}
+\index{calibrate\_accelerometer@{calibrate\_accelerometer}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{calibrate\_accelerometer()}{calibrate\_accelerometer()}}
+{\footnotesize\ttfamily void BNO08x\+::calibrate\+\_\+accelerometer (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Sends command to calibrate accelerometer. 
+
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_aeffce374f558a167d5b5f19ad627e7cc_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_afd0ca5f9b9741935543d143a5a43d128}\label{class_b_n_o08x_afd0ca5f9b9741935543d143a5a43d128} 
+\index{BNO08x@{BNO08x}!calibrate\_all@{calibrate\_all}}
+\index{calibrate\_all@{calibrate\_all}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{calibrate\_all()}{calibrate\_all()}}
+{\footnotesize\ttfamily void BNO08x\+::calibrate\+\_\+all (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Sends command to calibrate accelerometer, gyro, and magnetometer. 
+
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_afd0ca5f9b9741935543d143a5a43d128_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_afd0ca5f9b9741935543d143a5a43d128_icgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a9ada90f8ab6dd33fa2d7c168d9234af1}\label{class_b_n_o08x_a9ada90f8ab6dd33fa2d7c168d9234af1} 
+\index{BNO08x@{BNO08x}!calibrate\_gyro@{calibrate\_gyro}}
+\index{calibrate\_gyro@{calibrate\_gyro}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{calibrate\_gyro()}{calibrate\_gyro()}}
+{\footnotesize\ttfamily void BNO08x\+::calibrate\+\_\+gyro (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Sends command to calibrate gyro. 
+
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a9ada90f8ab6dd33fa2d7c168d9234af1_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_ac26350b55095a346d72598ab8aa74b4a}\label{class_b_n_o08x_ac26350b55095a346d72598ab8aa74b4a} 
+\index{BNO08x@{BNO08x}!calibrate\_magnetometer@{calibrate\_magnetometer}}
+\index{calibrate\_magnetometer@{calibrate\_magnetometer}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{calibrate\_magnetometer()}{calibrate\_magnetometer()}}
+{\footnotesize\ttfamily void BNO08x\+::calibrate\+\_\+magnetometer (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Sends command to calibrate magnetometer. 
+
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_ac26350b55095a346d72598ab8aa74b4a_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a1c6c49c97bc098db89db1aaa37e18f26}\label{class_b_n_o08x_a1c6c49c97bc098db89db1aaa37e18f26} 
+\index{BNO08x@{BNO08x}!calibrate\_planar\_accelerometer@{calibrate\_planar\_accelerometer}}
+\index{calibrate\_planar\_accelerometer@{calibrate\_planar\_accelerometer}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{calibrate\_planar\_accelerometer()}{calibrate\_planar\_accelerometer()}}
+{\footnotesize\ttfamily void BNO08x\+::calibrate\+\_\+planar\+\_\+accelerometer (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Sends command to calibrate planar accelerometer. 
+
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a1c6c49c97bc098db89db1aaa37e18f26_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a71ca35f78b98d93d31eb0c187dc8543b}\label{class_b_n_o08x_a71ca35f78b98d93d31eb0c187dc8543b} 
+\index{BNO08x@{BNO08x}!calibration\_complete@{calibration\_complete}}
+\index{calibration\_complete@{calibration\_complete}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{calibration\_complete()}{calibration\_complete()}}
+{\footnotesize\ttfamily bool BNO08x\+::calibration\+\_\+complete (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Returns true if calibration has completed. 
+
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a71ca35f78b98d93d31eb0c187dc8543b_icgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_afe39bfdede7b9a2b273983cb29a27d6e}\label{class_b_n_o08x_afe39bfdede7b9a2b273983cb29a27d6e} 
+\index{BNO08x@{BNO08x}!clear\_tare@{clear\_tare}}
+\index{clear\_tare@{clear\_tare}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{clear\_tare()}{clear\_tare()}}
+{\footnotesize\ttfamily void BNO08x\+::clear\+\_\+tare (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Sends command to clear persistent tare settings in non-\/volatile memory of \doxylink{class_b_n_o08x}{BNO08x} (See Ref. Manual 6.\+4.\+4.\+3) 
+
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_afe39bfdede7b9a2b273983cb29a27d6e_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a367d525d1c0ba119b3dca3067bb5bccc}\label{class_b_n_o08x_a367d525d1c0ba119b3dca3067bb5bccc} 
+\index{BNO08x@{BNO08x}!data\_available@{data\_available}}
+\index{data\_available@{data\_available}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{data\_available()}{data\_available()}}
+{\footnotesize\ttfamily bool BNO08x\+::data\+\_\+available (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Checks if \doxylink{class_b_n_o08x}{BNO08x} has asserted interrupt and sent data. 
+
+\begin{DoxyReturn}{Returns}
+true if new data has been parsed and saved 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a367d525d1c0ba119b3dca3067bb5bccc_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a367d525d1c0ba119b3dca3067bb5bccc_icgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_ab4373e9b87837ea9fcbc0b536338c7b8}\label{class_b_n_o08x_ab4373e9b87837ea9fcbc0b536338c7b8} 
+\index{BNO08x@{BNO08x}!data\_proc\_task@{data\_proc\_task}}
+\index{data\_proc\_task@{data\_proc\_task}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{data\_proc\_task()}{data\_proc\_task()}}
+{\footnotesize\ttfamily void BNO08x\+::data\+\_\+proc\+\_\+task (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [private]}}
+
+
+
+Task responsible parsing packets. Executed when SPI task sends a packet to be parsed, notifies \doxylink{class_b_n_o08x_a4f12de628073f44b2a3fab2688cf1caf}{wait\+\_\+for\+\_\+data()} call. 
+
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_ab4373e9b87837ea9fcbc0b536338c7b8_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_ab4373e9b87837ea9fcbc0b536338c7b8_icgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a0ae135d7bf7a5f047a1d1aa5cc07e520}\label{class_b_n_o08x_a0ae135d7bf7a5f047a1d1aa5cc07e520} 
+\index{BNO08x@{BNO08x}!data\_proc\_task\_trampoline@{data\_proc\_task\_trampoline}}
+\index{data\_proc\_task\_trampoline@{data\_proc\_task\_trampoline}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{data\_proc\_task\_trampoline()}{data\_proc\_task\_trampoline()}}
+{\footnotesize\ttfamily void BNO08x\+::data\+\_\+proc\+\_\+task\+\_\+trampoline (\begin{DoxyParamCaption}\item[{void \texorpdfstring{$\ast$}{*}}]{arg }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [private]}}
+
+
+
+Static function used to launch data processing task. 
+
+Used such that \doxylink{class_b_n_o08x_ab4373e9b87837ea9fcbc0b536338c7b8}{data\+\_\+proc\+\_\+task()} can be non-\/static class member.
+
+
+\begin{DoxyParams}{Parameters}
+{\em arg} & void pointer to \doxylink{class_b_n_o08x}{BNO08x} imu object \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a0ae135d7bf7a5f047a1d1aa5cc07e520_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=336pt]{class_b_n_o08x_a0ae135d7bf7a5f047a1d1aa5cc07e520_icgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_ad5c991150895b80bee68c933059a4058}\label{class_b_n_o08x_ad5c991150895b80bee68c933059a4058} 
+\index{BNO08x@{BNO08x}!disable\_accelerometer@{disable\_accelerometer}}
+\index{disable\_accelerometer@{disable\_accelerometer}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{disable\_accelerometer()}{disable\_accelerometer()}}
+{\footnotesize\ttfamily void BNO08x\+::disable\+\_\+accelerometer (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Sends command to disable accelerometer reports by setting report interval to 0. 
+
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_ad5c991150895b80bee68c933059a4058_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a4fdc39294922a9553d84cd96bdae4376}\label{class_b_n_o08x_a4fdc39294922a9553d84cd96bdae4376} 
+\index{BNO08x@{BNO08x}!disable\_activity\_classifier@{disable\_activity\_classifier}}
+\index{disable\_activity\_classifier@{disable\_activity\_classifier}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{disable\_activity\_classifier()}{disable\_activity\_classifier()}}
+{\footnotesize\ttfamily void BNO08x\+::disable\+\_\+activity\+\_\+classifier (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Sends command to disable activity classifier reports by setting report interval to 0. 
+
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a4fdc39294922a9553d84cd96bdae4376_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_ab187fe50fcfbb04bec9e80eb0fccf61c}\label{class_b_n_o08x_ab187fe50fcfbb04bec9e80eb0fccf61c} 
+\index{BNO08x@{BNO08x}!disable\_ARVR\_stabilized\_game\_rotation\_vector@{disable\_ARVR\_stabilized\_game\_rotation\_vector}}
+\index{disable\_ARVR\_stabilized\_game\_rotation\_vector@{disable\_ARVR\_stabilized\_game\_rotation\_vector}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{disable\_ARVR\_stabilized\_game\_rotation\_vector()}{disable\_ARVR\_stabilized\_game\_rotation\_vector()}}
+{\footnotesize\ttfamily void BNO08x\+::disable\+\_\+\+ARVR\+\_\+stabilized\+\_\+game\+\_\+rotation\+\_\+vector (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Sends command to disable ARVR stabilized game rotation vector reports by setting report interval to 0. 
+
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_ab187fe50fcfbb04bec9e80eb0fccf61c_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_aa59e3d8953c96dc1cc5958a1ac628df4}\label{class_b_n_o08x_aa59e3d8953c96dc1cc5958a1ac628df4} 
+\index{BNO08x@{BNO08x}!disable\_ARVR\_stabilized\_rotation\_vector@{disable\_ARVR\_stabilized\_rotation\_vector}}
+\index{disable\_ARVR\_stabilized\_rotation\_vector@{disable\_ARVR\_stabilized\_rotation\_vector}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{disable\_ARVR\_stabilized\_rotation\_vector()}{disable\_ARVR\_stabilized\_rotation\_vector()}}
+{\footnotesize\ttfamily void BNO08x\+::disable\+\_\+\+ARVR\+\_\+stabilized\+\_\+rotation\+\_\+vector (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Sends command to disable ARVR stabilized rotation vector reports by setting report interval to 0. 
+
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_aa59e3d8953c96dc1cc5958a1ac628df4_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a7665cce95e791c89161ec863f49c0392}\label{class_b_n_o08x_a7665cce95e791c89161ec863f49c0392} 
+\index{BNO08x@{BNO08x}!disable\_game\_rotation\_vector@{disable\_game\_rotation\_vector}}
+\index{disable\_game\_rotation\_vector@{disable\_game\_rotation\_vector}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{disable\_game\_rotation\_vector()}{disable\_game\_rotation\_vector()}}
+{\footnotesize\ttfamily void BNO08x\+::disable\+\_\+game\+\_\+rotation\+\_\+vector (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Sends command to disable game rotation vector reports by setting report interval to 0. 
+
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a7665cce95e791c89161ec863f49c0392_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a5e63a9e68dbe2968b37dcb6dae04de6f}\label{class_b_n_o08x_a5e63a9e68dbe2968b37dcb6dae04de6f} 
+\index{BNO08x@{BNO08x}!disable\_gravity@{disable\_gravity}}
+\index{disable\_gravity@{disable\_gravity}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{disable\_gravity()}{disable\_gravity()}}
+{\footnotesize\ttfamily void BNO08x\+::disable\+\_\+gravity (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Sends command to disable gravity reports by setting report interval to 0. 
+
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a5e63a9e68dbe2968b37dcb6dae04de6f_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a8296089e2fdbd7d2e85f364cf063af82}\label{class_b_n_o08x_a8296089e2fdbd7d2e85f364cf063af82} 
+\index{BNO08x@{BNO08x}!disable\_gyro@{disable\_gyro}}
+\index{disable\_gyro@{disable\_gyro}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{disable\_gyro()}{disable\_gyro()}}
+{\footnotesize\ttfamily void BNO08x\+::disable\+\_\+gyro (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Sends command to disable gyro reports by setting report interval to 0. 
+
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a8296089e2fdbd7d2e85f364cf063af82_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_aac0a00bed7825d8a2c357a48c3626931}\label{class_b_n_o08x_aac0a00bed7825d8a2c357a48c3626931} 
+\index{BNO08x@{BNO08x}!disable\_gyro\_integrated\_rotation\_vector@{disable\_gyro\_integrated\_rotation\_vector}}
+\index{disable\_gyro\_integrated\_rotation\_vector@{disable\_gyro\_integrated\_rotation\_vector}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{disable\_gyro\_integrated\_rotation\_vector()}{disable\_gyro\_integrated\_rotation\_vector()}}
+{\footnotesize\ttfamily void BNO08x\+::disable\+\_\+gyro\+\_\+integrated\+\_\+rotation\+\_\+vector (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Sends command to disable gyro integrated rotation vector reports by setting report interval to 0. 
+
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_aac0a00bed7825d8a2c357a48c3626931_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_afbd2b02d5abe7084ce9de49ee2c9142f}\label{class_b_n_o08x_afbd2b02d5abe7084ce9de49ee2c9142f} 
+\index{BNO08x@{BNO08x}!disable\_linear\_accelerometer@{disable\_linear\_accelerometer}}
+\index{disable\_linear\_accelerometer@{disable\_linear\_accelerometer}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{disable\_linear\_accelerometer()}{disable\_linear\_accelerometer()}}
+{\footnotesize\ttfamily void BNO08x\+::disable\+\_\+linear\+\_\+accelerometer (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Sends command to disable linear accelerometer reports by setting report interval to 0. 
+
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_afbd2b02d5abe7084ce9de49ee2c9142f_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a6671b082d20dda8bf5c53cb47db0c338}\label{class_b_n_o08x_a6671b082d20dda8bf5c53cb47db0c338} 
+\index{BNO08x@{BNO08x}!disable\_magnetometer@{disable\_magnetometer}}
+\index{disable\_magnetometer@{disable\_magnetometer}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{disable\_magnetometer()}{disable\_magnetometer()}}
+{\footnotesize\ttfamily void BNO08x\+::disable\+\_\+magnetometer (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Sends command to disable magnetometer reports by setting report interval to 0. 
+
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a6671b082d20dda8bf5c53cb47db0c338_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a171d78f4b00598b04c8ca54da16c508b}\label{class_b_n_o08x_a171d78f4b00598b04c8ca54da16c508b} 
+\index{BNO08x@{BNO08x}!disable\_raw\_accelerometer@{disable\_raw\_accelerometer}}
+\index{disable\_raw\_accelerometer@{disable\_raw\_accelerometer}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{disable\_raw\_accelerometer()}{disable\_raw\_accelerometer()}}
+{\footnotesize\ttfamily void BNO08x\+::disable\+\_\+raw\+\_\+accelerometer (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Sends command to disable raw accelerometer reports by setting report interval to 0. 
+
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a171d78f4b00598b04c8ca54da16c508b_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a75ef3d09f1ee016999c459e43e9e8c44}\label{class_b_n_o08x_a75ef3d09f1ee016999c459e43e9e8c44} 
+\index{BNO08x@{BNO08x}!disable\_raw\_gyro@{disable\_raw\_gyro}}
+\index{disable\_raw\_gyro@{disable\_raw\_gyro}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{disable\_raw\_gyro()}{disable\_raw\_gyro()}}
+{\footnotesize\ttfamily void BNO08x\+::disable\+\_\+raw\+\_\+gyro (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Sends command to disable raw gyro reports by setting report interval to 0. 
+
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a75ef3d09f1ee016999c459e43e9e8c44_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_add29c84038558c28bcfca37865cf9244}\label{class_b_n_o08x_add29c84038558c28bcfca37865cf9244} 
+\index{BNO08x@{BNO08x}!disable\_raw\_magnetometer@{disable\_raw\_magnetometer}}
+\index{disable\_raw\_magnetometer@{disable\_raw\_magnetometer}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{disable\_raw\_magnetometer()}{disable\_raw\_magnetometer()}}
+{\footnotesize\ttfamily void BNO08x\+::disable\+\_\+raw\+\_\+magnetometer (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Sends command to disable raw magnetometer reports by setting report interval to 0. 
+
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_add29c84038558c28bcfca37865cf9244_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a00ec3857cb06ae885e32059ef1cab693}\label{class_b_n_o08x_a00ec3857cb06ae885e32059ef1cab693} 
+\index{BNO08x@{BNO08x}!disable\_report@{disable\_report}}
+\index{disable\_report@{disable\_report}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{disable\_report()}{disable\_report()}}
+{\footnotesize\ttfamily void BNO08x\+::disable\+\_\+report (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{report\+\_\+\+ID,  }\item[{const Event\+Bits\+\_\+t}]{report\+\_\+evt\+\_\+grp\+\_\+bit }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [private]}}
+
+
+
+Disables a sensor report for a given ID by setting its time interval to 0. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em report\+\_\+\+ID} & The report ID of the sensor, i.\+e. SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+X \\
+\hline
+{\em report\+\_\+evt\+\_\+grp\+\_\+bit} & The event group bit for the respective report, to indicate to \doxylink{class_b_n_o08x_a2ecd4ed60f82730ae230c61687ec92bf}{spi\+\_\+task()} it\textquotesingle{}s disabled, i.\+e. EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+X\\
+\hline
+\end{DoxyParams}
+If no reports are enabled after disabling, this function will disable interrupts on hint pin.
+
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a00ec3857cb06ae885e32059ef1cab693_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[height=550pt]{class_b_n_o08x_a00ec3857cb06ae885e32059ef1cab693_icgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a1ebd456d2a67a22b5ba0911a95915921}\label{class_b_n_o08x_a1ebd456d2a67a22b5ba0911a95915921} 
+\index{BNO08x@{BNO08x}!disable\_rotation\_vector@{disable\_rotation\_vector}}
+\index{disable\_rotation\_vector@{disable\_rotation\_vector}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{disable\_rotation\_vector()}{disable\_rotation\_vector()}}
+{\footnotesize\ttfamily void BNO08x\+::disable\+\_\+rotation\+\_\+vector (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Sends command to disable rotation vector reports by setting report interval to 0. 
+
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a1ebd456d2a67a22b5ba0911a95915921_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_ab307ed3352e04c9e998ab4dd066f8932}\label{class_b_n_o08x_ab307ed3352e04c9e998ab4dd066f8932} 
+\index{BNO08x@{BNO08x}!disable\_stability\_classifier@{disable\_stability\_classifier}}
+\index{disable\_stability\_classifier@{disable\_stability\_classifier}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{disable\_stability\_classifier()}{disable\_stability\_classifier()}}
+{\footnotesize\ttfamily void BNO08x\+::disable\+\_\+stability\+\_\+classifier (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Sends command to disable stability reports by setting report interval to 0. 
+
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_ab307ed3352e04c9e998ab4dd066f8932_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a427550a4ba25252912436b899124e157}\label{class_b_n_o08x_a427550a4ba25252912436b899124e157} 
+\index{BNO08x@{BNO08x}!disable\_step\_counter@{disable\_step\_counter}}
+\index{disable\_step\_counter@{disable\_step\_counter}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{disable\_step\_counter()}{disable\_step\_counter()}}
+{\footnotesize\ttfamily void BNO08x\+::disable\+\_\+step\+\_\+counter (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Sends command to disable step counter reports by setting report interval to 0. 
+
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a427550a4ba25252912436b899124e157_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a16f83d1e85576a51abf2c65e5de58cd2}\label{class_b_n_o08x_a16f83d1e85576a51abf2c65e5de58cd2} 
+\index{BNO08x@{BNO08x}!disable\_tap\_detector@{disable\_tap\_detector}}
+\index{disable\_tap\_detector@{disable\_tap\_detector}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{disable\_tap\_detector()}{disable\_tap\_detector()}}
+{\footnotesize\ttfamily void BNO08x\+::disable\+\_\+tap\+\_\+detector (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Sends command to disable tap detector reports by setting report interval to 0. 
+
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a16f83d1e85576a51abf2c65e5de58cd2_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_aaf28212a5f1960c62a73282976142cfc}\label{class_b_n_o08x_aaf28212a5f1960c62a73282976142cfc} 
+\index{BNO08x@{BNO08x}!disable\_uncalibrated\_gyro@{disable\_uncalibrated\_gyro}}
+\index{disable\_uncalibrated\_gyro@{disable\_uncalibrated\_gyro}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{disable\_uncalibrated\_gyro()}{disable\_uncalibrated\_gyro()}}
+{\footnotesize\ttfamily void BNO08x\+::disable\+\_\+uncalibrated\+\_\+gyro (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Sends command to disable uncalibrated gyro reports by setting report interval to 0. 
+
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_aaf28212a5f1960c62a73282976142cfc_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a2795c6579cf03e22f62a5eadc88dee91}\label{class_b_n_o08x_a2795c6579cf03e22f62a5eadc88dee91} 
+\index{BNO08x@{BNO08x}!enable\_accelerometer@{enable\_accelerometer}}
+\index{enable\_accelerometer@{enable\_accelerometer}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{enable\_accelerometer()}{enable\_accelerometer()}}
+{\footnotesize\ttfamily void BNO08x\+::enable\+\_\+accelerometer (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})}
+
+
+
+Sends command to enable accelerometer reports (See Ref. Manual 6.\+5.\+9) 
+
+
+\begin{DoxyParams}{Parameters}
+{\em time\+\_\+between\+\_\+reports} & Desired time between reports in microseconds. \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a2795c6579cf03e22f62a5eadc88dee91_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_ad7b83cac874c092583f8513d3bb69bbf}\label{class_b_n_o08x_ad7b83cac874c092583f8513d3bb69bbf} 
+\index{BNO08x@{BNO08x}!enable\_activity\_classifier@{enable\_activity\_classifier}}
+\index{enable\_activity\_classifier@{enable\_activity\_classifier}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{enable\_activity\_classifier()}{enable\_activity\_classifier()}}
+{\footnotesize\ttfamily void BNO08x\+::enable\+\_\+activity\+\_\+classifier (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports,  }\item[{uint32\+\_\+t}]{activities\+\_\+to\+\_\+enable,  }\item[{uint8\+\_\+t(\&)}]{activity\+\_\+confidence\+\_\+vals\mbox{[}9\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Sends command to enable activity classifier reports (See Ref. Manual 6.\+5.\+36) 
+
+
+\begin{DoxyParams}{Parameters}
+{\em time\+\_\+between\+\_\+reports} & Desired time between reports in microseconds. \\
+\hline
+{\em activities\+\_\+to\+\_\+enable} & Desired activities to enable (0x1F enables all). \\
+\hline
+{\em activity\+\_\+confidence\+\_\+vals} & Returned activity level confidences. \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_ad7b83cac874c092583f8513d3bb69bbf_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a5680148a41cb9cc96d1911150c46d2b8}\label{class_b_n_o08x_a5680148a41cb9cc96d1911150c46d2b8} 
+\index{BNO08x@{BNO08x}!enable\_ARVR\_stabilized\_game\_rotation\_vector@{enable\_ARVR\_stabilized\_game\_rotation\_vector}}
+\index{enable\_ARVR\_stabilized\_game\_rotation\_vector@{enable\_ARVR\_stabilized\_game\_rotation\_vector}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{enable\_ARVR\_stabilized\_game\_rotation\_vector()}{enable\_ARVR\_stabilized\_game\_rotation\_vector()}}
+{\footnotesize\ttfamily void BNO08x\+::enable\+\_\+\+ARVR\+\_\+stabilized\+\_\+game\+\_\+rotation\+\_\+vector (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})}
+
+
+
+Sends command to enable ARVR stabilized game rotation vector reports (See Ref. Manual 6.\+5.\+43) 
+
+
+\begin{DoxyParams}{Parameters}
+{\em time\+\_\+between\+\_\+reports} & Desired time between reports in microseconds. \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a5680148a41cb9cc96d1911150c46d2b8_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a8a5f3b985989e846e831f70f7733d0bc}\label{class_b_n_o08x_a8a5f3b985989e846e831f70f7733d0bc} 
+\index{BNO08x@{BNO08x}!enable\_ARVR\_stabilized\_rotation\_vector@{enable\_ARVR\_stabilized\_rotation\_vector}}
+\index{enable\_ARVR\_stabilized\_rotation\_vector@{enable\_ARVR\_stabilized\_rotation\_vector}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{enable\_ARVR\_stabilized\_rotation\_vector()}{enable\_ARVR\_stabilized\_rotation\_vector()}}
+{\footnotesize\ttfamily void BNO08x\+::enable\+\_\+\+ARVR\+\_\+stabilized\+\_\+rotation\+\_\+vector (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})}
+
+
+
+Sends command to enable ARVR stabilized rotation vector reports (See Ref. Manual 6.\+5.\+42) 
+
+
+\begin{DoxyParams}{Parameters}
+{\em time\+\_\+between\+\_\+reports} & Desired time between reports in microseconds. \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a8a5f3b985989e846e831f70f7733d0bc_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_abe04c38b5bd52d331bd8aefae1f51947}\label{class_b_n_o08x_abe04c38b5bd52d331bd8aefae1f51947} 
+\index{BNO08x@{BNO08x}!enable\_game\_rotation\_vector@{enable\_game\_rotation\_vector}}
+\index{enable\_game\_rotation\_vector@{enable\_game\_rotation\_vector}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{enable\_game\_rotation\_vector()}{enable\_game\_rotation\_vector()}}
+{\footnotesize\ttfamily void BNO08x\+::enable\+\_\+game\+\_\+rotation\+\_\+vector (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})}
+
+
+
+Sends command to enable game rotation vector reports (See Ref. Manual 6.\+5.\+19) 
+
+
+\begin{DoxyParams}{Parameters}
+{\em time\+\_\+between\+\_\+reports} & Desired time between reports in microseconds. \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_abe04c38b5bd52d331bd8aefae1f51947_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_abe04c38b5bd52d331bd8aefae1f51947_icgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a030eae12c3586acf09b48e94630b2544}\label{class_b_n_o08x_a030eae12c3586acf09b48e94630b2544} 
+\index{BNO08x@{BNO08x}!enable\_gravity@{enable\_gravity}}
+\index{enable\_gravity@{enable\_gravity}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{enable\_gravity()}{enable\_gravity()}}
+{\footnotesize\ttfamily void BNO08x\+::enable\+\_\+gravity (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})}
+
+
+
+Sends command to enable gravity reading reports (See Ref. Manual 6.\+5.\+11) 
+
+
+\begin{DoxyParams}{Parameters}
+{\em time\+\_\+between\+\_\+reports} & Desired time between reports in microseconds. \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a030eae12c3586acf09b48e94630b2544_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_ad7b322681b9ec5f57edb09e336b988c0}\label{class_b_n_o08x_ad7b322681b9ec5f57edb09e336b988c0} 
+\index{BNO08x@{BNO08x}!enable\_gyro@{enable\_gyro}}
+\index{enable\_gyro@{enable\_gyro}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{enable\_gyro()}{enable\_gyro()}}
+{\footnotesize\ttfamily void BNO08x\+::enable\+\_\+gyro (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})}
+
+
+
+Sends command to enable gyro reports (See Ref. Manual 6.\+5.\+13) 
+
+
+\begin{DoxyParams}{Parameters}
+{\em time\+\_\+between\+\_\+reports} & Desired time between reports in microseconds. \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_ad7b322681b9ec5f57edb09e336b988c0_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a7388c67de3906ad05b233fd7eff0514d}\label{class_b_n_o08x_a7388c67de3906ad05b233fd7eff0514d} 
+\index{BNO08x@{BNO08x}!enable\_gyro\_integrated\_rotation\_vector@{enable\_gyro\_integrated\_rotation\_vector}}
+\index{enable\_gyro\_integrated\_rotation\_vector@{enable\_gyro\_integrated\_rotation\_vector}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{enable\_gyro\_integrated\_rotation\_vector()}{enable\_gyro\_integrated\_rotation\_vector()}}
+{\footnotesize\ttfamily void BNO08x\+::enable\+\_\+gyro\+\_\+integrated\+\_\+rotation\+\_\+vector (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})}
+
+
+
+Sends command to enable gyro integrated rotation vector reports (See Ref. Manual 6.\+5.\+44) 
+
+
+\begin{DoxyParams}{Parameters}
+{\em time\+\_\+between\+\_\+reports} & Desired time between reports in microseconds. \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a7388c67de3906ad05b233fd7eff0514d_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_ae1435b83ca83bc51b75f3303afe87f7b}\label{class_b_n_o08x_ae1435b83ca83bc51b75f3303afe87f7b} 
+\index{BNO08x@{BNO08x}!enable\_linear\_accelerometer@{enable\_linear\_accelerometer}}
+\index{enable\_linear\_accelerometer@{enable\_linear\_accelerometer}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{enable\_linear\_accelerometer()}{enable\_linear\_accelerometer()}}
+{\footnotesize\ttfamily void BNO08x\+::enable\+\_\+linear\+\_\+accelerometer (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})}
+
+
+
+Sends command to enable linear accelerometer reports (See Ref. Manual 6.\+5.\+10) 
+
+
+\begin{DoxyParams}{Parameters}
+{\em time\+\_\+between\+\_\+reports} & Desired time between reports in microseconds. \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_ae1435b83ca83bc51b75f3303afe87f7b_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a3c32120bcd0987c3ca1bb72910586b59}\label{class_b_n_o08x_a3c32120bcd0987c3ca1bb72910586b59} 
+\index{BNO08x@{BNO08x}!enable\_magnetometer@{enable\_magnetometer}}
+\index{enable\_magnetometer@{enable\_magnetometer}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{enable\_magnetometer()}{enable\_magnetometer()}}
+{\footnotesize\ttfamily void BNO08x\+::enable\+\_\+magnetometer (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})}
+
+
+
+Sends command to enable magnetometer reports (See Ref. Manual 6.\+5.\+16) 
+
+
+\begin{DoxyParams}{Parameters}
+{\em time\+\_\+between\+\_\+reports} & Desired time between reports in microseconds. \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a3c32120bcd0987c3ca1bb72910586b59_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a3c32120bcd0987c3ca1bb72910586b59_icgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a3042301cf0f51657c82b1127dce230f4}\label{class_b_n_o08x_a3042301cf0f51657c82b1127dce230f4} 
+\index{BNO08x@{BNO08x}!enable\_raw\_accelerometer@{enable\_raw\_accelerometer}}
+\index{enable\_raw\_accelerometer@{enable\_raw\_accelerometer}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{enable\_raw\_accelerometer()}{enable\_raw\_accelerometer()}}
+{\footnotesize\ttfamily void BNO08x\+::enable\+\_\+raw\+\_\+accelerometer (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})}
+
+
+
+Sends command to enable raw accelerometer reports (See Ref. Manual 6.\+5.\+8) 
+
+
+\begin{DoxyParams}{Parameters}
+{\em time\+\_\+between\+\_\+reports} & Desired time between reports in microseconds. \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a3042301cf0f51657c82b1127dce230f4_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a8d8e75f0234287cb89cbec553cffe52c}\label{class_b_n_o08x_a8d8e75f0234287cb89cbec553cffe52c} 
+\index{BNO08x@{BNO08x}!enable\_raw\_gyro@{enable\_raw\_gyro}}
+\index{enable\_raw\_gyro@{enable\_raw\_gyro}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{enable\_raw\_gyro()}{enable\_raw\_gyro()}}
+{\footnotesize\ttfamily void BNO08x\+::enable\+\_\+raw\+\_\+gyro (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})}
+
+
+
+Sends command to enable raw gyro reports (See Ref. Manual 6.\+5.\+12) 
+
+
+\begin{DoxyParams}{Parameters}
+{\em time\+\_\+between\+\_\+reports} & Desired time between reports in microseconds. \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a8d8e75f0234287cb89cbec553cffe52c_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a14ebec501b8d004a38648a9a1f7a2c9e}\label{class_b_n_o08x_a14ebec501b8d004a38648a9a1f7a2c9e} 
+\index{BNO08x@{BNO08x}!enable\_raw\_magnetometer@{enable\_raw\_magnetometer}}
+\index{enable\_raw\_magnetometer@{enable\_raw\_magnetometer}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{enable\_raw\_magnetometer()}{enable\_raw\_magnetometer()}}
+{\footnotesize\ttfamily void BNO08x\+::enable\+\_\+raw\+\_\+magnetometer (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})}
+
+
+
+Sends command to enable raw magnetometer reports (See Ref. Manual 6.\+5.\+15) 
+
+
+\begin{DoxyParams}{Parameters}
+{\em time\+\_\+between\+\_\+reports} & Desired time between reports in microseconds. \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a14ebec501b8d004a38648a9a1f7a2c9e_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a41613e65ea9beef883184b7ef67affdd}\label{class_b_n_o08x_a41613e65ea9beef883184b7ef67affdd} 
+\index{BNO08x@{BNO08x}!enable\_report@{enable\_report}}
+\index{enable\_report@{enable\_report}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{enable\_report()}{enable\_report()}}
+{\footnotesize\ttfamily void BNO08x\+::enable\+\_\+report (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{report\+\_\+\+ID,  }\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports,  }\item[{const Event\+Bits\+\_\+t}]{report\+\_\+evt\+\_\+grp\+\_\+bit }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [private]}}
+
+
+
+Enables a sensor report for a given ID. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em report\+\_\+\+ID} & The report ID of the sensor, i.\+e. SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+X \\
+\hline
+{\em time\+\_\+between\+\_\+reports} & The desired time in microseconds between each report. The \doxylink{class_b_n_o08x}{BNO08x} will send reports according to this interval. \\
+\hline
+{\em report\+\_\+evt\+\_\+grp\+\_\+bit} & The event group bit for the respective report, to indicate to \doxylink{class_b_n_o08x_a2ecd4ed60f82730ae230c61687ec92bf}{spi\+\_\+task()} it\textquotesingle{}s enabled, i.\+e. EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+X\\
+\hline
+\end{DoxyParams}
+If no reports were enabled prior to call, this function will re-\/enable interrupts on hint pin.
+
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a41613e65ea9beef883184b7ef67affdd_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[height=550pt]{class_b_n_o08x_a41613e65ea9beef883184b7ef67affdd_icgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_ab4c1d5cde156af09b7e88913f3af62c7}\label{class_b_n_o08x_ab4c1d5cde156af09b7e88913f3af62c7} 
+\index{BNO08x@{BNO08x}!enable\_rotation\_vector@{enable\_rotation\_vector}}
+\index{enable\_rotation\_vector@{enable\_rotation\_vector}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{enable\_rotation\_vector()}{enable\_rotation\_vector()}}
+{\footnotesize\ttfamily void BNO08x\+::enable\+\_\+rotation\+\_\+vector (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})}
+
+
+
+Sends command to enable rotation vector reports (See Ref. Manual 6.\+5.\+18) 
+
+
+\begin{DoxyParams}{Parameters}
+{\em time\+\_\+between\+\_\+reports} & Desired time between reports in microseconds. \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_ab4c1d5cde156af09b7e88913f3af62c7_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_ab0a60844b36fb140cad588a65b3a9655}\label{class_b_n_o08x_ab0a60844b36fb140cad588a65b3a9655} 
+\index{BNO08x@{BNO08x}!enable\_stability\_classifier@{enable\_stability\_classifier}}
+\index{enable\_stability\_classifier@{enable\_stability\_classifier}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{enable\_stability\_classifier()}{enable\_stability\_classifier()}}
+{\footnotesize\ttfamily void BNO08x\+::enable\+\_\+stability\+\_\+classifier (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})}
+
+
+
+Sends command to enable activity stability classifier reports (See Ref. Manual 6.\+5.\+31) 
+
+
+\begin{DoxyParams}{Parameters}
+{\em time\+\_\+between\+\_\+reports} & Desired time between reports in microseconds. \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_ab0a60844b36fb140cad588a65b3a9655_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a5a0b0f5b8e962247a3b8aee8f1dc8e9f}\label{class_b_n_o08x_a5a0b0f5b8e962247a3b8aee8f1dc8e9f} 
+\index{BNO08x@{BNO08x}!enable\_step\_counter@{enable\_step\_counter}}
+\index{enable\_step\_counter@{enable\_step\_counter}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{enable\_step\_counter()}{enable\_step\_counter()}}
+{\footnotesize\ttfamily void BNO08x\+::enable\+\_\+step\+\_\+counter (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})}
+
+
+
+Sends command to enable step counter reports (See Ref. Manual 6.\+5.\+29) 
+
+
+\begin{DoxyParams}{Parameters}
+{\em time\+\_\+between\+\_\+reports} & Desired time between reports in microseconds. \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a5a0b0f5b8e962247a3b8aee8f1dc8e9f_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_ab4c8e37c730ddb168f78c29bd7ae6566}\label{class_b_n_o08x_ab4c8e37c730ddb168f78c29bd7ae6566} 
+\index{BNO08x@{BNO08x}!enable\_tap\_detector@{enable\_tap\_detector}}
+\index{enable\_tap\_detector@{enable\_tap\_detector}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{enable\_tap\_detector()}{enable\_tap\_detector()}}
+{\footnotesize\ttfamily void BNO08x\+::enable\+\_\+tap\+\_\+detector (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})}
+
+
+
+Sends command to enable tap detector reports (See Ref. Manual 6.\+5.\+27) 
+
+
+\begin{DoxyParams}{Parameters}
+{\em time\+\_\+between\+\_\+reports} & Desired time between reports in microseconds. \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_ab4c8e37c730ddb168f78c29bd7ae6566_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a7fe5de95b1f51da44247a87317fd0c75}\label{class_b_n_o08x_a7fe5de95b1f51da44247a87317fd0c75} 
+\index{BNO08x@{BNO08x}!enable\_uncalibrated\_gyro@{enable\_uncalibrated\_gyro}}
+\index{enable\_uncalibrated\_gyro@{enable\_uncalibrated\_gyro}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{enable\_uncalibrated\_gyro()}{enable\_uncalibrated\_gyro()}}
+{\footnotesize\ttfamily void BNO08x\+::enable\+\_\+uncalibrated\+\_\+gyro (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})}
+
+
+
+Sends command to enable uncalibrated gyro reports (See Ref. Manual 6.\+5.\+14) 
+
+
+\begin{DoxyParams}{Parameters}
+{\em time\+\_\+between\+\_\+reports} & Desired time between reports in microseconds. \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a7fe5de95b1f51da44247a87317fd0c75_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_ac9d9b6636745e8180807284da67c92a2}\label{class_b_n_o08x_ac9d9b6636745e8180807284da67c92a2} 
+\index{BNO08x@{BNO08x}!end\_calibration@{end\_calibration}}
+\index{end\_calibration@{end\_calibration}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{end\_calibration()}{end\_calibration()}}
+{\footnotesize\ttfamily void BNO08x\+::end\+\_\+calibration (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Sends command to end calibration procedure. 
+
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_ac9d9b6636745e8180807284da67c92a2_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a40607e557eada666a5e1e416f42cd4a1}\label{class_b_n_o08x_a40607e557eada666a5e1e416f42cd4a1} 
+\index{BNO08x@{BNO08x}!FRS\_read\_data@{FRS\_read\_data}}
+\index{FRS\_read\_data@{FRS\_read\_data}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{FRS\_read\_data()}{FRS\_read\_data()}}
+{\footnotesize\ttfamily bool BNO08x\+::\+FRS\+\_\+read\+\_\+data (\begin{DoxyParamCaption}\item[{uint16\+\_\+t}]{record\+\_\+\+ID,  }\item[{uint8\+\_\+t}]{start\+\_\+location,  }\item[{uint8\+\_\+t}]{words\+\_\+to\+\_\+read }\end{DoxyParamCaption})}
+
+
+
+Read meta data from \doxylink{class_b_n_o08x}{BNO08x} FRS (flash record system) given the record ID. Contains Q points and other info. (See Ref. Manual 5.\+1 \& 6.\+3.\+7) 
+
+Note that Q points from the data sheet can be used as well, using the ones stored in flash is optional.
+
+
+\begin{DoxyParams}{Parameters}
+{\em record\+\_\+\+ID} & Which record ID/ sensor to request meta data from. \\
+\hline
+{\em start\+\_\+location} & Start byte location. \\
+\hline
+{\em words\+\_\+to\+\_\+read} & Length of words to read.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+True if meta data read successfully. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a40607e557eada666a5e1e416f42cd4a1_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a40607e557eada666a5e1e416f42cd4a1_icgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_adf789e709ac1667656db757c8d559af9}\label{class_b_n_o08x_adf789e709ac1667656db757c8d559af9} 
+\index{BNO08x@{BNO08x}!FRS\_read\_request@{FRS\_read\_request}}
+\index{FRS\_read\_request@{FRS\_read\_request}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{FRS\_read\_request()}{FRS\_read\_request()}}
+{\footnotesize\ttfamily bool BNO08x\+::\+FRS\+\_\+read\+\_\+request (\begin{DoxyParamCaption}\item[{uint16\+\_\+t}]{record\+\_\+\+ID,  }\item[{uint16\+\_\+t}]{read\+\_\+offset,  }\item[{uint16\+\_\+t}]{block\+\_\+size }\end{DoxyParamCaption})}
+
+
+
+Requests meta data from \doxylink{class_b_n_o08x}{BNO08x} FRS (flash record system) given the record ID. Contains Q points and other info. (See Ref. Manual 5.\+1 \& 6.\+3.\+6) 
+
+Note that Q points from the data sheet can be used as well, using the ones stored in flash is optional.
+
+
+\begin{DoxyParams}{Parameters}
+{\em record\+\_\+\+ID} & Which record ID/ sensor to request meta data from. \\
+\hline
+{\em start\+\_\+location} & Start byte location. \\
+\hline
+{\em words\+\_\+to\+\_\+read} & Length of words to read.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+True if read request acknowledged (HINT was asserted) 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_adf789e709ac1667656db757c8d559af9_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_adf789e709ac1667656db757c8d559af9_icgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a27f5dce5c994be18a587fb622574ad41}\label{class_b_n_o08x_a27f5dce5c994be18a587fb622574ad41} 
+\index{BNO08x@{BNO08x}!FRS\_read\_word@{FRS\_read\_word}}
+\index{FRS\_read\_word@{FRS\_read\_word}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{FRS\_read\_word()}{FRS\_read\_word()}}
+{\footnotesize\ttfamily uint32\+\_\+t BNO08x\+::\+FRS\+\_\+read\+\_\+word (\begin{DoxyParamCaption}\item[{uint16\+\_\+t}]{record\+\_\+\+ID,  }\item[{uint8\+\_\+t}]{word\+\_\+number }\end{DoxyParamCaption})}
+
+
+
+Reads meta data word from \doxylink{class_b_n_o08x}{BNO08x} FRS (flash record system) given the record ID and word number. (See Ref. Manual 5.\+1 \& 6.\+3.\+7) 
+
+Note that Q points from the data sheet can be used as well, using the ones stored in flash is optional.
+
+
+\begin{DoxyParams}{Parameters}
+{\em record\+\_\+\+ID} & Which record ID/ sensor to request meta data from. \\
+\hline
+{\em word\+\_\+number} & Desired word to read.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+Requested meta data word, 0 if failed. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a27f5dce5c994be18a587fb622574ad41_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a27f5dce5c994be18a587fb622574ad41_icgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a9329c6669282071622c3b3741b1b8142}\label{class_b_n_o08x_a9329c6669282071622c3b3741b1b8142} 
+\index{BNO08x@{BNO08x}!get\_accel@{get\_accel}}
+\index{get\_accel@{get\_accel}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_accel()}{get\_accel()}}
+{\footnotesize\ttfamily void BNO08x\+::get\+\_\+accel (\begin{DoxyParamCaption}\item[{float \&}]{x,  }\item[{float \&}]{y,  }\item[{float \&}]{z,  }\item[{uint8\+\_\+t \&}]{accuracy }\end{DoxyParamCaption})}
+
+
+
+Get full acceleration (total acceleration of device, units in m/s\texorpdfstring{$^\wedge$}{\string^}2). 
+
+
+\begin{DoxyParams}{Parameters}
+{\em x} & Reference variable to save X axis acceleration. \\
+\hline
+{\em y} & Reference variable to save Y axis acceleration. \\
+\hline
+{\em z} & Reference variable to save Z axis acceleration. \\
+\hline
+{\em accuracy} & Reference variable to save reported acceleration accuracy.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=318pt]{class_b_n_o08x_a9329c6669282071622c3b3741b1b8142_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a3fce726d5de821f97ed207036dae2900}\label{class_b_n_o08x_a3fce726d5de821f97ed207036dae2900} 
+\index{BNO08x@{BNO08x}!get\_accel\_accuracy@{get\_accel\_accuracy}}
+\index{get\_accel\_accuracy@{get\_accel\_accuracy}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_accel\_accuracy()}{get\_accel\_accuracy()}}
+{\footnotesize\ttfamily uint8\+\_\+t BNO08x\+::get\+\_\+accel\+\_\+accuracy (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Get accuracy of linear acceleration. 
+
+\begin{DoxyReturn}{Returns}
+Accuracy of linear acceleration. 
+\end{DoxyReturn}
+\Hypertarget{class_b_n_o08x_abce574112a9079d2cbc58cfc352b8a69}\label{class_b_n_o08x_abce574112a9079d2cbc58cfc352b8a69} 
+\index{BNO08x@{BNO08x}!get\_accel\_X@{get\_accel\_X}}
+\index{get\_accel\_X@{get\_accel\_X}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_accel\_X()}{get\_accel\_X()}}
+{\footnotesize\ttfamily float BNO08x\+::get\+\_\+accel\+\_\+X (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Get x axis acceleration (total acceleration of device, units in m/s\texorpdfstring{$^\wedge$}{\string^}2). 
+
+\begin{DoxyReturn}{Returns}
+The angular reported x axis acceleration. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=328pt]{class_b_n_o08x_abce574112a9079d2cbc58cfc352b8a69_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_afdf24bb3d54518b23972f21f007817c1}\label{class_b_n_o08x_afdf24bb3d54518b23972f21f007817c1} 
+\index{BNO08x@{BNO08x}!get\_accel\_Y@{get\_accel\_Y}}
+\index{get\_accel\_Y@{get\_accel\_Y}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_accel\_Y()}{get\_accel\_Y()}}
+{\footnotesize\ttfamily float BNO08x\+::get\+\_\+accel\+\_\+Y (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Get y axis acceleration (total acceleration of device, units in m/s\texorpdfstring{$^\wedge$}{\string^}2). 
+
+\begin{DoxyReturn}{Returns}
+The angular reported y axis acceleration. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=330pt]{class_b_n_o08x_afdf24bb3d54518b23972f21f007817c1_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a0a72477cb7a330fedbcb3e2126b882b1}\label{class_b_n_o08x_a0a72477cb7a330fedbcb3e2126b882b1} 
+\index{BNO08x@{BNO08x}!get\_accel\_Z@{get\_accel\_Z}}
+\index{get\_accel\_Z@{get\_accel\_Z}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_accel\_Z()}{get\_accel\_Z()}}
+{\footnotesize\ttfamily float BNO08x\+::get\+\_\+accel\+\_\+Z (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Get z axis acceleration (total acceleration of device, units in m/s\texorpdfstring{$^\wedge$}{\string^}2). 
+
+\begin{DoxyReturn}{Returns}
+The angular reported z axis acceleration. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=328pt]{class_b_n_o08x_a0a72477cb7a330fedbcb3e2126b882b1_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a4f7060b2d3c15b359b70b6346730446a}\label{class_b_n_o08x_a4f7060b2d3c15b359b70b6346730446a} 
+\index{BNO08x@{BNO08x}!get\_activity\_classifier@{get\_activity\_classifier}}
+\index{get\_activity\_classifier@{get\_activity\_classifier}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_activity\_classifier()}{get\_activity\_classifier()}}
+{\footnotesize\ttfamily uint8\+\_\+t BNO08x\+::get\+\_\+activity\+\_\+classifier (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Get the current activity classifier (Seee Ref. Manual 6.\+5.\+36) 
+
+\begin{DoxyReturn}{Returns}
+The current activity\+: 0 = unknown 1 = in vehicle 2 = on bicycle 3 = on foot 4 = still 5 = tilting 6 = walking 7 = runnning 8 = on stairs 
+\end{DoxyReturn}
+\Hypertarget{class_b_n_o08x_a386c46ac8965220ab7b9423df838dd4d}\label{class_b_n_o08x_a386c46ac8965220ab7b9423df838dd4d} 
+\index{BNO08x@{BNO08x}!get\_gravity@{get\_gravity}}
+\index{get\_gravity@{get\_gravity}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_gravity()}{get\_gravity()}}
+{\footnotesize\ttfamily void BNO08x\+::get\+\_\+gravity (\begin{DoxyParamCaption}\item[{float \&}]{x,  }\item[{float \&}]{y,  }\item[{float \&}]{z,  }\item[{uint8\+\_\+t \&}]{accuracy }\end{DoxyParamCaption})}
+
+
+
+Get full reported gravity vector, units in m/s\texorpdfstring{$^\wedge$}{\string^}2. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em x} & Reference variable to save X axis gravity. \\
+\hline
+{\em y} & Reference variable to save Y axis axis gravity. \\
+\hline
+{\em z} & Reference variable to save Z axis axis gravity. \\
+\hline
+{\em accuracy} & Reference variable to save reported gravity accuracy.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=322pt]{class_b_n_o08x_a386c46ac8965220ab7b9423df838dd4d_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_accd39f48e9f8ab8267df7184b5b7cd76}\label{class_b_n_o08x_accd39f48e9f8ab8267df7184b5b7cd76} 
+\index{BNO08x@{BNO08x}!get\_gravity\_accuracy@{get\_gravity\_accuracy}}
+\index{get\_gravity\_accuracy@{get\_gravity\_accuracy}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_gravity\_accuracy()}{get\_gravity\_accuracy()}}
+{\footnotesize\ttfamily uint8\+\_\+t BNO08x\+::get\+\_\+gravity\+\_\+accuracy (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Get the reported gravity accuracy. 
+
+\begin{DoxyReturn}{Returns}
+Accuracy of reported gravity. 
+\end{DoxyReturn}
+\Hypertarget{class_b_n_o08x_a88679bccd9339b87ec35fc4fc4e745ae}\label{class_b_n_o08x_a88679bccd9339b87ec35fc4fc4e745ae} 
+\index{BNO08x@{BNO08x}!get\_gravity\_X@{get\_gravity\_X}}
+\index{get\_gravity\_X@{get\_gravity\_X}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_gravity\_X()}{get\_gravity\_X()}}
+{\footnotesize\ttfamily float BNO08x\+::get\+\_\+gravity\+\_\+X (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Get the reported x axis gravity. 
+
+\begin{DoxyReturn}{Returns}
+x axis gravity in m/s\texorpdfstring{$^\wedge$}{\string^}2 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=333pt]{class_b_n_o08x_a88679bccd9339b87ec35fc4fc4e745ae_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a8a36db7f1c932f33e05e494632059801}\label{class_b_n_o08x_a8a36db7f1c932f33e05e494632059801} 
+\index{BNO08x@{BNO08x}!get\_gravity\_Y@{get\_gravity\_Y}}
+\index{get\_gravity\_Y@{get\_gravity\_Y}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_gravity\_Y()}{get\_gravity\_Y()}}
+{\footnotesize\ttfamily float BNO08x\+::get\+\_\+gravity\+\_\+Y (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Get the reported y axis gravity. 
+
+\begin{DoxyReturn}{Returns}
+y axis gravity in m/s\texorpdfstring{$^\wedge$}{\string^}2 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=334pt]{class_b_n_o08x_a8a36db7f1c932f33e05e494632059801_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a5622b4d1754648ea7eb400c1adf9e807}\label{class_b_n_o08x_a5622b4d1754648ea7eb400c1adf9e807} 
+\index{BNO08x@{BNO08x}!get\_gravity\_Z@{get\_gravity\_Z}}
+\index{get\_gravity\_Z@{get\_gravity\_Z}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_gravity\_Z()}{get\_gravity\_Z()}}
+{\footnotesize\ttfamily float BNO08x\+::get\+\_\+gravity\+\_\+Z (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Get the reported z axis gravity. 
+
+\begin{DoxyReturn}{Returns}
+z axis gravity in m/s\texorpdfstring{$^\wedge$}{\string^}2 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=333pt]{class_b_n_o08x_a5622b4d1754648ea7eb400c1adf9e807_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a811999653110858311c97a779c388e5d}\label{class_b_n_o08x_a811999653110858311c97a779c388e5d} 
+\index{BNO08x@{BNO08x}!get\_gyro\_accuracy@{get\_gyro\_accuracy}}
+\index{get\_gyro\_accuracy@{get\_gyro\_accuracy}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_gyro\_accuracy()}{get\_gyro\_accuracy()}}
+{\footnotesize\ttfamily uint8\+\_\+t BNO08x\+::get\+\_\+gyro\+\_\+accuracy (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Get calibrated gyro accuracy. 
+
+\begin{DoxyReturn}{Returns}
+Accuracy of calibrated gyro. 
+\end{DoxyReturn}
+\Hypertarget{class_b_n_o08x_a4d3746a376a22acb7a2641bb750c4c89}\label{class_b_n_o08x_a4d3746a376a22acb7a2641bb750c4c89} 
+\index{BNO08x@{BNO08x}!get\_gyro\_calibrated\_velocity@{get\_gyro\_calibrated\_velocity}}
+\index{get\_gyro\_calibrated\_velocity@{get\_gyro\_calibrated\_velocity}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_gyro\_calibrated\_velocity()}{get\_gyro\_calibrated\_velocity()}}
+{\footnotesize\ttfamily void BNO08x\+::get\+\_\+gyro\+\_\+calibrated\+\_\+velocity (\begin{DoxyParamCaption}\item[{float \&}]{x,  }\item[{float \&}]{y,  }\item[{float \&}]{z,  }\item[{uint8\+\_\+t \&}]{accuracy }\end{DoxyParamCaption})}
+
+
+
+Get full rotational velocity with drift compensation (units in Rad/s). 
+
+
+\begin{DoxyParams}{Parameters}
+{\em x} & Reference variable to save X axis angular velocity \\
+\hline
+{\em y} & Reference variable to save Y axis angular velocity \\
+\hline
+{\em z} & Reference variable to save Z axis angular velocity \\
+\hline
+{\em accuracy} & Reference variable to save reported gyro accuracy.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a4d3746a376a22acb7a2641bb750c4c89_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_ab7977391191067282e7f734b9ee45059}\label{class_b_n_o08x_ab7977391191067282e7f734b9ee45059} 
+\index{BNO08x@{BNO08x}!get\_gyro\_calibrated\_velocity\_X@{get\_gyro\_calibrated\_velocity\_X}}
+\index{get\_gyro\_calibrated\_velocity\_X@{get\_gyro\_calibrated\_velocity\_X}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_gyro\_calibrated\_velocity\_X()}{get\_gyro\_calibrated\_velocity\_X()}}
+{\footnotesize\ttfamily float BNO08x\+::get\+\_\+gyro\+\_\+calibrated\+\_\+velocity\+\_\+X (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Get calibrated gyro x axis angular velocity measurement. 
+
+\begin{DoxyReturn}{Returns}
+The angular reported x axis angular velocity from calibrated gyro (drift compensation applied). 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_ab7977391191067282e7f734b9ee45059_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_ad4fab6e636e239d4b9273f158983ed89}\label{class_b_n_o08x_ad4fab6e636e239d4b9273f158983ed89} 
+\index{BNO08x@{BNO08x}!get\_gyro\_calibrated\_velocity\_Y@{get\_gyro\_calibrated\_velocity\_Y}}
+\index{get\_gyro\_calibrated\_velocity\_Y@{get\_gyro\_calibrated\_velocity\_Y}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_gyro\_calibrated\_velocity\_Y()}{get\_gyro\_calibrated\_velocity\_Y()}}
+{\footnotesize\ttfamily float BNO08x\+::get\+\_\+gyro\+\_\+calibrated\+\_\+velocity\+\_\+Y (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Get calibrated gyro y axis angular velocity measurement. 
+
+\begin{DoxyReturn}{Returns}
+The angular reported y axis angular velocity from calibrated gyro (drift compensation applied). 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_ad4fab6e636e239d4b9273f158983ed89_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a15a29c3bb476048b7229abcfb2b1d52a}\label{class_b_n_o08x_a15a29c3bb476048b7229abcfb2b1d52a} 
+\index{BNO08x@{BNO08x}!get\_gyro\_calibrated\_velocity\_Z@{get\_gyro\_calibrated\_velocity\_Z}}
+\index{get\_gyro\_calibrated\_velocity\_Z@{get\_gyro\_calibrated\_velocity\_Z}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_gyro\_calibrated\_velocity\_Z()}{get\_gyro\_calibrated\_velocity\_Z()}}
+{\footnotesize\ttfamily float BNO08x\+::get\+\_\+gyro\+\_\+calibrated\+\_\+velocity\+\_\+Z (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Get calibrated gyro z axis angular velocity measurement. 
+
+\begin{DoxyReturn}{Returns}
+The angular reported z axis angular velocity from calibrated gyro (drift compensation applied). 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a15a29c3bb476048b7229abcfb2b1d52a_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_afe6392012669e7ebd1a9e817e2bd313f}\label{class_b_n_o08x_afe6392012669e7ebd1a9e817e2bd313f} 
+\index{BNO08x@{BNO08x}!get\_gyro\_velocity@{get\_gyro\_velocity}}
+\index{get\_gyro\_velocity@{get\_gyro\_velocity}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_gyro\_velocity()}{get\_gyro\_velocity()}}
+{\footnotesize\ttfamily void BNO08x\+::get\+\_\+gyro\+\_\+velocity (\begin{DoxyParamCaption}\item[{float \&}]{x,  }\item[{float \&}]{y,  }\item[{float \&}]{z }\end{DoxyParamCaption})}
+
+
+
+Full rotational velocity from gyro-\/integrated rotation vector (See Ref. Manual 6.\+5.\+44) 
+
+
+\begin{DoxyParams}{Parameters}
+{\em x} & Reference variable to save X axis angular velocity \\
+\hline
+{\em y} & Reference variable to save Y axis angular velocity \\
+\hline
+{\em z} & Reference variable to save Z axis angular velocity\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_afe6392012669e7ebd1a9e817e2bd313f_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_acd376cd3e454a87198ec86accbf2ee00}\label{class_b_n_o08x_acd376cd3e454a87198ec86accbf2ee00} 
+\index{BNO08x@{BNO08x}!get\_gyro\_velocity\_X@{get\_gyro\_velocity\_X}}
+\index{get\_gyro\_velocity\_X@{get\_gyro\_velocity\_X}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_gyro\_velocity\_X()}{get\_gyro\_velocity\_X()}}
+{\footnotesize\ttfamily float BNO08x\+::get\+\_\+gyro\+\_\+velocity\+\_\+X (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Get x axis angular velocity from gyro-\/integrated rotation vector. (See Ref. Manual 6.\+5.\+44) 
+
+\begin{DoxyReturn}{Returns}
+The reported x axis angular velocity. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_acd376cd3e454a87198ec86accbf2ee00_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_acd1819a81818f90dc105950b4a7d0b04}\label{class_b_n_o08x_acd1819a81818f90dc105950b4a7d0b04} 
+\index{BNO08x@{BNO08x}!get\_gyro\_velocity\_Y@{get\_gyro\_velocity\_Y}}
+\index{get\_gyro\_velocity\_Y@{get\_gyro\_velocity\_Y}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_gyro\_velocity\_Y()}{get\_gyro\_velocity\_Y()}}
+{\footnotesize\ttfamily float BNO08x\+::get\+\_\+gyro\+\_\+velocity\+\_\+Y (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Get y axis angular velocity from gyro-\/integrated rotation vector. (See Ref. Manual 6.\+5.\+44) 
+
+\begin{DoxyReturn}{Returns}
+The reported y axis angular velocity. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_acd1819a81818f90dc105950b4a7d0b04_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_ae2add976af256ec981248371a2f58207}\label{class_b_n_o08x_ae2add976af256ec981248371a2f58207} 
+\index{BNO08x@{BNO08x}!get\_gyro\_velocity\_Z@{get\_gyro\_velocity\_Z}}
+\index{get\_gyro\_velocity\_Z@{get\_gyro\_velocity\_Z}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_gyro\_velocity\_Z()}{get\_gyro\_velocity\_Z()}}
+{\footnotesize\ttfamily float BNO08x\+::get\+\_\+gyro\+\_\+velocity\+\_\+Z (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Get z axis angular velocity from gyro-\/integrated rotation vector. (See Ref. Manual 6.\+5.\+44) 
+
+\begin{DoxyReturn}{Returns}
+The reported Z axis angular velocity. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_ae2add976af256ec981248371a2f58207_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_ad59b029d04341dbef72e059488951980}\label{class_b_n_o08x_ad59b029d04341dbef72e059488951980} 
+\index{BNO08x@{BNO08x}!get\_linear\_accel@{get\_linear\_accel}}
+\index{get\_linear\_accel@{get\_linear\_accel}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_linear\_accel()}{get\_linear\_accel()}}
+{\footnotesize\ttfamily void BNO08x\+::get\+\_\+linear\+\_\+accel (\begin{DoxyParamCaption}\item[{float \&}]{x,  }\item[{float \&}]{y,  }\item[{float \&}]{z,  }\item[{uint8\+\_\+t \&}]{accuracy }\end{DoxyParamCaption})}
+
+
+
+Get full linear acceleration (acceleration of the device minus gravity, units in m/s\texorpdfstring{$^\wedge$}{\string^}2). 
+
+
+\begin{DoxyParams}{Parameters}
+{\em x} & Reference variable to save X axis acceleration. \\
+\hline
+{\em y} & Reference variable to save Y axis acceleration. \\
+\hline
+{\em z} & Reference variable to save Z axis acceleration. \\
+\hline
+{\em accuracy} & Reference variable to save reported linear acceleration accuracy.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=318pt]{class_b_n_o08x_ad59b029d04341dbef72e059488951980_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a33fe3c2f47759cfae5f4b612ddd329ea}\label{class_b_n_o08x_a33fe3c2f47759cfae5f4b612ddd329ea} 
+\index{BNO08x@{BNO08x}!get\_linear\_accel\_accuracy@{get\_linear\_accel\_accuracy}}
+\index{get\_linear\_accel\_accuracy@{get\_linear\_accel\_accuracy}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_linear\_accel\_accuracy()}{get\_linear\_accel\_accuracy()}}
+{\footnotesize\ttfamily uint8\+\_\+t BNO08x\+::get\+\_\+linear\+\_\+accel\+\_\+accuracy (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Get accuracy of linear acceleration. 
+
+\begin{DoxyReturn}{Returns}
+Accuracy of linear acceleration. 
+\end{DoxyReturn}
+\Hypertarget{class_b_n_o08x_a763c3a9699a1081d430fd9b9b7bc49a3}\label{class_b_n_o08x_a763c3a9699a1081d430fd9b9b7bc49a3} 
+\index{BNO08x@{BNO08x}!get\_linear\_accel\_X@{get\_linear\_accel\_X}}
+\index{get\_linear\_accel\_X@{get\_linear\_accel\_X}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_linear\_accel\_X()}{get\_linear\_accel\_X()}}
+{\footnotesize\ttfamily float BNO08x\+::get\+\_\+linear\+\_\+accel\+\_\+X (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Get x axis linear acceleration (acceleration of device minus gravity, units in m/s\texorpdfstring{$^\wedge$}{\string^}2) 
+
+\begin{DoxyReturn}{Returns}
+The angular reported x axis linear acceleration. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=318pt]{class_b_n_o08x_a763c3a9699a1081d430fd9b9b7bc49a3_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a1033bdd65b42b6706d1dfc67ece66191}\label{class_b_n_o08x_a1033bdd65b42b6706d1dfc67ece66191} 
+\index{BNO08x@{BNO08x}!get\_linear\_accel\_Y@{get\_linear\_accel\_Y}}
+\index{get\_linear\_accel\_Y@{get\_linear\_accel\_Y}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_linear\_accel\_Y()}{get\_linear\_accel\_Y()}}
+{\footnotesize\ttfamily float BNO08x\+::get\+\_\+linear\+\_\+accel\+\_\+Y (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Get y axis linear acceleration (acceleration of device minus gravity, units in m/s\texorpdfstring{$^\wedge$}{\string^}2) 
+
+\begin{DoxyReturn}{Returns}
+The angular reported y axis linear acceleration. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=318pt]{class_b_n_o08x_a1033bdd65b42b6706d1dfc67ece66191_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_afdfa7d50362702da689c5d18bf17fd84}\label{class_b_n_o08x_afdfa7d50362702da689c5d18bf17fd84} 
+\index{BNO08x@{BNO08x}!get\_linear\_accel\_Z@{get\_linear\_accel\_Z}}
+\index{get\_linear\_accel\_Z@{get\_linear\_accel\_Z}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_linear\_accel\_Z()}{get\_linear\_accel\_Z()}}
+{\footnotesize\ttfamily float BNO08x\+::get\+\_\+linear\+\_\+accel\+\_\+Z (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Get z axis linear acceleration (acceleration of device minus gravity, units in m/s\texorpdfstring{$^\wedge$}{\string^}2) 
+
+\begin{DoxyReturn}{Returns}
+The angular reported z axis linear acceleration. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=318pt]{class_b_n_o08x_afdfa7d50362702da689c5d18bf17fd84_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a35a224d519a2a243d0d526a34ecde5a8}\label{class_b_n_o08x_a35a224d519a2a243d0d526a34ecde5a8} 
+\index{BNO08x@{BNO08x}!get\_magf@{get\_magf}}
+\index{get\_magf@{get\_magf}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_magf()}{get\_magf()}}
+{\footnotesize\ttfamily void BNO08x\+::get\+\_\+magf (\begin{DoxyParamCaption}\item[{float \&}]{x,  }\item[{float \&}]{y,  }\item[{float \&}]{z,  }\item[{uint8\+\_\+t \&}]{accuracy }\end{DoxyParamCaption})}
+
+
+
+Get the full magnetic field vector. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em x} & Reference variable to save reported x magnitude. \\
+\hline
+{\em y} & Reference variable to save reported y magnitude. \\
+\hline
+{\em x} & Reference variable to save reported z magnitude. \\
+\hline
+{\em accuracy} & Reference variable save reported accuracy.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=315pt]{class_b_n_o08x_a35a224d519a2a243d0d526a34ecde5a8_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a487391e6b2dd7f05084804d1fb94976f}\label{class_b_n_o08x_a487391e6b2dd7f05084804d1fb94976f} 
+\index{BNO08x@{BNO08x}!get\_magf\_accuracy@{get\_magf\_accuracy}}
+\index{get\_magf\_accuracy@{get\_magf\_accuracy}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_magf\_accuracy()}{get\_magf\_accuracy()}}
+{\footnotesize\ttfamily uint8\+\_\+t BNO08x\+::get\+\_\+magf\+\_\+accuracy (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Get accuracy of reported magnetic field vector. 
+
+\begin{DoxyReturn}{Returns}
+The accuracy of reported magnetic field vector. 
+\end{DoxyReturn}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a487391e6b2dd7f05084804d1fb94976f_icgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a111601243b913751eb51c1f37cba4e7d}\label{class_b_n_o08x_a111601243b913751eb51c1f37cba4e7d} 
+\index{BNO08x@{BNO08x}!get\_magf\_X@{get\_magf\_X}}
+\index{get\_magf\_X@{get\_magf\_X}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_magf\_X()}{get\_magf\_X()}}
+{\footnotesize\ttfamily float BNO08x\+::get\+\_\+magf\+\_\+X (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Get X component of magnetic field vector. 
+
+\begin{DoxyReturn}{Returns}
+The reported X component of magnetic field vector. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=326pt]{class_b_n_o08x_a111601243b913751eb51c1f37cba4e7d_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a111601243b913751eb51c1f37cba4e7d_icgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a82ed8d7b9a5c25374839df75a3d220ea}\label{class_b_n_o08x_a82ed8d7b9a5c25374839df75a3d220ea} 
+\index{BNO08x@{BNO08x}!get\_magf\_Y@{get\_magf\_Y}}
+\index{get\_magf\_Y@{get\_magf\_Y}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_magf\_Y()}{get\_magf\_Y()}}
+{\footnotesize\ttfamily float BNO08x\+::get\+\_\+magf\+\_\+Y (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Get Y component of magnetic field vector. 
+
+\begin{DoxyReturn}{Returns}
+The reported Y component of magnetic field vector. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=327pt]{class_b_n_o08x_a82ed8d7b9a5c25374839df75a3d220ea_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a82ed8d7b9a5c25374839df75a3d220ea_icgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_ab4c48a91d2f8b29430abc17b7f015282}\label{class_b_n_o08x_ab4c48a91d2f8b29430abc17b7f015282} 
+\index{BNO08x@{BNO08x}!get\_magf\_Z@{get\_magf\_Z}}
+\index{get\_magf\_Z@{get\_magf\_Z}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_magf\_Z()}{get\_magf\_Z()}}
+{\footnotesize\ttfamily float BNO08x\+::get\+\_\+magf\+\_\+Z (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Get Z component of magnetic field vector. 
+
+\begin{DoxyReturn}{Returns}
+The reported Z component of magnetic field vector. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=326pt]{class_b_n_o08x_ab4c48a91d2f8b29430abc17b7f015282_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_ab4c48a91d2f8b29430abc17b7f015282_icgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a1b91f234d81c45f1f5ca2f27c9f0f6a3}\label{class_b_n_o08x_a1b91f234d81c45f1f5ca2f27c9f0f6a3} 
+\index{BNO08x@{BNO08x}!get\_pitch@{get\_pitch}}
+\index{get\_pitch@{get\_pitch}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_pitch()}{get\_pitch()}}
+{\footnotesize\ttfamily float BNO08x\+::get\+\_\+pitch (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Get the reported rotation about y axis. 
+
+\begin{DoxyReturn}{Returns}
+Rotation about the y axis in radians. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a1b91f234d81c45f1f5ca2f27c9f0f6a3_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=334pt]{class_b_n_o08x_a1b91f234d81c45f1f5ca2f27c9f0f6a3_icgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_af50010400cbd1445e9ddfa259384b412}\label{class_b_n_o08x_af50010400cbd1445e9ddfa259384b412} 
+\index{BNO08x@{BNO08x}!get\_pitch\_deg@{get\_pitch\_deg}}
+\index{get\_pitch\_deg@{get\_pitch\_deg}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_pitch\_deg()}{get\_pitch\_deg()}}
+{\footnotesize\ttfamily float BNO08x\+::get\+\_\+pitch\+\_\+deg (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Get the reported rotation about y axis. 
+
+\begin{DoxyReturn}{Returns}
+Rotation about the y axis in degrees. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_af50010400cbd1445e9ddfa259384b412_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a4421c43323945946ad605f8422958dcf}\label{class_b_n_o08x_a4421c43323945946ad605f8422958dcf} 
+\index{BNO08x@{BNO08x}!get\_Q1@{get\_Q1}}
+\index{get\_Q1@{get\_Q1}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_Q1()}{get\_Q1()}}
+{\footnotesize\ttfamily int16\+\_\+t BNO08x\+::get\+\_\+\+Q1 (\begin{DoxyParamCaption}\item[{uint16\+\_\+t}]{record\+\_\+\+ID }\end{DoxyParamCaption})}
+
+
+
+Gets Q1 point from \doxylink{class_b_n_o08x}{BNO08x} FRS (flash record system). 
+
+Note that Q points from the data sheet can be used as well, using the ones stored in flash is optional.
+
+
+\begin{DoxyParams}{Parameters}
+{\em record\+\_\+\+ID} & Which record ID/ sensor to get Q1 value for.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+Q1 value for requested sensor. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a4421c43323945946ad605f8422958dcf_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=326pt]{class_b_n_o08x_a4421c43323945946ad605f8422958dcf_icgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a954dccdcbe8a8c4f1787f13ebb8d932b}\label{class_b_n_o08x_a954dccdcbe8a8c4f1787f13ebb8d932b} 
+\index{BNO08x@{BNO08x}!get\_Q2@{get\_Q2}}
+\index{get\_Q2@{get\_Q2}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_Q2()}{get\_Q2()}}
+{\footnotesize\ttfamily int16\+\_\+t BNO08x\+::get\+\_\+\+Q2 (\begin{DoxyParamCaption}\item[{uint16\+\_\+t}]{record\+\_\+\+ID }\end{DoxyParamCaption})}
+
+
+
+Gets Q2 point from \doxylink{class_b_n_o08x}{BNO08x} FRS (flash record system). 
+
+Note that Q points from the data sheet can be used as well, using the ones stored in flash is optional.
+
+
+\begin{DoxyParams}{Parameters}
+{\em record\+\_\+\+ID} & Which record ID/ sensor to get Q2 value for.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+Q2 value for requested sensor. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a954dccdcbe8a8c4f1787f13ebb8d932b_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a1590ba793668f9cb1a32a1f4dd07cb9a}\label{class_b_n_o08x_a1590ba793668f9cb1a32a1f4dd07cb9a} 
+\index{BNO08x@{BNO08x}!get\_Q3@{get\_Q3}}
+\index{get\_Q3@{get\_Q3}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_Q3()}{get\_Q3()}}
+{\footnotesize\ttfamily int16\+\_\+t BNO08x\+::get\+\_\+\+Q3 (\begin{DoxyParamCaption}\item[{uint16\+\_\+t}]{record\+\_\+\+ID }\end{DoxyParamCaption})}
+
+
+
+Gets Q3 point from \doxylink{class_b_n_o08x}{BNO08x} FRS (flash record system). 
+
+Note that Q points from the data sheet can be used as well, using the ones stored in flash is optional.
+
+
+\begin{DoxyParams}{Parameters}
+{\em record\+\_\+\+ID} & Which record ID/ sensor to get Q3 value for.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+Q3 value for requested sensor. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a1590ba793668f9cb1a32a1f4dd07cb9a_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a51a6d594824de2292e70f788454f8a2d}\label{class_b_n_o08x_a51a6d594824de2292e70f788454f8a2d} 
+\index{BNO08x@{BNO08x}!get\_quat@{get\_quat}}
+\index{get\_quat@{get\_quat}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_quat()}{get\_quat()}}
+{\footnotesize\ttfamily void BNO08x\+::get\+\_\+quat (\begin{DoxyParamCaption}\item[{float \&}]{i,  }\item[{float \&}]{j,  }\item[{float \&}]{k,  }\item[{float \&}]{real,  }\item[{float \&}]{rad\+\_\+accuracy,  }\item[{uint8\+\_\+t \&}]{accuracy }\end{DoxyParamCaption})}
+
+
+
+Get the full quaternion reading. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em i} & Reference variable to save reported i component of quaternion. \\
+\hline
+{\em j} & Reference variable to save reported j component of quaternion. \\
+\hline
+{\em k} & Reference variable to save reported k component of quaternion. \\
+\hline
+{\em real} & Reference variable to save reported real component of quaternion. \\
+\hline
+{\em rad\+\_\+accuracy} & Reference variable to save reported raw quaternion radian accuracy. \\
+\hline
+{\em accuracy} & Reference variable to save reported quaternion accuracy.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=313pt]{class_b_n_o08x_a51a6d594824de2292e70f788454f8a2d_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a24ba760d064a1dc45f972c79b9c8d98d}\label{class_b_n_o08x_a24ba760d064a1dc45f972c79b9c8d98d} 
+\index{BNO08x@{BNO08x}!get\_quat\_accuracy@{get\_quat\_accuracy}}
+\index{get\_quat\_accuracy@{get\_quat\_accuracy}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_quat\_accuracy()}{get\_quat\_accuracy()}}
+{\footnotesize\ttfamily uint8\+\_\+t BNO08x\+::get\+\_\+quat\+\_\+accuracy (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Get accuracy of reported quaternion. 
+
+\begin{DoxyReturn}{Returns}
+The accuracy of reported quaternion. 
+\end{DoxyReturn}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a24ba760d064a1dc45f972c79b9c8d98d_icgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a12c12a8e078b28480fb8828d306656f5}\label{class_b_n_o08x_a12c12a8e078b28480fb8828d306656f5} 
+\index{BNO08x@{BNO08x}!get\_quat\_I@{get\_quat\_I}}
+\index{get\_quat\_I@{get\_quat\_I}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_quat\_I()}{get\_quat\_I()}}
+{\footnotesize\ttfamily float BNO08x\+::get\+\_\+quat\+\_\+I (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Get I component of reported quaternion. 
+
+\begin{DoxyReturn}{Returns}
+The I component of reported quaternion. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=321pt]{class_b_n_o08x_a12c12a8e078b28480fb8828d306656f5_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a12c12a8e078b28480fb8828d306656f5_icgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a9f6bb642fa0297a7b9bcc94dd7374015}\label{class_b_n_o08x_a9f6bb642fa0297a7b9bcc94dd7374015} 
+\index{BNO08x@{BNO08x}!get\_quat\_J@{get\_quat\_J}}
+\index{get\_quat\_J@{get\_quat\_J}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_quat\_J()}{get\_quat\_J()}}
+{\footnotesize\ttfamily float BNO08x\+::get\+\_\+quat\+\_\+J (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Get J component of reported quaternion. 
+
+\begin{DoxyReturn}{Returns}
+The J component of reported quaternion. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=323pt]{class_b_n_o08x_a9f6bb642fa0297a7b9bcc94dd7374015_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a9f6bb642fa0297a7b9bcc94dd7374015_icgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a9f42c70c2337a0d831064a40ecfe2dd8}\label{class_b_n_o08x_a9f42c70c2337a0d831064a40ecfe2dd8} 
+\index{BNO08x@{BNO08x}!get\_quat\_K@{get\_quat\_K}}
+\index{get\_quat\_K@{get\_quat\_K}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_quat\_K()}{get\_quat\_K()}}
+{\footnotesize\ttfamily float BNO08x\+::get\+\_\+quat\+\_\+K (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Get K component of reported quaternion. 
+
+\begin{DoxyReturn}{Returns}
+The K component of reported quaternion. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=325pt]{class_b_n_o08x_a9f42c70c2337a0d831064a40ecfe2dd8_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a9f42c70c2337a0d831064a40ecfe2dd8_icgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a61b7d10a98afc6903fea6b2cede27630}\label{class_b_n_o08x_a61b7d10a98afc6903fea6b2cede27630} 
+\index{BNO08x@{BNO08x}!get\_quat\_radian\_accuracy@{get\_quat\_radian\_accuracy}}
+\index{get\_quat\_radian\_accuracy@{get\_quat\_radian\_accuracy}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_quat\_radian\_accuracy()}{get\_quat\_radian\_accuracy()}}
+{\footnotesize\ttfamily float BNO08x\+::get\+\_\+quat\+\_\+radian\+\_\+accuracy (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Get radian accuracy of reported quaternion. 
+
+\begin{DoxyReturn}{Returns}
+The radian accuracy of reported quaternion. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=345pt]{class_b_n_o08x_a61b7d10a98afc6903fea6b2cede27630_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a5a556c5ec1baaa7f1156779dbe47a7b7}\label{class_b_n_o08x_a5a556c5ec1baaa7f1156779dbe47a7b7} 
+\index{BNO08x@{BNO08x}!get\_quat\_real@{get\_quat\_real}}
+\index{get\_quat\_real@{get\_quat\_real}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_quat\_real()}{get\_quat\_real()}}
+{\footnotesize\ttfamily float BNO08x\+::get\+\_\+quat\+\_\+real (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Get real component of reported quaternion. 
+
+\begin{DoxyReturn}{Returns}
+The real component of reported quaternion. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=334pt]{class_b_n_o08x_a5a556c5ec1baaa7f1156779dbe47a7b7_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a5a556c5ec1baaa7f1156779dbe47a7b7_icgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a0fff04c42c9502615ad73cd1457cb9b0}\label{class_b_n_o08x_a0fff04c42c9502615ad73cd1457cb9b0} 
+\index{BNO08x@{BNO08x}!get\_range@{get\_range}}
+\index{get\_range@{get\_range}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_range()}{get\_range()}}
+{\footnotesize\ttfamily float BNO08x\+::get\+\_\+range (\begin{DoxyParamCaption}\item[{uint16\+\_\+t}]{record\+\_\+\+ID }\end{DoxyParamCaption})}
+
+
+
+Gets range from \doxylink{class_b_n_o08x}{BNO08x} FRS (flash record system). 
+
+
+\begin{DoxyParams}{Parameters}
+{\em record\+\_\+\+ID} & Which record ID/ sensor to get range value for.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+The range value for the requested sensor. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a0fff04c42c9502615ad73cd1457cb9b0_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a1de356dd604c1dffcd1a32faeb4fafe2}\label{class_b_n_o08x_a1de356dd604c1dffcd1a32faeb4fafe2} 
+\index{BNO08x@{BNO08x}!get\_raw\_accel\_X@{get\_raw\_accel\_X}}
+\index{get\_raw\_accel\_X@{get\_raw\_accel\_X}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_raw\_accel\_X()}{get\_raw\_accel\_X()}}
+{\footnotesize\ttfamily int16\+\_\+t BNO08x\+::get\+\_\+raw\+\_\+accel\+\_\+X (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Get raw accelerometer x axis reading from physical accelerometer MEMs sensor (See Ref. Manual 6.\+5.\+8) 
+
+\begin{DoxyReturn}{Returns}
+Reported raw accelerometer x axis reading from physical MEMs sensor. 
+\end{DoxyReturn}
+\Hypertarget{class_b_n_o08x_a96563de0eb597a52d595d19da827b1ac}\label{class_b_n_o08x_a96563de0eb597a52d595d19da827b1ac} 
+\index{BNO08x@{BNO08x}!get\_raw\_accel\_Y@{get\_raw\_accel\_Y}}
+\index{get\_raw\_accel\_Y@{get\_raw\_accel\_Y}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_raw\_accel\_Y()}{get\_raw\_accel\_Y()}}
+{\footnotesize\ttfamily int16\+\_\+t BNO08x\+::get\+\_\+raw\+\_\+accel\+\_\+Y (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Get raw accelerometer y axis reading from physical accelerometer MEMs sensor (See Ref. Manual 6.\+5.\+8) 
+
+\begin{DoxyReturn}{Returns}
+Reported raw accelerometer y axis reading from physical MEMs sensor. 
