From b8b40eb72a2f9d8aff26c36f2d3676532a4ab73b Mon Sep 17 00:00:00 2001
From: myles-parfeniuk <myles.parfenyuk@gmail.com>
Date: Fri, 6 Jun 2025 23:45:45 -0700
Subject: [PATCH] regenerated documentation

Signed-off-by: myles-parfeniuk <myles.parfenyuk@gmail.com>
---
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 .../html/_b_n_o08x_s_h2_h_a_l_8cpp.html       |  160 ++
 .../html/_b_n_o08x_s_h2_h_a_l_8cpp__incl.map  |   52 +
 .../html/_b_n_o08x_s_h2_h_a_l_8cpp__incl.md5  |    1 +
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 .../_b_n_o08x_s_h2_h_a_l_8hpp_source.html     |  161 ++
 .../html/_b_n_o08x_test_helper_8hpp.html      |  179 ++
 .../html/_b_n_o08x_test_helper_8hpp.js        |    4 +
 .../_b_n_o08x_test_helper_8hpp__dep__incl.map |    4 +
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 .../_b_n_o08x_test_helper_8hpp_source.html    |  267 ++
 .../html/_b_n_o08x_test_suite_8hpp.html       |  171 ++
 .../html/_b_n_o08x_test_suite_8hpp.js         |    4 +
 .../html/_b_n_o08x_test_suite_8hpp__incl.map  |   52 +
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 .../_b_n_o08x_test_suite_8hpp_source.html     |  220 ++
 documentation/html/annotated.html             |  155 +
 documentation/html/annotated_dup.js           |   56 +
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 documentation/html/class_b_n_o08x.html        | 1292 +++++++++
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 .../class_b_n_o08x_cb_generic-members.html    |  105 +
 .../html/class_b_n_o08x_cb_generic.html       |  238 ++
 .../html/class_b_n_o08x_cb_generic.js         |    7 +
 ...ss_b_n_o08x_cb_generic__inherit__graph.map |    5 +
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 ...ass_b_n_o08x_cb_param_rpt_i_d-members.html |  106 +
 .../html/class_b_n_o08x_cb_param_rpt_i_d.html |  229 ++
 .../html/class_b_n_o08x_cb_param_rpt_i_d.js   |    5 +
 ...b_n_o08x_cb_param_rpt_i_d__coll__graph.map |    4 +
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 ..._o08x_cb_param_rpt_i_d__inherit__graph.map |    4 +
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 .../class_b_n_o08x_cb_param_void-members.html |  106 +
 .../html/class_b_n_o08x_cb_param_void.html    |  223 ++
 .../html/class_b_n_o08x_cb_param_void.js      |    5 +
 ...ss_b_n_o08x_cb_param_void__coll__graph.map |    4 +
 ...ss_b_n_o08x_cb_param_void__coll__graph.md5 |    1 +
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 .../html/class_b_n_o08x_rpt-members.html      |  124 +
 documentation/html/class_b_n_o08x_rpt.html    | 1159 ++++++++
 documentation/html/class_b_n_o08x_rpt.js      |   24 +
 .../html/class_b_n_o08x_rpt__coll__graph.map  |    4 +
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 .../class_b_n_o08x_rpt__inherit__graph.map    |   25 +
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 .../class_b_n_o08x_rpt_shake_detector.html    |  348 +++
 .../html/class_b_n_o08x_rpt_shake_detector.js |    6 +
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 ..._rpt_stability_classifier__coll__graph.map |    5 +
 ..._rpt_stability_classifier__coll__graph.md5 |    1 +
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 .../html/class_b_n_o08x_rpt_step_counter.html |  381 +++
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 .../html/class_b_n_o08x_rpt_tap_detector.html |  348 +++
 .../html/class_b_n_o08x_rpt_tap_detector.js   |    6 +
 ...b_n_o08x_rpt_tap_detector__coll__graph.map |    5 +
 ...b_n_o08x_rpt_tap_detector__coll__graph.md5 |    1 +
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 ..._o08x_rpt_tap_detector__inherit__graph.map |    4 +
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 ...class_b_n_o08x_rpt_uncal_gyro-members.html |  125 +
 .../html/class_b_n_o08x_rpt_uncal_gyro.html   |  432 +++
 .../html/class_b_n_o08x_rpt_uncal_gyro.js     |    8 +
 ...s_b_n_o08x_rpt_uncal_gyro__coll__graph.map |    5 +
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 ..._n_o08x_rpt_uncal_gyro__inherit__graph.map |    4 +
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 ...class_b_n_o08x_rpt_uncal_magnetometer.html |  432 +++
 .../class_b_n_o08x_rpt_uncal_magnetometer.js  |    8 +
 ...8x_rpt_uncal_magnetometer__coll__graph.map |    5 +
 ...8x_rpt_uncal_magnetometer__coll__graph.md5 |    1 +
 ...8x_rpt_uncal_magnetometer__coll__graph.png |  Bin 0 -> 9455 bytes
 ...rpt_uncal_magnetometer__inherit__graph.map |    4 +
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 .../class_b_n_o08x_s_h2_h_a_l-members.html    |  109 +
 .../html/class_b_n_o08x_s_h2_h_a_l.html       |  475 +++
 .../class_b_n_o08x_test_helper-members.html   |  119 +
 .../html/class_b_n_o08x_test_helper.html      |  732 +++++
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 .../class_b_n_o08x_test_suite-members.html    |  107 +
 .../html/class_b_n_o08x_test_suite.html       |  342 +++
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 documentation/html/classes.html               |  104 +
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 documentation/html/dir_000001_000000.html     |   96 +
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 documentation/html/dir_000003_000001.html     |   96 +
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 .../dir_265603ded410f2aca2b4448eafbf9ea2.js   |    6 +
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 .../dir_7f19fe0488f3daa36ae73de472a8d793.html |  160 ++
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 ...r_7f19fe0488f3daa36ae73de472a8d793_dep.map |    4 +
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 .../dir_d44c64559bbebec7f509842c48db8b23.html |  134 +
 .../dir_d44c64559bbebec7f509842c48db8b23.js   |   11 +
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 .../dir_f3240a40405e637e3754c29e78869df9.html |  157 +
 .../dir_f3240a40405e637e3754c29e78869df9.js   |   25 +
 ...r_f3240a40405e637e3754c29e78869df9_dep.map |    5 +
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 documentation/html/doc.png                    |  Bin 0 -> 746 bytes
 documentation/html/doxygen.css                | 1841 ++++++++++++
 documentation/html/doxygen.svg                |   26 +
 documentation/html/dynsections.js             |  121 +
 documentation/html/files.html                 |  164 ++
 documentation/html/files_dup.js               |    8 +
 documentation/html/folderclosed.png           |  Bin 0 -> 616 bytes
 documentation/html/folderopen.png             |  Bin 0 -> 597 bytes
 documentation/html/functions.html             |  104 +
 documentation/html/functions_b.html           |  151 +
 documentation/html/functions_c.html           |  117 +
 documentation/html/functions_d.html           |  115 +
 documentation/html/functions_dup.js           |   29 +
 documentation/html/functions_e.html           |  104 +
 documentation/html/functions_f.html           |  102 +
 documentation/html/functions_func.html        |  148 +
 documentation/html/functions_func.js          |   20 +
 documentation/html/functions_func_c.html      |  112 +
 documentation/html/functions_func_d.html      |  111 +
 documentation/html/functions_func_e.html      |  100 +
 documentation/html/functions_func_f.html      |  100 +
 documentation/html/functions_func_g.html      |  116 +
 documentation/html/functions_func_h.html      |  102 +
 documentation/html/functions_func_i.html      |  101 +
 documentation/html/functions_func_l.html      |  101 +
 documentation/html/functions_func_o.html      |  102 +
 documentation/html/functions_func_p.html      |  104 +
 documentation/html/functions_func_r.html      |  107 +
 documentation/html/functions_func_s.html      |  111 +
 documentation/html/functions_func_t.html      |  102 +
 documentation/html/functions_func_u.html      |  102 +
 documentation/html/functions_func_w.html      |  100 +
 documentation/html/functions_func_~.html      |  101 +
 documentation/html/functions_g.html           |  119 +
 documentation/html/functions_h.html           |  102 +
 documentation/html/functions_i.html           |  112 +
 documentation/html/functions_j.html           |  100 +
 documentation/html/functions_k.html           |  100 +
 documentation/html/functions_l.html           |  104 +
 documentation/html/functions_m.html           |  104 +
 documentation/html/functions_o.html           |  103 +
 documentation/html/functions_p.html           |  107 +
 documentation/html/functions_q.html           |  102 +
 documentation/html/functions_r.html           |  125 +
 documentation/html/functions_rela.html        |  100 +
 documentation/html/functions_s.html           |  128 +
 documentation/html/functions_t.html           |  106 +
 documentation/html/functions_type.html        |   98 +
 documentation/html/functions_u.html           |  104 +
 documentation/html/functions_v.html           |  101 +
 documentation/html/functions_vars.html        |  289 ++
 documentation/html/functions_w.html           |  100 +
 documentation/html/functions_x.html           |  101 +
 documentation/html/functions_y.html           |  101 +
 documentation/html/functions_z.html           |  101 +
 documentation/html/functions_~.html           |  101 +
 documentation/html/globals.html               |  166 ++
 documentation/html/globals_defs.html          |  112 +
 documentation/html/globals_enum.html          |  104 +
 documentation/html/globals_func.html          |  101 +
 documentation/html/globals_type.html          |  118 +
 documentation/html/graph_legend.html          |  158 +
 documentation/html/graph_legend.md5           |    1 +
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 documentation/html/hierarchy.html             |  156 +
 documentation/html/hierarchy.js               |   58 +
 documentation/html/index.html                 |   98 +
 documentation/html/inherit_graph_0.map        |    3 +
 documentation/html/inherit_graph_0.md5        |    1 +
 documentation/html/inherit_graph_0.png        |  Bin 0 -> 1270 bytes
 documentation/html/inherit_graph_1.map        |    3 +
 documentation/html/inherit_graph_1.md5        |    1 +
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 documentation/html/inherit_graph_10.map       |    3 +
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 documentation/html/inherit_graph_10.png       |  Bin 0 -> 1720 bytes
 documentation/html/inherit_graph_11.map       |    3 +
 documentation/html/inherit_graph_11.md5       |    1 +
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 documentation/html/inherit_graph_12.map       |    3 +
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 documentation/html/inherit_graph_12.png       |  Bin 0 -> 1576 bytes
 documentation/html/inherit_graph_13.map       |    3 +
 documentation/html/inherit_graph_13.md5       |    1 +
 documentation/html/inherit_graph_13.png       |  Bin 0 -> 1961 bytes
 documentation/html/inherit_graph_14.map       |    3 +
 documentation/html/inherit_graph_14.md5       |    1 +
 documentation/html/inherit_graph_14.png       |  Bin 0 -> 1938 bytes
 documentation/html/inherit_graph_15.map       |    3 +
 documentation/html/inherit_graph_15.md5       |    1 +
 documentation/html/inherit_graph_15.png       |  Bin 0 -> 1982 bytes
 documentation/html/inherit_graph_16.map       |    3 +
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 documentation/html/inherit_graph_17.map       |    3 +
 documentation/html/inherit_graph_17.md5       |    1 +
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 documentation/html/inherit_graph_18.map       |    3 +
 documentation/html/inherit_graph_18.md5       |    1 +
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 documentation/html/inherit_graph_19.map       |    3 +
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 documentation/html/inherit_graph_2.map        |    3 +
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 documentation/html/inherit_graph_2.png        |  Bin 0 -> 1694 bytes
 documentation/html/inherit_graph_20.map       |    3 +
 documentation/html/inherit_graph_20.md5       |    1 +
 documentation/html/inherit_graph_20.png       |  Bin 0 -> 1920 bytes
 documentation/html/inherit_graph_21.map       |    5 +
 documentation/html/inherit_graph_21.md5       |    1 +
 documentation/html/inherit_graph_21.png       |  Bin 0 -> 8605 bytes
 documentation/html/inherit_graph_22.map       |    3 +
 documentation/html/inherit_graph_22.md5       |    1 +
 documentation/html/inherit_graph_22.png       |  Bin 0 -> 3068 bytes
 documentation/html/inherit_graph_23.map       |    3 +
 documentation/html/inherit_graph_23.md5       |    1 +
 documentation/html/inherit_graph_23.png       |  Bin 0 -> 3309 bytes
 documentation/html/inherit_graph_24.map       |   25 +
 documentation/html/inherit_graph_24.md5       |    1 +
 documentation/html/inherit_graph_24.png       |  Bin 0 -> 107743 bytes
 documentation/html/inherit_graph_25.map       |    3 +
 documentation/html/inherit_graph_25.md5       |    1 +
 documentation/html/inherit_graph_25.png       |  Bin 0 -> 1895 bytes
 documentation/html/inherit_graph_26.map       |    3 +
 documentation/html/inherit_graph_26.md5       |    1 +
 documentation/html/inherit_graph_26.png       |  Bin 0 -> 2196 bytes
 documentation/html/inherit_graph_27.map       |    3 +
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 documentation/html/inherit_graph_3.map        |    3 +
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 documentation/html/inherit_graph_4.map        |    3 +
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 documentation/html/inherit_graph_6.map        |    3 +
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 documentation/html/inherit_graph_6.png        |  Bin 0 -> 1928 bytes
 documentation/html/inherit_graph_7.map        |    3 +
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 documentation/html/inherit_graph_8.map        |    3 +
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 documentation/html/inherit_graph_9.map        |    3 +
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+<a href="#nested-classes">Classes</a>  </div>
+  <div class="headertitle"><div class="title">BNO08x.hpp File Reference</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include &lt;etl/vector.h&gt;</code><br />
+<code>#include &lt;etl/variant.h&gt;</code><br />
+<code>#include &lt;etl/map.h&gt;</code><br />
+<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;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 &quot;<a class="el" href="_b_n_o08x_global_types_8hpp_source.html">BNO08xGlobalTypes.hpp</a>&quot;</code><br />
+<code>#include &quot;<a class="el" href="_b_n_o08x_private_types_8hpp_source.html">BNO08xPrivateTypes.hpp</a>&quot;</code><br />
+<code>#include &quot;<a class="el" href="_b_n_o08x_s_h2_h_a_l_8hpp_source.html">BNO08xSH2HAL.hpp</a>&quot;</code><br />
+<code>#include &quot;<a class="el" href="_b_n_o08x_reports_8hpp_source.html">BNO08xReports.hpp</a>&quot;</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>
+<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">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> IMU driver class.  <a href="class_b_n_o08x.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__reports__t.html">BNO08x::bno08x_reports_t</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Contains report implementations.  <a href="struct_b_n_o08x_1_1bno08x__reports__t.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><dl class="section author"><dt>Author</dt><dd>Myles Parfeniuk </dd></dl>
+</div></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
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diff --git a/documentation/html/_b_n_o08x_8hpp_source.html b/documentation/html/_b_n_o08x_8hpp_source.html
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+<meta name="generator" content="Doxygen 1.9.4"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>esp32_BNO08x: /media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/BNO08x.hpp Source File</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</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 1.9.4 -->
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+<div class="header">
+  <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> </div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span> </div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="comment">// etl includes</span></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="preprocessor">#include &lt;etl/vector.h&gt;</span></div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="preprocessor">#include &lt;etl/variant.h&gt;</span></div>
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="preprocessor">#include &lt;etl/map.h&gt;</span></div>
+<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span> </div>
+<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span><span class="comment">// esp-idf includes</span></div>
+<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span><span class="preprocessor">#include &lt;driver/gpio.h&gt;</span></div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span><span class="preprocessor">#include &lt;driver/spi_common.h&gt;</span></div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span><span class="preprocessor">#include &lt;driver/spi_master.h&gt;</span></div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span><span class="preprocessor">#include &lt;freertos/FreeRTOS.h&gt;</span></div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span><span class="preprocessor">#include &lt;freertos/task.h&gt;</span></div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span><span class="preprocessor">#include &lt;freertos/event_groups.h&gt;</span></div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span><span class="preprocessor">#include &lt;freertos/queue.h&gt;</span></div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span><span class="comment">// in-house includes</span></div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span><span class="preprocessor">#include &quot;<a class="code" href="_b_n_o08x_global_types_8hpp.html">BNO08xGlobalTypes.hpp</a>&quot;</span></div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span><span class="preprocessor">#include &quot;<a class="code" href="_b_n_o08x_private_types_8hpp.html">BNO08xPrivateTypes.hpp</a>&quot;</span></div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span><span class="preprocessor">#include &quot;<a class="code" href="_b_n_o08x_s_h2_h_a_l_8hpp.html">BNO08xSH2HAL.hpp</a>&quot;</span></div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span><span class="preprocessor">#include &quot;<a class="code" href="_b_n_o08x_reports_8hpp.html">BNO08xReports.hpp</a>&quot;</span></div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span> </div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html">   32</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="l00033" name="l00033"></a><span class="lineno">   33</span>{</div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>    <span class="keyword">public</span>:</div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>        <a class="code hl_function" href="class_b_n_o08x.html#ad12fb6cf310ad7a04a4e53809833bd61">BNO08x</a>(<a class="code hl_struct" href="structbno08x__config__t.html">bno08x_config_t</a> imu_config = <a class="code hl_typedef" href="_b_n_o08x_global_types_8hpp.html#a648bbdbf22731476890dd8da977d7503">bno08x_config_t</a>());</div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>        <a class="code hl_function" href="class_b_n_o08x.html#a687eee44d68e1bcabce04780d7eb5fb9">~BNO08x</a>();</div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span> </div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</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="l00039" name="l00039"></a><span class="lineno">   39</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="l00040" name="l00040"></a><span class="lineno">   40</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="l00041" name="l00041"></a><span class="lineno">   41</span>        <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x.html#aebacbe092615cd083cf996b14402bba6">disable_all_reports</a>();</div>
+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span>        <a class="code hl_enumeration" href="_b_n_o08x_global_types_8hpp.html#afed71c9ed8a8563767f26282408ccee2">BNO08xResetReason</a> <a class="code hl_function" href="class_b_n_o08x.html#a96d47dd0f9aedfbe3f731f8ae76b2e85">get_reset_reason</a>();</div>
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span> </div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>        <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x.html#aaaa15b21ad98a3b161065c3d03ff62b5">on</a>();</div>
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span>        <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x.html#a7c5774a48227e8e3346fa5df7dfa420c">sleep</a>();</div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span> </div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>        <span class="comment">// bool calibration_turntable_start(uint32_t period_us);</span></div>
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>        <span class="comment">// bool calibration_turntable_end(sh2_CalStatus_t&amp; status);</span></div>
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span> </div>
+<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>        <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x.html#a90ea8e811d4bea28a356290d6f5caac5">dynamic_calibration_enable</a>(<a class="code hl_enumeration" href="_b_n_o08x_global_types_8hpp.html#a25947bbe6bc4a7c9edd7067fdce0e9cc">BNO08xCalSel</a> sensor);</div>
+<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>        <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x.html#a5c7498f6fa4bd43280dff1d322233b95">dynamic_calibration_disable</a>(<a class="code hl_enumeration" href="_b_n_o08x_global_types_8hpp.html#a25947bbe6bc4a7c9edd7067fdce0e9cc">BNO08xCalSel</a> sensor);</div>
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>        <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x.html#a4e8b49abd33e6e11f23b2ae345058b9b">dynamic_calibration_autosave_enable</a>();</div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>        <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x.html#a9387728c276734da27388dbea38b6b32">dynamic_calibration_autosave_disable</a>();</div>
+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>        <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x.html#a85f1eca475ea0e6fbaff75c8a297d671">dynamic_calibration_save</a>();</div>
+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>        <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x.html#a441681a5133b1a125b534925c9bc10f9">dynamic_calibration_data_clear_ram</a>();</div>
+<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>        <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x.html#a65a7175b6f6ad6ce687e4fd4cd4bc396">dynamic_calibration_data_delete</a>();</div>
+<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>        <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x.html#abcdba0d0e82db480d20ea4564511a276">dynamic_calibration_run_routine</a>(); </div>
+<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span> </div>
+<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#ab8d5ebfc080838870e320494da3fa64d">   59</a></span>        <span class="keyword">constexpr</span> <span class="keyword">static</span> <span class="keywordtype">float</span> <a class="code hl_variable" href="class_b_n_o08x.html#ab8d5ebfc080838870e320494da3fa64d">SQRT2OVER2</a> = 0.7071067811865476f; <span class="comment">// sqrt(2)/2, used for setting system orientation</span></div>
+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>        <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x.html#abba85271f3333b7f395ec55915c1d5f9">set_system_orientation</a>(<span class="keywordtype">float</span> w, <span class="keywordtype">float</span> x, <span class="keywordtype">float</span> y, <span class="keywordtype">float</span> z);</div>
+<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>        <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x.html#ad42c335827c7b09cd2e4ff303a0d3520">get_system_orientation</a>(<span class="keywordtype">float</span> &amp;w, <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="l00062" name="l00062"></a><span class="lineno">   62</span> </div>
+<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>        <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x.html#a138577792350b8d5cc48cbf46b34c4f3">get_frs</a>(<a class="code hl_enumeration" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8e">BNO08xFrsID</a> frs_ID, uint32_t (&amp;data)[16], uint16_t&amp; rx_data_sz);</div>
+<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>        <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x.html#aa616a645a4fc9054194fdbf76ec9c5b5">write_frs</a>(<a class="code hl_enumeration" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8e">BNO08xFrsID</a> frs_ID, uint32_t *data, <span class="keyword">const</span> uint16_t tx_data_sz);</div>
+<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>        sh2_ProductIds_t <a class="code hl_function" href="class_b_n_o08x.html#aa8fd64f60de86ff6b8562f90f3b09690">get_product_IDs</a>();</div>
+<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span> </div>
+<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</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="l00068" name="l00068"></a><span class="lineno">   68</span>        <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x.html#aadd44524e6d22c48916acd9518b63ec3">register_cb</a>(std::function&lt;<span class="keywordtype">void</span>(<span class="keywordtype">void</span>)&gt; cb_fxn);</div>
+<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>        <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x.html#aadd44524e6d22c48916acd9518b63ec3">register_cb</a>(std::function&lt;<span class="keywordtype">void</span>(uint8_t report_ID)&gt; cb_fxn);</div>
+<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span> </div>
+<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#a7441f7f2477c152deca17054041bf3e6">print_product_ids</a>();</div>
+<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x.html#aae4512fa4768becf0e3919a0e0ec34d8">print_system_orientation</a>();</div>
+<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span> </div>
+<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_1_1bno08x__reports__t.html">   75</a></span>        <span class="keyword">typedef</span> <span class="keyword">struct </span><span class="keyword">alignas</span>(4) <a class="code hl_struct" href="struct_b_n_o08x_1_1bno08x__reports__t.html">bno08x_reports_t</a></div>
+<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>        {</div>
+<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a6937b5d9bf8af9344a5013e1c543ab42">   77</a></span>                <a class="code hl_class" href="class_b_n_o08x_rpt_i_gyro_r_v.html">BNO08xRptIGyroRV</a> <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a6937b5d9bf8af9344a5013e1c543ab42">rv_gyro_integrated</a>;</div>
+<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a5774fa69fc74264d40478a729aeb5ece">   78</a></span>                <a class="code hl_class" href="class_b_n_o08x_rpt_uncal_magnetometer.html">BNO08xRptUncalMagnetometer</a> <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a5774fa69fc74264d40478a729aeb5ece">uncal_magnetometer</a>;</div>
+<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a6f1929843393c09c21b1f107a47c8fe3">   79</a></span>                <a class="code hl_class" href="class_b_n_o08x_rpt_uncal_gyro.html">BNO08xRptUncalGyro</a> <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a6f1929843393c09c21b1f107a47c8fe3">uncal_gyro</a>;</div>
+<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_1_1bno08x__reports__t.html#aeab138f8ddfed3f4d6b855a73b7e2db5">   80</a></span>                <a class="code hl_class" href="class_b_n_o08x_rpt_r_v.html">BNO08xRptRV</a> <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#aeab138f8ddfed3f4d6b855a73b7e2db5">rv</a>;</div>
+<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a7f33ac650137f5933ee1eab1ce936db6">   81</a></span>                <a class="code hl_class" href="class_b_n_o08x_rpt_game_r_v.html">BNO08xRptGameRV</a> <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a7f33ac650137f5933ee1eab1ce936db6">rv_game</a>;</div>
+<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a027c914e51da445148dc9b2735cc5fc9">   82</a></span>                <a class="code hl_class" href="class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v.html">BNO08xRptARVRStabilizedRV</a> <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a027c914e51da445148dc9b2735cc5fc9">rv_ARVR_stabilized</a>;</div>
+<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_1_1bno08x__reports__t.html#af550968d0e56f114b4afb20a5a442206">   83</a></span>                <a class="code hl_class" href="class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v.html">BNO08xRptARVRStabilizedGameRV</a> <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#af550968d0e56f114b4afb20a5a442206">rv_ARVR_stabilized_game</a>;</div>
+<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a7e17ff7b9763ed040158813c69614a9f">   84</a></span>                <a class="code hl_class" href="class_b_n_o08x_rpt_r_v_geomag.html">BNO08xRptRVGeomag</a> <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a7e17ff7b9763ed040158813c69614a9f">rv_geomagnetic</a>;</div>
+<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a6475bdab7c49091f3086537efc00c12f">   85</a></span>                <a class="code hl_class" href="class_b_n_o08x_rpt_activity_classifier.html">BNO08xRptActivityClassifier</a> <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a6475bdab7c49091f3086537efc00c12f">activity_classifier</a>;</div>
+<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_1_1bno08x__reports__t.html#ab7939486c9ba7e7c70f82d2284fb6119">   86</a></span>                <a class="code hl_class" href="class_b_n_o08x_rpt_acceleration.html">BNO08xRptAcceleration</a> <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#ab7939486c9ba7e7c70f82d2284fb6119">accelerometer</a>;</div>
+<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_1_1bno08x__reports__t.html#ac8114db28ee3f7be5578e52f48caa9c3">   87</a></span>                <a class="code hl_class" href="class_b_n_o08x_rpt_linear_acceleration.html">BNO08xRptLinearAcceleration</a> <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#ac8114db28ee3f7be5578e52f48caa9c3">linear_accelerometer</a>;</div>
+<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_1_1bno08x__reports__t.html#af5245d5e4a6f7548a0c3a30af53b7355">   88</a></span>                <a class="code hl_class" href="class_b_n_o08x_rpt_gravity.html">BNO08xRptGravity</a> <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#af5245d5e4a6f7548a0c3a30af53b7355">gravity</a>;</div>
+<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a03d6194225331df5326a97ec6d45b094">   89</a></span>                <a class="code hl_class" href="class_b_n_o08x_rpt_cal_magnetometer.html">BNO08xRptCalMagnetometer</a> <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a03d6194225331df5326a97ec6d45b094">cal_magnetometer</a>;</div>
+<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_1_1bno08x__reports__t.html#adabe838126b5bbc83fc4f69bba78123e">   90</a></span>                <a class="code hl_class" href="class_b_n_o08x_rpt_cal_gyro.html">BNO08xRptCalGyro</a> <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#adabe838126b5bbc83fc4f69bba78123e">cal_gyro</a>;</div>
+<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a13357e58bc926c2420ab41e4ffef4196">   91</a></span>                <a class="code hl_class" href="class_b_n_o08x_rpt_raw_m_e_m_s_gyro.html">BNO08xRptRawMEMSGyro</a> <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a13357e58bc926c2420ab41e4ffef4196">raw_gyro</a>;</div>
+<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_1_1bno08x__reports__t.html#aa3a65aaf2adf05aa014b72c2d4485590">   92</a></span>                <a class="code hl_class" href="class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer.html">BNO08xRptRawMEMSAccelerometer</a> <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#aa3a65aaf2adf05aa014b72c2d4485590">raw_accelerometer</a>;</div>
+<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_1_1bno08x__reports__t.html#aad8698945b261c0a871f2f409897b071">   93</a></span>                <a class="code hl_class" href="class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer.html">BNO08xRptRawMEMSMagnetometer</a> <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#aad8698945b261c0a871f2f409897b071">raw_magnetometer</a>;</div>
+<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_1_1bno08x__reports__t.html#aee9528ea57ab86ef29e10de9ecfefcf7">   94</a></span>                <a class="code hl_class" href="class_b_n_o08x_rpt_step_counter.html">BNO08xRptStepCounter</a> <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#aee9528ea57ab86ef29e10de9ecfefcf7">step_counter</a>;</div>
+<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a0cabee7da991a7399d607373f09548a7">   95</a></span>                <a class="code hl_class" href="class_b_n_o08x_rpt_tap_detector.html">BNO08xRptTapDetector</a> <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a0cabee7da991a7399d607373f09548a7">tap_detector</a>;</div>
+<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a2edee4386eaea86ef3d316f5840d7a2f">   96</a></span>                <a class="code hl_class" href="class_b_n_o08x_rpt_stability_classifier.html">BNO08xRptStabilityClassifier</a> <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a2edee4386eaea86ef3d316f5840d7a2f">stability_classifier</a>;</div>
+<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a9d7ff08c5a141c3d1ad3493423e7c49c">   97</a></span>                <a class="code hl_class" href="class_b_n_o08x_rpt_shake_detector.html">BNO08xRptShakeDetector</a> <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a9d7ff08c5a141c3d1ad3493423e7c49c">shake_detector</a>;</div>
+<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span> </div>
+<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_1_1bno08x__reports__t.html#aad0b1641e9c31927c33d0f69c174f9cb">   99</a></span>                <a class="code hl_function" href="struct_b_n_o08x_1_1bno08x__reports__t.html#aad0b1641e9c31927c33d0f69c174f9cb">bno08x_reports_t</a>(<a class="code hl_struct" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a>* sync_ctx)</div>
+<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>                    : <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a6937b5d9bf8af9344a5013e1c543ab42">rv_gyro_integrated</a>(SH2_GYRO_INTEGRATED_RV, <a class="code hl_namespace" href="namespace_b_n_o08x_private_types.html">BNO08xPrivateTypes</a>::<a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fa6835a63fb08379608cda0a108098aac7">EVT_GRP_RPT_GYRO_INTEGRATED_RV_BIT</a>, sync_ctx)</div>
+<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span>                    , <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a5774fa69fc74264d40478a729aeb5ece">uncal_magnetometer</a>(</div>
+<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span>                              SH2_MAGNETIC_FIELD_UNCALIBRATED, <a class="code hl_namespace" href="namespace_b_n_o08x_private_types.html">BNO08xPrivateTypes</a>::<a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2faa54d15cc17179a6840b9ec3f4e0038cb">EVT_GRP_RPT_UNCAL_MAGNETOMETER_BIT</a>, sync_ctx)</div>
+<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span>                    , <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a6f1929843393c09c21b1f107a47c8fe3">uncal_gyro</a>(SH2_GYROSCOPE_UNCALIBRATED, <a class="code hl_namespace" href="namespace_b_n_o08x_private_types.html">BNO08xPrivateTypes</a>::<a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fa591c062247280798af0e40d6141614c6">EVT_GRP_RPT_UNCAL_GYRO_BIT</a>, sync_ctx)</div>
+<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span>                    , <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#aeab138f8ddfed3f4d6b855a73b7e2db5">rv</a>(SH2_ROTATION_VECTOR, <a class="code hl_namespace" href="namespace_b_n_o08x_private_types.html">BNO08xPrivateTypes</a>::<a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fac0ff3fde600aac814ad76a4769515ae8">EVT_GRP_RPT_RV_BIT</a>, sync_ctx)</div>
+<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>                    , <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a7f33ac650137f5933ee1eab1ce936db6">rv_game</a>(SH2_GAME_ROTATION_VECTOR, <a class="code hl_namespace" href="namespace_b_n_o08x_private_types.html">BNO08xPrivateTypes</a>::<a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fad39283f98adf7242b3b3ccf847c150cd">EVT_GRP_RPT_RV_GAME_BIT</a>, sync_ctx)</div>
+<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>                    , <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a027c914e51da445148dc9b2735cc5fc9">rv_ARVR_stabilized</a>(SH2_ARVR_STABILIZED_RV, <a class="code hl_namespace" href="namespace_b_n_o08x_private_types.html">BNO08xPrivateTypes</a>::<a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fab5d141bdda220e3fa0bd9eb0fe3f31b5">EVT_GRP_RPT_RV_ARVR_S_BIT</a>, sync_ctx)</div>
+<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span>                    , <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#af550968d0e56f114b4afb20a5a442206">rv_ARVR_stabilized_game</a>(</div>
+<div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span>                              SH2_ARVR_STABILIZED_GRV, <a class="code hl_namespace" href="namespace_b_n_o08x_private_types.html">BNO08xPrivateTypes</a>::<a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fab77588c26929a2d8dd8eeea883b905ca">EVT_GRP_RPT_RV_ARVR_S_GAME_BIT</a>, sync_ctx)</div>
+<div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span>                    , <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a7e17ff7b9763ed040158813c69614a9f">rv_geomagnetic</a>(SH2_GEOMAGNETIC_ROTATION_VECTOR, <a class="code hl_namespace" href="namespace_b_n_o08x_private_types.html">BNO08xPrivateTypes</a>::<a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fa728314f4744fc408c6b153e8fbb3feb4">EVT_GRP_RPT_GEOMAG_RV_BIT</a>, sync_ctx)</div>
+<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span>                    , <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a6475bdab7c49091f3086537efc00c12f">activity_classifier</a>(</div>
+<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span>                              SH2_PERSONAL_ACTIVITY_CLASSIFIER, <a class="code hl_namespace" href="namespace_b_n_o08x_private_types.html">BNO08xPrivateTypes</a>::<a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fa94cddd1837a77bba5644543b1ad8b9e7">EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT</a>, sync_ctx)</div>
+<div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span>                    , <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#ab7939486c9ba7e7c70f82d2284fb6119">accelerometer</a>(SH2_ACCELEROMETER, <a class="code hl_namespace" href="namespace_b_n_o08x_private_types.html">BNO08xPrivateTypes</a>::<a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2faa5b9ffe097d1eb83a6a5a13871da0891">EVT_GRP_RPT_ACCELEROMETER_BIT</a>, sync_ctx)</div>
+<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span>                    , <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#ac8114db28ee3f7be5578e52f48caa9c3">linear_accelerometer</a>(</div>
+<div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span>                              SH2_LINEAR_ACCELERATION, <a class="code hl_namespace" href="namespace_b_n_o08x_private_types.html">BNO08xPrivateTypes</a>::<a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fa68851003c2b7df34c3acf882251c60e2">EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT</a>, sync_ctx)</div>
+<div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span>                    , <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#af5245d5e4a6f7548a0c3a30af53b7355">gravity</a>(SH2_GRAVITY, <a class="code hl_namespace" href="namespace_b_n_o08x_private_types.html">BNO08xPrivateTypes</a>::<a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fabd9e62157a0bc3dc38c3473d7bc2799f">EVT_GRP_RPT_GRAVITY_BIT</a>, sync_ctx)</div>
+<div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span>                    , <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a03d6194225331df5326a97ec6d45b094">cal_magnetometer</a>(</div>
+<div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span>                              SH2_MAGNETIC_FIELD_CALIBRATED, <a class="code hl_namespace" href="namespace_b_n_o08x_private_types.html">BNO08xPrivateTypes</a>::<a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fac1d15dddeab169b213c719e6b0fef32d">EVT_GRP_RPT_CAL_MAGNETOMETER_BIT</a>, sync_ctx)</div>
+<div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span>                    , <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#adabe838126b5bbc83fc4f69bba78123e">cal_gyro</a>(SH2_GYROSCOPE_CALIBRATED, <a class="code hl_namespace" href="namespace_b_n_o08x_private_types.html">BNO08xPrivateTypes</a>::<a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2faeb1961d7852ea305443610b2521aaea7">EVT_GRP_RPT_CAL_GYRO_BIT</a>, sync_ctx)</div>
+<div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span>                    , <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a13357e58bc926c2420ab41e4ffef4196">raw_gyro</a>(SH2_RAW_GYROSCOPE, <a class="code hl_namespace" href="namespace_b_n_o08x_private_types.html">BNO08xPrivateTypes</a>::<a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fadcfcdea69099869ebf7f246ff5b7e8bb">EVT_GRP_RPT_RAW_GYRO_BIT</a>, sync_ctx)</div>
+<div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span>                    , <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#aa3a65aaf2adf05aa014b72c2d4485590">raw_accelerometer</a>(SH2_RAW_ACCELEROMETER, <a class="code hl_namespace" href="namespace_b_n_o08x_private_types.html">BNO08xPrivateTypes</a>::<a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fab7e6b36da354702880ff9118d45b6af2">EVT_GRP_RPT_RAW_ACCELEROMETER_BIT</a>, sync_ctx)</div>
+<div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span>                    , <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#aad8698945b261c0a871f2f409897b071">raw_magnetometer</a>(SH2_RAW_MAGNETOMETER, <a class="code hl_namespace" href="namespace_b_n_o08x_private_types.html">BNO08xPrivateTypes</a>::<a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fab57a2ea711bebb4d4e031a0b449160c7">EVT_GRP_RPT_RAW_MAGNETOMETER_BIT</a>, sync_ctx)</div>
+<div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span>                    , <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#aee9528ea57ab86ef29e10de9ecfefcf7">step_counter</a>(SH2_STEP_COUNTER, <a class="code hl_namespace" href="namespace_b_n_o08x_private_types.html">BNO08xPrivateTypes</a>::<a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fafb8f448edba339f37fdf794bd891f903">EVT_GRP_RPT_STEP_COUNTER_BIT</a>, sync_ctx)</div>
+<div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span>                    , <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a0cabee7da991a7399d607373f09548a7">tap_detector</a>(SH2_TAP_DETECTOR, <a class="code hl_namespace" href="namespace_b_n_o08x_private_types.html">BNO08xPrivateTypes</a>::<a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fad4482fb4fb6693a492584508691f2c77">EVT_GRP_RPT_TAP_DETECTOR_BIT</a>, sync_ctx)</div>
+<div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span>                    , <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a2edee4386eaea86ef3d316f5840d7a2f">stability_classifier</a>(</div>
+<div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span>                              SH2_STABILITY_CLASSIFIER, <a class="code hl_namespace" href="namespace_b_n_o08x_private_types.html">BNO08xPrivateTypes</a>::<a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fae138ae8422830982a470025d81c4be4b">EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT</a>, sync_ctx)</div>
+<div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span>                    , <a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a9d7ff08c5a141c3d1ad3493423e7c49c">shake_detector</a>(SH2_SHAKE_DETECTOR, <a class="code hl_namespace" href="namespace_b_n_o08x_private_types.html">BNO08xPrivateTypes</a>::<a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fad517d3ea5b1b259f20ed43e1fcf40e0c">EVT_GRP_RPT_SHAKE_DETECTOR_BIT</a>, sync_ctx)</div>
+<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span>                {</div>
+<div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span>                }</div>
+<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#ae08bdaff01ecacf0f399ab289fdf0b99">  129</a></span>        } <a class="code hl_typedef" href="class_b_n_o08x.html#ae08bdaff01ecacf0f399ab289fdf0b99">bno08x_reports_t</a>;</div>
+<div class="line"><a id="l00130" name="l00130"></a><span class="lineno">  130</span> </div>
+<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#ae1db7422ee9c2cac77382cc0a7aa430e">  131</a></span>        <a class="code hl_struct" href="struct_b_n_o08x_1_1bno08x__reports__t.html">bno08x_reports_t</a> <a class="code hl_variable" href="class_b_n_o08x.html#ae1db7422ee9c2cac77382cc0a7aa430e">rpt</a>;</div>
+<div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span> </div>
+<div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span>    <span class="keyword">private</span>:</div>
+<div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span>        <span class="comment">// data processing task</span></div>
+<div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> configSTACK_DEPTH_TYPE DATA_PROC_TASK_SZ =</div>
+<div class="line"><a id="l00136" name="l00136"></a><span class="lineno">  136</span>                CONFIG_ESP32_BNO08X_DATA_PROC_TASK_SZ; </div>
+<div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span>        TaskHandle_t data_proc_task_hdl;               </div>
+<div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span>        <span class="keyword">static</span> <span class="keywordtype">void</span> data_proc_task_trampoline(<span class="keywordtype">void</span>* arg);</div>
+<div class="line"><a id="l00139" name="l00139"></a><span class="lineno">  139</span>        <span class="keywordtype">void</span> data_proc_task();</div>
+<div class="line"><a id="l00140" name="l00140"></a><span class="lineno">  140</span> </div>
+<div class="line"><a id="l00141" name="l00141"></a><span class="lineno">  141</span>        <span class="comment">// sh2 service task</span></div>
+<div class="line"><a id="l00142" name="l00142"></a><span class="lineno">  142</span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> configSTACK_DEPTH_TYPE SH2_HAL_SERVICE_TASK_SZ =</div>
+<div class="line"><a id="l00143" name="l00143"></a><span class="lineno">  143</span>                CONFIG_ESP32_BNO08X_SH2_HAL_SERVICE_TASK_SZ; </div>
+<div class="line"><a id="l00144" name="l00144"></a><span class="lineno">  144</span>        TaskHandle_t sh2_HAL_service_task_hdl;               </div>
+<div class="line"><a id="l00145" name="l00145"></a><span class="lineno">  145</span>        <span class="keyword">static</span> <span class="keywordtype">void</span> sh2_HAL_service_task_trampoline(<span class="keywordtype">void</span>* arg);</div>
+<div class="line"><a id="l00146" name="l00146"></a><span class="lineno">  146</span>        <span class="keywordtype">void</span> sh2_HAL_service_task();</div>
+<div class="line"><a id="l00147" name="l00147"></a><span class="lineno">  147</span> </div>
+<div class="line"><a id="l00148" name="l00148"></a><span class="lineno">  148</span>        <span class="comment">// callback task</span></div>
+<div class="line"><a id="l00149" name="l00149"></a><span class="lineno">  149</span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> configSTACK_DEPTH_TYPE CB_TASK_SZ =</div>
+<div class="line"><a id="l00150" name="l00150"></a><span class="lineno">  150</span>                CONFIG_ESP32_BNO08X_CB_TASK_SZ; </div>
+<div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span>        TaskHandle_t cb_task_hdl;               </div>
+<div class="line"><a id="l00152" name="l00152"></a><span class="lineno">  152</span>        <span class="keyword">static</span> <span class="keywordtype">void</span> cb_task_trampoline(<span class="keywordtype">void</span>* arg);</div>
+<div class="line"><a id="l00153" name="l00153"></a><span class="lineno">  153</span>        <span class="keywordtype">void</span> cb_task();</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="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> BaseType_t CB_TASK_AFFINITY = </div>
+<div class="line"><a id="l00156" name="l00156"></a><span class="lineno">  156</span>                CONFIG_ESP32_BNO08X_CB_TASK_AFFINITY &lt; 0 ? tskNO_AFFINITY : CONFIG_ESP32_BNO08X_CB_TASK_AFFINITY ;  </div>
+<div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> UBaseType_t CB_TASK_PRIORITY = CONFIG_ESP32_BNO08X_CB_TASK_PRIORITY; </div>
+<div class="line"><a id="l00158" name="l00158"></a><span class="lineno">  158</span> </div>
+<div class="line"><a id="l00159" name="l00159"></a><span class="lineno">  159</span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> BaseType_t DATA_PROC_TASK_AFFINITY = </div>
+<div class="line"><a id="l00160" name="l00160"></a><span class="lineno">  160</span>                CONFIG_ESP32_BNO08X_DATA_PROC_TASK_AFFINITY &lt; 0 ? tskNO_AFFINITY : CONFIG_ESP32_BNO08X_DATA_PROC_TASK_AFFINITY; </div>
+<div class="line"><a id="l00161" name="l00161"></a><span class="lineno">  161</span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> UBaseType_t DATA_PROC_TASK_PRIORITY = CONFIG_ESP32_BNO08X_DATA_PROC_TASK_PRIORITY; </div>
+<div class="line"><a id="l00162" name="l00162"></a><span class="lineno">  162</span>        </div>
+<div class="line"><a id="l00163" name="l00163"></a><span class="lineno">  163</span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> BaseType_t SH2_HAL_SERVICE_TASK_AFFINITY = </div>
+<div class="line"><a id="l00164" name="l00164"></a><span class="lineno">  164</span>                CONFIG_ESP32_BNO08X_SH2_HAL_SERVICE_TASK_AFFINITY &lt; 0 ? tskNO_AFFINITY : CONFIG_ESP32_BNO08X_SH2_HAL_SERVICE_TASK_AFFINITY; </div>
+<div class="line"><a id="l00165" name="l00165"></a><span class="lineno">  165</span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> UBaseType_t SH2_HAL_SERVICE_TASK_PRIORITY = CONFIG_ESP32_BNO08X_SH2_HAL_SERVICE_TASK_PRIORITY; </div>
+<div class="line"><a id="l00166" name="l00166"></a><span class="lineno">  166</span> </div>
+<div class="line"><a id="l00167" name="l00167"></a><span class="lineno">  167</span> </div>
+<div class="line"><a id="l00168" name="l00168"></a><span class="lineno">  168</span>        SemaphoreHandle_t sem_kill_tasks; </div>
+<div class="line"><a id="l00169" name="l00169"></a><span class="lineno">  169</span> </div>
+<div class="line"><a id="l00170" name="l00170"></a><span class="lineno">  170</span>        <span class="keywordtype">void</span> lock_sh2_HAL();</div>
+<div class="line"><a id="l00171" name="l00171"></a><span class="lineno">  171</span>        <span class="keywordtype">void</span> unlock_sh2_HAL();</div>
+<div class="line"><a id="l00172" name="l00172"></a><span class="lineno">  172</span>        <span class="keywordtype">void</span> lock_user_data();</div>
+<div class="line"><a id="l00173" name="l00173"></a><span class="lineno">  173</span>        <span class="keywordtype">void</span> unlock_user_data();</div>
+<div class="line"><a id="l00174" name="l00174"></a><span class="lineno">  174</span> </div>
+<div class="line"><a id="l00175" name="l00175"></a><span class="lineno">  175</span>        <span class="keywordtype">void</span> handle_sensor_report(sh2_SensorValue_t* sensor_val);</div>
+<div class="line"><a id="l00176" name="l00176"></a><span class="lineno">  176</span>        <span class="keywordtype">void</span> handle_cb(uint8_t rpt_ID, <a class="code hl_class" href="class_b_n_o08x_cb_generic.html">BNO08xCbGeneric</a>* cb_entry);</div>
+<div class="line"><a id="l00177" name="l00177"></a><span class="lineno">  177</span> </div>
+<div class="line"><a id="l00178" name="l00178"></a><span class="lineno">  178</span>        esp_err_t init_config_args();</div>
+<div class="line"><a id="l00179" name="l00179"></a><span class="lineno">  179</span>        esp_err_t init_gpio();</div>
+<div class="line"><a id="l00180" name="l00180"></a><span class="lineno">  180</span>        esp_err_t init_gpio_inputs();</div>
+<div class="line"><a id="l00181" name="l00181"></a><span class="lineno">  181</span>        esp_err_t init_gpio_outputs();</div>
+<div class="line"><a id="l00182" name="l00182"></a><span class="lineno">  182</span>        esp_err_t init_hint_isr();</div>
+<div class="line"><a id="l00183" name="l00183"></a><span class="lineno">  183</span>        esp_err_t init_spi();</div>
+<div class="line"><a id="l00184" name="l00184"></a><span class="lineno">  184</span>        esp_err_t init_tasks();</div>
+<div class="line"><a id="l00185" name="l00185"></a><span class="lineno">  185</span>        esp_err_t init_sh2_HAL();</div>
+<div class="line"><a id="l00186" name="l00186"></a><span class="lineno">  186</span> </div>
+<div class="line"><a id="l00187" name="l00187"></a><span class="lineno">  187</span>        esp_err_t deinit_gpio();</div>
+<div class="line"><a id="l00188" name="l00188"></a><span class="lineno">  188</span>        esp_err_t deinit_gpio_inputs();</div>
+<div class="line"><a id="l00189" name="l00189"></a><span class="lineno">  189</span>        esp_err_t deinit_gpio_outputs();</div>
+<div class="line"><a id="l00190" name="l00190"></a><span class="lineno">  190</span>        esp_err_t deinit_hint_isr();</div>
+<div class="line"><a id="l00191" name="l00191"></a><span class="lineno">  191</span>        esp_err_t deinit_spi();</div>
+<div class="line"><a id="l00192" name="l00192"></a><span class="lineno">  192</span>        esp_err_t deinit_tasks();</div>
+<div class="line"><a id="l00193" name="l00193"></a><span class="lineno">  193</span>        esp_err_t deinit_sh2_HAL();</div>
+<div class="line"><a id="l00194" name="l00194"></a><span class="lineno">  194</span> </div>
+<div class="line"><a id="l00195" name="l00195"></a><span class="lineno">  195</span>        esp_err_t wait_for_hint();</div>
+<div class="line"><a id="l00196" name="l00196"></a><span class="lineno">  196</span>        esp_err_t wait_for_reset();</div>
+<div class="line"><a id="l00197" name="l00197"></a><span class="lineno">  197</span> </div>
+<div class="line"><a id="l00198" name="l00198"></a><span class="lineno">  198</span>        <span class="keywordtype">void</span> toggle_reset();</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>        esp_err_t re_enable_reports();</div>
+<div class="line"><a id="l00201" name="l00201"></a><span class="lineno">  201</span> </div>
+<div class="line"><a id="l00202" name="l00202"></a><span class="lineno">  202</span>        sh2_Hal_t sh2_HAL; </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>        QueueHandle_t</div>
+<div class="line"><a id="l00205" name="l00205"></a><span class="lineno">  205</span>                queue_rx_sensor_event; </div>
+<div class="line"><a id="l00206" name="l00206"></a><span class="lineno">  206</span> </div>
+<div class="line"><a id="l00207" name="l00207"></a><span class="lineno">  207</span>        QueueHandle_t queue_cb_report_id; </div>
+<div class="line"><a id="l00208" name="l00208"></a><span class="lineno">  208</span> </div>
+<div class="line"><a id="l00209" name="l00209"></a><span class="lineno">  209</span>        <a class="code hl_struct" href="structbno08x__config__t.html">bno08x_config_t</a> imu_config{};                   </div>
+<div class="line"><a id="l00210" name="l00210"></a><span class="lineno">  210</span>        spi_bus_config_t bus_config{};                  </div>
+<div class="line"><a id="l00211" name="l00211"></a><span class="lineno">  211</span>        spi_device_interface_config_t imu_spi_config{}; </div>
+<div class="line"><a id="l00212" name="l00212"></a><span class="lineno">  212</span>        spi_device_handle_t spi_hdl{};                  </div>
+<div class="line"><a id="l00213" name="l00213"></a><span class="lineno">  213</span>        spi_transaction_t spi_transaction{};            </div>
+<div class="line"><a id="l00214" name="l00214"></a><span class="lineno">  214</span>        <a class="code hl_struct" href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html">BNO08xPrivateTypes::bno08x_init_status_t</a></div>
+<div class="line"><a id="l00215" name="l00215"></a><span class="lineno">  215</span>                init_status; </div>
+<div class="line"><a id="l00216" name="l00216"></a><span class="lineno">  216</span>        <a class="code hl_struct" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> sync_ctx; </div>
+<div class="line"><a id="l00217" name="l00217"></a><span class="lineno">  217</span>        sh2_ProductIds_t product_IDs; </div>
+<div class="line"><a id="l00218" name="l00218"></a><span class="lineno">  218</span> </div>
+<div class="line"><a id="l00219" name="l00219"></a><span class="lineno">  219</span>        <span class="comment">// clang-format off</span></div>
+<div class="line"><a id="l00220" name="l00220"></a><span class="lineno">  220</span>        etl::map&lt;uint8_t, BNO08xRpt*, TOTAL_RPT_COUNT, etl::less&lt;uint8_t&gt;&gt; usr_reports = </div>
+<div class="line"><a id="l00221" name="l00221"></a><span class="lineno">  221</span>        {</div>
+<div class="line"><a id="l00222" name="l00222"></a><span class="lineno">  222</span>                {SH2_ACCELEROMETER, &amp;<a class="code hl_variable" href="class_b_n_o08x.html#ae1db7422ee9c2cac77382cc0a7aa430e">rpt</a>.<a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#ab7939486c9ba7e7c70f82d2284fb6119">accelerometer</a>},</div>
+<div class="line"><a id="l00223" name="l00223"></a><span class="lineno">  223</span>                {SH2_LINEAR_ACCELERATION, &amp;<a class="code hl_variable" href="class_b_n_o08x.html#ae1db7422ee9c2cac77382cc0a7aa430e">rpt</a>.<a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#ac8114db28ee3f7be5578e52f48caa9c3">linear_accelerometer</a>}, </div>
+<div class="line"><a id="l00224" name="l00224"></a><span class="lineno">  224</span>                {SH2_GRAVITY, &amp;<a class="code hl_variable" href="class_b_n_o08x.html#ae1db7422ee9c2cac77382cc0a7aa430e">rpt</a>.<a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#af5245d5e4a6f7548a0c3a30af53b7355">gravity</a>}, </div>
+<div class="line"><a id="l00225" name="l00225"></a><span class="lineno">  225</span>                {SH2_MAGNETIC_FIELD_CALIBRATED, &amp;<a class="code hl_variable" href="class_b_n_o08x.html#ae1db7422ee9c2cac77382cc0a7aa430e">rpt</a>.<a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a03d6194225331df5326a97ec6d45b094">cal_magnetometer</a>},</div>
+<div class="line"><a id="l00226" name="l00226"></a><span class="lineno">  226</span>                {SH2_MAGNETIC_FIELD_UNCALIBRATED, &amp;<a class="code hl_variable" href="class_b_n_o08x.html#ae1db7422ee9c2cac77382cc0a7aa430e">rpt</a>.<a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a5774fa69fc74264d40478a729aeb5ece">uncal_magnetometer</a>}, </div>
+<div class="line"><a id="l00227" name="l00227"></a><span class="lineno">  227</span>                {SH2_GYROSCOPE_CALIBRATED, &amp;<a class="code hl_variable" href="class_b_n_o08x.html#ae1db7422ee9c2cac77382cc0a7aa430e">rpt</a>.<a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#adabe838126b5bbc83fc4f69bba78123e">cal_gyro</a>},</div>
+<div class="line"><a id="l00228" name="l00228"></a><span class="lineno">  228</span>                {SH2_GYROSCOPE_UNCALIBRATED, &amp;<a class="code hl_variable" href="class_b_n_o08x.html#ae1db7422ee9c2cac77382cc0a7aa430e">rpt</a>.<a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a6f1929843393c09c21b1f107a47c8fe3">uncal_gyro</a>}, </div>
+<div class="line"><a id="l00229" name="l00229"></a><span class="lineno">  229</span>                {SH2_ROTATION_VECTOR, &amp;<a class="code hl_variable" href="class_b_n_o08x.html#ae1db7422ee9c2cac77382cc0a7aa430e">rpt</a>.<a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#aeab138f8ddfed3f4d6b855a73b7e2db5">rv</a>}, </div>
+<div class="line"><a id="l00230" name="l00230"></a><span class="lineno">  230</span>                {SH2_GAME_ROTATION_VECTOR, &amp;<a class="code hl_variable" href="class_b_n_o08x.html#ae1db7422ee9c2cac77382cc0a7aa430e">rpt</a>.<a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a7f33ac650137f5933ee1eab1ce936db6">rv_game</a>},</div>
+<div class="line"><a id="l00231" name="l00231"></a><span class="lineno">  231</span>                {SH2_ARVR_STABILIZED_RV, &amp;<a class="code hl_variable" href="class_b_n_o08x.html#ae1db7422ee9c2cac77382cc0a7aa430e">rpt</a>.<a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a027c914e51da445148dc9b2735cc5fc9">rv_ARVR_stabilized</a>}, </div>
+<div class="line"><a id="l00232" name="l00232"></a><span class="lineno">  232</span>                {SH2_ARVR_STABILIZED_GRV, &amp;<a class="code hl_variable" href="class_b_n_o08x.html#ae1db7422ee9c2cac77382cc0a7aa430e">rpt</a>.<a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#af550968d0e56f114b4afb20a5a442206">rv_ARVR_stabilized_game</a>},</div>
+<div class="line"><a id="l00233" name="l00233"></a><span class="lineno">  233</span>                {SH2_GYRO_INTEGRATED_RV, &amp;<a class="code hl_variable" href="class_b_n_o08x.html#ae1db7422ee9c2cac77382cc0a7aa430e">rpt</a>.<a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a6937b5d9bf8af9344a5013e1c543ab42">rv_gyro_integrated</a>}, </div>
+<div class="line"><a id="l00234" name="l00234"></a><span class="lineno">  234</span>                {SH2_GEOMAGNETIC_ROTATION_VECTOR, &amp;<a class="code hl_variable" href="class_b_n_o08x.html#ae1db7422ee9c2cac77382cc0a7aa430e">rpt</a>.<a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a7e17ff7b9763ed040158813c69614a9f">rv_geomagnetic</a>}, </div>
+<div class="line"><a id="l00235" name="l00235"></a><span class="lineno">  235</span>                {SH2_RAW_GYROSCOPE, &amp;<a class="code hl_variable" href="class_b_n_o08x.html#ae1db7422ee9c2cac77382cc0a7aa430e">rpt</a>.<a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a13357e58bc926c2420ab41e4ffef4196">raw_gyro</a>},</div>
+<div class="line"><a id="l00236" name="l00236"></a><span class="lineno">  236</span>                {SH2_RAW_ACCELEROMETER, &amp;<a class="code hl_variable" href="class_b_n_o08x.html#ae1db7422ee9c2cac77382cc0a7aa430e">rpt</a>.<a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#aa3a65aaf2adf05aa014b72c2d4485590">raw_accelerometer</a>}, </div>
+<div class="line"><a id="l00237" name="l00237"></a><span class="lineno">  237</span>                {SH2_RAW_MAGNETOMETER, &amp;<a class="code hl_variable" href="class_b_n_o08x.html#ae1db7422ee9c2cac77382cc0a7aa430e">rpt</a>.<a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#aad8698945b261c0a871f2f409897b071">raw_magnetometer</a>}, </div>
+<div class="line"><a id="l00238" name="l00238"></a><span class="lineno">  238</span>                {SH2_STEP_COUNTER, &amp;<a class="code hl_variable" href="class_b_n_o08x.html#ae1db7422ee9c2cac77382cc0a7aa430e">rpt</a>.<a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#aee9528ea57ab86ef29e10de9ecfefcf7">step_counter</a>},</div>
+<div class="line"><a id="l00239" name="l00239"></a><span class="lineno">  239</span>                {SH2_PERSONAL_ACTIVITY_CLASSIFIER, &amp;<a class="code hl_variable" href="class_b_n_o08x.html#ae1db7422ee9c2cac77382cc0a7aa430e">rpt</a>.<a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a6475bdab7c49091f3086537efc00c12f">activity_classifier</a>}, </div>
+<div class="line"><a id="l00240" name="l00240"></a><span class="lineno">  240</span>                {SH2_STABILITY_CLASSIFIER, &amp;<a class="code hl_variable" href="class_b_n_o08x.html#ae1db7422ee9c2cac77382cc0a7aa430e">rpt</a>.<a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a2edee4386eaea86ef3d316f5840d7a2f">stability_classifier</a>},</div>
+<div class="line"><a id="l00241" name="l00241"></a><span class="lineno">  241</span>                {SH2_SHAKE_DETECTOR, &amp;<a class="code hl_variable" href="class_b_n_o08x.html#ae1db7422ee9c2cac77382cc0a7aa430e">rpt</a>.<a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a9d7ff08c5a141c3d1ad3493423e7c49c">shake_detector</a>}, </div>
+<div class="line"><a id="l00242" name="l00242"></a><span class="lineno">  242</span>                {SH2_TAP_DETECTOR, &amp;<a class="code hl_variable" href="class_b_n_o08x.html#ae1db7422ee9c2cac77382cc0a7aa430e">rpt</a>.<a class="code hl_variable" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a0cabee7da991a7399d607373f09548a7">tap_detector</a>},</div>
+<div class="line"><a id="l00243" name="l00243"></a><span class="lineno">  243</span>                </div>
+<div class="line"><a id="l00244" name="l00244"></a><span class="lineno">  244</span>                <span class="comment">// not implemented, see include/report for existing implementations to add your own</span></div>
+<div class="line"><a id="l00245" name="l00245"></a><span class="lineno">  245</span>                {SH2_PRESSURE, <span class="keyword">nullptr</span>}, <span class="comment">// requires auxilary i2c sensor</span></div>
+<div class="line"><a id="l00246" name="l00246"></a><span class="lineno">  246</span>                {SH2_AMBIENT_LIGHT, <span class="keyword">nullptr</span>},  <span class="comment">// requires auxilary i2c sensor</span></div>
+<div class="line"><a id="l00247" name="l00247"></a><span class="lineno">  247</span>                {SH2_HUMIDITY, <span class="keyword">nullptr</span>},  <span class="comment">// requires auxilary i2c sensor</span></div>
+<div class="line"><a id="l00248" name="l00248"></a><span class="lineno">  248</span>                {SH2_PROXIMITY, <span class="keyword">nullptr</span>},  <span class="comment">// requires auxilary i2c sensor</span></div>
+<div class="line"><a id="l00249" name="l00249"></a><span class="lineno">  249</span>                {SH2_TEMPERATURE, <span class="keyword">nullptr</span>},  <span class="comment">// requires auxilary i2c sensor</span></div>
+<div class="line"><a id="l00250" name="l00250"></a><span class="lineno">  250</span>                {SH2_HEART_RATE_MONITOR, <span class="keyword">nullptr</span>},  <span class="comment">// requires auxilary i2c sensor</span></div>
+<div class="line"><a id="l00251" name="l00251"></a><span class="lineno">  251</span>                {SH2_STEP_DETECTOR, <span class="keyword">nullptr</span>},</div>
+<div class="line"><a id="l00252" name="l00252"></a><span class="lineno">  252</span>                {SH2_SIGNIFICANT_MOTION, <span class="keyword">nullptr</span>},</div>
+<div class="line"><a id="l00253" name="l00253"></a><span class="lineno">  253</span>                {SH2_FLIP_DETECTOR, <span class="keyword">nullptr</span>},</div>
+<div class="line"><a id="l00254" name="l00254"></a><span class="lineno">  254</span>                {SH2_PICKUP_DETECTOR, <span class="keyword">nullptr</span>},</div>
+<div class="line"><a id="l00255" name="l00255"></a><span class="lineno">  255</span>                {SH2_STABILITY_DETECTOR, <span class="keyword">nullptr</span>},</div>
+<div class="line"><a id="l00256" name="l00256"></a><span class="lineno">  256</span>                {SH2_SLEEP_DETECTOR, <span class="keyword">nullptr</span>},</div>
+<div class="line"><a id="l00257" name="l00257"></a><span class="lineno">  257</span>                {SH2_TILT_DETECTOR, <span class="keyword">nullptr</span>},</div>
+<div class="line"><a id="l00258" name="l00258"></a><span class="lineno">  258</span>                {SH2_POCKET_DETECTOR, <span class="keyword">nullptr</span>},</div>
+<div class="line"><a id="l00259" name="l00259"></a><span class="lineno">  259</span>                {SH2_CIRCLE_DETECTOR, <span class="keyword">nullptr</span>},</div>
+<div class="line"><a id="l00260" name="l00260"></a><span class="lineno">  260</span>                {SH2_IZRO_MOTION_REQUEST, <span class="keyword">nullptr</span>}</div>
+<div class="line"><a id="l00261" name="l00261"></a><span class="lineno">  261</span>        };</div>
+<div class="line"><a id="l00262" name="l00262"></a><span class="lineno">  262</span>        <span class="comment">// clang-format on</span></div>
+<div class="line"><a id="l00263" name="l00263"></a><span class="lineno">  263</span> </div>
+<div class="line"><a id="l00264" name="l00264"></a><span class="lineno">  264</span>        <span class="keyword">static</span> <span class="keywordtype">void</span> IRAM_ATTR hint_handler(<span class="keywordtype">void</span>* arg);</div>
+<div class="line"><a id="l00265" name="l00265"></a><span class="lineno">  265</span> </div>
+<div class="line"><a id="l00266" name="l00266"></a><span class="lineno">  266</span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint16_t RX_DATA_LENGTH = 300U; </div>
+<div class="line"><a id="l00267" name="l00267"></a><span class="lineno">  267</span> </div>
+<div class="line"><a id="l00268" name="l00268"></a><span class="lineno">  268</span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> TickType_t HOST_INT_TIMEOUT_DEFAULT_MS =</div>
+<div class="line"><a id="l00269" name="l00269"></a><span class="lineno">  269</span>                CONFIG_ESP32_BNO08X_HINT_TIMEOUT_MS /</div>
+<div class="line"><a id="l00270" name="l00270"></a><span class="lineno">  270</span>                portTICK_PERIOD_MS; </div>
+<div class="line"><a id="l00271" name="l00271"></a><span class="lineno">  271</span> </div>
+<div class="line"><a id="l00272" name="l00272"></a><span class="lineno">  272</span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> TickType_t DATA_AVAILABLE_TIMEOUT_MS =</div>
+<div class="line"><a id="l00273" name="l00273"></a><span class="lineno">  273</span>                CONFIG_ESP32_BNO08X_DATA_AVAILABLE_TIMEOUT_MS /</div>
+<div class="line"><a id="l00274" name="l00274"></a><span class="lineno">  274</span>                portTICK_PERIOD_MS; </div>
+<div class="line"><a id="l00275" name="l00275"></a><span class="lineno">  275</span> </div>
+<div class="line"><a id="l00276" name="l00276"></a><span class="lineno">  276</span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> TickType_t HARD_RESET_DELAY_MS =</div>
+<div class="line"><a id="l00277" name="l00277"></a><span class="lineno">  277</span>                CONFIG_ESP32_BNO08X_HARD_RESET_DELAY_MS /</div>
+<div class="line"><a id="l00278" name="l00278"></a><span class="lineno">  278</span>                portTICK_PERIOD_MS; </div>
+<div class="line"><a id="l00279" name="l00279"></a><span class="lineno">  279</span> </div>
+<div class="line"><a id="l00280" name="l00280"></a><span class="lineno">  280</span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint32_t SCLK_MAX_SPEED = 3000000UL; </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">  282</span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> <span class="keywordtype">char</span>* TAG = <span class="stringliteral">&quot;BNO08x&quot;</span>; </div>
+<div class="line"><a id="l00283" name="l00283"></a><span class="lineno">  283</span> </div>
+<div class="line"><a id="l00284" name="l00284"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a6dd0081dc9eb0cfb019bfdca3aa31802">  284</a></span>        <span class="keyword">friend</span> <span class="keyword">class </span><a class="code hl_class" href="class_b_n_o08x_s_h2_h_a_l.html">BNO08xSH2HAL</a>;</div>
+<div class="line"><a id="l00285" name="l00285"></a><span class="lineno"><a class="line" href="class_b_n_o08x.html#a190775b71c35d8007faae7dd6a9f1030">  285</a></span>        <span class="keyword">friend</span> <span class="keyword">class </span><a class="code hl_class" href="class_b_n_o08x_test_helper.html">BNO08xTestHelper</a>;</div>
+<div class="line"><a id="l00286" name="l00286"></a><span class="lineno">  286</span>};</div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html">BNO08xGlobalTypes.hpp</a></div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a25947bbe6bc4a7c9edd7067fdce0e9cc"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a25947bbe6bc4a7c9edd7067fdce0e9cc">BNO08xCalSel</a></div><div class="ttdeci">BNO08xCalSel</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:84</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a648bbdbf22731476890dd8da977d7503"><div class="ttname"><a href="_b_n_o08x_global_types_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_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8e"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8e">BNO08xFrsID</a></div><div class="ttdeci">BNO08xFrsID</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:240</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_afed71c9ed8a8563767f26282408ccee2"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#afed71c9ed8a8563767f26282408ccee2">BNO08xResetReason</a></div><div class="ttdeci">BNO08xResetReason</div><div class="ttdoc">Reason for previous IMU reset (returned by get_reset_reason())</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:94</div></div>
+<div class="ttc" id="a_b_n_o08x_private_types_8hpp_html"><div class="ttname"><a href="_b_n_o08x_private_types_8hpp.html">BNO08xPrivateTypes.hpp</a></div></div>
+<div class="ttc" id="a_b_n_o08x_reports_8hpp_html"><div class="ttname"><a href="_b_n_o08x_reports_8hpp.html">BNO08xReports.hpp</a></div></div>
+<div class="ttc" id="a_b_n_o08x_s_h2_h_a_l_8hpp_html"><div class="ttname"><a href="_b_n_o08x_s_h2_h_a_l_8hpp.html">BNO08xSH2HAL.hpp</a></div></div>
+<div class="ttc" id="aclass_b_n_o08x_cb_generic_html"><div class="ttname"><a href="class_b_n_o08x_cb_generic.html">BNO08xCbGeneric</a></div><div class="ttdoc">Parent class to represent callback functions as generic type such that all flavors can be invoked by ...</div><div class="ttdef"><b>Definition:</b> BNO08xCbGeneric.hpp:19</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="ttdoc">BNO08x IMU driver class.</div><div class="ttdef"><b>Definition:</b> BNO08x.hpp:33</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a138577792350b8d5cc48cbf46b34c4f3"><div class="ttname"><a href="class_b_n_o08x.html#a138577792350b8d5cc48cbf46b34c4f3">BNO08x::get_frs</a></div><div class="ttdeci">bool get_frs(BNO08xFrsID frs_ID, uint32_t(&amp;data)[16], uint16_t &amp;rx_data_sz)</div><div class="ttdoc">Retrieves a record from flash record system (if your goal is to retrieve sensor specific meta data us...</div><div class="ttdef"><b>Definition:</b> BNO08x.cpp:1727</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 device.</div><div class="ttdef"><b>Definition:</b> BNO08x.cpp:1061</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">Polls for new data/report to become available.</div><div class="ttdef"><b>Definition:</b> BNO08x.cpp:1892</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a441681a5133b1a125b534925c9bc10f9"><div class="ttname"><a href="class_b_n_o08x.html#a441681a5133b1a125b534925c9bc10f9">BNO08x::dynamic_calibration_data_clear_ram</a></div><div class="ttdeci">bool dynamic_calibration_data_clear_ram()</div><div class="ttdoc">Clears dynamic/motion engine calibration data from ram and resets BNO08x device. See ref manual 6....</div><div class="ttdef"><b>Definition:</b> BNO08x.cpp:1416</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a4e8b49abd33e6e11f23b2ae345058b9b"><div class="ttname"><a href="class_b_n_o08x.html#a4e8b49abd33e6e11f23b2ae345058b9b">BNO08x::dynamic_calibration_autosave_enable</a></div><div class="ttdeci">bool dynamic_calibration_autosave_enable()</div><div class="ttdoc">Enables the automatic saving of dynamic/ME calibration data to BNO08x internal flash See ref manual 6...</div><div class="ttdef"><b>Definition:</b> BNO08x.cpp:1365</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a5c7498f6fa4bd43280dff1d322233b95"><div class="ttname"><a href="class_b_n_o08x.html#a5c7498f6fa4bd43280dff1d322233b95">BNO08x::dynamic_calibration_disable</a></div><div class="ttdeci">bool dynamic_calibration_disable(BNO08xCalSel sensor)</div><div class="ttdoc">Disables dynamic/motion engine calibration for specified sensor(s), see ref. manual 6....</div><div class="ttdef"><b>Definition:</b> BNO08x.cpp:1338</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a65a7175b6f6ad6ce687e4fd4cd4bc396"><div class="ttname"><a href="class_b_n_o08x.html#a65a7175b6f6ad6ce687e4fd4cd4bc396">BNO08x::dynamic_calibration_data_delete</a></div><div class="ttdeci">bool dynamic_calibration_data_delete()</div><div class="ttdoc">Deletes dynamic calibration data from BNO08x internal flash and resets the device....</div><div class="ttdef"><b>Definition:</b> BNO08x.cpp:1689</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a687eee44d68e1bcabce04780d7eb5fb9"><div class="ttname"><a href="class_b_n_o08x.html#a687eee44d68e1bcabce04780d7eb5fb9">BNO08x::~BNO08x</a></div><div class="ttdeci">~BNO08x()</div><div class="ttdoc">BNO08x imu deconstructor.</div><div class="ttdef"><b>Definition:</b> BNO08x.cpp:39</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a7441f7f2477c152deca17054041bf3e6"><div class="ttname"><a href="class_b_n_o08x.html#a7441f7f2477c152deca17054041bf3e6">BNO08x::print_product_ids</a></div><div class="ttdeci">void print_product_ids()</div><div class="ttdoc">Prints product IDs received at initialization.</div><div class="ttdef"><b>Definition:</b> BNO08x.cpp:1945</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a7c5774a48227e8e3346fa5df7dfa420c"><div class="ttname"><a href="class_b_n_o08x.html#a7c5774a48227e8e3346fa5df7dfa420c">BNO08x::sleep</a></div><div class="ttdeci">bool sleep()</div><div class="ttdoc">Places BNO08x device in sleep state by sending SLEEP (3) command on &quot;device&quot; channel.</div><div class="ttdef"><b>Definition:</b> BNO08x.cpp:1254</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a85f1eca475ea0e6fbaff75c8a297d671"><div class="ttname"><a href="class_b_n_o08x.html#a85f1eca475ea0e6fbaff75c8a297d671">BNO08x::dynamic_calibration_save</a></div><div class="ttdeci">bool dynamic_calibration_save()</div><div class="ttdoc">Saves dynamic/motion engine calibration data to BNO08x internal flash immediately....</div><div class="ttdef"><b>Definition:</b> BNO08x.cpp:1399</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a90ea8e811d4bea28a356290d6f5caac5"><div class="ttname"><a href="class_b_n_o08x.html#a90ea8e811d4bea28a356290d6f5caac5">BNO08x::dynamic_calibration_enable</a></div><div class="ttdeci">bool dynamic_calibration_enable(BNO08xCalSel sensor)</div><div class="ttdoc">Starts simple calibration, see ref. manual 6.4.10.1.</div><div class="ttdef"><b>Definition:</b> BNO08x.cpp:1319</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a9387728c276734da27388dbea38b6b32"><div class="ttname"><a href="class_b_n_o08x.html#a9387728c276734da27388dbea38b6b32">BNO08x::dynamic_calibration_autosave_disable</a></div><div class="ttdeci">bool dynamic_calibration_autosave_disable()</div><div class="ttdoc">Disables the automatic saving of dynamic/ME calibration data to BNO08x internal flash See ref manual ...</div><div class="ttdef"><b>Definition:</b> BNO08x.cpp:1382</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_a96d47dd0f9aedfbe3f731f8ae76b2e85"><div class="ttname"><a href="class_b_n_o08x.html#a96d47dd0f9aedfbe3f731f8ae76b2e85">BNO08x::get_reset_reason</a></div><div class="ttdeci">BNO08xResetReason get_reset_reason()</div><div class="ttdoc">Returns reason for previous reset via product ID report.</div><div class="ttdef"><b>Definition:</b> BNO08x.cpp:1207</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 device by sending RESET (1) command on &quot;device&quot; channel.</div><div class="ttdef"><b>Definition:</b> BNO08x.cpp:1105</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_aa616a645a4fc9054194fdbf76ec9c5b5"><div class="ttname"><a href="class_b_n_o08x.html#aa616a645a4fc9054194fdbf76ec9c5b5">BNO08x::write_frs</a></div><div class="ttdeci">bool write_frs(BNO08xFrsID frs_ID, uint32_t *data, const uint16_t tx_data_sz)</div><div class="ttdoc">Writes a record to flash record system.</div><div class="ttdef"><b>Definition:</b> BNO08x.cpp:1760</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_aa8fd64f60de86ff6b8562f90f3b09690"><div class="ttname"><a href="class_b_n_o08x.html#aa8fd64f60de86ff6b8562f90f3b09690">BNO08x::get_product_IDs</a></div><div class="ttdeci">sh2_ProductIds_t get_product_IDs()</div><div class="ttdoc">Returns product ID info sent by IMU at initialization.</div><div class="ttdef"><b>Definition:</b> BNO08x.cpp:1787</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_aaaa15b21ad98a3b161065c3d03ff62b5"><div class="ttname"><a href="class_b_n_o08x.html#aaaa15b21ad98a3b161065c3d03ff62b5">BNO08x::on</a></div><div class="ttdeci">bool on()</div><div class="ttdoc">Places BNO08x device in on state by sending ON (2) command on &quot;device&quot; channel.</div><div class="ttdef"><b>Definition:</b> BNO08x.cpp:1238</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_aadd44524e6d22c48916acd9518b63ec3"><div class="ttname"><a href="class_b_n_o08x.html#aadd44524e6d22c48916acd9518b63ec3">BNO08x::register_cb</a></div><div class="ttdeci">bool register_cb(std::function&lt; void(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:1910</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_aae4512fa4768becf0e3919a0e0ec34d8"><div class="ttname"><a href="class_b_n_o08x.html#aae4512fa4768becf0e3919a0e0ec34d8">BNO08x::print_system_orientation</a></div><div class="ttdeci">void print_system_orientation()</div><div class="ttdoc">Retrieves and prints system orientation.</div><div class="ttdef"><b>Definition:</b> BNO08x.cpp:1968</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_ab8d5ebfc080838870e320494da3fa64d"><div class="ttname"><a href="class_b_n_o08x.html#ab8d5ebfc080838870e320494da3fa64d">BNO08x::SQRT2OVER2</a></div><div class="ttdeci">static constexpr float SQRT2OVER2</div><div class="ttdef"><b>Definition:</b> BNO08x.hpp:59</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_abba85271f3333b7f395ec55915c1d5f9"><div class="ttname"><a href="class_b_n_o08x.html#abba85271f3333b7f395ec55915c1d5f9">BNO08x::set_system_orientation</a></div><div class="ttdeci">bool set_system_orientation(float w, float x, float y, float z)</div><div class="ttdoc">Sets the system orientation of the BNO08x device and persist it in flash (FRS).</div><div class="ttdef"><b>Definition:</b> BNO08x.cpp:2011</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_abcdba0d0e82db480d20ea4564511a276"><div class="ttname"><a href="class_b_n_o08x.html#abcdba0d0e82db480d20ea4564511a276">BNO08x::dynamic_calibration_run_routine</a></div><div class="ttdeci">bool dynamic_calibration_run_routine()</div><div class="ttdoc">Example calibration routine using dynamic/ME calibration commands.</div><div class="ttdef"><b>Definition:</b> BNO08x.cpp:1488</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_ad12fb6cf310ad7a04a4e53809833bd61"><div class="ttname"><a href="class_b_n_o08x.html#ad12fb6cf310ad7a04a4e53809833bd61">BNO08x::BNO08x</a></div><div class="ttdeci">BNO08x(bno08x_config_t imu_config=bno08x_config_t())</div><div class="ttdoc">BNO08x imu constructor.</div><div class="ttdef"><b>Definition:</b> BNO08x.cpp:20</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_ad42c335827c7b09cd2e4ff303a0d3520"><div class="ttname"><a href="class_b_n_o08x.html#ad42c335827c7b09cd2e4ff303a0d3520">BNO08x::get_system_orientation</a></div><div class="ttdeci">bool get_system_orientation(float &amp;w, float &amp;x, float &amp;y, float &amp;z)</div><div class="ttdoc">Retrieves the system orientation of the BNO08x device and converts to float.</div><div class="ttdef"><b>Definition:</b> BNO08x.cpp:2034</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_ae08bdaff01ecacf0f399ab289fdf0b99"><div class="ttname"><a href="class_b_n_o08x.html#ae08bdaff01ecacf0f399ab289fdf0b99">BNO08x::bno08x_reports_t</a></div><div class="ttdeci">struct BNO08x::bno08x_reports_t bno08x_reports_t</div><div class="ttdoc">Contains report implementations.</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_ae1db7422ee9c2cac77382cc0a7aa430e"><div class="ttname"><a href="class_b_n_o08x.html#ae1db7422ee9c2cac77382cc0a7aa430e">BNO08x::rpt</a></div><div class="ttdeci">bno08x_reports_t rpt</div><div class="ttdef"><b>Definition:</b> BNO08x.hpp:131</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:81</div></div>
+<div class="ttc" id="aclass_b_n_o08x_html_aebacbe092615cd083cf996b14402bba6"><div class="ttname"><a href="class_b_n_o08x.html#aebacbe092615cd083cf996b14402bba6">BNO08x::disable_all_reports</a></div><div class="ttdeci">bool disable_all_reports()</div><div class="ttdoc">Disables all currently enabled reports.</div><div class="ttdef"><b>Definition:</b> BNO08x.cpp:1163</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_html"><div class="ttname"><a href="class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v.html">BNO08xRptARVRStabilizedGameRV</a></div><div class="ttdoc">Class to represent ARVR stabilized rotation vector reports. (See Ref. Manual 6.5.43)</div><div class="ttdef"><b>Definition:</b> BNO08xRptARVRStabilizedGameRV.hpp:16</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_html"><div class="ttname"><a href="class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v.html">BNO08xRptARVRStabilizedRV</a></div><div class="ttdoc">Class to represent ARVR stabilized rotation vector reports. (See Ref. Manual 6.5.42)</div><div class="ttdef"><b>Definition:</b> BNO08xRptARVRStabilizedRV.hpp:16</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_acceleration_html"><div class="ttname"><a href="class_b_n_o08x_rpt_acceleration.html">BNO08xRptAcceleration</a></div><div class="ttdoc">Class to represent accelerometer reports. (See Ref. Manual 6.5.9)</div><div class="ttdef"><b>Definition:</b> BNO08xRptAcceleration.hpp:16</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_activity_classifier_html"><div class="ttname"><a href="class_b_n_o08x_rpt_activity_classifier.html">BNO08xRptActivityClassifier</a></div><div class="ttdoc">Class to represent activity classifier reports. (See Ref. Manual 6.5.36)</div><div class="ttdef"><b>Definition:</b> BNO08xRptActivityClassifier.hpp:16</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_cal_gyro_html"><div class="ttname"><a href="class_b_n_o08x_rpt_cal_gyro.html">BNO08xRptCalGyro</a></div><div class="ttdoc">Class to represent calibrated gyro reports. (See Ref. Manual 6.5.13)</div><div class="ttdef"><b>Definition:</b> BNO08xRptCalGyro.hpp:16</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_cal_magnetometer_html"><div class="ttname"><a href="class_b_n_o08x_rpt_cal_magnetometer.html">BNO08xRptCalMagnetometer</a></div><div class="ttdoc">Class to represent calibrated magnetometer reports. (See Ref. Manual 6.5.16)</div><div class="ttdef"><b>Definition:</b> BNO08xRptCalMagnetometer.hpp:16</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_game_r_v_html"><div class="ttname"><a href="class_b_n_o08x_rpt_game_r_v.html">BNO08xRptGameRV</a></div><div class="ttdoc">Class to represent game rotation vector reports. (See Ref. Manual 6.5.19)</div><div class="ttdef"><b>Definition:</b> BNO08xRptGameRV.hpp:16</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_gravity_html"><div class="ttname"><a href="class_b_n_o08x_rpt_gravity.html">BNO08xRptGravity</a></div><div class="ttdoc">Class to represent gravity reports. (See Ref. Manual 6.5.11)</div><div class="ttdef"><b>Definition:</b> BNO08xRptGravity.hpp:16</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_i_gyro_r_v_html"><div class="ttname"><a href="class_b_n_o08x_rpt_i_gyro_r_v.html">BNO08xRptIGyroRV</a></div><div class="ttdoc">Class to represent integrated gyro rotation vector reports. (See Ref. Manual 6.5.44)</div><div class="ttdef"><b>Definition:</b> BNO08xRptIGyroRV.hpp:16</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_linear_acceleration_html"><div class="ttname"><a href="class_b_n_o08x_rpt_linear_acceleration.html">BNO08xRptLinearAcceleration</a></div><div class="ttdoc">Class to represent linear accelerometer reports. (See Ref. Manual 6.5.10)</div><div class="ttdef"><b>Definition:</b> BNO08xRptLinearAcceleration.hpp:16</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_r_v_geomag_html"><div class="ttname"><a href="class_b_n_o08x_rpt_r_v_geomag.html">BNO08xRptRVGeomag</a></div><div class="ttdoc">Class to represent geomagnetic rotation vector reports. (See Ref. Manual 6.5.20)</div><div class="ttdef"><b>Definition:</b> BNO08xRptRVGeomag.hpp:16</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_r_v_html"><div class="ttname"><a href="class_b_n_o08x_rpt_r_v.html">BNO08xRptRV</a></div><div class="ttdoc">Class to represent rotation vector reports. (See Ref. Manual 6.5.18)</div><div class="ttdef"><b>Definition:</b> BNO08xRptRV.hpp:16</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_html"><div class="ttname"><a href="class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer.html">BNO08xRptRawMEMSAccelerometer</a></div><div class="ttdoc">Class to represent raw accelerometer reports. (See Ref. Manual 6.5.8)</div><div class="ttdef"><b>Definition:</b> BNO08xRptRawMEMSAccelerometer.hpp:16</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_raw_m_e_m_s_gyro_html"><div class="ttname"><a href="class_b_n_o08x_rpt_raw_m_e_m_s_gyro.html">BNO08xRptRawMEMSGyro</a></div><div class="ttdoc">Class to represent raw gyro reports. (See Ref. Manual 6.5.12)</div><div class="ttdef"><b>Definition:</b> BNO08xRptRawMEMSGyro.hpp:16</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_html"><div class="ttname"><a href="class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer.html">BNO08xRptRawMEMSMagnetometer</a></div><div class="ttdoc">Class to represent raw magnetometer reports. (See Ref. Manual 6.5.15)</div><div class="ttdef"><b>Definition:</b> BNO08xRptRawMEMSMagnetometer.hpp:16</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_shake_detector_html"><div class="ttname"><a href="class_b_n_o08x_rpt_shake_detector.html">BNO08xRptShakeDetector</a></div><div class="ttdoc">Class to represent shake detector reports. (See Ref. Manual 6.5.32)</div><div class="ttdef"><b>Definition:</b> BNO08xRptShakeDetector.hpp:16</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_stability_classifier_html"><div class="ttname"><a href="class_b_n_o08x_rpt_stability_classifier.html">BNO08xRptStabilityClassifier</a></div><div class="ttdoc">Class to represent stability classifier reports. (See Ref. Manual 6.5.31)</div><div class="ttdef"><b>Definition:</b> BNO08xRptStabilityClassifier.hpp:16</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_step_counter_html"><div class="ttname"><a href="class_b_n_o08x_rpt_step_counter.html">BNO08xRptStepCounter</a></div><div class="ttdoc">Class to represent step counter reports. (See Ref. Manual 6.5.29)</div><div class="ttdef"><b>Definition:</b> BNO08xRptStepCounter.hpp:16</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_tap_detector_html"><div class="ttname"><a href="class_b_n_o08x_rpt_tap_detector.html">BNO08xRptTapDetector</a></div><div class="ttdoc">Class to represent tap detector reports. (See Ref. Manual 6.5.27)</div><div class="ttdef"><b>Definition:</b> BNO08xRptTapDetector.hpp:16</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_uncal_gyro_html"><div class="ttname"><a href="class_b_n_o08x_rpt_uncal_gyro.html">BNO08xRptUncalGyro</a></div><div class="ttdoc">Class to represent uncalibrated gyro reports. (See Ref. Manual 6.5.14)</div><div class="ttdef"><b>Definition:</b> BNO08xRptUncalGyro.hpp:16</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_uncal_magnetometer_html"><div class="ttname"><a href="class_b_n_o08x_rpt_uncal_magnetometer.html">BNO08xRptUncalMagnetometer</a></div><div class="ttdoc">Class to represent uncalibrated magnetometer reports. (See Ref. Manual 6.5.17)</div><div class="ttdef"><b>Definition:</b> BNO08xRptUncalMagnetometer.hpp:17</div></div>
+<div class="ttc" id="aclass_b_n_o08x_s_h2_h_a_l_html"><div class="ttname"><a href="class_b_n_o08x_s_h2_h_a_l.html">BNO08xSH2HAL</a></div><div class="ttdoc">Fully static class containing callback implementations for sh2 HAL lib.</div><div class="ttdef"><b>Definition:</b> BNO08xSH2HAL.hpp:72</div></div>
+<div class="ttc" id="aclass_b_n_o08x_test_helper_html"><div class="ttname"><a href="class_b_n_o08x_test_helper.html">BNO08xTestHelper</a></div><div class="ttdoc">BNO08x unit test helper class.</div><div class="ttdef"><b>Definition:</b> BNO08xTestHelper.hpp:17</div></div>
+<div class="ttc" id="anamespace_b_n_o08x_private_types_html"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html">BNO08xPrivateTypes</a></div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:21</div></div>
+<div class="ttc" id="anamespace_b_n_o08x_private_types_html_ac53fb578d93a18b7a83903fc7a71dc2fa591c062247280798af0e40d6141614c6"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fa591c062247280798af0e40d6141614c6">BNO08xPrivateTypes::EVT_GRP_RPT_UNCAL_GYRO_BIT</a></div><div class="ttdeci">@ EVT_GRP_RPT_UNCAL_GYRO_BIT</div><div class="ttdoc">When set, uncalibrated gyro reports are active.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:91</div></div>
+<div class="ttc" id="anamespace_b_n_o08x_private_types_html_ac53fb578d93a18b7a83903fc7a71dc2fa6835a63fb08379608cda0a108098aac7"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fa6835a63fb08379608cda0a108098aac7">BNO08xPrivateTypes::EVT_GRP_RPT_GYRO_INTEGRATED_RV_BIT</a></div><div class="ttdeci">@ EVT_GRP_RPT_GYRO_INTEGRATED_RV_BIT</div><div class="ttdoc">When set, gyro integrator rotation vector reports are active.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:85</div></div>
+<div class="ttc" id="anamespace_b_n_o08x_private_types_html_ac53fb578d93a18b7a83903fc7a71dc2fa68851003c2b7df34c3acf882251c60e2"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fa68851003c2b7df34c3acf882251c60e2">BNO08xPrivateTypes::EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT</a></div><div class="ttdeci">@ EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT</div><div class="ttdoc">When set, linear accelerometer reports are active.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:88</div></div>
+<div class="ttc" id="anamespace_b_n_o08x_private_types_html_ac53fb578d93a18b7a83903fc7a71dc2fa728314f4744fc408c6b153e8fbb3feb4"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fa728314f4744fc408c6b153e8fbb3feb4">BNO08xPrivateTypes::EVT_GRP_RPT_GEOMAG_RV_BIT</a></div><div class="ttdeci">@ EVT_GRP_RPT_GEOMAG_RV_BIT</div><div class="ttdoc">When set, geomagnetic rotation vector reports are active.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:86</div></div>
+<div class="ttc" id="anamespace_b_n_o08x_private_types_html_ac53fb578d93a18b7a83903fc7a71dc2fa94cddd1837a77bba5644543b1ad8b9e7"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fa94cddd1837a77bba5644543b1ad8b9e7">BNO08xPrivateTypes::EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT</a></div><div class="ttdeci">@ EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT</div><div class="ttdoc">When set, activity classifier reports are active.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:97</div></div>
+<div class="ttc" id="anamespace_b_n_o08x_private_types_html_ac53fb578d93a18b7a83903fc7a71dc2faa54d15cc17179a6840b9ec3f4e0038cb"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2faa54d15cc17179a6840b9ec3f4e0038cb">BNO08xPrivateTypes::EVT_GRP_RPT_UNCAL_MAGNETOMETER_BIT</a></div><div class="ttdeci">@ EVT_GRP_RPT_UNCAL_MAGNETOMETER_BIT</div><div class="ttdoc">When set, uncalibrated magnetometer reports are active.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:93</div></div>
+<div class="ttc" id="anamespace_b_n_o08x_private_types_html_ac53fb578d93a18b7a83903fc7a71dc2faa5b9ffe097d1eb83a6a5a13871da0891"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2faa5b9ffe097d1eb83a6a5a13871da0891">BNO08xPrivateTypes::EVT_GRP_RPT_ACCELEROMETER_BIT</a></div><div class="ttdeci">@ EVT_GRP_RPT_ACCELEROMETER_BIT</div><div class="ttdoc">When set, accelerometer reports are active.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:87</div></div>
+<div class="ttc" id="anamespace_b_n_o08x_private_types_html_ac53fb578d93a18b7a83903fc7a71dc2fab57a2ea711bebb4d4e031a0b449160c7"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fab57a2ea711bebb4d4e031a0b449160c7">BNO08xPrivateTypes::EVT_GRP_RPT_RAW_MAGNETOMETER_BIT</a></div><div class="ttdeci">@ EVT_GRP_RPT_RAW_MAGNETOMETER_BIT</div><div class="ttdoc">When set, raw magnetometer reports are active.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:101</div></div>
+<div class="ttc" id="anamespace_b_n_o08x_private_types_html_ac53fb578d93a18b7a83903fc7a71dc2fab5d141bdda220e3fa0bd9eb0fe3f31b5"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fab5d141bdda220e3fa0bd9eb0fe3f31b5">BNO08xPrivateTypes::EVT_GRP_RPT_RV_ARVR_S_BIT</a></div><div class="ttdeci">@ EVT_GRP_RPT_RV_ARVR_S_BIT</div><div class="ttdoc">When set, ARVR stabilized rotation vector reports are active.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:83</div></div>
+<div class="ttc" id="anamespace_b_n_o08x_private_types_html_ac53fb578d93a18b7a83903fc7a71dc2fab77588c26929a2d8dd8eeea883b905ca"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fab77588c26929a2d8dd8eeea883b905ca">BNO08xPrivateTypes::EVT_GRP_RPT_RV_ARVR_S_GAME_BIT</a></div><div class="ttdeci">@ EVT_GRP_RPT_RV_ARVR_S_GAME_BIT</div><div class="ttdoc">When set, ARVR stabilized game rotation vector reports are active.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:84</div></div>
+<div class="ttc" id="anamespace_b_n_o08x_private_types_html_ac53fb578d93a18b7a83903fc7a71dc2fab7e6b36da354702880ff9118d45b6af2"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fab7e6b36da354702880ff9118d45b6af2">BNO08xPrivateTypes::EVT_GRP_RPT_RAW_ACCELEROMETER_BIT</a></div><div class="ttdeci">@ EVT_GRP_RPT_RAW_ACCELEROMETER_BIT</div><div class="ttdoc">When set, raw accelerometer reports are active.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:99</div></div>
+<div class="ttc" id="anamespace_b_n_o08x_private_types_html_ac53fb578d93a18b7a83903fc7a71dc2fabd9e62157a0bc3dc38c3473d7bc2799f"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fabd9e62157a0bc3dc38c3473d7bc2799f">BNO08xPrivateTypes::EVT_GRP_RPT_GRAVITY_BIT</a></div><div class="ttdeci">@ EVT_GRP_RPT_GRAVITY_BIT</div><div class="ttdoc">When set, gravity reports are active.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:89</div></div>
+<div class="ttc" id="anamespace_b_n_o08x_private_types_html_ac53fb578d93a18b7a83903fc7a71dc2fac0ff3fde600aac814ad76a4769515ae8"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fac0ff3fde600aac814ad76a4769515ae8">BNO08xPrivateTypes::EVT_GRP_RPT_RV_BIT</a></div><div class="ttdeci">@ EVT_GRP_RPT_RV_BIT</div><div class="ttdoc">When set, rotation vector reports are active.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:81</div></div>
+<div class="ttc" id="anamespace_b_n_o08x_private_types_html_ac53fb578d93a18b7a83903fc7a71dc2fac1d15dddeab169b213c719e6b0fef32d"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fac1d15dddeab169b213c719e6b0fef32d">BNO08xPrivateTypes::EVT_GRP_RPT_CAL_MAGNETOMETER_BIT</a></div><div class="ttdeci">@ EVT_GRP_RPT_CAL_MAGNETOMETER_BIT</div><div class="ttdoc">When set, calibrated magnetometer reports are active.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:92</div></div>
+<div class="ttc" id="anamespace_b_n_o08x_private_types_html_ac53fb578d93a18b7a83903fc7a71dc2fad39283f98adf7242b3b3ccf847c150cd"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fad39283f98adf7242b3b3ccf847c150cd">BNO08xPrivateTypes::EVT_GRP_RPT_RV_GAME_BIT</a></div><div class="ttdeci">@ EVT_GRP_RPT_RV_GAME_BIT</div><div class="ttdoc">When set, game rotation vector reports are active.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:82</div></div>
+<div class="ttc" id="anamespace_b_n_o08x_private_types_html_ac53fb578d93a18b7a83903fc7a71dc2fad4482fb4fb6693a492584508691f2c77"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fad4482fb4fb6693a492584508691f2c77">BNO08xPrivateTypes::EVT_GRP_RPT_TAP_DETECTOR_BIT</a></div><div class="ttdeci">@ EVT_GRP_RPT_TAP_DETECTOR_BIT</div><div class="ttdoc">When set, tap detector reports are active.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:94</div></div>
+<div class="ttc" id="anamespace_b_n_o08x_private_types_html_ac53fb578d93a18b7a83903fc7a71dc2fad517d3ea5b1b259f20ed43e1fcf40e0c"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fad517d3ea5b1b259f20ed43e1fcf40e0c">BNO08xPrivateTypes::EVT_GRP_RPT_SHAKE_DETECTOR_BIT</a></div><div class="ttdeci">@ EVT_GRP_RPT_SHAKE_DETECTOR_BIT</div><div class="ttdoc">When set, shake detector reports are active.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:98</div></div>
+<div class="ttc" id="anamespace_b_n_o08x_private_types_html_ac53fb578d93a18b7a83903fc7a71dc2fadcfcdea69099869ebf7f246ff5b7e8bb"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fadcfcdea69099869ebf7f246ff5b7e8bb">BNO08xPrivateTypes::EVT_GRP_RPT_RAW_GYRO_BIT</a></div><div class="ttdeci">@ EVT_GRP_RPT_RAW_GYRO_BIT</div><div class="ttdoc">When set, raw gyro reports are active.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:100</div></div>
+<div class="ttc" id="anamespace_b_n_o08x_private_types_html_ac53fb578d93a18b7a83903fc7a71dc2fae138ae8422830982a470025d81c4be4b"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fae138ae8422830982a470025d81c4be4b">BNO08xPrivateTypes::EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT</a></div><div class="ttdeci">@ EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT</div><div class="ttdoc">When set, stability classifier reports are active.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:96</div></div>
+<div class="ttc" id="anamespace_b_n_o08x_private_types_html_ac53fb578d93a18b7a83903fc7a71dc2faeb1961d7852ea305443610b2521aaea7"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2faeb1961d7852ea305443610b2521aaea7">BNO08xPrivateTypes::EVT_GRP_RPT_CAL_GYRO_BIT</a></div><div class="ttdeci">@ EVT_GRP_RPT_CAL_GYRO_BIT</div><div class="ttdoc">When set, calibrated gyro reports are active.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:90</div></div>
+<div class="ttc" id="anamespace_b_n_o08x_private_types_html_ac53fb578d93a18b7a83903fc7a71dc2fafb8f448edba339f37fdf794bd891f903"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fafb8f448edba339f37fdf794bd891f903">BNO08xPrivateTypes::EVT_GRP_RPT_STEP_COUNTER_BIT</a></div><div class="ttdeci">@ EVT_GRP_RPT_STEP_COUNTER_BIT</div><div class="ttdoc">When set, step counter reports are active.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:95</div></div>
+<div class="ttc" id="astruct_b_n_o08x_1_1bno08x__reports__t_html"><div class="ttname"><a href="struct_b_n_o08x_1_1bno08x__reports__t.html">BNO08x::bno08x_reports_t</a></div><div class="ttdoc">Contains report implementations.</div><div class="ttdef"><b>Definition:</b> BNO08x.hpp:76</div></div>
+<div class="ttc" id="astruct_b_n_o08x_1_1bno08x__reports__t_html_a027c914e51da445148dc9b2735cc5fc9"><div class="ttname"><a href="struct_b_n_o08x_1_1bno08x__reports__t.html#a027c914e51da445148dc9b2735cc5fc9">BNO08x::bno08x_reports_t::rv_ARVR_stabilized</a></div><div class="ttdeci">BNO08xRptARVRStabilizedRV rv_ARVR_stabilized</div><div class="ttdef"><b>Definition:</b> BNO08x.hpp:82</div></div>
+<div class="ttc" id="astruct_b_n_o08x_1_1bno08x__reports__t_html_a03d6194225331df5326a97ec6d45b094"><div class="ttname"><a href="struct_b_n_o08x_1_1bno08x__reports__t.html#a03d6194225331df5326a97ec6d45b094">BNO08x::bno08x_reports_t::cal_magnetometer</a></div><div class="ttdeci">BNO08xRptCalMagnetometer cal_magnetometer</div><div class="ttdef"><b>Definition:</b> BNO08x.hpp:89</div></div>
+<div class="ttc" id="astruct_b_n_o08x_1_1bno08x__reports__t_html_a0cabee7da991a7399d607373f09548a7"><div class="ttname"><a href="struct_b_n_o08x_1_1bno08x__reports__t.html#a0cabee7da991a7399d607373f09548a7">BNO08x::bno08x_reports_t::tap_detector</a></div><div class="ttdeci">BNO08xRptTapDetector tap_detector</div><div class="ttdef"><b>Definition:</b> BNO08x.hpp:95</div></div>
+<div class="ttc" id="astruct_b_n_o08x_1_1bno08x__reports__t_html_a13357e58bc926c2420ab41e4ffef4196"><div class="ttname"><a href="struct_b_n_o08x_1_1bno08x__reports__t.html#a13357e58bc926c2420ab41e4ffef4196">BNO08x::bno08x_reports_t::raw_gyro</a></div><div class="ttdeci">BNO08xRptRawMEMSGyro raw_gyro</div><div class="ttdef"><b>Definition:</b> BNO08x.hpp:91</div></div>
+<div class="ttc" id="astruct_b_n_o08x_1_1bno08x__reports__t_html_a2edee4386eaea86ef3d316f5840d7a2f"><div class="ttname"><a href="struct_b_n_o08x_1_1bno08x__reports__t.html#a2edee4386eaea86ef3d316f5840d7a2f">BNO08x::bno08x_reports_t::stability_classifier</a></div><div class="ttdeci">BNO08xRptStabilityClassifier stability_classifier</div><div class="ttdef"><b>Definition:</b> BNO08x.hpp:96</div></div>
+<div class="ttc" id="astruct_b_n_o08x_1_1bno08x__reports__t_html_a5774fa69fc74264d40478a729aeb5ece"><div class="ttname"><a href="struct_b_n_o08x_1_1bno08x__reports__t.html#a5774fa69fc74264d40478a729aeb5ece">BNO08x::bno08x_reports_t::uncal_magnetometer</a></div><div class="ttdeci">BNO08xRptUncalMagnetometer uncal_magnetometer</div><div class="ttdef"><b>Definition:</b> BNO08x.hpp:78</div></div>
+<div class="ttc" id="astruct_b_n_o08x_1_1bno08x__reports__t_html_a6475bdab7c49091f3086537efc00c12f"><div class="ttname"><a href="struct_b_n_o08x_1_1bno08x__reports__t.html#a6475bdab7c49091f3086537efc00c12f">BNO08x::bno08x_reports_t::activity_classifier</a></div><div class="ttdeci">BNO08xRptActivityClassifier activity_classifier</div><div class="ttdef"><b>Definition:</b> BNO08x.hpp:85</div></div>
+<div class="ttc" id="astruct_b_n_o08x_1_1bno08x__reports__t_html_a6937b5d9bf8af9344a5013e1c543ab42"><div class="ttname"><a href="struct_b_n_o08x_1_1bno08x__reports__t.html#a6937b5d9bf8af9344a5013e1c543ab42">BNO08x::bno08x_reports_t::rv_gyro_integrated</a></div><div class="ttdeci">BNO08xRptIGyroRV rv_gyro_integrated</div><div class="ttdef"><b>Definition:</b> BNO08x.hpp:77</div></div>
+<div class="ttc" id="astruct_b_n_o08x_1_1bno08x__reports__t_html_a6f1929843393c09c21b1f107a47c8fe3"><div class="ttname"><a href="struct_b_n_o08x_1_1bno08x__reports__t.html#a6f1929843393c09c21b1f107a47c8fe3">BNO08x::bno08x_reports_t::uncal_gyro</a></div><div class="ttdeci">BNO08xRptUncalGyro uncal_gyro</div><div class="ttdef"><b>Definition:</b> BNO08x.hpp:79</div></div>
+<div class="ttc" id="astruct_b_n_o08x_1_1bno08x__reports__t_html_a7e17ff7b9763ed040158813c69614a9f"><div class="ttname"><a href="struct_b_n_o08x_1_1bno08x__reports__t.html#a7e17ff7b9763ed040158813c69614a9f">BNO08x::bno08x_reports_t::rv_geomagnetic</a></div><div class="ttdeci">BNO08xRptRVGeomag rv_geomagnetic</div><div class="ttdef"><b>Definition:</b> BNO08x.hpp:84</div></div>
+<div class="ttc" id="astruct_b_n_o08x_1_1bno08x__reports__t_html_a7f33ac650137f5933ee1eab1ce936db6"><div class="ttname"><a href="struct_b_n_o08x_1_1bno08x__reports__t.html#a7f33ac650137f5933ee1eab1ce936db6">BNO08x::bno08x_reports_t::rv_game</a></div><div class="ttdeci">BNO08xRptGameRV rv_game</div><div class="ttdef"><b>Definition:</b> BNO08x.hpp:81</div></div>
+<div class="ttc" id="astruct_b_n_o08x_1_1bno08x__reports__t_html_a9d7ff08c5a141c3d1ad3493423e7c49c"><div class="ttname"><a href="struct_b_n_o08x_1_1bno08x__reports__t.html#a9d7ff08c5a141c3d1ad3493423e7c49c">BNO08x::bno08x_reports_t::shake_detector</a></div><div class="ttdeci">BNO08xRptShakeDetector shake_detector</div><div class="ttdef"><b>Definition:</b> BNO08x.hpp:97</div></div>
+<div class="ttc" id="astruct_b_n_o08x_1_1bno08x__reports__t_html_aa3a65aaf2adf05aa014b72c2d4485590"><div class="ttname"><a href="struct_b_n_o08x_1_1bno08x__reports__t.html#aa3a65aaf2adf05aa014b72c2d4485590">BNO08x::bno08x_reports_t::raw_accelerometer</a></div><div class="ttdeci">BNO08xRptRawMEMSAccelerometer raw_accelerometer</div><div class="ttdef"><b>Definition:</b> BNO08x.hpp:92</div></div>
+<div class="ttc" id="astruct_b_n_o08x_1_1bno08x__reports__t_html_aad0b1641e9c31927c33d0f69c174f9cb"><div class="ttname"><a href="struct_b_n_o08x_1_1bno08x__reports__t.html#aad0b1641e9c31927c33d0f69c174f9cb">BNO08x::bno08x_reports_t::bno08x_reports_t</a></div><div class="ttdeci">bno08x_reports_t(BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</div><div class="ttdef"><b>Definition:</b> BNO08x.hpp:99</div></div>
+<div class="ttc" id="astruct_b_n_o08x_1_1bno08x__reports__t_html_aad8698945b261c0a871f2f409897b071"><div class="ttname"><a href="struct_b_n_o08x_1_1bno08x__reports__t.html#aad8698945b261c0a871f2f409897b071">BNO08x::bno08x_reports_t::raw_magnetometer</a></div><div class="ttdeci">BNO08xRptRawMEMSMagnetometer raw_magnetometer</div><div class="ttdef"><b>Definition:</b> BNO08x.hpp:93</div></div>
+<div class="ttc" id="astruct_b_n_o08x_1_1bno08x__reports__t_html_ab7939486c9ba7e7c70f82d2284fb6119"><div class="ttname"><a href="struct_b_n_o08x_1_1bno08x__reports__t.html#ab7939486c9ba7e7c70f82d2284fb6119">BNO08x::bno08x_reports_t::accelerometer</a></div><div class="ttdeci">BNO08xRptAcceleration accelerometer</div><div class="ttdef"><b>Definition:</b> BNO08x.hpp:86</div></div>
+<div class="ttc" id="astruct_b_n_o08x_1_1bno08x__reports__t_html_ac8114db28ee3f7be5578e52f48caa9c3"><div class="ttname"><a href="struct_b_n_o08x_1_1bno08x__reports__t.html#ac8114db28ee3f7be5578e52f48caa9c3">BNO08x::bno08x_reports_t::linear_accelerometer</a></div><div class="ttdeci">BNO08xRptLinearAcceleration linear_accelerometer</div><div class="ttdef"><b>Definition:</b> BNO08x.hpp:87</div></div>
+<div class="ttc" id="astruct_b_n_o08x_1_1bno08x__reports__t_html_adabe838126b5bbc83fc4f69bba78123e"><div class="ttname"><a href="struct_b_n_o08x_1_1bno08x__reports__t.html#adabe838126b5bbc83fc4f69bba78123e">BNO08x::bno08x_reports_t::cal_gyro</a></div><div class="ttdeci">BNO08xRptCalGyro cal_gyro</div><div class="ttdef"><b>Definition:</b> BNO08x.hpp:90</div></div>
+<div class="ttc" id="astruct_b_n_o08x_1_1bno08x__reports__t_html_aeab138f8ddfed3f4d6b855a73b7e2db5"><div class="ttname"><a href="struct_b_n_o08x_1_1bno08x__reports__t.html#aeab138f8ddfed3f4d6b855a73b7e2db5">BNO08x::bno08x_reports_t::rv</a></div><div class="ttdeci">BNO08xRptRV rv</div><div class="ttdef"><b>Definition:</b> BNO08x.hpp:80</div></div>
+<div class="ttc" id="astruct_b_n_o08x_1_1bno08x__reports__t_html_aee9528ea57ab86ef29e10de9ecfefcf7"><div class="ttname"><a href="struct_b_n_o08x_1_1bno08x__reports__t.html#aee9528ea57ab86ef29e10de9ecfefcf7">BNO08x::bno08x_reports_t::step_counter</a></div><div class="ttdeci">BNO08xRptStepCounter step_counter</div><div class="ttdef"><b>Definition:</b> BNO08x.hpp:94</div></div>
+<div class="ttc" id="astruct_b_n_o08x_1_1bno08x__reports__t_html_af5245d5e4a6f7548a0c3a30af53b7355"><div class="ttname"><a href="struct_b_n_o08x_1_1bno08x__reports__t.html#af5245d5e4a6f7548a0c3a30af53b7355">BNO08x::bno08x_reports_t::gravity</a></div><div class="ttdeci">BNO08xRptGravity gravity</div><div class="ttdef"><b>Definition:</b> BNO08x.hpp:88</div></div>
+<div class="ttc" id="astruct_b_n_o08x_1_1bno08x__reports__t_html_af550968d0e56f114b4afb20a5a442206"><div class="ttname"><a href="struct_b_n_o08x_1_1bno08x__reports__t.html#af550968d0e56f114b4afb20a5a442206">BNO08x::bno08x_reports_t::rv_ARVR_stabilized_game</a></div><div class="ttdeci">BNO08xRptARVRStabilizedGameRV rv_ARVR_stabilized_game</div><div class="ttdef"><b>Definition:</b> BNO08x.hpp:83</div></div>
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+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
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+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
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diff --git a/documentation/html/_b_n_o08x_cb_generic_8hpp_source.html b/documentation/html/_b_n_o08x_cb_generic_8hpp_source.html
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+<title>esp32_BNO08x: /media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/callback/BNO08xCbGeneric.hpp Source File</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
+   </div>
+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
+  </td>
+ </tr>
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+<div class="header">
+  <div class="headertitle"><div class="title">BNO08xCbGeneric.hpp</div></div>
+</div><!--header-->
+<div class="contents">
+<a href="_b_n_o08x_cb_generic_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> </div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span> </div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="comment">// standard library includes</span></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="preprocessor">#include &lt;stdint.h&gt;</span></div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="preprocessor">#include &lt;functional&gt;</span></div>
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span> </div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"><a class="line" href="class_b_n_o08x_cb_generic.html">   18</a></span><span class="keyword">class </span><a class="code hl_class" href="class_b_n_o08x_cb_generic.html">BNO08xCbGeneric</a></div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>{</div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span>    <span class="keyword">public</span>:</div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"><a class="line" href="class_b_n_o08x_cb_generic.html#a19f9e8a22d039acf29c98801368ff0bb">   21</a></span>        <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x_cb_generic.html#a19f9e8a22d039acf29c98801368ff0bb">invoke</a>(uint8_t <a class="code hl_variable" href="class_b_n_o08x_cb_generic.html#a808841c9f19664cb6ff06f9c217793e1">rpt_ID</a>) = 0;</div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"><a class="line" href="class_b_n_o08x_cb_generic.html#a4caa8d4932c70bc07e187f489542ab87">   22</a></span>        <span class="keyword">virtual</span> <a class="code hl_function" href="class_b_n_o08x_cb_generic.html#a4caa8d4932c70bc07e187f489542ab87">~BNO08xCbGeneric</a>() = <span class="keywordflow">default</span>;</div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"><a class="line" href="class_b_n_o08x_cb_generic.html#a808841c9f19664cb6ff06f9c217793e1">   23</a></span>        uint8_t <a class="code hl_variable" href="class_b_n_o08x_cb_generic.html#a808841c9f19664cb6ff06f9c217793e1">rpt_ID</a>;</div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span> </div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>    <span class="keyword">protected</span>:</div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"><a class="line" href="class_b_n_o08x_cb_generic.html#a5b1984f0111c5ca5e07a7f5487cd5234">   26</a></span>        <a class="code hl_function" href="class_b_n_o08x_cb_generic.html#a5b1984f0111c5ca5e07a7f5487cd5234">BNO08xCbGeneric</a>(uint8_t <a class="code hl_variable" href="class_b_n_o08x_cb_generic.html#a808841c9f19664cb6ff06f9c217793e1">rpt_ID</a>)</div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>            : <a class="code hl_variable" href="class_b_n_o08x_cb_generic.html#a808841c9f19664cb6ff06f9c217793e1">rpt_ID</a>(<a class="code hl_variable" href="class_b_n_o08x_cb_generic.html#a808841c9f19664cb6ff06f9c217793e1">rpt_ID</a>)</div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>        {</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>        }</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>};</div>
+<div class="ttc" id="aclass_b_n_o08x_cb_generic_html"><div class="ttname"><a href="class_b_n_o08x_cb_generic.html">BNO08xCbGeneric</a></div><div class="ttdoc">Parent class to represent callback functions as generic type such that all flavors can be invoked by ...</div><div class="ttdef"><b>Definition:</b> BNO08xCbGeneric.hpp:19</div></div>
+<div class="ttc" id="aclass_b_n_o08x_cb_generic_html_a19f9e8a22d039acf29c98801368ff0bb"><div class="ttname"><a href="class_b_n_o08x_cb_generic.html#a19f9e8a22d039acf29c98801368ff0bb">BNO08xCbGeneric::invoke</a></div><div class="ttdeci">virtual void invoke(uint8_t rpt_ID)=0</div></div>
+<div class="ttc" id="aclass_b_n_o08x_cb_generic_html_a4caa8d4932c70bc07e187f489542ab87"><div class="ttname"><a href="class_b_n_o08x_cb_generic.html#a4caa8d4932c70bc07e187f489542ab87">BNO08xCbGeneric::~BNO08xCbGeneric</a></div><div class="ttdeci">virtual ~BNO08xCbGeneric()=default</div></div>
+<div class="ttc" id="aclass_b_n_o08x_cb_generic_html_a5b1984f0111c5ca5e07a7f5487cd5234"><div class="ttname"><a href="class_b_n_o08x_cb_generic.html#a5b1984f0111c5ca5e07a7f5487cd5234">BNO08xCbGeneric::BNO08xCbGeneric</a></div><div class="ttdeci">BNO08xCbGeneric(uint8_t rpt_ID)</div><div class="ttdef"><b>Definition:</b> BNO08xCbGeneric.hpp:26</div></div>
+<div class="ttc" id="aclass_b_n_o08x_cb_generic_html_a808841c9f19664cb6ff06f9c217793e1"><div class="ttname"><a href="class_b_n_o08x_cb_generic.html#a808841c9f19664cb6ff06f9c217793e1">BNO08xCbGeneric::rpt_ID</a></div><div class="ttdeci">uint8_t rpt_ID</div><div class="ttdef"><b>Definition:</b> BNO08xCbGeneric.hpp:23</div></div>
+</div><!-- fragment --></div><!-- contents -->
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+<title>esp32_BNO08x: /media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/callback/BNO08xCbParamRptID.hpp File Reference</title>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><dl class="section author"><dt>Author</dt><dd>Myles Parfeniuk </dd></dl>
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+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
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+
+<div class="header">
+  <div class="headertitle"><div class="title">BNO08xCbParamRptID.hpp</div></div>
+</div><!--header-->
+<div class="contents">
+<a href="_b_n_o08x_cb_param_rpt_i_d_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> </div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span> </div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &quot;<a class="code" href="_b_n_o08x_cb_generic_8hpp.html">BNO08xCbGeneric.hpp</a>&quot;</span></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span> </div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"><a class="line" href="class_b_n_o08x_cb_param_rpt_i_d.html">   15</a></span><span class="keyword">class </span><a class="code hl_class" href="class_b_n_o08x_cb_param_rpt_i_d.html">BNO08xCbParamRptID</a> : <span class="keyword">public</span> <a class="code hl_class" href="class_b_n_o08x_cb_generic.html">BNO08xCbGeneric</a></div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span>{</div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span>    <span class="keyword">public</span>:</div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"><a class="line" href="class_b_n_o08x_cb_param_rpt_i_d.html#a5ba2a4e27588fdd0ae43133544c76a22">   18</a></span>        <a class="code hl_function" href="class_b_n_o08x_cb_param_rpt_i_d.html#a5ba2a4e27588fdd0ae43133544c76a22">BNO08xCbParamRptID</a>(std::function&lt;<span class="keywordtype">void</span>(uint8_t)&gt; cb_fxn, uint8_t <a class="code hl_variable" href="class_b_n_o08x_cb_generic.html#a808841c9f19664cb6ff06f9c217793e1">rpt_ID</a>)</div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>            : <a class="code hl_class" href="class_b_n_o08x_cb_generic.html">BNO08xCbGeneric</a>(<a class="code hl_variable" href="class_b_n_o08x_cb_generic.html#a808841c9f19664cb6ff06f9c217793e1">rpt_ID</a>)</div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span>            , cb_fxn(cb_fxn)</div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span> </div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span>        {</div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>        }</div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span> </div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"><a class="line" href="class_b_n_o08x_cb_param_rpt_i_d.html#ae263c2af6f9363d1a4fc58824b53cb72">   32</a></span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x_cb_param_rpt_i_d.html#ae263c2af6f9363d1a4fc58824b53cb72">invoke</a>(uint8_t <a class="code hl_variable" href="class_b_n_o08x_cb_generic.html#a808841c9f19664cb6ff06f9c217793e1">rpt_ID</a>)<span class="keyword"> override</span></div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span><span class="keyword">        </span>{</div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>            cb_fxn(<a class="code hl_variable" href="class_b_n_o08x_cb_generic.html#a808841c9f19664cb6ff06f9c217793e1">rpt_ID</a>);</div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>        }</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>    <span class="keyword">private</span>:</div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>        std::function&lt;void(uint8_t)&gt; cb_fxn; </div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>};</div>
+<div class="ttc" id="a_b_n_o08x_cb_generic_8hpp_html"><div class="ttname"><a href="_b_n_o08x_cb_generic_8hpp.html">BNO08xCbGeneric.hpp</a></div></div>
+<div class="ttc" id="aclass_b_n_o08x_cb_generic_html"><div class="ttname"><a href="class_b_n_o08x_cb_generic.html">BNO08xCbGeneric</a></div><div class="ttdoc">Parent class to represent callback functions as generic type such that all flavors can be invoked by ...</div><div class="ttdef"><b>Definition:</b> BNO08xCbGeneric.hpp:19</div></div>
+<div class="ttc" id="aclass_b_n_o08x_cb_generic_html_a808841c9f19664cb6ff06f9c217793e1"><div class="ttname"><a href="class_b_n_o08x_cb_generic.html#a808841c9f19664cb6ff06f9c217793e1">BNO08xCbGeneric::rpt_ID</a></div><div class="ttdeci">uint8_t rpt_ID</div><div class="ttdef"><b>Definition:</b> BNO08xCbGeneric.hpp:23</div></div>
+<div class="ttc" id="aclass_b_n_o08x_cb_param_rpt_i_d_html"><div class="ttname"><a href="class_b_n_o08x_cb_param_rpt_i_d.html">BNO08xCbParamRptID</a></div><div class="ttdoc">Class to hold callback functions which are passed report ID as input parameter.</div><div class="ttdef"><b>Definition:</b> BNO08xCbParamRptID.hpp:16</div></div>
+<div class="ttc" id="aclass_b_n_o08x_cb_param_rpt_i_d_html_a5ba2a4e27588fdd0ae43133544c76a22"><div class="ttname"><a href="class_b_n_o08x_cb_param_rpt_i_d.html#a5ba2a4e27588fdd0ae43133544c76a22">BNO08xCbParamRptID::BNO08xCbParamRptID</a></div><div class="ttdeci">BNO08xCbParamRptID(std::function&lt; void(uint8_t)&gt; cb_fxn, uint8_t rpt_ID)</div><div class="ttdef"><b>Definition:</b> BNO08xCbParamRptID.hpp:18</div></div>
+<div class="ttc" id="aclass_b_n_o08x_cb_param_rpt_i_d_html_ae263c2af6f9363d1a4fc58824b53cb72"><div class="ttname"><a href="class_b_n_o08x_cb_param_rpt_i_d.html#ae263c2af6f9363d1a4fc58824b53cb72">BNO08xCbParamRptID::invoke</a></div><div class="ttdeci">void invoke(uint8_t rpt_ID) override</div><div class="ttdoc">Invokes contained callback function.</div><div class="ttdef"><b>Definition:</b> BNO08xCbParamRptID.hpp:32</div></div>
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+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</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 1.9.4 -->
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+<div class="header">
+  <div class="headertitle"><div class="title">BNO08xCbParamVoid.hpp</div></div>
+</div><!--header-->
+<div class="contents">
+<a href="_b_n_o08x_cb_param_void_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> </div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span> </div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &quot;<a class="code" href="_b_n_o08x_cb_generic_8hpp.html">BNO08xCbGeneric.hpp</a>&quot;</span></div>
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+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"><a class="line" href="class_b_n_o08x_cb_param_void.html">   15</a></span><span class="keyword">class </span><a class="code hl_class" href="class_b_n_o08x_cb_param_void.html">BNO08xCbParamVoid</a> : <span class="keyword">public</span> <a class="code hl_class" href="class_b_n_o08x_cb_generic.html">BNO08xCbGeneric</a></div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span>{</div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span>    <span class="keyword">public</span>:</div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"><a class="line" href="class_b_n_o08x_cb_param_void.html#a989c124bfd9871f80a415b76510d966b">   18</a></span>        <a class="code hl_function" href="class_b_n_o08x_cb_param_void.html#a989c124bfd9871f80a415b76510d966b">BNO08xCbParamVoid</a>(std::function&lt;<span class="keywordtype">void</span>(<span class="keywordtype">void</span>)&gt; cb_fxn, uint8_t <a class="code hl_variable" href="class_b_n_o08x_cb_generic.html#a808841c9f19664cb6ff06f9c217793e1">rpt_ID</a>)</div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>            : <a class="code hl_class" href="class_b_n_o08x_cb_generic.html">BNO08xCbGeneric</a>(<a class="code hl_variable" href="class_b_n_o08x_cb_generic.html#a808841c9f19664cb6ff06f9c217793e1">rpt_ID</a>)</div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span>            , cb_fxn(cb_fxn)</div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>        {</div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span>        }</div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span> </div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"><a class="line" href="class_b_n_o08x_cb_param_void.html#a5cfdaad83528e3e418f51041d500b6f9">   32</a></span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x_cb_param_void.html#a5cfdaad83528e3e418f51041d500b6f9">invoke</a>(uint8_t <a class="code hl_variable" href="class_b_n_o08x_cb_generic.html#a808841c9f19664cb6ff06f9c217793e1">rpt_ID</a>)<span class="keyword"> override</span></div>
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+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>            cb_fxn();</div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>        }</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>    <span class="keyword">private</span>:</div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>        std::function&lt;void(<span class="keywordtype">void</span>)&gt; cb_fxn; </div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>};</div>
+<div class="ttc" id="a_b_n_o08x_cb_generic_8hpp_html"><div class="ttname"><a href="_b_n_o08x_cb_generic_8hpp.html">BNO08xCbGeneric.hpp</a></div></div>
+<div class="ttc" id="aclass_b_n_o08x_cb_generic_html"><div class="ttname"><a href="class_b_n_o08x_cb_generic.html">BNO08xCbGeneric</a></div><div class="ttdoc">Parent class to represent callback functions as generic type such that all flavors can be invoked by ...</div><div class="ttdef"><b>Definition:</b> BNO08xCbGeneric.hpp:19</div></div>
+<div class="ttc" id="aclass_b_n_o08x_cb_generic_html_a808841c9f19664cb6ff06f9c217793e1"><div class="ttname"><a href="class_b_n_o08x_cb_generic.html#a808841c9f19664cb6ff06f9c217793e1">BNO08xCbGeneric::rpt_ID</a></div><div class="ttdeci">uint8_t rpt_ID</div><div class="ttdef"><b>Definition:</b> BNO08xCbGeneric.hpp:23</div></div>
+<div class="ttc" id="aclass_b_n_o08x_cb_param_void_html"><div class="ttname"><a href="class_b_n_o08x_cb_param_void.html">BNO08xCbParamVoid</a></div><div class="ttdef"><b>Definition:</b> BNO08xCbParamVoid.hpp:16</div></div>
+<div class="ttc" id="aclass_b_n_o08x_cb_param_void_html_a5cfdaad83528e3e418f51041d500b6f9"><div class="ttname"><a href="class_b_n_o08x_cb_param_void.html#a5cfdaad83528e3e418f51041d500b6f9">BNO08xCbParamVoid::invoke</a></div><div class="ttdeci">void invoke(uint8_t rpt_ID) override</div><div class="ttdoc">Invokes contained callback function.</div><div class="ttdef"><b>Definition:</b> BNO08xCbParamVoid.hpp:32</div></div>
+<div class="ttc" id="aclass_b_n_o08x_cb_param_void_html_a989c124bfd9871f80a415b76510d966b"><div class="ttname"><a href="class_b_n_o08x_cb_param_void.html#a989c124bfd9871f80a415b76510d966b">BNO08xCbParamVoid::BNO08xCbParamVoid</a></div><div class="ttdeci">BNO08xCbParamVoid(std::function&lt; void(void)&gt; cb_fxn, uint8_t rpt_ID)</div><div class="ttdef"><b>Definition:</b> BNO08xCbParamVoid.hpp:18</div></div>
+</div><!-- fragment --></div><!-- contents -->
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diff --git a/documentation/html/_b_n_o08x_global_types_8hpp.html b/documentation/html/_b_n_o08x_global_types_8hpp.html
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+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
+   </div>
+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
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+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.4 -->
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+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
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+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="header">
+  <div class="summary">
+<a href="#nested-classes">Classes</a> &#124;
+<a href="#define-members">Macros</a> &#124;
+<a href="#typedef-members">Typedefs</a> &#124;
+<a href="#enum-members">Enumerations</a> &#124;
+<a href="#func-members">Functions</a>  </div>
+  <div class="headertitle"><div class="title">BNO08xGlobalTypes.hpp File Reference</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include &lt;math.h&gt;</code><br />
+<code>#include &lt;inttypes.h&gt;</code><br />
+<code>#include &lt;stdint.h&gt;</code><br />
+<code>#include &lt;cstring&gt;</code><br />
+<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 &quot;sh2_SensorValue.h&quot;</code><br />
+</div><div class="textblock"><div class="dynheader">
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+<tr class="separator:a648bbdbf22731476890dd8da977d7503"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a0c7367913526c0d634c5f8f5365a55b4"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a8ae22357b6f53c2cf806bb3aeb80814a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2babea2516c7c91039316693fc23a8c1"><td class="memItemLeft" align="right" valign="top">typedef struct <a class="el" href="structbno08x__ang__vel__t.html">bno08x_ang_vel_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_b_n_o08x_global_types_8hpp.html#a2babea2516c7c91039316693fc23a8c1">bno08x_ang_vel_t</a></td></tr>
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+<tr class="separator:a2babea2516c7c91039316693fc23a8c1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a429f861977153379e28e8f3710330b45"><td class="memItemLeft" align="right" valign="top">typedef struct <a class="el" href="structbno08x__magf__t.html">bno08x_magf_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_b_n_o08x_global_types_8hpp.html#a429f861977153379e28e8f3710330b45">bno08x_magf_t</a></td></tr>
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+<tr class="separator:a429f861977153379e28e8f3710330b45"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a3d6e56080638d872486935323f393ab7"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ac166834f6280e6ef21af7dd8a01be1e4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7bf3b6ed58dd988c0f4566ba56bff415"><td class="memItemLeft" align="right" valign="top">typedef struct <a class="el" href="structbno08x__gyro__bias__t.html">bno08x_gyro_bias_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_b_n_o08x_global_types_8hpp.html#a7bf3b6ed58dd988c0f4566ba56bff415">bno08x_gyro_bias_t</a></td></tr>
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+<tr class="separator:a7bf3b6ed58dd988c0f4566ba56bff415"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7913a36911f75945cfaa0a3249a280e3"><td class="memItemLeft" align="right" valign="top">typedef struct <a class="el" href="structbno08x__activity__classifier__t.html">bno08x_activity_classifier_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_b_n_o08x_global_types_8hpp.html#a7913a36911f75945cfaa0a3249a280e3">bno08x_activity_classifier_t</a></td></tr>
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+<tr class="separator:a7913a36911f75945cfaa0a3249a280e3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:adcfe69b10c9c2244015bad5b978beedd"><td class="memItemLeft" align="right" valign="top">typedef struct <a class="el" href="structbno08x__tap__detector__t.html">bno08x_tap_detector_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_b_n_o08x_global_types_8hpp.html#adcfe69b10c9c2244015bad5b978beedd">bno08x_tap_detector_t</a></td></tr>
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+<tr class="separator:adcfe69b10c9c2244015bad5b978beedd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7c22ac348c71afe0d42dcfae6c97ca32"><td class="memItemLeft" align="right" valign="top">typedef struct <a class="el" href="structbno08x__shake__detector__t.html">bno08x_shake_detector_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_b_n_o08x_global_types_8hpp.html#a7c22ac348c71afe0d42dcfae6c97ca32">bno08x_shake_detector_t</a></td></tr>
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+<tr class="separator:a7c22ac348c71afe0d42dcfae6c97ca32"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a0c22a2a9fede695256dfaa4703497a2e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad52b092f56d1fa0064f2ea3502399cfc"><td class="memItemLeft" align="right" valign="top">typedef struct <a class="el" href="structbno08x__step__counter__t.html">bno08x_step_counter_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_b_n_o08x_global_types_8hpp.html#ad52b092f56d1fa0064f2ea3502399cfc">bno08x_step_counter_t</a></td></tr>
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+<tr class="separator:ad52b092f56d1fa0064f2ea3502399cfc"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3e205d9599aa01b7946d1ed1cbb7f1c4"><td class="memItemLeft" align="right" valign="top">typedef struct <a class="el" href="structbno08x__raw__gyro__t.html">bno08x_raw_gyro_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_b_n_o08x_global_types_8hpp.html#a3e205d9599aa01b7946d1ed1cbb7f1c4">bno08x_raw_gyro_t</a></td></tr>
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+<tr class="separator:a3e205d9599aa01b7946d1ed1cbb7f1c4"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ace2ea90ebebddfcdb75e1b8b7b48f905"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a673f429cbcd0f48394de3d990d8bda4a"><td class="memItemLeft" align="right" valign="top">typedef struct <a class="el" href="structbno08x__raw__magf__t.html">bno08x_raw_magf_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_b_n_o08x_global_types_8hpp.html#a673f429cbcd0f48394de3d990d8bda4a">bno08x_raw_magf_t</a></td></tr>
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+<tr class="separator:a673f429cbcd0f48394de3d990d8bda4a"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a9f0440c67ec56fafcd25a24bf36f842f"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:afceb7f957002d3e024d4971963ecfa20"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a1145e5dfd14e96bd70c6e73af017b548"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="enum-members" name="enum-members"></a>
+Enumerations</h2></td></tr>
+<tr class="memitem:a25947bbe6bc4a7c9edd7067fdce0e9cc"><td class="memItemLeft" align="right" valign="top">enum class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_b_n_o08x_global_types_8hpp.html#a25947bbe6bc4a7c9edd7067fdce0e9cc">BNO08xCalSel</a> : uint8_t { <br />
+&#160;&#160;<a class="el" href="_b_n_o08x_global_types_8hpp.html#a25947bbe6bc4a7c9edd7067fdce0e9cca0e1275697d4c40b4b0640fbfa3907afa">accelerometer</a> = SH2_CAL_ACCEL
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+, <a class="el" href="_b_n_o08x_global_types_8hpp.html#a25947bbe6bc4a7c9edd7067fdce0e9ccafcaab1f4c98b7343157c3c59c6a259cb">planar_accelerometer</a> = SH2_CAL_PLANAR
+, <br />
+&#160;&#160;<a class="el" href="_b_n_o08x_global_types_8hpp.html#a25947bbe6bc4a7c9edd7067fdce0e9ccaa181a603769c1f98ad927e7367c7aa51">all</a> = (SH2_CAL_ACCEL | SH2_CAL_GYRO | SH2_CAL_MAG | SH2_CAL_PLANAR)
+<br />
+ }</td></tr>
+<tr class="separator:a25947bbe6bc4a7c9edd7067fdce0e9cc"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afed71c9ed8a8563767f26282408ccee2"><td class="memItemLeft" align="right" valign="top">enum class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_b_n_o08x_global_types_8hpp.html#afed71c9ed8a8563767f26282408ccee2">BNO08xResetReason</a> : uint8_t { <br />
+&#160;&#160;<a class="el" href="_b_n_o08x_global_types_8hpp.html#afed71c9ed8a8563767f26282408ccee2a0db45d2a4141101bdfe48e3314cfbca3">UNDEFINED</a>
+, <a class="el" href="_b_n_o08x_global_types_8hpp.html#afed71c9ed8a8563767f26282408ccee2a7b47bb0f9f8c72f84d891e8e22a1fb92">POR</a>
+, <a class="el" href="_b_n_o08x_global_types_8hpp.html#afed71c9ed8a8563767f26282408ccee2acc069cf9b33eb4e7fb3696f0f42d752f">INT_RST</a>
+, <a class="el" href="_b_n_o08x_global_types_8hpp.html#afed71c9ed8a8563767f26282408ccee2a764caaf44e35ee682f4079bd0878fa36">WTD</a>
+, <br />
+&#160;&#160;<a class="el" href="_b_n_o08x_global_types_8hpp.html#afed71c9ed8a8563767f26282408ccee2ac4e100317ca17eda786308c1c39eded5">EXT_RST</a>
+, <a class="el" href="_b_n_o08x_global_types_8hpp.html#afed71c9ed8a8563767f26282408ccee2a03570470bad94692ce93e32700d2e1cb">OTHER</a>
+<br />
+ }</td></tr>
+<tr class="memdesc:afed71c9ed8a8563767f26282408ccee2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Reason for previous IMU reset (returned by get_reset_reason())  <a href="_b_n_o08x_global_types_8hpp.html#afed71c9ed8a8563767f26282408ccee2">More...</a><br /></td></tr>
+<tr class="separator:afed71c9ed8a8563767f26282408ccee2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6bdf6fea6d671c12413d95f36a3e7ba6"><td class="memItemLeft" align="right" valign="top">enum class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_b_n_o08x_global_types_8hpp.html#a6bdf6fea6d671c12413d95f36a3e7ba6">BNO08xAccuracy</a> : uint8_t { <br />
+&#160;&#160;<a class="el" href="_b_n_o08x_global_types_8hpp.html#a6bdf6fea6d671c12413d95f36a3e7ba6a6e257e645974b9086ed66e9465e2d80c">UNRELIABLE</a>
+, <a class="el" href="_b_n_o08x_global_types_8hpp.html#a6bdf6fea6d671c12413d95f36a3e7ba6a41bc94cbd8eebea13ce0491b2ac11b88">LOW</a>
+, <a class="el" href="_b_n_o08x_global_types_8hpp.html#a6bdf6fea6d671c12413d95f36a3e7ba6a2ad6d5975c45da2e711c796f3a1b029c">MED</a>
+, <a class="el" href="_b_n_o08x_global_types_8hpp.html#a6bdf6fea6d671c12413d95f36a3e7ba6ab89de3b4b81c4facfac906edf29aec8c">HIGH</a>
+, <br />
+&#160;&#160;<a class="el" href="_b_n_o08x_global_types_8hpp.html#a6bdf6fea6d671c12413d95f36a3e7ba6a0db45d2a4141101bdfe48e3314cfbca3">UNDEFINED</a>
+<br />
+ }</td></tr>
+<tr class="memdesc:a6bdf6fea6d671c12413d95f36a3e7ba6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sensor accuracy returned from input reports, corresponds to status bits (see ref. manual 6.5.1)  <a href="_b_n_o08x_global_types_8hpp.html#a6bdf6fea6d671c12413d95f36a3e7ba6">More...</a><br /></td></tr>
+<tr class="separator:a6bdf6fea6d671c12413d95f36a3e7ba6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a64f4487da0833d5304046093935f5d3a"><td class="memItemLeft" align="right" valign="top">enum class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_b_n_o08x_global_types_8hpp.html#a64f4487da0833d5304046093935f5d3a">BNO08xActivityEnable</a> : uint32_t { <br />
+&#160;&#160;<a class="el" href="_b_n_o08x_global_types_8hpp.html#a64f4487da0833d5304046093935f5d3aa696b031073e74bf2cb98e5ef201d4aa3">UNKNOWN</a> = (1U &lt;&lt; 0U)
+, <a class="el" href="_b_n_o08x_global_types_8hpp.html#a64f4487da0833d5304046093935f5d3aab166a3ce74dd5434e4a940dfa2af76e4">IN_VEHICLE</a> = (1U &lt;&lt; 1U)
+, <a class="el" href="_b_n_o08x_global_types_8hpp.html#a64f4487da0833d5304046093935f5d3aa93d94a2f3a627533453a40e302fb35a4">ON_BICYCLE</a> = (1U &lt;&lt; 2U)
+, <a class="el" href="_b_n_o08x_global_types_8hpp.html#a64f4487da0833d5304046093935f5d3aa7089542e0146a3499986c81e24924b58">ON_FOOT</a> = (1U &lt;&lt; 3U)
+, <br />
+&#160;&#160;<a class="el" href="_b_n_o08x_global_types_8hpp.html#a64f4487da0833d5304046093935f5d3aa8b572d218013b9626d59e6a2b38f18b6">STILL</a> = (1U &lt;&lt; 4U)
+, <a class="el" href="_b_n_o08x_global_types_8hpp.html#a64f4487da0833d5304046093935f5d3aa69909b62e08f212da31719aebf67b70c">TILTING</a> = (1U &lt;&lt; 5U)
+, <a class="el" href="_b_n_o08x_global_types_8hpp.html#a64f4487da0833d5304046093935f5d3aa606c114184493a665cf1f6a12fbab9d3">WALKING</a> = (1U &lt;&lt; 6U)
+, <a class="el" href="_b_n_o08x_global_types_8hpp.html#a64f4487da0833d5304046093935f5d3aa43491564ebcfd38568918efbd6e840fd">RUNNING</a> = (1U &lt;&lt; 7U)
+, <br />
+&#160;&#160;<a class="el" href="_b_n_o08x_global_types_8hpp.html#a64f4487da0833d5304046093935f5d3aabbf2a614429826a84bd76b4a47fc7515">ON_STAIRS</a> = (1U &lt;&lt; 8U)
+, <a class="el" href="_b_n_o08x_global_types_8hpp.html#a64f4487da0833d5304046093935f5d3aa5fb1f955b45e38e31789286a1790398d">ALL</a> = (UNKNOWN | IN_VEHICLE | ON_BICYCLE | ON_FOOT | STILL | TILTING | WALKING | RUNNING | ON_STAIRS)
+<br />
+ }</td></tr>
+<tr class="memdesc:a64f4487da0833d5304046093935f5d3a"><td class="mdescLeft">&#160;</td><td class="mdescRight">BNO08xActivity Classifier enable bits passed to enable_activity_classifier() See ref manual 6.5.36.1.  <a href="_b_n_o08x_global_types_8hpp.html#a64f4487da0833d5304046093935f5d3a">More...</a><br /></td></tr>
+<tr class="separator:a64f4487da0833d5304046093935f5d3a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a43d66cdccf17ba0cddcdddc72d4fb97d"><td class="memItemLeft" align="right" valign="top">enum class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_b_n_o08x_global_types_8hpp.html#a43d66cdccf17ba0cddcdddc72d4fb97d">BNO08xActivity</a> : uint8_t { <br />
+&#160;&#160;<a class="el" href="_b_n_o08x_global_types_8hpp.html#a43d66cdccf17ba0cddcdddc72d4fb97da696b031073e74bf2cb98e5ef201d4aa3">UNKNOWN</a> = 0
+, <a class="el" href="_b_n_o08x_global_types_8hpp.html#a43d66cdccf17ba0cddcdddc72d4fb97dab166a3ce74dd5434e4a940dfa2af76e4">IN_VEHICLE</a> = 1
+, <a class="el" href="_b_n_o08x_global_types_8hpp.html#a43d66cdccf17ba0cddcdddc72d4fb97da93d94a2f3a627533453a40e302fb35a4">ON_BICYCLE</a> = 2
+, <a class="el" href="_b_n_o08x_global_types_8hpp.html#a43d66cdccf17ba0cddcdddc72d4fb97da7089542e0146a3499986c81e24924b58">ON_FOOT</a> = 3
+, <br />
+&#160;&#160;<a class="el" href="_b_n_o08x_global_types_8hpp.html#a43d66cdccf17ba0cddcdddc72d4fb97da8b572d218013b9626d59e6a2b38f18b6">STILL</a> = 4
+, <a class="el" href="_b_n_o08x_global_types_8hpp.html#a43d66cdccf17ba0cddcdddc72d4fb97da69909b62e08f212da31719aebf67b70c">TILTING</a> = 5
+, <a class="el" href="_b_n_o08x_global_types_8hpp.html#a43d66cdccf17ba0cddcdddc72d4fb97da606c114184493a665cf1f6a12fbab9d3">WALKING</a> = 6
+, <a class="el" href="_b_n_o08x_global_types_8hpp.html#a43d66cdccf17ba0cddcdddc72d4fb97da43491564ebcfd38568918efbd6e840fd">RUNNING</a> = 7
+, <br />
+&#160;&#160;<a class="el" href="_b_n_o08x_global_types_8hpp.html#a43d66cdccf17ba0cddcdddc72d4fb97dabbf2a614429826a84bd76b4a47fc7515">ON_STAIRS</a> = 8
+, <a class="el" href="_b_n_o08x_global_types_8hpp.html#a43d66cdccf17ba0cddcdddc72d4fb97da0db45d2a4141101bdfe48e3314cfbca3">UNDEFINED</a> = 9
+<br />
+ }</td></tr>
+<tr class="memdesc:a43d66cdccf17ba0cddcdddc72d4fb97d"><td class="mdescLeft">&#160;</td><td class="mdescRight">BNO08xActivity states returned from BNO08x::activity_classifier.get()  <a href="_b_n_o08x_global_types_8hpp.html#a43d66cdccf17ba0cddcdddc72d4fb97d">More...</a><br /></td></tr>
+<tr class="separator:a43d66cdccf17ba0cddcdddc72d4fb97d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a22d72f675aad7af764e685f91b29f4cb"><td class="memItemLeft" align="right" valign="top">enum class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_b_n_o08x_global_types_8hpp.html#a22d72f675aad7af764e685f91b29f4cb">BNO08xStability</a> : uint8_t { <br />
+&#160;&#160;<a class="el" href="_b_n_o08x_global_types_8hpp.html#a22d72f675aad7af764e685f91b29f4cba696b031073e74bf2cb98e5ef201d4aa3">UNKNOWN</a> = 0
+, <a class="el" href="_b_n_o08x_global_types_8hpp.html#a22d72f675aad7af764e685f91b29f4cba71149a62cd9fec4756e3538d1754486a">ON_TABLE</a> = 1
+, <a class="el" href="_b_n_o08x_global_types_8hpp.html#a22d72f675aad7af764e685f91b29f4cba4120eb7591bd0789af75a8973d5f9146">STATIONARY</a> = 2
+, <a class="el" href="_b_n_o08x_global_types_8hpp.html#a22d72f675aad7af764e685f91b29f4cba32987cdf8a725702042ab18f5c700905">STABLE</a> = 3
+, <br />
+&#160;&#160;<a class="el" href="_b_n_o08x_global_types_8hpp.html#a22d72f675aad7af764e685f91b29f4cbaf96e6ea7a7375bd60bad3f3caae3cf27">MOTION</a> = 4
+, <a class="el" href="_b_n_o08x_global_types_8hpp.html#a22d72f675aad7af764e685f91b29f4cba83c7f2aa8c3ac10ed8beb75cad162827">RESERVED</a> = 5
+, <a class="el" href="_b_n_o08x_global_types_8hpp.html#a22d72f675aad7af764e685f91b29f4cba0db45d2a4141101bdfe48e3314cfbca3">UNDEFINED</a> = 6
+<br />
+ }</td></tr>
+<tr class="memdesc:a22d72f675aad7af764e685f91b29f4cb"><td class="mdescLeft">&#160;</td><td class="mdescRight">BNO08xStability states returned from BNO08x::stability_classifier.get()  <a href="_b_n_o08x_global_types_8hpp.html#a22d72f675aad7af764e685f91b29f4cb">More...</a><br /></td></tr>
+<tr class="separator:a22d72f675aad7af764e685f91b29f4cb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8ac8ee2d5f81f6102ed94866f2bdcc8e"><td class="memItemLeft" align="right" valign="top">enum class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8e">BNO08xFrsID</a> : uint16_t { <br />
+&#160;&#160;<a class="el" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eae81a7ec9f2eb51db6a66eec214f74329">STATIC_CALIBRATION_AGM</a> = 0x7979
+, <a class="el" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea9b1f79a084136956f5a67145e34b8fcf">NOMINAL_CALIBRATION</a> = 0x4D4D
+, <a class="el" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eae3e95aa73e5b19b6fc1574c287598a8a">STATIC_CALIBRATION_SRA</a> = 0x8A8A
+, <a class="el" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea9575a153f8b803923611e5a7577d8992">NOMINAL_CALIBRATION_SRA</a> = 0x4E4E
+, <br />
+&#160;&#160;<a class="el" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eac843f0dc477c2043015db473c2bbf8b7">DYNAMIC_CALIBRATION</a> = 0x1F1F
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+, <a class="el" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea174aa600a99d1fee26df64861c68d4ab">SYSTEM_ORIENTATION</a> = 0x2D3E
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+, <br />
+&#160;&#160;<a class="el" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea1e56a229eb00e62fc6f98a9c3bf2c41e">SCREEN_ACCEL_ORIENTATION</a> = 0x2D43
+, <a class="el" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eab7ba02b55d602fc0e643a0e860144abd">GYROSCOPE_ORIENTATION</a> = 0x2D46
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+&#160;&#160;<a class="el" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea2dfcf6ba54eba882fb201bd55b45c4b9">MAX_FUSION_PERIOD</a> = 0xD7D7
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+, <br />
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+, <br />
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+, <br />
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+, <br />
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+, <br />
+&#160;&#160;<a class="el" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eac26499be839c2f04ca712c388e02b2cd">META_CIRCLE_DETECTOR</a> = 0xE320
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+<br />
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+<tr class="separator:abb500e98b07c687d37e8ac0548a02e05"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a042702b50b2a3617c517cd601e9d7ead"><td class="memItemLeft" align="right" valign="top">const constexpr char *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_b_n_o08x_global_types_8hpp.html#a042702b50b2a3617c517cd601e9d7ead">BNO08xActivity_to_str</a> (<a class="el" href="_b_n_o08x_global_types_8hpp.html#a43d66cdccf17ba0cddcdddc72d4fb97d">BNO08xActivity</a> activity)</td></tr>
+<tr class="memdesc:a042702b50b2a3617c517cd601e9d7ead"><td class="mdescLeft">&#160;</td><td class="mdescRight">Converts a BNO08xActivity enum to string.  <a href="_b_n_o08x_global_types_8hpp.html#a042702b50b2a3617c517cd601e9d7ead">More...</a><br /></td></tr>
+<tr class="separator:a042702b50b2a3617c517cd601e9d7ead"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:acd889b071d45f7ba9e7157e7a752bf5a"><td class="memItemLeft" align="right" valign="top">const constexpr char *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_b_n_o08x_global_types_8hpp.html#acd889b071d45f7ba9e7157e7a752bf5a">BNO08xStability_to_str</a> (<a class="el" href="_b_n_o08x_global_types_8hpp.html#a22d72f675aad7af764e685f91b29f4cb">BNO08xStability</a> stability)</td></tr>
+<tr class="memdesc:acd889b071d45f7ba9e7157e7a752bf5a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Converts a BNO08xStability enum to string.  <a href="_b_n_o08x_global_types_8hpp.html#acd889b071d45f7ba9e7157e7a752bf5a">More...</a><br /></td></tr>
+<tr class="separator:acd889b071d45f7ba9e7157e7a752bf5a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a79cad23b69ea6ab97bf9d6e0a64a2826"><td class="memItemLeft" align="right" valign="top">const constexpr char *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_b_n_o08x_global_types_8hpp.html#a79cad23b69ea6ab97bf9d6e0a64a2826">BNO08xFrsID_to_str</a> (<a class="el" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8e">BNO08xFrsID</a> id)</td></tr>
+<tr class="separator:a79cad23b69ea6ab97bf9d6e0a64a2826"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><dl class="section author"><dt>Author</dt><dd>Myles Parfeniuk </dd></dl>
+</div><h2 class="groupheader">Macro Definition Documentation</h2>
+<a id="ae12bdf0217349447eebadf16d4560869" name="ae12bdf0217349447eebadf16d4560869"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae12bdf0217349447eebadf16d4560869">&#9670;&nbsp;</a></span>SHAKE_DETECTED_X</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define SHAKE_DETECTED_X</td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname">tap</td><td>)</td>
+          <td>&#160;&#160;&#160;((tap) &amp; (1U &lt;&lt; 0U) ? 1 : 0)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a023aa826dbf083e2a6d2d67beba75b27" name="a023aa826dbf083e2a6d2d67beba75b27"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a023aa826dbf083e2a6d2d67beba75b27">&#9670;&nbsp;</a></span>SHAKE_DETECTED_Y</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define SHAKE_DETECTED_Y</td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname">tap</td><td>)</td>
+          <td>&#160;&#160;&#160;((tap) &amp; (1U &lt;&lt; 1U) ? 1 : 0)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a9951e367fa8ff09a55526994cfaa94be" name="a9951e367fa8ff09a55526994cfaa94be"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9951e367fa8ff09a55526994cfaa94be">&#9670;&nbsp;</a></span>SHAKE_DETECTED_Z</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define SHAKE_DETECTED_Z</td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname">tap</td><td>)</td>
+          <td>&#160;&#160;&#160;((tap) &amp; (1U &lt;&lt; 2U) ? 1 : 0)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a92a577e216f51fc6156a87e6ecf8ffc5" name="a92a577e216f51fc6156a87e6ecf8ffc5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a92a577e216f51fc6156a87e6ecf8ffc5">&#9670;&nbsp;</a></span>TAP_DETECTED_DOUBLE</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define TAP_DETECTED_DOUBLE</td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname">tap</td><td>)</td>
+          <td>&#160;&#160;&#160;((tap) &amp; (1U &lt;&lt; 6U) ? 1 : 0)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad0dc59e3a74a39a8e358c945162f6fc8" name="ad0dc59e3a74a39a8e358c945162f6fc8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad0dc59e3a74a39a8e358c945162f6fc8">&#9670;&nbsp;</a></span>TAP_DETECTED_X_AXIS</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define TAP_DETECTED_X_AXIS</td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname">tap</td><td>)</td>
+          <td>&#160;&#160;&#160;((tap) &amp; (1U &lt;&lt; 0U) ? 1 : 0)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a8a8a0fbcff17f5123ad111fcd9a375ea" name="a8a8a0fbcff17f5123ad111fcd9a375ea"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8a8a0fbcff17f5123ad111fcd9a375ea">&#9670;&nbsp;</a></span>TAP_DETECTED_X_AXIS_POSITIVE</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define TAP_DETECTED_X_AXIS_POSITIVE</td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname">tap</td><td>)</td>
+          <td>&#160;&#160;&#160;((tap) &amp; (1U &lt;&lt; 1U) ? 1 : 0)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad2ab2bbe6f01a4a641f75c41a9064cf6" name="ad2ab2bbe6f01a4a641f75c41a9064cf6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad2ab2bbe6f01a4a641f75c41a9064cf6">&#9670;&nbsp;</a></span>TAP_DETECTED_Y_AXIS</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define TAP_DETECTED_Y_AXIS</td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname">tap</td><td>)</td>
+          <td>&#160;&#160;&#160;((tap) &amp; (1U &lt;&lt; 2U) ? 1 : 0)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a356ec3a53c785965e8dd24381a3bdcd7" name="a356ec3a53c785965e8dd24381a3bdcd7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a356ec3a53c785965e8dd24381a3bdcd7">&#9670;&nbsp;</a></span>TAP_DETECTED_Y_AXIS_POSITIVE</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define TAP_DETECTED_Y_AXIS_POSITIVE</td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname">tap</td><td>)</td>
+          <td>&#160;&#160;&#160;((tap) &amp; (1U &lt;&lt; 3U) ? 1 : 0)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="aaaf91ed835d5d1a5726806bb147c5938" name="aaaf91ed835d5d1a5726806bb147c5938"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aaaf91ed835d5d1a5726806bb147c5938">&#9670;&nbsp;</a></span>TAP_DETECTED_Z_AXIS</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define TAP_DETECTED_Z_AXIS</td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname">tap</td><td>)</td>
+          <td>&#160;&#160;&#160;((tap) &amp; (1U &lt;&lt; 4U) ? 1 : 0)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a6fd0bd9f4990ced262a8f2d4c41d65d9" name="a6fd0bd9f4990ced262a8f2d4c41d65d9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6fd0bd9f4990ced262a8f2d4c41d65d9">&#9670;&nbsp;</a></span>TAP_DETECTED_Z_AXIS_POSITIVE</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define TAP_DETECTED_Z_AXIS_POSITIVE</td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname">tap</td><td>)</td>
+          <td>&#160;&#160;&#160;((tap) &amp; (1U &lt;&lt; 5U) ? 1 : 0)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Typedef Documentation</h2>
+<a id="a0c22a2a9fede695256dfaa4703497a2e" name="a0c22a2a9fede695256dfaa4703497a2e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0c22a2a9fede695256dfaa4703497a2e">&#9670;&nbsp;</a></span>bno08x_accel_t</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef struct <a class="el" href="structbno08x__accel__t.html">bno08x_accel_t</a> <a class="el" href="structbno08x__accel__t.html">bno08x_accel_t</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Struct to represent acceleration data from acceleration, linear acceleration, and gravity reports. </p>
+
+</div>
+</div>
+<a id="a7913a36911f75945cfaa0a3249a280e3" name="a7913a36911f75945cfaa0a3249a280e3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7913a36911f75945cfaa0a3249a280e3">&#9670;&nbsp;</a></span>bno08x_activity_classifier_t</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef struct <a class="el" href="structbno08x__activity__classifier__t.html">bno08x_activity_classifier_t</a> <a class="el" href="structbno08x__activity__classifier__t.html">bno08x_activity_classifier_t</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Struct to represent activity classifier data. </p>
+
+</div>
+</div>
+<a id="a2babea2516c7c91039316693fc23a8c1" name="a2babea2516c7c91039316693fc23a8c1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2babea2516c7c91039316693fc23a8c1">&#9670;&nbsp;</a></span>bno08x_ang_vel_t</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef struct <a class="el" href="structbno08x__ang__vel__t.html">bno08x_ang_vel_t</a> <a class="el" href="structbno08x__ang__vel__t.html">bno08x_ang_vel_t</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Struct to represent angular velocity (units in rad/s) </p>
+
+</div>
+</div>
+<a id="a648bbdbf22731476890dd8da977d7503" name="a648bbdbf22731476890dd8da977d7503"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a648bbdbf22731476890dd8da977d7503">&#9670;&nbsp;</a></span>bno08x_config_t</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef struct <a class="el" href="structbno08x__config__t.html">bno08x_config_t</a> <a class="el" href="structbno08x__config__t.html">bno08x_config_t</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>IMU configuration settings passed into constructor. </p>
+
+</div>
+</div>
+<a id="a8ae22357b6f53c2cf806bb3aeb80814a" name="a8ae22357b6f53c2cf806bb3aeb80814a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8ae22357b6f53c2cf806bb3aeb80814a">&#9670;&nbsp;</a></span>bno08x_euler_angle_t</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef struct <a class="el" href="structbno08x__euler__angle__t.html">bno08x_euler_angle_t</a> <a class="el" href="structbno08x__euler__angle__t.html">bno08x_euler_angle_t</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Struct to represent euler angle (units in degrees or rads) </p>
+
+</div>
+</div>
+<a id="a7bf3b6ed58dd988c0f4566ba56bff415" name="a7bf3b6ed58dd988c0f4566ba56bff415"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7bf3b6ed58dd988c0f4566ba56bff415">&#9670;&nbsp;</a></span>bno08x_gyro_bias_t</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef struct <a class="el" href="structbno08x__gyro__bias__t.html">bno08x_gyro_bias_t</a> <a class="el" href="structbno08x__gyro__bias__t.html">bno08x_gyro_bias_t</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Struct to represent gyro bias data (units in rad/s) </p>
+
+</div>
+</div>
+<a id="ac166834f6280e6ef21af7dd8a01be1e4" name="ac166834f6280e6ef21af7dd8a01be1e4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac166834f6280e6ef21af7dd8a01be1e4">&#9670;&nbsp;</a></span>bno08x_gyro_t</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef struct <a class="el" href="structbno08x__gyro__t.html">bno08x_gyro_t</a> <a class="el" href="structbno08x__gyro__t.html">bno08x_gyro_t</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Struct to represent gyro data (units in rad/s) </p>
+
+</div>
+</div>
+<a id="a3d6e56080638d872486935323f393ab7" name="a3d6e56080638d872486935323f393ab7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3d6e56080638d872486935323f393ab7">&#9670;&nbsp;</a></span>bno08x_magf_bias_t</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef struct <a class="el" href="structbno08x__magf__bias__t.html">bno08x_magf_bias_t</a> <a class="el" href="structbno08x__magf__bias__t.html">bno08x_magf_bias_t</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Struct to represent magnetic field bias data (units in uTesla) </p>
+
+</div>
+</div>
+<a id="a429f861977153379e28e8f3710330b45" name="a429f861977153379e28e8f3710330b45"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a429f861977153379e28e8f3710330b45">&#9670;&nbsp;</a></span>bno08x_magf_t</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef struct <a class="el" href="structbno08x__magf__t.html">bno08x_magf_t</a> <a class="el" href="structbno08x__magf__t.html">bno08x_magf_t</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Struct to represent magnetic field data (units in uTesla) </p>
+
+</div>
+</div>
+<a id="a1145e5dfd14e96bd70c6e73af017b548" name="a1145e5dfd14e96bd70c6e73af017b548"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1145e5dfd14e96bd70c6e73af017b548">&#9670;&nbsp;</a></span>bno08x_meta_data_t</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef struct <a class="el" href="structbno08x__meta__data__t.html">bno08x_meta_data_t</a> <a class="el" href="structbno08x__meta__data__t.html">bno08x_meta_data_t</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Struct to represent sensor/report meta data, returned from <a class="el" href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf" title="Retrieves meta data for this sensor/report by reading respective record in FRS (flash record system).">BNO08xRpt::get_meta_data()</a> </p>
+
+</div>
+</div>
+<a id="a0c7367913526c0d634c5f8f5365a55b4" name="a0c7367913526c0d634c5f8f5365a55b4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0c7367913526c0d634c5f8f5365a55b4">&#9670;&nbsp;</a></span>bno08x_quat_t</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef struct <a class="el" href="structbno08x__quat__t.html">bno08x_quat_t</a> <a class="el" href="structbno08x__quat__t.html">bno08x_quat_t</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Struct to represent unit quaternion. </p>
+
+</div>
+</div>
+<a id="ace2ea90ebebddfcdb75e1b8b7b48f905" name="ace2ea90ebebddfcdb75e1b8b7b48f905"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ace2ea90ebebddfcdb75e1b8b7b48f905">&#9670;&nbsp;</a></span>bno08x_raw_accel_t</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef struct <a class="el" href="structbno08x__raw__accel__t.html">bno08x_raw_accel_t</a> <a class="el" href="structbno08x__raw__accel__t.html">bno08x_raw_accel_t</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Struct to represent raw mems accelerometer data from raw accelerometer reports (units in ADC counts). </p>
+
+</div>
+</div>
+<a id="a3e205d9599aa01b7946d1ed1cbb7f1c4" name="a3e205d9599aa01b7946d1ed1cbb7f1c4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3e205d9599aa01b7946d1ed1cbb7f1c4">&#9670;&nbsp;</a></span>bno08x_raw_gyro_t</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef struct <a class="el" href="structbno08x__raw__gyro__t.html">bno08x_raw_gyro_t</a> <a class="el" href="structbno08x__raw__gyro__t.html">bno08x_raw_gyro_t</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Struct to represent raw mems gyro data from raw gyro reports (units in ADC counts). </p>
+
+</div>
+</div>
+<a id="a673f429cbcd0f48394de3d990d8bda4a" name="a673f429cbcd0f48394de3d990d8bda4a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a673f429cbcd0f48394de3d990d8bda4a">&#9670;&nbsp;</a></span>bno08x_raw_magf_t</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef struct <a class="el" href="structbno08x__raw__magf__t.html">bno08x_raw_magf_t</a> <a class="el" href="structbno08x__raw__magf__t.html">bno08x_raw_magf_t</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Struct to represent raw mems magnetometer data from raw magnetometer reports (units in ADC counts). </p>
+
+</div>
+</div>
+<a id="afceb7f957002d3e024d4971963ecfa20" name="afceb7f957002d3e024d4971963ecfa20"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afceb7f957002d3e024d4971963ecfa20">&#9670;&nbsp;</a></span>bno08x_sample_counts_t</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef struct <a class="el" href="structbno08x__sample__counts__t.html">bno08x_sample_counts_t</a> <a class="el" href="structbno08x__sample__counts__t.html">bno08x_sample_counts_t</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Struct to represent sample counts, returned from <a class="el" href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38" title="Gets sample counts for this sensor (see SH-2 ref manual 6.4.3.1)">BNO08xRpt::get_sample_counts()</a> </p>
+
+</div>
+</div>
+<a id="a7c22ac348c71afe0d42dcfae6c97ca32" name="a7c22ac348c71afe0d42dcfae6c97ca32"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7c22ac348c71afe0d42dcfae6c97ca32">&#9670;&nbsp;</a></span>bno08x_shake_detector_t</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef struct <a class="el" href="structbno08x__shake__detector__t.html">bno08x_shake_detector_t</a> <a class="el" href="structbno08x__shake__detector__t.html">bno08x_shake_detector_t</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Struct to represent shake detector data (flag meaning: 0 = no shake 1 = shake detected) </p>
+
+</div>
+</div>
+<a id="a9f0440c67ec56fafcd25a24bf36f842f" name="a9f0440c67ec56fafcd25a24bf36f842f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9f0440c67ec56fafcd25a24bf36f842f">&#9670;&nbsp;</a></span>bno08x_stability_classifier_t</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef struct <a class="el" href="structbno08x__stability__classifier__t.html">bno08x_stability_classifier_t</a> <a class="el" href="structbno08x__stability__classifier__t.html">bno08x_stability_classifier_t</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Struct to represent stability classifier data from stability classifier reports. </p>
+
+</div>
+</div>
+<a id="ad52b092f56d1fa0064f2ea3502399cfc" name="ad52b092f56d1fa0064f2ea3502399cfc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad52b092f56d1fa0064f2ea3502399cfc">&#9670;&nbsp;</a></span>bno08x_step_counter_t</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef struct <a class="el" href="structbno08x__step__counter__t.html">bno08x_step_counter_t</a> <a class="el" href="structbno08x__step__counter__t.html">bno08x_step_counter_t</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Struct to represent step counter data from step counter reports. </p>
+
+</div>
+</div>
+<a id="adcfe69b10c9c2244015bad5b978beedd" name="adcfe69b10c9c2244015bad5b978beedd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adcfe69b10c9c2244015bad5b978beedd">&#9670;&nbsp;</a></span>bno08x_tap_detector_t</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef struct <a class="el" href="structbno08x__tap__detector__t.html">bno08x_tap_detector_t</a> <a class="el" href="structbno08x__tap__detector__t.html">bno08x_tap_detector_t</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Struct to represent tap detector data (flag meaning: 0 = no tap, 1 = positive tap on axis, -1 = negative tap on axis) </p>
+
+</div>
+</div>
+<a id="aae502b3d91ddf903bba797646fd28d00" name="aae502b3d91ddf903bba797646fd28d00"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aae502b3d91ddf903bba797646fd28d00">&#9670;&nbsp;</a></span>imu_config_t</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef <a class="el" href="structbno08x__config__t.html">bno08x_config_t</a> <a class="el" href="_b_n_o08x_global_types_8hpp.html#aae502b3d91ddf903bba797646fd28d00">imu_config_t</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a03fbbd71180a19088ce30d57ab050a22" name="a03fbbd71180a19088ce30d57ab050a22"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a03fbbd71180a19088ce30d57ab050a22">&#9670;&nbsp;</a></span>IMUAccuracy</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="_b_n_o08x_global_types_8hpp.html#a6bdf6fea6d671c12413d95f36a3e7ba6">IMUAccuracy</a> =  <a class="el" href="_b_n_o08x_global_types_8hpp.html#a6bdf6fea6d671c12413d95f36a3e7ba6">BNO08xAccuracy</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Enumeration Type Documentation</h2>
+<a id="a6bdf6fea6d671c12413d95f36a3e7ba6" name="a6bdf6fea6d671c12413d95f36a3e7ba6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6bdf6fea6d671c12413d95f36a3e7ba6">&#9670;&nbsp;</a></span>BNO08xAccuracy</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">enum class <a class="el" href="_b_n_o08x_global_types_8hpp.html#a6bdf6fea6d671c12413d95f36a3e7ba6">BNO08xAccuracy</a> : uint8_t</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">strong</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Sensor accuracy returned from input reports, corresponds to status bits (see ref. manual 6.5.1) </p>
+<table class="fieldtable">
+<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="a6bdf6fea6d671c12413d95f36a3e7ba6a6e257e645974b9086ed66e9465e2d80c" name="a6bdf6fea6d671c12413d95f36a3e7ba6a6e257e645974b9086ed66e9465e2d80c"></a>UNRELIABLE&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a6bdf6fea6d671c12413d95f36a3e7ba6a41bc94cbd8eebea13ce0491b2ac11b88" name="a6bdf6fea6d671c12413d95f36a3e7ba6a41bc94cbd8eebea13ce0491b2ac11b88"></a>LOW&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a6bdf6fea6d671c12413d95f36a3e7ba6a2ad6d5975c45da2e711c796f3a1b029c" name="a6bdf6fea6d671c12413d95f36a3e7ba6a2ad6d5975c45da2e711c796f3a1b029c"></a>MED&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a6bdf6fea6d671c12413d95f36a3e7ba6ab89de3b4b81c4facfac906edf29aec8c" name="a6bdf6fea6d671c12413d95f36a3e7ba6ab89de3b4b81c4facfac906edf29aec8c"></a>HIGH&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a6bdf6fea6d671c12413d95f36a3e7ba6a0db45d2a4141101bdfe48e3314cfbca3" name="a6bdf6fea6d671c12413d95f36a3e7ba6a0db45d2a4141101bdfe48e3314cfbca3"></a>UNDEFINED&#160;</td><td class="fielddoc"></td></tr>
+</table>
+
+</div>
+</div>
+<a id="a43d66cdccf17ba0cddcdddc72d4fb97d" name="a43d66cdccf17ba0cddcdddc72d4fb97d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a43d66cdccf17ba0cddcdddc72d4fb97d">&#9670;&nbsp;</a></span>BNO08xActivity</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">enum class <a class="el" href="_b_n_o08x_global_types_8hpp.html#a43d66cdccf17ba0cddcdddc72d4fb97d">BNO08xActivity</a> : uint8_t</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">strong</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>BNO08xActivity states returned from BNO08x::activity_classifier.get() </p>
+<table class="fieldtable">
+<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="a43d66cdccf17ba0cddcdddc72d4fb97da696b031073e74bf2cb98e5ef201d4aa3" name="a43d66cdccf17ba0cddcdddc72d4fb97da696b031073e74bf2cb98e5ef201d4aa3"></a>UNKNOWN&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a43d66cdccf17ba0cddcdddc72d4fb97dab166a3ce74dd5434e4a940dfa2af76e4" name="a43d66cdccf17ba0cddcdddc72d4fb97dab166a3ce74dd5434e4a940dfa2af76e4"></a>IN_VEHICLE&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a43d66cdccf17ba0cddcdddc72d4fb97da93d94a2f3a627533453a40e302fb35a4" name="a43d66cdccf17ba0cddcdddc72d4fb97da93d94a2f3a627533453a40e302fb35a4"></a>ON_BICYCLE&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a43d66cdccf17ba0cddcdddc72d4fb97da7089542e0146a3499986c81e24924b58" name="a43d66cdccf17ba0cddcdddc72d4fb97da7089542e0146a3499986c81e24924b58"></a>ON_FOOT&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a43d66cdccf17ba0cddcdddc72d4fb97da8b572d218013b9626d59e6a2b38f18b6" name="a43d66cdccf17ba0cddcdddc72d4fb97da8b572d218013b9626d59e6a2b38f18b6"></a>STILL&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a43d66cdccf17ba0cddcdddc72d4fb97da69909b62e08f212da31719aebf67b70c" name="a43d66cdccf17ba0cddcdddc72d4fb97da69909b62e08f212da31719aebf67b70c"></a>TILTING&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a43d66cdccf17ba0cddcdddc72d4fb97da606c114184493a665cf1f6a12fbab9d3" name="a43d66cdccf17ba0cddcdddc72d4fb97da606c114184493a665cf1f6a12fbab9d3"></a>WALKING&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a43d66cdccf17ba0cddcdddc72d4fb97da43491564ebcfd38568918efbd6e840fd" name="a43d66cdccf17ba0cddcdddc72d4fb97da43491564ebcfd38568918efbd6e840fd"></a>RUNNING&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a43d66cdccf17ba0cddcdddc72d4fb97dabbf2a614429826a84bd76b4a47fc7515" name="a43d66cdccf17ba0cddcdddc72d4fb97dabbf2a614429826a84bd76b4a47fc7515"></a>ON_STAIRS&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a43d66cdccf17ba0cddcdddc72d4fb97da0db45d2a4141101bdfe48e3314cfbca3" name="a43d66cdccf17ba0cddcdddc72d4fb97da0db45d2a4141101bdfe48e3314cfbca3"></a>UNDEFINED&#160;</td><td class="fielddoc"></td></tr>
+</table>
+
+</div>
+</div>
+<a id="a64f4487da0833d5304046093935f5d3a" name="a64f4487da0833d5304046093935f5d3a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a64f4487da0833d5304046093935f5d3a">&#9670;&nbsp;</a></span>BNO08xActivityEnable</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">enum class <a class="el" href="_b_n_o08x_global_types_8hpp.html#a64f4487da0833d5304046093935f5d3a">BNO08xActivityEnable</a> : uint32_t</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">strong</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>BNO08xActivity Classifier enable bits passed to enable_activity_classifier() See ref manual 6.5.36.1. </p>
+<table class="fieldtable">
+<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="a64f4487da0833d5304046093935f5d3aa696b031073e74bf2cb98e5ef201d4aa3" name="a64f4487da0833d5304046093935f5d3aa696b031073e74bf2cb98e5ef201d4aa3"></a>UNKNOWN&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a64f4487da0833d5304046093935f5d3aab166a3ce74dd5434e4a940dfa2af76e4" name="a64f4487da0833d5304046093935f5d3aab166a3ce74dd5434e4a940dfa2af76e4"></a>IN_VEHICLE&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a64f4487da0833d5304046093935f5d3aa93d94a2f3a627533453a40e302fb35a4" name="a64f4487da0833d5304046093935f5d3aa93d94a2f3a627533453a40e302fb35a4"></a>ON_BICYCLE&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a64f4487da0833d5304046093935f5d3aa7089542e0146a3499986c81e24924b58" name="a64f4487da0833d5304046093935f5d3aa7089542e0146a3499986c81e24924b58"></a>ON_FOOT&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a64f4487da0833d5304046093935f5d3aa8b572d218013b9626d59e6a2b38f18b6" name="a64f4487da0833d5304046093935f5d3aa8b572d218013b9626d59e6a2b38f18b6"></a>STILL&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a64f4487da0833d5304046093935f5d3aa69909b62e08f212da31719aebf67b70c" name="a64f4487da0833d5304046093935f5d3aa69909b62e08f212da31719aebf67b70c"></a>TILTING&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a64f4487da0833d5304046093935f5d3aa606c114184493a665cf1f6a12fbab9d3" name="a64f4487da0833d5304046093935f5d3aa606c114184493a665cf1f6a12fbab9d3"></a>WALKING&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a64f4487da0833d5304046093935f5d3aa43491564ebcfd38568918efbd6e840fd" name="a64f4487da0833d5304046093935f5d3aa43491564ebcfd38568918efbd6e840fd"></a>RUNNING&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a64f4487da0833d5304046093935f5d3aabbf2a614429826a84bd76b4a47fc7515" name="a64f4487da0833d5304046093935f5d3aabbf2a614429826a84bd76b4a47fc7515"></a>ON_STAIRS&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a64f4487da0833d5304046093935f5d3aa5fb1f955b45e38e31789286a1790398d" name="a64f4487da0833d5304046093935f5d3aa5fb1f955b45e38e31789286a1790398d"></a>ALL&#160;</td><td class="fielddoc"></td></tr>
+</table>
+
+</div>
+</div>
+<a id="a25947bbe6bc4a7c9edd7067fdce0e9cc" name="a25947bbe6bc4a7c9edd7067fdce0e9cc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a25947bbe6bc4a7c9edd7067fdce0e9cc">&#9670;&nbsp;</a></span>BNO08xCalSel</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">enum class <a class="el" href="_b_n_o08x_global_types_8hpp.html#a25947bbe6bc4a7c9edd7067fdce0e9cc">BNO08xCalSel</a> : uint8_t</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">strong</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<table class="fieldtable">
+<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="a25947bbe6bc4a7c9edd7067fdce0e9cca0e1275697d4c40b4b0640fbfa3907afa" name="a25947bbe6bc4a7c9edd7067fdce0e9cca0e1275697d4c40b4b0640fbfa3907afa"></a>accelerometer&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a25947bbe6bc4a7c9edd7067fdce0e9cca41e1db589d90cecf09838a038ebc8aa1" name="a25947bbe6bc4a7c9edd7067fdce0e9cca41e1db589d90cecf09838a038ebc8aa1"></a>gyro&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a25947bbe6bc4a7c9edd7067fdce0e9cca2c8af00d544b080d3c0d834d1c5dfcbf" name="a25947bbe6bc4a7c9edd7067fdce0e9cca2c8af00d544b080d3c0d834d1c5dfcbf"></a>magnetometer&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a25947bbe6bc4a7c9edd7067fdce0e9ccafcaab1f4c98b7343157c3c59c6a259cb" name="a25947bbe6bc4a7c9edd7067fdce0e9ccafcaab1f4c98b7343157c3c59c6a259cb"></a>planar_accelerometer&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a25947bbe6bc4a7c9edd7067fdce0e9ccaa181a603769c1f98ad927e7367c7aa51" name="a25947bbe6bc4a7c9edd7067fdce0e9ccaa181a603769c1f98ad927e7367c7aa51"></a>all&#160;</td><td class="fielddoc"></td></tr>
+</table>
+
+</div>
+</div>
+<a id="a8ac8ee2d5f81f6102ed94866f2bdcc8e" name="a8ac8ee2d5f81f6102ed94866f2bdcc8e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8ac8ee2d5f81f6102ed94866f2bdcc8e">&#9670;&nbsp;</a></span>BNO08xFrsID</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">enum class <a class="el" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8e">BNO08xFrsID</a> : uint16_t</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">strong</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<table class="fieldtable">
+<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8eae81a7ec9f2eb51db6a66eec214f74329" name="a8ac8ee2d5f81f6102ed94866f2bdcc8eae81a7ec9f2eb51db6a66eec214f74329"></a>STATIC_CALIBRATION_AGM&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8ea9b1f79a084136956f5a67145e34b8fcf" name="a8ac8ee2d5f81f6102ed94866f2bdcc8ea9b1f79a084136956f5a67145e34b8fcf"></a>NOMINAL_CALIBRATION&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8eae3e95aa73e5b19b6fc1574c287598a8a" name="a8ac8ee2d5f81f6102ed94866f2bdcc8eae3e95aa73e5b19b6fc1574c287598a8a"></a>STATIC_CALIBRATION_SRA&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8ea9575a153f8b803923611e5a7577d8992" name="a8ac8ee2d5f81f6102ed94866f2bdcc8ea9575a153f8b803923611e5a7577d8992"></a>NOMINAL_CALIBRATION_SRA&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8eac843f0dc477c2043015db473c2bbf8b7" name="a8ac8ee2d5f81f6102ed94866f2bdcc8eac843f0dc477c2043015db473c2bbf8b7"></a>DYNAMIC_CALIBRATION&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8ea4003f069dafa6695f634bc4d6cadf21d" name="a8ac8ee2d5f81f6102ed94866f2bdcc8ea4003f069dafa6695f634bc4d6cadf21d"></a>ME_POWER_MGMT&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8ea174aa600a99d1fee26df64861c68d4ab" name="a8ac8ee2d5f81f6102ed94866f2bdcc8ea174aa600a99d1fee26df64861c68d4ab"></a>SYSTEM_ORIENTATION&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8ea5a6f607e6dea7e4770d6d44dffc14fe0" name="a8ac8ee2d5f81f6102ed94866f2bdcc8ea5a6f607e6dea7e4770d6d44dffc14fe0"></a>ACCEL_ORIENTATION&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8ea1e56a229eb00e62fc6f98a9c3bf2c41e" name="a8ac8ee2d5f81f6102ed94866f2bdcc8ea1e56a229eb00e62fc6f98a9c3bf2c41e"></a>SCREEN_ACCEL_ORIENTATION&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8eab7ba02b55d602fc0e643a0e860144abd" name="a8ac8ee2d5f81f6102ed94866f2bdcc8eab7ba02b55d602fc0e643a0e860144abd"></a>GYROSCOPE_ORIENTATION&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8ea7c1bc0a9cbeffed48c3f56f138f059dd" name="a8ac8ee2d5f81f6102ed94866f2bdcc8ea7c1bc0a9cbeffed48c3f56f138f059dd"></a>MAGNETOMETER_ORIENTATION&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8ead41092d568817e7b690859c6a04089ef" name="a8ac8ee2d5f81f6102ed94866f2bdcc8ead41092d568817e7b690859c6a04089ef"></a>ARVR_STABILIZATION_RV&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8ea20d2e66717ed43eb8a6b112e953eb9db" name="a8ac8ee2d5f81f6102ed94866f2bdcc8ea20d2e66717ed43eb8a6b112e953eb9db"></a>ARVR_STABILIZATION_GRV&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8ea94ada7efc076c96b78bcb052d4f22ca2" name="a8ac8ee2d5f81f6102ed94866f2bdcc8ea94ada7efc076c96b78bcb052d4f22ca2"></a>TAP_DETECT_CONFIG&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8eae5d606ae5efeadd9ab249a39b8ed828a" name="a8ac8ee2d5f81f6102ed94866f2bdcc8eae5d606ae5efeadd9ab249a39b8ed828a"></a>SIG_MOTION_DETECT_CONFIG&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8ea8a41fbc008e0571cf295a0770e995864" name="a8ac8ee2d5f81f6102ed94866f2bdcc8ea8a41fbc008e0571cf295a0770e995864"></a>SHAKE_DETECT_CONFIG&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8ea2dfcf6ba54eba882fb201bd55b45c4b9" name="a8ac8ee2d5f81f6102ed94866f2bdcc8ea2dfcf6ba54eba882fb201bd55b45c4b9"></a>MAX_FUSION_PERIOD&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8eabac5402bcf9584b3014bd64b8b6ad282" name="a8ac8ee2d5f81f6102ed94866f2bdcc8eabac5402bcf9584b3014bd64b8b6ad282"></a>SERIAL_NUMBER&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8ea985e7c8c6bc3500a46530901ac93ab09" name="a8ac8ee2d5f81f6102ed94866f2bdcc8ea985e7c8c6bc3500a46530901ac93ab09"></a>ES_PRESSURE_CAL&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8eae15b6d77b828a0022adb2622ddf30d29" name="a8ac8ee2d5f81f6102ed94866f2bdcc8eae15b6d77b828a0022adb2622ddf30d29"></a>ES_TEMPERATURE_CAL&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8ea2ce4d488b1ad35ff763f52aec7191874" name="a8ac8ee2d5f81f6102ed94866f2bdcc8ea2ce4d488b1ad35ff763f52aec7191874"></a>ES_HUMIDITY_CAL&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8ea11c8ae2ec493a78ebc9a808e1df7478c" name="a8ac8ee2d5f81f6102ed94866f2bdcc8ea11c8ae2ec493a78ebc9a808e1df7478c"></a>ES_AMBIENT_LIGHT_CAL&#160;</td><td class="fielddoc"></td></tr>
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+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8eadc862ae872087053cf308a5c9d12e8ea" name="a8ac8ee2d5f81f6102ed94866f2bdcc8eadc862ae872087053cf308a5c9d12e8ea"></a>ALS_CAL&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8eabcf02bc8a45fdf7df5390b79184b922e" name="a8ac8ee2d5f81f6102ed94866f2bdcc8eabcf02bc8a45fdf7df5390b79184b922e"></a>PROXIMITY_SENSOR_CAL&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8eac9e002e70642b098e7e67cc4083d134d" name="a8ac8ee2d5f81f6102ed94866f2bdcc8eac9e002e70642b098e7e67cc4083d134d"></a>PICKUP_DETECTOR_CONFIG&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8eab0ef80b2f1340b86b39cb82f5ab9d7ee" name="a8ac8ee2d5f81f6102ed94866f2bdcc8eab0ef80b2f1340b86b39cb82f5ab9d7ee"></a>FLIP_DETECTOR_CONFIG&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8ead36109c56ef4d0598cc0b03b25dc8d85" name="a8ac8ee2d5f81f6102ed94866f2bdcc8ead36109c56ef4d0598cc0b03b25dc8d85"></a>STABILITY_DETECTOR_CONFIG&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8eab16df741bbcb037e9fc6830441e21a95" name="a8ac8ee2d5f81f6102ed94866f2bdcc8eab16df741bbcb037e9fc6830441e21a95"></a>ACTIVITY_TRACKER_CONFIG&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8ea19f33813d80c7da8306762a7f141d9bb" name="a8ac8ee2d5f81f6102ed94866f2bdcc8ea19f33813d80c7da8306762a7f141d9bb"></a>SLEEP_DETECTOR_CONFIG&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8ea6590d7f1041f103cdaab64cd06e0db37" name="a8ac8ee2d5f81f6102ed94866f2bdcc8ea6590d7f1041f103cdaab64cd06e0db37"></a>TILT_DETECTOR_CONFIG&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8eaababe7d27ea06c8f91d48e5b7aa29edd" name="a8ac8ee2d5f81f6102ed94866f2bdcc8eaababe7d27ea06c8f91d48e5b7aa29edd"></a>POCKET_DETECTOR_CONFIG&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8ea04c1dfc95c72ddbf41e93f6c894aea7c" name="a8ac8ee2d5f81f6102ed94866f2bdcc8ea04c1dfc95c72ddbf41e93f6c894aea7c"></a>CIRCLE_DETECTOR_CONFIG&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8ea5d88297a4f00a18d228e25847cbac419" name="a8ac8ee2d5f81f6102ed94866f2bdcc8ea5d88297a4f00a18d228e25847cbac419"></a>USER_RECORD&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8ea622bd18282b2f88dc49339c638005f7d" name="a8ac8ee2d5f81f6102ed94866f2bdcc8ea622bd18282b2f88dc49339c638005f7d"></a>ME_TIME_SOURCE_SELECT&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8ea915838bac984c07ae03ec46239375b32" name="a8ac8ee2d5f81f6102ed94866f2bdcc8ea915838bac984c07ae03ec46239375b32"></a>UART_FORMAT&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8eacde3a23190df77d7c45b6dcf38727bda" name="a8ac8ee2d5f81f6102ed94866f2bdcc8eacde3a23190df77d7c45b6dcf38727bda"></a>GYRO_INTEGRATED_RV_CONFIG&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8ea2e4ea1aa76f2cad49db5d57d811e12aa" name="a8ac8ee2d5f81f6102ed94866f2bdcc8ea2e4ea1aa76f2cad49db5d57d811e12aa"></a>META_RAW_ACCELEROMETER&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8ea465acbc549b49027295fb2df6d89ad9e" name="a8ac8ee2d5f81f6102ed94866f2bdcc8ea465acbc549b49027295fb2df6d89ad9e"></a>META_ACCELEROMETER&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8ea3308d6a253d373d623aa27e5a7e35b26" name="a8ac8ee2d5f81f6102ed94866f2bdcc8ea3308d6a253d373d623aa27e5a7e35b26"></a>META_LINEAR_ACCELERATION&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8ead18387364cb570f2dada6577901433b2" name="a8ac8ee2d5f81f6102ed94866f2bdcc8ead18387364cb570f2dada6577901433b2"></a>META_GRAVITY&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8ea151beca4927a54850a706fce1bdc6d4f" name="a8ac8ee2d5f81f6102ed94866f2bdcc8ea151beca4927a54850a706fce1bdc6d4f"></a>META_RAW_GYROSCOPE&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8ea1bc76fb93c1b3dd08a602f2f4fbe8645" name="a8ac8ee2d5f81f6102ed94866f2bdcc8ea1bc76fb93c1b3dd08a602f2f4fbe8645"></a>META_GYROSCOPE_CALIBRATED&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8eaa68be0ce226eff099a645026852190b4" name="a8ac8ee2d5f81f6102ed94866f2bdcc8eaa68be0ce226eff099a645026852190b4"></a>META_GYROSCOPE_UNCALIBRATED&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8ead97759e77dc0c7c57de6a56bc0f9bad8" name="a8ac8ee2d5f81f6102ed94866f2bdcc8ead97759e77dc0c7c57de6a56bc0f9bad8"></a>META_RAW_MAGNETOMETER&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8eac4042d50ceb28eb1f11e87cb6d6d4b61" name="a8ac8ee2d5f81f6102ed94866f2bdcc8eac4042d50ceb28eb1f11e87cb6d6d4b61"></a>META_MAGNETIC_FIELD_CALIBRATED&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8ea34c09ae0fffb459871f75731dd9bdfb1" name="a8ac8ee2d5f81f6102ed94866f2bdcc8ea34c09ae0fffb459871f75731dd9bdfb1"></a>META_MAGNETIC_FIELD_UNCALIBRATED&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8ea4a6153a0da5cadc5308e699f0d72de20" name="a8ac8ee2d5f81f6102ed94866f2bdcc8ea4a6153a0da5cadc5308e699f0d72de20"></a>META_ROTATION_VECTOR&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8ea03247820bfcd6c7518327a501c2f84f2" name="a8ac8ee2d5f81f6102ed94866f2bdcc8ea03247820bfcd6c7518327a501c2f84f2"></a>META_GAME_ROTATION_VECTOR&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8ea8358c5060ffe770da1411d8779db71a8" name="a8ac8ee2d5f81f6102ed94866f2bdcc8ea8358c5060ffe770da1411d8779db71a8"></a>META_GEOMAGNETIC_ROTATION_VECTOR&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8eaf9c947198092e74abb25848eb7769067" name="a8ac8ee2d5f81f6102ed94866f2bdcc8eaf9c947198092e74abb25848eb7769067"></a>META_PRESSURE&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8ea272dc30956f626dd9c57deabae51f34e" name="a8ac8ee2d5f81f6102ed94866f2bdcc8ea272dc30956f626dd9c57deabae51f34e"></a>META_AMBIENT_LIGHT&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8eaad36e03479240e4335a782c235a5d38a" name="a8ac8ee2d5f81f6102ed94866f2bdcc8eaad36e03479240e4335a782c235a5d38a"></a>META_HUMIDITY&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8ea5672a03a15b0d08bc1dbf6d361f885b6" name="a8ac8ee2d5f81f6102ed94866f2bdcc8ea5672a03a15b0d08bc1dbf6d361f885b6"></a>META_PROXIMITY&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8eab95695a3e70032d9b77b4b66c66fc98c" name="a8ac8ee2d5f81f6102ed94866f2bdcc8eab95695a3e70032d9b77b4b66c66fc98c"></a>META_TEMPERATURE&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8eab16eab94415b5ee4213d1d5091bcbe63" name="a8ac8ee2d5f81f6102ed94866f2bdcc8eab16eab94415b5ee4213d1d5091bcbe63"></a>META_TAP_DETECTOR&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8eaec9658d47befd647b63e584f101b54be" name="a8ac8ee2d5f81f6102ed94866f2bdcc8eaec9658d47befd647b63e584f101b54be"></a>META_STEP_DETECTOR&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8eaf2f39889d71f8b36825d018c4e9097d0" name="a8ac8ee2d5f81f6102ed94866f2bdcc8eaf2f39889d71f8b36825d018c4e9097d0"></a>META_STEP_COUNTER&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8ea75cae4a3d64033a6b610ba9bdeca4400" name="a8ac8ee2d5f81f6102ed94866f2bdcc8ea75cae4a3d64033a6b610ba9bdeca4400"></a>META_SIGNIFICANT_MOTION&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8ea74afeef51f861c9990699dce9c3544d0" name="a8ac8ee2d5f81f6102ed94866f2bdcc8ea74afeef51f861c9990699dce9c3544d0"></a>META_STABILITY_CLASSIFIER&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8ea9ec318efb06209c42f9199b41d76df40" name="a8ac8ee2d5f81f6102ed94866f2bdcc8ea9ec318efb06209c42f9199b41d76df40"></a>META_SHAKE_DETECTOR&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8eaeba85c6e59bb27b48782c948858e21e0" name="a8ac8ee2d5f81f6102ed94866f2bdcc8eaeba85c6e59bb27b48782c948858e21e0"></a>META_FLIP_DETECTOR&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8ea499a184ec3f1a41ee95704207c3a0907" name="a8ac8ee2d5f81f6102ed94866f2bdcc8ea499a184ec3f1a41ee95704207c3a0907"></a>META_PICKUP_DETECTOR&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8ead5ca5c5444a4d4078796da85a8a63fd8" name="a8ac8ee2d5f81f6102ed94866f2bdcc8ead5ca5c5444a4d4078796da85a8a63fd8"></a>META_STABILITY_DETECTOR&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8ea6fc1d676928d6b16f1c1639b27a52669" name="a8ac8ee2d5f81f6102ed94866f2bdcc8ea6fc1d676928d6b16f1c1639b27a52669"></a>META_PERSONAL_ACTIVITY_CLASSIFIER&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8ea75c30391bf2c38c3d5451e6f3f1969ef" name="a8ac8ee2d5f81f6102ed94866f2bdcc8ea75c30391bf2c38c3d5451e6f3f1969ef"></a>META_SLEEP_DETECTOR&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8ea66d0073ac3caa41ab4958fc167032f39" name="a8ac8ee2d5f81f6102ed94866f2bdcc8ea66d0073ac3caa41ab4958fc167032f39"></a>META_TILT_DETECTOR&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8ea8fea9f9b77154625f1b543988398610b" name="a8ac8ee2d5f81f6102ed94866f2bdcc8ea8fea9f9b77154625f1b543988398610b"></a>META_POCKET_DETECTOR&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8eac26499be839c2f04ca712c388e02b2cd" name="a8ac8ee2d5f81f6102ed94866f2bdcc8eac26499be839c2f04ca712c388e02b2cd"></a>META_CIRCLE_DETECTOR&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8ea41240ea9c983158280d9a1a144d6f9dc" name="a8ac8ee2d5f81f6102ed94866f2bdcc8ea41240ea9c983158280d9a1a144d6f9dc"></a>META_HEART_RATE_MONITOR&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8ea61501297c2607c69321c2a5b4c1c945b" name="a8ac8ee2d5f81f6102ed94866f2bdcc8ea61501297c2607c69321c2a5b4c1c945b"></a>META_ARVR_STABILIZED_RV&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8ea240edccff7cb86c2486ee9bac60e19ca" name="a8ac8ee2d5f81f6102ed94866f2bdcc8ea240edccff7cb86c2486ee9bac60e19ca"></a>META_ARVR_STABILIZED_GRV&#160;</td><td class="fielddoc"></td></tr>
+<tr><td class="fieldname"><a id="a8ac8ee2d5f81f6102ed94866f2bdcc8ea928ad374247b43bfa0939406c62d2b31" name="a8ac8ee2d5f81f6102ed94866f2bdcc8ea928ad374247b43bfa0939406c62d2b31"></a>META_GYRO_INTEGRATED_RV&#160;</td><td class="fielddoc"></td></tr>
+</table>
+
+</div>
+</div>
+<a id="afed71c9ed8a8563767f26282408ccee2" name="afed71c9ed8a8563767f26282408ccee2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afed71c9ed8a8563767f26282408ccee2">&#9670;&nbsp;</a></span>BNO08xResetReason</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">enum class <a class="el" href="_b_n_o08x_global_types_8hpp.html#afed71c9ed8a8563767f26282408ccee2">BNO08xResetReason</a> : uint8_t</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">strong</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Reason for previous IMU reset (returned by get_reset_reason()) </p>
+<table class="fieldtable">
+<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="afed71c9ed8a8563767f26282408ccee2a0db45d2a4141101bdfe48e3314cfbca3" name="afed71c9ed8a8563767f26282408ccee2a0db45d2a4141101bdfe48e3314cfbca3"></a>UNDEFINED&#160;</td><td class="fielddoc"><p >Undefined reset reason, this should never occur and is an error. </p>
+</td></tr>
+<tr><td class="fieldname"><a id="afed71c9ed8a8563767f26282408ccee2a7b47bb0f9f8c72f84d891e8e22a1fb92" name="afed71c9ed8a8563767f26282408ccee2a7b47bb0f9f8c72f84d891e8e22a1fb92"></a>POR&#160;</td><td class="fielddoc"><p >Previous reset was due to power on reset. </p>
+</td></tr>
+<tr><td class="fieldname"><a id="afed71c9ed8a8563767f26282408ccee2acc069cf9b33eb4e7fb3696f0f42d752f" name="afed71c9ed8a8563767f26282408ccee2acc069cf9b33eb4e7fb3696f0f42d752f"></a>INT_RST&#160;</td><td class="fielddoc"><p >Previous reset was due to internal reset. </p>
+</td></tr>
+<tr><td class="fieldname"><a id="afed71c9ed8a8563767f26282408ccee2a764caaf44e35ee682f4079bd0878fa36" name="afed71c9ed8a8563767f26282408ccee2a764caaf44e35ee682f4079bd0878fa36"></a>WTD&#160;</td><td class="fielddoc"><p >Previous reset was due to watchdog timer. </p>
+</td></tr>
+<tr><td class="fieldname"><a id="afed71c9ed8a8563767f26282408ccee2ac4e100317ca17eda786308c1c39eded5" name="afed71c9ed8a8563767f26282408ccee2ac4e100317ca17eda786308c1c39eded5"></a>EXT_RST&#160;</td><td class="fielddoc"><p >Previous reset was due to external reset. </p>
+</td></tr>
+<tr><td class="fieldname"><a id="afed71c9ed8a8563767f26282408ccee2a03570470bad94692ce93e32700d2e1cb" name="afed71c9ed8a8563767f26282408ccee2a03570470bad94692ce93e32700d2e1cb"></a>OTHER&#160;</td><td class="fielddoc"><p >Previous reset was due to power other reason. </p>
+</td></tr>
+</table>
+
+</div>
+</div>
+<a id="a22d72f675aad7af764e685f91b29f4cb" name="a22d72f675aad7af764e685f91b29f4cb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a22d72f675aad7af764e685f91b29f4cb">&#9670;&nbsp;</a></span>BNO08xStability</h2>
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+<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">enum class <a class="el" href="_b_n_o08x_global_types_8hpp.html#a22d72f675aad7af764e685f91b29f4cb">BNO08xStability</a> : uint8_t</td>
+        </tr>
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+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">strong</span></span>  </td>
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+</div><div class="memdoc">
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+<p>BNO08xStability states returned from BNO08x::stability_classifier.get() </p>
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+</table>
+
+</div>
+</div>
+<h2 class="groupheader">Function Documentation</h2>
+<a id="abb500e98b07c687d37e8ac0548a02e05" name="abb500e98b07c687d37e8ac0548a02e05"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abb500e98b07c687d37e8ac0548a02e05">&#9670;&nbsp;</a></span>BNO08xAccuracy_to_str()</h2>
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+          <td class="memname">const constexpr char * BNO08xAccuracy_to_str </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="_b_n_o08x_global_types_8hpp.html#a6bdf6fea6d671c12413d95f36a3e7ba6">BNO08xAccuracy</a>&#160;</td>
+          <td class="paramname"><em>accuracy</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
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+<h2 class="memtitle"><span class="permalink"><a href="#a042702b50b2a3617c517cd601e9d7ead">&#9670;&nbsp;</a></span>BNO08xActivity_to_str()</h2>
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+  <td class="mlabels-left">
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+          <td class="memname">const constexpr char * BNO08xActivity_to_str </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="_b_n_o08x_global_types_8hpp.html#a43d66cdccf17ba0cddcdddc72d4fb97d">BNO08xActivity</a>&#160;</td>
+          <td class="paramname"><em>activity</em></td><td>)</td>
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+<p>Converts a BNO08xActivity enum to string. </p>
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+
+</div>
+</div>
+<a id="a79cad23b69ea6ab97bf9d6e0a64a2826" name="a79cad23b69ea6ab97bf9d6e0a64a2826"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a79cad23b69ea6ab97bf9d6e0a64a2826">&#9670;&nbsp;</a></span>BNO08xFrsID_to_str()</h2>
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+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
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+          <td class="memname">const constexpr char * BNO08xFrsID_to_str </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8e">BNO08xFrsID</a>&#160;</td>
+          <td class="paramname"><em>id</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">constexpr</span></span>  </td>
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+<h2 class="memtitle"><span class="permalink"><a href="#acd889b071d45f7ba9e7157e7a752bf5a">&#9670;&nbsp;</a></span>BNO08xStability_to_str()</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 * BNO08xStability_to_str </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="_b_n_o08x_global_types_8hpp.html#a22d72f675aad7af764e685f91b29f4cb">BNO08xStability</a>&#160;</td>
+          <td class="paramname"><em>stability</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">constexpr</span></span>  </td>
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+<p>Converts a BNO08xStability enum to string. </p>
+<dl class="section return"><dt>Returns</dt><dd>The resulting string conversion of the enum. </dd></dl>
+
+</div>
+</div>
+</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="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="_b_n_o08x_global_types_8hpp.html">BNO08xGlobalTypes.hpp</a></li>
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+<title>esp32_BNO08x: /media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/BNO08xGlobalTypes.hpp Source File</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
+   </div>
+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
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+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.4 -->
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+<div class="header">
+  <div class="headertitle"><div class="title">BNO08xGlobalTypes.hpp</div></div>
+</div><!--header-->
+<div class="contents">
+<a href="_b_n_o08x_global_types_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> </div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span> </div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="comment">// macros for bno08x_tap_detector_t</span></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"><a class="line" href="_b_n_o08x_global_types_8hpp.html#ad0dc59e3a74a39a8e358c945162f6fc8">    9</a></span><span class="preprocessor">#define TAP_DETECTED_X_AXIS(tap) ((tap) &amp; (1U &lt;&lt; 0U) ? 1 : 0)</span></div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"><a class="line" href="_b_n_o08x_global_types_8hpp.html#a8a8a0fbcff17f5123ad111fcd9a375ea">   10</a></span><span class="preprocessor">#define TAP_DETECTED_X_AXIS_POSITIVE(tap) ((tap) &amp; (1U &lt;&lt; 1U) ? 1 : 0)</span></div>
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno"><a class="line" href="_b_n_o08x_global_types_8hpp.html#ad2ab2bbe6f01a4a641f75c41a9064cf6">   11</a></span><span class="preprocessor">#define TAP_DETECTED_Y_AXIS(tap) ((tap) &amp; (1U &lt;&lt; 2U) ? 1 : 0)</span></div>
+<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"><a class="line" href="_b_n_o08x_global_types_8hpp.html#a356ec3a53c785965e8dd24381a3bdcd7">   12</a></span><span class="preprocessor">#define TAP_DETECTED_Y_AXIS_POSITIVE(tap) ((tap) &amp; (1U &lt;&lt; 3U) ? 1 : 0)</span></div>
+<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"><a class="line" href="_b_n_o08x_global_types_8hpp.html#aaaf91ed835d5d1a5726806bb147c5938">   13</a></span><span class="preprocessor">#define TAP_DETECTED_Z_AXIS(tap) ((tap) &amp; (1U &lt;&lt; 4U) ? 1 : 0)</span></div>
+<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"><a class="line" href="_b_n_o08x_global_types_8hpp.html#a6fd0bd9f4990ced262a8f2d4c41d65d9">   14</a></span><span class="preprocessor">#define TAP_DETECTED_Z_AXIS_POSITIVE(tap) ((tap) &amp; (1U &lt;&lt; 5U) ? 1 : 0)</span></div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"><a class="line" href="_b_n_o08x_global_types_8hpp.html#a92a577e216f51fc6156a87e6ecf8ffc5">   15</a></span><span class="preprocessor">#define TAP_DETECTED_DOUBLE(tap) ((tap) &amp; (1U &lt;&lt; 6U) ? 1 : 0)</span></div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span> </div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span><span class="comment">// macros for bno08x_shake_detector_t</span></div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"><a class="line" href="_b_n_o08x_global_types_8hpp.html#ae12bdf0217349447eebadf16d4560869">   18</a></span><span class="preprocessor">#define SHAKE_DETECTED_X(tap) ((tap) &amp; (1U &lt;&lt; 0U) ? 1 : 0)</span></div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"><a class="line" href="_b_n_o08x_global_types_8hpp.html#a023aa826dbf083e2a6d2d67beba75b27">   19</a></span><span class="preprocessor">#define SHAKE_DETECTED_Y(tap) ((tap) &amp; (1U &lt;&lt; 1U) ? 1 : 0)</span></div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"><a class="line" href="_b_n_o08x_global_types_8hpp.html#a9951e367fa8ff09a55526994cfaa94be">   20</a></span><span class="preprocessor">#define SHAKE_DETECTED_Z(tap) ((tap) &amp; (1U &lt;&lt; 2U) ? 1 : 0)</span></div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span> </div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span><span class="comment">// standard library includes</span></div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span><span class="preprocessor">#include &lt;math.h&gt;</span></div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span><span class="preprocessor">#include &lt;inttypes.h&gt;</span></div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span><span class="preprocessor">#include &lt;stdint.h&gt;</span></div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span><span class="preprocessor">#include &lt;cstring&gt;</span></div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span> </div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span><span class="comment">// esp-idf includes</span></div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span><span class="preprocessor">#include &lt;driver/gpio.h&gt;</span></div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span><span class="preprocessor">#include &lt;driver/spi_common.h&gt;</span></div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span><span class="preprocessor">#include &lt;driver/spi_master.h&gt;</span></div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span> </div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span><span class="comment">// third-party includes</span></div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span><span class="preprocessor">#include &quot;sh2_SensorValue.h&quot;</span></div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span> </div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"><a class="line" href="structbno08x__config__t.html">   37</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="l00038" name="l00038"></a><span class="lineno">   38</span>{</div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"><a class="line" href="structbno08x__config__t.html#a020d2343750bb7debc2a108ae038c9ec">   39</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="l00040" name="l00040"></a><span class="lineno"><a class="line" href="structbno08x__config__t.html#a79023fd80039e41a22b7f73ccd5fc861">   40</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="l00041" name="l00041"></a><span class="lineno"><a class="line" href="structbno08x__config__t.html#a9468180a773892977db39cc5ed9368e3">   41</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="l00042" name="l00042"></a><span class="lineno"><a class="line" href="structbno08x__config__t.html#a639685b91ae3198909d722316495246a">   42</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="l00043" name="l00043"></a><span class="lineno"><a class="line" href="structbno08x__config__t.html#ab1b5351b63da0c172c942463d0dc2505">   43</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="l00044" name="l00044"></a><span class="lineno"><a class="line" href="structbno08x__config__t.html#a3cfe965659cfbc6b0c5269bd0211975f">   44</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="l00045" name="l00045"></a><span class="lineno"><a class="line" href="structbno08x__config__t.html#a62745c761219139f66ecd173b51577fc">   45</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="l00046" name="l00046"></a><span class="lineno"><a class="line" href="structbno08x__config__t.html#a231614c3b20888360def2ce9db83f52a">   46</a></span>        uint32_t <a class="code hl_variable" href="structbno08x__config__t.html#a231614c3b20888360def2ce9db83f52a">sclk_speed</a>;              </div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"><a class="line" href="structbno08x__config__t.html#a0f629aaef6756aa80fec96b34476c627">   47</a></span>        <span class="keywordtype">bool</span> <a class="code hl_variable" href="structbno08x__config__t.html#a0f629aaef6756aa80fec96b34476c627">install_isr_service</a>; </div>
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span> </div>
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"><a class="line" href="structbno08x__config__t.html#a68e051212415a62e64c23678e7b40552">   52</a></span>        <a class="code hl_function" href="structbno08x__config__t.html#a68e051212415a62e64c23678e7b40552">bno08x_config_t</a>(<span class="keywordtype">bool</span> <a class="code hl_variable" href="structbno08x__config__t.html#a0f629aaef6756aa80fec96b34476c627">install_isr_service</a> = <span class="keyword">true</span>)</div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</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="l00054" name="l00054"></a><span class="lineno">   54</span>            , <a class="code hl_variable" href="structbno08x__config__t.html#a79023fd80039e41a22b7f73ccd5fc861">io_mosi</a>(static_cast&lt;gpio_num_t&gt;(CONFIG_ESP32_BNO08X_GPIO_DI))       <span class="comment">// default: 23</span></div>
+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>            , <a class="code hl_variable" href="structbno08x__config__t.html#a9468180a773892977db39cc5ed9368e3">io_miso</a>(static_cast&lt;gpio_num_t&gt;(CONFIG_ESP32_BNO08X_GPIO_SDA))      <span class="comment">// default: 19</span></div>
+<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>            , <a class="code hl_variable" href="structbno08x__config__t.html#a639685b91ae3198909d722316495246a">io_sclk</a>(static_cast&lt;gpio_num_t&gt;(CONFIG_ESP32_BNO08X_GPIO_SCL))      <span class="comment">// default: 18</span></div>
+<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>            , <a class="code hl_variable" href="structbno08x__config__t.html#ab1b5351b63da0c172c942463d0dc2505">io_cs</a>(static_cast&lt;gpio_num_t&gt;(CONFIG_ESP32_BNO08X_GPIO_CS))         <span class="comment">// default: 33</span></div>
+<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>            , <a class="code hl_variable" href="structbno08x__config__t.html#a3cfe965659cfbc6b0c5269bd0211975f">io_int</a>(static_cast&lt;gpio_num_t&gt;(CONFIG_ESP32_BNO08X_GPIO_HINT))      <span class="comment">// default: 26</span></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#a62745c761219139f66ecd173b51577fc">io_rst</a>(static_cast&lt;gpio_num_t&gt;(CONFIG_ESP32_BNO08X_GPIO_RST))       <span class="comment">// default: 32</span></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#a231614c3b20888360def2ce9db83f52a">sclk_speed</a>(static_cast&lt;uint32_t&gt;(CONFIG_ESP32_BNO08X_SCL_SPEED_HZ)) <span class="comment">// default: 2MHz</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#a0f629aaef6756aa80fec96b34476c627">install_isr_service</a>(<a class="code hl_variable" href="structbno08x__config__t.html#a0f629aaef6756aa80fec96b34476c627">install_isr_service</a>)                            <span class="comment">// default: true</span></div>
+<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span> </div>
+<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>        {</div>
+<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>        }</div>
+<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span> </div>
+<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"><a class="line" href="structbno08x__config__t.html#afa37d6ffc6f4fc7c9aa7484d49458a4a">   67</a></span>        <a class="code hl_function" href="structbno08x__config__t.html#afa37d6ffc6f4fc7c9aa7484d49458a4a">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>,</div>
+<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>                gpio_num_t <a class="code hl_variable" href="structbno08x__config__t.html#ab1b5351b63da0c172c942463d0dc2505">io_cs</a>, 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>, uint32_t <a class="code hl_variable" href="structbno08x__config__t.html#a231614c3b20888360def2ce9db83f52a">sclk_speed</a>, <span class="keywordtype">bool</span> <a class="code hl_variable" href="structbno08x__config__t.html#a0f629aaef6756aa80fec96b34476c627">install_isr_service</a> = <span class="keyword">true</span>)</div>
+<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</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="l00070" name="l00070"></a><span class="lineno">   70</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="l00071" name="l00071"></a><span class="lineno">   71</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="l00072" name="l00072"></a><span class="lineno">   72</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="l00073" name="l00073"></a><span class="lineno">   73</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="l00074" name="l00074"></a><span class="lineno">   74</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="l00075" name="l00075"></a><span class="lineno">   75</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="l00076" name="l00076"></a><span class="lineno">   76</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="l00077" name="l00077"></a><span class="lineno">   77</span>            , <a class="code hl_variable" href="structbno08x__config__t.html#a0f629aaef6756aa80fec96b34476c627">install_isr_service</a>(<a class="code hl_variable" href="structbno08x__config__t.html#a0f629aaef6756aa80fec96b34476c627">install_isr_service</a>)</div>
+<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>        {</div>
+<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>        }</div>
+<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"><a class="line" href="_b_n_o08x_global_types_8hpp.html#a648bbdbf22731476890dd8da977d7503">   80</a></span>} <a class="code hl_typedef" href="_b_n_o08x_global_types_8hpp.html#a648bbdbf22731476890dd8da977d7503">bno08x_config_t</a>;</div>
+<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"><a class="line" href="_b_n_o08x_global_types_8hpp.html#aae502b3d91ddf903bba797646fd28d00">   81</a></span><span class="keyword">typedef</span> <a class="code hl_struct" href="structbno08x__config__t.html">bno08x_config_t</a> <a class="code hl_typedef" href="_b_n_o08x_global_types_8hpp.html#aae502b3d91ddf903bba797646fd28d00">imu_config_t</a>; <span class="comment">// legacy version compatibility</span></div>
+<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span> </div>
+<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"><a class="line" href="_b_n_o08x_global_types_8hpp.html#a25947bbe6bc4a7c9edd7067fdce0e9cc">   83</a></span><span class="keyword">enum class</span> <a class="code hl_enumeration" href="_b_n_o08x_global_types_8hpp.html#a25947bbe6bc4a7c9edd7067fdce0e9cc">BNO08xCalSel</a> : uint8_t</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>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a25947bbe6bc4a7c9edd7067fdce0e9cca0e1275697d4c40b4b0640fbfa3907afa">accelerometer</a> = SH2_CAL_ACCEL,</div>
+<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a25947bbe6bc4a7c9edd7067fdce0e9cca41e1db589d90cecf09838a038ebc8aa1">gyro</a> = SH2_CAL_GYRO,</div>
+<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a25947bbe6bc4a7c9edd7067fdce0e9cca2c8af00d544b080d3c0d834d1c5dfcbf">magnetometer</a> = SH2_CAL_MAG,</div>
+<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a25947bbe6bc4a7c9edd7067fdce0e9ccafcaab1f4c98b7343157c3c59c6a259cb">planar_accelerometer</a> = SH2_CAL_PLANAR,</div>
+<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a25947bbe6bc4a7c9edd7067fdce0e9ccaa181a603769c1f98ad927e7367c7aa51">all</a> = (SH2_CAL_ACCEL | SH2_CAL_GYRO | SH2_CAL_MAG | SH2_CAL_PLANAR)</div>
+<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>};</div>
+<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span> </div>
+<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"><a class="line" href="_b_n_o08x_global_types_8hpp.html#afed71c9ed8a8563767f26282408ccee2">   93</a></span><span class="keyword">enum class</span> <a class="code hl_enumeration" href="_b_n_o08x_global_types_8hpp.html#afed71c9ed8a8563767f26282408ccee2">BNO08xResetReason</a> : uint8_t</div>
+<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span>{</div>
+<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#afed71c9ed8a8563767f26282408ccee2a0db45d2a4141101bdfe48e3314cfbca3">UNDEFINED</a>, </div>
+<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#afed71c9ed8a8563767f26282408ccee2a7b47bb0f9f8c72f84d891e8e22a1fb92">POR</a>,       </div>
+<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#afed71c9ed8a8563767f26282408ccee2acc069cf9b33eb4e7fb3696f0f42d752f">INT_RST</a>,   </div>
+<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#afed71c9ed8a8563767f26282408ccee2a764caaf44e35ee682f4079bd0878fa36">WTD</a>,       </div>
+<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#afed71c9ed8a8563767f26282408ccee2ac4e100317ca17eda786308c1c39eded5">EXT_RST</a>,   </div>
+<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#afed71c9ed8a8563767f26282408ccee2a03570470bad94692ce93e32700d2e1cb">OTHER</a>      </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> </div>
+<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"><a class="line" href="_b_n_o08x_global_types_8hpp.html#a6bdf6fea6d671c12413d95f36a3e7ba6">  105</a></span><span class="keyword">enum class</span> <a class="code hl_enumeration" href="_b_n_o08x_global_types_8hpp.html#a6bdf6fea6d671c12413d95f36a3e7ba6">BNO08xAccuracy</a> : uint8_t</div>
+<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>{</div>
+<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a6bdf6fea6d671c12413d95f36a3e7ba6a6e257e645974b9086ed66e9465e2d80c">UNRELIABLE</a>,</div>
+<div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a6bdf6fea6d671c12413d95f36a3e7ba6a41bc94cbd8eebea13ce0491b2ac11b88">LOW</a>,</div>
+<div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a6bdf6fea6d671c12413d95f36a3e7ba6a2ad6d5975c45da2e711c796f3a1b029c">MED</a>,</div>
+<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a6bdf6fea6d671c12413d95f36a3e7ba6ab89de3b4b81c4facfac906edf29aec8c">HIGH</a>,</div>
+<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#afed71c9ed8a8563767f26282408ccee2a0db45d2a4141101bdfe48e3314cfbca3">UNDEFINED</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"><a class="line" href="_b_n_o08x_global_types_8hpp.html#a03fbbd71180a19088ce30d57ab050a22">  113</a></span><span class="keyword">using </span><a class="code hl_enumeration" href="_b_n_o08x_global_types_8hpp.html#a6bdf6fea6d671c12413d95f36a3e7ba6">IMUAccuracy</a> = <a class="code hl_enumeration" href="_b_n_o08x_global_types_8hpp.html#a6bdf6fea6d671c12413d95f36a3e7ba6">BNO08xAccuracy</a>; <span class="comment">// legacy version compatibility</span></div>
+<div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span> </div>
+<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"><a class="line" href="_b_n_o08x_global_types_8hpp.html#abb500e98b07c687d37e8ac0548a02e05">  115</a></span><span class="keyword">const</span> <span class="keyword">constexpr</span> <span class="keywordtype">char</span>* <a class="code hl_function" href="_b_n_o08x_global_types_8hpp.html#abb500e98b07c687d37e8ac0548a02e05">BNO08xAccuracy_to_str</a>(<a class="code hl_enumeration" href="_b_n_o08x_global_types_8hpp.html#a6bdf6fea6d671c12413d95f36a3e7ba6">BNO08xAccuracy</a> accuracy)</div>
+<div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span>{</div>
+<div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span>    <span class="keywordflow">switch</span> (accuracy)</div>
+<div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span>    {</div>
+<div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a6bdf6fea6d671c12413d95f36a3e7ba6a6e257e645974b9086ed66e9465e2d80c">BNO08xAccuracy::UNRELIABLE</a>:</div>
+<div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;UNRELIABLE&quot;</span>;</div>
+<div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a6bdf6fea6d671c12413d95f36a3e7ba6a41bc94cbd8eebea13ce0491b2ac11b88">BNO08xAccuracy::LOW</a>:</div>
+<div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;LOW&quot;</span>;</div>
+<div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a6bdf6fea6d671c12413d95f36a3e7ba6a2ad6d5975c45da2e711c796f3a1b029c">BNO08xAccuracy::MED</a>:</div>
+<div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;MED&quot;</span>;</div>
+<div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a6bdf6fea6d671c12413d95f36a3e7ba6ab89de3b4b81c4facfac906edf29aec8c">BNO08xAccuracy::HIGH</a>:</div>
+<div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;HIGH&quot;</span>;</div>
+<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a6bdf6fea6d671c12413d95f36a3e7ba6a0db45d2a4141101bdfe48e3314cfbca3">BNO08xAccuracy::UNDEFINED</a>:</div>
+<div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;UNDEFINED&quot;</span>;</div>
+<div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span>        <span class="keywordflow">default</span>:</div>
+<div class="line"><a id="l00130" name="l00130"></a><span class="lineno">  130</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;UNDEFINED&quot;</span>;</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>}</div>
+<div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span> </div>
+<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"><a class="line" href="_b_n_o08x_global_types_8hpp.html#a64f4487da0833d5304046093935f5d3a">  136</a></span><span class="keyword">enum class</span> <a class="code hl_enumeration" href="_b_n_o08x_global_types_8hpp.html#a64f4487da0833d5304046093935f5d3a">BNO08xActivityEnable</a> : uint32_t</div>
+<div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span>{</div>
+<div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a64f4487da0833d5304046093935f5d3aa696b031073e74bf2cb98e5ef201d4aa3">UNKNOWN</a> = (1U &lt;&lt; 0U),</div>
+<div class="line"><a id="l00139" name="l00139"></a><span class="lineno">  139</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a64f4487da0833d5304046093935f5d3aab166a3ce74dd5434e4a940dfa2af76e4">IN_VEHICLE</a> = (1U &lt;&lt; 1U),</div>
+<div class="line"><a id="l00140" name="l00140"></a><span class="lineno">  140</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a64f4487da0833d5304046093935f5d3aa93d94a2f3a627533453a40e302fb35a4">ON_BICYCLE</a> = (1U &lt;&lt; 2U),</div>
+<div class="line"><a id="l00141" name="l00141"></a><span class="lineno">  141</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a64f4487da0833d5304046093935f5d3aa7089542e0146a3499986c81e24924b58">ON_FOOT</a> = (1U &lt;&lt; 3U),</div>
+<div class="line"><a id="l00142" name="l00142"></a><span class="lineno">  142</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a64f4487da0833d5304046093935f5d3aa8b572d218013b9626d59e6a2b38f18b6">STILL</a> = (1U &lt;&lt; 4U),</div>
+<div class="line"><a id="l00143" name="l00143"></a><span class="lineno">  143</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a64f4487da0833d5304046093935f5d3aa69909b62e08f212da31719aebf67b70c">TILTING</a> = (1U &lt;&lt; 5U),</div>
+<div class="line"><a id="l00144" name="l00144"></a><span class="lineno">  144</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a64f4487da0833d5304046093935f5d3aa606c114184493a665cf1f6a12fbab9d3">WALKING</a> = (1U &lt;&lt; 6U),</div>
+<div class="line"><a id="l00145" name="l00145"></a><span class="lineno">  145</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a64f4487da0833d5304046093935f5d3aa43491564ebcfd38568918efbd6e840fd">RUNNING</a> = (1U &lt;&lt; 7U),</div>
+<div class="line"><a id="l00146" name="l00146"></a><span class="lineno">  146</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a64f4487da0833d5304046093935f5d3aabbf2a614429826a84bd76b4a47fc7515">ON_STAIRS</a> = (1U &lt;&lt; 8U),</div>
+<div class="line"><a id="l00147" name="l00147"></a><span class="lineno">  147</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a64f4487da0833d5304046093935f5d3aa5fb1f955b45e38e31789286a1790398d">ALL</a> = (<a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a64f4487da0833d5304046093935f5d3aa696b031073e74bf2cb98e5ef201d4aa3">UNKNOWN</a> | <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a64f4487da0833d5304046093935f5d3aab166a3ce74dd5434e4a940dfa2af76e4">IN_VEHICLE</a> | <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a64f4487da0833d5304046093935f5d3aa93d94a2f3a627533453a40e302fb35a4">ON_BICYCLE</a> | <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a64f4487da0833d5304046093935f5d3aa7089542e0146a3499986c81e24924b58">ON_FOOT</a> | <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a64f4487da0833d5304046093935f5d3aa8b572d218013b9626d59e6a2b38f18b6">STILL</a> | <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a64f4487da0833d5304046093935f5d3aa69909b62e08f212da31719aebf67b70c">TILTING</a> | <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a64f4487da0833d5304046093935f5d3aa606c114184493a665cf1f6a12fbab9d3">WALKING</a> | <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a64f4487da0833d5304046093935f5d3aa43491564ebcfd38568918efbd6e840fd">RUNNING</a> | <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a64f4487da0833d5304046093935f5d3aabbf2a614429826a84bd76b4a47fc7515">ON_STAIRS</a>)</div>
+<div class="line"><a id="l00148" name="l00148"></a><span class="lineno">  148</span>};</div>
+<div class="line"><a id="l00149" name="l00149"></a><span class="lineno">  149</span> </div>
+<div class="line"><a id="l00151" name="l00151"></a><span class="lineno"><a class="line" href="_b_n_o08x_global_types_8hpp.html#a43d66cdccf17ba0cddcdddc72d4fb97d">  151</a></span><span class="keyword">enum class</span> <a class="code hl_enumeration" href="_b_n_o08x_global_types_8hpp.html#a43d66cdccf17ba0cddcdddc72d4fb97d">BNO08xActivity</a> : uint8_t</div>
+<div class="line"><a id="l00152" name="l00152"></a><span class="lineno">  152</span>{</div>
+<div class="line"><a id="l00153" name="l00153"></a><span class="lineno">  153</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a64f4487da0833d5304046093935f5d3aa696b031073e74bf2cb98e5ef201d4aa3">UNKNOWN</a> = 0,    <span class="comment">// 0 = unknown</span></div>
+<div class="line"><a id="l00154" name="l00154"></a><span class="lineno">  154</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a64f4487da0833d5304046093935f5d3aab166a3ce74dd5434e4a940dfa2af76e4">IN_VEHICLE</a> = 1, <span class="comment">// 1 = in vehicle</span></div>
+<div class="line"><a id="l00155" name="l00155"></a><span class="lineno">  155</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a64f4487da0833d5304046093935f5d3aa93d94a2f3a627533453a40e302fb35a4">ON_BICYCLE</a> = 2, <span class="comment">// 2 = on bicycle</span></div>
+<div class="line"><a id="l00156" name="l00156"></a><span class="lineno">  156</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a64f4487da0833d5304046093935f5d3aa7089542e0146a3499986c81e24924b58">ON_FOOT</a> = 3,    <span class="comment">// 3 = on foot</span></div>
+<div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a64f4487da0833d5304046093935f5d3aa8b572d218013b9626d59e6a2b38f18b6">STILL</a> = 4,      <span class="comment">// 4 = still</span></div>
+<div class="line"><a id="l00158" name="l00158"></a><span class="lineno">  158</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a64f4487da0833d5304046093935f5d3aa69909b62e08f212da31719aebf67b70c">TILTING</a> = 5,    <span class="comment">// 5 = tilting</span></div>
+<div class="line"><a id="l00159" name="l00159"></a><span class="lineno">  159</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a64f4487da0833d5304046093935f5d3aa606c114184493a665cf1f6a12fbab9d3">WALKING</a> = 6,    <span class="comment">// 6 = walking</span></div>
+<div class="line"><a id="l00160" name="l00160"></a><span class="lineno">  160</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a64f4487da0833d5304046093935f5d3aa43491564ebcfd38568918efbd6e840fd">RUNNING</a> = 7,    <span class="comment">// 7 = running</span></div>
+<div class="line"><a id="l00161" name="l00161"></a><span class="lineno">  161</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a64f4487da0833d5304046093935f5d3aabbf2a614429826a84bd76b4a47fc7515">ON_STAIRS</a> = 8,  <span class="comment">// 8 = on stairs</span></div>
+<div class="line"><a id="l00162" name="l00162"></a><span class="lineno">  162</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#afed71c9ed8a8563767f26282408ccee2a0db45d2a4141101bdfe48e3314cfbca3">UNDEFINED</a> = 9   <span class="comment">// used for unit tests</span></div>
+<div class="line"><a id="l00163" name="l00163"></a><span class="lineno">  163</span>};</div>
+<div class="line"><a id="l00164" name="l00164"></a><span class="lineno">  164</span> </div>
+<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"><a class="line" href="_b_n_o08x_global_types_8hpp.html#a042702b50b2a3617c517cd601e9d7ead">  170</a></span><span class="keyword">const</span> <span class="keyword">constexpr</span> <span class="keywordtype">char</span>* <a class="code hl_function" href="_b_n_o08x_global_types_8hpp.html#a042702b50b2a3617c517cd601e9d7ead">BNO08xActivity_to_str</a>(<a class="code hl_enumeration" href="_b_n_o08x_global_types_8hpp.html#a43d66cdccf17ba0cddcdddc72d4fb97d">BNO08xActivity</a> activity)</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="keywordflow">switch</span> (activity)</div>
+<div class="line"><a id="l00173" name="l00173"></a><span class="lineno">  173</span>    {</div>
+<div class="line"><a id="l00174" name="l00174"></a><span class="lineno">  174</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a43d66cdccf17ba0cddcdddc72d4fb97da696b031073e74bf2cb98e5ef201d4aa3">BNO08xActivity::UNKNOWN</a>:</div>
+<div class="line"><a id="l00175" name="l00175"></a><span class="lineno">  175</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;UNKNOWN&quot;</span>;</div>
+<div class="line"><a id="l00176" name="l00176"></a><span class="lineno">  176</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a43d66cdccf17ba0cddcdddc72d4fb97dab166a3ce74dd5434e4a940dfa2af76e4">BNO08xActivity::IN_VEHICLE</a>:</div>
+<div class="line"><a id="l00177" name="l00177"></a><span class="lineno">  177</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;IN_VEHICLE&quot;</span>;</div>
+<div class="line"><a id="l00178" name="l00178"></a><span class="lineno">  178</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a43d66cdccf17ba0cddcdddc72d4fb97da93d94a2f3a627533453a40e302fb35a4">BNO08xActivity::ON_BICYCLE</a>:</div>
+<div class="line"><a id="l00179" name="l00179"></a><span class="lineno">  179</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;ON_BICYCLE&quot;</span>;</div>
+<div class="line"><a id="l00180" name="l00180"></a><span class="lineno">  180</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a43d66cdccf17ba0cddcdddc72d4fb97da7089542e0146a3499986c81e24924b58">BNO08xActivity::ON_FOOT</a>:</div>
+<div class="line"><a id="l00181" name="l00181"></a><span class="lineno">  181</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;ON_FOOT&quot;</span>;</div>
+<div class="line"><a id="l00182" name="l00182"></a><span class="lineno">  182</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a43d66cdccf17ba0cddcdddc72d4fb97da8b572d218013b9626d59e6a2b38f18b6">BNO08xActivity::STILL</a>:</div>
+<div class="line"><a id="l00183" name="l00183"></a><span class="lineno">  183</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;STILL&quot;</span>;</div>
+<div class="line"><a id="l00184" name="l00184"></a><span class="lineno">  184</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a43d66cdccf17ba0cddcdddc72d4fb97da69909b62e08f212da31719aebf67b70c">BNO08xActivity::TILTING</a>:</div>
+<div class="line"><a id="l00185" name="l00185"></a><span class="lineno">  185</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;TILTING&quot;</span>;</div>
+<div class="line"><a id="l00186" name="l00186"></a><span class="lineno">  186</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a43d66cdccf17ba0cddcdddc72d4fb97da606c114184493a665cf1f6a12fbab9d3">BNO08xActivity::WALKING</a>:</div>
+<div class="line"><a id="l00187" name="l00187"></a><span class="lineno">  187</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;WALKING&quot;</span>;</div>
+<div class="line"><a id="l00188" name="l00188"></a><span class="lineno">  188</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a43d66cdccf17ba0cddcdddc72d4fb97da43491564ebcfd38568918efbd6e840fd">BNO08xActivity::RUNNING</a>:</div>
+<div class="line"><a id="l00189" name="l00189"></a><span class="lineno">  189</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;RUNNING&quot;</span>;</div>
+<div class="line"><a id="l00190" name="l00190"></a><span class="lineno">  190</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a43d66cdccf17ba0cddcdddc72d4fb97dabbf2a614429826a84bd76b4a47fc7515">BNO08xActivity::ON_STAIRS</a>:</div>
+<div class="line"><a id="l00191" name="l00191"></a><span class="lineno">  191</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;ON_STAIRS&quot;</span>;</div>
+<div class="line"><a id="l00192" name="l00192"></a><span class="lineno">  192</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a43d66cdccf17ba0cddcdddc72d4fb97da0db45d2a4141101bdfe48e3314cfbca3">BNO08xActivity::UNDEFINED</a>:</div>
+<div class="line"><a id="l00193" name="l00193"></a><span class="lineno">  193</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;UNDEFINED&quot;</span>;</div>
+<div class="line"><a id="l00194" name="l00194"></a><span class="lineno">  194</span>        <span class="keywordflow">default</span>:</div>
+<div class="line"><a id="l00195" name="l00195"></a><span class="lineno">  195</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;UNDEFINED&quot;</span>;</div>
+<div class="line"><a id="l00196" name="l00196"></a><span class="lineno">  196</span>    }</div>
+<div class="line"><a id="l00197" name="l00197"></a><span class="lineno">  197</span>}</div>
+<div class="line"><a id="l00198" name="l00198"></a><span class="lineno">  198</span> </div>
+<div class="line"><a id="l00200" name="l00200"></a><span class="lineno"><a class="line" href="_b_n_o08x_global_types_8hpp.html#a22d72f675aad7af764e685f91b29f4cb">  200</a></span><span class="keyword">enum class</span> <a class="code hl_enumeration" href="_b_n_o08x_global_types_8hpp.html#a22d72f675aad7af764e685f91b29f4cb">BNO08xStability</a> : uint8_t</div>
+<div class="line"><a id="l00201" name="l00201"></a><span class="lineno">  201</span>{</div>
+<div class="line"><a id="l00202" name="l00202"></a><span class="lineno">  202</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a64f4487da0833d5304046093935f5d3aa696b031073e74bf2cb98e5ef201d4aa3">UNKNOWN</a> = 0,    <span class="comment">// 0 = unknown</span></div>
+<div class="line"><a id="l00203" name="l00203"></a><span class="lineno">  203</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a22d72f675aad7af764e685f91b29f4cba71149a62cd9fec4756e3538d1754486a">ON_TABLE</a> = 1,   <span class="comment">// 1 = on table</span></div>
+<div class="line"><a id="l00204" name="l00204"></a><span class="lineno">  204</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a22d72f675aad7af764e685f91b29f4cba4120eb7591bd0789af75a8973d5f9146">STATIONARY</a> = 2, <span class="comment">// 2 = stationary</span></div>
+<div class="line"><a id="l00205" name="l00205"></a><span class="lineno">  205</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a22d72f675aad7af764e685f91b29f4cba32987cdf8a725702042ab18f5c700905">STABLE</a> = 3,     <span class="comment">// 3 = stable</span></div>
+<div class="line"><a id="l00206" name="l00206"></a><span class="lineno">  206</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a22d72f675aad7af764e685f91b29f4cbaf96e6ea7a7375bd60bad3f3caae3cf27">MOTION</a> = 4,     <span class="comment">// 4 = in motion</span></div>
+<div class="line"><a id="l00207" name="l00207"></a><span class="lineno">  207</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a22d72f675aad7af764e685f91b29f4cba83c7f2aa8c3ac10ed8beb75cad162827">RESERVED</a> = 5,   <span class="comment">// 5 = reserved (not used)</span></div>
+<div class="line"><a id="l00208" name="l00208"></a><span class="lineno">  208</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#afed71c9ed8a8563767f26282408ccee2a0db45d2a4141101bdfe48e3314cfbca3">UNDEFINED</a> = 6   <span class="comment">// used for unit tests</span></div>
+<div class="line"><a id="l00209" name="l00209"></a><span class="lineno">  209</span>};</div>
+<div class="line"><a id="l00210" name="l00210"></a><span class="lineno">  210</span> </div>
+<div class="line"><a id="l00216" name="l00216"></a><span class="lineno"><a class="line" href="_b_n_o08x_global_types_8hpp.html#acd889b071d45f7ba9e7157e7a752bf5a">  216</a></span><span class="keyword">const</span> <span class="keyword">constexpr</span> <span class="keywordtype">char</span>* <a class="code hl_function" href="_b_n_o08x_global_types_8hpp.html#acd889b071d45f7ba9e7157e7a752bf5a">BNO08xStability_to_str</a>(<a class="code hl_enumeration" href="_b_n_o08x_global_types_8hpp.html#a22d72f675aad7af764e685f91b29f4cb">BNO08xStability</a> stability)</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="keywordflow">switch</span> (stability)</div>
+<div class="line"><a id="l00219" name="l00219"></a><span class="lineno">  219</span>    {</div>
+<div class="line"><a id="l00220" name="l00220"></a><span class="lineno">  220</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a22d72f675aad7af764e685f91b29f4cba696b031073e74bf2cb98e5ef201d4aa3">BNO08xStability::UNKNOWN</a>:</div>
+<div class="line"><a id="l00221" name="l00221"></a><span class="lineno">  221</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;UNKNOWN&quot;</span>;</div>
+<div class="line"><a id="l00222" name="l00222"></a><span class="lineno">  222</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a22d72f675aad7af764e685f91b29f4cba71149a62cd9fec4756e3538d1754486a">BNO08xStability::ON_TABLE</a>:</div>
+<div class="line"><a id="l00223" name="l00223"></a><span class="lineno">  223</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;ON_TABLE&quot;</span>;</div>
+<div class="line"><a id="l00224" name="l00224"></a><span class="lineno">  224</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a22d72f675aad7af764e685f91b29f4cba4120eb7591bd0789af75a8973d5f9146">BNO08xStability::STATIONARY</a>:</div>
+<div class="line"><a id="l00225" name="l00225"></a><span class="lineno">  225</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;STATIONARY&quot;</span>;</div>
+<div class="line"><a id="l00226" name="l00226"></a><span class="lineno">  226</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a22d72f675aad7af764e685f91b29f4cba32987cdf8a725702042ab18f5c700905">BNO08xStability::STABLE</a>:</div>
+<div class="line"><a id="l00227" name="l00227"></a><span class="lineno">  227</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;STABLE&quot;</span>;</div>
+<div class="line"><a id="l00228" name="l00228"></a><span class="lineno">  228</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a22d72f675aad7af764e685f91b29f4cbaf96e6ea7a7375bd60bad3f3caae3cf27">BNO08xStability::MOTION</a>:</div>
+<div class="line"><a id="l00229" name="l00229"></a><span class="lineno">  229</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;MOTION&quot;</span>;</div>
+<div class="line"><a id="l00230" name="l00230"></a><span class="lineno">  230</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a22d72f675aad7af764e685f91b29f4cba83c7f2aa8c3ac10ed8beb75cad162827">BNO08xStability::RESERVED</a>:</div>
+<div class="line"><a id="l00231" name="l00231"></a><span class="lineno">  231</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;RESERVED&quot;</span>;</div>
+<div class="line"><a id="l00232" name="l00232"></a><span class="lineno">  232</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a22d72f675aad7af764e685f91b29f4cba0db45d2a4141101bdfe48e3314cfbca3">BNO08xStability::UNDEFINED</a>:</div>
+<div class="line"><a id="l00233" name="l00233"></a><span class="lineno">  233</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;UNDEFINED&quot;</span>;</div>
+<div class="line"><a id="l00234" name="l00234"></a><span class="lineno">  234</span>        <span class="keywordflow">default</span>:</div>
+<div class="line"><a id="l00235" name="l00235"></a><span class="lineno">  235</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;UNDEFINED&quot;</span>;</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>}</div>
+<div class="line"><a id="l00238" name="l00238"></a><span class="lineno">  238</span> </div>
+<div class="line"><a id="l00239" name="l00239"></a><span class="lineno"><a class="line" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8e">  239</a></span><span class="keyword">enum class</span> <a class="code hl_enumeration" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8e">BNO08xFrsID</a> : uint16_t</div>
+<div class="line"><a id="l00240" name="l00240"></a><span class="lineno">  240</span>{</div>
+<div class="line"><a id="l00241" name="l00241"></a><span class="lineno">  241</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eae81a7ec9f2eb51db6a66eec214f74329">STATIC_CALIBRATION_AGM</a> = 0x7979,</div>
+<div class="line"><a id="l00242" name="l00242"></a><span class="lineno">  242</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea9b1f79a084136956f5a67145e34b8fcf">NOMINAL_CALIBRATION</a> = 0x4D4D,</div>
+<div class="line"><a id="l00243" name="l00243"></a><span class="lineno">  243</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eae3e95aa73e5b19b6fc1574c287598a8a">STATIC_CALIBRATION_SRA</a> = 0x8A8A,</div>
+<div class="line"><a id="l00244" name="l00244"></a><span class="lineno">  244</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea9575a153f8b803923611e5a7577d8992">NOMINAL_CALIBRATION_SRA</a> = 0x4E4E,</div>
+<div class="line"><a id="l00245" name="l00245"></a><span class="lineno">  245</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eac843f0dc477c2043015db473c2bbf8b7">DYNAMIC_CALIBRATION</a> = 0x1F1F,</div>
+<div class="line"><a id="l00246" name="l00246"></a><span class="lineno">  246</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea4003f069dafa6695f634bc4d6cadf21d">ME_POWER_MGMT</a> = 0xD3E2,</div>
+<div class="line"><a id="l00247" name="l00247"></a><span class="lineno">  247</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea174aa600a99d1fee26df64861c68d4ab">SYSTEM_ORIENTATION</a> = 0x2D3E,</div>
+<div class="line"><a id="l00248" name="l00248"></a><span class="lineno">  248</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea5a6f607e6dea7e4770d6d44dffc14fe0">ACCEL_ORIENTATION</a> = 0x2D41,</div>
+<div class="line"><a id="l00249" name="l00249"></a><span class="lineno">  249</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea1e56a229eb00e62fc6f98a9c3bf2c41e">SCREEN_ACCEL_ORIENTATION</a> = 0x2D43,</div>
+<div class="line"><a id="l00250" name="l00250"></a><span class="lineno">  250</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eab7ba02b55d602fc0e643a0e860144abd">GYROSCOPE_ORIENTATION</a> = 0x2D46,</div>
+<div class="line"><a id="l00251" name="l00251"></a><span class="lineno">  251</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea7c1bc0a9cbeffed48c3f56f138f059dd">MAGNETOMETER_ORIENTATION</a> = 0x2D4C,</div>
+<div class="line"><a id="l00252" name="l00252"></a><span class="lineno">  252</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ead41092d568817e7b690859c6a04089ef">ARVR_STABILIZATION_RV</a> = 0x3E2D,</div>
+<div class="line"><a id="l00253" name="l00253"></a><span class="lineno">  253</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea20d2e66717ed43eb8a6b112e953eb9db">ARVR_STABILIZATION_GRV</a> = 0x3E2E,</div>
+<div class="line"><a id="l00254" name="l00254"></a><span class="lineno">  254</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea94ada7efc076c96b78bcb052d4f22ca2">TAP_DETECT_CONFIG</a> = 0xC269,</div>
+<div class="line"><a id="l00255" name="l00255"></a><span class="lineno">  255</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eae5d606ae5efeadd9ab249a39b8ed828a">SIG_MOTION_DETECT_CONFIG</a> = 0xC274,</div>
+<div class="line"><a id="l00256" name="l00256"></a><span class="lineno">  256</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea8a41fbc008e0571cf295a0770e995864">SHAKE_DETECT_CONFIG</a> = 0x7D7D,</div>
+<div class="line"><a id="l00257" name="l00257"></a><span class="lineno">  257</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea2dfcf6ba54eba882fb201bd55b45c4b9">MAX_FUSION_PERIOD</a> = 0xD7D7,</div>
+<div class="line"><a id="l00258" name="l00258"></a><span class="lineno">  258</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eabac5402bcf9584b3014bd64b8b6ad282">SERIAL_NUMBER</a> = 0x4B4B,</div>
+<div class="line"><a id="l00259" name="l00259"></a><span class="lineno">  259</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea985e7c8c6bc3500a46530901ac93ab09">ES_PRESSURE_CAL</a> = 0x39AF,</div>
+<div class="line"><a id="l00260" name="l00260"></a><span class="lineno">  260</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eae15b6d77b828a0022adb2622ddf30d29">ES_TEMPERATURE_CAL</a> = 0x4D20,</div>
+<div class="line"><a id="l00261" name="l00261"></a><span class="lineno">  261</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea2ce4d488b1ad35ff763f52aec7191874">ES_HUMIDITY_CAL</a> = 0x1AC9,</div>
+<div class="line"><a id="l00262" name="l00262"></a><span class="lineno">  262</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea11c8ae2ec493a78ebc9a808e1df7478c">ES_AMBIENT_LIGHT_CAL</a> = 0x39B1,</div>
+<div class="line"><a id="l00263" name="l00263"></a><span class="lineno">  263</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea0afc9b6963a488212d0d10c1788ca309">ES_PROXIMITY_CAL</a> = 0x4DA2,</div>
+<div class="line"><a id="l00264" name="l00264"></a><span class="lineno">  264</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eadc862ae872087053cf308a5c9d12e8ea">ALS_CAL</a> = 0xD401,</div>
+<div class="line"><a id="l00265" name="l00265"></a><span class="lineno">  265</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eabcf02bc8a45fdf7df5390b79184b922e">PROXIMITY_SENSOR_CAL</a> = 0xD402,</div>
+<div class="line"><a id="l00266" name="l00266"></a><span class="lineno">  266</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eac9e002e70642b098e7e67cc4083d134d">PICKUP_DETECTOR_CONFIG</a> = 0x1B2A,</div>
+<div class="line"><a id="l00267" name="l00267"></a><span class="lineno">  267</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eab0ef80b2f1340b86b39cb82f5ab9d7ee">FLIP_DETECTOR_CONFIG</a> = 0xFC94,</div>
+<div class="line"><a id="l00268" name="l00268"></a><span class="lineno">  268</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ead36109c56ef4d0598cc0b03b25dc8d85">STABILITY_DETECTOR_CONFIG</a> = 0xED85,</div>
+<div class="line"><a id="l00269" name="l00269"></a><span class="lineno">  269</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eab16df741bbcb037e9fc6830441e21a95">ACTIVITY_TRACKER_CONFIG</a> = 0xED88,</div>
+<div class="line"><a id="l00270" name="l00270"></a><span class="lineno">  270</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea19f33813d80c7da8306762a7f141d9bb">SLEEP_DETECTOR_CONFIG</a> = 0xED87,</div>
+<div class="line"><a id="l00271" name="l00271"></a><span class="lineno">  271</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea6590d7f1041f103cdaab64cd06e0db37">TILT_DETECTOR_CONFIG</a> = 0xED89,</div>
+<div class="line"><a id="l00272" name="l00272"></a><span class="lineno">  272</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eaababe7d27ea06c8f91d48e5b7aa29edd">POCKET_DETECTOR_CONFIG</a> = 0xEF27,</div>
+<div class="line"><a id="l00273" name="l00273"></a><span class="lineno">  273</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea04c1dfc95c72ddbf41e93f6c894aea7c">CIRCLE_DETECTOR_CONFIG</a> = 0xEE51,</div>
+<div class="line"><a id="l00274" name="l00274"></a><span class="lineno">  274</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea5d88297a4f00a18d228e25847cbac419">USER_RECORD</a> = 0x74B4,</div>
+<div class="line"><a id="l00275" name="l00275"></a><span class="lineno">  275</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea622bd18282b2f88dc49339c638005f7d">ME_TIME_SOURCE_SELECT</a> = 0xD403,</div>
+<div class="line"><a id="l00276" name="l00276"></a><span class="lineno">  276</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea915838bac984c07ae03ec46239375b32">UART_FORMAT</a> = 0xA1A1,</div>
+<div class="line"><a id="l00277" name="l00277"></a><span class="lineno">  277</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eacde3a23190df77d7c45b6dcf38727bda">GYRO_INTEGRATED_RV_CONFIG</a> = 0xA1A2,</div>
+<div class="line"><a id="l00278" name="l00278"></a><span class="lineno">  278</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea2e4ea1aa76f2cad49db5d57d811e12aa">META_RAW_ACCELEROMETER</a> = 0xE301,</div>
+<div class="line"><a id="l00279" name="l00279"></a><span class="lineno">  279</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea465acbc549b49027295fb2df6d89ad9e">META_ACCELEROMETER</a> = 0xE302,</div>
+<div class="line"><a id="l00280" name="l00280"></a><span class="lineno">  280</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea3308d6a253d373d623aa27e5a7e35b26">META_LINEAR_ACCELERATION</a> = 0xE303,</div>
+<div class="line"><a id="l00281" name="l00281"></a><span class="lineno">  281</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ead18387364cb570f2dada6577901433b2">META_GRAVITY</a> = 0xE304,</div>
+<div class="line"><a id="l00282" name="l00282"></a><span class="lineno">  282</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea151beca4927a54850a706fce1bdc6d4f">META_RAW_GYROSCOPE</a> = 0xE305,</div>
+<div class="line"><a id="l00283" name="l00283"></a><span class="lineno">  283</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea1bc76fb93c1b3dd08a602f2f4fbe8645">META_GYROSCOPE_CALIBRATED</a> = 0xE306,</div>
+<div class="line"><a id="l00284" name="l00284"></a><span class="lineno">  284</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eaa68be0ce226eff099a645026852190b4">META_GYROSCOPE_UNCALIBRATED</a> = 0xE307,</div>
+<div class="line"><a id="l00285" name="l00285"></a><span class="lineno">  285</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ead97759e77dc0c7c57de6a56bc0f9bad8">META_RAW_MAGNETOMETER</a> = 0xE308,</div>
+<div class="line"><a id="l00286" name="l00286"></a><span class="lineno">  286</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eac4042d50ceb28eb1f11e87cb6d6d4b61">META_MAGNETIC_FIELD_CALIBRATED</a> = 0xE309,</div>
+<div class="line"><a id="l00287" name="l00287"></a><span class="lineno">  287</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea34c09ae0fffb459871f75731dd9bdfb1">META_MAGNETIC_FIELD_UNCALIBRATED</a> = 0xE30A,</div>
+<div class="line"><a id="l00288" name="l00288"></a><span class="lineno">  288</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea4a6153a0da5cadc5308e699f0d72de20">META_ROTATION_VECTOR</a> = 0xE30B,</div>
+<div class="line"><a id="l00289" name="l00289"></a><span class="lineno">  289</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea03247820bfcd6c7518327a501c2f84f2">META_GAME_ROTATION_VECTOR</a> = 0xE30C,</div>
+<div class="line"><a id="l00290" name="l00290"></a><span class="lineno">  290</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea8358c5060ffe770da1411d8779db71a8">META_GEOMAGNETIC_ROTATION_VECTOR</a> = 0xE30D,</div>
+<div class="line"><a id="l00291" name="l00291"></a><span class="lineno">  291</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eaf9c947198092e74abb25848eb7769067">META_PRESSURE</a> = 0xE30E,</div>
+<div class="line"><a id="l00292" name="l00292"></a><span class="lineno">  292</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea272dc30956f626dd9c57deabae51f34e">META_AMBIENT_LIGHT</a> = 0xE30F,</div>
+<div class="line"><a id="l00293" name="l00293"></a><span class="lineno">  293</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eaad36e03479240e4335a782c235a5d38a">META_HUMIDITY</a> = 0xE310,</div>
+<div class="line"><a id="l00294" name="l00294"></a><span class="lineno">  294</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea5672a03a15b0d08bc1dbf6d361f885b6">META_PROXIMITY</a> = 0xE311,</div>
+<div class="line"><a id="l00295" name="l00295"></a><span class="lineno">  295</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eab95695a3e70032d9b77b4b66c66fc98c">META_TEMPERATURE</a> = 0xE312,</div>
+<div class="line"><a id="l00296" name="l00296"></a><span class="lineno">  296</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eab16eab94415b5ee4213d1d5091bcbe63">META_TAP_DETECTOR</a> = 0xE313,</div>
+<div class="line"><a id="l00297" name="l00297"></a><span class="lineno">  297</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eaec9658d47befd647b63e584f101b54be">META_STEP_DETECTOR</a> = 0xE314,</div>
+<div class="line"><a id="l00298" name="l00298"></a><span class="lineno">  298</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eaf2f39889d71f8b36825d018c4e9097d0">META_STEP_COUNTER</a> = 0xE315,</div>
+<div class="line"><a id="l00299" name="l00299"></a><span class="lineno">  299</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea75cae4a3d64033a6b610ba9bdeca4400">META_SIGNIFICANT_MOTION</a> = 0xE316,</div>
+<div class="line"><a id="l00300" name="l00300"></a><span class="lineno">  300</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea74afeef51f861c9990699dce9c3544d0">META_STABILITY_CLASSIFIER</a> = 0xE317,</div>
+<div class="line"><a id="l00301" name="l00301"></a><span class="lineno">  301</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea9ec318efb06209c42f9199b41d76df40">META_SHAKE_DETECTOR</a> = 0xE318,</div>
+<div class="line"><a id="l00302" name="l00302"></a><span class="lineno">  302</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eaeba85c6e59bb27b48782c948858e21e0">META_FLIP_DETECTOR</a> = 0xE319,</div>
+<div class="line"><a id="l00303" name="l00303"></a><span class="lineno">  303</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea499a184ec3f1a41ee95704207c3a0907">META_PICKUP_DETECTOR</a> = 0xE31A,</div>
+<div class="line"><a id="l00304" name="l00304"></a><span class="lineno">  304</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ead5ca5c5444a4d4078796da85a8a63fd8">META_STABILITY_DETECTOR</a> = 0xE31B,</div>
+<div class="line"><a id="l00305" name="l00305"></a><span class="lineno">  305</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea6fc1d676928d6b16f1c1639b27a52669">META_PERSONAL_ACTIVITY_CLASSIFIER</a> = 0xE31C,</div>
+<div class="line"><a id="l00306" name="l00306"></a><span class="lineno">  306</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea75c30391bf2c38c3d5451e6f3f1969ef">META_SLEEP_DETECTOR</a> = 0xE31D,</div>
+<div class="line"><a id="l00307" name="l00307"></a><span class="lineno">  307</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea66d0073ac3caa41ab4958fc167032f39">META_TILT_DETECTOR</a> = 0xE31E,</div>
+<div class="line"><a id="l00308" name="l00308"></a><span class="lineno">  308</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea8fea9f9b77154625f1b543988398610b">META_POCKET_DETECTOR</a> = 0xE31F,</div>
+<div class="line"><a id="l00309" name="l00309"></a><span class="lineno">  309</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eac26499be839c2f04ca712c388e02b2cd">META_CIRCLE_DETECTOR</a> = 0xE320,</div>
+<div class="line"><a id="l00310" name="l00310"></a><span class="lineno">  310</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea41240ea9c983158280d9a1a144d6f9dc">META_HEART_RATE_MONITOR</a> = 0xE321,</div>
+<div class="line"><a id="l00311" name="l00311"></a><span class="lineno">  311</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea61501297c2607c69321c2a5b4c1c945b">META_ARVR_STABILIZED_RV</a> = 0xE322,</div>
+<div class="line"><a id="l00312" name="l00312"></a><span class="lineno">  312</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea240edccff7cb86c2486ee9bac60e19ca">META_ARVR_STABILIZED_GRV</a> = 0xE323,</div>
+<div class="line"><a id="l00313" name="l00313"></a><span class="lineno">  313</span>    <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea928ad374247b43bfa0939406c62d2b31">META_GYRO_INTEGRATED_RV</a> = 0xE324</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> </div>
+<div class="line"><a id="l00316" name="l00316"></a><span class="lineno"><a class="line" href="_b_n_o08x_global_types_8hpp.html#a79cad23b69ea6ab97bf9d6e0a64a2826">  316</a></span><span class="keyword">const</span> <span class="keyword">constexpr</span> <span class="keywordtype">char</span>* <a class="code hl_function" href="_b_n_o08x_global_types_8hpp.html#a79cad23b69ea6ab97bf9d6e0a64a2826">BNO08xFrsID_to_str</a>(<a class="code hl_enumeration" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8e">BNO08xFrsID</a> <span class="keywordtype">id</span>)</div>
+<div class="line"><a id="l00317" name="l00317"></a><span class="lineno">  317</span>{</div>
+<div class="line"><a id="l00318" name="l00318"></a><span class="lineno">  318</span>    <span class="keywordflow">switch</span> (<span class="keywordtype">id</span>)</div>
+<div class="line"><a id="l00319" name="l00319"></a><span class="lineno">  319</span>    {</div>
+<div class="line"><a id="l00320" name="l00320"></a><span class="lineno">  320</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eae81a7ec9f2eb51db6a66eec214f74329">BNO08xFrsID::STATIC_CALIBRATION_AGM</a>:</div>
+<div class="line"><a id="l00321" name="l00321"></a><span class="lineno">  321</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;STATIC_CALIBRATION_AGM&quot;</span>;</div>
+<div class="line"><a id="l00322" name="l00322"></a><span class="lineno">  322</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea9b1f79a084136956f5a67145e34b8fcf">BNO08xFrsID::NOMINAL_CALIBRATION</a>:</div>
+<div class="line"><a id="l00323" name="l00323"></a><span class="lineno">  323</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;NOMINAL_CALIBRATION&quot;</span>;</div>
+<div class="line"><a id="l00324" name="l00324"></a><span class="lineno">  324</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eae3e95aa73e5b19b6fc1574c287598a8a">BNO08xFrsID::STATIC_CALIBRATION_SRA</a>:</div>
+<div class="line"><a id="l00325" name="l00325"></a><span class="lineno">  325</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;STATIC_CALIBRATION_SRA&quot;</span>;</div>
+<div class="line"><a id="l00326" name="l00326"></a><span class="lineno">  326</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea9575a153f8b803923611e5a7577d8992">BNO08xFrsID::NOMINAL_CALIBRATION_SRA</a>:</div>
+<div class="line"><a id="l00327" name="l00327"></a><span class="lineno">  327</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;NOMINAL_CALIBRATION_SRA&quot;</span>;</div>
+<div class="line"><a id="l00328" name="l00328"></a><span class="lineno">  328</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eac843f0dc477c2043015db473c2bbf8b7">BNO08xFrsID::DYNAMIC_CALIBRATION</a>:</div>
+<div class="line"><a id="l00329" name="l00329"></a><span class="lineno">  329</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;DYNAMIC_CALIBRATION&quot;</span>;</div>
+<div class="line"><a id="l00330" name="l00330"></a><span class="lineno">  330</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea4003f069dafa6695f634bc4d6cadf21d">BNO08xFrsID::ME_POWER_MGMT</a>:</div>
+<div class="line"><a id="l00331" name="l00331"></a><span class="lineno">  331</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;ME_POWER_MGMT&quot;</span>;</div>
+<div class="line"><a id="l00332" name="l00332"></a><span class="lineno">  332</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea174aa600a99d1fee26df64861c68d4ab">BNO08xFrsID::SYSTEM_ORIENTATION</a>:</div>
+<div class="line"><a id="l00333" name="l00333"></a><span class="lineno">  333</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;SYSTEM_ORIENTATION&quot;</span>;</div>
+<div class="line"><a id="l00334" name="l00334"></a><span class="lineno">  334</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea5a6f607e6dea7e4770d6d44dffc14fe0">BNO08xFrsID::ACCEL_ORIENTATION</a>:</div>
+<div class="line"><a id="l00335" name="l00335"></a><span class="lineno">  335</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;ACCEL_ORIENTATION&quot;</span>;</div>
+<div class="line"><a id="l00336" name="l00336"></a><span class="lineno">  336</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea1e56a229eb00e62fc6f98a9c3bf2c41e">BNO08xFrsID::SCREEN_ACCEL_ORIENTATION</a>:</div>
+<div class="line"><a id="l00337" name="l00337"></a><span class="lineno">  337</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;SCREEN_ACCEL_ORIENTATION&quot;</span>;</div>
+<div class="line"><a id="l00338" name="l00338"></a><span class="lineno">  338</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eab7ba02b55d602fc0e643a0e860144abd">BNO08xFrsID::GYROSCOPE_ORIENTATION</a>:</div>
+<div class="line"><a id="l00339" name="l00339"></a><span class="lineno">  339</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;GYROSCOPE_ORIENTATION&quot;</span>;</div>
+<div class="line"><a id="l00340" name="l00340"></a><span class="lineno">  340</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea7c1bc0a9cbeffed48c3f56f138f059dd">BNO08xFrsID::MAGNETOMETER_ORIENTATION</a>:</div>
+<div class="line"><a id="l00341" name="l00341"></a><span class="lineno">  341</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;MAGNETOMETER_ORIENTATION&quot;</span>;</div>
+<div class="line"><a id="l00342" name="l00342"></a><span class="lineno">  342</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ead41092d568817e7b690859c6a04089ef">BNO08xFrsID::ARVR_STABILIZATION_RV</a>:</div>
+<div class="line"><a id="l00343" name="l00343"></a><span class="lineno">  343</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;ARVR_STABILIZATION_RV&quot;</span>;</div>
+<div class="line"><a id="l00344" name="l00344"></a><span class="lineno">  344</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea20d2e66717ed43eb8a6b112e953eb9db">BNO08xFrsID::ARVR_STABILIZATION_GRV</a>:</div>
+<div class="line"><a id="l00345" name="l00345"></a><span class="lineno">  345</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;ARVR_STABILIZATION_GRV&quot;</span>;</div>
+<div class="line"><a id="l00346" name="l00346"></a><span class="lineno">  346</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea94ada7efc076c96b78bcb052d4f22ca2">BNO08xFrsID::TAP_DETECT_CONFIG</a>:</div>
+<div class="line"><a id="l00347" name="l00347"></a><span class="lineno">  347</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;TAP_DETECT_CONFIG&quot;</span>;</div>
+<div class="line"><a id="l00348" name="l00348"></a><span class="lineno">  348</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eae5d606ae5efeadd9ab249a39b8ed828a">BNO08xFrsID::SIG_MOTION_DETECT_CONFIG</a>:</div>
+<div class="line"><a id="l00349" name="l00349"></a><span class="lineno">  349</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;SIG_MOTION_DETECT_CONFIG&quot;</span>;</div>
+<div class="line"><a id="l00350" name="l00350"></a><span class="lineno">  350</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea8a41fbc008e0571cf295a0770e995864">BNO08xFrsID::SHAKE_DETECT_CONFIG</a>:</div>
+<div class="line"><a id="l00351" name="l00351"></a><span class="lineno">  351</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;SHAKE_DETECT_CONFIG&quot;</span>;</div>
+<div class="line"><a id="l00352" name="l00352"></a><span class="lineno">  352</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea2dfcf6ba54eba882fb201bd55b45c4b9">BNO08xFrsID::MAX_FUSION_PERIOD</a>:</div>
+<div class="line"><a id="l00353" name="l00353"></a><span class="lineno">  353</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;MAX_FUSION_PERIOD&quot;</span>;</div>
+<div class="line"><a id="l00354" name="l00354"></a><span class="lineno">  354</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eabac5402bcf9584b3014bd64b8b6ad282">BNO08xFrsID::SERIAL_NUMBER</a>:</div>
+<div class="line"><a id="l00355" name="l00355"></a><span class="lineno">  355</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;SERIAL_NUMBER&quot;</span>;</div>
+<div class="line"><a id="l00356" name="l00356"></a><span class="lineno">  356</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea985e7c8c6bc3500a46530901ac93ab09">BNO08xFrsID::ES_PRESSURE_CAL</a>:</div>
+<div class="line"><a id="l00357" name="l00357"></a><span class="lineno">  357</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;ES_PRESSURE_CAL&quot;</span>;</div>
+<div class="line"><a id="l00358" name="l00358"></a><span class="lineno">  358</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eae15b6d77b828a0022adb2622ddf30d29">BNO08xFrsID::ES_TEMPERATURE_CAL</a>:</div>
+<div class="line"><a id="l00359" name="l00359"></a><span class="lineno">  359</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;ES_TEMPERATURE_CAL&quot;</span>;</div>
+<div class="line"><a id="l00360" name="l00360"></a><span class="lineno">  360</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea2ce4d488b1ad35ff763f52aec7191874">BNO08xFrsID::ES_HUMIDITY_CAL</a>:</div>
+<div class="line"><a id="l00361" name="l00361"></a><span class="lineno">  361</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;ES_HUMIDITY_CAL&quot;</span>;</div>
+<div class="line"><a id="l00362" name="l00362"></a><span class="lineno">  362</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea11c8ae2ec493a78ebc9a808e1df7478c">BNO08xFrsID::ES_AMBIENT_LIGHT_CAL</a>:</div>
+<div class="line"><a id="l00363" name="l00363"></a><span class="lineno">  363</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;ES_AMBIENT_LIGHT_CAL&quot;</span>;</div>
+<div class="line"><a id="l00364" name="l00364"></a><span class="lineno">  364</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea0afc9b6963a488212d0d10c1788ca309">BNO08xFrsID::ES_PROXIMITY_CAL</a>:</div>
+<div class="line"><a id="l00365" name="l00365"></a><span class="lineno">  365</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;ES_PROXIMITY_CAL&quot;</span>;</div>
+<div class="line"><a id="l00366" name="l00366"></a><span class="lineno">  366</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eadc862ae872087053cf308a5c9d12e8ea">BNO08xFrsID::ALS_CAL</a>:</div>
+<div class="line"><a id="l00367" name="l00367"></a><span class="lineno">  367</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;ALS_CAL&quot;</span>;</div>
+<div class="line"><a id="l00368" name="l00368"></a><span class="lineno">  368</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eabcf02bc8a45fdf7df5390b79184b922e">BNO08xFrsID::PROXIMITY_SENSOR_CAL</a>:</div>
+<div class="line"><a id="l00369" name="l00369"></a><span class="lineno">  369</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;PROXIMITY_SENSOR_CAL&quot;</span>;</div>
+<div class="line"><a id="l00370" name="l00370"></a><span class="lineno">  370</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eac9e002e70642b098e7e67cc4083d134d">BNO08xFrsID::PICKUP_DETECTOR_CONFIG</a>:</div>
+<div class="line"><a id="l00371" name="l00371"></a><span class="lineno">  371</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;PICKUP_DETECTOR_CONFIG&quot;</span>;</div>
+<div class="line"><a id="l00372" name="l00372"></a><span class="lineno">  372</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eab0ef80b2f1340b86b39cb82f5ab9d7ee">BNO08xFrsID::FLIP_DETECTOR_CONFIG</a>:</div>
+<div class="line"><a id="l00373" name="l00373"></a><span class="lineno">  373</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;FLIP_DETECTOR_CONFIG&quot;</span>;</div>
+<div class="line"><a id="l00374" name="l00374"></a><span class="lineno">  374</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ead36109c56ef4d0598cc0b03b25dc8d85">BNO08xFrsID::STABILITY_DETECTOR_CONFIG</a>:</div>
+<div class="line"><a id="l00375" name="l00375"></a><span class="lineno">  375</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;STABILITY_DETECTOR_CONFIG&quot;</span>;</div>
+<div class="line"><a id="l00376" name="l00376"></a><span class="lineno">  376</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eab16df741bbcb037e9fc6830441e21a95">BNO08xFrsID::ACTIVITY_TRACKER_CONFIG</a>:</div>
+<div class="line"><a id="l00377" name="l00377"></a><span class="lineno">  377</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;ACTIVITY_TRACKER_CONFIG&quot;</span>;</div>
+<div class="line"><a id="l00378" name="l00378"></a><span class="lineno">  378</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea19f33813d80c7da8306762a7f141d9bb">BNO08xFrsID::SLEEP_DETECTOR_CONFIG</a>:</div>
+<div class="line"><a id="l00379" name="l00379"></a><span class="lineno">  379</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;SLEEP_DETECTOR_CONFIG&quot;</span>;</div>
+<div class="line"><a id="l00380" name="l00380"></a><span class="lineno">  380</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea6590d7f1041f103cdaab64cd06e0db37">BNO08xFrsID::TILT_DETECTOR_CONFIG</a>:</div>
+<div class="line"><a id="l00381" name="l00381"></a><span class="lineno">  381</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;TILT_DETECTOR_CONFIG&quot;</span>;</div>
+<div class="line"><a id="l00382" name="l00382"></a><span class="lineno">  382</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eaababe7d27ea06c8f91d48e5b7aa29edd">BNO08xFrsID::POCKET_DETECTOR_CONFIG</a>:</div>
+<div class="line"><a id="l00383" name="l00383"></a><span class="lineno">  383</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;POCKET_DETECTOR_CONFIG&quot;</span>;</div>
+<div class="line"><a id="l00384" name="l00384"></a><span class="lineno">  384</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea04c1dfc95c72ddbf41e93f6c894aea7c">BNO08xFrsID::CIRCLE_DETECTOR_CONFIG</a>:</div>
+<div class="line"><a id="l00385" name="l00385"></a><span class="lineno">  385</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;CIRCLE_DETECTOR_CONFIG&quot;</span>;</div>
+<div class="line"><a id="l00386" name="l00386"></a><span class="lineno">  386</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea5d88297a4f00a18d228e25847cbac419">BNO08xFrsID::USER_RECORD</a>:</div>
+<div class="line"><a id="l00387" name="l00387"></a><span class="lineno">  387</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;USER_RECORD&quot;</span>;</div>
+<div class="line"><a id="l00388" name="l00388"></a><span class="lineno">  388</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea622bd18282b2f88dc49339c638005f7d">BNO08xFrsID::ME_TIME_SOURCE_SELECT</a>:</div>
+<div class="line"><a id="l00389" name="l00389"></a><span class="lineno">  389</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;ME_TIME_SOURCE_SELECT&quot;</span>;</div>
+<div class="line"><a id="l00390" name="l00390"></a><span class="lineno">  390</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea915838bac984c07ae03ec46239375b32">BNO08xFrsID::UART_FORMAT</a>:</div>
+<div class="line"><a id="l00391" name="l00391"></a><span class="lineno">  391</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;UART_FORMAT&quot;</span>;</div>
+<div class="line"><a id="l00392" name="l00392"></a><span class="lineno">  392</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eacde3a23190df77d7c45b6dcf38727bda">BNO08xFrsID::GYRO_INTEGRATED_RV_CONFIG</a>:</div>
+<div class="line"><a id="l00393" name="l00393"></a><span class="lineno">  393</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;GYRO_INTEGRATED_RV_CONFIG&quot;</span>;</div>
+<div class="line"><a id="l00394" name="l00394"></a><span class="lineno">  394</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea2e4ea1aa76f2cad49db5d57d811e12aa">BNO08xFrsID::META_RAW_ACCELEROMETER</a>:</div>
+<div class="line"><a id="l00395" name="l00395"></a><span class="lineno">  395</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;META_RAW_ACCELEROMETER&quot;</span>;</div>
+<div class="line"><a id="l00396" name="l00396"></a><span class="lineno">  396</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea465acbc549b49027295fb2df6d89ad9e">BNO08xFrsID::META_ACCELEROMETER</a>:</div>
+<div class="line"><a id="l00397" name="l00397"></a><span class="lineno">  397</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;META_ACCELEROMETER&quot;</span>;</div>
+<div class="line"><a id="l00398" name="l00398"></a><span class="lineno">  398</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea3308d6a253d373d623aa27e5a7e35b26">BNO08xFrsID::META_LINEAR_ACCELERATION</a>:</div>
+<div class="line"><a id="l00399" name="l00399"></a><span class="lineno">  399</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;META_LINEAR_ACCELERATION&quot;</span>;</div>
+<div class="line"><a id="l00400" name="l00400"></a><span class="lineno">  400</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ead18387364cb570f2dada6577901433b2">BNO08xFrsID::META_GRAVITY</a>:</div>
+<div class="line"><a id="l00401" name="l00401"></a><span class="lineno">  401</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;META_GRAVITY&quot;</span>;</div>
+<div class="line"><a id="l00402" name="l00402"></a><span class="lineno">  402</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea151beca4927a54850a706fce1bdc6d4f">BNO08xFrsID::META_RAW_GYROSCOPE</a>:</div>
+<div class="line"><a id="l00403" name="l00403"></a><span class="lineno">  403</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;META_RAW_GYROSCOPE&quot;</span>;</div>
+<div class="line"><a id="l00404" name="l00404"></a><span class="lineno">  404</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea1bc76fb93c1b3dd08a602f2f4fbe8645">BNO08xFrsID::META_GYROSCOPE_CALIBRATED</a>:</div>
+<div class="line"><a id="l00405" name="l00405"></a><span class="lineno">  405</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;META_GYROSCOPE_CALIBRATED&quot;</span>;</div>
+<div class="line"><a id="l00406" name="l00406"></a><span class="lineno">  406</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eaa68be0ce226eff099a645026852190b4">BNO08xFrsID::META_GYROSCOPE_UNCALIBRATED</a>:</div>
+<div class="line"><a id="l00407" name="l00407"></a><span class="lineno">  407</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;META_GYROSCOPE_UNCALIBRATED&quot;</span>;</div>
+<div class="line"><a id="l00408" name="l00408"></a><span class="lineno">  408</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ead97759e77dc0c7c57de6a56bc0f9bad8">BNO08xFrsID::META_RAW_MAGNETOMETER</a>:</div>
+<div class="line"><a id="l00409" name="l00409"></a><span class="lineno">  409</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;META_RAW_MAGNETOMETER&quot;</span>;</div>
+<div class="line"><a id="l00410" name="l00410"></a><span class="lineno">  410</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eac4042d50ceb28eb1f11e87cb6d6d4b61">BNO08xFrsID::META_MAGNETIC_FIELD_CALIBRATED</a>:</div>
+<div class="line"><a id="l00411" name="l00411"></a><span class="lineno">  411</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;META_MAGNETIC_FIELD_CALIBRATED&quot;</span>;</div>
+<div class="line"><a id="l00412" name="l00412"></a><span class="lineno">  412</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea34c09ae0fffb459871f75731dd9bdfb1">BNO08xFrsID::META_MAGNETIC_FIELD_UNCALIBRATED</a>:</div>
+<div class="line"><a id="l00413" name="l00413"></a><span class="lineno">  413</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;META_MAGNETIC_FIELD_UNCALIBRATED&quot;</span>;</div>
+<div class="line"><a id="l00414" name="l00414"></a><span class="lineno">  414</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea4a6153a0da5cadc5308e699f0d72de20">BNO08xFrsID::META_ROTATION_VECTOR</a>:</div>
+<div class="line"><a id="l00415" name="l00415"></a><span class="lineno">  415</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;META_ROTATION_VECTOR&quot;</span>;</div>
+<div class="line"><a id="l00416" name="l00416"></a><span class="lineno">  416</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea03247820bfcd6c7518327a501c2f84f2">BNO08xFrsID::META_GAME_ROTATION_VECTOR</a>:</div>
+<div class="line"><a id="l00417" name="l00417"></a><span class="lineno">  417</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;META_GAME_ROTATION_VECTOR&quot;</span>;</div>
+<div class="line"><a id="l00418" name="l00418"></a><span class="lineno">  418</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea8358c5060ffe770da1411d8779db71a8">BNO08xFrsID::META_GEOMAGNETIC_ROTATION_VECTOR</a>:</div>
+<div class="line"><a id="l00419" name="l00419"></a><span class="lineno">  419</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;META_GEOMAGNETIC_ROTATION_VECTOR&quot;</span>;</div>
+<div class="line"><a id="l00420" name="l00420"></a><span class="lineno">  420</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eaf9c947198092e74abb25848eb7769067">BNO08xFrsID::META_PRESSURE</a>:</div>
+<div class="line"><a id="l00421" name="l00421"></a><span class="lineno">  421</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;META_PRESSURE&quot;</span>;</div>
+<div class="line"><a id="l00422" name="l00422"></a><span class="lineno">  422</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea272dc30956f626dd9c57deabae51f34e">BNO08xFrsID::META_AMBIENT_LIGHT</a>:</div>
+<div class="line"><a id="l00423" name="l00423"></a><span class="lineno">  423</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;META_AMBIENT_LIGHT&quot;</span>;</div>
+<div class="line"><a id="l00424" name="l00424"></a><span class="lineno">  424</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eaad36e03479240e4335a782c235a5d38a">BNO08xFrsID::META_HUMIDITY</a>:</div>
+<div class="line"><a id="l00425" name="l00425"></a><span class="lineno">  425</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;META_HUMIDITY&quot;</span>;</div>
+<div class="line"><a id="l00426" name="l00426"></a><span class="lineno">  426</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea5672a03a15b0d08bc1dbf6d361f885b6">BNO08xFrsID::META_PROXIMITY</a>:</div>
+<div class="line"><a id="l00427" name="l00427"></a><span class="lineno">  427</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;META_PROXIMITY&quot;</span>;</div>
+<div class="line"><a id="l00428" name="l00428"></a><span class="lineno">  428</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eab95695a3e70032d9b77b4b66c66fc98c">BNO08xFrsID::META_TEMPERATURE</a>:</div>
+<div class="line"><a id="l00429" name="l00429"></a><span class="lineno">  429</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;META_TEMPERATURE&quot;</span>;</div>
+<div class="line"><a id="l00430" name="l00430"></a><span class="lineno">  430</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eab16eab94415b5ee4213d1d5091bcbe63">BNO08xFrsID::META_TAP_DETECTOR</a>:</div>
+<div class="line"><a id="l00431" name="l00431"></a><span class="lineno">  431</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;META_TAP_DETECTOR&quot;</span>;</div>
+<div class="line"><a id="l00432" name="l00432"></a><span class="lineno">  432</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eaec9658d47befd647b63e584f101b54be">BNO08xFrsID::META_STEP_DETECTOR</a>:</div>
+<div class="line"><a id="l00433" name="l00433"></a><span class="lineno">  433</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;META_STEP_DETECTOR&quot;</span>;</div>
+<div class="line"><a id="l00434" name="l00434"></a><span class="lineno">  434</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eaf2f39889d71f8b36825d018c4e9097d0">BNO08xFrsID::META_STEP_COUNTER</a>:</div>
+<div class="line"><a id="l00435" name="l00435"></a><span class="lineno">  435</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;META_STEP_COUNTER&quot;</span>;</div>
+<div class="line"><a id="l00436" name="l00436"></a><span class="lineno">  436</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea75cae4a3d64033a6b610ba9bdeca4400">BNO08xFrsID::META_SIGNIFICANT_MOTION</a>:</div>
+<div class="line"><a id="l00437" name="l00437"></a><span class="lineno">  437</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;META_SIGNIFICANT_MOTION&quot;</span>;</div>
+<div class="line"><a id="l00438" name="l00438"></a><span class="lineno">  438</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea74afeef51f861c9990699dce9c3544d0">BNO08xFrsID::META_STABILITY_CLASSIFIER</a>:</div>
+<div class="line"><a id="l00439" name="l00439"></a><span class="lineno">  439</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;META_STABILITY_CLASSIFIER&quot;</span>;</div>
+<div class="line"><a id="l00440" name="l00440"></a><span class="lineno">  440</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea9ec318efb06209c42f9199b41d76df40">BNO08xFrsID::META_SHAKE_DETECTOR</a>:</div>
+<div class="line"><a id="l00441" name="l00441"></a><span class="lineno">  441</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;META_SHAKE_DETECTOR&quot;</span>;</div>
+<div class="line"><a id="l00442" name="l00442"></a><span class="lineno">  442</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eaeba85c6e59bb27b48782c948858e21e0">BNO08xFrsID::META_FLIP_DETECTOR</a>:</div>
+<div class="line"><a id="l00443" name="l00443"></a><span class="lineno">  443</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;META_FLIP_DETECTOR&quot;</span>;</div>
+<div class="line"><a id="l00444" name="l00444"></a><span class="lineno">  444</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea499a184ec3f1a41ee95704207c3a0907">BNO08xFrsID::META_PICKUP_DETECTOR</a>:</div>
+<div class="line"><a id="l00445" name="l00445"></a><span class="lineno">  445</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;META_PICKUP_DETECTOR&quot;</span>;</div>
+<div class="line"><a id="l00446" name="l00446"></a><span class="lineno">  446</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ead5ca5c5444a4d4078796da85a8a63fd8">BNO08xFrsID::META_STABILITY_DETECTOR</a>:</div>
+<div class="line"><a id="l00447" name="l00447"></a><span class="lineno">  447</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;META_STABILITY_DETECTOR&quot;</span>;</div>
+<div class="line"><a id="l00448" name="l00448"></a><span class="lineno">  448</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea6fc1d676928d6b16f1c1639b27a52669">BNO08xFrsID::META_PERSONAL_ACTIVITY_CLASSIFIER</a>:</div>
+<div class="line"><a id="l00449" name="l00449"></a><span class="lineno">  449</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;META_PERSONAL_ACTIVITY_CLASSIFIER&quot;</span>;</div>
+<div class="line"><a id="l00450" name="l00450"></a><span class="lineno">  450</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea75c30391bf2c38c3d5451e6f3f1969ef">BNO08xFrsID::META_SLEEP_DETECTOR</a>:</div>
+<div class="line"><a id="l00451" name="l00451"></a><span class="lineno">  451</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;META_SLEEP_DETECTOR&quot;</span>;</div>
+<div class="line"><a id="l00452" name="l00452"></a><span class="lineno">  452</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea66d0073ac3caa41ab4958fc167032f39">BNO08xFrsID::META_TILT_DETECTOR</a>:</div>
+<div class="line"><a id="l00453" name="l00453"></a><span class="lineno">  453</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;META_TILT_DETECTOR&quot;</span>;</div>
+<div class="line"><a id="l00454" name="l00454"></a><span class="lineno">  454</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea8fea9f9b77154625f1b543988398610b">BNO08xFrsID::META_POCKET_DETECTOR</a>:</div>
+<div class="line"><a id="l00455" name="l00455"></a><span class="lineno">  455</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;META_POCKET_DETECTOR&quot;</span>;</div>
+<div class="line"><a id="l00456" name="l00456"></a><span class="lineno">  456</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eac26499be839c2f04ca712c388e02b2cd">BNO08xFrsID::META_CIRCLE_DETECTOR</a>:</div>
+<div class="line"><a id="l00457" name="l00457"></a><span class="lineno">  457</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;META_CIRCLE_DETECTOR&quot;</span>;</div>
+<div class="line"><a id="l00458" name="l00458"></a><span class="lineno">  458</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea41240ea9c983158280d9a1a144d6f9dc">BNO08xFrsID::META_HEART_RATE_MONITOR</a>:</div>
+<div class="line"><a id="l00459" name="l00459"></a><span class="lineno">  459</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;META_HEART_RATE_MONITOR&quot;</span>;</div>
+<div class="line"><a id="l00460" name="l00460"></a><span class="lineno">  460</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea61501297c2607c69321c2a5b4c1c945b">BNO08xFrsID::META_ARVR_STABILIZED_RV</a>:</div>
+<div class="line"><a id="l00461" name="l00461"></a><span class="lineno">  461</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;META_ARVR_STABILIZED_RV&quot;</span>;</div>
+<div class="line"><a id="l00462" name="l00462"></a><span class="lineno">  462</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea240edccff7cb86c2486ee9bac60e19ca">BNO08xFrsID::META_ARVR_STABILIZED_GRV</a>:</div>
+<div class="line"><a id="l00463" name="l00463"></a><span class="lineno">  463</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;META_ARVR_STABILIZED_GRV&quot;</span>;</div>
+<div class="line"><a id="l00464" name="l00464"></a><span class="lineno">  464</span>        <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea928ad374247b43bfa0939406c62d2b31">BNO08xFrsID::META_GYRO_INTEGRATED_RV</a>:</div>
+<div class="line"><a id="l00465" name="l00465"></a><span class="lineno">  465</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;META_GYRO_INTEGRATED_RV&quot;</span>;</div>
+<div class="line"><a id="l00466" name="l00466"></a><span class="lineno">  466</span>        <span class="keywordflow">default</span>:</div>
+<div class="line"><a id="l00467" name="l00467"></a><span class="lineno">  467</span>            <span class="keywordflow">return</span> <span class="stringliteral">&quot;UNKNOWN&quot;</span>;</div>
+<div class="line"><a id="l00468" name="l00468"></a><span class="lineno">  468</span>    }</div>
+<div class="line"><a id="l00469" name="l00469"></a><span class="lineno">  469</span>}</div>
+<div class="line"><a id="l00470" name="l00470"></a><span class="lineno">  470</span> </div>
+<div class="line"><a id="l00472" name="l00472"></a><span class="lineno"><a class="line" href="structbno08x__quat__t.html">  472</a></span><span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code hl_struct" href="structbno08x__quat__t.html">bno08x_quat_t</a></div>
+<div class="line"><a id="l00473" name="l00473"></a><span class="lineno">  473</span>{</div>
+<div class="line"><a id="l00474" name="l00474"></a><span class="lineno"><a class="line" href="structbno08x__quat__t.html#ab99e5e4f8adad74eee1a94b4e7ef2542">  474</a></span>        <span class="keywordtype">float</span> <a class="code hl_variable" href="structbno08x__quat__t.html#ab99e5e4f8adad74eee1a94b4e7ef2542">real</a>;</div>
+<div class="line"><a id="l00475" name="l00475"></a><span class="lineno"><a class="line" href="structbno08x__quat__t.html#ac438aba57b7082e1d81e2d1241f87ca0">  475</a></span>        <span class="keywordtype">float</span> <a class="code hl_variable" href="structbno08x__quat__t.html#ac438aba57b7082e1d81e2d1241f87ca0">i</a>;</div>
+<div class="line"><a id="l00476" name="l00476"></a><span class="lineno"><a class="line" href="structbno08x__quat__t.html#aab49754d4967cfa71578d8d1156eef46">  476</a></span>        <span class="keywordtype">float</span> <a class="code hl_variable" href="structbno08x__quat__t.html#aab49754d4967cfa71578d8d1156eef46">j</a>;</div>
+<div class="line"><a id="l00477" name="l00477"></a><span class="lineno"><a class="line" href="structbno08x__quat__t.html#ade2592f6a271cc8b260081ad018772ef">  477</a></span>        <span class="keywordtype">float</span> <a class="code hl_variable" href="structbno08x__quat__t.html#ade2592f6a271cc8b260081ad018772ef">k</a>;</div>
+<div class="line"><a id="l00478" name="l00478"></a><span class="lineno"><a class="line" href="structbno08x__quat__t.html#a7368a7f0524e3b2e1f4465329ecb0912">  478</a></span>        <span class="keywordtype">float</span> <a class="code hl_variable" href="structbno08x__quat__t.html#a7368a7f0524e3b2e1f4465329ecb0912">rad_accuracy</a>;</div>
+<div class="line"><a id="l00479" name="l00479"></a><span class="lineno"><a class="line" href="structbno08x__quat__t.html#afd179bfc02d365b5db4ad9fa810daf7c">  479</a></span>        <a class="code hl_enumeration" href="_b_n_o08x_global_types_8hpp.html#a6bdf6fea6d671c12413d95f36a3e7ba6">BNO08xAccuracy</a> <a class="code hl_variable" href="structbno08x__quat__t.html#afd179bfc02d365b5db4ad9fa810daf7c">accuracy</a>;</div>
+<div class="line"><a id="l00480" name="l00480"></a><span class="lineno">  480</span> </div>
+<div class="line"><a id="l00481" name="l00481"></a><span class="lineno"><a class="line" href="structbno08x__quat__t.html#ae42ec645fe23b60e32e55872a3b9e703">  481</a></span>        <a class="code hl_function" href="structbno08x__quat__t.html#ae42ec645fe23b60e32e55872a3b9e703">bno08x_quat_t</a>()</div>
+<div class="line"><a id="l00482" name="l00482"></a><span class="lineno">  482</span>            : <a class="code hl_variable" href="structbno08x__quat__t.html#ab99e5e4f8adad74eee1a94b4e7ef2542">real</a>(0.0f)</div>
+<div class="line"><a id="l00483" name="l00483"></a><span class="lineno">  483</span>            , <a class="code hl_variable" href="structbno08x__quat__t.html#ac438aba57b7082e1d81e2d1241f87ca0">i</a>(0.0f)</div>
+<div class="line"><a id="l00484" name="l00484"></a><span class="lineno">  484</span>            , <a class="code hl_variable" href="structbno08x__quat__t.html#aab49754d4967cfa71578d8d1156eef46">j</a>(0.0f)</div>
+<div class="line"><a id="l00485" name="l00485"></a><span class="lineno">  485</span>            , <a class="code hl_variable" href="structbno08x__quat__t.html#ade2592f6a271cc8b260081ad018772ef">k</a>(0.0f)</div>
+<div class="line"><a id="l00486" name="l00486"></a><span class="lineno">  486</span>            , <a class="code hl_variable" href="structbno08x__quat__t.html#a7368a7f0524e3b2e1f4465329ecb0912">rad_accuracy</a>(0.0f)</div>
+<div class="line"><a id="l00487" name="l00487"></a><span class="lineno">  487</span>            , <a class="code hl_variable" href="structbno08x__quat__t.html#afd179bfc02d365b5db4ad9fa810daf7c">accuracy</a>(<a class="code hl_enumeration" href="_b_n_o08x_global_types_8hpp.html#a6bdf6fea6d671c12413d95f36a3e7ba6">BNO08xAccuracy</a>::<a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#afed71c9ed8a8563767f26282408ccee2a0db45d2a4141101bdfe48e3314cfbca3">UNDEFINED</a>)</div>
+<div class="line"><a id="l00488" name="l00488"></a><span class="lineno">  488</span>        {</div>
+<div class="line"><a id="l00489" name="l00489"></a><span class="lineno">  489</span>        }</div>
+<div class="line"><a id="l00490" name="l00490"></a><span class="lineno">  490</span> </div>
+<div class="line"><a id="l00491" name="l00491"></a><span class="lineno">  491</span>        <span class="comment">// overloaded assignment operator to handle RV with rad accuracy</span></div>
+<div class="line"><a id="l00492" name="l00492"></a><span class="lineno"><a class="line" href="structbno08x__quat__t.html#a081cecab6370ae436f36416e3f7a6ddc">  492</a></span>        <a class="code hl_struct" href="structbno08x__quat__t.html">bno08x_quat_t</a>&amp; <a class="code hl_function" href="structbno08x__quat__t.html#a081cecab6370ae436f36416e3f7a6ddc">operator=</a>(<span class="keyword">const</span> sh2_RotationVectorWAcc_t&amp; source)</div>
+<div class="line"><a id="l00493" name="l00493"></a><span class="lineno">  493</span>        {</div>
+<div class="line"><a id="l00494" name="l00494"></a><span class="lineno">  494</span>            this-&gt;real = source.<a class="code hl_variable" href="structbno08x__quat__t.html#ab99e5e4f8adad74eee1a94b4e7ef2542">real</a>;</div>
+<div class="line"><a id="l00495" name="l00495"></a><span class="lineno">  495</span>            this-&gt;i = source.i;</div>
+<div class="line"><a id="l00496" name="l00496"></a><span class="lineno">  496</span>            this-&gt;j = source.j;</div>
+<div class="line"><a id="l00497" name="l00497"></a><span class="lineno">  497</span>            this-&gt;k = source.k;</div>
+<div class="line"><a id="l00498" name="l00498"></a><span class="lineno">  498</span>            this-&gt;rad_accuracy = source.accuracy;</div>
+<div class="line"><a id="l00499" name="l00499"></a><span class="lineno">  499</span>            <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
+<div class="line"><a id="l00500" name="l00500"></a><span class="lineno">  500</span>        }</div>
+<div class="line"><a id="l00501" name="l00501"></a><span class="lineno">  501</span> </div>
+<div class="line"><a id="l00502" name="l00502"></a><span class="lineno">  502</span>        <span class="comment">// overloaded assignment operator to handle RV with w/o rad accuracy</span></div>
+<div class="line"><a id="l00503" name="l00503"></a><span class="lineno"><a class="line" href="structbno08x__quat__t.html#a23cac26e381f9a83657fccdab735046b">  503</a></span>        <a class="code hl_struct" href="structbno08x__quat__t.html">bno08x_quat_t</a>&amp; <a class="code hl_function" href="structbno08x__quat__t.html#a23cac26e381f9a83657fccdab735046b">operator=</a>(<span class="keyword">const</span> sh2_RotationVector_t&amp; source)</div>
+<div class="line"><a id="l00504" name="l00504"></a><span class="lineno">  504</span>        {</div>
+<div class="line"><a id="l00505" name="l00505"></a><span class="lineno">  505</span>            this-&gt;real = source.<a class="code hl_variable" href="structbno08x__quat__t.html#ab99e5e4f8adad74eee1a94b4e7ef2542">real</a>;</div>
+<div class="line"><a id="l00506" name="l00506"></a><span class="lineno">  506</span>            this-&gt;i = source.i;</div>
+<div class="line"><a id="l00507" name="l00507"></a><span class="lineno">  507</span>            this-&gt;j = source.j;</div>
+<div class="line"><a id="l00508" name="l00508"></a><span class="lineno">  508</span>            this-&gt;k = source.k;</div>
+<div class="line"><a id="l00509" name="l00509"></a><span class="lineno">  509</span>            this-&gt;rad_accuracy = 0.0f;</div>
+<div class="line"><a id="l00510" name="l00510"></a><span class="lineno">  510</span>            <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
+<div class="line"><a id="l00511" name="l00511"></a><span class="lineno">  511</span>        }</div>
+<div class="line"><a id="l00512" name="l00512"></a><span class="lineno">  512</span> </div>
+<div class="line"><a id="l00513" name="l00513"></a><span class="lineno">  513</span>        <span class="comment">// overloaded assignment operator to handle IRV report</span></div>
+<div class="line"><a id="l00514" name="l00514"></a><span class="lineno"><a class="line" href="structbno08x__quat__t.html#ae3705dc48882a3d616927cad01c2387d">  514</a></span>        <a class="code hl_struct" href="structbno08x__quat__t.html">bno08x_quat_t</a>&amp; <a class="code hl_function" href="structbno08x__quat__t.html#ae3705dc48882a3d616927cad01c2387d">operator=</a>(<span class="keyword">const</span> sh2_GyroIntegratedRV_t&amp; source)</div>
+<div class="line"><a id="l00515" name="l00515"></a><span class="lineno">  515</span>        {</div>
+<div class="line"><a id="l00516" name="l00516"></a><span class="lineno">  516</span>            this-&gt;real = source.<a class="code hl_variable" href="structbno08x__quat__t.html#ab99e5e4f8adad74eee1a94b4e7ef2542">real</a>;</div>
+<div class="line"><a id="l00517" name="l00517"></a><span class="lineno">  517</span>            this-&gt;i = source.i;</div>
+<div class="line"><a id="l00518" name="l00518"></a><span class="lineno">  518</span>            this-&gt;j = source.j;</div>
+<div class="line"><a id="l00519" name="l00519"></a><span class="lineno">  519</span>            this-&gt;k = source.k;</div>
+<div class="line"><a id="l00520" name="l00520"></a><span class="lineno">  520</span>            this-&gt;rad_accuracy = 0.0f;</div>
+<div class="line"><a id="l00521" name="l00521"></a><span class="lineno">  521</span>            <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
+<div class="line"><a id="l00522" name="l00522"></a><span class="lineno">  522</span>        }</div>
+<div class="line"><a id="l00523" name="l00523"></a><span class="lineno">  523</span> </div>
+<div class="line"><a id="l00524" name="l00524"></a><span class="lineno"><a class="line" href="_b_n_o08x_global_types_8hpp.html#a0c7367913526c0d634c5f8f5365a55b4">  524</a></span>} <a class="code hl_typedef" href="_b_n_o08x_global_types_8hpp.html#a0c7367913526c0d634c5f8f5365a55b4">bno08x_quat_t</a>;</div>
+<div class="line"><a id="l00525" name="l00525"></a><span class="lineno">  525</span> </div>
+<div class="line"><a id="l00527" name="l00527"></a><span class="lineno"><a class="line" href="structbno08x__euler__angle__t.html">  527</a></span><span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code hl_struct" href="structbno08x__euler__angle__t.html">bno08x_euler_angle_t</a></div>
+<div class="line"><a id="l00528" name="l00528"></a><span class="lineno">  528</span>{</div>
+<div class="line"><a id="l00529" name="l00529"></a><span class="lineno"><a class="line" href="structbno08x__euler__angle__t.html#a7c675704f7bf92a19846de6ee020f0ef">  529</a></span>        <span class="keywordtype">float</span> <a class="code hl_variable" href="structbno08x__euler__angle__t.html#a7c675704f7bf92a19846de6ee020f0ef">x</a>;</div>
+<div class="line"><a id="l00530" name="l00530"></a><span class="lineno"><a class="line" href="structbno08x__euler__angle__t.html#a0c4f19cb559999d4c2ac2b29d9dc7cfd">  530</a></span>        <span class="keywordtype">float</span> <a class="code hl_variable" href="structbno08x__euler__angle__t.html#a0c4f19cb559999d4c2ac2b29d9dc7cfd">y</a>;</div>
+<div class="line"><a id="l00531" name="l00531"></a><span class="lineno"><a class="line" href="structbno08x__euler__angle__t.html#a5237ec5e8fc1ca49b2f108ac784f0032">  531</a></span>        <span class="keywordtype">float</span> <a class="code hl_variable" href="structbno08x__euler__angle__t.html#a5237ec5e8fc1ca49b2f108ac784f0032">z</a>;</div>
+<div class="line"><a id="l00532" name="l00532"></a><span class="lineno"><a class="line" href="structbno08x__euler__angle__t.html#a89ab348ee455b14e5d09f1eb5d231c99">  532</a></span>        <span class="keywordtype">float</span> <a class="code hl_variable" href="structbno08x__euler__angle__t.html#a89ab348ee455b14e5d09f1eb5d231c99">rad_accuracy</a>;</div>
+<div class="line"><a id="l00533" name="l00533"></a><span class="lineno"><a class="line" href="structbno08x__euler__angle__t.html#a3b4fad0b84bda3f34e86f7168ef2fee6">  533</a></span>        <a class="code hl_enumeration" href="_b_n_o08x_global_types_8hpp.html#a6bdf6fea6d671c12413d95f36a3e7ba6">BNO08xAccuracy</a> <a class="code hl_variable" href="structbno08x__euler__angle__t.html#a3b4fad0b84bda3f34e86f7168ef2fee6">accuracy</a>;</div>
+<div class="line"><a id="l00534" name="l00534"></a><span class="lineno">  534</span> </div>
+<div class="line"><a id="l00535" name="l00535"></a><span class="lineno"><a class="line" href="structbno08x__euler__angle__t.html#a29b670ff58d75a6abf02512ee07a6207">  535</a></span>        <a class="code hl_function" href="structbno08x__euler__angle__t.html#a29b670ff58d75a6abf02512ee07a6207">bno08x_euler_angle_t</a>()</div>
+<div class="line"><a id="l00536" name="l00536"></a><span class="lineno">  536</span>            : <a class="code hl_variable" href="structbno08x__euler__angle__t.html#a7c675704f7bf92a19846de6ee020f0ef">x</a>(0.0f)</div>
+<div class="line"><a id="l00537" name="l00537"></a><span class="lineno">  537</span>            , <a class="code hl_variable" href="structbno08x__euler__angle__t.html#a0c4f19cb559999d4c2ac2b29d9dc7cfd">y</a>(0.0f)</div>
+<div class="line"><a id="l00538" name="l00538"></a><span class="lineno">  538</span>            , <a class="code hl_variable" href="structbno08x__euler__angle__t.html#a5237ec5e8fc1ca49b2f108ac784f0032">z</a>(0.0f)</div>
+<div class="line"><a id="l00539" name="l00539"></a><span class="lineno">  539</span>            , <a class="code hl_variable" href="structbno08x__euler__angle__t.html#a89ab348ee455b14e5d09f1eb5d231c99">rad_accuracy</a>(0.0f)</div>
+<div class="line"><a id="l00540" name="l00540"></a><span class="lineno">  540</span>            , <a class="code hl_variable" href="structbno08x__euler__angle__t.html#a3b4fad0b84bda3f34e86f7168ef2fee6">accuracy</a>(<a class="code hl_enumeration" href="_b_n_o08x_global_types_8hpp.html#a6bdf6fea6d671c12413d95f36a3e7ba6">BNO08xAccuracy</a>::<a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#afed71c9ed8a8563767f26282408ccee2a0db45d2a4141101bdfe48e3314cfbca3">UNDEFINED</a>)</div>
+<div class="line"><a id="l00541" name="l00541"></a><span class="lineno">  541</span>        {</div>
+<div class="line"><a id="l00542" name="l00542"></a><span class="lineno">  542</span>        }</div>
+<div class="line"><a id="l00543" name="l00543"></a><span class="lineno">  543</span> </div>
+<div class="line"><a id="l00544" name="l00544"></a><span class="lineno">  544</span>        <span class="comment">// overloaded = operator for quat to euler conversion</span></div>
+<div class="line"><a id="l00545" name="l00545"></a><span class="lineno"><a class="line" href="structbno08x__euler__angle__t.html#aa7f6954a731e0be492508b5d1dac056e">  545</a></span>        <a class="code hl_struct" href="structbno08x__euler__angle__t.html">bno08x_euler_angle_t</a>&amp; <a class="code hl_function" href="structbno08x__euler__angle__t.html#aa7f6954a731e0be492508b5d1dac056e">operator=</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structbno08x__quat__t.html">bno08x_quat_t</a>&amp; source)</div>
+<div class="line"><a id="l00546" name="l00546"></a><span class="lineno">  546</span>        {</div>
+<div class="line"><a id="l00547" name="l00547"></a><span class="lineno">  547</span>            this-&gt;x = atan2(2.0f * (source.<a class="code hl_variable" href="structbno08x__quat__t.html#ab99e5e4f8adad74eee1a94b4e7ef2542">real</a> * source.<a class="code hl_variable" href="structbno08x__quat__t.html#ac438aba57b7082e1d81e2d1241f87ca0">i</a> + source.<a class="code hl_variable" href="structbno08x__quat__t.html#aab49754d4967cfa71578d8d1156eef46">j</a> * source.<a class="code hl_variable" href="structbno08x__quat__t.html#ade2592f6a271cc8b260081ad018772ef">k</a>),</div>
+<div class="line"><a id="l00548" name="l00548"></a><span class="lineno">  548</span>                    1.0f - 2.0f * (source.<a class="code hl_variable" href="structbno08x__quat__t.html#ac438aba57b7082e1d81e2d1241f87ca0">i</a> * source.<a class="code hl_variable" href="structbno08x__quat__t.html#ac438aba57b7082e1d81e2d1241f87ca0">i</a> + source.<a class="code hl_variable" href="structbno08x__quat__t.html#aab49754d4967cfa71578d8d1156eef46">j</a> * source.<a class="code hl_variable" href="structbno08x__quat__t.html#aab49754d4967cfa71578d8d1156eef46">j</a>));</div>
+<div class="line"><a id="l00549" name="l00549"></a><span class="lineno">  549</span>            this-&gt;y = asin(2.0f * (source.<a class="code hl_variable" href="structbno08x__quat__t.html#ab99e5e4f8adad74eee1a94b4e7ef2542">real</a> * source.<a class="code hl_variable" href="structbno08x__quat__t.html#aab49754d4967cfa71578d8d1156eef46">j</a> - source.<a class="code hl_variable" href="structbno08x__quat__t.html#ade2592f6a271cc8b260081ad018772ef">k</a> * source.<a class="code hl_variable" href="structbno08x__quat__t.html#ac438aba57b7082e1d81e2d1241f87ca0">i</a>));</div>
+<div class="line"><a id="l00550" name="l00550"></a><span class="lineno">  550</span>            this-&gt;z = atan2(2.0f * (source.<a class="code hl_variable" href="structbno08x__quat__t.html#ab99e5e4f8adad74eee1a94b4e7ef2542">real</a> * source.<a class="code hl_variable" href="structbno08x__quat__t.html#ade2592f6a271cc8b260081ad018772ef">k</a> + source.<a class="code hl_variable" href="structbno08x__quat__t.html#ac438aba57b7082e1d81e2d1241f87ca0">i</a> * source.<a class="code hl_variable" href="structbno08x__quat__t.html#aab49754d4967cfa71578d8d1156eef46">j</a>),</div>
+<div class="line"><a id="l00551" name="l00551"></a><span class="lineno">  551</span>                    1.0f - 2.0f * (source.<a class="code hl_variable" href="structbno08x__quat__t.html#aab49754d4967cfa71578d8d1156eef46">j</a> * source.<a class="code hl_variable" href="structbno08x__quat__t.html#aab49754d4967cfa71578d8d1156eef46">j</a> + source.<a class="code hl_variable" href="structbno08x__quat__t.html#ade2592f6a271cc8b260081ad018772ef">k</a> * source.<a class="code hl_variable" href="structbno08x__quat__t.html#ade2592f6a271cc8b260081ad018772ef">k</a>));</div>
+<div class="line"><a id="l00552" name="l00552"></a><span class="lineno">  552</span>            this-&gt;rad_accuracy = source.<a class="code hl_variable" href="structbno08x__quat__t.html#a7368a7f0524e3b2e1f4465329ecb0912">rad_accuracy</a>;</div>
+<div class="line"><a id="l00553" name="l00553"></a><span class="lineno">  553</span>            this-&gt;accuracy = source.<a class="code hl_variable" href="structbno08x__quat__t.html#afd179bfc02d365b5db4ad9fa810daf7c">accuracy</a>;</div>
+<div class="line"><a id="l00554" name="l00554"></a><span class="lineno">  554</span>            <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
+<div class="line"><a id="l00555" name="l00555"></a><span class="lineno">  555</span>        }</div>
+<div class="line"><a id="l00556" name="l00556"></a><span class="lineno">  556</span> </div>
+<div class="line"><a id="l00557" name="l00557"></a><span class="lineno">  557</span>        <span class="comment">// overloaded *= operator for rad2deg conversions</span></div>
+<div class="line"><a id="l00558" name="l00558"></a><span class="lineno">  558</span>        <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a id="l00559" name="l00559"></a><span class="lineno"><a class="line" href="structbno08x__euler__angle__t.html#a0b1d1fcfc2884937404446ca16829e51">  559</a></span>        <a class="code hl_struct" href="structbno08x__euler__angle__t.html">bno08x_euler_angle_t</a>&amp; <a class="code hl_function" href="structbno08x__euler__angle__t.html#a0b1d1fcfc2884937404446ca16829e51">operator*=</a>(T value)</div>
+<div class="line"><a id="l00560" name="l00560"></a><span class="lineno">  560</span>        {</div>
+<div class="line"><a id="l00561" name="l00561"></a><span class="lineno">  561</span>            <a class="code hl_variable" href="structbno08x__euler__angle__t.html#a7c675704f7bf92a19846de6ee020f0ef">x</a> *= <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span>(value);</div>
+<div class="line"><a id="l00562" name="l00562"></a><span class="lineno">  562</span>            <a class="code hl_variable" href="structbno08x__euler__angle__t.html#a0c4f19cb559999d4c2ac2b29d9dc7cfd">y</a> *= <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span>(value);</div>
+<div class="line"><a id="l00563" name="l00563"></a><span class="lineno">  563</span>            <a class="code hl_variable" href="structbno08x__euler__angle__t.html#a5237ec5e8fc1ca49b2f108ac784f0032">z</a> *= <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span>(value);</div>
+<div class="line"><a id="l00564" name="l00564"></a><span class="lineno">  564</span>            <a class="code hl_variable" href="structbno08x__euler__angle__t.html#a89ab348ee455b14e5d09f1eb5d231c99">rad_accuracy</a> *= <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span>(value);</div>
+<div class="line"><a id="l00565" name="l00565"></a><span class="lineno">  565</span>            <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
+<div class="line"><a id="l00566" name="l00566"></a><span class="lineno">  566</span>        }</div>
+<div class="line"><a id="l00567" name="l00567"></a><span class="lineno">  567</span> </div>
+<div class="line"><a id="l00568" name="l00568"></a><span class="lineno"><a class="line" href="_b_n_o08x_global_types_8hpp.html#a8ae22357b6f53c2cf806bb3aeb80814a">  568</a></span>} <a class="code hl_typedef" href="_b_n_o08x_global_types_8hpp.html#a8ae22357b6f53c2cf806bb3aeb80814a">bno08x_euler_angle_t</a>;</div>
+<div class="line"><a id="l00569" name="l00569"></a><span class="lineno">  569</span> </div>
+<div class="line"><a id="l00571" name="l00571"></a><span class="lineno"><a class="line" href="structbno08x__ang__vel__t.html">  571</a></span><span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code hl_struct" href="structbno08x__ang__vel__t.html">bno08x_ang_vel_t</a></div>
+<div class="line"><a id="l00572" name="l00572"></a><span class="lineno">  572</span>{</div>
+<div class="line"><a id="l00573" name="l00573"></a><span class="lineno"><a class="line" href="structbno08x__ang__vel__t.html#aad57f7ad443f1c94b411ff1c3c2d37a3">  573</a></span>        <span class="keywordtype">float</span> <a class="code hl_variable" href="structbno08x__ang__vel__t.html#aad57f7ad443f1c94b411ff1c3c2d37a3">x</a>;</div>
+<div class="line"><a id="l00574" name="l00574"></a><span class="lineno"><a class="line" href="structbno08x__ang__vel__t.html#af6d7d0452271c2d35234371ad1df6a80">  574</a></span>        <span class="keywordtype">float</span> <a class="code hl_variable" href="structbno08x__ang__vel__t.html#af6d7d0452271c2d35234371ad1df6a80">y</a>;</div>
+<div class="line"><a id="l00575" name="l00575"></a><span class="lineno"><a class="line" href="structbno08x__ang__vel__t.html#aac5bb11414116bce54e5f8b7dd2d48f6">  575</a></span>        <span class="keywordtype">float</span> <a class="code hl_variable" href="structbno08x__ang__vel__t.html#aac5bb11414116bce54e5f8b7dd2d48f6">z</a>;</div>
+<div class="line"><a id="l00576" name="l00576"></a><span class="lineno">  576</span> </div>
+<div class="line"><a id="l00577" name="l00577"></a><span class="lineno"><a class="line" href="structbno08x__ang__vel__t.html#a76cf6d15cef214b31a47008d49b843be">  577</a></span>        <a class="code hl_function" href="structbno08x__ang__vel__t.html#a76cf6d15cef214b31a47008d49b843be">bno08x_ang_vel_t</a>()</div>
+<div class="line"><a id="l00578" name="l00578"></a><span class="lineno">  578</span>            : <a class="code hl_variable" href="structbno08x__ang__vel__t.html#aad57f7ad443f1c94b411ff1c3c2d37a3">x</a>(0.0f)</div>
+<div class="line"><a id="l00579" name="l00579"></a><span class="lineno">  579</span>            , <a class="code hl_variable" href="structbno08x__ang__vel__t.html#af6d7d0452271c2d35234371ad1df6a80">y</a>(0.0f)</div>
+<div class="line"><a id="l00580" name="l00580"></a><span class="lineno">  580</span>            , <a class="code hl_variable" href="structbno08x__ang__vel__t.html#aac5bb11414116bce54e5f8b7dd2d48f6">z</a>(0.0f)</div>
+<div class="line"><a id="l00581" name="l00581"></a><span class="lineno">  581</span>        {</div>
+<div class="line"><a id="l00582" name="l00582"></a><span class="lineno">  582</span>        }</div>
+<div class="line"><a id="l00583" name="l00583"></a><span class="lineno">  583</span> </div>
+<div class="line"><a id="l00584" name="l00584"></a><span class="lineno">  584</span>        <span class="comment">// overloaded *= operator for rad2deg conversions</span></div>
+<div class="line"><a id="l00585" name="l00585"></a><span class="lineno">  585</span>        <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a id="l00586" name="l00586"></a><span class="lineno"><a class="line" href="structbno08x__ang__vel__t.html#ae963f28d8914d5cc2f13620a4a9c57e8">  586</a></span>        <a class="code hl_struct" href="structbno08x__ang__vel__t.html">bno08x_ang_vel_t</a>&amp; <a class="code hl_function" href="structbno08x__ang__vel__t.html#ae963f28d8914d5cc2f13620a4a9c57e8">operator*=</a>(T value)</div>
+<div class="line"><a id="l00587" name="l00587"></a><span class="lineno">  587</span>        {</div>
+<div class="line"><a id="l00588" name="l00588"></a><span class="lineno">  588</span>            <a class="code hl_variable" href="structbno08x__ang__vel__t.html#aad57f7ad443f1c94b411ff1c3c2d37a3">x</a> *= <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span>(value);</div>
+<div class="line"><a id="l00589" name="l00589"></a><span class="lineno">  589</span>            <a class="code hl_variable" href="structbno08x__ang__vel__t.html#af6d7d0452271c2d35234371ad1df6a80">y</a> *= <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span>(value);</div>
+<div class="line"><a id="l00590" name="l00590"></a><span class="lineno">  590</span>            <a class="code hl_variable" href="structbno08x__ang__vel__t.html#aac5bb11414116bce54e5f8b7dd2d48f6">z</a> *= <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span>(value);</div>
+<div class="line"><a id="l00591" name="l00591"></a><span class="lineno">  591</span>            <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
+<div class="line"><a id="l00592" name="l00592"></a><span class="lineno">  592</span>        }</div>
+<div class="line"><a id="l00593" name="l00593"></a><span class="lineno">  593</span> </div>
+<div class="line"><a id="l00594" name="l00594"></a><span class="lineno">  594</span>        <span class="comment">// strip sh2_GyroIntegratedRV_t of velocity data for IRV reports</span></div>
+<div class="line"><a id="l00595" name="l00595"></a><span class="lineno"><a class="line" href="structbno08x__ang__vel__t.html#afe1b100ac38de3ccd0c0b617e5b5d8a2">  595</a></span>        <a class="code hl_struct" href="structbno08x__ang__vel__t.html">bno08x_ang_vel_t</a>&amp; <a class="code hl_function" href="structbno08x__ang__vel__t.html#afe1b100ac38de3ccd0c0b617e5b5d8a2">operator=</a>(<span class="keyword">const</span> sh2_GyroIntegratedRV_t&amp; source)</div>
+<div class="line"><a id="l00596" name="l00596"></a><span class="lineno">  596</span>        {</div>
+<div class="line"><a id="l00597" name="l00597"></a><span class="lineno">  597</span>            this-&gt;x = source.angVelX;</div>
+<div class="line"><a id="l00598" name="l00598"></a><span class="lineno">  598</span>            this-&gt;y = source.angVelY;</div>
+<div class="line"><a id="l00599" name="l00599"></a><span class="lineno">  599</span>            this-&gt;z = source.angVelZ;</div>
+<div class="line"><a id="l00600" name="l00600"></a><span class="lineno">  600</span>            <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
+<div class="line"><a id="l00601" name="l00601"></a><span class="lineno">  601</span>        }</div>
+<div class="line"><a id="l00602" name="l00602"></a><span class="lineno"><a class="line" href="_b_n_o08x_global_types_8hpp.html#a2babea2516c7c91039316693fc23a8c1">  602</a></span>} <a class="code hl_typedef" href="_b_n_o08x_global_types_8hpp.html#a2babea2516c7c91039316693fc23a8c1">bno08x_ang_vel_t</a>;</div>
+<div class="line"><a id="l00603" name="l00603"></a><span class="lineno">  603</span> </div>
+<div class="line"><a id="l00605" name="l00605"></a><span class="lineno"><a class="line" href="structbno08x__magf__t.html">  605</a></span><span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code hl_struct" href="structbno08x__magf__t.html">bno08x_magf_t</a></div>
+<div class="line"><a id="l00606" name="l00606"></a><span class="lineno">  606</span>{</div>
+<div class="line"><a id="l00607" name="l00607"></a><span class="lineno"><a class="line" href="structbno08x__magf__t.html#ac692d27a0bd9d698a89a8ca58e959d08">  607</a></span>        <span class="keywordtype">float</span> <a class="code hl_variable" href="structbno08x__magf__t.html#ac692d27a0bd9d698a89a8ca58e959d08">x</a>;</div>
+<div class="line"><a id="l00608" name="l00608"></a><span class="lineno"><a class="line" href="structbno08x__magf__t.html#a01b2e4c9a144b3e1c0572db12ed48601">  608</a></span>        <span class="keywordtype">float</span> <a class="code hl_variable" href="structbno08x__magf__t.html#a01b2e4c9a144b3e1c0572db12ed48601">y</a>;</div>
+<div class="line"><a id="l00609" name="l00609"></a><span class="lineno"><a class="line" href="structbno08x__magf__t.html#a0516e3805249e8b62856af2aabf7cc0b">  609</a></span>        <span class="keywordtype">float</span> <a class="code hl_variable" href="structbno08x__magf__t.html#a0516e3805249e8b62856af2aabf7cc0b">z</a>;</div>
+<div class="line"><a id="l00610" name="l00610"></a><span class="lineno"><a class="line" href="structbno08x__magf__t.html#a6b92aa85f81f17034c3f201dd9ff0b46">  610</a></span>        <a class="code hl_enumeration" href="_b_n_o08x_global_types_8hpp.html#a6bdf6fea6d671c12413d95f36a3e7ba6">BNO08xAccuracy</a> <a class="code hl_variable" href="structbno08x__magf__t.html#a6b92aa85f81f17034c3f201dd9ff0b46">accuracy</a>;</div>
+<div class="line"><a id="l00611" name="l00611"></a><span class="lineno">  611</span> </div>
+<div class="line"><a id="l00612" name="l00612"></a><span class="lineno"><a class="line" href="structbno08x__magf__t.html#ad8784e25768658f4fa0cb1dd5c1afc36">  612</a></span>        <a class="code hl_function" href="structbno08x__magf__t.html#ad8784e25768658f4fa0cb1dd5c1afc36">bno08x_magf_t</a>()</div>
+<div class="line"><a id="l00613" name="l00613"></a><span class="lineno">  613</span>            : <a class="code hl_variable" href="structbno08x__magf__t.html#ac692d27a0bd9d698a89a8ca58e959d08">x</a>(0.0f)</div>
+<div class="line"><a id="l00614" name="l00614"></a><span class="lineno">  614</span>            , <a class="code hl_variable" href="structbno08x__magf__t.html#a01b2e4c9a144b3e1c0572db12ed48601">y</a>(0.0f)</div>
+<div class="line"><a id="l00615" name="l00615"></a><span class="lineno">  615</span>            , <a class="code hl_variable" href="structbno08x__magf__t.html#a0516e3805249e8b62856af2aabf7cc0b">z</a>(0.0f)</div>
+<div class="line"><a id="l00616" name="l00616"></a><span class="lineno">  616</span>            , <a class="code hl_variable" href="structbno08x__magf__t.html#a6b92aa85f81f17034c3f201dd9ff0b46">accuracy</a>(<a class="code hl_enumeration" href="_b_n_o08x_global_types_8hpp.html#a6bdf6fea6d671c12413d95f36a3e7ba6">BNO08xAccuracy</a>::<a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#afed71c9ed8a8563767f26282408ccee2a0db45d2a4141101bdfe48e3314cfbca3">UNDEFINED</a>)</div>
+<div class="line"><a id="l00617" name="l00617"></a><span class="lineno">  617</span>        {</div>
+<div class="line"><a id="l00618" name="l00618"></a><span class="lineno">  618</span>        }</div>
+<div class="line"><a id="l00619" name="l00619"></a><span class="lineno">  619</span> </div>
+<div class="line"><a id="l00620" name="l00620"></a><span class="lineno">  620</span>        <span class="comment">// overloaded = operator for sh2_MagneticField_t conversion</span></div>
+<div class="line"><a id="l00621" name="l00621"></a><span class="lineno"><a class="line" href="structbno08x__magf__t.html#adadb35e5c67433e47895d7ae5885a00e">  621</a></span>        <a class="code hl_struct" href="structbno08x__magf__t.html">bno08x_magf_t</a>&amp; <a class="code hl_function" href="structbno08x__magf__t.html#adadb35e5c67433e47895d7ae5885a00e">operator=</a>(<span class="keyword">const</span> sh2_MagneticField_t&amp; source)</div>
+<div class="line"><a id="l00622" name="l00622"></a><span class="lineno">  622</span>        {</div>
+<div class="line"><a id="l00623" name="l00623"></a><span class="lineno">  623</span>            this-&gt;x = source.<a class="code hl_variable" href="structbno08x__magf__t.html#ac692d27a0bd9d698a89a8ca58e959d08">x</a>;</div>
+<div class="line"><a id="l00624" name="l00624"></a><span class="lineno">  624</span>            this-&gt;y = source.y;</div>
+<div class="line"><a id="l00625" name="l00625"></a><span class="lineno">  625</span>            this-&gt;z = source.z;</div>
+<div class="line"><a id="l00626" name="l00626"></a><span class="lineno">  626</span>            <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
+<div class="line"><a id="l00627" name="l00627"></a><span class="lineno">  627</span>        }</div>
+<div class="line"><a id="l00628" name="l00628"></a><span class="lineno">  628</span> </div>
+<div class="line"><a id="l00629" name="l00629"></a><span class="lineno">  629</span>        <span class="comment">// overloaded = operator for sh2_MagneticFieldUncalibrated_t conversion</span></div>
+<div class="line"><a id="l00630" name="l00630"></a><span class="lineno"><a class="line" href="structbno08x__magf__t.html#a2e0b22e5fa40d5ecd447e0cb451b3282">  630</a></span>        <a class="code hl_struct" href="structbno08x__magf__t.html">bno08x_magf_t</a>&amp; <a class="code hl_function" href="structbno08x__magf__t.html#a2e0b22e5fa40d5ecd447e0cb451b3282">operator=</a>(<span class="keyword">const</span> sh2_MagneticFieldUncalibrated_t&amp; source)</div>
+<div class="line"><a id="l00631" name="l00631"></a><span class="lineno">  631</span>        {</div>
+<div class="line"><a id="l00632" name="l00632"></a><span class="lineno">  632</span>            this-&gt;x = source.<a class="code hl_variable" href="structbno08x__magf__t.html#ac692d27a0bd9d698a89a8ca58e959d08">x</a>;</div>
+<div class="line"><a id="l00633" name="l00633"></a><span class="lineno">  633</span>            this-&gt;y = source.y;</div>
+<div class="line"><a id="l00634" name="l00634"></a><span class="lineno">  634</span>            this-&gt;z = source.z;</div>
+<div class="line"><a id="l00635" name="l00635"></a><span class="lineno">  635</span>            <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
+<div class="line"><a id="l00636" name="l00636"></a><span class="lineno">  636</span>        }</div>
+<div class="line"><a id="l00637" name="l00637"></a><span class="lineno">  637</span> </div>
+<div class="line"><a id="l00638" name="l00638"></a><span class="lineno"><a class="line" href="_b_n_o08x_global_types_8hpp.html#a429f861977153379e28e8f3710330b45">  638</a></span>} <a class="code hl_typedef" href="_b_n_o08x_global_types_8hpp.html#a429f861977153379e28e8f3710330b45">bno08x_magf_t</a>;</div>
+<div class="line"><a id="l00639" name="l00639"></a><span class="lineno">  639</span> </div>
+<div class="line"><a id="l00641" name="l00641"></a><span class="lineno"><a class="line" href="structbno08x__magf__bias__t.html">  641</a></span><span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code hl_struct" href="structbno08x__magf__bias__t.html">bno08x_magf_bias_t</a></div>
+<div class="line"><a id="l00642" name="l00642"></a><span class="lineno">  642</span>{</div>
+<div class="line"><a id="l00643" name="l00643"></a><span class="lineno"><a class="line" href="structbno08x__magf__bias__t.html#ac4f55ef988b43d3d6c753a2201c60b14">  643</a></span>        <span class="keywordtype">float</span> <a class="code hl_variable" href="structbno08x__magf__bias__t.html#ac4f55ef988b43d3d6c753a2201c60b14">x</a>;</div>
+<div class="line"><a id="l00644" name="l00644"></a><span class="lineno"><a class="line" href="structbno08x__magf__bias__t.html#a0e49d87458853c3478ffe1febffa0279">  644</a></span>        <span class="keywordtype">float</span> <a class="code hl_variable" href="structbno08x__magf__bias__t.html#a0e49d87458853c3478ffe1febffa0279">y</a>;</div>
+<div class="line"><a id="l00645" name="l00645"></a><span class="lineno"><a class="line" href="structbno08x__magf__bias__t.html#a76b135fa354d2646927ff76c2da5a6b3">  645</a></span>        <span class="keywordtype">float</span> <a class="code hl_variable" href="structbno08x__magf__bias__t.html#a76b135fa354d2646927ff76c2da5a6b3">z</a>;</div>
+<div class="line"><a id="l00646" name="l00646"></a><span class="lineno">  646</span> </div>
+<div class="line"><a id="l00647" name="l00647"></a><span class="lineno"><a class="line" href="structbno08x__magf__bias__t.html#aa0b6af3812168e0dc9329d5a70e54f98">  647</a></span>        <a class="code hl_function" href="structbno08x__magf__bias__t.html#aa0b6af3812168e0dc9329d5a70e54f98">bno08x_magf_bias_t</a>()</div>
+<div class="line"><a id="l00648" name="l00648"></a><span class="lineno">  648</span>            : <a class="code hl_variable" href="structbno08x__magf__bias__t.html#ac4f55ef988b43d3d6c753a2201c60b14">x</a>(0.0f)</div>
+<div class="line"><a id="l00649" name="l00649"></a><span class="lineno">  649</span>            , <a class="code hl_variable" href="structbno08x__magf__bias__t.html#a0e49d87458853c3478ffe1febffa0279">y</a>(0.0f)</div>
+<div class="line"><a id="l00650" name="l00650"></a><span class="lineno">  650</span>            , <a class="code hl_variable" href="structbno08x__magf__bias__t.html#a76b135fa354d2646927ff76c2da5a6b3">z</a>(0.0f)</div>
+<div class="line"><a id="l00651" name="l00651"></a><span class="lineno">  651</span>        {</div>
+<div class="line"><a id="l00652" name="l00652"></a><span class="lineno">  652</span>        }</div>
+<div class="line"><a id="l00653" name="l00653"></a><span class="lineno">  653</span> </div>
+<div class="line"><a id="l00654" name="l00654"></a><span class="lineno">  654</span>        <span class="comment">// overloaded = operator for sh2_MagneticFieldUncalibrated_t conversion</span></div>
+<div class="line"><a id="l00655" name="l00655"></a><span class="lineno"><a class="line" href="structbno08x__magf__bias__t.html#aeed524c368c645e3f325ffe387199a31">  655</a></span>        <a class="code hl_struct" href="structbno08x__magf__bias__t.html">bno08x_magf_bias_t</a>&amp; <a class="code hl_function" href="structbno08x__magf__bias__t.html#aeed524c368c645e3f325ffe387199a31">operator=</a>(<span class="keyword">const</span> sh2_MagneticFieldUncalibrated_t&amp; source)</div>
+<div class="line"><a id="l00656" name="l00656"></a><span class="lineno">  656</span>        {</div>
+<div class="line"><a id="l00657" name="l00657"></a><span class="lineno">  657</span>            this-&gt;x = source.biasX;</div>
+<div class="line"><a id="l00658" name="l00658"></a><span class="lineno">  658</span>            this-&gt;y = source.biasY;</div>
+<div class="line"><a id="l00659" name="l00659"></a><span class="lineno">  659</span>            this-&gt;z = source.biasZ;</div>
+<div class="line"><a id="l00660" name="l00660"></a><span class="lineno">  660</span>            <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
+<div class="line"><a id="l00661" name="l00661"></a><span class="lineno">  661</span>        }</div>
+<div class="line"><a id="l00662" name="l00662"></a><span class="lineno">  662</span> </div>
+<div class="line"><a id="l00663" name="l00663"></a><span class="lineno"><a class="line" href="_b_n_o08x_global_types_8hpp.html#a3d6e56080638d872486935323f393ab7">  663</a></span>} <a class="code hl_typedef" href="_b_n_o08x_global_types_8hpp.html#a3d6e56080638d872486935323f393ab7">bno08x_magf_bias_t</a>;</div>
+<div class="line"><a id="l00664" name="l00664"></a><span class="lineno">  664</span> </div>
+<div class="line"><a id="l00666" name="l00666"></a><span class="lineno"><a class="line" href="structbno08x__gyro__t.html">  666</a></span><span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code hl_struct" href="structbno08x__gyro__t.html">bno08x_gyro_t</a></div>
+<div class="line"><a id="l00667" name="l00667"></a><span class="lineno">  667</span>{</div>
+<div class="line"><a id="l00668" name="l00668"></a><span class="lineno"><a class="line" href="structbno08x__gyro__t.html#a63a7bfec63a61b44dab94cd62dc5f50e">  668</a></span>        <span class="keywordtype">float</span> <a class="code hl_variable" href="structbno08x__gyro__t.html#a63a7bfec63a61b44dab94cd62dc5f50e">x</a>;</div>
+<div class="line"><a id="l00669" name="l00669"></a><span class="lineno"><a class="line" href="structbno08x__gyro__t.html#ab079eb91abc32f71c6d41f3dcf6274df">  669</a></span>        <span class="keywordtype">float</span> <a class="code hl_variable" href="structbno08x__gyro__t.html#ab079eb91abc32f71c6d41f3dcf6274df">y</a>;</div>
+<div class="line"><a id="l00670" name="l00670"></a><span class="lineno"><a class="line" href="structbno08x__gyro__t.html#ac9a349e1dad45c041bfd0555b01e273f">  670</a></span>        <span class="keywordtype">float</span> <a class="code hl_variable" href="structbno08x__gyro__t.html#ac9a349e1dad45c041bfd0555b01e273f">z</a>;</div>
+<div class="line"><a id="l00671" name="l00671"></a><span class="lineno"><a class="line" href="structbno08x__gyro__t.html#a87ab3be28faed62506a764d411650a12">  671</a></span>        <a class="code hl_enumeration" href="_b_n_o08x_global_types_8hpp.html#a6bdf6fea6d671c12413d95f36a3e7ba6">BNO08xAccuracy</a> <a class="code hl_variable" href="structbno08x__gyro__t.html#a87ab3be28faed62506a764d411650a12">accuracy</a>;</div>
+<div class="line"><a id="l00672" name="l00672"></a><span class="lineno">  672</span> </div>
+<div class="line"><a id="l00673" name="l00673"></a><span class="lineno"><a class="line" href="structbno08x__gyro__t.html#aa9a075a6b135f4b137b6247768ef5af6">  673</a></span>        <a class="code hl_function" href="structbno08x__gyro__t.html#aa9a075a6b135f4b137b6247768ef5af6">bno08x_gyro_t</a>()</div>
+<div class="line"><a id="l00674" name="l00674"></a><span class="lineno">  674</span>            : <a class="code hl_variable" href="structbno08x__gyro__t.html#a63a7bfec63a61b44dab94cd62dc5f50e">x</a>(0.0f)</div>
+<div class="line"><a id="l00675" name="l00675"></a><span class="lineno">  675</span>            , <a class="code hl_variable" href="structbno08x__gyro__t.html#ab079eb91abc32f71c6d41f3dcf6274df">y</a>(0.0f)</div>
+<div class="line"><a id="l00676" name="l00676"></a><span class="lineno">  676</span>            , <a class="code hl_variable" href="structbno08x__gyro__t.html#ac9a349e1dad45c041bfd0555b01e273f">z</a>(0.0f)</div>
+<div class="line"><a id="l00677" name="l00677"></a><span class="lineno">  677</span>            , <a class="code hl_variable" href="structbno08x__gyro__t.html#a87ab3be28faed62506a764d411650a12">accuracy</a>(<a class="code hl_enumeration" href="_b_n_o08x_global_types_8hpp.html#a6bdf6fea6d671c12413d95f36a3e7ba6">BNO08xAccuracy</a>::<a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#afed71c9ed8a8563767f26282408ccee2a0db45d2a4141101bdfe48e3314cfbca3">UNDEFINED</a>)</div>
+<div class="line"><a id="l00678" name="l00678"></a><span class="lineno">  678</span>        {</div>
+<div class="line"><a id="l00679" name="l00679"></a><span class="lineno">  679</span>        }</div>
+<div class="line"><a id="l00680" name="l00680"></a><span class="lineno">  680</span> </div>
+<div class="line"><a id="l00681" name="l00681"></a><span class="lineno">  681</span>        <span class="comment">// overloaded = operator for sh2_Gyroscope_t conversion</span></div>
+<div class="line"><a id="l00682" name="l00682"></a><span class="lineno"><a class="line" href="structbno08x__gyro__t.html#a13cfb2e5d15b2fe50d1d910bd0c4b868">  682</a></span>        <a class="code hl_struct" href="structbno08x__gyro__t.html">bno08x_gyro_t</a>&amp; <a class="code hl_function" href="structbno08x__gyro__t.html#a13cfb2e5d15b2fe50d1d910bd0c4b868">operator=</a>(<span class="keyword">const</span> sh2_Gyroscope_t&amp; source)</div>
+<div class="line"><a id="l00683" name="l00683"></a><span class="lineno">  683</span>        {</div>
+<div class="line"><a id="l00684" name="l00684"></a><span class="lineno">  684</span>            this-&gt;x = source.<a class="code hl_variable" href="structbno08x__gyro__t.html#a63a7bfec63a61b44dab94cd62dc5f50e">x</a>;</div>
+<div class="line"><a id="l00685" name="l00685"></a><span class="lineno">  685</span>            this-&gt;y = source.y;</div>
+<div class="line"><a id="l00686" name="l00686"></a><span class="lineno">  686</span>            this-&gt;z = source.z;</div>
+<div class="line"><a id="l00687" name="l00687"></a><span class="lineno">  687</span>            <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
+<div class="line"><a id="l00688" name="l00688"></a><span class="lineno">  688</span>        }</div>
+<div class="line"><a id="l00689" name="l00689"></a><span class="lineno">  689</span> </div>
+<div class="line"><a id="l00690" name="l00690"></a><span class="lineno">  690</span>        <span class="comment">// overloaded = operator for sh2_GyroscopeUncalibrated conversion</span></div>
+<div class="line"><a id="l00691" name="l00691"></a><span class="lineno"><a class="line" href="structbno08x__gyro__t.html#a64d4900e42a8f056a404b699074f1c41">  691</a></span>        <a class="code hl_struct" href="structbno08x__gyro__t.html">bno08x_gyro_t</a>&amp; <a class="code hl_function" href="structbno08x__gyro__t.html#a64d4900e42a8f056a404b699074f1c41">operator=</a>(<span class="keyword">const</span> sh2_GyroscopeUncalibrated&amp; source)</div>
+<div class="line"><a id="l00692" name="l00692"></a><span class="lineno">  692</span>        {</div>
+<div class="line"><a id="l00693" name="l00693"></a><span class="lineno">  693</span>            this-&gt;x = source.<a class="code hl_variable" href="structbno08x__gyro__t.html#a63a7bfec63a61b44dab94cd62dc5f50e">x</a>;</div>
+<div class="line"><a id="l00694" name="l00694"></a><span class="lineno">  694</span>            this-&gt;y = source.y;</div>
+<div class="line"><a id="l00695" name="l00695"></a><span class="lineno">  695</span>            this-&gt;z = source.z;</div>
+<div class="line"><a id="l00696" name="l00696"></a><span class="lineno">  696</span>            <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
+<div class="line"><a id="l00697" name="l00697"></a><span class="lineno">  697</span>        }</div>
+<div class="line"><a id="l00698" name="l00698"></a><span class="lineno">  698</span> </div>
+<div class="line"><a id="l00699" name="l00699"></a><span class="lineno"><a class="line" href="_b_n_o08x_global_types_8hpp.html#ac166834f6280e6ef21af7dd8a01be1e4">  699</a></span>} <a class="code hl_typedef" href="_b_n_o08x_global_types_8hpp.html#ac166834f6280e6ef21af7dd8a01be1e4">bno08x_gyro_t</a>;</div>
+<div class="line"><a id="l00700" name="l00700"></a><span class="lineno">  700</span> </div>
+<div class="line"><a id="l00702" name="l00702"></a><span class="lineno"><a class="line" href="structbno08x__gyro__bias__t.html">  702</a></span><span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code hl_struct" href="structbno08x__gyro__bias__t.html">bno08x_gyro_bias_t</a></div>
+<div class="line"><a id="l00703" name="l00703"></a><span class="lineno">  703</span>{</div>
+<div class="line"><a id="l00704" name="l00704"></a><span class="lineno"><a class="line" href="structbno08x__gyro__bias__t.html#a9c592e8c420797c8e02146eb6ba4a923">  704</a></span>        <span class="keywordtype">float</span> <a class="code hl_variable" href="structbno08x__gyro__bias__t.html#a9c592e8c420797c8e02146eb6ba4a923">x</a>;</div>
+<div class="line"><a id="l00705" name="l00705"></a><span class="lineno"><a class="line" href="structbno08x__gyro__bias__t.html#a9bb96e58ed1df186edf40aa66b38bf4a">  705</a></span>        <span class="keywordtype">float</span> <a class="code hl_variable" href="structbno08x__gyro__bias__t.html#a9bb96e58ed1df186edf40aa66b38bf4a">y</a>;</div>
+<div class="line"><a id="l00706" name="l00706"></a><span class="lineno"><a class="line" href="structbno08x__gyro__bias__t.html#aef04b50ebf86ff49631beb3ba90ae1ba">  706</a></span>        <span class="keywordtype">float</span> <a class="code hl_variable" href="structbno08x__gyro__bias__t.html#aef04b50ebf86ff49631beb3ba90ae1ba">z</a>;</div>
+<div class="line"><a id="l00707" name="l00707"></a><span class="lineno">  707</span> </div>
+<div class="line"><a id="l00708" name="l00708"></a><span class="lineno"><a class="line" href="structbno08x__gyro__bias__t.html#a779c3000b541664d935b2ffda75a5f14">  708</a></span>        <a class="code hl_function" href="structbno08x__gyro__bias__t.html#a779c3000b541664d935b2ffda75a5f14">bno08x_gyro_bias_t</a>()</div>
+<div class="line"><a id="l00709" name="l00709"></a><span class="lineno">  709</span>            : <a class="code hl_variable" href="structbno08x__gyro__bias__t.html#a9c592e8c420797c8e02146eb6ba4a923">x</a>(0.0f)</div>
+<div class="line"><a id="l00710" name="l00710"></a><span class="lineno">  710</span>            , <a class="code hl_variable" href="structbno08x__gyro__bias__t.html#a9bb96e58ed1df186edf40aa66b38bf4a">y</a>(0.0f)</div>
+<div class="line"><a id="l00711" name="l00711"></a><span class="lineno">  711</span>            , <a class="code hl_variable" href="structbno08x__gyro__bias__t.html#aef04b50ebf86ff49631beb3ba90ae1ba">z</a>(0.0f)</div>
+<div class="line"><a id="l00712" name="l00712"></a><span class="lineno">  712</span>        {</div>
+<div class="line"><a id="l00713" name="l00713"></a><span class="lineno">  713</span>        }</div>
+<div class="line"><a id="l00714" name="l00714"></a><span class="lineno">  714</span> </div>
+<div class="line"><a id="l00715" name="l00715"></a><span class="lineno">  715</span>        <span class="comment">// overloaded = operator for sh2_GyroscopeUncalibrated conversion</span></div>
+<div class="line"><a id="l00716" name="l00716"></a><span class="lineno"><a class="line" href="structbno08x__gyro__bias__t.html#aaa3795c61ebd89d4a620600b37ac27fc">  716</a></span>        <a class="code hl_struct" href="structbno08x__gyro__bias__t.html">bno08x_gyro_bias_t</a>&amp; <a class="code hl_function" href="structbno08x__gyro__bias__t.html#aaa3795c61ebd89d4a620600b37ac27fc">operator=</a>(<span class="keyword">const</span> sh2_GyroscopeUncalibrated&amp; source)</div>
+<div class="line"><a id="l00717" name="l00717"></a><span class="lineno">  717</span>        {</div>
+<div class="line"><a id="l00718" name="l00718"></a><span class="lineno">  718</span>            this-&gt;x = source.biasX;</div>
+<div class="line"><a id="l00719" name="l00719"></a><span class="lineno">  719</span>            this-&gt;y = source.biasY;</div>
+<div class="line"><a id="l00720" name="l00720"></a><span class="lineno">  720</span>            this-&gt;z = source.biasZ;</div>
+<div class="line"><a id="l00721" name="l00721"></a><span class="lineno">  721</span>            <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
+<div class="line"><a id="l00722" name="l00722"></a><span class="lineno">  722</span>        }</div>
+<div class="line"><a id="l00723" name="l00723"></a><span class="lineno">  723</span> </div>
+<div class="line"><a id="l00724" name="l00724"></a><span class="lineno"><a class="line" href="_b_n_o08x_global_types_8hpp.html#a7bf3b6ed58dd988c0f4566ba56bff415">  724</a></span>} <a class="code hl_typedef" href="_b_n_o08x_global_types_8hpp.html#a7bf3b6ed58dd988c0f4566ba56bff415">bno08x_gyro_bias_t</a>;</div>
+<div class="line"><a id="l00725" name="l00725"></a><span class="lineno">  725</span> </div>
+<div class="line"><a id="l00727" name="l00727"></a><span class="lineno"><a class="line" href="structbno08x__activity__classifier__t.html">  727</a></span><span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code hl_struct" href="structbno08x__activity__classifier__t.html">bno08x_activity_classifier_t</a></div>
+<div class="line"><a id="l00728" name="l00728"></a><span class="lineno">  728</span>{</div>
+<div class="line"><a id="l00729" name="l00729"></a><span class="lineno"><a class="line" href="structbno08x__activity__classifier__t.html#a6c99dd8968d52c7099c6f6b2acf11796">  729</a></span>        uint8_t <a class="code hl_variable" href="structbno08x__activity__classifier__t.html#a6c99dd8968d52c7099c6f6b2acf11796">confidence</a>[10];</div>
+<div class="line"><a id="l00730" name="l00730"></a><span class="lineno"><a class="line" href="structbno08x__activity__classifier__t.html#a272be5b28ff89a20d3c3cfdbfe63a5b5">  730</a></span>        <a class="code hl_enumeration" href="_b_n_o08x_global_types_8hpp.html#a43d66cdccf17ba0cddcdddc72d4fb97d">BNO08xActivity</a> <a class="code hl_variable" href="structbno08x__activity__classifier__t.html#a272be5b28ff89a20d3c3cfdbfe63a5b5">mostLikelyState</a>;</div>
+<div class="line"><a id="l00731" name="l00731"></a><span class="lineno"><a class="line" href="structbno08x__activity__classifier__t.html#a51df90897f0f47b640ac975ad8f4833f">  731</a></span>        <a class="code hl_enumeration" href="_b_n_o08x_global_types_8hpp.html#a6bdf6fea6d671c12413d95f36a3e7ba6">BNO08xAccuracy</a> <a class="code hl_variable" href="structbno08x__activity__classifier__t.html#a51df90897f0f47b640ac975ad8f4833f">accuracy</a>;</div>
+<div class="line"><a id="l00732" name="l00732"></a><span class="lineno"><a class="line" href="structbno08x__activity__classifier__t.html#aa3e3a6b479558722bc9d5416b74492ca">  732</a></span>        uint8_t <a class="code hl_variable" href="structbno08x__activity__classifier__t.html#aa3e3a6b479558722bc9d5416b74492ca">page</a>;</div>
+<div class="line"><a id="l00733" name="l00733"></a><span class="lineno"><a class="line" href="structbno08x__activity__classifier__t.html#a90b7b42f031ed0e5b4c5d0e167caccb9">  733</a></span>        <span class="keywordtype">bool</span> <a class="code hl_variable" href="structbno08x__activity__classifier__t.html#a90b7b42f031ed0e5b4c5d0e167caccb9">lastPage</a>;</div>
+<div class="line"><a id="l00734" name="l00734"></a><span class="lineno">  734</span> </div>
+<div class="line"><a id="l00735" name="l00735"></a><span class="lineno"><a class="line" href="structbno08x__activity__classifier__t.html#a302244e7d2d064b126eb92f363add923">  735</a></span>        <a class="code hl_function" href="structbno08x__activity__classifier__t.html#a302244e7d2d064b126eb92f363add923">bno08x_activity_classifier_t</a>()</div>
+<div class="line"><a id="l00736" name="l00736"></a><span class="lineno">  736</span>            : <a class="code hl_variable" href="structbno08x__activity__classifier__t.html#a6c99dd8968d52c7099c6f6b2acf11796">confidence</a>({})</div>
+<div class="line"><a id="l00737" name="l00737"></a><span class="lineno">  737</span>            , <a class="code hl_variable" href="structbno08x__activity__classifier__t.html#a272be5b28ff89a20d3c3cfdbfe63a5b5">mostLikelyState</a>(<a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a43d66cdccf17ba0cddcdddc72d4fb97da0db45d2a4141101bdfe48e3314cfbca3">BNO08xActivity::UNDEFINED</a>)</div>
+<div class="line"><a id="l00738" name="l00738"></a><span class="lineno">  738</span>            , <a class="code hl_variable" href="structbno08x__activity__classifier__t.html#a51df90897f0f47b640ac975ad8f4833f">accuracy</a>(<a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a6bdf6fea6d671c12413d95f36a3e7ba6a0db45d2a4141101bdfe48e3314cfbca3">BNO08xAccuracy::UNDEFINED</a>)</div>
+<div class="line"><a id="l00739" name="l00739"></a><span class="lineno">  739</span>            , <a class="code hl_variable" href="structbno08x__activity__classifier__t.html#aa3e3a6b479558722bc9d5416b74492ca">page</a>(0U)</div>
+<div class="line"><a id="l00740" name="l00740"></a><span class="lineno">  740</span>            , <a class="code hl_variable" href="structbno08x__activity__classifier__t.html#a90b7b42f031ed0e5b4c5d0e167caccb9">lastPage</a>(<span class="keyword">false</span>)</div>
+<div class="line"><a id="l00741" name="l00741"></a><span class="lineno">  741</span>        {</div>
+<div class="line"><a id="l00742" name="l00742"></a><span class="lineno">  742</span>        }</div>
+<div class="line"><a id="l00743" name="l00743"></a><span class="lineno">  743</span> </div>
+<div class="line"><a id="l00744" name="l00744"></a><span class="lineno">  744</span>        <span class="comment">// conversion from sh2_PersonalActivityClassifier_t</span></div>
+<div class="line"><a id="l00745" name="l00745"></a><span class="lineno"><a class="line" href="structbno08x__activity__classifier__t.html#ac9375f65afb421e1d552e11461546a43">  745</a></span>        <a class="code hl_struct" href="structbno08x__activity__classifier__t.html">bno08x_activity_classifier_t</a>&amp; <a class="code hl_function" href="structbno08x__activity__classifier__t.html#ac9375f65afb421e1d552e11461546a43">operator=</a>(<span class="keyword">const</span> sh2_PersonalActivityClassifier_t&amp; source)</div>
+<div class="line"><a id="l00746" name="l00746"></a><span class="lineno">  746</span>        {</div>
+<div class="line"><a id="l00747" name="l00747"></a><span class="lineno">  747</span>            this-&gt;page = source.<a class="code hl_variable" href="structbno08x__activity__classifier__t.html#aa3e3a6b479558722bc9d5416b74492ca">page</a>;</div>
+<div class="line"><a id="l00748" name="l00748"></a><span class="lineno">  748</span>            this-&gt;lastPage = source.lastPage;</div>
+<div class="line"><a id="l00749" name="l00749"></a><span class="lineno">  749</span>            this-&gt;mostLikelyState = <span class="keyword">static_cast&lt;</span><a class="code hl_enumeration" href="_b_n_o08x_global_types_8hpp.html#a43d66cdccf17ba0cddcdddc72d4fb97d">BNO08xActivity</a><span class="keyword">&gt;</span>(source.mostLikelyState);</div>
+<div class="line"><a id="l00750" name="l00750"></a><span class="lineno">  750</span> </div>
+<div class="line"><a id="l00751" name="l00751"></a><span class="lineno">  751</span>            <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; 10; ++i)</div>
+<div class="line"><a id="l00752" name="l00752"></a><span class="lineno">  752</span>                this-&gt;confidence[i] = source.confidence[i];</div>
+<div class="line"><a id="l00753" name="l00753"></a><span class="lineno">  753</span> </div>
+<div class="line"><a id="l00754" name="l00754"></a><span class="lineno">  754</span>            <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
+<div class="line"><a id="l00755" name="l00755"></a><span class="lineno">  755</span>        }</div>
+<div class="line"><a id="l00756" name="l00756"></a><span class="lineno"><a class="line" href="_b_n_o08x_global_types_8hpp.html#a7913a36911f75945cfaa0a3249a280e3">  756</a></span>} <a class="code hl_typedef" href="_b_n_o08x_global_types_8hpp.html#a7913a36911f75945cfaa0a3249a280e3">bno08x_activity_classifier_t</a>;</div>
+<div class="line"><a id="l00757" name="l00757"></a><span class="lineno">  757</span> </div>
+<div class="line"><a id="l00760" name="l00760"></a><span class="lineno"><a class="line" href="structbno08x__tap__detector__t.html">  760</a></span><span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code hl_struct" href="structbno08x__tap__detector__t.html">bno08x_tap_detector_t</a></div>
+<div class="line"><a id="l00761" name="l00761"></a><span class="lineno">  761</span>{</div>
+<div class="line"><a id="l00762" name="l00762"></a><span class="lineno"><a class="line" href="structbno08x__tap__detector__t.html#a1ce57db3616377a16e11701cc04c3442">  762</a></span>        int8_t <a class="code hl_variable" href="structbno08x__tap__detector__t.html#a1ce57db3616377a16e11701cc04c3442">x_flag</a>;</div>
+<div class="line"><a id="l00763" name="l00763"></a><span class="lineno"><a class="line" href="structbno08x__tap__detector__t.html#ae6ad63cddd8ddd96383448f659226c6f">  763</a></span>        int8_t <a class="code hl_variable" href="structbno08x__tap__detector__t.html#ae6ad63cddd8ddd96383448f659226c6f">y_flag</a>;</div>
+<div class="line"><a id="l00764" name="l00764"></a><span class="lineno"><a class="line" href="structbno08x__tap__detector__t.html#aa46d40f151fce8f60fc8ed4cbe6cf2a1">  764</a></span>        int8_t <a class="code hl_variable" href="structbno08x__tap__detector__t.html#aa46d40f151fce8f60fc8ed4cbe6cf2a1">z_flag</a>;</div>
+<div class="line"><a id="l00765" name="l00765"></a><span class="lineno"><a class="line" href="structbno08x__tap__detector__t.html#aef875a8e6ff23b29cb9fb73af48db11a">  765</a></span>        <span class="keywordtype">bool</span> <a class="code hl_variable" href="structbno08x__tap__detector__t.html#aef875a8e6ff23b29cb9fb73af48db11a">double_tap</a>;</div>
+<div class="line"><a id="l00766" name="l00766"></a><span class="lineno"><a class="line" href="structbno08x__tap__detector__t.html#ad43c32c1d5a57f37e884e756daf9a7ea">  766</a></span>        <a class="code hl_enumeration" href="_b_n_o08x_global_types_8hpp.html#a6bdf6fea6d671c12413d95f36a3e7ba6">BNO08xAccuracy</a> <a class="code hl_variable" href="structbno08x__tap__detector__t.html#ad43c32c1d5a57f37e884e756daf9a7ea">accuracy</a>;</div>
+<div class="line"><a id="l00767" name="l00767"></a><span class="lineno">  767</span> </div>
+<div class="line"><a id="l00768" name="l00768"></a><span class="lineno"><a class="line" href="structbno08x__tap__detector__t.html#ab464e512951fb6cf5a1411d2218d51c5">  768</a></span>        <a class="code hl_function" href="structbno08x__tap__detector__t.html#ab464e512951fb6cf5a1411d2218d51c5">bno08x_tap_detector_t</a>()</div>
+<div class="line"><a id="l00769" name="l00769"></a><span class="lineno">  769</span>            : <a class="code hl_variable" href="structbno08x__tap__detector__t.html#a1ce57db3616377a16e11701cc04c3442">x_flag</a>(0)</div>
+<div class="line"><a id="l00770" name="l00770"></a><span class="lineno">  770</span>            , <a class="code hl_variable" href="structbno08x__tap__detector__t.html#ae6ad63cddd8ddd96383448f659226c6f">y_flag</a>(0)</div>
+<div class="line"><a id="l00771" name="l00771"></a><span class="lineno">  771</span>            , <a class="code hl_variable" href="structbno08x__tap__detector__t.html#aa46d40f151fce8f60fc8ed4cbe6cf2a1">z_flag</a>(0)</div>
+<div class="line"><a id="l00772" name="l00772"></a><span class="lineno">  772</span>            , <a class="code hl_variable" href="structbno08x__tap__detector__t.html#aef875a8e6ff23b29cb9fb73af48db11a">double_tap</a>(false)</div>
+<div class="line"><a id="l00773" name="l00773"></a><span class="lineno">  773</span>            , <a class="code hl_variable" href="structbno08x__tap__detector__t.html#ad43c32c1d5a57f37e884e756daf9a7ea">accuracy</a>(<a class="code hl_enumeration" href="_b_n_o08x_global_types_8hpp.html#a6bdf6fea6d671c12413d95f36a3e7ba6">BNO08xAccuracy</a>::<a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#afed71c9ed8a8563767f26282408ccee2a0db45d2a4141101bdfe48e3314cfbca3">UNDEFINED</a>)</div>
+<div class="line"><a id="l00774" name="l00774"></a><span class="lineno">  774</span>        {</div>
+<div class="line"><a id="l00775" name="l00775"></a><span class="lineno">  775</span>        }</div>
+<div class="line"><a id="l00776" name="l00776"></a><span class="lineno">  776</span> </div>
+<div class="line"><a id="l00777" name="l00777"></a><span class="lineno">  777</span>        <span class="comment">// overloaded = operator for sh2_GyroscopeUncalibrated conversion</span></div>
+<div class="line"><a id="l00778" name="l00778"></a><span class="lineno"><a class="line" href="structbno08x__tap__detector__t.html#a4cd8e7c025890f3abfa04ea2a0522f87">  778</a></span>        <a class="code hl_struct" href="structbno08x__tap__detector__t.html">bno08x_tap_detector_t</a>&amp; <a class="code hl_function" href="structbno08x__tap__detector__t.html#a4cd8e7c025890f3abfa04ea2a0522f87">operator=</a>(<span class="keyword">const</span> sh2_TapDetector_t&amp; source)</div>
+<div class="line"><a id="l00779" name="l00779"></a><span class="lineno">  779</span>        {</div>
+<div class="line"><a id="l00780" name="l00780"></a><span class="lineno">  780</span>            <span class="keywordflow">if</span> (<a class="code hl_define" href="_b_n_o08x_global_types_8hpp.html#ad0dc59e3a74a39a8e358c945162f6fc8">TAP_DETECTED_X_AXIS</a>(source.flags))</div>
+<div class="line"><a id="l00781" name="l00781"></a><span class="lineno">  781</span>                this-&gt;x_flag = -1;</div>
+<div class="line"><a id="l00782" name="l00782"></a><span class="lineno">  782</span>            <span class="keywordflow">else</span></div>
+<div class="line"><a id="l00783" name="l00783"></a><span class="lineno">  783</span>                this-&gt;x_flag = 0;</div>
+<div class="line"><a id="l00784" name="l00784"></a><span class="lineno">  784</span> </div>
+<div class="line"><a id="l00785" name="l00785"></a><span class="lineno">  785</span>            <span class="keywordflow">if</span> (<a class="code hl_define" href="_b_n_o08x_global_types_8hpp.html#a8a8a0fbcff17f5123ad111fcd9a375ea">TAP_DETECTED_X_AXIS_POSITIVE</a>(source.flags))</div>
+<div class="line"><a id="l00786" name="l00786"></a><span class="lineno">  786</span>                this-&gt;x_flag = 1;</div>
+<div class="line"><a id="l00787" name="l00787"></a><span class="lineno">  787</span> </div>
+<div class="line"><a id="l00788" name="l00788"></a><span class="lineno">  788</span>            <span class="keywordflow">if</span> (<a class="code hl_define" href="_b_n_o08x_global_types_8hpp.html#ad2ab2bbe6f01a4a641f75c41a9064cf6">TAP_DETECTED_Y_AXIS</a>(source.flags))</div>
+<div class="line"><a id="l00789" name="l00789"></a><span class="lineno">  789</span>                this-&gt;y_flag = -1;</div>
+<div class="line"><a id="l00790" name="l00790"></a><span class="lineno">  790</span>            <span class="keywordflow">else</span></div>
+<div class="line"><a id="l00791" name="l00791"></a><span class="lineno">  791</span>                this-&gt;y_flag = 0;</div>
+<div class="line"><a id="l00792" name="l00792"></a><span class="lineno">  792</span> </div>
+<div class="line"><a id="l00793" name="l00793"></a><span class="lineno">  793</span>            <span class="keywordflow">if</span> (<a class="code hl_define" href="_b_n_o08x_global_types_8hpp.html#a356ec3a53c785965e8dd24381a3bdcd7">TAP_DETECTED_Y_AXIS_POSITIVE</a>(source.flags))</div>
+<div class="line"><a id="l00794" name="l00794"></a><span class="lineno">  794</span>                this-&gt;y_flag = 1;</div>
+<div class="line"><a id="l00795" name="l00795"></a><span class="lineno">  795</span> </div>
+<div class="line"><a id="l00796" name="l00796"></a><span class="lineno">  796</span>            <span class="keywordflow">if</span> (<a class="code hl_define" href="_b_n_o08x_global_types_8hpp.html#aaaf91ed835d5d1a5726806bb147c5938">TAP_DETECTED_Z_AXIS</a>(source.flags))</div>
+<div class="line"><a id="l00797" name="l00797"></a><span class="lineno">  797</span>                this-&gt;z_flag = -1;</div>
+<div class="line"><a id="l00798" name="l00798"></a><span class="lineno">  798</span>            <span class="keywordflow">else</span></div>
+<div class="line"><a id="l00799" name="l00799"></a><span class="lineno">  799</span>                this-&gt;z_flag = 0;</div>
+<div class="line"><a id="l00800" name="l00800"></a><span class="lineno">  800</span> </div>
+<div class="line"><a id="l00801" name="l00801"></a><span class="lineno">  801</span>            <span class="keywordflow">if</span> (<a class="code hl_define" href="_b_n_o08x_global_types_8hpp.html#a6fd0bd9f4990ced262a8f2d4c41d65d9">TAP_DETECTED_Z_AXIS_POSITIVE</a>(source.flags))</div>
+<div class="line"><a id="l00802" name="l00802"></a><span class="lineno">  802</span>                this-&gt;z_flag = 1;</div>
+<div class="line"><a id="l00803" name="l00803"></a><span class="lineno">  803</span> </div>
+<div class="line"><a id="l00804" name="l00804"></a><span class="lineno">  804</span>            <span class="keywordflow">if</span> (<a class="code hl_define" href="_b_n_o08x_global_types_8hpp.html#a92a577e216f51fc6156a87e6ecf8ffc5">TAP_DETECTED_DOUBLE</a>(source.flags))</div>
+<div class="line"><a id="l00805" name="l00805"></a><span class="lineno">  805</span>                this-&gt;double_tap = <span class="keyword">true</span>;</div>
+<div class="line"><a id="l00806" name="l00806"></a><span class="lineno">  806</span>            <span class="keywordflow">else</span></div>
+<div class="line"><a id="l00807" name="l00807"></a><span class="lineno">  807</span>                this-&gt;double_tap = <span class="keyword">false</span>;</div>
+<div class="line"><a id="l00808" name="l00808"></a><span class="lineno">  808</span> </div>
+<div class="line"><a id="l00809" name="l00809"></a><span class="lineno">  809</span>            <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
+<div class="line"><a id="l00810" name="l00810"></a><span class="lineno">  810</span>        }</div>
+<div class="line"><a id="l00811" name="l00811"></a><span class="lineno">  811</span> </div>
+<div class="line"><a id="l00812" name="l00812"></a><span class="lineno"><a class="line" href="_b_n_o08x_global_types_8hpp.html#adcfe69b10c9c2244015bad5b978beedd">  812</a></span>} <a class="code hl_typedef" href="_b_n_o08x_global_types_8hpp.html#adcfe69b10c9c2244015bad5b978beedd">bno08x_tap_detector_t</a>;</div>
+<div class="line"><a id="l00813" name="l00813"></a><span class="lineno">  813</span> </div>
+<div class="line"><a id="l00815" name="l00815"></a><span class="lineno"><a class="line" href="structbno08x__shake__detector__t.html">  815</a></span><span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code hl_struct" href="structbno08x__shake__detector__t.html">bno08x_shake_detector_t</a></div>
+<div class="line"><a id="l00816" name="l00816"></a><span class="lineno">  816</span>{</div>
+<div class="line"><a id="l00817" name="l00817"></a><span class="lineno"><a class="line" href="structbno08x__shake__detector__t.html#a24dc1df9bb8089c330865e26054a349e">  817</a></span>        uint8_t <a class="code hl_variable" href="structbno08x__shake__detector__t.html#a24dc1df9bb8089c330865e26054a349e">x_flag</a>;</div>
+<div class="line"><a id="l00818" name="l00818"></a><span class="lineno"><a class="line" href="structbno08x__shake__detector__t.html#a814745b5a1dd7aa6bb4bfde4981d1caa">  818</a></span>        uint8_t <a class="code hl_variable" href="structbno08x__shake__detector__t.html#a814745b5a1dd7aa6bb4bfde4981d1caa">y_flag</a>;</div>
+<div class="line"><a id="l00819" name="l00819"></a><span class="lineno"><a class="line" href="structbno08x__shake__detector__t.html#a7b833f57fc85173adecf666ec6d5477e">  819</a></span>        uint8_t <a class="code hl_variable" href="structbno08x__shake__detector__t.html#a7b833f57fc85173adecf666ec6d5477e">z_flag</a>;</div>
+<div class="line"><a id="l00820" name="l00820"></a><span class="lineno"><a class="line" href="structbno08x__shake__detector__t.html#ac643f6c9ac9144c37765b22912212860">  820</a></span>        <a class="code hl_enumeration" href="_b_n_o08x_global_types_8hpp.html#a6bdf6fea6d671c12413d95f36a3e7ba6">BNO08xAccuracy</a> <a class="code hl_variable" href="structbno08x__shake__detector__t.html#ac643f6c9ac9144c37765b22912212860">accuracy</a>;</div>
+<div class="line"><a id="l00821" name="l00821"></a><span class="lineno">  821</span> </div>
+<div class="line"><a id="l00822" name="l00822"></a><span class="lineno"><a class="line" href="structbno08x__shake__detector__t.html#a57df670bfdac6a4174c986a65a0340be">  822</a></span>        <a class="code hl_function" href="structbno08x__shake__detector__t.html#a57df670bfdac6a4174c986a65a0340be">bno08x_shake_detector_t</a>()</div>
+<div class="line"><a id="l00823" name="l00823"></a><span class="lineno">  823</span>            : <a class="code hl_variable" href="structbno08x__shake__detector__t.html#a24dc1df9bb8089c330865e26054a349e">x_flag</a>(0U)</div>
+<div class="line"><a id="l00824" name="l00824"></a><span class="lineno">  824</span>            , <a class="code hl_variable" href="structbno08x__shake__detector__t.html#a814745b5a1dd7aa6bb4bfde4981d1caa">y_flag</a>(0U)</div>
+<div class="line"><a id="l00825" name="l00825"></a><span class="lineno">  825</span>            , <a class="code hl_variable" href="structbno08x__shake__detector__t.html#a7b833f57fc85173adecf666ec6d5477e">z_flag</a>(0U)</div>
+<div class="line"><a id="l00826" name="l00826"></a><span class="lineno">  826</span>            , <a class="code hl_variable" href="structbno08x__shake__detector__t.html#ac643f6c9ac9144c37765b22912212860">accuracy</a>(<a class="code hl_enumeration" href="_b_n_o08x_global_types_8hpp.html#a6bdf6fea6d671c12413d95f36a3e7ba6">BNO08xAccuracy</a>::<a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#afed71c9ed8a8563767f26282408ccee2a0db45d2a4141101bdfe48e3314cfbca3">UNDEFINED</a>)</div>
+<div class="line"><a id="l00827" name="l00827"></a><span class="lineno">  827</span>        {</div>
+<div class="line"><a id="l00828" name="l00828"></a><span class="lineno">  828</span>        }</div>
+<div class="line"><a id="l00829" name="l00829"></a><span class="lineno">  829</span> </div>
+<div class="line"><a id="l00830" name="l00830"></a><span class="lineno">  830</span>        <span class="comment">// overloaded = operator for sh2_GyroscopeUncalibrated conversion</span></div>
+<div class="line"><a id="l00831" name="l00831"></a><span class="lineno"><a class="line" href="structbno08x__shake__detector__t.html#a7fe349111b513b2cd042ad98112791b7">  831</a></span>        <a class="code hl_struct" href="structbno08x__shake__detector__t.html">bno08x_shake_detector_t</a>&amp; <a class="code hl_function" href="structbno08x__shake__detector__t.html#a7fe349111b513b2cd042ad98112791b7">operator=</a>(<span class="keyword">const</span> sh2_ShakeDetector_t&amp; source)</div>
+<div class="line"><a id="l00832" name="l00832"></a><span class="lineno">  832</span>        {</div>
+<div class="line"><a id="l00833" name="l00833"></a><span class="lineno">  833</span>            <span class="keywordflow">if</span> (<a class="code hl_define" href="_b_n_o08x_global_types_8hpp.html#ae12bdf0217349447eebadf16d4560869">SHAKE_DETECTED_X</a>(source.shake))</div>
+<div class="line"><a id="l00834" name="l00834"></a><span class="lineno">  834</span>                this-&gt;x_flag = 1U;</div>
+<div class="line"><a id="l00835" name="l00835"></a><span class="lineno">  835</span>            <span class="keywordflow">else</span></div>
+<div class="line"><a id="l00836" name="l00836"></a><span class="lineno">  836</span>                this-&gt;x_flag = 0U;</div>
+<div class="line"><a id="l00837" name="l00837"></a><span class="lineno">  837</span> </div>
+<div class="line"><a id="l00838" name="l00838"></a><span class="lineno">  838</span>            <span class="keywordflow">if</span> (<a class="code hl_define" href="_b_n_o08x_global_types_8hpp.html#a023aa826dbf083e2a6d2d67beba75b27">SHAKE_DETECTED_Y</a>(source.shake))</div>
+<div class="line"><a id="l00839" name="l00839"></a><span class="lineno">  839</span>                this-&gt;y_flag = 1U;</div>
+<div class="line"><a id="l00840" name="l00840"></a><span class="lineno">  840</span>            <span class="keywordflow">else</span></div>
+<div class="line"><a id="l00841" name="l00841"></a><span class="lineno">  841</span>                this-&gt;y_flag = 0U;</div>
+<div class="line"><a id="l00842" name="l00842"></a><span class="lineno">  842</span> </div>
+<div class="line"><a id="l00843" name="l00843"></a><span class="lineno">  843</span>            <span class="keywordflow">if</span> (<a class="code hl_define" href="_b_n_o08x_global_types_8hpp.html#a9951e367fa8ff09a55526994cfaa94be">SHAKE_DETECTED_Z</a>(source.shake))</div>
+<div class="line"><a id="l00844" name="l00844"></a><span class="lineno">  844</span>                this-&gt;z_flag = 1U;</div>
+<div class="line"><a id="l00845" name="l00845"></a><span class="lineno">  845</span>            <span class="keywordflow">else</span></div>
+<div class="line"><a id="l00846" name="l00846"></a><span class="lineno">  846</span>                this-&gt;z_flag = 0U;</div>
+<div class="line"><a id="l00847" name="l00847"></a><span class="lineno">  847</span> </div>
+<div class="line"><a id="l00848" name="l00848"></a><span class="lineno">  848</span>            <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
+<div class="line"><a id="l00849" name="l00849"></a><span class="lineno">  849</span>        }</div>
+<div class="line"><a id="l00850" name="l00850"></a><span class="lineno">  850</span> </div>
+<div class="line"><a id="l00851" name="l00851"></a><span class="lineno"><a class="line" href="_b_n_o08x_global_types_8hpp.html#a7c22ac348c71afe0d42dcfae6c97ca32">  851</a></span>} <a class="code hl_typedef" href="_b_n_o08x_global_types_8hpp.html#a7c22ac348c71afe0d42dcfae6c97ca32">bno08x_shake_detector_t</a>;</div>
+<div class="line"><a id="l00852" name="l00852"></a><span class="lineno">  852</span> </div>
+<div class="line"><a id="l00855" name="l00855"></a><span class="lineno"><a class="line" href="structbno08x__accel__t.html">  855</a></span><span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code hl_struct" href="structbno08x__accel__t.html">bno08x_accel_t</a></div>
+<div class="line"><a id="l00856" name="l00856"></a><span class="lineno">  856</span>{</div>
+<div class="line"><a id="l00857" name="l00857"></a><span class="lineno"><a class="line" href="structbno08x__accel__t.html#af72246bad5088682490f6a13e4624b7c">  857</a></span>        <span class="keywordtype">float</span> <a class="code hl_variable" href="structbno08x__accel__t.html#af72246bad5088682490f6a13e4624b7c">x</a>;</div>
+<div class="line"><a id="l00858" name="l00858"></a><span class="lineno"><a class="line" href="structbno08x__accel__t.html#a9514b06a88cdd4c4777ff8e27d8d52fb">  858</a></span>        <span class="keywordtype">float</span> <a class="code hl_variable" href="structbno08x__accel__t.html#a9514b06a88cdd4c4777ff8e27d8d52fb">y</a>;</div>
+<div class="line"><a id="l00859" name="l00859"></a><span class="lineno"><a class="line" href="structbno08x__accel__t.html#a391bf7c4ee0c3f571d94f73f047e9a3f">  859</a></span>        <span class="keywordtype">float</span> <a class="code hl_variable" href="structbno08x__accel__t.html#a391bf7c4ee0c3f571d94f73f047e9a3f">z</a>;</div>
+<div class="line"><a id="l00860" name="l00860"></a><span class="lineno"><a class="line" href="structbno08x__accel__t.html#aac8d91a84f911413e4bcc3fdb04c893b">  860</a></span>        <a class="code hl_enumeration" href="_b_n_o08x_global_types_8hpp.html#a6bdf6fea6d671c12413d95f36a3e7ba6">BNO08xAccuracy</a> <a class="code hl_variable" href="structbno08x__accel__t.html#aac8d91a84f911413e4bcc3fdb04c893b">accuracy</a>;</div>
+<div class="line"><a id="l00861" name="l00861"></a><span class="lineno">  861</span> </div>
+<div class="line"><a id="l00862" name="l00862"></a><span class="lineno"><a class="line" href="structbno08x__accel__t.html#a3d71a06304afc576280c56952b4f7a34">  862</a></span>        <a class="code hl_function" href="structbno08x__accel__t.html#a3d71a06304afc576280c56952b4f7a34">bno08x_accel_t</a>()</div>
+<div class="line"><a id="l00863" name="l00863"></a><span class="lineno">  863</span>            : <a class="code hl_variable" href="structbno08x__accel__t.html#af72246bad5088682490f6a13e4624b7c">x</a>(0.0f)</div>
+<div class="line"><a id="l00864" name="l00864"></a><span class="lineno">  864</span>            , <a class="code hl_variable" href="structbno08x__accel__t.html#a9514b06a88cdd4c4777ff8e27d8d52fb">y</a>(0.0f)</div>
+<div class="line"><a id="l00865" name="l00865"></a><span class="lineno">  865</span>            , <a class="code hl_variable" href="structbno08x__accel__t.html#a391bf7c4ee0c3f571d94f73f047e9a3f">z</a>(0.0f)</div>
+<div class="line"><a id="l00866" name="l00866"></a><span class="lineno">  866</span>            , <a class="code hl_variable" href="structbno08x__accel__t.html#aac8d91a84f911413e4bcc3fdb04c893b">accuracy</a>(<a class="code hl_enumeration" href="_b_n_o08x_global_types_8hpp.html#a6bdf6fea6d671c12413d95f36a3e7ba6">BNO08xAccuracy</a>::<a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#afed71c9ed8a8563767f26282408ccee2a0db45d2a4141101bdfe48e3314cfbca3">UNDEFINED</a>)</div>
+<div class="line"><a id="l00867" name="l00867"></a><span class="lineno">  867</span>        {</div>
+<div class="line"><a id="l00868" name="l00868"></a><span class="lineno">  868</span>        }</div>
+<div class="line"><a id="l00869" name="l00869"></a><span class="lineno">  869</span> </div>
+<div class="line"><a id="l00870" name="l00870"></a><span class="lineno">  870</span>        <span class="comment">// conversion from sh2_Accelerometer_t</span></div>
+<div class="line"><a id="l00871" name="l00871"></a><span class="lineno"><a class="line" href="structbno08x__accel__t.html#a5b3f1b2cc2a889af23d27185c6efd75e">  871</a></span>        <a class="code hl_struct" href="structbno08x__accel__t.html">bno08x_accel_t</a>&amp; <a class="code hl_function" href="structbno08x__accel__t.html#a5b3f1b2cc2a889af23d27185c6efd75e">operator=</a>(<span class="keyword">const</span> sh2_Accelerometer_t&amp; source)</div>
+<div class="line"><a id="l00872" name="l00872"></a><span class="lineno">  872</span>        {</div>
+<div class="line"><a id="l00873" name="l00873"></a><span class="lineno">  873</span>            this-&gt;x = source.<a class="code hl_variable" href="structbno08x__accel__t.html#af72246bad5088682490f6a13e4624b7c">x</a>;</div>
+<div class="line"><a id="l00874" name="l00874"></a><span class="lineno">  874</span>            this-&gt;y = source.y;</div>
+<div class="line"><a id="l00875" name="l00875"></a><span class="lineno">  875</span>            this-&gt;z = source.z;</div>
+<div class="line"><a id="l00876" name="l00876"></a><span class="lineno">  876</span>            <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
+<div class="line"><a id="l00877" name="l00877"></a><span class="lineno">  877</span>        }</div>
+<div class="line"><a id="l00878" name="l00878"></a><span class="lineno"><a class="line" href="_b_n_o08x_global_types_8hpp.html#a0c22a2a9fede695256dfaa4703497a2e">  878</a></span>} <a class="code hl_typedef" href="_b_n_o08x_global_types_8hpp.html#a0c22a2a9fede695256dfaa4703497a2e">bno08x_accel_t</a>;</div>
+<div class="line"><a id="l00879" name="l00879"></a><span class="lineno">  879</span> </div>
+<div class="line"><a id="l00881" name="l00881"></a><span class="lineno"><a class="line" href="structbno08x__step__counter__t.html">  881</a></span><span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code hl_struct" href="structbno08x__step__counter__t.html">bno08x_step_counter_t</a></div>
+<div class="line"><a id="l00882" name="l00882"></a><span class="lineno">  882</span>{</div>
+<div class="line"><a id="l00883" name="l00883"></a><span class="lineno"><a class="line" href="structbno08x__step__counter__t.html#a8060ef0721d76ff0175ca487617db202">  883</a></span>        uint32_t <a class="code hl_variable" href="structbno08x__step__counter__t.html#a8060ef0721d76ff0175ca487617db202">latency</a>;</div>
+<div class="line"><a id="l00884" name="l00884"></a><span class="lineno"><a class="line" href="structbno08x__step__counter__t.html#a6d6be986b770fe1343a46080f35653d3">  884</a></span>        uint16_t <a class="code hl_variable" href="structbno08x__step__counter__t.html#a6d6be986b770fe1343a46080f35653d3">steps</a>;</div>
+<div class="line"><a id="l00885" name="l00885"></a><span class="lineno"><a class="line" href="structbno08x__step__counter__t.html#a7e0f4b2eb32978a33f9e8c1c70b83f13">  885</a></span>        <a class="code hl_enumeration" href="_b_n_o08x_global_types_8hpp.html#a6bdf6fea6d671c12413d95f36a3e7ba6">BNO08xAccuracy</a> <a class="code hl_variable" href="structbno08x__step__counter__t.html#a7e0f4b2eb32978a33f9e8c1c70b83f13">accuracy</a>;</div>
+<div class="line"><a id="l00886" name="l00886"></a><span class="lineno">  886</span> </div>
+<div class="line"><a id="l00887" name="l00887"></a><span class="lineno"><a class="line" href="structbno08x__step__counter__t.html#a53eb4151dfa16c65871f9a754cf92940">  887</a></span>        <a class="code hl_function" href="structbno08x__step__counter__t.html#a53eb4151dfa16c65871f9a754cf92940">bno08x_step_counter_t</a>()</div>
+<div class="line"><a id="l00888" name="l00888"></a><span class="lineno">  888</span>            : <a class="code hl_variable" href="structbno08x__step__counter__t.html#a8060ef0721d76ff0175ca487617db202">latency</a>(0UL)</div>
+<div class="line"><a id="l00889" name="l00889"></a><span class="lineno">  889</span>            , <a class="code hl_variable" href="structbno08x__step__counter__t.html#a6d6be986b770fe1343a46080f35653d3">steps</a>(0U)</div>
+<div class="line"><a id="l00890" name="l00890"></a><span class="lineno">  890</span>            , <a class="code hl_variable" href="structbno08x__step__counter__t.html#a7e0f4b2eb32978a33f9e8c1c70b83f13">accuracy</a>(<a class="code hl_enumeration" href="_b_n_o08x_global_types_8hpp.html#a6bdf6fea6d671c12413d95f36a3e7ba6">BNO08xAccuracy</a>::<a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#afed71c9ed8a8563767f26282408ccee2a0db45d2a4141101bdfe48e3314cfbca3">UNDEFINED</a>)</div>
+<div class="line"><a id="l00891" name="l00891"></a><span class="lineno">  891</span>        {</div>
+<div class="line"><a id="l00892" name="l00892"></a><span class="lineno">  892</span>        }</div>
+<div class="line"><a id="l00893" name="l00893"></a><span class="lineno">  893</span> </div>
+<div class="line"><a id="l00894" name="l00894"></a><span class="lineno">  894</span>        <span class="comment">// conversion from sh2_StepCounter_t</span></div>
+<div class="line"><a id="l00895" name="l00895"></a><span class="lineno"><a class="line" href="structbno08x__step__counter__t.html#ab184ba986a22ae89d5a4028b72efb2c1">  895</a></span>        <a class="code hl_struct" href="structbno08x__step__counter__t.html">bno08x_step_counter_t</a>&amp; <a class="code hl_function" href="structbno08x__step__counter__t.html#ab184ba986a22ae89d5a4028b72efb2c1">operator=</a>(<span class="keyword">const</span> sh2_StepCounter_t&amp; source)</div>
+<div class="line"><a id="l00896" name="l00896"></a><span class="lineno">  896</span>        {</div>
+<div class="line"><a id="l00897" name="l00897"></a><span class="lineno">  897</span>            this-&gt;latency = source.<a class="code hl_variable" href="structbno08x__step__counter__t.html#a8060ef0721d76ff0175ca487617db202">latency</a>;</div>
+<div class="line"><a id="l00898" name="l00898"></a><span class="lineno">  898</span>            this-&gt;steps = source.steps;</div>
+<div class="line"><a id="l00899" name="l00899"></a><span class="lineno">  899</span>            <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
+<div class="line"><a id="l00900" name="l00900"></a><span class="lineno">  900</span>        }</div>
+<div class="line"><a id="l00901" name="l00901"></a><span class="lineno"><a class="line" href="_b_n_o08x_global_types_8hpp.html#ad52b092f56d1fa0064f2ea3502399cfc">  901</a></span>} <a class="code hl_typedef" href="_b_n_o08x_global_types_8hpp.html#ad52b092f56d1fa0064f2ea3502399cfc">bno08x_step_counter_t</a>;</div>
+<div class="line"><a id="l00902" name="l00902"></a><span class="lineno">  902</span> </div>
+<div class="line"><a id="l00904" name="l00904"></a><span class="lineno"><a class="line" href="structbno08x__raw__gyro__t.html">  904</a></span><span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code hl_struct" href="structbno08x__raw__gyro__t.html">bno08x_raw_gyro_t</a></div>
+<div class="line"><a id="l00905" name="l00905"></a><span class="lineno">  905</span>{</div>
+<div class="line"><a id="l00906" name="l00906"></a><span class="lineno"><a class="line" href="structbno08x__raw__gyro__t.html#a99d61a4d56a06fb219dc023fe3e446b5">  906</a></span>        uint32_t <a class="code hl_variable" href="structbno08x__raw__gyro__t.html#a99d61a4d56a06fb219dc023fe3e446b5">timestamp_us</a>;</div>
+<div class="line"><a id="l00907" name="l00907"></a><span class="lineno"><a class="line" href="structbno08x__raw__gyro__t.html#a7b7f2f569143c710ac3b1068d434a47f">  907</a></span>        int16_t <a class="code hl_variable" href="structbno08x__raw__gyro__t.html#a7b7f2f569143c710ac3b1068d434a47f">x</a>;</div>
+<div class="line"><a id="l00908" name="l00908"></a><span class="lineno"><a class="line" href="structbno08x__raw__gyro__t.html#af8755b09df8253594de1412f02655651">  908</a></span>        int16_t <a class="code hl_variable" href="structbno08x__raw__gyro__t.html#af8755b09df8253594de1412f02655651">y</a>;</div>
+<div class="line"><a id="l00909" name="l00909"></a><span class="lineno"><a class="line" href="structbno08x__raw__gyro__t.html#afe5677954b4678eb3a460a386f224a78">  909</a></span>        int16_t <a class="code hl_variable" href="structbno08x__raw__gyro__t.html#afe5677954b4678eb3a460a386f224a78">z</a>;</div>
+<div class="line"><a id="l00910" name="l00910"></a><span class="lineno"><a class="line" href="structbno08x__raw__gyro__t.html#adf725827f6f97e16c953f6f5c7bf890b">  910</a></span>        int16_t <a class="code hl_variable" href="structbno08x__raw__gyro__t.html#adf725827f6f97e16c953f6f5c7bf890b">temperature</a>;</div>
+<div class="line"><a id="l00911" name="l00911"></a><span class="lineno"><a class="line" href="structbno08x__raw__gyro__t.html#aa19b4b279b5c218675bf4c83ca872371">  911</a></span>        <a class="code hl_enumeration" href="_b_n_o08x_global_types_8hpp.html#a6bdf6fea6d671c12413d95f36a3e7ba6">BNO08xAccuracy</a> <a class="code hl_variable" href="structbno08x__raw__gyro__t.html#aa19b4b279b5c218675bf4c83ca872371">accuracy</a>;</div>
+<div class="line"><a id="l00912" name="l00912"></a><span class="lineno">  912</span> </div>
+<div class="line"><a id="l00913" name="l00913"></a><span class="lineno"><a class="line" href="structbno08x__raw__gyro__t.html#a17c759dd38d5a6b78ae5cb77c5e4d93b">  913</a></span>        <a class="code hl_function" href="structbno08x__raw__gyro__t.html#a17c759dd38d5a6b78ae5cb77c5e4d93b">bno08x_raw_gyro_t</a>()</div>
+<div class="line"><a id="l00914" name="l00914"></a><span class="lineno">  914</span>            : <a class="code hl_variable" href="structbno08x__raw__gyro__t.html#a99d61a4d56a06fb219dc023fe3e446b5">timestamp_us</a>(0UL)</div>
+<div class="line"><a id="l00915" name="l00915"></a><span class="lineno">  915</span>            , <a class="code hl_variable" href="structbno08x__raw__gyro__t.html#a7b7f2f569143c710ac3b1068d434a47f">x</a>(0U)</div>
+<div class="line"><a id="l00916" name="l00916"></a><span class="lineno">  916</span>            , <a class="code hl_variable" href="structbno08x__raw__gyro__t.html#af8755b09df8253594de1412f02655651">y</a>(0U)</div>
+<div class="line"><a id="l00917" name="l00917"></a><span class="lineno">  917</span>            , <a class="code hl_variable" href="structbno08x__raw__gyro__t.html#afe5677954b4678eb3a460a386f224a78">z</a>(0U)</div>
+<div class="line"><a id="l00918" name="l00918"></a><span class="lineno">  918</span>            , <a class="code hl_variable" href="structbno08x__raw__gyro__t.html#adf725827f6f97e16c953f6f5c7bf890b">temperature</a>(0U)</div>
+<div class="line"><a id="l00919" name="l00919"></a><span class="lineno">  919</span>            , <a class="code hl_variable" href="structbno08x__raw__gyro__t.html#aa19b4b279b5c218675bf4c83ca872371">accuracy</a>(<a class="code hl_enumeration" href="_b_n_o08x_global_types_8hpp.html#a6bdf6fea6d671c12413d95f36a3e7ba6">BNO08xAccuracy</a>::<a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#afed71c9ed8a8563767f26282408ccee2a0db45d2a4141101bdfe48e3314cfbca3">UNDEFINED</a>)</div>
+<div class="line"><a id="l00920" name="l00920"></a><span class="lineno">  920</span>        {</div>
+<div class="line"><a id="l00921" name="l00921"></a><span class="lineno">  921</span>        }</div>
+<div class="line"><a id="l00922" name="l00922"></a><span class="lineno">  922</span> </div>
+<div class="line"><a id="l00923" name="l00923"></a><span class="lineno">  923</span>        <span class="comment">// conversion from sh2_RawGyroscope_t</span></div>
+<div class="line"><a id="l00924" name="l00924"></a><span class="lineno"><a class="line" href="structbno08x__raw__gyro__t.html#a34c3ff52aaa1898f44ad6b0cf585825a">  924</a></span>        <a class="code hl_struct" href="structbno08x__raw__gyro__t.html">bno08x_raw_gyro_t</a>&amp; <a class="code hl_function" href="structbno08x__raw__gyro__t.html#a34c3ff52aaa1898f44ad6b0cf585825a">operator=</a>(<span class="keyword">const</span> sh2_RawGyroscope_t&amp; source)</div>
+<div class="line"><a id="l00925" name="l00925"></a><span class="lineno">  925</span>        {</div>
+<div class="line"><a id="l00926" name="l00926"></a><span class="lineno">  926</span>            this-&gt;x = source.<a class="code hl_variable" href="structbno08x__raw__gyro__t.html#a7b7f2f569143c710ac3b1068d434a47f">x</a>;</div>
+<div class="line"><a id="l00927" name="l00927"></a><span class="lineno">  927</span>            this-&gt;y = source.y;</div>
+<div class="line"><a id="l00928" name="l00928"></a><span class="lineno">  928</span>            this-&gt;z = source.z;</div>
+<div class="line"><a id="l00929" name="l00929"></a><span class="lineno">  929</span>            this-&gt;temperature = source.temperature;</div>
+<div class="line"><a id="l00930" name="l00930"></a><span class="lineno">  930</span>            this-&gt;timestamp_us = source.timestamp;</div>
+<div class="line"><a id="l00931" name="l00931"></a><span class="lineno">  931</span>            <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
+<div class="line"><a id="l00932" name="l00932"></a><span class="lineno">  932</span>        }</div>
+<div class="line"><a id="l00933" name="l00933"></a><span class="lineno"><a class="line" href="_b_n_o08x_global_types_8hpp.html#a3e205d9599aa01b7946d1ed1cbb7f1c4">  933</a></span>} <a class="code hl_typedef" href="_b_n_o08x_global_types_8hpp.html#a3e205d9599aa01b7946d1ed1cbb7f1c4">bno08x_raw_gyro_t</a>;</div>
+<div class="line"><a id="l00934" name="l00934"></a><span class="lineno">  934</span> </div>
+<div class="line"><a id="l00937" name="l00937"></a><span class="lineno"><a class="line" href="structbno08x__raw__accel__t.html">  937</a></span><span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code hl_struct" href="structbno08x__raw__accel__t.html">bno08x_raw_accel_t</a></div>
+<div class="line"><a id="l00938" name="l00938"></a><span class="lineno">  938</span>{</div>
+<div class="line"><a id="l00939" name="l00939"></a><span class="lineno"><a class="line" href="structbno08x__raw__accel__t.html#a7ca16a89f219b199eb5797fd101d1283">  939</a></span>        uint32_t <a class="code hl_variable" href="structbno08x__raw__accel__t.html#a7ca16a89f219b199eb5797fd101d1283">timestamp_us</a>;</div>
+<div class="line"><a id="l00940" name="l00940"></a><span class="lineno"><a class="line" href="structbno08x__raw__accel__t.html#ab5188923307b95f6324d9241e9140def">  940</a></span>        int16_t <a class="code hl_variable" href="structbno08x__raw__accel__t.html#ab5188923307b95f6324d9241e9140def">x</a>;</div>
+<div class="line"><a id="l00941" name="l00941"></a><span class="lineno"><a class="line" href="structbno08x__raw__accel__t.html#a917d6b23cb40c7044891624cebac2993">  941</a></span>        int16_t <a class="code hl_variable" href="structbno08x__raw__accel__t.html#a917d6b23cb40c7044891624cebac2993">y</a>;</div>
+<div class="line"><a id="l00942" name="l00942"></a><span class="lineno"><a class="line" href="structbno08x__raw__accel__t.html#a62d1731746ea51d36b9946594075e67b">  942</a></span>        int16_t <a class="code hl_variable" href="structbno08x__raw__accel__t.html#a62d1731746ea51d36b9946594075e67b">z</a>;</div>
+<div class="line"><a id="l00943" name="l00943"></a><span class="lineno"><a class="line" href="structbno08x__raw__accel__t.html#aadb4fc1fa1d87d0baf4db5a534ea18ea">  943</a></span>        <a class="code hl_enumeration" href="_b_n_o08x_global_types_8hpp.html#a6bdf6fea6d671c12413d95f36a3e7ba6">BNO08xAccuracy</a> <a class="code hl_variable" href="structbno08x__raw__accel__t.html#aadb4fc1fa1d87d0baf4db5a534ea18ea">accuracy</a>;</div>
+<div class="line"><a id="l00944" name="l00944"></a><span class="lineno">  944</span> </div>
+<div class="line"><a id="l00945" name="l00945"></a><span class="lineno"><a class="line" href="structbno08x__raw__accel__t.html#afb9443ec5846eefe942e1f273570fb7f">  945</a></span>        <a class="code hl_function" href="structbno08x__raw__accel__t.html#afb9443ec5846eefe942e1f273570fb7f">bno08x_raw_accel_t</a>()</div>
+<div class="line"><a id="l00946" name="l00946"></a><span class="lineno">  946</span>            : <a class="code hl_variable" href="structbno08x__raw__accel__t.html#a7ca16a89f219b199eb5797fd101d1283">timestamp_us</a>(0UL)</div>
+<div class="line"><a id="l00947" name="l00947"></a><span class="lineno">  947</span>            , <a class="code hl_variable" href="structbno08x__raw__accel__t.html#ab5188923307b95f6324d9241e9140def">x</a>(0U)</div>
+<div class="line"><a id="l00948" name="l00948"></a><span class="lineno">  948</span>            , <a class="code hl_variable" href="structbno08x__raw__accel__t.html#a917d6b23cb40c7044891624cebac2993">y</a>(0U)</div>
+<div class="line"><a id="l00949" name="l00949"></a><span class="lineno">  949</span>            , <a class="code hl_variable" href="structbno08x__raw__accel__t.html#a62d1731746ea51d36b9946594075e67b">z</a>(0U)</div>
+<div class="line"><a id="l00950" name="l00950"></a><span class="lineno">  950</span>            , <a class="code hl_variable" href="structbno08x__raw__accel__t.html#aadb4fc1fa1d87d0baf4db5a534ea18ea">accuracy</a>(<a class="code hl_enumeration" href="_b_n_o08x_global_types_8hpp.html#a6bdf6fea6d671c12413d95f36a3e7ba6">BNO08xAccuracy</a>::<a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#afed71c9ed8a8563767f26282408ccee2a0db45d2a4141101bdfe48e3314cfbca3">UNDEFINED</a>)</div>
+<div class="line"><a id="l00951" name="l00951"></a><span class="lineno">  951</span>        {</div>
+<div class="line"><a id="l00952" name="l00952"></a><span class="lineno">  952</span>        }</div>
+<div class="line"><a id="l00953" name="l00953"></a><span class="lineno">  953</span> </div>
+<div class="line"><a id="l00954" name="l00954"></a><span class="lineno">  954</span>        <span class="comment">// conversion from sh2_RawAccelerometer_t</span></div>
+<div class="line"><a id="l00955" name="l00955"></a><span class="lineno"><a class="line" href="structbno08x__raw__accel__t.html#a8980031b2548b79c945abe299387d44f">  955</a></span>        <a class="code hl_struct" href="structbno08x__raw__accel__t.html">bno08x_raw_accel_t</a>&amp; <a class="code hl_function" href="structbno08x__raw__accel__t.html#a8980031b2548b79c945abe299387d44f">operator=</a>(<span class="keyword">const</span> sh2_RawAccelerometer_t&amp; source)</div>
+<div class="line"><a id="l00956" name="l00956"></a><span class="lineno">  956</span>        {</div>
+<div class="line"><a id="l00957" name="l00957"></a><span class="lineno">  957</span>            this-&gt;x = source.<a class="code hl_variable" href="structbno08x__raw__accel__t.html#ab5188923307b95f6324d9241e9140def">x</a>;</div>
+<div class="line"><a id="l00958" name="l00958"></a><span class="lineno">  958</span>            this-&gt;y = source.y;</div>
+<div class="line"><a id="l00959" name="l00959"></a><span class="lineno">  959</span>            this-&gt;z = source.z;</div>
+<div class="line"><a id="l00960" name="l00960"></a><span class="lineno">  960</span>            this-&gt;timestamp_us = source.timestamp;</div>
+<div class="line"><a id="l00961" name="l00961"></a><span class="lineno">  961</span>            <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
+<div class="line"><a id="l00962" name="l00962"></a><span class="lineno">  962</span>        }</div>
+<div class="line"><a id="l00963" name="l00963"></a><span class="lineno"><a class="line" href="_b_n_o08x_global_types_8hpp.html#ace2ea90ebebddfcdb75e1b8b7b48f905">  963</a></span>} <a class="code hl_typedef" href="_b_n_o08x_global_types_8hpp.html#ace2ea90ebebddfcdb75e1b8b7b48f905">bno08x_raw_accel_t</a>;</div>
+<div class="line"><a id="l00964" name="l00964"></a><span class="lineno">  964</span> </div>
+<div class="line"><a id="l00967" name="l00967"></a><span class="lineno"><a class="line" href="structbno08x__raw__magf__t.html">  967</a></span><span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code hl_struct" href="structbno08x__raw__magf__t.html">bno08x_raw_magf_t</a></div>
+<div class="line"><a id="l00968" name="l00968"></a><span class="lineno">  968</span>{</div>
+<div class="line"><a id="l00969" name="l00969"></a><span class="lineno"><a class="line" href="structbno08x__raw__magf__t.html#a74cb298f230665c2d600d3298717c321">  969</a></span>        uint32_t <a class="code hl_variable" href="structbno08x__raw__magf__t.html#a74cb298f230665c2d600d3298717c321">timestamp_us</a>;</div>
+<div class="line"><a id="l00970" name="l00970"></a><span class="lineno"><a class="line" href="structbno08x__raw__magf__t.html#a6d04fa2589070ad4ee06b7259fc90900">  970</a></span>        int16_t <a class="code hl_variable" href="structbno08x__raw__magf__t.html#a6d04fa2589070ad4ee06b7259fc90900">x</a>;</div>
+<div class="line"><a id="l00971" name="l00971"></a><span class="lineno"><a class="line" href="structbno08x__raw__magf__t.html#aba0a88c1032210c6db95ac779e280b9a">  971</a></span>        int16_t <a class="code hl_variable" href="structbno08x__raw__magf__t.html#aba0a88c1032210c6db95ac779e280b9a">y</a>;</div>
+<div class="line"><a id="l00972" name="l00972"></a><span class="lineno"><a class="line" href="structbno08x__raw__magf__t.html#a5d50e05cccd1f92f36f6ac83e9f911ae">  972</a></span>        int16_t <a class="code hl_variable" href="structbno08x__raw__magf__t.html#a5d50e05cccd1f92f36f6ac83e9f911ae">z</a>;</div>
+<div class="line"><a id="l00973" name="l00973"></a><span class="lineno"><a class="line" href="structbno08x__raw__magf__t.html#ae1253faa56aecbafd24f24f42dfb3aeb">  973</a></span>        <a class="code hl_enumeration" href="_b_n_o08x_global_types_8hpp.html#a6bdf6fea6d671c12413d95f36a3e7ba6">BNO08xAccuracy</a> <a class="code hl_variable" href="structbno08x__raw__magf__t.html#ae1253faa56aecbafd24f24f42dfb3aeb">accuracy</a>;</div>
+<div class="line"><a id="l00974" name="l00974"></a><span class="lineno">  974</span> </div>
+<div class="line"><a id="l00975" name="l00975"></a><span class="lineno"><a class="line" href="structbno08x__raw__magf__t.html#a9bbd61edac01cb1f2e78417efe8573aa">  975</a></span>        <a class="code hl_function" href="structbno08x__raw__magf__t.html#a9bbd61edac01cb1f2e78417efe8573aa">bno08x_raw_magf_t</a>()</div>
+<div class="line"><a id="l00976" name="l00976"></a><span class="lineno">  976</span>            : <a class="code hl_variable" href="structbno08x__raw__magf__t.html#a74cb298f230665c2d600d3298717c321">timestamp_us</a>(0UL)</div>
+<div class="line"><a id="l00977" name="l00977"></a><span class="lineno">  977</span>            , <a class="code hl_variable" href="structbno08x__raw__magf__t.html#a6d04fa2589070ad4ee06b7259fc90900">x</a>(0U)</div>
+<div class="line"><a id="l00978" name="l00978"></a><span class="lineno">  978</span>            , <a class="code hl_variable" href="structbno08x__raw__magf__t.html#aba0a88c1032210c6db95ac779e280b9a">y</a>(0U)</div>
+<div class="line"><a id="l00979" name="l00979"></a><span class="lineno">  979</span>            , <a class="code hl_variable" href="structbno08x__raw__magf__t.html#a5d50e05cccd1f92f36f6ac83e9f911ae">z</a>(0U)</div>
+<div class="line"><a id="l00980" name="l00980"></a><span class="lineno">  980</span>            , <a class="code hl_variable" href="structbno08x__raw__magf__t.html#ae1253faa56aecbafd24f24f42dfb3aeb">accuracy</a>(<a class="code hl_enumeration" href="_b_n_o08x_global_types_8hpp.html#a6bdf6fea6d671c12413d95f36a3e7ba6">BNO08xAccuracy</a>::<a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#afed71c9ed8a8563767f26282408ccee2a0db45d2a4141101bdfe48e3314cfbca3">UNDEFINED</a>)</div>
+<div class="line"><a id="l00981" name="l00981"></a><span class="lineno">  981</span>        {</div>
+<div class="line"><a id="l00982" name="l00982"></a><span class="lineno">  982</span>        }</div>
+<div class="line"><a id="l00983" name="l00983"></a><span class="lineno">  983</span> </div>
+<div class="line"><a id="l00984" name="l00984"></a><span class="lineno">  984</span>        <span class="comment">// conversion from sh2_RawMagnetometer_t</span></div>
+<div class="line"><a id="l00985" name="l00985"></a><span class="lineno"><a class="line" href="structbno08x__raw__magf__t.html#ad58e25ff5c6d8c4c3843264effa63a7c">  985</a></span>        <a class="code hl_struct" href="structbno08x__raw__magf__t.html">bno08x_raw_magf_t</a>&amp; <a class="code hl_function" href="structbno08x__raw__magf__t.html#ad58e25ff5c6d8c4c3843264effa63a7c">operator=</a>(<span class="keyword">const</span> sh2_RawMagnetometer_t&amp; source)</div>
+<div class="line"><a id="l00986" name="l00986"></a><span class="lineno">  986</span>        {</div>
+<div class="line"><a id="l00987" name="l00987"></a><span class="lineno">  987</span>            this-&gt;x = source.<a class="code hl_variable" href="structbno08x__raw__magf__t.html#a6d04fa2589070ad4ee06b7259fc90900">x</a>;</div>
+<div class="line"><a id="l00988" name="l00988"></a><span class="lineno">  988</span>            this-&gt;y = source.y;</div>
+<div class="line"><a id="l00989" name="l00989"></a><span class="lineno">  989</span>            this-&gt;z = source.z;</div>
+<div class="line"><a id="l00990" name="l00990"></a><span class="lineno">  990</span>            this-&gt;timestamp_us = source.timestamp;</div>
+<div class="line"><a id="l00991" name="l00991"></a><span class="lineno">  991</span>            <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
+<div class="line"><a id="l00992" name="l00992"></a><span class="lineno">  992</span>        }</div>
+<div class="line"><a id="l00993" name="l00993"></a><span class="lineno"><a class="line" href="_b_n_o08x_global_types_8hpp.html#a673f429cbcd0f48394de3d990d8bda4a">  993</a></span>} <a class="code hl_typedef" href="_b_n_o08x_global_types_8hpp.html#a673f429cbcd0f48394de3d990d8bda4a">bno08x_raw_magf_t</a>;</div>
+<div class="line"><a id="l00994" name="l00994"></a><span class="lineno">  994</span> </div>
+<div class="line"><a id="l00996" name="l00996"></a><span class="lineno"><a class="line" href="structbno08x__stability__classifier__t.html">  996</a></span><span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code hl_struct" href="structbno08x__stability__classifier__t.html">bno08x_stability_classifier_t</a></div>
+<div class="line"><a id="l00997" name="l00997"></a><span class="lineno">  997</span>{</div>
+<div class="line"><a id="l00998" name="l00998"></a><span class="lineno"><a class="line" href="structbno08x__stability__classifier__t.html#a2ecd636f34a6be612833009d9a1c8725">  998</a></span>        <a class="code hl_enumeration" href="_b_n_o08x_global_types_8hpp.html#a22d72f675aad7af764e685f91b29f4cb">BNO08xStability</a> <a class="code hl_variable" href="structbno08x__stability__classifier__t.html#a2ecd636f34a6be612833009d9a1c8725">stability</a>;</div>
+<div class="line"><a id="l00999" name="l00999"></a><span class="lineno"><a class="line" href="structbno08x__stability__classifier__t.html#aa1eeb8deb186589ae21cbd1b96747bf7">  999</a></span>        <a class="code hl_enumeration" href="_b_n_o08x_global_types_8hpp.html#a6bdf6fea6d671c12413d95f36a3e7ba6">BNO08xAccuracy</a> <a class="code hl_variable" href="structbno08x__stability__classifier__t.html#aa1eeb8deb186589ae21cbd1b96747bf7">accuracy</a>;</div>
+<div class="line"><a id="l01000" name="l01000"></a><span class="lineno"> 1000</span> </div>
+<div class="line"><a id="l01001" name="l01001"></a><span class="lineno"><a class="line" href="structbno08x__stability__classifier__t.html#a1af6213e40337e7dfff734d542fc3be2"> 1001</a></span>        <a class="code hl_function" href="structbno08x__stability__classifier__t.html#a1af6213e40337e7dfff734d542fc3be2">bno08x_stability_classifier_t</a>()</div>
+<div class="line"><a id="l01002" name="l01002"></a><span class="lineno"> 1002</span>            : <a class="code hl_variable" href="structbno08x__stability__classifier__t.html#a2ecd636f34a6be612833009d9a1c8725">stability</a>(<a class="code hl_enumeration" href="_b_n_o08x_global_types_8hpp.html#a22d72f675aad7af764e685f91b29f4cb">BNO08xStability</a>::<a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#afed71c9ed8a8563767f26282408ccee2a0db45d2a4141101bdfe48e3314cfbca3">UNDEFINED</a>)</div>
+<div class="line"><a id="l01003" name="l01003"></a><span class="lineno"> 1003</span>            , <a class="code hl_variable" href="structbno08x__stability__classifier__t.html#aa1eeb8deb186589ae21cbd1b96747bf7">accuracy</a>(<a class="code hl_enumeration" href="_b_n_o08x_global_types_8hpp.html#a6bdf6fea6d671c12413d95f36a3e7ba6">BNO08xAccuracy</a>::<a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#afed71c9ed8a8563767f26282408ccee2a0db45d2a4141101bdfe48e3314cfbca3">UNDEFINED</a>)</div>
+<div class="line"><a id="l01004" name="l01004"></a><span class="lineno"> 1004</span>        {</div>
+<div class="line"><a id="l01005" name="l01005"></a><span class="lineno"> 1005</span>        }</div>
+<div class="line"><a id="l01006" name="l01006"></a><span class="lineno"> 1006</span> </div>
+<div class="line"><a id="l01007" name="l01007"></a><span class="lineno"> 1007</span>        <span class="comment">// conversion from sh2_StabilityClassifier_t</span></div>
+<div class="line"><a id="l01008" name="l01008"></a><span class="lineno"><a class="line" href="structbno08x__stability__classifier__t.html#aff4d78a7c01ef13ae001bb185f825151"> 1008</a></span>        <a class="code hl_struct" href="structbno08x__stability__classifier__t.html">bno08x_stability_classifier_t</a>&amp; <a class="code hl_function" href="structbno08x__stability__classifier__t.html#aff4d78a7c01ef13ae001bb185f825151">operator=</a>(<span class="keyword">const</span> sh2_StabilityClassifier_t&amp; source)</div>
+<div class="line"><a id="l01009" name="l01009"></a><span class="lineno"> 1009</span>        {</div>
+<div class="line"><a id="l01010" name="l01010"></a><span class="lineno"> 1010</span>            this-&gt;stability = <span class="keyword">static_cast&lt;</span><a class="code hl_enumeration" href="_b_n_o08x_global_types_8hpp.html#a22d72f675aad7af764e685f91b29f4cb">BNO08xStability</a><span class="keyword">&gt;</span>(source.classification);</div>
+<div class="line"><a id="l01011" name="l01011"></a><span class="lineno"> 1011</span>            <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
+<div class="line"><a id="l01012" name="l01012"></a><span class="lineno"> 1012</span>        }</div>
+<div class="line"><a id="l01013" name="l01013"></a><span class="lineno"> 1013</span> </div>
+<div class="line"><a id="l01014" name="l01014"></a><span class="lineno"><a class="line" href="_b_n_o08x_global_types_8hpp.html#a9f0440c67ec56fafcd25a24bf36f842f"> 1014</a></span>} <a class="code hl_typedef" href="_b_n_o08x_global_types_8hpp.html#a9f0440c67ec56fafcd25a24bf36f842f">bno08x_stability_classifier_t</a>;</div>
+<div class="line"><a id="l01015" name="l01015"></a><span class="lineno"> 1015</span> </div>
+<div class="line"><a id="l01017" name="l01017"></a><span class="lineno"><a class="line" href="structbno08x__sample__counts__t.html"> 1017</a></span><span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code hl_struct" href="structbno08x__sample__counts__t.html">bno08x_sample_counts_t</a></div>
+<div class="line"><a id="l01018" name="l01018"></a><span class="lineno"> 1018</span>{</div>
+<div class="line"><a id="l01019" name="l01019"></a><span class="lineno"><a class="line" href="structbno08x__sample__counts__t.html#aae4244c540f8411246032f1e69125b75"> 1019</a></span>        uint32_t <a class="code hl_variable" href="structbno08x__sample__counts__t.html#aae4244c540f8411246032f1e69125b75">offered</a>;  </div>
+<div class="line"><a id="l01020" name="l01020"></a><span class="lineno"><a class="line" href="structbno08x__sample__counts__t.html#a055f3d8ff138c7da4a79d4a6fb2af9b9"> 1020</a></span>        uint32_t <a class="code hl_variable" href="structbno08x__sample__counts__t.html#a055f3d8ff138c7da4a79d4a6fb2af9b9">on</a>;       </div>
+<div class="line"><a id="l01021" name="l01021"></a><span class="lineno"><a class="line" href="structbno08x__sample__counts__t.html#a2ab3e0999a5e668833eb8dbab6d1f036"> 1021</a></span>        uint32_t <a class="code hl_variable" href="structbno08x__sample__counts__t.html#a2ab3e0999a5e668833eb8dbab6d1f036">accepted</a>; </div>
+<div class="line"><a id="l01022" name="l01022"></a><span class="lineno"> 1022</span>        uint32_t</div>
+<div class="line"><a id="l01023" name="l01023"></a><span class="lineno"><a class="line" href="structbno08x__sample__counts__t.html#a8d03182919cce138cfda97c3ff5700b2"> 1023</a></span>                <a class="code hl_variable" href="structbno08x__sample__counts__t.html#a8d03182919cce138cfda97c3ff5700b2">attempted</a>; </div>
+<div class="line"><a id="l01024" name="l01024"></a><span class="lineno"> 1024</span> </div>
+<div class="line"><a id="l01025" name="l01025"></a><span class="lineno"><a class="line" href="structbno08x__sample__counts__t.html#abd1eccfac205719fd1c5aed25fee1fec"> 1025</a></span>        <a class="code hl_function" href="structbno08x__sample__counts__t.html#abd1eccfac205719fd1c5aed25fee1fec">bno08x_sample_counts_t</a>()</div>
+<div class="line"><a id="l01026" name="l01026"></a><span class="lineno"> 1026</span>            : <a class="code hl_variable" href="structbno08x__sample__counts__t.html#aae4244c540f8411246032f1e69125b75">offered</a>(0UL)</div>
+<div class="line"><a id="l01027" name="l01027"></a><span class="lineno"> 1027</span>            , <a class="code hl_variable" href="structbno08x__sample__counts__t.html#a055f3d8ff138c7da4a79d4a6fb2af9b9">on</a>(0UL)</div>
+<div class="line"><a id="l01028" name="l01028"></a><span class="lineno"> 1028</span>            , <a class="code hl_variable" href="structbno08x__sample__counts__t.html#a2ab3e0999a5e668833eb8dbab6d1f036">accepted</a>(0UL)</div>
+<div class="line"><a id="l01029" name="l01029"></a><span class="lineno"> 1029</span>            , <a class="code hl_variable" href="structbno08x__sample__counts__t.html#a8d03182919cce138cfda97c3ff5700b2">attempted</a>(0UL)</div>
+<div class="line"><a id="l01030" name="l01030"></a><span class="lineno"> 1030</span>        {</div>
+<div class="line"><a id="l01031" name="l01031"></a><span class="lineno"> 1031</span>        }</div>
+<div class="line"><a id="l01032" name="l01032"></a><span class="lineno"> 1032</span> </div>
+<div class="line"><a id="l01033" name="l01033"></a><span class="lineno"> 1033</span>        <span class="comment">// conversion from sh2_PersonalActivityClassifier_t</span></div>
+<div class="line"><a id="l01034" name="l01034"></a><span class="lineno"><a class="line" href="structbno08x__sample__counts__t.html#af9e52b9fe15c78bd8b2ef3cc5af66a13"> 1034</a></span>        <a class="code hl_struct" href="structbno08x__sample__counts__t.html">bno08x_sample_counts_t</a>&amp; <a class="code hl_function" href="structbno08x__sample__counts__t.html#af9e52b9fe15c78bd8b2ef3cc5af66a13">operator=</a>(<span class="keyword">const</span> sh2_Counts_t&amp; source)</div>
+<div class="line"><a id="l01035" name="l01035"></a><span class="lineno"> 1035</span>        {</div>
+<div class="line"><a id="l01036" name="l01036"></a><span class="lineno"> 1036</span>            this-&gt;offered = source.<a class="code hl_variable" href="structbno08x__sample__counts__t.html#aae4244c540f8411246032f1e69125b75">offered</a>;</div>
+<div class="line"><a id="l01037" name="l01037"></a><span class="lineno"> 1037</span>            this-&gt;on = source.on;</div>
+<div class="line"><a id="l01038" name="l01038"></a><span class="lineno"> 1038</span>            this-&gt;accepted = source.accepted;</div>
+<div class="line"><a id="l01039" name="l01039"></a><span class="lineno"> 1039</span>            this-&gt;<a class="code hl_variable" href="structbno08x__sample__counts__t.html#a8d03182919cce138cfda97c3ff5700b2">attempted</a> = source.attempted;</div>
+<div class="line"><a id="l01040" name="l01040"></a><span class="lineno"> 1040</span> </div>
+<div class="line"><a id="l01041" name="l01041"></a><span class="lineno"> 1041</span>            <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
+<div class="line"><a id="l01042" name="l01042"></a><span class="lineno"> 1042</span>        }</div>
+<div class="line"><a id="l01043" name="l01043"></a><span class="lineno"><a class="line" href="_b_n_o08x_global_types_8hpp.html#afceb7f957002d3e024d4971963ecfa20"> 1043</a></span>} <a class="code hl_typedef" href="_b_n_o08x_global_types_8hpp.html#afceb7f957002d3e024d4971963ecfa20">bno08x_sample_counts_t</a>;</div>
+<div class="line"><a id="l01044" name="l01044"></a><span class="lineno"> 1044</span> </div>
+<div class="line"><a id="l01046" name="l01046"></a><span class="lineno"><a class="line" href="structbno08x__meta__data__t.html"> 1046</a></span><span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code hl_struct" href="structbno08x__meta__data__t.html">bno08x_meta_data_t</a></div>
+<div class="line"><a id="l01047" name="l01047"></a><span class="lineno"> 1047</span>{</div>
+<div class="line"><a id="l01048" name="l01048"></a><span class="lineno"><a class="line" href="structbno08x__meta__data__t.html#a51e1f028175bf00c880cc2dfd4e05412"> 1048</a></span>        <span class="keywordtype">char</span> <a class="code hl_variable" href="structbno08x__meta__data__t.html#a51e1f028175bf00c880cc2dfd4e05412">vendor_ID</a>[48];           </div>
+<div class="line"><a id="l01049" name="l01049"></a><span class="lineno"><a class="line" href="structbno08x__meta__data__t.html#a4134971e13a6242102facae308588072"> 1049</a></span>        uint8_t <a class="code hl_variable" href="structbno08x__meta__data__t.html#a4134971e13a6242102facae308588072">sensor_specific</a>[48];  </div>
+<div class="line"><a id="l01050" name="l01050"></a><span class="lineno"><a class="line" href="structbno08x__meta__data__t.html#a0efefbb8c4614bd3e81094f25909cc14"> 1050</a></span>        uint32_t <a class="code hl_variable" href="structbno08x__meta__data__t.html#a0efefbb8c4614bd3e81094f25909cc14">vendor_id_len</a>;       </div>
+<div class="line"><a id="l01051" name="l01051"></a><span class="lineno"><a class="line" href="structbno08x__meta__data__t.html#abaa4829463c424c9959d594027ce7ba2"> 1051</a></span>        uint32_t <a class="code hl_variable" href="structbno08x__meta__data__t.html#abaa4829463c424c9959d594027ce7ba2">sensor_specific_len</a>; </div>
+<div class="line"><a id="l01052" name="l01052"></a><span class="lineno"><a class="line" href="structbno08x__meta__data__t.html#a58edad7613b5b2c6e7afd0233106b09f"> 1052</a></span>        uint32_t <a class="code hl_variable" href="structbno08x__meta__data__t.html#a58edad7613b5b2c6e7afd0233106b09f">range</a>;               </div>
+<div class="line"><a id="l01053" name="l01053"></a><span class="lineno"><a class="line" href="structbno08x__meta__data__t.html#a7683b54fbe7ae8ec15b8f880d17a5a46"> 1053</a></span>        uint32_t <a class="code hl_variable" href="structbno08x__meta__data__t.html#a7683b54fbe7ae8ec15b8f880d17a5a46">resolution</a>;          </div>
+<div class="line"><a id="l01054" name="l01054"></a><span class="lineno"><a class="line" href="structbno08x__meta__data__t.html#a5384c14c55c8f156ea18a0cc81a2e6fc"> 1054</a></span>        uint32_t <a class="code hl_variable" href="structbno08x__meta__data__t.html#a5384c14c55c8f156ea18a0cc81a2e6fc">min_period_us</a>;       </div>
+<div class="line"><a id="l01055" name="l01055"></a><span class="lineno"><a class="line" href="structbno08x__meta__data__t.html#a3e4ff48e389db8b0643259f9af8c0006"> 1055</a></span>        uint32_t <a class="code hl_variable" href="structbno08x__meta__data__t.html#a3e4ff48e389db8b0643259f9af8c0006">max_period_us</a>;       </div>
+<div class="line"><a id="l01056" name="l01056"></a><span class="lineno"><a class="line" href="structbno08x__meta__data__t.html#a32f6c907d10794a2b64784c4bbe09723"> 1056</a></span>        uint32_t <a class="code hl_variable" href="structbno08x__meta__data__t.html#a32f6c907d10794a2b64784c4bbe09723">fifo_reserved</a>;       </div>
+<div class="line"><a id="l01057" name="l01057"></a><span class="lineno"><a class="line" href="structbno08x__meta__data__t.html#a94c6f70957ab28cde8d41fdbd2f39496"> 1057</a></span>        uint32_t <a class="code hl_variable" href="structbno08x__meta__data__t.html#a94c6f70957ab28cde8d41fdbd2f39496">fifo_max</a>;            </div>
+<div class="line"><a id="l01058" name="l01058"></a><span class="lineno"><a class="line" href="structbno08x__meta__data__t.html#ac493692919e552ca32e6c87b4623ccd2"> 1058</a></span>        uint32_t <a class="code hl_variable" href="structbno08x__meta__data__t.html#ac493692919e552ca32e6c87b4623ccd2">batch_buffer_bytes</a>;  </div>
+<div class="line"><a id="l01059" name="l01059"></a><span class="lineno"><a class="line" href="structbno08x__meta__data__t.html#a31816ac79605b829e7304973d61f7d98"> 1059</a></span>        uint16_t <a class="code hl_variable" href="structbno08x__meta__data__t.html#a31816ac79605b829e7304973d61f7d98">revision</a>;            </div>
+<div class="line"><a id="l01060" name="l01060"></a><span class="lineno"><a class="line" href="structbno08x__meta__data__t.html#ac4297b1db8065c9ad38b6100abda92c1"> 1060</a></span>        uint16_t <a class="code hl_variable" href="structbno08x__meta__data__t.html#ac4297b1db8065c9ad38b6100abda92c1">power_mA</a>;            </div>
+<div class="line"><a id="l01061" name="l01061"></a><span class="lineno"><a class="line" href="structbno08x__meta__data__t.html#a1e0a5907ac8d8dd0325cf8830aa5bd66"> 1061</a></span>        uint16_t <a class="code hl_variable" href="structbno08x__meta__data__t.html#a1e0a5907ac8d8dd0325cf8830aa5bd66">q_point_1</a>;           </div>
+<div class="line"><a id="l01062" name="l01062"></a><span class="lineno"><a class="line" href="structbno08x__meta__data__t.html#a09ad38c35e9cd63d4c333f851d5e01e7"> 1062</a></span>        uint16_t <a class="code hl_variable" href="structbno08x__meta__data__t.html#a09ad38c35e9cd63d4c333f851d5e01e7">q_point_2</a>;           </div>
+<div class="line"><a id="l01063" name="l01063"></a><span class="lineno"><a class="line" href="structbno08x__meta__data__t.html#a29cb20721b8dda2c65c6b2b4dfad6551"> 1063</a></span>        uint16_t <a class="code hl_variable" href="structbno08x__meta__data__t.html#a29cb20721b8dda2c65c6b2b4dfad6551">q_point_3</a>;           </div>
+<div class="line"><a id="l01064" name="l01064"></a><span class="lineno"><a class="line" href="structbno08x__meta__data__t.html#a659afd22d089c9414ef865350c895d3e"> 1064</a></span>        uint8_t <a class="code hl_variable" href="structbno08x__meta__data__t.html#a659afd22d089c9414ef865350c895d3e">me_version</a>;           </div>
+<div class="line"><a id="l01065" name="l01065"></a><span class="lineno"><a class="line" href="structbno08x__meta__data__t.html#a5883b0fdc28d754f3fff570ca29e3b3e"> 1065</a></span>        uint8_t <a class="code hl_variable" href="structbno08x__meta__data__t.html#a5883b0fdc28d754f3fff570ca29e3b3e">mh_version</a>;           </div>
+<div class="line"><a id="l01066" name="l01066"></a><span class="lineno"><a class="line" href="structbno08x__meta__data__t.html#a672da8b56be3269bae22c9e0e5424719"> 1066</a></span>        uint8_t <a class="code hl_variable" href="structbno08x__meta__data__t.html#a672da8b56be3269bae22c9e0e5424719">sh_version</a>;           </div>
+<div class="line"><a id="l01067" name="l01067"></a><span class="lineno"> 1067</span>        </div>
+<div class="line"><a id="l01068" name="l01068"></a><span class="lineno"> 1068</span> </div>
+<div class="line"><a id="l01069" name="l01069"></a><span class="lineno"> 1069</span>        <span class="comment">// Default constructor</span></div>
+<div class="line"><a id="l01070" name="l01070"></a><span class="lineno"><a class="line" href="structbno08x__meta__data__t.html#a3e22f63db62812b5aeeb873553f378c4"> 1070</a></span>        <a class="code hl_function" href="structbno08x__meta__data__t.html#a3e22f63db62812b5aeeb873553f378c4">bno08x_meta_data_t</a>()</div>
+<div class="line"><a id="l01071" name="l01071"></a><span class="lineno"> 1071</span>            : <a class="code hl_variable" href="structbno08x__meta__data__t.html#a51e1f028175bf00c880cc2dfd4e05412">vendor_ID</a>({})</div>
+<div class="line"><a id="l01072" name="l01072"></a><span class="lineno"> 1072</span>            , <a class="code hl_variable" href="structbno08x__meta__data__t.html#a4134971e13a6242102facae308588072">sensor_specific</a>({})</div>
+<div class="line"><a id="l01073" name="l01073"></a><span class="lineno"> 1073</span>            , <a class="code hl_variable" href="structbno08x__meta__data__t.html#a0efefbb8c4614bd3e81094f25909cc14">vendor_id_len</a>(0)</div>
+<div class="line"><a id="l01074" name="l01074"></a><span class="lineno"> 1074</span>            , <a class="code hl_variable" href="structbno08x__meta__data__t.html#abaa4829463c424c9959d594027ce7ba2">sensor_specific_len</a>(0)</div>
+<div class="line"><a id="l01075" name="l01075"></a><span class="lineno"> 1075</span>            , <a class="code hl_variable" href="structbno08x__meta__data__t.html#a58edad7613b5b2c6e7afd0233106b09f">range</a>(0)</div>
+<div class="line"><a id="l01076" name="l01076"></a><span class="lineno"> 1076</span>            , <a class="code hl_variable" href="structbno08x__meta__data__t.html#a7683b54fbe7ae8ec15b8f880d17a5a46">resolution</a>(0)</div>
+<div class="line"><a id="l01077" name="l01077"></a><span class="lineno"> 1077</span>            , <a class="code hl_variable" href="structbno08x__meta__data__t.html#a5384c14c55c8f156ea18a0cc81a2e6fc">min_period_us</a>(0)</div>
+<div class="line"><a id="l01078" name="l01078"></a><span class="lineno"> 1078</span>            , <a class="code hl_variable" href="structbno08x__meta__data__t.html#a3e4ff48e389db8b0643259f9af8c0006">max_period_us</a>(0)</div>
+<div class="line"><a id="l01079" name="l01079"></a><span class="lineno"> 1079</span>            , <a class="code hl_variable" href="structbno08x__meta__data__t.html#a32f6c907d10794a2b64784c4bbe09723">fifo_reserved</a>(0)</div>
+<div class="line"><a id="l01080" name="l01080"></a><span class="lineno"> 1080</span>            , <a class="code hl_variable" href="structbno08x__meta__data__t.html#a94c6f70957ab28cde8d41fdbd2f39496">fifo_max</a>(0)</div>
+<div class="line"><a id="l01081" name="l01081"></a><span class="lineno"> 1081</span>            , <a class="code hl_variable" href="structbno08x__meta__data__t.html#ac493692919e552ca32e6c87b4623ccd2">batch_buffer_bytes</a>(0)</div>
+<div class="line"><a id="l01082" name="l01082"></a><span class="lineno"> 1082</span>            , <a class="code hl_variable" href="structbno08x__meta__data__t.html#a31816ac79605b829e7304973d61f7d98">revision</a>(0)</div>
+<div class="line"><a id="l01083" name="l01083"></a><span class="lineno"> 1083</span>            , <a class="code hl_variable" href="structbno08x__meta__data__t.html#ac4297b1db8065c9ad38b6100abda92c1">power_mA</a>(0)</div>
+<div class="line"><a id="l01084" name="l01084"></a><span class="lineno"> 1084</span>            , <a class="code hl_variable" href="structbno08x__meta__data__t.html#a1e0a5907ac8d8dd0325cf8830aa5bd66">q_point_1</a>(0)</div>
+<div class="line"><a id="l01085" name="l01085"></a><span class="lineno"> 1085</span>            , <a class="code hl_variable" href="structbno08x__meta__data__t.html#a09ad38c35e9cd63d4c333f851d5e01e7">q_point_2</a>(0)</div>
+<div class="line"><a id="l01086" name="l01086"></a><span class="lineno"> 1086</span>            , <a class="code hl_variable" href="structbno08x__meta__data__t.html#a29cb20721b8dda2c65c6b2b4dfad6551">q_point_3</a>(0)</div>
+<div class="line"><a id="l01087" name="l01087"></a><span class="lineno"> 1087</span>            , <a class="code hl_variable" href="structbno08x__meta__data__t.html#a659afd22d089c9414ef865350c895d3e">me_version</a>(0)</div>
+<div class="line"><a id="l01088" name="l01088"></a><span class="lineno"> 1088</span>            , <a class="code hl_variable" href="structbno08x__meta__data__t.html#a5883b0fdc28d754f3fff570ca29e3b3e">mh_version</a>(0)</div>
+<div class="line"><a id="l01089" name="l01089"></a><span class="lineno"> 1089</span>            , <a class="code hl_variable" href="structbno08x__meta__data__t.html#a672da8b56be3269bae22c9e0e5424719">sh_version</a>(0)</div>
+<div class="line"><a id="l01090" name="l01090"></a><span class="lineno"> 1090</span>        {</div>
+<div class="line"><a id="l01091" name="l01091"></a><span class="lineno"> 1091</span>            memset(<a class="code hl_variable" href="structbno08x__meta__data__t.html#a51e1f028175bf00c880cc2dfd4e05412">vendor_ID</a>, 0, <span class="keyword">sizeof</span>(<a class="code hl_variable" href="structbno08x__meta__data__t.html#a51e1f028175bf00c880cc2dfd4e05412">vendor_ID</a>));</div>
+<div class="line"><a id="l01092" name="l01092"></a><span class="lineno"> 1092</span>            memset(<a class="code hl_variable" href="structbno08x__meta__data__t.html#a4134971e13a6242102facae308588072">sensor_specific</a>, 0, <span class="keyword">sizeof</span>(<a class="code hl_variable" href="structbno08x__meta__data__t.html#a4134971e13a6242102facae308588072">sensor_specific</a>));</div>
+<div class="line"><a id="l01093" name="l01093"></a><span class="lineno"> 1093</span>        }</div>
+<div class="line"><a id="l01094" name="l01094"></a><span class="lineno"> 1094</span> </div>
+<div class="line"><a id="l01095" name="l01095"></a><span class="lineno"> 1095</span>        <span class="comment">// Conversion constructor from sh2_SensorMetadata_t</span></div>
+<div class="line"><a id="l01096" name="l01096"></a><span class="lineno"><a class="line" href="structbno08x__meta__data__t.html#a549c5e42da7cf07c6ec28ce69548b1d8"> 1096</a></span>        <a class="code hl_function" href="structbno08x__meta__data__t.html#a549c5e42da7cf07c6ec28ce69548b1d8">bno08x_meta_data_t</a>(<span class="keyword">const</span> sh2_SensorMetadata_t&amp; src)</div>
+<div class="line"><a id="l01097" name="l01097"></a><span class="lineno"> 1097</span>        {</div>
+<div class="line"><a id="l01098" name="l01098"></a><span class="lineno"> 1098</span>            <a class="code hl_variable" href="structbno08x__meta__data__t.html#a659afd22d089c9414ef865350c895d3e">me_version</a> = src.meVersion;</div>
+<div class="line"><a id="l01099" name="l01099"></a><span class="lineno"> 1099</span>            <a class="code hl_variable" href="structbno08x__meta__data__t.html#a5883b0fdc28d754f3fff570ca29e3b3e">mh_version</a> = src.mhVersion;</div>
+<div class="line"><a id="l01100" name="l01100"></a><span class="lineno"> 1100</span>            <a class="code hl_variable" href="structbno08x__meta__data__t.html#a672da8b56be3269bae22c9e0e5424719">sh_version</a> = src.shVersion;</div>
+<div class="line"><a id="l01101" name="l01101"></a><span class="lineno"> 1101</span>            <a class="code hl_variable" href="structbno08x__meta__data__t.html#a58edad7613b5b2c6e7afd0233106b09f">range</a> = src.range;</div>
+<div class="line"><a id="l01102" name="l01102"></a><span class="lineno"> 1102</span>            <a class="code hl_variable" href="structbno08x__meta__data__t.html#a7683b54fbe7ae8ec15b8f880d17a5a46">resolution</a> = src.resolution;</div>
+<div class="line"><a id="l01103" name="l01103"></a><span class="lineno"> 1103</span>            <a class="code hl_variable" href="structbno08x__meta__data__t.html#a31816ac79605b829e7304973d61f7d98">revision</a> = src.revision;</div>
+<div class="line"><a id="l01104" name="l01104"></a><span class="lineno"> 1104</span>            <a class="code hl_variable" href="structbno08x__meta__data__t.html#ac4297b1db8065c9ad38b6100abda92c1">power_mA</a> = src.power_mA;</div>
+<div class="line"><a id="l01105" name="l01105"></a><span class="lineno"> 1105</span>            <a class="code hl_variable" href="structbno08x__meta__data__t.html#a5384c14c55c8f156ea18a0cc81a2e6fc">min_period_us</a> = src.minPeriod_uS;</div>
+<div class="line"><a id="l01106" name="l01106"></a><span class="lineno"> 1106</span>            <a class="code hl_variable" href="structbno08x__meta__data__t.html#a3e4ff48e389db8b0643259f9af8c0006">max_period_us</a> = src.maxPeriod_uS;</div>
+<div class="line"><a id="l01107" name="l01107"></a><span class="lineno"> 1107</span>            <a class="code hl_variable" href="structbno08x__meta__data__t.html#a32f6c907d10794a2b64784c4bbe09723">fifo_reserved</a> = src.fifoReserved;</div>
+<div class="line"><a id="l01108" name="l01108"></a><span class="lineno"> 1108</span>            <a class="code hl_variable" href="structbno08x__meta__data__t.html#a94c6f70957ab28cde8d41fdbd2f39496">fifo_max</a> = src.fifoMax;</div>
+<div class="line"><a id="l01109" name="l01109"></a><span class="lineno"> 1109</span>            <a class="code hl_variable" href="structbno08x__meta__data__t.html#ac493692919e552ca32e6c87b4623ccd2">batch_buffer_bytes</a> = src.batchBufferBytes;</div>
+<div class="line"><a id="l01110" name="l01110"></a><span class="lineno"> 1110</span>            <a class="code hl_variable" href="structbno08x__meta__data__t.html#a1e0a5907ac8d8dd0325cf8830aa5bd66">q_point_1</a> = src.qPoint1;</div>
+<div class="line"><a id="l01111" name="l01111"></a><span class="lineno"> 1111</span>            <a class="code hl_variable" href="structbno08x__meta__data__t.html#a09ad38c35e9cd63d4c333f851d5e01e7">q_point_2</a> = src.qPoint2;</div>
+<div class="line"><a id="l01112" name="l01112"></a><span class="lineno"> 1112</span>            <a class="code hl_variable" href="structbno08x__meta__data__t.html#a29cb20721b8dda2c65c6b2b4dfad6551">q_point_3</a> = src.qPoint3;</div>
+<div class="line"><a id="l01113" name="l01113"></a><span class="lineno"> 1113</span>            <a class="code hl_variable" href="structbno08x__meta__data__t.html#a0efefbb8c4614bd3e81094f25909cc14">vendor_id_len</a> = src.vendorIdLen;</div>
+<div class="line"><a id="l01114" name="l01114"></a><span class="lineno"> 1114</span>            <a class="code hl_variable" href="structbno08x__meta__data__t.html#abaa4829463c424c9959d594027ce7ba2">sensor_specific_len</a> = src.sensorSpecificLen;</div>
+<div class="line"><a id="l01115" name="l01115"></a><span class="lineno"> 1115</span>            memcpy(<a class="code hl_variable" href="structbno08x__meta__data__t.html#a51e1f028175bf00c880cc2dfd4e05412">vendor_ID</a>, src.vendorId, <a class="code hl_variable" href="structbno08x__meta__data__t.html#a0efefbb8c4614bd3e81094f25909cc14">vendor_id_len</a>);</div>
+<div class="line"><a id="l01116" name="l01116"></a><span class="lineno"> 1116</span>            memcpy(<a class="code hl_variable" href="structbno08x__meta__data__t.html#a4134971e13a6242102facae308588072">sensor_specific</a>, src.sensorSpecific, <a class="code hl_variable" href="structbno08x__meta__data__t.html#abaa4829463c424c9959d594027ce7ba2">sensor_specific_len</a>);</div>
+<div class="line"><a id="l01117" name="l01117"></a><span class="lineno"> 1117</span>        }</div>
+<div class="line"><a id="l01118" name="l01118"></a><span class="lineno"><a class="line" href="_b_n_o08x_global_types_8hpp.html#a1145e5dfd14e96bd70c6e73af017b548"> 1118</a></span>} <a class="code hl_typedef" href="_b_n_o08x_global_types_8hpp.html#a1145e5dfd14e96bd70c6e73af017b548">bno08x_meta_data_t</a>;</div>
+<div class="line"><a id="l01119" name="l01119"></a><span class="lineno"> 1119</span> </div>
+<div class="line"><a id="l01120" name="l01120"></a><span class="lineno"> 1120</span><span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint8_t TOTAL_RPT_COUNT = 38; </div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a023aa826dbf083e2a6d2d67beba75b27"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a023aa826dbf083e2a6d2d67beba75b27">SHAKE_DETECTED_Y</a></div><div class="ttdeci">#define SHAKE_DETECTED_Y(tap)</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:19</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a042702b50b2a3617c517cd601e9d7ead"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a042702b50b2a3617c517cd601e9d7ead">BNO08xActivity_to_str</a></div><div class="ttdeci">const constexpr char * BNO08xActivity_to_str(BNO08xActivity activity)</div><div class="ttdoc">Converts a BNO08xActivity enum to string.</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:170</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a0c22a2a9fede695256dfaa4703497a2e"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a0c22a2a9fede695256dfaa4703497a2e">bno08x_accel_t</a></div><div class="ttdeci">struct bno08x_accel_t bno08x_accel_t</div><div class="ttdoc">Struct to represent acceleration data from acceleration, linear acceleration, and gravity reports.</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a0c7367913526c0d634c5f8f5365a55b4"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a0c7367913526c0d634c5f8f5365a55b4">bno08x_quat_t</a></div><div class="ttdeci">struct bno08x_quat_t bno08x_quat_t</div><div class="ttdoc">Struct to represent unit quaternion.</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a1145e5dfd14e96bd70c6e73af017b548"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a1145e5dfd14e96bd70c6e73af017b548">bno08x_meta_data_t</a></div><div class="ttdeci">struct bno08x_meta_data_t bno08x_meta_data_t</div><div class="ttdoc">Struct to represent sensor/report meta data, returned from BNO08xRpt::get_meta_data()</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a22d72f675aad7af764e685f91b29f4cb"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a22d72f675aad7af764e685f91b29f4cb">BNO08xStability</a></div><div class="ttdeci">BNO08xStability</div><div class="ttdoc">BNO08xStability states returned from BNO08x::stability_classifier.get()</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:201</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a22d72f675aad7af764e685f91b29f4cba0db45d2a4141101bdfe48e3314cfbca3"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a22d72f675aad7af764e685f91b29f4cba0db45d2a4141101bdfe48e3314cfbca3">BNO08xStability::UNDEFINED</a></div><div class="ttdeci">@ UNDEFINED</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a22d72f675aad7af764e685f91b29f4cba32987cdf8a725702042ab18f5c700905"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a22d72f675aad7af764e685f91b29f4cba32987cdf8a725702042ab18f5c700905">BNO08xStability::STABLE</a></div><div class="ttdeci">@ STABLE</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a22d72f675aad7af764e685f91b29f4cba4120eb7591bd0789af75a8973d5f9146"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a22d72f675aad7af764e685f91b29f4cba4120eb7591bd0789af75a8973d5f9146">BNO08xStability::STATIONARY</a></div><div class="ttdeci">@ STATIONARY</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a22d72f675aad7af764e685f91b29f4cba696b031073e74bf2cb98e5ef201d4aa3"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a22d72f675aad7af764e685f91b29f4cba696b031073e74bf2cb98e5ef201d4aa3">BNO08xStability::UNKNOWN</a></div><div class="ttdeci">@ UNKNOWN</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a22d72f675aad7af764e685f91b29f4cba71149a62cd9fec4756e3538d1754486a"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a22d72f675aad7af764e685f91b29f4cba71149a62cd9fec4756e3538d1754486a">BNO08xStability::ON_TABLE</a></div><div class="ttdeci">@ ON_TABLE</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a22d72f675aad7af764e685f91b29f4cba83c7f2aa8c3ac10ed8beb75cad162827"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a22d72f675aad7af764e685f91b29f4cba83c7f2aa8c3ac10ed8beb75cad162827">BNO08xStability::RESERVED</a></div><div class="ttdeci">@ RESERVED</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a22d72f675aad7af764e685f91b29f4cbaf96e6ea7a7375bd60bad3f3caae3cf27"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a22d72f675aad7af764e685f91b29f4cbaf96e6ea7a7375bd60bad3f3caae3cf27">BNO08xStability::MOTION</a></div><div class="ttdeci">@ MOTION</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a25947bbe6bc4a7c9edd7067fdce0e9cc"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a25947bbe6bc4a7c9edd7067fdce0e9cc">BNO08xCalSel</a></div><div class="ttdeci">BNO08xCalSel</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:84</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a25947bbe6bc4a7c9edd7067fdce0e9cca0e1275697d4c40b4b0640fbfa3907afa"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a25947bbe6bc4a7c9edd7067fdce0e9cca0e1275697d4c40b4b0640fbfa3907afa">BNO08xCalSel::accelerometer</a></div><div class="ttdeci">@ accelerometer</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a25947bbe6bc4a7c9edd7067fdce0e9cca2c8af00d544b080d3c0d834d1c5dfcbf"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a25947bbe6bc4a7c9edd7067fdce0e9cca2c8af00d544b080d3c0d834d1c5dfcbf">BNO08xCalSel::magnetometer</a></div><div class="ttdeci">@ magnetometer</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a25947bbe6bc4a7c9edd7067fdce0e9cca41e1db589d90cecf09838a038ebc8aa1"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a25947bbe6bc4a7c9edd7067fdce0e9cca41e1db589d90cecf09838a038ebc8aa1">BNO08xCalSel::gyro</a></div><div class="ttdeci">@ gyro</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a25947bbe6bc4a7c9edd7067fdce0e9ccaa181a603769c1f98ad927e7367c7aa51"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a25947bbe6bc4a7c9edd7067fdce0e9ccaa181a603769c1f98ad927e7367c7aa51">BNO08xCalSel::all</a></div><div class="ttdeci">@ all</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a25947bbe6bc4a7c9edd7067fdce0e9ccafcaab1f4c98b7343157c3c59c6a259cb"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a25947bbe6bc4a7c9edd7067fdce0e9ccafcaab1f4c98b7343157c3c59c6a259cb">BNO08xCalSel::planar_accelerometer</a></div><div class="ttdeci">@ planar_accelerometer</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a2babea2516c7c91039316693fc23a8c1"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a2babea2516c7c91039316693fc23a8c1">bno08x_ang_vel_t</a></div><div class="ttdeci">struct bno08x_ang_vel_t bno08x_ang_vel_t</div><div class="ttdoc">Struct to represent angular velocity (units in rad/s)</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a356ec3a53c785965e8dd24381a3bdcd7"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a356ec3a53c785965e8dd24381a3bdcd7">TAP_DETECTED_Y_AXIS_POSITIVE</a></div><div class="ttdeci">#define TAP_DETECTED_Y_AXIS_POSITIVE(tap)</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:12</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a3d6e56080638d872486935323f393ab7"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a3d6e56080638d872486935323f393ab7">bno08x_magf_bias_t</a></div><div class="ttdeci">struct bno08x_magf_bias_t bno08x_magf_bias_t</div><div class="ttdoc">Struct to represent magnetic field bias data (units in uTesla)</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a3e205d9599aa01b7946d1ed1cbb7f1c4"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a3e205d9599aa01b7946d1ed1cbb7f1c4">bno08x_raw_gyro_t</a></div><div class="ttdeci">struct bno08x_raw_gyro_t bno08x_raw_gyro_t</div><div class="ttdoc">Struct to represent raw mems gyro data from raw gyro reports (units in ADC counts).</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a429f861977153379e28e8f3710330b45"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a429f861977153379e28e8f3710330b45">bno08x_magf_t</a></div><div class="ttdeci">struct bno08x_magf_t bno08x_magf_t</div><div class="ttdoc">Struct to represent magnetic field data (units in uTesla)</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a43d66cdccf17ba0cddcdddc72d4fb97d"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a43d66cdccf17ba0cddcdddc72d4fb97d">BNO08xActivity</a></div><div class="ttdeci">BNO08xActivity</div><div class="ttdoc">BNO08xActivity states returned from BNO08x::activity_classifier.get()</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:152</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a43d66cdccf17ba0cddcdddc72d4fb97da0db45d2a4141101bdfe48e3314cfbca3"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a43d66cdccf17ba0cddcdddc72d4fb97da0db45d2a4141101bdfe48e3314cfbca3">BNO08xActivity::UNDEFINED</a></div><div class="ttdeci">@ UNDEFINED</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a43d66cdccf17ba0cddcdddc72d4fb97da43491564ebcfd38568918efbd6e840fd"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a43d66cdccf17ba0cddcdddc72d4fb97da43491564ebcfd38568918efbd6e840fd">BNO08xActivity::RUNNING</a></div><div class="ttdeci">@ RUNNING</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a43d66cdccf17ba0cddcdddc72d4fb97da606c114184493a665cf1f6a12fbab9d3"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a43d66cdccf17ba0cddcdddc72d4fb97da606c114184493a665cf1f6a12fbab9d3">BNO08xActivity::WALKING</a></div><div class="ttdeci">@ WALKING</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a43d66cdccf17ba0cddcdddc72d4fb97da696b031073e74bf2cb98e5ef201d4aa3"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a43d66cdccf17ba0cddcdddc72d4fb97da696b031073e74bf2cb98e5ef201d4aa3">BNO08xActivity::UNKNOWN</a></div><div class="ttdeci">@ UNKNOWN</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a43d66cdccf17ba0cddcdddc72d4fb97da69909b62e08f212da31719aebf67b70c"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a43d66cdccf17ba0cddcdddc72d4fb97da69909b62e08f212da31719aebf67b70c">BNO08xActivity::TILTING</a></div><div class="ttdeci">@ TILTING</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a43d66cdccf17ba0cddcdddc72d4fb97da7089542e0146a3499986c81e24924b58"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a43d66cdccf17ba0cddcdddc72d4fb97da7089542e0146a3499986c81e24924b58">BNO08xActivity::ON_FOOT</a></div><div class="ttdeci">@ ON_FOOT</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a43d66cdccf17ba0cddcdddc72d4fb97da8b572d218013b9626d59e6a2b38f18b6"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a43d66cdccf17ba0cddcdddc72d4fb97da8b572d218013b9626d59e6a2b38f18b6">BNO08xActivity::STILL</a></div><div class="ttdeci">@ STILL</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a43d66cdccf17ba0cddcdddc72d4fb97da93d94a2f3a627533453a40e302fb35a4"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a43d66cdccf17ba0cddcdddc72d4fb97da93d94a2f3a627533453a40e302fb35a4">BNO08xActivity::ON_BICYCLE</a></div><div class="ttdeci">@ ON_BICYCLE</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a43d66cdccf17ba0cddcdddc72d4fb97dab166a3ce74dd5434e4a940dfa2af76e4"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a43d66cdccf17ba0cddcdddc72d4fb97dab166a3ce74dd5434e4a940dfa2af76e4">BNO08xActivity::IN_VEHICLE</a></div><div class="ttdeci">@ IN_VEHICLE</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a43d66cdccf17ba0cddcdddc72d4fb97dabbf2a614429826a84bd76b4a47fc7515"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a43d66cdccf17ba0cddcdddc72d4fb97dabbf2a614429826a84bd76b4a47fc7515">BNO08xActivity::ON_STAIRS</a></div><div class="ttdeci">@ ON_STAIRS</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a648bbdbf22731476890dd8da977d7503"><div class="ttname"><a href="_b_n_o08x_global_types_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_global_types_8hpp_html_a64f4487da0833d5304046093935f5d3a"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a64f4487da0833d5304046093935f5d3a">BNO08xActivityEnable</a></div><div class="ttdeci">BNO08xActivityEnable</div><div class="ttdoc">BNO08xActivity Classifier enable bits passed to enable_activity_classifier() See ref manual 6....</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:137</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a64f4487da0833d5304046093935f5d3aa43491564ebcfd38568918efbd6e840fd"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a64f4487da0833d5304046093935f5d3aa43491564ebcfd38568918efbd6e840fd">BNO08xActivityEnable::RUNNING</a></div><div class="ttdeci">@ RUNNING</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a64f4487da0833d5304046093935f5d3aa5fb1f955b45e38e31789286a1790398d"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a64f4487da0833d5304046093935f5d3aa5fb1f955b45e38e31789286a1790398d">BNO08xActivityEnable::ALL</a></div><div class="ttdeci">@ ALL</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a64f4487da0833d5304046093935f5d3aa606c114184493a665cf1f6a12fbab9d3"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a64f4487da0833d5304046093935f5d3aa606c114184493a665cf1f6a12fbab9d3">BNO08xActivityEnable::WALKING</a></div><div class="ttdeci">@ WALKING</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a64f4487da0833d5304046093935f5d3aa696b031073e74bf2cb98e5ef201d4aa3"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a64f4487da0833d5304046093935f5d3aa696b031073e74bf2cb98e5ef201d4aa3">BNO08xActivityEnable::UNKNOWN</a></div><div class="ttdeci">@ UNKNOWN</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a64f4487da0833d5304046093935f5d3aa69909b62e08f212da31719aebf67b70c"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a64f4487da0833d5304046093935f5d3aa69909b62e08f212da31719aebf67b70c">BNO08xActivityEnable::TILTING</a></div><div class="ttdeci">@ TILTING</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a64f4487da0833d5304046093935f5d3aa7089542e0146a3499986c81e24924b58"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a64f4487da0833d5304046093935f5d3aa7089542e0146a3499986c81e24924b58">BNO08xActivityEnable::ON_FOOT</a></div><div class="ttdeci">@ ON_FOOT</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a64f4487da0833d5304046093935f5d3aa8b572d218013b9626d59e6a2b38f18b6"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a64f4487da0833d5304046093935f5d3aa8b572d218013b9626d59e6a2b38f18b6">BNO08xActivityEnable::STILL</a></div><div class="ttdeci">@ STILL</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a64f4487da0833d5304046093935f5d3aa93d94a2f3a627533453a40e302fb35a4"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a64f4487da0833d5304046093935f5d3aa93d94a2f3a627533453a40e302fb35a4">BNO08xActivityEnable::ON_BICYCLE</a></div><div class="ttdeci">@ ON_BICYCLE</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a64f4487da0833d5304046093935f5d3aab166a3ce74dd5434e4a940dfa2af76e4"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a64f4487da0833d5304046093935f5d3aab166a3ce74dd5434e4a940dfa2af76e4">BNO08xActivityEnable::IN_VEHICLE</a></div><div class="ttdeci">@ IN_VEHICLE</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a64f4487da0833d5304046093935f5d3aabbf2a614429826a84bd76b4a47fc7515"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a64f4487da0833d5304046093935f5d3aabbf2a614429826a84bd76b4a47fc7515">BNO08xActivityEnable::ON_STAIRS</a></div><div class="ttdeci">@ ON_STAIRS</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a673f429cbcd0f48394de3d990d8bda4a"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a673f429cbcd0f48394de3d990d8bda4a">bno08x_raw_magf_t</a></div><div class="ttdeci">struct bno08x_raw_magf_t bno08x_raw_magf_t</div><div class="ttdoc">Struct to represent raw mems magnetometer data from raw magnetometer reports (units in ADC counts).</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a6bdf6fea6d671c12413d95f36a3e7ba6"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a6bdf6fea6d671c12413d95f36a3e7ba6">BNO08xAccuracy</a></div><div class="ttdeci">BNO08xAccuracy</div><div class="ttdoc">Sensor accuracy returned from input reports, corresponds to status bits (see ref. manual 6....</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:106</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a6bdf6fea6d671c12413d95f36a3e7ba6a0db45d2a4141101bdfe48e3314cfbca3"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a6bdf6fea6d671c12413d95f36a3e7ba6a0db45d2a4141101bdfe48e3314cfbca3">BNO08xAccuracy::UNDEFINED</a></div><div class="ttdeci">@ UNDEFINED</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a6bdf6fea6d671c12413d95f36a3e7ba6a2ad6d5975c45da2e711c796f3a1b029c"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a6bdf6fea6d671c12413d95f36a3e7ba6a2ad6d5975c45da2e711c796f3a1b029c">BNO08xAccuracy::MED</a></div><div class="ttdeci">@ MED</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a6bdf6fea6d671c12413d95f36a3e7ba6a41bc94cbd8eebea13ce0491b2ac11b88"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a6bdf6fea6d671c12413d95f36a3e7ba6a41bc94cbd8eebea13ce0491b2ac11b88">BNO08xAccuracy::LOW</a></div><div class="ttdeci">@ LOW</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a6bdf6fea6d671c12413d95f36a3e7ba6a6e257e645974b9086ed66e9465e2d80c"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a6bdf6fea6d671c12413d95f36a3e7ba6a6e257e645974b9086ed66e9465e2d80c">BNO08xAccuracy::UNRELIABLE</a></div><div class="ttdeci">@ UNRELIABLE</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a6bdf6fea6d671c12413d95f36a3e7ba6ab89de3b4b81c4facfac906edf29aec8c"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a6bdf6fea6d671c12413d95f36a3e7ba6ab89de3b4b81c4facfac906edf29aec8c">BNO08xAccuracy::HIGH</a></div><div class="ttdeci">@ HIGH</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a6fd0bd9f4990ced262a8f2d4c41d65d9"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a6fd0bd9f4990ced262a8f2d4c41d65d9">TAP_DETECTED_Z_AXIS_POSITIVE</a></div><div class="ttdeci">#define TAP_DETECTED_Z_AXIS_POSITIVE(tap)</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:14</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a7913a36911f75945cfaa0a3249a280e3"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a7913a36911f75945cfaa0a3249a280e3">bno08x_activity_classifier_t</a></div><div class="ttdeci">struct bno08x_activity_classifier_t bno08x_activity_classifier_t</div><div class="ttdoc">Struct to represent activity classifier data.</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a79cad23b69ea6ab97bf9d6e0a64a2826"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a79cad23b69ea6ab97bf9d6e0a64a2826">BNO08xFrsID_to_str</a></div><div class="ttdeci">const constexpr char * BNO08xFrsID_to_str(BNO08xFrsID id)</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:316</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a7bf3b6ed58dd988c0f4566ba56bff415"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a7bf3b6ed58dd988c0f4566ba56bff415">bno08x_gyro_bias_t</a></div><div class="ttdeci">struct bno08x_gyro_bias_t bno08x_gyro_bias_t</div><div class="ttdoc">Struct to represent gyro bias data (units in rad/s)</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a7c22ac348c71afe0d42dcfae6c97ca32"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a7c22ac348c71afe0d42dcfae6c97ca32">bno08x_shake_detector_t</a></div><div class="ttdeci">struct bno08x_shake_detector_t bno08x_shake_detector_t</div><div class="ttdoc">Struct to represent shake detector data (flag meaning: 0 = no shake 1 = shake detected)</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8a8a0fbcff17f5123ad111fcd9a375ea"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8a8a0fbcff17f5123ad111fcd9a375ea">TAP_DETECTED_X_AXIS_POSITIVE</a></div><div class="ttdeci">#define TAP_DETECTED_X_AXIS_POSITIVE(tap)</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:10</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8e"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8e">BNO08xFrsID</a></div><div class="ttdeci">BNO08xFrsID</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:240</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8ea03247820bfcd6c7518327a501c2f84f2"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea03247820bfcd6c7518327a501c2f84f2">BNO08xFrsID::META_GAME_ROTATION_VECTOR</a></div><div class="ttdeci">@ META_GAME_ROTATION_VECTOR</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8ea04c1dfc95c72ddbf41e93f6c894aea7c"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea04c1dfc95c72ddbf41e93f6c894aea7c">BNO08xFrsID::CIRCLE_DETECTOR_CONFIG</a></div><div class="ttdeci">@ CIRCLE_DETECTOR_CONFIG</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8ea0afc9b6963a488212d0d10c1788ca309"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea0afc9b6963a488212d0d10c1788ca309">BNO08xFrsID::ES_PROXIMITY_CAL</a></div><div class="ttdeci">@ ES_PROXIMITY_CAL</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8ea11c8ae2ec493a78ebc9a808e1df7478c"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea11c8ae2ec493a78ebc9a808e1df7478c">BNO08xFrsID::ES_AMBIENT_LIGHT_CAL</a></div><div class="ttdeci">@ ES_AMBIENT_LIGHT_CAL</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8ea151beca4927a54850a706fce1bdc6d4f"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea151beca4927a54850a706fce1bdc6d4f">BNO08xFrsID::META_RAW_GYROSCOPE</a></div><div class="ttdeci">@ META_RAW_GYROSCOPE</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8ea174aa600a99d1fee26df64861c68d4ab"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea174aa600a99d1fee26df64861c68d4ab">BNO08xFrsID::SYSTEM_ORIENTATION</a></div><div class="ttdeci">@ SYSTEM_ORIENTATION</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8ea19f33813d80c7da8306762a7f141d9bb"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea19f33813d80c7da8306762a7f141d9bb">BNO08xFrsID::SLEEP_DETECTOR_CONFIG</a></div><div class="ttdeci">@ SLEEP_DETECTOR_CONFIG</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8ea1bc76fb93c1b3dd08a602f2f4fbe8645"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea1bc76fb93c1b3dd08a602f2f4fbe8645">BNO08xFrsID::META_GYROSCOPE_CALIBRATED</a></div><div class="ttdeci">@ META_GYROSCOPE_CALIBRATED</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8ea1e56a229eb00e62fc6f98a9c3bf2c41e"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea1e56a229eb00e62fc6f98a9c3bf2c41e">BNO08xFrsID::SCREEN_ACCEL_ORIENTATION</a></div><div class="ttdeci">@ SCREEN_ACCEL_ORIENTATION</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8ea20d2e66717ed43eb8a6b112e953eb9db"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea20d2e66717ed43eb8a6b112e953eb9db">BNO08xFrsID::ARVR_STABILIZATION_GRV</a></div><div class="ttdeci">@ ARVR_STABILIZATION_GRV</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8ea240edccff7cb86c2486ee9bac60e19ca"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea240edccff7cb86c2486ee9bac60e19ca">BNO08xFrsID::META_ARVR_STABILIZED_GRV</a></div><div class="ttdeci">@ META_ARVR_STABILIZED_GRV</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8ea272dc30956f626dd9c57deabae51f34e"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea272dc30956f626dd9c57deabae51f34e">BNO08xFrsID::META_AMBIENT_LIGHT</a></div><div class="ttdeci">@ META_AMBIENT_LIGHT</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8ea2ce4d488b1ad35ff763f52aec7191874"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea2ce4d488b1ad35ff763f52aec7191874">BNO08xFrsID::ES_HUMIDITY_CAL</a></div><div class="ttdeci">@ ES_HUMIDITY_CAL</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8ea2dfcf6ba54eba882fb201bd55b45c4b9"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea2dfcf6ba54eba882fb201bd55b45c4b9">BNO08xFrsID::MAX_FUSION_PERIOD</a></div><div class="ttdeci">@ MAX_FUSION_PERIOD</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8ea2e4ea1aa76f2cad49db5d57d811e12aa"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea2e4ea1aa76f2cad49db5d57d811e12aa">BNO08xFrsID::META_RAW_ACCELEROMETER</a></div><div class="ttdeci">@ META_RAW_ACCELEROMETER</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8ea3308d6a253d373d623aa27e5a7e35b26"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea3308d6a253d373d623aa27e5a7e35b26">BNO08xFrsID::META_LINEAR_ACCELERATION</a></div><div class="ttdeci">@ META_LINEAR_ACCELERATION</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8ea34c09ae0fffb459871f75731dd9bdfb1"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea34c09ae0fffb459871f75731dd9bdfb1">BNO08xFrsID::META_MAGNETIC_FIELD_UNCALIBRATED</a></div><div class="ttdeci">@ META_MAGNETIC_FIELD_UNCALIBRATED</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8ea4003f069dafa6695f634bc4d6cadf21d"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea4003f069dafa6695f634bc4d6cadf21d">BNO08xFrsID::ME_POWER_MGMT</a></div><div class="ttdeci">@ ME_POWER_MGMT</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8ea41240ea9c983158280d9a1a144d6f9dc"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea41240ea9c983158280d9a1a144d6f9dc">BNO08xFrsID::META_HEART_RATE_MONITOR</a></div><div class="ttdeci">@ META_HEART_RATE_MONITOR</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8ea465acbc549b49027295fb2df6d89ad9e"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea465acbc549b49027295fb2df6d89ad9e">BNO08xFrsID::META_ACCELEROMETER</a></div><div class="ttdeci">@ META_ACCELEROMETER</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8ea499a184ec3f1a41ee95704207c3a0907"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea499a184ec3f1a41ee95704207c3a0907">BNO08xFrsID::META_PICKUP_DETECTOR</a></div><div class="ttdeci">@ META_PICKUP_DETECTOR</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8ea4a6153a0da5cadc5308e699f0d72de20"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea4a6153a0da5cadc5308e699f0d72de20">BNO08xFrsID::META_ROTATION_VECTOR</a></div><div class="ttdeci">@ META_ROTATION_VECTOR</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8ea5672a03a15b0d08bc1dbf6d361f885b6"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea5672a03a15b0d08bc1dbf6d361f885b6">BNO08xFrsID::META_PROXIMITY</a></div><div class="ttdeci">@ META_PROXIMITY</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8ea5a6f607e6dea7e4770d6d44dffc14fe0"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea5a6f607e6dea7e4770d6d44dffc14fe0">BNO08xFrsID::ACCEL_ORIENTATION</a></div><div class="ttdeci">@ ACCEL_ORIENTATION</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8ea5d88297a4f00a18d228e25847cbac419"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea5d88297a4f00a18d228e25847cbac419">BNO08xFrsID::USER_RECORD</a></div><div class="ttdeci">@ USER_RECORD</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8ea61501297c2607c69321c2a5b4c1c945b"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea61501297c2607c69321c2a5b4c1c945b">BNO08xFrsID::META_ARVR_STABILIZED_RV</a></div><div class="ttdeci">@ META_ARVR_STABILIZED_RV</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8ea622bd18282b2f88dc49339c638005f7d"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea622bd18282b2f88dc49339c638005f7d">BNO08xFrsID::ME_TIME_SOURCE_SELECT</a></div><div class="ttdeci">@ ME_TIME_SOURCE_SELECT</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8ea6590d7f1041f103cdaab64cd06e0db37"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea6590d7f1041f103cdaab64cd06e0db37">BNO08xFrsID::TILT_DETECTOR_CONFIG</a></div><div class="ttdeci">@ TILT_DETECTOR_CONFIG</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8ea66d0073ac3caa41ab4958fc167032f39"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea66d0073ac3caa41ab4958fc167032f39">BNO08xFrsID::META_TILT_DETECTOR</a></div><div class="ttdeci">@ META_TILT_DETECTOR</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8ea6fc1d676928d6b16f1c1639b27a52669"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea6fc1d676928d6b16f1c1639b27a52669">BNO08xFrsID::META_PERSONAL_ACTIVITY_CLASSIFIER</a></div><div class="ttdeci">@ META_PERSONAL_ACTIVITY_CLASSIFIER</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8ea74afeef51f861c9990699dce9c3544d0"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea74afeef51f861c9990699dce9c3544d0">BNO08xFrsID::META_STABILITY_CLASSIFIER</a></div><div class="ttdeci">@ META_STABILITY_CLASSIFIER</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8ea75c30391bf2c38c3d5451e6f3f1969ef"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea75c30391bf2c38c3d5451e6f3f1969ef">BNO08xFrsID::META_SLEEP_DETECTOR</a></div><div class="ttdeci">@ META_SLEEP_DETECTOR</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8ea75cae4a3d64033a6b610ba9bdeca4400"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea75cae4a3d64033a6b610ba9bdeca4400">BNO08xFrsID::META_SIGNIFICANT_MOTION</a></div><div class="ttdeci">@ META_SIGNIFICANT_MOTION</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8ea7c1bc0a9cbeffed48c3f56f138f059dd"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea7c1bc0a9cbeffed48c3f56f138f059dd">BNO08xFrsID::MAGNETOMETER_ORIENTATION</a></div><div class="ttdeci">@ MAGNETOMETER_ORIENTATION</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8ea8358c5060ffe770da1411d8779db71a8"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea8358c5060ffe770da1411d8779db71a8">BNO08xFrsID::META_GEOMAGNETIC_ROTATION_VECTOR</a></div><div class="ttdeci">@ META_GEOMAGNETIC_ROTATION_VECTOR</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8ea8a41fbc008e0571cf295a0770e995864"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea8a41fbc008e0571cf295a0770e995864">BNO08xFrsID::SHAKE_DETECT_CONFIG</a></div><div class="ttdeci">@ SHAKE_DETECT_CONFIG</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8ea8fea9f9b77154625f1b543988398610b"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea8fea9f9b77154625f1b543988398610b">BNO08xFrsID::META_POCKET_DETECTOR</a></div><div class="ttdeci">@ META_POCKET_DETECTOR</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8ea915838bac984c07ae03ec46239375b32"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea915838bac984c07ae03ec46239375b32">BNO08xFrsID::UART_FORMAT</a></div><div class="ttdeci">@ UART_FORMAT</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8ea928ad374247b43bfa0939406c62d2b31"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea928ad374247b43bfa0939406c62d2b31">BNO08xFrsID::META_GYRO_INTEGRATED_RV</a></div><div class="ttdeci">@ META_GYRO_INTEGRATED_RV</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8ea94ada7efc076c96b78bcb052d4f22ca2"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea94ada7efc076c96b78bcb052d4f22ca2">BNO08xFrsID::TAP_DETECT_CONFIG</a></div><div class="ttdeci">@ TAP_DETECT_CONFIG</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8ea9575a153f8b803923611e5a7577d8992"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea9575a153f8b803923611e5a7577d8992">BNO08xFrsID::NOMINAL_CALIBRATION_SRA</a></div><div class="ttdeci">@ NOMINAL_CALIBRATION_SRA</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8ea985e7c8c6bc3500a46530901ac93ab09"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea985e7c8c6bc3500a46530901ac93ab09">BNO08xFrsID::ES_PRESSURE_CAL</a></div><div class="ttdeci">@ ES_PRESSURE_CAL</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8ea9b1f79a084136956f5a67145e34b8fcf"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea9b1f79a084136956f5a67145e34b8fcf">BNO08xFrsID::NOMINAL_CALIBRATION</a></div><div class="ttdeci">@ NOMINAL_CALIBRATION</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8ea9ec318efb06209c42f9199b41d76df40"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ea9ec318efb06209c42f9199b41d76df40">BNO08xFrsID::META_SHAKE_DETECTOR</a></div><div class="ttdeci">@ META_SHAKE_DETECTOR</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8eaa68be0ce226eff099a645026852190b4"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eaa68be0ce226eff099a645026852190b4">BNO08xFrsID::META_GYROSCOPE_UNCALIBRATED</a></div><div class="ttdeci">@ META_GYROSCOPE_UNCALIBRATED</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8eaababe7d27ea06c8f91d48e5b7aa29edd"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eaababe7d27ea06c8f91d48e5b7aa29edd">BNO08xFrsID::POCKET_DETECTOR_CONFIG</a></div><div class="ttdeci">@ POCKET_DETECTOR_CONFIG</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8eaad36e03479240e4335a782c235a5d38a"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eaad36e03479240e4335a782c235a5d38a">BNO08xFrsID::META_HUMIDITY</a></div><div class="ttdeci">@ META_HUMIDITY</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8eab0ef80b2f1340b86b39cb82f5ab9d7ee"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eab0ef80b2f1340b86b39cb82f5ab9d7ee">BNO08xFrsID::FLIP_DETECTOR_CONFIG</a></div><div class="ttdeci">@ FLIP_DETECTOR_CONFIG</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8eab16df741bbcb037e9fc6830441e21a95"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eab16df741bbcb037e9fc6830441e21a95">BNO08xFrsID::ACTIVITY_TRACKER_CONFIG</a></div><div class="ttdeci">@ ACTIVITY_TRACKER_CONFIG</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8eab16eab94415b5ee4213d1d5091bcbe63"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eab16eab94415b5ee4213d1d5091bcbe63">BNO08xFrsID::META_TAP_DETECTOR</a></div><div class="ttdeci">@ META_TAP_DETECTOR</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8eab7ba02b55d602fc0e643a0e860144abd"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eab7ba02b55d602fc0e643a0e860144abd">BNO08xFrsID::GYROSCOPE_ORIENTATION</a></div><div class="ttdeci">@ GYROSCOPE_ORIENTATION</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8eab95695a3e70032d9b77b4b66c66fc98c"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eab95695a3e70032d9b77b4b66c66fc98c">BNO08xFrsID::META_TEMPERATURE</a></div><div class="ttdeci">@ META_TEMPERATURE</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8eabac5402bcf9584b3014bd64b8b6ad282"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eabac5402bcf9584b3014bd64b8b6ad282">BNO08xFrsID::SERIAL_NUMBER</a></div><div class="ttdeci">@ SERIAL_NUMBER</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8eabcf02bc8a45fdf7df5390b79184b922e"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eabcf02bc8a45fdf7df5390b79184b922e">BNO08xFrsID::PROXIMITY_SENSOR_CAL</a></div><div class="ttdeci">@ PROXIMITY_SENSOR_CAL</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8eac26499be839c2f04ca712c388e02b2cd"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eac26499be839c2f04ca712c388e02b2cd">BNO08xFrsID::META_CIRCLE_DETECTOR</a></div><div class="ttdeci">@ META_CIRCLE_DETECTOR</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8eac4042d50ceb28eb1f11e87cb6d6d4b61"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eac4042d50ceb28eb1f11e87cb6d6d4b61">BNO08xFrsID::META_MAGNETIC_FIELD_CALIBRATED</a></div><div class="ttdeci">@ META_MAGNETIC_FIELD_CALIBRATED</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8eac843f0dc477c2043015db473c2bbf8b7"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eac843f0dc477c2043015db473c2bbf8b7">BNO08xFrsID::DYNAMIC_CALIBRATION</a></div><div class="ttdeci">@ DYNAMIC_CALIBRATION</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8eac9e002e70642b098e7e67cc4083d134d"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eac9e002e70642b098e7e67cc4083d134d">BNO08xFrsID::PICKUP_DETECTOR_CONFIG</a></div><div class="ttdeci">@ PICKUP_DETECTOR_CONFIG</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8eacde3a23190df77d7c45b6dcf38727bda"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eacde3a23190df77d7c45b6dcf38727bda">BNO08xFrsID::GYRO_INTEGRATED_RV_CONFIG</a></div><div class="ttdeci">@ GYRO_INTEGRATED_RV_CONFIG</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8ead18387364cb570f2dada6577901433b2"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ead18387364cb570f2dada6577901433b2">BNO08xFrsID::META_GRAVITY</a></div><div class="ttdeci">@ META_GRAVITY</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8ead36109c56ef4d0598cc0b03b25dc8d85"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ead36109c56ef4d0598cc0b03b25dc8d85">BNO08xFrsID::STABILITY_DETECTOR_CONFIG</a></div><div class="ttdeci">@ STABILITY_DETECTOR_CONFIG</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8ead41092d568817e7b690859c6a04089ef"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ead41092d568817e7b690859c6a04089ef">BNO08xFrsID::ARVR_STABILIZATION_RV</a></div><div class="ttdeci">@ ARVR_STABILIZATION_RV</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8ead5ca5c5444a4d4078796da85a8a63fd8"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ead5ca5c5444a4d4078796da85a8a63fd8">BNO08xFrsID::META_STABILITY_DETECTOR</a></div><div class="ttdeci">@ META_STABILITY_DETECTOR</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8ead97759e77dc0c7c57de6a56bc0f9bad8"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8ead97759e77dc0c7c57de6a56bc0f9bad8">BNO08xFrsID::META_RAW_MAGNETOMETER</a></div><div class="ttdeci">@ META_RAW_MAGNETOMETER</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8eadc862ae872087053cf308a5c9d12e8ea"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eadc862ae872087053cf308a5c9d12e8ea">BNO08xFrsID::ALS_CAL</a></div><div class="ttdeci">@ ALS_CAL</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8eae15b6d77b828a0022adb2622ddf30d29"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eae15b6d77b828a0022adb2622ddf30d29">BNO08xFrsID::ES_TEMPERATURE_CAL</a></div><div class="ttdeci">@ ES_TEMPERATURE_CAL</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8eae3e95aa73e5b19b6fc1574c287598a8a"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eae3e95aa73e5b19b6fc1574c287598a8a">BNO08xFrsID::STATIC_CALIBRATION_SRA</a></div><div class="ttdeci">@ STATIC_CALIBRATION_SRA</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8eae5d606ae5efeadd9ab249a39b8ed828a"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eae5d606ae5efeadd9ab249a39b8ed828a">BNO08xFrsID::SIG_MOTION_DETECT_CONFIG</a></div><div class="ttdeci">@ SIG_MOTION_DETECT_CONFIG</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8eae81a7ec9f2eb51db6a66eec214f74329"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eae81a7ec9f2eb51db6a66eec214f74329">BNO08xFrsID::STATIC_CALIBRATION_AGM</a></div><div class="ttdeci">@ STATIC_CALIBRATION_AGM</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8eaeba85c6e59bb27b48782c948858e21e0"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eaeba85c6e59bb27b48782c948858e21e0">BNO08xFrsID::META_FLIP_DETECTOR</a></div><div class="ttdeci">@ META_FLIP_DETECTOR</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8eaec9658d47befd647b63e584f101b54be"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eaec9658d47befd647b63e584f101b54be">BNO08xFrsID::META_STEP_DETECTOR</a></div><div class="ttdeci">@ META_STEP_DETECTOR</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8eaf2f39889d71f8b36825d018c4e9097d0"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eaf2f39889d71f8b36825d018c4e9097d0">BNO08xFrsID::META_STEP_COUNTER</a></div><div class="ttdeci">@ META_STEP_COUNTER</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ac8ee2d5f81f6102ed94866f2bdcc8eaf9c947198092e74abb25848eb7769067"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8eaf9c947198092e74abb25848eb7769067">BNO08xFrsID::META_PRESSURE</a></div><div class="ttdeci">@ META_PRESSURE</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a8ae22357b6f53c2cf806bb3aeb80814a"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a8ae22357b6f53c2cf806bb3aeb80814a">bno08x_euler_angle_t</a></div><div class="ttdeci">struct bno08x_euler_angle_t bno08x_euler_angle_t</div><div class="ttdoc">Struct to represent euler angle (units in degrees or rads)</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a92a577e216f51fc6156a87e6ecf8ffc5"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a92a577e216f51fc6156a87e6ecf8ffc5">TAP_DETECTED_DOUBLE</a></div><div class="ttdeci">#define TAP_DETECTED_DOUBLE(tap)</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:15</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a9951e367fa8ff09a55526994cfaa94be"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a9951e367fa8ff09a55526994cfaa94be">SHAKE_DETECTED_Z</a></div><div class="ttdeci">#define SHAKE_DETECTED_Z(tap)</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:20</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a9f0440c67ec56fafcd25a24bf36f842f"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a9f0440c67ec56fafcd25a24bf36f842f">bno08x_stability_classifier_t</a></div><div class="ttdeci">struct bno08x_stability_classifier_t bno08x_stability_classifier_t</div><div class="ttdoc">Struct to represent stability classifier data from stability classifier reports.</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_aaaf91ed835d5d1a5726806bb147c5938"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#aaaf91ed835d5d1a5726806bb147c5938">TAP_DETECTED_Z_AXIS</a></div><div class="ttdeci">#define TAP_DETECTED_Z_AXIS(tap)</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:13</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_aae502b3d91ddf903bba797646fd28d00"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#aae502b3d91ddf903bba797646fd28d00">imu_config_t</a></div><div class="ttdeci">bno08x_config_t imu_config_t</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:81</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_abb500e98b07c687d37e8ac0548a02e05"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#abb500e98b07c687d37e8ac0548a02e05">BNO08xAccuracy_to_str</a></div><div class="ttdeci">const constexpr char * BNO08xAccuracy_to_str(BNO08xAccuracy accuracy)</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:115</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_ac166834f6280e6ef21af7dd8a01be1e4"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#ac166834f6280e6ef21af7dd8a01be1e4">bno08x_gyro_t</a></div><div class="ttdeci">struct bno08x_gyro_t bno08x_gyro_t</div><div class="ttdoc">Struct to represent gyro data (units in rad/s)</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_acd889b071d45f7ba9e7157e7a752bf5a"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#acd889b071d45f7ba9e7157e7a752bf5a">BNO08xStability_to_str</a></div><div class="ttdeci">const constexpr char * BNO08xStability_to_str(BNO08xStability stability)</div><div class="ttdoc">Converts a BNO08xStability enum to string.</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:216</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_ace2ea90ebebddfcdb75e1b8b7b48f905"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#ace2ea90ebebddfcdb75e1b8b7b48f905">bno08x_raw_accel_t</a></div><div class="ttdeci">struct bno08x_raw_accel_t bno08x_raw_accel_t</div><div class="ttdoc">Struct to represent raw mems accelerometer data from raw accelerometer reports (units in ADC counts).</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_ad0dc59e3a74a39a8e358c945162f6fc8"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#ad0dc59e3a74a39a8e358c945162f6fc8">TAP_DETECTED_X_AXIS</a></div><div class="ttdeci">#define TAP_DETECTED_X_AXIS(tap)</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:9</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_ad2ab2bbe6f01a4a641f75c41a9064cf6"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#ad2ab2bbe6f01a4a641f75c41a9064cf6">TAP_DETECTED_Y_AXIS</a></div><div class="ttdeci">#define TAP_DETECTED_Y_AXIS(tap)</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:11</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_ad52b092f56d1fa0064f2ea3502399cfc"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#ad52b092f56d1fa0064f2ea3502399cfc">bno08x_step_counter_t</a></div><div class="ttdeci">struct bno08x_step_counter_t bno08x_step_counter_t</div><div class="ttdoc">Struct to represent step counter data from step counter reports.</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_adcfe69b10c9c2244015bad5b978beedd"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#adcfe69b10c9c2244015bad5b978beedd">bno08x_tap_detector_t</a></div><div class="ttdeci">struct bno08x_tap_detector_t bno08x_tap_detector_t</div><div class="ttdoc">Struct to represent tap detector data (flag meaning: 0 = no tap, 1 = positive tap on axis,...</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_ae12bdf0217349447eebadf16d4560869"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#ae12bdf0217349447eebadf16d4560869">SHAKE_DETECTED_X</a></div><div class="ttdeci">#define SHAKE_DETECTED_X(tap)</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:18</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_afceb7f957002d3e024d4971963ecfa20"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#afceb7f957002d3e024d4971963ecfa20">bno08x_sample_counts_t</a></div><div class="ttdeci">struct bno08x_sample_counts_t bno08x_sample_counts_t</div><div class="ttdoc">Struct to represent sample counts, returned from BNO08xRpt::get_sample_counts()</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_afed71c9ed8a8563767f26282408ccee2"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#afed71c9ed8a8563767f26282408ccee2">BNO08xResetReason</a></div><div class="ttdeci">BNO08xResetReason</div><div class="ttdoc">Reason for previous IMU reset (returned by get_reset_reason())</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:94</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_afed71c9ed8a8563767f26282408ccee2a03570470bad94692ce93e32700d2e1cb"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#afed71c9ed8a8563767f26282408ccee2a03570470bad94692ce93e32700d2e1cb">BNO08xResetReason::OTHER</a></div><div class="ttdeci">@ OTHER</div><div class="ttdoc">Previous reset was due to power other reason.</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_afed71c9ed8a8563767f26282408ccee2a0db45d2a4141101bdfe48e3314cfbca3"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#afed71c9ed8a8563767f26282408ccee2a0db45d2a4141101bdfe48e3314cfbca3">BNO08xResetReason::UNDEFINED</a></div><div class="ttdeci">@ UNDEFINED</div><div class="ttdoc">Undefined reset reason, this should never occur and is an error.</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_afed71c9ed8a8563767f26282408ccee2a764caaf44e35ee682f4079bd0878fa36"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#afed71c9ed8a8563767f26282408ccee2a764caaf44e35ee682f4079bd0878fa36">BNO08xResetReason::WTD</a></div><div class="ttdeci">@ WTD</div><div class="ttdoc">Previous reset was due to watchdog timer.</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_afed71c9ed8a8563767f26282408ccee2a7b47bb0f9f8c72f84d891e8e22a1fb92"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#afed71c9ed8a8563767f26282408ccee2a7b47bb0f9f8c72f84d891e8e22a1fb92">BNO08xResetReason::POR</a></div><div class="ttdeci">@ POR</div><div class="ttdoc">Previous reset was due to power on reset.</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_afed71c9ed8a8563767f26282408ccee2ac4e100317ca17eda786308c1c39eded5"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#afed71c9ed8a8563767f26282408ccee2ac4e100317ca17eda786308c1c39eded5">BNO08xResetReason::EXT_RST</a></div><div class="ttdeci">@ EXT_RST</div><div class="ttdoc">Previous reset was due to external reset.</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_afed71c9ed8a8563767f26282408ccee2acc069cf9b33eb4e7fb3696f0f42d752f"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#afed71c9ed8a8563767f26282408ccee2acc069cf9b33eb4e7fb3696f0f42d752f">BNO08xResetReason::INT_RST</a></div><div class="ttdeci">@ INT_RST</div><div class="ttdoc">Previous reset was due to internal reset.</div></div>
+<div class="ttc" id="astructbno08x__accel__t_html"><div class="ttname"><a href="structbno08x__accel__t.html">bno08x_accel_t</a></div><div class="ttdoc">Struct to represent acceleration data from acceleration, linear acceleration, and gravity reports.</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:856</div></div>
+<div class="ttc" id="astructbno08x__accel__t_html_a391bf7c4ee0c3f571d94f73f047e9a3f"><div class="ttname"><a href="structbno08x__accel__t.html#a391bf7c4ee0c3f571d94f73f047e9a3f">bno08x_accel_t::z</a></div><div class="ttdeci">float z</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:859</div></div>
+<div class="ttc" id="astructbno08x__accel__t_html_a3d71a06304afc576280c56952b4f7a34"><div class="ttname"><a href="structbno08x__accel__t.html#a3d71a06304afc576280c56952b4f7a34">bno08x_accel_t::bno08x_accel_t</a></div><div class="ttdeci">bno08x_accel_t()</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:862</div></div>
+<div class="ttc" id="astructbno08x__accel__t_html_a5b3f1b2cc2a889af23d27185c6efd75e"><div class="ttname"><a href="structbno08x__accel__t.html#a5b3f1b2cc2a889af23d27185c6efd75e">bno08x_accel_t::operator=</a></div><div class="ttdeci">bno08x_accel_t &amp; operator=(const sh2_Accelerometer_t &amp;source)</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:871</div></div>
+<div class="ttc" id="astructbno08x__accel__t_html_a9514b06a88cdd4c4777ff8e27d8d52fb"><div class="ttname"><a href="structbno08x__accel__t.html#a9514b06a88cdd4c4777ff8e27d8d52fb">bno08x_accel_t::y</a></div><div class="ttdeci">float y</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:858</div></div>
+<div class="ttc" id="astructbno08x__accel__t_html_aac8d91a84f911413e4bcc3fdb04c893b"><div class="ttname"><a href="structbno08x__accel__t.html#aac8d91a84f911413e4bcc3fdb04c893b">bno08x_accel_t::accuracy</a></div><div class="ttdeci">BNO08xAccuracy accuracy</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:860</div></div>
+<div class="ttc" id="astructbno08x__accel__t_html_af72246bad5088682490f6a13e4624b7c"><div class="ttname"><a href="structbno08x__accel__t.html#af72246bad5088682490f6a13e4624b7c">bno08x_accel_t::x</a></div><div class="ttdeci">float x</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:857</div></div>
+<div class="ttc" id="astructbno08x__activity__classifier__t_html"><div class="ttname"><a href="structbno08x__activity__classifier__t.html">bno08x_activity_classifier_t</a></div><div class="ttdoc">Struct to represent activity classifier data.</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:728</div></div>
+<div class="ttc" id="astructbno08x__activity__classifier__t_html_a272be5b28ff89a20d3c3cfdbfe63a5b5"><div class="ttname"><a href="structbno08x__activity__classifier__t.html#a272be5b28ff89a20d3c3cfdbfe63a5b5">bno08x_activity_classifier_t::mostLikelyState</a></div><div class="ttdeci">BNO08xActivity mostLikelyState</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:730</div></div>
+<div class="ttc" id="astructbno08x__activity__classifier__t_html_a302244e7d2d064b126eb92f363add923"><div class="ttname"><a href="structbno08x__activity__classifier__t.html#a302244e7d2d064b126eb92f363add923">bno08x_activity_classifier_t::bno08x_activity_classifier_t</a></div><div class="ttdeci">bno08x_activity_classifier_t()</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:735</div></div>
+<div class="ttc" id="astructbno08x__activity__classifier__t_html_a51df90897f0f47b640ac975ad8f4833f"><div class="ttname"><a href="structbno08x__activity__classifier__t.html#a51df90897f0f47b640ac975ad8f4833f">bno08x_activity_classifier_t::accuracy</a></div><div class="ttdeci">BNO08xAccuracy accuracy</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:731</div></div>
+<div class="ttc" id="astructbno08x__activity__classifier__t_html_a6c99dd8968d52c7099c6f6b2acf11796"><div class="ttname"><a href="structbno08x__activity__classifier__t.html#a6c99dd8968d52c7099c6f6b2acf11796">bno08x_activity_classifier_t::confidence</a></div><div class="ttdeci">uint8_t confidence[10]</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:729</div></div>
+<div class="ttc" id="astructbno08x__activity__classifier__t_html_a90b7b42f031ed0e5b4c5d0e167caccb9"><div class="ttname"><a href="structbno08x__activity__classifier__t.html#a90b7b42f031ed0e5b4c5d0e167caccb9">bno08x_activity_classifier_t::lastPage</a></div><div class="ttdeci">bool lastPage</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:733</div></div>
+<div class="ttc" id="astructbno08x__activity__classifier__t_html_aa3e3a6b479558722bc9d5416b74492ca"><div class="ttname"><a href="structbno08x__activity__classifier__t.html#aa3e3a6b479558722bc9d5416b74492ca">bno08x_activity_classifier_t::page</a></div><div class="ttdeci">uint8_t page</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:732</div></div>
+<div class="ttc" id="astructbno08x__activity__classifier__t_html_ac9375f65afb421e1d552e11461546a43"><div class="ttname"><a href="structbno08x__activity__classifier__t.html#ac9375f65afb421e1d552e11461546a43">bno08x_activity_classifier_t::operator=</a></div><div class="ttdeci">bno08x_activity_classifier_t &amp; operator=(const sh2_PersonalActivityClassifier_t &amp;source)</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:745</div></div>
+<div class="ttc" id="astructbno08x__ang__vel__t_html"><div class="ttname"><a href="structbno08x__ang__vel__t.html">bno08x_ang_vel_t</a></div><div class="ttdoc">Struct to represent angular velocity (units in rad/s)</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:572</div></div>
+<div class="ttc" id="astructbno08x__ang__vel__t_html_a76cf6d15cef214b31a47008d49b843be"><div class="ttname"><a href="structbno08x__ang__vel__t.html#a76cf6d15cef214b31a47008d49b843be">bno08x_ang_vel_t::bno08x_ang_vel_t</a></div><div class="ttdeci">bno08x_ang_vel_t()</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:577</div></div>
+<div class="ttc" id="astructbno08x__ang__vel__t_html_aac5bb11414116bce54e5f8b7dd2d48f6"><div class="ttname"><a href="structbno08x__ang__vel__t.html#aac5bb11414116bce54e5f8b7dd2d48f6">bno08x_ang_vel_t::z</a></div><div class="ttdeci">float z</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:575</div></div>
+<div class="ttc" id="astructbno08x__ang__vel__t_html_aad57f7ad443f1c94b411ff1c3c2d37a3"><div class="ttname"><a href="structbno08x__ang__vel__t.html#aad57f7ad443f1c94b411ff1c3c2d37a3">bno08x_ang_vel_t::x</a></div><div class="ttdeci">float x</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:573</div></div>
+<div class="ttc" id="astructbno08x__ang__vel__t_html_ae963f28d8914d5cc2f13620a4a9c57e8"><div class="ttname"><a href="structbno08x__ang__vel__t.html#ae963f28d8914d5cc2f13620a4a9c57e8">bno08x_ang_vel_t::operator*=</a></div><div class="ttdeci">bno08x_ang_vel_t &amp; operator*=(T value)</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:586</div></div>
+<div class="ttc" id="astructbno08x__ang__vel__t_html_af6d7d0452271c2d35234371ad1df6a80"><div class="ttname"><a href="structbno08x__ang__vel__t.html#af6d7d0452271c2d35234371ad1df6a80">bno08x_ang_vel_t::y</a></div><div class="ttdeci">float y</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:574</div></div>
+<div class="ttc" id="astructbno08x__ang__vel__t_html_afe1b100ac38de3ccd0c0b617e5b5d8a2"><div class="ttname"><a href="structbno08x__ang__vel__t.html#afe1b100ac38de3ccd0c0b617e5b5d8a2">bno08x_ang_vel_t::operator=</a></div><div class="ttdeci">bno08x_ang_vel_t &amp; operator=(const sh2_GyroIntegratedRV_t &amp;source)</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:595</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> BNO08xGlobalTypes.hpp:38</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> BNO08xGlobalTypes.hpp:39</div></div>
+<div class="ttc" id="astructbno08x__config__t_html_a0f629aaef6756aa80fec96b34476c627"><div class="ttname"><a href="structbno08x__config__t.html#a0f629aaef6756aa80fec96b34476c627">bno08x_config_t::install_isr_service</a></div><div class="ttdeci">bool install_isr_service</div><div class="ttdoc">Indicates whether the ISR service for the HINT should be installed at IMU initialization,...</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:47</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">Reset pin (connects to BNO08x RST pin)</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:46</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> BNO08xGlobalTypes.hpp:44</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> BNO08xGlobalTypes.hpp:45</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> BNO08xGlobalTypes.hpp:42</div></div>
+<div class="ttc" id="astructbno08x__config__t_html_a68e051212415a62e64c23678e7b40552"><div class="ttname"><a href="structbno08x__config__t.html#a68e051212415a62e64c23678e7b40552">bno08x_config_t::bno08x_config_t</a></div><div class="ttdeci">bno08x_config_t(bool install_isr_service=true)</div><div class="ttdoc">Default IMU configuration settings constructor. To modify default GPIO pins, run &quot;idf....</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:52</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> BNO08xGlobalTypes.hpp:40</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> BNO08xGlobalTypes.hpp:41</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> BNO08xGlobalTypes.hpp:43</div></div>
+<div class="ttc" id="astructbno08x__config__t_html_afa37d6ffc6f4fc7c9aa7484d49458a4a"><div class="ttname"><a href="structbno08x__config__t.html#afa37d6ffc6f4fc7c9aa7484d49458a4a">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, uint32_t sclk_speed, bool install_isr_service=true)</div><div class="ttdoc">Overloaded IMU configuration settings constructor for custom pin settings.</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:67</div></div>
+<div class="ttc" id="astructbno08x__euler__angle__t_html"><div class="ttname"><a href="structbno08x__euler__angle__t.html">bno08x_euler_angle_t</a></div><div class="ttdoc">Struct to represent euler angle (units in degrees or rads)</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:528</div></div>
+<div class="ttc" id="astructbno08x__euler__angle__t_html_a0b1d1fcfc2884937404446ca16829e51"><div class="ttname"><a href="structbno08x__euler__angle__t.html#a0b1d1fcfc2884937404446ca16829e51">bno08x_euler_angle_t::operator*=</a></div><div class="ttdeci">bno08x_euler_angle_t &amp; operator*=(T value)</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:559</div></div>
+<div class="ttc" id="astructbno08x__euler__angle__t_html_a0c4f19cb559999d4c2ac2b29d9dc7cfd"><div class="ttname"><a href="structbno08x__euler__angle__t.html#a0c4f19cb559999d4c2ac2b29d9dc7cfd">bno08x_euler_angle_t::y</a></div><div class="ttdeci">float y</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:530</div></div>
+<div class="ttc" id="astructbno08x__euler__angle__t_html_a29b670ff58d75a6abf02512ee07a6207"><div class="ttname"><a href="structbno08x__euler__angle__t.html#a29b670ff58d75a6abf02512ee07a6207">bno08x_euler_angle_t::bno08x_euler_angle_t</a></div><div class="ttdeci">bno08x_euler_angle_t()</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:535</div></div>
+<div class="ttc" id="astructbno08x__euler__angle__t_html_a3b4fad0b84bda3f34e86f7168ef2fee6"><div class="ttname"><a href="structbno08x__euler__angle__t.html#a3b4fad0b84bda3f34e86f7168ef2fee6">bno08x_euler_angle_t::accuracy</a></div><div class="ttdeci">BNO08xAccuracy accuracy</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:533</div></div>
+<div class="ttc" id="astructbno08x__euler__angle__t_html_a5237ec5e8fc1ca49b2f108ac784f0032"><div class="ttname"><a href="structbno08x__euler__angle__t.html#a5237ec5e8fc1ca49b2f108ac784f0032">bno08x_euler_angle_t::z</a></div><div class="ttdeci">float z</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:531</div></div>
+<div class="ttc" id="astructbno08x__euler__angle__t_html_a7c675704f7bf92a19846de6ee020f0ef"><div class="ttname"><a href="structbno08x__euler__angle__t.html#a7c675704f7bf92a19846de6ee020f0ef">bno08x_euler_angle_t::x</a></div><div class="ttdeci">float x</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:529</div></div>
+<div class="ttc" id="astructbno08x__euler__angle__t_html_a89ab348ee455b14e5d09f1eb5d231c99"><div class="ttname"><a href="structbno08x__euler__angle__t.html#a89ab348ee455b14e5d09f1eb5d231c99">bno08x_euler_angle_t::rad_accuracy</a></div><div class="ttdeci">float rad_accuracy</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:532</div></div>
+<div class="ttc" id="astructbno08x__euler__angle__t_html_aa7f6954a731e0be492508b5d1dac056e"><div class="ttname"><a href="structbno08x__euler__angle__t.html#aa7f6954a731e0be492508b5d1dac056e">bno08x_euler_angle_t::operator=</a></div><div class="ttdeci">bno08x_euler_angle_t &amp; operator=(const bno08x_quat_t &amp;source)</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:545</div></div>
+<div class="ttc" id="astructbno08x__gyro__bias__t_html"><div class="ttname"><a href="structbno08x__gyro__bias__t.html">bno08x_gyro_bias_t</a></div><div class="ttdoc">Struct to represent gyro bias data (units in rad/s)</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:703</div></div>
+<div class="ttc" id="astructbno08x__gyro__bias__t_html_a779c3000b541664d935b2ffda75a5f14"><div class="ttname"><a href="structbno08x__gyro__bias__t.html#a779c3000b541664d935b2ffda75a5f14">bno08x_gyro_bias_t::bno08x_gyro_bias_t</a></div><div class="ttdeci">bno08x_gyro_bias_t()</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:708</div></div>
+<div class="ttc" id="astructbno08x__gyro__bias__t_html_a9bb96e58ed1df186edf40aa66b38bf4a"><div class="ttname"><a href="structbno08x__gyro__bias__t.html#a9bb96e58ed1df186edf40aa66b38bf4a">bno08x_gyro_bias_t::y</a></div><div class="ttdeci">float y</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:705</div></div>
+<div class="ttc" id="astructbno08x__gyro__bias__t_html_a9c592e8c420797c8e02146eb6ba4a923"><div class="ttname"><a href="structbno08x__gyro__bias__t.html#a9c592e8c420797c8e02146eb6ba4a923">bno08x_gyro_bias_t::x</a></div><div class="ttdeci">float x</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:704</div></div>
+<div class="ttc" id="astructbno08x__gyro__bias__t_html_aaa3795c61ebd89d4a620600b37ac27fc"><div class="ttname"><a href="structbno08x__gyro__bias__t.html#aaa3795c61ebd89d4a620600b37ac27fc">bno08x_gyro_bias_t::operator=</a></div><div class="ttdeci">bno08x_gyro_bias_t &amp; operator=(const sh2_GyroscopeUncalibrated &amp;source)</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:716</div></div>
+<div class="ttc" id="astructbno08x__gyro__bias__t_html_aef04b50ebf86ff49631beb3ba90ae1ba"><div class="ttname"><a href="structbno08x__gyro__bias__t.html#aef04b50ebf86ff49631beb3ba90ae1ba">bno08x_gyro_bias_t::z</a></div><div class="ttdeci">float z</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:706</div></div>
+<div class="ttc" id="astructbno08x__gyro__t_html"><div class="ttname"><a href="structbno08x__gyro__t.html">bno08x_gyro_t</a></div><div class="ttdoc">Struct to represent gyro data (units in rad/s)</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:667</div></div>
+<div class="ttc" id="astructbno08x__gyro__t_html_a13cfb2e5d15b2fe50d1d910bd0c4b868"><div class="ttname"><a href="structbno08x__gyro__t.html#a13cfb2e5d15b2fe50d1d910bd0c4b868">bno08x_gyro_t::operator=</a></div><div class="ttdeci">bno08x_gyro_t &amp; operator=(const sh2_Gyroscope_t &amp;source)</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:682</div></div>
+<div class="ttc" id="astructbno08x__gyro__t_html_a63a7bfec63a61b44dab94cd62dc5f50e"><div class="ttname"><a href="structbno08x__gyro__t.html#a63a7bfec63a61b44dab94cd62dc5f50e">bno08x_gyro_t::x</a></div><div class="ttdeci">float x</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:668</div></div>
+<div class="ttc" id="astructbno08x__gyro__t_html_a64d4900e42a8f056a404b699074f1c41"><div class="ttname"><a href="structbno08x__gyro__t.html#a64d4900e42a8f056a404b699074f1c41">bno08x_gyro_t::operator=</a></div><div class="ttdeci">bno08x_gyro_t &amp; operator=(const sh2_GyroscopeUncalibrated &amp;source)</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:691</div></div>
+<div class="ttc" id="astructbno08x__gyro__t_html_a87ab3be28faed62506a764d411650a12"><div class="ttname"><a href="structbno08x__gyro__t.html#a87ab3be28faed62506a764d411650a12">bno08x_gyro_t::accuracy</a></div><div class="ttdeci">BNO08xAccuracy accuracy</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:671</div></div>
+<div class="ttc" id="astructbno08x__gyro__t_html_aa9a075a6b135f4b137b6247768ef5af6"><div class="ttname"><a href="structbno08x__gyro__t.html#aa9a075a6b135f4b137b6247768ef5af6">bno08x_gyro_t::bno08x_gyro_t</a></div><div class="ttdeci">bno08x_gyro_t()</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:673</div></div>
+<div class="ttc" id="astructbno08x__gyro__t_html_ab079eb91abc32f71c6d41f3dcf6274df"><div class="ttname"><a href="structbno08x__gyro__t.html#ab079eb91abc32f71c6d41f3dcf6274df">bno08x_gyro_t::y</a></div><div class="ttdeci">float y</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:669</div></div>
+<div class="ttc" id="astructbno08x__gyro__t_html_ac9a349e1dad45c041bfd0555b01e273f"><div class="ttname"><a href="structbno08x__gyro__t.html#ac9a349e1dad45c041bfd0555b01e273f">bno08x_gyro_t::z</a></div><div class="ttdeci">float z</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:670</div></div>
+<div class="ttc" id="astructbno08x__magf__bias__t_html"><div class="ttname"><a href="structbno08x__magf__bias__t.html">bno08x_magf_bias_t</a></div><div class="ttdoc">Struct to represent magnetic field bias data (units in uTesla)</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:642</div></div>
+<div class="ttc" id="astructbno08x__magf__bias__t_html_a0e49d87458853c3478ffe1febffa0279"><div class="ttname"><a href="structbno08x__magf__bias__t.html#a0e49d87458853c3478ffe1febffa0279">bno08x_magf_bias_t::y</a></div><div class="ttdeci">float y</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:644</div></div>
+<div class="ttc" id="astructbno08x__magf__bias__t_html_a76b135fa354d2646927ff76c2da5a6b3"><div class="ttname"><a href="structbno08x__magf__bias__t.html#a76b135fa354d2646927ff76c2da5a6b3">bno08x_magf_bias_t::z</a></div><div class="ttdeci">float z</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:645</div></div>
+<div class="ttc" id="astructbno08x__magf__bias__t_html_aa0b6af3812168e0dc9329d5a70e54f98"><div class="ttname"><a href="structbno08x__magf__bias__t.html#aa0b6af3812168e0dc9329d5a70e54f98">bno08x_magf_bias_t::bno08x_magf_bias_t</a></div><div class="ttdeci">bno08x_magf_bias_t()</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:647</div></div>
+<div class="ttc" id="astructbno08x__magf__bias__t_html_ac4f55ef988b43d3d6c753a2201c60b14"><div class="ttname"><a href="structbno08x__magf__bias__t.html#ac4f55ef988b43d3d6c753a2201c60b14">bno08x_magf_bias_t::x</a></div><div class="ttdeci">float x</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:643</div></div>
+<div class="ttc" id="astructbno08x__magf__bias__t_html_aeed524c368c645e3f325ffe387199a31"><div class="ttname"><a href="structbno08x__magf__bias__t.html#aeed524c368c645e3f325ffe387199a31">bno08x_magf_bias_t::operator=</a></div><div class="ttdeci">bno08x_magf_bias_t &amp; operator=(const sh2_MagneticFieldUncalibrated_t &amp;source)</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:655</div></div>
+<div class="ttc" id="astructbno08x__magf__t_html"><div class="ttname"><a href="structbno08x__magf__t.html">bno08x_magf_t</a></div><div class="ttdoc">Struct to represent magnetic field data (units in uTesla)</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:606</div></div>
+<div class="ttc" id="astructbno08x__magf__t_html_a01b2e4c9a144b3e1c0572db12ed48601"><div class="ttname"><a href="structbno08x__magf__t.html#a01b2e4c9a144b3e1c0572db12ed48601">bno08x_magf_t::y</a></div><div class="ttdeci">float y</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:608</div></div>
+<div class="ttc" id="astructbno08x__magf__t_html_a0516e3805249e8b62856af2aabf7cc0b"><div class="ttname"><a href="structbno08x__magf__t.html#a0516e3805249e8b62856af2aabf7cc0b">bno08x_magf_t::z</a></div><div class="ttdeci">float z</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:609</div></div>
+<div class="ttc" id="astructbno08x__magf__t_html_a2e0b22e5fa40d5ecd447e0cb451b3282"><div class="ttname"><a href="structbno08x__magf__t.html#a2e0b22e5fa40d5ecd447e0cb451b3282">bno08x_magf_t::operator=</a></div><div class="ttdeci">bno08x_magf_t &amp; operator=(const sh2_MagneticFieldUncalibrated_t &amp;source)</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:630</div></div>
+<div class="ttc" id="astructbno08x__magf__t_html_a6b92aa85f81f17034c3f201dd9ff0b46"><div class="ttname"><a href="structbno08x__magf__t.html#a6b92aa85f81f17034c3f201dd9ff0b46">bno08x_magf_t::accuracy</a></div><div class="ttdeci">BNO08xAccuracy accuracy</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:610</div></div>
+<div class="ttc" id="astructbno08x__magf__t_html_ac692d27a0bd9d698a89a8ca58e959d08"><div class="ttname"><a href="structbno08x__magf__t.html#ac692d27a0bd9d698a89a8ca58e959d08">bno08x_magf_t::x</a></div><div class="ttdeci">float x</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:607</div></div>
+<div class="ttc" id="astructbno08x__magf__t_html_ad8784e25768658f4fa0cb1dd5c1afc36"><div class="ttname"><a href="structbno08x__magf__t.html#ad8784e25768658f4fa0cb1dd5c1afc36">bno08x_magf_t::bno08x_magf_t</a></div><div class="ttdeci">bno08x_magf_t()</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:612</div></div>
+<div class="ttc" id="astructbno08x__magf__t_html_adadb35e5c67433e47895d7ae5885a00e"><div class="ttname"><a href="structbno08x__magf__t.html#adadb35e5c67433e47895d7ae5885a00e">bno08x_magf_t::operator=</a></div><div class="ttdeci">bno08x_magf_t &amp; operator=(const sh2_MagneticField_t &amp;source)</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:621</div></div>
+<div class="ttc" id="astructbno08x__meta__data__t_html"><div class="ttname"><a href="structbno08x__meta__data__t.html">bno08x_meta_data_t</a></div><div class="ttdoc">Struct to represent sensor/report meta data, returned from BNO08xRpt::get_meta_data()</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:1047</div></div>
+<div class="ttc" id="astructbno08x__meta__data__t_html_a09ad38c35e9cd63d4c333f851d5e01e7"><div class="ttname"><a href="structbno08x__meta__data__t.html#a09ad38c35e9cd63d4c333f851d5e01e7">bno08x_meta_data_t::q_point_2</a></div><div class="ttdeci">uint16_t q_point_2</div><div class="ttdoc">q point for accuracy or bias fields</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:1062</div></div>
+<div class="ttc" id="astructbno08x__meta__data__t_html_a0efefbb8c4614bd3e81094f25909cc14"><div class="ttname"><a href="structbno08x__meta__data__t.html#a0efefbb8c4614bd3e81094f25909cc14">bno08x_meta_data_t::vendor_id_len</a></div><div class="ttdeci">uint32_t vendor_id_len</div><div class="ttdoc">[bytes]</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:1050</div></div>
+<div class="ttc" id="astructbno08x__meta__data__t_html_a1e0a5907ac8d8dd0325cf8830aa5bd66"><div class="ttname"><a href="structbno08x__meta__data__t.html#a1e0a5907ac8d8dd0325cf8830aa5bd66">bno08x_meta_data_t::q_point_1</a></div><div class="ttdeci">uint16_t q_point_1</div><div class="ttdoc">q point for sensor values</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:1061</div></div>
+<div class="ttc" id="astructbno08x__meta__data__t_html_a29cb20721b8dda2c65c6b2b4dfad6551"><div class="ttname"><a href="structbno08x__meta__data__t.html#a29cb20721b8dda2c65c6b2b4dfad6551">bno08x_meta_data_t::q_point_3</a></div><div class="ttdeci">uint16_t q_point_3</div><div class="ttdoc">q point for sensor data change sensitivity</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:1063</div></div>
+<div class="ttc" id="astructbno08x__meta__data__t_html_a31816ac79605b829e7304973d61f7d98"><div class="ttname"><a href="structbno08x__meta__data__t.html#a31816ac79605b829e7304973d61f7d98">bno08x_meta_data_t::revision</a></div><div class="ttdeci">uint16_t revision</div><div class="ttdoc">Metadata record format revision.</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:1059</div></div>
+<div class="ttc" id="astructbno08x__meta__data__t_html_a32f6c907d10794a2b64784c4bbe09723"><div class="ttname"><a href="structbno08x__meta__data__t.html#a32f6c907d10794a2b64784c4bbe09723">bno08x_meta_data_t::fifo_reserved</a></div><div class="ttdeci">uint32_t fifo_reserved</div><div class="ttdoc">(Unused)</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:1056</div></div>
+<div class="ttc" id="astructbno08x__meta__data__t_html_a3e22f63db62812b5aeeb873553f378c4"><div class="ttname"><a href="structbno08x__meta__data__t.html#a3e22f63db62812b5aeeb873553f378c4">bno08x_meta_data_t::bno08x_meta_data_t</a></div><div class="ttdeci">bno08x_meta_data_t()</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:1070</div></div>
+<div class="ttc" id="astructbno08x__meta__data__t_html_a3e4ff48e389db8b0643259f9af8c0006"><div class="ttname"><a href="structbno08x__meta__data__t.html#a3e4ff48e389db8b0643259f9af8c0006">bno08x_meta_data_t::max_period_us</a></div><div class="ttdeci">uint32_t max_period_us</div><div class="ttdoc">[uS] max period to use with enable_report</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:1055</div></div>
+<div class="ttc" id="astructbno08x__meta__data__t_html_a4134971e13a6242102facae308588072"><div class="ttname"><a href="structbno08x__meta__data__t.html#a4134971e13a6242102facae308588072">bno08x_meta_data_t::sensor_specific</a></div><div class="ttdeci">uint8_t sensor_specific[48]</div><div class="ttdoc">See SH-2 Reference Manual.</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:1049</div></div>
+<div class="ttc" id="astructbno08x__meta__data__t_html_a51e1f028175bf00c880cc2dfd4e05412"><div class="ttname"><a href="structbno08x__meta__data__t.html#a51e1f028175bf00c880cc2dfd4e05412">bno08x_meta_data_t::vendor_ID</a></div><div class="ttdeci">char vendor_ID[48]</div><div class="ttdoc">Vendor name and part number.</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:1048</div></div>
+<div class="ttc" id="astructbno08x__meta__data__t_html_a5384c14c55c8f156ea18a0cc81a2e6fc"><div class="ttname"><a href="structbno08x__meta__data__t.html#a5384c14c55c8f156ea18a0cc81a2e6fc">bno08x_meta_data_t::min_period_us</a></div><div class="ttdeci">uint32_t min_period_us</div><div class="ttdoc">[uS] min period to use with enable_report</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:1054</div></div>
+<div class="ttc" id="astructbno08x__meta__data__t_html_a549c5e42da7cf07c6ec28ce69548b1d8"><div class="ttname"><a href="structbno08x__meta__data__t.html#a549c5e42da7cf07c6ec28ce69548b1d8">bno08x_meta_data_t::bno08x_meta_data_t</a></div><div class="ttdeci">bno08x_meta_data_t(const sh2_SensorMetadata_t &amp;src)</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:1096</div></div>
+<div class="ttc" id="astructbno08x__meta__data__t_html_a5883b0fdc28d754f3fff570ca29e3b3e"><div class="ttname"><a href="structbno08x__meta__data__t.html#a5883b0fdc28d754f3fff570ca29e3b3e">bno08x_meta_data_t::mh_version</a></div><div class="ttdeci">uint8_t mh_version</div><div class="ttdoc">Motion Hub Version.</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:1065</div></div>
+<div class="ttc" id="astructbno08x__meta__data__t_html_a58edad7613b5b2c6e7afd0233106b09f"><div class="ttname"><a href="structbno08x__meta__data__t.html#a58edad7613b5b2c6e7afd0233106b09f">bno08x_meta_data_t::range</a></div><div class="ttdeci">uint32_t range</div><div class="ttdoc">Same units as sensor reports.</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:1052</div></div>
+<div class="ttc" id="astructbno08x__meta__data__t_html_a659afd22d089c9414ef865350c895d3e"><div class="ttname"><a href="structbno08x__meta__data__t.html#a659afd22d089c9414ef865350c895d3e">bno08x_meta_data_t::me_version</a></div><div class="ttdeci">uint8_t me_version</div><div class="ttdoc">Motion Engine Version.</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:1064</div></div>
+<div class="ttc" id="astructbno08x__meta__data__t_html_a672da8b56be3269bae22c9e0e5424719"><div class="ttname"><a href="structbno08x__meta__data__t.html#a672da8b56be3269bae22c9e0e5424719">bno08x_meta_data_t::sh_version</a></div><div class="ttdeci">uint8_t sh_version</div><div class="ttdoc">SensorHub Version.</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:1066</div></div>
+<div class="ttc" id="astructbno08x__meta__data__t_html_a7683b54fbe7ae8ec15b8f880d17a5a46"><div class="ttname"><a href="structbno08x__meta__data__t.html#a7683b54fbe7ae8ec15b8f880d17a5a46">bno08x_meta_data_t::resolution</a></div><div class="ttdeci">uint32_t resolution</div><div class="ttdoc">Same units as sensor reports.</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:1053</div></div>
+<div class="ttc" id="astructbno08x__meta__data__t_html_a94c6f70957ab28cde8d41fdbd2f39496"><div class="ttname"><a href="structbno08x__meta__data__t.html#a94c6f70957ab28cde8d41fdbd2f39496">bno08x_meta_data_t::fifo_max</a></div><div class="ttdeci">uint32_t fifo_max</div><div class="ttdoc">(Unused)</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:1057</div></div>
+<div class="ttc" id="astructbno08x__meta__data__t_html_abaa4829463c424c9959d594027ce7ba2"><div class="ttname"><a href="structbno08x__meta__data__t.html#abaa4829463c424c9959d594027ce7ba2">bno08x_meta_data_t::sensor_specific_len</a></div><div class="ttdeci">uint32_t sensor_specific_len</div><div class="ttdoc">[bytes]</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:1051</div></div>
+<div class="ttc" id="astructbno08x__meta__data__t_html_ac4297b1db8065c9ad38b6100abda92c1"><div class="ttname"><a href="structbno08x__meta__data__t.html#ac4297b1db8065c9ad38b6100abda92c1">bno08x_meta_data_t::power_mA</a></div><div class="ttdeci">uint16_t power_mA</div><div class="ttdoc">[mA] Fixed point 16Q10 format</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:1060</div></div>
+<div class="ttc" id="astructbno08x__meta__data__t_html_ac493692919e552ca32e6c87b4623ccd2"><div class="ttname"><a href="structbno08x__meta__data__t.html#ac493692919e552ca32e6c87b4623ccd2">bno08x_meta_data_t::batch_buffer_bytes</a></div><div class="ttdeci">uint32_t batch_buffer_bytes</div><div class="ttdoc">(Unused)</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:1058</div></div>
+<div class="ttc" id="astructbno08x__quat__t_html"><div class="ttname"><a href="structbno08x__quat__t.html">bno08x_quat_t</a></div><div class="ttdoc">Struct to represent unit quaternion.</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:473</div></div>
+<div class="ttc" id="astructbno08x__quat__t_html_a081cecab6370ae436f36416e3f7a6ddc"><div class="ttname"><a href="structbno08x__quat__t.html#a081cecab6370ae436f36416e3f7a6ddc">bno08x_quat_t::operator=</a></div><div class="ttdeci">bno08x_quat_t &amp; operator=(const sh2_RotationVectorWAcc_t &amp;source)</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:492</div></div>
+<div class="ttc" id="astructbno08x__quat__t_html_a23cac26e381f9a83657fccdab735046b"><div class="ttname"><a href="structbno08x__quat__t.html#a23cac26e381f9a83657fccdab735046b">bno08x_quat_t::operator=</a></div><div class="ttdeci">bno08x_quat_t &amp; operator=(const sh2_RotationVector_t &amp;source)</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:503</div></div>
+<div class="ttc" id="astructbno08x__quat__t_html_a7368a7f0524e3b2e1f4465329ecb0912"><div class="ttname"><a href="structbno08x__quat__t.html#a7368a7f0524e3b2e1f4465329ecb0912">bno08x_quat_t::rad_accuracy</a></div><div class="ttdeci">float rad_accuracy</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:478</div></div>
+<div class="ttc" id="astructbno08x__quat__t_html_aab49754d4967cfa71578d8d1156eef46"><div class="ttname"><a href="structbno08x__quat__t.html#aab49754d4967cfa71578d8d1156eef46">bno08x_quat_t::j</a></div><div class="ttdeci">float j</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:476</div></div>
+<div class="ttc" id="astructbno08x__quat__t_html_ab99e5e4f8adad74eee1a94b4e7ef2542"><div class="ttname"><a href="structbno08x__quat__t.html#ab99e5e4f8adad74eee1a94b4e7ef2542">bno08x_quat_t::real</a></div><div class="ttdeci">float real</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:474</div></div>
+<div class="ttc" id="astructbno08x__quat__t_html_ac438aba57b7082e1d81e2d1241f87ca0"><div class="ttname"><a href="structbno08x__quat__t.html#ac438aba57b7082e1d81e2d1241f87ca0">bno08x_quat_t::i</a></div><div class="ttdeci">float i</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:475</div></div>
+<div class="ttc" id="astructbno08x__quat__t_html_ade2592f6a271cc8b260081ad018772ef"><div class="ttname"><a href="structbno08x__quat__t.html#ade2592f6a271cc8b260081ad018772ef">bno08x_quat_t::k</a></div><div class="ttdeci">float k</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:477</div></div>
+<div class="ttc" id="astructbno08x__quat__t_html_ae3705dc48882a3d616927cad01c2387d"><div class="ttname"><a href="structbno08x__quat__t.html#ae3705dc48882a3d616927cad01c2387d">bno08x_quat_t::operator=</a></div><div class="ttdeci">bno08x_quat_t &amp; operator=(const sh2_GyroIntegratedRV_t &amp;source)</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:514</div></div>
+<div class="ttc" id="astructbno08x__quat__t_html_ae42ec645fe23b60e32e55872a3b9e703"><div class="ttname"><a href="structbno08x__quat__t.html#ae42ec645fe23b60e32e55872a3b9e703">bno08x_quat_t::bno08x_quat_t</a></div><div class="ttdeci">bno08x_quat_t()</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:481</div></div>
+<div class="ttc" id="astructbno08x__quat__t_html_afd179bfc02d365b5db4ad9fa810daf7c"><div class="ttname"><a href="structbno08x__quat__t.html#afd179bfc02d365b5db4ad9fa810daf7c">bno08x_quat_t::accuracy</a></div><div class="ttdeci">BNO08xAccuracy accuracy</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:479</div></div>
+<div class="ttc" id="astructbno08x__raw__accel__t_html"><div class="ttname"><a href="structbno08x__raw__accel__t.html">bno08x_raw_accel_t</a></div><div class="ttdoc">Struct to represent raw mems accelerometer data from raw accelerometer reports (units in ADC counts).</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:938</div></div>
+<div class="ttc" id="astructbno08x__raw__accel__t_html_a62d1731746ea51d36b9946594075e67b"><div class="ttname"><a href="structbno08x__raw__accel__t.html#a62d1731746ea51d36b9946594075e67b">bno08x_raw_accel_t::z</a></div><div class="ttdeci">int16_t z</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:942</div></div>
+<div class="ttc" id="astructbno08x__raw__accel__t_html_a7ca16a89f219b199eb5797fd101d1283"><div class="ttname"><a href="structbno08x__raw__accel__t.html#a7ca16a89f219b199eb5797fd101d1283">bno08x_raw_accel_t::timestamp_us</a></div><div class="ttdeci">uint32_t timestamp_us</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:939</div></div>
+<div class="ttc" id="astructbno08x__raw__accel__t_html_a8980031b2548b79c945abe299387d44f"><div class="ttname"><a href="structbno08x__raw__accel__t.html#a8980031b2548b79c945abe299387d44f">bno08x_raw_accel_t::operator=</a></div><div class="ttdeci">bno08x_raw_accel_t &amp; operator=(const sh2_RawAccelerometer_t &amp;source)</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:955</div></div>
+<div class="ttc" id="astructbno08x__raw__accel__t_html_a917d6b23cb40c7044891624cebac2993"><div class="ttname"><a href="structbno08x__raw__accel__t.html#a917d6b23cb40c7044891624cebac2993">bno08x_raw_accel_t::y</a></div><div class="ttdeci">int16_t y</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:941</div></div>
+<div class="ttc" id="astructbno08x__raw__accel__t_html_aadb4fc1fa1d87d0baf4db5a534ea18ea"><div class="ttname"><a href="structbno08x__raw__accel__t.html#aadb4fc1fa1d87d0baf4db5a534ea18ea">bno08x_raw_accel_t::accuracy</a></div><div class="ttdeci">BNO08xAccuracy accuracy</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:943</div></div>
+<div class="ttc" id="astructbno08x__raw__accel__t_html_ab5188923307b95f6324d9241e9140def"><div class="ttname"><a href="structbno08x__raw__accel__t.html#ab5188923307b95f6324d9241e9140def">bno08x_raw_accel_t::x</a></div><div class="ttdeci">int16_t x</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:940</div></div>
+<div class="ttc" id="astructbno08x__raw__accel__t_html_afb9443ec5846eefe942e1f273570fb7f"><div class="ttname"><a href="structbno08x__raw__accel__t.html#afb9443ec5846eefe942e1f273570fb7f">bno08x_raw_accel_t::bno08x_raw_accel_t</a></div><div class="ttdeci">bno08x_raw_accel_t()</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:945</div></div>
+<div class="ttc" id="astructbno08x__raw__gyro__t_html"><div class="ttname"><a href="structbno08x__raw__gyro__t.html">bno08x_raw_gyro_t</a></div><div class="ttdoc">Struct to represent raw mems gyro data from raw gyro reports (units in ADC counts).</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:905</div></div>
+<div class="ttc" id="astructbno08x__raw__gyro__t_html_a17c759dd38d5a6b78ae5cb77c5e4d93b"><div class="ttname"><a href="structbno08x__raw__gyro__t.html#a17c759dd38d5a6b78ae5cb77c5e4d93b">bno08x_raw_gyro_t::bno08x_raw_gyro_t</a></div><div class="ttdeci">bno08x_raw_gyro_t()</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:913</div></div>
+<div class="ttc" id="astructbno08x__raw__gyro__t_html_a34c3ff52aaa1898f44ad6b0cf585825a"><div class="ttname"><a href="structbno08x__raw__gyro__t.html#a34c3ff52aaa1898f44ad6b0cf585825a">bno08x_raw_gyro_t::operator=</a></div><div class="ttdeci">bno08x_raw_gyro_t &amp; operator=(const sh2_RawGyroscope_t &amp;source)</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:924</div></div>
+<div class="ttc" id="astructbno08x__raw__gyro__t_html_a7b7f2f569143c710ac3b1068d434a47f"><div class="ttname"><a href="structbno08x__raw__gyro__t.html#a7b7f2f569143c710ac3b1068d434a47f">bno08x_raw_gyro_t::x</a></div><div class="ttdeci">int16_t x</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:907</div></div>
+<div class="ttc" id="astructbno08x__raw__gyro__t_html_a99d61a4d56a06fb219dc023fe3e446b5"><div class="ttname"><a href="structbno08x__raw__gyro__t.html#a99d61a4d56a06fb219dc023fe3e446b5">bno08x_raw_gyro_t::timestamp_us</a></div><div class="ttdeci">uint32_t timestamp_us</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:906</div></div>
+<div class="ttc" id="astructbno08x__raw__gyro__t_html_aa19b4b279b5c218675bf4c83ca872371"><div class="ttname"><a href="structbno08x__raw__gyro__t.html#aa19b4b279b5c218675bf4c83ca872371">bno08x_raw_gyro_t::accuracy</a></div><div class="ttdeci">BNO08xAccuracy accuracy</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:911</div></div>
+<div class="ttc" id="astructbno08x__raw__gyro__t_html_adf725827f6f97e16c953f6f5c7bf890b"><div class="ttname"><a href="structbno08x__raw__gyro__t.html#adf725827f6f97e16c953f6f5c7bf890b">bno08x_raw_gyro_t::temperature</a></div><div class="ttdeci">int16_t temperature</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:910</div></div>
+<div class="ttc" id="astructbno08x__raw__gyro__t_html_af8755b09df8253594de1412f02655651"><div class="ttname"><a href="structbno08x__raw__gyro__t.html#af8755b09df8253594de1412f02655651">bno08x_raw_gyro_t::y</a></div><div class="ttdeci">int16_t y</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:908</div></div>
+<div class="ttc" id="astructbno08x__raw__gyro__t_html_afe5677954b4678eb3a460a386f224a78"><div class="ttname"><a href="structbno08x__raw__gyro__t.html#afe5677954b4678eb3a460a386f224a78">bno08x_raw_gyro_t::z</a></div><div class="ttdeci">int16_t z</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:909</div></div>
+<div class="ttc" id="astructbno08x__raw__magf__t_html"><div class="ttname"><a href="structbno08x__raw__magf__t.html">bno08x_raw_magf_t</a></div><div class="ttdoc">Struct to represent raw mems magnetometer data from raw magnetometer reports (units in ADC counts).</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:968</div></div>
+<div class="ttc" id="astructbno08x__raw__magf__t_html_a5d50e05cccd1f92f36f6ac83e9f911ae"><div class="ttname"><a href="structbno08x__raw__magf__t.html#a5d50e05cccd1f92f36f6ac83e9f911ae">bno08x_raw_magf_t::z</a></div><div class="ttdeci">int16_t z</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:972</div></div>
+<div class="ttc" id="astructbno08x__raw__magf__t_html_a6d04fa2589070ad4ee06b7259fc90900"><div class="ttname"><a href="structbno08x__raw__magf__t.html#a6d04fa2589070ad4ee06b7259fc90900">bno08x_raw_magf_t::x</a></div><div class="ttdeci">int16_t x</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:970</div></div>
+<div class="ttc" id="astructbno08x__raw__magf__t_html_a74cb298f230665c2d600d3298717c321"><div class="ttname"><a href="structbno08x__raw__magf__t.html#a74cb298f230665c2d600d3298717c321">bno08x_raw_magf_t::timestamp_us</a></div><div class="ttdeci">uint32_t timestamp_us</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:969</div></div>
+<div class="ttc" id="astructbno08x__raw__magf__t_html_a9bbd61edac01cb1f2e78417efe8573aa"><div class="ttname"><a href="structbno08x__raw__magf__t.html#a9bbd61edac01cb1f2e78417efe8573aa">bno08x_raw_magf_t::bno08x_raw_magf_t</a></div><div class="ttdeci">bno08x_raw_magf_t()</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:975</div></div>
+<div class="ttc" id="astructbno08x__raw__magf__t_html_aba0a88c1032210c6db95ac779e280b9a"><div class="ttname"><a href="structbno08x__raw__magf__t.html#aba0a88c1032210c6db95ac779e280b9a">bno08x_raw_magf_t::y</a></div><div class="ttdeci">int16_t y</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:971</div></div>
+<div class="ttc" id="astructbno08x__raw__magf__t_html_ad58e25ff5c6d8c4c3843264effa63a7c"><div class="ttname"><a href="structbno08x__raw__magf__t.html#ad58e25ff5c6d8c4c3843264effa63a7c">bno08x_raw_magf_t::operator=</a></div><div class="ttdeci">bno08x_raw_magf_t &amp; operator=(const sh2_RawMagnetometer_t &amp;source)</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:985</div></div>
+<div class="ttc" id="astructbno08x__raw__magf__t_html_ae1253faa56aecbafd24f24f42dfb3aeb"><div class="ttname"><a href="structbno08x__raw__magf__t.html#ae1253faa56aecbafd24f24f42dfb3aeb">bno08x_raw_magf_t::accuracy</a></div><div class="ttdeci">BNO08xAccuracy accuracy</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:973</div></div>
+<div class="ttc" id="astructbno08x__sample__counts__t_html"><div class="ttname"><a href="structbno08x__sample__counts__t.html">bno08x_sample_counts_t</a></div><div class="ttdoc">Struct to represent sample counts, returned from BNO08xRpt::get_sample_counts()</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:1018</div></div>
+<div class="ttc" id="astructbno08x__sample__counts__t_html_a055f3d8ff138c7da4a79d4a6fb2af9b9"><div class="ttname"><a href="structbno08x__sample__counts__t.html#a055f3d8ff138c7da4a79d4a6fb2af9b9">bno08x_sample_counts_t::on</a></div><div class="ttdeci">uint32_t on</div><div class="ttdoc">Number of &quot;offered&quot; samples while this sensor was requested by host.</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:1020</div></div>
+<div class="ttc" id="astructbno08x__sample__counts__t_html_a2ab3e0999a5e668833eb8dbab6d1f036"><div class="ttname"><a href="structbno08x__sample__counts__t.html#a2ab3e0999a5e668833eb8dbab6d1f036">bno08x_sample_counts_t::accepted</a></div><div class="ttdeci">uint32_t accepted</div><div class="ttdoc">Number of &quot;on&quot; samples that passed decimation filter.</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:1021</div></div>
+<div class="ttc" id="astructbno08x__sample__counts__t_html_a8d03182919cce138cfda97c3ff5700b2"><div class="ttname"><a href="structbno08x__sample__counts__t.html#a8d03182919cce138cfda97c3ff5700b2">bno08x_sample_counts_t::attempted</a></div><div class="ttdeci">uint32_t attempted</div><div class="ttdoc">Number of &quot;accepted&quot; samples that passed threshold requirements and had transmission to the host atte...</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:1023</div></div>
+<div class="ttc" id="astructbno08x__sample__counts__t_html_aae4244c540f8411246032f1e69125b75"><div class="ttname"><a href="structbno08x__sample__counts__t.html#aae4244c540f8411246032f1e69125b75">bno08x_sample_counts_t::offered</a></div><div class="ttdeci">uint32_t offered</div><div class="ttdoc">Number of samples produced by underlying data source.</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:1019</div></div>
+<div class="ttc" id="astructbno08x__sample__counts__t_html_abd1eccfac205719fd1c5aed25fee1fec"><div class="ttname"><a href="structbno08x__sample__counts__t.html#abd1eccfac205719fd1c5aed25fee1fec">bno08x_sample_counts_t::bno08x_sample_counts_t</a></div><div class="ttdeci">bno08x_sample_counts_t()</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:1025</div></div>
+<div class="ttc" id="astructbno08x__sample__counts__t_html_af9e52b9fe15c78bd8b2ef3cc5af66a13"><div class="ttname"><a href="structbno08x__sample__counts__t.html#af9e52b9fe15c78bd8b2ef3cc5af66a13">bno08x_sample_counts_t::operator=</a></div><div class="ttdeci">bno08x_sample_counts_t &amp; operator=(const sh2_Counts_t &amp;source)</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:1034</div></div>
+<div class="ttc" id="astructbno08x__shake__detector__t_html"><div class="ttname"><a href="structbno08x__shake__detector__t.html">bno08x_shake_detector_t</a></div><div class="ttdoc">Struct to represent shake detector data (flag meaning: 0 = no shake 1 = shake detected)</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:816</div></div>
+<div class="ttc" id="astructbno08x__shake__detector__t_html_a24dc1df9bb8089c330865e26054a349e"><div class="ttname"><a href="structbno08x__shake__detector__t.html#a24dc1df9bb8089c330865e26054a349e">bno08x_shake_detector_t::x_flag</a></div><div class="ttdeci">uint8_t x_flag</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:817</div></div>
+<div class="ttc" id="astructbno08x__shake__detector__t_html_a57df670bfdac6a4174c986a65a0340be"><div class="ttname"><a href="structbno08x__shake__detector__t.html#a57df670bfdac6a4174c986a65a0340be">bno08x_shake_detector_t::bno08x_shake_detector_t</a></div><div class="ttdeci">bno08x_shake_detector_t()</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:822</div></div>
+<div class="ttc" id="astructbno08x__shake__detector__t_html_a7b833f57fc85173adecf666ec6d5477e"><div class="ttname"><a href="structbno08x__shake__detector__t.html#a7b833f57fc85173adecf666ec6d5477e">bno08x_shake_detector_t::z_flag</a></div><div class="ttdeci">uint8_t z_flag</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:819</div></div>
+<div class="ttc" id="astructbno08x__shake__detector__t_html_a7fe349111b513b2cd042ad98112791b7"><div class="ttname"><a href="structbno08x__shake__detector__t.html#a7fe349111b513b2cd042ad98112791b7">bno08x_shake_detector_t::operator=</a></div><div class="ttdeci">bno08x_shake_detector_t &amp; operator=(const sh2_ShakeDetector_t &amp;source)</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:831</div></div>
+<div class="ttc" id="astructbno08x__shake__detector__t_html_a814745b5a1dd7aa6bb4bfde4981d1caa"><div class="ttname"><a href="structbno08x__shake__detector__t.html#a814745b5a1dd7aa6bb4bfde4981d1caa">bno08x_shake_detector_t::y_flag</a></div><div class="ttdeci">uint8_t y_flag</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:818</div></div>
+<div class="ttc" id="astructbno08x__shake__detector__t_html_ac643f6c9ac9144c37765b22912212860"><div class="ttname"><a href="structbno08x__shake__detector__t.html#ac643f6c9ac9144c37765b22912212860">bno08x_shake_detector_t::accuracy</a></div><div class="ttdeci">BNO08xAccuracy accuracy</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:820</div></div>
+<div class="ttc" id="astructbno08x__stability__classifier__t_html"><div class="ttname"><a href="structbno08x__stability__classifier__t.html">bno08x_stability_classifier_t</a></div><div class="ttdoc">Struct to represent stability classifier data from stability classifier reports.</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:997</div></div>
+<div class="ttc" id="astructbno08x__stability__classifier__t_html_a1af6213e40337e7dfff734d542fc3be2"><div class="ttname"><a href="structbno08x__stability__classifier__t.html#a1af6213e40337e7dfff734d542fc3be2">bno08x_stability_classifier_t::bno08x_stability_classifier_t</a></div><div class="ttdeci">bno08x_stability_classifier_t()</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:1001</div></div>
+<div class="ttc" id="astructbno08x__stability__classifier__t_html_a2ecd636f34a6be612833009d9a1c8725"><div class="ttname"><a href="structbno08x__stability__classifier__t.html#a2ecd636f34a6be612833009d9a1c8725">bno08x_stability_classifier_t::stability</a></div><div class="ttdeci">BNO08xStability stability</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:998</div></div>
+<div class="ttc" id="astructbno08x__stability__classifier__t_html_aa1eeb8deb186589ae21cbd1b96747bf7"><div class="ttname"><a href="structbno08x__stability__classifier__t.html#aa1eeb8deb186589ae21cbd1b96747bf7">bno08x_stability_classifier_t::accuracy</a></div><div class="ttdeci">BNO08xAccuracy accuracy</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:999</div></div>
+<div class="ttc" id="astructbno08x__stability__classifier__t_html_aff4d78a7c01ef13ae001bb185f825151"><div class="ttname"><a href="structbno08x__stability__classifier__t.html#aff4d78a7c01ef13ae001bb185f825151">bno08x_stability_classifier_t::operator=</a></div><div class="ttdeci">bno08x_stability_classifier_t &amp; operator=(const sh2_StabilityClassifier_t &amp;source)</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:1008</div></div>
+<div class="ttc" id="astructbno08x__step__counter__t_html"><div class="ttname"><a href="structbno08x__step__counter__t.html">bno08x_step_counter_t</a></div><div class="ttdoc">Struct to represent step counter data from step counter reports.</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:882</div></div>
+<div class="ttc" id="astructbno08x__step__counter__t_html_a53eb4151dfa16c65871f9a754cf92940"><div class="ttname"><a href="structbno08x__step__counter__t.html#a53eb4151dfa16c65871f9a754cf92940">bno08x_step_counter_t::bno08x_step_counter_t</a></div><div class="ttdeci">bno08x_step_counter_t()</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:887</div></div>
+<div class="ttc" id="astructbno08x__step__counter__t_html_a6d6be986b770fe1343a46080f35653d3"><div class="ttname"><a href="structbno08x__step__counter__t.html#a6d6be986b770fe1343a46080f35653d3">bno08x_step_counter_t::steps</a></div><div class="ttdeci">uint16_t steps</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:884</div></div>
+<div class="ttc" id="astructbno08x__step__counter__t_html_a7e0f4b2eb32978a33f9e8c1c70b83f13"><div class="ttname"><a href="structbno08x__step__counter__t.html#a7e0f4b2eb32978a33f9e8c1c70b83f13">bno08x_step_counter_t::accuracy</a></div><div class="ttdeci">BNO08xAccuracy accuracy</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:885</div></div>
+<div class="ttc" id="astructbno08x__step__counter__t_html_a8060ef0721d76ff0175ca487617db202"><div class="ttname"><a href="structbno08x__step__counter__t.html#a8060ef0721d76ff0175ca487617db202">bno08x_step_counter_t::latency</a></div><div class="ttdeci">uint32_t latency</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:883</div></div>
+<div class="ttc" id="astructbno08x__step__counter__t_html_ab184ba986a22ae89d5a4028b72efb2c1"><div class="ttname"><a href="structbno08x__step__counter__t.html#ab184ba986a22ae89d5a4028b72efb2c1">bno08x_step_counter_t::operator=</a></div><div class="ttdeci">bno08x_step_counter_t &amp; operator=(const sh2_StepCounter_t &amp;source)</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:895</div></div>
+<div class="ttc" id="astructbno08x__tap__detector__t_html"><div class="ttname"><a href="structbno08x__tap__detector__t.html">bno08x_tap_detector_t</a></div><div class="ttdoc">Struct to represent tap detector data (flag meaning: 0 = no tap, 1 = positive tap on axis,...</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:761</div></div>
+<div class="ttc" id="astructbno08x__tap__detector__t_html_a1ce57db3616377a16e11701cc04c3442"><div class="ttname"><a href="structbno08x__tap__detector__t.html#a1ce57db3616377a16e11701cc04c3442">bno08x_tap_detector_t::x_flag</a></div><div class="ttdeci">int8_t x_flag</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:762</div></div>
+<div class="ttc" id="astructbno08x__tap__detector__t_html_a4cd8e7c025890f3abfa04ea2a0522f87"><div class="ttname"><a href="structbno08x__tap__detector__t.html#a4cd8e7c025890f3abfa04ea2a0522f87">bno08x_tap_detector_t::operator=</a></div><div class="ttdeci">bno08x_tap_detector_t &amp; operator=(const sh2_TapDetector_t &amp;source)</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:778</div></div>
+<div class="ttc" id="astructbno08x__tap__detector__t_html_aa46d40f151fce8f60fc8ed4cbe6cf2a1"><div class="ttname"><a href="structbno08x__tap__detector__t.html#aa46d40f151fce8f60fc8ed4cbe6cf2a1">bno08x_tap_detector_t::z_flag</a></div><div class="ttdeci">int8_t z_flag</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:764</div></div>
+<div class="ttc" id="astructbno08x__tap__detector__t_html_ab464e512951fb6cf5a1411d2218d51c5"><div class="ttname"><a href="structbno08x__tap__detector__t.html#ab464e512951fb6cf5a1411d2218d51c5">bno08x_tap_detector_t::bno08x_tap_detector_t</a></div><div class="ttdeci">bno08x_tap_detector_t()</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:768</div></div>
+<div class="ttc" id="astructbno08x__tap__detector__t_html_ad43c32c1d5a57f37e884e756daf9a7ea"><div class="ttname"><a href="structbno08x__tap__detector__t.html#ad43c32c1d5a57f37e884e756daf9a7ea">bno08x_tap_detector_t::accuracy</a></div><div class="ttdeci">BNO08xAccuracy accuracy</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:766</div></div>
+<div class="ttc" id="astructbno08x__tap__detector__t_html_ae6ad63cddd8ddd96383448f659226c6f"><div class="ttname"><a href="structbno08x__tap__detector__t.html#ae6ad63cddd8ddd96383448f659226c6f">bno08x_tap_detector_t::y_flag</a></div><div class="ttdeci">int8_t y_flag</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:763</div></div>
+<div class="ttc" id="astructbno08x__tap__detector__t_html_aef875a8e6ff23b29cb9fb73af48db11a"><div class="ttname"><a href="structbno08x__tap__detector__t.html#aef875a8e6ff23b29cb9fb73af48db11a">bno08x_tap_detector_t::double_tap</a></div><div class="ttdeci">bool double_tap</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:765</div></div>
+</div><!-- fragment --></div><!-- contents -->
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+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="nested-classes" name="nested-classes"></a>
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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_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Holds context used to synchronize tasks and callback execution.  <a href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__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="namespaces" name="namespaces"></a>
+Namespaces</h2></td></tr>
+<tr class="memitem:namespace_b_n_o08x_private_types"><td class="memItemLeft" align="right" valign="top">namespace &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespace_b_n_o08x_private_types.html">BNO08xPrivateTypes</a></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="typedef-members" name="typedef-members"></a>
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+<tr class="memitem:a0f0c287ea0571e6c589c638e4bd07703"><td class="memItemLeft" align="right" valign="top">using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespace_b_n_o08x_private_types.html#a0f0c287ea0571e6c589c638e4bd07703">BNO08xPrivateTypes::bno08x_cb_list_t</a> = etl::vector&lt; etl::variant&lt; <a class="el" href="class_b_n_o08x_cb_param_void.html">BNO08xCbParamVoid</a>, <a class="el" href="class_b_n_o08x_cb_param_rpt_i_d.html">BNO08xCbParamRptID</a> &gt;, CONFIG_ESP32_BNO08X_CB_MAX &gt;</td></tr>
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+<tr class="separator:a0f0c287ea0571e6c589c638e4bd07703"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2698bcb8153e67716b43ce3cccc0f31a"><td class="memItemLeft" align="right" valign="top">typedef struct <a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html">BNO08xPrivateTypes::bno08x_init_status_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespace_b_n_o08x_private_types.html#a2698bcb8153e67716b43ce3cccc0f31a">BNO08xPrivateTypes::bno08x_init_status_t</a></td></tr>
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+<tr class="separator:a2698bcb8153e67716b43ce3cccc0f31a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a67b3b4702d94bb4ba152a213feae944f"><td class="memItemLeft" align="right" valign="top">typedef struct <a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespace_b_n_o08x_private_types.html#a67b3b4702d94bb4ba152a213feae944f">BNO08xPrivateTypes::bno08x_sync_ctx_t</a></td></tr>
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+&#160;&#160;<a class="el" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fab57a2ea711bebb4d4e031a0b449160c7">BNO08xPrivateTypes::EVT_GRP_RPT_RAW_MAGNETOMETER_BIT</a> = (1UL &lt;&lt; 20U)
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+<br />
+ }</td></tr>
+<tr class="memdesc:ac53fb578d93a18b7a83903fc7a71dc2f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Bits for evt_grp_rpt_en &amp; evt_grp_rpt_data_available.  <a href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2f">More...</a><br /></td></tr>
+<tr class="separator:ac53fb578d93a18b7a83903fc7a71dc2f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a59097f108831dd9860e17438d2976c1c"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespace_b_n_o08x_private_types.html#a59097f108831dd9860e17438d2976c1c">BNO08xPrivateTypes::bno08x_tsk_bit_t</a> : EventBits_t { <a class="el" href="namespace_b_n_o08x_private_types.html#a59097f108831dd9860e17438d2976c1ca272952aff639965d61f76664cb4fed15">BNO08xPrivateTypes::EVT_GRP_BNO08x_TASKS_RUNNING</a>
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+ }</td></tr>
+<tr class="memdesc:a59097f108831dd9860e17438d2976c1c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Bits for evt_grp_bno08x_task.  <a href="namespace_b_n_o08x_private_types.html#a59097f108831dd9860e17438d2976c1c">More...</a><br /></td></tr>
+<tr class="separator:a59097f108831dd9860e17438d2976c1c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><dl class="section author"><dt>Author</dt><dd>Myles Parfeniuk </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="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="_b_n_o08x_private_types_8hpp.html">BNO08xPrivateTypes.hpp</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> 1.9.4 </li>
+  </ul>
+</div>
+</body>
+</html>
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+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
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+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
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+<div class="header">
+  <div class="headertitle"><div class="title">BNO08xPrivateTypes.hpp</div></div>
+</div><!--header-->
+<div class="contents">
+<a href="_b_n_o08x_private_types_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> </div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span> </div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="comment">// etl includes</span></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="preprocessor">#include &lt;etl/vector.h&gt;</span></div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="preprocessor">#include &lt;etl/variant.h&gt;</span></div>
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="comment">// esp-idf includes</span></div>
+<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span><span class="preprocessor">#include &lt;freertos/FreeRTOS.h&gt;</span></div>
+<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span><span class="preprocessor">#include &lt;freertos/semphr.h&gt;</span></div>
+<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span><span class="preprocessor">#include &lt;freertos/event_groups.h&gt;</span></div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span><span class="comment">// in-house includes</span></div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span><span class="preprocessor">#include &quot;<a class="code" href="_b_n_o08x_global_types_8hpp.html">BNO08xGlobalTypes.hpp</a>&quot;</span></div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span><span class="preprocessor">#include &quot;<a class="code" href="_b_n_o08x_cb_param_rpt_i_d_8hpp.html">BNO08xCbParamRptID.hpp</a>&quot;</span></div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span><span class="preprocessor">#include &quot;<a class="code" href="_b_n_o08x_cb_param_void_8hpp.html">BNO08xCbParamVoid.hpp</a>&quot;</span></div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span> </div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"><a class="line" href="namespace_b_n_o08x_private_types.html">   20</a></span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespace_b_n_o08x_private_types.html">BNO08xPrivateTypes</a></div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>{</div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"><a class="line" href="namespace_b_n_o08x_private_types.html#a0f0c287ea0571e6c589c638e4bd07703">   22</a></span>    <span class="keyword">using </span><a class="code hl_typedef" href="namespace_b_n_o08x_private_types.html#a0f0c287ea0571e6c589c638e4bd07703">bno08x_cb_list_t</a> = etl::vector&lt;etl::variant&lt;BNO08xCbParamVoid, BNO08xCbParamRptID&gt;,</div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>            CONFIG_ESP32_BNO08X_CB_MAX&gt;; </div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span> </div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html">   27</a></span>    <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code hl_struct" href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html">bno08x_init_status_t</a></div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>    {</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html#ac74b5a17ec13d4bef4e4775f20ed68df">   29</a></span>            <span class="keywordtype">bool</span> <a class="code hl_variable" href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html#ac74b5a17ec13d4bef4e4775f20ed68df">gpio_outputs</a>;         </div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html#a9b87a879ec795e2241985f0d33856c14">   30</a></span>            <span class="keywordtype">bool</span> <a class="code hl_variable" href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html#a9b87a879ec795e2241985f0d33856c14">gpio_inputs</a>;          </div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html#a3cec063b6210ec58d30b3bd1d4ead4f9">   31</a></span>            <span class="keywordtype">bool</span> <a class="code hl_variable" href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html#a3cec063b6210ec58d30b3bd1d4ead4f9">isr_service</a>;          </div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html#a7c4523e02a434a7be73f5dc5314429bd">   32</a></span>            <span class="keywordtype">bool</span> <a class="code hl_variable" href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html#a7c4523e02a434a7be73f5dc5314429bd">isr_handler</a>;          </div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html#a8780317bf985194a58d4b0457d518adf">   33</a></span>            <span class="keywordtype">bool</span> <a class="code hl_variable" href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html#a8780317bf985194a58d4b0457d518adf">spi_bus</a>;              </div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html#ab268642c4b6b9fc1eb7c6ceec0e8e64d">   34</a></span>            <span class="keywordtype">bool</span> <a class="code hl_variable" href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html#ab268642c4b6b9fc1eb7c6ceec0e8e64d">spi_device</a>;           </div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html#af303bcbae7a635043e0c082d7869dd40">   35</a></span>            <span class="keywordtype">bool</span> <a class="code hl_variable" href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html#af303bcbae7a635043e0c082d7869dd40">data_proc_task</a>;       </div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html#a150665b9f07eea167dd61aa9701d0e66">   36</a></span>            <span class="keywordtype">bool</span> <a class="code hl_variable" href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html#a150665b9f07eea167dd61aa9701d0e66">sh2_HAL_service_task</a>; </div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html#ae1066ea59e52f7d228b71df1f8c2b416">   37</a></span>            <span class="keywordtype">bool</span> <a class="code hl_variable" href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html#ae1066ea59e52f7d228b71df1f8c2b416">cb_task</a>;              </div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html#a5094148539354e52e4f7b054ba766bce">   38</a></span>            <span class="keywordtype">bool</span> <a class="code hl_variable" href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html#a5094148539354e52e4f7b054ba766bce">sh2_HAL</a>;              </div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span> </div>
+<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html#a63b876667ae7fb32e9861dffafb55a64">   40</a></span>            <a class="code hl_function" href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html#a63b876667ae7fb32e9861dffafb55a64">bno08x_init_status_t</a>()</div>
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>                : <a class="code hl_variable" href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html#ac74b5a17ec13d4bef4e4775f20ed68df">gpio_outputs</a>(false)</div>
+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span>                , <a class="code hl_variable" href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html#a9b87a879ec795e2241985f0d33856c14">gpio_inputs</a>(false)</div>
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>                , <a class="code hl_variable" href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html#a3cec063b6210ec58d30b3bd1d4ead4f9">isr_service</a>(false)</div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>                , <a class="code hl_variable" href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html#a7c4523e02a434a7be73f5dc5314429bd">isr_handler</a>(false)</div>
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span>                , <a class="code hl_variable" href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html#a8780317bf985194a58d4b0457d518adf">spi_bus</a>(false)</div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>                , <a class="code hl_variable" href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html#ab268642c4b6b9fc1eb7c6ceec0e8e64d">spi_device</a>(false)</div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>                , <a class="code hl_variable" href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html#af303bcbae7a635043e0c082d7869dd40">data_proc_task</a>(false)</div>
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>                , <a class="code hl_variable" href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html#a150665b9f07eea167dd61aa9701d0e66">sh2_HAL_service_task</a>(false)</div>
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>                , <a class="code hl_variable" href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html#ae1066ea59e52f7d228b71df1f8c2b416">cb_task</a>(false)</div>
+<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>                , <a class="code hl_variable" href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html#a5094148539354e52e4f7b054ba766bce">sh2_HAL</a>(false)</div>
+<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>            {</div>
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>            }</div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"><a class="line" href="namespace_b_n_o08x_private_types.html#a2698bcb8153e67716b43ce3cccc0f31a">   53</a></span>    } <a class="code hl_typedef" href="namespace_b_n_o08x_private_types.html#a2698bcb8153e67716b43ce3cccc0f31a">bno08x_init_status_t</a>;</div>
+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span> </div>
+<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">   56</a></span>    <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code hl_struct" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">bno08x_sync_ctx_t</a></div>
+<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>    {</div>
+<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html#a5433c33ca93bfd2be4a7575ddff7a8d9">   58</a></span>            SemaphoreHandle_t <a class="code hl_variable" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html#a5433c33ca93bfd2be4a7575ddff7a8d9">sh2_HAL_lock</a>; </div>
+<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>            SemaphoreHandle_t</div>
+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html#a551d1eb66d239c54cffa96b558e40a15">   60</a></span>                    <a class="code hl_variable" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html#a551d1eb66d239c54cffa96b558e40a15">data_lock</a>; </div>
+<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html#aeaeeb8fa04544f63b66c32f3adbb0041">   61</a></span>            EventGroupHandle_t <a class="code hl_variable" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html#aeaeeb8fa04544f63b66c32f3adbb0041">evt_grp_rpt_en</a>; </div>
+<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>            EventGroupHandle_t</div>
+<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html#a13f4a91c74fbf09059b5b136ed4f09ac">   63</a></span>                    <a class="code hl_variable" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html#a13f4a91c74fbf09059b5b136ed4f09ac">evt_grp_rpt_data_available</a>; </div>
+<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html#aacddf6425d126d8e854eff620a2dbec0">   64</a></span>            EventGroupHandle_t <a class="code hl_variable" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html#aacddf6425d126d8e854eff620a2dbec0">evt_grp_task</a>; </div>
+<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html#aa63f0d6aa9a27e2f6cdbef17c42c3289">   65</a></span>            etl::vector&lt;uint8_t, TOTAL_RPT_COUNT&gt; <a class="code hl_variable" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html#aa63f0d6aa9a27e2f6cdbef17c42c3289">en_report_ids</a>; </div>
+<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html#ad38bf7a37a5c9cae7c9d8725b23ff365">   66</a></span>            <a class="code hl_typedef" href="namespace_b_n_o08x_private_types.html#a0f0c287ea0571e6c589c638e4bd07703">bno08x_cb_list_t</a> <a class="code hl_variable" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html#ad38bf7a37a5c9cae7c9d8725b23ff365">cb_list</a>;                            </div>
+<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span> </div>
+<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html#a3f9cea8f40f89200c93f2a4bf09039ac">   68</a></span>            <a class="code hl_function" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html#a3f9cea8f40f89200c93f2a4bf09039ac">bno08x_sync_ctx_t</a>()</div>
+<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>                : <a class="code hl_variable" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html#a5433c33ca93bfd2be4a7575ddff7a8d9">sh2_HAL_lock</a>(xSemaphoreCreateMutex())</div>
+<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>                , <a class="code hl_variable" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html#a551d1eb66d239c54cffa96b558e40a15">data_lock</a>(xSemaphoreCreateMutex())</div>
+<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>                , <a class="code hl_variable" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html#aeaeeb8fa04544f63b66c32f3adbb0041">evt_grp_rpt_en</a>(xEventGroupCreate())</div>
+<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>                , <a class="code hl_variable" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html#a13f4a91c74fbf09059b5b136ed4f09ac">evt_grp_rpt_data_available</a>(xEventGroupCreate())</div>
+<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>                , <a class="code hl_variable" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html#aacddf6425d126d8e854eff620a2dbec0">evt_grp_task</a>(xEventGroupCreate())</div>
+<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>            {</div>
+<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>            }</div>
+<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"><a class="line" href="namespace_b_n_o08x_private_types.html#a67b3b4702d94bb4ba152a213feae944f">   76</a></span>    } <a class="code hl_typedef" href="namespace_b_n_o08x_private_types.html#a67b3b4702d94bb4ba152a213feae944f">bno08x_sync_ctx_t</a>;</div>
+<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span> </div>
+<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"><a class="line" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2f">   79</a></span>    <span class="keyword">enum</span> <a class="code hl_enumeration" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2f">bno08x_rpt_bit_t</a> : EventBits_t</div>
+<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>    {</div>
+<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"><a class="line" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fac0ff3fde600aac814ad76a4769515ae8">   81</a></span>        <a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fac0ff3fde600aac814ad76a4769515ae8">EVT_GRP_RPT_RV_BIT</a> = (1UL &lt;&lt; 0U),                 </div>
+<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"><a class="line" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fad39283f98adf7242b3b3ccf847c150cd">   82</a></span>        <a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fad39283f98adf7242b3b3ccf847c150cd">EVT_GRP_RPT_RV_GAME_BIT</a> = (1UL &lt;&lt; 1U),            </div>
+<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"><a class="line" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fab5d141bdda220e3fa0bd9eb0fe3f31b5">   83</a></span>        <a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fab5d141bdda220e3fa0bd9eb0fe3f31b5">EVT_GRP_RPT_RV_ARVR_S_BIT</a> = (1UL &lt;&lt; 2U),          </div>
+<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"><a class="line" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fab77588c26929a2d8dd8eeea883b905ca">   84</a></span>        <a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fab77588c26929a2d8dd8eeea883b905ca">EVT_GRP_RPT_RV_ARVR_S_GAME_BIT</a> = (1UL &lt;&lt; 3U),     </div>
+<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"><a class="line" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fa6835a63fb08379608cda0a108098aac7">   85</a></span>        <a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fa6835a63fb08379608cda0a108098aac7">EVT_GRP_RPT_GYRO_INTEGRATED_RV_BIT</a> = (1UL &lt;&lt; 4U), </div>
+<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"><a class="line" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fa728314f4744fc408c6b153e8fbb3feb4">   86</a></span>        <a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fa728314f4744fc408c6b153e8fbb3feb4">EVT_GRP_RPT_GEOMAG_RV_BIT</a> = (1UL &lt;&lt; 5U),          </div>
+<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"><a class="line" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2faa5b9ffe097d1eb83a6a5a13871da0891">   87</a></span>        <a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2faa5b9ffe097d1eb83a6a5a13871da0891">EVT_GRP_RPT_ACCELEROMETER_BIT</a> = (1UL &lt;&lt; 6U),      </div>
+<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"><a class="line" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fa68851003c2b7df34c3acf882251c60e2">   88</a></span>        <a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fa68851003c2b7df34c3acf882251c60e2">EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT</a> = (1UL &lt;&lt; 7U),  </div>
+<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"><a class="line" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fabd9e62157a0bc3dc38c3473d7bc2799f">   89</a></span>        <a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fabd9e62157a0bc3dc38c3473d7bc2799f">EVT_GRP_RPT_GRAVITY_BIT</a> = (1UL &lt;&lt; 8U),               </div>
+<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"><a class="line" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2faeb1961d7852ea305443610b2521aaea7">   90</a></span>        <a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2faeb1961d7852ea305443610b2521aaea7">EVT_GRP_RPT_CAL_GYRO_BIT</a> = (1UL &lt;&lt; 9U),              </div>
+<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"><a class="line" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fa591c062247280798af0e40d6141614c6">   91</a></span>        <a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fa591c062247280798af0e40d6141614c6">EVT_GRP_RPT_UNCAL_GYRO_BIT</a> = (1UL &lt;&lt; 10U),           </div>
+<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"><a class="line" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fac1d15dddeab169b213c719e6b0fef32d">   92</a></span>        <a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fac1d15dddeab169b213c719e6b0fef32d">EVT_GRP_RPT_CAL_MAGNETOMETER_BIT</a> = (1UL &lt;&lt; 11U),     </div>
+<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"><a class="line" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2faa54d15cc17179a6840b9ec3f4e0038cb">   93</a></span>        <a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2faa54d15cc17179a6840b9ec3f4e0038cb">EVT_GRP_RPT_UNCAL_MAGNETOMETER_BIT</a> = (1UL &lt;&lt; 12U),   </div>
+<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"><a class="line" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fad4482fb4fb6693a492584508691f2c77">   94</a></span>        <a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fad4482fb4fb6693a492584508691f2c77">EVT_GRP_RPT_TAP_DETECTOR_BIT</a> = (1UL &lt;&lt; 13U),         </div>
+<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"><a class="line" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fafb8f448edba339f37fdf794bd891f903">   95</a></span>        <a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fafb8f448edba339f37fdf794bd891f903">EVT_GRP_RPT_STEP_COUNTER_BIT</a> = (1UL &lt;&lt; 14U),         </div>
+<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"><a class="line" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fae138ae8422830982a470025d81c4be4b">   96</a></span>        <a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fae138ae8422830982a470025d81c4be4b">EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT</a> = (1UL &lt;&lt; 15U), </div>
+<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"><a class="line" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fa94cddd1837a77bba5644543b1ad8b9e7">   97</a></span>        <a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fa94cddd1837a77bba5644543b1ad8b9e7">EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT</a> = (1UL &lt;&lt; 16U),  </div>
+<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"><a class="line" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fad517d3ea5b1b259f20ed43e1fcf40e0c">   98</a></span>        <a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fad517d3ea5b1b259f20ed43e1fcf40e0c">EVT_GRP_RPT_SHAKE_DETECTOR_BIT</a> = (1UL &lt;&lt; 17U),       </div>
+<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"><a class="line" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fab7e6b36da354702880ff9118d45b6af2">   99</a></span>        <a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fab7e6b36da354702880ff9118d45b6af2">EVT_GRP_RPT_RAW_ACCELEROMETER_BIT</a> = (1UL &lt;&lt; 18U),    </div>
+<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"><a class="line" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fadcfcdea69099869ebf7f246ff5b7e8bb">  100</a></span>        <a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fadcfcdea69099869ebf7f246ff5b7e8bb">EVT_GRP_RPT_RAW_GYRO_BIT</a> = (1UL &lt;&lt; 19U),             </div>
+<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"><a class="line" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fab57a2ea711bebb4d4e031a0b449160c7">  101</a></span>        <a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fab57a2ea711bebb4d4e031a0b449160c7">EVT_GRP_RPT_RAW_MAGNETOMETER_BIT</a> = (1UL &lt;&lt; 20U),     </div>
+<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"><a class="line" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fab5d7a8690f3b42637a52122d4269da10">  102</a></span>        <a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fab5d7a8690f3b42637a52122d4269da10">EVT_GRP_RPT_CIRCLE_DETECTOR_BIT</a> = (1UL &lt;&lt; 21U),      </div>
+<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span> </div>
+<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span>        <a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fa6bb054cdd31ded01373a4395889c84f1">EVT_GRP_RPT_ALL</a> = <a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fac0ff3fde600aac814ad76a4769515ae8">EVT_GRP_RPT_RV_BIT</a> | <a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fad39283f98adf7242b3b3ccf847c150cd">EVT_GRP_RPT_RV_GAME_BIT</a> | <a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fab5d141bdda220e3fa0bd9eb0fe3f31b5">EVT_GRP_RPT_RV_ARVR_S_BIT</a> |</div>
+<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>                          <a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fab77588c26929a2d8dd8eeea883b905ca">EVT_GRP_RPT_RV_ARVR_S_GAME_BIT</a> | <a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fa68851003c2b7df34c3acf882251c60e2">EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT</a> | <a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fabd9e62157a0bc3dc38c3473d7bc2799f">EVT_GRP_RPT_GRAVITY_BIT</a> |</div>
+<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>                          <a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2faeb1961d7852ea305443610b2521aaea7">EVT_GRP_RPT_CAL_GYRO_BIT</a> | <a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fa591c062247280798af0e40d6141614c6">EVT_GRP_RPT_UNCAL_GYRO_BIT</a> | <a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fac1d15dddeab169b213c719e6b0fef32d">EVT_GRP_RPT_CAL_MAGNETOMETER_BIT</a> |</div>
+<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span>                          <a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fad4482fb4fb6693a492584508691f2c77">EVT_GRP_RPT_TAP_DETECTOR_BIT</a> | <a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fafb8f448edba339f37fdf794bd891f903">EVT_GRP_RPT_STEP_COUNTER_BIT</a> | <a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fae138ae8422830982a470025d81c4be4b">EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT</a> |</div>
+<div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span>                          <a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fa94cddd1837a77bba5644543b1ad8b9e7">EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT</a> | <a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fab7e6b36da354702880ff9118d45b6af2">EVT_GRP_RPT_RAW_ACCELEROMETER_BIT</a> | <a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fadcfcdea69099869ebf7f246ff5b7e8bb">EVT_GRP_RPT_RAW_GYRO_BIT</a> |</div>
+<div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span>                          <a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fab57a2ea711bebb4d4e031a0b449160c7">EVT_GRP_RPT_RAW_MAGNETOMETER_BIT</a> | <a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2faa54d15cc17179a6840b9ec3f4e0038cb">EVT_GRP_RPT_UNCAL_MAGNETOMETER_BIT</a> | <a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fad517d3ea5b1b259f20ed43e1fcf40e0c">EVT_GRP_RPT_SHAKE_DETECTOR_BIT</a> |</div>
+<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span>                          <a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2faa5b9ffe097d1eb83a6a5a13871da0891">EVT_GRP_RPT_ACCELEROMETER_BIT</a> | <a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fa728314f4744fc408c6b153e8fbb3feb4">EVT_GRP_RPT_GEOMAG_RV_BIT</a> | <a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fa6835a63fb08379608cda0a108098aac7">EVT_GRP_RPT_GYRO_INTEGRATED_RV_BIT</a> |</div>
+<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span>                          <a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fab5d7a8690f3b42637a52122d4269da10">EVT_GRP_RPT_CIRCLE_DETECTOR_BIT</a></div>
+<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"><a class="line" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fa6bb054cdd31ded01373a4395889c84f1">  112</a></span>    };</div>
+<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span> </div>
+<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"><a class="line" href="namespace_b_n_o08x_private_types.html#a59097f108831dd9860e17438d2976c1c">  115</a></span>    <span class="keyword">enum</span> <a class="code hl_enumeration" href="namespace_b_n_o08x_private_types.html#a59097f108831dd9860e17438d2976c1c">bno08x_tsk_bit_t</a> : EventBits_t</div>
+<div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span>    {</div>
+<div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span>        <a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#a59097f108831dd9860e17438d2976c1ca272952aff639965d61f76664cb4fed15">EVT_GRP_BNO08x_TASKS_RUNNING</a> =</div>
+<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"><a class="line" href="namespace_b_n_o08x_private_types.html#a59097f108831dd9860e17438d2976c1ca272952aff639965d61f76664cb4fed15">  118</a></span>                (1UL &lt;&lt; 0U), </div>
+<div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span>        <a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#a59097f108831dd9860e17438d2976c1ca616d8458c1a9f54f9d99ba03a773ba41">EVT_GRP_BNO08x_TASK_HINT_ASSRT_BIT</a> =</div>
+<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"><a class="line" href="namespace_b_n_o08x_private_types.html#a59097f108831dd9860e17438d2976c1ca616d8458c1a9f54f9d99ba03a773ba41">  120</a></span>                (1UL &lt;&lt; 1U), </div>
+<div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span>        <a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#a59097f108831dd9860e17438d2976c1caaddd073f2b8e89319909d7c61f220452">EVT_GRP_BNO08x_TASK_RESET_OCCURRED</a> =</div>
+<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"><a class="line" href="namespace_b_n_o08x_private_types.html#a59097f108831dd9860e17438d2976c1caaddd073f2b8e89319909d7c61f220452">  122</a></span>                (1UL &lt;&lt; 2U), </div>
+<div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span>        <a class="code hl_enumvalue" href="namespace_b_n_o08x_private_types.html#a59097f108831dd9860e17438d2976c1ca17f12f538e40746dbe8aafee08391fcc">EVT_GRP_BNO08x_TASK_DATA_AVAILABLE</a> =</div>
+<div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span>                (1UL &lt;&lt; 3U) </div>
+<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"><a class="line" href="namespace_b_n_o08x_private_types.html#a59097f108831dd9860e17438d2976c1ca17f12f538e40746dbe8aafee08391fcc">  125</a></span>    };</div>
+<div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span> </div>
+<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span>    <span class="keyword">inline</span> <span class="keyword">static</span> sh2_SensorConfig default_sensor_cfg = { </div>
+<div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span>            .changeSensitivityEnabled = <span class="keyword">false</span>,</div>
+<div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span>            .changeSensitivityRelative = <span class="keyword">false</span>,</div>
+<div class="line"><a id="l00130" name="l00130"></a><span class="lineno">  130</span>            .wakeupEnabled = <span class="keyword">false</span>,</div>
+<div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span>            .alwaysOnEnabled = <span class="keyword">false</span>,</div>
+<div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span>            .changeSensitivity = 0,</div>
+<div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span>            .reportInterval_us = 0,</div>
+<div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span>            .batchInterval_us = 0,</div>
+<div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span>            .sensorSpecific = 0};</div>
+<div class="line"><a id="l00136" name="l00136"></a><span class="lineno">  136</span>}; <span class="comment">// namespace BNO08xPrivateTypes</span></div>
+<div class="ttc" id="a_b_n_o08x_cb_param_rpt_i_d_8hpp_html"><div class="ttname"><a href="_b_n_o08x_cb_param_rpt_i_d_8hpp.html">BNO08xCbParamRptID.hpp</a></div></div>
+<div class="ttc" id="a_b_n_o08x_cb_param_void_8hpp_html"><div class="ttname"><a href="_b_n_o08x_cb_param_void_8hpp.html">BNO08xCbParamVoid.hpp</a></div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html">BNO08xGlobalTypes.hpp</a></div></div>
+<div class="ttc" id="anamespace_b_n_o08x_private_types_html"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html">BNO08xPrivateTypes</a></div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:21</div></div>
+<div class="ttc" id="anamespace_b_n_o08x_private_types_html_a0f0c287ea0571e6c589c638e4bd07703"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#a0f0c287ea0571e6c589c638e4bd07703">BNO08xPrivateTypes::bno08x_cb_list_t</a></div><div class="ttdeci">etl::vector&lt; etl::variant&lt; BNO08xCbParamVoid, BNO08xCbParamRptID &gt;, CONFIG_ESP32_BNO08X_CB_MAX &gt; bno08x_cb_list_t</div><div class="ttdoc">Alias for vector type to contain both cb flavors.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:23</div></div>
+<div class="ttc" id="anamespace_b_n_o08x_private_types_html_a2698bcb8153e67716b43ce3cccc0f31a"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#a2698bcb8153e67716b43ce3cccc0f31a">BNO08xPrivateTypes::bno08x_init_status_t</a></div><div class="ttdeci">struct BNO08xPrivateTypes::bno08x_init_status_t bno08x_init_status_t</div><div class="ttdoc">Holds info about which functionality has been successfully initialized (used by deconstructor during ...</div></div>
+<div class="ttc" id="anamespace_b_n_o08x_private_types_html_a59097f108831dd9860e17438d2976c1c"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#a59097f108831dd9860e17438d2976c1c">BNO08xPrivateTypes::bno08x_tsk_bit_t</a></div><div class="ttdeci">bno08x_tsk_bit_t</div><div class="ttdoc">Bits for evt_grp_bno08x_task.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:116</div></div>
+<div class="ttc" id="anamespace_b_n_o08x_private_types_html_a59097f108831dd9860e17438d2976c1ca17f12f538e40746dbe8aafee08391fcc"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#a59097f108831dd9860e17438d2976c1ca17f12f538e40746dbe8aafee08391fcc">BNO08xPrivateTypes::EVT_GRP_BNO08x_TASK_DATA_AVAILABLE</a></div><div class="ttdeci">@ EVT_GRP_BNO08x_TASK_DATA_AVAILABLE</div><div class="ttdoc">When this bit is set it indicates a report has been received for the user to read,...</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:123</div></div>
+<div class="ttc" id="anamespace_b_n_o08x_private_types_html_a59097f108831dd9860e17438d2976c1ca272952aff639965d61f76664cb4fed15"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#a59097f108831dd9860e17438d2976c1ca272952aff639965d61f76664cb4fed15">BNO08xPrivateTypes::EVT_GRP_BNO08x_TASKS_RUNNING</a></div><div class="ttdeci">@ EVT_GRP_BNO08x_TASKS_RUNNING</div><div class="ttdoc">When this bit is set it indicates the BNO08x tasks are running, it is always set to 1 for the duratio...</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:117</div></div>
+<div class="ttc" id="anamespace_b_n_o08x_private_types_html_a59097f108831dd9860e17438d2976c1ca616d8458c1a9f54f9d99ba03a773ba41"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#a59097f108831dd9860e17438d2976c1ca616d8458c1a9f54f9d99ba03a773ba41">BNO08xPrivateTypes::EVT_GRP_BNO08x_TASK_HINT_ASSRT_BIT</a></div><div class="ttdeci">@ EVT_GRP_BNO08x_TASK_HINT_ASSRT_BIT</div><div class="ttdoc">When this bit is set it indicates the BNO08x has asserted its host interrupt pin, thus an SPI transac...</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:119</div></div>
+<div class="ttc" id="anamespace_b_n_o08x_private_types_html_a59097f108831dd9860e17438d2976c1caaddd073f2b8e89319909d7c61f220452"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#a59097f108831dd9860e17438d2976c1caaddd073f2b8e89319909d7c61f220452">BNO08xPrivateTypes::EVT_GRP_BNO08x_TASK_RESET_OCCURRED</a></div><div class="ttdeci">@ EVT_GRP_BNO08x_TASK_RESET_OCCURRED</div><div class="ttdoc">When this bit is set it indicates the SH2 HAL lib has reset the IMU, any reports enabled by the user ...</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:121</div></div>
+<div class="ttc" id="anamespace_b_n_o08x_private_types_html_a67b3b4702d94bb4ba152a213feae944f"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#a67b3b4702d94bb4ba152a213feae944f">BNO08xPrivateTypes::bno08x_sync_ctx_t</a></div><div class="ttdeci">struct BNO08xPrivateTypes::bno08x_sync_ctx_t bno08x_sync_ctx_t</div><div class="ttdoc">Holds context used to synchronize tasks and callback execution.</div></div>
+<div class="ttc" id="anamespace_b_n_o08x_private_types_html_ac53fb578d93a18b7a83903fc7a71dc2f"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2f">BNO08xPrivateTypes::bno08x_rpt_bit_t</a></div><div class="ttdeci">bno08x_rpt_bit_t</div><div class="ttdoc">Bits for evt_grp_rpt_en &amp; evt_grp_rpt_data_available.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:80</div></div>
+<div class="ttc" id="anamespace_b_n_o08x_private_types_html_ac53fb578d93a18b7a83903fc7a71dc2fa591c062247280798af0e40d6141614c6"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fa591c062247280798af0e40d6141614c6">BNO08xPrivateTypes::EVT_GRP_RPT_UNCAL_GYRO_BIT</a></div><div class="ttdeci">@ EVT_GRP_RPT_UNCAL_GYRO_BIT</div><div class="ttdoc">When set, uncalibrated gyro reports are active.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:91</div></div>
+<div class="ttc" id="anamespace_b_n_o08x_private_types_html_ac53fb578d93a18b7a83903fc7a71dc2fa6835a63fb08379608cda0a108098aac7"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fa6835a63fb08379608cda0a108098aac7">BNO08xPrivateTypes::EVT_GRP_RPT_GYRO_INTEGRATED_RV_BIT</a></div><div class="ttdeci">@ EVT_GRP_RPT_GYRO_INTEGRATED_RV_BIT</div><div class="ttdoc">When set, gyro integrator rotation vector reports are active.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:85</div></div>
+<div class="ttc" id="anamespace_b_n_o08x_private_types_html_ac53fb578d93a18b7a83903fc7a71dc2fa68851003c2b7df34c3acf882251c60e2"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fa68851003c2b7df34c3acf882251c60e2">BNO08xPrivateTypes::EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT</a></div><div class="ttdeci">@ EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT</div><div class="ttdoc">When set, linear accelerometer reports are active.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:88</div></div>
+<div class="ttc" id="anamespace_b_n_o08x_private_types_html_ac53fb578d93a18b7a83903fc7a71dc2fa6bb054cdd31ded01373a4395889c84f1"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fa6bb054cdd31ded01373a4395889c84f1">BNO08xPrivateTypes::EVT_GRP_RPT_ALL</a></div><div class="ttdeci">@ EVT_GRP_RPT_ALL</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:104</div></div>
+<div class="ttc" id="anamespace_b_n_o08x_private_types_html_ac53fb578d93a18b7a83903fc7a71dc2fa728314f4744fc408c6b153e8fbb3feb4"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fa728314f4744fc408c6b153e8fbb3feb4">BNO08xPrivateTypes::EVT_GRP_RPT_GEOMAG_RV_BIT</a></div><div class="ttdeci">@ EVT_GRP_RPT_GEOMAG_RV_BIT</div><div class="ttdoc">When set, geomagnetic rotation vector reports are active.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:86</div></div>
+<div class="ttc" id="anamespace_b_n_o08x_private_types_html_ac53fb578d93a18b7a83903fc7a71dc2fa94cddd1837a77bba5644543b1ad8b9e7"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fa94cddd1837a77bba5644543b1ad8b9e7">BNO08xPrivateTypes::EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT</a></div><div class="ttdeci">@ EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT</div><div class="ttdoc">When set, activity classifier reports are active.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:97</div></div>
+<div class="ttc" id="anamespace_b_n_o08x_private_types_html_ac53fb578d93a18b7a83903fc7a71dc2faa54d15cc17179a6840b9ec3f4e0038cb"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2faa54d15cc17179a6840b9ec3f4e0038cb">BNO08xPrivateTypes::EVT_GRP_RPT_UNCAL_MAGNETOMETER_BIT</a></div><div class="ttdeci">@ EVT_GRP_RPT_UNCAL_MAGNETOMETER_BIT</div><div class="ttdoc">When set, uncalibrated magnetometer reports are active.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:93</div></div>
+<div class="ttc" id="anamespace_b_n_o08x_private_types_html_ac53fb578d93a18b7a83903fc7a71dc2faa5b9ffe097d1eb83a6a5a13871da0891"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2faa5b9ffe097d1eb83a6a5a13871da0891">BNO08xPrivateTypes::EVT_GRP_RPT_ACCELEROMETER_BIT</a></div><div class="ttdeci">@ EVT_GRP_RPT_ACCELEROMETER_BIT</div><div class="ttdoc">When set, accelerometer reports are active.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:87</div></div>
+<div class="ttc" id="anamespace_b_n_o08x_private_types_html_ac53fb578d93a18b7a83903fc7a71dc2fab57a2ea711bebb4d4e031a0b449160c7"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fab57a2ea711bebb4d4e031a0b449160c7">BNO08xPrivateTypes::EVT_GRP_RPT_RAW_MAGNETOMETER_BIT</a></div><div class="ttdeci">@ EVT_GRP_RPT_RAW_MAGNETOMETER_BIT</div><div class="ttdoc">When set, raw magnetometer reports are active.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:101</div></div>
+<div class="ttc" id="anamespace_b_n_o08x_private_types_html_ac53fb578d93a18b7a83903fc7a71dc2fab5d141bdda220e3fa0bd9eb0fe3f31b5"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fab5d141bdda220e3fa0bd9eb0fe3f31b5">BNO08xPrivateTypes::EVT_GRP_RPT_RV_ARVR_S_BIT</a></div><div class="ttdeci">@ EVT_GRP_RPT_RV_ARVR_S_BIT</div><div class="ttdoc">When set, ARVR stabilized rotation vector reports are active.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:83</div></div>
+<div class="ttc" id="anamespace_b_n_o08x_private_types_html_ac53fb578d93a18b7a83903fc7a71dc2fab5d7a8690f3b42637a52122d4269da10"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fab5d7a8690f3b42637a52122d4269da10">BNO08xPrivateTypes::EVT_GRP_RPT_CIRCLE_DETECTOR_BIT</a></div><div class="ttdeci">@ EVT_GRP_RPT_CIRCLE_DETECTOR_BIT</div><div class="ttdoc">When set, circle detector reports are active.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:102</div></div>
+<div class="ttc" id="anamespace_b_n_o08x_private_types_html_ac53fb578d93a18b7a83903fc7a71dc2fab77588c26929a2d8dd8eeea883b905ca"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fab77588c26929a2d8dd8eeea883b905ca">BNO08xPrivateTypes::EVT_GRP_RPT_RV_ARVR_S_GAME_BIT</a></div><div class="ttdeci">@ EVT_GRP_RPT_RV_ARVR_S_GAME_BIT</div><div class="ttdoc">When set, ARVR stabilized game rotation vector reports are active.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:84</div></div>
+<div class="ttc" id="anamespace_b_n_o08x_private_types_html_ac53fb578d93a18b7a83903fc7a71dc2fab7e6b36da354702880ff9118d45b6af2"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fab7e6b36da354702880ff9118d45b6af2">BNO08xPrivateTypes::EVT_GRP_RPT_RAW_ACCELEROMETER_BIT</a></div><div class="ttdeci">@ EVT_GRP_RPT_RAW_ACCELEROMETER_BIT</div><div class="ttdoc">When set, raw accelerometer reports are active.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:99</div></div>
+<div class="ttc" id="anamespace_b_n_o08x_private_types_html_ac53fb578d93a18b7a83903fc7a71dc2fabd9e62157a0bc3dc38c3473d7bc2799f"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fabd9e62157a0bc3dc38c3473d7bc2799f">BNO08xPrivateTypes::EVT_GRP_RPT_GRAVITY_BIT</a></div><div class="ttdeci">@ EVT_GRP_RPT_GRAVITY_BIT</div><div class="ttdoc">When set, gravity reports are active.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:89</div></div>
+<div class="ttc" id="anamespace_b_n_o08x_private_types_html_ac53fb578d93a18b7a83903fc7a71dc2fac0ff3fde600aac814ad76a4769515ae8"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fac0ff3fde600aac814ad76a4769515ae8">BNO08xPrivateTypes::EVT_GRP_RPT_RV_BIT</a></div><div class="ttdeci">@ EVT_GRP_RPT_RV_BIT</div><div class="ttdoc">When set, rotation vector reports are active.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:81</div></div>
+<div class="ttc" id="anamespace_b_n_o08x_private_types_html_ac53fb578d93a18b7a83903fc7a71dc2fac1d15dddeab169b213c719e6b0fef32d"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fac1d15dddeab169b213c719e6b0fef32d">BNO08xPrivateTypes::EVT_GRP_RPT_CAL_MAGNETOMETER_BIT</a></div><div class="ttdeci">@ EVT_GRP_RPT_CAL_MAGNETOMETER_BIT</div><div class="ttdoc">When set, calibrated magnetometer reports are active.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:92</div></div>
+<div class="ttc" id="anamespace_b_n_o08x_private_types_html_ac53fb578d93a18b7a83903fc7a71dc2fad39283f98adf7242b3b3ccf847c150cd"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fad39283f98adf7242b3b3ccf847c150cd">BNO08xPrivateTypes::EVT_GRP_RPT_RV_GAME_BIT</a></div><div class="ttdeci">@ EVT_GRP_RPT_RV_GAME_BIT</div><div class="ttdoc">When set, game rotation vector reports are active.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:82</div></div>
+<div class="ttc" id="anamespace_b_n_o08x_private_types_html_ac53fb578d93a18b7a83903fc7a71dc2fad4482fb4fb6693a492584508691f2c77"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fad4482fb4fb6693a492584508691f2c77">BNO08xPrivateTypes::EVT_GRP_RPT_TAP_DETECTOR_BIT</a></div><div class="ttdeci">@ EVT_GRP_RPT_TAP_DETECTOR_BIT</div><div class="ttdoc">When set, tap detector reports are active.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:94</div></div>
+<div class="ttc" id="anamespace_b_n_o08x_private_types_html_ac53fb578d93a18b7a83903fc7a71dc2fad517d3ea5b1b259f20ed43e1fcf40e0c"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fad517d3ea5b1b259f20ed43e1fcf40e0c">BNO08xPrivateTypes::EVT_GRP_RPT_SHAKE_DETECTOR_BIT</a></div><div class="ttdeci">@ EVT_GRP_RPT_SHAKE_DETECTOR_BIT</div><div class="ttdoc">When set, shake detector reports are active.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:98</div></div>
+<div class="ttc" id="anamespace_b_n_o08x_private_types_html_ac53fb578d93a18b7a83903fc7a71dc2fadcfcdea69099869ebf7f246ff5b7e8bb"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fadcfcdea69099869ebf7f246ff5b7e8bb">BNO08xPrivateTypes::EVT_GRP_RPT_RAW_GYRO_BIT</a></div><div class="ttdeci">@ EVT_GRP_RPT_RAW_GYRO_BIT</div><div class="ttdoc">When set, raw gyro reports are active.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:100</div></div>
+<div class="ttc" id="anamespace_b_n_o08x_private_types_html_ac53fb578d93a18b7a83903fc7a71dc2fae138ae8422830982a470025d81c4be4b"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fae138ae8422830982a470025d81c4be4b">BNO08xPrivateTypes::EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT</a></div><div class="ttdeci">@ EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT</div><div class="ttdoc">When set, stability classifier reports are active.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:96</div></div>
+<div class="ttc" id="anamespace_b_n_o08x_private_types_html_ac53fb578d93a18b7a83903fc7a71dc2faeb1961d7852ea305443610b2521aaea7"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2faeb1961d7852ea305443610b2521aaea7">BNO08xPrivateTypes::EVT_GRP_RPT_CAL_GYRO_BIT</a></div><div class="ttdeci">@ EVT_GRP_RPT_CAL_GYRO_BIT</div><div class="ttdoc">When set, calibrated gyro reports are active.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:90</div></div>
+<div class="ttc" id="anamespace_b_n_o08x_private_types_html_ac53fb578d93a18b7a83903fc7a71dc2fafb8f448edba339f37fdf794bd891f903"><div class="ttname"><a href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fafb8f448edba339f37fdf794bd891f903">BNO08xPrivateTypes::EVT_GRP_RPT_STEP_COUNTER_BIT</a></div><div class="ttdeci">@ EVT_GRP_RPT_STEP_COUNTER_BIT</div><div class="ttdoc">When set, step counter reports are active.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:95</div></div>
+<div class="ttc" id="astruct_b_n_o08x_private_types_1_1bno08x__init__status__t_html"><div class="ttname"><a href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html">BNO08xPrivateTypes::bno08x_init_status_t</a></div><div class="ttdoc">Holds info about which functionality has been successfully initialized (used by deconstructor during ...</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:28</div></div>
+<div class="ttc" id="astruct_b_n_o08x_private_types_1_1bno08x__init__status__t_html_a150665b9f07eea167dd61aa9701d0e66"><div class="ttname"><a href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html#a150665b9f07eea167dd61aa9701d0e66">BNO08xPrivateTypes::bno08x_init_status_t::sh2_HAL_service_task</a></div><div class="ttdeci">bool sh2_HAL_service_task</div><div class="ttdoc">True if xTaskCreate has been called successfully for sh2_HAL_service_task.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:36</div></div>
+<div class="ttc" id="astruct_b_n_o08x_private_types_1_1bno08x__init__status__t_html_a3cec063b6210ec58d30b3bd1d4ead4f9"><div class="ttname"><a href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html#a3cec063b6210ec58d30b3bd1d4ead4f9">BNO08xPrivateTypes::bno08x_init_status_t::isr_service</a></div><div class="ttdeci">bool isr_service</div><div class="ttdoc">True if global ISR service has been initialized.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:31</div></div>
+<div class="ttc" id="astruct_b_n_o08x_private_types_1_1bno08x__init__status__t_html_a5094148539354e52e4f7b054ba766bce"><div class="ttname"><a href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html#a5094148539354e52e4f7b054ba766bce">BNO08xPrivateTypes::bno08x_init_status_t::sh2_HAL</a></div><div class="ttdeci">bool sh2_HAL</div><div class="ttdoc">True if sh2_open() has been called successfully.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:38</div></div>
+<div class="ttc" id="astruct_b_n_o08x_private_types_1_1bno08x__init__status__t_html_a63b876667ae7fb32e9861dffafb55a64"><div class="ttname"><a href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html#a63b876667ae7fb32e9861dffafb55a64">BNO08xPrivateTypes::bno08x_init_status_t::bno08x_init_status_t</a></div><div class="ttdeci">bno08x_init_status_t()</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:40</div></div>
+<div class="ttc" id="astruct_b_n_o08x_private_types_1_1bno08x__init__status__t_html_a7c4523e02a434a7be73f5dc5314429bd"><div class="ttname"><a href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html#a7c4523e02a434a7be73f5dc5314429bd">BNO08xPrivateTypes::bno08x_init_status_t::isr_handler</a></div><div class="ttdeci">bool isr_handler</div><div class="ttdoc">True if HINT ISR handler has been initialized.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:32</div></div>
+<div class="ttc" id="astruct_b_n_o08x_private_types_1_1bno08x__init__status__t_html_a8780317bf985194a58d4b0457d518adf"><div class="ttname"><a href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html#a8780317bf985194a58d4b0457d518adf">BNO08xPrivateTypes::bno08x_init_status_t::spi_bus</a></div><div class="ttdeci">bool spi_bus</div><div class="ttdoc">True if spi_bus_initialize() has been called successfully.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:33</div></div>
+<div class="ttc" id="astruct_b_n_o08x_private_types_1_1bno08x__init__status__t_html_a9b87a879ec795e2241985f0d33856c14"><div class="ttname"><a href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html#a9b87a879ec795e2241985f0d33856c14">BNO08xPrivateTypes::bno08x_init_status_t::gpio_inputs</a></div><div class="ttdeci">bool gpio_inputs</div><div class="ttdoc">True if GPIO inputs have been initialized.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:30</div></div>
+<div class="ttc" id="astruct_b_n_o08x_private_types_1_1bno08x__init__status__t_html_ab268642c4b6b9fc1eb7c6ceec0e8e64d"><div class="ttname"><a href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html#ab268642c4b6b9fc1eb7c6ceec0e8e64d">BNO08xPrivateTypes::bno08x_init_status_t::spi_device</a></div><div class="ttdeci">bool spi_device</div><div class="ttdoc">True if spi_bus_add_device() has been called successfully.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:34</div></div>
+<div class="ttc" id="astruct_b_n_o08x_private_types_1_1bno08x__init__status__t_html_ac74b5a17ec13d4bef4e4775f20ed68df"><div class="ttname"><a href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html#ac74b5a17ec13d4bef4e4775f20ed68df">BNO08xPrivateTypes::bno08x_init_status_t::gpio_outputs</a></div><div class="ttdeci">bool gpio_outputs</div><div class="ttdoc">True if GPIO outputs have been initialized.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:29</div></div>
+<div class="ttc" id="astruct_b_n_o08x_private_types_1_1bno08x__init__status__t_html_ae1066ea59e52f7d228b71df1f8c2b416"><div class="ttname"><a href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html#ae1066ea59e52f7d228b71df1f8c2b416">BNO08xPrivateTypes::bno08x_init_status_t::cb_task</a></div><div class="ttdeci">bool cb_task</div><div class="ttdoc">True if xTaskCreate has been called successfully for cb_task.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:37</div></div>
+<div class="ttc" id="astruct_b_n_o08x_private_types_1_1bno08x__init__status__t_html_af303bcbae7a635043e0c082d7869dd40"><div class="ttname"><a href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html#af303bcbae7a635043e0c082d7869dd40">BNO08xPrivateTypes::bno08x_init_status_t::data_proc_task</a></div><div class="ttdeci">bool data_proc_task</div><div class="ttdoc">True if xTaskCreate has been called successfully for data_proc_task.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:35</div></div>
+<div class="ttc" id="astruct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_html"><div class="ttname"><a href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a></div><div class="ttdoc">Holds context used to synchronize tasks and callback execution.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:57</div></div>
+<div class="ttc" id="astruct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_html_a13f4a91c74fbf09059b5b136ed4f09ac"><div class="ttname"><a href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html#a13f4a91c74fbf09059b5b136ed4f09ac">BNO08xPrivateTypes::bno08x_sync_ctx_t::evt_grp_rpt_data_available</a></div><div class="ttdeci">EventGroupHandle_t evt_grp_rpt_data_available</div><div class="ttdoc">Event group for indicating to BNO08xRpt::has_new_data() that a module received a new report.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:63</div></div>
+<div class="ttc" id="astruct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_html_a3f9cea8f40f89200c93f2a4bf09039ac"><div class="ttname"><a href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html#a3f9cea8f40f89200c93f2a4bf09039ac">BNO08xPrivateTypes::bno08x_sync_ctx_t::bno08x_sync_ctx_t</a></div><div class="ttdeci">bno08x_sync_ctx_t()</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:68</div></div>
+<div class="ttc" id="astruct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_html_a5433c33ca93bfd2be4a7575ddff7a8d9"><div class="ttname"><a href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html#a5433c33ca93bfd2be4a7575ddff7a8d9">BNO08xPrivateTypes::bno08x_sync_ctx_t::sh2_HAL_lock</a></div><div class="ttdeci">SemaphoreHandle_t sh2_HAL_lock</div><div class="ttdoc">Mutex to prevent sh2 HAL lib functions from being accessed at same time.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:58</div></div>
+<div class="ttc" id="astruct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_html_a551d1eb66d239c54cffa96b558e40a15"><div class="ttname"><a href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html#a551d1eb66d239c54cffa96b558e40a15">BNO08xPrivateTypes::bno08x_sync_ctx_t::data_lock</a></div><div class="ttdeci">SemaphoreHandle_t data_lock</div><div class="ttdoc">Mutex to prevent user from reading data while data_proc_task() updates it, and vice versa.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:60</div></div>
+<div class="ttc" id="astruct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_html_aa63f0d6aa9a27e2f6cdbef17c42c3289"><div class="ttname"><a href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html#aa63f0d6aa9a27e2f6cdbef17c42c3289">BNO08xPrivateTypes::bno08x_sync_ctx_t::en_report_ids</a></div><div class="ttdeci">etl::vector&lt; uint8_t, TOTAL_RPT_COUNT &gt; en_report_ids</div><div class="ttdoc">Vector to contain IDs of currently enabled reports.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:65</div></div>
+<div class="ttc" id="astruct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_html_aacddf6425d126d8e854eff620a2dbec0"><div class="ttname"><a href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html#aacddf6425d126d8e854eff620a2dbec0">BNO08xPrivateTypes::bno08x_sync_ctx_t::evt_grp_task</a></div><div class="ttdeci">EventGroupHandle_t evt_grp_task</div><div class="ttdoc">Event group for indicating various BNO08x related events between tasks.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:64</div></div>
+<div class="ttc" id="astruct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_html_ad38bf7a37a5c9cae7c9d8725b23ff365"><div class="ttname"><a href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html#ad38bf7a37a5c9cae7c9d8725b23ff365">BNO08xPrivateTypes::bno08x_sync_ctx_t::cb_list</a></div><div class="ttdeci">bno08x_cb_list_t cb_list</div><div class="ttdoc">Vector to contain registered callbacks.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:66</div></div>
+<div class="ttc" id="astruct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_html_aeaeeb8fa04544f63b66c32f3adbb0041"><div class="ttname"><a href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html#aeaeeb8fa04544f63b66c32f3adbb0041">BNO08xPrivateTypes::bno08x_sync_ctx_t::evt_grp_rpt_en</a></div><div class="ttdeci">EventGroupHandle_t evt_grp_rpt_en</div><div class="ttdoc">Event group for indicating which reports are currently enabled.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:61</div></div>
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+<div class="textblock"><code>#include &quot;<a class="el" href="_b_n_o08x_rpt_acceleration_8hpp_source.html">BNO08xRptAcceleration.hpp</a>&quot;</code><br />
+<code>#include &quot;<a class="el" href="_b_n_o08x_rpt_linear_acceleration_8hpp_source.html">BNO08xRptLinearAcceleration.hpp</a>&quot;</code><br />
+<code>#include &quot;<a class="el" href="_b_n_o08x_rpt_gravity_8hpp_source.html">BNO08xRptGravity.hpp</a>&quot;</code><br />
+<code>#include &quot;<a class="el" href="_b_n_o08x_rpt_cal_magnetometer_8hpp_source.html">BNO08xRptCalMagnetometer.hpp</a>&quot;</code><br />
+<code>#include &quot;<a class="el" href="_b_n_o08x_rpt_uncal_magnetometer_8hpp_source.html">BNO08xRptUncalMagnetometer.hpp</a>&quot;</code><br />
+<code>#include &quot;<a class="el" href="_b_n_o08x_rpt_cal_gyro_8hpp_source.html">BNO08xRptCalGyro.hpp</a>&quot;</code><br />
+<code>#include &quot;<a class="el" href="_b_n_o08x_rpt_uncal_gyro_8hpp_source.html">BNO08xRptUncalGyro.hpp</a>&quot;</code><br />
+<code>#include &quot;<a class="el" href="_b_n_o08x_rpt_r_v_8hpp_source.html">BNO08xRptRV.hpp</a>&quot;</code><br />
+<code>#include &quot;<a class="el" href="_b_n_o08x_rpt_game_r_v_8hpp_source.html">BNO08xRptGameRV.hpp</a>&quot;</code><br />
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+<code>#include &quot;<a class="el" href="_b_n_o08x_rpt_step_counter_8hpp_source.html">BNO08xRptStepCounter.hpp</a>&quot;</code><br />
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+<meta name="generator" content="Doxygen 1.9.4"/>
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+<title>esp32_BNO08x: /media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/report/BNO08xReports.hpp Source File</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</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 1.9.4 -->
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+<div class="header">
+  <div class="headertitle"><div class="title">BNO08xReports.hpp</div></div>
+</div><!--header-->
+<div class="contents">
+<a href="_b_n_o08x_reports_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> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &quot;<a class="code" href="_b_n_o08x_rpt_acceleration_8hpp.html">BNO08xRptAcceleration.hpp</a>&quot;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &quot;<a class="code" href="_b_n_o08x_rpt_linear_acceleration_8hpp.html">BNO08xRptLinearAcceleration.hpp</a>&quot;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &quot;<a class="code" href="_b_n_o08x_rpt_gravity_8hpp.html">BNO08xRptGravity.hpp</a>&quot;</span></div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#include &quot;<a class="code" href="_b_n_o08x_rpt_cal_magnetometer_8hpp.html">BNO08xRptCalMagnetometer.hpp</a>&quot;</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#include &quot;<a class="code" href="_b_n_o08x_rpt_uncal_magnetometer_8hpp.html">BNO08xRptUncalMagnetometer.hpp</a>&quot;</span></div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &quot;<a class="code" href="_b_n_o08x_rpt_cal_gyro_8hpp.html">BNO08xRptCalGyro.hpp</a>&quot;</span></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="preprocessor">#include &quot;<a class="code" href="_b_n_o08x_rpt_uncal_gyro_8hpp.html">BNO08xRptUncalGyro.hpp</a>&quot;</span></div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="preprocessor">#include &quot;<a class="code" href="_b_n_o08x_rpt_r_v_8hpp.html">BNO08xRptRV.hpp</a>&quot;</span></div>
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="preprocessor">#include &quot;<a class="code" href="_b_n_o08x_rpt_game_r_v_8hpp.html">BNO08xRptGameRV.hpp</a>&quot;</span></div>
+<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span><span class="preprocessor">#include &quot;<a class="code" href="_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8hpp.html">BNO08xRptARVRStabilizedRV.hpp</a>&quot;</span></div>
+<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span><span class="preprocessor">#include &quot;<a class="code" href="_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8hpp.html">BNO08xRptARVRStabilizedGameRV.hpp</a>&quot;</span></div>
+<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span><span class="preprocessor">#include &quot;<a class="code" href="_b_n_o08x_rpt_i_gyro_r_v_8hpp.html">BNO08xRptIGyroRV.hpp</a>&quot;</span></div>
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+<meta name="generator" content="Doxygen 1.9.4"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>esp32_BNO08x: /media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/report/BNO08xRpt.hpp Source File</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</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 1.9.4 -->
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+<div class="header">
+  <div class="headertitle"><div class="title">BNO08xRpt.hpp</div></div>
+</div><!--header-->
+<div class="contents">
+<a href="_b_n_o08x_rpt_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> </div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span> </div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="comment">// standard library includes</span></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="preprocessor">#include &lt;functional&gt;</span></div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="comment">// esp-idf includes</span></div>
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="preprocessor">#include &quot;esp_log.h&quot;</span></div>
+<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span><span class="comment">// in-house includes</span></div>
+<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span><span class="preprocessor">#include &quot;<a class="code" href="_b_n_o08x_global_types_8hpp.html">BNO08xGlobalTypes.hpp</a>&quot;</span></div>
+<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span><span class="preprocessor">#include &quot;<a class="code" href="_b_n_o08x_private_types_8hpp.html">BNO08xPrivateTypes.hpp</a>&quot;</span></div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span><span class="comment">// hill-crest labs includes (apache 2.0 license, compatible with MIT)</span></div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span><span class="preprocessor">#include &quot;sh2.h&quot;</span></div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span><span class="preprocessor">#include &quot;sh2_SensorValue.h&quot;</span></div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span><span class="preprocessor">#include &quot;sh2_err.h&quot;</span></div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span> </div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"><a class="line" href="class_b_n_o08x_rpt.html">   25</a></span><span class="keyword">class </span><a class="code hl_class" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>{</div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>    <span class="keyword">public</span>:</div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>        <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">disable</a>(sh2_SensorConfig_t sensor_cfg = BNO08xPrivateTypes::default_sensor_cfg);</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>        <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">register_cb</a>(std::function&lt;<span class="keywordtype">void</span>(<span class="keywordtype">void</span>)&gt; cb_fxn);</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>        <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">has_new_data</a>();</div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>        <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">flush</a>();</div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>        <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">get_sample_counts</a>(<a class="code hl_struct" href="structbno08x__sample__counts__t.html">bno08x_sample_counts_t</a>&amp; sample_counts);</div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>        <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">clear_sample_counts</a>();</div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>        <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">get_meta_data</a>(<a class="code hl_struct" href="structbno08x__meta__data__t.html">bno08x_meta_data_t</a>&amp; meta_data);</div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"><a class="line" href="class_b_n_o08x_rpt.html#a4ee529725467412df396d5c610ff7bb4">   35</a></span>        <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x_rpt.html#a4ee529725467412df396d5c610ff7bb4">enable</a>(</div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>                uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = BNO08xPrivateTypes::default_sensor_cfg) = 0;</div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span> </div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>    <span class="keyword">protected</span>:</div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"><a class="line" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">   39</a></span>        uint8_t <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>;          </div>
+<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"><a class="line" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">   40</a></span>        EventBits_t <a class="code hl_variable" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>; </div>
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"><a class="line" href="class_b_n_o08x_rpt.html#a1d4d6f4cc6f1eae503863eedf7fb9f52">   41</a></span>        uint32_t <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a1d4d6f4cc6f1eae503863eedf7fb9f52">period_us</a>;  </div>
+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"><a class="line" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">   42</a></span>        <a class="code hl_struct" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a>* <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>;</div>
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span> </div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>        <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">rpt_enable</a>(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = BNO08xPrivateTypes::default_sensor_cfg);</div>
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"><a class="line" href="class_b_n_o08x_rpt.html#a970fb7e7d3745c62fec626f0ccf0759f">   45</a></span>        <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x_rpt.html#a970fb7e7d3745c62fec626f0ccf0759f">update_data</a>(sh2_SensorValue_t* sensor_val) = 0;</div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span> </div>
+<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"><a class="line" href="class_b_n_o08x_rpt.html#a15e8eebe3fe90ac19837e3860c76374c">   59</a></span>        <a class="code hl_function" href="class_b_n_o08x_rpt.html#a15e8eebe3fe90ac19837e3860c76374c">BNO08xRpt</a>(uint8_t <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, EventBits_t <a class="code hl_variable" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="code hl_struct" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a>* <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</div>
+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>            : <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>(<a class="code hl_variable" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>)</div>
+<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>            , <a class="code hl_variable" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>(<a class="code hl_variable" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>)</div>
+<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>            , <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a1d4d6f4cc6f1eae503863eedf7fb9f52">period_us</a>(0UL)</div>
+<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>            , <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>(<a class="code hl_variable" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</div>
+<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span> </div>
+<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>        {</div>
+<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>        }</div>
+<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span> </div>
+<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">unlock_sh2_HAL</a>();</div>
+<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">lock_sh2_HAL</a>();</div>
+<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">unlock_user_data</a>();</div>
+<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">lock_user_data</a>();</div>
+<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">signal_data_available</a>();</div>
+<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span> </div>
+<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"><a class="line" href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">   74</a></span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> <span class="keywordtype">float</span> <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">RAD_2_DEG</a> =</div>
+<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>                (180.0f / M_PI); </div>
+<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span> </div>
+<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"><a class="line" href="class_b_n_o08x_rpt.html#a2c57f370fb08b793bb10ec22d5acca45">   77</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_rpt.html#a2c57f370fb08b793bb10ec22d5acca45">TAG</a> = <span class="stringliteral">&quot;BNO08xRpt&quot;</span>;</div>
+<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span> </div>
+<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"><a class="line" href="class_b_n_o08x_rpt.html#a9313d906399750f09e3fe4dae87cec15">   79</a></span>        <span class="keyword">friend</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="l00080" name="l00080"></a><span class="lineno">   80</span>};</div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html">BNO08xGlobalTypes.hpp</a></div></div>
+<div class="ttc" id="a_b_n_o08x_private_types_8hpp_html"><div class="ttname"><a href="_b_n_o08x_private_types_8hpp.html">BNO08xPrivateTypes.hpp</a></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="ttdoc">BNO08x IMU driver class.</div><div class="ttdef"><b>Definition:</b> BNO08x.hpp:33</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html"><div class="ttname"><a href="class_b_n_o08x_rpt.html">BNO08xRpt</a></div><div class="ttdoc">Class to represent and manage reports returned from BNO08x.</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:26</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_a1418be33824d3102dbc8f92558a402a6"><div class="ttname"><a href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">BNO08xRpt::clear_sample_counts</a></div><div class="ttdeci">bool clear_sample_counts()</div><div class="ttdoc">Clears BNO08x internal sample counts for this sensor. (see SH-2 ref manual 6.4.3.1)</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.cpp:195</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_a15e8eebe3fe90ac19837e3860c76374c"><div class="ttname"><a href="class_b_n_o08x_rpt.html#a15e8eebe3fe90ac19837e3860c76374c">BNO08xRpt::BNO08xRpt</a></div><div class="ttdeci">BNO08xRpt(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</div><div class="ttdoc">BNO08xRpt report constructor.</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:59</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_a1d4d6f4cc6f1eae503863eedf7fb9f52"><div class="ttname"><a href="class_b_n_o08x_rpt.html#a1d4d6f4cc6f1eae503863eedf7fb9f52">BNO08xRpt::period_us</a></div><div class="ttdeci">uint32_t period_us</div><div class="ttdoc">The period/interval of the report in microseconds.</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:41</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_a201aeb71fefb0d9d485914176a82dd80"><div class="ttname"><a href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">BNO08xRpt::RAD_2_DEG</a></div><div class="ttdeci">static const constexpr float RAD_2_DEG</div><div class="ttdoc">Constant for radian to degree conversions, sed in quaternion to euler function conversions.</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:74</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_a26bacc572187119339ec248bb4e7d6f3"><div class="ttname"><a href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">BNO08xRpt::unlock_user_data</a></div><div class="ttdeci">void unlock_user_data()</div><div class="ttdoc">Unlocks user data to allow other tasks to read/modify it.</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.cpp:266</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_a2c57f370fb08b793bb10ec22d5acca45"><div class="ttname"><a href="class_b_n_o08x_rpt.html#a2c57f370fb08b793bb10ec22d5acca45">BNO08xRpt::TAG</a></div><div class="ttdeci">static const constexpr char * TAG</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:77</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_a47a623eb0a1db51af76a03a103c32329"><div class="ttname"><a href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">BNO08xRpt::signal_data_available</a></div><div class="ttdeci">void signal_data_available()</div><div class="ttdoc">Signals to BNO08x::data_available() that a new report has arrived.</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.cpp:276</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_a48e7b1a2c2ebc6b1f2f292735c0832a0"><div class="ttname"><a href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">BNO08xRpt::lock_user_data</a></div><div class="ttdeci">void lock_user_data()</div><div class="ttdoc">Locks locks user data to only allow the calling task to read/modify it.</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.cpp:256</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_a4ee529725467412df396d5c610ff7bb4"><div class="ttname"><a href="class_b_n_o08x_rpt.html#a4ee529725467412df396d5c610ff7bb4">BNO08xRpt::enable</a></div><div class="ttdeci">virtual bool enable(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)=0</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_a5a1404a08918d66bb0f41f55220db6e5"><div class="ttname"><a href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">BNO08xRpt::sync_ctx</a></div><div class="ttdeci">BNO08xPrivateTypes::bno08x_sync_ctx_t * sync_ctx</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:42</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_a5b542b28c81fcd05cf2e3f3d2d437d46"><div class="ttname"><a href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">BNO08xRpt::register_cb</a></div><div class="ttdeci">bool register_cb(std::function&lt; void(void)&gt; cb_fxn)</div><div class="ttdoc">Registers a callback to execute when new data from a specific report is received.</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.cpp:118</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_a61e3451e93806e1b7eaf5f1387726765"><div class="ttname"><a href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">BNO08xRpt::unlock_sh2_HAL</a></div><div class="ttdeci">void unlock_sh2_HAL()</div><div class="ttdoc">Unlocks sh2 HAL lib to allow other tasks to call its APIs.</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.cpp:246</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_a63cd4ac9e96baa43eebe580f03307512"><div class="ttname"><a href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">BNO08xRpt::ID</a></div><div class="ttdeci">uint8_t ID</div><div class="ttdoc">Report ID, ex. SH2_ACCELERATION.</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:39</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_a74f6037286b51382535bab61680297ed"><div class="ttname"><a href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">BNO08xRpt::has_new_data</a></div><div class="ttdeci">bool has_new_data()</div><div class="ttdoc">Checks if a new report has been received since the last time this function was called.</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.cpp:134</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_a7a5619a74c1237c5abde2e4bd6619d12"><div class="ttname"><a href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">BNO08xRpt::lock_sh2_HAL</a></div><div class="ttdeci">void lock_sh2_HAL()</div><div class="ttdoc">Locks sh2 HAL lib to only allow the calling task to call its APIs.</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.cpp:236</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_a7ce8e48cadf59f49068af7f1cb680b38"><div class="ttname"><a href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">BNO08xRpt::get_sample_counts</a></div><div class="ttdeci">bool get_sample_counts(bno08x_sample_counts_t &amp;sample_counts)</div><div class="ttdoc">Gets sample counts for this sensor (see SH-2 ref manual 6.4.3.1)</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.cpp:170</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_a7d147e7540a4c6aa19749844e14cdadc"><div class="ttname"><a href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">BNO08xRpt::disable</a></div><div class="ttdeci">bool disable(sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</div><div class="ttdoc">Disables a sensor report by setting its period to 0us such that the BNO08x stops sending it.</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.cpp:68</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_a970fb7e7d3745c62fec626f0ccf0759f"><div class="ttname"><a href="class_b_n_o08x_rpt.html#a970fb7e7d3745c62fec626f0ccf0759f">BNO08xRpt::update_data</a></div><div class="ttdeci">virtual void update_data(sh2_SensorValue_t *sensor_val)=0</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_aa0bed98a9a497d1f39e8245d05b02e9c"><div class="ttname"><a href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">BNO08xRpt::rpt_enable</a></div><div class="ttdeci">bool rpt_enable(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</div><div class="ttdoc">Enables a sensor report such that the BNO08x begins sending it.</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.cpp:17</div></div>
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+<table class="memberdecls">
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+<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_rpt_a_r_v_r_stabilized_game_r_v.html">BNO08xRptARVRStabilizedGameRV</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Class to represent ARVR stabilized rotation vector reports. (See Ref. Manual 6.5.43)  <a href="class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><dl class="section author"><dt>Author</dt><dd>Myles Parfeniuk </dd></dl>
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+<title>esp32_BNO08x: /media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/report/BNO08xRptARVRStabilizedGameRV.hpp Source File</title>
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+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
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+<div class="header">
+  <div class="headertitle"><div class="title">BNO08xRptARVRStabilizedGameRV.hpp</div></div>
+</div><!--header-->
+<div class="contents">
+<a href="_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_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> </div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span> </div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &quot;<a class="code" href="_b_n_o08x_rpt_r_v_generic_8hpp.html">BNO08xRptRVGeneric.hpp</a>&quot;</span></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span> </div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"><a class="line" href="class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v.html">   15</a></span><span class="keyword">class </span><a class="code hl_class" href="class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v.html">BNO08xRptARVRStabilizedGameRV</a> : <span class="keyword">public</span> <a class="code hl_class" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span>{</div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span>    <span class="keyword">public</span>:</div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"><a class="line" href="class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v.html#aabfa5bbfb21fb1f36dda44bd0de7d220">   18</a></span>        <a class="code hl_function" href="class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v.html#aabfa5bbfb21fb1f36dda44bd0de7d220">BNO08xRptARVRStabilizedGameRV</a>(uint8_t <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, EventBits_t <a class="code hl_variable" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="code hl_struct" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a>* <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>            : <a class="code hl_class" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a>(<a class="code hl_variable" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, <a class="code hl_variable" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span>        {</div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>        }</div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span> </div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>    <span class="keyword">private</span>:</div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>        <span class="keywordtype">void</span> update_data(sh2_SensorValue_t* sensor_val) <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> <span class="keywordtype">char</span>* TAG = <span class="stringliteral">&quot;BNO08xRptARVRStabilizedGameRV&quot;</span>;</div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>};</div>
+<div class="ttc" id="a_b_n_o08x_rpt_r_v_generic_8hpp_html"><div class="ttname"><a href="_b_n_o08x_rpt_r_v_generic_8hpp.html">BNO08xRptRVGeneric.hpp</a></div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_html"><div class="ttname"><a href="class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v.html">BNO08xRptARVRStabilizedGameRV</a></div><div class="ttdoc">Class to represent ARVR stabilized rotation vector reports. (See Ref. Manual 6.5.43)</div><div class="ttdef"><b>Definition:</b> BNO08xRptARVRStabilizedGameRV.hpp:16</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_html_aabfa5bbfb21fb1f36dda44bd0de7d220"><div class="ttname"><a href="class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v.html#aabfa5bbfb21fb1f36dda44bd0de7d220">BNO08xRptARVRStabilizedGameRV::BNO08xRptARVRStabilizedGameRV</a></div><div class="ttdeci">BNO08xRptARVRStabilizedGameRV(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</div><div class="ttdef"><b>Definition:</b> BNO08xRptARVRStabilizedGameRV.hpp:18</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_a5a1404a08918d66bb0f41f55220db6e5"><div class="ttname"><a href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">BNO08xRpt::sync_ctx</a></div><div class="ttdeci">BNO08xPrivateTypes::bno08x_sync_ctx_t * sync_ctx</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:42</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_a63cd4ac9e96baa43eebe580f03307512"><div class="ttname"><a href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">BNO08xRpt::ID</a></div><div class="ttdeci">uint8_t ID</div><div class="ttdoc">Report ID, ex. SH2_ACCELERATION.</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:39</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_ae78feab5682a4697c5acad3ca6f12c2e"><div class="ttname"><a href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">BNO08xRpt::rpt_bit</a></div><div class="ttdeci">EventBits_t rpt_bit</div><div class="ttdoc">Respective enable and data bit for report in evt_grp_rpt_en and evt_grp_rpt_data.</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:40</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_r_v_generic_html"><div class="ttname"><a href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></div><div class="ttdoc">Class to represent rotation vector reports.</div><div class="ttdef"><b>Definition:</b> BNO08xRptRVGeneric.hpp:16</div></div>
+<div class="ttc" id="astruct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_html"><div class="ttname"><a href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a></div><div class="ttdoc">Holds context used to synchronize tasks and callback execution.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:57</div></div>
+</div><!-- fragment --></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="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_7f19fe0488f3daa36ae73de472a8d793.html">report</a></li><li class="navelem"><a class="el" href="_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8hpp.html">BNO08xRptARVRStabilizedGameRV.hpp</a></li>
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+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
+   </div>
+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
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+  <div class="headertitle"><div class="title">BNO08xRptARVRStabilizedRV.hpp</div></div>
+</div><!--header-->
+<div class="contents">
+<a href="_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_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> </div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span> </div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &quot;<a class="code" href="_b_n_o08x_rpt_r_v_generic_8hpp.html">BNO08xRptRVGeneric.hpp</a>&quot;</span></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span> </div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"><a class="line" href="class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v.html">   15</a></span><span class="keyword">class </span><a class="code hl_class" href="class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v.html">BNO08xRptARVRStabilizedRV</a> : <span class="keyword">public</span> <a class="code hl_class" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span>{</div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span>    <span class="keyword">public</span>:</div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"><a class="line" href="class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v.html#a7b19b87c861a35b7da1d96b606c21d6d">   18</a></span>        <a class="code hl_function" href="class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v.html#a7b19b87c861a35b7da1d96b606c21d6d">BNO08xRptARVRStabilizedRV</a>(uint8_t <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, EventBits_t <a class="code hl_variable" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="code hl_struct" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a>* <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>            : <a class="code hl_class" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a>(<a class="code hl_variable" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, <a class="code hl_variable" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span>        {</div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>        }</div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span> </div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>    <span class="keyword">private</span>:</div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>        <span class="keywordtype">void</span> update_data(sh2_SensorValue_t* sensor_val) <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> <span class="keywordtype">char</span>* TAG = <span class="stringliteral">&quot;BNO08xRptARVRStabilizedRV&quot;</span>;</div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>};</div>
+<div class="ttc" id="a_b_n_o08x_rpt_r_v_generic_8hpp_html"><div class="ttname"><a href="_b_n_o08x_rpt_r_v_generic_8hpp.html">BNO08xRptRVGeneric.hpp</a></div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_html"><div class="ttname"><a href="class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v.html">BNO08xRptARVRStabilizedRV</a></div><div class="ttdoc">Class to represent ARVR stabilized rotation vector reports. (See Ref. Manual 6.5.42)</div><div class="ttdef"><b>Definition:</b> BNO08xRptARVRStabilizedRV.hpp:16</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_html_a7b19b87c861a35b7da1d96b606c21d6d"><div class="ttname"><a href="class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v.html#a7b19b87c861a35b7da1d96b606c21d6d">BNO08xRptARVRStabilizedRV::BNO08xRptARVRStabilizedRV</a></div><div class="ttdeci">BNO08xRptARVRStabilizedRV(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</div><div class="ttdef"><b>Definition:</b> BNO08xRptARVRStabilizedRV.hpp:18</div></div>
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+<title>esp32_BNO08x: /media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/report/BNO08xRptAcceleration.hpp Source File</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
+   </div>
+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
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+  <div class="headertitle"><div class="title">BNO08xRptAcceleration.hpp</div></div>
+</div><!--header-->
+<div class="contents">
+<a href="_b_n_o08x_rpt_acceleration_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> </div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span> </div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &quot;<a class="code" href="_b_n_o08x_rpt_8hpp.html">BNO08xRpt.hpp</a>&quot;</span></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span> </div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"><a class="line" href="class_b_n_o08x_rpt_acceleration.html">   15</a></span><span class="keyword">class </span><a class="code hl_class" href="class_b_n_o08x_rpt_acceleration.html">BNO08xRptAcceleration</a> : <span class="keyword">public</span> <a class="code hl_class" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span>{</div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span>    <span class="keyword">public</span>:</div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"><a class="line" href="class_b_n_o08x_rpt_acceleration.html#af3a06d4c127a5cebd136489ab5c673e2">   18</a></span>        <a class="code hl_function" href="class_b_n_o08x_rpt_acceleration.html#af3a06d4c127a5cebd136489ab5c673e2">BNO08xRptAcceleration</a>(uint8_t <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, EventBits_t <a class="code hl_variable" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="code hl_struct" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a>* <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>            : <a class="code hl_class" href="class_b_n_o08x_rpt.html">BNO08xRpt</a>(<a class="code hl_variable" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, <a class="code hl_variable" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span>        {</div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>        }</div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span> </div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>        <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x_rpt_acceleration.html#a8fde5eefac5f9d714263047426eeee4f">enable</a>(</div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>                uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = BNO08xPrivateTypes::default_sensor_cfg) <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>        <a class="code hl_struct" href="structbno08x__accel__t.html">bno08x_accel_t</a> <a class="code hl_function" href="class_b_n_o08x_rpt_acceleration.html#abac65bc939891f7a24b5a611de430328">get</a>();</div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span> </div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>    <span class="keyword">private</span>:</div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>        <span class="keywordtype">void</span> update_data(sh2_SensorValue_t* sensor_val) <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>        <a class="code hl_struct" href="structbno08x__accel__t.html">bno08x_accel_t</a> data;</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> <span class="keywordtype">char</span>* TAG = <span class="stringliteral">&quot;BNO08xRptAcceleration&quot;</span>;</div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>};</div>
+<div class="ttc" id="a_b_n_o08x_rpt_8hpp_html"><div class="ttname"><a href="_b_n_o08x_rpt_8hpp.html">BNO08xRpt.hpp</a></div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_acceleration_html"><div class="ttname"><a href="class_b_n_o08x_rpt_acceleration.html">BNO08xRptAcceleration</a></div><div class="ttdoc">Class to represent accelerometer reports. (See Ref. Manual 6.5.9)</div><div class="ttdef"><b>Definition:</b> BNO08xRptAcceleration.hpp:16</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_acceleration_html_a8fde5eefac5f9d714263047426eeee4f"><div class="ttname"><a href="class_b_n_o08x_rpt_acceleration.html#a8fde5eefac5f9d714263047426eeee4f">BNO08xRptAcceleration::enable</a></div><div class="ttdeci">bool enable(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg) override</div><div class="ttdoc">Enables acceleration reports such that the BNO08x begins sending them.</div><div class="ttdef"><b>Definition:</b> BNO08xRptAcceleration.cpp:35</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_acceleration_html_abac65bc939891f7a24b5a611de430328"><div class="ttname"><a href="class_b_n_o08x_rpt_acceleration.html#abac65bc939891f7a24b5a611de430328">BNO08xRptAcceleration::get</a></div><div class="ttdeci">bno08x_accel_t get()</div><div class="ttdoc">Grabs most recent acceleration data (including gravity), units are in m/s^2.</div><div class="ttdef"><b>Definition:</b> BNO08xRptAcceleration.cpp:45</div></div>
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+<title>esp32_BNO08x: /media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/report/BNO08xRptActivityClassifier.hpp Source File</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</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">BNO08xRptActivityClassifier.hpp</div></div>
+</div><!--header-->
+<div class="contents">
+<a href="_b_n_o08x_rpt_activity_classifier_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> </div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span> </div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &quot;<a class="code" href="_b_n_o08x_rpt_8hpp.html">BNO08xRpt.hpp</a>&quot;</span></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span> </div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"><a class="line" href="class_b_n_o08x_rpt_activity_classifier.html">   15</a></span><span class="keyword">class </span><a class="code hl_class" href="class_b_n_o08x_rpt_activity_classifier.html">BNO08xRptActivityClassifier</a> : <span class="keyword">public</span> <a class="code hl_class" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span>{</div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span>    <span class="keyword">public</span>:</div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"><a class="line" href="class_b_n_o08x_rpt_activity_classifier.html#abee4e61d75eb1982f11f08eb542511a5">   18</a></span>        <a class="code hl_function" href="class_b_n_o08x_rpt_activity_classifier.html#abee4e61d75eb1982f11f08eb542511a5">BNO08xRptActivityClassifier</a>(uint8_t <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, EventBits_t <a class="code hl_variable" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="code hl_struct" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a>* <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>            : <a class="code hl_class" href="class_b_n_o08x_rpt.html">BNO08xRpt</a>(<a class="code hl_variable" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, <a class="code hl_variable" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span>        {</div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>        }</div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span> </div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>        <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x_rpt_activity_classifier.html#a631329523ddaf17f2e93cd0546a42823">enable</a>(</div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>                uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = BNO08xPrivateTypes::default_sensor_cfg) <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>        <a class="code hl_struct" href="structbno08x__activity__classifier__t.html">bno08x_activity_classifier_t</a> <a class="code hl_function" href="class_b_n_o08x_rpt_activity_classifier.html#aa77475212d3a5eb52ec31b9916cfe22d">get</a>();</div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>        <a class="code hl_enumeration" href="_b_n_o08x_global_types_8hpp.html#a43d66cdccf17ba0cddcdddc72d4fb97d">BNO08xActivity</a> <a class="code hl_function" href="class_b_n_o08x_rpt_activity_classifier.html#a903a426e65752996075798ba6c51bff2">get_most_likely_activity</a>();</div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x_rpt_activity_classifier.html#adb51886e94e91d114246c51919fd368b">set_activities_to_enable</a>(<a class="code hl_enumeration" href="_b_n_o08x_global_types_8hpp.html#a64f4487da0833d5304046093935f5d3a">BNO08xActivityEnable</a> activities_to_enable);</div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span> </div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>    <span class="keyword">private</span>:</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>        <span class="keywordtype">void</span> update_data(sh2_SensorValue_t* sensor_val) <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>        <a class="code hl_struct" href="structbno08x__activity__classifier__t.html">bno08x_activity_classifier_t</a> data; </div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>        <a class="code hl_enumeration" href="_b_n_o08x_global_types_8hpp.html#a64f4487da0833d5304046093935f5d3a">BNO08xActivityEnable</a> activities_to_enable =</div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>                <a class="code hl_enumvalue" href="_b_n_o08x_global_types_8hpp.html#a64f4487da0833d5304046093935f5d3aa5fb1f955b45e38e31789286a1790398d">BNO08xActivityEnable::ALL</a>; </div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> <span class="keywordtype">char</span>* TAG = <span class="stringliteral">&quot;BNO08xRptActivityClassifier&quot;</span>;</div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>};</div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a43d66cdccf17ba0cddcdddc72d4fb97d"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a43d66cdccf17ba0cddcdddc72d4fb97d">BNO08xActivity</a></div><div class="ttdeci">BNO08xActivity</div><div class="ttdoc">BNO08xActivity states returned from BNO08x::activity_classifier.get()</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:152</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a64f4487da0833d5304046093935f5d3a"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a64f4487da0833d5304046093935f5d3a">BNO08xActivityEnable</a></div><div class="ttdeci">BNO08xActivityEnable</div><div class="ttdoc">BNO08xActivity Classifier enable bits passed to enable_activity_classifier() See ref manual 6....</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:137</div></div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a64f4487da0833d5304046093935f5d3aa5fb1f955b45e38e31789286a1790398d"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a64f4487da0833d5304046093935f5d3aa5fb1f955b45e38e31789286a1790398d">BNO08xActivityEnable::ALL</a></div><div class="ttdeci">@ ALL</div></div>