+\end{DoxyReturn}
+\Hypertarget{class_b_n_o08x_a718cdd910e5e7e03fd0a1ad04ee6f0ce}\label{class_b_n_o08x_a718cdd910e5e7e03fd0a1ad04ee6f0ce} 
+\index{BNO08x@{BNO08x}!get\_raw\_accel\_Z@{get\_raw\_accel\_Z}}
+\index{get\_raw\_accel\_Z@{get\_raw\_accel\_Z}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_raw\_accel\_Z()}{get\_raw\_accel\_Z()}}
+{\footnotesize\ttfamily int16\+\_\+t BNO08x\+::get\+\_\+raw\+\_\+accel\+\_\+Z (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Get raw accelerometer z axis reading from physical accelerometer MEMs sensor (See Ref. Manual 6.\+5.\+8) 
+
+\begin{DoxyReturn}{Returns}
+Reported raw accelerometer z axis reading from physical MEMs sensor. 
+\end{DoxyReturn}
+\Hypertarget{class_b_n_o08x_af1b2c3a383a84fc6dfaddae1052b44d4}\label{class_b_n_o08x_af1b2c3a383a84fc6dfaddae1052b44d4} 
+\index{BNO08x@{BNO08x}!get\_raw\_gyro\_X@{get\_raw\_gyro\_X}}
+\index{get\_raw\_gyro\_X@{get\_raw\_gyro\_X}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_raw\_gyro\_X()}{get\_raw\_gyro\_X()}}
+{\footnotesize\ttfamily int16\+\_\+t BNO08x\+::get\+\_\+raw\+\_\+gyro\+\_\+X (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Get raw gyroscope x axis reading from physical gyroscope MEMs sensor (See Ref. Manual 6.\+5.\+12) 
+
+\begin{DoxyReturn}{Returns}
+Reported raw gyroscope x axis reading from physical MEMs sensor. 
+\end{DoxyReturn}
+\Hypertarget{class_b_n_o08x_aff7714441d242b3b9b0c03f94e0a9374}\label{class_b_n_o08x_aff7714441d242b3b9b0c03f94e0a9374} 
+\index{BNO08x@{BNO08x}!get\_raw\_gyro\_Y@{get\_raw\_gyro\_Y}}
+\index{get\_raw\_gyro\_Y@{get\_raw\_gyro\_Y}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_raw\_gyro\_Y()}{get\_raw\_gyro\_Y()}}
+{\footnotesize\ttfamily int16\+\_\+t BNO08x\+::get\+\_\+raw\+\_\+gyro\+\_\+Y (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Get raw gyroscope y axis reading from physical gyroscope MEMs sensor (See Ref. Manual 6.\+5.\+12) 
+
+\begin{DoxyReturn}{Returns}
+Reported raw gyroscope y axis reading from physical MEMs sensor. 
+\end{DoxyReturn}
+\Hypertarget{class_b_n_o08x_a2e28b5a79c442a6baa2fa5165b9ce37d}\label{class_b_n_o08x_a2e28b5a79c442a6baa2fa5165b9ce37d} 
+\index{BNO08x@{BNO08x}!get\_raw\_gyro\_Z@{get\_raw\_gyro\_Z}}
+\index{get\_raw\_gyro\_Z@{get\_raw\_gyro\_Z}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_raw\_gyro\_Z()}{get\_raw\_gyro\_Z()}}
+{\footnotesize\ttfamily int16\+\_\+t BNO08x\+::get\+\_\+raw\+\_\+gyro\+\_\+Z (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Get raw gyroscope z axis reading from physical gyroscope MEMs sensor (See Ref. Manual 6.\+5.\+12) 
+
+\begin{DoxyReturn}{Returns}
+Reported raw gyroscope z axis reading from physical MEMs sensor. 
+\end{DoxyReturn}
+\Hypertarget{class_b_n_o08x_adf12600b39de41d258439a343fcc1ad8}\label{class_b_n_o08x_adf12600b39de41d258439a343fcc1ad8} 
+\index{BNO08x@{BNO08x}!get\_raw\_magf\_X@{get\_raw\_magf\_X}}
+\index{get\_raw\_magf\_X@{get\_raw\_magf\_X}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_raw\_magf\_X()}{get\_raw\_magf\_X()}}
+{\footnotesize\ttfamily int16\+\_\+t BNO08x\+::get\+\_\+raw\+\_\+magf\+\_\+X (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Get raw magnetometer x axis reading from physical magnetometer sensor (See Ref. Manual 6.\+5.\+15) 
+
+\begin{DoxyReturn}{Returns}
+Reported raw magnetometer x axis reading from physical magnetometer sensor. 
+\end{DoxyReturn}
+\Hypertarget{class_b_n_o08x_a2c842e43ceae19149f6525bcbc48f1cf}\label{class_b_n_o08x_a2c842e43ceae19149f6525bcbc48f1cf} 
+\index{BNO08x@{BNO08x}!get\_raw\_magf\_Y@{get\_raw\_magf\_Y}}
+\index{get\_raw\_magf\_Y@{get\_raw\_magf\_Y}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_raw\_magf\_Y()}{get\_raw\_magf\_Y()}}
+{\footnotesize\ttfamily int16\+\_\+t BNO08x\+::get\+\_\+raw\+\_\+magf\+\_\+Y (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Get raw magnetometer y axis reading from physical magnetometer sensor (See Ref. Manual 6.\+5.\+15) 
+
+\begin{DoxyReturn}{Returns}
+Reported raw magnetometer y axis reading from physical magnetometer sensor. 
+\end{DoxyReturn}
+\Hypertarget{class_b_n_o08x_a99c1bcc2ec3ca3d8feafd6dd61f9d269}\label{class_b_n_o08x_a99c1bcc2ec3ca3d8feafd6dd61f9d269} 
+\index{BNO08x@{BNO08x}!get\_raw\_magf\_Z@{get\_raw\_magf\_Z}}
+\index{get\_raw\_magf\_Z@{get\_raw\_magf\_Z}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_raw\_magf\_Z()}{get\_raw\_magf\_Z()}}
+{\footnotesize\ttfamily int16\+\_\+t BNO08x\+::get\+\_\+raw\+\_\+magf\+\_\+Z (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Get raw magnetometer z axis reading from physical magnetometer sensor (See Ref. Manual 6.\+5.\+15) 
+
+\begin{DoxyReturn}{Returns}
+Reported raw magnetometer z axis reading from physical magnetometer sensor. 
+\end{DoxyReturn}
+\Hypertarget{class_b_n_o08x_a11bb1b3fa44ad8f28c1492b5c07af886}\label{class_b_n_o08x_a11bb1b3fa44ad8f28c1492b5c07af886} 
+\index{BNO08x@{BNO08x}!get\_reset\_reason@{get\_reset\_reason}}
+\index{get\_reset\_reason@{get\_reset\_reason}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_reset\_reason()}{get\_reset\_reason()}}
+{\footnotesize\ttfamily uint8\+\_\+t BNO08x\+::get\+\_\+reset\+\_\+reason (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Requests product ID, prints the returned info over serial, and returns the reason for the most resent reset. 
+
+\begin{DoxyReturn}{Returns}
+The reason for the most recent recent reset ( 1 = POR (power on reset), 2 = internal reset, 3 = watchdog timer, 4 = external reset 5 = other) 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a11bb1b3fa44ad8f28c1492b5c07af886_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=344pt]{class_b_n_o08x_a11bb1b3fa44ad8f28c1492b5c07af886_icgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a1d6ea02d0d4b23ff6a15e9d5c6c92372}\label{class_b_n_o08x_a1d6ea02d0d4b23ff6a15e9d5c6c92372} 
+\index{BNO08x@{BNO08x}!get\_resolution@{get\_resolution}}
+\index{get\_resolution@{get\_resolution}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_resolution()}{get\_resolution()}}
+{\footnotesize\ttfamily float BNO08x\+::get\+\_\+resolution (\begin{DoxyParamCaption}\item[{uint16\+\_\+t}]{record\+\_\+\+ID }\end{DoxyParamCaption})}
+
+
+
+Gets resolution from \doxylink{class_b_n_o08x}{BNO08x} FRS (flash record system). 
+
+
+\begin{DoxyParams}{Parameters}
+{\em record\+\_\+\+ID} & Which record ID/ sensor to get resolution value for.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+The resolution value for the requested sensor. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a1d6ea02d0d4b23ff6a15e9d5c6c92372_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a89618eba08186ee8e679e7313907ddef}\label{class_b_n_o08x_a89618eba08186ee8e679e7313907ddef} 
+\index{BNO08x@{BNO08x}!get\_roll@{get\_roll}}
+\index{get\_roll@{get\_roll}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_roll()}{get\_roll()}}
+{\footnotesize\ttfamily float BNO08x\+::get\+\_\+roll (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Get the reported rotation about x axis. 
+
+\begin{DoxyReturn}{Returns}
+Rotation about the x axis in radians. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a89618eba08186ee8e679e7313907ddef_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=318pt]{class_b_n_o08x_a89618eba08186ee8e679e7313907ddef_icgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a7077b9a130f1dcf0192454e387968dd6}\label{class_b_n_o08x_a7077b9a130f1dcf0192454e387968dd6} 
+\index{BNO08x@{BNO08x}!get\_roll\_deg@{get\_roll\_deg}}
+\index{get\_roll\_deg@{get\_roll\_deg}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_roll\_deg()}{get\_roll\_deg()}}
+{\footnotesize\ttfamily float BNO08x\+::get\+\_\+roll\+\_\+deg (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Get the reported rotation about x axis. 
+
+\begin{DoxyReturn}{Returns}
+Rotation about the x axis in degrees. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a7077b9a130f1dcf0192454e387968dd6_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a0d148e00abcfeec48c689e3084a7e786}\label{class_b_n_o08x_a0d148e00abcfeec48c689e3084a7e786} 
+\index{BNO08x@{BNO08x}!get\_stability\_classifier@{get\_stability\_classifier}}
+\index{get\_stability\_classifier@{get\_stability\_classifier}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_stability\_classifier()}{get\_stability\_classifier()}}
+{\footnotesize\ttfamily int8\+\_\+t BNO08x\+::get\+\_\+stability\+\_\+classifier (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Get the current stability classifier (Seee Ref. Manual 6.\+5.\+31) 
+
+\begin{DoxyReturn}{Returns}
+The current stability (0 = unknown, 1 = on table, 2 = stationary) 
+\end{DoxyReturn}
+\Hypertarget{class_b_n_o08x_adaff49f3d80fdd19fd4210f0c56d41ef}\label{class_b_n_o08x_adaff49f3d80fdd19fd4210f0c56d41ef} 
+\index{BNO08x@{BNO08x}!get\_step\_count@{get\_step\_count}}
+\index{get\_step\_count@{get\_step\_count}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_step\_count()}{get\_step\_count()}}
+{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::get\+\_\+step\+\_\+count (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Get the counted amount of steps. 
+
+\begin{DoxyReturn}{Returns}
+The current amount of counted steps. 
+\end{DoxyReturn}
+\Hypertarget{class_b_n_o08x_a4797ec731de4c158716da1a7af9d1602}\label{class_b_n_o08x_a4797ec731de4c158716da1a7af9d1602} 
+\index{BNO08x@{BNO08x}!get\_tap\_detector@{get\_tap\_detector}}
+\index{get\_tap\_detector@{get\_tap\_detector}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_tap\_detector()}{get\_tap\_detector()}}
+{\footnotesize\ttfamily uint8\+\_\+t BNO08x\+::get\+\_\+tap\+\_\+detector (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Get if tap has occured. 
+
+\begin{DoxyReturn}{Returns}
+7 bit tap code indicated which axis taps have occurred. (See Ref. Manual 6.\+5.\+27) 
+\end{DoxyReturn}
+\Hypertarget{class_b_n_o08x_ad9137777271421a58159f3fe5e05ed20}\label{class_b_n_o08x_ad9137777271421a58159f3fe5e05ed20} 
+\index{BNO08x@{BNO08x}!get\_time\_stamp@{get\_time\_stamp}}
+\index{get\_time\_stamp@{get\_time\_stamp}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_time\_stamp()}{get\_time\_stamp()}}
+{\footnotesize\ttfamily uint32\+\_\+t BNO08x\+::get\+\_\+time\+\_\+stamp (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Return timestamp of most recent report. 
+
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+\Hypertarget{class_b_n_o08x_a1bd3c33e70354bd35a78b83b6786b531}\label{class_b_n_o08x_a1bd3c33e70354bd35a78b83b6786b531} 
+\index{BNO08x@{BNO08x}!get\_uncalibrated\_gyro@{get\_uncalibrated\_gyro}}
+\index{get\_uncalibrated\_gyro@{get\_uncalibrated\_gyro}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_uncalibrated\_gyro()}{get\_uncalibrated\_gyro()}}
+{\footnotesize\ttfamily void BNO08x\+::get\+\_\+uncalibrated\+\_\+gyro (\begin{DoxyParamCaption}\item[{float \&}]{x,  }\item[{float \&}]{y,  }\item[{float \&}]{z,  }\item[{float \&}]{b\+\_\+x,  }\item[{float \&}]{b\+\_\+y,  }\item[{float \&}]{b\+\_\+z,  }\item[{uint8\+\_\+t \&}]{accuracy }\end{DoxyParamCaption})}
+
+
+
+Get full rotational velocity without drift compensation (units in Rad/s). An estimate of drift is given but not applied. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em x} & Reference variable to save X axis angular velocity \\
+\hline
+{\em y} & Reference variable to save Y axis angular velocity \\
+\hline
+{\em z} & Reference variable to save Z axis angular velocity \\
+\hline
+{\em b\+\_\+x} & Reference variable to save X axis drift estimate \\
+\hline
+{\em b\+\_\+y} & Reference variable to save Y axis drift estimate \\
+\hline
+{\em b\+\_\+z} & Reference variable to save Z axis drift estimate \\
+\hline
+{\em accuracy} & Reference variable to save reported gyro accuracy.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a1bd3c33e70354bd35a78b83b6786b531_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a3285613f18b2f2f4c3f9e6d5c971af10}\label{class_b_n_o08x_a3285613f18b2f2f4c3f9e6d5c971af10} 
+\index{BNO08x@{BNO08x}!get\_uncalibrated\_gyro\_accuracy@{get\_uncalibrated\_gyro\_accuracy}}
+\index{get\_uncalibrated\_gyro\_accuracy@{get\_uncalibrated\_gyro\_accuracy}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_uncalibrated\_gyro\_accuracy()}{get\_uncalibrated\_gyro\_accuracy()}}
+{\footnotesize\ttfamily uint8\+\_\+t BNO08x\+::get\+\_\+uncalibrated\+\_\+gyro\+\_\+accuracy (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Get uncalibrated gyro accuracy. 
+
+\begin{DoxyReturn}{Returns}
+Accuracy of uncalibrated gyro. 
+\end{DoxyReturn}
+\Hypertarget{class_b_n_o08x_ad228cdf352b7ea95e484da993045a47b}\label{class_b_n_o08x_ad228cdf352b7ea95e484da993045a47b} 
+\index{BNO08x@{BNO08x}!get\_uncalibrated\_gyro\_bias\_X@{get\_uncalibrated\_gyro\_bias\_X}}
+\index{get\_uncalibrated\_gyro\_bias\_X@{get\_uncalibrated\_gyro\_bias\_X}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_uncalibrated\_gyro\_bias\_X()}{get\_uncalibrated\_gyro\_bias\_X()}}
+{\footnotesize\ttfamily float BNO08x\+::get\+\_\+uncalibrated\+\_\+gyro\+\_\+bias\+\_\+X (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Get uncalibrated gyro x axis drift estimate. 
+
+\begin{DoxyReturn}{Returns}
+The angular reported x axis drift estimate. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=347pt]{class_b_n_o08x_ad228cdf352b7ea95e484da993045a47b_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a74725517129dd548c7a3de705d5861bd}\label{class_b_n_o08x_a74725517129dd548c7a3de705d5861bd} 
+\index{BNO08x@{BNO08x}!get\_uncalibrated\_gyro\_bias\_Y@{get\_uncalibrated\_gyro\_bias\_Y}}
+\index{get\_uncalibrated\_gyro\_bias\_Y@{get\_uncalibrated\_gyro\_bias\_Y}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_uncalibrated\_gyro\_bias\_Y()}{get\_uncalibrated\_gyro\_bias\_Y()}}
+{\footnotesize\ttfamily float BNO08x\+::get\+\_\+uncalibrated\+\_\+gyro\+\_\+bias\+\_\+Y (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Get uncalibrated gyro Y axis drift estimate. 
+
+\begin{DoxyReturn}{Returns}
+The angular reported Y axis drift estimate. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=347pt]{class_b_n_o08x_a74725517129dd548c7a3de705d5861bd_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a5050359272abd146ab3c7a6101effbd7}\label{class_b_n_o08x_a5050359272abd146ab3c7a6101effbd7} 
+\index{BNO08x@{BNO08x}!get\_uncalibrated\_gyro\_bias\_Z@{get\_uncalibrated\_gyro\_bias\_Z}}
+\index{get\_uncalibrated\_gyro\_bias\_Z@{get\_uncalibrated\_gyro\_bias\_Z}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_uncalibrated\_gyro\_bias\_Z()}{get\_uncalibrated\_gyro\_bias\_Z()}}
+{\footnotesize\ttfamily float BNO08x\+::get\+\_\+uncalibrated\+\_\+gyro\+\_\+bias\+\_\+Z (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Get uncalibrated gyro Z axis drift estimate. 
+
+\begin{DoxyReturn}{Returns}
+The angular reported Z axis drift estimate. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=347pt]{class_b_n_o08x_a5050359272abd146ab3c7a6101effbd7_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a289ff66f51c94be62c4a556f3a5997bf}\label{class_b_n_o08x_a289ff66f51c94be62c4a556f3a5997bf} 
+\index{BNO08x@{BNO08x}!get\_uncalibrated\_gyro\_X@{get\_uncalibrated\_gyro\_X}}
+\index{get\_uncalibrated\_gyro\_X@{get\_uncalibrated\_gyro\_X}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_uncalibrated\_gyro\_X()}{get\_uncalibrated\_gyro\_X()}}
+{\footnotesize\ttfamily float BNO08x\+::get\+\_\+uncalibrated\+\_\+gyro\+\_\+X (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Get uncalibrated gyro x axis angular velocity measurement. 
+
+\begin{DoxyReturn}{Returns}
+The angular reported x axis angular velocity from uncalibrated gyro. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=347pt]{class_b_n_o08x_a289ff66f51c94be62c4a556f3a5997bf_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a1874e4bd457bb5b6ecc2c64039b88ba4}\label{class_b_n_o08x_a1874e4bd457bb5b6ecc2c64039b88ba4} 
+\index{BNO08x@{BNO08x}!get\_uncalibrated\_gyro\_Y@{get\_uncalibrated\_gyro\_Y}}
+\index{get\_uncalibrated\_gyro\_Y@{get\_uncalibrated\_gyro\_Y}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_uncalibrated\_gyro\_Y()}{get\_uncalibrated\_gyro\_Y()}}
+{\footnotesize\ttfamily float BNO08x\+::get\+\_\+uncalibrated\+\_\+gyro\+\_\+Y (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Get uncalibrated gyro Y axis angular velocity measurement. 
+
+\begin{DoxyReturn}{Returns}
+The angular reported Y axis angular velocity from uncalibrated gyro. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=347pt]{class_b_n_o08x_a1874e4bd457bb5b6ecc2c64039b88ba4_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a0a73633d8929ce4058b14cefc8cad717}\label{class_b_n_o08x_a0a73633d8929ce4058b14cefc8cad717} 
+\index{BNO08x@{BNO08x}!get\_uncalibrated\_gyro\_Z@{get\_uncalibrated\_gyro\_Z}}
+\index{get\_uncalibrated\_gyro\_Z@{get\_uncalibrated\_gyro\_Z}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_uncalibrated\_gyro\_Z()}{get\_uncalibrated\_gyro\_Z()}}
+{\footnotesize\ttfamily float BNO08x\+::get\+\_\+uncalibrated\+\_\+gyro\+\_\+Z (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Get uncalibrated gyro Z axis angular velocity measurement. 
+
+\begin{DoxyReturn}{Returns}
+The angular reported Z axis angular velocity from uncalibrated gyro. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=347pt]{class_b_n_o08x_a0a73633d8929ce4058b14cefc8cad717_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a64d3e41750c6de9413d6982511f78f17}\label{class_b_n_o08x_a64d3e41750c6de9413d6982511f78f17} 
+\index{BNO08x@{BNO08x}!get\_yaw@{get\_yaw}}
+\index{get\_yaw@{get\_yaw}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_yaw()}{get\_yaw()}}
+{\footnotesize\ttfamily float BNO08x\+::get\+\_\+yaw (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Get the reported rotation about z axis. 
+
+\begin{DoxyReturn}{Returns}
+Rotation about the z axis in radians. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a64d3e41750c6de9413d6982511f78f17_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=327pt]{class_b_n_o08x_a64d3e41750c6de9413d6982511f78f17_icgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_af80f7795656e695e036d3b1557aed94c}\label{class_b_n_o08x_af80f7795656e695e036d3b1557aed94c} 
+\index{BNO08x@{BNO08x}!get\_yaw\_deg@{get\_yaw\_deg}}
+\index{get\_yaw\_deg@{get\_yaw\_deg}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_yaw\_deg()}{get\_yaw\_deg()}}
+{\footnotesize\ttfamily float BNO08x\+::get\+\_\+yaw\+\_\+deg (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Get the reported rotation about z axis. 
+
+\begin{DoxyReturn}{Returns}
+Rotation about the z axis in degrees. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_af80f7795656e695e036d3b1557aed94c_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a28cd1c0b3477571d87133234e6358503}\label{class_b_n_o08x_a28cd1c0b3477571d87133234e6358503} 
+\index{BNO08x@{BNO08x}!hard\_reset@{hard\_reset}}
+\index{hard\_reset@{hard\_reset}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{hard\_reset()}{hard\_reset()}}
+{\footnotesize\ttfamily bool BNO08x\+::hard\+\_\+reset (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Hard resets \doxylink{class_b_n_o08x}{BNO08x} sensor. 
+
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a28cd1c0b3477571d87133234e6358503_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=315pt]{class_b_n_o08x_a28cd1c0b3477571d87133234e6358503_icgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a804b95c58c30d36933fd251626b85bf7}\label{class_b_n_o08x_a804b95c58c30d36933fd251626b85bf7} 
+\index{BNO08x@{BNO08x}!hint\_handler@{hint\_handler}}
+\index{hint\_handler@{hint\_handler}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{hint\_handler()}{hint\_handler()}}
+{\footnotesize\ttfamily void IRAM\+\_\+\+ATTR BNO08x\+::hint\+\_\+handler (\begin{DoxyParamCaption}\item[{void \texorpdfstring{$\ast$}{*}}]{arg }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [private]}}
+
+
+
+HINT interrupt service routine, handles falling edge of \doxylink{class_b_n_o08x}{BNO08x} HINT pin. 
+
+ISR that launches SPI task to perform transaction upon assertion of \doxylink{class_b_n_o08x}{BNO08x} interrupt pin.
+
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=323pt]{class_b_n_o08x_a804b95c58c30d36933fd251626b85bf7_icgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_aea8e2c6dd7a2c9899479a7f39fe94798}\label{class_b_n_o08x_aea8e2c6dd7a2c9899479a7f39fe94798} 
+\index{BNO08x@{BNO08x}!initialize@{initialize}}
+\index{initialize@{initialize}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{initialize()}{initialize()}}
+{\footnotesize\ttfamily bool BNO08x\+::initialize (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Initializes \doxylink{class_b_n_o08x}{BNO08x} sensor. 
+
+Resets sensor and goes through initializing process outlined in \doxylink{class_b_n_o08x}{BNO08x} datasheet. Launches two tasks, one to manage SPI transactions, another to process any received data.
+
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_aea8e2c6dd7a2c9899479a7f39fe94798_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_ac1b3de9b552c611ee9c455d7f19be698}\label{class_b_n_o08x_ac1b3de9b552c611ee9c455d7f19be698} 
+\index{BNO08x@{BNO08x}!mode\_on@{mode\_on}}
+\index{mode\_on@{mode\_on}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{mode\_on()}{mode\_on()}}
+{\footnotesize\ttfamily bool BNO08x\+::mode\+\_\+on (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Turns on/ brings \doxylink{class_b_n_o08x}{BNO08x} sensor out of sleep mode using executable channel. 
+
+\begin{DoxyReturn}{Returns}
+True if exiting sleep mode was success. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=346pt]{class_b_n_o08x_ac1b3de9b552c611ee9c455d7f19be698_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a176ae0112325c05105eacb4566bbfa0b}\label{class_b_n_o08x_a176ae0112325c05105eacb4566bbfa0b} 
+\index{BNO08x@{BNO08x}!mode\_sleep@{mode\_sleep}}
+\index{mode\_sleep@{mode\_sleep}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{mode\_sleep()}{mode\_sleep()}}
+{\footnotesize\ttfamily bool BNO08x\+::mode\+\_\+sleep (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Puts \doxylink{class_b_n_o08x}{BNO08x} sensor into sleep/low power mode using executable channel. 
+
+\begin{DoxyReturn}{Returns}
+True if entering sleep mode was success. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a176ae0112325c05105eacb4566bbfa0b_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a4f66045a0528a0c17c52421ea51612e7}\label{class_b_n_o08x_a4f66045a0528a0c17c52421ea51612e7} 
+\index{BNO08x@{BNO08x}!parse\_command\_report@{parse\_command\_report}}
+\index{parse\_command\_report@{parse\_command\_report}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{parse\_command\_report()}{parse\_command\_report()}}
+{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::parse\+\_\+command\+\_\+report (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__rx__packet__t}{bno08x\+\_\+rx\+\_\+packet\+\_\+t}} \texorpdfstring{$\ast$}{*}}]{packet }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [private]}}
+
+
+
+Parses received command report sent by \doxylink{class_b_n_o08x}{BNO08x} (See Ref. Manual 6.\+3.\+9) 
+
+\begin{DoxyReturn}{Returns}
+The command report ID, 0 if invalid. 
+\end{DoxyReturn}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a4f66045a0528a0c17c52421ea51612e7_icgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a51b360d795563b55559f11efb40be36a}\label{class_b_n_o08x_a51b360d795563b55559f11efb40be36a} 
+\index{BNO08x@{BNO08x}!parse\_frs\_read\_response\_report@{parse\_frs\_read\_response\_report}}
+\index{parse\_frs\_read\_response\_report@{parse\_frs\_read\_response\_report}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{parse\_frs\_read\_response\_report()}{parse\_frs\_read\_response\_report()}}
+{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::parse\+\_\+frs\+\_\+read\+\_\+response\+\_\+report (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__rx__packet__t}{bno08x\+\_\+rx\+\_\+packet\+\_\+t}} \texorpdfstring{$\ast$}{*}}]{packet }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [private]}}
+
+
+
+Sends packet to be parsed to meta data function call (frs\+\_\+read\+\_\+word()) through queue. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em packet} & The packet containing the frs read report. \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+1, always valid, parsing for this happens in frs\+\_\+read\+\_\+word() 
+\end{DoxyReturn}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a51b360d795563b55559f11efb40be36a_icgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a8d9db3e1b6208c2661e1c543deefa53d}\label{class_b_n_o08x_a8d9db3e1b6208c2661e1c543deefa53d} 
+\index{BNO08x@{BNO08x}!parse\_input\_report@{parse\_input\_report}}
+\index{parse\_input\_report@{parse\_input\_report}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{parse\_input\_report()}{parse\_input\_report()}}
+{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::parse\+\_\+input\+\_\+report (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__rx__packet__t}{bno08x\+\_\+rx\+\_\+packet\+\_\+t}} \texorpdfstring{$\ast$}{*}}]{packet }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [private]}}
+
+
+
+Parses received input report sent by \doxylink{class_b_n_o08x}{BNO08x}. 
+
+Unit responds with packet that contains the following\+:
+
+packet-\/\texorpdfstring{$>$}{>}header\mbox{[}0\+:3\mbox{]}\+: First, a 4 byte header packet-\/\texorpdfstring{$>$}{>}body\mbox{[}0\+:4\mbox{]}\+: Then a 5 byte timestamp of microsecond ticks since reading was taken packet-\/\texorpdfstring{$>$}{>}body\mbox{[}5 + 0\mbox{]}\+: Then a feature report ID (0x01 for Accel, 0x05 for Rotation Vector, etc...) packet-\/\texorpdfstring{$>$}{>}body\mbox{[}5 + 1\mbox{]}\+: Sequence number (See Ref.\+Manual 6.\+5.\+8.\+2) packet-\/\texorpdfstring{$>$}{>}body\mbox{[}5 + 2\mbox{]}\+: Status packet-\/\texorpdfstring{$>$}{>}body\mbox{[}3\mbox{]}\+: Delay packet-\/\texorpdfstring{$>$}{>}body\mbox{[}4\+:5\mbox{]}\+: i/accel x/gyro x/etc packet-\/\texorpdfstring{$>$}{>}body\mbox{[}6\+:7\mbox{]}\+: j/accel y/gyro y/etc packet-\/\texorpdfstring{$>$}{>}body\mbox{[}8\+:9\mbox{]}\+: k/accel z/gyro z/etc packet-\/\texorpdfstring{$>$}{>}body\mbox{[}10\+:11\mbox{]}\+: real/gyro temp/etc packet-\/\texorpdfstring{$>$}{>}body\mbox{[}12\+:13\mbox{]}\+: Accuracy estimate
+
+\begin{DoxyReturn}{Returns}
+The report ID of the respective sensor, for ex. SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+GYRO\+\_\+\+INTEGRATED\+\_\+\+ROTATION\+\_\+\+VECTOR, 0 if invalid. 
+\end{DoxyReturn}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a8d9db3e1b6208c2661e1c543deefa53d_icgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a67a697595d6a4d4638a53c6b4a5ef0cd}\label{class_b_n_o08x_a67a697595d6a4d4638a53c6b4a5ef0cd} 
+\index{BNO08x@{BNO08x}!parse\_packet@{parse\_packet}}
+\index{parse\_packet@{parse\_packet}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{parse\_packet()}{parse\_packet()}}
+{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::parse\+\_\+packet (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__rx__packet__t}{bno08x\+\_\+rx\+\_\+packet\+\_\+t}} \texorpdfstring{$\ast$}{*}}]{packet }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [private]}}
+
+
+
+Parses a packet received from bno08x, updating any data according to received reports. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em packet} & The packet to be parsed. \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+0 if invalid packet. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a67a697595d6a4d4638a53c6b4a5ef0cd_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a67a697595d6a4d4638a53c6b4a5ef0cd_icgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a29cfd7fc2816483ebebe9d55b677a036}\label{class_b_n_o08x_a29cfd7fc2816483ebebe9d55b677a036} 
+\index{BNO08x@{BNO08x}!parse\_product\_id\_report@{parse\_product\_id\_report}}
+\index{parse\_product\_id\_report@{parse\_product\_id\_report}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{parse\_product\_id\_report()}{parse\_product\_id\_report()}}
+{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::parse\+\_\+product\+\_\+id\+\_\+report (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__rx__packet__t}{bno08x\+\_\+rx\+\_\+packet\+\_\+t}} \texorpdfstring{$\ast$}{*}}]{packet }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [private]}}
+
+
+
+Parses product id report and prints device info. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em packet} & The packet containing product id report. \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+1, always valid. 
+\end{DoxyReturn}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a29cfd7fc2816483ebebe9d55b677a036_icgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a35856c108a47de8b3b38c4395aabb4eb}\label{class_b_n_o08x_a35856c108a47de8b3b38c4395aabb4eb} 
+\index{BNO08x@{BNO08x}!print\_header@{print\_header}}
+\index{print\_header@{print\_header}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{print\_header()}{print\_header()}}
+{\footnotesize\ttfamily void BNO08x\+::print\+\_\+header (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__rx__packet__t}{bno08x\+\_\+rx\+\_\+packet\+\_\+t}} \texorpdfstring{$\ast$}{*}}]{packet }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [private]}}
+
+
+
+Prints the header of the passed SHTP packet to serial console with ESP\+\_\+\+LOG statement. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em packet} & The packet containing the header to be printed. \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+\Hypertarget{class_b_n_o08x_a05e4cd5861b55fc0182d7dd13bb85e49}\label{class_b_n_o08x_a05e4cd5861b55fc0182d7dd13bb85e49} 
+\index{BNO08x@{BNO08x}!print\_packet@{print\_packet}}
+\index{print\_packet@{print\_packet}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{print\_packet()}{print\_packet()}}
+{\footnotesize\ttfamily void BNO08x\+::print\+\_\+packet (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__rx__packet__t}{bno08x\+\_\+rx\+\_\+packet\+\_\+t}} \texorpdfstring{$\ast$}{*}}]{packet }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [private]}}
+
+
+
+Prints the passed SHTP packet to serial console with ESP\+\_\+\+LOG statement. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em packet} & The packet to be printed. \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+\Hypertarget{class_b_n_o08x_a27fb24e894f794ec6228ef142b6ff8d9}\label{class_b_n_o08x_a27fb24e894f794ec6228ef142b6ff8d9} 
+\index{BNO08x@{BNO08x}!q\_to\_float@{q\_to\_float}}
+\index{q\_to\_float@{q\_to\_float}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{q\_to\_float()}{q\_to\_float()}}
+{\footnotesize\ttfamily float BNO08x\+::q\+\_\+to\+\_\+float (\begin{DoxyParamCaption}\item[{int16\+\_\+t}]{fixed\+\_\+point\+\_\+value,  }\item[{uint8\+\_\+t}]{q\+\_\+point }\end{DoxyParamCaption})}
+
+
+
+Converts a register value to a float using its associated Q point. (See \href{https://en.wikipedia.org/wiki/Q_(number_format)}{\texttt{ https\+://en.\+wikipedia.\+org/wiki/\+Q\+\_\+(number\+\_\+format)}}) 
+
+
+\begin{DoxyParams}{Parameters}
+{\em q\+\_\+point} & Q point value associated with register. \\
+\hline
+{\em fixed\+\_\+point\+\_\+value} & The fixed point value to convert.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[height=550pt]{class_b_n_o08x_a27fb24e894f794ec6228ef142b6ff8d9_icgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_ad097849616c5caab1fd3eb3632ee2b91}\label{class_b_n_o08x_ad097849616c5caab1fd3eb3632ee2b91} 
+\index{BNO08x@{BNO08x}!queue\_calibrate\_command@{queue\_calibrate\_command}}
+\index{queue\_calibrate\_command@{queue\_calibrate\_command}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{queue\_calibrate\_command()}{queue\_calibrate\_command()}}
+{\footnotesize\ttfamily void BNO08x\+::queue\+\_\+calibrate\+\_\+command (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{sensor\+\_\+to\+\_\+calibrate }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [private]}}
+
+
+
+Queues a packet containing a command to calibrate the specified sensor. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em sensor\+\_\+to\+\_\+calibrate} & The sensor to calibrate. \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_ad097849616c5caab1fd3eb3632ee2b91_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_ad097849616c5caab1fd3eb3632ee2b91_icgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a5cc58139e4d5f0587b90e249ceb476f9}\label{class_b_n_o08x_a5cc58139e4d5f0587b90e249ceb476f9} 
+\index{BNO08x@{BNO08x}!queue\_command@{queue\_command}}
+\index{queue\_command@{queue\_command}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{queue\_command()}{queue\_command()}}
+{\footnotesize\ttfamily void BNO08x\+::queue\+\_\+command (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{command,  }\item[{uint8\+\_\+t \texorpdfstring{$\ast$}{*}}]{commands }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [private]}}
+
+
+
+Queues a packet containing a command. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em command} & The command to be sent. \\
+\hline
+{\em commands} & Command data array, pre-\/packed with exception of first 3 elements (command info)\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a5cc58139e4d5f0587b90e249ceb476f9_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a5cc58139e4d5f0587b90e249ceb476f9_icgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_af2951f6ea448af7cf7932fbfed9fec3c}\label{class_b_n_o08x_af2951f6ea448af7cf7932fbfed9fec3c} 
+\index{BNO08x@{BNO08x}!queue\_feature\_command@{queue\_feature\_command}}
+\index{queue\_feature\_command@{queue\_feature\_command}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{queue\_feature\_command()}{queue\_feature\_command()}\hspace{0.1cm}{\footnotesize\ttfamily [1/2]}}
+{\footnotesize\ttfamily void BNO08x\+::queue\+\_\+feature\+\_\+command (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{report\+\_\+\+ID,  }\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [private]}}
+
+
+
+Queues a packet containing a command with a request for sensor reports, reported periodically. (See Ref. Manual 6.\+5.\+4) 
+
+
+\begin{DoxyParams}{Parameters}
+{\em report\+\_\+\+ID} & ID of sensor report being requested. \\
+\hline
+{\em time\+\_\+between\+\_\+reports} & Desired time between reports.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=200pt]{class_b_n_o08x_af2951f6ea448af7cf7932fbfed9fec3c_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[height=550pt]{class_b_n_o08x_af2951f6ea448af7cf7932fbfed9fec3c_icgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a2d6de4823893128e6a4b562f34326ae8}\label{class_b_n_o08x_a2d6de4823893128e6a4b562f34326ae8} 
+\index{BNO08x@{BNO08x}!queue\_feature\_command@{queue\_feature\_command}}
+\index{queue\_feature\_command@{queue\_feature\_command}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{queue\_feature\_command()}{queue\_feature\_command()}\hspace{0.1cm}{\footnotesize\ttfamily [2/2]}}
+{\footnotesize\ttfamily void BNO08x\+::queue\+\_\+feature\+\_\+command (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{report\+\_\+\+ID,  }\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports,  }\item[{uint32\+\_\+t}]{specific\+\_\+config }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [private]}}
+
+
+
+Queues a packet containing a command with a request for sensor reports, reported periodically. (See Ref. Manual 6.\+5.\+4) 
+
+
+\begin{DoxyParams}{Parameters}
+{\em report\+\_\+\+ID} & ID of sensor report to be enabled. \\
+\hline
+{\em time\+\_\+between\+\_\+reports} & Desired time between reports in microseconds. \\
+\hline
+{\em specific\+\_\+config} & Specific config word (used with personal activity classifier)\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a2d6de4823893128e6a4b562f34326ae8_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a62c570ba96512f4d0d10b2594048de1f}\label{class_b_n_o08x_a62c570ba96512f4d0d10b2594048de1f} 
+\index{BNO08x@{BNO08x}!queue\_packet@{queue\_packet}}
+\index{queue\_packet@{queue\_packet}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{queue\_packet()}{queue\_packet()}}
+{\footnotesize\ttfamily void BNO08x\+::queue\+\_\+packet (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{channel\+\_\+number,  }\item[{uint8\+\_\+t}]{data\+\_\+length,  }\item[{uint8\+\_\+t \texorpdfstring{$\ast$}{*}}]{commands }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [private]}}
+
+
+
+Queues an SHTP packet to be sent via SPI. 
+
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a62c570ba96512f4d0d10b2594048de1f_icgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_ab5f200069a2f8cb74cb79c6f162da5a1}\label{class_b_n_o08x_ab5f200069a2f8cb74cb79c6f162da5a1} 
+\index{BNO08x@{BNO08x}!queue\_request\_product\_id\_command@{queue\_request\_product\_id\_command}}
+\index{queue\_request\_product\_id\_command@{queue\_request\_product\_id\_command}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{queue\_request\_product\_id\_command()}{queue\_request\_product\_id\_command()}}
+{\footnotesize\ttfamily void BNO08x\+::queue\+\_\+request\+\_\+product\+\_\+id\+\_\+command (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [private]}}
+
+
+
+Queues a packet containing the request product ID command. 
+
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_ab5f200069a2f8cb74cb79c6f162da5a1_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_ab5f200069a2f8cb74cb79c6f162da5a1_icgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a4c6353e795f734ed28613f9a3d161ea2}\label{class_b_n_o08x_a4c6353e795f734ed28613f9a3d161ea2} 
+\index{BNO08x@{BNO08x}!queue\_tare\_command@{queue\_tare\_command}}
+\index{queue\_tare\_command@{queue\_tare\_command}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{queue\_tare\_command()}{queue\_tare\_command()}}
+{\footnotesize\ttfamily void BNO08x\+::queue\+\_\+tare\+\_\+command (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{command,  }\item[{uint8\+\_\+t}]{axis = {\ttfamily \mbox{\hyperlink{class_b_n_o08x_a1ef13f6f330810934416ad5fe0ee55b2}{TARE\+\_\+\+AXIS\+\_\+\+ALL}}},  }\item[{uint8\+\_\+t}]{rotation\+\_\+vector\+\_\+basis = {\ttfamily \mbox{\hyperlink{class_b_n_o08x_a8e2cfc25d0e34ae53a762b88cc3ac3c8}{TARE\+\_\+\+ROTATION\+\_\+\+VECTOR}}} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [private]}}
+
+
+
+Queues a packet containing a command related to zeroing sensor\textquotesingle{}s axes. (See Ref. Manual 6.\+4.\+4.\+1) 
+
+
+\begin{DoxyParams}{Parameters}
+{\em command} & Tare command to be sent. \\
+\hline
+{\em axis} & Specified axis (can be z or all at once) \\
+\hline
+{\em rotation\+\_\+vector\+\_\+basis} & Which rotation vector type to zero axes of, \doxylink{class_b_n_o08x}{BNO08x} saves seperate data for Rotation Vector, Gaming Rotation Vector, etc..)\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a4c6353e795f734ed28613f9a3d161ea2_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=324pt]{class_b_n_o08x_a4c6353e795f734ed28613f9a3d161ea2_icgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_ae540799865934fcff54caed0772df071}\label{class_b_n_o08x_ae540799865934fcff54caed0772df071} 
+\index{BNO08x@{BNO08x}!receive\_packet@{receive\_packet}}
+\index{receive\_packet@{receive\_packet}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{receive\_packet()}{receive\_packet()}}
+{\footnotesize\ttfamily bool BNO08x\+::receive\+\_\+packet (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [private]}}
+
+
+
+Receives a SHTP packet via SPI and sends it to \doxylink{class_b_n_o08x_ab4373e9b87837ea9fcbc0b536338c7b8}{data\+\_\+proc\+\_\+task()} 
+
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_ae540799865934fcff54caed0772df071_icgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a06bb0c70305421b5357e64f31579fdc7}\label{class_b_n_o08x_a06bb0c70305421b5357e64f31579fdc7} 
+\index{BNO08x@{BNO08x}!register\_cb@{register\_cb}}
+\index{register\_cb@{register\_cb}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{register\_cb()}{register\_cb()}}
+{\footnotesize\ttfamily void BNO08x\+::register\+\_\+cb (\begin{DoxyParamCaption}\item[{std\+::function$<$ void()$>$}]{cb\+\_\+fxn }\end{DoxyParamCaption})}
+
+
+
+Registers a callback to execute when new data from a report is received. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em cb\+\_\+fxn} & Pointer to the call-\/back function should be of void return type and void input parameters. \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+\Hypertarget{class_b_n_o08x_affaaa35abbb872da5299ebab6e2c9b11}\label{class_b_n_o08x_affaaa35abbb872da5299ebab6e2c9b11} 
+\index{BNO08x@{BNO08x}!request\_calibration\_status@{request\_calibration\_status}}
+\index{request\_calibration\_status@{request\_calibration\_status}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{request\_calibration\_status()}{request\_calibration\_status()}}
+{\footnotesize\ttfamily void BNO08x\+::request\+\_\+calibration\+\_\+status (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Requests ME calibration status from \doxylink{class_b_n_o08x}{BNO08x} (see Ref. Manual 6.\+4.\+7.\+2) 
+
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_affaaa35abbb872da5299ebab6e2c9b11_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_affaaa35abbb872da5299ebab6e2c9b11_icgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_ae6e875a27ae74ebed806ee1a4576845a}\label{class_b_n_o08x_ae6e875a27ae74ebed806ee1a4576845a} 
+\index{BNO08x@{BNO08x}!run\_full\_calibration\_routine@{run\_full\_calibration\_routine}}
+\index{run\_full\_calibration\_routine@{run\_full\_calibration\_routine}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{run\_full\_calibration\_routine()}{run\_full\_calibration\_routine()}}
+{\footnotesize\ttfamily bool BNO08x\+::run\+\_\+full\+\_\+calibration\+\_\+routine (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Runs full calibration routine. 
+
+Enables game rotation vector and magnetometer, starts ME calibration process. Waits for accuracy of returned quaternions and magnetic field vectors to be high, then saves calibration data and returns.
+
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_ae6e875a27ae74ebed806ee1a4576845a_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_aa16609de88bfb7b389348859aa0cee54}\label{class_b_n_o08x_aa16609de88bfb7b389348859aa0cee54} 
+\index{BNO08x@{BNO08x}!save\_calibration@{save\_calibration}}
+\index{save\_calibration@{save\_calibration}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{save\_calibration()}{save\_calibration()}}
+{\footnotesize\ttfamily void BNO08x\+::save\+\_\+calibration (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Sends command to save internal calibration data (See Ref. Manual 6.\+4.\+7). 
+
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_aa16609de88bfb7b389348859aa0cee54_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_aa16609de88bfb7b389348859aa0cee54_icgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_afb2ffc4e7ff0498917bc14a83af306e2}\label{class_b_n_o08x_afb2ffc4e7ff0498917bc14a83af306e2} 
+\index{BNO08x@{BNO08x}!save\_tare@{save\_tare}}
+\index{save\_tare@{save\_tare}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{save\_tare()}{save\_tare()}}
+{\footnotesize\ttfamily void BNO08x\+::save\+\_\+tare (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Sends command to save tare into non-\/volatile memory of \doxylink{class_b_n_o08x}{BNO08x} (See Ref. Manual 6.\+4.\+4.\+2) 
+
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_afb2ffc4e7ff0498917bc14a83af306e2_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a2c359a44a2c8e83ecb258a340e2d0e1a}\label{class_b_n_o08x_a2c359a44a2c8e83ecb258a340e2d0e1a} 
+\index{BNO08x@{BNO08x}!send\_packet@{send\_packet}}
+\index{send\_packet@{send\_packet}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{send\_packet()}{send\_packet()}}
+{\footnotesize\ttfamily void BNO08x\+::send\+\_\+packet (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__tx__packet__t}{bno08x\+\_\+tx\+\_\+packet\+\_\+t}} \texorpdfstring{$\ast$}{*}}]{packet }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [private]}}
+
+
+
+Sends a queued SHTP packet via SPI. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em packet} & The packet queued to be sent.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a2c359a44a2c8e83ecb258a340e2d0e1a_icgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a973a1b1785f3302ee1b2702c6a27646e}\label{class_b_n_o08x_a973a1b1785f3302ee1b2702c6a27646e} 
+\index{BNO08x@{BNO08x}!soft\_reset@{soft\_reset}}
+\index{soft\_reset@{soft\_reset}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{soft\_reset()}{soft\_reset()}}
+{\footnotesize\ttfamily bool BNO08x\+::soft\+\_\+reset (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Soft resets \doxylink{class_b_n_o08x}{BNO08x} sensor using executable channel. 
+
+\begin{DoxyReturn}{Returns}
+True if reset was success. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=349pt]{class_b_n_o08x_a973a1b1785f3302ee1b2702c6a27646e_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a2ecd4ed60f82730ae230c61687ec92bf}\label{class_b_n_o08x_a2ecd4ed60f82730ae230c61687ec92bf} 
+\index{BNO08x@{BNO08x}!spi\_task@{spi\_task}}
+\index{spi\_task@{spi\_task}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{spi\_task()}{spi\_task()}}
+{\footnotesize\ttfamily void BNO08x\+::spi\+\_\+task (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [private]}}
+
+
+
+Task responsible for SPI transactions. Executed when HINT in is asserted by \doxylink{class_b_n_o08x}{BNO08x}. 
+
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=335pt]{class_b_n_o08x_a2ecd4ed60f82730ae230c61687ec92bf_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a2ecd4ed60f82730ae230c61687ec92bf_icgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a0ce6d9db873555f1ebe7e095251eab74}\label{class_b_n_o08x_a0ce6d9db873555f1ebe7e095251eab74} 
+\index{BNO08x@{BNO08x}!spi\_task\_trampoline@{spi\_task\_trampoline}}
+\index{spi\_task\_trampoline@{spi\_task\_trampoline}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{spi\_task\_trampoline()}{spi\_task\_trampoline()}}
+{\footnotesize\ttfamily void BNO08x\+::spi\+\_\+task\+\_\+trampoline (\begin{DoxyParamCaption}\item[{void \texorpdfstring{$\ast$}{*}}]{arg }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [private]}}
+
+
+
+Static function used to launch spi task. 
+
+Used such that \doxylink{class_b_n_o08x_a2ecd4ed60f82730ae230c61687ec92bf}{spi\+\_\+task()} can be non-\/static class member.
+
+
+\begin{DoxyParams}{Parameters}
+{\em arg} & void pointer to \doxylink{class_b_n_o08x}{BNO08x} imu object \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a0ce6d9db873555f1ebe7e095251eab74_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a0ce6d9db873555f1ebe7e095251eab74_icgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a4549bbef48208bd9c745fc755b93012f}\label{class_b_n_o08x_a4549bbef48208bd9c745fc755b93012f} 
+\index{BNO08x@{BNO08x}!tare\_now@{tare\_now}}
+\index{tare\_now@{tare\_now}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{tare\_now()}{tare\_now()}}
+{\footnotesize\ttfamily void BNO08x\+::tare\+\_\+now (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{axis\+\_\+sel = {\ttfamily \mbox{\hyperlink{class_b_n_o08x_a1ef13f6f330810934416ad5fe0ee55b2}{TARE\+\_\+\+AXIS\+\_\+\+ALL}}},  }\item[{uint8\+\_\+t}]{rotation\+\_\+vector\+\_\+basis = {\ttfamily \mbox{\hyperlink{class_b_n_o08x_a8e2cfc25d0e34ae53a762b88cc3ac3c8}{TARE\+\_\+\+ROTATION\+\_\+\+VECTOR}}} }\end{DoxyParamCaption})}
+
+
+
+Sends command to tare an axis (See Ref. Manual 6.\+4.\+4.\+1) 
+
+
+\begin{DoxyParams}{Parameters}
+{\em axis\+\_\+sel} & Which axes to zero, can be TARE\+\_\+\+AXIS\+\_\+\+ALL (all axes) or TARE\+\_\+\+AXIS\+\_\+Z (only yaw) \\
+\hline
+{\em rotation\+\_\+vector\+\_\+basis} & Which rotation vector type to zero axes can be TARE\+\_\+\+ROTATION\+\_\+\+VECTOR, TARE\+\_\+\+GAME\+\_\+\+ROTATION\+\_\+\+VECTOR, TARE\+\_\+\+GEOMAGNETIC\+\_\+\+ROTATION\+\_\+\+VECTOR, etc.. \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a4549bbef48208bd9c745fc755b93012f_cgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a4f12de628073f44b2a3fab2688cf1caf}\label{class_b_n_o08x_a4f12de628073f44b2a3fab2688cf1caf} 
+\index{BNO08x@{BNO08x}!wait\_for\_data@{wait\_for\_data}}
+\index{wait\_for\_data@{wait\_for\_data}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{wait\_for\_data()}{wait\_for\_data()}}
+{\footnotesize\ttfamily bool BNO08x\+::wait\+\_\+for\+\_\+data (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [private]}}
+
+
+
+Waits for a valid or invalid packet to be received or HOST\+\_\+\+INT\+\_\+\+TIMEOUT\+\_\+\+MS to elapse. 
+
+If no reports are currently enabled the hint pin interrupt will be re-\/enabled by this function.
+
+\begin{DoxyReturn}{Returns}
+True if valid packet has been received within HOST\+\_\+\+INT\+\_\+\+TIMEOUT\+\_\+\+MS, false if otherwise. 
+\end{DoxyReturn}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a4f12de628073f44b2a3fab2688cf1caf_icgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a2897a178bf2c53cd99df0d4570edf72e}\label{class_b_n_o08x_a2897a178bf2c53cd99df0d4570edf72e} 
+\index{BNO08x@{BNO08x}!wait\_for\_rx\_done@{wait\_for\_rx\_done}}
+\index{wait\_for\_rx\_done@{wait\_for\_rx\_done}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{wait\_for\_rx\_done()}{wait\_for\_rx\_done()}}
+{\footnotesize\ttfamily bool BNO08x\+::wait\+\_\+for\+\_\+rx\+\_\+done (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [private]}}
+
+
+
+Waits for data to be received over SPI, or HOST\+\_\+\+INT\+\_\+\+TIMEOUT\+\_\+\+MS to elapse. 
+
+If no reports are currently enabled the hint pin interrupt will be re-\/enabled by this function. This function is for when the validity of packets is not a concern, it is for flushing packets we do not care about.
+
+\begin{DoxyReturn}{Returns}
+True if data has been received over SPI within HOST\+\_\+\+INT\+\_\+\+TIMEOUT\+\_\+\+MS. 
+\end{DoxyReturn}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a2897a178bf2c53cd99df0d4570edf72e_icgraph}
+\end{center}
+\end{figure}
+\Hypertarget{class_b_n_o08x_a7cdeb849e728487de961cdfd4030c773}\label{class_b_n_o08x_a7cdeb849e728487de961cdfd4030c773} 
+\index{BNO08x@{BNO08x}!wait\_for\_tx\_done@{wait\_for\_tx\_done}}
+\index{wait\_for\_tx\_done@{wait\_for\_tx\_done}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{wait\_for\_tx\_done()}{wait\_for\_tx\_done()}}
+{\footnotesize\ttfamily bool BNO08x\+::wait\+\_\+for\+\_\+tx\+\_\+done (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [private]}}
+
+
+
+Waits for a queued packet to be sent or HOST\+\_\+\+INT\+\_\+\+TIMEOUT\+\_\+\+MS to elapse. 
+
+If no reports are currently enabled the hint pin interrupt will be re-\/enabled by this function.
+
+\begin{DoxyReturn}{Returns}
+True if packet was sent within HOST\+\_\+\+INT\+\_\+\+TIMEOUT\+\_\+\+MS, false if otherwise. 
+\end{DoxyReturn}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[height=550pt]{class_b_n_o08x_a7cdeb849e728487de961cdfd4030c773_icgraph}
+\end{center}
+\end{figure}
+
+
+\doxysubsection{Member Data Documentation}
+\Hypertarget{class_b_n_o08x_a3365b7ebde01e284274e655c60343df9}\label{class_b_n_o08x_a3365b7ebde01e284274e655c60343df9} 
+\index{BNO08x@{BNO08x}!accel\_accuracy@{accel\_accuracy}}
+\index{accel\_accuracy@{accel\_accuracy}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{accel\_accuracy}{accel\_accuracy}}
+{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::accel\+\_\+accuracy\hspace{0.3cm}{\ttfamily [private]}}
+
+
+
+Raw acceleration readings (See SH-\/2 Ref. Manual 6.\+5.\+8) 
+
+\Hypertarget{class_b_n_o08x_a35e1635ef5edde8fc8640f978c6f2e3c}\label{class_b_n_o08x_a35e1635ef5edde8fc8640f978c6f2e3c} 
+\index{BNO08x@{BNO08x}!accel\_lin\_accuracy@{accel\_lin\_accuracy}}
+\index{accel\_lin\_accuracy@{accel\_lin\_accuracy}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{accel\_lin\_accuracy}{accel\_lin\_accuracy}}
+{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::accel\+\_\+lin\+\_\+accuracy\hspace{0.3cm}{\ttfamily [private]}}
+
+
+
+Raw linear acceleration (See SH-\/2 Ref. Manual 6.\+5.\+10) 
+
+\Hypertarget{class_b_n_o08x_a0564aaf5b20dc42b54db4fb3115ac1c7}\label{class_b_n_o08x_a0564aaf5b20dc42b54db4fb3115ac1c7} 
+\index{BNO08x@{BNO08x}!ACCELEROMETER\_Q1@{ACCELEROMETER\_Q1}}
+\index{ACCELEROMETER\_Q1@{ACCELEROMETER\_Q1}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{ACCELEROMETER\_Q1}{ACCELEROMETER\_Q1}}
+{\footnotesize\ttfamily const constexpr int16\+\_\+t BNO08x\+::\+ACCELEROMETER\+\_\+\+Q1 = 8\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}}
+
+
+
+Acceleration Q point (See SH-\/2 Ref. Manual 6.\+5.\+9) 
+
+\Hypertarget{class_b_n_o08x_a75cea49c1c08ca28d9fa7e5ed61c6e7b}\label{class_b_n_o08x_a75cea49c1c08ca28d9fa7e5ed61c6e7b} 
+\index{BNO08x@{BNO08x}!activity\_classifier@{activity\_classifier}}
+\index{activity\_classifier@{activity\_classifier}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{activity\_classifier}{activity\_classifier}}
+{\footnotesize\ttfamily uint8\+\_\+t BNO08x\+::activity\+\_\+classifier\hspace{0.3cm}{\ttfamily [private]}}
+
+
+
+Activity status reading (See SH-\/2 Ref. Manual 6.\+5.\+36) 
+
+\Hypertarget{class_b_n_o08x_af96e8cd070459f945ffbf01b98106e13}\label{class_b_n_o08x_af96e8cd070459f945ffbf01b98106e13} 
+\index{BNO08x@{BNO08x}!activity\_confidences@{activity\_confidences}}
+\index{activity\_confidences@{activity\_confidences}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{activity\_confidences}{activity\_confidences}}
+{\footnotesize\ttfamily uint8\+\_\+t\texorpdfstring{$\ast$}{*} BNO08x\+::activity\+\_\+confidences\hspace{0.3cm}{\ttfamily [private]}}
+
+
+
+Confidence of read activities (See SH-\/2 Ref. Manual 6.\+5.\+36) 
+
+\Hypertarget{class_b_n_o08x_aafe117561fe9138800073a04a778b4ce}\label{class_b_n_o08x_aafe117561fe9138800073a04a778b4ce} 
+\index{BNO08x@{BNO08x}!ANGULAR\_VELOCITY\_Q1@{ANGULAR\_VELOCITY\_Q1}}
+\index{ANGULAR\_VELOCITY\_Q1@{ANGULAR\_VELOCITY\_Q1}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{ANGULAR\_VELOCITY\_Q1}{ANGULAR\_VELOCITY\_Q1}}
+{\footnotesize\ttfamily const constexpr int16\+\_\+t BNO08x\+::\+ANGULAR\+\_\+\+VELOCITY\+\_\+\+Q1 = 10\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}}
+
+
+
+Angular velocity Q point (See SH-\/2 Ref. Manual 6.\+5.\+44) 
+
+\Hypertarget{class_b_n_o08x_a982f065df42f00e53fd87c840efdb0f1}\label{class_b_n_o08x_a982f065df42f00e53fd87c840efdb0f1} 
+\index{BNO08x@{BNO08x}!bus\_config@{bus\_config}}
+\index{bus\_config@{bus\_config}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{bus\_config}{bus\_config}}
+{\footnotesize\ttfamily spi\+\_\+bus\+\_\+config\+\_\+t BNO08x\+::bus\+\_\+config \{\}\hspace{0.3cm}{\ttfamily [private]}}
+
+
+
+SPI bus GPIO configuration settings. 
+
+\Hypertarget{class_b_n_o08x_acd5b44d705af1f9aaa271a59a9d2d595}\label{class_b_n_o08x_acd5b44d705af1f9aaa271a59a9d2d595} 
+\index{BNO08x@{BNO08x}!CALIBRATE\_ACCEL@{CALIBRATE\_ACCEL}}
+\index{CALIBRATE\_ACCEL@{CALIBRATE\_ACCEL}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{CALIBRATE\_ACCEL}{CALIBRATE\_ACCEL}}
+{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+CALIBRATE\+\_\+\+ACCEL = 0\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+
+
+Calibrate accelerometer command used by queue\+\_\+calibrate\+\_\+command. 
+
+\Hypertarget{class_b_n_o08x_af53d9e99f163d97ef92fe989b1dd25cc}\label{class_b_n_o08x_af53d9e99f163d97ef92fe989b1dd25cc} 
+\index{BNO08x@{BNO08x}!CALIBRATE\_ACCEL\_GYRO\_MAG@{CALIBRATE\_ACCEL\_GYRO\_MAG}}
+\index{CALIBRATE\_ACCEL\_GYRO\_MAG@{CALIBRATE\_ACCEL\_GYRO\_MAG}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{CALIBRATE\_ACCEL\_GYRO\_MAG}{CALIBRATE\_ACCEL\_GYRO\_MAG}}
+{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+CALIBRATE\+\_\+\+ACCEL\+\_\+\+GYRO\+\_\+\+MAG\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+{\bfseries Initial value\+:}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{=}
+\DoxyCodeLine{\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ 4}
+
+\end{DoxyCode}
+
+
+Calibrate accelerometer, gyro, \& magnetometer command used by queue\+\_\+calibrate\+\_\+command. 
+
+\Hypertarget{class_b_n_o08x_aeac84719a1cc0f9c8d5a9a749391d4db}\label{class_b_n_o08x_aeac84719a1cc0f9c8d5a9a749391d4db} 
+\index{BNO08x@{BNO08x}!CALIBRATE\_GYRO@{CALIBRATE\_GYRO}}
+\index{CALIBRATE\_GYRO@{CALIBRATE\_GYRO}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{CALIBRATE\_GYRO}{CALIBRATE\_GYRO}}
+{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+CALIBRATE\+\_\+\+GYRO = 1\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+
+
+Calibrate gyro command used by queue\+\_\+calibrate\+\_\+command. 
+
+\Hypertarget{class_b_n_o08x_ac00e8b59ae8d710cf79956eaafa97ddb}\label{class_b_n_o08x_ac00e8b59ae8d710cf79956eaafa97ddb} 
+\index{BNO08x@{BNO08x}!CALIBRATE\_MAG@{CALIBRATE\_MAG}}
+\index{CALIBRATE\_MAG@{CALIBRATE\_MAG}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{CALIBRATE\_MAG}{CALIBRATE\_MAG}}
+{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+CALIBRATE\+\_\+\+MAG = 2\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+
+
+Calibrate magnetometer command used by queue\+\_\+calibrate\+\_\+command. 
+
+\Hypertarget{class_b_n_o08x_a955dcb60da150490e17367a871b3a3d2}\label{class_b_n_o08x_a955dcb60da150490e17367a871b3a3d2} 
+\index{BNO08x@{BNO08x}!CALIBRATE\_PLANAR\_ACCEL@{CALIBRATE\_PLANAR\_ACCEL}}
+\index{CALIBRATE\_PLANAR\_ACCEL@{CALIBRATE\_PLANAR\_ACCEL}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{CALIBRATE\_PLANAR\_ACCEL}{CALIBRATE\_PLANAR\_ACCEL}}
+{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+CALIBRATE\+\_\+\+PLANAR\+\_\+\+ACCEL = 3\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+
+
+Calibrate planar acceleration command used by queue\+\_\+calibrate\+\_\+command. 
+
+\Hypertarget{class_b_n_o08x_a584bfa04a39feb93279ee673c340db54}\label{class_b_n_o08x_a584bfa04a39feb93279ee673c340db54} 
+\index{BNO08x@{BNO08x}!CALIBRATE\_STOP@{CALIBRATE\_STOP}}
+\index{CALIBRATE\_STOP@{CALIBRATE\_STOP}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{CALIBRATE\_STOP}{CALIBRATE\_STOP}}
+{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+CALIBRATE\+\_\+\+STOP = 5\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+
+
+Stop calibration command used by queue\+\_\+calibrate\+\_\+command. 
+
+\Hypertarget{class_b_n_o08x_ad212b5028a31e857e76d251ced2724e1}\label{class_b_n_o08x_ad212b5028a31e857e76d251ced2724e1} 
+\index{BNO08x@{BNO08x}!calibration\_status@{calibration\_status}}
+\index{calibration\_status@{calibration\_status}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{calibration\_status}{calibration\_status}}
+{\footnotesize\ttfamily uint8\+\_\+t BNO08x\+::calibration\+\_\+status\hspace{0.3cm}{\ttfamily [private]}}
+
+
+
+Calibration status of device (See SH-\/2 Ref. Manual 6.\+4.\+7.\+1 \& 6.\+4.\+7.\+2) 
+
+\Hypertarget{class_b_n_o08x_a6a15e3a64dd71ea61f0448afcce96409}\label{class_b_n_o08x_a6a15e3a64dd71ea61f0448afcce96409} 
+\index{BNO08x@{BNO08x}!cb\_list@{cb\_list}}
+\index{cb\_list@{cb\_list}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{cb\_list}{cb\_list}}
+{\footnotesize\ttfamily std\+::vector$<$std\+::function$<$void()$>$ $>$ BNO08x\+::cb\+\_\+list\hspace{0.3cm}{\ttfamily [private]}}
+
+\Hypertarget{class_b_n_o08x_a4f580b3cb232a762ea7019ee7b04d419}\label{class_b_n_o08x_a4f580b3cb232a762ea7019ee7b04d419} 
+\index{BNO08x@{BNO08x}!COMMAND\_CLEAR\_DCD@{COMMAND\_CLEAR\_DCD}}
+\index{COMMAND\_CLEAR\_DCD@{COMMAND\_CLEAR\_DCD}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{COMMAND\_CLEAR\_DCD}{COMMAND\_CLEAR\_DCD}}
+{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+COMMAND\+\_\+\+CLEAR\+\_\+\+DCD = 11\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+
+
+Clear DCD \& Reset command (See SH2 Ref. Manual 6.\+4) 
+
+\Hypertarget{class_b_n_o08x_a93dd073c0cc1f3ccfde552649f6ebccc}\label{class_b_n_o08x_a93dd073c0cc1f3ccfde552649f6ebccc} 
+\index{BNO08x@{BNO08x}!COMMAND\_COUNTER@{COMMAND\_COUNTER}}
+\index{COMMAND\_COUNTER@{COMMAND\_COUNTER}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{COMMAND\_COUNTER}{COMMAND\_COUNTER}}
+{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+COMMAND\+\_\+\+COUNTER = 2\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+\Hypertarget{class_b_n_o08x_af124a6c1d8b871f3181b6c85f1099cb2}\label{class_b_n_o08x_af124a6c1d8b871f3181b6c85f1099cb2} 
+\index{BNO08x@{BNO08x}!COMMAND\_DCD@{COMMAND\_DCD}}
+\index{COMMAND\_DCD@{COMMAND\_DCD}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{COMMAND\_DCD}{COMMAND\_DCD}}
+{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+COMMAND\+\_\+\+DCD = 6\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+
+
+Save DCD command (See SH2 Ref. Manual 6.\+4.\+7) 
+
+\Hypertarget{class_b_n_o08x_a7a246989c94cd87f68166b20b7ad4c8b}\label{class_b_n_o08x_a7a246989c94cd87f68166b20b7ad4c8b} 
+\index{BNO08x@{BNO08x}!COMMAND\_DCD\_PERIOD\_SAVE@{COMMAND\_DCD\_PERIOD\_SAVE}}
+\index{COMMAND\_DCD\_PERIOD\_SAVE@{COMMAND\_DCD\_PERIOD\_SAVE}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{COMMAND\_DCD\_PERIOD\_SAVE}{COMMAND\_DCD\_PERIOD\_SAVE}}
+{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+COMMAND\+\_\+\+DCD\+\_\+\+PERIOD\+\_\+\+SAVE = 9\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+
+
+Configure DCD periodic saving (See SH2 Ref. Manual 6.\+4) 
+
+\Hypertarget{class_b_n_o08x_a384a1efc9857ad938be3bb44f871539b}\label{class_b_n_o08x_a384a1efc9857ad938be3bb44f871539b} 
+\index{BNO08x@{BNO08x}!COMMAND\_ERRORS@{COMMAND\_ERRORS}}
+\index{COMMAND\_ERRORS@{COMMAND\_ERRORS}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{COMMAND\_ERRORS}{COMMAND\_ERRORS}}
+{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+COMMAND\+\_\+\+ERRORS = 1\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+\Hypertarget{class_b_n_o08x_a30eb6d305a187d4d36546841e12176b9}\label{class_b_n_o08x_a30eb6d305a187d4d36546841e12176b9} 
+\index{BNO08x@{BNO08x}!COMMAND\_INITIALIZE@{COMMAND\_INITIALIZE}}
+\index{COMMAND\_INITIALIZE@{COMMAND\_INITIALIZE}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{COMMAND\_INITIALIZE}{COMMAND\_INITIALIZE}}
+{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+COMMAND\+\_\+\+INITIALIZE = 4\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+
+
+Reinitialize sensor hub components See (SH2 Ref. Manual 6.\+4.\+5) 
+
+\Hypertarget{class_b_n_o08x_a8381dfe403ddff522f172cb16780731a}\label{class_b_n_o08x_a8381dfe403ddff522f172cb16780731a} 
+\index{BNO08x@{BNO08x}!COMMAND\_ME\_CALIBRATE@{COMMAND\_ME\_CALIBRATE}}
+\index{COMMAND\_ME\_CALIBRATE@{COMMAND\_ME\_CALIBRATE}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{COMMAND\_ME\_CALIBRATE}{COMMAND\_ME\_CALIBRATE}}
+{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+COMMAND\+\_\+\+ME\+\_\+\+CALIBRATE = 7\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+
+
+Command and response to configure ME calibration (See SH2 Ref. Manual 6.\+4.\+7) 
+
+\Hypertarget{class_b_n_o08x_a308c8b5307d93a67b5b9066d44494aa5}\label{class_b_n_o08x_a308c8b5307d93a67b5b9066d44494aa5} 
+\index{BNO08x@{BNO08x}!COMMAND\_OSCILLATOR@{COMMAND\_OSCILLATOR}}
+\index{COMMAND\_OSCILLATOR@{COMMAND\_OSCILLATOR}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{COMMAND\_OSCILLATOR}{COMMAND\_OSCILLATOR}}
+{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+COMMAND\+\_\+\+OSCILLATOR = 10\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+
+
+Retrieve oscillator type command (See SH2 Ref. Manual 6.\+4) 
+
+\Hypertarget{class_b_n_o08x_a0a1756bc16ba3eac45f4229b1e350107}\label{class_b_n_o08x_a0a1756bc16ba3eac45f4229b1e350107} 
+\index{BNO08x@{BNO08x}!COMMAND\_TARE@{COMMAND\_TARE}}
+\index{COMMAND\_TARE@{COMMAND\_TARE}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{COMMAND\_TARE}{COMMAND\_TARE}}
+{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+COMMAND\+\_\+\+TARE = 3\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+
+
+Command and response to tare command (See Sh2 Ref. Manual 6.\+4.\+4) 
+
+\Hypertarget{class_b_n_o08x_af9b6fbf35e7cd55d517d30c6429a21a4}\label{class_b_n_o08x_af9b6fbf35e7cd55d517d30c6429a21a4} 
+\index{BNO08x@{BNO08x}!data\_proc\_task\_hdl@{data\_proc\_task\_hdl}}
+\index{data\_proc\_task\_hdl@{data\_proc\_task\_hdl}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{data\_proc\_task\_hdl}{data\_proc\_task\_hdl}}
+{\footnotesize\ttfamily Task\+Handle\+\_\+t BNO08x\+::data\+\_\+proc\+\_\+task\+\_\+hdl\hspace{0.3cm}{\ttfamily [private]}}
+
+
+
+\doxylink{class_b_n_o08x_ab4373e9b87837ea9fcbc0b536338c7b8}{data\+\_\+proc\+\_\+task()} task handle 
+
+\Hypertarget{class_b_n_o08x_a6232920a05c0aba34e5560951a20ae87}\label{class_b_n_o08x_a6232920a05c0aba34e5560951a20ae87} 
+\index{BNO08x@{BNO08x}!default\_imu\_config@{default\_imu\_config}}
+\index{default\_imu\_config@{default\_imu\_config}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{default\_imu\_config}{default\_imu\_config}}
+{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__config__t}{bno08x\+\_\+config\+\_\+t}} BNO08x\+::default\+\_\+imu\+\_\+config\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [private]}}
+
+
+
+default imu config settings 
+
+\Hypertarget{class_b_n_o08x_a63eb6c8be6f3bc943a86bb0496871275}\label{class_b_n_o08x_a63eb6c8be6f3bc943a86bb0496871275} 
+\index{BNO08x@{BNO08x}!evt\_grp\_report\_en@{evt\_grp\_report\_en}}
+\index{evt\_grp\_report\_en@{evt\_grp\_report\_en}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{evt\_grp\_report\_en}{evt\_grp\_report\_en}}
+{\footnotesize\ttfamily Event\+Group\+Handle\+\_\+t BNO08x\+::evt\+\_\+grp\+\_\+report\+\_\+en\hspace{0.3cm}{\ttfamily [private]}}
+
+
+
+Event group for indicating which reports are currently enabled. 
+
+\Hypertarget{class_b_n_o08x_a17b19c32d4dfbc9ae2761a0cdd873314}\label{class_b_n_o08x_a17b19c32d4dfbc9ae2761a0cdd873314} 
+\index{BNO08x@{BNO08x}!EVT\_GRP\_RPT\_ACCELEROMETER\_BIT@{EVT\_GRP\_RPT\_ACCELEROMETER\_BIT}}
+\index{EVT\_GRP\_RPT\_ACCELEROMETER\_BIT@{EVT\_GRP\_RPT\_ACCELEROMETER\_BIT}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{EVT\_GRP\_RPT\_ACCELEROMETER\_BIT}{EVT\_GRP\_RPT\_ACCELEROMETER\_BIT}}
+{\footnotesize\ttfamily const constexpr Event\+Bits\+\_\+t BNO08x\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+ACCELEROMETER\+\_\+\+BIT = (1 $<$$<$ 5)\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+
+
+When set, accelerometer reports are active. 
+
+\Hypertarget{class_b_n_o08x_a96eb1b1bfe1266791fd424b3ce402c56}\label{class_b_n_o08x_a96eb1b1bfe1266791fd424b3ce402c56} 
+\index{BNO08x@{BNO08x}!EVT\_GRP\_RPT\_ACTIVITY\_CLASSIFIER\_BIT@{EVT\_GRP\_RPT\_ACTIVITY\_CLASSIFIER\_BIT}}
+\index{EVT\_GRP\_RPT\_ACTIVITY\_CLASSIFIER\_BIT@{EVT\_GRP\_RPT\_ACTIVITY\_CLASSIFIER\_BIT}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{EVT\_GRP\_RPT\_ACTIVITY\_CLASSIFIER\_BIT}{EVT\_GRP\_RPT\_ACTIVITY\_CLASSIFIER\_BIT}}
+{\footnotesize\ttfamily const constexpr Event\+Bits\+\_\+t BNO08x\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+ACTIVITY\+\_\+\+CLASSIFIER\+\_\+\+BIT = (1 $<$$<$ 14)\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+
+
+When set, activity classifier reports are active. 
+
+\Hypertarget{class_b_n_o08x_a89399e8a68a53bc2a269ab73625a2da2}\label{class_b_n_o08x_a89399e8a68a53bc2a269ab73625a2da2} 
+\index{BNO08x@{BNO08x}!EVT\_GRP\_RPT\_ALL\_BITS@{EVT\_GRP\_RPT\_ALL\_BITS}}
+\index{EVT\_GRP\_RPT\_ALL\_BITS@{EVT\_GRP\_RPT\_ALL\_BITS}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{EVT\_GRP\_RPT\_ALL\_BITS}{EVT\_GRP\_RPT\_ALL\_BITS}}
+{\footnotesize\ttfamily const constexpr Event\+Bits\+\_\+t BNO08x\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+ALL\+\_\+\+BITS\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+{\bfseries Initial value\+:}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{=}
+\DoxyCodeLine{\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_a198da2ee3cd9cfa459c3c41c4f8c44b7}{EVT\_GRP\_RPT\_ROTATION\_VECTOR\_BIT}}\ |\ \mbox{\hyperlink{class_b_n_o08x_a0f3f33d93b72ba6564f9d5fa93c24f98}{EVT\_GRP\_RPT\_GAME\_ROTATION\_VECTOR\_BIT}}\ |\ \mbox{\hyperlink{class_b_n_o08x_aa9703cee46912a545b5e85e671f08e4b}{EVT\_GRP\_RPT\_ARVR\_S\_ROTATION\_VECTOR\_BIT}}\ |}
+\DoxyCodeLine{\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_a79d3fff1e0f19467cad231b22edafa0f}{EVT\_GRP\_RPT\_ARVR\_S\_GAME\_ROTATION\_VECTOR\_BIT}}\ |\ \mbox{\hyperlink{class_b_n_o08x_a541155dc4544193451cf102e2a992da9}{EVT\_GRP\_RPT\_GYRO\_ROTATION\_VECTOR\_BIT}}\ |\ \mbox{\hyperlink{class_b_n_o08x_a17b19c32d4dfbc9ae2761a0cdd873314}{EVT\_GRP\_RPT\_ACCELEROMETER\_BIT}}\ |}
+\DoxyCodeLine{\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_ad93161968a53ff53a6bb74ab7c34fbff}{EVT\_GRP\_RPT\_LINEAR\_ACCELEROMETER\_BIT}}\ |\ \mbox{\hyperlink{class_b_n_o08x_ab94a8f69673a3db7556ba67775c5ea93}{EVT\_GRP\_RPT\_GRAVITY\_BIT}}\ |\ \mbox{\hyperlink{class_b_n_o08x_a3a8b12ea9b75f97191785a60d1aa962a}{EVT\_GRP\_RPT\_GYRO\_BIT}}\ |\ \mbox{\hyperlink{class_b_n_o08x_af86821bc0f1e7f5897de20b5e47a85bd}{EVT\_GRP\_RPT\_GYRO\_UNCALIBRATED\_BIT}}\ |}
+\DoxyCodeLine{\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_a901af6f2d552f197ee830d0a1c06679c}{EVT\_GRP\_RPT\_MAGNETOMETER\_BIT}}\ |\ \mbox{\hyperlink{class_b_n_o08x_a665464f781fe891b9179478d0174af47}{EVT\_GRP\_RPT\_TAP\_DETECTOR\_BIT}}\ |\ \mbox{\hyperlink{class_b_n_o08x_ab264b65a3aa5a9a74ed11b8977164a73}{EVT\_GRP\_RPT\_STEP\_COUNTER\_BIT}}\ |\ \mbox{\hyperlink{class_b_n_o08x_a7d6ee23222f55dbe9f70e04b36d9add2}{EVT\_GRP\_RPT\_STABILITY\_CLASSIFIER\_BIT}}\ |}
+\DoxyCodeLine{\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{class_b_n_o08x_a96eb1b1bfe1266791fd424b3ce402c56}{EVT\_GRP\_RPT\_ACTIVITY\_CLASSIFIER\_BIT}}\ |\ \mbox{\hyperlink{class_b_n_o08x_a3e56d12435f7be81956d68196f1a46b4}{EVT\_GRP\_RPT\_RAW\_ACCELEROMETER\_BIT}}\ |\ \mbox{\hyperlink{class_b_n_o08x_a6be7b240e4447c2c643e706954093aa0}{EVT\_GRP\_RPT\_RAW\_GYRO\_BIT}}\ |\ \mbox{\hyperlink{class_b_n_o08x_ac28553b40b82c7cb409938681afe6cec}{EVT\_GRP\_RPT\_RAW\_MAGNETOMETER\_BIT}}}
+
+\end{DoxyCode}
+\Hypertarget{class_b_n_o08x_a79d3fff1e0f19467cad231b22edafa0f}\label{class_b_n_o08x_a79d3fff1e0f19467cad231b22edafa0f} 
+\index{BNO08x@{BNO08x}!EVT\_GRP\_RPT\_ARVR\_S\_GAME\_ROTATION\_VECTOR\_BIT@{EVT\_GRP\_RPT\_ARVR\_S\_GAME\_ROTATION\_VECTOR\_BIT}}
+\index{EVT\_GRP\_RPT\_ARVR\_S\_GAME\_ROTATION\_VECTOR\_BIT@{EVT\_GRP\_RPT\_ARVR\_S\_GAME\_ROTATION\_VECTOR\_BIT}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{EVT\_GRP\_RPT\_ARVR\_S\_GAME\_ROTATION\_VECTOR\_BIT}{EVT\_GRP\_RPT\_ARVR\_S\_GAME\_ROTATION\_VECTOR\_BIT}}
+{\footnotesize\ttfamily const constexpr Event\+Bits\+\_\+t BNO08x\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+ARVR\+\_\+\+S\+\_\+\+GAME\+\_\+\+ROTATION\+\_\+\+VECTOR\+\_\+\+BIT\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+{\bfseries Initial value\+:}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{=}
+\DoxyCodeLine{\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ (1\ <<\ 3)}
+
+\end{DoxyCode}
+
+
+When set, ARVR stabilized game rotation vector reports are active. 