+<div class="ttc" id="a_b_n_o08x_rpt_8hpp_html"><div class="ttname"><a href="_b_n_o08x_rpt_8hpp.html">BNO08xRpt.hpp</a></div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_activity_classifier_html"><div class="ttname"><a href="class_b_n_o08x_rpt_activity_classifier.html">BNO08xRptActivityClassifier</a></div><div class="ttdoc">Class to represent activity classifier reports. (See Ref. Manual 6.5.36)</div><div class="ttdef"><b>Definition:</b> BNO08xRptActivityClassifier.hpp:16</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_activity_classifier_html_a631329523ddaf17f2e93cd0546a42823"><div class="ttname"><a href="class_b_n_o08x_rpt_activity_classifier.html#a631329523ddaf17f2e93cd0546a42823">BNO08xRptActivityClassifier::enable</a></div><div class="ttdeci">bool enable(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg) override</div><div class="ttdoc">Enables activity classifier reports such that the BNO08x begins sending them.</div><div class="ttdef"><b>Definition:</b> BNO08xRptActivityClassifier.cpp:35</div></div>
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+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
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diff --git a/documentation/html/_b_n_o08x_rpt_cal_gyro_8hpp_source.html b/documentation/html/_b_n_o08x_rpt_cal_gyro_8hpp_source.html
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@@ -0,0 +1,132 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<title>esp32_BNO08x: /media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/report/BNO08xRptCalGyro.hpp Source File</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+ <tbody>
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+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
+   </div>
+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
+  </td>
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+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.4 -->
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+  <div class="headertitle"><div class="title">BNO08xRptCalGyro.hpp</div></div>
+</div><!--header-->
+<div class="contents">
+<a href="_b_n_o08x_rpt_cal_gyro_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> </div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span> </div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &quot;<a class="code" href="_b_n_o08x_rpt_8hpp.html">BNO08xRpt.hpp</a>&quot;</span></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span> </div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"><a class="line" href="class_b_n_o08x_rpt_cal_gyro.html">   15</a></span><span class="keyword">class </span><a class="code hl_class" href="class_b_n_o08x_rpt_cal_gyro.html">BNO08xRptCalGyro</a> : <span class="keyword">public</span> <a class="code hl_class" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span>{</div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span>    <span class="keyword">public</span>:</div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"><a class="line" href="class_b_n_o08x_rpt_cal_gyro.html#ad351243a258fa1075212d63a38b1e7b5">   18</a></span>        <a class="code hl_function" href="class_b_n_o08x_rpt_cal_gyro.html#ad351243a258fa1075212d63a38b1e7b5">BNO08xRptCalGyro</a>(uint8_t <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, EventBits_t <a class="code hl_variable" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="code hl_struct" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a>* <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>            : <a class="code hl_class" href="class_b_n_o08x_rpt.html">BNO08xRpt</a>(<a class="code hl_variable" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, <a class="code hl_variable" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span>        {</div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>        }</div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span> </div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>        <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x_rpt_cal_gyro.html#aeb49d86610427c915dc9e58fcba6fddc">enable</a>(</div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>                uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = BNO08xPrivateTypes::default_sensor_cfg) <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>        <a class="code hl_struct" href="structbno08x__gyro__t.html">bno08x_gyro_t</a> <a class="code hl_function" href="class_b_n_o08x_rpt_cal_gyro.html#aeb45a1a433c499f2c36dddf393175815">get</a>();</div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span> </div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>    <span class="keyword">private</span>:</div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>        <span class="keywordtype">void</span> update_data(sh2_SensorValue_t* sensor_val) <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>        <a class="code hl_struct" href="structbno08x__gyro__t.html">bno08x_gyro_t</a> data;</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> <span class="keywordtype">char</span>* TAG = <span class="stringliteral">&quot;BNO08xRptCalGyro&quot;</span>;</div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>};</div>
+<div class="ttc" id="a_b_n_o08x_rpt_8hpp_html"><div class="ttname"><a href="_b_n_o08x_rpt_8hpp.html">BNO08xRpt.hpp</a></div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_cal_gyro_html"><div class="ttname"><a href="class_b_n_o08x_rpt_cal_gyro.html">BNO08xRptCalGyro</a></div><div class="ttdoc">Class to represent calibrated gyro reports. (See Ref. Manual 6.5.13)</div><div class="ttdef"><b>Definition:</b> BNO08xRptCalGyro.hpp:16</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_cal_gyro_html_ad351243a258fa1075212d63a38b1e7b5"><div class="ttname"><a href="class_b_n_o08x_rpt_cal_gyro.html#ad351243a258fa1075212d63a38b1e7b5">BNO08xRptCalGyro::BNO08xRptCalGyro</a></div><div class="ttdeci">BNO08xRptCalGyro(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</div><div class="ttdef"><b>Definition:</b> BNO08xRptCalGyro.hpp:18</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_cal_gyro_html_aeb45a1a433c499f2c36dddf393175815"><div class="ttname"><a href="class_b_n_o08x_rpt_cal_gyro.html#aeb45a1a433c499f2c36dddf393175815">BNO08xRptCalGyro::get</a></div><div class="ttdeci">bno08x_gyro_t get()</div><div class="ttdoc">Grabs most recent gyroscope data (velocity), units are in rad/s.</div><div class="ttdef"><b>Definition:</b> BNO08xRptCalGyro.cpp:45</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_cal_gyro_html_aeb49d86610427c915dc9e58fcba6fddc"><div class="ttname"><a href="class_b_n_o08x_rpt_cal_gyro.html#aeb49d86610427c915dc9e58fcba6fddc">BNO08xRptCalGyro::enable</a></div><div class="ttdeci">bool enable(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg) override</div><div class="ttdoc">Enables calibrated gyro reports such that the BNO08x begins sending them.</div><div class="ttdef"><b>Definition:</b> BNO08xRptCalGyro.cpp:35</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html"><div class="ttname"><a href="class_b_n_o08x_rpt.html">BNO08xRpt</a></div><div class="ttdoc">Class to represent and manage reports returned from BNO08x.</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:26</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_a5a1404a08918d66bb0f41f55220db6e5"><div class="ttname"><a href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">BNO08xRpt::sync_ctx</a></div><div class="ttdeci">BNO08xPrivateTypes::bno08x_sync_ctx_t * sync_ctx</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:42</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_a63cd4ac9e96baa43eebe580f03307512"><div class="ttname"><a href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">BNO08xRpt::ID</a></div><div class="ttdeci">uint8_t ID</div><div class="ttdoc">Report ID, ex. SH2_ACCELERATION.</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:39</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_ae78feab5682a4697c5acad3ca6f12c2e"><div class="ttname"><a href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">BNO08xRpt::rpt_bit</a></div><div class="ttdeci">EventBits_t rpt_bit</div><div class="ttdoc">Respective enable and data bit for report in evt_grp_rpt_en and evt_grp_rpt_data.</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:40</div></div>
+<div class="ttc" id="astruct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_html"><div class="ttname"><a href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a></div><div class="ttdoc">Holds context used to synchronize tasks and callback execution.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:57</div></div>
+<div class="ttc" id="astructbno08x__gyro__t_html"><div class="ttname"><a href="structbno08x__gyro__t.html">bno08x_gyro_t</a></div><div class="ttdoc">Struct to represent gyro data (units in rad/s)</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:667</div></div>
+</div><!-- fragment --></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="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_7f19fe0488f3daa36ae73de472a8d793.html">report</a></li><li class="navelem"><a class="el" href="_b_n_o08x_rpt_cal_gyro_8hpp.html">BNO08xRptCalGyro.hpp</a></li>
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diff --git a/documentation/html/_b_n_o08x_rpt_cal_magnetometer_8cpp.html b/documentation/html/_b_n_o08x_rpt_cal_magnetometer_8cpp.html
new file mode 100644
index 0000000..100a10f
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+  <div class="headertitle"><div class="title">BNO08xRptCalMagnetometer.hpp File Reference</div></div>
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+<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_rpt_cal_magnetometer.html">BNO08xRptCalMagnetometer</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Class to represent calibrated magnetometer reports. (See Ref. Manual 6.5.16)  <a href="class_b_n_o08x_rpt_cal_magnetometer.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><dl class="section author"><dt>Author</dt><dd>Myles Parfeniuk </dd></dl>
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+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
+   </div>
+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
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+  <div class="headertitle"><div class="title">BNO08xRptCalMagnetometer.hpp</div></div>
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+<div class="contents">
+<a href="_b_n_o08x_rpt_cal_magnetometer_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> </div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span> </div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &quot;<a class="code" href="_b_n_o08x_rpt_8hpp.html">BNO08xRpt.hpp</a>&quot;</span></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span> </div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"><a class="line" href="class_b_n_o08x_rpt_cal_magnetometer.html">   15</a></span><span class="keyword">class </span><a class="code hl_class" href="class_b_n_o08x_rpt_cal_magnetometer.html">BNO08xRptCalMagnetometer</a> : <span class="keyword">public</span> <a class="code hl_class" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span>{</div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span>    <span class="keyword">public</span>:</div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"><a class="line" href="class_b_n_o08x_rpt_cal_magnetometer.html#a731d7e69b97b6402b2cf2e18e9a08b06">   18</a></span>        <a class="code hl_function" href="class_b_n_o08x_rpt_cal_magnetometer.html#a731d7e69b97b6402b2cf2e18e9a08b06">BNO08xRptCalMagnetometer</a>(uint8_t <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, EventBits_t <a class="code hl_variable" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="code hl_struct" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a>* <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>            : <a class="code hl_class" href="class_b_n_o08x_rpt.html">BNO08xRpt</a>(<a class="code hl_variable" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, <a class="code hl_variable" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span>        {</div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>        }</div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span> </div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>        <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x_rpt_cal_magnetometer.html#a9a371f613ff5053d2227faeebe941393">enable</a>(</div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>                uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = BNO08xPrivateTypes::default_sensor_cfg) <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>        <a class="code hl_struct" href="structbno08x__magf__t.html">bno08x_magf_t</a> <a class="code hl_function" href="class_b_n_o08x_rpt_cal_magnetometer.html#a9a07338f7c149aa3d45d2c4f846620e2">get</a>();</div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span> </div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>    <span class="keyword">private</span>:</div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>        <span class="keywordtype">void</span> update_data(sh2_SensorValue_t* sensor_val) <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>        <a class="code hl_struct" href="structbno08x__magf__t.html">bno08x_magf_t</a> data;</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> <span class="keywordtype">char</span>* TAG = <span class="stringliteral">&quot;BNO08xRptCalMagnetometer&quot;</span>;</div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>};</div>
+<div class="ttc" id="a_b_n_o08x_rpt_8hpp_html"><div class="ttname"><a href="_b_n_o08x_rpt_8hpp.html">BNO08xRpt.hpp</a></div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_cal_magnetometer_html"><div class="ttname"><a href="class_b_n_o08x_rpt_cal_magnetometer.html">BNO08xRptCalMagnetometer</a></div><div class="ttdoc">Class to represent calibrated magnetometer reports. (See Ref. Manual 6.5.16)</div><div class="ttdef"><b>Definition:</b> BNO08xRptCalMagnetometer.hpp:16</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_cal_magnetometer_html_a731d7e69b97b6402b2cf2e18e9a08b06"><div class="ttname"><a href="class_b_n_o08x_rpt_cal_magnetometer.html#a731d7e69b97b6402b2cf2e18e9a08b06">BNO08xRptCalMagnetometer::BNO08xRptCalMagnetometer</a></div><div class="ttdeci">BNO08xRptCalMagnetometer(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</div><div class="ttdef"><b>Definition:</b> BNO08xRptCalMagnetometer.hpp:18</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_cal_magnetometer_html_a9a07338f7c149aa3d45d2c4f846620e2"><div class="ttname"><a href="class_b_n_o08x_rpt_cal_magnetometer.html#a9a07338f7c149aa3d45d2c4f846620e2">BNO08xRptCalMagnetometer::get</a></div><div class="ttdeci">bno08x_magf_t get()</div><div class="ttdoc">Grabs most recent calibrated magnetometer data, units are in uTesla.</div><div class="ttdef"><b>Definition:</b> BNO08xRptCalMagnetometer.cpp:45</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_cal_magnetometer_html_a9a371f613ff5053d2227faeebe941393"><div class="ttname"><a href="class_b_n_o08x_rpt_cal_magnetometer.html#a9a371f613ff5053d2227faeebe941393">BNO08xRptCalMagnetometer::enable</a></div><div class="ttdeci">bool enable(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg) override</div><div class="ttdoc">Enables calibrated magnetometer reports such that the BNO08x begins sending them.</div><div class="ttdef"><b>Definition:</b> BNO08xRptCalMagnetometer.cpp:35</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html"><div class="ttname"><a href="class_b_n_o08x_rpt.html">BNO08xRpt</a></div><div class="ttdoc">Class to represent and manage reports returned from BNO08x.</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:26</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_a5a1404a08918d66bb0f41f55220db6e5"><div class="ttname"><a href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">BNO08xRpt::sync_ctx</a></div><div class="ttdeci">BNO08xPrivateTypes::bno08x_sync_ctx_t * sync_ctx</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:42</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_a63cd4ac9e96baa43eebe580f03307512"><div class="ttname"><a href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">BNO08xRpt::ID</a></div><div class="ttdeci">uint8_t ID</div><div class="ttdoc">Report ID, ex. SH2_ACCELERATION.</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:39</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_ae78feab5682a4697c5acad3ca6f12c2e"><div class="ttname"><a href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">BNO08xRpt::rpt_bit</a></div><div class="ttdeci">EventBits_t rpt_bit</div><div class="ttdoc">Respective enable and data bit for report in evt_grp_rpt_en and evt_grp_rpt_data.</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:40</div></div>
+<div class="ttc" id="astruct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_html"><div class="ttname"><a href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a></div><div class="ttdoc">Holds context used to synchronize tasks and callback execution.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:57</div></div>
+<div class="ttc" id="astructbno08x__magf__t_html"><div class="ttname"><a href="structbno08x__magf__t.html">bno08x_magf_t</a></div><div class="ttdoc">Struct to represent magnetic field data (units in uTesla)</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:606</div></div>
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+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
+   </div>
+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
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+<p><a href="_b_n_o08x_rpt_game_r_v_8hpp_source.html">Go to the source code of this file.</a></p>
+<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">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_game_r_v.html">BNO08xRptGameRV</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Class to represent game rotation vector reports. (See Ref. Manual 6.5.19)  <a href="class_b_n_o08x_rpt_game_r_v.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><dl class="section author"><dt>Author</dt><dd>Myles Parfeniuk </dd></dl>
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+<title>esp32_BNO08x: /media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/report/BNO08xRptGameRV.hpp Source File</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
+   </div>
+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
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+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.4 -->
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+<div class="header">
+  <div class="headertitle"><div class="title">BNO08xRptGameRV.hpp</div></div>
+</div><!--header-->
+<div class="contents">
+<a href="_b_n_o08x_rpt_game_r_v_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> </div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span> </div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &quot;<a class="code" href="_b_n_o08x_rpt_r_v_generic_8hpp.html">BNO08xRptRVGeneric.hpp</a>&quot;</span></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span> </div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"><a class="line" href="class_b_n_o08x_rpt_game_r_v.html">   15</a></span><span class="keyword">class </span><a class="code hl_class" href="class_b_n_o08x_rpt_game_r_v.html">BNO08xRptGameRV</a> : <span class="keyword">public</span> <a class="code hl_class" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span>{</div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span>    <span class="keyword">public</span>:</div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"><a class="line" href="class_b_n_o08x_rpt_game_r_v.html#a5ce3525ae691ef37dff5c8d638e98e18">   18</a></span>        <a class="code hl_function" href="class_b_n_o08x_rpt_game_r_v.html#a5ce3525ae691ef37dff5c8d638e98e18">BNO08xRptGameRV</a>(uint8_t <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, EventBits_t <a class="code hl_variable" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="code hl_struct" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a>* <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>            : <a class="code hl_class" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a>(<a class="code hl_variable" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, <a class="code hl_variable" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span>        {</div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>        }</div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span> </div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>        <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x_rpt_game_r_v.html#a773f8e4bf9e5059d6b301fc346cbc9d2">tare</a>(<span class="keywordtype">bool</span> x = <span class="keyword">true</span>, <span class="keywordtype">bool</span> y = <span class="keyword">true</span>, <span class="keywordtype">bool</span> z = <span class="keyword">true</span>);</div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>        <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x_rpt_game_r_v.html#ae91c07ae4d781216065fd704b5c88d06">tare_persist</a>();</div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x_rpt_game_r_v.html#ab8844cc390818f2b5cff8afefc89558f">tare_clear</a>();</div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span> </div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>    <span class="keyword">private</span>:</div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>        <span class="keywordtype">void</span> update_data(sh2_SensorValue_t* sensor_val) <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> <span class="keywordtype">char</span>* TAG = <span class="stringliteral">&quot;BNO08xRptGameRV&quot;</span>;</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>};</div>
+<div class="ttc" id="a_b_n_o08x_rpt_r_v_generic_8hpp_html"><div class="ttname"><a href="_b_n_o08x_rpt_r_v_generic_8hpp.html">BNO08xRptRVGeneric.hpp</a></div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_game_r_v_html"><div class="ttname"><a href="class_b_n_o08x_rpt_game_r_v.html">BNO08xRptGameRV</a></div><div class="ttdoc">Class to represent game rotation vector reports. (See Ref. Manual 6.5.19)</div><div class="ttdef"><b>Definition:</b> BNO08xRptGameRV.hpp:16</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_game_r_v_html_a5ce3525ae691ef37dff5c8d638e98e18"><div class="ttname"><a href="class_b_n_o08x_rpt_game_r_v.html#a5ce3525ae691ef37dff5c8d638e98e18">BNO08xRptGameRV::BNO08xRptGameRV</a></div><div class="ttdeci">BNO08xRptGameRV(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</div><div class="ttdef"><b>Definition:</b> BNO08xRptGameRV.hpp:18</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_game_r_v_html_a773f8e4bf9e5059d6b301fc346cbc9d2"><div class="ttname"><a href="class_b_n_o08x_rpt_game_r_v.html#a773f8e4bf9e5059d6b301fc346cbc9d2">BNO08xRptGameRV::tare</a></div><div class="ttdeci">bool tare(bool x=true, bool y=true, bool z=true)</div><div class="ttdoc">Tares game rotation vector axis.</div><div class="ttdef"><b>Definition:</b> BNO08xRptGameRV.cpp:35</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_game_r_v_html_ab8844cc390818f2b5cff8afefc89558f"><div class="ttname"><a href="class_b_n_o08x_rpt_game_r_v.html#ab8844cc390818f2b5cff8afefc89558f">BNO08xRptGameRV::tare_clear</a></div><div class="ttdeci">void tare_clear()</div><div class="ttdoc">Clears most recent tare operation.</div><div class="ttdef"><b>Definition:</b> BNO08xRptGameRV.cpp:65</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_game_r_v_html_ae91c07ae4d781216065fd704b5c88d06"><div class="ttname"><a href="class_b_n_o08x_rpt_game_r_v.html#ae91c07ae4d781216065fd704b5c88d06">BNO08xRptGameRV::tare_persist</a></div><div class="ttdeci">bool tare_persist()</div><div class="ttdoc">Saves most recent tare operation to BNO08x internal flash, such that it persists on reset.</div><div class="ttdef"><b>Definition:</b> BNO08xRptGameRV.cpp:46</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_a5a1404a08918d66bb0f41f55220db6e5"><div class="ttname"><a href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">BNO08xRpt::sync_ctx</a></div><div class="ttdeci">BNO08xPrivateTypes::bno08x_sync_ctx_t * sync_ctx</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:42</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_a63cd4ac9e96baa43eebe580f03307512"><div class="ttname"><a href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">BNO08xRpt::ID</a></div><div class="ttdeci">uint8_t ID</div><div class="ttdoc">Report ID, ex. SH2_ACCELERATION.</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:39</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_ae78feab5682a4697c5acad3ca6f12c2e"><div class="ttname"><a href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">BNO08xRpt::rpt_bit</a></div><div class="ttdeci">EventBits_t rpt_bit</div><div class="ttdoc">Respective enable and data bit for report in evt_grp_rpt_en and evt_grp_rpt_data.</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:40</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_r_v_generic_html"><div class="ttname"><a href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></div><div class="ttdoc">Class to represent rotation vector reports.</div><div class="ttdef"><b>Definition:</b> BNO08xRptRVGeneric.hpp:16</div></div>
+<div class="ttc" id="astruct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_html"><div class="ttname"><a href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a></div><div class="ttdoc">Holds context used to synchronize tasks and callback execution.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:57</div></div>
+</div><!-- fragment --></div><!-- contents -->
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diff --git a/documentation/html/_b_n_o08x_rpt_gravity_8cpp.html b/documentation/html/_b_n_o08x_rpt_gravity_8cpp.html
new file mode 100644
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@@ -0,0 +1,134 @@
+<!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 1.9.4"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>esp32_BNO08x: report/BNO08xRptGravity.cpp File Reference</title>
+<link href="tabs.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;1.4</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 1.9.4 -->
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+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+     onmouseover="return searchBox.OnSearchSelectShow()"
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+  <div class="headertitle"><div class="title">BNO08xRptGravity.cpp File Reference</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include &quot;<a class="el" href="_b_n_o08x_rpt_gravity_8hpp_source.html">BNO08xRptGravity.hpp</a>&quot;</code><br />
+</div><div class="textblock"><div class="dynheader">
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+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><dl class="section author"><dt>Author</dt><dd>Myles Parfeniuk </dd></dl>
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+<title>esp32_BNO08x: /media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/report/BNO08xRptGravity.hpp Source File</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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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;1.4</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 1.9.4 -->
+<script type="text/javascript">
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+  <div class="headertitle"><div class="title">BNO08xRptGravity.hpp</div></div>
+</div><!--header-->
+<div class="contents">
+<a href="_b_n_o08x_rpt_gravity_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> </div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span> </div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &quot;<a class="code" href="_b_n_o08x_rpt_8hpp.html">BNO08xRpt.hpp</a>&quot;</span></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span> </div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"><a class="line" href="class_b_n_o08x_rpt_gravity.html">   15</a></span><span class="keyword">class </span><a class="code hl_class" href="class_b_n_o08x_rpt_gravity.html">BNO08xRptGravity</a> : <span class="keyword">public</span> <a class="code hl_class" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span>{</div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span>    <span class="keyword">public</span>:</div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"><a class="line" href="class_b_n_o08x_rpt_gravity.html#a472ced1c466461f64dda3d9132813dba">   18</a></span>        <a class="code hl_function" href="class_b_n_o08x_rpt_gravity.html#a472ced1c466461f64dda3d9132813dba">BNO08xRptGravity</a>(uint8_t <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, EventBits_t <a class="code hl_variable" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="code hl_struct" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a>* <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>            : <a class="code hl_class" href="class_b_n_o08x_rpt.html">BNO08xRpt</a>(<a class="code hl_variable" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, <a class="code hl_variable" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span>        {</div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>        }</div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span> </div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>        <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x_rpt_gravity.html#a5bb33cf233c6721fac992e447bd5b571">enable</a>(</div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>                uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = BNO08xPrivateTypes::default_sensor_cfg) <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>        <a class="code hl_struct" href="structbno08x__accel__t.html">bno08x_accel_t</a> <a class="code hl_function" href="class_b_n_o08x_rpt_gravity.html#a18ebbe93997c3ea985290e5b8fc23115">get</a>();</div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span> </div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>    <span class="keyword">private</span>:</div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>        <span class="keywordtype">void</span> update_data(sh2_SensorValue_t* sensor_val) <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>        <a class="code hl_struct" href="structbno08x__accel__t.html">bno08x_accel_t</a> data;</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> <span class="keywordtype">char</span>* TAG = <span class="stringliteral">&quot;BNO08xRptGravity&quot;</span>;</div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>};</div>
+<div class="ttc" id="a_b_n_o08x_rpt_8hpp_html"><div class="ttname"><a href="_b_n_o08x_rpt_8hpp.html">BNO08xRpt.hpp</a></div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_gravity_html"><div class="ttname"><a href="class_b_n_o08x_rpt_gravity.html">BNO08xRptGravity</a></div><div class="ttdoc">Class to represent gravity reports. (See Ref. Manual 6.5.11)</div><div class="ttdef"><b>Definition:</b> BNO08xRptGravity.hpp:16</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_gravity_html_a18ebbe93997c3ea985290e5b8fc23115"><div class="ttname"><a href="class_b_n_o08x_rpt_gravity.html#a18ebbe93997c3ea985290e5b8fc23115">BNO08xRptGravity::get</a></div><div class="ttdeci">bno08x_accel_t get()</div><div class="ttdoc">Grabs most recent gravity data, units are in m/s^2.</div><div class="ttdef"><b>Definition:</b> BNO08xRptGravity.cpp:45</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_gravity_html_a472ced1c466461f64dda3d9132813dba"><div class="ttname"><a href="class_b_n_o08x_rpt_gravity.html#a472ced1c466461f64dda3d9132813dba">BNO08xRptGravity::BNO08xRptGravity</a></div><div class="ttdeci">BNO08xRptGravity(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</div><div class="ttdef"><b>Definition:</b> BNO08xRptGravity.hpp:18</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_gravity_html_a5bb33cf233c6721fac992e447bd5b571"><div class="ttname"><a href="class_b_n_o08x_rpt_gravity.html#a5bb33cf233c6721fac992e447bd5b571">BNO08xRptGravity::enable</a></div><div class="ttdeci">bool enable(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg) override</div><div class="ttdoc">Enables gravity reports such that the BNO08x begins sending them.</div><div class="ttdef"><b>Definition:</b> BNO08xRptGravity.cpp:35</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html"><div class="ttname"><a href="class_b_n_o08x_rpt.html">BNO08xRpt</a></div><div class="ttdoc">Class to represent and manage reports returned from BNO08x.</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:26</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_a5a1404a08918d66bb0f41f55220db6e5"><div class="ttname"><a href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">BNO08xRpt::sync_ctx</a></div><div class="ttdeci">BNO08xPrivateTypes::bno08x_sync_ctx_t * sync_ctx</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:42</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_a63cd4ac9e96baa43eebe580f03307512"><div class="ttname"><a href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">BNO08xRpt::ID</a></div><div class="ttdeci">uint8_t ID</div><div class="ttdoc">Report ID, ex. SH2_ACCELERATION.</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:39</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_ae78feab5682a4697c5acad3ca6f12c2e"><div class="ttname"><a href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">BNO08xRpt::rpt_bit</a></div><div class="ttdeci">EventBits_t rpt_bit</div><div class="ttdoc">Respective enable and data bit for report in evt_grp_rpt_en and evt_grp_rpt_data.</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:40</div></div>
+<div class="ttc" id="astruct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_html"><div class="ttname"><a href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a></div><div class="ttdoc">Holds context used to synchronize tasks and callback execution.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:57</div></div>
+<div class="ttc" id="astructbno08x__accel__t_html"><div class="ttname"><a href="structbno08x__accel__t.html">bno08x_accel_t</a></div><div class="ttdoc">Struct to represent acceleration data from acceleration, linear acceleration, and gravity reports.</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:856</div></div>
+</div><!-- fragment --></div><!-- contents -->
+</div><!-- doc-content -->
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+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
+   </div>
+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
+  </td>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><dl class="section author"><dt>Author</dt><dd>Myles Parfeniuk </dd></dl>
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+<title>esp32_BNO08x: /media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/report/BNO08xRptIGyroRV.hpp Source File</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</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 1.9.4 -->
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+<div class="header">
+  <div class="headertitle"><div class="title">BNO08xRptIGyroRV.hpp</div></div>
+</div><!--header-->
+<div class="contents">
+<a href="_b_n_o08x_rpt_i_gyro_r_v_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> </div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span> </div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &quot;<a class="code" href="_b_n_o08x_rpt_r_v_generic_8hpp.html">BNO08xRptRVGeneric.hpp</a>&quot;</span></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span> </div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"><a class="line" href="class_b_n_o08x_rpt_i_gyro_r_v.html">   15</a></span><span class="keyword">class </span><a class="code hl_class" href="class_b_n_o08x_rpt_i_gyro_r_v.html">BNO08xRptIGyroRV</a> : <span class="keyword">public</span> <a class="code hl_class" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span>{</div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span>    <span class="keyword">public</span>:</div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"><a class="line" href="class_b_n_o08x_rpt_i_gyro_r_v.html#a5574d6213be1d7176d981e04fb9b4ea4">   18</a></span>        <a class="code hl_function" href="class_b_n_o08x_rpt_i_gyro_r_v.html#a5574d6213be1d7176d981e04fb9b4ea4">BNO08xRptIGyroRV</a>(uint8_t <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, EventBits_t <a class="code hl_variable" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="code hl_struct" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a>* <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>            : <a class="code hl_class" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a>(<a class="code hl_variable" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, <a class="code hl_variable" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span>        {</div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>        }</div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span> </div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x_rpt_i_gyro_r_v.html#ae85b4b091ec350432a2aeabcd3b46f55">get</a>(<a class="code hl_struct" href="structbno08x__quat__t.html">bno08x_quat_t</a>&amp; quat, <a class="code hl_struct" href="structbno08x__ang__vel__t.html">bno08x_ang_vel_t</a>&amp; vel);</div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>        <a class="code hl_struct" href="structbno08x__ang__vel__t.html">bno08x_ang_vel_t</a> <a class="code hl_function" href="class_b_n_o08x_rpt_i_gyro_r_v.html#a8e9877551635f8be5e380d47195b4061">get_vel</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">   26</span>    <span class="keyword">private</span>:</div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>        <span class="keywordtype">void</span> update_data(sh2_SensorValue_t* sensor_val) <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>        <a class="code hl_struct" href="structbno08x__ang__vel__t.html">bno08x_ang_vel_t</a> data_vel;</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> <span class="keywordtype">char</span>* TAG = <span class="stringliteral">&quot;BNO08xRptIGyroRV&quot;</span>;</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>};</div>
+<div class="ttc" id="a_b_n_o08x_rpt_r_v_generic_8hpp_html"><div class="ttname"><a href="_b_n_o08x_rpt_r_v_generic_8hpp.html">BNO08xRptRVGeneric.hpp</a></div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_a5a1404a08918d66bb0f41f55220db6e5"><div class="ttname"><a href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">BNO08xRpt::sync_ctx</a></div><div class="ttdeci">BNO08xPrivateTypes::bno08x_sync_ctx_t * sync_ctx</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:42</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_a63cd4ac9e96baa43eebe580f03307512"><div class="ttname"><a href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">BNO08xRpt::ID</a></div><div class="ttdeci">uint8_t ID</div><div class="ttdoc">Report ID, ex. SH2_ACCELERATION.</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:39</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_ae78feab5682a4697c5acad3ca6f12c2e"><div class="ttname"><a href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">BNO08xRpt::rpt_bit</a></div><div class="ttdeci">EventBits_t rpt_bit</div><div class="ttdoc">Respective enable and data bit for report in evt_grp_rpt_en and evt_grp_rpt_data.</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:40</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_i_gyro_r_v_html"><div class="ttname"><a href="class_b_n_o08x_rpt_i_gyro_r_v.html">BNO08xRptIGyroRV</a></div><div class="ttdoc">Class to represent integrated gyro rotation vector reports. (See Ref. Manual 6.5.44)</div><div class="ttdef"><b>Definition:</b> BNO08xRptIGyroRV.hpp:16</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_i_gyro_r_v_html_a5574d6213be1d7176d981e04fb9b4ea4"><div class="ttname"><a href="class_b_n_o08x_rpt_i_gyro_r_v.html#a5574d6213be1d7176d981e04fb9b4ea4">BNO08xRptIGyroRV::BNO08xRptIGyroRV</a></div><div class="ttdeci">BNO08xRptIGyroRV(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</div><div class="ttdef"><b>Definition:</b> BNO08xRptIGyroRV.hpp:18</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_i_gyro_r_v_html_a8e9877551635f8be5e380d47195b4061"><div class="ttname"><a href="class_b_n_o08x_rpt_i_gyro_r_v.html#a8e9877551635f8be5e380d47195b4061">BNO08xRptIGyroRV::get_vel</a></div><div class="ttdeci">bno08x_ang_vel_t get_vel()</div><div class="ttdoc">Grabs most recent gyro integrated rotation vector angular velocity data, units are in rad/s.</div><div class="ttdef"><b>Definition:</b> BNO08xRptIGyroRV.cpp:49</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_i_gyro_r_v_html_ae85b4b091ec350432a2aeabcd3b46f55"><div class="ttname"><a href="class_b_n_o08x_rpt_i_gyro_r_v.html#ae85b4b091ec350432a2aeabcd3b46f55">BNO08xRptIGyroRV::get</a></div><div class="ttdeci">void get(bno08x_quat_t &amp;quat, bno08x_ang_vel_t &amp;vel)</div><div class="ttdoc">Grabs most recent gyro integrated rotation vector data.</div><div class="ttdef"><b>Definition:</b> BNO08xRptIGyroRV.cpp:35</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_r_v_generic_html"><div class="ttname"><a href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></div><div class="ttdoc">Class to represent rotation vector reports.</div><div class="ttdef"><b>Definition:</b> BNO08xRptRVGeneric.hpp:16</div></div>
+<div class="ttc" id="astruct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_html"><div class="ttname"><a href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a></div><div class="ttdoc">Holds context used to synchronize tasks and callback execution.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:57</div></div>
+<div class="ttc" id="astructbno08x__ang__vel__t_html"><div class="ttname"><a href="structbno08x__ang__vel__t.html">bno08x_ang_vel_t</a></div><div class="ttdoc">Struct to represent angular velocity (units in rad/s)</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:572</div></div>
+<div class="ttc" id="astructbno08x__quat__t_html"><div class="ttname"><a href="structbno08x__quat__t.html">bno08x_quat_t</a></div><div class="ttdoc">Struct to represent unit quaternion.</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:473</div></div>
+</div><!-- fragment --></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
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diff --git a/documentation/html/_b_n_o08x_rpt_linear_acceleration_8cpp.html b/documentation/html/_b_n_o08x_rpt_linear_acceleration_8cpp.html
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+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
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+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
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+  <div class="headertitle"><div class="title">BNO08xRptLinearAcceleration.cpp File Reference</div></div>
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+<title>esp32_BNO08x: /media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/report/BNO08xRptLinearAcceleration.hpp Source File</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
+   </div>
+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
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+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.4 -->
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+  <div class="headertitle"><div class="title">BNO08xRptLinearAcceleration.hpp</div></div>
+</div><!--header-->
+<div class="contents">
+<a href="_b_n_o08x_rpt_linear_acceleration_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> </div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span> </div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &quot;<a class="code" href="_b_n_o08x_rpt_8hpp.html">BNO08xRpt.hpp</a>&quot;</span></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span> </div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"><a class="line" href="class_b_n_o08x_rpt_linear_acceleration.html">   15</a></span><span class="keyword">class </span><a class="code hl_class" href="class_b_n_o08x_rpt_linear_acceleration.html">BNO08xRptLinearAcceleration</a> : <span class="keyword">public</span> <a class="code hl_class" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span>{</div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span>    <span class="keyword">public</span>:</div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"><a class="line" href="class_b_n_o08x_rpt_linear_acceleration.html#ad63032b796912c9be563a5e6da801c59">   18</a></span>        <a class="code hl_function" href="class_b_n_o08x_rpt_linear_acceleration.html#ad63032b796912c9be563a5e6da801c59">BNO08xRptLinearAcceleration</a>(uint8_t <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, EventBits_t <a class="code hl_variable" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="code hl_struct" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a>* <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>            : <a class="code hl_class" href="class_b_n_o08x_rpt.html">BNO08xRpt</a>(<a class="code hl_variable" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, <a class="code hl_variable" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span>        {</div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>        }</div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span> </div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>        <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x_rpt_linear_acceleration.html#a4584a181ae543919a851f8f288a316ed">enable</a>(</div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>                uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = BNO08xPrivateTypes::default_sensor_cfg) <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>        <a class="code hl_struct" href="structbno08x__accel__t.html">bno08x_accel_t</a> <a class="code hl_function" href="class_b_n_o08x_rpt_linear_acceleration.html#aac2eeab16ffbe7a81ea26a21c4e453d0">get</a>();</div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span> </div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>    <span class="keyword">private</span>:</div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>        <span class="keywordtype">void</span> update_data(sh2_SensorValue_t* sensor_val) <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>        <a class="code hl_struct" href="structbno08x__accel__t.html">bno08x_accel_t</a> data;</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> <span class="keywordtype">char</span>* TAG = <span class="stringliteral">&quot;BNO08xRptLinearAcceleration&quot;</span>;</div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>};</div>
+<div class="ttc" id="a_b_n_o08x_rpt_8hpp_html"><div class="ttname"><a href="_b_n_o08x_rpt_8hpp.html">BNO08xRpt.hpp</a></div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html"><div class="ttname"><a href="class_b_n_o08x_rpt.html">BNO08xRpt</a></div><div class="ttdoc">Class to represent and manage reports returned from BNO08x.</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:26</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_a5a1404a08918d66bb0f41f55220db6e5"><div class="ttname"><a href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">BNO08xRpt::sync_ctx</a></div><div class="ttdeci">BNO08xPrivateTypes::bno08x_sync_ctx_t * sync_ctx</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:42</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_a63cd4ac9e96baa43eebe580f03307512"><div class="ttname"><a href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">BNO08xRpt::ID</a></div><div class="ttdeci">uint8_t ID</div><div class="ttdoc">Report ID, ex. SH2_ACCELERATION.</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:39</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_ae78feab5682a4697c5acad3ca6f12c2e"><div class="ttname"><a href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">BNO08xRpt::rpt_bit</a></div><div class="ttdeci">EventBits_t rpt_bit</div><div class="ttdoc">Respective enable and data bit for report in evt_grp_rpt_en and evt_grp_rpt_data.</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:40</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_linear_acceleration_html"><div class="ttname"><a href="class_b_n_o08x_rpt_linear_acceleration.html">BNO08xRptLinearAcceleration</a></div><div class="ttdoc">Class to represent linear accelerometer reports. (See Ref. Manual 6.5.10)</div><div class="ttdef"><b>Definition:</b> BNO08xRptLinearAcceleration.hpp:16</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_linear_acceleration_html_a4584a181ae543919a851f8f288a316ed"><div class="ttname"><a href="class_b_n_o08x_rpt_linear_acceleration.html#a4584a181ae543919a851f8f288a316ed">BNO08xRptLinearAcceleration::enable</a></div><div class="ttdeci">bool enable(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg) override</div><div class="ttdoc">Enables linear acceleration reports such that the BNO08x begins sending them.</div><div class="ttdef"><b>Definition:</b> BNO08xRptLinearAcceleration.cpp:35</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_linear_acceleration_html_aac2eeab16ffbe7a81ea26a21c4e453d0"><div class="ttname"><a href="class_b_n_o08x_rpt_linear_acceleration.html#aac2eeab16ffbe7a81ea26a21c4e453d0">BNO08xRptLinearAcceleration::get</a></div><div class="ttdeci">bno08x_accel_t get()</div><div class="ttdoc">Grabs most recent acceleration data (including gravity), units are in m/s^2.</div><div class="ttdef"><b>Definition:</b> BNO08xRptLinearAcceleration.cpp:45</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_linear_acceleration_html_ad63032b796912c9be563a5e6da801c59"><div class="ttname"><a href="class_b_n_o08x_rpt_linear_acceleration.html#ad63032b796912c9be563a5e6da801c59">BNO08xRptLinearAcceleration::BNO08xRptLinearAcceleration</a></div><div class="ttdeci">BNO08xRptLinearAcceleration(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</div><div class="ttdef"><b>Definition:</b> BNO08xRptLinearAcceleration.hpp:18</div></div>
+<div class="ttc" id="astruct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_html"><div class="ttname"><a href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a></div><div class="ttdoc">Holds context used to synchronize tasks and callback execution.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:57</div></div>
+<div class="ttc" id="astructbno08x__accel__t_html"><div class="ttname"><a href="structbno08x__accel__t.html">bno08x_accel_t</a></div><div class="ttdoc">Struct to represent acceleration data from acceleration, linear acceleration, and gravity reports.</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:856</div></div>
+</div><!-- fragment --></div><!-- contents -->
+</div><!-- doc-content -->
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+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
+   </div>
+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
+  </td>
+ </tr>
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+  <div class="headertitle"><div class="title">BNO08xRptRV.hpp File Reference</div></div>
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+<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_rpt_r_v.html">BNO08xRptRV</a></td></tr>
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+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><dl class="section author"><dt>Author</dt><dd>Myles Parfeniuk </dd></dl>
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diff --git a/documentation/html/_b_n_o08x_rpt_r_v_8hpp_source.html b/documentation/html/_b_n_o08x_rpt_r_v_8hpp_source.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">
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+<meta name="generator" content="Doxygen 1.9.4"/>
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+<title>esp32_BNO08x: /media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/report/BNO08xRptRV.hpp Source File</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+<script type="text/javascript" src="dynsections.js"></script>
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+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
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+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
+   </div>
+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
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+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.4 -->
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+<div class="header">
+  <div class="headertitle"><div class="title">BNO08xRptRV.hpp</div></div>
+</div><!--header-->
+<div class="contents">
+<a href="_b_n_o08x_rpt_r_v_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> </div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span> </div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &quot;<a class="code" href="_b_n_o08x_rpt_r_v_generic_8hpp.html">BNO08xRptRVGeneric.hpp</a>&quot;</span></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span> </div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"><a class="line" href="class_b_n_o08x_rpt_r_v.html">   15</a></span><span class="keyword">class </span><a class="code hl_class" href="class_b_n_o08x_rpt_r_v.html">BNO08xRptRV</a> : <span class="keyword">public</span> <a class="code hl_class" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span>{</div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span>    <span class="keyword">public</span>:</div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"><a class="line" href="class_b_n_o08x_rpt_r_v.html#a3c4173b40339de15cb7f304f73ae53f3">   18</a></span>        <a class="code hl_function" href="class_b_n_o08x_rpt_r_v.html#a3c4173b40339de15cb7f304f73ae53f3">BNO08xRptRV</a>(uint8_t <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, EventBits_t <a class="code hl_variable" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="code hl_struct" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a>* <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>            : <a class="code hl_class" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a>(<a class="code hl_variable" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, <a class="code hl_variable" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span>        {</div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>        }</div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span> </div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>        <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x_rpt_r_v.html#aab42904ebfc698d0af0944deaafcd226">tare</a>(<span class="keywordtype">bool</span> x = <span class="keyword">true</span>, <span class="keywordtype">bool</span> y = <span class="keyword">true</span>, <span class="keywordtype">bool</span> z = <span class="keyword">true</span>);</div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>        <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x_rpt_r_v.html#aa152921434b50a95977b0a4f925abec0">tare_persist</a>();</div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x_rpt_r_v.html#a920fb5940c13870657c48538569aff87">tare_clear</a>();</div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span> </div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>    <span class="keyword">private</span>:</div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>        <span class="keywordtype">void</span> update_data(sh2_SensorValue_t* sensor_val) <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> <span class="keywordtype">char</span>* TAG = <span class="stringliteral">&quot;BNO08xRptRV&quot;</span>;</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>};</div>
+<div class="ttc" id="a_b_n_o08x_rpt_r_v_generic_8hpp_html"><div class="ttname"><a href="_b_n_o08x_rpt_r_v_generic_8hpp.html">BNO08xRptRVGeneric.hpp</a></div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_a5a1404a08918d66bb0f41f55220db6e5"><div class="ttname"><a href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">BNO08xRpt::sync_ctx</a></div><div class="ttdeci">BNO08xPrivateTypes::bno08x_sync_ctx_t * sync_ctx</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:42</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_a63cd4ac9e96baa43eebe580f03307512"><div class="ttname"><a href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">BNO08xRpt::ID</a></div><div class="ttdeci">uint8_t ID</div><div class="ttdoc">Report ID, ex. SH2_ACCELERATION.</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:39</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_ae78feab5682a4697c5acad3ca6f12c2e"><div class="ttname"><a href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">BNO08xRpt::rpt_bit</a></div><div class="ttdeci">EventBits_t rpt_bit</div><div class="ttdoc">Respective enable and data bit for report in evt_grp_rpt_en and evt_grp_rpt_data.</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:40</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_r_v_generic_html"><div class="ttname"><a href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></div><div class="ttdoc">Class to represent rotation vector reports.</div><div class="ttdef"><b>Definition:</b> BNO08xRptRVGeneric.hpp:16</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_r_v_html"><div class="ttname"><a href="class_b_n_o08x_rpt_r_v.html">BNO08xRptRV</a></div><div class="ttdoc">Class to represent rotation vector reports. (See Ref. Manual 6.5.18)</div><div class="ttdef"><b>Definition:</b> BNO08xRptRV.hpp:16</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_r_v_html_a3c4173b40339de15cb7f304f73ae53f3"><div class="ttname"><a href="class_b_n_o08x_rpt_r_v.html#a3c4173b40339de15cb7f304f73ae53f3">BNO08xRptRV::BNO08xRptRV</a></div><div class="ttdeci">BNO08xRptRV(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</div><div class="ttdef"><b>Definition:</b> BNO08xRptRV.hpp:18</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_r_v_html_a920fb5940c13870657c48538569aff87"><div class="ttname"><a href="class_b_n_o08x_rpt_r_v.html#a920fb5940c13870657c48538569aff87">BNO08xRptRV::tare_clear</a></div><div class="ttdeci">void tare_clear()</div><div class="ttdoc">Clears most recent tare operation.</div><div class="ttdef"><b>Definition:</b> BNO08xRptRV.cpp:65</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_r_v_html_aa152921434b50a95977b0a4f925abec0"><div class="ttname"><a href="class_b_n_o08x_rpt_r_v.html#aa152921434b50a95977b0a4f925abec0">BNO08xRptRV::tare_persist</a></div><div class="ttdeci">bool tare_persist()</div><div class="ttdoc">Saves most recent tare operation to BNO08x internal flash, such that it persists on reset.</div><div class="ttdef"><b>Definition:</b> BNO08xRptRV.cpp:46</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_r_v_html_aab42904ebfc698d0af0944deaafcd226"><div class="ttname"><a href="class_b_n_o08x_rpt_r_v.html#aab42904ebfc698d0af0944deaafcd226">BNO08xRptRV::tare</a></div><div class="ttdeci">bool tare(bool x=true, bool y=true, bool z=true)</div><div class="ttdoc">Tares rotation vector axis.</div><div class="ttdef"><b>Definition:</b> BNO08xRptRV.cpp:35</div></div>
+<div class="ttc" id="astruct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_html"><div class="ttname"><a href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a></div><div class="ttdoc">Holds context used to synchronize tasks and callback execution.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:57</div></div>
+</div><!-- fragment --></div><!-- contents -->
+</div><!-- doc-content -->
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+<title>esp32_BNO08x: /media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/report/BNO08xRptRVGeneric.hpp Source File</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
+   </div>
+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
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+  <div class="headertitle"><div class="title">BNO08xRptRVGeneric.hpp</div></div>
+</div><!--header-->
+<div class="contents">
+<a href="_b_n_o08x_rpt_r_v_generic_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> </div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span> </div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &quot;<a class="code" href="_b_n_o08x_rpt_8hpp.html">BNO08xRpt.hpp</a>&quot;</span></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span> </div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"><a class="line" href="class_b_n_o08x_rpt_r_v_generic.html">   15</a></span><span class="keyword">class </span><a class="code hl_class" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a> : <span class="keyword">public</span> <a class="code hl_class" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span>{</div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span>    <span class="keyword">public</span>:</div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span>        <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x_rpt_r_v_generic.html#a17c6cf89a5f7bf5c3fb9f8ff3ed74e8e">enable</a>(</div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>                uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = BNO08xPrivateTypes::default_sensor_cfg) <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span>        <a class="code hl_struct" href="structbno08x__quat__t.html">bno08x_quat_t</a> <a class="code hl_function" href="class_b_n_o08x_rpt_r_v_generic.html#afc2accdd72076cd758f9f9108351d7a8">get_quat</a>();</div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>        <a class="code hl_struct" href="structbno08x__euler__angle__t.html">bno08x_euler_angle_t</a> <a class="code hl_function" href="class_b_n_o08x_rpt_r_v_generic.html#abbaaa6737d578e056f93687d4ad780f7">get_euler</a>(<span class="keywordtype">bool</span> in_degrees = <span class="keyword">true</span>);</div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span> </div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>    <span class="keyword">protected</span>:</div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"><a class="line" href="class_b_n_o08x_rpt_r_v_generic.html#a7c35188ccfb976cba1b7e4626022987c">   24</a></span>        <a class="code hl_function" href="class_b_n_o08x_rpt_r_v_generic.html#a7c35188ccfb976cba1b7e4626022987c">BNO08xRptRVGeneric</a>(uint8_t <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, EventBits_t <a class="code hl_variable" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="code hl_struct" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a>* <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>            : <a class="code hl_class" href="class_b_n_o08x_rpt.html">BNO08xRpt</a>(<a class="code hl_variable" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, <a class="code hl_variable" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>        {</div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>        }</div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>        <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x_rpt_r_v_generic.html#ab059dded7c0a7c922e9c624baac34ecd">tare</a>(<span class="keywordtype">bool</span> x, <span class="keywordtype">bool</span> y, <span class="keywordtype">bool</span> z, sh2_TareBasis_t basis);</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"><a class="line" href="class_b_n_o08x_rpt_r_v_generic.html#ad5174665e1c943291110630dc461caff">   29</a></span>        <a class="code hl_struct" href="structbno08x__quat__t.html">bno08x_quat_t</a> <a class="code hl_variable" href="class_b_n_o08x_rpt_r_v_generic.html#ad5174665e1c943291110630dc461caff">data</a>;</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"><a class="line" href="class_b_n_o08x_rpt_r_v_generic.html#a5315a83517cd15397842254a9926b1c4">   30</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_rpt_r_v_generic.html#a5315a83517cd15397842254a9926b1c4">TAG</a> = <span class="stringliteral">&quot;BNO08xRptRVGeneric&quot;</span>;</div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>};</div>
+<div class="ttc" id="a_b_n_o08x_rpt_8hpp_html"><div class="ttname"><a href="_b_n_o08x_rpt_8hpp.html">BNO08xRpt.hpp</a></div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html"><div class="ttname"><a href="class_b_n_o08x_rpt.html">BNO08xRpt</a></div><div class="ttdoc">Class to represent and manage reports returned from BNO08x.</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:26</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_a5a1404a08918d66bb0f41f55220db6e5"><div class="ttname"><a href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">BNO08xRpt::sync_ctx</a></div><div class="ttdeci">BNO08xPrivateTypes::bno08x_sync_ctx_t * sync_ctx</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:42</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_a63cd4ac9e96baa43eebe580f03307512"><div class="ttname"><a href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">BNO08xRpt::ID</a></div><div class="ttdeci">uint8_t ID</div><div class="ttdoc">Report ID, ex. SH2_ACCELERATION.</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:39</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_ae78feab5682a4697c5acad3ca6f12c2e"><div class="ttname"><a href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">BNO08xRpt::rpt_bit</a></div><div class="ttdeci">EventBits_t rpt_bit</div><div class="ttdoc">Respective enable and data bit for report in evt_grp_rpt_en and evt_grp_rpt_data.</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:40</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_r_v_generic_html"><div class="ttname"><a href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></div><div class="ttdoc">Class to represent rotation vector reports.</div><div class="ttdef"><b>Definition:</b> BNO08xRptRVGeneric.hpp:16</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_r_v_generic_html_a17c6cf89a5f7bf5c3fb9f8ff3ed74e8e"><div class="ttname"><a href="class_b_n_o08x_rpt_r_v_generic.html#a17c6cf89a5f7bf5c3fb9f8ff3ed74e8e">BNO08xRptRVGeneric::enable</a></div><div class="ttdeci">bool enable(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg) override</div><div class="ttdoc">Enables a rotation vector report such that the BNO08x begins it.</div><div class="ttdef"><b>Definition:</b> BNO08xRptRVGeneric.cpp:17</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_r_v_generic_html_a5315a83517cd15397842254a9926b1c4"><div class="ttname"><a href="class_b_n_o08x_rpt_r_v_generic.html#a5315a83517cd15397842254a9926b1c4">BNO08xRptRVGeneric::TAG</a></div><div class="ttdeci">static const constexpr char * TAG</div><div class="ttdef"><b>Definition:</b> BNO08xRptRVGeneric.hpp:30</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_r_v_generic_html_a7c35188ccfb976cba1b7e4626022987c"><div class="ttname"><a href="class_b_n_o08x_rpt_r_v_generic.html#a7c35188ccfb976cba1b7e4626022987c">BNO08xRptRVGeneric::BNO08xRptRVGeneric</a></div><div class="ttdeci">BNO08xRptRVGeneric(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</div><div class="ttdef"><b>Definition:</b> BNO08xRptRVGeneric.hpp:24</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_r_v_generic_html_ab059dded7c0a7c922e9c624baac34ecd"><div class="ttname"><a href="class_b_n_o08x_rpt_r_v_generic.html#ab059dded7c0a7c922e9c624baac34ecd">BNO08xRptRVGeneric::tare</a></div><div class="ttdeci">bool tare(bool x, bool y, bool z, sh2_TareBasis_t basis)</div><div class="ttdoc">Tares vector basis according to axis flags.</div><div class="ttdef"><b>Definition:</b> BNO08xRptRVGeneric.cpp:74</div></div>
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+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
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+<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_rpt_r_v_geomag.html">BNO08xRptRVGeomag</a></td></tr>
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+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><dl class="section author"><dt>Author</dt><dd>Myles Parfeniuk </dd></dl>
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+<title>esp32_BNO08x: /media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/report/BNO08xRptRVGeomag.hpp Source File</title>
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+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
+   </div>
+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
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+  <div class="headertitle"><div class="title">BNO08xRptRVGeomag.hpp</div></div>
+</div><!--header-->
+<div class="contents">
+<a href="_b_n_o08x_rpt_r_v_geomag_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> </div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span> </div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &quot;<a class="code" href="_b_n_o08x_rpt_r_v_generic_8hpp.html">BNO08xRptRVGeneric.hpp</a>&quot;</span></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span> </div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"><a class="line" href="class_b_n_o08x_rpt_r_v_geomag.html">   15</a></span><span class="keyword">class </span><a class="code hl_class" href="class_b_n_o08x_rpt_r_v_geomag.html">BNO08xRptRVGeomag</a> : <span class="keyword">public</span> <a class="code hl_class" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span>{</div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span>    <span class="keyword">public</span>:</div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"><a class="line" href="class_b_n_o08x_rpt_r_v_geomag.html#a32bd70c7777973497b6d1b7f960bea0b">   18</a></span>        <a class="code hl_function" href="class_b_n_o08x_rpt_r_v_geomag.html#a32bd70c7777973497b6d1b7f960bea0b">BNO08xRptRVGeomag</a>(uint8_t <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, EventBits_t <a class="code hl_variable" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="code hl_struct" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a>* <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>            : <a class="code hl_class" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a>(<a class="code hl_variable" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, <a class="code hl_variable" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span>        {</div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>        }</div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span> </div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>        <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x_rpt_r_v_geomag.html#a622f024808e368b09c41ca1b5118a874">tare</a>(<span class="keywordtype">bool</span> x = <span class="keyword">true</span>, <span class="keywordtype">bool</span> y = <span class="keyword">true</span>, <span class="keywordtype">bool</span> z = <span class="keyword">true</span>);</div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>        <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x_rpt_r_v_geomag.html#a57305f5f72067a56b037cf766fa2ee63">tare_persist</a>();</div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x_rpt_r_v_geomag.html#a2c62a41402f167a49025914a9800d062">tare_clear</a>();</div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span> </div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>    <span class="keyword">private</span>:</div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>        <span class="keywordtype">void</span> update_data(sh2_SensorValue_t* sensor_val) <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> <span class="keywordtype">char</span>* TAG = <span class="stringliteral">&quot;BNO08xRptRVGeomag&quot;</span>;</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>};</div>
+<div class="ttc" id="a_b_n_o08x_rpt_r_v_generic_8hpp_html"><div class="ttname"><a href="_b_n_o08x_rpt_r_v_generic_8hpp.html">BNO08xRptRVGeneric.hpp</a></div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_a5a1404a08918d66bb0f41f55220db6e5"><div class="ttname"><a href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">BNO08xRpt::sync_ctx</a></div><div class="ttdeci">BNO08xPrivateTypes::bno08x_sync_ctx_t * sync_ctx</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:42</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_a63cd4ac9e96baa43eebe580f03307512"><div class="ttname"><a href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">BNO08xRpt::ID</a></div><div class="ttdeci">uint8_t ID</div><div class="ttdoc">Report ID, ex. SH2_ACCELERATION.</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:39</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_ae78feab5682a4697c5acad3ca6f12c2e"><div class="ttname"><a href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">BNO08xRpt::rpt_bit</a></div><div class="ttdeci">EventBits_t rpt_bit</div><div class="ttdoc">Respective enable and data bit for report in evt_grp_rpt_en and evt_grp_rpt_data.</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:40</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_r_v_generic_html"><div class="ttname"><a href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></div><div class="ttdoc">Class to represent rotation vector reports.</div><div class="ttdef"><b>Definition:</b> BNO08xRptRVGeneric.hpp:16</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_r_v_geomag_html"><div class="ttname"><a href="class_b_n_o08x_rpt_r_v_geomag.html">BNO08xRptRVGeomag</a></div><div class="ttdoc">Class to represent geomagnetic rotation vector reports. (See Ref. Manual 6.5.20)</div><div class="ttdef"><b>Definition:</b> BNO08xRptRVGeomag.hpp:16</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_r_v_geomag_html_a2c62a41402f167a49025914a9800d062"><div class="ttname"><a href="class_b_n_o08x_rpt_r_v_geomag.html#a2c62a41402f167a49025914a9800d062">BNO08xRptRVGeomag::tare_clear</a></div><div class="ttdeci">void tare_clear()</div><div class="ttdoc">Clears most recent tare operation.</div><div class="ttdef"><b>Definition:</b> BNO08xRptRVGeomag.cpp:64</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_r_v_geomag_html_a32bd70c7777973497b6d1b7f960bea0b"><div class="ttname"><a href="class_b_n_o08x_rpt_r_v_geomag.html#a32bd70c7777973497b6d1b7f960bea0b">BNO08xRptRVGeomag::BNO08xRptRVGeomag</a></div><div class="ttdeci">BNO08xRptRVGeomag(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</div><div class="ttdef"><b>Definition:</b> BNO08xRptRVGeomag.hpp:18</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_r_v_geomag_html_a57305f5f72067a56b037cf766fa2ee63"><div class="ttname"><a href="class_b_n_o08x_rpt_r_v_geomag.html#a57305f5f72067a56b037cf766fa2ee63">BNO08xRptRVGeomag::tare_persist</a></div><div class="ttdeci">bool tare_persist()</div><div class="ttdoc">Saves most recent tare operation to BNO08x internal flash, such that it persists on reset.</div><div class="ttdef"><b>Definition:</b> BNO08xRptRVGeomag.cpp:45</div></div>
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+<title>esp32_BNO08x: /media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/report/BNO08xRptRawMEMSAccelerometer.hpp Source File</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
+   </div>
+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
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+  <div class="headertitle"><div class="title">BNO08xRptRawMEMSAccelerometer.hpp</div></div>
+</div><!--header-->
+<div class="contents">
+<a href="_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_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> </div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span> </div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &quot;<a class="code" href="_b_n_o08x_rpt_8hpp.html">BNO08xRpt.hpp</a>&quot;</span></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span> </div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"><a class="line" href="class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer.html">   15</a></span><span class="keyword">class </span><a class="code hl_class" href="class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer.html">BNO08xRptRawMEMSAccelerometer</a> : <span class="keyword">public</span> <a class="code hl_class" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span>{</div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span>    <span class="keyword">public</span>:</div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"><a class="line" href="class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer.html#a1a7c70a4c2d2004fe827dfa834d789e7">   18</a></span>        <a class="code hl_function" href="class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer.html#a1a7c70a4c2d2004fe827dfa834d789e7">BNO08xRptRawMEMSAccelerometer</a>(uint8_t <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, EventBits_t <a class="code hl_variable" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="code hl_struct" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a>* <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>            : <a class="code hl_class" href="class_b_n_o08x_rpt.html">BNO08xRpt</a>(<a class="code hl_variable" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, <a class="code hl_variable" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span>        {</div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>        }</div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span> </div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>        <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer.html#a3cfc735c048700fe79a5674ad92b4b03">enable</a>(</div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>                uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = BNO08xPrivateTypes::default_sensor_cfg) <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>        <a class="code hl_struct" href="structbno08x__raw__accel__t.html">bno08x_raw_accel_t</a> <a class="code hl_function" href="class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer.html#ae72428b3455327ecec5ee1c6ad065d56">get</a>();</div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span> </div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>    <span class="keyword">private</span>:</div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>        <span class="keywordtype">void</span> update_data(sh2_SensorValue_t* sensor_val) <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>        <a class="code hl_struct" href="structbno08x__raw__accel__t.html">bno08x_raw_accel_t</a> data;</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> <span class="keywordtype">char</span>* TAG = <span class="stringliteral">&quot;BNO08xRptRawMEMSAccelerometer&quot;</span>;</div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>};</div>
+<div class="ttc" id="a_b_n_o08x_rpt_8hpp_html"><div class="ttname"><a href="_b_n_o08x_rpt_8hpp.html">BNO08xRpt.hpp</a></div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html"><div class="ttname"><a href="class_b_n_o08x_rpt.html">BNO08xRpt</a></div><div class="ttdoc">Class to represent and manage reports returned from BNO08x.</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:26</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_a5a1404a08918d66bb0f41f55220db6e5"><div class="ttname"><a href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">BNO08xRpt::sync_ctx</a></div><div class="ttdeci">BNO08xPrivateTypes::bno08x_sync_ctx_t * sync_ctx</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:42</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_a63cd4ac9e96baa43eebe580f03307512"><div class="ttname"><a href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">BNO08xRpt::ID</a></div><div class="ttdeci">uint8_t ID</div><div class="ttdoc">Report ID, ex. SH2_ACCELERATION.</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:39</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_ae78feab5682a4697c5acad3ca6f12c2e"><div class="ttname"><a href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">BNO08xRpt::rpt_bit</a></div><div class="ttdeci">EventBits_t rpt_bit</div><div class="ttdoc">Respective enable and data bit for report in evt_grp_rpt_en and evt_grp_rpt_data.</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:40</div></div>
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diff --git a/documentation/html/_b_n_o08x_rpt_raw_m_e_m_s_gyro_8hpp_source.html b/documentation/html/_b_n_o08x_rpt_raw_m_e_m_s_gyro_8hpp_source.html
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+++ b/documentation/html/_b_n_o08x_rpt_raw_m_e_m_s_gyro_8hpp_source.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">
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+<title>esp32_BNO08x: /media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/report/BNO08xRptRawMEMSGyro.hpp Source File</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
+   </div>
+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
+  </td>
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+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.4 -->
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+  <div class="headertitle"><div class="title">BNO08xRptRawMEMSGyro.hpp</div></div>
+</div><!--header-->
+<div class="contents">
+<a href="_b_n_o08x_rpt_raw_m_e_m_s_gyro_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> </div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span> </div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &quot;<a class="code" href="_b_n_o08x_rpt_8hpp.html">BNO08xRpt.hpp</a>&quot;</span></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span> </div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"><a class="line" href="class_b_n_o08x_rpt_raw_m_e_m_s_gyro.html">   15</a></span><span class="keyword">class </span><a class="code hl_class" href="class_b_n_o08x_rpt_raw_m_e_m_s_gyro.html">BNO08xRptRawMEMSGyro</a> : <span class="keyword">public</span> <a class="code hl_class" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span>{</div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span>    <span class="keyword">public</span>:</div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"><a class="line" href="class_b_n_o08x_rpt_raw_m_e_m_s_gyro.html#a9ad8a6a41c6680302f5ddb8154360ba2">   18</a></span>        <a class="code hl_function" href="class_b_n_o08x_rpt_raw_m_e_m_s_gyro.html#a9ad8a6a41c6680302f5ddb8154360ba2">BNO08xRptRawMEMSGyro</a>(uint8_t <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, EventBits_t <a class="code hl_variable" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="code hl_struct" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a>* <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>            : <a class="code hl_class" href="class_b_n_o08x_rpt.html">BNO08xRpt</a>(<a class="code hl_variable" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, <a class="code hl_variable" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span>        {</div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>        }</div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span> </div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>        <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x_rpt_raw_m_e_m_s_gyro.html#ae872f24befd81352f812bc998acb573d">enable</a>(</div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>                uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = BNO08xPrivateTypes::default_sensor_cfg) <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>        <a class="code hl_struct" href="structbno08x__raw__gyro__t.html">bno08x_raw_gyro_t</a> <a class="code hl_function" href="class_b_n_o08x_rpt_raw_m_e_m_s_gyro.html#ac9a43087ac86ca6d2309adae996747d5">get</a>();</div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span> </div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>    <span class="keyword">private</span>:</div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>        <span class="keywordtype">void</span> update_data(sh2_SensorValue_t* sensor_val) <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>        <a class="code hl_struct" href="structbno08x__raw__gyro__t.html">bno08x_raw_gyro_t</a> data;</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> <span class="keywordtype">char</span>* TAG = <span class="stringliteral">&quot;BNO08xRptRawMEMSGyro&quot;</span>;</div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>};</div>
+<div class="ttc" id="a_b_n_o08x_rpt_8hpp_html"><div class="ttname"><a href="_b_n_o08x_rpt_8hpp.html">BNO08xRpt.hpp</a></div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html"><div class="ttname"><a href="class_b_n_o08x_rpt.html">BNO08xRpt</a></div><div class="ttdoc">Class to represent and manage reports returned from BNO08x.</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:26</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_a5a1404a08918d66bb0f41f55220db6e5"><div class="ttname"><a href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">BNO08xRpt::sync_ctx</a></div><div class="ttdeci">BNO08xPrivateTypes::bno08x_sync_ctx_t * sync_ctx</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:42</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_a63cd4ac9e96baa43eebe580f03307512"><div class="ttname"><a href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">BNO08xRpt::ID</a></div><div class="ttdeci">uint8_t ID</div><div class="ttdoc">Report ID, ex. SH2_ACCELERATION.</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:39</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_ae78feab5682a4697c5acad3ca6f12c2e"><div class="ttname"><a href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">BNO08xRpt::rpt_bit</a></div><div class="ttdeci">EventBits_t rpt_bit</div><div class="ttdoc">Respective enable and data bit for report in evt_grp_rpt_en and evt_grp_rpt_data.</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:40</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_raw_m_e_m_s_gyro_html"><div class="ttname"><a href="class_b_n_o08x_rpt_raw_m_e_m_s_gyro.html">BNO08xRptRawMEMSGyro</a></div><div class="ttdoc">Class to represent raw gyro reports. (See Ref. Manual 6.5.12)</div><div class="ttdef"><b>Definition:</b> BNO08xRptRawMEMSGyro.hpp:16</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_raw_m_e_m_s_gyro_html_a9ad8a6a41c6680302f5ddb8154360ba2"><div class="ttname"><a href="class_b_n_o08x_rpt_raw_m_e_m_s_gyro.html#a9ad8a6a41c6680302f5ddb8154360ba2">BNO08xRptRawMEMSGyro::BNO08xRptRawMEMSGyro</a></div><div class="ttdeci">BNO08xRptRawMEMSGyro(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</div><div class="ttdef"><b>Definition:</b> BNO08xRptRawMEMSGyro.hpp:18</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_raw_m_e_m_s_gyro_html_ac9a43087ac86ca6d2309adae996747d5"><div class="ttname"><a href="class_b_n_o08x_rpt_raw_m_e_m_s_gyro.html#ac9a43087ac86ca6d2309adae996747d5">BNO08xRptRawMEMSGyro::get</a></div><div class="ttdeci">bno08x_raw_gyro_t get()</div><div class="ttdoc">Grabs most recent raw mems gyro report (units in ADC counts, time_stamp in microseconds)</div><div class="ttdef"><b>Definition:</b> BNO08xRptRawMEMSGyro.cpp:45</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_raw_m_e_m_s_gyro_html_ae872f24befd81352f812bc998acb573d"><div class="ttname"><a href="class_b_n_o08x_rpt_raw_m_e_m_s_gyro.html#ae872f24befd81352f812bc998acb573d">BNO08xRptRawMEMSGyro::enable</a></div><div class="ttdeci">bool enable(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg) override</div><div class="ttdoc">Enables raw gyro reports such that the BNO08x begins sending them.</div><div class="ttdef"><b>Definition:</b> BNO08xRptRawMEMSGyro.cpp:35</div></div>
+<div class="ttc" id="astruct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_html"><div class="ttname"><a href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a></div><div class="ttdoc">Holds context used to synchronize tasks and callback execution.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:57</div></div>
+<div class="ttc" id="astructbno08x__raw__gyro__t_html"><div class="ttname"><a href="structbno08x__raw__gyro__t.html">bno08x_raw_gyro_t</a></div><div class="ttdoc">Struct to represent raw mems gyro data from raw gyro reports (units in ADC counts).</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:905</div></div>
+</div><!-- fragment --></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="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_7f19fe0488f3daa36ae73de472a8d793.html">report</a></li><li class="navelem"><a class="el" href="_b_n_o08x_rpt_raw_m_e_m_s_gyro_8hpp.html">BNO08xRptRawMEMSGyro.hpp</a></li>
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diff --git a/documentation/html/_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8cpp.html b/documentation/html/_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8cpp.html
new file mode 100644
index 0000000..a8f58d8
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+++ b/documentation/html/_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8cpp.html
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+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
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+++ b/documentation/html/_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8hpp_source.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">
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+<title>esp32_BNO08x: /media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/report/BNO08xRptRawMEMSMagnetometer.hpp Source File</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</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">BNO08xRptRawMEMSMagnetometer.hpp</div></div>
+</div><!--header-->
+<div class="contents">
+<a href="_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_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> </div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span> </div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &quot;<a class="code" href="_b_n_o08x_rpt_8hpp.html">BNO08xRpt.hpp</a>&quot;</span></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span> </div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"><a class="line" href="class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer.html">   15</a></span><span class="keyword">class </span><a class="code hl_class" href="class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer.html">BNO08xRptRawMEMSMagnetometer</a> : <span class="keyword">public</span> <a class="code hl_class" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span>{</div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span>    <span class="keyword">public</span>:</div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"><a class="line" href="class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer.html#a1033eaa9b7533a381781c8a750bac04b">   18</a></span>        <a class="code hl_function" href="class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer.html#a1033eaa9b7533a381781c8a750bac04b">BNO08xRptRawMEMSMagnetometer</a>(uint8_t <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, EventBits_t <a class="code hl_variable" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="code hl_struct" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a>* <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>            : <a class="code hl_class" href="class_b_n_o08x_rpt.html">BNO08xRpt</a>(<a class="code hl_variable" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, <a class="code hl_variable" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span>        {</div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>        }</div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span> </div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>        <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer.html#a92832fd0bff6abddbbd87779de5b57fb">enable</a>(</div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>                uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = BNO08xPrivateTypes::default_sensor_cfg) <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>        <a class="code hl_struct" href="structbno08x__raw__magf__t.html">bno08x_raw_magf_t</a> <a class="code hl_function" href="class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer.html#a44247c8dbd3376ff81599c192b7dfc71">get</a>();</div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span> </div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>    <span class="keyword">private</span>:</div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>        <span class="keywordtype">void</span> update_data(sh2_SensorValue_t* sensor_val) <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>        <a class="code hl_struct" href="structbno08x__raw__magf__t.html">bno08x_raw_magf_t</a> data;</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> <span class="keywordtype">char</span>* TAG = <span class="stringliteral">&quot;BNO08xRptRawMEMSMagnetometer&quot;</span>;</div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>};</div>
+<div class="ttc" id="a_b_n_o08x_rpt_8hpp_html"><div class="ttname"><a href="_b_n_o08x_rpt_8hpp.html">BNO08xRpt.hpp</a></div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html"><div class="ttname"><a href="class_b_n_o08x_rpt.html">BNO08xRpt</a></div><div class="ttdoc">Class to represent and manage reports returned from BNO08x.</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:26</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_a5a1404a08918d66bb0f41f55220db6e5"><div class="ttname"><a href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">BNO08xRpt::sync_ctx</a></div><div class="ttdeci">BNO08xPrivateTypes::bno08x_sync_ctx_t * sync_ctx</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:42</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_a63cd4ac9e96baa43eebe580f03307512"><div class="ttname"><a href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">BNO08xRpt::ID</a></div><div class="ttdeci">uint8_t ID</div><div class="ttdoc">Report ID, ex. SH2_ACCELERATION.</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:39</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_ae78feab5682a4697c5acad3ca6f12c2e"><div class="ttname"><a href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">BNO08xRpt::rpt_bit</a></div><div class="ttdeci">EventBits_t rpt_bit</div><div class="ttdoc">Respective enable and data bit for report in evt_grp_rpt_en and evt_grp_rpt_data.</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:40</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_html"><div class="ttname"><a href="class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer.html">BNO08xRptRawMEMSMagnetometer</a></div><div class="ttdoc">Class to represent raw magnetometer reports. (See Ref. Manual 6.5.15)</div><div class="ttdef"><b>Definition:</b> BNO08xRptRawMEMSMagnetometer.hpp:16</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_html_a1033eaa9b7533a381781c8a750bac04b"><div class="ttname"><a href="class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer.html#a1033eaa9b7533a381781c8a750bac04b">BNO08xRptRawMEMSMagnetometer::BNO08xRptRawMEMSMagnetometer</a></div><div class="ttdeci">BNO08xRptRawMEMSMagnetometer(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</div><div class="ttdef"><b>Definition:</b> BNO08xRptRawMEMSMagnetometer.hpp:18</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_html_a44247c8dbd3376ff81599c192b7dfc71"><div class="ttname"><a href="class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer.html#a44247c8dbd3376ff81599c192b7dfc71">BNO08xRptRawMEMSMagnetometer::get</a></div><div class="ttdeci">bno08x_raw_magf_t get()</div><div class="ttdoc">Grabs most recent raw magnetometer data, units are ADC counts, time_stamp in microseconds.</div><div class="ttdef"><b>Definition:</b> BNO08xRptRawMEMSMagnetometer.cpp:45</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_html_a92832fd0bff6abddbbd87779de5b57fb"><div class="ttname"><a href="class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer.html#a92832fd0bff6abddbbd87779de5b57fb">BNO08xRptRawMEMSMagnetometer::enable</a></div><div class="ttdeci">bool enable(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg) override</div><div class="ttdoc">Enables raw magnetometer such that the BNO08x begins sending them.</div><div class="ttdef"><b>Definition:</b> BNO08xRptRawMEMSMagnetometer.cpp:35</div></div>
+<div class="ttc" id="astruct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_html"><div class="ttname"><a href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a></div><div class="ttdoc">Holds context used to synchronize tasks and callback execution.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:57</div></div>
+<div class="ttc" id="astructbno08x__raw__magf__t_html"><div class="ttname"><a href="structbno08x__raw__magf__t.html">bno08x_raw_magf_t</a></div><div class="ttdoc">Struct to represent raw mems magnetometer data from raw magnetometer reports (units in ADC counts).</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:968</div></div>
+</div><!-- fragment --></div><!-- contents -->
+</div><!-- doc-content -->
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+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
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diff --git a/documentation/html/_b_n_o08x_rpt_shake_detector_8cpp.html b/documentation/html/_b_n_o08x_rpt_shake_detector_8cpp.html
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+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Class to represent shake detector reports. (See Ref. Manual 6.5.32)  <a href="class_b_n_o08x_rpt_shake_detector.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><dl class="section author"><dt>Author</dt><dd>Myles Parfeniuk </dd></dl>
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+<title>esp32_BNO08x: /media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/report/BNO08xRptShakeDetector.hpp Source File</title>
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+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</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">BNO08xRptShakeDetector.hpp</div></div>
+</div><!--header-->
+<div class="contents">
+<a href="_b_n_o08x_rpt_shake_detector_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> </div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span> </div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &quot;<a class="code" href="_b_n_o08x_rpt_8hpp.html">BNO08xRpt.hpp</a>&quot;</span></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span> </div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"><a class="line" href="class_b_n_o08x_rpt_shake_detector.html">   15</a></span><span class="keyword">class </span><a class="code hl_class" href="class_b_n_o08x_rpt_shake_detector.html">BNO08xRptShakeDetector</a> : <span class="keyword">public</span> <a class="code hl_class" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span>{</div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span>    <span class="keyword">public</span>:</div>
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+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span> </div>
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+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>                uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = BNO08xPrivateTypes::default_sensor_cfg) <span class="keyword">override</span>;</div>
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+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span> </div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>    <span class="keyword">private</span>:</div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>        <span class="keywordtype">void</span> update_data(sh2_SensorValue_t* sensor_val) <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>        <a class="code hl_struct" href="structbno08x__shake__detector__t.html">bno08x_shake_detector_t</a> data;</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> <span class="keywordtype">char</span>* TAG = <span class="stringliteral">&quot;BNO08xRptShakeDetector&quot;</span>;</div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>};</div>
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+<div class="ttc" id="aclass_b_n_o08x_rpt_html"><div class="ttname"><a href="class_b_n_o08x_rpt.html">BNO08xRpt</a></div><div class="ttdoc">Class to represent and manage reports returned from BNO08x.</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:26</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_a5a1404a08918d66bb0f41f55220db6e5"><div class="ttname"><a href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">BNO08xRpt::sync_ctx</a></div><div class="ttdeci">BNO08xPrivateTypes::bno08x_sync_ctx_t * sync_ctx</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:42</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_a63cd4ac9e96baa43eebe580f03307512"><div class="ttname"><a href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">BNO08xRpt::ID</a></div><div class="ttdeci">uint8_t ID</div><div class="ttdoc">Report ID, ex. SH2_ACCELERATION.</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:39</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_ae78feab5682a4697c5acad3ca6f12c2e"><div class="ttname"><a href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">BNO08xRpt::rpt_bit</a></div><div class="ttdeci">EventBits_t rpt_bit</div><div class="ttdoc">Respective enable and data bit for report in evt_grp_rpt_en and evt_grp_rpt_data.</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:40</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_shake_detector_html"><div class="ttname"><a href="class_b_n_o08x_rpt_shake_detector.html">BNO08xRptShakeDetector</a></div><div class="ttdoc">Class to represent shake detector reports. (See Ref. Manual 6.5.32)</div><div class="ttdef"><b>Definition:</b> BNO08xRptShakeDetector.hpp:16</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_shake_detector_html_a22021e497ed9a31b2070b884f7eb6bd8"><div class="ttname"><a href="class_b_n_o08x_rpt_shake_detector.html#a22021e497ed9a31b2070b884f7eb6bd8">BNO08xRptShakeDetector::BNO08xRptShakeDetector</a></div><div class="ttdeci">BNO08xRptShakeDetector(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</div><div class="ttdef"><b>Definition:</b> BNO08xRptShakeDetector.hpp:18</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_shake_detector_html_aa28fa73b51bd892f0239e647aa6ceeb8"><div class="ttname"><a href="class_b_n_o08x_rpt_shake_detector.html#aa28fa73b51bd892f0239e647aa6ceeb8">BNO08xRptShakeDetector::enable</a></div><div class="ttdeci">bool enable(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg) override</div><div class="ttdoc">Enables shake detector reports such that the BNO08x begins sending them (only sends reports when a sh...</div><div class="ttdef"><b>Definition:</b> BNO08xRptShakeDetector.cpp:36</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_shake_detector_html_adf134a67833f9e2c71f76858abc88ee6"><div class="ttname"><a href="class_b_n_o08x_rpt_shake_detector.html#adf134a67833f9e2c71f76858abc88ee6">BNO08xRptShakeDetector::get</a></div><div class="ttdeci">bno08x_shake_detector_t get()</div><div class="ttdoc">Grabs most recent shake detector detector data.</div><div class="ttdef"><b>Definition:</b> BNO08xRptShakeDetector.cpp:49</div></div>
+<div class="ttc" id="astruct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_html"><div class="ttname"><a href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a></div><div class="ttdoc">Holds context used to synchronize tasks and callback execution.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:57</div></div>
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+</div><!-- fragment --></div><!-- contents -->
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+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
+   </div>
+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
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+<title>esp32_BNO08x: /media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/report/BNO08xRptStabilityClassifier.hpp Source File</title>
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+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
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+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
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+  <div class="headertitle"><div class="title">BNO08xRptStabilityClassifier.hpp</div></div>
+</div><!--header-->
+<div class="contents">
+<a href="_b_n_o08x_rpt_stability_classifier_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> </div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span> </div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &quot;<a class="code" href="_b_n_o08x_rpt_8hpp.html">BNO08xRpt.hpp</a>&quot;</span></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span> </div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"><a class="line" href="class_b_n_o08x_rpt_stability_classifier.html">   15</a></span><span class="keyword">class </span><a class="code hl_class" href="class_b_n_o08x_rpt_stability_classifier.html">BNO08xRptStabilityClassifier</a> : <span class="keyword">public</span> <a class="code hl_class" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span>{</div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span>    <span class="keyword">public</span>:</div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"><a class="line" href="class_b_n_o08x_rpt_stability_classifier.html#a41052d651d03bccc414b14d6e9b670ab">   18</a></span>        <a class="code hl_function" href="class_b_n_o08x_rpt_stability_classifier.html#a41052d651d03bccc414b14d6e9b670ab">BNO08xRptStabilityClassifier</a>(uint8_t <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, EventBits_t <a class="code hl_variable" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="code hl_struct" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a>* <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>            : <a class="code hl_class" href="class_b_n_o08x_rpt.html">BNO08xRpt</a>(<a class="code hl_variable" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, <a class="code hl_variable" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span>        {</div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>        }</div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span> </div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>        <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x_rpt_stability_classifier.html#a4959110a01f638d04d87696d8a03dd60">enable</a>(</div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>                uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = BNO08xPrivateTypes::default_sensor_cfg) <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>        <a class="code hl_struct" href="structbno08x__stability__classifier__t.html">bno08x_stability_classifier_t</a> <a class="code hl_function" href="class_b_n_o08x_rpt_stability_classifier.html#a552b8df91df3905c7e2242ee42d11931">get</a>();</div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>        <a class="code hl_enumeration" href="_b_n_o08x_global_types_8hpp.html#a22d72f675aad7af764e685f91b29f4cb">BNO08xStability</a> <a class="code hl_function" href="class_b_n_o08x_rpt_stability_classifier.html#a8c8c794004f8b2a5e67656286beae7cd">get_stability</a>();</div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span> </div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>    <span class="keyword">private</span>:</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>        <span class="keywordtype">void</span> update_data(sh2_SensorValue_t* sensor_val) <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>        <a class="code hl_struct" href="structbno08x__stability__classifier__t.html">bno08x_stability_classifier_t</a> data;</div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> <span class="keywordtype">char</span>* TAG = <span class="stringliteral">&quot;BNO08xRptStabilityClassifier&quot;</span>;</div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>};</div>
+<div class="ttc" id="a_b_n_o08x_global_types_8hpp_html_a22d72f675aad7af764e685f91b29f4cb"><div class="ttname"><a href="_b_n_o08x_global_types_8hpp.html#a22d72f675aad7af764e685f91b29f4cb">BNO08xStability</a></div><div class="ttdeci">BNO08xStability</div><div class="ttdoc">BNO08xStability states returned from BNO08x::stability_classifier.get()</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:201</div></div>
+<div class="ttc" id="a_b_n_o08x_rpt_8hpp_html"><div class="ttname"><a href="_b_n_o08x_rpt_8hpp.html">BNO08xRpt.hpp</a></div></div>
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+<title>esp32_BNO08x: /media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/report/BNO08xRptStepCounter.hpp Source File</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+<table cellspacing="0" cellpadding="0">
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+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</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 1.9.4 -->
+<script type="text/javascript">
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+<div class="header">
+  <div class="headertitle"><div class="title">BNO08xRptStepCounter.hpp</div></div>
+</div><!--header-->
+<div class="contents">
+<a href="_b_n_o08x_rpt_step_counter_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> </div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span> </div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &quot;<a class="code" href="_b_n_o08x_rpt_8hpp.html">BNO08xRpt.hpp</a>&quot;</span></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span> </div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"><a class="line" href="class_b_n_o08x_rpt_step_counter.html">   15</a></span><span class="keyword">class </span><a class="code hl_class" href="class_b_n_o08x_rpt_step_counter.html">BNO08xRptStepCounter</a> : <span class="keyword">public</span> <a class="code hl_class" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span>{</div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span>    <span class="keyword">public</span>:</div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"><a class="line" href="class_b_n_o08x_rpt_step_counter.html#a0a85682a68010aa66ddb2ccc337263a0">   18</a></span>        <a class="code hl_function" href="class_b_n_o08x_rpt_step_counter.html#a0a85682a68010aa66ddb2ccc337263a0">BNO08xRptStepCounter</a>(uint8_t <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, EventBits_t <a class="code hl_variable" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="code hl_struct" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a>* <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>            : <a class="code hl_class" href="class_b_n_o08x_rpt.html">BNO08xRpt</a>(<a class="code hl_variable" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, <a class="code hl_variable" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span>        {</div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>        }</div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span> </div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>        <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x_rpt_step_counter.html#adf0a697561b064a7dd90a44009efbcf1">enable</a>(</div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>                uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = BNO08xPrivateTypes::default_sensor_cfg) <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>        <a class="code hl_struct" href="structbno08x__step__counter__t.html">bno08x_step_counter_t</a> <a class="code hl_function" href="class_b_n_o08x_rpt_step_counter.html#affe413eea0483147578e58a1a9c5cd8f">get</a>();</div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>        uint32_t <a class="code hl_function" href="class_b_n_o08x_rpt_step_counter.html#a017b389771b4d8816b4cfd06c6d9184a">get_total_steps</a>();</div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span> </div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>    <span class="keyword">private</span>:</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>        <span class="keywordtype">void</span> update_data(sh2_SensorValue_t* sensor_val) <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>        <a class="code hl_struct" href="structbno08x__step__counter__t.html">bno08x_step_counter_t</a> data; </div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>        uint32_t step_accumulator =</div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>                0UL; </div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> <span class="keywordtype">char</span>* TAG = <span class="stringliteral">&quot;BNO08xRptStepCounter&quot;</span>;</div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>};</div>
+<div class="ttc" id="a_b_n_o08x_rpt_8hpp_html"><div class="ttname"><a href="_b_n_o08x_rpt_8hpp.html">BNO08xRpt.hpp</a></div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html"><div class="ttname"><a href="class_b_n_o08x_rpt.html">BNO08xRpt</a></div><div class="ttdoc">Class to represent and manage reports returned from BNO08x.</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:26</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_a5a1404a08918d66bb0f41f55220db6e5"><div class="ttname"><a href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">BNO08xRpt::sync_ctx</a></div><div class="ttdeci">BNO08xPrivateTypes::bno08x_sync_ctx_t * sync_ctx</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:42</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_a63cd4ac9e96baa43eebe580f03307512"><div class="ttname"><a href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">BNO08xRpt::ID</a></div><div class="ttdeci">uint8_t ID</div><div class="ttdoc">Report ID, ex. SH2_ACCELERATION.</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:39</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_ae78feab5682a4697c5acad3ca6f12c2e"><div class="ttname"><a href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">BNO08xRpt::rpt_bit</a></div><div class="ttdeci">EventBits_t rpt_bit</div><div class="ttdoc">Respective enable and data bit for report in evt_grp_rpt_en and evt_grp_rpt_data.</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:40</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_step_counter_html"><div class="ttname"><a href="class_b_n_o08x_rpt_step_counter.html">BNO08xRptStepCounter</a></div><div class="ttdoc">Class to represent step counter reports. (See Ref. Manual 6.5.29)</div><div class="ttdef"><b>Definition:</b> BNO08xRptStepCounter.hpp:16</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_step_counter_html_a017b389771b4d8816b4cfd06c6d9184a"><div class="ttname"><a href="class_b_n_o08x_rpt_step_counter.html#a017b389771b4d8816b4cfd06c6d9184a">BNO08xRptStepCounter::get_total_steps</a></div><div class="ttdeci">uint32_t get_total_steps()</div><div class="ttdoc">Grabs the total step count since boot, accounts for rollover in report data.</div><div class="ttdef"><b>Definition:</b> BNO08xRptStepCounter.cpp:70</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_step_counter_html_a0a85682a68010aa66ddb2ccc337263a0"><div class="ttname"><a href="class_b_n_o08x_rpt_step_counter.html#a0a85682a68010aa66ddb2ccc337263a0">BNO08xRptStepCounter::BNO08xRptStepCounter</a></div><div class="ttdeci">BNO08xRptStepCounter(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</div><div class="ttdef"><b>Definition:</b> BNO08xRptStepCounter.hpp:18</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_step_counter_html_adf0a697561b064a7dd90a44009efbcf1"><div class="ttname"><a href="class_b_n_o08x_rpt_step_counter.html#adf0a697561b064a7dd90a44009efbcf1">BNO08xRptStepCounter::enable</a></div><div class="ttdeci">bool enable(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg) override</div><div class="ttdoc">Enables step counter reports such that the BNO08x begins sending them.</div><div class="ttdef"><b>Definition:</b> BNO08xRptStepCounter.cpp:46</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_step_counter_html_affe413eea0483147578e58a1a9c5cd8f"><div class="ttname"><a href="class_b_n_o08x_rpt_step_counter.html#affe413eea0483147578e58a1a9c5cd8f">BNO08xRptStepCounter::get</a></div><div class="ttdeci">bno08x_step_counter_t get()</div><div class="ttdoc">Grabs most recent step counter data (rollover not accounted for in step count, just most recent repor...</div><div class="ttdef"><b>Definition:</b> BNO08xRptStepCounter.cpp:57</div></div>
+<div class="ttc" id="astruct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_html"><div class="ttname"><a href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a></div><div class="ttdoc">Holds context used to synchronize tasks and callback execution.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:57</div></div>
+<div class="ttc" id="astructbno08x__step__counter__t_html"><div class="ttname"><a href="structbno08x__step__counter__t.html">bno08x_step_counter_t</a></div><div class="ttdoc">Struct to represent step counter data from step counter reports.</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:882</div></div>
+</div><!-- fragment --></div><!-- contents -->
+</div><!-- doc-content -->
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+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
+   </div>
+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
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+<title>esp32_BNO08x: /media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/report/BNO08xRptTapDetector.hpp Source File</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</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">BNO08xRptTapDetector.hpp</div></div>
+</div><!--header-->
+<div class="contents">
+<a href="_b_n_o08x_rpt_tap_detector_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> </div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span> </div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &quot;<a class="code" href="_b_n_o08x_rpt_8hpp.html">BNO08xRpt.hpp</a>&quot;</span></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span> </div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"><a class="line" href="class_b_n_o08x_rpt_tap_detector.html">   15</a></span><span class="keyword">class </span><a class="code hl_class" href="class_b_n_o08x_rpt_tap_detector.html">BNO08xRptTapDetector</a> : <span class="keyword">public</span> <a class="code hl_class" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span>{</div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span>    <span class="keyword">public</span>:</div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"><a class="line" href="class_b_n_o08x_rpt_tap_detector.html#ad4761f72a20f120e545b941b6e198b6a">   18</a></span>        <a class="code hl_function" href="class_b_n_o08x_rpt_tap_detector.html#ad4761f72a20f120e545b941b6e198b6a">BNO08xRptTapDetector</a>(uint8_t <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, EventBits_t <a class="code hl_variable" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="code hl_struct" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a>* <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>            : <a class="code hl_class" href="class_b_n_o08x_rpt.html">BNO08xRpt</a>(<a class="code hl_variable" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, <a class="code hl_variable" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span>        {</div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>        }</div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span> </div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>        <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x_rpt_tap_detector.html#ad8b716b7a2f2c2f52113eaaf75a391dc">enable</a>(</div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>                uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = BNO08xPrivateTypes::default_sensor_cfg) <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>        <a class="code hl_struct" href="structbno08x__tap__detector__t.html">bno08x_tap_detector_t</a> <a class="code hl_function" href="class_b_n_o08x_rpt_tap_detector.html#ac0c0642fbb086a480edf32c92a470a2e">get</a>();</div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span> </div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>    <span class="keyword">private</span>:</div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>        <span class="keywordtype">void</span> update_data(sh2_SensorValue_t* sensor_val) <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>        <a class="code hl_struct" href="structbno08x__tap__detector__t.html">bno08x_tap_detector_t</a> data;</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> <span class="keywordtype">char</span>* TAG = <span class="stringliteral">&quot;BNO08xRptTapDetector&quot;</span>;</div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>};</div>
+<div class="ttc" id="a_b_n_o08x_rpt_8hpp_html"><div class="ttname"><a href="_b_n_o08x_rpt_8hpp.html">BNO08xRpt.hpp</a></div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html"><div class="ttname"><a href="class_b_n_o08x_rpt.html">BNO08xRpt</a></div><div class="ttdoc">Class to represent and manage reports returned from BNO08x.</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:26</div></div>
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+   </div>
+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
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+<title>esp32_BNO08x: /media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/report/BNO08xRptUncalGyro.hpp Source File</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</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">BNO08xRptUncalGyro.hpp</div></div>
+</div><!--header-->
+<div class="contents">
+<a href="_b_n_o08x_rpt_uncal_gyro_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> </div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span> </div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &quot;<a class="code" href="_b_n_o08x_rpt_8hpp.html">BNO08xRpt.hpp</a>&quot;</span></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span> </div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"><a class="line" href="class_b_n_o08x_rpt_uncal_gyro.html">   15</a></span><span class="keyword">class </span><a class="code hl_class" href="class_b_n_o08x_rpt_uncal_gyro.html">BNO08xRptUncalGyro</a> : <span class="keyword">public</span> <a class="code hl_class" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span>{</div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span>    <span class="keyword">public</span>:</div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"><a class="line" href="class_b_n_o08x_rpt_uncal_gyro.html#a3b728331f32e6ca7854c64b06ca28ea8">   18</a></span>        <a class="code hl_function" href="class_b_n_o08x_rpt_uncal_gyro.html#a3b728331f32e6ca7854c64b06ca28ea8">BNO08xRptUncalGyro</a>(uint8_t <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, EventBits_t <a class="code hl_variable" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="code hl_struct" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a>* <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>            : <a class="code hl_class" href="class_b_n_o08x_rpt.html">BNO08xRpt</a>(<a class="code hl_variable" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, <a class="code hl_variable" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span>        {</div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>        }</div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span> </div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>        <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x_rpt_uncal_gyro.html#a404d36091a61af543c6fec7b6e077706">enable</a>(</div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>                uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = BNO08xPrivateTypes::default_sensor_cfg) <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x_rpt_uncal_gyro.html#ae2fec54b70d897124720abe1dcccd793">get</a>(<a class="code hl_struct" href="structbno08x__gyro__t.html">bno08x_gyro_t</a>&amp; vel, <a class="code hl_struct" href="structbno08x__gyro__bias__t.html">bno08x_gyro_bias_t</a>&amp; bias);</div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>        <a class="code hl_struct" href="structbno08x__gyro__t.html">bno08x_gyro_t</a> <a class="code hl_function" href="class_b_n_o08x_rpt_uncal_gyro.html#a13c875a4ef09df3a82ac4bfa5109fdf7">get_vel</a>();</div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>        <a class="code hl_struct" href="structbno08x__gyro__bias__t.html">bno08x_gyro_bias_t</a> <a class="code hl_function" href="class_b_n_o08x_rpt_uncal_gyro.html#a08b722174d100d1d9363eaf4989a8ecd">get_bias</a>();</div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span> </div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>    <span class="keyword">private</span>:</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>        <span class="keywordtype">void</span> update_data(sh2_SensorValue_t* sensor_val) <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>        <a class="code hl_struct" href="structbno08x__gyro__t.html">bno08x_gyro_t</a> data;</div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>        <a class="code hl_struct" href="structbno08x__gyro__bias__t.html">bno08x_gyro_bias_t</a> bias_data;</div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> <span class="keywordtype">char</span>* TAG = <span class="stringliteral">&quot;BNO08xRptUncalGyro&quot;</span>;</div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>};</div>
+<div class="ttc" id="a_b_n_o08x_rpt_8hpp_html"><div class="ttname"><a href="_b_n_o08x_rpt_8hpp.html">BNO08xRpt.hpp</a></div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html"><div class="ttname"><a href="class_b_n_o08x_rpt.html">BNO08xRpt</a></div><div class="ttdoc">Class to represent and manage reports returned from BNO08x.</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:26</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_a5a1404a08918d66bb0f41f55220db6e5"><div class="ttname"><a href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">BNO08xRpt::sync_ctx</a></div><div class="ttdeci">BNO08xPrivateTypes::bno08x_sync_ctx_t * sync_ctx</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:42</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_a63cd4ac9e96baa43eebe580f03307512"><div class="ttname"><a href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">BNO08xRpt::ID</a></div><div class="ttdeci">uint8_t ID</div><div class="ttdoc">Report ID, ex. SH2_ACCELERATION.</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:39</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_ae78feab5682a4697c5acad3ca6f12c2e"><div class="ttname"><a href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">BNO08xRpt::rpt_bit</a></div><div class="ttdeci">EventBits_t rpt_bit</div><div class="ttdoc">Respective enable and data bit for report in evt_grp_rpt_en and evt_grp_rpt_data.</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:40</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_uncal_gyro_html"><div class="ttname"><a href="class_b_n_o08x_rpt_uncal_gyro.html">BNO08xRptUncalGyro</a></div><div class="ttdoc">Class to represent uncalibrated gyro reports. (See Ref. Manual 6.5.14)</div><div class="ttdef"><b>Definition:</b> BNO08xRptUncalGyro.hpp:16</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_uncal_gyro_html_a08b722174d100d1d9363eaf4989a8ecd"><div class="ttname"><a href="class_b_n_o08x_rpt_uncal_gyro.html#a08b722174d100d1d9363eaf4989a8ecd">BNO08xRptUncalGyro::get_bias</a></div><div class="ttdeci">bno08x_gyro_bias_t get_bias()</div><div class="ttdoc">Grabs most recent uncalibrated gyroscope bias data, units are in rad/s.</div><div class="ttdef"><b>Definition:</b> BNO08xRptUncalGyro.cpp:75</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_uncal_gyro_html_a13c875a4ef09df3a82ac4bfa5109fdf7"><div class="ttname"><a href="class_b_n_o08x_rpt_uncal_gyro.html#a13c875a4ef09df3a82ac4bfa5109fdf7">BNO08xRptUncalGyro::get_vel</a></div><div class="ttdeci">bno08x_gyro_t get_vel()</div><div class="ttdoc">Grabs most recent uncalibrated gyroscope velocity data, units are in rad/s.</div><div class="ttdef"><b>Definition:</b> BNO08xRptUncalGyro.cpp:62</div></div>
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+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
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+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
+   </div>
+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
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+  <div class="headertitle"><div class="title">BNO08xRptUncalMagnetometer.hpp</div></div>
+</div><!--header-->
+<div class="contents">
+<a href="_b_n_o08x_rpt_uncal_magnetometer_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> </div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span> </div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="preprocessor">#include &quot;<a class="code" href="_b_n_o08x_rpt_8hpp.html">BNO08xRpt.hpp</a>&quot;</span></div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span> </div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"><a class="line" href="class_b_n_o08x_rpt_uncal_magnetometer.html">   16</a></span><span class="keyword">class </span><a class="code hl_class" href="class_b_n_o08x_rpt_uncal_magnetometer.html">BNO08xRptUncalMagnetometer</a> : <span class="keyword">public</span> <a class="code hl_class" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span>{</div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span>    <span class="keyword">public</span>:</div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"><a class="line" href="class_b_n_o08x_rpt_uncal_magnetometer.html#a8ac1f7e58879febd738b85a8035411a0">   19</a></span>        <a class="code hl_function" href="class_b_n_o08x_rpt_uncal_magnetometer.html#a8ac1f7e58879febd738b85a8035411a0">BNO08xRptUncalMagnetometer</a>(uint8_t <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, EventBits_t <a class="code hl_variable" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="code hl_struct" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a>* <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span>            : <a class="code hl_class" href="class_b_n_o08x_rpt.html">BNO08xRpt</a>(<a class="code hl_variable" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, <a class="code hl_variable" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="code hl_variable" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>        {</div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span>        }</div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span> </div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>        <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x_rpt_uncal_magnetometer.html#a80ae48107ca1cc27551fd799625f2867">enable</a>(</div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>                uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = BNO08xPrivateTypes::default_sensor_cfg) <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>        <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x_rpt_uncal_magnetometer.html#ad4d5abc8875955b6236bbe526be1e8fb">get</a>(<a class="code hl_struct" href="structbno08x__magf__t.html">bno08x_magf_t</a>&amp; magf, <a class="code hl_struct" href="structbno08x__magf__bias__t.html">bno08x_magf_bias_t</a>&amp; bias);</div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>        <a class="code hl_struct" href="structbno08x__magf__t.html">bno08x_magf_t</a> <a class="code hl_function" href="class_b_n_o08x_rpt_uncal_magnetometer.html#ae5a99ef7523dcafc4638a538e141306b">get_magf</a>();</div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>        <a class="code hl_struct" href="structbno08x__magf__bias__t.html">bno08x_magf_bias_t</a> <a class="code hl_function" href="class_b_n_o08x_rpt_uncal_magnetometer.html#aa6818f72419eaebb55cba9ffec28c704">get_bias</a>();</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span> </div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>    <span class="keyword">private</span>:</div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>        <span class="keywordtype">void</span> update_data(sh2_SensorValue_t* sensor_val) <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>        <a class="code hl_struct" href="structbno08x__magf__t.html">bno08x_magf_t</a> data;</div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>        <a class="code hl_struct" href="structbno08x__magf__bias__t.html">bno08x_magf_bias_t</a> bias_data;</div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> <span class="keywordtype">char</span>* TAG = <span class="stringliteral">&quot;BNO08xRptUncalMagnetometer&quot;</span>;</div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>};</div>
+<div class="ttc" id="a_b_n_o08x_rpt_8hpp_html"><div class="ttname"><a href="_b_n_o08x_rpt_8hpp.html">BNO08xRpt.hpp</a></div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html"><div class="ttname"><a href="class_b_n_o08x_rpt.html">BNO08xRpt</a></div><div class="ttdoc">Class to represent and manage reports returned from BNO08x.</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:26</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_a5a1404a08918d66bb0f41f55220db6e5"><div class="ttname"><a href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">BNO08xRpt::sync_ctx</a></div><div class="ttdeci">BNO08xPrivateTypes::bno08x_sync_ctx_t * sync_ctx</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:42</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_a63cd4ac9e96baa43eebe580f03307512"><div class="ttname"><a href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">BNO08xRpt::ID</a></div><div class="ttdeci">uint8_t ID</div><div class="ttdoc">Report ID, ex. SH2_ACCELERATION.</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:39</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_html_ae78feab5682a4697c5acad3ca6f12c2e"><div class="ttname"><a href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">BNO08xRpt::rpt_bit</a></div><div class="ttdeci">EventBits_t rpt_bit</div><div class="ttdoc">Respective enable and data bit for report in evt_grp_rpt_en and evt_grp_rpt_data.</div><div class="ttdef"><b>Definition:</b> BNO08xRpt.hpp:40</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_uncal_magnetometer_html"><div class="ttname"><a href="class_b_n_o08x_rpt_uncal_magnetometer.html">BNO08xRptUncalMagnetometer</a></div><div class="ttdoc">Class to represent uncalibrated magnetometer reports. (See Ref. Manual 6.5.17)</div><div class="ttdef"><b>Definition:</b> BNO08xRptUncalMagnetometer.hpp:17</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_uncal_magnetometer_html_a80ae48107ca1cc27551fd799625f2867"><div class="ttname"><a href="class_b_n_o08x_rpt_uncal_magnetometer.html#a80ae48107ca1cc27551fd799625f2867">BNO08xRptUncalMagnetometer::enable</a></div><div class="ttdeci">bool enable(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg) override</div><div class="ttdoc">Enables uncalibrated magnetometer reports such that the BNO08x begins sending them.</div><div class="ttdef"><b>Definition:</b> BNO08xRptUncalMagnetometer.cpp:36</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_uncal_magnetometer_html_a8ac1f7e58879febd738b85a8035411a0"><div class="ttname"><a href="class_b_n_o08x_rpt_uncal_magnetometer.html#a8ac1f7e58879febd738b85a8035411a0">BNO08xRptUncalMagnetometer::BNO08xRptUncalMagnetometer</a></div><div class="ttdeci">BNO08xRptUncalMagnetometer(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</div><div class="ttdef"><b>Definition:</b> BNO08xRptUncalMagnetometer.hpp:19</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_uncal_magnetometer_html_aa6818f72419eaebb55cba9ffec28c704"><div class="ttname"><a href="class_b_n_o08x_rpt_uncal_magnetometer.html#aa6818f72419eaebb55cba9ffec28c704">BNO08xRptUncalMagnetometer::get_bias</a></div><div class="ttdeci">bno08x_magf_bias_t get_bias()</div><div class="ttdoc">Grabs most recent uncalibrated magnetometer bias data, units are in uTesla.</div><div class="ttdef"><b>Definition:</b> BNO08xRptUncalMagnetometer.cpp:75</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_uncal_magnetometer_html_ad4d5abc8875955b6236bbe526be1e8fb"><div class="ttname"><a href="class_b_n_o08x_rpt_uncal_magnetometer.html#ad4d5abc8875955b6236bbe526be1e8fb">BNO08xRptUncalMagnetometer::get</a></div><div class="ttdeci">void get(bno08x_magf_t &amp;magf, bno08x_magf_bias_t &amp;bias)</div><div class="ttdoc">Grabs most recent uncalibrated magnetometer data, units are in uTesla.</div><div class="ttdef"><b>Definition:</b> BNO08xRptUncalMagnetometer.cpp:49</div></div>
+<div class="ttc" id="aclass_b_n_o08x_rpt_uncal_magnetometer_html_ae5a99ef7523dcafc4638a538e141306b"><div class="ttname"><a href="class_b_n_o08x_rpt_uncal_magnetometer.html#ae5a99ef7523dcafc4638a538e141306b">BNO08xRptUncalMagnetometer::get_magf</a></div><div class="ttdeci">bno08x_magf_t get_magf()</div><div class="ttdoc">Grabs most recent uncalibrated magnetometer magnetic field data, units are in uTesla.</div><div class="ttdef"><b>Definition:</b> BNO08xRptUncalMagnetometer.cpp:62</div></div>
+<div class="ttc" id="astruct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_html"><div class="ttname"><a href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a></div><div class="ttdoc">Holds context used to synchronize tasks and callback execution.</div><div class="ttdef"><b>Definition:</b> BNO08xPrivateTypes.hpp:57</div></div>
+<div class="ttc" id="astructbno08x__magf__bias__t_html"><div class="ttname"><a href="structbno08x__magf__bias__t.html">bno08x_magf_bias_t</a></div><div class="ttdoc">Struct to represent magnetic field bias data (units in uTesla)</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:642</div></div>
+<div class="ttc" id="astructbno08x__magf__t_html"><div class="ttname"><a href="structbno08x__magf__t.html">bno08x_magf_t</a></div><div class="ttdoc">Struct to represent magnetic field data (units in uTesla)</div><div class="ttdef"><b>Definition:</b> BNO08xGlobalTypes.hpp:606</div></div>
+</div><!-- fragment --></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
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+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:ac89a0ae0c3d3067f02e9fa275521606b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Clears the least significant byte of a 16-bit value.  <a href="_b_n_o08x_s_h2_h_a_l_8hpp.html#ac89a0ae0c3d3067f02e9fa275521606b">More...</a><br /></td></tr>
+<tr class="separator:ac89a0ae0c3d3067f02e9fa275521606b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7de5c0b84ba545981105e1216925d8e9"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_b_n_o08x_s_h2_h_a_l_8hpp.html#a7de5c0b84ba545981105e1216925d8e9">UINT32_CLR_BYTE</a>(val_32bit,  byte2clear)&#160;&#160;&#160;((val_32bit) &amp; ~(0xFFUL &lt;&lt; (byte2clear * 8UL)))</td></tr>
+<tr class="memdesc:a7de5c0b84ba545981105e1216925d8e9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Clears a specified byte in a 32-bit value.  <a href="_b_n_o08x_s_h2_h_a_l_8hpp.html#a7de5c0b84ba545981105e1216925d8e9">More...</a><br /></td></tr>
+<tr class="separator:a7de5c0b84ba545981105e1216925d8e9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6f459cc2cce1722c63d22a9556f06bc8"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_b_n_o08x_s_h2_h_a_l_8hpp.html#a6f459cc2cce1722c63d22a9556f06bc8">UINT32_MSK_BYTE</a>(val_32bit,  byte2mask)&#160;&#160;&#160;((val_32bit) &amp; (0xFFUL &lt;&lt; (byte2mask * 8UL)))</td></tr>
+<tr class="memdesc:a6f459cc2cce1722c63d22a9556f06bc8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Masks a specified byte in a 32-bit value.  <a href="_b_n_o08x_s_h2_h_a_l_8hpp.html#a6f459cc2cce1722c63d22a9556f06bc8">More...</a><br /></td></tr>
+<tr class="separator:a6f459cc2cce1722c63d22a9556f06bc8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aaed5b6cbf0d2f27550d1b4a975c46c34"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_b_n_o08x_s_h2_h_a_l_8hpp.html#aaed5b6cbf0d2f27550d1b4a975c46c34">PARSE_PACKET_LENGTH</a>(header)&#160;&#160;&#160;    (<a class="el" href="_b_n_o08x_s_h2_h_a_l_8hpp.html#ac89a0ae0c3d3067f02e9fa275521606b">UINT16_CLR_LSB</a>(static_cast&lt;uint16_t&gt;(header[1]) &lt;&lt; 8U) | <a class="el" href="_b_n_o08x_s_h2_h_a_l_8hpp.html#ad98f2fa811436866ff297a8288e34f40">UINT16_CLR_MSB</a>(static_cast&lt;uint16_t&gt;(header[0])))</td></tr>
+<tr class="memdesc:aaed5b6cbf0d2f27550d1b4a975c46c34"><td class="mdescLeft">&#160;</td><td class="mdescRight">Parse length from SHTP packet header.  <a href="_b_n_o08x_s_h2_h_a_l_8hpp.html#aaed5b6cbf0d2f27550d1b4a975c46c34">More...</a><br /></td></tr>
+<tr class="separator:aaed5b6cbf0d2f27550d1b4a975c46c34"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><dl class="section author"><dt>Author</dt><dd>Myles Parfeniuk </dd></dl>
+</div><h2 class="groupheader">Macro Definition Documentation</h2>
+<a id="aaed5b6cbf0d2f27550d1b4a975c46c34" name="aaed5b6cbf0d2f27550d1b4a975c46c34"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aaed5b6cbf0d2f27550d1b4a975c46c34">&#9670;&nbsp;</a></span>PARSE_PACKET_LENGTH</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define PARSE_PACKET_LENGTH</td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname">header</td><td>)</td>
+          <td>&#160;&#160;&#160;    (<a class="el" href="_b_n_o08x_s_h2_h_a_l_8hpp.html#ac89a0ae0c3d3067f02e9fa275521606b">UINT16_CLR_LSB</a>(static_cast&lt;uint16_t&gt;(header[1]) &lt;&lt; 8U) | <a class="el" href="_b_n_o08x_s_h2_h_a_l_8hpp.html#ad98f2fa811436866ff297a8288e34f40">UINT16_CLR_MSB</a>(static_cast&lt;uint16_t&gt;(header[0])))</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Parse length from SHTP packet header. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">packet</td><td>Pointer to bno08x_rx_packet_t containing data. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Length of SHTP packet. </dd></dl>
+
+</div>
+</div>
+<a id="ac89a0ae0c3d3067f02e9fa275521606b" name="ac89a0ae0c3d3067f02e9fa275521606b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac89a0ae0c3d3067f02e9fa275521606b">&#9670;&nbsp;</a></span>UINT16_CLR_LSB</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define UINT16_CLR_LSB</td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname">val_16bit</td><td>)</td>
+          <td>&#160;&#160;&#160;((val_16bit) &amp; 0xFF00U)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Clears the least significant byte of a 16-bit value. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">val_16bit</td><td>The 16-bit value to modify. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>The value with the MSB cleared. </dd></dl>
+
+</div>
+</div>
+<a id="ad98f2fa811436866ff297a8288e34f40" name="ad98f2fa811436866ff297a8288e34f40"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad98f2fa811436866ff297a8288e34f40">&#9670;&nbsp;</a></span>UINT16_CLR_MSB</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define UINT16_CLR_MSB</td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname">val_16bit</td><td>)</td>
+          <td>&#160;&#160;&#160;((val_16bit) &amp; 0x00FFU)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Clears the most significant byte of a 16-bit value. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">val_16bit</td><td>The 16-bit value to modify. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>The value with the MSB cleared. </dd></dl>
+
+</div>
+</div>
+<a id="a7de5c0b84ba545981105e1216925d8e9" name="a7de5c0b84ba545981105e1216925d8e9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7de5c0b84ba545981105e1216925d8e9">&#9670;&nbsp;</a></span>UINT32_CLR_BYTE</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define UINT32_CLR_BYTE</td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname">val_32bit, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname">byte2clear&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td>&#160;&#160;&#160;((val_32bit) &amp; ~(0xFFUL &lt;&lt; (byte2clear * 8UL)))</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Clears a specified byte in a 32-bit value. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">val_32bit</td><td>The 32-bit value to modify. </td></tr>
+    <tr><td class="paramname">byte2clear</td><td>The byte index to clear (0 = LSB, 3 = MSB). </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>The value with the specified byte cleared. </dd></dl>
+
+</div>
+</div>
+<a id="a6f459cc2cce1722c63d22a9556f06bc8" name="a6f459cc2cce1722c63d22a9556f06bc8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6f459cc2cce1722c63d22a9556f06bc8">&#9670;&nbsp;</a></span>UINT32_MSK_BYTE</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define UINT32_MSK_BYTE</td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname">val_32bit, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname">byte2mask&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td>&#160;&#160;&#160;((val_32bit) &amp; (0xFFUL &lt;&lt; (byte2mask * 8UL)))</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Masks a specified byte in a 32-bit value. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">val_32bit</td><td>The 32-bit value to modify. </td></tr>
+    <tr><td class="paramname">byte2mask</td><td>The byte index to mask (0 = LSB, 3 = MSB). </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>The value with the specified byte masked. </dd></dl>
+
+</div>
+</div>
+</div><!-- contents -->
+</div><!-- doc-content -->
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+<div class="header">
+  <div class="headertitle"><div class="title">BNO08xSH2HAL.hpp</div></div>
+</div><!--header-->
+<div class="contents">
+<a href="_b_n_o08x_s_h2_h_a_l_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> </div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span> </div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="comment">// hill-crest labs includes (apache 2.0 license, compatible with MIT)</span></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="preprocessor">#include &quot;sh2.h&quot;</span></div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="preprocessor">#include &quot;sh2_SensorValue.h&quot;</span></div>
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="preprocessor">#include &quot;sh2_err.h&quot;</span></div>
+<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span><span class="comment">// esp-idf includes</span></div>
+<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span><span class="preprocessor">#include &lt;esp_log.h&gt;</span></div>
+<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span><span class="preprocessor">#include &lt;esp_timer.h&gt;</span></div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span><span class="comment">// in-house includes</span></div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span><span class="preprocessor">#include &quot;<a class="code" href="_b_n_o08x_private_types_8hpp.html">BNO08xPrivateTypes.hpp</a>&quot;</span></div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span> </div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"><a class="line" href="_b_n_o08x_s_h2_h_a_l_8hpp.html#ad98f2fa811436866ff297a8288e34f40">   24</a></span><span class="preprocessor">#define UINT16_CLR_MSB(val_16bit) ((val_16bit) &amp; 0x00FFU)</span></div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span> </div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"><a class="line" href="_b_n_o08x_s_h2_h_a_l_8hpp.html#ac89a0ae0c3d3067f02e9fa275521606b">   32</a></span><span class="preprocessor">#define UINT16_CLR_LSB(val_16bit) ((val_16bit) &amp; 0xFF00U)</span></div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span> </div>
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"><a class="line" href="_b_n_o08x_s_h2_h_a_l_8hpp.html#a7de5c0b84ba545981105e1216925d8e9">   41</a></span><span class="preprocessor">#define UINT32_CLR_BYTE(val_32bit, byte2clear) ((val_32bit) &amp; ~(0xFFUL &lt;&lt; (byte2clear * 8UL)))</span></div>
+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span> </div>
+<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"><a class="line" href="_b_n_o08x_s_h2_h_a_l_8hpp.html#a6f459cc2cce1722c63d22a9556f06bc8">   50</a></span><span class="preprocessor">#define UINT32_MSK_BYTE(val_32bit, byte2mask) ((val_32bit) &amp; (0xFFUL &lt;&lt; (byte2mask * 8UL)))</span></div>
+<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span> </div>
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span><span class="comment">// parsing universal to any packet</span></div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span> </div>
+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"><a class="line" href="_b_n_o08x_s_h2_h_a_l_8hpp.html#aaed5b6cbf0d2f27550d1b4a975c46c34">   60</a></span><span class="preprocessor">#define PARSE_PACKET_LENGTH(header)                                                                                              \</span></div>
+<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span><span class="preprocessor">    (UINT16_CLR_LSB(static_cast&lt;uint16_t&gt;(header[1]) &lt;&lt; 8U) | UINT16_CLR_MSB(static_cast&lt;uint16_t&gt;(header[0])))</span></div>
+<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span> </div>
+<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span><span class="comment">// forward dec to prevent compile errors</span></div>
+<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</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="l00065" name="l00065"></a><span class="lineno">   65</span> </div>
+<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"><a class="line" href="class_b_n_o08x_s_h2_h_a_l.html">   71</a></span><span class="keyword">class </span><a class="code hl_class" href="class_b_n_o08x_s_h2_h_a_l.html">BNO08xSH2HAL</a></div>
+<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>{</div>
+<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>    <span class="keyword">public</span>:</div>
+<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>        <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x_s_h2_h_a_l.html#a236ccf0ff8d36060b465bc1f4f0a37fa">set_hal_imu</a>(<a class="code hl_class" href="class_b_n_o08x.html">BNO08x</a>* hal_imu);</div>
+<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span> </div>
+<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>        <span class="keyword">static</span> <span class="keywordtype">int</span> <a class="code hl_function" href="class_b_n_o08x_s_h2_h_a_l.html#ae079b1384cba806a778eb0e27f981da0">spi_open</a>(sh2_Hal_t* self);</div>
+<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>        <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x_s_h2_h_a_l.html#a5fa6b901d1790fcd7dc0905f62ae040f">spi_close</a>(sh2_Hal_t* self);</div>
+<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>        <span class="keyword">static</span> <span class="keywordtype">int</span> <a class="code hl_function" href="class_b_n_o08x_s_h2_h_a_l.html#a3e691461235b3e3c59866ac179d06f25">spi_read</a>(sh2_Hal_t* self, uint8_t* pBuffer, <span class="keywordtype">unsigned</span> len, uint32_t* t_us);</div>
+<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>        <span class="keyword">static</span> <span class="keywordtype">int</span> <a class="code hl_function" href="class_b_n_o08x_s_h2_h_a_l.html#a96d5b8fa7669f22cd0ecaf1feee13299">spi_write</a>(sh2_Hal_t* self, uint8_t* pBuffer, <span class="keywordtype">unsigned</span> len);</div>
+<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>        <span class="keyword">static</span> uint32_t <a class="code hl_function" href="class_b_n_o08x_s_h2_h_a_l.html#ad89b6a3166e2eee003ad87a517a31cd5">get_time_us</a>(sh2_Hal_t* self);</div>
+<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>        <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x_s_h2_h_a_l.html#a1add67e38698c9f33541af7bd2912d8f">hal_cb</a>(<span class="keywordtype">void</span>* cookie, sh2_AsyncEvent_t* pEvent);</div>
+<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>        <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x_s_h2_h_a_l.html#a19c041ef614d7eda85b94b10202a3997">sensor_event_cb</a>(<span class="keywordtype">void</span>* cookie, sh2_SensorEvent_t* event);</div>
+<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span> </div>
+<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>    <span class="keyword">private</span>:</div>
+<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span>        <span class="keyword">static</span> <a class="code hl_class" href="class_b_n_o08x.html">BNO08x</a>* imu;</div>
+<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>        <span class="keyword">static</span> <span class="keywordtype">void</span> hardware_reset();</div>
+<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>        <span class="keyword">static</span> <span class="keywordtype">bool</span> spi_wait_for_int();</div>
+<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>        <span class="keyword">static</span> uint16_t spi_read_sh2_packet_header(uint8_t* pBuffer);</div>
+<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>        <span class="keyword">static</span> <span class="keywordtype">int</span> spi_read_sh2_packet_body(uint8_t* pBuffer, uint16_t packet_sz);</div>
+<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span> </div>
+<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> <span class="keywordtype">char</span>* TAG = <span class="stringliteral">&quot;BNO08xSH2HAL&quot;</span>;</div>
+<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>};</div>
+<div class="ttc" id="a_b_n_o08x_private_types_8hpp_html"><div class="ttname"><a href="_b_n_o08x_private_types_8hpp.html">BNO08xPrivateTypes.hpp</a></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="ttdoc">BNO08x IMU driver class.</div><div class="ttdef"><b>Definition:</b> BNO08x.hpp:33</div></div>
+<div class="ttc" id="aclass_b_n_o08x_s_h2_h_a_l_html"><div class="ttname"><a href="class_b_n_o08x_s_h2_h_a_l.html">BNO08xSH2HAL</a></div><div class="ttdoc">Fully static class containing callback implementations for sh2 HAL lib.</div><div class="ttdef"><b>Definition:</b> BNO08xSH2HAL.hpp:72</div></div>
+<div class="ttc" id="aclass_b_n_o08x_s_h2_h_a_l_html_a19c041ef614d7eda85b94b10202a3997"><div class="ttname"><a href="class_b_n_o08x_s_h2_h_a_l.html#a19c041ef614d7eda85b94b10202a3997">BNO08xSH2HAL::sensor_event_cb</a></div><div class="ttdeci">static void sensor_event_cb(void *cookie, sh2_SensorEvent_t *event)</div><div class="ttdoc">Sensor event callback for sh2 HAL lib, sends received reports to data_proc_task().</div><div class="ttdef"><b>Definition:</b> BNO08xSH2HAL.cpp:155</div></div>
+<div class="ttc" id="aclass_b_n_o08x_s_h2_h_a_l_html_a1add67e38698c9f33541af7bd2912d8f"><div class="ttname"><a href="class_b_n_o08x_s_h2_h_a_l.html#a1add67e38698c9f33541af7bd2912d8f">BNO08xSH2HAL::hal_cb</a></div><div class="ttdeci">static void hal_cb(void *cookie, sh2_AsyncEvent_t *pEvent)</div><div class="ttdoc">General event callback for sh2 HAL lib, used to notify tasks of reset.</div><div class="ttdef"><b>Definition:</b> BNO08xSH2HAL.cpp:141</div></div>
+<div class="ttc" id="aclass_b_n_o08x_s_h2_h_a_l_html_a236ccf0ff8d36060b465bc1f4f0a37fa"><div class="ttname"><a href="class_b_n_o08x_s_h2_h_a_l.html#a236ccf0ff8d36060b465bc1f4f0a37fa">BNO08xSH2HAL::set_hal_imu</a></div><div class="ttdeci">static void set_hal_imu(BNO08x *hal_imu)</div><div class="ttdoc">Sets the BNO08x driver object to be used with sh2 HAL lib callbacks.</div><div class="ttdef"><b>Definition:</b> BNO08xSH2HAL.cpp:18</div></div>
+<div class="ttc" id="aclass_b_n_o08x_s_h2_h_a_l_html_a3e691461235b3e3c59866ac179d06f25"><div class="ttname"><a href="class_b_n_o08x_s_h2_h_a_l.html#a3e691461235b3e3c59866ac179d06f25">BNO08xSH2HAL::spi_read</a></div><div class="ttdeci">static int spi_read(sh2_Hal_t *self, uint8_t *pBuffer, unsigned len, uint32_t *t_us)</div><div class="ttdoc">SPI rx callback for sh2 HAL lib.</div><div class="ttdef"><b>Definition:</b> BNO08xSH2HAL.cpp:56</div></div>
+<div class="ttc" id="aclass_b_n_o08x_s_h2_h_a_l_html_a5fa6b901d1790fcd7dc0905f62ae040f"><div class="ttname"><a href="class_b_n_o08x_s_h2_h_a_l.html#a5fa6b901d1790fcd7dc0905f62ae040f">BNO08xSH2HAL::spi_close</a></div><div class="ttdeci">static void spi_close(sh2_Hal_t *self)</div><div class="ttdoc">Closes SPI instance (nothing to do here, but required by sh2 HAL lib for cases where other communicat...</div><div class="ttdef"><b>Definition:</b> BNO08xSH2HAL.cpp:41</div></div>
+<div class="ttc" id="aclass_b_n_o08x_s_h2_h_a_l_html_a96d5b8fa7669f22cd0ecaf1feee13299"><div class="ttname"><a href="class_b_n_o08x_s_h2_h_a_l.html#a96d5b8fa7669f22cd0ecaf1feee13299">BNO08xSH2HAL::spi_write</a></div><div class="ttdeci">static int spi_write(sh2_Hal_t *self, uint8_t *pBuffer, unsigned len)</div><div class="ttdoc">SPI tx callback for sh2 HAL lib.</div><div class="ttdef"><b>Definition:</b> BNO08xSH2HAL.cpp:92</div></div>
+<div class="ttc" id="aclass_b_n_o08x_s_h2_h_a_l_html_ad89b6a3166e2eee003ad87a517a31cd5"><div class="ttname"><a href="class_b_n_o08x_s_h2_h_a_l.html#ad89b6a3166e2eee003ad87a517a31cd5">BNO08xSH2HAL::get_time_us</a></div><div class="ttdeci">static uint32_t get_time_us(sh2_Hal_t *self)</div><div class="ttdoc">Get time in microseconds callback for sh2 HAL lib.</div><div class="ttdef"><b>Definition:</b> BNO08xSH2HAL.cpp:123</div></div>
+<div class="ttc" id="aclass_b_n_o08x_s_h2_h_a_l_html_ae079b1384cba806a778eb0e27f981da0"><div class="ttname"><a href="class_b_n_o08x_s_h2_h_a_l.html#ae079b1384cba806a778eb0e27f981da0">BNO08xSH2HAL::spi_open</a></div><div class="ttdeci">static int spi_open(sh2_Hal_t *self)</div><div class="ttdoc">Opens SPI instance by waiting for interrupt.</div><div class="ttdef"><b>Definition:</b> BNO08xSH2HAL.cpp:28</div></div>
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+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> unit test helper class.  <a href="class_b_n_o08x_test_helper.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><dl class="section author"><dt>Author</dt><dd>Myles Parfeniuk </dd></dl>
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+<meta name="generator" content="Doxygen 1.9.4"/>
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+<title>esp32_BNO08x: /media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/BNO08xTestHelper.hpp Source File</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</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 1.9.4 -->
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+     onmouseover="return searchBox.OnSearchSelectShow()"
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+        name="MSearchResults" id="MSearchResults">
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+
+<div class="header">
+  <div class="headertitle"><div class="title">BNO08xTestHelper.hpp</div></div>
+</div><!--header-->
+<div class="contents">
+<a href="_b_n_o08x_test_helper_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> </div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span> </div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="comment">// in-house includes</span></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="preprocessor">#include &quot;<a class="code" href="_b_n_o08x_8hpp.html">BNO08x.hpp</a>&quot;</span></div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span> </div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"><a class="line" href="class_b_n_o08x_test_helper.html">   16</a></span><span class="keyword">class </span><a class="code hl_class" href="class_b_n_o08x_test_helper.html">BNO08xTestHelper</a></div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span>{</div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span>    <span class="keyword">private</span>:</div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>        <span class="keyword">static</span> <span class="keyword">inline</span> uint8_t test_imu_buffer[<span class="keyword">sizeof</span>(<a class="code hl_class" href="class_b_n_o08x.html">BNO08x</a>)];</div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span>        <span class="keyword">inline</span> <span class="keyword">static</span> <a class="code hl_class" href="class_b_n_o08x.html">BNO08x</a>* test_imu = <span class="keyword">nullptr</span>;</div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>        <span class="keyword">inline</span> <span class="keyword">static</span> <a class="code hl_struct" href="structbno08x__config__t.html">bno08x_config_t</a> imu_cfg;</div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span> </div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> <span class="keywordtype">char</span>* TAG = <span class="stringliteral">&quot;BNO08xTestHelper&quot;</span>;</div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span> </div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>    <span class="keyword">public</span>:</div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"><a class="line" href="class_b_n_o08x_test_helper.html#a066f8389fd1c682ec9565ebc3060d885">   33</a></span>        <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x_test_helper.html#a066f8389fd1c682ec9565ebc3060d885">print_test_start_banner</a>(<span class="keyword">const</span> <span class="keywordtype">char</span>* TEST_TAG)</div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>        {</div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>            printf(<span class="stringliteral">&quot;------------------------ BEGIN TEST: %s ------------------------\n\r&quot;</span>, TEST_TAG);</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> </div>
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"><a class="line" href="class_b_n_o08x_test_helper.html#a16423fc3250e88eb5392800022f82919">   45</a></span>        <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x_test_helper.html#a16423fc3250e88eb5392800022f82919">print_test_end_banner</a>(<span class="keyword">const</span> <span class="keywordtype">char</span>* TEST_TAG)</div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>        {</div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>            printf(<span class="stringliteral">&quot;------------------------ END TEST: %s ------------------------\n\r&quot;</span>, TEST_TAG);</div>
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>        }</div>
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span> </div>
+<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"><a class="line" href="class_b_n_o08x_test_helper.html#a23593453a05f7cac26fd341371197a8c">   58</a></span>        <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x_test_helper.html#a23593453a05f7cac26fd341371197a8c">print_test_msg</a>(<span class="keyword">const</span> <span class="keywordtype">char</span>* TEST_TAG, <span class="keyword">const</span> <span class="keywordtype">char</span>* msg)</div>
+<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>        {</div>
+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>            printf(<span class="stringliteral">&quot;%s: %s: %s\n\r&quot;</span>, TAG, TEST_TAG, msg);</div>
+<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>        }</div>
+<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span> </div>
+<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"><a class="line" href="class_b_n_o08x_test_helper.html#a9e2f9bf13f28f1a6ba87e86bc5947cf1">   70</a></span>        <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x_test_helper.html#a9e2f9bf13f28f1a6ba87e86bc5947cf1">set_test_imu_cfg</a>(<a class="code hl_struct" href="structbno08x__config__t.html">bno08x_config_t</a> cfg)</div>
+<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>        {</div>
+<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>            imu_cfg = cfg;</div>
+<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>        }</div>
+<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span> </div>
+<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"><a class="line" href="class_b_n_o08x_test_helper.html#a6bd040c7d670a9713f2ab8a8a3913518">   80</a></span>        <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x_test_helper.html#a6bd040c7d670a9713f2ab8a8a3913518">create_test_imu</a>()</div>
+<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>        {</div>
+<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>            <span class="keywordflow">if</span> (test_imu != <span class="keyword">nullptr</span>)</div>
+<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>                <a class="code hl_function" href="class_b_n_o08x_test_helper.html#ae2d6df7dcfdbd106c2247803461bbc40">destroy_test_imu</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>            test_imu = <span class="keyword">new</span> (&amp;test_imu_buffer) <a class="code hl_class" href="class_b_n_o08x.html">BNO08x</a>();</div>
+<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>        }</div>
+<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span> </div>
+<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"><a class="line" href="class_b_n_o08x_test_helper.html#ae2d6df7dcfdbd106c2247803461bbc40">   93</a></span>        <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x_test_helper.html#ae2d6df7dcfdbd106c2247803461bbc40">destroy_test_imu</a>()</div>
+<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span>        {</div>
+<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span>            <span class="keywordflow">if</span> (test_imu != <span class="keyword">nullptr</span>)</div>
+<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span>            {</div>
+<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span>                test_imu-&gt;~BNO08x();  </div>
+<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span>                test_imu = <span class="keyword">nullptr</span>;</div>
+<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>            }</div>
+<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>        }</div>
+<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span> </div>
+<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"><a class="line" href="class_b_n_o08x_test_helper.html#a41a432a3fe288e45b6ab139a00bd7d6b">  107</a></span>        <span class="keyword">static</span> <a class="code hl_class" href="class_b_n_o08x.html">BNO08x</a>* <a class="code hl_function" href="class_b_n_o08x_test_helper.html#a41a432a3fe288e45b6ab139a00bd7d6b">get_test_imu</a>()</div>
+<div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span>        {</div>
+<div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span>            <span class="keywordflow">return</span> test_imu;</div>
+<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span>        }</div>
+<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span> </div>
+<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"><a class="line" href="class_b_n_o08x_test_helper.html#a71d9fd7d459a98a7e9089a8587a21f8d">  117</a></span>        <span class="keyword">static</span> esp_err_t <a class="code hl_function" href="class_b_n_o08x_test_helper.html#a71d9fd7d459a98a7e9089a8587a21f8d">call_init_config_args</a>()</div>
+<div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span>        {</div>
+<div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span>            <span class="keywordflow">if</span> (test_imu == <span class="keyword">nullptr</span>)</div>
+<div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span>                <span class="keywordflow">return</span> ESP_FAIL;</div>
+<div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span> </div>
+<div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span>            <span class="keywordflow">return</span> test_imu-&gt;init_config_args();</div>
+<div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span>        }</div>
+<div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span> </div>
+<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"><a class="line" href="class_b_n_o08x_test_helper.html#a504749533ccd91890d73440809d38161">  130</a></span>        <span class="keyword">static</span> esp_err_t <a class="code hl_function" href="class_b_n_o08x_test_helper.html#a504749533ccd91890d73440809d38161">call_init_gpio</a>()</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="keywordflow">if</span> (test_imu == <span class="keyword">nullptr</span>)</div>
+<div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span>                <span class="keywordflow">return</span> ESP_FAIL;</div>
+<div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span> </div>
+<div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span>            <span class="keywordflow">return</span> test_imu-&gt;init_gpio();</div>
+<div class="line"><a id="l00136" name="l00136"></a><span class="lineno">  136</span>        }</div>
+<div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span> </div>
+<div class="line"><a id="l00143" name="l00143"></a><span class="lineno"><a class="line" href="class_b_n_o08x_test_helper.html#a836c928981ac85d34668c9b97af17a15">  143</a></span>        <span class="keyword">static</span> esp_err_t <a class="code hl_function" href="class_b_n_o08x_test_helper.html#a836c928981ac85d34668c9b97af17a15">call_init_hint_isr</a>()</div>
+<div class="line"><a id="l00144" name="l00144"></a><span class="lineno">  144</span>        {</div>
+<div class="line"><a id="l00145" name="l00145"></a><span class="lineno">  145</span>            <span class="keywordflow">if</span> (test_imu == <span class="keyword">nullptr</span>)</div>
+<div class="line"><a id="l00146" name="l00146"></a><span class="lineno">  146</span>                <span class="keywordflow">return</span> ESP_FAIL;</div>
+<div class="line"><a id="l00147" name="l00147"></a><span class="lineno">  147</span> </div>
+<div class="line"><a id="l00148" name="l00148"></a><span class="lineno">  148</span>            <span class="keywordflow">return</span> test_imu-&gt;init_hint_isr();</div>
+<div class="line"><a id="l00149" name="l00149"></a><span class="lineno">  149</span>        }</div>
+<div class="line"><a id="l00150" name="l00150"></a><span class="lineno">  150</span> </div>
+<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"><a class="line" href="class_b_n_o08x_test_helper.html#a7d2d784da1e850dab41154b35d7cdab5">  156</a></span>        <span class="keyword">static</span> esp_err_t <a class="code hl_function" href="class_b_n_o08x_test_helper.html#a7d2d784da1e850dab41154b35d7cdab5">call_init_spi</a>()</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>            <span class="keywordflow">if</span> (test_imu == <span class="keyword">nullptr</span>)</div>
+<div class="line"><a id="l00159" name="l00159"></a><span class="lineno">  159</span>                <span class="keywordflow">return</span> ESP_FAIL;</div>
+<div class="line"><a id="l00160" name="l00160"></a><span class="lineno">  160</span> </div>
+<div class="line"><a id="l00161" name="l00161"></a><span class="lineno">  161</span>            <span class="keywordflow">return</span> test_imu-&gt;init_spi();</div>
+<div class="line"><a id="l00162" name="l00162"></a><span class="lineno">  162</span>        }</div>
+<div class="line"><a id="l00163" name="l00163"></a><span class="lineno">  163</span> </div>
+<div class="line"><a id="l00169" name="l00169"></a><span class="lineno"><a class="line" href="class_b_n_o08x_test_helper.html#a935a69784981caf90b4e135e3e257db4">  169</a></span>        <span class="keyword">static</span> esp_err_t <a class="code hl_function" href="class_b_n_o08x_test_helper.html#a935a69784981caf90b4e135e3e257db4">call_init_tasks</a>()</div>
+<div class="line"><a id="l00170" name="l00170"></a><span class="lineno">  170</span>        {</div>
+<div class="line"><a id="l00171" name="l00171"></a><span class="lineno">  171</span>            <span class="keywordflow">if</span> (test_imu == <span class="keyword">nullptr</span>)</div>
+<div class="line"><a id="l00172" name="l00172"></a><span class="lineno">  172</span>                <span class="keywordflow">return</span> ESP_FAIL;</div>
+<div class="line"><a id="l00173" name="l00173"></a><span class="lineno">  173</span> </div>
+<div class="line"><a id="l00174" name="l00174"></a><span class="lineno">  174</span>            <span class="keywordflow">return</span> test_imu-&gt;init_tasks();</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> </div>
+<div class="line"><a id="l00182" name="l00182"></a><span class="lineno"><a class="line" href="class_b_n_o08x_test_helper.html#a854c60f602fe6d9af1da1a07eee0a449">  182</a></span>        <span class="keyword">static</span> esp_err_t <a class="code hl_function" href="class_b_n_o08x_test_helper.html#a854c60f602fe6d9af1da1a07eee0a449">call_init_sh2_HAL</a>()</div>
+<div class="line"><a id="l00183" name="l00183"></a><span class="lineno">  183</span>        {</div>
+<div class="line"><a id="l00184" name="l00184"></a><span class="lineno">  184</span>            <span class="keywordflow">if</span> (test_imu == <span class="keyword">nullptr</span>)</div>
+<div class="line"><a id="l00185" name="l00185"></a><span class="lineno">  185</span>                <span class="keywordflow">return</span> ESP_FAIL;</div>
+<div class="line"><a id="l00186" name="l00186"></a><span class="lineno">  186</span> </div>
+<div class="line"><a id="l00187" name="l00187"></a><span class="lineno">  187</span>            <span class="keywordflow">return</span> test_imu-&gt;init_sh2_HAL();</div>
+<div class="line"><a id="l00188" name="l00188"></a><span class="lineno">  188</span>        }</div>
+<div class="line"><a id="l00189" name="l00189"></a><span class="lineno">  189</span> </div>
+<div class="line"><a id="l00195" name="l00195"></a><span class="lineno"><a class="line" href="class_b_n_o08x_test_helper.html#a347b8ca2697388394b7cb68c8895494b">  195</a></span>        <span class="keyword">static</span> esp_err_t <a class="code hl_function" href="class_b_n_o08x_test_helper.html#a347b8ca2697388394b7cb68c8895494b">call_deinit_gpio</a>()</div>
+<div class="line"><a id="l00196" name="l00196"></a><span class="lineno">  196</span>        {</div>
+<div class="line"><a id="l00197" name="l00197"></a><span class="lineno">  197</span>            <span class="keywordflow">if</span> (test_imu == <span class="keyword">nullptr</span>)</div>
+<div class="line"><a id="l00198" name="l00198"></a><span class="lineno">  198</span>                <span class="keywordflow">return</span> ESP_FAIL;</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>            <span class="keywordflow">return</span> test_imu-&gt;deinit_gpio();</div>
+<div class="line"><a id="l00201" name="l00201"></a><span class="lineno">  201</span>        }</div>
+<div class="line"><a id="l00202" name="l00202"></a><span class="lineno">  202</span> </div>
+<div class="line"><a id="l00208" name="l00208"></a><span class="lineno"><a class="line" href="class_b_n_o08x_test_helper.html#ac15a216ea5561b190f25f83caa749261">  208</a></span>        <span class="keyword">static</span> esp_err_t <a class="code hl_function" href="class_b_n_o08x_test_helper.html#ac15a216ea5561b190f25f83caa749261">call_deinit_hint_isr</a>()</div>
+<div class="line"><a id="l00209" name="l00209"></a><span class="lineno">  209</span>        {</div>
+<div class="line"><a id="l00210" name="l00210"></a><span class="lineno">  210</span>            <span class="keywordflow">if</span> (test_imu == <span class="keyword">nullptr</span>)</div>
+<div class="line"><a id="l00211" name="l00211"></a><span class="lineno">  211</span>                <span class="keywordflow">return</span> ESP_FAIL;</div>
+<div class="line"><a id="l00212" name="l00212"></a><span class="lineno">  212</span> </div>
+<div class="line"><a id="l00213" name="l00213"></a><span class="lineno">  213</span>            <span class="keywordflow">return</span> test_imu-&gt;deinit_hint_isr();</div>
+<div class="line"><a id="l00214" name="l00214"></a><span class="lineno">  214</span>        }</div>
+<div class="line"><a id="l00215" name="l00215"></a><span class="lineno">  215</span> </div>
+<div class="line"><a id="l00221" name="l00221"></a><span class="lineno"><a class="line" href="class_b_n_o08x_test_helper.html#a56ec98df9439461469bf0d2c23bb3868">  221</a></span>        <span class="keyword">static</span> esp_err_t <a class="code hl_function" href="class_b_n_o08x_test_helper.html#a56ec98df9439461469bf0d2c23bb3868">call_deinit_spi</a>()</div>
+<div class="line"><a id="l00222" name="l00222"></a><span class="lineno">  222</span>        {</div>
+<div class="line"><a id="l00223" name="l00223"></a><span class="lineno">  223</span>            <span class="keywordflow">if</span> (test_imu == <span class="keyword">nullptr</span>)</div>
+<div class="line"><a id="l00224" name="l00224"></a><span class="lineno">  224</span>                <span class="keywordflow">return</span> ESP_FAIL;</div>
+<div class="line"><a id="l00225" name="l00225"></a><span class="lineno">  225</span> </div>
+<div class="line"><a id="l00226" name="l00226"></a><span class="lineno">  226</span>            <span class="keywordflow">return</span> test_imu-&gt;deinit_spi();</div>
+<div class="line"><a id="l00227" name="l00227"></a><span class="lineno">  227</span>        }</div>
+<div class="line"><a id="l00228" name="l00228"></a><span class="lineno">  228</span> </div>
+<div class="line"><a id="l00234" name="l00234"></a><span class="lineno"><a class="line" href="class_b_n_o08x_test_helper.html#a3be103abfab70eef3c1b1609a0c46bec">  234</a></span>        <span class="keyword">static</span> esp_err_t <a class="code hl_function" href="class_b_n_o08x_test_helper.html#a3be103abfab70eef3c1b1609a0c46bec">call_deinit_tasks</a>()</div>
+<div class="line"><a id="l00235" name="l00235"></a><span class="lineno">  235</span>        {</div>
+<div class="line"><a id="l00236" name="l00236"></a><span class="lineno">  236</span>            <span class="keywordflow">if</span> (test_imu == <span class="keyword">nullptr</span>)</div>
+<div class="line"><a id="l00237" name="l00237"></a><span class="lineno">  237</span>                <span class="keywordflow">return</span> ESP_FAIL;</div>
+<div class="line"><a id="l00238" name="l00238"></a><span class="lineno">  238</span> </div>
+<div class="line"><a id="l00239" name="l00239"></a><span class="lineno">  239</span>            <span class="keywordflow">return</span> test_imu-&gt;deinit_tasks();</div>
+<div class="line"><a id="l00240" name="l00240"></a><span class="lineno">  240</span>        }</div>
+<div class="line"><a id="l00241" name="l00241"></a><span class="lineno">  241</span> </div>
+<div class="line"><a id="l00247" name="l00247"></a><span class="lineno"><a class="line" href="class_b_n_o08x_test_helper.html#ab1f8d61956fbceecf0baf08cb878397d">  247</a></span>        <span class="keyword">static</span> esp_err_t <a class="code hl_function" href="class_b_n_o08x_test_helper.html#ab1f8d61956fbceecf0baf08cb878397d">call_deinit_sh2_HAL</a>()</div>
+<div class="line"><a id="l00248" name="l00248"></a><span class="lineno">  248</span>        {</div>
+<div class="line"><a id="l00249" name="l00249"></a><span class="lineno">  249</span>            <span class="keywordflow">if</span> (test_imu == <span class="keyword">nullptr</span>)</div>
+<div class="line"><a id="l00250" name="l00250"></a><span class="lineno">  250</span>                <span class="keywordflow">return</span> ESP_FAIL;</div>
+<div class="line"><a id="l00251" name="l00251"></a><span class="lineno">  251</span> </div>
+<div class="line"><a id="l00252" name="l00252"></a><span class="lineno">  252</span>            <span class="keywordflow">return</span> test_imu-&gt;deinit_sh2_HAL();</div>
+<div class="line"><a id="l00253" name="l00253"></a><span class="lineno">  253</span>        }</div>
+<div class="line"><a id="l00254" name="l00254"></a><span class="lineno">  254</span>};</div>
+<div class="ttc" id="a_b_n_o08x_8hpp_html"><div class="ttname"><a href="_b_n_o08x_8hpp.html">BNO08x.hpp</a></div></div>
+<div class="ttc" id="aclass_b_n_o08x_html"><div class="ttname"><a href="class_b_n_o08x.html">BNO08x</a></div><div class="ttdoc">BNO08x IMU driver class.</div><div class="ttdef"><b>Definition:</b> BNO08x.hpp:33</div></div>
+<div class="ttc" id="aclass_b_n_o08x_test_helper_html"><div class="ttname"><a href="class_b_n_o08x_test_helper.html">BNO08xTestHelper</a></div><div class="ttdoc">BNO08x unit test helper class.</div><div class="ttdef"><b>Definition:</b> BNO08xTestHelper.hpp:17</div></div>
+<div class="ttc" id="aclass_b_n_o08x_test_helper_html_a066f8389fd1c682ec9565ebc3060d885"><div class="ttname"><a href="class_b_n_o08x_test_helper.html#a066f8389fd1c682ec9565ebc3060d885">BNO08xTestHelper::print_test_start_banner</a></div><div class="ttdeci">static void print_test_start_banner(const char *TEST_TAG)</div><div class="ttdoc">Prints test begin banner.</div><div class="ttdef"><b>Definition:</b> BNO08xTestHelper.hpp:33</div></div>
+<div class="ttc" id="aclass_b_n_o08x_test_helper_html_a16423fc3250e88eb5392800022f82919"><div class="ttname"><a href="class_b_n_o08x_test_helper.html#a16423fc3250e88eb5392800022f82919">BNO08xTestHelper::print_test_end_banner</a></div><div class="ttdeci">static void print_test_end_banner(const char *TEST_TAG)</div><div class="ttdoc">Prints end begin banner.</div><div class="ttdef"><b>Definition:</b> BNO08xTestHelper.hpp:45</div></div>
+<div class="ttc" id="aclass_b_n_o08x_test_helper_html_a23593453a05f7cac26fd341371197a8c"><div class="ttname"><a href="class_b_n_o08x_test_helper.html#a23593453a05f7cac26fd341371197a8c">BNO08xTestHelper::print_test_msg</a></div><div class="ttdeci">static void print_test_msg(const char *TEST_TAG, const char *msg)</div><div class="ttdoc">Prints a message during a test.</div><div class="ttdef"><b>Definition:</b> BNO08xTestHelper.hpp:58</div></div>
+<div class="ttc" id="aclass_b_n_o08x_test_helper_html_a347b8ca2697388394b7cb68c8895494b"><div class="ttname"><a href="class_b_n_o08x_test_helper.html#a347b8ca2697388394b7cb68c8895494b">BNO08xTestHelper::call_deinit_gpio</a></div><div class="ttdeci">static esp_err_t call_deinit_gpio()</div><div class="ttdoc">Used to call private BNO08x::deinit_gpio() member for tests.</div><div class="ttdef"><b>Definition:</b> BNO08xTestHelper.hpp:195</div></div>
+<div class="ttc" id="aclass_b_n_o08x_test_helper_html_a3be103abfab70eef3c1b1609a0c46bec"><div class="ttname"><a href="class_b_n_o08x_test_helper.html#a3be103abfab70eef3c1b1609a0c46bec">BNO08xTestHelper::call_deinit_tasks</a></div><div class="ttdeci">static esp_err_t call_deinit_tasks()</div><div class="ttdoc">Used to call private BNO08x::deinit_tasks() member for tests.</div><div class="ttdef"><b>Definition:</b> BNO08xTestHelper.hpp:234</div></div>
+<div class="ttc" id="aclass_b_n_o08x_test_helper_html_a41a432a3fe288e45b6ab139a00bd7d6b"><div class="ttname"><a href="class_b_n_o08x_test_helper.html#a41a432a3fe288e45b6ab139a00bd7d6b">BNO08xTestHelper::get_test_imu</a></div><div class="ttdeci">static BNO08x * get_test_imu()</div><div class="ttdoc">Deletes test IMU calling deconstructor and releases heap allocated memory.</div><div class="ttdef"><b>Definition:</b> BNO08xTestHelper.hpp:107</div></div>
+<div class="ttc" id="aclass_b_n_o08x_test_helper_html_a504749533ccd91890d73440809d38161"><div class="ttname"><a href="class_b_n_o08x_test_helper.html#a504749533ccd91890d73440809d38161">BNO08xTestHelper::call_init_gpio</a></div><div class="ttdeci">static esp_err_t call_init_gpio()</div><div class="ttdoc">Used to call private BNO08x::init_gpio() member for tests.</div><div class="ttdef"><b>Definition:</b> BNO08xTestHelper.hpp:130</div></div>
+<div class="ttc" id="aclass_b_n_o08x_test_helper_html_a56ec98df9439461469bf0d2c23bb3868"><div class="ttname"><a href="class_b_n_o08x_test_helper.html#a56ec98df9439461469bf0d2c23bb3868">BNO08xTestHelper::call_deinit_spi</a></div><div class="ttdeci">static esp_err_t call_deinit_spi()</div><div class="ttdoc">Used to call private BNO08x::deinit_spi() member for tests.</div><div class="ttdef"><b>Definition:</b> BNO08xTestHelper.hpp:221</div></div>
+<div class="ttc" id="aclass_b_n_o08x_test_helper_html_a6bd040c7d670a9713f2ab8a8a3913518"><div class="ttname"><a href="class_b_n_o08x_test_helper.html#a6bd040c7d670a9713f2ab8a8a3913518">BNO08xTestHelper::create_test_imu</a></div><div class="ttdeci">static void create_test_imu()</div><div class="ttdoc">Calls BNO08x constructor and creates new test IMU on heap.</div><div class="ttdef"><b>Definition:</b> BNO08xTestHelper.hpp:80</div></div>
+<div class="ttc" id="aclass_b_n_o08x_test_helper_html_a71d9fd7d459a98a7e9089a8587a21f8d"><div class="ttname"><a href="class_b_n_o08x_test_helper.html#a71d9fd7d459a98a7e9089a8587a21f8d">BNO08xTestHelper::call_init_config_args</a></div><div class="ttdeci">static esp_err_t call_init_config_args()</div><div class="ttdoc">Used to call private BNO08x::init_config_args() member for tests.</div><div class="ttdef"><b>Definition:</b> BNO08xTestHelper.hpp:117</div></div>
+<div class="ttc" id="aclass_b_n_o08x_test_helper_html_a7d2d784da1e850dab41154b35d7cdab5"><div class="ttname"><a href="class_b_n_o08x_test_helper.html#a7d2d784da1e850dab41154b35d7cdab5">BNO08xTestHelper::call_init_spi</a></div><div class="ttdeci">static esp_err_t call_init_spi()</div><div class="ttdoc">Used to call private BNO08x::init_spi() member for tests.</div><div class="ttdef"><b>Definition:</b> BNO08xTestHelper.hpp:156</div></div>
+<div class="ttc" id="aclass_b_n_o08x_test_helper_html_a836c928981ac85d34668c9b97af17a15"><div class="ttname"><a href="class_b_n_o08x_test_helper.html#a836c928981ac85d34668c9b97af17a15">BNO08xTestHelper::call_init_hint_isr</a></div><div class="ttdeci">static esp_err_t call_init_hint_isr()</div><div class="ttdoc">Used to call private BNO08x::init_hint_isr() member for tests.</div><div class="ttdef"><b>Definition:</b> BNO08xTestHelper.hpp:143</div></div>
+<div class="ttc" id="aclass_b_n_o08x_test_helper_html_a854c60f602fe6d9af1da1a07eee0a449"><div class="ttname"><a href="class_b_n_o08x_test_helper.html#a854c60f602fe6d9af1da1a07eee0a449">BNO08xTestHelper::call_init_sh2_HAL</a></div><div class="ttdeci">static esp_err_t call_init_sh2_HAL()</div><div class="ttdoc">Used to call private BNO08x::init_tasks() member for tests.</div><div class="ttdef"><b>Definition:</b> BNO08xTestHelper.hpp:182</div></div>
+<div class="ttc" id="aclass_b_n_o08x_test_helper_html_a935a69784981caf90b4e135e3e257db4"><div class="ttname"><a href="class_b_n_o08x_test_helper.html#a935a69784981caf90b4e135e3e257db4">BNO08xTestHelper::call_init_tasks</a></div><div class="ttdeci">static esp_err_t call_init_tasks()</div><div class="ttdoc">Used to call private BNO08x::init_tasks() member for tests.</div><div class="ttdef"><b>Definition:</b> BNO08xTestHelper.hpp:169</div></div>
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+<title>esp32_BNO08x: /media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/BNO08xTestSuite.hpp Source File</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
+   </div>
+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
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+<div class="header">
+  <div class="headertitle"><div class="title">BNO08xTestSuite.hpp</div></div>
+</div><!--header-->
+<div class="contents">
+<a href="_b_n_o08x_test_suite_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> </div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span> </div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="comment">// esp-idf includes</span></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="preprocessor">#include &quot;unity.h&quot;</span></div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="comment">// in-house includes</span></div>
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="preprocessor">#include &quot;<a class="code" href="_b_n_o08x_test_helper_8hpp.html">BNO08xTestHelper.hpp</a>&quot;</span></div>
+<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span> </div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"><a class="line" href="class_b_n_o08x_test_suite.html">   18</a></span><span class="keyword">class </span><a class="code hl_class" href="class_b_n_o08x_test_suite.html">BNO08xTestSuite</a></div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>{</div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span> </div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>    <span class="keyword">private</span>:</div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span>        <span class="keyword">static</span> <span class="keywordtype">void</span> print_begin_tests_banner(<span class="keyword">const</span> <span class="keywordtype">char</span>* test_set_name)</div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>        {</div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>            printf(<span class="stringliteral">&quot;####################### BEGIN TESTS: %s #######################\n\r&quot;</span>, test_set_name);</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">   26</span> </div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>        <span class="keyword">static</span> <span class="keywordtype">void</span> print_end_tests_banner(<span class="keyword">const</span> <span class="keywordtype">char</span>* test_set_name)</div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>        {</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>            printf(<span class="stringliteral">&quot;####################### END TESTS: %s #######################\n\r&quot;</span>, test_set_name);</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>        }</div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span> </div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>    <span class="keyword">public</span>:</div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"><a class="line" href="class_b_n_o08x_test_suite.html#ac12545fe311a98e9c0ae6fea77da95fd">   33</a></span>        <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x_test_suite.html#ac12545fe311a98e9c0ae6fea77da95fd">run_all_tests</a>()</div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>        {</div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>            UNITY_BEGIN();</div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>            <a class="code hl_function" href="class_b_n_o08x_test_suite.html#a53de9b0fe1b28c18e3a1ca4c68a06f16">run_init_deinit_tests</a>(<span class="keyword">false</span>);</div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>            <a class="code hl_function" href="class_b_n_o08x_test_suite.html#a37899d7bf67fce5c3dd77dd5647f8ecb">run_single_report_tests</a>(<span class="keyword">false</span>);</div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>            <a class="code hl_function" href="class_b_n_o08x_test_suite.html#a916cff374791381de61f1035f9935ac5">run_multi_report_tests</a>(<span class="keyword">false</span>);</div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>            <a class="code hl_function" href="class_b_n_o08x_test_suite.html#a8e294955bf512e2e88c086f04f6030a8">run_callback_tests</a>(<span class="keyword">false</span>);</div>
+<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>            <a class="code hl_function" href="class_b_n_o08x_test_suite.html#a8d7a3485fdf1ff9c0a09736654187434">run_feature_tests</a>(<span class="keyword">false</span>);</div>
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>            UNITY_END();</div>
+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span>        }</div>
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span> </div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"><a class="line" href="class_b_n_o08x_test_suite.html#a53de9b0fe1b28c18e3a1ca4c68a06f16">   44</a></span>        <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x_test_suite.html#a53de9b0fe1b28c18e3a1ca4c68a06f16">run_init_deinit_tests</a>(<span class="keywordtype">bool</span> call_unity_end_begin = <span class="keyword">true</span>)</div>
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span>        {</div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>            print_begin_tests_banner(<span class="stringliteral">&quot;init_denit_tests&quot;</span>);</div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span> </div>
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>            <span class="keywordflow">if</span> (call_unity_end_begin)</div>
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>                UNITY_BEGIN();</div>
+<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span> </div>
+<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>            unity_run_tests_by_tag(<span class="stringliteral">&quot;[InitComprehensive]&quot;</span>, <span class="keyword">false</span>);</div>
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>            unity_run_tests_by_tag(<span class="stringliteral">&quot;[DeinitComprehensive]&quot;</span>, <span class="keyword">false</span>);</div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>            unity_run_tests_by_tag(<span class="stringliteral">&quot;[InitDenit]&quot;</span>, <span class="keyword">false</span>);</div>
+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span> </div>
+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>            <span class="keywordflow">if</span> (call_unity_end_begin)</div>
+<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>                UNITY_END();</div>
+<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span> </div>
+<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>            print_end_tests_banner(<span class="stringliteral">&quot;init_denit_tests&quot;</span>);</div>
+<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>        }</div>
+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span> </div>
+<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"><a class="line" href="class_b_n_o08x_test_suite.html#a37899d7bf67fce5c3dd77dd5647f8ecb">   61</a></span>        <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x_test_suite.html#a37899d7bf67fce5c3dd77dd5647f8ecb">run_single_report_tests</a>(<span class="keywordtype">bool</span> call_unity_end_begin = <span class="keyword">true</span>)</div>
+<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>        {</div>
+<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>            print_begin_tests_banner(<span class="stringliteral">&quot;single_report_enable_disable_tests&quot;</span>);</div>
+<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span> </div>
+<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>            <span class="keywordflow">if</span> (call_unity_end_begin)</div>
+<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>                UNITY_BEGIN();</div>
+<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span> </div>
+<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>            unity_run_tests_by_tag(<span class="stringliteral">&quot;[SingleReportEnableDisable]&quot;</span>, <span class="keyword">false</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>            <span class="keywordflow">if</span> (call_unity_end_begin)</div>
+<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>                UNITY_END();</div>
+<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span> </div>
+<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>            print_end_tests_banner(<span class="stringliteral">&quot;single_report_enable_disable_tests&quot;</span>);</div>
+<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>        }</div>
+<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span> </div>
+<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"><a class="line" href="class_b_n_o08x_test_suite.html#a916cff374791381de61f1035f9935ac5">   76</a></span>        <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x_test_suite.html#a916cff374791381de61f1035f9935ac5">run_multi_report_tests</a>(<span class="keywordtype">bool</span> call_unity_end_begin = <span class="keyword">true</span>)</div>
+<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>        {</div>
+<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>            print_begin_tests_banner(<span class="stringliteral">&quot;multi_report_enable_disable_tests&quot;</span>);</div>
+<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span> </div>
+<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>            <span class="keywordflow">if</span> (call_unity_end_begin)</div>
+<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>                UNITY_BEGIN();</div>
+<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span> </div>
+<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>            unity_run_tests_by_tag(<span class="stringliteral">&quot;[MultiReportEnableDisable]&quot;</span>, <span class="keyword">false</span>);</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>            <span class="keywordflow">if</span> (call_unity_end_begin)</div>
+<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>                UNITY_END();</div>
+<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span> </div>
+<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>            print_end_tests_banner(<span class="stringliteral">&quot;multi_report_enable_disable_tests&quot;</span>);</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> </div>
+<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"><a class="line" href="class_b_n_o08x_test_suite.html#a8e294955bf512e2e88c086f04f6030a8">   91</a></span>        <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x_test_suite.html#a8e294955bf512e2e88c086f04f6030a8">run_callback_tests</a>(<span class="keywordtype">bool</span> call_unity_end_begin = <span class="keyword">true</span>)</div>
+<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>        {</div>
+<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>            print_begin_tests_banner(<span class="stringliteral">&quot;callback_tests&quot;</span>);</div>
+<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span> </div>
+<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span>            <span class="keywordflow">if</span> (call_unity_end_begin)</div>
+<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span>                UNITY_BEGIN();</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>            unity_run_tests_by_tag(<span class="stringliteral">&quot;[CallbackAllReportVoidInputParam]&quot;</span>, <span class="keyword">false</span>);</div>
+<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>            unity_run_tests_by_tag(<span class="stringliteral">&quot;[CallbackAllReportIDInputParam]&quot;</span>, <span class="keyword">false</span>);</div>
+<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>            unity_run_tests_by_tag(<span class="stringliteral">&quot;[CallbackSingleReportVoidInputParam]&quot;</span>, <span class="keyword">false</span>);</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="keywordflow">if</span> (call_unity_end_begin)</div>
+<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span>                UNITY_END();</div>
+<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span> </div>
+<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>            print_end_tests_banner(<span class="stringliteral">&quot;callback_tests&quot;</span>);</div>
+<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>        }</div>
+<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span> </div>
+<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"><a class="line" href="class_b_n_o08x_test_suite.html#a8d7a3485fdf1ff9c0a09736654187434">  108</a></span>        <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_b_n_o08x_test_suite.html#a8d7a3485fdf1ff9c0a09736654187434">run_feature_tests</a>(<span class="keywordtype">bool</span> call_unity_end_begin = <span class="keyword">true</span>)</div>
+<div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span>        {</div>
+<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span>            print_begin_tests_banner(<span class="stringliteral">&quot;feature_tests&quot;</span>);</div>
+<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span> </div>
+<div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span>            <span class="keywordflow">if</span> (call_unity_end_begin)</div>
+<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span>                UNITY_BEGIN();</div>
+<div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span> </div>
+<div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span>            unity_run_tests_by_tag(<span class="stringliteral">&quot;[FeatureTests]&quot;</span>, <span class="keyword">false</span>);</div>
+<div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span> </div>
+<div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span>            <span class="keywordflow">if</span> (call_unity_end_begin)</div>
+<div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span>                UNITY_END();</div>
+<div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span> </div>
+<div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span>            print_end_tests_banner(<span class="stringliteral">&quot;feature_tests&quot;</span>);</div>
+<div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span>        }</div>
+<div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span>};</div>
+<div class="ttc" id="a_b_n_o08x_test_helper_8hpp_html"><div class="ttname"><a href="_b_n_o08x_test_helper_8hpp.html">BNO08xTestHelper.hpp</a></div></div>
+<div class="ttc" id="aclass_b_n_o08x_test_suite_html"><div class="ttname"><a href="class_b_n_o08x_test_suite.html">BNO08xTestSuite</a></div><div class="ttdoc">BNO08x unit test launch point class.</div><div class="ttdef"><b>Definition:</b> BNO08xTestSuite.hpp:19</div></div>
+<div class="ttc" id="aclass_b_n_o08x_test_suite_html_a37899d7bf67fce5c3dd77dd5647f8ecb"><div class="ttname"><a href="class_b_n_o08x_test_suite.html#a37899d7bf67fce5c3dd77dd5647f8ecb">BNO08xTestSuite::run_single_report_tests</a></div><div class="ttdeci">static void run_single_report_tests(bool call_unity_end_begin=true)</div><div class="ttdef"><b>Definition:</b> BNO08xTestSuite.hpp:61</div></div>
+<div class="ttc" id="aclass_b_n_o08x_test_suite_html_a53de9b0fe1b28c18e3a1ca4c68a06f16"><div class="ttname"><a href="class_b_n_o08x_test_suite.html#a53de9b0fe1b28c18e3a1ca4c68a06f16">BNO08xTestSuite::run_init_deinit_tests</a></div><div class="ttdeci">static void run_init_deinit_tests(bool call_unity_end_begin=true)</div><div class="ttdef"><b>Definition:</b> BNO08xTestSuite.hpp:44</div></div>
+<div class="ttc" id="aclass_b_n_o08x_test_suite_html_a8d7a3485fdf1ff9c0a09736654187434"><div class="ttname"><a href="class_b_n_o08x_test_suite.html#a8d7a3485fdf1ff9c0a09736654187434">BNO08xTestSuite::run_feature_tests</a></div><div class="ttdeci">static void run_feature_tests(bool call_unity_end_begin=true)</div><div class="ttdef"><b>Definition:</b> BNO08xTestSuite.hpp:108</div></div>
+<div class="ttc" id="aclass_b_n_o08x_test_suite_html_a8e294955bf512e2e88c086f04f6030a8"><div class="ttname"><a href="class_b_n_o08x_test_suite.html#a8e294955bf512e2e88c086f04f6030a8">BNO08xTestSuite::run_callback_tests</a></div><div class="ttdeci">static void run_callback_tests(bool call_unity_end_begin=true)</div><div class="ttdef"><b>Definition:</b> BNO08xTestSuite.hpp:91</div></div>
+<div class="ttc" id="aclass_b_n_o08x_test_suite_html_a916cff374791381de61f1035f9935ac5"><div class="ttname"><a href="class_b_n_o08x_test_suite.html#a916cff374791381de61f1035f9935ac5">BNO08xTestSuite::run_multi_report_tests</a></div><div class="ttdeci">static void run_multi_report_tests(bool call_unity_end_begin=true)</div><div class="ttdef"><b>Definition:</b> BNO08xTestSuite.hpp:76</div></div>
+<div class="ttc" id="aclass_b_n_o08x_test_suite_html_ac12545fe311a98e9c0ae6fea77da95fd"><div class="ttname"><a href="class_b_n_o08x_test_suite.html#ac12545fe311a98e9c0ae6fea77da95fd">BNO08xTestSuite::run_all_tests</a></div><div class="ttdeci">static void run_all_tests()</div><div class="ttdef"><b>Definition:</b> BNO08xTestSuite.hpp:33</div></div>
+</div><!-- fragment --></div><!-- contents -->
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+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</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 1.9.4 -->
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+
+<div class="header">
+  <div class="headertitle"><div class="title">Class List</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock">Here are the classes, structs, unions and interfaces with brief descriptions:</div><div class="directory">
+<div class="levels">[detail level <span onclick="javascript:toggleLevel(1);">1</span><span onclick="javascript:toggleLevel(2);">2</span>]</div><table class="directory">
+<tr id="row_0_" class="even"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_0_" class="arrow" onclick="toggleFolder('0_')">&#9660;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespace_b_n_o08x_private_types.html" target="_self">BNO08xPrivateTypes</a></td><td class="desc"></td></tr>
+<tr id="row_0_0_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html" target="_self">bno08x_init_status_t</a></td><td class="desc">Holds info about which functionality has been successfully initialized (used by deconstructor during cleanup) </td></tr>
+<tr id="row_0_1_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html" target="_self">bno08x_sync_ctx_t</a></td><td class="desc">Holds context used to synchronize tasks and callback execution </td></tr>
+<tr id="row_1_"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_1_" class="arrow" onclick="toggleFolder('1_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_b_n_o08x.html" target="_self">BNO08x</a></td><td class="desc"><a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> IMU driver class </td></tr>
+<tr id="row_1_0_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct_b_n_o08x_1_1bno08x__reports__t.html" target="_self">bno08x_reports_t</a></td><td class="desc">Contains report implementations </td></tr>
+<tr id="row_2_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structbno08x__accel__t.html" target="_self">bno08x_accel_t</a></td><td class="desc">Struct to represent acceleration data from acceleration, linear acceleration, and gravity reports </td></tr>
+<tr id="row_3_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structbno08x__activity__classifier__t.html" target="_self">bno08x_activity_classifier_t</a></td><td class="desc">Struct to represent activity classifier data </td></tr>
+<tr id="row_4_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structbno08x__ang__vel__t.html" target="_self">bno08x_ang_vel_t</a></td><td class="desc">Struct to represent angular velocity (units in rad/s) </td></tr>
+<tr id="row_5_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structbno08x__config__t.html" target="_self">bno08x_config_t</a></td><td class="desc">IMU configuration settings passed into constructor </td></tr>
+<tr id="row_6_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structbno08x__euler__angle__t.html" target="_self">bno08x_euler_angle_t</a></td><td class="desc">Struct to represent euler angle (units in degrees or rads) </td></tr>
+<tr id="row_7_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structbno08x__gyro__bias__t.html" target="_self">bno08x_gyro_bias_t</a></td><td class="desc">Struct to represent gyro bias data (units in rad/s) </td></tr>
+<tr id="row_8_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structbno08x__gyro__t.html" target="_self">bno08x_gyro_t</a></td><td class="desc">Struct to represent gyro data (units in rad/s) </td></tr>
+<tr id="row_9_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structbno08x__magf__bias__t.html" target="_self">bno08x_magf_bias_t</a></td><td class="desc">Struct to represent magnetic field bias data (units in uTesla) </td></tr>
+<tr id="row_10_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structbno08x__magf__t.html" target="_self">bno08x_magf_t</a></td><td class="desc">Struct to represent magnetic field data (units in uTesla) </td></tr>
+<tr id="row_11_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structbno08x__meta__data__t.html" target="_self">bno08x_meta_data_t</a></td><td class="desc">Struct to represent sensor/report meta data, returned from <a class="el" href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf" title="Retrieves meta data for this sensor/report by reading respective record in FRS (flash record system).">BNO08xRpt::get_meta_data()</a> </td></tr>
+<tr id="row_12_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structbno08x__quat__t.html" target="_self">bno08x_quat_t</a></td><td class="desc">Struct to represent unit quaternion </td></tr>
+<tr id="row_13_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structbno08x__raw__accel__t.html" target="_self">bno08x_raw_accel_t</a></td><td class="desc">Struct to represent raw mems accelerometer data from raw accelerometer reports (units in ADC counts) </td></tr>
+<tr id="row_14_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structbno08x__raw__gyro__t.html" target="_self">bno08x_raw_gyro_t</a></td><td class="desc">Struct to represent raw mems gyro data from raw gyro reports (units in ADC counts) </td></tr>
+<tr id="row_15_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structbno08x__raw__magf__t.html" target="_self">bno08x_raw_magf_t</a></td><td class="desc">Struct to represent raw mems magnetometer data from raw magnetometer reports (units in ADC counts) </td></tr>
+<tr id="row_16_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structbno08x__sample__counts__t.html" target="_self">bno08x_sample_counts_t</a></td><td class="desc">Struct to represent sample counts, returned from <a class="el" href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38" title="Gets sample counts for this sensor (see SH-2 ref manual 6.4.3.1)">BNO08xRpt::get_sample_counts()</a> </td></tr>
+<tr id="row_17_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structbno08x__shake__detector__t.html" target="_self">bno08x_shake_detector_t</a></td><td class="desc">Struct to represent shake detector data (flag meaning: 0 = no shake 1 = shake detected) </td></tr>
+<tr id="row_18_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structbno08x__stability__classifier__t.html" target="_self">bno08x_stability_classifier_t</a></td><td class="desc">Struct to represent stability classifier data from stability classifier reports </td></tr>
+<tr id="row_19_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structbno08x__step__counter__t.html" target="_self">bno08x_step_counter_t</a></td><td class="desc">Struct to represent step counter data from step counter reports </td></tr>
+<tr id="row_20_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structbno08x__tap__detector__t.html" target="_self">bno08x_tap_detector_t</a></td><td class="desc">Struct to represent tap detector data (flag meaning: 0 = no tap, 1 = positive tap on axis, -1 = negative tap on axis) </td></tr>
+<tr id="row_21_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_b_n_o08x_cb_generic.html" target="_self">BNO08xCbGeneric</a></td><td class="desc">Parent class to represent callback functions as generic type such that all flavors can be invoked by single type </td></tr>
+<tr id="row_22_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_b_n_o08x_cb_param_rpt_i_d.html" target="_self">BNO08xCbParamRptID</a></td><td class="desc">Class to hold callback functions which are passed report ID as input parameter </td></tr>
+<tr id="row_23_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_b_n_o08x_cb_param_void.html" target="_self">BNO08xCbParamVoid</a></td><td class="desc"></td></tr>
+<tr id="row_24_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_b_n_o08x_rpt.html" target="_self">BNO08xRpt</a></td><td class="desc">Class to represent and manage reports returned from <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> </td></tr>
+<tr id="row_25_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_b_n_o08x_rpt_acceleration.html" target="_self">BNO08xRptAcceleration</a></td><td class="desc">Class to represent accelerometer reports. (See Ref. Manual 6.5.9) </td></tr>
+<tr id="row_26_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_b_n_o08x_rpt_activity_classifier.html" target="_self">BNO08xRptActivityClassifier</a></td><td class="desc">Class to represent activity classifier reports. (See Ref. Manual 6.5.36) </td></tr>
+<tr id="row_27_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v.html" target="_self">BNO08xRptARVRStabilizedGameRV</a></td><td class="desc">Class to represent ARVR stabilized rotation vector reports. (See Ref. Manual 6.5.43) </td></tr>
+<tr id="row_28_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v.html" target="_self">BNO08xRptARVRStabilizedRV</a></td><td class="desc">Class to represent ARVR stabilized rotation vector reports. (See Ref. Manual 6.5.42) </td></tr>
+<tr id="row_29_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_b_n_o08x_rpt_cal_gyro.html" target="_self">BNO08xRptCalGyro</a></td><td class="desc">Class to represent calibrated gyro reports. (See Ref. Manual 6.5.13) </td></tr>
+<tr id="row_30_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_b_n_o08x_rpt_cal_magnetometer.html" target="_self">BNO08xRptCalMagnetometer</a></td><td class="desc">Class to represent calibrated magnetometer reports. (See Ref. Manual 6.5.16) </td></tr>
+<tr id="row_31_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_b_n_o08x_rpt_game_r_v.html" target="_self">BNO08xRptGameRV</a></td><td class="desc">Class to represent game rotation vector reports. (See Ref. Manual 6.5.19) </td></tr>
+<tr id="row_32_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_b_n_o08x_rpt_gravity.html" target="_self">BNO08xRptGravity</a></td><td class="desc">Class to represent gravity reports. (See Ref. Manual 6.5.11) </td></tr>
+<tr id="row_33_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_b_n_o08x_rpt_i_gyro_r_v.html" target="_self">BNO08xRptIGyroRV</a></td><td class="desc">Class to represent integrated gyro rotation vector reports. (See Ref. Manual 6.5.44) </td></tr>
+<tr id="row_34_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_b_n_o08x_rpt_linear_acceleration.html" target="_self">BNO08xRptLinearAcceleration</a></td><td class="desc">Class to represent linear accelerometer reports. (See Ref. Manual 6.5.10) </td></tr>
+<tr id="row_35_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer.html" target="_self">BNO08xRptRawMEMSAccelerometer</a></td><td class="desc">Class to represent raw accelerometer reports. (See Ref. Manual 6.5.8) </td></tr>
+<tr id="row_36_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_b_n_o08x_rpt_raw_m_e_m_s_gyro.html" target="_self">BNO08xRptRawMEMSGyro</a></td><td class="desc">Class to represent raw gyro reports. (See Ref. Manual 6.5.12) </td></tr>
+<tr id="row_37_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer.html" target="_self">BNO08xRptRawMEMSMagnetometer</a></td><td class="desc">Class to represent raw magnetometer reports. (See Ref. Manual 6.5.15) </td></tr>
+<tr id="row_38_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_b_n_o08x_rpt_r_v.html" target="_self">BNO08xRptRV</a></td><td class="desc">Class to represent rotation vector reports. (See Ref. Manual 6.5.18) </td></tr>
+<tr id="row_39_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html" target="_self">BNO08xRptRVGeneric</a></td><td class="desc">Class to represent rotation vector reports </td></tr>
+<tr id="row_40_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_b_n_o08x_rpt_r_v_geomag.html" target="_self">BNO08xRptRVGeomag</a></td><td class="desc">Class to represent geomagnetic rotation vector reports. (See Ref. Manual 6.5.20) </td></tr>
+<tr id="row_41_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_b_n_o08x_rpt_shake_detector.html" target="_self">BNO08xRptShakeDetector</a></td><td class="desc">Class to represent shake detector reports. (See Ref. Manual 6.5.32) </td></tr>
+<tr id="row_42_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_b_n_o08x_rpt_stability_classifier.html" target="_self">BNO08xRptStabilityClassifier</a></td><td class="desc">Class to represent stability classifier reports. (See Ref. Manual 6.5.31) </td></tr>
+<tr id="row_43_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_b_n_o08x_rpt_step_counter.html" target="_self">BNO08xRptStepCounter</a></td><td class="desc">Class to represent step counter reports. (See Ref. Manual 6.5.29) </td></tr>
+<tr id="row_44_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_b_n_o08x_rpt_tap_detector.html" target="_self">BNO08xRptTapDetector</a></td><td class="desc">Class to represent tap detector reports. (See Ref. Manual 6.5.27) </td></tr>
+<tr id="row_45_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_b_n_o08x_rpt_uncal_gyro.html" target="_self">BNO08xRptUncalGyro</a></td><td class="desc">Class to represent uncalibrated gyro reports. (See Ref. Manual 6.5.14) </td></tr>
+<tr id="row_46_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_b_n_o08x_rpt_uncal_magnetometer.html" target="_self">BNO08xRptUncalMagnetometer</a></td><td class="desc">Class to represent uncalibrated magnetometer reports. (See Ref. Manual 6.5.17) </td></tr>
+<tr id="row_47_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_b_n_o08x_s_h2_h_a_l.html" target="_self">BNO08xSH2HAL</a></td><td class="desc">Fully static class containing callback implementations for sh2 HAL lib </td></tr>
+<tr id="row_48_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_b_n_o08x_test_helper.html" target="_self">BNO08xTestHelper</a></td><td class="desc"><a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> unit test helper class </td></tr>
+<tr id="row_49_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_b_n_o08x_test_suite.html" target="_self">BNO08xTestSuite</a></td><td class="desc"><a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> unit test launch point class </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> 1.9.4 </li>
+  </ul>
+</div>
+</body>
+</html>
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+    [ "BNO08xPrivateTypes", "namespace_b_n_o08x_private_types.html", [
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+      [ "bno08x_sync_ctx_t", "struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html", "struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t" ]
+    ] ],
+    [ "BNO08x", "class_b_n_o08x.html", "class_b_n_o08x" ],
+    [ "bno08x_accel_t", "structbno08x__accel__t.html", "structbno08x__accel__t" ],
+    [ "bno08x_activity_classifier_t", "structbno08x__activity__classifier__t.html", "structbno08x__activity__classifier__t" ],
+    [ "bno08x_ang_vel_t", "structbno08x__ang__vel__t.html", "structbno08x__ang__vel__t" ],
+    [ "bno08x_config_t", "structbno08x__config__t.html", "structbno08x__config__t" ],
+    [ "bno08x_euler_angle_t", "structbno08x__euler__angle__t.html", "structbno08x__euler__angle__t" ],
+    [ "bno08x_gyro_bias_t", "structbno08x__gyro__bias__t.html", "structbno08x__gyro__bias__t" ],
+    [ "bno08x_gyro_t", "structbno08x__gyro__t.html", "structbno08x__gyro__t" ],
+    [ "bno08x_magf_bias_t", "structbno08x__magf__bias__t.html", "structbno08x__magf__bias__t" ],
+    [ "bno08x_magf_t", "structbno08x__magf__t.html", "structbno08x__magf__t" ],
+    [ "bno08x_meta_data_t", "structbno08x__meta__data__t.html", "structbno08x__meta__data__t" ],
+    [ "bno08x_quat_t", "structbno08x__quat__t.html", "structbno08x__quat__t" ],
+    [ "bno08x_raw_accel_t", "structbno08x__raw__accel__t.html", "structbno08x__raw__accel__t" ],
+    [ "bno08x_raw_gyro_t", "structbno08x__raw__gyro__t.html", "structbno08x__raw__gyro__t" ],
+    [ "bno08x_raw_magf_t", "structbno08x__raw__magf__t.html", "structbno08x__raw__magf__t" ],
+    [ "bno08x_sample_counts_t", "structbno08x__sample__counts__t.html", "structbno08x__sample__counts__t" ],
+    [ "bno08x_shake_detector_t", "structbno08x__shake__detector__t.html", "structbno08x__shake__detector__t" ],
+    [ "bno08x_stability_classifier_t", "structbno08x__stability__classifier__t.html", "structbno08x__stability__classifier__t" ],
+    [ "bno08x_step_counter_t", "structbno08x__step__counter__t.html", "structbno08x__step__counter__t" ],
+    [ "bno08x_tap_detector_t", "structbno08x__tap__detector__t.html", "structbno08x__tap__detector__t" ],
+    [ "BNO08xCbGeneric", "class_b_n_o08x_cb_generic.html", "class_b_n_o08x_cb_generic" ],
+    [ "BNO08xCbParamRptID", "class_b_n_o08x_cb_param_rpt_i_d.html", "class_b_n_o08x_cb_param_rpt_i_d" ],
+    [ "BNO08xCbParamVoid", "class_b_n_o08x_cb_param_void.html", "class_b_n_o08x_cb_param_void" ],
+    [ "BNO08xRpt", "class_b_n_o08x_rpt.html", "class_b_n_o08x_rpt" ],
+    [ "BNO08xRptAcceleration", "class_b_n_o08x_rpt_acceleration.html", "class_b_n_o08x_rpt_acceleration" ],
+    [ "BNO08xRptActivityClassifier", "class_b_n_o08x_rpt_activity_classifier.html", "class_b_n_o08x_rpt_activity_classifier" ],
+    [ "BNO08xRptARVRStabilizedGameRV", "class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v.html", "class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v" ],
+    [ "BNO08xRptARVRStabilizedRV", "class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v.html", "class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v" ],
+    [ "BNO08xRptCalGyro", "class_b_n_o08x_rpt_cal_gyro.html", "class_b_n_o08x_rpt_cal_gyro" ],
+    [ "BNO08xRptCalMagnetometer", "class_b_n_o08x_rpt_cal_magnetometer.html", "class_b_n_o08x_rpt_cal_magnetometer" ],
+    [ "BNO08xRptGameRV", "class_b_n_o08x_rpt_game_r_v.html", "class_b_n_o08x_rpt_game_r_v" ],
+    [ "BNO08xRptGravity", "class_b_n_o08x_rpt_gravity.html", "class_b_n_o08x_rpt_gravity" ],
+    [ "BNO08xRptIGyroRV", "class_b_n_o08x_rpt_i_gyro_r_v.html", "class_b_n_o08x_rpt_i_gyro_r_v" ],
+    [ "BNO08xRptLinearAcceleration", "class_b_n_o08x_rpt_linear_acceleration.html", "class_b_n_o08x_rpt_linear_acceleration" ],
+    [ "BNO08xRptRawMEMSAccelerometer", "class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer.html", "class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer" ],
+    [ "BNO08xRptRawMEMSGyro", "class_b_n_o08x_rpt_raw_m_e_m_s_gyro.html", "class_b_n_o08x_rpt_raw_m_e_m_s_gyro" ],
+    [ "BNO08xRptRawMEMSMagnetometer", "class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer.html", "class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer" ],
+    [ "BNO08xRptRV", "class_b_n_o08x_rpt_r_v.html", "class_b_n_o08x_rpt_r_v" ],
+    [ "BNO08xRptRVGeneric", "class_b_n_o08x_rpt_r_v_generic.html", "class_b_n_o08x_rpt_r_v_generic" ],
+    [ "BNO08xRptRVGeomag", "class_b_n_o08x_rpt_r_v_geomag.html", "class_b_n_o08x_rpt_r_v_geomag" ],
+    [ "BNO08xRptShakeDetector", "class_b_n_o08x_rpt_shake_detector.html", "class_b_n_o08x_rpt_shake_detector" ],
+    [ "BNO08xRptStabilityClassifier", "class_b_n_o08x_rpt_stability_classifier.html", "class_b_n_o08x_rpt_stability_classifier" ],
+    [ "BNO08xRptStepCounter", "class_b_n_o08x_rpt_step_counter.html", "class_b_n_o08x_rpt_step_counter" ],
+    [ "BNO08xRptTapDetector", "class_b_n_o08x_rpt_tap_detector.html", "class_b_n_o08x_rpt_tap_detector" ],
+    [ "BNO08xRptUncalGyro", "class_b_n_o08x_rpt_uncal_gyro.html", "class_b_n_o08x_rpt_uncal_gyro" ],
+    [ "BNO08xRptUncalMagnetometer", "class_b_n_o08x_rpt_uncal_magnetometer.html", "class_b_n_o08x_rpt_uncal_magnetometer" ],
+    [ "BNO08xSH2HAL", "class_b_n_o08x_s_h2_h_a_l.html", null ],
+    [ "BNO08xTestHelper", "class_b_n_o08x_test_helper.html", null ],
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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 1.9.4"/>
+<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>
+<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>
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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;1.4</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 1.9.4 -->
+<script type="text/javascript">
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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>
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+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#ad12fb6cf310ad7a04a4e53809833bd61">BNO08x</a>(bno08x_config_t imu_config=bno08x_config_t())</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#ae08bdaff01ecacf0f399ab289fdf0b99">bno08x_reports_t</a> typedef</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#a6dd0081dc9eb0cfb019bfdca3aa31802">BNO08xSH2HAL</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">friend</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a190775b71c35d8007faae7dd6a9f1030">BNO08xTestHelper</a></td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"><span class="mlabel">friend</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#aebacbe092615cd083cf996b14402bba6">disable_all_reports</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#a9387728c276734da27388dbea38b6b32">dynamic_calibration_autosave_disable</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#a4e8b49abd33e6e11f23b2ae345058b9b">dynamic_calibration_autosave_enable</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#a441681a5133b1a125b534925c9bc10f9">dynamic_calibration_data_clear_ram</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#a65a7175b6f6ad6ce687e4fd4cd4bc396">dynamic_calibration_data_delete</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#a5c7498f6fa4bd43280dff1d322233b95">dynamic_calibration_disable</a>(BNO08xCalSel sensor)</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#a90ea8e811d4bea28a356290d6f5caac5">dynamic_calibration_enable</a>(BNO08xCalSel sensor)</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#abcdba0d0e82db480d20ea4564511a276">dynamic_calibration_run_routine</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#a85f1eca475ea0e6fbaff75c8a297d671">dynamic_calibration_save</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#a138577792350b8d5cc48cbf46b34c4f3">get_frs</a>(BNO08xFrsID frs_ID, uint32_t(&amp;data)[16], uint16_t &amp;rx_data_sz)</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#aa8fd64f60de86ff6b8562f90f3b09690">get_product_IDs</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#a96d47dd0f9aedfbe3f731f8ae76b2e85">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#ad42c335827c7b09cd2e4ff303a0d3520">get_system_orientation</a>(float &amp;w, 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="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#a28cd1c0b3477571d87133234e6358503">hard_reset</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#aea8e2c6dd7a2c9899479a7f39fe94798">initialize</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x.html#aaaa15b21ad98a3b161065c3d03ff62b5">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#a7441f7f2477c152deca17054041bf3e6">print_product_ids</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#aae4512fa4768becf0e3919a0e0ec34d8">print_system_orientation</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#aadd44524e6d22c48916acd9518b63ec3">register_cb</a>(std::function&lt; void(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#a082c79d9951ac32ea5fa25de90255a41">register_cb</a>(std::function&lt; void(uint8_t report_ID)&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="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#ae1db7422ee9c2cac77382cc0a7aa430e">rpt</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#abba85271f3333b7f395ec55915c1d5f9">set_system_orientation</a>(float w, float x, float y, float 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#a7c5774a48227e8e3346fa5df7dfa420c">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#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="odd"><td class="entry"><a class="el" href="class_b_n_o08x.html#ab8d5ebfc080838870e320494da3fa64d">SQRT2OVER2</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#aa616a645a4fc9054194fdbf76ec9c5b5">write_frs</a>(BNO08xFrsID frs_ID, uint32_t *data, const uint16_t tx_data_sz)</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#a687eee44d68e1bcabce04780d7eb5fb9">~BNO08x</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x.html">BNO08x</a></td><td class="entry"></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> 1.9.4 </li>
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+<meta name="generator" content="Doxygen 1.9.4"/>
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+<title>esp32_BNO08x: BNO08x Class Reference</title>
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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;1.4</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 1.9.4 -->
+<script type="text/javascript">
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+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
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+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="header">
+  <div class="summary">
+<a href="#nested-classes">Classes</a> &#124;
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="#pub-static-attribs">Static Public Attributes</a> &#124;
+<a href="#friends">Friends</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><a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> IMU driver class.  
+ <a href="class_b_n_o08x.html#details">More...</a></p>
+
+<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="BNO08x IMU driver class." alt="" coords="1757,631,1832,657"/>
+<area shape="rect" href="struct_b_n_o08x_1_1bno08x__reports__t.html" title="Contains report implementations." alt="" coords="1491,631,1687,657"/>
+<area shape="rect" href="class_b_n_o08x_rpt_i_gyro_r_v.html" title="Class to represent integrated gyro rotation vector reports. (See Ref. Manual 6.5.44)" alt="" coords="1065,137,1216,164"/>
+<area shape="rect" href="class_b_n_o08x_rpt_r_v_generic.html" title="Class to represent rotation vector reports." alt="" coords="521,289,687,316"/>
+<area shape="rect" href="class_b_n_o08x_rpt_r_v.html" title="Class to represent rotation vector reports. (See Ref. Manual 6.5.18)" alt="" coords="1083,188,1198,215"/>
+<area shape="rect" href="class_b_n_o08x_rpt_game_r_v.html" title="Class to represent game rotation vector reports. (See Ref. Manual 6.5.19)" alt="" coords="1063,239,1218,265"/>
+<area shape="rect" href="class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v.html" title="Class to represent ARVR stabilized rotation vector reports. (See Ref. Manual 6.5.42)" alt="" coords="1033,289,1248,316"/>
+<area shape="rect" href="class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v.html" title="Class to represent ARVR stabilized rotation vector reports. (See Ref. Manual 6.5.43)" alt="" coords="1013,340,1268,367"/>
+<area shape="rect" href="class_b_n_o08x_rpt_r_v_geomag.html" title="Class to represent geomagnetic rotation vector reports. (See Ref. Manual 6.5.20)" alt="" coords="1055,391,1226,417"/>
+<area shape="rect" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x." alt="" coords="284,788,381,815"/>
+<area shape="rect" href="class_b_n_o08x_rpt_uncal_magnetometer.html" title="Class to represent uncalibrated magnetometer reports. (See Ref. Manual 6.5.17)" alt="" coords="759,575,989,601"/>
+<area shape="rect" href="class_b_n_o08x_rpt_uncal_gyro.html" title="Class to represent uncalibrated gyro reports. (See Ref. Manual 6.5.14)" alt="" coords="791,640,957,667"/>
+<area shape="rect" href="class_b_n_o08x_rpt_activity_classifier.html" title="Class to represent activity classifier reports. (See Ref. Manual 6.5.36)" alt="" coords="771,701,977,728"/>
+<area shape="rect" href="class_b_n_o08x_rpt_acceleration.html" title="Class to represent accelerometer reports. (See Ref. Manual 6.5.9)" alt="" coords="785,757,963,784"/>
+<area shape="rect" href="class_b_n_o08x_rpt_linear_acceleration.html" title="Class to represent linear accelerometer reports. (See Ref. Manual 6.5.10)" alt="" coords="765,816,983,843"/>
+<area shape="rect" href="class_b_n_o08x_rpt_gravity.html" title="Class to represent gravity reports. (See Ref. Manual 6.5.11)" alt="" coords="801,875,947,901"/>
+<area shape="rect" href="class_b_n_o08x_rpt_cal_magnetometer.html" title="Class to represent calibrated magnetometer reports. (See Ref. Manual 6.5.16)" alt="" coords="767,931,981,957"/>
+<area shape="rect" href="class_b_n_o08x_rpt_cal_gyro.html" title="Class to represent calibrated gyro reports. (See Ref. Manual 6.5.13)" alt="" coords="1066,1005,1215,1032"/>
+<area shape="rect" href="class_b_n_o08x_rpt_raw_m_e_m_s_gyro.html" title="Class to represent raw gyro reports. (See Ref. Manual 6.5.12)" alt="" coords="776,1033,972,1060"/>
+<area shape="rect" href="class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer.html" title="Class to represent raw accelerometer reports. (See Ref. Manual 6.5.8)" alt="" coords="473,1095,735,1121"/>
+<area shape="rect" href="class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer.html" title="Class to represent raw magnetometer reports. (See Ref. Manual 6.5.15)" alt="" coords="473,1147,735,1173"/>
+<area shape="rect" href="class_b_n_o08x_rpt_step_counter.html" title="Class to represent step counter reports. (See Ref. Manual 6.5.29)" alt="" coords="515,1221,693,1248"/>
+<area shape="rect" href="class_b_n_o08x_rpt_tap_detector.html" title="Class to represent tap detector reports. (See Ref. Manual 6.5.27)" alt="" coords="517,157,691,184"/>
+<area shape="rect" href="class_b_n_o08x_rpt_stability_classifier.html" title="Class to represent stability classifier reports. (See Ref. Manual 6.5.31)" alt="" coords="499,451,709,477"/>
+<area shape="rect" href="class_b_n_o08x_rpt_shake_detector.html" title="Class to represent shake detector reports. (See Ref. Manual 6.5.32)" alt="" coords="508,511,700,537"/>
+<area shape="rect" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html" title="Holds context used to synchronize tasks and callback execution." alt="" coords="5,781,164,822"/>
+<area shape="rect" href="structbno08x__quat__t.html" title="Struct to represent unit quaternion." alt="" coords="273,289,392,316"/>
+</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__reports__t.html">bno08x_reports_t</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Contains report implementations.  <a href="struct_b_n_o08x_1_1bno08x__reports__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-types" name="pub-types"></a>
+Public Types</h2></td></tr>
+<tr class="memitem:ae08bdaff01ecacf0f399ab289fdf0b99"><td class="memItemLeft" align="right" valign="top">typedef struct <a class="el" href="struct_b_n_o08x_1_1bno08x__reports__t.html">BNO08x::bno08x_reports_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#ae08bdaff01ecacf0f399ab289fdf0b99">bno08x_reports_t</a></td></tr>
+<tr class="memdesc:ae08bdaff01ecacf0f399ab289fdf0b99"><td class="mdescLeft">&#160;</td><td class="mdescRight">Contains report implementations.  <a href="class_b_n_o08x.html#ae08bdaff01ecacf0f399ab289fdf0b99">More...</a><br /></td></tr>
+<tr class="separator:ae08bdaff01ecacf0f399ab289fdf0b99"><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:ad12fb6cf310ad7a04a4e53809833bd61"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#ad12fb6cf310ad7a04a4e53809833bd61">BNO08x</a> (<a class="el" href="structbno08x__config__t.html">bno08x_config_t</a> imu_config=<a class="el" href="structbno08x__config__t.html">bno08x_config_t</a>())</td></tr>
+<tr class="memdesc:ad12fb6cf310ad7a04a4e53809833bd61"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> imu constructor.  <a href="class_b_n_o08x.html#ad12fb6cf310ad7a04a4e53809833bd61">More...</a><br /></td></tr>
+<tr class="separator:ad12fb6cf310ad7a04a4e53809833bd61"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a687eee44d68e1bcabce04780d7eb5fb9"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a687eee44d68e1bcabce04780d7eb5fb9">~BNO08x</a> ()</td></tr>
+<tr class="memdesc:a687eee44d68e1bcabce04780d7eb5fb9"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> imu deconstructor.  <a href="class_b_n_o08x.html#a687eee44d68e1bcabce04780d7eb5fb9">More...</a><br /></td></tr>
+<tr class="separator:a687eee44d68e1bcabce04780d7eb5fb9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aea8e2c6dd7a2c9899479a7f39fe94798"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#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" title="BNO08x IMU driver class.">BNO08x</a> sensor.  <a href="class_b_n_o08x.html#aea8e2c6dd7a2c9899479a7f39fe94798">More...</a><br /></td></tr>
+<tr class="separator:aea8e2c6dd7a2c9899479a7f39fe94798"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a28cd1c0b3477571d87133234e6358503"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#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" title="BNO08x IMU driver class.">BNO08x</a> device.  <a href="class_b_n_o08x.html#a28cd1c0b3477571d87133234e6358503">More...</a><br /></td></tr>
+<tr class="separator:a28cd1c0b3477571d87133234e6358503"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a973a1b1785f3302ee1b2702c6a27646e"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#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" title="BNO08x IMU driver class.">BNO08x</a> device by sending RESET (1) command on "device" channel.  <a href="class_b_n_o08x.html#a973a1b1785f3302ee1b2702c6a27646e">More...</a><br /></td></tr>
+<tr class="separator:a973a1b1785f3302ee1b2702c6a27646e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aebacbe092615cd083cf996b14402bba6"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#aebacbe092615cd083cf996b14402bba6">disable_all_reports</a> ()</td></tr>
+<tr class="memdesc:aebacbe092615cd083cf996b14402bba6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Disables all currently enabled reports.  <a href="class_b_n_o08x.html#aebacbe092615cd083cf996b14402bba6">More...</a><br /></td></tr>
+<tr class="separator:aebacbe092615cd083cf996b14402bba6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a96d47dd0f9aedfbe3f731f8ae76b2e85"><td class="memItemLeft" align="right" valign="top"><a class="el" href="_b_n_o08x_global_types_8hpp.html#afed71c9ed8a8563767f26282408ccee2">BNO08xResetReason</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a96d47dd0f9aedfbe3f731f8ae76b2e85">get_reset_reason</a> ()</td></tr>
+<tr class="memdesc:a96d47dd0f9aedfbe3f731f8ae76b2e85"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns reason for previous reset via product ID report.  <a href="class_b_n_o08x.html#a96d47dd0f9aedfbe3f731f8ae76b2e85">More...</a><br /></td></tr>
+<tr class="separator:a96d47dd0f9aedfbe3f731f8ae76b2e85"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aaaa15b21ad98a3b161065c3d03ff62b5"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#aaaa15b21ad98a3b161065c3d03ff62b5">on</a> ()</td></tr>
+<tr class="memdesc:aaaa15b21ad98a3b161065c3d03ff62b5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Places <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> device in on state by sending ON (2) command on "device" channel.  <a href="class_b_n_o08x.html#aaaa15b21ad98a3b161065c3d03ff62b5">More...</a><br /></td></tr>
+<tr class="separator:aaaa15b21ad98a3b161065c3d03ff62b5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7c5774a48227e8e3346fa5df7dfa420c"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a7c5774a48227e8e3346fa5df7dfa420c">sleep</a> ()</td></tr>
+<tr class="memdesc:a7c5774a48227e8e3346fa5df7dfa420c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Places <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> device in sleep state by sending SLEEP (3) command on "device" channel.  <a href="class_b_n_o08x.html#a7c5774a48227e8e3346fa5df7dfa420c">More...</a><br /></td></tr>
+<tr class="separator:a7c5774a48227e8e3346fa5df7dfa420c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a90ea8e811d4bea28a356290d6f5caac5"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a90ea8e811d4bea28a356290d6f5caac5">dynamic_calibration_enable</a> (<a class="el" href="_b_n_o08x_global_types_8hpp.html#a25947bbe6bc4a7c9edd7067fdce0e9cc">BNO08xCalSel</a> sensor)</td></tr>
+<tr class="memdesc:a90ea8e811d4bea28a356290d6f5caac5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Starts simple calibration, see ref. manual 6.4.10.1.  <a href="class_b_n_o08x.html#a90ea8e811d4bea28a356290d6f5caac5">More...</a><br /></td></tr>
+<tr class="separator:a90ea8e811d4bea28a356290d6f5caac5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5c7498f6fa4bd43280dff1d322233b95"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a5c7498f6fa4bd43280dff1d322233b95">dynamic_calibration_disable</a> (<a class="el" href="_b_n_o08x_global_types_8hpp.html#a25947bbe6bc4a7c9edd7067fdce0e9cc">BNO08xCalSel</a> sensor)</td></tr>
+<tr class="memdesc:a5c7498f6fa4bd43280dff1d322233b95"><td class="mdescLeft">&#160;</td><td class="mdescRight">Disables dynamic/motion engine calibration for specified sensor(s), see ref. manual 6.4.6.1.  <a href="class_b_n_o08x.html#a5c7498f6fa4bd43280dff1d322233b95">More...</a><br /></td></tr>
+<tr class="separator:a5c7498f6fa4bd43280dff1d322233b95"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4e8b49abd33e6e11f23b2ae345058b9b"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a4e8b49abd33e6e11f23b2ae345058b9b">dynamic_calibration_autosave_enable</a> ()</td></tr>
+<tr class="memdesc:a4e8b49abd33e6e11f23b2ae345058b9b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enables the automatic saving of dynamic/ME calibration data to <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> internal flash See ref manual 6.4.7.1.  <a href="class_b_n_o08x.html#a4e8b49abd33e6e11f23b2ae345058b9b">More...</a><br /></td></tr>
+<tr class="separator:a4e8b49abd33e6e11f23b2ae345058b9b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9387728c276734da27388dbea38b6b32"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a9387728c276734da27388dbea38b6b32">dynamic_calibration_autosave_disable</a> ()</td></tr>
+<tr class="memdesc:a9387728c276734da27388dbea38b6b32"><td class="mdescLeft">&#160;</td><td class="mdescRight">Disables the automatic saving of dynamic/ME calibration data to <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> internal flash See ref manual 6.4.7.1.  <a href="class_b_n_o08x.html#a9387728c276734da27388dbea38b6b32">More...</a><br /></td></tr>
+<tr class="separator:a9387728c276734da27388dbea38b6b32"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a85f1eca475ea0e6fbaff75c8a297d671"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a85f1eca475ea0e6fbaff75c8a297d671">dynamic_calibration_save</a> ()</td></tr>
+<tr class="memdesc:a85f1eca475ea0e6fbaff75c8a297d671"><td class="mdescLeft">&#160;</td><td class="mdescRight">Saves dynamic/motion engine calibration data to <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> internal flash immediately. See ref manual 6.4.5.1.  <a href="class_b_n_o08x.html#a85f1eca475ea0e6fbaff75c8a297d671">More...</a><br /></td></tr>
+<tr class="separator:a85f1eca475ea0e6fbaff75c8a297d671"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a441681a5133b1a125b534925c9bc10f9"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a441681a5133b1a125b534925c9bc10f9">dynamic_calibration_data_clear_ram</a> ()</td></tr>
+<tr class="memdesc:a441681a5133b1a125b534925c9bc10f9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Clears dynamic/motion engine calibration data from ram and resets <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> device. See ref manual 6.4.9.1.  <a href="class_b_n_o08x.html#a441681a5133b1a125b534925c9bc10f9">More...</a><br /></td></tr>
+<tr class="separator:a441681a5133b1a125b534925c9bc10f9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a65a7175b6f6ad6ce687e4fd4cd4bc396"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a65a7175b6f6ad6ce687e4fd4cd4bc396">dynamic_calibration_data_delete</a> ()</td></tr>
+<tr class="memdesc:a65a7175b6f6ad6ce687e4fd4cd4bc396"><td class="mdescLeft">&#160;</td><td class="mdescRight">Deletes dynamic calibration data from <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> internal flash and resets the device. Follows the steps outlined in ref. manual 6.4.9.  <a href="class_b_n_o08x.html#a65a7175b6f6ad6ce687e4fd4cd4bc396">More...</a><br /></td></tr>
+<tr class="separator:a65a7175b6f6ad6ce687e4fd4cd4bc396"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abcdba0d0e82db480d20ea4564511a276"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#abcdba0d0e82db480d20ea4564511a276">dynamic_calibration_run_routine</a> ()</td></tr>
+<tr class="memdesc:abcdba0d0e82db480d20ea4564511a276"><td class="mdescLeft">&#160;</td><td class="mdescRight">Example calibration routine using dynamic/ME calibration commands.  <a href="class_b_n_o08x.html#abcdba0d0e82db480d20ea4564511a276">More...</a><br /></td></tr>
+<tr class="separator:abcdba0d0e82db480d20ea4564511a276"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abba85271f3333b7f395ec55915c1d5f9"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#abba85271f3333b7f395ec55915c1d5f9">set_system_orientation</a> (float w, float x, float y, float z)</td></tr>
+<tr class="memdesc:abba85271f3333b7f395ec55915c1d5f9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the system orientation of the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> device and persist it in flash (FRS).  <a href="class_b_n_o08x.html#abba85271f3333b7f395ec55915c1d5f9">More...</a><br /></td></tr>
+<tr class="separator:abba85271f3333b7f395ec55915c1d5f9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad42c335827c7b09cd2e4ff303a0d3520"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#ad42c335827c7b09cd2e4ff303a0d3520">get_system_orientation</a> (float &amp;w, float &amp;x, float &amp;y, float &amp;z)</td></tr>
+<tr class="memdesc:ad42c335827c7b09cd2e4ff303a0d3520"><td class="mdescLeft">&#160;</td><td class="mdescRight">Retrieves the system orientation of the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> device and converts to float.  <a href="class_b_n_o08x.html#ad42c335827c7b09cd2e4ff303a0d3520">More...</a><br /></td></tr>
+<tr class="separator:ad42c335827c7b09cd2e4ff303a0d3520"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a138577792350b8d5cc48cbf46b34c4f3"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a138577792350b8d5cc48cbf46b34c4f3">get_frs</a> (<a class="el" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8e">BNO08xFrsID</a> frs_ID, uint32_t(&amp;data)[16], uint16_t &amp;rx_data_sz)</td></tr>
+<tr class="memdesc:a138577792350b8d5cc48cbf46b34c4f3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Retrieves a record from flash record system (if your goal is to retrieve sensor specific meta data use the <a class="el" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x.">BNO08xRpt</a>:get_meta_data() method instead)  <a href="class_b_n_o08x.html#a138577792350b8d5cc48cbf46b34c4f3">More...</a><br /></td></tr>
+<tr class="separator:a138577792350b8d5cc48cbf46b34c4f3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa616a645a4fc9054194fdbf76ec9c5b5"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#aa616a645a4fc9054194fdbf76ec9c5b5">write_frs</a> (<a class="el" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8e">BNO08xFrsID</a> frs_ID, uint32_t *data, const uint16_t tx_data_sz)</td></tr>
+<tr class="memdesc:aa616a645a4fc9054194fdbf76ec9c5b5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Writes a record to flash record system.  <a href="class_b_n_o08x.html#aa616a645a4fc9054194fdbf76ec9c5b5">More...</a><br /></td></tr>
+<tr class="separator:aa616a645a4fc9054194fdbf76ec9c5b5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa8fd64f60de86ff6b8562f90f3b09690"><td class="memItemLeft" align="right" valign="top">sh2_ProductIds_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#aa8fd64f60de86ff6b8562f90f3b09690">get_product_IDs</a> ()</td></tr>
+<tr class="memdesc:aa8fd64f60de86ff6b8562f90f3b09690"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns product ID info sent by IMU at initialization.  <a href="class_b_n_o08x.html#aa8fd64f60de86ff6b8562f90f3b09690">More...</a><br /></td></tr>
+<tr class="separator:aa8fd64f60de86ff6b8562f90f3b09690"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a367d525d1c0ba119b3dca3067bb5bccc"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a367d525d1c0ba119b3dca3067bb5bccc">data_available</a> ()</td></tr>
+<tr class="memdesc:a367d525d1c0ba119b3dca3067bb5bccc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Polls for new data/report to become available.  <a href="class_b_n_o08x.html#a367d525d1c0ba119b3dca3067bb5bccc">More...</a><br /></td></tr>
+<tr class="separator:a367d525d1c0ba119b3dca3067bb5bccc"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aadd44524e6d22c48916acd9518b63ec3"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#aadd44524e6d22c48916acd9518b63ec3">register_cb</a> (std::function&lt; void(void)&gt; cb_fxn)</td></tr>
+<tr class="memdesc:aadd44524e6d22c48916acd9518b63ec3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Registers a callback to execute when new data from a report is received.  <a href="class_b_n_o08x.html#aadd44524e6d22c48916acd9518b63ec3">More...</a><br /></td></tr>
+<tr class="separator:aadd44524e6d22c48916acd9518b63ec3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a082c79d9951ac32ea5fa25de90255a41"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a082c79d9951ac32ea5fa25de90255a41">register_cb</a> (std::function&lt; void(uint8_t report_ID)&gt; cb_fxn)</td></tr>
+<tr class="memdesc:a082c79d9951ac32ea5fa25de90255a41"><td class="mdescLeft">&#160;</td><td class="mdescRight">Registers a callback to execute when new data from a report is received, overloaded with callback param for most recent report ID.  <a href="class_b_n_o08x.html#a082c79d9951ac32ea5fa25de90255a41">More...</a><br /></td></tr>
+<tr class="separator:a082c79d9951ac32ea5fa25de90255a41"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7441f7f2477c152deca17054041bf3e6"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a7441f7f2477c152deca17054041bf3e6">print_product_ids</a> ()</td></tr>
+<tr class="memdesc:a7441f7f2477c152deca17054041bf3e6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Prints product IDs received at initialization.  <a href="class_b_n_o08x.html#a7441f7f2477c152deca17054041bf3e6">More...</a><br /></td></tr>
+<tr class="separator:a7441f7f2477c152deca17054041bf3e6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aae4512fa4768becf0e3919a0e0ec34d8"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#aae4512fa4768becf0e3919a0e0ec34d8">print_system_orientation</a> ()</td></tr>
+<tr class="memdesc:aae4512fa4768becf0e3919a0e0ec34d8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Retrieves and prints system orientation.  <a href="class_b_n_o08x.html#aae4512fa4768becf0e3919a0e0ec34d8">More...</a><br /></td></tr>
+<tr class="separator:aae4512fa4768becf0e3919a0e0ec34d8"><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:ae1db7422ee9c2cac77382cc0a7aa430e"><td class="memItemLeft" align="right" valign="top"><a class="el" href="struct_b_n_o08x_1_1bno08x__reports__t.html">bno08x_reports_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#ae1db7422ee9c2cac77382cc0a7aa430e">rpt</a></td></tr>
+<tr class="separator:ae1db7422ee9c2cac77382cc0a7aa430e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-static-attribs" name="pub-static-attribs"></a>
+Static Public Attributes</h2></td></tr>
+<tr class="memitem:ab8d5ebfc080838870e320494da3fa64d"><td class="memItemLeft" align="right" valign="top">static constexpr float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#ab8d5ebfc080838870e320494da3fa64d">SQRT2OVER2</a> = 0.7071067811865476f</td></tr>
+<tr class="separator:ab8d5ebfc080838870e320494da3fa64d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="friends" name="friends"></a>
+Friends</h2></td></tr>
+<tr class="memitem:a6dd0081dc9eb0cfb019bfdca3aa31802"><td class="memItemLeft" align="right" valign="top">class&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a6dd0081dc9eb0cfb019bfdca3aa31802">BNO08xSH2HAL</a></td></tr>
+<tr class="separator:a6dd0081dc9eb0cfb019bfdca3aa31802"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a190775b71c35d8007faae7dd6a9f1030"><td class="memItemLeft" align="right" valign="top">class&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a190775b71c35d8007faae7dd6a9f1030">BNO08xTestHelper</a></td></tr>
+<tr class="separator:a190775b71c35d8007faae7dd6a9f1030"><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 ><a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> IMU driver class. </p>
+</div><h2 class="groupheader">Member Typedef Documentation</h2>
+<a id="ae08bdaff01ecacf0f399ab289fdf0b99" name="ae08bdaff01ecacf0f399ab289fdf0b99"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae08bdaff01ecacf0f399ab289fdf0b99">&#9670;&nbsp;</a></span>bno08x_reports_t</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef struct <a class="el" href="struct_b_n_o08x_1_1bno08x__reports__t.html">BNO08x::bno08x_reports_t</a> <a class="el" href="struct_b_n_o08x_1_1bno08x__reports__t.html">BNO08x::bno08x_reports_t</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Contains report implementations. </p>
+
+</div>
+</div>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="ad12fb6cf310ad7a04a4e53809833bd61" name="ad12fb6cf310ad7a04a4e53809833bd61"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad12fb6cf310ad7a04a4e53809833bd61">&#9670;&nbsp;</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>&#160;</td>
+          <td class="paramname"><em>imu_config</em> = <code><a class="el" href="structbno08x__config__t.html">bno08x_config_t</a>()</code></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p><a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> imu constructor. </p>
+<p >Construct a <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> object for managing a <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> sensor.</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>
+
+</div>
+</div>
+<a id="a687eee44d68e1bcabce04780d7eb5fb9" name="a687eee44d68e1bcabce04780d7eb5fb9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a687eee44d68e1bcabce04780d7eb5fb9">&#9670;&nbsp;</a></span>~BNO08x()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">BNO08x::~BNO08x </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p><a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> imu deconstructor. </p>
+<p >Deconstructs a <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> object and releases any utilized resources.</p>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return. </dd></dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a367d525d1c0ba119b3dca3067bb5bccc" name="a367d525d1c0ba119b3dca3067bb5bccc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a367d525d1c0ba119b3dca3067bb5bccc">&#9670;&nbsp;</a></span>data_available()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08x::data_available </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Polls for new data/report to become available. </p>
+<dl class="section return"><dt>Returns</dt><dd>True if new data/report became available before DATA_AVAILABLE_TIMEOUT_MS. </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_a367d525d1c0ba119b3dca3067bb5bccc_icgraph.png" border="0" usemap="#aclass_b_n_o08x_a367d525d1c0ba119b3dca3067bb5bccc_icgraph" alt=""/></div>
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+<h2 class="memtitle"><span class="permalink"><a href="#aebacbe092615cd083cf996b14402bba6">&#9670;&nbsp;</a></span>disable_all_reports()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08x::disable_all_reports </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Disables all currently enabled reports. </p>
+<dl class="section return"><dt>Returns</dt><dd>True if all currently enabled reports were disabled successfully. </dd></dl>
+<div class="dynheader">
+Here is the caller graph for this function:</div>
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+</div>
+<a id="a9387728c276734da27388dbea38b6b32" name="a9387728c276734da27388dbea38b6b32"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9387728c276734da27388dbea38b6b32">&#9670;&nbsp;</a></span>dynamic_calibration_autosave_disable()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08x::dynamic_calibration_autosave_disable </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Disables the automatic saving of dynamic/ME calibration data to <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> internal flash See ref manual 6.4.7.1. </p>
+<dl class="section return"><dt>Returns</dt><dd>True if dynamic/ME calibration autosave data enable succeeded. </dd></dl>
+
+</div>
+</div>
+<a id="a4e8b49abd33e6e11f23b2ae345058b9b" name="a4e8b49abd33e6e11f23b2ae345058b9b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4e8b49abd33e6e11f23b2ae345058b9b">&#9670;&nbsp;</a></span>dynamic_calibration_autosave_enable()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08x::dynamic_calibration_autosave_enable </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Enables the automatic saving of dynamic/ME calibration data to <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> internal flash See ref manual 6.4.7.1. </p>
+<dl class="section return"><dt>Returns</dt><dd>True if dynamic/ME calibration autosave data enable succeeded. </dd></dl>
+
+</div>
+</div>
+<a id="a441681a5133b1a125b534925c9bc10f9" name="a441681a5133b1a125b534925c9bc10f9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a441681a5133b1a125b534925c9bc10f9">&#9670;&nbsp;</a></span>dynamic_calibration_data_clear_ram()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08x::dynamic_calibration_data_clear_ram </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Clears dynamic/motion engine calibration data from ram and resets <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> device. See ref manual 6.4.9.1. </p>
+<dl class="section return"><dt>Returns</dt><dd>True if save dynamic/ME calibration data succeeded. </dd></dl>
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+<h2 class="memtitle"><span class="permalink"><a href="#a65a7175b6f6ad6ce687e4fd4cd4bc396">&#9670;&nbsp;</a></span>dynamic_calibration_data_delete()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08x::dynamic_calibration_data_delete </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Deletes dynamic calibration data from <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> internal flash and resets the device. Follows the steps outlined in ref. manual 6.4.9. </p>
+<dl class="section return"><dt>Returns</dt><dd>True if delete dynamic calibration data operation succeeded. </dd></dl>
+<div class="dynheader">
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+<h2 class="memtitle"><span class="permalink"><a href="#a5c7498f6fa4bd43280dff1d322233b95">&#9670;&nbsp;</a></span>dynamic_calibration_disable()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08x::dynamic_calibration_disable </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="_b_n_o08x_global_types_8hpp.html#a25947bbe6bc4a7c9edd7067fdce0e9cc">BNO08xCalSel</a>&#160;</td>
+          <td class="paramname"><em>sensor</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Disables dynamic/motion engine calibration for specified sensor(s), see ref. manual 6.4.6.1. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">sensor</td><td>The sensor(s) to disable dynamic/ME calibration for.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>True if disable dynamic/ME calibration succeeded. </dd></dl>
+<div class="dynheader">
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+<h2 class="memtitle"><span class="permalink"><a href="#a90ea8e811d4bea28a356290d6f5caac5">&#9670;&nbsp;</a></span>dynamic_calibration_enable()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08x::dynamic_calibration_enable </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="_b_n_o08x_global_types_8hpp.html#a25947bbe6bc4a7c9edd7067fdce0e9cc">BNO08xCalSel</a>&#160;</td>
+          <td class="paramname"><em>sensor</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Starts simple calibration, see ref. manual 6.4.10.1. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">period_us</td><td>This interval should be set to whatever rate the sensor hub is expected to run at after calibration.</td></tr>
+  </table>
+  </dd>
+</dl>
+<p>After the calibration is started, the IMU should be rotated 180 degrees. After the IMU has been rotated call calibration_end(). See ref. manual 6.4.10 for more detailed instructions.</p>
+<dl class="section return"><dt>Returns</dt><dd>True if start simple calibration operation succeeded.</dd></dl>
+<p>Ends turn-table calibration, see ref. manual 6.4.10.2</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">status</td><td>Returned status bits indicating result of turntable calibration.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>True if enable start turn-table calibration operation succeeded.</dd></dl>
+<p>Enables dynamic/motion engine calibration for specified sensor(s), see ref. manual 6.4.6.1</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">sensor</td><td>The sensor(s) to enable dynamic/ME calibration for.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>True if enable dynamic/ME calibration succeeded. </dd></dl>
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+<h2 class="memtitle"><span class="permalink"><a href="#abcdba0d0e82db480d20ea4564511a276">&#9670;&nbsp;</a></span>dynamic_calibration_run_routine()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08x::dynamic_calibration_run_routine </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Example calibration routine using dynamic/ME calibration commands. </p>
+<p >Routine does the following:alignas</p>
+<p >1) disables all enabled reports 2) sends a command to enable dynamic/motion engine calibration for all possible options (SH2_CAL_ACCEL | SH2_CAL_GYRO | SH2_CAL_MAG | SH2_CAL_PLANAR) 3) enables game rotation vector reports and calibrated magnetic field reports 4) moving window average for accuracy received through reports 5) deems calibration accuracy threshold met when magf accuracy avg is &gt;=2 (MED) and quat accuracy avg &gt;=3 (HIGH) for longer than 5 seconds 6) sends command to save dynamic calibration data 7) disables all enabled reports</p>
+<p >Note the DCD commands don't have to be used this way, this is just an example, but the <a class="el" href="class_b_n_o08x.html#a4e8b49abd33e6e11f23b2ae345058b9b" title="Enables the automatic saving of dynamic/ME calibration data to BNO08x internal flash See ref manual 6...">dynamic_calibration_autosave_enable()</a> allows calibration to be run and saved constantly even while data is used for other operations.</p>
+<dl class="section return"><dt>Returns</dt><dd>True if calibration routine succeeded. </dd></dl>
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+<h2 class="memtitle"><span class="permalink"><a href="#a85f1eca475ea0e6fbaff75c8a297d671">&#9670;&nbsp;</a></span>dynamic_calibration_save()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08x::dynamic_calibration_save </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Saves dynamic/motion engine calibration data to <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> internal flash immediately. See ref manual 6.4.5.1. </p>
+<dl class="section return"><dt>Returns</dt><dd>True if save dynamic/ME calibration data succeeded. </dd></dl>
+<div class="dynheader">
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+<h2 class="memtitle"><span class="permalink"><a href="#a138577792350b8d5cc48cbf46b34c4f3">&#9670;&nbsp;</a></span>get_frs()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08x::get_frs </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8e">BNO08xFrsID</a>&#160;</td>
+          <td class="paramname"><em>frs_ID</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">uint32_t(&amp;)&#160;</td>
+          <td class="paramname"><em>data</em>[16], </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">uint16_t &amp;&#160;</td>
+          <td class="paramname"><em>rx_data_sz</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Retrieves a record from flash record system (if your goal is to retrieve sensor specific meta data use the <a class="el" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x.">BNO08xRpt</a>:get_meta_data() method instead) </p>
+<p >For more details on returned and data and frs_IDs see ref. manual 6.3.7 &amp; 4.3</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">frs_ID</td><td>The ID of the desired record to retrieve from flash. </td></tr>
+    <tr><td class="paramname">data</td><td>Buffer of 16 uint32_t to store retrieved data. </td></tr>
+    <tr><td class="paramname">rx_data_sz</td><td>Reference to store number of 32 bit words retrieved from flash.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>True if get flash record system operation succeeded. </dd></dl>
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+<h2 class="memtitle"><span class="permalink"><a href="#aa8fd64f60de86ff6b8562f90f3b09690">&#9670;&nbsp;</a></span>get_product_IDs()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">sh2_ProductIds_t BNO08x::get_product_IDs </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Returns product ID info sent by IMU at initialization. </p>
+<dl class="section return"><dt>Returns</dt><dd>The product ID info returned at initialization. </dd></dl>
+
+</div>
+</div>
+<a id="a96d47dd0f9aedfbe3f731f8ae76b2e85" name="a96d47dd0f9aedfbe3f731f8ae76b2e85"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a96d47dd0f9aedfbe3f731f8ae76b2e85">&#9670;&nbsp;</a></span>get_reset_reason()</h2>
+
+<div class="memitem">
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+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="_b_n_o08x_global_types_8hpp.html#afed71c9ed8a8563767f26282408ccee2">BNO08xResetReason</a> BNO08x::get_reset_reason </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Returns reason for previous reset via product ID report. </p>
+<dl class="section return"><dt>Returns</dt><dd>Enum object containing reset reason, <a class="el" href="_b_n_o08x_global_types_8hpp.html#afed71c9ed8a8563767f26282408ccee2a0db45d2a4141101bdfe48e3314cfbca3" title="Undefined reset reason, this should never occur and is an error.">BNO08xResetReason::UNDEFINED</a> if failure. </dd></dl>
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+<h2 class="memtitle"><span class="permalink"><a href="#ad42c335827c7b09cd2e4ff303a0d3520">&#9670;&nbsp;</a></span>get_system_orientation()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08x::get_system_orientation </td>
+          <td>(</td>
+          <td class="paramtype">float &amp;&#160;</td>
+          <td class="paramname"><em>Qw</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">float &amp;&#160;</td>
+          <td class="paramname"><em>Qx</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">float &amp;&#160;</td>
+          <td class="paramname"><em>Qy</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">float &amp;&#160;</td>
+          <td class="paramname"><em>Qz</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Retrieves the system orientation of the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> device and converts to float. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">Qw</td><td>Reference to save real component of mapping quaternion. </td></tr>
+    <tr><td class="paramname">Qx</td><td>Reference to save X (i) component of mapping quaternion. </td></tr>
+    <tr><td class="paramname">Qy</td><td>Reference to save Y (j) component of mapping quaternion. </td></tr>
+    <tr><td class="paramname">Qz</td><td>Reference to save Z (k) component of mapping quaternion. </td></tr>
+  </table>
+  </dd>
+</dl>
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+<h2 class="memtitle"><span class="permalink"><a href="#a28cd1c0b3477571d87133234e6358503">&#9670;&nbsp;</a></span>hard_reset()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08x::hard_reset </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Hard resets <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> device. </p>
+<dl class="section return"><dt>Returns</dt><dd>True if reset was success. </dd></dl>
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+<h2 class="memtitle"><span class="permalink"><a href="#aea8e2c6dd7a2c9899479a7f39fe94798">&#9670;&nbsp;</a></span>initialize()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08x::initialize </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Initializes <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> sensor. </p>
+<p >Resets sensor and goes through initialization process. Configures GPIO, required ISRs, and launches two tasks, one to manage SPI transactions, another to process any received data.</p>
+<dl class="section return"><dt>Returns</dt><dd>True if initialization was success, false if otherwise. </dd></dl>
+
+</div>
+</div>
+<a id="aaaa15b21ad98a3b161065c3d03ff62b5" name="aaaa15b21ad98a3b161065c3d03ff62b5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aaaa15b21ad98a3b161065c3d03ff62b5">&#9670;&nbsp;</a></span>on()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08x::on </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Places <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> device in on state by sending ON (2) command on "device" channel. </p>
+<dl class="section return"><dt>Returns</dt><dd>True if on operation succeeded. </dd></dl>
+
+</div>
+</div>
+<a id="a7441f7f2477c152deca17054041bf3e6" name="a7441f7f2477c152deca17054041bf3e6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7441f7f2477c152deca17054041bf3e6">&#9670;&nbsp;</a></span>print_product_ids()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08x::print_product_ids </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Prints product IDs received at initialization. </p>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
+
+</div>
+</div>
+<a id="aae4512fa4768becf0e3919a0e0ec34d8" name="aae4512fa4768becf0e3919a0e0ec34d8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aae4512fa4768becf0e3919a0e0ec34d8">&#9670;&nbsp;</a></span>print_system_orientation()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08x::print_system_orientation </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Retrieves and prints system orientation. </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>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_aae4512fa4768becf0e3919a0e0ec34d8_cgraph.png" border="0" usemap="#aclass_b_n_o08x_aae4512fa4768becf0e3919a0e0ec34d8_cgraph" alt=""/></div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a082c79d9951ac32ea5fa25de90255a41">&#9670;&nbsp;</a></span>register_cb() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08x::register_cb </td>
+          <td>(</td>
+          <td class="paramtype">std::function&lt; void(uint8_t report_ID)&gt;&#160;</td>
+          <td class="paramname"><em>cb_fxn</em></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, overloaded with callback param for most recent report ID. </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 with single input param of uint8_t for most recent report ID.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
+
+</div>
+</div>
+<a id="aadd44524e6d22c48916acd9518b63ec3" name="aadd44524e6d22c48916acd9518b63ec3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aadd44524e6d22c48916acd9518b63ec3">&#9670;&nbsp;</a></span>register_cb() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08x::register_cb </td>
+          <td>(</td>
+          <td class="paramtype">std::function&lt; void(void)&gt;&#160;</td>
+          <td class="paramname"><em>cb_fxn</em></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 void input param.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
+
+</div>
+</div>
+<a id="abba85271f3333b7f395ec55915c1d5f9" name="abba85271f3333b7f395ec55915c1d5f9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abba85271f3333b7f395ec55915c1d5f9">&#9670;&nbsp;</a></span>set_system_orientation()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08x::set_system_orientation </td>
+          <td>(</td>
+          <td class="paramtype">float&#160;</td>
+          <td class="paramname"><em>Qw</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">float&#160;</td>
+          <td class="paramname"><em>Qx</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">float&#160;</td>
+          <td class="paramname"><em>Qy</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">float&#160;</td>
+          <td class="paramname"><em>Qz</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Sets the system orientation of the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> device and persist it in flash (FRS). </p>
+<dl class="section note"><dt>Note</dt><dd>Datasheet Figure 4.3 for reference of physical mounting position relative to mapping quaternion. </dd>
+<dd>
+Use SQRT2OVER2 as a constant for sqrt(2)/2 </dd>
+<dd>
+that a reset is required to apply changes. </dd>
+<dd>
+This configuration seems only to work if reports are already enabled. e.g. set .rpt.rv.enable(PERIOD) prior this call</dd></dl>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">Qw</td><td>Real component of mapping quaternion. </td></tr>
+    <tr><td class="paramname">Qx</td><td>X (i) component of mapping quaternion. </td></tr>
+    <tr><td class="paramname">Qy</td><td>Y (j) component of mapping quaternion. </td></tr>
+    <tr><td class="paramname">Qz</td><td>Z (k) component of mapping quaternion. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a7c5774a48227e8e3346fa5df7dfa420c" name="a7c5774a48227e8e3346fa5df7dfa420c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7c5774a48227e8e3346fa5df7dfa420c">&#9670;&nbsp;</a></span>sleep()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08x::sleep </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Places <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> device in sleep state by sending SLEEP (3) command on "device" channel. </p>
+<dl class="section return"><dt>Returns</dt><dd>True if sleep operation succeeded. </dd></dl>
+
+</div>
+</div>
+<a id="a973a1b1785f3302ee1b2702c6a27646e" name="a973a1b1785f3302ee1b2702c6a27646e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a973a1b1785f3302ee1b2702c6a27646e">&#9670;&nbsp;</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"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Soft resets <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> device by sending RESET (1) command on "device" channel. </p>
+<dl class="section return"><dt>Returns</dt><dd>True if soft reset operation succeeded. </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_a973a1b1785f3302ee1b2702c6a27646e_cgraph.png" border="0" usemap="#aclass_b_n_o08x_a973a1b1785f3302ee1b2702c6a27646e_cgraph" alt=""/></div>
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+<h2 class="memtitle"><span class="permalink"><a href="#aa616a645a4fc9054194fdbf76ec9c5b5">&#9670;&nbsp;</a></span>write_frs()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08x::write_frs </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8e">BNO08xFrsID</a>&#160;</td>
+          <td class="paramname"><em>frs_ID</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">uint32_t *&#160;</td>
+          <td class="paramname"><em>data</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const uint16_t&#160;</td>
+          <td class="paramname"><em>tx_data_sz</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Writes a record to flash record system. </p>
+<p >For more details on flash records and frs_IDs see ref. manual 6.3.6 &amp; 4.3</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">frs_ID</td><td>The ID of the desired to write to flash. </td></tr>
+    <tr><td class="paramname">data</td><td>Buffer of 16 uint32_t to store data to send. </td></tr>
+    <tr><td class="paramname">tx_data_sz</td><td>Length of data, amount of 32 bit words to write to flash.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>True if get flash record system operation succeeded. </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_aa616a645a4fc9054194fdbf76ec9c5b5_cgraph.png" border="0" usemap="#aclass_b_n_o08x_aa616a645a4fc9054194fdbf76ec9c5b5_cgraph" alt=""/></div>
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+
+</div>
+</div>
+<h2 class="groupheader">Friends And Related Function Documentation</h2>
+<a id="a6dd0081dc9eb0cfb019bfdca3aa31802" name="a6dd0081dc9eb0cfb019bfdca3aa31802"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6dd0081dc9eb0cfb019bfdca3aa31802">&#9670;&nbsp;</a></span>BNO08xSH2HAL</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">friend class <a class="el" href="class_b_n_o08x_s_h2_h_a_l.html">BNO08xSH2HAL</a></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">friend</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a190775b71c35d8007faae7dd6a9f1030" name="a190775b71c35d8007faae7dd6a9f1030"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a190775b71c35d8007faae7dd6a9f1030">&#9670;&nbsp;</a></span>BNO08xTestHelper</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">friend class <a class="el" href="class_b_n_o08x_test_helper.html">BNO08xTestHelper</a></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">friend</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="ae1db7422ee9c2cac77382cc0a7aa430e" name="ae1db7422ee9c2cac77382cc0a7aa430e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae1db7422ee9c2cac77382cc0a7aa430e">&#9670;&nbsp;</a></span>rpt</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="struct_b_n_o08x_1_1bno08x__reports__t.html">bno08x_reports_t</a> BNO08x::rpt</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ab8d5ebfc080838870e320494da3fa64d" name="ab8d5ebfc080838870e320494da3fa64d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab8d5ebfc080838870e320494da3fa64d">&#9670;&nbsp;</a></span>SQRT2OVER2</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">constexpr float BNO08x::SQRT2OVER2 = 0.7071067811865476f</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">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>/media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/<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> 1.9.4 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/documentation/html/class_b_n_o08x.js b/documentation/html/class_b_n_o08x.js
new file mode 100644
index 0000000..e2d9446
--- /dev/null
+++ b/documentation/html/class_b_n_o08x.js
@@ -0,0 +1,35 @@
+var class_b_n_o08x =
+[
+    [ "bno08x_reports_t", "struct_b_n_o08x_1_1bno08x__reports__t.html", "struct_b_n_o08x_1_1bno08x__reports__t" ],
+    [ "bno08x_reports_t", "class_b_n_o08x.html#ae08bdaff01ecacf0f399ab289fdf0b99", null ],
+    [ "BNO08x", "class_b_n_o08x.html#ad12fb6cf310ad7a04a4e53809833bd61", null ],
+    [ "~BNO08x", "class_b_n_o08x.html#a687eee44d68e1bcabce04780d7eb5fb9", null ],
+    [ "data_available", "class_b_n_o08x.html#a367d525d1c0ba119b3dca3067bb5bccc", null ],
+    [ "disable_all_reports", "class_b_n_o08x.html#aebacbe092615cd083cf996b14402bba6", null ],
+    [ "dynamic_calibration_autosave_disable", "class_b_n_o08x.html#a9387728c276734da27388dbea38b6b32", null ],
+    [ "dynamic_calibration_autosave_enable", "class_b_n_o08x.html#a4e8b49abd33e6e11f23b2ae345058b9b", null ],
+    [ "dynamic_calibration_data_clear_ram", "class_b_n_o08x.html#a441681a5133b1a125b534925c9bc10f9", null ],
+    [ "dynamic_calibration_data_delete", "class_b_n_o08x.html#a65a7175b6f6ad6ce687e4fd4cd4bc396", null ],
+    [ "dynamic_calibration_disable", "class_b_n_o08x.html#a5c7498f6fa4bd43280dff1d322233b95", null ],
+    [ "dynamic_calibration_enable", "class_b_n_o08x.html#a90ea8e811d4bea28a356290d6f5caac5", null ],
+    [ "dynamic_calibration_run_routine", "class_b_n_o08x.html#abcdba0d0e82db480d20ea4564511a276", null ],
+    [ "dynamic_calibration_save", "class_b_n_o08x.html#a85f1eca475ea0e6fbaff75c8a297d671", null ],
+    [ "get_frs", "class_b_n_o08x.html#a138577792350b8d5cc48cbf46b34c4f3", null ],
+    [ "get_product_IDs", "class_b_n_o08x.html#aa8fd64f60de86ff6b8562f90f3b09690", null ],
+    [ "get_reset_reason", "class_b_n_o08x.html#a96d47dd0f9aedfbe3f731f8ae76b2e85", null ],
+    [ "get_system_orientation", "class_b_n_o08x.html#ad42c335827c7b09cd2e4ff303a0d3520", null ],
+    [ "hard_reset", "class_b_n_o08x.html#a28cd1c0b3477571d87133234e6358503", null ],
+    [ "initialize", "class_b_n_o08x.html#aea8e2c6dd7a2c9899479a7f39fe94798", null ],
+    [ "on", "class_b_n_o08x.html#aaaa15b21ad98a3b161065c3d03ff62b5", null ],
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diff --git a/documentation/html/class_b_n_o08x_a28cd1c0b3477571d87133234e6358503_cgraph.map b/documentation/html/class_b_n_o08x_a28cd1c0b3477571d87133234e6358503_cgraph.map
new file mode 100644
index 0000000..95af623
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_a28cd1c0b3477571d87133234e6358503_cgraph.map
@@ -0,0 +1,4 @@
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+</map>
diff --git a/documentation/html/class_b_n_o08x_a28cd1c0b3477571d87133234e6358503_cgraph.md5 b/documentation/html/class_b_n_o08x_a28cd1c0b3477571d87133234e6358503_cgraph.md5
new file mode 100644
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diff --git a/documentation/html/class_b_n_o08x_a973a1b1785f3302ee1b2702c6a27646e_cgraph.map b/documentation/html/class_b_n_o08x_a973a1b1785f3302ee1b2702c6a27646e_cgraph.map
new file mode 100644
index 0000000..f55e7e6
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new file mode 100644
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diff --git a/documentation/html/class_b_n_o08x_aa616a645a4fc9054194fdbf76ec9c5b5_cgraph.map b/documentation/html/class_b_n_o08x_aa616a645a4fc9054194fdbf76ec9c5b5_cgraph.map
new file mode 100644
index 0000000..3468613
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_aa616a645a4fc9054194fdbf76ec9c5b5_cgraph.map
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new file mode 100644
index 0000000..f03718b
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+++ b/documentation/html/class_b_n_o08x_ad42c335827c7b09cd2e4ff303a0d3520_icgraph.map
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diff --git a/documentation/html/class_b_n_o08x_ad42c335827c7b09cd2e4ff303a0d3520_icgraph.md5 b/documentation/html/class_b_n_o08x_ad42c335827c7b09cd2e4ff303a0d3520_icgraph.md5
new file mode 100644
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+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
+   </div>
+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
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+  <div class="headertitle"><div class="title">BNO08xCbGeneric Member List</div></div>
+</div><!--header-->
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+
+<p>This is the complete list of members for <a class="el" href="class_b_n_o08x_cb_generic.html">BNO08xCbGeneric</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_cb_generic.html#a5b1984f0111c5ca5e07a7f5487cd5234">BNO08xCbGeneric</a>(uint8_t rpt_ID)</td><td class="entry"><a class="el" href="class_b_n_o08x_cb_generic.html">BNO08xCbGeneric</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_cb_generic.html#a19f9e8a22d039acf29c98801368ff0bb">invoke</a>(uint8_t rpt_ID)=0</td><td class="entry"><a class="el" href="class_b_n_o08x_cb_generic.html">BNO08xCbGeneric</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_cb_generic.html#a808841c9f19664cb6ff06f9c217793e1">rpt_ID</a></td><td class="entry"><a class="el" href="class_b_n_o08x_cb_generic.html">BNO08xCbGeneric</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_cb_generic.html#a4caa8d4932c70bc07e187f489542ab87">~BNO08xCbGeneric</a>()=default</td><td class="entry"><a class="el" href="class_b_n_o08x_cb_generic.html">BNO08xCbGeneric</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>esp32_BNO08x: BNO08xCbGeneric Class Reference</title>
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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>
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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;1.4</span>
+   </div>
+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
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+<div id="doc-content">
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+        name="MSearchResults" id="MSearchResults">
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+</div>
+
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="#pro-methods">Protected Member Functions</a> &#124;
+<a href="class_b_n_o08x_cb_generic-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">BNO08xCbGeneric Class Reference<span class="mlabels"><span class="mlabel">abstract</span></span></div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>Parent class to represent callback functions as generic type such that all flavors can be invoked by single type.  
+ <a href="class_b_n_o08x_cb_generic.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="_b_n_o08x_cb_generic_8hpp_source.html">callback/BNO08xCbGeneric.hpp</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for BNO08xCbGeneric:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_cb_generic__inherit__graph.png" border="0" usemap="#a_b_n_o08x_cb_generic_inherit__map" alt="Inheritance graph"/></div>
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+<area shape="rect" title="Parent class to represent callback functions as generic type such that all flavors can be invoked by ..." alt="" coords="113,5,256,32"/>
+<area shape="rect" href="class_b_n_o08x_cb_param_rpt_i_d.html" title="Class to hold callback functions which are passed report ID as input parameter." alt="" coords="5,80,175,107"/>
+<area shape="rect" href="class_b_n_o08x_cb_param_void.html" title=" " alt="" coords="199,80,360,107"/>
+</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="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a19f9e8a22d039acf29c98801368ff0bb"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_cb_generic.html#a19f9e8a22d039acf29c98801368ff0bb">invoke</a> (uint8_t <a class="el" href="class_b_n_o08x_cb_generic.html#a808841c9f19664cb6ff06f9c217793e1">rpt_ID</a>)=0</td></tr>
+<tr class="separator:a19f9e8a22d039acf29c98801368ff0bb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4caa8d4932c70bc07e187f489542ab87"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_cb_generic.html#a4caa8d4932c70bc07e187f489542ab87">~BNO08xCbGeneric</a> ()=default</td></tr>
+<tr class="separator:a4caa8d4932c70bc07e187f489542ab87"><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:a808841c9f19664cb6ff06f9c217793e1"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_cb_generic.html#a808841c9f19664cb6ff06f9c217793e1">rpt_ID</a></td></tr>
+<tr class="separator:a808841c9f19664cb6ff06f9c217793e1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pro-methods" name="pro-methods"></a>
+Protected Member Functions</h2></td></tr>
+<tr class="memitem:a5b1984f0111c5ca5e07a7f5487cd5234"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_cb_generic.html#a5b1984f0111c5ca5e07a7f5487cd5234">BNO08xCbGeneric</a> (uint8_t <a class="el" href="class_b_n_o08x_cb_generic.html#a808841c9f19664cb6ff06f9c217793e1">rpt_ID</a>)</td></tr>
+<tr class="separator:a5b1984f0111c5ca5e07a7f5487cd5234"><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 >Parent class to represent callback functions as generic type such that all flavors can be invoked by single type. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a4caa8d4932c70bc07e187f489542ab87" name="a4caa8d4932c70bc07e187f489542ab87"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4caa8d4932c70bc07e187f489542ab87">&#9670;&nbsp;</a></span>~BNO08xCbGeneric()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual BNO08xCbGeneric::~BNO08xCbGeneric </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">virtual</span><span class="mlabel">default</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a5b1984f0111c5ca5e07a7f5487cd5234" name="a5b1984f0111c5ca5e07a7f5487cd5234"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5b1984f0111c5ca5e07a7f5487cd5234">&#9670;&nbsp;</a></span>BNO08xCbGeneric()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">BNO08xCbGeneric::BNO08xCbGeneric </td>
+          <td>(</td>
+          <td class="paramtype">uint8_t&#160;</td>
+          <td class="paramname"><em>rpt_ID</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a19f9e8a22d039acf29c98801368ff0bb" name="a19f9e8a22d039acf29c98801368ff0bb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a19f9e8a22d039acf29c98801368ff0bb">&#9670;&nbsp;</a></span>invoke()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void BNO08xCbGeneric::invoke </td>
+          <td>(</td>
+          <td class="paramtype">uint8_t&#160;</td>
+          <td class="paramname"><em>rpt_ID</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implemented in <a class="el" href="class_b_n_o08x_cb_param_rpt_i_d.html#ae263c2af6f9363d1a4fc58824b53cb72">BNO08xCbParamRptID</a>, and <a class="el" href="class_b_n_o08x_cb_param_void.html#a5cfdaad83528e3e418f51041d500b6f9">BNO08xCbParamVoid</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a808841c9f19664cb6ff06f9c217793e1" name="a808841c9f19664cb6ff06f9c217793e1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a808841c9f19664cb6ff06f9c217793e1">&#9670;&nbsp;</a></span>rpt_ID</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint8_t BNO08xCbGeneric::rpt_ID</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/callback/<a class="el" href="_b_n_o08x_cb_generic_8hpp_source.html">BNO08xCbGeneric.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="class_b_n_o08x_cb_generic.html">BNO08xCbGeneric</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> 1.9.4 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/documentation/html/class_b_n_o08x_cb_generic.js b/documentation/html/class_b_n_o08x_cb_generic.js
new file mode 100644
index 0000000..b40e194
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_cb_generic.js
@@ -0,0 +1,7 @@
+var class_b_n_o08x_cb_generic =
+[
+    [ "~BNO08xCbGeneric", "class_b_n_o08x_cb_generic.html#a4caa8d4932c70bc07e187f489542ab87", null ],
+    [ "BNO08xCbGeneric", "class_b_n_o08x_cb_generic.html#a5b1984f0111c5ca5e07a7f5487cd5234", null ],
+    [ "invoke", "class_b_n_o08x_cb_generic.html#a19f9e8a22d039acf29c98801368ff0bb", null ],
+    [ "rpt_ID", "class_b_n_o08x_cb_generic.html#a808841c9f19664cb6ff06f9c217793e1", null ]
+];
\ No newline at end of file
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new file mode 100644
index 0000000..7415035
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+++ b/documentation/html/class_b_n_o08x_cb_generic__inherit__graph.map
@@ -0,0 +1,5 @@
+<map id="BNO08xCbGeneric" name="BNO08xCbGeneric">
+<area shape="rect" id="node1" title="Parent class to represent callback functions as generic type such that all flavors can be invoked by ..." alt="" coords="113,5,256,32"/>
+<area shape="rect" id="node2" href="$class_b_n_o08x_cb_param_rpt_i_d.html" title="Class to hold callback functions which are passed report ID as input parameter." alt="" coords="5,80,175,107"/>
+<area shape="rect" id="node3" href="$class_b_n_o08x_cb_param_void.html" title=" " alt="" coords="199,80,360,107"/>
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diff --git a/documentation/html/class_b_n_o08x_cb_generic__inherit__graph.md5 b/documentation/html/class_b_n_o08x_cb_generic__inherit__graph.md5
new file mode 100644
index 0000000..eda7daa
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+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
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+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
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+  <div class="headertitle"><div class="title">BNO08xCbParamRptID Member List</div></div>
+</div><!--header-->
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+
+<p>This is the complete list of members for <a class="el" href="class_b_n_o08x_cb_param_rpt_i_d.html">BNO08xCbParamRptID</a>, including all inherited members.</p>
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+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_cb_generic.html#a5b1984f0111c5ca5e07a7f5487cd5234">BNO08xCbGeneric</a>(uint8_t rpt_ID)</td><td class="entry"><a class="el" href="class_b_n_o08x_cb_generic.html">BNO08xCbGeneric</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
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+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
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+<div class="header">
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+<a href="#pub-methods">Public Member Functions</a> &#124;
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+  <div class="headertitle"><div class="title">BNO08xCbParamRptID Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>Class to hold callback functions which are passed report ID as input parameter.  
+ <a href="class_b_n_o08x_cb_param_rpt_i_d.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="_b_n_o08x_cb_param_rpt_i_d_8hpp_source.html">callback/BNO08xCbParamRptID.hpp</a>&gt;</code></p>
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+<div class="dyncontent">
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+<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:a5ba2a4e27588fdd0ae43133544c76a22"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_cb_param_rpt_i_d.html#a5ba2a4e27588fdd0ae43133544c76a22">BNO08xCbParamRptID</a> (std::function&lt; void(uint8_t)&gt; cb_fxn, uint8_t <a class="el" href="class_b_n_o08x_cb_generic.html#a808841c9f19664cb6ff06f9c217793e1">rpt_ID</a>)</td></tr>
+<tr class="separator:a5ba2a4e27588fdd0ae43133544c76a22"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae263c2af6f9363d1a4fc58824b53cb72"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_cb_param_rpt_i_d.html#ae263c2af6f9363d1a4fc58824b53cb72">invoke</a> (uint8_t <a class="el" href="class_b_n_o08x_cb_generic.html#a808841c9f19664cb6ff06f9c217793e1">rpt_ID</a>) override</td></tr>
+<tr class="memdesc:ae263c2af6f9363d1a4fc58824b53cb72"><td class="mdescLeft">&#160;</td><td class="mdescRight">Invokes contained callback function.  <a href="class_b_n_o08x_cb_param_rpt_i_d.html#ae263c2af6f9363d1a4fc58824b53cb72">More...</a><br /></td></tr>
+<tr class="separator:ae263c2af6f9363d1a4fc58824b53cb72"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_class_b_n_o08x_cb_generic"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_class_b_n_o08x_cb_generic')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="class_b_n_o08x_cb_generic.html">BNO08xCbGeneric</a></td></tr>
+<tr class="memitem:a19f9e8a22d039acf29c98801368ff0bb inherit pub_methods_class_b_n_o08x_cb_generic"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_cb_generic.html#a19f9e8a22d039acf29c98801368ff0bb">invoke</a> (uint8_t <a class="el" href="class_b_n_o08x_cb_generic.html#a808841c9f19664cb6ff06f9c217793e1">rpt_ID</a>)=0</td></tr>
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+<tr class="memitem:a4caa8d4932c70bc07e187f489542ab87 inherit pub_methods_class_b_n_o08x_cb_generic"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_cb_generic.html#a4caa8d4932c70bc07e187f489542ab87">~BNO08xCbGeneric</a> ()=default</td></tr>
+<tr class="separator:a4caa8d4932c70bc07e187f489542ab87 inherit pub_methods_class_b_n_o08x_cb_generic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="inherited" name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_attribs_class_b_n_o08x_cb_generic"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_class_b_n_o08x_cb_generic')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="class_b_n_o08x_cb_generic.html">BNO08xCbGeneric</a></td></tr>
+<tr class="memitem:a808841c9f19664cb6ff06f9c217793e1 inherit pub_attribs_class_b_n_o08x_cb_generic"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_cb_generic.html#a808841c9f19664cb6ff06f9c217793e1">rpt_ID</a></td></tr>
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+<tr class="inherit_header pro_methods_class_b_n_o08x_cb_generic"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_class_b_n_o08x_cb_generic')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="class_b_n_o08x_cb_generic.html">BNO08xCbGeneric</a></td></tr>
+<tr class="memitem:a5b1984f0111c5ca5e07a7f5487cd5234 inherit pro_methods_class_b_n_o08x_cb_generic"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_cb_generic.html#a5b1984f0111c5ca5e07a7f5487cd5234">BNO08xCbGeneric</a> (uint8_t <a class="el" href="class_b_n_o08x_cb_generic.html#a808841c9f19664cb6ff06f9c217793e1">rpt_ID</a>)</td></tr>
+<tr class="separator:a5b1984f0111c5ca5e07a7f5487cd5234 inherit pro_methods_class_b_n_o08x_cb_generic"><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 >Class to hold callback functions which are passed report ID as input parameter. </p>
+<p >Class to hold callback functions with void input parameters. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a5ba2a4e27588fdd0ae43133544c76a22" name="a5ba2a4e27588fdd0ae43133544c76a22"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5ba2a4e27588fdd0ae43133544c76a22">&#9670;&nbsp;</a></span>BNO08xCbParamRptID()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">BNO08xCbParamRptID::BNO08xCbParamRptID </td>
+          <td>(</td>
+          <td class="paramtype">std::function&lt; void(uint8_t)&gt;&#160;</td>
+          <td class="paramname"><em>cb_fxn</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">uint8_t&#160;</td>
+          <td class="paramname"><em>rpt_ID</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="ae263c2af6f9363d1a4fc58824b53cb72" name="ae263c2af6f9363d1a4fc58824b53cb72"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae263c2af6f9363d1a4fc58824b53cb72">&#9670;&nbsp;</a></span>invoke()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08xCbParamRptID::invoke </td>
+          <td>(</td>
+          <td class="paramtype">uint8_t&#160;</td>
+          <td class="paramname"><em>rpt_ID</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Invokes contained callback function. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">rpt_ID</td><td>Report ID to be passed to contained callback.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
+
+<p>Implements <a class="el" href="class_b_n_o08x_cb_generic.html#a19f9e8a22d039acf29c98801368ff0bb">BNO08xCbGeneric</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/callback/<a class="el" href="_b_n_o08x_cb_param_rpt_i_d_8hpp_source.html">BNO08xCbParamRptID.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="class_b_n_o08x_cb_param_rpt_i_d.html">BNO08xCbParamRptID</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> 1.9.4 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/documentation/html/class_b_n_o08x_cb_param_rpt_i_d.js b/documentation/html/class_b_n_o08x_cb_param_rpt_i_d.js
new file mode 100644
index 0000000..348a9b0
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_cb_param_rpt_i_d.js
@@ -0,0 +1,5 @@
+var class_b_n_o08x_cb_param_rpt_i_d =
+[
+    [ "BNO08xCbParamRptID", "class_b_n_o08x_cb_param_rpt_i_d.html#a5ba2a4e27588fdd0ae43133544c76a22", null ],
+    [ "invoke", "class_b_n_o08x_cb_param_rpt_i_d.html#ae263c2af6f9363d1a4fc58824b53cb72", null ]
+];
\ No newline at end of file
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new file mode 100644
index 0000000..50b9333
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diff --git a/documentation/html/class_b_n_o08x_cb_param_rpt_i_d__coll__graph.md5 b/documentation/html/class_b_n_o08x_cb_param_rpt_i_d__coll__graph.md5
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+<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;1.4</span>
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+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
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+  <div class="headertitle"><div class="title">BNO08xCbParamVoid Member List</div></div>
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+
+<p>This is the complete list of members for <a class="el" href="class_b_n_o08x_cb_param_void.html">BNO08xCbParamVoid</a>, including all inherited members.</p>
+<table class="directory">
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+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_cb_generic.html#a4caa8d4932c70bc07e187f489542ab87">~BNO08xCbGeneric</a>()=default</td><td class="entry"><a class="el" href="class_b_n_o08x_cb_generic.html">BNO08xCbGeneric</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
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+
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="class_b_n_o08x_cb_param_void-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">BNO08xCbParamVoid Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="_b_n_o08x_cb_param_void_8hpp_source.html">callback/BNO08xCbParamVoid.hpp</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for BNO08xCbParamVoid:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_cb_param_void__inherit__graph.png" border="0" usemap="#a_b_n_o08x_cb_param_void_inherit__map" alt="Inheritance graph"/></div>
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+<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for BNO08xCbParamVoid:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_cb_param_void__coll__graph.png" border="0" usemap="#a_b_n_o08x_cb_param_void_coll__map" alt="Collaboration graph"/></div>
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+<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="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a989c124bfd9871f80a415b76510d966b"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_cb_param_void.html#a989c124bfd9871f80a415b76510d966b">BNO08xCbParamVoid</a> (std::function&lt; void(void)&gt; cb_fxn, uint8_t <a class="el" href="class_b_n_o08x_cb_generic.html#a808841c9f19664cb6ff06f9c217793e1">rpt_ID</a>)</td></tr>
+<tr class="separator:a989c124bfd9871f80a415b76510d966b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5cfdaad83528e3e418f51041d500b6f9"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_cb_param_void.html#a5cfdaad83528e3e418f51041d500b6f9">invoke</a> (uint8_t <a class="el" href="class_b_n_o08x_cb_generic.html#a808841c9f19664cb6ff06f9c217793e1">rpt_ID</a>) override</td></tr>
+<tr class="memdesc:a5cfdaad83528e3e418f51041d500b6f9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Invokes contained callback function.  <a href="class_b_n_o08x_cb_param_void.html#a5cfdaad83528e3e418f51041d500b6f9">More...</a><br /></td></tr>
+<tr class="separator:a5cfdaad83528e3e418f51041d500b6f9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_class_b_n_o08x_cb_generic"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_class_b_n_o08x_cb_generic')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="class_b_n_o08x_cb_generic.html">BNO08xCbGeneric</a></td></tr>
+<tr class="memitem:a19f9e8a22d039acf29c98801368ff0bb inherit pub_methods_class_b_n_o08x_cb_generic"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_cb_generic.html#a19f9e8a22d039acf29c98801368ff0bb">invoke</a> (uint8_t <a class="el" href="class_b_n_o08x_cb_generic.html#a808841c9f19664cb6ff06f9c217793e1">rpt_ID</a>)=0</td></tr>
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+<tr class="memitem:a4caa8d4932c70bc07e187f489542ab87 inherit pub_methods_class_b_n_o08x_cb_generic"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_cb_generic.html#a4caa8d4932c70bc07e187f489542ab87">~BNO08xCbGeneric</a> ()=default</td></tr>
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+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="inherited" name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_attribs_class_b_n_o08x_cb_generic"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_class_b_n_o08x_cb_generic')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="class_b_n_o08x_cb_generic.html">BNO08xCbGeneric</a></td></tr>
+<tr class="memitem:a808841c9f19664cb6ff06f9c217793e1 inherit pub_attribs_class_b_n_o08x_cb_generic"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_cb_generic.html#a808841c9f19664cb6ff06f9c217793e1">rpt_ID</a></td></tr>
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+<tr class="inherit_header pro_methods_class_b_n_o08x_cb_generic"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_class_b_n_o08x_cb_generic')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="class_b_n_o08x_cb_generic.html">BNO08xCbGeneric</a></td></tr>
+<tr class="memitem:a5b1984f0111c5ca5e07a7f5487cd5234 inherit pro_methods_class_b_n_o08x_cb_generic"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_cb_generic.html#a5b1984f0111c5ca5e07a7f5487cd5234">BNO08xCbGeneric</a> (uint8_t <a class="el" href="class_b_n_o08x_cb_generic.html#a808841c9f19664cb6ff06f9c217793e1">rpt_ID</a>)</td></tr>
+<tr class="separator:a5b1984f0111c5ca5e07a7f5487cd5234 inherit pro_methods_class_b_n_o08x_cb_generic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a989c124bfd9871f80a415b76510d966b" name="a989c124bfd9871f80a415b76510d966b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a989c124bfd9871f80a415b76510d966b">&#9670;&nbsp;</a></span>BNO08xCbParamVoid()</h2>
+
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+  <td class="mlabels-left">
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+        <tr>
+          <td class="memname">BNO08xCbParamVoid::BNO08xCbParamVoid </td>
+          <td>(</td>
+          <td class="paramtype">std::function&lt; void(void)&gt;&#160;</td>
+          <td class="paramname"><em>cb_fxn</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">uint8_t&#160;</td>
+          <td class="paramname"><em>rpt_ID</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
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+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a5cfdaad83528e3e418f51041d500b6f9" name="a5cfdaad83528e3e418f51041d500b6f9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5cfdaad83528e3e418f51041d500b6f9">&#9670;&nbsp;</a></span>invoke()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08xCbParamVoid::invoke </td>
+          <td>(</td>
+          <td class="paramtype">uint8_t&#160;</td>
+          <td class="paramname"><em>rpt_ID</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
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+<p>Invokes contained callback function. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">rpt_ID</td><td>n/a, not used, kept to maintain same prototype as <a class="el" href="class_b_n_o08x_cb_param_rpt_i_d.html#ae263c2af6f9363d1a4fc58824b53cb72" title="Invokes contained callback function.">BNO08xCbParamRptID::invoke()</a></td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
+
+<p>Implements <a class="el" href="class_b_n_o08x_cb_generic.html#a19f9e8a22d039acf29c98801368ff0bb">BNO08xCbGeneric</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/callback/<a class="el" href="_b_n_o08x_cb_param_void_8hpp_source.html">BNO08xCbParamVoid.hpp</a></li>
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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> 1.9.4 </li>
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+var class_b_n_o08x_cb_param_void =
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+    [ "invoke", "class_b_n_o08x_cb_param_void.html#a5cfdaad83528e3e418f51041d500b6f9", null ]
+];
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new file mode 100644
index 0000000..f11cbed
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_rpt-members.html
@@ -0,0 +1,124 @@
+<!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">
+<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 1.9.4"/>
+<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>
+<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>
+<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;1.4</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 1.9.4 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search",'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');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(document).ready(function(){initNavTree('class_b_n_o08x_rpt.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">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="header">
+  <div class="headertitle"><div class="title">BNO08xRpt 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_rpt.html">BNO08xRpt</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a9313d906399750f09e3fe4dae87cec15">BNO08x</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">friend</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a15e8eebe3fe90ac19837e3860c76374c">BNO08xRpt</a>(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">clear_sample_counts</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">disable</a>(sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a4ee529725467412df396d5c610ff7bb4">enable</a>(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)=0</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">flush</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">get_meta_data</a>(bno08x_meta_data_t &amp;meta_data)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">get_sample_counts</a>(bno08x_sample_counts_t &amp;sample_counts)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">has_new_data</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">lock_sh2_HAL</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">lock_user_data</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a1d4d6f4cc6f1eae503863eedf7fb9f52">period_us</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">RAD_2_DEG</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">register_cb</a>(std::function&lt; void(void)&gt; cb_fxn)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">rpt_enable</a>(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">signal_data_available</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a2c57f370fb08b793bb10ec22d5acca45">TAG</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">unlock_sh2_HAL</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">unlock_user_data</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a970fb7e7d3745c62fec626f0ccf0759f">update_data</a>(sh2_SensorValue_t *sensor_val)=0</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">pure virtual</span></td></tr>
+</table></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> 1.9.4 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/documentation/html/class_b_n_o08x_rpt.html b/documentation/html/class_b_n_o08x_rpt.html
new file mode 100644
index 0000000..6c1e828
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_rpt.html
@@ -0,0 +1,1159 @@
+<!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">
+<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 1.9.4"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>esp32_BNO08x: BNO08xRpt 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>
+<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>
+<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;1.4</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 1.9.4 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search",'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');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(document).ready(function(){initNavTree('class_b_n_o08x_rpt.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">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pro-methods">Protected Member Functions</a> &#124;
+<a href="#pro-attribs">Protected Attributes</a> &#124;
+<a href="#pro-static-attribs">Static Protected Attributes</a> &#124;
+<a href="#friends">Friends</a> &#124;
+<a href="class_b_n_o08x_rpt-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">BNO08xRpt Class Reference<span class="mlabels"><span class="mlabel">abstract</span></span></div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>Class to represent and manage reports returned from <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a>.  