+
+\Hypertarget{class_b_n_o08x_aa9703cee46912a545b5e85e671f08e4b}\label{class_b_n_o08x_aa9703cee46912a545b5e85e671f08e4b} 
+\index{BNO08x@{BNO08x}!EVT\_GRP\_RPT\_ARVR\_S\_ROTATION\_VECTOR\_BIT@{EVT\_GRP\_RPT\_ARVR\_S\_ROTATION\_VECTOR\_BIT}}
+\index{EVT\_GRP\_RPT\_ARVR\_S\_ROTATION\_VECTOR\_BIT@{EVT\_GRP\_RPT\_ARVR\_S\_ROTATION\_VECTOR\_BIT}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{EVT\_GRP\_RPT\_ARVR\_S\_ROTATION\_VECTOR\_BIT}{EVT\_GRP\_RPT\_ARVR\_S\_ROTATION\_VECTOR\_BIT}}
+{\footnotesize\ttfamily const constexpr Event\+Bits\+\_\+t BNO08x\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+ARVR\+\_\+\+S\+\_\+\+ROTATION\+\_\+\+VECTOR\+\_\+\+BIT\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+{\bfseries Initial value\+:}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{=}
+\DoxyCodeLine{\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ (1\ <<\ 2)}
+
+\end{DoxyCode}
+
+
+When set, ARVR stabilized rotation vector reports are active. 
+
+\Hypertarget{class_b_n_o08x_a0f3f33d93b72ba6564f9d5fa93c24f98}\label{class_b_n_o08x_a0f3f33d93b72ba6564f9d5fa93c24f98} 
+\index{BNO08x@{BNO08x}!EVT\_GRP\_RPT\_GAME\_ROTATION\_VECTOR\_BIT@{EVT\_GRP\_RPT\_GAME\_ROTATION\_VECTOR\_BIT}}
+\index{EVT\_GRP\_RPT\_GAME\_ROTATION\_VECTOR\_BIT@{EVT\_GRP\_RPT\_GAME\_ROTATION\_VECTOR\_BIT}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{EVT\_GRP\_RPT\_GAME\_ROTATION\_VECTOR\_BIT}{EVT\_GRP\_RPT\_GAME\_ROTATION\_VECTOR\_BIT}}
+{\footnotesize\ttfamily const constexpr Event\+Bits\+\_\+t BNO08x\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+GAME\+\_\+\+ROTATION\+\_\+\+VECTOR\+\_\+\+BIT = (1 $<$$<$ 1)\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+
+
+When set, game rotation vector reports are active. 
+
+\Hypertarget{class_b_n_o08x_ab94a8f69673a3db7556ba67775c5ea93}\label{class_b_n_o08x_ab94a8f69673a3db7556ba67775c5ea93} 
+\index{BNO08x@{BNO08x}!EVT\_GRP\_RPT\_GRAVITY\_BIT@{EVT\_GRP\_RPT\_GRAVITY\_BIT}}
+\index{EVT\_GRP\_RPT\_GRAVITY\_BIT@{EVT\_GRP\_RPT\_GRAVITY\_BIT}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{EVT\_GRP\_RPT\_GRAVITY\_BIT}{EVT\_GRP\_RPT\_GRAVITY\_BIT}}
+{\footnotesize\ttfamily const constexpr Event\+Bits\+\_\+t BNO08x\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+GRAVITY\+\_\+\+BIT = (1 $<$$<$ 7)\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+
+
+When set, gravity reports are active. 
+
+\Hypertarget{class_b_n_o08x_a3a8b12ea9b75f97191785a60d1aa962a}\label{class_b_n_o08x_a3a8b12ea9b75f97191785a60d1aa962a} 
+\index{BNO08x@{BNO08x}!EVT\_GRP\_RPT\_GYRO\_BIT@{EVT\_GRP\_RPT\_GYRO\_BIT}}
+\index{EVT\_GRP\_RPT\_GYRO\_BIT@{EVT\_GRP\_RPT\_GYRO\_BIT}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{EVT\_GRP\_RPT\_GYRO\_BIT}{EVT\_GRP\_RPT\_GYRO\_BIT}}
+{\footnotesize\ttfamily const constexpr Event\+Bits\+\_\+t BNO08x\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+GYRO\+\_\+\+BIT = (1 $<$$<$ 8)\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+
+
+When set, gyro reports are active. 
+
+\Hypertarget{class_b_n_o08x_a541155dc4544193451cf102e2a992da9}\label{class_b_n_o08x_a541155dc4544193451cf102e2a992da9} 
+\index{BNO08x@{BNO08x}!EVT\_GRP\_RPT\_GYRO\_ROTATION\_VECTOR\_BIT@{EVT\_GRP\_RPT\_GYRO\_ROTATION\_VECTOR\_BIT}}
+\index{EVT\_GRP\_RPT\_GYRO\_ROTATION\_VECTOR\_BIT@{EVT\_GRP\_RPT\_GYRO\_ROTATION\_VECTOR\_BIT}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{EVT\_GRP\_RPT\_GYRO\_ROTATION\_VECTOR\_BIT}{EVT\_GRP\_RPT\_GYRO\_ROTATION\_VECTOR\_BIT}}
+{\footnotesize\ttfamily const constexpr Event\+Bits\+\_\+t BNO08x\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+GYRO\+\_\+\+ROTATION\+\_\+\+VECTOR\+\_\+\+BIT\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+{\bfseries Initial value\+:}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{=}
+\DoxyCodeLine{\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ (1\ <<\ 4)}
+
+\end{DoxyCode}
+
+
+When set, gyro integrator rotation vector reports are active. 
+
+\Hypertarget{class_b_n_o08x_af86821bc0f1e7f5897de20b5e47a85bd}\label{class_b_n_o08x_af86821bc0f1e7f5897de20b5e47a85bd} 
+\index{BNO08x@{BNO08x}!EVT\_GRP\_RPT\_GYRO\_UNCALIBRATED\_BIT@{EVT\_GRP\_RPT\_GYRO\_UNCALIBRATED\_BIT}}
+\index{EVT\_GRP\_RPT\_GYRO\_UNCALIBRATED\_BIT@{EVT\_GRP\_RPT\_GYRO\_UNCALIBRATED\_BIT}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{EVT\_GRP\_RPT\_GYRO\_UNCALIBRATED\_BIT}{EVT\_GRP\_RPT\_GYRO\_UNCALIBRATED\_BIT}}
+{\footnotesize\ttfamily const constexpr Event\+Bits\+\_\+t BNO08x\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+GYRO\+\_\+\+UNCALIBRATED\+\_\+\+BIT = (1 $<$$<$ 9)\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+
+
+When set, uncalibrated gyro reports are active. 
+
+\Hypertarget{class_b_n_o08x_ad93161968a53ff53a6bb74ab7c34fbff}\label{class_b_n_o08x_ad93161968a53ff53a6bb74ab7c34fbff} 
+\index{BNO08x@{BNO08x}!EVT\_GRP\_RPT\_LINEAR\_ACCELEROMETER\_BIT@{EVT\_GRP\_RPT\_LINEAR\_ACCELEROMETER\_BIT}}
+\index{EVT\_GRP\_RPT\_LINEAR\_ACCELEROMETER\_BIT@{EVT\_GRP\_RPT\_LINEAR\_ACCELEROMETER\_BIT}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{EVT\_GRP\_RPT\_LINEAR\_ACCELEROMETER\_BIT}{EVT\_GRP\_RPT\_LINEAR\_ACCELEROMETER\_BIT}}
+{\footnotesize\ttfamily const constexpr Event\+Bits\+\_\+t BNO08x\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+LINEAR\+\_\+\+ACCELEROMETER\+\_\+\+BIT = (1 $<$$<$ 6)\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+
+
+When set, linear accelerometer reports are active. 
+
+\Hypertarget{class_b_n_o08x_a901af6f2d552f197ee830d0a1c06679c}\label{class_b_n_o08x_a901af6f2d552f197ee830d0a1c06679c} 
+\index{BNO08x@{BNO08x}!EVT\_GRP\_RPT\_MAGNETOMETER\_BIT@{EVT\_GRP\_RPT\_MAGNETOMETER\_BIT}}
+\index{EVT\_GRP\_RPT\_MAGNETOMETER\_BIT@{EVT\_GRP\_RPT\_MAGNETOMETER\_BIT}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{EVT\_GRP\_RPT\_MAGNETOMETER\_BIT}{EVT\_GRP\_RPT\_MAGNETOMETER\_BIT}}
+{\footnotesize\ttfamily const constexpr Event\+Bits\+\_\+t BNO08x\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+MAGNETOMETER\+\_\+\+BIT = (1 $<$$<$ 10)\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+
+
+When set, magnetometer reports are active. 
+
+\Hypertarget{class_b_n_o08x_a3e56d12435f7be81956d68196f1a46b4}\label{class_b_n_o08x_a3e56d12435f7be81956d68196f1a46b4} 
+\index{BNO08x@{BNO08x}!EVT\_GRP\_RPT\_RAW\_ACCELEROMETER\_BIT@{EVT\_GRP\_RPT\_RAW\_ACCELEROMETER\_BIT}}
+\index{EVT\_GRP\_RPT\_RAW\_ACCELEROMETER\_BIT@{EVT\_GRP\_RPT\_RAW\_ACCELEROMETER\_BIT}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{EVT\_GRP\_RPT\_RAW\_ACCELEROMETER\_BIT}{EVT\_GRP\_RPT\_RAW\_ACCELEROMETER\_BIT}}
+{\footnotesize\ttfamily const constexpr Event\+Bits\+\_\+t BNO08x\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+RAW\+\_\+\+ACCELEROMETER\+\_\+\+BIT = (1 $<$$<$ 15)\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+
+
+When set, raw accelerometer reports are active. 
+
+\Hypertarget{class_b_n_o08x_a6be7b240e4447c2c643e706954093aa0}\label{class_b_n_o08x_a6be7b240e4447c2c643e706954093aa0} 
+\index{BNO08x@{BNO08x}!EVT\_GRP\_RPT\_RAW\_GYRO\_BIT@{EVT\_GRP\_RPT\_RAW\_GYRO\_BIT}}
+\index{EVT\_GRP\_RPT\_RAW\_GYRO\_BIT@{EVT\_GRP\_RPT\_RAW\_GYRO\_BIT}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{EVT\_GRP\_RPT\_RAW\_GYRO\_BIT}{EVT\_GRP\_RPT\_RAW\_GYRO\_BIT}}
+{\footnotesize\ttfamily const constexpr Event\+Bits\+\_\+t BNO08x\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+RAW\+\_\+\+GYRO\+\_\+\+BIT = (1 $<$$<$ 16)\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+
+
+When set, raw gyro reports are active. 
+
+\Hypertarget{class_b_n_o08x_ac28553b40b82c7cb409938681afe6cec}\label{class_b_n_o08x_ac28553b40b82c7cb409938681afe6cec} 
+\index{BNO08x@{BNO08x}!EVT\_GRP\_RPT\_RAW\_MAGNETOMETER\_BIT@{EVT\_GRP\_RPT\_RAW\_MAGNETOMETER\_BIT}}
+\index{EVT\_GRP\_RPT\_RAW\_MAGNETOMETER\_BIT@{EVT\_GRP\_RPT\_RAW\_MAGNETOMETER\_BIT}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{EVT\_GRP\_RPT\_RAW\_MAGNETOMETER\_BIT}{EVT\_GRP\_RPT\_RAW\_MAGNETOMETER\_BIT}}
+{\footnotesize\ttfamily const constexpr Event\+Bits\+\_\+t BNO08x\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+RAW\+\_\+\+MAGNETOMETER\+\_\+\+BIT = (1 $<$$<$ 17)\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+
+
+When set, raw magnetometer reports are active. 
+
+\Hypertarget{class_b_n_o08x_a198da2ee3cd9cfa459c3c41c4f8c44b7}\label{class_b_n_o08x_a198da2ee3cd9cfa459c3c41c4f8c44b7} 
+\index{BNO08x@{BNO08x}!EVT\_GRP\_RPT\_ROTATION\_VECTOR\_BIT@{EVT\_GRP\_RPT\_ROTATION\_VECTOR\_BIT}}
+\index{EVT\_GRP\_RPT\_ROTATION\_VECTOR\_BIT@{EVT\_GRP\_RPT\_ROTATION\_VECTOR\_BIT}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{EVT\_GRP\_RPT\_ROTATION\_VECTOR\_BIT}{EVT\_GRP\_RPT\_ROTATION\_VECTOR\_BIT}}
+{\footnotesize\ttfamily const constexpr Event\+Bits\+\_\+t BNO08x\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+ROTATION\+\_\+\+VECTOR\+\_\+\+BIT = (1 $<$$<$ 0)\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+
+
+When set, rotation vector reports are active. 
+
+\Hypertarget{class_b_n_o08x_a7d6ee23222f55dbe9f70e04b36d9add2}\label{class_b_n_o08x_a7d6ee23222f55dbe9f70e04b36d9add2} 
+\index{BNO08x@{BNO08x}!EVT\_GRP\_RPT\_STABILITY\_CLASSIFIER\_BIT@{EVT\_GRP\_RPT\_STABILITY\_CLASSIFIER\_BIT}}
+\index{EVT\_GRP\_RPT\_STABILITY\_CLASSIFIER\_BIT@{EVT\_GRP\_RPT\_STABILITY\_CLASSIFIER\_BIT}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{EVT\_GRP\_RPT\_STABILITY\_CLASSIFIER\_BIT}{EVT\_GRP\_RPT\_STABILITY\_CLASSIFIER\_BIT}}
+{\footnotesize\ttfamily const constexpr Event\+Bits\+\_\+t BNO08x\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+STABILITY\+\_\+\+CLASSIFIER\+\_\+\+BIT = (1 $<$$<$ 13)\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+
+
+When set, stability classifier reports are active. 
+
+\Hypertarget{class_b_n_o08x_ab264b65a3aa5a9a74ed11b8977164a73}\label{class_b_n_o08x_ab264b65a3aa5a9a74ed11b8977164a73} 
+\index{BNO08x@{BNO08x}!EVT\_GRP\_RPT\_STEP\_COUNTER\_BIT@{EVT\_GRP\_RPT\_STEP\_COUNTER\_BIT}}
+\index{EVT\_GRP\_RPT\_STEP\_COUNTER\_BIT@{EVT\_GRP\_RPT\_STEP\_COUNTER\_BIT}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{EVT\_GRP\_RPT\_STEP\_COUNTER\_BIT}{EVT\_GRP\_RPT\_STEP\_COUNTER\_BIT}}
+{\footnotesize\ttfamily const constexpr Event\+Bits\+\_\+t BNO08x\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+STEP\+\_\+\+COUNTER\+\_\+\+BIT = (1 $<$$<$ 12)\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+
+
+When set, step counter reports are active. 
+
+\Hypertarget{class_b_n_o08x_a665464f781fe891b9179478d0174af47}\label{class_b_n_o08x_a665464f781fe891b9179478d0174af47} 
+\index{BNO08x@{BNO08x}!EVT\_GRP\_RPT\_TAP\_DETECTOR\_BIT@{EVT\_GRP\_RPT\_TAP\_DETECTOR\_BIT}}
+\index{EVT\_GRP\_RPT\_TAP\_DETECTOR\_BIT@{EVT\_GRP\_RPT\_TAP\_DETECTOR\_BIT}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{EVT\_GRP\_RPT\_TAP\_DETECTOR\_BIT}{EVT\_GRP\_RPT\_TAP\_DETECTOR\_BIT}}
+{\footnotesize\ttfamily const constexpr Event\+Bits\+\_\+t BNO08x\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+TAP\+\_\+\+DETECTOR\+\_\+\+BIT = (1 $<$$<$ 11)\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+
+
+When set, tap detector reports are active. 
+
+\Hypertarget{class_b_n_o08x_aa2b4442b5cc63ebf0c495e6fb537c85e}\label{class_b_n_o08x_aa2b4442b5cc63ebf0c495e6fb537c85e} 
+\index{BNO08x@{BNO08x}!evt\_grp\_spi@{evt\_grp\_spi}}
+\index{evt\_grp\_spi@{evt\_grp\_spi}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{evt\_grp\_spi}{evt\_grp\_spi}}
+{\footnotesize\ttfamily Event\+Group\+Handle\+\_\+t BNO08x\+::evt\+\_\+grp\+\_\+spi\hspace{0.3cm}{\ttfamily [private]}}
+
+
+
+Event group for indicating when bno08x hint pin has triggered and when new data has been processed. Used by calls to sending or receiving functions. 
+
+\Hypertarget{class_b_n_o08x_a32cffd8f78881925d22d5a7cb55f2bbc}\label{class_b_n_o08x_a32cffd8f78881925d22d5a7cb55f2bbc} 
+\index{BNO08x@{BNO08x}!EVT\_GRP\_SPI\_RX\_DONE\_BIT@{EVT\_GRP\_SPI\_RX\_DONE\_BIT}}
+\index{EVT\_GRP\_SPI\_RX\_DONE\_BIT@{EVT\_GRP\_SPI\_RX\_DONE\_BIT}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{EVT\_GRP\_SPI\_RX\_DONE\_BIT}{EVT\_GRP\_SPI\_RX\_DONE\_BIT}}
+{\footnotesize\ttfamily const constexpr Event\+Bits\+\_\+t BNO08x\+::\+EVT\+\_\+\+GRP\+\_\+\+SPI\+\_\+\+RX\+\_\+\+DONE\+\_\+\+BIT\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+{\bfseries Initial value\+:}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{=}
+\DoxyCodeLine{\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ (1\ <<\ 0)}
+
+\end{DoxyCode}
+
+
+When this bit is set it indicates a receive procedure has completed. 
+
+\Hypertarget{class_b_n_o08x_a6415c95701f590c72083f5bdc5f4ae47}\label{class_b_n_o08x_a6415c95701f590c72083f5bdc5f4ae47} 
+\index{BNO08x@{BNO08x}!EVT\_GRP\_SPI\_RX\_INVALID\_PACKET@{EVT\_GRP\_SPI\_RX\_INVALID\_PACKET}}
+\index{EVT\_GRP\_SPI\_RX\_INVALID\_PACKET@{EVT\_GRP\_SPI\_RX\_INVALID\_PACKET}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{EVT\_GRP\_SPI\_RX\_INVALID\_PACKET}{EVT\_GRP\_SPI\_RX\_INVALID\_PACKET}}
+{\footnotesize\ttfamily const constexpr Event\+Bits\+\_\+t BNO08x\+::\+EVT\+\_\+\+GRP\+\_\+\+SPI\+\_\+\+RX\+\_\+\+INVALID\+\_\+\+PACKET\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+{\bfseries Initial value\+:}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{=}
+\DoxyCodeLine{\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ (1\ <<\ 2)}
+
+\end{DoxyCode}
+
+
+When this bit is set, it indicates an invalid packet has been received. 
+
+\Hypertarget{class_b_n_o08x_a603dccfbbead6bdaa3bd970ad28fcd38}\label{class_b_n_o08x_a603dccfbbead6bdaa3bd970ad28fcd38} 
+\index{BNO08x@{BNO08x}!EVT\_GRP\_SPI\_RX\_VALID\_PACKET@{EVT\_GRP\_SPI\_RX\_VALID\_PACKET}}
+\index{EVT\_GRP\_SPI\_RX\_VALID\_PACKET@{EVT\_GRP\_SPI\_RX\_VALID\_PACKET}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{EVT\_GRP\_SPI\_RX\_VALID\_PACKET}{EVT\_GRP\_SPI\_RX\_VALID\_PACKET}}
+{\footnotesize\ttfamily const constexpr Event\+Bits\+\_\+t BNO08x\+::\+EVT\+\_\+\+GRP\+\_\+\+SPI\+\_\+\+RX\+\_\+\+VALID\+\_\+\+PACKET\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+{\bfseries Initial value\+:}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{=}
+\DoxyCodeLine{\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ (1\ <<\ 1)}
+
+\end{DoxyCode}
+
+
+When this bit is set, it indicates a valid packet has been received and processed. 
+
+\Hypertarget{class_b_n_o08x_aa333b17ab88348a9849f0ceb9757dc9c}\label{class_b_n_o08x_aa333b17ab88348a9849f0ceb9757dc9c} 
+\index{BNO08x@{BNO08x}!EVT\_GRP\_SPI\_TX\_DONE@{EVT\_GRP\_SPI\_TX\_DONE}}
+\index{EVT\_GRP\_SPI\_TX\_DONE@{EVT\_GRP\_SPI\_TX\_DONE}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{EVT\_GRP\_SPI\_TX\_DONE}{EVT\_GRP\_SPI\_TX\_DONE}}
+{\footnotesize\ttfamily const constexpr Event\+Bits\+\_\+t BNO08x\+::\+EVT\+\_\+\+GRP\+\_\+\+SPI\+\_\+\+TX\+\_\+\+DONE = (1 $<$$<$ 3)\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+
+
+When this bit is set, it indicates a queued packet has been sent. 
+
+\Hypertarget{class_b_n_o08x_ad7ef7d7068af5f92239c12022dbeb16d}\label{class_b_n_o08x_ad7ef7d7068af5f92239c12022dbeb16d} 
+\index{BNO08x@{BNO08x}!FRS\_RECORD\_ID\_ACCELEROMETER@{FRS\_RECORD\_ID\_ACCELEROMETER}}
+\index{FRS\_RECORD\_ID\_ACCELEROMETER@{FRS\_RECORD\_ID\_ACCELEROMETER}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{FRS\_RECORD\_ID\_ACCELEROMETER}{FRS\_RECORD\_ID\_ACCELEROMETER}}
+{\footnotesize\ttfamily const constexpr uint16\+\_\+t BNO08x\+::\+FRS\+\_\+\+RECORD\+\_\+\+ID\+\_\+\+ACCELEROMETER\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}}
+
+{\bfseries Initial value\+:}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{=}
+\DoxyCodeLine{\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ 0xE302}
+
+\end{DoxyCode}
+
+
+Accelerometer record ID, to be passed in metadata functions like \doxylink{class_b_n_o08x_a4421c43323945946ad605f8422958dcf}{get\+\_\+\+Q1()} 
+
+\Hypertarget{class_b_n_o08x_a35d8f641e73c308f92a5a0a772f90f48}\label{class_b_n_o08x_a35d8f641e73c308f92a5a0a772f90f48} 
+\index{BNO08x@{BNO08x}!FRS\_RECORD\_ID\_GYROSCOPE\_CALIBRATED@{FRS\_RECORD\_ID\_GYROSCOPE\_CALIBRATED}}
+\index{FRS\_RECORD\_ID\_GYROSCOPE\_CALIBRATED@{FRS\_RECORD\_ID\_GYROSCOPE\_CALIBRATED}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{FRS\_RECORD\_ID\_GYROSCOPE\_CALIBRATED}{FRS\_RECORD\_ID\_GYROSCOPE\_CALIBRATED}}
+{\footnotesize\ttfamily const constexpr uint16\+\_\+t BNO08x\+::\+FRS\+\_\+\+RECORD\+\_\+\+ID\+\_\+\+GYROSCOPE\+\_\+\+CALIBRATED\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}}
+
+{\bfseries Initial value\+:}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{=}
+\DoxyCodeLine{\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ 0xE306}
+
+\end{DoxyCode}
+
+
+Calirated gyroscope record ID, to be passed in metadata functions like \doxylink{class_b_n_o08x_a4421c43323945946ad605f8422958dcf}{get\+\_\+\+Q1()} 
+
+\Hypertarget{class_b_n_o08x_a0992d77f9bae0b8e3c8d9331fe84fe24}\label{class_b_n_o08x_a0992d77f9bae0b8e3c8d9331fe84fe24} 
+\index{BNO08x@{BNO08x}!FRS\_RECORD\_ID\_MAGNETIC\_FIELD\_CALIBRATED@{FRS\_RECORD\_ID\_MAGNETIC\_FIELD\_CALIBRATED}}
+\index{FRS\_RECORD\_ID\_MAGNETIC\_FIELD\_CALIBRATED@{FRS\_RECORD\_ID\_MAGNETIC\_FIELD\_CALIBRATED}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{FRS\_RECORD\_ID\_MAGNETIC\_FIELD\_CALIBRATED}{FRS\_RECORD\_ID\_MAGNETIC\_FIELD\_CALIBRATED}}
+{\footnotesize\ttfamily const constexpr uint16\+\_\+t BNO08x\+::\+FRS\+\_\+\+RECORD\+\_\+\+ID\+\_\+\+MAGNETIC\+\_\+\+FIELD\+\_\+\+CALIBRATED\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}}
+
+{\bfseries Initial value\+:}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{=}
+\DoxyCodeLine{\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ 0xE309}
+
+\end{DoxyCode}
+
+
+Calibrated magnetometer record ID, to be passed in metadata functions like \doxylink{class_b_n_o08x_a4421c43323945946ad605f8422958dcf}{get\+\_\+\+Q1()} 
+
+\Hypertarget{class_b_n_o08x_a9f35840b19c8ad11fd1b4622c3269250}\label{class_b_n_o08x_a9f35840b19c8ad11fd1b4622c3269250} 
+\index{BNO08x@{BNO08x}!FRS\_RECORD\_ID\_ROTATION\_VECTOR@{FRS\_RECORD\_ID\_ROTATION\_VECTOR}}
+\index{FRS\_RECORD\_ID\_ROTATION\_VECTOR@{FRS\_RECORD\_ID\_ROTATION\_VECTOR}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{FRS\_RECORD\_ID\_ROTATION\_VECTOR}{FRS\_RECORD\_ID\_ROTATION\_VECTOR}}
+{\footnotesize\ttfamily const constexpr uint16\+\_\+t BNO08x\+::\+FRS\+\_\+\+RECORD\+\_\+\+ID\+\_\+\+ROTATION\+\_\+\+VECTOR\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}}
+
+{\bfseries Initial value\+:}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{=}
+\DoxyCodeLine{\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ 0xE30B}
+
+\end{DoxyCode}
+
+
+Rotation vector record ID, to be passed in metadata functions like \doxylink{class_b_n_o08x_a4421c43323945946ad605f8422958dcf}{get\+\_\+\+Q1()} 
+
+\Hypertarget{class_b_n_o08x_ae01698d287ea999179a11e2244902022}\label{class_b_n_o08x_ae01698d287ea999179a11e2244902022} 
+\index{BNO08x@{BNO08x}!gravity\_accuracy@{gravity\_accuracy}}
+\index{gravity\_accuracy@{gravity\_accuracy}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{gravity\_accuracy}{gravity\_accuracy}}
+{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::gravity\+\_\+accuracy\hspace{0.3cm}{\ttfamily [private]}}
+
+
+
+Gravity reading in m/s\texorpdfstring{$^\wedge$}{\string^}2 (See SH-\/2 Ref. Manual 6.\+5.\+11) 
+
+\Hypertarget{class_b_n_o08x_ae10722334dfce9635e76519598e165a2}\label{class_b_n_o08x_ae10722334dfce9635e76519598e165a2} 
+\index{BNO08x@{BNO08x}!GRAVITY\_Q1@{GRAVITY\_Q1}}
+\index{GRAVITY\_Q1@{GRAVITY\_Q1}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{GRAVITY\_Q1}{GRAVITY\_Q1}}
+{\footnotesize\ttfamily const constexpr int16\+\_\+t BNO08x\+::\+GRAVITY\+\_\+\+Q1 = 8\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}}
+
+
+
+Gravity Q point (See SH-\/2 Ref. Manual 6.\+5.\+11) 
+
+\Hypertarget{class_b_n_o08x_af45016be9ea523d80be8467b2907b499}\label{class_b_n_o08x_af45016be9ea523d80be8467b2907b499} 
+\index{BNO08x@{BNO08x}!gravity\_X@{gravity\_X}}
+\index{gravity\_X@{gravity\_X}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{gravity\_X}{gravity\_X}}
+{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::gravity\+\_\+X\hspace{0.3cm}{\ttfamily [private]}}
+
+\Hypertarget{class_b_n_o08x_af20dcd487a9fe8fa6243817d51e37be5}\label{class_b_n_o08x_af20dcd487a9fe8fa6243817d51e37be5} 
+\index{BNO08x@{BNO08x}!gravity\_Y@{gravity\_Y}}
+\index{gravity\_Y@{gravity\_Y}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{gravity\_Y}{gravity\_Y}}
+{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::gravity\+\_\+Y\hspace{0.3cm}{\ttfamily [private]}}
+
+\Hypertarget{class_b_n_o08x_afa1cf5c3afbb258d97c55c5fb187f2d6}\label{class_b_n_o08x_afa1cf5c3afbb258d97c55c5fb187f2d6} 
+\index{BNO08x@{BNO08x}!gravity\_Z@{gravity\_Z}}
+\index{gravity\_Z@{gravity\_Z}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{gravity\_Z}{gravity\_Z}}
+{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::gravity\+\_\+Z\hspace{0.3cm}{\ttfamily [private]}}
+
+\Hypertarget{class_b_n_o08x_a98ea35dd0fbd0c409d25fd8a6ed9f277}\label{class_b_n_o08x_a98ea35dd0fbd0c409d25fd8a6ed9f277} 
+\index{BNO08x@{BNO08x}!gyro\_accuracy@{gyro\_accuracy}}
+\index{gyro\_accuracy@{gyro\_accuracy}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{gyro\_accuracy}{gyro\_accuracy}}
+{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::gyro\+\_\+accuracy\hspace{0.3cm}{\ttfamily [private]}}
+
+
+
+Raw gyro reading (See SH-\/2 Ref. Manual 6.\+5.\+13) 
+
+\Hypertarget{class_b_n_o08x_aa3bec8effefa61cec6fa170e9d02c4dd}\label{class_b_n_o08x_aa3bec8effefa61cec6fa170e9d02c4dd} 
+\index{BNO08x@{BNO08x}!GYRO\_Q1@{GYRO\_Q1}}
+\index{GYRO\_Q1@{GYRO\_Q1}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{GYRO\_Q1}{GYRO\_Q1}}
+{\footnotesize\ttfamily const constexpr int16\+\_\+t BNO08x\+::\+GYRO\+\_\+\+Q1 = 9\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}}
+
+
+
+Gyro Q point (See SH-\/2 Ref. Manual 6.\+5.\+13) 
+
+\Hypertarget{class_b_n_o08x_ae7f34752f888c637d5619f898e62a6d4}\label{class_b_n_o08x_ae7f34752f888c637d5619f898e62a6d4} 
+\index{BNO08x@{BNO08x}!HOST\_INT\_TIMEOUT\_MS@{HOST\_INT\_TIMEOUT\_MS}}
+\index{HOST\_INT\_TIMEOUT\_MS@{HOST\_INT\_TIMEOUT\_MS}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{HOST\_INT\_TIMEOUT\_MS}{HOST\_INT\_TIMEOUT\_MS}}
+{\footnotesize\ttfamily const constexpr uint64\+\_\+t BNO08x\+::\+HOST\+\_\+\+INT\+\_\+\+TIMEOUT\+\_\+\+MS\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+{\bfseries Initial value\+:}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{=}
+\DoxyCodeLine{\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ 300ULL}
+
+\end{DoxyCode}
+
+
+Max wait between HINT being asserted by \doxylink{class_b_n_o08x}{BNO08x} before transaction is considered failed (in miliseconds) 
+
+\Hypertarget{class_b_n_o08x_aeda443e9f608fccfec0e6770edc90c82}\label{class_b_n_o08x_aeda443e9f608fccfec0e6770edc90c82} 
+\index{BNO08x@{BNO08x}!imu\_config@{imu\_config}}
+\index{imu\_config@{imu\_config}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{imu\_config}{imu\_config}}
+{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__config__t}{bno08x\+\_\+config\+\_\+t}} BNO08x\+::imu\+\_\+config \{\}\hspace{0.3cm}{\ttfamily [private]}}
+
+
+
+IMU configuration settings. 
+
+\Hypertarget{class_b_n_o08x_a425a1f5a9f3232aadc685caaf4c2f82e}\label{class_b_n_o08x_a425a1f5a9f3232aadc685caaf4c2f82e} 
+\index{BNO08x@{BNO08x}!imu\_spi\_config@{imu\_spi\_config}}
+\index{imu\_spi\_config@{imu\_spi\_config}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{imu\_spi\_config}{imu\_spi\_config}}
+{\footnotesize\ttfamily spi\+\_\+device\+\_\+interface\+\_\+config\+\_\+t BNO08x\+::imu\+\_\+spi\+\_\+config \{\}\hspace{0.3cm}{\ttfamily [private]}}
+
+
+
+SPI slave device settings. 
+
+\Hypertarget{class_b_n_o08x_a4882dbc698d7b730f57e2401037766a9}\label{class_b_n_o08x_a4882dbc698d7b730f57e2401037766a9} 
+\index{BNO08x@{BNO08x}!isr\_service\_installed@{isr\_service\_installed}}
+\index{isr\_service\_installed@{isr\_service\_installed}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{isr\_service\_installed}{isr\_service\_installed}}
+{\footnotesize\ttfamily bool BNO08x\+::isr\+\_\+service\+\_\+installed = \{false\}\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [private]}}
+
+
+
+true of the isr service has been installed, only has to be done once regardless of how many devices are used 
+
+\Hypertarget{class_b_n_o08x_ad0d37fe07ced24f2c9afc21145a74e7b}\label{class_b_n_o08x_ad0d37fe07ced24f2c9afc21145a74e7b} 
+\index{BNO08x@{BNO08x}!LINEAR\_ACCELEROMETER\_Q1@{LINEAR\_ACCELEROMETER\_Q1}}
+\index{LINEAR\_ACCELEROMETER\_Q1@{LINEAR\_ACCELEROMETER\_Q1}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{LINEAR\_ACCELEROMETER\_Q1}{LINEAR\_ACCELEROMETER\_Q1}}
+{\footnotesize\ttfamily const constexpr int16\+\_\+t BNO08x\+::\+LINEAR\+\_\+\+ACCELEROMETER\+\_\+\+Q1 = 8\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}}
+
+
+
+Linear acceleration Q point (See SH-\/2 Ref. Manual 6.\+5.\+10) 
+
+\Hypertarget{class_b_n_o08x_ac5d4e151690774687efa951ca41c16ae}\label{class_b_n_o08x_ac5d4e151690774687efa951ca41c16ae} 
+\index{BNO08x@{BNO08x}!magf\_accuracy@{magf\_accuracy}}
+\index{magf\_accuracy@{magf\_accuracy}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{magf\_accuracy}{magf\_accuracy}}
+{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::magf\+\_\+accuracy\hspace{0.3cm}{\ttfamily [private]}}
+
+
+
+Calibrated magnetic field reading in u\+Tesla (See SH-\/2 Ref. Manual 6.\+5.\+16) 
+
+\Hypertarget{class_b_n_o08x_a9fac9b811b7c2117675a784cb4df204c}\label{class_b_n_o08x_a9fac9b811b7c2117675a784cb4df204c} 
+\index{BNO08x@{BNO08x}!MAGNETOMETER\_Q1@{MAGNETOMETER\_Q1}}
+\index{MAGNETOMETER\_Q1@{MAGNETOMETER\_Q1}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{MAGNETOMETER\_Q1}{MAGNETOMETER\_Q1}}
+{\footnotesize\ttfamily const constexpr int16\+\_\+t BNO08x\+::\+MAGNETOMETER\+\_\+\+Q1 = 4\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}}
+
+
+
+Magnetometer Q point (See SH-\/2 Ref. Manual 6.\+5.\+16) 
+
+\Hypertarget{class_b_n_o08x_a2a5b978233eab4c103ab01cfc33a1750}\label{class_b_n_o08x_a2a5b978233eab4c103ab01cfc33a1750} 
+\index{BNO08x@{BNO08x}!MAX\_METADATA\_LENGTH@{MAX\_METADATA\_LENGTH}}
+\index{MAX\_METADATA\_LENGTH@{MAX\_METADATA\_LENGTH}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{MAX\_METADATA\_LENGTH}{MAX\_METADATA\_LENGTH}}
+{\footnotesize\ttfamily const constexpr uint16\+\_\+t BNO08x\+::\+MAX\+\_\+\+METADATA\+\_\+\+LENGTH = 9\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+
+
+max length of metadata used in frs read operations 
+
+\Hypertarget{class_b_n_o08x_a937cbdc4edaac72c8cad041d79de5701}\label{class_b_n_o08x_a937cbdc4edaac72c8cad041d79de5701} 
+\index{BNO08x@{BNO08x}!mems\_raw\_accel\_X@{mems\_raw\_accel\_X}}
+\index{mems\_raw\_accel\_X@{mems\_raw\_accel\_X}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{mems\_raw\_accel\_X}{mems\_raw\_accel\_X}}
+{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::mems\+\_\+raw\+\_\+accel\+\_\+X\hspace{0.3cm}{\ttfamily [private]}}
+
+\Hypertarget{class_b_n_o08x_ad83cecb8a5d2be01db6792755b6057e9}\label{class_b_n_o08x_ad83cecb8a5d2be01db6792755b6057e9} 
+\index{BNO08x@{BNO08x}!mems\_raw\_accel\_Y@{mems\_raw\_accel\_Y}}
+\index{mems\_raw\_accel\_Y@{mems\_raw\_accel\_Y}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{mems\_raw\_accel\_Y}{mems\_raw\_accel\_Y}}
+{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::mems\+\_\+raw\+\_\+accel\+\_\+Y\hspace{0.3cm}{\ttfamily [private]}}
+
+\Hypertarget{class_b_n_o08x_a59a4d75f1302ab693b1b26e9ccaa5341}\label{class_b_n_o08x_a59a4d75f1302ab693b1b26e9ccaa5341} 
+\index{BNO08x@{BNO08x}!mems\_raw\_accel\_Z@{mems\_raw\_accel\_Z}}
+\index{mems\_raw\_accel\_Z@{mems\_raw\_accel\_Z}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{mems\_raw\_accel\_Z}{mems\_raw\_accel\_Z}}
+{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::mems\+\_\+raw\+\_\+accel\+\_\+Z\hspace{0.3cm}{\ttfamily [private]}}
+
+
+
+Raw accelerometer readings from MEMS sensor (See SH2 Ref. Manual 6.\+5.\+8) 
+
+\Hypertarget{class_b_n_o08x_a3d6b6257462951ea023af7076c80f6dd}\label{class_b_n_o08x_a3d6b6257462951ea023af7076c80f6dd} 
+\index{BNO08x@{BNO08x}!mems\_raw\_gyro\_X@{mems\_raw\_gyro\_X}}
+\index{mems\_raw\_gyro\_X@{mems\_raw\_gyro\_X}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{mems\_raw\_gyro\_X}{mems\_raw\_gyro\_X}}
+{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::mems\+\_\+raw\+\_\+gyro\+\_\+X\hspace{0.3cm}{\ttfamily [private]}}
+
+\Hypertarget{class_b_n_o08x_ab6b142416912a096886dd63ad0beb865}\label{class_b_n_o08x_ab6b142416912a096886dd63ad0beb865} 
+\index{BNO08x@{BNO08x}!mems\_raw\_gyro\_Y@{mems\_raw\_gyro\_Y}}
+\index{mems\_raw\_gyro\_Y@{mems\_raw\_gyro\_Y}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{mems\_raw\_gyro\_Y}{mems\_raw\_gyro\_Y}}
+{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::mems\+\_\+raw\+\_\+gyro\+\_\+Y\hspace{0.3cm}{\ttfamily [private]}}
+
+\Hypertarget{class_b_n_o08x_ac35d5b12721ab876eaeb1f714a9b3b1d}\label{class_b_n_o08x_ac35d5b12721ab876eaeb1f714a9b3b1d} 
+\index{BNO08x@{BNO08x}!mems\_raw\_gyro\_Z@{mems\_raw\_gyro\_Z}}
+\index{mems\_raw\_gyro\_Z@{mems\_raw\_gyro\_Z}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{mems\_raw\_gyro\_Z}{mems\_raw\_gyro\_Z}}
+{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::mems\+\_\+raw\+\_\+gyro\+\_\+Z\hspace{0.3cm}{\ttfamily [private]}}
+
+
+
+Raw gyro readings from MEMS sensor (See SH-\/2 Ref. Manual 6.\+5.\+12) 
+
+\Hypertarget{class_b_n_o08x_ab587cdf991342b69b7fff3b33f537eb5}\label{class_b_n_o08x_ab587cdf991342b69b7fff3b33f537eb5} 
+\index{BNO08x@{BNO08x}!mems\_raw\_magf\_X@{mems\_raw\_magf\_X}}
+\index{mems\_raw\_magf\_X@{mems\_raw\_magf\_X}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{mems\_raw\_magf\_X}{mems\_raw\_magf\_X}}
+{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::mems\+\_\+raw\+\_\+magf\+\_\+X\hspace{0.3cm}{\ttfamily [private]}}
+
+\Hypertarget{class_b_n_o08x_aad926054c81818fff611e10ed913706a}\label{class_b_n_o08x_aad926054c81818fff611e10ed913706a} 
+\index{BNO08x@{BNO08x}!mems\_raw\_magf\_Y@{mems\_raw\_magf\_Y}}
+\index{mems\_raw\_magf\_Y@{mems\_raw\_magf\_Y}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{mems\_raw\_magf\_Y}{mems\_raw\_magf\_Y}}
+{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::mems\+\_\+raw\+\_\+magf\+\_\+Y\hspace{0.3cm}{\ttfamily [private]}}
+
+\Hypertarget{class_b_n_o08x_a90f0cdf11decc276006f76a494d42ce3}\label{class_b_n_o08x_a90f0cdf11decc276006f76a494d42ce3} 
+\index{BNO08x@{BNO08x}!mems\_raw\_magf\_Z@{mems\_raw\_magf\_Z}}
+\index{mems\_raw\_magf\_Z@{mems\_raw\_magf\_Z}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{mems\_raw\_magf\_Z}{mems\_raw\_magf\_Z}}
+{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::mems\+\_\+raw\+\_\+magf\+\_\+Z\hspace{0.3cm}{\ttfamily [private]}}
+
+
+
+Raw magnetometer (compass) readings from MEMS sensor (See SH-\/2 Ref. Manual 6.\+5.\+15) 
+
+\Hypertarget{class_b_n_o08x_a7bd032712a975e73e66bd72a3502baba}\label{class_b_n_o08x_a7bd032712a975e73e66bd72a3502baba} 
+\index{BNO08x@{BNO08x}!meta\_data@{meta\_data}}
+\index{meta\_data@{meta\_data}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{meta\_data}{meta\_data}}
+{\footnotesize\ttfamily uint32\+\_\+t BNO08x\+::meta\+\_\+data\mbox{[}9\mbox{]}\hspace{0.3cm}{\ttfamily [private]}}
+
+
+
+First 9 bytes of meta data returned from FRS read operation (we don\textquotesingle{}t really need the rest) (See Ref. Manual 5.\+1) 
+
+\Hypertarget{class_b_n_o08x_a36223f7124751fa71e860b2ef55dd2ac}\label{class_b_n_o08x_a36223f7124751fa71e860b2ef55dd2ac} 
+\index{BNO08x@{BNO08x}!quat\_accuracy@{quat\_accuracy}}
+\index{quat\_accuracy@{quat\_accuracy}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{quat\_accuracy}{quat\_accuracy}}
+{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::quat\+\_\+accuracy\hspace{0.3cm}{\ttfamily [private]}}
+
+
+
+Raw quaternion reading (See SH-\/2 Ref. Manual 6.\+5.\+44) 
+
+\Hypertarget{class_b_n_o08x_a9a1c851e8fa5633e11f6abee293d7e9b}\label{class_b_n_o08x_a9a1c851e8fa5633e11f6abee293d7e9b} 
+\index{BNO08x@{BNO08x}!queue\_frs\_read\_data@{queue\_frs\_read\_data}}
+\index{queue\_frs\_read\_data@{queue\_frs\_read\_data}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{queue\_frs\_read\_data}{queue\_frs\_read\_data}}
+{\footnotesize\ttfamily Queue\+Handle\+\_\+t BNO08x\+::queue\+\_\+frs\+\_\+read\+\_\+data\hspace{0.3cm}{\ttfamily [private]}}
+
+
+
+Queue used to send packet body from data\+\_\+proc\+\_\+task to frs read functions. 
+
+\Hypertarget{class_b_n_o08x_a84b3639cc159262e0137adb0db5cf9aa}\label{class_b_n_o08x_a84b3639cc159262e0137adb0db5cf9aa} 
+\index{BNO08x@{BNO08x}!queue\_reset\_reason@{queue\_reset\_reason}}
+\index{queue\_reset\_reason@{queue\_reset\_reason}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{queue\_reset\_reason}{queue\_reset\_reason}}
+{\footnotesize\ttfamily Queue\+Handle\+\_\+t BNO08x\+::queue\+\_\+reset\+\_\+reason\hspace{0.3cm}{\ttfamily [private]}}
+
+
+
+Queue used to send reset reason from product id report to reset\+\_\+reason() function. 
+
+\Hypertarget{class_b_n_o08x_a7d4661d3aae56013caa8f2bff0f67c08}\label{class_b_n_o08x_a7d4661d3aae56013caa8f2bff0f67c08} 
+\index{BNO08x@{BNO08x}!queue\_rx\_data@{queue\_rx\_data}}
+\index{queue\_rx\_data@{queue\_rx\_data}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{queue\_rx\_data}{queue\_rx\_data}}
+{\footnotesize\ttfamily Queue\+Handle\+\_\+t BNO08x\+::queue\+\_\+rx\+\_\+data\hspace{0.3cm}{\ttfamily [private]}}
+
+
+
+Packet queue used to send data received from bno08x from spi\+\_\+task to data\+\_\+proc\+\_\+task. 
+
+\Hypertarget{class_b_n_o08x_a4d5c5eee87a578de9c8318cd294b3a22}\label{class_b_n_o08x_a4d5c5eee87a578de9c8318cd294b3a22} 
+\index{BNO08x@{BNO08x}!queue\_tx\_data@{queue\_tx\_data}}
+\index{queue\_tx\_data@{queue\_tx\_data}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{queue\_tx\_data}{queue\_tx\_data}}
+{\footnotesize\ttfamily Queue\+Handle\+\_\+t BNO08x\+::queue\+\_\+tx\+\_\+data\hspace{0.3cm}{\ttfamily [private]}}
+
+
+
+Packet queue used to send data to be sent over SPI from sending functions to spi\+\_\+task. 
+
+\Hypertarget{class_b_n_o08x_a75fb2f06c5bbe26e3f3c794934ef954c}\label{class_b_n_o08x_a75fb2f06c5bbe26e3f3c794934ef954c} 
+\index{BNO08x@{BNO08x}!raw\_accel\_X@{raw\_accel\_X}}
+\index{raw\_accel\_X@{raw\_accel\_X}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{raw\_accel\_X}{raw\_accel\_X}}
+{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::raw\+\_\+accel\+\_\+X\hspace{0.3cm}{\ttfamily [private]}}
+
+\Hypertarget{class_b_n_o08x_ab56e2ba505fa293d03e955137625c562}\label{class_b_n_o08x_ab56e2ba505fa293d03e955137625c562} 
+\index{BNO08x@{BNO08x}!raw\_accel\_Y@{raw\_accel\_Y}}
+\index{raw\_accel\_Y@{raw\_accel\_Y}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{raw\_accel\_Y}{raw\_accel\_Y}}
+{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::raw\+\_\+accel\+\_\+Y\hspace{0.3cm}{\ttfamily [private]}}
+
+\Hypertarget{class_b_n_o08x_af254d245b368027df6952b7d7522bd35}\label{class_b_n_o08x_af254d245b368027df6952b7d7522bd35} 
+\index{BNO08x@{BNO08x}!raw\_accel\_Z@{raw\_accel\_Z}}
+\index{raw\_accel\_Z@{raw\_accel\_Z}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{raw\_accel\_Z}{raw\_accel\_Z}}
+{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::raw\+\_\+accel\+\_\+Z\hspace{0.3cm}{\ttfamily [private]}}
+
+\Hypertarget{class_b_n_o08x_a8a2667f668317cee0a9fc4ef0accc3f5}\label{class_b_n_o08x_a8a2667f668317cee0a9fc4ef0accc3f5} 
+\index{BNO08x@{BNO08x}!raw\_bias\_X@{raw\_bias\_X}}
+\index{raw\_bias\_X@{raw\_bias\_X}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{raw\_bias\_X}{raw\_bias\_X}}
+{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::raw\+\_\+bias\+\_\+X\hspace{0.3cm}{\ttfamily [private]}}
+
+\Hypertarget{class_b_n_o08x_ac38ff5eb93d3c3db0af2504ba02fd93c}\label{class_b_n_o08x_ac38ff5eb93d3c3db0af2504ba02fd93c} 
+\index{BNO08x@{BNO08x}!raw\_bias\_Y@{raw\_bias\_Y}}
+\index{raw\_bias\_Y@{raw\_bias\_Y}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{raw\_bias\_Y}{raw\_bias\_Y}}
+{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::raw\+\_\+bias\+\_\+Y\hspace{0.3cm}{\ttfamily [private]}}
+
+\Hypertarget{class_b_n_o08x_a0968eaed9b3d979a2caa1aba6e6b417a}\label{class_b_n_o08x_a0968eaed9b3d979a2caa1aba6e6b417a} 
+\index{BNO08x@{BNO08x}!raw\_bias\_Z@{raw\_bias\_Z}}
+\index{raw\_bias\_Z@{raw\_bias\_Z}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{raw\_bias\_Z}{raw\_bias\_Z}}
+{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::raw\+\_\+bias\+\_\+Z\hspace{0.3cm}{\ttfamily [private]}}
+
+\Hypertarget{class_b_n_o08x_a19696327a056a448ed5ba706e747bbe5}\label{class_b_n_o08x_a19696327a056a448ed5ba706e747bbe5} 
+\index{BNO08x@{BNO08x}!raw\_gyro\_X@{raw\_gyro\_X}}
+\index{raw\_gyro\_X@{raw\_gyro\_X}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{raw\_gyro\_X}{raw\_gyro\_X}}
+{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::raw\+\_\+gyro\+\_\+X\hspace{0.3cm}{\ttfamily [private]}}
+
+\Hypertarget{class_b_n_o08x_a61df9f571555f5f682eb51f24a279489}\label{class_b_n_o08x_a61df9f571555f5f682eb51f24a279489} 
+\index{BNO08x@{BNO08x}!raw\_gyro\_Y@{raw\_gyro\_Y}}
+\index{raw\_gyro\_Y@{raw\_gyro\_Y}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{raw\_gyro\_Y}{raw\_gyro\_Y}}
+{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::raw\+\_\+gyro\+\_\+Y\hspace{0.3cm}{\ttfamily [private]}}
+
+\Hypertarget{class_b_n_o08x_a03f567cda2a3cc966301e96732fca9ad}\label{class_b_n_o08x_a03f567cda2a3cc966301e96732fca9ad} 
+\index{BNO08x@{BNO08x}!raw\_gyro\_Z@{raw\_gyro\_Z}}
+\index{raw\_gyro\_Z@{raw\_gyro\_Z}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{raw\_gyro\_Z}{raw\_gyro\_Z}}
+{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::raw\+\_\+gyro\+\_\+Z\hspace{0.3cm}{\ttfamily [private]}}
+
+\Hypertarget{class_b_n_o08x_ae1f71a432cb15e75f522fa18f29f4d50}\label{class_b_n_o08x_ae1f71a432cb15e75f522fa18f29f4d50} 
+\index{BNO08x@{BNO08x}!raw\_lin\_accel\_X@{raw\_lin\_accel\_X}}
+\index{raw\_lin\_accel\_X@{raw\_lin\_accel\_X}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{raw\_lin\_accel\_X}{raw\_lin\_accel\_X}}
+{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::raw\+\_\+lin\+\_\+accel\+\_\+X\hspace{0.3cm}{\ttfamily [private]}}
+
+\Hypertarget{class_b_n_o08x_aff3a5590471d1c9fc485a5610433915f}\label{class_b_n_o08x_aff3a5590471d1c9fc485a5610433915f} 
+\index{BNO08x@{BNO08x}!raw\_lin\_accel\_Y@{raw\_lin\_accel\_Y}}
+\index{raw\_lin\_accel\_Y@{raw\_lin\_accel\_Y}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{raw\_lin\_accel\_Y}{raw\_lin\_accel\_Y}}
+{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::raw\+\_\+lin\+\_\+accel\+\_\+Y\hspace{0.3cm}{\ttfamily [private]}}
+
+\Hypertarget{class_b_n_o08x_abc8add47f1babc66c812a015614143d3}\label{class_b_n_o08x_abc8add47f1babc66c812a015614143d3} 
+\index{BNO08x@{BNO08x}!raw\_lin\_accel\_Z@{raw\_lin\_accel\_Z}}
+\index{raw\_lin\_accel\_Z@{raw\_lin\_accel\_Z}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{raw\_lin\_accel\_Z}{raw\_lin\_accel\_Z}}
+{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::raw\+\_\+lin\+\_\+accel\+\_\+Z\hspace{0.3cm}{\ttfamily [private]}}
+
+\Hypertarget{class_b_n_o08x_aa5bdf740161b7c37adcac0154a410118}\label{class_b_n_o08x_aa5bdf740161b7c37adcac0154a410118} 
+\index{BNO08x@{BNO08x}!raw\_magf\_X@{raw\_magf\_X}}
+\index{raw\_magf\_X@{raw\_magf\_X}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{raw\_magf\_X}{raw\_magf\_X}}
+{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::raw\+\_\+magf\+\_\+X\hspace{0.3cm}{\ttfamily [private]}}
+
+\Hypertarget{class_b_n_o08x_acd365418f24a6da61122c66d82086639}\label{class_b_n_o08x_acd365418f24a6da61122c66d82086639} 
+\index{BNO08x@{BNO08x}!raw\_magf\_Y@{raw\_magf\_Y}}
+\index{raw\_magf\_Y@{raw\_magf\_Y}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{raw\_magf\_Y}{raw\_magf\_Y}}
+{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::raw\+\_\+magf\+\_\+Y\hspace{0.3cm}{\ttfamily [private]}}
+
+\Hypertarget{class_b_n_o08x_ab4862de31d0874b44b6745678e1c905e}\label{class_b_n_o08x_ab4862de31d0874b44b6745678e1c905e} 
+\index{BNO08x@{BNO08x}!raw\_magf\_Z@{raw\_magf\_Z}}
+\index{raw\_magf\_Z@{raw\_magf\_Z}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{raw\_magf\_Z}{raw\_magf\_Z}}
+{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::raw\+\_\+magf\+\_\+Z\hspace{0.3cm}{\ttfamily [private]}}
+
+\Hypertarget{class_b_n_o08x_a69dc7e97875060213085ba964b3bd987}\label{class_b_n_o08x_a69dc7e97875060213085ba964b3bd987} 
+\index{BNO08x@{BNO08x}!raw\_quat\_I@{raw\_quat\_I}}
+\index{raw\_quat\_I@{raw\_quat\_I}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{raw\_quat\_I}{raw\_quat\_I}}
+{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::raw\+\_\+quat\+\_\+I\hspace{0.3cm}{\ttfamily [private]}}
+
+\Hypertarget{class_b_n_o08x_a61ae05dc5572b326541bf8099f0c2a54}\label{class_b_n_o08x_a61ae05dc5572b326541bf8099f0c2a54} 
+\index{BNO08x@{BNO08x}!raw\_quat\_J@{raw\_quat\_J}}
+\index{raw\_quat\_J@{raw\_quat\_J}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{raw\_quat\_J}{raw\_quat\_J}}
+{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::raw\+\_\+quat\+\_\+J\hspace{0.3cm}{\ttfamily [private]}}
+
+\Hypertarget{class_b_n_o08x_a7720c44ed1c0f1a0663d2adc5e1a1ea1}\label{class_b_n_o08x_a7720c44ed1c0f1a0663d2adc5e1a1ea1} 
+\index{BNO08x@{BNO08x}!raw\_quat\_K@{raw\_quat\_K}}
+\index{raw\_quat\_K@{raw\_quat\_K}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{raw\_quat\_K}{raw\_quat\_K}}
+{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::raw\+\_\+quat\+\_\+K\hspace{0.3cm}{\ttfamily [private]}}
+
+\Hypertarget{class_b_n_o08x_a033d6cb1aa137743b69cc3e401df67b7}\label{class_b_n_o08x_a033d6cb1aa137743b69cc3e401df67b7} 
+\index{BNO08x@{BNO08x}!raw\_quat\_radian\_accuracy@{raw\_quat\_radian\_accuracy}}
+\index{raw\_quat\_radian\_accuracy@{raw\_quat\_radian\_accuracy}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{raw\_quat\_radian\_accuracy}{raw\_quat\_radian\_accuracy}}
+{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::raw\+\_\+quat\+\_\+radian\+\_\+accuracy\hspace{0.3cm}{\ttfamily [private]}}
+
+\Hypertarget{class_b_n_o08x_a867354267253ae828be4fae15c062db3}\label{class_b_n_o08x_a867354267253ae828be4fae15c062db3} 
+\index{BNO08x@{BNO08x}!raw\_quat\_real@{raw\_quat\_real}}
+\index{raw\_quat\_real@{raw\_quat\_real}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{raw\_quat\_real}{raw\_quat\_real}}
+{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::raw\+\_\+quat\+\_\+real\hspace{0.3cm}{\ttfamily [private]}}
+
+\Hypertarget{class_b_n_o08x_afdc5cdb65bd0b36528b5b671b9d27053}\label{class_b_n_o08x_afdc5cdb65bd0b36528b5b671b9d27053} 
+\index{BNO08x@{BNO08x}!raw\_uncalib\_gyro\_X@{raw\_uncalib\_gyro\_X}}
+\index{raw\_uncalib\_gyro\_X@{raw\_uncalib\_gyro\_X}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{raw\_uncalib\_gyro\_X}{raw\_uncalib\_gyro\_X}}
+{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::raw\+\_\+uncalib\+\_\+gyro\+\_\+X\hspace{0.3cm}{\ttfamily [private]}}
+
+\Hypertarget{class_b_n_o08x_acc2c66e2985975266a286385ea855117}\label{class_b_n_o08x_acc2c66e2985975266a286385ea855117} 
+\index{BNO08x@{BNO08x}!raw\_uncalib\_gyro\_Y@{raw\_uncalib\_gyro\_Y}}
+\index{raw\_uncalib\_gyro\_Y@{raw\_uncalib\_gyro\_Y}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{raw\_uncalib\_gyro\_Y}{raw\_uncalib\_gyro\_Y}}
+{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::raw\+\_\+uncalib\+\_\+gyro\+\_\+Y\hspace{0.3cm}{\ttfamily [private]}}
+
+\Hypertarget{class_b_n_o08x_afac9dd4161f4c0051255293680c9082b}\label{class_b_n_o08x_afac9dd4161f4c0051255293680c9082b} 
+\index{BNO08x@{BNO08x}!raw\_uncalib\_gyro\_Z@{raw\_uncalib\_gyro\_Z}}
+\index{raw\_uncalib\_gyro\_Z@{raw\_uncalib\_gyro\_Z}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{raw\_uncalib\_gyro\_Z}{raw\_uncalib\_gyro\_Z}}
+{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::raw\+\_\+uncalib\+\_\+gyro\+\_\+Z\hspace{0.3cm}{\ttfamily [private]}}
+
+\Hypertarget{class_b_n_o08x_aa5bb03dbeabed729c012ec7164a3354f}\label{class_b_n_o08x_aa5bb03dbeabed729c012ec7164a3354f} 
+\index{BNO08x@{BNO08x}!raw\_velocity\_gyro\_X@{raw\_velocity\_gyro\_X}}
+\index{raw\_velocity\_gyro\_X@{raw\_velocity\_gyro\_X}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{raw\_velocity\_gyro\_X}{raw\_velocity\_gyro\_X}}
+{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::raw\+\_\+velocity\+\_\+gyro\+\_\+X\hspace{0.3cm}{\ttfamily [private]}}
+
+\Hypertarget{class_b_n_o08x_a4f188bf76ba862f07606d1351d28548f}\label{class_b_n_o08x_a4f188bf76ba862f07606d1351d28548f} 
+\index{BNO08x@{BNO08x}!raw\_velocity\_gyro\_Y@{raw\_velocity\_gyro\_Y}}
+\index{raw\_velocity\_gyro\_Y@{raw\_velocity\_gyro\_Y}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{raw\_velocity\_gyro\_Y}{raw\_velocity\_gyro\_Y}}
+{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::raw\+\_\+velocity\+\_\+gyro\+\_\+Y\hspace{0.3cm}{\ttfamily [private]}}
+
+\Hypertarget{class_b_n_o08x_ab49f9a6586d709bbd26280ef44a4bbf7}\label{class_b_n_o08x_ab49f9a6586d709bbd26280ef44a4bbf7} 
+\index{BNO08x@{BNO08x}!raw\_velocity\_gyro\_Z@{raw\_velocity\_gyro\_Z}}
+\index{raw\_velocity\_gyro\_Z@{raw\_velocity\_gyro\_Z}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{raw\_velocity\_gyro\_Z}{raw\_velocity\_gyro\_Z}}
+{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::raw\+\_\+velocity\+\_\+gyro\+\_\+Z\hspace{0.3cm}{\ttfamily [private]}}
+
+
+
+Raw gyro angular velocity reading (See SH-\/2 Ref. Manual 6.\+5.\+44) 
+
+\Hypertarget{class_b_n_o08x_a923d65d8568cc31873ad56a3908e1939}\label{class_b_n_o08x_a923d65d8568cc31873ad56a3908e1939} 
+\index{BNO08x@{BNO08x}!ROTATION\_VECTOR\_ACCURACY\_Q1@{ROTATION\_VECTOR\_ACCURACY\_Q1}}
+\index{ROTATION\_VECTOR\_ACCURACY\_Q1@{ROTATION\_VECTOR\_ACCURACY\_Q1}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{ROTATION\_VECTOR\_ACCURACY\_Q1}{ROTATION\_VECTOR\_ACCURACY\_Q1}}
+{\footnotesize\ttfamily const constexpr int16\+\_\+t BNO08x\+::\+ROTATION\+\_\+\+VECTOR\+\_\+\+ACCURACY\+\_\+\+Q1 = 12\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}}
+
+
+
+Rotation vector accuracy estimate Q point (See SH-\/2 Ref. Manual 6.\+5.\+18) 
+
+\Hypertarget{class_b_n_o08x_a0b19c8f2de2b2bfe033da7f93cdd2608}\label{class_b_n_o08x_a0b19c8f2de2b2bfe033da7f93cdd2608} 
+\index{BNO08x@{BNO08x}!ROTATION\_VECTOR\_Q1@{ROTATION\_VECTOR\_Q1}}
+\index{ROTATION\_VECTOR\_Q1@{ROTATION\_VECTOR\_Q1}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{ROTATION\_VECTOR\_Q1}{ROTATION\_VECTOR\_Q1}}
+{\footnotesize\ttfamily const constexpr int16\+\_\+t BNO08x\+::\+ROTATION\+\_\+\+VECTOR\+\_\+\+Q1 = 14\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}}
+
+
+
+Rotation vector Q point (See SH-\/2 Ref. Manual 6.\+5.\+18) 
+
+\Hypertarget{class_b_n_o08x_a1a037bda37493cde56732cc6fdc7884b}\label{class_b_n_o08x_a1a037bda37493cde56732cc6fdc7884b} 
+\index{BNO08x@{BNO08x}!RX\_DATA\_LENGTH@{RX\_DATA\_LENGTH}}
+\index{RX\_DATA\_LENGTH@{RX\_DATA\_LENGTH}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{RX\_DATA\_LENGTH}{RX\_DATA\_LENGTH}}
+{\footnotesize\ttfamily const constexpr uint16\+\_\+t BNO08x\+::\+RX\+\_\+\+DATA\+\_\+\+LENGTH = 300\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+
+
+length buffer containing data received over spi 
+
+\Hypertarget{class_b_n_o08x_a354eaff2218eb382a1851537a75badcc}\label{class_b_n_o08x_a354eaff2218eb382a1851537a75badcc} 
+\index{BNO08x@{BNO08x}!SENSOR\_REPORT\_ID\_ACCELEROMETER@{SENSOR\_REPORT\_ID\_ACCELEROMETER}}
+\index{SENSOR\_REPORT\_ID\_ACCELEROMETER@{SENSOR\_REPORT\_ID\_ACCELEROMETER}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{SENSOR\_REPORT\_ID\_ACCELEROMETER}{SENSOR\_REPORT\_ID\_ACCELEROMETER}}
+{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+ACCELEROMETER = 0x01\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+
+
+See SH2 Ref. Manual 6.\+5.\+9. 
+
+\Hypertarget{class_b_n_o08x_aeb51ebb6c82158cd7e23bd682c08c4e0}\label{class_b_n_o08x_aeb51ebb6c82158cd7e23bd682c08c4e0} 
+\index{BNO08x@{BNO08x}!SENSOR\_REPORT\_ID\_ARVR\_STABILIZED\_GAME\_ROTATION\_VECTOR@{SENSOR\_REPORT\_ID\_ARVR\_STABILIZED\_GAME\_ROTATION\_VECTOR}}
+\index{SENSOR\_REPORT\_ID\_ARVR\_STABILIZED\_GAME\_ROTATION\_VECTOR@{SENSOR\_REPORT\_ID\_ARVR\_STABILIZED\_GAME\_ROTATION\_VECTOR}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{SENSOR\_REPORT\_ID\_ARVR\_STABILIZED\_GAME\_ROTATION\_VECTOR}{SENSOR\_REPORT\_ID\_ARVR\_STABILIZED\_GAME\_ROTATION\_VECTOR}}
+{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+ARVR\+\_\+\+STABILIZED\+\_\+\+GAME\+\_\+\+ROTATION\+\_\+\+VECTOR = 0x29\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+
+
+See SH2 Ref. Manual 6.\+5.\+43. 
+
+\Hypertarget{class_b_n_o08x_a8d4b91149cfc1a3cd615f60a4ad2275e}\label{class_b_n_o08x_a8d4b91149cfc1a3cd615f60a4ad2275e} 
+\index{BNO08x@{BNO08x}!SENSOR\_REPORT\_ID\_ARVR\_STABILIZED\_ROTATION\_VECTOR@{SENSOR\_REPORT\_ID\_ARVR\_STABILIZED\_ROTATION\_VECTOR}}
+\index{SENSOR\_REPORT\_ID\_ARVR\_STABILIZED\_ROTATION\_VECTOR@{SENSOR\_REPORT\_ID\_ARVR\_STABILIZED\_ROTATION\_VECTOR}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{SENSOR\_REPORT\_ID\_ARVR\_STABILIZED\_ROTATION\_VECTOR}{SENSOR\_REPORT\_ID\_ARVR\_STABILIZED\_ROTATION\_VECTOR}}
+{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+ARVR\+\_\+\+STABILIZED\+\_\+\+ROTATION\+\_\+\+VECTOR = 0x28\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+
+
+See SH2 Ref. Manual 6.\+5.\+42. 
+
+\Hypertarget{class_b_n_o08x_ada7dbda9f7a0bfb0894a787ce0ff9cef}\label{class_b_n_o08x_ada7dbda9f7a0bfb0894a787ce0ff9cef} 
+\index{BNO08x@{BNO08x}!SENSOR\_REPORT\_ID\_GAME\_ROTATION\_VECTOR@{SENSOR\_REPORT\_ID\_GAME\_ROTATION\_VECTOR}}
+\index{SENSOR\_REPORT\_ID\_GAME\_ROTATION\_VECTOR@{SENSOR\_REPORT\_ID\_GAME\_ROTATION\_VECTOR}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{SENSOR\_REPORT\_ID\_GAME\_ROTATION\_VECTOR}{SENSOR\_REPORT\_ID\_GAME\_ROTATION\_VECTOR}}
+{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+GAME\+\_\+\+ROTATION\+\_\+\+VECTOR = 0x08\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+
+
+See SH2 Ref. Manual 6.\+5.\+19. 
+
+\Hypertarget{class_b_n_o08x_abb6d0586a5a87b7b34f4c65ae52965a4}\label{class_b_n_o08x_abb6d0586a5a87b7b34f4c65ae52965a4} 
+\index{BNO08x@{BNO08x}!SENSOR\_REPORT\_ID\_GEOMAGNETIC\_ROTATION\_VECTOR@{SENSOR\_REPORT\_ID\_GEOMAGNETIC\_ROTATION\_VECTOR}}
+\index{SENSOR\_REPORT\_ID\_GEOMAGNETIC\_ROTATION\_VECTOR@{SENSOR\_REPORT\_ID\_GEOMAGNETIC\_ROTATION\_VECTOR}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{SENSOR\_REPORT\_ID\_GEOMAGNETIC\_ROTATION\_VECTOR}{SENSOR\_REPORT\_ID\_GEOMAGNETIC\_ROTATION\_VECTOR}}
+{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+GEOMAGNETIC\+\_\+\+ROTATION\+\_\+\+VECTOR = 0x09\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+
+
+See SH2 Ref. Manual 6.\+5.\+20. 
+
+\Hypertarget{class_b_n_o08x_a6730acb92053d44decb690a7b7234032}\label{class_b_n_o08x_a6730acb92053d44decb690a7b7234032} 
+\index{BNO08x@{BNO08x}!SENSOR\_REPORT\_ID\_GRAVITY@{SENSOR\_REPORT\_ID\_GRAVITY}}
+\index{SENSOR\_REPORT\_ID\_GRAVITY@{SENSOR\_REPORT\_ID\_GRAVITY}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{SENSOR\_REPORT\_ID\_GRAVITY}{SENSOR\_REPORT\_ID\_GRAVITY}}
+{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+GRAVITY = 0x06\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+
+
+See SH2 Ref. Manual 6.\+5.\+11. 
+
+\Hypertarget{class_b_n_o08x_acd0fc6ffa70dd2761cba0ac0b88c234f}\label{class_b_n_o08x_acd0fc6ffa70dd2761cba0ac0b88c234f} 
+\index{BNO08x@{BNO08x}!SENSOR\_REPORT\_ID\_GYRO\_INTEGRATED\_ROTATION\_VECTOR@{SENSOR\_REPORT\_ID\_GYRO\_INTEGRATED\_ROTATION\_VECTOR}}
+\index{SENSOR\_REPORT\_ID\_GYRO\_INTEGRATED\_ROTATION\_VECTOR@{SENSOR\_REPORT\_ID\_GYRO\_INTEGRATED\_ROTATION\_VECTOR}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{SENSOR\_REPORT\_ID\_GYRO\_INTEGRATED\_ROTATION\_VECTOR}{SENSOR\_REPORT\_ID\_GYRO\_INTEGRATED\_ROTATION\_VECTOR}}
+{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+GYRO\+\_\+\+INTEGRATED\+\_\+\+ROTATION\+\_\+\+VECTOR = 0x2A\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+
+
+See SH2 Ref. Manual 6.\+5.\+44. 
+
+\Hypertarget{class_b_n_o08x_a224fb8f833806dd530c5f16e7ab5bc7a}\label{class_b_n_o08x_a224fb8f833806dd530c5f16e7ab5bc7a} 
+\index{BNO08x@{BNO08x}!SENSOR\_REPORT\_ID\_GYROSCOPE@{SENSOR\_REPORT\_ID\_GYROSCOPE}}
+\index{SENSOR\_REPORT\_ID\_GYROSCOPE@{SENSOR\_REPORT\_ID\_GYROSCOPE}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{SENSOR\_REPORT\_ID\_GYROSCOPE}{SENSOR\_REPORT\_ID\_GYROSCOPE}}
+{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+GYROSCOPE = 0x02\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+
+
+See SH2 Ref. Manual 6.\+5.\+13. 
+
+\Hypertarget{class_b_n_o08x_ace7720a02c9f4ef38e319849f6c36a0b}\label{class_b_n_o08x_ace7720a02c9f4ef38e319849f6c36a0b} 
+\index{BNO08x@{BNO08x}!SENSOR\_REPORT\_ID\_LINEAR\_ACCELERATION@{SENSOR\_REPORT\_ID\_LINEAR\_ACCELERATION}}
+\index{SENSOR\_REPORT\_ID\_LINEAR\_ACCELERATION@{SENSOR\_REPORT\_ID\_LINEAR\_ACCELERATION}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{SENSOR\_REPORT\_ID\_LINEAR\_ACCELERATION}{SENSOR\_REPORT\_ID\_LINEAR\_ACCELERATION}}
+{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+LINEAR\+\_\+\+ACCELERATION = 0x04\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+
+
+See SH2 Ref. Manual 6.\+5.\+10. 
+
+\Hypertarget{class_b_n_o08x_a06058a84d6604054aa66ee008ac64aa9}\label{class_b_n_o08x_a06058a84d6604054aa66ee008ac64aa9} 
+\index{BNO08x@{BNO08x}!SENSOR\_REPORT\_ID\_MAGNETIC\_FIELD@{SENSOR\_REPORT\_ID\_MAGNETIC\_FIELD}}
+\index{SENSOR\_REPORT\_ID\_MAGNETIC\_FIELD@{SENSOR\_REPORT\_ID\_MAGNETIC\_FIELD}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{SENSOR\_REPORT\_ID\_MAGNETIC\_FIELD}{SENSOR\_REPORT\_ID\_MAGNETIC\_FIELD}}
+{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+MAGNETIC\+\_\+\+FIELD = 0x03\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+
+
+See SH2 Ref. Manual 6.\+5.\+16. 
+
+\Hypertarget{class_b_n_o08x_a7274f6d3bda04da0bb304386b4e8d603}\label{class_b_n_o08x_a7274f6d3bda04da0bb304386b4e8d603} 
+\index{BNO08x@{BNO08x}!SENSOR\_REPORT\_ID\_PERSONAL\_ACTIVITY\_CLASSIFIER@{SENSOR\_REPORT\_ID\_PERSONAL\_ACTIVITY\_CLASSIFIER}}
+\index{SENSOR\_REPORT\_ID\_PERSONAL\_ACTIVITY\_CLASSIFIER@{SENSOR\_REPORT\_ID\_PERSONAL\_ACTIVITY\_CLASSIFIER}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{SENSOR\_REPORT\_ID\_PERSONAL\_ACTIVITY\_CLASSIFIER}{SENSOR\_REPORT\_ID\_PERSONAL\_ACTIVITY\_CLASSIFIER}}
+{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+PERSONAL\+\_\+\+ACTIVITY\+\_\+\+CLASSIFIER = 0x1E\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+
+
+See SH2 Ref. Manual 6.\+5.\+36. 
+
+\Hypertarget{class_b_n_o08x_a80ea70c4787dea6c3eabb48f583f1916}\label{class_b_n_o08x_a80ea70c4787dea6c3eabb48f583f1916} 
+\index{BNO08x@{BNO08x}!SENSOR\_REPORT\_ID\_RAW\_ACCELEROMETER@{SENSOR\_REPORT\_ID\_RAW\_ACCELEROMETER}}
+\index{SENSOR\_REPORT\_ID\_RAW\_ACCELEROMETER@{SENSOR\_REPORT\_ID\_RAW\_ACCELEROMETER}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{SENSOR\_REPORT\_ID\_RAW\_ACCELEROMETER}{SENSOR\_REPORT\_ID\_RAW\_ACCELEROMETER}}
+{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+RAW\+\_\+\+ACCELEROMETER = 0x14\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+
+
+See SH2 Ref. Manual 6.\+5.\+8. 
+
+\Hypertarget{class_b_n_o08x_a03b3000424e6d966b80655443ec546bc}\label{class_b_n_o08x_a03b3000424e6d966b80655443ec546bc} 
+\index{BNO08x@{BNO08x}!SENSOR\_REPORT\_ID\_RAW\_GYROSCOPE@{SENSOR\_REPORT\_ID\_RAW\_GYROSCOPE}}
+\index{SENSOR\_REPORT\_ID\_RAW\_GYROSCOPE@{SENSOR\_REPORT\_ID\_RAW\_GYROSCOPE}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{SENSOR\_REPORT\_ID\_RAW\_GYROSCOPE}{SENSOR\_REPORT\_ID\_RAW\_GYROSCOPE}}
+{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+RAW\+\_\+\+GYROSCOPE = 0x15\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+
+
+See SH2 Ref. Manual 6.\+5.\+12. 
+
+\Hypertarget{class_b_n_o08x_a9e9a7578b7584e7eb2ad562b29565fa7}\label{class_b_n_o08x_a9e9a7578b7584e7eb2ad562b29565fa7} 
+\index{BNO08x@{BNO08x}!SENSOR\_REPORT\_ID\_RAW\_MAGNETOMETER@{SENSOR\_REPORT\_ID\_RAW\_MAGNETOMETER}}
+\index{SENSOR\_REPORT\_ID\_RAW\_MAGNETOMETER@{SENSOR\_REPORT\_ID\_RAW\_MAGNETOMETER}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{SENSOR\_REPORT\_ID\_RAW\_MAGNETOMETER}{SENSOR\_REPORT\_ID\_RAW\_MAGNETOMETER}}
+{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+RAW\+\_\+\+MAGNETOMETER = 0x16\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+
+
+See SH2 Ref. Manual 6.\+5.\+15. 
+
+\Hypertarget{class_b_n_o08x_a37c91f995c385556486df5fbbce8a3d5}\label{class_b_n_o08x_a37c91f995c385556486df5fbbce8a3d5} 
+\index{BNO08x@{BNO08x}!SENSOR\_REPORT\_ID\_ROTATION\_VECTOR@{SENSOR\_REPORT\_ID\_ROTATION\_VECTOR}}
+\index{SENSOR\_REPORT\_ID\_ROTATION\_VECTOR@{SENSOR\_REPORT\_ID\_ROTATION\_VECTOR}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{SENSOR\_REPORT\_ID\_ROTATION\_VECTOR}{SENSOR\_REPORT\_ID\_ROTATION\_VECTOR}}
+{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+ROTATION\+\_\+\+VECTOR = 0x05\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+
+
+See SH2 Ref. Manual 6.\+5.\+18. 
+
+\Hypertarget{class_b_n_o08x_ab5c29f31714b4755c0edbce7156652f7}\label{class_b_n_o08x_ab5c29f31714b4755c0edbce7156652f7} 
+\index{BNO08x@{BNO08x}!SENSOR\_REPORT\_ID\_STABILITY\_CLASSIFIER@{SENSOR\_REPORT\_ID\_STABILITY\_CLASSIFIER}}
+\index{SENSOR\_REPORT\_ID\_STABILITY\_CLASSIFIER@{SENSOR\_REPORT\_ID\_STABILITY\_CLASSIFIER}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{SENSOR\_REPORT\_ID\_STABILITY\_CLASSIFIER}{SENSOR\_REPORT\_ID\_STABILITY\_CLASSIFIER}}
+{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+STABILITY\+\_\+\+CLASSIFIER = 0x13\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+
+
+See SH2 Ref. Manual 6.\+5.\+31. 
+
+\Hypertarget{class_b_n_o08x_a2a10161bb564067a07f3fcf4021e00bb}\label{class_b_n_o08x_a2a10161bb564067a07f3fcf4021e00bb} 
+\index{BNO08x@{BNO08x}!SENSOR\_REPORT\_ID\_STEP\_COUNTER@{SENSOR\_REPORT\_ID\_STEP\_COUNTER}}
+\index{SENSOR\_REPORT\_ID\_STEP\_COUNTER@{SENSOR\_REPORT\_ID\_STEP\_COUNTER}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{SENSOR\_REPORT\_ID\_STEP\_COUNTER}{SENSOR\_REPORT\_ID\_STEP\_COUNTER}}
+{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+STEP\+\_\+\+COUNTER = 0x11\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+
+
+See SH2 Ref. Manual 6.\+5.\+29. 
+
+\Hypertarget{class_b_n_o08x_a8114460c50e84b0ac750293ab72868c8}\label{class_b_n_o08x_a8114460c50e84b0ac750293ab72868c8} 
+\index{BNO08x@{BNO08x}!SENSOR\_REPORT\_ID\_TAP\_DETECTOR@{SENSOR\_REPORT\_ID\_TAP\_DETECTOR}}
+\index{SENSOR\_REPORT\_ID\_TAP\_DETECTOR@{SENSOR\_REPORT\_ID\_TAP\_DETECTOR}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{SENSOR\_REPORT\_ID\_TAP\_DETECTOR}{SENSOR\_REPORT\_ID\_TAP\_DETECTOR}}
+{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+TAP\+\_\+\+DETECTOR = 0x10\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+
+
+See SH2 Ref. Manual 6.\+5.\+27. 
+
+\Hypertarget{class_b_n_o08x_acb8e83fbb0645d4e98a96120ce9f431c}\label{class_b_n_o08x_acb8e83fbb0645d4e98a96120ce9f431c} 
+\index{BNO08x@{BNO08x}!SENSOR\_REPORT\_ID\_UNCALIBRATED\_GYRO@{SENSOR\_REPORT\_ID\_UNCALIBRATED\_GYRO}}
+\index{SENSOR\_REPORT\_ID\_UNCALIBRATED\_GYRO@{SENSOR\_REPORT\_ID\_UNCALIBRATED\_GYRO}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{SENSOR\_REPORT\_ID\_UNCALIBRATED\_GYRO}{SENSOR\_REPORT\_ID\_UNCALIBRATED\_GYRO}}
+{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+SENSOR\+\_\+\+REPORT\+\_\+\+ID\+\_\+\+UNCALIBRATED\+\_\+\+GYRO = 0x07\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+
+
+See SH2 Ref. Manual 6.\+5.\+14. 
+
+\Hypertarget{class_b_n_o08x_ae37d6f8431c8c465bfb0c662772b5cb9}\label{class_b_n_o08x_ae37d6f8431c8c465bfb0c662772b5cb9} 
+\index{BNO08x@{BNO08x}!SHTP\_REPORT\_BASE\_TIMESTAMP@{SHTP\_REPORT\_BASE\_TIMESTAMP}}
+\index{SHTP\_REPORT\_BASE\_TIMESTAMP@{SHTP\_REPORT\_BASE\_TIMESTAMP}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{SHTP\_REPORT\_BASE\_TIMESTAMP}{SHTP\_REPORT\_BASE\_TIMESTAMP}}
+{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+SHTP\+\_\+\+REPORT\+\_\+\+BASE\+\_\+\+TIMESTAMP = 0x\+FB\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+
+
+See SH2 Ref. Manual 7.\+2.\+1. 
+
+\Hypertarget{class_b_n_o08x_ab04695dd189412092254e52bd6e5a75a}\label{class_b_n_o08x_ab04695dd189412092254e52bd6e5a75a} 
+\index{BNO08x@{BNO08x}!SHTP\_REPORT\_COMMAND\_REQUEST@{SHTP\_REPORT\_COMMAND\_REQUEST}}
+\index{SHTP\_REPORT\_COMMAND\_REQUEST@{SHTP\_REPORT\_COMMAND\_REQUEST}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{SHTP\_REPORT\_COMMAND\_REQUEST}{SHTP\_REPORT\_COMMAND\_REQUEST}}
+{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+SHTP\+\_\+\+REPORT\+\_\+\+COMMAND\+\_\+\+REQUEST = 0x\+F2\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+
+
+See SH2 Ref. Manual 6.\+3.\+8. 
+
+\Hypertarget{class_b_n_o08x_a1e5b64caa514b7e4fe64ab214758b875}\label{class_b_n_o08x_a1e5b64caa514b7e4fe64ab214758b875} 
+\index{BNO08x@{BNO08x}!SHTP\_REPORT\_COMMAND\_RESPONSE@{SHTP\_REPORT\_COMMAND\_RESPONSE}}
+\index{SHTP\_REPORT\_COMMAND\_RESPONSE@{SHTP\_REPORT\_COMMAND\_RESPONSE}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{SHTP\_REPORT\_COMMAND\_RESPONSE}{SHTP\_REPORT\_COMMAND\_RESPONSE}}
+{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+SHTP\+\_\+\+REPORT\+\_\+\+COMMAND\+\_\+\+RESPONSE = 0x\+F1\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+
+
+See SH2 Ref. Manual 6.\+3.\+9. 
+
+\Hypertarget{class_b_n_o08x_a74af7eacc35cc825940b647c2de0d368}\label{class_b_n_o08x_a74af7eacc35cc825940b647c2de0d368} 
+\index{BNO08x@{BNO08x}!SHTP\_REPORT\_FRS\_READ\_REQUEST@{SHTP\_REPORT\_FRS\_READ\_REQUEST}}
+\index{SHTP\_REPORT\_FRS\_READ\_REQUEST@{SHTP\_REPORT\_FRS\_READ\_REQUEST}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{SHTP\_REPORT\_FRS\_READ\_REQUEST}{SHTP\_REPORT\_FRS\_READ\_REQUEST}}
+{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+SHTP\+\_\+\+REPORT\+\_\+\+FRS\+\_\+\+READ\+\_\+\+REQUEST = 0x\+F4\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+
+
+See SH2 Ref. Manual 6.\+3.\+6. 
+
+\Hypertarget{class_b_n_o08x_aeb760b095dcf808a413ef696f2608e43}\label{class_b_n_o08x_aeb760b095dcf808a413ef696f2608e43} 
+\index{BNO08x@{BNO08x}!SHTP\_REPORT\_FRS\_READ\_RESPONSE@{SHTP\_REPORT\_FRS\_READ\_RESPONSE}}
+\index{SHTP\_REPORT\_FRS\_READ\_RESPONSE@{SHTP\_REPORT\_FRS\_READ\_RESPONSE}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{SHTP\_REPORT\_FRS\_READ\_RESPONSE}{SHTP\_REPORT\_FRS\_READ\_RESPONSE}}
+{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+SHTP\+\_\+\+REPORT\+\_\+\+FRS\+\_\+\+READ\+\_\+\+RESPONSE = 0x\+F3\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+
+
+See SH2 Ref. Manual 6.\+3.\+7. 
+
+\Hypertarget{class_b_n_o08x_a542405639c28bd56bc4361b922763c95}\label{class_b_n_o08x_a542405639c28bd56bc4361b922763c95} 
+\index{BNO08x@{BNO08x}!SHTP\_REPORT\_PRODUCT\_ID\_REQUEST@{SHTP\_REPORT\_PRODUCT\_ID\_REQUEST}}
+\index{SHTP\_REPORT\_PRODUCT\_ID\_REQUEST@{SHTP\_REPORT\_PRODUCT\_ID\_REQUEST}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{SHTP\_REPORT\_PRODUCT\_ID\_REQUEST}{SHTP\_REPORT\_PRODUCT\_ID\_REQUEST}}
+{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+SHTP\+\_\+\+REPORT\+\_\+\+PRODUCT\+\_\+\+ID\+\_\+\+REQUEST = 0x\+F9\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+
+
+See SH2 Ref. Manual 6.\+3.\+1. 
+
+\Hypertarget{class_b_n_o08x_a0177134162e116501bc9483c6e4b76c3}\label{class_b_n_o08x_a0177134162e116501bc9483c6e4b76c3} 
+\index{BNO08x@{BNO08x}!SHTP\_REPORT\_PRODUCT\_ID\_RESPONSE@{SHTP\_REPORT\_PRODUCT\_ID\_RESPONSE}}
+\index{SHTP\_REPORT\_PRODUCT\_ID\_RESPONSE@{SHTP\_REPORT\_PRODUCT\_ID\_RESPONSE}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{SHTP\_REPORT\_PRODUCT\_ID\_RESPONSE}{SHTP\_REPORT\_PRODUCT\_ID\_RESPONSE}}
+{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+SHTP\+\_\+\+REPORT\+\_\+\+PRODUCT\+\_\+\+ID\+\_\+\+RESPONSE = 0x\+F8\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+
+
+See SH2 Ref. Manual 6.\+3.\+2. 
+
+\Hypertarget{class_b_n_o08x_a1d3bff4e20c2c3d47db322c9e34ef338}\label{class_b_n_o08x_a1d3bff4e20c2c3d47db322c9e34ef338} 
+\index{BNO08x@{BNO08x}!SHTP\_REPORT\_SET\_FEATURE\_COMMAND@{SHTP\_REPORT\_SET\_FEATURE\_COMMAND}}
+\index{SHTP\_REPORT\_SET\_FEATURE\_COMMAND@{SHTP\_REPORT\_SET\_FEATURE\_COMMAND}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{SHTP\_REPORT\_SET\_FEATURE\_COMMAND}{SHTP\_REPORT\_SET\_FEATURE\_COMMAND}}
+{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+SHTP\+\_\+\+REPORT\+\_\+\+SET\+\_\+\+FEATURE\+\_\+\+COMMAND = 0x\+FD\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+
+
+See SH2 Ref. Manual 6.\+5.\+4. 
+
+\Hypertarget{class_b_n_o08x_acc0ea091465fc9a5736f5e0c6a0ce8ef}\label{class_b_n_o08x_acc0ea091465fc9a5736f5e0c6a0ce8ef} 
+\index{BNO08x@{BNO08x}!spi\_hdl@{spi\_hdl}}
+\index{spi\_hdl@{spi\_hdl}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{spi\_hdl}{spi\_hdl}}
+{\footnotesize\ttfamily spi\+\_\+device\+\_\+handle\+\_\+t BNO08x\+::spi\+\_\+hdl \{\}\hspace{0.3cm}{\ttfamily [private]}}
+
+
+
+SPI device handle. 
+
+\Hypertarget{class_b_n_o08x_a615090aae15f1b0410a7e5ecb94957b5}\label{class_b_n_o08x_a615090aae15f1b0410a7e5ecb94957b5} 
+\index{BNO08x@{BNO08x}!spi\_task\_hdl@{spi\_task\_hdl}}
+\index{spi\_task\_hdl@{spi\_task\_hdl}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{spi\_task\_hdl}{spi\_task\_hdl}}
+{\footnotesize\ttfamily Task\+Handle\+\_\+t BNO08x\+::spi\+\_\+task\+\_\+hdl\hspace{0.3cm}{\ttfamily [private]}}
+
+
+
+\doxylink{class_b_n_o08x_a2ecd4ed60f82730ae230c61687ec92bf}{spi\+\_\+task()} handle 
+
+\Hypertarget{class_b_n_o08x_ac16adc5f00b0039c98a4921f13895026}\label{class_b_n_o08x_ac16adc5f00b0039c98a4921f13895026} 
+\index{BNO08x@{BNO08x}!spi\_transaction@{spi\_transaction}}
+\index{spi\_transaction@{spi\_transaction}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{spi\_transaction}{spi\_transaction}}
+{\footnotesize\ttfamily spi\+\_\+transaction\+\_\+t BNO08x\+::spi\+\_\+transaction \{\}\hspace{0.3cm}{\ttfamily [private]}}
+
+
+
+SPI transaction handle. 
+
+\Hypertarget{class_b_n_o08x_a1b12471e92536a79d0c425d77676f2e1}\label{class_b_n_o08x_a1b12471e92536a79d0c425d77676f2e1} 
+\index{BNO08x@{BNO08x}!stability\_classifier@{stability\_classifier}}
+\index{stability\_classifier@{stability\_classifier}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{stability\_classifier}{stability\_classifier}}
+{\footnotesize\ttfamily uint8\+\_\+t BNO08x\+::stability\+\_\+classifier\hspace{0.3cm}{\ttfamily [private]}}
+
+
+
+Stability status reading (See SH-\/2 Ref. Manual 6.\+5.\+31) 
+
+\Hypertarget{class_b_n_o08x_ad80a77973371b12d722ea39063c648be}\label{class_b_n_o08x_ad80a77973371b12d722ea39063c648be} 
+\index{BNO08x@{BNO08x}!step\_count@{step\_count}}
+\index{step\_count@{step\_count}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{step\_count}{step\_count}}
+{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::step\+\_\+count\hspace{0.3cm}{\ttfamily [private]}}
+
+
+
+Step counter reading (See SH-\/2 Ref. Manual 6.\+5.\+29) 
+
+\Hypertarget{class_b_n_o08x_a2c98d5f2c406a3efd0b48c5666fa8c46}\label{class_b_n_o08x_a2c98d5f2c406a3efd0b48c5666fa8c46} 
+\index{BNO08x@{BNO08x}!TAG@{TAG}}
+\index{TAG@{TAG}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{TAG}{TAG}}
+{\footnotesize\ttfamily const constexpr char\texorpdfstring{$\ast$}{*} BNO08x\+::\+TAG = "{}BNO08x"{}\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+
+
+Class tag used for serial print statements. 
+
+\Hypertarget{class_b_n_o08x_a1171a5738a4e6831ec7fa32a29f15554}\label{class_b_n_o08x_a1171a5738a4e6831ec7fa32a29f15554} 
+\index{BNO08x@{BNO08x}!tap\_detector@{tap\_detector}}
+\index{tap\_detector@{tap\_detector}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{tap\_detector}{tap\_detector}}
+{\footnotesize\ttfamily uint8\+\_\+t BNO08x\+::tap\+\_\+detector\hspace{0.3cm}{\ttfamily [private]}}
+
+
+
+Tap detector reading (See SH-\/2 Ref. Manual 6.\+5.\+27) 
+
+\Hypertarget{class_b_n_o08x_a68aaaab144adbe5af00597408f044d9d}\label{class_b_n_o08x_a68aaaab144adbe5af00597408f044d9d} 
+\index{BNO08x@{BNO08x}!TARE\_ARVR\_STABILIZED\_GAME\_ROTATION\_VECTOR@{TARE\_ARVR\_STABILIZED\_GAME\_ROTATION\_VECTOR}}
+\index{TARE\_ARVR\_STABILIZED\_GAME\_ROTATION\_VECTOR@{TARE\_ARVR\_STABILIZED\_GAME\_ROTATION\_VECTOR}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{TARE\_ARVR\_STABILIZED\_GAME\_ROTATION\_VECTOR}{TARE\_ARVR\_STABILIZED\_GAME\_ROTATION\_VECTOR}}
+{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+TARE\+\_\+\+ARVR\+\_\+\+STABILIZED\+\_\+\+GAME\+\_\+\+ROTATION\+\_\+\+VECTOR = 5\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}}
+
+
+
+Tare ARVR stabilized game rotation vector. 
+
+\Hypertarget{class_b_n_o08x_abff9abe904bcdde951cf88c378284b45}\label{class_b_n_o08x_abff9abe904bcdde951cf88c378284b45} 
+\index{BNO08x@{BNO08x}!TARE\_ARVR\_STABILIZED\_ROTATION\_VECTOR@{TARE\_ARVR\_STABILIZED\_ROTATION\_VECTOR}}
+\index{TARE\_ARVR\_STABILIZED\_ROTATION\_VECTOR@{TARE\_ARVR\_STABILIZED\_ROTATION\_VECTOR}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{TARE\_ARVR\_STABILIZED\_ROTATION\_VECTOR}{TARE\_ARVR\_STABILIZED\_ROTATION\_VECTOR}}
+{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+TARE\+\_\+\+ARVR\+\_\+\+STABILIZED\+\_\+\+ROTATION\+\_\+\+VECTOR = 4\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}}
+
+
+
+Tare ARVR stabilized rotation vector. 
+
+\Hypertarget{class_b_n_o08x_a1ef13f6f330810934416ad5fe0ee55b2}\label{class_b_n_o08x_a1ef13f6f330810934416ad5fe0ee55b2} 
+\index{BNO08x@{BNO08x}!TARE\_AXIS\_ALL@{TARE\_AXIS\_ALL}}
+\index{TARE\_AXIS\_ALL@{TARE\_AXIS\_ALL}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{TARE\_AXIS\_ALL}{TARE\_AXIS\_ALL}}
+{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+TARE\+\_\+\+AXIS\+\_\+\+ALL = 0x07\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}}
+
+
+
+Tare all axes (used with tare now command) 
+
+\Hypertarget{class_b_n_o08x_aecb3e11c1ca5769fd60f42c17a105731}\label{class_b_n_o08x_aecb3e11c1ca5769fd60f42c17a105731} 
+\index{BNO08x@{BNO08x}!TARE\_AXIS\_Z@{TARE\_AXIS\_Z}}
+\index{TARE\_AXIS\_Z@{TARE\_AXIS\_Z}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{TARE\_AXIS\_Z}{TARE\_AXIS\_Z}}
+{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+TARE\+\_\+\+AXIS\+\_\+Z = 0x04\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}}
+
+
+
+Tar yaw axis only (used with tare now command) 
+
+\Hypertarget{class_b_n_o08x_abaf1ec8bb197db1998a9ed3cec6180d5}\label{class_b_n_o08x_abaf1ec8bb197db1998a9ed3cec6180d5} 
+\index{BNO08x@{BNO08x}!TARE\_GAME\_ROTATION\_VECTOR@{TARE\_GAME\_ROTATION\_VECTOR}}
+\index{TARE\_GAME\_ROTATION\_VECTOR@{TARE\_GAME\_ROTATION\_VECTOR}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{TARE\_GAME\_ROTATION\_VECTOR}{TARE\_GAME\_ROTATION\_VECTOR}}
+{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+TARE\+\_\+\+GAME\+\_\+\+ROTATION\+\_\+\+VECTOR = 1\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}}
+
+
+
+Tare game rotation vector. 
+
+\Hypertarget{class_b_n_o08x_a225397a04d849e5647992ca80d68febb}\label{class_b_n_o08x_a225397a04d849e5647992ca80d68febb} 
+\index{BNO08x@{BNO08x}!TARE\_GEOMAGNETIC\_ROTATION\_VECTOR@{TARE\_GEOMAGNETIC\_ROTATION\_VECTOR}}
+\index{TARE\_GEOMAGNETIC\_ROTATION\_VECTOR@{TARE\_GEOMAGNETIC\_ROTATION\_VECTOR}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{TARE\_GEOMAGNETIC\_ROTATION\_VECTOR}{TARE\_GEOMAGNETIC\_ROTATION\_VECTOR}}
+{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+TARE\+\_\+\+GEOMAGNETIC\+\_\+\+ROTATION\+\_\+\+VECTOR = 2\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}}
+
+
+
+tare geomagnetic rotation vector 
+
+\Hypertarget{class_b_n_o08x_a9ec354d75249f06f13599abf7bedfde0}\label{class_b_n_o08x_a9ec354d75249f06f13599abf7bedfde0} 
+\index{BNO08x@{BNO08x}!TARE\_GYRO\_INTEGRATED\_ROTATION\_VECTOR@{TARE\_GYRO\_INTEGRATED\_ROTATION\_VECTOR}}
+\index{TARE\_GYRO\_INTEGRATED\_ROTATION\_VECTOR@{TARE\_GYRO\_INTEGRATED\_ROTATION\_VECTOR}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{TARE\_GYRO\_INTEGRATED\_ROTATION\_VECTOR}{TARE\_GYRO\_INTEGRATED\_ROTATION\_VECTOR}}
+{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+TARE\+\_\+\+GYRO\+\_\+\+INTEGRATED\+\_\+\+ROTATION\+\_\+\+VECTOR = 3\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}}
+
+
+
+Tare gyro integrated rotation vector. 
+
+\Hypertarget{class_b_n_o08x_a27df630f3e52b35552d2c1f2cf3496b0}\label{class_b_n_o08x_a27df630f3e52b35552d2c1f2cf3496b0} 
+\index{BNO08x@{BNO08x}!TARE\_NOW@{TARE\_NOW}}
+\index{TARE\_NOW@{TARE\_NOW}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{TARE\_NOW}{TARE\_NOW}}
+{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+TARE\+\_\+\+NOW = 0\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+
+
+See SH2 Ref. Manual 6.\+4.\+4.\+1. 
+
+\Hypertarget{class_b_n_o08x_a115aef7b38ec0dec2085f6917d832912}\label{class_b_n_o08x_a115aef7b38ec0dec2085f6917d832912} 
+\index{BNO08x@{BNO08x}!TARE\_PERSIST@{TARE\_PERSIST}}
+\index{TARE\_PERSIST@{TARE\_PERSIST}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{TARE\_PERSIST}{TARE\_PERSIST}}
+{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+TARE\+\_\+\+PERSIST = 1\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+
+
+See SH2 Ref. Manual 6.\+4.\+4.\+2. 
+
+\Hypertarget{class_b_n_o08x_a8e2cfc25d0e34ae53a762b88cc3ac3c8}\label{class_b_n_o08x_a8e2cfc25d0e34ae53a762b88cc3ac3c8} 
+\index{BNO08x@{BNO08x}!TARE\_ROTATION\_VECTOR@{TARE\_ROTATION\_VECTOR}}
+\index{TARE\_ROTATION\_VECTOR@{TARE\_ROTATION\_VECTOR}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{TARE\_ROTATION\_VECTOR}{TARE\_ROTATION\_VECTOR}}
+{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+TARE\+\_\+\+ROTATION\+\_\+\+VECTOR = 0\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}}
+
+
+
+Tare rotation vector. 
+
+\Hypertarget{class_b_n_o08x_a59cde7dd301c94a20b84735c5d49008e}\label{class_b_n_o08x_a59cde7dd301c94a20b84735c5d49008e} 
+\index{BNO08x@{BNO08x}!TARE\_SET\_REORIENTATION@{TARE\_SET\_REORIENTATION}}
+\index{TARE\_SET\_REORIENTATION@{TARE\_SET\_REORIENTATION}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{TARE\_SET\_REORIENTATION}{TARE\_SET\_REORIENTATION}}
+{\footnotesize\ttfamily const constexpr uint8\+\_\+t BNO08x\+::\+TARE\+\_\+\+SET\+\_\+\+REORIENTATION = 2\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [private]}}
+
+
+
+See SH2 Ref. Manual 6.\+4.\+4.\+3. 
+
+\Hypertarget{class_b_n_o08x_abc972db20affbd0040b4e6c4892dd57b}\label{class_b_n_o08x_abc972db20affbd0040b4e6c4892dd57b} 
+\index{BNO08x@{BNO08x}!time\_stamp@{time\_stamp}}
+\index{time\_stamp@{time\_stamp}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{time\_stamp}{time\_stamp}}
+{\footnotesize\ttfamily uint32\+\_\+t BNO08x\+::time\+\_\+stamp\hspace{0.3cm}{\ttfamily [private]}}
+
+
+
+Report timestamp (see datasheet 1.\+3.\+5.\+3) 
+
+\Hypertarget{class_b_n_o08x_a081c666a3f24016d0ec5c5edc49f2903}\label{class_b_n_o08x_a081c666a3f24016d0ec5c5edc49f2903} 
+\index{BNO08x@{BNO08x}!uncalib\_gyro\_accuracy@{uncalib\_gyro\_accuracy}}
+\index{uncalib\_gyro\_accuracy@{uncalib\_gyro\_accuracy}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{uncalib\_gyro\_accuracy}{uncalib\_gyro\_accuracy}}
+{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::uncalib\+\_\+gyro\+\_\+accuracy\hspace{0.3cm}{\ttfamily [private]}}
+
+
+
+Uncalibrated gyro reading (See SH-\/2 Ref. Manual 6.\+5.\+14) 
+
+
+
+The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{_b_n_o08x_8hpp}{BNO08x.\+hpp}}\item 
+\mbox{\hyperlink{_b_n_o08x_8cpp}{BNO08x.\+cpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/class_b_n_o08x__coll__graph.md5 b/documentation/latex/class_b_n_o08x__coll__graph.md5
new file mode 100644
index 0000000..c234b0b
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x__coll__graph.md5
@@ -0,0 +1 @@
+a144944ded84790e46a0a180804d269e
\ No newline at end of file
diff --git a/documentation/latex/class_b_n_o08x__coll__graph.pdf b/documentation/latex/class_b_n_o08x__coll__graph.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..2895b6e01c258139fda6263f2fbddd2a7e8e3d59
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diff --git a/documentation/latex/class_b_n_o08x_a00ec3857cb06ae885e32059ef1cab693_icgraph.md5 b/documentation/latex/class_b_n_o08x_a00ec3857cb06ae885e32059ef1cab693_icgraph.md5
new file mode 100644
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@@ -0,0 +1 @@
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diff --git a/documentation/latex/class_b_n_o08x_a00ec3857cb06ae885e32059ef1cab693_icgraph.pdf b/documentation/latex/class_b_n_o08x_a00ec3857cb06ae885e32059ef1cab693_icgraph.pdf
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diff --git a/documentation/latex/class_b_n_o08x_a0a73633d8929ce4058b14cefc8cad717_cgraph.md5 b/documentation/latex/class_b_n_o08x_a0a73633d8929ce4058b14cefc8cad717_cgraph.md5
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diff --git a/documentation/latex/class_b_n_o08x_a0ae135d7bf7a5f047a1d1aa5cc07e520_icgraph.md5 b/documentation/latex/class_b_n_o08x_a0ae135d7bf7a5f047a1d1aa5cc07e520_icgraph.md5
new file mode 100644
index 0000000..9ab2302
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x_a0ae135d7bf7a5f047a1d1aa5cc07e520_icgraph.md5
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diff --git a/documentation/latex/class_b_n_o08x_a0fff04c42c9502615ad73cd1457cb9b0_cgraph.md5 b/documentation/latex/class_b_n_o08x_a0fff04c42c9502615ad73cd1457cb9b0_cgraph.md5
new file mode 100644
index 0000000..66aa143
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+++ b/documentation/latex/class_b_n_o08x_a0fff04c42c9502615ad73cd1457cb9b0_cgraph.md5
@@ -0,0 +1 @@
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diff --git a/documentation/latex/class_b_n_o08x_a0fff04c42c9502615ad73cd1457cb9b0_cgraph.pdf b/documentation/latex/class_b_n_o08x_a0fff04c42c9502615ad73cd1457cb9b0_cgraph.pdf
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diff --git a/documentation/latex/class_b_n_o08x_a1033bdd65b42b6706d1dfc67ece66191_cgraph.md5 b/documentation/latex/class_b_n_o08x_a1033bdd65b42b6706d1dfc67ece66191_cgraph.md5
new file mode 100644
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diff --git a/documentation/latex/class_b_n_o08x_a1033bdd65b42b6706d1dfc67ece66191_cgraph.pdf b/documentation/latex/class_b_n_o08x_a1033bdd65b42b6706d1dfc67ece66191_cgraph.pdf
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diff --git a/documentation/latex/class_b_n_o08x_a12c12a8e078b28480fb8828d306656f5_cgraph.md5 b/documentation/latex/class_b_n_o08x_a12c12a8e078b28480fb8828d306656f5_cgraph.md5
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diff --git a/documentation/latex/class_b_n_o08x_a14ebec501b8d004a38648a9a1f7a2c9e_cgraph.md5 b/documentation/latex/class_b_n_o08x_a14ebec501b8d004a38648a9a1f7a2c9e_cgraph.md5
new file mode 100644
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diff --git a/documentation/latex/class_b_n_o08x_a171d78f4b00598b04c8ca54da16c508b_cgraph.pdf b/documentation/latex/class_b_n_o08x_a171d78f4b00598b04c8ca54da16c508b_cgraph.pdf
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diff --git a/documentation/latex/class_b_n_o08x_a176ae0112325c05105eacb4566bbfa0b_cgraph.md5 b/documentation/latex/class_b_n_o08x_a176ae0112325c05105eacb4566bbfa0b_cgraph.md5
new file mode 100644
index 0000000..1182a1e
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+++ b/documentation/latex/class_b_n_o08x_a176ae0112325c05105eacb4566bbfa0b_cgraph.md5
@@ -0,0 +1 @@
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diff --git a/documentation/latex/class_b_n_o08x_a1c6c49c97bc098db89db1aaa37e18f26_cgraph.md5 b/documentation/latex/class_b_n_o08x_a1c6c49c97bc098db89db1aaa37e18f26_cgraph.md5
new file mode 100644
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diff --git a/documentation/latex/class_b_n_o08x_a1c6c49c97bc098db89db1aaa37e18f26_cgraph.pdf b/documentation/latex/class_b_n_o08x_a1c6c49c97bc098db89db1aaa37e18f26_cgraph.pdf
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diff --git a/documentation/latex/class_b_n_o08x_a1d6ea02d0d4b23ff6a15e9d5c6c92372_cgraph.md5 b/documentation/latex/class_b_n_o08x_a1d6ea02d0d4b23ff6a15e9d5c6c92372_cgraph.md5
new file mode 100644
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diff --git a/documentation/latex/class_b_n_o08x_a24ba760d064a1dc45f972c79b9c8d98d_icgraph.md5 b/documentation/latex/class_b_n_o08x_a24ba760d064a1dc45f972c79b9c8d98d_icgraph.md5
new file mode 100644
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diff --git a/documentation/latex/class_b_n_o08x_a24ba760d064a1dc45f972c79b9c8d98d_icgraph.pdf b/documentation/latex/class_b_n_o08x_a24ba760d064a1dc45f972c79b9c8d98d_icgraph.pdf
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diff --git a/documentation/latex/class_b_n_o08x_a2795c6579cf03e22f62a5eadc88dee91_cgraph.md5 b/documentation/latex/class_b_n_o08x_a2795c6579cf03e22f62a5eadc88dee91_cgraph.md5
new file mode 100644
index 0000000..56329fb
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@@ -0,0 +1 @@
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diff --git a/documentation/latex/class_b_n_o08x_a2795c6579cf03e22f62a5eadc88dee91_cgraph.pdf b/documentation/latex/class_b_n_o08x_a2795c6579cf03e22f62a5eadc88dee91_cgraph.pdf
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diff --git a/documentation/latex/class_b_n_o08x_a27f5dce5c994be18a587fb622574ad41_cgraph.md5 b/documentation/latex/class_b_n_o08x_a27f5dce5c994be18a587fb622574ad41_cgraph.md5
new file mode 100644
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diff --git a/documentation/latex/class_b_n_o08x_a27f5dce5c994be18a587fb622574ad41_cgraph.pdf b/documentation/latex/class_b_n_o08x_a27f5dce5c994be18a587fb622574ad41_cgraph.pdf
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diff --git a/documentation/latex/class_b_n_o08x_a27fb24e894f794ec6228ef142b6ff8d9_icgraph.md5 b/documentation/latex/class_b_n_o08x_a27fb24e894f794ec6228ef142b6ff8d9_icgraph.md5
new file mode 100644
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diff --git a/documentation/latex/class_b_n_o08x_a27fb24e894f794ec6228ef142b6ff8d9_icgraph.pdf b/documentation/latex/class_b_n_o08x_a27fb24e894f794ec6228ef142b6ff8d9_icgraph.pdf
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new file mode 100644
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diff --git a/documentation/latex/class_b_n_o08x_a2ecd4ed60f82730ae230c61687ec92bf_icgraph.md5 b/documentation/latex/class_b_n_o08x_a2ecd4ed60f82730ae230c61687ec92bf_icgraph.md5
new file mode 100644
index 0000000..952b16d
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@@ -0,0 +1 @@
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diff --git a/documentation/latex/class_b_n_o08x_a2ecd4ed60f82730ae230c61687ec92bf_icgraph.pdf b/documentation/latex/class_b_n_o08x_a2ecd4ed60f82730ae230c61687ec92bf_icgraph.pdf
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diff --git a/documentation/latex/class_b_n_o08x_a367d525d1c0ba119b3dca3067bb5bccc_icgraph.md5 b/documentation/latex/class_b_n_o08x_a367d525d1c0ba119b3dca3067bb5bccc_icgraph.md5
new file mode 100644
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diff --git a/documentation/latex/class_b_n_o08x_a386c46ac8965220ab7b9423df838dd4d_cgraph.md5 b/documentation/latex/class_b_n_o08x_a386c46ac8965220ab7b9423df838dd4d_cgraph.md5
new file mode 100644
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@@ -0,0 +1 @@
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new file mode 100644
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@@ -0,0 +1 @@
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diff --git a/documentation/latex/class_b_n_o08x_a3c32120bcd0987c3ca1bb72910586b59_icgraph.md5 b/documentation/latex/class_b_n_o08x_a3c32120bcd0987c3ca1bb72910586b59_icgraph.md5
new file mode 100644
index 0000000..208fda3
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@@ -0,0 +1 @@
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diff --git a/documentation/latex/class_b_n_o08x_a3c32120bcd0987c3ca1bb72910586b59_icgraph.pdf b/documentation/latex/class_b_n_o08x_a3c32120bcd0987c3ca1bb72910586b59_icgraph.pdf
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diff --git a/documentation/latex/class_b_n_o08x_a41613e65ea9beef883184b7ef67affdd_cgraph.md5 b/documentation/latex/class_b_n_o08x_a41613e65ea9beef883184b7ef67affdd_cgraph.md5
new file mode 100644
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@@ -0,0 +1 @@
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diff --git a/documentation/latex/class_b_n_o08x_a4421c43323945946ad605f8422958dcf_cgraph.md5 b/documentation/latex/class_b_n_o08x_a4421c43323945946ad605f8422958dcf_cgraph.md5
new file mode 100644
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@@ -0,0 +1 @@
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diff --git a/documentation/latex/class_b_n_o08x_a4421c43323945946ad605f8422958dcf_icgraph.md5 b/documentation/latex/class_b_n_o08x_a4421c43323945946ad605f8422958dcf_icgraph.md5
new file mode 100644
index 0000000..9a8fa54
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x_a4421c43323945946ad605f8422958dcf_icgraph.md5
@@ -0,0 +1 @@
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diff --git a/documentation/latex/class_b_n_o08x_a4421c43323945946ad605f8422958dcf_icgraph.pdf b/documentation/latex/class_b_n_o08x_a4421c43323945946ad605f8422958dcf_icgraph.pdf
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diff --git a/documentation/latex/class_b_n_o08x_a4549bbef48208bd9c745fc755b93012f_cgraph.md5 b/documentation/latex/class_b_n_o08x_a4549bbef48208bd9c745fc755b93012f_cgraph.md5
new file mode 100644
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+++ b/documentation/latex/class_b_n_o08x_a4549bbef48208bd9c745fc755b93012f_cgraph.md5
@@ -0,0 +1 @@
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new file mode 100644
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diff --git a/documentation/latex/class_b_n_o08x_a51a6d594824de2292e70f788454f8a2d_cgraph.md5 b/documentation/latex/class_b_n_o08x_a51a6d594824de2292e70f788454f8a2d_cgraph.md5
new file mode 100644
index 0000000..09dc76e
--- /dev/null
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diff --git a/documentation/latex/class_b_n_o08x_a5680148a41cb9cc96d1911150c46d2b8_cgraph.md5 b/documentation/latex/class_b_n_o08x_a5680148a41cb9cc96d1911150c46d2b8_cgraph.md5
new file mode 100644
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@@ -0,0 +1 @@
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diff --git a/documentation/latex/class_b_n_o08x_a5a0b0f5b8e962247a3b8aee8f1dc8e9f_cgraph.md5 b/documentation/latex/class_b_n_o08x_a5a0b0f5b8e962247a3b8aee8f1dc8e9f_cgraph.md5
new file mode 100644
index 0000000..2c03bc1
--- /dev/null
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diff --git a/documentation/latex/class_b_n_o08x_a5e63a9e68dbe2968b37dcb6dae04de6f_cgraph.md5 b/documentation/latex/class_b_n_o08x_a5e63a9e68dbe2968b37dcb6dae04de6f_cgraph.md5
new file mode 100644
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new file mode 100644
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diff --git a/documentation/latex/class_b_n_o08x_a61b7d10a98afc6903fea6b2cede27630_cgraph.pdf b/documentation/latex/class_b_n_o08x_a61b7d10a98afc6903fea6b2cede27630_cgraph.pdf
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diff --git a/documentation/latex/class_b_n_o08x_a64d3e41750c6de9413d6982511f78f17_icgraph.pdf b/documentation/latex/class_b_n_o08x_a64d3e41750c6de9413d6982511f78f17_icgraph.pdf
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diff --git a/documentation/latex/class_b_n_o08x_a6671b082d20dda8bf5c53cb47db0c338_cgraph.pdf b/documentation/latex/class_b_n_o08x_a6671b082d20dda8bf5c53cb47db0c338_cgraph.pdf
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new file mode 100644
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diff --git a/documentation/latex/class_b_n_o08x_a7077b9a130f1dcf0192454e387968dd6_cgraph.pdf b/documentation/latex/class_b_n_o08x_a7077b9a130f1dcf0192454e387968dd6_cgraph.pdf
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diff --git a/documentation/latex/class_b_n_o08x_a7388c67de3906ad05b233fd7eff0514d_cgraph.md5 b/documentation/latex/class_b_n_o08x_a7388c67de3906ad05b233fd7eff0514d_cgraph.md5
new file mode 100644
index 0000000..b067e56
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+++ b/documentation/latex/class_b_n_o08x_a7388c67de3906ad05b233fd7eff0514d_cgraph.md5
@@ -0,0 +1 @@
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diff --git a/documentation/latex/class_b_n_o08x_a7388c67de3906ad05b233fd7eff0514d_cgraph.pdf b/documentation/latex/class_b_n_o08x_a7388c67de3906ad05b233fd7eff0514d_cgraph.pdf
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diff --git a/documentation/latex/class_b_n_o08x_a74725517129dd548c7a3de705d5861bd_cgraph.md5 b/documentation/latex/class_b_n_o08x_a74725517129dd548c7a3de705d5861bd_cgraph.md5
new file mode 100644
index 0000000..d20e44a
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+++ b/documentation/latex/class_b_n_o08x_a74725517129dd548c7a3de705d5861bd_cgraph.md5
@@ -0,0 +1 @@
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diff --git a/documentation/latex/class_b_n_o08x_a74725517129dd548c7a3de705d5861bd_cgraph.pdf b/documentation/latex/class_b_n_o08x_a74725517129dd548c7a3de705d5861bd_cgraph.pdf
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diff --git a/documentation/latex/class_b_n_o08x_a7665cce95e791c89161ec863f49c0392_cgraph.md5 b/documentation/latex/class_b_n_o08x_a7665cce95e791c89161ec863f49c0392_cgraph.md5
new file mode 100644
index 0000000..abbcaa5
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new file mode 100644
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diff --git a/documentation/latex/class_b_n_o08x_a7cdeb849e728487de961cdfd4030c773_icgraph.pdf b/documentation/latex/class_b_n_o08x_a7cdeb849e728487de961cdfd4030c773_icgraph.pdf
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diff --git a/documentation/latex/class_b_n_o08x_a804b95c58c30d36933fd251626b85bf7_icgraph.md5 b/documentation/latex/class_b_n_o08x_a804b95c58c30d36933fd251626b85bf7_icgraph.md5
new file mode 100644
index 0000000..4c167de
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x_a804b95c58c30d36933fd251626b85bf7_icgraph.md5
@@ -0,0 +1 @@
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new file mode 100644
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diff --git a/documentation/latex/class_b_n_o08x_a89618eba08186ee8e679e7313907ddef_cgraph.md5 b/documentation/latex/class_b_n_o08x_a89618eba08186ee8e679e7313907ddef_cgraph.md5
new file mode 100644
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@@ -0,0 +1 @@
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diff --git a/documentation/latex/class_b_n_o08x_a89618eba08186ee8e679e7313907ddef_cgraph.pdf b/documentation/latex/class_b_n_o08x_a89618eba08186ee8e679e7313907ddef_cgraph.pdf
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diff --git a/documentation/latex/class_b_n_o08x_a89618eba08186ee8e679e7313907ddef_icgraph.md5 b/documentation/latex/class_b_n_o08x_a89618eba08186ee8e679e7313907ddef_icgraph.md5
new file mode 100644
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@@ -0,0 +1 @@
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diff --git a/documentation/latex/class_b_n_o08x_a89618eba08186ee8e679e7313907ddef_icgraph.pdf b/documentation/latex/class_b_n_o08x_a89618eba08186ee8e679e7313907ddef_icgraph.pdf
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diff --git a/documentation/latex/class_b_n_o08x_a8d8e75f0234287cb89cbec553cffe52c_cgraph.md5 b/documentation/latex/class_b_n_o08x_a8d8e75f0234287cb89cbec553cffe52c_cgraph.md5
new file mode 100644
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@@ -0,0 +1 @@
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diff --git a/documentation/latex/class_b_n_o08x_a8d8e75f0234287cb89cbec553cffe52c_cgraph.pdf b/documentation/latex/class_b_n_o08x_a8d8e75f0234287cb89cbec553cffe52c_cgraph.pdf
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new file mode 100644
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diff --git a/documentation/latex/class_b_n_o08x_aa16609de88bfb7b389348859aa0cee54_cgraph.md5 b/documentation/latex/class_b_n_o08x_aa16609de88bfb7b389348859aa0cee54_cgraph.md5
new file mode 100644
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+++ b/documentation/latex/class_b_n_o08x_aa16609de88bfb7b389348859aa0cee54_cgraph.md5
@@ -0,0 +1 @@
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diff --git a/documentation/latex/class_b_n_o08x_aa16609de88bfb7b389348859aa0cee54_cgraph.pdf b/documentation/latex/class_b_n_o08x_aa16609de88bfb7b389348859aa0cee54_cgraph.pdf
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literal 0
HcmV?d00001

diff --git a/documentation/latex/class_b_n_o08x_aa59e3d8953c96dc1cc5958a1ac628df4_cgraph.md5 b/documentation/latex/class_b_n_o08x_aa59e3d8953c96dc1cc5958a1ac628df4_cgraph.md5
new file mode 100644
index 0000000..4ebcea8
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x_aa59e3d8953c96dc1cc5958a1ac628df4_cgraph.md5
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diff --git a/documentation/latex/class_b_n_o08x_aac0a00bed7825d8a2c357a48c3626931_cgraph.pdf b/documentation/latex/class_b_n_o08x_aac0a00bed7825d8a2c357a48c3626931_cgraph.pdf
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diff --git a/documentation/latex/class_b_n_o08x_ab0a60844b36fb140cad588a65b3a9655_cgraph.md5 b/documentation/latex/class_b_n_o08x_ab0a60844b36fb140cad588a65b3a9655_cgraph.md5
new file mode 100644
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diff --git a/documentation/latex/class_b_n_o08x_ab0a60844b36fb140cad588a65b3a9655_cgraph.pdf b/documentation/latex/class_b_n_o08x_ab0a60844b36fb140cad588a65b3a9655_cgraph.pdf
new file mode 100644
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diff --git a/documentation/latex/class_b_n_o08x_ab307ed3352e04c9e998ab4dd066f8932_cgraph.md5 b/documentation/latex/class_b_n_o08x_ab307ed3352e04c9e998ab4dd066f8932_cgraph.md5
new file mode 100644
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+++ b/documentation/latex/class_b_n_o08x_ab307ed3352e04c9e998ab4dd066f8932_cgraph.md5
@@ -0,0 +1 @@
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diff --git a/documentation/latex/class_b_n_o08x_ab4373e9b87837ea9fcbc0b536338c7b8_icgraph.md5 b/documentation/latex/class_b_n_o08x_ab4373e9b87837ea9fcbc0b536338c7b8_icgraph.md5
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diff --git a/documentation/latex/class_b_n_o08x_ab4c1d5cde156af09b7e88913f3af62c7_cgraph.md5 b/documentation/latex/class_b_n_o08x_ab4c1d5cde156af09b7e88913f3af62c7_cgraph.md5
new file mode 100644
index 0000000..f27d6de
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@@ -0,0 +1 @@
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diff --git a/documentation/latex/class_b_n_o08x_ab4c1d5cde156af09b7e88913f3af62c7_cgraph.pdf b/documentation/latex/class_b_n_o08x_ab4c1d5cde156af09b7e88913f3af62c7_cgraph.pdf
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diff --git a/documentation/latex/class_b_n_o08x_ab4c48a91d2f8b29430abc17b7f015282_icgraph.pdf b/documentation/latex/class_b_n_o08x_ab4c48a91d2f8b29430abc17b7f015282_icgraph.pdf
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diff --git a/documentation/latex/class_b_n_o08x_ab7977391191067282e7f734b9ee45059_cgraph.md5 b/documentation/latex/class_b_n_o08x_ab7977391191067282e7f734b9ee45059_cgraph.md5
new file mode 100644
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diff --git a/documentation/latex/class_b_n_o08x_abce574112a9079d2cbc58cfc352b8a69_cgraph.md5 b/documentation/latex/class_b_n_o08x_abce574112a9079d2cbc58cfc352b8a69_cgraph.md5
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diff --git a/documentation/latex/class_b_n_o08x_abce574112a9079d2cbc58cfc352b8a69_cgraph.pdf b/documentation/latex/class_b_n_o08x_abce574112a9079d2cbc58cfc352b8a69_cgraph.pdf
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diff --git a/documentation/latex/class_b_n_o08x_abe04c38b5bd52d331bd8aefae1f51947_cgraph.md5 b/documentation/latex/class_b_n_o08x_abe04c38b5bd52d331bd8aefae1f51947_cgraph.md5
new file mode 100644
index 0000000..e3ba762
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new file mode 100644
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diff --git a/documentation/latex/class_b_n_o08x_abe04c38b5bd52d331bd8aefae1f51947_icgraph.md5 b/documentation/latex/class_b_n_o08x_abe04c38b5bd52d331bd8aefae1f51947_icgraph.md5
new file mode 100644
index 0000000..2587c5c
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@@ -0,0 +1 @@
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diff --git a/documentation/latex/class_b_n_o08x_abe04c38b5bd52d331bd8aefae1f51947_icgraph.pdf b/documentation/latex/class_b_n_o08x_abe04c38b5bd52d331bd8aefae1f51947_icgraph.pdf
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diff --git a/documentation/latex/class_b_n_o08x_ac26350b55095a346d72598ab8aa74b4a_cgraph.md5 b/documentation/latex/class_b_n_o08x_ac26350b55095a346d72598ab8aa74b4a_cgraph.md5
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diff --git a/documentation/latex/class_b_n_o08x_ac9d9b6636745e8180807284da67c92a2_cgraph.md5 b/documentation/latex/class_b_n_o08x_ac9d9b6636745e8180807284da67c92a2_cgraph.md5
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diff --git a/documentation/latex/class_b_n_o08x_ac9d9b6636745e8180807284da67c92a2_cgraph.pdf b/documentation/latex/class_b_n_o08x_ac9d9b6636745e8180807284da67c92a2_cgraph.pdf
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diff --git a/documentation/latex/class_b_n_o08x_acd1819a81818f90dc105950b4a7d0b04_cgraph.md5 b/documentation/latex/class_b_n_o08x_acd1819a81818f90dc105950b4a7d0b04_cgraph.md5
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new file mode 100644
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diff --git a/documentation/latex/class_b_n_o08x_ad097849616c5caab1fd3eb3632ee2b91_cgraph.md5 b/documentation/latex/class_b_n_o08x_ad097849616c5caab1fd3eb3632ee2b91_cgraph.md5
new file mode 100644
index 0000000..233c214
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+++ b/documentation/latex/class_b_n_o08x_ad097849616c5caab1fd3eb3632ee2b91_cgraph.md5
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diff --git a/documentation/latex/class_b_n_o08x_ad097849616c5caab1fd3eb3632ee2b91_cgraph.pdf b/documentation/latex/class_b_n_o08x_ad097849616c5caab1fd3eb3632ee2b91_cgraph.pdf
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diff --git a/documentation/latex/class_b_n_o08x_ad4fab6e636e239d4b9273f158983ed89_cgraph.md5 b/documentation/latex/class_b_n_o08x_ad4fab6e636e239d4b9273f158983ed89_cgraph.md5
new file mode 100644
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diff --git a/documentation/latex/class_b_n_o08x_ad59b029d04341dbef72e059488951980_cgraph.md5 b/documentation/latex/class_b_n_o08x_ad59b029d04341dbef72e059488951980_cgraph.md5
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@@ -0,0 +1 @@
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diff --git a/documentation/latex/class_b_n_o08x_ad59b029d04341dbef72e059488951980_cgraph.pdf b/documentation/latex/class_b_n_o08x_ad59b029d04341dbef72e059488951980_cgraph.pdf
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diff --git a/documentation/latex/class_b_n_o08x_ad5c991150895b80bee68c933059a4058_cgraph.md5 b/documentation/latex/class_b_n_o08x_ad5c991150895b80bee68c933059a4058_cgraph.md5
new file mode 100644
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+++ b/documentation/latex/class_b_n_o08x_ad5c991150895b80bee68c933059a4058_cgraph.md5
@@ -0,0 +1 @@
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diff --git a/documentation/latex/class_b_n_o08x_adf789e709ac1667656db757c8d559af9_cgraph.md5 b/documentation/latex/class_b_n_o08x_adf789e709ac1667656db757c8d559af9_cgraph.md5
new file mode 100644
index 0000000..f337b9d
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+++ b/documentation/latex/class_b_n_o08x_adf789e709ac1667656db757c8d559af9_cgraph.md5
@@ -0,0 +1 @@
+107298bb462c52adca2c2e64a1df1b87
\ No newline at end of file
diff --git a/documentation/latex/class_b_n_o08x_adf789e709ac1667656db757c8d559af9_cgraph.pdf b/documentation/latex/class_b_n_o08x_adf789e709ac1667656db757c8d559af9_cgraph.pdf
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diff --git a/documentation/latex/class_b_n_o08x_adf789e709ac1667656db757c8d559af9_icgraph.md5 b/documentation/latex/class_b_n_o08x_adf789e709ac1667656db757c8d559af9_icgraph.md5
new file mode 100644
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diff --git a/documentation/latex/class_b_n_o08x_adf789e709ac1667656db757c8d559af9_icgraph.pdf b/documentation/latex/class_b_n_o08x_adf789e709ac1667656db757c8d559af9_icgraph.pdf
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diff --git a/documentation/latex/class_b_n_o08x_ae1435b83ca83bc51b75f3303afe87f7b_cgraph.md5 b/documentation/latex/class_b_n_o08x_ae1435b83ca83bc51b75f3303afe87f7b_cgraph.md5
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diff --git a/documentation/latex/class_b_n_o08x_ae2add976af256ec981248371a2f58207_cgraph.md5 b/documentation/latex/class_b_n_o08x_ae2add976af256ec981248371a2f58207_cgraph.md5
new file mode 100644
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@@ -0,0 +1 @@
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diff --git a/documentation/latex/class_b_n_o08x_ae540799865934fcff54caed0772df071_icgraph.md5 b/documentation/latex/class_b_n_o08x_ae540799865934fcff54caed0772df071_icgraph.md5
new file mode 100644
index 0000000..410d600
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x_ae540799865934fcff54caed0772df071_icgraph.md5
@@ -0,0 +1 @@
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diff --git a/documentation/latex/class_b_n_o08x_ae540799865934fcff54caed0772df071_icgraph.pdf b/documentation/latex/class_b_n_o08x_ae540799865934fcff54caed0772df071_icgraph.pdf
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new file mode 100644
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diff --git a/documentation/latex/class_b_n_o08x_aeffce374f558a167d5b5f19ad627e7cc_cgraph.pdf b/documentation/latex/class_b_n_o08x_aeffce374f558a167d5b5f19ad627e7cc_cgraph.pdf
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diff --git a/documentation/latex/class_b_n_o08x_af2951f6ea448af7cf7932fbfed9fec3c_cgraph.md5 b/documentation/latex/class_b_n_o08x_af2951f6ea448af7cf7932fbfed9fec3c_cgraph.md5
new file mode 100644
index 0000000..f25c2d2
--- /dev/null
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diff --git a/documentation/latex/class_b_n_o08x_af2951f6ea448af7cf7932fbfed9fec3c_icgraph.md5 b/documentation/latex/class_b_n_o08x_af2951f6ea448af7cf7932fbfed9fec3c_icgraph.md5
new file mode 100644
index 0000000..b5fc1af
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x_af2951f6ea448af7cf7932fbfed9fec3c_icgraph.md5
@@ -0,0 +1 @@
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diff --git a/documentation/latex/class_b_n_o08x_af2951f6ea448af7cf7932fbfed9fec3c_icgraph.pdf b/documentation/latex/class_b_n_o08x_af2951f6ea448af7cf7932fbfed9fec3c_icgraph.pdf
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diff --git a/documentation/latex/class_b_n_o08x_af50010400cbd1445e9ddfa259384b412_cgraph.md5 b/documentation/latex/class_b_n_o08x_af50010400cbd1445e9ddfa259384b412_cgraph.md5
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@@ -0,0 +1 @@
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diff --git a/documentation/latex/class_b_n_o08x_af80f7795656e695e036d3b1557aed94c_cgraph.md5 b/documentation/latex/class_b_n_o08x_af80f7795656e695e036d3b1557aed94c_cgraph.md5
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diff --git a/documentation/latex/class_b_n_o08x_afd0ca5f9b9741935543d143a5a43d128_cgraph.md5 b/documentation/latex/class_b_n_o08x_afd0ca5f9b9741935543d143a5a43d128_cgraph.md5
new file mode 100644
index 0000000..c53391c
--- /dev/null
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new file mode 100644
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diff --git a/documentation/latex/class_b_n_o08x_afd0ca5f9b9741935543d143a5a43d128_icgraph.pdf b/documentation/latex/class_b_n_o08x_afd0ca5f9b9741935543d143a5a43d128_icgraph.pdf
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new file mode 100644
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diff --git a/documentation/latex/class_b_n_o08x_afdfa7d50362702da689c5d18bf17fd84_cgraph.md5 b/documentation/latex/class_b_n_o08x_afdfa7d50362702da689c5d18bf17fd84_cgraph.md5
new file mode 100644
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diff --git a/documentation/latex/class_b_n_o08x_afdfa7d50362702da689c5d18bf17fd84_cgraph.pdf b/documentation/latex/class_b_n_o08x_afdfa7d50362702da689c5d18bf17fd84_cgraph.pdf
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diff --git a/documentation/latex/class_b_n_o08x_afe6392012669e7ebd1a9e817e2bd313f_cgraph.md5 b/documentation/latex/class_b_n_o08x_afe6392012669e7ebd1a9e817e2bd313f_cgraph.md5
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new file mode 100644
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diff --git a/documentation/latex/class_b_n_o08x_affaaa35abbb872da5299ebab6e2c9b11_icgraph.md5 b/documentation/latex/class_b_n_o08x_affaaa35abbb872da5299ebab6e2c9b11_icgraph.md5
new file mode 100644
index 0000000..41d00fd
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+++ b/documentation/latex/class_b_n_o08x_affaaa35abbb872da5299ebab6e2c9b11_icgraph.md5
@@ -0,0 +1 @@
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diff --git a/documentation/latex/class_b_n_o08x_affaaa35abbb872da5299ebab6e2c9b11_icgraph.pdf b/documentation/latex/class_b_n_o08x_affaaa35abbb872da5299ebab6e2c9b11_icgraph.pdf
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diff --git a/documentation/latex/doxygen.sty b/documentation/latex/doxygen.sty
new file mode 100644
index 0000000..4bfc17f
--- /dev/null
+++ b/documentation/latex/doxygen.sty
@@ -0,0 +1,694 @@
+\NeedsTeXFormat{LaTeX2e}
+\ProvidesPackage{doxygen}
+
+% Packages used by this style file
+\RequirePackage{alltt}
+%%\RequirePackage{array} %% moved to refman.tex due to workaround for LaTex 2019 version and unmaintained tabu package
+\RequirePackage{calc}
+\RequirePackage{float}
+%%\RequirePackage{ifthen} %% moved to refman.tex due to workaround for LaTex 2019 version and unmaintained tabu package
+\RequirePackage{verbatim}
+\RequirePackage[table]{xcolor}
+\RequirePackage{longtable_doxygen}
+\RequirePackage{tabu_doxygen}
+\RequirePackage{fancyvrb}
+\RequirePackage{tabularx}
+\RequirePackage{multicol}
+\RequirePackage{multirow}
+\RequirePackage{hanging}
+\RequirePackage{ifpdf}
+\RequirePackage{adjustbox}
+\RequirePackage{amssymb}
+\RequirePackage{stackengine}
+\RequirePackage{enumitem}
+\RequirePackage{alphalph}
+\RequirePackage[normalem]{ulem} % for strikeout, but don't modify emphasis
+
+%---------- Internal commands used in this style file ----------------
+
+\newcommand{\ensurespace}[1]{%
+  \begingroup%
+    \setlength{\dimen@}{#1}%
+    \vskip\z@\@plus\dimen@%
+    \penalty -100\vskip\z@\@plus -\dimen@%
+    \vskip\dimen@%
+    \penalty 9999%
+    \vskip -\dimen@%
+    \vskip\z@skip% hide the previous |\vskip| from |\addvspace|
+  \endgroup%
+}
+
+\newcommand{\DoxyHorRuler}[1]{%
+  \setlength{\parskip}{0ex plus 0ex minus 0ex}%
+  \ifthenelse{#1=0}%
+  {%
+    \hrule%
+  }%
+  {%
+    \hrulefilll%
+  }%
+}
+\newcommand{\DoxyLabelFont}{}
+\newcommand{\entrylabel}[1]{%
+  {%
+    \parbox[b]{\labelwidth-4pt}{%
+      \makebox[0pt][l]{\DoxyLabelFont#1}%
+      \vspace{1.5\baselineskip}%
+    }%
+  }%
+}
+
+\newenvironment{DoxyDesc}[1]{%
+  \ensurespace{4\baselineskip}%
+  \begin{list}{}{%
+    \settowidth{\labelwidth}{20pt}%
+    %\setlength{\parsep}{0pt}%
+    \setlength{\itemsep}{0pt}%
+    \setlength{\leftmargin}{\labelwidth+\labelsep}%
+    \renewcommand{\makelabel}{\entrylabel}%
+  }%
+  \item[#1]%
+}{%
+  \end{list}%
+}
+
+\newsavebox{\xrefbox}
+\newlength{\xreflength}
+\newcommand{\xreflabel}[1]{%
+  \sbox{\xrefbox}{#1}%
+  \setlength{\xreflength}{\wd\xrefbox}%
+  \ifthenelse{\xreflength>\labelwidth}{%
+    \begin{minipage}{\textwidth}%
+      \setlength{\parindent}{0pt}%
+      \hangindent=15pt\bfseries #1\vspace{1.2\itemsep}%
+    \end{minipage}%
+  }{%
+   \parbox[b]{\labelwidth}{\makebox[0pt][l]{\textbf{#1}}}%
+  }%
+}
+
+%---------- Commands used by doxygen LaTeX output generator ----------
+
+% Used by <pre> ... </pre>
+\newenvironment{DoxyPre}{%
+  \small%
+  \begin{alltt}%
+}{%
+  \end{alltt}%
+  \normalsize%
+}
+% Necessary for redefining not defined characters, i.e. "Replacement Character" in tex output.
+\newlength{\CodeWidthChar}
+\newlength{\CodeHeightChar}
+\settowidth{\CodeWidthChar}{?}
+\settoheight{\CodeHeightChar}{?}
+% Necessary for hanging indent
+\newlength{\DoxyCodeWidth}
+
+\newcommand\DoxyCodeLine[1]{
+  \ifthenelse{\equal{\detokenize{#1}}{}}
+  {
+    \vspace*{\baselineskip}
+  }
+  {
+    \hangpara{\DoxyCodeWidth}{1}{#1}\par
+  }
+}
+
+\newcommand\NiceSpace{%
+     \discretionary{}{\kern\fontdimen2\font}{\kern\fontdimen2\font}%
+}
+
+% Used by @code ... @endcode
+\newenvironment{DoxyCode}[1]{%
+  \par%
+  \scriptsize%
+  \normalfont\ttfamily%
+  \rightskip0pt plus 1fil%
+  \settowidth{\DoxyCodeWidth}{000000}%
+  \settowidth{\CodeWidthChar}{?}%
+  \settoheight{\CodeHeightChar}{?}%
+  \setlength{\parskip}{0ex plus 0ex minus 0ex}%
+  \ifthenelse{\equal{#1}{0}}
+  {
+    {\lccode`~32 \lowercase{\global\let~}\NiceSpace}\obeyspaces%
+  }
+  {
+    {\lccode`~32 \lowercase{\global\let~}}\obeyspaces%
+  }
+
+}{%
+  \normalfont%
+  \normalsize%
+  \settowidth{\CodeWidthChar}{?}%
+  \settoheight{\CodeHeightChar}{?}%
+}
+
+% Redefining not defined characters, i.e. "Replacement Character" in tex output.
+\def\ucr{\adjustbox{width=\CodeWidthChar,height=\CodeHeightChar}{\stackinset{c}{}{c}{-.2pt}{%
+   \textcolor{white}{\sffamily\bfseries\small ?}}{%
+   \rotatebox{45}{$\blacksquare$}}}}
+
+% Used by @example, @include, @includelineno and @dontinclude
+\newenvironment{DoxyCodeInclude}[1]{%
+	\DoxyCode{#1}%
+}{%
+  \endDoxyCode%
+}
+
+% Used by @verbatim ... @endverbatim
+\newenvironment{DoxyVerb}{%
+  \par%
+  \footnotesize%
+  \verbatim%
+}{%
+  \endverbatim%
+  \normalsize%
+}
+
+% Used by @verbinclude
+\newenvironment{DoxyVerbInclude}{%
+  \DoxyVerb%
+}{%
+  \endDoxyVerb%
+}
+
+% Used by numbered lists (using '-#' or <ol> ... </ol>)
+\setlistdepth{12}
+\newlist{DoxyEnumerate}{enumerate}{12}
+\setlist[DoxyEnumerate,1]{label=\arabic*.}
+\setlist[DoxyEnumerate,2]{label=(\enumalphalphcnt*)}
+\setlist[DoxyEnumerate,3]{label=\roman*.}
+\setlist[DoxyEnumerate,4]{label=\enumAlphAlphcnt*.}
+\setlist[DoxyEnumerate,5]{label=\arabic*.}
+\setlist[DoxyEnumerate,6]{label=(\enumalphalphcnt*)}
+\setlist[DoxyEnumerate,7]{label=\roman*.}
+\setlist[DoxyEnumerate,8]{label=\enumAlphAlphcnt*.}
+\setlist[DoxyEnumerate,9]{label=\arabic*.}
+\setlist[DoxyEnumerate,10]{label=(\enumalphalphcnt*)}
+\setlist[DoxyEnumerate,11]{label=\roman*.}
+\setlist[DoxyEnumerate,12]{label=\enumAlphAlphcnt*.}
+
+% Used by bullet lists (using '-', @li, @arg, or <ul> ... </ul>)
+\setlistdepth{12}
+\newlist{DoxyItemize}{itemize}{12}
+\setlist[DoxyItemize]{label=\textperiodcentered}
+
+\setlist[DoxyItemize,1]{label=\textbullet}
+\setlist[DoxyItemize,2]{label=\normalfont\bfseries \textendash}
+\setlist[DoxyItemize,3]{label=\textasteriskcentered}
+\setlist[DoxyItemize,4]{label=\textperiodcentered}
+
+% Used by description lists (using <dl> ... </dl>)
+\newenvironment{DoxyDescription}{%
+  \description%
+}{%
+  \enddescription%
+}
+
+% Used by @image, @dotfile, @dot ... @enddot, and @msc ... @endmsc
+% (only if caption is specified)
+\newenvironment{DoxyImage}{%
+  \begin{figure}[H]%
+    \centering%
+}{%
+  \end{figure}%
+}
+
+% Used by @image, @dotfile, @dot ... @enddot, and @msc ... @endmsc
+% (only if no caption is specified)
+\newenvironment{DoxyImageNoCaption}{%
+  \begin{center}%
+}{%
+  \end{center}%
+}
+
+% Used by @image
+% (only if inline is specified)
+\newenvironment{DoxyInlineImage}{%
+}{%
+}
+
+% Used by @attention
+\newenvironment{DoxyAttention}[1]{%
+  \begin{DoxyDesc}{#1}%
+}{%
+  \end{DoxyDesc}%
+}
+
+% Used by @author and @authors
+\newenvironment{DoxyAuthor}[1]{%
+  \begin{DoxyDesc}{#1}%
+}{%
+  \end{DoxyDesc}%
+}
+
+% Used by @date
+\newenvironment{DoxyDate}[1]{%
+  \begin{DoxyDesc}{#1}%
+}{%
+  \end{DoxyDesc}%
+}
+
+% Used by @invariant
+\newenvironment{DoxyInvariant}[1]{%
+  \begin{DoxyDesc}{#1}%
+}{%
+  \end{DoxyDesc}%
+}
+
+% Used by @note
+\newenvironment{DoxyNote}[1]{%
+  \begin{DoxyDesc}{#1}%
+}{%
+  \end{DoxyDesc}%
+}
+
+% Used by @post
+\newenvironment{DoxyPostcond}[1]{%
+  \begin{DoxyDesc}{#1}%
+}{%
+  \end{DoxyDesc}%
+}
+
+% Used by @pre
+\newenvironment{DoxyPrecond}[1]{%
+  \begin{DoxyDesc}{#1}%
+}{%
+  \end{DoxyDesc}%
+}
+
+% Used by @copyright
+\newenvironment{DoxyCopyright}[1]{%
+  \begin{DoxyDesc}{#1}%
+}{%
+  \end{DoxyDesc}%
+}
+
+% Used by @remark
+\newenvironment{DoxyRemark}[1]{%
+  \begin{DoxyDesc}{#1}%
+}{%
+  \end{DoxyDesc}%
+}
+
+% Used by @return and @returns
+\newenvironment{DoxyReturn}[1]{%
+  \begin{DoxyDesc}{#1}%
+}{%
+  \end{DoxyDesc}%
+}
+
+% Used by @since
+\newenvironment{DoxySince}[1]{%
+  \begin{DoxyDesc}{#1}%
+}{%
+  \end{DoxyDesc}%
+}
+
+% Used by @see
+\newenvironment{DoxySeeAlso}[1]{%
+  \begin{DoxyDesc}{#1}%
+}{%
+  \end{DoxyDesc}%
+}
+
+% Used by @version
+\newenvironment{DoxyVersion}[1]{%
+  \begin{DoxyDesc}{#1}%
+}{%
+  \end{DoxyDesc}%
+}
+
+% Used by @warning
+\newenvironment{DoxyWarning}[1]{%
+  \begin{DoxyDesc}{#1}%
+}{%
+  \end{DoxyDesc}%
+}
+
+% Used by @par and @paragraph
+\newenvironment{DoxyParagraph}[1]{%
+  \begin{DoxyDesc}{#1}%
+}{%
+  \end{DoxyDesc}%
+}
+
+% Used by parameter lists
+\newenvironment{DoxyParams}[2][]{%
+    \tabulinesep=1mm%
+    \par%
+    \ifthenelse{\equal{#1}{}}%
+      {\begin{longtabu*}spread 0pt [l]{|X[-1,l]|X[-1,l]|}}% name + description
+    {\ifthenelse{\equal{#1}{1}}%
+      {\begin{longtabu*}spread 0pt [l]{|X[-1,l]|X[-1,l]|X[-1,l]|}}% in/out + name + desc
+      {\begin{longtabu*}spread 0pt [l]{|X[-1,l]|X[-1,l]|X[-1,l]|X[-1,l]|}}% in/out + type + name + desc
+    }
+    \multicolumn{2}{l}{\hspace{-6pt}\bfseries\fontseries{bc}\selectfont\color{darkgray} #2}\\[1ex]%
+    \hline%
+    \endfirsthead%
+    \multicolumn{2}{l}{\hspace{-6pt}\bfseries\fontseries{bc}\selectfont\color{darkgray} #2}\\[1ex]%
+    \hline%
+    \endhead%
+}{%
+    \end{longtabu*}%
+    \vspace{6pt}%
+}
+
+% Used for fields of simple structs
+\newenvironment{DoxyFields}[1]{%
+    \tabulinesep=1mm%
+    \par%
+    \begin{longtabu*}spread 0pt [l]{|X[-1,r]|X[-1,l]|X[-1,l]|}%
+    \multicolumn{3}{l}{\hspace{-6pt}\bfseries\fontseries{bc}\selectfont\color{darkgray} #1}\\[1ex]%
+    \hline%
+    \endfirsthead%
+    \multicolumn{3}{l}{\hspace{-6pt}\bfseries\fontseries{bc}\selectfont\color{darkgray} #1}\\[1ex]%
+    \hline%
+    \endhead%
+}{%
+    \end{longtabu*}%
+    \vspace{6pt}%
+}
+
+% Used for fields simple class style enums
+\newenvironment{DoxyEnumFields}[1]{%
+    \tabulinesep=1mm%
+    \par%
+    \begin{longtabu*}spread 0pt [l]{|X[-1,r]|X[-1,l]|}%
+    \multicolumn{2}{l}{\hspace{-6pt}\bfseries\fontseries{bc}\selectfont\color{darkgray} #1}\\[1ex]%
+    \hline%
+    \endfirsthead%
+    \multicolumn{2}{l}{\hspace{-6pt}\bfseries\fontseries{bc}\selectfont\color{darkgray} #1}\\[1ex]%
+    \hline%
+    \endhead%
+}{%
+    \end{longtabu*}%
+    \vspace{6pt}%
+}
+
+% Used for parameters within a detailed function description
+\newenvironment{DoxyParamCaption}{%
+  \renewcommand{\item}[2][]{\\ \hspace*{2.0cm} ##1 {\em ##2}}% 
+}{%
+}
+
+% Used by return value lists
+\newenvironment{DoxyRetVals}[1]{%
+    \tabulinesep=1mm%
+    \par%
+    \begin{longtabu*}spread 0pt [l]{|X[-1,r]|X[-1,l]|}%
+    \multicolumn{2}{l}{\hspace{-6pt}\bfseries\fontseries{bc}\selectfont\color{darkgray} #1}\\[1ex]%
+    \hline%
+    \endfirsthead%
+    \multicolumn{2}{l}{\hspace{-6pt}\bfseries\fontseries{bc}\selectfont\color{darkgray} #1}\\[1ex]%
+    \hline%
+    \endhead%
+}{%
+    \end{longtabu*}%
+    \vspace{6pt}%
+}
+
+% Used by exception lists
+\newenvironment{DoxyExceptions}[1]{%
+    \tabulinesep=1mm%
+    \par%
+    \begin{longtabu*}spread 0pt [l]{|X[-1,r]|X[-1,l]|}%
+    \multicolumn{2}{l}{\hspace{-6pt}\bfseries\fontseries{bc}\selectfont\color{darkgray} #1}\\[1ex]%
+    \hline%
+    \endfirsthead%
+    \multicolumn{2}{l}{\hspace{-6pt}\bfseries\fontseries{bc}\selectfont\color{darkgray} #1}\\[1ex]%
+    \hline%
+    \endhead%
+}{%
+    \end{longtabu*}%
+    \vspace{6pt}%
+}
+
+% Used by template parameter lists
+\newenvironment{DoxyTemplParams}[1]{%
+    \tabulinesep=1mm%
+    \par%
+    \begin{longtabu*}spread 0pt [l]{|X[-1,r]|X[-1,l]|}%
+    \multicolumn{2}{l}{\hspace{-6pt}\bfseries\fontseries{bc}\selectfont\color{darkgray} #1}\\[1ex]%
+    \hline%
+    \endfirsthead%
+    \multicolumn{2}{l}{\hspace{-6pt}\bfseries\fontseries{bc}\selectfont\color{darkgray} #1}\\[1ex]%
+    \hline%
+    \endhead%
+}{%
+    \end{longtabu*}%
+    \vspace{6pt}%
+}
+
+% Used for member lists
+\newenvironment{DoxyCompactItemize}{%
+  \begin{itemize}%
+    \setlength{\itemsep}{-3pt}%
+    \setlength{\parsep}{0pt}%
+    \setlength{\topsep}{0pt}%
+    \setlength{\partopsep}{0pt}%
+}{%
+  \end{itemize}%
+}
+
+% Used for member descriptions
+\newenvironment{DoxyCompactList}{%
+  \begin{list}{}{%
+    \setlength{\leftmargin}{0.5cm}%
+    \setlength{\itemsep}{0pt}%
+    \setlength{\parsep}{0pt}%
+    \setlength{\topsep}{0pt}%
+    \renewcommand{\makelabel}{\hfill}%
+  }%
+}{%
+  \end{list}%
+}
+
+% Used for reference lists (@bug, @deprecated, @todo, etc.)
+\newenvironment{DoxyRefList}{%
+  \begin{list}{}{%
+    \setlength{\labelwidth}{10pt}%
+    \setlength{\leftmargin}{\labelwidth}%
+    \addtolength{\leftmargin}{\labelsep}%
+    \renewcommand{\makelabel}{\xreflabel}%
+  }%
+}{%
+  \end{list}%
+}
+
+% Used by @bug, @deprecated, @todo, etc.
+\newenvironment{DoxyRefDesc}[1]{%
+  \begin{list}{}{%
+    \renewcommand\makelabel[1]{\textbf{##1}}%
+    \settowidth\labelwidth{\makelabel{#1}}%
+    \setlength\leftmargin{\labelwidth+\labelsep}%
+  }%
+}{%
+  \end{list}%
+}
+
+% Used by parameter lists and simple sections
+\newenvironment{Desc}
+{\begin{list}{}{%
+    \settowidth{\labelwidth}{20pt}%
+    \setlength{\parsep}{0pt}%
+    \setlength{\itemsep}{0pt}%
+    \setlength{\leftmargin}{\labelwidth+\labelsep}%
+    \renewcommand{\makelabel}{\entrylabel}%
+  }
+}{%
+  \end{list}%
+}
+
+% Used by tables
+\newcommand{\PBS}[1]{\let\temp=\\#1\let\\=\temp}%
+\newenvironment{TabularC}[1]%
+{\tabulinesep=1mm
+\begin{longtabu*}spread 0pt [c]{*#1{|X[-1]}|}}%
+{\end{longtabu*}\par}%
+
+\newenvironment{TabularNC}[1]%
+{\begin{tabu}spread 0pt [l]{*#1{|X[-1]}|}}%
+{\end{tabu}\par}%
+
+% Used for member group headers
+\newenvironment{Indent}{%
+  \begin{list}{}{%
+    \setlength{\leftmargin}{0.5cm}%
+  }%
+  \item[]\ignorespaces%
+}{%
+  \unskip%
+  \end{list}%
+}
+
+% Used when hyperlinks are turned on
+\newcommand{\doxylink}[2]{%
+  \mbox{\hyperlink{#1}{#2}}%
+}
+
+% Used when hyperlinks are turned on
+% Third argument is the SectionType, see the doxygen internal
+% documentation for the values (relevant: Page ... Subsubsection).
+\newcommand{\doxysectlink}[3]{%
+  \mbox{\hyperlink{#1}{#2}}%
+}
+% Used when hyperlinks are turned off
+\newcommand{\doxyref}[3]{%
+  \textbf{#1} (\textnormal{#2}\,\pageref{#3})%
+}
+
+% Used when hyperlinks are turned off
+% Fourth argument is the SectionType, see the doxygen internal
+% documentation for the values (relevant: Page ... Subsubsection).
+\newcommand{\doxysectref}[4]{%
+  \textbf{#1} (\textnormal{#2}\,\pageref{#3})%
+}
+
+% Used to link to a table when hyperlinks are turned on
+\newcommand{\doxytablelink}[2]{%
+  \ref{#1}%
+}
+
+% Used to link to a table when hyperlinks are turned off
+\newcommand{\doxytableref}[3]{%
+  \ref{#3}%
+}
+
+% Used by @addindex
+\newcommand{\lcurly}{\{}
+\newcommand{\rcurly}{\}}
+
+% Colors used for syntax highlighting
+\definecolor{comment}{rgb}{0.5,0.0,0.0}
+\definecolor{keyword}{rgb}{0.0,0.5,0.0}
+\definecolor{keywordtype}{rgb}{0.38,0.25,0.125}
+\definecolor{keywordflow}{rgb}{0.88,0.5,0.0}
+\definecolor{preprocessor}{rgb}{0.5,0.38,0.125}
+\definecolor{stringliteral}{rgb}{0.0,0.125,0.25}
+\definecolor{charliteral}{rgb}{0.0,0.5,0.5}
+\definecolor{xmlcdata}{rgb}{0.0,0.0,0.0}
+\definecolor{vhdldigit}{rgb}{1.0,0.0,1.0}
+\definecolor{vhdlkeyword}{rgb}{0.43,0.0,0.43}
+\definecolor{vhdllogic}{rgb}{1.0,0.0,0.0}
+\definecolor{vhdlchar}{rgb}{0.0,0.0,0.0}
+
+% Color used for table heading
+\newcommand{\tableheadbgcolor}{lightgray}%
+
+% Version of hypertarget with correct landing location
+\newcommand{\Hypertarget}[1]{\Hy@raisedlink{\hypertarget{#1}{}}}
+
+% possibility to have sections etc. be within the margins
+% unfortunately had to copy part of book.cls and add \raggedright
+\makeatletter
+\newcounter{subsubsubsection}[subsubsection]
+\newcounter{subsubsubsubsection}[subsubsubsection]
+\newcounter{subsubsubsubsubsection}[subsubsubsubsection]
+\newcounter{subsubsubsubsubsubsection}[subsubsubsubsubsection]
+\renewcommand{\thesubsubsubsection}{\thesubsubsection.\arabic{subsubsubsection}}
+\renewcommand{\thesubsubsubsubsection}{\thesubsubsubsection.\arabic{subsubsubsubsection}}
+\renewcommand{\thesubsubsubsubsubsection}{\thesubsubsubsubsection.\arabic{subsubsubsubsubsection}}
+\renewcommand{\thesubsubsubsubsubsubsection}{\thesubsubsubsubsubsection.\arabic{subsubsubsubsubsubsection}}
+\newcommand{\subsubsubsectionmark}[1]{}
+\newcommand{\subsubsubsubsectionmark}[1]{}
+\newcommand{\subsubsubsubsubsectionmark}[1]{}
+\newcommand{\subsubsubsubsubsubsectionmark}[1]{}
+\def\toclevel@subsubsubsection{4}
+\def\toclevel@subsubsubsubsection{5}
+\def\toclevel@subsubsubsubsubsection{6}
+\def\toclevel@subsubsubsubsubsubsection{7}
+\def\toclevel@paragraph{8}
+\def\toclevel@subparagraph{9}
+
+\newcommand\doxysection{\@startsection {section}{1}{\z@}%
+                                     {-3.5ex \@plus -1ex \@minus -.2ex}%
+                                     {2.3ex \@plus.2ex}%
+                                     {\raggedright\normalfont\Large\bfseries}}
+\newcommand\doxysubsection{\@startsection{subsection}{2}{\z@}%
+                                     {-3.25ex\@plus -1ex \@minus -.2ex}%
+                                     {1.5ex \@plus .2ex}%
+                                     {\raggedright\normalfont\large\bfseries}}
+\newcommand\doxysubsubsection{\@startsection{subsubsection}{3}{\z@}%
+                                     {-3.25ex\@plus -1ex \@minus -.2ex}%
+                                     {1.5ex \@plus .2ex}%
+                                     {\raggedright\normalfont\normalsize\bfseries}}
+\newcommand\doxysubsubsubsection{\@startsection{subsubsubsection}{4}{\z@}%
+                                     {-3.25ex\@plus -1ex \@minus -.2ex}%
+                                     {1.5ex \@plus .2ex}%
+                                     {\raggedright\normalfont\normalsize\bfseries}}
+\newcommand\doxysubsubsubsubsection{\@startsection{subsubsubsubsection}{5}{\z@}%
+                                     {-3.25ex\@plus -1ex \@minus -.2ex}%
+                                     {1.5ex \@plus .2ex}%
+                                     {\raggedright\normalfont\normalsize\bfseries}}
+\newcommand\doxysubsubsubsubsubsection{\@startsection{subsubsubsubsubsection}{6}{\z@}%
+                                     {-3.25ex\@plus -1ex \@minus -.2ex}%
+                                     {1.5ex \@plus .2ex}%
+                                     {\raggedright\normalfont\normalsize\bfseries}}
+\newcommand\doxysubsubsubsubsubsubsection{\@startsection{subsubsubsubsubsubsection}{7}{\z@}%
+                                     {-3.25ex\@plus -1ex \@minus -.2ex}%
+                                     {1.5ex \@plus .2ex}%
+                                     {\raggedright\normalfont\normalsize\bfseries}}
+\newcommand\doxyparagraph{\@startsection{paragraph}{8}{\z@}%
+                                     {-3.25ex\@plus -1ex \@minus -.2ex}%
+                                     {1.5ex \@plus .2ex}%
+                                     {\raggedright\normalfont\normalsize\bfseries}}
+\newcommand\doxysubparagraph{\@startsection{subparagraph}{9}{\parindent}%
+                                     {-3.25ex\@plus -1ex \@minus -.2ex}%
+                                     {1.5ex \@plus .2ex}%
+                                     {\raggedright\normalfont\normalsize\bfseries}}    
+                                  
+\newcommand\l@subsubsubsection{\@dottedtocline{4}{6.1em}{7.8em}}
+\newcommand\l@subsubsubsubsection{\@dottedtocline{5}{6.1em}{9.4em}}
+\newcommand\l@subsubsubsubsubsection{\@dottedtocline{6}{6.1em}{11em}}
+\newcommand\l@subsubsubsubsubsubsection{\@dottedtocline{7}{6.1em}{12.6em}}
+\renewcommand\l@paragraph{\@dottedtocline{8}{6.1em}{14.2em}}
+\renewcommand\l@subparagraph{\@dottedtocline{9}{6.1em}{15.8em}}
+\makeatother
+% the sectsty doesn't look to be maintained but gives, in our case, some warning like:
+% LaTeX Warning: Command \underline  has changed.
+%               Check if current package is valid.
+% unfortunately had to copy the relevant part
+\newcommand*{\doxypartfont}          [1]
+   {\gdef\SS@partnumberfont{\SS@sectid{0}\SS@nopart\SS@makeulinepartchap#1}
+    \gdef\SS@parttitlefont{\SS@sectid{0}\SS@titlepart\SS@makeulinepartchap#1}}
+\newcommand*{\doxychapterfont}       [1]
+   {\gdef\SS@chapnumfont{\SS@sectid{1}\SS@nopart\SS@makeulinepartchap#1}
+    \gdef\SS@chaptitlefont{\SS@sectid{1}\SS@titlepart\SS@makeulinepartchap#1}}
+\newcommand*{\doxysectionfont}       [1]
+   {\gdef\SS@sectfont{\SS@sectid{2}\SS@rr\SS@makeulinesect#1}}
+\newcommand*{\doxysubsectionfont}    [1]
+   {\gdef\SS@subsectfont{\SS@sectid{3}\SS@rr\SS@makeulinesect#1}}
+\newcommand*{\doxysubsubsectionfont} [1]
+   {\gdef\SS@subsubsectfont{\SS@sectid{4}\SS@rr\SS@makeulinesect#1}}
+\newcommand*{\doxyparagraphfont}     [1]
+   {\gdef\SS@parafont{\SS@sectid{5}\SS@rr\SS@makeulinesect#1}}
+\newcommand*{\doxysubparagraphfont}  [1]
+   {\gdef\SS@subparafont{\SS@sectid{6}\SS@rr\SS@makeulinesect#1}}
+\newcommand*{\doxyminisecfont}  [1]
+   {\gdef\SS@minisecfont{\SS@sectid{7}\SS@rr\SS@makeulinepartchap#1}}
+\newcommand*{\doxyallsectionsfont}   [1] {\doxypartfont{#1}%
+                                          \doxychapterfont{#1}%
+                                          \doxysectionfont{#1}%
+                                          \doxysubsectionfont{#1}%
+                                          \doxysubsubsectionfont{#1}%
+                                          \doxyparagraphfont{#1}%
+                                          \doxysubparagraphfont{#1}%
+                                          \doxyminisecfont{#1}}%
+% Define caption that is also suitable in a table
+\makeatletter
+\def\doxyfigcaption{%
+\H@refstepcounter{figure}%
+\@dblarg{\@caption{figure}}}
+\makeatother
+
+% Define alpha enumarative names for counters > 26
+\makeatletter
+\def\enumalphalphcnt#1{\expandafter\@enumalphalphcnt\csname c@#1\endcsname}
+\def\@enumalphalphcnt#1{\alphalph{#1}}
+\def\enumAlphAlphcnt#1{\expandafter\@enumAlphAlphcnt\csname c@#1\endcsname}
+\def\@enumAlphAlphcnt#1{\AlphAlph{#1}}
+\makeatother
+\AddEnumerateCounter{\enumalphalphcnt}{\@enumalphalphcnt}{aa}
+\AddEnumerateCounter{\enumAlphAlphcnt}{\@enumAlphAlphcnt}{AA}
diff --git a/documentation/latex/etoc_doxygen.sty b/documentation/latex/etoc_doxygen.sty
new file mode 100644
index 0000000..5f7e127
--- /dev/null
+++ b/documentation/latex/etoc_doxygen.sty
@@ -0,0 +1,2178 @@
+%%
+%% This is file etoc_doxygen.sty
+%%
+%% Apart from this header notice and the renaming from etoc to
+%% etoc_doxygen (also in \ProvidesPackage) it is an identical
+%% copy of
+%%
+%%     etoc.sty
+%%
+%% at version 1.2b of 2023/07/01.