+ <a href="class_b_n_o08x_rpt.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="_b_n_o08x_rpt_8hpp_source.html">report/BNO08xRpt.hpp</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for BNO08xRpt:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_rpt__inherit__graph.png" border="0" usemap="#a_b_n_o08x_rpt_inherit__map" alt="Inheritance graph"/></div>
+<map name="a_b_n_o08x_rpt_inherit__map" id="a_b_n_o08x_rpt_inherit__map">
+<area shape="rect" title="Class to represent and manage reports returned from BNO08x." alt="" coords="5,385,103,412"/>
+<area shape="rect" href="class_b_n_o08x_rpt_acceleration.html" title="Class to represent accelerometer reports. (See Ref. Manual 6.5.9)" alt="" coords="192,5,371,32"/>
+<area shape="rect" href="class_b_n_o08x_rpt_activity_classifier.html" title="Class to represent activity classifier reports. (See Ref. Manual 6.5.36)" alt="" coords="178,56,385,83"/>
+<area shape="rect" href="class_b_n_o08x_rpt_cal_gyro.html" title="Class to represent calibrated gyro reports. (See Ref. Manual 6.5.13)" alt="" coords="207,107,356,133"/>
+<area shape="rect" href="class_b_n_o08x_rpt_cal_magnetometer.html" title="Class to represent calibrated magnetometer reports. (See Ref. Manual 6.5.16)" alt="" coords="174,157,389,184"/>
+<area shape="rect" href="class_b_n_o08x_rpt_gravity.html" title="Class to represent gravity reports. (See Ref. Manual 6.5.11)" alt="" coords="209,208,354,235"/>
+<area shape="rect" href="class_b_n_o08x_rpt_linear_acceleration.html" title="Class to represent linear accelerometer reports. (See Ref. Manual 6.5.10)" alt="" coords="172,259,391,285"/>
+<area shape="rect" href="class_b_n_o08x_rpt_r_v_generic.html" title="Class to represent rotation vector reports." alt="" coords="199,309,364,336"/>
+<area shape="rect" href="class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer.html" title="Class to represent raw accelerometer reports. (See Ref. Manual 6.5.8)" alt="" coords="151,360,412,387"/>
+<area shape="rect" href="class_b_n_o08x_rpt_raw_m_e_m_s_gyro.html" title="Class to represent raw gyro reports. (See Ref. Manual 6.5.12)" alt="" coords="183,411,379,437"/>
+<area shape="rect" href="class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer.html" title="Class to represent raw magnetometer reports. (See Ref. Manual 6.5.15)" alt="" coords="151,461,412,488"/>
+<area shape="rect" href="class_b_n_o08x_rpt_shake_detector.html" title="Class to represent shake detector reports. (See Ref. Manual 6.5.32)" alt="" coords="185,512,377,539"/>
+<area shape="rect" href="class_b_n_o08x_rpt_stability_classifier.html" title="Class to represent stability classifier reports. (See Ref. Manual 6.5.31)" alt="" coords="176,563,387,589"/>
+<area shape="rect" href="class_b_n_o08x_rpt_step_counter.html" title="Class to represent step counter reports. (See Ref. Manual 6.5.29)" alt="" coords="193,613,370,640"/>
+<area shape="rect" href="class_b_n_o08x_rpt_tap_detector.html" title="Class to represent tap detector reports. (See Ref. Manual 6.5.27)" alt="" coords="194,664,369,691"/>
+<area shape="rect" href="class_b_n_o08x_rpt_uncal_gyro.html" title="Class to represent uncalibrated gyro reports. (See Ref. Manual 6.5.14)" alt="" coords="199,715,364,741"/>
+<area shape="rect" href="class_b_n_o08x_rpt_uncal_magnetometer.html" title="Class to represent uncalibrated magnetometer reports. (See Ref. Manual 6.5.17)" alt="" coords="166,765,397,792"/>
+<area shape="rect" href="class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v.html" title="Class to represent ARVR stabilized rotation vector reports. (See Ref. Manual 6.5.43)" alt="" coords="460,183,715,209"/>
+<area shape="rect" href="class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v.html" title="Class to represent ARVR stabilized rotation vector reports. (See Ref. Manual 6.5.42)" alt="" coords="480,233,695,260"/>
+<area shape="rect" href="class_b_n_o08x_rpt_game_r_v.html" title="Class to represent game rotation vector reports. (See Ref. Manual 6.5.19)" alt="" coords="510,284,665,311"/>
+<area shape="rect" href="class_b_n_o08x_rpt_i_gyro_r_v.html" title="Class to represent integrated gyro rotation vector reports. (See Ref. Manual 6.5.44)" alt="" coords="512,335,663,361"/>
+<area shape="rect" href="class_b_n_o08x_rpt_r_v.html" title="Class to represent rotation vector reports. (See Ref. Manual 6.5.18)" alt="" coords="530,385,645,412"/>
+<area shape="rect" href="class_b_n_o08x_rpt_r_v_geomag.html" title="Class to represent geomagnetic rotation vector reports. (See Ref. Manual 6.5.20)" alt="" coords="502,436,673,463"/>
+</map>
+<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for BNO08xRpt:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_rpt__coll__graph.png" border="0" usemap="#a_b_n_o08x_rpt_coll__map" alt="Collaboration graph"/></div>
+<map name="a_b_n_o08x_rpt_coll__map" id="a_b_n_o08x_rpt_coll__map">
+<area shape="rect" title="Class to represent and manage reports returned from BNO08x." alt="" coords="36,109,133,136"/>
+<area shape="rect" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html" title="Holds context used to synchronize tasks and callback execution." alt="" coords="5,5,164,47"/>
+</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="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a7d147e7540a4c6aa19749844e14cdadc"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">disable</a> (sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td></tr>
+<tr class="memdesc:a7d147e7540a4c6aa19749844e14cdadc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Disables a sensor report by setting its period to 0us such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> stops sending it.  <a href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">More...</a><br /></td></tr>
+<tr class="separator:a7d147e7540a4c6aa19749844e14cdadc"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5b542b28c81fcd05cf2e3f3d2d437d46"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">register_cb</a> (std::function&lt; void(void)&gt; cb_fxn)</td></tr>
+<tr class="memdesc:a5b542b28c81fcd05cf2e3f3d2d437d46"><td class="mdescLeft">&#160;</td><td class="mdescRight">Registers a callback to execute when new data from a specific report is received.  <a href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">More...</a><br /></td></tr>
+<tr class="separator:a5b542b28c81fcd05cf2e3f3d2d437d46"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a74f6037286b51382535bab61680297ed"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">has_new_data</a> ()</td></tr>
+<tr class="memdesc:a74f6037286b51382535bab61680297ed"><td class="mdescLeft">&#160;</td><td class="mdescRight">Checks if a new report has been received since the last time this function was called.  <a href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">More...</a><br /></td></tr>
+<tr class="separator:a74f6037286b51382535bab61680297ed"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab3bb962696b135841ef7313bc631fc72"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">flush</a> ()</td></tr>
+<tr class="memdesc:ab3bb962696b135841ef7313bc631fc72"><td class="mdescLeft">&#160;</td><td class="mdescRight">Flush all buffered reports for this sensor/report module.  <a href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">More...</a><br /></td></tr>
+<tr class="separator:ab3bb962696b135841ef7313bc631fc72"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7ce8e48cadf59f49068af7f1cb680b38"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">get_sample_counts</a> (<a class="el" href="structbno08x__sample__counts__t.html">bno08x_sample_counts_t</a> &amp;sample_counts)</td></tr>
+<tr class="memdesc:a7ce8e48cadf59f49068af7f1cb680b38"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets sample counts for this sensor (see SH-2 ref manual 6.4.3.1)  <a href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">More...</a><br /></td></tr>
+<tr class="separator:a7ce8e48cadf59f49068af7f1cb680b38"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1418be33824d3102dbc8f92558a402a6"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">clear_sample_counts</a> ()</td></tr>
+<tr class="memdesc:a1418be33824d3102dbc8f92558a402a6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Clears <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> internal sample counts for this sensor. (see SH-2 ref manual 6.4.3.1)  <a href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">More...</a><br /></td></tr>
+<tr class="separator:a1418be33824d3102dbc8f92558a402a6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad5b054279b01204f61b4c0408acf51cf"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">get_meta_data</a> (<a class="el" href="structbno08x__meta__data__t.html">bno08x_meta_data_t</a> &amp;meta_data)</td></tr>
+<tr class="memdesc:ad5b054279b01204f61b4c0408acf51cf"><td class="mdescLeft">&#160;</td><td class="mdescRight">Retrieves meta data for this sensor/report by reading respective record in FRS (flash record system).  <a href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">More...</a><br /></td></tr>
+<tr class="separator:ad5b054279b01204f61b4c0408acf51cf"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4ee529725467412df396d5c610ff7bb4"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a4ee529725467412df396d5c610ff7bb4">enable</a> (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)=0</td></tr>
+<tr class="separator:a4ee529725467412df396d5c610ff7bb4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pro-methods" name="pro-methods"></a>
+Protected Member Functions</h2></td></tr>
+<tr class="memitem:aa0bed98a9a497d1f39e8245d05b02e9c"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">rpt_enable</a> (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td></tr>
+<tr class="memdesc:aa0bed98a9a497d1f39e8245d05b02e9c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enables a sensor report such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> begins sending it.  <a href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">More...</a><br /></td></tr>
+<tr class="separator:aa0bed98a9a497d1f39e8245d05b02e9c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a970fb7e7d3745c62fec626f0ccf0759f"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a970fb7e7d3745c62fec626f0ccf0759f">update_data</a> (sh2_SensorValue_t *sensor_val)=0</td></tr>
+<tr class="separator:a970fb7e7d3745c62fec626f0ccf0759f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a15e8eebe3fe90ac19837e3860c76374c"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a15e8eebe3fe90ac19837e3860c76374c">BNO08xRpt</a> (uint8_t <a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, EventBits_t <a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *<a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</td></tr>
+<tr class="memdesc:a15e8eebe3fe90ac19837e3860c76374c"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x.">BNO08xRpt</a> report constructor.  <a href="class_b_n_o08x_rpt.html#a15e8eebe3fe90ac19837e3860c76374c">More...</a><br /></td></tr>
+<tr class="separator:a15e8eebe3fe90ac19837e3860c76374c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a61e3451e93806e1b7eaf5f1387726765"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">unlock_sh2_HAL</a> ()</td></tr>
+<tr class="memdesc:a61e3451e93806e1b7eaf5f1387726765"><td class="mdescLeft">&#160;</td><td class="mdescRight">Unlocks sh2 HAL lib to allow other tasks to call its APIs.  <a href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">More...</a><br /></td></tr>
+<tr class="separator:a61e3451e93806e1b7eaf5f1387726765"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7a5619a74c1237c5abde2e4bd6619d12"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">lock_sh2_HAL</a> ()</td></tr>
+<tr class="memdesc:a7a5619a74c1237c5abde2e4bd6619d12"><td class="mdescLeft">&#160;</td><td class="mdescRight">Locks sh2 HAL lib to only allow the calling task to call its APIs.  <a href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">More...</a><br /></td></tr>
+<tr class="separator:a7a5619a74c1237c5abde2e4bd6619d12"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a26bacc572187119339ec248bb4e7d6f3"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">unlock_user_data</a> ()</td></tr>
+<tr class="memdesc:a26bacc572187119339ec248bb4e7d6f3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Unlocks user data to allow other tasks to read/modify it.  <a href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">More...</a><br /></td></tr>
+<tr class="separator:a26bacc572187119339ec248bb4e7d6f3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a48e7b1a2c2ebc6b1f2f292735c0832a0"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">lock_user_data</a> ()</td></tr>
+<tr class="memdesc:a48e7b1a2c2ebc6b1f2f292735c0832a0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Locks locks user data to only allow the calling task to read/modify it.  <a href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">More...</a><br /></td></tr>
+<tr class="separator:a48e7b1a2c2ebc6b1f2f292735c0832a0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a47a623eb0a1db51af76a03a103c32329"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">signal_data_available</a> ()</td></tr>
+<tr class="memdesc:a47a623eb0a1db51af76a03a103c32329"><td class="mdescLeft">&#160;</td><td class="mdescRight">Signals to <a class="el" href="class_b_n_o08x.html#a367d525d1c0ba119b3dca3067bb5bccc" title="Polls for new data/report to become available.">BNO08x::data_available()</a> that a new report has arrived.  <a href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">More...</a><br /></td></tr>
+<tr class="separator:a47a623eb0a1db51af76a03a103c32329"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pro-attribs" name="pro-attribs"></a>
+Protected Attributes</h2></td></tr>
+<tr class="memitem:a63cd4ac9e96baa43eebe580f03307512"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a></td></tr>
+<tr class="memdesc:a63cd4ac9e96baa43eebe580f03307512"><td class="mdescLeft">&#160;</td><td class="mdescRight">Report ID, ex. SH2_ACCELERATION.  <a href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">More...</a><br /></td></tr>
+<tr class="separator:a63cd4ac9e96baa43eebe580f03307512"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae78feab5682a4697c5acad3ca6f12c2e"><td class="memItemLeft" align="right" valign="top">EventBits_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a></td></tr>
+<tr class="memdesc:ae78feab5682a4697c5acad3ca6f12c2e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Respective enable and data bit for report in evt_grp_rpt_en and evt_grp_rpt_data.  <a href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">More...</a><br /></td></tr>
+<tr class="separator:ae78feab5682a4697c5acad3ca6f12c2e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1d4d6f4cc6f1eae503863eedf7fb9f52"><td class="memItemLeft" align="right" valign="top">uint32_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a1d4d6f4cc6f1eae503863eedf7fb9f52">period_us</a></td></tr>
+<tr class="memdesc:a1d4d6f4cc6f1eae503863eedf7fb9f52"><td class="mdescLeft">&#160;</td><td class="mdescRight">The period/interval of the report in microseconds.  <a href="class_b_n_o08x_rpt.html#a1d4d6f4cc6f1eae503863eedf7fb9f52">More...</a><br /></td></tr>
+<tr class="separator:a1d4d6f4cc6f1eae503863eedf7fb9f52"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5a1404a08918d66bb0f41f55220db6e5"><td class="memItemLeft" align="right" valign="top"><a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a></td></tr>
+<tr class="separator:a5a1404a08918d66bb0f41f55220db6e5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pro-static-attribs" name="pro-static-attribs"></a>
+Static Protected Attributes</h2></td></tr>
+<tr class="memitem:a201aeb71fefb0d9d485914176a82dd80"><td class="memItemLeft" align="right" valign="top">static const constexpr float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">RAD_2_DEG</a></td></tr>
+<tr class="memdesc:a201aeb71fefb0d9d485914176a82dd80"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constant for radian to degree conversions, sed in quaternion to euler function conversions.  <a href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">More...</a><br /></td></tr>
+<tr class="separator:a201aeb71fefb0d9d485914176a82dd80"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2c57f370fb08b793bb10ec22d5acca45"><td class="memItemLeft" align="right" valign="top">static const constexpr char *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a2c57f370fb08b793bb10ec22d5acca45">TAG</a> = &quot;BNO08xRpt&quot;</td></tr>
+<tr class="separator:a2c57f370fb08b793bb10ec22d5acca45"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="friends" name="friends"></a>
+Friends</h2></td></tr>
+<tr class="memitem:a9313d906399750f09e3fe4dae87cec15"><td class="memItemLeft" align="right" valign="top">class&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a9313d906399750f09e3fe4dae87cec15">BNO08x</a></td></tr>
+<tr class="separator:a9313d906399750f09e3fe4dae87cec15"><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 >Class to represent and manage reports returned from <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a>. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a15e8eebe3fe90ac19837e3860c76374c" name="a15e8eebe3fe90ac19837e3860c76374c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a15e8eebe3fe90ac19837e3860c76374c">&#9670;&nbsp;</a></span>BNO08xRpt()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">BNO08xRpt::BNO08xRpt </td>
+          <td>(</td>
+          <td class="paramtype">uint8_t&#160;</td>
+          <td class="paramname"><em>ID</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">EventBits_t&#160;</td>
+          <td class="paramname"><em>rpt_bit</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *&#160;</td>
+          <td class="paramname"><em>sync_ctx</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p><a class="el" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x.">BNO08xRpt</a> report constructor. </p>
+<p >Construct a <a class="el" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x.">BNO08xRpt</a> object for managing a <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> sensor report.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">imu</td><td>Pointer to <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> imu object. </td></tr>
+    <tr><td class="paramname">report_ID</td><td>Report ID, ex. SH2_ACCELERATION. </td></tr>
+    <tr><td class="paramname">rpt_bit</td><td>Respective enable bit for report in BNO08x::evt_grp_report_en. </td></tr>
+    <tr><td class="paramname">period_us</td><td>The period/interval of the report in microseconds.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a1418be33824d3102dbc8f92558a402a6" name="a1418be33824d3102dbc8f92558a402a6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1418be33824d3102dbc8f92558a402a6">&#9670;&nbsp;</a></span>clear_sample_counts()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08xRpt::clear_sample_counts </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Clears <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> internal sample counts for this sensor. (see SH-2 ref manual 6.4.3.1) </p>
+<dl class="section return"><dt>Returns</dt><dd>True clear counts operation succeeded. </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_rpt_a1418be33824d3102dbc8f92558a402a6_cgraph.png" border="0" usemap="#aclass_b_n_o08x_rpt_a1418be33824d3102dbc8f92558a402a6_cgraph" alt=""/></div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a7d147e7540a4c6aa19749844e14cdadc">&#9670;&nbsp;</a></span>disable()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08xRpt::disable </td>
+          <td>(</td>
+          <td class="paramtype">sh2_SensorConfig_t&#160;</td>
+          <td class="paramname"><em>sensor_cfg</em> = <code>BNO08xPrivateTypes::default_sensor_cfg</code></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Disables a sensor report by setting its period to 0us such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> stops sending it. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">sensor_ID</td><td>The ID of the sensor for the respective report to be disabled. </td></tr>
+    <tr><td class="paramname">sensor_cfg</td><td>Sensor special configuration.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>ESP_OK if report was successfully disabled. </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="#a4ee529725467412df396d5c610ff7bb4">&#9670;&nbsp;</a></span>enable()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual bool BNO08xRpt::enable </td>
+          <td>(</td>
+          <td class="paramtype">uint32_t&#160;</td>
+          <td class="paramname"><em>time_between_reports</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">sh2_SensorConfig_t&#160;</td>
+          <td class="paramname"><em>sensor_cfg</em> = <code>BNO08xPrivateTypes::default_sensor_cfg</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implemented in <a class="el" href="class_b_n_o08x_rpt_acceleration.html#a8fde5eefac5f9d714263047426eeee4f">BNO08xRptAcceleration</a>, <a class="el" href="class_b_n_o08x_rpt_activity_classifier.html#a631329523ddaf17f2e93cd0546a42823">BNO08xRptActivityClassifier</a>, <a class="el" href="class_b_n_o08x_rpt_cal_gyro.html#aeb49d86610427c915dc9e58fcba6fddc">BNO08xRptCalGyro</a>, <a class="el" href="class_b_n_o08x_rpt_cal_magnetometer.html#a9a371f613ff5053d2227faeebe941393">BNO08xRptCalMagnetometer</a>, <a class="el" href="class_b_n_o08x_rpt_gravity.html#a5bb33cf233c6721fac992e447bd5b571">BNO08xRptGravity</a>, <a class="el" href="class_b_n_o08x_rpt_linear_acceleration.html#a4584a181ae543919a851f8f288a316ed">BNO08xRptLinearAcceleration</a>, <a class="el" href="class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer.html#a3cfc735c048700fe79a5674ad92b4b03">BNO08xRptRawMEMSAccelerometer</a>, <a class="el" href="class_b_n_o08x_rpt_raw_m_e_m_s_gyro.html#ae872f24befd81352f812bc998acb573d">BNO08xRptRawMEMSGyro</a>, <a class="el" href="class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer.html#a92832fd0bff6abddbbd87779de5b57fb">BNO08xRptRawMEMSMagnetometer</a>, <a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#a17c6cf89a5f7bf5c3fb9f8ff3ed74e8e">BNO08xRptRVGeneric</a>, <a class="el" href="class_b_n_o08x_rpt_shake_detector.html#aa28fa73b51bd892f0239e647aa6ceeb8">BNO08xRptShakeDetector</a>, <a class="el" href="class_b_n_o08x_rpt_stability_classifier.html#a4959110a01f638d04d87696d8a03dd60">BNO08xRptStabilityClassifier</a>, <a class="el" href="class_b_n_o08x_rpt_step_counter.html#adf0a697561b064a7dd90a44009efbcf1">BNO08xRptStepCounter</a>, <a class="el" href="class_b_n_o08x_rpt_tap_detector.html#ad8b716b7a2f2c2f52113eaaf75a391dc">BNO08xRptTapDetector</a>, <a class="el" href="class_b_n_o08x_rpt_uncal_gyro.html#a404d36091a61af543c6fec7b6e077706">BNO08xRptUncalGyro</a>, and <a class="el" href="class_b_n_o08x_rpt_uncal_magnetometer.html#a80ae48107ca1cc27551fd799625f2867">BNO08xRptUncalMagnetometer</a>.</p>
+
+</div>
+</div>
+<a id="ab3bb962696b135841ef7313bc631fc72" name="ab3bb962696b135841ef7313bc631fc72"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab3bb962696b135841ef7313bc631fc72">&#9670;&nbsp;</a></span>flush()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08xRpt::flush </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Flush all buffered reports for this sensor/report module. </p>
+<dl class="section return"><dt>Returns</dt><dd>True if flush operation succeeded. </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_rpt_ab3bb962696b135841ef7313bc631fc72_cgraph.png" border="0" usemap="#aclass_b_n_o08x_rpt_ab3bb962696b135841ef7313bc631fc72_cgraph" alt=""/></div>
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+<a id="ad5b054279b01204f61b4c0408acf51cf" name="ad5b054279b01204f61b4c0408acf51cf"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad5b054279b01204f61b4c0408acf51cf">&#9670;&nbsp;</a></span>get_meta_data()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08xRpt::get_meta_data </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="structbno08x__meta__data__t.html">bno08x_meta_data_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>meta_data</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Retrieves meta data for this sensor/report by reading respective record in FRS (flash record system). </p>
+<p >Can be used to retrieve the minimum period, maximum period, actual Q points, resolution, and other info for a given sensor.</p>
+<dl class="section return"><dt>Returns</dt><dd>True clear get meta data operation succeeded. </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_rpt_ad5b054279b01204f61b4c0408acf51cf_cgraph.png" border="0" usemap="#aclass_b_n_o08x_rpt_ad5b054279b01204f61b4c0408acf51cf_cgraph" alt=""/></div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a7ce8e48cadf59f49068af7f1cb680b38">&#9670;&nbsp;</a></span>get_sample_counts()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08xRpt::get_sample_counts </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="structbno08x__sample__counts__t.html">bno08x_sample_counts_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>sample_counts</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Gets sample counts for this sensor (see SH-2 ref manual 6.4.3.1) </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">Struct</td><td>to store requested data.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>True get counts operation succeeded. </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_rpt_a7ce8e48cadf59f49068af7f1cb680b38_cgraph.png" border="0" usemap="#aclass_b_n_o08x_rpt_a7ce8e48cadf59f49068af7f1cb680b38_cgraph" alt=""/></div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a74f6037286b51382535bab61680297ed">&#9670;&nbsp;</a></span>has_new_data()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08xRpt::has_new_data </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Checks if a new report has been received since the last time this function was called. </p>
+<dl class="section return"><dt>Returns</dt><dd>True if a new report was received since the last time this function was called. </dd></dl>
+<div class="dynheader">
+Here is the caller graph for this function:</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a7a5619a74c1237c5abde2e4bd6619d12">&#9670;&nbsp;</a></span>lock_sh2_HAL()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08xRpt::lock_sh2_HAL </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Locks sh2 HAL lib to only allow the calling task to call its APIs. </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="#a48e7b1a2c2ebc6b1f2f292735c0832a0">&#9670;&nbsp;</a></span>lock_user_data()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08xRpt::lock_user_data </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Locks locks user data to only allow the calling task to read/modify it. </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="#a5b542b28c81fcd05cf2e3f3d2d437d46">&#9670;&nbsp;</a></span>register_cb()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08xRpt::register_cb </td>
+          <td>(</td>
+          <td class="paramtype">std::function&lt; void(void)&gt;&#160;</td>
+          <td class="paramname"><em>cb_fxn</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Registers a callback to execute when new data from a specific 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 void input param.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
+
+</div>
+</div>
+<a id="aa0bed98a9a497d1f39e8245d05b02e9c" name="aa0bed98a9a497d1f39e8245d05b02e9c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa0bed98a9a497d1f39e8245d05b02e9c">&#9670;&nbsp;</a></span>rpt_enable()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08xRpt::rpt_enable </td>
+          <td>(</td>
+          <td class="paramtype">uint32_t&#160;</td>
+          <td class="paramname"><em>time_between_reports</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">sh2_SensorConfig_t&#160;</td>
+          <td class="paramname"><em>sensor_cfg</em> = <code>BNO08xPrivateTypes::default_sensor_cfg</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Enables a sensor report such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> begins sending it. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">report_period_us</td><td>The period/interval of the report in microseconds. </td></tr>
+    <tr><td class="paramname">sensor_cfg</td><td>Sensor special configuration (optional, see BNO08xPrivateTypes::default_sensor_cfg for defaults).</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>True if report was successfully enabled. </dd></dl>
+<div class="dynheader">
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+<h2 class="memtitle"><span class="permalink"><a href="#a47a623eb0a1db51af76a03a103c32329">&#9670;&nbsp;</a></span>signal_data_available()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08xRpt::signal_data_available </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Signals to <a class="el" href="class_b_n_o08x.html#a367d525d1c0ba119b3dca3067bb5bccc" title="Polls for new data/report to become available.">BNO08x::data_available()</a> that a new report has arrived. </p>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
+
+</div>
+</div>
+<a id="a61e3451e93806e1b7eaf5f1387726765" name="a61e3451e93806e1b7eaf5f1387726765"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a61e3451e93806e1b7eaf5f1387726765">&#9670;&nbsp;</a></span>unlock_sh2_HAL()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08xRpt::unlock_sh2_HAL </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Unlocks sh2 HAL lib to allow other tasks to call its APIs. </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="#a26bacc572187119339ec248bb4e7d6f3">&#9670;&nbsp;</a></span>unlock_user_data()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08xRpt::unlock_user_data </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Unlocks user data to allow other tasks to read/modify it. </p>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
+<div class="dynheader">
+Here is the caller graph for this function:</div>
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+</div>
+<a id="a970fb7e7d3745c62fec626f0ccf0759f" name="a970fb7e7d3745c62fec626f0ccf0759f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a970fb7e7d3745c62fec626f0ccf0759f">&#9670;&nbsp;</a></span>update_data()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void BNO08xRpt::update_data </td>
+          <td>(</td>
+          <td class="paramtype">sh2_SensorValue_t *&#160;</td>
+          <td class="paramname"><em>sensor_val</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Friends And Related Function Documentation</h2>
+<a id="a9313d906399750f09e3fe4dae87cec15" name="a9313d906399750f09e3fe4dae87cec15"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9313d906399750f09e3fe4dae87cec15">&#9670;&nbsp;</a></span>BNO08x</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">friend class <a class="el" href="class_b_n_o08x.html">BNO08x</a></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">friend</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
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+<h2 class="memtitle"><span class="permalink"><a href="#a63cd4ac9e96baa43eebe580f03307512">&#9670;&nbsp;</a></span>ID</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint8_t BNO08xRpt::ID</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Report ID, ex. SH2_ACCELERATION. </p>
+
+</div>
+</div>
+<a id="a1d4d6f4cc6f1eae503863eedf7fb9f52" name="a1d4d6f4cc6f1eae503863eedf7fb9f52"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1d4d6f4cc6f1eae503863eedf7fb9f52">&#9670;&nbsp;</a></span>period_us</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">uint32_t BNO08xRpt::period_us</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>The period/interval of the report in microseconds. </p>
+
+</div>
+</div>
+<a id="a201aeb71fefb0d9d485914176a82dd80" name="a201aeb71fefb0d9d485914176a82dd80"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a201aeb71fefb0d9d485914176a82dd80">&#9670;&nbsp;</a></span>RAD_2_DEG</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const constexpr float BNO08xRpt::RAD_2_DEG</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<b>Initial value:</b><div class="fragment"><div class="line">=</div>
+<div class="line">                (180.0f / M_PI)</div>
+</div><!-- fragment -->
+<p>Constant for radian to degree conversions, sed in quaternion to euler function conversions. </p>
+
+</div>
+</div>
+<a id="ae78feab5682a4697c5acad3ca6f12c2e" name="ae78feab5682a4697c5acad3ca6f12c2e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae78feab5682a4697c5acad3ca6f12c2e">&#9670;&nbsp;</a></span>rpt_bit</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">EventBits_t BNO08xRpt::rpt_bit</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Respective enable and data bit for report in evt_grp_rpt_en and evt_grp_rpt_data. </p>
+
+</div>
+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a5a1404a08918d66bb0f41f55220db6e5">&#9670;&nbsp;</a></span>sync_ctx</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"><a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a>* BNO08xRpt::sync_ctx</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
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+</div><div class="memdoc">
+
+</div>
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+<a id="a2c57f370fb08b793bb10ec22d5acca45" name="a2c57f370fb08b793bb10ec22d5acca45"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2c57f370fb08b793bb10ec22d5acca45">&#9670;&nbsp;</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* BNO08xRpt::TAG = &quot;BNO08xRpt&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">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>/media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/report/<a class="el" href="_b_n_o08x_rpt_8hpp_source.html">BNO08xRpt.hpp</a></li>
+<li><a class="el" href="_b_n_o08x_rpt_8cpp.html">BNO08xRpt.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_rpt.html">BNO08xRpt</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> 1.9.4 </li>
+  </ul>
+</div>
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+</html>
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+];
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new file mode 100644
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diff --git a/documentation/html/class_b_n_o08x_rpt_a74f6037286b51382535bab61680297ed_icgraph.md5 b/documentation/html/class_b_n_o08x_rpt_a74f6037286b51382535bab61680297ed_icgraph.md5
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diff --git a/documentation/html/class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v-members.html b/documentation/html/class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v-members.html
new file mode 100644
index 0000000..9db33fb
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v-members.html
@@ -0,0 +1,127 @@
+<!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">
+<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 1.9.4"/>
+<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>
+<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>
+<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;1.4</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 1.9.4 -->
+<script type="text/javascript">
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+        name="MSearchResults" id="MSearchResults">
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+</div>
+
+<div class="header">
+  <div class="headertitle"><div class="title">BNO08xRptARVRStabilizedGameRV 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_rpt_a_r_v_r_stabilized_game_r_v.html">BNO08xRptARVRStabilizedGameRV</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a15e8eebe3fe90ac19837e3860c76374c">BNO08xRpt</a>(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v.html#aabfa5bbfb21fb1f36dda44bd0de7d220">BNO08xRptARVRStabilizedGameRV</a>(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v.html">BNO08xRptARVRStabilizedGameRV</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#a7c35188ccfb976cba1b7e4626022987c">BNO08xRptRVGeneric</a>(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">clear_sample_counts</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#ad5174665e1c943291110630dc461caff">data</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">disable</a>(sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#a17c6cf89a5f7bf5c3fb9f8ff3ed74e8e">enable</a>(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg) override</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">flush</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#abbaaa6737d578e056f93687d4ad780f7">get_euler</a>(bool in_degrees=true)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">get_meta_data</a>(bno08x_meta_data_t &amp;meta_data)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#afc2accdd72076cd758f9f9108351d7a8">get_quat</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">get_sample_counts</a>(bno08x_sample_counts_t &amp;sample_counts)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">has_new_data</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">lock_sh2_HAL</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">lock_user_data</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a1d4d6f4cc6f1eae503863eedf7fb9f52">period_us</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">RAD_2_DEG</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">register_cb</a>(std::function&lt; void(void)&gt; cb_fxn)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">rpt_enable</a>(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">signal_data_available</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#ab059dded7c0a7c922e9c624baac34ecd">tare</a>(bool x, bool y, bool z, sh2_TareBasis_t basis)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">unlock_sh2_HAL</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">unlock_user_data</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+</table></div><!-- contents -->
+</div><!-- doc-content -->
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+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
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diff --git a/documentation/html/class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v.html b/documentation/html/class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v.html
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+<meta name="generator" content="Doxygen 1.9.4"/>
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+<title>esp32_BNO08x: BNO08xRptARVRStabilizedGameRV Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</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 1.9.4 -->
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+        name="MSearchResults" id="MSearchResults">
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+
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">BNO08xRptARVRStabilizedGameRV Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>Class to represent ARVR stabilized rotation vector reports. (See Ref. Manual 6.5.43)  
+ <a href="class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8hpp_source.html">report/BNO08xRptARVRStabilizedGameRV.hpp</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for BNO08xRptARVRStabilizedGameRV:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v__inherit__graph.png" border="0" usemap="#a_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_inherit__map" alt="Inheritance graph"/></div>
+<map name="a_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_inherit__map" id="a_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_inherit__map">
+<area shape="rect" title="Class to represent ARVR stabilized rotation vector reports. (See Ref. Manual 6.5.43)" alt="" coords="5,155,260,181"/>
+<area shape="rect" href="class_b_n_o08x_rpt_r_v_generic.html" title="Class to represent rotation vector reports." alt="" coords="50,80,215,107"/>
+<area shape="rect" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x." alt="" coords="84,5,181,32"/>
+</map>
+<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for BNO08xRptARVRStabilizedGameRV:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v__coll__graph.png" border="0" usemap="#a_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_coll__map" alt="Collaboration graph"/></div>
+<map name="a_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_coll__map" id="a_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_coll__map">
+<area shape="rect" title="Class to represent ARVR stabilized rotation vector reports. (See Ref. Manual 6.5.43)" alt="" coords="56,275,311,301"/>
+<area shape="rect" href="class_b_n_o08x_rpt_r_v_generic.html" title="Class to represent rotation vector reports." alt="" coords="101,199,266,225"/>
+<area shape="rect" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x." alt="" coords="36,109,133,136"/>
+<area shape="rect" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html" title="Holds context used to synchronize tasks and callback execution." alt="" coords="5,5,164,47"/>
+<area shape="rect" href="structbno08x__quat__t.html" title="Struct to represent unit quaternion." alt="" coords="157,109,276,136"/>
+</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="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:aabfa5bbfb21fb1f36dda44bd0de7d220"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v.html#aabfa5bbfb21fb1f36dda44bd0de7d220">BNO08xRptARVRStabilizedGameRV</a> (uint8_t <a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, EventBits_t <a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *<a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</td></tr>
+<tr class="separator:aabfa5bbfb21fb1f36dda44bd0de7d220"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_class_b_n_o08x_rpt_r_v_generic"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_class_b_n_o08x_rpt_r_v_generic')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></td></tr>
+<tr class="memitem:a17c6cf89a5f7bf5c3fb9f8ff3ed74e8e inherit pub_methods_class_b_n_o08x_rpt_r_v_generic"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#a17c6cf89a5f7bf5c3fb9f8ff3ed74e8e">enable</a> (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg) override</td></tr>
+<tr class="memdesc:a17c6cf89a5f7bf5c3fb9f8ff3ed74e8e inherit pub_methods_class_b_n_o08x_rpt_r_v_generic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enables a rotation vector report such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> begins it.  <a href="class_b_n_o08x_rpt_r_v_generic.html#a17c6cf89a5f7bf5c3fb9f8ff3ed74e8e">More...</a><br /></td></tr>
+<tr class="separator:a17c6cf89a5f7bf5c3fb9f8ff3ed74e8e inherit pub_methods_class_b_n_o08x_rpt_r_v_generic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afc2accdd72076cd758f9f9108351d7a8 inherit pub_methods_class_b_n_o08x_rpt_r_v_generic"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structbno08x__quat__t.html">bno08x_quat_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#afc2accdd72076cd758f9f9108351d7a8">get_quat</a> ()</td></tr>
+<tr class="memdesc:afc2accdd72076cd758f9f9108351d7a8 inherit pub_methods_class_b_n_o08x_rpt_r_v_generic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Grabs most recent rotation vector data in form of unit quaternion, rad accuracy units in radians (if available, else constant 0.0f).  <a href="class_b_n_o08x_rpt_r_v_generic.html#afc2accdd72076cd758f9f9108351d7a8">More...</a><br /></td></tr>
+<tr class="separator:afc2accdd72076cd758f9f9108351d7a8 inherit pub_methods_class_b_n_o08x_rpt_r_v_generic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abbaaa6737d578e056f93687d4ad780f7 inherit pub_methods_class_b_n_o08x_rpt_r_v_generic"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structbno08x__euler__angle__t.html">bno08x_euler_angle_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#abbaaa6737d578e056f93687d4ad780f7">get_euler</a> (bool in_degrees=true)</td></tr>
+<tr class="memdesc:abbaaa6737d578e056f93687d4ad780f7 inherit pub_methods_class_b_n_o08x_rpt_r_v_generic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Grabs most recent rotation vector data in form of an euler angle, units are in degrees or rads.  <a href="class_b_n_o08x_rpt_r_v_generic.html#abbaaa6737d578e056f93687d4ad780f7">More...</a><br /></td></tr>
+<tr class="separator:abbaaa6737d578e056f93687d4ad780f7 inherit pub_methods_class_b_n_o08x_rpt_r_v_generic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:a7d147e7540a4c6aa19749844e14cdadc inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">disable</a> (sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td></tr>
+<tr class="memdesc:a7d147e7540a4c6aa19749844e14cdadc inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Disables a sensor report by setting its period to 0us such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> stops sending it.  <a href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">More...</a><br /></td></tr>
+<tr class="separator:a7d147e7540a4c6aa19749844e14cdadc inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5b542b28c81fcd05cf2e3f3d2d437d46 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">register_cb</a> (std::function&lt; void(void)&gt; cb_fxn)</td></tr>
+<tr class="memdesc:a5b542b28c81fcd05cf2e3f3d2d437d46 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Registers a callback to execute when new data from a specific report is received.  <a href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">More...</a><br /></td></tr>
+<tr class="separator:a5b542b28c81fcd05cf2e3f3d2d437d46 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a74f6037286b51382535bab61680297ed inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">has_new_data</a> ()</td></tr>
+<tr class="memdesc:a74f6037286b51382535bab61680297ed inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Checks if a new report has been received since the last time this function was called.  <a href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">More...</a><br /></td></tr>
+<tr class="separator:a74f6037286b51382535bab61680297ed inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab3bb962696b135841ef7313bc631fc72 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">flush</a> ()</td></tr>
+<tr class="memdesc:ab3bb962696b135841ef7313bc631fc72 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Flush all buffered reports for this sensor/report module.  <a href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">More...</a><br /></td></tr>
+<tr class="separator:ab3bb962696b135841ef7313bc631fc72 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7ce8e48cadf59f49068af7f1cb680b38 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">get_sample_counts</a> (<a class="el" href="structbno08x__sample__counts__t.html">bno08x_sample_counts_t</a> &amp;sample_counts)</td></tr>
+<tr class="memdesc:a7ce8e48cadf59f49068af7f1cb680b38 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets sample counts for this sensor (see SH-2 ref manual 6.4.3.1)  <a href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">More...</a><br /></td></tr>
+<tr class="separator:a7ce8e48cadf59f49068af7f1cb680b38 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1418be33824d3102dbc8f92558a402a6 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">clear_sample_counts</a> ()</td></tr>
+<tr class="memdesc:a1418be33824d3102dbc8f92558a402a6 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Clears <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> internal sample counts for this sensor. (see SH-2 ref manual 6.4.3.1)  <a href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">More...</a><br /></td></tr>
+<tr class="separator:a1418be33824d3102dbc8f92558a402a6 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad5b054279b01204f61b4c0408acf51cf inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">get_meta_data</a> (<a class="el" href="structbno08x__meta__data__t.html">bno08x_meta_data_t</a> &amp;meta_data)</td></tr>
+<tr class="memdesc:ad5b054279b01204f61b4c0408acf51cf inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Retrieves meta data for this sensor/report by reading respective record in FRS (flash record system).  <a href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">More...</a><br /></td></tr>
+<tr class="separator:ad5b054279b01204f61b4c0408acf51cf inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4ee529725467412df396d5c610ff7bb4 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a4ee529725467412df396d5c610ff7bb4">enable</a> (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)=0</td></tr>
+<tr class="separator:a4ee529725467412df396d5c610ff7bb4 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="inherited" name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pro_methods_class_b_n_o08x_rpt_r_v_generic"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_class_b_n_o08x_rpt_r_v_generic')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></td></tr>
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+<tr class="separator:a7c35188ccfb976cba1b7e4626022987c inherit pro_methods_class_b_n_o08x_rpt_r_v_generic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab059dded7c0a7c922e9c624baac34ecd inherit pro_methods_class_b_n_o08x_rpt_r_v_generic"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#ab059dded7c0a7c922e9c624baac34ecd">tare</a> (bool x, bool y, bool z, sh2_TareBasis_t basis)</td></tr>
+<tr class="memdesc:ab059dded7c0a7c922e9c624baac34ecd inherit pro_methods_class_b_n_o08x_rpt_r_v_generic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Tares vector basis according to axis flags.  <a href="class_b_n_o08x_rpt_r_v_generic.html#ab059dded7c0a7c922e9c624baac34ecd">More...</a><br /></td></tr>
+<tr class="separator:ab059dded7c0a7c922e9c624baac34ecd inherit pro_methods_class_b_n_o08x_rpt_r_v_generic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_methods_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:aa0bed98a9a497d1f39e8245d05b02e9c inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">rpt_enable</a> (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td></tr>
+<tr class="memdesc:aa0bed98a9a497d1f39e8245d05b02e9c inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enables a sensor report such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> begins sending it.  <a href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">More...</a><br /></td></tr>
+<tr class="separator:aa0bed98a9a497d1f39e8245d05b02e9c inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a970fb7e7d3745c62fec626f0ccf0759f inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a970fb7e7d3745c62fec626f0ccf0759f">update_data</a> (sh2_SensorValue_t *sensor_val)=0</td></tr>
+<tr class="separator:a970fb7e7d3745c62fec626f0ccf0759f inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a15e8eebe3fe90ac19837e3860c76374c inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a15e8eebe3fe90ac19837e3860c76374c">BNO08xRpt</a> (uint8_t <a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, EventBits_t <a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *<a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</td></tr>
+<tr class="memdesc:a15e8eebe3fe90ac19837e3860c76374c inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x.">BNO08xRpt</a> report constructor.  <a href="class_b_n_o08x_rpt.html#a15e8eebe3fe90ac19837e3860c76374c">More...</a><br /></td></tr>
+<tr class="separator:a15e8eebe3fe90ac19837e3860c76374c inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a61e3451e93806e1b7eaf5f1387726765 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">unlock_sh2_HAL</a> ()</td></tr>
+<tr class="memdesc:a61e3451e93806e1b7eaf5f1387726765 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Unlocks sh2 HAL lib to allow other tasks to call its APIs.  <a href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">More...</a><br /></td></tr>
+<tr class="separator:a61e3451e93806e1b7eaf5f1387726765 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7a5619a74c1237c5abde2e4bd6619d12 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">lock_sh2_HAL</a> ()</td></tr>
+<tr class="memdesc:a7a5619a74c1237c5abde2e4bd6619d12 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Locks sh2 HAL lib to only allow the calling task to call its APIs.  <a href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">More...</a><br /></td></tr>
+<tr class="separator:a7a5619a74c1237c5abde2e4bd6619d12 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a26bacc572187119339ec248bb4e7d6f3 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">unlock_user_data</a> ()</td></tr>
+<tr class="memdesc:a26bacc572187119339ec248bb4e7d6f3 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Unlocks user data to allow other tasks to read/modify it.  <a href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">More...</a><br /></td></tr>
+<tr class="separator:a26bacc572187119339ec248bb4e7d6f3 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a48e7b1a2c2ebc6b1f2f292735c0832a0 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">lock_user_data</a> ()</td></tr>
+<tr class="memdesc:a48e7b1a2c2ebc6b1f2f292735c0832a0 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Locks locks user data to only allow the calling task to read/modify it.  <a href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">More...</a><br /></td></tr>
+<tr class="separator:a48e7b1a2c2ebc6b1f2f292735c0832a0 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a47a623eb0a1db51af76a03a103c32329 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">signal_data_available</a> ()</td></tr>
+<tr class="memdesc:a47a623eb0a1db51af76a03a103c32329 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Signals to <a class="el" href="class_b_n_o08x.html#a367d525d1c0ba119b3dca3067bb5bccc" title="Polls for new data/report to become available.">BNO08x::data_available()</a> that a new report has arrived.  <a href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">More...</a><br /></td></tr>
+<tr class="separator:a47a623eb0a1db51af76a03a103c32329 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_attribs_class_b_n_o08x_rpt_r_v_generic"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_class_b_n_o08x_rpt_r_v_generic')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></td></tr>
+<tr class="memitem:ad5174665e1c943291110630dc461caff inherit pro_attribs_class_b_n_o08x_rpt_r_v_generic"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structbno08x__quat__t.html">bno08x_quat_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#ad5174665e1c943291110630dc461caff">data</a></td></tr>
+<tr class="separator:ad5174665e1c943291110630dc461caff inherit pro_attribs_class_b_n_o08x_rpt_r_v_generic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_attribs_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:a63cd4ac9e96baa43eebe580f03307512 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a></td></tr>
+<tr class="memdesc:a63cd4ac9e96baa43eebe580f03307512 inherit pro_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Report ID, ex. SH2_ACCELERATION.  <a href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">More...</a><br /></td></tr>
+<tr class="separator:a63cd4ac9e96baa43eebe580f03307512 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae78feab5682a4697c5acad3ca6f12c2e inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">EventBits_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a></td></tr>
+<tr class="memdesc:ae78feab5682a4697c5acad3ca6f12c2e inherit pro_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Respective enable and data bit for report in evt_grp_rpt_en and evt_grp_rpt_data.  <a href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">More...</a><br /></td></tr>
+<tr class="separator:ae78feab5682a4697c5acad3ca6f12c2e inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1d4d6f4cc6f1eae503863eedf7fb9f52 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">uint32_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a1d4d6f4cc6f1eae503863eedf7fb9f52">period_us</a></td></tr>
+<tr class="memdesc:a1d4d6f4cc6f1eae503863eedf7fb9f52 inherit pro_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">The period/interval of the report in microseconds.  <a href="class_b_n_o08x_rpt.html#a1d4d6f4cc6f1eae503863eedf7fb9f52">More...</a><br /></td></tr>
+<tr class="separator:a1d4d6f4cc6f1eae503863eedf7fb9f52 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5a1404a08918d66bb0f41f55220db6e5 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top"><a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a></td></tr>
+<tr class="separator:a5a1404a08918d66bb0f41f55220db6e5 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_static_attribs_class_b_n_o08x_rpt_r_v_generic"><td colspan="2" onclick="javascript:toggleInherit('pro_static_attribs_class_b_n_o08x_rpt_r_v_generic')"><img src="closed.png" alt="-"/>&#160;Static Protected Attributes inherited from <a class="el" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></td></tr>
+<tr class="memitem:a5315a83517cd15397842254a9926b1c4 inherit pro_static_attribs_class_b_n_o08x_rpt_r_v_generic"><td class="memItemLeft" align="right" valign="top">static const constexpr char *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#a5315a83517cd15397842254a9926b1c4">TAG</a> = &quot;BNO08xRptRVGeneric&quot;</td></tr>
+<tr class="separator:a5315a83517cd15397842254a9926b1c4 inherit pro_static_attribs_class_b_n_o08x_rpt_r_v_generic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_static_attribs_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pro_static_attribs_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Static Protected Attributes inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:a201aeb71fefb0d9d485914176a82dd80 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">static const constexpr float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">RAD_2_DEG</a></td></tr>
+<tr class="memdesc:a201aeb71fefb0d9d485914176a82dd80 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constant for radian to degree conversions, sed in quaternion to euler function conversions.  <a href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">More...</a><br /></td></tr>
+<tr class="separator:a201aeb71fefb0d9d485914176a82dd80 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2c57f370fb08b793bb10ec22d5acca45 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">static const constexpr char *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a2c57f370fb08b793bb10ec22d5acca45">TAG</a> = &quot;BNO08xRpt&quot;</td></tr>
+<tr class="separator:a2c57f370fb08b793bb10ec22d5acca45 inherit pro_static_attribs_class_b_n_o08x_rpt"><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 >Class to represent ARVR stabilized rotation vector reports. (See Ref. Manual 6.5.43) </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="aabfa5bbfb21fb1f36dda44bd0de7d220" name="aabfa5bbfb21fb1f36dda44bd0de7d220"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aabfa5bbfb21fb1f36dda44bd0de7d220">&#9670;&nbsp;</a></span>BNO08xRptARVRStabilizedGameRV()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">BNO08xRptARVRStabilizedGameRV::BNO08xRptARVRStabilizedGameRV </td>
+          <td>(</td>
+          <td class="paramtype">uint8_t&#160;</td>
+          <td class="paramname"><em>ID</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">EventBits_t&#160;</td>
+          <td class="paramname"><em>rpt_bit</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *&#160;</td>
+          <td class="paramname"><em>sync_ctx</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>/media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/report/<a class="el" href="_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8hpp_source.html">BNO08xRptARVRStabilizedGameRV.hpp</a></li>
+<li>report/<a class="el" href="_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8cpp.html">BNO08xRptARVRStabilizedGameRV.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_rpt_a_r_v_r_stabilized_game_r_v.html">BNO08xRptARVRStabilizedGameRV</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> 1.9.4 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/documentation/html/class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v.js b/documentation/html/class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v.js
new file mode 100644
index 0000000..8519192
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v.js
@@ -0,0 +1,4 @@
+var class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v =
+[
+    [ "BNO08xRptARVRStabilizedGameRV", "class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v.html#aabfa5bbfb21fb1f36dda44bd0de7d220", null ]
+];
\ No newline at end of file
diff --git a/documentation/html/class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v__coll__graph.map b/documentation/html/class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v__coll__graph.map
new file mode 100644
index 0000000..6ad3e66
--- /dev/null
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+<area shape="rect" id="node1" title="Class to represent ARVR stabilized rotation vector reports. (See Ref. Manual 6.5.43)" alt="" coords="56,275,311,301"/>
+<area shape="rect" id="node2" href="$class_b_n_o08x_rpt_r_v_generic.html" title="Class to represent rotation vector reports." alt="" coords="101,199,266,225"/>
+<area shape="rect" id="node3" href="$class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x." alt="" coords="36,109,133,136"/>
+<area shape="rect" id="node4" href="$struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html" title="Holds context used to synchronize tasks and callback execution." alt="" coords="5,5,164,47"/>
+<area shape="rect" id="node5" href="$structbno08x__quat__t.html" title="Struct to represent unit quaternion." alt="" coords="157,109,276,136"/>
+</map>
diff --git a/documentation/html/class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v__coll__graph.md5 b/documentation/html/class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v__coll__graph.md5
new file mode 100644
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diff --git a/documentation/html/class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v-members.html b/documentation/html/class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v-members.html
new file mode 100644
index 0000000..c8fe826
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v-members.html
@@ -0,0 +1,127 @@
+<!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">
+<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 1.9.4"/>
+<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>
+<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>
+<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;1.4</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 1.9.4 -->
+<script type="text/javascript">
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+
+<div class="header">
+  <div class="headertitle"><div class="title">BNO08xRptARVRStabilizedRV 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_rpt_a_r_v_r_stabilized_r_v.html">BNO08xRptARVRStabilizedRV</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a15e8eebe3fe90ac19837e3860c76374c">BNO08xRpt</a>(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v.html#a7b19b87c861a35b7da1d96b606c21d6d">BNO08xRptARVRStabilizedRV</a>(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v.html">BNO08xRptARVRStabilizedRV</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#a7c35188ccfb976cba1b7e4626022987c">BNO08xRptRVGeneric</a>(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">clear_sample_counts</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#ad5174665e1c943291110630dc461caff">data</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">disable</a>(sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#a17c6cf89a5f7bf5c3fb9f8ff3ed74e8e">enable</a>(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg) override</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">flush</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#abbaaa6737d578e056f93687d4ad780f7">get_euler</a>(bool in_degrees=true)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">get_meta_data</a>(bno08x_meta_data_t &amp;meta_data)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#afc2accdd72076cd758f9f9108351d7a8">get_quat</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">get_sample_counts</a>(bno08x_sample_counts_t &amp;sample_counts)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">has_new_data</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">lock_sh2_HAL</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">lock_user_data</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a1d4d6f4cc6f1eae503863eedf7fb9f52">period_us</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">RAD_2_DEG</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">register_cb</a>(std::function&lt; void(void)&gt; cb_fxn)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">rpt_enable</a>(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">signal_data_available</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#ab059dded7c0a7c922e9c624baac34ecd">tare</a>(bool x, bool y, bool z, sh2_TareBasis_t basis)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">unlock_sh2_HAL</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">unlock_user_data</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</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> 1.9.4 </li>
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diff --git a/documentation/html/class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v.html b/documentation/html/class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v.html
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+++ b/documentation/html/class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v.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">
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+<meta name="generator" content="Doxygen 1.9.4"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>esp32_BNO08x: BNO08xRptARVRStabilizedRV 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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+<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;1.4</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 1.9.4 -->
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+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">BNO08xRptARVRStabilizedRV Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>Class to represent ARVR stabilized rotation vector reports. (See Ref. Manual 6.5.42)  
+ <a href="class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8hpp_source.html">report/BNO08xRptARVRStabilizedRV.hpp</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for BNO08xRptARVRStabilizedRV:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v__inherit__graph.png" border="0" usemap="#a_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_inherit__map" alt="Inheritance graph"/></div>
+<map name="a_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_inherit__map" id="a_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_inherit__map">
+<area shape="rect" title="Class to represent ARVR stabilized rotation vector reports. (See Ref. Manual 6.5.42)" alt="" coords="5,155,220,181"/>
+<area shape="rect" href="class_b_n_o08x_rpt_r_v_generic.html" title="Class to represent rotation vector reports." alt="" coords="30,80,195,107"/>
+<area shape="rect" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x." alt="" coords="64,5,161,32"/>
+</map>
+<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for BNO08xRptARVRStabilizedRV:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v__coll__graph.png" border="0" usemap="#a_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_coll__map" alt="Collaboration graph"/></div>
+<map name="a_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_coll__map" id="a_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_coll__map">
+<area shape="rect" title="Class to represent ARVR stabilized rotation vector reports. (See Ref. Manual 6.5.42)" alt="" coords="76,275,291,301"/>
+<area shape="rect" href="class_b_n_o08x_rpt_r_v_generic.html" title="Class to represent rotation vector reports." alt="" coords="101,199,266,225"/>
+<area shape="rect" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x." alt="" coords="36,109,133,136"/>
+<area shape="rect" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html" title="Holds context used to synchronize tasks and callback execution." alt="" coords="5,5,164,47"/>
+<area shape="rect" href="structbno08x__quat__t.html" title="Struct to represent unit quaternion." alt="" coords="157,109,276,136"/>
+</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="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a7b19b87c861a35b7da1d96b606c21d6d"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v.html#a7b19b87c861a35b7da1d96b606c21d6d">BNO08xRptARVRStabilizedRV</a> (uint8_t <a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, EventBits_t <a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *<a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</td></tr>
+<tr class="separator:a7b19b87c861a35b7da1d96b606c21d6d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_class_b_n_o08x_rpt_r_v_generic"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_class_b_n_o08x_rpt_r_v_generic')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></td></tr>
+<tr class="memitem:a17c6cf89a5f7bf5c3fb9f8ff3ed74e8e inherit pub_methods_class_b_n_o08x_rpt_r_v_generic"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#a17c6cf89a5f7bf5c3fb9f8ff3ed74e8e">enable</a> (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg) override</td></tr>
+<tr class="memdesc:a17c6cf89a5f7bf5c3fb9f8ff3ed74e8e inherit pub_methods_class_b_n_o08x_rpt_r_v_generic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enables a rotation vector report such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> begins it.  <a href="class_b_n_o08x_rpt_r_v_generic.html#a17c6cf89a5f7bf5c3fb9f8ff3ed74e8e">More...</a><br /></td></tr>
+<tr class="separator:a17c6cf89a5f7bf5c3fb9f8ff3ed74e8e inherit pub_methods_class_b_n_o08x_rpt_r_v_generic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afc2accdd72076cd758f9f9108351d7a8 inherit pub_methods_class_b_n_o08x_rpt_r_v_generic"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structbno08x__quat__t.html">bno08x_quat_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#afc2accdd72076cd758f9f9108351d7a8">get_quat</a> ()</td></tr>
+<tr class="memdesc:afc2accdd72076cd758f9f9108351d7a8 inherit pub_methods_class_b_n_o08x_rpt_r_v_generic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Grabs most recent rotation vector data in form of unit quaternion, rad accuracy units in radians (if available, else constant 0.0f).  <a href="class_b_n_o08x_rpt_r_v_generic.html#afc2accdd72076cd758f9f9108351d7a8">More...</a><br /></td></tr>
+<tr class="separator:afc2accdd72076cd758f9f9108351d7a8 inherit pub_methods_class_b_n_o08x_rpt_r_v_generic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abbaaa6737d578e056f93687d4ad780f7 inherit pub_methods_class_b_n_o08x_rpt_r_v_generic"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structbno08x__euler__angle__t.html">bno08x_euler_angle_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#abbaaa6737d578e056f93687d4ad780f7">get_euler</a> (bool in_degrees=true)</td></tr>
+<tr class="memdesc:abbaaa6737d578e056f93687d4ad780f7 inherit pub_methods_class_b_n_o08x_rpt_r_v_generic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Grabs most recent rotation vector data in form of an euler angle, units are in degrees or rads.  <a href="class_b_n_o08x_rpt_r_v_generic.html#abbaaa6737d578e056f93687d4ad780f7">More...</a><br /></td></tr>
+<tr class="separator:abbaaa6737d578e056f93687d4ad780f7 inherit pub_methods_class_b_n_o08x_rpt_r_v_generic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:a7d147e7540a4c6aa19749844e14cdadc inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">disable</a> (sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td></tr>
+<tr class="memdesc:a7d147e7540a4c6aa19749844e14cdadc inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Disables a sensor report by setting its period to 0us such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> stops sending it.  <a href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">More...</a><br /></td></tr>
+<tr class="separator:a7d147e7540a4c6aa19749844e14cdadc inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5b542b28c81fcd05cf2e3f3d2d437d46 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">register_cb</a> (std::function&lt; void(void)&gt; cb_fxn)</td></tr>
+<tr class="memdesc:a5b542b28c81fcd05cf2e3f3d2d437d46 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Registers a callback to execute when new data from a specific report is received.  <a href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">More...</a><br /></td></tr>
+<tr class="separator:a5b542b28c81fcd05cf2e3f3d2d437d46 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a74f6037286b51382535bab61680297ed inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">has_new_data</a> ()</td></tr>
+<tr class="memdesc:a74f6037286b51382535bab61680297ed inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Checks if a new report has been received since the last time this function was called.  <a href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">More...</a><br /></td></tr>
+<tr class="separator:a74f6037286b51382535bab61680297ed inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab3bb962696b135841ef7313bc631fc72 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">flush</a> ()</td></tr>
+<tr class="memdesc:ab3bb962696b135841ef7313bc631fc72 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Flush all buffered reports for this sensor/report module.  <a href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">More...</a><br /></td></tr>
+<tr class="separator:ab3bb962696b135841ef7313bc631fc72 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7ce8e48cadf59f49068af7f1cb680b38 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">get_sample_counts</a> (<a class="el" href="structbno08x__sample__counts__t.html">bno08x_sample_counts_t</a> &amp;sample_counts)</td></tr>
+<tr class="memdesc:a7ce8e48cadf59f49068af7f1cb680b38 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets sample counts for this sensor (see SH-2 ref manual 6.4.3.1)  <a href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">More...</a><br /></td></tr>
+<tr class="separator:a7ce8e48cadf59f49068af7f1cb680b38 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1418be33824d3102dbc8f92558a402a6 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">clear_sample_counts</a> ()</td></tr>
+<tr class="memdesc:a1418be33824d3102dbc8f92558a402a6 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Clears <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> internal sample counts for this sensor. (see SH-2 ref manual 6.4.3.1)  <a href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">More...</a><br /></td></tr>
+<tr class="separator:a1418be33824d3102dbc8f92558a402a6 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad5b054279b01204f61b4c0408acf51cf inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">get_meta_data</a> (<a class="el" href="structbno08x__meta__data__t.html">bno08x_meta_data_t</a> &amp;meta_data)</td></tr>
+<tr class="memdesc:ad5b054279b01204f61b4c0408acf51cf inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Retrieves meta data for this sensor/report by reading respective record in FRS (flash record system).  <a href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">More...</a><br /></td></tr>
+<tr class="separator:ad5b054279b01204f61b4c0408acf51cf inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4ee529725467412df396d5c610ff7bb4 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a4ee529725467412df396d5c610ff7bb4">enable</a> (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)=0</td></tr>
+<tr class="separator:a4ee529725467412df396d5c610ff7bb4 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="inherited" name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pro_methods_class_b_n_o08x_rpt_r_v_generic"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_class_b_n_o08x_rpt_r_v_generic')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></td></tr>
+<tr class="memitem:a7c35188ccfb976cba1b7e4626022987c inherit pro_methods_class_b_n_o08x_rpt_r_v_generic"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#a7c35188ccfb976cba1b7e4626022987c">BNO08xRptRVGeneric</a> (uint8_t <a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, EventBits_t <a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *<a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</td></tr>
+<tr class="separator:a7c35188ccfb976cba1b7e4626022987c inherit pro_methods_class_b_n_o08x_rpt_r_v_generic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab059dded7c0a7c922e9c624baac34ecd inherit pro_methods_class_b_n_o08x_rpt_r_v_generic"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#ab059dded7c0a7c922e9c624baac34ecd">tare</a> (bool x, bool y, bool z, sh2_TareBasis_t basis)</td></tr>
+<tr class="memdesc:ab059dded7c0a7c922e9c624baac34ecd inherit pro_methods_class_b_n_o08x_rpt_r_v_generic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Tares vector basis according to axis flags.  <a href="class_b_n_o08x_rpt_r_v_generic.html#ab059dded7c0a7c922e9c624baac34ecd">More...</a><br /></td></tr>
+<tr class="separator:ab059dded7c0a7c922e9c624baac34ecd inherit pro_methods_class_b_n_o08x_rpt_r_v_generic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_methods_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:aa0bed98a9a497d1f39e8245d05b02e9c inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">rpt_enable</a> (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td></tr>
+<tr class="memdesc:aa0bed98a9a497d1f39e8245d05b02e9c inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enables a sensor report such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> begins sending it.  <a href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">More...</a><br /></td></tr>
+<tr class="separator:aa0bed98a9a497d1f39e8245d05b02e9c inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a970fb7e7d3745c62fec626f0ccf0759f inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a970fb7e7d3745c62fec626f0ccf0759f">update_data</a> (sh2_SensorValue_t *sensor_val)=0</td></tr>
+<tr class="separator:a970fb7e7d3745c62fec626f0ccf0759f inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a15e8eebe3fe90ac19837e3860c76374c inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a15e8eebe3fe90ac19837e3860c76374c">BNO08xRpt</a> (uint8_t <a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, EventBits_t <a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *<a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</td></tr>
+<tr class="memdesc:a15e8eebe3fe90ac19837e3860c76374c inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x.">BNO08xRpt</a> report constructor.  <a href="class_b_n_o08x_rpt.html#a15e8eebe3fe90ac19837e3860c76374c">More...</a><br /></td></tr>
+<tr class="separator:a15e8eebe3fe90ac19837e3860c76374c inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a61e3451e93806e1b7eaf5f1387726765 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">unlock_sh2_HAL</a> ()</td></tr>
+<tr class="memdesc:a61e3451e93806e1b7eaf5f1387726765 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Unlocks sh2 HAL lib to allow other tasks to call its APIs.  <a href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">More...</a><br /></td></tr>
+<tr class="separator:a61e3451e93806e1b7eaf5f1387726765 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7a5619a74c1237c5abde2e4bd6619d12 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">lock_sh2_HAL</a> ()</td></tr>
+<tr class="memdesc:a7a5619a74c1237c5abde2e4bd6619d12 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Locks sh2 HAL lib to only allow the calling task to call its APIs.  <a href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">More...</a><br /></td></tr>
+<tr class="separator:a7a5619a74c1237c5abde2e4bd6619d12 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a26bacc572187119339ec248bb4e7d6f3 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">unlock_user_data</a> ()</td></tr>
+<tr class="memdesc:a26bacc572187119339ec248bb4e7d6f3 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Unlocks user data to allow other tasks to read/modify it.  <a href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">More...</a><br /></td></tr>
+<tr class="separator:a26bacc572187119339ec248bb4e7d6f3 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a48e7b1a2c2ebc6b1f2f292735c0832a0 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">lock_user_data</a> ()</td></tr>
+<tr class="memdesc:a48e7b1a2c2ebc6b1f2f292735c0832a0 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Locks locks user data to only allow the calling task to read/modify it.  <a href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">More...</a><br /></td></tr>
+<tr class="separator:a48e7b1a2c2ebc6b1f2f292735c0832a0 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a47a623eb0a1db51af76a03a103c32329 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">signal_data_available</a> ()</td></tr>
+<tr class="memdesc:a47a623eb0a1db51af76a03a103c32329 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Signals to <a class="el" href="class_b_n_o08x.html#a367d525d1c0ba119b3dca3067bb5bccc" title="Polls for new data/report to become available.">BNO08x::data_available()</a> that a new report has arrived.  <a href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">More...</a><br /></td></tr>
+<tr class="separator:a47a623eb0a1db51af76a03a103c32329 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_attribs_class_b_n_o08x_rpt_r_v_generic"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_class_b_n_o08x_rpt_r_v_generic')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></td></tr>
+<tr class="memitem:ad5174665e1c943291110630dc461caff inherit pro_attribs_class_b_n_o08x_rpt_r_v_generic"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structbno08x__quat__t.html">bno08x_quat_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#ad5174665e1c943291110630dc461caff">data</a></td></tr>
+<tr class="separator:ad5174665e1c943291110630dc461caff inherit pro_attribs_class_b_n_o08x_rpt_r_v_generic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_attribs_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:a63cd4ac9e96baa43eebe580f03307512 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a></td></tr>
+<tr class="memdesc:a63cd4ac9e96baa43eebe580f03307512 inherit pro_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Report ID, ex. SH2_ACCELERATION.  <a href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">More...</a><br /></td></tr>
+<tr class="separator:a63cd4ac9e96baa43eebe580f03307512 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae78feab5682a4697c5acad3ca6f12c2e inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">EventBits_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a></td></tr>
+<tr class="memdesc:ae78feab5682a4697c5acad3ca6f12c2e inherit pro_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Respective enable and data bit for report in evt_grp_rpt_en and evt_grp_rpt_data.  <a href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">More...</a><br /></td></tr>
+<tr class="separator:ae78feab5682a4697c5acad3ca6f12c2e inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1d4d6f4cc6f1eae503863eedf7fb9f52 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">uint32_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a1d4d6f4cc6f1eae503863eedf7fb9f52">period_us</a></td></tr>
+<tr class="memdesc:a1d4d6f4cc6f1eae503863eedf7fb9f52 inherit pro_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">The period/interval of the report in microseconds.  <a href="class_b_n_o08x_rpt.html#a1d4d6f4cc6f1eae503863eedf7fb9f52">More...</a><br /></td></tr>
+<tr class="separator:a1d4d6f4cc6f1eae503863eedf7fb9f52 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5a1404a08918d66bb0f41f55220db6e5 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top"><a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a></td></tr>
+<tr class="separator:a5a1404a08918d66bb0f41f55220db6e5 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_static_attribs_class_b_n_o08x_rpt_r_v_generic"><td colspan="2" onclick="javascript:toggleInherit('pro_static_attribs_class_b_n_o08x_rpt_r_v_generic')"><img src="closed.png" alt="-"/>&#160;Static Protected Attributes inherited from <a class="el" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></td></tr>
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+<tr class="memdesc:a201aeb71fefb0d9d485914176a82dd80 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constant for radian to degree conversions, sed in quaternion to euler function conversions.  <a href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">More...</a><br /></td></tr>
+<tr class="separator:a201aeb71fefb0d9d485914176a82dd80 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a2c57f370fb08b793bb10ec22d5acca45 inherit pro_static_attribs_class_b_n_o08x_rpt"><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 >Class to represent ARVR stabilized rotation vector reports. (See Ref. Manual 6.5.42) </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a7b19b87c861a35b7da1d96b606c21d6d" name="a7b19b87c861a35b7da1d96b606c21d6d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7b19b87c861a35b7da1d96b606c21d6d">&#9670;&nbsp;</a></span>BNO08xRptARVRStabilizedRV()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">BNO08xRptARVRStabilizedRV::BNO08xRptARVRStabilizedRV </td>
+          <td>(</td>
+          <td class="paramtype">uint8_t&#160;</td>
+          <td class="paramname"><em>ID</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">EventBits_t&#160;</td>
+          <td class="paramname"><em>rpt_bit</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *&#160;</td>
+          <td class="paramname"><em>sync_ctx</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>/media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/report/<a class="el" href="_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8hpp_source.html">BNO08xRptARVRStabilizedRV.hpp</a></li>
+<li>report/<a class="el" href="_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8cpp.html">BNO08xRptARVRStabilizedRV.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_rpt_a_r_v_r_stabilized_r_v.html">BNO08xRptARVRStabilizedRV</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> 1.9.4 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/documentation/html/class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v.js b/documentation/html/class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v.js
new file mode 100644
index 0000000..275acce
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v.js
@@ -0,0 +1,4 @@
+var class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v =
+[
+    [ "BNO08xRptARVRStabilizedRV", "class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v.html#a7b19b87c861a35b7da1d96b606c21d6d", null ]
+];
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diff --git a/documentation/html/class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v__coll__graph.map b/documentation/html/class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v__coll__graph.map
new file mode 100644
index 0000000..96f6bb9
--- /dev/null
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+<area shape="rect" id="node2" href="$class_b_n_o08x_rpt_r_v_generic.html" title="Class to represent rotation vector reports." alt="" coords="101,199,266,225"/>
+<area shape="rect" id="node3" href="$class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x." alt="" coords="36,109,133,136"/>
+<area shape="rect" id="node4" href="$struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html" title="Holds context used to synchronize tasks and callback execution." alt="" coords="5,5,164,47"/>
+<area shape="rect" id="node5" href="$structbno08x__quat__t.html" title="Struct to represent unit quaternion." alt="" coords="157,109,276,136"/>
+</map>
diff --git a/documentation/html/class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v__coll__graph.md5 b/documentation/html/class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v__coll__graph.md5
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diff --git a/documentation/html/class_b_n_o08x_rpt_acceleration-members.html b/documentation/html/class_b_n_o08x_rpt_acceleration-members.html
new file mode 100644
index 0000000..5868554
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_rpt_acceleration-members.html
@@ -0,0 +1,123 @@
+<!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">
+<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 1.9.4"/>
+<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>
+<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>
+<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;1.4</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 1.9.4 -->
+<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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+       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">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="header">
+  <div class="headertitle"><div class="title">BNO08xRptAcceleration 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_rpt_acceleration.html">BNO08xRptAcceleration</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a15e8eebe3fe90ac19837e3860c76374c">BNO08xRpt</a>(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_acceleration.html#af3a06d4c127a5cebd136489ab5c673e2">BNO08xRptAcceleration</a>(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_acceleration.html">BNO08xRptAcceleration</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">clear_sample_counts</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">disable</a>(sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_acceleration.html#a8fde5eefac5f9d714263047426eeee4f">enable</a>(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg) override</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_acceleration.html">BNO08xRptAcceleration</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">flush</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_acceleration.html#abac65bc939891f7a24b5a611de430328">get</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_acceleration.html">BNO08xRptAcceleration</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">get_meta_data</a>(bno08x_meta_data_t &amp;meta_data)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">get_sample_counts</a>(bno08x_sample_counts_t &amp;sample_counts)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">has_new_data</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">lock_sh2_HAL</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">lock_user_data</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a1d4d6f4cc6f1eae503863eedf7fb9f52">period_us</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">RAD_2_DEG</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">register_cb</a>(std::function&lt; void(void)&gt; cb_fxn)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">rpt_enable</a>(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">signal_data_available</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">unlock_sh2_HAL</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">unlock_user_data</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+</table></div><!-- contents -->
+</div><!-- doc-content -->
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+<meta name="generator" content="Doxygen 1.9.4"/>
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+<title>esp32_BNO08x: BNO08xRptAcceleration Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</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 1.9.4 -->
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+        name="MSearchResults" id="MSearchResults">
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+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="class_b_n_o08x_rpt_acceleration-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">BNO08xRptAcceleration Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>Class to represent accelerometer reports. (See Ref. Manual 6.5.9)  
+ <a href="class_b_n_o08x_rpt_acceleration.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="_b_n_o08x_rpt_acceleration_8hpp_source.html">report/BNO08xRptAcceleration.hpp</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for BNO08xRptAcceleration:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_rpt_acceleration__inherit__graph.png" border="0" usemap="#a_b_n_o08x_rpt_acceleration_inherit__map" alt="Inheritance graph"/></div>
+<map name="a_b_n_o08x_rpt_acceleration_inherit__map" id="a_b_n_o08x_rpt_acceleration_inherit__map">
+<area shape="rect" title="Class to represent accelerometer reports. (See Ref. Manual 6.5.9)" alt="" coords="5,80,184,107"/>
+<area shape="rect" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x." alt="" coords="46,5,143,32"/>
+</map>
+<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for BNO08xRptAcceleration:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_rpt_acceleration__coll__graph.png" border="0" usemap="#a_b_n_o08x_rpt_acceleration_coll__map" alt="Collaboration graph"/></div>
+<map name="a_b_n_o08x_rpt_acceleration_coll__map" id="a_b_n_o08x_rpt_acceleration_coll__map">
+<area shape="rect" title="Class to represent accelerometer reports. (See Ref. Manual 6.5.9)" alt="" coords="5,185,184,212"/>
+<area shape="rect" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x." alt="" coords="46,109,143,136"/>
+<area shape="rect" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html" title="Holds context used to synchronize tasks and callback execution." alt="" coords="15,5,174,47"/>
+</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="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:af3a06d4c127a5cebd136489ab5c673e2"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_acceleration.html#af3a06d4c127a5cebd136489ab5c673e2">BNO08xRptAcceleration</a> (uint8_t <a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, EventBits_t <a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *<a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</td></tr>
+<tr class="separator:af3a06d4c127a5cebd136489ab5c673e2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8fde5eefac5f9d714263047426eeee4f"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_acceleration.html#a8fde5eefac5f9d714263047426eeee4f">enable</a> (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg) override</td></tr>
+<tr class="memdesc:a8fde5eefac5f9d714263047426eeee4f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enables acceleration reports such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> begins sending them.  <a href="class_b_n_o08x_rpt_acceleration.html#a8fde5eefac5f9d714263047426eeee4f">More...</a><br /></td></tr>
+<tr class="separator:a8fde5eefac5f9d714263047426eeee4f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abac65bc939891f7a24b5a611de430328"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structbno08x__accel__t.html">bno08x_accel_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_acceleration.html#abac65bc939891f7a24b5a611de430328">get</a> ()</td></tr>
+<tr class="memdesc:abac65bc939891f7a24b5a611de430328"><td class="mdescLeft">&#160;</td><td class="mdescRight">Grabs most recent acceleration data (including gravity), units are in m/s^2.  <a href="class_b_n_o08x_rpt_acceleration.html#abac65bc939891f7a24b5a611de430328">More...</a><br /></td></tr>
+<tr class="separator:abac65bc939891f7a24b5a611de430328"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:a7d147e7540a4c6aa19749844e14cdadc inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">disable</a> (sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td></tr>
+<tr class="memdesc:a7d147e7540a4c6aa19749844e14cdadc inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Disables a sensor report by setting its period to 0us such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> stops sending it.  <a href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">More...</a><br /></td></tr>
+<tr class="separator:a7d147e7540a4c6aa19749844e14cdadc inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5b542b28c81fcd05cf2e3f3d2d437d46 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">register_cb</a> (std::function&lt; void(void)&gt; cb_fxn)</td></tr>
+<tr class="memdesc:a5b542b28c81fcd05cf2e3f3d2d437d46 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Registers a callback to execute when new data from a specific report is received.  <a href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">More...</a><br /></td></tr>
+<tr class="separator:a5b542b28c81fcd05cf2e3f3d2d437d46 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a74f6037286b51382535bab61680297ed inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">has_new_data</a> ()</td></tr>
+<tr class="memdesc:a74f6037286b51382535bab61680297ed inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Checks if a new report has been received since the last time this function was called.  <a href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">More...</a><br /></td></tr>
+<tr class="separator:a74f6037286b51382535bab61680297ed inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab3bb962696b135841ef7313bc631fc72 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">flush</a> ()</td></tr>
+<tr class="memdesc:ab3bb962696b135841ef7313bc631fc72 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Flush all buffered reports for this sensor/report module.  <a href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">More...</a><br /></td></tr>
+<tr class="separator:ab3bb962696b135841ef7313bc631fc72 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7ce8e48cadf59f49068af7f1cb680b38 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">get_sample_counts</a> (<a class="el" href="structbno08x__sample__counts__t.html">bno08x_sample_counts_t</a> &amp;sample_counts)</td></tr>
+<tr class="memdesc:a7ce8e48cadf59f49068af7f1cb680b38 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets sample counts for this sensor (see SH-2 ref manual 6.4.3.1)  <a href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">More...</a><br /></td></tr>
+<tr class="separator:a7ce8e48cadf59f49068af7f1cb680b38 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1418be33824d3102dbc8f92558a402a6 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">clear_sample_counts</a> ()</td></tr>
+<tr class="memdesc:a1418be33824d3102dbc8f92558a402a6 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Clears <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> internal sample counts for this sensor. (see SH-2 ref manual 6.4.3.1)  <a href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">More...</a><br /></td></tr>
+<tr class="separator:a1418be33824d3102dbc8f92558a402a6 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad5b054279b01204f61b4c0408acf51cf inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">get_meta_data</a> (<a class="el" href="structbno08x__meta__data__t.html">bno08x_meta_data_t</a> &amp;meta_data)</td></tr>
+<tr class="memdesc:ad5b054279b01204f61b4c0408acf51cf inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Retrieves meta data for this sensor/report by reading respective record in FRS (flash record system).  <a href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">More...</a><br /></td></tr>
+<tr class="separator:ad5b054279b01204f61b4c0408acf51cf inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4ee529725467412df396d5c610ff7bb4 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a4ee529725467412df396d5c610ff7bb4">enable</a> (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)=0</td></tr>
+<tr class="separator:a4ee529725467412df396d5c610ff7bb4 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="inherited" name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pro_methods_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:aa0bed98a9a497d1f39e8245d05b02e9c inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">rpt_enable</a> (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td></tr>
+<tr class="memdesc:aa0bed98a9a497d1f39e8245d05b02e9c inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enables a sensor report such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> begins sending it.  <a href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">More...</a><br /></td></tr>
+<tr class="separator:aa0bed98a9a497d1f39e8245d05b02e9c inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a970fb7e7d3745c62fec626f0ccf0759f inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a970fb7e7d3745c62fec626f0ccf0759f">update_data</a> (sh2_SensorValue_t *sensor_val)=0</td></tr>
+<tr class="separator:a970fb7e7d3745c62fec626f0ccf0759f inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a15e8eebe3fe90ac19837e3860c76374c inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a15e8eebe3fe90ac19837e3860c76374c">BNO08xRpt</a> (uint8_t <a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, EventBits_t <a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *<a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</td></tr>
+<tr class="memdesc:a15e8eebe3fe90ac19837e3860c76374c inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x.">BNO08xRpt</a> report constructor.  <a href="class_b_n_o08x_rpt.html#a15e8eebe3fe90ac19837e3860c76374c">More...</a><br /></td></tr>
+<tr class="separator:a15e8eebe3fe90ac19837e3860c76374c inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a61e3451e93806e1b7eaf5f1387726765 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">unlock_sh2_HAL</a> ()</td></tr>
+<tr class="memdesc:a61e3451e93806e1b7eaf5f1387726765 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Unlocks sh2 HAL lib to allow other tasks to call its APIs.  <a href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">More...</a><br /></td></tr>
+<tr class="separator:a61e3451e93806e1b7eaf5f1387726765 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7a5619a74c1237c5abde2e4bd6619d12 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">lock_sh2_HAL</a> ()</td></tr>
+<tr class="memdesc:a7a5619a74c1237c5abde2e4bd6619d12 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Locks sh2 HAL lib to only allow the calling task to call its APIs.  <a href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">More...</a><br /></td></tr>
+<tr class="separator:a7a5619a74c1237c5abde2e4bd6619d12 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a26bacc572187119339ec248bb4e7d6f3 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">unlock_user_data</a> ()</td></tr>
+<tr class="memdesc:a26bacc572187119339ec248bb4e7d6f3 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Unlocks user data to allow other tasks to read/modify it.  <a href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">More...</a><br /></td></tr>
+<tr class="separator:a26bacc572187119339ec248bb4e7d6f3 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a48e7b1a2c2ebc6b1f2f292735c0832a0 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">lock_user_data</a> ()</td></tr>
+<tr class="memdesc:a48e7b1a2c2ebc6b1f2f292735c0832a0 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Locks locks user data to only allow the calling task to read/modify it.  <a href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">More...</a><br /></td></tr>
+<tr class="separator:a48e7b1a2c2ebc6b1f2f292735c0832a0 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a47a623eb0a1db51af76a03a103c32329 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">signal_data_available</a> ()</td></tr>
+<tr class="memdesc:a47a623eb0a1db51af76a03a103c32329 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Signals to <a class="el" href="class_b_n_o08x.html#a367d525d1c0ba119b3dca3067bb5bccc" title="Polls for new data/report to become available.">BNO08x::data_available()</a> that a new report has arrived.  <a href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">More...</a><br /></td></tr>
+<tr class="separator:a47a623eb0a1db51af76a03a103c32329 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_attribs_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:a63cd4ac9e96baa43eebe580f03307512 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a></td></tr>
+<tr class="memdesc:a63cd4ac9e96baa43eebe580f03307512 inherit pro_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Report ID, ex. SH2_ACCELERATION.  <a href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">More...</a><br /></td></tr>
+<tr class="separator:a63cd4ac9e96baa43eebe580f03307512 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae78feab5682a4697c5acad3ca6f12c2e inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">EventBits_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a></td></tr>
+<tr class="memdesc:ae78feab5682a4697c5acad3ca6f12c2e inherit pro_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Respective enable and data bit for report in evt_grp_rpt_en and evt_grp_rpt_data.  <a href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">More...</a><br /></td></tr>
+<tr class="separator:ae78feab5682a4697c5acad3ca6f12c2e inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1d4d6f4cc6f1eae503863eedf7fb9f52 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">uint32_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a1d4d6f4cc6f1eae503863eedf7fb9f52">period_us</a></td></tr>
+<tr class="memdesc:a1d4d6f4cc6f1eae503863eedf7fb9f52 inherit pro_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">The period/interval of the report in microseconds.  <a href="class_b_n_o08x_rpt.html#a1d4d6f4cc6f1eae503863eedf7fb9f52">More...</a><br /></td></tr>
+<tr class="separator:a1d4d6f4cc6f1eae503863eedf7fb9f52 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5a1404a08918d66bb0f41f55220db6e5 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top"><a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a></td></tr>
+<tr class="separator:a5a1404a08918d66bb0f41f55220db6e5 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_static_attribs_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pro_static_attribs_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Static Protected Attributes inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:a201aeb71fefb0d9d485914176a82dd80 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">static const constexpr float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">RAD_2_DEG</a></td></tr>
+<tr class="memdesc:a201aeb71fefb0d9d485914176a82dd80 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constant for radian to degree conversions, sed in quaternion to euler function conversions.  <a href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">More...</a><br /></td></tr>
+<tr class="separator:a201aeb71fefb0d9d485914176a82dd80 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2c57f370fb08b793bb10ec22d5acca45 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">static const constexpr char *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a2c57f370fb08b793bb10ec22d5acca45">TAG</a> = &quot;BNO08xRpt&quot;</td></tr>
+<tr class="separator:a2c57f370fb08b793bb10ec22d5acca45 inherit pro_static_attribs_class_b_n_o08x_rpt"><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 >Class to represent accelerometer reports. (See Ref. Manual 6.5.9) </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="af3a06d4c127a5cebd136489ab5c673e2" name="af3a06d4c127a5cebd136489ab5c673e2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af3a06d4c127a5cebd136489ab5c673e2">&#9670;&nbsp;</a></span>BNO08xRptAcceleration()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">BNO08xRptAcceleration::BNO08xRptAcceleration </td>
+          <td>(</td>
+          <td class="paramtype">uint8_t&#160;</td>
+          <td class="paramname"><em>ID</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">EventBits_t&#160;</td>
+          <td class="paramname"><em>rpt_bit</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *&#160;</td>
+          <td class="paramname"><em>sync_ctx</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a8fde5eefac5f9d714263047426eeee4f" name="a8fde5eefac5f9d714263047426eeee4f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8fde5eefac5f9d714263047426eeee4f">&#9670;&nbsp;</a></span>enable()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08xRptAcceleration::enable </td>
+          <td>(</td>
+          <td class="paramtype">uint32_t&#160;</td>
+          <td class="paramname"><em>time_between_reports</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">sh2_SensorConfig_t&#160;</td>
+          <td class="paramname"><em>sensor_cfg</em> = <code>BNO08xPrivateTypes::default_sensor_cfg</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Enables acceleration reports such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> begins sending them. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">report_period_us</td><td>The period/interval of the report in microseconds. </td></tr>
+    <tr><td class="paramname">sensor_cfg</td><td>Sensor special configuration (optional, see BNO08xPrivateTypes::default_sensor_cfg for defaults).</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>True if report was successfully enabled. </dd></dl>
+
+<p>Implements <a class="el" href="class_b_n_o08x_rpt.html#a4ee529725467412df396d5c610ff7bb4">BNO08xRpt</a>.</p>
+<div class="dynheader">
+Here is the call graph for this function:</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#abac65bc939891f7a24b5a611de430328">&#9670;&nbsp;</a></span>get()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="structbno08x__accel__t.html">bno08x_accel_t</a> BNO08xRptAcceleration::get </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Grabs most recent acceleration data (including gravity), units are in m/s^2. </p>
+<dl class="section return"><dt>Returns</dt><dd>Struct containing requested data. </dd></dl>
+<div class="dynheader">
+Here is the call graph for this function:</div>
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+</div>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>/media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/report/<a class="el" href="_b_n_o08x_rpt_acceleration_8hpp_source.html">BNO08xRptAcceleration.hpp</a></li>
+<li>report/<a class="el" href="_b_n_o08x_rpt_acceleration_8cpp.html">BNO08xRptAcceleration.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>
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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> 1.9.4 </li>
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diff --git a/documentation/html/class_b_n_o08x_rpt_acceleration.js b/documentation/html/class_b_n_o08x_rpt_acceleration.js
new file mode 100644
index 0000000..bdeb347
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_rpt_acceleration.js
@@ -0,0 +1,6 @@
+var class_b_n_o08x_rpt_acceleration =
+[
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+    [ "enable", "class_b_n_o08x_rpt_acceleration.html#a8fde5eefac5f9d714263047426eeee4f", null ],
+    [ "get", "class_b_n_o08x_rpt_acceleration.html#abac65bc939891f7a24b5a611de430328", null ]
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index 0000000..cc7893e
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_rpt_acceleration__coll__graph.map
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diff --git a/documentation/html/class_b_n_o08x_rpt_acceleration__coll__graph.md5 b/documentation/html/class_b_n_o08x_rpt_acceleration__coll__graph.md5
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diff --git a/documentation/html/class_b_n_o08x_rpt_activity_classifier-members.html b/documentation/html/class_b_n_o08x_rpt_activity_classifier-members.html
new file mode 100644
index 0000000..f09ca21
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_rpt_activity_classifier-members.html
@@ -0,0 +1,125 @@
+<!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">
+<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 1.9.4"/>
+<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>
+<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>
+<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;1.4</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 1.9.4 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search",'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');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(document).ready(function(){initNavTree('class_b_n_o08x_rpt_activity_classifier.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">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="header">
+  <div class="headertitle"><div class="title">BNO08xRptActivityClassifier 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_rpt_activity_classifier.html">BNO08xRptActivityClassifier</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a15e8eebe3fe90ac19837e3860c76374c">BNO08xRpt</a>(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_activity_classifier.html#abee4e61d75eb1982f11f08eb542511a5">BNO08xRptActivityClassifier</a>(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_activity_classifier.html">BNO08xRptActivityClassifier</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">clear_sample_counts</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">disable</a>(sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_activity_classifier.html#a631329523ddaf17f2e93cd0546a42823">enable</a>(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg) override</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_activity_classifier.html">BNO08xRptActivityClassifier</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">flush</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_activity_classifier.html#aa77475212d3a5eb52ec31b9916cfe22d">get</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_activity_classifier.html">BNO08xRptActivityClassifier</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">get_meta_data</a>(bno08x_meta_data_t &amp;meta_data)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_activity_classifier.html#a903a426e65752996075798ba6c51bff2">get_most_likely_activity</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_activity_classifier.html">BNO08xRptActivityClassifier</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">get_sample_counts</a>(bno08x_sample_counts_t &amp;sample_counts)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">has_new_data</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">lock_sh2_HAL</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">lock_user_data</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a1d4d6f4cc6f1eae503863eedf7fb9f52">period_us</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">RAD_2_DEG</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">register_cb</a>(std::function&lt; void(void)&gt; cb_fxn)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">rpt_enable</a>(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_activity_classifier.html#adb51886e94e91d114246c51919fd368b">set_activities_to_enable</a>(BNO08xActivityEnable activities_to_enable)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_activity_classifier.html">BNO08xRptActivityClassifier</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">signal_data_available</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">unlock_sh2_HAL</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">unlock_user_data</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+</table></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> 1.9.4 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/documentation/html/class_b_n_o08x_rpt_activity_classifier.html b/documentation/html/class_b_n_o08x_rpt_activity_classifier.html
new file mode 100644
index 0000000..f788b91
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_rpt_activity_classifier.html
@@ -0,0 +1,411 @@
+<!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">
+<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 1.9.4"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>esp32_BNO08x: BNO08xRptActivityClassifier 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>
+<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>
+<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;1.4</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 1.9.4 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search",'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');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(document).ready(function(){initNavTree('class_b_n_o08x_rpt_activity_classifier.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">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="class_b_n_o08x_rpt_activity_classifier-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">BNO08xRptActivityClassifier Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>Class to represent activity classifier reports. (See Ref. Manual 6.5.36)  
+ <a href="class_b_n_o08x_rpt_activity_classifier.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="_b_n_o08x_rpt_activity_classifier_8hpp_source.html">report/BNO08xRptActivityClassifier.hpp</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for BNO08xRptActivityClassifier:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_rpt_activity_classifier__inherit__graph.png" border="0" usemap="#a_b_n_o08x_rpt_activity_classifier_inherit__map" alt="Inheritance graph"/></div>
+<map name="a_b_n_o08x_rpt_activity_classifier_inherit__map" id="a_b_n_o08x_rpt_activity_classifier_inherit__map">
+<area shape="rect" title="Class to represent activity classifier reports. (See Ref. Manual 6.5.36)" alt="" coords="5,80,212,107"/>
+<area shape="rect" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x." alt="" coords="60,5,157,32"/>
+</map>
+<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for BNO08xRptActivityClassifier:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_rpt_activity_classifier__coll__graph.png" border="0" usemap="#a_b_n_o08x_rpt_activity_classifier_coll__map" alt="Collaboration graph"/></div>
+<map name="a_b_n_o08x_rpt_activity_classifier_coll__map" id="a_b_n_o08x_rpt_activity_classifier_coll__map">
+<area shape="rect" title="Class to represent activity classifier reports. (See Ref. Manual 6.5.36)" alt="" coords="5,185,212,212"/>
+<area shape="rect" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x." alt="" coords="60,109,157,136"/>
+<area shape="rect" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html" title="Holds context used to synchronize tasks and callback execution." alt="" coords="29,5,188,47"/>
+</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="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:abee4e61d75eb1982f11f08eb542511a5"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_activity_classifier.html#abee4e61d75eb1982f11f08eb542511a5">BNO08xRptActivityClassifier</a> (uint8_t <a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, EventBits_t <a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *<a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</td></tr>
+<tr class="separator:abee4e61d75eb1982f11f08eb542511a5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a631329523ddaf17f2e93cd0546a42823"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_activity_classifier.html#a631329523ddaf17f2e93cd0546a42823">enable</a> (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg) override</td></tr>
+<tr class="memdesc:a631329523ddaf17f2e93cd0546a42823"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enables activity classifier reports such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> begins sending them.  <a href="class_b_n_o08x_rpt_activity_classifier.html#a631329523ddaf17f2e93cd0546a42823">More...</a><br /></td></tr>
+<tr class="separator:a631329523ddaf17f2e93cd0546a42823"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa77475212d3a5eb52ec31b9916cfe22d"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structbno08x__activity__classifier__t.html">bno08x_activity_classifier_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_activity_classifier.html#aa77475212d3a5eb52ec31b9916cfe22d">get</a> ()</td></tr>
+<tr class="memdesc:aa77475212d3a5eb52ec31b9916cfe22d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Grabs most recent activity classifier data.  <a href="class_b_n_o08x_rpt_activity_classifier.html#aa77475212d3a5eb52ec31b9916cfe22d">More...</a><br /></td></tr>
+<tr class="separator:aa77475212d3a5eb52ec31b9916cfe22d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a903a426e65752996075798ba6c51bff2"><td class="memItemLeft" align="right" valign="top"><a class="el" href="_b_n_o08x_global_types_8hpp.html#a43d66cdccf17ba0cddcdddc72d4fb97d">BNO08xActivity</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_activity_classifier.html#a903a426e65752996075798ba6c51bff2">get_most_likely_activity</a> ()</td></tr>
+<tr class="memdesc:a903a426e65752996075798ba6c51bff2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Grabs most the most likely activity from most recent activity classifier data.  <a href="class_b_n_o08x_rpt_activity_classifier.html#a903a426e65752996075798ba6c51bff2">More...</a><br /></td></tr>
+<tr class="separator:a903a426e65752996075798ba6c51bff2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:adb51886e94e91d114246c51919fd368b"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_activity_classifier.html#adb51886e94e91d114246c51919fd368b">set_activities_to_enable</a> (<a class="el" href="_b_n_o08x_global_types_8hpp.html#a64f4487da0833d5304046093935f5d3a">BNO08xActivityEnable</a> activities_to_enable)</td></tr>
+<tr class="memdesc:adb51886e94e91d114246c51919fd368b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the activities to be monitored for with ActivityClassifier reports, all enable after setting.  <a href="class_b_n_o08x_rpt_activity_classifier.html#adb51886e94e91d114246c51919fd368b">More...</a><br /></td></tr>
+<tr class="separator:adb51886e94e91d114246c51919fd368b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:a7d147e7540a4c6aa19749844e14cdadc inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">disable</a> (sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td></tr>
+<tr class="memdesc:a7d147e7540a4c6aa19749844e14cdadc inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Disables a sensor report by setting its period to 0us such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> stops sending it.  <a href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">More...</a><br /></td></tr>
+<tr class="separator:a7d147e7540a4c6aa19749844e14cdadc inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5b542b28c81fcd05cf2e3f3d2d437d46 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">register_cb</a> (std::function&lt; void(void)&gt; cb_fxn)</td></tr>
+<tr class="memdesc:a5b542b28c81fcd05cf2e3f3d2d437d46 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Registers a callback to execute when new data from a specific report is received.  <a href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">More...</a><br /></td></tr>
+<tr class="separator:a5b542b28c81fcd05cf2e3f3d2d437d46 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a74f6037286b51382535bab61680297ed inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">has_new_data</a> ()</td></tr>
+<tr class="memdesc:a74f6037286b51382535bab61680297ed inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Checks if a new report has been received since the last time this function was called.  <a href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">More...</a><br /></td></tr>
+<tr class="separator:a74f6037286b51382535bab61680297ed inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab3bb962696b135841ef7313bc631fc72 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">flush</a> ()</td></tr>
+<tr class="memdesc:ab3bb962696b135841ef7313bc631fc72 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Flush all buffered reports for this sensor/report module.  <a href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">More...</a><br /></td></tr>
+<tr class="separator:ab3bb962696b135841ef7313bc631fc72 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7ce8e48cadf59f49068af7f1cb680b38 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">get_sample_counts</a> (<a class="el" href="structbno08x__sample__counts__t.html">bno08x_sample_counts_t</a> &amp;sample_counts)</td></tr>
+<tr class="memdesc:a7ce8e48cadf59f49068af7f1cb680b38 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets sample counts for this sensor (see SH-2 ref manual 6.4.3.1)  <a href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">More...</a><br /></td></tr>
+<tr class="separator:a7ce8e48cadf59f49068af7f1cb680b38 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1418be33824d3102dbc8f92558a402a6 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">clear_sample_counts</a> ()</td></tr>
+<tr class="memdesc:a1418be33824d3102dbc8f92558a402a6 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Clears <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> internal sample counts for this sensor. (see SH-2 ref manual 6.4.3.1)  <a href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">More...</a><br /></td></tr>
+<tr class="separator:a1418be33824d3102dbc8f92558a402a6 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad5b054279b01204f61b4c0408acf51cf inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">get_meta_data</a> (<a class="el" href="structbno08x__meta__data__t.html">bno08x_meta_data_t</a> &amp;meta_data)</td></tr>
+<tr class="memdesc:ad5b054279b01204f61b4c0408acf51cf inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Retrieves meta data for this sensor/report by reading respective record in FRS (flash record system).  <a href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">More...</a><br /></td></tr>
+<tr class="separator:ad5b054279b01204f61b4c0408acf51cf inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4ee529725467412df396d5c610ff7bb4 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a4ee529725467412df396d5c610ff7bb4">enable</a> (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)=0</td></tr>
+<tr class="separator:a4ee529725467412df396d5c610ff7bb4 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="inherited" name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pro_methods_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:aa0bed98a9a497d1f39e8245d05b02e9c inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">rpt_enable</a> (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td></tr>
+<tr class="memdesc:aa0bed98a9a497d1f39e8245d05b02e9c inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enables a sensor report such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> begins sending it.  <a href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">More...</a><br /></td></tr>
+<tr class="separator:aa0bed98a9a497d1f39e8245d05b02e9c inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a970fb7e7d3745c62fec626f0ccf0759f inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a970fb7e7d3745c62fec626f0ccf0759f">update_data</a> (sh2_SensorValue_t *sensor_val)=0</td></tr>
+<tr class="separator:a970fb7e7d3745c62fec626f0ccf0759f inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a15e8eebe3fe90ac19837e3860c76374c inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a15e8eebe3fe90ac19837e3860c76374c">BNO08xRpt</a> (uint8_t <a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, EventBits_t <a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *<a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</td></tr>
+<tr class="memdesc:a15e8eebe3fe90ac19837e3860c76374c inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x.">BNO08xRpt</a> report constructor.  <a href="class_b_n_o08x_rpt.html#a15e8eebe3fe90ac19837e3860c76374c">More...</a><br /></td></tr>
+<tr class="separator:a15e8eebe3fe90ac19837e3860c76374c inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a61e3451e93806e1b7eaf5f1387726765 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">unlock_sh2_HAL</a> ()</td></tr>
+<tr class="memdesc:a61e3451e93806e1b7eaf5f1387726765 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Unlocks sh2 HAL lib to allow other tasks to call its APIs.  <a href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">More...</a><br /></td></tr>
+<tr class="separator:a61e3451e93806e1b7eaf5f1387726765 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7a5619a74c1237c5abde2e4bd6619d12 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">lock_sh2_HAL</a> ()</td></tr>
+<tr class="memdesc:a7a5619a74c1237c5abde2e4bd6619d12 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Locks sh2 HAL lib to only allow the calling task to call its APIs.  <a href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">More...</a><br /></td></tr>
+<tr class="separator:a7a5619a74c1237c5abde2e4bd6619d12 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a26bacc572187119339ec248bb4e7d6f3 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">unlock_user_data</a> ()</td></tr>
+<tr class="memdesc:a26bacc572187119339ec248bb4e7d6f3 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Unlocks user data to allow other tasks to read/modify it.  <a href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">More...</a><br /></td></tr>
+<tr class="separator:a26bacc572187119339ec248bb4e7d6f3 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a48e7b1a2c2ebc6b1f2f292735c0832a0 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">lock_user_data</a> ()</td></tr>
+<tr class="memdesc:a48e7b1a2c2ebc6b1f2f292735c0832a0 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Locks locks user data to only allow the calling task to read/modify it.  <a href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">More...</a><br /></td></tr>
+<tr class="separator:a48e7b1a2c2ebc6b1f2f292735c0832a0 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a47a623eb0a1db51af76a03a103c32329 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">signal_data_available</a> ()</td></tr>
+<tr class="memdesc:a47a623eb0a1db51af76a03a103c32329 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Signals to <a class="el" href="class_b_n_o08x.html#a367d525d1c0ba119b3dca3067bb5bccc" title="Polls for new data/report to become available.">BNO08x::data_available()</a> that a new report has arrived.  <a href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">More...</a><br /></td></tr>
+<tr class="separator:a47a623eb0a1db51af76a03a103c32329 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_attribs_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:a63cd4ac9e96baa43eebe580f03307512 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a></td></tr>
+<tr class="memdesc:a63cd4ac9e96baa43eebe580f03307512 inherit pro_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Report ID, ex. SH2_ACCELERATION.  <a href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">More...</a><br /></td></tr>
+<tr class="separator:a63cd4ac9e96baa43eebe580f03307512 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae78feab5682a4697c5acad3ca6f12c2e inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">EventBits_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a></td></tr>
+<tr class="memdesc:ae78feab5682a4697c5acad3ca6f12c2e inherit pro_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Respective enable and data bit for report in evt_grp_rpt_en and evt_grp_rpt_data.  <a href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">More...</a><br /></td></tr>
+<tr class="separator:ae78feab5682a4697c5acad3ca6f12c2e inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1d4d6f4cc6f1eae503863eedf7fb9f52 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">uint32_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a1d4d6f4cc6f1eae503863eedf7fb9f52">period_us</a></td></tr>
+<tr class="memdesc:a1d4d6f4cc6f1eae503863eedf7fb9f52 inherit pro_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">The period/interval of the report in microseconds.  <a href="class_b_n_o08x_rpt.html#a1d4d6f4cc6f1eae503863eedf7fb9f52">More...</a><br /></td></tr>
+<tr class="separator:a1d4d6f4cc6f1eae503863eedf7fb9f52 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5a1404a08918d66bb0f41f55220db6e5 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top"><a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a></td></tr>
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+<tr class="memitem:a201aeb71fefb0d9d485914176a82dd80 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">static const constexpr float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">RAD_2_DEG</a></td></tr>
+<tr class="memdesc:a201aeb71fefb0d9d485914176a82dd80 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constant for radian to degree conversions, sed in quaternion to euler function conversions.  <a href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">More...</a><br /></td></tr>
+<tr class="separator:a201aeb71fefb0d9d485914176a82dd80 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2c57f370fb08b793bb10ec22d5acca45 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">static const constexpr char *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a2c57f370fb08b793bb10ec22d5acca45">TAG</a> = &quot;BNO08xRpt&quot;</td></tr>
+<tr class="separator:a2c57f370fb08b793bb10ec22d5acca45 inherit pro_static_attribs_class_b_n_o08x_rpt"><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 >Class to represent activity classifier reports. (See Ref. Manual 6.5.36) </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="abee4e61d75eb1982f11f08eb542511a5" name="abee4e61d75eb1982f11f08eb542511a5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abee4e61d75eb1982f11f08eb542511a5">&#9670;&nbsp;</a></span>BNO08xRptActivityClassifier()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">BNO08xRptActivityClassifier::BNO08xRptActivityClassifier </td>
+          <td>(</td>
+          <td class="paramtype">uint8_t&#160;</td>
+          <td class="paramname"><em>ID</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">EventBits_t&#160;</td>
+          <td class="paramname"><em>rpt_bit</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *&#160;</td>
+          <td class="paramname"><em>sync_ctx</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a631329523ddaf17f2e93cd0546a42823" name="a631329523ddaf17f2e93cd0546a42823"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a631329523ddaf17f2e93cd0546a42823">&#9670;&nbsp;</a></span>enable()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08xRptActivityClassifier::enable </td>
+          <td>(</td>
+          <td class="paramtype">uint32_t&#160;</td>
+          <td class="paramname"><em>time_between_reports</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">sh2_SensorConfig_t&#160;</td>
+          <td class="paramname"><em>sensor_cfg</em> = <code>BNO08xPrivateTypes::default_sensor_cfg</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Enables activity classifier reports such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> begins sending them. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">report_period_us</td><td>The period/interval of the report in microseconds. </td></tr>
+    <tr><td class="paramname">sensor_cfg</td><td>Sensor special configuration (optional, see BNO08xPrivateTypes::default_sensor_cfg for defaults).</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>True if report was successfully enabled. </dd></dl>
+
+<p>Implements <a class="el" href="class_b_n_o08x_rpt.html#a4ee529725467412df396d5c610ff7bb4">BNO08xRpt</a>.</p>
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+<h2 class="memtitle"><span class="permalink"><a href="#aa77475212d3a5eb52ec31b9916cfe22d">&#9670;&nbsp;</a></span>get()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="structbno08x__activity__classifier__t.html">bno08x_activity_classifier_t</a> BNO08xRptActivityClassifier::get </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Grabs most recent activity classifier data. </p>
+<dl class="section return"><dt>Returns</dt><dd>Struct containing requested data. </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="#a903a426e65752996075798ba6c51bff2">&#9670;&nbsp;</a></span>get_most_likely_activity()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="_b_n_o08x_global_types_8hpp.html#a43d66cdccf17ba0cddcdddc72d4fb97d">BNO08xActivity</a> BNO08xRptActivityClassifier::get_most_likely_activity </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Grabs most the most likely activity from most recent activity classifier data. </p>
+<dl class="section return"><dt>Returns</dt><dd>BNO08xActivity object with detected state. </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="#adb51886e94e91d114246c51919fd368b">&#9670;&nbsp;</a></span>set_activities_to_enable()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08xRptActivityClassifier::set_activities_to_enable </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="_b_n_o08x_global_types_8hpp.html#a64f4487da0833d5304046093935f5d3a">BNO08xActivityEnable</a>&#160;</td>
+          <td class="paramname"><em>activities_to_enable</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Sets the activities to be monitored for with ActivityClassifier reports, all enable after setting. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">activities_to_enable</td><td>The activities to be monitored with sent reports.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>/media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/report/<a class="el" href="_b_n_o08x_rpt_activity_classifier_8hpp_source.html">BNO08xRptActivityClassifier.hpp</a></li>
+<li>report/<a class="el" href="_b_n_o08x_rpt_activity_classifier_8cpp.html">BNO08xRptActivityClassifier.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_rpt_activity_classifier.html">BNO08xRptActivityClassifier</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> 1.9.4 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/documentation/html/class_b_n_o08x_rpt_activity_classifier.js b/documentation/html/class_b_n_o08x_rpt_activity_classifier.js
new file mode 100644
index 0000000..a39326f
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_rpt_activity_classifier.js
@@ -0,0 +1,8 @@
+var class_b_n_o08x_rpt_activity_classifier =
+[
+    [ "BNO08xRptActivityClassifier", "class_b_n_o08x_rpt_activity_classifier.html#abee4e61d75eb1982f11f08eb542511a5", null ],
+    [ "enable", "class_b_n_o08x_rpt_activity_classifier.html#a631329523ddaf17f2e93cd0546a42823", null ],
+    [ "get", "class_b_n_o08x_rpt_activity_classifier.html#aa77475212d3a5eb52ec31b9916cfe22d", null ],
+    [ "get_most_likely_activity", "class_b_n_o08x_rpt_activity_classifier.html#a903a426e65752996075798ba6c51bff2", null ],
+    [ "set_activities_to_enable", "class_b_n_o08x_rpt_activity_classifier.html#adb51886e94e91d114246c51919fd368b", null ]
+];
\ No newline at end of file
diff --git a/documentation/html/class_b_n_o08x_rpt_activity_classifier__coll__graph.map b/documentation/html/class_b_n_o08x_rpt_activity_classifier__coll__graph.map
new file mode 100644
index 0000000..a498b0a
--- /dev/null
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diff --git a/documentation/html/class_b_n_o08x_rpt_activity_classifier_a903a426e65752996075798ba6c51bff2_cgraph.md5 b/documentation/html/class_b_n_o08x_rpt_activity_classifier_a903a426e65752996075798ba6c51bff2_cgraph.md5
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diff --git a/documentation/html/class_b_n_o08x_rpt_cal_gyro-members.html b/documentation/html/class_b_n_o08x_rpt_cal_gyro-members.html
new file mode 100644
index 0000000..38b5a40
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_rpt_cal_gyro-members.html
@@ -0,0 +1,123 @@
+<!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">
+<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 1.9.4"/>
+<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>
+<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>
+<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;1.4</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 1.9.4 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search",'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');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(document).ready(function(){initNavTree('class_b_n_o08x_rpt_cal_gyro.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">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="header">
+  <div class="headertitle"><div class="title">BNO08xRptCalGyro 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_rpt_cal_gyro.html">BNO08xRptCalGyro</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a15e8eebe3fe90ac19837e3860c76374c">BNO08xRpt</a>(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_cal_gyro.html#ad351243a258fa1075212d63a38b1e7b5">BNO08xRptCalGyro</a>(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_cal_gyro.html">BNO08xRptCalGyro</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">clear_sample_counts</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">disable</a>(sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_cal_gyro.html#aeb49d86610427c915dc9e58fcba6fddc">enable</a>(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg) override</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_cal_gyro.html">BNO08xRptCalGyro</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">flush</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_cal_gyro.html#aeb45a1a433c499f2c36dddf393175815">get</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_cal_gyro.html">BNO08xRptCalGyro</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">get_meta_data</a>(bno08x_meta_data_t &amp;meta_data)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">get_sample_counts</a>(bno08x_sample_counts_t &amp;sample_counts)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">has_new_data</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">lock_sh2_HAL</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">lock_user_data</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a1d4d6f4cc6f1eae503863eedf7fb9f52">period_us</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">RAD_2_DEG</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">register_cb</a>(std::function&lt; void(void)&gt; cb_fxn)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">rpt_enable</a>(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">signal_data_available</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">unlock_sh2_HAL</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">unlock_user_data</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+</table></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> 1.9.4 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/documentation/html/class_b_n_o08x_rpt_cal_gyro.html b/documentation/html/class_b_n_o08x_rpt_cal_gyro.html
new file mode 100644
index 0000000..2dbb573
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_rpt_cal_gyro.html
@@ -0,0 +1,348 @@
+<!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">
+<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 1.9.4"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>esp32_BNO08x: BNO08xRptCalGyro 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>
+<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>
+<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;1.4</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 1.9.4 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search",'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');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(document).ready(function(){initNavTree('class_b_n_o08x_rpt_cal_gyro.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">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="class_b_n_o08x_rpt_cal_gyro-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">BNO08xRptCalGyro Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>Class to represent calibrated gyro reports. (See Ref. Manual 6.5.13)  
+ <a href="class_b_n_o08x_rpt_cal_gyro.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="_b_n_o08x_rpt_cal_gyro_8hpp_source.html">report/BNO08xRptCalGyro.hpp</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for BNO08xRptCalGyro:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_rpt_cal_gyro__inherit__graph.png" border="0" usemap="#a_b_n_o08x_rpt_cal_gyro_inherit__map" alt="Inheritance graph"/></div>
+<map name="a_b_n_o08x_rpt_cal_gyro_inherit__map" id="a_b_n_o08x_rpt_cal_gyro_inherit__map">
+<area shape="rect" title="Class to represent calibrated gyro reports. (See Ref. Manual 6.5.13)" alt="" coords="5,80,155,107"/>
+<area shape="rect" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x." alt="" coords="31,5,129,32"/>
+</map>
+<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for BNO08xRptCalGyro:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_rpt_cal_gyro__coll__graph.png" border="0" usemap="#a_b_n_o08x_rpt_cal_gyro_coll__map" alt="Collaboration graph"/></div>
+<map name="a_b_n_o08x_rpt_cal_gyro_coll__map" id="a_b_n_o08x_rpt_cal_gyro_coll__map">
+<area shape="rect" title="Class to represent calibrated gyro reports. (See Ref. Manual 6.5.13)" alt="" coords="10,185,159,212"/>
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+</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="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:ad351243a258fa1075212d63a38b1e7b5"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_cal_gyro.html#ad351243a258fa1075212d63a38b1e7b5">BNO08xRptCalGyro</a> (uint8_t <a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, EventBits_t <a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *<a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</td></tr>
+<tr class="separator:ad351243a258fa1075212d63a38b1e7b5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aeb49d86610427c915dc9e58fcba6fddc"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_cal_gyro.html#aeb49d86610427c915dc9e58fcba6fddc">enable</a> (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg) override</td></tr>
+<tr class="memdesc:aeb49d86610427c915dc9e58fcba6fddc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enables calibrated gyro reports such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> begins sending them.  <a href="class_b_n_o08x_rpt_cal_gyro.html#aeb49d86610427c915dc9e58fcba6fddc">More...</a><br /></td></tr>
+<tr class="separator:aeb49d86610427c915dc9e58fcba6fddc"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aeb45a1a433c499f2c36dddf393175815"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structbno08x__gyro__t.html">bno08x_gyro_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_cal_gyro.html#aeb45a1a433c499f2c36dddf393175815">get</a> ()</td></tr>
+<tr class="memdesc:aeb45a1a433c499f2c36dddf393175815"><td class="mdescLeft">&#160;</td><td class="mdescRight">Grabs most recent gyroscope data (velocity), units are in rad/s.  <a href="class_b_n_o08x_rpt_cal_gyro.html#aeb45a1a433c499f2c36dddf393175815">More...</a><br /></td></tr>
+<tr class="separator:aeb45a1a433c499f2c36dddf393175815"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:a7d147e7540a4c6aa19749844e14cdadc inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">disable</a> (sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td></tr>
+<tr class="memdesc:a7d147e7540a4c6aa19749844e14cdadc inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Disables a sensor report by setting its period to 0us such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> stops sending it.  <a href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">More...</a><br /></td></tr>
+<tr class="separator:a7d147e7540a4c6aa19749844e14cdadc inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5b542b28c81fcd05cf2e3f3d2d437d46 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">register_cb</a> (std::function&lt; void(void)&gt; cb_fxn)</td></tr>
+<tr class="memdesc:a5b542b28c81fcd05cf2e3f3d2d437d46 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Registers a callback to execute when new data from a specific report is received.  <a href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">More...</a><br /></td></tr>
+<tr class="separator:a5b542b28c81fcd05cf2e3f3d2d437d46 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a74f6037286b51382535bab61680297ed inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">has_new_data</a> ()</td></tr>
+<tr class="memdesc:a74f6037286b51382535bab61680297ed inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Checks if a new report has been received since the last time this function was called.  <a href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">More...</a><br /></td></tr>
+<tr class="separator:a74f6037286b51382535bab61680297ed inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab3bb962696b135841ef7313bc631fc72 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">flush</a> ()</td></tr>
+<tr class="memdesc:ab3bb962696b135841ef7313bc631fc72 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Flush all buffered reports for this sensor/report module.  <a href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">More...</a><br /></td></tr>
+<tr class="separator:ab3bb962696b135841ef7313bc631fc72 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7ce8e48cadf59f49068af7f1cb680b38 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">get_sample_counts</a> (<a class="el" href="structbno08x__sample__counts__t.html">bno08x_sample_counts_t</a> &amp;sample_counts)</td></tr>
+<tr class="memdesc:a7ce8e48cadf59f49068af7f1cb680b38 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets sample counts for this sensor (see SH-2 ref manual 6.4.3.1)  <a href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">More...</a><br /></td></tr>
+<tr class="separator:a7ce8e48cadf59f49068af7f1cb680b38 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1418be33824d3102dbc8f92558a402a6 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">clear_sample_counts</a> ()</td></tr>
+<tr class="memdesc:a1418be33824d3102dbc8f92558a402a6 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Clears <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> internal sample counts for this sensor. (see SH-2 ref manual 6.4.3.1)  <a href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">More...</a><br /></td></tr>
+<tr class="separator:a1418be33824d3102dbc8f92558a402a6 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad5b054279b01204f61b4c0408acf51cf inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">get_meta_data</a> (<a class="el" href="structbno08x__meta__data__t.html">bno08x_meta_data_t</a> &amp;meta_data)</td></tr>
+<tr class="memdesc:ad5b054279b01204f61b4c0408acf51cf inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Retrieves meta data for this sensor/report by reading respective record in FRS (flash record system).  <a href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">More...</a><br /></td></tr>
+<tr class="separator:ad5b054279b01204f61b4c0408acf51cf inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4ee529725467412df396d5c610ff7bb4 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a4ee529725467412df396d5c610ff7bb4">enable</a> (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)=0</td></tr>
+<tr class="separator:a4ee529725467412df396d5c610ff7bb4 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="inherited" name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pro_methods_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:aa0bed98a9a497d1f39e8245d05b02e9c inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">rpt_enable</a> (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td></tr>
+<tr class="memdesc:aa0bed98a9a497d1f39e8245d05b02e9c inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enables a sensor report such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> begins sending it.  <a href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">More...</a><br /></td></tr>
+<tr class="separator:aa0bed98a9a497d1f39e8245d05b02e9c inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a970fb7e7d3745c62fec626f0ccf0759f inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a970fb7e7d3745c62fec626f0ccf0759f">update_data</a> (sh2_SensorValue_t *sensor_val)=0</td></tr>
+<tr class="separator:a970fb7e7d3745c62fec626f0ccf0759f inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a15e8eebe3fe90ac19837e3860c76374c inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a15e8eebe3fe90ac19837e3860c76374c">BNO08xRpt</a> (uint8_t <a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, EventBits_t <a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *<a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</td></tr>
+<tr class="memdesc:a15e8eebe3fe90ac19837e3860c76374c inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x.">BNO08xRpt</a> report constructor.  <a href="class_b_n_o08x_rpt.html#a15e8eebe3fe90ac19837e3860c76374c">More...</a><br /></td></tr>
+<tr class="separator:a15e8eebe3fe90ac19837e3860c76374c inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a61e3451e93806e1b7eaf5f1387726765 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">unlock_sh2_HAL</a> ()</td></tr>
+<tr class="memdesc:a61e3451e93806e1b7eaf5f1387726765 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Unlocks sh2 HAL lib to allow other tasks to call its APIs.  <a href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">More...</a><br /></td></tr>
+<tr class="separator:a61e3451e93806e1b7eaf5f1387726765 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7a5619a74c1237c5abde2e4bd6619d12 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">lock_sh2_HAL</a> ()</td></tr>
+<tr class="memdesc:a7a5619a74c1237c5abde2e4bd6619d12 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Locks sh2 HAL lib to only allow the calling task to call its APIs.  <a href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">More...</a><br /></td></tr>
+<tr class="separator:a7a5619a74c1237c5abde2e4bd6619d12 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a26bacc572187119339ec248bb4e7d6f3 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">unlock_user_data</a> ()</td></tr>
+<tr class="memdesc:a26bacc572187119339ec248bb4e7d6f3 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Unlocks user data to allow other tasks to read/modify it.  <a href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">More...</a><br /></td></tr>
+<tr class="separator:a26bacc572187119339ec248bb4e7d6f3 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a48e7b1a2c2ebc6b1f2f292735c0832a0 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">lock_user_data</a> ()</td></tr>
+<tr class="memdesc:a48e7b1a2c2ebc6b1f2f292735c0832a0 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Locks locks user data to only allow the calling task to read/modify it.  <a href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">More...</a><br /></td></tr>
+<tr class="separator:a48e7b1a2c2ebc6b1f2f292735c0832a0 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a47a623eb0a1db51af76a03a103c32329 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">signal_data_available</a> ()</td></tr>
+<tr class="memdesc:a47a623eb0a1db51af76a03a103c32329 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Signals to <a class="el" href="class_b_n_o08x.html#a367d525d1c0ba119b3dca3067bb5bccc" title="Polls for new data/report to become available.">BNO08x::data_available()</a> that a new report has arrived.  <a href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">More...</a><br /></td></tr>
+<tr class="separator:a47a623eb0a1db51af76a03a103c32329 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_attribs_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:a63cd4ac9e96baa43eebe580f03307512 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a></td></tr>
+<tr class="memdesc:a63cd4ac9e96baa43eebe580f03307512 inherit pro_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Report ID, ex. SH2_ACCELERATION.  <a href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">More...</a><br /></td></tr>
+<tr class="separator:a63cd4ac9e96baa43eebe580f03307512 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae78feab5682a4697c5acad3ca6f12c2e inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">EventBits_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a></td></tr>
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+<tr class="separator:ae78feab5682a4697c5acad3ca6f12c2e inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a1d4d6f4cc6f1eae503863eedf7fb9f52 inherit pro_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">The period/interval of the report in microseconds.  <a href="class_b_n_o08x_rpt.html#a1d4d6f4cc6f1eae503863eedf7fb9f52">More...</a><br /></td></tr>
+<tr class="separator:a1d4d6f4cc6f1eae503863eedf7fb9f52 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="inherit_header pro_static_attribs_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pro_static_attribs_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Static Protected Attributes inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:a201aeb71fefb0d9d485914176a82dd80 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">static const constexpr float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">RAD_2_DEG</a></td></tr>
+<tr class="memdesc:a201aeb71fefb0d9d485914176a82dd80 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constant for radian to degree conversions, sed in quaternion to euler function conversions.  <a href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">More...</a><br /></td></tr>
+<tr class="separator:a201aeb71fefb0d9d485914176a82dd80 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2c57f370fb08b793bb10ec22d5acca45 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">static const constexpr char *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a2c57f370fb08b793bb10ec22d5acca45">TAG</a> = &quot;BNO08xRpt&quot;</td></tr>
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+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p >Class to represent calibrated gyro reports. (See Ref. Manual 6.5.13) </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="ad351243a258fa1075212d63a38b1e7b5" name="ad351243a258fa1075212d63a38b1e7b5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad351243a258fa1075212d63a38b1e7b5">&#9670;&nbsp;</a></span>BNO08xRptCalGyro()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">BNO08xRptCalGyro::BNO08xRptCalGyro </td>
+          <td>(</td>
+          <td class="paramtype">uint8_t&#160;</td>
+          <td class="paramname"><em>ID</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">EventBits_t&#160;</td>
+          <td class="paramname"><em>rpt_bit</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *&#160;</td>
+          <td class="paramname"><em>sync_ctx</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="aeb49d86610427c915dc9e58fcba6fddc" name="aeb49d86610427c915dc9e58fcba6fddc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aeb49d86610427c915dc9e58fcba6fddc">&#9670;&nbsp;</a></span>enable()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08xRptCalGyro::enable </td>
+          <td>(</td>
+          <td class="paramtype">uint32_t&#160;</td>
+          <td class="paramname"><em>time_between_reports</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">sh2_SensorConfig_t&#160;</td>
+          <td class="paramname"><em>sensor_cfg</em> = <code>BNO08xPrivateTypes::default_sensor_cfg</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Enables calibrated gyro reports such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> begins sending them. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">report_period_us</td><td>The period/interval of the report in microseconds. </td></tr>
+    <tr><td class="paramname">sensor_cfg</td><td>Sensor special configuration (optional, see BNO08xPrivateTypes::default_sensor_cfg for defaults).</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>True if report was successfully enabled. </dd></dl>
+
+<p>Implements <a class="el" href="class_b_n_o08x_rpt.html#a4ee529725467412df396d5c610ff7bb4">BNO08xRpt</a>.</p>
+<div class="dynheader">
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+<h2 class="memtitle"><span class="permalink"><a href="#aeb45a1a433c499f2c36dddf393175815">&#9670;&nbsp;</a></span>get()</h2>
+
+<div class="memitem">
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+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="structbno08x__gyro__t.html">bno08x_gyro_t</a> BNO08xRptCalGyro::get </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Grabs most recent gyroscope data (velocity), units are in rad/s. </p>
+<dl class="section return"><dt>Returns</dt><dd>Struct containing requested data. </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_rpt_cal_gyro_aeb45a1a433c499f2c36dddf393175815_cgraph.png" border="0" usemap="#aclass_b_n_o08x_rpt_cal_gyro_aeb45a1a433c499f2c36dddf393175815_cgraph" alt=""/></div>
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+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>/media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/report/<a class="el" href="_b_n_o08x_rpt_cal_gyro_8hpp_source.html">BNO08xRptCalGyro.hpp</a></li>
+<li>report/<a class="el" href="_b_n_o08x_rpt_cal_gyro_8cpp.html">BNO08xRptCalGyro.cpp</a></li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
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+  <ul>
+    <li class="navelem"><a class="el" href="class_b_n_o08x_rpt_cal_gyro.html">BNO08xRptCalGyro</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> 1.9.4 </li>
+  </ul>
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diff --git a/documentation/html/class_b_n_o08x_rpt_cal_gyro.js b/documentation/html/class_b_n_o08x_rpt_cal_gyro.js
new file mode 100644
index 0000000..b98fa2c
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_rpt_cal_gyro.js
@@ -0,0 +1,6 @@
+var class_b_n_o08x_rpt_cal_gyro =
+[
+    [ "BNO08xRptCalGyro", "class_b_n_o08x_rpt_cal_gyro.html#ad351243a258fa1075212d63a38b1e7b5", null ],
+    [ "enable", "class_b_n_o08x_rpt_cal_gyro.html#aeb49d86610427c915dc9e58fcba6fddc", null ],
+    [ "get", "class_b_n_o08x_rpt_cal_gyro.html#aeb45a1a433c499f2c36dddf393175815", null ]
+];
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diff --git a/documentation/html/class_b_n_o08x_rpt_cal_magnetometer-members.html b/documentation/html/class_b_n_o08x_rpt_cal_magnetometer-members.html
new file mode 100644
index 0000000..840328e
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_rpt_cal_magnetometer-members.html
@@ -0,0 +1,123 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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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 1.9.4"/>
+<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>
+<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>
+<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>
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+</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;1.4</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 1.9.4 -->
+<script type="text/javascript">
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+<div id="doc-content">
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+        name="MSearchResults" id="MSearchResults">
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+</div>
+
+<div class="header">
+  <div class="headertitle"><div class="title">BNO08xRptCalMagnetometer 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_rpt_cal_magnetometer.html">BNO08xRptCalMagnetometer</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a15e8eebe3fe90ac19837e3860c76374c">BNO08xRpt</a>(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_cal_magnetometer.html#a731d7e69b97b6402b2cf2e18e9a08b06">BNO08xRptCalMagnetometer</a>(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_cal_magnetometer.html">BNO08xRptCalMagnetometer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">clear_sample_counts</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">disable</a>(sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_cal_magnetometer.html#a9a371f613ff5053d2227faeebe941393">enable</a>(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg) override</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_cal_magnetometer.html">BNO08xRptCalMagnetometer</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">flush</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_cal_magnetometer.html#a9a07338f7c149aa3d45d2c4f846620e2">get</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_cal_magnetometer.html">BNO08xRptCalMagnetometer</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">get_meta_data</a>(bno08x_meta_data_t &amp;meta_data)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">get_sample_counts</a>(bno08x_sample_counts_t &amp;sample_counts)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">has_new_data</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">lock_sh2_HAL</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">lock_user_data</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a1d4d6f4cc6f1eae503863eedf7fb9f52">period_us</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">RAD_2_DEG</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">register_cb</a>(std::function&lt; void(void)&gt; cb_fxn)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">rpt_enable</a>(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">signal_data_available</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">unlock_sh2_HAL</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">unlock_user_data</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+</table></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> 1.9.4 </li>
+  </ul>
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diff --git a/documentation/html/class_b_n_o08x_rpt_cal_magnetometer.html b/documentation/html/class_b_n_o08x_rpt_cal_magnetometer.html
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+<title>esp32_BNO08x: BNO08xRptCalMagnetometer Class Reference</title>
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+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
+   </div>
+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
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+
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="class_b_n_o08x_rpt_cal_magnetometer-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">BNO08xRptCalMagnetometer Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>Class to represent calibrated magnetometer reports. (See Ref. Manual 6.5.16)  
+ <a href="class_b_n_o08x_rpt_cal_magnetometer.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="_b_n_o08x_rpt_cal_magnetometer_8hpp_source.html">report/BNO08xRptCalMagnetometer.hpp</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for BNO08xRptCalMagnetometer:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_rpt_cal_magnetometer__inherit__graph.png" border="0" usemap="#a_b_n_o08x_rpt_cal_magnetometer_inherit__map" alt="Inheritance graph"/></div>
+<map name="a_b_n_o08x_rpt_cal_magnetometer_inherit__map" id="a_b_n_o08x_rpt_cal_magnetometer_inherit__map">
+<area shape="rect" title="Class to represent calibrated magnetometer reports. (See Ref. Manual 6.5.16)" alt="" coords="5,80,220,107"/>
+<area shape="rect" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x." alt="" coords="64,5,161,32"/>
+</map>
+<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for BNO08xRptCalMagnetometer:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_rpt_cal_magnetometer__coll__graph.png" border="0" usemap="#a_b_n_o08x_rpt_cal_magnetometer_coll__map" alt="Collaboration graph"/></div>
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+<area shape="rect" title="Class to represent calibrated magnetometer reports. (See Ref. Manual 6.5.16)" alt="" coords="5,185,220,212"/>
+<area shape="rect" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x." alt="" coords="64,109,161,136"/>
+<area shape="rect" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html" title="Holds context used to synchronize tasks and callback execution." alt="" coords="33,5,192,47"/>
+</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="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a731d7e69b97b6402b2cf2e18e9a08b06"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_cal_magnetometer.html#a731d7e69b97b6402b2cf2e18e9a08b06">BNO08xRptCalMagnetometer</a> (uint8_t <a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, EventBits_t <a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *<a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</td></tr>
+<tr class="separator:a731d7e69b97b6402b2cf2e18e9a08b06"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9a371f613ff5053d2227faeebe941393"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_cal_magnetometer.html#a9a371f613ff5053d2227faeebe941393">enable</a> (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg) override</td></tr>
+<tr class="memdesc:a9a371f613ff5053d2227faeebe941393"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enables calibrated magnetometer reports such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> begins sending them.  <a href="class_b_n_o08x_rpt_cal_magnetometer.html#a9a371f613ff5053d2227faeebe941393">More...</a><br /></td></tr>
+<tr class="separator:a9a371f613ff5053d2227faeebe941393"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9a07338f7c149aa3d45d2c4f846620e2"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structbno08x__magf__t.html">bno08x_magf_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_cal_magnetometer.html#a9a07338f7c149aa3d45d2c4f846620e2">get</a> ()</td></tr>
+<tr class="memdesc:a9a07338f7c149aa3d45d2c4f846620e2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Grabs most recent calibrated magnetometer data, units are in uTesla.  <a href="class_b_n_o08x_rpt_cal_magnetometer.html#a9a07338f7c149aa3d45d2c4f846620e2">More...</a><br /></td></tr>
+<tr class="separator:a9a07338f7c149aa3d45d2c4f846620e2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:a7d147e7540a4c6aa19749844e14cdadc inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">disable</a> (sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td></tr>
+<tr class="memdesc:a7d147e7540a4c6aa19749844e14cdadc inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Disables a sensor report by setting its period to 0us such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> stops sending it.  <a href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">More...</a><br /></td></tr>
+<tr class="separator:a7d147e7540a4c6aa19749844e14cdadc inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5b542b28c81fcd05cf2e3f3d2d437d46 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">register_cb</a> (std::function&lt; void(void)&gt; cb_fxn)</td></tr>
+<tr class="memdesc:a5b542b28c81fcd05cf2e3f3d2d437d46 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Registers a callback to execute when new data from a specific report is received.  <a href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">More...</a><br /></td></tr>
+<tr class="separator:a5b542b28c81fcd05cf2e3f3d2d437d46 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a74f6037286b51382535bab61680297ed inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">has_new_data</a> ()</td></tr>
+<tr class="memdesc:a74f6037286b51382535bab61680297ed inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Checks if a new report has been received since the last time this function was called.  <a href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">More...</a><br /></td></tr>
+<tr class="separator:a74f6037286b51382535bab61680297ed inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab3bb962696b135841ef7313bc631fc72 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">flush</a> ()</td></tr>
+<tr class="memdesc:ab3bb962696b135841ef7313bc631fc72 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Flush all buffered reports for this sensor/report module.  <a href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">More...</a><br /></td></tr>
+<tr class="separator:ab3bb962696b135841ef7313bc631fc72 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7ce8e48cadf59f49068af7f1cb680b38 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">get_sample_counts</a> (<a class="el" href="structbno08x__sample__counts__t.html">bno08x_sample_counts_t</a> &amp;sample_counts)</td></tr>
+<tr class="memdesc:a7ce8e48cadf59f49068af7f1cb680b38 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets sample counts for this sensor (see SH-2 ref manual 6.4.3.1)  <a href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">More...</a><br /></td></tr>
+<tr class="separator:a7ce8e48cadf59f49068af7f1cb680b38 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1418be33824d3102dbc8f92558a402a6 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">clear_sample_counts</a> ()</td></tr>
+<tr class="memdesc:a1418be33824d3102dbc8f92558a402a6 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Clears <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> internal sample counts for this sensor. (see SH-2 ref manual 6.4.3.1)  <a href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">More...</a><br /></td></tr>
+<tr class="separator:a1418be33824d3102dbc8f92558a402a6 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad5b054279b01204f61b4c0408acf51cf inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">get_meta_data</a> (<a class="el" href="structbno08x__meta__data__t.html">bno08x_meta_data_t</a> &amp;meta_data)</td></tr>
+<tr class="memdesc:ad5b054279b01204f61b4c0408acf51cf inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Retrieves meta data for this sensor/report by reading respective record in FRS (flash record system).  <a href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">More...</a><br /></td></tr>
+<tr class="separator:ad5b054279b01204f61b4c0408acf51cf inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4ee529725467412df396d5c610ff7bb4 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a4ee529725467412df396d5c610ff7bb4">enable</a> (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)=0</td></tr>
+<tr class="separator:a4ee529725467412df396d5c610ff7bb4 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="inherited" name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pro_methods_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:aa0bed98a9a497d1f39e8245d05b02e9c inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">rpt_enable</a> (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td></tr>
+<tr class="memdesc:aa0bed98a9a497d1f39e8245d05b02e9c inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enables a sensor report such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> begins sending it.  <a href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">More...</a><br /></td></tr>
+<tr class="separator:aa0bed98a9a497d1f39e8245d05b02e9c inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a970fb7e7d3745c62fec626f0ccf0759f inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a970fb7e7d3745c62fec626f0ccf0759f">update_data</a> (sh2_SensorValue_t *sensor_val)=0</td></tr>
+<tr class="separator:a970fb7e7d3745c62fec626f0ccf0759f inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a15e8eebe3fe90ac19837e3860c76374c inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a15e8eebe3fe90ac19837e3860c76374c">BNO08xRpt</a> (uint8_t <a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, EventBits_t <a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *<a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</td></tr>
+<tr class="memdesc:a15e8eebe3fe90ac19837e3860c76374c inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x.">BNO08xRpt</a> report constructor.  <a href="class_b_n_o08x_rpt.html#a15e8eebe3fe90ac19837e3860c76374c">More...</a><br /></td></tr>
+<tr class="separator:a15e8eebe3fe90ac19837e3860c76374c inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a61e3451e93806e1b7eaf5f1387726765 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">unlock_sh2_HAL</a> ()</td></tr>
+<tr class="memdesc:a61e3451e93806e1b7eaf5f1387726765 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Unlocks sh2 HAL lib to allow other tasks to call its APIs.  <a href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">More...</a><br /></td></tr>
+<tr class="separator:a61e3451e93806e1b7eaf5f1387726765 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7a5619a74c1237c5abde2e4bd6619d12 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">lock_sh2_HAL</a> ()</td></tr>
+<tr class="memdesc:a7a5619a74c1237c5abde2e4bd6619d12 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Locks sh2 HAL lib to only allow the calling task to call its APIs.  <a href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">More...</a><br /></td></tr>
+<tr class="separator:a7a5619a74c1237c5abde2e4bd6619d12 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a26bacc572187119339ec248bb4e7d6f3 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">unlock_user_data</a> ()</td></tr>
+<tr class="memdesc:a26bacc572187119339ec248bb4e7d6f3 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Unlocks user data to allow other tasks to read/modify it.  <a href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">More...</a><br /></td></tr>
+<tr class="separator:a26bacc572187119339ec248bb4e7d6f3 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a48e7b1a2c2ebc6b1f2f292735c0832a0 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">lock_user_data</a> ()</td></tr>
+<tr class="memdesc:a48e7b1a2c2ebc6b1f2f292735c0832a0 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Locks locks user data to only allow the calling task to read/modify it.  <a href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">More...</a><br /></td></tr>
+<tr class="separator:a48e7b1a2c2ebc6b1f2f292735c0832a0 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a47a623eb0a1db51af76a03a103c32329 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">signal_data_available</a> ()</td></tr>
+<tr class="memdesc:a47a623eb0a1db51af76a03a103c32329 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Signals to <a class="el" href="class_b_n_o08x.html#a367d525d1c0ba119b3dca3067bb5bccc" title="Polls for new data/report to become available.">BNO08x::data_available()</a> that a new report has arrived.  <a href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">More...</a><br /></td></tr>
+<tr class="separator:a47a623eb0a1db51af76a03a103c32329 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_attribs_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:a63cd4ac9e96baa43eebe580f03307512 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a></td></tr>
+<tr class="memdesc:a63cd4ac9e96baa43eebe580f03307512 inherit pro_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Report ID, ex. SH2_ACCELERATION.  <a href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">More...</a><br /></td></tr>
+<tr class="separator:a63cd4ac9e96baa43eebe580f03307512 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae78feab5682a4697c5acad3ca6f12c2e inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">EventBits_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a></td></tr>
+<tr class="memdesc:ae78feab5682a4697c5acad3ca6f12c2e inherit pro_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Respective enable and data bit for report in evt_grp_rpt_en and evt_grp_rpt_data.  <a href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">More...</a><br /></td></tr>
+<tr class="separator:ae78feab5682a4697c5acad3ca6f12c2e inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1d4d6f4cc6f1eae503863eedf7fb9f52 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">uint32_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a1d4d6f4cc6f1eae503863eedf7fb9f52">period_us</a></td></tr>
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+<tr class="separator:a1d4d6f4cc6f1eae503863eedf7fb9f52 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:a201aeb71fefb0d9d485914176a82dd80 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">static const constexpr float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">RAD_2_DEG</a></td></tr>
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+<tr class="separator:a201aeb71fefb0d9d485914176a82dd80 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2c57f370fb08b793bb10ec22d5acca45 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">static const constexpr char *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a2c57f370fb08b793bb10ec22d5acca45">TAG</a> = &quot;BNO08xRpt&quot;</td></tr>
+<tr class="separator:a2c57f370fb08b793bb10ec22d5acca45 inherit pro_static_attribs_class_b_n_o08x_rpt"><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 >Class to represent calibrated magnetometer reports. (See Ref. Manual 6.5.16) </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a731d7e69b97b6402b2cf2e18e9a08b06" name="a731d7e69b97b6402b2cf2e18e9a08b06"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a731d7e69b97b6402b2cf2e18e9a08b06">&#9670;&nbsp;</a></span>BNO08xRptCalMagnetometer()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">BNO08xRptCalMagnetometer::BNO08xRptCalMagnetometer </td>
+          <td>(</td>
+          <td class="paramtype">uint8_t&#160;</td>
+          <td class="paramname"><em>ID</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">EventBits_t&#160;</td>
+          <td class="paramname"><em>rpt_bit</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *&#160;</td>
+          <td class="paramname"><em>sync_ctx</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a9a371f613ff5053d2227faeebe941393" name="a9a371f613ff5053d2227faeebe941393"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9a371f613ff5053d2227faeebe941393">&#9670;&nbsp;</a></span>enable()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08xRptCalMagnetometer::enable </td>
+          <td>(</td>
+          <td class="paramtype">uint32_t&#160;</td>
+          <td class="paramname"><em>time_between_reports</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">sh2_SensorConfig_t&#160;</td>
+          <td class="paramname"><em>sensor_cfg</em> = <code>BNO08xPrivateTypes::default_sensor_cfg</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Enables calibrated magnetometer reports such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> begins sending them. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">report_period_us</td><td>The period/interval of the report in microseconds. </td></tr>
+    <tr><td class="paramname">sensor_cfg</td><td>Sensor special configuration (optional, see BNO08xPrivateTypes::default_sensor_cfg for defaults).</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>True if report was successfully enabled. </dd></dl>
+
+<p>Implements <a class="el" href="class_b_n_o08x_rpt.html#a4ee529725467412df396d5c610ff7bb4">BNO08xRpt</a>.</p>
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+<h2 class="memtitle"><span class="permalink"><a href="#a9a07338f7c149aa3d45d2c4f846620e2">&#9670;&nbsp;</a></span>get()</h2>
+
+<div class="memitem">
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+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="structbno08x__magf__t.html">bno08x_magf_t</a> BNO08xRptCalMagnetometer::get </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Grabs most recent calibrated magnetometer data, units are in uTesla. </p>
+<dl class="section return"><dt>Returns</dt><dd>Struct containing requested data. </dd></dl>
+<div class="dynheader">
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+</div>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>/media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/report/<a class="el" href="_b_n_o08x_rpt_cal_magnetometer_8hpp_source.html">BNO08xRptCalMagnetometer.hpp</a></li>
+<li>report/<a class="el" href="_b_n_o08x_rpt_cal_magnetometer_8cpp.html">BNO08xRptCalMagnetometer.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_rpt_cal_magnetometer.html">BNO08xRptCalMagnetometer</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> 1.9.4 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/documentation/html/class_b_n_o08x_rpt_cal_magnetometer.js b/documentation/html/class_b_n_o08x_rpt_cal_magnetometer.js
new file mode 100644
index 0000000..14052c7
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_rpt_cal_magnetometer.js
@@ -0,0 +1,6 @@
+var class_b_n_o08x_rpt_cal_magnetometer =
+[
+    [ "BNO08xRptCalMagnetometer", "class_b_n_o08x_rpt_cal_magnetometer.html#a731d7e69b97b6402b2cf2e18e9a08b06", null ],
+    [ "enable", "class_b_n_o08x_rpt_cal_magnetometer.html#a9a371f613ff5053d2227faeebe941393", null ],
+    [ "get", "class_b_n_o08x_rpt_cal_magnetometer.html#a9a07338f7c149aa3d45d2c4f846620e2", null ]
+];
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new file mode 100644
index 0000000..24d77af
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_rpt_cal_magnetometer__coll__graph.map
@@ -0,0 +1,5 @@
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+<area shape="rect" id="node1" title="Class to represent calibrated magnetometer reports. (See Ref. Manual 6.5.16)" alt="" coords="5,185,220,212"/>
+<area shape="rect" id="node2" href="$class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x." alt="" coords="64,109,161,136"/>
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new file mode 100644
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new file mode 100644
index 0000000..7ede4b4
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_rpt_cal_magnetometer__inherit__graph.map
@@ -0,0 +1,4 @@
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new file mode 100644
index 0000000..014dfd6
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diff --git a/documentation/html/class_b_n_o08x_rpt_game_r_v-members.html b/documentation/html/class_b_n_o08x_rpt_game_r_v-members.html
new file mode 100644
index 0000000..34a7908
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_rpt_game_r_v-members.html
@@ -0,0 +1,130 @@
+<!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">
+<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 1.9.4"/>
+<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>
+<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>
+<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;1.4</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 1.9.4 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search",'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');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(document).ready(function(){initNavTree('class_b_n_o08x_rpt_game_r_v.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">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="header">
+  <div class="headertitle"><div class="title">BNO08xRptGameRV 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_rpt_game_r_v.html">BNO08xRptGameRV</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a15e8eebe3fe90ac19837e3860c76374c">BNO08xRpt</a>(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_game_r_v.html#a5ce3525ae691ef37dff5c8d638e98e18">BNO08xRptGameRV</a>(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_game_r_v.html">BNO08xRptGameRV</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#a7c35188ccfb976cba1b7e4626022987c">BNO08xRptRVGeneric</a>(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">clear_sample_counts</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#ad5174665e1c943291110630dc461caff">data</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">disable</a>(sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#a17c6cf89a5f7bf5c3fb9f8ff3ed74e8e">enable</a>(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg) override</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">flush</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#abbaaa6737d578e056f93687d4ad780f7">get_euler</a>(bool in_degrees=true)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">get_meta_data</a>(bno08x_meta_data_t &amp;meta_data)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#afc2accdd72076cd758f9f9108351d7a8">get_quat</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">get_sample_counts</a>(bno08x_sample_counts_t &amp;sample_counts)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">has_new_data</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">lock_sh2_HAL</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">lock_user_data</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a1d4d6f4cc6f1eae503863eedf7fb9f52">period_us</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">RAD_2_DEG</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">register_cb</a>(std::function&lt; void(void)&gt; cb_fxn)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">rpt_enable</a>(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">signal_data_available</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_game_r_v.html#a773f8e4bf9e5059d6b301fc346cbc9d2">tare</a>(bool x=true, bool y=true, bool z=true)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_game_r_v.html">BNO08xRptGameRV</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#ab059dded7c0a7c922e9c624baac34ecd">BNO08xRptRVGeneric::tare</a>(bool x, bool y, bool z, sh2_TareBasis_t basis)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_game_r_v.html#ab8844cc390818f2b5cff8afefc89558f">tare_clear</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_game_r_v.html">BNO08xRptGameRV</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_game_r_v.html#ae91c07ae4d781216065fd704b5c88d06">tare_persist</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_game_r_v.html">BNO08xRptGameRV</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">unlock_sh2_HAL</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">unlock_user_data</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+</table></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> 1.9.4 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/documentation/html/class_b_n_o08x_rpt_game_r_v.html b/documentation/html/class_b_n_o08x_rpt_game_r_v.html
new file mode 100644
index 0000000..6775026
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_rpt_game_r_v.html
@@ -0,0 +1,401 @@
+<!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">
+<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 1.9.4"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>esp32_BNO08x: BNO08xRptGameRV 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>
+<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>
+<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;1.4</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 1.9.4 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search",'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');
+  $(document).ready(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">
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+        name="MSearchResults" id="MSearchResults">
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+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="class_b_n_o08x_rpt_game_r_v-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">BNO08xRptGameRV Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>Class to represent game rotation vector reports. (See Ref. Manual 6.5.19)  
+ <a href="class_b_n_o08x_rpt_game_r_v.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="_b_n_o08x_rpt_game_r_v_8hpp_source.html">report/BNO08xRptGameRV.hpp</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for BNO08xRptGameRV:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_rpt_game_r_v__inherit__graph.png" border="0" usemap="#a_b_n_o08x_rpt_game_r_v_inherit__map" alt="Inheritance graph"/></div>
+<map name="a_b_n_o08x_rpt_game_r_v_inherit__map" id="a_b_n_o08x_rpt_game_r_v_inherit__map">
+<area shape="rect" title="Class to represent game rotation vector reports. (See Ref. Manual 6.5.19)" alt="" coords="11,155,165,181"/>
+<area shape="rect" href="class_b_n_o08x_rpt_r_v_generic.html" title="Class to represent rotation vector reports." alt="" coords="5,80,171,107"/>
+<area shape="rect" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x." alt="" coords="39,5,137,32"/>
+</map>
+<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for BNO08xRptGameRV:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_rpt_game_r_v__coll__graph.png" border="0" usemap="#a_b_n_o08x_rpt_game_r_v_coll__map" alt="Collaboration graph"/></div>
+<map name="a_b_n_o08x_rpt_game_r_v_coll__map" id="a_b_n_o08x_rpt_game_r_v_coll__map">
+<area shape="rect" title="Class to represent game rotation vector reports. (See Ref. Manual 6.5.19)" alt="" coords="106,275,261,301"/>
+<area shape="rect" href="class_b_n_o08x_rpt_r_v_generic.html" title="Class to represent rotation vector reports." alt="" coords="101,199,266,225"/>
+<area shape="rect" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x." alt="" coords="36,109,133,136"/>
+<area shape="rect" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html" title="Holds context used to synchronize tasks and callback execution." alt="" coords="5,5,164,47"/>
+<area shape="rect" href="structbno08x__quat__t.html" title="Struct to represent unit quaternion." alt="" coords="157,109,276,136"/>
+</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="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a5ce3525ae691ef37dff5c8d638e98e18"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_game_r_v.html#a5ce3525ae691ef37dff5c8d638e98e18">BNO08xRptGameRV</a> (uint8_t <a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, EventBits_t <a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *<a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</td></tr>
+<tr class="separator:a5ce3525ae691ef37dff5c8d638e98e18"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a773f8e4bf9e5059d6b301fc346cbc9d2"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_game_r_v.html#a773f8e4bf9e5059d6b301fc346cbc9d2">tare</a> (bool x=true, bool y=true, bool z=true)</td></tr>
+<tr class="memdesc:a773f8e4bf9e5059d6b301fc346cbc9d2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Tares game rotation vector axis.  <a href="class_b_n_o08x_rpt_game_r_v.html#a773f8e4bf9e5059d6b301fc346cbc9d2">More...</a><br /></td></tr>
+<tr class="separator:a773f8e4bf9e5059d6b301fc346cbc9d2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae91c07ae4d781216065fd704b5c88d06"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_game_r_v.html#ae91c07ae4d781216065fd704b5c88d06">tare_persist</a> ()</td></tr>
+<tr class="memdesc:ae91c07ae4d781216065fd704b5c88d06"><td class="mdescLeft">&#160;</td><td class="mdescRight">Saves most recent tare operation to <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> internal flash, such that it persists on reset.  <a href="class_b_n_o08x_rpt_game_r_v.html#ae91c07ae4d781216065fd704b5c88d06">More...</a><br /></td></tr>
+<tr class="separator:ae91c07ae4d781216065fd704b5c88d06"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab8844cc390818f2b5cff8afefc89558f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_game_r_v.html#ab8844cc390818f2b5cff8afefc89558f">tare_clear</a> ()</td></tr>
+<tr class="memdesc:ab8844cc390818f2b5cff8afefc89558f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Clears most recent tare operation.  <a href="class_b_n_o08x_rpt_game_r_v.html#ab8844cc390818f2b5cff8afefc89558f">More...</a><br /></td></tr>
+<tr class="separator:ab8844cc390818f2b5cff8afefc89558f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_class_b_n_o08x_rpt_r_v_generic"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_class_b_n_o08x_rpt_r_v_generic')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></td></tr>
+<tr class="memitem:a17c6cf89a5f7bf5c3fb9f8ff3ed74e8e inherit pub_methods_class_b_n_o08x_rpt_r_v_generic"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#a17c6cf89a5f7bf5c3fb9f8ff3ed74e8e">enable</a> (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg) override</td></tr>
+<tr class="memdesc:a17c6cf89a5f7bf5c3fb9f8ff3ed74e8e inherit pub_methods_class_b_n_o08x_rpt_r_v_generic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enables a rotation vector report such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> begins it.  <a href="class_b_n_o08x_rpt_r_v_generic.html#a17c6cf89a5f7bf5c3fb9f8ff3ed74e8e">More...</a><br /></td></tr>
+<tr class="separator:a17c6cf89a5f7bf5c3fb9f8ff3ed74e8e inherit pub_methods_class_b_n_o08x_rpt_r_v_generic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afc2accdd72076cd758f9f9108351d7a8 inherit pub_methods_class_b_n_o08x_rpt_r_v_generic"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structbno08x__quat__t.html">bno08x_quat_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#afc2accdd72076cd758f9f9108351d7a8">get_quat</a> ()</td></tr>
+<tr class="memdesc:afc2accdd72076cd758f9f9108351d7a8 inherit pub_methods_class_b_n_o08x_rpt_r_v_generic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Grabs most recent rotation vector data in form of unit quaternion, rad accuracy units in radians (if available, else constant 0.0f).  <a href="class_b_n_o08x_rpt_r_v_generic.html#afc2accdd72076cd758f9f9108351d7a8">More...</a><br /></td></tr>
+<tr class="separator:afc2accdd72076cd758f9f9108351d7a8 inherit pub_methods_class_b_n_o08x_rpt_r_v_generic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abbaaa6737d578e056f93687d4ad780f7 inherit pub_methods_class_b_n_o08x_rpt_r_v_generic"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structbno08x__euler__angle__t.html">bno08x_euler_angle_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#abbaaa6737d578e056f93687d4ad780f7">get_euler</a> (bool in_degrees=true)</td></tr>
+<tr class="memdesc:abbaaa6737d578e056f93687d4ad780f7 inherit pub_methods_class_b_n_o08x_rpt_r_v_generic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Grabs most recent rotation vector data in form of an euler angle, units are in degrees or rads.  <a href="class_b_n_o08x_rpt_r_v_generic.html#abbaaa6737d578e056f93687d4ad780f7">More...</a><br /></td></tr>
+<tr class="separator:abbaaa6737d578e056f93687d4ad780f7 inherit pub_methods_class_b_n_o08x_rpt_r_v_generic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:a7d147e7540a4c6aa19749844e14cdadc inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">disable</a> (sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td></tr>
+<tr class="memdesc:a7d147e7540a4c6aa19749844e14cdadc inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Disables a sensor report by setting its period to 0us such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> stops sending it.  <a href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">More...</a><br /></td></tr>
+<tr class="separator:a7d147e7540a4c6aa19749844e14cdadc inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5b542b28c81fcd05cf2e3f3d2d437d46 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">register_cb</a> (std::function&lt; void(void)&gt; cb_fxn)</td></tr>
+<tr class="memdesc:a5b542b28c81fcd05cf2e3f3d2d437d46 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Registers a callback to execute when new data from a specific report is received.  <a href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">More...</a><br /></td></tr>
+<tr class="separator:a5b542b28c81fcd05cf2e3f3d2d437d46 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a74f6037286b51382535bab61680297ed inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">has_new_data</a> ()</td></tr>
+<tr class="memdesc:a74f6037286b51382535bab61680297ed inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Checks if a new report has been received since the last time this function was called.  <a href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">More...</a><br /></td></tr>
+<tr class="separator:a74f6037286b51382535bab61680297ed inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab3bb962696b135841ef7313bc631fc72 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">flush</a> ()</td></tr>
+<tr class="memdesc:ab3bb962696b135841ef7313bc631fc72 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Flush all buffered reports for this sensor/report module.  <a href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">More...</a><br /></td></tr>
+<tr class="separator:ab3bb962696b135841ef7313bc631fc72 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7ce8e48cadf59f49068af7f1cb680b38 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">get_sample_counts</a> (<a class="el" href="structbno08x__sample__counts__t.html">bno08x_sample_counts_t</a> &amp;sample_counts)</td></tr>
+<tr class="memdesc:a7ce8e48cadf59f49068af7f1cb680b38 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets sample counts for this sensor (see SH-2 ref manual 6.4.3.1)  <a href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">More...</a><br /></td></tr>
+<tr class="separator:a7ce8e48cadf59f49068af7f1cb680b38 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1418be33824d3102dbc8f92558a402a6 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">clear_sample_counts</a> ()</td></tr>
+<tr class="memdesc:a1418be33824d3102dbc8f92558a402a6 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Clears <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> internal sample counts for this sensor. (see SH-2 ref manual 6.4.3.1)  <a href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">More...</a><br /></td></tr>
+<tr class="separator:a1418be33824d3102dbc8f92558a402a6 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad5b054279b01204f61b4c0408acf51cf inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">get_meta_data</a> (<a class="el" href="structbno08x__meta__data__t.html">bno08x_meta_data_t</a> &amp;meta_data)</td></tr>
+<tr class="memdesc:ad5b054279b01204f61b4c0408acf51cf inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Retrieves meta data for this sensor/report by reading respective record in FRS (flash record system).  <a href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">More...</a><br /></td></tr>
+<tr class="separator:ad5b054279b01204f61b4c0408acf51cf inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4ee529725467412df396d5c610ff7bb4 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a4ee529725467412df396d5c610ff7bb4">enable</a> (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)=0</td></tr>
+<tr class="separator:a4ee529725467412df396d5c610ff7bb4 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="inherited" name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pro_methods_class_b_n_o08x_rpt_r_v_generic"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_class_b_n_o08x_rpt_r_v_generic')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></td></tr>
+<tr class="memitem:a7c35188ccfb976cba1b7e4626022987c inherit pro_methods_class_b_n_o08x_rpt_r_v_generic"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#a7c35188ccfb976cba1b7e4626022987c">BNO08xRptRVGeneric</a> (uint8_t <a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, EventBits_t <a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *<a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</td></tr>
+<tr class="separator:a7c35188ccfb976cba1b7e4626022987c inherit pro_methods_class_b_n_o08x_rpt_r_v_generic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab059dded7c0a7c922e9c624baac34ecd inherit pro_methods_class_b_n_o08x_rpt_r_v_generic"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#ab059dded7c0a7c922e9c624baac34ecd">tare</a> (bool x, bool y, bool z, sh2_TareBasis_t basis)</td></tr>
+<tr class="memdesc:ab059dded7c0a7c922e9c624baac34ecd inherit pro_methods_class_b_n_o08x_rpt_r_v_generic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Tares vector basis according to axis flags.  <a href="class_b_n_o08x_rpt_r_v_generic.html#ab059dded7c0a7c922e9c624baac34ecd">More...</a><br /></td></tr>
+<tr class="separator:ab059dded7c0a7c922e9c624baac34ecd inherit pro_methods_class_b_n_o08x_rpt_r_v_generic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_methods_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:aa0bed98a9a497d1f39e8245d05b02e9c inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">rpt_enable</a> (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td></tr>
+<tr class="memdesc:aa0bed98a9a497d1f39e8245d05b02e9c inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enables a sensor report such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> begins sending it.  <a href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">More...</a><br /></td></tr>
+<tr class="separator:aa0bed98a9a497d1f39e8245d05b02e9c inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a970fb7e7d3745c62fec626f0ccf0759f inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a970fb7e7d3745c62fec626f0ccf0759f">update_data</a> (sh2_SensorValue_t *sensor_val)=0</td></tr>
+<tr class="separator:a970fb7e7d3745c62fec626f0ccf0759f inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a15e8eebe3fe90ac19837e3860c76374c inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a15e8eebe3fe90ac19837e3860c76374c">BNO08xRpt</a> (uint8_t <a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, EventBits_t <a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *<a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</td></tr>
+<tr class="memdesc:a15e8eebe3fe90ac19837e3860c76374c inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x.">BNO08xRpt</a> report constructor.  <a href="class_b_n_o08x_rpt.html#a15e8eebe3fe90ac19837e3860c76374c">More...</a><br /></td></tr>
+<tr class="separator:a15e8eebe3fe90ac19837e3860c76374c inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a61e3451e93806e1b7eaf5f1387726765 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">unlock_sh2_HAL</a> ()</td></tr>
+<tr class="memdesc:a61e3451e93806e1b7eaf5f1387726765 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Unlocks sh2 HAL lib to allow other tasks to call its APIs.  <a href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">More...</a><br /></td></tr>
+<tr class="separator:a61e3451e93806e1b7eaf5f1387726765 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7a5619a74c1237c5abde2e4bd6619d12 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">lock_sh2_HAL</a> ()</td></tr>
+<tr class="memdesc:a7a5619a74c1237c5abde2e4bd6619d12 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Locks sh2 HAL lib to only allow the calling task to call its APIs.  <a href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">More...</a><br /></td></tr>
+<tr class="separator:a7a5619a74c1237c5abde2e4bd6619d12 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a26bacc572187119339ec248bb4e7d6f3 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">unlock_user_data</a> ()</td></tr>
+<tr class="memdesc:a26bacc572187119339ec248bb4e7d6f3 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Unlocks user data to allow other tasks to read/modify it.  <a href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">More...</a><br /></td></tr>
+<tr class="separator:a26bacc572187119339ec248bb4e7d6f3 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a48e7b1a2c2ebc6b1f2f292735c0832a0 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">lock_user_data</a> ()</td></tr>
+<tr class="memdesc:a48e7b1a2c2ebc6b1f2f292735c0832a0 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Locks locks user data to only allow the calling task to read/modify it.  <a href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">More...</a><br /></td></tr>
+<tr class="separator:a48e7b1a2c2ebc6b1f2f292735c0832a0 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a47a623eb0a1db51af76a03a103c32329 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">signal_data_available</a> ()</td></tr>
+<tr class="memdesc:a47a623eb0a1db51af76a03a103c32329 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Signals to <a class="el" href="class_b_n_o08x.html#a367d525d1c0ba119b3dca3067bb5bccc" title="Polls for new data/report to become available.">BNO08x::data_available()</a> that a new report has arrived.  <a href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">More...</a><br /></td></tr>
+<tr class="separator:a47a623eb0a1db51af76a03a103c32329 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_attribs_class_b_n_o08x_rpt_r_v_generic"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_class_b_n_o08x_rpt_r_v_generic')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></td></tr>
+<tr class="memitem:ad5174665e1c943291110630dc461caff inherit pro_attribs_class_b_n_o08x_rpt_r_v_generic"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structbno08x__quat__t.html">bno08x_quat_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#ad5174665e1c943291110630dc461caff">data</a></td></tr>
+<tr class="separator:ad5174665e1c943291110630dc461caff inherit pro_attribs_class_b_n_o08x_rpt_r_v_generic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_attribs_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:a63cd4ac9e96baa43eebe580f03307512 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a></td></tr>
+<tr class="memdesc:a63cd4ac9e96baa43eebe580f03307512 inherit pro_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Report ID, ex. SH2_ACCELERATION.  <a href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">More...</a><br /></td></tr>
+<tr class="separator:a63cd4ac9e96baa43eebe580f03307512 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae78feab5682a4697c5acad3ca6f12c2e inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">EventBits_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a></td></tr>
+<tr class="memdesc:ae78feab5682a4697c5acad3ca6f12c2e inherit pro_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Respective enable and data bit for report in evt_grp_rpt_en and evt_grp_rpt_data.  <a href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">More...</a><br /></td></tr>
+<tr class="separator:ae78feab5682a4697c5acad3ca6f12c2e inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1d4d6f4cc6f1eae503863eedf7fb9f52 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">uint32_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a1d4d6f4cc6f1eae503863eedf7fb9f52">period_us</a></td></tr>
+<tr class="memdesc:a1d4d6f4cc6f1eae503863eedf7fb9f52 inherit pro_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">The period/interval of the report in microseconds.  <a href="class_b_n_o08x_rpt.html#a1d4d6f4cc6f1eae503863eedf7fb9f52">More...</a><br /></td></tr>
+<tr class="separator:a1d4d6f4cc6f1eae503863eedf7fb9f52 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5a1404a08918d66bb0f41f55220db6e5 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top"><a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a></td></tr>
+<tr class="separator:a5a1404a08918d66bb0f41f55220db6e5 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_static_attribs_class_b_n_o08x_rpt_r_v_generic"><td colspan="2" onclick="javascript:toggleInherit('pro_static_attribs_class_b_n_o08x_rpt_r_v_generic')"><img src="closed.png" alt="-"/>&#160;Static Protected Attributes inherited from <a class="el" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></td></tr>
+<tr class="memitem:a5315a83517cd15397842254a9926b1c4 inherit pro_static_attribs_class_b_n_o08x_rpt_r_v_generic"><td class="memItemLeft" align="right" valign="top">static const constexpr char *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#a5315a83517cd15397842254a9926b1c4">TAG</a> = &quot;BNO08xRptRVGeneric&quot;</td></tr>
+<tr class="separator:a5315a83517cd15397842254a9926b1c4 inherit pro_static_attribs_class_b_n_o08x_rpt_r_v_generic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_static_attribs_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pro_static_attribs_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Static Protected Attributes inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:a201aeb71fefb0d9d485914176a82dd80 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">static const constexpr float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">RAD_2_DEG</a></td></tr>
+<tr class="memdesc:a201aeb71fefb0d9d485914176a82dd80 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constant for radian to degree conversions, sed in quaternion to euler function conversions.  <a href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">More...</a><br /></td></tr>
+<tr class="separator:a201aeb71fefb0d9d485914176a82dd80 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2c57f370fb08b793bb10ec22d5acca45 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">static const constexpr char *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a2c57f370fb08b793bb10ec22d5acca45">TAG</a> = &quot;BNO08xRpt&quot;</td></tr>
+<tr class="separator:a2c57f370fb08b793bb10ec22d5acca45 inherit pro_static_attribs_class_b_n_o08x_rpt"><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 >Class to represent game rotation vector reports. (See Ref. Manual 6.5.19) </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a5ce3525ae691ef37dff5c8d638e98e18" name="a5ce3525ae691ef37dff5c8d638e98e18"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5ce3525ae691ef37dff5c8d638e98e18">&#9670;&nbsp;</a></span>BNO08xRptGameRV()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">BNO08xRptGameRV::BNO08xRptGameRV </td>
+          <td>(</td>
+          <td class="paramtype">uint8_t&#160;</td>
+          <td class="paramname"><em>ID</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">EventBits_t&#160;</td>
+          <td class="paramname"><em>rpt_bit</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *&#160;</td>
+          <td class="paramname"><em>sync_ctx</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a773f8e4bf9e5059d6b301fc346cbc9d2" name="a773f8e4bf9e5059d6b301fc346cbc9d2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a773f8e4bf9e5059d6b301fc346cbc9d2">&#9670;&nbsp;</a></span>tare()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08xRptGameRV::tare </td>
+          <td>(</td>
+          <td class="paramtype">bool&#160;</td>
+          <td class="paramname"><em>x</em> = <code>true</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">bool&#160;</td>
+          <td class="paramname"><em>y</em> = <code>true</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">bool&#160;</td>
+          <td class="paramname"><em>z</em> = <code>true</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Tares game rotation vector axis. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">x</td><td>If true tare x axis (optional, default true). </td></tr>
+    <tr><td class="paramname">y</td><td>If true tare y axis (optional, default true). </td></tr>
+    <tr><td class="paramname">z</td><td>If true tare z axis (optional, default true).</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>True if tare operation succeeded. </dd></dl>
+<div class="dynheader">
+Here is the call graph for this function:</div>
+<div class="dyncontent">
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+<a id="ab8844cc390818f2b5cff8afefc89558f" name="ab8844cc390818f2b5cff8afefc89558f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab8844cc390818f2b5cff8afefc89558f">&#9670;&nbsp;</a></span>tare_clear()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08xRptGameRV::tare_clear </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Clears most recent tare operation. </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>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_rpt_game_r_v_ab8844cc390818f2b5cff8afefc89558f_cgraph.png" border="0" usemap="#aclass_b_n_o08x_rpt_game_r_v_ab8844cc390818f2b5cff8afefc89558f_cgraph" alt=""/></div>
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+
+</div>
+</div>
+<a id="ae91c07ae4d781216065fd704b5c88d06" name="ae91c07ae4d781216065fd704b5c88d06"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae91c07ae4d781216065fd704b5c88d06">&#9670;&nbsp;</a></span>tare_persist()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08xRptGameRV::tare_persist </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Saves most recent tare operation to <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> internal flash, such that it persists on reset. </p>
+<dl class="section return"><dt>Returns</dt><dd>True if tare operation succeeded. </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_rpt_game_r_v_ae91c07ae4d781216065fd704b5c88d06_cgraph.png" border="0" usemap="#aclass_b_n_o08x_rpt_game_r_v_ae91c07ae4d781216065fd704b5c88d06_cgraph" alt=""/></div>
+<map name="aclass_b_n_o08x_rpt_game_r_v_ae91c07ae4d781216065fd704b5c88d06_cgraph" id="aclass_b_n_o08x_rpt_game_r_v_ae91c07ae4d781216065fd704b5c88d06_cgraph">
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+</map>
+</div>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>/media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/report/<a class="el" href="_b_n_o08x_rpt_game_r_v_8hpp_source.html">BNO08xRptGameRV.hpp</a></li>
+<li>report/<a class="el" href="_b_n_o08x_rpt_game_r_v_8cpp.html">BNO08xRptGameRV.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_rpt_game_r_v.html">BNO08xRptGameRV</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> 1.9.4 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/documentation/html/class_b_n_o08x_rpt_game_r_v.js b/documentation/html/class_b_n_o08x_rpt_game_r_v.js
new file mode 100644
index 0000000..adf69db
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_rpt_game_r_v.js
@@ -0,0 +1,7 @@
+var class_b_n_o08x_rpt_game_r_v =
+[
+    [ "BNO08xRptGameRV", "class_b_n_o08x_rpt_game_r_v.html#a5ce3525ae691ef37dff5c8d638e98e18", null ],
+    [ "tare", "class_b_n_o08x_rpt_game_r_v.html#a773f8e4bf9e5059d6b301fc346cbc9d2", null ],
+    [ "tare_clear", "class_b_n_o08x_rpt_game_r_v.html#ab8844cc390818f2b5cff8afefc89558f", null ],
+    [ "tare_persist", "class_b_n_o08x_rpt_game_r_v.html#ae91c07ae4d781216065fd704b5c88d06", null ]
+];
\ No newline at end of file
diff --git a/documentation/html/class_b_n_o08x_rpt_game_r_v__coll__graph.map b/documentation/html/class_b_n_o08x_rpt_game_r_v__coll__graph.map
new file mode 100644
index 0000000..1e88847
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_rpt_game_r_v__coll__graph.map
@@ -0,0 +1,7 @@
+<map id="BNO08xRptGameRV" name="BNO08xRptGameRV">
+<area shape="rect" id="node1" title="Class to represent game rotation vector reports. (See Ref. Manual 6.5.19)" alt="" coords="106,275,261,301"/>
+<area shape="rect" id="node2" href="$class_b_n_o08x_rpt_r_v_generic.html" title="Class to represent rotation vector reports." alt="" coords="101,199,266,225"/>
+<area shape="rect" id="node3" href="$class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x." alt="" coords="36,109,133,136"/>
+<area shape="rect" id="node4" href="$struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html" title="Holds context used to synchronize tasks and callback execution." alt="" coords="5,5,164,47"/>
+<area shape="rect" id="node5" href="$structbno08x__quat__t.html" title="Struct to represent unit quaternion." alt="" coords="157,109,276,136"/>
+</map>
diff --git a/documentation/html/class_b_n_o08x_rpt_game_r_v__coll__graph.md5 b/documentation/html/class_b_n_o08x_rpt_game_r_v__coll__graph.md5
new file mode 100644
index 0000000..2c30cd2
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_rpt_game_r_v__coll__graph.md5
@@ -0,0 +1 @@
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\ No newline at end of file
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diff --git a/documentation/html/class_b_n_o08x_rpt_game_r_v__inherit__graph.map b/documentation/html/class_b_n_o08x_rpt_game_r_v__inherit__graph.map
new file mode 100644
index 0000000..e98b8ac
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@@ -0,0 +1,5 @@
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diff --git a/documentation/html/class_b_n_o08x_rpt_game_r_v__inherit__graph.md5 b/documentation/html/class_b_n_o08x_rpt_game_r_v__inherit__graph.md5
new file mode 100644
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diff --git a/documentation/html/class_b_n_o08x_rpt_gravity-members.html b/documentation/html/class_b_n_o08x_rpt_gravity-members.html
new file mode 100644
index 0000000..0ff9f57
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+++ b/documentation/html/class_b_n_o08x_rpt_gravity-members.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">
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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 1.9.4"/>
+<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>
+<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/search.js"></script>
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+</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;1.4</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 1.9.4 -->
+<script type="text/javascript">
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+</div>
+
+<div class="header">
+  <div class="headertitle"><div class="title">BNO08xRptGravity 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_rpt_gravity.html">BNO08xRptGravity</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a15e8eebe3fe90ac19837e3860c76374c">BNO08xRpt</a>(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_gravity.html#a472ced1c466461f64dda3d9132813dba">BNO08xRptGravity</a>(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_gravity.html">BNO08xRptGravity</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">clear_sample_counts</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">disable</a>(sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_gravity.html#a5bb33cf233c6721fac992e447bd5b571">enable</a>(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg) override</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_gravity.html">BNO08xRptGravity</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">flush</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_gravity.html#a18ebbe93997c3ea985290e5b8fc23115">get</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_gravity.html">BNO08xRptGravity</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">get_meta_data</a>(bno08x_meta_data_t &amp;meta_data)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">get_sample_counts</a>(bno08x_sample_counts_t &amp;sample_counts)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">has_new_data</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">lock_sh2_HAL</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">lock_user_data</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a1d4d6f4cc6f1eae503863eedf7fb9f52">period_us</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">RAD_2_DEG</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">register_cb</a>(std::function&lt; void(void)&gt; cb_fxn)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">rpt_enable</a>(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">signal_data_available</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">unlock_sh2_HAL</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">unlock_user_data</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</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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diff --git a/documentation/html/class_b_n_o08x_rpt_gravity.html b/documentation/html/class_b_n_o08x_rpt_gravity.html
new file mode 100644
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+++ b/documentation/html/class_b_n_o08x_rpt_gravity.html
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+<meta name="generator" content="Doxygen 1.9.4"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>esp32_BNO08x: BNO08xRptGravity Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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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;1.4</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 1.9.4 -->
+<script type="text/javascript">
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+/* @license-end */
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+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="class_b_n_o08x_rpt_gravity-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">BNO08xRptGravity Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>Class to represent gravity reports. (See Ref. Manual 6.5.11)  
+ <a href="class_b_n_o08x_rpt_gravity.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="_b_n_o08x_rpt_gravity_8hpp_source.html">report/BNO08xRptGravity.hpp</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for BNO08xRptGravity:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_rpt_gravity__inherit__graph.png" border="0" usemap="#a_b_n_o08x_rpt_gravity_inherit__map" alt="Inheritance graph"/></div>
+<map name="a_b_n_o08x_rpt_gravity_inherit__map" id="a_b_n_o08x_rpt_gravity_inherit__map">
+<area shape="rect" title="Class to represent gravity reports. (See Ref. Manual 6.5.11)" alt="" coords="5,80,151,107"/>
+<area shape="rect" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x." alt="" coords="29,5,127,32"/>
+</map>
+<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for BNO08xRptGravity:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_rpt_gravity__coll__graph.png" border="0" usemap="#a_b_n_o08x_rpt_gravity_coll__map" alt="Collaboration graph"/></div>
+<map name="a_b_n_o08x_rpt_gravity_coll__map" id="a_b_n_o08x_rpt_gravity_coll__map">
+<area shape="rect" title="Class to represent gravity reports. (See Ref. Manual 6.5.11)" alt="" coords="12,185,157,212"/>
+<area shape="rect" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x." alt="" coords="36,109,133,136"/>
+<area shape="rect" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html" title="Holds context used to synchronize tasks and callback execution." alt="" coords="5,5,164,47"/>
+</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="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a472ced1c466461f64dda3d9132813dba"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_gravity.html#a472ced1c466461f64dda3d9132813dba">BNO08xRptGravity</a> (uint8_t <a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, EventBits_t <a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *<a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</td></tr>
+<tr class="separator:a472ced1c466461f64dda3d9132813dba"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5bb33cf233c6721fac992e447bd5b571"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_gravity.html#a5bb33cf233c6721fac992e447bd5b571">enable</a> (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg) override</td></tr>
+<tr class="memdesc:a5bb33cf233c6721fac992e447bd5b571"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enables gravity reports such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> begins sending them.  <a href="class_b_n_o08x_rpt_gravity.html#a5bb33cf233c6721fac992e447bd5b571">More...</a><br /></td></tr>
+<tr class="separator:a5bb33cf233c6721fac992e447bd5b571"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a18ebbe93997c3ea985290e5b8fc23115"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structbno08x__accel__t.html">bno08x_accel_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_gravity.html#a18ebbe93997c3ea985290e5b8fc23115">get</a> ()</td></tr>
+<tr class="memdesc:a18ebbe93997c3ea985290e5b8fc23115"><td class="mdescLeft">&#160;</td><td class="mdescRight">Grabs most recent gravity data, units are in m/s^2.  <a href="class_b_n_o08x_rpt_gravity.html#a18ebbe93997c3ea985290e5b8fc23115">More...</a><br /></td></tr>
+<tr class="separator:a18ebbe93997c3ea985290e5b8fc23115"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:a7d147e7540a4c6aa19749844e14cdadc inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">disable</a> (sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td></tr>
+<tr class="memdesc:a7d147e7540a4c6aa19749844e14cdadc inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Disables a sensor report by setting its period to 0us such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> stops sending it.  <a href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">More...</a><br /></td></tr>
+<tr class="separator:a7d147e7540a4c6aa19749844e14cdadc inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5b542b28c81fcd05cf2e3f3d2d437d46 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">register_cb</a> (std::function&lt; void(void)&gt; cb_fxn)</td></tr>
+<tr class="memdesc:a5b542b28c81fcd05cf2e3f3d2d437d46 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Registers a callback to execute when new data from a specific report is received.  <a href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">More...</a><br /></td></tr>
+<tr class="separator:a5b542b28c81fcd05cf2e3f3d2d437d46 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a74f6037286b51382535bab61680297ed inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">has_new_data</a> ()</td></tr>
+<tr class="memdesc:a74f6037286b51382535bab61680297ed inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Checks if a new report has been received since the last time this function was called.  <a href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">More...</a><br /></td></tr>
+<tr class="separator:a74f6037286b51382535bab61680297ed inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab3bb962696b135841ef7313bc631fc72 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">flush</a> ()</td></tr>
+<tr class="memdesc:ab3bb962696b135841ef7313bc631fc72 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Flush all buffered reports for this sensor/report module.  <a href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">More...</a><br /></td></tr>
+<tr class="separator:ab3bb962696b135841ef7313bc631fc72 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7ce8e48cadf59f49068af7f1cb680b38 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">get_sample_counts</a> (<a class="el" href="structbno08x__sample__counts__t.html">bno08x_sample_counts_t</a> &amp;sample_counts)</td></tr>
+<tr class="memdesc:a7ce8e48cadf59f49068af7f1cb680b38 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets sample counts for this sensor (see SH-2 ref manual 6.4.3.1)  <a href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">More...</a><br /></td></tr>
+<tr class="separator:a7ce8e48cadf59f49068af7f1cb680b38 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1418be33824d3102dbc8f92558a402a6 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">clear_sample_counts</a> ()</td></tr>
+<tr class="memdesc:a1418be33824d3102dbc8f92558a402a6 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Clears <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> internal sample counts for this sensor. (see SH-2 ref manual 6.4.3.1)  <a href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">More...</a><br /></td></tr>
+<tr class="separator:a1418be33824d3102dbc8f92558a402a6 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad5b054279b01204f61b4c0408acf51cf inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">get_meta_data</a> (<a class="el" href="structbno08x__meta__data__t.html">bno08x_meta_data_t</a> &amp;meta_data)</td></tr>
+<tr class="memdesc:ad5b054279b01204f61b4c0408acf51cf inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Retrieves meta data for this sensor/report by reading respective record in FRS (flash record system).  <a href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">More...</a><br /></td></tr>
+<tr class="separator:ad5b054279b01204f61b4c0408acf51cf inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4ee529725467412df396d5c610ff7bb4 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a4ee529725467412df396d5c610ff7bb4">enable</a> (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)=0</td></tr>
+<tr class="separator:a4ee529725467412df396d5c610ff7bb4 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="inherited" name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pro_methods_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:aa0bed98a9a497d1f39e8245d05b02e9c inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">rpt_enable</a> (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td></tr>
+<tr class="memdesc:aa0bed98a9a497d1f39e8245d05b02e9c inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enables a sensor report such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> begins sending it.  <a href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">More...</a><br /></td></tr>
+<tr class="separator:aa0bed98a9a497d1f39e8245d05b02e9c inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a970fb7e7d3745c62fec626f0ccf0759f inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a970fb7e7d3745c62fec626f0ccf0759f">update_data</a> (sh2_SensorValue_t *sensor_val)=0</td></tr>
+<tr class="separator:a970fb7e7d3745c62fec626f0ccf0759f inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a15e8eebe3fe90ac19837e3860c76374c inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a15e8eebe3fe90ac19837e3860c76374c">BNO08xRpt</a> (uint8_t <a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, EventBits_t <a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *<a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</td></tr>
+<tr class="memdesc:a15e8eebe3fe90ac19837e3860c76374c inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x.">BNO08xRpt</a> report constructor.  <a href="class_b_n_o08x_rpt.html#a15e8eebe3fe90ac19837e3860c76374c">More...</a><br /></td></tr>
+<tr class="separator:a15e8eebe3fe90ac19837e3860c76374c inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a61e3451e93806e1b7eaf5f1387726765 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">unlock_sh2_HAL</a> ()</td></tr>
+<tr class="memdesc:a61e3451e93806e1b7eaf5f1387726765 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Unlocks sh2 HAL lib to allow other tasks to call its APIs.  <a href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">More...</a><br /></td></tr>
+<tr class="separator:a61e3451e93806e1b7eaf5f1387726765 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7a5619a74c1237c5abde2e4bd6619d12 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">lock_sh2_HAL</a> ()</td></tr>
+<tr class="memdesc:a7a5619a74c1237c5abde2e4bd6619d12 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Locks sh2 HAL lib to only allow the calling task to call its APIs.  <a href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">More...</a><br /></td></tr>
+<tr class="separator:a7a5619a74c1237c5abde2e4bd6619d12 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a26bacc572187119339ec248bb4e7d6f3 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">unlock_user_data</a> ()</td></tr>
+<tr class="memdesc:a26bacc572187119339ec248bb4e7d6f3 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Unlocks user data to allow other tasks to read/modify it.  <a href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">More...</a><br /></td></tr>
+<tr class="separator:a26bacc572187119339ec248bb4e7d6f3 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a48e7b1a2c2ebc6b1f2f292735c0832a0 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">lock_user_data</a> ()</td></tr>
+<tr class="memdesc:a48e7b1a2c2ebc6b1f2f292735c0832a0 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Locks locks user data to only allow the calling task to read/modify it.  <a href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">More...</a><br /></td></tr>
+<tr class="separator:a48e7b1a2c2ebc6b1f2f292735c0832a0 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a47a623eb0a1db51af76a03a103c32329 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">signal_data_available</a> ()</td></tr>
+<tr class="memdesc:a47a623eb0a1db51af76a03a103c32329 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Signals to <a class="el" href="class_b_n_o08x.html#a367d525d1c0ba119b3dca3067bb5bccc" title="Polls for new data/report to become available.">BNO08x::data_available()</a> that a new report has arrived.  <a href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">More...</a><br /></td></tr>
+<tr class="separator:a47a623eb0a1db51af76a03a103c32329 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_attribs_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:a63cd4ac9e96baa43eebe580f03307512 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a></td></tr>
+<tr class="memdesc:a63cd4ac9e96baa43eebe580f03307512 inherit pro_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Report ID, ex. SH2_ACCELERATION.  <a href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">More...</a><br /></td></tr>
+<tr class="separator:a63cd4ac9e96baa43eebe580f03307512 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae78feab5682a4697c5acad3ca6f12c2e inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">EventBits_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a></td></tr>
+<tr class="memdesc:ae78feab5682a4697c5acad3ca6f12c2e inherit pro_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Respective enable and data bit for report in evt_grp_rpt_en and evt_grp_rpt_data.  <a href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">More...</a><br /></td></tr>
+<tr class="separator:ae78feab5682a4697c5acad3ca6f12c2e inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1d4d6f4cc6f1eae503863eedf7fb9f52 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">uint32_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a1d4d6f4cc6f1eae503863eedf7fb9f52">period_us</a></td></tr>
+<tr class="memdesc:a1d4d6f4cc6f1eae503863eedf7fb9f52 inherit pro_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">The period/interval of the report in microseconds.  <a href="class_b_n_o08x_rpt.html#a1d4d6f4cc6f1eae503863eedf7fb9f52">More...</a><br /></td></tr>
+<tr class="separator:a1d4d6f4cc6f1eae503863eedf7fb9f52 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a5a1404a08918d66bb0f41f55220db6e5 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_static_attribs_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pro_static_attribs_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Static Protected Attributes inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:a201aeb71fefb0d9d485914176a82dd80 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">static const constexpr float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">RAD_2_DEG</a></td></tr>
+<tr class="memdesc:a201aeb71fefb0d9d485914176a82dd80 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constant for radian to degree conversions, sed in quaternion to euler function conversions.  <a href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">More...</a><br /></td></tr>
+<tr class="separator:a201aeb71fefb0d9d485914176a82dd80 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2c57f370fb08b793bb10ec22d5acca45 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">static const constexpr char *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a2c57f370fb08b793bb10ec22d5acca45">TAG</a> = &quot;BNO08xRpt&quot;</td></tr>
+<tr class="separator:a2c57f370fb08b793bb10ec22d5acca45 inherit pro_static_attribs_class_b_n_o08x_rpt"><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 >Class to represent gravity reports. (See Ref. Manual 6.5.11) </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a472ced1c466461f64dda3d9132813dba" name="a472ced1c466461f64dda3d9132813dba"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a472ced1c466461f64dda3d9132813dba">&#9670;&nbsp;</a></span>BNO08xRptGravity()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">BNO08xRptGravity::BNO08xRptGravity </td>
+          <td>(</td>
+          <td class="paramtype">uint8_t&#160;</td>
+          <td class="paramname"><em>ID</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">EventBits_t&#160;</td>
+          <td class="paramname"><em>rpt_bit</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *&#160;</td>
+          <td class="paramname"><em>sync_ctx</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a5bb33cf233c6721fac992e447bd5b571" name="a5bb33cf233c6721fac992e447bd5b571"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5bb33cf233c6721fac992e447bd5b571">&#9670;&nbsp;</a></span>enable()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08xRptGravity::enable </td>
+          <td>(</td>
+          <td class="paramtype">uint32_t&#160;</td>
+          <td class="paramname"><em>time_between_reports</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">sh2_SensorConfig_t&#160;</td>
+          <td class="paramname"><em>sensor_cfg</em> = <code>BNO08xPrivateTypes::default_sensor_cfg</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Enables gravity reports such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> begins sending them. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">report_period_us</td><td>The period/interval of the report in microseconds. </td></tr>
+    <tr><td class="paramname">sensor_cfg</td><td>Sensor special configuration (optional, see BNO08xPrivateTypes::default_sensor_cfg for defaults).</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>True if report was successfully enabled. </dd></dl>
+
+<p>Implements <a class="el" href="class_b_n_o08x_rpt.html#a4ee529725467412df396d5c610ff7bb4">BNO08xRpt</a>.</p>
+<div class="dynheader">
+Here is the call graph for this function:</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a18ebbe93997c3ea985290e5b8fc23115">&#9670;&nbsp;</a></span>get()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="structbno08x__accel__t.html">bno08x_accel_t</a> BNO08xRptGravity::get </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Grabs most recent gravity data, units are in m/s^2. </p>
+<dl class="section return"><dt>Returns</dt><dd>Struct containing requested data. </dd></dl>
+<div class="dynheader">
+Here is the call graph for this function:</div>
+<div class="dyncontent">
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+<area shape="rect" href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3" title="Unlocks user data to allow other tasks to read/modify it." alt="" coords="227,56,445,83"/>
+</map>
+</div>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>/media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/report/<a class="el" href="_b_n_o08x_rpt_gravity_8hpp_source.html">BNO08xRptGravity.hpp</a></li>
+<li>report/<a class="el" href="_b_n_o08x_rpt_gravity_8cpp.html">BNO08xRptGravity.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_rpt_gravity.html">BNO08xRptGravity</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> 1.9.4 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/documentation/html/class_b_n_o08x_rpt_gravity.js b/documentation/html/class_b_n_o08x_rpt_gravity.js
new file mode 100644
index 0000000..fb236b9
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_rpt_gravity.js
@@ -0,0 +1,6 @@
+var class_b_n_o08x_rpt_gravity =
+[
+    [ "BNO08xRptGravity", "class_b_n_o08x_rpt_gravity.html#a472ced1c466461f64dda3d9132813dba", null ],
+    [ "enable", "class_b_n_o08x_rpt_gravity.html#a5bb33cf233c6721fac992e447bd5b571", null ],
+    [ "get", "class_b_n_o08x_rpt_gravity.html#a18ebbe93997c3ea985290e5b8fc23115", null ]
+];
\ No newline at end of file
diff --git a/documentation/html/class_b_n_o08x_rpt_gravity__coll__graph.map b/documentation/html/class_b_n_o08x_rpt_gravity__coll__graph.map
new file mode 100644
index 0000000..0a6b126
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_rpt_gravity__coll__graph.map
@@ -0,0 +1,5 @@
+<map id="BNO08xRptGravity" name="BNO08xRptGravity">
+<area shape="rect" id="node1" title="Class to represent gravity reports. (See Ref. Manual 6.5.11)" alt="" coords="12,185,157,212"/>
+<area shape="rect" id="node2" href="$class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x." alt="" coords="36,109,133,136"/>
+<area shape="rect" id="node3" href="$struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html" title="Holds context used to synchronize tasks and callback execution." alt="" coords="5,5,164,47"/>
+</map>
diff --git a/documentation/html/class_b_n_o08x_rpt_gravity__coll__graph.md5 b/documentation/html/class_b_n_o08x_rpt_gravity__coll__graph.md5
new file mode 100644
index 0000000..19d2290
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_rpt_gravity__coll__graph.md5
@@ -0,0 +1 @@
+4ecb44abb5fbab86f8a676aac1714dfb
\ No newline at end of file
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+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="header">
+  <div class="headertitle"><div class="title">BNO08xRptIGyroRV 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_rpt_i_gyro_r_v.html">BNO08xRptIGyroRV</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a15e8eebe3fe90ac19837e3860c76374c">BNO08xRpt</a>(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_i_gyro_r_v.html#a5574d6213be1d7176d981e04fb9b4ea4">BNO08xRptIGyroRV</a>(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_i_gyro_r_v.html">BNO08xRptIGyroRV</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#a7c35188ccfb976cba1b7e4626022987c">BNO08xRptRVGeneric</a>(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">clear_sample_counts</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#ad5174665e1c943291110630dc461caff">data</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">disable</a>(sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#a17c6cf89a5f7bf5c3fb9f8ff3ed74e8e">enable</a>(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg) override</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">flush</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_i_gyro_r_v.html#ae85b4b091ec350432a2aeabcd3b46f55">get</a>(bno08x_quat_t &amp;quat, bno08x_ang_vel_t &amp;vel)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_i_gyro_r_v.html">BNO08xRptIGyroRV</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#abbaaa6737d578e056f93687d4ad780f7">get_euler</a>(bool in_degrees=true)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">get_meta_data</a>(bno08x_meta_data_t &amp;meta_data)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#afc2accdd72076cd758f9f9108351d7a8">get_quat</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">get_sample_counts</a>(bno08x_sample_counts_t &amp;sample_counts)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_i_gyro_r_v.html#a8e9877551635f8be5e380d47195b4061">get_vel</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_i_gyro_r_v.html">BNO08xRptIGyroRV</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">has_new_data</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">lock_sh2_HAL</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">lock_user_data</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a1d4d6f4cc6f1eae503863eedf7fb9f52">period_us</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">RAD_2_DEG</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">register_cb</a>(std::function&lt; void(void)&gt; cb_fxn)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">rpt_enable</a>(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">signal_data_available</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#ab059dded7c0a7c922e9c624baac34ecd">tare</a>(bool x, bool y, bool z, sh2_TareBasis_t basis)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">unlock_sh2_HAL</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">unlock_user_data</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</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> 1.9.4 </li>
+  </ul>
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+</body>
+</html>
diff --git a/documentation/html/class_b_n_o08x_rpt_i_gyro_r_v.html b/documentation/html/class_b_n_o08x_rpt_i_gyro_r_v.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">
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+<meta name="generator" content="Doxygen 1.9.4"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>esp32_BNO08x: BNO08xRptIGyroRV 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="search/search.css" rel="stylesheet" type="text/css"/>
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+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+<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;1.4</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 1.9.4 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search",'Search','.html');
+/* @license-end */
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+/* @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">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="class_b_n_o08x_rpt_i_gyro_r_v-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">BNO08xRptIGyroRV Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>Class to represent integrated gyro rotation vector reports. (See Ref. Manual 6.5.44)  
+ <a href="class_b_n_o08x_rpt_i_gyro_r_v.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="_b_n_o08x_rpt_i_gyro_r_v_8hpp_source.html">report/BNO08xRptIGyroRV.hpp</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for BNO08xRptIGyroRV:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_rpt_i_gyro_r_v__inherit__graph.png" border="0" usemap="#a_b_n_o08x_rpt_i_gyro_r_v_inherit__map" alt="Inheritance graph"/></div>
+<map name="a_b_n_o08x_rpt_i_gyro_r_v_inherit__map" id="a_b_n_o08x_rpt_i_gyro_r_v_inherit__map">
+<area shape="rect" title="Class to represent integrated gyro rotation vector reports. (See Ref. Manual 6.5.44)" alt="" coords="13,155,163,181"/>
+<area shape="rect" href="class_b_n_o08x_rpt_r_v_generic.html" title="Class to represent rotation vector reports." alt="" coords="5,80,171,107"/>
+<area shape="rect" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x." alt="" coords="39,5,137,32"/>
+</map>
+<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for BNO08xRptIGyroRV:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_rpt_i_gyro_r_v__coll__graph.png" border="0" usemap="#a_b_n_o08x_rpt_i_gyro_r_v_coll__map" alt="Collaboration graph"/></div>
+<map name="a_b_n_o08x_rpt_i_gyro_r_v_coll__map" id="a_b_n_o08x_rpt_i_gyro_r_v_coll__map">
+<area shape="rect" title="Class to represent integrated gyro rotation vector reports. (See Ref. Manual 6.5.44)" alt="" coords="108,275,259,301"/>
+<area shape="rect" href="class_b_n_o08x_rpt_r_v_generic.html" title="Class to represent rotation vector reports." alt="" coords="101,199,266,225"/>
+<area shape="rect" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x." alt="" coords="36,109,133,136"/>
+<area shape="rect" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html" title="Holds context used to synchronize tasks and callback execution." alt="" coords="5,5,164,47"/>
+<area shape="rect" href="structbno08x__quat__t.html" title="Struct to represent unit quaternion." alt="" coords="157,109,276,136"/>
+</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="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a5574d6213be1d7176d981e04fb9b4ea4"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_i_gyro_r_v.html#a5574d6213be1d7176d981e04fb9b4ea4">BNO08xRptIGyroRV</a> (uint8_t <a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, EventBits_t <a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *<a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</td></tr>
+<tr class="separator:a5574d6213be1d7176d981e04fb9b4ea4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae85b4b091ec350432a2aeabcd3b46f55"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_i_gyro_r_v.html#ae85b4b091ec350432a2aeabcd3b46f55">get</a> (<a class="el" href="structbno08x__quat__t.html">bno08x_quat_t</a> &amp;quat, <a class="el" href="structbno08x__ang__vel__t.html">bno08x_ang_vel_t</a> &amp;vel)</td></tr>
+<tr class="memdesc:ae85b4b091ec350432a2aeabcd3b46f55"><td class="mdescLeft">&#160;</td><td class="mdescRight">Grabs most recent gyro integrated rotation vector data.  <a href="class_b_n_o08x_rpt_i_gyro_r_v.html#ae85b4b091ec350432a2aeabcd3b46f55">More...</a><br /></td></tr>
+<tr class="separator:ae85b4b091ec350432a2aeabcd3b46f55"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8e9877551635f8be5e380d47195b4061"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structbno08x__ang__vel__t.html">bno08x_ang_vel_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_i_gyro_r_v.html#a8e9877551635f8be5e380d47195b4061">get_vel</a> ()</td></tr>
+<tr class="memdesc:a8e9877551635f8be5e380d47195b4061"><td class="mdescLeft">&#160;</td><td class="mdescRight">Grabs most recent gyro integrated rotation vector angular velocity data, units are in rad/s.  <a href="class_b_n_o08x_rpt_i_gyro_r_v.html#a8e9877551635f8be5e380d47195b4061">More...</a><br /></td></tr>
+<tr class="separator:a8e9877551635f8be5e380d47195b4061"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_class_b_n_o08x_rpt_r_v_generic"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_class_b_n_o08x_rpt_r_v_generic')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></td></tr>
+<tr class="memitem:a17c6cf89a5f7bf5c3fb9f8ff3ed74e8e inherit pub_methods_class_b_n_o08x_rpt_r_v_generic"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#a17c6cf89a5f7bf5c3fb9f8ff3ed74e8e">enable</a> (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg) override</td></tr>
+<tr class="memdesc:a17c6cf89a5f7bf5c3fb9f8ff3ed74e8e inherit pub_methods_class_b_n_o08x_rpt_r_v_generic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enables a rotation vector report such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> begins it.  <a href="class_b_n_o08x_rpt_r_v_generic.html#a17c6cf89a5f7bf5c3fb9f8ff3ed74e8e">More...</a><br /></td></tr>
+<tr class="separator:a17c6cf89a5f7bf5c3fb9f8ff3ed74e8e inherit pub_methods_class_b_n_o08x_rpt_r_v_generic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afc2accdd72076cd758f9f9108351d7a8 inherit pub_methods_class_b_n_o08x_rpt_r_v_generic"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structbno08x__quat__t.html">bno08x_quat_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#afc2accdd72076cd758f9f9108351d7a8">get_quat</a> ()</td></tr>
+<tr class="memdesc:afc2accdd72076cd758f9f9108351d7a8 inherit pub_methods_class_b_n_o08x_rpt_r_v_generic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Grabs most recent rotation vector data in form of unit quaternion, rad accuracy units in radians (if available, else constant 0.0f).  <a href="class_b_n_o08x_rpt_r_v_generic.html#afc2accdd72076cd758f9f9108351d7a8">More...</a><br /></td></tr>
+<tr class="separator:afc2accdd72076cd758f9f9108351d7a8 inherit pub_methods_class_b_n_o08x_rpt_r_v_generic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abbaaa6737d578e056f93687d4ad780f7 inherit pub_methods_class_b_n_o08x_rpt_r_v_generic"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structbno08x__euler__angle__t.html">bno08x_euler_angle_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#abbaaa6737d578e056f93687d4ad780f7">get_euler</a> (bool in_degrees=true)</td></tr>
+<tr class="memdesc:abbaaa6737d578e056f93687d4ad780f7 inherit pub_methods_class_b_n_o08x_rpt_r_v_generic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Grabs most recent rotation vector data in form of an euler angle, units are in degrees or rads.  <a href="class_b_n_o08x_rpt_r_v_generic.html#abbaaa6737d578e056f93687d4ad780f7">More...</a><br /></td></tr>
+<tr class="separator:abbaaa6737d578e056f93687d4ad780f7 inherit pub_methods_class_b_n_o08x_rpt_r_v_generic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:a7d147e7540a4c6aa19749844e14cdadc inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">disable</a> (sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td></tr>
+<tr class="memdesc:a7d147e7540a4c6aa19749844e14cdadc inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Disables a sensor report by setting its period to 0us such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> stops sending it.  <a href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">More...</a><br /></td></tr>
+<tr class="separator:a7d147e7540a4c6aa19749844e14cdadc inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5b542b28c81fcd05cf2e3f3d2d437d46 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">register_cb</a> (std::function&lt; void(void)&gt; cb_fxn)</td></tr>
+<tr class="memdesc:a5b542b28c81fcd05cf2e3f3d2d437d46 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Registers a callback to execute when new data from a specific report is received.  <a href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">More...</a><br /></td></tr>
+<tr class="separator:a5b542b28c81fcd05cf2e3f3d2d437d46 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a74f6037286b51382535bab61680297ed inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">has_new_data</a> ()</td></tr>
+<tr class="memdesc:a74f6037286b51382535bab61680297ed inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Checks if a new report has been received since the last time this function was called.  <a href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">More...</a><br /></td></tr>
+<tr class="separator:a74f6037286b51382535bab61680297ed inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab3bb962696b135841ef7313bc631fc72 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">flush</a> ()</td></tr>
+<tr class="memdesc:ab3bb962696b135841ef7313bc631fc72 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Flush all buffered reports for this sensor/report module.  <a href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">More...</a><br /></td></tr>
+<tr class="separator:ab3bb962696b135841ef7313bc631fc72 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7ce8e48cadf59f49068af7f1cb680b38 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">get_sample_counts</a> (<a class="el" href="structbno08x__sample__counts__t.html">bno08x_sample_counts_t</a> &amp;sample_counts)</td></tr>
+<tr class="memdesc:a7ce8e48cadf59f49068af7f1cb680b38 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets sample counts for this sensor (see SH-2 ref manual 6.4.3.1)  <a href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">More...</a><br /></td></tr>
+<tr class="separator:a7ce8e48cadf59f49068af7f1cb680b38 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1418be33824d3102dbc8f92558a402a6 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">clear_sample_counts</a> ()</td></tr>
+<tr class="memdesc:a1418be33824d3102dbc8f92558a402a6 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Clears <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> internal sample counts for this sensor. (see SH-2 ref manual 6.4.3.1)  <a href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">More...</a><br /></td></tr>
+<tr class="separator:a1418be33824d3102dbc8f92558a402a6 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad5b054279b01204f61b4c0408acf51cf inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">get_meta_data</a> (<a class="el" href="structbno08x__meta__data__t.html">bno08x_meta_data_t</a> &amp;meta_data)</td></tr>
+<tr class="memdesc:ad5b054279b01204f61b4c0408acf51cf inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Retrieves meta data for this sensor/report by reading respective record in FRS (flash record system).  <a href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">More...</a><br /></td></tr>
+<tr class="separator:ad5b054279b01204f61b4c0408acf51cf inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4ee529725467412df396d5c610ff7bb4 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a4ee529725467412df396d5c610ff7bb4">enable</a> (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)=0</td></tr>
+<tr class="separator:a4ee529725467412df396d5c610ff7bb4 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="inherited" name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pro_methods_class_b_n_o08x_rpt_r_v_generic"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_class_b_n_o08x_rpt_r_v_generic')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></td></tr>
+<tr class="memitem:a7c35188ccfb976cba1b7e4626022987c inherit pro_methods_class_b_n_o08x_rpt_r_v_generic"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#a7c35188ccfb976cba1b7e4626022987c">BNO08xRptRVGeneric</a> (uint8_t <a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, EventBits_t <a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *<a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</td></tr>
+<tr class="separator:a7c35188ccfb976cba1b7e4626022987c inherit pro_methods_class_b_n_o08x_rpt_r_v_generic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab059dded7c0a7c922e9c624baac34ecd inherit pro_methods_class_b_n_o08x_rpt_r_v_generic"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#ab059dded7c0a7c922e9c624baac34ecd">tare</a> (bool x, bool y, bool z, sh2_TareBasis_t basis)</td></tr>
+<tr class="memdesc:ab059dded7c0a7c922e9c624baac34ecd inherit pro_methods_class_b_n_o08x_rpt_r_v_generic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Tares vector basis according to axis flags.  <a href="class_b_n_o08x_rpt_r_v_generic.html#ab059dded7c0a7c922e9c624baac34ecd">More...</a><br /></td></tr>
+<tr class="separator:ab059dded7c0a7c922e9c624baac34ecd inherit pro_methods_class_b_n_o08x_rpt_r_v_generic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_methods_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:aa0bed98a9a497d1f39e8245d05b02e9c inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">rpt_enable</a> (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td></tr>
+<tr class="memdesc:aa0bed98a9a497d1f39e8245d05b02e9c inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enables a sensor report such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> begins sending it.  <a href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">More...</a><br /></td></tr>
+<tr class="separator:aa0bed98a9a497d1f39e8245d05b02e9c inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a970fb7e7d3745c62fec626f0ccf0759f inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a970fb7e7d3745c62fec626f0ccf0759f">update_data</a> (sh2_SensorValue_t *sensor_val)=0</td></tr>
+<tr class="separator:a970fb7e7d3745c62fec626f0ccf0759f inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a15e8eebe3fe90ac19837e3860c76374c inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a15e8eebe3fe90ac19837e3860c76374c">BNO08xRpt</a> (uint8_t <a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, EventBits_t <a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *<a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</td></tr>
+<tr class="memdesc:a15e8eebe3fe90ac19837e3860c76374c inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x.">BNO08xRpt</a> report constructor.  <a href="class_b_n_o08x_rpt.html#a15e8eebe3fe90ac19837e3860c76374c">More...</a><br /></td></tr>
+<tr class="separator:a15e8eebe3fe90ac19837e3860c76374c inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a61e3451e93806e1b7eaf5f1387726765 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">unlock_sh2_HAL</a> ()</td></tr>
+<tr class="memdesc:a61e3451e93806e1b7eaf5f1387726765 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Unlocks sh2 HAL lib to allow other tasks to call its APIs.  <a href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">More...</a><br /></td></tr>
+<tr class="separator:a61e3451e93806e1b7eaf5f1387726765 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7a5619a74c1237c5abde2e4bd6619d12 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">lock_sh2_HAL</a> ()</td></tr>
+<tr class="memdesc:a7a5619a74c1237c5abde2e4bd6619d12 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Locks sh2 HAL lib to only allow the calling task to call its APIs.  <a href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">More...</a><br /></td></tr>
+<tr class="separator:a7a5619a74c1237c5abde2e4bd6619d12 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a26bacc572187119339ec248bb4e7d6f3 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">unlock_user_data</a> ()</td></tr>
+<tr class="memdesc:a26bacc572187119339ec248bb4e7d6f3 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Unlocks user data to allow other tasks to read/modify it.  <a href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">More...</a><br /></td></tr>
+<tr class="separator:a26bacc572187119339ec248bb4e7d6f3 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a48e7b1a2c2ebc6b1f2f292735c0832a0 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">lock_user_data</a> ()</td></tr>
+<tr class="memdesc:a48e7b1a2c2ebc6b1f2f292735c0832a0 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Locks locks user data to only allow the calling task to read/modify it.  <a href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">More...</a><br /></td></tr>
+<tr class="separator:a48e7b1a2c2ebc6b1f2f292735c0832a0 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a47a623eb0a1db51af76a03a103c32329 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_attribs_class_b_n_o08x_rpt_r_v_generic"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_class_b_n_o08x_rpt_r_v_generic')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></td></tr>
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+<tr class="inherit_header pro_attribs_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
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+<tr class="separator:a63cd4ac9e96baa43eebe580f03307512 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae78feab5682a4697c5acad3ca6f12c2e inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">EventBits_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a></td></tr>
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+<tr class="separator:ae78feab5682a4697c5acad3ca6f12c2e inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1d4d6f4cc6f1eae503863eedf7fb9f52 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">uint32_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a1d4d6f4cc6f1eae503863eedf7fb9f52">period_us</a></td></tr>
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+<tr class="separator:a1d4d6f4cc6f1eae503863eedf7fb9f52 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:a5315a83517cd15397842254a9926b1c4 inherit pro_static_attribs_class_b_n_o08x_rpt_r_v_generic"><td class="memItemLeft" align="right" valign="top">static const constexpr char *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#a5315a83517cd15397842254a9926b1c4">TAG</a> = &quot;BNO08xRptRVGeneric&quot;</td></tr>
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+<tr class="memitem:a201aeb71fefb0d9d485914176a82dd80 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">static const constexpr float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">RAD_2_DEG</a></td></tr>
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+<tr class="memitem:a2c57f370fb08b793bb10ec22d5acca45 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">static const constexpr char *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a2c57f370fb08b793bb10ec22d5acca45">TAG</a> = &quot;BNO08xRpt&quot;</td></tr>
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+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p >Class to represent integrated gyro rotation vector reports. (See Ref. Manual 6.5.44) </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a5574d6213be1d7176d981e04fb9b4ea4" name="a5574d6213be1d7176d981e04fb9b4ea4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5574d6213be1d7176d981e04fb9b4ea4">&#9670;&nbsp;</a></span>BNO08xRptIGyroRV()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">BNO08xRptIGyroRV::BNO08xRptIGyroRV </td>
+          <td>(</td>
+          <td class="paramtype">uint8_t&#160;</td>
+          <td class="paramname"><em>ID</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">EventBits_t&#160;</td>
+          <td class="paramname"><em>rpt_bit</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *&#160;</td>
+          <td class="paramname"><em>sync_ctx</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="ae85b4b091ec350432a2aeabcd3b46f55" name="ae85b4b091ec350432a2aeabcd3b46f55"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae85b4b091ec350432a2aeabcd3b46f55">&#9670;&nbsp;</a></span>get()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08xRptIGyroRV::get </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="structbno08x__quat__t.html">bno08x_quat_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>quat</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="structbno08x__ang__vel__t.html">bno08x_ang_vel_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>vel</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Grabs most recent gyro integrated rotation vector data. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">quat</td><td>Struct to store requested unit quaternion data. </td></tr>
+    <tr><td class="paramname">vel</td><td>Struct to store requested velocity data (units in rad/s).</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="#a8e9877551635f8be5e380d47195b4061">&#9670;&nbsp;</a></span>get_vel()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="structbno08x__ang__vel__t.html">bno08x_ang_vel_t</a> BNO08xRptIGyroRV::get_vel </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Grabs most recent gyro integrated rotation vector angular velocity data, units are in rad/s. </p>
+<dl class="section return"><dt>Returns</dt><dd>Struct containing requested data. </dd></dl>
+<div class="dynheader">
+Here is the call graph for this function:</div>
+<div class="dyncontent">
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+</map>
+</div>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>/media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/report/<a class="el" href="_b_n_o08x_rpt_i_gyro_r_v_8hpp_source.html">BNO08xRptIGyroRV.hpp</a></li>
+<li>report/<a class="el" href="_b_n_o08x_rpt_i_gyro_r_v_8cpp.html">BNO08xRptIGyroRV.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_rpt_i_gyro_r_v.html">BNO08xRptIGyroRV</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> 1.9.4 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/documentation/html/class_b_n_o08x_rpt_i_gyro_r_v.js b/documentation/html/class_b_n_o08x_rpt_i_gyro_r_v.js
new file mode 100644
index 0000000..4b03465
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+++ b/documentation/html/class_b_n_o08x_rpt_i_gyro_r_v.js
@@ -0,0 +1,6 @@
+var class_b_n_o08x_rpt_i_gyro_r_v =
+[
+    [ "BNO08xRptIGyroRV", "class_b_n_o08x_rpt_i_gyro_r_v.html#a5574d6213be1d7176d981e04fb9b4ea4", null ],
+    [ "get", "class_b_n_o08x_rpt_i_gyro_r_v.html#ae85b4b091ec350432a2aeabcd3b46f55", null ],
+    [ "get_vel", "class_b_n_o08x_rpt_i_gyro_r_v.html#a8e9877551635f8be5e380d47195b4061", null ]
+];
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diff --git a/documentation/html/class_b_n_o08x_rpt_i_gyro_r_v__inherit__graph.map b/documentation/html/class_b_n_o08x_rpt_i_gyro_r_v__inherit__graph.map
new file mode 100644
index 0000000..f45ceb5
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_rpt_i_gyro_r_v__inherit__graph.map
@@ -0,0 +1,5 @@
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diff --git a/documentation/html/class_b_n_o08x_rpt_i_gyro_r_v_a8e9877551635f8be5e380d47195b4061_cgraph.map b/documentation/html/class_b_n_o08x_rpt_i_gyro_r_v_a8e9877551635f8be5e380d47195b4061_cgraph.map
new file mode 100644
index 0000000..0f0edfe
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+++ b/documentation/html/class_b_n_o08x_rpt_i_gyro_r_v_a8e9877551635f8be5e380d47195b4061_cgraph.map
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diff --git a/documentation/html/class_b_n_o08x_rpt_i_gyro_r_v_a8e9877551635f8be5e380d47195b4061_cgraph.md5 b/documentation/html/class_b_n_o08x_rpt_i_gyro_r_v_a8e9877551635f8be5e380d47195b4061_cgraph.md5
new file mode 100644
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new file mode 100644
index 0000000..b996a57
--- /dev/null
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+<title>esp32_BNO08x: Member List</title>
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+<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;1.4</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 1.9.4 -->
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+
+<div class="header">
+  <div class="headertitle"><div class="title">BNO08xRptLinearAcceleration 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_rpt_linear_acceleration.html">BNO08xRptLinearAcceleration</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a15e8eebe3fe90ac19837e3860c76374c">BNO08xRpt</a>(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_linear_acceleration.html#ad63032b796912c9be563a5e6da801c59">BNO08xRptLinearAcceleration</a>(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_linear_acceleration.html">BNO08xRptLinearAcceleration</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">clear_sample_counts</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">disable</a>(sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_linear_acceleration.html#a4584a181ae543919a851f8f288a316ed">enable</a>(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg) override</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_linear_acceleration.html">BNO08xRptLinearAcceleration</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">flush</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_linear_acceleration.html#aac2eeab16ffbe7a81ea26a21c4e453d0">get</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_linear_acceleration.html">BNO08xRptLinearAcceleration</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">get_meta_data</a>(bno08x_meta_data_t &amp;meta_data)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">get_sample_counts</a>(bno08x_sample_counts_t &amp;sample_counts)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">has_new_data</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">lock_sh2_HAL</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">lock_user_data</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a1d4d6f4cc6f1eae503863eedf7fb9f52">period_us</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">RAD_2_DEG</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">register_cb</a>(std::function&lt; void(void)&gt; cb_fxn)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">rpt_enable</a>(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">signal_data_available</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">unlock_sh2_HAL</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">unlock_user_data</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+</table></div><!-- contents -->
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diff --git a/documentation/html/class_b_n_o08x_rpt_linear_acceleration.html b/documentation/html/class_b_n_o08x_rpt_linear_acceleration.html
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+<title>esp32_BNO08x: BNO08xRptLinearAcceleration Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</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 1.9.4 -->
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+        name="MSearchResults" id="MSearchResults">
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+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="class_b_n_o08x_rpt_linear_acceleration-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">BNO08xRptLinearAcceleration Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>Class to represent linear accelerometer reports. (See Ref. Manual 6.5.10)  
+ <a href="class_b_n_o08x_rpt_linear_acceleration.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="_b_n_o08x_rpt_linear_acceleration_8hpp_source.html">report/BNO08xRptLinearAcceleration.hpp</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for BNO08xRptLinearAcceleration:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_rpt_linear_acceleration__inherit__graph.png" border="0" usemap="#a_b_n_o08x_rpt_linear_acceleration_inherit__map" alt="Inheritance graph"/></div>
+<map name="a_b_n_o08x_rpt_linear_acceleration_inherit__map" id="a_b_n_o08x_rpt_linear_acceleration_inherit__map">
+<area shape="rect" title="Class to represent linear accelerometer reports. (See Ref. Manual 6.5.10)" alt="" coords="5,80,224,107"/>
+<area shape="rect" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x." alt="" coords="66,5,163,32"/>
+</map>
+<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for BNO08xRptLinearAcceleration:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_rpt_linear_acceleration__coll__graph.png" border="0" usemap="#a_b_n_o08x_rpt_linear_acceleration_coll__map" alt="Collaboration graph"/></div>
+<map name="a_b_n_o08x_rpt_linear_acceleration_coll__map" id="a_b_n_o08x_rpt_linear_acceleration_coll__map">
+<area shape="rect" title="Class to represent linear accelerometer reports. (See Ref. Manual 6.5.10)" alt="" coords="5,185,224,212"/>
+<area shape="rect" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x." alt="" coords="66,109,163,136"/>
+<area shape="rect" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html" title="Holds context used to synchronize tasks and callback execution." alt="" coords="35,5,194,47"/>
+</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="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:ad63032b796912c9be563a5e6da801c59"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_linear_acceleration.html#ad63032b796912c9be563a5e6da801c59">BNO08xRptLinearAcceleration</a> (uint8_t <a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, EventBits_t <a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *<a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</td></tr>
+<tr class="separator:ad63032b796912c9be563a5e6da801c59"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4584a181ae543919a851f8f288a316ed"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_linear_acceleration.html#a4584a181ae543919a851f8f288a316ed">enable</a> (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg) override</td></tr>
+<tr class="memdesc:a4584a181ae543919a851f8f288a316ed"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enables linear acceleration reports such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> begins sending them.  <a href="class_b_n_o08x_rpt_linear_acceleration.html#a4584a181ae543919a851f8f288a316ed">More...</a><br /></td></tr>
+<tr class="separator:a4584a181ae543919a851f8f288a316ed"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aac2eeab16ffbe7a81ea26a21c4e453d0"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structbno08x__accel__t.html">bno08x_accel_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_linear_acceleration.html#aac2eeab16ffbe7a81ea26a21c4e453d0">get</a> ()</td></tr>
+<tr class="memdesc:aac2eeab16ffbe7a81ea26a21c4e453d0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Grabs most recent acceleration data (including gravity), units are in m/s^2.  <a href="class_b_n_o08x_rpt_linear_acceleration.html#aac2eeab16ffbe7a81ea26a21c4e453d0">More...</a><br /></td></tr>
+<tr class="separator:aac2eeab16ffbe7a81ea26a21c4e453d0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:a7d147e7540a4c6aa19749844e14cdadc inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">disable</a> (sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td></tr>
+<tr class="memdesc:a7d147e7540a4c6aa19749844e14cdadc inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Disables a sensor report by setting its period to 0us such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> stops sending it.  <a href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">More...</a><br /></td></tr>
+<tr class="separator:a7d147e7540a4c6aa19749844e14cdadc inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5b542b28c81fcd05cf2e3f3d2d437d46 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">register_cb</a> (std::function&lt; void(void)&gt; cb_fxn)</td></tr>
+<tr class="memdesc:a5b542b28c81fcd05cf2e3f3d2d437d46 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Registers a callback to execute when new data from a specific report is received.  <a href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">More...</a><br /></td></tr>
+<tr class="separator:a5b542b28c81fcd05cf2e3f3d2d437d46 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a74f6037286b51382535bab61680297ed inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">has_new_data</a> ()</td></tr>
+<tr class="memdesc:a74f6037286b51382535bab61680297ed inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Checks if a new report has been received since the last time this function was called.  <a href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">More...</a><br /></td></tr>
+<tr class="separator:a74f6037286b51382535bab61680297ed inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab3bb962696b135841ef7313bc631fc72 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">flush</a> ()</td></tr>
+<tr class="memdesc:ab3bb962696b135841ef7313bc631fc72 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Flush all buffered reports for this sensor/report module.  <a href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">More...</a><br /></td></tr>
+<tr class="separator:ab3bb962696b135841ef7313bc631fc72 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7ce8e48cadf59f49068af7f1cb680b38 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">get_sample_counts</a> (<a class="el" href="structbno08x__sample__counts__t.html">bno08x_sample_counts_t</a> &amp;sample_counts)</td></tr>
+<tr class="memdesc:a7ce8e48cadf59f49068af7f1cb680b38 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets sample counts for this sensor (see SH-2 ref manual 6.4.3.1)  <a href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">More...</a><br /></td></tr>
+<tr class="separator:a7ce8e48cadf59f49068af7f1cb680b38 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1418be33824d3102dbc8f92558a402a6 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">clear_sample_counts</a> ()</td></tr>
+<tr class="memdesc:a1418be33824d3102dbc8f92558a402a6 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Clears <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> internal sample counts for this sensor. (see SH-2 ref manual 6.4.3.1)  <a href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">More...</a><br /></td></tr>
+<tr class="separator:a1418be33824d3102dbc8f92558a402a6 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad5b054279b01204f61b4c0408acf51cf inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">get_meta_data</a> (<a class="el" href="structbno08x__meta__data__t.html">bno08x_meta_data_t</a> &amp;meta_data)</td></tr>
+<tr class="memdesc:ad5b054279b01204f61b4c0408acf51cf inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Retrieves meta data for this sensor/report by reading respective record in FRS (flash record system).  <a href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">More...</a><br /></td></tr>
+<tr class="separator:ad5b054279b01204f61b4c0408acf51cf inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4ee529725467412df396d5c610ff7bb4 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a4ee529725467412df396d5c610ff7bb4">enable</a> (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)=0</td></tr>
+<tr class="separator:a4ee529725467412df396d5c610ff7bb4 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="inherited" name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pro_methods_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:aa0bed98a9a497d1f39e8245d05b02e9c inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">rpt_enable</a> (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td></tr>
+<tr class="memdesc:aa0bed98a9a497d1f39e8245d05b02e9c inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enables a sensor report such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> begins sending it.  <a href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">More...</a><br /></td></tr>
+<tr class="separator:aa0bed98a9a497d1f39e8245d05b02e9c inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a970fb7e7d3745c62fec626f0ccf0759f inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a970fb7e7d3745c62fec626f0ccf0759f">update_data</a> (sh2_SensorValue_t *sensor_val)=0</td></tr>
+<tr class="separator:a970fb7e7d3745c62fec626f0ccf0759f inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a15e8eebe3fe90ac19837e3860c76374c inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a15e8eebe3fe90ac19837e3860c76374c">BNO08xRpt</a> (uint8_t <a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, EventBits_t <a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *<a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</td></tr>
+<tr class="memdesc:a15e8eebe3fe90ac19837e3860c76374c inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x.">BNO08xRpt</a> report constructor.  <a href="class_b_n_o08x_rpt.html#a15e8eebe3fe90ac19837e3860c76374c">More...</a><br /></td></tr>
+<tr class="separator:a15e8eebe3fe90ac19837e3860c76374c inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a61e3451e93806e1b7eaf5f1387726765 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">unlock_sh2_HAL</a> ()</td></tr>
+<tr class="memdesc:a61e3451e93806e1b7eaf5f1387726765 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Unlocks sh2 HAL lib to allow other tasks to call its APIs.  <a href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">More...</a><br /></td></tr>
+<tr class="separator:a61e3451e93806e1b7eaf5f1387726765 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7a5619a74c1237c5abde2e4bd6619d12 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">lock_sh2_HAL</a> ()</td></tr>
+<tr class="memdesc:a7a5619a74c1237c5abde2e4bd6619d12 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Locks sh2 HAL lib to only allow the calling task to call its APIs.  <a href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">More...</a><br /></td></tr>
+<tr class="separator:a7a5619a74c1237c5abde2e4bd6619d12 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a26bacc572187119339ec248bb4e7d6f3 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">unlock_user_data</a> ()</td></tr>
+<tr class="memdesc:a26bacc572187119339ec248bb4e7d6f3 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Unlocks user data to allow other tasks to read/modify it.  <a href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">More...</a><br /></td></tr>
+<tr class="separator:a26bacc572187119339ec248bb4e7d6f3 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a48e7b1a2c2ebc6b1f2f292735c0832a0 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">lock_user_data</a> ()</td></tr>
+<tr class="memdesc:a48e7b1a2c2ebc6b1f2f292735c0832a0 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Locks locks user data to only allow the calling task to read/modify it.  <a href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">More...</a><br /></td></tr>
+<tr class="separator:a48e7b1a2c2ebc6b1f2f292735c0832a0 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a47a623eb0a1db51af76a03a103c32329 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">signal_data_available</a> ()</td></tr>
+<tr class="memdesc:a47a623eb0a1db51af76a03a103c32329 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Signals to <a class="el" href="class_b_n_o08x.html#a367d525d1c0ba119b3dca3067bb5bccc" title="Polls for new data/report to become available.">BNO08x::data_available()</a> that a new report has arrived.  <a href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">More...</a><br /></td></tr>
+<tr class="separator:a47a623eb0a1db51af76a03a103c32329 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_attribs_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:a63cd4ac9e96baa43eebe580f03307512 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a></td></tr>
+<tr class="memdesc:a63cd4ac9e96baa43eebe580f03307512 inherit pro_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Report ID, ex. SH2_ACCELERATION.  <a href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">More...</a><br /></td></tr>
+<tr class="separator:a63cd4ac9e96baa43eebe580f03307512 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae78feab5682a4697c5acad3ca6f12c2e inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">EventBits_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a></td></tr>
+<tr class="memdesc:ae78feab5682a4697c5acad3ca6f12c2e inherit pro_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Respective enable and data bit for report in evt_grp_rpt_en and evt_grp_rpt_data.  <a href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">More...</a><br /></td></tr>
+<tr class="separator:ae78feab5682a4697c5acad3ca6f12c2e inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1d4d6f4cc6f1eae503863eedf7fb9f52 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">uint32_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a1d4d6f4cc6f1eae503863eedf7fb9f52">period_us</a></td></tr>
+<tr class="memdesc:a1d4d6f4cc6f1eae503863eedf7fb9f52 inherit pro_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">The period/interval of the report in microseconds.  <a href="class_b_n_o08x_rpt.html#a1d4d6f4cc6f1eae503863eedf7fb9f52">More...</a><br /></td></tr>
+<tr class="separator:a1d4d6f4cc6f1eae503863eedf7fb9f52 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5a1404a08918d66bb0f41f55220db6e5 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top"><a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a></td></tr>
+<tr class="separator:a5a1404a08918d66bb0f41f55220db6e5 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_static_attribs_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pro_static_attribs_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Static Protected Attributes inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:a201aeb71fefb0d9d485914176a82dd80 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">static const constexpr float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">RAD_2_DEG</a></td></tr>
+<tr class="memdesc:a201aeb71fefb0d9d485914176a82dd80 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constant for radian to degree conversions, sed in quaternion to euler function conversions.  <a href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">More...</a><br /></td></tr>
+<tr class="separator:a201aeb71fefb0d9d485914176a82dd80 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2c57f370fb08b793bb10ec22d5acca45 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">static const constexpr char *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a2c57f370fb08b793bb10ec22d5acca45">TAG</a> = &quot;BNO08xRpt&quot;</td></tr>
+<tr class="separator:a2c57f370fb08b793bb10ec22d5acca45 inherit pro_static_attribs_class_b_n_o08x_rpt"><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 >Class to represent linear accelerometer reports. (See Ref. Manual 6.5.10) </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="ad63032b796912c9be563a5e6da801c59" name="ad63032b796912c9be563a5e6da801c59"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad63032b796912c9be563a5e6da801c59">&#9670;&nbsp;</a></span>BNO08xRptLinearAcceleration()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">BNO08xRptLinearAcceleration::BNO08xRptLinearAcceleration </td>
+          <td>(</td>
+          <td class="paramtype">uint8_t&#160;</td>
+          <td class="paramname"><em>ID</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">EventBits_t&#160;</td>
+          <td class="paramname"><em>rpt_bit</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *&#160;</td>
+          <td class="paramname"><em>sync_ctx</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a4584a181ae543919a851f8f288a316ed" name="a4584a181ae543919a851f8f288a316ed"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4584a181ae543919a851f8f288a316ed">&#9670;&nbsp;</a></span>enable()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08xRptLinearAcceleration::enable </td>
+          <td>(</td>
+          <td class="paramtype">uint32_t&#160;</td>
+          <td class="paramname"><em>time_between_reports</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">sh2_SensorConfig_t&#160;</td>
+          <td class="paramname"><em>sensor_cfg</em> = <code>BNO08xPrivateTypes::default_sensor_cfg</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Enables linear acceleration reports such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> begins sending them. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">report_period_us</td><td>The period/interval of the report in microseconds. </td></tr>
+    <tr><td class="paramname">sensor_cfg</td><td>Sensor special configuration (optional, see BNO08xPrivateTypes::default_sensor_cfg for defaults).</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>True if report was successfully enabled. </dd></dl>
+
+<p>Implements <a class="el" href="class_b_n_o08x_rpt.html#a4ee529725467412df396d5c610ff7bb4">BNO08xRpt</a>.</p>
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+<div class="dyncontent">
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+<a id="aac2eeab16ffbe7a81ea26a21c4e453d0" name="aac2eeab16ffbe7a81ea26a21c4e453d0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aac2eeab16ffbe7a81ea26a21c4e453d0">&#9670;&nbsp;</a></span>get()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="structbno08x__accel__t.html">bno08x_accel_t</a> BNO08xRptLinearAcceleration::get </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Grabs most recent acceleration data (including gravity), units are in m/s^2. </p>
+<dl class="section return"><dt>Returns</dt><dd>Struct containing requested data. </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_rpt_linear_acceleration_aac2eeab16ffbe7a81ea26a21c4e453d0_cgraph.png" border="0" usemap="#aclass_b_n_o08x_rpt_linear_acceleration_aac2eeab16ffbe7a81ea26a21c4e453d0_cgraph" alt=""/></div>
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+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>/media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/report/<a class="el" href="_b_n_o08x_rpt_linear_acceleration_8hpp_source.html">BNO08xRptLinearAcceleration.hpp</a></li>
+<li>report/<a class="el" href="_b_n_o08x_rpt_linear_acceleration_8cpp.html">BNO08xRptLinearAcceleration.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_rpt_linear_acceleration.html">BNO08xRptLinearAcceleration</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> 1.9.4 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/documentation/html/class_b_n_o08x_rpt_linear_acceleration.js b/documentation/html/class_b_n_o08x_rpt_linear_acceleration.js
new file mode 100644
index 0000000..2ef845e
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_rpt_linear_acceleration.js
@@ -0,0 +1,6 @@
+var class_b_n_o08x_rpt_linear_acceleration =
+[
+    [ "BNO08xRptLinearAcceleration", "class_b_n_o08x_rpt_linear_acceleration.html#ad63032b796912c9be563a5e6da801c59", null ],
+    [ "enable", "class_b_n_o08x_rpt_linear_acceleration.html#a4584a181ae543919a851f8f288a316ed", null ],
+    [ "get", "class_b_n_o08x_rpt_linear_acceleration.html#aac2eeab16ffbe7a81ea26a21c4e453d0", null ]
+];
\ No newline at end of file
diff --git a/documentation/html/class_b_n_o08x_rpt_linear_acceleration__coll__graph.map b/documentation/html/class_b_n_o08x_rpt_linear_acceleration__coll__graph.map
new file mode 100644
index 0000000..81e7d04
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_rpt_linear_acceleration__coll__graph.map
@@ -0,0 +1,5 @@
+<map id="BNO08xRptLinearAcceleration" name="BNO08xRptLinearAcceleration">
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+<area shape="rect" id="node2" href="$class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x." alt="" coords="66,109,163,136"/>
+<area shape="rect" id="node3" href="$struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html" title="Holds context used to synchronize tasks and callback execution." alt="" coords="35,5,194,47"/>
+</map>
diff --git a/documentation/html/class_b_n_o08x_rpt_linear_acceleration__coll__graph.md5 b/documentation/html/class_b_n_o08x_rpt_linear_acceleration__coll__graph.md5
new file mode 100644
index 0000000..e194682
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_rpt_linear_acceleration__coll__graph.md5
@@ -0,0 +1 @@
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diff --git a/documentation/html/class_b_n_o08x_rpt_linear_acceleration__coll__graph.png b/documentation/html/class_b_n_o08x_rpt_linear_acceleration__coll__graph.png
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new file mode 100644
index 0000000..348410f
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_rpt_linear_acceleration__inherit__graph.map
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diff --git a/documentation/html/class_b_n_o08x_rpt_linear_acceleration__inherit__graph.md5 b/documentation/html/class_b_n_o08x_rpt_linear_acceleration__inherit__graph.md5
new file mode 100644
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diff --git a/documentation/html/class_b_n_o08x_rpt_r_v-members.html b/documentation/html/class_b_n_o08x_rpt_r_v-members.html
new file mode 100644
index 0000000..5308df2
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_rpt_r_v-members.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">
+<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 1.9.4"/>
+<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>
+<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>
+<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;1.4</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 1.9.4 -->
+<script type="text/javascript">
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+       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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+<!-- iframe showing the search results (closed by default) -->
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+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
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+</div>
+
+<div class="header">
+  <div class="headertitle"><div class="title">BNO08xRptRV 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_rpt_r_v.html">BNO08xRptRV</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a15e8eebe3fe90ac19837e3860c76374c">BNO08xRpt</a>(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v.html#a3c4173b40339de15cb7f304f73ae53f3">BNO08xRptRV</a>(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v.html">BNO08xRptRV</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#a7c35188ccfb976cba1b7e4626022987c">BNO08xRptRVGeneric</a>(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">clear_sample_counts</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#ad5174665e1c943291110630dc461caff">data</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">disable</a>(sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#a17c6cf89a5f7bf5c3fb9f8ff3ed74e8e">enable</a>(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg) override</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">flush</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#abbaaa6737d578e056f93687d4ad780f7">get_euler</a>(bool in_degrees=true)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">get_meta_data</a>(bno08x_meta_data_t &amp;meta_data)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#afc2accdd72076cd758f9f9108351d7a8">get_quat</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">get_sample_counts</a>(bno08x_sample_counts_t &amp;sample_counts)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">has_new_data</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">lock_sh2_HAL</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">lock_user_data</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a1d4d6f4cc6f1eae503863eedf7fb9f52">period_us</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">RAD_2_DEG</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">register_cb</a>(std::function&lt; void(void)&gt; cb_fxn)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">rpt_enable</a>(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">signal_data_available</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v.html#aab42904ebfc698d0af0944deaafcd226">tare</a>(bool x=true, bool y=true, bool z=true)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v.html">BNO08xRptRV</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#ab059dded7c0a7c922e9c624baac34ecd">BNO08xRptRVGeneric::tare</a>(bool x, bool y, bool z, sh2_TareBasis_t basis)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v.html#a920fb5940c13870657c48538569aff87">tare_clear</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v.html">BNO08xRptRV</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v.html#aa152921434b50a95977b0a4f925abec0">tare_persist</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v.html">BNO08xRptRV</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">unlock_sh2_HAL</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">unlock_user_data</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+</table></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
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diff --git a/documentation/html/class_b_n_o08x_rpt_r_v.html b/documentation/html/class_b_n_o08x_rpt_r_v.html
new file mode 100644
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+++ b/documentation/html/class_b_n_o08x_rpt_r_v.html
@@ -0,0 +1,401 @@
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+<meta name="generator" content="Doxygen 1.9.4"/>
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+<title>esp32_BNO08x: BNO08xRptRV Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
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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;1.4</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 1.9.4 -->
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+        name="MSearchResults" id="MSearchResults">
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+
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="class_b_n_o08x_rpt_r_v-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">BNO08xRptRV Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>Class to represent rotation vector reports. (See Ref. Manual 6.5.18)  
+ <a href="class_b_n_o08x_rpt_r_v.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="_b_n_o08x_rpt_r_v_8hpp_source.html">report/BNO08xRptRV.hpp</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for BNO08xRptRV:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_rpt_r_v__inherit__graph.png" border="0" usemap="#a_b_n_o08x_rpt_r_v_inherit__map" alt="Inheritance graph"/></div>
+<map name="a_b_n_o08x_rpt_r_v_inherit__map" id="a_b_n_o08x_rpt_r_v_inherit__map">
+<area shape="rect" title="Class to represent rotation vector reports. (See Ref. Manual 6.5.18)" alt="" coords="31,155,145,181"/>
+<area shape="rect" href="class_b_n_o08x_rpt_r_v_generic.html" title="Class to represent rotation vector reports." alt="" coords="5,80,171,107"/>
+<area shape="rect" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x." alt="" coords="39,5,137,32"/>
+</map>
+<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for BNO08xRptRV:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_rpt_r_v__coll__graph.png" border="0" usemap="#a_b_n_o08x_rpt_r_v_coll__map" alt="Collaboration graph"/></div>
+<map name="a_b_n_o08x_rpt_r_v_coll__map" id="a_b_n_o08x_rpt_r_v_coll__map">
+<area shape="rect" title="Class to represent rotation vector reports. (See Ref. Manual 6.5.18)" alt="" coords="126,275,241,301"/>
+<area shape="rect" href="class_b_n_o08x_rpt_r_v_generic.html" title="Class to represent rotation vector reports." alt="" coords="101,199,266,225"/>
+<area shape="rect" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x." alt="" coords="36,109,133,136"/>
+<area shape="rect" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html" title="Holds context used to synchronize tasks and callback execution." alt="" coords="5,5,164,47"/>
+<area shape="rect" href="structbno08x__quat__t.html" title="Struct to represent unit quaternion." alt="" coords="157,109,276,136"/>
+</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="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a3c4173b40339de15cb7f304f73ae53f3"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_r_v.html#a3c4173b40339de15cb7f304f73ae53f3">BNO08xRptRV</a> (uint8_t <a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, EventBits_t <a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *<a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</td></tr>
+<tr class="separator:a3c4173b40339de15cb7f304f73ae53f3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aab42904ebfc698d0af0944deaafcd226"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_r_v.html#aab42904ebfc698d0af0944deaafcd226">tare</a> (bool x=true, bool y=true, bool z=true)</td></tr>
+<tr class="memdesc:aab42904ebfc698d0af0944deaafcd226"><td class="mdescLeft">&#160;</td><td class="mdescRight">Tares rotation vector axis.  <a href="class_b_n_o08x_rpt_r_v.html#aab42904ebfc698d0af0944deaafcd226">More...</a><br /></td></tr>
+<tr class="separator:aab42904ebfc698d0af0944deaafcd226"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa152921434b50a95977b0a4f925abec0"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_r_v.html#aa152921434b50a95977b0a4f925abec0">tare_persist</a> ()</td></tr>
+<tr class="memdesc:aa152921434b50a95977b0a4f925abec0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Saves most recent tare operation to <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> internal flash, such that it persists on reset.  <a href="class_b_n_o08x_rpt_r_v.html#aa152921434b50a95977b0a4f925abec0">More...</a><br /></td></tr>
+<tr class="separator:aa152921434b50a95977b0a4f925abec0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a920fb5940c13870657c48538569aff87"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_r_v.html#a920fb5940c13870657c48538569aff87">tare_clear</a> ()</td></tr>
+<tr class="memdesc:a920fb5940c13870657c48538569aff87"><td class="mdescLeft">&#160;</td><td class="mdescRight">Clears most recent tare operation.  <a href="class_b_n_o08x_rpt_r_v.html#a920fb5940c13870657c48538569aff87">More...</a><br /></td></tr>
+<tr class="separator:a920fb5940c13870657c48538569aff87"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_class_b_n_o08x_rpt_r_v_generic"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_class_b_n_o08x_rpt_r_v_generic')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></td></tr>
+<tr class="memitem:a17c6cf89a5f7bf5c3fb9f8ff3ed74e8e inherit pub_methods_class_b_n_o08x_rpt_r_v_generic"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#a17c6cf89a5f7bf5c3fb9f8ff3ed74e8e">enable</a> (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg) override</td></tr>
+<tr class="memdesc:a17c6cf89a5f7bf5c3fb9f8ff3ed74e8e inherit pub_methods_class_b_n_o08x_rpt_r_v_generic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enables a rotation vector report such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> begins it.  <a href="class_b_n_o08x_rpt_r_v_generic.html#a17c6cf89a5f7bf5c3fb9f8ff3ed74e8e">More...</a><br /></td></tr>
+<tr class="separator:a17c6cf89a5f7bf5c3fb9f8ff3ed74e8e inherit pub_methods_class_b_n_o08x_rpt_r_v_generic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afc2accdd72076cd758f9f9108351d7a8 inherit pub_methods_class_b_n_o08x_rpt_r_v_generic"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structbno08x__quat__t.html">bno08x_quat_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#afc2accdd72076cd758f9f9108351d7a8">get_quat</a> ()</td></tr>
+<tr class="memdesc:afc2accdd72076cd758f9f9108351d7a8 inherit pub_methods_class_b_n_o08x_rpt_r_v_generic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Grabs most recent rotation vector data in form of unit quaternion, rad accuracy units in radians (if available, else constant 0.0f).  <a href="class_b_n_o08x_rpt_r_v_generic.html#afc2accdd72076cd758f9f9108351d7a8">More...</a><br /></td></tr>
+<tr class="separator:afc2accdd72076cd758f9f9108351d7a8 inherit pub_methods_class_b_n_o08x_rpt_r_v_generic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abbaaa6737d578e056f93687d4ad780f7 inherit pub_methods_class_b_n_o08x_rpt_r_v_generic"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structbno08x__euler__angle__t.html">bno08x_euler_angle_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#abbaaa6737d578e056f93687d4ad780f7">get_euler</a> (bool in_degrees=true)</td></tr>
+<tr class="memdesc:abbaaa6737d578e056f93687d4ad780f7 inherit pub_methods_class_b_n_o08x_rpt_r_v_generic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Grabs most recent rotation vector data in form of an euler angle, units are in degrees or rads.  <a href="class_b_n_o08x_rpt_r_v_generic.html#abbaaa6737d578e056f93687d4ad780f7">More...</a><br /></td></tr>
+<tr class="separator:abbaaa6737d578e056f93687d4ad780f7 inherit pub_methods_class_b_n_o08x_rpt_r_v_generic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:a7d147e7540a4c6aa19749844e14cdadc inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">disable</a> (sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td></tr>
+<tr class="memdesc:a7d147e7540a4c6aa19749844e14cdadc inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Disables a sensor report by setting its period to 0us such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> stops sending it.  <a href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">More...</a><br /></td></tr>
+<tr class="separator:a7d147e7540a4c6aa19749844e14cdadc inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5b542b28c81fcd05cf2e3f3d2d437d46 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">register_cb</a> (std::function&lt; void(void)&gt; cb_fxn)</td></tr>
+<tr class="memdesc:a5b542b28c81fcd05cf2e3f3d2d437d46 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Registers a callback to execute when new data from a specific report is received.  <a href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">More...</a><br /></td></tr>
+<tr class="separator:a5b542b28c81fcd05cf2e3f3d2d437d46 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a74f6037286b51382535bab61680297ed inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">has_new_data</a> ()</td></tr>
+<tr class="memdesc:a74f6037286b51382535bab61680297ed inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Checks if a new report has been received since the last time this function was called.  <a href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">More...</a><br /></td></tr>
+<tr class="separator:a74f6037286b51382535bab61680297ed inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab3bb962696b135841ef7313bc631fc72 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">flush</a> ()</td></tr>
+<tr class="memdesc:ab3bb962696b135841ef7313bc631fc72 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Flush all buffered reports for this sensor/report module.  <a href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">More...</a><br /></td></tr>
+<tr class="separator:ab3bb962696b135841ef7313bc631fc72 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7ce8e48cadf59f49068af7f1cb680b38 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">get_sample_counts</a> (<a class="el" href="structbno08x__sample__counts__t.html">bno08x_sample_counts_t</a> &amp;sample_counts)</td></tr>
+<tr class="memdesc:a7ce8e48cadf59f49068af7f1cb680b38 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets sample counts for this sensor (see SH-2 ref manual 6.4.3.1)  <a href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">More...</a><br /></td></tr>
+<tr class="separator:a7ce8e48cadf59f49068af7f1cb680b38 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1418be33824d3102dbc8f92558a402a6 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">clear_sample_counts</a> ()</td></tr>
+<tr class="memdesc:a1418be33824d3102dbc8f92558a402a6 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Clears <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> internal sample counts for this sensor. (see SH-2 ref manual 6.4.3.1)  <a href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">More...</a><br /></td></tr>
+<tr class="separator:a1418be33824d3102dbc8f92558a402a6 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad5b054279b01204f61b4c0408acf51cf inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">get_meta_data</a> (<a class="el" href="structbno08x__meta__data__t.html">bno08x_meta_data_t</a> &amp;meta_data)</td></tr>
+<tr class="memdesc:ad5b054279b01204f61b4c0408acf51cf inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Retrieves meta data for this sensor/report by reading respective record in FRS (flash record system).  <a href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">More...</a><br /></td></tr>
+<tr class="separator:ad5b054279b01204f61b4c0408acf51cf inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4ee529725467412df396d5c610ff7bb4 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a4ee529725467412df396d5c610ff7bb4">enable</a> (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)=0</td></tr>
+<tr class="separator:a4ee529725467412df396d5c610ff7bb4 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="inherited" name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pro_methods_class_b_n_o08x_rpt_r_v_generic"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_class_b_n_o08x_rpt_r_v_generic')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></td></tr>
+<tr class="memitem:a7c35188ccfb976cba1b7e4626022987c inherit pro_methods_class_b_n_o08x_rpt_r_v_generic"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#a7c35188ccfb976cba1b7e4626022987c">BNO08xRptRVGeneric</a> (uint8_t <a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, EventBits_t <a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *<a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</td></tr>
+<tr class="separator:a7c35188ccfb976cba1b7e4626022987c inherit pro_methods_class_b_n_o08x_rpt_r_v_generic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab059dded7c0a7c922e9c624baac34ecd inherit pro_methods_class_b_n_o08x_rpt_r_v_generic"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#ab059dded7c0a7c922e9c624baac34ecd">tare</a> (bool x, bool y, bool z, sh2_TareBasis_t basis)</td></tr>
+<tr class="memdesc:ab059dded7c0a7c922e9c624baac34ecd inherit pro_methods_class_b_n_o08x_rpt_r_v_generic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Tares vector basis according to axis flags.  <a href="class_b_n_o08x_rpt_r_v_generic.html#ab059dded7c0a7c922e9c624baac34ecd">More...</a><br /></td></tr>
+<tr class="separator:ab059dded7c0a7c922e9c624baac34ecd inherit pro_methods_class_b_n_o08x_rpt_r_v_generic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_methods_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:aa0bed98a9a497d1f39e8245d05b02e9c inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">rpt_enable</a> (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td></tr>
+<tr class="memdesc:aa0bed98a9a497d1f39e8245d05b02e9c inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enables a sensor report such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> begins sending it.  <a href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">More...</a><br /></td></tr>
+<tr class="separator:aa0bed98a9a497d1f39e8245d05b02e9c inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a970fb7e7d3745c62fec626f0ccf0759f inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a970fb7e7d3745c62fec626f0ccf0759f">update_data</a> (sh2_SensorValue_t *sensor_val)=0</td></tr>
+<tr class="separator:a970fb7e7d3745c62fec626f0ccf0759f inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a15e8eebe3fe90ac19837e3860c76374c inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a15e8eebe3fe90ac19837e3860c76374c">BNO08xRpt</a> (uint8_t <a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, EventBits_t <a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *<a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</td></tr>
+<tr class="memdesc:a15e8eebe3fe90ac19837e3860c76374c inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x.">BNO08xRpt</a> report constructor.  <a href="class_b_n_o08x_rpt.html#a15e8eebe3fe90ac19837e3860c76374c">More...</a><br /></td></tr>
+<tr class="separator:a15e8eebe3fe90ac19837e3860c76374c inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a61e3451e93806e1b7eaf5f1387726765 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">unlock_sh2_HAL</a> ()</td></tr>
+<tr class="memdesc:a61e3451e93806e1b7eaf5f1387726765 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Unlocks sh2 HAL lib to allow other tasks to call its APIs.  <a href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">More...</a><br /></td></tr>
+<tr class="separator:a61e3451e93806e1b7eaf5f1387726765 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7a5619a74c1237c5abde2e4bd6619d12 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">lock_sh2_HAL</a> ()</td></tr>
+<tr class="memdesc:a7a5619a74c1237c5abde2e4bd6619d12 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Locks sh2 HAL lib to only allow the calling task to call its APIs.  <a href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">More...</a><br /></td></tr>
+<tr class="separator:a7a5619a74c1237c5abde2e4bd6619d12 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a26bacc572187119339ec248bb4e7d6f3 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">unlock_user_data</a> ()</td></tr>
+<tr class="memdesc:a26bacc572187119339ec248bb4e7d6f3 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Unlocks user data to allow other tasks to read/modify it.  <a href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">More...</a><br /></td></tr>
+<tr class="separator:a26bacc572187119339ec248bb4e7d6f3 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a48e7b1a2c2ebc6b1f2f292735c0832a0 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">lock_user_data</a> ()</td></tr>
+<tr class="memdesc:a48e7b1a2c2ebc6b1f2f292735c0832a0 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Locks locks user data to only allow the calling task to read/modify it.  <a href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">More...</a><br /></td></tr>
+<tr class="separator:a48e7b1a2c2ebc6b1f2f292735c0832a0 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a47a623eb0a1db51af76a03a103c32329 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">signal_data_available</a> ()</td></tr>
+<tr class="memdesc:a47a623eb0a1db51af76a03a103c32329 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Signals to <a class="el" href="class_b_n_o08x.html#a367d525d1c0ba119b3dca3067bb5bccc" title="Polls for new data/report to become available.">BNO08x::data_available()</a> that a new report has arrived.  <a href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">More...</a><br /></td></tr>
+<tr class="separator:a47a623eb0a1db51af76a03a103c32329 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_attribs_class_b_n_o08x_rpt_r_v_generic"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_class_b_n_o08x_rpt_r_v_generic')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></td></tr>
+<tr class="memitem:ad5174665e1c943291110630dc461caff inherit pro_attribs_class_b_n_o08x_rpt_r_v_generic"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structbno08x__quat__t.html">bno08x_quat_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#ad5174665e1c943291110630dc461caff">data</a></td></tr>
+<tr class="separator:ad5174665e1c943291110630dc461caff inherit pro_attribs_class_b_n_o08x_rpt_r_v_generic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_attribs_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:a63cd4ac9e96baa43eebe580f03307512 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a></td></tr>
+<tr class="memdesc:a63cd4ac9e96baa43eebe580f03307512 inherit pro_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Report ID, ex. SH2_ACCELERATION.  <a href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">More...</a><br /></td></tr>
+<tr class="separator:a63cd4ac9e96baa43eebe580f03307512 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae78feab5682a4697c5acad3ca6f12c2e inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">EventBits_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a></td></tr>
+<tr class="memdesc:ae78feab5682a4697c5acad3ca6f12c2e inherit pro_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Respective enable and data bit for report in evt_grp_rpt_en and evt_grp_rpt_data.  <a href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">More...</a><br /></td></tr>
+<tr class="separator:ae78feab5682a4697c5acad3ca6f12c2e inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1d4d6f4cc6f1eae503863eedf7fb9f52 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">uint32_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a1d4d6f4cc6f1eae503863eedf7fb9f52">period_us</a></td></tr>
+<tr class="memdesc:a1d4d6f4cc6f1eae503863eedf7fb9f52 inherit pro_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">The period/interval of the report in microseconds.  <a href="class_b_n_o08x_rpt.html#a1d4d6f4cc6f1eae503863eedf7fb9f52">More...</a><br /></td></tr>
+<tr class="separator:a1d4d6f4cc6f1eae503863eedf7fb9f52 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5a1404a08918d66bb0f41f55220db6e5 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top"><a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a></td></tr>
+<tr class="separator:a5a1404a08918d66bb0f41f55220db6e5 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_static_attribs_class_b_n_o08x_rpt_r_v_generic"><td colspan="2" onclick="javascript:toggleInherit('pro_static_attribs_class_b_n_o08x_rpt_r_v_generic')"><img src="closed.png" alt="-"/>&#160;Static Protected Attributes inherited from <a class="el" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></td></tr>
+<tr class="memitem:a5315a83517cd15397842254a9926b1c4 inherit pro_static_attribs_class_b_n_o08x_rpt_r_v_generic"><td class="memItemLeft" align="right" valign="top">static const constexpr char *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#a5315a83517cd15397842254a9926b1c4">TAG</a> = &quot;BNO08xRptRVGeneric&quot;</td></tr>
+<tr class="separator:a5315a83517cd15397842254a9926b1c4 inherit pro_static_attribs_class_b_n_o08x_rpt_r_v_generic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_static_attribs_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pro_static_attribs_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Static Protected Attributes inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:a201aeb71fefb0d9d485914176a82dd80 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">static const constexpr float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">RAD_2_DEG</a></td></tr>
+<tr class="memdesc:a201aeb71fefb0d9d485914176a82dd80 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constant for radian to degree conversions, sed in quaternion to euler function conversions.  <a href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">More...</a><br /></td></tr>
+<tr class="separator:a201aeb71fefb0d9d485914176a82dd80 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2c57f370fb08b793bb10ec22d5acca45 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">static const constexpr char *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a2c57f370fb08b793bb10ec22d5acca45">TAG</a> = &quot;BNO08xRpt&quot;</td></tr>
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+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p >Class to represent rotation vector reports. (See Ref. Manual 6.5.18) </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a3c4173b40339de15cb7f304f73ae53f3" name="a3c4173b40339de15cb7f304f73ae53f3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3c4173b40339de15cb7f304f73ae53f3">&#9670;&nbsp;</a></span>BNO08xRptRV()</h2>
+
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+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">BNO08xRptRV::BNO08xRptRV </td>
+          <td>(</td>
+          <td class="paramtype">uint8_t&#160;</td>
+          <td class="paramname"><em>ID</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">EventBits_t&#160;</td>
+          <td class="paramname"><em>rpt_bit</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *&#160;</td>
+          <td class="paramname"><em>sync_ctx</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="aab42904ebfc698d0af0944deaafcd226" name="aab42904ebfc698d0af0944deaafcd226"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aab42904ebfc698d0af0944deaafcd226">&#9670;&nbsp;</a></span>tare()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08xRptRV::tare </td>
+          <td>(</td>
+          <td class="paramtype">bool&#160;</td>
+          <td class="paramname"><em>x</em> = <code>true</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">bool&#160;</td>
+          <td class="paramname"><em>y</em> = <code>true</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">bool&#160;</td>
+          <td class="paramname"><em>z</em> = <code>true</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Tares rotation vector axis. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">x</td><td>If true tare x axis (optional, default true). </td></tr>
+    <tr><td class="paramname">y</td><td>If true tare y axis (optional, default true). </td></tr>
+    <tr><td class="paramname">z</td><td>If true tare z axis (optional, default true).</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>True if tare operation succeeded. </dd></dl>
+<div class="dynheader">
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+<h2 class="memtitle"><span class="permalink"><a href="#a920fb5940c13870657c48538569aff87">&#9670;&nbsp;</a></span>tare_clear()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08xRptRV::tare_clear </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Clears most recent tare operation. </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="#aa152921434b50a95977b0a4f925abec0">&#9670;&nbsp;</a></span>tare_persist()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08xRptRV::tare_persist </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Saves most recent tare operation to <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> internal flash, such that it persists on reset. </p>
+<dl class="section return"><dt>Returns</dt><dd>True if tare operation succeeded. </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_rpt_r_v_aa152921434b50a95977b0a4f925abec0_cgraph.png" border="0" usemap="#aclass_b_n_o08x_rpt_r_v_aa152921434b50a95977b0a4f925abec0_cgraph" alt=""/></div>
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+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>/media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/report/<a class="el" href="_b_n_o08x_rpt_r_v_8hpp_source.html">BNO08xRptRV.hpp</a></li>
+<li>report/<a class="el" href="_b_n_o08x_rpt_r_v_8cpp.html">BNO08xRptRV.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_rpt_r_v.html">BNO08xRptRV</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> 1.9.4 </li>
+  </ul>
+</div>
+</body>
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index 0000000..ee3f8d1
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+var class_b_n_o08x_rpt_r_v =
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+    [ "tare", "class_b_n_o08x_rpt_r_v.html#aab42904ebfc698d0af0944deaafcd226", null ],
+    [ "tare_clear", "class_b_n_o08x_rpt_r_v.html#a920fb5940c13870657c48538569aff87", null ],
+    [ "tare_persist", "class_b_n_o08x_rpt_r_v.html#aa152921434b50a95977b0a4f925abec0", null ]
+];
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index 0000000..839daf0
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diff --git a/documentation/html/class_b_n_o08x_rpt_r_v_generic-members.html b/documentation/html/class_b_n_o08x_rpt_r_v_generic-members.html
new file mode 100644
index 0000000..638b36a
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_rpt_r_v_generic-members.html
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+<title>esp32_BNO08x: Member List</title>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<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;1.4</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 1.9.4 -->
+<script type="text/javascript">
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+
+<div class="header">
+  <div class="headertitle"><div class="title">BNO08xRptRVGeneric 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_rpt_r_v_generic.html">BNO08xRptRVGeneric</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a15e8eebe3fe90ac19837e3860c76374c">BNO08xRpt</a>(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#a7c35188ccfb976cba1b7e4626022987c">BNO08xRptRVGeneric</a>(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">clear_sample_counts</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#ad5174665e1c943291110630dc461caff">data</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">disable</a>(sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#a17c6cf89a5f7bf5c3fb9f8ff3ed74e8e">enable</a>(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg) override</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">flush</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#abbaaa6737d578e056f93687d4ad780f7">get_euler</a>(bool in_degrees=true)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">get_meta_data</a>(bno08x_meta_data_t &amp;meta_data)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#afc2accdd72076cd758f9f9108351d7a8">get_quat</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">get_sample_counts</a>(bno08x_sample_counts_t &amp;sample_counts)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">has_new_data</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">lock_sh2_HAL</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">lock_user_data</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a1d4d6f4cc6f1eae503863eedf7fb9f52">period_us</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">RAD_2_DEG</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">register_cb</a>(std::function&lt; void(void)&gt; cb_fxn)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">rpt_enable</a>(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">signal_data_available</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#a5315a83517cd15397842254a9926b1c4">TAG</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#ab059dded7c0a7c922e9c624baac34ecd">tare</a>(bool x, bool y, bool z, sh2_TareBasis_t basis)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">unlock_sh2_HAL</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">unlock_user_data</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a970fb7e7d3745c62fec626f0ccf0759f">update_data</a>(sh2_SensorValue_t *sensor_val)=0</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">pure virtual</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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diff --git a/documentation/html/class_b_n_o08x_rpt_r_v_generic.html b/documentation/html/class_b_n_o08x_rpt_r_v_generic.html
new file mode 100644
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+++ b/documentation/html/class_b_n_o08x_rpt_r_v_generic.html
@@ -0,0 +1,562 @@
+<!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 1.9.4"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>esp32_BNO08x: BNO08xRptRVGeneric Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
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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;1.4</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 1.9.4 -->
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+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
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+</div>
+
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pro-methods">Protected Member Functions</a> &#124;
+<a href="#pro-attribs">Protected Attributes</a> &#124;
+<a href="#pro-static-attribs">Static Protected Attributes</a> &#124;
+<a href="class_b_n_o08x_rpt_r_v_generic-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">BNO08xRptRVGeneric Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>Class to represent rotation vector reports.  
+ <a href="class_b_n_o08x_rpt_r_v_generic.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="_b_n_o08x_rpt_r_v_generic_8hpp_source.html">report/BNO08xRptRVGeneric.hpp</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for BNO08xRptRVGeneric:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_rpt_r_v_generic__inherit__graph.png" border="0" usemap="#a_b_n_o08x_rpt_r_v_generic_inherit__map" alt="Inheritance graph"/></div>
+<map name="a_b_n_o08x_rpt_r_v_generic_inherit__map" id="a_b_n_o08x_rpt_r_v_generic_inherit__map">
+<area shape="rect" title="Class to represent rotation vector reports." alt="" coords="151,132,316,159"/>
+<area shape="rect" href="class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v.html" title="Class to represent ARVR stabilized rotation vector reports. (See Ref. Manual 6.5.43)" alt="" coords="364,5,619,32"/>
+<area shape="rect" href="class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v.html" title="Class to represent ARVR stabilized rotation vector reports. (See Ref. Manual 6.5.42)" alt="" coords="384,56,599,83"/>
+<area shape="rect" href="class_b_n_o08x_rpt_game_r_v.html" title="Class to represent game rotation vector reports. (See Ref. Manual 6.5.19)" alt="" coords="414,107,569,133"/>
+<area shape="rect" href="class_b_n_o08x_rpt_i_gyro_r_v.html" title="Class to represent integrated gyro rotation vector reports. (See Ref. Manual 6.5.44)" alt="" coords="416,157,567,184"/>
+<area shape="rect" href="class_b_n_o08x_rpt_r_v.html" title="Class to represent rotation vector reports. (See Ref. Manual 6.5.18)" alt="" coords="434,208,549,235"/>
+<area shape="rect" href="class_b_n_o08x_rpt_r_v_geomag.html" title="Class to represent geomagnetic rotation vector reports. (See Ref. Manual 6.5.20)" alt="" coords="406,259,577,285"/>
+<area shape="rect" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x." alt="" coords="5,132,103,159"/>
+</map>
+<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for BNO08xRptRVGeneric:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_rpt_r_v_generic__coll__graph.png" border="0" usemap="#a_b_n_o08x_rpt_r_v_generic_coll__map" alt="Collaboration graph"/></div>
+<map name="a_b_n_o08x_rpt_r_v_generic_coll__map" id="a_b_n_o08x_rpt_r_v_generic_coll__map">
+<area shape="rect" title="Class to represent rotation vector reports." alt="" coords="101,199,266,225"/>
+<area shape="rect" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x." alt="" coords="36,109,133,136"/>
+<area shape="rect" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html" title="Holds context used to synchronize tasks and callback execution." alt="" coords="5,5,164,47"/>
+<area shape="rect" href="structbno08x__quat__t.html" title="Struct to represent unit quaternion." alt="" coords="157,109,276,136"/>
+</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="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a17c6cf89a5f7bf5c3fb9f8ff3ed74e8e"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#a17c6cf89a5f7bf5c3fb9f8ff3ed74e8e">enable</a> (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg) override</td></tr>
+<tr class="memdesc:a17c6cf89a5f7bf5c3fb9f8ff3ed74e8e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enables a rotation vector report such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> begins it.  <a href="class_b_n_o08x_rpt_r_v_generic.html#a17c6cf89a5f7bf5c3fb9f8ff3ed74e8e">More...</a><br /></td></tr>
+<tr class="separator:a17c6cf89a5f7bf5c3fb9f8ff3ed74e8e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afc2accdd72076cd758f9f9108351d7a8"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structbno08x__quat__t.html">bno08x_quat_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#afc2accdd72076cd758f9f9108351d7a8">get_quat</a> ()</td></tr>
+<tr class="memdesc:afc2accdd72076cd758f9f9108351d7a8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Grabs most recent rotation vector data in form of unit quaternion, rad accuracy units in radians (if available, else constant 0.0f).  <a href="class_b_n_o08x_rpt_r_v_generic.html#afc2accdd72076cd758f9f9108351d7a8">More...</a><br /></td></tr>
+<tr class="separator:afc2accdd72076cd758f9f9108351d7a8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abbaaa6737d578e056f93687d4ad780f7"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structbno08x__euler__angle__t.html">bno08x_euler_angle_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#abbaaa6737d578e056f93687d4ad780f7">get_euler</a> (bool in_degrees=true)</td></tr>
+<tr class="memdesc:abbaaa6737d578e056f93687d4ad780f7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Grabs most recent rotation vector data in form of an euler angle, units are in degrees or rads.  <a href="class_b_n_o08x_rpt_r_v_generic.html#abbaaa6737d578e056f93687d4ad780f7">More...</a><br /></td></tr>
+<tr class="separator:abbaaa6737d578e056f93687d4ad780f7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:a7d147e7540a4c6aa19749844e14cdadc inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">disable</a> (sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td></tr>
+<tr class="memdesc:a7d147e7540a4c6aa19749844e14cdadc inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Disables a sensor report by setting its period to 0us such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> stops sending it.  <a href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">More...</a><br /></td></tr>
+<tr class="separator:a7d147e7540a4c6aa19749844e14cdadc inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5b542b28c81fcd05cf2e3f3d2d437d46 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">register_cb</a> (std::function&lt; void(void)&gt; cb_fxn)</td></tr>
+<tr class="memdesc:a5b542b28c81fcd05cf2e3f3d2d437d46 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Registers a callback to execute when new data from a specific report is received.  <a href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">More...</a><br /></td></tr>
+<tr class="separator:a5b542b28c81fcd05cf2e3f3d2d437d46 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a74f6037286b51382535bab61680297ed inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">has_new_data</a> ()</td></tr>
+<tr class="memdesc:a74f6037286b51382535bab61680297ed inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Checks if a new report has been received since the last time this function was called.  <a href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">More...</a><br /></td></tr>
+<tr class="separator:a74f6037286b51382535bab61680297ed inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab3bb962696b135841ef7313bc631fc72 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">flush</a> ()</td></tr>
+<tr class="memdesc:ab3bb962696b135841ef7313bc631fc72 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Flush all buffered reports for this sensor/report module.  <a href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">More...</a><br /></td></tr>
+<tr class="separator:ab3bb962696b135841ef7313bc631fc72 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7ce8e48cadf59f49068af7f1cb680b38 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">get_sample_counts</a> (<a class="el" href="structbno08x__sample__counts__t.html">bno08x_sample_counts_t</a> &amp;sample_counts)</td></tr>
+<tr class="memdesc:a7ce8e48cadf59f49068af7f1cb680b38 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets sample counts for this sensor (see SH-2 ref manual 6.4.3.1)  <a href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">More...</a><br /></td></tr>
+<tr class="separator:a7ce8e48cadf59f49068af7f1cb680b38 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1418be33824d3102dbc8f92558a402a6 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">clear_sample_counts</a> ()</td></tr>
+<tr class="memdesc:a1418be33824d3102dbc8f92558a402a6 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Clears <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> internal sample counts for this sensor. (see SH-2 ref manual 6.4.3.1)  <a href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">More...</a><br /></td></tr>
+<tr class="separator:a1418be33824d3102dbc8f92558a402a6 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad5b054279b01204f61b4c0408acf51cf inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">get_meta_data</a> (<a class="el" href="structbno08x__meta__data__t.html">bno08x_meta_data_t</a> &amp;meta_data)</td></tr>
+<tr class="memdesc:ad5b054279b01204f61b4c0408acf51cf inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Retrieves meta data for this sensor/report by reading respective record in FRS (flash record system).  <a href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">More...</a><br /></td></tr>
+<tr class="separator:ad5b054279b01204f61b4c0408acf51cf inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4ee529725467412df396d5c610ff7bb4 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a4ee529725467412df396d5c610ff7bb4">enable</a> (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)=0</td></tr>
+<tr class="separator:a4ee529725467412df396d5c610ff7bb4 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pro-methods" name="pro-methods"></a>
+Protected Member Functions</h2></td></tr>
+<tr class="memitem:a7c35188ccfb976cba1b7e4626022987c"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#a7c35188ccfb976cba1b7e4626022987c">BNO08xRptRVGeneric</a> (uint8_t <a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, EventBits_t <a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *<a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</td></tr>
+<tr class="separator:a7c35188ccfb976cba1b7e4626022987c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab059dded7c0a7c922e9c624baac34ecd"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#ab059dded7c0a7c922e9c624baac34ecd">tare</a> (bool x, bool y, bool z, sh2_TareBasis_t basis)</td></tr>
+<tr class="memdesc:ab059dded7c0a7c922e9c624baac34ecd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Tares vector basis according to axis flags.  <a href="class_b_n_o08x_rpt_r_v_generic.html#ab059dded7c0a7c922e9c624baac34ecd">More...</a><br /></td></tr>
+<tr class="separator:ab059dded7c0a7c922e9c624baac34ecd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_methods_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:aa0bed98a9a497d1f39e8245d05b02e9c inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">rpt_enable</a> (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td></tr>
+<tr class="memdesc:aa0bed98a9a497d1f39e8245d05b02e9c inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enables a sensor report such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> begins sending it.  <a href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">More...</a><br /></td></tr>
+<tr class="separator:aa0bed98a9a497d1f39e8245d05b02e9c inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a970fb7e7d3745c62fec626f0ccf0759f inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a970fb7e7d3745c62fec626f0ccf0759f">update_data</a> (sh2_SensorValue_t *sensor_val)=0</td></tr>
+<tr class="separator:a970fb7e7d3745c62fec626f0ccf0759f inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a15e8eebe3fe90ac19837e3860c76374c inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a15e8eebe3fe90ac19837e3860c76374c">BNO08xRpt</a> (uint8_t <a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, EventBits_t <a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *<a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</td></tr>
+<tr class="memdesc:a15e8eebe3fe90ac19837e3860c76374c inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x.">BNO08xRpt</a> report constructor.  <a href="class_b_n_o08x_rpt.html#a15e8eebe3fe90ac19837e3860c76374c">More...</a><br /></td></tr>
+<tr class="separator:a15e8eebe3fe90ac19837e3860c76374c inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a61e3451e93806e1b7eaf5f1387726765 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">unlock_sh2_HAL</a> ()</td></tr>
+<tr class="memdesc:a61e3451e93806e1b7eaf5f1387726765 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Unlocks sh2 HAL lib to allow other tasks to call its APIs.  <a href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">More...</a><br /></td></tr>
+<tr class="separator:a61e3451e93806e1b7eaf5f1387726765 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7a5619a74c1237c5abde2e4bd6619d12 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">lock_sh2_HAL</a> ()</td></tr>
+<tr class="memdesc:a7a5619a74c1237c5abde2e4bd6619d12 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Locks sh2 HAL lib to only allow the calling task to call its APIs.  <a href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">More...</a><br /></td></tr>
+<tr class="separator:a7a5619a74c1237c5abde2e4bd6619d12 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a26bacc572187119339ec248bb4e7d6f3 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">unlock_user_data</a> ()</td></tr>
+<tr class="memdesc:a26bacc572187119339ec248bb4e7d6f3 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Unlocks user data to allow other tasks to read/modify it.  <a href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">More...</a><br /></td></tr>
+<tr class="separator:a26bacc572187119339ec248bb4e7d6f3 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a48e7b1a2c2ebc6b1f2f292735c0832a0 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">lock_user_data</a> ()</td></tr>
+<tr class="memdesc:a48e7b1a2c2ebc6b1f2f292735c0832a0 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Locks locks user data to only allow the calling task to read/modify it.  <a href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">More...</a><br /></td></tr>
+<tr class="separator:a48e7b1a2c2ebc6b1f2f292735c0832a0 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a47a623eb0a1db51af76a03a103c32329 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">signal_data_available</a> ()</td></tr>
+<tr class="memdesc:a47a623eb0a1db51af76a03a103c32329 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Signals to <a class="el" href="class_b_n_o08x.html#a367d525d1c0ba119b3dca3067bb5bccc" title="Polls for new data/report to become available.">BNO08x::data_available()</a> that a new report has arrived.  <a href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">More...</a><br /></td></tr>
+<tr class="separator:a47a623eb0a1db51af76a03a103c32329 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pro-attribs" name="pro-attribs"></a>
+Protected Attributes</h2></td></tr>
+<tr class="memitem:ad5174665e1c943291110630dc461caff"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structbno08x__quat__t.html">bno08x_quat_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#ad5174665e1c943291110630dc461caff">data</a></td></tr>
+<tr class="separator:ad5174665e1c943291110630dc461caff"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_attribs_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:a63cd4ac9e96baa43eebe580f03307512 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a></td></tr>
+<tr class="memdesc:a63cd4ac9e96baa43eebe580f03307512 inherit pro_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Report ID, ex. SH2_ACCELERATION.  <a href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">More...</a><br /></td></tr>
+<tr class="separator:a63cd4ac9e96baa43eebe580f03307512 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae78feab5682a4697c5acad3ca6f12c2e inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">EventBits_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a></td></tr>
+<tr class="memdesc:ae78feab5682a4697c5acad3ca6f12c2e inherit pro_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Respective enable and data bit for report in evt_grp_rpt_en and evt_grp_rpt_data.  <a href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">More...</a><br /></td></tr>
+<tr class="separator:ae78feab5682a4697c5acad3ca6f12c2e inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1d4d6f4cc6f1eae503863eedf7fb9f52 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">uint32_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a1d4d6f4cc6f1eae503863eedf7fb9f52">period_us</a></td></tr>
+<tr class="memdesc:a1d4d6f4cc6f1eae503863eedf7fb9f52 inherit pro_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">The period/interval of the report in microseconds.  <a href="class_b_n_o08x_rpt.html#a1d4d6f4cc6f1eae503863eedf7fb9f52">More...</a><br /></td></tr>
+<tr class="separator:a1d4d6f4cc6f1eae503863eedf7fb9f52 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5a1404a08918d66bb0f41f55220db6e5 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top"><a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a></td></tr>
+<tr class="separator:a5a1404a08918d66bb0f41f55220db6e5 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pro-static-attribs" name="pro-static-attribs"></a>
+Static Protected Attributes</h2></td></tr>
+<tr class="memitem:a5315a83517cd15397842254a9926b1c4"><td class="memItemLeft" align="right" valign="top">static const constexpr char *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#a5315a83517cd15397842254a9926b1c4">TAG</a> = &quot;BNO08xRptRVGeneric&quot;</td></tr>
+<tr class="separator:a5315a83517cd15397842254a9926b1c4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_static_attribs_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pro_static_attribs_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Static Protected Attributes inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:a201aeb71fefb0d9d485914176a82dd80 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">static const constexpr float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">RAD_2_DEG</a></td></tr>
+<tr class="memdesc:a201aeb71fefb0d9d485914176a82dd80 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constant for radian to degree conversions, sed in quaternion to euler function conversions.  <a href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">More...</a><br /></td></tr>
+<tr class="separator:a201aeb71fefb0d9d485914176a82dd80 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2c57f370fb08b793bb10ec22d5acca45 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">static const constexpr char *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a2c57f370fb08b793bb10ec22d5acca45">TAG</a> = &quot;BNO08xRpt&quot;</td></tr>
+<tr class="separator:a2c57f370fb08b793bb10ec22d5acca45 inherit pro_static_attribs_class_b_n_o08x_rpt"><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 >Class to represent rotation vector reports. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a7c35188ccfb976cba1b7e4626022987c" name="a7c35188ccfb976cba1b7e4626022987c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7c35188ccfb976cba1b7e4626022987c">&#9670;&nbsp;</a></span>BNO08xRptRVGeneric()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">BNO08xRptRVGeneric::BNO08xRptRVGeneric </td>
+          <td>(</td>
+          <td class="paramtype">uint8_t&#160;</td>
+          <td class="paramname"><em>ID</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">EventBits_t&#160;</td>
+          <td class="paramname"><em>rpt_bit</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *&#160;</td>
+          <td class="paramname"><em>sync_ctx</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a17c6cf89a5f7bf5c3fb9f8ff3ed74e8e" name="a17c6cf89a5f7bf5c3fb9f8ff3ed74e8e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a17c6cf89a5f7bf5c3fb9f8ff3ed74e8e">&#9670;&nbsp;</a></span>enable()</h2>
+
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+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08xRptRVGeneric::enable </td>
+          <td>(</td>
+          <td class="paramtype">uint32_t&#160;</td>
+          <td class="paramname"><em>time_between_reports</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">sh2_SensorConfig_t&#160;</td>
+          <td class="paramname"><em>sensor_cfg</em> = <code>BNO08xPrivateTypes::default_sensor_cfg</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Enables a rotation vector report such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> begins it. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">report_period_us</td><td>The period/interval of the report in microseconds. </td></tr>
+    <tr><td class="paramname">sensor_cfg</td><td>Sensor special configuration (optional, see BNO08xPrivateTypes::default_sensor_cfg for defaults).</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>True if report was successfully enabled. </dd></dl>
+
+<p>Implements <a class="el" href="class_b_n_o08x_rpt.html#a4ee529725467412df396d5c610ff7bb4">BNO08xRpt</a>.</p>
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+<h2 class="memtitle"><span class="permalink"><a href="#abbaaa6737d578e056f93687d4ad780f7">&#9670;&nbsp;</a></span>get_euler()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="structbno08x__euler__angle__t.html">bno08x_euler_angle_t</a> BNO08xRptRVGeneric::get_euler </td>
+          <td>(</td>
+          <td class="paramtype">bool&#160;</td>
+          <td class="paramname"><em>in_degrees</em> = <code>true</code></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Grabs most recent rotation vector data in form of an euler angle, units are in degrees or rads. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">in_degrees</td><td>If true returned euler angle is in degrees, if false in radians</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Struct containing requested data. </dd></dl>
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+<h2 class="memtitle"><span class="permalink"><a href="#afc2accdd72076cd758f9f9108351d7a8">&#9670;&nbsp;</a></span>get_quat()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="structbno08x__quat__t.html">bno08x_quat_t</a> BNO08xRptRVGeneric::get_quat </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Grabs most recent rotation vector data in form of unit quaternion, rad accuracy units in radians (if available, else constant 0.0f). </p>
+<p >The following RV reports have rad accuracy data:</p>
+<ul>
+<li>rotation vector</li>
+<li>geomagnetic rotation vector</li>
+</ul>
+<dl class="section return"><dt>Returns</dt><dd>Struct containing requested data. </dd></dl>
+<div class="dynheader">
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+<h2 class="memtitle"><span class="permalink"><a href="#ab059dded7c0a7c922e9c624baac34ecd">&#9670;&nbsp;</a></span>tare()</h2>
+
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+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08xRptRVGeneric::tare </td>
+          <td>(</td>
+          <td class="paramtype">bool&#160;</td>
+          <td class="paramname"><em>x</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">bool&#160;</td>
+          <td class="paramname"><em>y</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">bool&#160;</td>
+          <td class="paramname"><em>z</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">sh2_TareBasis_t&#160;</td>
+          <td class="paramname"><em>basis</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Tares vector basis according to axis flags. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">x</td><td>If true tare x axis. </td></tr>
+    <tr><td class="paramname">y</td><td>If true tare y axis. </td></tr>
+    <tr><td class="paramname">z</td><td>If true tare z axis. </td></tr>
+    <tr><td class="paramname">basis</td><td>Rotation vector basis to undergo tare operation.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>True if tare operation succeeded. </dd></dl>
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+</map>
+</div>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="ad5174665e1c943291110630dc461caff" name="ad5174665e1c943291110630dc461caff"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad5174665e1c943291110630dc461caff">&#9670;&nbsp;</a></span>data</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__quat__t.html">bno08x_quat_t</a> BNO08xRptRVGeneric::data</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a5315a83517cd15397842254a9926b1c4" name="a5315a83517cd15397842254a9926b1c4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5315a83517cd15397842254a9926b1c4">&#9670;&nbsp;</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* BNO08xRptRVGeneric::TAG = &quot;BNO08xRptRVGeneric&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">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>/media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/report/<a class="el" href="_b_n_o08x_rpt_r_v_generic_8hpp_source.html">BNO08xRptRVGeneric.hpp</a></li>
+<li>report/<a class="el" href="_b_n_o08x_rpt_r_v_generic_8cpp.html">BNO08xRptRVGeneric.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_rpt_r_v_generic.html">BNO08xRptRVGeneric</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> 1.9.4 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/documentation/html/class_b_n_o08x_rpt_r_v_generic.js b/documentation/html/class_b_n_o08x_rpt_r_v_generic.js
new file mode 100644
index 0000000..d1aab3c
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_rpt_r_v_generic.js
@@ -0,0 +1,9 @@
+var class_b_n_o08x_rpt_r_v_generic =
+[
+    [ "BNO08xRptRVGeneric", "class_b_n_o08x_rpt_r_v_generic.html#a7c35188ccfb976cba1b7e4626022987c", null ],
+    [ "enable", "class_b_n_o08x_rpt_r_v_generic.html#a17c6cf89a5f7bf5c3fb9f8ff3ed74e8e", null ],
+    [ "get_euler", "class_b_n_o08x_rpt_r_v_generic.html#abbaaa6737d578e056f93687d4ad780f7", null ],
+    [ "get_quat", "class_b_n_o08x_rpt_r_v_generic.html#afc2accdd72076cd758f9f9108351d7a8", null ],
+    [ "tare", "class_b_n_o08x_rpt_r_v_generic.html#ab059dded7c0a7c922e9c624baac34ecd", null ],
+    [ "data", "class_b_n_o08x_rpt_r_v_generic.html#ad5174665e1c943291110630dc461caff", null ]
+];
\ No newline at end of file
diff --git a/documentation/html/class_b_n_o08x_rpt_r_v_generic__coll__graph.map b/documentation/html/class_b_n_o08x_rpt_r_v_generic__coll__graph.map
new file mode 100644
index 0000000..c7e7676
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_rpt_r_v_generic__coll__graph.map
@@ -0,0 +1,6 @@
+<map id="BNO08xRptRVGeneric" name="BNO08xRptRVGeneric">
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+<area shape="rect" id="node3" href="$struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html" title="Holds context used to synchronize tasks and callback execution." alt="" coords="5,5,164,47"/>
+<area shape="rect" id="node4" href="$structbno08x__quat__t.html" title="Struct to represent unit quaternion." alt="" coords="157,109,276,136"/>
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diff --git a/documentation/html/class_b_n_o08x_rpt_r_v_generic__coll__graph.md5 b/documentation/html/class_b_n_o08x_rpt_r_v_generic__coll__graph.md5
new file mode 100644
index 0000000..bb7cd3f
--- /dev/null
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diff --git a/documentation/html/class_b_n_o08x_rpt_r_v_generic__inherit__graph.map b/documentation/html/class_b_n_o08x_rpt_r_v_generic__inherit__graph.map
new file mode 100644
index 0000000..ef7891f
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_rpt_r_v_generic__inherit__graph.map
@@ -0,0 +1,10 @@
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diff --git a/documentation/html/class_b_n_o08x_rpt_r_v_generic_abbaaa6737d578e056f93687d4ad780f7_cgraph.map b/documentation/html/class_b_n_o08x_rpt_r_v_generic_abbaaa6737d578e056f93687d4ad780f7_cgraph.map
new file mode 100644
index 0000000..92a0b01
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_rpt_r_v_generic_abbaaa6737d578e056f93687d4ad780f7_cgraph.map
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diff --git a/documentation/html/class_b_n_o08x_rpt_r_v_geomag-members.html b/documentation/html/class_b_n_o08x_rpt_r_v_geomag-members.html
new file mode 100644
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--- /dev/null
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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;1.4</span>
+   </div>
+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
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+<!-- Generated by Doxygen 1.9.4 -->
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+
+<div class="header">
+  <div class="headertitle"><div class="title">BNO08xRptRVGeomag 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_rpt_r_v_geomag.html">BNO08xRptRVGeomag</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a15e8eebe3fe90ac19837e3860c76374c">BNO08xRpt</a>(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#a7c35188ccfb976cba1b7e4626022987c">BNO08xRptRVGeneric</a>(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_geomag.html#a32bd70c7777973497b6d1b7f960bea0b">BNO08xRptRVGeomag</a>(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_geomag.html">BNO08xRptRVGeomag</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">clear_sample_counts</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#ad5174665e1c943291110630dc461caff">data</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">disable</a>(sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#a17c6cf89a5f7bf5c3fb9f8ff3ed74e8e">enable</a>(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg) override</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">flush</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#abbaaa6737d578e056f93687d4ad780f7">get_euler</a>(bool in_degrees=true)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">get_meta_data</a>(bno08x_meta_data_t &amp;meta_data)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#afc2accdd72076cd758f9f9108351d7a8">get_quat</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">get_sample_counts</a>(bno08x_sample_counts_t &amp;sample_counts)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">has_new_data</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">lock_sh2_HAL</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">lock_user_data</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a1d4d6f4cc6f1eae503863eedf7fb9f52">period_us</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">RAD_2_DEG</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">register_cb</a>(std::function&lt; void(void)&gt; cb_fxn)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">rpt_enable</a>(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">signal_data_available</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_geomag.html#a622f024808e368b09c41ca1b5118a874">tare</a>(bool x=true, bool y=true, bool z=true)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_geomag.html">BNO08xRptRVGeomag</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#ab059dded7c0a7c922e9c624baac34ecd">BNO08xRptRVGeneric::tare</a>(bool x, bool y, bool z, sh2_TareBasis_t basis)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_geomag.html#a2c62a41402f167a49025914a9800d062">tare_clear</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_geomag.html">BNO08xRptRVGeomag</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_geomag.html#a57305f5f72067a56b037cf766fa2ee63">tare_persist</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_r_v_geomag.html">BNO08xRptRVGeomag</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">unlock_sh2_HAL</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">unlock_user_data</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</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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diff --git a/documentation/html/class_b_n_o08x_rpt_r_v_geomag.html b/documentation/html/class_b_n_o08x_rpt_r_v_geomag.html
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@@ -0,0 +1,401 @@
+<!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 1.9.4"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>esp32_BNO08x: BNO08xRptRVGeomag Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
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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;1.4</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 1.9.4 -->
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+/* @license-end */
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+        name="MSearchResults" id="MSearchResults">
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+
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="class_b_n_o08x_rpt_r_v_geomag-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">BNO08xRptRVGeomag Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>Class to represent geomagnetic rotation vector reports. (See Ref. Manual 6.5.20)  
+ <a href="class_b_n_o08x_rpt_r_v_geomag.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="_b_n_o08x_rpt_r_v_geomag_8hpp_source.html">report/BNO08xRptRVGeomag.hpp</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for BNO08xRptRVGeomag:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_rpt_r_v_geomag__inherit__graph.png" border="0" usemap="#a_b_n_o08x_rpt_r_v_geomag_inherit__map" alt="Inheritance graph"/></div>
+<map name="a_b_n_o08x_rpt_r_v_geomag_inherit__map" id="a_b_n_o08x_rpt_r_v_geomag_inherit__map">
+<area shape="rect" title="Class to represent geomagnetic rotation vector reports. (See Ref. Manual 6.5.20)" alt="" coords="5,155,176,181"/>
+<area shape="rect" href="class_b_n_o08x_rpt_r_v_generic.html" title="Class to represent rotation vector reports." alt="" coords="8,80,173,107"/>
+<area shape="rect" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x." alt="" coords="42,5,139,32"/>
+</map>
+<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for BNO08xRptRVGeomag:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_rpt_r_v_geomag__coll__graph.png" border="0" usemap="#a_b_n_o08x_rpt_r_v_geomag_coll__map" alt="Collaboration graph"/></div>
+<map name="a_b_n_o08x_rpt_r_v_geomag_coll__map" id="a_b_n_o08x_rpt_r_v_geomag_coll__map">
+<area shape="rect" title="Class to represent geomagnetic rotation vector reports. (See Ref. Manual 6.5.20)" alt="" coords="98,275,269,301"/>
+<area shape="rect" href="class_b_n_o08x_rpt_r_v_generic.html" title="Class to represent rotation vector reports." alt="" coords="101,199,266,225"/>
+<area shape="rect" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x." alt="" coords="36,109,133,136"/>
+<area shape="rect" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html" title="Holds context used to synchronize tasks and callback execution." alt="" coords="5,5,164,47"/>
+<area shape="rect" href="structbno08x__quat__t.html" title="Struct to represent unit quaternion." alt="" coords="157,109,276,136"/>
+</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="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a32bd70c7777973497b6d1b7f960bea0b"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_r_v_geomag.html#a32bd70c7777973497b6d1b7f960bea0b">BNO08xRptRVGeomag</a> (uint8_t <a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, EventBits_t <a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *<a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</td></tr>
+<tr class="separator:a32bd70c7777973497b6d1b7f960bea0b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a622f024808e368b09c41ca1b5118a874"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_r_v_geomag.html#a622f024808e368b09c41ca1b5118a874">tare</a> (bool x=true, bool y=true, bool z=true)</td></tr>
+<tr class="memdesc:a622f024808e368b09c41ca1b5118a874"><td class="mdescLeft">&#160;</td><td class="mdescRight">Tares geomagnetic rotation vector.  <a href="class_b_n_o08x_rpt_r_v_geomag.html#a622f024808e368b09c41ca1b5118a874">More...</a><br /></td></tr>
+<tr class="separator:a622f024808e368b09c41ca1b5118a874"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a57305f5f72067a56b037cf766fa2ee63"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_r_v_geomag.html#a57305f5f72067a56b037cf766fa2ee63">tare_persist</a> ()</td></tr>
+<tr class="memdesc:a57305f5f72067a56b037cf766fa2ee63"><td class="mdescLeft">&#160;</td><td class="mdescRight">Saves most recent tare operation to <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> internal flash, such that it persists on reset.  <a href="class_b_n_o08x_rpt_r_v_geomag.html#a57305f5f72067a56b037cf766fa2ee63">More...</a><br /></td></tr>
+<tr class="separator:a57305f5f72067a56b037cf766fa2ee63"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2c62a41402f167a49025914a9800d062"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_r_v_geomag.html#a2c62a41402f167a49025914a9800d062">tare_clear</a> ()</td></tr>
+<tr class="memdesc:a2c62a41402f167a49025914a9800d062"><td class="mdescLeft">&#160;</td><td class="mdescRight">Clears most recent tare operation.  <a href="class_b_n_o08x_rpt_r_v_geomag.html#a2c62a41402f167a49025914a9800d062">More...</a><br /></td></tr>
+<tr class="separator:a2c62a41402f167a49025914a9800d062"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_class_b_n_o08x_rpt_r_v_generic"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_class_b_n_o08x_rpt_r_v_generic')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></td></tr>
+<tr class="memitem:a17c6cf89a5f7bf5c3fb9f8ff3ed74e8e inherit pub_methods_class_b_n_o08x_rpt_r_v_generic"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#a17c6cf89a5f7bf5c3fb9f8ff3ed74e8e">enable</a> (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg) override</td></tr>
+<tr class="memdesc:a17c6cf89a5f7bf5c3fb9f8ff3ed74e8e inherit pub_methods_class_b_n_o08x_rpt_r_v_generic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enables a rotation vector report such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> begins it.  <a href="class_b_n_o08x_rpt_r_v_generic.html#a17c6cf89a5f7bf5c3fb9f8ff3ed74e8e">More...</a><br /></td></tr>
+<tr class="separator:a17c6cf89a5f7bf5c3fb9f8ff3ed74e8e inherit pub_methods_class_b_n_o08x_rpt_r_v_generic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afc2accdd72076cd758f9f9108351d7a8 inherit pub_methods_class_b_n_o08x_rpt_r_v_generic"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structbno08x__quat__t.html">bno08x_quat_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#afc2accdd72076cd758f9f9108351d7a8">get_quat</a> ()</td></tr>
+<tr class="memdesc:afc2accdd72076cd758f9f9108351d7a8 inherit pub_methods_class_b_n_o08x_rpt_r_v_generic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Grabs most recent rotation vector data in form of unit quaternion, rad accuracy units in radians (if available, else constant 0.0f).  <a href="class_b_n_o08x_rpt_r_v_generic.html#afc2accdd72076cd758f9f9108351d7a8">More...</a><br /></td></tr>
+<tr class="separator:afc2accdd72076cd758f9f9108351d7a8 inherit pub_methods_class_b_n_o08x_rpt_r_v_generic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abbaaa6737d578e056f93687d4ad780f7 inherit pub_methods_class_b_n_o08x_rpt_r_v_generic"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structbno08x__euler__angle__t.html">bno08x_euler_angle_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#abbaaa6737d578e056f93687d4ad780f7">get_euler</a> (bool in_degrees=true)</td></tr>
+<tr class="memdesc:abbaaa6737d578e056f93687d4ad780f7 inherit pub_methods_class_b_n_o08x_rpt_r_v_generic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Grabs most recent rotation vector data in form of an euler angle, units are in degrees or rads.  <a href="class_b_n_o08x_rpt_r_v_generic.html#abbaaa6737d578e056f93687d4ad780f7">More...</a><br /></td></tr>
+<tr class="separator:abbaaa6737d578e056f93687d4ad780f7 inherit pub_methods_class_b_n_o08x_rpt_r_v_generic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:a7d147e7540a4c6aa19749844e14cdadc inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">disable</a> (sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td></tr>
+<tr class="memdesc:a7d147e7540a4c6aa19749844e14cdadc inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Disables a sensor report by setting its period to 0us such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> stops sending it.  <a href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">More...</a><br /></td></tr>
+<tr class="separator:a7d147e7540a4c6aa19749844e14cdadc inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5b542b28c81fcd05cf2e3f3d2d437d46 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">register_cb</a> (std::function&lt; void(void)&gt; cb_fxn)</td></tr>
+<tr class="memdesc:a5b542b28c81fcd05cf2e3f3d2d437d46 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Registers a callback to execute when new data from a specific report is received.  <a href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">More...</a><br /></td></tr>
+<tr class="separator:a5b542b28c81fcd05cf2e3f3d2d437d46 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a74f6037286b51382535bab61680297ed inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">has_new_data</a> ()</td></tr>
+<tr class="memdesc:a74f6037286b51382535bab61680297ed inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Checks if a new report has been received since the last time this function was called.  <a href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">More...</a><br /></td></tr>
+<tr class="separator:a74f6037286b51382535bab61680297ed inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab3bb962696b135841ef7313bc631fc72 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">flush</a> ()</td></tr>
+<tr class="memdesc:ab3bb962696b135841ef7313bc631fc72 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Flush all buffered reports for this sensor/report module.  <a href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">More...</a><br /></td></tr>
+<tr class="separator:ab3bb962696b135841ef7313bc631fc72 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7ce8e48cadf59f49068af7f1cb680b38 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">get_sample_counts</a> (<a class="el" href="structbno08x__sample__counts__t.html">bno08x_sample_counts_t</a> &amp;sample_counts)</td></tr>
+<tr class="memdesc:a7ce8e48cadf59f49068af7f1cb680b38 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets sample counts for this sensor (see SH-2 ref manual 6.4.3.1)  <a href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">More...</a><br /></td></tr>
+<tr class="separator:a7ce8e48cadf59f49068af7f1cb680b38 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1418be33824d3102dbc8f92558a402a6 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">clear_sample_counts</a> ()</td></tr>
+<tr class="memdesc:a1418be33824d3102dbc8f92558a402a6 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Clears <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> internal sample counts for this sensor. (see SH-2 ref manual 6.4.3.1)  <a href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">More...</a><br /></td></tr>
+<tr class="separator:a1418be33824d3102dbc8f92558a402a6 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad5b054279b01204f61b4c0408acf51cf inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">get_meta_data</a> (<a class="el" href="structbno08x__meta__data__t.html">bno08x_meta_data_t</a> &amp;meta_data)</td></tr>
+<tr class="memdesc:ad5b054279b01204f61b4c0408acf51cf inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Retrieves meta data for this sensor/report by reading respective record in FRS (flash record system).  <a href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">More...</a><br /></td></tr>
+<tr class="separator:ad5b054279b01204f61b4c0408acf51cf inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4ee529725467412df396d5c610ff7bb4 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a4ee529725467412df396d5c610ff7bb4">enable</a> (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)=0</td></tr>
+<tr class="separator:a4ee529725467412df396d5c610ff7bb4 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="inherited" name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pro_methods_class_b_n_o08x_rpt_r_v_generic"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_class_b_n_o08x_rpt_r_v_generic')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></td></tr>
+<tr class="memitem:a7c35188ccfb976cba1b7e4626022987c inherit pro_methods_class_b_n_o08x_rpt_r_v_generic"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#a7c35188ccfb976cba1b7e4626022987c">BNO08xRptRVGeneric</a> (uint8_t <a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, EventBits_t <a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *<a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</td></tr>
+<tr class="separator:a7c35188ccfb976cba1b7e4626022987c inherit pro_methods_class_b_n_o08x_rpt_r_v_generic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab059dded7c0a7c922e9c624baac34ecd inherit pro_methods_class_b_n_o08x_rpt_r_v_generic"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#ab059dded7c0a7c922e9c624baac34ecd">tare</a> (bool x, bool y, bool z, sh2_TareBasis_t basis)</td></tr>
+<tr class="memdesc:ab059dded7c0a7c922e9c624baac34ecd inherit pro_methods_class_b_n_o08x_rpt_r_v_generic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Tares vector basis according to axis flags.  <a href="class_b_n_o08x_rpt_r_v_generic.html#ab059dded7c0a7c922e9c624baac34ecd">More...</a><br /></td></tr>
+<tr class="separator:ab059dded7c0a7c922e9c624baac34ecd inherit pro_methods_class_b_n_o08x_rpt_r_v_generic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_methods_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:aa0bed98a9a497d1f39e8245d05b02e9c inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">rpt_enable</a> (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td></tr>
+<tr class="memdesc:aa0bed98a9a497d1f39e8245d05b02e9c inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enables a sensor report such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> begins sending it.  <a href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">More...</a><br /></td></tr>
+<tr class="separator:aa0bed98a9a497d1f39e8245d05b02e9c inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a970fb7e7d3745c62fec626f0ccf0759f inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a970fb7e7d3745c62fec626f0ccf0759f">update_data</a> (sh2_SensorValue_t *sensor_val)=0</td></tr>
+<tr class="separator:a970fb7e7d3745c62fec626f0ccf0759f inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a15e8eebe3fe90ac19837e3860c76374c inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a15e8eebe3fe90ac19837e3860c76374c">BNO08xRpt</a> (uint8_t <a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, EventBits_t <a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *<a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</td></tr>
+<tr class="memdesc:a15e8eebe3fe90ac19837e3860c76374c inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x.">BNO08xRpt</a> report constructor.  <a href="class_b_n_o08x_rpt.html#a15e8eebe3fe90ac19837e3860c76374c">More...</a><br /></td></tr>
+<tr class="separator:a15e8eebe3fe90ac19837e3860c76374c inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a61e3451e93806e1b7eaf5f1387726765 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">unlock_sh2_HAL</a> ()</td></tr>
+<tr class="memdesc:a61e3451e93806e1b7eaf5f1387726765 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Unlocks sh2 HAL lib to allow other tasks to call its APIs.  <a href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">More...</a><br /></td></tr>
+<tr class="separator:a61e3451e93806e1b7eaf5f1387726765 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7a5619a74c1237c5abde2e4bd6619d12 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">lock_sh2_HAL</a> ()</td></tr>
+<tr class="memdesc:a7a5619a74c1237c5abde2e4bd6619d12 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Locks sh2 HAL lib to only allow the calling task to call its APIs.  <a href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">More...</a><br /></td></tr>
+<tr class="separator:a7a5619a74c1237c5abde2e4bd6619d12 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a26bacc572187119339ec248bb4e7d6f3 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">unlock_user_data</a> ()</td></tr>
+<tr class="memdesc:a26bacc572187119339ec248bb4e7d6f3 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Unlocks user data to allow other tasks to read/modify it.  <a href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">More...</a><br /></td></tr>
+<tr class="separator:a26bacc572187119339ec248bb4e7d6f3 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a48e7b1a2c2ebc6b1f2f292735c0832a0 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">lock_user_data</a> ()</td></tr>
+<tr class="memdesc:a48e7b1a2c2ebc6b1f2f292735c0832a0 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Locks locks user data to only allow the calling task to read/modify it.  <a href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">More...</a><br /></td></tr>
+<tr class="separator:a48e7b1a2c2ebc6b1f2f292735c0832a0 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a47a623eb0a1db51af76a03a103c32329 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">signal_data_available</a> ()</td></tr>
+<tr class="memdesc:a47a623eb0a1db51af76a03a103c32329 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Signals to <a class="el" href="class_b_n_o08x.html#a367d525d1c0ba119b3dca3067bb5bccc" title="Polls for new data/report to become available.">BNO08x::data_available()</a> that a new report has arrived.  <a href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">More...</a><br /></td></tr>
+<tr class="separator:a47a623eb0a1db51af76a03a103c32329 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_attribs_class_b_n_o08x_rpt_r_v_generic"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_class_b_n_o08x_rpt_r_v_generic')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="class_b_n_o08x_rpt_r_v_generic.html">BNO08xRptRVGeneric</a></td></tr>
+<tr class="memitem:ad5174665e1c943291110630dc461caff inherit pro_attribs_class_b_n_o08x_rpt_r_v_generic"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structbno08x__quat__t.html">bno08x_quat_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#ad5174665e1c943291110630dc461caff">data</a></td></tr>
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+<tr class="inherit_header pro_attribs_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:a63cd4ac9e96baa43eebe580f03307512 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a></td></tr>
+<tr class="memdesc:a63cd4ac9e96baa43eebe580f03307512 inherit pro_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Report ID, ex. SH2_ACCELERATION.  <a href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">More...</a><br /></td></tr>
+<tr class="separator:a63cd4ac9e96baa43eebe580f03307512 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae78feab5682a4697c5acad3ca6f12c2e inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">EventBits_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a></td></tr>
+<tr class="memdesc:ae78feab5682a4697c5acad3ca6f12c2e inherit pro_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Respective enable and data bit for report in evt_grp_rpt_en and evt_grp_rpt_data.  <a href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">More...</a><br /></td></tr>
+<tr class="separator:ae78feab5682a4697c5acad3ca6f12c2e inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1d4d6f4cc6f1eae503863eedf7fb9f52 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">uint32_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a1d4d6f4cc6f1eae503863eedf7fb9f52">period_us</a></td></tr>
+<tr class="memdesc:a1d4d6f4cc6f1eae503863eedf7fb9f52 inherit pro_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">The period/interval of the report in microseconds.  <a href="class_b_n_o08x_rpt.html#a1d4d6f4cc6f1eae503863eedf7fb9f52">More...</a><br /></td></tr>
+<tr class="separator:a1d4d6f4cc6f1eae503863eedf7fb9f52 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5a1404a08918d66bb0f41f55220db6e5 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top"><a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a></td></tr>
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+<tr class="memitem:a5315a83517cd15397842254a9926b1c4 inherit pro_static_attribs_class_b_n_o08x_rpt_r_v_generic"><td class="memItemLeft" align="right" valign="top">static const constexpr char *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#a5315a83517cd15397842254a9926b1c4">TAG</a> = &quot;BNO08xRptRVGeneric&quot;</td></tr>
+<tr class="separator:a5315a83517cd15397842254a9926b1c4 inherit pro_static_attribs_class_b_n_o08x_rpt_r_v_generic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_static_attribs_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pro_static_attribs_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Static Protected Attributes inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:a201aeb71fefb0d9d485914176a82dd80 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">static const constexpr float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">RAD_2_DEG</a></td></tr>
+<tr class="memdesc:a201aeb71fefb0d9d485914176a82dd80 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constant for radian to degree conversions, sed in quaternion to euler function conversions.  <a href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">More...</a><br /></td></tr>
+<tr class="separator:a201aeb71fefb0d9d485914176a82dd80 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2c57f370fb08b793bb10ec22d5acca45 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">static const constexpr char *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a2c57f370fb08b793bb10ec22d5acca45">TAG</a> = &quot;BNO08xRpt&quot;</td></tr>
+<tr class="separator:a2c57f370fb08b793bb10ec22d5acca45 inherit pro_static_attribs_class_b_n_o08x_rpt"><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 >Class to represent geomagnetic rotation vector reports. (See Ref. Manual 6.5.20) </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a32bd70c7777973497b6d1b7f960bea0b" name="a32bd70c7777973497b6d1b7f960bea0b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a32bd70c7777973497b6d1b7f960bea0b">&#9670;&nbsp;</a></span>BNO08xRptRVGeomag()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">BNO08xRptRVGeomag::BNO08xRptRVGeomag </td>
+          <td>(</td>
+          <td class="paramtype">uint8_t&#160;</td>
+          <td class="paramname"><em>ID</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">EventBits_t&#160;</td>
+          <td class="paramname"><em>rpt_bit</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *&#160;</td>
+          <td class="paramname"><em>sync_ctx</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a622f024808e368b09c41ca1b5118a874" name="a622f024808e368b09c41ca1b5118a874"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a622f024808e368b09c41ca1b5118a874">&#9670;&nbsp;</a></span>tare()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08xRptRVGeomag::tare </td>
+          <td>(</td>
+          <td class="paramtype">bool&#160;</td>
+          <td class="paramname"><em>x</em> = <code>true</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">bool&#160;</td>
+          <td class="paramname"><em>y</em> = <code>true</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">bool&#160;</td>
+          <td class="paramname"><em>z</em> = <code>true</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Tares geomagnetic rotation vector. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">x</td><td>If true tare x axis (optional, default true). </td></tr>
+    <tr><td class="paramname">y</td><td>If true tare y axis (optional, default true). </td></tr>
+    <tr><td class="paramname">z</td><td>If true tare z axis (optional, default true).</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>True if tare operation succeeded. </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="#a2c62a41402f167a49025914a9800d062">&#9670;&nbsp;</a></span>tare_clear()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08xRptRVGeomag::tare_clear </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Clears most recent tare operation. </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>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_rpt_r_v_geomag_a2c62a41402f167a49025914a9800d062_cgraph.png" border="0" usemap="#aclass_b_n_o08x_rpt_r_v_geomag_a2c62a41402f167a49025914a9800d062_cgraph" alt=""/></div>
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+<a id="a57305f5f72067a56b037cf766fa2ee63" name="a57305f5f72067a56b037cf766fa2ee63"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a57305f5f72067a56b037cf766fa2ee63">&#9670;&nbsp;</a></span>tare_persist()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08xRptRVGeomag::tare_persist </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Saves most recent tare operation to <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> internal flash, such that it persists on reset. </p>
+<dl class="section return"><dt>Returns</dt><dd>True if tare operation succeeded. </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_rpt_r_v_geomag_a57305f5f72067a56b037cf766fa2ee63_cgraph.png" border="0" usemap="#aclass_b_n_o08x_rpt_r_v_geomag_a57305f5f72067a56b037cf766fa2ee63_cgraph" alt=""/></div>
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+</map>
+</div>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>/media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/report/<a class="el" href="_b_n_o08x_rpt_r_v_geomag_8hpp_source.html">BNO08xRptRVGeomag.hpp</a></li>
+<li>report/<a class="el" href="_b_n_o08x_rpt_r_v_geomag_8cpp.html">BNO08xRptRVGeomag.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_rpt_r_v_geomag.html">BNO08xRptRVGeomag</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> 1.9.4 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/documentation/html/class_b_n_o08x_rpt_r_v_geomag.js b/documentation/html/class_b_n_o08x_rpt_r_v_geomag.js
new file mode 100644
index 0000000..caade86
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_rpt_r_v_geomag.js
@@ -0,0 +1,7 @@
+var class_b_n_o08x_rpt_r_v_geomag =
+[
+    [ "BNO08xRptRVGeomag", "class_b_n_o08x_rpt_r_v_geomag.html#a32bd70c7777973497b6d1b7f960bea0b", null ],
+    [ "tare", "class_b_n_o08x_rpt_r_v_geomag.html#a622f024808e368b09c41ca1b5118a874", null ],
+    [ "tare_clear", "class_b_n_o08x_rpt_r_v_geomag.html#a2c62a41402f167a49025914a9800d062", null ],
+    [ "tare_persist", "class_b_n_o08x_rpt_r_v_geomag.html#a57305f5f72067a56b037cf766fa2ee63", null ]
+];
\ No newline at end of file
diff --git a/documentation/html/class_b_n_o08x_rpt_r_v_geomag__coll__graph.map b/documentation/html/class_b_n_o08x_rpt_r_v_geomag__coll__graph.map
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new file mode 100644
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diff --git a/documentation/html/class_b_n_o08x_rpt_r_v_geomag__inherit__graph.map b/documentation/html/class_b_n_o08x_rpt_r_v_geomag__inherit__graph.map
new file mode 100644
index 0000000..c5fd456
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diff --git a/documentation/html/class_b_n_o08x_rpt_r_v_geomag__inherit__graph.md5 b/documentation/html/class_b_n_o08x_rpt_r_v_geomag__inherit__graph.md5
new file mode 100644
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diff --git a/documentation/html/class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer-members.html b/documentation/html/class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer-members.html
new file mode 100644
index 0000000..2f0f2b3
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer-members.html
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+<html xmlns="http://www.w3.org/1999/xhtml">
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
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+<meta name="generator" content="Doxygen 1.9.4"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>esp32_BNO08x: Member List</title>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<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;1.4</span>
+   </div>
+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
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+<!-- Generated by Doxygen 1.9.4 -->
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+<div class="header">
+  <div class="headertitle"><div class="title">BNO08xRptRawMEMSAccelerometer 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_rpt_raw_m_e_m_s_accelerometer.html">BNO08xRptRawMEMSAccelerometer</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a15e8eebe3fe90ac19837e3860c76374c">BNO08xRpt</a>(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer.html#a1a7c70a4c2d2004fe827dfa834d789e7">BNO08xRptRawMEMSAccelerometer</a>(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer.html">BNO08xRptRawMEMSAccelerometer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">clear_sample_counts</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">disable</a>(sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer.html#a3cfc735c048700fe79a5674ad92b4b03">enable</a>(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg) override</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer.html">BNO08xRptRawMEMSAccelerometer</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">flush</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer.html#ae72428b3455327ecec5ee1c6ad065d56">get</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer.html">BNO08xRptRawMEMSAccelerometer</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">get_meta_data</a>(bno08x_meta_data_t &amp;meta_data)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">get_sample_counts</a>(bno08x_sample_counts_t &amp;sample_counts)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">has_new_data</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">lock_sh2_HAL</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">lock_user_data</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a1d4d6f4cc6f1eae503863eedf7fb9f52">period_us</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">RAD_2_DEG</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">register_cb</a>(std::function&lt; void(void)&gt; cb_fxn)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">rpt_enable</a>(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">signal_data_available</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">unlock_sh2_HAL</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">unlock_user_data</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+</table></div><!-- contents -->
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diff --git a/documentation/html/class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer.html b/documentation/html/class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer.html
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+<title>esp32_BNO08x: BNO08xRptRawMEMSAccelerometer Class Reference</title>
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+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</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 1.9.4 -->
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+        name="MSearchResults" id="MSearchResults">
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+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">BNO08xRptRawMEMSAccelerometer Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>Class to represent raw accelerometer reports. (See Ref. Manual 6.5.8)  
+ <a href="class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8hpp_source.html">report/BNO08xRptRawMEMSAccelerometer.hpp</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for BNO08xRptRawMEMSAccelerometer:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer__inherit__graph.png" border="0" usemap="#a_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_inherit__map" alt="Inheritance graph"/></div>
+<map name="a_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_inherit__map" id="a_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_inherit__map">
+<area shape="rect" title="Class to represent raw accelerometer reports. (See Ref. Manual 6.5.8)" alt="" coords="5,80,267,107"/>
+<area shape="rect" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x." alt="" coords="87,5,185,32"/>
+</map>
+<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for BNO08xRptRawMEMSAccelerometer:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer__coll__graph.png" border="0" usemap="#a_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_coll__map" alt="Collaboration graph"/></div>
+<map name="a_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_coll__map" id="a_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_coll__map">
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+<area shape="rect" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x." alt="" coords="87,109,185,136"/>
+<area shape="rect" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html" title="Holds context used to synchronize tasks and callback execution." alt="" coords="57,5,215,47"/>
+</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="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a1a7c70a4c2d2004fe827dfa834d789e7"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer.html#a1a7c70a4c2d2004fe827dfa834d789e7">BNO08xRptRawMEMSAccelerometer</a> (uint8_t <a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, EventBits_t <a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *<a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</td></tr>
+<tr class="separator:a1a7c70a4c2d2004fe827dfa834d789e7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3cfc735c048700fe79a5674ad92b4b03"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer.html#a3cfc735c048700fe79a5674ad92b4b03">enable</a> (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg) override</td></tr>
+<tr class="memdesc:a3cfc735c048700fe79a5674ad92b4b03"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enables raw accelerometer reports such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> begins sending them.  <a href="class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer.html#a3cfc735c048700fe79a5674ad92b4b03">More...</a><br /></td></tr>
+<tr class="separator:a3cfc735c048700fe79a5674ad92b4b03"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae72428b3455327ecec5ee1c6ad065d56"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structbno08x__raw__accel__t.html">bno08x_raw_accel_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer.html#ae72428b3455327ecec5ee1c6ad065d56">get</a> ()</td></tr>
+<tr class="memdesc:ae72428b3455327ecec5ee1c6ad065d56"><td class="mdescLeft">&#160;</td><td class="mdescRight">Grabs most recent raw accelerometer data, units are ADC counts, time_stamp in microseconds.  <a href="class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer.html#ae72428b3455327ecec5ee1c6ad065d56">More...</a><br /></td></tr>
+<tr class="separator:ae72428b3455327ecec5ee1c6ad065d56"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:a7d147e7540a4c6aa19749844e14cdadc inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">disable</a> (sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td></tr>
+<tr class="memdesc:a7d147e7540a4c6aa19749844e14cdadc inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Disables a sensor report by setting its period to 0us such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> stops sending it.  <a href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">More...</a><br /></td></tr>
+<tr class="separator:a7d147e7540a4c6aa19749844e14cdadc inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5b542b28c81fcd05cf2e3f3d2d437d46 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">register_cb</a> (std::function&lt; void(void)&gt; cb_fxn)</td></tr>
+<tr class="memdesc:a5b542b28c81fcd05cf2e3f3d2d437d46 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Registers a callback to execute when new data from a specific report is received.  <a href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">More...</a><br /></td></tr>
+<tr class="separator:a5b542b28c81fcd05cf2e3f3d2d437d46 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a74f6037286b51382535bab61680297ed inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">has_new_data</a> ()</td></tr>
+<tr class="memdesc:a74f6037286b51382535bab61680297ed inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Checks if a new report has been received since the last time this function was called.  <a href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">More...</a><br /></td></tr>
+<tr class="separator:a74f6037286b51382535bab61680297ed inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab3bb962696b135841ef7313bc631fc72 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">flush</a> ()</td></tr>
+<tr class="memdesc:ab3bb962696b135841ef7313bc631fc72 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Flush all buffered reports for this sensor/report module.  <a href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">More...</a><br /></td></tr>
+<tr class="separator:ab3bb962696b135841ef7313bc631fc72 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7ce8e48cadf59f49068af7f1cb680b38 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">get_sample_counts</a> (<a class="el" href="structbno08x__sample__counts__t.html">bno08x_sample_counts_t</a> &amp;sample_counts)</td></tr>
+<tr class="memdesc:a7ce8e48cadf59f49068af7f1cb680b38 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets sample counts for this sensor (see SH-2 ref manual 6.4.3.1)  <a href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">More...</a><br /></td></tr>
+<tr class="separator:a7ce8e48cadf59f49068af7f1cb680b38 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1418be33824d3102dbc8f92558a402a6 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">clear_sample_counts</a> ()</td></tr>
+<tr class="memdesc:a1418be33824d3102dbc8f92558a402a6 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Clears <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> internal sample counts for this sensor. (see SH-2 ref manual 6.4.3.1)  <a href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">More...</a><br /></td></tr>
+<tr class="separator:a1418be33824d3102dbc8f92558a402a6 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad5b054279b01204f61b4c0408acf51cf inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">get_meta_data</a> (<a class="el" href="structbno08x__meta__data__t.html">bno08x_meta_data_t</a> &amp;meta_data)</td></tr>
+<tr class="memdesc:ad5b054279b01204f61b4c0408acf51cf inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Retrieves meta data for this sensor/report by reading respective record in FRS (flash record system).  <a href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">More...</a><br /></td></tr>
+<tr class="separator:ad5b054279b01204f61b4c0408acf51cf inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4ee529725467412df396d5c610ff7bb4 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a4ee529725467412df396d5c610ff7bb4">enable</a> (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)=0</td></tr>
+<tr class="separator:a4ee529725467412df396d5c610ff7bb4 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="inherited" name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pro_methods_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:aa0bed98a9a497d1f39e8245d05b02e9c inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">rpt_enable</a> (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td></tr>
+<tr class="memdesc:aa0bed98a9a497d1f39e8245d05b02e9c inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enables a sensor report such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> begins sending it.  <a href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">More...</a><br /></td></tr>
+<tr class="separator:aa0bed98a9a497d1f39e8245d05b02e9c inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a970fb7e7d3745c62fec626f0ccf0759f inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a970fb7e7d3745c62fec626f0ccf0759f">update_data</a> (sh2_SensorValue_t *sensor_val)=0</td></tr>
+<tr class="separator:a970fb7e7d3745c62fec626f0ccf0759f inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a15e8eebe3fe90ac19837e3860c76374c inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a15e8eebe3fe90ac19837e3860c76374c">BNO08xRpt</a> (uint8_t <a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, EventBits_t <a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *<a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</td></tr>
+<tr class="memdesc:a15e8eebe3fe90ac19837e3860c76374c inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x.">BNO08xRpt</a> report constructor.  <a href="class_b_n_o08x_rpt.html#a15e8eebe3fe90ac19837e3860c76374c">More...</a><br /></td></tr>
+<tr class="separator:a15e8eebe3fe90ac19837e3860c76374c inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a61e3451e93806e1b7eaf5f1387726765 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">unlock_sh2_HAL</a> ()</td></tr>
+<tr class="memdesc:a61e3451e93806e1b7eaf5f1387726765 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Unlocks sh2 HAL lib to allow other tasks to call its APIs.  <a href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">More...</a><br /></td></tr>
+<tr class="separator:a61e3451e93806e1b7eaf5f1387726765 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7a5619a74c1237c5abde2e4bd6619d12 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">lock_sh2_HAL</a> ()</td></tr>
+<tr class="memdesc:a7a5619a74c1237c5abde2e4bd6619d12 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Locks sh2 HAL lib to only allow the calling task to call its APIs.  <a href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">More...</a><br /></td></tr>
+<tr class="separator:a7a5619a74c1237c5abde2e4bd6619d12 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a26bacc572187119339ec248bb4e7d6f3 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">unlock_user_data</a> ()</td></tr>
+<tr class="memdesc:a26bacc572187119339ec248bb4e7d6f3 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Unlocks user data to allow other tasks to read/modify it.  <a href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">More...</a><br /></td></tr>
+<tr class="separator:a26bacc572187119339ec248bb4e7d6f3 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a48e7b1a2c2ebc6b1f2f292735c0832a0 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">lock_user_data</a> ()</td></tr>
+<tr class="memdesc:a48e7b1a2c2ebc6b1f2f292735c0832a0 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Locks locks user data to only allow the calling task to read/modify it.  <a href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">More...</a><br /></td></tr>
+<tr class="separator:a48e7b1a2c2ebc6b1f2f292735c0832a0 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a47a623eb0a1db51af76a03a103c32329 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">signal_data_available</a> ()</td></tr>
+<tr class="memdesc:a47a623eb0a1db51af76a03a103c32329 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Signals to <a class="el" href="class_b_n_o08x.html#a367d525d1c0ba119b3dca3067bb5bccc" title="Polls for new data/report to become available.">BNO08x::data_available()</a> that a new report has arrived.  <a href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">More...</a><br /></td></tr>
+<tr class="separator:a47a623eb0a1db51af76a03a103c32329 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_attribs_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:a63cd4ac9e96baa43eebe580f03307512 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a></td></tr>
+<tr class="memdesc:a63cd4ac9e96baa43eebe580f03307512 inherit pro_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Report ID, ex. SH2_ACCELERATION.  <a href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">More...</a><br /></td></tr>
+<tr class="separator:a63cd4ac9e96baa43eebe580f03307512 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae78feab5682a4697c5acad3ca6f12c2e inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">EventBits_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a></td></tr>
+<tr class="memdesc:ae78feab5682a4697c5acad3ca6f12c2e inherit pro_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Respective enable and data bit for report in evt_grp_rpt_en and evt_grp_rpt_data.  <a href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">More...</a><br /></td></tr>
+<tr class="separator:ae78feab5682a4697c5acad3ca6f12c2e inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1d4d6f4cc6f1eae503863eedf7fb9f52 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">uint32_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a1d4d6f4cc6f1eae503863eedf7fb9f52">period_us</a></td></tr>
+<tr class="memdesc:a1d4d6f4cc6f1eae503863eedf7fb9f52 inherit pro_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">The period/interval of the report in microseconds.  <a href="class_b_n_o08x_rpt.html#a1d4d6f4cc6f1eae503863eedf7fb9f52">More...</a><br /></td></tr>
+<tr class="separator:a1d4d6f4cc6f1eae503863eedf7fb9f52 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5a1404a08918d66bb0f41f55220db6e5 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top"><a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a></td></tr>
+<tr class="separator:a5a1404a08918d66bb0f41f55220db6e5 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_static_attribs_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pro_static_attribs_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Static Protected Attributes inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:a201aeb71fefb0d9d485914176a82dd80 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">static const constexpr float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">RAD_2_DEG</a></td></tr>
+<tr class="memdesc:a201aeb71fefb0d9d485914176a82dd80 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constant for radian to degree conversions, sed in quaternion to euler function conversions.  <a href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">More...</a><br /></td></tr>
+<tr class="separator:a201aeb71fefb0d9d485914176a82dd80 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2c57f370fb08b793bb10ec22d5acca45 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">static const constexpr char *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a2c57f370fb08b793bb10ec22d5acca45">TAG</a> = &quot;BNO08xRpt&quot;</td></tr>
+<tr class="separator:a2c57f370fb08b793bb10ec22d5acca45 inherit pro_static_attribs_class_b_n_o08x_rpt"><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 >Class to represent raw accelerometer reports. (See Ref. Manual 6.5.8) </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a1a7c70a4c2d2004fe827dfa834d789e7" name="a1a7c70a4c2d2004fe827dfa834d789e7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1a7c70a4c2d2004fe827dfa834d789e7">&#9670;&nbsp;</a></span>BNO08xRptRawMEMSAccelerometer()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">BNO08xRptRawMEMSAccelerometer::BNO08xRptRawMEMSAccelerometer </td>
+          <td>(</td>
+          <td class="paramtype">uint8_t&#160;</td>
+          <td class="paramname"><em>ID</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">EventBits_t&#160;</td>
+          <td class="paramname"><em>rpt_bit</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *&#160;</td>
+          <td class="paramname"><em>sync_ctx</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a3cfc735c048700fe79a5674ad92b4b03" name="a3cfc735c048700fe79a5674ad92b4b03"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3cfc735c048700fe79a5674ad92b4b03">&#9670;&nbsp;</a></span>enable()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08xRptRawMEMSAccelerometer::enable </td>
+          <td>(</td>
+          <td class="paramtype">uint32_t&#160;</td>
+          <td class="paramname"><em>time_between_reports</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">sh2_SensorConfig_t&#160;</td>
+          <td class="paramname"><em>sensor_cfg</em> = <code>BNO08xPrivateTypes::default_sensor_cfg</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Enables raw accelerometer reports such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> begins sending them. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">report_period_us</td><td>The period/interval of the report in microseconds. </td></tr>
+    <tr><td class="paramname">sensor_cfg</td><td>Sensor special configuration (optional, see BNO08xPrivateTypes::default_sensor_cfg for defaults).</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>True if report was successfully enabled. </dd></dl>
+
+<p>Implements <a class="el" href="class_b_n_o08x_rpt.html#a4ee529725467412df396d5c610ff7bb4">BNO08xRpt</a>.</p>
+<div class="dynheader">
+Here is the call graph for this function:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_a3cfc735c048700fe79a5674ad92b4b03_cgraph.png" border="0" usemap="#aclass_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_a3cfc735c048700fe79a5674ad92b4b03_cgraph" alt=""/></div>
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+<h2 class="memtitle"><span class="permalink"><a href="#ae72428b3455327ecec5ee1c6ad065d56">&#9670;&nbsp;</a></span>get()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="structbno08x__raw__accel__t.html">bno08x_raw_accel_t</a> BNO08xRptRawMEMSAccelerometer::get </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Grabs most recent raw accelerometer data, units are ADC counts, time_stamp in microseconds. </p>
+<dl class="section return"><dt>Returns</dt><dd>Struct containing requested data. </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_rpt_raw_m_e_m_s_accelerometer_ae72428b3455327ecec5ee1c6ad065d56_cgraph.png" border="0" usemap="#aclass_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_ae72428b3455327ecec5ee1c6ad065d56_cgraph" alt=""/></div>
+<map name="aclass_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_ae72428b3455327ecec5ee1c6ad065d56_cgraph" id="aclass_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_ae72428b3455327ecec5ee1c6ad065d56_cgraph">
+<area shape="rect" title="Grabs most recent raw accelerometer data, units are ADC counts, time_stamp in microseconds." alt="" coords="5,31,296,57"/>
+<area shape="rect" href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0" title="Locks locks user data to only allow the calling task to read/modify it." alt="" coords="352,5,555,32"/>
+<area shape="rect" href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3" title="Unlocks user data to allow other tasks to read/modify it." alt="" coords="344,56,563,83"/>
+</map>
+</div>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>/media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/report/<a class="el" href="_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8hpp_source.html">BNO08xRptRawMEMSAccelerometer.hpp</a></li>
+<li>report/<a class="el" href="_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8cpp.html">BNO08xRptRawMEMSAccelerometer.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_rpt_raw_m_e_m_s_accelerometer.html">BNO08xRptRawMEMSAccelerometer</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> 1.9.4 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/documentation/html/class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer.js b/documentation/html/class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer.js
new file mode 100644
index 0000000..eef77f6
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer.js
@@ -0,0 +1,6 @@
+var class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer =
+[
+    [ "BNO08xRptRawMEMSAccelerometer", "class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer.html#a1a7c70a4c2d2004fe827dfa834d789e7", null ],
+    [ "enable", "class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer.html#a3cfc735c048700fe79a5674ad92b4b03", null ],
+    [ "get", "class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer.html#ae72428b3455327ecec5ee1c6ad065d56", null ]
+];
\ No newline at end of file
diff --git a/documentation/html/class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer__coll__graph.map b/documentation/html/class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer__coll__graph.map
new file mode 100644
index 0000000..aa154d7
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer__coll__graph.map
@@ -0,0 +1,5 @@
+<map id="BNO08xRptRawMEMSAccelerometer" name="BNO08xRptRawMEMSAccelerometer">
+<area shape="rect" id="node1" title="Class to represent raw accelerometer reports. (See Ref. Manual 6.5.8)" alt="" coords="5,185,267,212"/>
+<area shape="rect" id="node2" href="$class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x." alt="" coords="87,109,185,136"/>
+<area shape="rect" id="node3" href="$struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html" title="Holds context used to synchronize tasks and callback execution." alt="" coords="57,5,215,47"/>
+</map>
diff --git a/documentation/html/class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer__coll__graph.md5 b/documentation/html/class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer__coll__graph.md5
new file mode 100644
index 0000000..39a69f8
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer__coll__graph.md5
@@ -0,0 +1 @@
+db63f31ef7746d30a56d5939b96c575b
\ No newline at end of file
diff --git a/documentation/html/class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer__coll__graph.png b/documentation/html/class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer__coll__graph.png
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diff --git a/documentation/html/class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer__inherit__graph.map b/documentation/html/class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer__inherit__graph.map
new file mode 100644
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diff --git a/documentation/html/class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer__inherit__graph.md5 b/documentation/html/class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer__inherit__graph.md5
new file mode 100644
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new file mode 100644
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diff --git a/documentation/html/class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_ae72428b3455327ecec5ee1c6ad065d56_cgraph.md5 b/documentation/html/class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_ae72428b3455327ecec5ee1c6ad065d56_cgraph.md5
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diff --git a/documentation/html/class_b_n_o08x_rpt_raw_m_e_m_s_gyro-members.html b/documentation/html/class_b_n_o08x_rpt_raw_m_e_m_s_gyro-members.html
new file mode 100644
index 0000000..a8c7efe
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_rpt_raw_m_e_m_s_gyro-members.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 1.9.4"/>
+<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>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
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+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.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;1.4</span>
+   </div>
+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
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+<!-- Generated by Doxygen 1.9.4 -->
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+<div class="header">
+  <div class="headertitle"><div class="title">BNO08xRptRawMEMSGyro 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_rpt_raw_m_e_m_s_gyro.html">BNO08xRptRawMEMSGyro</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a15e8eebe3fe90ac19837e3860c76374c">BNO08xRpt</a>(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_raw_m_e_m_s_gyro.html#a9ad8a6a41c6680302f5ddb8154360ba2">BNO08xRptRawMEMSGyro</a>(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_raw_m_e_m_s_gyro.html">BNO08xRptRawMEMSGyro</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">clear_sample_counts</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">disable</a>(sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_raw_m_e_m_s_gyro.html#ae872f24befd81352f812bc998acb573d">enable</a>(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg) override</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_raw_m_e_m_s_gyro.html">BNO08xRptRawMEMSGyro</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">flush</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_raw_m_e_m_s_gyro.html#ac9a43087ac86ca6d2309adae996747d5">get</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_raw_m_e_m_s_gyro.html">BNO08xRptRawMEMSGyro</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">get_meta_data</a>(bno08x_meta_data_t &amp;meta_data)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">get_sample_counts</a>(bno08x_sample_counts_t &amp;sample_counts)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">has_new_data</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">lock_sh2_HAL</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
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+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a1d4d6f4cc6f1eae503863eedf7fb9f52">period_us</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">RAD_2_DEG</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">register_cb</a>(std::function&lt; void(void)&gt; cb_fxn)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">rpt_enable</a>(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">signal_data_available</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">unlock_sh2_HAL</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">unlock_user_data</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+</table></div><!-- contents -->
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diff --git a/documentation/html/class_b_n_o08x_rpt_raw_m_e_m_s_gyro.html b/documentation/html/class_b_n_o08x_rpt_raw_m_e_m_s_gyro.html
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+<title>esp32_BNO08x: BNO08xRptRawMEMSGyro Class Reference</title>
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+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
+   </div>
+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
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+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.4 -->
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+        name="MSearchResults" id="MSearchResults">
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+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="class_b_n_o08x_rpt_raw_m_e_m_s_gyro-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">BNO08xRptRawMEMSGyro Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>Class to represent raw gyro reports. (See Ref. Manual 6.5.12)  