+%%
+%% This file has been provided to Doxygen team courtesy of the
+%% author for benefit of users having a LaTeX installation not
+%% yet providing version 1.2a or later of etoc, whose
+%% deeplevels feature is required.
+%%
+%% The original source etoc.dtx (only of the latest version at
+%% any given time) is available at
+%% 
+%%     https://ctan.org/pkg/etoc
+%%
+%% and contains the terms for copying and modification as well
+%% as author contact information.
+%%
+%% In brief any modified versions of this file must be renamed
+%% with new filenames distinct from etoc.sty.
+%% 
+%% Package: etoc
+%% Version: 1.2b
+%% License: LPPL 1.3c
+%% Copyright (C) 2012-2023 Jean-Francois B. <user jfbu at github>
+\NeedsTeXFormat{LaTeX2e}[2003/12/01]
+\ProvidesPackage{etoc_doxygen}[2023/07/01 v1.2b Completely customisable TOCs (JFB)]
+\newif\ifEtoc@oldLaTeX
+\@ifl@t@r\fmtversion{2020/10/01}
+  {}
+  {\Etoc@oldLaTeXtrue
+   \PackageInfo{etoc}{Old LaTeX (\fmtversion) detected!\MessageBreak
+   Since 1.1a (2023/01/14), etoc prefers LaTeX at least\MessageBreak
+   as recent as 2020-10-01, for reasons of the .toc file,\MessageBreak
+   and used to require it (from 1.1a to 1.2).\MessageBreak
+   This etoc (1.2b) does not *require* it, but has not been\MessageBreak
+   tested thoroughly on old LaTeX (especially if document\MessageBreak
+   does not use hyperref) and retrofitting was done only\MessageBreak
+   on basis of author partial remembrances of old context.\MessageBreak
+   Reported}}
+\RequirePackage{kvoptions}
+\SetupKeyvalOptions{prefix=Etoc@}
+\newif\ifEtoc@lof
+\DeclareVoidOption{lof}{\Etoc@loftrue
+  \PackageInfo{etoc}{Experimental support for \string\locallistoffigures.\MessageBreak
+                     Barely tested, use at own risk}%
+}
+\newif\ifEtoc@lot
+\DeclareVoidOption{lot}{\Etoc@lottrue
+  \PackageInfo{etoc}{Experimental support for \string\locallistoftables.\MessageBreak
+                     Barely tested, use at own risk}%
+}
+\@ifclassloaded{memoir}{
+\PackageInfo{etoc}
+   {As this is with memoir class, all `...totoc' options\MessageBreak
+    are set true by default.  Reported}
+\DeclareBoolOption[true]{maintoctotoc}
+\DeclareBoolOption[true]{localtoctotoc}
+\DeclareBoolOption[true]{localloftotoc}
+\DeclareBoolOption[true]{locallottotoc}
+}{
+\DeclareBoolOption[false]{maintoctotoc}
+\DeclareBoolOption[false]{localtoctotoc}
+\DeclareBoolOption[false]{localloftotoc}
+\DeclareBoolOption[false]{locallottotoc}
+}
+\DeclareBoolOption[true]{ouroboros}
+\DeclareBoolOption[false]{deeplevels}
+\DeclareDefaultOption{\PackageWarning{etoc}{Option `\CurrentOption' is unknown.}}
+\ProcessKeyvalOptions*
+\DisableKeyvalOption[action=error,package=etoc]{etoc}{lof}
+\DisableKeyvalOption[action=error,package=etoc]{etoc}{lot}
+\DisableKeyvalOption[action=error,package=etoc]{etoc}{deeplevels}
+\def\etocsetup#1{\setkeys{etoc}{#1}}
+\def\etocifmaintoctotoc{\ifEtoc@maintoctotoc
+                           \expandafter\@firstoftwo
+                         \else
+                           \expandafter\@secondoftwo
+                         \fi}
+\def\etociflocaltoctotoc{\ifEtoc@localtoctotoc
+                           \expandafter\@firstoftwo
+                         \else
+                           \expandafter\@secondoftwo
+                         \fi}
+\def\etociflocalloftotoc{\ifEtoc@localloftotoc
+                           \expandafter\@firstoftwo
+                         \else
+                           \expandafter\@secondoftwo
+                         \fi}
+\def\etociflocallottotoc{\ifEtoc@locallottotoc
+                           \expandafter\@firstoftwo
+                         \else
+                           \expandafter\@secondoftwo
+                         \fi}
+\RequirePackage{multicol}
+\def\etoc@{\etoc@}
+\long\def\Etoc@gobtoetoc@ #1\etoc@{}
+\newtoks\Etoc@toctoks
+\def\Etoc@par{\par}
+\def\etocinline{\def\Etoc@par{}}
+\let\etocnopar\etocinline
+\def\etocdisplay{\def\Etoc@par{\par}}
+\let\Etoc@global\@empty
+\def\etocglobaldefs{\let\Etoc@global\global\let\tof@global\global}
+\def\etoclocaldefs {\let\Etoc@global\@empty\let\tof@global\@empty}
+\newif\ifEtoc@numbered
+\newif\ifEtoc@hyperref
+\newif\ifEtoc@parskip
+\newif\ifEtoc@tocwithid
+\newif\ifEtoc@standardlines
+\newif\ifEtoc@etocstyle
+\newif\ifEtoc@classstyle
+\newif\ifEtoc@keeporiginaltoc
+\newif\ifEtoc@skipprefix
+\newif\ifEtoc@isfirst
+\newif\ifEtoc@localtoc
+\newif\ifEtoc@skipthisone
+\newif\ifEtoc@stoptoc
+\newif\ifEtoc@notactive
+\newif\ifEtoc@mustclosegroup
+\newif\ifEtoc@isemptytoc
+\newif\ifEtoc@checksemptiness
+\def\etocchecksemptiness       {\Etoc@checksemptinesstrue }
+\def\etocdoesnotcheckemptiness {\Etoc@checksemptinessfalse }
+\newif\ifEtoc@notocifnotoc
+\def\etocnotocifnotoc {\Etoc@checksemptinesstrue\Etoc@notocifnotoctrue }
+\newcounter{etoc@tocid}
+\def\Etoc@tocext{toc}
+\def\Etoc@lofext{lof}
+\def\Etoc@lotext{lot}
+\let\Etoc@currext\Etoc@tocext
+\def\etocifislocal{\ifEtoc@localtoc\expandafter\@firstoftwo\else
+                                   \expandafter\@secondoftwo\fi
+                  }
+\def\etocifislocaltoc{\etocifislocal{\ifx\Etoc@currext\Etoc@tocext
+                                     \expandafter\@firstoftwo\else
+                                     \expandafter\@secondoftwo\fi}%
+                                    {\@secondoftwo}%
+                     }
+\def\etocifislocallof{\etocifislocal{\ifx\Etoc@currext\Etoc@lofext
+                                     \expandafter\@firstoftwo\else
+                                     \expandafter\@secondoftwo\fi}%
+                                    {\@secondoftwo}%
+                     }
+\def\etocifislocallot{\etocifislocal{\ifx\Etoc@currext\Etoc@lotext
+                                     \expandafter\@firstoftwo\else
+                                     \expandafter\@secondoftwo\fi}%
+                                    {\@secondoftwo}%
+                     }
+\expandafter\def\csname Etoc@-3@@\endcsname {-\thr@@}
+\expandafter\def\csname Etoc@-2@@\endcsname {-\tw@}
+\expandafter\let\csname Etoc@-1@@\endcsname \m@ne
+\expandafter\let\csname Etoc@0@@\endcsname  \z@
+\expandafter\let\csname Etoc@1@@\endcsname  \@ne
+\expandafter\let\csname Etoc@2@@\endcsname  \tw@
+\expandafter\let\csname Etoc@3@@\endcsname  \thr@@
+\expandafter\chardef\csname Etoc@4@@\endcsname  4
+\expandafter\chardef\csname Etoc@5@@\endcsname  5
+\expandafter\chardef\csname Etoc@6@@\endcsname  6
+\ifEtoc@deeplevels
+  \expandafter\chardef\csname Etoc@7@@\endcsname  7
+  \expandafter\chardef\csname Etoc@8@@\endcsname  8
+  \expandafter\chardef\csname Etoc@9@@\endcsname  9
+  \expandafter\chardef\csname Etoc@10@@\endcsname  10
+  \expandafter\chardef\csname Etoc@11@@\endcsname  11
+  \expandafter\chardef\csname Etoc@12@@\endcsname  12
+\fi
+\expandafter\let\expandafter\Etoc@maxlevel
+  \csname Etoc@\ifEtoc@deeplevels12\else6\fi @@\endcsname
+\edef\etocthemaxlevel{\number\Etoc@maxlevel}
+\@ifclassloaded{memoir}{\def\Etoc@minf{-\thr@@}}{\def\Etoc@minf{-\tw@}}
+\let\Etoc@none@@  \Etoc@minf
+\expandafter\let\expandafter\Etoc@all@@
+  \csname Etoc@\ifEtoc@deeplevels11\else5\fi @@\endcsname
+\let\Etoc@dolevels\@empty
+\def\Etoc@newlevel #1{\expandafter\def\expandafter\Etoc@dolevels\expandafter
+        {\Etoc@dolevels\Etoc@do{#1}}}
+\ifdefined\expanded
+  \def\etocsetlevel#1#2{\expanded{\noexpand\etoc@setlevel{#1}{#2}}}%
+\else
+   \def\etocsetlevel#1#2{{\edef\Etoc@tmp{\noexpand\etoc@setlevel{#1}{#2}}\expandafter}\Etoc@tmp}%
+\fi
+\def\etoc@setlevel#1#2{%
+   \edef\Etoc@tmp{\the\numexpr#2}%
+   \if1\ifnum\Etoc@tmp>\Etoc@maxlevel0\fi\unless\ifnum\Etoc@minf<\Etoc@tmp;\fi1%
+      \ifEtoc@deeplevels
+        \in@{.#1,}{.none,.all,.figure,.table,.-3,.-2,.-1,.0,.1,.2,.3,.4,.5,.6,%
+                                              .7,.8,.9,.10,.11,.12,}%
+      \else
+        \in@{.#1,}{.none,.all,.figure,.table,.-3,.-2,.-1,.0,.1,.2,.3,.4,.5,.6,}%
+      \fi
+      \ifin@\else\if\@car#1\@nil @\in@true\fi\fi
+      \ifin@
+         \PackageWarning{etoc}
+            {Sorry, but `#1' is forbidden as level name.\MessageBreak
+             \if\@car#1\@nil @%
+                (because of the @ as first character)\MessageBreak\fi
+             Reported}%
+      \else
+        \etocifunknownlevelTF{#1}{\Etoc@newlevel{#1}}{}%
+        \expandafter\let\csname Etoc@#1@@\expandafter\endcsname
+                        \csname Etoc@\Etoc@tmp @@\endcsname
+        \expandafter\edef\csname Etoc@@#1@@\endcsname
+                         {\expandafter\noexpand\csname Etoc@#1@@\endcsname}%
+        \expandafter\edef\csname toclevel@@#1\endcsname
+                         {\expandafter\noexpand\csname toclevel@#1\endcsname}%
+      \fi
+   \else
+      \PackageWarning{etoc}
+         {Argument `\detokenize{#2}' of \string\etocsetlevel\space should
+          represent one of\MessageBreak
+          \ifnum\Etoc@minf=-\thr@@-2, \fi-1, 0, 1, 2, \ifEtoc@deeplevels ...\else3, 4\fi,
+          \the\numexpr\Etoc@maxlevel-1, or \number\Etoc@maxlevel\space
+          but evaluates to \Etoc@tmp.\MessageBreak
+          The level of `#1' will be set to \number\Etoc@maxlevel.\MessageBreak
+          Tables of contents will ignore `#1' as long\MessageBreak
+          as its level is \number\Etoc@maxlevel\space (=\string\etocthemaxlevel).%
+          \MessageBreak
+          Reported}%
+      \etocifunknownlevelTF{#1}{\Etoc@newlevel{#1}}{}%
+      \expandafter\let\csname Etoc@#1@@\endcsname\Etoc@maxlevel
+   \fi
+}
+\def\etoclevel#1{\csname Etoc@#1@@\endcsname}
+\def\etocthelevel#1{\number\csname Etoc@#1@@\endcsname}
+\def\etocifunknownlevelTF#1{\@ifundefined{Etoc@#1@@}}
+\@ifclassloaded{memoir}{\etocsetlevel{book}{-2}}{}
+\etocsetlevel{part}{-1}
+\etocsetlevel{chapter}{0}
+\etocsetlevel{section}{1}
+\etocsetlevel{subsection}{2}
+\etocsetlevel{subsubsection}{3}
+\etocsetlevel{paragraph}{4}
+\etocsetlevel{subparagraph}{5}
+\ifdefined\c@chapter
+  \etocsetlevel{appendix}{0}
+\else
+  \etocsetlevel{appendix}{1}
+\fi
+\def\Etoc@do#1{\@namedef{l@@#1}{\csname l@#1\endcsname}}
+\Etoc@dolevels
+\let\Etoc@figure@@\Etoc@maxlevel
+\let\Etoc@table@@ \Etoc@maxlevel
+\let\Etoc@gobblethreeorfour\@gobblefour
+\ifdefined\@gobblethree
+  \let\Etoc@gobblethree\@gobblethree
+\else
+  \long\def\Etoc@gobblethree#1#2#3{}%
+\fi
+\AtBeginDocument{%
+\@ifpackageloaded{parskip}{\Etoc@parskiptrue}{}%
+\@ifpackageloaded{hyperref}
+    {\Etoc@hyperreftrue}
+    {\ifEtoc@oldLaTeX
+        \let\Etoc@gobblethreeorfour\Etoc@gobblethree
+        \let\Etoc@etoccontentsline@fourargs\Etoc@etoccontentsline@
+        \long\def\Etoc@etoccontentsline@#1#2#3{%
+            \Etoc@etoccontentsline@fourargs{#1}{#2}{#3}{}%
+        }%
+     \fi
+    }%
+}
+\def\etocskipfirstprefix {\global\Etoc@skipprefixtrue }
+\def\Etoc@updatestackofends#1\etoc@{\gdef\Etoc@stackofends{#1}}
+\def\Etoc@stackofends{{-3}{}}
+\def\Etoc@doendsandbegin{%
+    \expandafter\Etoc@traversestackofends\Etoc@stackofends\etoc@
+}
+\def\Etoc@traversestackofends#1{%
+  \ifnum#1>\Etoc@level
+    \csname Etoc@end@#1\endcsname
+    \expandafter\Etoc@traversestackofends
+  \else
+    \Etoc@traversestackofends@done{#1}%
+  \fi
+}
+\def\Etoc@traversestackofends@done#1#2{#2%
+  \ifnum#1<\Etoc@level
+    \csname Etoc@begin@\the\numexpr\Etoc@level\endcsname
+    \Etoc@global\Etoc@isfirsttrue
+    \edef\Etoc@tmp{{\the\numexpr\Etoc@level}}%
+  \else
+    \Etoc@global\Etoc@isfirstfalse
+    \let\Etoc@tmp\@empty
+  \fi
+  \expandafter\Etoc@updatestackofends\Etoc@tmp{#1}%
+}
+\def\Etoc@etoccontentsline #1{%
+  \let\Etoc@next\Etoc@gobblethreeorfour
+  \ifnum\csname Etoc@#1@@\endcsname=\Etoc@maxlevel
+  \else
+   \Etoc@skipthisonefalse
+   \global\expandafter\let\expandafter\Etoc@level\csname Etoc@#1@@\endcsname
+   \if @\@car#1\@nil\else\global\let\Etoc@virtualtop\Etoc@level\fi
+   \ifEtoc@localtoc
+    \ifEtoc@stoptoc
+      \Etoc@skipthisonetrue
+    \else
+     \ifEtoc@notactive
+       \Etoc@skipthisonetrue
+     \else
+      \unless\ifnum\Etoc@level>\etoclocaltop
+        \Etoc@skipthisonetrue
+        \global\Etoc@stoptoctrue
+      \fi
+     \fi
+    \fi
+   \fi
+   \ifEtoc@skipthisone
+   \else
+    \unless\ifnum\Etoc@level>\c@tocdepth
+     \ifEtoc@standardlines
+         \let\Etoc@next\Etoc@savedcontentsline
+     \else
+         \let\Etoc@next\Etoc@etoccontentsline@
+     \fi
+    \fi
+   \fi
+  \fi
+  \Etoc@next{#1}%
+}
+\def\Etoc@etoccontentsline@ #1#2#3#4{%
+    \Etoc@doendsandbegin
+    \Etoc@global\edef\Etoc@prefix  {\expandafter\noexpand
+         \csname Etoc@prefix@\the\numexpr\Etoc@level\endcsname }%
+    \Etoc@global\edef\Etoc@contents{\expandafter\noexpand
+         \csname Etoc@contents@\the\numexpr\Etoc@level\endcsname }%
+    \ifEtoc@skipprefix \Etoc@global\def\Etoc@prefix{\@empty}\fi
+    \global\Etoc@skipprefixfalse
+    \Etoc@lxyz{#2}{#3}{#4}%
+    \Etoc@prefix
+    \Etoc@contents
+}
+\def\Etoc@lxyz #1#2#3{%
+    \ifEtoc@hyperref
+       \Etoc@global\def\etocthelink##1{\hyperlink{#3}{##1}}%
+    \else
+       \Etoc@global\let\etocthelink\@firstofone
+    \fi
+    \Etoc@global\def\etocthepage {#2}%
+    \ifEtoc@hyperref
+       \ifx\etocthepage\@empty
+         \Etoc@global\let\etocthelinkedpage\@empty
+       \else
+         \Etoc@global\def\etocthelinkedpage{\hyperlink {#3}{#2}}%
+       \fi
+    \else
+       \Etoc@global\let\etocthelinkedpage\etocthepage
+    \fi
+    \Etoc@global\def\etocthename{#1}%
+    \futurelet\Etoc@getnb@token\Etoc@@getnb #1\hspace\etoc@
+    \ifEtoc@hyperref
+      \def\Etoc@tmp##1##2{\Etoc@global\def##2{\hyperlink{#3}{##1}}}%
+      \expandafter\Etoc@tmp\expandafter{\etocthename}\etocthelinkedname
+      \ifEtoc@numbered
+         \expandafter\Etoc@tmp\expandafter{\etocthenumber}\etocthelinkednumber
+      \else
+         \Etoc@global\let\etocthelinkednumber\@empty
+      \fi
+    \else
+      \Etoc@global\let\etocthelinkedname  \etocthename
+      \Etoc@global\let\etocthelinkednumber\etocthenumber
+    \fi
+    \Etoc@global\expandafter\let\csname etoclink \endcsname  \etocthelink
+    \Etoc@global\expandafter\let\csname etocname \endcsname  \etocthename
+    \Etoc@global\expandafter\let\csname etocnumber \endcsname\etocthenumber
+    \Etoc@global\expandafter\let\csname etocpage \endcsname  \etocthepage
+    \ifEtoc@hyperref
+      \Etoc@lxyz@linktoc
+    \fi
+}
+\def\Etoc@lxyz@linktoc{%
+    \ifcase\Hy@linktoc
+    \or
+      \Etoc@global\expandafter\let\csname etocname   \endcsname\etocthelinkedname
+      \Etoc@global\expandafter\let\csname etocnumber \endcsname\etocthelinkednumber
+    \or % page
+      \Etoc@global\expandafter\let\csname etocpage   \endcsname\etocthelinkedpage
+    \else % all
+      \Etoc@global\expandafter\let\csname etocname   \endcsname\etocthelinkedname
+      \Etoc@global\expandafter\let\csname etocnumber \endcsname\etocthelinkednumber
+      \Etoc@global\expandafter\let\csname etocpage   \endcsname\etocthelinkedpage
+    \fi
+}
+\def\Etoc@@getnb {%
+    \let\Etoc@next\Etoc@getnb
+    \ifx\Etoc@getnb@token\@sptoken\let\Etoc@next\Etoc@getnb@nonbr\fi
+    \ifx\Etoc@getnb@token\bgroup  \let\Etoc@next\Etoc@getnb@nonbr\fi
+    \Etoc@next
+}
+\def\Etoc@getnb #1{%
+    \in@{#1}{\numberline\chapternumberline\partnumberline\booknumberline}%
+    \ifin@
+       \let\Etoc@next\Etoc@getnb@nmbrd
+    \else
+       \ifnum\Etoc@level=\m@ne
+           \let\Etoc@next\Etoc@@getit
+       \else
+           \let\Etoc@next\Etoc@getnb@nonbr
+       \fi
+       \in@{#1}{\nonumberline}%
+       \ifin@
+         \let\Etoc@next\Etoc@getnb@nonumberline
+       \fi
+    \fi
+    \Etoc@next #1%
+}
+\def\Etoc@getnb@nmbrd #1#2{%
+    \Etoc@global\Etoc@numberedtrue
+    \Etoc@global\def\etocthenumber {#2}%
+    \Etoc@getnb@nmbrd@getname\@empty
+}%
+\def\Etoc@getnb@nmbrd@getname #1\hspace\etoc@ {%
+    \Etoc@global\expandafter\def\expandafter\etocthename\expandafter{#1}%
+}
+\def\Etoc@getnb@nonbr #1\etoc@ {%
+    \Etoc@global\Etoc@numberedfalse
+    \Etoc@global\let\etocthenumber \@empty
+}
+\def\Etoc@getnb@nonumberline #1\hspace\etoc@ {%
+    \Etoc@global\Etoc@numberedfalse
+    \Etoc@global\let\etocthenumber \@empty
+    \Etoc@global\expandafter\def\expandafter\etocthename\expandafter{\@gobble#1}%
+}
+\def\Etoc@@getit #1\hspace#2{%
+    \ifx\etoc@#2%
+      \Etoc@global\Etoc@numberedfalse
+      \Etoc@global\let\etocthenumber \@empty
+    \else
+      \Etoc@global\Etoc@numberedtrue
+      \Etoc@global\def\etocthenumber {#1}%
+      \expandafter\Etoc@getit@getname \expandafter\@empty
+    \fi
+}
+\def\Etoc@getit@getname #1\hspace\etoc@ {%
+    \Etoc@global\expandafter\def\expandafter\etocthename\expandafter{#1}%
+}
+\let\etocthename   \@empty
+\let\etocthenumber \@empty
+\let\etocthepage   \@empty
+\let\etocthelinkedname   \@empty
+\let\etocthelinkednumber \@empty
+\let\etocthelinkedpage   \@empty
+\let\etocthelink   \@firstofone
+\DeclareRobustCommand*{\etocname}  {}
+\DeclareRobustCommand*{\etocnumber}{}
+\DeclareRobustCommand*{\etocpage}  {}
+\DeclareRobustCommand*{\etoclink}  {\@firstofone}
+\DeclareRobustCommand*{\etocifnumbered}
+   {\ifEtoc@numbered\expandafter\@firstoftwo\else\expandafter\@secondoftwo\fi}
+\expandafter\let\expandafter\etocxifnumbered\csname etocifnumbered \endcsname
+\DeclareRobustCommand*{\etociffirst}
+   {\ifEtoc@isfirst\expandafter\@firstoftwo\else\expandafter\@secondoftwo\fi}
+\expandafter\let\expandafter\etocxiffirst\csname etociffirst \endcsname
+\def\Etoc@readtoc {%
+  \ifeof \Etoc@tf
+  \else
+     \read \Etoc@tf to \Etoc@buffer
+     \Etoc@toctoks=\expandafter\expandafter\expandafter
+       {\expandafter\the\expandafter\Etoc@toctoks\Etoc@buffer}%
+     \expandafter\Etoc@readtoc
+  \fi
+}
+\Etoc@toctoks {}% (superfluous, but for clarity)
+\AtBeginDocument{\IfFileExists{\jobname.toc}
+    {{\endlinechar=\m@ne
+      \makeatletter
+      \newread\Etoc@tf
+      \openin\Etoc@tf\@filef@und
+      \Etoc@readtoc
+      \global\Etoc@toctoks=\expandafter{\the\Etoc@toctoks}%
+      \closein\Etoc@tf}}
+    {\typeout{No file \jobname.toc.}}}
+\def\Etoc@openouttoc{%
+  \ifEtoc@hyperref
+   \ifx\hyper@last\@undefined
+    \IfFileExists{\jobname .toc}
+      {\Hy@WarningNoLine
+         {old toc file detected; run LaTeX again (cheers from `etoc')}%
+       \global\Etoc@toctoks={}%
+      }
+      {}%
+   \fi
+  \fi
+  \if@filesw
+   \newwrite \tf@toc
+   \immediate \openout \tf@toc \jobname .toc\relax
+  \fi
+  \global\let\Etoc@openouttoc\empty
+}
+\def\Etoc@toctoc{%
+  \gdef\Etoc@stackofends{{-3}{}}%
+  \global\let\Etoc@level\Etoc@minf
+  \global\let\Etoc@virtualtop\Etoc@minf
+  \the\Etoc@toctoks
+  \ifEtoc@notactive
+  \else
+   \gdef\Etoc@level{-\thr@@}%
+   \Etoc@doendsandbegin
+  \fi
+}
+\def\Etoc@@startlocaltoc#1#2{%
+    \ifEtoc@localtoc
+       \ifnum #1=#2\relax
+          \global\let\etoclocaltop\Etoc@virtualtop
+          \Etoc@@startlocaltochook
+          \etoclocaltableofcontentshook
+          \ifEtoc@etocstyle
+              \etocetoclocaltocmaketitle
+          \fi
+          \ifx\Etoc@aftertitlehook\@empty
+          \else
+            \ifEtoc@localtoctotoc
+              \ifEtoc@ouroboros
+              \else
+                \let\Etoc@tmp\contentsline
+                \def\contentsline{\let\contentsline\Etoc@tmp\Etoc@gobblethreeorfour}%
+              \fi
+            \fi
+          \fi
+          \global\Etoc@notactivefalse
+       \fi
+    \fi
+}
+\let\etoc@startlocaltoc\@gobble
+\let\Etoc@@startlocaltoc@toc\Etoc@@startlocaltoc
+\let\Etoc@@startlocaltochook\@empty
+\unless\ifEtoc@deeplevels
+  \def\etocdivisionnameatlevel#1{%
+    \ifcase\numexpr#1\relax
+             \ifdefined\c@chapter chapter\else section\fi%
+         \or section%
+         \or subsection%
+         \or subsubsection%
+         \or paragraph%
+         \or subparagraph%
+         \or empty%
+    \else\ifnum\numexpr#1<\m@ne
+             book%
+         \else
+             part%
+         \fi
+    \fi
+  }
+\else
+  \def\etocdivisionnameatlevel#1{%
+    \ifcase\numexpr#1\relax
+             \ifdefined\c@chapter chapter\else section\fi%
+         \or section%
+         \or subsection%
+         \or subsubsection%
+         \or subsubsubsection%
+         \or subsubsubsubsection%
+         \or subsubsubsubsubsection%
+         \or subsubsubsubsubsubsection%
+         \or paragraph%
+         \or subparagraph%
+    \else\ifnum\numexpr#1>\z@
+             empty%
+         \else\ifnum\numexpr#1=\m@ne
+             part%
+         \else
+             book%
+         \fi\fi
+    \fi
+  }
+\fi
+\def\etoclocalheadtotoc#1#2{\addcontentsline{toc}{@#1}{#2}}
+\def\etocglobalheadtotoc{\addcontentsline{toc}}
+\providecommand*\UseName{\@nameuse}
+\def\etocetoclocaltocmaketitle{%
+    \UseName{\etocdivisionnameatlevel{\etoclocaltop+1}}*{\localcontentsname}%
+    \if@noskipsec\leavevmode\par\fi
+    \etociflocaltoctotoc
+      {\etocifisstarred
+         {}% star variant, do not add to toc
+         {\etoclocalheadtotoc
+           {\etocdivisionnameatlevel{\etoclocaltop+1}}%
+           {\localcontentsname}%
+         }%
+      }%
+      {}%
+}%
+\def\localcontentsname  {\contentsname}%
+\let\etoclocaltableofcontentshook\@empty
+\if1\ifEtoc@lof0\fi\ifEtoc@lot0\fi1%
+\else
+\AtBeginDocument{%
+  \let\Etoc@originaladdcontentsline\addcontentsline
+  \def\addcontentsline{\Etoc@hackedaddcontentsline}%
+}%
+\fi
+\ifEtoc@lof
+  \ifEtoc@lot
+    \def\Etoc@hackedaddcontentsline#1{%
+      \expanded{\noexpand\in@{.#1,}}{.lof,.lot,}%
+      \ifin@\expandafter\Etoc@hackedaddcontentsline@i
+      \else\expandafter\Etoc@originaladdcontentsline
+      \fi {#1}}
+  \else
+    \def\Etoc@hackedaddcontentsline#1{%
+      \expanded{\noexpand\in@{.#1,}}{.lof,}%
+      \ifin@\expandafter\Etoc@hackedaddcontentsline@i
+      \else\expandafter\Etoc@originaladdcontentsline
+      \fi {#1}}
+  \fi
+\else
+  \def\Etoc@hackedaddcontentsline#1{%
+    \expanded{\noexpand\in@{.#1,}}{.lot,}%
+    \ifin@\expandafter\Etoc@hackedaddcontentsline@i
+    \else\expandafter\Etoc@originaladdcontentsline
+    \fi {#1}}
+\fi
+\def\Etoc@hackedaddcontentsline@i#1#2#3{%
+    \expanded{\noexpand\in@{.#1;#2,}}{.lof;figure,.lot;table,}%
+    \ifin@
+    \addtocontents {toc}{%
+      \protect\contentsline{#2}{#3}{\thepage}{\ifEtoc@hyperref\@currentHref\fi}%
+      \ifdefined\protected@file@percent\protected@file@percent\fi
+    }%
+    \fi
+    \Etoc@originaladdcontentsline{#1}{#2}{#3}%
+}
+\unless\ifdefined\expanded
+  \def\Etoc@hackedaddcontentsline#1{%
+    {\edef\Etoc@tmp{\noexpand\in@{.#1,}{\ifEtoc@lof.lof,\fi\ifEtoc@lot.lot,\fi}}\expandafter}%
+    \Etoc@tmp
+    \ifin@\expandafter\Etoc@hackedaddcontentsline@i
+    \else\expandafter\Etoc@originaladdcontentsline
+    \fi {#1}%
+  }
+  \def\Etoc@hackedaddcontentsline@i#1#2#3{%
+    {\edef\Etoc@tmp{\noexpand\in@{.#1;#2,}}\expandafter}%
+    \Etoc@tmp{.lof;figure,.lot;table,}%
+    \ifin@
+    \addtocontents {toc}{%
+      \protect\contentsline{#2}{#3}{\thepage}{\ifEtoc@hyperref\@currentHref\fi}%
+      \ifdefined\protected@file@percent\protected@file@percent\fi
+    }%
+    \fi
+    \Etoc@originaladdcontentsline{#1}{#2}{#3}%
+  }
+\fi
+\def\Etoc@@startlocallistof#1#2#3{%
+    \ifEtoc@localtoc
+       \ifnum #2=#3\relax
+          \global\let\etoclocaltop\Etoc@virtualtop
+          \global\Etoc@notactivefalse
+          \Etoc@@startlocaltochook
+          \csname etoclocallistof#1shook\endcsname
+          \ifEtoc@etocstyle
+              \csname etocetoclistof#1smaketitle\endcsname
+          \fi
+       \fi
+    \fi
+}
+\def\Etoc@@startlocallistof@setlevels#1{%
+          \ifnum\etoclocaltop<\z@
+              \expandafter\let\csname Etoc@#1@@\endcsname\@ne
+          \else
+              \expandafter\let\csname Etoc@#1@@\expandafter\endcsname
+                              \csname Etoc@\the\numexpr\etoclocaltop+\@ne @@\endcsname
+          \fi
+          \def\Etoc@do##1{%
+              \ifnum\etoclevel{##1}>\etoclocaltop
+                     \expandafter\let\csname Etoc@##1@@\endcsname\Etoc@maxlevel
+              \fi}%
+          \Etoc@dolevels
+}
+\def\etoclocallistoffigureshook{\etocstandardlines}
+\def\etoclocallistoftableshook {\etocstandardlines}
+\def\locallistfigurename{\listfigurename}
+\def\locallisttablename {\listtablename}
+\def\etocetoclistoffiguresmaketitle{%
+    \UseName{\etocdivisionnameatlevel{\etoclocaltop+1}}*{\locallistfigurename}%
+    \ifnum\etoclocaltop>\tw@\mbox{}\par\fi
+    \etociflocalloftotoc
+      {\etocifisstarred
+         {}% star variant, do not add to toc
+         {\etoclocalheadtotoc
+           {\etocdivisionnameatlevel{\etoclocaltop+1}}%
+           {\locallistfigurename}%
+         }%
+      }%
+      {}%
+}%
+\def\etocetoclistoftablesmaketitle{%
+    \UseName{\etocdivisionnameatlevel{\etoclocaltop+1}}*{\locallisttablename}%
+    \ifnum\etoclocaltop>\tw@\mbox{}\par\fi
+    \etociflocallottotoc
+      {\etocifisstarred
+         {}% star variant, do not add to toc
+         {\etoclocalheadtotoc
+           {\etocdivisionnameatlevel{\etoclocaltop+1}}%
+           {\locallisttablename}%
+         }%
+      }%
+      {}%
+}%
+\let\Etoc@listofreset\@empty
+\ifEtoc@lof
+  \def\locallistoffigures{%
+      \def\Etoc@listofreset{%
+          \let\Etoc@currext\Etoc@tocext
+          \let\Etoc@@startlocaltoc\Etoc@@startlocaltoc@toc
+          \let\Etoc@@startlocaltochook\@empty
+          \let\Etoc@listofreset\@empty
+          \let\Etoc@listofhook\@empty
+          }%
+      \let\Etoc@currext\Etoc@lofext
+      \def\Etoc@@startlocaltoc{\Etoc@@startlocallistof{figure}}%
+      \def\Etoc@@startlocaltochook{\Etoc@@startlocallistof@setlevels{figure}}%
+      \def\Etoc@listofhook{%
+        \def\Etoc@do####1{%
+          \expandafter\let\csname Etoc@@####1@@\endcsname\Etoc@maxlevel
+        }%
+        \Etoc@dolevels
+      }%
+      \localtableofcontents
+  }
+\else
+  \def\locallistoffigures{%
+      \PackageError{etoc}{%
+        \string\locallistoffigures \on@line\space but\MessageBreak
+        package was loaded without `lof' option}%
+        {Try again with \string\usepackage[lof]{etoc}}%
+      }
+\fi
+\ifEtoc@lot
+  \def\locallistoftables{%
+      \def\Etoc@listofreset{%
+          \let\Etoc@currext\Etoc@tocext
+          \let\Etoc@@startlocaltoc\Etoc@@startlocaltoc@toc
+          \let\Etoc@@startlocaltochook\@empty
+          \let\Etoc@listofreset\@empty
+          \let\Etoc@listofhook\@empty
+          }%
+      \let\Etoc@currext\Etoc@lotext
+      \def\Etoc@@startlocaltoc{\Etoc@@startlocallistof{table}}%
+      \def\Etoc@@startlocaltochook{\Etoc@@startlocallistof@setlevels{table}}%
+      \def\Etoc@listofhook{%
+        \def\Etoc@do####1{%
+          \expandafter\let\csname Etoc@@####1@@\endcsname\Etoc@maxlevel
+        }%
+        \Etoc@dolevels
+      }%
+      \localtableofcontents
+  }
+\else
+  \def\locallistoftables{%
+      \PackageError{etoc}{%
+        \string\locallistoftable \on@line\space but\MessageBreak
+        package was loaded without `lot' option}%
+        {Try again with \string\usepackage[lot]{etoc}}%
+      }
+\fi
+\def\Etoc@checkifempty {%
+    \global\Etoc@isemptytoctrue
+    \global\Etoc@stoptocfalse
+    \global\let\Etoc@level\Etoc@minf
+    \global\let\Etoc@virtualtop\Etoc@minf
+    \gdef\Etoc@stackofends{{-3}{}}%
+    \begingroup
+      \ifEtoc@localtoc
+        \def\etoc@startlocaltoc##1{%
+          \ifnum##1=\Etoc@tocid\relax
+              \global\let\etoclocaltop\Etoc@virtualtop
+              \Etoc@@startlocaltochook
+              \global\Etoc@notactivefalse
+          \fi
+        }%
+        \let\contentsline\Etoc@testingcontentslinelocal
+      \else
+        \let\contentsline\Etoc@testingcontentsline
+      \fi
+      \Etoc@storetocdepth
+        \let\Etoc@setlocaltop@doendsandbegin\@empty
+        \the\Etoc@toctoks
+      \Etoc@restoretocdepth
+    \endgroup
+}
+\DeclareRobustCommand*\etocifwasempty
+  {\ifEtoc@isemptytoc\expandafter\@firstoftwo\else\expandafter\@secondoftwo\fi }
+\expandafter\let\expandafter\etocxifwasempty\csname etocifwasempty \endcsname
+\def\Etoc@testingcontentslinelocal #1{%
+  \ifEtoc@stoptoc
+  \else
+   \ifnum\csname Etoc@#1@@\endcsname=\Etoc@maxlevel
+   \else
+    \global\expandafter\let\expandafter\Etoc@level\csname Etoc@#1@@\endcsname
+    \if @\@car#1\@nil\else\global\let\Etoc@virtualtop\Etoc@level\fi
+    \ifEtoc@notactive
+    \else
+     \ifnum\Etoc@level>\etoclocaltop
+      \unless\ifnum\Etoc@level>\c@tocdepth
+       \global\Etoc@isemptytocfalse
+       \global\Etoc@stoptoctrue
+      \fi
+     \else
+      \global\Etoc@stoptoctrue
+     \fi
+    \fi
+   \fi
+  \fi
+  \Etoc@gobblethreeorfour{}%
+}
+\def\Etoc@testingcontentsline #1{%
+  \ifEtoc@stoptoc
+  \else
+   \ifnum\csname Etoc@#1@@\endcsname=\Etoc@maxlevel
+   \else
+    \unless\ifnum\csname Etoc@#1@@\endcsname>\c@tocdepth
+     \global\Etoc@isemptytocfalse
+     \global\Etoc@stoptoctrue
+    \fi
+   \fi
+  \fi
+  \Etoc@gobblethreeorfour{}%
+}
+\def\Etoc@localtableofcontents#1{%
+    \gdef\etoclocaltop{-\@m}%
+    \Etoc@localtoctrue
+    \global\Etoc@isemptytocfalse
+    \edef\Etoc@tocid{#1}%
+    \ifnum\Etoc@tocid<\@ne
+      \setbox0\hbox{\ref{Unknown toc ref \@secondoftwo#1. \space Rerun LaTeX}}%
+      \global\Etoc@stoptoctrue
+      \gdef\etoclocaltop{-\thr@@}%
+      \Etoc@tableofcontents
+      \expandafter\Etoc@gobtoetoc@
+    \fi
+    \global\Etoc@notactivetrue
+    \ifEtoc@checksemptiness
+       \Etoc@checkifempty
+    \fi
+    \ifEtoc@isemptytoc
+       \ifEtoc@notactive
+         \setbox0\hbox{\ref{Unknown toc ID \number\Etoc@tocid. \space Rerun LaTeX}}%
+         \global\Etoc@isemptytocfalse
+         \global\Etoc@stoptoctrue
+         \gdef\etoclocaltop{-\thr@@}%
+         \Etoc@tableofcontents
+         \expandafter\expandafter\expandafter\Etoc@gobtoetoc@
+       \fi
+    \else
+       \global\Etoc@stoptocfalse
+       \global\Etoc@notactivetrue
+       \edef\etoc@startlocaltoc##1%
+           {\noexpand\Etoc@@startlocaltoc{##1}{\Etoc@tocid}}%
+       \Etoc@tableofcontents
+    \fi
+    \@gobble\etoc@
+    \endgroup\ifEtoc@mustclosegroup\endgroup\fi
+    \Etoc@tocdepthreset
+    \Etoc@listofreset
+    \etocaftertochook
+}% \Etoc@localtableofcontents
+\def\Etoc@getref #1{%
+    \@ifundefined{r@#1}
+         {0}
+         {\expandafter\Etoc@getref@i\romannumeral-`0%
+          \expandafter\expandafter\expandafter
+          \@car\csname r@#1\endcsname0\@nil\@etoc
+         }%
+}
+\def\Etoc@getref@i#1#2\@etoc{\ifnum9<1\string#1 #1#2\else 0\fi}
+\def\Etoc@ref#1{\Etoc@localtableofcontents{\Etoc@getref{#1}}}
+\def\Etoc@label#1{\label{#1}\futurelet\Etoc@nexttoken\Etoc@t@bleofcontents}
+\@firstofone{\def\Etoc@again} {\futurelet\Etoc@nexttoken\Etoc@t@bleofcontents}
+\def\Etoc@dothis #1#2\etoc@ {\fi #1}
+\def\Etoc@t@bleofcontents{%
+    \gdef\etoclocaltop{-\@M}%
+    \ifx\Etoc@nexttoken\label\Etoc@dothis{\expandafter\Etoc@label\@gobble}\fi
+    \ifx\Etoc@nexttoken\@sptoken\Etoc@dothis{\Etoc@again}\fi
+    \ifx\Etoc@nexttoken\ref\Etoc@dothis{\expandafter\Etoc@ref\@gobble}\fi
+    \ifEtoc@tocwithid\Etoc@dothis{\Etoc@localtableofcontents{\c@etoc@tocid}}\fi
+    \global\Etoc@isemptytocfalse
+    \ifEtoc@checksemptiness\Etoc@checkifempty\fi
+    \ifEtoc@isemptytoc
+     \ifEtoc@notocifnotoc
+      \expandafter\expandafter\expandafter\@gobble
+     \fi
+    \fi
+    \Etoc@tableofcontents
+    \endgroup
+    \ifEtoc@mustclosegroup\endgroup\fi
+    \Etoc@tocdepthreset
+    \Etoc@listofreset
+    \etocaftertochook
+    \@gobble\etoc@
+    }% \Etoc@t@bleofcontents
+\def\Etoc@table@fcontents{%
+    \refstepcounter{etoc@tocid}%
+    \Etoc@tocwithidfalse
+    \futurelet\Etoc@nexttoken\Etoc@t@bleofcontents
+}
+\def\Etoc@localtable@fcontents{%
+    \refstepcounter{etoc@tocid}%
+    \addtocontents{toc}{\string\etoc@startlocaltoc{\the\c@etoc@tocid}}%
+    \Etoc@tocwithidtrue
+    \futurelet\Etoc@nexttoken\Etoc@t@bleofcontents
+}
+\def\etoctableofcontents{%
+   \Etoc@openouttoc
+   \Etoc@tocdepthset
+   \begingroup
+      \@ifstar
+      {\let\Etoc@aftertitlehook\@empty\Etoc@table@fcontents}
+      {\def\Etoc@aftertitlehook{\etocaftertitlehook}\Etoc@table@fcontents}%
+}% \etoctableofcontents
+\def\etocifisstarred{\ifx\Etoc@aftertitlehook\@empty
+                         \expandafter\@firstoftwo\else
+                         \expandafter\@secondoftwo
+                     \fi}
+\let\etocoriginaltableofcontents\tableofcontents
+\let\tableofcontents\etoctableofcontents
+\let\Etoc@listofhook\@empty
+\newcommand*\localtableofcontents{%
+   \Etoc@openouttoc
+   \Etoc@tocdepthset
+   \begingroup
+      \Etoc@listofhook
+      \@ifstar
+      {\let\Etoc@aftertitlehook\@empty\Etoc@localtable@fcontents}
+      {\def\Etoc@aftertitlehook{\etocaftertitlehook}\Etoc@localtable@fcontents}%
+}% \localtableofcontents
+\newcommand*\localtableofcontentswithrelativedepth[1]{%
+   \def\Etoc@@startlocaltochook{%
+       \global\c@tocdepth\numexpr\etoclocaltop+#1\relax
+   }%
+   \def\Etoc@listofreset{\let\Etoc@@startlocaltochook\@empty
+                         \let\Etoc@listofreset\@empty}%
+   \localtableofcontents
+}% \localtableofcontentswithrelativedepth
+\newcommand\etocsettocstyle[2]{%
+   \Etoc@etocstylefalse
+   \Etoc@classstylefalse
+   \def\Etoc@tableofcontents@user@before{#1}%
+   \def\Etoc@tableofcontents@user@after {#2}%
+}%
+\def\etocstoretocstyleinto#1{%
+%%    \@ifdefinable#1{%
+      \edef#1{\noexpand\Etoc@etocstylefalse\noexpand\Etoc@classstylefalse
+              \def\noexpand\Etoc@tableofcontents@user@before{%
+                  \unexpanded\expandafter{\Etoc@tableofcontents@user@before}%
+                }%
+              \def\noexpand\Etoc@tableofcontents@user@after{%
+                  \unexpanded\expandafter{\Etoc@tableofcontents@user@after}%
+                }%
+             }%
+%%    }%
+}%
+\def\Etoc@tableofcontents {%
+    \Etoc@tableofcontents@etoc@before
+    \ifEtoc@localtoc\ifEtoc@etocstyle\expandafter\expandafter\expandafter\@gobble\fi\fi
+    \Etoc@tableofcontents@user@before
+    \Etoc@tableofcontents@contents
+    \ifEtoc@localtoc\ifEtoc@etocstyle\expandafter\expandafter\expandafter\@gobble\fi\fi
+    \Etoc@tableofcontents@user@after
+    \Etoc@tableofcontents@etoc@after
+    \@gobble\etoc@
+}
+\def\Etoc@tableofcontents@etoc@before{%
+    \ifnum\c@tocdepth>\Etoc@minf
+    \else
+     \expandafter\Etoc@gobtoetoc@
+    \fi
+    \Etoc@par
+    \Etoc@beforetitlehook
+    \etocbeforetitlehook
+    \Etoc@storetocdepth
+    \let\Etoc@savedcontentsline\contentsline
+    \let\contentsline\Etoc@etoccontentsline
+    \ifEtoc@standardlines
+    \else
+        \def\Etoc@do##1{%
+            \expandafter\def\csname etocsaved##1tocline\endcsname
+             {\PackageError{etoc}{%
+              \expandafter\string\csname etocsaved##1tocline\endcsname\space
+              has been deprecated\MessageBreak
+              at 1.1a and is removed at 1.2.\MessageBreak
+              Use \expandafter\string\csname l@##1\endcsname\space directly.\MessageBreak
+              Reported \on@line}%
+                                {I will use \expandafter\string
+              \csname l@##1\endcsname\space myself for this time.%
+                               }%
+              \csname l@##1\endcsname
+            }%
+        }%
+        \Etoc@dolevels
+    \fi
+}%
+\def\Etoc@tableofcontents@contents{%
+    \Etoc@tocdepthset
+    \ifEtoc@parskip\parskip\z@skip\fi
+    \Etoc@aftertitlehook
+    \gdef\etoclocaltop{-\thr@@}%
+    \Etoc@toctoc
+    \etocaftercontentshook
+}%
+\def\Etoc@tableofcontents@etoc@after{%
+    \@nobreakfalse
+    \Etoc@restoretocdepth
+    \ifx\Etoc@global\global
+     \@ifundefined{tof@finish}
+     {}
+     {\ifx\tof@finish\@empty
+      \else
+       \global\let\contentsline\Etoc@savedcontentsline
+      \fi
+     }%
+    \fi
+}
+\def\etocsetstyle#1{\ifcsname Etoc@#1@@\endcsname
+                      \expandafter\Etoc@setstyle@a
+                    \else
+                      \expandafter\Etoc@setstyle@error
+                    \fi {#1}%
+}
+\def\Etoc@setstyle@error #1{%
+    \PackageWarning{etoc}{`#1' is unknown to etoc. \space Did you\MessageBreak
+                    forget some \string\etocsetlevel{#1}{<level>}?\MessageBreak
+                    Reported}%
+    \@gobblefour
+}
+\def\Etoc@setstyle@a #1{%
+    \edef\Etoc@tmp{\the\numexpr\csname Etoc@#1@@\endcsname}%
+    \if1\unless\ifnum\Etoc@tmp<\Etoc@maxlevel 0\fi
+        \unless\ifnum\Etoc@tmp>\Etoc@minf 0\fi1%
+      \Etoc@standardlinesfalse
+      \expandafter\Etoc@setstyle@b\expandafter\Etoc@tmp
+    \else
+      \ifnum\Etoc@tmp=\Etoc@maxlevel
+        \in@{.#1,}{.figure,.table,}%
+        \ifin@
+           \PackageWarning{etoc}
+              {You can not use \string\etocsetstyle\space with `#1'.\MessageBreak
+               Check the package documentation (in particular about\MessageBreak
+               \string\etoclocallistoffigureshook/\string\etoclocallistoftableshook)%
+               \MessageBreak on how to customize
+               figure and table entries in local\MessageBreak lists. Reported}%
+        \else
+           \PackageInfo{etoc}
+              {Attempt to set the style of `#1',\MessageBreak
+               whose level is currently the maximal one \etocthemaxlevel,\MessageBreak
+               which is never displayed. \space This will be ignored\MessageBreak
+               but note that we do quit compatibility mode.\MessageBreak
+               Reported}%
+           \Etoc@standardlinesfalse
+        \fi
+      \else
+        \PackageWarning{etoc}{This should not happen.  Reported}%
+      \fi
+      \expandafter\@gobblefour
+    \fi
+}
+\long\def\Etoc@setstyle@b#1#2#3#4#5{%
+     \expandafter\def\csname Etoc@begin@#1\endcsname    {#2}%
+     \expandafter\def\csname Etoc@prefix@#1\endcsname   {#3}%
+     \expandafter\def\csname Etoc@contents@#1\endcsname {#4}%
+     \expandafter\def\csname Etoc@end@#1\endcsname      {#5}%
+}
+\def\Etoc@setstyle@e#1{%
+     \expandafter\let\csname Etoc@begin@#1\endcsname    \@empty
+     \expandafter\let\csname Etoc@prefix@#1\endcsname   \@empty
+     \expandafter\let\csname Etoc@contents@#1\endcsname \@empty
+     \expandafter\let\csname Etoc@end@#1\endcsname      \@empty
+}
+\def\Etoc@storelines@a#1{%
+   \noexpand\Etoc@setstyle@b{#1}%
+     {\expandafter\Etoc@expandonce\csname Etoc@begin@#1\endcsname}%
+     {\expandafter\Etoc@expandonce\csname Etoc@prefix@#1\endcsname}%
+     {\expandafter\Etoc@expandonce\csname Etoc@contents@#1\endcsname}%
+     {\expandafter\Etoc@expandonce\csname Etoc@end@#1\endcsname}%
+}
+\def\Etoc@expandonce#1{\unexpanded\expandafter{#1}}
+\def\etocstorelinestylesinto#1{%
+    \edef#1{\Etoc@storelines@a{-2}\Etoc@storelines@a{-1}\Etoc@storelines@a{0}%
+            \Etoc@storelines@a {1}\Etoc@storelines@a {2}\Etoc@storelines@a{3}%
+            \Etoc@storelines@a {4}\Etoc@storelines@a {5}%
+            \ifEtoc@deeplevels
+              \Etoc@storelines@a{6}\Etoc@storelines@a{7}\Etoc@storelines@a{8}%
+              \Etoc@storelines@a{9}\Etoc@storelines@a{10}\Etoc@storelines@a{11}%
+            \fi
+    }%
+}
+\def\etocstorethislinestyleinto#1#2{%
+    \edef#2{\expandafter\Etoc@storelines@a\expandafter{\number\etoclevel{#1}}}%
+}%
+\def\etocfontminustwo {\normalfont \LARGE \bfseries}
+\def\etocfontminusone {\normalfont \large \bfseries}
+\def\etocfontzero     {\normalfont \large \bfseries}
+\def\etocfontone      {\normalfont \normalsize \bfseries}
+\def\etocfonttwo      {\normalfont \normalsize}
+\def\etocfontthree    {\normalfont \footnotesize}
+\def\etocsepminustwo  {4ex \@plus .5ex \@minus .5ex}
+\def\etocsepminusone  {4ex \@plus .5ex \@minus .5ex}
+\def\etocsepzero      {2.5ex \@plus .4ex \@minus .4ex}
+\def\etocsepone       {1.5ex \@plus .3ex \@minus .3ex}
+\def\etocseptwo       {.5ex \@plus .1ex \@minus .1ex}
+\def\etocsepthree     {.25ex \@plus .05ex \@minus .05ex}
+\def\etocbaselinespreadminustwo {1}
+\def\etocbaselinespreadminusone {1}
+\def\etocbaselinespreadzero     {1}
+\def\etocbaselinespreadone      {1}
+\def\etocbaselinespreadtwo      {1}
+\def\etocbaselinespreadthree    {.9}
+\def\etocminustwoleftmargin  {1.5em plus 0.5fil}
+\def\etocminustworightmargin {1.5em plus -0.5fil}
+\def\etocminusoneleftmargin  {1em}
+\def\etocminusonerightmargin {1em}
+\def\etoctoclineleaders
+        {\hbox{\normalfont\normalsize\hb@xt@2ex {\hss.\hss}}}
+\def\etocabbrevpagename {p.~}
+\def\etocpartname       {Part}
+\def\etocbookname       {Book}
+\def\etocdefaultlines{%
+    \Etoc@standardlinesfalse
+    \etocdefaultlines@setbook
+    \etocdefaultlines@setpart
+    \etocdefaultlines@setchapter
+    \etocdefaultlines@setsection
+    \etocdefaultlines@setsubsection
+    \etocdefaultlines@setsubsubsection
+    \etocdefaultlines@setdeeperones
+}
+\def\etocnoprotrusion{\leavevmode\kern-\p@\kern\p@}
+\@ifclassloaded{memoir}{%
+ \def\etocdefaultlines@setbook{%
+ \Etoc@setstyle@b
+  {-2}%
+  {\addpenalty\@M\etocskipfirstprefix}
+  {\addpenalty\@secpenalty}
+  {\begingroup
+   \etocfontminustwo
+   \addvspace{\etocsepminustwo}%
+   \parindent \z@
+   \leftskip  \etocminustwoleftmargin
+   \rightskip \etocminustworightmargin
+   \parfillskip \@flushglue
+   \vbox{\etocifnumbered{\etoclink{\etocbookname\enspace\etocthenumber:\quad}}{}%
+         \etocname
+         \baselineskip\etocbaselinespreadminustwo\baselineskip
+         \par}%
+   \addpenalty\@M\addvspace{\etocsepminusone}%
+   \endgroup}
+  {}%
+ }
+ }{\let\etocdefaultlines@setbook\@empty}
+\def\etocdefaultlines@setpart{%
+\Etoc@setstyle@b
+  {-1}%
+  {\addpenalty\@M\etocskipfirstprefix}
+  {\addpenalty\@secpenalty}
+  {\begingroup
+   \etocfontminusone
+   \addvspace{\etocsepminusone}%
+   \parindent \z@
+   \leftskip  \etocminusoneleftmargin
+   \rightskip \etocminusonerightmargin
+   \parfillskip \@flushglue
+   \vbox{\etocifnumbered{\etoclink{\etocpartname\enspace\etocthenumber.\quad}}{}%
+         \etocname
+         \baselineskip\etocbaselinespreadminusone\baselineskip
+         \par}%
+   \addpenalty\@M\addvspace{\etocsepzero}%
+   \endgroup}
+  {}%
+}
+\def\etocdefaultlines@setchapter{%
+\Etoc@setstyle@b
+  {0}%
+  {\addpenalty\@M\etocskipfirstprefix}
+  {\addpenalty\@itempenalty}
+  {\begingroup
+   \etocfontzero
+   \addvspace{\etocsepzero}%
+   \parindent \z@ \parfillskip \@flushglue
+   \vbox{\etocifnumbered{\etocnumber.\enspace}{}\etocname
+         \baselineskip\etocbaselinespreadzero\baselineskip
+         \par}%
+   \endgroup}
+  {\addpenalty{-\@highpenalty}\addvspace{\etocsepminusone}}%
+}
+\def\etocdefaultlines@setsection{%
+\Etoc@setstyle@b
+  {1}%
+  {\addpenalty\@M\etocskipfirstprefix}
+  {\addpenalty\@itempenalty}
+  {\begingroup
+   \etocfontone
+   \addvspace{\etocsepone}%
+   \parindent \z@ \parfillskip \z@
+   \setbox\z@\vbox{\parfillskip\@flushglue
+                   \etocname\par
+                   \setbox\tw@\lastbox
+                   \global\setbox\@ne\hbox{\unhbox\tw@\ }}%
+   \dimen\z@=\wd\@ne
+   \setbox\z@=\etoctoclineleaders
+   \advance\dimen\z@\wd\z@
+   \etocifnumbered
+     {\setbox\tw@\hbox{\etocnumber, \etocabbrevpagename\etocpage\etocnoprotrusion}}
+     {\setbox\tw@\hbox{\etocabbrevpagename\etocpage\etocnoprotrusion}}%
+   \advance\dimen\z@\wd\tw@
+   \ifdim\dimen\z@ < \linewidth
+       \vbox{\etocname~%
+             \leaders\box\z@\hfil\box\tw@
+             \baselineskip\etocbaselinespreadone\baselineskip
+             \par}%
+   \else
+       \vbox{\etocname~%
+             \leaders\copy\z@\hfil\break
+             \hbox{}\leaders\box\z@\hfil\box\tw@
+             \baselineskip\etocbaselinespreadone\baselineskip
+             \par}%
+   \fi
+   \endgroup}
+  {\addpenalty\@secpenalty\addvspace{\etocsepzero}}%
+}
+\def\etocdefaultlines@setsubsection{%
+\Etoc@setstyle@b
+  {2}%
+  {\addpenalty\@medpenalty\etocskipfirstprefix}
+  {\addpenalty\@itempenalty}
+  {\begingroup
+   \etocfonttwo
+   \addvspace{\etocseptwo}%
+   \parindent \z@ \parfillskip \z@
+   \setbox\z@\vbox{\parfillskip\@flushglue
+                   \etocname\par\setbox\tw@\lastbox
+                   \global\setbox\@ne\hbox{\unhbox\tw@}}%
+   \dimen\z@=\wd\@ne
+   \setbox\z@=\etoctoclineleaders
+   \advance\dimen\z@\wd\z@
+   \etocifnumbered
+     {\setbox\tw@\hbox{\etocnumber, \etocabbrevpagename\etocpage\etocnoprotrusion}}
+     {\setbox\tw@\hbox{\etocabbrevpagename\etocpage\etocnoprotrusion}}%
+   \advance\dimen\z@\wd\tw@
+   \ifdim\dimen\z@ < \linewidth
+       \vbox{\etocname~%
+             \leaders\box\z@\hfil\box\tw@
+             \baselineskip\etocbaselinespreadtwo\baselineskip
+             \par}%
+   \else
+       \vbox{\etocname~%
+             \leaders\copy\z@\hfil\break
+             \hbox{}\leaders\box\z@\hfil\box\tw@
+             \baselineskip\etocbaselinespreadtwo\baselineskip
+             \par}%
+   \fi
+   \endgroup}
+  {\addpenalty\@secpenalty\addvspace{\etocsepone}}%
+}
+\def\etocdefaultlines@setsubsubsection{%
+\Etoc@setstyle@b
+  {3}%
+  {\addpenalty\@M
+   \etocfontthree
+   \vspace{\etocsepthree}%
+   \noindent
+   \etocskipfirstprefix}
+  {\allowbreak\,--\,}
+  {\etocname}
+  {.\hfil
+    \begingroup
+     \baselineskip\etocbaselinespreadthree\baselineskip
+     \par
+    \endgroup
+   \addpenalty{-\@highpenalty}}
+}
+\def\etocdefaultlines@setdeeperones{%
+\Etoc@setstyle@e{4}%
+\Etoc@setstyle@e{5}%
+\ifEtoc@deeplevels
+  \Etoc@setstyle@e{6}%
+  \Etoc@setstyle@e{7}%
+  \Etoc@setstyle@e{8}%
+  \Etoc@setstyle@e{9}%
+  \Etoc@setstyle@e{10}%
+  \Etoc@setstyle@e{11}%
+\fi
+}
+\def\etocabovetocskip{3.5ex \@plus 1ex \@minus .2ex}
+\def\etocbelowtocskip{3.5ex \@plus 1ex \@minus .2ex}
+\def\etoccolumnsep{2em}
+\def\etocmulticolsep{0ex}
+\def\etocmulticolpretolerance{-1}
+\def\etocmulticoltolerance{200}
+\def\etocdefaultnbcol{2}
+\def\etocinnertopsep{2ex}
+\newcommand\etocmulticolstyle[2][\etocdefaultnbcol]{%
+\etocsettocstyle
+   {\let\etocoldpar\par
+    \addvspace{\etocabovetocskip}%
+    \ifnum #1>\@ne
+          \expandafter\@firstoftwo
+    \else \expandafter\@secondoftwo
+    \fi
+    {\multicolpretolerance\etocmulticolpretolerance
+    \multicoltolerance\etocmulticoltolerance
+    \setlength{\columnsep}{\etoccolumnsep}%
+    \setlength{\multicolsep}{\etocmulticolsep}%
+    \begin{multicols}{#1}[#2\etocoldpar\addvspace{\etocinnertopsep}]}
+    {#2\ifvmode\else\begingroup\interlinepenalty\@M\parskip\z@skip
+                    \@@par\endgroup
+       \fi
+       \nobreak\addvspace{\etocinnertopsep}%
+       \pretolerance\etocmulticolpretolerance
+       \tolerance\etocmulticoltolerance}%
+   }%
+   {\ifnum #1>\@ne
+          \expandafter\@firstofone
+    \else \expandafter\@gobble
+    \fi
+    {\end{multicols}}%
+    \addvspace{\etocbelowtocskip}}%
+}
+\def\etocinnerbottomsep{3.5ex}
+\def\etocinnerleftsep{2em}
+\def\etocinnerrightsep{2em}
+\def\etoctoprule{\hrule}
+\def\etocleftrule{\vrule}
+\def\etocrightrule{\vrule}
+\def\etocbottomrule{\hrule}
+\def\etoctoprulecolorcmd{\relax}
+\def\etocbottomrulecolorcmd{\relax}
+\def\etocleftrulecolorcmd{\relax}
+\def\etocrightrulecolorcmd{\relax}
+\def\etoc@ruledheading #1{%
+   \hb@xt@\linewidth{\color@begingroup
+          \hss #1\hss\hskip-\linewidth
+          \etoctoprulecolorcmd\leaders\etoctoprule\hss
+          \phantom{#1}%
+          \leaders\etoctoprule\hss\color@endgroup}%
+          \nointerlineskip\nobreak\vskip\etocinnertopsep}
+\newcommand*\etocruledstyle[2][\etocdefaultnbcol]{%
+\etocsettocstyle
+   {\addvspace{\etocabovetocskip}%
+    \ifnum #1>\@ne
+          \expandafter\@firstoftwo
+    \else \expandafter\@secondoftwo
+    \fi
+       {\multicolpretolerance\etocmulticolpretolerance
+        \multicoltolerance\etocmulticoltolerance
+        \setlength{\columnsep}{\etoccolumnsep}%
+        \setlength{\multicolsep}{\etocmulticolsep}%
+        \begin{multicols}{#1}[\etoc@ruledheading{#2}]}
+       {\etoc@ruledheading{#2}%
+         \pretolerance\etocmulticolpretolerance
+         \tolerance\etocmulticoltolerance}}
+   {\ifnum #1>\@ne\expandafter\@firstofone
+         \else \expandafter\@gobble
+    \fi
+    {\end{multicols}}%
+    \addvspace{\etocbelowtocskip}}}
+\def\etocframedmphook{\relax}
+\long\def\etocbkgcolorcmd{\relax}
+\long\def\Etoc@relax{\relax}
+\newbox\etoc@framed@titlebox
+\newbox\etoc@framed@contentsbox
+\newcommand*\etocframedstyle[2][\etocdefaultnbcol]{%
+\etocsettocstyle{%
+    \addvspace{\etocabovetocskip}%
+    \sbox\z@{#2}%
+    \dimen\z@\dp\z@
+    \ifdim\wd\z@<\linewidth \dp\z@\z@ \else \dimen\z@\z@ \fi
+    \setbox\etoc@framed@titlebox=\hb@xt@\linewidth{\color@begingroup
+        \hss
+        \ifx\etocbkgcolorcmd\Etoc@relax
+        \else
+            \sbox\tw@{\color{white}%
+            \vrule\@width\wd\z@\@height\ht\z@\@depth\dimen\z@}%
+            \ifdim\wd\z@<\linewidth \dp\tw@\z@\fi
+            \box\tw@
+            \hskip-\wd\z@
+        \fi
+        \copy\z@
+        \hss
+        \hskip-\linewidth
+        \etoctoprulecolorcmd\leaders\etoctoprule\hss
+        \hskip\wd\z@
+        \etoctoprulecolorcmd\leaders\etoctoprule\hss\color@endgroup}%
+    \setbox\z@\hbox{\etocleftrule\etocrightrule}%
+    \dimen\tw@\linewidth\advance\dimen\tw@-\wd\z@
+        \advance\dimen\tw@-\etocinnerleftsep
+        \advance\dimen\tw@-\etocinnerrightsep
+    \setbox\etoc@framed@contentsbox=\vbox\bgroup
+        \hsize\dimen\tw@
+        \kern\dimen\z@
+        \vskip\etocinnertopsep
+        \hbox\bgroup
+        \begin{minipage}{\hsize}%
+        \etocframedmphook
+    \ifnum #1>\@ne
+          \expandafter\@firstoftwo
+    \else \expandafter\@secondoftwo
+    \fi
+        {\multicolpretolerance\etocmulticolpretolerance
+        \multicoltolerance\etocmulticoltolerance
+        \setlength{\columnsep}{\etoccolumnsep}%
+        \setlength{\multicolsep}{\etocmulticolsep}%
+        \begin{multicols}{#1}}
+        {\pretolerance\etocmulticolpretolerance
+         \tolerance\etocmulticoltolerance}}
+    {\ifnum #1>\@ne\expandafter\@firstofone
+         \else \expandafter\@gobble
+     \fi
+      {\end{multicols}\unskip }%
+    \end{minipage}%
+    \egroup
+    \vskip\etocinnerbottomsep
+    \egroup
+    \vbox{\hsize\linewidth
+        \ifx\etocbkgcolorcmd\Etoc@relax
+        \else
+            \kern\ht\etoc@framed@titlebox
+            \kern\dp\etoc@framed@titlebox
+            \hb@xt@\linewidth{\color@begingroup
+            \etocleftrulecolorcmd\etocleftrule
+            \etocbkgcolorcmd
+            \leaders\vrule
+                   \@height\ht\etoc@framed@contentsbox
+                   \@depth\dp\etoc@framed@contentsbox
+            \hss
+            \etocrightrulecolorcmd\etocrightrule
+            \color@endgroup}\nointerlineskip
+            \vskip-\dp\etoc@framed@contentsbox
+            \vskip-\ht\etoc@framed@contentsbox
+            \vskip-\dp\etoc@framed@titlebox
+            \vskip-\ht\etoc@framed@titlebox
+        \fi
+    \box\etoc@framed@titlebox\nointerlineskip
+    \hb@xt@\linewidth{\color@begingroup
+    {\etocleftrulecolorcmd\etocleftrule}%
+    \hss\box\etoc@framed@contentsbox\hss
+    \etocrightrulecolorcmd\etocrightrule\color@endgroup}
+    \nointerlineskip
+    \vskip\ht\etoc@framed@contentsbox
+    \vskip\dp\etoc@framed@contentsbox
+    \hb@xt@\linewidth{\color@begingroup\etocbottomrulecolorcmd
+          \leaders\etocbottomrule\hss\color@endgroup}}
+    \addvspace{\etocbelowtocskip}}}
+\newcommand\etoc@multicoltoc[2][\etocdefaultnbcol]{%
+    \etocmulticolstyle[#1]{#2}%
+    \tableofcontents}
+\newcommand\etoc@multicoltoci[2][\etocdefaultnbcol]{%
+    \etocmulticolstyle[#1]{#2}%
+    \tableofcontents*}
+\newcommand\etoc@local@multicoltoc[2][\etocdefaultnbcol]{%
+    \etocmulticolstyle[#1]{#2}%
+    \localtableofcontents}
+\newcommand\etoc@local@multicoltoci[2][\etocdefaultnbcol]{%
+    \etocmulticolstyle[#1]{#2}%
+    \localtableofcontents*}
+\newcommand*\etoc@ruledtoc[2][\etocdefaultnbcol]{%
+    \etocruledstyle[#1]{#2}%
+    \tableofcontents}
+\newcommand*\etoc@ruledtoci[2][\etocdefaultnbcol]{%
+    \etocruledstyle[#1]{#2}%
+    \tableofcontents*}
+\newcommand*\etoc@local@ruledtoc[2][\etocdefaultnbcol]{%
+    \etocruledstyle[#1]{#2}%
+    \localtableofcontents}
+\newcommand*\etoc@local@ruledtoci[2][\etocdefaultnbcol]{%
+    \etocruledstyle[#1]{#2}%
+    \localtableofcontents*}
+\newcommand*\etoc@framedtoc[2][\etocdefaultnbcol]{%
+    \etocframedstyle[#1]{#2}%
+    \tableofcontents}
+\newcommand*\etoc@framedtoci[2][\etocdefaultnbcol]{%
+    \etocframedstyle[#1]{#2}%
+    \tableofcontents*}
+\newcommand*\etoc@local@framedtoc[2][\etocdefaultnbcol]{%
+    \etocframedstyle[#1]{#2}%
+    \localtableofcontents}
+\newcommand*\etoc@local@framedtoci[2][\etocdefaultnbcol]{%
+    \etocframedstyle[#1]{#2}%
+    \localtableofcontents*}
+\def\etocmulticol{\begingroup
+    \Etoc@mustclosegrouptrue
+    \@ifstar
+    {\etoc@multicoltoci}
+    {\etoc@multicoltoc}}
+\def\etocruled{\begingroup
+    \Etoc@mustclosegrouptrue
+    \@ifstar
+    {\etoc@ruledtoci}
+    {\etoc@ruledtoc}}
+\def\etocframed{\begingroup
+    \Etoc@mustclosegrouptrue
+    \@ifstar
+    {\etoc@framedtoci}
+    {\etoc@framedtoc}}
+\def\etoclocalmulticol{\begingroup
+    \Etoc@mustclosegrouptrue
+    \@ifstar
+    {\etoc@local@multicoltoci}
+    {\etoc@local@multicoltoc}}
+\def\etoclocalruled{\begingroup
+    \Etoc@mustclosegrouptrue
+    \@ifstar
+    {\etoc@local@ruledtoci}
+    {\etoc@local@ruledtoc}}
+\def\etoclocalframed{\begingroup
+    \Etoc@mustclosegrouptrue
+    \@ifstar
+    {\etoc@local@framedtoci}
+    {\etoc@local@framedtoc}}
+\def\etocmemoirtoctotocfmt #1#2{%
+    \PackageWarning{etoc}
+        {\string\etocmemoirtoctotocfmt\space is deprecated.\MessageBreak
+         Use in its place \string\etocsettoclineforclasstoc,\MessageBreak
+         and \string\etocsettoclineforclasslistof{toc} (or {lof}, {lot}).
+         I will do this now.\MessageBreak
+         Reported}%
+    \etocsettoclineforclasstoc{#1}{#2}%
+    \etocsettoclineforclasslistof{toc}{#1}{#2}%
+}
+\def\etocsettoclineforclasstoc #1#2{%
+    \def\etocclassmaintocaddtotoc{\etocglobalheadtotoc{#1}{#2}}%
+}
+\def\etocsettoclineforclasslistof #1#2#3{%
+    \@namedef{etocclasslocal#1addtotoc}{\etoclocalheadtotoc{#2}{#3}}%
+}
+\let\etocclasslocaltocaddtotoc\@empty
+\let\etocclasslocallofaddtotoc\@empty
+\let\etocclasslocallotaddtotoc\@empty
+\ifdefined\c@chapter
+  \def\etocclasslocaltocmaketitle{\section*{\localcontentsname}}
+  \def\etocclasslocallofmaketitle{\section*{\locallistfigurename}}
+  \def\etocclasslocallotmaketitle{\section*{\locallisttablename}}
+  \etocsettoclineforclasstoc        {chapter}{\contentsname}
+  \etocsettoclineforclasslistof{toc}{section}{\localcontentsname}
+  \etocsettoclineforclasslistof{lof}{section}{\locallistfigurename}
+  \etocsettoclineforclasslistof{lot}{section}{\locallisttablename}
+\else
+  \def\etocclasslocaltocmaketitle{\subsection*{\localcontentsname}}%
+  \def\etocclasslocallofmaketitle{\subsection*{\locallistfigurename}}%
+  \def\etocclasslocallotmaketitle{\subsection*{\locallisttablename}}%
+  \etocsettoclineforclasstoc        {section}{\contentsname}
+  \etocsettoclineforclasslistof{toc}{subsection}{\localcontentsname}
+  \etocsettoclineforclasslistof{lof}{subsection}{\locallistfigurename}
+  \etocsettoclineforclasslistof{lot}{subsection}{\locallisttablename}
+\fi
+\def\etocclasslocalperhapsaddtotoc #1{%
+    \etocifisstarred
+      {}
+      {\csname ifEtoc@local#1totoc\endcsname
+         \csname etocclasslocal#1addtotoc\endcsname
+       \fi
+      }%
+}
+\def\etocarticlestyle{%
+    \etocsettocstyle
+    {\ifEtoc@localtoc
+       \@nameuse{etocclasslocal\Etoc@currext maketitle}%
+       \etocclasslocalperhapsaddtotoc\Etoc@currext
+     \else
+       \section *{\contentsname
+                  \@mkboth {\MakeUppercase \contentsname}
+                           {\MakeUppercase \contentsname}}%
+       \etocifisstarred{}{\etocifmaintoctotoc{\etocclassmaintocaddtotoc}{}}%
+     \fi
+    }
+    {}%
+}
+\def\etocarticlestylenomarks{%
+    \etocsettocstyle
+    {\ifEtoc@localtoc
+       \@nameuse{etocclasslocal\Etoc@currext maketitle}%
+       \etocclasslocalperhapsaddtotoc\Etoc@currext
+     \else
+       \section *{\contentsname}%
+       \etocifisstarred{}{\etocifmaintoctotoc{\etocclassmaintocaddtotoc}{}}%
+     \fi
+    }
+    {}%
+}
+\def\etocbookstyle{%
+    \etocsettocstyle
+    {\if@twocolumn \@restonecoltrue \onecolumn \else \@restonecolfalse \fi
+     \ifEtoc@localtoc
+       \@nameuse{etocclasslocal\Etoc@currext maketitle}%
+       \etocclasslocalperhapsaddtotoc\Etoc@currext
+     \else
+       \chapter *{\contentsname
+                  \@mkboth {\MakeUppercase \contentsname}
+                           {\MakeUppercase \contentsname}}%
+       \etocifisstarred{}{\etocifmaintoctotoc{\etocclassmaintocaddtotoc}{}}%
+     \fi
+    }%
+    {\if@restonecol \twocolumn \fi}%
+}
+\def\etocbookstylenomarks{%
+    \etocsettocstyle
+    {\if@twocolumn \@restonecoltrue \onecolumn \else \@restonecolfalse \fi
+     \ifEtoc@localtoc
+       \@nameuse{etocclasslocal\Etoc@currext maketitle}%
+       \etocclasslocalperhapsaddtotoc\Etoc@currext
+     \else
+       \chapter *{\contentsname}%
+       \etocifisstarred{}{\etocifmaintoctotoc{\etocclassmaintocaddtotoc}{}}%
+     \fi
+    }%
+    {\if@restonecol \twocolumn \fi}%
+}
+\let\etocreportstyle\etocbookstyle
+\let\etocreportstylenomarks\etocbookstylenomarks
+\def\etocmemoirstyle{%
+    \etocsettocstyle
+        {\ensureonecol \par \begingroup \phantomsection
+         \ifx\Etoc@aftertitlehook\@empty
+         \else
+           \ifmem@em@starred@listof
+           \else
+             \ifEtoc@localtoc
+                  \etocclasslocalperhapsaddtotoc\Etoc@currext
+             \else
+               \ifEtoc@maintoctotoc
+                  \etocclassmaintocaddtotoc
+               \fi
+             \fi
+           \fi
+         \fi
+         \ifEtoc@localtoc
+            \@namedef{@\Etoc@currext maketitle}{%
+               \@nameuse{etocclasslocal\Etoc@currext maketitle}%
+            }%
+         \fi
+         \@nameuse {@\Etoc@currext maketitle} %<< space token here from memoir code
+         \ifx\Etoc@aftertitlehook\@empty
+          \else
+          \Etoc@aftertitlehook \let \Etoc@aftertitlehook \relax
+         \fi
+         \parskip \cftparskip \@nameuse {cft\Etoc@currext beforelisthook}%
+        }%
+        {\@nameuse {cft\Etoc@currext afterlisthook}%
+         \endgroup\restorefromonecol
+        }%
+}
+\let\Etoc@beforetitlehook\@empty
+\if1\@ifclassloaded{scrartcl}0{\@ifclassloaded{scrbook}0{\@ifclassloaded{scrreprt}01}}%
+\expandafter\@gobble
+\else
+   \ifdefined\setuptoc
+     \def\Etoc@beforetitlehook{%
+         \ifEtoc@localtoc
+            \etocclasslocalperhapsaddtotoc\Etoc@currext
+            \setuptoc{\Etoc@currext}{leveldown}%
+         \else
+            \etocifisstarred{}{\etocifmaintoctotoc{\setuptoc{toc}{totoc}}}%
+         \fi
+     }%
+   \fi
+\expandafter\@firstofone
+\fi
+{\def\etocclasslocalperhapsaddtotoc #1{%
+    \etocifisstarred
+    {}%
+    {\csname ifEtoc@local#1totoc\endcsname
+      \setuptoc{\Etoc@currext}{totoc}%
+     \fi
+    }%
+  }%
+}
+\ifdefined\Iftocfeature
+  \def\etoc@Iftocfeature{\Iftocfeature}%
+\else
+  \def\etoc@Iftocfeature{\iftocfeature}%
+\fi
+\def\etocscrartclstyle{%
+    \etocsettocstyle
+        {\ifx\Etoc@currext\Etoc@tocext
+             \expandafter\@firstofone
+         \else
+             \expandafter\@gobble
+         \fi
+         {\let\if@dynlist\if@tocleft}%
+         \edef\@currext{\Etoc@currext}%
+         \@ifundefined{listof\@currext name}%
+            {\def\list@fname{\listofname~\@currext}}%
+            {\expandafter\let\expandafter\list@fname
+                         \csname listof\@currext name\endcsname}%
+         \etoc@Iftocfeature {\@currext}{onecolumn}
+             {\etoc@Iftocfeature {\@currext}{leveldown}
+              {}
+              {\if@twocolumn \aftergroup \twocolumn \onecolumn \fi }}
+             {}%
+         \etoc@Iftocfeature {\@currext}{numberline}%
+                            {\def \nonumberline {\numberline {}}}{}%
+         \expandafter\tocbasic@listhead\expandafter {\list@fname}%
+         \begingroup \expandafter \expandafter \expandafter
+         \endgroup \expandafter
+         \ifx
+             \csname microtypesetup\endcsname \relax
+         \else
+             \etoc@Iftocfeature {\@currext}{noprotrusion}{}
+                 {\microtypesetup {protrusion=false}%
+                  \PackageInfo {tocbasic}%
+                  {character protrusion at \@currext\space deactivated}}%
+         \fi
+         \etoc@Iftocfeature{\@currext}{noparskipfake}{}{%
+               \ifvmode \@tempskipa\lastskip \vskip-\lastskip
+               \addtolength{\@tempskipa}{\parskip}\vskip\@tempskipa\fi
+               }%
+         \setlength {\parskip }{\z@ }%
+         \setlength {\parindent }{\z@ }%
+         \setlength {\parfillskip }{\z@ \@plus 1fil}%
+         \csname tocbasic@@before@hook\endcsname
+         \csname tb@\@currext @before@hook\endcsname
+      }% end of before_toc
+      {% start of after_toc
+         \providecommand\tocbasic@end@toc@file{}\tocbasic@end@toc@file
+         \edef\@currext{\Etoc@currext}%
+         \csname tb@\@currext @after@hook\endcsname
+         \csname tocbasic@@after@hook\endcsname
+     }% end of after_toc
+}
+\let\etocscrbookstyle\etocscrartclstyle
+\let\etocscrreprtstyle\etocscrartclstyle
+\def\etocclasstocstyle{\etocarticlestyle}
+\newcommand*\etocmarkboth[1]{%
+    \@mkboth{\MakeUppercase{#1}}{\MakeUppercase{#1}}}
+\newcommand*\etocmarkbothnouc[1]{\@mkboth{#1}{#1}}
+\newcommand\etoctocstyle[3][section]{\etocmulticolstyle[#2]%
+    {\csname #1\endcsname *{#3}}}
+\newcommand\etoctocstylewithmarks[4][section]{\etocmulticolstyle[#2]%
+    {\csname #1\endcsname *{#3\etocmarkboth{#4}}}}
+\newcommand\etoctocstylewithmarksnouc[4][section]{\etocmulticolstyle[#2]%
+    {\csname #1\endcsname *{#3\etocmarkbothnouc{#4}}}}
+\def\Etoc@redefetocstylesforchapters{%
+    \renewcommand\etoctocstylewithmarks[4][chapter]{%
+          \etocmulticolstyle[##2]{\csname ##1\endcsname *{##3\etocmarkboth{##4}}}%
+    }
+    \renewcommand\etoctocstylewithmarksnouc[4][chapter]{%
+          \etocmulticolstyle[##2]{\csname ##1\endcsname *{##3\etocmarkbothnouc{##4}}}%
+    }
+    \renewcommand\etoctocstyle[3][chapter]{%
+          \etocmulticolstyle[##2]{\csname ##1\endcsname *{##3}}
+    }
+}
+\@ifclassloaded{scrartcl}
+    {\renewcommand*\etocclasstocstyle{\etocscrartclstyle}}{}
+\@ifclassloaded{book}
+    {\renewcommand*\etocfontone{\normalfont\normalsize}
+     \renewcommand*\etocclasstocstyle{\etocbookstyle}
+     \Etoc@redefetocstylesforchapters}{}
+\@ifclassloaded{report}
+    {\renewcommand*\etocfontone{\normalfont\normalsize}
+     \renewcommand*\etocclasstocstyle{\etocreportstyle}
+     \Etoc@redefetocstylesforchapters}{}
+\@ifclassloaded{scrbook}
+    {\renewcommand*\etocfontone{\normalfont\normalsize}
+     \renewcommand*\etocclasstocstyle{\etocscrbookstyle}
+     \Etoc@redefetocstylesforchapters}{}
+\@ifclassloaded{scrreprt}
+    {\renewcommand*\etocfontone{\normalfont\normalsize}
+     \renewcommand*\etocclasstocstyle{\etocscrreprtstyle}
+     \Etoc@redefetocstylesforchapters}{}
+\@ifclassloaded{memoir}
+    {\renewcommand*\etocfontone{\normalfont\normalsize}
+     \renewcommand*\etocclasstocstyle{\etocmemoirstyle}
+     \Etoc@redefetocstylesforchapters}{}
+\def\etoctocloftstyle {%
+    \etocsettocstyle{%
+      \@cfttocstart
+      \par
+      \begingroup
+        \parindent\z@ \parskip\cftparskip
+        \@nameuse{@cftmake\Etoc@currext title}%
+        \ifEtoc@localtoc
+           \etoctocloftlocalperhapsaddtotoc\Etoc@currext
+        \else
+           \etocifisstarred {}{\ifEtoc@maintoctotoc\@cftdobibtoc\fi}%
+        \fi
+    }%
+    {%
+      \endgroup
+      \@cfttocfinish
+    }%
+}
+\def\etoctocloftlocalperhapsaddtotoc#1{%
+    \etocifisstarred
+      {}%
+      {\csname ifEtoc@local#1totoc\endcsname
+        \ifdefined\c@chapter\def\@tocextra{@section}\else\def\@tocextra{@subsection}\fi
+        \csname @cftdobib#1\endcsname
+       \fi
+      }%
+}
+\def\etoctocbibindstyle {%
+    \etocsettocstyle {%
+      \toc@start
+      \ifEtoc@localtoc
+          \@nameuse{etocclasslocal\Etoc@currext maketitle}%
+          \etocclasslocalperhapsaddtotoc\Etoc@currext
+      \else
+          \etoc@tocbibind@dotoctitle
+      \fi
+      }%
+    {\toc@finish}%
+}
+\def\etoc@tocbibind@dotoctitle {%
+       \if@bibchapter
+        \etocifisstarred
+          {\chapter*{\contentsname}\prw@mkboth{\contentsname} % id.
+          }%
+          {\ifEtoc@maintoctotoc
+             \toc@chapter{\contentsname} %<-space from original
+           \else
+             \chapter*{\contentsname}\prw@mkboth{\contentsname} % id.
+           \fi
+           }%
+       \else
+        \etocifisstarred
+          {\@nameuse{\@tocextra}*{\contentsname\prw@mkboth{\contentsname}} %<-space
+          }
+          {\ifEtoc@maintoctotoc
+             \toc@section{\@tocextra}{\contentsname} %<-space from original
+           \else
+             \@nameuse{\@tocextra}*{\contentsname\prw@mkboth{\contentsname}} % id.
+          \fi
+          }%
+       \fi
+}%
+\@ifclassloaded{memoir}
+{}
+{% memoir not loaded
+ \@ifpackageloaded{tocloft}
+    {\if@cftnctoc\else
+                 \ifEtoc@keeporiginaltoc
+                   \else
+                   \AtBeginDocument{\let\tableofcontents\etoctableofcontents}%
+                 \fi
+     \fi }
+    {\AtBeginDocument
+      {\@ifpackageloaded{tocloft}
+       {\if@cftnctoc\else
+         \PackageWarningNoLine {etoc}
+         {Package `tocloft' was loaded after `etoc'.\MessageBreak
+          To prevent it from overwriting \protect\tableofcontents, it will\MessageBreak
+          be tricked into believing to have been loaded with its\MessageBreak
+          option `titles'. \space But this will cause the `tocloft'\MessageBreak
+          customization of the titles of the main list of figures\MessageBreak
+          and list of tables to not apply either.\MessageBreak
+          You should load `tocloft' before `etoc'.}%
+        \AtEndDocument{\PackageWarning{etoc}
+                       {Please load `tocloft' before `etoc'!\@gobbletwo}}%
+        \fi
+        \@cftnctoctrue }%
+       {}%
+      }%
+     }%
+}
+\@ifclassloaded{memoir}
+{}
+{% memoir not loaded
+  \AtBeginDocument{%
+  \@ifpackageloaded{tocloft}
+   {%
+     \def\etocclasstocstyle{%
+       \etoctocloftstyle
+       \Etoc@classstyletrue
+     }%
+     \ifEtoc@etocstyle
+        \ifEtoc@classstyle
+          \etocclasstocstyle
+          \Etoc@etocstyletrue
+        \fi
+     \else
+        \ifEtoc@classstyle
+          \etocclasstocstyle
+        \fi
+     \fi
+   }%
+   {% no tocloft
+    \@ifpackageloaded {tocbibind}
+     {\if@dotoctoc
+        \def\etocclasstocstyle{%
+          \etoctocbibindstyle
+          \Etoc@classstyletrue
+         }%
+        \ifEtoc@etocstyle
+           \ifEtoc@classstyle
+             \etocclasstocstyle
+             \Etoc@etocstyletrue
+           \fi
+        \else
+           \ifEtoc@classstyle
+             \etocclasstocstyle
+           \fi
+        \fi
+        \ifEtoc@keeporiginaltoc
+        \else
+           \let\tableofcontents\etoctableofcontents
+        \fi
+     }%
+     {}%
+   }%
+   \@ifpackageloaded{tocbibind}
+   {% tocbibind, perhaps with tocloft
+      \if@dotoctoc
+                 \ifEtoc@keeporiginaltoc
+                   \else
+                   \let\tableofcontents\etoctableofcontents
+                 \fi
+        \etocsetup{maintoctotoc,localtoctotoc}%
+         \PackageInfo{etoc}{%
+            Setting (or re-setting) the options `maintoctotoc' and\MessageBreak
+            `localtoctotoc' to true as tocbibind was detected and\MessageBreak
+            found to be configured for `TOC to toc'.\MessageBreak
+            Reported at begin document}%
+      \fi
+      \if@dotoclof
+       \ifEtoc@lof
+        \etocsetup{localloftotoc}%
+        \PackageInfo{etoc}{%
+            Setting (or re-setting) `localloftotoc=true' as the\MessageBreak
+            package tocbibind was detected and is configured for\MessageBreak
+            `LOF to toc'. Reported at begin document}%
+       \fi
+      \fi
+      \if@dotoclot
+       \ifEtoc@lot
+        \etocsetup{locallottotoc}%
+        \PackageInfo{etoc}{%
+            Setting (or re-setting) `locallottotoc=true' as the\MessageBreak
+            package tocbibind was detected and is configured for\MessageBreak
+            `LOT to toc'. Reported at begin document}%
+       \fi
+      \fi
+   }% end of tocbibind branch
+   {}%
+  }% end of at begin document
+}% end of not with memoir branch
+\def\Etoc@addtocontents #1#2{%
+    \addtocontents {toc}{%
+      \protect\contentsline{#1}{#2}{\thepage}{\ifEtoc@hyperref\@currentHref\fi}%
+      \ifdefined\protected@file@percent\protected@file@percent\fi
+    }%
+}
+\def\Etoc@addcontentsline@ #1#2#3{%
+    \@namedef{toclevel@#1}{#3}\addcontentsline {toc}{#1}{#2}%
+}
+\DeclareRobustCommand*{\etoctoccontentsline}
+    {\@ifstar{\Etoc@addcontentsline@}{\Etoc@addtocontents}}
+\def\Etoc@addtocontents@immediately#1#2{%
+    \begingroup
+       \let\Etoc@originalwrite\write
+       \def\write{\immediate\Etoc@originalwrite}%
+       \Etoc@addtocontents{#1}{#2}%
+    \endgroup
+}
+\def\Etoc@addcontentsline@@immediately#1#2#3{%
+    \begingroup
+       \let\Etoc@originalwrite\write
+       \def\write{\immediate\Etoc@originalwrite}%
+       \Etoc@addcontentsline@{#1}{#2}{#3}%
+    \endgoroup
+}
+\DeclareRobustCommand*{\etocimmediatetoccontentsline}
+    {\@ifstar{\Etoc@addcontentsline@@immediately}{\Etoc@addtocontents@immediately}}
+\def\Etoc@storetocdepth   {\xdef\Etoc@savedtocdepth{\number\c@tocdepth}}
+\def\Etoc@restoretocdepth {\global\c@tocdepth\Etoc@savedtocdepth\relax}
+\def\etocobeytoctocdepth {\def\etoc@settocdepth
+                          {\afterassignment\Etoc@@nottoodeep \global\c@tocdepth}}
+\def\Etoc@@nottoodeep {\ifnum\Etoc@savedtocdepth<\c@tocdepth
+                          \global\c@tocdepth\Etoc@savedtocdepth\relax\fi }
+\def\etocignoretoctocdepth {\let\etoc@settocdepth\@gobble }
+\def\etocsettocdepth   {\futurelet\Etoc@nexttoken\Etoc@set@tocdepth }
+\def\Etoc@set@tocdepth {\ifx\Etoc@nexttoken\bgroup
+                            \expandafter\Etoc@set@tocdepth@
+                       \else\expandafter\Etoc@set@toctocdepth
+                       \fi }
+\def\Etoc@set@tocdepth@ #1{\@ifundefined {Etoc@#1@@}
+      {\PackageWarning{etoc}
+          {Unknown sectioning unit #1, \protect\etocsettocdepth\space ignored}}
+      {\global\c@tocdepth\csname Etoc@#1@@\endcsname}%
+}
+\def\Etoc@set@toctocdepth  #1#{\Etoc@set@toctocdepth@ }
+\def\Etoc@set@toctocdepth@ #1{%
+  \@ifundefined{Etoc@#1@@}%
+   {\PackageWarning{etoc}
+        {Unknown sectioning depth #1, \protect\etocsettocdepth.toc ignored}}%
+   {\addtocontents {toc}
+   {\protect\etoc@settocdepth\expandafter\protect\csname Etoc@#1@@\endcsname}}%
+}
+\def\etocimmediatesettocdepth #1#{\Etoc@set@toctocdepth@immediately}
+\def\Etoc@set@toctocdepth@immediately #1{%
+  \@ifundefined{Etoc@#1@@}%
+   {\PackageWarning{etoc}
+        {Unknown sectioning depth #1, \protect\etocimmediatesettocdepth.toc ignored}}%
+   {\begingroup
+      \let\Etoc@originalwrite\write
+      \def\write{\immediate\Etoc@originalwrite}%
+      \addtocontents {toc}
+      {\protect\etoc@settocdepth\expandafter\protect
+       \csname Etoc@#1@@\endcsname}%
+    \endgroup
+   }%
+}
+\def\etocdepthtag   #1#{\Etoc@depthtag }
+\def\Etoc@depthtag  #1{\addtocontents {toc}{\protect\etoc@depthtag {#1}}}
+\def\etocimmediatedepthtag   #1#{\Etoc@depthtag@immediately }
+\def\Etoc@depthtag@immediately #1{%
+  \begingroup
+    \let\Etoc@originalwrite\write
+    \def\write{\immediate\Etoc@originalwrite}%
+    \addtocontents {toc}{\protect\etoc@depthtag {#1}}%
+  \endgroup
+}
+\def\etocignoredepthtags {\let\etoc@depthtag \@gobble }
+\def\etocobeydepthtags   {\let\etoc@depthtag \Etoc@depthtag@ }
+\def\Etoc@depthtag@ #1{\@ifundefined{Etoc@depthof@#1}%
+       {}% ignore in silence if tag has no associated depth
+       {\afterassignment\Etoc@@nottoodeep
+                 \global\c@tocdepth\csname Etoc@depthof@#1\endcsname}%
+}
+\def\etocsettagdepth #1#2{\@ifundefined{Etoc@#2@@}%
+       {\PackageWarning{etoc}
+         {Unknown sectioning depth #2, \protect\etocsettagdepth\space ignored}}%
+       {\@namedef{Etoc@depthof@#1}{\@nameuse{Etoc@#2@@}}}%
+}
+\def\Etoc@tocvsec@err #1{\PackageError {etoc}
+        {The command \protect#1\space is incompatible with `etoc'}
+        {Use \protect\etocsettocdepth.toc as replacement}%
+}%
+\AtBeginDocument {%
+  \@ifclassloaded{memoir}
+    {\PackageInfo {etoc}
+     {Regarding `memoir' class command \protect\settocdepth, consider\MessageBreak
+     \protect\etocsettocdepth.toc as a drop-in replacement with more\MessageBreak
+     capabilities (see `etoc' manual). \space
+     Also, \protect\etocsettocdepth\MessageBreak
+     and \protect\etocsetnexttocdepth\space should be used in place of\MessageBreak
+     `memoir' command \protect\maxtocdepth\@gobble}%
+    }%
+    {\@ifpackageloaded {tocvsec2}{%
+      \def\maxtocdepth  #1{\Etoc@tocvsec@err \maxtocdepth   }%
+      \def\settocdepth  #1{\Etoc@tocvsec@err \settocdepth   }%
+      \def\resettocdepth  {\@ifstar {\Etoc@tocvsec@err \resettocdepth }%
+                                    {\Etoc@tocvsec@err \resettocdepth }%
+                          }%
+      \def\save@tocdepth #1#2#3{}%
+      \let\reset@tocdepth\relax
+      \let\remax@tocdepth\relax
+      \let\tableofcontents\etoctableofcontents
+      \PackageWarningNoLine {etoc}
+      {Package `tocvsec2' detected and its modification of\MessageBreak
+       \protect\tableofcontents\space reverted. \space Use
+       \protect\etocsettocdepth.toc\MessageBreak as a replacement
+       for `tocvsec2' toc-related commands}%
+     }% tocvsec2 loaded
+     {}% tocvsec2 not loaded
+    }%
+}%
+\def\invisibletableofcontents {\etocsetnexttocdepth {-3}\tableofcontents }%
+\def\invisiblelocaltableofcontents
+                         {\etocsetnexttocdepth {-3}\localtableofcontents }%
+\def\etocsetnexttocdepth #1{%
+    \@ifundefined{Etoc@#1@@}
+     {\PackageWarning{etoc}
+       {Unknown sectioning unit #1, \protect\etocsetnextocdepth\space ignored}}
+     {\Etoc@setnexttocdepth{\csname Etoc@#1@@\endcsname}}%
+}%
+\def\Etoc@setnexttocdepth#1{%
+    \def\Etoc@tocdepthset{%
+        \Etoc@tocdepthreset
+        \edef\Etoc@tocdepthreset {%
+               \global\c@tocdepth\the\c@tocdepth\space
+               \global\let\noexpand\Etoc@tocdepthreset\noexpand\@empty
+         }%
+        \global\c@tocdepth#1%
+        \global\let\Etoc@tocdepthset\@empty
+    }%
+}%
+\let\Etoc@tocdepthreset\@empty
+\let\Etoc@tocdepthset  \@empty
+\def\etocsetlocaltop #1#{\Etoc@set@localtop}%
+\def\Etoc@set@localtop #1{%
+  \@ifundefined{Etoc@#1@@}%
+   {\PackageWarning{etoc}
+        {Unknown sectioning depth #1, \protect\etocsetlocaltop.toc ignored}}%
+   {\addtocontents {toc}
+   {\protect\etoc@setlocaltop\expandafter\protect\csname Etoc@#1@@\endcsname}}%
+}%
+\def\etocimmediatesetlocaltop #1#{\Etoc@set@localtop@immediately}%
+\def\Etoc@set@localtop@immediately #1{%
+  \@ifundefined{Etoc@#1@@}%
+   {\PackageWarning{etoc}
+        {Unknown sectioning depth #1, \protect\etocimmediatesetlocaltop.toc ignored}}%
+   {\begingroup
+       \let\Etoc@originalwrite\write
+       \def\write{\immediate\Etoc@originalwrite}%
+       \addtocontents {toc}
+           {\protect\etoc@setlocaltop\expandafter\protect
+                                     \csname Etoc@#1@@\endcsname}%
+    \endgroup
+   }%
+}%
+\def\etoc@setlocaltop #1{%
+  \ifnum#1=\Etoc@maxlevel
+   \Etoc@skipthisonetrue
+  \else
+   \Etoc@skipthisonefalse
+   \global\let\Etoc@level #1%
+   \global\let\Etoc@virtualtop #1%
+   \ifEtoc@localtoc
+    \ifEtoc@stoptoc
+     \Etoc@skipthisonetrue
+    \else
+     \ifEtoc@notactive
+      \Etoc@skipthisonetrue
+     \else
+      \unless\ifnum\Etoc@level>\etoclocaltop
+       \Etoc@skipthisonetrue
+       \global\Etoc@stoptoctrue
+      \fi
+     \fi
+    \fi
+   \fi
+  \fi
+  \let\Etoc@next\@empty
+  \ifEtoc@skipthisone
+  \else
+   \ifnum\Etoc@level>\c@tocdepth
+   \else
+    \ifEtoc@standardlines
+    \else
+     \let\Etoc@next\Etoc@setlocaltop@doendsandbegin
+    \fi
+   \fi
+  \fi
+  \Etoc@next
+}%
+\def\Etoc@setlocaltop@doendsandbegin{%
+    \Etoc@doendsandbegin
+    \global\Etoc@skipprefixfalse
+}
+\addtocontents {toc}{\protect\@ifundefined{etoctocstyle}%
+           {\let\protect\etoc@startlocaltoc\protect\@gobble
+            \let\protect\etoc@settocdepth\protect\@gobble
+            \let\protect\etoc@depthtag\protect\@gobble
+            \let\protect\etoc@setlocaltop\protect\@gobble}{}}%
+\def\etocstandardlines {\Etoc@standardlinestrue}
+\def\etoctoclines      {\Etoc@standardlinesfalse}
+\etocdefaultlines
+\etocstandardlines
+\def\etocstandarddisplaystyle{%
+    \PackageWarningNoLine{etoc}{%
+      \string\etocstandarddisplaystyle \on@line\MessageBreak
+      is deprecated. \space Please use \string\etocclasstocstyle}%
+}
+\expandafter\def\expandafter\etocclasstocstyle\expandafter{%
+    \etocclasstocstyle
+    \Etoc@classstyletrue
+}
+\def\etocetoclocaltocstyle{\Etoc@etocstyletrue}
+\def\etocusertocstyle{\Etoc@etocstylefalse}
+\etocclasstocstyle
+\etocetoclocaltocstyle
+\etocobeytoctocdepth
+\etocobeydepthtags
+\let\etocbeforetitlehook   \@empty
+\let\etocaftertitlehook    \@empty
+\let\etocaftercontentshook \@empty
+\let\etocaftertochook      \@empty
+\def\etockeeporiginaltableofcontents
+   {\Etoc@keeporiginaltoctrue\let\tableofcontents\etocoriginaltableofcontents}%
+\endinput
+%%
+%% End of file `etoc.sty'.
diff --git a/documentation/latex/files.tex b/documentation/latex/files.tex
new file mode 100644
index 0000000..a280b01
--- /dev/null
+++ b/documentation/latex/files.tex
@@ -0,0 +1,5 @@
+\doxysection{File List}
+Here is a list of all files with brief descriptions\+:\begin{DoxyCompactList}
+\item\contentsline{section}{\mbox{\hyperlink{_b_n_o08x_8cpp}{BNO08x.\+cpp}} }{\pageref{_b_n_o08x_8cpp}}{}
+\item\contentsline{section}{\mbox{\hyperlink{_b_n_o08x_8hpp}{BNO08x.\+hpp}} }{\pageref{_b_n_o08x_8hpp}}{}
+\end{DoxyCompactList}
diff --git a/documentation/latex/longtable_doxygen.sty b/documentation/latex/longtable_doxygen.sty
new file mode 100644
index 0000000..e94b78b
--- /dev/null
+++ b/documentation/latex/longtable_doxygen.sty
@@ -0,0 +1,456 @@
+%%
+%% This is file `longtable.sty',
+%% generated with the docstrip utility.
+%%
+%% The original source files were:
+%%
+%% longtable.dtx  (with options: `package')
+%% 
+%% This is a generated file.
+%% 
+%% The source is maintained by the LaTeX Project team and bug
+%% reports for it can be opened at http://latex-project.org/bugs.html
+%% (but please observe conditions on bug reports sent to that address!)
+%% 
+%% Copyright 1993-2016
+%% The LaTeX3 Project and any individual authors listed elsewhere
+%% in this file.
+%% 
+%% This file was generated from file(s) of the Standard LaTeX `Tools Bundle'.
+%% --------------------------------------------------------------------------
+%% 
+%% It may be distributed and/or modified under the
+%% conditions of the LaTeX Project Public License, either version 1.3c
+%% of this license or (at your option) any later version.
+%% The latest version of this license is in
+%%    http://www.latex-project.org/lppl.txt
+%% and version 1.3c or later is part of all distributions of LaTeX
+%% version 2005/12/01 or later.
+%% 
+%% This file may only be distributed together with a copy of the LaTeX
+%% `Tools Bundle'. You may however distribute the LaTeX `Tools Bundle'
+%% without such generated files.
+%% 
+%% The list of all files belonging to the LaTeX `Tools Bundle' is
+%% given in the file `manifest.txt'.
+%% 
+%% File: longtable.dtx Copyright (C) 1990-2001 David Carlisle
+\NeedsTeXFormat{LaTeX2e}[1995/06/01]
+\ProvidesPackage{longtable_doxygen}
+          [2014/10/28 v4.11 Multi-page Table package (DPC) - frozen version for doxygen]
+\def\LT@err{\PackageError{longtable}}
+\def\LT@warn{\PackageWarning{longtable}}
+\def\LT@final@warn{%
+  \AtEndDocument{%
+    \LT@warn{Table \@width s have changed. Rerun LaTeX.\@gobbletwo}}%
+  \global\let\LT@final@warn\relax}
+\DeclareOption{errorshow}{%
+  \def\LT@warn{\PackageInfo{longtable}}}
+\DeclareOption{pausing}{%
+  \def\LT@warn#1{%
+    \LT@err{#1}{This is not really an error}}}
+\DeclareOption{set}{}
+\DeclareOption{final}{}
+\ProcessOptions
+\newskip\LTleft       \LTleft=\fill
+\newskip\LTright      \LTright=\fill
+\newskip\LTpre        \LTpre=\bigskipamount
+\newskip\LTpost       \LTpost=\bigskipamount
+\newcount\LTchunksize \LTchunksize=20
+\let\c@LTchunksize\LTchunksize
+\newdimen\LTcapwidth  \LTcapwidth=4in
+\newbox\LT@head
+\newbox\LT@firsthead
+\newbox\LT@foot
+\newbox\LT@lastfoot
+\newcount\LT@cols
+\newcount\LT@rows
+\newcounter{LT@tables}
+\newcounter{LT@chunks}[LT@tables]
+\ifx\c@table\undefined
+  \newcounter{table}
+  \def\fnum@table{\tablename~\thetable}
+\fi
+\ifx\tablename\undefined
+  \def\tablename{Table}
+\fi
+\newtoks\LT@p@ftn
+\mathchardef\LT@end@pen=30000
+\def\longtable{%
+  \par
+  \ifx\multicols\@undefined
+  \else
+     \ifnum\col@number>\@ne
+       \@twocolumntrue
+     \fi
+  \fi
+  \if@twocolumn
+    \LT@err{longtable not in 1-column mode}\@ehc
+  \fi
+  \begingroup
+  \@ifnextchar[\LT@array{\LT@array[x]}}
+\def\LT@array[#1]#2{%
+  \refstepcounter{table}\stepcounter{LT@tables}%
+  \if l#1%
+    \LTleft\z@ \LTright\fill
+  \else\if r#1%
+    \LTleft\fill \LTright\z@
+  \else\if c#1%
+    \LTleft\fill \LTright\fill
+  \fi\fi\fi
+  \let\LT@mcol\multicolumn
+  \let\LT@@tabarray\@tabarray
+  \let\LT@@hl\hline
+  \def\@tabarray{%
+    \let\hline\LT@@hl
+    \LT@@tabarray}%
+  \let\\\LT@tabularcr\let\tabularnewline\\%
+  \def\newpage{\noalign{\break}}%
+  \def\pagebreak{\noalign{\ifnum`}=0\fi\@testopt{\LT@no@pgbk-}4}%
+  \def\nopagebreak{\noalign{\ifnum`}=0\fi\@testopt\LT@no@pgbk4}%
+  \let\hline\LT@hline \let\kill\LT@kill\let\caption\LT@caption
+  \@tempdima\ht\strutbox
+  \let\@endpbox\LT@endpbox
+  \ifx\extrarowheight\@undefined
+    \let\@acol\@tabacol
+    \let\@classz\@tabclassz \let\@classiv\@tabclassiv
+    \def\@startpbox{\vtop\LT@startpbox}%
+    \let\@@startpbox\@startpbox
+    \let\@@endpbox\@endpbox
+    \let\LT@LL@FM@cr\@tabularcr
+  \else
+    \advance\@tempdima\extrarowheight
+    \col@sep\tabcolsep
+    \let\@startpbox\LT@startpbox\let\LT@LL@FM@cr\@arraycr
+  \fi
+  \setbox\@arstrutbox\hbox{\vrule
+    \@height \arraystretch \@tempdima
+    \@depth \arraystretch \dp \strutbox
+    \@width \z@}%
+  \let\@sharp##\let\protect\relax
+   \begingroup
+    \@mkpream{#2}%
+    \xdef\LT@bchunk{%
+       \global\advance\c@LT@chunks\@ne
+       \global\LT@rows\z@\setbox\z@\vbox\bgroup
+       \LT@setprevdepth
+       \tabskip\LTleft \noexpand\halign to\hsize\bgroup
+      \tabskip\z@ \@arstrut \@preamble \tabskip\LTright \cr}%
+  \endgroup
+  \expandafter\LT@nofcols\LT@bchunk&\LT@nofcols
+  \LT@make@row
+  \m@th\let\par\@empty
+  \everycr{}\lineskip\z@\baselineskip\z@
+  \LT@bchunk}
+\def\LT@no@pgbk#1[#2]{\penalty #1\@getpen{#2}\ifnum`{=0\fi}}
+\def\LT@start{%
+  \let\LT@start\endgraf
+  \endgraf\penalty\z@\vskip\LTpre
+  \dimen@\pagetotal
+  \advance\dimen@ \ht\ifvoid\LT@firsthead\LT@head\else\LT@firsthead\fi
+  \advance\dimen@ \dp\ifvoid\LT@firsthead\LT@head\else\LT@firsthead\fi
+  \advance\dimen@ \ht\LT@foot
+  \dimen@ii\vfuzz
+  \vfuzz\maxdimen
+    \setbox\tw@\copy\z@
+    \setbox\tw@\vsplit\tw@ to \ht\@arstrutbox
+    \setbox\tw@\vbox{\unvbox\tw@}%
+  \vfuzz\dimen@ii
+  \advance\dimen@ \ht
+        \ifdim\ht\@arstrutbox>\ht\tw@\@arstrutbox\else\tw@\fi
+  \advance\dimen@\dp
+        \ifdim\dp\@arstrutbox>\dp\tw@\@arstrutbox\else\tw@\fi
+  \advance\dimen@ -\pagegoal
+  \ifdim \dimen@>\z@\vfil\break\fi
+      \global\@colroom\@colht
+  \ifvoid\LT@foot\else
+    \advance\vsize-\ht\LT@foot
+    \global\advance\@colroom-\ht\LT@foot
+    \dimen@\pagegoal\advance\dimen@-\ht\LT@foot\pagegoal\dimen@
+    \maxdepth\z@
+  \fi
+  \ifvoid\LT@firsthead\copy\LT@head\else\box\LT@firsthead\fi\nobreak
+  \output{\LT@output}}
+\def\endlongtable{%
+  \crcr
+  \noalign{%
+    \let\LT@entry\LT@entry@chop
+    \xdef\LT@save@row{\LT@save@row}}%
+  \LT@echunk
+  \LT@start
+  \unvbox\z@
+  \LT@get@widths
+  \if@filesw
+    {\let\LT@entry\LT@entry@write\immediate\write\@auxout{%
+      \gdef\expandafter\noexpand
+        \csname LT@\romannumeral\c@LT@tables\endcsname
+          {\LT@save@row}}}%
+  \fi
+  \ifx\LT@save@row\LT@@save@row
+  \else
+    \LT@warn{Column \@width s have changed\MessageBreak
+             in table \thetable}%
+    \LT@final@warn
+  \fi
+  \endgraf\penalty -\LT@end@pen
+  \endgroup
+  \global\@mparbottom\z@
+  \pagegoal\vsize
+  \endgraf\penalty\z@\addvspace\LTpost
+  \ifvoid\footins\else\insert\footins{}\fi}
+\def\LT@nofcols#1&{%
+  \futurelet\@let@token\LT@n@fcols}
+\def\LT@n@fcols{%
+  \advance\LT@cols\@ne
+  \ifx\@let@token\LT@nofcols
+    \expandafter\@gobble
+  \else
+    \expandafter\LT@nofcols
+  \fi}
+\def\LT@tabularcr{%
+  \relax\iffalse{\fi\ifnum0=`}\fi
+  \@ifstar
+    {\def\crcr{\LT@crcr\noalign{\nobreak}}\let\cr\crcr
+     \LT@t@bularcr}%
+    {\LT@t@bularcr}}
+\let\LT@crcr\crcr
+\let\LT@setprevdepth\relax
+\def\LT@t@bularcr{%
+  \global\advance\LT@rows\@ne
+  \ifnum\LT@rows=\LTchunksize
+    \gdef\LT@setprevdepth{%
+      \prevdepth\z@\global
+      \global\let\LT@setprevdepth\relax}%
+    \expandafter\LT@xtabularcr
+  \else
+    \ifnum0=`{}\fi
+    \expandafter\LT@LL@FM@cr
+  \fi}
+\def\LT@xtabularcr{%
+  \@ifnextchar[\LT@argtabularcr\LT@ntabularcr}
+\def\LT@ntabularcr{%
+  \ifnum0=`{}\fi
+  \LT@echunk
+  \LT@start
+  \unvbox\z@
+  \LT@get@widths
+  \LT@bchunk}
+\def\LT@argtabularcr[#1]{%
+  \ifnum0=`{}\fi
+  \ifdim #1>\z@
+    \unskip\@xargarraycr{#1}%
+  \else
+    \@yargarraycr{#1}%
+  \fi
+  \LT@echunk
+  \LT@start
+  \unvbox\z@
+  \LT@get@widths
+  \LT@bchunk}
+\def\LT@echunk{%
+  \crcr\LT@save@row\cr\egroup
+  \global\setbox\@ne\lastbox
+    \unskip
+  \egroup}
+\def\LT@entry#1#2{%
+  \ifhmode\@firstofone{&}\fi\omit
+  \ifnum#1=\c@LT@chunks
+  \else
+    \kern#2\relax
+  \fi}
+\def\LT@entry@chop#1#2{%
+  \noexpand\LT@entry
+    {\ifnum#1>\c@LT@chunks
+       1}{0pt%
+     \else
+       #1}{#2%
+     \fi}}
+\def\LT@entry@write{%
+  \noexpand\LT@entry^^J%
+  \@spaces}
+\def\LT@kill{%
+  \LT@echunk
+  \LT@get@widths
+  \expandafter\LT@rebox\LT@bchunk}
+\def\LT@rebox#1\bgroup{%
+  #1\bgroup
+  \unvbox\z@
+  \unskip
+  \setbox\z@\lastbox}
+\def\LT@blank@row{%
+  \xdef\LT@save@row{\expandafter\LT@build@blank
+    \romannumeral\number\LT@cols 001 }}
+\def\LT@build@blank#1{%
+  \if#1m%
+    \noexpand\LT@entry{1}{0pt}%
+    \expandafter\LT@build@blank
+  \fi}
+\def\LT@make@row{%
+  \global\expandafter\let\expandafter\LT@save@row
+    \csname LT@\romannumeral\c@LT@tables\endcsname
+  \ifx\LT@save@row\relax
+    \LT@blank@row
+  \else
+    {\let\LT@entry\or
+     \if!%
+         \ifcase\expandafter\expandafter\expandafter\LT@cols
+         \expandafter\@gobble\LT@save@row
+         \or
+         \else
+           \relax
+         \fi
+        !%
+     \else
+       \aftergroup\LT@blank@row
+     \fi}%
+  \fi}
+\let\setlongtables\relax
+\def\LT@get@widths{%
+  \setbox\tw@\hbox{%
+    \unhbox\@ne
+    \let\LT@old@row\LT@save@row
+    \global\let\LT@save@row\@empty
+    \count@\LT@cols
+    \loop
+      \unskip
+      \setbox\tw@\lastbox
+    \ifhbox\tw@
+      \LT@def@row
+      \advance\count@\m@ne
+    \repeat}%
+  \ifx\LT@@save@row\@undefined
+    \let\LT@@save@row\LT@save@row
+  \fi}
+\def\LT@def@row{%
+  \let\LT@entry\or
+  \edef\@tempa{%
+    \ifcase\expandafter\count@\LT@old@row
+    \else
+      {1}{0pt}%
+    \fi}%
+  \let\LT@entry\relax
+  \xdef\LT@save@row{%
+    \LT@entry
+    \expandafter\LT@max@sel\@tempa
+    \LT@save@row}}
+\def\LT@max@sel#1#2{%
+  {\ifdim#2=\wd\tw@
+     #1%
+   \else
+     \number\c@LT@chunks
+   \fi}%
+  {\the\wd\tw@}}
+\def\LT@hline{%
+  \noalign{\ifnum0=`}\fi
+    \penalty\@M
+    \futurelet\@let@token\LT@@hline}
+\def\LT@@hline{%
+  \ifx\@let@token\hline
+    \global\let\@gtempa\@gobble
+    \gdef\LT@sep{\penalty-\@medpenalty\vskip\doublerulesep}%
+  \else
+    \global\let\@gtempa\@empty
+    \gdef\LT@sep{\penalty-\@lowpenalty\vskip-\arrayrulewidth}%
+  \fi
+  \ifnum0=`{\fi}%
+  \multispan\LT@cols
+     \unskip\leaders\hrule\@height\arrayrulewidth\hfill\cr
+  \noalign{\LT@sep}%
+  \multispan\LT@cols
+     \unskip\leaders\hrule\@height\arrayrulewidth\hfill\cr
+  \noalign{\penalty\@M}%
+  \@gtempa}
+\def\LT@caption{%
+  \noalign\bgroup
+    \@ifnextchar[{\egroup\LT@c@ption\@firstofone}\LT@capti@n}
+\def\LT@c@ption#1[#2]#3{%
+  \LT@makecaption#1\fnum@table{#3}%
+  \def\@tempa{#2}%
+  \ifx\@tempa\@empty\else
+     {\let\\\space
+     \addcontentsline{lot}{table}{\protect\numberline{\thetable}{#2}}}%
+  \fi}
+\def\LT@capti@n{%
+  \@ifstar
+    {\egroup\LT@c@ption\@gobble[]}%
+    {\egroup\@xdblarg{\LT@c@ption\@firstofone}}}
+\def\LT@makecaption#1#2#3{%
+  \LT@mcol\LT@cols c{\hbox to\z@{\hss\parbox[t]\LTcapwidth{%
+    \sbox\@tempboxa{#1{#2: }#3}%
+    \ifdim\wd\@tempboxa>\hsize
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+    \else
+      \hbox to\hsize{\hfil\box\@tempboxa\hfil}%
+    \fi
+    \endgraf\vskip\baselineskip}%
+  \hss}}}
+\def\LT@output{%
+  \ifnum\outputpenalty <-\@Mi
+    \ifnum\outputpenalty > -\LT@end@pen
+      \LT@err{floats and marginpars not allowed in a longtable}\@ehc
+    \else
+      \setbox\z@\vbox{\unvbox\@cclv}%
+      \ifdim \ht\LT@lastfoot>\ht\LT@foot
+        \dimen@\pagegoal
+        \advance\dimen@-\ht\LT@lastfoot
+        \ifdim\dimen@<\ht\z@
+          \setbox\@cclv\vbox{\unvbox\z@\copy\LT@foot\vss}%
+          \@makecol
+          \@outputpage
+          \setbox\z@\vbox{\box\LT@head}%
+        \fi
+      \fi
+      \global\@colroom\@colht
+      \global\vsize\@colht
+      \vbox
+        {\unvbox\z@\box\ifvoid\LT@lastfoot\LT@foot\else\LT@lastfoot\fi}%
+    \fi
+  \else
+    \setbox\@cclv\vbox{\unvbox\@cclv\copy\LT@foot\vss}%
+    \@makecol
+    \@outputpage
+      \global\vsize\@colroom
+    \copy\LT@head\nobreak
+  \fi}
+\def\LT@end@hd@ft#1{%
+  \LT@echunk
+  \ifx\LT@start\endgraf
+    \LT@err
+     {Longtable head or foot not at start of table}%
+     {Increase LTchunksize}%
+  \fi
+  \setbox#1\box\z@
+  \LT@get@widths
+  \LT@bchunk}
+\def\endfirsthead{\LT@end@hd@ft\LT@firsthead}
+\def\endhead{\LT@end@hd@ft\LT@head}
+\def\endfoot{\LT@end@hd@ft\LT@foot}
+\def\endlastfoot{\LT@end@hd@ft\LT@lastfoot}
+\def\LT@startpbox#1{%
+  \bgroup
+    \let\@footnotetext\LT@p@ftntext
+    \setlength\hsize{#1}%
+    \@arrayparboxrestore
+    \vrule \@height \ht\@arstrutbox \@width \z@}
+\def\LT@endpbox{%
+  \@finalstrut\@arstrutbox
+  \egroup
+  \the\LT@p@ftn
+  \global\LT@p@ftn{}%
+  \hfil}
+%% added \long to prevent:
+% LaTeX Warning: Command \LT@p@ftntext  has changed.
+%
+% from the original repository (https://github.com/latex3/latex2e/blob/develop/required/tools/longtable.dtx):
+% \changes{v4.15}{2021/03/28}
+%      {make long for gh/364}
+% Inside the `p' column, just save up the footnote text in a token
+% register.
+\long\def\LT@p@ftntext#1{%
+  \edef\@tempa{\the\LT@p@ftn\noexpand\footnotetext[\the\c@footnote]}%
+  \global\LT@p@ftn\expandafter{\@tempa{#1}}}%
+
+\@namedef{ver@longtable.sty}{2014/10/28 v4.11 Multi-page Table package (DPC) - frozen version for doxygen}
+\endinput
+%%
+%% End of file `longtable.sty'.
diff --git a/documentation/latex/make.bat b/documentation/latex/make.bat
new file mode 100644
index 0000000..96da1c8
--- /dev/null
+++ b/documentation/latex/make.bat
@@ -0,0 +1,56 @@
+pushd %~dp0
+if not %errorlevel% == 0 goto :end
+
+set ORG_LATEX_CMD=%LATEX_CMD%
+set ORG_MKIDX_CMD=%MKIDX_CMD%
+set ORG_BIBTEX_CMD=%BIBTEX_CMD%
+set ORG_LATEX_COUNT=%LATEX_COUNT%
+set ORG_MANUAL_FILE=%MANUAL_FILE%
+if "X"%LATEX_CMD% == "X" set LATEX_CMD=pdflatex
+if "X"%MKIDX_CMD% == "X" set MKIDX_CMD=makeindex
+if "X"%BIBTEX_CMD% == "X" set BIBTEX_CMD=bibtex
+if "X"%LATEX_COUNT% == "X" set LATEX_COUNT=8
+if "X"%MANUAL_FILE% == "X" set MANUAL_FILE=refman
+
+del /s /f *.ps *.dvi *.aux *.toc *.idx *.ind *.ilg *.log *.out *.brf *.blg *.bbl %MANUAL_FILE%.pdf
+
+
+%LATEX_CMD% %MANUAL_FILE%
+echo ----
+%MKIDX_CMD% %MANUAL_FILE%.idx
+echo ----
+%LATEX_CMD% %MANUAL_FILE%
+
+setlocal enabledelayedexpansion
+set count=%LATEX_COUNT%
+:repeat
+set content=X
+for /F "tokens=*" %%T in ( 'findstr /C:"Rerun LaTeX" %MANUAL_FILE%.log' ) do set content="%%~T"
+if !content! == X for /F "tokens=*" %%T in ( 'findstr /C:"Rerun to get cross-references right" %MANUAL_FILE%.log' ) do set content="%%~T"
+if !content! == X for /F "tokens=*" %%T in ( 'findstr /C:"Rerun to get bibliographical references right" %MANUAL_FILE%.log' ) do set content="%%~T"
+if !content! == X goto :skip
+set /a count-=1
+if !count! EQU 0 goto :skip
+
+echo ----
+%LATEX_CMD% %MANUAL_FILE%
+goto :repeat
+:skip
+endlocal
+%MKIDX_CMD% %MANUAL_FILE%.idx
+%LATEX_CMD% %MANUAL_FILE%
+
+@REM reset environment
+popd
+set LATEX_CMD=%ORG_LATEX_CMD%
+set ORG_LATEX_CMD=
+set MKIDX_CMD=%ORG_MKIDX_CMD%
+set ORG_MKIDX_CMD=
+set BIBTEX_CMD=%ORG_BIBTEX_CMD%
+set ORG_BIBTEX_CMD=
+set MANUAL_FILE=%ORG_MANUAL_FILE%
+set ORG_MANUAL_FILE=
+set LATEX_COUNT=%ORG_LATEX_COUNT%
+set ORG_LATEX_COUNT=
+
+:end
diff --git a/documentation/latex/md__r_e_a_d_m_e.tex b/documentation/latex/md__r_e_a_d_m_e.tex
new file mode 100644
index 0000000..a5e135d
--- /dev/null
+++ b/documentation/latex/md__r_e_a_d_m_e.tex
@@ -0,0 +1,173 @@
+\chapter{README}
+\hypertarget{md__r_e_a_d_m_e}{}\label{md__r_e_a_d_m_e}\index{README@{README}}
+Table of Contents.
+
+\label{md__r_e_a_d_m_e_readme-top}%
+\Hypertarget{md__r_e_a_d_m_e_readme-top}%
+ 
+
+
+\begin{DoxyEnumerate}
+\item \href{\#about}{\texttt{ About}}  
+\item \href{\#getting-started}{\texttt{ Getting Started}} 
+\begin{DoxyItemize}
+\item \href{\#wiring}{\texttt{ Wiring}} 
+\item \href{\#adding-to-project}{\texttt{ Adding to Project}} 
+\item \href{\#menuconfig}{\texttt{ Menuconfig}} 
+\item \href{\#examples}{\texttt{ Examples}} 
+\end{DoxyItemize}
+\item \href{\#documentation}{\texttt{ Documentation}} 
+\item \href{\#program-flowcharts}{\texttt{ Program Flowcharts}} 
+\item \href{\#acknowledgements}{\texttt{ Acknowledgements}} 
+\item \href{\#license}{\texttt{ License}} 
+\item \href{\#contact}{\texttt{ Contact}} 
+\end{DoxyEnumerate}\hypertarget{md__r_e_a_d_m_e_autotoc_md0}{}\doxysubsection{\texorpdfstring{About}{About}}\label{md__r_e_a_d_m_e_autotoc_md0}
+esp32\+\_\+\+BNO08x is a C++ component for esp-\/idf v5.\+x, serving as a driver for both BNO080 and BNO085 IMUs. ~\newline
+
+
+Originally based on the Spark\+Fun BNO080 Arduino Library, it has since diverged significantly in implementation while retaining all original features and more, including callback functions enabled by its multi-\/tasked approach.
+
+Currently, only SPI is supported. There are no plans to support I2C due to unpredictable behavior caused by an esp32 I2C driver silicon bug. UART support may be implemented in the future.\hypertarget{md__r_e_a_d_m_e_autotoc_md1}{}\doxysubsection{\texorpdfstring{Getting Started}{Getting Started}}\label{md__r_e_a_d_m_e_autotoc_md1}
+(\href{\#readme-top}{\texttt{ back to top}})\hypertarget{md__r_e_a_d_m_e_autotoc_md2}{}\doxysubsubsection{\texorpdfstring{Wiring}{Wiring}}\label{md__r_e_a_d_m_e_autotoc_md2}
+The default wiring is depicted below, it can be changed at driver initialization (see example section). ~\newline
+
+
+If your ESP does not have the GPIO pin numbers depicted below, you {\bfseries{must change the default GPIO settings in menuconfig}}. See the Menuconfig section.
+
+ 
+
+(\href{\#readme-top}{\texttt{ back to top}})\hypertarget{md__r_e_a_d_m_e_autotoc_md3}{}\doxysubsubsection{\texorpdfstring{Adding to Project}{Adding to Project}}\label{md__r_e_a_d_m_e_autotoc_md3}
+
+\begin{DoxyEnumerate}
+\item Create a "{}components"{} directory in the root workspace directory of your esp-\/idf project if it does not exist already. ~\newline
+
+
+In workspace directory\+: ~\newline
+ 
+\begin{DoxyCode}{0}
+\DoxyCodeLine{mkdir\ components}
+
+\end{DoxyCode}
+
+\item Cd into the components directory and clone the esp32\+\_\+\+BNO08x repo.
+
+
+\begin{DoxyCode}{0}
+\DoxyCodeLine{cd\ components}
+\DoxyCodeLine{git\ clone\ https://github.com/myles-\/parfeniuk/esp32\_BNO08x.git}
+
+\end{DoxyCode}
+
+\item Ensure you clean your esp-\/idf project before rebuilding. ~\newline
+ Within esp-\/idf enabled terminal\+: 
+\begin{DoxyCode}{0}
+\DoxyCodeLine{idf.py\ fullclean}
+
+\end{DoxyCode}
+ 
+\end{DoxyEnumerate}
+
+(\href{\#readme-top}{\texttt{ back to top}})\hypertarget{md__r_e_a_d_m_e_autotoc_md4}{}\doxysubsubsection{\texorpdfstring{Menuconfig}{Menuconfig}}\label{md__r_e_a_d_m_e_autotoc_md4}
+This library provides a menuconfig menu configured in Kconfig.\+projbuild. It contains settings to control the default GPIO and a few other things. ~\newline
+
+
+To access the menu\+:
+
+
+\begin{DoxyEnumerate}
+\item Within esp-\/idf enabled terminal, execute the menuconfig command\+: 
+\begin{DoxyCode}{0}
+\DoxyCodeLine{\ \ \ \ idf.py\ menuconfig}
+\DoxyCodeLine{}
+\DoxyCodeLine{2.\ Scroll\ down\ to\ the\ esp\_BNO08x\ menu\ and\ enter\ it,\ if\ you're\ using\ vsCode\ you\ may\ have\ to\ use\ the\ "{}j"{}\ and\ "{}k"{}\ keys\ instead\ of\ the\ arrow\ keys.}
+\DoxyCodeLine{\ \ \ \ ![image](esp32\_BNO08x\_menuconfig\_1.png)}
+\DoxyCodeLine{}
+\DoxyCodeLine{3.\ Modify\ whatever\ settings\ you'd\ like\ from\ the\ sub\ menus.\ The\ GPIO\ Configuration\ menu\ allows\ for\ the\ default\ GPIO\ pins\ to\ be\ modified,\ the\ SPI\ Configuration\ menu\ allows\ for\ the\ default\ SCLK\ frequency\ and\ host\ peripheral\ to\ be\ modified.}
+\DoxyCodeLine{\ \ \ \ ![image](esp32\_BNO08x\_menuconfig\_2.png)}
+\DoxyCodeLine{<p\ align="{}right"{}>(<a\ href="{}\#readme-\/top"{}>back\ to\ top</a>)</p>}
+\DoxyCodeLine{}
+\DoxyCodeLine{\#\#\#\ Examples}
+\DoxyCodeLine{There\ are\ two\ ways\ data\ returned\ from\ the\ BNO08x\ can\ be\ accessed\ with\ this\ library:}
+\DoxyCodeLine{}
+\DoxyCodeLine{1.\ Polling\ Method\ with\ \`{}data\_available()`\ Function:}
+\DoxyCodeLine{\ \ -\/\ Use\ the\ \`{}data\_available()`\ function\ to\ poll\ for\ new\ data,\ similar\ to\ the\ SparkFun\ library.}
+\DoxyCodeLine{\ \ -\/\ Behavior:\ It\ is\ a\ blocking\ function\ that\ returns\ \`{}true`\ when\ new\ data\ is\ received\ or\ \`{}false`\ if\ a\ timeout\ occurs.}
+\DoxyCodeLine{\ \ -\/\ See\ the\ **Polling\ Example**\ below.}
+\DoxyCodeLine{}
+\DoxyCodeLine{2.\ Callback\ Registration\ with\ \`{}register\_cb()`\ Function:}
+\DoxyCodeLine{\ \ -\/\ Register\ callback\ functions\ that\ automatically\ execute\ upon\ receiving\ new\ data.}
+\DoxyCodeLine{\ \ -\/\ Behavior:\ The\ registered\ callback\ will\ be\ invoked\ whenever\ new\ data\ is\ available.}
+\DoxyCodeLine{\ \ -\/\ See\ the\ **Call-\/Back\ Function\ Example**\ below.\ }
+\DoxyCodeLine{\ \ }
+\DoxyCodeLine{\#\#\#\#\ Polling\ Example}
+
+\end{DoxyCode}
+ cpp \#include \texorpdfstring{$<$}{<}stdio.\+h\texorpdfstring{$>$}{>} \#include "{}\+BNO08x.\+hpp"{}
+\end{DoxyEnumerate}
+
+extern "{}\+C"{} void app\+\_\+main(void) \{ \doxylink{class_b_n_o08x}{BNO08x} imu; //create IMU object with default wiring scheme float x, y, z = 0;
+
+//if a custom wiring scheme is desired instead of default\+:
+
+/\texorpdfstring{$\ast$}{*} \doxylink{structbno08x__config__t}{bno08x\+\_\+config\+\_\+t} imu\+\_\+config; //create config struct imu\+\_\+config.\+io\+\_\+mosi = GPIO\+\_\+\+NUM\+\_\+X; //assign pin imu\+\_\+config.\+io\+\_\+miso = GPIO\+\_\+\+NUM\+\_\+X; //assign pin //etc... \doxylink{class_b_n_o08x}{BNO08x} imu(imu\+\_\+config); //pass config to \doxylink{class_b_n_o08x}{BNO08x} constructor \texorpdfstring{$\ast$}{*}/
+
+imu.\+initialize(); //initialize IMU
+
+//enable gyro \& game rotation vector imu.\+enable\+\_\+game\+\_\+rotation\+\_\+vector(100000\+UL); //100,000us == 100ms report interval imu.\+enable\+\_\+gyro(150000\+UL); //150,000us == 150ms report interval
+
+while(1) \{ //print absolute heading in degrees and angular velocity in Rad/s if(imu.\+data\+\_\+available()) \{ x = imu.\+get\+\_\+gyro\+\_\+calibrated\+\_\+velocity\+\_\+\+X(); y = imu.\+get\+\_\+gyro\+\_\+calibrated\+\_\+velocity\+\_\+\+Y(); z = imu.\+get\+\_\+gyro\+\_\+calibrated\+\_\+velocity\+\_\+\+Z(); ESP\+\_\+\+LOGW("{}\+Main"{}, "{}\+Velocity\+: x\+: \%.\+3f y\+: \%.\+3f z\+: \%.\+3f"{}, x, y, z);
+
+x = imu.\+get\+\_\+roll\+\_\+deg(); y = imu.\+get\+\_\+pitch\+\_\+deg(); z = imu.\+get\+\_\+yaw\+\_\+deg(); ESP\+\_\+\+LOGI("{}\+Main"{}, "{}\+Euler Angle\+: x (roll)\+: \%.\+3f y (pitch)\+: \%.\+3f z (yaw)\+: \%.\+3f"{}, x, y, z); \} \}
+
+\} 
+\begin{DoxyCode}{0}
+\DoxyCodeLine{\#\#\#\#\ Call-\/Back\ Function\ Example}
+
+\end{DoxyCode}
+ cpp \#include \texorpdfstring{$<$}{<}stdio.\+h\texorpdfstring{$>$}{>} \#include "{}\+BNO08x.\+hpp"{}
+
+extern "{}\+C"{} void app\+\_\+main(void) \{ \doxylink{class_b_n_o08x}{BNO08x} imu; // create IMU object with default wiring scheme
+
+// if a custom wiring scheme is desired instead of default\+:
+
+/\texorpdfstring{$\ast$}{*} \doxylink{structbno08x__config__t}{bno08x\+\_\+config\+\_\+t} imu\+\_\+config; //create config struct imu\+\_\+config.\+io\+\_\+mosi = GPIO\+\_\+\+NUM\+\_\+X; //assign pin imu\+\_\+config.\+io\+\_\+miso = GPIO\+\_\+\+NUM\+\_\+X; //assign pin //etc... \doxylink{class_b_n_o08x}{BNO08x} imu(imu\+\_\+config); //pass config to \doxylink{class_b_n_o08x}{BNO08x} constructor \texorpdfstring{$\ast$}{*}/
+
+imu.\+initialize(); // initialize IMU
+
+// enable gyro \& game rotation vector imu.\+enable\+\_\+game\+\_\+rotation\+\_\+vector(100000\+UL); // 100,000us == 100ms report interval imu.\+enable\+\_\+gyro(150000\+UL); // 150,000us == 150ms report interval
+
+// register a callback function (in this case a lambda function, but it doesn\textquotesingle{}t have to be) imu.\+register\+\_\+cb( \mbox{[}\&imu\mbox{]}() \{ // callback function contents, executed whenever new data is parsed // print absolute heading in degrees and angular velocity in Rad/s float x, y, z = 0; x = imu.\+get\+\_\+gyro\+\_\+calibrated\+\_\+velocity\+\_\+\+X(); y = imu.\+get\+\_\+gyro\+\_\+calibrated\+\_\+velocity\+\_\+\+Y(); z = imu.\+get\+\_\+gyro\+\_\+calibrated\+\_\+velocity\+\_\+\+Z(); ESP\+\_\+\+LOGW("{}\+Main"{}, "{}\+Velocity\+: x\+: \%.\+3f y\+: \%.\+3f z\+: \%.\+3f"{}, x, y, z);
+
+x = imu.\+get\+\_\+roll\+\_\+deg(); y = imu.\+get\+\_\+pitch\+\_\+deg(); z = imu.\+get\+\_\+yaw\+\_\+deg(); ESP\+\_\+\+LOGI("{}\+Main"{}, "{}\+Euler Angle\+: x (roll)\+: \%.\+3f y (pitch)\+: \%.\+3f z (yaw)\+: \%.\+3f"{}, x, y, z); \});
+
+while (1) \{ v\+Task\+Delay(300 / port\+TICK\+\_\+\+PERIOD\+\_\+\+MS); // delay here is irrelevant, we just don\textquotesingle{}t want to trip cpu watchdog \} \} \`{}\`{}\`{} 
+
+(\href{\#readme-top}{\texttt{ back to top}})\hypertarget{md__r_e_a_d_m_e_autotoc_md5}{}\doxysubsection{\texorpdfstring{Documentation}{Documentation}}\label{md__r_e_a_d_m_e_autotoc_md5}
+API documentation generated with doxygen can be found in the documentation directory of the master branch. ~\newline
+ 
+
+(\href{\#readme-top}{\texttt{ back to top}})\hypertarget{md__r_e_a_d_m_e_autotoc_md6}{}\doxysubsection{\texorpdfstring{Program Flowcharts}{Program Flowcharts}}\label{md__r_e_a_d_m_e_autotoc_md6}
+The following charts illustrate the program flow this library implements for sending and receiving data from \doxylink{class_b_n_o08x}{BNO08x}. ~\newline
+ These are here to aid development for anyone looking to modify, fork, or contribute. ~\newline
+
+
+ 
+
+(\href{\#readme-top}{\texttt{ back to top}})\hypertarget{md__r_e_a_d_m_e_autotoc_md7}{}\doxysubsection{\texorpdfstring{Acknowledgements}{Acknowledgements}}\label{md__r_e_a_d_m_e_autotoc_md7}
+Special thanks to the original creators of the sparkfun BNO080 library. Developing this without a reference would have been much more time consuming. ~\newline
+ \href{https://github.com/sparkfun/SparkFun_BNO080_Arduino_Library}{\texttt{ https\+://github.\+com/sparkfun/\+Spark\+Fun\+\_\+\+BNO080\+\_\+\+Arduino\+\_\+\+Library}} ~\newline
+
+
+Special thanks to Anton Babiy, aka hw\+Birdy007 for helping with debugging SPI. ~\newline
+ \href{https://github.com/hwBirdy007}{\texttt{ https\+://github.\+com/hw\+Birdy007}} ~\newline
+
+
+(\href{\#readme-top}{\texttt{ back to top}})\hypertarget{md__r_e_a_d_m_e_autotoc_md8}{}\doxysubsection{\texorpdfstring{License}{License}}\label{md__r_e_a_d_m_e_autotoc_md8}
+Distributed under the MIT License. See {\ttfamily LICENSE.\+md} for more information. 
+
+(\href{\#readme-top}{\texttt{ back to top}})\hypertarget{md__r_e_a_d_m_e_autotoc_md9}{}\doxysubsection{\texorpdfstring{Contact}{Contact}}\label{md__r_e_a_d_m_e_autotoc_md9}
+Myles Parfeniuk -\/ \href{mailto:myles.parfenyuk@gmail.com}{\texttt{ myles.\+parfenyuk@gmail.\+com}}
+
+Project Link\+: \href{https://github.com/myles-parfeniuk/esp32_BNO08x.git}{\texttt{ https\+://github.\+com/myles-\/parfeniuk/esp32\+\_\+\+BNO08x.\+git}} 
+
+(\href{\#readme-top}{\texttt{ back to top}})
\ No newline at end of file
diff --git a/documentation/latex/refman.tex b/documentation/latex/refman.tex
new file mode 100644
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--- /dev/null
+++ b/documentation/latex/refman.tex
@@ -0,0 +1,234 @@
+  % Handle batch mode
+  % to overcome problems with too many open files
+  \let\mypdfximage\pdfximage\def\pdfximage{\immediate\mypdfximage}
+  \pdfminorversion=7
+  % Set document class depending on configuration
+  \documentclass[twoside]{book}
+  %% moved from doxygen.sty due to workaround for LaTex 2019 version and unmaintained tabu package
+  \usepackage{ifthen}
+  \ifx\requestedLaTeXdate\undefined
+    \usepackage{array}
+  \else
+    \usepackage{array}[=2016-10-06]
+  \fi
+  %%
+  % Packages required by doxygen
+  \makeatletter
+  \providecommand\IfFormatAtLeastTF{\@ifl@t@r\fmtversion}
+  % suppress package identification of infwarerr as it contains the word "warning"
+  \let\@@protected@wlog\protected@wlog
+  \def\protected@wlog#1{\wlog{package info suppressed}}
+  \RequirePackage{infwarerr}
+  \let\protected@wlog\@@protected@wlog
+  \makeatother
+  \IfFormatAtLeastTF{2016/01/01}{}{\usepackage{fixltx2e}} % for \textsubscript
+  \IfFormatAtLeastTF{2015/01/01}{\pdfsuppresswarningpagegroup=1}{}
+  \usepackage{doxygen}
+  \usepackage{graphicx}
+  \usepackage[utf8]{inputenc}
+  \usepackage{makeidx}
+  \PassOptionsToPackage{warn}{textcomp}
+  \usepackage{textcomp}
+  \usepackage[nointegrals]{wasysym}
+  \usepackage{ifxetex}
+  % NLS support packages
+  % Define default fonts
+  % Font selection
+  \usepackage[T1]{fontenc}
+  % set main and monospaced font
+  \usepackage[scaled=.90]{helvet}
+\usepackage{courier}
+\renewcommand{\familydefault}{\sfdefault}
+  \doxyallsectionsfont{%
+    \fontseries{bc}\selectfont%
+    \color{darkgray}%
+  }
+  \renewcommand{\DoxyLabelFont}{%
+    \fontseries{bc}\selectfont%
+    \color{darkgray}%
+  }
+  \newcommand{\+}{\discretionary{\mbox{\scriptsize$\hookleftarrow$}}{}{}}
+   % Arguments of doxygenemoji:
+   % 1) ':<text>:' form of the emoji, already LaTeX-escaped
+   % 2) file with the name of the emoji without the .png extension
+   % in case image exist use this otherwise use the ':<text>:' form
+   \newcommand{\doxygenemoji}[2]{%
+     \IfFileExists{./#2.png}{\raisebox{-0.1em}{\includegraphics[height=0.9em]{./#2.png}}}{#1}%
+   }
+  % Page & text layout
+  \usepackage{geometry}
+  \geometry{%
+    a4paper,%
+    top=2.5cm,%
+    bottom=2.5cm,%
+    left=2.5cm,%
+    right=2.5cm%
+  }
+  \usepackage{changepage}
+  % Allow a bit of overflow to go unnoticed by other means
+  \tolerance=750
+  \hfuzz=15pt
+  \hbadness=750
+  \setlength{\emergencystretch}{15pt}
+  \setlength{\parindent}{0cm}
+  \newcommand{\doxynormalparskip}{\setlength{\parskip}{3ex plus 2ex minus 2ex}}
+  \newcommand{\doxytocparskip}{\setlength{\parskip}{1ex plus 0ex minus 0ex}}
+  \doxynormalparskip
+  % Redefine paragraph/subparagraph environments, using sectsty fonts
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+      \normalfont\normalsize\bfseries\SS@parafont%
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+      \normalfont\normalsize\bfseries\SS@subparafont%
+    }%
+  }
+  \makeatother
+  \makeatletter
+  \newcommand\hrulefilll{\leavevmode\leaders\hrule\hskip 0pt plus 1filll\kern\z@}
+  \makeatother
+  % Headers & footers
+  \usepackage{fancyhdr}
+  \pagestyle{fancyplain}
+  \renewcommand{\footrulewidth}{0.4pt}
+  \fancypagestyle{fancyplain}{
+    \fancyhf{}
+    \fancyhead[LE, RO]{\bfseries\thepage}
+    \fancyhead[LO]{\bfseries\rightmark}
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+    \fancyfoot[LO, RE]{\bfseries\scriptsize Generated by Doxygen }
+  }
+  \fancypagestyle{plain}{
+    \fancyhf{}
+    \fancyfoot[LO, RE]{\bfseries\scriptsize Generated by Doxygen }
+    \renewcommand{\headrulewidth}{0pt}
+  }
+  \pagestyle{fancyplain}
+  \renewcommand{\chaptermark}[1]{%
+    \markboth{#1}{}%
+  }
+  \renewcommand{\sectionmark}[1]{%
+    \markright{\thesection\ #1}%
+  }
+  % ToC, LoF, LoT, bibliography, and index
+  % Indices & bibliography
+  \usepackage{natbib}
+  \usepackage[titles]{tocloft}
+  \setcounter{tocdepth}{3}
+  \setcounter{secnumdepth}{5}
+  % creating indexes
+  \makeindex
+  \usepackage{newunicodechar}
+  \makeatletter
+    \def\doxynewunicodechar#1#2{%
+    \@tempswafalse
+    \edef\nuc@tempa{\detokenize{#1}}%
+    \if\relax\nuc@tempa\relax
+      \nuc@emptyargerr
+    \else
+      \edef\@tempb{\expandafter\@car\nuc@tempa\@nil}%
+      \nuc@check
+      \if@tempswa
+        \@namedef{u8:\nuc@tempa}{#2}%
+      \fi
+    \fi
+  }
+  \makeatother
+  \doxynewunicodechar{⁻}{${}^{-}$}% Superscript minus
+  \doxynewunicodechar{²}{${}^{2}$}% Superscript two
+  \doxynewunicodechar{³}{${}^{3}$}% Superscript three
+  % Hyperlinks
+    % Hyperlinks (required, but should be loaded last)
+    \ifpdf
+      \usepackage[pdftex,pagebackref=true]{hyperref}
+    \else
+      \ifxetex
+        \usepackage[pagebackref=true]{hyperref}
+      \else
+        \usepackage[ps2pdf,pagebackref=true]{hyperref}
+      \fi
+    \fi
+    \hypersetup{%
+      colorlinks=true,%
+      linkcolor=blue,%
+      citecolor=blue,%
+      unicode,%
+      pdftitle={esp32\+\_\+\+BNO08x},%
+      pdfsubject={C++ BNO08x IMU driver component for esp-\/idf.}%
+    }
+  % Custom commands used by the header
+  % Custom commands
+  \newcommand{\clearemptydoublepage}{%
+    \newpage{\pagestyle{empty}\cleardoublepage}%
+  }
+  % caption style definition
+  \usepackage{caption}
+  \captionsetup{labelsep=space,justification=centering,font={bf},singlelinecheck=off,skip=4pt,position=top}
+  % in page table of contents
+  \IfFormatAtLeastTF{2023/05/01}{\usepackage[deeplevels]{etoc}}{\usepackage[deeplevels]{etoc_doxygen}}
+  \etocsettocstyle{\doxytocparskip}{\doxynormalparskip}
+  \etocsetlevel{subsubsubsection}{4}
+  \etocsetlevel{subsubsubsubsection}{5}
+  \etocsetlevel{subsubsubsubsubsection}{6}
+  \etocsetlevel{subsubsubsubsubsubsection}{7}
+  \etocsetlevel{paragraph}{8}
+  \etocsetlevel{subparagraph}{9}
+  % prevent numbers overlap the titles in toc
+  \renewcommand{\numberline}[1]{#1~}
+% End of preamble, now comes the document contents
+%===== C O N T E N T S =====
+\begin{document}
+  \raggedbottom
+  % Titlepage & ToC
+    % To avoid duplicate page anchors due to reuse of same numbers for
+    % the index (be it as roman numbers)
+    \hypersetup{pageanchor=false,
+                bookmarksnumbered=true,
+                pdfencoding=unicode
+               }
+  \pagenumbering{alph}
+  \begin{titlepage}
+  \vspace*{7cm}
+  \begin{center}%
+  {\Large esp32\+\_\+\+BNO08x}\\
+  [1ex]\large 1.\+1 \\
+  \vspace*{1cm}
+  {\large Generated by Doxygen 1.10.0}\\
+  \end{center}
+  \end{titlepage}
+  \clearemptydoublepage
+  \pagenumbering{roman}
+  \tableofcontents
+  \clearemptydoublepage
+  \pagenumbering{arabic}
+  % re-enable anchors again
+  \hypersetup{pageanchor=true}
+%--- Begin generated contents ---
+\input{md__r_e_a_d_m_e}
+\chapter{Class Index}
+\input{annotated}
+\chapter{File Index}
+\input{files}
+\chapter{Class Documentation}
+\input{class_b_n_o08x}
+\input{structbno08x__config__t}
+\input{struct_b_n_o08x_1_1bno08x__rx__packet__t}
+\input{struct_b_n_o08x_1_1bno08x__tx__packet__t}
+\chapter{File Documentation}
+\input{_b_n_o08x_8cpp}
+\input{_b_n_o08x_8hpp}
+\input{_b_n_o08x_8hpp_source}
+\input{_r_e_a_d_m_e_8md}
+%--- End generated contents ---
+% Index
+  \backmatter
+  \newpage
+  \phantomsection
+  \clearemptydoublepage
+  \addcontentsline{toc}{chapter}{\indexname}
+  \printindex
+% Required for some languages (in combination with latexdocumentpre from the header)
+\end{document}
diff --git a/documentation/latex/struct_b_n_o08x_1_1bno08x__rx__packet__t.tex b/documentation/latex/struct_b_n_o08x_1_1bno08x__rx__packet__t.tex
new file mode 100644
index 0000000..993b8de
--- /dev/null
+++ b/documentation/latex/struct_b_n_o08x_1_1bno08x__rx__packet__t.tex
@@ -0,0 +1,53 @@
+\doxysection{BNO08x\+::bno08x\+\_\+rx\+\_\+packet\+\_\+t Struct Reference}
+\hypertarget{struct_b_n_o08x_1_1bno08x__rx__packet__t}{}\label{struct_b_n_o08x_1_1bno08x__rx__packet__t}\index{BNO08x::bno08x\_rx\_packet\_t@{BNO08x::bno08x\_rx\_packet\_t}}
+
+
+Holds data that is received over spi.  
+
+
+\doxysubsubsection*{Public Attributes}
+\begin{DoxyCompactItemize}
+\item 
+uint8\+\_\+t \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__rx__packet__t_a667d671ccb272bd375008716e26e0b5b}{header}} \mbox{[}4\mbox{]}
+\begin{DoxyCompactList}\small\item\em Header of SHTP packet. \end{DoxyCompactList}\item 
+uint8\+\_\+t \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__rx__packet__t_ab422d75e1fcd776ef412f4d623cc293e}{body}} \mbox{[}300\mbox{]}
+\item 
+uint16\+\_\+t \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__rx__packet__t_a645adb6ba8fb2afbb99ec58fe678e205}{length}}
+\begin{DoxyCompactList}\small\item\em Body of SHTP packet. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Holds data that is received over spi. 
+
+\doxysubsection{Member Data Documentation}
+\Hypertarget{struct_b_n_o08x_1_1bno08x__rx__packet__t_ab422d75e1fcd776ef412f4d623cc293e}\label{struct_b_n_o08x_1_1bno08x__rx__packet__t_ab422d75e1fcd776ef412f4d623cc293e} 
+\index{BNO08x::bno08x\_rx\_packet\_t@{BNO08x::bno08x\_rx\_packet\_t}!body@{body}}
+\index{body@{body}!BNO08x::bno08x\_rx\_packet\_t@{BNO08x::bno08x\_rx\_packet\_t}}
+\doxysubsubsection{\texorpdfstring{body}{body}}
+{\footnotesize\ttfamily uint8\+\_\+t BNO08x\+::bno08x\+\_\+rx\+\_\+packet\+\_\+t\+::body\mbox{[}300\mbox{]}}
+
+\Hypertarget{struct_b_n_o08x_1_1bno08x__rx__packet__t_a667d671ccb272bd375008716e26e0b5b}\label{struct_b_n_o08x_1_1bno08x__rx__packet__t_a667d671ccb272bd375008716e26e0b5b} 
+\index{BNO08x::bno08x\_rx\_packet\_t@{BNO08x::bno08x\_rx\_packet\_t}!header@{header}}
+\index{header@{header}!BNO08x::bno08x\_rx\_packet\_t@{BNO08x::bno08x\_rx\_packet\_t}}
+\doxysubsubsection{\texorpdfstring{header}{header}}
+{\footnotesize\ttfamily uint8\+\_\+t BNO08x\+::bno08x\+\_\+rx\+\_\+packet\+\_\+t\+::header\mbox{[}4\mbox{]}}
+
+
+
+Header of SHTP packet. 
+
+\Hypertarget{struct_b_n_o08x_1_1bno08x__rx__packet__t_a645adb6ba8fb2afbb99ec58fe678e205}\label{struct_b_n_o08x_1_1bno08x__rx__packet__t_a645adb6ba8fb2afbb99ec58fe678e205} 
+\index{BNO08x::bno08x\_rx\_packet\_t@{BNO08x::bno08x\_rx\_packet\_t}!length@{length}}
+\index{length@{length}!BNO08x::bno08x\_rx\_packet\_t@{BNO08x::bno08x\_rx\_packet\_t}}
+\doxysubsubsection{\texorpdfstring{length}{length}}
+{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::bno08x\+\_\+rx\+\_\+packet\+\_\+t\+::length}
+
+
+
+Body of SHTP packet. 
+
+Packet length in bytes. 
+
+The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{_b_n_o08x_8hpp}{BNO08x.\+hpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/struct_b_n_o08x_1_1bno08x__tx__packet__t.tex b/documentation/latex/struct_b_n_o08x_1_1bno08x__tx__packet__t.tex
new file mode 100644
index 0000000..dc206e8
--- /dev/null
+++ b/documentation/latex/struct_b_n_o08x_1_1bno08x__tx__packet__t.tex
@@ -0,0 +1,45 @@
+\doxysection{BNO08x\+::bno08x\+\_\+tx\+\_\+packet\+\_\+t Struct Reference}
+\hypertarget{struct_b_n_o08x_1_1bno08x__tx__packet__t}{}\label{struct_b_n_o08x_1_1bno08x__tx__packet__t}\index{BNO08x::bno08x\_tx\_packet\_t@{BNO08x::bno08x\_tx\_packet\_t}}
+
+
+Holds data that is sent over spi.  
+
+
+\doxysubsubsection*{Public Attributes}
+\begin{DoxyCompactItemize}
+\item 
+uint8\+\_\+t \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__tx__packet__t_a4478c6cd9e87907eacc56dd06ad4a69d}{body}} \mbox{[}50\mbox{]}
+\begin{DoxyCompactList}\small\item\em Body of SHTP the packet (header + body) \end{DoxyCompactList}\item 
+uint16\+\_\+t \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__tx__packet__t_a73180537ea7605340c5e6b2132e2cbf5}{length}}
+\begin{DoxyCompactList}\small\item\em Packet length in bytes. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Holds data that is sent over spi. 
+
+\doxysubsection{Member Data Documentation}
+\Hypertarget{struct_b_n_o08x_1_1bno08x__tx__packet__t_a4478c6cd9e87907eacc56dd06ad4a69d}\label{struct_b_n_o08x_1_1bno08x__tx__packet__t_a4478c6cd9e87907eacc56dd06ad4a69d} 
+\index{BNO08x::bno08x\_tx\_packet\_t@{BNO08x::bno08x\_tx\_packet\_t}!body@{body}}
+\index{body@{body}!BNO08x::bno08x\_tx\_packet\_t@{BNO08x::bno08x\_tx\_packet\_t}}
+\doxysubsubsection{\texorpdfstring{body}{body}}
+{\footnotesize\ttfamily uint8\+\_\+t BNO08x\+::bno08x\+\_\+tx\+\_\+packet\+\_\+t\+::body\mbox{[}50\mbox{]}}
+
+
+
+Body of SHTP the packet (header + body) 
+
+\Hypertarget{struct_b_n_o08x_1_1bno08x__tx__packet__t_a73180537ea7605340c5e6b2132e2cbf5}\label{struct_b_n_o08x_1_1bno08x__tx__packet__t_a73180537ea7605340c5e6b2132e2cbf5} 
+\index{BNO08x::bno08x\_tx\_packet\_t@{BNO08x::bno08x\_tx\_packet\_t}!length@{length}}
+\index{length@{length}!BNO08x::bno08x\_tx\_packet\_t@{BNO08x::bno08x\_tx\_packet\_t}}
+\doxysubsubsection{\texorpdfstring{length}{length}}
+{\footnotesize\ttfamily uint16\+\_\+t BNO08x\+::bno08x\+\_\+tx\+\_\+packet\+\_\+t\+::length}
+
+
+
+Packet length in bytes. 
+
+
+
+The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{_b_n_o08x_8hpp}{BNO08x.\+hpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/structbno08x__config__t.tex b/documentation/latex/structbno08x__config__t.tex
new file mode 100644
index 0000000..2e256fd
--- /dev/null
+++ b/documentation/latex/structbno08x__config__t.tex
@@ -0,0 +1,159 @@
+\doxysection{bno08x\+\_\+config\+\_\+t Struct Reference}
+\hypertarget{structbno08x__config__t}{}\label{structbno08x__config__t}\index{bno08x\_config\_t@{bno08x\_config\_t}}
+
+
+IMU configuration settings passed into constructor.  
+
+
+
+
+{\ttfamily \#include $<$BNO08x.\+hpp$>$}
+
+\doxysubsubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{structbno08x__config__t_abf8805292192f4c30c5000423175a2e1}{bno08x\+\_\+config\+\_\+t}} ()
+\begin{DoxyCompactList}\small\item\em Default IMU configuration settings constructor. To modify default GPIO pins, run "{}idf.\+py menuconfig"{} esp32\+\_\+\+BNO08x-\/\texorpdfstring{$>$}{>}GPIO Configuration. Alternatively, edit the default values in "{}\+Kconfig.\+projbuild"{}. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{structbno08x__config__t_ae3b4bc522d30f9df7747ed46d0532c23}{bno08x\+\_\+config\+\_\+t}} (spi\+\_\+host\+\_\+device\+\_\+t \mbox{\hyperlink{structbno08x__config__t_a020d2343750bb7debc2a108ae038c9ec}{spi\+\_\+peripheral}}, gpio\+\_\+num\+\_\+t \mbox{\hyperlink{structbno08x__config__t_a79023fd80039e41a22b7f73ccd5fc861}{io\+\_\+mosi}}, gpio\+\_\+num\+\_\+t \mbox{\hyperlink{structbno08x__config__t_a9468180a773892977db39cc5ed9368e3}{io\+\_\+miso}}, gpio\+\_\+num\+\_\+t \mbox{\hyperlink{structbno08x__config__t_a639685b91ae3198909d722316495246a}{io\+\_\+sclk}}, gpio\+\_\+num\+\_\+t \mbox{\hyperlink{structbno08x__config__t_ab1b5351b63da0c172c942463d0dc2505}{io\+\_\+cs}}, gpio\+\_\+num\+\_\+t \mbox{\hyperlink{structbno08x__config__t_a3cfe965659cfbc6b0c5269bd0211975f}{io\+\_\+int}}, gpio\+\_\+num\+\_\+t \mbox{\hyperlink{structbno08x__config__t_a62745c761219139f66ecd173b51577fc}{io\+\_\+rst}}, gpio\+\_\+num\+\_\+t \mbox{\hyperlink{structbno08x__config__t_a90ad7f316dc443874d19dc7e723a0ce0}{io\+\_\+wake}}, uint32\+\_\+t \mbox{\hyperlink{structbno08x__config__t_a231614c3b20888360def2ce9db83f52a}{sclk\+\_\+speed}})
+\begin{DoxyCompactList}\small\item\em Overloaded IMU configuration settings constructor for custom pin settings. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Public Attributes}
+\begin{DoxyCompactItemize}
+\item 
+spi\+\_\+host\+\_\+device\+\_\+t \mbox{\hyperlink{structbno08x__config__t_a020d2343750bb7debc2a108ae038c9ec}{spi\+\_\+peripheral}}
+\begin{DoxyCompactList}\small\item\em SPI peripheral to be used. \end{DoxyCompactList}\item 
+gpio\+\_\+num\+\_\+t \mbox{\hyperlink{structbno08x__config__t_a79023fd80039e41a22b7f73ccd5fc861}{io\+\_\+mosi}}
+\begin{DoxyCompactList}\small\item\em MOSI GPIO pin (connects to \doxylink{class_b_n_o08x}{BNO08x} DI pin) \end{DoxyCompactList}\item 
+gpio\+\_\+num\+\_\+t \mbox{\hyperlink{structbno08x__config__t_a9468180a773892977db39cc5ed9368e3}{io\+\_\+miso}}
+\begin{DoxyCompactList}\small\item\em MISO GPIO pin (connects to \doxylink{class_b_n_o08x}{BNO08x} SDA pin) \end{DoxyCompactList}\item 
+gpio\+\_\+num\+\_\+t \mbox{\hyperlink{structbno08x__config__t_a639685b91ae3198909d722316495246a}{io\+\_\+sclk}}
+\begin{DoxyCompactList}\small\item\em SCLK pin (connects to \doxylink{class_b_n_o08x}{BNO08x} SCL pin) \end{DoxyCompactList}\item 
+gpio\+\_\+num\+\_\+t \mbox{\hyperlink{structbno08x__config__t_ab1b5351b63da0c172c942463d0dc2505}{io\+\_\+cs}}
+\item 
+gpio\+\_\+num\+\_\+t \mbox{\hyperlink{structbno08x__config__t_a3cfe965659cfbc6b0c5269bd0211975f}{io\+\_\+int}}
+\begin{DoxyCompactList}\small\item\em Chip select pin (connects to \doxylink{class_b_n_o08x}{BNO08x} CS pin) \end{DoxyCompactList}\item 
+gpio\+\_\+num\+\_\+t \mbox{\hyperlink{structbno08x__config__t_a62745c761219139f66ecd173b51577fc}{io\+\_\+rst}}
+\begin{DoxyCompactList}\small\item\em Host interrupt pin (connects to \doxylink{class_b_n_o08x}{BNO08x} INT pin) \end{DoxyCompactList}\item 
+gpio\+\_\+num\+\_\+t \mbox{\hyperlink{structbno08x__config__t_a90ad7f316dc443874d19dc7e723a0ce0}{io\+\_\+wake}}
+\begin{DoxyCompactList}\small\item\em Reset pin (connects to \doxylink{class_b_n_o08x}{BNO08x} RST pin) \end{DoxyCompactList}\item 
+uint32\+\_\+t \mbox{\hyperlink{structbno08x__config__t_a231614c3b20888360def2ce9db83f52a}{sclk\+\_\+speed}}
+\begin{DoxyCompactList}\small\item\em Desired SPI SCLK speed in Hz (max 3MHz) \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+IMU configuration settings passed into constructor. 