+ <a href="class_b_n_o08x_rpt_raw_m_e_m_s_gyro.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="_b_n_o08x_rpt_raw_m_e_m_s_gyro_8hpp_source.html">report/BNO08xRptRawMEMSGyro.hpp</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for BNO08xRptRawMEMSGyro:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_rpt_raw_m_e_m_s_gyro__inherit__graph.png" border="0" usemap="#a_b_n_o08x_rpt_raw_m_e_m_s_gyro_inherit__map" alt="Inheritance graph"/></div>
+<map name="a_b_n_o08x_rpt_raw_m_e_m_s_gyro_inherit__map" id="a_b_n_o08x_rpt_raw_m_e_m_s_gyro_inherit__map">
+<area shape="rect" title="Class to represent raw gyro reports. (See Ref. Manual 6.5.12)" alt="" coords="5,80,201,107"/>
+<area shape="rect" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x." alt="" coords="55,5,152,32"/>
+</map>
+<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for BNO08xRptRawMEMSGyro:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_rpt_raw_m_e_m_s_gyro__coll__graph.png" border="0" usemap="#a_b_n_o08x_rpt_raw_m_e_m_s_gyro_coll__map" alt="Collaboration graph"/></div>
+<map name="a_b_n_o08x_rpt_raw_m_e_m_s_gyro_coll__map" id="a_b_n_o08x_rpt_raw_m_e_m_s_gyro_coll__map">
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+<area shape="rect" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x." alt="" coords="55,109,152,136"/>
+<area shape="rect" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html" title="Holds context used to synchronize tasks and callback execution." alt="" coords="24,5,183,47"/>
+</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="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a9ad8a6a41c6680302f5ddb8154360ba2"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_raw_m_e_m_s_gyro.html#a9ad8a6a41c6680302f5ddb8154360ba2">BNO08xRptRawMEMSGyro</a> (uint8_t <a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, EventBits_t <a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *<a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</td></tr>
+<tr class="separator:a9ad8a6a41c6680302f5ddb8154360ba2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae872f24befd81352f812bc998acb573d"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_raw_m_e_m_s_gyro.html#ae872f24befd81352f812bc998acb573d">enable</a> (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg) override</td></tr>
+<tr class="memdesc:ae872f24befd81352f812bc998acb573d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enables raw gyro reports such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> begins sending them.  <a href="class_b_n_o08x_rpt_raw_m_e_m_s_gyro.html#ae872f24befd81352f812bc998acb573d">More...</a><br /></td></tr>
+<tr class="separator:ae872f24befd81352f812bc998acb573d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac9a43087ac86ca6d2309adae996747d5"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structbno08x__raw__gyro__t.html">bno08x_raw_gyro_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_raw_m_e_m_s_gyro.html#ac9a43087ac86ca6d2309adae996747d5">get</a> ()</td></tr>
+<tr class="memdesc:ac9a43087ac86ca6d2309adae996747d5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Grabs most recent raw mems gyro report (units in ADC counts, time_stamp in microseconds)  <a href="class_b_n_o08x_rpt_raw_m_e_m_s_gyro.html#ac9a43087ac86ca6d2309adae996747d5">More...</a><br /></td></tr>
+<tr class="separator:ac9a43087ac86ca6d2309adae996747d5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:a7d147e7540a4c6aa19749844e14cdadc inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">disable</a> (sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td></tr>
+<tr class="memdesc:a7d147e7540a4c6aa19749844e14cdadc inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Disables a sensor report by setting its period to 0us such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> stops sending it.  <a href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">More...</a><br /></td></tr>
+<tr class="separator:a7d147e7540a4c6aa19749844e14cdadc inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5b542b28c81fcd05cf2e3f3d2d437d46 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">register_cb</a> (std::function&lt; void(void)&gt; cb_fxn)</td></tr>
+<tr class="memdesc:a5b542b28c81fcd05cf2e3f3d2d437d46 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Registers a callback to execute when new data from a specific report is received.  <a href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">More...</a><br /></td></tr>
+<tr class="separator:a5b542b28c81fcd05cf2e3f3d2d437d46 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a74f6037286b51382535bab61680297ed inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">has_new_data</a> ()</td></tr>
+<tr class="memdesc:a74f6037286b51382535bab61680297ed inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Checks if a new report has been received since the last time this function was called.  <a href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">More...</a><br /></td></tr>
+<tr class="separator:a74f6037286b51382535bab61680297ed inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab3bb962696b135841ef7313bc631fc72 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">flush</a> ()</td></tr>
+<tr class="memdesc:ab3bb962696b135841ef7313bc631fc72 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Flush all buffered reports for this sensor/report module.  <a href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">More...</a><br /></td></tr>
+<tr class="separator:ab3bb962696b135841ef7313bc631fc72 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7ce8e48cadf59f49068af7f1cb680b38 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">get_sample_counts</a> (<a class="el" href="structbno08x__sample__counts__t.html">bno08x_sample_counts_t</a> &amp;sample_counts)</td></tr>
+<tr class="memdesc:a7ce8e48cadf59f49068af7f1cb680b38 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets sample counts for this sensor (see SH-2 ref manual 6.4.3.1)  <a href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">More...</a><br /></td></tr>
+<tr class="separator:a7ce8e48cadf59f49068af7f1cb680b38 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1418be33824d3102dbc8f92558a402a6 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">clear_sample_counts</a> ()</td></tr>
+<tr class="memdesc:a1418be33824d3102dbc8f92558a402a6 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Clears <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> internal sample counts for this sensor. (see SH-2 ref manual 6.4.3.1)  <a href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">More...</a><br /></td></tr>
+<tr class="separator:a1418be33824d3102dbc8f92558a402a6 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad5b054279b01204f61b4c0408acf51cf inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">get_meta_data</a> (<a class="el" href="structbno08x__meta__data__t.html">bno08x_meta_data_t</a> &amp;meta_data)</td></tr>
+<tr class="memdesc:ad5b054279b01204f61b4c0408acf51cf inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Retrieves meta data for this sensor/report by reading respective record in FRS (flash record system).  <a href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">More...</a><br /></td></tr>
+<tr class="separator:ad5b054279b01204f61b4c0408acf51cf inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4ee529725467412df396d5c610ff7bb4 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a4ee529725467412df396d5c610ff7bb4">enable</a> (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)=0</td></tr>
+<tr class="separator:a4ee529725467412df396d5c610ff7bb4 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="inherited" name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pro_methods_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:aa0bed98a9a497d1f39e8245d05b02e9c inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">rpt_enable</a> (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td></tr>
+<tr class="memdesc:aa0bed98a9a497d1f39e8245d05b02e9c inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enables a sensor report such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> begins sending it.  <a href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">More...</a><br /></td></tr>
+<tr class="separator:aa0bed98a9a497d1f39e8245d05b02e9c inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a970fb7e7d3745c62fec626f0ccf0759f inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a970fb7e7d3745c62fec626f0ccf0759f">update_data</a> (sh2_SensorValue_t *sensor_val)=0</td></tr>
+<tr class="separator:a970fb7e7d3745c62fec626f0ccf0759f inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a15e8eebe3fe90ac19837e3860c76374c inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x.">BNO08xRpt</a> report constructor.  <a href="class_b_n_o08x_rpt.html#a15e8eebe3fe90ac19837e3860c76374c">More...</a><br /></td></tr>
+<tr class="separator:a15e8eebe3fe90ac19837e3860c76374c inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a61e3451e93806e1b7eaf5f1387726765 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">unlock_sh2_HAL</a> ()</td></tr>
+<tr class="memdesc:a61e3451e93806e1b7eaf5f1387726765 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Unlocks sh2 HAL lib to allow other tasks to call its APIs.  <a href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">More...</a><br /></td></tr>
+<tr class="separator:a61e3451e93806e1b7eaf5f1387726765 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7a5619a74c1237c5abde2e4bd6619d12 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">lock_sh2_HAL</a> ()</td></tr>
+<tr class="memdesc:a7a5619a74c1237c5abde2e4bd6619d12 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Locks sh2 HAL lib to only allow the calling task to call its APIs.  <a href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">More...</a><br /></td></tr>
+<tr class="separator:a7a5619a74c1237c5abde2e4bd6619d12 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a26bacc572187119339ec248bb4e7d6f3 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">unlock_user_data</a> ()</td></tr>
+<tr class="memdesc:a26bacc572187119339ec248bb4e7d6f3 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Unlocks user data to allow other tasks to read/modify it.  <a href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">More...</a><br /></td></tr>
+<tr class="separator:a26bacc572187119339ec248bb4e7d6f3 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a48e7b1a2c2ebc6b1f2f292735c0832a0 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">lock_user_data</a> ()</td></tr>
+<tr class="memdesc:a48e7b1a2c2ebc6b1f2f292735c0832a0 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Locks locks user data to only allow the calling task to read/modify it.  <a href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">More...</a><br /></td></tr>
+<tr class="separator:a48e7b1a2c2ebc6b1f2f292735c0832a0 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a47a623eb0a1db51af76a03a103c32329 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">signal_data_available</a> ()</td></tr>
+<tr class="memdesc:a47a623eb0a1db51af76a03a103c32329 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Signals to <a class="el" href="class_b_n_o08x.html#a367d525d1c0ba119b3dca3067bb5bccc" title="Polls for new data/report to become available.">BNO08x::data_available()</a> that a new report has arrived.  <a href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">More...</a><br /></td></tr>
+<tr class="separator:a47a623eb0a1db51af76a03a103c32329 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_attribs_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:a63cd4ac9e96baa43eebe580f03307512 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a></td></tr>
+<tr class="memdesc:a63cd4ac9e96baa43eebe580f03307512 inherit pro_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Report ID, ex. SH2_ACCELERATION.  <a href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">More...</a><br /></td></tr>
+<tr class="separator:a63cd4ac9e96baa43eebe580f03307512 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae78feab5682a4697c5acad3ca6f12c2e inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">EventBits_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a></td></tr>
+<tr class="memdesc:ae78feab5682a4697c5acad3ca6f12c2e inherit pro_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Respective enable and data bit for report in evt_grp_rpt_en and evt_grp_rpt_data.  <a href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">More...</a><br /></td></tr>
+<tr class="separator:ae78feab5682a4697c5acad3ca6f12c2e inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1d4d6f4cc6f1eae503863eedf7fb9f52 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">uint32_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a1d4d6f4cc6f1eae503863eedf7fb9f52">period_us</a></td></tr>
+<tr class="memdesc:a1d4d6f4cc6f1eae503863eedf7fb9f52 inherit pro_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">The period/interval of the report in microseconds.  <a href="class_b_n_o08x_rpt.html#a1d4d6f4cc6f1eae503863eedf7fb9f52">More...</a><br /></td></tr>
+<tr class="separator:a1d4d6f4cc6f1eae503863eedf7fb9f52 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a5a1404a08918d66bb0f41f55220db6e5 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_static_attribs_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pro_static_attribs_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Static Protected Attributes inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:a201aeb71fefb0d9d485914176a82dd80 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">static const constexpr float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">RAD_2_DEG</a></td></tr>
+<tr class="memdesc:a201aeb71fefb0d9d485914176a82dd80 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constant for radian to degree conversions, sed in quaternion to euler function conversions.  <a href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">More...</a><br /></td></tr>
+<tr class="separator:a201aeb71fefb0d9d485914176a82dd80 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2c57f370fb08b793bb10ec22d5acca45 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">static const constexpr char *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a2c57f370fb08b793bb10ec22d5acca45">TAG</a> = &quot;BNO08xRpt&quot;</td></tr>
+<tr class="separator:a2c57f370fb08b793bb10ec22d5acca45 inherit pro_static_attribs_class_b_n_o08x_rpt"><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 >Class to represent raw gyro reports. (See Ref. Manual 6.5.12) </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a9ad8a6a41c6680302f5ddb8154360ba2" name="a9ad8a6a41c6680302f5ddb8154360ba2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9ad8a6a41c6680302f5ddb8154360ba2">&#9670;&nbsp;</a></span>BNO08xRptRawMEMSGyro()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">BNO08xRptRawMEMSGyro::BNO08xRptRawMEMSGyro </td>
+          <td>(</td>
+          <td class="paramtype">uint8_t&#160;</td>
+          <td class="paramname"><em>ID</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">EventBits_t&#160;</td>
+          <td class="paramname"><em>rpt_bit</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *&#160;</td>
+          <td class="paramname"><em>sync_ctx</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="ae872f24befd81352f812bc998acb573d" name="ae872f24befd81352f812bc998acb573d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae872f24befd81352f812bc998acb573d">&#9670;&nbsp;</a></span>enable()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08xRptRawMEMSGyro::enable </td>
+          <td>(</td>
+          <td class="paramtype">uint32_t&#160;</td>
+          <td class="paramname"><em>time_between_reports</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">sh2_SensorConfig_t&#160;</td>
+          <td class="paramname"><em>sensor_cfg</em> = <code>BNO08xPrivateTypes::default_sensor_cfg</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Enables raw gyro reports such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> begins sending them. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">report_period_us</td><td>The period/interval of the report in microseconds. </td></tr>
+    <tr><td class="paramname">sensor_cfg</td><td>Sensor special configuration (optional, see BNO08xPrivateTypes::default_sensor_cfg for defaults).</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>True if report was successfully enabled. </dd></dl>
+
+<p>Implements <a class="el" href="class_b_n_o08x_rpt.html#a4ee529725467412df396d5c610ff7bb4">BNO08xRpt</a>.</p>
+<div class="dynheader">
+Here is the call graph for this function:</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#ac9a43087ac86ca6d2309adae996747d5">&#9670;&nbsp;</a></span>get()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="structbno08x__raw__gyro__t.html">bno08x_raw_gyro_t</a> BNO08xRptRawMEMSGyro::get </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Grabs most recent raw mems gyro report (units in ADC counts, time_stamp in microseconds) </p>
+<dl class="section return"><dt>Returns</dt><dd>Struct containing requested data. </dd></dl>
+<div class="dynheader">
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+<area shape="rect" href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0" title="Locks locks user data to only allow the calling task to read/modify it." alt="" coords="287,5,489,32"/>
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+</map>
+</div>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>/media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/report/<a class="el" href="_b_n_o08x_rpt_raw_m_e_m_s_gyro_8hpp_source.html">BNO08xRptRawMEMSGyro.hpp</a></li>
+<li>report/<a class="el" href="_b_n_o08x_rpt_raw_m_e_m_s_gyro_8cpp.html">BNO08xRptRawMEMSGyro.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_rpt_raw_m_e_m_s_gyro.html">BNO08xRptRawMEMSGyro</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> 1.9.4 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/documentation/html/class_b_n_o08x_rpt_raw_m_e_m_s_gyro.js b/documentation/html/class_b_n_o08x_rpt_raw_m_e_m_s_gyro.js
new file mode 100644
index 0000000..54250e3
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_rpt_raw_m_e_m_s_gyro.js
@@ -0,0 +1,6 @@
+var class_b_n_o08x_rpt_raw_m_e_m_s_gyro =
+[
+    [ "BNO08xRptRawMEMSGyro", "class_b_n_o08x_rpt_raw_m_e_m_s_gyro.html#a9ad8a6a41c6680302f5ddb8154360ba2", null ],
+    [ "enable", "class_b_n_o08x_rpt_raw_m_e_m_s_gyro.html#ae872f24befd81352f812bc998acb573d", null ],
+    [ "get", "class_b_n_o08x_rpt_raw_m_e_m_s_gyro.html#ac9a43087ac86ca6d2309adae996747d5", null ]
+];
\ No newline at end of file
diff --git a/documentation/html/class_b_n_o08x_rpt_raw_m_e_m_s_gyro__coll__graph.map b/documentation/html/class_b_n_o08x_rpt_raw_m_e_m_s_gyro__coll__graph.map
new file mode 100644
index 0000000..b52ba85
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_rpt_raw_m_e_m_s_gyro__coll__graph.map
@@ -0,0 +1,5 @@
+<map id="BNO08xRptRawMEMSGyro" name="BNO08xRptRawMEMSGyro">
+<area shape="rect" id="node1" title="Class to represent raw gyro reports. (See Ref. Manual 6.5.12)" alt="" coords="5,185,201,212"/>
+<area shape="rect" id="node2" href="$class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x." alt="" coords="55,109,152,136"/>
+<area shape="rect" id="node3" href="$struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html" title="Holds context used to synchronize tasks and callback execution." alt="" coords="24,5,183,47"/>
+</map>
diff --git a/documentation/html/class_b_n_o08x_rpt_raw_m_e_m_s_gyro__coll__graph.md5 b/documentation/html/class_b_n_o08x_rpt_raw_m_e_m_s_gyro__coll__graph.md5
new file mode 100644
index 0000000..2c85e8c
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_rpt_raw_m_e_m_s_gyro__coll__graph.md5
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diff --git a/documentation/html/class_b_n_o08x_rpt_raw_m_e_m_s_gyro_ac9a43087ac86ca6d2309adae996747d5_cgraph.map b/documentation/html/class_b_n_o08x_rpt_raw_m_e_m_s_gyro_ac9a43087ac86ca6d2309adae996747d5_cgraph.map
new file mode 100644
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diff --git a/documentation/html/class_b_n_o08x_rpt_raw_m_e_m_s_gyro_ac9a43087ac86ca6d2309adae996747d5_cgraph.md5 b/documentation/html/class_b_n_o08x_rpt_raw_m_e_m_s_gyro_ac9a43087ac86ca6d2309adae996747d5_cgraph.md5
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diff --git a/documentation/html/class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer-members.html b/documentation/html/class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer-members.html
new file mode 100644
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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;1.4</span>
+   </div>
+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
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+  <div class="headertitle"><div class="title">BNO08xRptRawMEMSMagnetometer 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_rpt_raw_m_e_m_s_magnetometer.html">BNO08xRptRawMEMSMagnetometer</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a15e8eebe3fe90ac19837e3860c76374c">BNO08xRpt</a>(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer.html#a1033eaa9b7533a381781c8a750bac04b">BNO08xRptRawMEMSMagnetometer</a>(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer.html">BNO08xRptRawMEMSMagnetometer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">clear_sample_counts</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">disable</a>(sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
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+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">flush</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer.html#a44247c8dbd3376ff81599c192b7dfc71">get</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer.html">BNO08xRptRawMEMSMagnetometer</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">get_meta_data</a>(bno08x_meta_data_t &amp;meta_data)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">get_sample_counts</a>(bno08x_sample_counts_t &amp;sample_counts)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">has_new_data</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">lock_sh2_HAL</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">lock_user_data</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a1d4d6f4cc6f1eae503863eedf7fb9f52">period_us</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">RAD_2_DEG</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">register_cb</a>(std::function&lt; void(void)&gt; cb_fxn)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">rpt_enable</a>(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">signal_data_available</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">unlock_sh2_HAL</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">unlock_user_data</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+</table></div><!-- contents -->
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diff --git a/documentation/html/class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer.html b/documentation/html/class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer.html
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+<title>esp32_BNO08x: BNO08xRptRawMEMSMagnetometer Class Reference</title>
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+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
+   </div>
+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
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+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.4 -->
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+        name="MSearchResults" id="MSearchResults">
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+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">BNO08xRptRawMEMSMagnetometer Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>Class to represent raw magnetometer reports. (See Ref. Manual 6.5.15)  
+ <a href="class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8hpp_source.html">report/BNO08xRptRawMEMSMagnetometer.hpp</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for BNO08xRptRawMEMSMagnetometer:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer__inherit__graph.png" border="0" usemap="#a_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_inherit__map" alt="Inheritance graph"/></div>
+<map name="a_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_inherit__map" id="a_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_inherit__map">
+<area shape="rect" title="Class to represent raw magnetometer reports. (See Ref. Manual 6.5.15)" alt="" coords="5,80,267,107"/>
+<area shape="rect" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x." alt="" coords="87,5,185,32"/>
+</map>
+<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for BNO08xRptRawMEMSMagnetometer:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer__coll__graph.png" border="0" usemap="#a_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_coll__map" alt="Collaboration graph"/></div>
+<map name="a_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_coll__map" id="a_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_coll__map">
+<area shape="rect" title="Class to represent raw magnetometer reports. (See Ref. Manual 6.5.15)" alt="" coords="5,185,267,212"/>
+<area shape="rect" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x." alt="" coords="87,109,185,136"/>
+<area shape="rect" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html" title="Holds context used to synchronize tasks and callback execution." alt="" coords="57,5,215,47"/>
+</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="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a1033eaa9b7533a381781c8a750bac04b"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer.html#a1033eaa9b7533a381781c8a750bac04b">BNO08xRptRawMEMSMagnetometer</a> (uint8_t <a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, EventBits_t <a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *<a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</td></tr>
+<tr class="separator:a1033eaa9b7533a381781c8a750bac04b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a92832fd0bff6abddbbd87779de5b57fb"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer.html#a92832fd0bff6abddbbd87779de5b57fb">enable</a> (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg) override</td></tr>
+<tr class="memdesc:a92832fd0bff6abddbbd87779de5b57fb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enables raw magnetometer such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> begins sending them.  <a href="class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer.html#a92832fd0bff6abddbbd87779de5b57fb">More...</a><br /></td></tr>
+<tr class="separator:a92832fd0bff6abddbbd87779de5b57fb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a44247c8dbd3376ff81599c192b7dfc71"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structbno08x__raw__magf__t.html">bno08x_raw_magf_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer.html#a44247c8dbd3376ff81599c192b7dfc71">get</a> ()</td></tr>
+<tr class="memdesc:a44247c8dbd3376ff81599c192b7dfc71"><td class="mdescLeft">&#160;</td><td class="mdescRight">Grabs most recent raw magnetometer data, units are ADC counts, time_stamp in microseconds.  <a href="class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer.html#a44247c8dbd3376ff81599c192b7dfc71">More...</a><br /></td></tr>
+<tr class="separator:a44247c8dbd3376ff81599c192b7dfc71"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:a7d147e7540a4c6aa19749844e14cdadc inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">disable</a> (sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td></tr>
+<tr class="memdesc:a7d147e7540a4c6aa19749844e14cdadc inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Disables a sensor report by setting its period to 0us such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> stops sending it.  <a href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">More...</a><br /></td></tr>
+<tr class="separator:a7d147e7540a4c6aa19749844e14cdadc inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5b542b28c81fcd05cf2e3f3d2d437d46 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">register_cb</a> (std::function&lt; void(void)&gt; cb_fxn)</td></tr>
+<tr class="memdesc:a5b542b28c81fcd05cf2e3f3d2d437d46 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Registers a callback to execute when new data from a specific report is received.  <a href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">More...</a><br /></td></tr>
+<tr class="separator:a5b542b28c81fcd05cf2e3f3d2d437d46 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a74f6037286b51382535bab61680297ed inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">has_new_data</a> ()</td></tr>
+<tr class="memdesc:a74f6037286b51382535bab61680297ed inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Checks if a new report has been received since the last time this function was called.  <a href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">More...</a><br /></td></tr>
+<tr class="separator:a74f6037286b51382535bab61680297ed inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab3bb962696b135841ef7313bc631fc72 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">flush</a> ()</td></tr>
+<tr class="memdesc:ab3bb962696b135841ef7313bc631fc72 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Flush all buffered reports for this sensor/report module.  <a href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">More...</a><br /></td></tr>
+<tr class="separator:ab3bb962696b135841ef7313bc631fc72 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7ce8e48cadf59f49068af7f1cb680b38 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">get_sample_counts</a> (<a class="el" href="structbno08x__sample__counts__t.html">bno08x_sample_counts_t</a> &amp;sample_counts)</td></tr>
+<tr class="memdesc:a7ce8e48cadf59f49068af7f1cb680b38 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets sample counts for this sensor (see SH-2 ref manual 6.4.3.1)  <a href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">More...</a><br /></td></tr>
+<tr class="separator:a7ce8e48cadf59f49068af7f1cb680b38 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1418be33824d3102dbc8f92558a402a6 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">clear_sample_counts</a> ()</td></tr>
+<tr class="memdesc:a1418be33824d3102dbc8f92558a402a6 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Clears <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> internal sample counts for this sensor. (see SH-2 ref manual 6.4.3.1)  <a href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">More...</a><br /></td></tr>
+<tr class="separator:a1418be33824d3102dbc8f92558a402a6 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad5b054279b01204f61b4c0408acf51cf inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">get_meta_data</a> (<a class="el" href="structbno08x__meta__data__t.html">bno08x_meta_data_t</a> &amp;meta_data)</td></tr>
+<tr class="memdesc:ad5b054279b01204f61b4c0408acf51cf inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Retrieves meta data for this sensor/report by reading respective record in FRS (flash record system).  <a href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">More...</a><br /></td></tr>
+<tr class="separator:ad5b054279b01204f61b4c0408acf51cf inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4ee529725467412df396d5c610ff7bb4 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a4ee529725467412df396d5c610ff7bb4">enable</a> (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)=0</td></tr>
+<tr class="separator:a4ee529725467412df396d5c610ff7bb4 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="inherited" name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pro_methods_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:aa0bed98a9a497d1f39e8245d05b02e9c inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">rpt_enable</a> (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td></tr>
+<tr class="memdesc:aa0bed98a9a497d1f39e8245d05b02e9c inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enables a sensor report such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> begins sending it.  <a href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">More...</a><br /></td></tr>
+<tr class="separator:aa0bed98a9a497d1f39e8245d05b02e9c inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a970fb7e7d3745c62fec626f0ccf0759f inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a970fb7e7d3745c62fec626f0ccf0759f">update_data</a> (sh2_SensorValue_t *sensor_val)=0</td></tr>
+<tr class="separator:a970fb7e7d3745c62fec626f0ccf0759f inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a15e8eebe3fe90ac19837e3860c76374c inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a15e8eebe3fe90ac19837e3860c76374c">BNO08xRpt</a> (uint8_t <a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, EventBits_t <a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *<a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</td></tr>
+<tr class="memdesc:a15e8eebe3fe90ac19837e3860c76374c inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x.">BNO08xRpt</a> report constructor.  <a href="class_b_n_o08x_rpt.html#a15e8eebe3fe90ac19837e3860c76374c">More...</a><br /></td></tr>
+<tr class="separator:a15e8eebe3fe90ac19837e3860c76374c inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a61e3451e93806e1b7eaf5f1387726765 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">unlock_sh2_HAL</a> ()</td></tr>
+<tr class="memdesc:a61e3451e93806e1b7eaf5f1387726765 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Unlocks sh2 HAL lib to allow other tasks to call its APIs.  <a href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">More...</a><br /></td></tr>
+<tr class="separator:a61e3451e93806e1b7eaf5f1387726765 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7a5619a74c1237c5abde2e4bd6619d12 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">lock_sh2_HAL</a> ()</td></tr>
+<tr class="memdesc:a7a5619a74c1237c5abde2e4bd6619d12 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Locks sh2 HAL lib to only allow the calling task to call its APIs.  <a href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">More...</a><br /></td></tr>
+<tr class="separator:a7a5619a74c1237c5abde2e4bd6619d12 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a26bacc572187119339ec248bb4e7d6f3 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">unlock_user_data</a> ()</td></tr>
+<tr class="memdesc:a26bacc572187119339ec248bb4e7d6f3 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Unlocks user data to allow other tasks to read/modify it.  <a href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">More...</a><br /></td></tr>
+<tr class="separator:a26bacc572187119339ec248bb4e7d6f3 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a48e7b1a2c2ebc6b1f2f292735c0832a0 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">lock_user_data</a> ()</td></tr>
+<tr class="memdesc:a48e7b1a2c2ebc6b1f2f292735c0832a0 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Locks locks user data to only allow the calling task to read/modify it.  <a href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">More...</a><br /></td></tr>
+<tr class="separator:a48e7b1a2c2ebc6b1f2f292735c0832a0 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a47a623eb0a1db51af76a03a103c32329 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">signal_data_available</a> ()</td></tr>
+<tr class="memdesc:a47a623eb0a1db51af76a03a103c32329 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Signals to <a class="el" href="class_b_n_o08x.html#a367d525d1c0ba119b3dca3067bb5bccc" title="Polls for new data/report to become available.">BNO08x::data_available()</a> that a new report has arrived.  <a href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">More...</a><br /></td></tr>
+<tr class="separator:a47a623eb0a1db51af76a03a103c32329 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_attribs_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:a63cd4ac9e96baa43eebe580f03307512 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a></td></tr>
+<tr class="memdesc:a63cd4ac9e96baa43eebe580f03307512 inherit pro_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Report ID, ex. SH2_ACCELERATION.  <a href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">More...</a><br /></td></tr>
+<tr class="separator:a63cd4ac9e96baa43eebe580f03307512 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae78feab5682a4697c5acad3ca6f12c2e inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">EventBits_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a></td></tr>
+<tr class="memdesc:ae78feab5682a4697c5acad3ca6f12c2e inherit pro_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Respective enable and data bit for report in evt_grp_rpt_en and evt_grp_rpt_data.  <a href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">More...</a><br /></td></tr>
+<tr class="separator:ae78feab5682a4697c5acad3ca6f12c2e inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1d4d6f4cc6f1eae503863eedf7fb9f52 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">uint32_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a1d4d6f4cc6f1eae503863eedf7fb9f52">period_us</a></td></tr>
+<tr class="memdesc:a1d4d6f4cc6f1eae503863eedf7fb9f52 inherit pro_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">The period/interval of the report in microseconds.  <a href="class_b_n_o08x_rpt.html#a1d4d6f4cc6f1eae503863eedf7fb9f52">More...</a><br /></td></tr>
+<tr class="separator:a1d4d6f4cc6f1eae503863eedf7fb9f52 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5a1404a08918d66bb0f41f55220db6e5 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top"><a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a></td></tr>
+<tr class="separator:a5a1404a08918d66bb0f41f55220db6e5 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_static_attribs_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pro_static_attribs_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Static Protected Attributes inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:a201aeb71fefb0d9d485914176a82dd80 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">static const constexpr float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">RAD_2_DEG</a></td></tr>
+<tr class="memdesc:a201aeb71fefb0d9d485914176a82dd80 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constant for radian to degree conversions, sed in quaternion to euler function conversions.  <a href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">More...</a><br /></td></tr>
+<tr class="separator:a201aeb71fefb0d9d485914176a82dd80 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2c57f370fb08b793bb10ec22d5acca45 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">static const constexpr char *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a2c57f370fb08b793bb10ec22d5acca45">TAG</a> = &quot;BNO08xRpt&quot;</td></tr>
+<tr class="separator:a2c57f370fb08b793bb10ec22d5acca45 inherit pro_static_attribs_class_b_n_o08x_rpt"><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 >Class to represent raw magnetometer reports. (See Ref. Manual 6.5.15) </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a1033eaa9b7533a381781c8a750bac04b" name="a1033eaa9b7533a381781c8a750bac04b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1033eaa9b7533a381781c8a750bac04b">&#9670;&nbsp;</a></span>BNO08xRptRawMEMSMagnetometer()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">BNO08xRptRawMEMSMagnetometer::BNO08xRptRawMEMSMagnetometer </td>
+          <td>(</td>
+          <td class="paramtype">uint8_t&#160;</td>
+          <td class="paramname"><em>ID</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">EventBits_t&#160;</td>
+          <td class="paramname"><em>rpt_bit</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *&#160;</td>
+          <td class="paramname"><em>sync_ctx</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a92832fd0bff6abddbbd87779de5b57fb" name="a92832fd0bff6abddbbd87779de5b57fb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a92832fd0bff6abddbbd87779de5b57fb">&#9670;&nbsp;</a></span>enable()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08xRptRawMEMSMagnetometer::enable </td>
+          <td>(</td>
+          <td class="paramtype">uint32_t&#160;</td>
+          <td class="paramname"><em>time_between_reports</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">sh2_SensorConfig_t&#160;</td>
+          <td class="paramname"><em>sensor_cfg</em> = <code>BNO08xPrivateTypes::default_sensor_cfg</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Enables raw magnetometer such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> begins sending them. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">report_period_us</td><td>The period/interval of the report in microseconds. </td></tr>
+    <tr><td class="paramname">sensor_cfg</td><td>Sensor special configuration (optional, see BNO08xPrivateTypes::default_sensor_cfg for defaults).</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>True if report was successfully enabled. </dd></dl>
+
+<p>Implements <a class="el" href="class_b_n_o08x_rpt.html#a4ee529725467412df396d5c610ff7bb4">BNO08xRpt</a>.</p>
+<div class="dynheader">
+Here is the call graph for this function:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_a92832fd0bff6abddbbd87779de5b57fb_cgraph.png" border="0" usemap="#aclass_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_a92832fd0bff6abddbbd87779de5b57fb_cgraph" alt=""/></div>
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+<a id="a44247c8dbd3376ff81599c192b7dfc71" name="a44247c8dbd3376ff81599c192b7dfc71"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a44247c8dbd3376ff81599c192b7dfc71">&#9670;&nbsp;</a></span>get()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="structbno08x__raw__magf__t.html">bno08x_raw_magf_t</a> BNO08xRptRawMEMSMagnetometer::get </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Grabs most recent raw magnetometer data, units are ADC counts, time_stamp in microseconds. </p>
+<dl class="section return"><dt>Returns</dt><dd>Struct containing requested data. </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_rpt_raw_m_e_m_s_magnetometer_a44247c8dbd3376ff81599c192b7dfc71_cgraph.png" border="0" usemap="#aclass_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_a44247c8dbd3376ff81599c192b7dfc71_cgraph" alt=""/></div>
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+</map>
+</div>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>/media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/report/<a class="el" href="_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8hpp_source.html">BNO08xRptRawMEMSMagnetometer.hpp</a></li>
+<li>report/<a class="el" href="_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8cpp.html">BNO08xRptRawMEMSMagnetometer.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_rpt_raw_m_e_m_s_magnetometer.html">BNO08xRptRawMEMSMagnetometer</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> 1.9.4 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/documentation/html/class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer.js b/documentation/html/class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer.js
new file mode 100644
index 0000000..33d0f2c
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer.js
@@ -0,0 +1,6 @@
+var class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer =
+[
+    [ "BNO08xRptRawMEMSMagnetometer", "class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer.html#a1033eaa9b7533a381781c8a750bac04b", null ],
+    [ "enable", "class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer.html#a92832fd0bff6abddbbd87779de5b57fb", null ],
+    [ "get", "class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer.html#a44247c8dbd3376ff81599c192b7dfc71", null ]
+];
\ No newline at end of file
diff --git a/documentation/html/class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer__coll__graph.map b/documentation/html/class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer__coll__graph.map
new file mode 100644
index 0000000..88acf72
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer__coll__graph.map
@@ -0,0 +1,5 @@
+<map id="BNO08xRptRawMEMSMagnetometer" name="BNO08xRptRawMEMSMagnetometer">
+<area shape="rect" id="node1" title="Class to represent raw magnetometer reports. (See Ref. Manual 6.5.15)" alt="" coords="5,185,267,212"/>
+<area shape="rect" id="node2" href="$class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x." alt="" coords="87,109,185,136"/>
+<area shape="rect" id="node3" href="$struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html" title="Holds context used to synchronize tasks and callback execution." alt="" coords="57,5,215,47"/>
+</map>
diff --git a/documentation/html/class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer__coll__graph.md5 b/documentation/html/class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer__coll__graph.md5
new file mode 100644
index 0000000..5f936cb
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer__coll__graph.md5
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diff --git a/documentation/html/class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer__coll__graph.png b/documentation/html/class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer__coll__graph.png
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diff --git a/documentation/html/class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer__inherit__graph.map b/documentation/html/class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer__inherit__graph.map
new file mode 100644
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diff --git a/documentation/html/class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer__inherit__graph.md5 b/documentation/html/class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer__inherit__graph.md5
new file mode 100644
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new file mode 100644
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diff --git a/documentation/html/class_b_n_o08x_rpt_shake_detector-members.html b/documentation/html/class_b_n_o08x_rpt_shake_detector-members.html
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index 0000000..34bdaf6
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+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.4"/>
+<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>
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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;1.4</span>
+   </div>
+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
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+<!-- Generated by Doxygen 1.9.4 -->
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+
+<div class="header">
+  <div class="headertitle"><div class="title">BNO08xRptShakeDetector 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_rpt_shake_detector.html">BNO08xRptShakeDetector</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a15e8eebe3fe90ac19837e3860c76374c">BNO08xRpt</a>(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_shake_detector.html#a22021e497ed9a31b2070b884f7eb6bd8">BNO08xRptShakeDetector</a>(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_shake_detector.html">BNO08xRptShakeDetector</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">clear_sample_counts</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">disable</a>(sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_shake_detector.html#aa28fa73b51bd892f0239e647aa6ceeb8">enable</a>(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg) override</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_shake_detector.html">BNO08xRptShakeDetector</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">flush</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_shake_detector.html#adf134a67833f9e2c71f76858abc88ee6">get</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_shake_detector.html">BNO08xRptShakeDetector</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">get_meta_data</a>(bno08x_meta_data_t &amp;meta_data)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">get_sample_counts</a>(bno08x_sample_counts_t &amp;sample_counts)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">has_new_data</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">lock_sh2_HAL</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">lock_user_data</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a1d4d6f4cc6f1eae503863eedf7fb9f52">period_us</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">RAD_2_DEG</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">register_cb</a>(std::function&lt; void(void)&gt; cb_fxn)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">rpt_enable</a>(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">signal_data_available</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">unlock_sh2_HAL</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">unlock_user_data</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+</table></div><!-- contents -->
+</div><!-- doc-content -->
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diff --git a/documentation/html/class_b_n_o08x_rpt_shake_detector.html b/documentation/html/class_b_n_o08x_rpt_shake_detector.html
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+<title>esp32_BNO08x: BNO08xRptShakeDetector Class Reference</title>
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+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</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 1.9.4 -->
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+        name="MSearchResults" id="MSearchResults">
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+
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="class_b_n_o08x_rpt_shake_detector-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">BNO08xRptShakeDetector Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>Class to represent shake detector reports. (See Ref. Manual 6.5.32)  
+ <a href="class_b_n_o08x_rpt_shake_detector.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="_b_n_o08x_rpt_shake_detector_8hpp_source.html">report/BNO08xRptShakeDetector.hpp</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for BNO08xRptShakeDetector:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_rpt_shake_detector__inherit__graph.png" border="0" usemap="#a_b_n_o08x_rpt_shake_detector_inherit__map" alt="Inheritance graph"/></div>
+<map name="a_b_n_o08x_rpt_shake_detector_inherit__map" id="a_b_n_o08x_rpt_shake_detector_inherit__map">
+<area shape="rect" title="Class to represent shake detector reports. (See Ref. Manual 6.5.32)" alt="" coords="5,80,197,107"/>
+<area shape="rect" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x." alt="" coords="53,5,150,32"/>
+</map>
+<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for BNO08xRptShakeDetector:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_rpt_shake_detector__coll__graph.png" border="0" usemap="#a_b_n_o08x_rpt_shake_detector_coll__map" alt="Collaboration graph"/></div>
+<map name="a_b_n_o08x_rpt_shake_detector_coll__map" id="a_b_n_o08x_rpt_shake_detector_coll__map">
+<area shape="rect" title="Class to represent shake detector reports. (See Ref. Manual 6.5.32)" alt="" coords="5,185,197,212"/>
+<area shape="rect" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x." alt="" coords="53,109,150,136"/>
+<area shape="rect" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html" title="Holds context used to synchronize tasks and callback execution." alt="" coords="22,5,181,47"/>
+</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="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a22021e497ed9a31b2070b884f7eb6bd8"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_shake_detector.html#a22021e497ed9a31b2070b884f7eb6bd8">BNO08xRptShakeDetector</a> (uint8_t <a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, EventBits_t <a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *<a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</td></tr>
+<tr class="separator:a22021e497ed9a31b2070b884f7eb6bd8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa28fa73b51bd892f0239e647aa6ceeb8"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_shake_detector.html#aa28fa73b51bd892f0239e647aa6ceeb8">enable</a> (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg) override</td></tr>
+<tr class="memdesc:aa28fa73b51bd892f0239e647aa6ceeb8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enables shake detector reports such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> begins sending them (only sends reports when a shake is detected).  <a href="class_b_n_o08x_rpt_shake_detector.html#aa28fa73b51bd892f0239e647aa6ceeb8">More...</a><br /></td></tr>
+<tr class="separator:aa28fa73b51bd892f0239e647aa6ceeb8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:adf134a67833f9e2c71f76858abc88ee6"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structbno08x__shake__detector__t.html">bno08x_shake_detector_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_shake_detector.html#adf134a67833f9e2c71f76858abc88ee6">get</a> ()</td></tr>
+<tr class="memdesc:adf134a67833f9e2c71f76858abc88ee6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Grabs most recent shake detector detector data.  <a href="class_b_n_o08x_rpt_shake_detector.html#adf134a67833f9e2c71f76858abc88ee6">More...</a><br /></td></tr>
+<tr class="separator:adf134a67833f9e2c71f76858abc88ee6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:a7d147e7540a4c6aa19749844e14cdadc inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">disable</a> (sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td></tr>
+<tr class="memdesc:a7d147e7540a4c6aa19749844e14cdadc inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Disables a sensor report by setting its period to 0us such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> stops sending it.  <a href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">More...</a><br /></td></tr>
+<tr class="separator:a7d147e7540a4c6aa19749844e14cdadc inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5b542b28c81fcd05cf2e3f3d2d437d46 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">register_cb</a> (std::function&lt; void(void)&gt; cb_fxn)</td></tr>
+<tr class="memdesc:a5b542b28c81fcd05cf2e3f3d2d437d46 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Registers a callback to execute when new data from a specific report is received.  <a href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">More...</a><br /></td></tr>
+<tr class="separator:a5b542b28c81fcd05cf2e3f3d2d437d46 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a74f6037286b51382535bab61680297ed inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">has_new_data</a> ()</td></tr>
+<tr class="memdesc:a74f6037286b51382535bab61680297ed inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Checks if a new report has been received since the last time this function was called.  <a href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">More...</a><br /></td></tr>
+<tr class="separator:a74f6037286b51382535bab61680297ed inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab3bb962696b135841ef7313bc631fc72 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">flush</a> ()</td></tr>
+<tr class="memdesc:ab3bb962696b135841ef7313bc631fc72 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Flush all buffered reports for this sensor/report module.  <a href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">More...</a><br /></td></tr>
+<tr class="separator:ab3bb962696b135841ef7313bc631fc72 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7ce8e48cadf59f49068af7f1cb680b38 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">get_sample_counts</a> (<a class="el" href="structbno08x__sample__counts__t.html">bno08x_sample_counts_t</a> &amp;sample_counts)</td></tr>
+<tr class="memdesc:a7ce8e48cadf59f49068af7f1cb680b38 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets sample counts for this sensor (see SH-2 ref manual 6.4.3.1)  <a href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">More...</a><br /></td></tr>
+<tr class="separator:a7ce8e48cadf59f49068af7f1cb680b38 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1418be33824d3102dbc8f92558a402a6 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">clear_sample_counts</a> ()</td></tr>
+<tr class="memdesc:a1418be33824d3102dbc8f92558a402a6 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Clears <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> internal sample counts for this sensor. (see SH-2 ref manual 6.4.3.1)  <a href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">More...</a><br /></td></tr>
+<tr class="separator:a1418be33824d3102dbc8f92558a402a6 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad5b054279b01204f61b4c0408acf51cf inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">get_meta_data</a> (<a class="el" href="structbno08x__meta__data__t.html">bno08x_meta_data_t</a> &amp;meta_data)</td></tr>
+<tr class="memdesc:ad5b054279b01204f61b4c0408acf51cf inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Retrieves meta data for this sensor/report by reading respective record in FRS (flash record system).  <a href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">More...</a><br /></td></tr>
+<tr class="separator:ad5b054279b01204f61b4c0408acf51cf inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4ee529725467412df396d5c610ff7bb4 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a4ee529725467412df396d5c610ff7bb4">enable</a> (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)=0</td></tr>
+<tr class="separator:a4ee529725467412df396d5c610ff7bb4 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="inherited" name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pro_methods_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:aa0bed98a9a497d1f39e8245d05b02e9c inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">rpt_enable</a> (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td></tr>
+<tr class="memdesc:aa0bed98a9a497d1f39e8245d05b02e9c inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enables a sensor report such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> begins sending it.  <a href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">More...</a><br /></td></tr>
+<tr class="separator:aa0bed98a9a497d1f39e8245d05b02e9c inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a970fb7e7d3745c62fec626f0ccf0759f inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a970fb7e7d3745c62fec626f0ccf0759f">update_data</a> (sh2_SensorValue_t *sensor_val)=0</td></tr>
+<tr class="separator:a970fb7e7d3745c62fec626f0ccf0759f inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a15e8eebe3fe90ac19837e3860c76374c inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x.">BNO08xRpt</a> report constructor.  <a href="class_b_n_o08x_rpt.html#a15e8eebe3fe90ac19837e3860c76374c">More...</a><br /></td></tr>
+<tr class="separator:a15e8eebe3fe90ac19837e3860c76374c inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a61e3451e93806e1b7eaf5f1387726765 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">unlock_sh2_HAL</a> ()</td></tr>
+<tr class="memdesc:a61e3451e93806e1b7eaf5f1387726765 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Unlocks sh2 HAL lib to allow other tasks to call its APIs.  <a href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">More...</a><br /></td></tr>
+<tr class="separator:a61e3451e93806e1b7eaf5f1387726765 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7a5619a74c1237c5abde2e4bd6619d12 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">lock_sh2_HAL</a> ()</td></tr>
+<tr class="memdesc:a7a5619a74c1237c5abde2e4bd6619d12 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Locks sh2 HAL lib to only allow the calling task to call its APIs.  <a href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">More...</a><br /></td></tr>
+<tr class="separator:a7a5619a74c1237c5abde2e4bd6619d12 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a26bacc572187119339ec248bb4e7d6f3 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">unlock_user_data</a> ()</td></tr>
+<tr class="memdesc:a26bacc572187119339ec248bb4e7d6f3 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Unlocks user data to allow other tasks to read/modify it.  <a href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">More...</a><br /></td></tr>
+<tr class="separator:a26bacc572187119339ec248bb4e7d6f3 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a48e7b1a2c2ebc6b1f2f292735c0832a0 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">lock_user_data</a> ()</td></tr>
+<tr class="memdesc:a48e7b1a2c2ebc6b1f2f292735c0832a0 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Locks locks user data to only allow the calling task to read/modify it.  <a href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">More...</a><br /></td></tr>
+<tr class="separator:a48e7b1a2c2ebc6b1f2f292735c0832a0 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a47a623eb0a1db51af76a03a103c32329 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">signal_data_available</a> ()</td></tr>
+<tr class="memdesc:a47a623eb0a1db51af76a03a103c32329 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Signals to <a class="el" href="class_b_n_o08x.html#a367d525d1c0ba119b3dca3067bb5bccc" title="Polls for new data/report to become available.">BNO08x::data_available()</a> that a new report has arrived.  <a href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">More...</a><br /></td></tr>
+<tr class="separator:a47a623eb0a1db51af76a03a103c32329 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_attribs_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:a63cd4ac9e96baa43eebe580f03307512 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a></td></tr>
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+<tr class="separator:a63cd4ac9e96baa43eebe580f03307512 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ae78feab5682a4697c5acad3ca6f12c2e inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a1d4d6f4cc6f1eae503863eedf7fb9f52 inherit pro_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">The period/interval of the report in microseconds.  <a href="class_b_n_o08x_rpt.html#a1d4d6f4cc6f1eae503863eedf7fb9f52">More...</a><br /></td></tr>
+<tr class="separator:a1d4d6f4cc6f1eae503863eedf7fb9f52 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="inherit_header pro_static_attribs_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pro_static_attribs_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Static Protected Attributes inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:a201aeb71fefb0d9d485914176a82dd80 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">static const constexpr float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">RAD_2_DEG</a></td></tr>
+<tr class="memdesc:a201aeb71fefb0d9d485914176a82dd80 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constant for radian to degree conversions, sed in quaternion to euler function conversions.  <a href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">More...</a><br /></td></tr>
+<tr class="separator:a201aeb71fefb0d9d485914176a82dd80 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2c57f370fb08b793bb10ec22d5acca45 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">static const constexpr char *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a2c57f370fb08b793bb10ec22d5acca45">TAG</a> = &quot;BNO08xRpt&quot;</td></tr>
+<tr class="separator:a2c57f370fb08b793bb10ec22d5acca45 inherit pro_static_attribs_class_b_n_o08x_rpt"><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 >Class to represent shake detector reports. (See Ref. Manual 6.5.32) </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a22021e497ed9a31b2070b884f7eb6bd8" name="a22021e497ed9a31b2070b884f7eb6bd8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a22021e497ed9a31b2070b884f7eb6bd8">&#9670;&nbsp;</a></span>BNO08xRptShakeDetector()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">BNO08xRptShakeDetector::BNO08xRptShakeDetector </td>
+          <td>(</td>
+          <td class="paramtype">uint8_t&#160;</td>
+          <td class="paramname"><em>ID</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">EventBits_t&#160;</td>
+          <td class="paramname"><em>rpt_bit</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *&#160;</td>
+          <td class="paramname"><em>sync_ctx</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="aa28fa73b51bd892f0239e647aa6ceeb8" name="aa28fa73b51bd892f0239e647aa6ceeb8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa28fa73b51bd892f0239e647aa6ceeb8">&#9670;&nbsp;</a></span>enable()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08xRptShakeDetector::enable </td>
+          <td>(</td>
+          <td class="paramtype">uint32_t&#160;</td>
+          <td class="paramname"><em>time_between_reports</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">sh2_SensorConfig_t&#160;</td>
+          <td class="paramname"><em>sensor_cfg</em> = <code>BNO08xPrivateTypes::default_sensor_cfg</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Enables shake detector reports such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> begins sending them (only sends reports when a shake is detected). </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">report_period_us</td><td>The period/interval of the report in microseconds. </td></tr>
+    <tr><td class="paramname">sensor_cfg</td><td>Sensor special configuration (optional, see BNO08xPrivateTypes::default_sensor_cfg for defaults).</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>True if report was successfully enabled. </dd></dl>
+
+<p>Implements <a class="el" href="class_b_n_o08x_rpt.html#a4ee529725467412df396d5c610ff7bb4">BNO08xRpt</a>.</p>
+<div class="dynheader">
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+<h2 class="memtitle"><span class="permalink"><a href="#adf134a67833f9e2c71f76858abc88ee6">&#9670;&nbsp;</a></span>get()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="structbno08x__shake__detector__t.html">bno08x_shake_detector_t</a> BNO08xRptShakeDetector::get </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Grabs most recent shake detector detector data. </p>
+<dl class="section return"><dt>Returns</dt><dd>Struct containing the requested data. </dd></dl>
+<div class="dynheader">
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+</map>
+</div>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>/media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/report/<a class="el" href="_b_n_o08x_rpt_shake_detector_8hpp_source.html">BNO08xRptShakeDetector.hpp</a></li>
+<li>report/<a class="el" href="_b_n_o08x_rpt_shake_detector_8cpp.html">BNO08xRptShakeDetector.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_rpt_shake_detector.html">BNO08xRptShakeDetector</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> 1.9.4 </li>
+  </ul>
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diff --git a/documentation/html/class_b_n_o08x_rpt_shake_detector.js b/documentation/html/class_b_n_o08x_rpt_shake_detector.js
new file mode 100644
index 0000000..40cead2
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_rpt_shake_detector.js
@@ -0,0 +1,6 @@
+var class_b_n_o08x_rpt_shake_detector =
+[
+    [ "BNO08xRptShakeDetector", "class_b_n_o08x_rpt_shake_detector.html#a22021e497ed9a31b2070b884f7eb6bd8", null ],
+    [ "enable", "class_b_n_o08x_rpt_shake_detector.html#aa28fa73b51bd892f0239e647aa6ceeb8", null ],
+    [ "get", "class_b_n_o08x_rpt_shake_detector.html#adf134a67833f9e2c71f76858abc88ee6", null ]
+];
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diff --git a/documentation/html/class_b_n_o08x_rpt_shake_detector__coll__graph.map b/documentation/html/class_b_n_o08x_rpt_shake_detector__coll__graph.map
new file mode 100644
index 0000000..df45ea5
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_rpt_shake_detector__coll__graph.map
@@ -0,0 +1,5 @@
+<map id="BNO08xRptShakeDetector" name="BNO08xRptShakeDetector">
+<area shape="rect" id="node1" title="Class to represent shake detector reports. (See Ref. Manual 6.5.32)" alt="" coords="5,185,197,212"/>
+<area shape="rect" id="node2" href="$class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x." alt="" coords="53,109,150,136"/>
+<area shape="rect" id="node3" href="$struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html" title="Holds context used to synchronize tasks and callback execution." alt="" coords="22,5,181,47"/>
+</map>
diff --git a/documentation/html/class_b_n_o08x_rpt_shake_detector__coll__graph.md5 b/documentation/html/class_b_n_o08x_rpt_shake_detector__coll__graph.md5
new file mode 100644
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new file mode 100644
index 0000000..92bd776
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diff --git a/documentation/html/class_b_n_o08x_rpt_stability_classifier-members.html b/documentation/html/class_b_n_o08x_rpt_stability_classifier-members.html
new file mode 100644
index 0000000..623d99c
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_rpt_stability_classifier-members.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">
+<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 1.9.4"/>
+<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>
+<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>
+<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;1.4</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 1.9.4 -->
+<script type="text/javascript">
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+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+<div id="doc-content">
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+</div>
+
+<div class="header">
+  <div class="headertitle"><div class="title">BNO08xRptStabilityClassifier 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_rpt_stability_classifier.html">BNO08xRptStabilityClassifier</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a15e8eebe3fe90ac19837e3860c76374c">BNO08xRpt</a>(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_stability_classifier.html#a41052d651d03bccc414b14d6e9b670ab">BNO08xRptStabilityClassifier</a>(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_stability_classifier.html">BNO08xRptStabilityClassifier</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">clear_sample_counts</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">disable</a>(sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_stability_classifier.html#a4959110a01f638d04d87696d8a03dd60">enable</a>(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg) override</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_stability_classifier.html">BNO08xRptStabilityClassifier</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">flush</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_stability_classifier.html#a552b8df91df3905c7e2242ee42d11931">get</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_stability_classifier.html">BNO08xRptStabilityClassifier</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">get_meta_data</a>(bno08x_meta_data_t &amp;meta_data)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">get_sample_counts</a>(bno08x_sample_counts_t &amp;sample_counts)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_stability_classifier.html#a8c8c794004f8b2a5e67656286beae7cd">get_stability</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_stability_classifier.html">BNO08xRptStabilityClassifier</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">has_new_data</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">lock_sh2_HAL</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">lock_user_data</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a1d4d6f4cc6f1eae503863eedf7fb9f52">period_us</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">RAD_2_DEG</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">register_cb</a>(std::function&lt; void(void)&gt; cb_fxn)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">rpt_enable</a>(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">signal_data_available</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">unlock_sh2_HAL</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">unlock_user_data</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</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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+<title>esp32_BNO08x: BNO08xRptStabilityClassifier Class Reference</title>
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+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
+   </div>
+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
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+        name="MSearchResults" id="MSearchResults">
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+
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="class_b_n_o08x_rpt_stability_classifier-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">BNO08xRptStabilityClassifier Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>Class to represent stability classifier reports. (See Ref. Manual 6.5.31)  
+ <a href="class_b_n_o08x_rpt_stability_classifier.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="_b_n_o08x_rpt_stability_classifier_8hpp_source.html">report/BNO08xRptStabilityClassifier.hpp</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for BNO08xRptStabilityClassifier:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_rpt_stability_classifier__inherit__graph.png" border="0" usemap="#a_b_n_o08x_rpt_stability_classifier_inherit__map" alt="Inheritance graph"/></div>
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+<area shape="rect" title="Class to represent stability classifier reports. (See Ref. Manual 6.5.31)" alt="" coords="5,80,216,107"/>
+<area shape="rect" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x." alt="" coords="62,5,159,32"/>
+</map>
+<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for BNO08xRptStabilityClassifier:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_rpt_stability_classifier__coll__graph.png" border="0" usemap="#a_b_n_o08x_rpt_stability_classifier_coll__map" alt="Collaboration graph"/></div>
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+</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="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a41052d651d03bccc414b14d6e9b670ab"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_stability_classifier.html#a41052d651d03bccc414b14d6e9b670ab">BNO08xRptStabilityClassifier</a> (uint8_t <a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, EventBits_t <a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *<a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</td></tr>
+<tr class="separator:a41052d651d03bccc414b14d6e9b670ab"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4959110a01f638d04d87696d8a03dd60"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_stability_classifier.html#a4959110a01f638d04d87696d8a03dd60">enable</a> (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg) override</td></tr>
+<tr class="memdesc:a4959110a01f638d04d87696d8a03dd60"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enables stability classifier reports such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> begins sending them.  <a href="class_b_n_o08x_rpt_stability_classifier.html#a4959110a01f638d04d87696d8a03dd60">More...</a><br /></td></tr>
+<tr class="separator:a4959110a01f638d04d87696d8a03dd60"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a552b8df91df3905c7e2242ee42d11931"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structbno08x__stability__classifier__t.html">bno08x_stability_classifier_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_stability_classifier.html#a552b8df91df3905c7e2242ee42d11931">get</a> ()</td></tr>
+<tr class="memdesc:a552b8df91df3905c7e2242ee42d11931"><td class="mdescLeft">&#160;</td><td class="mdescRight">Grabs most recent stability classifier data.  <a href="class_b_n_o08x_rpt_stability_classifier.html#a552b8df91df3905c7e2242ee42d11931">More...</a><br /></td></tr>
+<tr class="separator:a552b8df91df3905c7e2242ee42d11931"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8c8c794004f8b2a5e67656286beae7cd"><td class="memItemLeft" align="right" valign="top"><a class="el" href="_b_n_o08x_global_types_8hpp.html#a22d72f675aad7af764e685f91b29f4cb">BNO08xStability</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_stability_classifier.html#a8c8c794004f8b2a5e67656286beae7cd">get_stability</a> ()</td></tr>
+<tr class="memdesc:a8c8c794004f8b2a5e67656286beae7cd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Grabs most recent stability classifier reading (excludes accuracy)  <a href="class_b_n_o08x_rpt_stability_classifier.html#a8c8c794004f8b2a5e67656286beae7cd">More...</a><br /></td></tr>
+<tr class="separator:a8c8c794004f8b2a5e67656286beae7cd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:a7d147e7540a4c6aa19749844e14cdadc inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">disable</a> (sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td></tr>
+<tr class="memdesc:a7d147e7540a4c6aa19749844e14cdadc inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Disables a sensor report by setting its period to 0us such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> stops sending it.  <a href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">More...</a><br /></td></tr>
+<tr class="separator:a7d147e7540a4c6aa19749844e14cdadc inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5b542b28c81fcd05cf2e3f3d2d437d46 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">register_cb</a> (std::function&lt; void(void)&gt; cb_fxn)</td></tr>
+<tr class="memdesc:a5b542b28c81fcd05cf2e3f3d2d437d46 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Registers a callback to execute when new data from a specific report is received.  <a href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">More...</a><br /></td></tr>
+<tr class="separator:a5b542b28c81fcd05cf2e3f3d2d437d46 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a74f6037286b51382535bab61680297ed inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">has_new_data</a> ()</td></tr>
+<tr class="memdesc:a74f6037286b51382535bab61680297ed inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Checks if a new report has been received since the last time this function was called.  <a href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">More...</a><br /></td></tr>
+<tr class="separator:a74f6037286b51382535bab61680297ed inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab3bb962696b135841ef7313bc631fc72 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">flush</a> ()</td></tr>
+<tr class="memdesc:ab3bb962696b135841ef7313bc631fc72 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Flush all buffered reports for this sensor/report module.  <a href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">More...</a><br /></td></tr>
+<tr class="separator:ab3bb962696b135841ef7313bc631fc72 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7ce8e48cadf59f49068af7f1cb680b38 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">get_sample_counts</a> (<a class="el" href="structbno08x__sample__counts__t.html">bno08x_sample_counts_t</a> &amp;sample_counts)</td></tr>
+<tr class="memdesc:a7ce8e48cadf59f49068af7f1cb680b38 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets sample counts for this sensor (see SH-2 ref manual 6.4.3.1)  <a href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">More...</a><br /></td></tr>
+<tr class="separator:a7ce8e48cadf59f49068af7f1cb680b38 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1418be33824d3102dbc8f92558a402a6 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">clear_sample_counts</a> ()</td></tr>
+<tr class="memdesc:a1418be33824d3102dbc8f92558a402a6 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Clears <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> internal sample counts for this sensor. (see SH-2 ref manual 6.4.3.1)  <a href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">More...</a><br /></td></tr>
+<tr class="separator:a1418be33824d3102dbc8f92558a402a6 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad5b054279b01204f61b4c0408acf51cf inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">get_meta_data</a> (<a class="el" href="structbno08x__meta__data__t.html">bno08x_meta_data_t</a> &amp;meta_data)</td></tr>
+<tr class="memdesc:ad5b054279b01204f61b4c0408acf51cf inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Retrieves meta data for this sensor/report by reading respective record in FRS (flash record system).  <a href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">More...</a><br /></td></tr>
+<tr class="separator:ad5b054279b01204f61b4c0408acf51cf inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4ee529725467412df396d5c610ff7bb4 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a4ee529725467412df396d5c610ff7bb4">enable</a> (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)=0</td></tr>
+<tr class="separator:a4ee529725467412df396d5c610ff7bb4 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="inherited" name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pro_methods_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:aa0bed98a9a497d1f39e8245d05b02e9c inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">rpt_enable</a> (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td></tr>
+<tr class="memdesc:aa0bed98a9a497d1f39e8245d05b02e9c inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enables a sensor report such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> begins sending it.  <a href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">More...</a><br /></td></tr>
+<tr class="separator:aa0bed98a9a497d1f39e8245d05b02e9c inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a970fb7e7d3745c62fec626f0ccf0759f inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a970fb7e7d3745c62fec626f0ccf0759f">update_data</a> (sh2_SensorValue_t *sensor_val)=0</td></tr>
+<tr class="separator:a970fb7e7d3745c62fec626f0ccf0759f inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a15e8eebe3fe90ac19837e3860c76374c inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x.">BNO08xRpt</a> report constructor.  <a href="class_b_n_o08x_rpt.html#a15e8eebe3fe90ac19837e3860c76374c">More...</a><br /></td></tr>
+<tr class="separator:a15e8eebe3fe90ac19837e3860c76374c inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a61e3451e93806e1b7eaf5f1387726765 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">unlock_sh2_HAL</a> ()</td></tr>
+<tr class="memdesc:a61e3451e93806e1b7eaf5f1387726765 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Unlocks sh2 HAL lib to allow other tasks to call its APIs.  <a href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">More...</a><br /></td></tr>
+<tr class="separator:a61e3451e93806e1b7eaf5f1387726765 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7a5619a74c1237c5abde2e4bd6619d12 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">lock_sh2_HAL</a> ()</td></tr>
+<tr class="memdesc:a7a5619a74c1237c5abde2e4bd6619d12 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Locks sh2 HAL lib to only allow the calling task to call its APIs.  <a href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">More...</a><br /></td></tr>
+<tr class="separator:a7a5619a74c1237c5abde2e4bd6619d12 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a26bacc572187119339ec248bb4e7d6f3 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">unlock_user_data</a> ()</td></tr>
+<tr class="memdesc:a26bacc572187119339ec248bb4e7d6f3 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Unlocks user data to allow other tasks to read/modify it.  <a href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">More...</a><br /></td></tr>
+<tr class="separator:a26bacc572187119339ec248bb4e7d6f3 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a48e7b1a2c2ebc6b1f2f292735c0832a0 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">lock_user_data</a> ()</td></tr>
+<tr class="memdesc:a48e7b1a2c2ebc6b1f2f292735c0832a0 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Locks locks user data to only allow the calling task to read/modify it.  <a href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">More...</a><br /></td></tr>
+<tr class="separator:a48e7b1a2c2ebc6b1f2f292735c0832a0 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a47a623eb0a1db51af76a03a103c32329 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">signal_data_available</a> ()</td></tr>
+<tr class="memdesc:a47a623eb0a1db51af76a03a103c32329 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Signals to <a class="el" href="class_b_n_o08x.html#a367d525d1c0ba119b3dca3067bb5bccc" title="Polls for new data/report to become available.">BNO08x::data_available()</a> that a new report has arrived.  <a href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">More...</a><br /></td></tr>
+<tr class="separator:a47a623eb0a1db51af76a03a103c32329 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_attribs_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:a63cd4ac9e96baa43eebe580f03307512 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a></td></tr>
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+<tr class="separator:a63cd4ac9e96baa43eebe580f03307512 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:ae78feab5682a4697c5acad3ca6f12c2e inherit pro_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Respective enable and data bit for report in evt_grp_rpt_en and evt_grp_rpt_data.  <a href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">More...</a><br /></td></tr>
+<tr class="separator:ae78feab5682a4697c5acad3ca6f12c2e inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1d4d6f4cc6f1eae503863eedf7fb9f52 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">uint32_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a1d4d6f4cc6f1eae503863eedf7fb9f52">period_us</a></td></tr>
+<tr class="memdesc:a1d4d6f4cc6f1eae503863eedf7fb9f52 inherit pro_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">The period/interval of the report in microseconds.  <a href="class_b_n_o08x_rpt.html#a1d4d6f4cc6f1eae503863eedf7fb9f52">More...</a><br /></td></tr>
+<tr class="separator:a1d4d6f4cc6f1eae503863eedf7fb9f52 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a5a1404a08918d66bb0f41f55220db6e5 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_static_attribs_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pro_static_attribs_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Static Protected Attributes inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:a201aeb71fefb0d9d485914176a82dd80 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">static const constexpr float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">RAD_2_DEG</a></td></tr>
+<tr class="memdesc:a201aeb71fefb0d9d485914176a82dd80 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constant for radian to degree conversions, sed in quaternion to euler function conversions.  <a href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">More...</a><br /></td></tr>
+<tr class="separator:a201aeb71fefb0d9d485914176a82dd80 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2c57f370fb08b793bb10ec22d5acca45 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">static const constexpr char *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a2c57f370fb08b793bb10ec22d5acca45">TAG</a> = &quot;BNO08xRpt&quot;</td></tr>
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+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p >Class to represent stability classifier reports. (See Ref. Manual 6.5.31) </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a41052d651d03bccc414b14d6e9b670ab" name="a41052d651d03bccc414b14d6e9b670ab"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a41052d651d03bccc414b14d6e9b670ab">&#9670;&nbsp;</a></span>BNO08xRptStabilityClassifier()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">BNO08xRptStabilityClassifier::BNO08xRptStabilityClassifier </td>
+          <td>(</td>
+          <td class="paramtype">uint8_t&#160;</td>
+          <td class="paramname"><em>ID</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">EventBits_t&#160;</td>
+          <td class="paramname"><em>rpt_bit</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *&#160;</td>
+          <td class="paramname"><em>sync_ctx</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a4959110a01f638d04d87696d8a03dd60" name="a4959110a01f638d04d87696d8a03dd60"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4959110a01f638d04d87696d8a03dd60">&#9670;&nbsp;</a></span>enable()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08xRptStabilityClassifier::enable </td>
+          <td>(</td>
+          <td class="paramtype">uint32_t&#160;</td>
+          <td class="paramname"><em>time_between_reports</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">sh2_SensorConfig_t&#160;</td>
+          <td class="paramname"><em>sensor_cfg</em> = <code>BNO08xPrivateTypes::default_sensor_cfg</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Enables stability classifier reports such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> begins sending them. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">report_period_us</td><td>The period/interval of the report in microseconds. </td></tr>
+    <tr><td class="paramname">sensor_cfg</td><td>Sensor special configuration (optional, see BNO08xPrivateTypes::default_sensor_cfg for defaults).</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>True if report was successfully enabled. </dd></dl>
+
+<p>Implements <a class="el" href="class_b_n_o08x_rpt.html#a4ee529725467412df396d5c610ff7bb4">BNO08xRpt</a>.</p>
+<div class="dynheader">
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+<h2 class="memtitle"><span class="permalink"><a href="#a552b8df91df3905c7e2242ee42d11931">&#9670;&nbsp;</a></span>get()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="structbno08x__stability__classifier__t.html">bno08x_stability_classifier_t</a> BNO08xRptStabilityClassifier::get </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Grabs most recent stability classifier data. </p>
+<dl class="section return"><dt>Returns</dt><dd>BNO08xStability enum object with detected state. </dd></dl>
+<div class="dynheader">
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+<h2 class="memtitle"><span class="permalink"><a href="#a8c8c794004f8b2a5e67656286beae7cd">&#9670;&nbsp;</a></span>get_stability()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="_b_n_o08x_global_types_8hpp.html#a22d72f675aad7af764e685f91b29f4cb">BNO08xStability</a> BNO08xRptStabilityClassifier::get_stability </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Grabs most recent stability classifier reading (excludes accuracy) </p>
+<dl class="section return"><dt>Returns</dt><dd>BNO08xStability enum object with detected state. </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_rpt_stability_classifier_a8c8c794004f8b2a5e67656286beae7cd_cgraph.png" border="0" usemap="#aclass_b_n_o08x_rpt_stability_classifier_a8c8c794004f8b2a5e67656286beae7cd_cgraph" alt=""/></div>
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+</map>
+</div>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>/media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/report/<a class="el" href="_b_n_o08x_rpt_stability_classifier_8hpp_source.html">BNO08xRptStabilityClassifier.hpp</a></li>
+<li>report/<a class="el" href="_b_n_o08x_rpt_stability_classifier_8cpp.html">BNO08xRptStabilityClassifier.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_rpt_stability_classifier.html">BNO08xRptStabilityClassifier</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> 1.9.4 </li>
+  </ul>
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diff --git a/documentation/html/class_b_n_o08x_rpt_stability_classifier.js b/documentation/html/class_b_n_o08x_rpt_stability_classifier.js
new file mode 100644
index 0000000..b411a8d
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_rpt_stability_classifier.js
@@ -0,0 +1,7 @@
+var class_b_n_o08x_rpt_stability_classifier =
+[
+    [ "BNO08xRptStabilityClassifier", "class_b_n_o08x_rpt_stability_classifier.html#a41052d651d03bccc414b14d6e9b670ab", null ],
+    [ "enable", "class_b_n_o08x_rpt_stability_classifier.html#a4959110a01f638d04d87696d8a03dd60", null ],
+    [ "get", "class_b_n_o08x_rpt_stability_classifier.html#a552b8df91df3905c7e2242ee42d11931", null ],
+    [ "get_stability", "class_b_n_o08x_rpt_stability_classifier.html#a8c8c794004f8b2a5e67656286beae7cd", null ]
+];
\ No newline at end of file
diff --git a/documentation/html/class_b_n_o08x_rpt_stability_classifier__coll__graph.map b/documentation/html/class_b_n_o08x_rpt_stability_classifier__coll__graph.map
new file mode 100644
index 0000000..5854118
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_rpt_stability_classifier__coll__graph.map
@@ -0,0 +1,5 @@
+<map id="BNO08xRptStabilityClassifier" name="BNO08xRptStabilityClassifier">
+<area shape="rect" id="node1" title="Class to represent stability classifier reports. (See Ref. Manual 6.5.31)" alt="" coords="5,185,216,212"/>
+<area shape="rect" id="node2" href="$class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x." alt="" coords="62,109,159,136"/>
+<area shape="rect" id="node3" href="$struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html" title="Holds context used to synchronize tasks and callback execution." alt="" coords="31,5,190,47"/>
+</map>
diff --git a/documentation/html/class_b_n_o08x_rpt_stability_classifier__coll__graph.md5 b/documentation/html/class_b_n_o08x_rpt_stability_classifier__coll__graph.md5
new file mode 100644
index 0000000..a8211ad
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+++ b/documentation/html/class_b_n_o08x_rpt_stability_classifier__coll__graph.md5
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+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(document).ready(function(){initNavTree('class_b_n_o08x_rpt_step_counter.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">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="header">
+  <div class="headertitle"><div class="title">BNO08xRptStepCounter 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_rpt_step_counter.html">BNO08xRptStepCounter</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a15e8eebe3fe90ac19837e3860c76374c">BNO08xRpt</a>(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_step_counter.html#a0a85682a68010aa66ddb2ccc337263a0">BNO08xRptStepCounter</a>(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_step_counter.html">BNO08xRptStepCounter</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">clear_sample_counts</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">disable</a>(sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_step_counter.html#adf0a697561b064a7dd90a44009efbcf1">enable</a>(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg) override</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_step_counter.html">BNO08xRptStepCounter</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">flush</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_step_counter.html#affe413eea0483147578e58a1a9c5cd8f">get</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_step_counter.html">BNO08xRptStepCounter</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">get_meta_data</a>(bno08x_meta_data_t &amp;meta_data)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">get_sample_counts</a>(bno08x_sample_counts_t &amp;sample_counts)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_step_counter.html#a017b389771b4d8816b4cfd06c6d9184a">get_total_steps</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_step_counter.html">BNO08xRptStepCounter</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">has_new_data</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">lock_sh2_HAL</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">lock_user_data</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a1d4d6f4cc6f1eae503863eedf7fb9f52">period_us</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">RAD_2_DEG</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">register_cb</a>(std::function&lt; void(void)&gt; cb_fxn)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">rpt_enable</a>(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">signal_data_available</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">unlock_sh2_HAL</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">unlock_user_data</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+</table></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> 1.9.4 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/documentation/html/class_b_n_o08x_rpt_step_counter.html b/documentation/html/class_b_n_o08x_rpt_step_counter.html
new file mode 100644
index 0000000..5964e88
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_rpt_step_counter.html
@@ -0,0 +1,381 @@
+<!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 1.9.4"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>esp32_BNO08x: BNO08xRptStepCounter 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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+<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;1.4</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 1.9.4 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+       class="ui-resizable-handle">
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+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(document).ready(function(){initNavTree('class_b_n_o08x_rpt_step_counter.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">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="class_b_n_o08x_rpt_step_counter-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">BNO08xRptStepCounter Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>Class to represent step counter reports. (See Ref. Manual 6.5.29)  
+ <a href="class_b_n_o08x_rpt_step_counter.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="_b_n_o08x_rpt_step_counter_8hpp_source.html">report/BNO08xRptStepCounter.hpp</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for BNO08xRptStepCounter:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_rpt_step_counter__inherit__graph.png" border="0" usemap="#a_b_n_o08x_rpt_step_counter_inherit__map" alt="Inheritance graph"/></div>
+<map name="a_b_n_o08x_rpt_step_counter_inherit__map" id="a_b_n_o08x_rpt_step_counter_inherit__map">
+<area shape="rect" title="Class to represent step counter reports. (See Ref. Manual 6.5.29)" alt="" coords="5,80,183,107"/>
+<area shape="rect" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x." alt="" coords="45,5,143,32"/>
+</map>
+<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for BNO08xRptStepCounter:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_rpt_step_counter__coll__graph.png" border="0" usemap="#a_b_n_o08x_rpt_step_counter_coll__map" alt="Collaboration graph"/></div>
+<map name="a_b_n_o08x_rpt_step_counter_coll__map" id="a_b_n_o08x_rpt_step_counter_coll__map">
+<area shape="rect" title="Class to represent step counter reports. (See Ref. Manual 6.5.29)" alt="" coords="5,185,183,212"/>
+<area shape="rect" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x." alt="" coords="45,109,143,136"/>
+<area shape="rect" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html" title="Holds context used to synchronize tasks and callback execution." alt="" coords="15,5,173,47"/>
+</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="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a0a85682a68010aa66ddb2ccc337263a0"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_step_counter.html#a0a85682a68010aa66ddb2ccc337263a0">BNO08xRptStepCounter</a> (uint8_t <a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, EventBits_t <a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *<a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</td></tr>
+<tr class="separator:a0a85682a68010aa66ddb2ccc337263a0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:adf0a697561b064a7dd90a44009efbcf1"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_step_counter.html#adf0a697561b064a7dd90a44009efbcf1">enable</a> (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg) override</td></tr>
+<tr class="memdesc:adf0a697561b064a7dd90a44009efbcf1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enables step counter reports such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> begins sending them.  <a href="class_b_n_o08x_rpt_step_counter.html#adf0a697561b064a7dd90a44009efbcf1">More...</a><br /></td></tr>
+<tr class="separator:adf0a697561b064a7dd90a44009efbcf1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:affe413eea0483147578e58a1a9c5cd8f"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structbno08x__step__counter__t.html">bno08x_step_counter_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_step_counter.html#affe413eea0483147578e58a1a9c5cd8f">get</a> ()</td></tr>
+<tr class="memdesc:affe413eea0483147578e58a1a9c5cd8f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Grabs most recent step counter data (rollover not accounted for in step count, just most recent report data).  <a href="class_b_n_o08x_rpt_step_counter.html#affe413eea0483147578e58a1a9c5cd8f">More...</a><br /></td></tr>
+<tr class="separator:affe413eea0483147578e58a1a9c5cd8f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a017b389771b4d8816b4cfd06c6d9184a"><td class="memItemLeft" align="right" valign="top">uint32_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_step_counter.html#a017b389771b4d8816b4cfd06c6d9184a">get_total_steps</a> ()</td></tr>
+<tr class="memdesc:a017b389771b4d8816b4cfd06c6d9184a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Grabs the total step count since boot, accounts for rollover in report data.  <a href="class_b_n_o08x_rpt_step_counter.html#a017b389771b4d8816b4cfd06c6d9184a">More...</a><br /></td></tr>
+<tr class="separator:a017b389771b4d8816b4cfd06c6d9184a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:a7d147e7540a4c6aa19749844e14cdadc inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">disable</a> (sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td></tr>
+<tr class="memdesc:a7d147e7540a4c6aa19749844e14cdadc inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Disables a sensor report by setting its period to 0us such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> stops sending it.  <a href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">More...</a><br /></td></tr>
+<tr class="separator:a7d147e7540a4c6aa19749844e14cdadc inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5b542b28c81fcd05cf2e3f3d2d437d46 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">register_cb</a> (std::function&lt; void(void)&gt; cb_fxn)</td></tr>
+<tr class="memdesc:a5b542b28c81fcd05cf2e3f3d2d437d46 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Registers a callback to execute when new data from a specific report is received.  <a href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">More...</a><br /></td></tr>
+<tr class="separator:a5b542b28c81fcd05cf2e3f3d2d437d46 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a74f6037286b51382535bab61680297ed inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">has_new_data</a> ()</td></tr>
+<tr class="memdesc:a74f6037286b51382535bab61680297ed inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Checks if a new report has been received since the last time this function was called.  <a href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">More...</a><br /></td></tr>
+<tr class="separator:a74f6037286b51382535bab61680297ed inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab3bb962696b135841ef7313bc631fc72 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">flush</a> ()</td></tr>
+<tr class="memdesc:ab3bb962696b135841ef7313bc631fc72 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Flush all buffered reports for this sensor/report module.  <a href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">More...</a><br /></td></tr>
+<tr class="separator:ab3bb962696b135841ef7313bc631fc72 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7ce8e48cadf59f49068af7f1cb680b38 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">get_sample_counts</a> (<a class="el" href="structbno08x__sample__counts__t.html">bno08x_sample_counts_t</a> &amp;sample_counts)</td></tr>
+<tr class="memdesc:a7ce8e48cadf59f49068af7f1cb680b38 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets sample counts for this sensor (see SH-2 ref manual 6.4.3.1)  <a href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">More...</a><br /></td></tr>
+<tr class="separator:a7ce8e48cadf59f49068af7f1cb680b38 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1418be33824d3102dbc8f92558a402a6 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">clear_sample_counts</a> ()</td></tr>
+<tr class="memdesc:a1418be33824d3102dbc8f92558a402a6 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Clears <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> internal sample counts for this sensor. (see SH-2 ref manual 6.4.3.1)  <a href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">More...</a><br /></td></tr>
+<tr class="separator:a1418be33824d3102dbc8f92558a402a6 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad5b054279b01204f61b4c0408acf51cf inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">get_meta_data</a> (<a class="el" href="structbno08x__meta__data__t.html">bno08x_meta_data_t</a> &amp;meta_data)</td></tr>
+<tr class="memdesc:ad5b054279b01204f61b4c0408acf51cf inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Retrieves meta data for this sensor/report by reading respective record in FRS (flash record system).  <a href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">More...</a><br /></td></tr>
+<tr class="separator:ad5b054279b01204f61b4c0408acf51cf inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4ee529725467412df396d5c610ff7bb4 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a4ee529725467412df396d5c610ff7bb4">enable</a> (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)=0</td></tr>
+<tr class="separator:a4ee529725467412df396d5c610ff7bb4 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="inherited" name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pro_methods_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:aa0bed98a9a497d1f39e8245d05b02e9c inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">rpt_enable</a> (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td></tr>
+<tr class="memdesc:aa0bed98a9a497d1f39e8245d05b02e9c inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enables a sensor report such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> begins sending it.  <a href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">More...</a><br /></td></tr>
+<tr class="separator:aa0bed98a9a497d1f39e8245d05b02e9c inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a970fb7e7d3745c62fec626f0ccf0759f inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a970fb7e7d3745c62fec626f0ccf0759f">update_data</a> (sh2_SensorValue_t *sensor_val)=0</td></tr>
+<tr class="separator:a970fb7e7d3745c62fec626f0ccf0759f inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a15e8eebe3fe90ac19837e3860c76374c inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a15e8eebe3fe90ac19837e3860c76374c">BNO08xRpt</a> (uint8_t <a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, EventBits_t <a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *<a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</td></tr>
+<tr class="memdesc:a15e8eebe3fe90ac19837e3860c76374c inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x.">BNO08xRpt</a> report constructor.  <a href="class_b_n_o08x_rpt.html#a15e8eebe3fe90ac19837e3860c76374c">More...</a><br /></td></tr>
+<tr class="separator:a15e8eebe3fe90ac19837e3860c76374c inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a61e3451e93806e1b7eaf5f1387726765 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">unlock_sh2_HAL</a> ()</td></tr>
+<tr class="memdesc:a61e3451e93806e1b7eaf5f1387726765 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Unlocks sh2 HAL lib to allow other tasks to call its APIs.  <a href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">More...</a><br /></td></tr>
+<tr class="separator:a61e3451e93806e1b7eaf5f1387726765 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7a5619a74c1237c5abde2e4bd6619d12 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">lock_sh2_HAL</a> ()</td></tr>
+<tr class="memdesc:a7a5619a74c1237c5abde2e4bd6619d12 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Locks sh2 HAL lib to only allow the calling task to call its APIs.  <a href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">More...</a><br /></td></tr>
+<tr class="separator:a7a5619a74c1237c5abde2e4bd6619d12 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a26bacc572187119339ec248bb4e7d6f3 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">unlock_user_data</a> ()</td></tr>
+<tr class="memdesc:a26bacc572187119339ec248bb4e7d6f3 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Unlocks user data to allow other tasks to read/modify it.  <a href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">More...</a><br /></td></tr>
+<tr class="separator:a26bacc572187119339ec248bb4e7d6f3 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a48e7b1a2c2ebc6b1f2f292735c0832a0 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">lock_user_data</a> ()</td></tr>
+<tr class="memdesc:a48e7b1a2c2ebc6b1f2f292735c0832a0 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Locks locks user data to only allow the calling task to read/modify it.  <a href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">More...</a><br /></td></tr>
+<tr class="separator:a48e7b1a2c2ebc6b1f2f292735c0832a0 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a47a623eb0a1db51af76a03a103c32329 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">signal_data_available</a> ()</td></tr>
+<tr class="memdesc:a47a623eb0a1db51af76a03a103c32329 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Signals to <a class="el" href="class_b_n_o08x.html#a367d525d1c0ba119b3dca3067bb5bccc" title="Polls for new data/report to become available.">BNO08x::data_available()</a> that a new report has arrived.  <a href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">More...</a><br /></td></tr>
+<tr class="separator:a47a623eb0a1db51af76a03a103c32329 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_attribs_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:a63cd4ac9e96baa43eebe580f03307512 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a></td></tr>
+<tr class="memdesc:a63cd4ac9e96baa43eebe580f03307512 inherit pro_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Report ID, ex. SH2_ACCELERATION.  <a href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">More...</a><br /></td></tr>
+<tr class="separator:a63cd4ac9e96baa43eebe580f03307512 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae78feab5682a4697c5acad3ca6f12c2e inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">EventBits_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a></td></tr>
+<tr class="memdesc:ae78feab5682a4697c5acad3ca6f12c2e inherit pro_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Respective enable and data bit for report in evt_grp_rpt_en and evt_grp_rpt_data.  <a href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">More...</a><br /></td></tr>
+<tr class="separator:ae78feab5682a4697c5acad3ca6f12c2e inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1d4d6f4cc6f1eae503863eedf7fb9f52 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">uint32_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a1d4d6f4cc6f1eae503863eedf7fb9f52">period_us</a></td></tr>
+<tr class="memdesc:a1d4d6f4cc6f1eae503863eedf7fb9f52 inherit pro_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">The period/interval of the report in microseconds.  <a href="class_b_n_o08x_rpt.html#a1d4d6f4cc6f1eae503863eedf7fb9f52">More...</a><br /></td></tr>
+<tr class="separator:a1d4d6f4cc6f1eae503863eedf7fb9f52 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5a1404a08918d66bb0f41f55220db6e5 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top"><a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a></td></tr>
+<tr class="separator:a5a1404a08918d66bb0f41f55220db6e5 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_static_attribs_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pro_static_attribs_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Static Protected Attributes inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:a201aeb71fefb0d9d485914176a82dd80 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">static const constexpr float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">RAD_2_DEG</a></td></tr>
+<tr class="memdesc:a201aeb71fefb0d9d485914176a82dd80 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constant for radian to degree conversions, sed in quaternion to euler function conversions.  <a href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">More...</a><br /></td></tr>
+<tr class="separator:a201aeb71fefb0d9d485914176a82dd80 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2c57f370fb08b793bb10ec22d5acca45 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">static const constexpr char *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a2c57f370fb08b793bb10ec22d5acca45">TAG</a> = &quot;BNO08xRpt&quot;</td></tr>
+<tr class="separator:a2c57f370fb08b793bb10ec22d5acca45 inherit pro_static_attribs_class_b_n_o08x_rpt"><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 >Class to represent step counter reports. (See Ref. Manual 6.5.29) </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a0a85682a68010aa66ddb2ccc337263a0" name="a0a85682a68010aa66ddb2ccc337263a0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0a85682a68010aa66ddb2ccc337263a0">&#9670;&nbsp;</a></span>BNO08xRptStepCounter()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">BNO08xRptStepCounter::BNO08xRptStepCounter </td>
+          <td>(</td>
+          <td class="paramtype">uint8_t&#160;</td>
+          <td class="paramname"><em>ID</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">EventBits_t&#160;</td>
+          <td class="paramname"><em>rpt_bit</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *&#160;</td>
+          <td class="paramname"><em>sync_ctx</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="adf0a697561b064a7dd90a44009efbcf1" name="adf0a697561b064a7dd90a44009efbcf1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adf0a697561b064a7dd90a44009efbcf1">&#9670;&nbsp;</a></span>enable()</h2>
+
+<div class="memitem">
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+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08xRptStepCounter::enable </td>
+          <td>(</td>
+          <td class="paramtype">uint32_t&#160;</td>
+          <td class="paramname"><em>time_between_reports</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">sh2_SensorConfig_t&#160;</td>
+          <td class="paramname"><em>sensor_cfg</em> = <code>BNO08xPrivateTypes::default_sensor_cfg</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Enables step counter reports such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> begins sending them. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">report_period_us</td><td>The period/interval of the report in microseconds. </td></tr>
+    <tr><td class="paramname">sensor_cfg</td><td>Sensor special configuration (optional, see BNO08xPrivateTypes::default_sensor_cfg for defaults).</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>True if report was successfully enabled. </dd></dl>
+
+<p>Implements <a class="el" href="class_b_n_o08x_rpt.html#a4ee529725467412df396d5c610ff7bb4">BNO08xRpt</a>.</p>
+<div class="dynheader">
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+<h2 class="memtitle"><span class="permalink"><a href="#affe413eea0483147578e58a1a9c5cd8f">&#9670;&nbsp;</a></span>get()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="structbno08x__step__counter__t.html">bno08x_step_counter_t</a> BNO08xRptStepCounter::get </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Grabs most recent step counter data (rollover not accounted for in step count, just most recent report data). </p>
+<dl class="section return"><dt>Returns</dt><dd>Struct containing requested data. </dd></dl>
+<div class="dynheader">
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+<h2 class="memtitle"><span class="permalink"><a href="#a017b389771b4d8816b4cfd06c6d9184a">&#9670;&nbsp;</a></span>get_total_steps()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint32_t BNO08xRptStepCounter::get_total_steps </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Grabs the total step count since boot, accounts for rollover in report data. </p>
+<dl class="section return"><dt>Returns</dt><dd>Total steps since boot. </dd></dl>
+<div class="dynheader">
+Here is the call graph for this function:</div>
+<div class="dyncontent">
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+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>/media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/report/<a class="el" href="_b_n_o08x_rpt_step_counter_8hpp_source.html">BNO08xRptStepCounter.hpp</a></li>
+<li>report/<a class="el" href="_b_n_o08x_rpt_step_counter_8cpp.html">BNO08xRptStepCounter.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_rpt_step_counter.html">BNO08xRptStepCounter</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> 1.9.4 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/documentation/html/class_b_n_o08x_rpt_step_counter.js b/documentation/html/class_b_n_o08x_rpt_step_counter.js
new file mode 100644
index 0000000..ff2719c
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_rpt_step_counter.js
@@ -0,0 +1,7 @@
+var class_b_n_o08x_rpt_step_counter =
+[
+    [ "BNO08xRptStepCounter", "class_b_n_o08x_rpt_step_counter.html#a0a85682a68010aa66ddb2ccc337263a0", null ],
+    [ "enable", "class_b_n_o08x_rpt_step_counter.html#adf0a697561b064a7dd90a44009efbcf1", null ],
+    [ "get", "class_b_n_o08x_rpt_step_counter.html#affe413eea0483147578e58a1a9c5cd8f", null ],
+    [ "get_total_steps", "class_b_n_o08x_rpt_step_counter.html#a017b389771b4d8816b4cfd06c6d9184a", null ]
+];
\ No newline at end of file
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new file mode 100644
index 0000000..d2bbcb0
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index 0000000..95c538f
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index 0000000..15773af
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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;1.4</span>
+   </div>
+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
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+<div class="header">
+  <div class="headertitle"><div class="title">BNO08xRptTapDetector 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_rpt_tap_detector.html">BNO08xRptTapDetector</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a15e8eebe3fe90ac19837e3860c76374c">BNO08xRpt</a>(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_tap_detector.html#ad4761f72a20f120e545b941b6e198b6a">BNO08xRptTapDetector</a>(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_tap_detector.html">BNO08xRptTapDetector</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">clear_sample_counts</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">disable</a>(sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_tap_detector.html#ad8b716b7a2f2c2f52113eaaf75a391dc">enable</a>(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg) override</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_tap_detector.html">BNO08xRptTapDetector</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">flush</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_tap_detector.html#ac0c0642fbb086a480edf32c92a470a2e">get</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_tap_detector.html">BNO08xRptTapDetector</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">get_meta_data</a>(bno08x_meta_data_t &amp;meta_data)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">get_sample_counts</a>(bno08x_sample_counts_t &amp;sample_counts)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">has_new_data</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">lock_sh2_HAL</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">lock_user_data</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a1d4d6f4cc6f1eae503863eedf7fb9f52">period_us</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">RAD_2_DEG</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">register_cb</a>(std::function&lt; void(void)&gt; cb_fxn)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">rpt_enable</a>(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">signal_data_available</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">unlock_sh2_HAL</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">unlock_user_data</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+</table></div><!-- contents -->
+</div><!-- doc-content -->
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diff --git a/documentation/html/class_b_n_o08x_rpt_tap_detector.html b/documentation/html/class_b_n_o08x_rpt_tap_detector.html
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+<meta name="generator" content="Doxygen 1.9.4"/>
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+<title>esp32_BNO08x: BNO08xRptTapDetector Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
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+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</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 1.9.4 -->
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+        name="MSearchResults" id="MSearchResults">
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+
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="class_b_n_o08x_rpt_tap_detector-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">BNO08xRptTapDetector Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>Class to represent tap detector reports. (See Ref. Manual 6.5.27)  
+ <a href="class_b_n_o08x_rpt_tap_detector.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="_b_n_o08x_rpt_tap_detector_8hpp_source.html">report/BNO08xRptTapDetector.hpp</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for BNO08xRptTapDetector:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_rpt_tap_detector__inherit__graph.png" border="0" usemap="#a_b_n_o08x_rpt_tap_detector_inherit__map" alt="Inheritance graph"/></div>
+<map name="a_b_n_o08x_rpt_tap_detector_inherit__map" id="a_b_n_o08x_rpt_tap_detector_inherit__map">
+<area shape="rect" title="Class to represent tap detector reports. (See Ref. Manual 6.5.27)" alt="" coords="5,80,180,107"/>
+<area shape="rect" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x." alt="" coords="44,5,141,32"/>
+</map>
+<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for BNO08xRptTapDetector:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_rpt_tap_detector__coll__graph.png" border="0" usemap="#a_b_n_o08x_rpt_tap_detector_coll__map" alt="Collaboration graph"/></div>
+<map name="a_b_n_o08x_rpt_tap_detector_coll__map" id="a_b_n_o08x_rpt_tap_detector_coll__map">
+<area shape="rect" title="Class to represent tap detector reports. (See Ref. Manual 6.5.27)" alt="" coords="5,185,180,212"/>
+<area shape="rect" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x." alt="" coords="44,109,141,136"/>
+<area shape="rect" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html" title="Holds context used to synchronize tasks and callback execution." alt="" coords="13,5,172,47"/>
+</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="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:ad4761f72a20f120e545b941b6e198b6a"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_tap_detector.html#ad4761f72a20f120e545b941b6e198b6a">BNO08xRptTapDetector</a> (uint8_t <a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, EventBits_t <a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *<a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</td></tr>
+<tr class="separator:ad4761f72a20f120e545b941b6e198b6a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad8b716b7a2f2c2f52113eaaf75a391dc"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_tap_detector.html#ad8b716b7a2f2c2f52113eaaf75a391dc">enable</a> (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg) override</td></tr>
+<tr class="memdesc:ad8b716b7a2f2c2f52113eaaf75a391dc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enables tap detector reports such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> begins sending them (only sends reports when a tap is detected).  <a href="class_b_n_o08x_rpt_tap_detector.html#ad8b716b7a2f2c2f52113eaaf75a391dc">More...</a><br /></td></tr>
+<tr class="separator:ad8b716b7a2f2c2f52113eaaf75a391dc"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac0c0642fbb086a480edf32c92a470a2e"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structbno08x__tap__detector__t.html">bno08x_tap_detector_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_tap_detector.html#ac0c0642fbb086a480edf32c92a470a2e">get</a> ()</td></tr>
+<tr class="memdesc:ac0c0642fbb086a480edf32c92a470a2e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Grabs most recent tap detector detector data.  <a href="class_b_n_o08x_rpt_tap_detector.html#ac0c0642fbb086a480edf32c92a470a2e">More...</a><br /></td></tr>
+<tr class="separator:ac0c0642fbb086a480edf32c92a470a2e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:a7d147e7540a4c6aa19749844e14cdadc inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">disable</a> (sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td></tr>
+<tr class="memdesc:a7d147e7540a4c6aa19749844e14cdadc inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Disables a sensor report by setting its period to 0us such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> stops sending it.  <a href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">More...</a><br /></td></tr>
+<tr class="separator:a7d147e7540a4c6aa19749844e14cdadc inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5b542b28c81fcd05cf2e3f3d2d437d46 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">register_cb</a> (std::function&lt; void(void)&gt; cb_fxn)</td></tr>
+<tr class="memdesc:a5b542b28c81fcd05cf2e3f3d2d437d46 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Registers a callback to execute when new data from a specific report is received.  <a href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">More...</a><br /></td></tr>
+<tr class="separator:a5b542b28c81fcd05cf2e3f3d2d437d46 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a74f6037286b51382535bab61680297ed inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">has_new_data</a> ()</td></tr>
+<tr class="memdesc:a74f6037286b51382535bab61680297ed inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Checks if a new report has been received since the last time this function was called.  <a href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">More...</a><br /></td></tr>
+<tr class="separator:a74f6037286b51382535bab61680297ed inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab3bb962696b135841ef7313bc631fc72 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">flush</a> ()</td></tr>
+<tr class="memdesc:ab3bb962696b135841ef7313bc631fc72 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Flush all buffered reports for this sensor/report module.  <a href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">More...</a><br /></td></tr>
+<tr class="separator:ab3bb962696b135841ef7313bc631fc72 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7ce8e48cadf59f49068af7f1cb680b38 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">get_sample_counts</a> (<a class="el" href="structbno08x__sample__counts__t.html">bno08x_sample_counts_t</a> &amp;sample_counts)</td></tr>
+<tr class="memdesc:a7ce8e48cadf59f49068af7f1cb680b38 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets sample counts for this sensor (see SH-2 ref manual 6.4.3.1)  <a href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">More...</a><br /></td></tr>
+<tr class="separator:a7ce8e48cadf59f49068af7f1cb680b38 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1418be33824d3102dbc8f92558a402a6 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">clear_sample_counts</a> ()</td></tr>
+<tr class="memdesc:a1418be33824d3102dbc8f92558a402a6 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Clears <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> internal sample counts for this sensor. (see SH-2 ref manual 6.4.3.1)  <a href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">More...</a><br /></td></tr>
+<tr class="separator:a1418be33824d3102dbc8f92558a402a6 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad5b054279b01204f61b4c0408acf51cf inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">get_meta_data</a> (<a class="el" href="structbno08x__meta__data__t.html">bno08x_meta_data_t</a> &amp;meta_data)</td></tr>
+<tr class="memdesc:ad5b054279b01204f61b4c0408acf51cf inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Retrieves meta data for this sensor/report by reading respective record in FRS (flash record system).  <a href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">More...</a><br /></td></tr>
+<tr class="separator:ad5b054279b01204f61b4c0408acf51cf inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4ee529725467412df396d5c610ff7bb4 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a4ee529725467412df396d5c610ff7bb4">enable</a> (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)=0</td></tr>
+<tr class="separator:a4ee529725467412df396d5c610ff7bb4 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="inherited" name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pro_methods_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:aa0bed98a9a497d1f39e8245d05b02e9c inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">rpt_enable</a> (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td></tr>
+<tr class="memdesc:aa0bed98a9a497d1f39e8245d05b02e9c inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enables a sensor report such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> begins sending it.  <a href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">More...</a><br /></td></tr>
+<tr class="separator:aa0bed98a9a497d1f39e8245d05b02e9c inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a970fb7e7d3745c62fec626f0ccf0759f inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a970fb7e7d3745c62fec626f0ccf0759f">update_data</a> (sh2_SensorValue_t *sensor_val)=0</td></tr>
+<tr class="separator:a970fb7e7d3745c62fec626f0ccf0759f inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a15e8eebe3fe90ac19837e3860c76374c inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a15e8eebe3fe90ac19837e3860c76374c">BNO08xRpt</a> (uint8_t <a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, EventBits_t <a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *<a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</td></tr>
+<tr class="memdesc:a15e8eebe3fe90ac19837e3860c76374c inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x.">BNO08xRpt</a> report constructor.  <a href="class_b_n_o08x_rpt.html#a15e8eebe3fe90ac19837e3860c76374c">More...</a><br /></td></tr>
+<tr class="separator:a15e8eebe3fe90ac19837e3860c76374c inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a61e3451e93806e1b7eaf5f1387726765 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">unlock_sh2_HAL</a> ()</td></tr>
+<tr class="memdesc:a61e3451e93806e1b7eaf5f1387726765 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Unlocks sh2 HAL lib to allow other tasks to call its APIs.  <a href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">More...</a><br /></td></tr>
+<tr class="separator:a61e3451e93806e1b7eaf5f1387726765 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7a5619a74c1237c5abde2e4bd6619d12 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">lock_sh2_HAL</a> ()</td></tr>
+<tr class="memdesc:a7a5619a74c1237c5abde2e4bd6619d12 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Locks sh2 HAL lib to only allow the calling task to call its APIs.  <a href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">More...</a><br /></td></tr>
+<tr class="separator:a7a5619a74c1237c5abde2e4bd6619d12 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a26bacc572187119339ec248bb4e7d6f3 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">unlock_user_data</a> ()</td></tr>
+<tr class="memdesc:a26bacc572187119339ec248bb4e7d6f3 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Unlocks user data to allow other tasks to read/modify it.  <a href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">More...</a><br /></td></tr>
+<tr class="separator:a26bacc572187119339ec248bb4e7d6f3 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a48e7b1a2c2ebc6b1f2f292735c0832a0 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">lock_user_data</a> ()</td></tr>
+<tr class="memdesc:a48e7b1a2c2ebc6b1f2f292735c0832a0 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Locks locks user data to only allow the calling task to read/modify it.  <a href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">More...</a><br /></td></tr>
+<tr class="separator:a48e7b1a2c2ebc6b1f2f292735c0832a0 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a47a623eb0a1db51af76a03a103c32329 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">signal_data_available</a> ()</td></tr>
+<tr class="memdesc:a47a623eb0a1db51af76a03a103c32329 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Signals to <a class="el" href="class_b_n_o08x.html#a367d525d1c0ba119b3dca3067bb5bccc" title="Polls for new data/report to become available.">BNO08x::data_available()</a> that a new report has arrived.  <a href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">More...</a><br /></td></tr>
+<tr class="separator:a47a623eb0a1db51af76a03a103c32329 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_attribs_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:a63cd4ac9e96baa43eebe580f03307512 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a></td></tr>
+<tr class="memdesc:a63cd4ac9e96baa43eebe580f03307512 inherit pro_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Report ID, ex. SH2_ACCELERATION.  <a href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">More...</a><br /></td></tr>
+<tr class="separator:a63cd4ac9e96baa43eebe580f03307512 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae78feab5682a4697c5acad3ca6f12c2e inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">EventBits_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a></td></tr>
+<tr class="memdesc:ae78feab5682a4697c5acad3ca6f12c2e inherit pro_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Respective enable and data bit for report in evt_grp_rpt_en and evt_grp_rpt_data.  <a href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">More...</a><br /></td></tr>
+<tr class="separator:ae78feab5682a4697c5acad3ca6f12c2e inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1d4d6f4cc6f1eae503863eedf7fb9f52 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">uint32_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a1d4d6f4cc6f1eae503863eedf7fb9f52">period_us</a></td></tr>
+<tr class="memdesc:a1d4d6f4cc6f1eae503863eedf7fb9f52 inherit pro_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">The period/interval of the report in microseconds.  <a href="class_b_n_o08x_rpt.html#a1d4d6f4cc6f1eae503863eedf7fb9f52">More...</a><br /></td></tr>
+<tr class="separator:a1d4d6f4cc6f1eae503863eedf7fb9f52 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5a1404a08918d66bb0f41f55220db6e5 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top"><a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a></td></tr>
+<tr class="separator:a5a1404a08918d66bb0f41f55220db6e5 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_static_attribs_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pro_static_attribs_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Static Protected Attributes inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:a201aeb71fefb0d9d485914176a82dd80 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">static const constexpr float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">RAD_2_DEG</a></td></tr>
+<tr class="memdesc:a201aeb71fefb0d9d485914176a82dd80 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constant for radian to degree conversions, sed in quaternion to euler function conversions.  <a href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">More...</a><br /></td></tr>
+<tr class="separator:a201aeb71fefb0d9d485914176a82dd80 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2c57f370fb08b793bb10ec22d5acca45 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">static const constexpr char *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a2c57f370fb08b793bb10ec22d5acca45">TAG</a> = &quot;BNO08xRpt&quot;</td></tr>
+<tr class="separator:a2c57f370fb08b793bb10ec22d5acca45 inherit pro_static_attribs_class_b_n_o08x_rpt"><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 >Class to represent tap detector reports. (See Ref. Manual 6.5.27) </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="ad4761f72a20f120e545b941b6e198b6a" name="ad4761f72a20f120e545b941b6e198b6a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad4761f72a20f120e545b941b6e198b6a">&#9670;&nbsp;</a></span>BNO08xRptTapDetector()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">BNO08xRptTapDetector::BNO08xRptTapDetector </td>
+          <td>(</td>
+          <td class="paramtype">uint8_t&#160;</td>
+          <td class="paramname"><em>ID</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">EventBits_t&#160;</td>
+          <td class="paramname"><em>rpt_bit</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *&#160;</td>
+          <td class="paramname"><em>sync_ctx</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="ad8b716b7a2f2c2f52113eaaf75a391dc" name="ad8b716b7a2f2c2f52113eaaf75a391dc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad8b716b7a2f2c2f52113eaaf75a391dc">&#9670;&nbsp;</a></span>enable()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08xRptTapDetector::enable </td>
+          <td>(</td>
+          <td class="paramtype">uint32_t&#160;</td>
+          <td class="paramname"><em>time_between_reports</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">sh2_SensorConfig_t&#160;</td>
+          <td class="paramname"><em>sensor_cfg</em> = <code>BNO08xPrivateTypes::default_sensor_cfg</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Enables tap detector reports such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> begins sending them (only sends reports when a tap is detected). </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">time_between_reports</td><td>The period/interval of the report in microseconds. </td></tr>
+    <tr><td class="paramname">sensor_cfg</td><td>Sensor special configuration (optional, see BNO08xPrivateTypes::default_sensor_cfg for defaults).</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>True if report was successfully enabled. </dd></dl>
+
+<p>Implements <a class="el" href="class_b_n_o08x_rpt.html#a4ee529725467412df396d5c610ff7bb4">BNO08xRpt</a>.</p>
+<div class="dynheader">
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+<a id="ac0c0642fbb086a480edf32c92a470a2e" name="ac0c0642fbb086a480edf32c92a470a2e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac0c0642fbb086a480edf32c92a470a2e">&#9670;&nbsp;</a></span>get()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="structbno08x__tap__detector__t.html">bno08x_tap_detector_t</a> BNO08xRptTapDetector::get </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Grabs most recent tap detector detector data. </p>
+<dl class="section return"><dt>Returns</dt><dd>Struct containing requested data; </dd></dl>
+<div class="dynheader">
+Here is the call graph for this function:</div>
+<div class="dyncontent">
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+</div>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>/media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/report/<a class="el" href="_b_n_o08x_rpt_tap_detector_8hpp_source.html">BNO08xRptTapDetector.hpp</a></li>
+<li>report/<a class="el" href="_b_n_o08x_rpt_tap_detector_8cpp.html">BNO08xRptTapDetector.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_rpt_tap_detector.html">BNO08xRptTapDetector</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> 1.9.4 </li>
+  </ul>
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diff --git a/documentation/html/class_b_n_o08x_rpt_tap_detector.js b/documentation/html/class_b_n_o08x_rpt_tap_detector.js
new file mode 100644
index 0000000..7ba45e3
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_rpt_tap_detector.js
@@ -0,0 +1,6 @@
+var class_b_n_o08x_rpt_tap_detector =
+[
+    [ "BNO08xRptTapDetector", "class_b_n_o08x_rpt_tap_detector.html#ad4761f72a20f120e545b941b6e198b6a", null ],
+    [ "enable", "class_b_n_o08x_rpt_tap_detector.html#ad8b716b7a2f2c2f52113eaaf75a391dc", null ],
+    [ "get", "class_b_n_o08x_rpt_tap_detector.html#ac0c0642fbb086a480edf32c92a470a2e", null ]
+];
\ No newline at end of file
diff --git a/documentation/html/class_b_n_o08x_rpt_tap_detector__coll__graph.map b/documentation/html/class_b_n_o08x_rpt_tap_detector__coll__graph.map
new file mode 100644
index 0000000..1c6e488
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_rpt_tap_detector__coll__graph.map
@@ -0,0 +1,5 @@
+<map id="BNO08xRptTapDetector" name="BNO08xRptTapDetector">
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diff --git a/documentation/html/class_b_n_o08x_rpt_tap_detector__coll__graph.md5 b/documentation/html/class_b_n_o08x_rpt_tap_detector__coll__graph.md5
new file mode 100644
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diff --git a/documentation/html/class_b_n_o08x_rpt_uncal_gyro-members.html b/documentation/html/class_b_n_o08x_rpt_uncal_gyro-members.html
new file mode 100644
index 0000000..7f2d422
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_rpt_uncal_gyro-members.html
@@ -0,0 +1,125 @@
+<!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">
+<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 1.9.4"/>
+<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>
+<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>
+<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;1.4</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 1.9.4 -->
+<script type="text/javascript">
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+<script type="text/javascript" src="menudata.js"></script>
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+       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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+<div id="MSearchSelectWindow"
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+     onmouseout="return searchBox.OnSearchSelectHide()"
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+<!-- iframe showing the search results (closed by default) -->
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+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
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+</div>
+
+<div class="header">
+  <div class="headertitle"><div class="title">BNO08xRptUncalGyro 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_rpt_uncal_gyro.html">BNO08xRptUncalGyro</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a15e8eebe3fe90ac19837e3860c76374c">BNO08xRpt</a>(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_uncal_gyro.html#a3b728331f32e6ca7854c64b06ca28ea8">BNO08xRptUncalGyro</a>(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_uncal_gyro.html">BNO08xRptUncalGyro</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">clear_sample_counts</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">disable</a>(sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_uncal_gyro.html#a404d36091a61af543c6fec7b6e077706">enable</a>(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg) override</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_uncal_gyro.html">BNO08xRptUncalGyro</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">flush</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_uncal_gyro.html#ae2fec54b70d897124720abe1dcccd793">get</a>(bno08x_gyro_t &amp;vel, bno08x_gyro_bias_t &amp;bias)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_uncal_gyro.html">BNO08xRptUncalGyro</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_uncal_gyro.html#a08b722174d100d1d9363eaf4989a8ecd">get_bias</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_uncal_gyro.html">BNO08xRptUncalGyro</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">get_meta_data</a>(bno08x_meta_data_t &amp;meta_data)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">get_sample_counts</a>(bno08x_sample_counts_t &amp;sample_counts)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_uncal_gyro.html#a13c875a4ef09df3a82ac4bfa5109fdf7">get_vel</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_uncal_gyro.html">BNO08xRptUncalGyro</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">has_new_data</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">lock_sh2_HAL</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">lock_user_data</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a1d4d6f4cc6f1eae503863eedf7fb9f52">period_us</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">RAD_2_DEG</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">register_cb</a>(std::function&lt; void(void)&gt; cb_fxn)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">rpt_enable</a>(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">signal_data_available</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">unlock_sh2_HAL</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">unlock_user_data</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+</table></div><!-- contents -->
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diff --git a/documentation/html/class_b_n_o08x_rpt_uncal_gyro.html b/documentation/html/class_b_n_o08x_rpt_uncal_gyro.html
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+<title>esp32_BNO08x: BNO08xRptUncalGyro Class Reference</title>
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+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</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 1.9.4 -->
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+        name="MSearchResults" id="MSearchResults">
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+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="class_b_n_o08x_rpt_uncal_gyro-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">BNO08xRptUncalGyro Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>Class to represent uncalibrated gyro reports. (See Ref. Manual 6.5.14)  
+ <a href="class_b_n_o08x_rpt_uncal_gyro.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="_b_n_o08x_rpt_uncal_gyro_8hpp_source.html">report/BNO08xRptUncalGyro.hpp</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for BNO08xRptUncalGyro:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_rpt_uncal_gyro__inherit__graph.png" border="0" usemap="#a_b_n_o08x_rpt_uncal_gyro_inherit__map" alt="Inheritance graph"/></div>
+<map name="a_b_n_o08x_rpt_uncal_gyro_inherit__map" id="a_b_n_o08x_rpt_uncal_gyro_inherit__map">
+<area shape="rect" title="Class to represent uncalibrated gyro reports. (See Ref. Manual 6.5.14)" alt="" coords="5,80,171,107"/>
+<area shape="rect" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x." alt="" coords="39,5,137,32"/>
+</map>
+<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for BNO08xRptUncalGyro:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_rpt_uncal_gyro__coll__graph.png" border="0" usemap="#a_b_n_o08x_rpt_uncal_gyro_coll__map" alt="Collaboration graph"/></div>
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+<area shape="rect" title="Class to represent uncalibrated gyro reports. (See Ref. Manual 6.5.14)" alt="" coords="5,185,171,212"/>
+<area shape="rect" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x." alt="" coords="39,109,137,136"/>
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+</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="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a3b728331f32e6ca7854c64b06ca28ea8"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_uncal_gyro.html#a3b728331f32e6ca7854c64b06ca28ea8">BNO08xRptUncalGyro</a> (uint8_t <a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, EventBits_t <a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *<a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</td></tr>
+<tr class="separator:a3b728331f32e6ca7854c64b06ca28ea8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a404d36091a61af543c6fec7b6e077706"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_uncal_gyro.html#a404d36091a61af543c6fec7b6e077706">enable</a> (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg) override</td></tr>
+<tr class="memdesc:a404d36091a61af543c6fec7b6e077706"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enables uncalibrated gyro reports such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> begins sending them.  <a href="class_b_n_o08x_rpt_uncal_gyro.html#a404d36091a61af543c6fec7b6e077706">More...</a><br /></td></tr>
+<tr class="separator:a404d36091a61af543c6fec7b6e077706"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae2fec54b70d897124720abe1dcccd793"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_uncal_gyro.html#ae2fec54b70d897124720abe1dcccd793">get</a> (<a class="el" href="structbno08x__gyro__t.html">bno08x_gyro_t</a> &amp;vel, <a class="el" href="structbno08x__gyro__bias__t.html">bno08x_gyro_bias_t</a> &amp;bias)</td></tr>
+<tr class="memdesc:ae2fec54b70d897124720abe1dcccd793"><td class="mdescLeft">&#160;</td><td class="mdescRight">Grabs most recent uncalibrated gyroscope data, units are in rad/s.  <a href="class_b_n_o08x_rpt_uncal_gyro.html#ae2fec54b70d897124720abe1dcccd793">More...</a><br /></td></tr>
+<tr class="separator:ae2fec54b70d897124720abe1dcccd793"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a13c875a4ef09df3a82ac4bfa5109fdf7"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structbno08x__gyro__t.html">bno08x_gyro_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_uncal_gyro.html#a13c875a4ef09df3a82ac4bfa5109fdf7">get_vel</a> ()</td></tr>
+<tr class="memdesc:a13c875a4ef09df3a82ac4bfa5109fdf7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Grabs most recent uncalibrated gyroscope velocity data, units are in rad/s.  <a href="class_b_n_o08x_rpt_uncal_gyro.html#a13c875a4ef09df3a82ac4bfa5109fdf7">More...</a><br /></td></tr>
+<tr class="separator:a13c875a4ef09df3a82ac4bfa5109fdf7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a08b722174d100d1d9363eaf4989a8ecd"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structbno08x__gyro__bias__t.html">bno08x_gyro_bias_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_uncal_gyro.html#a08b722174d100d1d9363eaf4989a8ecd">get_bias</a> ()</td></tr>
+<tr class="memdesc:a08b722174d100d1d9363eaf4989a8ecd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Grabs most recent uncalibrated gyroscope bias data, units are in rad/s.  <a href="class_b_n_o08x_rpt_uncal_gyro.html#a08b722174d100d1d9363eaf4989a8ecd">More...</a><br /></td></tr>
+<tr class="separator:a08b722174d100d1d9363eaf4989a8ecd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:a7d147e7540a4c6aa19749844e14cdadc inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">disable</a> (sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td></tr>
+<tr class="memdesc:a7d147e7540a4c6aa19749844e14cdadc inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Disables a sensor report by setting its period to 0us such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> stops sending it.  <a href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">More...</a><br /></td></tr>
+<tr class="separator:a7d147e7540a4c6aa19749844e14cdadc inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5b542b28c81fcd05cf2e3f3d2d437d46 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">register_cb</a> (std::function&lt; void(void)&gt; cb_fxn)</td></tr>
+<tr class="memdesc:a5b542b28c81fcd05cf2e3f3d2d437d46 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Registers a callback to execute when new data from a specific report is received.  <a href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">More...</a><br /></td></tr>
+<tr class="separator:a5b542b28c81fcd05cf2e3f3d2d437d46 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a74f6037286b51382535bab61680297ed inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">has_new_data</a> ()</td></tr>
+<tr class="memdesc:a74f6037286b51382535bab61680297ed inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Checks if a new report has been received since the last time this function was called.  <a href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">More...</a><br /></td></tr>
+<tr class="separator:a74f6037286b51382535bab61680297ed inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab3bb962696b135841ef7313bc631fc72 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">flush</a> ()</td></tr>
+<tr class="memdesc:ab3bb962696b135841ef7313bc631fc72 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Flush all buffered reports for this sensor/report module.  <a href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">More...</a><br /></td></tr>
+<tr class="separator:ab3bb962696b135841ef7313bc631fc72 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7ce8e48cadf59f49068af7f1cb680b38 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">get_sample_counts</a> (<a class="el" href="structbno08x__sample__counts__t.html">bno08x_sample_counts_t</a> &amp;sample_counts)</td></tr>
+<tr class="memdesc:a7ce8e48cadf59f49068af7f1cb680b38 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets sample counts for this sensor (see SH-2 ref manual 6.4.3.1)  <a href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">More...</a><br /></td></tr>
+<tr class="separator:a7ce8e48cadf59f49068af7f1cb680b38 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1418be33824d3102dbc8f92558a402a6 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">clear_sample_counts</a> ()</td></tr>
+<tr class="memdesc:a1418be33824d3102dbc8f92558a402a6 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Clears <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> internal sample counts for this sensor. (see SH-2 ref manual 6.4.3.1)  <a href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">More...</a><br /></td></tr>
+<tr class="separator:a1418be33824d3102dbc8f92558a402a6 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad5b054279b01204f61b4c0408acf51cf inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">get_meta_data</a> (<a class="el" href="structbno08x__meta__data__t.html">bno08x_meta_data_t</a> &amp;meta_data)</td></tr>
+<tr class="memdesc:ad5b054279b01204f61b4c0408acf51cf inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Retrieves meta data for this sensor/report by reading respective record in FRS (flash record system).  <a href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">More...</a><br /></td></tr>
+<tr class="separator:ad5b054279b01204f61b4c0408acf51cf inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4ee529725467412df396d5c610ff7bb4 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a4ee529725467412df396d5c610ff7bb4">enable</a> (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)=0</td></tr>
+<tr class="separator:a4ee529725467412df396d5c610ff7bb4 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="inherited" name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pro_methods_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:aa0bed98a9a497d1f39e8245d05b02e9c inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">rpt_enable</a> (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td></tr>
+<tr class="memdesc:aa0bed98a9a497d1f39e8245d05b02e9c inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enables a sensor report such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> begins sending it.  <a href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">More...</a><br /></td></tr>
+<tr class="separator:aa0bed98a9a497d1f39e8245d05b02e9c inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a970fb7e7d3745c62fec626f0ccf0759f inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a970fb7e7d3745c62fec626f0ccf0759f">update_data</a> (sh2_SensorValue_t *sensor_val)=0</td></tr>
+<tr class="separator:a970fb7e7d3745c62fec626f0ccf0759f inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a15e8eebe3fe90ac19837e3860c76374c inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a15e8eebe3fe90ac19837e3860c76374c">BNO08xRpt</a> (uint8_t <a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, EventBits_t <a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *<a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</td></tr>
+<tr class="memdesc:a15e8eebe3fe90ac19837e3860c76374c inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x.">BNO08xRpt</a> report constructor.  <a href="class_b_n_o08x_rpt.html#a15e8eebe3fe90ac19837e3860c76374c">More...</a><br /></td></tr>
+<tr class="separator:a15e8eebe3fe90ac19837e3860c76374c inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a61e3451e93806e1b7eaf5f1387726765 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">unlock_sh2_HAL</a> ()</td></tr>
+<tr class="memdesc:a61e3451e93806e1b7eaf5f1387726765 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Unlocks sh2 HAL lib to allow other tasks to call its APIs.  <a href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">More...</a><br /></td></tr>
+<tr class="separator:a61e3451e93806e1b7eaf5f1387726765 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7a5619a74c1237c5abde2e4bd6619d12 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">lock_sh2_HAL</a> ()</td></tr>
+<tr class="memdesc:a7a5619a74c1237c5abde2e4bd6619d12 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Locks sh2 HAL lib to only allow the calling task to call its APIs.  <a href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">More...</a><br /></td></tr>
+<tr class="separator:a7a5619a74c1237c5abde2e4bd6619d12 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a26bacc572187119339ec248bb4e7d6f3 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">unlock_user_data</a> ()</td></tr>
+<tr class="memdesc:a26bacc572187119339ec248bb4e7d6f3 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Unlocks user data to allow other tasks to read/modify it.  <a href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">More...</a><br /></td></tr>
+<tr class="separator:a26bacc572187119339ec248bb4e7d6f3 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a48e7b1a2c2ebc6b1f2f292735c0832a0 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">lock_user_data</a> ()</td></tr>
+<tr class="memdesc:a48e7b1a2c2ebc6b1f2f292735c0832a0 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Locks locks user data to only allow the calling task to read/modify it.  <a href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">More...</a><br /></td></tr>
+<tr class="separator:a48e7b1a2c2ebc6b1f2f292735c0832a0 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a47a623eb0a1db51af76a03a103c32329 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">signal_data_available</a> ()</td></tr>
+<tr class="memdesc:a47a623eb0a1db51af76a03a103c32329 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Signals to <a class="el" href="class_b_n_o08x.html#a367d525d1c0ba119b3dca3067bb5bccc" title="Polls for new data/report to become available.">BNO08x::data_available()</a> that a new report has arrived.  <a href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">More...</a><br /></td></tr>
+<tr class="separator:a47a623eb0a1db51af76a03a103c32329 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_attribs_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:a63cd4ac9e96baa43eebe580f03307512 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a></td></tr>
+<tr class="memdesc:a63cd4ac9e96baa43eebe580f03307512 inherit pro_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Report ID, ex. SH2_ACCELERATION.  <a href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">More...</a><br /></td></tr>
+<tr class="separator:a63cd4ac9e96baa43eebe580f03307512 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae78feab5682a4697c5acad3ca6f12c2e inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">EventBits_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a></td></tr>
+<tr class="memdesc:ae78feab5682a4697c5acad3ca6f12c2e inherit pro_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Respective enable and data bit for report in evt_grp_rpt_en and evt_grp_rpt_data.  <a href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">More...</a><br /></td></tr>
+<tr class="separator:ae78feab5682a4697c5acad3ca6f12c2e inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1d4d6f4cc6f1eae503863eedf7fb9f52 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">uint32_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a1d4d6f4cc6f1eae503863eedf7fb9f52">period_us</a></td></tr>
+<tr class="memdesc:a1d4d6f4cc6f1eae503863eedf7fb9f52 inherit pro_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">The period/interval of the report in microseconds.  <a href="class_b_n_o08x_rpt.html#a1d4d6f4cc6f1eae503863eedf7fb9f52">More...</a><br /></td></tr>
+<tr class="separator:a1d4d6f4cc6f1eae503863eedf7fb9f52 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5a1404a08918d66bb0f41f55220db6e5 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top"><a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a></td></tr>
+<tr class="separator:a5a1404a08918d66bb0f41f55220db6e5 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_static_attribs_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pro_static_attribs_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Static Protected Attributes inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:a201aeb71fefb0d9d485914176a82dd80 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">static const constexpr float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">RAD_2_DEG</a></td></tr>
+<tr class="memdesc:a201aeb71fefb0d9d485914176a82dd80 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constant for radian to degree conversions, sed in quaternion to euler function conversions.  <a href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">More...</a><br /></td></tr>
+<tr class="separator:a201aeb71fefb0d9d485914176a82dd80 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2c57f370fb08b793bb10ec22d5acca45 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">static const constexpr char *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a2c57f370fb08b793bb10ec22d5acca45">TAG</a> = &quot;BNO08xRpt&quot;</td></tr>
+<tr class="separator:a2c57f370fb08b793bb10ec22d5acca45 inherit pro_static_attribs_class_b_n_o08x_rpt"><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 >Class to represent uncalibrated gyro reports. (See Ref. Manual 6.5.14) </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a3b728331f32e6ca7854c64b06ca28ea8" name="a3b728331f32e6ca7854c64b06ca28ea8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3b728331f32e6ca7854c64b06ca28ea8">&#9670;&nbsp;</a></span>BNO08xRptUncalGyro()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">BNO08xRptUncalGyro::BNO08xRptUncalGyro </td>
+          <td>(</td>
+          <td class="paramtype">uint8_t&#160;</td>
+          <td class="paramname"><em>ID</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">EventBits_t&#160;</td>
+          <td class="paramname"><em>rpt_bit</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *&#160;</td>
+          <td class="paramname"><em>sync_ctx</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a404d36091a61af543c6fec7b6e077706" name="a404d36091a61af543c6fec7b6e077706"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a404d36091a61af543c6fec7b6e077706">&#9670;&nbsp;</a></span>enable()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08xRptUncalGyro::enable </td>
+          <td>(</td>
+          <td class="paramtype">uint32_t&#160;</td>
+          <td class="paramname"><em>time_between_reports</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">sh2_SensorConfig_t&#160;</td>
+          <td class="paramname"><em>sensor_cfg</em> = <code>BNO08xPrivateTypes::default_sensor_cfg</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Enables uncalibrated gyro reports such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> begins sending them. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">report_period_us</td><td>The period/interval of the report in microseconds. </td></tr>
+    <tr><td class="paramname">sensor_cfg</td><td>Sensor special configuration (optional, see BNO08xPrivateTypes::default_sensor_cfg for defaults).</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>True if report was successfully enabled. </dd></dl>
+
+<p>Implements <a class="el" href="class_b_n_o08x_rpt.html#a4ee529725467412df396d5c610ff7bb4">BNO08xRpt</a>.</p>
+<div class="dynheader">
+Here is the call graph for this function:</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#ae2fec54b70d897124720abe1dcccd793">&#9670;&nbsp;</a></span>get()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08xRptUncalGyro::get </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="structbno08x__gyro__t.html">bno08x_gyro_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>vel</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="structbno08x__gyro__bias__t.html">bno08x_gyro_bias_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>bias</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Grabs most recent uncalibrated gyroscope data, units are in rad/s. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">vel</td><td>Reference to save velocity data. </td></tr>
+    <tr><td class="paramname">bias</td><td>Reference to save bias data.</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">
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+<h2 class="memtitle"><span class="permalink"><a href="#a08b722174d100d1d9363eaf4989a8ecd">&#9670;&nbsp;</a></span>get_bias()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="structbno08x__gyro__bias__t.html">bno08x_gyro_bias_t</a> BNO08xRptUncalGyro::get_bias </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Grabs most recent uncalibrated gyroscope bias data, units are in rad/s. </p>
+<dl class="section return"><dt>Returns</dt><dd>Struct containing requested data. </dd></dl>
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+<h2 class="memtitle"><span class="permalink"><a href="#a13c875a4ef09df3a82ac4bfa5109fdf7">&#9670;&nbsp;</a></span>get_vel()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="structbno08x__gyro__t.html">bno08x_gyro_t</a> BNO08xRptUncalGyro::get_vel </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Grabs most recent uncalibrated gyroscope velocity data, units are in rad/s. </p>
+<dl class="section return"><dt>Returns</dt><dd>Struct containing requested data. </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_rpt_uncal_gyro_a13c875a4ef09df3a82ac4bfa5109fdf7_cgraph.png" border="0" usemap="#aclass_b_n_o08x_rpt_uncal_gyro_a13c875a4ef09df3a82ac4bfa5109fdf7_cgraph" alt=""/></div>
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+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>/media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/report/<a class="el" href="_b_n_o08x_rpt_uncal_gyro_8hpp_source.html">BNO08xRptUncalGyro.hpp</a></li>
+<li>report/<a class="el" href="_b_n_o08x_rpt_uncal_gyro_8cpp.html">BNO08xRptUncalGyro.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_rpt_uncal_gyro.html">BNO08xRptUncalGyro</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> 1.9.4 </li>
+  </ul>
+</div>
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diff --git a/documentation/html/class_b_n_o08x_rpt_uncal_gyro.js b/documentation/html/class_b_n_o08x_rpt_uncal_gyro.js
new file mode 100644
index 0000000..246290d
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_rpt_uncal_gyro.js
@@ -0,0 +1,8 @@
+var class_b_n_o08x_rpt_uncal_gyro =
+[
+    [ "BNO08xRptUncalGyro", "class_b_n_o08x_rpt_uncal_gyro.html#a3b728331f32e6ca7854c64b06ca28ea8", null ],
+    [ "enable", "class_b_n_o08x_rpt_uncal_gyro.html#a404d36091a61af543c6fec7b6e077706", null ],
+    [ "get", "class_b_n_o08x_rpt_uncal_gyro.html#ae2fec54b70d897124720abe1dcccd793", null ],
+    [ "get_bias", "class_b_n_o08x_rpt_uncal_gyro.html#a08b722174d100d1d9363eaf4989a8ecd", null ],
+    [ "get_vel", "class_b_n_o08x_rpt_uncal_gyro.html#a13c875a4ef09df3a82ac4bfa5109fdf7", null ]
+];
\ No newline at end of file
diff --git a/documentation/html/class_b_n_o08x_rpt_uncal_gyro__coll__graph.map b/documentation/html/class_b_n_o08x_rpt_uncal_gyro__coll__graph.map
new file mode 100644
index 0000000..4c78835
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+++ b/documentation/html/class_b_n_o08x_rpt_uncal_gyro__coll__graph.map
@@ -0,0 +1,5 @@
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diff --git a/documentation/html/class_b_n_o08x_rpt_uncal_magnetometer-members.html b/documentation/html/class_b_n_o08x_rpt_uncal_magnetometer-members.html
new file mode 100644
index 0000000..e597185
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_rpt_uncal_magnetometer-members.html
@@ -0,0 +1,125 @@
+<!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">
+<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 1.9.4"/>
+<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>
+<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>
+<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;1.4</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 1.9.4 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search",'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() {
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+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(document).ready(function(){initNavTree('class_b_n_o08x_rpt_uncal_magnetometer.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) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="header">
+  <div class="headertitle"><div class="title">BNO08xRptUncalMagnetometer 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_rpt_uncal_magnetometer.html">BNO08xRptUncalMagnetometer</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a15e8eebe3fe90ac19837e3860c76374c">BNO08xRpt</a>(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_uncal_magnetometer.html#a8ac1f7e58879febd738b85a8035411a0">BNO08xRptUncalMagnetometer</a>(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_uncal_magnetometer.html">BNO08xRptUncalMagnetometer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">clear_sample_counts</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">disable</a>(sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_uncal_magnetometer.html#a80ae48107ca1cc27551fd799625f2867">enable</a>(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg) override</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_uncal_magnetometer.html">BNO08xRptUncalMagnetometer</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">flush</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_uncal_magnetometer.html#ad4d5abc8875955b6236bbe526be1e8fb">get</a>(bno08x_magf_t &amp;magf, bno08x_magf_bias_t &amp;bias)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_uncal_magnetometer.html">BNO08xRptUncalMagnetometer</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_uncal_magnetometer.html#aa6818f72419eaebb55cba9ffec28c704">get_bias</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_uncal_magnetometer.html">BNO08xRptUncalMagnetometer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt_uncal_magnetometer.html#ae5a99ef7523dcafc4638a538e141306b">get_magf</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt_uncal_magnetometer.html">BNO08xRptUncalMagnetometer</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">get_meta_data</a>(bno08x_meta_data_t &amp;meta_data)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">get_sample_counts</a>(bno08x_sample_counts_t &amp;sample_counts)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">has_new_data</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">lock_sh2_HAL</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">lock_user_data</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a1d4d6f4cc6f1eae503863eedf7fb9f52">period_us</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">RAD_2_DEG</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">register_cb</a>(std::function&lt; void(void)&gt; cb_fxn)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">rpt_enable</a>(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">signal_data_available</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a></td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">unlock_sh2_HAL</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">unlock_user_data</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+</table></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> 1.9.4 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/documentation/html/class_b_n_o08x_rpt_uncal_magnetometer.html b/documentation/html/class_b_n_o08x_rpt_uncal_magnetometer.html
new file mode 100644
index 0000000..6c13c87
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_rpt_uncal_magnetometer.html
@@ -0,0 +1,432 @@
+<!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">
+<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 1.9.4"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>esp32_BNO08x: BNO08xRptUncalMagnetometer 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>
+<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>
+<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;1.4</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 1.9.4 -->
+<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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+<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');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(document).ready(function(){initNavTree('class_b_n_o08x_rpt_uncal_magnetometer.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
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+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
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+</div>
+
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="class_b_n_o08x_rpt_uncal_magnetometer-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">BNO08xRptUncalMagnetometer Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>Class to represent uncalibrated magnetometer reports. (See Ref. Manual 6.5.17)  
+ <a href="class_b_n_o08x_rpt_uncal_magnetometer.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="_b_n_o08x_rpt_uncal_magnetometer_8hpp_source.html">report/BNO08xRptUncalMagnetometer.hpp</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for BNO08xRptUncalMagnetometer:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_rpt_uncal_magnetometer__inherit__graph.png" border="0" usemap="#a_b_n_o08x_rpt_uncal_magnetometer_inherit__map" alt="Inheritance graph"/></div>
+<map name="a_b_n_o08x_rpt_uncal_magnetometer_inherit__map" id="a_b_n_o08x_rpt_uncal_magnetometer_inherit__map">
+<area shape="rect" title="Class to represent uncalibrated magnetometer reports. (See Ref. Manual 6.5.17)" alt="" coords="5,80,236,107"/>
+<area shape="rect" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x." alt="" coords="72,5,169,32"/>
+</map>
+<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for BNO08xRptUncalMagnetometer:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_rpt_uncal_magnetometer__coll__graph.png" border="0" usemap="#a_b_n_o08x_rpt_uncal_magnetometer_coll__map" alt="Collaboration graph"/></div>
+<map name="a_b_n_o08x_rpt_uncal_magnetometer_coll__map" id="a_b_n_o08x_rpt_uncal_magnetometer_coll__map">
+<area shape="rect" title="Class to represent uncalibrated magnetometer reports. (See Ref. Manual 6.5.17)" alt="" coords="5,185,236,212"/>
+<area shape="rect" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x." alt="" coords="72,109,169,136"/>
+<area shape="rect" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html" title="Holds context used to synchronize tasks and callback execution." alt="" coords="41,5,200,47"/>
+</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="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a8ac1f7e58879febd738b85a8035411a0"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_uncal_magnetometer.html#a8ac1f7e58879febd738b85a8035411a0">BNO08xRptUncalMagnetometer</a> (uint8_t <a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, EventBits_t <a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *<a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</td></tr>
+<tr class="separator:a8ac1f7e58879febd738b85a8035411a0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a80ae48107ca1cc27551fd799625f2867"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_uncal_magnetometer.html#a80ae48107ca1cc27551fd799625f2867">enable</a> (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg) override</td></tr>
+<tr class="memdesc:a80ae48107ca1cc27551fd799625f2867"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enables uncalibrated magnetometer reports such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> begins sending them.  <a href="class_b_n_o08x_rpt_uncal_magnetometer.html#a80ae48107ca1cc27551fd799625f2867">More...</a><br /></td></tr>
+<tr class="separator:a80ae48107ca1cc27551fd799625f2867"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad4d5abc8875955b6236bbe526be1e8fb"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_uncal_magnetometer.html#ad4d5abc8875955b6236bbe526be1e8fb">get</a> (<a class="el" href="structbno08x__magf__t.html">bno08x_magf_t</a> &amp;magf, <a class="el" href="structbno08x__magf__bias__t.html">bno08x_magf_bias_t</a> &amp;bias)</td></tr>
+<tr class="memdesc:ad4d5abc8875955b6236bbe526be1e8fb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Grabs most recent uncalibrated magnetometer data, units are in uTesla.  <a href="class_b_n_o08x_rpt_uncal_magnetometer.html#ad4d5abc8875955b6236bbe526be1e8fb">More...</a><br /></td></tr>
+<tr class="separator:ad4d5abc8875955b6236bbe526be1e8fb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae5a99ef7523dcafc4638a538e141306b"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structbno08x__magf__t.html">bno08x_magf_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_uncal_magnetometer.html#ae5a99ef7523dcafc4638a538e141306b">get_magf</a> ()</td></tr>
+<tr class="memdesc:ae5a99ef7523dcafc4638a538e141306b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Grabs most recent uncalibrated magnetometer magnetic field data, units are in uTesla.  <a href="class_b_n_o08x_rpt_uncal_magnetometer.html#ae5a99ef7523dcafc4638a538e141306b">More...</a><br /></td></tr>
+<tr class="separator:ae5a99ef7523dcafc4638a538e141306b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa6818f72419eaebb55cba9ffec28c704"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structbno08x__magf__bias__t.html">bno08x_magf_bias_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt_uncal_magnetometer.html#aa6818f72419eaebb55cba9ffec28c704">get_bias</a> ()</td></tr>
+<tr class="memdesc:aa6818f72419eaebb55cba9ffec28c704"><td class="mdescLeft">&#160;</td><td class="mdescRight">Grabs most recent uncalibrated magnetometer bias data, units are in uTesla.  <a href="class_b_n_o08x_rpt_uncal_magnetometer.html#aa6818f72419eaebb55cba9ffec28c704">More...</a><br /></td></tr>
+<tr class="separator:aa6818f72419eaebb55cba9ffec28c704"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:a7d147e7540a4c6aa19749844e14cdadc inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">disable</a> (sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td></tr>
+<tr class="memdesc:a7d147e7540a4c6aa19749844e14cdadc inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Disables a sensor report by setting its period to 0us such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> stops sending it.  <a href="class_b_n_o08x_rpt.html#a7d147e7540a4c6aa19749844e14cdadc">More...</a><br /></td></tr>
+<tr class="separator:a7d147e7540a4c6aa19749844e14cdadc inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5b542b28c81fcd05cf2e3f3d2d437d46 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">register_cb</a> (std::function&lt; void(void)&gt; cb_fxn)</td></tr>
+<tr class="memdesc:a5b542b28c81fcd05cf2e3f3d2d437d46 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Registers a callback to execute when new data from a specific report is received.  <a href="class_b_n_o08x_rpt.html#a5b542b28c81fcd05cf2e3f3d2d437d46">More...</a><br /></td></tr>
+<tr class="separator:a5b542b28c81fcd05cf2e3f3d2d437d46 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a74f6037286b51382535bab61680297ed inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">has_new_data</a> ()</td></tr>
+<tr class="memdesc:a74f6037286b51382535bab61680297ed inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Checks if a new report has been received since the last time this function was called.  <a href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed">More...</a><br /></td></tr>
+<tr class="separator:a74f6037286b51382535bab61680297ed inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab3bb962696b135841ef7313bc631fc72 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">flush</a> ()</td></tr>
+<tr class="memdesc:ab3bb962696b135841ef7313bc631fc72 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Flush all buffered reports for this sensor/report module.  <a href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">More...</a><br /></td></tr>
+<tr class="separator:ab3bb962696b135841ef7313bc631fc72 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7ce8e48cadf59f49068af7f1cb680b38 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">get_sample_counts</a> (<a class="el" href="structbno08x__sample__counts__t.html">bno08x_sample_counts_t</a> &amp;sample_counts)</td></tr>
+<tr class="memdesc:a7ce8e48cadf59f49068af7f1cb680b38 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets sample counts for this sensor (see SH-2 ref manual 6.4.3.1)  <a href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38">More...</a><br /></td></tr>
+<tr class="separator:a7ce8e48cadf59f49068af7f1cb680b38 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1418be33824d3102dbc8f92558a402a6 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">clear_sample_counts</a> ()</td></tr>
+<tr class="memdesc:a1418be33824d3102dbc8f92558a402a6 inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Clears <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> internal sample counts for this sensor. (see SH-2 ref manual 6.4.3.1)  <a href="class_b_n_o08x_rpt.html#a1418be33824d3102dbc8f92558a402a6">More...</a><br /></td></tr>
+<tr class="separator:a1418be33824d3102dbc8f92558a402a6 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad5b054279b01204f61b4c0408acf51cf inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">get_meta_data</a> (<a class="el" href="structbno08x__meta__data__t.html">bno08x_meta_data_t</a> &amp;meta_data)</td></tr>
+<tr class="memdesc:ad5b054279b01204f61b4c0408acf51cf inherit pub_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Retrieves meta data for this sensor/report by reading respective record in FRS (flash record system).  <a href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf">More...</a><br /></td></tr>
+<tr class="separator:ad5b054279b01204f61b4c0408acf51cf inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4ee529725467412df396d5c610ff7bb4 inherit pub_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a4ee529725467412df396d5c610ff7bb4">enable</a> (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)=0</td></tr>
+<tr class="separator:a4ee529725467412df396d5c610ff7bb4 inherit pub_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="inherited" name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pro_methods_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:aa0bed98a9a497d1f39e8245d05b02e9c inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">rpt_enable</a> (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)</td></tr>
+<tr class="memdesc:aa0bed98a9a497d1f39e8245d05b02e9c inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enables a sensor report such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> begins sending it.  <a href="class_b_n_o08x_rpt.html#aa0bed98a9a497d1f39e8245d05b02e9c">More...</a><br /></td></tr>
+<tr class="separator:aa0bed98a9a497d1f39e8245d05b02e9c inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a970fb7e7d3745c62fec626f0ccf0759f inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a970fb7e7d3745c62fec626f0ccf0759f">update_data</a> (sh2_SensorValue_t *sensor_val)=0</td></tr>
+<tr class="separator:a970fb7e7d3745c62fec626f0ccf0759f inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a15e8eebe3fe90ac19837e3860c76374c inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a15e8eebe3fe90ac19837e3860c76374c">BNO08xRpt</a> (uint8_t <a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a>, EventBits_t <a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a>, <a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *<a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a>)</td></tr>
+<tr class="memdesc:a15e8eebe3fe90ac19837e3860c76374c inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x.">BNO08xRpt</a> report constructor.  <a href="class_b_n_o08x_rpt.html#a15e8eebe3fe90ac19837e3860c76374c">More...</a><br /></td></tr>
+<tr class="separator:a15e8eebe3fe90ac19837e3860c76374c inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a61e3451e93806e1b7eaf5f1387726765 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">unlock_sh2_HAL</a> ()</td></tr>
+<tr class="memdesc:a61e3451e93806e1b7eaf5f1387726765 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Unlocks sh2 HAL lib to allow other tasks to call its APIs.  <a href="class_b_n_o08x_rpt.html#a61e3451e93806e1b7eaf5f1387726765">More...</a><br /></td></tr>
+<tr class="separator:a61e3451e93806e1b7eaf5f1387726765 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7a5619a74c1237c5abde2e4bd6619d12 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">lock_sh2_HAL</a> ()</td></tr>
+<tr class="memdesc:a7a5619a74c1237c5abde2e4bd6619d12 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Locks sh2 HAL lib to only allow the calling task to call its APIs.  <a href="class_b_n_o08x_rpt.html#a7a5619a74c1237c5abde2e4bd6619d12">More...</a><br /></td></tr>
+<tr class="separator:a7a5619a74c1237c5abde2e4bd6619d12 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a26bacc572187119339ec248bb4e7d6f3 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">unlock_user_data</a> ()</td></tr>
+<tr class="memdesc:a26bacc572187119339ec248bb4e7d6f3 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Unlocks user data to allow other tasks to read/modify it.  <a href="class_b_n_o08x_rpt.html#a26bacc572187119339ec248bb4e7d6f3">More...</a><br /></td></tr>
+<tr class="separator:a26bacc572187119339ec248bb4e7d6f3 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a48e7b1a2c2ebc6b1f2f292735c0832a0 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">lock_user_data</a> ()</td></tr>
+<tr class="memdesc:a48e7b1a2c2ebc6b1f2f292735c0832a0 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Locks locks user data to only allow the calling task to read/modify it.  <a href="class_b_n_o08x_rpt.html#a48e7b1a2c2ebc6b1f2f292735c0832a0">More...</a><br /></td></tr>
+<tr class="separator:a48e7b1a2c2ebc6b1f2f292735c0832a0 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a47a623eb0a1db51af76a03a103c32329 inherit pro_methods_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">signal_data_available</a> ()</td></tr>
+<tr class="memdesc:a47a623eb0a1db51af76a03a103c32329 inherit pro_methods_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Signals to <a class="el" href="class_b_n_o08x.html#a367d525d1c0ba119b3dca3067bb5bccc" title="Polls for new data/report to become available.">BNO08x::data_available()</a> that a new report has arrived.  <a href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">More...</a><br /></td></tr>
+<tr class="separator:a47a623eb0a1db51af76a03a103c32329 inherit pro_methods_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_attribs_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:a63cd4ac9e96baa43eebe580f03307512 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">ID</a></td></tr>
+<tr class="memdesc:a63cd4ac9e96baa43eebe580f03307512 inherit pro_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Report ID, ex. SH2_ACCELERATION.  <a href="class_b_n_o08x_rpt.html#a63cd4ac9e96baa43eebe580f03307512">More...</a><br /></td></tr>
+<tr class="separator:a63cd4ac9e96baa43eebe580f03307512 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae78feab5682a4697c5acad3ca6f12c2e inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">EventBits_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">rpt_bit</a></td></tr>
+<tr class="memdesc:ae78feab5682a4697c5acad3ca6f12c2e inherit pro_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Respective enable and data bit for report in evt_grp_rpt_en and evt_grp_rpt_data.  <a href="class_b_n_o08x_rpt.html#ae78feab5682a4697c5acad3ca6f12c2e">More...</a><br /></td></tr>
+<tr class="separator:ae78feab5682a4697c5acad3ca6f12c2e inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1d4d6f4cc6f1eae503863eedf7fb9f52 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">uint32_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a1d4d6f4cc6f1eae503863eedf7fb9f52">period_us</a></td></tr>
+<tr class="memdesc:a1d4d6f4cc6f1eae503863eedf7fb9f52 inherit pro_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">The period/interval of the report in microseconds.  <a href="class_b_n_o08x_rpt.html#a1d4d6f4cc6f1eae503863eedf7fb9f52">More...</a><br /></td></tr>
+<tr class="separator:a1d4d6f4cc6f1eae503863eedf7fb9f52 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5a1404a08918d66bb0f41f55220db6e5 inherit pro_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top"><a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">sync_ctx</a></td></tr>
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+<tr class="inherit_header pro_static_attribs_class_b_n_o08x_rpt"><td colspan="2" onclick="javascript:toggleInherit('pro_static_attribs_class_b_n_o08x_rpt')"><img src="closed.png" alt="-"/>&#160;Static Protected Attributes inherited from <a class="el" href="class_b_n_o08x_rpt.html">BNO08xRpt</a></td></tr>
+<tr class="memitem:a201aeb71fefb0d9d485914176a82dd80 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">static const constexpr float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">RAD_2_DEG</a></td></tr>
+<tr class="memdesc:a201aeb71fefb0d9d485914176a82dd80 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constant for radian to degree conversions, sed in quaternion to euler function conversions.  <a href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">More...</a><br /></td></tr>
+<tr class="separator:a201aeb71fefb0d9d485914176a82dd80 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2c57f370fb08b793bb10ec22d5acca45 inherit pro_static_attribs_class_b_n_o08x_rpt"><td class="memItemLeft" align="right" valign="top">static const constexpr char *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_rpt.html#a2c57f370fb08b793bb10ec22d5acca45">TAG</a> = &quot;BNO08xRpt&quot;</td></tr>
+<tr class="separator:a2c57f370fb08b793bb10ec22d5acca45 inherit pro_static_attribs_class_b_n_o08x_rpt"><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 >Class to represent uncalibrated magnetometer reports. (See Ref. Manual 6.5.17) </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a8ac1f7e58879febd738b85a8035411a0" name="a8ac1f7e58879febd738b85a8035411a0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8ac1f7e58879febd738b85a8035411a0">&#9670;&nbsp;</a></span>BNO08xRptUncalMagnetometer()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">BNO08xRptUncalMagnetometer::BNO08xRptUncalMagnetometer </td>
+          <td>(</td>
+          <td class="paramtype">uint8_t&#160;</td>
+          <td class="paramname"><em>ID</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">EventBits_t&#160;</td>
+          <td class="paramname"><em>rpt_bit</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> *&#160;</td>
+          <td class="paramname"><em>sync_ctx</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a80ae48107ca1cc27551fd799625f2867" name="a80ae48107ca1cc27551fd799625f2867"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a80ae48107ca1cc27551fd799625f2867">&#9670;&nbsp;</a></span>enable()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08xRptUncalMagnetometer::enable </td>
+          <td>(</td>
+          <td class="paramtype">uint32_t&#160;</td>
+          <td class="paramname"><em>time_between_reports</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">sh2_SensorConfig_t&#160;</td>
+          <td class="paramname"><em>sensor_cfg</em> = <code>BNO08xPrivateTypes::default_sensor_cfg</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Enables uncalibrated magnetometer reports such that the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> begins sending them. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">report_period_us</td><td>The period/interval of the report in microseconds. </td></tr>
+    <tr><td class="paramname">sensor_cfg</td><td>Sensor special configuration (optional, see BNO08xPrivateTypes::default_sensor_cfg for defaults).</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>True if report was successfully enabled. </dd></dl>
+
+<p>Implements <a class="el" href="class_b_n_o08x_rpt.html#a4ee529725467412df396d5c610ff7bb4">BNO08xRpt</a>.</p>
+<div class="dynheader">
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+<h2 class="memtitle"><span class="permalink"><a href="#ad4d5abc8875955b6236bbe526be1e8fb">&#9670;&nbsp;</a></span>get()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08xRptUncalMagnetometer::get </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="structbno08x__magf__t.html">bno08x_magf_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>magf</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="structbno08x__magf__bias__t.html">bno08x_magf_bias_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>bias</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Grabs most recent uncalibrated magnetometer data, units are in uTesla. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">magf</td><td>Struct to store requested magf data. </td></tr>
+    <tr><td class="paramname">bias</td><td>Struct to store requested bias data.</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="#aa6818f72419eaebb55cba9ffec28c704">&#9670;&nbsp;</a></span>get_bias()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="structbno08x__magf__bias__t.html">bno08x_magf_bias_t</a> BNO08xRptUncalMagnetometer::get_bias </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Grabs most recent uncalibrated magnetometer bias data, units are in uTesla. </p>
+<dl class="section return"><dt>Returns</dt><dd>Struct containing requested data. </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="#ae5a99ef7523dcafc4638a538e141306b">&#9670;&nbsp;</a></span>get_magf()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="structbno08x__magf__t.html">bno08x_magf_t</a> BNO08xRptUncalMagnetometer::get_magf </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Grabs most recent uncalibrated magnetometer magnetic field data, units are in uTesla. </p>
+<dl class="section return"><dt>Returns</dt><dd>Struct containing requested data. </dd></dl>
+<div class="dynheader">
+Here is the call graph for this function:</div>
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+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>/media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/report/<a class="el" href="_b_n_o08x_rpt_uncal_magnetometer_8hpp_source.html">BNO08xRptUncalMagnetometer.hpp</a></li>
+<li>report/<a class="el" href="_b_n_o08x_rpt_uncal_magnetometer_8cpp.html">BNO08xRptUncalMagnetometer.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_rpt_uncal_magnetometer.html">BNO08xRptUncalMagnetometer</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> 1.9.4 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/documentation/html/class_b_n_o08x_rpt_uncal_magnetometer.js b/documentation/html/class_b_n_o08x_rpt_uncal_magnetometer.js
new file mode 100644
index 0000000..09ed9cf
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_rpt_uncal_magnetometer.js
@@ -0,0 +1,8 @@
+var class_b_n_o08x_rpt_uncal_magnetometer =
+[
+    [ "BNO08xRptUncalMagnetometer", "class_b_n_o08x_rpt_uncal_magnetometer.html#a8ac1f7e58879febd738b85a8035411a0", null ],
+    [ "enable", "class_b_n_o08x_rpt_uncal_magnetometer.html#a80ae48107ca1cc27551fd799625f2867", null ],
+    [ "get", "class_b_n_o08x_rpt_uncal_magnetometer.html#ad4d5abc8875955b6236bbe526be1e8fb", null ],
+    [ "get_bias", "class_b_n_o08x_rpt_uncal_magnetometer.html#aa6818f72419eaebb55cba9ffec28c704", null ],
+    [ "get_magf", "class_b_n_o08x_rpt_uncal_magnetometer.html#ae5a99ef7523dcafc4638a538e141306b", null ]
+];
\ No newline at end of file
diff --git a/documentation/html/class_b_n_o08x_rpt_uncal_magnetometer__coll__graph.map b/documentation/html/class_b_n_o08x_rpt_uncal_magnetometer__coll__graph.map
new file mode 100644
index 0000000..2b80a7f
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_rpt_uncal_magnetometer__coll__graph.map
@@ -0,0 +1,5 @@
+<map id="BNO08xRptUncalMagnetometer" name="BNO08xRptUncalMagnetometer">
+<area shape="rect" id="node1" title="Class to represent uncalibrated magnetometer reports. (See Ref. Manual 6.5.17)" alt="" coords="5,185,236,212"/>
+<area shape="rect" id="node2" href="$class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x." alt="" coords="72,109,169,136"/>
+<area shape="rect" id="node3" href="$struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html" title="Holds context used to synchronize tasks and callback execution." alt="" coords="41,5,200,47"/>
+</map>
diff --git a/documentation/html/class_b_n_o08x_rpt_uncal_magnetometer__coll__graph.md5 b/documentation/html/class_b_n_o08x_rpt_uncal_magnetometer__coll__graph.md5
new file mode 100644
index 0000000..9c199ef
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_rpt_uncal_magnetometer__coll__graph.md5
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diff --git a/documentation/html/class_b_n_o08x_rpt_uncal_magnetometer__inherit__graph.map b/documentation/html/class_b_n_o08x_rpt_uncal_magnetometer__inherit__graph.map
new file mode 100644
index 0000000..c19fdf8
--- /dev/null
+++ b/documentation/html/class_b_n_o08x_rpt_uncal_magnetometer__inherit__graph.map
@@ -0,0 +1,4 @@
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diff --git a/documentation/html/class_b_n_o08x_rpt_uncal_magnetometer__inherit__graph.md5 b/documentation/html/class_b_n_o08x_rpt_uncal_magnetometer__inherit__graph.md5
new file mode 100644
index 0000000..0e3325e
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diff --git a/documentation/html/class_b_n_o08x_s_h2_h_a_l-members.html b/documentation/html/class_b_n_o08x_s_h2_h_a_l-members.html
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+<title>esp32_BNO08x: Member List</title>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
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+</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;1.4</span>
+   </div>
+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
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+<script type="text/javascript">
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+  <div class="headertitle"><div class="title">BNO08xSH2HAL 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_s_h2_h_a_l.html">BNO08xSH2HAL</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_s_h2_h_a_l.html#ad89b6a3166e2eee003ad87a517a31cd5">get_time_us</a>(sh2_Hal_t *self)</td><td class="entry"><a class="el" href="class_b_n_o08x_s_h2_h_a_l.html">BNO08xSH2HAL</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_s_h2_h_a_l.html#a1add67e38698c9f33541af7bd2912d8f">hal_cb</a>(void *cookie, sh2_AsyncEvent_t *pEvent)</td><td class="entry"><a class="el" href="class_b_n_o08x_s_h2_h_a_l.html">BNO08xSH2HAL</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_s_h2_h_a_l.html#a19c041ef614d7eda85b94b10202a3997">sensor_event_cb</a>(void *cookie, sh2_SensorEvent_t *event)</td><td class="entry"><a class="el" href="class_b_n_o08x_s_h2_h_a_l.html">BNO08xSH2HAL</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
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+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_s_h2_h_a_l.html#a5fa6b901d1790fcd7dc0905f62ae040f">spi_close</a>(sh2_Hal_t *self)</td><td class="entry"><a class="el" href="class_b_n_o08x_s_h2_h_a_l.html">BNO08xSH2HAL</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_s_h2_h_a_l.html#ae079b1384cba806a778eb0e27f981da0">spi_open</a>(sh2_Hal_t *self)</td><td class="entry"><a class="el" href="class_b_n_o08x_s_h2_h_a_l.html">BNO08xSH2HAL</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_s_h2_h_a_l.html#a3e691461235b3e3c59866ac179d06f25">spi_read</a>(sh2_Hal_t *self, uint8_t *pBuffer, unsigned len, uint32_t *t_us)</td><td class="entry"><a class="el" href="class_b_n_o08x_s_h2_h_a_l.html">BNO08xSH2HAL</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_s_h2_h_a_l.html#a96d5b8fa7669f22cd0ecaf1feee13299">spi_write</a>(sh2_Hal_t *self, uint8_t *pBuffer, unsigned len)</td><td class="entry"><a class="el" href="class_b_n_o08x_s_h2_h_a_l.html">BNO08xSH2HAL</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
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diff --git a/documentation/html/class_b_n_o08x_s_h2_h_a_l.html b/documentation/html/class_b_n_o08x_s_h2_h_a_l.html
new file mode 100644
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>esp32_BNO08x: BNO08xSH2HAL Class Reference</title>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<script type="text/javascript" src="navtreedata.js"></script>
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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;1.4</span>
+   </div>
+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
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+<script type="text/javascript">
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+  </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">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
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+<!-- iframe showing the search results (closed by default) -->
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+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="header">
+  <div class="summary">
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="class_b_n_o08x_s_h2_h_a_l-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">BNO08xSH2HAL Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>Fully static class containing callback implementations for sh2 HAL lib.  
+ <a href="class_b_n_o08x_s_h2_h_a_l.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="_b_n_o08x_s_h2_h_a_l_8hpp_source.html">BNO08xSH2HAL.hpp</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-static-methods" name="pub-static-methods"></a>
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+<tr class="memdesc:a236ccf0ff8d36060b465bc1f4f0a37fa"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> driver object to be used with sh2 HAL lib callbacks.  <a href="class_b_n_o08x_s_h2_h_a_l.html#a236ccf0ff8d36060b465bc1f4f0a37fa">More...</a><br /></td></tr>
+<tr class="separator:a236ccf0ff8d36060b465bc1f4f0a37fa"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae079b1384cba806a778eb0e27f981da0"><td class="memItemLeft" align="right" valign="top">static int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_s_h2_h_a_l.html#ae079b1384cba806a778eb0e27f981da0">spi_open</a> (sh2_Hal_t *self)</td></tr>
+<tr class="memdesc:ae079b1384cba806a778eb0e27f981da0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Opens SPI instance by waiting for interrupt.  <a href="class_b_n_o08x_s_h2_h_a_l.html#ae079b1384cba806a778eb0e27f981da0">More...</a><br /></td></tr>
+<tr class="separator:ae079b1384cba806a778eb0e27f981da0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5fa6b901d1790fcd7dc0905f62ae040f"><td class="memItemLeft" align="right" valign="top">static void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_s_h2_h_a_l.html#a5fa6b901d1790fcd7dc0905f62ae040f">spi_close</a> (sh2_Hal_t *self)</td></tr>
+<tr class="memdesc:a5fa6b901d1790fcd7dc0905f62ae040f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Closes SPI instance (nothing to do here, but required by sh2 HAL lib for cases where other communication protocols are used.)  <a href="class_b_n_o08x_s_h2_h_a_l.html#a5fa6b901d1790fcd7dc0905f62ae040f">More...</a><br /></td></tr>
+<tr class="separator:a5fa6b901d1790fcd7dc0905f62ae040f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3e691461235b3e3c59866ac179d06f25"><td class="memItemLeft" align="right" valign="top">static int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_s_h2_h_a_l.html#a3e691461235b3e3c59866ac179d06f25">spi_read</a> (sh2_Hal_t *self, uint8_t *pBuffer, unsigned len, uint32_t *t_us)</td></tr>
+<tr class="memdesc:a3e691461235b3e3c59866ac179d06f25"><td class="mdescLeft">&#160;</td><td class="mdescRight">SPI rx callback for sh2 HAL lib.  <a href="class_b_n_o08x_s_h2_h_a_l.html#a3e691461235b3e3c59866ac179d06f25">More...</a><br /></td></tr>
+<tr class="separator:a3e691461235b3e3c59866ac179d06f25"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a96d5b8fa7669f22cd0ecaf1feee13299"><td class="memItemLeft" align="right" valign="top">static int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_s_h2_h_a_l.html#a96d5b8fa7669f22cd0ecaf1feee13299">spi_write</a> (sh2_Hal_t *self, uint8_t *pBuffer, unsigned len)</td></tr>
+<tr class="memdesc:a96d5b8fa7669f22cd0ecaf1feee13299"><td class="mdescLeft">&#160;</td><td class="mdescRight">SPI tx callback for sh2 HAL lib.  <a href="class_b_n_o08x_s_h2_h_a_l.html#a96d5b8fa7669f22cd0ecaf1feee13299">More...</a><br /></td></tr>
+<tr class="separator:a96d5b8fa7669f22cd0ecaf1feee13299"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad89b6a3166e2eee003ad87a517a31cd5"><td class="memItemLeft" align="right" valign="top">static uint32_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_s_h2_h_a_l.html#ad89b6a3166e2eee003ad87a517a31cd5">get_time_us</a> (sh2_Hal_t *self)</td></tr>
+<tr class="memdesc:ad89b6a3166e2eee003ad87a517a31cd5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get time in microseconds callback for sh2 HAL lib.  <a href="class_b_n_o08x_s_h2_h_a_l.html#ad89b6a3166e2eee003ad87a517a31cd5">More...</a><br /></td></tr>
+<tr class="separator:ad89b6a3166e2eee003ad87a517a31cd5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1add67e38698c9f33541af7bd2912d8f"><td class="memItemLeft" align="right" valign="top">static void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_s_h2_h_a_l.html#a1add67e38698c9f33541af7bd2912d8f">hal_cb</a> (void *cookie, sh2_AsyncEvent_t *pEvent)</td></tr>
+<tr class="memdesc:a1add67e38698c9f33541af7bd2912d8f"><td class="mdescLeft">&#160;</td><td class="mdescRight">General event callback for sh2 HAL lib, used to notify tasks of reset.  <a href="class_b_n_o08x_s_h2_h_a_l.html#a1add67e38698c9f33541af7bd2912d8f">More...</a><br /></td></tr>
+<tr class="separator:a1add67e38698c9f33541af7bd2912d8f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a19c041ef614d7eda85b94b10202a3997"><td class="memItemLeft" align="right" valign="top">static void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_s_h2_h_a_l.html#a19c041ef614d7eda85b94b10202a3997">sensor_event_cb</a> (void *cookie, sh2_SensorEvent_t *event)</td></tr>
+<tr class="memdesc:a19c041ef614d7eda85b94b10202a3997"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sensor event callback for sh2 HAL lib, sends received reports to data_proc_task().  <a href="class_b_n_o08x_s_h2_h_a_l.html#a19c041ef614d7eda85b94b10202a3997">More...</a><br /></td></tr>
+<tr class="separator:a19c041ef614d7eda85b94b10202a3997"><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 >Fully static class containing callback implementations for sh2 HAL lib. </p>
+</div><h2 class="groupheader">Member Function Documentation</h2>
+<a id="ad89b6a3166e2eee003ad87a517a31cd5" name="ad89b6a3166e2eee003ad87a517a31cd5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad89b6a3166e2eee003ad87a517a31cd5">&#9670;&nbsp;</a></span>get_time_us()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint32_t BNO08xSH2HAL::get_time_us </td>
+          <td>(</td>
+          <td class="paramtype">sh2_Hal_t *&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Get time in microseconds callback for sh2 HAL lib. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">self</td><td>sh2 HAL lib object being used with <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> driver instance.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Time in microseconds. </dd></dl>
+
+</div>
+</div>
+<a id="a1add67e38698c9f33541af7bd2912d8f" name="a1add67e38698c9f33541af7bd2912d8f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1add67e38698c9f33541af7bd2912d8f">&#9670;&nbsp;</a></span>hal_cb()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08xSH2HAL::hal_cb </td>
+          <td>(</td>
+          <td class="paramtype">void *&#160;</td>
+          <td class="paramname"><em>cookie</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">sh2_AsyncEvent_t *&#160;</td>
+          <td class="paramname"><em>pEvent</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>General event callback for sh2 HAL lib, used to notify tasks of reset. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">cookie</td><td>User set input parameter as void pointer (unused), see sh2_Open(). </td></tr>
+    <tr><td class="paramname">pEvent</td><td>Pointer to asynchronous event.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
+
+</div>
+</div>
+<a id="a19c041ef614d7eda85b94b10202a3997" name="a19c041ef614d7eda85b94b10202a3997"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a19c041ef614d7eda85b94b10202a3997">&#9670;&nbsp;</a></span>sensor_event_cb()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08xSH2HAL::sensor_event_cb </td>
+          <td>(</td>
+          <td class="paramtype">void *&#160;</td>
+          <td class="paramname"><em>cookie</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">sh2_SensorEvent_t *&#160;</td>
+          <td class="paramname"><em>event</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Sensor event callback for sh2 HAL lib, sends received reports to data_proc_task(). </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">cookie</td><td>User set input parameter as void pointer (unused), see sh2_Open(). </td></tr>
+    <tr><td class="paramname">event</td><td>Pointer to sensor event.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
+
+</div>
+</div>
+<a id="a236ccf0ff8d36060b465bc1f4f0a37fa" name="a236ccf0ff8d36060b465bc1f4f0a37fa"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a236ccf0ff8d36060b465bc1f4f0a37fa">&#9670;&nbsp;</a></span>set_hal_imu()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08xSH2HAL::set_hal_imu </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="class_b_n_o08x.html">BNO08x</a> *&#160;</td>
+          <td class="paramname"><em>hal_imu</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Sets the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> driver object to be used with sh2 HAL lib callbacks. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">hal_imu</td><td>Pointer to <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> driver object to be used with sh2 HAL lib callbacks.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
+
+</div>
+</div>
+<a id="a5fa6b901d1790fcd7dc0905f62ae040f" name="a5fa6b901d1790fcd7dc0905f62ae040f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5fa6b901d1790fcd7dc0905f62ae040f">&#9670;&nbsp;</a></span>spi_close()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void BNO08xSH2HAL::spi_close </td>
+          <td>(</td>
+          <td class="paramtype">sh2_Hal_t *&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Closes SPI instance (nothing to do here, but required by sh2 HAL lib for cases where other communication protocols are used.) </p>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
+
+</div>
+</div>
+<a id="ae079b1384cba806a778eb0e27f981da0" name="ae079b1384cba806a778eb0e27f981da0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae079b1384cba806a778eb0e27f981da0">&#9670;&nbsp;</a></span>spi_open()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">int BNO08xSH2HAL::spi_open </td>
+          <td>(</td>
+          <td class="paramtype">sh2_Hal_t *&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Opens SPI instance by waiting for interrupt. </p>
+<dl class="section return"><dt>Returns</dt><dd>Always returns 0. </dd></dl>
+
+</div>
+</div>
+<a id="a3e691461235b3e3c59866ac179d06f25" name="a3e691461235b3e3c59866ac179d06f25"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3e691461235b3e3c59866ac179d06f25">&#9670;&nbsp;</a></span>spi_read()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">int BNO08xSH2HAL::spi_read </td>
+          <td>(</td>
+          <td class="paramtype">sh2_Hal_t *&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">uint8_t *&#160;</td>
+          <td class="paramname"><em>pBuffer</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">unsigned&#160;</td>
+          <td class="paramname"><em>len</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">uint32_t *&#160;</td>
+          <td class="paramname"><em>t_us</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>SPI rx callback for sh2 HAL lib. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">self</td><td>sh2 HAL lib object being used with <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> driver instance. </td></tr>
+    <tr><td class="paramname">pBuffer</td><td>Buffer to store received packet. </td></tr>
+    <tr><td class="paramname">len</td><td>Length of bytes to read. </td></tr>
+    <tr><td class="paramname">t_us</td><td>Time in microseconds (unused, forced sh2 HAL lib required function type)</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Size of received packet in bytes, 0 on failure. </dd></dl>
+
+</div>
+</div>
+<a id="a96d5b8fa7669f22cd0ecaf1feee13299" name="a96d5b8fa7669f22cd0ecaf1feee13299"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a96d5b8fa7669f22cd0ecaf1feee13299">&#9670;&nbsp;</a></span>spi_write()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">int BNO08xSH2HAL::spi_write </td>
+          <td>(</td>
+          <td class="paramtype">sh2_Hal_t *&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">uint8_t *&#160;</td>
+          <td class="paramname"><em>pBuffer</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">unsigned&#160;</td>
+          <td class="paramname"><em>len</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>SPI tx callback for sh2 HAL lib. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">self</td><td>sh2 HAL lib object being used with <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> driver instance. </td></tr>
+    <tr><td class="paramname">pBuffer</td><td>Buffer containing data to write. </td></tr>
+    <tr><td class="paramname">len</td><td>Length in bytes to write.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Size of sent data (len param), 0 on failure. </dd></dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>/media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/<a class="el" href="_b_n_o08x_s_h2_h_a_l_8hpp_source.html">BNO08xSH2HAL.hpp</a></li>
+<li><a class="el" href="_b_n_o08x_s_h2_h_a_l_8cpp.html">BNO08xSH2HAL.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_s_h2_h_a_l.html">BNO08xSH2HAL</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> 1.9.4 </li>
+  </ul>
+</div>
+</body>
+</html>
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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;1.4</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 1.9.4 -->
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+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="class_b_n_o08x_test_helper.html">BNO08xTestHelper</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_test_helper.html#a347b8ca2697388394b7cb68c8895494b">call_deinit_gpio</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_test_helper.html">BNO08xTestHelper</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_test_helper.html#ac15a216ea5561b190f25f83caa749261">call_deinit_hint_isr</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_test_helper.html">BNO08xTestHelper</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_test_helper.html#ab1f8d61956fbceecf0baf08cb878397d">call_deinit_sh2_HAL</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_test_helper.html">BNO08xTestHelper</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_test_helper.html#a56ec98df9439461469bf0d2c23bb3868">call_deinit_spi</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_test_helper.html">BNO08xTestHelper</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_test_helper.html#a3be103abfab70eef3c1b1609a0c46bec">call_deinit_tasks</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_test_helper.html">BNO08xTestHelper</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_test_helper.html#a71d9fd7d459a98a7e9089a8587a21f8d">call_init_config_args</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_test_helper.html">BNO08xTestHelper</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_test_helper.html#a504749533ccd91890d73440809d38161">call_init_gpio</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_test_helper.html">BNO08xTestHelper</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_test_helper.html#a836c928981ac85d34668c9b97af17a15">call_init_hint_isr</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_test_helper.html">BNO08xTestHelper</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_test_helper.html#a854c60f602fe6d9af1da1a07eee0a449">call_init_sh2_HAL</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_test_helper.html">BNO08xTestHelper</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_test_helper.html#a7d2d784da1e850dab41154b35d7cdab5">call_init_spi</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_test_helper.html">BNO08xTestHelper</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_test_helper.html#a935a69784981caf90b4e135e3e257db4">call_init_tasks</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_test_helper.html">BNO08xTestHelper</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_test_helper.html#a6bd040c7d670a9713f2ab8a8a3913518">create_test_imu</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_test_helper.html">BNO08xTestHelper</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_test_helper.html#ae2d6df7dcfdbd106c2247803461bbc40">destroy_test_imu</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_test_helper.html">BNO08xTestHelper</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_test_helper.html#a41a432a3fe288e45b6ab139a00bd7d6b">get_test_imu</a>()</td><td class="entry"><a class="el" href="class_b_n_o08x_test_helper.html">BNO08xTestHelper</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_test_helper.html#a16423fc3250e88eb5392800022f82919">print_test_end_banner</a>(const char *TEST_TAG)</td><td class="entry"><a class="el" href="class_b_n_o08x_test_helper.html">BNO08xTestHelper</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_test_helper.html#a23593453a05f7cac26fd341371197a8c">print_test_msg</a>(const char *TEST_TAG, const char *msg)</td><td class="entry"><a class="el" href="class_b_n_o08x_test_helper.html">BNO08xTestHelper</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_b_n_o08x_test_helper.html#a066f8389fd1c682ec9565ebc3060d885">print_test_start_banner</a>(const char *TEST_TAG)</td><td class="entry"><a class="el" href="class_b_n_o08x_test_helper.html">BNO08xTestHelper</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="class_b_n_o08x_test_helper.html#a9e2f9bf13f28f1a6ba87e86bc5947cf1">set_test_imu_cfg</a>(bno08x_config_t cfg)</td><td class="entry"><a class="el" href="class_b_n_o08x_test_helper.html">BNO08xTestHelper</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+</table></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
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diff --git a/documentation/html/class_b_n_o08x_test_helper.html b/documentation/html/class_b_n_o08x_test_helper.html
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+<meta name="generator" content="Doxygen 1.9.4"/>
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+<title>esp32_BNO08x: BNO08xTestHelper 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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+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</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 1.9.4 -->
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+/* @license-end */
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+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="header">
+  <div class="summary">
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="class_b_n_o08x_test_helper-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">BNO08xTestHelper Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> unit test helper class.  
+ <a href="class_b_n_o08x_test_helper.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="_b_n_o08x_test_helper_8hpp_source.html">BNO08xTestHelper.hpp</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-static-methods" name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a066f8389fd1c682ec9565ebc3060d885"><td class="memItemLeft" align="right" valign="top">static void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_test_helper.html#a066f8389fd1c682ec9565ebc3060d885">print_test_start_banner</a> (const char *TEST_TAG)</td></tr>
+<tr class="memdesc:a066f8389fd1c682ec9565ebc3060d885"><td class="mdescLeft">&#160;</td><td class="mdescRight">Prints test begin banner.  <a href="class_b_n_o08x_test_helper.html#a066f8389fd1c682ec9565ebc3060d885">More...</a><br /></td></tr>
+<tr class="separator:a066f8389fd1c682ec9565ebc3060d885"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a16423fc3250e88eb5392800022f82919"><td class="memItemLeft" align="right" valign="top">static void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_test_helper.html#a16423fc3250e88eb5392800022f82919">print_test_end_banner</a> (const char *TEST_TAG)</td></tr>
+<tr class="memdesc:a16423fc3250e88eb5392800022f82919"><td class="mdescLeft">&#160;</td><td class="mdescRight">Prints end begin banner.  <a href="class_b_n_o08x_test_helper.html#a16423fc3250e88eb5392800022f82919">More...</a><br /></td></tr>
+<tr class="separator:a16423fc3250e88eb5392800022f82919"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a23593453a05f7cac26fd341371197a8c"><td class="memItemLeft" align="right" valign="top">static void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_test_helper.html#a23593453a05f7cac26fd341371197a8c">print_test_msg</a> (const char *TEST_TAG, const char *msg)</td></tr>
+<tr class="memdesc:a23593453a05f7cac26fd341371197a8c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Prints a message during a test.  <a href="class_b_n_o08x_test_helper.html#a23593453a05f7cac26fd341371197a8c">More...</a><br /></td></tr>
+<tr class="separator:a23593453a05f7cac26fd341371197a8c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9e2f9bf13f28f1a6ba87e86bc5947cf1"><td class="memItemLeft" align="right" valign="top">static void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_test_helper.html#a9e2f9bf13f28f1a6ba87e86bc5947cf1">set_test_imu_cfg</a> (<a class="el" href="structbno08x__config__t.html">bno08x_config_t</a> cfg)</td></tr>
+<tr class="memdesc:a9e2f9bf13f28f1a6ba87e86bc5947cf1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set test imu configuration used with <a class="el" href="class_b_n_o08x_test_helper.html#a6bd040c7d670a9713f2ab8a8a3913518" title="Calls BNO08x constructor and creates new test IMU on heap.">create_test_imu()</a>  <a href="class_b_n_o08x_test_helper.html#a9e2f9bf13f28f1a6ba87e86bc5947cf1">More...</a><br /></td></tr>
+<tr class="separator:a9e2f9bf13f28f1a6ba87e86bc5947cf1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6bd040c7d670a9713f2ab8a8a3913518"><td class="memItemLeft" align="right" valign="top">static void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_test_helper.html#a6bd040c7d670a9713f2ab8a8a3913518">create_test_imu</a> ()</td></tr>
+<tr class="memdesc:a6bd040c7d670a9713f2ab8a8a3913518"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calls <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> constructor and creates new test IMU on heap.  <a href="class_b_n_o08x_test_helper.html#a6bd040c7d670a9713f2ab8a8a3913518">More...</a><br /></td></tr>
+<tr class="separator:a6bd040c7d670a9713f2ab8a8a3913518"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae2d6df7dcfdbd106c2247803461bbc40"><td class="memItemLeft" align="right" valign="top">static void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_test_helper.html#ae2d6df7dcfdbd106c2247803461bbc40">destroy_test_imu</a> ()</td></tr>
+<tr class="memdesc:ae2d6df7dcfdbd106c2247803461bbc40"><td class="mdescLeft">&#160;</td><td class="mdescRight">Deletes test IMU calling deconstructor and releases heap allocated memory.  <a href="class_b_n_o08x_test_helper.html#ae2d6df7dcfdbd106c2247803461bbc40">More...</a><br /></td></tr>
+<tr class="separator:ae2d6df7dcfdbd106c2247803461bbc40"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a41a432a3fe288e45b6ab139a00bd7d6b"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="class_b_n_o08x.html">BNO08x</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_test_helper.html#a41a432a3fe288e45b6ab139a00bd7d6b">get_test_imu</a> ()</td></tr>
+<tr class="memdesc:a41a432a3fe288e45b6ab139a00bd7d6b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Deletes test IMU calling deconstructor and releases heap allocated memory.  <a href="class_b_n_o08x_test_helper.html#a41a432a3fe288e45b6ab139a00bd7d6b">More...</a><br /></td></tr>
+<tr class="separator:a41a432a3fe288e45b6ab139a00bd7d6b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a71d9fd7d459a98a7e9089a8587a21f8d"><td class="memItemLeft" align="right" valign="top">static esp_err_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_test_helper.html#a71d9fd7d459a98a7e9089a8587a21f8d">call_init_config_args</a> ()</td></tr>
+<tr class="memdesc:a71d9fd7d459a98a7e9089a8587a21f8d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Used to call private BNO08x::init_config_args() member for tests.  <a href="class_b_n_o08x_test_helper.html#a71d9fd7d459a98a7e9089a8587a21f8d">More...</a><br /></td></tr>
+<tr class="separator:a71d9fd7d459a98a7e9089a8587a21f8d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a504749533ccd91890d73440809d38161"><td class="memItemLeft" align="right" valign="top">static esp_err_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_test_helper.html#a504749533ccd91890d73440809d38161">call_init_gpio</a> ()</td></tr>
+<tr class="memdesc:a504749533ccd91890d73440809d38161"><td class="mdescLeft">&#160;</td><td class="mdescRight">Used to call private BNO08x::init_gpio() member for tests.  <a href="class_b_n_o08x_test_helper.html#a504749533ccd91890d73440809d38161">More...</a><br /></td></tr>
+<tr class="separator:a504749533ccd91890d73440809d38161"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a836c928981ac85d34668c9b97af17a15"><td class="memItemLeft" align="right" valign="top">static esp_err_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_test_helper.html#a836c928981ac85d34668c9b97af17a15">call_init_hint_isr</a> ()</td></tr>
+<tr class="memdesc:a836c928981ac85d34668c9b97af17a15"><td class="mdescLeft">&#160;</td><td class="mdescRight">Used to call private BNO08x::init_hint_isr() member for tests.  <a href="class_b_n_o08x_test_helper.html#a836c928981ac85d34668c9b97af17a15">More...</a><br /></td></tr>
+<tr class="separator:a836c928981ac85d34668c9b97af17a15"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7d2d784da1e850dab41154b35d7cdab5"><td class="memItemLeft" align="right" valign="top">static esp_err_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_test_helper.html#a7d2d784da1e850dab41154b35d7cdab5">call_init_spi</a> ()</td></tr>
+<tr class="memdesc:a7d2d784da1e850dab41154b35d7cdab5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Used to call private BNO08x::init_spi() member for tests.  <a href="class_b_n_o08x_test_helper.html#a7d2d784da1e850dab41154b35d7cdab5">More...</a><br /></td></tr>
+<tr class="separator:a7d2d784da1e850dab41154b35d7cdab5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a935a69784981caf90b4e135e3e257db4"><td class="memItemLeft" align="right" valign="top">static esp_err_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_test_helper.html#a935a69784981caf90b4e135e3e257db4">call_init_tasks</a> ()</td></tr>
+<tr class="memdesc:a935a69784981caf90b4e135e3e257db4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Used to call private BNO08x::init_tasks() member for tests.  <a href="class_b_n_o08x_test_helper.html#a935a69784981caf90b4e135e3e257db4">More...</a><br /></td></tr>
+<tr class="separator:a935a69784981caf90b4e135e3e257db4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a854c60f602fe6d9af1da1a07eee0a449"><td class="memItemLeft" align="right" valign="top">static esp_err_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_test_helper.html#a854c60f602fe6d9af1da1a07eee0a449">call_init_sh2_HAL</a> ()</td></tr>
+<tr class="memdesc:a854c60f602fe6d9af1da1a07eee0a449"><td class="mdescLeft">&#160;</td><td class="mdescRight">Used to call private BNO08x::init_tasks() member for tests.  <a href="class_b_n_o08x_test_helper.html#a854c60f602fe6d9af1da1a07eee0a449">More...</a><br /></td></tr>
+<tr class="separator:a854c60f602fe6d9af1da1a07eee0a449"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a347b8ca2697388394b7cb68c8895494b"><td class="memItemLeft" align="right" valign="top">static esp_err_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_test_helper.html#a347b8ca2697388394b7cb68c8895494b">call_deinit_gpio</a> ()</td></tr>
+<tr class="memdesc:a347b8ca2697388394b7cb68c8895494b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Used to call private BNO08x::deinit_gpio() member for tests.  <a href="class_b_n_o08x_test_helper.html#a347b8ca2697388394b7cb68c8895494b">More...</a><br /></td></tr>
+<tr class="separator:a347b8ca2697388394b7cb68c8895494b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac15a216ea5561b190f25f83caa749261"><td class="memItemLeft" align="right" valign="top">static esp_err_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_test_helper.html#ac15a216ea5561b190f25f83caa749261">call_deinit_hint_isr</a> ()</td></tr>
+<tr class="memdesc:ac15a216ea5561b190f25f83caa749261"><td class="mdescLeft">&#160;</td><td class="mdescRight">Used to call private BNO08x::deinit_hint_isr() member for tests.  <a href="class_b_n_o08x_test_helper.html#ac15a216ea5561b190f25f83caa749261">More...</a><br /></td></tr>
+<tr class="separator:ac15a216ea5561b190f25f83caa749261"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a56ec98df9439461469bf0d2c23bb3868"><td class="memItemLeft" align="right" valign="top">static esp_err_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_test_helper.html#a56ec98df9439461469bf0d2c23bb3868">call_deinit_spi</a> ()</td></tr>
+<tr class="memdesc:a56ec98df9439461469bf0d2c23bb3868"><td class="mdescLeft">&#160;</td><td class="mdescRight">Used to call private BNO08x::deinit_spi() member for tests.  <a href="class_b_n_o08x_test_helper.html#a56ec98df9439461469bf0d2c23bb3868">More...</a><br /></td></tr>
+<tr class="separator:a56ec98df9439461469bf0d2c23bb3868"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3be103abfab70eef3c1b1609a0c46bec"><td class="memItemLeft" align="right" valign="top">static esp_err_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_test_helper.html#a3be103abfab70eef3c1b1609a0c46bec">call_deinit_tasks</a> ()</td></tr>
+<tr class="memdesc:a3be103abfab70eef3c1b1609a0c46bec"><td class="mdescLeft">&#160;</td><td class="mdescRight">Used to call private BNO08x::deinit_tasks() member for tests.  <a href="class_b_n_o08x_test_helper.html#a3be103abfab70eef3c1b1609a0c46bec">More...</a><br /></td></tr>
+<tr class="separator:a3be103abfab70eef3c1b1609a0c46bec"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab1f8d61956fbceecf0baf08cb878397d"><td class="memItemLeft" align="right" valign="top">static esp_err_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x_test_helper.html#ab1f8d61956fbceecf0baf08cb878397d">call_deinit_sh2_HAL</a> ()</td></tr>
+<tr class="memdesc:ab1f8d61956fbceecf0baf08cb878397d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Used to call private BNO08x::deinit_tasks() member for tests.  <a href="class_b_n_o08x_test_helper.html#ab1f8d61956fbceecf0baf08cb878397d">More...</a><br /></td></tr>
+<tr class="separator:ab1f8d61956fbceecf0baf08cb878397d"><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 ><a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> unit test helper class. </p>
+</div><h2 class="groupheader">Member Function Documentation</h2>
+<a id="a347b8ca2697388394b7cb68c8895494b" name="a347b8ca2697388394b7cb68c8895494b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a347b8ca2697388394b7cb68c8895494b">&#9670;&nbsp;</a></span>call_deinit_gpio()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">static esp_err_t BNO08xTestHelper::call_deinit_gpio </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Used to call private BNO08x::deinit_gpio() member for tests. </p>
+<dl class="section return"><dt>Returns</dt><dd>ESP_OK if deinit succeeded. </dd></dl>
+
+</div>
+</div>
+<a id="ac15a216ea5561b190f25f83caa749261" name="ac15a216ea5561b190f25f83caa749261"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac15a216ea5561b190f25f83caa749261">&#9670;&nbsp;</a></span>call_deinit_hint_isr()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">static esp_err_t BNO08xTestHelper::call_deinit_hint_isr </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Used to call private BNO08x::deinit_hint_isr() member for tests. </p>
+<dl class="section return"><dt>Returns</dt><dd>ESP_OK if deinit succeeded. </dd></dl>
+
+</div>
+</div>
+<a id="ab1f8d61956fbceecf0baf08cb878397d" name="ab1f8d61956fbceecf0baf08cb878397d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab1f8d61956fbceecf0baf08cb878397d">&#9670;&nbsp;</a></span>call_deinit_sh2_HAL()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">static esp_err_t BNO08xTestHelper::call_deinit_sh2_HAL </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Used to call private BNO08x::deinit_tasks() member for tests. </p>
+<dl class="section return"><dt>Returns</dt><dd>ESP_OK if deinit succeeded. </dd></dl>
+
+</div>
+</div>
+<a id="a56ec98df9439461469bf0d2c23bb3868" name="a56ec98df9439461469bf0d2c23bb3868"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a56ec98df9439461469bf0d2c23bb3868">&#9670;&nbsp;</a></span>call_deinit_spi()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">static esp_err_t BNO08xTestHelper::call_deinit_spi </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Used to call private BNO08x::deinit_spi() member for tests. </p>
+<dl class="section return"><dt>Returns</dt><dd>ESP_OK if deinit succeeded. </dd></dl>
+
+</div>
+</div>
+<a id="a3be103abfab70eef3c1b1609a0c46bec" name="a3be103abfab70eef3c1b1609a0c46bec"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3be103abfab70eef3c1b1609a0c46bec">&#9670;&nbsp;</a></span>call_deinit_tasks()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">static esp_err_t BNO08xTestHelper::call_deinit_tasks </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Used to call private BNO08x::deinit_tasks() member for tests. </p>
+<dl class="section return"><dt>Returns</dt><dd>ESP_OK if deinit succeeded. </dd></dl>
+
+</div>
+</div>
+<a id="a71d9fd7d459a98a7e9089a8587a21f8d" name="a71d9fd7d459a98a7e9089a8587a21f8d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a71d9fd7d459a98a7e9089a8587a21f8d">&#9670;&nbsp;</a></span>call_init_config_args()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">static esp_err_t BNO08xTestHelper::call_init_config_args </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Used to call private BNO08x::init_config_args() member for tests. </p>
+<dl class="section return"><dt>Returns</dt><dd>ESP_OK if init succeeded. </dd></dl>
+
+</div>
+</div>
+<a id="a504749533ccd91890d73440809d38161" name="a504749533ccd91890d73440809d38161"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a504749533ccd91890d73440809d38161">&#9670;&nbsp;</a></span>call_init_gpio()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">static esp_err_t BNO08xTestHelper::call_init_gpio </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Used to call private BNO08x::init_gpio() member for tests. </p>
+<dl class="section return"><dt>Returns</dt><dd>ESP_OK if init succeeded. </dd></dl>
+
+</div>
+</div>
+<a id="a836c928981ac85d34668c9b97af17a15" name="a836c928981ac85d34668c9b97af17a15"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a836c928981ac85d34668c9b97af17a15">&#9670;&nbsp;</a></span>call_init_hint_isr()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">static esp_err_t BNO08xTestHelper::call_init_hint_isr </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Used to call private BNO08x::init_hint_isr() member for tests. </p>
+<dl class="section return"><dt>Returns</dt><dd>ESP_OK if init succeeded. </dd></dl>
+
+</div>
+</div>
+<a id="a854c60f602fe6d9af1da1a07eee0a449" name="a854c60f602fe6d9af1da1a07eee0a449"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a854c60f602fe6d9af1da1a07eee0a449">&#9670;&nbsp;</a></span>call_init_sh2_HAL()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">static esp_err_t BNO08xTestHelper::call_init_sh2_HAL </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Used to call private BNO08x::init_tasks() member for tests. </p>
+<dl class="section return"><dt>Returns</dt><dd>ESP_OK if init succeeded. </dd></dl>
+
+</div>
+</div>
+<a id="a7d2d784da1e850dab41154b35d7cdab5" name="a7d2d784da1e850dab41154b35d7cdab5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7d2d784da1e850dab41154b35d7cdab5">&#9670;&nbsp;</a></span>call_init_spi()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">static esp_err_t BNO08xTestHelper::call_init_spi </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Used to call private BNO08x::init_spi() member for tests. </p>
+<dl class="section return"><dt>Returns</dt><dd>ESP_OK if init succeeded. </dd></dl>
+
+</div>
+</div>
+<a id="a935a69784981caf90b4e135e3e257db4" name="a935a69784981caf90b4e135e3e257db4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a935a69784981caf90b4e135e3e257db4">&#9670;&nbsp;</a></span>call_init_tasks()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">static esp_err_t BNO08xTestHelper::call_init_tasks </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Used to call private BNO08x::init_tasks() member for tests. </p>
+<dl class="section return"><dt>Returns</dt><dd>ESP_OK if init succeeded. </dd></dl>
+
+</div>
+</div>
+<a id="a6bd040c7d670a9713f2ab8a8a3913518" name="a6bd040c7d670a9713f2ab8a8a3913518"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6bd040c7d670a9713f2ab8a8a3913518">&#9670;&nbsp;</a></span>create_test_imu()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">static void BNO08xTestHelper::create_test_imu </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Calls <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> constructor and creates new test IMU on heap. </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>
+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_test_helper_a6bd040c7d670a9713f2ab8a8a3913518_cgraph.png" border="0" usemap="#aclass_b_n_o08x_test_helper_a6bd040c7d670a9713f2ab8a8a3913518_cgraph" alt=""/></div>
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+<area shape="rect" title="Calls BNO08x constructor and creates new test IMU on heap." alt="" coords="5,5,199,47"/>
+<area shape="rect" href="class_b_n_o08x_test_helper.html#ae2d6df7dcfdbd106c2247803461bbc40" title="Deletes test IMU calling deconstructor and releases heap allocated memory." alt="" coords="247,5,448,47"/>
+</map>
+</div>
+
+</div>
+</div>
+<a id="ae2d6df7dcfdbd106c2247803461bbc40" name="ae2d6df7dcfdbd106c2247803461bbc40"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae2d6df7dcfdbd106c2247803461bbc40">&#9670;&nbsp;</a></span>destroy_test_imu()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">static void BNO08xTestHelper::destroy_test_imu </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Deletes test IMU calling deconstructor and releases heap allocated memory. </p>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </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_test_helper_ae2d6df7dcfdbd106c2247803461bbc40_icgraph.png" border="0" usemap="#aclass_b_n_o08x_test_helper_ae2d6df7dcfdbd106c2247803461bbc40_icgraph" alt=""/></div>
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+
+</div>
+</div>
+<a id="a41a432a3fe288e45b6ab139a00bd7d6b" name="a41a432a3fe288e45b6ab139a00bd7d6b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a41a432a3fe288e45b6ab139a00bd7d6b">&#9670;&nbsp;</a></span>get_test_imu()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">static <a class="el" href="class_b_n_o08x.html">BNO08x</a> * BNO08xTestHelper::get_test_imu </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Deletes test IMU calling deconstructor and releases heap allocated memory. </p>
+<dl class="section return"><dt>Returns</dt><dd>Pointer to <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> IMU object to test. </dd></dl>
+
+</div>
+</div>
+<a id="a16423fc3250e88eb5392800022f82919" name="a16423fc3250e88eb5392800022f82919"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a16423fc3250e88eb5392800022f82919">&#9670;&nbsp;</a></span>print_test_end_banner()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">static void BNO08xTestHelper::print_test_end_banner </td>
+          <td>(</td>
+          <td class="paramtype">const char *&#160;</td>
+          <td class="paramname"><em>TEST_TAG</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Prints end begin banner. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">TEST_TAG</td><td>String containing test name.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
+
+</div>
+</div>
+<a id="a23593453a05f7cac26fd341371197a8c" name="a23593453a05f7cac26fd341371197a8c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a23593453a05f7cac26fd341371197a8c">&#9670;&nbsp;</a></span>print_test_msg()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">static void BNO08xTestHelper::print_test_msg </td>
+          <td>(</td>
+          <td class="paramtype">const char *&#160;</td>
+          <td class="paramname"><em>TEST_TAG</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const char *&#160;</td>
+          <td class="paramname"><em>msg</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Prints a message during a test. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">TEST_TAG</td><td>String containing test name. </td></tr>
+    <tr><td class="paramname">msg</td><td>String containing message to print.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
+
+</div>
+</div>
+<a id="a066f8389fd1c682ec9565ebc3060d885" name="a066f8389fd1c682ec9565ebc3060d885"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a066f8389fd1c682ec9565ebc3060d885">&#9670;&nbsp;</a></span>print_test_start_banner()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">static void BNO08xTestHelper::print_test_start_banner </td>
+          <td>(</td>
+          <td class="paramtype">const char *&#160;</td>
+          <td class="paramname"><em>TEST_TAG</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Prints test begin banner. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">TEST_TAG</td><td>String containing test name.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
+
+</div>
+</div>
+<a id="a9e2f9bf13f28f1a6ba87e86bc5947cf1" name="a9e2f9bf13f28f1a6ba87e86bc5947cf1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9e2f9bf13f28f1a6ba87e86bc5947cf1">&#9670;&nbsp;</a></span>set_test_imu_cfg()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">static void BNO08xTestHelper::set_test_imu_cfg </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="structbno08x__config__t.html">bno08x_config_t</a>&#160;</td>
+          <td class="paramname"><em>cfg</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Set test imu configuration used with <a class="el" href="class_b_n_o08x_test_helper.html#a6bd040c7d670a9713f2ab8a8a3913518" title="Calls BNO08x constructor and creates new test IMU on heap.">create_test_imu()</a> </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">cfg</td><td>String containing test name.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/<a class="el" href="_b_n_o08x_test_helper_8hpp_source.html">BNO08xTestHelper.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="class_b_n_o08x_test_helper.html">BNO08xTestHelper</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> 1.9.4 </li>
+  </ul>
+</div>
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+</html>
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+  <div class="headertitle"><div class="title">BNO08xTestSuite Class Reference</div></div>
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+  <tr>
+  <td class="mlabels-left">
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+          <td>(</td>
+          <td class="paramtype">bool&#160;</td>
+          <td class="paramname"><em>call_unity_end_begin</em> = <code>true</code></td><td>)</td>
+          <td></td>
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+  <td class="mlabels-right">
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+
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+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
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+          <td>(</td>
+          <td class="paramtype">bool&#160;</td>
+          <td class="paramname"><em>call_unity_end_begin</em> = <code>true</code></td><td>)</td>
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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">static void BNO08xTestSuite::run_single_report_tests </td>
+          <td>(</td>
+          <td class="paramtype">bool&#160;</td>
+          <td class="paramname"><em>call_unity_end_begin</em> = <code>true</code></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
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+  <td class="mlabels-right">
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+<div class="dyncontent">
+<div class="center"><img src="class_b_n_o08x_test_suite_a37899d7bf67fce5c3dd77dd5647f8ecb_icgraph.png" border="0" usemap="#aclass_b_n_o08x_test_suite_a37899d7bf67fce5c3dd77dd5647f8ecb_icgraph" alt=""/></div>
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+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/<a class="el" href="_b_n_o08x_test_suite_8hpp_source.html">BNO08xTestSuite.hpp</a></li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
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+  <ul>
+    <li class="navelem"><a class="el" href="class_b_n_o08x_test_suite.html">BNO08xTestSuite</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> 1.9.4 </li>
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diff --git a/documentation/html/class_b_n_o08x_test_suite_a37899d7bf67fce5c3dd77dd5647f8ecb_icgraph.map b/documentation/html/class_b_n_o08x_test_suite_a37899d7bf67fce5c3dd77dd5647f8ecb_icgraph.map
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+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
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+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
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+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
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+a.codeRef, a.codeRef:visited, a.lineRef, a.lineRef:visited {
+	color: #4665A2; 
+}
+
+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;
+}
+
+#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; /*Fixed: fragment lines overlap floating elements*/
+  overflow-y: hidden;
+}
+
+pre.fragment {
+        border: 1px solid #C4CFE5;
+        background-color: #FBFCFD;
+        padding: 4px 6px;
+        margin: 4px 8px 4px 2px;
+        overflow: auto;
+        word-wrap: break-word;
+        font-size:  9pt;
+        line-height: 125%;
+        font-family: monospace, fixed;
+        font-size: 105%;
+}
+
+div.fragment {
+  padding: 0 0 1px 0; /*Fixed: last line underline overlap border*/
+  margin: 4px 8px 4px 2px;
+	background-color: #FBFCFD;
+	border: 1px solid #C4CFE5;
+}
+
+div.line {
+	font-family: monospace, fixed;
+        font-size: 13px;
+	min-height: 13px;
+	line-height: 1.0;
+	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: cyan;
+	box-shadow: 0 0 10px cyan;
+}
+
+
+span.lineno {
+	padding-right: 4px;
+        margin-right: 9px;
+	text-align: right;
+	border-right: 2px solid #0F0;
+	background-color: #E8E8E8;
+        white-space: pre;
+}
+span.lineno a {
+	background-color: #D8D8D8;
+}
+
+span.lineno a:hover {
+	background-color: #C8C8C8;
+}
+
+.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.ah, span.ah {
+	background-color: black;
+	font-weight: bold;
+	color: #FFFFFF;
+	margin-bottom: 3px;
+	margin-top: 3px;
+	padding: 0.2em;
+	border: solid thin #333;
+	border-radius: 0.5em;
+	-webkit-border-radius: .5em;
+	-moz-border-radius: .5em;
+	box-shadow: 2px 2px 3px #999;
+	-webkit-box-shadow: 2px 2px 3px #999;
+	-moz-box-shadow: rgba(0, 0, 0, 0.15) 2px 2px 2px;
+	background-image: -webkit-gradient(linear, left top, left bottom, from(#eee), to(#000),color-stop(0.3, #444));
+	background-image: -moz-linear-gradient(center top, #eee 0%, #444 40%, #000 110%);
+}
+
+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 {
+	background-color: white;
+	color: black;
+        margin: 0;
+}
+
+div.contents {
+	margin-top: 10px;
+	margin-left: 12px;
+	margin-right: 8px;
+}
+
+td.indexkey {
+	background-color: #EBEFF6;
+	font-weight: bold;
+	border: 1px solid #C4CFE5;
+	margin: 2px 0px 2px 0;
+	padding: 2px 10px;
+        white-space: nowrap;
+        vertical-align: top;
+}
+
+td.indexvalue {
+	background-color: #EBEFF6;
+	border: 1px solid #C4CFE5;
+	padding: 2px 10px;
+	margin: 2px 0px;
+}
+
+tr.memlist {
+	background-color: #EEF1F7;
+}
+
+p.formulaDsp {
+	text-align: center;
+}
+
+img.formulaDsp {
+	
+}
+
+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;
+}
+
+.compoundTemplParams {
+	color: #4665A2;
+	font-size: 80%;
+	line-height: 120%;
+}
+
+/* @group Code Colorization */
+
+span.keyword {
+	color: #008000
+}
+
+span.keywordtype {
+	color: #604020
+}
+
+span.keywordflow {
+	color: #e08000
+}
+
+span.comment {
+	color: #800000
+}
+
+span.preprocessor {
+	color: #806020
+}
+
+span.stringliteral {
+	color: #002080
+}
+
+span.charliteral {
+	color: #008080
+}
+
+span.vhdldigit { 
+	color: #ff00ff 
+}
+
+span.vhdlchar { 
+	color: #000000 
+}
+
+span.vhdlkeyword { 
+	color: #700070 
+}
+
+span.vhdllogic { 
+	color: #ff0000 
+}
+
+blockquote {
+        background-color: #F7F8FB;
+        border-left: 2px solid #9CAFD4;
+        margin: 0 24px 0 4px;
+        padding: 0 12px 0 16px;
+}
+
+blockquote.DocNodeRTL {
+   border-left: 0;
+   border-right: 2px solid #9CAFD4;
+   margin: 0 4px 0 24px;
+   padding: 0 16px 0 12px;
+}
+
+/* @end */
+
+/*
+.search {
+	color: #003399;
+	font-weight: bold;
+}
+
+form.search {
+	margin-bottom: 0px;
+	margin-top: 0px;
+}
+
+input.search {
+	font-size: 75%;
+	color: #000080;
+	font-weight: normal;
+	background-color: #e8eef2;
+}
+*/
+
+td.tiny {
+	font-size: 75%;
+}
+
+.dirtab {
+	padding: 4px;
+	border-collapse: collapse;
+	border: 1px solid #A3B4D7;
+}
+
+th.dirtab {
+	background: #EBEFF6;
+	font-weight: bold;
+}
+
+hr {
+	height: 0px;
+	border: none;
+	border-top: 1px solid #4A6AAA;
+}
+
+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: cyan;
+	box-shadow: 0 0 15px cyan;
+}
+
+.mdescLeft, .mdescRight,
+.memItemLeft, .memItemRight,
+.memTemplItemLeft, .memTemplItemRight, .memTemplParams {
+	background-color: #F9FAFC;
+	border: none;
+	margin: 4px;
+	padding: 1px 0 0 8px;
+}
+
+.mdescLeft, .mdescRight {
+	padding: 0px 8px 4px 8px;
+	color: #555;
+}
+
+.memSeparator {
+        border-bottom: 1px solid #DEE4F0;
+        line-height: 1px;
+        margin: 0px;
+        padding: 0px;
+}
+
+.memItemLeft, .memTemplItemLeft {
+        white-space: nowrap;
+}
+
+.memItemRight, .memTemplItemRight {
+	width: 100%;
+}
+
+.memTemplParams {
+	color: #4665A2;
+        white-space: nowrap;
+	font-size: 80%;
+}
+
+/* @end */
+
+/* @group Member Details */
+
+/* Styles for detailed member documentation */
+
+.memtitle {
+	padding: 8px;
+	border-top: 1px solid #A8B8D9;
+	border-left: 1px solid #A8B8D9;
+	border-right: 1px solid #A8B8D9;
+	border-top-right-radius: 4px;
+	border-top-left-radius: 4px;
+	margin-bottom: -1px;
+	background-image: url('nav_f.png');
+	background-repeat: repeat-x;
+	background-color: #E2E8F2;
+	line-height: 1.25;
+	font-weight: 300;
+	float:left;
+}
+
+.permalink
+{
+        font-size: 65%;
+        display: inline-block;
+        vertical-align: middle;
+}
+
+.memtemplate {
+	font-size: 80%;
+	color: #4665A2;
+	font-weight: normal;
+	margin-left: 9px;
+}
+
+.memnav {
+	background-color: #EBEFF6;
+	border: 1px solid #A3B4D7;
+	text-align: center;
+	margin: 2px;
+	margin-right: 15px;
+	padding: 2px;
+}
+
+.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 cyan;
+}
+
+.memname {
+        font-weight: 400;
+        margin-left: 6px;
+}
+
+.memname td {
+	vertical-align: bottom;
+}
+
+.memproto, dl.reflist dt {
+        border-top: 1px solid #A8B8D9;
+        border-left: 1px solid #A8B8D9;
+        border-right: 1px solid #A8B8D9;
+        padding: 6px 0px 6px 0px;
+        color: #253555;
+        font-weight: bold;
+        text-shadow: 0px 1px 1px rgba(255, 255, 255, 0.9);
+        background-color: #DFE5F1;
+        /* opera specific markup */
+        box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
+        border-top-right-radius: 4px;
+        /* firefox specific markup */
+        -moz-box-shadow: rgba(0, 0, 0, 0.15) 5px 5px 5px;
+        -moz-border-radius-topright: 4px;
+        /* webkit specific markup */
+        -webkit-box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
+        -webkit-border-top-right-radius: 4px;
+
+}
+
+.overload {
+        font-family: "courier new",courier,monospace;
+	font-size: 65%;
+}
+
+.memdoc, dl.reflist dd {
+        border-bottom: 1px solid #A8B8D9;      
+        border-left: 1px solid #A8B8D9;      
+        border-right: 1px solid #A8B8D9; 
+        padding: 6px 10px 2px 10px;
+        background-color: #FBFCFD;
+        border-top-width: 0;
+        background-image:url('nav_g.png');
+        background-repeat:repeat-x;
+        background-color: #FFFFFF;
+        /* 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;
+}
+
+.paramname {
+	color: #602020;
+	white-space: nowrap;
+}
+.paramname em {
+	font-style: normal;
+}
+.paramname code {
+        line-height: 14px;
+}
+
+.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: "courier new",courier,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: #728DC1;
+        border-top:1px solid #5373B4;
+        border-left:1px solid #5373B4;
+        border-right:1px solid #C4CFE5;
+        border-bottom:1px solid #C4CFE5;
+	text-shadow: none;
+	color: white;
+	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 #9CAFD4;
+        border-bottom: 1px solid #9CAFD4;
+        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.even {
+	padding-left: 6px;
+	background-color: #F7F8FB;
+}
+
+.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: #3D578C;
+}
+
+.arrow {
+    color: #9CAFD4;
+    -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: Arial, Helvetica;
+    font-weight: bold;
+    font-size: 12px;
+    height: 14px;
+    width: 16px;
+    display: inline-block;
+    background-color: #728DC1;
+    color: white;
+    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:url('folderopen.png');
+    background-position: 0px -4px;
+    background-repeat: repeat-y;
+    vertical-align:top;
+    display: inline-block;
+}
+
+.iconfclosed {
+    width: 24px;
+    height: 18px;
+    margin-bottom: 4px;
+    background-image:url('folderclosed.png');
+    background-position: 0px -4px;
+    background-repeat: repeat-y;
+    vertical-align:top;
+    display: inline-block;
+}
+
+.icondoc {
+    width: 24px;
+    height: 18px;
+    margin-bottom: 4px;
+    background-image:url('doc.png');
+    background-position: 0px -4px;
+    background-repeat: repeat-y;
+    vertical-align:top;
+    display: inline-block;
+}
+
+table.directory {
+    font: 400 14px Roboto,sans-serif;
+}
+
+/* @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: #2A3D61;
+}
+
+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 #2D4068;
+	padding: 3px 7px 2px;
+}
+
+table.doxtable th {
+	background-color: #374F7F;
+	color: #FFFFFF;
+	font-size: 110%;
+	padding-bottom: 4px;
+	padding-top: 5px;
+}
+
+table.fieldtable {
+        /*width: 100%;*/
+        margin-bottom: 10px;
+        border: 1px solid #A8B8D9;
+        border-spacing: 0px;
+        -moz-border-radius: 4px;
+        -webkit-border-radius: 4px;
+        border-radius: 4px;
+        -moz-box-shadow: rgba(0, 0, 0, 0.15) 2px 2px 2px;
+        -webkit-box-shadow: 2px 2px 2px rgba(0, 0, 0, 0.15);
+        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 #A8B8D9;
+        border-bottom: 1px solid #A8B8D9;
+        vertical-align: top;
+}
+
+.fieldtable td.fieldname {
+        padding-top: 3px;
+}
+
+.fieldtable td.fielddoc {
+        border-bottom: 1px solid #A8B8D9;
+        /*width: 100%;*/
+}
+
+.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:url('nav_f.png');
+        background-repeat:repeat-x;
+        background-color: #E2E8F2;
+        font-size: 90%;
+        color: #253555;
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+}
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+#projectlogo
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+	vertical-align: bottom;
+	border-collapse: separate;
+}
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+}
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+        margin-bottom:50px;
+}
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+dl.citelist dt {
+        color:#334975;
+        float:left;
+        font-weight:bold;
+        margin-right:10px;
+        padding:5px;
+        text-align:right;
+        width:52px;
+}
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+        border-radius: 7px 7px 7px 7px;
+        float: right;
+        height: auto;
+        margin: 0 8px 10px 10px;
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+  float: left !important;
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+}
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+        font: 10px/1.2 Verdana,DejaVu Sans,Geneva,sans-serif;
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+}
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+  background-position-x: right !important;
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+}
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+        font: bold 12px/1.2 Arial,FreeSans,sans-serif;
+	color: #4665A2;
+        border-bottom: 0 none;
+        margin: 0;
+}
+
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+        border: medium none;
+        padding: 0px;
+}       
+
+div.toc li.level1 {
+        margin-left: 0px;
+}
+
+div.toc li.level2 {
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+}
+
+div.toc li.level3 {
+        margin-left: 30px;
+}
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+}
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+span.obfuscator {
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+}
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+  margin-left: 0 !important;
+  margin-right: 0;
+}
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+  margin-left: 0 !important;
+  margin-right: 15px;
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+  margin-right: 30px;
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+  margin-right: 45px;
+}
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+        font-weight: bold;
+        color: gray;
+        cursor: pointer;
+	-webkit-touch-callout: none;
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+  #nav-path { display: none; }
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+  .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 #2D4068;
+	padding: 3px 7px 2px;
+}
+
+table.markdownTable tr {
+}
+
+th.markdownTableHeadLeft, th.markdownTableHeadRight, th.markdownTableHeadCenter, th.markdownTableHeadNone {
+	background-color: #374F7F;
+	color: #FFFFFF;
+	font-size: 110%;
+	padding-bottom: 4px;
+	padding-top: 5px;
+}
+
+th.markdownTableHeadLeft, td.markdownTableBodyLeft {
+	text-align: left
+}
+
+th.markdownTableHeadRight, td.markdownTableBodyRight {
+	text-align: right
+}
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+th.markdownTableHeadCenter, td.markdownTableBodyCenter {
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+}
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+  text-align: right;
+  direction: rtl;
+}
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+.DocNodeLTR {
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+  direction: ltr;
+}
+
+table.DocNodeRTL {
+   width: auto;
+   margin-right: 0;
+   margin-left: auto;
+}
+
+table.DocNodeLTR {
+   width: auto;
+   margin-right: auto;
+   margin-left: 0;
+}
+
+code.JavaDocCode {
+  direction:ltr;
+}
+
+tt, code, kbd, samp
+{
+  display: inline-block;
+  direction:ltr; 
+}
+/* @end */
+
+u {
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+}
+
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new file mode 100644
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+ @licstart  The following is the entire license notice for the JavaScript code in this file.
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+ The MIT License (MIT)
+
+ Copyright (C) 1997-2020 by Dimitri van Heesch
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+ 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
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+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
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+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</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 1.9.4 -->
+<script type="text/javascript">
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+  <div class="headertitle"><div class="title">File List</div></div>
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+<div class="textblock">Here is a list of all files with brief descriptions:</div><div class="directory">
+<div class="levels">[detail level <span onclick="javascript:toggleLevel(1);">1</span><span onclick="javascript:toggleLevel(2);">2</span><span onclick="javascript:toggleLevel(3);">3</span>]</div><table class="directory">
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+     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">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</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_a" name="index_a"></a>- a -</h3><ul>
+<li>accelerometer&#160;:&#160;<a class="el" href="struct_b_n_o08x_1_1bno08x__reports__t.html#ab7939486c9ba7e7c70f82d2284fb6119">BNO08x::bno08x_reports_t</a></li>
+<li>accepted&#160;:&#160;<a class="el" href="structbno08x__sample__counts__t.html#a2ab3e0999a5e668833eb8dbab6d1f036">bno08x_sample_counts_t</a></li>
+<li>accuracy&#160;:&#160;<a class="el" href="structbno08x__accel__t.html#aac8d91a84f911413e4bcc3fdb04c893b">bno08x_accel_t</a>, <a class="el" href="structbno08x__activity__classifier__t.html#a51df90897f0f47b640ac975ad8f4833f">bno08x_activity_classifier_t</a>, <a class="el" href="structbno08x__euler__angle__t.html#a3b4fad0b84bda3f34e86f7168ef2fee6">bno08x_euler_angle_t</a>, <a class="el" href="structbno08x__gyro__t.html#a87ab3be28faed62506a764d411650a12">bno08x_gyro_t</a>, <a class="el" href="structbno08x__magf__t.html#a6b92aa85f81f17034c3f201dd9ff0b46">bno08x_magf_t</a>, <a class="el" href="structbno08x__quat__t.html#afd179bfc02d365b5db4ad9fa810daf7c">bno08x_quat_t</a>, <a class="el" href="structbno08x__raw__accel__t.html#aadb4fc1fa1d87d0baf4db5a534ea18ea">bno08x_raw_accel_t</a>, <a class="el" href="structbno08x__raw__gyro__t.html#aa19b4b279b5c218675bf4c83ca872371">bno08x_raw_gyro_t</a>, <a class="el" href="structbno08x__raw__magf__t.html#ae1253faa56aecbafd24f24f42dfb3aeb">bno08x_raw_magf_t</a>, <a class="el" href="structbno08x__shake__detector__t.html#ac643f6c9ac9144c37765b22912212860">bno08x_shake_detector_t</a>, <a class="el" href="structbno08x__stability__classifier__t.html#aa1eeb8deb186589ae21cbd1b96747bf7">bno08x_stability_classifier_t</a>, <a class="el" href="structbno08x__step__counter__t.html#a7e0f4b2eb32978a33f9e8c1c70b83f13">bno08x_step_counter_t</a>, <a class="el" href="structbno08x__tap__detector__t.html#ad43c32c1d5a57f37e884e756daf9a7ea">bno08x_tap_detector_t</a></li>
+<li>activity_classifier&#160;:&#160;<a class="el" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a6475bdab7c49091f3086537efc00c12f">BNO08x::bno08x_reports_t</a></li>
+<li>attempted&#160;:&#160;<a class="el" href="structbno08x__sample__counts__t.html#a8d03182919cce138cfda97c3ff5700b2">bno08x_sample_counts_t</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> 1.9.4 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/documentation/html/functions_b.html b/documentation/html/functions_b.html
new file mode 100644
index 0000000..7b4794c
--- /dev/null
+++ b/documentation/html/functions_b.html
@@ -0,0 +1,151 @@
+<!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">
+<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 1.9.4"/>
+<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>
+<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>
+<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;1.4</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 1.9.4 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search",'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');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(document).ready(function(){initNavTree('functions_b.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">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</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_b" name="index_b"></a>- b -</h3><ul>
+<li>batch_buffer_bytes&#160;:&#160;<a class="el" href="structbno08x__meta__data__t.html#ac493692919e552ca32e6c87b4623ccd2">bno08x_meta_data_t</a></li>
+<li>BNO08x()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ad12fb6cf310ad7a04a4e53809833bd61">BNO08x</a>, <a class="el" href="class_b_n_o08x_rpt.html#a9313d906399750f09e3fe4dae87cec15">BNO08xRpt</a></li>
+<li>bno08x_accel_t()&#160;:&#160;<a class="el" href="structbno08x__accel__t.html#a3d71a06304afc576280c56952b4f7a34">bno08x_accel_t</a></li>
+<li>bno08x_activity_classifier_t()&#160;:&#160;<a class="el" href="structbno08x__activity__classifier__t.html#a302244e7d2d064b126eb92f363add923">bno08x_activity_classifier_t</a></li>
+<li>bno08x_ang_vel_t()&#160;:&#160;<a class="el" href="structbno08x__ang__vel__t.html#a76cf6d15cef214b31a47008d49b843be">bno08x_ang_vel_t</a></li>
+<li>bno08x_config_t()&#160;:&#160;<a class="el" href="structbno08x__config__t.html#a68e051212415a62e64c23678e7b40552">bno08x_config_t</a></li>
+<li>bno08x_euler_angle_t()&#160;:&#160;<a class="el" href="structbno08x__euler__angle__t.html#a29b670ff58d75a6abf02512ee07a6207">bno08x_euler_angle_t</a></li>
+<li>bno08x_gyro_bias_t()&#160;:&#160;<a class="el" href="structbno08x__gyro__bias__t.html#a779c3000b541664d935b2ffda75a5f14">bno08x_gyro_bias_t</a></li>
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+<li>bno08x_init_status_t()&#160;:&#160;<a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html#a63b876667ae7fb32e9861dffafb55a64">BNO08xPrivateTypes::bno08x_init_status_t</a></li>
+<li>bno08x_magf_bias_t()&#160;:&#160;<a class="el" href="structbno08x__magf__bias__t.html#aa0b6af3812168e0dc9329d5a70e54f98">bno08x_magf_bias_t</a></li>
+<li>bno08x_magf_t()&#160;:&#160;<a class="el" href="structbno08x__magf__t.html#ad8784e25768658f4fa0cb1dd5c1afc36">bno08x_magf_t</a></li>
+<li>bno08x_meta_data_t()&#160;:&#160;<a class="el" href="structbno08x__meta__data__t.html#a3e22f63db62812b5aeeb873553f378c4">bno08x_meta_data_t</a></li>
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+<li>bno08x_raw_accel_t()&#160;:&#160;<a class="el" href="structbno08x__raw__accel__t.html#afb9443ec5846eefe942e1f273570fb7f">bno08x_raw_accel_t</a></li>
+<li>bno08x_raw_gyro_t()&#160;:&#160;<a class="el" href="structbno08x__raw__gyro__t.html#a17c759dd38d5a6b78ae5cb77c5e4d93b">bno08x_raw_gyro_t</a></li>
+<li>bno08x_raw_magf_t()&#160;:&#160;<a class="el" href="structbno08x__raw__magf__t.html#a9bbd61edac01cb1f2e78417efe8573aa">bno08x_raw_magf_t</a></li>
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+<li>bno08x_sample_counts_t()&#160;:&#160;<a class="el" href="structbno08x__sample__counts__t.html#abd1eccfac205719fd1c5aed25fee1fec">bno08x_sample_counts_t</a></li>
+<li>bno08x_shake_detector_t()&#160;:&#160;<a class="el" href="structbno08x__shake__detector__t.html#a57df670bfdac6a4174c986a65a0340be">bno08x_shake_detector_t</a></li>
+<li>bno08x_stability_classifier_t()&#160;:&#160;<a class="el" href="structbno08x__stability__classifier__t.html#a1af6213e40337e7dfff734d542fc3be2">bno08x_stability_classifier_t</a></li>
+<li>bno08x_step_counter_t()&#160;:&#160;<a class="el" href="structbno08x__step__counter__t.html#a53eb4151dfa16c65871f9a754cf92940">bno08x_step_counter_t</a></li>
+<li>bno08x_sync_ctx_t()&#160;:&#160;<a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html#a3f9cea8f40f89200c93f2a4bf09039ac">BNO08xPrivateTypes::bno08x_sync_ctx_t</a></li>
+<li>bno08x_tap_detector_t()&#160;:&#160;<a class="el" href="structbno08x__tap__detector__t.html#ab464e512951fb6cf5a1411d2218d51c5">bno08x_tap_detector_t</a></li>
+<li>BNO08xCbGeneric()&#160;:&#160;<a class="el" href="class_b_n_o08x_cb_generic.html#a5b1984f0111c5ca5e07a7f5487cd5234">BNO08xCbGeneric</a></li>
+<li>BNO08xCbParamRptID()&#160;:&#160;<a class="el" href="class_b_n_o08x_cb_param_rpt_i_d.html#a5ba2a4e27588fdd0ae43133544c76a22">BNO08xCbParamRptID</a></li>
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+<li>BNO08xRptAcceleration()&#160;:&#160;<a class="el" href="class_b_n_o08x_rpt_acceleration.html#af3a06d4c127a5cebd136489ab5c673e2">BNO08xRptAcceleration</a></li>
+<li>BNO08xRptActivityClassifier()&#160;:&#160;<a class="el" href="class_b_n_o08x_rpt_activity_classifier.html#abee4e61d75eb1982f11f08eb542511a5">BNO08xRptActivityClassifier</a></li>
+<li>BNO08xRptARVRStabilizedGameRV()&#160;:&#160;<a class="el" href="class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v.html#aabfa5bbfb21fb1f36dda44bd0de7d220">BNO08xRptARVRStabilizedGameRV</a></li>
+<li>BNO08xRptARVRStabilizedRV()&#160;:&#160;<a class="el" href="class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v.html#a7b19b87c861a35b7da1d96b606c21d6d">BNO08xRptARVRStabilizedRV</a></li>
+<li>BNO08xRptCalGyro()&#160;:&#160;<a class="el" href="class_b_n_o08x_rpt_cal_gyro.html#ad351243a258fa1075212d63a38b1e7b5">BNO08xRptCalGyro</a></li>
+<li>BNO08xRptCalMagnetometer()&#160;:&#160;<a class="el" href="class_b_n_o08x_rpt_cal_magnetometer.html#a731d7e69b97b6402b2cf2e18e9a08b06">BNO08xRptCalMagnetometer</a></li>
+<li>BNO08xRptGameRV()&#160;:&#160;<a class="el" href="class_b_n_o08x_rpt_game_r_v.html#a5ce3525ae691ef37dff5c8d638e98e18">BNO08xRptGameRV</a></li>
+<li>BNO08xRptGravity()&#160;:&#160;<a class="el" href="class_b_n_o08x_rpt_gravity.html#a472ced1c466461f64dda3d9132813dba">BNO08xRptGravity</a></li>
+<li>BNO08xRptIGyroRV()&#160;:&#160;<a class="el" href="class_b_n_o08x_rpt_i_gyro_r_v.html#a5574d6213be1d7176d981e04fb9b4ea4">BNO08xRptIGyroRV</a></li>
+<li>BNO08xRptLinearAcceleration()&#160;:&#160;<a class="el" href="class_b_n_o08x_rpt_linear_acceleration.html#ad63032b796912c9be563a5e6da801c59">BNO08xRptLinearAcceleration</a></li>
+<li>BNO08xRptRawMEMSAccelerometer()&#160;:&#160;<a class="el" href="class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer.html#a1a7c70a4c2d2004fe827dfa834d789e7">BNO08xRptRawMEMSAccelerometer</a></li>
+<li>BNO08xRptRawMEMSGyro()&#160;:&#160;<a class="el" href="class_b_n_o08x_rpt_raw_m_e_m_s_gyro.html#a9ad8a6a41c6680302f5ddb8154360ba2">BNO08xRptRawMEMSGyro</a></li>
+<li>BNO08xRptRawMEMSMagnetometer()&#160;:&#160;<a class="el" href="class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer.html#a1033eaa9b7533a381781c8a750bac04b">BNO08xRptRawMEMSMagnetometer</a></li>
+<li>BNO08xRptRV()&#160;:&#160;<a class="el" href="class_b_n_o08x_rpt_r_v.html#a3c4173b40339de15cb7f304f73ae53f3">BNO08xRptRV</a></li>
+<li>BNO08xRptRVGeneric()&#160;:&#160;<a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#a7c35188ccfb976cba1b7e4626022987c">BNO08xRptRVGeneric</a></li>
+<li>BNO08xRptRVGeomag()&#160;:&#160;<a class="el" href="class_b_n_o08x_rpt_r_v_geomag.html#a32bd70c7777973497b6d1b7f960bea0b">BNO08xRptRVGeomag</a></li>
+<li>BNO08xRptShakeDetector()&#160;:&#160;<a class="el" href="class_b_n_o08x_rpt_shake_detector.html#a22021e497ed9a31b2070b884f7eb6bd8">BNO08xRptShakeDetector</a></li>
+<li>BNO08xRptStabilityClassifier()&#160;:&#160;<a class="el" href="class_b_n_o08x_rpt_stability_classifier.html#a41052d651d03bccc414b14d6e9b670ab">BNO08xRptStabilityClassifier</a></li>
+<li>BNO08xRptStepCounter()&#160;:&#160;<a class="el" href="class_b_n_o08x_rpt_step_counter.html#a0a85682a68010aa66ddb2ccc337263a0">BNO08xRptStepCounter</a></li>
+<li>BNO08xRptTapDetector()&#160;:&#160;<a class="el" href="class_b_n_o08x_rpt_tap_detector.html#ad4761f72a20f120e545b941b6e198b6a">BNO08xRptTapDetector</a></li>
+<li>BNO08xRptUncalGyro()&#160;:&#160;<a class="el" href="class_b_n_o08x_rpt_uncal_gyro.html#a3b728331f32e6ca7854c64b06ca28ea8">BNO08xRptUncalGyro</a></li>
+<li>BNO08xRptUncalMagnetometer()&#160;:&#160;<a class="el" href="class_b_n_o08x_rpt_uncal_magnetometer.html#a8ac1f7e58879febd738b85a8035411a0">BNO08xRptUncalMagnetometer</a></li>
+<li>BNO08xSH2HAL&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a6dd0081dc9eb0cfb019bfdca3aa31802">BNO08x</a></li>
+<li>BNO08xTestHelper&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a190775b71c35d8007faae7dd6a9f1030">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> 1.9.4 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/documentation/html/functions_c.html b/documentation/html/functions_c.html
new file mode 100644
index 0000000..3cf348e
--- /dev/null
+++ b/documentation/html/functions_c.html
@@ -0,0 +1,117 @@
+<!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">
+<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 1.9.4"/>
+<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>
+<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>
+<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">
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+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
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+</table>
+</div>
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+<!-- Generated by Doxygen 1.9.4 -->
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+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
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+</table>
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+<script type="text/javascript" src="dynsections.js"></script>
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+<table cellspacing="0" cellpadding="0">
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+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
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+<li>evt_grp_task&#160;:&#160;<a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html#aacddf6425d126d8e854eff620a2dbec0">BNO08xPrivateTypes::bno08x_sync_ctx_t</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> 1.9.4 </li>
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diff --git a/documentation/html/functions_f.html b/documentation/html/functions_f.html
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+++ b/documentation/html/functions_f.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">
+<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 1.9.4"/>
+<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>
+<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>
+<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;1.4</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 1.9.4 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search",'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 */
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+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(document).ready(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()"
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+<!-- iframe showing the search results (closed by default) -->
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+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</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>fifo_max&#160;:&#160;<a class="el" href="structbno08x__meta__data__t.html#a94c6f70957ab28cde8d41fdbd2f39496">bno08x_meta_data_t</a></li>
+<li>fifo_reserved&#160;:&#160;<a class="el" href="structbno08x__meta__data__t.html#a32f6c907d10794a2b64784c4bbe09723">bno08x_meta_data_t</a></li>
+<li>flush()&#160;:&#160;<a class="el" href="class_b_n_o08x_rpt.html#ab3bb962696b135841ef7313bc631fc72">BNO08xRpt</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> 1.9.4 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/documentation/html/functions_func.html b/documentation/html/functions_func.html
new file mode 100644
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--- /dev/null
+++ b/documentation/html/functions_func.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">
+<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 1.9.4"/>
+<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>
+<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>
+<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;1.4</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 1.9.4 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search",'Search','.html');
+/* @license-end */
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+<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() {
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+  $(document).ready(function() { init_search(); });
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+/* @license-end */
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+<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>
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+  <div id="splitbar" style="-moz-user-select:none;" 
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+  </div>
+</div>
+<script type="text/javascript">
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+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
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+</div>
+
+<div class="contents">
+&#160;
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+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
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+<script type="text/javascript" src="jquery.js"></script>
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+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
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+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
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+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
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+ </tbody>
+</table>
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+<!-- end header part -->
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+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<script type="text/javascript" src="search/searchdata.js"></script>
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+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
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+</table>
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+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>esp32_BNO08x: Class Members - Related 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>
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+<script type="text/javascript" src="navtreedata.js"></script>
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+<script type="text/javascript" src="search/searchdata.js"></script>
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+<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;1.4</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 1.9.4 -->
+<script type="text/javascript">
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+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(document).ready(function(){initNavTree('functions_rela.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">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+&#160;<ul>
+<li>BNO08x&#160;:&#160;<a class="el" href="class_b_n_o08x_rpt.html#a9313d906399750f09e3fe4dae87cec15">BNO08xRpt</a></li>
+<li>BNO08xSH2HAL&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a6dd0081dc9eb0cfb019bfdca3aa31802">BNO08x</a></li>
+<li>BNO08xTestHelper&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a190775b71c35d8007faae7dd6a9f1030">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> 1.9.4 </li>
+  </ul>
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diff --git a/documentation/html/functions_s.html b/documentation/html/functions_s.html
new file mode 100644
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--- /dev/null
+++ b/documentation/html/functions_s.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">
+<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 1.9.4"/>
+<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>
+<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>
+<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;1.4</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 1.9.4 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search",'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');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(document).ready(function(){initNavTree('functions_s.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">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</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_s" name="index_s"></a>- s -</h3><ul>
+<li>sclk_speed&#160;:&#160;<a class="el" href="structbno08x__config__t.html#a231614c3b20888360def2ce9db83f52a">bno08x_config_t</a></li>
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+<li>sensor_specific&#160;:&#160;<a class="el" href="structbno08x__meta__data__t.html#a4134971e13a6242102facae308588072">bno08x_meta_data_t</a></li>
+<li>sensor_specific_len&#160;:&#160;<a class="el" href="structbno08x__meta__data__t.html#abaa4829463c424c9959d594027ce7ba2">bno08x_meta_data_t</a></li>
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+<li>set_test_imu_cfg()&#160;:&#160;<a class="el" href="class_b_n_o08x_test_helper.html#a9e2f9bf13f28f1a6ba87e86bc5947cf1">BNO08xTestHelper</a></li>
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+<li>sh_version&#160;:&#160;<a class="el" href="structbno08x__meta__data__t.html#a672da8b56be3269bae22c9e0e5424719">bno08x_meta_data_t</a></li>
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+<li>signal_data_available()&#160;:&#160;<a class="el" href="class_b_n_o08x_rpt.html#a47a623eb0a1db51af76a03a103c32329">BNO08xRpt</a></li>
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+<li>soft_reset()&#160;:&#160;<a class="el" href="class_b_n_o08x.html#a973a1b1785f3302ee1b2702c6a27646e">BNO08x</a></li>
+<li>spi_bus&#160;:&#160;<a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html#a8780317bf985194a58d4b0457d518adf">BNO08xPrivateTypes::bno08x_init_status_t</a></li>
+<li>spi_close()&#160;:&#160;<a class="el" href="class_b_n_o08x_s_h2_h_a_l.html#a5fa6b901d1790fcd7dc0905f62ae040f">BNO08xSH2HAL</a></li>
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+<li>spi_open()&#160;:&#160;<a class="el" href="class_b_n_o08x_s_h2_h_a_l.html#ae079b1384cba806a778eb0e27f981da0">BNO08xSH2HAL</a></li>
+<li>spi_peripheral&#160;:&#160;<a class="el" href="structbno08x__config__t.html#a020d2343750bb7debc2a108ae038c9ec">bno08x_config_t</a></li>
+<li>spi_read()&#160;:&#160;<a class="el" href="class_b_n_o08x_s_h2_h_a_l.html#a3e691461235b3e3c59866ac179d06f25">BNO08xSH2HAL</a></li>
+<li>spi_write()&#160;:&#160;<a class="el" href="class_b_n_o08x_s_h2_h_a_l.html#a96d5b8fa7669f22cd0ecaf1feee13299">BNO08xSH2HAL</a></li>
+<li>SQRT2OVER2&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ab8d5ebfc080838870e320494da3fa64d">BNO08x</a></li>
+<li>stability&#160;:&#160;<a class="el" href="structbno08x__stability__classifier__t.html#a2ecd636f34a6be612833009d9a1c8725">bno08x_stability_classifier_t</a></li>
+<li>stability_classifier&#160;:&#160;<a class="el" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a2edee4386eaea86ef3d316f5840d7a2f">BNO08x::bno08x_reports_t</a></li>
+<li>step_counter&#160;:&#160;<a class="el" href="struct_b_n_o08x_1_1bno08x__reports__t.html#aee9528ea57ab86ef29e10de9ecfefcf7">BNO08x::bno08x_reports_t</a></li>
+<li>steps&#160;:&#160;<a class="el" href="structbno08x__step__counter__t.html#a6d6be986b770fe1343a46080f35653d3">bno08x_step_counter_t</a></li>
+<li>sync_ctx&#160;:&#160;<a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">BNO08xRpt</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> 1.9.4 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/documentation/html/functions_t.html b/documentation/html/functions_t.html
new file mode 100644
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--- /dev/null
+++ b/documentation/html/functions_t.html
@@ -0,0 +1,106 @@
+<!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">
+<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 1.9.4"/>
+<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>
+<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>
+<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;1.4</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 1.9.4 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search",'Search','.html');
+/* @license-end */
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+<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');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(document).ready(function(){initNavTree('functions_t.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
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+     onmouseover="return searchBox.OnSearchSelectShow()"
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+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</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_rpt.html#a2c57f370fb08b793bb10ec22d5acca45">BNO08xRpt</a>, <a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#a5315a83517cd15397842254a9926b1c4">BNO08xRptRVGeneric</a></li>
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+<li>temperature&#160;:&#160;<a class="el" href="structbno08x__raw__gyro__t.html#adf725827f6f97e16c953f6f5c7bf890b">bno08x_raw_gyro_t</a></li>
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+</ul>
+</div><!-- contents -->
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+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
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+<script type="text/javascript" src="jquery.js"></script>
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+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
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+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
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+<li>batch_buffer_bytes&#160;:&#160;<a class="el" href="structbno08x__meta__data__t.html#ac493692919e552ca32e6c87b4623ccd2">bno08x_meta_data_t</a></li>
+</ul>
+
+
+<h3><a id="index_c" name="index_c"></a>- c -</h3><ul>
+<li>cal_gyro&#160;:&#160;<a class="el" href="struct_b_n_o08x_1_1bno08x__reports__t.html#adabe838126b5bbc83fc4f69bba78123e">BNO08x::bno08x_reports_t</a></li>
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+<h3><a id="index_d" name="index_d"></a>- d -</h3><ul>
+<li>data&#160;:&#160;<a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#ad5174665e1c943291110630dc461caff">BNO08xRptRVGeneric</a></li>
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+<li>double_tap&#160;:&#160;<a class="el" href="structbno08x__tap__detector__t.html#aef875a8e6ff23b29cb9fb73af48db11a">bno08x_tap_detector_t</a></li>
+</ul>
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+<h3><a id="index_e" name="index_e"></a>- e -</h3><ul>
+<li>en_report_ids&#160;:&#160;<a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html#aa63f0d6aa9a27e2f6cdbef17c42c3289">BNO08xPrivateTypes::bno08x_sync_ctx_t</a></li>
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+<li>fifo_max&#160;:&#160;<a class="el" href="structbno08x__meta__data__t.html#a94c6f70957ab28cde8d41fdbd2f39496">bno08x_meta_data_t</a></li>
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+<h3><a id="index_g" name="index_g"></a>- g -</h3><ul>
+<li>gpio_inputs&#160;:&#160;<a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html#a9b87a879ec795e2241985f0d33856c14">BNO08xPrivateTypes::bno08x_init_status_t</a></li>
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+</ul>
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+<h3><a id="index_i" name="index_i"></a>- i -</h3><ul>
+<li>i&#160;:&#160;<a class="el" href="structbno08x__quat__t.html#ac438aba57b7082e1d81e2d1241f87ca0">bno08x_quat_t</a></li>
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+<li>io_miso&#160;:&#160;<a class="el" href="structbno08x__config__t.html#a9468180a773892977db39cc5ed9368e3">bno08x_config_t</a></li>
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+<li>j&#160;:&#160;<a class="el" href="structbno08x__quat__t.html#aab49754d4967cfa71578d8d1156eef46">bno08x_quat_t</a></li>
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+<h3><a id="index_k" name="index_k"></a>- k -</h3><ul>
+<li>k&#160;:&#160;<a class="el" href="structbno08x__quat__t.html#ade2592f6a271cc8b260081ad018772ef">bno08x_quat_t</a></li>
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+<li>lastPage&#160;:&#160;<a class="el" href="structbno08x__activity__classifier__t.html#a90b7b42f031ed0e5b4c5d0e167caccb9">bno08x_activity_classifier_t</a></li>
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+<h3><a id="index_m" name="index_m"></a>- m -</h3><ul>
+<li>max_period_us&#160;:&#160;<a class="el" href="structbno08x__meta__data__t.html#a3e4ff48e389db8b0643259f9af8c0006">bno08x_meta_data_t</a></li>
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+<h3><a id="index_o" name="index_o"></a>- o -</h3><ul>
+<li>offered&#160;:&#160;<a class="el" href="structbno08x__sample__counts__t.html#aae4244c540f8411246032f1e69125b75">bno08x_sample_counts_t</a></li>
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+<h3><a id="index_p" name="index_p"></a>- p -</h3><ul>
+<li>page&#160;:&#160;<a class="el" href="structbno08x__activity__classifier__t.html#aa3e3a6b479558722bc9d5416b74492ca">bno08x_activity_classifier_t</a></li>
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+<h3><a id="index_q" name="index_q"></a>- q -</h3><ul>
+<li>q_point_1&#160;:&#160;<a class="el" href="structbno08x__meta__data__t.html#a1e0a5907ac8d8dd0325cf8830aa5bd66">bno08x_meta_data_t</a></li>
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+</ul>
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+
+<h3><a id="index_r" name="index_r"></a>- r -</h3><ul>
+<li>RAD_2_DEG&#160;:&#160;<a class="el" href="class_b_n_o08x_rpt.html#a201aeb71fefb0d9d485914176a82dd80">BNO08xRpt</a></li>
+<li>rad_accuracy&#160;:&#160;<a class="el" href="structbno08x__euler__angle__t.html#a89ab348ee455b14e5d09f1eb5d231c99">bno08x_euler_angle_t</a>, <a class="el" href="structbno08x__quat__t.html#a7368a7f0524e3b2e1f4465329ecb0912">bno08x_quat_t</a></li>
+<li>range&#160;:&#160;<a class="el" href="structbno08x__meta__data__t.html#a58edad7613b5b2c6e7afd0233106b09f">bno08x_meta_data_t</a></li>
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+<li>real&#160;:&#160;<a class="el" href="structbno08x__quat__t.html#ab99e5e4f8adad74eee1a94b4e7ef2542">bno08x_quat_t</a></li>
+<li>resolution&#160;:&#160;<a class="el" href="structbno08x__meta__data__t.html#a7683b54fbe7ae8ec15b8f880d17a5a46">bno08x_meta_data_t</a></li>
+<li>revision&#160;:&#160;<a class="el" href="structbno08x__meta__data__t.html#a31816ac79605b829e7304973d61f7d98">bno08x_meta_data_t</a></li>
+<li>rpt&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ae1db7422ee9c2cac77382cc0a7aa430e">BNO08x</a></li>
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+</ul>
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+
+<h3><a id="index_s" name="index_s"></a>- s -</h3><ul>
+<li>sclk_speed&#160;:&#160;<a class="el" href="structbno08x__config__t.html#a231614c3b20888360def2ce9db83f52a">bno08x_config_t</a></li>
+<li>sensor_specific&#160;:&#160;<a class="el" href="structbno08x__meta__data__t.html#a4134971e13a6242102facae308588072">bno08x_meta_data_t</a></li>
+<li>sensor_specific_len&#160;:&#160;<a class="el" href="structbno08x__meta__data__t.html#abaa4829463c424c9959d594027ce7ba2">bno08x_meta_data_t</a></li>
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+<li>SQRT2OVER2&#160;:&#160;<a class="el" href="class_b_n_o08x.html#ab8d5ebfc080838870e320494da3fa64d">BNO08x</a></li>
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+<li>steps&#160;:&#160;<a class="el" href="structbno08x__step__counter__t.html#a6d6be986b770fe1343a46080f35653d3">bno08x_step_counter_t</a></li>
+<li>sync_ctx&#160;:&#160;<a class="el" href="class_b_n_o08x_rpt.html#a5a1404a08918d66bb0f41f55220db6e5">BNO08xRpt</a></li>
+</ul>
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+
+<h3><a id="index_t" name="index_t"></a>- t -</h3><ul>
+<li>TAG&#160;:&#160;<a class="el" href="class_b_n_o08x_rpt.html#a2c57f370fb08b793bb10ec22d5acca45">BNO08xRpt</a>, <a class="el" href="class_b_n_o08x_rpt_r_v_generic.html#a5315a83517cd15397842254a9926b1c4">BNO08xRptRVGeneric</a></li>
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+<li>temperature&#160;:&#160;<a class="el" href="structbno08x__raw__gyro__t.html#adf725827f6f97e16c953f6f5c7bf890b">bno08x_raw_gyro_t</a></li>
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+</ul>
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+
+<h3><a id="index_u" name="index_u"></a>- u -</h3><ul>
+<li>uncal_gyro&#160;:&#160;<a class="el" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a6f1929843393c09c21b1f107a47c8fe3">BNO08x::bno08x_reports_t</a></li>
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+</ul>
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+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
+   </div>
+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
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+  <div class="headertitle"><div class="title">Class Hierarchy</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock">
+<p><a href="inherits.html">Go to the graphical class hierarchy</a></p>
+This inheritance list is sorted roughly, but not completely, alphabetically:</div><div class="directory">
+<div class="levels">[detail level <span onclick="javascript:toggleLevel(1);">1</span><span onclick="javascript:toggleLevel(2);">2</span><span onclick="javascript:toggleLevel(3);">3</span>]</div><table class="directory">
+<tr id="row_0_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_b_n_o08x.html" target="_self">BNO08x</a></td><td class="desc"><a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> IMU driver class </td></tr>
+<tr id="row_1_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structbno08x__accel__t.html" target="_self">bno08x_accel_t</a></td><td class="desc">Struct to represent acceleration data from acceleration, linear acceleration, and gravity reports </td></tr>
+<tr id="row_2_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structbno08x__activity__classifier__t.html" target="_self">bno08x_activity_classifier_t</a></td><td class="desc">Struct to represent activity classifier data </td></tr>
+<tr id="row_3_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structbno08x__ang__vel__t.html" target="_self">bno08x_ang_vel_t</a></td><td class="desc">Struct to represent angular velocity (units in rad/s) </td></tr>
+<tr id="row_4_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structbno08x__config__t.html" target="_self">bno08x_config_t</a></td><td class="desc">IMU configuration settings passed into constructor </td></tr>
+<tr id="row_5_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structbno08x__euler__angle__t.html" target="_self">bno08x_euler_angle_t</a></td><td class="desc">Struct to represent euler angle (units in degrees or rads) </td></tr>
+<tr id="row_6_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structbno08x__gyro__bias__t.html" target="_self">bno08x_gyro_bias_t</a></td><td class="desc">Struct to represent gyro bias data (units in rad/s) </td></tr>
+<tr id="row_7_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structbno08x__gyro__t.html" target="_self">bno08x_gyro_t</a></td><td class="desc">Struct to represent gyro data (units in rad/s) </td></tr>
+<tr id="row_8_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html" target="_self">BNO08xPrivateTypes::bno08x_init_status_t</a></td><td class="desc">Holds info about which functionality has been successfully initialized (used by deconstructor during cleanup) </td></tr>
+<tr id="row_9_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structbno08x__magf__bias__t.html" target="_self">bno08x_magf_bias_t</a></td><td class="desc">Struct to represent magnetic field bias data (units in uTesla) </td></tr>
+<tr id="row_10_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structbno08x__magf__t.html" target="_self">bno08x_magf_t</a></td><td class="desc">Struct to represent magnetic field data (units in uTesla) </td></tr>
+<tr id="row_11_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structbno08x__meta__data__t.html" target="_self">bno08x_meta_data_t</a></td><td class="desc">Struct to represent sensor/report meta data, returned from <a class="el" href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf" title="Retrieves meta data for this sensor/report by reading respective record in FRS (flash record system).">BNO08xRpt::get_meta_data()</a> </td></tr>
+<tr id="row_12_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structbno08x__quat__t.html" target="_self">bno08x_quat_t</a></td><td class="desc">Struct to represent unit quaternion </td></tr>
+<tr id="row_13_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structbno08x__raw__accel__t.html" target="_self">bno08x_raw_accel_t</a></td><td class="desc">Struct to represent raw mems accelerometer data from raw accelerometer reports (units in ADC counts) </td></tr>
+<tr id="row_14_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structbno08x__raw__gyro__t.html" target="_self">bno08x_raw_gyro_t</a></td><td class="desc">Struct to represent raw mems gyro data from raw gyro reports (units in ADC counts) </td></tr>
+<tr id="row_15_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structbno08x__raw__magf__t.html" target="_self">bno08x_raw_magf_t</a></td><td class="desc">Struct to represent raw mems magnetometer data from raw magnetometer reports (units in ADC counts) </td></tr>
+<tr id="row_16_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct_b_n_o08x_1_1bno08x__reports__t.html" target="_self">BNO08x::bno08x_reports_t</a></td><td class="desc">Contains report implementations </td></tr>
+<tr id="row_17_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structbno08x__sample__counts__t.html" target="_self">bno08x_sample_counts_t</a></td><td class="desc">Struct to represent sample counts, returned from <a class="el" href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38" title="Gets sample counts for this sensor (see SH-2 ref manual 6.4.3.1)">BNO08xRpt::get_sample_counts()</a> </td></tr>
+<tr id="row_18_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structbno08x__shake__detector__t.html" target="_self">bno08x_shake_detector_t</a></td><td class="desc">Struct to represent shake detector data (flag meaning: 0 = no shake 1 = shake detected) </td></tr>
+<tr id="row_19_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structbno08x__stability__classifier__t.html" target="_self">bno08x_stability_classifier_t</a></td><td class="desc">Struct to represent stability classifier data from stability classifier reports </td></tr>
+<tr id="row_20_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structbno08x__step__counter__t.html" target="_self">bno08x_step_counter_t</a></td><td class="desc">Struct to represent step counter data from step counter reports </td></tr>
+<tr id="row_21_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html" target="_self">BNO08xPrivateTypes::bno08x_sync_ctx_t</a></td><td class="desc">Holds context used to synchronize tasks and callback execution </td></tr>
+<tr id="row_22_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structbno08x__tap__detector__t.html" target="_self">bno08x_tap_detector_t</a></td><td class="desc">Struct to represent tap detector data (flag meaning: 0 = no tap, 1 = positive tap on axis, -1 = negative tap on axis) </td></tr>
+<tr id="row_23_"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_23_" class="arrow" onclick="toggleFolder('23_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_b_n_o08x_cb_generic.html" target="_self">BNO08xCbGeneric</a></td><td class="desc">Parent class to represent callback functions as generic type such that all flavors can be invoked by single type </td></tr>
+<tr id="row_23_0_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_b_n_o08x_cb_param_rpt_i_d.html" target="_self">BNO08xCbParamRptID</a></td><td class="desc">Class to hold callback functions which are passed report ID as input parameter </td></tr>
+<tr id="row_23_1_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_b_n_o08x_cb_param_void.html" target="_self">BNO08xCbParamVoid</a></td><td class="desc"></td></tr>
+<tr id="row_24_" class="even"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_24_" class="arrow" onclick="toggleFolder('24_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_b_n_o08x_rpt.html" target="_self">BNO08xRpt</a></td><td class="desc">Class to represent and manage reports returned from <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> </td></tr>
+<tr id="row_24_0_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_b_n_o08x_rpt_acceleration.html" target="_self">BNO08xRptAcceleration</a></td><td class="desc">Class to represent accelerometer reports. (See Ref. Manual 6.5.9) </td></tr>
+<tr id="row_24_1_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_b_n_o08x_rpt_activity_classifier.html" target="_self">BNO08xRptActivityClassifier</a></td><td class="desc">Class to represent activity classifier reports. (See Ref. Manual 6.5.36) </td></tr>
+<tr id="row_24_2_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_b_n_o08x_rpt_cal_gyro.html" target="_self">BNO08xRptCalGyro</a></td><td class="desc">Class to represent calibrated gyro reports. (See Ref. Manual 6.5.13) </td></tr>
+<tr id="row_24_3_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_b_n_o08x_rpt_cal_magnetometer.html" target="_self">BNO08xRptCalMagnetometer</a></td><td class="desc">Class to represent calibrated magnetometer reports. (See Ref. Manual 6.5.16) </td></tr>
+<tr id="row_24_4_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_b_n_o08x_rpt_gravity.html" target="_self">BNO08xRptGravity</a></td><td class="desc">Class to represent gravity reports. (See Ref. Manual 6.5.11) </td></tr>
+<tr id="row_24_5_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_b_n_o08x_rpt_linear_acceleration.html" target="_self">BNO08xRptLinearAcceleration</a></td><td class="desc">Class to represent linear accelerometer reports. (See Ref. Manual 6.5.10) </td></tr>
+<tr id="row_24_6_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_24_6_" class="arrow" onclick="toggleFolder('24_6_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_b_n_o08x_rpt_r_v_generic.html" target="_self">BNO08xRptRVGeneric</a></td><td class="desc">Class to represent rotation vector reports </td></tr>
+<tr id="row_24_6_0_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v.html" target="_self">BNO08xRptARVRStabilizedGameRV</a></td><td class="desc">Class to represent ARVR stabilized rotation vector reports. (See Ref. Manual 6.5.43) </td></tr>
+<tr id="row_24_6_1_"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v.html" target="_self">BNO08xRptARVRStabilizedRV</a></td><td class="desc">Class to represent ARVR stabilized rotation vector reports. (See Ref. Manual 6.5.42) </td></tr>
+<tr id="row_24_6_2_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_b_n_o08x_rpt_game_r_v.html" target="_self">BNO08xRptGameRV</a></td><td class="desc">Class to represent game rotation vector reports. (See Ref. Manual 6.5.19) </td></tr>
+<tr id="row_24_6_3_"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_b_n_o08x_rpt_i_gyro_r_v.html" target="_self">BNO08xRptIGyroRV</a></td><td class="desc">Class to represent integrated gyro rotation vector reports. (See Ref. Manual 6.5.44) </td></tr>
+<tr id="row_24_6_4_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_b_n_o08x_rpt_r_v.html" target="_self">BNO08xRptRV</a></td><td class="desc">Class to represent rotation vector reports. (See Ref. Manual 6.5.18) </td></tr>
+<tr id="row_24_6_5_"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_b_n_o08x_rpt_r_v_geomag.html" target="_self">BNO08xRptRVGeomag</a></td><td class="desc">Class to represent geomagnetic rotation vector reports. (See Ref. Manual 6.5.20) </td></tr>
+<tr id="row_24_7_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer.html" target="_self">BNO08xRptRawMEMSAccelerometer</a></td><td class="desc">Class to represent raw accelerometer reports. (See Ref. Manual 6.5.8) </td></tr>
+<tr id="row_24_8_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_b_n_o08x_rpt_raw_m_e_m_s_gyro.html" target="_self">BNO08xRptRawMEMSGyro</a></td><td class="desc">Class to represent raw gyro reports. (See Ref. Manual 6.5.12) </td></tr>
+<tr id="row_24_9_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer.html" target="_self">BNO08xRptRawMEMSMagnetometer</a></td><td class="desc">Class to represent raw magnetometer reports. (See Ref. Manual 6.5.15) </td></tr>
+<tr id="row_24_10_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_b_n_o08x_rpt_shake_detector.html" target="_self">BNO08xRptShakeDetector</a></td><td class="desc">Class to represent shake detector reports. (See Ref. Manual 6.5.32) </td></tr>
+<tr id="row_24_11_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_b_n_o08x_rpt_stability_classifier.html" target="_self">BNO08xRptStabilityClassifier</a></td><td class="desc">Class to represent stability classifier reports. (See Ref. Manual 6.5.31) </td></tr>
+<tr id="row_24_12_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_b_n_o08x_rpt_step_counter.html" target="_self">BNO08xRptStepCounter</a></td><td class="desc">Class to represent step counter reports. (See Ref. Manual 6.5.29) </td></tr>
+<tr id="row_24_13_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_b_n_o08x_rpt_tap_detector.html" target="_self">BNO08xRptTapDetector</a></td><td class="desc">Class to represent tap detector reports. (See Ref. Manual 6.5.27) </td></tr>
+<tr id="row_24_14_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_b_n_o08x_rpt_uncal_gyro.html" target="_self">BNO08xRptUncalGyro</a></td><td class="desc">Class to represent uncalibrated gyro reports. (See Ref. Manual 6.5.14) </td></tr>
+<tr id="row_24_15_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_b_n_o08x_rpt_uncal_magnetometer.html" target="_self">BNO08xRptUncalMagnetometer</a></td><td class="desc">Class to represent uncalibrated magnetometer reports. (See Ref. Manual 6.5.17) </td></tr>
+<tr id="row_25_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_b_n_o08x_s_h2_h_a_l.html" target="_self">BNO08xSH2HAL</a></td><td class="desc">Fully static class containing callback implementations for sh2 HAL lib </td></tr>
+<tr id="row_26_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_b_n_o08x_test_helper.html" target="_self">BNO08xTestHelper</a></td><td class="desc"><a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> unit test helper class </td></tr>
+<tr id="row_27_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_b_n_o08x_test_suite.html" target="_self">BNO08xTestSuite</a></td><td class="desc"><a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> unit test launch point class </td></tr>
+</table>
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+    [ "bno08x_euler_angle_t", "structbno08x__euler__angle__t.html", null ],
+    [ "bno08x_gyro_bias_t", "structbno08x__gyro__bias__t.html", null ],
+    [ "bno08x_gyro_t", "structbno08x__gyro__t.html", null ],
+    [ "BNO08xPrivateTypes::bno08x_init_status_t", "struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html", null ],
+    [ "bno08x_magf_bias_t", "structbno08x__magf__bias__t.html", null ],
+    [ "bno08x_magf_t", "structbno08x__magf__t.html", null ],
+    [ "bno08x_meta_data_t", "structbno08x__meta__data__t.html", null ],
+    [ "bno08x_quat_t", "structbno08x__quat__t.html", null ],
+    [ "bno08x_raw_accel_t", "structbno08x__raw__accel__t.html", null ],
+    [ "bno08x_raw_gyro_t", "structbno08x__raw__gyro__t.html", null ],
+    [ "bno08x_raw_magf_t", "structbno08x__raw__magf__t.html", null ],
+    [ "BNO08x::bno08x_reports_t", "struct_b_n_o08x_1_1bno08x__reports__t.html", null ],
+    [ "bno08x_sample_counts_t", "structbno08x__sample__counts__t.html", null ],
+    [ "bno08x_shake_detector_t", "structbno08x__shake__detector__t.html", null ],
+    [ "bno08x_stability_classifier_t", "structbno08x__stability__classifier__t.html", null ],
+    [ "bno08x_step_counter_t", "structbno08x__step__counter__t.html", null ],
+    [ "BNO08xPrivateTypes::bno08x_sync_ctx_t", "struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html", null ],
+    [ "bno08x_tap_detector_t", "structbno08x__tap__detector__t.html", null ],
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+      [ "BNO08xRptActivityClassifier", "class_b_n_o08x_rpt_activity_classifier.html", null ],
+      [ "BNO08xRptCalGyro", "class_b_n_o08x_rpt_cal_gyro.html", null ],
+      [ "BNO08xRptCalMagnetometer", "class_b_n_o08x_rpt_cal_magnetometer.html", null ],
+      [ "BNO08xRptGravity", "class_b_n_o08x_rpt_gravity.html", null ],
+      [ "BNO08xRptLinearAcceleration", "class_b_n_o08x_rpt_linear_acceleration.html", null ],
+      [ "BNO08xRptRVGeneric", "class_b_n_o08x_rpt_r_v_generic.html", [
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+        [ "BNO08xRptARVRStabilizedRV", "class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v.html", null ],
+        [ "BNO08xRptGameRV", "class_b_n_o08x_rpt_game_r_v.html", null ],
+        [ "BNO08xRptIGyroRV", "class_b_n_o08x_rpt_i_gyro_r_v.html", null ],
+        [ "BNO08xRptRV", "class_b_n_o08x_rpt_r_v.html", null ],
+        [ "BNO08xRptRVGeomag", "class_b_n_o08x_rpt_r_v_geomag.html", null ]
+      ] ],
+      [ "BNO08xRptRawMEMSAccelerometer", "class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer.html", null ],
+      [ "BNO08xRptRawMEMSGyro", "class_b_n_o08x_rpt_raw_m_e_m_s_gyro.html", null ],
+      [ "BNO08xRptRawMEMSMagnetometer", "class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer.html", null ],
+      [ "BNO08xRptShakeDetector", "class_b_n_o08x_rpt_shake_detector.html", null ],
+      [ "BNO08xRptStabilityClassifier", "class_b_n_o08x_rpt_stability_classifier.html", null ],
+      [ "BNO08xRptStepCounter", "class_b_n_o08x_rpt_step_counter.html", null ],
+      [ "BNO08xRptTapDetector", "class_b_n_o08x_rpt_tap_detector.html", null ],
+      [ "BNO08xRptUncalGyro", "class_b_n_o08x_rpt_uncal_gyro.html", null ],
+      [ "BNO08xRptUncalMagnetometer", "class_b_n_o08x_rpt_uncal_magnetometer.html", null ]
+    ] ],
+    [ "BNO08xSH2HAL", "class_b_n_o08x_s_h2_h_a_l.html", null ],
+    [ "BNO08xTestHelper", "class_b_n_o08x_test_helper.html", null ],
+    [ "BNO08xTestSuite", "class_b_n_o08x_test_suite.html", null ]
+];
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+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
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+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
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new file mode 100644
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+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
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+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
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s=[],n=this;return e=t.extend({element:this.element,classes:this.options.classes||{}},e),this._on(e.element,{remove:"_untrackClassesElement"}),e.keys&&i(e.keys.match(/\S+/g)||[],!0),e.extra&&i(e.extra.match(/\S+/g)||[]),s.join(" ")},_untrackClassesElement:function(e){var i=this;t.each(i.classesElementLookup,function(s,n){-1!==t.inArray(e.target,n)&&(i.classesElementLookup[s]=t(n.not(e.target).get()))})},_removeClass:function(t,e,i){return this._toggleClass(t,e,i,!1)},_addClass:function(t,e,i){return this._toggleClass(t,e,i,!0)},_toggleClass:function(t,e,i,s){s="boolean"==typeof s?s:i;var n="string"==typeof t||null===t,o={extra:n?e:i,keys:n?t:e,element:n?this.element:t,add:s};return o.element.toggleClass(this._classes(o),s),this},_on:function(e,i,s){var n,o=this;"boolean"!=typeof e&&(s=i,i=e,e=!1),s?(i=n=t(i),this.bindings=this.bindings.add(i)):(s=i,i=this.element,n=this.widget()),t.each(s,function(s,a){function r(){return e||o.options.disabled!==!0&&!t(this).hasClass("ui-state-disabled")?("string"==typeof a?o[a]:a).apply(o,arguments):void 0}"string"!=typeof a&&(r.guid=a.guid=a.guid||r.guid||t.guid++);var h=s.match(/^([\w:-]*)\s*(.*)$/),l=h[1]+o.eventNamespace,c=h[2];c?n.on(l,c,r):i.on(l,r)})},_off:function(e,i){i=(i||"").split(" ").join(this.eventNamespace+" ")+this.eventNamespace,e.off(i).off(i),this.bindings=t(this.bindings.not(e).get()),this.focusable=t(this.focusable.not(e).get()),this.hoverable=t(this.hoverable.not(e).get())},_delay:function(t,e){function i(){return("string"==typeof t?s[t]:t).apply(s,arguments)}var s=this;return setTimeout(i,e||0)},_hoverable:function(e){this.hoverable=this.hoverable.add(e),this._on(e,{mouseenter:function(e){this._addClass(t(e.currentTarget),null,"ui-state-hover")},mouseleave:function(e){this._removeClass(t(e.currentTarget),null,"ui-state-hover")}})},_focusable:function(e){this.focusable=this.focusable.add(e),this._on(e,{focusin:function(e){this._addClass(t(e.currentTarget),null,"ui-state-focus")},focusout:function(e){this._removeClass(t(e.currentTarget),null,"ui-state-focus")}})},_trigger:function(e,i,s){var n,o,a=this.options[e];if(s=s||{},i=t.Event(i),i.type=(e===this.widgetEventPrefix?e:this.widgetEventPrefix+e).toLowerCase(),i.target=this.element[0],o=i.originalEvent)for(n in o)n in i||(i[n]=o[n]);return this.element.trigger(i,s),!(t.isFunction(a)&&a.apply(this.element[0],[i].concat(s))===!1||i.isDefaultPrevented())}},t.each({show:"fadeIn",hide:"fadeOut"},function(e,i){t.Widget.prototype["_"+e]=function(s,n,o){"string"==typeof n&&(n={effect:n});var a,r=n?n===!0||"number"==typeof n?i:n.effect||i:e;n=n||{},"number"==typeof n&&(n={duration:n}),a=!t.isEmptyObject(n),n.complete=o,n.delay&&s.delay(n.delay),a&&t.effects&&t.effects.effect[r]?s[e](n):r!==e&&s[r]?s[r](n.duration,n.easing,o):s.queue(function(i){t(this)[e](),o&&o.call(s[0]),i()})}}),t.widget,function(){function e(t,e,i){return[parseFloat(t[0])*(u.test(t[0])?e/100:1),parseFloat(t[1])*(u.test(t[1])?i/100:1)]}function i(e,i){return parseInt(t.css(e,i),10)||0}function s(e){var i=e[0];return 9===i.nodeType?{width:e.width(),height:e.height(),offset:{top:0,left:0}}:t.isWindow(i)?{width:e.width(),height:e.height(),offset:{top:e.scrollTop(),left:e.scrollLeft()}}:i.preventDefault?{width:0,height:0,offset:{top:i.pageY,left:i.pageX}}:{width:e.outerWidth(),height:e.outerHeight(),offset:e.offset()}}var n,o=Math.max,a=Math.abs,r=/left|center|right/,h=/top|center|bottom/,l=/[\+\-]\d+(\.[\d]+)?%?/,c=/^\w+/,u=/%$/,d=t.fn.position;t.position={scrollbarWidth:function(){if(void 0!==n)return n;var e,i,s=t("<div style='display:block;position:absolute;width:50px;height:50px;overflow:hidden;'><div style='height:100px;width:auto;'></div></div>"),o=s.children()[0];return t("body").append(s),e=o.offsetWidth,s.css("overflow","scroll"),i=o.offsetWidth,e===i&&(i=s[0].clientWidth),s.remove(),n=e-i},getScrollInfo:function(e){var i=e.isWindow||e.isDocument?"":e.element.css("overflow-x"),s=e.isWindow||e.isDocument?"":e.element.css("overflow-y"),n="scroll"===i||"auto"===i&&e.width<e.element[0].scrollWidth,o="scroll"===s||"auto"===s&&e.height<e.element[0].scrollHeight;return{width:o?t.position.scrollbarWidth():0,height:n?t.position.scrollbarWidth():0}},getWithinInfo:function(e){var i=t(e||window),s=t.isWindow(i[0]),n=!!i[0]&&9===i[0].nodeType,o=!s&&!n;return{element:i,isWindow:s,isDocument:n,offset:o?t(e).offset():{left:0,top:0},scrollLeft:i.scrollLeft(),scrollTop:i.scrollTop(),width:i.outerWidth(),height:i.outerHeight()}}},t.fn.position=function(n){if(!n||!n.of)return d.apply(this,arguments);n=t.extend({},n);var u,p,f,m,g,_,v=t(n.of),b=t.position.getWithinInfo(n.within),y=t.position.getScrollInfo(b),w=(n.collision||"flip").split(" "),x={};return _=s(v),v[0].preventDefault&&(n.at="left top"),p=_.width,f=_.height,m=_.offset,g=t.extend({},m),t.each(["my","at"],function(){var t,e,i=(n[this]||"").split(" ");1===i.length&&(i=r.test(i[0])?i.concat(["center"]):h.test(i[0])?["center"].concat(i):["center","center"]),i[0]=r.test(i[0])?i[0]:"center",i[1]=h.test(i[1])?i[1]:"center",t=l.exec(i[0]),e=l.exec(i[1]),x[this]=[t?t[0]:0,e?e[0]:0],n[this]=[c.exec(i[0])[0],c.exec(i[1])[0]]}),1===w.length&&(w[1]=w[0]),"right"===n.at[0]?g.left+=p:"center"===n.at[0]&&(g.left+=p/2),"bottom"===n.at[1]?g.top+=f:"center"===n.at[1]&&(g.top+=f/2),u=e(x.at,p,f),g.left+=u[0],g.top+=u[1],this.each(function(){var s,r,h=t(this),l=h.outerWidth(),c=h.outerHeight(),d=i(this,"marginLeft"),_=i(this,"marginTop"),k=l+d+i(this,"marginRight")+y.width,C=c+_+i(this,"marginBottom")+y.height,D=t.extend({},g),T=e(x.my,h.outerWidth(),h.outerHeight());"right"===n.my[0]?D.left-=l:"center"===n.my[0]&&(D.left-=l/2),"bottom"===n.my[1]?D.top-=c:"center"===n.my[1]&&(D.top-=c/2),D.left+=T[0],D.top+=T[1],s={marginLeft:d,marginTop:_},t.each(["left","top"],function(e,i){t.ui.position[w[e]]&&t.ui.position[w[e]][i](D,{targetWidth:p,targetHeight:f,elemWidth:l,elemHeight:c,collisionPosition:s,collisionWidth:k,collisionHeight:C,offset:[u[0]+T[0],u[1]+T[1]],my:n.my,at:n.at,within:b,elem:h})}),n.using&&(r=function(t){var e=m.left-D.left,i=e+p-l,s=m.top-D.top,r=s+f-c,u={target:{element:v,left:m.left,top:m.top,width:p,height:f},element:{element:h,left:D.left,top:D.top,width:l,height:c},horizontal:0>i?"left":e>0?"right":"center",vertical:0>r?"top":s>0?"bottom":"middle"};l>p&&p>a(e+i)&&(u.horizontal="center"),c>f&&f>a(s+r)&&(u.vertical="middle"),u.important=o(a(e),a(i))>o(a(s),a(r))?"horizontal":"vertical",n.using.call(this,t,u)}),h.offset(t.extend(D,{using:r}))})},t.ui.position={fit:{left:function(t,e){var i,s=e.within,n=s.isWindow?s.scrollLeft:s.offset.left,a=s.width,r=t.left-e.collisionPosition.marginLeft,h=n-r,l=r+e.collisionWidth-a-n;e.collisionWidth>a?h>0&&0>=l?(i=t.left+h+e.collisionWidth-a-n,t.left+=h-i):t.left=l>0&&0>=h?n:h>l?n+a-e.collisionWidth:n:h>0?t.left+=h:l>0?t.left-=l:t.left=o(t.left-r,t.left)},top:function(t,e){var i,s=e.within,n=s.isWindow?s.scrollTop:s.offset.top,a=e.within.height,r=t.top-e.collisionPosition.marginTop,h=n-r,l=r+e.collisionHeight-a-n;e.collisionHeight>a?h>0&&0>=l?(i=t.top+h+e.collisionHeight-a-n,t.top+=h-i):t.top=l>0&&0>=h?n:h>l?n+a-e.collisionHeight:n:h>0?t.top+=h:l>0?t.top-=l:t.top=o(t.top-r,t.top)}},flip:{left:function(t,e){var i,s,n=e.within,o=n.offset.left+n.scrollLeft,r=n.width,h=n.isWindow?n.scrollLeft:n.offset.left,l=t.left-e.collisionPosition.marginLeft,c=l-h,u=l+e.collisionWidth-r-h,d="left"===e.my[0]?-e.elemWidth:"right"===e.my[0]?e.elemWidth:0,p="left"===e.at[0]?e.targetWidth:"right"===e.at[0]?-e.targetWidth:0,f=-2*e.offset[0];0>c?(i=t.left+d+p+f+e.collisionWidth-r-o,(0>i||a(c)>i)&&(t.left+=d+p+f)):u>0&&(s=t.left-e.collisionPosition.marginLeft+d+p+f-h,(s>0||u>a(s))&&(t.left+=d+p+f))},top:function(t,e){var i,s,n=e.within,o=n.offset.top+n.scrollTop,r=n.height,h=n.isWindow?n.scrollTop:n.offset.top,l=t.top-e.collisionPosition.marginTop,c=l-h,u=l+e.collisionHeight-r-h,d="top"===e.my[1],p=d?-e.elemHeight:"bottom"===e.my[1]?e.elemHeight:0,f="top"===e.at[1]?e.targetHeight:"bottom"===e.at[1]?-e.targetHeight:0,m=-2*e.offset[1];0>c?(s=t.top+p+f+m+e.collisionHeight-r-o,(0>s||a(c)>s)&&(t.top+=p+f+m)):u>0&&(i=t.top-e.collisionPosition.marginTop+p+f+m-h,(i>0||u>a(i))&&(t.top+=p+f+m))}},flipfit:{left:function(){t.ui.position.flip.left.apply(this,arguments),t.ui.position.fit.left.apply(this,arguments)},top:function(){t.ui.position.flip.top.apply(this,arguments),t.ui.position.fit.top.apply(this,arguments)}}}}(),t.ui.position,t.extend(t.expr[":"],{data:t.expr.createPseudo?t.expr.createPseudo(function(e){return function(i){return!!t.data(i,e)}}):function(e,i,s){return!!t.data(e,s[3])}}),t.fn.extend({disableSelection:function(){var t="onselectstart"in 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i=e.data("ui-form-reset-instances");t.each(i,function(){this.refresh()})})},_bindFormResetHandler:function(){if(this.form=this.element.form(),this.form.length){var t=this.form.data("ui-form-reset-instances")||[];t.length||this.form.on("reset.ui-form-reset",this._formResetHandler),t.push(this),this.form.data("ui-form-reset-instances",t)}},_unbindFormResetHandler:function(){if(this.form.length){var e=this.form.data("ui-form-reset-instances");e.splice(t.inArray(this,e),1),e.length?this.form.data("ui-form-reset-instances",e):this.form.removeData("ui-form-reset-instances").off("reset.ui-form-reset")}}},"1.7"===t.fn.jquery.substring(0,3)&&(t.each(["Width","Height"],function(e,i){function s(e,i,s,o){return t.each(n,function(){i-=parseFloat(t.css(e,"padding"+this))||0,s&&(i-=parseFloat(t.css(e,"border"+this+"Width"))||0),o&&(i-=parseFloat(t.css(e,"margin"+this))||0)}),i}var n="Width"===i?["Left","Right"]:["Top","Bottom"],o=i.toLowerCase(),a={innerWidth:t.fn.innerWidth,innerHeight:t.fn.innerHeight,outerWidth:t.fn.outerWidth,outerHeight:t.fn.outerHeight};t.fn["inner"+i]=function(e){return void 0===e?a["inner"+i].call(this):this.each(function(){t(this).css(o,s(this,e)+"px")})},t.fn["outer"+i]=function(e,n){return"number"!=typeof e?a["outer"+i].call(this,e):this.each(function(){t(this).css(o,s(this,e,!0,n)+"px")})}}),t.fn.addBack=function(t){return this.add(null==t?this.prevObject:this.prevObject.filter(t))}),t.ui.keyCode={BACKSPACE:8,COMMA:188,DELETE:46,DOWN:40,END:35,ENTER:13,ESCAPE:27,HOME:36,LEFT:37,PAGE_DOWN:34,PAGE_UP:33,PERIOD:190,RIGHT:39,SPACE:32,TAB:9,UP:38},t.ui.escapeSelector=function(){var t=/([!"#$%&'()*+,./:;<=>?@[\]^`{|}~])/g;return function(e){return e.replace(t,"\\$1")}}(),t.fn.labels=function(){var e,i,s,n,o;return this[0].labels&&this[0].labels.length?this.pushStack(this[0].labels):(n=this.eq(0).parents("label"),s=this.attr("id"),s&&(e=this.eq(0).parents().last(),o=e.add(e.length?e.siblings():this.siblings()),i="label[for='"+t.ui.escapeSelector(s)+"']",n=n.add(o.find(i).addBack(i))),this.pushStack(n))},t.fn.scrollParent=function(e){var i=this.css("position"),s="absolute"===i,n=e?/(auto|scroll|hidden)/:/(auto|scroll)/,o=this.parents().filter(function(){var e=t(this);return s&&"static"===e.css("position")?!1:n.test(e.css("overflow")+e.css("overflow-y")+e.css("overflow-x"))}).eq(0);return"fixed"!==i&&o.length?o:t(this[0].ownerDocument||document)},t.extend(t.expr[":"],{tabbable:function(e){var i=t.attr(e,"tabindex"),s=null!=i;return(!s||i>=0)&&t.ui.focusable(e,s)}}),t.fn.extend({uniqueId:function(){var t=0;return function(){return this.each(function(){this.id||(this.id="ui-id-"+ ++t)})}}(),removeUniqueId:function(){return this.each(function(){/^ui-id-\d+$/.test(this.id)&&t(this).removeAttr("id")})}}),t.ui.ie=!!/msie [\w.]+/.exec(navigator.userAgent.toLowerCase());var n=!1;t(document).on("mouseup",function(){n=!1}),t.widget("ui.mouse",{version:"1.12.1",options:{cancel:"input, textarea, button, select, option",distance:1,delay:0},_mouseInit:function(){var e=this;this.element.on("mousedown."+this.widgetName,function(t){return e._mouseDown(t)}).on("click."+this.widgetName,function(i){return!0===t.data(i.target,e.widgetName+".preventClickEvent")?(t.removeData(i.target,e.widgetName+".preventClickEvent"),i.stopImmediatePropagation(),!1):void 0}),this.started=!1},_mouseDestroy:function(){this.element.off("."+this.widgetName),this._mouseMoveDelegate&&this.document.off("mousemove."+this.widgetName,this._mouseMoveDelegate).off("mouseup."+this.widgetName,this._mouseUpDelegate)},_mouseDown:function(e){if(!n){this._mouseMoved=!1,this._mouseStarted&&this._mouseUp(e),this._mouseDownEvent=e;var i=this,s=1===e.which,o="string"==typeof this.options.cancel&&e.target.nodeName?t(e.target).closest(this.options.cancel).length:!1;return s&&!o&&this._mouseCapture(e)?(this.mouseDelayMet=!this.options.delay,this.mouseDelayMet||(this._mouseDelayTimer=setTimeout(function(){i.mouseDelayMet=!0},this.options.delay)),this._mouseDistanceMet(e)&&this._mouseDelayMet(e)&&(this._mouseStarted=this._mouseStart(e)!==!1,!this._mouseStarted)?(e.preventDefault(),!0):(!0===t.data(e.target,this.widgetName+".preventClickEvent")&&t.removeData(e.target,this.widgetName+".preventClickEvent"),this._mouseMoveDelegate=function(t){return i._mouseMove(t)},this._mouseUpDelegate=function(t){return i._mouseUp(t)},this.document.on("mousemove."+this.widgetName,this._mouseMoveDelegate).on("mouseup."+this.widgetName,this._mouseUpDelegate),e.preventDefault(),n=!0,!0)):!0}},_mouseMove:function(e){if(this._mouseMoved){if(t.ui.ie&&(!document.documentMode||9>document.documentMode)&&!e.button)return this._mouseUp(e);if(!e.which)if(e.originalEvent.altKey||e.originalEvent.ctrlKey||e.originalEvent.metaKey||e.originalEvent.shiftKey)this.ignoreMissingWhich=!0;else if(!this.ignoreMissingWhich)return this._mouseUp(e)}return(e.which||e.button)&&(this._mouseMoved=!0),this._mouseStarted?(this._mouseDrag(e),e.preventDefault()):(this._mouseDistanceMet(e)&&this._mouseDelayMet(e)&&(this._mouseStarted=this._mouseStart(this._mouseDownEvent,e)!==!1,this._mouseStarted?this._mouseDrag(e):this._mouseUp(e)),!this._mouseStarted)},_mouseUp:function(e){this.document.off("mousemove."+this.widgetName,this._mouseMoveDelegate).off("mouseup."+this.widgetName,this._mouseUpDelegate),this._mouseStarted&&(this._mouseStarted=!1,e.target===this._mouseDownEvent.target&&t.data(e.target,this.widgetName+".preventClickEvent",!0),this._mouseStop(e)),this._mouseDelayTimer&&(clearTimeout(this._mouseDelayTimer),delete this._mouseDelayTimer),this.ignoreMissingWhich=!1,n=!1,e.preventDefault()},_mouseDistanceMet:function(t){return Math.max(Math.abs(this._mouseDownEvent.pageX-t.pageX),Math.abs(this._mouseDownEvent.pageY-t.pageY))>=this.options.distance},_mouseDelayMet:function(){return this.mouseDelayMet},_mouseStart:function(){},_mouseDrag:function(){},_mouseStop:function(){},_mouseCapture:function(){return!0}}),t.ui.plugin={add:function(e,i,s){var n,o=t.ui[e].prototype;for(n in s)o.plugins[n]=o.plugins[n]||[],o.plugins[n].push([i,s[n]])},call:function(t,e,i,s){var n,o=t.plugins[e];if(o&&(s||t.element[0].parentNode&&11!==t.element[0].parentNode.nodeType))for(n=0;o.length>n;n++)t.options[o[n][0]]&&o[n][1].apply(t.element,i)}},t.widget("ui.resizable",t.ui.mouse,{version:"1.12.1",widgetEventPrefix:"resize",options:{alsoResize:!1,animate:!1,animateDuration:"slow",animateEasing:"swing",aspectRatio:!1,autoHide:!1,classes:{"ui-resizable-se":"ui-icon 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hidden;'></div>").css({position:this.element.css("position"),width:this.element.outerWidth(),height:this.element.outerHeight(),top:this.element.css("top"),left:this.element.css("left")})),this.element=this.element.parent().data("ui-resizable",this.element.resizable("instance")),this.elementIsWrapper=!0,e={marginTop:this.originalElement.css("marginTop"),marginRight:this.originalElement.css("marginRight"),marginBottom:this.originalElement.css("marginBottom"),marginLeft:this.originalElement.css("marginLeft")},this.element.css(e),this.originalElement.css("margin",0),this.originalResizeStyle=this.originalElement.css("resize"),this.originalElement.css("resize","none"),this._proportionallyResizeElements.push(this.originalElement.css({position:"static",zoom:1,display:"block"})),this.originalElement.css(e),this._proportionallyResize()),this._setupHandles(),i.autoHide&&t(this.element).on("mouseenter",function(){i.disabled||(s._removeClass("ui-resizable-autohide"),s._handles.show())}).on("mouseleave",function(){i.disabled||s.resizing||(s._addClass("ui-resizable-autohide"),s._handles.hide())}),this._mouseInit()},_destroy:function(){this._mouseDestroy();var e,i=function(e){t(e).removeData("resizable").removeData("ui-resizable").off(".resizable").find(".ui-resizable-handle").remove()};return this.elementIsWrapper&&(i(this.element),e=this.element,this.originalElement.css({position:e.css("position"),width:e.outerWidth(),height:e.outerHeight(),top:e.css("top"),left:e.css("left")}).insertAfter(e),e.remove()),this.originalElement.css("resize",this.originalResizeStyle),i(this.originalElement),this},_setOption:function(t,e){switch(this._super(t,e),t){case"handles":this._removeHandles(),this._setupHandles();break;default:}},_setupHandles:function(){var e,i,s,n,o,a=this.options,r=this;if(this.handles=a.handles||(t(".ui-resizable-handle",this.element).length?{n:".ui-resizable-n",e:".ui-resizable-e",s:".ui-resizable-s",w:".ui-resizable-w",se:".ui-resizable-se",sw:".ui-resizable-sw",ne:".ui-resizable-ne",nw:".ui-resizable-nw"}:"e,s,se"),this._handles=t(),this.handles.constructor===String)for("all"===this.handles&&(this.handles="n,e,s,w,se,sw,ne,nw"),s=this.handles.split(","),this.handles={},i=0;s.length>i;i++)e=t.trim(s[i]),n="ui-resizable-"+e,o=t("<div>"),this._addClass(o,"ui-resizable-handle "+n),o.css({zIndex:a.zIndex}),this.handles[e]=".ui-resizable-"+e,this.element.append(o);this._renderAxis=function(e){var i,s,n,o;e=e||this.element;for(i in 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i,s,n=!1;for(i in this.handles)s=t(this.handles[i])[0],(s===e.target||t.contains(s,e.target))&&(n=!0);return!this.options.disabled&&n},_mouseStart:function(e){var i,s,n,o=this.options,a=this.element;return this.resizing=!0,this._renderProxy(),i=this._num(this.helper.css("left")),s=this._num(this.helper.css("top")),o.containment&&(i+=t(o.containment).scrollLeft()||0,s+=t(o.containment).scrollTop()||0),this.offset=this.helper.offset(),this.position={left:i,top:s},this.size=this._helper?{width:this.helper.width(),height:this.helper.height()}:{width:a.width(),height:a.height()},this.originalSize=this._helper?{width:a.outerWidth(),height:a.outerHeight()}:{width:a.width(),height:a.height()},this.sizeDiff={width:a.outerWidth()-a.width(),height:a.outerHeight()-a.height()},this.originalPosition={left:i,top:s},this.originalMousePosition={left:e.pageX,top:e.pageY},this.aspectRatio="number"==typeof 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+},_change:{e:function(t,e){return{width:this.originalSize.width+e}},w:function(t,e){var i=this.originalSize,s=this.originalPosition;return{left:s.left+e,width:i.width-e}},n:function(t,e,i){var s=this.originalSize,n=this.originalPosition;return{top:n.top+i,height:s.height-i}},s:function(t,e,i){return{height:this.originalSize.height+i}},se:function(e,i,s){return t.extend(this._change.s.apply(this,arguments),this._change.e.apply(this,[e,i,s]))},sw:function(e,i,s){return t.extend(this._change.s.apply(this,arguments),this._change.w.apply(this,[e,i,s]))},ne:function(e,i,s){return t.extend(this._change.n.apply(this,arguments),this._change.e.apply(this,[e,i,s]))},nw:function(e,i,s){return t.extend(this._change.n.apply(this,arguments),this._change.w.apply(this,[e,i,s]))}},_propagate:function(e,i){t.ui.plugin.call(this,e,[i,this.ui()]),"resize"!==e&&this._trigger(e,i,this.ui())},plugins:{},ui:function(){return{originalElement:this.originalElement,element:this.element,helper:this.helper,position:this.position,size:this.size,originalSize:this.originalSize,originalPosition:this.originalPosition}}}),t.ui.plugin.add("resizable","animate",{stop:function(e){var i=t(this).resizable("instance"),s=i.options,n=i._proportionallyResizeElements,o=n.length&&/textarea/i.test(n[0].nodeName),a=o&&i._hasScroll(n[0],"left")?0:i.sizeDiff.height,r=o?0:i.sizeDiff.width,h={width:i.size.width-r,height:i.size.height-a},l=parseFloat(i.element.css("left"))+(i.position.left-i.originalPosition.left)||null,c=parseFloat(i.element.css("top"))+(i.position.top-i.originalPosition.top)||null;i.element.animate(t.extend(h,c&&l?{top:c,left:l}:{}),{duration:s.animateDuration,easing:s.animateEasing,step:function(){var s={width:parseFloat(i.element.css("width")),height:parseFloat(i.element.css("height")),top:parseFloat(i.element.css("top")),left:parseFloat(i.element.css("left"))};n&&n.length&&t(n[0]).css({width:s.width,height:s.height}),i._updateCache(s),i._propagate("resize",e)}})}}),t.ui.plugin.add("resizable","containment",{start:function(){var e,i,s,n,o,a,r,h=t(this).resizable("instance"),l=h.options,c=h.element,u=l.containment,d=u instanceof t?u.get(0):/parent/.test(u)?c.parent().get(0):u;d&&(h.containerElement=t(d),/document/.test(u)||u===document?(h.containerOffset={left:0,top:0},h.containerPosition={left:0,top:0},h.parentData={element:t(document),left:0,top:0,width:t(document).width(),height:t(document).height()||document.body.parentNode.scrollHeight}):(e=t(d),i=[],t(["Top","Right","Left","Bottom"]).each(function(t,s){i[t]=h._num(e.css("padding"+s))}),h.containerOffset=e.offset(),h.containerPosition=e.position(),h.containerSize={height:e.innerHeight()-i[3],width:e.innerWidth()-i[1]},s=h.containerOffset,n=h.containerSize.height,o=h.containerSize.width,a=h._hasScroll(d,"left")?d.scrollWidth:o,r=h._hasScroll(d)?d.scrollHeight:n,h.parentData={element:d,left:s.left,top:s.top,width:a,height:r}))},resize:function(e){var i,s,n,o,a=t(this).resizable("instance"),r=a.options,h=a.containerOffset,l=a.position,c=a._aspectRatio||e.shiftKey,u={top:0,left:0},d=a.containerElement,p=!0;d[0]!==document&&/static/.test(d.css("position"))&&(u=h),l.left<(a._helper?h.left:0)&&(a.size.width=a.size.width+(a._helper?a.position.left-h.left:a.position.left-u.left),c&&(a.size.height=a.size.width/a.aspectRatio,p=!1),a.position.left=r.helper?h.left:0),l.top<(a._helper?h.top:0)&&(a.size.height=a.size.height+(a._helper?a.position.top-h.top:a.position.top),c&&(a.size.width=a.size.height*a.aspectRatio,p=!1),a.position.top=a._helper?h.top:0),n=a.containerElement.get(0)===a.element.parent().get(0),o=/relative|absolute/.test(a.containerElement.css("position")),n&&o?(a.offset.left=a.parentData.left+a.position.left,a.offset.top=a.parentData.top+a.position.top):(a.offset.left=a.element.offset().left,a.offset.top=a.element.offset().top),i=Math.abs(a.sizeDiff.width+(a._helper?a.offset.left-u.left:a.offset.left-h.left)),s=Math.abs(a.sizeDiff.height+(a._helper?a.offset.top-u.top:a.offset.top-h.top)),i+a.size.width>=a.parentData.width&&(a.size.width=a.parentData.width-i,c&&(a.size.height=a.size.width/a.aspectRatio,p=!1)),s+a.size.height>=a.parentData.height&&(a.size.height=a.parentData.height-s,c&&(a.size.width=a.size.height*a.aspectRatio,p=!1)),p||(a.position.left=a.prevPosition.left,a.position.top=a.prevPosition.top,a.size.width=a.prevSize.width,a.size.height=a.prevSize.height)},stop:function(){var e=t(this).resizable("instance"),i=e.options,s=e.containerOffset,n=e.containerPosition,o=e.containerElement,a=t(e.helper),r=a.offset(),h=a.outerWidth()-e.sizeDiff.width,l=a.outerHeight()-e.sizeDiff.height;e._helper&&!i.animate&&/relative/.test(o.css("position"))&&t(this).css({left:r.left-n.left-s.left,width:h,height:l}),e._helper&&!i.animate&&/static/.test(o.css("position"))&&t(this).css({left:r.left-n.left-s.left,width:h,height:l})}}),t.ui.plugin.add("resizable","alsoResize",{start:function(){var e=t(this).resizable("instance"),i=e.options;t(i.alsoResize).each(function(){var e=t(this);e.data("ui-resizable-alsoresize",{width:parseFloat(e.width()),height:parseFloat(e.height()),left:parseFloat(e.css("left")),top:parseFloat(e.css("top"))})})},resize:function(e,i){var s=t(this).resizable("instance"),n=s.options,o=s.originalSize,a=s.originalPosition,r={height:s.size.height-o.height||0,width:s.size.width-o.width||0,top:s.position.top-a.top||0,left:s.position.left-a.left||0};t(n.alsoResize).each(function(){var e=t(this),s=t(this).data("ui-resizable-alsoresize"),n={},o=e.parents(i.originalElement[0]).length?["width","height"]:["width","height","top","left"];t.each(o,function(t,e){var i=(s[e]||0)+(r[e]||0);i&&i>=0&&(n[e]=i||null)}),e.css(n)})},stop:function(){t(this).removeData("ui-resizable-alsoresize")}}),t.ui.plugin.add("resizable","ghost",{start:function(){var e=t(this).resizable("instance"),i=e.size;e.ghost=e.originalElement.clone(),e.ghost.css({opacity:.25,display:"block",position:"relative",height:i.height,width:i.width,margin:0,left:0,top:0}),e._addClass(e.ghost,"ui-resizable-ghost"),t.uiBackCompat!==!1&&"string"==typeof e.options.ghost&&e.ghost.addClass(this.options.ghost),e.ghost.appendTo(e.helper)},resize:function(){var e=t(this).resizable("instance");e.ghost&&e.ghost.css({position:"relative",height:e.size.height,width:e.size.width})},stop:function(){var e=t(this).resizable("instance");e.ghost&&e.helper&&e.helper.get(0).removeChild(e.ghost.get(0))}}),t.ui.plugin.add("resizable","grid",{resize:function(){var e,i=t(this).resizable("instance"),s=i.options,n=i.size,o=i.originalSize,a=i.originalPosition,r=i.axis,h="number"==typeof s.grid?[s.grid,s.grid]:s.grid,l=h[0]||1,c=h[1]||1,u=Math.round((n.width-o.width)/l)*l,d=Math.round((n.height-o.height)/c)*c,p=o.width+u,f=o.height+d,m=s.maxWidth&&p>s.maxWidth,g=s.maxHeight&&f>s.maxHeight,_=s.minWidth&&s.minWidth>p,v=s.minHeight&&s.minHeight>f;s.grid=h,_&&(p+=l),v&&(f+=c),m&&(p-=l),g&&(f-=c),/^(se|s|e)$/.test(r)?(i.size.width=p,i.size.height=f):/^(ne)$/.test(r)?(i.size.width=p,i.size.height=f,i.position.top=a.top-d):/^(sw)$/.test(r)?(i.size.width=p,i.size.height=f,i.position.left=a.left-u):((0>=f-c||0>=p-l)&&(e=i._getPaddingPlusBorderDimensions(this)),f-c>0?(i.size.height=f,i.position.top=a.top-d):(f=c-e.height,i.size.height=f,i.position.top=a.top+o.height-f),p-l>0?(i.size.width=p,i.position.left=a.left-u):(p=l-e.width,i.size.width=p,i.position.left=a.left+o.width-p))}}),t.ui.resizable});/**
+ * 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
+ */
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+ * 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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$.SmartMenus=function(t,e){this.$root=$(t),this.opts=e,this.rootId="",this.accessIdPrefix="",this.$subArrow=null,this.activatedItems=[],this.visibleSubMenus=[],this.showTimeout=0,this.hideTimeout=0,this.scrollTimeout=0,this.clickActivated=!1,this.focusActivated=!1,this.zIndexInc=0,this.idInc=0,this.$firstLink=null,this.$firstSub=null,this.disabled=!1,this.$disableOverlay=null,this.$touchScrollingSub=null,this.cssTransforms3d="perspective"in t.style||"webkitPerspective"in t.style,this.wasCollapsible=!1,this.init()},$.extend($.SmartMenus,{hideAll:function(){$.each(menuTrees,function(){this.menuHideAll()})},destroy:function(){for(;menuTrees.length;)menuTrees[0].destroy();initMouseDetection(!0)},prototype:{init:function(t){var e=this;if(!t){menuTrees.push(this),this.rootId=((new Date).getTime()+Math.random()+"").replace(/\D/g,""),this.accessIdPrefix="sm-"+this.rootId+"-",this.$root.hasClass("sm-rtl")&&(this.opts.rightToLeftSubMenus=!0);var i=".smartmenus";this.$root.data("smartmenus",this).attr("data-smartmenus-id",this.rootId).dataSM("level",1).on(getEventsNS({"mouseover focusin":$.proxy(this.rootOver,this),"mouseout focusout":$.proxy(this.rootOut,this),keydown:$.proxy(this.rootKeyDown,this)},i)).on(getEventsNS({mouseenter:$.proxy(this.itemEnter,this),mouseleave:$.proxy(this.itemLeave,this),mousedown:$.proxy(this.itemDown,this),focus:$.proxy(this.itemFocus,this),blur:$.proxy(this.itemBlur,this),click:$.proxy(this.itemClick,this)},i),"a"),i+=this.rootId,this.opts.hideOnClick&&$(document).on(getEventsNS({touchstart:$.proxy(this.docTouchStart,this),touchmove:$.proxy(this.docTouchMove,this),touchend:$.proxy(this.docTouchEnd,this),click:$.proxy(this.docClick,this)},i)),$(window).on(getEventsNS({"resize orientationchange":$.proxy(this.winResize,this)},i)),this.opts.subIndicators&&(this.$subArrow=$("<span/>").addClass("sub-arrow"),this.opts.subIndicatorsText&&this.$subArrow.html(this.opts.subIndicatorsText)),initMouseDetection()}if(this.$firstSub=this.$root.find("ul").each(function(){e.menuInit($(this))}).eq(0),this.$firstLink=this.$root.find("a").eq(0),this.opts.markCurrentItem){var s=/(index|default)\.[^#\?\/]*/i,o=/#.*/,a=window.location.href.replace(s,""),n=a.replace(o,"");this.$root.find("a").each(function(){var t=this.href.replace(s,""),i=$(this);(t==a||t==n)&&(i.addClass("current"),e.opts.markCurrentTree&&i.parentsUntil("[data-smartmenus-id]","ul").each(function(){$(this).dataSM("parent-a").addClass("current")}))})}this.wasCollapsible=this.isCollapsible()},destroy:function(t){if(!t){var e=".smartmenus";this.$root.removeData("smartmenus").removeAttr("data-smartmenus-id").removeDataSM("level").off(e),e+=this.rootId,$(document).off(e),$(window).off(e),this.opts.subIndicators&&(this.$subArrow=null)}this.menuHideAll();var i=this;this.$root.find("ul").each(function(){var t=$(this);t.dataSM("scroll-arrows")&&t.dataSM("scroll-arrows").remove(),t.dataSM("shown-before")&&((i.opts.subMenusMinWidth||i.opts.subMenusMaxWidth)&&t.css({width:"",minWidth:"",maxWidth:""}).removeClass("sm-nowrap"),t.dataSM("scroll-arrows")&&t.dataSM("scroll-arrows").remove(),t.css({zIndex:"",top:"",left:"",marginLeft:"",marginTop:"",display:""})),0==(t.attr("id")||"").indexOf(i.accessIdPrefix)&&t.removeAttr("id")}).removeDataSM("in-mega").removeDataSM("shown-before").removeDataSM("scroll-arrows").removeDataSM("parent-a").removeDataSM("level").removeDataSM("beforefirstshowfired").removeAttr("role").removeAttr("aria-hidden").removeAttr("aria-labelledby").removeAttr("aria-expanded"),this.$root.find("a.has-submenu").each(function(){var t=$(this);0==t.attr("id").indexOf(i.accessIdPrefix)&&t.removeAttr("id")}).removeClass("has-submenu").removeDataSM("sub").removeAttr("aria-haspopup").removeAttr("aria-controls").removeAttr("aria-expanded").closest("li").removeDataSM("sub"),this.opts.subIndicators&&this.$root.find("span.sub-arrow").remove(),this.opts.markCurrentItem&&this.$root.find("a.current").removeClass("current"),t||(this.$root=null,this.$firstLink=null,this.$firstSub=null,this.$disableOverlay&&(this.$disableOverlay.remove(),this.$disableOverlay=null),menuTrees.splice($.inArray(this,menuTrees),1))},disable:function(t){if(!this.disabled){if(this.menuHideAll(),!t&&!this.opts.isPopup&&this.$root.is(":visible")){var e=this.$root.offset();this.$disableOverlay=$('<div class="sm-jquery-disable-overlay"/>').css({position:"absolute",top:e.top,left:e.left,width:this.$root.outerWidth(),height:this.$root.outerHeight(),zIndex:this.getStartZIndex(!0),opacity:0}).appendTo(document.body)}this.disabled=!0}},docClick:function(t){return this.$touchScrollingSub?(this.$touchScrollingSub=null,void 0):((this.visibleSubMenus.length&&!$.contains(this.$root[0],t.target)||$(t.target).closest("a").length)&&this.menuHideAll(),void 0)},docTouchEnd:function(){if(this.lastTouch){if(!(!this.visibleSubMenus.length||void 0!==this.lastTouch.x2&&this.lastTouch.x1!=this.lastTouch.x2||void 0!==this.lastTouch.y2&&this.lastTouch.y1!=this.lastTouch.y2||this.lastTouch.target&&$.contains(this.$root[0],this.lastTouch.target))){this.hideTimeout&&(clearTimeout(this.hideTimeout),this.hideTimeout=0);var t=this;this.hideTimeout=setTimeout(function(){t.menuHideAll()},350)}this.lastTouch=null}},docTouchMove:function(t){if(this.lastTouch){var e=t.originalEvent.touches[0];this.lastTouch.x2=e.pageX,this.lastTouch.y2=e.pageY}},docTouchStart:function(t){var e=t.originalEvent.touches[0];this.lastTouch={x1:e.pageX,y1:e.pageY,target:e.target}},enable:function(){this.disabled&&(this.$disableOverlay&&(this.$disableOverlay.remove(),this.$disableOverlay=null),this.disabled=!1)},getClosestMenu:function(t){for(var e=$(t).closest("ul");e.dataSM("in-mega");)e=e.parent().closest("ul");return e[0]||null},getHeight:function(t){return this.getOffset(t,!0)},getOffset:function(t,e){var i;"none"==t.css("display")&&(i={position:t[0].style.position,visibility:t[0].style.visibility},t.css({position:"absolute",visibility:"hidden"}).show());var s=t[0].getBoundingClientRect&&t[0].getBoundingClientRect(),o=s&&(e?s.height||s.bottom-s.top:s.width||s.right-s.left);return o||0===o||(o=e?t[0].offsetHeight:t[0].offsetWidth),i&&t.hide().css(i),o},getStartZIndex:function(t){var e=parseInt(this[t?"$root":"$firstSub"].css("z-index"));return!t&&isNaN(e)&&(e=parseInt(this.$root.css("z-index"))),isNaN(e)?1:e},getTouchPoint:function(t){return t.touches&&t.touches[0]||t.changedTouches&&t.changedTouches[0]||t},getViewport:function(t){var e=t?"Height":"Width",i=document.documentElement["client"+e],s=window["inner"+e];return s&&(i=Math.min(i,s)),i},getViewportHeight:function(){return this.getViewport(!0)},getViewportWidth:function(){return this.getViewport()},getWidth:function(t){return this.getOffset(t)},handleEvents:function(){return!this.disabled&&this.isCSSOn()},handleItemEvents:function(t){return this.handleEvents()&&!this.isLinkInMegaMenu(t)},isCollapsible:function(){return"static"==this.$firstSub.css("position")},isCSSOn:function(){return"inline"!=this.$firstLink.css("display")},isFixed:function(){var t="fixed"==this.$root.css("position");return t||this.$root.parentsUntil("body").each(function(){return"fixed"==$(this).css("position")?(t=!0,!1):void 0}),t},isLinkInMegaMenu:function(t){return $(this.getClosestMenu(t[0])).hasClass("mega-menu")},isTouchMode:function(){return!mouse||this.opts.noMouseOver||this.isCollapsible()},itemActivate:function(t,e){var i=t.closest("ul"),s=i.dataSM("level");if(s>1&&(!this.activatedItems[s-2]||this.activatedItems[s-2][0]!=i.dataSM("parent-a")[0])){var o=this;$(i.parentsUntil("[data-smartmenus-id]","ul").get().reverse()).add(i).each(function(){o.itemActivate($(this).dataSM("parent-a"))})}if((!this.isCollapsible()||e)&&this.menuHideSubMenus(this.activatedItems[s-1]&&this.activatedItems[s-1][0]==t[0]?s:s-1),this.activatedItems[s-1]=t,this.$root.triggerHandler("activate.smapi",t[0])!==!1){var a=t.dataSM("sub");a&&(this.isTouchMode()||!this.opts.showOnClick||this.clickActivated)&&this.menuShow(a)}},itemBlur:function(t){var e=$(t.currentTarget);this.handleItemEvents(e)&&this.$root.triggerHandler("blur.smapi",e[0])},itemClick:function(t){var e=$(t.currentTarget);if(this.handleItemEvents(e)){if(this.$touchScrollingSub&&this.$touchScrollingSub[0]==e.closest("ul")[0])return this.$touchScrollingSub=null,t.stopPropagation(),!1;if(this.$root.triggerHandler("click.smapi",e[0])===!1)return!1;var i=$(t.target).is(".sub-arrow"),s=e.dataSM("sub"),o=s?2==s.dataSM("level"):!1,a=this.isCollapsible(),n=/toggle$/.test(this.opts.collapsibleBehavior),r=/link$/.test(this.opts.collapsibleBehavior),h=/^accordion/.test(this.opts.collapsibleBehavior);if(s&&!s.is(":visible")){if((!r||!a||i)&&(this.opts.showOnClick&&o&&(this.clickActivated=!0),this.itemActivate(e,h),s.is(":visible")))return this.focusActivated=!0,!1}else if(a&&(n||i))return this.itemActivate(e,h),this.menuHide(s),n&&(this.focusActivated=!1),!1;return this.opts.showOnClick&&o||e.hasClass("disabled")||this.$root.triggerHandler("select.smapi",e[0])===!1?!1:void 0}},itemDown:function(t){var e=$(t.currentTarget);this.handleItemEvents(e)&&e.dataSM("mousedown",!0)},itemEnter:function(t){var e=$(t.currentTarget);if(this.handleItemEvents(e)){if(!this.isTouchMode()){this.showTimeout&&(clearTimeout(this.showTimeout),this.showTimeout=0);var i=this;this.showTimeout=setTimeout(function(){i.itemActivate(e)},this.opts.showOnClick&&1==e.closest("ul").dataSM("level")?1:this.opts.showTimeout)}this.$root.triggerHandler("mouseenter.smapi",e[0])}},itemFocus:function(t){var e=$(t.currentTarget);this.handleItemEvents(e)&&(!this.focusActivated||this.isTouchMode()&&e.dataSM("mousedown")||this.activatedItems.length&&this.activatedItems[this.activatedItems.length-1][0]==e[0]||this.itemActivate(e,!0),this.$root.triggerHandler("focus.smapi",e[0]))},itemLeave:function(t){var e=$(t.currentTarget);this.handleItemEvents(e)&&(this.isTouchMode()||(e[0].blur(),this.showTimeout&&(clearTimeout(this.showTimeout),this.showTimeout=0)),e.removeDataSM("mousedown"),this.$root.triggerHandler("mouseleave.smapi",e[0]))},menuHide:function(t){if(this.$root.triggerHandler("beforehide.smapi",t[0])!==!1&&(canAnimate&&t.stop(!0,!0),"none"!=t.css("display"))){var e=function(){t.css("z-index","")};this.isCollapsible()?canAnimate&&this.opts.collapsibleHideFunction?this.opts.collapsibleHideFunction.call(this,t,e):t.hide(this.opts.collapsibleHideDuration,e):canAnimate&&this.opts.hideFunction?this.opts.hideFunction.call(this,t,e):t.hide(this.opts.hideDuration,e),t.dataSM("scroll")&&(this.menuScrollStop(t),t.css({"touch-action":"","-ms-touch-action":"","-webkit-transform":"",transform:""}).off(".smartmenus_scroll").removeDataSM("scroll").dataSM("scroll-arrows").hide()),t.dataSM("parent-a").removeClass("highlighted").attr("aria-expanded","false"),t.attr({"aria-expanded":"false","aria-hidden":"true"});var i=t.dataSM("level");this.activatedItems.splice(i-1,1),this.visibleSubMenus.splice($.inArray(t,this.visibleSubMenus),1),this.$root.triggerHandler("hide.smapi",t[0])}},menuHideAll:function(){this.showTimeout&&(clearTimeout(this.showTimeout),this.showTimeout=0);for(var t=this.opts.isPopup?1:0,e=this.visibleSubMenus.length-1;e>=t;e--)this.menuHide(this.visibleSubMenus[e]);this.opts.isPopup&&(canAnimate&&this.$root.stop(!0,!0),this.$root.is(":visible")&&(canAnimate&&this.opts.hideFunction?this.opts.hideFunction.call(this,this.$root):this.$root.hide(this.opts.hideDuration))),this.activatedItems=[],this.visibleSubMenus=[],this.clickActivated=!1,this.focusActivated=!1,this.zIndexInc=0,this.$root.triggerHandler("hideAll.smapi")},menuHideSubMenus:function(t){for(var e=this.activatedItems.length-1;e>=t;e--){var i=this.activatedItems[e].dataSM("sub");i&&this.menuHide(i)}},menuInit:function(t){if(!t.dataSM("in-mega")){t.hasClass("mega-menu")&&t.find("ul").dataSM("in-mega",!0);for(var e=2,i=t[0];(i=i.parentNode.parentNode)!=this.$root[0];)e++;var s=t.prevAll("a").eq(-1);s.length||(s=t.prevAll().find("a").eq(-1)),s.addClass("has-submenu").dataSM("sub",t),t.dataSM("parent-a",s).dataSM("level",e).parent().dataSM("sub",t);var o=s.attr("id")||this.accessIdPrefix+ 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e,i,s=t.dataSM("parent-a"),o=s.closest("li"),a=o.parent(),n=t.dataSM("level"),r=this.getWidth(t),h=this.getHeight(t),u=s.offset(),l=u.left,c=u.top,d=this.getWidth(s),m=this.getHeight(s),p=$(window),f=p.scrollLeft(),v=p.scrollTop(),b=this.getViewportWidth(),S=this.getViewportHeight(),g=a.parent().is("[data-sm-horizontal-sub]")||2==n&&!a.hasClass("sm-vertical"),M=this.opts.rightToLeftSubMenus&&!o.is("[data-sm-reverse]")||!this.opts.rightToLeftSubMenus&&o.is("[data-sm-reverse]"),w=2==n?this.opts.mainMenuSubOffsetX:this.opts.subMenusSubOffsetX,T=2==n?this.opts.mainMenuSubOffsetY:this.opts.subMenusSubOffsetY;if(g?(e=M?d-r-w:w,i=this.opts.bottomToTopSubMenus?-h-T:m+T):(e=M?w-r:d-w,i=this.opts.bottomToTopSubMenus?m-T-h:T),this.opts.keepInViewport){var y=l+e,I=c+i;if(M&&f>y?e=g?f-y+e:d-w:!M&&y+r>f+b&&(e=g?f+b-r-y+e:w-r),g||(S>h&&I+h>v+S?i+=v+S-h-I:(h>=S||v>I)&&(i+=v-I)),g&&(I+h>v+S+.49||v>I)||!g&&h>S+.49){var x=this;t.dataSM("scroll-arrows")||t.dataSM("scroll-arrows",$([$('<span 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r=t.dataSM("level");if(this.activatedItems[r-1]&&this.activatedItems[r-1].dataSM("sub")&&this.activatedItems[r-1].dataSM("sub").is(":visible")&&this.menuHideSubMenus(r-1),o.y=o.up&&o.y>=n||!o.up&&n>=o.y?o.y:Math.abs(n-o.y)>s?o.y+(o.up?s:-s):n,t.css(this.cssTransforms3d?{"-webkit-transform":"translate3d(0, "+o.y+"px, 0)",transform:"translate3d(0, "+o.y+"px, 0)"}:{marginTop:o.y}),mouse&&(o.up&&o.y>o.downEnd||!o.up&&o.y<o.upEnd)&&a.eq(o.up?1:0).show(),o.y==n)mouse&&a.eq(o.up?0:1).hide(),this.menuScrollStop(t);else if(!e){this.opts.scrollAccelerate&&o.step<this.opts.scrollStep&&(o.step+=.2);var h=this;this.scrollTimeout=requestAnimationFrame(function(){h.menuScroll(t)})}},menuScrollMousewheel:function(t,e){if(this.getClosestMenu(e.target)==t[0]){e=e.originalEvent;var i=(e.wheelDelta||-e.detail)>0;t.dataSM("scroll-arrows").eq(i?0:1).is(":visible")&&(t.dataSM("scroll").up=i,this.menuScroll(t,!0))}e.preventDefault()},menuScrollOut:function(t,e){mouse&&(/^scroll-(up|down)/.test((e.relatedTarget||"").className)||(t[0]==e.relatedTarget||$.contains(t[0],e.relatedTarget))&&this.getClosestMenu(e.relatedTarget)==t[0]||t.dataSM("scroll-arrows").css("visibility","hidden"))},menuScrollOver:function(t,e){if(mouse&&!/^scroll-(up|down)/.test(e.target.className)&&this.getClosestMenu(e.target)==t[0]){this.menuScrollRefreshData(t);var i=t.dataSM("scroll"),s=$(window).scrollTop()-t.dataSM("parent-a").offset().top-i.itemH;t.dataSM("scroll-arrows").eq(0).css("margin-top",s).end().eq(1).css("margin-top",s+this.getViewportHeight()-i.arrowDownH).end().css("visibility","visible")}},menuScrollRefreshData:function(t){var e=t.dataSM("scroll"),i=$(window).scrollTop()-t.dataSM("parent-a").offset().top-e.itemH;this.cssTransforms3d&&(i=-(parseFloat(t.css("margin-top"))-i)),$.extend(e,{upEnd:i,downEnd:i+this.getViewportHeight()-e.subH})},menuScrollStop:function(t){return this.scrollTimeout?(cancelAnimationFrame(this.scrollTimeout),this.scrollTimeout=0,t.dataSM("scroll").step=1,!0):void 0},menuScrollTouch:function(t,e){if(e=e.originalEvent,isTouchEvent(e)){var i=this.getTouchPoint(e);if(this.getClosestMenu(i.target)==t[0]){var s=t.dataSM("scroll");if(/(start|down)$/i.test(e.type))this.menuScrollStop(t)?(e.preventDefault(),this.$touchScrollingSub=t):this.$touchScrollingSub=null,this.menuScrollRefreshData(t),$.extend(s,{touchStartY:i.pageY,touchStartTime:e.timeStamp});else if(/move$/i.test(e.type)){var o=void 0!==s.touchY?s.touchY:s.touchStartY;if(void 0!==o&&o!=i.pageY){this.$touchScrollingSub=t;var a=i.pageY>o;void 0!==s.up&&s.up!=a&&$.extend(s,{touchStartY:i.pageY,touchStartTime:e.timeStamp}),$.extend(s,{up:a,touchY:i.pageY}),this.menuScroll(t,!0,Math.abs(i.pageY-o))}e.preventDefault()}else void 0!==s.touchY&&((s.momentum=15*Math.pow(Math.abs(i.pageY-s.touchStartY)/(e.timeStamp-s.touchStartTime),2))&&(this.menuScrollStop(t),this.menuScroll(t),e.preventDefault()),delete s.touchY)}}},menuShow:function(t){if((t.dataSM("beforefirstshowfired")||(t.dataSM("beforefirstshowfired",!0),this.$root.triggerHandler("beforefirstshow.smapi",t[0])!==!1))&&this.$root.triggerHandler("beforeshow.smapi",t[0])!==!1&&(t.dataSM("shown-before",!0),canAnimate&&t.stop(!0,!0),!t.is(":visible"))){var e=t.dataSM("parent-a"),i=this.isCollapsible();if((this.opts.keepHighlighted||i)&&e.addClass("highlighted"),i)t.removeClass("sm-nowrap").css({zIndex:"",width:"auto",minWidth:"",maxWidth:"",top:"",left:"",marginLeft:"",marginTop:""});else{if(t.css("z-index",this.zIndexInc=(this.zIndexInc||this.getStartZIndex())+1),(this.opts.subMenusMinWidth||this.opts.subMenusMaxWidth)&&(t.css({width:"auto",minWidth:"",maxWidth:""}).addClass("sm-nowrap"),this.opts.subMenusMinWidth&&t.css("min-width",this.opts.subMenusMinWidth),this.opts.subMenusMaxWidth)){var s=this.getWidth(t);t.css("max-width",this.opts.subMenusMaxWidth),s>this.getWidth(t)&&t.removeClass("sm-nowrap").css("width",this.opts.subMenusMaxWidth)}this.menuPosition(t)}var o=function(){t.css("overflow","")};i?canAnimate&&this.opts.collapsibleShowFunction?this.opts.collapsibleShowFunction.call(this,t,o):t.show(this.opts.collapsibleShowDuration,o):canAnimate&&this.opts.showFunction?this.opts.showFunction.call(this,t,o):t.show(this.opts.showDuration,o),e.attr("aria-expanded","true"),t.attr({"aria-expanded":"true","aria-hidden":"false"}),this.visibleSubMenus.push(t),this.$root.triggerHandler("show.smapi",t[0])}},popupHide:function(t){this.hideTimeout&&(clearTimeout(this.hideTimeout),this.hideTimeout=0);var e=this;this.hideTimeout=setTimeout(function(){e.menuHideAll()},t?1:this.opts.hideTimeout)},popupShow:function(t,e){if(!this.opts.isPopup)return alert('SmartMenus jQuery Error:\n\nIf you want to show this menu via the "popupShow" method, set the isPopup:true option.'),void 0;if(this.hideTimeout&&(clearTimeout(this.hideTimeout),this.hideTimeout=0),this.$root.dataSM("shown-before",!0),canAnimate&&this.$root.stop(!0,!0),!this.$root.is(":visible")){this.$root.css({left:t,top:e});var i=this,s=function(){i.$root.css("overflow","")};canAnimate&&this.opts.showFunction?this.opts.showFunction.call(this,this.$root,s):this.$root.show(this.opts.showDuration,s),this.visibleSubMenus[0]=this.$root}},refresh:function(){this.destroy(!0),this.init(!0)},rootKeyDown:function(t){if(this.handleEvents())switch(t.keyCode){case 27:var e=this.activatedItems[0];if(e){this.menuHideAll(),e[0].focus();var i=e.dataSM("sub");i&&this.menuHide(i)}break;case 32:var s=$(t.target);if(s.is("a")&&this.handleItemEvents(s)){var i=s.dataSM("sub");i&&!i.is(":visible")&&(this.itemClick({currentTarget:t.target}),t.preventDefault())}}},rootOut:function(t){if(this.handleEvents()&&!this.isTouchMode()&&t.target!=this.$root[0]&&(this.hideTimeout&&(clearTimeout(this.hideTimeout),this.hideTimeout=0),!this.opts.showOnClick||!this.opts.hideOnClick)){var e=this;this.hideTimeout=setTimeout(function(){e.menuHideAll()},this.opts.hideTimeout)}},rootOver:function(t){this.handleEvents()&&!this.isTouchMode()&&t.target!=this.$root[0]&&this.hideTimeout&&(clearTimeout(this.hideTimeout),this.hideTimeout=0)},winResize:function(t){if(this.handleEvents()){if(!("onorientationchange"in window)||"orientationchange"==t.type){var e=this.isCollapsible();this.wasCollapsible&&e||(this.activatedItems.length&&this.activatedItems[this.activatedItems.length-1][0].blur(),this.menuHideAll()),this.wasCollapsible=e}}else if(this.$disableOverlay){var i=this.$root.offset();this.$disableOverlay.css({top:i.top,left:i.left,width:this.$root.outerWidth(),height:this.$root.outerHeight()})}}}}),$.fn.dataSM=function(t,e){return e?this.data(t+"_smartmenus",e):this.data(t+"_smartmenus")},$.fn.removeDataSM=function(t){return this.removeData(t+"_smartmenus")},$.fn.smartmenus=function(options){if("string"==typeof options){var args=arguments,method=options;return Array.prototype.shift.call(args),this.each(function(){var t=$(this).data("smartmenus");t&&t[method]&&t[method].apply(t,args)})}return this.each(function(){var dataOpts=$(this).data("sm-options")||null;if(dataOpts)try{dataOpts=eval("("+dataOpts+")")}catch(e){dataOpts=null,alert('ERROR\n\nSmartMenus jQuery init:\nInvalid "data-sm-options" attribute value syntax.')}new $.SmartMenus(this,$.extend({},$.fn.smartmenus.defaults,options,dataOpts))})},$.fn.smartmenus.defaults={isPopup:!1,mainMenuSubOffsetX:0,mainMenuSubOffsetY:0,subMenusSubOffsetX:0,subMenusSubOffsetY:0,subMenusMinWidth:"10em",subMenusMaxWidth:"20em",subIndicators:!0,subIndicatorsPos:"append",subIndicatorsText:"",scrollStep:30,scrollAccelerate:!0,showTimeout:250,hideTimeout:500,showDuration:0,showFunction:null,hideDuration:0,hideFunction:function(t,e){t.fadeOut(200,e)},collapsibleShowDuration:0,collapsibleShowFunction:function(t,e){t.slideDown(200,e)},collapsibleHideDuration:0,collapsibleHideFunction:function(t,e){t.slideUp(200,e)},showOnClick:!1,hideOnClick:!0,noMouseOver:!1,keepInViewport:!0,keepHighlighted:!0,markCurrentItem:!1,markCurrentTree:!0,rightToLeftSubMenus:!1,bottomToTopSubMenus:!1,collapsibleBehavior:"default"},$});
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diff --git a/documentation/html/menu.js b/documentation/html/menu.js
new file mode 100644
index 0000000..818b859
--- /dev/null
+++ b/documentation/html/menu.js
@@ -0,0 +1,135 @@
+/*
+ @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) {
+    var result='';
+    if ('children' in data) {
+      result+='<ul>';
+      for (var i in data.children) {
+        var url;
+        var link;
+        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;
+  }
+  var searchBox;
+  if (searchEnabled) {
+    if (serverSide) {
+      searchBox='<div id="MSearchBox" class="MSearchBoxInactive">'+
+                 '<div class="left">'+
+                  '<form id="FSearchBox" action="'+relPath+searchPage+
+                    '" method="get"><img id="MSearchSelect" src="'+
+                    relPath+'search/mag.svg" alt=""/>'+
+                  '<input type="text" id="MSearchField" name="query" value="'+search+
+                    '" size="20" accesskey="S" onfocus="searchBox.OnSearchFieldFocus(true)"'+
+                    ' onblur="searchBox.OnSearchFieldFocus(false)">'+
+                  '</form>'+
+                 '</div>'+
+                 '<div class="right"></div>'+
+                '</div>';
+    } else {
+      searchBox='<div id="MSearchBox" class="MSearchBoxInactive">'+
+                 '<span class="left">'+
+                  '<img id="MSearchSelect" src="'+relPath+
+                     'search/mag_sel.svg" onmouseover="return searchBox.OnSearchSelectShow()"'+
+                     ' onmouseout="return searchBox.OnSearchSelectHide()" alt=""/>'+
+                  '<input type="text" id="MSearchField" value="'+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 (searchBox) {
+    $('#main-menu').append('<li id="searchBoxPos2" style="float:right"></li>');
+  }
+  var $mainMenuState = $('#main-menu-state');
+  var prevWidth = 0;
+  if ($mainMenuState.length) {
+    function initResizableIfExists() {
+      if (typeof initResizable==='function') initResizable();
+    }
+    // animate mobile menu
+    $mainMenuState.change(function(e) {
+      var $menu = $('#main-menu');
+      var options = { duration: 250, step: initResizableIfExists };
+      if (this.checked) {
+        options['complete'] = function() { $menu.css('display', 'block') };
+        $menu.hide().slideDown(options);
+      } else {
+        options['complete'] = function() { $menu.css('display', 'none') };
+        $menu.show().slideUp(options);
+      }
+    });
+    // set default menu visibility
+    function resetState() {
+      var $menu = $('#main-menu');
+      var $mainMenuState = $('#main-menu-state');
+      var newWidth = $(window).outerWidth();
+      if (newWidth!=prevWidth) {
+        if ($(window).outerWidth()<768) {
+          $mainMenuState.prop('checked',false); $menu.hide();
+          $('#searchBoxPos1').html(searchBox);
+          $('#searchBoxPos2').hide();
+        } else {
+          $menu.show();
+          $('#searchBoxPos1').empty();
+          $('#searchBoxPos2').html(searchBox);
+          $('#searchBoxPos2').show();
+        }
+        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..d4ed956
--- /dev/null
+++ b/documentation/html/menudata.js
@@ -0,0 +1,125 @@
+/*
+ @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:"Namespaces",url:"namespaces.html",children:[
+{text:"Namespace List",url:"namespaces.html"},
+{text:"Namespace Members",url:"namespacemembers.html",children:[
+{text:"All",url:"namespacemembers.html",children:[
+{text:"b",url:"namespacemembers.html#index_b"},
+{text:"e",url:"namespacemembers.html#index_e"}]},
+{text:"Typedefs",url:"namespacemembers_type.html"},
+{text:"Enumerations",url:"namespacemembers_enum.html"},
+{text:"Enumerator",url:"namespacemembers_eval.html"}]}]},
+{text:"Classes",url:"annotated.html",children:[
+{text:"Class List",url:"annotated.html"},
+{text:"Class Index",url:"classes.html"},
+{text:"Class Hierarchy",url:"inherits.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:"j",url:"functions_j.html#index_j"},
+{text:"k",url:"functions_k.html#index_k"},
+{text:"l",url:"functions_l.html#index_l"},
+{text:"m",url:"functions_m.html#index_m"},
+{text:"o",url:"functions_o.html#index_o"},
+{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:"v",url:"functions_v.html#index_v"},
+{text:"w",url:"functions_w.html#index_w"},
+{text:"x",url:"functions_x.html#index_x"},
+{text:"y",url:"functions_y.html#index_y"},
+{text:"z",url:"functions_z.html#index_z"},
+{text:"~",url:"functions_~.html#index__7E"}]},
+{text:"Functions",url:"functions_func.html",children:[
+{text:"b",url:"functions_func.html#index_b"},
+{text:"c",url:"functions_func_c.html#index_c"},
+{text:"d",url:"functions_func_d.html#index_d"},
+{text:"e",url:"functions_func_e.html#index_e"},
+{text:"f",url:"functions_func_f.html#index_f"},
+{text:"g",url:"functions_func_g.html#index_g"},
+{text:"h",url:"functions_func_h.html#index_h"},
+{text:"i",url:"functions_func_i.html#index_i"},
+{text:"l",url:"functions_func_l.html#index_l"},
+{text:"o",url:"functions_func_o.html#index_o"},
+{text:"p",url:"functions_func_p.html#index_p"},
+{text:"r",url:"functions_func_r.html#index_r"},
+{text:"s",url:"functions_func_s.html#index_s"},
+{text:"t",url:"functions_func_t.html#index_t"},
+{text:"u",url:"functions_func_u.html#index_u"},
+{text:"w",url:"functions_func_w.html#index_w"},
+{text:"~",url:"functions_func_~.html#index__7E"}]},
+{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:"i",url:"functions_vars.html#index_i"},
+{text:"j",url:"functions_vars.html#index_j"},
+{text:"k",url:"functions_vars.html#index_k"},
+{text:"l",url:"functions_vars.html#index_l"},
+{text:"m",url:"functions_vars.html#index_m"},
+{text:"o",url:"functions_vars.html#index_o"},
+{text:"p",url:"functions_vars.html#index_p"},
+{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:"v",url:"functions_vars.html#index_v"},
+{text:"x",url:"functions_vars.html#index_x"},
+{text:"y",url:"functions_vars.html#index_y"},
+{text:"z",url:"functions_vars.html#index_z"}]},
+{text:"Typedefs",url:"functions_type.html"},
+{text:"Related Functions",url:"functions_rela.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",children:[
+{text:"b",url:"globals.html#index_b"},
+{text:"i",url:"globals.html#index_i"},
+{text:"p",url:"globals.html#index_p"},
+{text:"s",url:"globals.html#index_s"},
+{text:"t",url:"globals.html#index_t"},
+{text:"u",url:"globals.html#index_u"}]},
+{text:"Functions",url:"globals_func.html"},
+{text:"Typedefs",url:"globals_type.html"},
+{text:"Enumerations",url:"globals_enum.html"},
+{text:"Macros",url:"globals_defs.html"}]}]}]}
diff --git a/documentation/html/namespace_b_n_o08x_private_types.html b/documentation/html/namespace_b_n_o08x_private_types.html
new file mode 100644
index 0000000..661f1cc
--- /dev/null
+++ b/documentation/html/namespace_b_n_o08x_private_types.html
@@ -0,0 +1,307 @@
+<!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">
+<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 1.9.4"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>esp32_BNO08x: BNO08xPrivateTypes Namespace 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>
+<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>
+<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;1.4</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 1.9.4 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search",'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');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(document).ready(function(){initNavTree('namespace_b_n_o08x_private_types.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">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="header">
+  <div class="summary">
+<a href="#nested-classes">Classes</a> &#124;
+<a href="#typedef-members">Typedefs</a> &#124;
+<a href="#enum-members">Enumerations</a>  </div>
+  <div class="headertitle"><div class="title">BNO08xPrivateTypes Namespace Reference</div></div>
+</div><!--header-->
+<div class="contents">
+<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_private_types_1_1bno08x__init__status__t.html">bno08x_init_status_t</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Holds info about which functionality has been successfully initialized (used by deconstructor during cleanup).  <a href="struct_b_n_o08x_private_types_1_1bno08x__init__status__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_private_types_1_1bno08x__sync__ctx__t.html">bno08x_sync_ctx_t</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Holds context used to synchronize tasks and callback execution.  <a href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__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="typedef-members" name="typedef-members"></a>
+Typedefs</h2></td></tr>
+<tr class="memitem:a0f0c287ea0571e6c589c638e4bd07703"><td class="memItemLeft" align="right" valign="top">using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespace_b_n_o08x_private_types.html#a0f0c287ea0571e6c589c638e4bd07703">bno08x_cb_list_t</a> = etl::vector&lt; etl::variant&lt; <a class="el" href="class_b_n_o08x_cb_param_void.html">BNO08xCbParamVoid</a>, <a class="el" href="class_b_n_o08x_cb_param_rpt_i_d.html">BNO08xCbParamRptID</a> &gt;, CONFIG_ESP32_BNO08X_CB_MAX &gt;</td></tr>
+<tr class="memdesc:a0f0c287ea0571e6c589c638e4bd07703"><td class="mdescLeft">&#160;</td><td class="mdescRight">Alias for vector type to contain both cb flavors.  <a href="namespace_b_n_o08x_private_types.html#a0f0c287ea0571e6c589c638e4bd07703">More...</a><br /></td></tr>
+<tr class="separator:a0f0c287ea0571e6c589c638e4bd07703"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2698bcb8153e67716b43ce3cccc0f31a"><td class="memItemLeft" align="right" valign="top">typedef struct <a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html">BNO08xPrivateTypes::bno08x_init_status_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespace_b_n_o08x_private_types.html#a2698bcb8153e67716b43ce3cccc0f31a">bno08x_init_status_t</a></td></tr>
+<tr class="memdesc:a2698bcb8153e67716b43ce3cccc0f31a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Holds info about which functionality has been successfully initialized (used by deconstructor during cleanup).  <a href="namespace_b_n_o08x_private_types.html#a2698bcb8153e67716b43ce3cccc0f31a">More...</a><br /></td></tr>
+<tr class="separator:a2698bcb8153e67716b43ce3cccc0f31a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a67b3b4702d94bb4ba152a213feae944f"><td class="memItemLeft" align="right" valign="top">typedef struct <a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespace_b_n_o08x_private_types.html#a67b3b4702d94bb4ba152a213feae944f">bno08x_sync_ctx_t</a></td></tr>
+<tr class="memdesc:a67b3b4702d94bb4ba152a213feae944f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Holds context used to synchronize tasks and callback execution.  <a href="namespace_b_n_o08x_private_types.html#a67b3b4702d94bb4ba152a213feae944f">More...</a><br /></td></tr>
+<tr class="separator:a67b3b4702d94bb4ba152a213feae944f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="enum-members" name="enum-members"></a>
+Enumerations</h2></td></tr>
+<tr class="memitem:ac53fb578d93a18b7a83903fc7a71dc2f"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2f">bno08x_rpt_bit_t</a> : EventBits_t { <br />
+&#160;&#160;<a class="el" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fac0ff3fde600aac814ad76a4769515ae8">EVT_GRP_RPT_RV_BIT</a> = (1UL &lt;&lt; 0U)
+, <a class="el" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fad39283f98adf7242b3b3ccf847c150cd">EVT_GRP_RPT_RV_GAME_BIT</a> = (1UL &lt;&lt; 1U)
+, <a class="el" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fab5d141bdda220e3fa0bd9eb0fe3f31b5">EVT_GRP_RPT_RV_ARVR_S_BIT</a> = (1UL &lt;&lt; 2U)
+, <a class="el" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fab77588c26929a2d8dd8eeea883b905ca">EVT_GRP_RPT_RV_ARVR_S_GAME_BIT</a> = (1UL &lt;&lt; 3U)
+, <br />
+&#160;&#160;<a class="el" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fa6835a63fb08379608cda0a108098aac7">EVT_GRP_RPT_GYRO_INTEGRATED_RV_BIT</a> = (1UL &lt;&lt; 4U)
+, <a class="el" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fa728314f4744fc408c6b153e8fbb3feb4">EVT_GRP_RPT_GEOMAG_RV_BIT</a> = (1UL &lt;&lt; 5U)
+, <a class="el" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2faa5b9ffe097d1eb83a6a5a13871da0891">EVT_GRP_RPT_ACCELEROMETER_BIT</a> = (1UL &lt;&lt; 6U)
+, <a class="el" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fa68851003c2b7df34c3acf882251c60e2">EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT</a> = (1UL &lt;&lt; 7U)
+, <br />
+&#160;&#160;<a class="el" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fabd9e62157a0bc3dc38c3473d7bc2799f">EVT_GRP_RPT_GRAVITY_BIT</a> = (1UL &lt;&lt; 8U)
+, <a class="el" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2faeb1961d7852ea305443610b2521aaea7">EVT_GRP_RPT_CAL_GYRO_BIT</a> = (1UL &lt;&lt; 9U)
+, <a class="el" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fa591c062247280798af0e40d6141614c6">EVT_GRP_RPT_UNCAL_GYRO_BIT</a> = (1UL &lt;&lt; 10U)
+, <a class="el" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fac1d15dddeab169b213c719e6b0fef32d">EVT_GRP_RPT_CAL_MAGNETOMETER_BIT</a> = (1UL &lt;&lt; 11U)
+, <br />
+&#160;&#160;<a class="el" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2faa54d15cc17179a6840b9ec3f4e0038cb">EVT_GRP_RPT_UNCAL_MAGNETOMETER_BIT</a> = (1UL &lt;&lt; 12U)
+, <a class="el" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fad4482fb4fb6693a492584508691f2c77">EVT_GRP_RPT_TAP_DETECTOR_BIT</a> = (1UL &lt;&lt; 13U)
+, <a class="el" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fafb8f448edba339f37fdf794bd891f903">EVT_GRP_RPT_STEP_COUNTER_BIT</a> = (1UL &lt;&lt; 14U)
+, <a class="el" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fae138ae8422830982a470025d81c4be4b">EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT</a> = (1UL &lt;&lt; 15U)
+, <br />
+&#160;&#160;<a class="el" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fa94cddd1837a77bba5644543b1ad8b9e7">EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT</a> = (1UL &lt;&lt; 16U)
+, <a class="el" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fad517d3ea5b1b259f20ed43e1fcf40e0c">EVT_GRP_RPT_SHAKE_DETECTOR_BIT</a> = (1UL &lt;&lt; 17U)
+, <a class="el" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fab7e6b36da354702880ff9118d45b6af2">EVT_GRP_RPT_RAW_ACCELEROMETER_BIT</a> = (1UL &lt;&lt; 18U)
+, <a class="el" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fadcfcdea69099869ebf7f246ff5b7e8bb">EVT_GRP_RPT_RAW_GYRO_BIT</a> = (1UL &lt;&lt; 19U)
+, <br />
+&#160;&#160;<a class="el" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fab57a2ea711bebb4d4e031a0b449160c7">EVT_GRP_RPT_RAW_MAGNETOMETER_BIT</a> = (1UL &lt;&lt; 20U)
+, <a class="el" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fab5d7a8690f3b42637a52122d4269da10">EVT_GRP_RPT_CIRCLE_DETECTOR_BIT</a> = (1UL &lt;&lt; 21U)
+, <a class="el" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fa6bb054cdd31ded01373a4395889c84f1">EVT_GRP_RPT_ALL</a>
+<br />
+ }</td></tr>
+<tr class="memdesc:ac53fb578d93a18b7a83903fc7a71dc2f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Bits for evt_grp_rpt_en &amp; evt_grp_rpt_data_available.  <a href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2f">More...</a><br /></td></tr>
+<tr class="separator:ac53fb578d93a18b7a83903fc7a71dc2f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a59097f108831dd9860e17438d2976c1c"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespace_b_n_o08x_private_types.html#a59097f108831dd9860e17438d2976c1c">bno08x_tsk_bit_t</a> : EventBits_t { <a class="el" href="namespace_b_n_o08x_private_types.html#a59097f108831dd9860e17438d2976c1ca272952aff639965d61f76664cb4fed15">EVT_GRP_BNO08x_TASKS_RUNNING</a>
+, <a class="el" href="namespace_b_n_o08x_private_types.html#a59097f108831dd9860e17438d2976c1ca616d8458c1a9f54f9d99ba03a773ba41">EVT_GRP_BNO08x_TASK_HINT_ASSRT_BIT</a>
+, <a class="el" href="namespace_b_n_o08x_private_types.html#a59097f108831dd9860e17438d2976c1caaddd073f2b8e89319909d7c61f220452">EVT_GRP_BNO08x_TASK_RESET_OCCURRED</a>
+, <a class="el" href="namespace_b_n_o08x_private_types.html#a59097f108831dd9860e17438d2976c1ca17f12f538e40746dbe8aafee08391fcc">EVT_GRP_BNO08x_TASK_DATA_AVAILABLE</a>
+ }</td></tr>
+<tr class="memdesc:a59097f108831dd9860e17438d2976c1c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Bits for evt_grp_bno08x_task.  <a href="namespace_b_n_o08x_private_types.html#a59097f108831dd9860e17438d2976c1c">More...</a><br /></td></tr>
+<tr class="separator:a59097f108831dd9860e17438d2976c1c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Typedef Documentation</h2>
+<a id="a0f0c287ea0571e6c589c638e4bd07703" name="a0f0c287ea0571e6c589c638e4bd07703"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0f0c287ea0571e6c589c638e4bd07703">&#9670;&nbsp;</a></span>bno08x_cb_list_t</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">using <a class="el" href="namespace_b_n_o08x_private_types.html#a0f0c287ea0571e6c589c638e4bd07703">BNO08xPrivateTypes::bno08x_cb_list_t</a> = typedef etl::vector&lt;etl::variant&lt;<a class="el" href="class_b_n_o08x_cb_param_void.html">BNO08xCbParamVoid</a>, <a class="el" href="class_b_n_o08x_cb_param_rpt_i_d.html">BNO08xCbParamRptID</a>&gt;, CONFIG_ESP32_BNO08X_CB_MAX&gt;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Alias for vector type to contain both cb flavors. </p>
+
+</div>
+</div>
+<a id="a2698bcb8153e67716b43ce3cccc0f31a" name="a2698bcb8153e67716b43ce3cccc0f31a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2698bcb8153e67716b43ce3cccc0f31a">&#9670;&nbsp;</a></span>bno08x_init_status_t</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef struct <a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html">BNO08xPrivateTypes::bno08x_init_status_t</a> <a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html">BNO08xPrivateTypes::bno08x_init_status_t</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Holds info about which functionality has been successfully initialized (used by deconstructor during cleanup). </p>
+
+</div>
+</div>
+<a id="a67b3b4702d94bb4ba152a213feae944f" name="a67b3b4702d94bb4ba152a213feae944f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a67b3b4702d94bb4ba152a213feae944f">&#9670;&nbsp;</a></span>bno08x_sync_ctx_t</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef struct <a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a> <a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html">BNO08xPrivateTypes::bno08x_sync_ctx_t</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Holds context used to synchronize tasks and callback execution. </p>
+
+</div>
+</div>
+<h2 class="groupheader">Enumeration Type Documentation</h2>
+<a id="ac53fb578d93a18b7a83903fc7a71dc2f" name="ac53fb578d93a18b7a83903fc7a71dc2f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac53fb578d93a18b7a83903fc7a71dc2f">&#9670;&nbsp;</a></span>bno08x_rpt_bit_t</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">enum <a class="el" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2f">BNO08xPrivateTypes::bno08x_rpt_bit_t</a> : EventBits_t</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Bits for evt_grp_rpt_en &amp; evt_grp_rpt_data_available. </p>
+<table class="fieldtable">
+<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="ac53fb578d93a18b7a83903fc7a71dc2fac0ff3fde600aac814ad76a4769515ae8" name="ac53fb578d93a18b7a83903fc7a71dc2fac0ff3fde600aac814ad76a4769515ae8"></a>EVT_GRP_RPT_RV_BIT&#160;</td><td class="fielddoc"><p >When set, rotation vector reports are active. </p>
+</td></tr>
+<tr><td class="fieldname"><a id="ac53fb578d93a18b7a83903fc7a71dc2fad39283f98adf7242b3b3ccf847c150cd" name="ac53fb578d93a18b7a83903fc7a71dc2fad39283f98adf7242b3b3ccf847c150cd"></a>EVT_GRP_RPT_RV_GAME_BIT&#160;</td><td class="fielddoc"><p >When set, game rotation vector reports are active. </p>
+</td></tr>
+<tr><td class="fieldname"><a id="ac53fb578d93a18b7a83903fc7a71dc2fab5d141bdda220e3fa0bd9eb0fe3f31b5" name="ac53fb578d93a18b7a83903fc7a71dc2fab5d141bdda220e3fa0bd9eb0fe3f31b5"></a>EVT_GRP_RPT_RV_ARVR_S_BIT&#160;</td><td class="fielddoc"><p >When set, ARVR stabilized rotation vector reports are active. </p>
+</td></tr>
+<tr><td class="fieldname"><a id="ac53fb578d93a18b7a83903fc7a71dc2fab77588c26929a2d8dd8eeea883b905ca" name="ac53fb578d93a18b7a83903fc7a71dc2fab77588c26929a2d8dd8eeea883b905ca"></a>EVT_GRP_RPT_RV_ARVR_S_GAME_BIT&#160;</td><td class="fielddoc"><p >When set, ARVR stabilized game rotation vector reports are active. </p>
+</td></tr>
+<tr><td class="fieldname"><a id="ac53fb578d93a18b7a83903fc7a71dc2fa6835a63fb08379608cda0a108098aac7" name="ac53fb578d93a18b7a83903fc7a71dc2fa6835a63fb08379608cda0a108098aac7"></a>EVT_GRP_RPT_GYRO_INTEGRATED_RV_BIT&#160;</td><td class="fielddoc"><p >When set, gyro integrator rotation vector reports are active. </p>
+</td></tr>
+<tr><td class="fieldname"><a id="ac53fb578d93a18b7a83903fc7a71dc2fa728314f4744fc408c6b153e8fbb3feb4" name="ac53fb578d93a18b7a83903fc7a71dc2fa728314f4744fc408c6b153e8fbb3feb4"></a>EVT_GRP_RPT_GEOMAG_RV_BIT&#160;</td><td class="fielddoc"><p >When set, geomagnetic rotation vector reports are active. </p>
+</td></tr>
+<tr><td class="fieldname"><a id="ac53fb578d93a18b7a83903fc7a71dc2faa5b9ffe097d1eb83a6a5a13871da0891" name="ac53fb578d93a18b7a83903fc7a71dc2faa5b9ffe097d1eb83a6a5a13871da0891"></a>EVT_GRP_RPT_ACCELEROMETER_BIT&#160;</td><td class="fielddoc"><p >When set, accelerometer reports are active. </p>
+</td></tr>
+<tr><td class="fieldname"><a id="ac53fb578d93a18b7a83903fc7a71dc2fa68851003c2b7df34c3acf882251c60e2" name="ac53fb578d93a18b7a83903fc7a71dc2fa68851003c2b7df34c3acf882251c60e2"></a>EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT&#160;</td><td class="fielddoc"><p >When set, linear accelerometer reports are active. </p>
+</td></tr>
+<tr><td class="fieldname"><a id="ac53fb578d93a18b7a83903fc7a71dc2fabd9e62157a0bc3dc38c3473d7bc2799f" name="ac53fb578d93a18b7a83903fc7a71dc2fabd9e62157a0bc3dc38c3473d7bc2799f"></a>EVT_GRP_RPT_GRAVITY_BIT&#160;</td><td class="fielddoc"><p >When set, gravity reports are active. </p>
+</td></tr>
+<tr><td class="fieldname"><a id="ac53fb578d93a18b7a83903fc7a71dc2faeb1961d7852ea305443610b2521aaea7" name="ac53fb578d93a18b7a83903fc7a71dc2faeb1961d7852ea305443610b2521aaea7"></a>EVT_GRP_RPT_CAL_GYRO_BIT&#160;</td><td class="fielddoc"><p >When set, calibrated gyro reports are active. </p>
+</td></tr>
+<tr><td class="fieldname"><a id="ac53fb578d93a18b7a83903fc7a71dc2fa591c062247280798af0e40d6141614c6" name="ac53fb578d93a18b7a83903fc7a71dc2fa591c062247280798af0e40d6141614c6"></a>EVT_GRP_RPT_UNCAL_GYRO_BIT&#160;</td><td class="fielddoc"><p >When set, uncalibrated gyro reports are active. </p>
+</td></tr>
+<tr><td class="fieldname"><a id="ac53fb578d93a18b7a83903fc7a71dc2fac1d15dddeab169b213c719e6b0fef32d" name="ac53fb578d93a18b7a83903fc7a71dc2fac1d15dddeab169b213c719e6b0fef32d"></a>EVT_GRP_RPT_CAL_MAGNETOMETER_BIT&#160;</td><td class="fielddoc"><p >When set, calibrated magnetometer reports are active. </p>
+</td></tr>
+<tr><td class="fieldname"><a id="ac53fb578d93a18b7a83903fc7a71dc2faa54d15cc17179a6840b9ec3f4e0038cb" name="ac53fb578d93a18b7a83903fc7a71dc2faa54d15cc17179a6840b9ec3f4e0038cb"></a>EVT_GRP_RPT_UNCAL_MAGNETOMETER_BIT&#160;</td><td class="fielddoc"><p >When set, uncalibrated magnetometer reports are active. </p>
+</td></tr>
+<tr><td class="fieldname"><a id="ac53fb578d93a18b7a83903fc7a71dc2fad4482fb4fb6693a492584508691f2c77" name="ac53fb578d93a18b7a83903fc7a71dc2fad4482fb4fb6693a492584508691f2c77"></a>EVT_GRP_RPT_TAP_DETECTOR_BIT&#160;</td><td class="fielddoc"><p >When set, tap detector reports are active. </p>
+</td></tr>
+<tr><td class="fieldname"><a id="ac53fb578d93a18b7a83903fc7a71dc2fafb8f448edba339f37fdf794bd891f903" name="ac53fb578d93a18b7a83903fc7a71dc2fafb8f448edba339f37fdf794bd891f903"></a>EVT_GRP_RPT_STEP_COUNTER_BIT&#160;</td><td class="fielddoc"><p >When set, step counter reports are active. </p>
+</td></tr>
+<tr><td class="fieldname"><a id="ac53fb578d93a18b7a83903fc7a71dc2fae138ae8422830982a470025d81c4be4b" name="ac53fb578d93a18b7a83903fc7a71dc2fae138ae8422830982a470025d81c4be4b"></a>EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT&#160;</td><td class="fielddoc"><p >When set, stability classifier reports are active. </p>
+</td></tr>
+<tr><td class="fieldname"><a id="ac53fb578d93a18b7a83903fc7a71dc2fa94cddd1837a77bba5644543b1ad8b9e7" name="ac53fb578d93a18b7a83903fc7a71dc2fa94cddd1837a77bba5644543b1ad8b9e7"></a>EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT&#160;</td><td class="fielddoc"><p >When set, activity classifier reports are active. </p>
+</td></tr>
+<tr><td class="fieldname"><a id="ac53fb578d93a18b7a83903fc7a71dc2fad517d3ea5b1b259f20ed43e1fcf40e0c" name="ac53fb578d93a18b7a83903fc7a71dc2fad517d3ea5b1b259f20ed43e1fcf40e0c"></a>EVT_GRP_RPT_SHAKE_DETECTOR_BIT&#160;</td><td class="fielddoc"><p >When set, shake detector reports are active. </p>
+</td></tr>
+<tr><td class="fieldname"><a id="ac53fb578d93a18b7a83903fc7a71dc2fab7e6b36da354702880ff9118d45b6af2" name="ac53fb578d93a18b7a83903fc7a71dc2fab7e6b36da354702880ff9118d45b6af2"></a>EVT_GRP_RPT_RAW_ACCELEROMETER_BIT&#160;</td><td class="fielddoc"><p >When set, raw accelerometer reports are active. </p>
+</td></tr>
+<tr><td class="fieldname"><a id="ac53fb578d93a18b7a83903fc7a71dc2fadcfcdea69099869ebf7f246ff5b7e8bb" name="ac53fb578d93a18b7a83903fc7a71dc2fadcfcdea69099869ebf7f246ff5b7e8bb"></a>EVT_GRP_RPT_RAW_GYRO_BIT&#160;</td><td class="fielddoc"><p >When set, raw gyro reports are active. </p>
+</td></tr>
+<tr><td class="fieldname"><a id="ac53fb578d93a18b7a83903fc7a71dc2fab57a2ea711bebb4d4e031a0b449160c7" name="ac53fb578d93a18b7a83903fc7a71dc2fab57a2ea711bebb4d4e031a0b449160c7"></a>EVT_GRP_RPT_RAW_MAGNETOMETER_BIT&#160;</td><td class="fielddoc"><p >When set, raw magnetometer reports are active. </p>
+</td></tr>
+<tr><td class="fieldname"><a id="ac53fb578d93a18b7a83903fc7a71dc2fab5d7a8690f3b42637a52122d4269da10" name="ac53fb578d93a18b7a83903fc7a71dc2fab5d7a8690f3b42637a52122d4269da10"></a>EVT_GRP_RPT_CIRCLE_DETECTOR_BIT&#160;</td><td class="fielddoc"><p >When set, circle detector reports are active. </p>
+</td></tr>
+<tr><td class="fieldname"><a id="ac53fb578d93a18b7a83903fc7a71dc2fa6bb054cdd31ded01373a4395889c84f1" name="ac53fb578d93a18b7a83903fc7a71dc2fa6bb054cdd31ded01373a4395889c84f1"></a>EVT_GRP_RPT_ALL&#160;</td><td class="fielddoc"></td></tr>
+</table>
+
+</div>
+</div>
+<a id="a59097f108831dd9860e17438d2976c1c" name="a59097f108831dd9860e17438d2976c1c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a59097f108831dd9860e17438d2976c1c">&#9670;&nbsp;</a></span>bno08x_tsk_bit_t</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">enum <a class="el" href="namespace_b_n_o08x_private_types.html#a59097f108831dd9860e17438d2976c1c">BNO08xPrivateTypes::bno08x_tsk_bit_t</a> : EventBits_t</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Bits for evt_grp_bno08x_task. </p>
+<table class="fieldtable">
+<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="a59097f108831dd9860e17438d2976c1ca272952aff639965d61f76664cb4fed15" name="a59097f108831dd9860e17438d2976c1ca272952aff639965d61f76664cb4fed15"></a>EVT_GRP_BNO08x_TASKS_RUNNING&#160;</td><td class="fielddoc"><p >When this bit is set it indicates the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> tasks are running, it is always set to 1 for the duration of the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> driver object. Cleared in the destructor for safe task deletion. </p>
+</td></tr>
+<tr><td class="fieldname"><a id="a59097f108831dd9860e17438d2976c1ca616d8458c1a9f54f9d99ba03a773ba41" name="a59097f108831dd9860e17438d2976c1ca616d8458c1a9f54f9d99ba03a773ba41"></a>EVT_GRP_BNO08x_TASK_HINT_ASSRT_BIT&#160;</td><td class="fielddoc"><p >When this bit is set it indicates the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> has asserted its host interrupt pin, thus an SPI transaction should commence. </p>
+</td></tr>
+<tr><td class="fieldname"><a id="a59097f108831dd9860e17438d2976c1caaddd073f2b8e89319909d7c61f220452" name="a59097f108831dd9860e17438d2976c1caaddd073f2b8e89319909d7c61f220452"></a>EVT_GRP_BNO08x_TASK_RESET_OCCURRED&#160;</td><td class="fielddoc"><p >When this bit is set it indicates the SH2 HAL lib has reset the IMU, any reports enabled by the user must be re-enabled. </p>
+</td></tr>
+<tr><td class="fieldname"><a id="a59097f108831dd9860e17438d2976c1ca17f12f538e40746dbe8aafee08391fcc" name="a59097f108831dd9860e17438d2976c1ca17f12f538e40746dbe8aafee08391fcc"></a>EVT_GRP_BNO08x_TASK_DATA_AVAILABLE&#160;</td><td class="fielddoc"><p >When this bit is set it indicates a report has been received for the user to read, cleared in data_available() set/cleared in handle_sensor_report(). </p>
+</td></tr>
+</table>
+
+</div>
+</div>
+</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="namespace_b_n_o08x_private_types.html">BNO08xPrivateTypes</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> 1.9.4 </li>
+  </ul>
+</div>
+</body>
+</html>
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new file mode 100644
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+++ b/documentation/html/namespace_b_n_o08x_private_types.js
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+var namespace_b_n_o08x_private_types =
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+    [ "bno08x_sync_ctx_t", "struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html", "struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t" ],
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+    [ "bno08x_init_status_t", "namespace_b_n_o08x_private_types.html#a2698bcb8153e67716b43ce3cccc0f31a", null ],
+    [ "bno08x_sync_ctx_t", "namespace_b_n_o08x_private_types.html#a67b3b4702d94bb4ba152a213feae944f", null ],
+    [ "bno08x_rpt_bit_t", "namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2f", [
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+      [ "EVT_GRP_RPT_RV_ARVR_S_BIT", "namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fab5d141bdda220e3fa0bd9eb0fe3f31b5", null ],
+      [ "EVT_GRP_RPT_RV_ARVR_S_GAME_BIT", "namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fab77588c26929a2d8dd8eeea883b905ca", null ],
+      [ "EVT_GRP_RPT_GYRO_INTEGRATED_RV_BIT", "namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fa6835a63fb08379608cda0a108098aac7", null ],
+      [ "EVT_GRP_RPT_GEOMAG_RV_BIT", "namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fa728314f4744fc408c6b153e8fbb3feb4", null ],
+      [ "EVT_GRP_RPT_ACCELEROMETER_BIT", "namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2faa5b9ffe097d1eb83a6a5a13871da0891", null ],
+      [ "EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT", "namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fa68851003c2b7df34c3acf882251c60e2", null ],
+      [ "EVT_GRP_RPT_GRAVITY_BIT", "namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fabd9e62157a0bc3dc38c3473d7bc2799f", null ],
+      [ "EVT_GRP_RPT_CAL_GYRO_BIT", "namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2faeb1961d7852ea305443610b2521aaea7", null ],
+      [ "EVT_GRP_RPT_UNCAL_GYRO_BIT", "namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fa591c062247280798af0e40d6141614c6", null ],
+      [ "EVT_GRP_RPT_CAL_MAGNETOMETER_BIT", "namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fac1d15dddeab169b213c719e6b0fef32d", null ],
+      [ "EVT_GRP_RPT_UNCAL_MAGNETOMETER_BIT", "namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2faa54d15cc17179a6840b9ec3f4e0038cb", null ],
+      [ "EVT_GRP_RPT_TAP_DETECTOR_BIT", "namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fad4482fb4fb6693a492584508691f2c77", null ],
+      [ "EVT_GRP_RPT_STEP_COUNTER_BIT", "namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fafb8f448edba339f37fdf794bd891f903", null ],
+      [ "EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT", "namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fae138ae8422830982a470025d81c4be4b", null ],
+      [ "EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT", "namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fa94cddd1837a77bba5644543b1ad8b9e7", null ],
+      [ "EVT_GRP_RPT_SHAKE_DETECTOR_BIT", "namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fad517d3ea5b1b259f20ed43e1fcf40e0c", null ],
+      [ "EVT_GRP_RPT_RAW_ACCELEROMETER_BIT", "namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fab7e6b36da354702880ff9118d45b6af2", null ],
+      [ "EVT_GRP_RPT_RAW_GYRO_BIT", "namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fadcfcdea69099869ebf7f246ff5b7e8bb", null ],
+      [ "EVT_GRP_RPT_RAW_MAGNETOMETER_BIT", "namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fab57a2ea711bebb4d4e031a0b449160c7", null ],
+      [ "EVT_GRP_RPT_CIRCLE_DETECTOR_BIT", "namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fab5d7a8690f3b42637a52122d4269da10", null ],
+      [ "EVT_GRP_RPT_ALL", "namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2fa6bb054cdd31ded01373a4395889c84f1", null ]
+    ] ],
+    [ "bno08x_tsk_bit_t", "namespace_b_n_o08x_private_types.html#a59097f108831dd9860e17438d2976c1c", [
+      [ "EVT_GRP_BNO08x_TASKS_RUNNING", "namespace_b_n_o08x_private_types.html#a59097f108831dd9860e17438d2976c1ca272952aff639965d61f76664cb4fed15", null ],
+      [ "EVT_GRP_BNO08x_TASK_HINT_ASSRT_BIT", "namespace_b_n_o08x_private_types.html#a59097f108831dd9860e17438d2976c1ca616d8458c1a9f54f9d99ba03a773ba41", null ],
+      [ "EVT_GRP_BNO08x_TASK_RESET_OCCURRED", "namespace_b_n_o08x_private_types.html#a59097f108831dd9860e17438d2976c1caaddd073f2b8e89319909d7c61f220452", null ],
+      [ "EVT_GRP_BNO08x_TASK_DATA_AVAILABLE", "namespace_b_n_o08x_private_types.html#a59097f108831dd9860e17438d2976c1ca17f12f538e40746dbe8aafee08391fcc", null ]
+    ] ]
+];
\ No newline at end of file
diff --git a/documentation/html/namespacemembers.html b/documentation/html/namespacemembers.html
new file mode 100644
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+<html xmlns="http://www.w3.org/1999/xhtml">
+<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 1.9.4"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>esp32_BNO08x: Namespace 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>
+<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>
+<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;1.4</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 1.9.4 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search",'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');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(document).ready(function(){initNavTree('namespacemembers.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">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all namespace members with links to the namespace documentation for each member:</div>
+
+<h3><a id="index_b" name="index_b"></a>- b -</h3><ul>
+<li>bno08x_cb_list_t&#160;:&#160;<a class="el" href="namespace_b_n_o08x_private_types.html#a0f0c287ea0571e6c589c638e4bd07703">BNO08xPrivateTypes</a></li>
+<li>bno08x_init_status_t&#160;:&#160;<a class="el" href="namespace_b_n_o08x_private_types.html#a2698bcb8153e67716b43ce3cccc0f31a">BNO08xPrivateTypes</a></li>
+<li>bno08x_rpt_bit_t&#160;:&#160;<a class="el" href="namespace_b_n_o08x_private_types.html#ac53fb578d93a18b7a83903fc7a71dc2f">BNO08xPrivateTypes</a></li>
+<li>bno08x_sync_ctx_t&#160;:&#160;<a class="el" href="namespace_b_n_o08x_private_types.html#a67b3b4702d94bb4ba152a213feae944f">BNO08xPrivateTypes</a></li>
+<li>bno08x_tsk_bit_t&#160;:&#160;<a class="el" href="namespace_b_n_o08x_private_types.html#a59097f108831dd9860e17438d2976c1c">BNO08xPrivateTypes</a></li>
+</ul>
+
+
+<h3><a id="index_e" name="index_e"></a>- e -</h3><ul>
+<li>EVT_GRP_BNO08x_TASK_DATA_AVAILABLE&#160;:&#160;<a class="el" href="namespace_b_n_o08x_private_types.html#a59097f108831dd9860e17438d2976c1ca17f12f538e40746dbe8aafee08391fcc">BNO08xPrivateTypes</a></li>
+<li>EVT_GRP_BNO08x_TASK_HINT_ASSRT_BIT&#160;:&#160;<a class="el" href="namespace_b_n_o08x_private_types.html#a59097f108831dd9860e17438d2976c1ca616d8458c1a9f54f9d99ba03a773ba41">BNO08xPrivateTypes</a></li>
+<li>EVT_GRP_BNO08x_TASK_RESET_OCCURRED&#160;:&#160;<a class="el" href="namespace_b_n_o08x_private_types.html#a59097f108831dd9860e17438d2976c1caaddd073f2b8e89319909d7c61f220452">BNO08xPrivateTypes</a></li>
+<li>EVT_GRP_BNO08x_TASKS_RUNNING&#160;:&#160;<a class="el" href="namespace_b_n_o08x_private_types.html#a59097f108831dd9860e17438d2976c1ca272952aff639965d61f76664cb4fed15">BNO08xPrivateTypes</a></li>
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+        expandNode(o, node, false, false);
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+    }
+    node.expandToggle.appendChild(imgNode);
+    domNode.appendChild(node.expandToggle);
+  } else {
+    var span = document.createElement("span");
+    span.className = 'arrow';
+    span.style.width   = 16*(level+1)+'px';
+    span.innerHTML = '&#160;';
+    domNode.appendChild(span);
+  }
+}
+
+var animationInProgress = false;
+
+function gotoAnchor(anchor,aname,updateLocation)
+{
+  var pos, docContent = $('#doc-content');
+  var 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) {
+    var dist = Math.abs(Math.min(
+               pos-docContent.offset().top,
+               docContent[0].scrollHeight-
+               docContent.height()-docContent.scrollTop()));
+    animationInProgress=true;
+    docContent.animate({
+      scrollTop: pos + docContent.scrollTop() - docContent.offset().top
+    },Math.max(50,Math.min(500,dist)),function(){
+      if (updateLocation) window.location.href=aname;
+      animationInProgress=false;
+    });
+  }
+}
+
+function newNode(o, po, text, link, childrenData, lastNode)
+{
+  var node = new Object();
+  node.children = Array();
+  node.childrenData = childrenData;
+  node.depth = po.depth + 1;
+  node.relpath = po.relpath;
+  node.isLast = lastNode;
+
+  node.li = document.createElement("li");
+  po.getChildrenUL().appendChild(node.li);
+  node.parentNode = po;
+
+  node.itemDiv = document.createElement("div");
+  node.itemDiv.className = "item";
+
+  node.labelSpan = document.createElement("span");
+  node.labelSpan.className = "label";
+
+  createIndent(o,node.itemDiv,node,0);
+  node.itemDiv.appendChild(node.labelSpan);
+  node.li.appendChild(node.itemDiv);
+
+  var a = document.createElement("a");
+  node.labelSpan.appendChild(a);
+  node.label = document.createTextNode(text);
+  node.expanded = false;
+  a.appendChild(node.label);
+  if (link) {
+    var 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) {
+      var aname = '#'+link.split('#')[1];
+      var srcPage = stripPath(pathName());
+      var targetPage = stripPath(link.split('#')[0]);
+      a.href = srcPage!=targetPage ? url : "javascript:void(0)";
+      a.onclick = function(){
+        storeLink(link);
+        if (!$(a).parent().parent().hasClass('selected'))
+        {
+          $('.item').removeClass('selected');
+          $('.item').removeAttr('id');
+          $(a).parent().parent().addClass('selected');
+          $(a).parent().parent().attr('id','selected');
+        }
+        var anchor = $(aname);
+        gotoAnchor(anchor,aname,true);
+      };
+    } else {
+      a.href = url;
+      a.onclick = function() { storeLink(link); }
+    }
+  } else {
+    if (childrenData != null)
+    {
+      a.className = "nolink";
+      a.href = "javascript:void(0)";
+      a.onclick = node.expandToggle.onclick;
+    }
+  }
+
+  node.childrenUL = null;
+  node.getChildrenUL = function() {
+    if (!node.childrenUL) {
+      node.childrenUL = document.createElement("ul");
+      node.childrenUL.className = "children_ul";
+      node.childrenUL.style.display = "none";
+      node.li.appendChild(node.childrenUL);
+    }
+    return node.childrenUL;
+  };
+
+  return node;
+}
+
+function showRoot()
+{
+  var headerHeight = $("#top").height();
+  var footerHeight = $("#nav-path").height();
+  var windowHeight = $(window).height() - headerHeight - footerHeight;
+  (function (){ // retry until we can scroll to the selected item
+    try {
+      var navtree=$('#nav-tree');
+      navtree.scrollTo('#selected',100,{offset:-windowHeight/2});
+    } catch (err) {
+      setTimeout(arguments.callee, 0);
+    }
+  })();
+}
+
+function expandNode(o, node, imm, showRoot)
+{
+  if (node.childrenData && !node.expanded) {
+    if (typeof(node.childrenData)==='string') {
+      var varName    = node.childrenData;
+      getScript(node.relpath+varName,function(){
+        node.childrenData = getData(varName);
+        expandNode(o, node, imm, showRoot);
+      }, showRoot);
+    } else {
+      if (!node.childrenVisited) {
+        getNode(o, node);
+      }
+      $(node.getChildrenUL()).slideDown("fast");
+      node.plus_img.innerHTML = arrowDown;
+      node.expanded = true;
+    }
+  }
+}
+
+function glowEffect(n,duration)
+{
+  n.addClass('glow').delay(duration).queue(function(next){
+    $(this).removeClass('glow');next();
+  });
+}
+
+function highlightAnchor()
+{
+  var aname = hashUrl();
+  var anchor = $(aname);
+  if (anchor.parent().attr('class')=='memItemLeft'){
+    var 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
+  }
+}
+
+function selectAndHighlight(hash,n)
+{
+  var a;
+  if (hash) {
+    var 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');
+    $(n.itemDiv).attr('id','selected');
+  }
+  var topOffset=5;
+  if (typeof page_layout!=='undefined' && page_layout==1) {
+    topOffset+=$('#top').outerHeight();
+  }
+  if ($('#nav-tree-contents .item:first').hasClass('selected')) {
+    topOffset+=25;
+  }
+  $('#nav-sync').css('top',topOffset+'px');
+  showRoot();
+}
+
+function showNode(o, node, index, hash)
+{
+  if (node && node.childrenData) {
+    if (typeof(node.childrenData)==='string') {
+      var varName    = node.childrenData;
+      getScript(node.relpath+varName,function(){
+        node.childrenData = getData(varName);
+        showNode(o,node,index,hash);
+      },true);
+    } else {
+      if (!node.childrenVisited) {
+        getNode(o, node);
+      }
+      $(node.getChildrenUL()).css({'display':'block'});
+      node.plus_img.innerHTML = arrowDown;
+      node.expanded = true;
+      var n = node.children[o.breadcrumbs[index]];
+      if (index+1<o.breadcrumbs.length) {
+        showNode(o,n,index+1,hash);
+      } else {
+        if (typeof(n.childrenData)==='string') {
+          var varName = n.childrenData;
+          getScript(n.relpath+varName,function(){
+            n.childrenData = getData(varName);
+            node.expanded=false;
+            showNode(o,node,index,hash); // retry with child node expanded
+          },true);
+        } else {
+          var rootBase = stripPath(o.toroot.replace(/\..+$/, ''));
+          if (rootBase=="index" || rootBase=="pages" || rootBase=="search") {
+            expandNode(o, n, true, true);
+          }
+          selectAndHighlight(hash,n);
+        }
+      }
+    }
+  } else {
+    selectAndHighlight(hash);
+  }
+}
+
+function removeToInsertLater(element) {
+  var parentNode = element.parentNode;
+  var nextSibling = element.nextSibling;
+  parentNode.removeChild(element);
+  return function() {
+    if (nextSibling) {
+      parentNode.insertBefore(element, nextSibling);
+    } else {
+      parentNode.appendChild(element);
+    }
+  };
+}
+
+function getNode(o, po)
+{
+  var insertFunction = removeToInsertLater(po.li);
+  po.childrenVisited = true;
+  var l = po.childrenData.length-1;
+  for (var i in po.childrenData) {
+    var nodeData = po.childrenData[i];
+    po.children[i] = newNode(o, po, nodeData[0], nodeData[1], nodeData[2],
+      i==l);
+  }
+  insertFunction();
+}
+
+function gotoNode(o,subIndex,root,hash,relpath)
+{
+  var 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');
+    $('.item').removeAttr('id');
+  }
+  if (o.breadcrumbs) {
+    o.breadcrumbs.unshift(0); // add 0 for root node
+    showNode(o, o.node, 0, hash);
+  }
+}
+
+function navTo(o,root,hash,relpath)
+{
+  var link = cachedLink();
+  if (link) {
+    var parts = link.split('#');
+    root = parts[0];
+    if (parts.length>1) hash = '#'+parts[1].replace(/[^\w\-]/g,'');
+    else hash='';
+  }
+  if (hash.match(/^#l\d+$/)) {
+    var anchor=$('a[name='+hash.substring(1)+']');
+    glowEffect(anchor.parent(),1000); // line number
+    hash=''; // strip line number anchors
+  }
+  var url=root+hash;
+  var 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);
+      }
+    },true);
+  }
+}
+
+function showSyncOff(n,relpath)
+{
+    n.html('<img src="'+relpath+'sync_off.png" title="'+SYNCOFFMSG+'"/>');
+}
+
+function showSyncOn(n,relpath)
+{
+    n.html('<img src="'+relpath+'sync_on.png" title="'+SYNCONMSG+'"/>');
+}
+
+function toggleSyncButton(relpath)
+{
+  var navSync = $('#nav-sync');
+  if (navSync.hasClass('sync')) {
+    navSync.removeClass('sync');
+    showSyncOff(navSync,relpath);
+    storeLink(stripPath2(pathName())+hashUrl());
+  } else {
+    navSync.addClass('sync');
+    showSyncOn(navSync,relpath);
+    deleteLink();
+  }
+}
+
+var loadTriggered = false;
+var readyTriggered = false;
+var loadObject,loadToRoot,loadUrl,loadRelPath;
+
+$(window).on('load',function(){
+  if (readyTriggered) { // ready first
+    navTo(loadObject,loadToRoot,loadUrl,loadRelPath);
+    showRoot();
+  }
+  loadTriggered=true;
+});
+
+function initNavTree(toroot,relpath)
+{
+  var o = new Object();
+  o.toroot = toroot;
+  o.node = new Object();
+  o.node.li = document.getElementById("nav-tree-contents");
+  o.node.childrenData = NAVTREE;
+  o.node.children = new Array();
+  o.node.childrenUL = document.createElement("ul");
+  o.node.getChildrenUL = function() { return o.node.childrenUL; };
+  o.node.li.appendChild(o.node.childrenUL);
+  o.node.depth = 0;
+  o.node.relpath = relpath;
+  o.node.expanded = false;
+  o.node.isLast = true;
+  o.node.plus_img = document.createElement("span");
+  o.node.plus_img.className = 'arrow';
+  o.node.plus_img.innerHTML = arrowRight;
+
+  if (localStorageSupported()) {
+    var navSync = $('#nav-sync');
+    if (cachedLink()) {
+      showSyncOff(navSync,relpath);
+      navSync.removeClass('sync');
+    } else {
+      showSyncOn(navSync,relpath);
+    }
+    navSync.click(function(){ toggleSyncButton(relpath); });
+  }
+
+  if (loadTriggered) { // load before ready
+    navTo(o,toroot,hashUrl(),relpath);
+    showRoot();
+  } else { // ready before load
+    loadObject  = o;
+    loadToRoot  = toroot;
+    loadUrl     = hashUrl();
+    loadRelPath = relpath;
+    readyTriggered=true;
+  }
+
+  $(window).bind('hashchange', function(){
+     if (window.location.hash && window.location.hash.length>1){
+       var a;
+       if ($(location).attr('hash')){
+         var 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');
+       }
+       var 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);
+     }
+  })
+}
+/* @license-end */
diff --git a/documentation/html/navtreedata.js b/documentation/html/navtreedata.js
new file mode 100644
index 0000000..d53bd7a
--- /dev/null
+++ b/documentation/html/navtreedata.js
@@ -0,0 +1,71 @@
+/*
+ @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", [
+    [ "Namespaces", "namespaces.html", [
+      [ "Namespace List", "namespaces.html", "namespaces_dup" ],
+      [ "Namespace Members", "namespacemembers.html", [
+        [ "All", "namespacemembers.html", null ],
+        [ "Typedefs", "namespacemembers_type.html", null ],
+        [ "Enumerations", "namespacemembers_enum.html", null ],
+        [ "Enumerator", "namespacemembers_eval.html", null ]
+      ] ]
+    ] ],
+    [ "Classes", "annotated.html", [
+      [ "Class List", "annotated.html", "annotated_dup" ],
+      [ "Class Index", "classes.html", null ],
+      [ "Class Hierarchy", "hierarchy.html", "hierarchy" ],
+      [ "Class Members", "functions.html", [
+        [ "All", "functions.html", "functions_dup" ],
+        [ "Functions", "functions_func.html", "functions_func" ],
+        [ "Variables", "functions_vars.html", null ],
+        [ "Typedefs", "functions_type.html", null ],
+        [ "Related Functions", "functions_rela.html", null ]
+      ] ]
+    ] ],
+    [ "Files", "files.html", [
+      [ "File List", "files.html", "files_dup" ],
+      [ "File Members", "globals.html", [
+        [ "All", "globals.html", null ],
+        [ "Functions", "globals_func.html", null ],
+        [ "Typedefs", "globals_type.html", null ],
+        [ "Enumerations", "globals_enum.html", null ],
+        [ "Macros", "globals_defs.html", null ]
+      ] ]
+    ] ]
+  ] ]
+];
+
+var NAVTREEINDEX =
+[
+"_b_n_o08x_8cpp.html",
+"_b_n_o08x_rpt_raw_m_e_m_s_gyro_8cpp.html",
+"functions_v.html",
+"structbno08x__sample__counts__t.html#a8d03182919cce138cfda97c3ff5700b2"
+];
+
+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..2058347
--- /dev/null
+++ b/documentation/html/navtreeindex0.js
@@ -0,0 +1,253 @@
+var NAVTREEINDEX0 =
+{
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+
+ 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()
+{
+  var cookie_namespace = 'doxygen';
+  var sidenav,navtree,content,header,collapsed,collapsedWidth=0,barWidth=6,desktop_vp=768,titleHeight;
+
+  function readCookie(cookie)
+  {
+    var myCookie = cookie_namespace+"_"+cookie+"=";
+    if (document.cookie) {
+      var index = document.cookie.indexOf(myCookie);
+      if (index != -1) {
+        var valStart = index + myCookie.length;
+        var valEnd = document.cookie.indexOf(";", valStart);
+        if (valEnd == -1) {
+          valEnd = document.cookie.length;
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+        var val = document.cookie.substring(valStart, valEnd);
+        return val;
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+    return 0;
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+    var headerHeight = header.outerHeight();
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+    var windowHeight = $(window).height();
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+      contentHeight = windowHeight - footerHeight;
+      navtreeHeight = windowHeight - headerHeight;
+      sideNavHeight = windowHeight;
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+    navtree.css({height:navtreeHeight + "px"});
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+    else {
+      var width = readCookie('width');
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+      collapsed=false;
+    }
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+
+  header  = $("#top");
+  sidenav = $("#side-nav");
+  content = $("#doc-content");
+  navtree = $("#nav-tree");
+  footer  = $("#nav-path");
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+  var device = navigator.userAgent.toLowerCase();
+  var 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;
+  }
+  var width = readCookie('width');
+  if (width) { restoreWidth(width); } else { resizeWidth(); }
+  resizeHeight();
+  var url = location.href;
+  var i=url.indexOf("#");
+  if (i>=0) window.location.hash=url.substr(i);
+  var _preventDefault = function(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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+}
+
+@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 {
+    height: 1.4em;
+    padding: 0.3em;
+    margin: 0;
+}
+
+.MSearchBoxActive #MSearchField {
+    color: #000000;
+}
+
+#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 filter selection */
+
+#MSearchSelectWindow {
+    display: none;
+    position: absolute;
+    left: 0; top: 0;
+    border: 1px solid #90A5CE;
+    background-color: #F9FAFC;
+    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 Arial, Verdana, sans-serif;
+    padding-left:  2px;
+    padding-right: 12px;
+    border: 0px;
+}
+
+span.SelectionMark {
+    margin-right: 4px;
+    font-family: monospace;
+    outline-style: none;
+    text-decoration: none;
+}
+
+a.SelectItem {
+    display: block;
+    outline-style: none;
+    color: #000000; 
+    text-decoration: none;
+    padding-left:   6px;
+    padding-right: 12px;
+}
+
+a.SelectItem:focus,
+a.SelectItem:active {
+    color: #000000; 
+    outline-style: none;
+    text-decoration: none;
+}
+
+a.SelectItem:hover {
+    color: #FFFFFF;
+    background-color: #3D578C;
+    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 #000;
+    background-color: #EEF1F7;
+    z-index:10000;
+}
+
+/* ----------------------------------- */
+
+
+#SRIndex {
+    clear:both; 
+    padding-bottom: 15px;
+}
+
+.SREntry {
+    font-size: 10pt;
+    padding-left: 1ex;
+}
+
+.SRPage .SREntry {
+    font-size: 8pt;
+    padding: 1px 5px;
+}
+
+body.SRPage {
+    margin: 5px 2px;
+}
+
+.SRChildren {
+    padding-left: 3ex; padding-bottom: .5em 
+}
+
+.SRPage .SRChildren {
+    display: none;
+}
+
+.SRSymbol {
+    font-weight: bold; 
+    color: #425E97;
+    font-family: Arial, Verdana, sans-serif;
+    text-decoration: none;
+    outline: none;
+}
+
+a.SRScope {
+    display: block;
+    color: #425E97; 
+    font-family: Arial, Verdana, sans-serif;
+    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: Arial, Verdana, sans-serif;
+}
+
+.SRPage .SRStatus {
+    padding: 2px 5px;
+    font-size: 8pt;
+    font-style: italic;
+    font-family: Arial, Verdana, sans-serif;
+}
+
+.SRResult {
+    display: none;
+}
+
+div.searchresults {
+    margin-left: 10px;
+    margin-right: 10px;
+}
+
+/*---------------- External search page results */
+
+.searchresult {
+    background-color: #F0F3F8;
+}
+
+.pages b {
+   color: white;
+   padding: 5px 5px 3px 5px;
+   background-image: url("../tab_a.png");
+   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..607f4e1
--- /dev/null
+++ b/documentation/html/search/search.js
@@ -0,0 +1,802 @@
+/*
+ @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 convertToId(search)
+{
+  var result = '';
+  for (i=0;i<search.length;i++)
+  {
+    var c = search.charAt(i);
+    var 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;
+}
+
+function getXPos(item)
+{
+  var x = 0;
+  if (item.offsetWidth)
+  {
+    while (item && item!=document.body)
+    {
+      x   += item.offsetLeft;
+      item = item.offsetParent;
+    }
+  }
+  return x;
+}
+
+function getYPos(item)
+{
+  var y = 0;
+  if (item.offsetWidth)
+  {
+     while (item && item!=document.body)
+     {
+       y   += item.offsetTop;
+       item = item.offsetParent;
+     }
+  }
+  return y;
+}
+
+/* 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, label, extension)
+{
+  if (!name || !resultsPath) {  alert("Missing parameters to SearchBox."); }
+  if (!extension || extension == "") { extension = ".html"; }
+
+  // ---------- 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.searchLabel           = label;
+  this.extension             = extension;
+
+  // ----------- DOM Elements
+
+  this.DOMSearchField = function()
+  {  return document.getElementById("MSearchField");  }
+
+  this.DOMSearchSelect = function()
+  {  return document.getElementById("MSearchSelect");  }
+
+  this.DOMSearchSelectWindow = function()
+  {  return document.getElementById("MSearchSelectWindow");  }
+
+  this.DOMPopupSearchResults = function()
+  {  return document.getElementById("MSearchResults");  }
+
+  this.DOMPopupSearchResultsWindow = function()
+  {  return document.getElementById("MSearchResultsWindow");  }
+
+  this.DOMSearchClose = function()
+  {  return document.getElementById("MSearchClose"); }
+
+  this.DOMSearchBox = function()
+  {  return 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()
+  {
+    var searchSelectWindow = this.DOMSearchSelectWindow();
+    var searchField        = this.DOMSearchSelect();
+
+    var left = getXPos(searchField);
+    var top  = getYPos(searchField);
+    top += 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.name +".CloseSelectionWindow()",
+                                  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;
+    }
+
+    var e  = (evt) ? evt : window.event; // for IE
+    if (e.keyCode==40 || e.keyCode==13)
+    {
+      if (e.shiftKey==1)
+      {
+        this.OnSearchSelectShow();
+        var win=this.DOMSearchSelectWindow();
+        for (i=0;i<win.childNodes.length;i++)
+        {
+          var child = win.childNodes[i]; // get span within a
+          if (child.className=='SelectItem')
+          {
+            child.focus();
+            return;
+          }
+        }
+        return;
+      }
+      else
+      {
+        window.frames.MSearchResults.postMessage("take_focus", "*");
+      }
+    }
+    else if (e.keyCode==27) // Escape out of the search field
+    {
+      this.DOMSearchField().blur();
+      this.DOMPopupSearchResultsWindow().style.display = 'none';
+      this.DOMSearchClose().style.display = 'none';
+      this.lastSearchValue = '';
+      this.Activate(false);
+      return;
+    }
+
+    // strip whitespaces
+    var 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.name + '.Search()',
+                                     this.keyTimeoutLength);
+      }
+      else // empty search field
+      {
+        this.DOMPopupSearchResultsWindow().style.display = 'none';
+        this.DOMSearchClose().style.display = 'none';
+        this.lastSearchValue = '';
+      }
+    }
+  }
+
+  this.SelectItemCount = function(id)
+  {
+    var count=0;
+    var win=this.DOMSearchSelectWindow();
+    for (i=0;i<win.childNodes.length;i++)
+    {
+      var child = win.childNodes[i]; // get span within a
+      if (child.className=='SelectItem')
+      {
+        count++;
+      }
+    }
+    return count;
+  }
+
+  this.SelectItemSet = function(id)
+  {
+    var i,j=0;
+    var win=this.DOMSearchSelectWindow();
+    for (i=0;i<win.childNodes.length;i++)
+    {
+      var child = win.childNodes[i]; // get span within a
+      if (child.className=='SelectItem')
+      {
+        var node = child.firstChild;
+        if (j==id)
+        {
+          node.innerHTML='&#8226;';
+        }
+        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);
+    var searchValue = this.DOMSearchField().value.replace(/ +/g, "");
+    if (searchValue!="" && this.searchActive) // something was found -> do a search
+    {
+      this.Search();
+    }
+  }
+
+  this.OnSearchSelectKey = function(evt)
+  {
+    var 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)
+    {
+      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
+    var searchValue = this.DOMSearchField().value.replace(/^ +/, "");
+
+    var code = searchValue.toLowerCase().charCodeAt(0);
+    var idxChar = searchValue.substr(0, 1).toLowerCase();
+    if ( 0xD800 <= code && code <= 0xDBFF && searchValue > 1) // surrogate pair
+    {
+      idxChar = searchValue.substr(0, 2);
+    }
+
+    var resultsPage;
+    var resultsPageWithSearch;
+    var hasResultsPage;
+
+    var idx = indexSectionsWithContent[this.searchIndex].indexOf(idxChar);
+    if (idx!=-1)
+    {
+       var hexCode=idx.toString(16);
+       resultsPage = this.resultsPath + '/' + indexSectionNames[this.searchIndex] + '_' + hexCode + this.extension;
+       resultsPageWithSearch = resultsPage+'?'+escape(searchValue);
+       hasResultsPage = true;
+    }
+    else // nothing available for this search term
+    {
+       resultsPage = this.resultsPath + '/nomatches' + this.extension;
+       resultsPageWithSearch = resultsPage;
+       hasResultsPage = false;
+    }
+
+    window.frames.MSearchResults.location = resultsPageWithSearch;
+    var domPopupSearchResultsWindow = this.DOMPopupSearchResultsWindow();
+
+    if (domPopupSearchResultsWindow.style.display!='block')
+    {
+       var domSearchBox = this.DOMSearchBox();
+       this.DOMSearchClose().style.display = 'inline-block';
+       var domPopupSearchResults = this.DOMPopupSearchResults();
+       var left = getXPos(domSearchBox) + 150; // domSearchBox.offsetWidth;
+       var top  = getYPos(domSearchBox) + 20;  // domSearchBox.offsetHeight + 1;
+       domPopupSearchResultsWindow.style.display = 'block';
+       left -= domPopupSearchResults.offsetWidth;
+       var maxWidth = document.body.clientWidth;
+       var width = 400;
+       if (left<10) left=10;
+       if (width+left+8>maxWidth) width=maxWidth-left-8;
+       domPopupSearchResultsWindow.style.top     = top  + 'px';
+       domPopupSearchResultsWindow.style.left    = left + 'px';
+       domPopupSearchResultsWindow.style.width   = width + 'px';
+    }
+
+    this.lastSearchValue = searchValue;
+    this.lastResultsPage = resultsPage;
+  }
+
+  // -------- 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';
+
+      var searchField = this.DOMSearchField();
+
+      if (searchField.value == this.searchLabel) // clear "Search" term upon entry
+      {
+        searchField.value = '';
+        this.searchActive = true;
+      }
+    }
+    else if (!isActive) // directly remove the panel
+    {
+      this.DOMSearchBox().className = 'MSearchBoxInactive';
+      this.DOMSearchField().value   = this.searchLabel;
+      this.searchActive             = false;
+      this.lastSearchValue          = ''
+      this.lastResultsPage          = '';
+    }
+  }
+}
+
+// -----------------------------------------------------------------------
+
+// The class that handles everything on the search results page.
+function SearchResults(name)
+{
+    // 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)
+    {
+      var parentElement = document.getElementById(id);
+      var 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)
+    {
+      var 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);
+
+      var resultRows = document.getElementsByTagName("div");
+      var matches = 0;
+
+      var i = 0;
+      while (i < resultRows.length)
+      {
+        var row = resultRows.item(i);
+        if (row.className == "SRResult")
+        {
+          var 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)
+    {
+      var focusItem;
+      while (1)
+      {
+        var 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)
+    {
+      var focusItem;
+      while (1)
+      {
+        var 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)
+    {
+      var e  = (evt) ? evt : window.event; // for IE
+      if (e.keyCode==13) return true;
+      if (!this.ProcessKeys(e)) return false;
+
+      if (this.lastKey==38) // Up
+      {
+        var newIndex = itemIndex-1;
+        var focusItem = this.NavPrev(newIndex);
+        if (focusItem)
+        {
+          var child = this.FindChildElement(focusItem.parentNode.parentNode.id);
+          if (child && child.style.display == 'block') // children visible
+          {
+            var n=0;
+            var tmpElem;
+            while (1) // search for last child
+            {
+              tmpElem = document.getElementById('Item'+newIndex+'_c'+n);
+              if (tmpElem)
+              {
+                focusItem = tmpElem;
+              }
+              else // found it!
+              {
+                break;
+              }
+              n++;
+            }
+          }
+        }
+        if (focusItem)
+        {
+          focusItem.focus();
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+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
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+  <tr class="odd"><td class="entry"><a class="el" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a0cabee7da991a7399d607373f09548a7">tap_detector</a></td><td class="entry"><a class="el" href="struct_b_n_o08x_1_1bno08x__reports__t.html">BNO08x::bno08x_reports_t</a></td><td class="entry"></td></tr>
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+  <tr class="odd"><td class="entry"><a class="el" href="struct_b_n_o08x_1_1bno08x__reports__t.html#a5774fa69fc74264d40478a729aeb5ece">uncal_magnetometer</a></td><td class="entry"><a class="el" href="struct_b_n_o08x_1_1bno08x__reports__t.html">BNO08x::bno08x_reports_t</a></td><td class="entry"></td></tr>
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+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
+   </div>
+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
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+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="struct_b_n_o08x_1_1bno08x__reports__t-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">BNO08x::bno08x_reports_t Struct Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>Contains report implementations.  
+ <a href="struct_b_n_o08x_1_1bno08x__reports__t.html#details">More...</a></p>
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+<p><code>#include &lt;<a class="el" href="_b_n_o08x_8hpp_source.html">BNO08x.hpp</a>&gt;</code></p>
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+<tr class="separator:aee9528ea57ab86ef29e10de9ecfefcf7"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a0cabee7da991a7399d607373f09548a7"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p >Contains report implementations. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="aad0b1641e9c31927c33d0f69c174f9cb" name="aad0b1641e9c31927c33d0f69c174f9cb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aad0b1641e9c31927c33d0f69c174f9cb">&#9670;&nbsp;</a></span>bno08x_reports_t()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">BNO08x::bno08x_reports_t::bno08x_reports_t </td>
+          <td>(</td>
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+          <td class="paramname"><em>sync_ctx</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
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+<h2 class="memtitle"><span class="permalink"><a href="#ab7939486c9ba7e7c70f82d2284fb6119">&#9670;&nbsp;</a></span>accelerometer</h2>
+
+<div class="memitem">
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+      <table class="memname">
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+        </tr>
+      </table>
+</div><div class="memdoc">
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+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a6475bdab7c49091f3086537efc00c12f">&#9670;&nbsp;</a></span>activity_classifier</h2>
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+<div class="memitem">
+<div class="memproto">
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+</div><div class="memdoc">
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+      </table>
+</div><div class="memdoc">
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+<div class="memitem">
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+          <td class="memname"><a class="el" href="class_b_n_o08x_rpt_gravity.html">BNO08xRptGravity</a> BNO08x::bno08x_reports_t::gravity</td>
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+</div><div class="memdoc">
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+<h2 class="memtitle"><span class="permalink"><a href="#ac8114db28ee3f7be5578e52f48caa9c3">&#9670;&nbsp;</a></span>linear_accelerometer</h2>
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+<div class="memitem">
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+          <td class="memname"><a class="el" href="class_b_n_o08x_rpt_linear_acceleration.html">BNO08xRptLinearAcceleration</a> BNO08x::bno08x_reports_t::linear_accelerometer</td>
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+</div><div class="memdoc">
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+</div><div class="memdoc">
+
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+</div><div class="memdoc">
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+<div class="memitem">
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+      <table class="memname">
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+          <td class="memname"><a class="el" href="class_b_n_o08x_rpt_r_v.html">BNO08xRptRV</a> BNO08x::bno08x_reports_t::rv</td>
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+      </table>
+</div><div class="memdoc">
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+<h2 class="memtitle"><span class="permalink"><a href="#a027c914e51da445148dc9b2735cc5fc9">&#9670;&nbsp;</a></span>rv_ARVR_stabilized</h2>
+
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+          <td class="memname"><a class="el" href="class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v.html">BNO08xRptARVRStabilizedRV</a> BNO08x::bno08x_reports_t::rv_ARVR_stabilized</td>
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+      </table>
+</div><div class="memdoc">
+
+</div>
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+
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+        </tr>
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+</div><div class="memdoc">
+
+</div>
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+          <td class="memname"><a class="el" href="class_b_n_o08x_rpt_game_r_v.html">BNO08xRptGameRV</a> BNO08x::bno08x_reports_t::rv_game</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
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+<h2 class="memtitle"><span class="permalink"><a href="#a7e17ff7b9763ed040158813c69614a9f">&#9670;&nbsp;</a></span>rv_geomagnetic</h2>
+
+<div class="memitem">
+<div class="memproto">
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+          <td class="memname"><a class="el" href="class_b_n_o08x_rpt_r_v_geomag.html">BNO08xRptRVGeomag</a> BNO08x::bno08x_reports_t::rv_geomagnetic</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a6937b5d9bf8af9344a5013e1c543ab42">&#9670;&nbsp;</a></span>rv_gyro_integrated</h2>
+
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+          <td class="memname"><a class="el" href="class_b_n_o08x_rpt_i_gyro_r_v.html">BNO08xRptIGyroRV</a> BNO08x::bno08x_reports_t::rv_gyro_integrated</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a9d7ff08c5a141c3d1ad3493423e7c49c">&#9670;&nbsp;</a></span>shake_detector</h2>
+
+<div class="memitem">
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+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a2edee4386eaea86ef3d316f5840d7a2f">&#9670;&nbsp;</a></span>stability_classifier</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
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+          <td class="memname"><a class="el" href="class_b_n_o08x_rpt_stability_classifier.html">BNO08xRptStabilityClassifier</a> BNO08x::bno08x_reports_t::stability_classifier</td>
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+</div><div class="memdoc">
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+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#aee9528ea57ab86ef29e10de9ecfefcf7">&#9670;&nbsp;</a></span>step_counter</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
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+        </tr>
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+</div><div class="memdoc">
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+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a0cabee7da991a7399d607373f09548a7">&#9670;&nbsp;</a></span>tap_detector</h2>
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+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="class_b_n_o08x_rpt_tap_detector.html">BNO08xRptTapDetector</a> BNO08x::bno08x_reports_t::tap_detector</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a6f1929843393c09c21b1f107a47c8fe3" name="a6f1929843393c09c21b1f107a47c8fe3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6f1929843393c09c21b1f107a47c8fe3">&#9670;&nbsp;</a></span>uncal_gyro</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="class_b_n_o08x_rpt_uncal_gyro.html">BNO08xRptUncalGyro</a> BNO08x::bno08x_reports_t::uncal_gyro</td>
+        </tr>
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+</div><div class="memdoc">
+
+</div>
+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a5774fa69fc74264d40478a729aeb5ece">&#9670;&nbsp;</a></span>uncal_magnetometer</h2>
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+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="class_b_n_o08x_rpt_uncal_magnetometer.html">BNO08xRptUncalMagnetometer</a> BNO08x::bno08x_reports_t::uncal_magnetometer</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>/media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/<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="class_b_n_o08x.html">BNO08x</a></li><li class="navelem"><a class="el" href="struct_b_n_o08x_1_1bno08x__reports__t.html">bno08x_reports_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> 1.9.4 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/documentation/html/struct_b_n_o08x_1_1bno08x__reports__t.js b/documentation/html/struct_b_n_o08x_1_1bno08x__reports__t.js
new file mode 100644
index 0000000..4fa778c
--- /dev/null
+++ b/documentation/html/struct_b_n_o08x_1_1bno08x__reports__t.js
@@ -0,0 +1,25 @@
+var struct_b_n_o08x_1_1bno08x__reports__t =
+[
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+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
+   </div>
+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
+  </td>
+ </tr>
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+</table>
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+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">BNO08xPrivateTypes::bno08x_init_status_t Struct Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>Holds info about which functionality has been successfully initialized (used by deconstructor during cleanup).  
+ <a href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="_b_n_o08x_private_types_8hpp_source.html">BNO08xPrivateTypes.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>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a63b876667ae7fb32e9861dffafb55a64"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html#a63b876667ae7fb32e9861dffafb55a64">bno08x_init_status_t</a> ()</td></tr>
+<tr class="separator:a63b876667ae7fb32e9861dffafb55a64"><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:ac74b5a17ec13d4bef4e4775f20ed68df"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html#ac74b5a17ec13d4bef4e4775f20ed68df">gpio_outputs</a></td></tr>
+<tr class="memdesc:ac74b5a17ec13d4bef4e4775f20ed68df"><td class="mdescLeft">&#160;</td><td class="mdescRight">True if GPIO outputs have been initialized.  <a href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html#ac74b5a17ec13d4bef4e4775f20ed68df">More...</a><br /></td></tr>
+<tr class="separator:ac74b5a17ec13d4bef4e4775f20ed68df"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9b87a879ec795e2241985f0d33856c14"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html#a9b87a879ec795e2241985f0d33856c14">gpio_inputs</a></td></tr>
+<tr class="memdesc:a9b87a879ec795e2241985f0d33856c14"><td class="mdescLeft">&#160;</td><td class="mdescRight">True if GPIO inputs have been initialized.  <a href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html#a9b87a879ec795e2241985f0d33856c14">More...</a><br /></td></tr>
+<tr class="separator:a9b87a879ec795e2241985f0d33856c14"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3cec063b6210ec58d30b3bd1d4ead4f9"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html#a3cec063b6210ec58d30b3bd1d4ead4f9">isr_service</a></td></tr>
+<tr class="memdesc:a3cec063b6210ec58d30b3bd1d4ead4f9"><td class="mdescLeft">&#160;</td><td class="mdescRight">True if global ISR service has been initialized.  <a href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html#a3cec063b6210ec58d30b3bd1d4ead4f9">More...</a><br /></td></tr>
+<tr class="separator:a3cec063b6210ec58d30b3bd1d4ead4f9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7c4523e02a434a7be73f5dc5314429bd"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html#a7c4523e02a434a7be73f5dc5314429bd">isr_handler</a></td></tr>
+<tr class="memdesc:a7c4523e02a434a7be73f5dc5314429bd"><td class="mdescLeft">&#160;</td><td class="mdescRight">True if HINT ISR handler has been initialized.  <a href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html#a7c4523e02a434a7be73f5dc5314429bd">More...</a><br /></td></tr>
+<tr class="separator:a7c4523e02a434a7be73f5dc5314429bd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8780317bf985194a58d4b0457d518adf"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html#a8780317bf985194a58d4b0457d518adf">spi_bus</a></td></tr>
+<tr class="memdesc:a8780317bf985194a58d4b0457d518adf"><td class="mdescLeft">&#160;</td><td class="mdescRight">True if spi_bus_initialize() has been called successfully.  <a href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html#a8780317bf985194a58d4b0457d518adf">More...</a><br /></td></tr>
+<tr class="separator:a8780317bf985194a58d4b0457d518adf"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab268642c4b6b9fc1eb7c6ceec0e8e64d"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html#ab268642c4b6b9fc1eb7c6ceec0e8e64d">spi_device</a></td></tr>
+<tr class="memdesc:ab268642c4b6b9fc1eb7c6ceec0e8e64d"><td class="mdescLeft">&#160;</td><td class="mdescRight">True if spi_bus_add_device() has been called successfully.  <a href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html#ab268642c4b6b9fc1eb7c6ceec0e8e64d">More...</a><br /></td></tr>
+<tr class="separator:ab268642c4b6b9fc1eb7c6ceec0e8e64d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af303bcbae7a635043e0c082d7869dd40"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html#af303bcbae7a635043e0c082d7869dd40">data_proc_task</a></td></tr>
+<tr class="memdesc:af303bcbae7a635043e0c082d7869dd40"><td class="mdescLeft">&#160;</td><td class="mdescRight">True if xTaskCreate has been called successfully for data_proc_task.  <a href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html#af303bcbae7a635043e0c082d7869dd40">More...</a><br /></td></tr>
+<tr class="separator:af303bcbae7a635043e0c082d7869dd40"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a150665b9f07eea167dd61aa9701d0e66"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html#a150665b9f07eea167dd61aa9701d0e66">sh2_HAL_service_task</a></td></tr>
+<tr class="memdesc:a150665b9f07eea167dd61aa9701d0e66"><td class="mdescLeft">&#160;</td><td class="mdescRight">True if xTaskCreate has been called successfully for sh2_HAL_service_task.  <a href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html#a150665b9f07eea167dd61aa9701d0e66">More...</a><br /></td></tr>
+<tr class="separator:a150665b9f07eea167dd61aa9701d0e66"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae1066ea59e52f7d228b71df1f8c2b416"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html#ae1066ea59e52f7d228b71df1f8c2b416">cb_task</a></td></tr>
+<tr class="memdesc:ae1066ea59e52f7d228b71df1f8c2b416"><td class="mdescLeft">&#160;</td><td class="mdescRight">True if xTaskCreate has been called successfully for cb_task.  <a href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html#ae1066ea59e52f7d228b71df1f8c2b416">More...</a><br /></td></tr>
+<tr class="separator:ae1066ea59e52f7d228b71df1f8c2b416"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5094148539354e52e4f7b054ba766bce"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html#a5094148539354e52e4f7b054ba766bce">sh2_HAL</a></td></tr>
+<tr class="memdesc:a5094148539354e52e4f7b054ba766bce"><td class="mdescLeft">&#160;</td><td class="mdescRight">True if sh2_open() has been called successfully.  <a href="struct_b_n_o08x_private_types_1_1bno08x__init__status__t.html#a5094148539354e52e4f7b054ba766bce">More...</a><br /></td></tr>
+<tr class="separator:a5094148539354e52e4f7b054ba766bce"><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 info about which functionality has been successfully initialized (used by deconstructor during cleanup). </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a63b876667ae7fb32e9861dffafb55a64" name="a63b876667ae7fb32e9861dffafb55a64"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a63b876667ae7fb32e9861dffafb55a64">&#9670;&nbsp;</a></span>bno08x_init_status_t()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">BNO08xPrivateTypes::bno08x_init_status_t::bno08x_init_status_t </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="ae1066ea59e52f7d228b71df1f8c2b416" name="ae1066ea59e52f7d228b71df1f8c2b416"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae1066ea59e52f7d228b71df1f8c2b416">&#9670;&nbsp;</a></span>cb_task</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08xPrivateTypes::bno08x_init_status_t::cb_task</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>True if xTaskCreate has been called successfully for cb_task. </p>
+
+</div>
+</div>
+<a id="af303bcbae7a635043e0c082d7869dd40" name="af303bcbae7a635043e0c082d7869dd40"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af303bcbae7a635043e0c082d7869dd40">&#9670;&nbsp;</a></span>data_proc_task</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08xPrivateTypes::bno08x_init_status_t::data_proc_task</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>True if xTaskCreate has been called successfully for data_proc_task. </p>
+
+</div>
+</div>
+<a id="a9b87a879ec795e2241985f0d33856c14" name="a9b87a879ec795e2241985f0d33856c14"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9b87a879ec795e2241985f0d33856c14">&#9670;&nbsp;</a></span>gpio_inputs</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08xPrivateTypes::bno08x_init_status_t::gpio_inputs</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>True if GPIO inputs have been initialized. </p>
+
+</div>
+</div>
+<a id="ac74b5a17ec13d4bef4e4775f20ed68df" name="ac74b5a17ec13d4bef4e4775f20ed68df"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac74b5a17ec13d4bef4e4775f20ed68df">&#9670;&nbsp;</a></span>gpio_outputs</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08xPrivateTypes::bno08x_init_status_t::gpio_outputs</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>True if GPIO outputs have been initialized. </p>
+
+</div>
+</div>
+<a id="a7c4523e02a434a7be73f5dc5314429bd" name="a7c4523e02a434a7be73f5dc5314429bd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7c4523e02a434a7be73f5dc5314429bd">&#9670;&nbsp;</a></span>isr_handler</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08xPrivateTypes::bno08x_init_status_t::isr_handler</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>True if HINT ISR handler has been initialized. </p>
+
+</div>
+</div>
+<a id="a3cec063b6210ec58d30b3bd1d4ead4f9" name="a3cec063b6210ec58d30b3bd1d4ead4f9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3cec063b6210ec58d30b3bd1d4ead4f9">&#9670;&nbsp;</a></span>isr_service</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08xPrivateTypes::bno08x_init_status_t::isr_service</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>True if global ISR service has been initialized. </p>
+
+</div>
+</div>
+<a id="a5094148539354e52e4f7b054ba766bce" name="a5094148539354e52e4f7b054ba766bce"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5094148539354e52e4f7b054ba766bce">&#9670;&nbsp;</a></span>sh2_HAL</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08xPrivateTypes::bno08x_init_status_t::sh2_HAL</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>True if sh2_open() has been called successfully. </p>
+
+</div>
+</div>
+<a id="a150665b9f07eea167dd61aa9701d0e66" name="a150665b9f07eea167dd61aa9701d0e66"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a150665b9f07eea167dd61aa9701d0e66">&#9670;&nbsp;</a></span>sh2_HAL_service_task</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08xPrivateTypes::bno08x_init_status_t::sh2_HAL_service_task</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>True if xTaskCreate has been called successfully for sh2_HAL_service_task. </p>
+
+</div>
+</div>
+<a id="a8780317bf985194a58d4b0457d518adf" name="a8780317bf985194a58d4b0457d518adf"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8780317bf985194a58d4b0457d518adf">&#9670;&nbsp;</a></span>spi_bus</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08xPrivateTypes::bno08x_init_status_t::spi_bus</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>True if spi_bus_initialize() has been called successfully. </p>
+
+</div>
+</div>
+<a id="ab268642c4b6b9fc1eb7c6ceec0e8e64d" name="ab268642c4b6b9fc1eb7c6ceec0e8e64d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab268642c4b6b9fc1eb7c6ceec0e8e64d">&#9670;&nbsp;</a></span>spi_device</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool BNO08xPrivateTypes::bno08x_init_status_t::spi_device</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>True if spi_bus_add_device() has been called successfully. </p>
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>/media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/<a class="el" href="_b_n_o08x_private_types_8hpp_source.html">BNO08xPrivateTypes.hpp</a></li>
+</ul>
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+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
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+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
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+<!-- Generated by Doxygen 1.9.4 -->
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diff --git a/documentation/html/struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html b/documentation/html/struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html
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+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
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+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">BNO08xPrivateTypes::bno08x_sync_ctx_t Struct Reference</div></div>
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+<div class="contents">
+
+<p>Holds context used to synchronize tasks and callback execution.  
+ <a href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html#details">More...</a></p>
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+<tr class="separator:a551d1eb66d239c54cffa96b558e40a15"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aeaeeb8fa04544f63b66c32f3adbb0041"><td class="memItemLeft" align="right" valign="top">EventGroupHandle_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html#aeaeeb8fa04544f63b66c32f3adbb0041">evt_grp_rpt_en</a></td></tr>
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+<tr class="memitem:a13f4a91c74fbf09059b5b136ed4f09ac"><td class="memItemLeft" align="right" valign="top">EventGroupHandle_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html#a13f4a91c74fbf09059b5b136ed4f09ac">evt_grp_rpt_data_available</a></td></tr>
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+<tr class="memitem:aacddf6425d126d8e854eff620a2dbec0"><td class="memItemLeft" align="right" valign="top">EventGroupHandle_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html#aacddf6425d126d8e854eff620a2dbec0">evt_grp_task</a></td></tr>
+<tr class="memdesc:aacddf6425d126d8e854eff620a2dbec0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Event group for indicating various <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> related events between tasks.  <a href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html#aacddf6425d126d8e854eff620a2dbec0">More...</a><br /></td></tr>
+<tr class="separator:aacddf6425d126d8e854eff620a2dbec0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa63f0d6aa9a27e2f6cdbef17c42c3289"><td class="memItemLeft" align="right" valign="top">etl::vector&lt; uint8_t, TOTAL_RPT_COUNT &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html#aa63f0d6aa9a27e2f6cdbef17c42c3289">en_report_ids</a></td></tr>
+<tr class="memdesc:aa63f0d6aa9a27e2f6cdbef17c42c3289"><td class="mdescLeft">&#160;</td><td class="mdescRight">Vector to contain IDs of currently enabled reports.  <a href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html#aa63f0d6aa9a27e2f6cdbef17c42c3289">More...</a><br /></td></tr>
+<tr class="separator:aa63f0d6aa9a27e2f6cdbef17c42c3289"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad38bf7a37a5c9cae7c9d8725b23ff365"><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespace_b_n_o08x_private_types.html#a0f0c287ea0571e6c589c638e4bd07703">bno08x_cb_list_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html#ad38bf7a37a5c9cae7c9d8725b23ff365">cb_list</a></td></tr>
+<tr class="memdesc:ad38bf7a37a5c9cae7c9d8725b23ff365"><td class="mdescLeft">&#160;</td><td class="mdescRight">Vector to contain registered callbacks.  <a href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html#ad38bf7a37a5c9cae7c9d8725b23ff365">More...</a><br /></td></tr>
+<tr class="separator:ad38bf7a37a5c9cae7c9d8725b23ff365"><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 context used to synchronize tasks and callback execution. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a3f9cea8f40f89200c93f2a4bf09039ac" name="a3f9cea8f40f89200c93f2a4bf09039ac"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3f9cea8f40f89200c93f2a4bf09039ac">&#9670;&nbsp;</a></span>bno08x_sync_ctx_t()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">BNO08xPrivateTypes::bno08x_sync_ctx_t::bno08x_sync_ctx_t </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="ad38bf7a37a5c9cae7c9d8725b23ff365" name="ad38bf7a37a5c9cae7c9d8725b23ff365"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad38bf7a37a5c9cae7c9d8725b23ff365">&#9670;&nbsp;</a></span>cb_list</h2>
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+<div class="memitem">
+<div class="memproto">
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+          <td class="memname"><a class="el" href="namespace_b_n_o08x_private_types.html#a0f0c287ea0571e6c589c638e4bd07703">bno08x_cb_list_t</a> BNO08xPrivateTypes::bno08x_sync_ctx_t::cb_list</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Vector to contain registered callbacks. </p>
+
+</div>
+</div>
+<a id="a551d1eb66d239c54cffa96b558e40a15" name="a551d1eb66d239c54cffa96b558e40a15"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a551d1eb66d239c54cffa96b558e40a15">&#9670;&nbsp;</a></span>data_lock</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
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+      </table>
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+
+<p>Mutex to prevent user from reading data while data_proc_task() updates it, and vice versa. </p>
+
+</div>
+</div>
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+<p>Vector to contain IDs of currently enabled reports. </p>
+
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+<div class="memproto">
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+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Event group for indicating to <a class="el" href="class_b_n_o08x_rpt.html#a74f6037286b51382535bab61680297ed" title="Checks if a new report has been received since the last time this function was called.">BNO08xRpt::has_new_data()</a> that a module received a new report. </p>
+
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+<h2 class="memtitle"><span class="permalink"><a href="#aeaeeb8fa04544f63b66c32f3adbb0041">&#9670;&nbsp;</a></span>evt_grp_rpt_en</h2>
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+
+<p>Event group for indicating which reports are currently enabled. </p>
+
+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#aacddf6425d126d8e854eff620a2dbec0">&#9670;&nbsp;</a></span>evt_grp_task</h2>
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+<div class="memproto">
+      <table class="memname">
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+          <td class="memname">EventGroupHandle_t BNO08xPrivateTypes::bno08x_sync_ctx_t::evt_grp_task</td>
+        </tr>
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+
+<p>Event group for indicating various <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> related events between tasks. </p>
+
+</div>
+</div>
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+      </table>
+</div><div class="memdoc">
+
+<p>Mutex to prevent sh2 HAL lib functions from being accessed at same time. </p>
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>/media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/<a class="el" href="_b_n_o08x_private_types_8hpp_source.html">BNO08xPrivateTypes.hpp</a></li>
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
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+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
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+<!-- Generated by Doxygen 1.9.4 -->
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+<div class="contents">
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+<!-- 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> 1.9.4 </li>
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+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
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+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
+  </td>
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+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.4 -->
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+        name="MSearchResults" id="MSearchResults">
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+</div>
+
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structbno08x__accel__t-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">bno08x_accel_t Struct Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>Struct to represent acceleration data from acceleration, linear acceleration, and gravity reports.  
+ <a href="structbno08x__accel__t.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="_b_n_o08x_global_types_8hpp_source.html">BNO08xGlobalTypes.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="separator:a3d71a06304afc576280c56952b4f7a34"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5b3f1b2cc2a889af23d27185c6efd75e"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structbno08x__accel__t.html">bno08x_accel_t</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structbno08x__accel__t.html#a5b3f1b2cc2a889af23d27185c6efd75e">operator=</a> (const sh2_Accelerometer_t &amp;source)</td></tr>
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+<tr class="memitem:af72246bad5088682490f6a13e4624b7c"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structbno08x__accel__t.html#af72246bad5088682490f6a13e4624b7c">x</a></td></tr>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p >Struct to represent acceleration data from acceleration, linear acceleration, and gravity reports. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a3d71a06304afc576280c56952b4f7a34" name="a3d71a06304afc576280c56952b4f7a34"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3d71a06304afc576280c56952b4f7a34">&#9670;&nbsp;</a></span>bno08x_accel_t()</h2>
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+      </table>
+  </td>
+  <td class="mlabels-right">
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+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a5b3f1b2cc2a889af23d27185c6efd75e" name="a5b3f1b2cc2a889af23d27185c6efd75e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5b3f1b2cc2a889af23d27185c6efd75e">&#9670;&nbsp;</a></span>operator=()</h2>
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+          <td>(</td>
+          <td class="paramtype">const sh2_Accelerometer_t &amp;&#160;</td>
+          <td class="paramname"><em>source</em></td><td>)</td>
+          <td></td>
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+<div class="memitem">
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+
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+<h2 class="memtitle"><span class="permalink"><a href="#a391bf7c4ee0c3f571d94f73f047e9a3f">&#9670;&nbsp;</a></span>z</h2>
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+</div>
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+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>/media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/<a class="el" href="_b_n_o08x_global_types_8hpp_source.html">BNO08xGlobalTypes.hpp</a></li>
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+<meta name="generator" content="Doxygen 1.9.4"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
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+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
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+<div class="contents">
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+<p>This is the complete list of members for <a class="el" href="structbno08x__activity__classifier__t.html">bno08x_activity_classifier_t</a>, including all inherited members.</p>
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+  <tr class="odd"><td class="entry"><a class="el" href="structbno08x__activity__classifier__t.html#ac9375f65afb421e1d552e11461546a43">operator=</a>(const sh2_PersonalActivityClassifier_t &amp;source)</td><td class="entry"><a class="el" href="structbno08x__activity__classifier__t.html">bno08x_activity_classifier_t</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
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+</table></div><!-- contents -->
+</div><!-- doc-content -->
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+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
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+        name="MSearchResults" id="MSearchResults">
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+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structbno08x__activity__classifier__t-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">bno08x_activity_classifier_t Struct Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>Struct to represent activity classifier data.  
+ <a href="structbno08x__activity__classifier__t.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="_b_n_o08x_global_types_8hpp_source.html">BNO08xGlobalTypes.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>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a302244e7d2d064b126eb92f363add923"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structbno08x__activity__classifier__t.html#a302244e7d2d064b126eb92f363add923">bno08x_activity_classifier_t</a> ()</td></tr>
+<tr class="separator:a302244e7d2d064b126eb92f363add923"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac9375f65afb421e1d552e11461546a43"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structbno08x__activity__classifier__t.html">bno08x_activity_classifier_t</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structbno08x__activity__classifier__t.html#ac9375f65afb421e1d552e11461546a43">operator=</a> (const sh2_PersonalActivityClassifier_t &amp;source)</td></tr>
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+</table><table class="memberdecls">
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+Public Attributes</h2></td></tr>
+<tr class="memitem:a6c99dd8968d52c7099c6f6b2acf11796"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structbno08x__activity__classifier__t.html#a6c99dd8968d52c7099c6f6b2acf11796">confidence</a> [10]</td></tr>
+<tr class="separator:a6c99dd8968d52c7099c6f6b2acf11796"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a272be5b28ff89a20d3c3cfdbfe63a5b5"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:aa3e3a6b479558722bc9d5416b74492ca"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structbno08x__activity__classifier__t.html#aa3e3a6b479558722bc9d5416b74492ca">page</a></td></tr>
+<tr class="separator:aa3e3a6b479558722bc9d5416b74492ca"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a90b7b42f031ed0e5b4c5d0e167caccb9"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structbno08x__activity__classifier__t.html#a90b7b42f031ed0e5b4c5d0e167caccb9">lastPage</a></td></tr>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p >Struct to represent activity classifier data. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a302244e7d2d064b126eb92f363add923" name="a302244e7d2d064b126eb92f363add923"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a302244e7d2d064b126eb92f363add923">&#9670;&nbsp;</a></span>bno08x_activity_classifier_t()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
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+          <td class="memname">bno08x_activity_classifier_t::bno08x_activity_classifier_t </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
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+
+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#ac9375f65afb421e1d552e11461546a43">&#9670;&nbsp;</a></span>operator=()</h2>
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+  <td class="mlabels-left">
+      <table class="memname">
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+          <td>(</td>
+          <td class="paramtype">const sh2_PersonalActivityClassifier_t &amp;&#160;</td>
+          <td class="paramname"><em>source</em></td><td>)</td>
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+<h2 class="memtitle"><span class="permalink"><a href="#a51df90897f0f47b640ac975ad8f4833f">&#9670;&nbsp;</a></span>accuracy</h2>
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+          <td class="memname">uint8_t bno08x_activity_classifier_t::confidence[10]</td>
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+
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+<h2 class="memtitle"><span class="permalink"><a href="#a90b7b42f031ed0e5b4c5d0e167caccb9">&#9670;&nbsp;</a></span>lastPage</h2>
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+
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+<div class="memitem">
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+          <td class="memname"><a class="el" href="_b_n_o08x_global_types_8hpp.html#a43d66cdccf17ba0cddcdddc72d4fb97d">BNO08xActivity</a> bno08x_activity_classifier_t::mostLikelyState</td>
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+
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+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>/media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/<a class="el" href="_b_n_o08x_global_types_8hpp_source.html">BNO08xGlobalTypes.hpp</a></li>
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+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structbno08x__ang__vel__t-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">bno08x_ang_vel_t Struct Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>Struct to represent angular velocity (units in rad/s)  
+ <a href="structbno08x__ang__vel__t.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="_b_n_o08x_global_types_8hpp_source.html">BNO08xGlobalTypes.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:ae963f28d8914d5cc2f13620a4a9c57e8"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
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+<tr class="separator:ae963f28d8914d5cc2f13620a4a9c57e8"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:aad57f7ad443f1c94b411ff1c3c2d37a3"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structbno08x__ang__vel__t.html#aad57f7ad443f1c94b411ff1c3c2d37a3">x</a></td></tr>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
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+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a76cf6d15cef214b31a47008d49b843be" name="a76cf6d15cef214b31a47008d49b843be"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a76cf6d15cef214b31a47008d49b843be">&#9670;&nbsp;</a></span>bno08x_ang_vel_t()</h2>
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+<h2 class="memtitle"><span class="permalink"><a href="#ae963f28d8914d5cc2f13620a4a9c57e8">&#9670;&nbsp;</a></span>operator*=()</h2>
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+<div class="memitem">
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+          <td>(</td>
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+          <td class="paramname"><em>value</em></td><td>)</td>
+          <td></td>
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+<h2 class="memtitle"><span class="permalink"><a href="#afe1b100ac38de3ccd0c0b617e5b5d8a2">&#9670;&nbsp;</a></span>operator=()</h2>
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+          <td>(</td>
+          <td class="paramtype">const sh2_GyroIntegratedRV_t &amp;&#160;</td>
+          <td class="paramname"><em>source</em></td><td>)</td>
+          <td></td>
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+<h2 class="memtitle"><span class="permalink"><a href="#aad57f7ad443f1c94b411ff1c3c2d37a3">&#9670;&nbsp;</a></span>x</h2>
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+<hr/>The documentation for this struct was generated from the following file:<ul>
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+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
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+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
+   </div>
+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
+  </td>
+ </tr>
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+
+<div class="header">
+  <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="structbno08x__config__t.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="_b_n_o08x_global_types_8hpp_source.html">BNO08xGlobalTypes.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>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a68e051212415a62e64c23678e7b40552"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structbno08x__config__t.html#a68e051212415a62e64c23678e7b40552">bno08x_config_t</a> (bool <a class="el" href="structbno08x__config__t.html#a0f629aaef6756aa80fec96b34476c627">install_isr_service</a>=true)</td></tr>
+<tr class="memdesc:a68e051212415a62e64c23678e7b40552"><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".  <a href="structbno08x__config__t.html#a68e051212415a62e64c23678e7b40552">More...</a><br /></td></tr>
+<tr class="separator:a68e051212415a62e64c23678e7b40552"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afa37d6ffc6f4fc7c9aa7484d49458a4a"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structbno08x__config__t.html#afa37d6ffc6f4fc7c9aa7484d49458a4a">bno08x_config_t</a> (spi_host_device_t <a class="el" href="structbno08x__config__t.html#a020d2343750bb7debc2a108ae038c9ec">spi_peripheral</a>, gpio_num_t <a class="el" href="structbno08x__config__t.html#a79023fd80039e41a22b7f73ccd5fc861">io_mosi</a>, gpio_num_t <a class="el" href="structbno08x__config__t.html#a9468180a773892977db39cc5ed9368e3">io_miso</a>, gpio_num_t <a class="el" href="structbno08x__config__t.html#a639685b91ae3198909d722316495246a">io_sclk</a>, gpio_num_t <a class="el" href="structbno08x__config__t.html#ab1b5351b63da0c172c942463d0dc2505">io_cs</a>, gpio_num_t <a class="el" href="structbno08x__config__t.html#a3cfe965659cfbc6b0c5269bd0211975f">io_int</a>, gpio_num_t <a class="el" href="structbno08x__config__t.html#a62745c761219139f66ecd173b51577fc">io_rst</a>, uint32_t <a class="el" href="structbno08x__config__t.html#a231614c3b20888360def2ce9db83f52a">sclk_speed</a>, bool <a class="el" href="structbno08x__config__t.html#a0f629aaef6756aa80fec96b34476c627">install_isr_service</a>=true)</td></tr>
+<tr class="memdesc:afa37d6ffc6f4fc7c9aa7484d49458a4a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Overloaded IMU configuration settings constructor for custom pin settings.  <a href="structbno08x__config__t.html#afa37d6ffc6f4fc7c9aa7484d49458a4a">More...</a><br /></td></tr>
+<tr class="separator:afa37d6ffc6f4fc7c9aa7484d49458a4a"><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"><td class="memItemLeft" align="right" valign="top">spi_host_device_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structbno08x__config__t.html#a020d2343750bb7debc2a108ae038c9ec">spi_peripheral</a></td></tr>
+<tr class="memdesc:a020d2343750bb7debc2a108ae038c9ec"><td class="mdescLeft">&#160;</td><td class="mdescRight">SPI peripheral to be used.  <a href="structbno08x__config__t.html#a020d2343750bb7debc2a108ae038c9ec">More...</a><br /></td></tr>
+<tr class="separator:a020d2343750bb7debc2a108ae038c9ec"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a79023fd80039e41a22b7f73ccd5fc861"><td class="memItemLeft" align="right" valign="top">gpio_num_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structbno08x__config__t.html#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" title="BNO08x IMU driver class.">BNO08x</a> DI pin)  <a href="structbno08x__config__t.html#a79023fd80039e41a22b7f73ccd5fc861">More...</a><br /></td></tr>
+<tr class="separator:a79023fd80039e41a22b7f73ccd5fc861"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9468180a773892977db39cc5ed9368e3"><td class="memItemLeft" align="right" valign="top">gpio_num_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structbno08x__config__t.html#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" title="BNO08x IMU driver class.">BNO08x</a> SDA pin)  <a href="structbno08x__config__t.html#a9468180a773892977db39cc5ed9368e3">More...</a><br /></td></tr>
+<tr class="separator:a9468180a773892977db39cc5ed9368e3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a639685b91ae3198909d722316495246a"><td class="memItemLeft" align="right" valign="top">gpio_num_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structbno08x__config__t.html#a639685b91ae3198909d722316495246a">io_sclk</a></td></tr>
+<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" title="BNO08x IMU driver class.">BNO08x</a> SCL pin)  <a href="structbno08x__config__t.html#a639685b91ae3198909d722316495246a">More...</a><br /></td></tr>
+<tr class="separator:a639685b91ae3198909d722316495246a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab1b5351b63da0c172c942463d0dc2505"><td class="memItemLeft" align="right" valign="top">gpio_num_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structbno08x__config__t.html#ab1b5351b63da0c172c942463d0dc2505">io_cs</a></td></tr>
+<tr class="separator:ab1b5351b63da0c172c942463d0dc2505"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3cfe965659cfbc6b0c5269bd0211975f"><td class="memItemLeft" align="right" valign="top">gpio_num_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structbno08x__config__t.html#a3cfe965659cfbc6b0c5269bd0211975f">io_int</a></td></tr>
+<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" title="BNO08x IMU driver class.">BNO08x</a> CS pin)  <a href="structbno08x__config__t.html#a3cfe965659cfbc6b0c5269bd0211975f">More...</a><br /></td></tr>
+<tr class="separator:a3cfe965659cfbc6b0c5269bd0211975f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a62745c761219139f66ecd173b51577fc"><td class="memItemLeft" align="right" valign="top">gpio_num_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structbno08x__config__t.html#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" title="BNO08x IMU driver class.">BNO08x</a> INT pin)  <a href="structbno08x__config__t.html#a62745c761219139f66ecd173b51577fc">More...</a><br /></td></tr>
+<tr class="separator:a62745c761219139f66ecd173b51577fc"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a231614c3b20888360def2ce9db83f52a"><td class="memItemLeft" align="right" valign="top">uint32_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structbno08x__config__t.html#a231614c3b20888360def2ce9db83f52a">sclk_speed</a></td></tr>
+<tr class="memdesc:a231614c3b20888360def2ce9db83f52a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Reset pin (connects to <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> RST pin)  <a href="structbno08x__config__t.html#a231614c3b20888360def2ce9db83f52a">More...</a><br /></td></tr>
+<tr class="separator:a231614c3b20888360def2ce9db83f52a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0f629aaef6756aa80fec96b34476c627"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structbno08x__config__t.html#a0f629aaef6756aa80fec96b34476c627">install_isr_service</a></td></tr>
+<tr class="memdesc:a0f629aaef6756aa80fec96b34476c627"><td class="mdescLeft">&#160;</td><td class="mdescRight">Indicates whether the ISR service for the HINT should be installed at IMU initialization, (if gpio_install_isr_service() is called before initialize() set this to false)  <a href="structbno08x__config__t.html#a0f629aaef6756aa80fec96b34476c627">More...</a><br /></td></tr>
+<tr class="separator:a0f629aaef6756aa80fec96b34476c627"><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="a68e051212415a62e64c23678e7b40552" name="a68e051212415a62e64c23678e7b40552"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a68e051212415a62e64c23678e7b40552">&#9670;&nbsp;</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="paramtype">bool&#160;</td>
+          <td class="paramname"><em>install_isr_service</em> = <code>true</code></td><td>)</td>
+          <td></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>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="afa37d6ffc6f4fc7c9aa7484d49458a4a" name="afa37d6ffc6f4fc7c9aa7484d49458a4a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afa37d6ffc6f4fc7c9aa7484d49458a4a">&#9670;&nbsp;</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&#160;</td>
+          <td class="paramname"><em>spi_peripheral</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">gpio_num_t&#160;</td>
+          <td class="paramname"><em>io_mosi</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">gpio_num_t&#160;</td>
+          <td class="paramname"><em>io_miso</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">gpio_num_t&#160;</td>
+          <td class="paramname"><em>io_sclk</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">gpio_num_t&#160;</td>
+          <td class="paramname"><em>io_cs</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">gpio_num_t&#160;</td>
+          <td class="paramname"><em>io_int</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">gpio_num_t&#160;</td>
+          <td class="paramname"><em>io_rst</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">uint32_t&#160;</td>
+          <td class="paramname"><em>sclk_speed</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">bool&#160;</td>
+          <td class="paramname"><em>install_isr_service</em> = <code>true</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></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="a0f629aaef6756aa80fec96b34476c627" name="a0f629aaef6756aa80fec96b34476c627"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0f629aaef6756aa80fec96b34476c627">&#9670;&nbsp;</a></span>install_isr_service</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool bno08x_config_t::install_isr_service</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Indicates whether the ISR service for the HINT should be installed at IMU initialization, (if gpio_install_isr_service() is called before initialize() set this to false) </p>
+
+</div>
+</div>
+<a id="ab1b5351b63da0c172c942463d0dc2505" name="ab1b5351b63da0c172c942463d0dc2505"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab1b5351b63da0c172c942463d0dc2505">&#9670;&nbsp;</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;&nbsp;</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" title="BNO08x IMU driver class.">BNO08x</a> CS pin) </p>
+
+</div>
+</div>
+<a id="a9468180a773892977db39cc5ed9368e3" name="a9468180a773892977db39cc5ed9368e3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9468180a773892977db39cc5ed9368e3">&#9670;&nbsp;</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" title="BNO08x IMU driver class.">BNO08x</a> SDA pin) </p>
+
+</div>
+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a79023fd80039e41a22b7f73ccd5fc861">&#9670;&nbsp;</a></span>io_mosi</h2>
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+<div class="memitem">
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+
+<p>MOSI GPIO pin (connects to <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> DI pin) </p>
+
+</div>
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+<div class="memitem">
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+          <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" title="BNO08x IMU driver class.">BNO08x</a> INT pin) </p>
+
+</div>
+</div>
+<a id="a639685b91ae3198909d722316495246a" name="a639685b91ae3198909d722316495246a"></a>
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+          <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" title="BNO08x IMU driver class.">BNO08x</a> SCL pin) </p>
+
+</div>
+</div>
+<a id="a231614c3b20888360def2ce9db83f52a" name="a231614c3b20888360def2ce9db83f52a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a231614c3b20888360def2ce9db83f52a">&#9670;&nbsp;</a></span>sclk_speed</h2>
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+<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>Reset pin (connects to <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> RST pin) </p>
+<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;&nbsp;</a></span>spi_peripheral</h2>
+
+<div class="memitem">
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+        <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>/media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/<a class="el" href="_b_n_o08x_global_types_8hpp_source.html">BNO08xGlobalTypes.hpp</a></li>
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+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
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+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
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+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structbno08x__euler__angle__t-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">bno08x_euler_angle_t Struct Reference</div></div>
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+<p>Struct to represent euler angle (units in degrees or rads)  
+ <a href="structbno08x__euler__angle__t.html#details">More...</a></p>
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+<tr class="separator:a89ab348ee455b14e5d09f1eb5d231c99"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3b4fad0b84bda3f34e86f7168ef2fee6"><td class="memItemLeft" align="right" valign="top"><a class="el" href="_b_n_o08x_global_types_8hpp.html#a6bdf6fea6d671c12413d95f36a3e7ba6">BNO08xAccuracy</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structbno08x__euler__angle__t.html#a3b4fad0b84bda3f34e86f7168ef2fee6">accuracy</a></td></tr>
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+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p >Struct to represent euler angle (units in degrees or rads) </p>
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+<h2 class="memtitle"><span class="permalink"><a href="#a0b1d1fcfc2884937404446ca16829e51">&#9670;&nbsp;</a></span>operator*=()</h2>
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+<div class="memitem">
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+          <td>(</td>
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+
+</div>
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+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>/media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/<a class="el" href="_b_n_o08x_global_types_8hpp_source.html">BNO08xGlobalTypes.hpp</a></li>
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+<p>This is the complete list of members for <a class="el" href="structbno08x__gyro__bias__t.html">bno08x_gyro_bias_t</a>, including all inherited members.</p>
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+  <tr class="even"><td class="entry"><a class="el" href="structbno08x__gyro__bias__t.html#a779c3000b541664d935b2ffda75a5f14">bno08x_gyro_bias_t</a>()</td><td class="entry"><a class="el" href="structbno08x__gyro__bias__t.html">bno08x_gyro_bias_t</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
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+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</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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+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structbno08x__gyro__bias__t-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">bno08x_gyro_bias_t Struct Reference</div></div>
+</div><!--header-->
+<div class="contents">
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+<p>Struct to represent gyro bias data (units in rad/s)  
+ <a href="structbno08x__gyro__bias__t.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="_b_n_o08x_global_types_8hpp_source.html">BNO08xGlobalTypes.hpp</a>&gt;</code></p>
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+<tr class="memitem:a779c3000b541664d935b2ffda75a5f14"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structbno08x__gyro__bias__t.html#a779c3000b541664d935b2ffda75a5f14">bno08x_gyro_bias_t</a> ()</td></tr>
+<tr class="separator:a779c3000b541664d935b2ffda75a5f14"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aaa3795c61ebd89d4a620600b37ac27fc"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structbno08x__gyro__bias__t.html">bno08x_gyro_bias_t</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structbno08x__gyro__bias__t.html#aaa3795c61ebd89d4a620600b37ac27fc">operator=</a> (const sh2_GyroscopeUncalibrated &amp;source)</td></tr>
+<tr class="separator:aaa3795c61ebd89d4a620600b37ac27fc"><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:a9c592e8c420797c8e02146eb6ba4a923"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structbno08x__gyro__bias__t.html#a9c592e8c420797c8e02146eb6ba4a923">x</a></td></tr>
+<tr class="separator:a9c592e8c420797c8e02146eb6ba4a923"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9bb96e58ed1df186edf40aa66b38bf4a"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structbno08x__gyro__bias__t.html#a9bb96e58ed1df186edf40aa66b38bf4a">y</a></td></tr>
+<tr class="separator:a9bb96e58ed1df186edf40aa66b38bf4a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aef04b50ebf86ff49631beb3ba90ae1ba"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structbno08x__gyro__bias__t.html#aef04b50ebf86ff49631beb3ba90ae1ba">z</a></td></tr>
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+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p >Struct to represent gyro bias data (units in rad/s) </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a779c3000b541664d935b2ffda75a5f14" name="a779c3000b541664d935b2ffda75a5f14"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a779c3000b541664d935b2ffda75a5f14">&#9670;&nbsp;</a></span>bno08x_gyro_bias_t()</h2>
+
+<div class="memitem">
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+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
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+          <td class="memname">bno08x_gyro_bias_t::bno08x_gyro_bias_t </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="aaa3795c61ebd89d4a620600b37ac27fc" name="aaa3795c61ebd89d4a620600b37ac27fc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aaa3795c61ebd89d4a620600b37ac27fc">&#9670;&nbsp;</a></span>operator=()</h2>
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+<div class="memitem">
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+      <table class="memname">
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+          <td class="memname"><a class="el" href="structbno08x__gyro__bias__t.html">bno08x_gyro_bias_t</a> &amp; bno08x_gyro_bias_t::operator= </td>
+          <td>(</td>
+          <td class="paramtype">const sh2_GyroscopeUncalibrated &amp;&#160;</td>
+          <td class="paramname"><em>source</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
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+
+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a9c592e8c420797c8e02146eb6ba4a923">&#9670;&nbsp;</a></span>x</h2>
+
+<div class="memitem">
+<div class="memproto">
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+          <td class="memname">float bno08x_gyro_bias_t::x</td>
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+
+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a9bb96e58ed1df186edf40aa66b38bf4a">&#9670;&nbsp;</a></span>y</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
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+          <td class="memname">float bno08x_gyro_bias_t::y</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
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+<a id="aef04b50ebf86ff49631beb3ba90ae1ba" name="aef04b50ebf86ff49631beb3ba90ae1ba"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aef04b50ebf86ff49631beb3ba90ae1ba">&#9670;&nbsp;</a></span>z</h2>
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+<div class="memitem">
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+          <td class="memname">float bno08x_gyro_bias_t::z</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>/media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/<a class="el" href="_b_n_o08x_global_types_8hpp_source.html">BNO08xGlobalTypes.hpp</a></li>
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+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
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+<p>This is the complete list of members for <a class="el" href="structbno08x__gyro__t.html">bno08x_gyro_t</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="structbno08x__gyro__t.html#a87ab3be28faed62506a764d411650a12">accuracy</a></td><td class="entry"><a class="el" href="structbno08x__gyro__t.html">bno08x_gyro_t</a></td><td class="entry"></td></tr>
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+  <tr class="even"><td class="entry"><a class="el" href="structbno08x__gyro__t.html#a13cfb2e5d15b2fe50d1d910bd0c4b868">operator=</a>(const sh2_Gyroscope_t &amp;source)</td><td class="entry"><a class="el" href="structbno08x__gyro__t.html">bno08x_gyro_t</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
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+</table></div><!-- contents -->
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+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
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+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structbno08x__gyro__t-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">bno08x_gyro_t Struct Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>Struct to represent gyro data (units in rad/s)  
+ <a href="structbno08x__gyro__t.html#details">More...</a></p>
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+<p><code>#include &lt;<a class="el" href="_b_n_o08x_global_types_8hpp_source.html">BNO08xGlobalTypes.hpp</a>&gt;</code></p>
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+          <td></td>
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+          <td>(</td>
+          <td class="paramtype">const sh2_Gyroscope_t &amp;&#160;</td>
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+          <td></td>
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+  </td>
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+<h2 class="memtitle"><span class="permalink"><a href="#a64d4900e42a8f056a404b699074f1c41">&#9670;&nbsp;</a></span>operator=() <span class="overload">[2/2]</span></h2>
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+          <td class="paramname"><em>source</em></td><td>)</td>
+          <td></td>
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+
+</div>
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+
+</div>
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+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>/media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/<a class="el" href="_b_n_o08x_global_types_8hpp_source.html">BNO08xGlobalTypes.hpp</a></li>
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+  <tr class="odd"><td class="entry"><a class="el" href="structbno08x__magf__bias__t.html#aeed524c368c645e3f325ffe387199a31">operator=</a>(const sh2_MagneticFieldUncalibrated_t &amp;source)</td><td class="entry"><a class="el" href="structbno08x__magf__bias__t.html">bno08x_magf_bias_t</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
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+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
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+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structbno08x__magf__bias__t-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">bno08x_magf_bias_t Struct Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>Struct to represent magnetic field bias data (units in uTesla)  
+ <a href="structbno08x__magf__bias__t.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="_b_n_o08x_global_types_8hpp_source.html">BNO08xGlobalTypes.hpp</a>&gt;</code></p>
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+<tr class="memitem:aeed524c368c645e3f325ffe387199a31"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structbno08x__magf__bias__t.html">bno08x_magf_bias_t</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structbno08x__magf__bias__t.html#aeed524c368c645e3f325ffe387199a31">operator=</a> (const sh2_MagneticFieldUncalibrated_t &amp;source)</td></tr>
+<tr class="separator:aeed524c368c645e3f325ffe387199a31"><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:ac4f55ef988b43d3d6c753a2201c60b14"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structbno08x__magf__bias__t.html#ac4f55ef988b43d3d6c753a2201c60b14">x</a></td></tr>
+<tr class="separator:ac4f55ef988b43d3d6c753a2201c60b14"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0e49d87458853c3478ffe1febffa0279"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structbno08x__magf__bias__t.html#a0e49d87458853c3478ffe1febffa0279">y</a></td></tr>
+<tr class="separator:a0e49d87458853c3478ffe1febffa0279"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a76b135fa354d2646927ff76c2da5a6b3"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structbno08x__magf__bias__t.html#a76b135fa354d2646927ff76c2da5a6b3">z</a></td></tr>
+<tr class="separator:a76b135fa354d2646927ff76c2da5a6b3"><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 >Struct to represent magnetic field bias data (units in uTesla) </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="aa0b6af3812168e0dc9329d5a70e54f98" name="aa0b6af3812168e0dc9329d5a70e54f98"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa0b6af3812168e0dc9329d5a70e54f98">&#9670;&nbsp;</a></span>bno08x_magf_bias_t()</h2>
+
+<div class="memitem">
+<div class="memproto">
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+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
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+          <td class="memname">bno08x_magf_bias_t::bno08x_magf_bias_t </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="aeed524c368c645e3f325ffe387199a31" name="aeed524c368c645e3f325ffe387199a31"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aeed524c368c645e3f325ffe387199a31">&#9670;&nbsp;</a></span>operator=()</h2>
+
+<div class="memitem">
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+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="structbno08x__magf__bias__t.html">bno08x_magf_bias_t</a> &amp; bno08x_magf_bias_t::operator= </td>
+          <td>(</td>
+          <td class="paramtype">const sh2_MagneticFieldUncalibrated_t &amp;&#160;</td>
+          <td class="paramname"><em>source</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
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+
+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#ac4f55ef988b43d3d6c753a2201c60b14">&#9670;&nbsp;</a></span>x</h2>
+
+<div class="memitem">
+<div class="memproto">
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+          <td class="memname">float bno08x_magf_bias_t::x</td>
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+
+</div>
+</div>
+<a id="a0e49d87458853c3478ffe1febffa0279" name="a0e49d87458853c3478ffe1febffa0279"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0e49d87458853c3478ffe1febffa0279">&#9670;&nbsp;</a></span>y</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
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+          <td class="memname">float bno08x_magf_bias_t::y</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a76b135fa354d2646927ff76c2da5a6b3" name="a76b135fa354d2646927ff76c2da5a6b3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a76b135fa354d2646927ff76c2da5a6b3">&#9670;&nbsp;</a></span>z</h2>
+
+<div class="memitem">
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+          <td class="memname">float bno08x_magf_bias_t::z</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
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+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>/media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/<a class="el" href="_b_n_o08x_global_types_8hpp_source.html">BNO08xGlobalTypes.hpp</a></li>
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+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
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+  <div class="headertitle"><div class="title">bno08x_magf_t Member List</div></div>
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+
+<p>This is the complete list of members for <a class="el" href="structbno08x__magf__t.html">bno08x_magf_t</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="structbno08x__magf__t.html#a6b92aa85f81f17034c3f201dd9ff0b46">accuracy</a></td><td class="entry"><a class="el" href="structbno08x__magf__t.html">bno08x_magf_t</a></td><td class="entry"></td></tr>
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+  <tr class="even"><td class="entry"><a class="el" href="structbno08x__magf__t.html#adadb35e5c67433e47895d7ae5885a00e">operator=</a>(const sh2_MagneticField_t &amp;source)</td><td class="entry"><a class="el" href="structbno08x__magf__t.html">bno08x_magf_t</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="structbno08x__magf__t.html#a2e0b22e5fa40d5ecd447e0cb451b3282">operator=</a>(const sh2_MagneticFieldUncalibrated_t &amp;source)</td><td class="entry"><a class="el" href="structbno08x__magf__t.html">bno08x_magf_t</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structbno08x__magf__t.html#ac692d27a0bd9d698a89a8ca58e959d08">x</a></td><td class="entry"><a class="el" href="structbno08x__magf__t.html">bno08x_magf_t</a></td><td class="entry"></td></tr>
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+</table></div><!-- contents -->
+</div><!-- doc-content -->
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+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
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+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
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+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structbno08x__magf__t-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">bno08x_magf_t Struct Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>Struct to represent magnetic field data (units in uTesla)  
+ <a href="structbno08x__magf__t.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="_b_n_o08x_global_types_8hpp_source.html">BNO08xGlobalTypes.hpp</a>&gt;</code></p>
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+<tr class="memitem:a01b2e4c9a144b3e1c0572db12ed48601"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structbno08x__magf__t.html#a01b2e4c9a144b3e1c0572db12ed48601">y</a></td></tr>
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+<tr class="memitem:a0516e3805249e8b62856af2aabf7cc0b"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structbno08x__magf__t.html#a0516e3805249e8b62856af2aabf7cc0b">z</a></td></tr>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
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+
+<div class="memitem">
+<div class="memproto">
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+  <tr>
+  <td class="mlabels-left">
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+        <tr>
+          <td class="memname">bno08x_magf_t::bno08x_magf_t </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="adadb35e5c67433e47895d7ae5885a00e" name="adadb35e5c67433e47895d7ae5885a00e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adadb35e5c67433e47895d7ae5885a00e">&#9670;&nbsp;</a></span>operator=() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
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+          <td>(</td>
+          <td class="paramtype">const sh2_MagneticField_t &amp;&#160;</td>
+          <td class="paramname"><em>source</em></td><td>)</td>
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+  </td>
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+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
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+          <td class="paramname"><em>source</em></td><td>)</td>
+          <td></td>
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+      </table>
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+<div class="memitem">
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+      <table class="memname">
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+          <td class="memname">float bno08x_magf_t::y</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a0516e3805249e8b62856af2aabf7cc0b" name="a0516e3805249e8b62856af2aabf7cc0b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0516e3805249e8b62856af2aabf7cc0b">&#9670;&nbsp;</a></span>z</h2>
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+          <td class="memname">float bno08x_magf_t::z</td>
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+</div><div class="memdoc">
+
+</div>
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+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>/media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/<a class="el" href="_b_n_o08x_global_types_8hpp_source.html">BNO08xGlobalTypes.hpp</a></li>
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+</div><!-- doc-content -->
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+    <li class="navelem"><a class="el" href="structbno08x__magf__t.html">bno08x_magf_t</a></li>
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+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.4"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>esp32_BNO08x: Member List</title>
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+<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;1.4</span>
+   </div>
+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
+  </td>
+ </tr>
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+</table>
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+  <div class="headertitle"><div class="title">bno08x_meta_data_t Member List</div></div>
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+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structbno08x__meta__data__t.html">bno08x_meta_data_t</a>, including all inherited members.</p>
+<table class="directory">
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+  <tr class="odd"><td class="entry"><a class="el" href="structbno08x__meta__data__t.html#abaa4829463c424c9959d594027ce7ba2">sensor_specific_len</a></td><td class="entry"><a class="el" href="structbno08x__meta__data__t.html">bno08x_meta_data_t</a></td><td class="entry"></td></tr>
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+</table></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
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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> 1.9.4 </li>
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+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
+   </div>
+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
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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__meta__data__t-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">bno08x_meta_data_t Struct Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>Struct to represent sensor/report meta data, returned from <a class="el" href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf" title="Retrieves meta data for this sensor/report by reading respective record in FRS (flash record system).">BNO08xRpt::get_meta_data()</a>  
+ <a href="structbno08x__meta__data__t.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="_b_n_o08x_global_types_8hpp_source.html">BNO08xGlobalTypes.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="memdesc:a51e1f028175bf00c880cc2dfd4e05412"><td class="mdescLeft">&#160;</td><td class="mdescRight">Vendor name and part number.  <a href="structbno08x__meta__data__t.html#a51e1f028175bf00c880cc2dfd4e05412">More...</a><br /></td></tr>
+<tr class="separator:a51e1f028175bf00c880cc2dfd4e05412"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a4134971e13a6242102facae308588072"><td class="mdescLeft">&#160;</td><td class="mdescRight">See SH-2 Reference Manual.  <a href="structbno08x__meta__data__t.html#a4134971e13a6242102facae308588072">More...</a><br /></td></tr>
+<tr class="separator:a4134971e13a6242102facae308588072"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a0efefbb8c4614bd3e81094f25909cc14"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:abaa4829463c424c9959d594027ce7ba2"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a58edad7613b5b2c6e7afd0233106b09f"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a7683b54fbe7ae8ec15b8f880d17a5a46"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a3e4ff48e389db8b0643259f9af8c0006"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a32f6c907d10794a2b64784c4bbe09723"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a94c6f70957ab28cde8d41fdbd2f39496"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a31816ac79605b829e7304973d61f7d98"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ac4297b1db8065c9ad38b6100abda92c1"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a1e0a5907ac8d8dd0325cf8830aa5bd66"><td class="mdescLeft">&#160;</td><td class="mdescRight">q point for sensor values  <a href="structbno08x__meta__data__t.html#a1e0a5907ac8d8dd0325cf8830aa5bd66">More...</a><br /></td></tr>
+<tr class="separator:a1e0a5907ac8d8dd0325cf8830aa5bd66"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a09ad38c35e9cd63d4c333f851d5e01e7"><td class="memItemLeft" align="right" valign="top">uint16_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structbno08x__meta__data__t.html#a09ad38c35e9cd63d4c333f851d5e01e7">q_point_2</a></td></tr>
+<tr class="memdesc:a09ad38c35e9cd63d4c333f851d5e01e7"><td class="mdescLeft">&#160;</td><td class="mdescRight">q point for accuracy or bias fields  <a href="structbno08x__meta__data__t.html#a09ad38c35e9cd63d4c333f851d5e01e7">More...</a><br /></td></tr>
+<tr class="separator:a09ad38c35e9cd63d4c333f851d5e01e7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a29cb20721b8dda2c65c6b2b4dfad6551"><td class="memItemLeft" align="right" valign="top">uint16_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structbno08x__meta__data__t.html#a29cb20721b8dda2c65c6b2b4dfad6551">q_point_3</a></td></tr>
+<tr class="memdesc:a29cb20721b8dda2c65c6b2b4dfad6551"><td class="mdescLeft">&#160;</td><td class="mdescRight">q point for sensor data change sensitivity  <a href="structbno08x__meta__data__t.html#a29cb20721b8dda2c65c6b2b4dfad6551">More...</a><br /></td></tr>
+<tr class="separator:a29cb20721b8dda2c65c6b2b4dfad6551"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a659afd22d089c9414ef865350c895d3e"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structbno08x__meta__data__t.html#a659afd22d089c9414ef865350c895d3e">me_version</a></td></tr>
+<tr class="memdesc:a659afd22d089c9414ef865350c895d3e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Motion Engine Version.  <a href="structbno08x__meta__data__t.html#a659afd22d089c9414ef865350c895d3e">More...</a><br /></td></tr>
+<tr class="separator:a659afd22d089c9414ef865350c895d3e"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a5883b0fdc28d754f3fff570ca29e3b3e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Motion Hub Version.  <a href="structbno08x__meta__data__t.html#a5883b0fdc28d754f3fff570ca29e3b3e">More...</a><br /></td></tr>
+<tr class="separator:a5883b0fdc28d754f3fff570ca29e3b3e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a672da8b56be3269bae22c9e0e5424719"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structbno08x__meta__data__t.html#a672da8b56be3269bae22c9e0e5424719">sh_version</a></td></tr>
+<tr class="memdesc:a672da8b56be3269bae22c9e0e5424719"><td class="mdescLeft">&#160;</td><td class="mdescRight">SensorHub Version.  <a href="structbno08x__meta__data__t.html#a672da8b56be3269bae22c9e0e5424719">More...</a><br /></td></tr>
+<tr class="separator:a672da8b56be3269bae22c9e0e5424719"><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 >Struct to represent sensor/report meta data, returned from <a class="el" href="class_b_n_o08x_rpt.html#ad5b054279b01204f61b4c0408acf51cf" title="Retrieves meta data for this sensor/report by reading respective record in FRS (flash record system).">BNO08xRpt::get_meta_data()</a> </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a3e22f63db62812b5aeeb873553f378c4" name="a3e22f63db62812b5aeeb873553f378c4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3e22f63db62812b5aeeb873553f378c4">&#9670;&nbsp;</a></span>bno08x_meta_data_t() <span class="overload">[1/2]</span></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">bno08x_meta_data_t::bno08x_meta_data_t </td>
+          <td>(</td>
+          <td class="paramname"></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">
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+<h2 class="memtitle"><span class="permalink"><a href="#a549c5e42da7cf07c6ec28ce69548b1d8">&#9670;&nbsp;</a></span>bno08x_meta_data_t() <span class="overload">[2/2]</span></h2>
+
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+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bno08x_meta_data_t::bno08x_meta_data_t </td>
+          <td>(</td>
+          <td class="paramtype">const sh2_SensorMetadata_t &amp;&#160;</td>
+          <td class="paramname"><em>src</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="ac493692919e552ca32e6c87b4623ccd2" name="ac493692919e552ca32e6c87b4623ccd2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac493692919e552ca32e6c87b4623ccd2">&#9670;&nbsp;</a></span>batch_buffer_bytes</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint32_t bno08x_meta_data_t::batch_buffer_bytes</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>(Unused) </p>
+
+</div>
+</div>
+<a id="a94c6f70957ab28cde8d41fdbd2f39496" name="a94c6f70957ab28cde8d41fdbd2f39496"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a94c6f70957ab28cde8d41fdbd2f39496">&#9670;&nbsp;</a></span>fifo_max</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
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+          <td class="memname">uint32_t bno08x_meta_data_t::fifo_max</td>
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+</div><div class="memdoc">
+
+<p>(Unused) </p>
+
+</div>
+</div>
+<a id="a32f6c907d10794a2b64784c4bbe09723" name="a32f6c907d10794a2b64784c4bbe09723"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a32f6c907d10794a2b64784c4bbe09723">&#9670;&nbsp;</a></span>fifo_reserved</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint32_t bno08x_meta_data_t::fifo_reserved</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>(Unused) </p>
+
+</div>
+</div>
+<a id="a3e4ff48e389db8b0643259f9af8c0006" name="a3e4ff48e389db8b0643259f9af8c0006"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3e4ff48e389db8b0643259f9af8c0006">&#9670;&nbsp;</a></span>max_period_us</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint32_t bno08x_meta_data_t::max_period_us</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>[uS] max period to use with enable_report </p>
+
+</div>
+</div>
+<a id="a659afd22d089c9414ef865350c895d3e" name="a659afd22d089c9414ef865350c895d3e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a659afd22d089c9414ef865350c895d3e">&#9670;&nbsp;</a></span>me_version</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint8_t bno08x_meta_data_t::me_version</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Motion Engine Version. </p>
+
+</div>
+</div>
+<a id="a5883b0fdc28d754f3fff570ca29e3b3e" name="a5883b0fdc28d754f3fff570ca29e3b3e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5883b0fdc28d754f3fff570ca29e3b3e">&#9670;&nbsp;</a></span>mh_version</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint8_t bno08x_meta_data_t::mh_version</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Motion Hub Version. </p>
+
+</div>
+</div>
+<a id="a5384c14c55c8f156ea18a0cc81a2e6fc" name="a5384c14c55c8f156ea18a0cc81a2e6fc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5384c14c55c8f156ea18a0cc81a2e6fc">&#9670;&nbsp;</a></span>min_period_us</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint32_t bno08x_meta_data_t::min_period_us</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>[uS] min period to use with enable_report </p>
+
+</div>
+</div>
+<a id="ac4297b1db8065c9ad38b6100abda92c1" name="ac4297b1db8065c9ad38b6100abda92c1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac4297b1db8065c9ad38b6100abda92c1">&#9670;&nbsp;</a></span>power_mA</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint16_t bno08x_meta_data_t::power_mA</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>[mA] Fixed point 16Q10 format </p>
+
+</div>
+</div>
+<a id="a1e0a5907ac8d8dd0325cf8830aa5bd66" name="a1e0a5907ac8d8dd0325cf8830aa5bd66"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1e0a5907ac8d8dd0325cf8830aa5bd66">&#9670;&nbsp;</a></span>q_point_1</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint16_t bno08x_meta_data_t::q_point_1</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>q point for sensor values </p>
+
+</div>
+</div>
+<a id="a09ad38c35e9cd63d4c333f851d5e01e7" name="a09ad38c35e9cd63d4c333f851d5e01e7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a09ad38c35e9cd63d4c333f851d5e01e7">&#9670;&nbsp;</a></span>q_point_2</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint16_t bno08x_meta_data_t::q_point_2</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>q point for accuracy or bias fields </p>
+
+</div>
+</div>
+<a id="a29cb20721b8dda2c65c6b2b4dfad6551" name="a29cb20721b8dda2c65c6b2b4dfad6551"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a29cb20721b8dda2c65c6b2b4dfad6551">&#9670;&nbsp;</a></span>q_point_3</h2>
+
+<div class="memitem">
+<div class="memproto">
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+          <td class="memname">uint16_t bno08x_meta_data_t::q_point_3</td>
+        </tr>
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+</div><div class="memdoc">
+
+<p>q point for sensor data change sensitivity </p>
+
+</div>
+</div>
+<a id="a58edad7613b5b2c6e7afd0233106b09f" name="a58edad7613b5b2c6e7afd0233106b09f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a58edad7613b5b2c6e7afd0233106b09f">&#9670;&nbsp;</a></span>range</h2>
+
+<div class="memitem">
+<div class="memproto">
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+
+<p>Same units as sensor reports. </p>
+
+</div>
+</div>
+<a id="a7683b54fbe7ae8ec15b8f880d17a5a46" name="a7683b54fbe7ae8ec15b8f880d17a5a46"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7683b54fbe7ae8ec15b8f880d17a5a46">&#9670;&nbsp;</a></span>resolution</h2>
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+<div class="memitem">
+<div class="memproto">
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+          <td class="memname">uint32_t bno08x_meta_data_t::resolution</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Same units as sensor reports. </p>
+
+</div>
+</div>
+<a id="a31816ac79605b829e7304973d61f7d98" name="a31816ac79605b829e7304973d61f7d98"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a31816ac79605b829e7304973d61f7d98">&#9670;&nbsp;</a></span>revision</h2>
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+<div class="memitem">
+<div class="memproto">
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+          <td class="memname">uint16_t bno08x_meta_data_t::revision</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Metadata record format revision. </p>
+
+</div>
+</div>
+<a id="a4134971e13a6242102facae308588072" name="a4134971e13a6242102facae308588072"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4134971e13a6242102facae308588072">&#9670;&nbsp;</a></span>sensor_specific</h2>
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+<div class="memitem">
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+          <td class="memname">uint8_t bno08x_meta_data_t::sensor_specific[48]</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>See SH-2 Reference Manual. </p>
+
+</div>
+</div>
+<a id="abaa4829463c424c9959d594027ce7ba2" name="abaa4829463c424c9959d594027ce7ba2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abaa4829463c424c9959d594027ce7ba2">&#9670;&nbsp;</a></span>sensor_specific_len</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
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+          <td class="memname">uint32_t bno08x_meta_data_t::sensor_specific_len</td>
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+
+<p>[bytes] </p>
+
+</div>
+</div>
+<a id="a672da8b56be3269bae22c9e0e5424719" name="a672da8b56be3269bae22c9e0e5424719"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a672da8b56be3269bae22c9e0e5424719">&#9670;&nbsp;</a></span>sh_version</h2>
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+<div class="memitem">
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+          <td class="memname">uint8_t bno08x_meta_data_t::sh_version</td>
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+
+<p>SensorHub Version. </p>
+
+</div>
+</div>
+<a id="a51e1f028175bf00c880cc2dfd4e05412" name="a51e1f028175bf00c880cc2dfd4e05412"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a51e1f028175bf00c880cc2dfd4e05412">&#9670;&nbsp;</a></span>vendor_ID</h2>
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+<div class="memitem">
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+<p>Vendor name and part number. </p>
+
+</div>
+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a0efefbb8c4614bd3e81094f25909cc14">&#9670;&nbsp;</a></span>vendor_id_len</h2>
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+      </table>
+</div><div class="memdoc">
+
+<p>[bytes] </p>
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>/media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/<a class="el" href="_b_n_o08x_global_types_8hpp_source.html">BNO08xGlobalTypes.hpp</a></li>
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+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
+   </div>
+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
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+  <tr class="odd"><td class="entry"><a class="el" href="structbno08x__quat__t.html#ae42ec645fe23b60e32e55872a3b9e703">bno08x_quat_t</a>()</td><td class="entry"><a class="el" href="structbno08x__quat__t.html">bno08x_quat_t</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structbno08x__quat__t.html#ac438aba57b7082e1d81e2d1241f87ca0">i</a></td><td class="entry"><a class="el" href="structbno08x__quat__t.html">bno08x_quat_t</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="structbno08x__quat__t.html#aab49754d4967cfa71578d8d1156eef46">j</a></td><td class="entry"><a class="el" href="structbno08x__quat__t.html">bno08x_quat_t</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structbno08x__quat__t.html#ade2592f6a271cc8b260081ad018772ef">k</a></td><td class="entry"><a class="el" href="structbno08x__quat__t.html">bno08x_quat_t</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="structbno08x__quat__t.html#a081cecab6370ae436f36416e3f7a6ddc">operator=</a>(const sh2_RotationVectorWAcc_t &amp;source)</td><td class="entry"><a class="el" href="structbno08x__quat__t.html">bno08x_quat_t</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structbno08x__quat__t.html#a23cac26e381f9a83657fccdab735046b">operator=</a>(const sh2_RotationVector_t &amp;source)</td><td class="entry"><a class="el" href="structbno08x__quat__t.html">bno08x_quat_t</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="structbno08x__quat__t.html#ae3705dc48882a3d616927cad01c2387d">operator=</a>(const sh2_GyroIntegratedRV_t &amp;source)</td><td class="entry"><a class="el" href="structbno08x__quat__t.html">bno08x_quat_t</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structbno08x__quat__t.html#a7368a7f0524e3b2e1f4465329ecb0912">rad_accuracy</a></td><td class="entry"><a class="el" href="structbno08x__quat__t.html">bno08x_quat_t</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="structbno08x__quat__t.html#ab99e5e4f8adad74eee1a94b4e7ef2542">real</a></td><td class="entry"><a class="el" href="structbno08x__quat__t.html">bno08x_quat_t</a></td><td class="entry"></td></tr>
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+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
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+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
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+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structbno08x__quat__t-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">bno08x_quat_t Struct Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>Struct to represent unit quaternion.  
+ <a href="structbno08x__quat__t.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="_b_n_o08x_global_types_8hpp_source.html">BNO08xGlobalTypes.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:ae42ec645fe23b60e32e55872a3b9e703"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structbno08x__quat__t.html#ae42ec645fe23b60e32e55872a3b9e703">bno08x_quat_t</a> ()</td></tr>
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+</table><table class="memberdecls">
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+<tr class="memitem:ab99e5e4f8adad74eee1a94b4e7ef2542"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structbno08x__quat__t.html#ab99e5e4f8adad74eee1a94b4e7ef2542">real</a></td></tr>
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+<tr class="separator:aab49754d4967cfa71578d8d1156eef46"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ade2592f6a271cc8b260081ad018772ef"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7368a7f0524e3b2e1f4465329ecb0912"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structbno08x__quat__t.html#a7368a7f0524e3b2e1f4465329ecb0912">rad_accuracy</a></td></tr>
+<tr class="separator:a7368a7f0524e3b2e1f4465329ecb0912"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afd179bfc02d365b5db4ad9fa810daf7c"><td class="memItemLeft" align="right" valign="top"><a class="el" href="_b_n_o08x_global_types_8hpp.html#a6bdf6fea6d671c12413d95f36a3e7ba6">BNO08xAccuracy</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structbno08x__quat__t.html#afd179bfc02d365b5db4ad9fa810daf7c">accuracy</a></td></tr>
+<tr class="separator:afd179bfc02d365b5db4ad9fa810daf7c"><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 >Struct to represent unit quaternion. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="ae42ec645fe23b60e32e55872a3b9e703" name="ae42ec645fe23b60e32e55872a3b9e703"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae42ec645fe23b60e32e55872a3b9e703">&#9670;&nbsp;</a></span>bno08x_quat_t()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bno08x_quat_t::bno08x_quat_t </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="ae3705dc48882a3d616927cad01c2387d" name="ae3705dc48882a3d616927cad01c2387d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae3705dc48882a3d616927cad01c2387d">&#9670;&nbsp;</a></span>operator=() <span class="overload">[1/3]</span></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__quat__t.html">bno08x_quat_t</a> &amp; bno08x_quat_t::operator= </td>
+          <td>(</td>
+          <td class="paramtype">const sh2_GyroIntegratedRV_t &amp;&#160;</td>
+          <td class="paramname"><em>source</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a23cac26e381f9a83657fccdab735046b" name="a23cac26e381f9a83657fccdab735046b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a23cac26e381f9a83657fccdab735046b">&#9670;&nbsp;</a></span>operator=() <span class="overload">[2/3]</span></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__quat__t.html">bno08x_quat_t</a> &amp; bno08x_quat_t::operator= </td>
+          <td>(</td>
+          <td class="paramtype">const sh2_RotationVector_t &amp;&#160;</td>
+          <td class="paramname"><em>source</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a081cecab6370ae436f36416e3f7a6ddc" name="a081cecab6370ae436f36416e3f7a6ddc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a081cecab6370ae436f36416e3f7a6ddc">&#9670;&nbsp;</a></span>operator=() <span class="overload">[3/3]</span></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__quat__t.html">bno08x_quat_t</a> &amp; bno08x_quat_t::operator= </td>
+          <td>(</td>
+          <td class="paramtype">const sh2_RotationVectorWAcc_t &amp;&#160;</td>
+          <td class="paramname"><em>source</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="afd179bfc02d365b5db4ad9fa810daf7c" name="afd179bfc02d365b5db4ad9fa810daf7c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afd179bfc02d365b5db4ad9fa810daf7c">&#9670;&nbsp;</a></span>accuracy</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="_b_n_o08x_global_types_8hpp.html#a6bdf6fea6d671c12413d95f36a3e7ba6">BNO08xAccuracy</a> bno08x_quat_t::accuracy</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ac438aba57b7082e1d81e2d1241f87ca0" name="ac438aba57b7082e1d81e2d1241f87ca0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac438aba57b7082e1d81e2d1241f87ca0">&#9670;&nbsp;</a></span>i</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">float bno08x_quat_t::i</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="aab49754d4967cfa71578d8d1156eef46" name="aab49754d4967cfa71578d8d1156eef46"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aab49754d4967cfa71578d8d1156eef46">&#9670;&nbsp;</a></span>j</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">float bno08x_quat_t::j</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ade2592f6a271cc8b260081ad018772ef" name="ade2592f6a271cc8b260081ad018772ef"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ade2592f6a271cc8b260081ad018772ef">&#9670;&nbsp;</a></span>k</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">float bno08x_quat_t::k</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a7368a7f0524e3b2e1f4465329ecb0912" name="a7368a7f0524e3b2e1f4465329ecb0912"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7368a7f0524e3b2e1f4465329ecb0912">&#9670;&nbsp;</a></span>rad_accuracy</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">float bno08x_quat_t::rad_accuracy</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ab99e5e4f8adad74eee1a94b4e7ef2542" name="ab99e5e4f8adad74eee1a94b4e7ef2542"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab99e5e4f8adad74eee1a94b4e7ef2542">&#9670;&nbsp;</a></span>real</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">float bno08x_quat_t::real</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
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+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>/media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/<a class="el" href="_b_n_o08x_global_types_8hpp_source.html">BNO08xGlobalTypes.hpp</a></li>
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+          <td>(</td>
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+  <td class="mlabels-left">
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+<div class="memitem">
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+      <table class="memname">
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+          <td class="memname"><a class="el" href="structbno08x__raw__magf__t.html">bno08x_raw_magf_t</a> &amp; bno08x_raw_magf_t::operator= </td>
+          <td>(</td>
+          <td class="paramtype">const sh2_RawMagnetometer_t &amp;&#160;</td>
+          <td class="paramname"><em>source</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
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+<hr/>The documentation for this struct was generated from the following file:<ul>
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+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
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+<tr class="separator:a055f3d8ff138c7da4a79d4a6fb2af9b9"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a2ab3e0999a5e668833eb8dbab6d1f036"><td class="mdescLeft">&#160;</td><td class="mdescRight">Number of "on" samples that passed decimation filter.  <a href="structbno08x__sample__counts__t.html#a2ab3e0999a5e668833eb8dbab6d1f036">More...</a><br /></td></tr>
+<tr class="separator:a2ab3e0999a5e668833eb8dbab6d1f036"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8d03182919cce138cfda97c3ff5700b2"><td class="memItemLeft" align="right" valign="top">uint32_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structbno08x__sample__counts__t.html#a8d03182919cce138cfda97c3ff5700b2">attempted</a></td></tr>
+<tr class="memdesc:a8d03182919cce138cfda97c3ff5700b2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Number of "accepted" samples that passed threshold requirements and had transmission to the host attempted.  <a href="structbno08x__sample__counts__t.html#a8d03182919cce138cfda97c3ff5700b2">More...</a><br /></td></tr>
+<tr class="separator:a8d03182919cce138cfda97c3ff5700b2"><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 >Struct to represent sample counts, returned from <a class="el" href="class_b_n_o08x_rpt.html#a7ce8e48cadf59f49068af7f1cb680b38" title="Gets sample counts for this sensor (see SH-2 ref manual 6.4.3.1)">BNO08xRpt::get_sample_counts()</a> </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="abd1eccfac205719fd1c5aed25fee1fec" name="abd1eccfac205719fd1c5aed25fee1fec"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abd1eccfac205719fd1c5aed25fee1fec">&#9670;&nbsp;</a></span>bno08x_sample_counts_t()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bno08x_sample_counts_t::bno08x_sample_counts_t </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="af9e52b9fe15c78bd8b2ef3cc5af66a13" name="af9e52b9fe15c78bd8b2ef3cc5af66a13"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af9e52b9fe15c78bd8b2ef3cc5af66a13">&#9670;&nbsp;</a></span>operator=()</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__sample__counts__t.html">bno08x_sample_counts_t</a> &amp; bno08x_sample_counts_t::operator= </td>
+          <td>(</td>
+          <td class="paramtype">const sh2_Counts_t &amp;&#160;</td>
+          <td class="paramname"><em>source</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a2ab3e0999a5e668833eb8dbab6d1f036" name="a2ab3e0999a5e668833eb8dbab6d1f036"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2ab3e0999a5e668833eb8dbab6d1f036">&#9670;&nbsp;</a></span>accepted</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint32_t bno08x_sample_counts_t::accepted</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Number of "on" samples that passed decimation filter. </p>
+
+</div>
+</div>
+<a id="a8d03182919cce138cfda97c3ff5700b2" name="a8d03182919cce138cfda97c3ff5700b2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8d03182919cce138cfda97c3ff5700b2">&#9670;&nbsp;</a></span>attempted</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint32_t bno08x_sample_counts_t::attempted</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Number of "accepted" samples that passed threshold requirements and had transmission to the host attempted. </p>
+
+</div>
+</div>
+<a id="aae4244c540f8411246032f1e69125b75" name="aae4244c540f8411246032f1e69125b75"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aae4244c540f8411246032f1e69125b75">&#9670;&nbsp;</a></span>offered</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint32_t bno08x_sample_counts_t::offered</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Number of samples produced by underlying data source. </p>
+
+</div>
+</div>
+<a id="a055f3d8ff138c7da4a79d4a6fb2af9b9" name="a055f3d8ff138c7da4a79d4a6fb2af9b9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a055f3d8ff138c7da4a79d4a6fb2af9b9">&#9670;&nbsp;</a></span>on</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint32_t bno08x_sample_counts_t::on</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Number of "offered" samples while this sensor was requested by host. </p>
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>/media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/<a class="el" href="_b_n_o08x_global_types_8hpp_source.html">BNO08xGlobalTypes.hpp</a></li>
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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> 1.9.4 </li>
+  </ul>
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+    [ "attempted", "structbno08x__sample__counts__t.html#a8d03182919cce138cfda97c3ff5700b2", null ],
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+<table cellspacing="0" cellpadding="0">
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+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
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+  <div class="headertitle"><div class="title">bno08x_shake_detector_t Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structbno08x__shake__detector__t.html">bno08x_shake_detector_t</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="structbno08x__shake__detector__t.html#ac643f6c9ac9144c37765b22912212860">accuracy</a></td><td class="entry"><a class="el" href="structbno08x__shake__detector__t.html">bno08x_shake_detector_t</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="structbno08x__shake__detector__t.html#a57df670bfdac6a4174c986a65a0340be">bno08x_shake_detector_t</a>()</td><td class="entry"><a class="el" href="structbno08x__shake__detector__t.html">bno08x_shake_detector_t</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structbno08x__shake__detector__t.html#a7fe349111b513b2cd042ad98112791b7">operator=</a>(const sh2_ShakeDetector_t &amp;source)</td><td class="entry"><a class="el" href="structbno08x__shake__detector__t.html">bno08x_shake_detector_t</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="structbno08x__shake__detector__t.html#a24dc1df9bb8089c330865e26054a349e">x_flag</a></td><td class="entry"><a class="el" href="structbno08x__shake__detector__t.html">bno08x_shake_detector_t</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structbno08x__shake__detector__t.html#a814745b5a1dd7aa6bb4bfde4981d1caa">y_flag</a></td><td class="entry"><a class="el" href="structbno08x__shake__detector__t.html">bno08x_shake_detector_t</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="structbno08x__shake__detector__t.html#a7b833f57fc85173adecf666ec6d5477e">z_flag</a></td><td class="entry"><a class="el" href="structbno08x__shake__detector__t.html">bno08x_shake_detector_t</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
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+  <td id="projectalign">
+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
+   </div>
+   <div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
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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__shake__detector__t-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">bno08x_shake_detector_t Struct Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>Struct to represent shake detector data (flag meaning: 0 = no shake 1 = shake detected)  
+ <a href="structbno08x__shake__detector__t.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="_b_n_o08x_global_types_8hpp_source.html">BNO08xGlobalTypes.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:a57df670bfdac6a4174c986a65a0340be"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structbno08x__shake__detector__t.html#a57df670bfdac6a4174c986a65a0340be">bno08x_shake_detector_t</a> ()</td></tr>
+<tr class="separator:a57df670bfdac6a4174c986a65a0340be"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7fe349111b513b2cd042ad98112791b7"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structbno08x__shake__detector__t.html">bno08x_shake_detector_t</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structbno08x__shake__detector__t.html#a7fe349111b513b2cd042ad98112791b7">operator=</a> (const sh2_ShakeDetector_t &amp;source)</td></tr>
+<tr class="separator:a7fe349111b513b2cd042ad98112791b7"><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>
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+<h2 class="memtitle"><span class="permalink"><a href="#a57df670bfdac6a4174c986a65a0340be">&#9670;&nbsp;</a></span>bno08x_shake_detector_t()</h2>
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+  <td class="mlabels-left">
+      <table class="memname">
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+          <td class="memname">bno08x_shake_detector_t::bno08x_shake_detector_t </td>
+          <td>(</td>
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+          <td></td>
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+      </table>
+  </td>
+  <td class="mlabels-right">
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+<h2 class="memtitle"><span class="permalink"><a href="#a7fe349111b513b2cd042ad98112791b7">&#9670;&nbsp;</a></span>operator=()</h2>
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+
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+<hr/>The documentation for this struct was generated from the following file:<ul>
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+<p>This is the complete list of members for <a class="el" href="structbno08x__stability__classifier__t.html">bno08x_stability_classifier_t</a>, including all inherited members.</p>
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+  <tr class="even"><td class="entry"><a class="el" href="structbno08x__stability__classifier__t.html#aa1eeb8deb186589ae21cbd1b96747bf7">accuracy</a></td><td class="entry"><a class="el" href="structbno08x__stability__classifier__t.html">bno08x_stability_classifier_t</a></td><td class="entry"></td></tr>
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+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structbno08x__stability__classifier__t-members.html">List of all members</a>  </div>
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+<p>Struct to represent stability classifier data from stability classifier reports.  
+ <a href="structbno08x__stability__classifier__t.html#details">More...</a></p>
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+<tr class="memitem:aa1eeb8deb186589ae21cbd1b96747bf7"><td class="memItemLeft" align="right" valign="top"><a class="el" href="_b_n_o08x_global_types_8hpp.html#a6bdf6fea6d671c12413d95f36a3e7ba6">BNO08xAccuracy</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structbno08x__stability__classifier__t.html#aa1eeb8deb186589ae21cbd1b96747bf7">accuracy</a></td></tr>
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+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p >Struct to represent stability classifier data from stability classifier reports. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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+<h2 class="memtitle"><span class="permalink"><a href="#a1af6213e40337e7dfff734d542fc3be2">&#9670;&nbsp;</a></span>bno08x_stability_classifier_t()</h2>
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+<div class="memitem">
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+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bno08x_stability_classifier_t::bno08x_stability_classifier_t </td>
+          <td>(</td>
+          <td class="paramname"></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>
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+<h2 class="memtitle"><span class="permalink"><a href="#aff4d78a7c01ef13ae001bb185f825151">&#9670;&nbsp;</a></span>operator=()</h2>
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+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
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+          <td>(</td>
+          <td class="paramtype">const sh2_StabilityClassifier_t &amp;&#160;</td>
+          <td class="paramname"><em>source</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
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+<h2 class="memtitle"><span class="permalink"><a href="#aa1eeb8deb186589ae21cbd1b96747bf7">&#9670;&nbsp;</a></span>accuracy</h2>
+
+<div class="memitem">
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+        </tr>
+      </table>
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+
+</div>
+</div>
+<a id="a2ecd636f34a6be612833009d9a1c8725" name="a2ecd636f34a6be612833009d9a1c8725"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2ecd636f34a6be612833009d9a1c8725">&#9670;&nbsp;</a></span>stability</h2>
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+<div class="memitem">
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+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>/media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/<a class="el" href="_b_n_o08x_global_types_8hpp_source.html">BNO08xGlobalTypes.hpp</a></li>
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+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structbno08x__step__counter__t.html">bno08x_step_counter_t</a>, including all inherited members.</p>
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+  <tr class="even"><td class="entry"><a class="el" href="structbno08x__step__counter__t.html#a8060ef0721d76ff0175ca487617db202">latency</a></td><td class="entry"><a class="el" href="structbno08x__step__counter__t.html">bno08x_step_counter_t</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="structbno08x__step__counter__t.html#ab184ba986a22ae89d5a4028b72efb2c1">operator=</a>(const sh2_StepCounter_t &amp;source)</td><td class="entry"><a class="el" href="structbno08x__step__counter__t.html">bno08x_step_counter_t</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
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+</table></div><!-- contents -->
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diff --git a/documentation/html/structbno08x__step__counter__t.html b/documentation/html/structbno08x__step__counter__t.html
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+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
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+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structbno08x__step__counter__t-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">bno08x_step_counter_t Struct Reference</div></div>
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+<div class="contents">
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+<p>Struct to represent step counter data from step counter reports.  
+ <a href="structbno08x__step__counter__t.html#details">More...</a></p>
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+<tr class="memitem:a8060ef0721d76ff0175ca487617db202"><td class="memItemLeft" align="right" valign="top">uint32_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structbno08x__step__counter__t.html#a8060ef0721d76ff0175ca487617db202">latency</a></td></tr>
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+<tr class="memitem:a6d6be986b770fe1343a46080f35653d3"><td class="memItemLeft" align="right" valign="top">uint16_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structbno08x__step__counter__t.html#a6d6be986b770fe1343a46080f35653d3">steps</a></td></tr>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
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+  <td class="mlabels-left">
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+   <div id="projectname">esp32_BNO08x<span id="projectnumber">&#160;1.4</span>
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+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structbno08x__tap__detector__t-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">bno08x_tap_detector_t Struct Reference</div></div>
+</div><!--header-->
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+<p>Struct to represent tap detector data (flag meaning: 0 = no tap, 1 = positive tap on axis, -1 = negative tap on axis)  
+ <a href="structbno08x__tap__detector__t.html#details">More...</a></p>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p >Struct to represent tap detector data (flag meaning: 0 = no tap, 1 = positive tap on axis, -1 = negative tap on axis) </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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+<h2 class="memtitle"><span class="permalink"><a href="#ab464e512951fb6cf5a1411d2218d51c5">&#9670;&nbsp;</a></span>bno08x_tap_detector_t()</h2>
+
+<div class="memitem">
+<div class="memproto">
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+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
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+          <td class="memname">bno08x_tap_detector_t::bno08x_tap_detector_t </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
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+
+</div>
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+<h2 class="groupheader">Member Function Documentation</h2>
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+<h2 class="memtitle"><span class="permalink"><a href="#a4cd8e7c025890f3abfa04ea2a0522f87">&#9670;&nbsp;</a></span>operator=()</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"><a class="el" href="structbno08x__tap__detector__t.html">bno08x_tap_detector_t</a> &amp; bno08x_tap_detector_t::operator= </td>
+          <td>(</td>
+          <td class="paramtype">const sh2_TapDetector_t &amp;&#160;</td>
+          <td class="paramname"><em>source</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
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+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="ad43c32c1d5a57f37e884e756daf9a7ea" name="ad43c32c1d5a57f37e884e756daf9a7ea"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad43c32c1d5a57f37e884e756daf9a7ea">&#9670;&nbsp;</a></span>accuracy</h2>
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+      <table class="memname">
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+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="aef875a8e6ff23b29cb9fb73af48db11a" name="aef875a8e6ff23b29cb9fb73af48db11a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aef875a8e6ff23b29cb9fb73af48db11a">&#9670;&nbsp;</a></span>double_tap</h2>
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+
+</div>
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+
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+<a id="ae6ad63cddd8ddd96383448f659226c6f" name="ae6ad63cddd8ddd96383448f659226c6f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae6ad63cddd8ddd96383448f659226c6f">&#9670;&nbsp;</a></span>y_flag</h2>
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+      <table class="memname">
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+          <td class="memname">int8_t bno08x_tap_detector_t::y_flag</td>
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+        </tr>
+      </table>
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+
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+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>/media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/<a class="el" href="_b_n_o08x_global_types_8hpp_source.html">BNO08xGlobalTypes.hpp</a></li>
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+  <ul>
+    <li class="navelem"><a class="el" href="structbno08x__tap__detector__t.html">bno08x_tap_detector_t</a></li>
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+    [ "operator=", "structbno08x__tap__detector__t.html#a4cd8e7c025890f3abfa04ea2a0522f87", null ],
+    [ "accuracy", "structbno08x__tap__detector__t.html#ad43c32c1d5a57f37e884e756daf9a7ea", null ],
+    [ "double_tap", "structbno08x__tap__detector__t.html#aef875a8e6ff23b29cb9fb73af48db11a", null ],
+    [ "x_flag", "structbno08x__tap__detector__t.html#a1ce57db3616377a16e11701cc04c3442", null ],
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diff --git a/documentation/latex/Makefile b/documentation/latex/Makefile
new file mode 100644
index 0000000..07f226d
--- /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 egrep -s 'Rerun (LaTeX|to get cross-references right|to get bibliographical references right)' $(MANUAL_FILE).log && [ $$latex_count -gt 0 ] ;\
+	    do \
+	      echo "Rerunning latex...." ;\
+	      $(LATEX_CMD) $(MANUAL_FILE) ;\
+	      latex_count=`expr $$latex_count - 1` ;\
+	    done
+	$(MKIDX_CMD) $(MANUAL_FILE).idx
+	$(LATEX_CMD) $(MANUAL_FILE)
+
+
+clean:
+	rm -f *.ps *.dvi *.aux *.toc *.idx *.ind *.ilg *.log *.out *.brf *.blg *.bbl $(MANUAL_FILE).pdf
diff --git a/documentation/latex/_b_n_o08x_8cpp.tex b/documentation/latex/_b_n_o08x_8cpp.tex
new file mode 100644
index 0000000..b7b07cb
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_8cpp.tex
@@ -0,0 +1,18 @@
+\hypertarget{_b_n_o08x_8cpp}{}\doxysection{BNO08x.\+cpp File Reference}
+\label{_b_n_o08x_8cpp}\index{BNO08x.cpp@{BNO08x.cpp}}
+{\ttfamily \#include \char`\"{}BNO08x.\+hpp\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}BNO08x\+Private\+Types.\+hpp\char`\"{}}\newline
+Include dependency graph for BNO08x.\+cpp\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_8cpp__incl}
+\end{center}
+\end{figure}
+
+
+\doxysubsection{Detailed Description}
+\begin{DoxyAuthor}{Author}
+Myles Parfeniuk 
+\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_8cpp__incl.md5 b/documentation/latex/_b_n_o08x_8cpp__incl.md5
new file mode 100644
index 0000000..d5b4060
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_8cpp__incl.md5
@@ -0,0 +1 @@
+dfa942c795c3b1b1f13d3db8932e2aef
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_8cpp__incl.pdf b/documentation/latex/_b_n_o08x_8cpp__incl.pdf
new file mode 100644
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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..8663fd3
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_8hpp.tex
@@ -0,0 +1,45 @@
+\hypertarget{_b_n_o08x_8hpp}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\+BNO08x.hpp File Reference}
+\label{_b_n_o08x_8hpp}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/BNO08x.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/BNO08x.hpp}}
+{\ttfamily \#include $<$etl/vector.\+h$>$}\newline
+{\ttfamily \#include $<$etl/variant.\+h$>$}\newline
+{\ttfamily \#include $<$etl/map.\+h$>$}\newline
+{\ttfamily \#include $<$driver/gpio.\+h$>$}\newline
+{\ttfamily \#include $<$driver/spi\+\_\+common.\+h$>$}\newline
+{\ttfamily \#include $<$driver/spi\+\_\+master.\+h$>$}\newline
+{\ttfamily \#include $<$freertos/\+Free\+RTOS.\+h$>$}\newline
+{\ttfamily \#include $<$freertos/task.\+h$>$}\newline
+{\ttfamily \#include $<$freertos/event\+\_\+groups.\+h$>$}\newline
+{\ttfamily \#include $<$freertos/queue.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}BNO08x\+Global\+Types.\+hpp\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}BNO08x\+Private\+Types.\+hpp\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}BNO08x\+SH2\+HAL.\+hpp\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}BNO08x\+Reports.\+hpp\char`\"{}}\newline
+Include dependency graph for BNO08x.\+hpp\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+class \mbox{\hyperlink{class_b_n_o08x}{BNO08x}}
+\begin{DoxyCompactList}\small\item\em \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} IMU driver class. \end{DoxyCompactList}\item 
+struct \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t}{BNO08x\+::bno08x\+\_\+reports\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em Contains report implementations. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+\begin{DoxyAuthor}{Author}
+Myles Parfeniuk 
+\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_8hpp__dep__incl.md5 b/documentation/latex/_b_n_o08x_8hpp__dep__incl.md5
new file mode 100644
index 0000000..ff95fd3
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_8hpp__dep__incl.md5
@@ -0,0 +1 @@
+500b3ceed4a9df3fb36648b0c2c6a8d5
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_8hpp__dep__incl.pdf b/documentation/latex/_b_n_o08x_8hpp__dep__incl.pdf
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+\hypertarget{_b_n_o08x_8hpp_source}{}\doxysection{BNO08x.\+hpp}
+\label{_b_n_o08x_8hpp_source}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/BNO08x.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/BNO08x.hpp}}
+\mbox{\hyperlink{_b_n_o08x_8hpp}{Go to the documentation of this file.}}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{1 }
+\DoxyCodeLine{6 \textcolor{preprocessor}{\#pragma once}}
+\DoxyCodeLine{7 }
+\DoxyCodeLine{8 \textcolor{comment}{// etl includes}}
+\DoxyCodeLine{9 \textcolor{preprocessor}{\#include <etl/vector.h>}}
+\DoxyCodeLine{10 \textcolor{preprocessor}{\#include <etl/variant.h>}}
+\DoxyCodeLine{11 \textcolor{preprocessor}{\#include <etl/map.h>}}
+\DoxyCodeLine{12 }
+\DoxyCodeLine{13 \textcolor{comment}{// esp-\/idf includes}}
+\DoxyCodeLine{14 \textcolor{preprocessor}{\#include <driver/gpio.h>}}
+\DoxyCodeLine{15 \textcolor{preprocessor}{\#include <driver/spi\_common.h>}}
+\DoxyCodeLine{16 \textcolor{preprocessor}{\#include <driver/spi\_master.h>}}
+\DoxyCodeLine{17 \textcolor{preprocessor}{\#include <freertos/FreeRTOS.h>}}
+\DoxyCodeLine{18 \textcolor{preprocessor}{\#include <freertos/task.h>}}
+\DoxyCodeLine{19 \textcolor{preprocessor}{\#include <freertos/event\_groups.h>}}
+\DoxyCodeLine{20 \textcolor{preprocessor}{\#include <freertos/queue.h>}}
+\DoxyCodeLine{21 \textcolor{comment}{// in-\/house includes}}
+\DoxyCodeLine{22 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_global_types_8hpp}{BNO08xGlobalTypes.hpp}}"{}}}
+\DoxyCodeLine{23 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_private_types_8hpp}{BNO08xPrivateTypes.hpp}}"{}}}
+\DoxyCodeLine{24 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_s_h2_h_a_l_8hpp}{BNO08xSH2HAL.hpp}}"{}}}
+\DoxyCodeLine{25 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_reports_8hpp}{BNO08xReports.hpp}}"{}}}
+\DoxyCodeLine{26 }
+\DoxyCodeLine{32 \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x}{BNO08x}}}
+\DoxyCodeLine{33 \{}
+\DoxyCodeLine{34     \textcolor{keyword}{public}:}
+\DoxyCodeLine{35         \mbox{\hyperlink{class_b_n_o08x_ad12fb6cf310ad7a04a4e53809833bd61}{BNO08x}}(\mbox{\hyperlink{structbno08x__config__t}{bno08x\_config\_t}} imu\_config = \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a648bbdbf22731476890dd8da977d7503}{bno08x\_config\_t}}());}
+\DoxyCodeLine{36         \mbox{\hyperlink{class_b_n_o08x_a687eee44d68e1bcabce04780d7eb5fb9}{\string~BNO08x}}();}
+\DoxyCodeLine{37 }
+\DoxyCodeLine{38         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_aea8e2c6dd7a2c9899479a7f39fe94798}{initialize}}();}
+\DoxyCodeLine{39         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_a28cd1c0b3477571d87133234e6358503}{hard\_reset}}();}
+\DoxyCodeLine{40         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_a973a1b1785f3302ee1b2702c6a27646e}{soft\_reset}}();}
+\DoxyCodeLine{41         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_aebacbe092615cd083cf996b14402bba6}{disable\_all\_reports}}();}
+\DoxyCodeLine{42         \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2}{BNO08xResetReason}} \mbox{\hyperlink{class_b_n_o08x_a96d47dd0f9aedfbe3f731f8ae76b2e85}{get\_reset\_reason}}();}
+\DoxyCodeLine{43 }
+\DoxyCodeLine{44         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_aaaa15b21ad98a3b161065c3d03ff62b5}{on}}();}
+\DoxyCodeLine{45         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_a7c5774a48227e8e3346fa5df7dfa420c}{sleep}}();}
+\DoxyCodeLine{46 }
+\DoxyCodeLine{47         \textcolor{comment}{// bool calibration\_turntable\_start(uint32\_t period\_us);}}
+\DoxyCodeLine{48         \textcolor{comment}{// bool calibration\_turntable\_end(sh2\_CalStatus\_t\& status);}}
+\DoxyCodeLine{49 }
+\DoxyCodeLine{50         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_a90ea8e811d4bea28a356290d6f5caac5}{dynamic\_calibration\_enable}}(\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a25947bbe6bc4a7c9edd7067fdce0e9cc}{BNO08xCalSel}} sensor);}
+\DoxyCodeLine{51         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_a5c7498f6fa4bd43280dff1d322233b95}{dynamic\_calibration\_disable}}(\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a25947bbe6bc4a7c9edd7067fdce0e9cc}{BNO08xCalSel}} sensor);}
+\DoxyCodeLine{52         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_a4e8b49abd33e6e11f23b2ae345058b9b}{dynamic\_calibration\_autosave\_enable}}();}
+\DoxyCodeLine{53         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_a9387728c276734da27388dbea38b6b32}{dynamic\_calibration\_autosave\_disable}}();}
+\DoxyCodeLine{54         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_a85f1eca475ea0e6fbaff75c8a297d671}{dynamic\_calibration\_save}}();}
+\DoxyCodeLine{55         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_a441681a5133b1a125b534925c9bc10f9}{dynamic\_calibration\_data\_clear\_ram}}();}
+\DoxyCodeLine{56         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_a65a7175b6f6ad6ce687e4fd4cd4bc396}{dynamic\_calibration\_data\_delete}}();}
+\DoxyCodeLine{57         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_abcdba0d0e82db480d20ea4564511a276}{dynamic\_calibration\_run\_routine}}(); }
+\DoxyCodeLine{58 }
+\DoxyCodeLine{59         \textcolor{keyword}{constexpr} \textcolor{keyword}{static} \textcolor{keywordtype}{float} \mbox{\hyperlink{class_b_n_o08x_ab8d5ebfc080838870e320494da3fa64d}{SQRT2OVER2}} = 0.7071067811865476f; \textcolor{comment}{// sqrt(2)/2, used for setting system orientation}}
+\DoxyCodeLine{60         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_abba85271f3333b7f395ec55915c1d5f9}{set\_system\_orientation}}(\textcolor{keywordtype}{float} w, \textcolor{keywordtype}{float} x, \textcolor{keywordtype}{float} y, \textcolor{keywordtype}{float} z);}
+\DoxyCodeLine{61         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_ad42c335827c7b09cd2e4ff303a0d3520}{get\_system\_orientation}}(\textcolor{keywordtype}{float} \&w, \textcolor{keywordtype}{float} \&x, \textcolor{keywordtype}{float} \&y, \textcolor{keywordtype}{float} \&z);}
+\DoxyCodeLine{62 }
+\DoxyCodeLine{63         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_a138577792350b8d5cc48cbf46b34c4f3}{get\_frs}}(\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8e}{BNO08xFrsID}} frs\_ID, uint32\_t (\&data)[16], uint16\_t\& rx\_data\_sz);}
+\DoxyCodeLine{64         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_aa616a645a4fc9054194fdbf76ec9c5b5}{write\_frs}}(\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8e}{BNO08xFrsID}} frs\_ID, uint32\_t *data, \textcolor{keyword}{const} uint16\_t tx\_data\_sz);}
+\DoxyCodeLine{65         sh2\_ProductIds\_t \mbox{\hyperlink{class_b_n_o08x_aa8fd64f60de86ff6b8562f90f3b09690}{get\_product\_IDs}}();}
+\DoxyCodeLine{66 }
+\DoxyCodeLine{67         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_a367d525d1c0ba119b3dca3067bb5bccc}{data\_available}}();}
+\DoxyCodeLine{68         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_aadd44524e6d22c48916acd9518b63ec3}{register\_cb}}(std::function<\textcolor{keywordtype}{void}(\textcolor{keywordtype}{void})> cb\_fxn);}
+\DoxyCodeLine{69         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_aadd44524e6d22c48916acd9518b63ec3}{register\_cb}}(std::function<\textcolor{keywordtype}{void}(uint8\_t report\_ID)> cb\_fxn);}
+\DoxyCodeLine{70 }
+\DoxyCodeLine{71         \textcolor{keywordtype}{void} \mbox{\hyperlink{class_b_n_o08x_a7441f7f2477c152deca17054041bf3e6}{print\_product\_ids}}();}
+\DoxyCodeLine{72         \textcolor{keywordtype}{void} \mbox{\hyperlink{class_b_n_o08x_aae4512fa4768becf0e3919a0e0ec34d8}{print\_system\_orientation}}();}
+\DoxyCodeLine{73 }
+\DoxyCodeLine{75         \textcolor{keyword}{typedef} \textcolor{keyword}{struct }\textcolor{keyword}{alignas}(4) \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t}{bno08x\_reports\_t}}}
+\DoxyCodeLine{76         \{}
+\DoxyCodeLine{77                 \mbox{\hyperlink{class_b_n_o08x_rpt_i_gyro_r_v}{BNO08xRptIGyroRV}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a6937b5d9bf8af9344a5013e1c543ab42}{rv\_gyro\_integrated}};}
+\DoxyCodeLine{78                 \mbox{\hyperlink{class_b_n_o08x_rpt_uncal_magnetometer}{BNO08xRptUncalMagnetometer}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a5774fa69fc74264d40478a729aeb5ece}{uncal\_magnetometer}};}
+\DoxyCodeLine{79                 \mbox{\hyperlink{class_b_n_o08x_rpt_uncal_gyro}{BNO08xRptUncalGyro}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a6f1929843393c09c21b1f107a47c8fe3}{uncal\_gyro}};}
+\DoxyCodeLine{80                 \mbox{\hyperlink{class_b_n_o08x_rpt_r_v}{BNO08xRptRV}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_aeab138f8ddfed3f4d6b855a73b7e2db5}{rv}};}
+\DoxyCodeLine{81                 \mbox{\hyperlink{class_b_n_o08x_rpt_game_r_v}{BNO08xRptGameRV}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a7f33ac650137f5933ee1eab1ce936db6}{rv\_game}};}
+\DoxyCodeLine{82                 \mbox{\hyperlink{class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v}{BNO08xRptARVRStabilizedRV}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a027c914e51da445148dc9b2735cc5fc9}{rv\_ARVR\_stabilized}};}
+\DoxyCodeLine{83                 \mbox{\hyperlink{class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v}{BNO08xRptARVRStabilizedGameRV}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_af550968d0e56f114b4afb20a5a442206}{rv\_ARVR\_stabilized\_game}};}
+\DoxyCodeLine{84                 \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_geomag}{BNO08xRptRVGeomag}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a7e17ff7b9763ed040158813c69614a9f}{rv\_geomagnetic}};}
+\DoxyCodeLine{85                 \mbox{\hyperlink{class_b_n_o08x_rpt_activity_classifier}{BNO08xRptActivityClassifier}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a6475bdab7c49091f3086537efc00c12f}{activity\_classifier}};}
+\DoxyCodeLine{86                 \mbox{\hyperlink{class_b_n_o08x_rpt_acceleration}{BNO08xRptAcceleration}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_ab7939486c9ba7e7c70f82d2284fb6119}{accelerometer}};}
+\DoxyCodeLine{87                 \mbox{\hyperlink{class_b_n_o08x_rpt_linear_acceleration}{BNO08xRptLinearAcceleration}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_ac8114db28ee3f7be5578e52f48caa9c3}{linear\_accelerometer}};}
+\DoxyCodeLine{88                 \mbox{\hyperlink{class_b_n_o08x_rpt_gravity}{BNO08xRptGravity}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_af5245d5e4a6f7548a0c3a30af53b7355}{gravity}};}
+\DoxyCodeLine{89                 \mbox{\hyperlink{class_b_n_o08x_rpt_cal_magnetometer}{BNO08xRptCalMagnetometer}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a03d6194225331df5326a97ec6d45b094}{cal\_magnetometer}};}
+\DoxyCodeLine{90                 \mbox{\hyperlink{class_b_n_o08x_rpt_cal_gyro}{BNO08xRptCalGyro}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_adabe838126b5bbc83fc4f69bba78123e}{cal\_gyro}};}
+\DoxyCodeLine{91                 \mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_gyro}{BNO08xRptRawMEMSGyro}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a13357e58bc926c2420ab41e4ffef4196}{raw\_gyro}};}
+\DoxyCodeLine{92                 \mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer}{BNO08xRptRawMEMSAccelerometer}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_aa3a65aaf2adf05aa014b72c2d4485590}{raw\_accelerometer}};}
+\DoxyCodeLine{93                 \mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer}{BNO08xRptRawMEMSMagnetometer}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_aad8698945b261c0a871f2f409897b071}{raw\_magnetometer}};}
+\DoxyCodeLine{94                 \mbox{\hyperlink{class_b_n_o08x_rpt_step_counter}{BNO08xRptStepCounter}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_aee9528ea57ab86ef29e10de9ecfefcf7}{step\_counter}};}
+\DoxyCodeLine{95                 \mbox{\hyperlink{class_b_n_o08x_rpt_tap_detector}{BNO08xRptTapDetector}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a0cabee7da991a7399d607373f09548a7}{tap\_detector}};}
+\DoxyCodeLine{96                 \mbox{\hyperlink{class_b_n_o08x_rpt_stability_classifier}{BNO08xRptStabilityClassifier}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a2edee4386eaea86ef3d316f5840d7a2f}{stability\_classifier}};}
+\DoxyCodeLine{97                 \mbox{\hyperlink{class_b_n_o08x_rpt_shake_detector}{BNO08xRptShakeDetector}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a9d7ff08c5a141c3d1ad3493423e7c49c}{shake\_detector}};}
+\DoxyCodeLine{98 }
+\DoxyCodeLine{99                 \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_aad0b1641e9c31927c33d0f69c174f9cb}{bno08x\_reports\_t}}(\mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}}* sync\_ctx)}
+\DoxyCodeLine{100                     : \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a6937b5d9bf8af9344a5013e1c543ab42}{rv\_gyro\_integrated}}(SH2\_GYRO\_INTEGRATED\_RV, \mbox{\hyperlink{namespace_b_n_o08x_private_types}{BNO08xPrivateTypes}}::\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa6835a63fb08379608cda0a108098aac7}{EVT\_GRP\_RPT\_GYRO\_INTEGRATED\_RV\_BIT}}, sync\_ctx)}
+\DoxyCodeLine{101                     , \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a5774fa69fc74264d40478a729aeb5ece}{uncal\_magnetometer}}(}
+\DoxyCodeLine{102                               SH2\_MAGNETIC\_FIELD\_UNCALIBRATED, \mbox{\hyperlink{namespace_b_n_o08x_private_types}{BNO08xPrivateTypes}}::\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2faa54d15cc17179a6840b9ec3f4e0038cb}{EVT\_GRP\_RPT\_UNCAL\_MAGNETOMETER\_BIT}}, sync\_ctx)}
+\DoxyCodeLine{103                     , \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a6f1929843393c09c21b1f107a47c8fe3}{uncal\_gyro}}(SH2\_GYROSCOPE\_UNCALIBRATED, \mbox{\hyperlink{namespace_b_n_o08x_private_types}{BNO08xPrivateTypes}}::\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa591c062247280798af0e40d6141614c6}{EVT\_GRP\_RPT\_UNCAL\_GYRO\_BIT}}, sync\_ctx)}
+\DoxyCodeLine{104                     , \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_aeab138f8ddfed3f4d6b855a73b7e2db5}{rv}}(SH2\_ROTATION\_VECTOR, \mbox{\hyperlink{namespace_b_n_o08x_private_types}{BNO08xPrivateTypes}}::\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fac0ff3fde600aac814ad76a4769515ae8}{EVT\_GRP\_RPT\_RV\_BIT}}, sync\_ctx)}
+\DoxyCodeLine{105                     , \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a7f33ac650137f5933ee1eab1ce936db6}{rv\_game}}(SH2\_GAME\_ROTATION\_VECTOR, \mbox{\hyperlink{namespace_b_n_o08x_private_types}{BNO08xPrivateTypes}}::\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fad39283f98adf7242b3b3ccf847c150cd}{EVT\_GRP\_RPT\_RV\_GAME\_BIT}}, sync\_ctx)}
+\DoxyCodeLine{106                     , \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a027c914e51da445148dc9b2735cc5fc9}{rv\_ARVR\_stabilized}}(SH2\_ARVR\_STABILIZED\_RV, \mbox{\hyperlink{namespace_b_n_o08x_private_types}{BNO08xPrivateTypes}}::\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fab5d141bdda220e3fa0bd9eb0fe3f31b5}{EVT\_GRP\_RPT\_RV\_ARVR\_S\_BIT}}, sync\_ctx)}
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+\DoxyCodeLine{108                               SH2\_ARVR\_STABILIZED\_GRV, \mbox{\hyperlink{namespace_b_n_o08x_private_types}{BNO08xPrivateTypes}}::\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fab77588c26929a2d8dd8eeea883b905ca}{EVT\_GRP\_RPT\_RV\_ARVR\_S\_GAME\_BIT}}, sync\_ctx)}
+\DoxyCodeLine{109                     , \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a7e17ff7b9763ed040158813c69614a9f}{rv\_geomagnetic}}(SH2\_GEOMAGNETIC\_ROTATION\_VECTOR, \mbox{\hyperlink{namespace_b_n_o08x_private_types}{BNO08xPrivateTypes}}::\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa728314f4744fc408c6b153e8fbb3feb4}{EVT\_GRP\_RPT\_GEOMAG\_RV\_BIT}}, sync\_ctx)}
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+\DoxyCodeLine{111                               SH2\_PERSONAL\_ACTIVITY\_CLASSIFIER, \mbox{\hyperlink{namespace_b_n_o08x_private_types}{BNO08xPrivateTypes}}::\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa94cddd1837a77bba5644543b1ad8b9e7}{EVT\_GRP\_RPT\_ACTIVITY\_CLASSIFIER\_BIT}}, sync\_ctx)}
+\DoxyCodeLine{112                     , \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_ab7939486c9ba7e7c70f82d2284fb6119}{accelerometer}}(SH2\_ACCELEROMETER, \mbox{\hyperlink{namespace_b_n_o08x_private_types}{BNO08xPrivateTypes}}::\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2faa5b9ffe097d1eb83a6a5a13871da0891}{EVT\_GRP\_RPT\_ACCELEROMETER\_BIT}}, sync\_ctx)}
+\DoxyCodeLine{113                     , \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_ac8114db28ee3f7be5578e52f48caa9c3}{linear\_accelerometer}}(}
+\DoxyCodeLine{114                               SH2\_LINEAR\_ACCELERATION, \mbox{\hyperlink{namespace_b_n_o08x_private_types}{BNO08xPrivateTypes}}::\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa68851003c2b7df34c3acf882251c60e2}{EVT\_GRP\_RPT\_LINEAR\_ACCELEROMETER\_BIT}}, sync\_ctx)}
+\DoxyCodeLine{115                     , \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_af5245d5e4a6f7548a0c3a30af53b7355}{gravity}}(SH2\_GRAVITY, \mbox{\hyperlink{namespace_b_n_o08x_private_types}{BNO08xPrivateTypes}}::\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fabd9e62157a0bc3dc38c3473d7bc2799f}{EVT\_GRP\_RPT\_GRAVITY\_BIT}}, sync\_ctx)}
+\DoxyCodeLine{116                     , \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a03d6194225331df5326a97ec6d45b094}{cal\_magnetometer}}(}
+\DoxyCodeLine{117                               SH2\_MAGNETIC\_FIELD\_CALIBRATED, \mbox{\hyperlink{namespace_b_n_o08x_private_types}{BNO08xPrivateTypes}}::\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fac1d15dddeab169b213c719e6b0fef32d}{EVT\_GRP\_RPT\_CAL\_MAGNETOMETER\_BIT}}, sync\_ctx)}
+\DoxyCodeLine{118                     , \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_adabe838126b5bbc83fc4f69bba78123e}{cal\_gyro}}(SH2\_GYROSCOPE\_CALIBRATED, \mbox{\hyperlink{namespace_b_n_o08x_private_types}{BNO08xPrivateTypes}}::\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2faeb1961d7852ea305443610b2521aaea7}{EVT\_GRP\_RPT\_CAL\_GYRO\_BIT}}, sync\_ctx)}
+\DoxyCodeLine{119                     , \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a13357e58bc926c2420ab41e4ffef4196}{raw\_gyro}}(SH2\_RAW\_GYROSCOPE, \mbox{\hyperlink{namespace_b_n_o08x_private_types}{BNO08xPrivateTypes}}::\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fadcfcdea69099869ebf7f246ff5b7e8bb}{EVT\_GRP\_RPT\_RAW\_GYRO\_BIT}}, sync\_ctx)}
+\DoxyCodeLine{120                     , \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_aa3a65aaf2adf05aa014b72c2d4485590}{raw\_accelerometer}}(SH2\_RAW\_ACCELEROMETER, \mbox{\hyperlink{namespace_b_n_o08x_private_types}{BNO08xPrivateTypes}}::\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fab7e6b36da354702880ff9118d45b6af2}{EVT\_GRP\_RPT\_RAW\_ACCELEROMETER\_BIT}}, sync\_ctx)}
+\DoxyCodeLine{121                     , \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_aad8698945b261c0a871f2f409897b071}{raw\_magnetometer}}(SH2\_RAW\_MAGNETOMETER, \mbox{\hyperlink{namespace_b_n_o08x_private_types}{BNO08xPrivateTypes}}::\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fab57a2ea711bebb4d4e031a0b449160c7}{EVT\_GRP\_RPT\_RAW\_MAGNETOMETER\_BIT}}, sync\_ctx)}
+\DoxyCodeLine{122                     , \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_aee9528ea57ab86ef29e10de9ecfefcf7}{step\_counter}}(SH2\_STEP\_COUNTER, \mbox{\hyperlink{namespace_b_n_o08x_private_types}{BNO08xPrivateTypes}}::\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fafb8f448edba339f37fdf794bd891f903}{EVT\_GRP\_RPT\_STEP\_COUNTER\_BIT}}, sync\_ctx)}
+\DoxyCodeLine{123                     , \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a0cabee7da991a7399d607373f09548a7}{tap\_detector}}(SH2\_TAP\_DETECTOR, \mbox{\hyperlink{namespace_b_n_o08x_private_types}{BNO08xPrivateTypes}}::\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fad4482fb4fb6693a492584508691f2c77}{EVT\_GRP\_RPT\_TAP\_DETECTOR\_BIT}}, sync\_ctx)}
+\DoxyCodeLine{124                     , \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a2edee4386eaea86ef3d316f5840d7a2f}{stability\_classifier}}(}
+\DoxyCodeLine{125                               SH2\_STABILITY\_CLASSIFIER, \mbox{\hyperlink{namespace_b_n_o08x_private_types}{BNO08xPrivateTypes}}::\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fae138ae8422830982a470025d81c4be4b}{EVT\_GRP\_RPT\_STABILITY\_CLASSIFIER\_BIT}}, sync\_ctx)}
+\DoxyCodeLine{126                     , \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a9d7ff08c5a141c3d1ad3493423e7c49c}{shake\_detector}}(SH2\_SHAKE\_DETECTOR, \mbox{\hyperlink{namespace_b_n_o08x_private_types}{BNO08xPrivateTypes}}::\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fad517d3ea5b1b259f20ed43e1fcf40e0c}{EVT\_GRP\_RPT\_SHAKE\_DETECTOR\_BIT}}, sync\_ctx)}
+\DoxyCodeLine{127                 \{}
+\DoxyCodeLine{128                 \}}
+\DoxyCodeLine{129         \} \mbox{\hyperlink{class_b_n_o08x_ae08bdaff01ecacf0f399ab289fdf0b99}{bno08x\_reports\_t}};}
+\DoxyCodeLine{130 }
+\DoxyCodeLine{131         \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t}{bno08x\_reports\_t}} \mbox{\hyperlink{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}{rpt}};}
+\DoxyCodeLine{132 }
+\DoxyCodeLine{133     \textcolor{keyword}{private}:}
+\DoxyCodeLine{134         \textcolor{comment}{// data processing task}}
+\DoxyCodeLine{135         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} configSTACK\_DEPTH\_TYPE DATA\_PROC\_TASK\_SZ =}
+\DoxyCodeLine{136                 CONFIG\_ESP32\_BNO08X\_DATA\_PROC\_TASK\_SZ; }
+\DoxyCodeLine{137         TaskHandle\_t data\_proc\_task\_hdl;               }
+\DoxyCodeLine{138         \textcolor{keyword}{static} \textcolor{keywordtype}{void} data\_proc\_task\_trampoline(\textcolor{keywordtype}{void}* arg);}
+\DoxyCodeLine{139         \textcolor{keywordtype}{void} data\_proc\_task();}
+\DoxyCodeLine{140 }
+\DoxyCodeLine{141         \textcolor{comment}{// sh2 service task}}
+\DoxyCodeLine{142         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} configSTACK\_DEPTH\_TYPE SH2\_HAL\_SERVICE\_TASK\_SZ =}
+\DoxyCodeLine{143                 CONFIG\_ESP32\_BNO08X\_SH2\_HAL\_SERVICE\_TASK\_SZ; }
+\DoxyCodeLine{144         TaskHandle\_t sh2\_HAL\_service\_task\_hdl;               }
+\DoxyCodeLine{145         \textcolor{keyword}{static} \textcolor{keywordtype}{void} sh2\_HAL\_service\_task\_trampoline(\textcolor{keywordtype}{void}* arg);}
+\DoxyCodeLine{146         \textcolor{keywordtype}{void} sh2\_HAL\_service\_task();}
+\DoxyCodeLine{147 }
+\DoxyCodeLine{148         \textcolor{comment}{// callback task}}
+\DoxyCodeLine{149         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} configSTACK\_DEPTH\_TYPE CB\_TASK\_SZ =}
+\DoxyCodeLine{150                 CONFIG\_ESP32\_BNO08X\_CB\_TASK\_SZ; }
+\DoxyCodeLine{151         TaskHandle\_t cb\_task\_hdl;               }
+\DoxyCodeLine{152         \textcolor{keyword}{static} \textcolor{keywordtype}{void} cb\_task\_trampoline(\textcolor{keywordtype}{void}* arg);}
+\DoxyCodeLine{153         \textcolor{keywordtype}{void} cb\_task();}
+\DoxyCodeLine{154 }
+\DoxyCodeLine{155         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} BaseType\_t CB\_TASK\_AFFINITY = }
+\DoxyCodeLine{156                 CONFIG\_ESP32\_BNO08X\_CB\_TASK\_AFFINITY < 0 ? tskNO\_AFFINITY : CONFIG\_ESP32\_BNO08X\_CB\_TASK\_AFFINITY ;  }
+\DoxyCodeLine{157         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} UBaseType\_t CB\_TASK\_PRIORITY = CONFIG\_ESP32\_BNO08X\_CB\_TASK\_PRIORITY; }
+\DoxyCodeLine{158 }
+\DoxyCodeLine{159         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} BaseType\_t DATA\_PROC\_TASK\_AFFINITY = }
+\DoxyCodeLine{160                 CONFIG\_ESP32\_BNO08X\_DATA\_PROC\_TASK\_AFFINITY < 0 ? tskNO\_AFFINITY : CONFIG\_ESP32\_BNO08X\_DATA\_PROC\_TASK\_AFFINITY; }
+\DoxyCodeLine{161         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} UBaseType\_t DATA\_PROC\_TASK\_PRIORITY = CONFIG\_ESP32\_BNO08X\_DATA\_PROC\_TASK\_PRIORITY; }
+\DoxyCodeLine{162         }
+\DoxyCodeLine{163         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} BaseType\_t SH2\_HAL\_SERVICE\_TASK\_AFFINITY = }
+\DoxyCodeLine{164                 CONFIG\_ESP32\_BNO08X\_SH2\_HAL\_SERVICE\_TASK\_AFFINITY < 0 ? tskNO\_AFFINITY : CONFIG\_ESP32\_BNO08X\_SH2\_HAL\_SERVICE\_TASK\_AFFINITY; }
+\DoxyCodeLine{165         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} UBaseType\_t SH2\_HAL\_SERVICE\_TASK\_PRIORITY = CONFIG\_ESP32\_BNO08X\_SH2\_HAL\_SERVICE\_TASK\_PRIORITY; }
+\DoxyCodeLine{166 }
+\DoxyCodeLine{167 }
+\DoxyCodeLine{168         SemaphoreHandle\_t sem\_kill\_tasks; }
+\DoxyCodeLine{169 }
+\DoxyCodeLine{170         \textcolor{keywordtype}{void} lock\_sh2\_HAL();}
+\DoxyCodeLine{171         \textcolor{keywordtype}{void} unlock\_sh2\_HAL();}
+\DoxyCodeLine{172         \textcolor{keywordtype}{void} lock\_user\_data();}
+\DoxyCodeLine{173         \textcolor{keywordtype}{void} unlock\_user\_data();}
+\DoxyCodeLine{174 }
+\DoxyCodeLine{175         \textcolor{keywordtype}{void} handle\_sensor\_report(sh2\_SensorValue\_t* sensor\_val);}
+\DoxyCodeLine{176         \textcolor{keywordtype}{void} handle\_cb(uint8\_t rpt\_ID, \mbox{\hyperlink{class_b_n_o08x_cb_generic}{BNO08xCbGeneric}}* cb\_entry);}
+\DoxyCodeLine{177 }
+\DoxyCodeLine{178         esp\_err\_t init\_config\_args();}
+\DoxyCodeLine{179         esp\_err\_t init\_gpio();}
+\DoxyCodeLine{180         esp\_err\_t init\_gpio\_inputs();}
+\DoxyCodeLine{181         esp\_err\_t init\_gpio\_outputs();}
+\DoxyCodeLine{182         esp\_err\_t init\_hint\_isr();}
+\DoxyCodeLine{183         esp\_err\_t init\_spi();}
+\DoxyCodeLine{184         esp\_err\_t init\_tasks();}
+\DoxyCodeLine{185         esp\_err\_t init\_sh2\_HAL();}
+\DoxyCodeLine{186 }
+\DoxyCodeLine{187         esp\_err\_t deinit\_gpio();}
+\DoxyCodeLine{188         esp\_err\_t deinit\_gpio\_inputs();}
+\DoxyCodeLine{189         esp\_err\_t deinit\_gpio\_outputs();}
+\DoxyCodeLine{190         esp\_err\_t deinit\_hint\_isr();}
+\DoxyCodeLine{191         esp\_err\_t deinit\_spi();}
+\DoxyCodeLine{192         esp\_err\_t deinit\_tasks();}
+\DoxyCodeLine{193         esp\_err\_t deinit\_sh2\_HAL();}
+\DoxyCodeLine{194 }
+\DoxyCodeLine{195         esp\_err\_t wait\_for\_hint();}
+\DoxyCodeLine{196         esp\_err\_t wait\_for\_reset();}
+\DoxyCodeLine{197 }
+\DoxyCodeLine{198         \textcolor{keywordtype}{void} toggle\_reset();}
+\DoxyCodeLine{199 }
+\DoxyCodeLine{200         esp\_err\_t re\_enable\_reports();}
+\DoxyCodeLine{201 }
+\DoxyCodeLine{202         sh2\_Hal\_t sh2\_HAL; }
+\DoxyCodeLine{203 }
+\DoxyCodeLine{204         QueueHandle\_t}
+\DoxyCodeLine{205                 queue\_rx\_sensor\_event; }
+\DoxyCodeLine{206 }
+\DoxyCodeLine{207         QueueHandle\_t queue\_cb\_report\_id; }
+\DoxyCodeLine{208 }
+\DoxyCodeLine{209         \mbox{\hyperlink{structbno08x__config__t}{bno08x\_config\_t}} imu\_config\{\};                   }
+\DoxyCodeLine{210         spi\_bus\_config\_t bus\_config\{\};                  }
+\DoxyCodeLine{211         spi\_device\_interface\_config\_t imu\_spi\_config\{\}; }
+\DoxyCodeLine{212         spi\_device\_handle\_t spi\_hdl\{\};                  }
+\DoxyCodeLine{213         spi\_transaction\_t spi\_transaction\{\};            }
+\DoxyCodeLine{214         \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t}{BNO08xPrivateTypes::bno08x\_init\_status\_t}}}
+\DoxyCodeLine{215                 init\_status; }
+\DoxyCodeLine{216         \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}} sync\_ctx; }
+\DoxyCodeLine{217         sh2\_ProductIds\_t product\_IDs; }
+\DoxyCodeLine{218 }
+\DoxyCodeLine{219         \textcolor{comment}{// clang-\/format off}}
+\DoxyCodeLine{220         etl::map<uint8\_t, BNO08xRpt*, TOTAL\_RPT\_COUNT, etl::less<uint8\_t>> usr\_reports = }
+\DoxyCodeLine{221         \{}
+\DoxyCodeLine{222                 \{SH2\_ACCELEROMETER, \&\mbox{\hyperlink{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}{rpt}}.\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_ab7939486c9ba7e7c70f82d2284fb6119}{accelerometer}}\},}
+\DoxyCodeLine{223                 \{SH2\_LINEAR\_ACCELERATION, \&\mbox{\hyperlink{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}{rpt}}.\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_ac8114db28ee3f7be5578e52f48caa9c3}{linear\_accelerometer}}\}, }
+\DoxyCodeLine{224                 \{SH2\_GRAVITY, \&\mbox{\hyperlink{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}{rpt}}.\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_af5245d5e4a6f7548a0c3a30af53b7355}{gravity}}\}, }
+\DoxyCodeLine{225                 \{SH2\_MAGNETIC\_FIELD\_CALIBRATED, \&\mbox{\hyperlink{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}{rpt}}.\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a03d6194225331df5326a97ec6d45b094}{cal\_magnetometer}}\},}
+\DoxyCodeLine{226                 \{SH2\_MAGNETIC\_FIELD\_UNCALIBRATED, \&\mbox{\hyperlink{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}{rpt}}.\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a5774fa69fc74264d40478a729aeb5ece}{uncal\_magnetometer}}\}, }
+\DoxyCodeLine{227                 \{SH2\_GYROSCOPE\_CALIBRATED, \&\mbox{\hyperlink{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}{rpt}}.\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_adabe838126b5bbc83fc4f69bba78123e}{cal\_gyro}}\},}
+\DoxyCodeLine{228                 \{SH2\_GYROSCOPE\_UNCALIBRATED, \&\mbox{\hyperlink{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}{rpt}}.\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a6f1929843393c09c21b1f107a47c8fe3}{uncal\_gyro}}\}, }
+\DoxyCodeLine{229                 \{SH2\_ROTATION\_VECTOR, \&\mbox{\hyperlink{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}{rpt}}.\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_aeab138f8ddfed3f4d6b855a73b7e2db5}{rv}}\}, }
+\DoxyCodeLine{230                 \{SH2\_GAME\_ROTATION\_VECTOR, \&\mbox{\hyperlink{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}{rpt}}.\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a7f33ac650137f5933ee1eab1ce936db6}{rv\_game}}\},}
+\DoxyCodeLine{231                 \{SH2\_ARVR\_STABILIZED\_RV, \&\mbox{\hyperlink{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}{rpt}}.\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a027c914e51da445148dc9b2735cc5fc9}{rv\_ARVR\_stabilized}}\}, }
+\DoxyCodeLine{232                 \{SH2\_ARVR\_STABILIZED\_GRV, \&\mbox{\hyperlink{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}{rpt}}.\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_af550968d0e56f114b4afb20a5a442206}{rv\_ARVR\_stabilized\_game}}\},}
+\DoxyCodeLine{233                 \{SH2\_GYRO\_INTEGRATED\_RV, \&\mbox{\hyperlink{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}{rpt}}.\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a6937b5d9bf8af9344a5013e1c543ab42}{rv\_gyro\_integrated}}\}, }
+\DoxyCodeLine{234                 \{SH2\_GEOMAGNETIC\_ROTATION\_VECTOR, \&\mbox{\hyperlink{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}{rpt}}.\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a7e17ff7b9763ed040158813c69614a9f}{rv\_geomagnetic}}\}, }
+\DoxyCodeLine{235                 \{SH2\_RAW\_GYROSCOPE, \&\mbox{\hyperlink{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}{rpt}}.\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a13357e58bc926c2420ab41e4ffef4196}{raw\_gyro}}\},}
+\DoxyCodeLine{236                 \{SH2\_RAW\_ACCELEROMETER, \&\mbox{\hyperlink{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}{rpt}}.\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_aa3a65aaf2adf05aa014b72c2d4485590}{raw\_accelerometer}}\}, }
+\DoxyCodeLine{237                 \{SH2\_RAW\_MAGNETOMETER, \&\mbox{\hyperlink{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}{rpt}}.\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_aad8698945b261c0a871f2f409897b071}{raw\_magnetometer}}\}, }
+\DoxyCodeLine{238                 \{SH2\_STEP\_COUNTER, \&\mbox{\hyperlink{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}{rpt}}.\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_aee9528ea57ab86ef29e10de9ecfefcf7}{step\_counter}}\},}
+\DoxyCodeLine{239                 \{SH2\_PERSONAL\_ACTIVITY\_CLASSIFIER, \&\mbox{\hyperlink{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}{rpt}}.\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a6475bdab7c49091f3086537efc00c12f}{activity\_classifier}}\}, }
+\DoxyCodeLine{240                 \{SH2\_STABILITY\_CLASSIFIER, \&\mbox{\hyperlink{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}{rpt}}.\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a2edee4386eaea86ef3d316f5840d7a2f}{stability\_classifier}}\},}
+\DoxyCodeLine{241                 \{SH2\_SHAKE\_DETECTOR, \&\mbox{\hyperlink{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}{rpt}}.\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a9d7ff08c5a141c3d1ad3493423e7c49c}{shake\_detector}}\}, }
+\DoxyCodeLine{242                 \{SH2\_TAP\_DETECTOR, \&\mbox{\hyperlink{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}{rpt}}.\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a0cabee7da991a7399d607373f09548a7}{tap\_detector}}\},}
+\DoxyCodeLine{243                 }
+\DoxyCodeLine{244                 \textcolor{comment}{// not implemented, see include/report for existing implementations to add your own}}
+\DoxyCodeLine{245                 \{SH2\_PRESSURE, \textcolor{keyword}{nullptr}\}, \textcolor{comment}{// requires auxilary i2c sensor}}
+\DoxyCodeLine{246                 \{SH2\_AMBIENT\_LIGHT, \textcolor{keyword}{nullptr}\},  \textcolor{comment}{// requires auxilary i2c sensor}}
+\DoxyCodeLine{247                 \{SH2\_HUMIDITY, \textcolor{keyword}{nullptr}\},  \textcolor{comment}{// requires auxilary i2c sensor}}
+\DoxyCodeLine{248                 \{SH2\_PROXIMITY, \textcolor{keyword}{nullptr}\},  \textcolor{comment}{// requires auxilary i2c sensor}}
+\DoxyCodeLine{249                 \{SH2\_TEMPERATURE, \textcolor{keyword}{nullptr}\},  \textcolor{comment}{// requires auxilary i2c sensor}}
+\DoxyCodeLine{250                 \{SH2\_HEART\_RATE\_MONITOR, \textcolor{keyword}{nullptr}\},  \textcolor{comment}{// requires auxilary i2c sensor}}
+\DoxyCodeLine{251                 \{SH2\_STEP\_DETECTOR, \textcolor{keyword}{nullptr}\},}
+\DoxyCodeLine{252                 \{SH2\_SIGNIFICANT\_MOTION, \textcolor{keyword}{nullptr}\},}
+\DoxyCodeLine{253                 \{SH2\_FLIP\_DETECTOR, \textcolor{keyword}{nullptr}\},}
+\DoxyCodeLine{254                 \{SH2\_PICKUP\_DETECTOR, \textcolor{keyword}{nullptr}\},}
+\DoxyCodeLine{255                 \{SH2\_STABILITY\_DETECTOR, \textcolor{keyword}{nullptr}\},}
+\DoxyCodeLine{256                 \{SH2\_SLEEP\_DETECTOR, \textcolor{keyword}{nullptr}\},}
+\DoxyCodeLine{257                 \{SH2\_TILT\_DETECTOR, \textcolor{keyword}{nullptr}\},}
+\DoxyCodeLine{258                 \{SH2\_POCKET\_DETECTOR, \textcolor{keyword}{nullptr}\},}
+\DoxyCodeLine{259                 \{SH2\_CIRCLE\_DETECTOR, \textcolor{keyword}{nullptr}\},}
+\DoxyCodeLine{260                 \{SH2\_IZRO\_MOTION\_REQUEST, \textcolor{keyword}{nullptr}\}}
+\DoxyCodeLine{261         \};}
+\DoxyCodeLine{262         \textcolor{comment}{// clang-\/format on}}
+\DoxyCodeLine{263 }
+\DoxyCodeLine{264         \textcolor{keyword}{static} \textcolor{keywordtype}{void} IRAM\_ATTR hint\_handler(\textcolor{keywordtype}{void}* arg);}
+\DoxyCodeLine{265 }
+\DoxyCodeLine{266         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} uint16\_t RX\_DATA\_LENGTH = 300U; }
+\DoxyCodeLine{267 }
+\DoxyCodeLine{268         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} TickType\_t HOST\_INT\_TIMEOUT\_DEFAULT\_MS =}
+\DoxyCodeLine{269                 CONFIG\_ESP32\_BNO08X\_HINT\_TIMEOUT\_MS /}
+\DoxyCodeLine{270                 portTICK\_PERIOD\_MS; }
+\DoxyCodeLine{271 }
+\DoxyCodeLine{272         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} TickType\_t DATA\_AVAILABLE\_TIMEOUT\_MS =}
+\DoxyCodeLine{273                 CONFIG\_ESP32\_BNO08X\_DATA\_AVAILABLE\_TIMEOUT\_MS /}
+\DoxyCodeLine{274                 portTICK\_PERIOD\_MS; }
+\DoxyCodeLine{275 }
+\DoxyCodeLine{276         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} TickType\_t HARD\_RESET\_DELAY\_MS =}
+\DoxyCodeLine{277                 CONFIG\_ESP32\_BNO08X\_HARD\_RESET\_DELAY\_MS /}
+\DoxyCodeLine{278                 portTICK\_PERIOD\_MS; }
+\DoxyCodeLine{279 }
+\DoxyCodeLine{280         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} uint32\_t SCLK\_MAX\_SPEED = 3000000UL; }
+\DoxyCodeLine{281 }
+\DoxyCodeLine{282         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} \textcolor{keywordtype}{char}* TAG = \textcolor{stringliteral}{"{}BNO08x"{}}; }
+\DoxyCodeLine{283 }
+\DoxyCodeLine{284         \textcolor{keyword}{friend} \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x_s_h2_h_a_l}{BNO08xSH2HAL}};}
+\DoxyCodeLine{285         \textcolor{keyword}{friend} \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x_test_helper}{BNO08xTestHelper}};}
+\DoxyCodeLine{286 \};}
+
+\end{DoxyCode}
diff --git a/documentation/latex/_b_n_o08x_cb_generic_8hpp.tex b/documentation/latex/_b_n_o08x_cb_generic_8hpp.tex
new file mode 100644
index 0000000..ab1869a
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_cb_generic_8hpp.tex
@@ -0,0 +1,31 @@
+\hypertarget{_b_n_o08x_cb_generic_8hpp}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/callback/\+BNO08x\+Cb\+Generic.hpp File Reference}
+\label{_b_n_o08x_cb_generic_8hpp}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/callback/BNO08xCbGeneric.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/callback/BNO08xCbGeneric.hpp}}
+{\ttfamily \#include $<$stdint.\+h$>$}\newline
+{\ttfamily \#include $<$functional$>$}\newline
+Include dependency graph for BNO08x\+Cb\+Generic.\+hpp\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=256pt]{_b_n_o08x_cb_generic_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_cb_generic_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+class \mbox{\hyperlink{class_b_n_o08x_cb_generic}{BNO08x\+Cb\+Generic}}
+\begin{DoxyCompactList}\small\item\em Parent class to represent callback functions as generic type such that all flavors can be invoked by single type. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+\begin{DoxyAuthor}{Author}
+Myles Parfeniuk 
+\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_cb_generic_8hpp__dep__incl.md5 b/documentation/latex/_b_n_o08x_cb_generic_8hpp__dep__incl.md5
new file mode 100644
index 0000000..c068a01
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_cb_generic_8hpp__dep__incl.md5
@@ -0,0 +1 @@
+38e5c9fbcf96bdced6707a62185bad63
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_cb_generic_8hpp__dep__incl.pdf b/documentation/latex/_b_n_o08x_cb_generic_8hpp__dep__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_cb_generic_8hpp_source.tex b/documentation/latex/_b_n_o08x_cb_generic_8hpp_source.tex
new file mode 100644
index 0000000..b15ecc7
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_cb_generic_8hpp_source.tex
@@ -0,0 +1,26 @@
+\hypertarget{_b_n_o08x_cb_generic_8hpp_source}{}\doxysection{BNO08x\+Cb\+Generic.\+hpp}
+\label{_b_n_o08x_cb_generic_8hpp_source}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/callback/BNO08xCbGeneric.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/callback/BNO08xCbGeneric.hpp}}
+\mbox{\hyperlink{_b_n_o08x_cb_generic_8hpp}{Go to the documentation of this file.}}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{1 }
+\DoxyCodeLine{6 \textcolor{preprocessor}{\#pragma once}}
+\DoxyCodeLine{7 }
+\DoxyCodeLine{8 \textcolor{comment}{// standard library includes}}
+\DoxyCodeLine{9 \textcolor{preprocessor}{\#include <stdint.h>}}
+\DoxyCodeLine{10 \textcolor{preprocessor}{\#include <functional>}}
+\DoxyCodeLine{11 }
+\DoxyCodeLine{18 \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x_cb_generic}{BNO08xCbGeneric}}}
+\DoxyCodeLine{19 \{}
+\DoxyCodeLine{20     \textcolor{keyword}{public}:}
+\DoxyCodeLine{21         \textcolor{keyword}{virtual} \textcolor{keywordtype}{void} \mbox{\hyperlink{class_b_n_o08x_cb_generic_a19f9e8a22d039acf29c98801368ff0bb}{invoke}}(uint8\_t \mbox{\hyperlink{class_b_n_o08x_cb_generic_a808841c9f19664cb6ff06f9c217793e1}{rpt\_ID}}) = 0;}
+\DoxyCodeLine{22         \textcolor{keyword}{virtual} \mbox{\hyperlink{class_b_n_o08x_cb_generic_a4caa8d4932c70bc07e187f489542ab87}{\string~BNO08xCbGeneric}}() = \textcolor{keywordflow}{default};}
+\DoxyCodeLine{23         uint8\_t \mbox{\hyperlink{class_b_n_o08x_cb_generic_a808841c9f19664cb6ff06f9c217793e1}{rpt\_ID}};}
+\DoxyCodeLine{24 }
+\DoxyCodeLine{25     \textcolor{keyword}{protected}:}
+\DoxyCodeLine{26         \mbox{\hyperlink{class_b_n_o08x_cb_generic_a5b1984f0111c5ca5e07a7f5487cd5234}{BNO08xCbGeneric}}(uint8\_t \mbox{\hyperlink{class_b_n_o08x_cb_generic_a808841c9f19664cb6ff06f9c217793e1}{rpt\_ID}})}
+\DoxyCodeLine{27             : \mbox{\hyperlink{class_b_n_o08x_cb_generic_a808841c9f19664cb6ff06f9c217793e1}{rpt\_ID}}(\mbox{\hyperlink{class_b_n_o08x_cb_generic_a808841c9f19664cb6ff06f9c217793e1}{rpt\_ID}})}
+\DoxyCodeLine{28         \{}
+\DoxyCodeLine{29         \}}
+\DoxyCodeLine{30 \};}
+
+\end{DoxyCode}
diff --git a/documentation/latex/_b_n_o08x_cb_param_rpt_i_d_8hpp.tex b/documentation/latex/_b_n_o08x_cb_param_rpt_i_d_8hpp.tex
new file mode 100644
index 0000000..f81fca0
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_cb_param_rpt_i_d_8hpp.tex
@@ -0,0 +1,30 @@
+\hypertarget{_b_n_o08x_cb_param_rpt_i_d_8hpp}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/callback/\+BNO08x\+Cb\+Param\+Rpt\+ID.hpp File Reference}
+\label{_b_n_o08x_cb_param_rpt_i_d_8hpp}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/callback/BNO08xCbParamRptID.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/callback/BNO08xCbParamRptID.hpp}}
+{\ttfamily \#include \char`\"{}BNO08x\+Cb\+Generic.\+hpp\char`\"{}}\newline
+Include dependency graph for BNO08x\+Cb\+Param\+Rpt\+ID.\+hpp\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=256pt]{_b_n_o08x_cb_param_rpt_i_d_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_cb_param_rpt_i_d_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+class \mbox{\hyperlink{class_b_n_o08x_cb_param_rpt_i_d}{BNO08x\+Cb\+Param\+Rpt\+ID}}
+\begin{DoxyCompactList}\small\item\em Class to hold callback functions which are passed report ID as input parameter. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+\begin{DoxyAuthor}{Author}
+Myles Parfeniuk 
+\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_cb_param_rpt_i_d_8hpp__dep__incl.md5 b/documentation/latex/_b_n_o08x_cb_param_rpt_i_d_8hpp__dep__incl.md5
new file mode 100644
index 0000000..2691a59
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_cb_param_rpt_i_d_8hpp__dep__incl.md5
@@ -0,0 +1 @@
+579226e4f554963fd954c737355195ed
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_cb_param_rpt_i_d_8hpp__dep__incl.pdf b/documentation/latex/_b_n_o08x_cb_param_rpt_i_d_8hpp__dep__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_cb_param_rpt_i_d_8hpp_source.tex b/documentation/latex/_b_n_o08x_cb_param_rpt_i_d_8hpp_source.tex
new file mode 100644
index 0000000..32615a7
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_cb_param_rpt_i_d_8hpp_source.tex
@@ -0,0 +1,29 @@
+\hypertarget{_b_n_o08x_cb_param_rpt_i_d_8hpp_source}{}\doxysection{BNO08x\+Cb\+Param\+Rpt\+ID.\+hpp}
+\label{_b_n_o08x_cb_param_rpt_i_d_8hpp_source}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/callback/BNO08xCbParamRptID.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/callback/BNO08xCbParamRptID.hpp}}
+\mbox{\hyperlink{_b_n_o08x_cb_param_rpt_i_d_8hpp}{Go to the documentation of this file.}}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{1 }
+\DoxyCodeLine{6 \textcolor{preprocessor}{\#pragma once}}
+\DoxyCodeLine{7 }
+\DoxyCodeLine{8 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_cb_generic_8hpp}{BNO08xCbGeneric.hpp}}"{}}}
+\DoxyCodeLine{9 }
+\DoxyCodeLine{15 \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x_cb_param_rpt_i_d}{BNO08xCbParamRptID}} : \textcolor{keyword}{public} \mbox{\hyperlink{class_b_n_o08x_cb_generic}{BNO08xCbGeneric}}}
+\DoxyCodeLine{16 \{}
+\DoxyCodeLine{17     \textcolor{keyword}{public}:}
+\DoxyCodeLine{18         \mbox{\hyperlink{class_b_n_o08x_cb_param_rpt_i_d_a5ba2a4e27588fdd0ae43133544c76a22}{BNO08xCbParamRptID}}(std::function<\textcolor{keywordtype}{void}(uint8\_t)> cb\_fxn, uint8\_t \mbox{\hyperlink{class_b_n_o08x_cb_generic_a808841c9f19664cb6ff06f9c217793e1}{rpt\_ID}})}
+\DoxyCodeLine{19             : \mbox{\hyperlink{class_b_n_o08x_cb_generic}{BNO08xCbGeneric}}(\mbox{\hyperlink{class_b_n_o08x_cb_generic_a808841c9f19664cb6ff06f9c217793e1}{rpt\_ID}})}
+\DoxyCodeLine{20             , cb\_fxn(cb\_fxn)}
+\DoxyCodeLine{21 }
+\DoxyCodeLine{22         \{}
+\DoxyCodeLine{23         \}}
+\DoxyCodeLine{24 }
+\DoxyCodeLine{32         \textcolor{keywordtype}{void} \mbox{\hyperlink{class_b_n_o08x_cb_param_rpt_i_d_ae263c2af6f9363d1a4fc58824b53cb72}{invoke}}(uint8\_t \mbox{\hyperlink{class_b_n_o08x_cb_generic_a808841c9f19664cb6ff06f9c217793e1}{rpt\_ID}})\textcolor{keyword}{ override}}
+\DoxyCodeLine{33 \textcolor{keyword}{        }\{}
+\DoxyCodeLine{34             cb\_fxn(\mbox{\hyperlink{class_b_n_o08x_cb_generic_a808841c9f19664cb6ff06f9c217793e1}{rpt\_ID}});}
+\DoxyCodeLine{35         \}}
+\DoxyCodeLine{36 }
+\DoxyCodeLine{37     \textcolor{keyword}{private}:}
+\DoxyCodeLine{38         std::function<void(uint8\_t)> cb\_fxn; }
+\DoxyCodeLine{39 \};}
+
+\end{DoxyCode}
diff --git a/documentation/latex/_b_n_o08x_cb_param_void_8hpp.tex b/documentation/latex/_b_n_o08x_cb_param_void_8hpp.tex
new file mode 100644
index 0000000..97a1d70
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_cb_param_void_8hpp.tex
@@ -0,0 +1,30 @@
+\hypertarget{_b_n_o08x_cb_param_void_8hpp}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/callback/\+BNO08x\+Cb\+Param\+Void.hpp File Reference}
+\label{_b_n_o08x_cb_param_void_8hpp}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/callback/BNO08xCbParamVoid.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/callback/BNO08xCbParamVoid.hpp}}
+{\ttfamily \#include \char`\"{}BNO08x\+Cb\+Generic.\+hpp\char`\"{}}\newline
+Include dependency graph for BNO08x\+Cb\+Param\+Void.\+hpp\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=256pt]{_b_n_o08x_cb_param_void_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_cb_param_void_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+class \mbox{\hyperlink{class_b_n_o08x_cb_param_void}{BNO08x\+Cb\+Param\+Void}}
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+\begin{DoxyAuthor}{Author}
+Myles Parfeniuk 
+\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_cb_param_void_8hpp__dep__incl.md5 b/documentation/latex/_b_n_o08x_cb_param_void_8hpp__dep__incl.md5
new file mode 100644
index 0000000..b460280
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_cb_param_void_8hpp__dep__incl.md5
@@ -0,0 +1 @@
+52313f3c5430b62d3e5fd160c2287a5e
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_cb_param_void_8hpp__dep__incl.pdf b/documentation/latex/_b_n_o08x_cb_param_void_8hpp__dep__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_cb_param_void_8hpp_source.tex b/documentation/latex/_b_n_o08x_cb_param_void_8hpp_source.tex
new file mode 100644
index 0000000..3d25218
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_cb_param_void_8hpp_source.tex
@@ -0,0 +1,28 @@
+\hypertarget{_b_n_o08x_cb_param_void_8hpp_source}{}\doxysection{BNO08x\+Cb\+Param\+Void.\+hpp}
+\label{_b_n_o08x_cb_param_void_8hpp_source}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/callback/BNO08xCbParamVoid.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/callback/BNO08xCbParamVoid.hpp}}
+\mbox{\hyperlink{_b_n_o08x_cb_param_void_8hpp}{Go to the documentation of this file.}}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{1 }
+\DoxyCodeLine{6 \textcolor{preprocessor}{\#pragma once}}
+\DoxyCodeLine{7 }
+\DoxyCodeLine{8 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_cb_generic_8hpp}{BNO08xCbGeneric.hpp}}"{}}}
+\DoxyCodeLine{9 }
+\DoxyCodeLine{15 \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x_cb_param_void}{BNO08xCbParamVoid}} : \textcolor{keyword}{public} \mbox{\hyperlink{class_b_n_o08x_cb_generic}{BNO08xCbGeneric}}}
+\DoxyCodeLine{16 \{}
+\DoxyCodeLine{17     \textcolor{keyword}{public}:}
+\DoxyCodeLine{18         \mbox{\hyperlink{class_b_n_o08x_cb_param_void_a989c124bfd9871f80a415b76510d966b}{BNO08xCbParamVoid}}(std::function<\textcolor{keywordtype}{void}(\textcolor{keywordtype}{void})> cb\_fxn, uint8\_t \mbox{\hyperlink{class_b_n_o08x_cb_generic_a808841c9f19664cb6ff06f9c217793e1}{rpt\_ID}})}
+\DoxyCodeLine{19             : \mbox{\hyperlink{class_b_n_o08x_cb_generic}{BNO08xCbGeneric}}(\mbox{\hyperlink{class_b_n_o08x_cb_generic_a808841c9f19664cb6ff06f9c217793e1}{rpt\_ID}})}
+\DoxyCodeLine{20             , cb\_fxn(cb\_fxn)}
+\DoxyCodeLine{21         \{}
+\DoxyCodeLine{22         \}}
+\DoxyCodeLine{23 }
+\DoxyCodeLine{32         \textcolor{keywordtype}{void} \mbox{\hyperlink{class_b_n_o08x_cb_param_void_a5cfdaad83528e3e418f51041d500b6f9}{invoke}}(uint8\_t \mbox{\hyperlink{class_b_n_o08x_cb_generic_a808841c9f19664cb6ff06f9c217793e1}{rpt\_ID}})\textcolor{keyword}{ override}}
+\DoxyCodeLine{33 \textcolor{keyword}{        }\{}
+\DoxyCodeLine{34             cb\_fxn();}
+\DoxyCodeLine{35         \}}
+\DoxyCodeLine{36 }
+\DoxyCodeLine{37     \textcolor{keyword}{private}:}
+\DoxyCodeLine{38         std::function<void(\textcolor{keywordtype}{void})> cb\_fxn; }
+\DoxyCodeLine{39 \};}
+
+\end{DoxyCode}
diff --git a/documentation/latex/_b_n_o08x_global_types_8hpp.tex b/documentation/latex/_b_n_o08x_global_types_8hpp.tex
new file mode 100644
index 0000000..5ffd013
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_global_types_8hpp.tex
@@ -0,0 +1,1186 @@
+\hypertarget{_b_n_o08x_global_types_8hpp}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\+BNO08x\+Global\+Types.hpp File Reference}
+\label{_b_n_o08x_global_types_8hpp}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/BNO08xGlobalTypes.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/BNO08xGlobalTypes.hpp}}
+{\ttfamily \#include $<$math.\+h$>$}\newline
+{\ttfamily \#include $<$inttypes.\+h$>$}\newline
+{\ttfamily \#include $<$stdint.\+h$>$}\newline
+{\ttfamily \#include $<$cstring$>$}\newline
+{\ttfamily \#include $<$driver/gpio.\+h$>$}\newline
+{\ttfamily \#include $<$driver/spi\+\_\+common.\+h$>$}\newline
+{\ttfamily \#include $<$driver/spi\+\_\+master.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}sh2\+\_\+\+Sensor\+Value.\+h\char`\"{}}\newline
+Include dependency graph for BNO08x\+Global\+Types.\+hpp\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_global_types_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_global_types_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+struct \mbox{\hyperlink{structbno08x__config__t}{bno08x\+\_\+config\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em IMU configuration settings passed into constructor. \end{DoxyCompactList}\item 
+struct \mbox{\hyperlink{structbno08x__quat__t}{bno08x\+\_\+quat\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em Struct to represent unit quaternion. \end{DoxyCompactList}\item 
+struct \mbox{\hyperlink{structbno08x__euler__angle__t}{bno08x\+\_\+euler\+\_\+angle\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em Struct to represent euler angle (units in degrees or rads) \end{DoxyCompactList}\item 
+struct \mbox{\hyperlink{structbno08x__ang__vel__t}{bno08x\+\_\+ang\+\_\+vel\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em Struct to represent angular velocity (units in rad/s) \end{DoxyCompactList}\item 
+struct \mbox{\hyperlink{structbno08x__magf__t}{bno08x\+\_\+magf\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em Struct to represent magnetic field data (units in u\+Tesla) \end{DoxyCompactList}\item 
+struct \mbox{\hyperlink{structbno08x__magf__bias__t}{bno08x\+\_\+magf\+\_\+bias\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em Struct to represent magnetic field bias data (units in u\+Tesla) \end{DoxyCompactList}\item 
+struct \mbox{\hyperlink{structbno08x__gyro__t}{bno08x\+\_\+gyro\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em Struct to represent gyro data (units in rad/s) \end{DoxyCompactList}\item 
+struct \mbox{\hyperlink{structbno08x__gyro__bias__t}{bno08x\+\_\+gyro\+\_\+bias\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em Struct to represent gyro bias data (units in rad/s) \end{DoxyCompactList}\item 
+struct \mbox{\hyperlink{structbno08x__activity__classifier__t}{bno08x\+\_\+activity\+\_\+classifier\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em Struct to represent activity classifier data. \end{DoxyCompactList}\item 
+struct \mbox{\hyperlink{structbno08x__tap__detector__t}{bno08x\+\_\+tap\+\_\+detector\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em Struct to represent tap detector data (flag meaning\+: 0 = no tap, 1 = positive tap on axis, -\/1 = negative tap on axis) \end{DoxyCompactList}\item 
+struct \mbox{\hyperlink{structbno08x__shake__detector__t}{bno08x\+\_\+shake\+\_\+detector\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em Struct to represent shake detector data (flag meaning\+: 0 = no shake 1 = shake detected) \end{DoxyCompactList}\item 
+struct \mbox{\hyperlink{structbno08x__accel__t}{bno08x\+\_\+accel\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em Struct to represent acceleration data from acceleration, linear acceleration, and gravity reports. \end{DoxyCompactList}\item 
+struct \mbox{\hyperlink{structbno08x__step__counter__t}{bno08x\+\_\+step\+\_\+counter\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em Struct to represent step counter data from step counter reports. \end{DoxyCompactList}\item 
+struct \mbox{\hyperlink{structbno08x__raw__gyro__t}{bno08x\+\_\+raw\+\_\+gyro\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em Struct to represent raw mems gyro data from raw gyro reports (units in ADC counts). \end{DoxyCompactList}\item 
+struct \mbox{\hyperlink{structbno08x__raw__accel__t}{bno08x\+\_\+raw\+\_\+accel\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em Struct to represent raw mems accelerometer data from raw accelerometer reports (units in ADC counts). \end{DoxyCompactList}\item 
+struct \mbox{\hyperlink{structbno08x__raw__magf__t}{bno08x\+\_\+raw\+\_\+magf\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em Struct to represent raw mems magnetometer data from raw magnetometer reports (units in ADC counts). \end{DoxyCompactList}\item 
+struct \mbox{\hyperlink{structbno08x__stability__classifier__t}{bno08x\+\_\+stability\+\_\+classifier\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em Struct to represent stability classifier data from stability classifier reports. \end{DoxyCompactList}\item 
+struct \mbox{\hyperlink{structbno08x__sample__counts__t}{bno08x\+\_\+sample\+\_\+counts\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em Struct to represent sample counts, returned from \mbox{\hyperlink{class_b_n_o08x_rpt_a7ce8e48cadf59f49068af7f1cb680b38}{BNO08x\+Rpt\+::get\+\_\+sample\+\_\+counts()}} \end{DoxyCompactList}\item 
+struct \mbox{\hyperlink{structbno08x__meta__data__t}{bno08x\+\_\+meta\+\_\+data\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em Struct to represent sensor/report meta data, returned from \mbox{\hyperlink{class_b_n_o08x_rpt_ad5b054279b01204f61b4c0408acf51cf}{BNO08x\+Rpt\+::get\+\_\+meta\+\_\+data()}} \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Macros}
+\begin{DoxyCompactItemize}
+\item 
+\#define \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_ad0dc59e3a74a39a8e358c945162f6fc8}{TAP\+\_\+\+DETECTED\+\_\+\+X\+\_\+\+AXIS}}(tap)~((tap) \& (1U $<$$<$ 0U) ? 1 \+: 0)
+\item 
+\#define \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8a8a0fbcff17f5123ad111fcd9a375ea}{TAP\+\_\+\+DETECTED\+\_\+\+X\+\_\+\+AXIS\+\_\+\+POSITIVE}}(tap)~((tap) \& (1U $<$$<$ 1U) ? 1 \+: 0)
+\item 
+\#define \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_ad2ab2bbe6f01a4a641f75c41a9064cf6}{TAP\+\_\+\+DETECTED\+\_\+\+Y\+\_\+\+AXIS}}(tap)~((tap) \& (1U $<$$<$ 2U) ? 1 \+: 0)
+\item 
+\#define \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a356ec3a53c785965e8dd24381a3bdcd7}{TAP\+\_\+\+DETECTED\+\_\+\+Y\+\_\+\+AXIS\+\_\+\+POSITIVE}}(tap)~((tap) \& (1U $<$$<$ 3U) ? 1 \+: 0)
+\item 
+\#define \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_aaaf91ed835d5d1a5726806bb147c5938}{TAP\+\_\+\+DETECTED\+\_\+\+Z\+\_\+\+AXIS}}(tap)~((tap) \& (1U $<$$<$ 4U) ? 1 \+: 0)
+\item 
+\#define \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6fd0bd9f4990ced262a8f2d4c41d65d9}{TAP\+\_\+\+DETECTED\+\_\+\+Z\+\_\+\+AXIS\+\_\+\+POSITIVE}}(tap)~((tap) \& (1U $<$$<$ 5U) ? 1 \+: 0)
+\item 
+\#define \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a92a577e216f51fc6156a87e6ecf8ffc5}{TAP\+\_\+\+DETECTED\+\_\+\+DOUBLE}}(tap)~((tap) \& (1U $<$$<$ 6U) ? 1 \+: 0)
+\item 
+\#define \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_ae12bdf0217349447eebadf16d4560869}{SHAKE\+\_\+\+DETECTED\+\_\+X}}(tap)~((tap) \& (1U $<$$<$ 0U) ? 1 \+: 0)
+\item 
+\#define \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a023aa826dbf083e2a6d2d67beba75b27}{SHAKE\+\_\+\+DETECTED\+\_\+Y}}(tap)~((tap) \& (1U $<$$<$ 1U) ? 1 \+: 0)
+\item 
+\#define \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a9951e367fa8ff09a55526994cfaa94be}{SHAKE\+\_\+\+DETECTED\+\_\+Z}}(tap)~((tap) \& (1U $<$$<$ 2U) ? 1 \+: 0)
+\end{DoxyCompactItemize}
+\doxysubsection*{Typedefs}
+\begin{DoxyCompactItemize}
+\item 
+typedef struct \mbox{\hyperlink{structbno08x__config__t}{bno08x\+\_\+config\+\_\+t}} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a648bbdbf22731476890dd8da977d7503}{bno08x\+\_\+config\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em IMU configuration settings passed into constructor. \end{DoxyCompactList}\item 
+typedef \mbox{\hyperlink{structbno08x__config__t}{bno08x\+\_\+config\+\_\+t}} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_aae502b3d91ddf903bba797646fd28d00}{imu\+\_\+config\+\_\+t}}
+\item 
+using \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a03fbbd71180a19088ce30d57ab050a22}{IMUAccuracy}} = \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08x\+Accuracy}}
+\item 
+typedef struct \mbox{\hyperlink{structbno08x__quat__t}{bno08x\+\_\+quat\+\_\+t}} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a0c7367913526c0d634c5f8f5365a55b4}{bno08x\+\_\+quat\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em Struct to represent unit quaternion. \end{DoxyCompactList}\item 
+typedef struct \mbox{\hyperlink{structbno08x__euler__angle__t}{bno08x\+\_\+euler\+\_\+angle\+\_\+t}} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ae22357b6f53c2cf806bb3aeb80814a}{bno08x\+\_\+euler\+\_\+angle\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em Struct to represent euler angle (units in degrees or rads) \end{DoxyCompactList}\item 
+typedef struct \mbox{\hyperlink{structbno08x__ang__vel__t}{bno08x\+\_\+ang\+\_\+vel\+\_\+t}} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a2babea2516c7c91039316693fc23a8c1}{bno08x\+\_\+ang\+\_\+vel\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em Struct to represent angular velocity (units in rad/s) \end{DoxyCompactList}\item 
+typedef struct \mbox{\hyperlink{structbno08x__magf__t}{bno08x\+\_\+magf\+\_\+t}} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a429f861977153379e28e8f3710330b45}{bno08x\+\_\+magf\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em Struct to represent magnetic field data (units in u\+Tesla) \end{DoxyCompactList}\item 
+typedef struct \mbox{\hyperlink{structbno08x__magf__bias__t}{bno08x\+\_\+magf\+\_\+bias\+\_\+t}} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a3d6e56080638d872486935323f393ab7}{bno08x\+\_\+magf\+\_\+bias\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em Struct to represent magnetic field bias data (units in u\+Tesla) \end{DoxyCompactList}\item 
+typedef struct \mbox{\hyperlink{structbno08x__gyro__t}{bno08x\+\_\+gyro\+\_\+t}} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_ac166834f6280e6ef21af7dd8a01be1e4}{bno08x\+\_\+gyro\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em Struct to represent gyro data (units in rad/s) \end{DoxyCompactList}\item 
+typedef struct \mbox{\hyperlink{structbno08x__gyro__bias__t}{bno08x\+\_\+gyro\+\_\+bias\+\_\+t}} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a7bf3b6ed58dd988c0f4566ba56bff415}{bno08x\+\_\+gyro\+\_\+bias\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em Struct to represent gyro bias data (units in rad/s) \end{DoxyCompactList}\item 
+typedef struct \mbox{\hyperlink{structbno08x__activity__classifier__t}{bno08x\+\_\+activity\+\_\+classifier\+\_\+t}} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a7913a36911f75945cfaa0a3249a280e3}{bno08x\+\_\+activity\+\_\+classifier\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em Struct to represent activity classifier data. \end{DoxyCompactList}\item 
+typedef struct \mbox{\hyperlink{structbno08x__tap__detector__t}{bno08x\+\_\+tap\+\_\+detector\+\_\+t}} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_adcfe69b10c9c2244015bad5b978beedd}{bno08x\+\_\+tap\+\_\+detector\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em Struct to represent tap detector data (flag meaning\+: 0 = no tap, 1 = positive tap on axis, -\/1 = negative tap on axis) \end{DoxyCompactList}\item 
+typedef struct \mbox{\hyperlink{structbno08x__shake__detector__t}{bno08x\+\_\+shake\+\_\+detector\+\_\+t}} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a7c22ac348c71afe0d42dcfae6c97ca32}{bno08x\+\_\+shake\+\_\+detector\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em Struct to represent shake detector data (flag meaning\+: 0 = no shake 1 = shake detected) \end{DoxyCompactList}\item 
+typedef struct \mbox{\hyperlink{structbno08x__accel__t}{bno08x\+\_\+accel\+\_\+t}} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a0c22a2a9fede695256dfaa4703497a2e}{bno08x\+\_\+accel\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em Struct to represent acceleration data from acceleration, linear acceleration, and gravity reports. \end{DoxyCompactList}\item 
+typedef struct \mbox{\hyperlink{structbno08x__step__counter__t}{bno08x\+\_\+step\+\_\+counter\+\_\+t}} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_ad52b092f56d1fa0064f2ea3502399cfc}{bno08x\+\_\+step\+\_\+counter\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em Struct to represent step counter data from step counter reports. \end{DoxyCompactList}\item 
+typedef struct \mbox{\hyperlink{structbno08x__raw__gyro__t}{bno08x\+\_\+raw\+\_\+gyro\+\_\+t}} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a3e205d9599aa01b7946d1ed1cbb7f1c4}{bno08x\+\_\+raw\+\_\+gyro\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em Struct to represent raw mems gyro data from raw gyro reports (units in ADC counts). \end{DoxyCompactList}\item 
+typedef struct \mbox{\hyperlink{structbno08x__raw__accel__t}{bno08x\+\_\+raw\+\_\+accel\+\_\+t}} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_ace2ea90ebebddfcdb75e1b8b7b48f905}{bno08x\+\_\+raw\+\_\+accel\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em Struct to represent raw mems accelerometer data from raw accelerometer reports (units in ADC counts). \end{DoxyCompactList}\item 
+typedef struct \mbox{\hyperlink{structbno08x__raw__magf__t}{bno08x\+\_\+raw\+\_\+magf\+\_\+t}} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a673f429cbcd0f48394de3d990d8bda4a}{bno08x\+\_\+raw\+\_\+magf\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em Struct to represent raw mems magnetometer data from raw magnetometer reports (units in ADC counts). \end{DoxyCompactList}\item 
+typedef struct \mbox{\hyperlink{structbno08x__stability__classifier__t}{bno08x\+\_\+stability\+\_\+classifier\+\_\+t}} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a9f0440c67ec56fafcd25a24bf36f842f}{bno08x\+\_\+stability\+\_\+classifier\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em Struct to represent stability classifier data from stability classifier reports. \end{DoxyCompactList}\item 
+typedef struct \mbox{\hyperlink{structbno08x__sample__counts__t}{bno08x\+\_\+sample\+\_\+counts\+\_\+t}} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_afceb7f957002d3e024d4971963ecfa20}{bno08x\+\_\+sample\+\_\+counts\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em Struct to represent sample counts, returned from \mbox{\hyperlink{class_b_n_o08x_rpt_a7ce8e48cadf59f49068af7f1cb680b38}{BNO08x\+Rpt\+::get\+\_\+sample\+\_\+counts()}} \end{DoxyCompactList}\item 
+typedef struct \mbox{\hyperlink{structbno08x__meta__data__t}{bno08x\+\_\+meta\+\_\+data\+\_\+t}} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a1145e5dfd14e96bd70c6e73af017b548}{bno08x\+\_\+meta\+\_\+data\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em Struct to represent sensor/report meta data, returned from \mbox{\hyperlink{class_b_n_o08x_rpt_ad5b054279b01204f61b4c0408acf51cf}{BNO08x\+Rpt\+::get\+\_\+meta\+\_\+data()}} \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Enumerations}
+\begin{DoxyCompactItemize}
+\item 
+enum class \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a25947bbe6bc4a7c9edd7067fdce0e9cc}{BNO08x\+Cal\+Sel}} \+: uint8\+\_\+t \{ \newline
+\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a25947bbe6bc4a7c9edd7067fdce0e9cca0e1275697d4c40b4b0640fbfa3907afa}{accelerometer}} = SH2\+\_\+\+CAL\+\_\+\+ACCEL
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a25947bbe6bc4a7c9edd7067fdce0e9cca41e1db589d90cecf09838a038ebc8aa1}{gyro}} = SH2\+\_\+\+CAL\+\_\+\+GYRO
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a25947bbe6bc4a7c9edd7067fdce0e9cca2c8af00d544b080d3c0d834d1c5dfcbf}{magnetometer}} = SH2\+\_\+\+CAL\+\_\+\+MAG
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a25947bbe6bc4a7c9edd7067fdce0e9ccafcaab1f4c98b7343157c3c59c6a259cb}{planar\+\_\+accelerometer}} = SH2\+\_\+\+CAL\+\_\+\+PLANAR
+, \newline
+\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a25947bbe6bc4a7c9edd7067fdce0e9ccaa181a603769c1f98ad927e7367c7aa51}{all}} = (SH2\+\_\+\+CAL\+\_\+\+ACCEL $\vert$ SH2\+\_\+\+CAL\+\_\+\+GYRO $\vert$ SH2\+\_\+\+CAL\+\_\+\+MAG $\vert$ SH2\+\_\+\+CAL\+\_\+\+PLANAR)
+ \}
+\item 
+enum class \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2}{BNO08x\+Reset\+Reason}} \+: uint8\+\_\+t \{ \newline
+\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2a0db45d2a4141101bdfe48e3314cfbca3}{UNDEFINED}}
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2a7b47bb0f9f8c72f84d891e8e22a1fb92}{POR}}
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2acc069cf9b33eb4e7fb3696f0f42d752f}{INT\+\_\+\+RST}}
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2a764caaf44e35ee682f4079bd0878fa36}{WTD}}
+, \newline
+\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2ac4e100317ca17eda786308c1c39eded5}{EXT\+\_\+\+RST}}
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2a03570470bad94692ce93e32700d2e1cb}{OTHER}}
+ \}
+\begin{DoxyCompactList}\small\item\em Reason for previous IMU reset (returned by get\+\_\+reset\+\_\+reason()) \end{DoxyCompactList}\item 
+enum class \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08x\+Accuracy}} \+: uint8\+\_\+t \{ \newline
+\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6a6e257e645974b9086ed66e9465e2d80c}{UNRELIABLE}}
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6a41bc94cbd8eebea13ce0491b2ac11b88}{LOW}}
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6a2ad6d5975c45da2e711c796f3a1b029c}{MED}}
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6ab89de3b4b81c4facfac906edf29aec8c}{HIGH}}
+, \newline
+\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6a0db45d2a4141101bdfe48e3314cfbca3}{UNDEFINED}}
+ \}
+\begin{DoxyCompactList}\small\item\em Sensor accuracy returned from input reports, corresponds to status bits (see ref. manual 6.\+5.\+1) \end{DoxyCompactList}\item 
+enum class \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3a}{BNO08x\+Activity\+Enable}} \+: uint32\+\_\+t \{ \newline
+\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa696b031073e74bf2cb98e5ef201d4aa3}{UNKNOWN}} = (1U \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 0U)
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aab166a3ce74dd5434e4a940dfa2af76e4}{IN\+\_\+\+VEHICLE}} = (1U \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 1U)
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa93d94a2f3a627533453a40e302fb35a4}{ON\+\_\+\+BICYCLE}} = (1U \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 2U)
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa7089542e0146a3499986c81e24924b58}{ON\+\_\+\+FOOT}} = (1U \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 3U)
+, \newline
+\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa8b572d218013b9626d59e6a2b38f18b6}{STILL}} = (1U \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 4U)
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa69909b62e08f212da31719aebf67b70c}{TILTING}} = (1U \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 5U)
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa606c114184493a665cf1f6a12fbab9d3}{WALKING}} = (1U \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 6U)
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa43491564ebcfd38568918efbd6e840fd}{RUNNING}} = (1U \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 7U)
+, \newline
+\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aabbf2a614429826a84bd76b4a47fc7515}{ON\+\_\+\+STAIRS}} = (1U \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 8U)
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa5fb1f955b45e38e31789286a1790398d}{ALL}} = (UNKNOWN $\vert$ IN\+\_\+\+VEHICLE $\vert$ ON\+\_\+\+BICYCLE $\vert$ ON\+\_\+\+FOOT $\vert$ STILL $\vert$ TILTING $\vert$ WALKING $\vert$ RUNNING $\vert$ ON\+\_\+\+STAIRS)
+ \}
+\begin{DoxyCompactList}\small\item\em BNO08x\+Activity Classifier enable bits passed to enable\+\_\+activity\+\_\+classifier() See ref manual 6.\+5.\+36.\+1. \end{DoxyCompactList}\item 
+enum class \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97d}{BNO08x\+Activity}} \+: uint8\+\_\+t \{ \newline
+\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97da696b031073e74bf2cb98e5ef201d4aa3}{UNKNOWN}} = 0
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97dab166a3ce74dd5434e4a940dfa2af76e4}{IN\+\_\+\+VEHICLE}} = 1
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97da93d94a2f3a627533453a40e302fb35a4}{ON\+\_\+\+BICYCLE}} = 2
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97da7089542e0146a3499986c81e24924b58}{ON\+\_\+\+FOOT}} = 3
+, \newline
+\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97da8b572d218013b9626d59e6a2b38f18b6}{STILL}} = 4
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97da69909b62e08f212da31719aebf67b70c}{TILTING}} = 5
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97da606c114184493a665cf1f6a12fbab9d3}{WALKING}} = 6
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97da43491564ebcfd38568918efbd6e840fd}{RUNNING}} = 7
+, \newline
+\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97dabbf2a614429826a84bd76b4a47fc7515}{ON\+\_\+\+STAIRS}} = 8
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97da0db45d2a4141101bdfe48e3314cfbca3}{UNDEFINED}} = 9
+ \}
+\begin{DoxyCompactList}\small\item\em BNO08x\+Activity states returned from BNO08x\+::activity\+\_\+classifier.\+get() \end{DoxyCompactList}\item 
+enum class \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cb}{BNO08x\+Stability}} \+: uint8\+\_\+t \{ \newline
+\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cba696b031073e74bf2cb98e5ef201d4aa3}{UNKNOWN}} = 0
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cba71149a62cd9fec4756e3538d1754486a}{ON\+\_\+\+TABLE}} = 1
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cba4120eb7591bd0789af75a8973d5f9146}{STATIONARY}} = 2
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cba32987cdf8a725702042ab18f5c700905}{STABLE}} = 3
+, \newline
+\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cbaf96e6ea7a7375bd60bad3f3caae3cf27}{MOTION}} = 4
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cba83c7f2aa8c3ac10ed8beb75cad162827}{RESERVED}} = 5
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cba0db45d2a4141101bdfe48e3314cfbca3}{UNDEFINED}} = 6
+ \}
+\begin{DoxyCompactList}\small\item\em BNO08x\+Stability states returned from BNO08x\+::stability\+\_\+classifier.\+get() \end{DoxyCompactList}\item 
+enum class \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8e}{BNO08x\+Frs\+ID}} \+: uint16\+\_\+t \{ \newline
+\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eae81a7ec9f2eb51db6a66eec214f74329}{STATIC\+\_\+\+CALIBRATION\+\_\+\+AGM}} = 0x7979
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea9b1f79a084136956f5a67145e34b8fcf}{NOMINAL\+\_\+\+CALIBRATION}} = 0x4\+D4D
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eae3e95aa73e5b19b6fc1574c287598a8a}{STATIC\+\_\+\+CALIBRATION\+\_\+\+SRA}} = 0x8\+A8A
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea9575a153f8b803923611e5a7577d8992}{NOMINAL\+\_\+\+CALIBRATION\+\_\+\+SRA}} = 0x4\+E4E
+, \newline
+\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eac843f0dc477c2043015db473c2bbf8b7}{DYNAMIC\+\_\+\+CALIBRATION}} = 0x1\+F1F
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea4003f069dafa6695f634bc4d6cadf21d}{ME\+\_\+\+POWER\+\_\+\+MGMT}} = 0x\+D3\+E2
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea174aa600a99d1fee26df64861c68d4ab}{SYSTEM\+\_\+\+ORIENTATION}} = 0x2\+D3E
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea5a6f607e6dea7e4770d6d44dffc14fe0}{ACCEL\+\_\+\+ORIENTATION}} = 0x2\+D41
+, \newline
+\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea1e56a229eb00e62fc6f98a9c3bf2c41e}{SCREEN\+\_\+\+ACCEL\+\_\+\+ORIENTATION}} = 0x2\+D43
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eab7ba02b55d602fc0e643a0e860144abd}{GYROSCOPE\+\_\+\+ORIENTATION}} = 0x2\+D46
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea7c1bc0a9cbeffed48c3f56f138f059dd}{MAGNETOMETER\+\_\+\+ORIENTATION}} = 0x2\+D4C
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ead41092d568817e7b690859c6a04089ef}{ARVR\+\_\+\+STABILIZATION\+\_\+\+RV}} = 0x3\+E2D
+, \newline
+\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea20d2e66717ed43eb8a6b112e953eb9db}{ARVR\+\_\+\+STABILIZATION\+\_\+\+GRV}} = 0x3\+E2E
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea94ada7efc076c96b78bcb052d4f22ca2}{TAP\+\_\+\+DETECT\+\_\+\+CONFIG}} = 0x\+C269
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eae5d606ae5efeadd9ab249a39b8ed828a}{SIG\+\_\+\+MOTION\+\_\+\+DETECT\+\_\+\+CONFIG}} = 0x\+C274
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea8a41fbc008e0571cf295a0770e995864}{SHAKE\+\_\+\+DETECT\+\_\+\+CONFIG}} = 0x7\+D7D
+, \newline
+\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea2dfcf6ba54eba882fb201bd55b45c4b9}{MAX\+\_\+\+FUSION\+\_\+\+PERIOD}} = 0x\+D7\+D7
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eabac5402bcf9584b3014bd64b8b6ad282}{SERIAL\+\_\+\+NUMBER}} = 0x4\+B4B
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea985e7c8c6bc3500a46530901ac93ab09}{ES\+\_\+\+PRESSURE\+\_\+\+CAL}} = 0x39\+AF
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eae15b6d77b828a0022adb2622ddf30d29}{ES\+\_\+\+TEMPERATURE\+\_\+\+CAL}} = 0x4\+D20
+, \newline
+\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea2ce4d488b1ad35ff763f52aec7191874}{ES\+\_\+\+HUMIDITY\+\_\+\+CAL}} = 0x1\+AC9
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea11c8ae2ec493a78ebc9a808e1df7478c}{ES\+\_\+\+AMBIENT\+\_\+\+LIGHT\+\_\+\+CAL}} = 0x39\+B1
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea0afc9b6963a488212d0d10c1788ca309}{ES\+\_\+\+PROXIMITY\+\_\+\+CAL}} = 0x4\+DA2
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eadc862ae872087053cf308a5c9d12e8ea}{ALS\+\_\+\+CAL}} = 0x\+D401
+, \newline
+\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eabcf02bc8a45fdf7df5390b79184b922e}{PROXIMITY\+\_\+\+SENSOR\+\_\+\+CAL}} = 0x\+D402
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eac9e002e70642b098e7e67cc4083d134d}{PICKUP\+\_\+\+DETECTOR\+\_\+\+CONFIG}} = 0x1\+B2A
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eab0ef80b2f1340b86b39cb82f5ab9d7ee}{FLIP\+\_\+\+DETECTOR\+\_\+\+CONFIG}} = 0x\+FC94
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ead36109c56ef4d0598cc0b03b25dc8d85}{STABILITY\+\_\+\+DETECTOR\+\_\+\+CONFIG}} = 0x\+ED85
+, \newline
+\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eab16df741bbcb037e9fc6830441e21a95}{ACTIVITY\+\_\+\+TRACKER\+\_\+\+CONFIG}} = 0x\+ED88
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea19f33813d80c7da8306762a7f141d9bb}{SLEEP\+\_\+\+DETECTOR\+\_\+\+CONFIG}} = 0x\+ED87
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea6590d7f1041f103cdaab64cd06e0db37}{TILT\+\_\+\+DETECTOR\+\_\+\+CONFIG}} = 0x\+ED89
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eaababe7d27ea06c8f91d48e5b7aa29edd}{POCKET\+\_\+\+DETECTOR\+\_\+\+CONFIG}} = 0x\+EF27
+, \newline
+\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea04c1dfc95c72ddbf41e93f6c894aea7c}{CIRCLE\+\_\+\+DETECTOR\+\_\+\+CONFIG}} = 0x\+EE51
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea5d88297a4f00a18d228e25847cbac419}{USER\+\_\+\+RECORD}} = 0x74\+B4
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea622bd18282b2f88dc49339c638005f7d}{ME\+\_\+\+TIME\+\_\+\+SOURCE\+\_\+\+SELECT}} = 0x\+D403
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea915838bac984c07ae03ec46239375b32}{UART\+\_\+\+FORMAT}} = 0x\+A1\+A1
+, \newline
+\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eacde3a23190df77d7c45b6dcf38727bda}{GYRO\+\_\+\+INTEGRATED\+\_\+\+RV\+\_\+\+CONFIG}} = 0x\+A1\+A2
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea2e4ea1aa76f2cad49db5d57d811e12aa}{META\+\_\+\+RAW\+\_\+\+ACCELEROMETER}} = 0x\+E301
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea465acbc549b49027295fb2df6d89ad9e}{META\+\_\+\+ACCELEROMETER}} = 0x\+E302
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea3308d6a253d373d623aa27e5a7e35b26}{META\+\_\+\+LINEAR\+\_\+\+ACCELERATION}} = 0x\+E303
+, \newline
+\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ead18387364cb570f2dada6577901433b2}{META\+\_\+\+GRAVITY}} = 0x\+E304
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea151beca4927a54850a706fce1bdc6d4f}{META\+\_\+\+RAW\+\_\+\+GYROSCOPE}} = 0x\+E305
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea1bc76fb93c1b3dd08a602f2f4fbe8645}{META\+\_\+\+GYROSCOPE\+\_\+\+CALIBRATED}} = 0x\+E306
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eaa68be0ce226eff099a645026852190b4}{META\+\_\+\+GYROSCOPE\+\_\+\+UNCALIBRATED}} = 0x\+E307
+, \newline
+\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ead97759e77dc0c7c57de6a56bc0f9bad8}{META\+\_\+\+RAW\+\_\+\+MAGNETOMETER}} = 0x\+E308
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eac4042d50ceb28eb1f11e87cb6d6d4b61}{META\+\_\+\+MAGNETIC\+\_\+\+FIELD\+\_\+\+CALIBRATED}} = 0x\+E309
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea34c09ae0fffb459871f75731dd9bdfb1}{META\+\_\+\+MAGNETIC\+\_\+\+FIELD\+\_\+\+UNCALIBRATED}} = 0x\+E30A
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea4a6153a0da5cadc5308e699f0d72de20}{META\+\_\+\+ROTATION\+\_\+\+VECTOR}} = 0x\+E30B
+, \newline
+\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea03247820bfcd6c7518327a501c2f84f2}{META\+\_\+\+GAME\+\_\+\+ROTATION\+\_\+\+VECTOR}} = 0x\+E30C
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea8358c5060ffe770da1411d8779db71a8}{META\+\_\+\+GEOMAGNETIC\+\_\+\+ROTATION\+\_\+\+VECTOR}} = 0x\+E30D
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eaf9c947198092e74abb25848eb7769067}{META\+\_\+\+PRESSURE}} = 0x\+E30E
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea272dc30956f626dd9c57deabae51f34e}{META\+\_\+\+AMBIENT\+\_\+\+LIGHT}} = 0x\+E30F
+, \newline
+\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eaad36e03479240e4335a782c235a5d38a}{META\+\_\+\+HUMIDITY}} = 0x\+E310
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea5672a03a15b0d08bc1dbf6d361f885b6}{META\+\_\+\+PROXIMITY}} = 0x\+E311
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eab95695a3e70032d9b77b4b66c66fc98c}{META\+\_\+\+TEMPERATURE}} = 0x\+E312
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eab16eab94415b5ee4213d1d5091bcbe63}{META\+\_\+\+TAP\+\_\+\+DETECTOR}} = 0x\+E313
+, \newline
+\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eaec9658d47befd647b63e584f101b54be}{META\+\_\+\+STEP\+\_\+\+DETECTOR}} = 0x\+E314
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eaf2f39889d71f8b36825d018c4e9097d0}{META\+\_\+\+STEP\+\_\+\+COUNTER}} = 0x\+E315
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea75cae4a3d64033a6b610ba9bdeca4400}{META\+\_\+\+SIGNIFICANT\+\_\+\+MOTION}} = 0x\+E316
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea74afeef51f861c9990699dce9c3544d0}{META\+\_\+\+STABILITY\+\_\+\+CLASSIFIER}} = 0x\+E317
+, \newline
+\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea9ec318efb06209c42f9199b41d76df40}{META\+\_\+\+SHAKE\+\_\+\+DETECTOR}} = 0x\+E318
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eaeba85c6e59bb27b48782c948858e21e0}{META\+\_\+\+FLIP\+\_\+\+DETECTOR}} = 0x\+E319
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea499a184ec3f1a41ee95704207c3a0907}{META\+\_\+\+PICKUP\+\_\+\+DETECTOR}} = 0x\+E31A
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ead5ca5c5444a4d4078796da85a8a63fd8}{META\+\_\+\+STABILITY\+\_\+\+DETECTOR}} = 0x\+E31B
+, \newline
+\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea6fc1d676928d6b16f1c1639b27a52669}{META\+\_\+\+PERSONAL\+\_\+\+ACTIVITY\+\_\+\+CLASSIFIER}} = 0x\+E31C
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea75c30391bf2c38c3d5451e6f3f1969ef}{META\+\_\+\+SLEEP\+\_\+\+DETECTOR}} = 0x\+E31D
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea66d0073ac3caa41ab4958fc167032f39}{META\+\_\+\+TILT\+\_\+\+DETECTOR}} = 0x\+E31E
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea8fea9f9b77154625f1b543988398610b}{META\+\_\+\+POCKET\+\_\+\+DETECTOR}} = 0x\+E31F
+, \newline
+\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eac26499be839c2f04ca712c388e02b2cd}{META\+\_\+\+CIRCLE\+\_\+\+DETECTOR}} = 0x\+E320
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea41240ea9c983158280d9a1a144d6f9dc}{META\+\_\+\+HEART\+\_\+\+RATE\+\_\+\+MONITOR}} = 0x\+E321
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea61501297c2607c69321c2a5b4c1c945b}{META\+\_\+\+ARVR\+\_\+\+STABILIZED\+\_\+\+RV}} = 0x\+E322
+, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea240edccff7cb86c2486ee9bac60e19ca}{META\+\_\+\+ARVR\+\_\+\+STABILIZED\+\_\+\+GRV}} = 0x\+E323
+, \newline
+\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea928ad374247b43bfa0939406c62d2b31}{META\+\_\+\+GYRO\+\_\+\+INTEGRATED\+\_\+\+RV}} = 0x\+E324
+ \}
+\end{DoxyCompactItemize}
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+const constexpr char $\ast$ \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_abb500e98b07c687d37e8ac0548a02e05}{BNO08x\+Accuracy\+\_\+to\+\_\+str}} (\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08x\+Accuracy}} accuracy)
+\item 
+const constexpr char $\ast$ \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a042702b50b2a3617c517cd601e9d7ead}{BNO08x\+Activity\+\_\+to\+\_\+str}} (\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97d}{BNO08x\+Activity}} activity)
+\begin{DoxyCompactList}\small\item\em Converts a BNO08x\+Activity enum to string. \end{DoxyCompactList}\item 
+const constexpr char $\ast$ \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_acd889b071d45f7ba9e7157e7a752bf5a}{BNO08x\+Stability\+\_\+to\+\_\+str}} (\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cb}{BNO08x\+Stability}} stability)
+\begin{DoxyCompactList}\small\item\em Converts a BNO08x\+Stability enum to string. \end{DoxyCompactList}\item 
+const constexpr char $\ast$ \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a79cad23b69ea6ab97bf9d6e0a64a2826}{BNO08x\+Frs\+ID\+\_\+to\+\_\+str}} (\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8e}{BNO08x\+Frs\+ID}} id)
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+\begin{DoxyAuthor}{Author}
+Myles Parfeniuk 
+\end{DoxyAuthor}
+
+
+\doxysubsection{Macro Definition Documentation}
+\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_ae12bdf0217349447eebadf16d4560869}\label{_b_n_o08x_global_types_8hpp_ae12bdf0217349447eebadf16d4560869}} 
+\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!SHAKE\_DETECTED\_X@{SHAKE\_DETECTED\_X}}
+\index{SHAKE\_DETECTED\_X@{SHAKE\_DETECTED\_X}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
+\doxysubsubsection{\texorpdfstring{SHAKE\_DETECTED\_X}{SHAKE\_DETECTED\_X}}
+{\footnotesize\ttfamily \#define SHAKE\+\_\+\+DETECTED\+\_\+X(\begin{DoxyParamCaption}\item[{}]{tap }\end{DoxyParamCaption})~((tap) \& (1U $<$$<$ 0U) ? 1 \+: 0)}
+
+\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a023aa826dbf083e2a6d2d67beba75b27}\label{_b_n_o08x_global_types_8hpp_a023aa826dbf083e2a6d2d67beba75b27}} 
+\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!SHAKE\_DETECTED\_Y@{SHAKE\_DETECTED\_Y}}
+\index{SHAKE\_DETECTED\_Y@{SHAKE\_DETECTED\_Y}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
+\doxysubsubsection{\texorpdfstring{SHAKE\_DETECTED\_Y}{SHAKE\_DETECTED\_Y}}
+{\footnotesize\ttfamily \#define SHAKE\+\_\+\+DETECTED\+\_\+Y(\begin{DoxyParamCaption}\item[{}]{tap }\end{DoxyParamCaption})~((tap) \& (1U $<$$<$ 1U) ? 1 \+: 0)}
+
+\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a9951e367fa8ff09a55526994cfaa94be}\label{_b_n_o08x_global_types_8hpp_a9951e367fa8ff09a55526994cfaa94be}} 
+\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!SHAKE\_DETECTED\_Z@{SHAKE\_DETECTED\_Z}}
+\index{SHAKE\_DETECTED\_Z@{SHAKE\_DETECTED\_Z}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
+\doxysubsubsection{\texorpdfstring{SHAKE\_DETECTED\_Z}{SHAKE\_DETECTED\_Z}}
+{\footnotesize\ttfamily \#define SHAKE\+\_\+\+DETECTED\+\_\+Z(\begin{DoxyParamCaption}\item[{}]{tap }\end{DoxyParamCaption})~((tap) \& (1U $<$$<$ 2U) ? 1 \+: 0)}
+
+\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a92a577e216f51fc6156a87e6ecf8ffc5}\label{_b_n_o08x_global_types_8hpp_a92a577e216f51fc6156a87e6ecf8ffc5}} 
+\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!TAP\_DETECTED\_DOUBLE@{TAP\_DETECTED\_DOUBLE}}
+\index{TAP\_DETECTED\_DOUBLE@{TAP\_DETECTED\_DOUBLE}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
+\doxysubsubsection{\texorpdfstring{TAP\_DETECTED\_DOUBLE}{TAP\_DETECTED\_DOUBLE}}
+{\footnotesize\ttfamily \#define TAP\+\_\+\+DETECTED\+\_\+\+DOUBLE(\begin{DoxyParamCaption}\item[{}]{tap }\end{DoxyParamCaption})~((tap) \& (1U $<$$<$ 6U) ? 1 \+: 0)}
+
+\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_ad0dc59e3a74a39a8e358c945162f6fc8}\label{_b_n_o08x_global_types_8hpp_ad0dc59e3a74a39a8e358c945162f6fc8}} 
+\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!TAP\_DETECTED\_X\_AXIS@{TAP\_DETECTED\_X\_AXIS}}
+\index{TAP\_DETECTED\_X\_AXIS@{TAP\_DETECTED\_X\_AXIS}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
+\doxysubsubsection{\texorpdfstring{TAP\_DETECTED\_X\_AXIS}{TAP\_DETECTED\_X\_AXIS}}
+{\footnotesize\ttfamily \#define TAP\+\_\+\+DETECTED\+\_\+\+X\+\_\+\+AXIS(\begin{DoxyParamCaption}\item[{}]{tap }\end{DoxyParamCaption})~((tap) \& (1U $<$$<$ 0U) ? 1 \+: 0)}
+
+\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8a8a0fbcff17f5123ad111fcd9a375ea}\label{_b_n_o08x_global_types_8hpp_a8a8a0fbcff17f5123ad111fcd9a375ea}} 
+\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!TAP\_DETECTED\_X\_AXIS\_POSITIVE@{TAP\_DETECTED\_X\_AXIS\_POSITIVE}}
+\index{TAP\_DETECTED\_X\_AXIS\_POSITIVE@{TAP\_DETECTED\_X\_AXIS\_POSITIVE}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
+\doxysubsubsection{\texorpdfstring{TAP\_DETECTED\_X\_AXIS\_POSITIVE}{TAP\_DETECTED\_X\_AXIS\_POSITIVE}}
+{\footnotesize\ttfamily \#define TAP\+\_\+\+DETECTED\+\_\+\+X\+\_\+\+AXIS\+\_\+\+POSITIVE(\begin{DoxyParamCaption}\item[{}]{tap }\end{DoxyParamCaption})~((tap) \& (1U $<$$<$ 1U) ? 1 \+: 0)}
+
+\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_ad2ab2bbe6f01a4a641f75c41a9064cf6}\label{_b_n_o08x_global_types_8hpp_ad2ab2bbe6f01a4a641f75c41a9064cf6}} 
+\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!TAP\_DETECTED\_Y\_AXIS@{TAP\_DETECTED\_Y\_AXIS}}
+\index{TAP\_DETECTED\_Y\_AXIS@{TAP\_DETECTED\_Y\_AXIS}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
+\doxysubsubsection{\texorpdfstring{TAP\_DETECTED\_Y\_AXIS}{TAP\_DETECTED\_Y\_AXIS}}
+{\footnotesize\ttfamily \#define TAP\+\_\+\+DETECTED\+\_\+\+Y\+\_\+\+AXIS(\begin{DoxyParamCaption}\item[{}]{tap }\end{DoxyParamCaption})~((tap) \& (1U $<$$<$ 2U) ? 1 \+: 0)}
+
+\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a356ec3a53c785965e8dd24381a3bdcd7}\label{_b_n_o08x_global_types_8hpp_a356ec3a53c785965e8dd24381a3bdcd7}} 
+\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!TAP\_DETECTED\_Y\_AXIS\_POSITIVE@{TAP\_DETECTED\_Y\_AXIS\_POSITIVE}}
+\index{TAP\_DETECTED\_Y\_AXIS\_POSITIVE@{TAP\_DETECTED\_Y\_AXIS\_POSITIVE}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
+\doxysubsubsection{\texorpdfstring{TAP\_DETECTED\_Y\_AXIS\_POSITIVE}{TAP\_DETECTED\_Y\_AXIS\_POSITIVE}}
+{\footnotesize\ttfamily \#define TAP\+\_\+\+DETECTED\+\_\+\+Y\+\_\+\+AXIS\+\_\+\+POSITIVE(\begin{DoxyParamCaption}\item[{}]{tap }\end{DoxyParamCaption})~((tap) \& (1U $<$$<$ 3U) ? 1 \+: 0)}
+
+\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_aaaf91ed835d5d1a5726806bb147c5938}\label{_b_n_o08x_global_types_8hpp_aaaf91ed835d5d1a5726806bb147c5938}} 
+\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!TAP\_DETECTED\_Z\_AXIS@{TAP\_DETECTED\_Z\_AXIS}}
+\index{TAP\_DETECTED\_Z\_AXIS@{TAP\_DETECTED\_Z\_AXIS}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
+\doxysubsubsection{\texorpdfstring{TAP\_DETECTED\_Z\_AXIS}{TAP\_DETECTED\_Z\_AXIS}}
+{\footnotesize\ttfamily \#define TAP\+\_\+\+DETECTED\+\_\+\+Z\+\_\+\+AXIS(\begin{DoxyParamCaption}\item[{}]{tap }\end{DoxyParamCaption})~((tap) \& (1U $<$$<$ 4U) ? 1 \+: 0)}
+
+\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a6fd0bd9f4990ced262a8f2d4c41d65d9}\label{_b_n_o08x_global_types_8hpp_a6fd0bd9f4990ced262a8f2d4c41d65d9}} 
+\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!TAP\_DETECTED\_Z\_AXIS\_POSITIVE@{TAP\_DETECTED\_Z\_AXIS\_POSITIVE}}
+\index{TAP\_DETECTED\_Z\_AXIS\_POSITIVE@{TAP\_DETECTED\_Z\_AXIS\_POSITIVE}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
+\doxysubsubsection{\texorpdfstring{TAP\_DETECTED\_Z\_AXIS\_POSITIVE}{TAP\_DETECTED\_Z\_AXIS\_POSITIVE}}
+{\footnotesize\ttfamily \#define TAP\+\_\+\+DETECTED\+\_\+\+Z\+\_\+\+AXIS\+\_\+\+POSITIVE(\begin{DoxyParamCaption}\item[{}]{tap }\end{DoxyParamCaption})~((tap) \& (1U $<$$<$ 5U) ? 1 \+: 0)}
+
+
+
+\doxysubsection{Typedef Documentation}
+\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a0c22a2a9fede695256dfaa4703497a2e}\label{_b_n_o08x_global_types_8hpp_a0c22a2a9fede695256dfaa4703497a2e}} 
+\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!bno08x\_accel\_t@{bno08x\_accel\_t}}
+\index{bno08x\_accel\_t@{bno08x\_accel\_t}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
+\doxysubsubsection{\texorpdfstring{bno08x\_accel\_t}{bno08x\_accel\_t}}
+{\footnotesize\ttfamily typedef struct \mbox{\hyperlink{structbno08x__accel__t}{bno08x\+\_\+accel\+\_\+t}} \mbox{\hyperlink{structbno08x__accel__t}{bno08x\+\_\+accel\+\_\+t}}}
+
+
+
+Struct to represent acceleration data from acceleration, linear acceleration, and gravity reports. 
+
+\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a7913a36911f75945cfaa0a3249a280e3}\label{_b_n_o08x_global_types_8hpp_a7913a36911f75945cfaa0a3249a280e3}} 
+\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!bno08x\_activity\_classifier\_t@{bno08x\_activity\_classifier\_t}}
+\index{bno08x\_activity\_classifier\_t@{bno08x\_activity\_classifier\_t}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
+\doxysubsubsection{\texorpdfstring{bno08x\_activity\_classifier\_t}{bno08x\_activity\_classifier\_t}}
+{\footnotesize\ttfamily typedef struct \mbox{\hyperlink{structbno08x__activity__classifier__t}{bno08x\+\_\+activity\+\_\+classifier\+\_\+t}} \mbox{\hyperlink{structbno08x__activity__classifier__t}{bno08x\+\_\+activity\+\_\+classifier\+\_\+t}}}
+
+
+
+Struct to represent activity classifier data. 
+
+\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a2babea2516c7c91039316693fc23a8c1}\label{_b_n_o08x_global_types_8hpp_a2babea2516c7c91039316693fc23a8c1}} 
+\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!bno08x\_ang\_vel\_t@{bno08x\_ang\_vel\_t}}
+\index{bno08x\_ang\_vel\_t@{bno08x\_ang\_vel\_t}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
+\doxysubsubsection{\texorpdfstring{bno08x\_ang\_vel\_t}{bno08x\_ang\_vel\_t}}
+{\footnotesize\ttfamily typedef struct \mbox{\hyperlink{structbno08x__ang__vel__t}{bno08x\+\_\+ang\+\_\+vel\+\_\+t}} \mbox{\hyperlink{structbno08x__ang__vel__t}{bno08x\+\_\+ang\+\_\+vel\+\_\+t}}}
+
+
+
+Struct to represent angular velocity (units in rad/s) 
+
+\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a648bbdbf22731476890dd8da977d7503}\label{_b_n_o08x_global_types_8hpp_a648bbdbf22731476890dd8da977d7503}} 
+\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!bno08x\_config\_t@{bno08x\_config\_t}}
+\index{bno08x\_config\_t@{bno08x\_config\_t}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
+\doxysubsubsection{\texorpdfstring{bno08x\_config\_t}{bno08x\_config\_t}}
+{\footnotesize\ttfamily typedef struct \mbox{\hyperlink{structbno08x__config__t}{bno08x\+\_\+config\+\_\+t}} \mbox{\hyperlink{structbno08x__config__t}{bno08x\+\_\+config\+\_\+t}}}
+
+
+
+IMU configuration settings passed into constructor. 
+
+\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ae22357b6f53c2cf806bb3aeb80814a}\label{_b_n_o08x_global_types_8hpp_a8ae22357b6f53c2cf806bb3aeb80814a}} 
+\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!bno08x\_euler\_angle\_t@{bno08x\_euler\_angle\_t}}
+\index{bno08x\_euler\_angle\_t@{bno08x\_euler\_angle\_t}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
+\doxysubsubsection{\texorpdfstring{bno08x\_euler\_angle\_t}{bno08x\_euler\_angle\_t}}
+{\footnotesize\ttfamily typedef struct \mbox{\hyperlink{structbno08x__euler__angle__t}{bno08x\+\_\+euler\+\_\+angle\+\_\+t}} \mbox{\hyperlink{structbno08x__euler__angle__t}{bno08x\+\_\+euler\+\_\+angle\+\_\+t}}}
+
+
+
+Struct to represent euler angle (units in degrees or rads) 
+
+\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a7bf3b6ed58dd988c0f4566ba56bff415}\label{_b_n_o08x_global_types_8hpp_a7bf3b6ed58dd988c0f4566ba56bff415}} 
+\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!bno08x\_gyro\_bias\_t@{bno08x\_gyro\_bias\_t}}
+\index{bno08x\_gyro\_bias\_t@{bno08x\_gyro\_bias\_t}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
+\doxysubsubsection{\texorpdfstring{bno08x\_gyro\_bias\_t}{bno08x\_gyro\_bias\_t}}
+{\footnotesize\ttfamily typedef struct \mbox{\hyperlink{structbno08x__gyro__bias__t}{bno08x\+\_\+gyro\+\_\+bias\+\_\+t}} \mbox{\hyperlink{structbno08x__gyro__bias__t}{bno08x\+\_\+gyro\+\_\+bias\+\_\+t}}}
+
+
+
+Struct to represent gyro bias data (units in rad/s) 
+
+\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_ac166834f6280e6ef21af7dd8a01be1e4}\label{_b_n_o08x_global_types_8hpp_ac166834f6280e6ef21af7dd8a01be1e4}} 
+\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!bno08x\_gyro\_t@{bno08x\_gyro\_t}}
+\index{bno08x\_gyro\_t@{bno08x\_gyro\_t}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
+\doxysubsubsection{\texorpdfstring{bno08x\_gyro\_t}{bno08x\_gyro\_t}}
+{\footnotesize\ttfamily typedef struct \mbox{\hyperlink{structbno08x__gyro__t}{bno08x\+\_\+gyro\+\_\+t}} \mbox{\hyperlink{structbno08x__gyro__t}{bno08x\+\_\+gyro\+\_\+t}}}
+
+
+
+Struct to represent gyro data (units in rad/s) 
+
+\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a3d6e56080638d872486935323f393ab7}\label{_b_n_o08x_global_types_8hpp_a3d6e56080638d872486935323f393ab7}} 
+\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!bno08x\_magf\_bias\_t@{bno08x\_magf\_bias\_t}}
+\index{bno08x\_magf\_bias\_t@{bno08x\_magf\_bias\_t}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
+\doxysubsubsection{\texorpdfstring{bno08x\_magf\_bias\_t}{bno08x\_magf\_bias\_t}}
+{\footnotesize\ttfamily typedef struct \mbox{\hyperlink{structbno08x__magf__bias__t}{bno08x\+\_\+magf\+\_\+bias\+\_\+t}} \mbox{\hyperlink{structbno08x__magf__bias__t}{bno08x\+\_\+magf\+\_\+bias\+\_\+t}}}
+
+
+
+Struct to represent magnetic field bias data (units in u\+Tesla) 
+
+\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a429f861977153379e28e8f3710330b45}\label{_b_n_o08x_global_types_8hpp_a429f861977153379e28e8f3710330b45}} 
+\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!bno08x\_magf\_t@{bno08x\_magf\_t}}
+\index{bno08x\_magf\_t@{bno08x\_magf\_t}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
+\doxysubsubsection{\texorpdfstring{bno08x\_magf\_t}{bno08x\_magf\_t}}
+{\footnotesize\ttfamily typedef struct \mbox{\hyperlink{structbno08x__magf__t}{bno08x\+\_\+magf\+\_\+t}} \mbox{\hyperlink{structbno08x__magf__t}{bno08x\+\_\+magf\+\_\+t}}}
+
+
+
+Struct to represent magnetic field data (units in u\+Tesla) 
+
+\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a1145e5dfd14e96bd70c6e73af017b548}\label{_b_n_o08x_global_types_8hpp_a1145e5dfd14e96bd70c6e73af017b548}} 
+\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}}
+\index{bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
+\doxysubsubsection{\texorpdfstring{bno08x\_meta\_data\_t}{bno08x\_meta\_data\_t}}
+{\footnotesize\ttfamily typedef struct \mbox{\hyperlink{structbno08x__meta__data__t}{bno08x\+\_\+meta\+\_\+data\+\_\+t}} \mbox{\hyperlink{structbno08x__meta__data__t}{bno08x\+\_\+meta\+\_\+data\+\_\+t}}}
+
+
+
+Struct to represent sensor/report meta data, returned from \mbox{\hyperlink{class_b_n_o08x_rpt_ad5b054279b01204f61b4c0408acf51cf}{BNO08x\+Rpt\+::get\+\_\+meta\+\_\+data()}} 
+
+\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a0c7367913526c0d634c5f8f5365a55b4}\label{_b_n_o08x_global_types_8hpp_a0c7367913526c0d634c5f8f5365a55b4}} 
+\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!bno08x\_quat\_t@{bno08x\_quat\_t}}
+\index{bno08x\_quat\_t@{bno08x\_quat\_t}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
+\doxysubsubsection{\texorpdfstring{bno08x\_quat\_t}{bno08x\_quat\_t}}
+{\footnotesize\ttfamily typedef struct \mbox{\hyperlink{structbno08x__quat__t}{bno08x\+\_\+quat\+\_\+t}} \mbox{\hyperlink{structbno08x__quat__t}{bno08x\+\_\+quat\+\_\+t}}}
+
+
+
+Struct to represent unit quaternion. 
+
+\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_ace2ea90ebebddfcdb75e1b8b7b48f905}\label{_b_n_o08x_global_types_8hpp_ace2ea90ebebddfcdb75e1b8b7b48f905}} 
+\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!bno08x\_raw\_accel\_t@{bno08x\_raw\_accel\_t}}
+\index{bno08x\_raw\_accel\_t@{bno08x\_raw\_accel\_t}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
+\doxysubsubsection{\texorpdfstring{bno08x\_raw\_accel\_t}{bno08x\_raw\_accel\_t}}
+{\footnotesize\ttfamily typedef struct \mbox{\hyperlink{structbno08x__raw__accel__t}{bno08x\+\_\+raw\+\_\+accel\+\_\+t}} \mbox{\hyperlink{structbno08x__raw__accel__t}{bno08x\+\_\+raw\+\_\+accel\+\_\+t}}}
+
+
+
+Struct to represent raw mems accelerometer data from raw accelerometer reports (units in ADC counts). 
+
+\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a3e205d9599aa01b7946d1ed1cbb7f1c4}\label{_b_n_o08x_global_types_8hpp_a3e205d9599aa01b7946d1ed1cbb7f1c4}} 
+\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!bno08x\_raw\_gyro\_t@{bno08x\_raw\_gyro\_t}}
+\index{bno08x\_raw\_gyro\_t@{bno08x\_raw\_gyro\_t}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
+\doxysubsubsection{\texorpdfstring{bno08x\_raw\_gyro\_t}{bno08x\_raw\_gyro\_t}}
+{\footnotesize\ttfamily typedef struct \mbox{\hyperlink{structbno08x__raw__gyro__t}{bno08x\+\_\+raw\+\_\+gyro\+\_\+t}} \mbox{\hyperlink{structbno08x__raw__gyro__t}{bno08x\+\_\+raw\+\_\+gyro\+\_\+t}}}
+
+
+
+Struct to represent raw mems gyro data from raw gyro reports (units in ADC counts). 
+
+\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a673f429cbcd0f48394de3d990d8bda4a}\label{_b_n_o08x_global_types_8hpp_a673f429cbcd0f48394de3d990d8bda4a}} 
+\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!bno08x\_raw\_magf\_t@{bno08x\_raw\_magf\_t}}
+\index{bno08x\_raw\_magf\_t@{bno08x\_raw\_magf\_t}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
+\doxysubsubsection{\texorpdfstring{bno08x\_raw\_magf\_t}{bno08x\_raw\_magf\_t}}
+{\footnotesize\ttfamily typedef struct \mbox{\hyperlink{structbno08x__raw__magf__t}{bno08x\+\_\+raw\+\_\+magf\+\_\+t}} \mbox{\hyperlink{structbno08x__raw__magf__t}{bno08x\+\_\+raw\+\_\+magf\+\_\+t}}}
+
+
+
+Struct to represent raw mems magnetometer data from raw magnetometer reports (units in ADC counts). 
+
+\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_afceb7f957002d3e024d4971963ecfa20}\label{_b_n_o08x_global_types_8hpp_afceb7f957002d3e024d4971963ecfa20}} 
+\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!bno08x\_sample\_counts\_t@{bno08x\_sample\_counts\_t}}
+\index{bno08x\_sample\_counts\_t@{bno08x\_sample\_counts\_t}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
+\doxysubsubsection{\texorpdfstring{bno08x\_sample\_counts\_t}{bno08x\_sample\_counts\_t}}
+{\footnotesize\ttfamily typedef struct \mbox{\hyperlink{structbno08x__sample__counts__t}{bno08x\+\_\+sample\+\_\+counts\+\_\+t}} \mbox{\hyperlink{structbno08x__sample__counts__t}{bno08x\+\_\+sample\+\_\+counts\+\_\+t}}}
+
+
+
+Struct to represent sample counts, returned from \mbox{\hyperlink{class_b_n_o08x_rpt_a7ce8e48cadf59f49068af7f1cb680b38}{BNO08x\+Rpt\+::get\+\_\+sample\+\_\+counts()}} 
+
+\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a7c22ac348c71afe0d42dcfae6c97ca32}\label{_b_n_o08x_global_types_8hpp_a7c22ac348c71afe0d42dcfae6c97ca32}} 
+\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!bno08x\_shake\_detector\_t@{bno08x\_shake\_detector\_t}}
+\index{bno08x\_shake\_detector\_t@{bno08x\_shake\_detector\_t}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
+\doxysubsubsection{\texorpdfstring{bno08x\_shake\_detector\_t}{bno08x\_shake\_detector\_t}}
+{\footnotesize\ttfamily typedef struct \mbox{\hyperlink{structbno08x__shake__detector__t}{bno08x\+\_\+shake\+\_\+detector\+\_\+t}} \mbox{\hyperlink{structbno08x__shake__detector__t}{bno08x\+\_\+shake\+\_\+detector\+\_\+t}}}
+
+
+
+Struct to represent shake detector data (flag meaning\+: 0 = no shake 1 = shake detected) 
+
+\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a9f0440c67ec56fafcd25a24bf36f842f}\label{_b_n_o08x_global_types_8hpp_a9f0440c67ec56fafcd25a24bf36f842f}} 
+\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!bno08x\_stability\_classifier\_t@{bno08x\_stability\_classifier\_t}}
+\index{bno08x\_stability\_classifier\_t@{bno08x\_stability\_classifier\_t}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
+\doxysubsubsection{\texorpdfstring{bno08x\_stability\_classifier\_t}{bno08x\_stability\_classifier\_t}}
+{\footnotesize\ttfamily typedef struct \mbox{\hyperlink{structbno08x__stability__classifier__t}{bno08x\+\_\+stability\+\_\+classifier\+\_\+t}} \mbox{\hyperlink{structbno08x__stability__classifier__t}{bno08x\+\_\+stability\+\_\+classifier\+\_\+t}}}
+
+
+
+Struct to represent stability classifier data from stability classifier reports. 
+
+\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_ad52b092f56d1fa0064f2ea3502399cfc}\label{_b_n_o08x_global_types_8hpp_ad52b092f56d1fa0064f2ea3502399cfc}} 
+\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!bno08x\_step\_counter\_t@{bno08x\_step\_counter\_t}}
+\index{bno08x\_step\_counter\_t@{bno08x\_step\_counter\_t}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
+\doxysubsubsection{\texorpdfstring{bno08x\_step\_counter\_t}{bno08x\_step\_counter\_t}}
+{\footnotesize\ttfamily typedef struct \mbox{\hyperlink{structbno08x__step__counter__t}{bno08x\+\_\+step\+\_\+counter\+\_\+t}} \mbox{\hyperlink{structbno08x__step__counter__t}{bno08x\+\_\+step\+\_\+counter\+\_\+t}}}
+
+
+
+Struct to represent step counter data from step counter reports. 
+
+\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_adcfe69b10c9c2244015bad5b978beedd}\label{_b_n_o08x_global_types_8hpp_adcfe69b10c9c2244015bad5b978beedd}} 
+\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!bno08x\_tap\_detector\_t@{bno08x\_tap\_detector\_t}}
+\index{bno08x\_tap\_detector\_t@{bno08x\_tap\_detector\_t}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
+\doxysubsubsection{\texorpdfstring{bno08x\_tap\_detector\_t}{bno08x\_tap\_detector\_t}}
+{\footnotesize\ttfamily typedef struct \mbox{\hyperlink{structbno08x__tap__detector__t}{bno08x\+\_\+tap\+\_\+detector\+\_\+t}} \mbox{\hyperlink{structbno08x__tap__detector__t}{bno08x\+\_\+tap\+\_\+detector\+\_\+t}}}
+
+
+
+Struct to represent tap detector data (flag meaning\+: 0 = no tap, 1 = positive tap on axis, -\/1 = negative tap on axis) 
+
+\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_aae502b3d91ddf903bba797646fd28d00}\label{_b_n_o08x_global_types_8hpp_aae502b3d91ddf903bba797646fd28d00}} 
+\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!imu\_config\_t@{imu\_config\_t}}
+\index{imu\_config\_t@{imu\_config\_t}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
+\doxysubsubsection{\texorpdfstring{imu\_config\_t}{imu\_config\_t}}
+{\footnotesize\ttfamily typedef \mbox{\hyperlink{structbno08x__config__t}{bno08x\+\_\+config\+\_\+t}} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_aae502b3d91ddf903bba797646fd28d00}{imu\+\_\+config\+\_\+t}}}
+
+\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a03fbbd71180a19088ce30d57ab050a22}\label{_b_n_o08x_global_types_8hpp_a03fbbd71180a19088ce30d57ab050a22}} 
+\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!IMUAccuracy@{IMUAccuracy}}
+\index{IMUAccuracy@{IMUAccuracy}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
+\doxysubsubsection{\texorpdfstring{IMUAccuracy}{IMUAccuracy}}
+{\footnotesize\ttfamily using \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{IMUAccuracy}} =  \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08x\+Accuracy}}}
+
+
+
+\doxysubsection{Enumeration Type Documentation}
+\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}\label{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}} 
+\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!BNO08xAccuracy@{BNO08xAccuracy}}
+\index{BNO08xAccuracy@{BNO08xAccuracy}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
+\doxysubsubsection{\texorpdfstring{BNO08xAccuracy}{BNO08xAccuracy}}
+{\footnotesize\ttfamily enum class \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08x\+Accuracy}} \+: uint8\+\_\+t\hspace{0.3cm}{\ttfamily [strong]}}
+
+
+
+Sensor accuracy returned from input reports, corresponds to status bits (see ref. manual 6.\+5.\+1) 
+
+\begin{DoxyEnumFields}{Enumerator}
+\raisebox{\heightof{T}}[0pt][0pt]{\index{UNRELIABLE@{UNRELIABLE}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!UNRELIABLE@{UNRELIABLE}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6a6e257e645974b9086ed66e9465e2d80c}\label{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6a6e257e645974b9086ed66e9465e2d80c}} 
+UNRELIABLE&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{LOW@{LOW}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!LOW@{LOW}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6a41bc94cbd8eebea13ce0491b2ac11b88}\label{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6a41bc94cbd8eebea13ce0491b2ac11b88}} 
+LOW&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{MED@{MED}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!MED@{MED}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6a2ad6d5975c45da2e711c796f3a1b029c}\label{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6a2ad6d5975c45da2e711c796f3a1b029c}} 
+MED&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{HIGH@{HIGH}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!HIGH@{HIGH}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6ab89de3b4b81c4facfac906edf29aec8c}\label{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6ab89de3b4b81c4facfac906edf29aec8c}} 
+HIGH&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{UNDEFINED@{UNDEFINED}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!UNDEFINED@{UNDEFINED}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6a0db45d2a4141101bdfe48e3314cfbca3}\label{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6a0db45d2a4141101bdfe48e3314cfbca3}} 
+UNDEFINED&\\
+\hline
+
+\end{DoxyEnumFields}
+\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97d}\label{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97d}} 
+\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!BNO08xActivity@{BNO08xActivity}}
+\index{BNO08xActivity@{BNO08xActivity}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
+\doxysubsubsection{\texorpdfstring{BNO08xActivity}{BNO08xActivity}}
+{\footnotesize\ttfamily enum class \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97d}{BNO08x\+Activity}} \+: uint8\+\_\+t\hspace{0.3cm}{\ttfamily [strong]}}
+
+
+
+BNO08x\+Activity states returned from BNO08x\+::activity\+\_\+classifier.\+get() 
+
+\begin{DoxyEnumFields}{Enumerator}
+\raisebox{\heightof{T}}[0pt][0pt]{\index{UNKNOWN@{UNKNOWN}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!UNKNOWN@{UNKNOWN}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97da696b031073e74bf2cb98e5ef201d4aa3}\label{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97da696b031073e74bf2cb98e5ef201d4aa3}} 
+UNKNOWN&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{IN\_VEHICLE@{IN\_VEHICLE}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!IN\_VEHICLE@{IN\_VEHICLE}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97dab166a3ce74dd5434e4a940dfa2af76e4}\label{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97dab166a3ce74dd5434e4a940dfa2af76e4}} 
+IN\+\_\+\+VEHICLE&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{ON\_BICYCLE@{ON\_BICYCLE}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!ON\_BICYCLE@{ON\_BICYCLE}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97da93d94a2f3a627533453a40e302fb35a4}\label{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97da93d94a2f3a627533453a40e302fb35a4}} 
+ON\+\_\+\+BICYCLE&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{ON\_FOOT@{ON\_FOOT}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!ON\_FOOT@{ON\_FOOT}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97da7089542e0146a3499986c81e24924b58}\label{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97da7089542e0146a3499986c81e24924b58}} 
+ON\+\_\+\+FOOT&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{STILL@{STILL}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!STILL@{STILL}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97da8b572d218013b9626d59e6a2b38f18b6}\label{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97da8b572d218013b9626d59e6a2b38f18b6}} 
+STILL&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{TILTING@{TILTING}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!TILTING@{TILTING}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97da69909b62e08f212da31719aebf67b70c}\label{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97da69909b62e08f212da31719aebf67b70c}} 
+TILTING&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{WALKING@{WALKING}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!WALKING@{WALKING}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97da606c114184493a665cf1f6a12fbab9d3}\label{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97da606c114184493a665cf1f6a12fbab9d3}} 
+WALKING&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{RUNNING@{RUNNING}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!RUNNING@{RUNNING}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97da43491564ebcfd38568918efbd6e840fd}\label{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97da43491564ebcfd38568918efbd6e840fd}} 
+RUNNING&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{ON\_STAIRS@{ON\_STAIRS}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!ON\_STAIRS@{ON\_STAIRS}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97dabbf2a614429826a84bd76b4a47fc7515}\label{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97dabbf2a614429826a84bd76b4a47fc7515}} 
+ON\+\_\+\+STAIRS&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{UNDEFINED@{UNDEFINED}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!UNDEFINED@{UNDEFINED}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97da0db45d2a4141101bdfe48e3314cfbca3}\label{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97da0db45d2a4141101bdfe48e3314cfbca3}} 
+UNDEFINED&\\
+\hline
+
+\end{DoxyEnumFields}
+\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3a}\label{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3a}} 
+\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!BNO08xActivityEnable@{BNO08xActivityEnable}}
+\index{BNO08xActivityEnable@{BNO08xActivityEnable}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
+\doxysubsubsection{\texorpdfstring{BNO08xActivityEnable}{BNO08xActivityEnable}}
+{\footnotesize\ttfamily enum class \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3a}{BNO08x\+Activity\+Enable}} \+: uint32\+\_\+t\hspace{0.3cm}{\ttfamily [strong]}}
+
+
+
+BNO08x\+Activity Classifier enable bits passed to enable\+\_\+activity\+\_\+classifier() See ref manual 6.\+5.\+36.\+1. 
+
+\begin{DoxyEnumFields}{Enumerator}
+\raisebox{\heightof{T}}[0pt][0pt]{\index{UNKNOWN@{UNKNOWN}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!UNKNOWN@{UNKNOWN}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa696b031073e74bf2cb98e5ef201d4aa3}\label{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa696b031073e74bf2cb98e5ef201d4aa3}} 
+UNKNOWN&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{IN\_VEHICLE@{IN\_VEHICLE}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!IN\_VEHICLE@{IN\_VEHICLE}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aab166a3ce74dd5434e4a940dfa2af76e4}\label{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aab166a3ce74dd5434e4a940dfa2af76e4}} 
+IN\+\_\+\+VEHICLE&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{ON\_BICYCLE@{ON\_BICYCLE}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!ON\_BICYCLE@{ON\_BICYCLE}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa93d94a2f3a627533453a40e302fb35a4}\label{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa93d94a2f3a627533453a40e302fb35a4}} 
+ON\+\_\+\+BICYCLE&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{ON\_FOOT@{ON\_FOOT}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!ON\_FOOT@{ON\_FOOT}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa7089542e0146a3499986c81e24924b58}\label{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa7089542e0146a3499986c81e24924b58}} 
+ON\+\_\+\+FOOT&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{STILL@{STILL}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!STILL@{STILL}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa8b572d218013b9626d59e6a2b38f18b6}\label{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa8b572d218013b9626d59e6a2b38f18b6}} 
+STILL&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{TILTING@{TILTING}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!TILTING@{TILTING}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa69909b62e08f212da31719aebf67b70c}\label{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa69909b62e08f212da31719aebf67b70c}} 
+TILTING&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{WALKING@{WALKING}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!WALKING@{WALKING}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa606c114184493a665cf1f6a12fbab9d3}\label{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa606c114184493a665cf1f6a12fbab9d3}} 
+WALKING&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{RUNNING@{RUNNING}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!RUNNING@{RUNNING}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa43491564ebcfd38568918efbd6e840fd}\label{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa43491564ebcfd38568918efbd6e840fd}} 
+RUNNING&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{ON\_STAIRS@{ON\_STAIRS}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!ON\_STAIRS@{ON\_STAIRS}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aabbf2a614429826a84bd76b4a47fc7515}\label{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aabbf2a614429826a84bd76b4a47fc7515}} 
+ON\+\_\+\+STAIRS&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{ALL@{ALL}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!ALL@{ALL}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa5fb1f955b45e38e31789286a1790398d}\label{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa5fb1f955b45e38e31789286a1790398d}} 
+ALL&\\
+\hline
+
+\end{DoxyEnumFields}
+\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a25947bbe6bc4a7c9edd7067fdce0e9cc}\label{_b_n_o08x_global_types_8hpp_a25947bbe6bc4a7c9edd7067fdce0e9cc}} 
+\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!BNO08xCalSel@{BNO08xCalSel}}
+\index{BNO08xCalSel@{BNO08xCalSel}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
+\doxysubsubsection{\texorpdfstring{BNO08xCalSel}{BNO08xCalSel}}
+{\footnotesize\ttfamily enum class \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a25947bbe6bc4a7c9edd7067fdce0e9cc}{BNO08x\+Cal\+Sel}} \+: uint8\+\_\+t\hspace{0.3cm}{\ttfamily [strong]}}
+
+\begin{DoxyEnumFields}{Enumerator}
+\raisebox{\heightof{T}}[0pt][0pt]{\index{accelerometer@{accelerometer}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!accelerometer@{accelerometer}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a25947bbe6bc4a7c9edd7067fdce0e9cca0e1275697d4c40b4b0640fbfa3907afa}\label{_b_n_o08x_global_types_8hpp_a25947bbe6bc4a7c9edd7067fdce0e9cca0e1275697d4c40b4b0640fbfa3907afa}} 
+accelerometer&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{gyro@{gyro}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!gyro@{gyro}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a25947bbe6bc4a7c9edd7067fdce0e9cca41e1db589d90cecf09838a038ebc8aa1}\label{_b_n_o08x_global_types_8hpp_a25947bbe6bc4a7c9edd7067fdce0e9cca41e1db589d90cecf09838a038ebc8aa1}} 
+gyro&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{magnetometer@{magnetometer}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!magnetometer@{magnetometer}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a25947bbe6bc4a7c9edd7067fdce0e9cca2c8af00d544b080d3c0d834d1c5dfcbf}\label{_b_n_o08x_global_types_8hpp_a25947bbe6bc4a7c9edd7067fdce0e9cca2c8af00d544b080d3c0d834d1c5dfcbf}} 
+magnetometer&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{planar\_accelerometer@{planar\_accelerometer}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!planar\_accelerometer@{planar\_accelerometer}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a25947bbe6bc4a7c9edd7067fdce0e9ccafcaab1f4c98b7343157c3c59c6a259cb}\label{_b_n_o08x_global_types_8hpp_a25947bbe6bc4a7c9edd7067fdce0e9ccafcaab1f4c98b7343157c3c59c6a259cb}} 
+planar\+\_\+accelerometer&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{all@{all}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!all@{all}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a25947bbe6bc4a7c9edd7067fdce0e9ccaa181a603769c1f98ad927e7367c7aa51}\label{_b_n_o08x_global_types_8hpp_a25947bbe6bc4a7c9edd7067fdce0e9ccaa181a603769c1f98ad927e7367c7aa51}} 
+all&\\
+\hline
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+\end{DoxyEnumFields}
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+\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!BNO08xFrsID@{BNO08xFrsID}}
+\index{BNO08xFrsID@{BNO08xFrsID}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
+\doxysubsubsection{\texorpdfstring{BNO08xFrsID}{BNO08xFrsID}}
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+
+\begin{DoxyEnumFields}{Enumerator}
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+STATIC\+\_\+\+CALIBRATION\+\_\+\+AGM&\\
+\hline
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+\raisebox{\heightof{T}}[0pt][0pt]{\index{NOMINAL\_CALIBRATION@{NOMINAL\_CALIBRATION}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!NOMINAL\_CALIBRATION@{NOMINAL\_CALIBRATION}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea9b1f79a084136956f5a67145e34b8fcf}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea9b1f79a084136956f5a67145e34b8fcf}} 
+NOMINAL\+\_\+\+CALIBRATION&\\
+\hline
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+\raisebox{\heightof{T}}[0pt][0pt]{\index{STATIC\_CALIBRATION\_SRA@{STATIC\_CALIBRATION\_SRA}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!STATIC\_CALIBRATION\_SRA@{STATIC\_CALIBRATION\_SRA}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eae3e95aa73e5b19b6fc1574c287598a8a}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eae3e95aa73e5b19b6fc1574c287598a8a}} 
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+\hline
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+\raisebox{\heightof{T}}[0pt][0pt]{\index{NOMINAL\_CALIBRATION\_SRA@{NOMINAL\_CALIBRATION\_SRA}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!NOMINAL\_CALIBRATION\_SRA@{NOMINAL\_CALIBRATION\_SRA}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea9575a153f8b803923611e5a7577d8992}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea9575a153f8b803923611e5a7577d8992}} 
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+\hline
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+\raisebox{\heightof{T}}[0pt][0pt]{\index{DYNAMIC\_CALIBRATION@{DYNAMIC\_CALIBRATION}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!DYNAMIC\_CALIBRATION@{DYNAMIC\_CALIBRATION}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eac843f0dc477c2043015db473c2bbf8b7}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eac843f0dc477c2043015db473c2bbf8b7}} 
+DYNAMIC\+\_\+\+CALIBRATION&\\
+\hline
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+\raisebox{\heightof{T}}[0pt][0pt]{\index{ME\_POWER\_MGMT@{ME\_POWER\_MGMT}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!ME\_POWER\_MGMT@{ME\_POWER\_MGMT}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea4003f069dafa6695f634bc4d6cadf21d}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea4003f069dafa6695f634bc4d6cadf21d}} 
+ME\+\_\+\+POWER\+\_\+\+MGMT&\\
+\hline
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+\raisebox{\heightof{T}}[0pt][0pt]{\index{SYSTEM\_ORIENTATION@{SYSTEM\_ORIENTATION}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!SYSTEM\_ORIENTATION@{SYSTEM\_ORIENTATION}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea174aa600a99d1fee26df64861c68d4ab}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea174aa600a99d1fee26df64861c68d4ab}} 
+SYSTEM\+\_\+\+ORIENTATION&\\
+\hline
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+\raisebox{\heightof{T}}[0pt][0pt]{\index{ACCEL\_ORIENTATION@{ACCEL\_ORIENTATION}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!ACCEL\_ORIENTATION@{ACCEL\_ORIENTATION}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea5a6f607e6dea7e4770d6d44dffc14fe0}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea5a6f607e6dea7e4770d6d44dffc14fe0}} 
+ACCEL\+\_\+\+ORIENTATION&\\
+\hline
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+\raisebox{\heightof{T}}[0pt][0pt]{\index{SCREEN\_ACCEL\_ORIENTATION@{SCREEN\_ACCEL\_ORIENTATION}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!SCREEN\_ACCEL\_ORIENTATION@{SCREEN\_ACCEL\_ORIENTATION}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea1e56a229eb00e62fc6f98a9c3bf2c41e}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea1e56a229eb00e62fc6f98a9c3bf2c41e}} 
+SCREEN\+\_\+\+ACCEL\+\_\+\+ORIENTATION&\\
+\hline
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+\raisebox{\heightof{T}}[0pt][0pt]{\index{GYROSCOPE\_ORIENTATION@{GYROSCOPE\_ORIENTATION}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!GYROSCOPE\_ORIENTATION@{GYROSCOPE\_ORIENTATION}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eab7ba02b55d602fc0e643a0e860144abd}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eab7ba02b55d602fc0e643a0e860144abd}} 
+GYROSCOPE\+\_\+\+ORIENTATION&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{MAGNETOMETER\_ORIENTATION@{MAGNETOMETER\_ORIENTATION}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!MAGNETOMETER\_ORIENTATION@{MAGNETOMETER\_ORIENTATION}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea7c1bc0a9cbeffed48c3f56f138f059dd}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea7c1bc0a9cbeffed48c3f56f138f059dd}} 
+MAGNETOMETER\+\_\+\+ORIENTATION&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{ARVR\_STABILIZATION\_RV@{ARVR\_STABILIZATION\_RV}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!ARVR\_STABILIZATION\_RV@{ARVR\_STABILIZATION\_RV}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ead41092d568817e7b690859c6a04089ef}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ead41092d568817e7b690859c6a04089ef}} 
+ARVR\+\_\+\+STABILIZATION\+\_\+\+RV&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{ARVR\_STABILIZATION\_GRV@{ARVR\_STABILIZATION\_GRV}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!ARVR\_STABILIZATION\_GRV@{ARVR\_STABILIZATION\_GRV}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea20d2e66717ed43eb8a6b112e953eb9db}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea20d2e66717ed43eb8a6b112e953eb9db}} 
+ARVR\+\_\+\+STABILIZATION\+\_\+\+GRV&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{TAP\_DETECT\_CONFIG@{TAP\_DETECT\_CONFIG}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!TAP\_DETECT\_CONFIG@{TAP\_DETECT\_CONFIG}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea94ada7efc076c96b78bcb052d4f22ca2}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea94ada7efc076c96b78bcb052d4f22ca2}} 
+TAP\+\_\+\+DETECT\+\_\+\+CONFIG&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{SIG\_MOTION\_DETECT\_CONFIG@{SIG\_MOTION\_DETECT\_CONFIG}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!SIG\_MOTION\_DETECT\_CONFIG@{SIG\_MOTION\_DETECT\_CONFIG}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eae5d606ae5efeadd9ab249a39b8ed828a}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eae5d606ae5efeadd9ab249a39b8ed828a}} 
+SIG\+\_\+\+MOTION\+\_\+\+DETECT\+\_\+\+CONFIG&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{SHAKE\_DETECT\_CONFIG@{SHAKE\_DETECT\_CONFIG}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!SHAKE\_DETECT\_CONFIG@{SHAKE\_DETECT\_CONFIG}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea8a41fbc008e0571cf295a0770e995864}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea8a41fbc008e0571cf295a0770e995864}} 
+SHAKE\+\_\+\+DETECT\+\_\+\+CONFIG&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{MAX\_FUSION\_PERIOD@{MAX\_FUSION\_PERIOD}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!MAX\_FUSION\_PERIOD@{MAX\_FUSION\_PERIOD}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea2dfcf6ba54eba882fb201bd55b45c4b9}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea2dfcf6ba54eba882fb201bd55b45c4b9}} 
+MAX\+\_\+\+FUSION\+\_\+\+PERIOD&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{SERIAL\_NUMBER@{SERIAL\_NUMBER}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!SERIAL\_NUMBER@{SERIAL\_NUMBER}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eabac5402bcf9584b3014bd64b8b6ad282}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eabac5402bcf9584b3014bd64b8b6ad282}} 
+SERIAL\+\_\+\+NUMBER&\\
+\hline
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+\raisebox{\heightof{T}}[0pt][0pt]{\index{ES\_PRESSURE\_CAL@{ES\_PRESSURE\_CAL}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!ES\_PRESSURE\_CAL@{ES\_PRESSURE\_CAL}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea985e7c8c6bc3500a46530901ac93ab09}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea985e7c8c6bc3500a46530901ac93ab09}} 
+ES\+\_\+\+PRESSURE\+\_\+\+CAL&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{ES\_TEMPERATURE\_CAL@{ES\_TEMPERATURE\_CAL}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!ES\_TEMPERATURE\_CAL@{ES\_TEMPERATURE\_CAL}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eae15b6d77b828a0022adb2622ddf30d29}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eae15b6d77b828a0022adb2622ddf30d29}} 
+ES\+\_\+\+TEMPERATURE\+\_\+\+CAL&\\
+\hline
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+\raisebox{\heightof{T}}[0pt][0pt]{\index{ES\_HUMIDITY\_CAL@{ES\_HUMIDITY\_CAL}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!ES\_HUMIDITY\_CAL@{ES\_HUMIDITY\_CAL}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea2ce4d488b1ad35ff763f52aec7191874}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea2ce4d488b1ad35ff763f52aec7191874}} 
+ES\+\_\+\+HUMIDITY\+\_\+\+CAL&\\
+\hline
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+\raisebox{\heightof{T}}[0pt][0pt]{\index{ES\_AMBIENT\_LIGHT\_CAL@{ES\_AMBIENT\_LIGHT\_CAL}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!ES\_AMBIENT\_LIGHT\_CAL@{ES\_AMBIENT\_LIGHT\_CAL}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea11c8ae2ec493a78ebc9a808e1df7478c}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea11c8ae2ec493a78ebc9a808e1df7478c}} 
+ES\+\_\+\+AMBIENT\+\_\+\+LIGHT\+\_\+\+CAL&\\
+\hline
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+\raisebox{\heightof{T}}[0pt][0pt]{\index{ES\_PROXIMITY\_CAL@{ES\_PROXIMITY\_CAL}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!ES\_PROXIMITY\_CAL@{ES\_PROXIMITY\_CAL}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea0afc9b6963a488212d0d10c1788ca309}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea0afc9b6963a488212d0d10c1788ca309}} 
+ES\+\_\+\+PROXIMITY\+\_\+\+CAL&\\
+\hline
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+\raisebox{\heightof{T}}[0pt][0pt]{\index{ALS\_CAL@{ALS\_CAL}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!ALS\_CAL@{ALS\_CAL}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eadc862ae872087053cf308a5c9d12e8ea}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eadc862ae872087053cf308a5c9d12e8ea}} 
+ALS\+\_\+\+CAL&\\
+\hline
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+\raisebox{\heightof{T}}[0pt][0pt]{\index{PROXIMITY\_SENSOR\_CAL@{PROXIMITY\_SENSOR\_CAL}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!PROXIMITY\_SENSOR\_CAL@{PROXIMITY\_SENSOR\_CAL}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eabcf02bc8a45fdf7df5390b79184b922e}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eabcf02bc8a45fdf7df5390b79184b922e}} 
+PROXIMITY\+\_\+\+SENSOR\+\_\+\+CAL&\\
+\hline
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+\raisebox{\heightof{T}}[0pt][0pt]{\index{PICKUP\_DETECTOR\_CONFIG@{PICKUP\_DETECTOR\_CONFIG}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!PICKUP\_DETECTOR\_CONFIG@{PICKUP\_DETECTOR\_CONFIG}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eac9e002e70642b098e7e67cc4083d134d}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eac9e002e70642b098e7e67cc4083d134d}} 
+PICKUP\+\_\+\+DETECTOR\+\_\+\+CONFIG&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{FLIP\_DETECTOR\_CONFIG@{FLIP\_DETECTOR\_CONFIG}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!FLIP\_DETECTOR\_CONFIG@{FLIP\_DETECTOR\_CONFIG}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eab0ef80b2f1340b86b39cb82f5ab9d7ee}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eab0ef80b2f1340b86b39cb82f5ab9d7ee}} 
+FLIP\+\_\+\+DETECTOR\+\_\+\+CONFIG&\\
+\hline
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+\raisebox{\heightof{T}}[0pt][0pt]{\index{STABILITY\_DETECTOR\_CONFIG@{STABILITY\_DETECTOR\_CONFIG}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!STABILITY\_DETECTOR\_CONFIG@{STABILITY\_DETECTOR\_CONFIG}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ead36109c56ef4d0598cc0b03b25dc8d85}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ead36109c56ef4d0598cc0b03b25dc8d85}} 
+STABILITY\+\_\+\+DETECTOR\+\_\+\+CONFIG&\\
+\hline
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+\raisebox{\heightof{T}}[0pt][0pt]{\index{ACTIVITY\_TRACKER\_CONFIG@{ACTIVITY\_TRACKER\_CONFIG}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!ACTIVITY\_TRACKER\_CONFIG@{ACTIVITY\_TRACKER\_CONFIG}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eab16df741bbcb037e9fc6830441e21a95}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eab16df741bbcb037e9fc6830441e21a95}} 
+ACTIVITY\+\_\+\+TRACKER\+\_\+\+CONFIG&\\
+\hline
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+\raisebox{\heightof{T}}[0pt][0pt]{\index{SLEEP\_DETECTOR\_CONFIG@{SLEEP\_DETECTOR\_CONFIG}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!SLEEP\_DETECTOR\_CONFIG@{SLEEP\_DETECTOR\_CONFIG}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea19f33813d80c7da8306762a7f141d9bb}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea19f33813d80c7da8306762a7f141d9bb}} 
+SLEEP\+\_\+\+DETECTOR\+\_\+\+CONFIG&\\
+\hline
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+POCKET\+\_\+\+DETECTOR\+\_\+\+CONFIG&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{CIRCLE\_DETECTOR\_CONFIG@{CIRCLE\_DETECTOR\_CONFIG}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!CIRCLE\_DETECTOR\_CONFIG@{CIRCLE\_DETECTOR\_CONFIG}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea04c1dfc95c72ddbf41e93f6c894aea7c}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea04c1dfc95c72ddbf41e93f6c894aea7c}} 
+CIRCLE\+\_\+\+DETECTOR\+\_\+\+CONFIG&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{USER\_RECORD@{USER\_RECORD}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!USER\_RECORD@{USER\_RECORD}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea5d88297a4f00a18d228e25847cbac419}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea5d88297a4f00a18d228e25847cbac419}} 
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+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{ME\_TIME\_SOURCE\_SELECT@{ME\_TIME\_SOURCE\_SELECT}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!ME\_TIME\_SOURCE\_SELECT@{ME\_TIME\_SOURCE\_SELECT}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea622bd18282b2f88dc49339c638005f7d}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea622bd18282b2f88dc49339c638005f7d}} 
+ME\+\_\+\+TIME\+\_\+\+SOURCE\+\_\+\+SELECT&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{UART\_FORMAT@{UART\_FORMAT}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!UART\_FORMAT@{UART\_FORMAT}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea915838bac984c07ae03ec46239375b32}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea915838bac984c07ae03ec46239375b32}} 
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+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{GYRO\_INTEGRATED\_RV\_CONFIG@{GYRO\_INTEGRATED\_RV\_CONFIG}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!GYRO\_INTEGRATED\_RV\_CONFIG@{GYRO\_INTEGRATED\_RV\_CONFIG}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eacde3a23190df77d7c45b6dcf38727bda}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eacde3a23190df77d7c45b6dcf38727bda}} 
+GYRO\+\_\+\+INTEGRATED\+\_\+\+RV\+\_\+\+CONFIG&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{META\_RAW\_ACCELEROMETER@{META\_RAW\_ACCELEROMETER}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!META\_RAW\_ACCELEROMETER@{META\_RAW\_ACCELEROMETER}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea2e4ea1aa76f2cad49db5d57d811e12aa}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea2e4ea1aa76f2cad49db5d57d811e12aa}} 
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+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{META\_ACCELEROMETER@{META\_ACCELEROMETER}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!META\_ACCELEROMETER@{META\_ACCELEROMETER}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea465acbc549b49027295fb2df6d89ad9e}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea465acbc549b49027295fb2df6d89ad9e}} 
+META\+\_\+\+ACCELEROMETER&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{META\_LINEAR\_ACCELERATION@{META\_LINEAR\_ACCELERATION}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!META\_LINEAR\_ACCELERATION@{META\_LINEAR\_ACCELERATION}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea3308d6a253d373d623aa27e5a7e35b26}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea3308d6a253d373d623aa27e5a7e35b26}} 
+META\+\_\+\+LINEAR\+\_\+\+ACCELERATION&\\
+\hline
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+\raisebox{\heightof{T}}[0pt][0pt]{\index{META\_GRAVITY@{META\_GRAVITY}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!META\_GRAVITY@{META\_GRAVITY}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ead18387364cb570f2dada6577901433b2}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ead18387364cb570f2dada6577901433b2}} 
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+META\+\_\+\+RAW\+\_\+\+GYROSCOPE&\\
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+\raisebox{\heightof{T}}[0pt][0pt]{\index{META\_GYROSCOPE\_CALIBRATED@{META\_GYROSCOPE\_CALIBRATED}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!META\_GYROSCOPE\_CALIBRATED@{META\_GYROSCOPE\_CALIBRATED}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea1bc76fb93c1b3dd08a602f2f4fbe8645}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea1bc76fb93c1b3dd08a602f2f4fbe8645}} 
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+\hline
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+META\+\_\+\+GYROSCOPE\+\_\+\+UNCALIBRATED&\\
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+META\+\_\+\+RAW\+\_\+\+MAGNETOMETER&\\
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+META\+\_\+\+MAGNETIC\+\_\+\+FIELD\+\_\+\+CALIBRATED&\\
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+META\+\_\+\+MAGNETIC\+\_\+\+FIELD\+\_\+\+UNCALIBRATED&\\
+\hline
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+\raisebox{\heightof{T}}[0pt][0pt]{\index{META\_ROTATION\_VECTOR@{META\_ROTATION\_VECTOR}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!META\_ROTATION\_VECTOR@{META\_ROTATION\_VECTOR}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea4a6153a0da5cadc5308e699f0d72de20}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea4a6153a0da5cadc5308e699f0d72de20}} 
+META\+\_\+\+ROTATION\+\_\+\+VECTOR&\\
+\hline
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+\raisebox{\heightof{T}}[0pt][0pt]{\index{META\_GAME\_ROTATION\_VECTOR@{META\_GAME\_ROTATION\_VECTOR}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!META\_GAME\_ROTATION\_VECTOR@{META\_GAME\_ROTATION\_VECTOR}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea03247820bfcd6c7518327a501c2f84f2}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea03247820bfcd6c7518327a501c2f84f2}} 
+META\+\_\+\+GAME\+\_\+\+ROTATION\+\_\+\+VECTOR&\\
+\hline
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+\raisebox{\heightof{T}}[0pt][0pt]{\index{META\_GEOMAGNETIC\_ROTATION\_VECTOR@{META\_GEOMAGNETIC\_ROTATION\_VECTOR}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!META\_GEOMAGNETIC\_ROTATION\_VECTOR@{META\_GEOMAGNETIC\_ROTATION\_VECTOR}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea8358c5060ffe770da1411d8779db71a8}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea8358c5060ffe770da1411d8779db71a8}} 
+META\+\_\+\+GEOMAGNETIC\+\_\+\+ROTATION\+\_\+\+VECTOR&\\
+\hline
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+\raisebox{\heightof{T}}[0pt][0pt]{\index{META\_PRESSURE@{META\_PRESSURE}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!META\_PRESSURE@{META\_PRESSURE}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eaf9c947198092e74abb25848eb7769067}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eaf9c947198092e74abb25848eb7769067}} 
+META\+\_\+\+PRESSURE&\\
+\hline
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+\raisebox{\heightof{T}}[0pt][0pt]{\index{META\_AMBIENT\_LIGHT@{META\_AMBIENT\_LIGHT}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!META\_AMBIENT\_LIGHT@{META\_AMBIENT\_LIGHT}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea272dc30956f626dd9c57deabae51f34e}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea272dc30956f626dd9c57deabae51f34e}} 
+META\+\_\+\+AMBIENT\+\_\+\+LIGHT&\\
+\hline
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+\raisebox{\heightof{T}}[0pt][0pt]{\index{META\_HUMIDITY@{META\_HUMIDITY}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!META\_HUMIDITY@{META\_HUMIDITY}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eaad36e03479240e4335a782c235a5d38a}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eaad36e03479240e4335a782c235a5d38a}} 
+META\+\_\+\+HUMIDITY&\\
+\hline
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+\raisebox{\heightof{T}}[0pt][0pt]{\index{META\_PROXIMITY@{META\_PROXIMITY}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!META\_PROXIMITY@{META\_PROXIMITY}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea5672a03a15b0d08bc1dbf6d361f885b6}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea5672a03a15b0d08bc1dbf6d361f885b6}} 
+META\+\_\+\+PROXIMITY&\\
+\hline
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+\raisebox{\heightof{T}}[0pt][0pt]{\index{META\_TEMPERATURE@{META\_TEMPERATURE}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!META\_TEMPERATURE@{META\_TEMPERATURE}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eab95695a3e70032d9b77b4b66c66fc98c}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eab95695a3e70032d9b77b4b66c66fc98c}} 
+META\+\_\+\+TEMPERATURE&\\
+\hline
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+META\+\_\+\+TAP\+\_\+\+DETECTOR&\\
+\hline
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+\raisebox{\heightof{T}}[0pt][0pt]{\index{META\_STEP\_DETECTOR@{META\_STEP\_DETECTOR}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!META\_STEP\_DETECTOR@{META\_STEP\_DETECTOR}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eaec9658d47befd647b63e584f101b54be}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eaec9658d47befd647b63e584f101b54be}} 
+META\+\_\+\+STEP\+\_\+\+DETECTOR&\\
+\hline
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+META\+\_\+\+STEP\+\_\+\+COUNTER&\\
+\hline
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+\raisebox{\heightof{T}}[0pt][0pt]{\index{META\_SIGNIFICANT\_MOTION@{META\_SIGNIFICANT\_MOTION}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!META\_SIGNIFICANT\_MOTION@{META\_SIGNIFICANT\_MOTION}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea75cae4a3d64033a6b610ba9bdeca4400}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea75cae4a3d64033a6b610ba9bdeca4400}} 
+META\+\_\+\+SIGNIFICANT\+\_\+\+MOTION&\\
+\hline
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+\raisebox{\heightof{T}}[0pt][0pt]{\index{META\_STABILITY\_CLASSIFIER@{META\_STABILITY\_CLASSIFIER}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!META\_STABILITY\_CLASSIFIER@{META\_STABILITY\_CLASSIFIER}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea74afeef51f861c9990699dce9c3544d0}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea74afeef51f861c9990699dce9c3544d0}} 
+META\+\_\+\+STABILITY\+\_\+\+CLASSIFIER&\\
+\hline
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+\raisebox{\heightof{T}}[0pt][0pt]{\index{META\_SHAKE\_DETECTOR@{META\_SHAKE\_DETECTOR}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!META\_SHAKE\_DETECTOR@{META\_SHAKE\_DETECTOR}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea9ec318efb06209c42f9199b41d76df40}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea9ec318efb06209c42f9199b41d76df40}} 
+META\+\_\+\+SHAKE\+\_\+\+DETECTOR&\\
+\hline
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+META\+\_\+\+FLIP\+\_\+\+DETECTOR&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{META\_PICKUP\_DETECTOR@{META\_PICKUP\_DETECTOR}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!META\_PICKUP\_DETECTOR@{META\_PICKUP\_DETECTOR}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea499a184ec3f1a41ee95704207c3a0907}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea499a184ec3f1a41ee95704207c3a0907}} 
+META\+\_\+\+PICKUP\+\_\+\+DETECTOR&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{META\_STABILITY\_DETECTOR@{META\_STABILITY\_DETECTOR}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!META\_STABILITY\_DETECTOR@{META\_STABILITY\_DETECTOR}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ead5ca5c5444a4d4078796da85a8a63fd8}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ead5ca5c5444a4d4078796da85a8a63fd8}} 
+META\+\_\+\+STABILITY\+\_\+\+DETECTOR&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{META\_PERSONAL\_ACTIVITY\_CLASSIFIER@{META\_PERSONAL\_ACTIVITY\_CLASSIFIER}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!META\_PERSONAL\_ACTIVITY\_CLASSIFIER@{META\_PERSONAL\_ACTIVITY\_CLASSIFIER}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea6fc1d676928d6b16f1c1639b27a52669}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea6fc1d676928d6b16f1c1639b27a52669}} 
+META\+\_\+\+PERSONAL\+\_\+\+ACTIVITY\+\_\+\+CLASSIFIER&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{META\_SLEEP\_DETECTOR@{META\_SLEEP\_DETECTOR}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!META\_SLEEP\_DETECTOR@{META\_SLEEP\_DETECTOR}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea75c30391bf2c38c3d5451e6f3f1969ef}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea75c30391bf2c38c3d5451e6f3f1969ef}} 
+META\+\_\+\+SLEEP\+\_\+\+DETECTOR&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{META\_TILT\_DETECTOR@{META\_TILT\_DETECTOR}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!META\_TILT\_DETECTOR@{META\_TILT\_DETECTOR}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea66d0073ac3caa41ab4958fc167032f39}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea66d0073ac3caa41ab4958fc167032f39}} 
+META\+\_\+\+TILT\+\_\+\+DETECTOR&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{META\_POCKET\_DETECTOR@{META\_POCKET\_DETECTOR}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!META\_POCKET\_DETECTOR@{META\_POCKET\_DETECTOR}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea8fea9f9b77154625f1b543988398610b}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea8fea9f9b77154625f1b543988398610b}} 
+META\+\_\+\+POCKET\+\_\+\+DETECTOR&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{META\_CIRCLE\_DETECTOR@{META\_CIRCLE\_DETECTOR}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!META\_CIRCLE\_DETECTOR@{META\_CIRCLE\_DETECTOR}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eac26499be839c2f04ca712c388e02b2cd}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8eac26499be839c2f04ca712c388e02b2cd}} 
+META\+\_\+\+CIRCLE\+\_\+\+DETECTOR&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{META\_HEART\_RATE\_MONITOR@{META\_HEART\_RATE\_MONITOR}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!META\_HEART\_RATE\_MONITOR@{META\_HEART\_RATE\_MONITOR}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea41240ea9c983158280d9a1a144d6f9dc}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea41240ea9c983158280d9a1a144d6f9dc}} 
+META\+\_\+\+HEART\+\_\+\+RATE\+\_\+\+MONITOR&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{META\_ARVR\_STABILIZED\_RV@{META\_ARVR\_STABILIZED\_RV}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!META\_ARVR\_STABILIZED\_RV@{META\_ARVR\_STABILIZED\_RV}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea61501297c2607c69321c2a5b4c1c945b}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea61501297c2607c69321c2a5b4c1c945b}} 
+META\+\_\+\+ARVR\+\_\+\+STABILIZED\+\_\+\+RV&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{META\_ARVR\_STABILIZED\_GRV@{META\_ARVR\_STABILIZED\_GRV}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!META\_ARVR\_STABILIZED\_GRV@{META\_ARVR\_STABILIZED\_GRV}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea240edccff7cb86c2486ee9bac60e19ca}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea240edccff7cb86c2486ee9bac60e19ca}} 
+META\+\_\+\+ARVR\+\_\+\+STABILIZED\+\_\+\+GRV&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{META\_GYRO\_INTEGRATED\_RV@{META\_GYRO\_INTEGRATED\_RV}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!META\_GYRO\_INTEGRATED\_RV@{META\_GYRO\_INTEGRATED\_RV}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea928ad374247b43bfa0939406c62d2b31}\label{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8ea928ad374247b43bfa0939406c62d2b31}} 
+META\+\_\+\+GYRO\+\_\+\+INTEGRATED\+\_\+\+RV&\\
+\hline
+
+\end{DoxyEnumFields}
+\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2}\label{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2}} 
+\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!BNO08xResetReason@{BNO08xResetReason}}
+\index{BNO08xResetReason@{BNO08xResetReason}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
+\doxysubsubsection{\texorpdfstring{BNO08xResetReason}{BNO08xResetReason}}
+{\footnotesize\ttfamily enum class \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2}{BNO08x\+Reset\+Reason}} \+: uint8\+\_\+t\hspace{0.3cm}{\ttfamily [strong]}}
+
+
+
+Reason for previous IMU reset (returned by get\+\_\+reset\+\_\+reason()) 
+
+\begin{DoxyEnumFields}{Enumerator}
+\raisebox{\heightof{T}}[0pt][0pt]{\index{UNDEFINED@{UNDEFINED}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!UNDEFINED@{UNDEFINED}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2a0db45d2a4141101bdfe48e3314cfbca3}\label{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2a0db45d2a4141101bdfe48e3314cfbca3}} 
+UNDEFINED&Undefined reset reason, this should never occur and is an error. \\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{POR@{POR}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!POR@{POR}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2a7b47bb0f9f8c72f84d891e8e22a1fb92}\label{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2a7b47bb0f9f8c72f84d891e8e22a1fb92}} 
+POR&Previous reset was due to power on reset. \\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{INT\_RST@{INT\_RST}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!INT\_RST@{INT\_RST}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2acc069cf9b33eb4e7fb3696f0f42d752f}\label{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2acc069cf9b33eb4e7fb3696f0f42d752f}} 
+INT\+\_\+\+RST&Previous reset was due to internal reset. \\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{WTD@{WTD}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!WTD@{WTD}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2a764caaf44e35ee682f4079bd0878fa36}\label{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2a764caaf44e35ee682f4079bd0878fa36}} 
+WTD&Previous reset was due to watchdog timer. \\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{EXT\_RST@{EXT\_RST}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!EXT\_RST@{EXT\_RST}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2ac4e100317ca17eda786308c1c39eded5}\label{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2ac4e100317ca17eda786308c1c39eded5}} 
+EXT\+\_\+\+RST&Previous reset was due to external reset. \\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{OTHER@{OTHER}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!OTHER@{OTHER}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2a03570470bad94692ce93e32700d2e1cb}\label{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2a03570470bad94692ce93e32700d2e1cb}} 
+OTHER&Previous reset was due to power other reason. \\
+\hline
+
+\end{DoxyEnumFields}
+\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cb}\label{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cb}} 
+\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!BNO08xStability@{BNO08xStability}}
+\index{BNO08xStability@{BNO08xStability}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
+\doxysubsubsection{\texorpdfstring{BNO08xStability}{BNO08xStability}}
+{\footnotesize\ttfamily enum class \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cb}{BNO08x\+Stability}} \+: uint8\+\_\+t\hspace{0.3cm}{\ttfamily [strong]}}
+
+
+
+BNO08x\+Stability states returned from BNO08x\+::stability\+\_\+classifier.\+get() 
+
+\begin{DoxyEnumFields}{Enumerator}
+\raisebox{\heightof{T}}[0pt][0pt]{\index{UNKNOWN@{UNKNOWN}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!UNKNOWN@{UNKNOWN}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cba696b031073e74bf2cb98e5ef201d4aa3}\label{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cba696b031073e74bf2cb98e5ef201d4aa3}} 
+UNKNOWN&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{ON\_TABLE@{ON\_TABLE}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!ON\_TABLE@{ON\_TABLE}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cba71149a62cd9fec4756e3538d1754486a}\label{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cba71149a62cd9fec4756e3538d1754486a}} 
+ON\+\_\+\+TABLE&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{STATIONARY@{STATIONARY}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!STATIONARY@{STATIONARY}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cba4120eb7591bd0789af75a8973d5f9146}\label{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cba4120eb7591bd0789af75a8973d5f9146}} 
+STATIONARY&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{STABLE@{STABLE}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!STABLE@{STABLE}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cba32987cdf8a725702042ab18f5c700905}\label{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cba32987cdf8a725702042ab18f5c700905}} 
+STABLE&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{MOTION@{MOTION}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!MOTION@{MOTION}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cbaf96e6ea7a7375bd60bad3f3caae3cf27}\label{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cbaf96e6ea7a7375bd60bad3f3caae3cf27}} 
+MOTION&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{RESERVED@{RESERVED}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!RESERVED@{RESERVED}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cba83c7f2aa8c3ac10ed8beb75cad162827}\label{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cba83c7f2aa8c3ac10ed8beb75cad162827}} 
+RESERVED&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{UNDEFINED@{UNDEFINED}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!UNDEFINED@{UNDEFINED}}}\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cba0db45d2a4141101bdfe48e3314cfbca3}\label{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cba0db45d2a4141101bdfe48e3314cfbca3}} 
+UNDEFINED&\\
+\hline
+
+\end{DoxyEnumFields}
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_abb500e98b07c687d37e8ac0548a02e05}\label{_b_n_o08x_global_types_8hpp_abb500e98b07c687d37e8ac0548a02e05}} 
+\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!BNO08xAccuracy\_to\_str@{BNO08xAccuracy\_to\_str}}
+\index{BNO08xAccuracy\_to\_str@{BNO08xAccuracy\_to\_str}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
+\doxysubsubsection{\texorpdfstring{BNO08xAccuracy\_to\_str()}{BNO08xAccuracy\_to\_str()}}
+{\footnotesize\ttfamily const constexpr char $\ast$ BNO08x\+Accuracy\+\_\+to\+\_\+str (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08x\+Accuracy}}}]{accuracy }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [constexpr]}}
+
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_global_types_8hpp_abb500e98b07c687d37e8ac0548a02e05_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a042702b50b2a3617c517cd601e9d7ead}\label{_b_n_o08x_global_types_8hpp_a042702b50b2a3617c517cd601e9d7ead}} 
+\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!BNO08xActivity\_to\_str@{BNO08xActivity\_to\_str}}
+\index{BNO08xActivity\_to\_str@{BNO08xActivity\_to\_str}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
+\doxysubsubsection{\texorpdfstring{BNO08xActivity\_to\_str()}{BNO08xActivity\_to\_str()}}
+{\footnotesize\ttfamily const constexpr char $\ast$ BNO08x\+Activity\+\_\+to\+\_\+str (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97d}{BNO08x\+Activity}}}]{activity }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [constexpr]}}
+
+
+
+Converts a BNO08x\+Activity enum to string. 
+
+\begin{DoxyReturn}{Returns}
+The resulting string conversion of the enum. 
+\end{DoxyReturn}
+\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_a79cad23b69ea6ab97bf9d6e0a64a2826}\label{_b_n_o08x_global_types_8hpp_a79cad23b69ea6ab97bf9d6e0a64a2826}} 
+\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!BNO08xFrsID\_to\_str@{BNO08xFrsID\_to\_str}}
+\index{BNO08xFrsID\_to\_str@{BNO08xFrsID\_to\_str}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
+\doxysubsubsection{\texorpdfstring{BNO08xFrsID\_to\_str()}{BNO08xFrsID\_to\_str()}}
+{\footnotesize\ttfamily const constexpr char $\ast$ BNO08x\+Frs\+ID\+\_\+to\+\_\+str (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8e}{BNO08x\+Frs\+ID}}}]{id }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [constexpr]}}
+
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_global_types_8hpp_a79cad23b69ea6ab97bf9d6e0a64a2826_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{_b_n_o08x_global_types_8hpp_acd889b071d45f7ba9e7157e7a752bf5a}\label{_b_n_o08x_global_types_8hpp_acd889b071d45f7ba9e7157e7a752bf5a}} 
+\index{BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}!BNO08xStability\_to\_str@{BNO08xStability\_to\_str}}
+\index{BNO08xStability\_to\_str@{BNO08xStability\_to\_str}!BNO08xGlobalTypes.hpp@{BNO08xGlobalTypes.hpp}}
+\doxysubsubsection{\texorpdfstring{BNO08xStability\_to\_str()}{BNO08xStability\_to\_str()}}
+{\footnotesize\ttfamily const constexpr char $\ast$ BNO08x\+Stability\+\_\+to\+\_\+str (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cb}{BNO08x\+Stability}}}]{stability }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [constexpr]}}
+
+
+
+Converts a BNO08x\+Stability enum to string. 