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\Hypertarget{structbno08x__config__t_abf8805292192f4c30c5000423175a2e1}\label{structbno08x__config__t_abf8805292192f4c30c5000423175a2e1} 
+\index{bno08x\_config\_t@{bno08x\_config\_t}!bno08x\_config\_t@{bno08x\_config\_t}}
+\index{bno08x\_config\_t@{bno08x\_config\_t}!bno08x\_config\_t@{bno08x\_config\_t}}
+\doxysubsubsection{\texorpdfstring{bno08x\_config\_t()}{bno08x\_config\_t()}\hspace{0.1cm}{\footnotesize\ttfamily [1/2]}}
+{\footnotesize\ttfamily bno08x\+\_\+config\+\_\+t\+::bno08x\+\_\+config\+\_\+t (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+Default IMU configuration settings constructor. To modify default GPIO pins, run "{}idf.\+py menuconfig"{} esp32\+\_\+\+BNO08x-\/\texorpdfstring{$>$}{>}GPIO Configuration. Alternatively, edit the default values in "{}\+Kconfig.\+projbuild"{}. 
+
+\Hypertarget{structbno08x__config__t_ae3b4bc522d30f9df7747ed46d0532c23}\label{structbno08x__config__t_ae3b4bc522d30f9df7747ed46d0532c23} 
+\index{bno08x\_config\_t@{bno08x\_config\_t}!bno08x\_config\_t@{bno08x\_config\_t}}
+\index{bno08x\_config\_t@{bno08x\_config\_t}!bno08x\_config\_t@{bno08x\_config\_t}}
+\doxysubsubsection{\texorpdfstring{bno08x\_config\_t()}{bno08x\_config\_t()}\hspace{0.1cm}{\footnotesize\ttfamily [2/2]}}
+{\footnotesize\ttfamily bno08x\+\_\+config\+\_\+t\+::bno08x\+\_\+config\+\_\+t (\begin{DoxyParamCaption}\item[{spi\+\_\+host\+\_\+device\+\_\+t}]{spi\+\_\+peripheral,  }\item[{gpio\+\_\+num\+\_\+t}]{io\+\_\+mosi,  }\item[{gpio\+\_\+num\+\_\+t}]{io\+\_\+miso,  }\item[{gpio\+\_\+num\+\_\+t}]{io\+\_\+sclk,  }\item[{gpio\+\_\+num\+\_\+t}]{io\+\_\+cs,  }\item[{gpio\+\_\+num\+\_\+t}]{io\+\_\+int,  }\item[{gpio\+\_\+num\+\_\+t}]{io\+\_\+rst,  }\item[{gpio\+\_\+num\+\_\+t}]{io\+\_\+wake,  }\item[{uint32\+\_\+t}]{sclk\+\_\+speed }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+Overloaded IMU configuration settings constructor for custom pin settings. 
+
+
+
+\doxysubsection{Member Data Documentation}
+\Hypertarget{structbno08x__config__t_ab1b5351b63da0c172c942463d0dc2505}\label{structbno08x__config__t_ab1b5351b63da0c172c942463d0dc2505} 
+\index{bno08x\_config\_t@{bno08x\_config\_t}!io\_cs@{io\_cs}}
+\index{io\_cs@{io\_cs}!bno08x\_config\_t@{bno08x\_config\_t}}
+\doxysubsubsection{\texorpdfstring{io\_cs}{io\_cs}}
+{\footnotesize\ttfamily gpio\+\_\+num\+\_\+t bno08x\+\_\+config\+\_\+t\+::io\+\_\+cs}
+
+\Hypertarget{structbno08x__config__t_a3cfe965659cfbc6b0c5269bd0211975f}\label{structbno08x__config__t_a3cfe965659cfbc6b0c5269bd0211975f} 
+\index{bno08x\_config\_t@{bno08x\_config\_t}!io\_int@{io\_int}}
+\index{io\_int@{io\_int}!bno08x\_config\_t@{bno08x\_config\_t}}
+\doxysubsubsection{\texorpdfstring{io\_int}{io\_int}}
+{\footnotesize\ttfamily gpio\+\_\+num\+\_\+t bno08x\+\_\+config\+\_\+t\+::io\+\_\+int}
+
+
+
+Chip select pin (connects to \doxylink{class_b_n_o08x}{BNO08x} CS pin) 
+
+\Hypertarget{structbno08x__config__t_a9468180a773892977db39cc5ed9368e3}\label{structbno08x__config__t_a9468180a773892977db39cc5ed9368e3} 
+\index{bno08x\_config\_t@{bno08x\_config\_t}!io\_miso@{io\_miso}}
+\index{io\_miso@{io\_miso}!bno08x\_config\_t@{bno08x\_config\_t}}
+\doxysubsubsection{\texorpdfstring{io\_miso}{io\_miso}}
+{\footnotesize\ttfamily gpio\+\_\+num\+\_\+t bno08x\+\_\+config\+\_\+t\+::io\+\_\+miso}
+
+
+
+MISO GPIO pin (connects to \doxylink{class_b_n_o08x}{BNO08x} SDA pin) 
+
+\Hypertarget{structbno08x__config__t_a79023fd80039e41a22b7f73ccd5fc861}\label{structbno08x__config__t_a79023fd80039e41a22b7f73ccd5fc861} 
+\index{bno08x\_config\_t@{bno08x\_config\_t}!io\_mosi@{io\_mosi}}
+\index{io\_mosi@{io\_mosi}!bno08x\_config\_t@{bno08x\_config\_t}}
+\doxysubsubsection{\texorpdfstring{io\_mosi}{io\_mosi}}
+{\footnotesize\ttfamily gpio\+\_\+num\+\_\+t bno08x\+\_\+config\+\_\+t\+::io\+\_\+mosi}
+
+
+
+MOSI GPIO pin (connects to \doxylink{class_b_n_o08x}{BNO08x} DI pin) 
+
+\Hypertarget{structbno08x__config__t_a62745c761219139f66ecd173b51577fc}\label{structbno08x__config__t_a62745c761219139f66ecd173b51577fc} 
+\index{bno08x\_config\_t@{bno08x\_config\_t}!io\_rst@{io\_rst}}
+\index{io\_rst@{io\_rst}!bno08x\_config\_t@{bno08x\_config\_t}}
+\doxysubsubsection{\texorpdfstring{io\_rst}{io\_rst}}
+{\footnotesize\ttfamily gpio\+\_\+num\+\_\+t bno08x\+\_\+config\+\_\+t\+::io\+\_\+rst}
+
+
+
+Host interrupt pin (connects to \doxylink{class_b_n_o08x}{BNO08x} INT pin) 
+
+\Hypertarget{structbno08x__config__t_a639685b91ae3198909d722316495246a}\label{structbno08x__config__t_a639685b91ae3198909d722316495246a} 
+\index{bno08x\_config\_t@{bno08x\_config\_t}!io\_sclk@{io\_sclk}}
+\index{io\_sclk@{io\_sclk}!bno08x\_config\_t@{bno08x\_config\_t}}
+\doxysubsubsection{\texorpdfstring{io\_sclk}{io\_sclk}}
+{\footnotesize\ttfamily gpio\+\_\+num\+\_\+t bno08x\+\_\+config\+\_\+t\+::io\+\_\+sclk}
+
+
+
+SCLK pin (connects to \doxylink{class_b_n_o08x}{BNO08x} SCL pin) 
+
+\Hypertarget{structbno08x__config__t_a90ad7f316dc443874d19dc7e723a0ce0}\label{structbno08x__config__t_a90ad7f316dc443874d19dc7e723a0ce0} 
+\index{bno08x\_config\_t@{bno08x\_config\_t}!io\_wake@{io\_wake}}
+\index{io\_wake@{io\_wake}!bno08x\_config\_t@{bno08x\_config\_t}}
+\doxysubsubsection{\texorpdfstring{io\_wake}{io\_wake}}
+{\footnotesize\ttfamily gpio\+\_\+num\+\_\+t bno08x\+\_\+config\+\_\+t\+::io\+\_\+wake}
+
+
+
+Reset pin (connects to \doxylink{class_b_n_o08x}{BNO08x} RST pin) 
+
+Wake pin (optional, connects to \doxylink{class_b_n_o08x}{BNO08x} P0) \Hypertarget{structbno08x__config__t_a231614c3b20888360def2ce9db83f52a}\label{structbno08x__config__t_a231614c3b20888360def2ce9db83f52a} 
+\index{bno08x\_config\_t@{bno08x\_config\_t}!sclk\_speed@{sclk\_speed}}
+\index{sclk\_speed@{sclk\_speed}!bno08x\_config\_t@{bno08x\_config\_t}}
+\doxysubsubsection{\texorpdfstring{sclk\_speed}{sclk\_speed}}
+{\footnotesize\ttfamily uint32\+\_\+t bno08x\+\_\+config\+\_\+t\+::sclk\+\_\+speed}
+
+
+
+Desired SPI SCLK speed in Hz (max 3MHz) 
+
+\Hypertarget{structbno08x__config__t_a020d2343750bb7debc2a108ae038c9ec}\label{structbno08x__config__t_a020d2343750bb7debc2a108ae038c9ec} 
+\index{bno08x\_config\_t@{bno08x\_config\_t}!spi\_peripheral@{spi\_peripheral}}
+\index{spi\_peripheral@{spi\_peripheral}!bno08x\_config\_t@{bno08x\_config\_t}}
+\doxysubsubsection{\texorpdfstring{spi\_peripheral}{spi\_peripheral}}
+{\footnotesize\ttfamily spi\+\_\+host\+\_\+device\+\_\+t bno08x\+\_\+config\+\_\+t\+::spi\+\_\+peripheral}
+
+
+
+SPI peripheral to be used. 
+
+
+
+The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{_b_n_o08x_8hpp}{BNO08x.\+hpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/tabu_doxygen.sty b/documentation/latex/tabu_doxygen.sty
new file mode 100644
index 0000000..3f17d1d
--- /dev/null
+++ b/documentation/latex/tabu_doxygen.sty
@@ -0,0 +1,2557 @@
+%%
+%% This is file `tabu.sty',
+%% generated with the docstrip utility.
+%%
+%% The original source files were:
+%%
+%% tabu.dtx  (with options: `package')
+%% 
+%% This is a generated file.
+%% Copyright (FC) 2010-2011 - lppl
+%% 
+%% tabu : 2011/02/26 v2.8 - tabu : Flexible LaTeX tabulars
+%% 
+%% **********************************************************************************************
+%% \begin{tabu}               { preamble } => default target: \linewidth or \linegoal
+%% \begin{tabu} to     <dimen>{ preamble } => target specified
+%% \begin{tabu} spread <dimen>{ preamble } => target relative to the ``natural width''
+%% 
+%%  tabu works in text and in math modes.
+%% 
+%%  X columns: automatic width adjustment + horizontal and vertical alignment
+%%  \begin{tabu}   { X[4c] X[1c] X[-2ml]  }
+%% 
+%%  Horizontal lines and / or leaders:
+%%         \hline\hline                          => double horizontal line
+%%         \firsthline\hline                     => for nested tabulars
+%%         \lasthline\hline                      => for nested tabulars
+%%         \tabucline[line spec]{column-column}  => ``funny'' lines (dash/leader)
+%%  Automatic lines / leaders :
+%%         \everyrow{\hline\hline}
+%% 
+%%  Vertical lines and / or leaders:
+%%  \begin{tabu}   { |[3pt red] X[4c] X[1c] X[-2ml] |[3pt blue] }
+%%  \begin{tabu}   { |[3pt red] X[4c] X[1c] X[-2ml] |[3pt on 2pt off 4pt blue] }
+%% 
+%%  Fixed vertical spacing adjustment:
+%%         \extrarowheight=<dimen>     \extrarowdepth=<dimen>
+%%    or:     \extrarowsep=<dimen>               => may be prefixed by \global
+%% 
+%%  Dynamic vertical spacing adjustment:
+%%       \abovetabulinesep=<dimen>  \belowtabulinesep=<dimen>
+%%   or:      \tabulinesep=<dimen>               => may be prefixed by \global
+%% 
+%%  delarray.sty shortcuts: in math and text modes
+%%  \begin{tabu} ....        \({ preamble }\)
+%% 
+%%  Algorithms reports:
+%%            \tracingtabu=1             \tracingtabu=2
+%% 
+%% **********************************************************************************************
+%% 
+%% This work may be distributed and/or modified under the
+%% conditions of the LaTeX Project Public License, either
+%% version 1.3 of this license or (at your option) any later
+%% version. The latest version of this license is in
+%%    http://www.latex-project.org/lppl.txt
+%% 
+%% This work consists of the main source file tabu.dtx
+%% and the derived files
+%%    tabu.sty, tabu.pdf, tabu.ins
+%% 
+%% tabu : Flexible LaTeX tabulars
+%% lppl copyright 2010-2011 by FC <florent.chervet@free.fr>
+%% 
+
+\NeedsTeXFormat{LaTeX2e}[2005/12/01]
+\ProvidesPackage{tabu_doxygen}[2011/02/26 v2.8 - flexible LaTeX tabulars (FC), frozen version for doxygen]
+\RequirePackage{array}[2008/09/09]
+\RequirePackage{varwidth}[2009/03/30]
+\AtEndOfPackage{\tabu@AtEnd \let\tabu@AtEnd \@undefined}
+\let\tabu@AtEnd\@empty
+\def\TMP@EnsureCode#1={%
+    \edef\tabu@AtEnd{\tabu@AtEnd
+                     \catcode#1 \the\catcode#1}%
+    \catcode#1=%
+}% \TMP@EnsureCode
+\TMP@EnsureCode 33 = 12 % !
+\TMP@EnsureCode 58 = 12 % : (for siunitx)
+\TMP@EnsureCode124 = 12 % |
+\TMP@EnsureCode 36 =  3 % $ = math shift
+\TMP@EnsureCode 38 =  4 % & = tab alignment character
+\TMP@EnsureCode 32 = 10 % space
+\TMP@EnsureCode 94 =  7 % ^
+\TMP@EnsureCode 95 =  8 % _
+%% Constants --------------------------------------------------------
+\newcount \c@taburow        \def\thetaburow {\number\c@taburow}
+\newcount \tabu@nbcols
+\newcount \tabu@cnt
+\newcount \tabu@Xcol
+\let\tabu@start \@tempcnta
+\let\tabu@stop  \@tempcntb
+\newcount \tabu@alloc  \tabu@alloc=\m@ne
+\newcount \tabu@nested
+\def\tabu@alloc@{\global\advance\tabu@alloc \@ne \tabu@nested\tabu@alloc}
+\newdimen \tabu@target
+\newdimen \tabu@spreadtarget
+\newdimen \tabu@naturalX
+\newdimen \tabucolX
+\let\tabu@DELTA \@tempdimc
+\let\tabu@thick \@tempdima
+\let\tabu@on    \@tempdimb
+\let\tabu@off   \@tempdimc
+\newdimen \tabu@Xsum
+\newdimen \extrarowdepth
+\newdimen \abovetabulinesep
+\newdimen \belowtabulinesep
+\newdimen \tabustrutrule      \tabustrutrule \z@
+\newtoks \tabu@thebody
+\newtoks \tabu@footnotes
+\newsavebox \tabu@box
+\newsavebox \tabu@arstrutbox
+\newsavebox \tabu@hleads
+\newsavebox \tabu@vleads
+\newif \iftabu@colortbl
+\newif \iftabu@siunitx
+\newif \iftabu@measuring
+\newif \iftabu@spread
+\newif \iftabu@negcoef
+\newif \iftabu@everyrow
+\def\tabu@everyrowtrue {\global\let\iftabu@everyrow \iftrue}
+\def\tabu@everyrowfalse{\global\let\iftabu@everyrow \iffalse}
+\newif \iftabu@long
+\newif \iftabuscantokens
+\def\tabu@rescan {\tabu@verbatim \scantokens  }
+%% Utilities (for internal usage) -----------------------------------
+\def\tabu@gobblespace #1  {#1}
+\def\tabu@gobbletoken #1#2{#1}
+\def\tabu@gobbleX{\futurelet\@let@token \tabu@gobblex}
+\def\tabu@gobblex{\if ^^J\noexpand\@let@token \expandafter\@gobble
+                  \else\ifx \@sptoken\@let@token
+                    \expandafter\tabu@gobblespace\expandafter\tabu@gobbleX
+                  \fi\fi
+}% \tabu@gobblex
+\def\tabu@X{^^J}
+{\obeyspaces
+\global\let\tabu@spxiii= % saves an active space (for \ifx)
+\gdef\tabu@@spxiii{ }}
+\def\tabu@ifenvir {% only for \multicolumn
+    \expandafter\tabu@if@nvir\csname\@currenvir\endcsname
+}% \tabu@ifenvir
+\def\tabu@if@nvir #1{\csname @\ifx\tabu#1first\else
+                              \ifx\longtabu#1first\else
+                              second\fi\fi oftwo\endcsname
+}% \tabu@ifenvir
+\def\tabu@modulo #1#2{\numexpr\ifnum\numexpr#1=\z@ 0\else #1-(#1-(#2-1)/2)/(#2)*(#2)\fi}
+{\catcode`\&=3
+\gdef\tabu@strtrim  #1{% #1 = control sequence to trim
+    \ifodd 1\ifx #1\@empty \else \ifx #1\space \else 0\fi \fi
+            \let\tabu@c@l@r \@empty       \let#1\@empty
+    \else   \expandafter  \tabu@trimspaces  #1&#1\@nnil
+    \fi
+}% \tabu@strtrim
+\gdef\tabu@trimspaces #1&#2\@nnil{\let\tabu@c@l@r=#2\tabu@firstspace .#1& &#2}%
+\gdef\tabu@firstspace #1#2#3 &{\tabu@lastspace #2#3&}
+\gdef\tabu@lastspace #1&#2&#3{\def #3{#1}%
+    \ifx #3\tabu@c@l@r \def\tabu@c@l@r{\protect\color{#1}}\expandafter\remove@to@nnil \fi
+    \tabu@trimspaces #1&#3\@nnil}
+}% \catcode
+\def\tabu@sanitizearg #1#2{{%
+    \csname \ifcsname if@safe@actives\endcsname         % <babel>
+                      @safe@activestrue\else
+                      relax\fi       \endcsname
+    \edef#2{#1}\tabu@strtrim#2\@onelevel@sanitize#2%
+    \expandafter}\expandafter\def\expandafter#2\expandafter{#2}%
+}% \tabu@sanitizearg
+\def\tabu@textbar #1{\begingroup \endlinechar\m@ne \scantokens{\def\:{|}}%
+    \expandafter\endgroup \expandafter#1\:% !!! semi simple group !!!
+}% \tabu@textbar
+\def\tabu@everyrow@bgroup{\iftabu@everyrow \begingroup \else \noalign{\ifnum0=`}\fi \fi}
+\def\tabu@everyrow@egroup{%
+    \iftabu@everyrow \expandafter \endgroup \the\toks@
+    \else            \ifnum0=`{\fi}%
+    \fi
+}% \tabu@everyrow@egroup
+\def\tabu@arstrut {\global\setbox\@arstrutbox \hbox{\vrule
+    height \arraystretch \dimexpr\ht\strutbox+\extrarowheight
+    depth  \arraystretch \dimexpr\dp\strutbox+\extrarowdepth
+    width  \z@}%
+}% \tabu@arstrut
+\def\tabu@rearstrut {%
+    \@tempdima \arraystretch\dimexpr\ht\strutbox+\extrarowheight \relax
+    \@tempdimb \arraystretch\dimexpr\dp\strutbox+\extrarowdepth  \relax
+    \ifodd 1\ifdim \ht\@arstrutbox=\@tempdima
+            \ifdim \dp\@arstrutbox=\@tempdimb 0 \fi\fi
+        \tabu@mkarstrut
+    \fi
+}% \tabu@rearstrut
+\def\tabu@@DBG #1{\ifdim\tabustrutrule>\z@ \color{#1}\fi}
+\def\tabu@DBG@arstrut {\global\setbox\@arstrutbox
+    \hbox to\z@{\hbox to\z@{\hss
+    {\tabu@DBG{cyan}\vrule
+    height \arraystretch \dimexpr\ht\strutbox+\extrarowheight
+    depth  \z@
+    width  \tabustrutrule}\kern-\tabustrutrule
+    {\tabu@DBG{pink}\vrule
+    height \z@
+    depth  \arraystretch \dimexpr\dp\strutbox+\extrarowdepth
+    width \tabustrutrule}}}%
+}% \tabu@DBG@arstrut
+\def\tabu@save@decl{\toks\count@ \expandafter{\the\toks\expandafter\count@
+                                                              \@nextchar}}%
+\def\tabu@savedecl{\ifcat$\d@llarend\else
+       \let\save@decl \tabu@save@decl \fi % no inversion of tokens in text mode
+}% \tabu@savedecl
+\def\tabu@finalstrut #1{\unskip\ifhmode\nobreak\fi\vrule height\z@ depth\z@ width\z@}
+\newcommand*\tabuDisableCommands {\g@addto@macro\tabu@trialh@@k }
+\let\tabu@trialh@@k \@empty
+\def\tabu@nowrite #1#{{\afterassignment}\toks@}
+\let\tabu@write\write
+\let\tabu@immediate\immediate
+\def\tabu@WRITE{\begingroup
+   \def\immediate\write{\aftergroup\endgroup
+                  \tabu@immediate\tabu@write}%
+}% \tabu@WRITE
+\expandafter\def\expandafter\tabu@GenericError\expandafter{%
+                      \expandafter\tabu@WRITE\GenericError}
+\def\tabu@warn{\tabu@WRITE\PackageWarning{tabu}}
+\def\tabu@noxfootnote [#1]{\@gobble}
+\def\tabu@nocolor #1#{\@gobble}
+\newcommand*\tabu@norowcolor[2][]{}
+\def\tabu@maybesiunitx #1{\def\tabu@temp{#1}%
+                          \futurelet\@let@token \tabu@m@ybesiunitx}
+\def\tabu@m@ybesiunitx #1{\def\tabu@m@ybesiunitx {%
+    \ifx #1\@let@token \let\tabu@cellleft \@empty \let\tabu@cellright \@empty \fi
+    \tabu@temp}% \tabu@m@ybesiunitx
+}\expandafter\tabu@m@ybesiunitx \csname siunitx_table_collect_begin:Nn\endcsname
+\def\tabu@celllalign@def #1{\def\tabu@celllalign{\tabu@maybesiunitx{#1}}}%
+%% Fixed vertical spacing adjustment: \extrarowsep ------------------
+\newcommand*\extrarowsep{\edef\tabu@C@extra{\the\numexpr\tabu@C@extra+1}%
+    \iftabu@everyrow    \aftergroup\tabu@Gextra
+    \else               \aftergroup\tabu@n@Gextra
+    \fi
+    \@ifnextchar={\tabu@gobbletoken\tabu@extra} \tabu@extra
+}% \extrarowsep
+\def\tabu@extra {\@ifnextchar_%
+    {\tabu@gobbletoken{\tabu@setextra\extrarowheight \extrarowdepth}}
+    {\ifx ^\@let@token \def\tabu@temp{%
+            \tabu@gobbletoken{\tabu@setextra\extrarowdepth \extrarowheight}}%
+    \else   \let\tabu@temp \@empty
+            \afterassignment \tabu@setextrasep \extrarowdepth
+    \fi \tabu@temp}%
+}% \tabu@extra
+\def\tabu@setextra #1#2{\def\tabu@temp{\tabu@extr@#1#2}\afterassignment\tabu@temp#2}
+\def\tabu@extr@ #1#2{\@ifnextchar^%
+    {\tabu@gobbletoken{\tabu@setextra\extrarowdepth \extrarowheight}}
+    {\ifx _\@let@token \def\tabu@temp{%
+            \tabu@gobbletoken{\tabu@setextra\extrarowheight \extrarowdepth}}%
+    \else   \let\tabu@temp \@empty
+            \tabu@Gsave \tabu@G@extra \tabu@C@extra \extrarowheight \extrarowdepth
+    \fi \tabu@temp}%
+}% \tabu@extr@
+\def\tabu@setextrasep {\extrarowheight=\extrarowdepth
+    \tabu@Gsave \tabu@G@extra \tabu@C@extra \extrarowheight \extrarowdepth
+}% \tabu@setextrasep
+\def\tabu@Gextra{\ifx \tabu@G@extra\@empty \else {\tabu@Rextra}\fi}
+\def\tabu@n@Gextra{\ifx \tabu@G@extra\@empty \else \noalign{\tabu@Rextra}\fi}
+\def\tabu@Rextra{\tabu@Grestore \tabu@G@extra \tabu@C@extra}
+\let\tabu@C@extra \z@
+\let\tabu@G@extra \@empty
+%% Dynamic vertical spacing adjustment: \tabulinesep ----------------
+\newcommand*\tabulinesep{\edef\tabu@C@linesep{\the\numexpr\tabu@C@linesep+1}%
+    \iftabu@everyrow    \aftergroup\tabu@Glinesep
+    \else               \aftergroup\tabu@n@Glinesep
+    \fi
+    \@ifnextchar={\tabu@gobbletoken\tabu@linesep} \tabu@linesep
+}% \tabulinesep
+\def\tabu@linesep {\@ifnextchar_%
+    {\tabu@gobbletoken{\tabu@setsep\abovetabulinesep \belowtabulinesep}}
+    {\ifx ^\@let@token \def\tabu@temp{%
+            \tabu@gobbletoken{\tabu@setsep\belowtabulinesep \abovetabulinesep}}%
+     \else  \let\tabu@temp \@empty
+            \afterassignment \tabu@setlinesep \abovetabulinesep
+     \fi \tabu@temp}%
+}% \tabu@linesep
+\def\tabu@setsep #1#2{\def\tabu@temp{\tabu@sets@p#1#2}\afterassignment\tabu@temp#2}
+\def\tabu@sets@p #1#2{\@ifnextchar^%
+    {\tabu@gobbletoken{\tabu@setsep\belowtabulinesep \abovetabulinesep}}
+    {\ifx _\@let@token \def\tabu@temp{%
+            \tabu@gobbletoken{\tabu@setsep\abovetabulinesep \belowtabulinesep}}%
+    \else   \let\tabu@temp \@empty
+            \tabu@Gsave \tabu@G@linesep \tabu@C@linesep \abovetabulinesep \belowtabulinesep
+    \fi \tabu@temp}%
+}% \tabu@sets@p
+\def\tabu@setlinesep {\belowtabulinesep=\abovetabulinesep
+    \tabu@Gsave \tabu@G@linesep \tabu@C@linesep \abovetabulinesep \belowtabulinesep
+}% \tabu@setlinesep
+\def\tabu@Glinesep{\ifx \tabu@G@linesep\@empty \else {\tabu@Rlinesep}\fi}
+\def\tabu@n@Glinesep{\ifx \tabu@G@linesep\@empty \else \noalign{\tabu@Rlinesep}\fi}
+\def\tabu@Rlinesep{\tabu@Grestore \tabu@G@linesep \tabu@C@linesep}
+\let\tabu@C@linesep \z@
+\let\tabu@G@linesep \@empty
+%% \global\extrarowsep  and  \global\tabulinesep  -------------------
+\def\tabu@Gsave #1#2#3#4{\xdef#1{#1%
+    \toks#2{\toks\the\currentgrouplevel{\global#3\the#3\global#4\the#4}}}%
+}% \tabu@Gsave
+\def\tabu@Grestore#1#2{%
+    \toks#2{}#1\toks\currentgrouplevel\expandafter{\expandafter}\the\toks#2\relax
+    \ifcat$\the\toks\currentgrouplevel$\else
+        \global\let#1\@empty \global\let#2\z@
+        \the\toks\currentgrouplevel
+    \fi
+}% \tabu@Grestore
+%% Setting code for every row ---------------------------------------
+\newcommand*\everyrow{\tabu@everyrow@bgroup
+                      \tabu@start \z@ \tabu@stop \z@ \tabu@evrstartstop
+}% \everyrow
+\def\tabu@evrstartstop {\@ifnextchar^%
+    {\afterassignment \tabu@evrstartstop \tabu@stop=}%
+    {\ifx ^\@let@token
+            \afterassignment\tabu@evrstartstop \tabu@start=%
+     \else  \afterassignment\tabu@everyr@w     \toks@
+     \fi}%
+}% \tabu@evrstartstop
+\def\tabu@everyr@w {%
+    \xdef\tabu@everyrow{%
+        \noexpand\tabu@everyrowfalse
+        \let\noalign \relax
+        \noexpand\tabu@rowfontreset
+        \iftabu@colortbl \noexpand\tabu@rc@ \fi % \taburowcolors
+        \let\noexpand\tabu@docline \noexpand\tabu@docline@evr
+        \the\toks@
+        \noexpand\tabu@evrh@@k
+        \noexpand\tabu@rearstrut
+        \global\advance\c@taburow \@ne}%
+    \iftabu@everyrow \toks@\expandafter
+        {\expandafter\def\expandafter\tabu@evr@L\expandafter{\the\toks@}\ignorespaces}%
+    \else \xdef\tabu@evr@G{\the\toks@}%
+    \fi
+    \tabu@everyrow@egroup
+}% \tabu@everyr@w
+\def\tabu@evr {\def\tabu@evrh@@k}         % for internal use only
+\tabu@evr{}
+%% line style and leaders -------------------------------------------
+\newcommand*\newtabulinestyle [1]{%
+    {\@for \@tempa :=#1\do{\expandafter\tabu@newlinestyle \@tempa==\@nil}}%
+}% \newtabulinestyle
+\def\tabu@newlinestyle #1=#2=#3\@nil{\tabu@getline {#2}%
+    \tabu@sanitizearg {#1}\@tempa
+    \ifodd 1\ifx \@tempa\@empty \ifdefined\tabu@linestyle@ 0 \fi\fi
+    \global\expandafter\let
+        \csname tabu@linestyle@\@tempa \endcsname =\tabu@thestyle \fi
+}% \tabu@newlinestyle
+\newcommand*\tabulinestyle [1]{\tabu@everyrow@bgroup \tabu@getline{#1}%
+    \iftabu@everyrow
+        \toks@\expandafter{\expandafter \def \expandafter
+                    \tabu@ls@L\expandafter{\tabu@thestyle}\ignorespaces}%
+        \gdef\tabu@ls@{\tabu@ls@L}%
+    \else
+        \global\let\tabu@ls@G \tabu@thestyle
+        \gdef\tabu@ls@{\tabu@ls@G}%
+    \fi
+    \tabu@everyrow@egroup
+}% \tabulinestyle
+\newcommand*\taburulecolor{\tabu@everyrow@bgroup \tabu@textbar \tabu@rulecolor}
+\def\tabu@rulecolor #1{\toks@{}%
+    \def\tabu@temp #1##1#1{\tabu@ruledrsc{##1}}\@ifnextchar #1%
+                                                    \tabu@temp
+                                                 \tabu@rulearc
+}% \tabu@rulecolor
+\def\tabu@ruledrsc #1{\edef\tabu@temp{#1}\tabu@strtrim\tabu@temp
+    \ifx \tabu@temp\@empty \def\tabu@temp{\tabu@rule@drsc@ {}{}}%
+    \else \edef\tabu@temp{\noexpand\tabu@rule@drsc@ {}{\tabu@temp}}%
+    \fi
+    \tabu@temp
+}% \tabu@ruledrsc@
+\def\tabu@ruledrsc@   #1#{\tabu@rule@drsc@ {#1}}
+\def\tabu@rule@drsc@ #1#2{%
+    \iftabu@everyrow
+        \ifx \\#1#2\\\toks@{\let\CT@drsc@ \relax}%
+        \else        \toks@{\def\CT@drsc@{\color #1{#2}}}%
+        \fi
+    \else
+        \ifx \\#1#2\\\global\let\CT@drsc@ \relax
+        \else        \gdef\CT@drsc@{\color #1{#2}}%
+        \fi
+    \fi
+    \tabu@rulearc
+}% \tabu@rule@drsc@
+\def\tabu@rulearc    #1#{\tabu@rule@arc@ {#1}}
+\def\tabu@rule@arc@ #1#2{%
+    \iftabu@everyrow
+        \ifx \\#1#2\\\toks@\expandafter{\the\toks@ \def\CT@arc@{}}%
+        \else        \toks@\expandafter{\the\toks@ \def\CT@arc@{\color #1{#2}}}%
+        \fi
+        \toks@\expandafter{\the\toks@
+            \let\tabu@arc@L  \CT@arc@
+            \let\tabu@drsc@L \CT@drsc@
+            \ignorespaces}%
+    \else
+        \ifx \\#1#2\\\gdef\CT@arc@{}%
+        \else        \gdef\CT@arc@{\color #1{#2}}%
+        \fi
+        \global\let\tabu@arc@G  \CT@arc@
+        \global\let\tabu@drsc@G \CT@drsc@
+    \fi
+    \tabu@everyrow@egroup
+}% \tabu@rule@arc@
+\def\taburowcolors {\tabu@everyrow@bgroup \@testopt \tabu@rowcolors 1}
+\def\tabu@rowcolors [#1]#2#{\tabu@rowc@lors{#1}{#2}}
+\def\tabu@rowc@lors #1#2#3{%
+    \toks@{}\@defaultunits \count@      =\number0#2\relax \@nnil
+            \@defaultunits \tabu@start  =\number0#1\relax \@nnil
+    \ifnum \count@<\tw@ \count@=\tw@ \fi
+    \advance\tabu@start \m@ne
+    \ifnum \tabu@start<\z@ \tabu@start \z@ \fi
+    \tabu@rowcolorseries #3\in@..\in@ \@nnil
+}% \tabu@rowcolors
+\def\tabu@rowcolorseries #1..#2\in@ #3\@nnil {%
+    \ifx \in@#1\relax
+        \iftabu@everyrow \toks@{\def\tabu@rc@{}\let\tabu@rc@L \tabu@rc@}%
+        \else   \gdef\tabu@rc@{}\global\let\tabu@rc@G \tabu@rc@
+        \fi
+    \else
+        \ifx \\#2\\\tabu@rowcolorserieserror \fi
+        \tabu@sanitizearg{#1}\tabu@temp
+        \tabu@sanitizearg{#2}\@tempa
+        \advance\count@ \m@ne
+    \iftabu@everyrow
+        \def\tabu@rc@ ##1##2##3##4{\def\tabu@rc@{%
+            \ifnum ##2=\c@taburow
+                \definecolorseries{tabu@rcseries@\the\tabu@nested}{rgb}{last}{##3}{##4}\fi
+            \ifnum \c@taburow<##2 \else
+                \ifnum \tabu@modulo {\c@taburow-##2}{##1+1}=\z@
+                    \resetcolorseries[{##1}]{tabu@rcseries@\the\tabu@nested}\fi
+                \xglobal\colorlet{tabu@rc@\the\tabu@nested}{tabu@rcseries@\the\tabu@nested!!+}%
+                \rowcolor{tabu@rc@\the\tabu@nested}\fi}%
+        }\edef\x{\noexpand\tabu@rc@           {\the\count@}
+                                          {\the\tabu@start}
+                                               {\tabu@temp}
+                                                  {\@tempa}%
+                }\x
+        \toks@\expandafter{\expandafter\def\expandafter\tabu@rc@\expandafter{\tabu@rc@}}%
+        \toks@\expandafter{\the\toks@ \let\tabu@rc@L \tabu@rc@ \ignorespaces}%
+    \else   % inside \noalign
+        \definecolorseries{tabu@rcseries@\the\tabu@nested}{rgb}{last}{\tabu@temp}{\@tempa}%
+        \expandafter\resetcolorseries\expandafter[\the\count@]{tabu@rcseries@\the\tabu@nested}%
+        \xglobal\colorlet{tabu@rc@\the\tabu@nested}{tabu@rcseries@\the\tabu@nested!!+}%
+        \let\noalign \relax \rowcolor{tabu@rc@\the\tabu@nested}%
+        \def\tabu@rc@ ##1##2{\gdef\tabu@rc@{%
+            \ifnum \tabu@modulo {\c@taburow-##2}{##1+1}=\@ne
+                \resetcolorseries[{##1}]{tabu@rcseries@\the\tabu@nested}\fi
+            \xglobal\colorlet{tabu@rc@\the\tabu@nested}{tabu@rcseries@\the\tabu@nested!!+}%
+            \rowcolor{tabu@rc@\the\tabu@nested}}%
+        }\edef\x{\noexpand\tabu@rc@{\the\count@}{\the\c@taburow}}\x
+        \global\let\tabu@rc@G \tabu@rc@
+    \fi
+    \fi
+    \tabu@everyrow@egroup
+}% \tabu@rowcolorseries
+\tabuDisableCommands {\let\tabu@rc@ \@empty }
+\def\tabu@rowcolorserieserror {\PackageError{tabu}
+    {Invalid syntax for \string\taburowcolors
+    \MessageBreak Please look at the documentation!}\@ehd
+}% \tabu@rowcolorserieserror
+\newcommand*\tabureset {%
+    \tabulinesep=\z@ \extrarowsep=\z@ \extratabsurround=\z@
+    \tabulinestyle{}\everyrow{}\taburulecolor||{}\taburowcolors{}%
+}% \tabureset
+%% Parsing the line styles ------------------------------------------
+\def\tabu@getline #1{\begingroup
+    \csname \ifcsname if@safe@actives\endcsname         % <babel>
+                      @safe@activestrue\else
+                      relax\fi       \endcsname
+    \edef\tabu@temp{#1}\tabu@sanitizearg{#1}\@tempa
+    \let\tabu@thestyle \relax
+    \ifcsname tabu@linestyle@\@tempa \endcsname
+            \edef\tabu@thestyle{\endgroup
+                \def\tabu@thestyle{\expandafter\noexpand
+                    \csname tabu@linestyle@\@tempa\endcsname}%
+            }\tabu@thestyle
+    \else   \expandafter\tabu@definestyle \tabu@temp \@nil
+    \fi
+}% \tabu@getline
+\def\tabu@definestyle #1#2\@nil {\endlinechar \m@ne \makeatletter
+    \tabu@thick \maxdimen  \tabu@on \maxdimen   \tabu@off \maxdimen
+    \let\tabu@c@lon \@undefined  \let\tabu@c@loff \@undefined
+    \ifodd 1\ifcat .#1\else\ifcat\relax #1\else 0\fi\fi % catcode 12 or non expandable cs
+            \def\tabu@temp{\tabu@getparam{thick}}%
+    \else   \def\tabu@temp{\tabu@getparam{thick}\maxdimen}%
+    \fi
+    {%
+        \let\tabu@ \relax
+        \def\:{\obeyspaces \tabu@oXIII \tabu@commaXIII \edef\:}% (space active \: happy ;-))
+        \scantokens{\:{\tabu@temp #1#2 \tabu@\tabu@}}%
+                        \expandafter}\expandafter
+                                \def\expandafter\:\expandafter{\:}% line spec rewritten now ;-)
+    \def\;{\def\:}%
+    \scantokens\expandafter{\expandafter\;\expandafter{\:}}% space is now inactive (catcode 10)
+    \let\tabu@ \tabu@getcolor    \:%    all arguments are ready now ;-)
+    \ifdefined\tabu@c@lon \else \let\tabu@c@lon\@empty \fi
+    \ifx \tabu@c@lon\@empty \def\tabu@c@lon{\CT@arc@}\fi
+    \ifdefined\tabu@c@loff \else \let\tabu@c@loff \@empty        \fi
+    \ifdim \tabu@on=\maxdimen \ifdim \tabu@off<\maxdimen
+                                  \tabu@on \tabulineon        \fi\fi
+    \ifdim \tabu@off=\maxdimen \ifdim \tabu@on<\maxdimen
+                                  \tabu@off \tabulineoff      \fi\fi
+    \ifodd 1\ifdim \tabu@off=\maxdimen \ifdim \tabu@on=\maxdimen 0 \fi\fi
+            \in@true    % <leaders>
+    \else   \in@false   % <rule>
+    \fi
+    \ifdim\tabu@thick=\maxdimen \def\tabu@thick{\arrayrulewidth}%
+    \else                       \edef\tabu@thick{\the\tabu@thick}%
+    \fi
+    \edef \tabu@thestyle ##1##2{\endgroup
+        \def\tabu@thestyle{%
+            \ifin@  \noexpand\tabu@leadersstyle {\tabu@thick}
+                                                {\the\tabu@on}{##1}
+                                                {\the\tabu@off}{##2}%
+            \else   \noexpand\tabu@rulesstyle
+                            {##1\vrule width \tabu@thick}%
+                            {##1\leaders \hrule height \tabu@thick \hfil}%
+            \fi}%
+    }\expandafter \expandafter
+        \expandafter \tabu@thestyle \expandafter
+            \expandafter \expandafter
+                {\expandafter\tabu@c@lon\expandafter}\expandafter{\tabu@c@loff}%
+}% \tabu@definestyle
+{\catcode`\O=\active \lccode`\O=`\o \catcode`\,=\active
+    \lowercase{\gdef\tabu@oXIII {\catcode`\o=\active \let O=\tabu@oxiii}}
+    \gdef\tabu@commaXIII {\catcode`\,=\active \let ,=\space}
+}% \catcode
+\def\tabu@oxiii #1{%
+    \ifcase  \ifx n#1\z@ \else
+             \ifx f#1\@ne\else
+             \tw@       \fi\fi
+          \expandafter\tabu@onxiii
+    \or   \expandafter\tabu@ofxiii
+    \else o%
+    \fi#1}%
+\def\tabu@onxiii #1#2{%
+    \ifcase  \ifx  !#2\tw@          \else
+             \ifcat.\noexpand#2\z@  \else
+             \ifx \tabu@spxiii#2\@ne\else
+             \tw@               \fi\fi\fi
+          \tabu@getparam{on}#2\expandafter\@gobble
+    \or   \expandafter\tabu@onxiii    % (space is active)
+    \else o\expandafter\@firstofone
+    \fi{#1#2}}%
+\def\tabu@ofxiii #1#2{%
+    \ifx #2f\expandafter\tabu@offxiii
+    \else   o\expandafter\@firstofone
+    \fi{#1#2}}
+\def\tabu@offxiii #1#2{%
+    \ifcase \ifx  !#2\tw@           \else
+            \ifcat.\noexpand#2\z@   \else
+            \ifx\tabu@spxiii#2\@ne  \else
+            \tw@                \fi\fi\fi
+          \tabu@getparam{off}#2\expandafter\@gobble
+    \or   \expandafter\tabu@offxiii   % (space is active)
+    \else o\expandafter\@firstofone
+    \fi{#1#2}}
+\def\tabu@getparam #1{\tabu@ \csname tabu@#1\endcsname=}
+\def\tabu@getcolor #1{% \tabu@ <- \tabu@getcolor after \edef
+    \ifx \tabu@#1\else   % no more spec
+        \let\tabu@theparam=#1\afterassignment \tabu@getc@l@r #1\fi
+}% \tabu@getcolor
+\def\tabu@getc@l@r #1\tabu@ {%
+    \def\tabu@temp{#1}\tabu@strtrim \tabu@temp
+    \ifx \tabu@temp\@empty
+    \else%\ifcsname \string\color@\tabu@temp \endcsname  % if the color exists
+        \ifx \tabu@theparam \tabu@off   \let\tabu@c@loff \tabu@c@l@r
+        \else                           \let\tabu@c@lon  \tabu@c@l@r
+        \fi
+    %\else \tabu@warncolour{\tabu@temp}%
+    \fi%\fi
+    \tabu@ % next spec
+}% \tabu@getc@l@r
+\def\tabu@warncolour #1{\PackageWarning{tabu}
+    {Color #1 is not defined. Default color used}%
+}% \tabu@warncolour
+\def\tabu@leadersstyle #1#2#3#4#5{\def\tabu@leaders{{#1}{#2}{#3}{#4}{#5}}%
+    \ifx \tabu@leaders\tabu@leaders@G \else
+                \tabu@LEADERS{#1}{#2}{#3}{#4}{#5}\fi
+}% \tabu@leadersstyle
+\def\tabu@rulesstyle #1#2{\let\tabu@leaders \@undefined
+        \gdef\tabu@thevrule{#1}\gdef\tabu@thehrule{#2}%
+}% \tabu@rulesstyle
+%% The leaders boxes ------------------------------------------------
+\def\tabu@LEADERS #1#2#3#4#5{%% width, dash, dash color, gap, gap color
+    {\let\color \tabu@color % => during trials ->  \color = \tabu@nocolor
+    {%                      %    but the leaders boxes should have colors !
+    \def\@therule{\vrule}\def\@thick{height}\def\@length{width}%
+    \def\@box{\hbox}\def\@unbox{\unhbox}\def\@elt{\wd}%
+    \def\@skip{\hskip}\def\@ss{\hss}\def\tabu@leads{\tabu@hleads}%
+    \tabu@l@@d@rs {#1}{#2}{#3}{#4}{#5}%
+    \global\let\tabu@thehleaders \tabu@theleaders
+    }%
+    {%
+    \def\@therule{\hrule}\def\@thick{width}\def\@length{height}%
+    \def\@box{\vbox}\def\@unbox{\unvbox}\def\@elt{\ht}%
+    \def\@skip{\vskip}\def\@ss{\vss}\def\tabu@leads{\tabu@vleads}%
+    \tabu@l@@d@rs {#1}{#2}{#3}{#4}{#5}%
+    \global\let\tabu@thevleaders \tabu@theleaders
+    }%
+    \gdef\tabu@leaders@G{{#1}{#2}{#3}{#4}{#5}}%
+    }%
+}% \tabu@LEADERS
+\def\tabu@therule #1#2{\@therule \@thick#1\@length\dimexpr#2/2 \@depth\z@}
+\def\tabu@l@@d@rs #1#2#3#4#5{%% width, dash, dash color, gap, gap color
+    \global\setbox \tabu@leads=\@box{%
+        {#3\tabu@therule{#1}{#2}}%
+        \ifx\\#5\\\@skip#4\else{#5\tabu@therule{#1}{#4*2}}\fi
+        {#3\tabu@therule{#1}{#2}}}%
+    \global\setbox\tabu@leads=\@box to\@elt\tabu@leads{\@ss
+        {#3\tabu@therule{#1}{#2}}\@unbox\tabu@leads}%
+    \edef\tabu@theleaders ##1{\def\noexpand\tabu@theleaders {%
+        {##1\tabu@therule{#1}{#2}}%
+        \xleaders \copy\tabu@leads \@ss
+        \tabu@therule{0pt}{-#2}{##1\tabu@therule{#1}{#2}}}%
+    }\tabu@theleaders{#3}%
+}% \tabu@l@@d@rs
+%% \tabu \endtabu \tabu* \longtabu \endlongtabu \longtabu* ----------
+\newcommand*\tabu {\tabu@longfalse
+    \ifmmode \def\tabu@ {\array}\def\endtabu {\endarray}%
+    \else  \def\tabu@ {\tabu@tabular}\def\endtabu {\endtabular}\fi
+    \expandafter\let\csname tabu*\endcsname \tabu
+    \expandafter\def\csname endtabu*\endcsname{\endtabu}%
+    \tabu@spreadfalse \tabu@negcoeffalse \tabu@settarget
+}% {tabu}
+\let\tabu@tabular \tabular % <For LyX: some users redefine \tabular...>
+\expandafter\def\csname tabu*\endcsname{\tabuscantokenstrue \tabu}
+\newcommand*\longtabu {\tabu@longtrue
+   \ifmmode\PackageError{tabu}{longtabu not allowed in math mode}\fi
+   \def\tabu@{\longtable}\def\endlongtabu{\endlongtable}%
+   \LTchunksize=\@M
+   \expandafter\let\csname tabu*\endcsname \tabu
+   \expandafter\def\csname endlongtabu*\endcsname{\endlongtabu}%
+   \let\LT@startpbox \tabu@LT@startpbox % \everypar{ array struts }
+   \tabu@spreadfalse \tabu@negcoeffalse \tabu@settarget
+}% {longtabu}
+\expandafter\def\csname longtabu*\endcsname{\tabuscantokenstrue \longtabu}
+\def\tabu@nolongtabu{\PackageError{tabu}
+   {longtabu requires the longtable package}\@ehd}
+%% Read the target and  then : \tabular or \@array ------------------
+\def\tabu@settarget {\futurelet\@let@token \tabu@sett@rget }
+\def\tabu@sett@rget {\tabu@target \z@
+   \ifcase \ifx \bgroup\@let@token   \z@  \else
+           \ifx \@sptoken\@let@token \@ne \else
+           \if t\@let@token          \tw@ \else
+           \if s\@let@token          \thr@@\else
+           \z@\fi\fi\fi\fi
+         \expandafter\tabu@begin
+   \or   \expandafter\tabu@gobblespace\expandafter\tabu@settarget
+   \or   \expandafter\tabu@to
+   \or   \expandafter\tabu@spread
+   \fi
+}% \tabu@sett@rget
+\def\tabu@to to{\def\tabu@halignto{to}\tabu@gettarget}
+\def\tabu@spread spread{\tabu@spreadtrue\def\tabu@halignto{spread}\tabu@gettarget}
+\def\tabu@gettarget {\afterassignment\tabu@linegoaltarget \tabu@target }
+\def\tabu@linegoaltarget {\futurelet\tabu@temp \tabu@linegoalt@rget }
+\def\tabu@linegoalt@rget {%
+   \ifx \tabu@temp\LNGL@setlinegoal
+        \LNGL@setlinegoal \expandafter \@firstoftwo \fi % @gobbles \LNGL@setlinegoal
+   \tabu@begin
+}% \tabu@linegoalt@rget
+\def\tabu@begin #1#{%
+    \iftabu@measuring \expandafter\tabu@nestedmeasure \fi
+    \ifdim \tabu@target=\z@ \let\tabu@halignto \@empty
+    \else                   \edef\tabu@halignto{\tabu@halignto\the\tabu@target}%
+    \fi
+    \@testopt \tabu@tabu@ \tabu@aligndefault #1\@nil
+}% \tabu@begin
+\long\def\tabu@tabu@ [#1]#2\@nil #3{\tabu@setup
+   \def\tabu@align {#1}\def\tabu@savedpream{\NC@find #3}%
+   \tabu@ [\tabu@align ]#2{#3\tabu@rewritefirst }%
+}% \tabu@tabu@
+\def\tabu@nestedmeasure {%
+    \ifodd 1\iftabu@spread \else \ifdim\tabu@target=\z@ \else 0 \fi\fi\relax
+            \tabu@spreadtrue
+    \else   \begingroup \iffalse{\fi \ifnum0=`}\fi
+            \toks@{}\def\tabu@stack{b}%
+            \expandafter\tabu@collectbody\expandafter\tabu@quickrule
+                                         \expandafter\endgroup
+    \fi
+}% \tabu@nestedmeasure
+\def\tabu@quickrule {\indent\vrule height\z@ depth\z@ width\tabu@target}
+%% \tabu@setup  \tabu@init  \tabu@indent
+\def\tabu@setup{\tabu@alloc@
+    \ifcase \tabu@nested
+        \ifmmode \else \iftabu@spread\else \ifdim\tabu@target=\z@
+            \let\tabu@afterendpar \par
+        \fi\fi\fi
+        \def\tabu@aligndefault{c}\tabu@init \tabu@indent
+    \else       % <nested tabu>
+        \def\tabu@aligndefault{t}\let\tabudefaulttarget \linewidth
+    \fi
+    \let\tabu@thetarget \tabudefaulttarget \let\tabu@restored \@undefined
+    \edef\tabu@NC@list{\the\NC@list}\NC@list{\NC@do \tabu@rewritefirst}%
+    \everycr{}\let\@startpbox \tabu@startpbox % for nested tabu inside longtabu...
+              \let\@endpbox   \tabu@endpbox   % idem "    "    "    "    "    "
+              \let\@tabarray  \tabu@tabarray  % idem "    "    "    "    "    "
+    \tabu@setcleanup \tabu@setreset
+}% \tabu@setup
+\def\tabu@init{\tabu@starttimer \tabu@measuringfalse
+    \edef\tabu@hfuzz  {\the\dimexpr\hfuzz+1sp}\global\tabu@footnotes{}%
+    \let\firsthline    \tabu@firsthline   \let\lasthline      \tabu@lasthline
+    \let\firstline     \tabu@firstline    \let\lastline       \tabu@lastline
+    \let\hline         \tabu@hline        \let\@xhline        \tabu@xhline
+    \let\color         \tabu@color        \let\@arstrutbox    \tabu@arstrutbox
+    \iftabu@colortbl\else\let\LT@@hline   \tabu@LT@@hline \fi
+    \tabu@trivlist     %<restore \\=\@normalcr inside lists>
+    \let\@footnotetext \tabu@footnotetext \let\@xfootnotetext \tabu@xfootnotetext
+    \let\@xfootnote    \tabu@xfootnote    \let\centering      \tabu@centering
+    \let\raggedright   \tabu@raggedright  \let\raggedleft     \tabu@raggedleft
+    \let\tabudecimal   \tabu@tabudecimal  \let\Centering      \tabu@Centering
+    \let\RaggedRight   \tabu@RaggedRight  \let\RaggedLeft     \tabu@RaggedLeft
+    \let\justifying    \tabu@justifying   \let\rowfont        \tabu@rowfont
+    \let\fbox          \tabu@fbox         \let\color@b@x      \tabu@color@b@x
+    \let\tabu@@everycr \everycr           \let\tabu@@everypar \everypar
+    \let\tabu@prepnext@tokORI \prepnext@tok\let\prepnext@tok  \tabu@prepnext@tok
+    \let\tabu@multicolumnORI\multicolumn  \let\multicolumn    \tabu@multicolumn
+    \let\tabu@startpbox \@startpbox      % for nested tabu inside longtabu pfff !!!
+    \let\tabu@endpbox   \@endpbox        % idem  "    "    "    "    "    "    "
+    \let\tabu@tabarray  \@tabarray       % idem  "    "    "    "    "    "    "
+    \tabu@adl@fix      \let\endarray      \tabu@endarray % <fix> colortbl & arydshln (delarray)
+    \iftabu@colortbl\CT@everycr\expandafter{\expandafter\iftabu@everyrow \the\CT@everycr \fi}\fi
+}% \tabu@init
+\def\tabu@indent{% correction for indentation
+    \ifdim \parindent>\z@\ifx \linewidth\tabudefaulttarget
+    \everypar\expandafter{%
+        \the\everypar\everypar\expandafter{\the\everypar}%
+            \setbox\z@=\lastbox
+            \ifdim\wd\z@>\z@ \edef\tabu@thetarget
+                {\the\dimexpr -\wd\z@+\tabudefaulttarget}\fi
+            \box\z@}%
+    \fi\fi
+}% \tabu@indent
+\def\tabu@setcleanup {% saves last global assignments
+    \ifodd 1\ifmmode \else \iftabu@long \else 0\fi\fi\relax
+        \def\tabu@aftergroupcleanup{%
+                \def\tabu@aftergroupcleanup{\aftergroup\tabu@cleanup}}%
+    \else
+        \def\tabu@aftergroupcleanup{%
+                \aftergroup\aftergroup\aftergroup\tabu@cleanup
+                \let\tabu@aftergroupcleanup \relax}%
+    \fi
+    \let\tabu@arc@Gsave         \tabu@arc@G
+    \let\tabu@arc@G             \tabu@arc@L   % <init>
+    \let\tabu@drsc@Gsave        \tabu@drsc@G
+    \let\tabu@drsc@G            \tabu@drsc@L  % <init>
+    \let\tabu@ls@Gsave          \tabu@ls@G
+    \let\tabu@ls@G              \tabu@ls@L    % <init>
+    \let\tabu@rc@Gsave          \tabu@rc@G
+    \let\tabu@rc@G              \tabu@rc@L    % <init>
+    \let\tabu@evr@Gsave         \tabu@evr@G
+    \let\tabu@evr@G             \tabu@evr@L   % <init>
+    \let\tabu@celllalign@save   \tabu@celllalign
+    \let\tabu@cellralign@save   \tabu@cellralign
+    \let\tabu@cellleft@save     \tabu@cellleft
+    \let\tabu@cellright@save    \tabu@cellright
+    \let\tabu@@celllalign@save  \tabu@@celllalign
+    \let\tabu@@cellralign@save  \tabu@@cellralign
+    \let\tabu@@cellleft@save    \tabu@@cellleft
+    \let\tabu@@cellright@save   \tabu@@cellright
+    \let\tabu@rowfontreset@save \tabu@rowfontreset
+    \let\tabu@@rowfontreset@save\tabu@@rowfontreset
+    \let\tabu@rowfontreset      \@empty
+    \edef\tabu@alloc@save      {\the\tabu@alloc}%   restore at \tabu@reset
+    \edef\c@taburow@save       {\the\c@taburow}%
+    \edef\tabu@naturalX@save   {\the\tabu@naturalX}%
+    \let\tabu@naturalXmin@save  \tabu@naturalXmin
+    \let\tabu@naturalXmax@save  \tabu@naturalXmax
+    \let\tabu@mkarstrut@save    \tabu@mkarstrut
+    \edef\tabu@clarstrut{%
+        \extrarowheight \the\dimexpr \ht\@arstrutbox-\ht\strutbox \relax
+        \extrarowdepth \the\dimexpr \dp\@arstrutbox-\dp\strutbox \relax
+        \let\noexpand\@arraystretch \@ne \noexpand\tabu@rearstrut}%
+}% \tabu@setcleanup
+\def\tabu@cleanup {\begingroup
+    \globaldefs\@ne         \tabu@everyrowtrue
+    \let\tabu@arc@G         \tabu@arc@Gsave
+    \let\CT@arc@            \tabu@arc@G
+    \let\tabu@drsc@G        \tabu@drsc@Gsave
+    \let\CT@drsc@           \tabu@drsc@G
+    \let\tabu@ls@G          \tabu@ls@Gsave
+    \let\tabu@ls@           \tabu@ls@G
+    \let\tabu@rc@G          \tabu@rc@Gsave
+    \let\tabu@rc@           \tabu@rc@G
+    \let\CT@do@color        \relax
+    \let\tabu@evr@G         \tabu@evr@Gsave
+    \let\tabu@celllalign    \tabu@celllalign@save
+    \let\tabu@cellralign    \tabu@cellralign@save
+    \let\tabu@cellleft      \tabu@cellleft@save
+    \let\tabu@cellright     \tabu@cellright@save
+    \let\tabu@@celllalign   \tabu@@celllalign@save
+    \let\tabu@@cellralign   \tabu@@cellralign@save
+    \let\tabu@@cellleft     \tabu@@cellleft@save
+    \let\tabu@@cellright    \tabu@@cellright@save
+    \let\tabu@rowfontreset  \tabu@rowfontreset@save
+    \let\tabu@@rowfontreset \tabu@@rowfontreset@save
+    \tabu@naturalX         =\tabu@naturalX@save
+    \let\tabu@naturalXmax   \tabu@naturalXmax@save
+    \let\tabu@naturalXmin   \tabu@naturalXmin@save
+    \let\tabu@mkarstrut     \tabu@mkarstrut@save
+    \c@taburow             =\c@taburow@save
+    \ifcase \tabu@nested    \tabu@alloc \m@ne\fi
+    \endgroup               % <end of \globaldefs>
+    \ifcase \tabu@nested
+        \the\tabu@footnotes \global\tabu@footnotes{}%
+        \tabu@afterendpar   \tabu@elapsedtime
+    \fi
+    \tabu@clarstrut
+    \everyrow\expandafter   {\tabu@evr@G}%
+}% \tabu@cleanup
+\let\tabu@afterendpar \relax
+\def\tabu@setreset {%
+    \edef\tabu@savedparams {%         \relax for \tabu@message@save
+        \ifmmode \col@sep \the\arraycolsep
+        \else    \col@sep \the\tabcolsep \fi    \relax
+        \arrayrulewidth   \the\arrayrulewidth   \relax
+        \doublerulesep    \the\doublerulesep    \relax
+        \extratabsurround \the\extratabsurround \relax
+        \extrarowheight   \the\extrarowheight   \relax
+        \extrarowdepth    \the\extrarowdepth    \relax
+        \abovetabulinesep \the\abovetabulinesep \relax
+        \belowtabulinesep \the\belowtabulinesep \relax
+        \def\noexpand\arraystretch{\arraystretch}%
+        \ifdefined\minrowclearance \minrowclearance\the\minrowclearance\relax\fi}%
+    \begingroup
+        \@temptokena\expandafter{\tabu@savedparams}% => only for \savetabu / \usetabu
+        \ifx \tabu@arc@L\relax  \else \tabu@setsave \tabu@arc@L \fi
+        \ifx \tabu@drsc@L\relax \else \tabu@setsave \tabu@drsc@L \fi
+        \tabu@setsave \tabu@ls@L      \tabu@setsave \tabu@evr@L
+        \expandafter \endgroup \expandafter
+            \def\expandafter\tabu@saved@ \expandafter{\the\@temptokena
+                \let\tabu@arc@G  \tabu@arc@L
+                \let\tabu@drsc@G \tabu@drsc@L
+                \let\tabu@ls@G   \tabu@ls@L
+                \let\tabu@rc@G   \tabu@rc@L
+                \let\tabu@evr@G  \tabu@evr@L}%
+    \def\tabu@reset{\tabu@savedparams
+        \tabu@everyrowtrue  \c@taburow \z@
+        \let\CT@arc@        \tabu@arc@L
+        \let\CT@drsc@       \tabu@drsc@L
+        \let\tabu@ls@       \tabu@ls@L
+        \let\tabu@rc@       \tabu@rc@L
+        \global\tabu@alloc  \tabu@alloc@save
+        \everyrow\expandafter{\tabu@evr@L}}%
+}% \tabu@reset
+\def\tabu@setsave #1{\expandafter\tabu@sets@ve #1\@nil{#1}}
+\long\def\tabu@sets@ve #1\@nil #2{\@temptokena\expandafter{\the\@temptokena \def#2{#1}}}
+%% The Rewriting Process -------------------------------------------
+\def\tabu@newcolumntype #1{%
+    \expandafter\tabu@new@columntype
+        \csname NC@find@\string#1\expandafter\endcsname
+        \csname NC@rewrite@\string#1\endcsname
+        {#1}%
+}% \tabu@newcolumntype
+\def\tabu@new@columntype #1#2#3{%
+    \def#1##1#3{\NC@{##1}}%
+    \let#2\relax \newcommand*#2%
+}% \tabu@new@columntype
+\def\tabu@privatecolumntype #1{%
+    \expandafter\tabu@private@columntype
+        \csname NC@find@\string#1\expandafter\endcsname
+        \csname NC@rewrite@\string#1\expandafter\endcsname
+        \csname tabu@NC@find@\string#1\expandafter\endcsname
+        \csname tabu@NC@rewrite@\string#1\endcsname
+        {#1}%
+}% \tabu@privatecolumntype
+\def\tabu@private@columntype#1#2#3#4{%
+    \g@addto@macro\tabu@privatecolumns{\let#1#3\let#2#4}%
+    \tabu@new@columntype#3#4%
+}% \tabu@private@columntype
+\let\tabu@privatecolumns \@empty
+\newcommand*\tabucolumn [1]{\expandafter \def \expandafter
+    \tabu@highprioritycolumns\expandafter{\tabu@highprioritycolumns
+                                          \NC@do #1}}%
+\let\tabu@highprioritycolumns \@empty
+%% The  |  ``column'' : rewriting process --------------------------
+\tabu@privatecolumntype |{\tabu@rewritevline}
+\newcommand*\tabu@rewritevline[1][]{\tabu@vlinearg{#1}%
+                \expandafter \NC@find \tabu@rewritten}
+\def\tabu@lines #1{%
+    \ifx|#1\else \tabu@privatecolumntype #1{\tabu@rewritevline}\fi
+    \NC@list\expandafter{\the\NC@list \NC@do #1}%
+}% \tabu@lines@
+\def\tabu@vlinearg #1{%
+    \ifx\\#1\\\def\tabu@thestyle {\tabu@ls@}%
+    \else\tabu@getline {#1}%
+    \fi
+    \def\tabu@rewritten ##1{\def\tabu@rewritten{!{##1\tabu@thevline}}%
+    }\expandafter\tabu@rewritten\expandafter{\tabu@thestyle}%
+    \expandafter \tabu@keepls \tabu@thestyle \@nil
+}% \tabu@vlinearg
+\def\tabu@keepls #1\@nil{%
+    \ifcat $\@cdr #1\@nil $%
+    \ifx \relax#1\else
+    \ifx \tabu@ls@#1\else
+        \let#1\relax
+        \xdef\tabu@mkpreambuffer{\tabu@mkpreambuffer
+                \tabu@savels\noexpand#1}\fi\fi\fi
+}% \tabu@keepls
+\def\tabu@thevline {\begingroup
+    \ifdefined\tabu@leaders
+        \setbox\@tempboxa=\vtop to\dimexpr
+                      \ht\@arstrutbox+\dp\@arstrutbox{{\tabu@thevleaders}}%
+        \ht\@tempboxa=\ht\@arstrutbox \dp\@tempboxa=\dp\@arstrutbox
+        \box\@tempboxa
+    \else
+                \tabu@thevrule
+    \fi             \endgroup
+}% \tabu@thevline
+\def\tabu@savels #1{%
+    \expandafter\let\csname\string#1\endcsname #1%
+    \expandafter\def\expandafter\tabu@reset\expandafter{\tabu@reset
+                                                    \tabu@resetls#1}}%
+\def\tabu@resetls #1{\expandafter\let\expandafter#1\csname\string#1\endcsname}%
+%% \multicolumn inside tabu environment -----------------------------
+\tabu@newcolumntype \tabu@rewritemulticolumn{%
+    \aftergroup \tabu@endrewritemulticolumn % after \@mkpream group
+    \NC@list{\NC@do *}\tabu@textbar \tabu@lines
+    \tabu@savedecl
+    \tabu@privatecolumns
+    \NC@list\expandafter{\the\expandafter\NC@list \tabu@NC@list}%
+    \let\tabu@savels \relax
+    \NC@find
+}% \tabu@rewritemulticolumn
+\def\tabu@endrewritemulticolumn{\gdef\tabu@mkpreambuffer{}\endgroup}
+\def\tabu@multicolumn{\tabu@ifenvir \tabu@multic@lumn \tabu@multicolumnORI}
+\long\def\tabu@multic@lumn #1#2#3{\multispan{#1}\begingroup
+    \tabu@everyrowtrue
+    \NC@list{\NC@do \tabu@rewritemulticolumn}%
+    \expandafter\@gobbletwo % gobbles \multispan{#1}
+         \tabu@multicolumnORI{#1}{\tabu@rewritemulticolumn #2}%
+                {\iftabuscantokens \tabu@rescan \else \expandafter\@firstofone \fi
+                {#3}}%
+}% \tabu@multic@lumn
+%% The X column(s): rewriting process -----------------------------
+\tabu@privatecolumntype X[1][]{\begingroup \tabu@siunitx{\endgroup \tabu@rewriteX {#1}}}
+\def\tabu@nosiunitx #1{#1{}{}\expandafter \NC@find \tabu@rewritten }
+\def\tabu@siunitx   #1{\@ifnextchar \bgroup
+                     {\tabu@rewriteX@Ss{#1}}
+                      {\tabu@nosiunitx{#1}}}
+\def\tabu@rewriteX@Ss #1#2{\@temptokena{}%
+    \@defaultunits \let\tabu@temp =#2\relax\@nnil
+    \ifodd 1\ifx S\tabu@temp \else \ifx s\tabu@temp \else 0 \fi\fi
+        \def\NC@find{\def\NC@find >####1####2<####3\relax{#1 {####1}{####3}%
+            }\expandafter\NC@find \the\@temptokena \relax
+        }\expandafter\NC@rewrite@S \@gobble #2\relax
+    \else \tabu@siunitxerror
+    \fi
+    \expandafter \NC@find \tabu@rewritten
+}% \tabu@rewriteX@Ss
+\def\tabu@siunitxerror {\PackageError{tabu}{Not a S nor s column !
+        \MessageBreak X column can only embed siunitx S or s columns}\@ehd
+}% \tabu@siunitxerror
+\def\tabu@rewriteX #1#2#3{\tabu@Xarg {#1}{#2}{#3}%
+    \iftabu@measuring
+    \else \tabu@measuringtrue % first X column found in the preamble
+        \let\@halignto \relax   \let\tabu@halignto \relax
+        \iftabu@spread \tabu@spreadtarget \tabu@target \tabu@target \z@
+        \else          \tabu@spreadtarget \z@ \fi
+        \ifdim \tabu@target=\z@
+                \setlength\tabu@target \tabu@thetarget
+                \tabu@message{\tabu@message@defaulttarget}%
+        \else   \tabu@message{\tabu@message@target}\fi
+    \fi
+}% \tabu@rewriteX
+\def\tabu@rewriteXrestore #1#2#3{\let\@halignto \relax
+                                \def\tabu@rewritten{l}}
+\def\tabu@Xarg #1#2#3{%
+   \advance\tabu@Xcol \@ne      \let\tabu@Xlcr  \@empty
+   \let\tabu@Xdisp    \@empty   \let\tabu@Xmath \@empty
+    \ifx\\#1\\%    <shortcut when no option>
+         \def\tabu@rewritten{p}\tabucolX \p@        % <default coef = 1>
+    \else
+         \let\tabu@rewritten \@empty   \let\tabu@temp \@empty  \tabucolX \z@
+         \tabu@Xparse {}#1\relax
+    \fi
+    \tabu@Xrewritten{#2}{#3}%
+}% \tabu@Xarg
+\def\tabu@Xparse #1{\futurelet\@let@token \tabu@Xtest}
+\expandafter\def\expandafter\tabu@Xparsespace\space{\tabu@Xparse{}}
+\def\tabu@Xtest{%
+   \ifcase \ifx \relax\@let@token \z@ \else
+           \if ,\@let@token \m@ne\else
+           \if p\@let@token 1\else
+           \if m\@let@token 2\else
+           \if b\@let@token 3\else
+           \if l\@let@token 4\else
+           \if c\@let@token 5\else
+           \if r\@let@token 6\else
+           \if j\@let@token 7\else
+           \if L\@let@token 8\else
+           \if C\@let@token 9\else
+           \if R\@let@token 10\else
+           \if J\@let@token 11\else
+           \ifx \@sptoken\@let@token 12\else
+           \if .\@let@token 13\else
+           \if -\@let@token 13\else
+           \ifcat $\@let@token 14\else
+           15\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\relax
+   \or \tabu@Xtype {p}%
+   \or \tabu@Xtype {m}%
+   \or \tabu@Xtype {b}%
+   \or \tabu@Xalign \raggedright\relax
+   \or \tabu@Xalign \centering\relax
+   \or \tabu@Xalign \raggedleft\relax
+   \or \tabu@Xalign \tabu@justify\relax
+   \or \tabu@Xalign \RaggedRight\raggedright
+   \or \tabu@Xalign \Centering\centering
+   \or \tabu@Xalign \RaggedLeft\raggedleft
+   \or \tabu@Xalign \justifying\tabu@justify
+   \or \expandafter \tabu@Xparsespace
+   \or \expandafter \tabu@Xcoef
+   \or \expandafter \tabu@Xm@th
+   \or \tabu@Xcoef{}%
+   \else\expandafter \tabu@Xparse
+   \fi
+}% \tabu@Xtest
+\def\tabu@Xalign #1#2{%
+    \ifx \tabu@Xlcr\@empty \else \PackageWarning{tabu}
+       {Duplicate horizontal alignment specification}\fi
+    \ifdefined#1\def\tabu@Xlcr{#1}\let#1\relax
+    \else       \def\tabu@Xlcr{#2}\let#2\relax\fi
+    \expandafter\tabu@Xparse
+}% \tabu@Xalign
+\def\tabu@Xtype #1{%
+    \ifx \tabu@rewritten\@empty \else \PackageWarning{tabu}
+            {Duplicate vertical alignment specification}\fi
+    \def\tabu@rewritten{#1}\expandafter\tabu@Xparse
+}% \tabu@Xtype
+\def\tabu@Xcoef#1{\edef\tabu@temp{\tabu@temp#1}%
+    \afterassignment\tabu@Xc@ef \tabu@cnt\number\if-#10\fi
+}% \tabu@Xcoef
+\def\tabu@Xc@ef{\advance\tabucolX \tabu@temp\the\tabu@cnt\p@
+    \tabu@Xparse{}%
+}% \tabu@Xc@ef
+\def\tabu@Xm@th #1{\futurelet \@let@token \tabu@Xd@sp}
+\def\tabu@Xd@sp{\let\tabu@Xmath=$%
+    \ifx $\@let@token \def\tabu@Xdisp{\displaystyle}%
+            \expandafter\tabu@Xparse
+    \else   \expandafter\tabu@Xparse\expandafter{\expandafter}%
+    \fi
+}% \tabu@Xd@sp
+\def\tabu@Xrewritten {%
+   \ifx  \tabu@rewritten\@empty \def\tabu@rewritten{p}\fi
+   \ifdim \tabucolX<\z@         \tabu@negcoeftrue
+   \else\ifdim \tabucolX=\z@    \tabucolX \p@
+   \fi\fi
+   \edef\tabu@temp{{\the\tabu@Xcol}{\tabu@strippt\tabucolX}}%
+   \edef\tabu@Xcoefs{\tabu@Xcoefs    \tabu@      \tabu@temp}%
+   \edef\tabu@rewritten ##1##2{\def\noexpand\tabu@rewritten{%
+        >{\tabu@Xlcr \ifx$\tabu@Xmath$\tabu@Xdisp\fi ##1}%
+                    \tabu@rewritten {\tabu@hsize \tabu@temp}%
+        <{##2\ifx$\tabu@Xmath$\fi}}%
+   }\tabu@rewritten
+}% \tabu@Xrewritten
+\def\tabu@hsize #1#2{%
+    \ifdim #2\p@<\z@
+        \ifdim \tabucolX=\maxdimen \tabu@wd{#1}\else
+        \ifdim \tabu@wd{#1}<-#2\tabucolX \tabu@wd{#1}\else -#2\tabucolX\fi
+        \fi
+   \else #2\tabucolX
+   \fi
+}% \tabu@hsize
+%% \usetabu  and  \preamble: rewriting process ---------------------
+\tabu@privatecolumntype \usetabu [1]{%
+    \ifx\\#1\\\tabu@saveerr{}\else
+        \@ifundefined{tabu@saved@\string#1}
+            {\tabu@saveerr{#1}}
+            {\let\tabu@rewriteX \tabu@rewriteXrestore
+             \csname tabu@saved@\string#1\expandafter\endcsname\expandafter\@ne}%
+    \fi
+}% \NC@rewrite@\usetabu
+\tabu@privatecolumntype \preamble [1]{%
+    \ifx\\#1\\\tabu@saveerr{}\else
+        \@ifundefined{tabu@saved@\string#1}
+            {\tabu@saveerr{#1}}
+            {\csname tabu@saved@\string#1\expandafter\endcsname\expandafter\z@}%
+    \fi
+}% \NC@rewrite@\preamble
+%% Controlling the rewriting process -------------------------------
+\tabu@newcolumntype \tabu@rewritefirst{%
+    \iftabu@long    \aftergroup \tabu@longpream  % <the whole implementation is here !>
+    \else           \aftergroup \tabu@pream
+    \fi
+    \let\tabu@          \relax      \let\tabu@hsize     \relax
+    \let\tabu@Xcoefs    \@empty     \let\tabu@savels    \relax
+    \tabu@Xcol          \z@         \tabu@cnt           \tw@
+    \gdef\tabu@mkpreambuffer{\tabu@{}}\tabu@measuringfalse
+    \global\setbox\@arstrutbox \box\@arstrutbox
+    \NC@list{\NC@do *}\tabu@textbar \tabu@lines
+    \NC@list\expandafter{\the\NC@list \NC@do X}%
+    \iftabu@siunitx     % <siunitx S and s columns>
+            \NC@list\expandafter{\the\NC@list \NC@do S\NC@do s}\fi
+    \NC@list\expandafter{\the\expandafter\NC@list \tabu@highprioritycolumns}%
+    \expandafter\def\expandafter\tabu@NC@list\expandafter{%
+                    \the\expandafter\NC@list \tabu@NC@list}%    % * | X S <original>
+    \NC@list\expandafter{\expandafter \NC@do \expandafter\usetabu
+                         \expandafter \NC@do \expandafter\preamble
+                         \the\NC@list \NC@do \tabu@rewritemiddle
+                                      \NC@do \tabu@rewritelast}%
+    \tabu@savedecl
+    \tabu@privatecolumns
+    \edef\tabu@prev{\the\@temptokena}\NC@find \tabu@rewritemiddle
+}% NC@rewrite@\tabu@rewritefirst
+\tabu@newcolumntype \tabu@rewritemiddle{%
+    \edef\tabu@temp{\the\@temptokena}\NC@find \tabu@rewritelast
+}% \NC@rewrite@\tabu@rewritemiddle
+\tabu@newcolumntype \tabu@rewritelast{%
+    \ifx \tabu@temp\tabu@prev   \advance\tabu@cnt \m@ne
+            \NC@list\expandafter{\tabu@NC@list \NC@do \tabu@rewritemiddle
+                                               \NC@do \tabu@rewritelast}%
+    \else \let\tabu@prev\tabu@temp
+    \fi
+    \ifcase \tabu@cnt   \expandafter\tabu@endrewrite
+    \else               \expandafter\NC@find \expandafter\tabu@rewritemiddle
+    \fi
+}% \NC@rewrite@\tabu@rewritelast
+%% Choosing the strategy --------------------------------------------
+\def\tabu@endrewrite {%
+    \let\tabu@temp \NC@find
+    \ifx \@arrayright\relax \let\@arrayright \@empty  \fi
+    \count@=%
+        \ifx \@finalstrut\tabu@finalstrut \z@ % outer in mode 0 print
+             \iftabu@measuring
+                \xdef\tabu@mkpreambuffer{\tabu@mkpreambuffer
+                    \tabu@target        \csname tabu@\the\tabu@nested.T\endcsname
+                    \tabucolX           \csname tabu@\the\tabu@nested.X\endcsname
+                    \edef\@halignto {\ifx\@arrayright\@empty to\tabu@target\fi}}%
+             \fi
+        \else\iftabu@measuring        4       % X columns
+                \xdef\tabu@mkpreambuffer{\tabu@{\tabu@mkpreambuffer
+                    \tabu@target        \the\tabu@target
+                    \tabu@spreadtarget  \the\tabu@spreadtarget}%
+                    \def\noexpand\tabu@Xcoefs{\tabu@Xcoefs}%
+                    \edef\tabu@halignto{\ifx \@arrayright\@empty to\tabu@target\fi}}%
+                 \let\tabu@Xcoefs \relax
+             \else\ifcase\tabu@nested \thr@@  % outer, no X
+                                      \global\let\tabu@afterendpar \relax
+                  \else               \@ne    % inner, no X, outer in mode 1 or 2
+                  \fi
+                  \ifdefined\tabu@usetabu
+                  \else \ifdim\tabu@target=\z@
+                  \else \let\tabu@temp \tabu@extracolsep
+                  \fi\fi
+             \fi
+        \fi
+    \xdef\tabu@mkpreambuffer{\count@ \the\count@ \tabu@mkpreambuffer}%
+    \tabu@temp
+}% \tabu@endrewrite
+\def\tabu@extracolsep{\@defaultunits    \expandafter\let
+    \expandafter\tabu@temp \expandafter=\the\@temptokena \relax\@nnil
+    \ifx \tabu@temp\@sptoken
+        \expandafter\tabu@gobblespace \expandafter\tabu@extracolsep
+    \else
+        \edef\tabu@temp{\noexpand\NC@find
+            \if |\noexpand\tabu@temp        @%
+            \else\if !\noexpand\tabu@temp   @%
+            \else                           !%
+            \fi\fi
+            {\noexpand\extracolsep\noexpand\@flushglue}}%
+    \fi
+    \tabu@temp
+}% \tabu@extrac@lsep
+%% Implementing the strategy ----------------------------------------
+\long\def\tabu@pream #1\@preamble {%
+    \let\tabu@ \tabu@@  \tabu@mkpreambuffer     \tabu@aftergroupcleanup
+    \NC@list\expandafter {\tabu@NC@list}%    in case of nesting...