+
+\begin{DoxyReturn}{Returns}
+The resulting string conversion of the enum. 
+\end{DoxyReturn}
diff --git a/documentation/latex/_b_n_o08x_global_types_8hpp__dep__incl.md5 b/documentation/latex/_b_n_o08x_global_types_8hpp__dep__incl.md5
new file mode 100644
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diff --git a/documentation/latex/_b_n_o08x_global_types_8hpp_source.tex b/documentation/latex/_b_n_o08x_global_types_8hpp_source.tex
new file mode 100644
index 0000000..1f58d49
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_global_types_8hpp_source.tex
@@ -0,0 +1,1078 @@
+\hypertarget{_b_n_o08x_global_types_8hpp_source}{}\doxysection{BNO08x\+Global\+Types.\+hpp}
+\label{_b_n_o08x_global_types_8hpp_source}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/BNO08xGlobalTypes.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/BNO08xGlobalTypes.hpp}}
+\mbox{\hyperlink{_b_n_o08x_global_types_8hpp}{Go to the documentation of this file.}}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{1 }
+\DoxyCodeLine{6 \textcolor{preprocessor}{\#pragma once}}
+\DoxyCodeLine{7 }
+\DoxyCodeLine{8 \textcolor{comment}{// macros for bno08x\_tap\_detector\_t}}
+\DoxyCodeLine{9 \textcolor{preprocessor}{\#define TAP\_DETECTED\_X\_AXIS(tap) ((tap) \& (1U << 0U) ? 1 : 0)}}
+\DoxyCodeLine{10 \textcolor{preprocessor}{\#define TAP\_DETECTED\_X\_AXIS\_POSITIVE(tap) ((tap) \& (1U << 1U) ? 1 : 0)}}
+\DoxyCodeLine{11 \textcolor{preprocessor}{\#define TAP\_DETECTED\_Y\_AXIS(tap) ((tap) \& (1U << 2U) ? 1 : 0)}}
+\DoxyCodeLine{12 \textcolor{preprocessor}{\#define TAP\_DETECTED\_Y\_AXIS\_POSITIVE(tap) ((tap) \& (1U << 3U) ? 1 : 0)}}
+\DoxyCodeLine{13 \textcolor{preprocessor}{\#define TAP\_DETECTED\_Z\_AXIS(tap) ((tap) \& (1U << 4U) ? 1 : 0)}}
+\DoxyCodeLine{14 \textcolor{preprocessor}{\#define TAP\_DETECTED\_Z\_AXIS\_POSITIVE(tap) ((tap) \& (1U << 5U) ? 1 : 0)}}
+\DoxyCodeLine{15 \textcolor{preprocessor}{\#define TAP\_DETECTED\_DOUBLE(tap) ((tap) \& (1U << 6U) ? 1 : 0)}}
+\DoxyCodeLine{16 }
+\DoxyCodeLine{17 \textcolor{comment}{// macros for bno08x\_shake\_detector\_t}}
+\DoxyCodeLine{18 \textcolor{preprocessor}{\#define SHAKE\_DETECTED\_X(tap) ((tap) \& (1U << 0U) ? 1 : 0)}}
+\DoxyCodeLine{19 \textcolor{preprocessor}{\#define SHAKE\_DETECTED\_Y(tap) ((tap) \& (1U << 1U) ? 1 : 0)}}
+\DoxyCodeLine{20 \textcolor{preprocessor}{\#define SHAKE\_DETECTED\_Z(tap) ((tap) \& (1U << 2U) ? 1 : 0)}}
+\DoxyCodeLine{21 }
+\DoxyCodeLine{22 \textcolor{comment}{// standard library includes}}
+\DoxyCodeLine{23 \textcolor{preprocessor}{\#include <math.h>}}
+\DoxyCodeLine{24 \textcolor{preprocessor}{\#include <inttypes.h>}}
+\DoxyCodeLine{25 \textcolor{preprocessor}{\#include <stdint.h>}}
+\DoxyCodeLine{26 \textcolor{preprocessor}{\#include <cstring>}}
+\DoxyCodeLine{27 }
+\DoxyCodeLine{28 \textcolor{comment}{// esp-\/idf includes}}
+\DoxyCodeLine{29 \textcolor{preprocessor}{\#include <driver/gpio.h>}}
+\DoxyCodeLine{30 \textcolor{preprocessor}{\#include <driver/spi\_common.h>}}
+\DoxyCodeLine{31 \textcolor{preprocessor}{\#include <driver/spi\_master.h>}}
+\DoxyCodeLine{32 }
+\DoxyCodeLine{33 \textcolor{comment}{// third-\/party includes}}
+\DoxyCodeLine{34 \textcolor{preprocessor}{\#include "{}sh2\_SensorValue.h"{}}}
+\DoxyCodeLine{35 }
+\DoxyCodeLine{37 \textcolor{keyword}{typedef} \textcolor{keyword}{struct }\mbox{\hyperlink{structbno08x__config__t}{bno08x\_config\_t}}}
+\DoxyCodeLine{38 \{}
+\DoxyCodeLine{39         spi\_host\_device\_t \mbox{\hyperlink{structbno08x__config__t_a020d2343750bb7debc2a108ae038c9ec}{spi\_peripheral}}; }
+\DoxyCodeLine{40         gpio\_num\_t \mbox{\hyperlink{structbno08x__config__t_a79023fd80039e41a22b7f73ccd5fc861}{io\_mosi}};               }
+\DoxyCodeLine{41         gpio\_num\_t \mbox{\hyperlink{structbno08x__config__t_a9468180a773892977db39cc5ed9368e3}{io\_miso}};               }
+\DoxyCodeLine{42         gpio\_num\_t \mbox{\hyperlink{structbno08x__config__t_a639685b91ae3198909d722316495246a}{io\_sclk}};               }
+\DoxyCodeLine{43         gpio\_num\_t \mbox{\hyperlink{structbno08x__config__t_ab1b5351b63da0c172c942463d0dc2505}{io\_cs}};                 }
+\DoxyCodeLine{44         gpio\_num\_t \mbox{\hyperlink{structbno08x__config__t_a3cfe965659cfbc6b0c5269bd0211975f}{io\_int}};                }
+\DoxyCodeLine{45         gpio\_num\_t \mbox{\hyperlink{structbno08x__config__t_a62745c761219139f66ecd173b51577fc}{io\_rst}};                }
+\DoxyCodeLine{46         uint32\_t \mbox{\hyperlink{structbno08x__config__t_a231614c3b20888360def2ce9db83f52a}{sclk\_speed}};              }
+\DoxyCodeLine{47         \textcolor{keywordtype}{bool} \mbox{\hyperlink{structbno08x__config__t_a0f629aaef6756aa80fec96b34476c627}{install\_isr\_service}}; }
+\DoxyCodeLine{48 }
+\DoxyCodeLine{52         \mbox{\hyperlink{structbno08x__config__t_a68e051212415a62e64c23678e7b40552}{bno08x\_config\_t}}(\textcolor{keywordtype}{bool} \mbox{\hyperlink{structbno08x__config__t_a0f629aaef6756aa80fec96b34476c627}{install\_isr\_service}} = \textcolor{keyword}{true})}
+\DoxyCodeLine{53             : \mbox{\hyperlink{structbno08x__config__t_a020d2343750bb7debc2a108ae038c9ec}{spi\_peripheral}}((spi\_host\_device\_t) CONFIG\_ESP32\_BNO08x\_SPI\_HOST)}
+\DoxyCodeLine{54             , \mbox{\hyperlink{structbno08x__config__t_a79023fd80039e41a22b7f73ccd5fc861}{io\_mosi}}(static\_cast<gpio\_num\_t>(CONFIG\_ESP32\_BNO08X\_GPIO\_DI))       \textcolor{comment}{// default: 23}}
+\DoxyCodeLine{55             , \mbox{\hyperlink{structbno08x__config__t_a9468180a773892977db39cc5ed9368e3}{io\_miso}}(static\_cast<gpio\_num\_t>(CONFIG\_ESP32\_BNO08X\_GPIO\_SDA))      \textcolor{comment}{// default: 19}}
+\DoxyCodeLine{56             , \mbox{\hyperlink{structbno08x__config__t_a639685b91ae3198909d722316495246a}{io\_sclk}}(static\_cast<gpio\_num\_t>(CONFIG\_ESP32\_BNO08X\_GPIO\_SCL))      \textcolor{comment}{// default: 18}}
+\DoxyCodeLine{57             , \mbox{\hyperlink{structbno08x__config__t_ab1b5351b63da0c172c942463d0dc2505}{io\_cs}}(static\_cast<gpio\_num\_t>(CONFIG\_ESP32\_BNO08X\_GPIO\_CS))         \textcolor{comment}{// default: 33}}
+\DoxyCodeLine{58             , \mbox{\hyperlink{structbno08x__config__t_a3cfe965659cfbc6b0c5269bd0211975f}{io\_int}}(static\_cast<gpio\_num\_t>(CONFIG\_ESP32\_BNO08X\_GPIO\_HINT))      \textcolor{comment}{// default: 26}}
+\DoxyCodeLine{59             , \mbox{\hyperlink{structbno08x__config__t_a62745c761219139f66ecd173b51577fc}{io\_rst}}(static\_cast<gpio\_num\_t>(CONFIG\_ESP32\_BNO08X\_GPIO\_RST))       \textcolor{comment}{// default: 32}}
+\DoxyCodeLine{60             , \mbox{\hyperlink{structbno08x__config__t_a231614c3b20888360def2ce9db83f52a}{sclk\_speed}}(static\_cast<uint32\_t>(CONFIG\_ESP32\_BNO08X\_SCL\_SPEED\_HZ)) \textcolor{comment}{// default: 2MHz}}
+\DoxyCodeLine{61             , \mbox{\hyperlink{structbno08x__config__t_a0f629aaef6756aa80fec96b34476c627}{install\_isr\_service}}(\mbox{\hyperlink{structbno08x__config__t_a0f629aaef6756aa80fec96b34476c627}{install\_isr\_service}})                            \textcolor{comment}{// default: true}}
+\DoxyCodeLine{62 }
+\DoxyCodeLine{63         \{}
+\DoxyCodeLine{64         \}}
+\DoxyCodeLine{65 }
+\DoxyCodeLine{67         \mbox{\hyperlink{structbno08x__config__t_afa37d6ffc6f4fc7c9aa7484d49458a4a}{bno08x\_config\_t}}(spi\_host\_device\_t \mbox{\hyperlink{structbno08x__config__t_a020d2343750bb7debc2a108ae038c9ec}{spi\_peripheral}}, gpio\_num\_t \mbox{\hyperlink{structbno08x__config__t_a79023fd80039e41a22b7f73ccd5fc861}{io\_mosi}}, gpio\_num\_t \mbox{\hyperlink{structbno08x__config__t_a9468180a773892977db39cc5ed9368e3}{io\_miso}}, gpio\_num\_t \mbox{\hyperlink{structbno08x__config__t_a639685b91ae3198909d722316495246a}{io\_sclk}},}
+\DoxyCodeLine{68                 gpio\_num\_t \mbox{\hyperlink{structbno08x__config__t_ab1b5351b63da0c172c942463d0dc2505}{io\_cs}}, gpio\_num\_t \mbox{\hyperlink{structbno08x__config__t_a3cfe965659cfbc6b0c5269bd0211975f}{io\_int}}, gpio\_num\_t \mbox{\hyperlink{structbno08x__config__t_a62745c761219139f66ecd173b51577fc}{io\_rst}}, uint32\_t \mbox{\hyperlink{structbno08x__config__t_a231614c3b20888360def2ce9db83f52a}{sclk\_speed}}, \textcolor{keywordtype}{bool} \mbox{\hyperlink{structbno08x__config__t_a0f629aaef6756aa80fec96b34476c627}{install\_isr\_service}} = \textcolor{keyword}{true})}
+\DoxyCodeLine{69             : \mbox{\hyperlink{structbno08x__config__t_a020d2343750bb7debc2a108ae038c9ec}{spi\_peripheral}}(\mbox{\hyperlink{structbno08x__config__t_a020d2343750bb7debc2a108ae038c9ec}{spi\_peripheral}})}
+\DoxyCodeLine{70             , \mbox{\hyperlink{structbno08x__config__t_a79023fd80039e41a22b7f73ccd5fc861}{io\_mosi}}(\mbox{\hyperlink{structbno08x__config__t_a79023fd80039e41a22b7f73ccd5fc861}{io\_mosi}})}
+\DoxyCodeLine{71             , \mbox{\hyperlink{structbno08x__config__t_a9468180a773892977db39cc5ed9368e3}{io\_miso}}(\mbox{\hyperlink{structbno08x__config__t_a9468180a773892977db39cc5ed9368e3}{io\_miso}})}
+\DoxyCodeLine{72             , \mbox{\hyperlink{structbno08x__config__t_a639685b91ae3198909d722316495246a}{io\_sclk}}(\mbox{\hyperlink{structbno08x__config__t_a639685b91ae3198909d722316495246a}{io\_sclk}})}
+\DoxyCodeLine{73             , \mbox{\hyperlink{structbno08x__config__t_ab1b5351b63da0c172c942463d0dc2505}{io\_cs}}(\mbox{\hyperlink{structbno08x__config__t_ab1b5351b63da0c172c942463d0dc2505}{io\_cs}})}
+\DoxyCodeLine{74             , \mbox{\hyperlink{structbno08x__config__t_a3cfe965659cfbc6b0c5269bd0211975f}{io\_int}}(\mbox{\hyperlink{structbno08x__config__t_a3cfe965659cfbc6b0c5269bd0211975f}{io\_int}})}
+\DoxyCodeLine{75             , \mbox{\hyperlink{structbno08x__config__t_a62745c761219139f66ecd173b51577fc}{io\_rst}}(\mbox{\hyperlink{structbno08x__config__t_a62745c761219139f66ecd173b51577fc}{io\_rst}})}
+\DoxyCodeLine{76             , \mbox{\hyperlink{structbno08x__config__t_a231614c3b20888360def2ce9db83f52a}{sclk\_speed}}(\mbox{\hyperlink{structbno08x__config__t_a231614c3b20888360def2ce9db83f52a}{sclk\_speed}})}
+\DoxyCodeLine{77             , \mbox{\hyperlink{structbno08x__config__t_a0f629aaef6756aa80fec96b34476c627}{install\_isr\_service}}(\mbox{\hyperlink{structbno08x__config__t_a0f629aaef6756aa80fec96b34476c627}{install\_isr\_service}})}
+\DoxyCodeLine{78         \{}
+\DoxyCodeLine{79         \}}
+\DoxyCodeLine{80 \} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a648bbdbf22731476890dd8da977d7503}{bno08x\_config\_t}};}
+\DoxyCodeLine{81 \textcolor{keyword}{typedef} \mbox{\hyperlink{structbno08x__config__t}{bno08x\_config\_t}} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_aae502b3d91ddf903bba797646fd28d00}{imu\_config\_t}}; \textcolor{comment}{// legacy version compatibility}}
+\DoxyCodeLine{82 }
+\DoxyCodeLine{83 \textcolor{keyword}{enum class} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a25947bbe6bc4a7c9edd7067fdce0e9cc}{BNO08xCalSel}} : uint8\_t}
+\DoxyCodeLine{84 \{}
+\DoxyCodeLine{85     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a25947bbe6bc4a7c9edd7067fdce0e9cca0e1275697d4c40b4b0640fbfa3907afa}{accelerometer}} = SH2\_CAL\_ACCEL,}
+\DoxyCodeLine{86     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a25947bbe6bc4a7c9edd7067fdce0e9cca41e1db589d90cecf09838a038ebc8aa1}{gyro}} = SH2\_CAL\_GYRO,}
+\DoxyCodeLine{87     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a25947bbe6bc4a7c9edd7067fdce0e9cca2c8af00d544b080d3c0d834d1c5dfcbf}{magnetometer}} = SH2\_CAL\_MAG,}
+\DoxyCodeLine{88     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a25947bbe6bc4a7c9edd7067fdce0e9ccafcaab1f4c98b7343157c3c59c6a259cb}{planar\_accelerometer}} = SH2\_CAL\_PLANAR,}
+\DoxyCodeLine{89     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a25947bbe6bc4a7c9edd7067fdce0e9ccaa181a603769c1f98ad927e7367c7aa51}{all}} = (SH2\_CAL\_ACCEL | SH2\_CAL\_GYRO | SH2\_CAL\_MAG | SH2\_CAL\_PLANAR)}
+\DoxyCodeLine{90 \};}
+\DoxyCodeLine{91 }
+\DoxyCodeLine{93 \textcolor{keyword}{enum class} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2}{BNO08xResetReason}} : uint8\_t}
+\DoxyCodeLine{94 \{}
+\DoxyCodeLine{95     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2a0db45d2a4141101bdfe48e3314cfbca3}{UNDEFINED}}, }
+\DoxyCodeLine{96     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2a7b47bb0f9f8c72f84d891e8e22a1fb92}{POR}},       }
+\DoxyCodeLine{97     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2acc069cf9b33eb4e7fb3696f0f42d752f}{INT\_RST}},   }
+\DoxyCodeLine{98     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2a764caaf44e35ee682f4079bd0878fa36}{WTD}},       }
+\DoxyCodeLine{99     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2ac4e100317ca17eda786308c1c39eded5}{EXT\_RST}},   }
+\DoxyCodeLine{100     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2a03570470bad94692ce93e32700d2e1cb}{OTHER}}      }
+\DoxyCodeLine{101 \};}
+\DoxyCodeLine{102 }
+\DoxyCodeLine{105 \textcolor{keyword}{enum class} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08xAccuracy}} : uint8\_t}
+\DoxyCodeLine{106 \{}
+\DoxyCodeLine{107     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6a6e257e645974b9086ed66e9465e2d80c}{UNRELIABLE}},}
+\DoxyCodeLine{108     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6a41bc94cbd8eebea13ce0491b2ac11b88}{LOW}},}
+\DoxyCodeLine{109     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6a2ad6d5975c45da2e711c796f3a1b029c}{MED}},}
+\DoxyCodeLine{110     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6ab89de3b4b81c4facfac906edf29aec8c}{HIGH}},}
+\DoxyCodeLine{111     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2a0db45d2a4141101bdfe48e3314cfbca3}{UNDEFINED}}}
+\DoxyCodeLine{112 \};}
+\DoxyCodeLine{113 \textcolor{keyword}{using }\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{IMUAccuracy}} = \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08xAccuracy}}; \textcolor{comment}{// legacy version compatibility}}
+\DoxyCodeLine{114 }
+\DoxyCodeLine{115 \textcolor{keyword}{const} \textcolor{keyword}{constexpr} \textcolor{keywordtype}{char}* \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_abb500e98b07c687d37e8ac0548a02e05}{BNO08xAccuracy\_to\_str}}(\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08xAccuracy}} accuracy)}
+\DoxyCodeLine{116 \{}
+\DoxyCodeLine{117     \textcolor{keywordflow}{switch} (accuracy)}
+\DoxyCodeLine{118     \{}
+\DoxyCodeLine{119         \textcolor{keywordflow}{case} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6a6e257e645974b9086ed66e9465e2d80c}{BNO08xAccuracy::UNRELIABLE}}:}
+\DoxyCodeLine{120             \textcolor{keywordflow}{return} \textcolor{stringliteral}{"{}UNRELIABLE"{}};}
+\DoxyCodeLine{121         \textcolor{keywordflow}{case} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6a41bc94cbd8eebea13ce0491b2ac11b88}{BNO08xAccuracy::LOW}}:}
+\DoxyCodeLine{122             \textcolor{keywordflow}{return} \textcolor{stringliteral}{"{}LOW"{}};}
+\DoxyCodeLine{123         \textcolor{keywordflow}{case} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6a2ad6d5975c45da2e711c796f3a1b029c}{BNO08xAccuracy::MED}}:}
+\DoxyCodeLine{124             \textcolor{keywordflow}{return} \textcolor{stringliteral}{"{}MED"{}};}
+\DoxyCodeLine{125         \textcolor{keywordflow}{case} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6ab89de3b4b81c4facfac906edf29aec8c}{BNO08xAccuracy::HIGH}}:}
+\DoxyCodeLine{126             \textcolor{keywordflow}{return} \textcolor{stringliteral}{"{}HIGH"{}};}
+\DoxyCodeLine{127         \textcolor{keywordflow}{case} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6a0db45d2a4141101bdfe48e3314cfbca3}{BNO08xAccuracy::UNDEFINED}}:}
+\DoxyCodeLine{128             \textcolor{keywordflow}{return} \textcolor{stringliteral}{"{}UNDEFINED"{}};}
+\DoxyCodeLine{129         \textcolor{keywordflow}{default}:}
+\DoxyCodeLine{130             \textcolor{keywordflow}{return} \textcolor{stringliteral}{"{}UNDEFINED"{}};}
+\DoxyCodeLine{131     \}}
+\DoxyCodeLine{132 \}}
+\DoxyCodeLine{133 }
+\DoxyCodeLine{136 \textcolor{keyword}{enum class} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3a}{BNO08xActivityEnable}} : uint32\_t}
+\DoxyCodeLine{137 \{}
+\DoxyCodeLine{138     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa696b031073e74bf2cb98e5ef201d4aa3}{UNKNOWN}} = (1U << 0U),}
+\DoxyCodeLine{139     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aab166a3ce74dd5434e4a940dfa2af76e4}{IN\_VEHICLE}} = (1U << 1U),}
+\DoxyCodeLine{140     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa93d94a2f3a627533453a40e302fb35a4}{ON\_BICYCLE}} = (1U << 2U),}
+\DoxyCodeLine{141     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa7089542e0146a3499986c81e24924b58}{ON\_FOOT}} = (1U << 3U),}
+\DoxyCodeLine{142     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa8b572d218013b9626d59e6a2b38f18b6}{STILL}} = (1U << 4U),}
+\DoxyCodeLine{143     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa69909b62e08f212da31719aebf67b70c}{TILTING}} = (1U << 5U),}
+\DoxyCodeLine{144     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa606c114184493a665cf1f6a12fbab9d3}{WALKING}} = (1U << 6U),}
+\DoxyCodeLine{145     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa43491564ebcfd38568918efbd6e840fd}{RUNNING}} = (1U << 7U),}
+\DoxyCodeLine{146     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aabbf2a614429826a84bd76b4a47fc7515}{ON\_STAIRS}} = (1U << 8U),}
+\DoxyCodeLine{147     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa5fb1f955b45e38e31789286a1790398d}{ALL}} = (\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa696b031073e74bf2cb98e5ef201d4aa3}{UNKNOWN}} | \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aab166a3ce74dd5434e4a940dfa2af76e4}{IN\_VEHICLE}} | \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa93d94a2f3a627533453a40e302fb35a4}{ON\_BICYCLE}} | \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa7089542e0146a3499986c81e24924b58}{ON\_FOOT}} | \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa8b572d218013b9626d59e6a2b38f18b6}{STILL}} | \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa69909b62e08f212da31719aebf67b70c}{TILTING}} | \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa606c114184493a665cf1f6a12fbab9d3}{WALKING}} | \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa43491564ebcfd38568918efbd6e840fd}{RUNNING}} | \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aabbf2a614429826a84bd76b4a47fc7515}{ON\_STAIRS}})}
+\DoxyCodeLine{148 \};}
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+\DoxyCodeLine{151 \textcolor{keyword}{enum class} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97d}{BNO08xActivity}} : uint8\_t}
+\DoxyCodeLine{152 \{}
+\DoxyCodeLine{153     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa696b031073e74bf2cb98e5ef201d4aa3}{UNKNOWN}} = 0,    \textcolor{comment}{// 0 = unknown}}
+\DoxyCodeLine{154     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aab166a3ce74dd5434e4a940dfa2af76e4}{IN\_VEHICLE}} = 1, \textcolor{comment}{// 1 = in vehicle}}
+\DoxyCodeLine{155     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa93d94a2f3a627533453a40e302fb35a4}{ON\_BICYCLE}} = 2, \textcolor{comment}{// 2 = on bicycle}}
+\DoxyCodeLine{156     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa7089542e0146a3499986c81e24924b58}{ON\_FOOT}} = 3,    \textcolor{comment}{// 3 = on foot}}
+\DoxyCodeLine{157     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa8b572d218013b9626d59e6a2b38f18b6}{STILL}} = 4,      \textcolor{comment}{// 4 = still}}
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+\DoxyCodeLine{161     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aabbf2a614429826a84bd76b4a47fc7515}{ON\_STAIRS}} = 8,  \textcolor{comment}{// 8 = on stairs}}
+\DoxyCodeLine{162     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2a0db45d2a4141101bdfe48e3314cfbca3}{UNDEFINED}} = 9   \textcolor{comment}{// used for unit tests}}
+\DoxyCodeLine{163 \};}
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+\DoxyCodeLine{170 \textcolor{keyword}{const} \textcolor{keyword}{constexpr} \textcolor{keywordtype}{char}* \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a042702b50b2a3617c517cd601e9d7ead}{BNO08xActivity\_to\_str}}(\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97d}{BNO08xActivity}} activity)}
+\DoxyCodeLine{171 \{}
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+\DoxyCodeLine{173     \{}
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+\DoxyCodeLine{175             \textcolor{keywordflow}{return} \textcolor{stringliteral}{"{}UNKNOWN"{}};}
+\DoxyCodeLine{176         \textcolor{keywordflow}{case} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97dab166a3ce74dd5434e4a940dfa2af76e4}{BNO08xActivity::IN\_VEHICLE}}:}
+\DoxyCodeLine{177             \textcolor{keywordflow}{return} \textcolor{stringliteral}{"{}IN\_VEHICLE"{}};}
+\DoxyCodeLine{178         \textcolor{keywordflow}{case} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97da93d94a2f3a627533453a40e302fb35a4}{BNO08xActivity::ON\_BICYCLE}}:}
+\DoxyCodeLine{179             \textcolor{keywordflow}{return} \textcolor{stringliteral}{"{}ON\_BICYCLE"{}};}
+\DoxyCodeLine{180         \textcolor{keywordflow}{case} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97da7089542e0146a3499986c81e24924b58}{BNO08xActivity::ON\_FOOT}}:}
+\DoxyCodeLine{181             \textcolor{keywordflow}{return} \textcolor{stringliteral}{"{}ON\_FOOT"{}};}
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+\DoxyCodeLine{183             \textcolor{keywordflow}{return} \textcolor{stringliteral}{"{}STILL"{}};}
+\DoxyCodeLine{184         \textcolor{keywordflow}{case} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97da69909b62e08f212da31719aebf67b70c}{BNO08xActivity::TILTING}}:}
+\DoxyCodeLine{185             \textcolor{keywordflow}{return} \textcolor{stringliteral}{"{}TILTING"{}};}
+\DoxyCodeLine{186         \textcolor{keywordflow}{case} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97da606c114184493a665cf1f6a12fbab9d3}{BNO08xActivity::WALKING}}:}
+\DoxyCodeLine{187             \textcolor{keywordflow}{return} \textcolor{stringliteral}{"{}WALKING"{}};}
+\DoxyCodeLine{188         \textcolor{keywordflow}{case} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97da43491564ebcfd38568918efbd6e840fd}{BNO08xActivity::RUNNING}}:}
+\DoxyCodeLine{189             \textcolor{keywordflow}{return} \textcolor{stringliteral}{"{}RUNNING"{}};}
+\DoxyCodeLine{190         \textcolor{keywordflow}{case} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97dabbf2a614429826a84bd76b4a47fc7515}{BNO08xActivity::ON\_STAIRS}}:}
+\DoxyCodeLine{191             \textcolor{keywordflow}{return} \textcolor{stringliteral}{"{}ON\_STAIRS"{}};}
+\DoxyCodeLine{192         \textcolor{keywordflow}{case} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97da0db45d2a4141101bdfe48e3314cfbca3}{BNO08xActivity::UNDEFINED}}:}
+\DoxyCodeLine{193             \textcolor{keywordflow}{return} \textcolor{stringliteral}{"{}UNDEFINED"{}};}
+\DoxyCodeLine{194         \textcolor{keywordflow}{default}:}
+\DoxyCodeLine{195             \textcolor{keywordflow}{return} \textcolor{stringliteral}{"{}UNDEFINED"{}};}
+\DoxyCodeLine{196     \}}
+\DoxyCodeLine{197 \}}
+\DoxyCodeLine{198 }
+\DoxyCodeLine{200 \textcolor{keyword}{enum class} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cb}{BNO08xStability}} : uint8\_t}
+\DoxyCodeLine{201 \{}
+\DoxyCodeLine{202     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa696b031073e74bf2cb98e5ef201d4aa3}{UNKNOWN}} = 0,    \textcolor{comment}{// 0 = unknown}}
+\DoxyCodeLine{203     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cba71149a62cd9fec4756e3538d1754486a}{ON\_TABLE}} = 1,   \textcolor{comment}{// 1 = on table}}
+\DoxyCodeLine{204     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cba4120eb7591bd0789af75a8973d5f9146}{STATIONARY}} = 2, \textcolor{comment}{// 2 = stationary}}
+\DoxyCodeLine{205     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cba32987cdf8a725702042ab18f5c700905}{STABLE}} = 3,     \textcolor{comment}{// 3 = stable}}
+\DoxyCodeLine{206     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cbaf96e6ea7a7375bd60bad3f3caae3cf27}{MOTION}} = 4,     \textcolor{comment}{// 4 = in motion}}
+\DoxyCodeLine{207     \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cba83c7f2aa8c3ac10ed8beb75cad162827}{RESERVED}} = 5,   \textcolor{comment}{// 5 = reserved (not used)}}
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+\DoxyCodeLine{209 \};}
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+\DoxyCodeLine{216 \textcolor{keyword}{const} \textcolor{keyword}{constexpr} \textcolor{keywordtype}{char}* \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_acd889b071d45f7ba9e7157e7a752bf5a}{BNO08xStability\_to\_str}}(\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cb}{BNO08xStability}} stability)}
+\DoxyCodeLine{217 \{}
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+\DoxyCodeLine{219     \{}
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+\DoxyCodeLine{221             \textcolor{keywordflow}{return} \textcolor{stringliteral}{"{}UNKNOWN"{}};}
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+\DoxyCodeLine{225             \textcolor{keywordflow}{return} \textcolor{stringliteral}{"{}STATIONARY"{}};}
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+\DoxyCodeLine{227             \textcolor{keywordflow}{return} \textcolor{stringliteral}{"{}STABLE"{}};}
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+\DoxyCodeLine{229             \textcolor{keywordflow}{return} \textcolor{stringliteral}{"{}MOTION"{}};}
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+\DoxyCodeLine{234         \textcolor{keywordflow}{default}:}
+\DoxyCodeLine{235             \textcolor{keywordflow}{return} \textcolor{stringliteral}{"{}UNDEFINED"{}};}
+\DoxyCodeLine{236     \}}
+\DoxyCodeLine{237 \}}
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+\DoxyCodeLine{239 \textcolor{keyword}{enum class} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8e}{BNO08xFrsID}} : uint16\_t}
+\DoxyCodeLine{240 \{}
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+\DoxyCodeLine{490 }
+\DoxyCodeLine{491         \textcolor{comment}{// overloaded assignment operator to handle RV with rad accuracy}}
+\DoxyCodeLine{492         \mbox{\hyperlink{structbno08x__quat__t}{bno08x\_quat\_t}}\& \mbox{\hyperlink{structbno08x__quat__t_a081cecab6370ae436f36416e3f7a6ddc}{operator=}}(\textcolor{keyword}{const} sh2\_RotationVectorWAcc\_t\& source)}
+\DoxyCodeLine{493         \{}
+\DoxyCodeLine{494             this-\/>real = source.\mbox{\hyperlink{structbno08x__quat__t_ab99e5e4f8adad74eee1a94b4e7ef2542}{real}};}
+\DoxyCodeLine{495             this-\/>i = source.i;}
+\DoxyCodeLine{496             this-\/>j = source.j;}
+\DoxyCodeLine{497             this-\/>k = source.k;}
+\DoxyCodeLine{498             this-\/>rad\_accuracy = source.accuracy;}
+\DoxyCodeLine{499             \textcolor{keywordflow}{return} *\textcolor{keyword}{this};}
+\DoxyCodeLine{500         \}}
+\DoxyCodeLine{501 }
+\DoxyCodeLine{502         \textcolor{comment}{// overloaded assignment operator to handle RV with w/o rad accuracy}}
+\DoxyCodeLine{503         \mbox{\hyperlink{structbno08x__quat__t}{bno08x\_quat\_t}}\& \mbox{\hyperlink{structbno08x__quat__t_a23cac26e381f9a83657fccdab735046b}{operator=}}(\textcolor{keyword}{const} sh2\_RotationVector\_t\& source)}
+\DoxyCodeLine{504         \{}
+\DoxyCodeLine{505             this-\/>real = source.\mbox{\hyperlink{structbno08x__quat__t_ab99e5e4f8adad74eee1a94b4e7ef2542}{real}};}
+\DoxyCodeLine{506             this-\/>i = source.i;}
+\DoxyCodeLine{507             this-\/>j = source.j;}
+\DoxyCodeLine{508             this-\/>k = source.k;}
+\DoxyCodeLine{509             this-\/>rad\_accuracy = 0.0f;}
+\DoxyCodeLine{510             \textcolor{keywordflow}{return} *\textcolor{keyword}{this};}
+\DoxyCodeLine{511         \}}
+\DoxyCodeLine{512 }
+\DoxyCodeLine{513         \textcolor{comment}{// overloaded assignment operator to handle IRV report}}
+\DoxyCodeLine{514         \mbox{\hyperlink{structbno08x__quat__t}{bno08x\_quat\_t}}\& \mbox{\hyperlink{structbno08x__quat__t_ae3705dc48882a3d616927cad01c2387d}{operator=}}(\textcolor{keyword}{const} sh2\_GyroIntegratedRV\_t\& source)}
+\DoxyCodeLine{515         \{}
+\DoxyCodeLine{516             this-\/>real = source.\mbox{\hyperlink{structbno08x__quat__t_ab99e5e4f8adad74eee1a94b4e7ef2542}{real}};}
+\DoxyCodeLine{517             this-\/>i = source.i;}
+\DoxyCodeLine{518             this-\/>j = source.j;}
+\DoxyCodeLine{519             this-\/>k = source.k;}
+\DoxyCodeLine{520             this-\/>rad\_accuracy = 0.0f;}
+\DoxyCodeLine{521             \textcolor{keywordflow}{return} *\textcolor{keyword}{this};}
+\DoxyCodeLine{522         \}}
+\DoxyCodeLine{523 }
+\DoxyCodeLine{524 \} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a0c7367913526c0d634c5f8f5365a55b4}{bno08x\_quat\_t}};}
+\DoxyCodeLine{525 }
+\DoxyCodeLine{527 \textcolor{keyword}{typedef} \textcolor{keyword}{struct }\mbox{\hyperlink{structbno08x__euler__angle__t}{bno08x\_euler\_angle\_t}}}
+\DoxyCodeLine{528 \{}
+\DoxyCodeLine{529         \textcolor{keywordtype}{float} \mbox{\hyperlink{structbno08x__euler__angle__t_a7c675704f7bf92a19846de6ee020f0ef}{x}};}
+\DoxyCodeLine{530         \textcolor{keywordtype}{float} \mbox{\hyperlink{structbno08x__euler__angle__t_a0c4f19cb559999d4c2ac2b29d9dc7cfd}{y}};}
+\DoxyCodeLine{531         \textcolor{keywordtype}{float} \mbox{\hyperlink{structbno08x__euler__angle__t_a5237ec5e8fc1ca49b2f108ac784f0032}{z}};}
+\DoxyCodeLine{532         \textcolor{keywordtype}{float} \mbox{\hyperlink{structbno08x__euler__angle__t_a89ab348ee455b14e5d09f1eb5d231c99}{rad\_accuracy}};}
+\DoxyCodeLine{533         \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08xAccuracy}} \mbox{\hyperlink{structbno08x__euler__angle__t_a3b4fad0b84bda3f34e86f7168ef2fee6}{accuracy}};}
+\DoxyCodeLine{534 }
+\DoxyCodeLine{535         \mbox{\hyperlink{structbno08x__euler__angle__t_a29b670ff58d75a6abf02512ee07a6207}{bno08x\_euler\_angle\_t}}()}
+\DoxyCodeLine{536             : \mbox{\hyperlink{structbno08x__euler__angle__t_a7c675704f7bf92a19846de6ee020f0ef}{x}}(0.0f)}
+\DoxyCodeLine{537             , \mbox{\hyperlink{structbno08x__euler__angle__t_a0c4f19cb559999d4c2ac2b29d9dc7cfd}{y}}(0.0f)}
+\DoxyCodeLine{538             , \mbox{\hyperlink{structbno08x__euler__angle__t_a5237ec5e8fc1ca49b2f108ac784f0032}{z}}(0.0f)}
+\DoxyCodeLine{539             , \mbox{\hyperlink{structbno08x__euler__angle__t_a89ab348ee455b14e5d09f1eb5d231c99}{rad\_accuracy}}(0.0f)}
+\DoxyCodeLine{540             , \mbox{\hyperlink{structbno08x__euler__angle__t_a3b4fad0b84bda3f34e86f7168ef2fee6}{accuracy}}(\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08xAccuracy}}::\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2a0db45d2a4141101bdfe48e3314cfbca3}{UNDEFINED}})}
+\DoxyCodeLine{541         \{}
+\DoxyCodeLine{542         \}}
+\DoxyCodeLine{543 }
+\DoxyCodeLine{544         \textcolor{comment}{// overloaded = operator for quat to euler conversion}}
+\DoxyCodeLine{545         \mbox{\hyperlink{structbno08x__euler__angle__t}{bno08x\_euler\_angle\_t}}\& \mbox{\hyperlink{structbno08x__euler__angle__t_aa7f6954a731e0be492508b5d1dac056e}{operator=}}(\textcolor{keyword}{const} \mbox{\hyperlink{structbno08x__quat__t}{bno08x\_quat\_t}}\& source)}
+\DoxyCodeLine{546         \{}
+\DoxyCodeLine{547             this-\/>x = atan2(2.0f * (source.\mbox{\hyperlink{structbno08x__quat__t_ab99e5e4f8adad74eee1a94b4e7ef2542}{real}} * source.\mbox{\hyperlink{structbno08x__quat__t_ac438aba57b7082e1d81e2d1241f87ca0}{i}} + source.\mbox{\hyperlink{structbno08x__quat__t_aab49754d4967cfa71578d8d1156eef46}{j}} * source.\mbox{\hyperlink{structbno08x__quat__t_ade2592f6a271cc8b260081ad018772ef}{k}}),}
+\DoxyCodeLine{548                     1.0f -\/ 2.0f * (source.\mbox{\hyperlink{structbno08x__quat__t_ac438aba57b7082e1d81e2d1241f87ca0}{i}} * source.\mbox{\hyperlink{structbno08x__quat__t_ac438aba57b7082e1d81e2d1241f87ca0}{i}} + source.\mbox{\hyperlink{structbno08x__quat__t_aab49754d4967cfa71578d8d1156eef46}{j}} * source.\mbox{\hyperlink{structbno08x__quat__t_aab49754d4967cfa71578d8d1156eef46}{j}}));}
+\DoxyCodeLine{549             this-\/>y = asin(2.0f * (source.\mbox{\hyperlink{structbno08x__quat__t_ab99e5e4f8adad74eee1a94b4e7ef2542}{real}} * source.\mbox{\hyperlink{structbno08x__quat__t_aab49754d4967cfa71578d8d1156eef46}{j}} -\/ source.\mbox{\hyperlink{structbno08x__quat__t_ade2592f6a271cc8b260081ad018772ef}{k}} * source.\mbox{\hyperlink{structbno08x__quat__t_ac438aba57b7082e1d81e2d1241f87ca0}{i}}));}
+\DoxyCodeLine{550             this-\/>z = atan2(2.0f * (source.\mbox{\hyperlink{structbno08x__quat__t_ab99e5e4f8adad74eee1a94b4e7ef2542}{real}} * source.\mbox{\hyperlink{structbno08x__quat__t_ade2592f6a271cc8b260081ad018772ef}{k}} + source.\mbox{\hyperlink{structbno08x__quat__t_ac438aba57b7082e1d81e2d1241f87ca0}{i}} * source.\mbox{\hyperlink{structbno08x__quat__t_aab49754d4967cfa71578d8d1156eef46}{j}}),}
+\DoxyCodeLine{551                     1.0f -\/ 2.0f * (source.\mbox{\hyperlink{structbno08x__quat__t_aab49754d4967cfa71578d8d1156eef46}{j}} * source.\mbox{\hyperlink{structbno08x__quat__t_aab49754d4967cfa71578d8d1156eef46}{j}} + source.\mbox{\hyperlink{structbno08x__quat__t_ade2592f6a271cc8b260081ad018772ef}{k}} * source.\mbox{\hyperlink{structbno08x__quat__t_ade2592f6a271cc8b260081ad018772ef}{k}}));}
+\DoxyCodeLine{552             this-\/>rad\_accuracy = source.\mbox{\hyperlink{structbno08x__quat__t_a7368a7f0524e3b2e1f4465329ecb0912}{rad\_accuracy}};}
+\DoxyCodeLine{553             this-\/>accuracy = source.\mbox{\hyperlink{structbno08x__quat__t_afd179bfc02d365b5db4ad9fa810daf7c}{accuracy}};}
+\DoxyCodeLine{554             \textcolor{keywordflow}{return} *\textcolor{keyword}{this};}
+\DoxyCodeLine{555         \}}
+\DoxyCodeLine{556 }
+\DoxyCodeLine{557         \textcolor{comment}{// overloaded *= operator for rad2deg conversions}}
+\DoxyCodeLine{558         \textcolor{keyword}{template} <\textcolor{keyword}{typename} T>}
+\DoxyCodeLine{559         \mbox{\hyperlink{structbno08x__euler__angle__t}{bno08x\_euler\_angle\_t}}\& \mbox{\hyperlink{structbno08x__euler__angle__t_a0b1d1fcfc2884937404446ca16829e51}{operator*=}}(T value)}
+\DoxyCodeLine{560         \{}
+\DoxyCodeLine{561             \mbox{\hyperlink{structbno08x__euler__angle__t_a7c675704f7bf92a19846de6ee020f0ef}{x}} *= \textcolor{keyword}{static\_cast<}\textcolor{keywordtype}{float}\textcolor{keyword}{>}(value);}
+\DoxyCodeLine{562             \mbox{\hyperlink{structbno08x__euler__angle__t_a0c4f19cb559999d4c2ac2b29d9dc7cfd}{y}} *= \textcolor{keyword}{static\_cast<}\textcolor{keywordtype}{float}\textcolor{keyword}{>}(value);}
+\DoxyCodeLine{563             \mbox{\hyperlink{structbno08x__euler__angle__t_a5237ec5e8fc1ca49b2f108ac784f0032}{z}} *= \textcolor{keyword}{static\_cast<}\textcolor{keywordtype}{float}\textcolor{keyword}{>}(value);}
+\DoxyCodeLine{564             \mbox{\hyperlink{structbno08x__euler__angle__t_a89ab348ee455b14e5d09f1eb5d231c99}{rad\_accuracy}} *= \textcolor{keyword}{static\_cast<}\textcolor{keywordtype}{float}\textcolor{keyword}{>}(value);}
+\DoxyCodeLine{565             \textcolor{keywordflow}{return} *\textcolor{keyword}{this};}
+\DoxyCodeLine{566         \}}
+\DoxyCodeLine{567 }
+\DoxyCodeLine{568 \} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ae22357b6f53c2cf806bb3aeb80814a}{bno08x\_euler\_angle\_t}};}
+\DoxyCodeLine{569 }
+\DoxyCodeLine{571 \textcolor{keyword}{typedef} \textcolor{keyword}{struct }\mbox{\hyperlink{structbno08x__ang__vel__t}{bno08x\_ang\_vel\_t}}}
+\DoxyCodeLine{572 \{}
+\DoxyCodeLine{573         \textcolor{keywordtype}{float} \mbox{\hyperlink{structbno08x__ang__vel__t_aad57f7ad443f1c94b411ff1c3c2d37a3}{x}};}
+\DoxyCodeLine{574         \textcolor{keywordtype}{float} \mbox{\hyperlink{structbno08x__ang__vel__t_af6d7d0452271c2d35234371ad1df6a80}{y}};}
+\DoxyCodeLine{575         \textcolor{keywordtype}{float} \mbox{\hyperlink{structbno08x__ang__vel__t_aac5bb11414116bce54e5f8b7dd2d48f6}{z}};}
+\DoxyCodeLine{576 }
+\DoxyCodeLine{577         \mbox{\hyperlink{structbno08x__ang__vel__t_a76cf6d15cef214b31a47008d49b843be}{bno08x\_ang\_vel\_t}}()}
+\DoxyCodeLine{578             : \mbox{\hyperlink{structbno08x__ang__vel__t_aad57f7ad443f1c94b411ff1c3c2d37a3}{x}}(0.0f)}
+\DoxyCodeLine{579             , \mbox{\hyperlink{structbno08x__ang__vel__t_af6d7d0452271c2d35234371ad1df6a80}{y}}(0.0f)}
+\DoxyCodeLine{580             , \mbox{\hyperlink{structbno08x__ang__vel__t_aac5bb11414116bce54e5f8b7dd2d48f6}{z}}(0.0f)}
+\DoxyCodeLine{581         \{}
+\DoxyCodeLine{582         \}}
+\DoxyCodeLine{583 }
+\DoxyCodeLine{584         \textcolor{comment}{// overloaded *= operator for rad2deg conversions}}
+\DoxyCodeLine{585         \textcolor{keyword}{template} <\textcolor{keyword}{typename} T>}
+\DoxyCodeLine{586         \mbox{\hyperlink{structbno08x__ang__vel__t}{bno08x\_ang\_vel\_t}}\& \mbox{\hyperlink{structbno08x__ang__vel__t_ae963f28d8914d5cc2f13620a4a9c57e8}{operator*=}}(T value)}
+\DoxyCodeLine{587         \{}
+\DoxyCodeLine{588             \mbox{\hyperlink{structbno08x__ang__vel__t_aad57f7ad443f1c94b411ff1c3c2d37a3}{x}} *= \textcolor{keyword}{static\_cast<}\textcolor{keywordtype}{float}\textcolor{keyword}{>}(value);}
+\DoxyCodeLine{589             \mbox{\hyperlink{structbno08x__ang__vel__t_af6d7d0452271c2d35234371ad1df6a80}{y}} *= \textcolor{keyword}{static\_cast<}\textcolor{keywordtype}{float}\textcolor{keyword}{>}(value);}
+\DoxyCodeLine{590             \mbox{\hyperlink{structbno08x__ang__vel__t_aac5bb11414116bce54e5f8b7dd2d48f6}{z}} *= \textcolor{keyword}{static\_cast<}\textcolor{keywordtype}{float}\textcolor{keyword}{>}(value);}
+\DoxyCodeLine{591             \textcolor{keywordflow}{return} *\textcolor{keyword}{this};}
+\DoxyCodeLine{592         \}}
+\DoxyCodeLine{593 }
+\DoxyCodeLine{594         \textcolor{comment}{// strip sh2\_GyroIntegratedRV\_t of velocity data for IRV reports}}
+\DoxyCodeLine{595         \mbox{\hyperlink{structbno08x__ang__vel__t}{bno08x\_ang\_vel\_t}}\& \mbox{\hyperlink{structbno08x__ang__vel__t_afe1b100ac38de3ccd0c0b617e5b5d8a2}{operator=}}(\textcolor{keyword}{const} sh2\_GyroIntegratedRV\_t\& source)}
+\DoxyCodeLine{596         \{}
+\DoxyCodeLine{597             this-\/>x = source.angVelX;}
+\DoxyCodeLine{598             this-\/>y = source.angVelY;}
+\DoxyCodeLine{599             this-\/>z = source.angVelZ;}
+\DoxyCodeLine{600             \textcolor{keywordflow}{return} *\textcolor{keyword}{this};}
+\DoxyCodeLine{601         \}}
+\DoxyCodeLine{602 \} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a2babea2516c7c91039316693fc23a8c1}{bno08x\_ang\_vel\_t}};}
+\DoxyCodeLine{603 }
+\DoxyCodeLine{605 \textcolor{keyword}{typedef} \textcolor{keyword}{struct }\mbox{\hyperlink{structbno08x__magf__t}{bno08x\_magf\_t}}}
+\DoxyCodeLine{606 \{}
+\DoxyCodeLine{607         \textcolor{keywordtype}{float} \mbox{\hyperlink{structbno08x__magf__t_ac692d27a0bd9d698a89a8ca58e959d08}{x}};}
+\DoxyCodeLine{608         \textcolor{keywordtype}{float} \mbox{\hyperlink{structbno08x__magf__t_a01b2e4c9a144b3e1c0572db12ed48601}{y}};}
+\DoxyCodeLine{609         \textcolor{keywordtype}{float} \mbox{\hyperlink{structbno08x__magf__t_a0516e3805249e8b62856af2aabf7cc0b}{z}};}
+\DoxyCodeLine{610         \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08xAccuracy}} \mbox{\hyperlink{structbno08x__magf__t_a6b92aa85f81f17034c3f201dd9ff0b46}{accuracy}};}
+\DoxyCodeLine{611 }
+\DoxyCodeLine{612         \mbox{\hyperlink{structbno08x__magf__t_ad8784e25768658f4fa0cb1dd5c1afc36}{bno08x\_magf\_t}}()}
+\DoxyCodeLine{613             : \mbox{\hyperlink{structbno08x__magf__t_ac692d27a0bd9d698a89a8ca58e959d08}{x}}(0.0f)}
+\DoxyCodeLine{614             , \mbox{\hyperlink{structbno08x__magf__t_a01b2e4c9a144b3e1c0572db12ed48601}{y}}(0.0f)}
+\DoxyCodeLine{615             , \mbox{\hyperlink{structbno08x__magf__t_a0516e3805249e8b62856af2aabf7cc0b}{z}}(0.0f)}
+\DoxyCodeLine{616             , \mbox{\hyperlink{structbno08x__magf__t_a6b92aa85f81f17034c3f201dd9ff0b46}{accuracy}}(\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08xAccuracy}}::\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2a0db45d2a4141101bdfe48e3314cfbca3}{UNDEFINED}})}
+\DoxyCodeLine{617         \{}
+\DoxyCodeLine{618         \}}
+\DoxyCodeLine{619 }
+\DoxyCodeLine{620         \textcolor{comment}{// overloaded = operator for sh2\_MagneticField\_t conversion}}
+\DoxyCodeLine{621         \mbox{\hyperlink{structbno08x__magf__t}{bno08x\_magf\_t}}\& \mbox{\hyperlink{structbno08x__magf__t_adadb35e5c67433e47895d7ae5885a00e}{operator=}}(\textcolor{keyword}{const} sh2\_MagneticField\_t\& source)}
+\DoxyCodeLine{622         \{}
+\DoxyCodeLine{623             this-\/>x = source.\mbox{\hyperlink{structbno08x__magf__t_ac692d27a0bd9d698a89a8ca58e959d08}{x}};}
+\DoxyCodeLine{624             this-\/>y = source.y;}
+\DoxyCodeLine{625             this-\/>z = source.z;}
+\DoxyCodeLine{626             \textcolor{keywordflow}{return} *\textcolor{keyword}{this};}
+\DoxyCodeLine{627         \}}
+\DoxyCodeLine{628 }
+\DoxyCodeLine{629         \textcolor{comment}{// overloaded = operator for sh2\_MagneticFieldUncalibrated\_t conversion}}
+\DoxyCodeLine{630         \mbox{\hyperlink{structbno08x__magf__t}{bno08x\_magf\_t}}\& \mbox{\hyperlink{structbno08x__magf__t_a2e0b22e5fa40d5ecd447e0cb451b3282}{operator=}}(\textcolor{keyword}{const} sh2\_MagneticFieldUncalibrated\_t\& source)}
+\DoxyCodeLine{631         \{}
+\DoxyCodeLine{632             this-\/>x = source.\mbox{\hyperlink{structbno08x__magf__t_ac692d27a0bd9d698a89a8ca58e959d08}{x}};}
+\DoxyCodeLine{633             this-\/>y = source.y;}
+\DoxyCodeLine{634             this-\/>z = source.z;}
+\DoxyCodeLine{635             \textcolor{keywordflow}{return} *\textcolor{keyword}{this};}
+\DoxyCodeLine{636         \}}
+\DoxyCodeLine{637 }
+\DoxyCodeLine{638 \} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a429f861977153379e28e8f3710330b45}{bno08x\_magf\_t}};}
+\DoxyCodeLine{639 }
+\DoxyCodeLine{641 \textcolor{keyword}{typedef} \textcolor{keyword}{struct }\mbox{\hyperlink{structbno08x__magf__bias__t}{bno08x\_magf\_bias\_t}}}
+\DoxyCodeLine{642 \{}
+\DoxyCodeLine{643         \textcolor{keywordtype}{float} \mbox{\hyperlink{structbno08x__magf__bias__t_ac4f55ef988b43d3d6c753a2201c60b14}{x}};}
+\DoxyCodeLine{644         \textcolor{keywordtype}{float} \mbox{\hyperlink{structbno08x__magf__bias__t_a0e49d87458853c3478ffe1febffa0279}{y}};}
+\DoxyCodeLine{645         \textcolor{keywordtype}{float} \mbox{\hyperlink{structbno08x__magf__bias__t_a76b135fa354d2646927ff76c2da5a6b3}{z}};}
+\DoxyCodeLine{646 }
+\DoxyCodeLine{647         \mbox{\hyperlink{structbno08x__magf__bias__t_aa0b6af3812168e0dc9329d5a70e54f98}{bno08x\_magf\_bias\_t}}()}
+\DoxyCodeLine{648             : \mbox{\hyperlink{structbno08x__magf__bias__t_ac4f55ef988b43d3d6c753a2201c60b14}{x}}(0.0f)}
+\DoxyCodeLine{649             , \mbox{\hyperlink{structbno08x__magf__bias__t_a0e49d87458853c3478ffe1febffa0279}{y}}(0.0f)}
+\DoxyCodeLine{650             , \mbox{\hyperlink{structbno08x__magf__bias__t_a76b135fa354d2646927ff76c2da5a6b3}{z}}(0.0f)}
+\DoxyCodeLine{651         \{}
+\DoxyCodeLine{652         \}}
+\DoxyCodeLine{653 }
+\DoxyCodeLine{654         \textcolor{comment}{// overloaded = operator for sh2\_MagneticFieldUncalibrated\_t conversion}}
+\DoxyCodeLine{655         \mbox{\hyperlink{structbno08x__magf__bias__t}{bno08x\_magf\_bias\_t}}\& \mbox{\hyperlink{structbno08x__magf__bias__t_aeed524c368c645e3f325ffe387199a31}{operator=}}(\textcolor{keyword}{const} sh2\_MagneticFieldUncalibrated\_t\& source)}
+\DoxyCodeLine{656         \{}
+\DoxyCodeLine{657             this-\/>x = source.biasX;}
+\DoxyCodeLine{658             this-\/>y = source.biasY;}
+\DoxyCodeLine{659             this-\/>z = source.biasZ;}
+\DoxyCodeLine{660             \textcolor{keywordflow}{return} *\textcolor{keyword}{this};}
+\DoxyCodeLine{661         \}}
+\DoxyCodeLine{662 }
+\DoxyCodeLine{663 \} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a3d6e56080638d872486935323f393ab7}{bno08x\_magf\_bias\_t}};}
+\DoxyCodeLine{664 }
+\DoxyCodeLine{666 \textcolor{keyword}{typedef} \textcolor{keyword}{struct }\mbox{\hyperlink{structbno08x__gyro__t}{bno08x\_gyro\_t}}}
+\DoxyCodeLine{667 \{}
+\DoxyCodeLine{668         \textcolor{keywordtype}{float} \mbox{\hyperlink{structbno08x__gyro__t_a63a7bfec63a61b44dab94cd62dc5f50e}{x}};}
+\DoxyCodeLine{669         \textcolor{keywordtype}{float} \mbox{\hyperlink{structbno08x__gyro__t_ab079eb91abc32f71c6d41f3dcf6274df}{y}};}
+\DoxyCodeLine{670         \textcolor{keywordtype}{float} \mbox{\hyperlink{structbno08x__gyro__t_ac9a349e1dad45c041bfd0555b01e273f}{z}};}
+\DoxyCodeLine{671         \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08xAccuracy}} \mbox{\hyperlink{structbno08x__gyro__t_a87ab3be28faed62506a764d411650a12}{accuracy}};}
+\DoxyCodeLine{672 }
+\DoxyCodeLine{673         \mbox{\hyperlink{structbno08x__gyro__t_aa9a075a6b135f4b137b6247768ef5af6}{bno08x\_gyro\_t}}()}
+\DoxyCodeLine{674             : \mbox{\hyperlink{structbno08x__gyro__t_a63a7bfec63a61b44dab94cd62dc5f50e}{x}}(0.0f)}
+\DoxyCodeLine{675             , \mbox{\hyperlink{structbno08x__gyro__t_ab079eb91abc32f71c6d41f3dcf6274df}{y}}(0.0f)}
+\DoxyCodeLine{676             , \mbox{\hyperlink{structbno08x__gyro__t_ac9a349e1dad45c041bfd0555b01e273f}{z}}(0.0f)}
+\DoxyCodeLine{677             , \mbox{\hyperlink{structbno08x__gyro__t_a87ab3be28faed62506a764d411650a12}{accuracy}}(\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08xAccuracy}}::\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2a0db45d2a4141101bdfe48e3314cfbca3}{UNDEFINED}})}
+\DoxyCodeLine{678         \{}
+\DoxyCodeLine{679         \}}
+\DoxyCodeLine{680 }
+\DoxyCodeLine{681         \textcolor{comment}{// overloaded = operator for sh2\_Gyroscope\_t conversion}}
+\DoxyCodeLine{682         \mbox{\hyperlink{structbno08x__gyro__t}{bno08x\_gyro\_t}}\& \mbox{\hyperlink{structbno08x__gyro__t_a13cfb2e5d15b2fe50d1d910bd0c4b868}{operator=}}(\textcolor{keyword}{const} sh2\_Gyroscope\_t\& source)}
+\DoxyCodeLine{683         \{}
+\DoxyCodeLine{684             this-\/>x = source.\mbox{\hyperlink{structbno08x__gyro__t_a63a7bfec63a61b44dab94cd62dc5f50e}{x}};}
+\DoxyCodeLine{685             this-\/>y = source.y;}
+\DoxyCodeLine{686             this-\/>z = source.z;}
+\DoxyCodeLine{687             \textcolor{keywordflow}{return} *\textcolor{keyword}{this};}
+\DoxyCodeLine{688         \}}
+\DoxyCodeLine{689 }
+\DoxyCodeLine{690         \textcolor{comment}{// overloaded = operator for sh2\_GyroscopeUncalibrated conversion}}
+\DoxyCodeLine{691         \mbox{\hyperlink{structbno08x__gyro__t}{bno08x\_gyro\_t}}\& \mbox{\hyperlink{structbno08x__gyro__t_a64d4900e42a8f056a404b699074f1c41}{operator=}}(\textcolor{keyword}{const} sh2\_GyroscopeUncalibrated\& source)}
+\DoxyCodeLine{692         \{}
+\DoxyCodeLine{693             this-\/>x = source.\mbox{\hyperlink{structbno08x__gyro__t_a63a7bfec63a61b44dab94cd62dc5f50e}{x}};}
+\DoxyCodeLine{694             this-\/>y = source.y;}
+\DoxyCodeLine{695             this-\/>z = source.z;}
+\DoxyCodeLine{696             \textcolor{keywordflow}{return} *\textcolor{keyword}{this};}
+\DoxyCodeLine{697         \}}
+\DoxyCodeLine{698 }
+\DoxyCodeLine{699 \} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_ac166834f6280e6ef21af7dd8a01be1e4}{bno08x\_gyro\_t}};}
+\DoxyCodeLine{700 }
+\DoxyCodeLine{702 \textcolor{keyword}{typedef} \textcolor{keyword}{struct }\mbox{\hyperlink{structbno08x__gyro__bias__t}{bno08x\_gyro\_bias\_t}}}
+\DoxyCodeLine{703 \{}
+\DoxyCodeLine{704         \textcolor{keywordtype}{float} \mbox{\hyperlink{structbno08x__gyro__bias__t_a9c592e8c420797c8e02146eb6ba4a923}{x}};}
+\DoxyCodeLine{705         \textcolor{keywordtype}{float} \mbox{\hyperlink{structbno08x__gyro__bias__t_a9bb96e58ed1df186edf40aa66b38bf4a}{y}};}
+\DoxyCodeLine{706         \textcolor{keywordtype}{float} \mbox{\hyperlink{structbno08x__gyro__bias__t_aef04b50ebf86ff49631beb3ba90ae1ba}{z}};}
+\DoxyCodeLine{707 }
+\DoxyCodeLine{708         \mbox{\hyperlink{structbno08x__gyro__bias__t_a779c3000b541664d935b2ffda75a5f14}{bno08x\_gyro\_bias\_t}}()}
+\DoxyCodeLine{709             : \mbox{\hyperlink{structbno08x__gyro__bias__t_a9c592e8c420797c8e02146eb6ba4a923}{x}}(0.0f)}
+\DoxyCodeLine{710             , \mbox{\hyperlink{structbno08x__gyro__bias__t_a9bb96e58ed1df186edf40aa66b38bf4a}{y}}(0.0f)}
+\DoxyCodeLine{711             , \mbox{\hyperlink{structbno08x__gyro__bias__t_aef04b50ebf86ff49631beb3ba90ae1ba}{z}}(0.0f)}
+\DoxyCodeLine{712         \{}
+\DoxyCodeLine{713         \}}
+\DoxyCodeLine{714 }
+\DoxyCodeLine{715         \textcolor{comment}{// overloaded = operator for sh2\_GyroscopeUncalibrated conversion}}
+\DoxyCodeLine{716         \mbox{\hyperlink{structbno08x__gyro__bias__t}{bno08x\_gyro\_bias\_t}}\& \mbox{\hyperlink{structbno08x__gyro__bias__t_aaa3795c61ebd89d4a620600b37ac27fc}{operator=}}(\textcolor{keyword}{const} sh2\_GyroscopeUncalibrated\& source)}
+\DoxyCodeLine{717         \{}
+\DoxyCodeLine{718             this-\/>x = source.biasX;}
+\DoxyCodeLine{719             this-\/>y = source.biasY;}
+\DoxyCodeLine{720             this-\/>z = source.biasZ;}
+\DoxyCodeLine{721             \textcolor{keywordflow}{return} *\textcolor{keyword}{this};}
+\DoxyCodeLine{722         \}}
+\DoxyCodeLine{723 }
+\DoxyCodeLine{724 \} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a7bf3b6ed58dd988c0f4566ba56bff415}{bno08x\_gyro\_bias\_t}};}
+\DoxyCodeLine{725 }
+\DoxyCodeLine{727 \textcolor{keyword}{typedef} \textcolor{keyword}{struct }\mbox{\hyperlink{structbno08x__activity__classifier__t}{bno08x\_activity\_classifier\_t}}}
+\DoxyCodeLine{728 \{}
+\DoxyCodeLine{729         uint8\_t \mbox{\hyperlink{structbno08x__activity__classifier__t_a6c99dd8968d52c7099c6f6b2acf11796}{confidence}}[10];}
+\DoxyCodeLine{730         \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97d}{BNO08xActivity}} \mbox{\hyperlink{structbno08x__activity__classifier__t_a272be5b28ff89a20d3c3cfdbfe63a5b5}{mostLikelyState}};}
+\DoxyCodeLine{731         \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08xAccuracy}} \mbox{\hyperlink{structbno08x__activity__classifier__t_a51df90897f0f47b640ac975ad8f4833f}{accuracy}};}
+\DoxyCodeLine{732         uint8\_t \mbox{\hyperlink{structbno08x__activity__classifier__t_aa3e3a6b479558722bc9d5416b74492ca}{page}};}
+\DoxyCodeLine{733         \textcolor{keywordtype}{bool} \mbox{\hyperlink{structbno08x__activity__classifier__t_a90b7b42f031ed0e5b4c5d0e167caccb9}{lastPage}};}
+\DoxyCodeLine{734 }
+\DoxyCodeLine{735         \mbox{\hyperlink{structbno08x__activity__classifier__t_a302244e7d2d064b126eb92f363add923}{bno08x\_activity\_classifier\_t}}()}
+\DoxyCodeLine{736             : \mbox{\hyperlink{structbno08x__activity__classifier__t_a6c99dd8968d52c7099c6f6b2acf11796}{confidence}}(\{\})}
+\DoxyCodeLine{737             , \mbox{\hyperlink{structbno08x__activity__classifier__t_a272be5b28ff89a20d3c3cfdbfe63a5b5}{mostLikelyState}}(\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97da0db45d2a4141101bdfe48e3314cfbca3}{BNO08xActivity::UNDEFINED}})}
+\DoxyCodeLine{738             , \mbox{\hyperlink{structbno08x__activity__classifier__t_a51df90897f0f47b640ac975ad8f4833f}{accuracy}}(\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6a0db45d2a4141101bdfe48e3314cfbca3}{BNO08xAccuracy::UNDEFINED}})}
+\DoxyCodeLine{739             , \mbox{\hyperlink{structbno08x__activity__classifier__t_aa3e3a6b479558722bc9d5416b74492ca}{page}}(0U)}
+\DoxyCodeLine{740             , \mbox{\hyperlink{structbno08x__activity__classifier__t_a90b7b42f031ed0e5b4c5d0e167caccb9}{lastPage}}(\textcolor{keyword}{false})}
+\DoxyCodeLine{741         \{}
+\DoxyCodeLine{742         \}}
+\DoxyCodeLine{743 }
+\DoxyCodeLine{744         \textcolor{comment}{// conversion from sh2\_PersonalActivityClassifier\_t}}
+\DoxyCodeLine{745         \mbox{\hyperlink{structbno08x__activity__classifier__t}{bno08x\_activity\_classifier\_t}}\& \mbox{\hyperlink{structbno08x__activity__classifier__t_ac9375f65afb421e1d552e11461546a43}{operator=}}(\textcolor{keyword}{const} sh2\_PersonalActivityClassifier\_t\& source)}
+\DoxyCodeLine{746         \{}
+\DoxyCodeLine{747             this-\/>page = source.\mbox{\hyperlink{structbno08x__activity__classifier__t_aa3e3a6b479558722bc9d5416b74492ca}{page}};}
+\DoxyCodeLine{748             this-\/>lastPage = source.lastPage;}
+\DoxyCodeLine{749             this-\/>mostLikelyState = \textcolor{keyword}{static\_cast<}\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97d}{BNO08xActivity}}\textcolor{keyword}{>}(source.mostLikelyState);}
+\DoxyCodeLine{750 }
+\DoxyCodeLine{751             \textcolor{keywordflow}{for} (\textcolor{keywordtype}{int} i = 0; i < 10; ++i)}
+\DoxyCodeLine{752                 this-\/>confidence[i] = source.confidence[i];}
+\DoxyCodeLine{753 }
+\DoxyCodeLine{754             \textcolor{keywordflow}{return} *\textcolor{keyword}{this};}
+\DoxyCodeLine{755         \}}
+\DoxyCodeLine{756 \} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a7913a36911f75945cfaa0a3249a280e3}{bno08x\_activity\_classifier\_t}};}
+\DoxyCodeLine{757 }
+\DoxyCodeLine{760 \textcolor{keyword}{typedef} \textcolor{keyword}{struct }\mbox{\hyperlink{structbno08x__tap__detector__t}{bno08x\_tap\_detector\_t}}}
+\DoxyCodeLine{761 \{}
+\DoxyCodeLine{762         int8\_t \mbox{\hyperlink{structbno08x__tap__detector__t_a1ce57db3616377a16e11701cc04c3442}{x\_flag}};}
+\DoxyCodeLine{763         int8\_t \mbox{\hyperlink{structbno08x__tap__detector__t_ae6ad63cddd8ddd96383448f659226c6f}{y\_flag}};}
+\DoxyCodeLine{764         int8\_t \mbox{\hyperlink{structbno08x__tap__detector__t_aa46d40f151fce8f60fc8ed4cbe6cf2a1}{z\_flag}};}
+\DoxyCodeLine{765         \textcolor{keywordtype}{bool} \mbox{\hyperlink{structbno08x__tap__detector__t_aef875a8e6ff23b29cb9fb73af48db11a}{double\_tap}};}
+\DoxyCodeLine{766         \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08xAccuracy}} \mbox{\hyperlink{structbno08x__tap__detector__t_ad43c32c1d5a57f37e884e756daf9a7ea}{accuracy}};}
+\DoxyCodeLine{767 }
+\DoxyCodeLine{768         \mbox{\hyperlink{structbno08x__tap__detector__t_ab464e512951fb6cf5a1411d2218d51c5}{bno08x\_tap\_detector\_t}}()}
+\DoxyCodeLine{769             : \mbox{\hyperlink{structbno08x__tap__detector__t_a1ce57db3616377a16e11701cc04c3442}{x\_flag}}(0)}
+\DoxyCodeLine{770             , \mbox{\hyperlink{structbno08x__tap__detector__t_ae6ad63cddd8ddd96383448f659226c6f}{y\_flag}}(0)}
+\DoxyCodeLine{771             , \mbox{\hyperlink{structbno08x__tap__detector__t_aa46d40f151fce8f60fc8ed4cbe6cf2a1}{z\_flag}}(0)}
+\DoxyCodeLine{772             , \mbox{\hyperlink{structbno08x__tap__detector__t_aef875a8e6ff23b29cb9fb73af48db11a}{double\_tap}}(false)}
+\DoxyCodeLine{773             , \mbox{\hyperlink{structbno08x__tap__detector__t_ad43c32c1d5a57f37e884e756daf9a7ea}{accuracy}}(\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08xAccuracy}}::\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2a0db45d2a4141101bdfe48e3314cfbca3}{UNDEFINED}})}
+\DoxyCodeLine{774         \{}
+\DoxyCodeLine{775         \}}
+\DoxyCodeLine{776 }
+\DoxyCodeLine{777         \textcolor{comment}{// overloaded = operator for sh2\_GyroscopeUncalibrated conversion}}
+\DoxyCodeLine{778         \mbox{\hyperlink{structbno08x__tap__detector__t}{bno08x\_tap\_detector\_t}}\& \mbox{\hyperlink{structbno08x__tap__detector__t_a4cd8e7c025890f3abfa04ea2a0522f87}{operator=}}(\textcolor{keyword}{const} sh2\_TapDetector\_t\& source)}
+\DoxyCodeLine{779         \{}
+\DoxyCodeLine{780             \textcolor{keywordflow}{if} (\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_ad0dc59e3a74a39a8e358c945162f6fc8}{TAP\_DETECTED\_X\_AXIS}}(source.flags))}
+\DoxyCodeLine{781                 this-\/>x\_flag = -\/1;}
+\DoxyCodeLine{782             \textcolor{keywordflow}{else}}
+\DoxyCodeLine{783                 this-\/>x\_flag = 0;}
+\DoxyCodeLine{784 }
+\DoxyCodeLine{785             \textcolor{keywordflow}{if} (\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8a8a0fbcff17f5123ad111fcd9a375ea}{TAP\_DETECTED\_X\_AXIS\_POSITIVE}}(source.flags))}
+\DoxyCodeLine{786                 this-\/>x\_flag = 1;}
+\DoxyCodeLine{787 }
+\DoxyCodeLine{788             \textcolor{keywordflow}{if} (\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_ad2ab2bbe6f01a4a641f75c41a9064cf6}{TAP\_DETECTED\_Y\_AXIS}}(source.flags))}
+\DoxyCodeLine{789                 this-\/>y\_flag = -\/1;}
+\DoxyCodeLine{790             \textcolor{keywordflow}{else}}
+\DoxyCodeLine{791                 this-\/>y\_flag = 0;}
+\DoxyCodeLine{792 }
+\DoxyCodeLine{793             \textcolor{keywordflow}{if} (\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a356ec3a53c785965e8dd24381a3bdcd7}{TAP\_DETECTED\_Y\_AXIS\_POSITIVE}}(source.flags))}
+\DoxyCodeLine{794                 this-\/>y\_flag = 1;}
+\DoxyCodeLine{795 }
+\DoxyCodeLine{796             \textcolor{keywordflow}{if} (\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_aaaf91ed835d5d1a5726806bb147c5938}{TAP\_DETECTED\_Z\_AXIS}}(source.flags))}
+\DoxyCodeLine{797                 this-\/>z\_flag = -\/1;}
+\DoxyCodeLine{798             \textcolor{keywordflow}{else}}
+\DoxyCodeLine{799                 this-\/>z\_flag = 0;}
+\DoxyCodeLine{800 }
+\DoxyCodeLine{801             \textcolor{keywordflow}{if} (\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6fd0bd9f4990ced262a8f2d4c41d65d9}{TAP\_DETECTED\_Z\_AXIS\_POSITIVE}}(source.flags))}
+\DoxyCodeLine{802                 this-\/>z\_flag = 1;}
+\DoxyCodeLine{803 }
+\DoxyCodeLine{804             \textcolor{keywordflow}{if} (\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a92a577e216f51fc6156a87e6ecf8ffc5}{TAP\_DETECTED\_DOUBLE}}(source.flags))}
+\DoxyCodeLine{805                 this-\/>double\_tap = \textcolor{keyword}{true};}
+\DoxyCodeLine{806             \textcolor{keywordflow}{else}}
+\DoxyCodeLine{807                 this-\/>double\_tap = \textcolor{keyword}{false};}
+\DoxyCodeLine{808 }
+\DoxyCodeLine{809             \textcolor{keywordflow}{return} *\textcolor{keyword}{this};}
+\DoxyCodeLine{810         \}}
+\DoxyCodeLine{811 }
+\DoxyCodeLine{812 \} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_adcfe69b10c9c2244015bad5b978beedd}{bno08x\_tap\_detector\_t}};}
+\DoxyCodeLine{813 }
+\DoxyCodeLine{815 \textcolor{keyword}{typedef} \textcolor{keyword}{struct }\mbox{\hyperlink{structbno08x__shake__detector__t}{bno08x\_shake\_detector\_t}}}
+\DoxyCodeLine{816 \{}
+\DoxyCodeLine{817         uint8\_t \mbox{\hyperlink{structbno08x__shake__detector__t_a24dc1df9bb8089c330865e26054a349e}{x\_flag}};}
+\DoxyCodeLine{818         uint8\_t \mbox{\hyperlink{structbno08x__shake__detector__t_a814745b5a1dd7aa6bb4bfde4981d1caa}{y\_flag}};}
+\DoxyCodeLine{819         uint8\_t \mbox{\hyperlink{structbno08x__shake__detector__t_a7b833f57fc85173adecf666ec6d5477e}{z\_flag}};}
+\DoxyCodeLine{820         \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08xAccuracy}} \mbox{\hyperlink{structbno08x__shake__detector__t_ac643f6c9ac9144c37765b22912212860}{accuracy}};}
+\DoxyCodeLine{821 }
+\DoxyCodeLine{822         \mbox{\hyperlink{structbno08x__shake__detector__t_a57df670bfdac6a4174c986a65a0340be}{bno08x\_shake\_detector\_t}}()}
+\DoxyCodeLine{823             : \mbox{\hyperlink{structbno08x__shake__detector__t_a24dc1df9bb8089c330865e26054a349e}{x\_flag}}(0U)}
+\DoxyCodeLine{824             , \mbox{\hyperlink{structbno08x__shake__detector__t_a814745b5a1dd7aa6bb4bfde4981d1caa}{y\_flag}}(0U)}
+\DoxyCodeLine{825             , \mbox{\hyperlink{structbno08x__shake__detector__t_a7b833f57fc85173adecf666ec6d5477e}{z\_flag}}(0U)}
+\DoxyCodeLine{826             , \mbox{\hyperlink{structbno08x__shake__detector__t_ac643f6c9ac9144c37765b22912212860}{accuracy}}(\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08xAccuracy}}::\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2a0db45d2a4141101bdfe48e3314cfbca3}{UNDEFINED}})}
+\DoxyCodeLine{827         \{}
+\DoxyCodeLine{828         \}}
+\DoxyCodeLine{829 }
+\DoxyCodeLine{830         \textcolor{comment}{// overloaded = operator for sh2\_GyroscopeUncalibrated conversion}}
+\DoxyCodeLine{831         \mbox{\hyperlink{structbno08x__shake__detector__t}{bno08x\_shake\_detector\_t}}\& \mbox{\hyperlink{structbno08x__shake__detector__t_a7fe349111b513b2cd042ad98112791b7}{operator=}}(\textcolor{keyword}{const} sh2\_ShakeDetector\_t\& source)}
+\DoxyCodeLine{832         \{}
+\DoxyCodeLine{833             \textcolor{keywordflow}{if} (\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_ae12bdf0217349447eebadf16d4560869}{SHAKE\_DETECTED\_X}}(source.shake))}
+\DoxyCodeLine{834                 this-\/>x\_flag = 1U;}
+\DoxyCodeLine{835             \textcolor{keywordflow}{else}}
+\DoxyCodeLine{836                 this-\/>x\_flag = 0U;}
+\DoxyCodeLine{837 }
+\DoxyCodeLine{838             \textcolor{keywordflow}{if} (\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a023aa826dbf083e2a6d2d67beba75b27}{SHAKE\_DETECTED\_Y}}(source.shake))}
+\DoxyCodeLine{839                 this-\/>y\_flag = 1U;}
+\DoxyCodeLine{840             \textcolor{keywordflow}{else}}
+\DoxyCodeLine{841                 this-\/>y\_flag = 0U;}
+\DoxyCodeLine{842 }
+\DoxyCodeLine{843             \textcolor{keywordflow}{if} (\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a9951e367fa8ff09a55526994cfaa94be}{SHAKE\_DETECTED\_Z}}(source.shake))}
+\DoxyCodeLine{844                 this-\/>z\_flag = 1U;}
+\DoxyCodeLine{845             \textcolor{keywordflow}{else}}
+\DoxyCodeLine{846                 this-\/>z\_flag = 0U;}
+\DoxyCodeLine{847 }
+\DoxyCodeLine{848             \textcolor{keywordflow}{return} *\textcolor{keyword}{this};}
+\DoxyCodeLine{849         \}}
+\DoxyCodeLine{850 }
+\DoxyCodeLine{851 \} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a7c22ac348c71afe0d42dcfae6c97ca32}{bno08x\_shake\_detector\_t}};}
+\DoxyCodeLine{852 }
+\DoxyCodeLine{855 \textcolor{keyword}{typedef} \textcolor{keyword}{struct }\mbox{\hyperlink{structbno08x__accel__t}{bno08x\_accel\_t}}}
+\DoxyCodeLine{856 \{}
+\DoxyCodeLine{857         \textcolor{keywordtype}{float} \mbox{\hyperlink{structbno08x__accel__t_af72246bad5088682490f6a13e4624b7c}{x}};}
+\DoxyCodeLine{858         \textcolor{keywordtype}{float} \mbox{\hyperlink{structbno08x__accel__t_a9514b06a88cdd4c4777ff8e27d8d52fb}{y}};}
+\DoxyCodeLine{859         \textcolor{keywordtype}{float} \mbox{\hyperlink{structbno08x__accel__t_a391bf7c4ee0c3f571d94f73f047e9a3f}{z}};}
+\DoxyCodeLine{860         \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08xAccuracy}} \mbox{\hyperlink{structbno08x__accel__t_aac8d91a84f911413e4bcc3fdb04c893b}{accuracy}};}
+\DoxyCodeLine{861 }
+\DoxyCodeLine{862         \mbox{\hyperlink{structbno08x__accel__t_a3d71a06304afc576280c56952b4f7a34}{bno08x\_accel\_t}}()}
+\DoxyCodeLine{863             : \mbox{\hyperlink{structbno08x__accel__t_af72246bad5088682490f6a13e4624b7c}{x}}(0.0f)}
+\DoxyCodeLine{864             , \mbox{\hyperlink{structbno08x__accel__t_a9514b06a88cdd4c4777ff8e27d8d52fb}{y}}(0.0f)}
+\DoxyCodeLine{865             , \mbox{\hyperlink{structbno08x__accel__t_a391bf7c4ee0c3f571d94f73f047e9a3f}{z}}(0.0f)}
+\DoxyCodeLine{866             , \mbox{\hyperlink{structbno08x__accel__t_aac8d91a84f911413e4bcc3fdb04c893b}{accuracy}}(\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08xAccuracy}}::\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2a0db45d2a4141101bdfe48e3314cfbca3}{UNDEFINED}})}
+\DoxyCodeLine{867         \{}
+\DoxyCodeLine{868         \}}
+\DoxyCodeLine{869 }
+\DoxyCodeLine{870         \textcolor{comment}{// conversion from sh2\_Accelerometer\_t}}
+\DoxyCodeLine{871         \mbox{\hyperlink{structbno08x__accel__t}{bno08x\_accel\_t}}\& \mbox{\hyperlink{structbno08x__accel__t_a5b3f1b2cc2a889af23d27185c6efd75e}{operator=}}(\textcolor{keyword}{const} sh2\_Accelerometer\_t\& source)}
+\DoxyCodeLine{872         \{}
+\DoxyCodeLine{873             this-\/>x = source.\mbox{\hyperlink{structbno08x__accel__t_af72246bad5088682490f6a13e4624b7c}{x}};}
+\DoxyCodeLine{874             this-\/>y = source.y;}
+\DoxyCodeLine{875             this-\/>z = source.z;}
+\DoxyCodeLine{876             \textcolor{keywordflow}{return} *\textcolor{keyword}{this};}
+\DoxyCodeLine{877         \}}
+\DoxyCodeLine{878 \} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a0c22a2a9fede695256dfaa4703497a2e}{bno08x\_accel\_t}};}
+\DoxyCodeLine{879 }
+\DoxyCodeLine{881 \textcolor{keyword}{typedef} \textcolor{keyword}{struct }\mbox{\hyperlink{structbno08x__step__counter__t}{bno08x\_step\_counter\_t}}}
+\DoxyCodeLine{882 \{}
+\DoxyCodeLine{883         uint32\_t \mbox{\hyperlink{structbno08x__step__counter__t_a8060ef0721d76ff0175ca487617db202}{latency}};}
+\DoxyCodeLine{884         uint16\_t \mbox{\hyperlink{structbno08x__step__counter__t_a6d6be986b770fe1343a46080f35653d3}{steps}};}
+\DoxyCodeLine{885         \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08xAccuracy}} \mbox{\hyperlink{structbno08x__step__counter__t_a7e0f4b2eb32978a33f9e8c1c70b83f13}{accuracy}};}
+\DoxyCodeLine{886 }
+\DoxyCodeLine{887         \mbox{\hyperlink{structbno08x__step__counter__t_a53eb4151dfa16c65871f9a754cf92940}{bno08x\_step\_counter\_t}}()}
+\DoxyCodeLine{888             : \mbox{\hyperlink{structbno08x__step__counter__t_a8060ef0721d76ff0175ca487617db202}{latency}}(0UL)}
+\DoxyCodeLine{889             , \mbox{\hyperlink{structbno08x__step__counter__t_a6d6be986b770fe1343a46080f35653d3}{steps}}(0U)}
+\DoxyCodeLine{890             , \mbox{\hyperlink{structbno08x__step__counter__t_a7e0f4b2eb32978a33f9e8c1c70b83f13}{accuracy}}(\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08xAccuracy}}::\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2a0db45d2a4141101bdfe48e3314cfbca3}{UNDEFINED}})}
+\DoxyCodeLine{891         \{}
+\DoxyCodeLine{892         \}}
+\DoxyCodeLine{893 }
+\DoxyCodeLine{894         \textcolor{comment}{// conversion from sh2\_StepCounter\_t}}
+\DoxyCodeLine{895         \mbox{\hyperlink{structbno08x__step__counter__t}{bno08x\_step\_counter\_t}}\& \mbox{\hyperlink{structbno08x__step__counter__t_ab184ba986a22ae89d5a4028b72efb2c1}{operator=}}(\textcolor{keyword}{const} sh2\_StepCounter\_t\& source)}
+\DoxyCodeLine{896         \{}
+\DoxyCodeLine{897             this-\/>latency = source.\mbox{\hyperlink{structbno08x__step__counter__t_a8060ef0721d76ff0175ca487617db202}{latency}};}
+\DoxyCodeLine{898             this-\/>steps = source.steps;}
+\DoxyCodeLine{899             \textcolor{keywordflow}{return} *\textcolor{keyword}{this};}
+\DoxyCodeLine{900         \}}
+\DoxyCodeLine{901 \} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_ad52b092f56d1fa0064f2ea3502399cfc}{bno08x\_step\_counter\_t}};}
+\DoxyCodeLine{902 }
+\DoxyCodeLine{904 \textcolor{keyword}{typedef} \textcolor{keyword}{struct }\mbox{\hyperlink{structbno08x__raw__gyro__t}{bno08x\_raw\_gyro\_t}}}
+\DoxyCodeLine{905 \{}
+\DoxyCodeLine{906         uint32\_t \mbox{\hyperlink{structbno08x__raw__gyro__t_a99d61a4d56a06fb219dc023fe3e446b5}{timestamp\_us}};}
+\DoxyCodeLine{907         int16\_t \mbox{\hyperlink{structbno08x__raw__gyro__t_a7b7f2f569143c710ac3b1068d434a47f}{x}};}
+\DoxyCodeLine{908         int16\_t \mbox{\hyperlink{structbno08x__raw__gyro__t_af8755b09df8253594de1412f02655651}{y}};}
+\DoxyCodeLine{909         int16\_t \mbox{\hyperlink{structbno08x__raw__gyro__t_afe5677954b4678eb3a460a386f224a78}{z}};}
+\DoxyCodeLine{910         int16\_t \mbox{\hyperlink{structbno08x__raw__gyro__t_adf725827f6f97e16c953f6f5c7bf890b}{temperature}};}
+\DoxyCodeLine{911         \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08xAccuracy}} \mbox{\hyperlink{structbno08x__raw__gyro__t_aa19b4b279b5c218675bf4c83ca872371}{accuracy}};}
+\DoxyCodeLine{912 }
+\DoxyCodeLine{913         \mbox{\hyperlink{structbno08x__raw__gyro__t_a17c759dd38d5a6b78ae5cb77c5e4d93b}{bno08x\_raw\_gyro\_t}}()}
+\DoxyCodeLine{914             : \mbox{\hyperlink{structbno08x__raw__gyro__t_a99d61a4d56a06fb219dc023fe3e446b5}{timestamp\_us}}(0UL)}
+\DoxyCodeLine{915             , \mbox{\hyperlink{structbno08x__raw__gyro__t_a7b7f2f569143c710ac3b1068d434a47f}{x}}(0U)}
+\DoxyCodeLine{916             , \mbox{\hyperlink{structbno08x__raw__gyro__t_af8755b09df8253594de1412f02655651}{y}}(0U)}
+\DoxyCodeLine{917             , \mbox{\hyperlink{structbno08x__raw__gyro__t_afe5677954b4678eb3a460a386f224a78}{z}}(0U)}
+\DoxyCodeLine{918             , \mbox{\hyperlink{structbno08x__raw__gyro__t_adf725827f6f97e16c953f6f5c7bf890b}{temperature}}(0U)}
+\DoxyCodeLine{919             , \mbox{\hyperlink{structbno08x__raw__gyro__t_aa19b4b279b5c218675bf4c83ca872371}{accuracy}}(\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08xAccuracy}}::\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2a0db45d2a4141101bdfe48e3314cfbca3}{UNDEFINED}})}
+\DoxyCodeLine{920         \{}
+\DoxyCodeLine{921         \}}
+\DoxyCodeLine{922 }
+\DoxyCodeLine{923         \textcolor{comment}{// conversion from sh2\_RawGyroscope\_t}}
+\DoxyCodeLine{924         \mbox{\hyperlink{structbno08x__raw__gyro__t}{bno08x\_raw\_gyro\_t}}\& \mbox{\hyperlink{structbno08x__raw__gyro__t_a34c3ff52aaa1898f44ad6b0cf585825a}{operator=}}(\textcolor{keyword}{const} sh2\_RawGyroscope\_t\& source)}
+\DoxyCodeLine{925         \{}
+\DoxyCodeLine{926             this-\/>x = source.\mbox{\hyperlink{structbno08x__raw__gyro__t_a7b7f2f569143c710ac3b1068d434a47f}{x}};}
+\DoxyCodeLine{927             this-\/>y = source.y;}
+\DoxyCodeLine{928             this-\/>z = source.z;}
+\DoxyCodeLine{929             this-\/>temperature = source.temperature;}
+\DoxyCodeLine{930             this-\/>timestamp\_us = source.timestamp;}
+\DoxyCodeLine{931             \textcolor{keywordflow}{return} *\textcolor{keyword}{this};}
+\DoxyCodeLine{932         \}}
+\DoxyCodeLine{933 \} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a3e205d9599aa01b7946d1ed1cbb7f1c4}{bno08x\_raw\_gyro\_t}};}
+\DoxyCodeLine{934 }
+\DoxyCodeLine{937 \textcolor{keyword}{typedef} \textcolor{keyword}{struct }\mbox{\hyperlink{structbno08x__raw__accel__t}{bno08x\_raw\_accel\_t}}}
+\DoxyCodeLine{938 \{}
+\DoxyCodeLine{939         uint32\_t \mbox{\hyperlink{structbno08x__raw__accel__t_a7ca16a89f219b199eb5797fd101d1283}{timestamp\_us}};}
+\DoxyCodeLine{940         int16\_t \mbox{\hyperlink{structbno08x__raw__accel__t_ab5188923307b95f6324d9241e9140def}{x}};}
+\DoxyCodeLine{941         int16\_t \mbox{\hyperlink{structbno08x__raw__accel__t_a917d6b23cb40c7044891624cebac2993}{y}};}
+\DoxyCodeLine{942         int16\_t \mbox{\hyperlink{structbno08x__raw__accel__t_a62d1731746ea51d36b9946594075e67b}{z}};}
+\DoxyCodeLine{943         \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08xAccuracy}} \mbox{\hyperlink{structbno08x__raw__accel__t_aadb4fc1fa1d87d0baf4db5a534ea18ea}{accuracy}};}
+\DoxyCodeLine{944 }
+\DoxyCodeLine{945         \mbox{\hyperlink{structbno08x__raw__accel__t_afb9443ec5846eefe942e1f273570fb7f}{bno08x\_raw\_accel\_t}}()}
+\DoxyCodeLine{946             : \mbox{\hyperlink{structbno08x__raw__accel__t_a7ca16a89f219b199eb5797fd101d1283}{timestamp\_us}}(0UL)}
+\DoxyCodeLine{947             , \mbox{\hyperlink{structbno08x__raw__accel__t_ab5188923307b95f6324d9241e9140def}{x}}(0U)}
+\DoxyCodeLine{948             , \mbox{\hyperlink{structbno08x__raw__accel__t_a917d6b23cb40c7044891624cebac2993}{y}}(0U)}
+\DoxyCodeLine{949             , \mbox{\hyperlink{structbno08x__raw__accel__t_a62d1731746ea51d36b9946594075e67b}{z}}(0U)}
+\DoxyCodeLine{950             , \mbox{\hyperlink{structbno08x__raw__accel__t_aadb4fc1fa1d87d0baf4db5a534ea18ea}{accuracy}}(\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08xAccuracy}}::\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2a0db45d2a4141101bdfe48e3314cfbca3}{UNDEFINED}})}
+\DoxyCodeLine{951         \{}
+\DoxyCodeLine{952         \}}
+\DoxyCodeLine{953 }
+\DoxyCodeLine{954         \textcolor{comment}{// conversion from sh2\_RawAccelerometer\_t}}
+\DoxyCodeLine{955         \mbox{\hyperlink{structbno08x__raw__accel__t}{bno08x\_raw\_accel\_t}}\& \mbox{\hyperlink{structbno08x__raw__accel__t_a8980031b2548b79c945abe299387d44f}{operator=}}(\textcolor{keyword}{const} sh2\_RawAccelerometer\_t\& source)}
+\DoxyCodeLine{956         \{}
+\DoxyCodeLine{957             this-\/>x = source.\mbox{\hyperlink{structbno08x__raw__accel__t_ab5188923307b95f6324d9241e9140def}{x}};}
+\DoxyCodeLine{958             this-\/>y = source.y;}
+\DoxyCodeLine{959             this-\/>z = source.z;}
+\DoxyCodeLine{960             this-\/>timestamp\_us = source.timestamp;}
+\DoxyCodeLine{961             \textcolor{keywordflow}{return} *\textcolor{keyword}{this};}
+\DoxyCodeLine{962         \}}
+\DoxyCodeLine{963 \} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_ace2ea90ebebddfcdb75e1b8b7b48f905}{bno08x\_raw\_accel\_t}};}
+\DoxyCodeLine{964 }
+\DoxyCodeLine{967 \textcolor{keyword}{typedef} \textcolor{keyword}{struct }\mbox{\hyperlink{structbno08x__raw__magf__t}{bno08x\_raw\_magf\_t}}}
+\DoxyCodeLine{968 \{}
+\DoxyCodeLine{969         uint32\_t \mbox{\hyperlink{structbno08x__raw__magf__t_a74cb298f230665c2d600d3298717c321}{timestamp\_us}};}
+\DoxyCodeLine{970         int16\_t \mbox{\hyperlink{structbno08x__raw__magf__t_a6d04fa2589070ad4ee06b7259fc90900}{x}};}
+\DoxyCodeLine{971         int16\_t \mbox{\hyperlink{structbno08x__raw__magf__t_aba0a88c1032210c6db95ac779e280b9a}{y}};}
+\DoxyCodeLine{972         int16\_t \mbox{\hyperlink{structbno08x__raw__magf__t_a5d50e05cccd1f92f36f6ac83e9f911ae}{z}};}
+\DoxyCodeLine{973         \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08xAccuracy}} \mbox{\hyperlink{structbno08x__raw__magf__t_ae1253faa56aecbafd24f24f42dfb3aeb}{accuracy}};}
+\DoxyCodeLine{974 }
+\DoxyCodeLine{975         \mbox{\hyperlink{structbno08x__raw__magf__t_a9bbd61edac01cb1f2e78417efe8573aa}{bno08x\_raw\_magf\_t}}()}
+\DoxyCodeLine{976             : \mbox{\hyperlink{structbno08x__raw__magf__t_a74cb298f230665c2d600d3298717c321}{timestamp\_us}}(0UL)}
+\DoxyCodeLine{977             , \mbox{\hyperlink{structbno08x__raw__magf__t_a6d04fa2589070ad4ee06b7259fc90900}{x}}(0U)}
+\DoxyCodeLine{978             , \mbox{\hyperlink{structbno08x__raw__magf__t_aba0a88c1032210c6db95ac779e280b9a}{y}}(0U)}
+\DoxyCodeLine{979             , \mbox{\hyperlink{structbno08x__raw__magf__t_a5d50e05cccd1f92f36f6ac83e9f911ae}{z}}(0U)}
+\DoxyCodeLine{980             , \mbox{\hyperlink{structbno08x__raw__magf__t_ae1253faa56aecbafd24f24f42dfb3aeb}{accuracy}}(\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08xAccuracy}}::\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2a0db45d2a4141101bdfe48e3314cfbca3}{UNDEFINED}})}
+\DoxyCodeLine{981         \{}
+\DoxyCodeLine{982         \}}
+\DoxyCodeLine{983 }
+\DoxyCodeLine{984         \textcolor{comment}{// conversion from sh2\_RawMagnetometer\_t}}
+\DoxyCodeLine{985         \mbox{\hyperlink{structbno08x__raw__magf__t}{bno08x\_raw\_magf\_t}}\& \mbox{\hyperlink{structbno08x__raw__magf__t_ad58e25ff5c6d8c4c3843264effa63a7c}{operator=}}(\textcolor{keyword}{const} sh2\_RawMagnetometer\_t\& source)}
+\DoxyCodeLine{986         \{}
+\DoxyCodeLine{987             this-\/>x = source.\mbox{\hyperlink{structbno08x__raw__magf__t_a6d04fa2589070ad4ee06b7259fc90900}{x}};}
+\DoxyCodeLine{988             this-\/>y = source.y;}
+\DoxyCodeLine{989             this-\/>z = source.z;}
+\DoxyCodeLine{990             this-\/>timestamp\_us = source.timestamp;}
+\DoxyCodeLine{991             \textcolor{keywordflow}{return} *\textcolor{keyword}{this};}
+\DoxyCodeLine{992         \}}
+\DoxyCodeLine{993 \} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a673f429cbcd0f48394de3d990d8bda4a}{bno08x\_raw\_magf\_t}};}
+\DoxyCodeLine{994 }
+\DoxyCodeLine{996 \textcolor{keyword}{typedef} \textcolor{keyword}{struct }\mbox{\hyperlink{structbno08x__stability__classifier__t}{bno08x\_stability\_classifier\_t}}}
+\DoxyCodeLine{997 \{}
+\DoxyCodeLine{998         \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cb}{BNO08xStability}} \mbox{\hyperlink{structbno08x__stability__classifier__t_a2ecd636f34a6be612833009d9a1c8725}{stability}};}
+\DoxyCodeLine{999         \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08xAccuracy}} \mbox{\hyperlink{structbno08x__stability__classifier__t_aa1eeb8deb186589ae21cbd1b96747bf7}{accuracy}};}
+\DoxyCodeLine{1000 }
+\DoxyCodeLine{1001         \mbox{\hyperlink{structbno08x__stability__classifier__t_a1af6213e40337e7dfff734d542fc3be2}{bno08x\_stability\_classifier\_t}}()}
+\DoxyCodeLine{1002             : \mbox{\hyperlink{structbno08x__stability__classifier__t_a2ecd636f34a6be612833009d9a1c8725}{stability}}(\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cb}{BNO08xStability}}::\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2a0db45d2a4141101bdfe48e3314cfbca3}{UNDEFINED}})}
+\DoxyCodeLine{1003             , \mbox{\hyperlink{structbno08x__stability__classifier__t_aa1eeb8deb186589ae21cbd1b96747bf7}{accuracy}}(\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08xAccuracy}}::\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2a0db45d2a4141101bdfe48e3314cfbca3}{UNDEFINED}})}
+\DoxyCodeLine{1004         \{}
+\DoxyCodeLine{1005         \}}
+\DoxyCodeLine{1006 }
+\DoxyCodeLine{1007         \textcolor{comment}{// conversion from sh2\_StabilityClassifier\_t}}
+\DoxyCodeLine{1008         \mbox{\hyperlink{structbno08x__stability__classifier__t}{bno08x\_stability\_classifier\_t}}\& \mbox{\hyperlink{structbno08x__stability__classifier__t_aff4d78a7c01ef13ae001bb185f825151}{operator=}}(\textcolor{keyword}{const} sh2\_StabilityClassifier\_t\& source)}
+\DoxyCodeLine{1009         \{}
+\DoxyCodeLine{1010             this-\/>stability = \textcolor{keyword}{static\_cast<}\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cb}{BNO08xStability}}\textcolor{keyword}{>}(source.classification);}
+\DoxyCodeLine{1011             \textcolor{keywordflow}{return} *\textcolor{keyword}{this};}
+\DoxyCodeLine{1012         \}}
+\DoxyCodeLine{1013 }
+\DoxyCodeLine{1014 \} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a9f0440c67ec56fafcd25a24bf36f842f}{bno08x\_stability\_classifier\_t}};}
+\DoxyCodeLine{1015 }
+\DoxyCodeLine{1017 \textcolor{keyword}{typedef} \textcolor{keyword}{struct }\mbox{\hyperlink{structbno08x__sample__counts__t}{bno08x\_sample\_counts\_t}}}
+\DoxyCodeLine{1018 \{}
+\DoxyCodeLine{1019         uint32\_t \mbox{\hyperlink{structbno08x__sample__counts__t_aae4244c540f8411246032f1e69125b75}{offered}};  }
+\DoxyCodeLine{1020         uint32\_t \mbox{\hyperlink{structbno08x__sample__counts__t_a055f3d8ff138c7da4a79d4a6fb2af9b9}{on}};       }
+\DoxyCodeLine{1021         uint32\_t \mbox{\hyperlink{structbno08x__sample__counts__t_a2ab3e0999a5e668833eb8dbab6d1f036}{accepted}}; }
+\DoxyCodeLine{1022         uint32\_t}
+\DoxyCodeLine{1023                 \mbox{\hyperlink{structbno08x__sample__counts__t_a8d03182919cce138cfda97c3ff5700b2}{attempted}}; }
+\DoxyCodeLine{1024 }
+\DoxyCodeLine{1025         \mbox{\hyperlink{structbno08x__sample__counts__t_abd1eccfac205719fd1c5aed25fee1fec}{bno08x\_sample\_counts\_t}}()}
+\DoxyCodeLine{1026             : \mbox{\hyperlink{structbno08x__sample__counts__t_aae4244c540f8411246032f1e69125b75}{offered}}(0UL)}
+\DoxyCodeLine{1027             , \mbox{\hyperlink{structbno08x__sample__counts__t_a055f3d8ff138c7da4a79d4a6fb2af9b9}{on}}(0UL)}
+\DoxyCodeLine{1028             , \mbox{\hyperlink{structbno08x__sample__counts__t_a2ab3e0999a5e668833eb8dbab6d1f036}{accepted}}(0UL)}
+\DoxyCodeLine{1029             , \mbox{\hyperlink{structbno08x__sample__counts__t_a8d03182919cce138cfda97c3ff5700b2}{attempted}}(0UL)}
+\DoxyCodeLine{1030         \{}
+\DoxyCodeLine{1031         \}}
+\DoxyCodeLine{1032 }
+\DoxyCodeLine{1033         \textcolor{comment}{// conversion from sh2\_PersonalActivityClassifier\_t}}
+\DoxyCodeLine{1034         \mbox{\hyperlink{structbno08x__sample__counts__t}{bno08x\_sample\_counts\_t}}\& \mbox{\hyperlink{structbno08x__sample__counts__t_af9e52b9fe15c78bd8b2ef3cc5af66a13}{operator=}}(\textcolor{keyword}{const} sh2\_Counts\_t\& source)}
+\DoxyCodeLine{1035         \{}
+\DoxyCodeLine{1036             this-\/>offered = source.\mbox{\hyperlink{structbno08x__sample__counts__t_aae4244c540f8411246032f1e69125b75}{offered}};}
+\DoxyCodeLine{1037             this-\/>on = source.on;}
+\DoxyCodeLine{1038             this-\/>accepted = source.accepted;}
+\DoxyCodeLine{1039             this-\/>\mbox{\hyperlink{structbno08x__sample__counts__t_a8d03182919cce138cfda97c3ff5700b2}{attempted}} = source.attempted;}
+\DoxyCodeLine{1040 }
+\DoxyCodeLine{1041             \textcolor{keywordflow}{return} *\textcolor{keyword}{this};}
+\DoxyCodeLine{1042         \}}
+\DoxyCodeLine{1043 \} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_afceb7f957002d3e024d4971963ecfa20}{bno08x\_sample\_counts\_t}};}
+\DoxyCodeLine{1044 }
+\DoxyCodeLine{1046 \textcolor{keyword}{typedef} \textcolor{keyword}{struct }\mbox{\hyperlink{structbno08x__meta__data__t}{bno08x\_meta\_data\_t}}}
+\DoxyCodeLine{1047 \{}
+\DoxyCodeLine{1048         \textcolor{keywordtype}{char} \mbox{\hyperlink{structbno08x__meta__data__t_a51e1f028175bf00c880cc2dfd4e05412}{vendor\_ID}}[48];           }
+\DoxyCodeLine{1049         uint8\_t \mbox{\hyperlink{structbno08x__meta__data__t_a4134971e13a6242102facae308588072}{sensor\_specific}}[48];  }
+\DoxyCodeLine{1050         uint32\_t \mbox{\hyperlink{structbno08x__meta__data__t_a0efefbb8c4614bd3e81094f25909cc14}{vendor\_id\_len}};       }
+\DoxyCodeLine{1051         uint32\_t \mbox{\hyperlink{structbno08x__meta__data__t_abaa4829463c424c9959d594027ce7ba2}{sensor\_specific\_len}}; }
+\DoxyCodeLine{1052         uint32\_t \mbox{\hyperlink{structbno08x__meta__data__t_a58edad7613b5b2c6e7afd0233106b09f}{range}};               }
+\DoxyCodeLine{1053         uint32\_t \mbox{\hyperlink{structbno08x__meta__data__t_a7683b54fbe7ae8ec15b8f880d17a5a46}{resolution}};          }
+\DoxyCodeLine{1054         uint32\_t \mbox{\hyperlink{structbno08x__meta__data__t_a5384c14c55c8f156ea18a0cc81a2e6fc}{min\_period\_us}};       }
+\DoxyCodeLine{1055         uint32\_t \mbox{\hyperlink{structbno08x__meta__data__t_a3e4ff48e389db8b0643259f9af8c0006}{max\_period\_us}};       }
+\DoxyCodeLine{1056         uint32\_t \mbox{\hyperlink{structbno08x__meta__data__t_a32f6c907d10794a2b64784c4bbe09723}{fifo\_reserved}};       }
+\DoxyCodeLine{1057         uint32\_t \mbox{\hyperlink{structbno08x__meta__data__t_a94c6f70957ab28cde8d41fdbd2f39496}{fifo\_max}};            }
+\DoxyCodeLine{1058         uint32\_t \mbox{\hyperlink{structbno08x__meta__data__t_ac493692919e552ca32e6c87b4623ccd2}{batch\_buffer\_bytes}};  }
+\DoxyCodeLine{1059         uint16\_t \mbox{\hyperlink{structbno08x__meta__data__t_a31816ac79605b829e7304973d61f7d98}{revision}};            }
+\DoxyCodeLine{1060         uint16\_t \mbox{\hyperlink{structbno08x__meta__data__t_ac4297b1db8065c9ad38b6100abda92c1}{power\_mA}};            }
+\DoxyCodeLine{1061         uint16\_t \mbox{\hyperlink{structbno08x__meta__data__t_a1e0a5907ac8d8dd0325cf8830aa5bd66}{q\_point\_1}};           }
+\DoxyCodeLine{1062         uint16\_t \mbox{\hyperlink{structbno08x__meta__data__t_a09ad38c35e9cd63d4c333f851d5e01e7}{q\_point\_2}};           }
+\DoxyCodeLine{1063         uint16\_t \mbox{\hyperlink{structbno08x__meta__data__t_a29cb20721b8dda2c65c6b2b4dfad6551}{q\_point\_3}};           }
+\DoxyCodeLine{1064         uint8\_t \mbox{\hyperlink{structbno08x__meta__data__t_a659afd22d089c9414ef865350c895d3e}{me\_version}};           }
+\DoxyCodeLine{1065         uint8\_t \mbox{\hyperlink{structbno08x__meta__data__t_a5883b0fdc28d754f3fff570ca29e3b3e}{mh\_version}};           }
+\DoxyCodeLine{1066         uint8\_t \mbox{\hyperlink{structbno08x__meta__data__t_a672da8b56be3269bae22c9e0e5424719}{sh\_version}};           }
+\DoxyCodeLine{1067         }
+\DoxyCodeLine{1068 }
+\DoxyCodeLine{1069         \textcolor{comment}{// Default constructor}}
+\DoxyCodeLine{1070         \mbox{\hyperlink{structbno08x__meta__data__t_a3e22f63db62812b5aeeb873553f378c4}{bno08x\_meta\_data\_t}}()}
+\DoxyCodeLine{1071             : \mbox{\hyperlink{structbno08x__meta__data__t_a51e1f028175bf00c880cc2dfd4e05412}{vendor\_ID}}(\{\})}
+\DoxyCodeLine{1072             , \mbox{\hyperlink{structbno08x__meta__data__t_a4134971e13a6242102facae308588072}{sensor\_specific}}(\{\})}
+\DoxyCodeLine{1073             , \mbox{\hyperlink{structbno08x__meta__data__t_a0efefbb8c4614bd3e81094f25909cc14}{vendor\_id\_len}}(0)}
+\DoxyCodeLine{1074             , \mbox{\hyperlink{structbno08x__meta__data__t_abaa4829463c424c9959d594027ce7ba2}{sensor\_specific\_len}}(0)}
+\DoxyCodeLine{1075             , \mbox{\hyperlink{structbno08x__meta__data__t_a58edad7613b5b2c6e7afd0233106b09f}{range}}(0)}
+\DoxyCodeLine{1076             , \mbox{\hyperlink{structbno08x__meta__data__t_a7683b54fbe7ae8ec15b8f880d17a5a46}{resolution}}(0)}
+\DoxyCodeLine{1077             , \mbox{\hyperlink{structbno08x__meta__data__t_a5384c14c55c8f156ea18a0cc81a2e6fc}{min\_period\_us}}(0)}
+\DoxyCodeLine{1078             , \mbox{\hyperlink{structbno08x__meta__data__t_a3e4ff48e389db8b0643259f9af8c0006}{max\_period\_us}}(0)}
+\DoxyCodeLine{1079             , \mbox{\hyperlink{structbno08x__meta__data__t_a32f6c907d10794a2b64784c4bbe09723}{fifo\_reserved}}(0)}
+\DoxyCodeLine{1080             , \mbox{\hyperlink{structbno08x__meta__data__t_a94c6f70957ab28cde8d41fdbd2f39496}{fifo\_max}}(0)}
+\DoxyCodeLine{1081             , \mbox{\hyperlink{structbno08x__meta__data__t_ac493692919e552ca32e6c87b4623ccd2}{batch\_buffer\_bytes}}(0)}
+\DoxyCodeLine{1082             , \mbox{\hyperlink{structbno08x__meta__data__t_a31816ac79605b829e7304973d61f7d98}{revision}}(0)}
+\DoxyCodeLine{1083             , \mbox{\hyperlink{structbno08x__meta__data__t_ac4297b1db8065c9ad38b6100abda92c1}{power\_mA}}(0)}
+\DoxyCodeLine{1084             , \mbox{\hyperlink{structbno08x__meta__data__t_a1e0a5907ac8d8dd0325cf8830aa5bd66}{q\_point\_1}}(0)}
+\DoxyCodeLine{1085             , \mbox{\hyperlink{structbno08x__meta__data__t_a09ad38c35e9cd63d4c333f851d5e01e7}{q\_point\_2}}(0)}
+\DoxyCodeLine{1086             , \mbox{\hyperlink{structbno08x__meta__data__t_a29cb20721b8dda2c65c6b2b4dfad6551}{q\_point\_3}}(0)}
+\DoxyCodeLine{1087             , \mbox{\hyperlink{structbno08x__meta__data__t_a659afd22d089c9414ef865350c895d3e}{me\_version}}(0)}
+\DoxyCodeLine{1088             , \mbox{\hyperlink{structbno08x__meta__data__t_a5883b0fdc28d754f3fff570ca29e3b3e}{mh\_version}}(0)}
+\DoxyCodeLine{1089             , \mbox{\hyperlink{structbno08x__meta__data__t_a672da8b56be3269bae22c9e0e5424719}{sh\_version}}(0)}
+\DoxyCodeLine{1090         \{}
+\DoxyCodeLine{1091             memset(\mbox{\hyperlink{structbno08x__meta__data__t_a51e1f028175bf00c880cc2dfd4e05412}{vendor\_ID}}, 0, \textcolor{keyword}{sizeof}(\mbox{\hyperlink{structbno08x__meta__data__t_a51e1f028175bf00c880cc2dfd4e05412}{vendor\_ID}}));}
+\DoxyCodeLine{1092             memset(\mbox{\hyperlink{structbno08x__meta__data__t_a4134971e13a6242102facae308588072}{sensor\_specific}}, 0, \textcolor{keyword}{sizeof}(\mbox{\hyperlink{structbno08x__meta__data__t_a4134971e13a6242102facae308588072}{sensor\_specific}}));}
+\DoxyCodeLine{1093         \}}
+\DoxyCodeLine{1094 }
+\DoxyCodeLine{1095         \textcolor{comment}{// Conversion constructor from sh2\_SensorMetadata\_t}}
+\DoxyCodeLine{1096         \mbox{\hyperlink{structbno08x__meta__data__t_a549c5e42da7cf07c6ec28ce69548b1d8}{bno08x\_meta\_data\_t}}(\textcolor{keyword}{const} sh2\_SensorMetadata\_t\& src)}
+\DoxyCodeLine{1097         \{}
+\DoxyCodeLine{1098             \mbox{\hyperlink{structbno08x__meta__data__t_a659afd22d089c9414ef865350c895d3e}{me\_version}} = src.meVersion;}
+\DoxyCodeLine{1099             \mbox{\hyperlink{structbno08x__meta__data__t_a5883b0fdc28d754f3fff570ca29e3b3e}{mh\_version}} = src.mhVersion;}
+\DoxyCodeLine{1100             \mbox{\hyperlink{structbno08x__meta__data__t_a672da8b56be3269bae22c9e0e5424719}{sh\_version}} = src.shVersion;}
+\DoxyCodeLine{1101             \mbox{\hyperlink{structbno08x__meta__data__t_a58edad7613b5b2c6e7afd0233106b09f}{range}} = src.range;}
+\DoxyCodeLine{1102             \mbox{\hyperlink{structbno08x__meta__data__t_a7683b54fbe7ae8ec15b8f880d17a5a46}{resolution}} = src.resolution;}
+\DoxyCodeLine{1103             \mbox{\hyperlink{structbno08x__meta__data__t_a31816ac79605b829e7304973d61f7d98}{revision}} = src.revision;}
+\DoxyCodeLine{1104             \mbox{\hyperlink{structbno08x__meta__data__t_ac4297b1db8065c9ad38b6100abda92c1}{power\_mA}} = src.power\_mA;}
+\DoxyCodeLine{1105             \mbox{\hyperlink{structbno08x__meta__data__t_a5384c14c55c8f156ea18a0cc81a2e6fc}{min\_period\_us}} = src.minPeriod\_uS;}
+\DoxyCodeLine{1106             \mbox{\hyperlink{structbno08x__meta__data__t_a3e4ff48e389db8b0643259f9af8c0006}{max\_period\_us}} = src.maxPeriod\_uS;}
+\DoxyCodeLine{1107             \mbox{\hyperlink{structbno08x__meta__data__t_a32f6c907d10794a2b64784c4bbe09723}{fifo\_reserved}} = src.fifoReserved;}
+\DoxyCodeLine{1108             \mbox{\hyperlink{structbno08x__meta__data__t_a94c6f70957ab28cde8d41fdbd2f39496}{fifo\_max}} = src.fifoMax;}
+\DoxyCodeLine{1109             \mbox{\hyperlink{structbno08x__meta__data__t_ac493692919e552ca32e6c87b4623ccd2}{batch\_buffer\_bytes}} = src.batchBufferBytes;}
+\DoxyCodeLine{1110             \mbox{\hyperlink{structbno08x__meta__data__t_a1e0a5907ac8d8dd0325cf8830aa5bd66}{q\_point\_1}} = src.qPoint1;}
+\DoxyCodeLine{1111             \mbox{\hyperlink{structbno08x__meta__data__t_a09ad38c35e9cd63d4c333f851d5e01e7}{q\_point\_2}} = src.qPoint2;}
+\DoxyCodeLine{1112             \mbox{\hyperlink{structbno08x__meta__data__t_a29cb20721b8dda2c65c6b2b4dfad6551}{q\_point\_3}} = src.qPoint3;}
+\DoxyCodeLine{1113             \mbox{\hyperlink{structbno08x__meta__data__t_a0efefbb8c4614bd3e81094f25909cc14}{vendor\_id\_len}} = src.vendorIdLen;}
+\DoxyCodeLine{1114             \mbox{\hyperlink{structbno08x__meta__data__t_abaa4829463c424c9959d594027ce7ba2}{sensor\_specific\_len}} = src.sensorSpecificLen;}
+\DoxyCodeLine{1115             memcpy(\mbox{\hyperlink{structbno08x__meta__data__t_a51e1f028175bf00c880cc2dfd4e05412}{vendor\_ID}}, src.vendorId, \mbox{\hyperlink{structbno08x__meta__data__t_a0efefbb8c4614bd3e81094f25909cc14}{vendor\_id\_len}});}
+\DoxyCodeLine{1116             memcpy(\mbox{\hyperlink{structbno08x__meta__data__t_a4134971e13a6242102facae308588072}{sensor\_specific}}, src.sensorSpecific, \mbox{\hyperlink{structbno08x__meta__data__t_abaa4829463c424c9959d594027ce7ba2}{sensor\_specific\_len}});}
+\DoxyCodeLine{1117         \}}
+\DoxyCodeLine{1118 \} \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a1145e5dfd14e96bd70c6e73af017b548}{bno08x\_meta\_data\_t}};}
+\DoxyCodeLine{1119 }
+\DoxyCodeLine{1120 \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} uint8\_t TOTAL\_RPT\_COUNT = 38; }
+
+\end{DoxyCode}
diff --git a/documentation/latex/_b_n_o08x_private_types_8hpp.tex b/documentation/latex/_b_n_o08x_private_types_8hpp.tex
new file mode 100644
index 0000000..57eb6cd
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_private_types_8hpp.tex
@@ -0,0 +1,93 @@
+\hypertarget{_b_n_o08x_private_types_8hpp}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\+BNO08x\+Private\+Types.hpp File Reference}
+\label{_b_n_o08x_private_types_8hpp}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/BNO08xPrivateTypes.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/BNO08xPrivateTypes.hpp}}
+{\ttfamily \#include $<$etl/vector.\+h$>$}\newline
+{\ttfamily \#include $<$etl/variant.\+h$>$}\newline
+{\ttfamily \#include $<$freertos/\+Free\+RTOS.\+h$>$}\newline
+{\ttfamily \#include $<$freertos/semphr.\+h$>$}\newline
+{\ttfamily \#include $<$freertos/event\+\_\+groups.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}BNO08x\+Global\+Types.\+hpp\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}BNO08x\+Cb\+Param\+Rpt\+ID.\+hpp\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}BNO08x\+Cb\+Param\+Void.\+hpp\char`\"{}}\newline
+Include dependency graph for BNO08x\+Private\+Types.\+hpp\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_private_types_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_private_types_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+struct \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+init\+\_\+status\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em Holds info about which functionality has been successfully initialized (used by deconstructor during cleanup). \end{DoxyCompactList}\item 
+struct \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em Holds context used to synchronize tasks and callback execution. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Namespaces}
+\begin{DoxyCompactItemize}
+\item 
+namespace \mbox{\hyperlink{namespace_b_n_o08x_private_types}{BNO08x\+Private\+Types}}
+\end{DoxyCompactItemize}
+\doxysubsection*{Typedefs}
+\begin{DoxyCompactItemize}
+\item 
+using \mbox{\hyperlink{namespace_b_n_o08x_private_types_a0f0c287ea0571e6c589c638e4bd07703}{BNO08x\+Private\+Types\+::bno08x\+\_\+cb\+\_\+list\+\_\+t}} = etl\+::vector$<$ etl\+::variant$<$ \mbox{\hyperlink{class_b_n_o08x_cb_param_void}{BNO08x\+Cb\+Param\+Void}}, \mbox{\hyperlink{class_b_n_o08x_cb_param_rpt_i_d}{BNO08x\+Cb\+Param\+Rpt\+ID}} $>$, CONFIG\+\_\+\+ESP32\+\_\+\+BNO08\+X\+\_\+\+CB\+\_\+\+MAX $>$
+\begin{DoxyCompactList}\small\item\em Alias for vector type to contain both cb flavors. \end{DoxyCompactList}\item 
+typedef struct \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+init\+\_\+status\+\_\+t}} \mbox{\hyperlink{namespace_b_n_o08x_private_types_a2698bcb8153e67716b43ce3cccc0f31a}{BNO08x\+Private\+Types\+::bno08x\+\_\+init\+\_\+status\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em Holds info about which functionality has been successfully initialized (used by deconstructor during cleanup). \end{DoxyCompactList}\item 
+typedef struct \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} \mbox{\hyperlink{namespace_b_n_o08x_private_types_a67b3b4702d94bb4ba152a213feae944f}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em Holds context used to synchronize tasks and callback execution. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Enumerations}
+\begin{DoxyCompactItemize}
+\item 
+enum \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2f}{BNO08x\+Private\+Types\+::bno08x\+\_\+rpt\+\_\+bit\+\_\+t}} \+: Event\+Bits\+\_\+t \{ \newline
+\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fac0ff3fde600aac814ad76a4769515ae8}{BNO08x\+Private\+Types\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+RV\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 0U)
+, \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fad39283f98adf7242b3b3ccf847c150cd}{BNO08x\+Private\+Types\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+RV\+\_\+\+GAME\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 1U)
+, \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fab5d141bdda220e3fa0bd9eb0fe3f31b5}{BNO08x\+Private\+Types\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+RV\+\_\+\+ARVR\+\_\+\+S\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 2U)
+, \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fab77588c26929a2d8dd8eeea883b905ca}{BNO08x\+Private\+Types\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+RV\+\_\+\+ARVR\+\_\+\+S\+\_\+\+GAME\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 3U)
+, \newline
+\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa6835a63fb08379608cda0a108098aac7}{BNO08x\+Private\+Types\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+GYRO\+\_\+\+INTEGRATED\+\_\+\+RV\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 4U)
+, \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa728314f4744fc408c6b153e8fbb3feb4}{BNO08x\+Private\+Types\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+GEOMAG\+\_\+\+RV\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 5U)
+, \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2faa5b9ffe097d1eb83a6a5a13871da0891}{BNO08x\+Private\+Types\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+ACCELEROMETER\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 6U)
+, \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa68851003c2b7df34c3acf882251c60e2}{BNO08x\+Private\+Types\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+LINEAR\+\_\+\+ACCELEROMETER\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 7U)
+, \newline
+\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fabd9e62157a0bc3dc38c3473d7bc2799f}{BNO08x\+Private\+Types\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+GRAVITY\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 8U)
+, \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2faeb1961d7852ea305443610b2521aaea7}{BNO08x\+Private\+Types\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+CAL\+\_\+\+GYRO\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 9U)
+, \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa591c062247280798af0e40d6141614c6}{BNO08x\+Private\+Types\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+UNCAL\+\_\+\+GYRO\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 10U)
+, \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fac1d15dddeab169b213c719e6b0fef32d}{BNO08x\+Private\+Types\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+CAL\+\_\+\+MAGNETOMETER\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 11U)
+, \newline
+\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2faa54d15cc17179a6840b9ec3f4e0038cb}{BNO08x\+Private\+Types\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+UNCAL\+\_\+\+MAGNETOMETER\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 12U)
+, \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fad4482fb4fb6693a492584508691f2c77}{BNO08x\+Private\+Types\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+TAP\+\_\+\+DETECTOR\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 13U)
+, \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fafb8f448edba339f37fdf794bd891f903}{BNO08x\+Private\+Types\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+STEP\+\_\+\+COUNTER\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 14U)
+, \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fae138ae8422830982a470025d81c4be4b}{BNO08x\+Private\+Types\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+STABILITY\+\_\+\+CLASSIFIER\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 15U)
+, \newline
+\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa94cddd1837a77bba5644543b1ad8b9e7}{BNO08x\+Private\+Types\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+ACTIVITY\+\_\+\+CLASSIFIER\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 16U)
+, \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fad517d3ea5b1b259f20ed43e1fcf40e0c}{BNO08x\+Private\+Types\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+SHAKE\+\_\+\+DETECTOR\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 17U)
+, \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fab7e6b36da354702880ff9118d45b6af2}{BNO08x\+Private\+Types\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+RAW\+\_\+\+ACCELEROMETER\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 18U)
+, \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fadcfcdea69099869ebf7f246ff5b7e8bb}{BNO08x\+Private\+Types\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+RAW\+\_\+\+GYRO\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 19U)
+, \newline
+\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fab57a2ea711bebb4d4e031a0b449160c7}{BNO08x\+Private\+Types\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+RAW\+\_\+\+MAGNETOMETER\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 20U)
+, \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fab5d7a8690f3b42637a52122d4269da10}{BNO08x\+Private\+Types\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+CIRCLE\+\_\+\+DETECTOR\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 21U)
+, \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa6bb054cdd31ded01373a4395889c84f1}{BNO08x\+Private\+Types\+::\+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+ALL}}
+ \}
+\begin{DoxyCompactList}\small\item\em Bits for evt\+\_\+grp\+\_\+rpt\+\_\+en \& evt\+\_\+grp\+\_\+rpt\+\_\+data\+\_\+available. \end{DoxyCompactList}\item 
+enum \mbox{\hyperlink{namespace_b_n_o08x_private_types_a59097f108831dd9860e17438d2976c1c}{BNO08x\+Private\+Types\+::bno08x\+\_\+tsk\+\_\+bit\+\_\+t}} \+: Event\+Bits\+\_\+t \{ \mbox{\hyperlink{namespace_b_n_o08x_private_types_a59097f108831dd9860e17438d2976c1ca272952aff639965d61f76664cb4fed15}{BNO08x\+Private\+Types\+::\+EVT\+\_\+\+GRP\+\_\+\+BNO08x\+\_\+\+TASKS\+\_\+\+RUNNING}}
+, \mbox{\hyperlink{namespace_b_n_o08x_private_types_a59097f108831dd9860e17438d2976c1ca616d8458c1a9f54f9d99ba03a773ba41}{BNO08x\+Private\+Types\+::\+EVT\+\_\+\+GRP\+\_\+\+BNO08x\+\_\+\+TASK\+\_\+\+HINT\+\_\+\+ASSRT\+\_\+\+BIT}}
+, \mbox{\hyperlink{namespace_b_n_o08x_private_types_a59097f108831dd9860e17438d2976c1caaddd073f2b8e89319909d7c61f220452}{BNO08x\+Private\+Types\+::\+EVT\+\_\+\+GRP\+\_\+\+BNO08x\+\_\+\+TASK\+\_\+\+RESET\+\_\+\+OCCURRED}}
+, \mbox{\hyperlink{namespace_b_n_o08x_private_types_a59097f108831dd9860e17438d2976c1ca17f12f538e40746dbe8aafee08391fcc}{BNO08x\+Private\+Types\+::\+EVT\+\_\+\+GRP\+\_\+\+BNO08x\+\_\+\+TASK\+\_\+\+DATA\+\_\+\+AVAILABLE}}
+ \}
+\begin{DoxyCompactList}\small\item\em Bits for evt\+\_\+grp\+\_\+bno08x\+\_\+task. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+\begin{DoxyAuthor}{Author}
+Myles Parfeniuk 
+\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_private_types_8hpp__dep__incl.md5 b/documentation/latex/_b_n_o08x_private_types_8hpp__dep__incl.md5
new file mode 100644
index 0000000..9475b9a
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_private_types_8hpp__dep__incl.md5
@@ -0,0 +1 @@
+3ae6066378c778e76b80bb1e43ce7d87
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_private_types_8hpp__dep__incl.pdf b/documentation/latex/_b_n_o08x_private_types_8hpp__dep__incl.pdf
new file mode 100644
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diff --git a/documentation/latex/_b_n_o08x_private_types_8hpp_source.tex b/documentation/latex/_b_n_o08x_private_types_8hpp_source.tex
new file mode 100644
index 0000000..2b84b7d
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_private_types_8hpp_source.tex
@@ -0,0 +1,133 @@
+\hypertarget{_b_n_o08x_private_types_8hpp_source}{}\doxysection{BNO08x\+Private\+Types.\+hpp}
+\label{_b_n_o08x_private_types_8hpp_source}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/BNO08xPrivateTypes.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/BNO08xPrivateTypes.hpp}}
+\mbox{\hyperlink{_b_n_o08x_private_types_8hpp}{Go to the documentation of this file.}}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{1 }
+\DoxyCodeLine{6 \textcolor{preprocessor}{\#pragma once}}
+\DoxyCodeLine{7 }
+\DoxyCodeLine{8 \textcolor{comment}{// etl includes}}
+\DoxyCodeLine{9 \textcolor{preprocessor}{\#include <etl/vector.h>}}
+\DoxyCodeLine{10 \textcolor{preprocessor}{\#include <etl/variant.h>}}
+\DoxyCodeLine{11 \textcolor{comment}{// esp-\/idf includes}}
+\DoxyCodeLine{12 \textcolor{preprocessor}{\#include <freertos/FreeRTOS.h>}}
+\DoxyCodeLine{13 \textcolor{preprocessor}{\#include <freertos/semphr.h>}}
+\DoxyCodeLine{14 \textcolor{preprocessor}{\#include <freertos/event\_groups.h>}}
+\DoxyCodeLine{15 \textcolor{comment}{// in-\/house includes}}
+\DoxyCodeLine{16 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_global_types_8hpp}{BNO08xGlobalTypes.hpp}}"{}}}
+\DoxyCodeLine{17 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_cb_param_rpt_i_d_8hpp}{BNO08xCbParamRptID.hpp}}"{}}}
+\DoxyCodeLine{18 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_cb_param_void_8hpp}{BNO08xCbParamVoid.hpp}}"{}}}
+\DoxyCodeLine{19 }
+\DoxyCodeLine{20 \textcolor{keyword}{namespace }\mbox{\hyperlink{namespace_b_n_o08x_private_types}{BNO08xPrivateTypes}}}
+\DoxyCodeLine{21 \{}
+\DoxyCodeLine{22     \textcolor{keyword}{using }\mbox{\hyperlink{namespace_b_n_o08x_private_types_a0f0c287ea0571e6c589c638e4bd07703}{bno08x\_cb\_list\_t}} = etl::vector<etl::variant<BNO08xCbParamVoid, BNO08xCbParamRptID>,}
+\DoxyCodeLine{23             CONFIG\_ESP32\_BNO08X\_CB\_MAX>; }
+\DoxyCodeLine{24 }
+\DoxyCodeLine{27     \textcolor{keyword}{typedef} \textcolor{keyword}{struct }\mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t}{bno08x\_init\_status\_t}}}
+\DoxyCodeLine{28     \{}
+\DoxyCodeLine{29             \textcolor{keywordtype}{bool} \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_ac74b5a17ec13d4bef4e4775f20ed68df}{gpio\_outputs}};         }
+\DoxyCodeLine{30             \textcolor{keywordtype}{bool} \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_a9b87a879ec795e2241985f0d33856c14}{gpio\_inputs}};          }
+\DoxyCodeLine{31             \textcolor{keywordtype}{bool} \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_a3cec063b6210ec58d30b3bd1d4ead4f9}{isr\_service}};          }
+\DoxyCodeLine{32             \textcolor{keywordtype}{bool} \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_a7c4523e02a434a7be73f5dc5314429bd}{isr\_handler}};          }
+\DoxyCodeLine{33             \textcolor{keywordtype}{bool} \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_a8780317bf985194a58d4b0457d518adf}{spi\_bus}};              }
+\DoxyCodeLine{34             \textcolor{keywordtype}{bool} \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_ab268642c4b6b9fc1eb7c6ceec0e8e64d}{spi\_device}};           }
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+\DoxyCodeLine{37             \textcolor{keywordtype}{bool} \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_ae1066ea59e52f7d228b71df1f8c2b416}{cb\_task}};              }
+\DoxyCodeLine{38             \textcolor{keywordtype}{bool} \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_a5094148539354e52e4f7b054ba766bce}{sh2\_HAL}};              }
+\DoxyCodeLine{39 }
+\DoxyCodeLine{40             \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_a63b876667ae7fb32e9861dffafb55a64}{bno08x\_init\_status\_t}}()}
+\DoxyCodeLine{41                 : \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_ac74b5a17ec13d4bef4e4775f20ed68df}{gpio\_outputs}}(false)}
+\DoxyCodeLine{42                 , \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_a9b87a879ec795e2241985f0d33856c14}{gpio\_inputs}}(false)}
+\DoxyCodeLine{43                 , \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_a3cec063b6210ec58d30b3bd1d4ead4f9}{isr\_service}}(false)}
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+\DoxyCodeLine{51             \{}
+\DoxyCodeLine{52             \}}
+\DoxyCodeLine{53     \} \mbox{\hyperlink{namespace_b_n_o08x_private_types_a2698bcb8153e67716b43ce3cccc0f31a}{bno08x\_init\_status\_t}};}
+\DoxyCodeLine{54 }
+\DoxyCodeLine{56     \textcolor{keyword}{typedef} \textcolor{keyword}{struct }\mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{bno08x\_sync\_ctx\_t}}}
+\DoxyCodeLine{57     \{}
+\DoxyCodeLine{58             SemaphoreHandle\_t \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_a5433c33ca93bfd2be4a7575ddff7a8d9}{sh2\_HAL\_lock}}; }
+\DoxyCodeLine{59             SemaphoreHandle\_t}
+\DoxyCodeLine{60                     \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_a551d1eb66d239c54cffa96b558e40a15}{data\_lock}}; }
+\DoxyCodeLine{61             EventGroupHandle\_t \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_aeaeeb8fa04544f63b66c32f3adbb0041}{evt\_grp\_rpt\_en}}; }
+\DoxyCodeLine{62             EventGroupHandle\_t}
+\DoxyCodeLine{63                     \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_a13f4a91c74fbf09059b5b136ed4f09ac}{evt\_grp\_rpt\_data\_available}}; }
+\DoxyCodeLine{64             EventGroupHandle\_t \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_aacddf6425d126d8e854eff620a2dbec0}{evt\_grp\_task}}; }
+\DoxyCodeLine{65             etl::vector<uint8\_t, TOTAL\_RPT\_COUNT> \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_aa63f0d6aa9a27e2f6cdbef17c42c3289}{en\_report\_ids}}; }
+\DoxyCodeLine{66             \mbox{\hyperlink{namespace_b_n_o08x_private_types_a0f0c287ea0571e6c589c638e4bd07703}{bno08x\_cb\_list\_t}} \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_ad38bf7a37a5c9cae7c9d8725b23ff365}{cb\_list}};                            }
+\DoxyCodeLine{67 }
+\DoxyCodeLine{68             \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_a3f9cea8f40f89200c93f2a4bf09039ac}{bno08x\_sync\_ctx\_t}}()}
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+\DoxyCodeLine{70                 , \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_a551d1eb66d239c54cffa96b558e40a15}{data\_lock}}(xSemaphoreCreateMutex())}
+\DoxyCodeLine{71                 , \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_aeaeeb8fa04544f63b66c32f3adbb0041}{evt\_grp\_rpt\_en}}(xEventGroupCreate())}
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+\DoxyCodeLine{74             \{}
+\DoxyCodeLine{75             \}}
+\DoxyCodeLine{76     \} \mbox{\hyperlink{namespace_b_n_o08x_private_types_a67b3b4702d94bb4ba152a213feae944f}{bno08x\_sync\_ctx\_t}};}
+\DoxyCodeLine{77 }
+\DoxyCodeLine{79     \textcolor{keyword}{enum} \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2f}{bno08x\_rpt\_bit\_t}} : EventBits\_t}
+\DoxyCodeLine{80     \{}
+\DoxyCodeLine{81         \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fac0ff3fde600aac814ad76a4769515ae8}{EVT\_GRP\_RPT\_RV\_BIT}} = (1UL << 0U),                 }
+\DoxyCodeLine{82         \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fad39283f98adf7242b3b3ccf847c150cd}{EVT\_GRP\_RPT\_RV\_GAME\_BIT}} = (1UL << 1U),            }
+\DoxyCodeLine{83         \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fab5d141bdda220e3fa0bd9eb0fe3f31b5}{EVT\_GRP\_RPT\_RV\_ARVR\_S\_BIT}} = (1UL << 2U),          }
+\DoxyCodeLine{84         \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fab77588c26929a2d8dd8eeea883b905ca}{EVT\_GRP\_RPT\_RV\_ARVR\_S\_GAME\_BIT}} = (1UL << 3U),     }
+\DoxyCodeLine{85         \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa6835a63fb08379608cda0a108098aac7}{EVT\_GRP\_RPT\_GYRO\_INTEGRATED\_RV\_BIT}} = (1UL << 4U), }
+\DoxyCodeLine{86         \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa728314f4744fc408c6b153e8fbb3feb4}{EVT\_GRP\_RPT\_GEOMAG\_RV\_BIT}} = (1UL << 5U),          }
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+\DoxyCodeLine{111                           \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fab5d7a8690f3b42637a52122d4269da10}{EVT\_GRP\_RPT\_CIRCLE\_DETECTOR\_BIT}}}
+\DoxyCodeLine{112     \};}
+\DoxyCodeLine{113 }
+\DoxyCodeLine{115     \textcolor{keyword}{enum} \mbox{\hyperlink{namespace_b_n_o08x_private_types_a59097f108831dd9860e17438d2976c1c}{bno08x\_tsk\_bit\_t}} : EventBits\_t}
+\DoxyCodeLine{116     \{}
+\DoxyCodeLine{117         \mbox{\hyperlink{namespace_b_n_o08x_private_types_a59097f108831dd9860e17438d2976c1ca272952aff639965d61f76664cb4fed15}{EVT\_GRP\_BNO08x\_TASKS\_RUNNING}} =}
+\DoxyCodeLine{118                 (1UL << 0U), }
+\DoxyCodeLine{119         \mbox{\hyperlink{namespace_b_n_o08x_private_types_a59097f108831dd9860e17438d2976c1ca616d8458c1a9f54f9d99ba03a773ba41}{EVT\_GRP\_BNO08x\_TASK\_HINT\_ASSRT\_BIT}} =}
+\DoxyCodeLine{120                 (1UL << 1U), }
+\DoxyCodeLine{121         \mbox{\hyperlink{namespace_b_n_o08x_private_types_a59097f108831dd9860e17438d2976c1caaddd073f2b8e89319909d7c61f220452}{EVT\_GRP\_BNO08x\_TASK\_RESET\_OCCURRED}} =}
+\DoxyCodeLine{122                 (1UL << 2U), }
+\DoxyCodeLine{123         \mbox{\hyperlink{namespace_b_n_o08x_private_types_a59097f108831dd9860e17438d2976c1ca17f12f538e40746dbe8aafee08391fcc}{EVT\_GRP\_BNO08x\_TASK\_DATA\_AVAILABLE}} =}
+\DoxyCodeLine{124                 (1UL << 3U) }
+\DoxyCodeLine{125     \};}
+\DoxyCodeLine{126 }
+\DoxyCodeLine{127     \textcolor{keyword}{inline} \textcolor{keyword}{static} sh2\_SensorConfig default\_sensor\_cfg = \{ }
+\DoxyCodeLine{128             .changeSensitivityEnabled = \textcolor{keyword}{false},}
+\DoxyCodeLine{129             .changeSensitivityRelative = \textcolor{keyword}{false},}
+\DoxyCodeLine{130             .wakeupEnabled = \textcolor{keyword}{false},}
+\DoxyCodeLine{131             .alwaysOnEnabled = \textcolor{keyword}{false},}
+\DoxyCodeLine{132             .changeSensitivity = 0,}
+\DoxyCodeLine{133             .reportInterval\_us = 0,}
+\DoxyCodeLine{134             .batchInterval\_us = 0,}
+\DoxyCodeLine{135             .sensorSpecific = 0\};}
+\DoxyCodeLine{136 \}; \textcolor{comment}{// namespace BNO08xPrivateTypes}}
+
+\end{DoxyCode}
diff --git a/documentation/latex/_b_n_o08x_reports_8hpp.tex b/documentation/latex/_b_n_o08x_reports_8hpp.tex
new file mode 100644
index 0000000..d99f8a3
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_reports_8hpp.tex
@@ -0,0 +1,39 @@
+\hypertarget{_b_n_o08x_reports_8hpp}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\+BNO08x\+Reports.hpp File Reference}
+\label{_b_n_o08x_reports_8hpp}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xReports.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xReports.hpp}}
+{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+Acceleration.\+hpp\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+Linear\+Acceleration.\+hpp\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+Gravity.\+hpp\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+Cal\+Magnetometer.\+hpp\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+Uncal\+Magnetometer.\+hpp\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+Cal\+Gyro.\+hpp\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+Uncal\+Gyro.\+hpp\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+RV.\+hpp\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+Game\+RV.\+hpp\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+ARVRStabilized\+RV.\+hpp\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+ARVRStabilized\+Game\+RV.\+hpp\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+IGyro\+RV.\+hpp\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+RVGeomag.\+hpp\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+Raw\+MEMSGyro.\+hpp\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+Raw\+MEMSAccelerometer.\+hpp\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+Raw\+MEMSMagnetometer.\+hpp\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+Step\+Counter.\+hpp\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+Activity\+Classifier.\+hpp\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+Stability\+Classifier.\+hpp\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+Shake\+Detector.\+hpp\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+Tap\+Detector.\+hpp\char`\"{}}\newline
+Include dependency graph for BNO08x\+Reports.\+hpp\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_reports_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_reports_8hpp__dep__incl}
+\end{center}
+\end{figure}
diff --git a/documentation/latex/_b_n_o08x_reports_8hpp__dep__incl.md5 b/documentation/latex/_b_n_o08x_reports_8hpp__dep__incl.md5
new file mode 100644
index 0000000..7df7c24
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_reports_8hpp__dep__incl.md5
@@ -0,0 +1 @@
+30986bf456b0a574d10617b3cb28b659
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_reports_8hpp__dep__incl.pdf b/documentation/latex/_b_n_o08x_reports_8hpp__dep__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_reports_8hpp_source.tex b/documentation/latex/_b_n_o08x_reports_8hpp_source.tex
new file mode 100644
index 0000000..857735c
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_reports_8hpp_source.tex
@@ -0,0 +1,29 @@
+\hypertarget{_b_n_o08x_reports_8hpp_source}{}\doxysection{BNO08x\+Reports.\+hpp}
+\label{_b_n_o08x_reports_8hpp_source}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xReports.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xReports.hpp}}
+\mbox{\hyperlink{_b_n_o08x_reports_8hpp}{Go to the documentation of this file.}}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{1 \textcolor{preprocessor}{\#pragma once}}
+\DoxyCodeLine{2 }
+\DoxyCodeLine{3 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_acceleration_8hpp}{BNO08xRptAcceleration.hpp}}"{}}}
+\DoxyCodeLine{4 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_linear_acceleration_8hpp}{BNO08xRptLinearAcceleration.hpp}}"{}}}
+\DoxyCodeLine{5 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_gravity_8hpp}{BNO08xRptGravity.hpp}}"{}}}
+\DoxyCodeLine{6 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_cal_magnetometer_8hpp}{BNO08xRptCalMagnetometer.hpp}}"{}}}
+\DoxyCodeLine{7 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_uncal_magnetometer_8hpp}{BNO08xRptUncalMagnetometer.hpp}}"{}}}
+\DoxyCodeLine{8 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_cal_gyro_8hpp}{BNO08xRptCalGyro.hpp}}"{}}}
+\DoxyCodeLine{9 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_uncal_gyro_8hpp}{BNO08xRptUncalGyro.hpp}}"{}}}
+\DoxyCodeLine{10 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_r_v_8hpp}{BNO08xRptRV.hpp}}"{}}}
+\DoxyCodeLine{11 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_game_r_v_8hpp}{BNO08xRptGameRV.hpp}}"{}}}
+\DoxyCodeLine{12 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8hpp}{BNO08xRptARVRStabilizedRV.hpp}}"{}}}
+\DoxyCodeLine{13 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8hpp}{BNO08xRptARVRStabilizedGameRV.hpp}}"{}}}
+\DoxyCodeLine{14 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_i_gyro_r_v_8hpp}{BNO08xRptIGyroRV.hpp}}"{}}}
+\DoxyCodeLine{15 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_r_v_geomag_8hpp}{BNO08xRptRVGeomag.hpp}}"{}}}
+\DoxyCodeLine{16 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_raw_m_e_m_s_gyro_8hpp}{BNO08xRptRawMEMSGyro.hpp}}"{}}}
+\DoxyCodeLine{17 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8hpp}{BNO08xRptRawMEMSAccelerometer.hpp}}"{}}}
+\DoxyCodeLine{18 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8hpp}{BNO08xRptRawMEMSMagnetometer.hpp}}"{}}}
+\DoxyCodeLine{19 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_step_counter_8hpp}{BNO08xRptStepCounter.hpp}}"{}}}
+\DoxyCodeLine{20 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_activity_classifier_8hpp}{BNO08xRptActivityClassifier.hpp}}"{}}}
+\DoxyCodeLine{21 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_stability_classifier_8hpp}{BNO08xRptStabilityClassifier.hpp}}"{}}}
+\DoxyCodeLine{22 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_shake_detector_8hpp}{BNO08xRptShakeDetector.hpp}}"{}}}
+\DoxyCodeLine{23 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_tap_detector_8hpp}{BNO08xRptTapDetector.hpp}}"{}}}
+
+\end{DoxyCode}
diff --git a/documentation/latex/_b_n_o08x_rpt_8cpp.tex b/documentation/latex/_b_n_o08x_rpt_8cpp.tex
new file mode 100644
index 0000000..f17afd2
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_8cpp.tex
@@ -0,0 +1,17 @@
+\hypertarget{_b_n_o08x_rpt_8cpp}{}\doxysection{BNO08x\+Rpt.\+cpp File Reference}
+\label{_b_n_o08x_rpt_8cpp}\index{BNO08xRpt.cpp@{BNO08xRpt.cpp}}
+{\ttfamily \#include \char`\"{}BNO08x\+Rpt.\+hpp\char`\"{}}\newline
+Include dependency graph for BNO08x\+Rpt.\+cpp\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_rpt_8cpp__incl}
+\end{center}
+\end{figure}
+
+
+\doxysubsection{Detailed Description}
+\begin{DoxyAuthor}{Author}
+Myles Parfeniuk 
+\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_8cpp__incl.md5 b/documentation/latex/_b_n_o08x_rpt_8cpp__incl.md5
new file mode 100644
index 0000000..455c746
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_8cpp__incl.md5
@@ -0,0 +1 @@
+d03d5d807ebaa3b7c7c422f9790a95c4
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_8cpp__incl.pdf b/documentation/latex/_b_n_o08x_rpt_8cpp__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_rpt_8hpp.tex b/documentation/latex/_b_n_o08x_rpt_8hpp.tex
new file mode 100644
index 0000000..1421526
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_8hpp.tex
@@ -0,0 +1,36 @@
+\hypertarget{_b_n_o08x_rpt_8hpp}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\+BNO08x\+Rpt.hpp File Reference}
+\label{_b_n_o08x_rpt_8hpp}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRpt.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRpt.hpp}}
+{\ttfamily \#include $<$functional$>$}\newline
+{\ttfamily \#include \char`\"{}esp\+\_\+log.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}BNO08x\+Global\+Types.\+hpp\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}BNO08x\+Private\+Types.\+hpp\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}sh2.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}sh2\+\_\+\+Sensor\+Value.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}sh2\+\_\+err.\+h\char`\"{}}\newline
+Include dependency graph for BNO08x\+Rpt.\+hpp\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_rpt_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_rpt_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+class \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08x\+Rpt}}
+\begin{DoxyCompactList}\small\item\em Class to represent and manage reports returned from \mbox{\hyperlink{class_b_n_o08x}{BNO08x}}. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+\begin{DoxyAuthor}{Author}
+Myles Parfeniuk 
+\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_8hpp__dep__incl.md5 b/documentation/latex/_b_n_o08x_rpt_8hpp__dep__incl.md5
new file mode 100644
index 0000000..6b6f4e3
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_8hpp__dep__incl.md5
@@ -0,0 +1 @@
+1c9db5f1e9f6b939bb730dfe26d2aa02
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_8hpp__dep__incl.pdf b/documentation/latex/_b_n_o08x_rpt_8hpp__dep__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_rpt_8hpp_source.tex b/documentation/latex/_b_n_o08x_rpt_8hpp_source.tex
new file mode 100644
index 0000000..a3668e3
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_8hpp_source.tex
@@ -0,0 +1,65 @@
+\hypertarget{_b_n_o08x_rpt_8hpp_source}{}\doxysection{BNO08x\+Rpt.\+hpp}
+\label{_b_n_o08x_rpt_8hpp_source}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRpt.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRpt.hpp}}
+\mbox{\hyperlink{_b_n_o08x_rpt_8hpp}{Go to the documentation of this file.}}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{1 }
+\DoxyCodeLine{6 \textcolor{preprocessor}{\#pragma once}}
+\DoxyCodeLine{7 }
+\DoxyCodeLine{8 \textcolor{comment}{// standard library includes}}
+\DoxyCodeLine{9 \textcolor{preprocessor}{\#include <functional>}}
+\DoxyCodeLine{10 \textcolor{comment}{// esp-\/idf includes}}
+\DoxyCodeLine{11 \textcolor{preprocessor}{\#include "{}esp\_log.h"{}}}
+\DoxyCodeLine{12 \textcolor{comment}{// in-\/house includes}}
+\DoxyCodeLine{13 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_global_types_8hpp}{BNO08xGlobalTypes.hpp}}"{}}}
+\DoxyCodeLine{14 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_private_types_8hpp}{BNO08xPrivateTypes.hpp}}"{}}}
+\DoxyCodeLine{15 \textcolor{comment}{// hill-\/crest labs includes (apache 2.0 license, compatible with MIT)}}
+\DoxyCodeLine{16 \textcolor{preprocessor}{\#include "{}sh2.h"{}}}
+\DoxyCodeLine{17 \textcolor{preprocessor}{\#include "{}sh2\_SensorValue.h"{}}}
+\DoxyCodeLine{18 \textcolor{preprocessor}{\#include "{}sh2\_err.h"{}}}
+\DoxyCodeLine{19 }
+\DoxyCodeLine{25 \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08xRpt}}}
+\DoxyCodeLine{26 \{}
+\DoxyCodeLine{27     \textcolor{keyword}{public}:}
+\DoxyCodeLine{28         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_rpt_a7d147e7540a4c6aa19749844e14cdadc}{disable}}(sh2\_SensorConfig\_t sensor\_cfg = BNO08xPrivateTypes::default\_sensor\_cfg);}
+\DoxyCodeLine{29         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_rpt_a5b542b28c81fcd05cf2e3f3d2d437d46}{register\_cb}}(std::function<\textcolor{keywordtype}{void}(\textcolor{keywordtype}{void})> cb\_fxn);}
+\DoxyCodeLine{30         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_rpt_a74f6037286b51382535bab61680297ed}{has\_new\_data}}();}
+\DoxyCodeLine{31         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_rpt_ab3bb962696b135841ef7313bc631fc72}{flush}}();}
+\DoxyCodeLine{32         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_rpt_a7ce8e48cadf59f49068af7f1cb680b38}{get\_sample\_counts}}(\mbox{\hyperlink{structbno08x__sample__counts__t}{bno08x\_sample\_counts\_t}}\& sample\_counts);}
+\DoxyCodeLine{33         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_rpt_a1418be33824d3102dbc8f92558a402a6}{clear\_sample\_counts}}();}
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+\DoxyCodeLine{41         uint32\_t \mbox{\hyperlink{class_b_n_o08x_rpt_a1d4d6f4cc6f1eae503863eedf7fb9f52}{period\_us}};  }
+\DoxyCodeLine{42         \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}}* \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}};}
+\DoxyCodeLine{43 }
+\DoxyCodeLine{44         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_rpt_aa0bed98a9a497d1f39e8245d05b02e9c}{rpt\_enable}}(uint32\_t time\_between\_reports, sh2\_SensorConfig\_t sensor\_cfg = BNO08xPrivateTypes::default\_sensor\_cfg);}
+\DoxyCodeLine{45         \textcolor{keyword}{virtual} \textcolor{keywordtype}{void} \mbox{\hyperlink{class_b_n_o08x_rpt_a970fb7e7d3745c62fec626f0ccf0759f}{update\_data}}(sh2\_SensorValue\_t* sensor\_val) = 0;}
+\DoxyCodeLine{46 }
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+\DoxyCodeLine{70         \textcolor{keywordtype}{void} \mbox{\hyperlink{class_b_n_o08x_rpt_a26bacc572187119339ec248bb4e7d6f3}{unlock\_user\_data}}();}
+\DoxyCodeLine{71         \textcolor{keywordtype}{void} \mbox{\hyperlink{class_b_n_o08x_rpt_a48e7b1a2c2ebc6b1f2f292735c0832a0}{lock\_user\_data}}();}
+\DoxyCodeLine{72         \textcolor{keywordtype}{void} \mbox{\hyperlink{class_b_n_o08x_rpt_a47a623eb0a1db51af76a03a103c32329}{signal\_data\_available}}();}
+\DoxyCodeLine{73 }
+\DoxyCodeLine{74         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} \textcolor{keywordtype}{float} \mbox{\hyperlink{class_b_n_o08x_rpt_a201aeb71fefb0d9d485914176a82dd80}{RAD\_2\_DEG}} =}
+\DoxyCodeLine{75                 (180.0f / M\_PI); }
+\DoxyCodeLine{76 }
+\DoxyCodeLine{77         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} \textcolor{keywordtype}{char}* \mbox{\hyperlink{class_b_n_o08x_rpt_a2c57f370fb08b793bb10ec22d5acca45}{TAG}} = \textcolor{stringliteral}{"{}BNO08xRpt"{}};}
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+\DoxyCodeLine{79         \textcolor{keyword}{friend} \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x}{BNO08x}};}
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diff --git a/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8cpp.tex b/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8cpp.tex
new file mode 100644
index 0000000..5780202
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8cpp.tex
@@ -0,0 +1,17 @@
+\hypertarget{_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8cpp}{}\doxysection{report/\+BNO08x\+Rpt\+ARVRStabilized\+Game\+RV.cpp File Reference}
+\label{_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8cpp}\index{report/BNO08xRptARVRStabilizedGameRV.cpp@{report/BNO08xRptARVRStabilizedGameRV.cpp}}
+{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+ARVRStabilized\+Game\+RV.\+hpp\char`\"{}}\newline
+Include dependency graph for BNO08x\+Rpt\+ARVRStabilized\+Game\+RV.\+cpp\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8cpp__incl}
+\end{center}
+\end{figure}
+
+
+\doxysubsection{Detailed Description}
+\begin{DoxyAuthor}{Author}
+Myles Parfeniuk 
+\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8cpp__incl.md5 b/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8cpp__incl.md5
new file mode 100644
index 0000000..cb25f9f
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8cpp__incl.md5
@@ -0,0 +1 @@
+f7f1539df84cb56126884b30e3e9f60e
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8cpp__incl.pdf b/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8cpp__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8hpp.tex b/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8hpp.tex
new file mode 100644
index 0000000..da69c44
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8hpp.tex
@@ -0,0 +1,30 @@
+\hypertarget{_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8hpp}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\+BNO08x\+Rpt\+ARVRStabilized\+Game\+RV.hpp File Reference}
+\label{_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8hpp}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptARVRStabilizedGameRV.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptARVRStabilizedGameRV.hpp}}
+{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+RVGeneric.\+hpp\char`\"{}}\newline
+Include dependency graph for BNO08x\+Rpt\+ARVRStabilized\+Game\+RV.\+hpp\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+class \mbox{\hyperlink{class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v}{BNO08x\+Rpt\+ARVRStabilized\+Game\+RV}}
+\begin{DoxyCompactList}\small\item\em Class to represent ARVR stabilized rotation vector reports. (See Ref. Manual 6.\+5.\+43) \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+\begin{DoxyAuthor}{Author}
+Myles Parfeniuk 
+\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8hpp__dep__incl.md5 b/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8hpp__dep__incl.md5
new file mode 100644
index 0000000..fb99d07
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8hpp__dep__incl.md5
@@ -0,0 +1 @@
+9f742da7de9a41ca9fdcb9c7d41d1c51
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8hpp__dep__incl.pdf b/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8hpp__dep__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8hpp_source.tex b/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8hpp_source.tex
new file mode 100644
index 0000000..edb42d8
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8hpp_source.tex
@@ -0,0 +1,23 @@
+\hypertarget{_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8hpp_source}{}\doxysection{BNO08x\+Rpt\+ARVRStabilized\+Game\+RV.\+hpp}
+\label{_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8hpp_source}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptARVRStabilizedGameRV.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptARVRStabilizedGameRV.hpp}}
+\mbox{\hyperlink{_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8hpp}{Go to the documentation of this file.}}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{1 }
+\DoxyCodeLine{6 \textcolor{preprocessor}{\#pragma once}}
+\DoxyCodeLine{7 }
+\DoxyCodeLine{8 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_r_v_generic_8hpp}{BNO08xRptRVGeneric.hpp}}"{}}}
+\DoxyCodeLine{9 }
+\DoxyCodeLine{15 \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v}{BNO08xRptARVRStabilizedGameRV}} : \textcolor{keyword}{public} \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_generic}{BNO08xRptRVGeneric}}}
+\DoxyCodeLine{16 \{}
+\DoxyCodeLine{17     \textcolor{keyword}{public}:}
+\DoxyCodeLine{18         \mbox{\hyperlink{class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_aabfa5bbfb21fb1f36dda44bd0de7d220}{BNO08xRptARVRStabilizedGameRV}}(uint8\_t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, EventBits\_t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}}* \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
+\DoxyCodeLine{19             : \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_generic}{BNO08xRptRVGeneric}}(\mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
+\DoxyCodeLine{20         \{}
+\DoxyCodeLine{21         \}}
+\DoxyCodeLine{22 }
+\DoxyCodeLine{23     \textcolor{keyword}{private}:}
+\DoxyCodeLine{24         \textcolor{keywordtype}{void} update\_data(sh2\_SensorValue\_t* sensor\_val) \textcolor{keyword}{override};}
+\DoxyCodeLine{25         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} \textcolor{keywordtype}{char}* TAG = \textcolor{stringliteral}{"{}BNO08xRptARVRStabilizedGameRV"{}};}
+\DoxyCodeLine{26 \};}
+
+\end{DoxyCode}
diff --git a/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8cpp.tex b/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8cpp.tex
new file mode 100644
index 0000000..4d4bbf1
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8cpp.tex
@@ -0,0 +1,17 @@
+\hypertarget{_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8cpp}{}\doxysection{report/\+BNO08x\+Rpt\+ARVRStabilized\+RV.cpp File Reference}
+\label{_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8cpp}\index{report/BNO08xRptARVRStabilizedRV.cpp@{report/BNO08xRptARVRStabilizedRV.cpp}}
+{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+ARVRStabilized\+RV.\+hpp\char`\"{}}\newline
+Include dependency graph for BNO08x\+Rpt\+ARVRStabilized\+RV.\+cpp\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8cpp__incl}
+\end{center}
+\end{figure}
+
+
+\doxysubsection{Detailed Description}
+\begin{DoxyAuthor}{Author}
+Myles Parfeniuk 
+\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8cpp__incl.md5 b/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8cpp__incl.md5
new file mode 100644
index 0000000..abe5e93
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8cpp__incl.md5
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+a5841c3d0ebbfcc8bd6ba6024c7e49a1
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diff --git a/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8cpp__incl.pdf b/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8cpp__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8hpp.tex b/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8hpp.tex
new file mode 100644
index 0000000..062236d
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8hpp.tex
@@ -0,0 +1,30 @@
+\hypertarget{_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8hpp}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\+BNO08x\+Rpt\+ARVRStabilized\+RV.hpp File Reference}
+\label{_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8hpp}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptARVRStabilizedRV.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptARVRStabilizedRV.hpp}}
+{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+RVGeneric.\+hpp\char`\"{}}\newline
+Include dependency graph for BNO08x\+Rpt\+ARVRStabilized\+RV.\+hpp\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+class \mbox{\hyperlink{class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v}{BNO08x\+Rpt\+ARVRStabilized\+RV}}
+\begin{DoxyCompactList}\small\item\em Class to represent ARVR stabilized rotation vector reports. (See Ref. Manual 6.\+5.\+42) \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+\begin{DoxyAuthor}{Author}
+Myles Parfeniuk 
+\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8hpp__dep__incl.md5 b/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8hpp__dep__incl.md5
new file mode 100644
index 0000000..2989f42
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8hpp__dep__incl.md5
@@ -0,0 +1 @@
+076a48e9e8f9497cc2e8c844a66caa69
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8hpp__dep__incl.pdf b/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8hpp__dep__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8hpp_source.tex b/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8hpp_source.tex
new file mode 100644
index 0000000..de2f3ff
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8hpp_source.tex
@@ -0,0 +1,23 @@
+\hypertarget{_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8hpp_source}{}\doxysection{BNO08x\+Rpt\+ARVRStabilized\+RV.\+hpp}
+\label{_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8hpp_source}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptARVRStabilizedRV.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptARVRStabilizedRV.hpp}}
+\mbox{\hyperlink{_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8hpp}{Go to the documentation of this file.}}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{1 }
+\DoxyCodeLine{6 \textcolor{preprocessor}{\#pragma once}}
+\DoxyCodeLine{7 }
+\DoxyCodeLine{8 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_r_v_generic_8hpp}{BNO08xRptRVGeneric.hpp}}"{}}}
+\DoxyCodeLine{9 }
+\DoxyCodeLine{15 \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v}{BNO08xRptARVRStabilizedRV}} : \textcolor{keyword}{public} \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_generic}{BNO08xRptRVGeneric}}}
+\DoxyCodeLine{16 \{}
+\DoxyCodeLine{17     \textcolor{keyword}{public}:}
+\DoxyCodeLine{18         \mbox{\hyperlink{class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_a7b19b87c861a35b7da1d96b606c21d6d}{BNO08xRptARVRStabilizedRV}}(uint8\_t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, EventBits\_t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}}* \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
+\DoxyCodeLine{19             : \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_generic}{BNO08xRptRVGeneric}}(\mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
+\DoxyCodeLine{20         \{}
+\DoxyCodeLine{21         \}}
+\DoxyCodeLine{22 }
+\DoxyCodeLine{23     \textcolor{keyword}{private}:}
+\DoxyCodeLine{24         \textcolor{keywordtype}{void} update\_data(sh2\_SensorValue\_t* sensor\_val) \textcolor{keyword}{override};}
+\DoxyCodeLine{25         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} \textcolor{keywordtype}{char}* TAG = \textcolor{stringliteral}{"{}BNO08xRptARVRStabilizedRV"{}};}
+\DoxyCodeLine{26 \};}
+
+\end{DoxyCode}
diff --git a/documentation/latex/_b_n_o08x_rpt_acceleration_8cpp.tex b/documentation/latex/_b_n_o08x_rpt_acceleration_8cpp.tex
new file mode 100644
index 0000000..451bbe1
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_acceleration_8cpp.tex
@@ -0,0 +1,17 @@
+\hypertarget{_b_n_o08x_rpt_acceleration_8cpp}{}\doxysection{report/\+BNO08x\+Rpt\+Acceleration.cpp File Reference}
+\label{_b_n_o08x_rpt_acceleration_8cpp}\index{report/BNO08xRptAcceleration.cpp@{report/BNO08xRptAcceleration.cpp}}
+{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+Acceleration.\+hpp\char`\"{}}\newline
+Include dependency graph for BNO08x\+Rpt\+Acceleration.\+cpp\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_rpt_acceleration_8cpp__incl}
+\end{center}
+\end{figure}
+
+
+\doxysubsection{Detailed Description}
+\begin{DoxyAuthor}{Author}
+Myles Parfeniuk 
+\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_acceleration_8cpp__incl.md5 b/documentation/latex/_b_n_o08x_rpt_acceleration_8cpp__incl.md5
new file mode 100644
index 0000000..fdcd236
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_acceleration_8cpp__incl.md5
@@ -0,0 +1 @@
+170a01481b5925619c777cb305082579
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_acceleration_8cpp__incl.pdf b/documentation/latex/_b_n_o08x_rpt_acceleration_8cpp__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_rpt_acceleration_8hpp.tex b/documentation/latex/_b_n_o08x_rpt_acceleration_8hpp.tex
new file mode 100644
index 0000000..996e355
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_acceleration_8hpp.tex
@@ -0,0 +1,30 @@
+\hypertarget{_b_n_o08x_rpt_acceleration_8hpp}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\+BNO08x\+Rpt\+Acceleration.hpp File Reference}
+\label{_b_n_o08x_rpt_acceleration_8hpp}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptAcceleration.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptAcceleration.hpp}}
+{\ttfamily \#include \char`\"{}BNO08x\+Rpt.\+hpp\char`\"{}}\newline
+Include dependency graph for BNO08x\+Rpt\+Acceleration.\+hpp\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_rpt_acceleration_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_rpt_acceleration_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+class \mbox{\hyperlink{class_b_n_o08x_rpt_acceleration}{BNO08x\+Rpt\+Acceleration}}
+\begin{DoxyCompactList}\small\item\em Class to represent accelerometer reports. (See Ref. Manual 6.\+5.\+9) \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+\begin{DoxyAuthor}{Author}
+Myles Parfeniuk 
+\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_acceleration_8hpp__dep__incl.md5 b/documentation/latex/_b_n_o08x_rpt_acceleration_8hpp__dep__incl.md5
new file mode 100644
index 0000000..f835f5f
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_acceleration_8hpp__dep__incl.md5
@@ -0,0 +1 @@
+f6e04b8c8f2a043c4f91e54753958275
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_acceleration_8hpp__dep__incl.pdf b/documentation/latex/_b_n_o08x_rpt_acceleration_8hpp__dep__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_rpt_acceleration_8hpp_source.tex b/documentation/latex/_b_n_o08x_rpt_acceleration_8hpp_source.tex
new file mode 100644
index 0000000..d728d97
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_acceleration_8hpp_source.tex
@@ -0,0 +1,28 @@
+\hypertarget{_b_n_o08x_rpt_acceleration_8hpp_source}{}\doxysection{BNO08x\+Rpt\+Acceleration.\+hpp}
+\label{_b_n_o08x_rpt_acceleration_8hpp_source}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptAcceleration.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptAcceleration.hpp}}
+\mbox{\hyperlink{_b_n_o08x_rpt_acceleration_8hpp}{Go to the documentation of this file.}}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{1 }
+\DoxyCodeLine{6 \textcolor{preprocessor}{\#pragma once}}
+\DoxyCodeLine{7 }
+\DoxyCodeLine{8 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_8hpp}{BNO08xRpt.hpp}}"{}}}
+\DoxyCodeLine{9 }
+\DoxyCodeLine{15 \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x_rpt_acceleration}{BNO08xRptAcceleration}} : \textcolor{keyword}{public} \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08xRpt}}}
+\DoxyCodeLine{16 \{}
+\DoxyCodeLine{17     \textcolor{keyword}{public}:}
+\DoxyCodeLine{18         \mbox{\hyperlink{class_b_n_o08x_rpt_acceleration_af3a06d4c127a5cebd136489ab5c673e2}{BNO08xRptAcceleration}}(uint8\_t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, EventBits\_t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}}* \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
+\DoxyCodeLine{19             : \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08xRpt}}(\mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
+\DoxyCodeLine{20         \{}
+\DoxyCodeLine{21         \}}
+\DoxyCodeLine{22 }
+\DoxyCodeLine{23         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_rpt_acceleration_a8fde5eefac5f9d714263047426eeee4f}{enable}}(}
+\DoxyCodeLine{24                 uint32\_t time\_between\_reports, sh2\_SensorConfig\_t sensor\_cfg = BNO08xPrivateTypes::default\_sensor\_cfg) \textcolor{keyword}{override};}
+\DoxyCodeLine{25         \mbox{\hyperlink{structbno08x__accel__t}{bno08x\_accel\_t}} \mbox{\hyperlink{class_b_n_o08x_rpt_acceleration_abac65bc939891f7a24b5a611de430328}{get}}();}
+\DoxyCodeLine{26 }
+\DoxyCodeLine{27     \textcolor{keyword}{private}:}
+\DoxyCodeLine{28         \textcolor{keywordtype}{void} update\_data(sh2\_SensorValue\_t* sensor\_val) \textcolor{keyword}{override};}
+\DoxyCodeLine{29         \mbox{\hyperlink{structbno08x__accel__t}{bno08x\_accel\_t}} data;}
+\DoxyCodeLine{30         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} \textcolor{keywordtype}{char}* TAG = \textcolor{stringliteral}{"{}BNO08xRptAcceleration"{}};}
+\DoxyCodeLine{31 \};}
+
+\end{DoxyCode}
diff --git a/documentation/latex/_b_n_o08x_rpt_activity_classifier_8cpp.tex b/documentation/latex/_b_n_o08x_rpt_activity_classifier_8cpp.tex
new file mode 100644
index 0000000..f84370d
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_activity_classifier_8cpp.tex
@@ -0,0 +1,17 @@
+\hypertarget{_b_n_o08x_rpt_activity_classifier_8cpp}{}\doxysection{report/\+BNO08x\+Rpt\+Activity\+Classifier.cpp File Reference}
+\label{_b_n_o08x_rpt_activity_classifier_8cpp}\index{report/BNO08xRptActivityClassifier.cpp@{report/BNO08xRptActivityClassifier.cpp}}
+{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+Activity\+Classifier.\+hpp\char`\"{}}\newline
+Include dependency graph for BNO08x\+Rpt\+Activity\+Classifier.\+cpp\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_rpt_activity_classifier_8cpp__incl}
+\end{center}
+\end{figure}
+
+
+\doxysubsection{Detailed Description}
+\begin{DoxyAuthor}{Author}
+Myles Parfeniuk 
+\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_activity_classifier_8cpp__incl.md5 b/documentation/latex/_b_n_o08x_rpt_activity_classifier_8cpp__incl.md5
new file mode 100644
index 0000000..940753f
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_activity_classifier_8cpp__incl.md5
@@ -0,0 +1 @@
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diff --git a/documentation/latex/_b_n_o08x_rpt_activity_classifier_8cpp__incl.pdf b/documentation/latex/_b_n_o08x_rpt_activity_classifier_8cpp__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_rpt_activity_classifier_8hpp.tex b/documentation/latex/_b_n_o08x_rpt_activity_classifier_8hpp.tex
new file mode 100644
index 0000000..2bd0670
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_activity_classifier_8hpp.tex
@@ -0,0 +1,30 @@
+\hypertarget{_b_n_o08x_rpt_activity_classifier_8hpp}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\+BNO08x\+Rpt\+Activity\+Classifier.hpp File Reference}
+\label{_b_n_o08x_rpt_activity_classifier_8hpp}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptActivityClassifier.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptActivityClassifier.hpp}}
+{\ttfamily \#include \char`\"{}BNO08x\+Rpt.\+hpp\char`\"{}}\newline
+Include dependency graph for BNO08x\+Rpt\+Activity\+Classifier.\+hpp\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_rpt_activity_classifier_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_rpt_activity_classifier_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+class \mbox{\hyperlink{class_b_n_o08x_rpt_activity_classifier}{BNO08x\+Rpt\+Activity\+Classifier}}
+\begin{DoxyCompactList}\small\item\em Class to represent activity classifier reports. (See Ref. Manual 6.\+5.\+36) \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+\begin{DoxyAuthor}{Author}
+Myles Parfeniuk 
+\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_activity_classifier_8hpp__dep__incl.md5 b/documentation/latex/_b_n_o08x_rpt_activity_classifier_8hpp__dep__incl.md5
new file mode 100644
index 0000000..139ed49
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_activity_classifier_8hpp__dep__incl.md5
@@ -0,0 +1 @@
+75ac56d44f582511aafef094bc22d8db
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_activity_classifier_8hpp__dep__incl.pdf b/documentation/latex/_b_n_o08x_rpt_activity_classifier_8hpp__dep__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_rpt_activity_classifier_8hpp_source.tex b/documentation/latex/_b_n_o08x_rpt_activity_classifier_8hpp_source.tex
new file mode 100644
index 0000000..949badc
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_activity_classifier_8hpp_source.tex
@@ -0,0 +1,32 @@
+\hypertarget{_b_n_o08x_rpt_activity_classifier_8hpp_source}{}\doxysection{BNO08x\+Rpt\+Activity\+Classifier.\+hpp}
+\label{_b_n_o08x_rpt_activity_classifier_8hpp_source}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptActivityClassifier.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptActivityClassifier.hpp}}
+\mbox{\hyperlink{_b_n_o08x_rpt_activity_classifier_8hpp}{Go to the documentation of this file.}}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{1 }
+\DoxyCodeLine{6 \textcolor{preprocessor}{\#pragma once}}
+\DoxyCodeLine{7 }
+\DoxyCodeLine{8 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_8hpp}{BNO08xRpt.hpp}}"{}}}
+\DoxyCodeLine{9 }
+\DoxyCodeLine{15 \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x_rpt_activity_classifier}{BNO08xRptActivityClassifier}} : \textcolor{keyword}{public} \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08xRpt}}}
+\DoxyCodeLine{16 \{}
+\DoxyCodeLine{17     \textcolor{keyword}{public}:}
+\DoxyCodeLine{18         \mbox{\hyperlink{class_b_n_o08x_rpt_activity_classifier_abee4e61d75eb1982f11f08eb542511a5}{BNO08xRptActivityClassifier}}(uint8\_t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, EventBits\_t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}}* \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
+\DoxyCodeLine{19             : \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08xRpt}}(\mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
+\DoxyCodeLine{20         \{}
+\DoxyCodeLine{21         \}}
+\DoxyCodeLine{22 }
+\DoxyCodeLine{23         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_rpt_activity_classifier_a631329523ddaf17f2e93cd0546a42823}{enable}}(}
+\DoxyCodeLine{24                 uint32\_t time\_between\_reports, sh2\_SensorConfig\_t sensor\_cfg = BNO08xPrivateTypes::default\_sensor\_cfg) \textcolor{keyword}{override};}
+\DoxyCodeLine{25         \mbox{\hyperlink{structbno08x__activity__classifier__t}{bno08x\_activity\_classifier\_t}} \mbox{\hyperlink{class_b_n_o08x_rpt_activity_classifier_aa77475212d3a5eb52ec31b9916cfe22d}{get}}();}
+\DoxyCodeLine{26         \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97d}{BNO08xActivity}} \mbox{\hyperlink{class_b_n_o08x_rpt_activity_classifier_a903a426e65752996075798ba6c51bff2}{get\_most\_likely\_activity}}();}
+\DoxyCodeLine{27         \textcolor{keywordtype}{void} \mbox{\hyperlink{class_b_n_o08x_rpt_activity_classifier_adb51886e94e91d114246c51919fd368b}{set\_activities\_to\_enable}}(\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3a}{BNO08xActivityEnable}} activities\_to\_enable);}
+\DoxyCodeLine{28 }
+\DoxyCodeLine{29     \textcolor{keyword}{private}:}
+\DoxyCodeLine{30         \textcolor{keywordtype}{void} update\_data(sh2\_SensorValue\_t* sensor\_val) \textcolor{keyword}{override};}
+\DoxyCodeLine{31         \mbox{\hyperlink{structbno08x__activity__classifier__t}{bno08x\_activity\_classifier\_t}} data; }
+\DoxyCodeLine{32         \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3a}{BNO08xActivityEnable}} activities\_to\_enable =}
+\DoxyCodeLine{33                 \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3aa5fb1f955b45e38e31789286a1790398d}{BNO08xActivityEnable::ALL}}; }
+\DoxyCodeLine{34         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} \textcolor{keywordtype}{char}* TAG = \textcolor{stringliteral}{"{}BNO08xRptActivityClassifier"{}};}
+\DoxyCodeLine{35 \};}
+
+\end{DoxyCode}
diff --git a/documentation/latex/_b_n_o08x_rpt_cal_gyro_8cpp.tex b/documentation/latex/_b_n_o08x_rpt_cal_gyro_8cpp.tex
new file mode 100644
index 0000000..e899d90
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_cal_gyro_8cpp.tex
@@ -0,0 +1,17 @@
+\hypertarget{_b_n_o08x_rpt_cal_gyro_8cpp}{}\doxysection{report/\+BNO08x\+Rpt\+Cal\+Gyro.cpp File Reference}
+\label{_b_n_o08x_rpt_cal_gyro_8cpp}\index{report/BNO08xRptCalGyro.cpp@{report/BNO08xRptCalGyro.cpp}}
+{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+Cal\+Gyro.\+hpp\char`\"{}}\newline
+Include dependency graph for BNO08x\+Rpt\+Cal\+Gyro.\+cpp\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_rpt_cal_gyro_8cpp__incl}
+\end{center}
+\end{figure}
+
+
+\doxysubsection{Detailed Description}
+\begin{DoxyAuthor}{Author}
+Myles Parfeniuk 
+\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_cal_gyro_8cpp__incl.md5 b/documentation/latex/_b_n_o08x_rpt_cal_gyro_8cpp__incl.md5
new file mode 100644
index 0000000..91e8983
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_cal_gyro_8cpp__incl.md5
@@ -0,0 +1 @@
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diff --git a/documentation/latex/_b_n_o08x_rpt_cal_gyro_8hpp.tex b/documentation/latex/_b_n_o08x_rpt_cal_gyro_8hpp.tex
new file mode 100644
index 0000000..76d641e
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_cal_gyro_8hpp.tex
@@ -0,0 +1,30 @@
+\hypertarget{_b_n_o08x_rpt_cal_gyro_8hpp}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\+BNO08x\+Rpt\+Cal\+Gyro.hpp File Reference}
+\label{_b_n_o08x_rpt_cal_gyro_8hpp}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptCalGyro.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptCalGyro.hpp}}
+{\ttfamily \#include \char`\"{}BNO08x\+Rpt.\+hpp\char`\"{}}\newline
+Include dependency graph for BNO08x\+Rpt\+Cal\+Gyro.\+hpp\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_rpt_cal_gyro_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_rpt_cal_gyro_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+class \mbox{\hyperlink{class_b_n_o08x_rpt_cal_gyro}{BNO08x\+Rpt\+Cal\+Gyro}}
+\begin{DoxyCompactList}\small\item\em Class to represent calibrated gyro reports. (See Ref. Manual 6.\+5.\+13) \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+\begin{DoxyAuthor}{Author}
+Myles Parfeniuk 
+\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_cal_gyro_8hpp__dep__incl.md5 b/documentation/latex/_b_n_o08x_rpt_cal_gyro_8hpp__dep__incl.md5
new file mode 100644
index 0000000..842d593
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_cal_gyro_8hpp__dep__incl.md5
@@ -0,0 +1 @@
+093bfa3b9531a9b9a435cfccbdfa4e6f
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_cal_gyro_8hpp__dep__incl.pdf b/documentation/latex/_b_n_o08x_rpt_cal_gyro_8hpp__dep__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_rpt_cal_gyro_8hpp_source.tex b/documentation/latex/_b_n_o08x_rpt_cal_gyro_8hpp_source.tex
new file mode 100644
index 0000000..3d13f60
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_cal_gyro_8hpp_source.tex
@@ -0,0 +1,28 @@
+\hypertarget{_b_n_o08x_rpt_cal_gyro_8hpp_source}{}\doxysection{BNO08x\+Rpt\+Cal\+Gyro.\+hpp}
+\label{_b_n_o08x_rpt_cal_gyro_8hpp_source}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptCalGyro.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptCalGyro.hpp}}
+\mbox{\hyperlink{_b_n_o08x_rpt_cal_gyro_8hpp}{Go to the documentation of this file.}}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{1 }
+\DoxyCodeLine{6 \textcolor{preprocessor}{\#pragma once}}
+\DoxyCodeLine{7 }
+\DoxyCodeLine{8 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_8hpp}{BNO08xRpt.hpp}}"{}}}
+\DoxyCodeLine{9 }
+\DoxyCodeLine{15 \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x_rpt_cal_gyro}{BNO08xRptCalGyro}} : \textcolor{keyword}{public} \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08xRpt}}}
+\DoxyCodeLine{16 \{}
+\DoxyCodeLine{17     \textcolor{keyword}{public}:}
+\DoxyCodeLine{18         \mbox{\hyperlink{class_b_n_o08x_rpt_cal_gyro_ad351243a258fa1075212d63a38b1e7b5}{BNO08xRptCalGyro}}(uint8\_t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, EventBits\_t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}}* \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
+\DoxyCodeLine{19             : \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08xRpt}}(\mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
+\DoxyCodeLine{20         \{}
+\DoxyCodeLine{21         \}}
+\DoxyCodeLine{22 }
+\DoxyCodeLine{23         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_rpt_cal_gyro_aeb49d86610427c915dc9e58fcba6fddc}{enable}}(}
+\DoxyCodeLine{24                 uint32\_t time\_between\_reports, sh2\_SensorConfig\_t sensor\_cfg = BNO08xPrivateTypes::default\_sensor\_cfg) \textcolor{keyword}{override};}
+\DoxyCodeLine{25         \mbox{\hyperlink{structbno08x__gyro__t}{bno08x\_gyro\_t}} \mbox{\hyperlink{class_b_n_o08x_rpt_cal_gyro_aeb45a1a433c499f2c36dddf393175815}{get}}();}
+\DoxyCodeLine{26 }
+\DoxyCodeLine{27     \textcolor{keyword}{private}:}
+\DoxyCodeLine{28         \textcolor{keywordtype}{void} update\_data(sh2\_SensorValue\_t* sensor\_val) \textcolor{keyword}{override};}
+\DoxyCodeLine{29         \mbox{\hyperlink{structbno08x__gyro__t}{bno08x\_gyro\_t}} data;}
+\DoxyCodeLine{30         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} \textcolor{keywordtype}{char}* TAG = \textcolor{stringliteral}{"{}BNO08xRptCalGyro"{}};}
+\DoxyCodeLine{31 \};}
+
+\end{DoxyCode}
diff --git a/documentation/latex/_b_n_o08x_rpt_cal_magnetometer_8cpp.tex b/documentation/latex/_b_n_o08x_rpt_cal_magnetometer_8cpp.tex
new file mode 100644
index 0000000..dce1117
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_cal_magnetometer_8cpp.tex
@@ -0,0 +1,17 @@
+\hypertarget{_b_n_o08x_rpt_cal_magnetometer_8cpp}{}\doxysection{report/\+BNO08x\+Rpt\+Cal\+Magnetometer.cpp File Reference}
+\label{_b_n_o08x_rpt_cal_magnetometer_8cpp}\index{report/BNO08xRptCalMagnetometer.cpp@{report/BNO08xRptCalMagnetometer.cpp}}
+{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+Cal\+Magnetometer.\+hpp\char`\"{}}\newline
+Include dependency graph for BNO08x\+Rpt\+Cal\+Magnetometer.\+cpp\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_rpt_cal_magnetometer_8cpp__incl}
+\end{center}
+\end{figure}
+
+
+\doxysubsection{Detailed Description}
+\begin{DoxyAuthor}{Author}
+Myles Parfeniuk 
+\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_cal_magnetometer_8cpp__incl.md5 b/documentation/latex/_b_n_o08x_rpt_cal_magnetometer_8cpp__incl.md5
new file mode 100644
index 0000000..f18cc3a
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_cal_magnetometer_8cpp__incl.md5
@@ -0,0 +1 @@
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diff --git a/documentation/latex/_b_n_o08x_rpt_cal_magnetometer_8cpp__incl.pdf b/documentation/latex/_b_n_o08x_rpt_cal_magnetometer_8cpp__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_rpt_cal_magnetometer_8hpp.tex b/documentation/latex/_b_n_o08x_rpt_cal_magnetometer_8hpp.tex
new file mode 100644
index 0000000..121f6e0
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_cal_magnetometer_8hpp.tex
@@ -0,0 +1,30 @@
+\hypertarget{_b_n_o08x_rpt_cal_magnetometer_8hpp}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\+BNO08x\+Rpt\+Cal\+Magnetometer.hpp File Reference}
+\label{_b_n_o08x_rpt_cal_magnetometer_8hpp}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptCalMagnetometer.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptCalMagnetometer.hpp}}
+{\ttfamily \#include \char`\"{}BNO08x\+Rpt.\+hpp\char`\"{}}\newline
+Include dependency graph for BNO08x\+Rpt\+Cal\+Magnetometer.\+hpp\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_rpt_cal_magnetometer_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_rpt_cal_magnetometer_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+class \mbox{\hyperlink{class_b_n_o08x_rpt_cal_magnetometer}{BNO08x\+Rpt\+Cal\+Magnetometer}}
+\begin{DoxyCompactList}\small\item\em Class to represent calibrated magnetometer reports. (See Ref. Manual 6.\+5.\+16) \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+\begin{DoxyAuthor}{Author}
+Myles Parfeniuk 
+\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_cal_magnetometer_8hpp__dep__incl.md5 b/documentation/latex/_b_n_o08x_rpt_cal_magnetometer_8hpp__dep__incl.md5
new file mode 100644
index 0000000..91e9ec4
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_cal_magnetometer_8hpp__dep__incl.md5
@@ -0,0 +1 @@
+732e5d34dd9c21375596e2407bf36257
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_cal_magnetometer_8hpp__dep__incl.pdf b/documentation/latex/_b_n_o08x_rpt_cal_magnetometer_8hpp__dep__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_rpt_cal_magnetometer_8hpp_source.tex b/documentation/latex/_b_n_o08x_rpt_cal_magnetometer_8hpp_source.tex
new file mode 100644
index 0000000..2cbd1ca
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_cal_magnetometer_8hpp_source.tex
@@ -0,0 +1,28 @@
+\hypertarget{_b_n_o08x_rpt_cal_magnetometer_8hpp_source}{}\doxysection{BNO08x\+Rpt\+Cal\+Magnetometer.\+hpp}
+\label{_b_n_o08x_rpt_cal_magnetometer_8hpp_source}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptCalMagnetometer.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptCalMagnetometer.hpp}}
+\mbox{\hyperlink{_b_n_o08x_rpt_cal_magnetometer_8hpp}{Go to the documentation of this file.}}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{1 }
+\DoxyCodeLine{6 \textcolor{preprocessor}{\#pragma once}}
+\DoxyCodeLine{7 }
+\DoxyCodeLine{8 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_8hpp}{BNO08xRpt.hpp}}"{}}}
+\DoxyCodeLine{9 }
+\DoxyCodeLine{15 \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x_rpt_cal_magnetometer}{BNO08xRptCalMagnetometer}} : \textcolor{keyword}{public} \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08xRpt}}}
+\DoxyCodeLine{16 \{}
+\DoxyCodeLine{17     \textcolor{keyword}{public}:}
+\DoxyCodeLine{18         \mbox{\hyperlink{class_b_n_o08x_rpt_cal_magnetometer_a731d7e69b97b6402b2cf2e18e9a08b06}{BNO08xRptCalMagnetometer}}(uint8\_t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, EventBits\_t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}}* \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
+\DoxyCodeLine{19             : \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08xRpt}}(\mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
+\DoxyCodeLine{20         \{}
+\DoxyCodeLine{21         \}}
+\DoxyCodeLine{22 }
+\DoxyCodeLine{23         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_rpt_cal_magnetometer_a9a371f613ff5053d2227faeebe941393}{enable}}(}
+\DoxyCodeLine{24                 uint32\_t time\_between\_reports, sh2\_SensorConfig\_t sensor\_cfg = BNO08xPrivateTypes::default\_sensor\_cfg) \textcolor{keyword}{override};}
+\DoxyCodeLine{25         \mbox{\hyperlink{structbno08x__magf__t}{bno08x\_magf\_t}} \mbox{\hyperlink{class_b_n_o08x_rpt_cal_magnetometer_a9a07338f7c149aa3d45d2c4f846620e2}{get}}();}
+\DoxyCodeLine{26 }
+\DoxyCodeLine{27     \textcolor{keyword}{private}:}
+\DoxyCodeLine{28         \textcolor{keywordtype}{void} update\_data(sh2\_SensorValue\_t* sensor\_val) \textcolor{keyword}{override};}
+\DoxyCodeLine{29         \mbox{\hyperlink{structbno08x__magf__t}{bno08x\_magf\_t}} data;}
+\DoxyCodeLine{30         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} \textcolor{keywordtype}{char}* TAG = \textcolor{stringliteral}{"{}BNO08xRptCalMagnetometer"{}};}
+\DoxyCodeLine{31 \};}
+
+\end{DoxyCode}
diff --git a/documentation/latex/_b_n_o08x_rpt_game_r_v_8cpp.tex b/documentation/latex/_b_n_o08x_rpt_game_r_v_8cpp.tex
new file mode 100644
index 0000000..8eb6851
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_game_r_v_8cpp.tex
@@ -0,0 +1,17 @@
+\hypertarget{_b_n_o08x_rpt_game_r_v_8cpp}{}\doxysection{report/\+BNO08x\+Rpt\+Game\+RV.cpp File Reference}
+\label{_b_n_o08x_rpt_game_r_v_8cpp}\index{report/BNO08xRptGameRV.cpp@{report/BNO08xRptGameRV.cpp}}
+{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+Game\+RV.\+hpp\char`\"{}}\newline
+Include dependency graph for BNO08x\+Rpt\+Game\+RV.\+cpp\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_rpt_game_r_v_8cpp__incl}
+\end{center}
+\end{figure}
+
+
+\doxysubsection{Detailed Description}
+\begin{DoxyAuthor}{Author}
+Myles Parfeniuk 
+\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_game_r_v_8cpp__incl.md5 b/documentation/latex/_b_n_o08x_rpt_game_r_v_8cpp__incl.md5
new file mode 100644
index 0000000..59c9edf
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_game_r_v_8cpp__incl.md5
@@ -0,0 +1 @@
+66f13c7731410a4e3da3709f007899cb
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diff --git a/documentation/latex/_b_n_o08x_rpt_game_r_v_8cpp__incl.pdf b/documentation/latex/_b_n_o08x_rpt_game_r_v_8cpp__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_rpt_game_r_v_8hpp.tex b/documentation/latex/_b_n_o08x_rpt_game_r_v_8hpp.tex
new file mode 100644
index 0000000..60de1b0
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_game_r_v_8hpp.tex
@@ -0,0 +1,30 @@
+\hypertarget{_b_n_o08x_rpt_game_r_v_8hpp}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\+BNO08x\+Rpt\+Game\+RV.hpp File Reference}
+\label{_b_n_o08x_rpt_game_r_v_8hpp}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptGameRV.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptGameRV.hpp}}
+{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+RVGeneric.\+hpp\char`\"{}}\newline
+Include dependency graph for BNO08x\+Rpt\+Game\+RV.\+hpp\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_rpt_game_r_v_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_rpt_game_r_v_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+class \mbox{\hyperlink{class_b_n_o08x_rpt_game_r_v}{BNO08x\+Rpt\+Game\+RV}}
+\begin{DoxyCompactList}\small\item\em Class to represent game rotation vector reports. (See Ref. Manual 6.\+5.\+19) \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+\begin{DoxyAuthor}{Author}
+Myles Parfeniuk 
+\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_game_r_v_8hpp__dep__incl.md5 b/documentation/latex/_b_n_o08x_rpt_game_r_v_8hpp__dep__incl.md5
new file mode 100644
index 0000000..2476b07
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_game_r_v_8hpp__dep__incl.md5
@@ -0,0 +1 @@
+8e2bdfc4da0b169ed926fbee93c4ed56
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_game_r_v_8hpp__dep__incl.pdf b/documentation/latex/_b_n_o08x_rpt_game_r_v_8hpp__dep__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_rpt_game_r_v_8hpp_source.tex b/documentation/latex/_b_n_o08x_rpt_game_r_v_8hpp_source.tex
new file mode 100644
index 0000000..2d4ca02
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_game_r_v_8hpp_source.tex
@@ -0,0 +1,27 @@
+\hypertarget{_b_n_o08x_rpt_game_r_v_8hpp_source}{}\doxysection{BNO08x\+Rpt\+Game\+RV.\+hpp}
+\label{_b_n_o08x_rpt_game_r_v_8hpp_source}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptGameRV.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptGameRV.hpp}}
+\mbox{\hyperlink{_b_n_o08x_rpt_game_r_v_8hpp}{Go to the documentation of this file.}}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{1 }
+\DoxyCodeLine{6 \textcolor{preprocessor}{\#pragma once}}
+\DoxyCodeLine{7 }
+\DoxyCodeLine{8 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_r_v_generic_8hpp}{BNO08xRptRVGeneric.hpp}}"{}}}
+\DoxyCodeLine{9 }
+\DoxyCodeLine{15 \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x_rpt_game_r_v}{BNO08xRptGameRV}} : \textcolor{keyword}{public} \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_generic}{BNO08xRptRVGeneric}}}
+\DoxyCodeLine{16 \{}
+\DoxyCodeLine{17     \textcolor{keyword}{public}:}
+\DoxyCodeLine{18         \mbox{\hyperlink{class_b_n_o08x_rpt_game_r_v_a5ce3525ae691ef37dff5c8d638e98e18}{BNO08xRptGameRV}}(uint8\_t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, EventBits\_t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}}* \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
+\DoxyCodeLine{19             : \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_generic}{BNO08xRptRVGeneric}}(\mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
+\DoxyCodeLine{20         \{}
+\DoxyCodeLine{21         \}}
+\DoxyCodeLine{22 }
+\DoxyCodeLine{23         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_rpt_game_r_v_a773f8e4bf9e5059d6b301fc346cbc9d2}{tare}}(\textcolor{keywordtype}{bool} x = \textcolor{keyword}{true}, \textcolor{keywordtype}{bool} y = \textcolor{keyword}{true}, \textcolor{keywordtype}{bool} z = \textcolor{keyword}{true});}
+\DoxyCodeLine{24         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_rpt_game_r_v_ae91c07ae4d781216065fd704b5c88d06}{tare\_persist}}();}
+\DoxyCodeLine{25         \textcolor{keywordtype}{void} \mbox{\hyperlink{class_b_n_o08x_rpt_game_r_v_ab8844cc390818f2b5cff8afefc89558f}{tare\_clear}}();}
+\DoxyCodeLine{26 }
+\DoxyCodeLine{27     \textcolor{keyword}{private}:}
+\DoxyCodeLine{28         \textcolor{keywordtype}{void} update\_data(sh2\_SensorValue\_t* sensor\_val) \textcolor{keyword}{override};}
+\DoxyCodeLine{29         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} \textcolor{keywordtype}{char}* TAG = \textcolor{stringliteral}{"{}BNO08xRptGameRV"{}};}
+\DoxyCodeLine{30 \};}
+
+\end{DoxyCode}
diff --git a/documentation/latex/_b_n_o08x_rpt_gravity_8cpp.tex b/documentation/latex/_b_n_o08x_rpt_gravity_8cpp.tex
new file mode 100644
index 0000000..56bb6ce
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_gravity_8cpp.tex
@@ -0,0 +1,17 @@
+\hypertarget{_b_n_o08x_rpt_gravity_8cpp}{}\doxysection{report/\+BNO08x\+Rpt\+Gravity.cpp File Reference}
+\label{_b_n_o08x_rpt_gravity_8cpp}\index{report/BNO08xRptGravity.cpp@{report/BNO08xRptGravity.cpp}}
+{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+Gravity.\+hpp\char`\"{}}\newline
+Include dependency graph for BNO08x\+Rpt\+Gravity.\+cpp\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_rpt_gravity_8cpp__incl}
+\end{center}
+\end{figure}
+
+
+\doxysubsection{Detailed Description}
+\begin{DoxyAuthor}{Author}
+Myles Parfeniuk 
+\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_gravity_8cpp__incl.md5 b/documentation/latex/_b_n_o08x_rpt_gravity_8cpp__incl.md5
new file mode 100644
index 0000000..4499f41
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_gravity_8cpp__incl.md5
@@ -0,0 +1 @@
+f2017d1e3169d3ca6f6f3d1703cb17ed
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diff --git a/documentation/latex/_b_n_o08x_rpt_gravity_8hpp.tex b/documentation/latex/_b_n_o08x_rpt_gravity_8hpp.tex
new file mode 100644
index 0000000..5eaea3a
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_gravity_8hpp.tex
@@ -0,0 +1,30 @@
+\hypertarget{_b_n_o08x_rpt_gravity_8hpp}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\+BNO08x\+Rpt\+Gravity.hpp File Reference}
+\label{_b_n_o08x_rpt_gravity_8hpp}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptGravity.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptGravity.hpp}}
+{\ttfamily \#include \char`\"{}BNO08x\+Rpt.\+hpp\char`\"{}}\newline
+Include dependency graph for BNO08x\+Rpt\+Gravity.\+hpp\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_rpt_gravity_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_rpt_gravity_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+class \mbox{\hyperlink{class_b_n_o08x_rpt_gravity}{BNO08x\+Rpt\+Gravity}}
+\begin{DoxyCompactList}\small\item\em Class to represent gravity reports. (See Ref. Manual 6.\+5.\+11) \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+\begin{DoxyAuthor}{Author}
+Myles Parfeniuk 
+\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_gravity_8hpp__dep__incl.md5 b/documentation/latex/_b_n_o08x_rpt_gravity_8hpp__dep__incl.md5
new file mode 100644
index 0000000..0f2fea7
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_gravity_8hpp__dep__incl.md5
@@ -0,0 +1 @@
+5560264a7576a30e00bf9f10dde4fc4a
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_gravity_8hpp__dep__incl.pdf b/documentation/latex/_b_n_o08x_rpt_gravity_8hpp__dep__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_rpt_gravity_8hpp_source.tex b/documentation/latex/_b_n_o08x_rpt_gravity_8hpp_source.tex
new file mode 100644
index 0000000..93e6479
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_gravity_8hpp_source.tex
@@ -0,0 +1,28 @@
+\hypertarget{_b_n_o08x_rpt_gravity_8hpp_source}{}\doxysection{BNO08x\+Rpt\+Gravity.\+hpp}
+\label{_b_n_o08x_rpt_gravity_8hpp_source}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptGravity.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptGravity.hpp}}
+\mbox{\hyperlink{_b_n_o08x_rpt_gravity_8hpp}{Go to the documentation of this file.}}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{1 }
+\DoxyCodeLine{6 \textcolor{preprocessor}{\#pragma once}}
+\DoxyCodeLine{7 }
+\DoxyCodeLine{8 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_8hpp}{BNO08xRpt.hpp}}"{}}}
+\DoxyCodeLine{9 }
+\DoxyCodeLine{15 \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x_rpt_gravity}{BNO08xRptGravity}} : \textcolor{keyword}{public} \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08xRpt}}}
+\DoxyCodeLine{16 \{}
+\DoxyCodeLine{17     \textcolor{keyword}{public}:}
+\DoxyCodeLine{18         \mbox{\hyperlink{class_b_n_o08x_rpt_gravity_a472ced1c466461f64dda3d9132813dba}{BNO08xRptGravity}}(uint8\_t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, EventBits\_t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}}* \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
+\DoxyCodeLine{19             : \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08xRpt}}(\mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
+\DoxyCodeLine{20         \{}
+\DoxyCodeLine{21         \}}
+\DoxyCodeLine{22 }
+\DoxyCodeLine{23         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_rpt_gravity_a5bb33cf233c6721fac992e447bd5b571}{enable}}(}
+\DoxyCodeLine{24                 uint32\_t time\_between\_reports, sh2\_SensorConfig\_t sensor\_cfg = BNO08xPrivateTypes::default\_sensor\_cfg) \textcolor{keyword}{override};}
+\DoxyCodeLine{25         \mbox{\hyperlink{structbno08x__accel__t}{bno08x\_accel\_t}} \mbox{\hyperlink{class_b_n_o08x_rpt_gravity_a18ebbe93997c3ea985290e5b8fc23115}{get}}();}
+\DoxyCodeLine{26 }
+\DoxyCodeLine{27     \textcolor{keyword}{private}:}
+\DoxyCodeLine{28         \textcolor{keywordtype}{void} update\_data(sh2\_SensorValue\_t* sensor\_val) \textcolor{keyword}{override};}
+\DoxyCodeLine{29         \mbox{\hyperlink{structbno08x__accel__t}{bno08x\_accel\_t}} data;}
+\DoxyCodeLine{30         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} \textcolor{keywordtype}{char}* TAG = \textcolor{stringliteral}{"{}BNO08xRptGravity"{}};}
+\DoxyCodeLine{31 \};}
+
+\end{DoxyCode}
diff --git a/documentation/latex/_b_n_o08x_rpt_i_gyro_r_v_8cpp.tex b/documentation/latex/_b_n_o08x_rpt_i_gyro_r_v_8cpp.tex
new file mode 100644
index 0000000..f43a8a3
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_i_gyro_r_v_8cpp.tex
@@ -0,0 +1,17 @@
+\hypertarget{_b_n_o08x_rpt_i_gyro_r_v_8cpp}{}\doxysection{report/\+BNO08x\+Rpt\+IGyro\+RV.cpp File Reference}
+\label{_b_n_o08x_rpt_i_gyro_r_v_8cpp}\index{report/BNO08xRptIGyroRV.cpp@{report/BNO08xRptIGyroRV.cpp}}
+{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+IGyro\+RV.\+hpp\char`\"{}}\newline
+Include dependency graph for BNO08x\+Rpt\+IGyro\+RV.\+cpp\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_rpt_i_gyro_r_v_8cpp__incl}
+\end{center}
+\end{figure}
+
+
+\doxysubsection{Detailed Description}
+\begin{DoxyAuthor}{Author}
+Myles Parfeniuk 
+\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_i_gyro_r_v_8cpp__incl.md5 b/documentation/latex/_b_n_o08x_rpt_i_gyro_r_v_8cpp__incl.md5
new file mode 100644
index 0000000..f5eb886
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_i_gyro_r_v_8cpp__incl.md5
@@ -0,0 +1 @@
+82c5630f754d2067da9bb3debe286cd2
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diff --git a/documentation/latex/_b_n_o08x_rpt_i_gyro_r_v_8cpp__incl.pdf b/documentation/latex/_b_n_o08x_rpt_i_gyro_r_v_8cpp__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_rpt_i_gyro_r_v_8hpp.tex b/documentation/latex/_b_n_o08x_rpt_i_gyro_r_v_8hpp.tex
new file mode 100644
index 0000000..72dba19
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_i_gyro_r_v_8hpp.tex
@@ -0,0 +1,30 @@
+\hypertarget{_b_n_o08x_rpt_i_gyro_r_v_8hpp}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\+BNO08x\+Rpt\+IGyro\+RV.hpp File Reference}
+\label{_b_n_o08x_rpt_i_gyro_r_v_8hpp}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptIGyroRV.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptIGyroRV.hpp}}
+{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+RVGeneric.\+hpp\char`\"{}}\newline
+Include dependency graph for BNO08x\+Rpt\+IGyro\+RV.\+hpp\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_rpt_i_gyro_r_v_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_rpt_i_gyro_r_v_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+class \mbox{\hyperlink{class_b_n_o08x_rpt_i_gyro_r_v}{BNO08x\+Rpt\+IGyro\+RV}}
+\begin{DoxyCompactList}\small\item\em Class to represent integrated gyro rotation vector reports. (See Ref. Manual 6.\+5.\+44) \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+\begin{DoxyAuthor}{Author}
+Myles Parfeniuk 
+\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_i_gyro_r_v_8hpp__dep__incl.md5 b/documentation/latex/_b_n_o08x_rpt_i_gyro_r_v_8hpp__dep__incl.md5
new file mode 100644
index 0000000..7cc34a8
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_i_gyro_r_v_8hpp__dep__incl.md5
@@ -0,0 +1 @@
+b8aa1097ea08acf4a4c1c47682a46662
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_i_gyro_r_v_8hpp__dep__incl.pdf b/documentation/latex/_b_n_o08x_rpt_i_gyro_r_v_8hpp__dep__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_rpt_i_gyro_r_v_8hpp_source.tex b/documentation/latex/_b_n_o08x_rpt_i_gyro_r_v_8hpp_source.tex
new file mode 100644
index 0000000..647b12a
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_i_gyro_r_v_8hpp_source.tex
@@ -0,0 +1,27 @@
+\hypertarget{_b_n_o08x_rpt_i_gyro_r_v_8hpp_source}{}\doxysection{BNO08x\+Rpt\+IGyro\+RV.\+hpp}
+\label{_b_n_o08x_rpt_i_gyro_r_v_8hpp_source}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptIGyroRV.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptIGyroRV.hpp}}
+\mbox{\hyperlink{_b_n_o08x_rpt_i_gyro_r_v_8hpp}{Go to the documentation of this file.}}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{1 }
+\DoxyCodeLine{6 \textcolor{preprocessor}{\#pragma once}}
+\DoxyCodeLine{7 }
+\DoxyCodeLine{8 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_r_v_generic_8hpp}{BNO08xRptRVGeneric.hpp}}"{}}}
+\DoxyCodeLine{9 }
+\DoxyCodeLine{15 \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x_rpt_i_gyro_r_v}{BNO08xRptIGyroRV}} : \textcolor{keyword}{public} \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_generic}{BNO08xRptRVGeneric}}}
+\DoxyCodeLine{16 \{}
+\DoxyCodeLine{17     \textcolor{keyword}{public}:}
+\DoxyCodeLine{18         \mbox{\hyperlink{class_b_n_o08x_rpt_i_gyro_r_v_a5574d6213be1d7176d981e04fb9b4ea4}{BNO08xRptIGyroRV}}(uint8\_t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, EventBits\_t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}}* \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
+\DoxyCodeLine{19             : \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_generic}{BNO08xRptRVGeneric}}(\mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
+\DoxyCodeLine{20         \{}
+\DoxyCodeLine{21         \}}
+\DoxyCodeLine{22 }
+\DoxyCodeLine{23         \textcolor{keywordtype}{void} \mbox{\hyperlink{class_b_n_o08x_rpt_i_gyro_r_v_ae85b4b091ec350432a2aeabcd3b46f55}{get}}(\mbox{\hyperlink{structbno08x__quat__t}{bno08x\_quat\_t}}\& quat, \mbox{\hyperlink{structbno08x__ang__vel__t}{bno08x\_ang\_vel\_t}}\& vel);}
+\DoxyCodeLine{24         \mbox{\hyperlink{structbno08x__ang__vel__t}{bno08x\_ang\_vel\_t}} \mbox{\hyperlink{class_b_n_o08x_rpt_i_gyro_r_v_a8e9877551635f8be5e380d47195b4061}{get\_vel}}();}
+\DoxyCodeLine{25 }
+\DoxyCodeLine{26     \textcolor{keyword}{private}:}
+\DoxyCodeLine{27         \textcolor{keywordtype}{void} update\_data(sh2\_SensorValue\_t* sensor\_val) \textcolor{keyword}{override};}
+\DoxyCodeLine{28         \mbox{\hyperlink{structbno08x__ang__vel__t}{bno08x\_ang\_vel\_t}} data\_vel;}
+\DoxyCodeLine{29         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} \textcolor{keywordtype}{char}* TAG = \textcolor{stringliteral}{"{}BNO08xRptIGyroRV"{}};}
+\DoxyCodeLine{30 \};}
+
+\end{DoxyCode}
diff --git a/documentation/latex/_b_n_o08x_rpt_linear_acceleration_8cpp.tex b/documentation/latex/_b_n_o08x_rpt_linear_acceleration_8cpp.tex
new file mode 100644
index 0000000..7cc4fc0
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_linear_acceleration_8cpp.tex
@@ -0,0 +1,17 @@
+\hypertarget{_b_n_o08x_rpt_linear_acceleration_8cpp}{}\doxysection{report/\+BNO08x\+Rpt\+Linear\+Acceleration.cpp File Reference}
+\label{_b_n_o08x_rpt_linear_acceleration_8cpp}\index{report/BNO08xRptLinearAcceleration.cpp@{report/BNO08xRptLinearAcceleration.cpp}}
+{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+Linear\+Acceleration.\+hpp\char`\"{}}\newline
+Include dependency graph for BNO08x\+Rpt\+Linear\+Acceleration.\+cpp\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_rpt_linear_acceleration_8cpp__incl}
+\end{center}
+\end{figure}
+
+
+\doxysubsection{Detailed Description}
+\begin{DoxyAuthor}{Author}
+Myles Parfeniuk 
+\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_linear_acceleration_8cpp__incl.md5 b/documentation/latex/_b_n_o08x_rpt_linear_acceleration_8cpp__incl.md5
new file mode 100644
index 0000000..e3134ca
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_linear_acceleration_8cpp__incl.md5
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+f5e411ec9bd3d63f1cb45b7eb925ea86
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diff --git a/documentation/latex/_b_n_o08x_rpt_linear_acceleration_8cpp__incl.pdf b/documentation/latex/_b_n_o08x_rpt_linear_acceleration_8cpp__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_rpt_linear_acceleration_8hpp.tex b/documentation/latex/_b_n_o08x_rpt_linear_acceleration_8hpp.tex
new file mode 100644
index 0000000..1dc5871
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_linear_acceleration_8hpp.tex
@@ -0,0 +1,30 @@
+\hypertarget{_b_n_o08x_rpt_linear_acceleration_8hpp}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\+BNO08x\+Rpt\+Linear\+Acceleration.hpp File Reference}
+\label{_b_n_o08x_rpt_linear_acceleration_8hpp}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptLinearAcceleration.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptLinearAcceleration.hpp}}
+{\ttfamily \#include \char`\"{}BNO08x\+Rpt.\+hpp\char`\"{}}\newline
+Include dependency graph for BNO08x\+Rpt\+Linear\+Acceleration.\+hpp\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_rpt_linear_acceleration_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_rpt_linear_acceleration_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+class \mbox{\hyperlink{class_b_n_o08x_rpt_linear_acceleration}{BNO08x\+Rpt\+Linear\+Acceleration}}
+\begin{DoxyCompactList}\small\item\em Class to represent linear accelerometer reports. (See Ref. Manual 6.\+5.\+10) \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+\begin{DoxyAuthor}{Author}
+Myles Parfeniuk 
+\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_linear_acceleration_8hpp__dep__incl.md5 b/documentation/latex/_b_n_o08x_rpt_linear_acceleration_8hpp__dep__incl.md5
new file mode 100644
index 0000000..f239be0
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_linear_acceleration_8hpp__dep__incl.md5
@@ -0,0 +1 @@
+39ddf17a12515588cccaf0bf170a3102
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_linear_acceleration_8hpp__dep__incl.pdf b/documentation/latex/_b_n_o08x_rpt_linear_acceleration_8hpp__dep__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_rpt_linear_acceleration_8hpp_source.tex b/documentation/latex/_b_n_o08x_rpt_linear_acceleration_8hpp_source.tex
new file mode 100644
index 0000000..aaea2b4
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_linear_acceleration_8hpp_source.tex
@@ -0,0 +1,28 @@
+\hypertarget{_b_n_o08x_rpt_linear_acceleration_8hpp_source}{}\doxysection{BNO08x\+Rpt\+Linear\+Acceleration.\+hpp}
+\label{_b_n_o08x_rpt_linear_acceleration_8hpp_source}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptLinearAcceleration.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptLinearAcceleration.hpp}}
+\mbox{\hyperlink{_b_n_o08x_rpt_linear_acceleration_8hpp}{Go to the documentation of this file.}}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{1 }
+\DoxyCodeLine{6 \textcolor{preprocessor}{\#pragma once}}
+\DoxyCodeLine{7 }
+\DoxyCodeLine{8 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_8hpp}{BNO08xRpt.hpp}}"{}}}
+\DoxyCodeLine{9 }
+\DoxyCodeLine{15 \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x_rpt_linear_acceleration}{BNO08xRptLinearAcceleration}} : \textcolor{keyword}{public} \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08xRpt}}}
+\DoxyCodeLine{16 \{}
+\DoxyCodeLine{17     \textcolor{keyword}{public}:}
+\DoxyCodeLine{18         \mbox{\hyperlink{class_b_n_o08x_rpt_linear_acceleration_ad63032b796912c9be563a5e6da801c59}{BNO08xRptLinearAcceleration}}(uint8\_t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, EventBits\_t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}}* \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
+\DoxyCodeLine{19             : \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08xRpt}}(\mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
+\DoxyCodeLine{20         \{}
+\DoxyCodeLine{21         \}}
+\DoxyCodeLine{22 }
+\DoxyCodeLine{23         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_rpt_linear_acceleration_a4584a181ae543919a851f8f288a316ed}{enable}}(}
+\DoxyCodeLine{24                 uint32\_t time\_between\_reports, sh2\_SensorConfig\_t sensor\_cfg = BNO08xPrivateTypes::default\_sensor\_cfg) \textcolor{keyword}{override};}
+\DoxyCodeLine{25         \mbox{\hyperlink{structbno08x__accel__t}{bno08x\_accel\_t}} \mbox{\hyperlink{class_b_n_o08x_rpt_linear_acceleration_aac2eeab16ffbe7a81ea26a21c4e453d0}{get}}();}
+\DoxyCodeLine{26 }
+\DoxyCodeLine{27     \textcolor{keyword}{private}:}
+\DoxyCodeLine{28         \textcolor{keywordtype}{void} update\_data(sh2\_SensorValue\_t* sensor\_val) \textcolor{keyword}{override};}
+\DoxyCodeLine{29         \mbox{\hyperlink{structbno08x__accel__t}{bno08x\_accel\_t}} data;}
+\DoxyCodeLine{30         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} \textcolor{keywordtype}{char}* TAG = \textcolor{stringliteral}{"{}BNO08xRptLinearAcceleration"{}};}
+\DoxyCodeLine{31 \};}
+
+\end{DoxyCode}
diff --git a/documentation/latex/_b_n_o08x_rpt_r_v_8cpp.tex b/documentation/latex/_b_n_o08x_rpt_r_v_8cpp.tex
new file mode 100644
index 0000000..a273026
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_r_v_8cpp.tex
@@ -0,0 +1,17 @@
+\hypertarget{_b_n_o08x_rpt_r_v_8cpp}{}\doxysection{report/\+BNO08x\+Rpt\+RV.cpp File Reference}
+\label{_b_n_o08x_rpt_r_v_8cpp}\index{report/BNO08xRptRV.cpp@{report/BNO08xRptRV.cpp}}
+{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+RV.\+hpp\char`\"{}}\newline
+Include dependency graph for BNO08x\+Rpt\+RV.\+cpp\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_rpt_r_v_8cpp__incl}
+\end{center}
+\end{figure}
+
+
+\doxysubsection{Detailed Description}
+\begin{DoxyAuthor}{Author}
+Myles Parfeniuk 
+\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_r_v_8cpp__incl.md5 b/documentation/latex/_b_n_o08x_rpt_r_v_8cpp__incl.md5
new file mode 100644
index 0000000..5807186
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_r_v_8cpp__incl.md5
@@ -0,0 +1 @@
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diff --git a/documentation/latex/_b_n_o08x_rpt_r_v_8hpp.tex b/documentation/latex/_b_n_o08x_rpt_r_v_8hpp.tex
new file mode 100644
index 0000000..eed6dac
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_r_v_8hpp.tex
@@ -0,0 +1,30 @@
+\hypertarget{_b_n_o08x_rpt_r_v_8hpp}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\+BNO08x\+Rpt\+RV.hpp File Reference}
+\label{_b_n_o08x_rpt_r_v_8hpp}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptRV.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptRV.hpp}}
+{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+RVGeneric.\+hpp\char`\"{}}\newline
+Include dependency graph for BNO08x\+Rpt\+RV.\+hpp\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_rpt_r_v_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_rpt_r_v_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+class \mbox{\hyperlink{class_b_n_o08x_rpt_r_v}{BNO08x\+Rpt\+RV}}
+\begin{DoxyCompactList}\small\item\em Class to represent rotation vector reports. (See Ref. Manual 6.\+5.\+18) \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+\begin{DoxyAuthor}{Author}
+Myles Parfeniuk 
+\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_r_v_8hpp__dep__incl.md5 b/documentation/latex/_b_n_o08x_rpt_r_v_8hpp__dep__incl.md5
new file mode 100644
index 0000000..6cc7ef5
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_r_v_8hpp__dep__incl.md5
@@ -0,0 +1 @@
+fdd200c6ea60e31220913a4c043241eb
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_r_v_8hpp__dep__incl.pdf b/documentation/latex/_b_n_o08x_rpt_r_v_8hpp__dep__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_rpt_r_v_8hpp_source.tex b/documentation/latex/_b_n_o08x_rpt_r_v_8hpp_source.tex
new file mode 100644
index 0000000..edb582e
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_r_v_8hpp_source.tex
@@ -0,0 +1,27 @@
+\hypertarget{_b_n_o08x_rpt_r_v_8hpp_source}{}\doxysection{BNO08x\+Rpt\+RV.\+hpp}
+\label{_b_n_o08x_rpt_r_v_8hpp_source}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptRV.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptRV.hpp}}
+\mbox{\hyperlink{_b_n_o08x_rpt_r_v_8hpp}{Go to the documentation of this file.}}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{1 }
+\DoxyCodeLine{6 \textcolor{preprocessor}{\#pragma once}}
+\DoxyCodeLine{7 }
+\DoxyCodeLine{8 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_r_v_generic_8hpp}{BNO08xRptRVGeneric.hpp}}"{}}}
+\DoxyCodeLine{9 }
+\DoxyCodeLine{15 \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x_rpt_r_v}{BNO08xRptRV}} : \textcolor{keyword}{public} \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_generic}{BNO08xRptRVGeneric}}}
+\DoxyCodeLine{16 \{}
+\DoxyCodeLine{17     \textcolor{keyword}{public}:}
+\DoxyCodeLine{18         \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_a3c4173b40339de15cb7f304f73ae53f3}{BNO08xRptRV}}(uint8\_t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, EventBits\_t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}}* \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
+\DoxyCodeLine{19             : \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_generic}{BNO08xRptRVGeneric}}(\mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
+\DoxyCodeLine{20         \{}
+\DoxyCodeLine{21         \}}
+\DoxyCodeLine{22 }
+\DoxyCodeLine{23         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_aab42904ebfc698d0af0944deaafcd226}{tare}}(\textcolor{keywordtype}{bool} x = \textcolor{keyword}{true}, \textcolor{keywordtype}{bool} y = \textcolor{keyword}{true}, \textcolor{keywordtype}{bool} z = \textcolor{keyword}{true});}
+\DoxyCodeLine{24         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_aa152921434b50a95977b0a4f925abec0}{tare\_persist}}();}
+\DoxyCodeLine{25         \textcolor{keywordtype}{void} \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_a920fb5940c13870657c48538569aff87}{tare\_clear}}();}
+\DoxyCodeLine{26 }
+\DoxyCodeLine{27     \textcolor{keyword}{private}:}
+\DoxyCodeLine{28         \textcolor{keywordtype}{void} update\_data(sh2\_SensorValue\_t* sensor\_val) \textcolor{keyword}{override};}
+\DoxyCodeLine{29         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} \textcolor{keywordtype}{char}* TAG = \textcolor{stringliteral}{"{}BNO08xRptRV"{}};}
+\DoxyCodeLine{30 \};}
+
+\end{DoxyCode}
diff --git a/documentation/latex/_b_n_o08x_rpt_r_v_generic_8cpp.tex b/documentation/latex/_b_n_o08x_rpt_r_v_generic_8cpp.tex
new file mode 100644
index 0000000..e1ac52d
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_r_v_generic_8cpp.tex
@@ -0,0 +1,17 @@
+\hypertarget{_b_n_o08x_rpt_r_v_generic_8cpp}{}\doxysection{report/\+BNO08x\+Rpt\+RVGeneric.cpp File Reference}
+\label{_b_n_o08x_rpt_r_v_generic_8cpp}\index{report/BNO08xRptRVGeneric.cpp@{report/BNO08xRptRVGeneric.cpp}}
+{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+RVGeneric.\+hpp\char`\"{}}\newline
+Include dependency graph for BNO08x\+Rpt\+RVGeneric.\+cpp\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_rpt_r_v_generic_8cpp__incl}
+\end{center}
+\end{figure}
+
+
+\doxysubsection{Detailed Description}
+\begin{DoxyAuthor}{Author}
+Myles Parfeniuk 
+\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_r_v_generic_8cpp__incl.md5 b/documentation/latex/_b_n_o08x_rpt_r_v_generic_8cpp__incl.md5
new file mode 100644
index 0000000..85b9c9b
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_r_v_generic_8cpp__incl.md5
@@ -0,0 +1 @@
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diff --git a/documentation/latex/_b_n_o08x_rpt_r_v_generic_8cpp__incl.pdf b/documentation/latex/_b_n_o08x_rpt_r_v_generic_8cpp__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_rpt_r_v_generic_8hpp.tex b/documentation/latex/_b_n_o08x_rpt_r_v_generic_8hpp.tex
new file mode 100644
index 0000000..5cbca1e
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_r_v_generic_8hpp.tex
@@ -0,0 +1,30 @@
+\hypertarget{_b_n_o08x_rpt_r_v_generic_8hpp}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\+BNO08x\+Rpt\+RVGeneric.hpp File Reference}
+\label{_b_n_o08x_rpt_r_v_generic_8hpp}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptRVGeneric.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptRVGeneric.hpp}}
+{\ttfamily \#include \char`\"{}BNO08x\+Rpt.\+hpp\char`\"{}}\newline
+Include dependency graph for BNO08x\+Rpt\+RVGeneric.\+hpp\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_rpt_r_v_generic_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_rpt_r_v_generic_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+class \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_generic}{BNO08x\+Rpt\+RVGeneric}}
+\begin{DoxyCompactList}\small\item\em Class to represent rotation vector reports. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+\begin{DoxyAuthor}{Author}
+Myles Parfeniuk 
+\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_r_v_generic_8hpp__dep__incl.md5 b/documentation/latex/_b_n_o08x_rpt_r_v_generic_8hpp__dep__incl.md5
new file mode 100644
index 0000000..b3fe1a6
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_r_v_generic_8hpp__dep__incl.md5
@@ -0,0 +1 @@
+8a429548ee515d0c8e870c3bc8b84496
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_r_v_generic_8hpp__dep__incl.pdf b/documentation/latex/_b_n_o08x_rpt_r_v_generic_8hpp__dep__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_rpt_r_v_generic_8hpp_source.tex b/documentation/latex/_b_n_o08x_rpt_r_v_generic_8hpp_source.tex
new file mode 100644
index 0000000..32295de
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_r_v_generic_8hpp_source.tex
@@ -0,0 +1,28 @@
+\hypertarget{_b_n_o08x_rpt_r_v_generic_8hpp_source}{}\doxysection{BNO08x\+Rpt\+RVGeneric.\+hpp}
+\label{_b_n_o08x_rpt_r_v_generic_8hpp_source}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptRVGeneric.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptRVGeneric.hpp}}
+\mbox{\hyperlink{_b_n_o08x_rpt_r_v_generic_8hpp}{Go to the documentation of this file.}}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{1 }
+\DoxyCodeLine{6 \textcolor{preprocessor}{\#pragma once}}
+\DoxyCodeLine{7 }
+\DoxyCodeLine{8 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_8hpp}{BNO08xRpt.hpp}}"{}}}
+\DoxyCodeLine{9 }
+\DoxyCodeLine{15 \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x_rpt_r_v_generic}{BNO08xRptRVGeneric}} : \textcolor{keyword}{public} \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08xRpt}}}
+\DoxyCodeLine{16 \{}
+\DoxyCodeLine{17     \textcolor{keyword}{public}:}
+\DoxyCodeLine{18         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_generic_a17c6cf89a5f7bf5c3fb9f8ff3ed74e8e}{enable}}(}
+\DoxyCodeLine{19                 uint32\_t time\_between\_reports, sh2\_SensorConfig\_t sensor\_cfg = BNO08xPrivateTypes::default\_sensor\_cfg) \textcolor{keyword}{override};}
+\DoxyCodeLine{20         \mbox{\hyperlink{structbno08x__quat__t}{bno08x\_quat\_t}} \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_generic_afc2accdd72076cd758f9f9108351d7a8}{get\_quat}}();}
+\DoxyCodeLine{21         \mbox{\hyperlink{structbno08x__euler__angle__t}{bno08x\_euler\_angle\_t}} \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_generic_abbaaa6737d578e056f93687d4ad780f7}{get\_euler}}(\textcolor{keywordtype}{bool} in\_degrees = \textcolor{keyword}{true});}
+\DoxyCodeLine{22 }
+\DoxyCodeLine{23     \textcolor{keyword}{protected}:}
+\DoxyCodeLine{24         \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_generic_a7c35188ccfb976cba1b7e4626022987c}{BNO08xRptRVGeneric}}(uint8\_t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, EventBits\_t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}}* \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
+\DoxyCodeLine{25             : \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08xRpt}}(\mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
+\DoxyCodeLine{26         \{}
+\DoxyCodeLine{27         \}}
+\DoxyCodeLine{28         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_generic_ab059dded7c0a7c922e9c624baac34ecd}{tare}}(\textcolor{keywordtype}{bool} x, \textcolor{keywordtype}{bool} y, \textcolor{keywordtype}{bool} z, sh2\_TareBasis\_t basis);}
+\DoxyCodeLine{29         \mbox{\hyperlink{structbno08x__quat__t}{bno08x\_quat\_t}} \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_generic_ad5174665e1c943291110630dc461caff}{data}};}
+\DoxyCodeLine{30         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} \textcolor{keywordtype}{char}* \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_generic_a5315a83517cd15397842254a9926b1c4}{TAG}} = \textcolor{stringliteral}{"{}BNO08xRptRVGeneric"{}};}
+\DoxyCodeLine{31 \};}
+
+\end{DoxyCode}
diff --git a/documentation/latex/_b_n_o08x_rpt_r_v_geomag_8cpp.tex b/documentation/latex/_b_n_o08x_rpt_r_v_geomag_8cpp.tex
new file mode 100644
index 0000000..2c27667
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_r_v_geomag_8cpp.tex
@@ -0,0 +1,17 @@
+\hypertarget{_b_n_o08x_rpt_r_v_geomag_8cpp}{}\doxysection{report/\+BNO08x\+Rpt\+RVGeomag.cpp File Reference}
+\label{_b_n_o08x_rpt_r_v_geomag_8cpp}\index{report/BNO08xRptRVGeomag.cpp@{report/BNO08xRptRVGeomag.cpp}}
+{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+RVGeomag.\+hpp\char`\"{}}\newline
+Include dependency graph for BNO08x\+Rpt\+RVGeomag.\+cpp\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_rpt_r_v_geomag_8cpp__incl}
+\end{center}
+\end{figure}
+
+
+\doxysubsection{Detailed Description}
+\begin{DoxyAuthor}{Author}
+Myles Parfeniuk 
+\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_r_v_geomag_8cpp__incl.md5 b/documentation/latex/_b_n_o08x_rpt_r_v_geomag_8cpp__incl.md5
new file mode 100644
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diff --git a/documentation/latex/_b_n_o08x_rpt_r_v_geomag_8hpp.tex b/documentation/latex/_b_n_o08x_rpt_r_v_geomag_8hpp.tex
new file mode 100644
index 0000000..3a2879a
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_r_v_geomag_8hpp.tex
@@ -0,0 +1,30 @@
+\hypertarget{_b_n_o08x_rpt_r_v_geomag_8hpp}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\+BNO08x\+Rpt\+RVGeomag.hpp File Reference}
+\label{_b_n_o08x_rpt_r_v_geomag_8hpp}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptRVGeomag.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptRVGeomag.hpp}}
+{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+RVGeneric.\+hpp\char`\"{}}\newline
+Include dependency graph for BNO08x\+Rpt\+RVGeomag.\+hpp\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_rpt_r_v_geomag_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_rpt_r_v_geomag_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+class \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_geomag}{BNO08x\+Rpt\+RVGeomag}}
+\begin{DoxyCompactList}\small\item\em Class to represent geomagnetic rotation vector reports. (See Ref. Manual 6.\+5.\+20) \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+\begin{DoxyAuthor}{Author}
+Myles Parfeniuk 
+\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_r_v_geomag_8hpp__dep__incl.md5 b/documentation/latex/_b_n_o08x_rpt_r_v_geomag_8hpp__dep__incl.md5
new file mode 100644
index 0000000..96a9e95
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_r_v_geomag_8hpp__dep__incl.md5
@@ -0,0 +1 @@
+b165ee51d2233033aa99f1885f832deb
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_r_v_geomag_8hpp__dep__incl.pdf b/documentation/latex/_b_n_o08x_rpt_r_v_geomag_8hpp__dep__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_rpt_r_v_geomag_8hpp_source.tex b/documentation/latex/_b_n_o08x_rpt_r_v_geomag_8hpp_source.tex
new file mode 100644
index 0000000..ddde298
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_r_v_geomag_8hpp_source.tex
@@ -0,0 +1,27 @@
+\hypertarget{_b_n_o08x_rpt_r_v_geomag_8hpp_source}{}\doxysection{BNO08x\+Rpt\+RVGeomag.\+hpp}
+\label{_b_n_o08x_rpt_r_v_geomag_8hpp_source}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptRVGeomag.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptRVGeomag.hpp}}
+\mbox{\hyperlink{_b_n_o08x_rpt_r_v_geomag_8hpp}{Go to the documentation of this file.}}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{1 }
+\DoxyCodeLine{6 \textcolor{preprocessor}{\#pragma once}}
+\DoxyCodeLine{7 }
+\DoxyCodeLine{8 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_r_v_generic_8hpp}{BNO08xRptRVGeneric.hpp}}"{}}}
+\DoxyCodeLine{9 }
+\DoxyCodeLine{15 \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x_rpt_r_v_geomag}{BNO08xRptRVGeomag}} : \textcolor{keyword}{public} \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_generic}{BNO08xRptRVGeneric}}}
+\DoxyCodeLine{16 \{}
+\DoxyCodeLine{17     \textcolor{keyword}{public}:}
+\DoxyCodeLine{18         \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_geomag_a32bd70c7777973497b6d1b7f960bea0b}{BNO08xRptRVGeomag}}(uint8\_t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, EventBits\_t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}}* \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
+\DoxyCodeLine{19             : \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_generic}{BNO08xRptRVGeneric}}(\mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
+\DoxyCodeLine{20         \{}
+\DoxyCodeLine{21         \}}
+\DoxyCodeLine{22 }
+\DoxyCodeLine{23         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_geomag_a622f024808e368b09c41ca1b5118a874}{tare}}(\textcolor{keywordtype}{bool} x = \textcolor{keyword}{true}, \textcolor{keywordtype}{bool} y = \textcolor{keyword}{true}, \textcolor{keywordtype}{bool} z = \textcolor{keyword}{true});}
+\DoxyCodeLine{24         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_geomag_a57305f5f72067a56b037cf766fa2ee63}{tare\_persist}}();}
+\DoxyCodeLine{25         \textcolor{keywordtype}{void} \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_geomag_a2c62a41402f167a49025914a9800d062}{tare\_clear}}();}
+\DoxyCodeLine{26 }
+\DoxyCodeLine{27     \textcolor{keyword}{private}:}
+\DoxyCodeLine{28         \textcolor{keywordtype}{void} update\_data(sh2\_SensorValue\_t* sensor\_val) \textcolor{keyword}{override};}
+\DoxyCodeLine{29         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} \textcolor{keywordtype}{char}* TAG = \textcolor{stringliteral}{"{}BNO08xRptRVGeomag"{}};}
+\DoxyCodeLine{30 \};}
+
+\end{DoxyCode}
diff --git a/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8cpp.tex b/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8cpp.tex
new file mode 100644
index 0000000..a140ea7
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8cpp.tex
@@ -0,0 +1,17 @@
+\hypertarget{_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8cpp}{}\doxysection{report/\+BNO08x\+Rpt\+Raw\+MEMSAccelerometer.cpp File Reference}
+\label{_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8cpp}\index{report/BNO08xRptRawMEMSAccelerometer.cpp@{report/BNO08xRptRawMEMSAccelerometer.cpp}}
+{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+Raw\+MEMSAccelerometer.\+hpp\char`\"{}}\newline
+Include dependency graph for BNO08x\+Rpt\+Raw\+MEMSAccelerometer.\+cpp\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8cpp__incl}
+\end{center}
+\end{figure}
+
+
+\doxysubsection{Detailed Description}
+\begin{DoxyAuthor}{Author}
+Myles Parfeniuk 
+\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8cpp__incl.md5 b/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8cpp__incl.md5
new file mode 100644
index 0000000..5cbebb5
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8cpp__incl.md5
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diff --git a/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8cpp__incl.pdf b/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8cpp__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8hpp.tex b/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8hpp.tex
new file mode 100644
index 0000000..964607b
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8hpp.tex
@@ -0,0 +1,30 @@
+\hypertarget{_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8hpp}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\+BNO08x\+Rpt\+Raw\+MEMSAccelerometer.hpp File Reference}
+\label{_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8hpp}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptRawMEMSAccelerometer.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptRawMEMSAccelerometer.hpp}}
+{\ttfamily \#include \char`\"{}BNO08x\+Rpt.\+hpp\char`\"{}}\newline
+Include dependency graph for BNO08x\+Rpt\+Raw\+MEMSAccelerometer.\+hpp\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+class \mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer}{BNO08x\+Rpt\+Raw\+MEMSAccelerometer}}
+\begin{DoxyCompactList}\small\item\em Class to represent raw accelerometer reports. (See Ref. Manual 6.\+5.\+8) \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+\begin{DoxyAuthor}{Author}
+Myles Parfeniuk 
+\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8hpp__dep__incl.md5 b/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8hpp__dep__incl.md5
new file mode 100644
index 0000000..e109ef3
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8hpp__dep__incl.md5
@@ -0,0 +1 @@
+2942eab497fbee782d2edf26e4bfc065
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8hpp__dep__incl.pdf b/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8hpp__dep__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8hpp_source.tex b/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8hpp_source.tex
new file mode 100644
index 0000000..bc66236
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8hpp_source.tex
@@ -0,0 +1,28 @@
+\hypertarget{_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8hpp_source}{}\doxysection{BNO08x\+Rpt\+Raw\+MEMSAccelerometer.\+hpp}
+\label{_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8hpp_source}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptRawMEMSAccelerometer.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptRawMEMSAccelerometer.hpp}}
+\mbox{\hyperlink{_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8hpp}{Go to the documentation of this file.}}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{1 }
+\DoxyCodeLine{6 \textcolor{preprocessor}{\#pragma once}}
+\DoxyCodeLine{7 }
+\DoxyCodeLine{8 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_8hpp}{BNO08xRpt.hpp}}"{}}}
+\DoxyCodeLine{9 }
+\DoxyCodeLine{15 \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer}{BNO08xRptRawMEMSAccelerometer}} : \textcolor{keyword}{public} \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08xRpt}}}
+\DoxyCodeLine{16 \{}
+\DoxyCodeLine{17     \textcolor{keyword}{public}:}
+\DoxyCodeLine{18         \mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_a1a7c70a4c2d2004fe827dfa834d789e7}{BNO08xRptRawMEMSAccelerometer}}(uint8\_t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, EventBits\_t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}}* \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
+\DoxyCodeLine{19             : \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08xRpt}}(\mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
+\DoxyCodeLine{20         \{}
+\DoxyCodeLine{21         \}}
+\DoxyCodeLine{22 }
+\DoxyCodeLine{23         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_a3cfc735c048700fe79a5674ad92b4b03}{enable}}(}
+\DoxyCodeLine{24                 uint32\_t time\_between\_reports, sh2\_SensorConfig\_t sensor\_cfg = BNO08xPrivateTypes::default\_sensor\_cfg) \textcolor{keyword}{override};}
+\DoxyCodeLine{25         \mbox{\hyperlink{structbno08x__raw__accel__t}{bno08x\_raw\_accel\_t}} \mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_ae72428b3455327ecec5ee1c6ad065d56}{get}}();}
+\DoxyCodeLine{26 }
+\DoxyCodeLine{27     \textcolor{keyword}{private}:}
+\DoxyCodeLine{28         \textcolor{keywordtype}{void} update\_data(sh2\_SensorValue\_t* sensor\_val) \textcolor{keyword}{override};}
+\DoxyCodeLine{29         \mbox{\hyperlink{structbno08x__raw__accel__t}{bno08x\_raw\_accel\_t}} data;}
+\DoxyCodeLine{30         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} \textcolor{keywordtype}{char}* TAG = \textcolor{stringliteral}{"{}BNO08xRptRawMEMSAccelerometer"{}};}
+\DoxyCodeLine{31 \};}
+
+\end{DoxyCode}
diff --git a/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_gyro_8cpp.tex b/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_gyro_8cpp.tex
new file mode 100644
index 0000000..590601f
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_gyro_8cpp.tex
@@ -0,0 +1,17 @@
+\hypertarget{_b_n_o08x_rpt_raw_m_e_m_s_gyro_8cpp}{}\doxysection{report/\+BNO08x\+Rpt\+Raw\+MEMSGyro.cpp File Reference}
+\label{_b_n_o08x_rpt_raw_m_e_m_s_gyro_8cpp}\index{report/BNO08xRptRawMEMSGyro.cpp@{report/BNO08xRptRawMEMSGyro.cpp}}
+{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+Raw\+MEMSGyro.\+hpp\char`\"{}}\newline
+Include dependency graph for BNO08x\+Rpt\+Raw\+MEMSGyro.\+cpp\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_rpt_raw_m_e_m_s_gyro_8cpp__incl}
+\end{center}
+\end{figure}
+
+
+\doxysubsection{Detailed Description}
+\begin{DoxyAuthor}{Author}
+Myles Parfeniuk 
+\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_gyro_8cpp__incl.md5 b/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_gyro_8cpp__incl.md5
new file mode 100644
index 0000000..a46c607
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_gyro_8cpp__incl.md5
@@ -0,0 +1 @@
+ff98a16bbfa5892692448fcb931326ff
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_gyro_8cpp__incl.pdf b/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_gyro_8cpp__incl.pdf
new file mode 100644
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diff --git a/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_gyro_8hpp.tex b/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_gyro_8hpp.tex
new file mode 100644
index 0000000..08c45a5
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_gyro_8hpp.tex
@@ -0,0 +1,30 @@
+\hypertarget{_b_n_o08x_rpt_raw_m_e_m_s_gyro_8hpp}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\+BNO08x\+Rpt\+Raw\+MEMSGyro.hpp File Reference}
+\label{_b_n_o08x_rpt_raw_m_e_m_s_gyro_8hpp}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptRawMEMSGyro.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptRawMEMSGyro.hpp}}
+{\ttfamily \#include \char`\"{}BNO08x\+Rpt.\+hpp\char`\"{}}\newline
+Include dependency graph for BNO08x\+Rpt\+Raw\+MEMSGyro.\+hpp\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_rpt_raw_m_e_m_s_gyro_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_rpt_raw_m_e_m_s_gyro_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+class \mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_gyro}{BNO08x\+Rpt\+Raw\+MEMSGyro}}
+\begin{DoxyCompactList}\small\item\em Class to represent raw gyro reports. (See Ref. Manual 6.\+5.\+12) \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+\begin{DoxyAuthor}{Author}
+Myles Parfeniuk 
+\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_gyro_8hpp__dep__incl.md5 b/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_gyro_8hpp__dep__incl.md5
new file mode 100644
index 0000000..068e598
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_gyro_8hpp__dep__incl.md5
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_gyro_8hpp__dep__incl.pdf b/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_gyro_8hpp__dep__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_gyro_8hpp_source.tex b/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_gyro_8hpp_source.tex
new file mode 100644
index 0000000..99ae644
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_gyro_8hpp_source.tex
@@ -0,0 +1,28 @@
+\hypertarget{_b_n_o08x_rpt_raw_m_e_m_s_gyro_8hpp_source}{}\doxysection{BNO08x\+Rpt\+Raw\+MEMSGyro.\+hpp}
+\label{_b_n_o08x_rpt_raw_m_e_m_s_gyro_8hpp_source}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptRawMEMSGyro.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptRawMEMSGyro.hpp}}
+\mbox{\hyperlink{_b_n_o08x_rpt_raw_m_e_m_s_gyro_8hpp}{Go to the documentation of this file.}}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{1 }
+\DoxyCodeLine{6 \textcolor{preprocessor}{\#pragma once}}
+\DoxyCodeLine{7 }
+\DoxyCodeLine{8 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_8hpp}{BNO08xRpt.hpp}}"{}}}
+\DoxyCodeLine{9 }
+\DoxyCodeLine{15 \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_gyro}{BNO08xRptRawMEMSGyro}} : \textcolor{keyword}{public} \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08xRpt}}}
+\DoxyCodeLine{16 \{}
+\DoxyCodeLine{17     \textcolor{keyword}{public}:}
+\DoxyCodeLine{18         \mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_gyro_a9ad8a6a41c6680302f5ddb8154360ba2}{BNO08xRptRawMEMSGyro}}(uint8\_t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, EventBits\_t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}}* \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
+\DoxyCodeLine{19             : \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08xRpt}}(\mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
+\DoxyCodeLine{20         \{}
+\DoxyCodeLine{21         \}}
+\DoxyCodeLine{22 }
+\DoxyCodeLine{23         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_gyro_ae872f24befd81352f812bc998acb573d}{enable}}(}
+\DoxyCodeLine{24                 uint32\_t time\_between\_reports, sh2\_SensorConfig\_t sensor\_cfg = BNO08xPrivateTypes::default\_sensor\_cfg) \textcolor{keyword}{override};}
+\DoxyCodeLine{25         \mbox{\hyperlink{structbno08x__raw__gyro__t}{bno08x\_raw\_gyro\_t}} \mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_gyro_ac9a43087ac86ca6d2309adae996747d5}{get}}();}
+\DoxyCodeLine{26 }
+\DoxyCodeLine{27     \textcolor{keyword}{private}:}
+\DoxyCodeLine{28         \textcolor{keywordtype}{void} update\_data(sh2\_SensorValue\_t* sensor\_val) \textcolor{keyword}{override};}
+\DoxyCodeLine{29         \mbox{\hyperlink{structbno08x__raw__gyro__t}{bno08x\_raw\_gyro\_t}} data;}
+\DoxyCodeLine{30         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} \textcolor{keywordtype}{char}* TAG = \textcolor{stringliteral}{"{}BNO08xRptRawMEMSGyro"{}};}
+\DoxyCodeLine{31 \};}
+
+\end{DoxyCode}
diff --git a/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8cpp.tex b/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8cpp.tex
new file mode 100644
index 0000000..4cb6906
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8cpp.tex
@@ -0,0 +1,17 @@
+\hypertarget{_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8cpp}{}\doxysection{report/\+BNO08x\+Rpt\+Raw\+MEMSMagnetometer.cpp File Reference}
+\label{_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8cpp}\index{report/BNO08xRptRawMEMSMagnetometer.cpp@{report/BNO08xRptRawMEMSMagnetometer.cpp}}
+{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+Raw\+MEMSMagnetometer.\+hpp\char`\"{}}\newline
+Include dependency graph for BNO08x\+Rpt\+Raw\+MEMSMagnetometer.\+cpp\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8cpp__incl}
+\end{center}
+\end{figure}
+
+
+\doxysubsection{Detailed Description}
+\begin{DoxyAuthor}{Author}
+Myles Parfeniuk 
+\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8cpp__incl.md5 b/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8cpp__incl.md5
new file mode 100644
index 0000000..59f8f55
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8cpp__incl.md5
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diff --git a/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8hpp.tex b/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8hpp.tex
new file mode 100644
index 0000000..95d0b7b
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8hpp.tex
@@ -0,0 +1,30 @@
+\hypertarget{_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8hpp}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\+BNO08x\+Rpt\+Raw\+MEMSMagnetometer.hpp File Reference}
+\label{_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8hpp}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptRawMEMSMagnetometer.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptRawMEMSMagnetometer.hpp}}
+{\ttfamily \#include \char`\"{}BNO08x\+Rpt.\+hpp\char`\"{}}\newline
+Include dependency graph for BNO08x\+Rpt\+Raw\+MEMSMagnetometer.\+hpp\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+class \mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer}{BNO08x\+Rpt\+Raw\+MEMSMagnetometer}}
+\begin{DoxyCompactList}\small\item\em Class to represent raw magnetometer reports. (See Ref. Manual 6.\+5.\+15) \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+\begin{DoxyAuthor}{Author}
+Myles Parfeniuk 
+\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8hpp__dep__incl.md5 b/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8hpp__dep__incl.md5
new file mode 100644
index 0000000..fa52708
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8hpp__dep__incl.md5
@@ -0,0 +1 @@
+c4d762eb2feba2510582008e2008ea21
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8hpp__dep__incl.pdf b/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8hpp__dep__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8hpp_source.tex b/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8hpp_source.tex
new file mode 100644
index 0000000..4bbd115
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8hpp_source.tex
@@ -0,0 +1,28 @@
+\hypertarget{_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8hpp_source}{}\doxysection{BNO08x\+Rpt\+Raw\+MEMSMagnetometer.\+hpp}
+\label{_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8hpp_source}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptRawMEMSMagnetometer.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptRawMEMSMagnetometer.hpp}}
+\mbox{\hyperlink{_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8hpp}{Go to the documentation of this file.}}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{1 }
+\DoxyCodeLine{6 \textcolor{preprocessor}{\#pragma once}}
+\DoxyCodeLine{7 }
+\DoxyCodeLine{8 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_8hpp}{BNO08xRpt.hpp}}"{}}}
+\DoxyCodeLine{9 }
+\DoxyCodeLine{15 \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer}{BNO08xRptRawMEMSMagnetometer}} : \textcolor{keyword}{public} \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08xRpt}}}
+\DoxyCodeLine{16 \{}
+\DoxyCodeLine{17     \textcolor{keyword}{public}:}
+\DoxyCodeLine{18         \mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_a1033eaa9b7533a381781c8a750bac04b}{BNO08xRptRawMEMSMagnetometer}}(uint8\_t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, EventBits\_t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}}* \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
+\DoxyCodeLine{19             : \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08xRpt}}(\mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
+\DoxyCodeLine{20         \{}
+\DoxyCodeLine{21         \}}
+\DoxyCodeLine{22 }
+\DoxyCodeLine{23         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_a92832fd0bff6abddbbd87779de5b57fb}{enable}}(}
+\DoxyCodeLine{24                 uint32\_t time\_between\_reports, sh2\_SensorConfig\_t sensor\_cfg = BNO08xPrivateTypes::default\_sensor\_cfg) \textcolor{keyword}{override};}
+\DoxyCodeLine{25         \mbox{\hyperlink{structbno08x__raw__magf__t}{bno08x\_raw\_magf\_t}} \mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_a44247c8dbd3376ff81599c192b7dfc71}{get}}();}
+\DoxyCodeLine{26 }
+\DoxyCodeLine{27     \textcolor{keyword}{private}:}
+\DoxyCodeLine{28         \textcolor{keywordtype}{void} update\_data(sh2\_SensorValue\_t* sensor\_val) \textcolor{keyword}{override};}
+\DoxyCodeLine{29         \mbox{\hyperlink{structbno08x__raw__magf__t}{bno08x\_raw\_magf\_t}} data;}
+\DoxyCodeLine{30         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} \textcolor{keywordtype}{char}* TAG = \textcolor{stringliteral}{"{}BNO08xRptRawMEMSMagnetometer"{}};}
+\DoxyCodeLine{31 \};}
+
+\end{DoxyCode}
diff --git a/documentation/latex/_b_n_o08x_rpt_shake_detector_8cpp.tex b/documentation/latex/_b_n_o08x_rpt_shake_detector_8cpp.tex
new file mode 100644
index 0000000..af62a42
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_shake_detector_8cpp.tex
@@ -0,0 +1,17 @@
+\hypertarget{_b_n_o08x_rpt_shake_detector_8cpp}{}\doxysection{report/\+BNO08x\+Rpt\+Shake\+Detector.cpp File Reference}
+\label{_b_n_o08x_rpt_shake_detector_8cpp}\index{report/BNO08xRptShakeDetector.cpp@{report/BNO08xRptShakeDetector.cpp}}
+{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+Shake\+Detector.\+hpp\char`\"{}}\newline
+Include dependency graph for BNO08x\+Rpt\+Shake\+Detector.\+cpp\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_rpt_shake_detector_8cpp__incl}
+\end{center}
+\end{figure}
+
+
+\doxysubsection{Detailed Description}
+\begin{DoxyAuthor}{Author}
+Myles Parfeniuk 
+\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_shake_detector_8cpp__incl.md5 b/documentation/latex/_b_n_o08x_rpt_shake_detector_8cpp__incl.md5
new file mode 100644
index 0000000..11fbc71
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_shake_detector_8cpp__incl.md5
@@ -0,0 +1 @@
+e504dc11feedc75eed90c89ab0c479b2
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_shake_detector_8cpp__incl.pdf b/documentation/latex/_b_n_o08x_rpt_shake_detector_8cpp__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_rpt_shake_detector_8hpp.tex b/documentation/latex/_b_n_o08x_rpt_shake_detector_8hpp.tex
new file mode 100644
index 0000000..9b3eea0
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_shake_detector_8hpp.tex
@@ -0,0 +1,30 @@
+\hypertarget{_b_n_o08x_rpt_shake_detector_8hpp}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\+BNO08x\+Rpt\+Shake\+Detector.hpp File Reference}
+\label{_b_n_o08x_rpt_shake_detector_8hpp}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptShakeDetector.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptShakeDetector.hpp}}
+{\ttfamily \#include \char`\"{}BNO08x\+Rpt.\+hpp\char`\"{}}\newline
+Include dependency graph for BNO08x\+Rpt\+Shake\+Detector.\+hpp\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_rpt_shake_detector_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_rpt_shake_detector_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+class \mbox{\hyperlink{class_b_n_o08x_rpt_shake_detector}{BNO08x\+Rpt\+Shake\+Detector}}
+\begin{DoxyCompactList}\small\item\em Class to represent shake detector reports. (See Ref. Manual 6.\+5.\+32) \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+\begin{DoxyAuthor}{Author}
+Myles Parfeniuk 
+\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_shake_detector_8hpp__dep__incl.md5 b/documentation/latex/_b_n_o08x_rpt_shake_detector_8hpp__dep__incl.md5
new file mode 100644
index 0000000..514ef3f
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_shake_detector_8hpp__dep__incl.md5
@@ -0,0 +1 @@
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diff --git a/documentation/latex/_b_n_o08x_rpt_shake_detector_8hpp_source.tex b/documentation/latex/_b_n_o08x_rpt_shake_detector_8hpp_source.tex
new file mode 100644
index 0000000..f64b1dd
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_shake_detector_8hpp_source.tex
@@ -0,0 +1,28 @@
+\hypertarget{_b_n_o08x_rpt_shake_detector_8hpp_source}{}\doxysection{BNO08x\+Rpt\+Shake\+Detector.\+hpp}
+\label{_b_n_o08x_rpt_shake_detector_8hpp_source}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptShakeDetector.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptShakeDetector.hpp}}
+\mbox{\hyperlink{_b_n_o08x_rpt_shake_detector_8hpp}{Go to the documentation of this file.}}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{1 }
+\DoxyCodeLine{6 \textcolor{preprocessor}{\#pragma once}}
+\DoxyCodeLine{7 }
+\DoxyCodeLine{8 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_8hpp}{BNO08xRpt.hpp}}"{}}}
+\DoxyCodeLine{9 }
+\DoxyCodeLine{15 \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x_rpt_shake_detector}{BNO08xRptShakeDetector}} : \textcolor{keyword}{public} \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08xRpt}}}
+\DoxyCodeLine{16 \{}
+\DoxyCodeLine{17     \textcolor{keyword}{public}:}
+\DoxyCodeLine{18         \mbox{\hyperlink{class_b_n_o08x_rpt_shake_detector_a22021e497ed9a31b2070b884f7eb6bd8}{BNO08xRptShakeDetector}}(uint8\_t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, EventBits\_t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}}* \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
+\DoxyCodeLine{19             : \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08xRpt}}(\mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
+\DoxyCodeLine{20         \{}
+\DoxyCodeLine{21         \}}
+\DoxyCodeLine{22 }
+\DoxyCodeLine{23         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_rpt_shake_detector_aa28fa73b51bd892f0239e647aa6ceeb8}{enable}}(}
+\DoxyCodeLine{24                 uint32\_t time\_between\_reports, sh2\_SensorConfig\_t sensor\_cfg = BNO08xPrivateTypes::default\_sensor\_cfg) \textcolor{keyword}{override};}
+\DoxyCodeLine{25         \mbox{\hyperlink{structbno08x__shake__detector__t}{bno08x\_shake\_detector\_t}} \mbox{\hyperlink{class_b_n_o08x_rpt_shake_detector_adf134a67833f9e2c71f76858abc88ee6}{get}}();}
+\DoxyCodeLine{26 }
+\DoxyCodeLine{27     \textcolor{keyword}{private}:}
+\DoxyCodeLine{28         \textcolor{keywordtype}{void} update\_data(sh2\_SensorValue\_t* sensor\_val) \textcolor{keyword}{override};}
+\DoxyCodeLine{29         \mbox{\hyperlink{structbno08x__shake__detector__t}{bno08x\_shake\_detector\_t}} data;}
+\DoxyCodeLine{30         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} \textcolor{keywordtype}{char}* TAG = \textcolor{stringliteral}{"{}BNO08xRptShakeDetector"{}};}
+\DoxyCodeLine{31 \};}
+
+\end{DoxyCode}
diff --git a/documentation/latex/_b_n_o08x_rpt_stability_classifier_8cpp.tex b/documentation/latex/_b_n_o08x_rpt_stability_classifier_8cpp.tex
new file mode 100644
index 0000000..2161c6a
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_stability_classifier_8cpp.tex
@@ -0,0 +1,17 @@
+\hypertarget{_b_n_o08x_rpt_stability_classifier_8cpp}{}\doxysection{report/\+BNO08x\+Rpt\+Stability\+Classifier.cpp File Reference}
+\label{_b_n_o08x_rpt_stability_classifier_8cpp}\index{report/BNO08xRptStabilityClassifier.cpp@{report/BNO08xRptStabilityClassifier.cpp}}
+{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+Stability\+Classifier.\+hpp\char`\"{}}\newline
+Include dependency graph for BNO08x\+Rpt\+Stability\+Classifier.\+cpp\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_rpt_stability_classifier_8cpp__incl}
+\end{center}
+\end{figure}
+
+
+\doxysubsection{Detailed Description}
+\begin{DoxyAuthor}{Author}
+Myles Parfeniuk 
+\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_stability_classifier_8cpp__incl.md5 b/documentation/latex/_b_n_o08x_rpt_stability_classifier_8cpp__incl.md5
new file mode 100644
index 0000000..980ce51
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_stability_classifier_8cpp__incl.md5
@@ -0,0 +1 @@
+bdaa5db998649188b8d48f1c01f1458b
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_stability_classifier_8cpp__incl.pdf b/documentation/latex/_b_n_o08x_rpt_stability_classifier_8cpp__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_rpt_stability_classifier_8hpp.tex b/documentation/latex/_b_n_o08x_rpt_stability_classifier_8hpp.tex
new file mode 100644
index 0000000..1af1f6a
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_stability_classifier_8hpp.tex
@@ -0,0 +1,30 @@
+\hypertarget{_b_n_o08x_rpt_stability_classifier_8hpp}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\+BNO08x\+Rpt\+Stability\+Classifier.hpp File Reference}
+\label{_b_n_o08x_rpt_stability_classifier_8hpp}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptStabilityClassifier.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptStabilityClassifier.hpp}}
+{\ttfamily \#include \char`\"{}BNO08x\+Rpt.\+hpp\char`\"{}}\newline
+Include dependency graph for BNO08x\+Rpt\+Stability\+Classifier.\+hpp\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_rpt_stability_classifier_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_rpt_stability_classifier_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+class \mbox{\hyperlink{class_b_n_o08x_rpt_stability_classifier}{BNO08x\+Rpt\+Stability\+Classifier}}
+\begin{DoxyCompactList}\small\item\em Class to represent stability classifier reports. (See Ref. Manual 6.\+5.\+31) \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+\begin{DoxyAuthor}{Author}
+Myles Parfeniuk 
+\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_stability_classifier_8hpp__dep__incl.md5 b/documentation/latex/_b_n_o08x_rpt_stability_classifier_8hpp__dep__incl.md5
new file mode 100644
index 0000000..2f0938a
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_stability_classifier_8hpp__dep__incl.md5
@@ -0,0 +1 @@
+08b6bf51fad3a7079682f75070777b53
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_stability_classifier_8hpp__dep__incl.pdf b/documentation/latex/_b_n_o08x_rpt_stability_classifier_8hpp__dep__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_rpt_stability_classifier_8hpp_source.tex b/documentation/latex/_b_n_o08x_rpt_stability_classifier_8hpp_source.tex
new file mode 100644
index 0000000..840e851
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_stability_classifier_8hpp_source.tex
@@ -0,0 +1,29 @@
+\hypertarget{_b_n_o08x_rpt_stability_classifier_8hpp_source}{}\doxysection{BNO08x\+Rpt\+Stability\+Classifier.\+hpp}
+\label{_b_n_o08x_rpt_stability_classifier_8hpp_source}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptStabilityClassifier.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptStabilityClassifier.hpp}}
+\mbox{\hyperlink{_b_n_o08x_rpt_stability_classifier_8hpp}{Go to the documentation of this file.}}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{1 }
+\DoxyCodeLine{6 \textcolor{preprocessor}{\#pragma once}}
+\DoxyCodeLine{7 }
+\DoxyCodeLine{8 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_8hpp}{BNO08xRpt.hpp}}"{}}}
+\DoxyCodeLine{9 }
+\DoxyCodeLine{15 \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x_rpt_stability_classifier}{BNO08xRptStabilityClassifier}} : \textcolor{keyword}{public} \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08xRpt}}}
+\DoxyCodeLine{16 \{}
+\DoxyCodeLine{17     \textcolor{keyword}{public}:}
+\DoxyCodeLine{18         \mbox{\hyperlink{class_b_n_o08x_rpt_stability_classifier_a41052d651d03bccc414b14d6e9b670ab}{BNO08xRptStabilityClassifier}}(uint8\_t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, EventBits\_t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}}* \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
+\DoxyCodeLine{19             : \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08xRpt}}(\mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
+\DoxyCodeLine{20         \{}
+\DoxyCodeLine{21         \}}
+\DoxyCodeLine{22 }
+\DoxyCodeLine{23         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_rpt_stability_classifier_a4959110a01f638d04d87696d8a03dd60}{enable}}(}
+\DoxyCodeLine{24                 uint32\_t time\_between\_reports, sh2\_SensorConfig\_t sensor\_cfg = BNO08xPrivateTypes::default\_sensor\_cfg) \textcolor{keyword}{override};}
+\DoxyCodeLine{25         \mbox{\hyperlink{structbno08x__stability__classifier__t}{bno08x\_stability\_classifier\_t}} \mbox{\hyperlink{class_b_n_o08x_rpt_stability_classifier_a552b8df91df3905c7e2242ee42d11931}{get}}();}
+\DoxyCodeLine{26         \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cb}{BNO08xStability}} \mbox{\hyperlink{class_b_n_o08x_rpt_stability_classifier_a8c8c794004f8b2a5e67656286beae7cd}{get\_stability}}();}
+\DoxyCodeLine{27 }
+\DoxyCodeLine{28     \textcolor{keyword}{private}:}
+\DoxyCodeLine{29         \textcolor{keywordtype}{void} update\_data(sh2\_SensorValue\_t* sensor\_val) \textcolor{keyword}{override};}
+\DoxyCodeLine{30         \mbox{\hyperlink{structbno08x__stability__classifier__t}{bno08x\_stability\_classifier\_t}} data;}
+\DoxyCodeLine{31         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} \textcolor{keywordtype}{char}* TAG = \textcolor{stringliteral}{"{}BNO08xRptStabilityClassifier"{}};}
+\DoxyCodeLine{32 \};}
+
+\end{DoxyCode}
diff --git a/documentation/latex/_b_n_o08x_rpt_step_counter_8cpp.tex b/documentation/latex/_b_n_o08x_rpt_step_counter_8cpp.tex
new file mode 100644
index 0000000..6d1fa9f
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_step_counter_8cpp.tex
@@ -0,0 +1,17 @@
+\hypertarget{_b_n_o08x_rpt_step_counter_8cpp}{}\doxysection{report/\+BNO08x\+Rpt\+Step\+Counter.cpp File Reference}
+\label{_b_n_o08x_rpt_step_counter_8cpp}\index{report/BNO08xRptStepCounter.cpp@{report/BNO08xRptStepCounter.cpp}}
+{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+Step\+Counter.\+hpp\char`\"{}}\newline
+Include dependency graph for BNO08x\+Rpt\+Step\+Counter.\+cpp\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_rpt_step_counter_8cpp__incl}
+\end{center}
+\end{figure}
+
+
+\doxysubsection{Detailed Description}
+\begin{DoxyAuthor}{Author}
+Myles Parfeniuk 
+\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_step_counter_8cpp__incl.md5 b/documentation/latex/_b_n_o08x_rpt_step_counter_8cpp__incl.md5
new file mode 100644
index 0000000..e43a1b8
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_step_counter_8cpp__incl.md5
@@ -0,0 +1 @@
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diff --git a/documentation/latex/_b_n_o08x_rpt_step_counter_8cpp__incl.pdf b/documentation/latex/_b_n_o08x_rpt_step_counter_8cpp__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_rpt_step_counter_8hpp.tex b/documentation/latex/_b_n_o08x_rpt_step_counter_8hpp.tex
new file mode 100644
index 0000000..e8853c4
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_step_counter_8hpp.tex
@@ -0,0 +1,30 @@
+\hypertarget{_b_n_o08x_rpt_step_counter_8hpp}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\+BNO08x\+Rpt\+Step\+Counter.hpp File Reference}
+\label{_b_n_o08x_rpt_step_counter_8hpp}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptStepCounter.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptStepCounter.hpp}}
+{\ttfamily \#include \char`\"{}BNO08x\+Rpt.\+hpp\char`\"{}}\newline
+Include dependency graph for BNO08x\+Rpt\+Step\+Counter.\+hpp\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_rpt_step_counter_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_rpt_step_counter_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+class \mbox{\hyperlink{class_b_n_o08x_rpt_step_counter}{BNO08x\+Rpt\+Step\+Counter}}
+\begin{DoxyCompactList}\small\item\em Class to represent step counter reports. (See Ref. Manual 6.\+5.\+29) \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+\begin{DoxyAuthor}{Author}
+Myles Parfeniuk 
+\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_step_counter_8hpp__dep__incl.md5 b/documentation/latex/_b_n_o08x_rpt_step_counter_8hpp__dep__incl.md5
new file mode 100644
index 0000000..d913866
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_step_counter_8hpp__dep__incl.md5
@@ -0,0 +1 @@
+602f43f363048314f246a5367b505c12
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_step_counter_8hpp__dep__incl.pdf b/documentation/latex/_b_n_o08x_rpt_step_counter_8hpp__dep__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_rpt_step_counter_8hpp_source.tex b/documentation/latex/_b_n_o08x_rpt_step_counter_8hpp_source.tex
new file mode 100644
index 0000000..91e1656
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_step_counter_8hpp_source.tex
@@ -0,0 +1,31 @@
+\hypertarget{_b_n_o08x_rpt_step_counter_8hpp_source}{}\doxysection{BNO08x\+Rpt\+Step\+Counter.\+hpp}
+\label{_b_n_o08x_rpt_step_counter_8hpp_source}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptStepCounter.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptStepCounter.hpp}}
+\mbox{\hyperlink{_b_n_o08x_rpt_step_counter_8hpp}{Go to the documentation of this file.}}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{1 }
+\DoxyCodeLine{6 \textcolor{preprocessor}{\#pragma once}}
+\DoxyCodeLine{7 }
+\DoxyCodeLine{8 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_8hpp}{BNO08xRpt.hpp}}"{}}}
+\DoxyCodeLine{9 }
+\DoxyCodeLine{15 \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x_rpt_step_counter}{BNO08xRptStepCounter}} : \textcolor{keyword}{public} \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08xRpt}}}
+\DoxyCodeLine{16 \{}
+\DoxyCodeLine{17     \textcolor{keyword}{public}:}
+\DoxyCodeLine{18         \mbox{\hyperlink{class_b_n_o08x_rpt_step_counter_a0a85682a68010aa66ddb2ccc337263a0}{BNO08xRptStepCounter}}(uint8\_t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, EventBits\_t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}}* \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
+\DoxyCodeLine{19             : \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08xRpt}}(\mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
+\DoxyCodeLine{20         \{}
+\DoxyCodeLine{21         \}}
+\DoxyCodeLine{22 }
+\DoxyCodeLine{23         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_rpt_step_counter_adf0a697561b064a7dd90a44009efbcf1}{enable}}(}
+\DoxyCodeLine{24                 uint32\_t time\_between\_reports, sh2\_SensorConfig\_t sensor\_cfg = BNO08xPrivateTypes::default\_sensor\_cfg) \textcolor{keyword}{override};}
+\DoxyCodeLine{25         \mbox{\hyperlink{structbno08x__step__counter__t}{bno08x\_step\_counter\_t}} \mbox{\hyperlink{class_b_n_o08x_rpt_step_counter_affe413eea0483147578e58a1a9c5cd8f}{get}}();}
+\DoxyCodeLine{26         uint32\_t \mbox{\hyperlink{class_b_n_o08x_rpt_step_counter_a017b389771b4d8816b4cfd06c6d9184a}{get\_total\_steps}}();}
+\DoxyCodeLine{27 }
+\DoxyCodeLine{28     \textcolor{keyword}{private}:}
+\DoxyCodeLine{29         \textcolor{keywordtype}{void} update\_data(sh2\_SensorValue\_t* sensor\_val) \textcolor{keyword}{override};}
+\DoxyCodeLine{30         \mbox{\hyperlink{structbno08x__step__counter__t}{bno08x\_step\_counter\_t}} data; }
+\DoxyCodeLine{31         uint32\_t step\_accumulator =}
+\DoxyCodeLine{32                 0UL; }
+\DoxyCodeLine{33         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} \textcolor{keywordtype}{char}* TAG = \textcolor{stringliteral}{"{}BNO08xRptStepCounter"{}};}
+\DoxyCodeLine{34 \};}
+
+\end{DoxyCode}
diff --git a/documentation/latex/_b_n_o08x_rpt_tap_detector_8cpp.tex b/documentation/latex/_b_n_o08x_rpt_tap_detector_8cpp.tex
new file mode 100644
index 0000000..86ff055
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_tap_detector_8cpp.tex
@@ -0,0 +1,17 @@
+\hypertarget{_b_n_o08x_rpt_tap_detector_8cpp}{}\doxysection{report/\+BNO08x\+Rpt\+Tap\+Detector.cpp File Reference}
+\label{_b_n_o08x_rpt_tap_detector_8cpp}\index{report/BNO08xRptTapDetector.cpp@{report/BNO08xRptTapDetector.cpp}}
+{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+Tap\+Detector.\+hpp\char`\"{}}\newline
+Include dependency graph for BNO08x\+Rpt\+Tap\+Detector.\+cpp\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_rpt_tap_detector_8cpp__incl}
+\end{center}
+\end{figure}
+
+
+\doxysubsection{Detailed Description}
+\begin{DoxyAuthor}{Author}
+Myles Parfeniuk 
+\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_tap_detector_8cpp__incl.md5 b/documentation/latex/_b_n_o08x_rpt_tap_detector_8cpp__incl.md5
new file mode 100644
index 0000000..74f2f96
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_tap_detector_8cpp__incl.md5
@@ -0,0 +1 @@
+1cca1a71da2504e0c7646a0c3ab3c72f
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_tap_detector_8cpp__incl.pdf b/documentation/latex/_b_n_o08x_rpt_tap_detector_8cpp__incl.pdf
new file mode 100644
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diff --git a/documentation/latex/_b_n_o08x_rpt_tap_detector_8hpp.tex b/documentation/latex/_b_n_o08x_rpt_tap_detector_8hpp.tex
new file mode 100644
index 0000000..e1555e8
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_tap_detector_8hpp.tex
@@ -0,0 +1,30 @@
+\hypertarget{_b_n_o08x_rpt_tap_detector_8hpp}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\+BNO08x\+Rpt\+Tap\+Detector.hpp File Reference}
+\label{_b_n_o08x_rpt_tap_detector_8hpp}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptTapDetector.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptTapDetector.hpp}}
+{\ttfamily \#include \char`\"{}BNO08x\+Rpt.\+hpp\char`\"{}}\newline
+Include dependency graph for BNO08x\+Rpt\+Tap\+Detector.\+hpp\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_rpt_tap_detector_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_rpt_tap_detector_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+class \mbox{\hyperlink{class_b_n_o08x_rpt_tap_detector}{BNO08x\+Rpt\+Tap\+Detector}}
+\begin{DoxyCompactList}\small\item\em Class to represent tap detector reports. (See Ref. Manual 6.\+5.\+27) \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+\begin{DoxyAuthor}{Author}
+Myles Parfeniuk 
+\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_tap_detector_8hpp__dep__incl.md5 b/documentation/latex/_b_n_o08x_rpt_tap_detector_8hpp__dep__incl.md5
new file mode 100644
index 0000000..c7d9f8d
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_tap_detector_8hpp__dep__incl.md5
@@ -0,0 +1 @@
+7ed81da6e2694d824f84d61f2cf0dd25
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_tap_detector_8hpp__dep__incl.pdf b/documentation/latex/_b_n_o08x_rpt_tap_detector_8hpp__dep__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_rpt_tap_detector_8hpp_source.tex b/documentation/latex/_b_n_o08x_rpt_tap_detector_8hpp_source.tex
new file mode 100644
index 0000000..237a193
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_tap_detector_8hpp_source.tex
@@ -0,0 +1,28 @@
+\hypertarget{_b_n_o08x_rpt_tap_detector_8hpp_source}{}\doxysection{BNO08x\+Rpt\+Tap\+Detector.\+hpp}
+\label{_b_n_o08x_rpt_tap_detector_8hpp_source}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptTapDetector.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptTapDetector.hpp}}
+\mbox{\hyperlink{_b_n_o08x_rpt_tap_detector_8hpp}{Go to the documentation of this file.}}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{1 }
+\DoxyCodeLine{6 \textcolor{preprocessor}{\#pragma once}}
+\DoxyCodeLine{7 }
+\DoxyCodeLine{8 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_8hpp}{BNO08xRpt.hpp}}"{}}}
+\DoxyCodeLine{9 }
+\DoxyCodeLine{15 \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x_rpt_tap_detector}{BNO08xRptTapDetector}} : \textcolor{keyword}{public} \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08xRpt}}}
+\DoxyCodeLine{16 \{}
+\DoxyCodeLine{17     \textcolor{keyword}{public}:}
+\DoxyCodeLine{18         \mbox{\hyperlink{class_b_n_o08x_rpt_tap_detector_ad4761f72a20f120e545b941b6e198b6a}{BNO08xRptTapDetector}}(uint8\_t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, EventBits\_t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}}* \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
+\DoxyCodeLine{19             : \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08xRpt}}(\mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
+\DoxyCodeLine{20         \{}
+\DoxyCodeLine{21         \}}
+\DoxyCodeLine{22 }
+\DoxyCodeLine{23         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_rpt_tap_detector_ad8b716b7a2f2c2f52113eaaf75a391dc}{enable}}(}
+\DoxyCodeLine{24                 uint32\_t time\_between\_reports, sh2\_SensorConfig\_t sensor\_cfg = BNO08xPrivateTypes::default\_sensor\_cfg) \textcolor{keyword}{override};}
+\DoxyCodeLine{25         \mbox{\hyperlink{structbno08x__tap__detector__t}{bno08x\_tap\_detector\_t}} \mbox{\hyperlink{class_b_n_o08x_rpt_tap_detector_ac0c0642fbb086a480edf32c92a470a2e}{get}}();}
+\DoxyCodeLine{26 }
+\DoxyCodeLine{27     \textcolor{keyword}{private}:}
+\DoxyCodeLine{28         \textcolor{keywordtype}{void} update\_data(sh2\_SensorValue\_t* sensor\_val) \textcolor{keyword}{override};}
+\DoxyCodeLine{29         \mbox{\hyperlink{structbno08x__tap__detector__t}{bno08x\_tap\_detector\_t}} data;}
+\DoxyCodeLine{30         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} \textcolor{keywordtype}{char}* TAG = \textcolor{stringliteral}{"{}BNO08xRptTapDetector"{}};}
+\DoxyCodeLine{31 \};}
+
+\end{DoxyCode}
diff --git a/documentation/latex/_b_n_o08x_rpt_uncal_gyro_8cpp.tex b/documentation/latex/_b_n_o08x_rpt_uncal_gyro_8cpp.tex
new file mode 100644
index 0000000..c31917a
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_uncal_gyro_8cpp.tex
@@ -0,0 +1,17 @@
+\hypertarget{_b_n_o08x_rpt_uncal_gyro_8cpp}{}\doxysection{report/\+BNO08x\+Rpt\+Uncal\+Gyro.cpp File Reference}
+\label{_b_n_o08x_rpt_uncal_gyro_8cpp}\index{report/BNO08xRptUncalGyro.cpp@{report/BNO08xRptUncalGyro.cpp}}
+{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+Uncal\+Gyro.\+hpp\char`\"{}}\newline
+Include dependency graph for BNO08x\+Rpt\+Uncal\+Gyro.\+cpp\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_rpt_uncal_gyro_8cpp__incl}
+\end{center}
+\end{figure}
+
+
+\doxysubsection{Detailed Description}
+\begin{DoxyAuthor}{Author}
+Myles Parfeniuk 
+\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_uncal_gyro_8cpp__incl.md5 b/documentation/latex/_b_n_o08x_rpt_uncal_gyro_8cpp__incl.md5
new file mode 100644
index 0000000..2386579
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_uncal_gyro_8cpp__incl.md5
@@ -0,0 +1 @@
+0b868f43378816dec85a1d1594212bda
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diff --git a/documentation/latex/_b_n_o08x_rpt_uncal_gyro_8cpp__incl.pdf b/documentation/latex/_b_n_o08x_rpt_uncal_gyro_8cpp__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_rpt_uncal_gyro_8hpp.tex b/documentation/latex/_b_n_o08x_rpt_uncal_gyro_8hpp.tex
new file mode 100644
index 0000000..8abc39b
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_uncal_gyro_8hpp.tex
@@ -0,0 +1,30 @@
+\hypertarget{_b_n_o08x_rpt_uncal_gyro_8hpp}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\+BNO08x\+Rpt\+Uncal\+Gyro.hpp File Reference}
+\label{_b_n_o08x_rpt_uncal_gyro_8hpp}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptUncalGyro.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptUncalGyro.hpp}}
+{\ttfamily \#include \char`\"{}BNO08x\+Rpt.\+hpp\char`\"{}}\newline
+Include dependency graph for BNO08x\+Rpt\+Uncal\+Gyro.\+hpp\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_rpt_uncal_gyro_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_rpt_uncal_gyro_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+class \mbox{\hyperlink{class_b_n_o08x_rpt_uncal_gyro}{BNO08x\+Rpt\+Uncal\+Gyro}}
+\begin{DoxyCompactList}\small\item\em Class to represent uncalibrated gyro reports. (See Ref. Manual 6.\+5.\+14) \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+\begin{DoxyAuthor}{Author}
+Myles Parfeniuk 
+\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_uncal_gyro_8hpp__dep__incl.md5 b/documentation/latex/_b_n_o08x_rpt_uncal_gyro_8hpp__dep__incl.md5
new file mode 100644
index 0000000..8fd295c
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_uncal_gyro_8hpp__dep__incl.md5
@@ -0,0 +1 @@
+b254b6acfb24847a1cba6f8b9a542cde
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_uncal_gyro_8hpp__dep__incl.pdf b/documentation/latex/_b_n_o08x_rpt_uncal_gyro_8hpp__dep__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_rpt_uncal_gyro_8hpp_source.tex b/documentation/latex/_b_n_o08x_rpt_uncal_gyro_8hpp_source.tex
new file mode 100644
index 0000000..bc2e8f5
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_uncal_gyro_8hpp_source.tex
@@ -0,0 +1,31 @@
+\hypertarget{_b_n_o08x_rpt_uncal_gyro_8hpp_source}{}\doxysection{BNO08x\+Rpt\+Uncal\+Gyro.\+hpp}
+\label{_b_n_o08x_rpt_uncal_gyro_8hpp_source}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptUncalGyro.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptUncalGyro.hpp}}
+\mbox{\hyperlink{_b_n_o08x_rpt_uncal_gyro_8hpp}{Go to the documentation of this file.}}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{1 }
+\DoxyCodeLine{6 \textcolor{preprocessor}{\#pragma once}}
+\DoxyCodeLine{7 }
+\DoxyCodeLine{8 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_8hpp}{BNO08xRpt.hpp}}"{}}}
+\DoxyCodeLine{9 }
+\DoxyCodeLine{15 \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x_rpt_uncal_gyro}{BNO08xRptUncalGyro}} : \textcolor{keyword}{public} \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08xRpt}}}
+\DoxyCodeLine{16 \{}
+\DoxyCodeLine{17     \textcolor{keyword}{public}:}
+\DoxyCodeLine{18         \mbox{\hyperlink{class_b_n_o08x_rpt_uncal_gyro_a3b728331f32e6ca7854c64b06ca28ea8}{BNO08xRptUncalGyro}}(uint8\_t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, EventBits\_t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}}* \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
+\DoxyCodeLine{19             : \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08xRpt}}(\mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
+\DoxyCodeLine{20         \{}
+\DoxyCodeLine{21         \}}
+\DoxyCodeLine{22 }
+\DoxyCodeLine{23         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_rpt_uncal_gyro_a404d36091a61af543c6fec7b6e077706}{enable}}(}
+\DoxyCodeLine{24                 uint32\_t time\_between\_reports, sh2\_SensorConfig\_t sensor\_cfg = BNO08xPrivateTypes::default\_sensor\_cfg) \textcolor{keyword}{override};}
+\DoxyCodeLine{25         \textcolor{keywordtype}{void} \mbox{\hyperlink{class_b_n_o08x_rpt_uncal_gyro_ae2fec54b70d897124720abe1dcccd793}{get}}(\mbox{\hyperlink{structbno08x__gyro__t}{bno08x\_gyro\_t}}\& vel, \mbox{\hyperlink{structbno08x__gyro__bias__t}{bno08x\_gyro\_bias\_t}}\& bias);}
+\DoxyCodeLine{26         \mbox{\hyperlink{structbno08x__gyro__t}{bno08x\_gyro\_t}} \mbox{\hyperlink{class_b_n_o08x_rpt_uncal_gyro_a13c875a4ef09df3a82ac4bfa5109fdf7}{get\_vel}}();}
+\DoxyCodeLine{27         \mbox{\hyperlink{structbno08x__gyro__bias__t}{bno08x\_gyro\_bias\_t}} \mbox{\hyperlink{class_b_n_o08x_rpt_uncal_gyro_a08b722174d100d1d9363eaf4989a8ecd}{get\_bias}}();}
+\DoxyCodeLine{28 }
+\DoxyCodeLine{29     \textcolor{keyword}{private}:}
+\DoxyCodeLine{30         \textcolor{keywordtype}{void} update\_data(sh2\_SensorValue\_t* sensor\_val) \textcolor{keyword}{override};}
+\DoxyCodeLine{31         \mbox{\hyperlink{structbno08x__gyro__t}{bno08x\_gyro\_t}} data;}
+\DoxyCodeLine{32         \mbox{\hyperlink{structbno08x__gyro__bias__t}{bno08x\_gyro\_bias\_t}} bias\_data;}
+\DoxyCodeLine{33         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} \textcolor{keywordtype}{char}* TAG = \textcolor{stringliteral}{"{}BNO08xRptUncalGyro"{}};}
+\DoxyCodeLine{34 \};}
+
+\end{DoxyCode}
diff --git a/documentation/latex/_b_n_o08x_rpt_uncal_magnetometer_8cpp.tex b/documentation/latex/_b_n_o08x_rpt_uncal_magnetometer_8cpp.tex
new file mode 100644
index 0000000..ab6b119
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_uncal_magnetometer_8cpp.tex
@@ -0,0 +1,17 @@
+\hypertarget{_b_n_o08x_rpt_uncal_magnetometer_8cpp}{}\doxysection{report/\+BNO08x\+Rpt\+Uncal\+Magnetometer.cpp File Reference}
+\label{_b_n_o08x_rpt_uncal_magnetometer_8cpp}\index{report/BNO08xRptUncalMagnetometer.cpp@{report/BNO08xRptUncalMagnetometer.cpp}}
+{\ttfamily \#include \char`\"{}BNO08x\+Rpt\+Uncal\+Magnetometer.\+hpp\char`\"{}}\newline
+Include dependency graph for BNO08x\+Rpt\+Uncal\+Magnetometer.\+cpp\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_rpt_uncal_magnetometer_8cpp__incl}
+\end{center}
+\end{figure}
+
+
+\doxysubsection{Detailed Description}
+\begin{DoxyAuthor}{Author}
+Myles Parfeniuk 
+\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_uncal_magnetometer_8cpp__incl.md5 b/documentation/latex/_b_n_o08x_rpt_uncal_magnetometer_8cpp__incl.md5
new file mode 100644
index 0000000..16f042c
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_uncal_magnetometer_8cpp__incl.md5
@@ -0,0 +1 @@
+f4606dfa613cecafa20a90c7a1025e5d
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_uncal_magnetometer_8cpp__incl.pdf b/documentation/latex/_b_n_o08x_rpt_uncal_magnetometer_8cpp__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_rpt_uncal_magnetometer_8hpp.tex b/documentation/latex/_b_n_o08x_rpt_uncal_magnetometer_8hpp.tex
new file mode 100644
index 0000000..c59d202
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_uncal_magnetometer_8hpp.tex
@@ -0,0 +1,30 @@
+\hypertarget{_b_n_o08x_rpt_uncal_magnetometer_8hpp}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\+BNO08x\+Rpt\+Uncal\+Magnetometer.hpp File Reference}
+\label{_b_n_o08x_rpt_uncal_magnetometer_8hpp}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptUncalMagnetometer.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptUncalMagnetometer.hpp}}
+{\ttfamily \#include \char`\"{}BNO08x\+Rpt.\+hpp\char`\"{}}\newline
+Include dependency graph for BNO08x\+Rpt\+Uncal\+Magnetometer.\+hpp\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_rpt_uncal_magnetometer_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_rpt_uncal_magnetometer_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+class \mbox{\hyperlink{class_b_n_o08x_rpt_uncal_magnetometer}{BNO08x\+Rpt\+Uncal\+Magnetometer}}
+\begin{DoxyCompactList}\small\item\em Class to represent uncalibrated magnetometer reports. (See Ref. Manual 6.\+5.\+17) \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+\begin{DoxyAuthor}{Author}
+Myles Parfeniuk 
+\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_rpt_uncal_magnetometer_8hpp__dep__incl.md5 b/documentation/latex/_b_n_o08x_rpt_uncal_magnetometer_8hpp__dep__incl.md5
new file mode 100644
index 0000000..99c941f
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_uncal_magnetometer_8hpp__dep__incl.md5
@@ -0,0 +1 @@
+a2a36b43f993c510fc82857d5e514324
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_rpt_uncal_magnetometer_8hpp__dep__incl.pdf b/documentation/latex/_b_n_o08x_rpt_uncal_magnetometer_8hpp__dep__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_rpt_uncal_magnetometer_8hpp_source.tex b/documentation/latex/_b_n_o08x_rpt_uncal_magnetometer_8hpp_source.tex
new file mode 100644
index 0000000..3b3b771
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_rpt_uncal_magnetometer_8hpp_source.tex
@@ -0,0 +1,31 @@
+\hypertarget{_b_n_o08x_rpt_uncal_magnetometer_8hpp_source}{}\doxysection{BNO08x\+Rpt\+Uncal\+Magnetometer.\+hpp}
+\label{_b_n_o08x_rpt_uncal_magnetometer_8hpp_source}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptUncalMagnetometer.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report/BNO08xRptUncalMagnetometer.hpp}}
+\mbox{\hyperlink{_b_n_o08x_rpt_uncal_magnetometer_8hpp}{Go to the documentation of this file.}}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{1 }
+\DoxyCodeLine{7 \textcolor{preprocessor}{\#pragma once}}
+\DoxyCodeLine{8 }
+\DoxyCodeLine{9 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_rpt_8hpp}{BNO08xRpt.hpp}}"{}}}
+\DoxyCodeLine{10 }
+\DoxyCodeLine{16 \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x_rpt_uncal_magnetometer}{BNO08xRptUncalMagnetometer}} : \textcolor{keyword}{public} \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08xRpt}}}
+\DoxyCodeLine{17 \{}
+\DoxyCodeLine{18     \textcolor{keyword}{public}:}
+\DoxyCodeLine{19         \mbox{\hyperlink{class_b_n_o08x_rpt_uncal_magnetometer_a8ac1f7e58879febd738b85a8035411a0}{BNO08xRptUncalMagnetometer}}(uint8\_t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, EventBits\_t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}}* \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
+\DoxyCodeLine{20             : \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08xRpt}}(\mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\_bit}}, \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\_ctx}})}
+\DoxyCodeLine{21         \{}
+\DoxyCodeLine{22         \}}
+\DoxyCodeLine{23 }
+\DoxyCodeLine{24         \textcolor{keywordtype}{bool} \mbox{\hyperlink{class_b_n_o08x_rpt_uncal_magnetometer_a80ae48107ca1cc27551fd799625f2867}{enable}}(}
+\DoxyCodeLine{25                 uint32\_t time\_between\_reports, sh2\_SensorConfig\_t sensor\_cfg = BNO08xPrivateTypes::default\_sensor\_cfg) \textcolor{keyword}{override};}
+\DoxyCodeLine{26         \textcolor{keywordtype}{void} \mbox{\hyperlink{class_b_n_o08x_rpt_uncal_magnetometer_ad4d5abc8875955b6236bbe526be1e8fb}{get}}(\mbox{\hyperlink{structbno08x__magf__t}{bno08x\_magf\_t}}\& magf, \mbox{\hyperlink{structbno08x__magf__bias__t}{bno08x\_magf\_bias\_t}}\& bias);}
+\DoxyCodeLine{27         \mbox{\hyperlink{structbno08x__magf__t}{bno08x\_magf\_t}} \mbox{\hyperlink{class_b_n_o08x_rpt_uncal_magnetometer_ae5a99ef7523dcafc4638a538e141306b}{get\_magf}}();}
+\DoxyCodeLine{28         \mbox{\hyperlink{structbno08x__magf__bias__t}{bno08x\_magf\_bias\_t}} \mbox{\hyperlink{class_b_n_o08x_rpt_uncal_magnetometer_aa6818f72419eaebb55cba9ffec28c704}{get\_bias}}();}
+\DoxyCodeLine{29 }
+\DoxyCodeLine{30     \textcolor{keyword}{private}:}
+\DoxyCodeLine{31         \textcolor{keywordtype}{void} update\_data(sh2\_SensorValue\_t* sensor\_val) \textcolor{keyword}{override};}
+\DoxyCodeLine{32         \mbox{\hyperlink{structbno08x__magf__t}{bno08x\_magf\_t}} data;}
+\DoxyCodeLine{33         \mbox{\hyperlink{structbno08x__magf__bias__t}{bno08x\_magf\_bias\_t}} bias\_data;}
+\DoxyCodeLine{34         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} \textcolor{keywordtype}{char}* TAG = \textcolor{stringliteral}{"{}BNO08xRptUncalMagnetometer"{}};}
+\DoxyCodeLine{35 \};}
+
+\end{DoxyCode}
diff --git a/documentation/latex/_b_n_o08x_s_h2_h_a_l_8cpp.tex b/documentation/latex/_b_n_o08x_s_h2_h_a_l_8cpp.tex
new file mode 100644
index 0000000..da6d377
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_s_h2_h_a_l_8cpp.tex
@@ -0,0 +1,18 @@
+\hypertarget{_b_n_o08x_s_h2_h_a_l_8cpp}{}\doxysection{BNO08x\+SH2\+HAL.\+cpp File Reference}
+\label{_b_n_o08x_s_h2_h_a_l_8cpp}\index{BNO08xSH2HAL.cpp@{BNO08xSH2HAL.cpp}}
+{\ttfamily \#include \char`\"{}BNO08x\+SH2\+HAL.\+hpp\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}BNO08x.\+hpp\char`\"{}}\newline
+Include dependency graph for BNO08x\+SH2\+HAL.\+cpp\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_s_h2_h_a_l_8cpp__incl}
+\end{center}
+\end{figure}
+
+
+\doxysubsection{Detailed Description}
+\begin{DoxyAuthor}{Author}
+Myles Parfeniuk 
+\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_s_h2_h_a_l_8cpp__incl.md5 b/documentation/latex/_b_n_o08x_s_h2_h_a_l_8cpp__incl.md5
new file mode 100644
index 0000000..d8cf874
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_s_h2_h_a_l_8cpp__incl.md5
@@ -0,0 +1 @@
+6ab3b38c8ebef6d5f2cb2e761f171757
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_s_h2_h_a_l_8cpp__incl.pdf b/documentation/latex/_b_n_o08x_s_h2_h_a_l_8cpp__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_s_h2_h_a_l_8hpp.tex b/documentation/latex/_b_n_o08x_s_h2_h_a_l_8hpp.tex
new file mode 100644
index 0000000..cc5d86e
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_s_h2_h_a_l_8hpp.tex
@@ -0,0 +1,145 @@
+\hypertarget{_b_n_o08x_s_h2_h_a_l_8hpp}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\+BNO08x\+SH2\+HAL.hpp File Reference}
+\label{_b_n_o08x_s_h2_h_a_l_8hpp}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/BNO08xSH2HAL.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/BNO08xSH2HAL.hpp}}
+{\ttfamily \#include \char`\"{}sh2.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}sh2\+\_\+\+Sensor\+Value.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}sh2\+\_\+err.\+h\char`\"{}}\newline
+{\ttfamily \#include $<$esp\+\_\+log.\+h$>$}\newline
+{\ttfamily \#include $<$esp\+\_\+timer.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}BNO08x\+Private\+Types.\+hpp\char`\"{}}\newline
+Include dependency graph for BNO08x\+SH2\+HAL.\+hpp\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_s_h2_h_a_l_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_s_h2_h_a_l_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+class \mbox{\hyperlink{class_b_n_o08x_s_h2_h_a_l}{BNO08x\+SH2\+HAL}}
+\begin{DoxyCompactList}\small\item\em Fully static class containing callback implementations for sh2 HAL lib. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Macros}
+\begin{DoxyCompactItemize}
+\item 
+\#define \mbox{\hyperlink{_b_n_o08x_s_h2_h_a_l_8hpp_ad98f2fa811436866ff297a8288e34f40}{UINT16\+\_\+\+CLR\+\_\+\+MSB}}(val\+\_\+16bit)~((val\+\_\+16bit) \& 0x00\+FFU)
+\begin{DoxyCompactList}\small\item\em Clears the most significant byte of a 16-\/bit value. \end{DoxyCompactList}\item 
+\#define \mbox{\hyperlink{_b_n_o08x_s_h2_h_a_l_8hpp_ac89a0ae0c3d3067f02e9fa275521606b}{UINT16\+\_\+\+CLR\+\_\+\+LSB}}(val\+\_\+16bit)~((val\+\_\+16bit) \& 0x\+FF00U)
+\begin{DoxyCompactList}\small\item\em Clears the least significant byte of a 16-\/bit value. \end{DoxyCompactList}\item 
+\#define \mbox{\hyperlink{_b_n_o08x_s_h2_h_a_l_8hpp_a7de5c0b84ba545981105e1216925d8e9}{UINT32\+\_\+\+CLR\+\_\+\+BYTE}}(val\+\_\+32bit,  byte2clear)~((val\+\_\+32bit) \& $\sim$(0x\+FFUL $<$$<$ (byte2clear $\ast$ 8UL)))
+\begin{DoxyCompactList}\small\item\em Clears a specified byte in a 32-\/bit value. \end{DoxyCompactList}\item 
+\#define \mbox{\hyperlink{_b_n_o08x_s_h2_h_a_l_8hpp_a6f459cc2cce1722c63d22a9556f06bc8}{UINT32\+\_\+\+MSK\+\_\+\+BYTE}}(val\+\_\+32bit,  byte2mask)~((val\+\_\+32bit) \& (0x\+FFUL $<$$<$ (byte2mask $\ast$ 8UL)))
+\begin{DoxyCompactList}\small\item\em Masks a specified byte in a 32-\/bit value. \end{DoxyCompactList}\item 
+\#define \mbox{\hyperlink{_b_n_o08x_s_h2_h_a_l_8hpp_aaed5b6cbf0d2f27550d1b4a975c46c34}{PARSE\+\_\+\+PACKET\+\_\+\+LENGTH}}(header)~    (\mbox{\hyperlink{_b_n_o08x_s_h2_h_a_l_8hpp_ac89a0ae0c3d3067f02e9fa275521606b}{UINT16\+\_\+\+CLR\+\_\+\+LSB}}(static\+\_\+cast$<$uint16\+\_\+t$>$(header\mbox{[}1\mbox{]}) $<$$<$ 8U) $\vert$ \mbox{\hyperlink{_b_n_o08x_s_h2_h_a_l_8hpp_ad98f2fa811436866ff297a8288e34f40}{UINT16\+\_\+\+CLR\+\_\+\+MSB}}(static\+\_\+cast$<$uint16\+\_\+t$>$(header\mbox{[}0\mbox{]})))
+\begin{DoxyCompactList}\small\item\em Parse length from SHTP packet header. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+\begin{DoxyAuthor}{Author}
+Myles Parfeniuk 
+\end{DoxyAuthor}
+
+
+\doxysubsection{Macro Definition Documentation}
+\mbox{\Hypertarget{_b_n_o08x_s_h2_h_a_l_8hpp_aaed5b6cbf0d2f27550d1b4a975c46c34}\label{_b_n_o08x_s_h2_h_a_l_8hpp_aaed5b6cbf0d2f27550d1b4a975c46c34}} 
+\index{BNO08xSH2HAL.hpp@{BNO08xSH2HAL.hpp}!PARSE\_PACKET\_LENGTH@{PARSE\_PACKET\_LENGTH}}
+\index{PARSE\_PACKET\_LENGTH@{PARSE\_PACKET\_LENGTH}!BNO08xSH2HAL.hpp@{BNO08xSH2HAL.hpp}}
+\doxysubsubsection{\texorpdfstring{PARSE\_PACKET\_LENGTH}{PARSE\_PACKET\_LENGTH}}
+{\footnotesize\ttfamily \#define PARSE\+\_\+\+PACKET\+\_\+\+LENGTH(\begin{DoxyParamCaption}\item[{}]{header }\end{DoxyParamCaption})~    (\mbox{\hyperlink{_b_n_o08x_s_h2_h_a_l_8hpp_ac89a0ae0c3d3067f02e9fa275521606b}{UINT16\+\_\+\+CLR\+\_\+\+LSB}}(static\+\_\+cast$<$uint16\+\_\+t$>$(header\mbox{[}1\mbox{]}) $<$$<$ 8U) $\vert$ \mbox{\hyperlink{_b_n_o08x_s_h2_h_a_l_8hpp_ad98f2fa811436866ff297a8288e34f40}{UINT16\+\_\+\+CLR\+\_\+\+MSB}}(static\+\_\+cast$<$uint16\+\_\+t$>$(header\mbox{[}0\mbox{]})))}
+
+
+
+Parse length from SHTP packet header. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em packet} & Pointer to bno08x\+\_\+rx\+\_\+packet\+\_\+t containing data. \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+Length of SHTP packet. 
+\end{DoxyReturn}
+\mbox{\Hypertarget{_b_n_o08x_s_h2_h_a_l_8hpp_ac89a0ae0c3d3067f02e9fa275521606b}\label{_b_n_o08x_s_h2_h_a_l_8hpp_ac89a0ae0c3d3067f02e9fa275521606b}} 
+\index{BNO08xSH2HAL.hpp@{BNO08xSH2HAL.hpp}!UINT16\_CLR\_LSB@{UINT16\_CLR\_LSB}}
+\index{UINT16\_CLR\_LSB@{UINT16\_CLR\_LSB}!BNO08xSH2HAL.hpp@{BNO08xSH2HAL.hpp}}
+\doxysubsubsection{\texorpdfstring{UINT16\_CLR\_LSB}{UINT16\_CLR\_LSB}}
+{\footnotesize\ttfamily \#define UINT16\+\_\+\+CLR\+\_\+\+LSB(\begin{DoxyParamCaption}\item[{}]{val\+\_\+16bit }\end{DoxyParamCaption})~((val\+\_\+16bit) \& 0x\+FF00U)}
+
+
+
+Clears the least significant byte of a 16-\/bit value. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em val\+\_\+16bit} & The 16-\/bit value to modify. \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+The value with the MSB cleared. 
+\end{DoxyReturn}
+\mbox{\Hypertarget{_b_n_o08x_s_h2_h_a_l_8hpp_ad98f2fa811436866ff297a8288e34f40}\label{_b_n_o08x_s_h2_h_a_l_8hpp_ad98f2fa811436866ff297a8288e34f40}} 
+\index{BNO08xSH2HAL.hpp@{BNO08xSH2HAL.hpp}!UINT16\_CLR\_MSB@{UINT16\_CLR\_MSB}}
+\index{UINT16\_CLR\_MSB@{UINT16\_CLR\_MSB}!BNO08xSH2HAL.hpp@{BNO08xSH2HAL.hpp}}
+\doxysubsubsection{\texorpdfstring{UINT16\_CLR\_MSB}{UINT16\_CLR\_MSB}}
+{\footnotesize\ttfamily \#define UINT16\+\_\+\+CLR\+\_\+\+MSB(\begin{DoxyParamCaption}\item[{}]{val\+\_\+16bit }\end{DoxyParamCaption})~((val\+\_\+16bit) \& 0x00\+FFU)}
+
+
+
+Clears the most significant byte of a 16-\/bit value. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em val\+\_\+16bit} & The 16-\/bit value to modify. \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+The value with the MSB cleared. 
+\end{DoxyReturn}
+\mbox{\Hypertarget{_b_n_o08x_s_h2_h_a_l_8hpp_a7de5c0b84ba545981105e1216925d8e9}\label{_b_n_o08x_s_h2_h_a_l_8hpp_a7de5c0b84ba545981105e1216925d8e9}} 
+\index{BNO08xSH2HAL.hpp@{BNO08xSH2HAL.hpp}!UINT32\_CLR\_BYTE@{UINT32\_CLR\_BYTE}}
+\index{UINT32\_CLR\_BYTE@{UINT32\_CLR\_BYTE}!BNO08xSH2HAL.hpp@{BNO08xSH2HAL.hpp}}
+\doxysubsubsection{\texorpdfstring{UINT32\_CLR\_BYTE}{UINT32\_CLR\_BYTE}}
+{\footnotesize\ttfamily \#define UINT32\+\_\+\+CLR\+\_\+\+BYTE(\begin{DoxyParamCaption}\item[{}]{val\+\_\+32bit,  }\item[{}]{byte2clear }\end{DoxyParamCaption})~((val\+\_\+32bit) \& $\sim$(0x\+FFUL $<$$<$ (byte2clear $\ast$ 8UL)))}
+
+
+
+Clears a specified byte in a 32-\/bit value. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em val\+\_\+32bit} & The 32-\/bit value to modify. \\
+\hline
+{\em byte2clear} & The byte index to clear (0 = LSB, 3 = MSB). \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+The value with the specified byte cleared. 
+\end{DoxyReturn}
+\mbox{\Hypertarget{_b_n_o08x_s_h2_h_a_l_8hpp_a6f459cc2cce1722c63d22a9556f06bc8}\label{_b_n_o08x_s_h2_h_a_l_8hpp_a6f459cc2cce1722c63d22a9556f06bc8}} 
+\index{BNO08xSH2HAL.hpp@{BNO08xSH2HAL.hpp}!UINT32\_MSK\_BYTE@{UINT32\_MSK\_BYTE}}
+\index{UINT32\_MSK\_BYTE@{UINT32\_MSK\_BYTE}!BNO08xSH2HAL.hpp@{BNO08xSH2HAL.hpp}}
+\doxysubsubsection{\texorpdfstring{UINT32\_MSK\_BYTE}{UINT32\_MSK\_BYTE}}
+{\footnotesize\ttfamily \#define UINT32\+\_\+\+MSK\+\_\+\+BYTE(\begin{DoxyParamCaption}\item[{}]{val\+\_\+32bit,  }\item[{}]{byte2mask }\end{DoxyParamCaption})~((val\+\_\+32bit) \& (0x\+FFUL $<$$<$ (byte2mask $\ast$ 8UL)))}
+
+
+
+Masks a specified byte in a 32-\/bit value. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em val\+\_\+32bit} & The 32-\/bit value to modify. \\
+\hline
+{\em byte2mask} & The byte index to mask (0 = LSB, 3 = MSB). \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+The value with the specified byte masked. 