+    \ifdefined\tabu@usetabu \tabu@usetabu \tabu@target \z@ \fi
+    \let\tabu@savedpreamble \@preamble
+    \global\let\tabu@elapsedtime \relax
+    \tabu@thebody ={#1\tabu@aftergroupcleanup}%
+    \tabu@thebody =\expandafter{\the\expandafter\tabu@thebody
+                                                \@preamble}%
+    \edef\tabuthepreamble {\the\tabu@thebody}% ( no @ allowed for \scantokens )
+    \tabu@select
+}% \tabu@pream
+\long\def\tabu@longpream #1\LT@bchunk #2\LT@bchunk{%
+    \let\tabu@ \tabu@@  \tabu@mkpreambuffer     \tabu@aftergroupcleanup
+    \NC@list\expandafter {\tabu@NC@list}%    in case of nesting...
+    \let\tabu@savedpreamble \@preamble
+    \global\let\tabu@elapsedtime \relax
+    \tabu@thebody ={#1\LT@bchunk #2\tabu@aftergroupcleanup \LT@bchunk}%
+    \edef\tabuthepreamble {\the\tabu@thebody}% ( no @ allowed for \scantokens )
+    \tabu@select
+}% \tabu@longpream
+\def\tabu@select {%
+    \ifnum\tabu@nested>\z@ \tabuscantokensfalse \fi
+    \ifnum \count@=\@ne \iftabu@measuring \count@=\tw@ \fi\fi
+    \ifcase \count@
+        \global\let\tabu@elapsedtime \relax
+        \tabu@seteverycr
+        \expandafter \tabuthepreamble       % vertical adjustment (inherited from outer)
+    \or      % exit in vertical measure + struts per cell because no X and outer in mode 3
+        \tabu@evr{\tabu@verticalinit}\tabu@celllalign@def{\tabu@verticalmeasure}%
+        \def\tabu@cellralign{\tabu@verticalspacing}%
+        \tabu@seteverycr
+        \expandafter \tabuthepreamble
+    \or                            % exit without measure because no X and outer in mode 4
+        \tabu@evr{}\tabu@celllalign@def{}\let\tabu@cellralign \@empty
+        \tabu@seteverycr
+        \expandafter \tabuthepreamble
+    \else                                   % needs trials
+        \tabu@evr{}\tabu@celllalign@def{}\let\tabu@cellralign \@empty
+        \tabu@savecounters
+        \expandafter \tabu@setstrategy
+    \fi
+}% \tabu@select
+\def\tabu@@ {\gdef\tabu@mkpreambuffer}
+%% Protections to set up before trials ------------------------------
+\def\tabu@setstrategy {\begingroup  % <trials group>
+    \tabu@trialh@@k    \tabu@cnt    \z@  % number of trials
+    \hbadness          \@M          \let\hbadness          \@tempcnta
+    \hfuzz             \maxdimen    \let\hfuzz             \@tempdima
+    \let\write         \tabu@nowrite\let\GenericError      \tabu@GenericError
+    \let\savetabu      \@gobble     \let\tabudefaulttarget \linewidth
+    \let\@footnotetext \@gobble     \let\@xfootnote        \tabu@xfootnote
+    \let\color         \tabu@nocolor\let\rowcolor          \tabu@norowcolor
+    \let\tabu@aftergroupcleanup \relax % only after the last trial
+    \tabu@mkpreambuffer
+    \ifnum \count@>\thr@@ \let\@halignto \@empty  \tabucolX@init
+                          \def\tabu@lasttry{\m@ne\p@}\fi
+    \begingroup \iffalse{\fi \ifnum0=`}\fi
+        \toks@{}\def\tabu@stack{b}\iftabuscantokens \endlinechar=10 \obeyspaces \fi %
+                                  \tabu@collectbody \tabu@strategy %
+}% \tabu@setstrategy
+\def\tabu@savecounters{%
+    \def\@elt ##1{\csname c@##1\endcsname\the\csname c@##1\endcsname}%
+    \edef\tabu@clckpt {\begingroup \globaldefs=\@ne \cl@@ckpt \endgroup}\let\@elt \relax
+}% \tabu@savecounters
+\def\tabucolX@init {%  \tabucolX <= \tabu@target / (sum coefs > 0)
+    \dimen@ \z@ \tabu@Xsum \z@ \tabucolX \z@ \let\tabu@ \tabu@Xinit \tabu@Xcoefs
+    \ifdim \dimen@>\z@
+        \@tempdima \dimexpr \tabu@target *\p@/\dimen@ + \tabu@hfuzz\relax
+        \ifdim \tabucolX<\@tempdima \tabucolX \@tempdima \fi
+    \fi
+}% \tabucolX@init
+\def\tabu@Xinit #1#2{\tabu@Xcol #1 \advance \tabu@Xsum
+    \ifdim #2\p@>\z@ #2\p@  \advance\dimen@ #2\p@
+    \else           -#2\p@  \tabu@negcoeftrue
+                            \@tempdima \dimexpr \tabu@target*\p@/\dimexpr-#2\p@\relax \relax
+                            \ifdim \tabucolX<\@tempdima \tabucolX \@tempdima \fi
+                            \tabu@wddef{#1}{0pt}%
+    \fi
+}% \tabu@Xinit
+%% Collecting the environment body ----------------------------------
+\long\def\tabu@collectbody #1#2\end #3{%
+    \edef\tabu@stack{\tabu@pushbegins #2\begin\end\expandafter\@gobble\tabu@stack}%
+    \ifx \tabu@stack\@empty
+        \toks@\expandafter{\expandafter\tabu@thebody\expandafter{\the\toks@ #2}%
+                \def\tabu@end@envir{\end{#3}}%
+                \iftabuscantokens
+                    \iftabu@long \def\tabu@endenvir {\end{#3}\tabu@gobbleX}%
+                    \else        \def\tabu@endenvir {\let\endarray \@empty
+                                                     \end{#3}\tabu@gobbleX}%
+                    \fi
+                \else           \def\tabu@endenvir  {\end{#3}}\fi}%
+        \let\tabu@collectbody \tabu@endofcollect
+    \else\def\tabu@temp{#3}%
+        \ifx \tabu@temp\@empty \toks@\expandafter{\the\toks@ #2\end }%
+        \else \ifx\tabu@temp\tabu@@spxiii \toks@\expandafter{\the\toks@ #2\end #3}%
+        \else \ifx\tabu@temp\tabu@X \toks@\expandafter{\the\toks@ #2\end #3}%
+        \else \toks@\expandafter{\the\toks@ #2\end{#3}}%
+        \fi\fi\fi
+    \fi
+    \tabu@collectbody{#1}%
+}% \tabu@collectbody
+\long\def\tabu@pushbegins#1\begin#2{\ifx\end#2\else b\expandafter\tabu@pushbegins\fi}%
+\def\tabu@endofcollect #1{\ifnum0=`{}\fi
+                          \expandafter\endgroup \the\toks@  #1%
+}% \tabu@endofcollect
+%% The trials: switching between strategies -------------------------
+\def\tabu@strategy {\relax  % stops \count@ assignment !
+    \ifcase\count@          % case 0 = print with vertical adjustment (outer is finished)
+        \expandafter \tabu@endoftrials
+    \or                     % case 1 = exit in vertical measure (outer in mode 3)
+        \expandafter\xdef\csname tabu@\the\tabu@nested.T\endcsname{\the\tabu@target}%
+        \expandafter\xdef\csname tabu@\the\tabu@nested.X\endcsname{\the\tabucolX}%
+        \expandafter \tabu@endoftrials
+    \or                     % case 2 = exit with a rule replacing the table (outer in mode 4)
+        \expandafter \tabu@quickend
+    \or                     % case 3 = outer is in mode 3 because of no X
+        \begingroup
+            \tabu@evr{\tabu@verticalinit}\tabu@celllalign@def{\tabu@verticalmeasure}%
+            \def\tabu@cellralign{\tabu@verticalspacing}%
+            \expandafter \tabu@measuring
+    \else                   % case 4 = horizontal measure
+        \begingroup
+            \global\let\tabu@elapsedtime \tabu@message@etime
+            \long\def\multicolumn##1##2##3{\multispan{##1}}%
+            \let\tabu@startpboxORI \@startpbox
+            \iftabu@spread
+                    \def\tabu@naturalXmax {\z@}%
+                    \let\tabu@naturalXmin \tabu@naturalXmax
+                    \tabu@evr{\global\tabu@naturalX \z@}%
+                    \let\@startpbox \tabu@startpboxmeasure
+            \else\iftabu@negcoef
+                    \let\@startpbox \tabu@startpboxmeasure
+            \else   \let\@startpbox \tabu@startpboxquick
+            \fi\fi
+            \expandafter \tabu@measuring
+    \fi
+}% \tabu@strategy
+\def\tabu@measuring{\expandafter \tabu@trial \expandafter
+                                                \count@ \the\count@ \tabu@endtrial
+}% \tabu@measuring
+\def\tabu@trial{\iftabu@long \tabu@longtrial \else \tabu@shorttrial \fi}
+\def\tabu@shorttrial {\setbox\tabu@box \hbox\bgroup \tabu@seteverycr
+    \ifx \tabu@savecounters\relax \else
+                \let\tabu@savecounters \relax \tabu@clckpt \fi
+    $\iftabuscantokens \tabu@rescan \else \expandafter\@secondoftwo \fi
+       \expandafter{\expandafter \tabuthepreamble
+                         \the\tabu@thebody
+                         \csname tabu@adl@endtrial\endcsname
+                         \endarray}$\egroup             % got \tabu@box
+}% \tabu@shorttrial
+\def\tabu@longtrial {\setbox\tabu@box \hbox\bgroup \tabu@seteverycr
+    \ifx \tabu@savecounters\relax \else
+                \let\tabu@savecounters \relax \tabu@clckpt \fi
+    \iftabuscantokens \tabu@rescan \else \expandafter\@secondoftwo \fi
+       \expandafter{\expandafter \tabuthepreamble
+                         \the\tabu@thebody
+                         \tabuendlongtrial}\egroup      % got \tabu@box
+}% \tabu@longtrial
+\def\tabuendlongtrial{% no @ allowed for \scantokens
+    \LT@echunk  \global\setbox\@ne \hbox{\unhbox\@ne}\kern\wd\@ne
+                \LT@get@widths
+}% \tabuendlongtrial
+\def\tabu@adl@endtrial{% <arydshln in nested trials - problem for global column counters!>
+    \crcr \noalign{\global\adl@ncol \tabu@nbcols}}% anything global is crap, junky and fails !
+\def\tabu@seteverycr {\tabu@reset
+    \everycr \expandafter{\the\everycr  \tabu@everycr}%
+    \let\everycr \tabu@noeverycr                      % <for ialign>
+}% \tabu@seteverycr
+\def\tabu@noeverycr{{\aftergroup\tabu@restoreeverycr \afterassignment}\toks@}
+\def\tabu@restoreeverycr {\let\everycr \tabu@@everycr}
+\def\tabu@everycr {\iftabu@everyrow \noalign{\tabu@everyrow}\fi}
+\def\tabu@endoftrials {%
+    \iftabuscantokens   \expandafter\@firstoftwo
+    \else               \expandafter\@secondoftwo
+    \fi
+        {\expandafter \tabu@closetrialsgroup \expandafter
+         \tabu@rescan \expandafter{%
+                    \expandafter\tabuthepreamble
+                        \the\expandafter\tabu@thebody
+                                    \iftabu@long \else \endarray \fi}}
+        {\expandafter\tabu@closetrialsgroup \expandafter
+                    \tabuthepreamble
+                        \the\tabu@thebody}%
+                                        \tabu@endenvir      % Finish !
+}% \tabu@endoftrials
+\def\tabu@closetrialsgroup {%
+    \toks@\expandafter{\tabu@endenvir}%
+    \edef\tabu@bufferX{\endgroup
+        \tabucolX       \the\tabucolX
+        \tabu@target    \the\tabu@target
+        \tabu@cnt       \the\tabu@cnt
+        \def\noexpand\tabu@endenvir{\the\toks@}%
+        %Quid de \@halignto = \tabu@halignto ??
+    }% \tabu@bufferX
+    \tabu@bufferX
+    \ifcase\tabu@nested % print out (outer in mode 0)
+        \global\tabu@cnt \tabu@cnt
+        \tabu@evr{\tabu@verticaldynamicadjustment}%
+        \tabu@celllalign@def{\everypar{}}\let\tabu@cellralign \@empty
+        \let\@finalstrut \tabu@finalstrut
+    \else               % vertical measure of nested tabu
+        \tabu@evr{\tabu@verticalinit}%
+        \tabu@celllalign@def{\tabu@verticalmeasure}%
+        \def\tabu@cellralign{\tabu@verticalspacing}%
+    \fi
+    \tabu@clckpt \let\@halignto \tabu@halignto
+    \let\@halignto \@empty
+    \tabu@seteverycr
+    \ifdim \tabustrutrule>\z@ \ifnum\tabu@nested=\z@
+        \setbox\@arstrutbox \box\voidb@x % force \@arstrutbox to be rebuilt (visible struts)
+    \fi\fi
+}% \tabu@closetrialsgroup
+\def\tabu@quickend {\expandafter \endgroup \expandafter
+                        \tabu@target \the\tabu@target \tabu@quickrule
+                        \let\endarray \relax \tabu@endenvir
+}% \tabu@quickend
+\def\tabu@endtrial {\relax      % stops \count@ assignment !
+    \ifcase \count@ \tabu@err   % case 0 = impossible here
+    \or             \tabu@err   % case 1 = impossible here
+    \or             \tabu@err   % case 2 = impossible here
+    \or                         % case 3 = outer goes into mode 0
+        \def\tabu@bufferX{\endgroup}\count@ \z@
+    \else                       % case 4 = outer goes into mode 3
+        \iftabu@spread  \tabu@spreadarith % inner into mode 1 (outer in mode 3)
+        \else           \tabu@arith       %              or 2 (outer in mode 4)
+        \fi
+        \count@=%
+            \ifcase\tabu@nested     \thr@@  % outer goes into mode 3
+            \else\iftabu@measuring  \tw@    % outer is in mode 4
+            \else                   \@ne    % outer is in mode 3
+            \fi\fi
+        \edef\tabu@bufferX{\endgroup
+                           \tabucolX        \the\tabucolX
+                           \tabu@target     \the\tabu@target}%
+    \fi
+    \expandafter \tabu@bufferX \expandafter
+                                    \count@ \the\count@  \tabu@strategy
+}% \tabu@endtrial
+\def\tabu@err{\errmessage{(tabu) Internal impossible error! (\count@=\the\count@)}}
+%% The algorithms: compute the widths / stop or go on ---------------
+\def\tabu@arithnegcoef {%
+    \@tempdima \z@ \dimen@ \z@ \let\tabu@ \tabu@arith@negcoef \tabu@Xcoefs
+}% \tabu@arithnegcoef
+\def\tabu@arith@negcoef #1#2{%
+    \ifdim #2\p@>\z@    \advance\dimen@     #2\p@       % saturated by definition
+                        \advance\@tempdima  #2\tabucolX
+    \else
+        \ifdim -#2\tabucolX <\tabu@wd{#1}% c_i X < natural width <= \tabu@target-> saturated
+                        \advance\dimen@     -#2\p@
+                        \advance\@tempdima  -#2\tabucolX
+        \else
+                        \advance\@tempdima \tabu@wd{#1}% natural width <= c_i X => neutralised
+                        \ifdim \tabu@wd{#1}<\tabu@target \else % neutralised
+                        \advance\dimen@     -#2\p@ % saturated (natural width = tabu@target)
+                        \fi
+        \fi
+    \fi
+}% \tabu@arith@negcoef
+\def\tabu@givespace #1#2{% here \tabu@DELTA < \z@
+    \ifdim \@tempdima=\z@
+        \tabu@wddef{#1}{\the\dimexpr -\tabu@DELTA*\p@/\tabu@Xsum}%
+    \else
+        \tabu@wddef{#1}{\the\dimexpr \tabu@hsize{#1}{#2}
+                    *(\p@ -\tabu@DELTA*\p@/\@tempdima)/\p@\relax}%
+    \fi
+}% \tabu@givespace
+\def\tabu@arith {\advance\tabu@cnt \@ne
+    \ifnum \tabu@cnt=\@ne \tabu@message{\tabu@titles}\fi
+    \tabu@arithnegcoef
+    \@tempdimb \dimexpr \wd\tabu@box -\@tempdima \relax % <incompressible material>
+    \tabu@DELTA = \dimexpr \wd\tabu@box - \tabu@target \relax
+    \tabu@message{\tabu@message@arith}%
+    \ifdim \tabu@DELTA <\tabu@hfuzz
+        \ifdim \tabu@DELTA<\z@          % wd (tabu)<\tabu@target ?
+            \let\tabu@ \tabu@givespace \tabu@Xcoefs
+            \advance\@tempdima \@tempdimb \advance\@tempdima -\tabu@DELTA % for message
+        \else   % already converged: nothing to do but nearly impossible...
+        \fi
+        \tabucolX \maxdimen
+        \tabu@measuringfalse
+    \else                               % need for narrower X columns
+        \tabucolX =\dimexpr (\@tempdima -\tabu@DELTA) *\p@/\tabu@Xsum \relax
+        \tabu@measuringtrue
+        \@whilesw \iftabu@measuring\fi {%
+            \advance\tabu@cnt \@ne
+            \tabu@arithnegcoef
+            \tabu@DELTA =\dimexpr \@tempdima+\@tempdimb -\tabu@target \relax % always < 0 here
+            \tabu@message{\tabu@header
+                \tabu@msgalign \tabucolX { }{ }{ }{ }{ }\@@
+                \tabu@msgalign \@tempdima+\@tempdimb { }{ }{ }{ }{ }\@@
+                \tabu@msgalign \tabu@target { }{ }{ }{ }{ }\@@
+                \tabu@msgalign@PT \dimen@ { }{}{}{}{}{}{}\@@
+                \ifdim -\tabu@DELTA<\tabu@hfuzz \tabu@spaces target ok\else
+                \tabu@msgalign \dimexpr -\tabu@DELTA *\p@/\dimen@ {}{}{}{}{}\@@
+                \fi}%
+            \ifdim -\tabu@DELTA<\tabu@hfuzz
+                \advance\@tempdima \@tempdimb % for message
+                \tabu@measuringfalse
+            \else
+                \advance\tabucolX \dimexpr -\tabu@DELTA *\p@/\dimen@ \relax
+            \fi
+        }%
+    \fi
+    \tabu@message{\tabu@message@reached}%
+    \edef\tabu@bufferX{\endgroup \tabu@cnt    \the\tabu@cnt
+                                 \tabucolX    \the\tabucolX
+                                 \tabu@target \the\tabu@target}%
+}% \tabu@arith
+\def\tabu@spreadarith {%
+    \dimen@ \z@ \@tempdima \tabu@naturalXmax \let\tabu@ \tabu@spread@arith \tabu@Xcoefs
+    \edef\tabu@naturalXmin {\the\dimexpr\tabu@naturalXmin*\dimen@/\p@}%
+    \@tempdimc =\dimexpr \wd\tabu@box -\tabu@naturalXmax+\tabu@naturalXmin \relax
+    \iftabu@measuring
+        \tabu@target =\dimexpr \@tempdimc+\tabu@spreadtarget \relax
+        \edef\tabu@bufferX{\endgroup \tabucolX \the\tabucolX \tabu@target\the\tabu@target}%
+    \else
+        \tabu@message{\tabu@message@spreadarith}%
+        \ifdim \dimexpr \@tempdimc+\tabu@spreadtarget >\tabu@target
+            \tabu@message{(tabu) spread
+                \ifdim \@tempdimc>\tabu@target useless here: default target used%
+                \else too large: reduced to fit default target\fi.}%
+        \else
+            \tabu@target =\dimexpr \@tempdimc+\tabu@spreadtarget \relax
+            \tabu@message{(tabu) spread: New target set to \the\tabu@target^^J}%
+        \fi
+        \begingroup \let\tabu@wddef \@gobbletwo
+            \@tempdimb \@tempdima
+            \tabucolX@init
+            \tabu@arithnegcoef
+            \wd\tabu@box =\dimexpr \wd\tabu@box +\@tempdima-\@tempdimb \relax
+        \expandafter\endgroup \expandafter\tabucolX \the\tabucolX
+        \tabu@arith
+    \fi
+}% \tabu@spreadarith
+\def\tabu@spread@arith #1#2{%
+    \ifdim #2\p@>\z@ \advance\dimen@ #2\p@
+    \else            \advance\@tempdima \tabu@wd{#1}\relax
+    \fi
+}% \tabu@spread@arith
+%% Reporting in the .log file ---------------------------------------
+\def\tabu@message@defaulttarget{%
+    \ifnum\tabu@nested=\z@^^J(tabu) Default target:
+    \ifx\tabudefaulttarget\linewidth    \string\linewidth
+        \ifdim \tabu@thetarget=\linewidth \else
+            -\the\dimexpr\linewidth-\tabu@thetarget\fi  =
+    \else\ifx\tabudefaulttarget\linegoal\string\linegoal=
+    \fi\fi
+    \else (tabu) Default target (nested): \fi
+    \the\tabu@target \on@line
+    \ifnum\tabu@nested=\z@ , page \the\c@page\fi}
+\def\tabu@message@target {^^J(tabu) Target specified:
+   \the\tabu@target \on@line, page \the\c@page}
+\def\tabu@message@arith {\tabu@header
+    \tabu@msgalign \tabucolX { }{ }{ }{ }{ }\@@
+    \tabu@msgalign \wd\tabu@box { }{ }{ }{ }{ }\@@
+    \tabu@msgalign \tabu@target { }{ }{ }{ }{ }\@@
+    \tabu@msgalign@PT \dimen@ { }{}{}{}{}{}{}\@@
+    \ifdim \tabu@DELTA<\tabu@hfuzz giving space\else
+    \tabu@msgalign \dimexpr (\@tempdima-\tabu@DELTA) *\p@/\tabu@Xsum -\tabucolX {}{}{}{}{}\@@
+    \fi
+}% \tabu@message@arith
+\def\tabu@message@spreadarith {\tabu@spreadheader
+   \tabu@msgalign \tabu@spreadtarget { }{ }{ }{ }{}\@@
+   \tabu@msgalign \wd\tabu@box { }{ }{ }{ }{}\@@
+   \tabu@msgalign -\tabu@naturalXmax { }{}{}{}{}\@@
+   \tabu@msgalign \tabu@naturalXmin { }{ }{ }{ }{}\@@
+   \tabu@msgalign \ifdim \dimexpr\@tempdimc>\tabu@target \tabu@target
+                  \else  \@tempdimc+\tabu@spreadtarget \fi
+                  {}{}{}{}{}\@@}
+\def\tabu@message@negcoef #1#2{
+    \tabu@spaces\tabu@spaces\space * #1. X[\rem@pt#2]:
+    \space width = \tabu@wd {#1}
+        \expandafter\string\csname tabu@\the\tabu@nested.W\number#1\endcsname
+    \ifdim -\tabu@pt#2\tabucolX<\tabu@target
+    < \number-\rem@pt#2 X
+    = \the\dimexpr -\tabu@pt#2\tabucolX \relax
+    \else
+    <= \the\tabu@target\space < \number-\rem@pt#2 X\fi}
+\def\tabu@message@reached{\tabu@header
+     ******* Reached Target:
+            hfuzz = \tabu@hfuzz\on@line\space *******}
+\def\tabu@message@etime{\edef\tabu@stoptime{\the\pdfelapsedtime}%
+    \tabu@message{(tabu)\tabu@spaces Time elapsed during measure:
+    \the\numexpr(\tabu@stoptime-\tabu@starttime-32767)/65536\relax sec
+    \the\numexpr\numexpr(\tabu@stoptime-\tabu@starttime)
+    -\numexpr(\tabu@stoptime-\tabu@starttime-32767)/65536\relax*65536\relax
+    *1000/65536\relax ms \tabu@spaces(\the\tabu@cnt\space
+                                        cycle\ifnum\tabu@cnt>\@ne s\fi)^^J^^J}}
+\def\tabu@message@verticalsp {%
+    \ifdim \@tempdima>\tabu@ht
+        \ifdim \@tempdimb>\tabu@dp
+        \expandafter\expandafter\expandafter\string\tabu@ht =
+            \tabu@msgalign \@tempdima { }{ }{ }{ }{ }\@@
+        \expandafter\expandafter\expandafter\string\tabu@dp =
+            \tabu@msgalign \@tempdimb { }{ }{ }{ }{ }\@@^^J%
+        \else
+        \expandafter\expandafter\expandafter\string\tabu@ht =
+            \tabu@msgalign \@tempdima { }{ }{ }{ }{ }\@@^^J%
+        \fi
+    \else\ifdim \@tempdimb>\tabu@dp
+        \tabu@spaces\tabu@spaces\tabu@spaces
+        \expandafter\expandafter\expandafter\string\tabu@dp =
+            \tabu@msgalign \@tempdimb { }{ }{ }{ }{ }\@@^^J\fi
+    \fi
+}% \tabu@message@verticalsp
+\edef\tabu@spaces{\@spaces}
+\def\tabu@strippt{\expandafter\tabu@pt\the}
+{\@makeother\P \@makeother\T\lowercase{\gdef\tabu@pt #1PT{#1}}}
+\def\tabu@msgalign{\expandafter\tabu@msg@align\the\dimexpr}
+\def\tabu@msgalign@PT{\expandafter\tabu@msg@align\romannumeral-`\0\tabu@strippt}
+\def\do #1{%
+    \def\tabu@msg@align##1.##2##3##4##5##6##7##8##9\@@{%
+    \ifnum##1<10 #1 #1\else
+    \ifnum##1<100 #1 \else
+    \ifnum##1<\@m #1\fi\fi\fi
+    ##1.##2##3##4##5##6##7##8#1}%
+    \def\tabu@header{(tabu) \ifnum\tabu@cnt<10 #1\fi\the\tabu@cnt) }%
+    \def\tabu@titles{\ifnum \tabu@nested=\z@
+      (tabu) Try#1 #1 tabu X #1 #1 #1tabu Width #1 #1 Target
+                  #1 #1 #1 Coefs #1 #1 #1 Update^^J\fi}%
+    \def\tabu@spreadheader{%
+      (tabu) Try#1 #1 Spread #1 #1 tabu Width #1 #1 #1 Nat. X #1 #1 #1 #1Nat. Min.
+                                                      #1 New Target^^J%
+      (tabu) sprd}
+    \def\tabu@message@save {\begingroup
+        \def\x ####1{\tabu@msg@align ####1{ }{ }{ }{ }{}\@@}
+        \def\z ####1{\expandafter\x\expandafter{\romannumeral-`\0\tabu@strippt
+                                                     \dimexpr####1\p@{ }{ }}}%
+        \let\color \relax \def\tabu@rulesstyle ####1####2{\detokenize{####1}}%
+        \let\CT@arc@ \relax \let\@preamble \@gobble
+        \let\tabu@savedpream  \@firstofone
+        \let\tabu@savedparams \@firstofone
+        \def\tabu@target ####1\relax   {(tabu) target #1 #1 #1 #1 #1 = \x{####1}^^J}%
+        \def\tabucolX ####1\relax      {(tabu) X columns width#1 = \x{####1}^^J}%
+        \def\tabu@nbcols ####1\relax   {(tabu) Number of columns: \z{####1}^^J}%
+        \def\tabu@aligndefault    ####1{(tabu) Default alignment: #1 #1 ####1^^J}%
+        \def\col@sep ####1\relax       {(tabu) column sep #1 #1 #1 = \x{####1}^^J}%
+        \def\arrayrulewidth ####1\relax{(tabu) arrayrulewidth #1 = \x{####1}}%
+        \def\doublerulesep ####1\relax { doublerulesep = \x{####1}^^J}%
+        \def\extratabsurround####1\relax{(tabu) extratabsurround = \x{####1}^^J}%
+        \def\extrarowheight ####1\relax{(tabu) extrarowheight #1 = \x{####1}}%
+        \def\extrarowdepth ####1\relax {extrarowdepth = \x{####1}^^J}%
+        \def\abovetabulinesep####1\relax{(tabu) abovetabulinesep=\x{####1} }%
+        \def\belowtabulinesep####1\relax{ belowtabulinesep=\x{####1}^^J}%
+        \def\arraystretch         ####1{(tabu) arraystretch #1 #1 = \z{####1}^^J}%
+        \def\minrowclearance####1\relax{(tabu) minrowclearance #1 = \x{####1}^^J}%
+        \def\tabu@arc@L           ####1{(tabu) taburulecolor #1 #1 = ####1^^J}%
+        \def\tabu@drsc@L          ####1{(tabu) tabudoublerulecolor=  ####1^^J}%
+        \def\tabu@evr@L           ####1{(tabu) everyrow #1 #1 #1 #1 = \detokenize{####1}^^J}%
+        \def\tabu@ls@L            ####1{(tabu) line style = \detokenize{####1}^^J}%
+        \def\NC@find ####1\@nil{(tabu) tabu preamble#1 #1 = \detokenize{####1}^^J}%
+        \def\tabu@wddef####1####2{(tabu) Natural width ####1 = \x{####2}^^J}%
+        \let\edef \@gobbletwo \let\def \@empty \let\let \@gobbletwo
+        \tabu@message{%
+         (tabu) \string\savetabu{\tabu@temp}: \on@line^^J%
+         \tabu@usetabu \@nil^^J}%
+        \endgroup}
+}\do{ }
+%% Measuring the natural width (varwidth) - store the results -------
+\def\tabu@startpboxmeasure #1{\bgroup   % entering \vtop
+    \edef\tabu@temp{\expandafter\@secondoftwo \ifx\tabu@hsize #1\else\relax\fi}%
+    \ifodd 1\ifx \tabu@temp\@empty 0 \else      % starts with \tabu@hsize ?
+            \iftabu@spread           \else      % if spread -> measure
+            \ifdim \tabu@temp\p@>\z@ 0 \fi\fi\fi% if coef>0 -> do not measure
+        \let\@startpbox \tabu@startpboxORI      % restore immediately (nesting)
+        \tabu@measuringtrue                     % for the quick option...
+        \tabu@Xcol =\expandafter\@firstoftwo\ifx\tabu@hsize #1\fi
+        \ifdim \tabu@temp\p@>\z@ \ifdim \tabu@temp\tabucolX<\tabu@target
+                                        \tabu@target=\tabu@temp\tabucolX \fi\fi
+        \setbox\tabu@box  \hbox \bgroup
+            \begin{varwidth}\tabu@target
+                \let\FV@ListProcessLine \tabu@FV@ListProcessLine  % \hbox to natural width...
+                \narrowragged \arraybackslash \parfillskip \@flushglue
+                \ifdefined\pdfadjustspacing \pdfadjustspacing\z@ \fi
+                \bgroup \aftergroup\tabu@endpboxmeasure
+                \ifdefined \cellspacetoplimit \tabu@cellspacepatch \fi
+    \else \expandafter\@gobble
+                            \tabu@startpboxquick{#1}% \@gobble \bgroup
+    \fi
+}% \tabu@startpboxmeasure
+\def\tabu@cellspacepatch{\def\bcolumn##1\@nil{}\let\ecolumn\@empty
+                                          \bgroup\color@begingroup}
+\def\tabu@endpboxmeasure {%
+    \@finalstrut \@arstrutbox
+                    \end{varwidth}\egroup    % <got my \tabu@box>
+    \ifdim \tabu@temp\p@ <\z@   % neg coef
+        \ifdim \tabu@wd\tabu@Xcol <\wd\tabu@box
+            \tabu@wddef\tabu@Xcol {\the\wd\tabu@box}%
+            \tabu@debug{\tabu@message@endpboxmeasure}%
+        \fi
+    \else                       % spread coef>0
+        \global\advance \tabu@naturalX \wd\tabu@box
+        \@tempdima =\dimexpr \wd\tabu@box *\p@/\dimexpr \tabu@temp\p@\relax \relax
+        \ifdim \tabu@naturalXmax <\tabu@naturalX
+            \xdef\tabu@naturalXmax {\the\tabu@naturalX}\fi
+        \ifdim \tabu@naturalXmin <\@tempdima
+            \xdef\tabu@naturalXmin {\the\@tempdima}\fi
+    \fi
+   \box\tabu@box \egroup % end of \vtop (measure) restore \tabu@target
+}% \tabu@endpboxmeasure
+\def\tabu@wddef #1{\expandafter\xdef
+                   \csname tabu@\the\tabu@nested.W\number#1\endcsname}
+\def\tabu@wd    #1{\csname tabu@\the\tabu@nested.W\number#1\endcsname}
+\def\tabu@message@endpboxmeasure{\tabu@spaces\tabu@spaces<-> % <-> save natural wd
+    \the\tabu@Xcol. X[\tabu@temp]:
+    target = \the\tabucolX \space
+    \expandafter\expandafter\expandafter\string\tabu@wd\tabu@Xcol
+    =\tabu@wd\tabu@Xcol
+}% \tabu@message@endpboxmeasure
+\def\tabu@startpboxquick {\bgroup
+    \let\@startpbox \tabu@startpboxORI  % restore immediately
+    \let\tabu \tabu@quick               % \begin is expanded before...
+    \expandafter\@gobble \@startpbox    % gobbles \bgroup
+}% \tabu@startpboxquick
+\def\tabu@quick {\begingroup \iffalse{\fi \ifnum0=`}\fi
+    \toks@{}\def\tabu@stack{b}\tabu@collectbody \tabu@endquick
+}% \tabu@quick
+\def\tabu@endquick {%
+    \ifodd 1\ifx\tabu@end@envir\tabu@endtabu  \else
+            \ifx\tabu@end@envir\tabu@endtabus \else 0\fi\fi\relax
+            \endgroup
+    \else   \let\endtabu \relax
+            \tabu@end@envir
+    \fi
+}% \tabu@quick
+\def\tabu@endtabu   {\end{tabu}}
+\def\tabu@endtabus  {\end{tabu*}}
+%% Measuring the heights and depths - store the results -------------
+\def\tabu@verticalmeasure{\everypar{}%
+    \ifnum \currentgrouptype>12         % 14=semi-simple, 15=math shift group
+        \setbox\tabu@box =\hbox\bgroup
+            \let\tabu@verticalspacing \tabu@verticalsp@lcr
+            \d@llarbegin                % after \hbox ...
+    \else
+        \edef\tabu@temp{\ifnum\currentgrouptype=5\vtop
+                        \else\ifnum\currentgrouptype=12\vcenter
+                        \else\vbox\fi\fi}%
+        \setbox\tabu@box \hbox\bgroup$\tabu@temp \bgroup
+            \let\tabu@verticalspacing \tabu@verticalsp@pmb
+    \fi
+}% \tabu@verticalmeasure
+\def\tabu@verticalsp@lcr{%
+    \d@llarend \egroup       % <got my \tabu@box>
+    \@tempdima \dimexpr \ht\tabu@box+\abovetabulinesep
+    \@tempdimb \dimexpr \dp\tabu@box+\belowtabulinesep \relax
+        \ifdim\tabustrutrule>\z@ \tabu@debug{\tabu@message@verticalsp}\fi
+    \ifdim \tabu@ht<\@tempdima    \tabu@htdef{\the\@tempdima}\fi
+    \ifdim \tabu@dp<\@tempdimb    \tabu@dpdef{\the\@tempdimb}\fi
+    \noindent\vrule height\@tempdima depth\@tempdimb
+}% \tabu@verticalsp@lcr
+\def\tabu@verticalsp@pmb{% inserts struts as needed
+    \par \expandafter\egroup
+            \expandafter$\expandafter
+                    \egroup \expandafter
+                            \@tempdimc \the\prevdepth
+    \@tempdima \dimexpr \ht\tabu@box+\abovetabulinesep
+    \@tempdimb \dimexpr \dp\tabu@box+\belowtabulinesep \relax
+        \ifdim\tabustrutrule>\z@ \tabu@debug{\tabu@message@verticalsp}\fi
+    \ifdim \tabu@ht<\@tempdima    \tabu@htdef{\the\@tempdima}\fi
+    \ifdim \tabu@dp<\@tempdimb    \tabu@dpdef{\the\@tempdimb}\fi
+    \let\@finalstrut \@gobble
+    \hrule height\@tempdima depth\@tempdimb width\hsize
+%%    \box\tabu@box
+}% \tabu@verticalsp@pmb
+
+\def\tabu@verticalinit{%
+    \ifnum \c@taburow=\z@ \tabu@rearstrut \fi       % after \tabu@reset !
+    \advance\c@taburow \@ne
+    \tabu@htdef{\the\ht\@arstrutbox}\tabu@dpdef{\the\dp\@arstrutbox}%
+    \advance\c@taburow \m@ne
+}% \tabu@verticalinit
+\def\tabu@htdef {\expandafter\xdef \csname tabu@\the\tabu@nested.H\the\c@taburow\endcsname}
+\def\tabu@ht                      {\csname tabu@\the\tabu@nested.H\the\c@taburow\endcsname}
+\def\tabu@dpdef {\expandafter\xdef \csname tabu@\the\tabu@nested.D\the\c@taburow\endcsname}
+\def\tabu@dp                      {\csname tabu@\the\tabu@nested.D\the\c@taburow\endcsname}
+\def\tabu@verticaldynamicadjustment {%
+    \advance\c@taburow \@ne
+        \extrarowheight \dimexpr\tabu@ht - \ht\strutbox
+        \extrarowdepth  \dimexpr\tabu@dp - \dp\strutbox
+        \let\arraystretch \@empty
+    \advance\c@taburow \m@ne
+}% \tabu@verticaldynamicadjustment
+\def\tabuphantomline{\crcr \noalign{%
+    {\globaldefs \@ne
+        \setbox\@arstrutbox     \box\voidb@x
+        \let\tabu@@celllalign   \tabu@celllalign
+        \let\tabu@@cellralign   \tabu@cellralign
+        \let\tabu@@cellleft     \tabu@cellleft
+        \let\tabu@@cellright    \tabu@cellright
+        \let\tabu@@thevline     \tabu@thevline
+        \let\tabu@celllalign    \@empty
+        \let\tabu@cellralign    \@empty
+        \let\tabu@cellright     \@empty
+        \let\tabu@cellleft      \@empty
+        \let\tabu@thevline      \relax}%
+    \edef\tabu@temp{\tabu@multispan \tabu@nbcols{\noindent &}}%
+    \toks@\expandafter{\tabu@temp \noindent\tabu@everyrowfalse \cr
+        \noalign{\tabu@rearstrut
+            {\globaldefs\@ne
+                \let\tabu@celllalign \tabu@@celllalign
+                \let\tabu@cellralign \tabu@@cellralign
+                \let\tabu@cellleft   \tabu@@cellleft
+                \let\tabu@cellright  \tabu@@cellright
+                \let\tabu@thevline   \tabu@@thevline}}}%
+    \expandafter}\the\toks@
+}% \tabuphantomline
+%% \firsthline and \lasthline corrections ---------------------------
+\def\tabu@firstline {\tabu@hlineAZ  \tabu@firsthlinecorrection     {}}
+\def\tabu@firsthline{\tabu@hlineAZ  \tabu@firsthlinecorrection \hline}
+\def\tabu@lastline  {\tabu@hlineAZ  \tabu@lasthlinecorrection      {}}
+\def\tabu@lasthline {\tabu@hlineAZ  \tabu@lasthlinecorrection  \hline}
+\def\tabu@hline {% replaces \hline if no colortbl (see \AtBeginDocument)
+    \noalign{\ifnum0=`}\fi
+    {\CT@arc@\hrule height\arrayrulewidth}%
+    \futurelet \tabu@temp \tabu@xhline
+}% \tabu@hline
+\def\tabu@xhline{%
+    \ifx \tabu@temp \hline
+        {\ifx \CT@drsc@\relax \vskip
+         \else\ifx \CT@drsc@\@empty \vskip
+         \else \CT@drsc@\hrule height
+         \fi\fi
+         \doublerulesep}%
+    \fi
+    \ifnum0=`{\fi}%
+}% \tabu@xhline
+\def\tabu@hlineAZ #1#2{\noalign{\ifnum0=`}\fi \dimen@ \z@ \count@ \z@
+    \toks@{}\def\tabu@hlinecorrection{#1}\def\tabu@temp{#2}%
+    \tabu@hlineAZsurround
+}% \tabu@hlineAZ
+\newcommand*\tabu@hlineAZsurround[1][\extratabsurround]{%
+    \extratabsurround #1\let\tabucline \tabucline@scan
+    \let\hline     \tabu@hlinescan \let\firsthline \hline
+    \let\cline     \tabu@clinescan \let\lasthline  \hline
+    \expandafter \futurelet \expandafter \tabu@temp
+                \expandafter \tabu@nexthlineAZ \tabu@temp
+}% \tabu@hlineAZsurround
+\def\tabu@hlinescan   {\tabu@thick \arrayrulewidth \tabu@xhlineAZ \hline}
+\def\tabu@clinescan #1{\tabu@thick \arrayrulewidth \tabu@xhlineAZ {\cline{#1}}}
+\def\tabucline@scan{\@testopt \tabucline@sc@n {}}
+\def\tabucline@sc@n #1[#2]{\tabu@xhlineAZ {\tabucline[{#1}]{#2}}}
+\def\tabu@nexthlineAZ{%
+    \ifx \tabu@temp\hline \else
+    \ifx \tabu@temp\cline \else
+    \ifx \tabu@temp\tabucline \else
+         \tabu@hlinecorrection
+    \fi\fi\fi
+}% \tabu@nexthlineAZ
+\def\tabu@xhlineAZ #1{%
+    \toks@\expandafter{\the\toks@ #1}%
+    \@tempdimc \tabu@thick                  % The last line width
+    \ifcase\count@ \@tempdimb \tabu@thick   % The first line width
+    \else \advance\dimen@ \dimexpr \tabu@thick+\doublerulesep \relax
+    \fi
+    \advance\count@ \@ne    \futurelet \tabu@temp \tabu@nexthlineAZ
+}% \tabu@xhlineAZ
+\def\tabu@firsthlinecorrection{% \count@ = number of \hline -1
+    \@tempdima \dimexpr \ht\@arstrutbox+\dimen@
+    \edef\firsthline{%      <local in \noalign>
+        \omit \hbox to\z@{\hss{\noexpand\tabu@DBG{yellow}\vrule
+                    height \the\dimexpr\@tempdima+\extratabsurround
+                    depth  \dp\@arstrutbox
+                    width  \tabustrutrule}\hss}\cr
+        \noalign{\vskip -\the\dimexpr   \@tempdima+\@tempdimb
+                                        +\dp\@arstrutbox \relax}%
+        \the\toks@
+   }\ifnum0=`{\fi
+            \expandafter}\firsthline % we are then !
+}% \tabu@firsthlinecorrection
+\def\tabu@lasthlinecorrection{%
+    \@tempdima \dimexpr  \dp\@arstrutbox+\dimen@+\@tempdimb+\@tempdimc
+    \edef\lasthline{%   <local in \noalign>
+        \the\toks@
+        \noalign{\vskip -\the\dimexpr\dimen@+\@tempdimb+\dp\@arstrutbox}%
+        \omit \hbox to\z@{\hss{\noexpand\tabu@DBG{yellow}\vrule
+                    depth \the\dimexpr \dp\@arstrutbox+\@tempdimb+\dimen@
+                                       +\extratabsurround-\@tempdimc
+                    height \z@
+                    width \tabustrutrule}\hss}\cr
+    }\ifnum0=`{\fi
+            \expandafter}\lasthline % we are then !
+}% \tabu@lasthlinecorrection
+\def\tabu@LT@@hline{%
+    \ifx\LT@next\hline
+        \global\let\LT@next \@gobble
+        \ifx \CT@drsc@\relax
+            \gdef\CT@LT@sep{%
+                \noalign{\penalty-\@medpenalty\vskip\doublerulesep}}%
+        \else
+            \gdef\CT@LT@sep{%
+                \multispan\LT@cols{%
+                \CT@drsc@\leaders\hrule\@height\doublerulesep\hfill}\cr}%
+        \fi
+    \else
+        \global\let\LT@next\empty
+        \gdef\CT@LT@sep{%
+            \noalign{\penalty-\@lowpenalty\vskip-\arrayrulewidth}}%
+    \fi
+    \ifnum0=`{\fi}%
+    \multispan\LT@cols
+        {\CT@arc@\leaders\hrule\@height\arrayrulewidth\hfill}\cr
+    \CT@LT@sep
+    \multispan\LT@cols
+        {\CT@arc@\leaders\hrule\@height\arrayrulewidth\hfill}\cr
+    \noalign{\penalty\@M}%
+    \LT@next
+}% \tabu@LT@@hline
+%% Horizontal lines : \tabucline ------------------------------------
+\let\tabu@start \@tempcnta
+\let\tabu@stop  \@tempcntb
+\newcommand*\tabucline{\noalign{\ifnum0=`}\fi \tabu@cline}
+\newcommand*\tabu@cline[2][]{\tabu@startstop{#2}%
+   \ifnum \tabu@stop<\z@   \toks@{}%
+   \else \tabu@clinearg{#1}\tabu@thestyle
+        \edef\tabucline{\toks@{%
+            \ifnum \tabu@start>\z@ \omit
+                  \tabu@multispan\tabu@start {\span\omit}&\fi
+            \omit \tabu@multispan\tabu@stop {\span\omit}%
+                                        \tabu@thehline\cr
+        }}\tabucline
+        \tabu@tracinglines{(tabu:tabucline) Style: #1^^J\the\toks@^^J^^J}%
+    \fi
+    \futurelet \tabu@temp \tabu@xcline
+}% \tabu@cline
+\def\tabu@clinearg #1{%
+    \ifx\\#1\\\let\tabu@thestyle \tabu@ls@
+    \else \@defaultunits \expandafter\let\expandafter\@tempa
+                                    \romannumeral-`\0#1\relax \@nnil
+        \ifx \hbox\@tempa           \tabu@clinebox{#1}%
+        \else\ifx \box\@tempa       \tabu@clinebox{#1}%
+        \else\ifx \vbox\@tempa      \tabu@clinebox{#1}%
+        \else\ifx \vtop\@tempa      \tabu@clinebox{#1}%
+        \else\ifx \copy\@tempa      \tabu@clinebox{#1}%
+        \else\ifx \leaders\@tempa   \tabu@clineleads{#1}%
+        \else\ifx \cleaders\@tempa  \tabu@clineleads{#1}%
+        \else\ifx \xleaders\@tempa  \tabu@clineleads{#1}%
+        \else\tabu@getline {#1}%
+        \fi\fi\fi\fi\fi\fi\fi\fi
+    \fi
+}% \tabu@clinearg
+\def\tabu@clinebox #1{\tabu@clineleads{\xleaders#1\hss}}
+\def\tabu@clineleads #1{%
+    \let\tabu@thestyle \relax \let\tabu@leaders \@undefined
+    \gdef\tabu@thehrule{#1}}
+\def\tabu@thehline{\begingroup
+    \ifdefined\tabu@leaders
+            \noexpand\tabu@thehleaders
+    \else   \noexpand\tabu@thehrule
+    \fi            \endgroup
+}% \tabu@thehline
+\def\tabu@xcline{%
+    \ifx \tabu@temp\tabucline
+        \toks@\expandafter{\the\toks@ \noalign
+        {\ifx\CT@drsc@\relax \vskip
+         \else \CT@drsc@\hrule height
+         \fi
+         \doublerulesep}}%
+    \fi
+    \tabu@docline
+}% \tabu@xcline
+\def\tabu@docline {\ifnum0=`{\fi \expandafter}\the\toks@}
+\def\tabu@docline@evr {\xdef\tabu@doclineafter{\the\toks@}%
+              \ifnum0=`{\fi}\aftergroup\tabu@doclineafter}
+\def\tabu@multispan #1#2{%
+    \ifnum\numexpr#1>\@ne #2\expandafter\tabu@multispan
+    \else                   \expandafter\@gobbletwo
+    \fi  {#1-1}{#2}%
+}% \tabu@multispan
+\def\tabu@startstop #1{\tabu@start@stop #1\relax 1-\tabu@nbcols \@nnil}
+\def\tabu@start@stop #1-#2\@nnil{%
+   \@defaultunits   \tabu@start\number 0#1\relax    \@nnil
+   \@defaultunits   \tabu@stop \number 0#2\relax    \@nnil
+   \tabu@stop   \ifnum \tabu@start>\tabu@nbcols     \m@ne
+                \else\ifnum \tabu@stop=\z@          \tabu@nbcols
+                \else\ifnum \tabu@stop>\tabu@nbcols \tabu@nbcols
+                \else                               \tabu@stop
+                \fi\fi\fi
+   \advance\tabu@start \m@ne
+   \ifnum \tabu@start>\z@ \advance\tabu@stop -\tabu@start \fi
+}% \tabu@start@stop
+%% Numbers: siunitx S columns  (and \tabudecimal) -------------------
+\def\tabu@tabudecimal #1{%
+    \def\tabu@decimal{#1}\@temptokena{}%
+    \let\tabu@getdecimal@ \tabu@getdecimal@ignorespaces
+    \tabu@scandecimal
+}% \tabu@tabudecimal
+\def\tabu@scandecimal{\futurelet \tabu@temp \tabu@getdecimal@}
+\def\tabu@skipdecimal#1{#1\tabu@scandecimal}
+\def\tabu@getdecimal@ignorespaces{%
+    \ifcase 0\ifx\tabu@temp\ignorespaces\else
+             \ifx\tabu@temp\@sptoken1\else
+             2\fi\fi\relax
+            \let\tabu@getdecimal@ \tabu@getdecimal
+            \expandafter\tabu@skipdecimal
+    \or     \expandafter\tabu@gobblespace\expandafter\tabu@scandecimal
+    \else   \expandafter\tabu@skipdecimal
+    \fi
+}% \tabu@getdecimal@ignorespaces
+\def\tabu@get@decimal#1{\@temptokena\expandafter{\the\@temptokena #1}%
+                        \tabu@scandecimal}
+\def\do#1{%
+    \def\tabu@get@decimalspace#1{%
+        \@temptokena\expandafter{\the\@temptokena #1}\tabu@scandecimal}%
+}\do{ }
+\let\tabu@@tabudecimal \tabu@tabudecimal
+\def\tabu@getdecimal{%
+   \ifcase    0\ifx 0\tabu@temp\else
+               \ifx 1\tabu@temp\else
+               \ifx 2\tabu@temp\else
+               \ifx 3\tabu@temp\else
+               \ifx 4\tabu@temp\else
+               \ifx 5\tabu@temp\else
+               \ifx 6\tabu@temp\else
+               \ifx 7\tabu@temp\else
+               \ifx 8\tabu@temp\else
+               \ifx 9\tabu@temp\else
+               \ifx .\tabu@temp\else
+               \ifx ,\tabu@temp\else
+               \ifx -\tabu@temp\else
+               \ifx +\tabu@temp\else
+               \ifx e\tabu@temp\else
+               \ifx E\tabu@temp\else
+               \ifx\tabu@cellleft\tabu@temp1\else
+               \ifx\ignorespaces\tabu@temp1\else
+               \ifx\@sptoken\tabu@temp2\else
+            3\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\relax
+       \expandafter\tabu@get@decimal
+   \or \expandafter\tabu@skipdecimal
+   \or \expandafter\tabu@get@decimalspace
+   \else\expandafter\tabu@printdecimal
+   \fi
+}% \tabu@getdecimal
+\def\tabu@printdecimal{%
+    \edef\tabu@temp{\the\@temptokena}%
+    \ifx\tabu@temp\@empty\else
+    \ifx\tabu@temp\space\else
+        \expandafter\tabu@decimal\expandafter{\the\@temptokena}%
+    \fi\fi
+}% \tabu@printdecimal
+%% Verbatim inside X columns ----------------------------------------
+\def\tabu@verbatim{%
+    \let\verb \tabu@verb
+    \let\FV@DefineCheckEnd \tabu@FV@DefineCheckEnd
+}% \tabu@verbatim
+\let\tabu@ltx@verb \verb
+\def\tabu@verb{\@ifstar {\tabu@ltx@verb*} \tabu@ltx@verb}
+\def\tabu@fancyvrb {%
+    \def\tabu@FV@DefineCheckEnd ##1{%
+        \def\tabu@FV@DefineCheckEnd{%
+            ##1% <original definition (if fancyvrb is loaded)>
+            \let\FV@CheckEnd     \tabu@FV@CheckEnd
+            \let\FV@@CheckEnd    \tabu@FV@@CheckEnd
+            \let\FV@@@CheckEnd   \tabu@FV@@@CheckEnd
+            \edef\FV@EndScanning{%
+            \def\noexpand\next{\noexpand\end{\FV@EnvironName}}%
+                \global\let\noexpand\FV@EnvironName\relax
+                \noexpand\next}%
+            \xdef\FV@EnvironName{\detokenize\expandafter{\FV@EnvironName}}}%
+    }\expandafter\tabu@FV@DefineCheckEnd\expandafter{\FV@DefineCheckEnd}
+}% \tabu@fancyvrb
+\def\tabu@FV@CheckEnd  #1{\expandafter\FV@@CheckEnd \detokenize{#1\end{}}\@nil}
+\edef\tabu@FV@@@CheckEnd {\detokenize{\end{}}}
+\begingroup
+\catcode`\[1      \catcode`\]2
+\@makeother\{     \@makeother\}
+   \edef\x[\endgroup
+      \def\noexpand\tabu@FV@@CheckEnd ##1\detokenize[\end{]##2\detokenize[}]##3%
+   ]\x               \@nil{\def\@tempa{#2}\def\@tempb{#3}}
+\def\tabu@FV@ListProcessLine #1{%
+  \hbox {%to \hsize{%
+    \kern\leftmargin
+    \hbox {%to \linewidth{%
+      \FV@LeftListNumber
+      \FV@LeftListFrame
+      \FancyVerbFormatLine{#1}\hss
+%% DG/SR modification begin - Jan. 28, 1998 (for numbers=right add-on)
+%%      \FV@RightListFrame}%
+      \FV@RightListFrame
+      \FV@RightListNumber}%
+%% DG/SR modification end
+    \hss}}
+%% \savetabu --------------------------------------------------------
+\newcommand*\savetabu[1]{\noalign{%
+    \tabu@sanitizearg{#1}\tabu@temp
+    \ifx \tabu@temp\@empty  \tabu@savewarn{}{The tabu will not be saved}\else
+        \@ifundefined{tabu@saved@\tabu@temp}{}{\tabu@savewarn{#1}{Overwriting}}%
+        \ifdefined\tabu@restored \expandafter\let
+            \csname tabu@saved@\tabu@temp \endcsname \tabu@restored
+        \else {\tabu@save}%
+        \fi
+    \fi}%
+}% \savetabu
+\def\tabu@save {%
+    \toks0\expandafter{\tabu@saved@}%
+    \iftabu@negcoef
+        \let\tabu@wddef \relax \let\tabu@ \tabu@savewd \edef\tabu@savewd{\tabu@Xcoefs}%
+        \toks0\expandafter{\the\toks\expandafter0\tabu@savewd}\fi
+    \toks1\expandafter{\tabu@savedpream}%
+    \toks2\expandafter{\tabu@savedpreamble}%
+    \let\@preamble \relax
+    \let\tabu@savedpream \relax \let\tabu@savedparams \relax
+    \edef\tabu@preamble{%
+        \def\noexpand\tabu@aligndefault{\tabu@align}%
+        \def\tabu@savedparams {\noexpand\the\toks0}%
+        \def\tabu@savedpream  {\noexpand\the\toks1}}%
+    \edef\tabu@usetabu{%
+        \def\@preamble {\noexpand\the\toks2}%
+        \tabu@target \the\tabu@target \relax
+        \tabucolX    \the\tabucolX    \relax
+        \tabu@nbcols \the\tabu@nbcols \relax
+        \def\noexpand\tabu@aligndefault{\tabu@align}%
+        \def\tabu@savedparams {\noexpand\the\toks0}%
+        \def\tabu@savedpream  {\noexpand\the\toks1}}%
+    \let\tabu@aligndefault \relax \let\@sharp \relax
+    \edef\@tempa{\noexpand\tabu@s@ved
+                          {\tabu@usetabu}
+                         {\tabu@preamble}
+                            {\the\toks1}}\@tempa
+    \tabu@message@save
+}% \tabu@save
+\long\def\tabu@s@ved #1#2#3{%
+    \def\tabu@usetabu{#1}% <for \tabu@message@save>
+    \expandafter\gdef\csname tabu@saved@\tabu@temp\endcsname ##1{%
+        \ifodd ##1%     \usetabu
+            \tabu@measuringfalse \tabu@spreadfalse  % Just in case...
+            \gdef\tabu@usetabu {%
+                \ifdim \tabu@target>\z@ \tabu@warn@usetabu \fi
+                \global\let\tabu@usetabu \@undefined
+                \def\@halignto {to\tabu@target}%
+                #1%
+                \ifx \tabu@align\tabu@aligndefault@text
+                \ifnum \tabu@nested=\z@
+                       \let\tabu@align \tabu@aligndefault \fi\fi}%
+        \else     %     \preamble
+            \gdef\tabu@preamble {%
+                \global\let\tabu@preamble \@undefined
+                #2%
+                \ifx \tabu@align\tabu@aligndefault@text
+                \ifnum \tabu@nested=\z@
+                       \let\tabu@align \tabu@aligndefault \fi\fi}%
+        \fi
+        #3}%
+}% \tabu@s@ved
+\def\tabu@aligndefault@text {\tabu@aligndefault}%
+\def\tabu@warn@usetabu {\PackageWarning{tabu}
+    {Specifying a target with \string\usetabu\space is useless
+    \MessageBreak The target cannot be changed!}}
+\def\tabu@savewd #1#2{\ifdim #2\p@<\z@ \tabu@wddef{#1}{\tabu@wd{#1}}\fi}
+\def\tabu@savewarn#1#2{\PackageInfo{tabu}
+    {User-name `#1' already used for \string\savetabu
+    \MessageBreak #2}}%
+\def\tabu@saveerr#1{\PackageError{tabu}
+    {User-name `#1' is unknown for \string\usetabu
+    \MessageBreak I cannot restore an unknown preamble!}\@ehd}
+%% \rowfont ---------------------------------------------------------
+\newskip \tabu@cellskip
+\def\tabu@rowfont{\ifdim \baselineskip=\z@\noalign\fi
+                    {\ifnum0=`}\fi    \tabu@row@font}
+\newcommand*\tabu@row@font[2][]{%
+    \ifnum7=\currentgrouptype
+        \global\let\tabu@@cellleft    \tabu@cellleft
+        \global\let\tabu@@cellright   \tabu@cellright
+        \global\let\tabu@@celllalign  \tabu@celllalign
+        \global\let\tabu@@cellralign  \tabu@cellralign
+        \global\let\tabu@@rowfontreset\tabu@rowfontreset
+    \fi
+    \global\let\tabu@rowfontreset \tabu@rowfont@reset
+    \expandafter\gdef\expandafter\tabu@cellleft\expandafter{\tabu@cellleft #2}%
+    \ifcsname tabu@cell@#1\endcsname       % row alignment
+            \csname tabu@cell@#1\endcsname \fi
+    \ifnum0=`{\fi}% end of group / noalign group
+}% \rowfont
+\def\tabu@ifcolorleavevmode #1{\let\color \tabu@leavevmodecolor #1\let\color\tabu@color}%
+\def\tabu@rowfont@reset{%
+    \global\let\tabu@rowfontreset \tabu@@rowfontreset
+    \global\let\tabu@cellleft     \tabu@@cellleft
+    \global\let\tabu@cellright    \tabu@@cellright
+    \global\let\tabu@cellfont     \@empty
+    \global\let\tabu@celllalign   \tabu@@celllalign
+    \global\let\tabu@cellralign   \tabu@@cellralign
+}% \tabu@@rowfontreset
+\let\tabu@rowfontreset \@empty     % overwritten \AtBeginDocument if colortbl
+%% \tabu@prepnext@tok -----------------------------------------------
+\newif \iftabu@cellright
+\def\tabu@prepnext@tok{%
+    \ifnum \count@<\z@   % <first initialisation>
+            \@tempcnta  \@M   % <not initialized by array.sty>
+            \tabu@nbcols\z@
+            \let\tabu@fornoopORI \@fornoop
+            \tabu@cellrightfalse
+    \else
+        \ifcase \numexpr \count@-\@tempcnta \relax % (case 0): prev. token is left
+                \advance \tabu@nbcols \@ne
+                \iftabu@cellright % before-previous token is right and is finished
+                    \tabu@cellrightfalse % <only once>
+                    \tabu@righttok
+                \fi
+                \tabu@lefttok
+        \or                     % (case 1) previous token is right
+                \tabu@cellrighttrue \let\@fornoop \tabu@lastnoop
+        \else % special column: do not change the token
+                \iftabu@cellright    % before-previous token is right
+                    \tabu@cellrightfalse
+                    \tabu@righttok
+                \fi
+        \fi % \ifcase
+    \fi
+    \tabu@prepnext@tokORI
+}% \tabu@prepnext@tok
+\long\def\tabu@lastnoop#1\@@#2#3{\tabu@lastn@@p #2\@nextchar \in@\in@@}
+\def\tabu@lastn@@p #1\@nextchar #2#3\in@@{%
+    \ifx \in@#2\else
+        \let\@fornoop \tabu@fornoopORI
+        \xdef\tabu@mkpreambuffer{\tabu@nbcols\the\tabu@nbcols \tabu@mkpreambuffer}%
+        \toks0\expandafter{\expandafter\tabu@everyrowtrue \the\toks0}%
+        \expandafter\prepnext@tok
+    \fi
+}% \tabu@lastnoop
+\def\tabu@righttok{%
+    \advance \count@ \m@ne
+    \toks\count@\expandafter {\the\toks\count@ \tabu@cellright \tabu@cellralign}%
+    \advance \count@ \@ne
+}% \tabu@righttok
+\def\tabu@lefttok{\toks\count@\expandafter{\expandafter\tabu@celllalign
+                                    \the\toks\count@ \tabu@cellleft}% after because of $
+}% \tabu@lefttok
+%% Neutralisation of glues ------------------------------------------
+\let\tabu@cellleft   \@empty
+\let\tabu@cellright  \@empty
+\tabu@celllalign@def{\tabu@cellleft}%
+\let\tabu@cellralign \@empty
+\def\tabu@cell@align #1#2#3{%
+    \let\tabu@maybesiunitx \toks@ \tabu@celllalign
+    \global \expandafter \tabu@celllalign@def \expandafter {\the\toks@ #1}%
+    \toks@\expandafter{\tabu@cellralign #2}%
+    \xdef\tabu@cellralign{\the\toks@}%
+    \toks@\expandafter{\tabu@cellleft #3}%
+    \xdef\tabu@cellleft{\the\toks@}%
+}% \tabu@cell@align
+\def\tabu@cell@l{% force alignment to left
+   \tabu@cell@align
+      {\tabu@removehfil \raggedright \tabu@cellleft}% left
+      {\tabu@flush1\tabu@ignorehfil}%                 right
+      \raggedright
+}% \tabu@cell@l
+\def\tabu@cell@c{% force alignment to center
+   \tabu@cell@align
+      {\tabu@removehfil \centering \tabu@flush{.5}\tabu@cellleft}
+      {\tabu@flush{.5}\tabu@ignorehfil}
+      \centering
+}% \tabu@cell@c
+\def\tabu@cell@r{% force alignment to right
+   \tabu@cell@align
+      {\tabu@removehfil \raggedleft \tabu@flush1\tabu@cellleft}
+      \tabu@ignorehfil
+      \raggedleft
+}% \tabu@cell@r
+\def\tabu@cell@j{% force justification (for p, m, b columns)
+      \tabu@cell@align
+         {\tabu@justify\tabu@cellleft}
+         {}
+         \tabu@justify
+}% \tabu@cell@j
+\def\tabu@justify{%
+   \leftskip\z@skip \@rightskip\leftskip \rightskip\@rightskip
+   \parfillskip\@flushglue
+}% \tabu@justify
+%% ragged2e settings
+\def\tabu@cell@L{% force alignment to left (ragged2e)
+   \tabu@cell@align
+      {\tabu@removehfil \RaggedRight \tabu@cellleft}
+      {\tabu@flush 1\tabu@ignorehfil}
+      \RaggedRight
+}% \tabu@cell@L
+\def\tabu@cell@C{% force alignment to center (ragged2e)
+   \tabu@cell@align
+      {\tabu@removehfil \Centering \tabu@flush{.5}\tabu@cellleft}
+      {\tabu@flush{.5}\tabu@ignorehfil}
+      \Centering
+}% \tabu@cell@C
+\def\tabu@cell@R{% force alignment to right (ragged2e)
+   \tabu@cell@align
+      {\tabu@removehfil \RaggedLeft \tabu@flush 1\tabu@cellleft}
+      \tabu@ignorehfil
+      \RaggedLeft
+}% \tabu@cell@R
+\def\tabu@cell@J{% force justification (ragged2e)
+   \tabu@cell@align
+      {\justifying \tabu@cellleft}
+      {}
+      \justifying
+}% \tabu@cell@J
+\def\tabu@flush#1{%
+    \iftabu@colortbl      % colortbl uses \hfill rather than \hfil
+        \hskip \ifnum13<\currentgrouptype \stretch{#1}%
+        \else  \ifdim#1pt<\p@ \tabu@cellskip
+        \else  \stretch{#1}
+        \fi\fi \relax
+    \else                % array.sty
+        \ifnum 13<\currentgrouptype
+                \hfil \hskip1sp \relax  \fi
+    \fi
+}% \tabu@flush
+\let\tabu@hfil  \hfil
+\let\tabu@hfill \hfill
+\let\tabu@hskip \hskip
+\def\tabu@removehfil{%
+    \iftabu@colortbl
+        \unkern \tabu@cellskip =\lastskip
+        \ifnum\gluestretchorder\tabu@cellskip =\tw@ \hskip-\tabu@cellskip
+        \else \tabu@cellskip \z@skip
+        \fi
+    \else
+        \ifdim\lastskip=1sp\unskip\fi
+        \ifnum\gluestretchorder\lastskip =\@ne
+            \hfilneg % \hfilneg for array.sty but not for colortbl...
+        \fi
+    \fi
+}% \tabu@removehfil
+\def\tabu@ignorehfil{\aftergroup \tabu@nohfil}
+\def\tabu@nohfil{% \hfil -> do nothing + restore original \hfil
+   \def\hfil{\let\hfil \tabu@hfil}%   local to (alignment template) group
+}% \tabu@nohfil
+\def\tabu@colortblalignments {% if colortbl
+    \def\tabu@nohfil{%
+        \def\hfil  {\let\hfil \tabu@hfil}% local to (alignment template) group
+        \def\hfill {\let\hfill \tabu@hfill}% (colortbl uses \hfill) pfff...
+        \def\hskip ####1\relax{\let\hskip \tabu@hskip}}% local
+}% \tabu@colortblalignments
+%% Taking care of footnotes and hyperfootnotes ----------------------
+\long\def\tabu@footnotetext #1{%
+   \edef\@tempa{\the\tabu@footnotes
+      \noexpand\footnotetext [\the\csname c@\@mpfn\endcsname]}%
+   \global\tabu@footnotes\expandafter{\@tempa {#1}}}%
+\long\def\tabu@xfootnotetext [#1]#2{%
+   \global\tabu@footnotes\expandafter{\the\tabu@footnotes
+                               \footnotetext [{#1}]{#2}}}
+\let\tabu@xfootnote \@xfootnote
+\long\def\tabu@Hy@ftntext{\tabu@Hy@ftntxt {\the \c@footnote }}
+\long\def\tabu@Hy@xfootnote [#1]{%
+   \begingroup
+      \value\@mpfn #1\relax
+      \protected@xdef \@thefnmark  {\thempfn}%
+   \endgroup
+   \@footnotemark \tabu@Hy@ftntxt {#1}%
+}% \tabu@Hy@xfootnote
+\long\def\tabu@Hy@ftntxt #1#2{%
+    \edef\@tempa{%
+        \the\tabu@footnotes
+        \begingroup
+            \value\@mpfn #1\relax
+            \noexpand\protected@xdef\noexpand\@thefnmark {\noexpand\thempfn}%
+            \expandafter \noexpand \expandafter
+                \tabu@Hy@footnotetext \expandafter{\Hy@footnote@currentHref}%
+    }%
+    \global\tabu@footnotes\expandafter{\@tempa {#2}%
+                                         \endgroup}%
+}% \tabu@Hy@ftntxt
+\long\def\tabu@Hy@footnotetext #1#2{%
+    \H@@footnotetext{%
+        \ifHy@nesting
+            \hyper@@anchor {#1}{#2}%
+        \else
+            \Hy@raisedlink{%
+                \hyper@@anchor {#1}{\relax}%
+            }%
+            \def\@currentHref {#1}%
+            \let\@currentlabelname \@empty
+            #2%
+        \fi
+    }%
+}% \tabu@Hy@footnotetext
+%% No need for \arraybackslash ! ------------------------------------
+\def\tabu@latextwoe {%
+\def\tabu@temp##1##2##3{{\toks@\expandafter{##2##3}\xdef##1{\the\toks@}}}
+\tabu@temp \tabu@centering   \centering   \arraybackslash
+\tabu@temp \tabu@raggedleft  \raggedleft  \arraybackslash
+\tabu@temp \tabu@raggedright \raggedright \arraybackslash
+}% \tabu@latextwoe
+\def\tabu@raggedtwoe {%
+\def\tabu@temp ##1##2##3{{\toks@\expandafter{##2##3}\xdef##1{\the\toks@}}}
+\tabu@temp \tabu@Centering   \Centering   \arraybackslash
+\tabu@temp \tabu@RaggedLeft  \RaggedLeft  \arraybackslash
+\tabu@temp \tabu@RaggedRight \RaggedRight \arraybackslash
+\tabu@temp \tabu@justifying  \justifying  \arraybackslash
+}% \tabu@raggedtwoe
+\def\tabu@normalcrbackslash{\let\\\@normalcr}
+\def\tabu@trivlist{\expandafter\def\expandafter\@trivlist\expandafter{%
+                       \expandafter\tabu@normalcrbackslash \@trivlist}}
+%% Utilities: \fbox  \fcolorbox  and \tabudecimal -------------------
+\def\tabu@fbox      {\leavevmode\afterassignment\tabu@beginfbox \setbox\@tempboxa\hbox}
+\def\tabu@beginfbox {\bgroup \kern\fboxsep
+                     \bgroup\aftergroup\tabu@endfbox}
+\def\tabu@endfbox   {\kern\fboxsep\egroup\egroup
+                     \@frameb@x\relax}
+\def\tabu@color@b@x #1#2{\leavevmode \bgroup
+    \def\tabu@docolor@b@x{#1{#2\color@block{\wd\z@}{\ht\z@}{\dp\z@}\box\z@}}%
+    \afterassignment\tabu@begincolor@b@x \setbox\z@ \hbox
+}% \tabu@color@b@x
+\def\tabu@begincolor@b@x {\kern\fboxsep \bgroup
+       \aftergroup\tabu@endcolor@b@x \set@color}
+\def\tabu@endcolor@b@x {\kern\fboxsep \egroup
+    \dimen@\ht\z@ \advance\dimen@ \fboxsep \ht\z@ \dimen@
+    \dimen@\dp\z@ \advance\dimen@ \fboxsep \dp\z@ \dimen@
+    \tabu@docolor@b@x \egroup
+}% \tabu@endcolor@b@x
+%% Corrections (arydshln, delarray, colortbl) -----------------------
+\def\tabu@fix@arrayright {%% \@arrayright is missing from \endarray
+    \iftabu@colortbl
+        \ifdefined\adl@array  % <colortbl + arydshln>
+        \def\tabu@endarray{%
+            \adl@endarray \egroup \adl@arrayrestore \CT@end \egroup %<original>
+            \@arrayright      % <FC>
+            \gdef\@preamble{}}% <FC>
+        \else                 % <colortbl / no arydshln>
+        \def\tabu@endarray{%
+            \crcr \egroup \egroup    %<original>
+            \@arrayright             % <FC>
+            \gdef\@preamble{}\CT@end}%
+        \fi
+    \else
+        \ifdefined\adl@array  % <arydshln / no colortbl>
+        \def\tabu@endarray{%
+            \adl@endarray \egroup \adl@arrayrestore \egroup %<original>
+            \@arrayright      % <FC>
+            \gdef\@preamble{}}% <FC>
+    \else                   % <no arydshln / no colotbl + \@arrayright missing>
+        \PackageWarning{tabu}
+        {\string\@arrayright\space is missing from the
+        \MessageBreak definition of \string\endarray.
+        \MessageBreak Compatibility with delarray.sty is broken.}%
+    \fi\fi
+}% \tabu@fix@arrayright
+\def\tabu@adl@xarraydashrule #1#2#3{%
+     \ifnum\@lastchclass=\adl@class@start\else
+     \ifnum\@lastchclass=\@ne\else
+     \ifnum\@lastchclass=5 \else % <FC> @-arg (class 5) and !-arg (class 1)
+             \adl@leftrulefalse \fi\fi           % must be treated the same
+     \fi
+     \ifadl@zwvrule\else \ifadl@inactive\else
+             \@addtopreamble{\vrule\@width\arrayrulewidth
+                     \@height\z@ \@depth\z@}\fi \fi
+     \ifadl@leftrule
+             \@addtopreamble{\adl@vlineL{\CT@arc@}{\adl@dashgapcolor}%
+                     {\number#1}#3}%
+     \else   \@addtopreamble{\adl@vlineR{\CT@arc@}{\adl@dashgapcolor}%
+                     {\number#2}#3}
+     \fi
+}% \tabu@adl@xarraydashrule
+\def\tabu@adl@act@endpbox {%
+    \unskip \ifhmode \nobreak \fi    \@finalstrut \@arstrutbox
+    \egroup \egroup
+    \adl@colhtdp \box\adl@box \hfil
+}% \tabu@adl@act@endpbox
+\def\tabu@adl@fix {%
+    \let\adl@xarraydashrule \tabu@adl@xarraydashrule % <fix> arydshln
+    \let\adl@act@endpbox    \tabu@adl@act@endpbox    % <fix> arydshln
+    \let\adl@act@@endpbox   \tabu@adl@act@endpbox    % <fix> arydshln
+    \let\@preamerror        \@preamerr               % <fix> arydshln
+}% \tabu@adl@fix
+%% Correction for longtable' \@startbox definition ------------------
+%%    => \everypar is ``missing'' : TeX should be in vertical mode
+\def\tabu@LT@startpbox #1{%
+    \bgroup
+        \let\@footnotetext\LT@p@ftntext
+        \setlength\hsize{#1}%
+        \@arrayparboxrestore
+        \everypar{%
+            \vrule \@height \ht\@arstrutbox \@width \z@
+            \everypar{}}%
+}% \tabu@LT@startpbox
+%% \tracingtabu  and  the package options ------------------
+\DeclareOption{delarray}{\AtEndOfPackage{\RequirePackage{delarray}}}
+\DeclareOption{linegoal}{%
+   \AtEndOfPackage{%
+      \RequirePackage{linegoal}[2010/12/07]%
+      \let\tabudefaulttarget \linegoal% \linegoal is \linewidth if not pdfTeX
+}}
+\DeclareOption{scantokens}{\tabuscantokenstrue}
+\DeclareOption{debugshow}{\AtEndOfPackage{\tracingtabu=\tw@}}
+\def\tracingtabu {\begingroup\@ifnextchar=%
+    {\afterassignment\tabu@tracing\count@}
+    {\afterassignment\tabu@tracing\count@1\relax}}
+\def\tabu@tracing{\expandafter\endgroup
+    \expandafter\tabu@tr@cing \the\count@ \relax
+}% \tabu@tracing
+\def\tabu@tr@cing #1\relax {%
+    \ifnum#1>\thr@@ \let\tabu@tracinglines\message
+    \else           \let\tabu@tracinglines\@gobble
+    \fi
+    \ifnum#1>\tw@   \let\tabu@DBG        \tabu@@DBG
+                    \def\tabu@mkarstrut {\tabu@DBG@arstrut}%
+                    \tabustrutrule      1.5\p@
+    \else           \let\tabu@DBG        \@gobble
+                    \def\tabu@mkarstrut {\tabu@arstrut}%
+                    \tabustrutrule      \z@
+    \fi
+    \ifnum#1>\@ne   \let\tabu@debug      \message
+    \else           \let\tabu@debug      \@gobble
+    \fi
+    \ifnum#1>\z@
+        \let\tabu@message             \message
+        \let\tabu@tracing@save        \tabu@message@save
+        \let\tabu@starttimer          \tabu@pdftimer
+    \else
+        \let\tabu@message             \@gobble
+        \let\tabu@tracing@save        \@gobble
+        \let\tabu@starttimer          \relax
+    \fi
+}% \tabu@tr@cing
+%% Setup \AtBeginDocument
+\AtBeginDocument{\tabu@AtBeginDocument}
+\def\tabu@AtBeginDocument{\let\tabu@AtBeginDocument \@undefined
+    \ifdefined\arrayrulecolor   \tabu@colortbltrue       % <colortbl>
+                                \tabu@colortblalignments % different glues are used
+    \else                       \tabu@colortblfalse \fi
+    \ifdefined\CT@arc@ \else \let\CT@arc@  \relax \fi
+    \ifdefined\CT@drsc@\else \let\CT@drsc@ \relax \fi
+    \let\tabu@arc@L \CT@arc@ \let\tabu@drsc@L \CT@drsc@
+    \ifodd 1\ifcsname siunitx_table_collect_begin:Nn\endcsname   % <siunitx: ok>
+            \expandafter\ifx
+                \csname siunitx_table_collect_begin:Nn\endcsname\relax 0\fi\fi\relax
+            \tabu@siunitxtrue
+    \else   \let\tabu@maybesiunitx   \@firstofone                % <not siunitx: setup>
+            \let\tabu@siunitx        \tabu@nosiunitx
+            \tabu@siunitxfalse
+    \fi
+    \ifdefined\adl@array        % <arydshln>
+    \else     \let\tabu@adl@fix \relax
+              \let\tabu@adl@endtrial \@empty \fi
+    \ifdefined\longtable        % <longtable>
+    \else     \let\longtabu \tabu@nolongtabu \fi
+    \ifdefined\cellspacetoplimit \tabu@warn@cellspace\fi
+    \csname\ifcsname ifHy@hyperfootnotes\endcsname % <hyperfootnotes>
+            ifHy@hyperfootnotes\else iffalse\fi\endcsname
+        \let\tabu@footnotetext \tabu@Hy@ftntext
+        \let\tabu@xfootnote    \tabu@Hy@xfootnote \fi
+    \ifdefined\FV@DefineCheckEnd% <fancyvrb>
+            \tabu@fancyvrb  \fi
+    \ifdefined\color            % <color / xcolor>
+        \let\tabu@color \color
+        \def\tabu@leavevmodecolor ##1{%
+            \def\tabu@leavevmodecolor {\leavevmode ##1}%
+        }\expandafter\tabu@leavevmodecolor\expandafter{\color}%
+    \else
+        \let\tabu@color           \tabu@nocolor
+        \let\tabu@leavevmodecolor \@firstofone \fi
+    \tabu@latextwoe
+    \ifdefined\@raggedtwoe@everyselectfont    % <ragged2e>
+        \tabu@raggedtwoe
+    \else
+        \let\tabu@cell@L \tabu@cell@l
+        \let\tabu@cell@R \tabu@cell@r
+        \let\tabu@cell@C \tabu@cell@c
+        \let\tabu@cell@J \tabu@cell@j   \fi
+    \expandafter\in@ \expandafter\@arrayright \expandafter{\endarray}%
+    \ifin@ \let\tabu@endarray \endarray
+    \else  \tabu@fix@arrayright \fi% <fix for colortbl & arydshln (delarray)>
+    \everyrow{}%
+}% \tabu@AtBeginDocument
+\def\tabu@warn@cellspace{%
+    \PackageWarning{tabu}{%
+                  Package cellspace has some limitations
+    \MessageBreak And redefines some macros of array.sty.
+    \MessageBreak Please use \string\tabulinesep\space to control
+    \MessageBreak vertical spacing of lines inside tabu environment}%
+}% \tabu@warn@cellspace
+%% tabu Package initialisation
+\tabuscantokensfalse
+\let\tabu@arc@G         \relax
+\let\tabu@drsc@G        \relax
+\let\tabu@evr@G         \@empty
+\let\tabu@rc@G          \@empty
+\def\tabu@ls@G          {\tabu@linestyle@}%
+\let\tabu@@rowfontreset \@empty % <init>
+\let\tabu@@celllalign   \@empty
+\let\tabu@@cellralign   \@empty
+\let\tabu@@cellleft     \@empty
+\let\tabu@@cellright    \@empty
+\def\tabu@naturalXmin   {\z@}
+\def\tabu@naturalXmax   {\z@}
+\let\tabu@rowfontreset  \@empty
+\def\tabulineon {4pt}\let\tabulineoff \tabulineon
+\tabu@everyrowtrue
+\ifdefined\pdfelapsedtime                   % <pdfTeX>
+        \def\tabu@pdftimer {\xdef\tabu@starttime{\the\pdfelapsedtime}}%
+\else   \let\tabu@pdftimer \relax \let\tabu@message@etime \relax
+\fi
+\tracingtabu=\z@
+\newtabulinestyle {=\maxdimen}% creates the 'factory' settings \tabu@linestyle@
+\tabulinestyle{}
+\taburowcolors{}
+\let\tabudefaulttarget  \linewidth
+\ProcessOptions*                % \ProcessOptions* is quicker !
+\endinput
+%%
+%% End of file `tabu.sty'.