+\end{DoxyReturn}
diff --git a/documentation/latex/_b_n_o08x_s_h2_h_a_l_8hpp__dep__incl.md5 b/documentation/latex/_b_n_o08x_s_h2_h_a_l_8hpp__dep__incl.md5
new file mode 100644
index 0000000..5fe5e57
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diff --git a/documentation/latex/_b_n_o08x_s_h2_h_a_l_8hpp_source.tex b/documentation/latex/_b_n_o08x_s_h2_h_a_l_8hpp_source.tex
new file mode 100644
index 0000000..e5b538e
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_s_h2_h_a_l_8hpp_source.tex
@@ -0,0 +1,57 @@
+\hypertarget{_b_n_o08x_s_h2_h_a_l_8hpp_source}{}\doxysection{BNO08x\+SH2\+HAL.\+hpp}
+\label{_b_n_o08x_s_h2_h_a_l_8hpp_source}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/BNO08xSH2HAL.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/BNO08xSH2HAL.hpp}}
+\mbox{\hyperlink{_b_n_o08x_s_h2_h_a_l_8hpp}{Go to the documentation of this file.}}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{1 }
+\DoxyCodeLine{6 \textcolor{preprocessor}{\#pragma once}}
+\DoxyCodeLine{7 }
+\DoxyCodeLine{8 \textcolor{comment}{// hill-\/crest labs includes (apache 2.0 license, compatible with MIT)}}
+\DoxyCodeLine{9 \textcolor{preprocessor}{\#include "{}sh2.h"{}}}
+\DoxyCodeLine{10 \textcolor{preprocessor}{\#include "{}sh2\_SensorValue.h"{}}}
+\DoxyCodeLine{11 \textcolor{preprocessor}{\#include "{}sh2\_err.h"{}}}
+\DoxyCodeLine{12 \textcolor{comment}{// esp-\/idf includes}}
+\DoxyCodeLine{13 \textcolor{preprocessor}{\#include <esp\_log.h>}}
+\DoxyCodeLine{14 \textcolor{preprocessor}{\#include <esp\_timer.h>}}
+\DoxyCodeLine{15 \textcolor{comment}{// in-\/house includes}}
+\DoxyCodeLine{16 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_private_types_8hpp}{BNO08xPrivateTypes.hpp}}"{}}}
+\DoxyCodeLine{17 }
+\DoxyCodeLine{24 \textcolor{preprocessor}{\#define UINT16\_CLR\_MSB(val\_16bit) ((val\_16bit) \& 0x00FFU)}}
+\DoxyCodeLine{25 }
+\DoxyCodeLine{32 \textcolor{preprocessor}{\#define UINT16\_CLR\_LSB(val\_16bit) ((val\_16bit) \& 0xFF00U)}}
+\DoxyCodeLine{33 }
+\DoxyCodeLine{41 \textcolor{preprocessor}{\#define UINT32\_CLR\_BYTE(val\_32bit, byte2clear) ((val\_32bit) \& \string~(0xFFUL << (byte2clear * 8UL)))}}
+\DoxyCodeLine{42 }
+\DoxyCodeLine{50 \textcolor{preprocessor}{\#define UINT32\_MSK\_BYTE(val\_32bit, byte2mask) ((val\_32bit) \& (0xFFUL << (byte2mask * 8UL)))}}
+\DoxyCodeLine{51 }
+\DoxyCodeLine{52 \textcolor{comment}{// parsing universal to any packet}}
+\DoxyCodeLine{53 }
+\DoxyCodeLine{60 \textcolor{preprocessor}{\#define PARSE\_PACKET\_LENGTH(header)                                                                                              \(\backslash\)}}
+\DoxyCodeLine{61 \textcolor{preprocessor}{    (UINT16\_CLR\_LSB(static\_cast<uint16\_t>(header[1]) << 8U) | UINT16\_CLR\_MSB(static\_cast<uint16\_t>(header[0])))}}
+\DoxyCodeLine{62 }
+\DoxyCodeLine{63 \textcolor{comment}{// forward dec to prevent compile errors}}
+\DoxyCodeLine{64 \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x}{BNO08x}};}
+\DoxyCodeLine{65 }
+\DoxyCodeLine{71 \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x_s_h2_h_a_l}{BNO08xSH2HAL}}}
+\DoxyCodeLine{72 \{}
+\DoxyCodeLine{73     \textcolor{keyword}{public}:}
+\DoxyCodeLine{74         \textcolor{keyword}{static} \textcolor{keywordtype}{void} \mbox{\hyperlink{class_b_n_o08x_s_h2_h_a_l_a236ccf0ff8d36060b465bc1f4f0a37fa}{set\_hal\_imu}}(\mbox{\hyperlink{class_b_n_o08x}{BNO08x}}* hal\_imu);}
+\DoxyCodeLine{75 }
+\DoxyCodeLine{76         \textcolor{keyword}{static} \textcolor{keywordtype}{int} \mbox{\hyperlink{class_b_n_o08x_s_h2_h_a_l_ae079b1384cba806a778eb0e27f981da0}{spi\_open}}(sh2\_Hal\_t* self);}
+\DoxyCodeLine{77         \textcolor{keyword}{static} \textcolor{keywordtype}{void} \mbox{\hyperlink{class_b_n_o08x_s_h2_h_a_l_a5fa6b901d1790fcd7dc0905f62ae040f}{spi\_close}}(sh2\_Hal\_t* self);}
+\DoxyCodeLine{78         \textcolor{keyword}{static} \textcolor{keywordtype}{int} \mbox{\hyperlink{class_b_n_o08x_s_h2_h_a_l_a3e691461235b3e3c59866ac179d06f25}{spi\_read}}(sh2\_Hal\_t* self, uint8\_t* pBuffer, \textcolor{keywordtype}{unsigned} len, uint32\_t* t\_us);}
+\DoxyCodeLine{79         \textcolor{keyword}{static} \textcolor{keywordtype}{int} \mbox{\hyperlink{class_b_n_o08x_s_h2_h_a_l_a96d5b8fa7669f22cd0ecaf1feee13299}{spi\_write}}(sh2\_Hal\_t* self, uint8\_t* pBuffer, \textcolor{keywordtype}{unsigned} len);}
+\DoxyCodeLine{80         \textcolor{keyword}{static} uint32\_t \mbox{\hyperlink{class_b_n_o08x_s_h2_h_a_l_ad89b6a3166e2eee003ad87a517a31cd5}{get\_time\_us}}(sh2\_Hal\_t* self);}
+\DoxyCodeLine{81         \textcolor{keyword}{static} \textcolor{keywordtype}{void} \mbox{\hyperlink{class_b_n_o08x_s_h2_h_a_l_a1add67e38698c9f33541af7bd2912d8f}{hal\_cb}}(\textcolor{keywordtype}{void}* cookie, sh2\_AsyncEvent\_t* pEvent);}
+\DoxyCodeLine{82         \textcolor{keyword}{static} \textcolor{keywordtype}{void} \mbox{\hyperlink{class_b_n_o08x_s_h2_h_a_l_a19c041ef614d7eda85b94b10202a3997}{sensor\_event\_cb}}(\textcolor{keywordtype}{void}* cookie, sh2\_SensorEvent\_t* event);}
+\DoxyCodeLine{83 }
+\DoxyCodeLine{84     \textcolor{keyword}{private}:}
+\DoxyCodeLine{85         \textcolor{keyword}{static} \mbox{\hyperlink{class_b_n_o08x}{BNO08x}}* imu;}
+\DoxyCodeLine{86         \textcolor{keyword}{static} \textcolor{keywordtype}{void} hardware\_reset();}
+\DoxyCodeLine{87         \textcolor{keyword}{static} \textcolor{keywordtype}{bool} spi\_wait\_for\_int();}
+\DoxyCodeLine{88         \textcolor{keyword}{static} uint16\_t spi\_read\_sh2\_packet\_header(uint8\_t* pBuffer);}
+\DoxyCodeLine{89         \textcolor{keyword}{static} \textcolor{keywordtype}{int} spi\_read\_sh2\_packet\_body(uint8\_t* pBuffer, uint16\_t packet\_sz);}
+\DoxyCodeLine{90 }
+\DoxyCodeLine{91         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} \textcolor{keywordtype}{char}* TAG = \textcolor{stringliteral}{"{}BNO08xSH2HAL"{}};}
+\DoxyCodeLine{92 \};}
+
+\end{DoxyCode}
diff --git a/documentation/latex/_b_n_o08x_test_helper_8hpp.tex b/documentation/latex/_b_n_o08x_test_helper_8hpp.tex
new file mode 100644
index 0000000..cbd8d61
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_test_helper_8hpp.tex
@@ -0,0 +1,30 @@
+\hypertarget{_b_n_o08x_test_helper_8hpp}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\+BNO08x\+Test\+Helper.hpp File Reference}
+\label{_b_n_o08x_test_helper_8hpp}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/BNO08xTestHelper.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/BNO08xTestHelper.hpp}}
+{\ttfamily \#include \char`\"{}BNO08x.\+hpp\char`\"{}}\newline
+Include dependency graph for BNO08x\+Test\+Helper.\+hpp\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_test_helper_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=274pt]{_b_n_o08x_test_helper_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+class \mbox{\hyperlink{class_b_n_o08x_test_helper}{BNO08x\+Test\+Helper}}
+\begin{DoxyCompactList}\small\item\em \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} unit test helper class. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+\begin{DoxyAuthor}{Author}
+Myles Parfeniuk 
+\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_test_helper_8hpp__dep__incl.md5 b/documentation/latex/_b_n_o08x_test_helper_8hpp__dep__incl.md5
new file mode 100644
index 0000000..049e240
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_test_helper_8hpp__dep__incl.md5
@@ -0,0 +1 @@
+045541ef7c60d3088e3f7066226399dc
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_test_helper_8hpp__dep__incl.pdf b/documentation/latex/_b_n_o08x_test_helper_8hpp__dep__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_test_helper_8hpp_source.tex b/documentation/latex/_b_n_o08x_test_helper_8hpp_source.tex
new file mode 100644
index 0000000..2b55931
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_test_helper_8hpp_source.tex
@@ -0,0 +1,152 @@
+\hypertarget{_b_n_o08x_test_helper_8hpp_source}{}\doxysection{BNO08x\+Test\+Helper.\+hpp}
+\label{_b_n_o08x_test_helper_8hpp_source}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/BNO08xTestHelper.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/BNO08xTestHelper.hpp}}
+\mbox{\hyperlink{_b_n_o08x_test_helper_8hpp}{Go to the documentation of this file.}}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{1 }
+\DoxyCodeLine{6 \textcolor{preprocessor}{\#pragma once}}
+\DoxyCodeLine{7 }
+\DoxyCodeLine{8 \textcolor{comment}{// in-\/house includes}}
+\DoxyCodeLine{9 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_8hpp}{BNO08x.hpp}}"{}}}
+\DoxyCodeLine{10 }
+\DoxyCodeLine{16 \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x_test_helper}{BNO08xTestHelper}}}
+\DoxyCodeLine{17 \{}
+\DoxyCodeLine{18     \textcolor{keyword}{private}:}
+\DoxyCodeLine{19         \textcolor{keyword}{static} \textcolor{keyword}{inline} uint8\_t test\_imu\_buffer[\textcolor{keyword}{sizeof}(\mbox{\hyperlink{class_b_n_o08x}{BNO08x}})];}
+\DoxyCodeLine{20         \textcolor{keyword}{inline} \textcolor{keyword}{static} \mbox{\hyperlink{class_b_n_o08x}{BNO08x}}* test\_imu = \textcolor{keyword}{nullptr};}
+\DoxyCodeLine{21         \textcolor{keyword}{inline} \textcolor{keyword}{static} \mbox{\hyperlink{structbno08x__config__t}{bno08x\_config\_t}} imu\_cfg;}
+\DoxyCodeLine{22 }
+\DoxyCodeLine{23         \textcolor{keyword}{static} \textcolor{keyword}{const} \textcolor{keyword}{constexpr} \textcolor{keywordtype}{char}* TAG = \textcolor{stringliteral}{"{}BNO08xTestHelper"{}};}
+\DoxyCodeLine{24 }
+\DoxyCodeLine{25     \textcolor{keyword}{public}:}
+\DoxyCodeLine{33         \textcolor{keyword}{static} \textcolor{keywordtype}{void} \mbox{\hyperlink{class_b_n_o08x_test_helper_a066f8389fd1c682ec9565ebc3060d885}{print\_test\_start\_banner}}(\textcolor{keyword}{const} \textcolor{keywordtype}{char}* TEST\_TAG)}
+\DoxyCodeLine{34         \{}
+\DoxyCodeLine{35             printf(\textcolor{stringliteral}{"{}-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/ BEGIN TEST: \%s -\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/\(\backslash\)n\(\backslash\)r"{}}, TEST\_TAG);}
+\DoxyCodeLine{36         \}}
+\DoxyCodeLine{37 }
+\DoxyCodeLine{45         \textcolor{keyword}{static} \textcolor{keywordtype}{void} \mbox{\hyperlink{class_b_n_o08x_test_helper_a16423fc3250e88eb5392800022f82919}{print\_test\_end\_banner}}(\textcolor{keyword}{const} \textcolor{keywordtype}{char}* TEST\_TAG)}
+\DoxyCodeLine{46         \{}
+\DoxyCodeLine{47             printf(\textcolor{stringliteral}{"{}-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/ END TEST: \%s -\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/-\/\(\backslash\)n\(\backslash\)r"{}}, TEST\_TAG);}
+\DoxyCodeLine{48         \}}
+\DoxyCodeLine{49 }
+\DoxyCodeLine{58         \textcolor{keyword}{static} \textcolor{keywordtype}{void} \mbox{\hyperlink{class_b_n_o08x_test_helper_a23593453a05f7cac26fd341371197a8c}{print\_test\_msg}}(\textcolor{keyword}{const} \textcolor{keywordtype}{char}* TEST\_TAG, \textcolor{keyword}{const} \textcolor{keywordtype}{char}* msg)}
+\DoxyCodeLine{59         \{}
+\DoxyCodeLine{60             printf(\textcolor{stringliteral}{"{}\%s: \%s: \%s\(\backslash\)n\(\backslash\)r"{}}, TAG, TEST\_TAG, msg);}
+\DoxyCodeLine{61         \}}
+\DoxyCodeLine{62 }
+\DoxyCodeLine{70         \textcolor{keyword}{static} \textcolor{keywordtype}{void} \mbox{\hyperlink{class_b_n_o08x_test_helper_a9e2f9bf13f28f1a6ba87e86bc5947cf1}{set\_test\_imu\_cfg}}(\mbox{\hyperlink{structbno08x__config__t}{bno08x\_config\_t}} cfg)}
+\DoxyCodeLine{71         \{}
+\DoxyCodeLine{72             imu\_cfg = cfg;}
+\DoxyCodeLine{73         \}}
+\DoxyCodeLine{74 }
+\DoxyCodeLine{80         \textcolor{keyword}{static} \textcolor{keywordtype}{void} \mbox{\hyperlink{class_b_n_o08x_test_helper_a6bd040c7d670a9713f2ab8a8a3913518}{create\_test\_imu}}()}
+\DoxyCodeLine{81         \{}
+\DoxyCodeLine{82             \textcolor{keywordflow}{if} (test\_imu != \textcolor{keyword}{nullptr})}
+\DoxyCodeLine{83                 \mbox{\hyperlink{class_b_n_o08x_test_helper_ae2d6df7dcfdbd106c2247803461bbc40}{destroy\_test\_imu}}();}
+\DoxyCodeLine{84 }
+\DoxyCodeLine{85             test\_imu = \textcolor{keyword}{new} (\&test\_imu\_buffer) \mbox{\hyperlink{class_b_n_o08x}{BNO08x}}();}
+\DoxyCodeLine{86         \}}
+\DoxyCodeLine{87 }
+\DoxyCodeLine{93         \textcolor{keyword}{static} \textcolor{keywordtype}{void} \mbox{\hyperlink{class_b_n_o08x_test_helper_ae2d6df7dcfdbd106c2247803461bbc40}{destroy\_test\_imu}}()}
+\DoxyCodeLine{94         \{}
+\DoxyCodeLine{95             \textcolor{keywordflow}{if} (test\_imu != \textcolor{keyword}{nullptr})}
+\DoxyCodeLine{96             \{}
+\DoxyCodeLine{97                 test\_imu-\/>\string~BNO08x();  }
+\DoxyCodeLine{98                 test\_imu = \textcolor{keyword}{nullptr};}
+\DoxyCodeLine{99             \}}
+\DoxyCodeLine{100         \}}
+\DoxyCodeLine{101 }
+\DoxyCodeLine{107         \textcolor{keyword}{static} \mbox{\hyperlink{class_b_n_o08x}{BNO08x}}* \mbox{\hyperlink{class_b_n_o08x_test_helper_a41a432a3fe288e45b6ab139a00bd7d6b}{get\_test\_imu}}()}
+\DoxyCodeLine{108         \{}
+\DoxyCodeLine{109             \textcolor{keywordflow}{return} test\_imu;}
+\DoxyCodeLine{110         \}}
+\DoxyCodeLine{111 }
+\DoxyCodeLine{117         \textcolor{keyword}{static} esp\_err\_t \mbox{\hyperlink{class_b_n_o08x_test_helper_a71d9fd7d459a98a7e9089a8587a21f8d}{call\_init\_config\_args}}()}
+\DoxyCodeLine{118         \{}
+\DoxyCodeLine{119             \textcolor{keywordflow}{if} (test\_imu == \textcolor{keyword}{nullptr})}
+\DoxyCodeLine{120                 \textcolor{keywordflow}{return} ESP\_FAIL;}
+\DoxyCodeLine{121 }
+\DoxyCodeLine{122             \textcolor{keywordflow}{return} test\_imu-\/>init\_config\_args();}
+\DoxyCodeLine{123         \}}
+\DoxyCodeLine{124 }
+\DoxyCodeLine{130         \textcolor{keyword}{static} esp\_err\_t \mbox{\hyperlink{class_b_n_o08x_test_helper_a504749533ccd91890d73440809d38161}{call\_init\_gpio}}()}
+\DoxyCodeLine{131         \{}
+\DoxyCodeLine{132             \textcolor{keywordflow}{if} (test\_imu == \textcolor{keyword}{nullptr})}
+\DoxyCodeLine{133                 \textcolor{keywordflow}{return} ESP\_FAIL;}
+\DoxyCodeLine{134 }
+\DoxyCodeLine{135             \textcolor{keywordflow}{return} test\_imu-\/>init\_gpio();}
+\DoxyCodeLine{136         \}}
+\DoxyCodeLine{137 }
+\DoxyCodeLine{143         \textcolor{keyword}{static} esp\_err\_t \mbox{\hyperlink{class_b_n_o08x_test_helper_a836c928981ac85d34668c9b97af17a15}{call\_init\_hint\_isr}}()}
+\DoxyCodeLine{144         \{}
+\DoxyCodeLine{145             \textcolor{keywordflow}{if} (test\_imu == \textcolor{keyword}{nullptr})}
+\DoxyCodeLine{146                 \textcolor{keywordflow}{return} ESP\_FAIL;}
+\DoxyCodeLine{147 }
+\DoxyCodeLine{148             \textcolor{keywordflow}{return} test\_imu-\/>init\_hint\_isr();}
+\DoxyCodeLine{149         \}}
+\DoxyCodeLine{150 }
+\DoxyCodeLine{156         \textcolor{keyword}{static} esp\_err\_t \mbox{\hyperlink{class_b_n_o08x_test_helper_a7d2d784da1e850dab41154b35d7cdab5}{call\_init\_spi}}()}
+\DoxyCodeLine{157         \{}
+\DoxyCodeLine{158             \textcolor{keywordflow}{if} (test\_imu == \textcolor{keyword}{nullptr})}
+\DoxyCodeLine{159                 \textcolor{keywordflow}{return} ESP\_FAIL;}
+\DoxyCodeLine{160 }
+\DoxyCodeLine{161             \textcolor{keywordflow}{return} test\_imu-\/>init\_spi();}
+\DoxyCodeLine{162         \}}
+\DoxyCodeLine{163 }
+\DoxyCodeLine{169         \textcolor{keyword}{static} esp\_err\_t \mbox{\hyperlink{class_b_n_o08x_test_helper_a935a69784981caf90b4e135e3e257db4}{call\_init\_tasks}}()}
+\DoxyCodeLine{170         \{}
+\DoxyCodeLine{171             \textcolor{keywordflow}{if} (test\_imu == \textcolor{keyword}{nullptr})}
+\DoxyCodeLine{172                 \textcolor{keywordflow}{return} ESP\_FAIL;}
+\DoxyCodeLine{173 }
+\DoxyCodeLine{174             \textcolor{keywordflow}{return} test\_imu-\/>init\_tasks();}
+\DoxyCodeLine{175         \}}
+\DoxyCodeLine{176 }
+\DoxyCodeLine{182         \textcolor{keyword}{static} esp\_err\_t \mbox{\hyperlink{class_b_n_o08x_test_helper_a854c60f602fe6d9af1da1a07eee0a449}{call\_init\_sh2\_HAL}}()}
+\DoxyCodeLine{183         \{}
+\DoxyCodeLine{184             \textcolor{keywordflow}{if} (test\_imu == \textcolor{keyword}{nullptr})}
+\DoxyCodeLine{185                 \textcolor{keywordflow}{return} ESP\_FAIL;}
+\DoxyCodeLine{186 }
+\DoxyCodeLine{187             \textcolor{keywordflow}{return} test\_imu-\/>init\_sh2\_HAL();}
+\DoxyCodeLine{188         \}}
+\DoxyCodeLine{189 }
+\DoxyCodeLine{195         \textcolor{keyword}{static} esp\_err\_t \mbox{\hyperlink{class_b_n_o08x_test_helper_a347b8ca2697388394b7cb68c8895494b}{call\_deinit\_gpio}}()}
+\DoxyCodeLine{196         \{}
+\DoxyCodeLine{197             \textcolor{keywordflow}{if} (test\_imu == \textcolor{keyword}{nullptr})}
+\DoxyCodeLine{198                 \textcolor{keywordflow}{return} ESP\_FAIL;}
+\DoxyCodeLine{199 }
+\DoxyCodeLine{200             \textcolor{keywordflow}{return} test\_imu-\/>deinit\_gpio();}
+\DoxyCodeLine{201         \}}
+\DoxyCodeLine{202 }
+\DoxyCodeLine{208         \textcolor{keyword}{static} esp\_err\_t \mbox{\hyperlink{class_b_n_o08x_test_helper_ac15a216ea5561b190f25f83caa749261}{call\_deinit\_hint\_isr}}()}
+\DoxyCodeLine{209         \{}
+\DoxyCodeLine{210             \textcolor{keywordflow}{if} (test\_imu == \textcolor{keyword}{nullptr})}
+\DoxyCodeLine{211                 \textcolor{keywordflow}{return} ESP\_FAIL;}
+\DoxyCodeLine{212 }
+\DoxyCodeLine{213             \textcolor{keywordflow}{return} test\_imu-\/>deinit\_hint\_isr();}
+\DoxyCodeLine{214         \}}
+\DoxyCodeLine{215 }
+\DoxyCodeLine{221         \textcolor{keyword}{static} esp\_err\_t \mbox{\hyperlink{class_b_n_o08x_test_helper_a56ec98df9439461469bf0d2c23bb3868}{call\_deinit\_spi}}()}
+\DoxyCodeLine{222         \{}
+\DoxyCodeLine{223             \textcolor{keywordflow}{if} (test\_imu == \textcolor{keyword}{nullptr})}
+\DoxyCodeLine{224                 \textcolor{keywordflow}{return} ESP\_FAIL;}
+\DoxyCodeLine{225 }
+\DoxyCodeLine{226             \textcolor{keywordflow}{return} test\_imu-\/>deinit\_spi();}
+\DoxyCodeLine{227         \}}
+\DoxyCodeLine{228 }
+\DoxyCodeLine{234         \textcolor{keyword}{static} esp\_err\_t \mbox{\hyperlink{class_b_n_o08x_test_helper_a3be103abfab70eef3c1b1609a0c46bec}{call\_deinit\_tasks}}()}
+\DoxyCodeLine{235         \{}
+\DoxyCodeLine{236             \textcolor{keywordflow}{if} (test\_imu == \textcolor{keyword}{nullptr})}
+\DoxyCodeLine{237                 \textcolor{keywordflow}{return} ESP\_FAIL;}
+\DoxyCodeLine{238 }
+\DoxyCodeLine{239             \textcolor{keywordflow}{return} test\_imu-\/>deinit\_tasks();}
+\DoxyCodeLine{240         \}}
+\DoxyCodeLine{241 }
+\DoxyCodeLine{247         \textcolor{keyword}{static} esp\_err\_t \mbox{\hyperlink{class_b_n_o08x_test_helper_ab1f8d61956fbceecf0baf08cb878397d}{call\_deinit\_sh2\_HAL}}()}
+\DoxyCodeLine{248         \{}
+\DoxyCodeLine{249             \textcolor{keywordflow}{if} (test\_imu == \textcolor{keyword}{nullptr})}
+\DoxyCodeLine{250                 \textcolor{keywordflow}{return} ESP\_FAIL;}
+\DoxyCodeLine{251 }
+\DoxyCodeLine{252             \textcolor{keywordflow}{return} test\_imu-\/>deinit\_sh2\_HAL();}
+\DoxyCodeLine{253         \}}
+\DoxyCodeLine{254 \};}
+
+\end{DoxyCode}
diff --git a/documentation/latex/_b_n_o08x_test_suite_8hpp.tex b/documentation/latex/_b_n_o08x_test_suite_8hpp.tex
new file mode 100644
index 0000000..e9b22fa
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_test_suite_8hpp.tex
@@ -0,0 +1,23 @@
+\hypertarget{_b_n_o08x_test_suite_8hpp}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\+BNO08x\+Test\+Suite.hpp File Reference}
+\label{_b_n_o08x_test_suite_8hpp}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/BNO08xTestSuite.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/BNO08xTestSuite.hpp}}
+{\ttfamily \#include \char`\"{}unity.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}BNO08x\+Test\+Helper.\+hpp\char`\"{}}\newline
+Include dependency graph for BNO08x\+Test\+Suite.\+hpp\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_b_n_o08x_test_suite_8hpp__incl}
+\end{center}
+\end{figure}
+\doxysubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+class \mbox{\hyperlink{class_b_n_o08x_test_suite}{BNO08x\+Test\+Suite}}
+\begin{DoxyCompactList}\small\item\em \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} unit test launch point class. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+\begin{DoxyAuthor}{Author}
+Myles Parfeniuk 
+\end{DoxyAuthor}
diff --git a/documentation/latex/_b_n_o08x_test_suite_8hpp__incl.md5 b/documentation/latex/_b_n_o08x_test_suite_8hpp__incl.md5
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index 0000000..7e866b7
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_test_suite_8hpp__incl.md5
@@ -0,0 +1 @@
+b4cb8128032e1f01678a53e5970e5628
\ No newline at end of file
diff --git a/documentation/latex/_b_n_o08x_test_suite_8hpp__incl.pdf b/documentation/latex/_b_n_o08x_test_suite_8hpp__incl.pdf
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diff --git a/documentation/latex/_b_n_o08x_test_suite_8hpp_source.tex b/documentation/latex/_b_n_o08x_test_suite_8hpp_source.tex
new file mode 100644
index 0000000..656b244
--- /dev/null
+++ b/documentation/latex/_b_n_o08x_test_suite_8hpp_source.tex
@@ -0,0 +1,119 @@
+\hypertarget{_b_n_o08x_test_suite_8hpp_source}{}\doxysection{BNO08x\+Test\+Suite.\+hpp}
+\label{_b_n_o08x_test_suite_8hpp_source}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/BNO08xTestSuite.hpp@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/BNO08xTestSuite.hpp}}
+\mbox{\hyperlink{_b_n_o08x_test_suite_8hpp}{Go to the documentation of this file.}}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{1 }
+\DoxyCodeLine{6 \textcolor{preprocessor}{\#pragma once}}
+\DoxyCodeLine{7 }
+\DoxyCodeLine{8 \textcolor{comment}{// esp-\/idf includes}}
+\DoxyCodeLine{9 \textcolor{preprocessor}{\#include "{}unity.h"{}}}
+\DoxyCodeLine{10 \textcolor{comment}{// in-\/house includes}}
+\DoxyCodeLine{11 \textcolor{preprocessor}{\#include "{}\mbox{\hyperlink{_b_n_o08x_test_helper_8hpp}{BNO08xTestHelper.hpp}}"{}}}
+\DoxyCodeLine{12 }
+\DoxyCodeLine{18 \textcolor{keyword}{class }\mbox{\hyperlink{class_b_n_o08x_test_suite}{BNO08xTestSuite}}}
+\DoxyCodeLine{19 \{}
+\DoxyCodeLine{20 }
+\DoxyCodeLine{21     \textcolor{keyword}{private}:}
+\DoxyCodeLine{22         \textcolor{keyword}{static} \textcolor{keywordtype}{void} print\_begin\_tests\_banner(\textcolor{keyword}{const} \textcolor{keywordtype}{char}* test\_set\_name)}
+\DoxyCodeLine{23         \{}
+\DoxyCodeLine{24             printf(\textcolor{stringliteral}{"{}\#\#\#\#\#\#\#\#\#\#\#\#\#\#\#\#\#\#\#\#\#\#\# BEGIN TESTS: \%s \#\#\#\#\#\#\#\#\#\#\#\#\#\#\#\#\#\#\#\#\#\#\#\(\backslash\)n\(\backslash\)r"{}}, test\_set\_name);}
+\DoxyCodeLine{25         \}}
+\DoxyCodeLine{26 }
+\DoxyCodeLine{27         \textcolor{keyword}{static} \textcolor{keywordtype}{void} print\_end\_tests\_banner(\textcolor{keyword}{const} \textcolor{keywordtype}{char}* test\_set\_name)}
+\DoxyCodeLine{28         \{}
+\DoxyCodeLine{29             printf(\textcolor{stringliteral}{"{}\#\#\#\#\#\#\#\#\#\#\#\#\#\#\#\#\#\#\#\#\#\#\# END TESTS: \%s \#\#\#\#\#\#\#\#\#\#\#\#\#\#\#\#\#\#\#\#\#\#\#\(\backslash\)n\(\backslash\)r"{}}, test\_set\_name);}
+\DoxyCodeLine{30         \}}
+\DoxyCodeLine{31 }
+\DoxyCodeLine{32     \textcolor{keyword}{public}:}
+\DoxyCodeLine{33         \textcolor{keyword}{static} \textcolor{keywordtype}{void} \mbox{\hyperlink{class_b_n_o08x_test_suite_ac12545fe311a98e9c0ae6fea77da95fd}{run\_all\_tests}}()}
+\DoxyCodeLine{34         \{}
+\DoxyCodeLine{35             UNITY\_BEGIN();}
+\DoxyCodeLine{36             \mbox{\hyperlink{class_b_n_o08x_test_suite_a53de9b0fe1b28c18e3a1ca4c68a06f16}{run\_init\_deinit\_tests}}(\textcolor{keyword}{false});}
+\DoxyCodeLine{37             \mbox{\hyperlink{class_b_n_o08x_test_suite_a37899d7bf67fce5c3dd77dd5647f8ecb}{run\_single\_report\_tests}}(\textcolor{keyword}{false});}
+\DoxyCodeLine{38             \mbox{\hyperlink{class_b_n_o08x_test_suite_a916cff374791381de61f1035f9935ac5}{run\_multi\_report\_tests}}(\textcolor{keyword}{false});}
+\DoxyCodeLine{39             \mbox{\hyperlink{class_b_n_o08x_test_suite_a8e294955bf512e2e88c086f04f6030a8}{run\_callback\_tests}}(\textcolor{keyword}{false});}
+\DoxyCodeLine{40             \mbox{\hyperlink{class_b_n_o08x_test_suite_a8d7a3485fdf1ff9c0a09736654187434}{run\_feature\_tests}}(\textcolor{keyword}{false});}
+\DoxyCodeLine{41             UNITY\_END();}
+\DoxyCodeLine{42         \}}
+\DoxyCodeLine{43 }
+\DoxyCodeLine{44         \textcolor{keyword}{static} \textcolor{keywordtype}{void} \mbox{\hyperlink{class_b_n_o08x_test_suite_a53de9b0fe1b28c18e3a1ca4c68a06f16}{run\_init\_deinit\_tests}}(\textcolor{keywordtype}{bool} call\_unity\_end\_begin = \textcolor{keyword}{true})}
+\DoxyCodeLine{45         \{}
+\DoxyCodeLine{46             print\_begin\_tests\_banner(\textcolor{stringliteral}{"{}init\_denit\_tests"{}});}
+\DoxyCodeLine{47 }
+\DoxyCodeLine{48             \textcolor{keywordflow}{if} (call\_unity\_end\_begin)}
+\DoxyCodeLine{49                 UNITY\_BEGIN();}
+\DoxyCodeLine{50 }
+\DoxyCodeLine{51             unity\_run\_tests\_by\_tag(\textcolor{stringliteral}{"{}[InitComprehensive]"{}}, \textcolor{keyword}{false});}
+\DoxyCodeLine{52             unity\_run\_tests\_by\_tag(\textcolor{stringliteral}{"{}[DeinitComprehensive]"{}}, \textcolor{keyword}{false});}
+\DoxyCodeLine{53             unity\_run\_tests\_by\_tag(\textcolor{stringliteral}{"{}[InitDenit]"{}}, \textcolor{keyword}{false});}
+\DoxyCodeLine{54 }
+\DoxyCodeLine{55             \textcolor{keywordflow}{if} (call\_unity\_end\_begin)}
+\DoxyCodeLine{56                 UNITY\_END();}
+\DoxyCodeLine{57 }
+\DoxyCodeLine{58             print\_end\_tests\_banner(\textcolor{stringliteral}{"{}init\_denit\_tests"{}});}
+\DoxyCodeLine{59         \}}
+\DoxyCodeLine{60 }
+\DoxyCodeLine{61         \textcolor{keyword}{static} \textcolor{keywordtype}{void} \mbox{\hyperlink{class_b_n_o08x_test_suite_a37899d7bf67fce5c3dd77dd5647f8ecb}{run\_single\_report\_tests}}(\textcolor{keywordtype}{bool} call\_unity\_end\_begin = \textcolor{keyword}{true})}
+\DoxyCodeLine{62         \{}
+\DoxyCodeLine{63             print\_begin\_tests\_banner(\textcolor{stringliteral}{"{}single\_report\_enable\_disable\_tests"{}});}
+\DoxyCodeLine{64 }
+\DoxyCodeLine{65             \textcolor{keywordflow}{if} (call\_unity\_end\_begin)}
+\DoxyCodeLine{66                 UNITY\_BEGIN();}
+\DoxyCodeLine{67 }
+\DoxyCodeLine{68             unity\_run\_tests\_by\_tag(\textcolor{stringliteral}{"{}[SingleReportEnableDisable]"{}}, \textcolor{keyword}{false});}
+\DoxyCodeLine{69 }
+\DoxyCodeLine{70             \textcolor{keywordflow}{if} (call\_unity\_end\_begin)}
+\DoxyCodeLine{71                 UNITY\_END();}
+\DoxyCodeLine{72 }
+\DoxyCodeLine{73             print\_end\_tests\_banner(\textcolor{stringliteral}{"{}single\_report\_enable\_disable\_tests"{}});}
+\DoxyCodeLine{74         \}}
+\DoxyCodeLine{75 }
+\DoxyCodeLine{76         \textcolor{keyword}{static} \textcolor{keywordtype}{void} \mbox{\hyperlink{class_b_n_o08x_test_suite_a916cff374791381de61f1035f9935ac5}{run\_multi\_report\_tests}}(\textcolor{keywordtype}{bool} call\_unity\_end\_begin = \textcolor{keyword}{true})}
+\DoxyCodeLine{77         \{}
+\DoxyCodeLine{78             print\_begin\_tests\_banner(\textcolor{stringliteral}{"{}multi\_report\_enable\_disable\_tests"{}});}
+\DoxyCodeLine{79 }
+\DoxyCodeLine{80             \textcolor{keywordflow}{if} (call\_unity\_end\_begin)}
+\DoxyCodeLine{81                 UNITY\_BEGIN();}
+\DoxyCodeLine{82 }
+\DoxyCodeLine{83             unity\_run\_tests\_by\_tag(\textcolor{stringliteral}{"{}[MultiReportEnableDisable]"{}}, \textcolor{keyword}{false});}
+\DoxyCodeLine{84 }
+\DoxyCodeLine{85             \textcolor{keywordflow}{if} (call\_unity\_end\_begin)}
+\DoxyCodeLine{86                 UNITY\_END();}
+\DoxyCodeLine{87 }
+\DoxyCodeLine{88             print\_end\_tests\_banner(\textcolor{stringliteral}{"{}multi\_report\_enable\_disable\_tests"{}});}
+\DoxyCodeLine{89         \}}
+\DoxyCodeLine{90 }
+\DoxyCodeLine{91         \textcolor{keyword}{static} \textcolor{keywordtype}{void} \mbox{\hyperlink{class_b_n_o08x_test_suite_a8e294955bf512e2e88c086f04f6030a8}{run\_callback\_tests}}(\textcolor{keywordtype}{bool} call\_unity\_end\_begin = \textcolor{keyword}{true})}
+\DoxyCodeLine{92         \{}
+\DoxyCodeLine{93             print\_begin\_tests\_banner(\textcolor{stringliteral}{"{}callback\_tests"{}});}
+\DoxyCodeLine{94 }
+\DoxyCodeLine{95             \textcolor{keywordflow}{if} (call\_unity\_end\_begin)}
+\DoxyCodeLine{96                 UNITY\_BEGIN();}
+\DoxyCodeLine{97 }
+\DoxyCodeLine{98             unity\_run\_tests\_by\_tag(\textcolor{stringliteral}{"{}[CallbackAllReportVoidInputParam]"{}}, \textcolor{keyword}{false});}
+\DoxyCodeLine{99             unity\_run\_tests\_by\_tag(\textcolor{stringliteral}{"{}[CallbackAllReportIDInputParam]"{}}, \textcolor{keyword}{false});}
+\DoxyCodeLine{100             unity\_run\_tests\_by\_tag(\textcolor{stringliteral}{"{}[CallbackSingleReportVoidInputParam]"{}}, \textcolor{keyword}{false});}
+\DoxyCodeLine{101 }
+\DoxyCodeLine{102             \textcolor{keywordflow}{if} (call\_unity\_end\_begin)}
+\DoxyCodeLine{103                 UNITY\_END();}
+\DoxyCodeLine{104 }
+\DoxyCodeLine{105             print\_end\_tests\_banner(\textcolor{stringliteral}{"{}callback\_tests"{}});}
+\DoxyCodeLine{106         \}}
+\DoxyCodeLine{107 }
+\DoxyCodeLine{108         \textcolor{keyword}{static} \textcolor{keywordtype}{void} \mbox{\hyperlink{class_b_n_o08x_test_suite_a8d7a3485fdf1ff9c0a09736654187434}{run\_feature\_tests}}(\textcolor{keywordtype}{bool} call\_unity\_end\_begin = \textcolor{keyword}{true})}
+\DoxyCodeLine{109         \{}
+\DoxyCodeLine{110             print\_begin\_tests\_banner(\textcolor{stringliteral}{"{}feature\_tests"{}});}
+\DoxyCodeLine{111 }
+\DoxyCodeLine{112             \textcolor{keywordflow}{if} (call\_unity\_end\_begin)}
+\DoxyCodeLine{113                 UNITY\_BEGIN();}
+\DoxyCodeLine{114 }
+\DoxyCodeLine{115             unity\_run\_tests\_by\_tag(\textcolor{stringliteral}{"{}[FeatureTests]"{}}, \textcolor{keyword}{false});}
+\DoxyCodeLine{116 }
+\DoxyCodeLine{117             \textcolor{keywordflow}{if} (call\_unity\_end\_begin)}
+\DoxyCodeLine{118                 UNITY\_END();}
+\DoxyCodeLine{119 }
+\DoxyCodeLine{120             print\_end\_tests\_banner(\textcolor{stringliteral}{"{}feature\_tests"{}});}
+\DoxyCodeLine{121         \}}
+\DoxyCodeLine{122 \};}
+
+\end{DoxyCode}
diff --git a/documentation/latex/annotated.tex b/documentation/latex/annotated.tex
new file mode 100644
index 0000000..a114cec
--- /dev/null
+++ b/documentation/latex/annotated.tex
@@ -0,0 +1,55 @@
+\doxysection{Class List}
+Here are the classes, structs, unions and interfaces with brief descriptions\+:\begin{DoxyCompactList}
+\item\contentsline{section}{\mbox{\hyperlink{class_b_n_o08x}{BNO08x}} \\*\mbox{\hyperlink{class_b_n_o08x}{BNO08x}} IMU driver class }{\pageref{class_b_n_o08x}}{}
+\item\contentsline{section}{\mbox{\hyperlink{structbno08x__accel__t}{bno08x\+\_\+accel\+\_\+t}} \\*Struct to represent acceleration data from acceleration, linear acceleration, and gravity reports }{\pageref{structbno08x__accel__t}}{}
+\item\contentsline{section}{\mbox{\hyperlink{structbno08x__activity__classifier__t}{bno08x\+\_\+activity\+\_\+classifier\+\_\+t}} \\*Struct to represent activity classifier data }{\pageref{structbno08x__activity__classifier__t}}{}
+\item\contentsline{section}{\mbox{\hyperlink{structbno08x__ang__vel__t}{bno08x\+\_\+ang\+\_\+vel\+\_\+t}} \\*Struct to represent angular velocity (units in rad/s) }{\pageref{structbno08x__ang__vel__t}}{}
+\item\contentsline{section}{\mbox{\hyperlink{structbno08x__config__t}{bno08x\+\_\+config\+\_\+t}} \\*IMU configuration settings passed into constructor }{\pageref{structbno08x__config__t}}{}
+\item\contentsline{section}{\mbox{\hyperlink{structbno08x__euler__angle__t}{bno08x\+\_\+euler\+\_\+angle\+\_\+t}} \\*Struct to represent euler angle (units in degrees or rads) }{\pageref{structbno08x__euler__angle__t}}{}
+\item\contentsline{section}{\mbox{\hyperlink{structbno08x__gyro__bias__t}{bno08x\+\_\+gyro\+\_\+bias\+\_\+t}} \\*Struct to represent gyro bias data (units in rad/s) }{\pageref{structbno08x__gyro__bias__t}}{}
+\item\contentsline{section}{\mbox{\hyperlink{structbno08x__gyro__t}{bno08x\+\_\+gyro\+\_\+t}} \\*Struct to represent gyro data (units in rad/s) }{\pageref{structbno08x__gyro__t}}{}
+\item\contentsline{section}{\mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+init\+\_\+status\+\_\+t}} \\*Holds info about which functionality has been successfully initialized (used by deconstructor during cleanup) }{\pageref{struct_b_n_o08x_private_types_1_1bno08x__init__status__t}}{}
+\item\contentsline{section}{\mbox{\hyperlink{structbno08x__magf__bias__t}{bno08x\+\_\+magf\+\_\+bias\+\_\+t}} \\*Struct to represent magnetic field bias data (units in u\+Tesla) }{\pageref{structbno08x__magf__bias__t}}{}
+\item\contentsline{section}{\mbox{\hyperlink{structbno08x__magf__t}{bno08x\+\_\+magf\+\_\+t}} \\*Struct to represent magnetic field data (units in u\+Tesla) }{\pageref{structbno08x__magf__t}}{}
+\item\contentsline{section}{\mbox{\hyperlink{structbno08x__meta__data__t}{bno08x\+\_\+meta\+\_\+data\+\_\+t}} \\*Struct to represent sensor/report meta data, returned from \mbox{\hyperlink{class_b_n_o08x_rpt_ad5b054279b01204f61b4c0408acf51cf}{BNO08x\+Rpt\+::get\+\_\+meta\+\_\+data()}} }{\pageref{structbno08x__meta__data__t}}{}
+\item\contentsline{section}{\mbox{\hyperlink{structbno08x__quat__t}{bno08x\+\_\+quat\+\_\+t}} \\*Struct to represent unit quaternion }{\pageref{structbno08x__quat__t}}{}
+\item\contentsline{section}{\mbox{\hyperlink{structbno08x__raw__accel__t}{bno08x\+\_\+raw\+\_\+accel\+\_\+t}} \\*Struct to represent raw mems accelerometer data from raw accelerometer reports (units in ADC counts) }{\pageref{structbno08x__raw__accel__t}}{}
+\item\contentsline{section}{\mbox{\hyperlink{structbno08x__raw__gyro__t}{bno08x\+\_\+raw\+\_\+gyro\+\_\+t}} \\*Struct to represent raw mems gyro data from raw gyro reports (units in ADC counts) }{\pageref{structbno08x__raw__gyro__t}}{}
+\item\contentsline{section}{\mbox{\hyperlink{structbno08x__raw__magf__t}{bno08x\+\_\+raw\+\_\+magf\+\_\+t}} \\*Struct to represent raw mems magnetometer data from raw magnetometer reports (units in ADC counts) }{\pageref{structbno08x__raw__magf__t}}{}
+\item\contentsline{section}{\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t}{BNO08x\+::bno08x\+\_\+reports\+\_\+t}} \\*Contains report implementations }{\pageref{struct_b_n_o08x_1_1bno08x__reports__t}}{}
+\item\contentsline{section}{\mbox{\hyperlink{structbno08x__sample__counts__t}{bno08x\+\_\+sample\+\_\+counts\+\_\+t}} \\*Struct to represent sample counts, returned from \mbox{\hyperlink{class_b_n_o08x_rpt_a7ce8e48cadf59f49068af7f1cb680b38}{BNO08x\+Rpt\+::get\+\_\+sample\+\_\+counts()}} }{\pageref{structbno08x__sample__counts__t}}{}
+\item\contentsline{section}{\mbox{\hyperlink{structbno08x__shake__detector__t}{bno08x\+\_\+shake\+\_\+detector\+\_\+t}} \\*Struct to represent shake detector data (flag meaning\+: 0 = no shake 1 = shake detected) }{\pageref{structbno08x__shake__detector__t}}{}
+\item\contentsline{section}{\mbox{\hyperlink{structbno08x__stability__classifier__t}{bno08x\+\_\+stability\+\_\+classifier\+\_\+t}} \\*Struct to represent stability classifier data from stability classifier reports }{\pageref{structbno08x__stability__classifier__t}}{}
+\item\contentsline{section}{\mbox{\hyperlink{structbno08x__step__counter__t}{bno08x\+\_\+step\+\_\+counter\+\_\+t}} \\*Struct to represent step counter data from step counter reports }{\pageref{structbno08x__step__counter__t}}{}
+\item\contentsline{section}{\mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} \\*Holds context used to synchronize tasks and callback execution }{\pageref{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}}{}
+\item\contentsline{section}{\mbox{\hyperlink{structbno08x__tap__detector__t}{bno08x\+\_\+tap\+\_\+detector\+\_\+t}} \\*Struct to represent tap detector data (flag meaning\+: 0 = no tap, 1 = positive tap on axis, -\/1 = negative tap on axis) }{\pageref{structbno08x__tap__detector__t}}{}
+\item\contentsline{section}{\mbox{\hyperlink{class_b_n_o08x_cb_generic}{BNO08x\+Cb\+Generic}} \\*Parent class to represent callback functions as generic type such that all flavors can be invoked by single type }{\pageref{class_b_n_o08x_cb_generic}}{}
+\item\contentsline{section}{\mbox{\hyperlink{class_b_n_o08x_cb_param_rpt_i_d}{BNO08x\+Cb\+Param\+Rpt\+ID}} \\*Class to hold callback functions which are passed report ID as input parameter }{\pageref{class_b_n_o08x_cb_param_rpt_i_d}}{}
+\item\contentsline{section}{\mbox{\hyperlink{class_b_n_o08x_cb_param_void}{BNO08x\+Cb\+Param\+Void}} }{\pageref{class_b_n_o08x_cb_param_void}}{}
+\item\contentsline{section}{\mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08x\+Rpt}} \\*Class to represent and manage reports returned from \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} }{\pageref{class_b_n_o08x_rpt}}{}
+\item\contentsline{section}{\mbox{\hyperlink{class_b_n_o08x_rpt_acceleration}{BNO08x\+Rpt\+Acceleration}} \\*Class to represent accelerometer reports. (See Ref. Manual 6.\+5.\+9) }{\pageref{class_b_n_o08x_rpt_acceleration}}{}
+\item\contentsline{section}{\mbox{\hyperlink{class_b_n_o08x_rpt_activity_classifier}{BNO08x\+Rpt\+Activity\+Classifier}} \\*Class to represent activity classifier reports. (See Ref. Manual 6.\+5.\+36) }{\pageref{class_b_n_o08x_rpt_activity_classifier}}{}
+\item\contentsline{section}{\mbox{\hyperlink{class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v}{BNO08x\+Rpt\+ARVRStabilized\+Game\+RV}} \\*Class to represent ARVR stabilized rotation vector reports. (See Ref. Manual 6.\+5.\+43) }{\pageref{class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v}}{}
+\item\contentsline{section}{\mbox{\hyperlink{class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v}{BNO08x\+Rpt\+ARVRStabilized\+RV}} \\*Class to represent ARVR stabilized rotation vector reports. (See Ref. Manual 6.\+5.\+42) }{\pageref{class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v}}{}
+\item\contentsline{section}{\mbox{\hyperlink{class_b_n_o08x_rpt_cal_gyro}{BNO08x\+Rpt\+Cal\+Gyro}} \\*Class to represent calibrated gyro reports. (See Ref. Manual 6.\+5.\+13) }{\pageref{class_b_n_o08x_rpt_cal_gyro}}{}
+\item\contentsline{section}{\mbox{\hyperlink{class_b_n_o08x_rpt_cal_magnetometer}{BNO08x\+Rpt\+Cal\+Magnetometer}} \\*Class to represent calibrated magnetometer reports. (See Ref. Manual 6.\+5.\+16) }{\pageref{class_b_n_o08x_rpt_cal_magnetometer}}{}
+\item\contentsline{section}{\mbox{\hyperlink{class_b_n_o08x_rpt_game_r_v}{BNO08x\+Rpt\+Game\+RV}} \\*Class to represent game rotation vector reports. (See Ref. Manual 6.\+5.\+19) }{\pageref{class_b_n_o08x_rpt_game_r_v}}{}
+\item\contentsline{section}{\mbox{\hyperlink{class_b_n_o08x_rpt_gravity}{BNO08x\+Rpt\+Gravity}} \\*Class to represent gravity reports. (See Ref. Manual 6.\+5.\+11) }{\pageref{class_b_n_o08x_rpt_gravity}}{}
+\item\contentsline{section}{\mbox{\hyperlink{class_b_n_o08x_rpt_i_gyro_r_v}{BNO08x\+Rpt\+IGyro\+RV}} \\*Class to represent integrated gyro rotation vector reports. (See Ref. Manual 6.\+5.\+44) }{\pageref{class_b_n_o08x_rpt_i_gyro_r_v}}{}
+\item\contentsline{section}{\mbox{\hyperlink{class_b_n_o08x_rpt_linear_acceleration}{BNO08x\+Rpt\+Linear\+Acceleration}} \\*Class to represent linear accelerometer reports. (See Ref. Manual 6.\+5.\+10) }{\pageref{class_b_n_o08x_rpt_linear_acceleration}}{}
+\item\contentsline{section}{\mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer}{BNO08x\+Rpt\+Raw\+MEMSAccelerometer}} \\*Class to represent raw accelerometer reports. (See Ref. Manual 6.\+5.\+8) }{\pageref{class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer}}{}
+\item\contentsline{section}{\mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_gyro}{BNO08x\+Rpt\+Raw\+MEMSGyro}} \\*Class to represent raw gyro reports. (See Ref. Manual 6.\+5.\+12) }{\pageref{class_b_n_o08x_rpt_raw_m_e_m_s_gyro}}{}
+\item\contentsline{section}{\mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer}{BNO08x\+Rpt\+Raw\+MEMSMagnetometer}} \\*Class to represent raw magnetometer reports. (See Ref. Manual 6.\+5.\+15) }{\pageref{class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer}}{}
+\item\contentsline{section}{\mbox{\hyperlink{class_b_n_o08x_rpt_r_v}{BNO08x\+Rpt\+RV}} \\*Class to represent rotation vector reports. (See Ref. Manual 6.\+5.\+18) }{\pageref{class_b_n_o08x_rpt_r_v}}{}
+\item\contentsline{section}{\mbox{\hyperlink{class_b_n_o08x_rpt_r_v_generic}{BNO08x\+Rpt\+RVGeneric}} \\*Class to represent rotation vector reports }{\pageref{class_b_n_o08x_rpt_r_v_generic}}{}
+\item\contentsline{section}{\mbox{\hyperlink{class_b_n_o08x_rpt_r_v_geomag}{BNO08x\+Rpt\+RVGeomag}} \\*Class to represent geomagnetic rotation vector reports. (See Ref. Manual 6.\+5.\+20) }{\pageref{class_b_n_o08x_rpt_r_v_geomag}}{}
+\item\contentsline{section}{\mbox{\hyperlink{class_b_n_o08x_rpt_shake_detector}{BNO08x\+Rpt\+Shake\+Detector}} \\*Class to represent shake detector reports. (See Ref. Manual 6.\+5.\+32) }{\pageref{class_b_n_o08x_rpt_shake_detector}}{}
+\item\contentsline{section}{\mbox{\hyperlink{class_b_n_o08x_rpt_stability_classifier}{BNO08x\+Rpt\+Stability\+Classifier}} \\*Class to represent stability classifier reports. (See Ref. Manual 6.\+5.\+31) }{\pageref{class_b_n_o08x_rpt_stability_classifier}}{}
+\item\contentsline{section}{\mbox{\hyperlink{class_b_n_o08x_rpt_step_counter}{BNO08x\+Rpt\+Step\+Counter}} \\*Class to represent step counter reports. (See Ref. Manual 6.\+5.\+29) }{\pageref{class_b_n_o08x_rpt_step_counter}}{}
+\item\contentsline{section}{\mbox{\hyperlink{class_b_n_o08x_rpt_tap_detector}{BNO08x\+Rpt\+Tap\+Detector}} \\*Class to represent tap detector reports. (See Ref. Manual 6.\+5.\+27) }{\pageref{class_b_n_o08x_rpt_tap_detector}}{}
+\item\contentsline{section}{\mbox{\hyperlink{class_b_n_o08x_rpt_uncal_gyro}{BNO08x\+Rpt\+Uncal\+Gyro}} \\*Class to represent uncalibrated gyro reports. (See Ref. Manual 6.\+5.\+14) }{\pageref{class_b_n_o08x_rpt_uncal_gyro}}{}
+\item\contentsline{section}{\mbox{\hyperlink{class_b_n_o08x_rpt_uncal_magnetometer}{BNO08x\+Rpt\+Uncal\+Magnetometer}} \\*Class to represent uncalibrated magnetometer reports. (See Ref. Manual 6.\+5.\+17) }{\pageref{class_b_n_o08x_rpt_uncal_magnetometer}}{}
+\item\contentsline{section}{\mbox{\hyperlink{class_b_n_o08x_s_h2_h_a_l}{BNO08x\+SH2\+HAL}} \\*Fully static class containing callback implementations for sh2 HAL lib }{\pageref{class_b_n_o08x_s_h2_h_a_l}}{}
+\item\contentsline{section}{\mbox{\hyperlink{class_b_n_o08x_test_helper}{BNO08x\+Test\+Helper}} \\*\mbox{\hyperlink{class_b_n_o08x}{BNO08x}} unit test helper class }{\pageref{class_b_n_o08x_test_helper}}{}
+\item\contentsline{section}{\mbox{\hyperlink{class_b_n_o08x_test_suite}{BNO08x\+Test\+Suite}} \\*\mbox{\hyperlink{class_b_n_o08x}{BNO08x}} unit test launch point class }{\pageref{class_b_n_o08x_test_suite}}{}
+\end{DoxyCompactList}
diff --git a/documentation/latex/class_b_n_o08x.tex b/documentation/latex/class_b_n_o08x.tex
new file mode 100644
index 0000000..fb15289
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x.tex
@@ -0,0 +1,780 @@
+\hypertarget{class_b_n_o08x}{}\doxysection{BNO08x Class Reference}
+\label{class_b_n_o08x}\index{BNO08x@{BNO08x}}
+
+
+\mbox{\hyperlink{class_b_n_o08x}{BNO08x}} IMU driver class.  
+
+
+
+
+{\ttfamily \#include $<$BNO08x.\+hpp$>$}
+
+
+
+Collaboration diagram for BNO08x\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x__coll__graph}
+\end{center}
+\end{figure}
+\doxysubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+struct \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t}{bno08x\+\_\+reports\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em Contains report implementations. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Public Types}
+\begin{DoxyCompactItemize}
+\item 
+typedef struct \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t}{BNO08x\+::bno08x\+\_\+reports\+\_\+t}} \mbox{\hyperlink{class_b_n_o08x_ae08bdaff01ecacf0f399ab289fdf0b99}{bno08x\+\_\+reports\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em Contains report implementations. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{class_b_n_o08x_ad12fb6cf310ad7a04a4e53809833bd61}{BNO08x}} (\mbox{\hyperlink{structbno08x__config__t}{bno08x\+\_\+config\+\_\+t}} imu\+\_\+config=\mbox{\hyperlink{structbno08x__config__t}{bno08x\+\_\+config\+\_\+t}}())
+\begin{DoxyCompactList}\small\item\em \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} imu constructor. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{class_b_n_o08x_a687eee44d68e1bcabce04780d7eb5fb9}{$\sim$\+BNO08x}} ()
+\begin{DoxyCompactList}\small\item\em \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} imu deconstructor. \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{class_b_n_o08x_aea8e2c6dd7a2c9899479a7f39fe94798}{initialize}} ()
+\begin{DoxyCompactList}\small\item\em Initializes \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} sensor. \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{class_b_n_o08x_a28cd1c0b3477571d87133234e6358503}{hard\+\_\+reset}} ()
+\begin{DoxyCompactList}\small\item\em Hard resets \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} device. \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{class_b_n_o08x_a973a1b1785f3302ee1b2702c6a27646e}{soft\+\_\+reset}} ()
+\begin{DoxyCompactList}\small\item\em Soft resets \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} device by sending RESET (1) command on \char`\"{}device\char`\"{} channel. \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{class_b_n_o08x_aebacbe092615cd083cf996b14402bba6}{disable\+\_\+all\+\_\+reports}} ()
+\begin{DoxyCompactList}\small\item\em Disables all currently enabled reports. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2}{BNO08x\+Reset\+Reason}} \mbox{\hyperlink{class_b_n_o08x_a96d47dd0f9aedfbe3f731f8ae76b2e85}{get\+\_\+reset\+\_\+reason}} ()
+\begin{DoxyCompactList}\small\item\em Returns reason for previous reset via product ID report. \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{class_b_n_o08x_aaaa15b21ad98a3b161065c3d03ff62b5}{on}} ()
+\begin{DoxyCompactList}\small\item\em Places \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} device in on state by sending ON (2) command on \char`\"{}device\char`\"{} channel. \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{class_b_n_o08x_a7c5774a48227e8e3346fa5df7dfa420c}{sleep}} ()
+\begin{DoxyCompactList}\small\item\em Places \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} device in sleep state by sending SLEEP (3) command on \char`\"{}device\char`\"{} channel. \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{class_b_n_o08x_a90ea8e811d4bea28a356290d6f5caac5}{dynamic\+\_\+calibration\+\_\+enable}} (\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a25947bbe6bc4a7c9edd7067fdce0e9cc}{BNO08x\+Cal\+Sel}} sensor)
+\begin{DoxyCompactList}\small\item\em Starts simple calibration, see ref. manual 6.\+4.\+10.\+1. \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{class_b_n_o08x_a5c7498f6fa4bd43280dff1d322233b95}{dynamic\+\_\+calibration\+\_\+disable}} (\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a25947bbe6bc4a7c9edd7067fdce0e9cc}{BNO08x\+Cal\+Sel}} sensor)
+\begin{DoxyCompactList}\small\item\em Disables dynamic/motion engine calibration for specified sensor(s), see ref. manual 6.\+4.\+6.\+1. \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{class_b_n_o08x_a4e8b49abd33e6e11f23b2ae345058b9b}{dynamic\+\_\+calibration\+\_\+autosave\+\_\+enable}} ()
+\begin{DoxyCompactList}\small\item\em Enables the automatic saving of dynamic/\+ME calibration data to \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} internal flash See ref manual 6.\+4.\+7.\+1. \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{class_b_n_o08x_a9387728c276734da27388dbea38b6b32}{dynamic\+\_\+calibration\+\_\+autosave\+\_\+disable}} ()
+\begin{DoxyCompactList}\small\item\em Disables the automatic saving of dynamic/\+ME calibration data to \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} internal flash See ref manual 6.\+4.\+7.\+1. \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{class_b_n_o08x_a85f1eca475ea0e6fbaff75c8a297d671}{dynamic\+\_\+calibration\+\_\+save}} ()
+\begin{DoxyCompactList}\small\item\em Saves dynamic/motion engine calibration data to \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} internal flash immediately. See ref manual 6.\+4.\+5.\+1. \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{class_b_n_o08x_a441681a5133b1a125b534925c9bc10f9}{dynamic\+\_\+calibration\+\_\+data\+\_\+clear\+\_\+ram}} ()
+\begin{DoxyCompactList}\small\item\em Clears dynamic/motion engine calibration data from ram and resets \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} device. See ref manual 6.\+4.\+9.\+1. \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{class_b_n_o08x_a65a7175b6f6ad6ce687e4fd4cd4bc396}{dynamic\+\_\+calibration\+\_\+data\+\_\+delete}} ()
+\begin{DoxyCompactList}\small\item\em Deletes dynamic calibration data from \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} internal flash and resets the device. Follows the steps outlined in ref. manual 6.\+4.\+9. \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{class_b_n_o08x_abcdba0d0e82db480d20ea4564511a276}{dynamic\+\_\+calibration\+\_\+run\+\_\+routine}} ()
+\begin{DoxyCompactList}\small\item\em Example calibration routine using dynamic/\+ME calibration commands. \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{class_b_n_o08x_abba85271f3333b7f395ec55915c1d5f9}{set\+\_\+system\+\_\+orientation}} (float w, float x, float y, float z)
+\begin{DoxyCompactList}\small\item\em Sets the system orientation of the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} device and persist it in flash (FRS). \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{class_b_n_o08x_ad42c335827c7b09cd2e4ff303a0d3520}{get\+\_\+system\+\_\+orientation}} (float \&w, float \&x, float \&y, float \&z)
+\begin{DoxyCompactList}\small\item\em Retrieves the system orientation of the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} device and converts to float. \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{class_b_n_o08x_a138577792350b8d5cc48cbf46b34c4f3}{get\+\_\+frs}} (\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8e}{BNO08x\+Frs\+ID}} frs\+\_\+\+ID, uint32\+\_\+t(\&data)\mbox{[}16\mbox{]}, uint16\+\_\+t \&rx\+\_\+data\+\_\+sz)
+\begin{DoxyCompactList}\small\item\em Retrieves a record from flash record system (if your goal is to retrieve sensor specific meta data use the \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08x\+Rpt}}\+:get\+\_\+meta\+\_\+data() method instead) \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{class_b_n_o08x_aa616a645a4fc9054194fdbf76ec9c5b5}{write\+\_\+frs}} (\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8e}{BNO08x\+Frs\+ID}} frs\+\_\+\+ID, uint32\+\_\+t $\ast$data, const uint16\+\_\+t tx\+\_\+data\+\_\+sz)
+\begin{DoxyCompactList}\small\item\em Writes a record to flash record system. \end{DoxyCompactList}\item 
+sh2\+\_\+\+Product\+Ids\+\_\+t \mbox{\hyperlink{class_b_n_o08x_aa8fd64f60de86ff6b8562f90f3b09690}{get\+\_\+product\+\_\+\+IDs}} ()
+\begin{DoxyCompactList}\small\item\em Returns product ID info sent by IMU at initialization. \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{class_b_n_o08x_a367d525d1c0ba119b3dca3067bb5bccc}{data\+\_\+available}} ()
+\begin{DoxyCompactList}\small\item\em Polls for new data/report to become available. \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{class_b_n_o08x_aadd44524e6d22c48916acd9518b63ec3}{register\+\_\+cb}} (std\+::function$<$ void(void)$>$ cb\+\_\+fxn)
+\begin{DoxyCompactList}\small\item\em Registers a callback to execute when new data from a report is received. \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{class_b_n_o08x_a082c79d9951ac32ea5fa25de90255a41}{register\+\_\+cb}} (std\+::function$<$ void(uint8\+\_\+t report\+\_\+\+ID)$>$ cb\+\_\+fxn)
+\begin{DoxyCompactList}\small\item\em Registers a callback to execute when new data from a report is received, overloaded with callback param for most recent report ID. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_a7441f7f2477c152deca17054041bf3e6}{print\+\_\+product\+\_\+ids}} ()
+\begin{DoxyCompactList}\small\item\em Prints product IDs received at initialization. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_aae4512fa4768becf0e3919a0e0ec34d8}{print\+\_\+system\+\_\+orientation}} ()
+\begin{DoxyCompactList}\small\item\em Retrieves and prints system orientation. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Public Attributes}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t}{bno08x\+\_\+reports\+\_\+t}} \mbox{\hyperlink{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}{rpt}}
+\end{DoxyCompactItemize}
+\doxysubsection*{Static Public Attributes}
+\begin{DoxyCompactItemize}
+\item 
+static constexpr float \mbox{\hyperlink{class_b_n_o08x_ab8d5ebfc080838870e320494da3fa64d}{SQRT2\+OVER2}} = 0.\+7071067811865476f
+\end{DoxyCompactItemize}
+\doxysubsection*{Friends}
+\begin{DoxyCompactItemize}
+\item 
+class \mbox{\hyperlink{class_b_n_o08x_a6dd0081dc9eb0cfb019bfdca3aa31802}{BNO08x\+SH2\+HAL}}
+\item 
+class \mbox{\hyperlink{class_b_n_o08x_a190775b71c35d8007faae7dd6a9f1030}{BNO08x\+Test\+Helper}}
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+\mbox{\hyperlink{class_b_n_o08x}{BNO08x}} IMU driver class. 
+
+\doxysubsection{Member Typedef Documentation}
+\mbox{\Hypertarget{class_b_n_o08x_ae08bdaff01ecacf0f399ab289fdf0b99}\label{class_b_n_o08x_ae08bdaff01ecacf0f399ab289fdf0b99}} 
+\index{BNO08x@{BNO08x}!bno08x\_reports\_t@{bno08x\_reports\_t}}
+\index{bno08x\_reports\_t@{bno08x\_reports\_t}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{bno08x\_reports\_t}{bno08x\_reports\_t}}
+{\footnotesize\ttfamily typedef struct \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t}{BNO08x\+::bno08x\+\_\+reports\+\_\+t}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t}{BNO08x\+::bno08x\+\_\+reports\+\_\+t}}}
+
+
+
+Contains report implementations. 
+
+
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\mbox{\Hypertarget{class_b_n_o08x_ad12fb6cf310ad7a04a4e53809833bd61}\label{class_b_n_o08x_ad12fb6cf310ad7a04a4e53809833bd61}} 
+\index{BNO08x@{BNO08x}!BNO08x@{BNO08x}}
+\index{BNO08x@{BNO08x}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{BNO08x()}{BNO08x()}}
+{\footnotesize\ttfamily BNO08x\+::\+BNO08x (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{structbno08x__config__t}{bno08x\+\_\+config\+\_\+t}}}]{imu\+\_\+config = {\ttfamily \mbox{\hyperlink{structbno08x__config__t}{bno08x\+\_\+config\+\_\+t}}()} }\end{DoxyParamCaption})}
+
+
+
+\mbox{\hyperlink{class_b_n_o08x}{BNO08x}} imu constructor. 
+
+Construct a \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} object for managing a \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} sensor.
+
+
+\begin{DoxyParams}{Parameters}
+{\em imu\+\_\+config} & Configuration settings (optional), default settings can be seen in \mbox{\hyperlink{structbno08x__config__t}{bno08x\+\_\+config\+\_\+t}} \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+\mbox{\Hypertarget{class_b_n_o08x_a687eee44d68e1bcabce04780d7eb5fb9}\label{class_b_n_o08x_a687eee44d68e1bcabce04780d7eb5fb9}} 
+\index{BNO08x@{BNO08x}!````~BNO08x@{$\sim$BNO08x}}
+\index{````~BNO08x@{$\sim$BNO08x}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{$\sim$BNO08x()}{~BNO08x()}}
+{\footnotesize\ttfamily BNO08x\+::$\sim$\+BNO08x (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+\mbox{\hyperlink{class_b_n_o08x}{BNO08x}} imu deconstructor. 
+
+Deconstructs a \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} object and releases any utilized resources.
+
+\begin{DoxyReturn}{Returns}
+void, nothing to return. 
+\end{DoxyReturn}
+
+
+\doxysubsection{Member Function Documentation}
+\mbox{\Hypertarget{class_b_n_o08x_a367d525d1c0ba119b3dca3067bb5bccc}\label{class_b_n_o08x_a367d525d1c0ba119b3dca3067bb5bccc}} 
+\index{BNO08x@{BNO08x}!data\_available@{data\_available}}
+\index{data\_available@{data\_available}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{data\_available()}{data\_available()}}
+{\footnotesize\ttfamily bool BNO08x\+::data\+\_\+available (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Polls for new data/report to become available. 
+
+\begin{DoxyReturn}{Returns}
+True if new data/report became available before DATA\+\_\+\+AVAILABLE\+\_\+\+TIMEOUT\+\_\+\+MS. 
+\end{DoxyReturn}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a367d525d1c0ba119b3dca3067bb5bccc_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{class_b_n_o08x_aebacbe092615cd083cf996b14402bba6}\label{class_b_n_o08x_aebacbe092615cd083cf996b14402bba6}} 
+\index{BNO08x@{BNO08x}!disable\_all\_reports@{disable\_all\_reports}}
+\index{disable\_all\_reports@{disable\_all\_reports}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{disable\_all\_reports()}{disable\_all\_reports()}}
+{\footnotesize\ttfamily bool BNO08x\+::disable\+\_\+all\+\_\+reports (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Disables all currently enabled reports. 
+
+\begin{DoxyReturn}{Returns}
+True if all currently enabled reports were disabled successfully. 
+\end{DoxyReturn}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_aebacbe092615cd083cf996b14402bba6_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{class_b_n_o08x_a9387728c276734da27388dbea38b6b32}\label{class_b_n_o08x_a9387728c276734da27388dbea38b6b32}} 
+\index{BNO08x@{BNO08x}!dynamic\_calibration\_autosave\_disable@{dynamic\_calibration\_autosave\_disable}}
+\index{dynamic\_calibration\_autosave\_disable@{dynamic\_calibration\_autosave\_disable}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{dynamic\_calibration\_autosave\_disable()}{dynamic\_calibration\_autosave\_disable()}}
+{\footnotesize\ttfamily bool BNO08x\+::dynamic\+\_\+calibration\+\_\+autosave\+\_\+disable (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Disables the automatic saving of dynamic/\+ME calibration data to \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} internal flash See ref manual 6.\+4.\+7.\+1. 
+
+\begin{DoxyReturn}{Returns}
+True if dynamic/\+ME calibration autosave data enable succeeded. 
+\end{DoxyReturn}
+\mbox{\Hypertarget{class_b_n_o08x_a4e8b49abd33e6e11f23b2ae345058b9b}\label{class_b_n_o08x_a4e8b49abd33e6e11f23b2ae345058b9b}} 
+\index{BNO08x@{BNO08x}!dynamic\_calibration\_autosave\_enable@{dynamic\_calibration\_autosave\_enable}}
+\index{dynamic\_calibration\_autosave\_enable@{dynamic\_calibration\_autosave\_enable}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{dynamic\_calibration\_autosave\_enable()}{dynamic\_calibration\_autosave\_enable()}}
+{\footnotesize\ttfamily bool BNO08x\+::dynamic\+\_\+calibration\+\_\+autosave\+\_\+enable (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Enables the automatic saving of dynamic/\+ME calibration data to \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} internal flash See ref manual 6.\+4.\+7.\+1. 
+
+\begin{DoxyReturn}{Returns}
+True if dynamic/\+ME calibration autosave data enable succeeded. 
+\end{DoxyReturn}
+\mbox{\Hypertarget{class_b_n_o08x_a441681a5133b1a125b534925c9bc10f9}\label{class_b_n_o08x_a441681a5133b1a125b534925c9bc10f9}} 
+\index{BNO08x@{BNO08x}!dynamic\_calibration\_data\_clear\_ram@{dynamic\_calibration\_data\_clear\_ram}}
+\index{dynamic\_calibration\_data\_clear\_ram@{dynamic\_calibration\_data\_clear\_ram}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{dynamic\_calibration\_data\_clear\_ram()}{dynamic\_calibration\_data\_clear\_ram()}}
+{\footnotesize\ttfamily bool BNO08x\+::dynamic\+\_\+calibration\+\_\+data\+\_\+clear\+\_\+ram (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Clears dynamic/motion engine calibration data from ram and resets \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} device. See ref manual 6.\+4.\+9.\+1. 
+
+\begin{DoxyReturn}{Returns}
+True if save dynamic/\+ME calibration data succeeded. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a441681a5133b1a125b534925c9bc10f9_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a441681a5133b1a125b534925c9bc10f9_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{class_b_n_o08x_a65a7175b6f6ad6ce687e4fd4cd4bc396}\label{class_b_n_o08x_a65a7175b6f6ad6ce687e4fd4cd4bc396}} 
+\index{BNO08x@{BNO08x}!dynamic\_calibration\_data\_delete@{dynamic\_calibration\_data\_delete}}
+\index{dynamic\_calibration\_data\_delete@{dynamic\_calibration\_data\_delete}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{dynamic\_calibration\_data\_delete()}{dynamic\_calibration\_data\_delete()}}
+{\footnotesize\ttfamily bool BNO08x\+::dynamic\+\_\+calibration\+\_\+data\+\_\+delete (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Deletes dynamic calibration data from \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} internal flash and resets the device. Follows the steps outlined in ref. manual 6.\+4.\+9. 
+
+\begin{DoxyReturn}{Returns}
+True if delete dynamic calibration data operation succeeded. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a65a7175b6f6ad6ce687e4fd4cd4bc396_cgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{class_b_n_o08x_a5c7498f6fa4bd43280dff1d322233b95}\label{class_b_n_o08x_a5c7498f6fa4bd43280dff1d322233b95}} 
+\index{BNO08x@{BNO08x}!dynamic\_calibration\_disable@{dynamic\_calibration\_disable}}
+\index{dynamic\_calibration\_disable@{dynamic\_calibration\_disable}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{dynamic\_calibration\_disable()}{dynamic\_calibration\_disable()}}
+{\footnotesize\ttfamily bool BNO08x\+::dynamic\+\_\+calibration\+\_\+disable (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a25947bbe6bc4a7c9edd7067fdce0e9cc}{BNO08x\+Cal\+Sel}}}]{sensor }\end{DoxyParamCaption})}
+
+
+
+Disables dynamic/motion engine calibration for specified sensor(s), see ref. manual 6.\+4.\+6.\+1. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em sensor} & The sensor(s) to disable dynamic/\+ME calibration for.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+True if disable dynamic/\+ME calibration succeeded. 
+\end{DoxyReturn}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a5c7498f6fa4bd43280dff1d322233b95_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{class_b_n_o08x_a90ea8e811d4bea28a356290d6f5caac5}\label{class_b_n_o08x_a90ea8e811d4bea28a356290d6f5caac5}} 
+\index{BNO08x@{BNO08x}!dynamic\_calibration\_enable@{dynamic\_calibration\_enable}}
+\index{dynamic\_calibration\_enable@{dynamic\_calibration\_enable}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{dynamic\_calibration\_enable()}{dynamic\_calibration\_enable()}}
+{\footnotesize\ttfamily bool BNO08x\+::dynamic\+\_\+calibration\+\_\+enable (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a25947bbe6bc4a7c9edd7067fdce0e9cc}{BNO08x\+Cal\+Sel}}}]{sensor }\end{DoxyParamCaption})}
+
+
+
+Starts simple calibration, see ref. manual 6.\+4.\+10.\+1. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em period\+\_\+us} & This interval should be set to whatever rate the sensor hub is expected to run at after calibration.\\
+\hline
+\end{DoxyParams}
+After the calibration is started, the IMU should be rotated 180 degrees. After the IMU has been rotated call calibration\+\_\+end(). See ref. manual 6.\+4.\+10 for more detailed instructions.
+
+\begin{DoxyReturn}{Returns}
+True if start simple calibration operation succeeded.
+\end{DoxyReturn}
+Ends turn-\/table calibration, see ref. manual 6.\+4.\+10.\+2
+
+
+\begin{DoxyParams}{Parameters}
+{\em status} & Returned status bits indicating result of turntable calibration.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+True if enable start turn-\/table calibration operation succeeded.
+\end{DoxyReturn}
+Enables dynamic/motion engine calibration for specified sensor(s), see ref. manual 6.\+4.\+6.\+1
+
+
+\begin{DoxyParams}{Parameters}
+{\em sensor} & The sensor(s) to enable dynamic/\+ME calibration for.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+True if enable dynamic/\+ME calibration succeeded. 
+\end{DoxyReturn}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a90ea8e811d4bea28a356290d6f5caac5_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{class_b_n_o08x_abcdba0d0e82db480d20ea4564511a276}\label{class_b_n_o08x_abcdba0d0e82db480d20ea4564511a276}} 
+\index{BNO08x@{BNO08x}!dynamic\_calibration\_run\_routine@{dynamic\_calibration\_run\_routine}}
+\index{dynamic\_calibration\_run\_routine@{dynamic\_calibration\_run\_routine}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{dynamic\_calibration\_run\_routine()}{dynamic\_calibration\_run\_routine()}}
+{\footnotesize\ttfamily bool BNO08x\+::dynamic\+\_\+calibration\+\_\+run\+\_\+routine (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Example calibration routine using dynamic/\+ME calibration commands. 
+
+Routine does the following\+:alignas
+
+1) disables all enabled reports 2) sends a command to enable dynamic/motion engine calibration for all possible options (SH2\+\_\+\+CAL\+\_\+\+ACCEL $\vert$ SH2\+\_\+\+CAL\+\_\+\+GYRO $\vert$ SH2\+\_\+\+CAL\+\_\+\+MAG $\vert$ SH2\+\_\+\+CAL\+\_\+\+PLANAR) 3) enables game rotation vector reports and calibrated magnetic field reports 4) moving window average for accuracy received through reports 5) deems calibration accuracy threshold met when magf accuracy avg is \texorpdfstring{$>$}{>}=2 (MED) and quat accuracy avg \texorpdfstring{$>$}{>}=3 (HIGH) for longer than 5 seconds 6) sends command to save dynamic calibration data 7) disables all enabled reports
+
+Note the DCD commands don\textquotesingle{}t have to be used this way, this is just an example, but the \mbox{\hyperlink{class_b_n_o08x_a4e8b49abd33e6e11f23b2ae345058b9b}{dynamic\+\_\+calibration\+\_\+autosave\+\_\+enable()}} allows calibration to be run and saved constantly even while data is used for other operations.
+
+\begin{DoxyReturn}{Returns}
+True if calibration routine succeeded. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_abcdba0d0e82db480d20ea4564511a276_cgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{class_b_n_o08x_a85f1eca475ea0e6fbaff75c8a297d671}\label{class_b_n_o08x_a85f1eca475ea0e6fbaff75c8a297d671}} 
+\index{BNO08x@{BNO08x}!dynamic\_calibration\_save@{dynamic\_calibration\_save}}
+\index{dynamic\_calibration\_save@{dynamic\_calibration\_save}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{dynamic\_calibration\_save()}{dynamic\_calibration\_save()}}
+{\footnotesize\ttfamily bool BNO08x\+::dynamic\+\_\+calibration\+\_\+save (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Saves dynamic/motion engine calibration data to \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} internal flash immediately. See ref manual 6.\+4.\+5.\+1. 
+
+\begin{DoxyReturn}{Returns}
+True if save dynamic/\+ME calibration data succeeded. 
+\end{DoxyReturn}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a85f1eca475ea0e6fbaff75c8a297d671_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{class_b_n_o08x_a138577792350b8d5cc48cbf46b34c4f3}\label{class_b_n_o08x_a138577792350b8d5cc48cbf46b34c4f3}} 
+\index{BNO08x@{BNO08x}!get\_frs@{get\_frs}}
+\index{get\_frs@{get\_frs}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_frs()}{get\_frs()}}
+{\footnotesize\ttfamily bool BNO08x\+::get\+\_\+frs (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8e}{BNO08x\+Frs\+ID}}}]{frs\+\_\+\+ID,  }\item[{uint32\+\_\+t(\&)}]{data\mbox{[}16\mbox{]},  }\item[{uint16\+\_\+t \&}]{rx\+\_\+data\+\_\+sz }\end{DoxyParamCaption})}
+
+
+
+Retrieves a record from flash record system (if your goal is to retrieve sensor specific meta data use the \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08x\+Rpt}}\+:get\+\_\+meta\+\_\+data() method instead) 
+
+For more details on returned and data and frs\+\_\+\+IDs see ref. manual 6.\+3.\+7 \& 4.\+3
+
+
+\begin{DoxyParams}{Parameters}
+{\em frs\+\_\+\+ID} & The ID of the desired record to retrieve from flash. \\
+\hline
+{\em data} & Buffer of 16 uint32\+\_\+t to store retrieved data. \\
+\hline
+{\em rx\+\_\+data\+\_\+sz} & Reference to store number of 32 bit words retrieved from flash.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+True if get flash record system operation succeeded. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=326pt]{class_b_n_o08x_a138577792350b8d5cc48cbf46b34c4f3_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_a138577792350b8d5cc48cbf46b34c4f3_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{class_b_n_o08x_aa8fd64f60de86ff6b8562f90f3b09690}\label{class_b_n_o08x_aa8fd64f60de86ff6b8562f90f3b09690}} 
+\index{BNO08x@{BNO08x}!get\_product\_IDs@{get\_product\_IDs}}
+\index{get\_product\_IDs@{get\_product\_IDs}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_product\_IDs()}{get\_product\_IDs()}}
+{\footnotesize\ttfamily sh2\+\_\+\+Product\+Ids\+\_\+t BNO08x\+::get\+\_\+product\+\_\+\+IDs (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Returns product ID info sent by IMU at initialization. 
+
+\begin{DoxyReturn}{Returns}
+The product ID info returned at initialization. 
+\end{DoxyReturn}
+\mbox{\Hypertarget{class_b_n_o08x_a96d47dd0f9aedfbe3f731f8ae76b2e85}\label{class_b_n_o08x_a96d47dd0f9aedfbe3f731f8ae76b2e85}} 
+\index{BNO08x@{BNO08x}!get\_reset\_reason@{get\_reset\_reason}}
+\index{get\_reset\_reason@{get\_reset\_reason}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_reset\_reason()}{get\_reset\_reason()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2}{BNO08x\+Reset\+Reason}} BNO08x\+::get\+\_\+reset\+\_\+reason (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Returns reason for previous reset via product ID report. 
+
+\begin{DoxyReturn}{Returns}
+Enum object containing reset reason, \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_afed71c9ed8a8563767f26282408ccee2a0db45d2a4141101bdfe48e3314cfbca3}{BNO08x\+Reset\+Reason\+::\+UNDEFINED}} if failure. 
+\end{DoxyReturn}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a96d47dd0f9aedfbe3f731f8ae76b2e85_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{class_b_n_o08x_ad42c335827c7b09cd2e4ff303a0d3520}\label{class_b_n_o08x_ad42c335827c7b09cd2e4ff303a0d3520}} 
+\index{BNO08x@{BNO08x}!get\_system\_orientation@{get\_system\_orientation}}
+\index{get\_system\_orientation@{get\_system\_orientation}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{get\_system\_orientation()}{get\_system\_orientation()}}
+{\footnotesize\ttfamily bool BNO08x\+::get\+\_\+system\+\_\+orientation (\begin{DoxyParamCaption}\item[{float \&}]{Qw,  }\item[{float \&}]{Qx,  }\item[{float \&}]{Qy,  }\item[{float \&}]{Qz }\end{DoxyParamCaption})}
+
+
+
+Retrieves the system orientation of the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} device and converts to float. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em Qw} & Reference to save real component of mapping quaternion. \\
+\hline
+{\em Qx} & Reference to save X (i) component of mapping quaternion. \\
+\hline
+{\em Qy} & Reference to save Y (j) component of mapping quaternion. \\
+\hline
+{\em Qz} & Reference to save Z (k) component of mapping quaternion. \\
+\hline
+\end{DoxyParams}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_ad42c335827c7b09cd2e4ff303a0d3520_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_ad42c335827c7b09cd2e4ff303a0d3520_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{class_b_n_o08x_a28cd1c0b3477571d87133234e6358503}\label{class_b_n_o08x_a28cd1c0b3477571d87133234e6358503}} 
+\index{BNO08x@{BNO08x}!hard\_reset@{hard\_reset}}
+\index{hard\_reset@{hard\_reset}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{hard\_reset()}{hard\_reset()}}
+{\footnotesize\ttfamily bool BNO08x\+::hard\+\_\+reset (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Hard resets \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} device. 
+
+\begin{DoxyReturn}{Returns}
+True if reset was success. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a28cd1c0b3477571d87133234e6358503_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a28cd1c0b3477571d87133234e6358503_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{class_b_n_o08x_aea8e2c6dd7a2c9899479a7f39fe94798}\label{class_b_n_o08x_aea8e2c6dd7a2c9899479a7f39fe94798}} 
+\index{BNO08x@{BNO08x}!initialize@{initialize}}
+\index{initialize@{initialize}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{initialize()}{initialize()}}
+{\footnotesize\ttfamily bool BNO08x\+::initialize (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Initializes \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} sensor. 
+
+Resets sensor and goes through initialization process. Configures GPIO, required ISRs, and launches two tasks, one to manage SPI transactions, another to process any received data.
+
+\begin{DoxyReturn}{Returns}
+True if initialization was success, false if otherwise. 
+\end{DoxyReturn}
+\mbox{\Hypertarget{class_b_n_o08x_aaaa15b21ad98a3b161065c3d03ff62b5}\label{class_b_n_o08x_aaaa15b21ad98a3b161065c3d03ff62b5}} 
+\index{BNO08x@{BNO08x}!on@{on}}
+\index{on@{on}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{on()}{on()}}
+{\footnotesize\ttfamily bool BNO08x\+::on (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Places \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} device in on state by sending ON (2) command on \char`\"{}device\char`\"{} channel. 
+
+\begin{DoxyReturn}{Returns}
+True if on operation succeeded. 
+\end{DoxyReturn}
+\mbox{\Hypertarget{class_b_n_o08x_a7441f7f2477c152deca17054041bf3e6}\label{class_b_n_o08x_a7441f7f2477c152deca17054041bf3e6}} 
+\index{BNO08x@{BNO08x}!print\_product\_ids@{print\_product\_ids}}
+\index{print\_product\_ids@{print\_product\_ids}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{print\_product\_ids()}{print\_product\_ids()}}
+{\footnotesize\ttfamily void BNO08x\+::print\+\_\+product\+\_\+ids (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Prints product IDs received at initialization. 
+
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+\mbox{\Hypertarget{class_b_n_o08x_aae4512fa4768becf0e3919a0e0ec34d8}\label{class_b_n_o08x_aae4512fa4768becf0e3919a0e0ec34d8}} 
+\index{BNO08x@{BNO08x}!print\_system\_orientation@{print\_system\_orientation}}
+\index{print\_system\_orientation@{print\_system\_orientation}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{print\_system\_orientation()}{print\_system\_orientation()}}
+{\footnotesize\ttfamily void BNO08x\+::print\+\_\+system\+\_\+orientation (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Retrieves and prints system orientation. 
+
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_aae4512fa4768becf0e3919a0e0ec34d8_cgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{class_b_n_o08x_a082c79d9951ac32ea5fa25de90255a41}\label{class_b_n_o08x_a082c79d9951ac32ea5fa25de90255a41}} 
+\index{BNO08x@{BNO08x}!register\_cb@{register\_cb}}
+\index{register\_cb@{register\_cb}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{register\_cb()}{register\_cb()}\hspace{0.1cm}{\footnotesize\ttfamily [1/2]}}
+{\footnotesize\ttfamily bool BNO08x\+::register\+\_\+cb (\begin{DoxyParamCaption}\item[{std\+::function$<$ void(uint8\+\_\+t report\+\_\+\+ID)$>$}]{cb\+\_\+fxn }\end{DoxyParamCaption})}
+
+
+
+Registers a callback to execute when new data from a report is received, overloaded with callback param for most recent report ID. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em cb\+\_\+fxn} & Pointer to the call-\/back function should be of void return type with single input param of uint8\+\_\+t for most recent report ID.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+\mbox{\Hypertarget{class_b_n_o08x_aadd44524e6d22c48916acd9518b63ec3}\label{class_b_n_o08x_aadd44524e6d22c48916acd9518b63ec3}} 
+\index{BNO08x@{BNO08x}!register\_cb@{register\_cb}}
+\index{register\_cb@{register\_cb}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{register\_cb()}{register\_cb()}\hspace{0.1cm}{\footnotesize\ttfamily [2/2]}}
+{\footnotesize\ttfamily bool BNO08x\+::register\+\_\+cb (\begin{DoxyParamCaption}\item[{std\+::function$<$ void(void)$>$}]{cb\+\_\+fxn }\end{DoxyParamCaption})}
+
+
+
+Registers a callback to execute when new data from a report is received. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em cb\+\_\+fxn} & Pointer to the call-\/back function should be of void return type void input param.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+\mbox{\Hypertarget{class_b_n_o08x_abba85271f3333b7f395ec55915c1d5f9}\label{class_b_n_o08x_abba85271f3333b7f395ec55915c1d5f9}} 
+\index{BNO08x@{BNO08x}!set\_system\_orientation@{set\_system\_orientation}}
+\index{set\_system\_orientation@{set\_system\_orientation}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{set\_system\_orientation()}{set\_system\_orientation()}}
+{\footnotesize\ttfamily bool BNO08x\+::set\+\_\+system\+\_\+orientation (\begin{DoxyParamCaption}\item[{float}]{Qw,  }\item[{float}]{Qx,  }\item[{float}]{Qy,  }\item[{float}]{Qz }\end{DoxyParamCaption})}
+
+
+
+Sets the system orientation of the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} device and persist it in flash (FRS). 
+
+\begin{DoxyNote}{Note}
+Datasheet Figure 4.\+3 for reference of physical mounting position relative to mapping quaternion. 
+
+Use SQRT2\+OVER2 as a constant for sqrt(2)/2 
+
+that a reset is required to apply changes. 
+
+This configuration seems only to work if reports are already enabled. e.\+g. set .rpt.\+rv.\+enable(\+PERIOD) prior this call
+\end{DoxyNote}
+
+\begin{DoxyParams}{Parameters}
+{\em Qw} & Real component of mapping quaternion. \\
+\hline
+{\em Qx} & X (i) component of mapping quaternion. \\
+\hline
+{\em Qy} & Y (j) component of mapping quaternion. \\
+\hline
+{\em Qz} & Z (k) component of mapping quaternion. \\
+\hline
+\end{DoxyParams}
+\mbox{\Hypertarget{class_b_n_o08x_a7c5774a48227e8e3346fa5df7dfa420c}\label{class_b_n_o08x_a7c5774a48227e8e3346fa5df7dfa420c}} 
+\index{BNO08x@{BNO08x}!sleep@{sleep}}
+\index{sleep@{sleep}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{sleep()}{sleep()}}
+{\footnotesize\ttfamily bool BNO08x\+::sleep (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Places \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} device in sleep state by sending SLEEP (3) command on \char`\"{}device\char`\"{} channel. 
+
+\begin{DoxyReturn}{Returns}
+True if sleep operation succeeded. 
+\end{DoxyReturn}
+\mbox{\Hypertarget{class_b_n_o08x_a973a1b1785f3302ee1b2702c6a27646e}\label{class_b_n_o08x_a973a1b1785f3302ee1b2702c6a27646e}} 
+\index{BNO08x@{BNO08x}!soft\_reset@{soft\_reset}}
+\index{soft\_reset@{soft\_reset}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{soft\_reset()}{soft\_reset()}}
+{\footnotesize\ttfamily bool BNO08x\+::soft\+\_\+reset (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Soft resets \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} device by sending RESET (1) command on \char`\"{}device\char`\"{} channel. 
+
+\begin{DoxyReturn}{Returns}
+True if soft reset operation succeeded. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_a973a1b1785f3302ee1b2702c6a27646e_cgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{class_b_n_o08x_aa616a645a4fc9054194fdbf76ec9c5b5}\label{class_b_n_o08x_aa616a645a4fc9054194fdbf76ec9c5b5}} 
+\index{BNO08x@{BNO08x}!write\_frs@{write\_frs}}
+\index{write\_frs@{write\_frs}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{write\_frs()}{write\_frs()}}
+{\footnotesize\ttfamily bool BNO08x\+::write\+\_\+frs (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a8ac8ee2d5f81f6102ed94866f2bdcc8e}{BNO08x\+Frs\+ID}}}]{frs\+\_\+\+ID,  }\item[{uint32\+\_\+t $\ast$}]{data,  }\item[{const uint16\+\_\+t}]{tx\+\_\+data\+\_\+sz }\end{DoxyParamCaption})}
+
+
+
+Writes a record to flash record system. 
+
+For more details on flash records and frs\+\_\+\+IDs see ref. manual 6.\+3.\+6 \& 4.\+3
+
+
+\begin{DoxyParams}{Parameters}
+{\em frs\+\_\+\+ID} & The ID of the desired to write to flash. \\
+\hline
+{\em data} & Buffer of 16 uint32\+\_\+t to store data to send. \\
+\hline
+{\em tx\+\_\+data\+\_\+sz} & Length of data, amount of 32 bit words to write to flash.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+True if get flash record system operation succeeded. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=335pt]{class_b_n_o08x_aa616a645a4fc9054194fdbf76ec9c5b5_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_aa616a645a4fc9054194fdbf76ec9c5b5_icgraph}
+\end{center}
+\end{figure}
+
+
+\doxysubsection{Friends And Related Function Documentation}
+\mbox{\Hypertarget{class_b_n_o08x_a6dd0081dc9eb0cfb019bfdca3aa31802}\label{class_b_n_o08x_a6dd0081dc9eb0cfb019bfdca3aa31802}} 
+\index{BNO08x@{BNO08x}!BNO08xSH2HAL@{BNO08xSH2HAL}}
+\index{BNO08xSH2HAL@{BNO08xSH2HAL}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{BNO08xSH2HAL}{BNO08xSH2HAL}}
+{\footnotesize\ttfamily friend class \mbox{\hyperlink{class_b_n_o08x_s_h2_h_a_l}{BNO08x\+SH2\+HAL}}\hspace{0.3cm}{\ttfamily [friend]}}
+
+\mbox{\Hypertarget{class_b_n_o08x_a190775b71c35d8007faae7dd6a9f1030}\label{class_b_n_o08x_a190775b71c35d8007faae7dd6a9f1030}} 
+\index{BNO08x@{BNO08x}!BNO08xTestHelper@{BNO08xTestHelper}}
+\index{BNO08xTestHelper@{BNO08xTestHelper}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{BNO08xTestHelper}{BNO08xTestHelper}}
+{\footnotesize\ttfamily friend class \mbox{\hyperlink{class_b_n_o08x_test_helper}{BNO08x\+Test\+Helper}}\hspace{0.3cm}{\ttfamily [friend]}}
+
+
+
+\doxysubsection{Member Data Documentation}
+\mbox{\Hypertarget{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}\label{class_b_n_o08x_ae1db7422ee9c2cac77382cc0a7aa430e}} 
+\index{BNO08x@{BNO08x}!rpt@{rpt}}
+\index{rpt@{rpt}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{rpt}{rpt}}
+{\footnotesize\ttfamily \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t}{bno08x\+\_\+reports\+\_\+t}} BNO08x\+::rpt}
+
+\mbox{\Hypertarget{class_b_n_o08x_ab8d5ebfc080838870e320494da3fa64d}\label{class_b_n_o08x_ab8d5ebfc080838870e320494da3fa64d}} 
+\index{BNO08x@{BNO08x}!SQRT2OVER2@{SQRT2OVER2}}
+\index{SQRT2OVER2@{SQRT2OVER2}!BNO08x@{BNO08x}}
+\doxysubsubsection{\texorpdfstring{SQRT2OVER2}{SQRT2OVER2}}
+{\footnotesize\ttfamily constexpr float BNO08x\+::\+SQRT2\+OVER2 = 0.\+7071067811865476f\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}}
+
+
+
+The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
+\item 
+/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\mbox{\hyperlink{_b_n_o08x_8hpp}{BNO08x.\+hpp}}\item 
+\mbox{\hyperlink{_b_n_o08x_8cpp}{BNO08x.\+cpp}}\end{DoxyCompactItemize}
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..5bbe806
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x__coll__graph.md5
@@ -0,0 +1 @@
+791b2f67452223cf4dd1ba839e730d0c
\ 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..8d68ad91c49209811df2f6a16221e567194409e8
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diff --git a/documentation/latex/class_b_n_o08x_a28cd1c0b3477571d87133234e6358503_cgraph.md5 b/documentation/latex/class_b_n_o08x_a28cd1c0b3477571d87133234e6358503_cgraph.md5
new file mode 100644
index 0000000..d483e98
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x_a28cd1c0b3477571d87133234e6358503_cgraph.md5
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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_a367d525d1c0ba119b3dca3067bb5bccc_icgraph.pdf b/documentation/latex/class_b_n_o08x_a367d525d1c0ba119b3dca3067bb5bccc_icgraph.pdf
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diff --git a/documentation/latex/class_b_n_o08x_a441681a5133b1a125b534925c9bc10f9_icgraph.md5 b/documentation/latex/class_b_n_o08x_a441681a5133b1a125b534925c9bc10f9_icgraph.md5
new file mode 100644
index 0000000..c8ed56d
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x_a441681a5133b1a125b534925c9bc10f9_icgraph.md5
@@ -0,0 +1 @@
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diff --git a/documentation/latex/class_b_n_o08x_a65a7175b6f6ad6ce687e4fd4cd4bc396_cgraph.md5 b/documentation/latex/class_b_n_o08x_a65a7175b6f6ad6ce687e4fd4cd4bc396_cgraph.md5
new file mode 100644
index 0000000..7bf107d
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x_a65a7175b6f6ad6ce687e4fd4cd4bc396_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_a90ea8e811d4bea28a356290d6f5caac5_icgraph.pdf b/documentation/latex/class_b_n_o08x_a90ea8e811d4bea28a356290d6f5caac5_icgraph.pdf
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new file mode 100644
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diff --git a/documentation/latex/class_b_n_o08x_a973a1b1785f3302ee1b2702c6a27646e_cgraph.pdf b/documentation/latex/class_b_n_o08x_a973a1b1785f3302ee1b2702c6a27646e_cgraph.pdf
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diff --git a/documentation/latex/class_b_n_o08x_aa616a645a4fc9054194fdbf76ec9c5b5_cgraph.md5 b/documentation/latex/class_b_n_o08x_aa616a645a4fc9054194fdbf76ec9c5b5_cgraph.md5
new file mode 100644
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diff --git a/documentation/latex/class_b_n_o08x_aa616a645a4fc9054194fdbf76ec9c5b5_icgraph.md5 b/documentation/latex/class_b_n_o08x_aa616a645a4fc9054194fdbf76ec9c5b5_icgraph.md5
new file mode 100644
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diff --git a/documentation/latex/class_b_n_o08x_aa616a645a4fc9054194fdbf76ec9c5b5_icgraph.pdf b/documentation/latex/class_b_n_o08x_aa616a645a4fc9054194fdbf76ec9c5b5_icgraph.pdf
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diff --git a/documentation/latex/class_b_n_o08x_abcdba0d0e82db480d20ea4564511a276_cgraph.md5 b/documentation/latex/class_b_n_o08x_abcdba0d0e82db480d20ea4564511a276_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_ad42c335827c7b09cd2e4ff303a0d3520_icgraph.md5 b/documentation/latex/class_b_n_o08x_ad42c335827c7b09cd2e4ff303a0d3520_icgraph.md5
new file mode 100644
index 0000000..ee288be
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+++ b/documentation/latex/class_b_n_o08x_ad42c335827c7b09cd2e4ff303a0d3520_icgraph.md5
@@ -0,0 +1 @@
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diff --git a/documentation/latex/class_b_n_o08x_ad42c335827c7b09cd2e4ff303a0d3520_icgraph.pdf b/documentation/latex/class_b_n_o08x_ad42c335827c7b09cd2e4ff303a0d3520_icgraph.pdf
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diff --git a/documentation/latex/class_b_n_o08x_aebacbe092615cd083cf996b14402bba6_icgraph.md5 b/documentation/latex/class_b_n_o08x_aebacbe092615cd083cf996b14402bba6_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_aebacbe092615cd083cf996b14402bba6_icgraph.pdf b/documentation/latex/class_b_n_o08x_aebacbe092615cd083cf996b14402bba6_icgraph.pdf
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diff --git a/documentation/latex/class_b_n_o08x_cb_generic.tex b/documentation/latex/class_b_n_o08x_cb_generic.tex
new file mode 100644
index 0000000..1dc7304
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x_cb_generic.tex
@@ -0,0 +1,83 @@
+\hypertarget{class_b_n_o08x_cb_generic}{}\doxysection{BNO08x\+Cb\+Generic Class Reference}
+\label{class_b_n_o08x_cb_generic}\index{BNO08xCbGeneric@{BNO08xCbGeneric}}
+
+
+Parent class to represent callback functions as generic type such that all flavors can be invoked by single type.  
+
+
+
+
+{\ttfamily \#include $<$callback/\+BNO08x\+Cb\+Generic.\+hpp$>$}
+
+
+
+Inheritance diagram for BNO08x\+Cb\+Generic\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=346pt]{class_b_n_o08x_cb_generic__inherit__graph}
+\end{center}
+\end{figure}
+\doxysubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+virtual void \mbox{\hyperlink{class_b_n_o08x_cb_generic_a19f9e8a22d039acf29c98801368ff0bb}{invoke}} (uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_cb_generic_a808841c9f19664cb6ff06f9c217793e1}{rpt\+\_\+\+ID}})=0
+\item 
+virtual \mbox{\hyperlink{class_b_n_o08x_cb_generic_a4caa8d4932c70bc07e187f489542ab87}{$\sim$\+BNO08x\+Cb\+Generic}} ()=default
+\end{DoxyCompactItemize}
+\doxysubsection*{Public Attributes}
+\begin{DoxyCompactItemize}
+\item 
+uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_cb_generic_a808841c9f19664cb6ff06f9c217793e1}{rpt\+\_\+\+ID}}
+\end{DoxyCompactItemize}
+\doxysubsection*{Protected Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{class_b_n_o08x_cb_generic_a5b1984f0111c5ca5e07a7f5487cd5234}{BNO08x\+Cb\+Generic}} (uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_cb_generic_a808841c9f19664cb6ff06f9c217793e1}{rpt\+\_\+\+ID}})
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Parent class to represent callback functions as generic type such that all flavors can be invoked by single type. 
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\mbox{\Hypertarget{class_b_n_o08x_cb_generic_a4caa8d4932c70bc07e187f489542ab87}\label{class_b_n_o08x_cb_generic_a4caa8d4932c70bc07e187f489542ab87}} 
+\index{BNO08xCbGeneric@{BNO08xCbGeneric}!````~BNO08xCbGeneric@{$\sim$BNO08xCbGeneric}}
+\index{````~BNO08xCbGeneric@{$\sim$BNO08xCbGeneric}!BNO08xCbGeneric@{BNO08xCbGeneric}}
+\doxysubsubsection{\texorpdfstring{$\sim$BNO08xCbGeneric()}{~BNO08xCbGeneric()}}
+{\footnotesize\ttfamily virtual BNO08x\+Cb\+Generic\+::$\sim$\+BNO08x\+Cb\+Generic (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [virtual]}, {\ttfamily [default]}}
+
+\mbox{\Hypertarget{class_b_n_o08x_cb_generic_a5b1984f0111c5ca5e07a7f5487cd5234}\label{class_b_n_o08x_cb_generic_a5b1984f0111c5ca5e07a7f5487cd5234}} 
+\index{BNO08xCbGeneric@{BNO08xCbGeneric}!BNO08xCbGeneric@{BNO08xCbGeneric}}
+\index{BNO08xCbGeneric@{BNO08xCbGeneric}!BNO08xCbGeneric@{BNO08xCbGeneric}}
+\doxysubsubsection{\texorpdfstring{BNO08xCbGeneric()}{BNO08xCbGeneric()}}
+{\footnotesize\ttfamily BNO08x\+Cb\+Generic\+::\+BNO08x\+Cb\+Generic (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{rpt\+\_\+\+ID }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}}
+
+
+
+\doxysubsection{Member Function Documentation}
+\mbox{\Hypertarget{class_b_n_o08x_cb_generic_a19f9e8a22d039acf29c98801368ff0bb}\label{class_b_n_o08x_cb_generic_a19f9e8a22d039acf29c98801368ff0bb}} 
+\index{BNO08xCbGeneric@{BNO08xCbGeneric}!invoke@{invoke}}
+\index{invoke@{invoke}!BNO08xCbGeneric@{BNO08xCbGeneric}}
+\doxysubsubsection{\texorpdfstring{invoke()}{invoke()}}
+{\footnotesize\ttfamily virtual void BNO08x\+Cb\+Generic\+::invoke (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{rpt\+\_\+\+ID }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [pure virtual]}}
+
+
+
+Implemented in \mbox{\hyperlink{class_b_n_o08x_cb_param_rpt_i_d_ae263c2af6f9363d1a4fc58824b53cb72}{BNO08x\+Cb\+Param\+Rpt\+ID}}, and \mbox{\hyperlink{class_b_n_o08x_cb_param_void_a5cfdaad83528e3e418f51041d500b6f9}{BNO08x\+Cb\+Param\+Void}}.
+
+
+
+\doxysubsection{Member Data Documentation}
+\mbox{\Hypertarget{class_b_n_o08x_cb_generic_a808841c9f19664cb6ff06f9c217793e1}\label{class_b_n_o08x_cb_generic_a808841c9f19664cb6ff06f9c217793e1}} 
+\index{BNO08xCbGeneric@{BNO08xCbGeneric}!rpt\_ID@{rpt\_ID}}
+\index{rpt\_ID@{rpt\_ID}!BNO08xCbGeneric@{BNO08xCbGeneric}}
+\doxysubsubsection{\texorpdfstring{rpt\_ID}{rpt\_ID}}
+{\footnotesize\ttfamily uint8\+\_\+t BNO08x\+Cb\+Generic\+::rpt\+\_\+\+ID}
+
+
+
+The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/callback/\mbox{\hyperlink{_b_n_o08x_cb_generic_8hpp}{BNO08x\+Cb\+Generic.\+hpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/class_b_n_o08x_cb_generic__inherit__graph.md5 b/documentation/latex/class_b_n_o08x_cb_generic__inherit__graph.md5
new file mode 100644
index 0000000..ddff478
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x_cb_generic__inherit__graph.md5
@@ -0,0 +1 @@
+0b1f973e190b5a1b354a63e243bb2733
\ No newline at end of file
diff --git a/documentation/latex/class_b_n_o08x_cb_generic__inherit__graph.pdf b/documentation/latex/class_b_n_o08x_cb_generic__inherit__graph.pdf
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diff --git a/documentation/latex/class_b_n_o08x_cb_param_rpt_i_d.tex b/documentation/latex/class_b_n_o08x_cb_param_rpt_i_d.tex
new file mode 100644
index 0000000..a9e80f4
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x_cb_param_rpt_i_d.tex
@@ -0,0 +1,83 @@
+\hypertarget{class_b_n_o08x_cb_param_rpt_i_d}{}\doxysection{BNO08x\+Cb\+Param\+Rpt\+ID Class Reference}
+\label{class_b_n_o08x_cb_param_rpt_i_d}\index{BNO08xCbParamRptID@{BNO08xCbParamRptID}}
+
+
+Class to hold callback functions which are passed report ID as input parameter.  
+
+
+
+
+{\ttfamily \#include $<$callback/\+BNO08x\+Cb\+Param\+Rpt\+ID.\+hpp$>$}
+
+
+
+Inheritance diagram for BNO08x\+Cb\+Param\+Rpt\+ID\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=207pt]{class_b_n_o08x_cb_param_rpt_i_d__inherit__graph}
+\end{center}
+\end{figure}
+
+
+Collaboration diagram for BNO08x\+Cb\+Param\+Rpt\+ID\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=207pt]{class_b_n_o08x_cb_param_rpt_i_d__coll__graph}
+\end{center}
+\end{figure}
+\doxysubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{class_b_n_o08x_cb_param_rpt_i_d_a5ba2a4e27588fdd0ae43133544c76a22}{BNO08x\+Cb\+Param\+Rpt\+ID}} (std\+::function$<$ void(uint8\+\_\+t)$>$ cb\+\_\+fxn, uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_cb_generic_a808841c9f19664cb6ff06f9c217793e1}{rpt\+\_\+\+ID}})
+\item 
+void \mbox{\hyperlink{class_b_n_o08x_cb_param_rpt_i_d_ae263c2af6f9363d1a4fc58824b53cb72}{invoke}} (uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_cb_generic_a808841c9f19664cb6ff06f9c217793e1}{rpt\+\_\+\+ID}}) override
+\begin{DoxyCompactList}\small\item\em Invokes contained callback function. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Additional Inherited Members}
+
+
+\doxysubsection{Detailed Description}
+Class to hold callback functions which are passed report ID as input parameter. 
+
+Class to hold callback functions with void input parameters. 
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\mbox{\Hypertarget{class_b_n_o08x_cb_param_rpt_i_d_a5ba2a4e27588fdd0ae43133544c76a22}\label{class_b_n_o08x_cb_param_rpt_i_d_a5ba2a4e27588fdd0ae43133544c76a22}} 
+\index{BNO08xCbParamRptID@{BNO08xCbParamRptID}!BNO08xCbParamRptID@{BNO08xCbParamRptID}}
+\index{BNO08xCbParamRptID@{BNO08xCbParamRptID}!BNO08xCbParamRptID@{BNO08xCbParamRptID}}
+\doxysubsubsection{\texorpdfstring{BNO08xCbParamRptID()}{BNO08xCbParamRptID()}}
+{\footnotesize\ttfamily BNO08x\+Cb\+Param\+Rpt\+ID\+::\+BNO08x\+Cb\+Param\+Rpt\+ID (\begin{DoxyParamCaption}\item[{std\+::function$<$ void(uint8\+\_\+t)$>$}]{cb\+\_\+fxn,  }\item[{uint8\+\_\+t}]{rpt\+\_\+\+ID }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Function Documentation}
+\mbox{\Hypertarget{class_b_n_o08x_cb_param_rpt_i_d_ae263c2af6f9363d1a4fc58824b53cb72}\label{class_b_n_o08x_cb_param_rpt_i_d_ae263c2af6f9363d1a4fc58824b53cb72}} 
+\index{BNO08xCbParamRptID@{BNO08xCbParamRptID}!invoke@{invoke}}
+\index{invoke@{invoke}!BNO08xCbParamRptID@{BNO08xCbParamRptID}}
+\doxysubsubsection{\texorpdfstring{invoke()}{invoke()}}
+{\footnotesize\ttfamily void BNO08x\+Cb\+Param\+Rpt\+ID\+::invoke (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{rpt\+\_\+\+ID }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
+
+
+
+Invokes contained callback function. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em rpt\+\_\+\+ID} & Report ID to be passed to contained callback.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+
+
+Implements \mbox{\hyperlink{class_b_n_o08x_cb_generic_a19f9e8a22d039acf29c98801368ff0bb}{BNO08x\+Cb\+Generic}}.
+
+
+
+The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/callback/\mbox{\hyperlink{_b_n_o08x_cb_param_rpt_i_d_8hpp}{BNO08x\+Cb\+Param\+Rpt\+ID.\+hpp}}\end{DoxyCompactItemize}
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diff --git a/documentation/latex/class_b_n_o08x_cb_param_void.tex b/documentation/latex/class_b_n_o08x_cb_param_void.tex
new file mode 100644
index 0000000..2d2e7d9
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x_cb_param_void.tex
@@ -0,0 +1,73 @@
+\hypertarget{class_b_n_o08x_cb_param_void}{}\doxysection{BNO08x\+Cb\+Param\+Void Class Reference}
+\label{class_b_n_o08x_cb_param_void}\index{BNO08xCbParamVoid@{BNO08xCbParamVoid}}
+
+
+{\ttfamily \#include $<$callback/\+BNO08x\+Cb\+Param\+Void.\+hpp$>$}
+
+
+
+Inheritance diagram for BNO08x\+Cb\+Param\+Void\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=201pt]{class_b_n_o08x_cb_param_void__inherit__graph}
+\end{center}
+\end{figure}
+
+
+Collaboration diagram for BNO08x\+Cb\+Param\+Void\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=201pt]{class_b_n_o08x_cb_param_void__coll__graph}
+\end{center}
+\end{figure}
+\doxysubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{class_b_n_o08x_cb_param_void_a989c124bfd9871f80a415b76510d966b}{BNO08x\+Cb\+Param\+Void}} (std\+::function$<$ void(void)$>$ cb\+\_\+fxn, uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_cb_generic_a808841c9f19664cb6ff06f9c217793e1}{rpt\+\_\+\+ID}})
+\item 
+void \mbox{\hyperlink{class_b_n_o08x_cb_param_void_a5cfdaad83528e3e418f51041d500b6f9}{invoke}} (uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_cb_generic_a808841c9f19664cb6ff06f9c217793e1}{rpt\+\_\+\+ID}}) override
+\begin{DoxyCompactList}\small\item\em Invokes contained callback function. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Additional Inherited Members}
+
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\mbox{\Hypertarget{class_b_n_o08x_cb_param_void_a989c124bfd9871f80a415b76510d966b}\label{class_b_n_o08x_cb_param_void_a989c124bfd9871f80a415b76510d966b}} 
+\index{BNO08xCbParamVoid@{BNO08xCbParamVoid}!BNO08xCbParamVoid@{BNO08xCbParamVoid}}
+\index{BNO08xCbParamVoid@{BNO08xCbParamVoid}!BNO08xCbParamVoid@{BNO08xCbParamVoid}}
+\doxysubsubsection{\texorpdfstring{BNO08xCbParamVoid()}{BNO08xCbParamVoid()}}
+{\footnotesize\ttfamily BNO08x\+Cb\+Param\+Void\+::\+BNO08x\+Cb\+Param\+Void (\begin{DoxyParamCaption}\item[{std\+::function$<$ void(void)$>$}]{cb\+\_\+fxn,  }\item[{uint8\+\_\+t}]{rpt\+\_\+\+ID }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Function Documentation}
+\mbox{\Hypertarget{class_b_n_o08x_cb_param_void_a5cfdaad83528e3e418f51041d500b6f9}\label{class_b_n_o08x_cb_param_void_a5cfdaad83528e3e418f51041d500b6f9}} 
+\index{BNO08xCbParamVoid@{BNO08xCbParamVoid}!invoke@{invoke}}
+\index{invoke@{invoke}!BNO08xCbParamVoid@{BNO08xCbParamVoid}}
+\doxysubsubsection{\texorpdfstring{invoke()}{invoke()}}
+{\footnotesize\ttfamily void BNO08x\+Cb\+Param\+Void\+::invoke (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{rpt\+\_\+\+ID }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
+
+
+
+Invokes contained callback function. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em rpt\+\_\+\+ID} & n/a, not used, kept to maintain same prototype as \mbox{\hyperlink{class_b_n_o08x_cb_param_rpt_i_d_ae263c2af6f9363d1a4fc58824b53cb72}{BNO08x\+Cb\+Param\+Rpt\+ID\+::invoke()}}\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+
+
+Implements \mbox{\hyperlink{class_b_n_o08x_cb_generic_a19f9e8a22d039acf29c98801368ff0bb}{BNO08x\+Cb\+Generic}}.
+
+
+
+The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/callback/\mbox{\hyperlink{_b_n_o08x_cb_param_void_8hpp}{BNO08x\+Cb\+Param\+Void.\+hpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/class_b_n_o08x_cb_param_void__coll__graph.md5 b/documentation/latex/class_b_n_o08x_cb_param_void__coll__graph.md5
new file mode 100644
index 0000000..39a3a3b
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x_cb_param_void__coll__graph.md5
@@ -0,0 +1 @@
+b0c8fac9f72a0749936054ef3a316c32
\ No newline at end of file
diff --git a/documentation/latex/class_b_n_o08x_cb_param_void__coll__graph.pdf b/documentation/latex/class_b_n_o08x_cb_param_void__coll__graph.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..3d5483b1a268bda00d667600bd63338a4309ebc6
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new file mode 100644
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diff --git a/documentation/latex/class_b_n_o08x_cb_param_void__inherit__graph.pdf b/documentation/latex/class_b_n_o08x_cb_param_void__inherit__graph.pdf
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diff --git a/documentation/latex/class_b_n_o08x_rpt.tex b/documentation/latex/class_b_n_o08x_rpt.tex
new file mode 100644
index 0000000..7dfd500
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x_rpt.tex
@@ -0,0 +1,510 @@
+\hypertarget{class_b_n_o08x_rpt}{}\doxysection{BNO08x\+Rpt Class Reference}
+\label{class_b_n_o08x_rpt}\index{BNO08xRpt@{BNO08xRpt}}
+
+
+Class to represent and manage reports returned from \mbox{\hyperlink{class_b_n_o08x}{BNO08x}}.  
+
+
+
+
+{\ttfamily \#include $<$report/\+BNO08x\+Rpt.\+hpp$>$}
+
+
+
+Inheritance diagram for BNO08x\+Rpt\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_rpt__inherit__graph}
+\end{center}
+\end{figure}
+
+
+Collaboration diagram for BNO08x\+Rpt\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=199pt]{class_b_n_o08x_rpt__coll__graph}
+\end{center}
+\end{figure}
+\doxysubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+bool \mbox{\hyperlink{class_b_n_o08x_rpt_a7d147e7540a4c6aa19749844e14cdadc}{disable}} (sh2\+\_\+\+Sensor\+Config\+\_\+t sensor\+\_\+cfg=BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg)
+\begin{DoxyCompactList}\small\item\em Disables a sensor report by setting its period to 0us such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} stops sending it. \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{class_b_n_o08x_rpt_a5b542b28c81fcd05cf2e3f3d2d437d46}{register\+\_\+cb}} (std\+::function$<$ void(void)$>$ cb\+\_\+fxn)
+\begin{DoxyCompactList}\small\item\em Registers a callback to execute when new data from a specific report is received. \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{class_b_n_o08x_rpt_a74f6037286b51382535bab61680297ed}{has\+\_\+new\+\_\+data}} ()
+\begin{DoxyCompactList}\small\item\em Checks if a new report has been received since the last time this function was called. \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{class_b_n_o08x_rpt_ab3bb962696b135841ef7313bc631fc72}{flush}} ()
+\begin{DoxyCompactList}\small\item\em Flush all buffered reports for this sensor/report module. \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{class_b_n_o08x_rpt_a7ce8e48cadf59f49068af7f1cb680b38}{get\+\_\+sample\+\_\+counts}} (\mbox{\hyperlink{structbno08x__sample__counts__t}{bno08x\+\_\+sample\+\_\+counts\+\_\+t}} \&sample\+\_\+counts)
+\begin{DoxyCompactList}\small\item\em Gets sample counts for this sensor (see SH-\/2 ref manual 6.\+4.\+3.\+1) \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{class_b_n_o08x_rpt_a1418be33824d3102dbc8f92558a402a6}{clear\+\_\+sample\+\_\+counts}} ()
+\begin{DoxyCompactList}\small\item\em Clears \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} internal sample counts for this sensor. (see SH-\/2 ref manual 6.\+4.\+3.\+1) \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{class_b_n_o08x_rpt_ad5b054279b01204f61b4c0408acf51cf}{get\+\_\+meta\+\_\+data}} (\mbox{\hyperlink{structbno08x__meta__data__t}{bno08x\+\_\+meta\+\_\+data\+\_\+t}} \&meta\+\_\+data)
+\begin{DoxyCompactList}\small\item\em Retrieves meta data for this sensor/report by reading respective record in FRS (flash record system). \end{DoxyCompactList}\item 
+virtual bool \mbox{\hyperlink{class_b_n_o08x_rpt_a4ee529725467412df396d5c610ff7bb4}{enable}} (uint32\+\_\+t time\+\_\+between\+\_\+reports, sh2\+\_\+\+Sensor\+Config\+\_\+t sensor\+\_\+cfg=BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg)=0
+\end{DoxyCompactItemize}
+\doxysubsection*{Protected Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+bool \mbox{\hyperlink{class_b_n_o08x_rpt_aa0bed98a9a497d1f39e8245d05b02e9c}{rpt\+\_\+enable}} (uint32\+\_\+t time\+\_\+between\+\_\+reports, sh2\+\_\+\+Sensor\+Config\+\_\+t sensor\+\_\+cfg=BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg)
+\begin{DoxyCompactList}\small\item\em Enables a sensor report such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} begins sending it. \end{DoxyCompactList}\item 
+virtual void \mbox{\hyperlink{class_b_n_o08x_rpt_a970fb7e7d3745c62fec626f0ccf0759f}{update\+\_\+data}} (sh2\+\_\+\+Sensor\+Value\+\_\+t $\ast$sensor\+\_\+val)=0
+\item 
+\mbox{\hyperlink{class_b_n_o08x_rpt_a15e8eebe3fe90ac19837e3860c76374c}{BNO08x\+Rpt}} (uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\+\_\+bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$\mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\+\_\+ctx}})
+\begin{DoxyCompactList}\small\item\em \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08x\+Rpt}} report constructor. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_rpt_a61e3451e93806e1b7eaf5f1387726765}{unlock\+\_\+sh2\+\_\+\+HAL}} ()
+\begin{DoxyCompactList}\small\item\em Unlocks sh2 HAL lib to allow other tasks to call its APIs. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_rpt_a7a5619a74c1237c5abde2e4bd6619d12}{lock\+\_\+sh2\+\_\+\+HAL}} ()
+\begin{DoxyCompactList}\small\item\em Locks sh2 HAL lib to only allow the calling task to call its APIs. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_rpt_a26bacc572187119339ec248bb4e7d6f3}{unlock\+\_\+user\+\_\+data}} ()
+\begin{DoxyCompactList}\small\item\em Unlocks user data to allow other tasks to read/modify it. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_rpt_a48e7b1a2c2ebc6b1f2f292735c0832a0}{lock\+\_\+user\+\_\+data}} ()
+\begin{DoxyCompactList}\small\item\em Locks locks user data to only allow the calling task to read/modify it. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_rpt_a47a623eb0a1db51af76a03a103c32329}{signal\+\_\+data\+\_\+available}} ()
+\begin{DoxyCompactList}\small\item\em Signals to \mbox{\hyperlink{class_b_n_o08x_a367d525d1c0ba119b3dca3067bb5bccc}{BNO08x\+::data\+\_\+available()}} that a new report has arrived. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Protected Attributes}
+\begin{DoxyCompactItemize}
+\item 
+uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}
+\begin{DoxyCompactList}\small\item\em Report ID, ex. SH2\+\_\+\+ACCELERATION. \end{DoxyCompactList}\item 
+Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\+\_\+bit}}
+\begin{DoxyCompactList}\small\item\em Respective enable and data bit for report in evt\+\_\+grp\+\_\+rpt\+\_\+en and evt\+\_\+grp\+\_\+rpt\+\_\+data. \end{DoxyCompactList}\item 
+uint32\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_a1d4d6f4cc6f1eae503863eedf7fb9f52}{period\+\_\+us}}
+\begin{DoxyCompactList}\small\item\em The period/interval of the report in microseconds. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$ \mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\+\_\+ctx}}
+\end{DoxyCompactItemize}
+\doxysubsection*{Static Protected Attributes}
+\begin{DoxyCompactItemize}
+\item 
+static const constexpr float \mbox{\hyperlink{class_b_n_o08x_rpt_a201aeb71fefb0d9d485914176a82dd80}{RAD\+\_\+2\+\_\+\+DEG}}
+\begin{DoxyCompactList}\small\item\em Constant for radian to degree conversions, sed in quaternion to euler function conversions. \end{DoxyCompactList}\item 
+static const constexpr char $\ast$ \mbox{\hyperlink{class_b_n_o08x_rpt_a2c57f370fb08b793bb10ec22d5acca45}{TAG}} = \char`\"{}BNO08x\+Rpt\char`\"{}
+\end{DoxyCompactItemize}
+\doxysubsection*{Friends}
+\begin{DoxyCompactItemize}
+\item 
+class \mbox{\hyperlink{class_b_n_o08x_rpt_a9313d906399750f09e3fe4dae87cec15}{BNO08x}}
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Class to represent and manage reports returned from \mbox{\hyperlink{class_b_n_o08x}{BNO08x}}. 
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_a15e8eebe3fe90ac19837e3860c76374c}\label{class_b_n_o08x_rpt_a15e8eebe3fe90ac19837e3860c76374c}} 
+\index{BNO08xRpt@{BNO08xRpt}!BNO08xRpt@{BNO08xRpt}}
+\index{BNO08xRpt@{BNO08xRpt}!BNO08xRpt@{BNO08xRpt}}
+\doxysubsubsection{\texorpdfstring{BNO08xRpt()}{BNO08xRpt()}}
+{\footnotesize\ttfamily BNO08x\+Rpt\+::\+BNO08x\+Rpt (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ID,  }\item[{Event\+Bits\+\_\+t}]{rpt\+\_\+bit,  }\item[{\mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$}]{sync\+\_\+ctx }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}}
+
+
+
+\mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08x\+Rpt}} report constructor. 
+
+Construct a \mbox{\hyperlink{class_b_n_o08x_rpt}{BNO08x\+Rpt}} object for managing a \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} sensor report.
+
+
+\begin{DoxyParams}{Parameters}
+{\em imu} & Pointer to \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} imu object. \\
+\hline
+{\em report\+\_\+\+ID} & Report ID, ex. SH2\+\_\+\+ACCELERATION. \\
+\hline
+{\em rpt\+\_\+bit} & Respective enable bit for report in BNO08x\+::evt\+\_\+grp\+\_\+report\+\_\+en. \\
+\hline
+{\em period\+\_\+us} & The period/interval of the report in microseconds.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+
+
+\doxysubsection{Member Function Documentation}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_a1418be33824d3102dbc8f92558a402a6}\label{class_b_n_o08x_rpt_a1418be33824d3102dbc8f92558a402a6}} 
+\index{BNO08xRpt@{BNO08xRpt}!clear\_sample\_counts@{clear\_sample\_counts}}
+\index{clear\_sample\_counts@{clear\_sample\_counts}!BNO08xRpt@{BNO08xRpt}}
+\doxysubsubsection{\texorpdfstring{clear\_sample\_counts()}{clear\_sample\_counts()}}
+{\footnotesize\ttfamily bool BNO08x\+Rpt\+::clear\+\_\+sample\+\_\+counts (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Clears \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} internal sample counts for this sensor. (see SH-\/2 ref manual 6.\+4.\+3.\+1) 
+
+\begin{DoxyReturn}{Returns}
+True clear counts operation succeeded. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_rpt_a1418be33824d3102dbc8f92558a402a6_cgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_a7d147e7540a4c6aa19749844e14cdadc}\label{class_b_n_o08x_rpt_a7d147e7540a4c6aa19749844e14cdadc}} 
+\index{BNO08xRpt@{BNO08xRpt}!disable@{disable}}
+\index{disable@{disable}!BNO08xRpt@{BNO08xRpt}}
+\doxysubsubsection{\texorpdfstring{disable()}{disable()}}
+{\footnotesize\ttfamily bool BNO08x\+Rpt\+::disable (\begin{DoxyParamCaption}\item[{sh2\+\_\+\+Sensor\+Config\+\_\+t}]{sensor\+\_\+cfg = {\ttfamily BNO08xPrivateTypes\+:\+:default\+\_\+sensor\+\_\+cfg} }\end{DoxyParamCaption})}
+
+
+
+Disables a sensor report by setting its period to 0us such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} stops sending it. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em sensor\+\_\+\+ID} & The ID of the sensor for the respective report to be disabled. \\
+\hline
+{\em sensor\+\_\+cfg} & Sensor special configuration.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+ESP\+\_\+\+OK if report was successfully disabled. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_rpt_a7d147e7540a4c6aa19749844e14cdadc_cgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_a4ee529725467412df396d5c610ff7bb4}\label{class_b_n_o08x_rpt_a4ee529725467412df396d5c610ff7bb4}} 
+\index{BNO08xRpt@{BNO08xRpt}!enable@{enable}}
+\index{enable@{enable}!BNO08xRpt@{BNO08xRpt}}
+\doxysubsubsection{\texorpdfstring{enable()}{enable()}}
+{\footnotesize\ttfamily virtual bool BNO08x\+Rpt\+::enable (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports,  }\item[{sh2\+\_\+\+Sensor\+Config\+\_\+t}]{sensor\+\_\+cfg = {\ttfamily BNO08xPrivateTypes\+:\+:default\+\_\+sensor\+\_\+cfg} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [pure virtual]}}
+
+
+
+Implemented in \mbox{\hyperlink{class_b_n_o08x_rpt_acceleration_a8fde5eefac5f9d714263047426eeee4f}{BNO08x\+Rpt\+Acceleration}}, \mbox{\hyperlink{class_b_n_o08x_rpt_activity_classifier_a631329523ddaf17f2e93cd0546a42823}{BNO08x\+Rpt\+Activity\+Classifier}}, \mbox{\hyperlink{class_b_n_o08x_rpt_cal_gyro_aeb49d86610427c915dc9e58fcba6fddc}{BNO08x\+Rpt\+Cal\+Gyro}}, \mbox{\hyperlink{class_b_n_o08x_rpt_cal_magnetometer_a9a371f613ff5053d2227faeebe941393}{BNO08x\+Rpt\+Cal\+Magnetometer}}, \mbox{\hyperlink{class_b_n_o08x_rpt_gravity_a5bb33cf233c6721fac992e447bd5b571}{BNO08x\+Rpt\+Gravity}}, \mbox{\hyperlink{class_b_n_o08x_rpt_linear_acceleration_a4584a181ae543919a851f8f288a316ed}{BNO08x\+Rpt\+Linear\+Acceleration}}, \mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_a3cfc735c048700fe79a5674ad92b4b03}{BNO08x\+Rpt\+Raw\+MEMSAccelerometer}}, \mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_gyro_ae872f24befd81352f812bc998acb573d}{BNO08x\+Rpt\+Raw\+MEMSGyro}}, \mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_a92832fd0bff6abddbbd87779de5b57fb}{BNO08x\+Rpt\+Raw\+MEMSMagnetometer}}, \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_generic_a17c6cf89a5f7bf5c3fb9f8ff3ed74e8e}{BNO08x\+Rpt\+RVGeneric}}, \mbox{\hyperlink{class_b_n_o08x_rpt_shake_detector_aa28fa73b51bd892f0239e647aa6ceeb8}{BNO08x\+Rpt\+Shake\+Detector}}, \mbox{\hyperlink{class_b_n_o08x_rpt_stability_classifier_a4959110a01f638d04d87696d8a03dd60}{BNO08x\+Rpt\+Stability\+Classifier}}, \mbox{\hyperlink{class_b_n_o08x_rpt_step_counter_adf0a697561b064a7dd90a44009efbcf1}{BNO08x\+Rpt\+Step\+Counter}}, \mbox{\hyperlink{class_b_n_o08x_rpt_tap_detector_ad8b716b7a2f2c2f52113eaaf75a391dc}{BNO08x\+Rpt\+Tap\+Detector}}, \mbox{\hyperlink{class_b_n_o08x_rpt_uncal_gyro_a404d36091a61af543c6fec7b6e077706}{BNO08x\+Rpt\+Uncal\+Gyro}}, and \mbox{\hyperlink{class_b_n_o08x_rpt_uncal_magnetometer_a80ae48107ca1cc27551fd799625f2867}{BNO08x\+Rpt\+Uncal\+Magnetometer}}.
+
+\mbox{\Hypertarget{class_b_n_o08x_rpt_ab3bb962696b135841ef7313bc631fc72}\label{class_b_n_o08x_rpt_ab3bb962696b135841ef7313bc631fc72}} 
+\index{BNO08xRpt@{BNO08xRpt}!flush@{flush}}
+\index{flush@{flush}!BNO08xRpt@{BNO08xRpt}}
+\doxysubsubsection{\texorpdfstring{flush()}{flush()}}
+{\footnotesize\ttfamily bool BNO08x\+Rpt\+::flush (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Flush all buffered reports for this sensor/report module. 
+
+\begin{DoxyReturn}{Returns}
+True if flush operation succeeded. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_rpt_ab3bb962696b135841ef7313bc631fc72_cgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_ad5b054279b01204f61b4c0408acf51cf}\label{class_b_n_o08x_rpt_ad5b054279b01204f61b4c0408acf51cf}} 
+\index{BNO08xRpt@{BNO08xRpt}!get\_meta\_data@{get\_meta\_data}}
+\index{get\_meta\_data@{get\_meta\_data}!BNO08xRpt@{BNO08xRpt}}
+\doxysubsubsection{\texorpdfstring{get\_meta\_data()}{get\_meta\_data()}}
+{\footnotesize\ttfamily bool BNO08x\+Rpt\+::get\+\_\+meta\+\_\+data (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{structbno08x__meta__data__t}{bno08x\+\_\+meta\+\_\+data\+\_\+t}} \&}]{meta\+\_\+data }\end{DoxyParamCaption})}
+
+
+
+Retrieves meta data for this sensor/report by reading respective record in FRS (flash record system). 
+
+Can be used to retrieve the minimum period, maximum period, actual Q points, resolution, and other info for a given sensor.
+
+\begin{DoxyReturn}{Returns}
+True clear get meta data operation succeeded. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_rpt_ad5b054279b01204f61b4c0408acf51cf_cgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_a7ce8e48cadf59f49068af7f1cb680b38}\label{class_b_n_o08x_rpt_a7ce8e48cadf59f49068af7f1cb680b38}} 
+\index{BNO08xRpt@{BNO08xRpt}!get\_sample\_counts@{get\_sample\_counts}}
+\index{get\_sample\_counts@{get\_sample\_counts}!BNO08xRpt@{BNO08xRpt}}
+\doxysubsubsection{\texorpdfstring{get\_sample\_counts()}{get\_sample\_counts()}}
+{\footnotesize\ttfamily bool BNO08x\+Rpt\+::get\+\_\+sample\+\_\+counts (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{structbno08x__sample__counts__t}{bno08x\+\_\+sample\+\_\+counts\+\_\+t}} \&}]{sample\+\_\+counts }\end{DoxyParamCaption})}
+
+
+
+Gets sample counts for this sensor (see SH-\/2 ref manual 6.\+4.\+3.\+1) 
+
+
+\begin{DoxyParams}{Parameters}
+{\em Struct} & to store requested data.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+True get counts operation succeeded. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_rpt_a7ce8e48cadf59f49068af7f1cb680b38_cgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_a74f6037286b51382535bab61680297ed}\label{class_b_n_o08x_rpt_a74f6037286b51382535bab61680297ed}} 
+\index{BNO08xRpt@{BNO08xRpt}!has\_new\_data@{has\_new\_data}}
+\index{has\_new\_data@{has\_new\_data}!BNO08xRpt@{BNO08xRpt}}
+\doxysubsubsection{\texorpdfstring{has\_new\_data()}{has\_new\_data()}}
+{\footnotesize\ttfamily bool BNO08x\+Rpt\+::has\+\_\+new\+\_\+data (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Checks if a new report has been received since the last time this function was called. 
+
+\begin{DoxyReturn}{Returns}
+True if a new report was received since the last time this function was called. 
+\end{DoxyReturn}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_rpt_a74f6037286b51382535bab61680297ed_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_a7a5619a74c1237c5abde2e4bd6619d12}\label{class_b_n_o08x_rpt_a7a5619a74c1237c5abde2e4bd6619d12}} 
+\index{BNO08xRpt@{BNO08xRpt}!lock\_sh2\_HAL@{lock\_sh2\_HAL}}
+\index{lock\_sh2\_HAL@{lock\_sh2\_HAL}!BNO08xRpt@{BNO08xRpt}}
+\doxysubsubsection{\texorpdfstring{lock\_sh2\_HAL()}{lock\_sh2\_HAL()}}
+{\footnotesize\ttfamily void BNO08x\+Rpt\+::lock\+\_\+sh2\+\_\+\+HAL (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [protected]}}
+
+
+
+Locks sh2 HAL lib to only allow the calling task to call its APIs. 
+
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_rpt_a7a5619a74c1237c5abde2e4bd6619d12_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_a48e7b1a2c2ebc6b1f2f292735c0832a0}\label{class_b_n_o08x_rpt_a48e7b1a2c2ebc6b1f2f292735c0832a0}} 
+\index{BNO08xRpt@{BNO08xRpt}!lock\_user\_data@{lock\_user\_data}}
+\index{lock\_user\_data@{lock\_user\_data}!BNO08xRpt@{BNO08xRpt}}
+\doxysubsubsection{\texorpdfstring{lock\_user\_data()}{lock\_user\_data()}}
+{\footnotesize\ttfamily void BNO08x\+Rpt\+::lock\+\_\+user\+\_\+data (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [protected]}}
+
+
+
+Locks locks user data to only allow the calling task to read/modify it. 
+
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[height=550pt]{class_b_n_o08x_rpt_a48e7b1a2c2ebc6b1f2f292735c0832a0_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_a5b542b28c81fcd05cf2e3f3d2d437d46}\label{class_b_n_o08x_rpt_a5b542b28c81fcd05cf2e3f3d2d437d46}} 
+\index{BNO08xRpt@{BNO08xRpt}!register\_cb@{register\_cb}}
+\index{register\_cb@{register\_cb}!BNO08xRpt@{BNO08xRpt}}
+\doxysubsubsection{\texorpdfstring{register\_cb()}{register\_cb()}}
+{\footnotesize\ttfamily bool BNO08x\+Rpt\+::register\+\_\+cb (\begin{DoxyParamCaption}\item[{std\+::function$<$ void(void)$>$}]{cb\+\_\+fxn }\end{DoxyParamCaption})}
+
+
+
+Registers a callback to execute when new data from a specific report is received. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em cb\+\_\+fxn} & Pointer to the call-\/back function should be of void return type void input param.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_aa0bed98a9a497d1f39e8245d05b02e9c}\label{class_b_n_o08x_rpt_aa0bed98a9a497d1f39e8245d05b02e9c}} 
+\index{BNO08xRpt@{BNO08xRpt}!rpt\_enable@{rpt\_enable}}
+\index{rpt\_enable@{rpt\_enable}!BNO08xRpt@{BNO08xRpt}}
+\doxysubsubsection{\texorpdfstring{rpt\_enable()}{rpt\_enable()}}
+{\footnotesize\ttfamily bool BNO08x\+Rpt\+::rpt\+\_\+enable (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports,  }\item[{sh2\+\_\+\+Sensor\+Config\+\_\+t}]{sensor\+\_\+cfg = {\ttfamily BNO08xPrivateTypes\+:\+:default\+\_\+sensor\+\_\+cfg} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [protected]}}
+
+
+
+Enables a sensor report such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} begins sending it. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em report\+\_\+period\+\_\+us} & The period/interval of the report in microseconds. \\
+\hline
+{\em sensor\+\_\+cfg} & Sensor special configuration (optional, see BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg for defaults).\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+True if report was successfully enabled. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_rpt_aa0bed98a9a497d1f39e8245d05b02e9c_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_rpt_aa0bed98a9a497d1f39e8245d05b02e9c_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_a47a623eb0a1db51af76a03a103c32329}\label{class_b_n_o08x_rpt_a47a623eb0a1db51af76a03a103c32329}} 
+\index{BNO08xRpt@{BNO08xRpt}!signal\_data\_available@{signal\_data\_available}}
+\index{signal\_data\_available@{signal\_data\_available}!BNO08xRpt@{BNO08xRpt}}
+\doxysubsubsection{\texorpdfstring{signal\_data\_available()}{signal\_data\_available()}}
+{\footnotesize\ttfamily void BNO08x\+Rpt\+::signal\+\_\+data\+\_\+available (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [protected]}}
+
+
+
+Signals to \mbox{\hyperlink{class_b_n_o08x_a367d525d1c0ba119b3dca3067bb5bccc}{BNO08x\+::data\+\_\+available()}} that a new report has arrived. 
+
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_a61e3451e93806e1b7eaf5f1387726765}\label{class_b_n_o08x_rpt_a61e3451e93806e1b7eaf5f1387726765}} 
+\index{BNO08xRpt@{BNO08xRpt}!unlock\_sh2\_HAL@{unlock\_sh2\_HAL}}
+\index{unlock\_sh2\_HAL@{unlock\_sh2\_HAL}!BNO08xRpt@{BNO08xRpt}}
+\doxysubsubsection{\texorpdfstring{unlock\_sh2\_HAL()}{unlock\_sh2\_HAL()}}
+{\footnotesize\ttfamily void BNO08x\+Rpt\+::unlock\+\_\+sh2\+\_\+\+HAL (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [protected]}}
+
+
+
+Unlocks sh2 HAL lib to allow other tasks to call its APIs. 
+
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_rpt_a61e3451e93806e1b7eaf5f1387726765_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_a26bacc572187119339ec248bb4e7d6f3}\label{class_b_n_o08x_rpt_a26bacc572187119339ec248bb4e7d6f3}} 
+\index{BNO08xRpt@{BNO08xRpt}!unlock\_user\_data@{unlock\_user\_data}}
+\index{unlock\_user\_data@{unlock\_user\_data}!BNO08xRpt@{BNO08xRpt}}
+\doxysubsubsection{\texorpdfstring{unlock\_user\_data()}{unlock\_user\_data()}}
+{\footnotesize\ttfamily void BNO08x\+Rpt\+::unlock\+\_\+user\+\_\+data (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [protected]}}
+
+
+
+Unlocks user data to allow other tasks to read/modify it. 
+
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[height=550pt]{class_b_n_o08x_rpt_a26bacc572187119339ec248bb4e7d6f3_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_a970fb7e7d3745c62fec626f0ccf0759f}\label{class_b_n_o08x_rpt_a970fb7e7d3745c62fec626f0ccf0759f}} 
+\index{BNO08xRpt@{BNO08xRpt}!update\_data@{update\_data}}
+\index{update\_data@{update\_data}!BNO08xRpt@{BNO08xRpt}}
+\doxysubsubsection{\texorpdfstring{update\_data()}{update\_data()}}
+{\footnotesize\ttfamily virtual void BNO08x\+Rpt\+::update\+\_\+data (\begin{DoxyParamCaption}\item[{sh2\+\_\+\+Sensor\+Value\+\_\+t $\ast$}]{sensor\+\_\+val }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [protected]}, {\ttfamily [pure virtual]}}
+
+
+
+\doxysubsection{Friends And Related Function Documentation}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_a9313d906399750f09e3fe4dae87cec15}\label{class_b_n_o08x_rpt_a9313d906399750f09e3fe4dae87cec15}} 
+\index{BNO08xRpt@{BNO08xRpt}!BNO08x@{BNO08x}}
+\index{BNO08x@{BNO08x}!BNO08xRpt@{BNO08xRpt}}
+\doxysubsubsection{\texorpdfstring{BNO08x}{BNO08x}}
+{\footnotesize\ttfamily friend class \mbox{\hyperlink{class_b_n_o08x}{BNO08x}}\hspace{0.3cm}{\ttfamily [friend]}}
+
+
+
+\doxysubsection{Member Data Documentation}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}\label{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}} 
+\index{BNO08xRpt@{BNO08xRpt}!ID@{ID}}
+\index{ID@{ID}!BNO08xRpt@{BNO08xRpt}}
+\doxysubsubsection{\texorpdfstring{ID}{ID}}
+{\footnotesize\ttfamily uint8\+\_\+t BNO08x\+Rpt\+::\+ID\hspace{0.3cm}{\ttfamily [protected]}}
+
+
+
+Report ID, ex. SH2\+\_\+\+ACCELERATION. 
+
+\mbox{\Hypertarget{class_b_n_o08x_rpt_a1d4d6f4cc6f1eae503863eedf7fb9f52}\label{class_b_n_o08x_rpt_a1d4d6f4cc6f1eae503863eedf7fb9f52}} 
+\index{BNO08xRpt@{BNO08xRpt}!period\_us@{period\_us}}
+\index{period\_us@{period\_us}!BNO08xRpt@{BNO08xRpt}}
+\doxysubsubsection{\texorpdfstring{period\_us}{period\_us}}
+{\footnotesize\ttfamily uint32\+\_\+t BNO08x\+Rpt\+::period\+\_\+us\hspace{0.3cm}{\ttfamily [protected]}}
+
+
+
+The period/interval of the report in microseconds. 
+
+\mbox{\Hypertarget{class_b_n_o08x_rpt_a201aeb71fefb0d9d485914176a82dd80}\label{class_b_n_o08x_rpt_a201aeb71fefb0d9d485914176a82dd80}} 
+\index{BNO08xRpt@{BNO08xRpt}!RAD\_2\_DEG@{RAD\_2\_DEG}}
+\index{RAD\_2\_DEG@{RAD\_2\_DEG}!BNO08xRpt@{BNO08xRpt}}
+\doxysubsubsection{\texorpdfstring{RAD\_2\_DEG}{RAD\_2\_DEG}}
+{\footnotesize\ttfamily const constexpr float BNO08x\+Rpt\+::\+RAD\+\_\+2\+\_\+\+DEG\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [protected]}}
+
+{\bfseries Initial value\+:}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{=}
+\DoxyCodeLine{                (180.0f / M\_PI)}
+
+\end{DoxyCode}
+
+
+Constant for radian to degree conversions, sed in quaternion to euler function conversions. 
+
+\mbox{\Hypertarget{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}\label{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}} 
+\index{BNO08xRpt@{BNO08xRpt}!rpt\_bit@{rpt\_bit}}
+\index{rpt\_bit@{rpt\_bit}!BNO08xRpt@{BNO08xRpt}}
+\doxysubsubsection{\texorpdfstring{rpt\_bit}{rpt\_bit}}
+{\footnotesize\ttfamily Event\+Bits\+\_\+t BNO08x\+Rpt\+::rpt\+\_\+bit\hspace{0.3cm}{\ttfamily [protected]}}
+
+
+
+Respective enable and data bit for report in evt\+\_\+grp\+\_\+rpt\+\_\+en and evt\+\_\+grp\+\_\+rpt\+\_\+data. 
+
+\mbox{\Hypertarget{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}\label{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}} 
+\index{BNO08xRpt@{BNO08xRpt}!sync\_ctx@{sync\_ctx}}
+\index{sync\_ctx@{sync\_ctx}!BNO08xRpt@{BNO08xRpt}}
+\doxysubsubsection{\texorpdfstring{sync\_ctx}{sync\_ctx}}
+{\footnotesize\ttfamily \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}}$\ast$ BNO08x\+Rpt\+::sync\+\_\+ctx\hspace{0.3cm}{\ttfamily [protected]}}
+
+\mbox{\Hypertarget{class_b_n_o08x_rpt_a2c57f370fb08b793bb10ec22d5acca45}\label{class_b_n_o08x_rpt_a2c57f370fb08b793bb10ec22d5acca45}} 
+\index{BNO08xRpt@{BNO08xRpt}!TAG@{TAG}}
+\index{TAG@{TAG}!BNO08xRpt@{BNO08xRpt}}
+\doxysubsubsection{\texorpdfstring{TAG}{TAG}}
+{\footnotesize\ttfamily const constexpr char$\ast$ BNO08x\+Rpt\+::\+TAG = \char`\"{}BNO08x\+Rpt\char`\"{}\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [protected]}}
+
+
+
+The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
+\item 
+/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_8hpp}{BNO08x\+Rpt.\+hpp}}\item 
+\mbox{\hyperlink{_b_n_o08x_rpt_8cpp}{BNO08x\+Rpt.\+cpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/class_b_n_o08x_rpt__coll__graph.md5 b/documentation/latex/class_b_n_o08x_rpt__coll__graph.md5
new file mode 100644
index 0000000..be0612e
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x_rpt__coll__graph.md5
@@ -0,0 +1 @@
+48ca32aaa7f1b792b51fb1ff6c083b8f
\ No newline at end of file
diff --git a/documentation/latex/class_b_n_o08x_rpt__coll__graph.pdf b/documentation/latex/class_b_n_o08x_rpt__coll__graph.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..438bc0bac12a9835884e352af48067ea5380c43f
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new file mode 100644
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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_rpt_a_r_v_r_stabilized_game_r_v.tex b/documentation/latex/class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v.tex
new file mode 100644
index 0000000..f93b199
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v.tex
@@ -0,0 +1,55 @@
+\hypertarget{class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v}{}\doxysection{BNO08x\+Rpt\+ARVRStabilized\+Game\+RV Class Reference}
+\label{class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v}\index{BNO08xRptARVRStabilizedGameRV@{BNO08xRptARVRStabilizedGameRV}}
+
+
+Class to represent ARVR stabilized rotation vector reports. (See Ref. Manual 6.\+5.\+43)  
+
+
+
+
+{\ttfamily \#include $<$report/\+BNO08x\+Rpt\+ARVRStabilized\+Game\+RV.\+hpp$>$}
+
+
+
+Inheritance diagram for BNO08x\+Rpt\+ARVRStabilized\+Game\+RV\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=271pt]{class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v__inherit__graph}
+\end{center}
+\end{figure}
+
+
+Collaboration diagram for BNO08x\+Rpt\+ARVRStabilized\+Game\+RV\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=309pt]{class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v__coll__graph}
+\end{center}
+\end{figure}
+\doxysubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_aabfa5bbfb21fb1f36dda44bd0de7d220}{BNO08x\+Rpt\+ARVRStabilized\+Game\+RV}} (uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\+\_\+bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$\mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\+\_\+ctx}})
+\end{DoxyCompactItemize}
+\doxysubsection*{Additional Inherited Members}
+
+
+\doxysubsection{Detailed Description}
+Class to represent ARVR stabilized rotation vector reports. (See Ref. Manual 6.\+5.\+43) 
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_aabfa5bbfb21fb1f36dda44bd0de7d220}\label{class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_aabfa5bbfb21fb1f36dda44bd0de7d220}} 
+\index{BNO08xRptARVRStabilizedGameRV@{BNO08xRptARVRStabilizedGameRV}!BNO08xRptARVRStabilizedGameRV@{BNO08xRptARVRStabilizedGameRV}}
+\index{BNO08xRptARVRStabilizedGameRV@{BNO08xRptARVRStabilizedGameRV}!BNO08xRptARVRStabilizedGameRV@{BNO08xRptARVRStabilizedGameRV}}
+\doxysubsubsection{\texorpdfstring{BNO08xRptARVRStabilizedGameRV()}{BNO08xRptARVRStabilizedGameRV()}}
+{\footnotesize\ttfamily BNO08x\+Rpt\+ARVRStabilized\+Game\+RV\+::\+BNO08x\+Rpt\+ARVRStabilized\+Game\+RV (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ID,  }\item[{Event\+Bits\+\_\+t}]{rpt\+\_\+bit,  }\item[{\mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$}]{sync\+\_\+ctx }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
+\item 
+/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8hpp}{BNO08x\+Rpt\+ARVRStabilized\+Game\+RV.\+hpp}}\item 
+report/\mbox{\hyperlink{_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8cpp}{BNO08x\+Rpt\+ARVRStabilized\+Game\+RV.\+cpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v__coll__graph.md5 b/documentation/latex/class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v__coll__graph.md5
new file mode 100644
index 0000000..13a72ee
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v__coll__graph.md5
@@ -0,0 +1 @@
+76e18a2099aa107493c2098abb8695c5
\ No newline at end of file
diff --git a/documentation/latex/class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v__coll__graph.pdf b/documentation/latex/class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v__coll__graph.pdf
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index 0000000000000000000000000000000000000000..50bbba4f4f1654bcceca5dca125aba8a817a09cd
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diff --git a/documentation/latex/class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v.tex b/documentation/latex/class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v.tex
new file mode 100644
index 0000000..b234056
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v.tex
@@ -0,0 +1,55 @@
+\hypertarget{class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v}{}\doxysection{BNO08x\+Rpt\+ARVRStabilized\+RV Class Reference}
+\label{class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v}\index{BNO08xRptARVRStabilizedRV@{BNO08xRptARVRStabilizedRV}}
+
+
+Class to represent ARVR stabilized rotation vector reports. (See Ref. Manual 6.\+5.\+42)  
+
+
+
+
+{\ttfamily \#include $<$report/\+BNO08x\+Rpt\+ARVRStabilized\+RV.\+hpp$>$}
+
+
+
+Inheritance diagram for BNO08x\+Rpt\+ARVRStabilized\+RV\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=241pt]{class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v__inherit__graph}
+\end{center}
+\end{figure}
+
+
+Collaboration diagram for BNO08x\+Rpt\+ARVRStabilized\+RV\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=294pt]{class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v__coll__graph}
+\end{center}
+\end{figure}
+\doxysubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_a7b19b87c861a35b7da1d96b606c21d6d}{BNO08x\+Rpt\+ARVRStabilized\+RV}} (uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\+\_\+bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$\mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\+\_\+ctx}})
+\end{DoxyCompactItemize}
+\doxysubsection*{Additional Inherited Members}
+
+
+\doxysubsection{Detailed Description}
+Class to represent ARVR stabilized rotation vector reports. (See Ref. Manual 6.\+5.\+42) 
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_a7b19b87c861a35b7da1d96b606c21d6d}\label{class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_a7b19b87c861a35b7da1d96b606c21d6d}} 
+\index{BNO08xRptARVRStabilizedRV@{BNO08xRptARVRStabilizedRV}!BNO08xRptARVRStabilizedRV@{BNO08xRptARVRStabilizedRV}}
+\index{BNO08xRptARVRStabilizedRV@{BNO08xRptARVRStabilizedRV}!BNO08xRptARVRStabilizedRV@{BNO08xRptARVRStabilizedRV}}
+\doxysubsubsection{\texorpdfstring{BNO08xRptARVRStabilizedRV()}{BNO08xRptARVRStabilizedRV()}}
+{\footnotesize\ttfamily BNO08x\+Rpt\+ARVRStabilized\+RV\+::\+BNO08x\+Rpt\+ARVRStabilized\+RV (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ID,  }\item[{Event\+Bits\+\_\+t}]{rpt\+\_\+bit,  }\item[{\mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$}]{sync\+\_\+ctx }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
+\item 
+/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8hpp}{BNO08x\+Rpt\+ARVRStabilized\+RV.\+hpp}}\item 
+report/\mbox{\hyperlink{_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8cpp}{BNO08x\+Rpt\+ARVRStabilized\+RV.\+cpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v__coll__graph.md5 b/documentation/latex/class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v__coll__graph.md5
new file mode 100644
index 0000000..99c8abe
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v__coll__graph.md5
@@ -0,0 +1 @@
+2d97a4f9b8a66fb2d1abaeabba86285d
\ No newline at end of file
diff --git a/documentation/latex/class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v__coll__graph.pdf b/documentation/latex/class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v__coll__graph.pdf
new file mode 100644
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diff --git a/documentation/latex/class_b_n_o08x_rpt_acceleration.tex b/documentation/latex/class_b_n_o08x_rpt_acceleration.tex
new file mode 100644
index 0000000..ca3b158
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x_rpt_acceleration.tex
@@ -0,0 +1,115 @@
+\hypertarget{class_b_n_o08x_rpt_acceleration}{}\doxysection{BNO08x\+Rpt\+Acceleration Class Reference}
+\label{class_b_n_o08x_rpt_acceleration}\index{BNO08xRptAcceleration@{BNO08xRptAcceleration}}
+
+
+Class to represent accelerometer reports. (See Ref. Manual 6.\+5.\+9)  
+
+
+
+
+{\ttfamily \#include $<$report/\+BNO08x\+Rpt\+Acceleration.\+hpp$>$}
+
+
+
+Inheritance diagram for BNO08x\+Rpt\+Acceleration\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=214pt]{class_b_n_o08x_rpt_acceleration__inherit__graph}
+\end{center}
+\end{figure}
+
+
+Collaboration diagram for BNO08x\+Rpt\+Acceleration\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=214pt]{class_b_n_o08x_rpt_acceleration__coll__graph}
+\end{center}
+\end{figure}
+\doxysubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{class_b_n_o08x_rpt_acceleration_af3a06d4c127a5cebd136489ab5c673e2}{BNO08x\+Rpt\+Acceleration}} (uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\+\_\+bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$\mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\+\_\+ctx}})
+\item 
+bool \mbox{\hyperlink{class_b_n_o08x_rpt_acceleration_a8fde5eefac5f9d714263047426eeee4f}{enable}} (uint32\+\_\+t time\+\_\+between\+\_\+reports, sh2\+\_\+\+Sensor\+Config\+\_\+t sensor\+\_\+cfg=BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg) override
+\begin{DoxyCompactList}\small\item\em Enables acceleration reports such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} begins sending them. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{structbno08x__accel__t}{bno08x\+\_\+accel\+\_\+t}} \mbox{\hyperlink{class_b_n_o08x_rpt_acceleration_abac65bc939891f7a24b5a611de430328}{get}} ()
+\begin{DoxyCompactList}\small\item\em Grabs most recent acceleration data (including gravity), units are in m/s$^\wedge$2. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Additional Inherited Members}
+
+
+\doxysubsection{Detailed Description}
+Class to represent accelerometer reports. (See Ref. Manual 6.\+5.\+9) 
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_acceleration_af3a06d4c127a5cebd136489ab5c673e2}\label{class_b_n_o08x_rpt_acceleration_af3a06d4c127a5cebd136489ab5c673e2}} 
+\index{BNO08xRptAcceleration@{BNO08xRptAcceleration}!BNO08xRptAcceleration@{BNO08xRptAcceleration}}
+\index{BNO08xRptAcceleration@{BNO08xRptAcceleration}!BNO08xRptAcceleration@{BNO08xRptAcceleration}}
+\doxysubsubsection{\texorpdfstring{BNO08xRptAcceleration()}{BNO08xRptAcceleration()}}
+{\footnotesize\ttfamily BNO08x\+Rpt\+Acceleration\+::\+BNO08x\+Rpt\+Acceleration (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ID,  }\item[{Event\+Bits\+\_\+t}]{rpt\+\_\+bit,  }\item[{\mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$}]{sync\+\_\+ctx }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Function Documentation}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_acceleration_a8fde5eefac5f9d714263047426eeee4f}\label{class_b_n_o08x_rpt_acceleration_a8fde5eefac5f9d714263047426eeee4f}} 
+\index{BNO08xRptAcceleration@{BNO08xRptAcceleration}!enable@{enable}}
+\index{enable@{enable}!BNO08xRptAcceleration@{BNO08xRptAcceleration}}
+\doxysubsubsection{\texorpdfstring{enable()}{enable()}}
+{\footnotesize\ttfamily bool BNO08x\+Rpt\+Acceleration\+::enable (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports,  }\item[{sh2\+\_\+\+Sensor\+Config\+\_\+t}]{sensor\+\_\+cfg = {\ttfamily BNO08xPrivateTypes\+:\+:default\+\_\+sensor\+\_\+cfg} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [override]}, {\ttfamily [virtual]}}
+
+
+
+Enables acceleration reports such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} begins sending them. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em report\+\_\+period\+\_\+us} & The period/interval of the report in microseconds. \\
+\hline
+{\em sensor\+\_\+cfg} & Sensor special configuration (optional, see BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg for defaults).\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+True if report was successfully enabled. 
+\end{DoxyReturn}
+
+
+Implements \mbox{\hyperlink{class_b_n_o08x_rpt_a4ee529725467412df396d5c610ff7bb4}{BNO08x\+Rpt}}.
+
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_rpt_acceleration_a8fde5eefac5f9d714263047426eeee4f_cgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_acceleration_abac65bc939891f7a24b5a611de430328}\label{class_b_n_o08x_rpt_acceleration_abac65bc939891f7a24b5a611de430328}} 
+\index{BNO08xRptAcceleration@{BNO08xRptAcceleration}!get@{get}}
+\index{get@{get}!BNO08xRptAcceleration@{BNO08xRptAcceleration}}
+\doxysubsubsection{\texorpdfstring{get()}{get()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__accel__t}{bno08x\+\_\+accel\+\_\+t}} BNO08x\+Rpt\+Acceleration\+::get (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Grabs most recent acceleration data (including gravity), units are in m/s$^\wedge$2. 
+
+\begin{DoxyReturn}{Returns}
+Struct containing requested data. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_rpt_acceleration_abac65bc939891f7a24b5a611de430328_cgraph}
+\end{center}
+\end{figure}
+
+
+The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
+\item 
+/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_acceleration_8hpp}{BNO08x\+Rpt\+Acceleration.\+hpp}}\item 
+report/\mbox{\hyperlink{_b_n_o08x_rpt_acceleration_8cpp}{BNO08x\+Rpt\+Acceleration.\+cpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/class_b_n_o08x_rpt_acceleration__coll__graph.md5 b/documentation/latex/class_b_n_o08x_rpt_acceleration__coll__graph.md5
new file mode 100644
index 0000000..45805a8
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x_rpt_acceleration__coll__graph.md5
@@ -0,0 +1 @@
+f0b28046e0c21d719dcf7dddc939849d
\ No newline at end of file
diff --git a/documentation/latex/class_b_n_o08x_rpt_acceleration__coll__graph.pdf b/documentation/latex/class_b_n_o08x_rpt_acceleration__coll__graph.pdf
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new file mode 100644
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diff --git a/documentation/latex/class_b_n_o08x_rpt_activity_classifier.tex b/documentation/latex/class_b_n_o08x_rpt_activity_classifier.tex
new file mode 100644
index 0000000..87baf41
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x_rpt_activity_classifier.tex
@@ -0,0 +1,158 @@
+\hypertarget{class_b_n_o08x_rpt_activity_classifier}{}\doxysection{BNO08x\+Rpt\+Activity\+Classifier Class Reference}
+\label{class_b_n_o08x_rpt_activity_classifier}\index{BNO08xRptActivityClassifier@{BNO08xRptActivityClassifier}}
+
+
+Class to represent activity classifier reports. (See Ref. Manual 6.\+5.\+36)  
+
+
+
+
+{\ttfamily \#include $<$report/\+BNO08x\+Rpt\+Activity\+Classifier.\+hpp$>$}
+
+
+
+Inheritance diagram for BNO08x\+Rpt\+Activity\+Classifier\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=235pt]{class_b_n_o08x_rpt_activity_classifier__inherit__graph}
+\end{center}
+\end{figure}
+
+
+Collaboration diagram for BNO08x\+Rpt\+Activity\+Classifier\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=235pt]{class_b_n_o08x_rpt_activity_classifier__coll__graph}
+\end{center}
+\end{figure}
+\doxysubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{class_b_n_o08x_rpt_activity_classifier_abee4e61d75eb1982f11f08eb542511a5}{BNO08x\+Rpt\+Activity\+Classifier}} (uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\+\_\+bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$\mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\+\_\+ctx}})
+\item 
+bool \mbox{\hyperlink{class_b_n_o08x_rpt_activity_classifier_a631329523ddaf17f2e93cd0546a42823}{enable}} (uint32\+\_\+t time\+\_\+between\+\_\+reports, sh2\+\_\+\+Sensor\+Config\+\_\+t sensor\+\_\+cfg=BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg) override
+\begin{DoxyCompactList}\small\item\em Enables activity classifier reports such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} begins sending them. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{structbno08x__activity__classifier__t}{bno08x\+\_\+activity\+\_\+classifier\+\_\+t}} \mbox{\hyperlink{class_b_n_o08x_rpt_activity_classifier_aa77475212d3a5eb52ec31b9916cfe22d}{get}} ()
+\begin{DoxyCompactList}\small\item\em Grabs most recent activity classifier data. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97d}{BNO08x\+Activity}} \mbox{\hyperlink{class_b_n_o08x_rpt_activity_classifier_a903a426e65752996075798ba6c51bff2}{get\+\_\+most\+\_\+likely\+\_\+activity}} ()
+\begin{DoxyCompactList}\small\item\em Grabs most the most likely activity from most recent activity classifier data. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_rpt_activity_classifier_adb51886e94e91d114246c51919fd368b}{set\+\_\+activities\+\_\+to\+\_\+enable}} (\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3a}{BNO08x\+Activity\+Enable}} activities\+\_\+to\+\_\+enable)
+\begin{DoxyCompactList}\small\item\em Sets the activities to be monitored for with Activity\+Classifier reports, all enable after setting. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Additional Inherited Members}
+
+
+\doxysubsection{Detailed Description}
+Class to represent activity classifier reports. (See Ref. Manual 6.\+5.\+36) 
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_activity_classifier_abee4e61d75eb1982f11f08eb542511a5}\label{class_b_n_o08x_rpt_activity_classifier_abee4e61d75eb1982f11f08eb542511a5}} 
+\index{BNO08xRptActivityClassifier@{BNO08xRptActivityClassifier}!BNO08xRptActivityClassifier@{BNO08xRptActivityClassifier}}
+\index{BNO08xRptActivityClassifier@{BNO08xRptActivityClassifier}!BNO08xRptActivityClassifier@{BNO08xRptActivityClassifier}}
+\doxysubsubsection{\texorpdfstring{BNO08xRptActivityClassifier()}{BNO08xRptActivityClassifier()}}
+{\footnotesize\ttfamily BNO08x\+Rpt\+Activity\+Classifier\+::\+BNO08x\+Rpt\+Activity\+Classifier (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ID,  }\item[{Event\+Bits\+\_\+t}]{rpt\+\_\+bit,  }\item[{\mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$}]{sync\+\_\+ctx }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Function Documentation}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_activity_classifier_a631329523ddaf17f2e93cd0546a42823}\label{class_b_n_o08x_rpt_activity_classifier_a631329523ddaf17f2e93cd0546a42823}} 
+\index{BNO08xRptActivityClassifier@{BNO08xRptActivityClassifier}!enable@{enable}}
+\index{enable@{enable}!BNO08xRptActivityClassifier@{BNO08xRptActivityClassifier}}
+\doxysubsubsection{\texorpdfstring{enable()}{enable()}}
+{\footnotesize\ttfamily bool BNO08x\+Rpt\+Activity\+Classifier\+::enable (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports,  }\item[{sh2\+\_\+\+Sensor\+Config\+\_\+t}]{sensor\+\_\+cfg = {\ttfamily BNO08xPrivateTypes\+:\+:default\+\_\+sensor\+\_\+cfg} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [override]}, {\ttfamily [virtual]}}
+
+
+
+Enables activity classifier reports such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} begins sending them. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em report\+\_\+period\+\_\+us} & The period/interval of the report in microseconds. \\
+\hline
+{\em sensor\+\_\+cfg} & Sensor special configuration (optional, see BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg for defaults).\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+True if report was successfully enabled. 
+\end{DoxyReturn}
+
+
+Implements \mbox{\hyperlink{class_b_n_o08x_rpt_a4ee529725467412df396d5c610ff7bb4}{BNO08x\+Rpt}}.
+
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_rpt_activity_classifier_a631329523ddaf17f2e93cd0546a42823_cgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_activity_classifier_aa77475212d3a5eb52ec31b9916cfe22d}\label{class_b_n_o08x_rpt_activity_classifier_aa77475212d3a5eb52ec31b9916cfe22d}} 
+\index{BNO08xRptActivityClassifier@{BNO08xRptActivityClassifier}!get@{get}}
+\index{get@{get}!BNO08xRptActivityClassifier@{BNO08xRptActivityClassifier}}
+\doxysubsubsection{\texorpdfstring{get()}{get()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__activity__classifier__t}{bno08x\+\_\+activity\+\_\+classifier\+\_\+t}} BNO08x\+Rpt\+Activity\+Classifier\+::get (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Grabs most recent activity classifier data. 
+
+\begin{DoxyReturn}{Returns}
+Struct containing requested data. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_rpt_activity_classifier_aa77475212d3a5eb52ec31b9916cfe22d_cgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_activity_classifier_a903a426e65752996075798ba6c51bff2}\label{class_b_n_o08x_rpt_activity_classifier_a903a426e65752996075798ba6c51bff2}} 
+\index{BNO08xRptActivityClassifier@{BNO08xRptActivityClassifier}!get\_most\_likely\_activity@{get\_most\_likely\_activity}}
+\index{get\_most\_likely\_activity@{get\_most\_likely\_activity}!BNO08xRptActivityClassifier@{BNO08xRptActivityClassifier}}
+\doxysubsubsection{\texorpdfstring{get\_most\_likely\_activity()}{get\_most\_likely\_activity()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97d}{BNO08x\+Activity}} BNO08x\+Rpt\+Activity\+Classifier\+::get\+\_\+most\+\_\+likely\+\_\+activity (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Grabs most the most likely activity from most recent activity classifier data. 
+
+\begin{DoxyReturn}{Returns}
+BNO08x\+Activity object with detected state. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_rpt_activity_classifier_a903a426e65752996075798ba6c51bff2_cgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_activity_classifier_adb51886e94e91d114246c51919fd368b}\label{class_b_n_o08x_rpt_activity_classifier_adb51886e94e91d114246c51919fd368b}} 
+\index{BNO08xRptActivityClassifier@{BNO08xRptActivityClassifier}!set\_activities\_to\_enable@{set\_activities\_to\_enable}}
+\index{set\_activities\_to\_enable@{set\_activities\_to\_enable}!BNO08xRptActivityClassifier@{BNO08xRptActivityClassifier}}
+\doxysubsubsection{\texorpdfstring{set\_activities\_to\_enable()}{set\_activities\_to\_enable()}}
+{\footnotesize\ttfamily void BNO08x\+Rpt\+Activity\+Classifier\+::set\+\_\+activities\+\_\+to\+\_\+enable (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a64f4487da0833d5304046093935f5d3a}{BNO08x\+Activity\+Enable}}}]{activities\+\_\+to\+\_\+enable }\end{DoxyParamCaption})}
+
+
+
+Sets the activities to be monitored for with Activity\+Classifier reports, all enable after setting. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em activities\+\_\+to\+\_\+enable} & The activities to be monitored with sent reports.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+
+
+The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
+\item 
+/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_activity_classifier_8hpp}{BNO08x\+Rpt\+Activity\+Classifier.\+hpp}}\item 
+report/\mbox{\hyperlink{_b_n_o08x_rpt_activity_classifier_8cpp}{BNO08x\+Rpt\+Activity\+Classifier.\+cpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/class_b_n_o08x_rpt_activity_classifier__coll__graph.md5 b/documentation/latex/class_b_n_o08x_rpt_activity_classifier__coll__graph.md5
new file mode 100644
index 0000000..1551a38
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x_rpt_activity_classifier__coll__graph.md5
@@ -0,0 +1 @@
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diff --git a/documentation/latex/class_b_n_o08x_rpt_activity_classifier__inherit__graph.pdf b/documentation/latex/class_b_n_o08x_rpt_activity_classifier__inherit__graph.pdf
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diff --git a/documentation/latex/class_b_n_o08x_rpt_cal_gyro.tex b/documentation/latex/class_b_n_o08x_rpt_cal_gyro.tex
new file mode 100644
index 0000000..9da1038
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x_rpt_cal_gyro.tex
@@ -0,0 +1,115 @@
+\hypertarget{class_b_n_o08x_rpt_cal_gyro}{}\doxysection{BNO08x\+Rpt\+Cal\+Gyro Class Reference}
+\label{class_b_n_o08x_rpt_cal_gyro}\index{BNO08xRptCalGyro@{BNO08xRptCalGyro}}
+
+
+Class to represent calibrated gyro reports. (See Ref. Manual 6.\+5.\+13)  
+
+
+
+
+{\ttfamily \#include $<$report/\+BNO08x\+Rpt\+Cal\+Gyro.\+hpp$>$}
+
+
+
+Inheritance diagram for BNO08x\+Rpt\+Cal\+Gyro\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=192pt]{class_b_n_o08x_rpt_cal_gyro__inherit__graph}
+\end{center}
+\end{figure}
+
+
+Collaboration diagram for BNO08x\+Rpt\+Cal\+Gyro\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=199pt]{class_b_n_o08x_rpt_cal_gyro__coll__graph}
+\end{center}
+\end{figure}
+\doxysubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{class_b_n_o08x_rpt_cal_gyro_ad351243a258fa1075212d63a38b1e7b5}{BNO08x\+Rpt\+Cal\+Gyro}} (uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\+\_\+bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$\mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\+\_\+ctx}})
+\item 
+bool \mbox{\hyperlink{class_b_n_o08x_rpt_cal_gyro_aeb49d86610427c915dc9e58fcba6fddc}{enable}} (uint32\+\_\+t time\+\_\+between\+\_\+reports, sh2\+\_\+\+Sensor\+Config\+\_\+t sensor\+\_\+cfg=BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg) override
+\begin{DoxyCompactList}\small\item\em Enables calibrated gyro reports such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} begins sending them. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{structbno08x__gyro__t}{bno08x\+\_\+gyro\+\_\+t}} \mbox{\hyperlink{class_b_n_o08x_rpt_cal_gyro_aeb45a1a433c499f2c36dddf393175815}{get}} ()
+\begin{DoxyCompactList}\small\item\em Grabs most recent gyroscope data (velocity), units are in rad/s. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Additional Inherited Members}
+
+
+\doxysubsection{Detailed Description}
+Class to represent calibrated gyro reports. (See Ref. Manual 6.\+5.\+13) 
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_cal_gyro_ad351243a258fa1075212d63a38b1e7b5}\label{class_b_n_o08x_rpt_cal_gyro_ad351243a258fa1075212d63a38b1e7b5}} 
+\index{BNO08xRptCalGyro@{BNO08xRptCalGyro}!BNO08xRptCalGyro@{BNO08xRptCalGyro}}
+\index{BNO08xRptCalGyro@{BNO08xRptCalGyro}!BNO08xRptCalGyro@{BNO08xRptCalGyro}}
+\doxysubsubsection{\texorpdfstring{BNO08xRptCalGyro()}{BNO08xRptCalGyro()}}
+{\footnotesize\ttfamily BNO08x\+Rpt\+Cal\+Gyro\+::\+BNO08x\+Rpt\+Cal\+Gyro (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ID,  }\item[{Event\+Bits\+\_\+t}]{rpt\+\_\+bit,  }\item[{\mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$}]{sync\+\_\+ctx }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Function Documentation}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_cal_gyro_aeb49d86610427c915dc9e58fcba6fddc}\label{class_b_n_o08x_rpt_cal_gyro_aeb49d86610427c915dc9e58fcba6fddc}} 
+\index{BNO08xRptCalGyro@{BNO08xRptCalGyro}!enable@{enable}}
+\index{enable@{enable}!BNO08xRptCalGyro@{BNO08xRptCalGyro}}
+\doxysubsubsection{\texorpdfstring{enable()}{enable()}}
+{\footnotesize\ttfamily bool BNO08x\+Rpt\+Cal\+Gyro\+::enable (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports,  }\item[{sh2\+\_\+\+Sensor\+Config\+\_\+t}]{sensor\+\_\+cfg = {\ttfamily BNO08xPrivateTypes\+:\+:default\+\_\+sensor\+\_\+cfg} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [override]}, {\ttfamily [virtual]}}
+
+
+
+Enables calibrated gyro reports such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} begins sending them. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em report\+\_\+period\+\_\+us} & The period/interval of the report in microseconds. \\
+\hline
+{\em sensor\+\_\+cfg} & Sensor special configuration (optional, see BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg for defaults).\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+True if report was successfully enabled. 
+\end{DoxyReturn}
+
+
+Implements \mbox{\hyperlink{class_b_n_o08x_rpt_a4ee529725467412df396d5c610ff7bb4}{BNO08x\+Rpt}}.
+
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_rpt_cal_gyro_aeb49d86610427c915dc9e58fcba6fddc_cgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_cal_gyro_aeb45a1a433c499f2c36dddf393175815}\label{class_b_n_o08x_rpt_cal_gyro_aeb45a1a433c499f2c36dddf393175815}} 
+\index{BNO08xRptCalGyro@{BNO08xRptCalGyro}!get@{get}}
+\index{get@{get}!BNO08xRptCalGyro@{BNO08xRptCalGyro}}
+\doxysubsubsection{\texorpdfstring{get()}{get()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__gyro__t}{bno08x\+\_\+gyro\+\_\+t}} BNO08x\+Rpt\+Cal\+Gyro\+::get (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Grabs most recent gyroscope data (velocity), units are in rad/s. 
+
+\begin{DoxyReturn}{Returns}
+Struct containing requested data. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_rpt_cal_gyro_aeb45a1a433c499f2c36dddf393175815_cgraph}
+\end{center}
+\end{figure}
+
+
+The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
+\item 
+/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_cal_gyro_8hpp}{BNO08x\+Rpt\+Cal\+Gyro.\+hpp}}\item 
+report/\mbox{\hyperlink{_b_n_o08x_rpt_cal_gyro_8cpp}{BNO08x\+Rpt\+Cal\+Gyro.\+cpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/class_b_n_o08x_rpt_cal_gyro__coll__graph.md5 b/documentation/latex/class_b_n_o08x_rpt_cal_gyro__coll__graph.md5
new file mode 100644
index 0000000..53884fe
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x_rpt_cal_gyro__coll__graph.md5
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diff --git a/documentation/latex/class_b_n_o08x_rpt_cal_gyro__coll__graph.pdf b/documentation/latex/class_b_n_o08x_rpt_cal_gyro__coll__graph.pdf
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diff --git a/documentation/latex/class_b_n_o08x_rpt_cal_gyro__inherit__graph.md5 b/documentation/latex/class_b_n_o08x_rpt_cal_gyro__inherit__graph.md5
new file mode 100644
index 0000000..d8c3b8a
--- /dev/null
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diff --git a/documentation/latex/class_b_n_o08x_rpt_cal_magnetometer.tex b/documentation/latex/class_b_n_o08x_rpt_cal_magnetometer.tex
new file mode 100644
index 0000000..1be0fbf
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x_rpt_cal_magnetometer.tex
@@ -0,0 +1,131 @@
+\hypertarget{class_b_n_o08x_rpt_cal_magnetometer}{}\doxysection{BNO08x\+Rpt\+Cal\+Magnetometer Class Reference}
+\label{class_b_n_o08x_rpt_cal_magnetometer}\index{BNO08xRptCalMagnetometer@{BNO08xRptCalMagnetometer}}
+
+
+Class to represent calibrated magnetometer reports. (See Ref. Manual 6.\+5.\+16)  
+
+
+
+
+{\ttfamily \#include $<$report/\+BNO08x\+Rpt\+Cal\+Magnetometer.\+hpp$>$}
+
+
+
+Inheritance diagram for BNO08x\+Rpt\+Cal\+Magnetometer\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=241pt]{class_b_n_o08x_rpt_cal_magnetometer__inherit__graph}
+\end{center}
+\end{figure}
+
+
+Collaboration diagram for BNO08x\+Rpt\+Cal\+Magnetometer\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=241pt]{class_b_n_o08x_rpt_cal_magnetometer__coll__graph}
+\end{center}
+\end{figure}
+\doxysubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{class_b_n_o08x_rpt_cal_magnetometer_a731d7e69b97b6402b2cf2e18e9a08b06}{BNO08x\+Rpt\+Cal\+Magnetometer}} (uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\+\_\+bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$\mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\+\_\+ctx}})
+\item 
+bool \mbox{\hyperlink{class_b_n_o08x_rpt_cal_magnetometer_a9a371f613ff5053d2227faeebe941393}{enable}} (uint32\+\_\+t time\+\_\+between\+\_\+reports, sh2\+\_\+\+Sensor\+Config\+\_\+t sensor\+\_\+cfg=BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg) override
+\begin{DoxyCompactList}\small\item\em Enables calibrated magnetometer reports such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} begins sending them. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{structbno08x__magf__t}{bno08x\+\_\+magf\+\_\+t}} \mbox{\hyperlink{class_b_n_o08x_rpt_cal_magnetometer_a9a07338f7c149aa3d45d2c4f846620e2}{get}} ()
+\begin{DoxyCompactList}\small\item\em Grabs most recent calibrated magnetometer data, units are in u\+Tesla. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Additional Inherited Members}
+
+
+\doxysubsection{Detailed Description}
+Class to represent calibrated magnetometer reports. (See Ref. Manual 6.\+5.\+16) 
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_cal_magnetometer_a731d7e69b97b6402b2cf2e18e9a08b06}\label{class_b_n_o08x_rpt_cal_magnetometer_a731d7e69b97b6402b2cf2e18e9a08b06}} 
+\index{BNO08xRptCalMagnetometer@{BNO08xRptCalMagnetometer}!BNO08xRptCalMagnetometer@{BNO08xRptCalMagnetometer}}
+\index{BNO08xRptCalMagnetometer@{BNO08xRptCalMagnetometer}!BNO08xRptCalMagnetometer@{BNO08xRptCalMagnetometer}}
+\doxysubsubsection{\texorpdfstring{BNO08xRptCalMagnetometer()}{BNO08xRptCalMagnetometer()}}
+{\footnotesize\ttfamily BNO08x\+Rpt\+Cal\+Magnetometer\+::\+BNO08x\+Rpt\+Cal\+Magnetometer (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ID,  }\item[{Event\+Bits\+\_\+t}]{rpt\+\_\+bit,  }\item[{\mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$}]{sync\+\_\+ctx }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Function Documentation}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_cal_magnetometer_a9a371f613ff5053d2227faeebe941393}\label{class_b_n_o08x_rpt_cal_magnetometer_a9a371f613ff5053d2227faeebe941393}} 
+\index{BNO08xRptCalMagnetometer@{BNO08xRptCalMagnetometer}!enable@{enable}}
+\index{enable@{enable}!BNO08xRptCalMagnetometer@{BNO08xRptCalMagnetometer}}
+\doxysubsubsection{\texorpdfstring{enable()}{enable()}}
+{\footnotesize\ttfamily bool BNO08x\+Rpt\+Cal\+Magnetometer\+::enable (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports,  }\item[{sh2\+\_\+\+Sensor\+Config\+\_\+t}]{sensor\+\_\+cfg = {\ttfamily BNO08xPrivateTypes\+:\+:default\+\_\+sensor\+\_\+cfg} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [override]}, {\ttfamily [virtual]}}
+
+
+
+Enables calibrated magnetometer reports such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} begins sending them. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em report\+\_\+period\+\_\+us} & The period/interval of the report in microseconds. \\
+\hline
+{\em sensor\+\_\+cfg} & Sensor special configuration (optional, see BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg for defaults).\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+True if report was successfully enabled. 
+\end{DoxyReturn}
+
+
+Implements \mbox{\hyperlink{class_b_n_o08x_rpt_a4ee529725467412df396d5c610ff7bb4}{BNO08x\+Rpt}}.
+
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_rpt_cal_magnetometer_a9a371f613ff5053d2227faeebe941393_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_rpt_cal_magnetometer_a9a371f613ff5053d2227faeebe941393_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_cal_magnetometer_a9a07338f7c149aa3d45d2c4f846620e2}\label{class_b_n_o08x_rpt_cal_magnetometer_a9a07338f7c149aa3d45d2c4f846620e2}} 
+\index{BNO08xRptCalMagnetometer@{BNO08xRptCalMagnetometer}!get@{get}}
+\index{get@{get}!BNO08xRptCalMagnetometer@{BNO08xRptCalMagnetometer}}
+\doxysubsubsection{\texorpdfstring{get()}{get()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__magf__t}{bno08x\+\_\+magf\+\_\+t}} BNO08x\+Rpt\+Cal\+Magnetometer\+::get (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Grabs most recent calibrated magnetometer data, units are in u\+Tesla. 
+
+\begin{DoxyReturn}{Returns}
+Struct containing requested data. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_rpt_cal_magnetometer_a9a07338f7c149aa3d45d2c4f846620e2_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_rpt_cal_magnetometer_a9a07338f7c149aa3d45d2c4f846620e2_icgraph}
+\end{center}
+\end{figure}
+
+
+The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
+\item 
+/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_cal_magnetometer_8hpp}{BNO08x\+Rpt\+Cal\+Magnetometer.\+hpp}}\item 
+report/\mbox{\hyperlink{_b_n_o08x_rpt_cal_magnetometer_8cpp}{BNO08x\+Rpt\+Cal\+Magnetometer.\+cpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/class_b_n_o08x_rpt_cal_magnetometer__coll__graph.md5 b/documentation/latex/class_b_n_o08x_rpt_cal_magnetometer__coll__graph.md5
new file mode 100644
index 0000000..817313d
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x_rpt_cal_magnetometer__coll__graph.md5
@@ -0,0 +1 @@
+90b1dcc077c94d3ae03d0d555001bd88
\ No newline at end of file
diff --git a/documentation/latex/class_b_n_o08x_rpt_cal_magnetometer__coll__graph.pdf b/documentation/latex/class_b_n_o08x_rpt_cal_magnetometer__coll__graph.pdf
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diff --git a/documentation/latex/class_b_n_o08x_rpt_cal_magnetometer__inherit__graph.md5 b/documentation/latex/class_b_n_o08x_rpt_cal_magnetometer__inherit__graph.md5
new file mode 100644
index 0000000..ef819e1
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x_rpt_cal_magnetometer__inherit__graph.md5
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/documentation/latex/class_b_n_o08x_rpt_cal_magnetometer__inherit__graph.pdf b/documentation/latex/class_b_n_o08x_rpt_cal_magnetometer__inherit__graph.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..855bc56f611f8cceafc5dec0c80546101cd951dd
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diff --git a/documentation/latex/class_b_n_o08x_rpt_game_r_v.tex b/documentation/latex/class_b_n_o08x_rpt_game_r_v.tex
new file mode 100644
index 0000000..2a33127
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x_rpt_game_r_v.tex
@@ -0,0 +1,136 @@
+\hypertarget{class_b_n_o08x_rpt_game_r_v}{}\doxysection{BNO08x\+Rpt\+Game\+RV Class Reference}
+\label{class_b_n_o08x_rpt_game_r_v}\index{BNO08xRptGameRV@{BNO08xRptGameRV}}
+
+
+Class to represent game rotation vector reports. (See Ref. Manual 6.\+5.\+19)  
+
+
+
+
+{\ttfamily \#include $<$report/\+BNO08x\+Rpt\+Game\+RV.\+hpp$>$}
+
+
+
+Inheritance diagram for BNO08x\+Rpt\+Game\+RV\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=204pt]{class_b_n_o08x_rpt_game_r_v__inherit__graph}
+\end{center}
+\end{figure}
+
+
+Collaboration diagram for BNO08x\+Rpt\+Game\+RV\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=283pt]{class_b_n_o08x_rpt_game_r_v__coll__graph}
+\end{center}
+\end{figure}
+\doxysubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{class_b_n_o08x_rpt_game_r_v_a5ce3525ae691ef37dff5c8d638e98e18}{BNO08x\+Rpt\+Game\+RV}} (uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\+\_\+bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$\mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\+\_\+ctx}})
+\item 
+bool \mbox{\hyperlink{class_b_n_o08x_rpt_game_r_v_a773f8e4bf9e5059d6b301fc346cbc9d2}{tare}} (bool x=true, bool y=true, bool z=true)
+\begin{DoxyCompactList}\small\item\em Tares game rotation vector axis. \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{class_b_n_o08x_rpt_game_r_v_ae91c07ae4d781216065fd704b5c88d06}{tare\+\_\+persist}} ()
+\begin{DoxyCompactList}\small\item\em Saves most recent tare operation to \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} internal flash, such that it persists on reset. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_rpt_game_r_v_ab8844cc390818f2b5cff8afefc89558f}{tare\+\_\+clear}} ()
+\begin{DoxyCompactList}\small\item\em Clears most recent tare operation. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Additional Inherited Members}
+
+
+\doxysubsection{Detailed Description}
+Class to represent game rotation vector reports. (See Ref. Manual 6.\+5.\+19) 
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_game_r_v_a5ce3525ae691ef37dff5c8d638e98e18}\label{class_b_n_o08x_rpt_game_r_v_a5ce3525ae691ef37dff5c8d638e98e18}} 
+\index{BNO08xRptGameRV@{BNO08xRptGameRV}!BNO08xRptGameRV@{BNO08xRptGameRV}}
+\index{BNO08xRptGameRV@{BNO08xRptGameRV}!BNO08xRptGameRV@{BNO08xRptGameRV}}
+\doxysubsubsection{\texorpdfstring{BNO08xRptGameRV()}{BNO08xRptGameRV()}}
+{\footnotesize\ttfamily BNO08x\+Rpt\+Game\+RV\+::\+BNO08x\+Rpt\+Game\+RV (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ID,  }\item[{Event\+Bits\+\_\+t}]{rpt\+\_\+bit,  }\item[{\mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$}]{sync\+\_\+ctx }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Function Documentation}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_game_r_v_a773f8e4bf9e5059d6b301fc346cbc9d2}\label{class_b_n_o08x_rpt_game_r_v_a773f8e4bf9e5059d6b301fc346cbc9d2}} 
+\index{BNO08xRptGameRV@{BNO08xRptGameRV}!tare@{tare}}
+\index{tare@{tare}!BNO08xRptGameRV@{BNO08xRptGameRV}}
+\doxysubsubsection{\texorpdfstring{tare()}{tare()}}
+{\footnotesize\ttfamily bool BNO08x\+Rpt\+Game\+RV\+::tare (\begin{DoxyParamCaption}\item[{bool}]{x = {\ttfamily true},  }\item[{bool}]{y = {\ttfamily true},  }\item[{bool}]{z = {\ttfamily true} }\end{DoxyParamCaption})}
+
+
+
+Tares game rotation vector axis. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em x} & If true tare x axis (optional, default true). \\
+\hline
+{\em y} & If true tare y axis (optional, default true). \\
+\hline
+{\em z} & If true tare z axis (optional, default true).\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+True if tare operation succeeded. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_rpt_game_r_v_a773f8e4bf9e5059d6b301fc346cbc9d2_cgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_game_r_v_ab8844cc390818f2b5cff8afefc89558f}\label{class_b_n_o08x_rpt_game_r_v_ab8844cc390818f2b5cff8afefc89558f}} 
+\index{BNO08xRptGameRV@{BNO08xRptGameRV}!tare\_clear@{tare\_clear}}
+\index{tare\_clear@{tare\_clear}!BNO08xRptGameRV@{BNO08xRptGameRV}}
+\doxysubsubsection{\texorpdfstring{tare\_clear()}{tare\_clear()}}
+{\footnotesize\ttfamily void BNO08x\+Rpt\+Game\+RV\+::tare\+\_\+clear (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Clears most recent tare operation. 
+
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_rpt_game_r_v_ab8844cc390818f2b5cff8afefc89558f_cgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_game_r_v_ae91c07ae4d781216065fd704b5c88d06}\label{class_b_n_o08x_rpt_game_r_v_ae91c07ae4d781216065fd704b5c88d06}} 
+\index{BNO08xRptGameRV@{BNO08xRptGameRV}!tare\_persist@{tare\_persist}}
+\index{tare\_persist@{tare\_persist}!BNO08xRptGameRV@{BNO08xRptGameRV}}
+\doxysubsubsection{\texorpdfstring{tare\_persist()}{tare\_persist()}}
+{\footnotesize\ttfamily bool BNO08x\+Rpt\+Game\+RV\+::tare\+\_\+persist (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Saves most recent tare operation to \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} internal flash, such that it persists on reset. 
+
+\begin{DoxyReturn}{Returns}
+True if tare operation succeeded. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_rpt_game_r_v_ae91c07ae4d781216065fd704b5c88d06_cgraph}
+\end{center}
+\end{figure}
+
+
+The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
+\item 
+/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_game_r_v_8hpp}{BNO08x\+Rpt\+Game\+RV.\+hpp}}\item 
+report/\mbox{\hyperlink{_b_n_o08x_rpt_game_r_v_8cpp}{BNO08x\+Rpt\+Game\+RV.\+cpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/class_b_n_o08x_rpt_game_r_v__coll__graph.md5 b/documentation/latex/class_b_n_o08x_rpt_game_r_v__coll__graph.md5
new file mode 100644
index 0000000..c585462
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x_rpt_game_r_v__coll__graph.md5
@@ -0,0 +1 @@
+caa392caa24926d62013494e3656c6f5
\ No newline at end of file
diff --git a/documentation/latex/class_b_n_o08x_rpt_game_r_v__coll__graph.pdf b/documentation/latex/class_b_n_o08x_rpt_game_r_v__coll__graph.pdf
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diff --git a/documentation/latex/class_b_n_o08x_rpt_game_r_v__inherit__graph.pdf b/documentation/latex/class_b_n_o08x_rpt_game_r_v__inherit__graph.pdf
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diff --git a/documentation/latex/class_b_n_o08x_rpt_gravity.tex b/documentation/latex/class_b_n_o08x_rpt_gravity.tex
new file mode 100644
index 0000000..1d61bf0
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x_rpt_gravity.tex
@@ -0,0 +1,115 @@
+\hypertarget{class_b_n_o08x_rpt_gravity}{}\doxysection{BNO08x\+Rpt\+Gravity Class Reference}
+\label{class_b_n_o08x_rpt_gravity}\index{BNO08xRptGravity@{BNO08xRptGravity}}
+
+
+Class to represent gravity reports. (See Ref. Manual 6.\+5.\+11)  
+
+
+
+
+{\ttfamily \#include $<$report/\+BNO08x\+Rpt\+Gravity.\+hpp$>$}
+
+
+
+Inheritance diagram for BNO08x\+Rpt\+Gravity\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=189pt]{class_b_n_o08x_rpt_gravity__inherit__graph}
+\end{center}
+\end{figure}
+
+
+Collaboration diagram for BNO08x\+Rpt\+Gravity\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=199pt]{class_b_n_o08x_rpt_gravity__coll__graph}
+\end{center}
+\end{figure}
+\doxysubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{class_b_n_o08x_rpt_gravity_a472ced1c466461f64dda3d9132813dba}{BNO08x\+Rpt\+Gravity}} (uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\+\_\+bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$\mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\+\_\+ctx}})
+\item 
+bool \mbox{\hyperlink{class_b_n_o08x_rpt_gravity_a5bb33cf233c6721fac992e447bd5b571}{enable}} (uint32\+\_\+t time\+\_\+between\+\_\+reports, sh2\+\_\+\+Sensor\+Config\+\_\+t sensor\+\_\+cfg=BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg) override
+\begin{DoxyCompactList}\small\item\em Enables gravity reports such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} begins sending them. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{structbno08x__accel__t}{bno08x\+\_\+accel\+\_\+t}} \mbox{\hyperlink{class_b_n_o08x_rpt_gravity_a18ebbe93997c3ea985290e5b8fc23115}{get}} ()
+\begin{DoxyCompactList}\small\item\em Grabs most recent gravity data, units are in m/s$^\wedge$2. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Additional Inherited Members}
+
+
+\doxysubsection{Detailed Description}
+Class to represent gravity reports. (See Ref. Manual 6.\+5.\+11) 
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_gravity_a472ced1c466461f64dda3d9132813dba}\label{class_b_n_o08x_rpt_gravity_a472ced1c466461f64dda3d9132813dba}} 
+\index{BNO08xRptGravity@{BNO08xRptGravity}!BNO08xRptGravity@{BNO08xRptGravity}}
+\index{BNO08xRptGravity@{BNO08xRptGravity}!BNO08xRptGravity@{BNO08xRptGravity}}
+\doxysubsubsection{\texorpdfstring{BNO08xRptGravity()}{BNO08xRptGravity()}}
+{\footnotesize\ttfamily BNO08x\+Rpt\+Gravity\+::\+BNO08x\+Rpt\+Gravity (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ID,  }\item[{Event\+Bits\+\_\+t}]{rpt\+\_\+bit,  }\item[{\mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$}]{sync\+\_\+ctx }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Function Documentation}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_gravity_a5bb33cf233c6721fac992e447bd5b571}\label{class_b_n_o08x_rpt_gravity_a5bb33cf233c6721fac992e447bd5b571}} 
+\index{BNO08xRptGravity@{BNO08xRptGravity}!enable@{enable}}
+\index{enable@{enable}!BNO08xRptGravity@{BNO08xRptGravity}}
+\doxysubsubsection{\texorpdfstring{enable()}{enable()}}
+{\footnotesize\ttfamily bool BNO08x\+Rpt\+Gravity\+::enable (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports,  }\item[{sh2\+\_\+\+Sensor\+Config\+\_\+t}]{sensor\+\_\+cfg = {\ttfamily BNO08xPrivateTypes\+:\+:default\+\_\+sensor\+\_\+cfg} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [override]}, {\ttfamily [virtual]}}
+
+
+
+Enables gravity reports such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} begins sending them. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em report\+\_\+period\+\_\+us} & The period/interval of the report in microseconds. \\
+\hline
+{\em sensor\+\_\+cfg} & Sensor special configuration (optional, see BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg for defaults).\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+True if report was successfully enabled. 
+\end{DoxyReturn}
+
+
+Implements \mbox{\hyperlink{class_b_n_o08x_rpt_a4ee529725467412df396d5c610ff7bb4}{BNO08x\+Rpt}}.
+
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_rpt_gravity_a5bb33cf233c6721fac992e447bd5b571_cgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_gravity_a18ebbe93997c3ea985290e5b8fc23115}\label{class_b_n_o08x_rpt_gravity_a18ebbe93997c3ea985290e5b8fc23115}} 
+\index{BNO08xRptGravity@{BNO08xRptGravity}!get@{get}}
+\index{get@{get}!BNO08xRptGravity@{BNO08xRptGravity}}
+\doxysubsubsection{\texorpdfstring{get()}{get()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__accel__t}{bno08x\+\_\+accel\+\_\+t}} BNO08x\+Rpt\+Gravity\+::get (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Grabs most recent gravity data, units are in m/s$^\wedge$2. 
+
+\begin{DoxyReturn}{Returns}
+Struct containing requested data. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_rpt_gravity_a18ebbe93997c3ea985290e5b8fc23115_cgraph}
+\end{center}
+\end{figure}
+
+
+The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
+\item 
+/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_gravity_8hpp}{BNO08x\+Rpt\+Gravity.\+hpp}}\item 
+report/\mbox{\hyperlink{_b_n_o08x_rpt_gravity_8cpp}{BNO08x\+Rpt\+Gravity.\+cpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/class_b_n_o08x_rpt_gravity__coll__graph.md5 b/documentation/latex/class_b_n_o08x_rpt_gravity__coll__graph.md5
new file mode 100644
index 0000000..869c151
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x_rpt_gravity__coll__graph.md5
@@ -0,0 +1 @@
+5bf4092b72fd14f7d23a2c81d6dad141
\ No newline at end of file
diff --git a/documentation/latex/class_b_n_o08x_rpt_gravity__coll__graph.pdf b/documentation/latex/class_b_n_o08x_rpt_gravity__coll__graph.pdf
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diff --git a/documentation/latex/class_b_n_o08x_rpt_i_gyro_r_v.tex b/documentation/latex/class_b_n_o08x_rpt_i_gyro_r_v.tex
new file mode 100644
index 0000000..96c4293
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x_rpt_i_gyro_r_v.tex
@@ -0,0 +1,111 @@
+\hypertarget{class_b_n_o08x_rpt_i_gyro_r_v}{}\doxysection{BNO08x\+Rpt\+IGyro\+RV Class Reference}
+\label{class_b_n_o08x_rpt_i_gyro_r_v}\index{BNO08xRptIGyroRV@{BNO08xRptIGyroRV}}
+
+
+Class to represent integrated gyro rotation vector reports. (See Ref. Manual 6.\+5.\+44)  
+
+
+
+
+{\ttfamily \#include $<$report/\+BNO08x\+Rpt\+IGyro\+RV.\+hpp$>$}
+
+
+
+Inheritance diagram for BNO08x\+Rpt\+IGyro\+RV\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=204pt]{class_b_n_o08x_rpt_i_gyro_r_v__inherit__graph}
+\end{center}
+\end{figure}
+
+
+Collaboration diagram for BNO08x\+Rpt\+IGyro\+RV\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=283pt]{class_b_n_o08x_rpt_i_gyro_r_v__coll__graph}
+\end{center}
+\end{figure}
+\doxysubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{class_b_n_o08x_rpt_i_gyro_r_v_a5574d6213be1d7176d981e04fb9b4ea4}{BNO08x\+Rpt\+IGyro\+RV}} (uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\+\_\+bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$\mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\+\_\+ctx}})
+\item 
+void \mbox{\hyperlink{class_b_n_o08x_rpt_i_gyro_r_v_ae85b4b091ec350432a2aeabcd3b46f55}{get}} (\mbox{\hyperlink{structbno08x__quat__t}{bno08x\+\_\+quat\+\_\+t}} \&quat, \mbox{\hyperlink{structbno08x__ang__vel__t}{bno08x\+\_\+ang\+\_\+vel\+\_\+t}} \&vel)
+\begin{DoxyCompactList}\small\item\em Grabs most recent gyro integrated rotation vector data. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{structbno08x__ang__vel__t}{bno08x\+\_\+ang\+\_\+vel\+\_\+t}} \mbox{\hyperlink{class_b_n_o08x_rpt_i_gyro_r_v_a8e9877551635f8be5e380d47195b4061}{get\+\_\+vel}} ()
+\begin{DoxyCompactList}\small\item\em Grabs most recent gyro integrated rotation vector angular velocity data, units are in rad/s. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Additional Inherited Members}
+
+
+\doxysubsection{Detailed Description}
+Class to represent integrated gyro rotation vector reports. (See Ref. Manual 6.\+5.\+44) 
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_i_gyro_r_v_a5574d6213be1d7176d981e04fb9b4ea4}\label{class_b_n_o08x_rpt_i_gyro_r_v_a5574d6213be1d7176d981e04fb9b4ea4}} 
+\index{BNO08xRptIGyroRV@{BNO08xRptIGyroRV}!BNO08xRptIGyroRV@{BNO08xRptIGyroRV}}
+\index{BNO08xRptIGyroRV@{BNO08xRptIGyroRV}!BNO08xRptIGyroRV@{BNO08xRptIGyroRV}}
+\doxysubsubsection{\texorpdfstring{BNO08xRptIGyroRV()}{BNO08xRptIGyroRV()}}
+{\footnotesize\ttfamily BNO08x\+Rpt\+IGyro\+RV\+::\+BNO08x\+Rpt\+IGyro\+RV (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ID,  }\item[{Event\+Bits\+\_\+t}]{rpt\+\_\+bit,  }\item[{\mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$}]{sync\+\_\+ctx }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Function Documentation}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_i_gyro_r_v_ae85b4b091ec350432a2aeabcd3b46f55}\label{class_b_n_o08x_rpt_i_gyro_r_v_ae85b4b091ec350432a2aeabcd3b46f55}} 
+\index{BNO08xRptIGyroRV@{BNO08xRptIGyroRV}!get@{get}}
+\index{get@{get}!BNO08xRptIGyroRV@{BNO08xRptIGyroRV}}
+\doxysubsubsection{\texorpdfstring{get()}{get()}}
+{\footnotesize\ttfamily void BNO08x\+Rpt\+IGyro\+RV\+::get (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{structbno08x__quat__t}{bno08x\+\_\+quat\+\_\+t}} \&}]{quat,  }\item[{\mbox{\hyperlink{structbno08x__ang__vel__t}{bno08x\+\_\+ang\+\_\+vel\+\_\+t}} \&}]{vel }\end{DoxyParamCaption})}
+
+
+
+Grabs most recent gyro integrated rotation vector data. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em quat} & Struct to store requested unit quaternion data. \\
+\hline
+{\em vel} & Struct to store requested velocity data (units in rad/s).\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_rpt_i_gyro_r_v_ae85b4b091ec350432a2aeabcd3b46f55_cgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_i_gyro_r_v_a8e9877551635f8be5e380d47195b4061}\label{class_b_n_o08x_rpt_i_gyro_r_v_a8e9877551635f8be5e380d47195b4061}} 
+\index{BNO08xRptIGyroRV@{BNO08xRptIGyroRV}!get\_vel@{get\_vel}}
+\index{get\_vel@{get\_vel}!BNO08xRptIGyroRV@{BNO08xRptIGyroRV}}
+\doxysubsubsection{\texorpdfstring{get\_vel()}{get\_vel()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__ang__vel__t}{bno08x\+\_\+ang\+\_\+vel\+\_\+t}} BNO08x\+Rpt\+IGyro\+RV\+::get\+\_\+vel (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Grabs most recent gyro integrated rotation vector angular velocity data, units are in rad/s. 
+
+\begin{DoxyReturn}{Returns}
+Struct containing requested data. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_rpt_i_gyro_r_v_a8e9877551635f8be5e380d47195b4061_cgraph}
+\end{center}
+\end{figure}
+
+
+The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
+\item 
+/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_i_gyro_r_v_8hpp}{BNO08x\+Rpt\+IGyro\+RV.\+hpp}}\item 
+report/\mbox{\hyperlink{_b_n_o08x_rpt_i_gyro_r_v_8cpp}{BNO08x\+Rpt\+IGyro\+RV.\+cpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/class_b_n_o08x_rpt_i_gyro_r_v__coll__graph.md5 b/documentation/latex/class_b_n_o08x_rpt_i_gyro_r_v__coll__graph.md5
new file mode 100644
index 0000000..811ed12
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x_rpt_i_gyro_r_v__coll__graph.md5
@@ -0,0 +1 @@
+fa83661ca4b9626272d00755b474ad1f
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diff --git a/documentation/latex/class_b_n_o08x_rpt_i_gyro_r_v__coll__graph.pdf b/documentation/latex/class_b_n_o08x_rpt_i_gyro_r_v__coll__graph.pdf
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diff --git a/documentation/latex/class_b_n_o08x_rpt_linear_acceleration.tex b/documentation/latex/class_b_n_o08x_rpt_linear_acceleration.tex
new file mode 100644
index 0000000..2482dda
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x_rpt_linear_acceleration.tex
@@ -0,0 +1,115 @@
+\hypertarget{class_b_n_o08x_rpt_linear_acceleration}{}\doxysection{BNO08x\+Rpt\+Linear\+Acceleration Class Reference}
+\label{class_b_n_o08x_rpt_linear_acceleration}\index{BNO08xRptLinearAcceleration@{BNO08xRptLinearAcceleration}}
+
+
+Class to represent linear accelerometer reports. (See Ref. Manual 6.\+5.\+10)  
+
+
+
+
+{\ttfamily \#include $<$report/\+BNO08x\+Rpt\+Linear\+Acceleration.\+hpp$>$}
+
+
+
+Inheritance diagram for BNO08x\+Rpt\+Linear\+Acceleration\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=244pt]{class_b_n_o08x_rpt_linear_acceleration__inherit__graph}
+\end{center}
+\end{figure}
+
+
+Collaboration diagram for BNO08x\+Rpt\+Linear\+Acceleration\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=244pt]{class_b_n_o08x_rpt_linear_acceleration__coll__graph}
+\end{center}
+\end{figure}
+\doxysubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{class_b_n_o08x_rpt_linear_acceleration_ad63032b796912c9be563a5e6da801c59}{BNO08x\+Rpt\+Linear\+Acceleration}} (uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\+\_\+bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$\mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\+\_\+ctx}})
+\item 
+bool \mbox{\hyperlink{class_b_n_o08x_rpt_linear_acceleration_a4584a181ae543919a851f8f288a316ed}{enable}} (uint32\+\_\+t time\+\_\+between\+\_\+reports, sh2\+\_\+\+Sensor\+Config\+\_\+t sensor\+\_\+cfg=BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg) override
+\begin{DoxyCompactList}\small\item\em Enables linear acceleration reports such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} begins sending them. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{structbno08x__accel__t}{bno08x\+\_\+accel\+\_\+t}} \mbox{\hyperlink{class_b_n_o08x_rpt_linear_acceleration_aac2eeab16ffbe7a81ea26a21c4e453d0}{get}} ()
+\begin{DoxyCompactList}\small\item\em Grabs most recent acceleration data (including gravity), units are in m/s$^\wedge$2. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Additional Inherited Members}
+
+
+\doxysubsection{Detailed Description}
+Class to represent linear accelerometer reports. (See Ref. Manual 6.\+5.\+10) 
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_linear_acceleration_ad63032b796912c9be563a5e6da801c59}\label{class_b_n_o08x_rpt_linear_acceleration_ad63032b796912c9be563a5e6da801c59}} 
+\index{BNO08xRptLinearAcceleration@{BNO08xRptLinearAcceleration}!BNO08xRptLinearAcceleration@{BNO08xRptLinearAcceleration}}
+\index{BNO08xRptLinearAcceleration@{BNO08xRptLinearAcceleration}!BNO08xRptLinearAcceleration@{BNO08xRptLinearAcceleration}}
+\doxysubsubsection{\texorpdfstring{BNO08xRptLinearAcceleration()}{BNO08xRptLinearAcceleration()}}
+{\footnotesize\ttfamily BNO08x\+Rpt\+Linear\+Acceleration\+::\+BNO08x\+Rpt\+Linear\+Acceleration (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ID,  }\item[{Event\+Bits\+\_\+t}]{rpt\+\_\+bit,  }\item[{\mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$}]{sync\+\_\+ctx }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Function Documentation}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_linear_acceleration_a4584a181ae543919a851f8f288a316ed}\label{class_b_n_o08x_rpt_linear_acceleration_a4584a181ae543919a851f8f288a316ed}} 
+\index{BNO08xRptLinearAcceleration@{BNO08xRptLinearAcceleration}!enable@{enable}}
+\index{enable@{enable}!BNO08xRptLinearAcceleration@{BNO08xRptLinearAcceleration}}
+\doxysubsubsection{\texorpdfstring{enable()}{enable()}}
+{\footnotesize\ttfamily bool BNO08x\+Rpt\+Linear\+Acceleration\+::enable (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports,  }\item[{sh2\+\_\+\+Sensor\+Config\+\_\+t}]{sensor\+\_\+cfg = {\ttfamily BNO08xPrivateTypes\+:\+:default\+\_\+sensor\+\_\+cfg} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [override]}, {\ttfamily [virtual]}}
+
+
+
+Enables linear acceleration reports such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} begins sending them. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em report\+\_\+period\+\_\+us} & The period/interval of the report in microseconds. \\
+\hline
+{\em sensor\+\_\+cfg} & Sensor special configuration (optional, see BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg for defaults).\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+True if report was successfully enabled. 
+\end{DoxyReturn}
+
+
+Implements \mbox{\hyperlink{class_b_n_o08x_rpt_a4ee529725467412df396d5c610ff7bb4}{BNO08x\+Rpt}}.
+
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_rpt_linear_acceleration_a4584a181ae543919a851f8f288a316ed_cgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_linear_acceleration_aac2eeab16ffbe7a81ea26a21c4e453d0}\label{class_b_n_o08x_rpt_linear_acceleration_aac2eeab16ffbe7a81ea26a21c4e453d0}} 
+\index{BNO08xRptLinearAcceleration@{BNO08xRptLinearAcceleration}!get@{get}}
+\index{get@{get}!BNO08xRptLinearAcceleration@{BNO08xRptLinearAcceleration}}
+\doxysubsubsection{\texorpdfstring{get()}{get()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__accel__t}{bno08x\+\_\+accel\+\_\+t}} BNO08x\+Rpt\+Linear\+Acceleration\+::get (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Grabs most recent acceleration data (including gravity), units are in m/s$^\wedge$2. 
+
+\begin{DoxyReturn}{Returns}
+Struct containing requested data. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_rpt_linear_acceleration_aac2eeab16ffbe7a81ea26a21c4e453d0_cgraph}
+\end{center}
+\end{figure}
+
+
+The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
+\item 
+/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_linear_acceleration_8hpp}{BNO08x\+Rpt\+Linear\+Acceleration.\+hpp}}\item 
+report/\mbox{\hyperlink{_b_n_o08x_rpt_linear_acceleration_8cpp}{BNO08x\+Rpt\+Linear\+Acceleration.\+cpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/class_b_n_o08x_rpt_linear_acceleration__coll__graph.md5 b/documentation/latex/class_b_n_o08x_rpt_linear_acceleration__coll__graph.md5
new file mode 100644
index 0000000..c93c848
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x_rpt_linear_acceleration__coll__graph.md5
@@ -0,0 +1 @@
+f7415b2e414528d595b755922a774cda
\ No newline at end of file
diff --git a/documentation/latex/class_b_n_o08x_rpt_linear_acceleration__coll__graph.pdf b/documentation/latex/class_b_n_o08x_rpt_linear_acceleration__coll__graph.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..3515caad2622b62fa71051431eabb2e0bf0a8077
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diff --git a/documentation/latex/class_b_n_o08x_rpt_r_v.tex b/documentation/latex/class_b_n_o08x_rpt_r_v.tex
new file mode 100644
index 0000000..f3f1056
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x_rpt_r_v.tex
@@ -0,0 +1,136 @@
+\hypertarget{class_b_n_o08x_rpt_r_v}{}\doxysection{BNO08x\+Rpt\+RV Class Reference}
+\label{class_b_n_o08x_rpt_r_v}\index{BNO08xRptRV@{BNO08xRptRV}}
+
+
+Class to represent rotation vector reports. (See Ref. Manual 6.\+5.\+18)  
+
+
+
+
+{\ttfamily \#include $<$report/\+BNO08x\+Rpt\+RV.\+hpp$>$}
+
+
+
+Inheritance diagram for BNO08x\+Rpt\+RV\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=204pt]{class_b_n_o08x_rpt_r_v__inherit__graph}
+\end{center}
+\end{figure}
+
+
+Collaboration diagram for BNO08x\+Rpt\+RV\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=283pt]{class_b_n_o08x_rpt_r_v__coll__graph}
+\end{center}
+\end{figure}
+\doxysubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{class_b_n_o08x_rpt_r_v_a3c4173b40339de15cb7f304f73ae53f3}{BNO08x\+Rpt\+RV}} (uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\+\_\+bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$\mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\+\_\+ctx}})
+\item 
+bool \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_aab42904ebfc698d0af0944deaafcd226}{tare}} (bool x=true, bool y=true, bool z=true)
+\begin{DoxyCompactList}\small\item\em Tares rotation vector axis. \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_aa152921434b50a95977b0a4f925abec0}{tare\+\_\+persist}} ()
+\begin{DoxyCompactList}\small\item\em Saves most recent tare operation to \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} internal flash, such that it persists on reset. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_a920fb5940c13870657c48538569aff87}{tare\+\_\+clear}} ()
+\begin{DoxyCompactList}\small\item\em Clears most recent tare operation. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Additional Inherited Members}
+
+
+\doxysubsection{Detailed Description}
+Class to represent rotation vector reports. (See Ref. Manual 6.\+5.\+18) 
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_r_v_a3c4173b40339de15cb7f304f73ae53f3}\label{class_b_n_o08x_rpt_r_v_a3c4173b40339de15cb7f304f73ae53f3}} 
+\index{BNO08xRptRV@{BNO08xRptRV}!BNO08xRptRV@{BNO08xRptRV}}
+\index{BNO08xRptRV@{BNO08xRptRV}!BNO08xRptRV@{BNO08xRptRV}}
+\doxysubsubsection{\texorpdfstring{BNO08xRptRV()}{BNO08xRptRV()}}
+{\footnotesize\ttfamily BNO08x\+Rpt\+RV\+::\+BNO08x\+Rpt\+RV (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ID,  }\item[{Event\+Bits\+\_\+t}]{rpt\+\_\+bit,  }\item[{\mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$}]{sync\+\_\+ctx }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Function Documentation}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_r_v_aab42904ebfc698d0af0944deaafcd226}\label{class_b_n_o08x_rpt_r_v_aab42904ebfc698d0af0944deaafcd226}} 
+\index{BNO08xRptRV@{BNO08xRptRV}!tare@{tare}}
+\index{tare@{tare}!BNO08xRptRV@{BNO08xRptRV}}
+\doxysubsubsection{\texorpdfstring{tare()}{tare()}}
+{\footnotesize\ttfamily bool BNO08x\+Rpt\+RV\+::tare (\begin{DoxyParamCaption}\item[{bool}]{x = {\ttfamily true},  }\item[{bool}]{y = {\ttfamily true},  }\item[{bool}]{z = {\ttfamily true} }\end{DoxyParamCaption})}
+
+
+
+Tares rotation vector axis. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em x} & If true tare x axis (optional, default true). \\
+\hline
+{\em y} & If true tare y axis (optional, default true). \\
+\hline
+{\em z} & If true tare z axis (optional, default true).\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+True if tare operation succeeded. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_rpt_r_v_aab42904ebfc698d0af0944deaafcd226_cgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_r_v_a920fb5940c13870657c48538569aff87}\label{class_b_n_o08x_rpt_r_v_a920fb5940c13870657c48538569aff87}} 
+\index{BNO08xRptRV@{BNO08xRptRV}!tare\_clear@{tare\_clear}}
+\index{tare\_clear@{tare\_clear}!BNO08xRptRV@{BNO08xRptRV}}
+\doxysubsubsection{\texorpdfstring{tare\_clear()}{tare\_clear()}}
+{\footnotesize\ttfamily void BNO08x\+Rpt\+RV\+::tare\+\_\+clear (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Clears most recent tare operation. 
+
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_rpt_r_v_a920fb5940c13870657c48538569aff87_cgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_r_v_aa152921434b50a95977b0a4f925abec0}\label{class_b_n_o08x_rpt_r_v_aa152921434b50a95977b0a4f925abec0}} 
+\index{BNO08xRptRV@{BNO08xRptRV}!tare\_persist@{tare\_persist}}
+\index{tare\_persist@{tare\_persist}!BNO08xRptRV@{BNO08xRptRV}}
+\doxysubsubsection{\texorpdfstring{tare\_persist()}{tare\_persist()}}
+{\footnotesize\ttfamily bool BNO08x\+Rpt\+RV\+::tare\+\_\+persist (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Saves most recent tare operation to \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} internal flash, such that it persists on reset. 
+
+\begin{DoxyReturn}{Returns}
+True if tare operation succeeded. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_rpt_r_v_aa152921434b50a95977b0a4f925abec0_cgraph}
+\end{center}
+\end{figure}
+
+
+The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
+\item 
+/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_r_v_8hpp}{BNO08x\+Rpt\+RV.\+hpp}}\item 
+report/\mbox{\hyperlink{_b_n_o08x_rpt_r_v_8cpp}{BNO08x\+Rpt\+RV.\+cpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/class_b_n_o08x_rpt_r_v__coll__graph.md5 b/documentation/latex/class_b_n_o08x_rpt_r_v__coll__graph.md5
new file mode 100644
index 0000000..c7d667a
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x_rpt_r_v__coll__graph.md5
@@ -0,0 +1 @@
+c819228bc8afe1ef1624898da70ca8c4
\ No newline at end of file
diff --git a/documentation/latex/class_b_n_o08x_rpt_r_v__coll__graph.pdf b/documentation/latex/class_b_n_o08x_rpt_r_v__coll__graph.pdf
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new file mode 100644
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diff --git a/documentation/latex/class_b_n_o08x_rpt_r_v_generic.tex b/documentation/latex/class_b_n_o08x_rpt_r_v_generic.tex
new file mode 100644
index 0000000..64d81b0
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x_rpt_r_v_generic.tex
@@ -0,0 +1,236 @@
+\hypertarget{class_b_n_o08x_rpt_r_v_generic}{}\doxysection{BNO08x\+Rpt\+RVGeneric Class Reference}
+\label{class_b_n_o08x_rpt_r_v_generic}\index{BNO08xRptRVGeneric@{BNO08xRptRVGeneric}}
+
+
+Class to represent rotation vector reports.  
+
+
+
+
+{\ttfamily \#include $<$report/\+BNO08x\+Rpt\+RVGeneric.\+hpp$>$}
+
+
+
+Inheritance diagram for BNO08x\+Rpt\+RVGeneric\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_rpt_r_v_generic__inherit__graph}
+\end{center}
+\end{figure}
+
+
+Collaboration diagram for BNO08x\+Rpt\+RVGeneric\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=283pt]{class_b_n_o08x_rpt_r_v_generic__coll__graph}
+\end{center}
+\end{figure}
+\doxysubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+bool \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_generic_a17c6cf89a5f7bf5c3fb9f8ff3ed74e8e}{enable}} (uint32\+\_\+t time\+\_\+between\+\_\+reports, sh2\+\_\+\+Sensor\+Config\+\_\+t sensor\+\_\+cfg=BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg) override
+\begin{DoxyCompactList}\small\item\em Enables a rotation vector report such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} begins it. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{structbno08x__quat__t}{bno08x\+\_\+quat\+\_\+t}} \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_generic_afc2accdd72076cd758f9f9108351d7a8}{get\+\_\+quat}} ()
+\begin{DoxyCompactList}\small\item\em Grabs most recent rotation vector data in form of unit quaternion, rad accuracy units in radians (if available, else constant 0.\+0f). \end{DoxyCompactList}\item 
+\mbox{\hyperlink{structbno08x__euler__angle__t}{bno08x\+\_\+euler\+\_\+angle\+\_\+t}} \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_generic_abbaaa6737d578e056f93687d4ad780f7}{get\+\_\+euler}} (bool in\+\_\+degrees=true)
+\begin{DoxyCompactList}\small\item\em Grabs most recent rotation vector data in form of an euler angle, units are in degrees or rads. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Protected Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{class_b_n_o08x_rpt_r_v_generic_a7c35188ccfb976cba1b7e4626022987c}{BNO08x\+Rpt\+RVGeneric}} (uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\+\_\+bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$\mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\+\_\+ctx}})
+\item 
+bool \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_generic_ab059dded7c0a7c922e9c624baac34ecd}{tare}} (bool x, bool y, bool z, sh2\+\_\+\+Tare\+Basis\+\_\+t basis)
+\begin{DoxyCompactList}\small\item\em Tares vector basis according to axis flags. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Protected Attributes}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{structbno08x__quat__t}{bno08x\+\_\+quat\+\_\+t}} \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_generic_ad5174665e1c943291110630dc461caff}{data}}
+\end{DoxyCompactItemize}
+\doxysubsection*{Static Protected Attributes}
+\begin{DoxyCompactItemize}
+\item 
+static const constexpr char $\ast$ \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_generic_a5315a83517cd15397842254a9926b1c4}{TAG}} = \char`\"{}BNO08x\+Rpt\+RVGeneric\char`\"{}
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Class to represent rotation vector reports. 
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_r_v_generic_a7c35188ccfb976cba1b7e4626022987c}\label{class_b_n_o08x_rpt_r_v_generic_a7c35188ccfb976cba1b7e4626022987c}} 
+\index{BNO08xRptRVGeneric@{BNO08xRptRVGeneric}!BNO08xRptRVGeneric@{BNO08xRptRVGeneric}}
+\index{BNO08xRptRVGeneric@{BNO08xRptRVGeneric}!BNO08xRptRVGeneric@{BNO08xRptRVGeneric}}
+\doxysubsubsection{\texorpdfstring{BNO08xRptRVGeneric()}{BNO08xRptRVGeneric()}}
+{\footnotesize\ttfamily BNO08x\+Rpt\+RVGeneric\+::\+BNO08x\+Rpt\+RVGeneric (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ID,  }\item[{Event\+Bits\+\_\+t}]{rpt\+\_\+bit,  }\item[{\mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$}]{sync\+\_\+ctx }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}}
+
+
+
+\doxysubsection{Member Function Documentation}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_r_v_generic_a17c6cf89a5f7bf5c3fb9f8ff3ed74e8e}\label{class_b_n_o08x_rpt_r_v_generic_a17c6cf89a5f7bf5c3fb9f8ff3ed74e8e}} 
+\index{BNO08xRptRVGeneric@{BNO08xRptRVGeneric}!enable@{enable}}
+\index{enable@{enable}!BNO08xRptRVGeneric@{BNO08xRptRVGeneric}}
+\doxysubsubsection{\texorpdfstring{enable()}{enable()}}
+{\footnotesize\ttfamily bool BNO08x\+Rpt\+RVGeneric\+::enable (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports,  }\item[{sh2\+\_\+\+Sensor\+Config\+\_\+t}]{sensor\+\_\+cfg = {\ttfamily BNO08xPrivateTypes\+:\+:default\+\_\+sensor\+\_\+cfg} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [override]}, {\ttfamily [virtual]}}
+
+
+
+Enables a rotation vector report such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} begins it. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em report\+\_\+period\+\_\+us} & The period/interval of the report in microseconds. \\
+\hline
+{\em sensor\+\_\+cfg} & Sensor special configuration (optional, see BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg for defaults).\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+True if report was successfully enabled. 
+\end{DoxyReturn}
+
+
+Implements \mbox{\hyperlink{class_b_n_o08x_rpt_a4ee529725467412df396d5c610ff7bb4}{BNO08x\+Rpt}}.
+
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_rpt_r_v_generic_a17c6cf89a5f7bf5c3fb9f8ff3ed74e8e_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_rpt_r_v_generic_a17c6cf89a5f7bf5c3fb9f8ff3ed74e8e_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_r_v_generic_abbaaa6737d578e056f93687d4ad780f7}\label{class_b_n_o08x_rpt_r_v_generic_abbaaa6737d578e056f93687d4ad780f7}} 
+\index{BNO08xRptRVGeneric@{BNO08xRptRVGeneric}!get\_euler@{get\_euler}}
+\index{get\_euler@{get\_euler}!BNO08xRptRVGeneric@{BNO08xRptRVGeneric}}
+\doxysubsubsection{\texorpdfstring{get\_euler()}{get\_euler()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__euler__angle__t}{bno08x\+\_\+euler\+\_\+angle\+\_\+t}} BNO08x\+Rpt\+RVGeneric\+::get\+\_\+euler (\begin{DoxyParamCaption}\item[{bool}]{in\+\_\+degrees = {\ttfamily true} }\end{DoxyParamCaption})}
+
+
+
+Grabs most recent rotation vector data in form of an euler angle, units are in degrees or rads. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em in\+\_\+degrees} & If true returned euler angle is in degrees, if false in radians\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+Struct containing requested data. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_rpt_r_v_generic_abbaaa6737d578e056f93687d4ad780f7_cgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_r_v_generic_afc2accdd72076cd758f9f9108351d7a8}\label{class_b_n_o08x_rpt_r_v_generic_afc2accdd72076cd758f9f9108351d7a8}} 
+\index{BNO08xRptRVGeneric@{BNO08xRptRVGeneric}!get\_quat@{get\_quat}}
+\index{get\_quat@{get\_quat}!BNO08xRptRVGeneric@{BNO08xRptRVGeneric}}
+\doxysubsubsection{\texorpdfstring{get\_quat()}{get\_quat()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__quat__t}{bno08x\+\_\+quat\+\_\+t}} BNO08x\+Rpt\+RVGeneric\+::get\+\_\+quat (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Grabs most recent rotation vector data in form of unit quaternion, rad accuracy units in radians (if available, else constant 0.\+0f). 
+
+The following RV reports have rad accuracy data\+:
+
+
+\begin{DoxyItemize}
+\item rotation vector
+\item geomagnetic rotation vector
+\end{DoxyItemize}
+
+\begin{DoxyReturn}{Returns}
+Struct containing requested data. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_rpt_r_v_generic_afc2accdd72076cd758f9f9108351d7a8_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_rpt_r_v_generic_afc2accdd72076cd758f9f9108351d7a8_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_r_v_generic_ab059dded7c0a7c922e9c624baac34ecd}\label{class_b_n_o08x_rpt_r_v_generic_ab059dded7c0a7c922e9c624baac34ecd}} 
+\index{BNO08xRptRVGeneric@{BNO08xRptRVGeneric}!tare@{tare}}
+\index{tare@{tare}!BNO08xRptRVGeneric@{BNO08xRptRVGeneric}}
+\doxysubsubsection{\texorpdfstring{tare()}{tare()}}
+{\footnotesize\ttfamily bool BNO08x\+Rpt\+RVGeneric\+::tare (\begin{DoxyParamCaption}\item[{bool}]{x,  }\item[{bool}]{y,  }\item[{bool}]{z,  }\item[{sh2\+\_\+\+Tare\+Basis\+\_\+t}]{basis }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [protected]}}
+
+
+
+Tares vector basis according to axis flags. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em x} & If true tare x axis. \\
+\hline
+{\em y} & If true tare y axis. \\
+\hline
+{\em z} & If true tare z axis. \\
+\hline
+{\em basis} & Rotation vector basis to undergo tare operation.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+True if tare operation succeeded. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_rpt_r_v_generic_ab059dded7c0a7c922e9c624baac34ecd_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_rpt_r_v_generic_ab059dded7c0a7c922e9c624baac34ecd_icgraph}
+\end{center}
+\end{figure}
+
+
+\doxysubsection{Member Data Documentation}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_r_v_generic_ad5174665e1c943291110630dc461caff}\label{class_b_n_o08x_rpt_r_v_generic_ad5174665e1c943291110630dc461caff}} 
+\index{BNO08xRptRVGeneric@{BNO08xRptRVGeneric}!data@{data}}
+\index{data@{data}!BNO08xRptRVGeneric@{BNO08xRptRVGeneric}}
+\doxysubsubsection{\texorpdfstring{data}{data}}
+{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__quat__t}{bno08x\+\_\+quat\+\_\+t}} BNO08x\+Rpt\+RVGeneric\+::data\hspace{0.3cm}{\ttfamily [protected]}}
+
+\mbox{\Hypertarget{class_b_n_o08x_rpt_r_v_generic_a5315a83517cd15397842254a9926b1c4}\label{class_b_n_o08x_rpt_r_v_generic_a5315a83517cd15397842254a9926b1c4}} 
+\index{BNO08xRptRVGeneric@{BNO08xRptRVGeneric}!TAG@{TAG}}
+\index{TAG@{TAG}!BNO08xRptRVGeneric@{BNO08xRptRVGeneric}}
+\doxysubsubsection{\texorpdfstring{TAG}{TAG}}
+{\footnotesize\ttfamily const constexpr char$\ast$ BNO08x\+Rpt\+RVGeneric\+::\+TAG = \char`\"{}BNO08x\+Rpt\+RVGeneric\char`\"{}\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}, {\ttfamily [protected]}}
+
+
+
+The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
+\item 
+/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_r_v_generic_8hpp}{BNO08x\+Rpt\+RVGeneric.\+hpp}}\item 
+report/\mbox{\hyperlink{_b_n_o08x_rpt_r_v_generic_8cpp}{BNO08x\+Rpt\+RVGeneric.\+cpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/class_b_n_o08x_rpt_r_v_generic__coll__graph.md5 b/documentation/latex/class_b_n_o08x_rpt_r_v_generic__coll__graph.md5
new file mode 100644
index 0000000..32984e0
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x_rpt_r_v_generic__coll__graph.md5
@@ -0,0 +1 @@
+e1fcaae09be32dfdb2b963321d1919ef
\ No newline at end of file
diff --git a/documentation/latex/class_b_n_o08x_rpt_r_v_generic__coll__graph.pdf b/documentation/latex/class_b_n_o08x_rpt_r_v_generic__coll__graph.pdf
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diff --git a/documentation/latex/class_b_n_o08x_rpt_r_v_geomag.tex b/documentation/latex/class_b_n_o08x_rpt_r_v_geomag.tex
new file mode 100644
index 0000000..9c5bc4e
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x_rpt_r_v_geomag.tex
@@ -0,0 +1,136 @@
+\hypertarget{class_b_n_o08x_rpt_r_v_geomag}{}\doxysection{BNO08x\+Rpt\+RVGeomag Class Reference}
+\label{class_b_n_o08x_rpt_r_v_geomag}\index{BNO08xRptRVGeomag@{BNO08xRptRVGeomag}}
+
+
+Class to represent geomagnetic rotation vector reports. (See Ref. Manual 6.\+5.\+20)  
+
+
+
+
+{\ttfamily \#include $<$report/\+BNO08x\+Rpt\+RVGeomag.\+hpp$>$}
+
+
+
+Inheritance diagram for BNO08x\+Rpt\+RVGeomag\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=208pt]{class_b_n_o08x_rpt_r_v_geomag__inherit__graph}
+\end{center}
+\end{figure}
+
+
+Collaboration diagram for BNO08x\+Rpt\+RVGeomag\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=283pt]{class_b_n_o08x_rpt_r_v_geomag__coll__graph}
+\end{center}
+\end{figure}
+\doxysubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{class_b_n_o08x_rpt_r_v_geomag_a32bd70c7777973497b6d1b7f960bea0b}{BNO08x\+Rpt\+RVGeomag}} (uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\+\_\+bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$\mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\+\_\+ctx}})
+\item 
+bool \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_geomag_a622f024808e368b09c41ca1b5118a874}{tare}} (bool x=true, bool y=true, bool z=true)
+\begin{DoxyCompactList}\small\item\em Tares geomagnetic rotation vector. \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_geomag_a57305f5f72067a56b037cf766fa2ee63}{tare\+\_\+persist}} ()
+\begin{DoxyCompactList}\small\item\em Saves most recent tare operation to \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} internal flash, such that it persists on reset. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_geomag_a2c62a41402f167a49025914a9800d062}{tare\+\_\+clear}} ()
+\begin{DoxyCompactList}\small\item\em Clears most recent tare operation. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Additional Inherited Members}
+
+
+\doxysubsection{Detailed Description}
+Class to represent geomagnetic rotation vector reports. (See Ref. Manual 6.\+5.\+20) 
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_r_v_geomag_a32bd70c7777973497b6d1b7f960bea0b}\label{class_b_n_o08x_rpt_r_v_geomag_a32bd70c7777973497b6d1b7f960bea0b}} 
+\index{BNO08xRptRVGeomag@{BNO08xRptRVGeomag}!BNO08xRptRVGeomag@{BNO08xRptRVGeomag}}
+\index{BNO08xRptRVGeomag@{BNO08xRptRVGeomag}!BNO08xRptRVGeomag@{BNO08xRptRVGeomag}}
+\doxysubsubsection{\texorpdfstring{BNO08xRptRVGeomag()}{BNO08xRptRVGeomag()}}
+{\footnotesize\ttfamily BNO08x\+Rpt\+RVGeomag\+::\+BNO08x\+Rpt\+RVGeomag (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ID,  }\item[{Event\+Bits\+\_\+t}]{rpt\+\_\+bit,  }\item[{\mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$}]{sync\+\_\+ctx }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Function Documentation}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_r_v_geomag_a622f024808e368b09c41ca1b5118a874}\label{class_b_n_o08x_rpt_r_v_geomag_a622f024808e368b09c41ca1b5118a874}} 
+\index{BNO08xRptRVGeomag@{BNO08xRptRVGeomag}!tare@{tare}}
+\index{tare@{tare}!BNO08xRptRVGeomag@{BNO08xRptRVGeomag}}
+\doxysubsubsection{\texorpdfstring{tare()}{tare()}}
+{\footnotesize\ttfamily bool BNO08x\+Rpt\+RVGeomag\+::tare (\begin{DoxyParamCaption}\item[{bool}]{x = {\ttfamily true},  }\item[{bool}]{y = {\ttfamily true},  }\item[{bool}]{z = {\ttfamily true} }\end{DoxyParamCaption})}
+
+
+
+Tares geomagnetic rotation vector. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em x} & If true tare x axis (optional, default true). \\
+\hline
+{\em y} & If true tare y axis (optional, default true). \\
+\hline
+{\em z} & If true tare z axis (optional, default true).\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+True if tare operation succeeded. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_rpt_r_v_geomag_a622f024808e368b09c41ca1b5118a874_cgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_r_v_geomag_a2c62a41402f167a49025914a9800d062}\label{class_b_n_o08x_rpt_r_v_geomag_a2c62a41402f167a49025914a9800d062}} 
+\index{BNO08xRptRVGeomag@{BNO08xRptRVGeomag}!tare\_clear@{tare\_clear}}
+\index{tare\_clear@{tare\_clear}!BNO08xRptRVGeomag@{BNO08xRptRVGeomag}}
+\doxysubsubsection{\texorpdfstring{tare\_clear()}{tare\_clear()}}
+{\footnotesize\ttfamily void BNO08x\+Rpt\+RVGeomag\+::tare\+\_\+clear (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Clears most recent tare operation. 
+
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_rpt_r_v_geomag_a2c62a41402f167a49025914a9800d062_cgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_r_v_geomag_a57305f5f72067a56b037cf766fa2ee63}\label{class_b_n_o08x_rpt_r_v_geomag_a57305f5f72067a56b037cf766fa2ee63}} 
+\index{BNO08xRptRVGeomag@{BNO08xRptRVGeomag}!tare\_persist@{tare\_persist}}
+\index{tare\_persist@{tare\_persist}!BNO08xRptRVGeomag@{BNO08xRptRVGeomag}}
+\doxysubsubsection{\texorpdfstring{tare\_persist()}{tare\_persist()}}
+{\footnotesize\ttfamily bool BNO08x\+Rpt\+RVGeomag\+::tare\+\_\+persist (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Saves most recent tare operation to \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} internal flash, such that it persists on reset. 
+
+\begin{DoxyReturn}{Returns}
+True if tare operation succeeded. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_rpt_r_v_geomag_a57305f5f72067a56b037cf766fa2ee63_cgraph}
+\end{center}
+\end{figure}
+
+
+The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
+\item 
+/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_r_v_geomag_8hpp}{BNO08x\+Rpt\+RVGeomag.\+hpp}}\item 
+report/\mbox{\hyperlink{_b_n_o08x_rpt_r_v_geomag_8cpp}{BNO08x\+Rpt\+RVGeomag.\+cpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/class_b_n_o08x_rpt_r_v_geomag__coll__graph.md5 b/documentation/latex/class_b_n_o08x_rpt_r_v_geomag__coll__graph.md5
new file mode 100644
index 0000000..1f98577
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x_rpt_r_v_geomag__coll__graph.md5
@@ -0,0 +1 @@
+cb2457c99d95defde68156d227356b48
\ No newline at end of file
diff --git a/documentation/latex/class_b_n_o08x_rpt_r_v_geomag__coll__graph.pdf b/documentation/latex/class_b_n_o08x_rpt_r_v_geomag__coll__graph.pdf
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diff --git a/documentation/latex/class_b_n_o08x_rpt_r_v_geomag__inherit__graph.pdf b/documentation/latex/class_b_n_o08x_rpt_r_v_geomag__inherit__graph.pdf
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diff --git a/documentation/latex/class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer.tex b/documentation/latex/class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer.tex
new file mode 100644
index 0000000..baa53e1
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer.tex
@@ -0,0 +1,115 @@
+\hypertarget{class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer}{}\doxysection{BNO08x\+Rpt\+Raw\+MEMSAccelerometer Class Reference}
+\label{class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer}\index{BNO08xRptRawMEMSAccelerometer@{BNO08xRptRawMEMSAccelerometer}}
+
+
+Class to represent raw accelerometer reports. (See Ref. Manual 6.\+5.\+8)  
+
+
+
+
+{\ttfamily \#include $<$report/\+BNO08x\+Rpt\+Raw\+MEMSAccelerometer.\+hpp$>$}
+
+
+
+Inheritance diagram for BNO08x\+Rpt\+Raw\+MEMSAccelerometer\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=276pt]{class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer__inherit__graph}
+\end{center}
+\end{figure}
+
+
+Collaboration diagram for BNO08x\+Rpt\+Raw\+MEMSAccelerometer\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=276pt]{class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer__coll__graph}
+\end{center}
+\end{figure}
+\doxysubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_a1a7c70a4c2d2004fe827dfa834d789e7}{BNO08x\+Rpt\+Raw\+MEMSAccelerometer}} (uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\+\_\+bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$\mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\+\_\+ctx}})
+\item 
+bool \mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_a3cfc735c048700fe79a5674ad92b4b03}{enable}} (uint32\+\_\+t time\+\_\+between\+\_\+reports, sh2\+\_\+\+Sensor\+Config\+\_\+t sensor\+\_\+cfg=BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg) override
+\begin{DoxyCompactList}\small\item\em Enables raw accelerometer reports such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} begins sending them. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{structbno08x__raw__accel__t}{bno08x\+\_\+raw\+\_\+accel\+\_\+t}} \mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_ae72428b3455327ecec5ee1c6ad065d56}{get}} ()
+\begin{DoxyCompactList}\small\item\em Grabs most recent raw accelerometer data, units are ADC counts, time\+\_\+stamp in microseconds. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Additional Inherited Members}
+
+
+\doxysubsection{Detailed Description}
+Class to represent raw accelerometer reports. (See Ref. Manual 6.\+5.\+8) 
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_a1a7c70a4c2d2004fe827dfa834d789e7}\label{class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_a1a7c70a4c2d2004fe827dfa834d789e7}} 
+\index{BNO08xRptRawMEMSAccelerometer@{BNO08xRptRawMEMSAccelerometer}!BNO08xRptRawMEMSAccelerometer@{BNO08xRptRawMEMSAccelerometer}}
+\index{BNO08xRptRawMEMSAccelerometer@{BNO08xRptRawMEMSAccelerometer}!BNO08xRptRawMEMSAccelerometer@{BNO08xRptRawMEMSAccelerometer}}
+\doxysubsubsection{\texorpdfstring{BNO08xRptRawMEMSAccelerometer()}{BNO08xRptRawMEMSAccelerometer()}}
+{\footnotesize\ttfamily BNO08x\+Rpt\+Raw\+MEMSAccelerometer\+::\+BNO08x\+Rpt\+Raw\+MEMSAccelerometer (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ID,  }\item[{Event\+Bits\+\_\+t}]{rpt\+\_\+bit,  }\item[{\mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$}]{sync\+\_\+ctx }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Function Documentation}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_a3cfc735c048700fe79a5674ad92b4b03}\label{class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_a3cfc735c048700fe79a5674ad92b4b03}} 
+\index{BNO08xRptRawMEMSAccelerometer@{BNO08xRptRawMEMSAccelerometer}!enable@{enable}}
+\index{enable@{enable}!BNO08xRptRawMEMSAccelerometer@{BNO08xRptRawMEMSAccelerometer}}
+\doxysubsubsection{\texorpdfstring{enable()}{enable()}}
+{\footnotesize\ttfamily bool BNO08x\+Rpt\+Raw\+MEMSAccelerometer\+::enable (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports,  }\item[{sh2\+\_\+\+Sensor\+Config\+\_\+t}]{sensor\+\_\+cfg = {\ttfamily BNO08xPrivateTypes\+:\+:default\+\_\+sensor\+\_\+cfg} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [override]}, {\ttfamily [virtual]}}
+
+
+
+Enables raw accelerometer reports such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} begins sending them. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em report\+\_\+period\+\_\+us} & The period/interval of the report in microseconds. \\
+\hline
+{\em sensor\+\_\+cfg} & Sensor special configuration (optional, see BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg for defaults).\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+True if report was successfully enabled. 
+\end{DoxyReturn}
+
+
+Implements \mbox{\hyperlink{class_b_n_o08x_rpt_a4ee529725467412df396d5c610ff7bb4}{BNO08x\+Rpt}}.
+
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_a3cfc735c048700fe79a5674ad92b4b03_cgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_ae72428b3455327ecec5ee1c6ad065d56}\label{class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_ae72428b3455327ecec5ee1c6ad065d56}} 
+\index{BNO08xRptRawMEMSAccelerometer@{BNO08xRptRawMEMSAccelerometer}!get@{get}}
+\index{get@{get}!BNO08xRptRawMEMSAccelerometer@{BNO08xRptRawMEMSAccelerometer}}
+\doxysubsubsection{\texorpdfstring{get()}{get()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__raw__accel__t}{bno08x\+\_\+raw\+\_\+accel\+\_\+t}} BNO08x\+Rpt\+Raw\+MEMSAccelerometer\+::get (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Grabs most recent raw accelerometer data, units are ADC counts, time\+\_\+stamp in microseconds. 
+
+\begin{DoxyReturn}{Returns}
+Struct containing requested data. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_ae72428b3455327ecec5ee1c6ad065d56_cgraph}
+\end{center}
+\end{figure}
+
+
+The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
+\item 
+/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8hpp}{BNO08x\+Rpt\+Raw\+MEMSAccelerometer.\+hpp}}\item 
+report/\mbox{\hyperlink{_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8cpp}{BNO08x\+Rpt\+Raw\+MEMSAccelerometer.\+cpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer__coll__graph.md5 b/documentation/latex/class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer__coll__graph.md5
new file mode 100644
index 0000000..db7a5bc
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer__coll__graph.md5
@@ -0,0 +1 @@
+fd1b0e32b6dd3415d08292730d6d884d
\ No newline at end of file
diff --git a/documentation/latex/class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer__coll__graph.pdf b/documentation/latex/class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer__coll__graph.pdf
new file mode 100644
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diff --git a/documentation/latex/class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer__inherit__graph.md5 b/documentation/latex/class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer__inherit__graph.md5
new file mode 100644
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@@ -0,0 +1 @@
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HcmV?d00001

diff --git a/documentation/latex/class_b_n_o08x_rpt_raw_m_e_m_s_gyro.tex b/documentation/latex/class_b_n_o08x_rpt_raw_m_e_m_s_gyro.tex
new file mode 100644
index 0000000..a3ff378
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x_rpt_raw_m_e_m_s_gyro.tex
@@ -0,0 +1,115 @@
+\hypertarget{class_b_n_o08x_rpt_raw_m_e_m_s_gyro}{}\doxysection{BNO08x\+Rpt\+Raw\+MEMSGyro Class Reference}
+\label{class_b_n_o08x_rpt_raw_m_e_m_s_gyro}\index{BNO08xRptRawMEMSGyro@{BNO08xRptRawMEMSGyro}}
+
+
+Class to represent raw gyro reports. (See Ref. Manual 6.\+5.\+12)  
+
+
+
+
+{\ttfamily \#include $<$report/\+BNO08x\+Rpt\+Raw\+MEMSGyro.\+hpp$>$}
+
+
+
+Inheritance diagram for BNO08x\+Rpt\+Raw\+MEMSGyro\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=227pt]{class_b_n_o08x_rpt_raw_m_e_m_s_gyro__inherit__graph}
+\end{center}
+\end{figure}
+
+
+Collaboration diagram for BNO08x\+Rpt\+Raw\+MEMSGyro\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=227pt]{class_b_n_o08x_rpt_raw_m_e_m_s_gyro__coll__graph}
+\end{center}
+\end{figure}
+\doxysubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_gyro_a9ad8a6a41c6680302f5ddb8154360ba2}{BNO08x\+Rpt\+Raw\+MEMSGyro}} (uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\+\_\+bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$\mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\+\_\+ctx}})
+\item 
+bool \mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_gyro_ae872f24befd81352f812bc998acb573d}{enable}} (uint32\+\_\+t time\+\_\+between\+\_\+reports, sh2\+\_\+\+Sensor\+Config\+\_\+t sensor\+\_\+cfg=BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg) override
+\begin{DoxyCompactList}\small\item\em Enables raw gyro reports such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} begins sending them. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{structbno08x__raw__gyro__t}{bno08x\+\_\+raw\+\_\+gyro\+\_\+t}} \mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_gyro_ac9a43087ac86ca6d2309adae996747d5}{get}} ()
+\begin{DoxyCompactList}\small\item\em Grabs most recent raw mems gyro report (units in ADC counts, time\+\_\+stamp in microseconds) \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Additional Inherited Members}
+
+
+\doxysubsection{Detailed Description}
+Class to represent raw gyro reports. (See Ref. Manual 6.\+5.\+12) 
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_raw_m_e_m_s_gyro_a9ad8a6a41c6680302f5ddb8154360ba2}\label{class_b_n_o08x_rpt_raw_m_e_m_s_gyro_a9ad8a6a41c6680302f5ddb8154360ba2}} 
+\index{BNO08xRptRawMEMSGyro@{BNO08xRptRawMEMSGyro}!BNO08xRptRawMEMSGyro@{BNO08xRptRawMEMSGyro}}
+\index{BNO08xRptRawMEMSGyro@{BNO08xRptRawMEMSGyro}!BNO08xRptRawMEMSGyro@{BNO08xRptRawMEMSGyro}}
+\doxysubsubsection{\texorpdfstring{BNO08xRptRawMEMSGyro()}{BNO08xRptRawMEMSGyro()}}
+{\footnotesize\ttfamily BNO08x\+Rpt\+Raw\+MEMSGyro\+::\+BNO08x\+Rpt\+Raw\+MEMSGyro (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ID,  }\item[{Event\+Bits\+\_\+t}]{rpt\+\_\+bit,  }\item[{\mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$}]{sync\+\_\+ctx }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Function Documentation}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_raw_m_e_m_s_gyro_ae872f24befd81352f812bc998acb573d}\label{class_b_n_o08x_rpt_raw_m_e_m_s_gyro_ae872f24befd81352f812bc998acb573d}} 
+\index{BNO08xRptRawMEMSGyro@{BNO08xRptRawMEMSGyro}!enable@{enable}}
+\index{enable@{enable}!BNO08xRptRawMEMSGyro@{BNO08xRptRawMEMSGyro}}
+\doxysubsubsection{\texorpdfstring{enable()}{enable()}}
+{\footnotesize\ttfamily bool BNO08x\+Rpt\+Raw\+MEMSGyro\+::enable (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports,  }\item[{sh2\+\_\+\+Sensor\+Config\+\_\+t}]{sensor\+\_\+cfg = {\ttfamily BNO08xPrivateTypes\+:\+:default\+\_\+sensor\+\_\+cfg} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [override]}, {\ttfamily [virtual]}}
+
+
+
+Enables raw gyro reports such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} begins sending them. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em report\+\_\+period\+\_\+us} & The period/interval of the report in microseconds. \\
+\hline
+{\em sensor\+\_\+cfg} & Sensor special configuration (optional, see BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg for defaults).\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+True if report was successfully enabled. 
+\end{DoxyReturn}
+
+
+Implements \mbox{\hyperlink{class_b_n_o08x_rpt_a4ee529725467412df396d5c610ff7bb4}{BNO08x\+Rpt}}.
+
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_rpt_raw_m_e_m_s_gyro_ae872f24befd81352f812bc998acb573d_cgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_raw_m_e_m_s_gyro_ac9a43087ac86ca6d2309adae996747d5}\label{class_b_n_o08x_rpt_raw_m_e_m_s_gyro_ac9a43087ac86ca6d2309adae996747d5}} 
+\index{BNO08xRptRawMEMSGyro@{BNO08xRptRawMEMSGyro}!get@{get}}
+\index{get@{get}!BNO08xRptRawMEMSGyro@{BNO08xRptRawMEMSGyro}}
+\doxysubsubsection{\texorpdfstring{get()}{get()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__raw__gyro__t}{bno08x\+\_\+raw\+\_\+gyro\+\_\+t}} BNO08x\+Rpt\+Raw\+MEMSGyro\+::get (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Grabs most recent raw mems gyro report (units in ADC counts, time\+\_\+stamp in microseconds) 
+
+\begin{DoxyReturn}{Returns}
+Struct containing requested data. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_rpt_raw_m_e_m_s_gyro_ac9a43087ac86ca6d2309adae996747d5_cgraph}
+\end{center}
+\end{figure}
+
+
+The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
+\item 
+/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_raw_m_e_m_s_gyro_8hpp}{BNO08x\+Rpt\+Raw\+MEMSGyro.\+hpp}}\item 
+report/\mbox{\hyperlink{_b_n_o08x_rpt_raw_m_e_m_s_gyro_8cpp}{BNO08x\+Rpt\+Raw\+MEMSGyro.\+cpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/class_b_n_o08x_rpt_raw_m_e_m_s_gyro__coll__graph.md5 b/documentation/latex/class_b_n_o08x_rpt_raw_m_e_m_s_gyro__coll__graph.md5
new file mode 100644
index 0000000..0f03652
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x_rpt_raw_m_e_m_s_gyro__coll__graph.md5
@@ -0,0 +1 @@
+4c7191ea53da91ed2ca4851be9d6cbbd
\ No newline at end of file
diff --git a/documentation/latex/class_b_n_o08x_rpt_raw_m_e_m_s_gyro__coll__graph.pdf b/documentation/latex/class_b_n_o08x_rpt_raw_m_e_m_s_gyro__coll__graph.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..2637049c21e3819be69de2d4fcefca2c851b3805
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diff --git a/documentation/latex/class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer.tex b/documentation/latex/class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer.tex
new file mode 100644
index 0000000..5a96739
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer.tex
@@ -0,0 +1,115 @@
+\hypertarget{class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer}{}\doxysection{BNO08x\+Rpt\+Raw\+MEMSMagnetometer Class Reference}
+\label{class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer}\index{BNO08xRptRawMEMSMagnetometer@{BNO08xRptRawMEMSMagnetometer}}
+
+
+Class to represent raw magnetometer reports. (See Ref. Manual 6.\+5.\+15)  
+
+
+
+
+{\ttfamily \#include $<$report/\+BNO08x\+Rpt\+Raw\+MEMSMagnetometer.\+hpp$>$}
+
+
+
+Inheritance diagram for BNO08x\+Rpt\+Raw\+MEMSMagnetometer\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=276pt]{class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer__inherit__graph}
+\end{center}
+\end{figure}
+
+
+Collaboration diagram for BNO08x\+Rpt\+Raw\+MEMSMagnetometer\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=276pt]{class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer__coll__graph}
+\end{center}
+\end{figure}
+\doxysubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_a1033eaa9b7533a381781c8a750bac04b}{BNO08x\+Rpt\+Raw\+MEMSMagnetometer}} (uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\+\_\+bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$\mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\+\_\+ctx}})
+\item 
+bool \mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_a92832fd0bff6abddbbd87779de5b57fb}{enable}} (uint32\+\_\+t time\+\_\+between\+\_\+reports, sh2\+\_\+\+Sensor\+Config\+\_\+t sensor\+\_\+cfg=BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg) override
+\begin{DoxyCompactList}\small\item\em Enables raw magnetometer such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} begins sending them. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{structbno08x__raw__magf__t}{bno08x\+\_\+raw\+\_\+magf\+\_\+t}} \mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_a44247c8dbd3376ff81599c192b7dfc71}{get}} ()
+\begin{DoxyCompactList}\small\item\em Grabs most recent raw magnetometer data, units are ADC counts, time\+\_\+stamp in microseconds. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Additional Inherited Members}
+
+
+\doxysubsection{Detailed Description}
+Class to represent raw magnetometer reports. (See Ref. Manual 6.\+5.\+15) 
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_a1033eaa9b7533a381781c8a750bac04b}\label{class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_a1033eaa9b7533a381781c8a750bac04b}} 
+\index{BNO08xRptRawMEMSMagnetometer@{BNO08xRptRawMEMSMagnetometer}!BNO08xRptRawMEMSMagnetometer@{BNO08xRptRawMEMSMagnetometer}}
+\index{BNO08xRptRawMEMSMagnetometer@{BNO08xRptRawMEMSMagnetometer}!BNO08xRptRawMEMSMagnetometer@{BNO08xRptRawMEMSMagnetometer}}
+\doxysubsubsection{\texorpdfstring{BNO08xRptRawMEMSMagnetometer()}{BNO08xRptRawMEMSMagnetometer()}}
+{\footnotesize\ttfamily BNO08x\+Rpt\+Raw\+MEMSMagnetometer\+::\+BNO08x\+Rpt\+Raw\+MEMSMagnetometer (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ID,  }\item[{Event\+Bits\+\_\+t}]{rpt\+\_\+bit,  }\item[{\mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$}]{sync\+\_\+ctx }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Function Documentation}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_a92832fd0bff6abddbbd87779de5b57fb}\label{class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_a92832fd0bff6abddbbd87779de5b57fb}} 
+\index{BNO08xRptRawMEMSMagnetometer@{BNO08xRptRawMEMSMagnetometer}!enable@{enable}}
+\index{enable@{enable}!BNO08xRptRawMEMSMagnetometer@{BNO08xRptRawMEMSMagnetometer}}
+\doxysubsubsection{\texorpdfstring{enable()}{enable()}}
+{\footnotesize\ttfamily bool BNO08x\+Rpt\+Raw\+MEMSMagnetometer\+::enable (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports,  }\item[{sh2\+\_\+\+Sensor\+Config\+\_\+t}]{sensor\+\_\+cfg = {\ttfamily BNO08xPrivateTypes\+:\+:default\+\_\+sensor\+\_\+cfg} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [override]}, {\ttfamily [virtual]}}
+
+
+
+Enables raw magnetometer such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} begins sending them. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em report\+\_\+period\+\_\+us} & The period/interval of the report in microseconds. \\
+\hline
+{\em sensor\+\_\+cfg} & Sensor special configuration (optional, see BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg for defaults).\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+True if report was successfully enabled. 
+\end{DoxyReturn}
+
+
+Implements \mbox{\hyperlink{class_b_n_o08x_rpt_a4ee529725467412df396d5c610ff7bb4}{BNO08x\+Rpt}}.
+
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_a92832fd0bff6abddbbd87779de5b57fb_cgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_a44247c8dbd3376ff81599c192b7dfc71}\label{class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_a44247c8dbd3376ff81599c192b7dfc71}} 
+\index{BNO08xRptRawMEMSMagnetometer@{BNO08xRptRawMEMSMagnetometer}!get@{get}}
+\index{get@{get}!BNO08xRptRawMEMSMagnetometer@{BNO08xRptRawMEMSMagnetometer}}
+\doxysubsubsection{\texorpdfstring{get()}{get()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__raw__magf__t}{bno08x\+\_\+raw\+\_\+magf\+\_\+t}} BNO08x\+Rpt\+Raw\+MEMSMagnetometer\+::get (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Grabs most recent raw magnetometer data, units are ADC counts, time\+\_\+stamp in microseconds. 
+
+\begin{DoxyReturn}{Returns}
+Struct containing requested data. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_a44247c8dbd3376ff81599c192b7dfc71_cgraph}
+\end{center}
+\end{figure}
+
+
+The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
+\item 
+/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8hpp}{BNO08x\+Rpt\+Raw\+MEMSMagnetometer.\+hpp}}\item 
+report/\mbox{\hyperlink{_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8cpp}{BNO08x\+Rpt\+Raw\+MEMSMagnetometer.\+cpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer__coll__graph.md5 b/documentation/latex/class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer__coll__graph.md5
new file mode 100644
index 0000000..8a5e338
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer__coll__graph.md5
@@ -0,0 +1 @@
+45e6cbecf2ca2deee18c866c7ff3821b
\ No newline at end of file
diff --git a/documentation/latex/class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer__coll__graph.pdf b/documentation/latex/class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer__coll__graph.pdf
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diff --git a/documentation/latex/class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer__inherit__graph.md5 b/documentation/latex/class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer__inherit__graph.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_rpt_raw_m_e_m_s_magnetometer__inherit__graph.pdf b/documentation/latex/class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer__inherit__graph.pdf
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diff --git a/documentation/latex/class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_a44247c8dbd3376ff81599c192b7dfc71_cgraph.md5 b/documentation/latex/class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_a44247c8dbd3376ff81599c192b7dfc71_cgraph.md5
new file mode 100644
index 0000000..e6e0d47
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_a44247c8dbd3376ff81599c192b7dfc71_cgraph.md5
@@ -0,0 +1 @@
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diff --git a/documentation/latex/class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_a92832fd0bff6abddbbd87779de5b57fb_cgraph.md5 b/documentation/latex/class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_a92832fd0bff6abddbbd87779de5b57fb_cgraph.md5
new file mode 100644
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diff --git a/documentation/latex/class_b_n_o08x_rpt_shake_detector.tex b/documentation/latex/class_b_n_o08x_rpt_shake_detector.tex
new file mode 100644
index 0000000..2908d69
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x_rpt_shake_detector.tex
@@ -0,0 +1,115 @@
+\hypertarget{class_b_n_o08x_rpt_shake_detector}{}\doxysection{BNO08x\+Rpt\+Shake\+Detector Class Reference}
+\label{class_b_n_o08x_rpt_shake_detector}\index{BNO08xRptShakeDetector@{BNO08xRptShakeDetector}}
+
+
+Class to represent shake detector reports. (See Ref. Manual 6.\+5.\+32)  
+
+
+
+
+{\ttfamily \#include $<$report/\+BNO08x\+Rpt\+Shake\+Detector.\+hpp$>$}
+
+
+
+Inheritance diagram for BNO08x\+Rpt\+Shake\+Detector\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=224pt]{class_b_n_o08x_rpt_shake_detector__inherit__graph}
+\end{center}
+\end{figure}
+
+
+Collaboration diagram for BNO08x\+Rpt\+Shake\+Detector\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=224pt]{class_b_n_o08x_rpt_shake_detector__coll__graph}
+\end{center}
+\end{figure}
+\doxysubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{class_b_n_o08x_rpt_shake_detector_a22021e497ed9a31b2070b884f7eb6bd8}{BNO08x\+Rpt\+Shake\+Detector}} (uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\+\_\+bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$\mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\+\_\+ctx}})
+\item 
+bool \mbox{\hyperlink{class_b_n_o08x_rpt_shake_detector_aa28fa73b51bd892f0239e647aa6ceeb8}{enable}} (uint32\+\_\+t time\+\_\+between\+\_\+reports, sh2\+\_\+\+Sensor\+Config\+\_\+t sensor\+\_\+cfg=BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg) override
+\begin{DoxyCompactList}\small\item\em Enables shake detector reports such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} begins sending them (only sends reports when a shake is detected). \end{DoxyCompactList}\item 
+\mbox{\hyperlink{structbno08x__shake__detector__t}{bno08x\+\_\+shake\+\_\+detector\+\_\+t}} \mbox{\hyperlink{class_b_n_o08x_rpt_shake_detector_adf134a67833f9e2c71f76858abc88ee6}{get}} ()
+\begin{DoxyCompactList}\small\item\em Grabs most recent shake detector detector data. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Additional Inherited Members}
+
+
+\doxysubsection{Detailed Description}
+Class to represent shake detector reports. (See Ref. Manual 6.\+5.\+32) 
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_shake_detector_a22021e497ed9a31b2070b884f7eb6bd8}\label{class_b_n_o08x_rpt_shake_detector_a22021e497ed9a31b2070b884f7eb6bd8}} 
+\index{BNO08xRptShakeDetector@{BNO08xRptShakeDetector}!BNO08xRptShakeDetector@{BNO08xRptShakeDetector}}
+\index{BNO08xRptShakeDetector@{BNO08xRptShakeDetector}!BNO08xRptShakeDetector@{BNO08xRptShakeDetector}}
+\doxysubsubsection{\texorpdfstring{BNO08xRptShakeDetector()}{BNO08xRptShakeDetector()}}
+{\footnotesize\ttfamily BNO08x\+Rpt\+Shake\+Detector\+::\+BNO08x\+Rpt\+Shake\+Detector (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ID,  }\item[{Event\+Bits\+\_\+t}]{rpt\+\_\+bit,  }\item[{\mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$}]{sync\+\_\+ctx }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Function Documentation}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_shake_detector_aa28fa73b51bd892f0239e647aa6ceeb8}\label{class_b_n_o08x_rpt_shake_detector_aa28fa73b51bd892f0239e647aa6ceeb8}} 
+\index{BNO08xRptShakeDetector@{BNO08xRptShakeDetector}!enable@{enable}}
+\index{enable@{enable}!BNO08xRptShakeDetector@{BNO08xRptShakeDetector}}
+\doxysubsubsection{\texorpdfstring{enable()}{enable()}}
+{\footnotesize\ttfamily bool BNO08x\+Rpt\+Shake\+Detector\+::enable (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports,  }\item[{sh2\+\_\+\+Sensor\+Config\+\_\+t}]{sensor\+\_\+cfg = {\ttfamily BNO08xPrivateTypes\+:\+:default\+\_\+sensor\+\_\+cfg} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [override]}, {\ttfamily [virtual]}}
+
+
+
+Enables shake detector reports such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} begins sending them (only sends reports when a shake is detected). 
+
+
+\begin{DoxyParams}{Parameters}
+{\em report\+\_\+period\+\_\+us} & The period/interval of the report in microseconds. \\
+\hline
+{\em sensor\+\_\+cfg} & Sensor special configuration (optional, see BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg for defaults).\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+True if report was successfully enabled. 
+\end{DoxyReturn}
+
+
+Implements \mbox{\hyperlink{class_b_n_o08x_rpt_a4ee529725467412df396d5c610ff7bb4}{BNO08x\+Rpt}}.
+
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_rpt_shake_detector_aa28fa73b51bd892f0239e647aa6ceeb8_cgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_shake_detector_adf134a67833f9e2c71f76858abc88ee6}\label{class_b_n_o08x_rpt_shake_detector_adf134a67833f9e2c71f76858abc88ee6}} 
+\index{BNO08xRptShakeDetector@{BNO08xRptShakeDetector}!get@{get}}
+\index{get@{get}!BNO08xRptShakeDetector@{BNO08xRptShakeDetector}}
+\doxysubsubsection{\texorpdfstring{get()}{get()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__shake__detector__t}{bno08x\+\_\+shake\+\_\+detector\+\_\+t}} BNO08x\+Rpt\+Shake\+Detector\+::get (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Grabs most recent shake detector detector data. 
+
+\begin{DoxyReturn}{Returns}
+Struct containing the requested data. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_rpt_shake_detector_adf134a67833f9e2c71f76858abc88ee6_cgraph}
+\end{center}
+\end{figure}
+
+
+The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
+\item 
+/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_shake_detector_8hpp}{BNO08x\+Rpt\+Shake\+Detector.\+hpp}}\item 
+report/\mbox{\hyperlink{_b_n_o08x_rpt_shake_detector_8cpp}{BNO08x\+Rpt\+Shake\+Detector.\+cpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/class_b_n_o08x_rpt_shake_detector__coll__graph.md5 b/documentation/latex/class_b_n_o08x_rpt_shake_detector__coll__graph.md5
new file mode 100644
index 0000000..b2e50c7
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x_rpt_shake_detector__coll__graph.md5
@@ -0,0 +1 @@
+19f7e3fed4b3f9a848235d5e9d320b43
\ No newline at end of file
diff --git a/documentation/latex/class_b_n_o08x_rpt_shake_detector__coll__graph.pdf b/documentation/latex/class_b_n_o08x_rpt_shake_detector__coll__graph.pdf
new file mode 100644
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diff --git a/documentation/latex/class_b_n_o08x_rpt_shake_detector__inherit__graph.md5 b/documentation/latex/class_b_n_o08x_rpt_shake_detector__inherit__graph.md5
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diff --git a/documentation/latex/class_b_n_o08x_rpt_shake_detector__inherit__graph.pdf b/documentation/latex/class_b_n_o08x_rpt_shake_detector__inherit__graph.pdf
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diff --git a/documentation/latex/class_b_n_o08x_rpt_stability_classifier.tex b/documentation/latex/class_b_n_o08x_rpt_stability_classifier.tex
new file mode 100644
index 0000000..24f868a
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x_rpt_stability_classifier.tex
@@ -0,0 +1,138 @@
+\hypertarget{class_b_n_o08x_rpt_stability_classifier}{}\doxysection{BNO08x\+Rpt\+Stability\+Classifier Class Reference}
+\label{class_b_n_o08x_rpt_stability_classifier}\index{BNO08xRptStabilityClassifier@{BNO08xRptStabilityClassifier}}
+
+
+Class to represent stability classifier reports. (See Ref. Manual 6.\+5.\+31)  
+
+
+
+
+{\ttfamily \#include $<$report/\+BNO08x\+Rpt\+Stability\+Classifier.\+hpp$>$}
+
+
+
+Inheritance diagram for BNO08x\+Rpt\+Stability\+Classifier\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=238pt]{class_b_n_o08x_rpt_stability_classifier__inherit__graph}
+\end{center}
+\end{figure}
+
+
+Collaboration diagram for BNO08x\+Rpt\+Stability\+Classifier\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=238pt]{class_b_n_o08x_rpt_stability_classifier__coll__graph}
+\end{center}
+\end{figure}
+\doxysubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{class_b_n_o08x_rpt_stability_classifier_a41052d651d03bccc414b14d6e9b670ab}{BNO08x\+Rpt\+Stability\+Classifier}} (uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\+\_\+bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$\mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\+\_\+ctx}})
+\item 
+bool \mbox{\hyperlink{class_b_n_o08x_rpt_stability_classifier_a4959110a01f638d04d87696d8a03dd60}{enable}} (uint32\+\_\+t time\+\_\+between\+\_\+reports, sh2\+\_\+\+Sensor\+Config\+\_\+t sensor\+\_\+cfg=BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg) override
+\begin{DoxyCompactList}\small\item\em Enables stability classifier reports such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} begins sending them. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{structbno08x__stability__classifier__t}{bno08x\+\_\+stability\+\_\+classifier\+\_\+t}} \mbox{\hyperlink{class_b_n_o08x_rpt_stability_classifier_a552b8df91df3905c7e2242ee42d11931}{get}} ()
+\begin{DoxyCompactList}\small\item\em Grabs most recent stability classifier data. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cb}{BNO08x\+Stability}} \mbox{\hyperlink{class_b_n_o08x_rpt_stability_classifier_a8c8c794004f8b2a5e67656286beae7cd}{get\+\_\+stability}} ()
+\begin{DoxyCompactList}\small\item\em Grabs most recent stability classifier reading (excludes accuracy) \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Additional Inherited Members}
+
+
+\doxysubsection{Detailed Description}
+Class to represent stability classifier reports. (See Ref. Manual 6.\+5.\+31) 
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_stability_classifier_a41052d651d03bccc414b14d6e9b670ab}\label{class_b_n_o08x_rpt_stability_classifier_a41052d651d03bccc414b14d6e9b670ab}} 
+\index{BNO08xRptStabilityClassifier@{BNO08xRptStabilityClassifier}!BNO08xRptStabilityClassifier@{BNO08xRptStabilityClassifier}}
+\index{BNO08xRptStabilityClassifier@{BNO08xRptStabilityClassifier}!BNO08xRptStabilityClassifier@{BNO08xRptStabilityClassifier}}
+\doxysubsubsection{\texorpdfstring{BNO08xRptStabilityClassifier()}{BNO08xRptStabilityClassifier()}}
+{\footnotesize\ttfamily BNO08x\+Rpt\+Stability\+Classifier\+::\+BNO08x\+Rpt\+Stability\+Classifier (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ID,  }\item[{Event\+Bits\+\_\+t}]{rpt\+\_\+bit,  }\item[{\mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$}]{sync\+\_\+ctx }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Function Documentation}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_stability_classifier_a4959110a01f638d04d87696d8a03dd60}\label{class_b_n_o08x_rpt_stability_classifier_a4959110a01f638d04d87696d8a03dd60}} 
+\index{BNO08xRptStabilityClassifier@{BNO08xRptStabilityClassifier}!enable@{enable}}
+\index{enable@{enable}!BNO08xRptStabilityClassifier@{BNO08xRptStabilityClassifier}}
+\doxysubsubsection{\texorpdfstring{enable()}{enable()}}
+{\footnotesize\ttfamily bool BNO08x\+Rpt\+Stability\+Classifier\+::enable (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports,  }\item[{sh2\+\_\+\+Sensor\+Config\+\_\+t}]{sensor\+\_\+cfg = {\ttfamily BNO08xPrivateTypes\+:\+:default\+\_\+sensor\+\_\+cfg} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [override]}, {\ttfamily [virtual]}}
+
+
+
+Enables stability classifier reports such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} begins sending them. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em report\+\_\+period\+\_\+us} & The period/interval of the report in microseconds. \\
+\hline
+{\em sensor\+\_\+cfg} & Sensor special configuration (optional, see BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg for defaults).\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+True if report was successfully enabled. 
+\end{DoxyReturn}
+
+
+Implements \mbox{\hyperlink{class_b_n_o08x_rpt_a4ee529725467412df396d5c610ff7bb4}{BNO08x\+Rpt}}.
+
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_rpt_stability_classifier_a4959110a01f638d04d87696d8a03dd60_cgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_stability_classifier_a552b8df91df3905c7e2242ee42d11931}\label{class_b_n_o08x_rpt_stability_classifier_a552b8df91df3905c7e2242ee42d11931}} 
+\index{BNO08xRptStabilityClassifier@{BNO08xRptStabilityClassifier}!get@{get}}
+\index{get@{get}!BNO08xRptStabilityClassifier@{BNO08xRptStabilityClassifier}}
+\doxysubsubsection{\texorpdfstring{get()}{get()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__stability__classifier__t}{bno08x\+\_\+stability\+\_\+classifier\+\_\+t}} BNO08x\+Rpt\+Stability\+Classifier\+::get (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Grabs most recent stability classifier data. 
+
+\begin{DoxyReturn}{Returns}
+BNO08x\+Stability enum object with detected state. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_rpt_stability_classifier_a552b8df91df3905c7e2242ee42d11931_cgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_stability_classifier_a8c8c794004f8b2a5e67656286beae7cd}\label{class_b_n_o08x_rpt_stability_classifier_a8c8c794004f8b2a5e67656286beae7cd}} 
+\index{BNO08xRptStabilityClassifier@{BNO08xRptStabilityClassifier}!get\_stability@{get\_stability}}
+\index{get\_stability@{get\_stability}!BNO08xRptStabilityClassifier@{BNO08xRptStabilityClassifier}}
+\doxysubsubsection{\texorpdfstring{get\_stability()}{get\_stability()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cb}{BNO08x\+Stability}} BNO08x\+Rpt\+Stability\+Classifier\+::get\+\_\+stability (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Grabs most recent stability classifier reading (excludes accuracy) 
+
+\begin{DoxyReturn}{Returns}
+BNO08x\+Stability enum object with detected state. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_rpt_stability_classifier_a8c8c794004f8b2a5e67656286beae7cd_cgraph}
+\end{center}
+\end{figure}
+
+
+The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
+\item 
+/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_stability_classifier_8hpp}{BNO08x\+Rpt\+Stability\+Classifier.\+hpp}}\item 
+report/\mbox{\hyperlink{_b_n_o08x_rpt_stability_classifier_8cpp}{BNO08x\+Rpt\+Stability\+Classifier.\+cpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/class_b_n_o08x_rpt_stability_classifier__coll__graph.md5 b/documentation/latex/class_b_n_o08x_rpt_stability_classifier__coll__graph.md5
new file mode 100644
index 0000000..27c0d89
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x_rpt_stability_classifier__coll__graph.md5
@@ -0,0 +1 @@
+1fd95f4013924cc15873f48735f56bea
\ No newline at end of file
diff --git a/documentation/latex/class_b_n_o08x_rpt_stability_classifier__coll__graph.pdf b/documentation/latex/class_b_n_o08x_rpt_stability_classifier__coll__graph.pdf
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diff --git a/documentation/latex/class_b_n_o08x_rpt_step_counter.tex b/documentation/latex/class_b_n_o08x_rpt_step_counter.tex
new file mode 100644
index 0000000..c3b274c
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x_rpt_step_counter.tex
@@ -0,0 +1,138 @@
+\hypertarget{class_b_n_o08x_rpt_step_counter}{}\doxysection{BNO08x\+Rpt\+Step\+Counter Class Reference}
+\label{class_b_n_o08x_rpt_step_counter}\index{BNO08xRptStepCounter@{BNO08xRptStepCounter}}
+
+
+Class to represent step counter reports. (See Ref. Manual 6.\+5.\+29)  
+
+
+
+
+{\ttfamily \#include $<$report/\+BNO08x\+Rpt\+Step\+Counter.\+hpp$>$}
+
+
+
+Inheritance diagram for BNO08x\+Rpt\+Step\+Counter\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=213pt]{class_b_n_o08x_rpt_step_counter__inherit__graph}
+\end{center}
+\end{figure}
+
+
+Collaboration diagram for BNO08x\+Rpt\+Step\+Counter\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=213pt]{class_b_n_o08x_rpt_step_counter__coll__graph}
+\end{center}
+\end{figure}
+\doxysubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{class_b_n_o08x_rpt_step_counter_a0a85682a68010aa66ddb2ccc337263a0}{BNO08x\+Rpt\+Step\+Counter}} (uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\+\_\+bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$\mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\+\_\+ctx}})
+\item 
+bool \mbox{\hyperlink{class_b_n_o08x_rpt_step_counter_adf0a697561b064a7dd90a44009efbcf1}{enable}} (uint32\+\_\+t time\+\_\+between\+\_\+reports, sh2\+\_\+\+Sensor\+Config\+\_\+t sensor\+\_\+cfg=BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg) override
+\begin{DoxyCompactList}\small\item\em Enables step counter reports such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} begins sending them. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{structbno08x__step__counter__t}{bno08x\+\_\+step\+\_\+counter\+\_\+t}} \mbox{\hyperlink{class_b_n_o08x_rpt_step_counter_affe413eea0483147578e58a1a9c5cd8f}{get}} ()
+\begin{DoxyCompactList}\small\item\em Grabs most recent step counter data (rollover not accounted for in step count, just most recent report data). \end{DoxyCompactList}\item 
+uint32\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_step_counter_a017b389771b4d8816b4cfd06c6d9184a}{get\+\_\+total\+\_\+steps}} ()
+\begin{DoxyCompactList}\small\item\em Grabs the total step count since boot, accounts for rollover in report data. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Additional Inherited Members}
+
+
+\doxysubsection{Detailed Description}
+Class to represent step counter reports. (See Ref. Manual 6.\+5.\+29) 
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_step_counter_a0a85682a68010aa66ddb2ccc337263a0}\label{class_b_n_o08x_rpt_step_counter_a0a85682a68010aa66ddb2ccc337263a0}} 
+\index{BNO08xRptStepCounter@{BNO08xRptStepCounter}!BNO08xRptStepCounter@{BNO08xRptStepCounter}}
+\index{BNO08xRptStepCounter@{BNO08xRptStepCounter}!BNO08xRptStepCounter@{BNO08xRptStepCounter}}
+\doxysubsubsection{\texorpdfstring{BNO08xRptStepCounter()}{BNO08xRptStepCounter()}}
+{\footnotesize\ttfamily BNO08x\+Rpt\+Step\+Counter\+::\+BNO08x\+Rpt\+Step\+Counter (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ID,  }\item[{Event\+Bits\+\_\+t}]{rpt\+\_\+bit,  }\item[{\mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$}]{sync\+\_\+ctx }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Function Documentation}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_step_counter_adf0a697561b064a7dd90a44009efbcf1}\label{class_b_n_o08x_rpt_step_counter_adf0a697561b064a7dd90a44009efbcf1}} 
+\index{BNO08xRptStepCounter@{BNO08xRptStepCounter}!enable@{enable}}
+\index{enable@{enable}!BNO08xRptStepCounter@{BNO08xRptStepCounter}}
+\doxysubsubsection{\texorpdfstring{enable()}{enable()}}
+{\footnotesize\ttfamily bool BNO08x\+Rpt\+Step\+Counter\+::enable (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports,  }\item[{sh2\+\_\+\+Sensor\+Config\+\_\+t}]{sensor\+\_\+cfg = {\ttfamily BNO08xPrivateTypes\+:\+:default\+\_\+sensor\+\_\+cfg} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [override]}, {\ttfamily [virtual]}}
+
+
+
+Enables step counter reports such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} begins sending them. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em report\+\_\+period\+\_\+us} & The period/interval of the report in microseconds. \\
+\hline
+{\em sensor\+\_\+cfg} & Sensor special configuration (optional, see BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg for defaults).\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+True if report was successfully enabled. 
+\end{DoxyReturn}
+
+
+Implements \mbox{\hyperlink{class_b_n_o08x_rpt_a4ee529725467412df396d5c610ff7bb4}{BNO08x\+Rpt}}.
+
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_rpt_step_counter_adf0a697561b064a7dd90a44009efbcf1_cgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_step_counter_affe413eea0483147578e58a1a9c5cd8f}\label{class_b_n_o08x_rpt_step_counter_affe413eea0483147578e58a1a9c5cd8f}} 
+\index{BNO08xRptStepCounter@{BNO08xRptStepCounter}!get@{get}}
+\index{get@{get}!BNO08xRptStepCounter@{BNO08xRptStepCounter}}
+\doxysubsubsection{\texorpdfstring{get()}{get()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__step__counter__t}{bno08x\+\_\+step\+\_\+counter\+\_\+t}} BNO08x\+Rpt\+Step\+Counter\+::get (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Grabs most recent step counter data (rollover not accounted for in step count, just most recent report data). 
+
+\begin{DoxyReturn}{Returns}
+Struct containing requested data. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_rpt_step_counter_affe413eea0483147578e58a1a9c5cd8f_cgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_step_counter_a017b389771b4d8816b4cfd06c6d9184a}\label{class_b_n_o08x_rpt_step_counter_a017b389771b4d8816b4cfd06c6d9184a}} 
+\index{BNO08xRptStepCounter@{BNO08xRptStepCounter}!get\_total\_steps@{get\_total\_steps}}
+\index{get\_total\_steps@{get\_total\_steps}!BNO08xRptStepCounter@{BNO08xRptStepCounter}}
+\doxysubsubsection{\texorpdfstring{get\_total\_steps()}{get\_total\_steps()}}
+{\footnotesize\ttfamily uint32\+\_\+t BNO08x\+Rpt\+Step\+Counter\+::get\+\_\+total\+\_\+steps (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Grabs the total step count since boot, accounts for rollover in report data. 
+
+\begin{DoxyReturn}{Returns}
+Total steps since boot. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_rpt_step_counter_a017b389771b4d8816b4cfd06c6d9184a_cgraph}
+\end{center}
+\end{figure}
+
+
+The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
+\item 
+/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_step_counter_8hpp}{BNO08x\+Rpt\+Step\+Counter.\+hpp}}\item 
+report/\mbox{\hyperlink{_b_n_o08x_rpt_step_counter_8cpp}{BNO08x\+Rpt\+Step\+Counter.\+cpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/class_b_n_o08x_rpt_step_counter__coll__graph.md5 b/documentation/latex/class_b_n_o08x_rpt_step_counter__coll__graph.md5
new file mode 100644
index 0000000..a1a77e7
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x_rpt_step_counter__coll__graph.md5
@@ -0,0 +1 @@
+fe3fdcb85eb144724f46b72a37d5fcda
\ No newline at end of file
diff --git a/documentation/latex/class_b_n_o08x_rpt_step_counter__coll__graph.pdf b/documentation/latex/class_b_n_o08x_rpt_step_counter__coll__graph.pdf
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diff --git a/documentation/latex/class_b_n_o08x_rpt_step_counter__inherit__graph.pdf b/documentation/latex/class_b_n_o08x_rpt_step_counter__inherit__graph.pdf
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new file mode 100644
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diff --git a/documentation/latex/class_b_n_o08x_rpt_tap_detector.tex b/documentation/latex/class_b_n_o08x_rpt_tap_detector.tex
new file mode 100644
index 0000000..b3606c2
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x_rpt_tap_detector.tex
@@ -0,0 +1,115 @@
+\hypertarget{class_b_n_o08x_rpt_tap_detector}{}\doxysection{BNO08x\+Rpt\+Tap\+Detector Class Reference}
+\label{class_b_n_o08x_rpt_tap_detector}\index{BNO08xRptTapDetector@{BNO08xRptTapDetector}}
+
+
+Class to represent tap detector reports. (See Ref. Manual 6.\+5.\+27)  
+
+
+
+
+{\ttfamily \#include $<$report/\+BNO08x\+Rpt\+Tap\+Detector.\+hpp$>$}
+
+
+
+Inheritance diagram for BNO08x\+Rpt\+Tap\+Detector\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=211pt]{class_b_n_o08x_rpt_tap_detector__inherit__graph}
+\end{center}
+\end{figure}
+
+
+Collaboration diagram for BNO08x\+Rpt\+Tap\+Detector\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=211pt]{class_b_n_o08x_rpt_tap_detector__coll__graph}
+\end{center}
+\end{figure}
+\doxysubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{class_b_n_o08x_rpt_tap_detector_ad4761f72a20f120e545b941b6e198b6a}{BNO08x\+Rpt\+Tap\+Detector}} (uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\+\_\+bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$\mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\+\_\+ctx}})
+\item 
+bool \mbox{\hyperlink{class_b_n_o08x_rpt_tap_detector_ad8b716b7a2f2c2f52113eaaf75a391dc}{enable}} (uint32\+\_\+t time\+\_\+between\+\_\+reports, sh2\+\_\+\+Sensor\+Config\+\_\+t sensor\+\_\+cfg=BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg) override
+\begin{DoxyCompactList}\small\item\em Enables tap detector reports such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} begins sending them (only sends reports when a tap is detected). \end{DoxyCompactList}\item 
+\mbox{\hyperlink{structbno08x__tap__detector__t}{bno08x\+\_\+tap\+\_\+detector\+\_\+t}} \mbox{\hyperlink{class_b_n_o08x_rpt_tap_detector_ac0c0642fbb086a480edf32c92a470a2e}{get}} ()
+\begin{DoxyCompactList}\small\item\em Grabs most recent tap detector detector data. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Additional Inherited Members}
+
+
+\doxysubsection{Detailed Description}
+Class to represent tap detector reports. (See Ref. Manual 6.\+5.\+27) 
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_tap_detector_ad4761f72a20f120e545b941b6e198b6a}\label{class_b_n_o08x_rpt_tap_detector_ad4761f72a20f120e545b941b6e198b6a}} 
+\index{BNO08xRptTapDetector@{BNO08xRptTapDetector}!BNO08xRptTapDetector@{BNO08xRptTapDetector}}
+\index{BNO08xRptTapDetector@{BNO08xRptTapDetector}!BNO08xRptTapDetector@{BNO08xRptTapDetector}}
+\doxysubsubsection{\texorpdfstring{BNO08xRptTapDetector()}{BNO08xRptTapDetector()}}
+{\footnotesize\ttfamily BNO08x\+Rpt\+Tap\+Detector\+::\+BNO08x\+Rpt\+Tap\+Detector (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ID,  }\item[{Event\+Bits\+\_\+t}]{rpt\+\_\+bit,  }\item[{\mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$}]{sync\+\_\+ctx }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Function Documentation}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_tap_detector_ad8b716b7a2f2c2f52113eaaf75a391dc}\label{class_b_n_o08x_rpt_tap_detector_ad8b716b7a2f2c2f52113eaaf75a391dc}} 
+\index{BNO08xRptTapDetector@{BNO08xRptTapDetector}!enable@{enable}}
+\index{enable@{enable}!BNO08xRptTapDetector@{BNO08xRptTapDetector}}
+\doxysubsubsection{\texorpdfstring{enable()}{enable()}}
+{\footnotesize\ttfamily bool BNO08x\+Rpt\+Tap\+Detector\+::enable (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports,  }\item[{sh2\+\_\+\+Sensor\+Config\+\_\+t}]{sensor\+\_\+cfg = {\ttfamily BNO08xPrivateTypes\+:\+:default\+\_\+sensor\+\_\+cfg} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [override]}, {\ttfamily [virtual]}}
+
+
+
+Enables tap detector reports such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} begins sending them (only sends reports when a tap is detected). 
+
+
+\begin{DoxyParams}{Parameters}
+{\em time\+\_\+between\+\_\+reports} & The period/interval of the report in microseconds. \\
+\hline
+{\em sensor\+\_\+cfg} & Sensor special configuration (optional, see BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg for defaults).\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+True if report was successfully enabled. 
+\end{DoxyReturn}
+
+
+Implements \mbox{\hyperlink{class_b_n_o08x_rpt_a4ee529725467412df396d5c610ff7bb4}{BNO08x\+Rpt}}.
+
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_rpt_tap_detector_ad8b716b7a2f2c2f52113eaaf75a391dc_cgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_tap_detector_ac0c0642fbb086a480edf32c92a470a2e}\label{class_b_n_o08x_rpt_tap_detector_ac0c0642fbb086a480edf32c92a470a2e}} 
+\index{BNO08xRptTapDetector@{BNO08xRptTapDetector}!get@{get}}
+\index{get@{get}!BNO08xRptTapDetector@{BNO08xRptTapDetector}}
+\doxysubsubsection{\texorpdfstring{get()}{get()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__tap__detector__t}{bno08x\+\_\+tap\+\_\+detector\+\_\+t}} BNO08x\+Rpt\+Tap\+Detector\+::get (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Grabs most recent tap detector detector data. 
+
+\begin{DoxyReturn}{Returns}
+Struct containing requested data; 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_rpt_tap_detector_ac0c0642fbb086a480edf32c92a470a2e_cgraph}
+\end{center}
+\end{figure}
+
+
+The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
+\item 
+/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_tap_detector_8hpp}{BNO08x\+Rpt\+Tap\+Detector.\+hpp}}\item 
+report/\mbox{\hyperlink{_b_n_o08x_rpt_tap_detector_8cpp}{BNO08x\+Rpt\+Tap\+Detector.\+cpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/class_b_n_o08x_rpt_tap_detector__coll__graph.md5 b/documentation/latex/class_b_n_o08x_rpt_tap_detector__coll__graph.md5
new file mode 100644
index 0000000..83e8d50
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x_rpt_tap_detector__coll__graph.md5
@@ -0,0 +1 @@
+dfb17a910def6d4f8d284b31c20b7c99
\ No newline at end of file
diff --git a/documentation/latex/class_b_n_o08x_rpt_tap_detector__coll__graph.pdf b/documentation/latex/class_b_n_o08x_rpt_tap_detector__coll__graph.pdf
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diff --git a/documentation/latex/class_b_n_o08x_rpt_tap_detector__inherit__graph.md5 b/documentation/latex/class_b_n_o08x_rpt_tap_detector__inherit__graph.md5
new file mode 100644
index 0000000..e4e9e79
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diff --git a/documentation/latex/class_b_n_o08x_rpt_tap_detector__inherit__graph.pdf b/documentation/latex/class_b_n_o08x_rpt_tap_detector__inherit__graph.pdf
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diff --git a/documentation/latex/class_b_n_o08x_rpt_uncal_gyro.tex b/documentation/latex/class_b_n_o08x_rpt_uncal_gyro.tex
new file mode 100644
index 0000000..83344a3
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x_rpt_uncal_gyro.tex
@@ -0,0 +1,168 @@
+\hypertarget{class_b_n_o08x_rpt_uncal_gyro}{}\doxysection{BNO08x\+Rpt\+Uncal\+Gyro Class Reference}
+\label{class_b_n_o08x_rpt_uncal_gyro}\index{BNO08xRptUncalGyro@{BNO08xRptUncalGyro}}
+
+
+Class to represent uncalibrated gyro reports. (See Ref. Manual 6.\+5.\+14)  
+
+
+
+
+{\ttfamily \#include $<$report/\+BNO08x\+Rpt\+Uncal\+Gyro.\+hpp$>$}
+
+
+
+Inheritance diagram for BNO08x\+Rpt\+Uncal\+Gyro\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=204pt]{class_b_n_o08x_rpt_uncal_gyro__inherit__graph}
+\end{center}
+\end{figure}
+
+
+Collaboration diagram for BNO08x\+Rpt\+Uncal\+Gyro\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=204pt]{class_b_n_o08x_rpt_uncal_gyro__coll__graph}
+\end{center}
+\end{figure}
+\doxysubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{class_b_n_o08x_rpt_uncal_gyro_a3b728331f32e6ca7854c64b06ca28ea8}{BNO08x\+Rpt\+Uncal\+Gyro}} (uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\+\_\+bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$\mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\+\_\+ctx}})
+\item 
+bool \mbox{\hyperlink{class_b_n_o08x_rpt_uncal_gyro_a404d36091a61af543c6fec7b6e077706}{enable}} (uint32\+\_\+t time\+\_\+between\+\_\+reports, sh2\+\_\+\+Sensor\+Config\+\_\+t sensor\+\_\+cfg=BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg) override
+\begin{DoxyCompactList}\small\item\em Enables uncalibrated gyro reports such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} begins sending them. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_rpt_uncal_gyro_ae2fec54b70d897124720abe1dcccd793}{get}} (\mbox{\hyperlink{structbno08x__gyro__t}{bno08x\+\_\+gyro\+\_\+t}} \&vel, \mbox{\hyperlink{structbno08x__gyro__bias__t}{bno08x\+\_\+gyro\+\_\+bias\+\_\+t}} \&bias)
+\begin{DoxyCompactList}\small\item\em Grabs most recent uncalibrated gyroscope data, units are in rad/s. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{structbno08x__gyro__t}{bno08x\+\_\+gyro\+\_\+t}} \mbox{\hyperlink{class_b_n_o08x_rpt_uncal_gyro_a13c875a4ef09df3a82ac4bfa5109fdf7}{get\+\_\+vel}} ()
+\begin{DoxyCompactList}\small\item\em Grabs most recent uncalibrated gyroscope velocity data, units are in rad/s. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{structbno08x__gyro__bias__t}{bno08x\+\_\+gyro\+\_\+bias\+\_\+t}} \mbox{\hyperlink{class_b_n_o08x_rpt_uncal_gyro_a08b722174d100d1d9363eaf4989a8ecd}{get\+\_\+bias}} ()
+\begin{DoxyCompactList}\small\item\em Grabs most recent uncalibrated gyroscope bias data, units are in rad/s. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Additional Inherited Members}
+
+
+\doxysubsection{Detailed Description}
+Class to represent uncalibrated gyro reports. (See Ref. Manual 6.\+5.\+14) 
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_uncal_gyro_a3b728331f32e6ca7854c64b06ca28ea8}\label{class_b_n_o08x_rpt_uncal_gyro_a3b728331f32e6ca7854c64b06ca28ea8}} 
+\index{BNO08xRptUncalGyro@{BNO08xRptUncalGyro}!BNO08xRptUncalGyro@{BNO08xRptUncalGyro}}
+\index{BNO08xRptUncalGyro@{BNO08xRptUncalGyro}!BNO08xRptUncalGyro@{BNO08xRptUncalGyro}}
+\doxysubsubsection{\texorpdfstring{BNO08xRptUncalGyro()}{BNO08xRptUncalGyro()}}
+{\footnotesize\ttfamily BNO08x\+Rpt\+Uncal\+Gyro\+::\+BNO08x\+Rpt\+Uncal\+Gyro (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ID,  }\item[{Event\+Bits\+\_\+t}]{rpt\+\_\+bit,  }\item[{\mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$}]{sync\+\_\+ctx }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Function Documentation}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_uncal_gyro_a404d36091a61af543c6fec7b6e077706}\label{class_b_n_o08x_rpt_uncal_gyro_a404d36091a61af543c6fec7b6e077706}} 
+\index{BNO08xRptUncalGyro@{BNO08xRptUncalGyro}!enable@{enable}}
+\index{enable@{enable}!BNO08xRptUncalGyro@{BNO08xRptUncalGyro}}
+\doxysubsubsection{\texorpdfstring{enable()}{enable()}}
+{\footnotesize\ttfamily bool BNO08x\+Rpt\+Uncal\+Gyro\+::enable (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports,  }\item[{sh2\+\_\+\+Sensor\+Config\+\_\+t}]{sensor\+\_\+cfg = {\ttfamily BNO08xPrivateTypes\+:\+:default\+\_\+sensor\+\_\+cfg} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [override]}, {\ttfamily [virtual]}}
+
+
+
+Enables uncalibrated gyro reports such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} begins sending them. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em report\+\_\+period\+\_\+us} & The period/interval of the report in microseconds. \\
+\hline
+{\em sensor\+\_\+cfg} & Sensor special configuration (optional, see BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg for defaults).\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+True if report was successfully enabled. 
+\end{DoxyReturn}
+
+
+Implements \mbox{\hyperlink{class_b_n_o08x_rpt_a4ee529725467412df396d5c610ff7bb4}{BNO08x\+Rpt}}.
+
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_rpt_uncal_gyro_a404d36091a61af543c6fec7b6e077706_cgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_uncal_gyro_ae2fec54b70d897124720abe1dcccd793}\label{class_b_n_o08x_rpt_uncal_gyro_ae2fec54b70d897124720abe1dcccd793}} 
+\index{BNO08xRptUncalGyro@{BNO08xRptUncalGyro}!get@{get}}
+\index{get@{get}!BNO08xRptUncalGyro@{BNO08xRptUncalGyro}}
+\doxysubsubsection{\texorpdfstring{get()}{get()}}
+{\footnotesize\ttfamily void BNO08x\+Rpt\+Uncal\+Gyro\+::get (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{structbno08x__gyro__t}{bno08x\+\_\+gyro\+\_\+t}} \&}]{vel,  }\item[{\mbox{\hyperlink{structbno08x__gyro__bias__t}{bno08x\+\_\+gyro\+\_\+bias\+\_\+t}} \&}]{bias }\end{DoxyParamCaption})}
+
+
+
+Grabs most recent uncalibrated gyroscope data, units are in rad/s. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em vel} & Reference to save velocity data. \\
+\hline
+{\em bias} & Reference to save bias data.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_rpt_uncal_gyro_ae2fec54b70d897124720abe1dcccd793_cgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_uncal_gyro_a08b722174d100d1d9363eaf4989a8ecd}\label{class_b_n_o08x_rpt_uncal_gyro_a08b722174d100d1d9363eaf4989a8ecd}} 
+\index{BNO08xRptUncalGyro@{BNO08xRptUncalGyro}!get\_bias@{get\_bias}}
+\index{get\_bias@{get\_bias}!BNO08xRptUncalGyro@{BNO08xRptUncalGyro}}
+\doxysubsubsection{\texorpdfstring{get\_bias()}{get\_bias()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__gyro__bias__t}{bno08x\+\_\+gyro\+\_\+bias\+\_\+t}} BNO08x\+Rpt\+Uncal\+Gyro\+::get\+\_\+bias (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Grabs most recent uncalibrated gyroscope bias data, units are in rad/s. 
+
+\begin{DoxyReturn}{Returns}
+Struct containing requested data. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_rpt_uncal_gyro_a08b722174d100d1d9363eaf4989a8ecd_cgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_uncal_gyro_a13c875a4ef09df3a82ac4bfa5109fdf7}\label{class_b_n_o08x_rpt_uncal_gyro_a13c875a4ef09df3a82ac4bfa5109fdf7}} 
+\index{BNO08xRptUncalGyro@{BNO08xRptUncalGyro}!get\_vel@{get\_vel}}
+\index{get\_vel@{get\_vel}!BNO08xRptUncalGyro@{BNO08xRptUncalGyro}}
+\doxysubsubsection{\texorpdfstring{get\_vel()}{get\_vel()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__gyro__t}{bno08x\+\_\+gyro\+\_\+t}} BNO08x\+Rpt\+Uncal\+Gyro\+::get\+\_\+vel (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Grabs most recent uncalibrated gyroscope velocity data, units are in rad/s. 
+
+\begin{DoxyReturn}{Returns}
+Struct containing requested data. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_rpt_uncal_gyro_a13c875a4ef09df3a82ac4bfa5109fdf7_cgraph}
+\end{center}
+\end{figure}
+
+
+The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
+\item 
+/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_uncal_gyro_8hpp}{BNO08x\+Rpt\+Uncal\+Gyro.\+hpp}}\item 
+report/\mbox{\hyperlink{_b_n_o08x_rpt_uncal_gyro_8cpp}{BNO08x\+Rpt\+Uncal\+Gyro.\+cpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/class_b_n_o08x_rpt_uncal_gyro__coll__graph.md5 b/documentation/latex/class_b_n_o08x_rpt_uncal_gyro__coll__graph.md5
new file mode 100644
index 0000000..3a482b0
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x_rpt_uncal_gyro__coll__graph.md5
@@ -0,0 +1 @@
+c92870ef18d21646d20904fd41002b8f
\ No newline at end of file
diff --git a/documentation/latex/class_b_n_o08x_rpt_uncal_gyro__coll__graph.pdf b/documentation/latex/class_b_n_o08x_rpt_uncal_gyro__coll__graph.pdf
new file mode 100644
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diff --git a/documentation/latex/class_b_n_o08x_rpt_uncal_gyro__inherit__graph.pdf b/documentation/latex/class_b_n_o08x_rpt_uncal_gyro__inherit__graph.pdf
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diff --git a/documentation/latex/class_b_n_o08x_rpt_uncal_magnetometer.tex b/documentation/latex/class_b_n_o08x_rpt_uncal_magnetometer.tex
new file mode 100644
index 0000000..9f228ea
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x_rpt_uncal_magnetometer.tex
@@ -0,0 +1,168 @@
+\hypertarget{class_b_n_o08x_rpt_uncal_magnetometer}{}\doxysection{BNO08x\+Rpt\+Uncal\+Magnetometer Class Reference}
+\label{class_b_n_o08x_rpt_uncal_magnetometer}\index{BNO08xRptUncalMagnetometer@{BNO08xRptUncalMagnetometer}}
+
+
+Class to represent uncalibrated magnetometer reports. (See Ref. Manual 6.\+5.\+17)  
+
+
+
+
+{\ttfamily \#include $<$report/\+BNO08x\+Rpt\+Uncal\+Magnetometer.\+hpp$>$}
+
+
+
+Inheritance diagram for BNO08x\+Rpt\+Uncal\+Magnetometer\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=253pt]{class_b_n_o08x_rpt_uncal_magnetometer__inherit__graph}
+\end{center}
+\end{figure}
+
+
+Collaboration diagram for BNO08x\+Rpt\+Uncal\+Magnetometer\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=253pt]{class_b_n_o08x_rpt_uncal_magnetometer__coll__graph}
+\end{center}
+\end{figure}
+\doxysubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{class_b_n_o08x_rpt_uncal_magnetometer_a8ac1f7e58879febd738b85a8035411a0}{BNO08x\+Rpt\+Uncal\+Magnetometer}} (uint8\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_a63cd4ac9e96baa43eebe580f03307512}{ID}}, Event\+Bits\+\_\+t \mbox{\hyperlink{class_b_n_o08x_rpt_ae78feab5682a4697c5acad3ca6f12c2e}{rpt\+\_\+bit}}, \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$\mbox{\hyperlink{class_b_n_o08x_rpt_a5a1404a08918d66bb0f41f55220db6e5}{sync\+\_\+ctx}})
+\item 
+bool \mbox{\hyperlink{class_b_n_o08x_rpt_uncal_magnetometer_a80ae48107ca1cc27551fd799625f2867}{enable}} (uint32\+\_\+t time\+\_\+between\+\_\+reports, sh2\+\_\+\+Sensor\+Config\+\_\+t sensor\+\_\+cfg=BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg) override
+\begin{DoxyCompactList}\small\item\em Enables uncalibrated magnetometer reports such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} begins sending them. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{class_b_n_o08x_rpt_uncal_magnetometer_ad4d5abc8875955b6236bbe526be1e8fb}{get}} (\mbox{\hyperlink{structbno08x__magf__t}{bno08x\+\_\+magf\+\_\+t}} \&magf, \mbox{\hyperlink{structbno08x__magf__bias__t}{bno08x\+\_\+magf\+\_\+bias\+\_\+t}} \&bias)
+\begin{DoxyCompactList}\small\item\em Grabs most recent uncalibrated magnetometer data, units are in u\+Tesla. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{structbno08x__magf__t}{bno08x\+\_\+magf\+\_\+t}} \mbox{\hyperlink{class_b_n_o08x_rpt_uncal_magnetometer_ae5a99ef7523dcafc4638a538e141306b}{get\+\_\+magf}} ()
+\begin{DoxyCompactList}\small\item\em Grabs most recent uncalibrated magnetometer magnetic field data, units are in u\+Tesla. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{structbno08x__magf__bias__t}{bno08x\+\_\+magf\+\_\+bias\+\_\+t}} \mbox{\hyperlink{class_b_n_o08x_rpt_uncal_magnetometer_aa6818f72419eaebb55cba9ffec28c704}{get\+\_\+bias}} ()
+\begin{DoxyCompactList}\small\item\em Grabs most recent uncalibrated magnetometer bias data, units are in u\+Tesla. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Additional Inherited Members}
+
+
+\doxysubsection{Detailed Description}
+Class to represent uncalibrated magnetometer reports. (See Ref. Manual 6.\+5.\+17) 
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_uncal_magnetometer_a8ac1f7e58879febd738b85a8035411a0}\label{class_b_n_o08x_rpt_uncal_magnetometer_a8ac1f7e58879febd738b85a8035411a0}} 
+\index{BNO08xRptUncalMagnetometer@{BNO08xRptUncalMagnetometer}!BNO08xRptUncalMagnetometer@{BNO08xRptUncalMagnetometer}}
+\index{BNO08xRptUncalMagnetometer@{BNO08xRptUncalMagnetometer}!BNO08xRptUncalMagnetometer@{BNO08xRptUncalMagnetometer}}
+\doxysubsubsection{\texorpdfstring{BNO08xRptUncalMagnetometer()}{BNO08xRptUncalMagnetometer()}}
+{\footnotesize\ttfamily BNO08x\+Rpt\+Uncal\+Magnetometer\+::\+BNO08x\+Rpt\+Uncal\+Magnetometer (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ID,  }\item[{Event\+Bits\+\_\+t}]{rpt\+\_\+bit,  }\item[{\mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$}]{sync\+\_\+ctx }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Function Documentation}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_uncal_magnetometer_a80ae48107ca1cc27551fd799625f2867}\label{class_b_n_o08x_rpt_uncal_magnetometer_a80ae48107ca1cc27551fd799625f2867}} 
+\index{BNO08xRptUncalMagnetometer@{BNO08xRptUncalMagnetometer}!enable@{enable}}
+\index{enable@{enable}!BNO08xRptUncalMagnetometer@{BNO08xRptUncalMagnetometer}}
+\doxysubsubsection{\texorpdfstring{enable()}{enable()}}
+{\footnotesize\ttfamily bool BNO08x\+Rpt\+Uncal\+Magnetometer\+::enable (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{time\+\_\+between\+\_\+reports,  }\item[{sh2\+\_\+\+Sensor\+Config\+\_\+t}]{sensor\+\_\+cfg = {\ttfamily BNO08xPrivateTypes\+:\+:default\+\_\+sensor\+\_\+cfg} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [override]}, {\ttfamily [virtual]}}
+
+
+
+Enables uncalibrated magnetometer reports such that the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} begins sending them. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em report\+\_\+period\+\_\+us} & The period/interval of the report in microseconds. \\
+\hline
+{\em sensor\+\_\+cfg} & Sensor special configuration (optional, see BNO08x\+Private\+Types\+::default\+\_\+sensor\+\_\+cfg for defaults).\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+True if report was successfully enabled. 
+\end{DoxyReturn}
+
+
+Implements \mbox{\hyperlink{class_b_n_o08x_rpt_a4ee529725467412df396d5c610ff7bb4}{BNO08x\+Rpt}}.
+
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_rpt_uncal_magnetometer_a80ae48107ca1cc27551fd799625f2867_cgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_uncal_magnetometer_ad4d5abc8875955b6236bbe526be1e8fb}\label{class_b_n_o08x_rpt_uncal_magnetometer_ad4d5abc8875955b6236bbe526be1e8fb}} 
+\index{BNO08xRptUncalMagnetometer@{BNO08xRptUncalMagnetometer}!get@{get}}
+\index{get@{get}!BNO08xRptUncalMagnetometer@{BNO08xRptUncalMagnetometer}}
+\doxysubsubsection{\texorpdfstring{get()}{get()}}
+{\footnotesize\ttfamily void BNO08x\+Rpt\+Uncal\+Magnetometer\+::get (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{structbno08x__magf__t}{bno08x\+\_\+magf\+\_\+t}} \&}]{magf,  }\item[{\mbox{\hyperlink{structbno08x__magf__bias__t}{bno08x\+\_\+magf\+\_\+bias\+\_\+t}} \&}]{bias }\end{DoxyParamCaption})}
+
+
+
+Grabs most recent uncalibrated magnetometer data, units are in u\+Tesla. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em magf} & Struct to store requested magf data. \\
+\hline
+{\em bias} & Struct to store requested bias data.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_rpt_uncal_magnetometer_ad4d5abc8875955b6236bbe526be1e8fb_cgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_uncal_magnetometer_aa6818f72419eaebb55cba9ffec28c704}\label{class_b_n_o08x_rpt_uncal_magnetometer_aa6818f72419eaebb55cba9ffec28c704}} 
+\index{BNO08xRptUncalMagnetometer@{BNO08xRptUncalMagnetometer}!get\_bias@{get\_bias}}
+\index{get\_bias@{get\_bias}!BNO08xRptUncalMagnetometer@{BNO08xRptUncalMagnetometer}}
+\doxysubsubsection{\texorpdfstring{get\_bias()}{get\_bias()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__magf__bias__t}{bno08x\+\_\+magf\+\_\+bias\+\_\+t}} BNO08x\+Rpt\+Uncal\+Magnetometer\+::get\+\_\+bias (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Grabs most recent uncalibrated magnetometer bias data, units are in u\+Tesla. 
+
+\begin{DoxyReturn}{Returns}
+Struct containing requested data. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_rpt_uncal_magnetometer_aa6818f72419eaebb55cba9ffec28c704_cgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{class_b_n_o08x_rpt_uncal_magnetometer_ae5a99ef7523dcafc4638a538e141306b}\label{class_b_n_o08x_rpt_uncal_magnetometer_ae5a99ef7523dcafc4638a538e141306b}} 
+\index{BNO08xRptUncalMagnetometer@{BNO08xRptUncalMagnetometer}!get\_magf@{get\_magf}}
+\index{get\_magf@{get\_magf}!BNO08xRptUncalMagnetometer@{BNO08xRptUncalMagnetometer}}
+\doxysubsubsection{\texorpdfstring{get\_magf()}{get\_magf()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__magf__t}{bno08x\+\_\+magf\+\_\+t}} BNO08x\+Rpt\+Uncal\+Magnetometer\+::get\+\_\+magf (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+
+
+Grabs most recent uncalibrated magnetometer magnetic field data, units are in u\+Tesla. 
+
+\begin{DoxyReturn}{Returns}
+Struct containing requested data. 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_rpt_uncal_magnetometer_ae5a99ef7523dcafc4638a538e141306b_cgraph}
+\end{center}
+\end{figure}
+
+
+The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
+\item 
+/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_uncal_magnetometer_8hpp}{BNO08x\+Rpt\+Uncal\+Magnetometer.\+hpp}}\item 
+report/\mbox{\hyperlink{_b_n_o08x_rpt_uncal_magnetometer_8cpp}{BNO08x\+Rpt\+Uncal\+Magnetometer.\+cpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/class_b_n_o08x_rpt_uncal_magnetometer__coll__graph.md5 b/documentation/latex/class_b_n_o08x_rpt_uncal_magnetometer__coll__graph.md5
new file mode 100644
index 0000000..979fa3e
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x_rpt_uncal_magnetometer__coll__graph.md5
@@ -0,0 +1 @@
+85a807cbac66b6ad3781a51937a70fb0
\ No newline at end of file
diff --git a/documentation/latex/class_b_n_o08x_rpt_uncal_magnetometer__coll__graph.pdf b/documentation/latex/class_b_n_o08x_rpt_uncal_magnetometer__coll__graph.pdf
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diff --git a/documentation/latex/class_b_n_o08x_rpt_uncal_magnetometer__inherit__graph.md5 b/documentation/latex/class_b_n_o08x_rpt_uncal_magnetometer__inherit__graph.md5
new file mode 100644
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diff --git a/documentation/latex/class_b_n_o08x_rpt_uncal_magnetometer__inherit__graph.pdf b/documentation/latex/class_b_n_o08x_rpt_uncal_magnetometer__inherit__graph.pdf
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diff --git a/documentation/latex/class_b_n_o08x_s_h2_h_a_l.tex b/documentation/latex/class_b_n_o08x_s_h2_h_a_l.tex
new file mode 100644
index 0000000..e705732
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x_s_h2_h_a_l.tex
@@ -0,0 +1,190 @@
+\hypertarget{class_b_n_o08x_s_h2_h_a_l}{}\doxysection{BNO08x\+SH2\+HAL Class Reference}
+\label{class_b_n_o08x_s_h2_h_a_l}\index{BNO08xSH2HAL@{BNO08xSH2HAL}}
+
+
+Fully static class containing callback implementations for sh2 HAL lib.  
+
+
+
+
+{\ttfamily \#include $<$BNO08x\+SH2\+HAL.\+hpp$>$}
+
+\doxysubsection*{Static Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+static void \mbox{\hyperlink{class_b_n_o08x_s_h2_h_a_l_a236ccf0ff8d36060b465bc1f4f0a37fa}{set\+\_\+hal\+\_\+imu}} (\mbox{\hyperlink{class_b_n_o08x}{BNO08x}} $\ast$hal\+\_\+imu)
+\begin{DoxyCompactList}\small\item\em Sets the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} driver object to be used with sh2 HAL lib callbacks. \end{DoxyCompactList}\item 
+static int \mbox{\hyperlink{class_b_n_o08x_s_h2_h_a_l_ae079b1384cba806a778eb0e27f981da0}{spi\+\_\+open}} (sh2\+\_\+\+Hal\+\_\+t $\ast$self)
+\begin{DoxyCompactList}\small\item\em Opens SPI instance by waiting for interrupt. \end{DoxyCompactList}\item 
+static void \mbox{\hyperlink{class_b_n_o08x_s_h2_h_a_l_a5fa6b901d1790fcd7dc0905f62ae040f}{spi\+\_\+close}} (sh2\+\_\+\+Hal\+\_\+t $\ast$self)
+\begin{DoxyCompactList}\small\item\em Closes SPI instance (nothing to do here, but required by sh2 HAL lib for cases where other communication protocols are used.) \end{DoxyCompactList}\item 
+static int \mbox{\hyperlink{class_b_n_o08x_s_h2_h_a_l_a3e691461235b3e3c59866ac179d06f25}{spi\+\_\+read}} (sh2\+\_\+\+Hal\+\_\+t $\ast$self, uint8\+\_\+t $\ast$p\+Buffer, unsigned len, uint32\+\_\+t $\ast$t\+\_\+us)
+\begin{DoxyCompactList}\small\item\em SPI rx callback for sh2 HAL lib. \end{DoxyCompactList}\item 
+static int \mbox{\hyperlink{class_b_n_o08x_s_h2_h_a_l_a96d5b8fa7669f22cd0ecaf1feee13299}{spi\+\_\+write}} (sh2\+\_\+\+Hal\+\_\+t $\ast$self, uint8\+\_\+t $\ast$p\+Buffer, unsigned len)
+\begin{DoxyCompactList}\small\item\em SPI tx callback for sh2 HAL lib. \end{DoxyCompactList}\item 
+static uint32\+\_\+t \mbox{\hyperlink{class_b_n_o08x_s_h2_h_a_l_ad89b6a3166e2eee003ad87a517a31cd5}{get\+\_\+time\+\_\+us}} (sh2\+\_\+\+Hal\+\_\+t $\ast$self)
+\begin{DoxyCompactList}\small\item\em Get time in microseconds callback for sh2 HAL lib. \end{DoxyCompactList}\item 
+static void \mbox{\hyperlink{class_b_n_o08x_s_h2_h_a_l_a1add67e38698c9f33541af7bd2912d8f}{hal\+\_\+cb}} (void $\ast$cookie, sh2\+\_\+\+Async\+Event\+\_\+t $\ast$p\+Event)
+\begin{DoxyCompactList}\small\item\em General event callback for sh2 HAL lib, used to notify tasks of reset. \end{DoxyCompactList}\item 
+static void \mbox{\hyperlink{class_b_n_o08x_s_h2_h_a_l_a19c041ef614d7eda85b94b10202a3997}{sensor\+\_\+event\+\_\+cb}} (void $\ast$cookie, sh2\+\_\+\+Sensor\+Event\+\_\+t $\ast$event)
+\begin{DoxyCompactList}\small\item\em Sensor event callback for sh2 HAL lib, sends received reports to data\+\_\+proc\+\_\+task(). \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Fully static class containing callback implementations for sh2 HAL lib. 
+
+\doxysubsection{Member Function Documentation}
+\mbox{\Hypertarget{class_b_n_o08x_s_h2_h_a_l_ad89b6a3166e2eee003ad87a517a31cd5}\label{class_b_n_o08x_s_h2_h_a_l_ad89b6a3166e2eee003ad87a517a31cd5}} 
+\index{BNO08xSH2HAL@{BNO08xSH2HAL}!get\_time\_us@{get\_time\_us}}
+\index{get\_time\_us@{get\_time\_us}!BNO08xSH2HAL@{BNO08xSH2HAL}}
+\doxysubsubsection{\texorpdfstring{get\_time\_us()}{get\_time\_us()}}
+{\footnotesize\ttfamily uint32\+\_\+t BNO08x\+SH2\+HAL\+::get\+\_\+time\+\_\+us (\begin{DoxyParamCaption}\item[{sh2\+\_\+\+Hal\+\_\+t $\ast$}]{self }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [static]}}
+
+
+
+Get time in microseconds callback for sh2 HAL lib. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em self} & sh2 HAL lib object being used with \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} driver instance.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+Time in microseconds. 
+\end{DoxyReturn}
+\mbox{\Hypertarget{class_b_n_o08x_s_h2_h_a_l_a1add67e38698c9f33541af7bd2912d8f}\label{class_b_n_o08x_s_h2_h_a_l_a1add67e38698c9f33541af7bd2912d8f}} 
+\index{BNO08xSH2HAL@{BNO08xSH2HAL}!hal\_cb@{hal\_cb}}
+\index{hal\_cb@{hal\_cb}!BNO08xSH2HAL@{BNO08xSH2HAL}}
+\doxysubsubsection{\texorpdfstring{hal\_cb()}{hal\_cb()}}
+{\footnotesize\ttfamily void BNO08x\+SH2\+HAL\+::hal\+\_\+cb (\begin{DoxyParamCaption}\item[{void $\ast$}]{cookie,  }\item[{sh2\+\_\+\+Async\+Event\+\_\+t $\ast$}]{p\+Event }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [static]}}
+
+
+
+General event callback for sh2 HAL lib, used to notify tasks of reset. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em cookie} & User set input parameter as void pointer (unused), see sh2\+\_\+\+Open(). \\
+\hline
+{\em p\+Event} & Pointer to asynchronous event.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+\mbox{\Hypertarget{class_b_n_o08x_s_h2_h_a_l_a19c041ef614d7eda85b94b10202a3997}\label{class_b_n_o08x_s_h2_h_a_l_a19c041ef614d7eda85b94b10202a3997}} 
+\index{BNO08xSH2HAL@{BNO08xSH2HAL}!sensor\_event\_cb@{sensor\_event\_cb}}
+\index{sensor\_event\_cb@{sensor\_event\_cb}!BNO08xSH2HAL@{BNO08xSH2HAL}}
+\doxysubsubsection{\texorpdfstring{sensor\_event\_cb()}{sensor\_event\_cb()}}
+{\footnotesize\ttfamily void BNO08x\+SH2\+HAL\+::sensor\+\_\+event\+\_\+cb (\begin{DoxyParamCaption}\item[{void $\ast$}]{cookie,  }\item[{sh2\+\_\+\+Sensor\+Event\+\_\+t $\ast$}]{event }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [static]}}
+
+
+
+Sensor event callback for sh2 HAL lib, sends received reports to data\+\_\+proc\+\_\+task(). 
+
+
+\begin{DoxyParams}{Parameters}
+{\em cookie} & User set input parameter as void pointer (unused), see sh2\+\_\+\+Open(). \\
+\hline
+{\em event} & Pointer to sensor event.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+\mbox{\Hypertarget{class_b_n_o08x_s_h2_h_a_l_a236ccf0ff8d36060b465bc1f4f0a37fa}\label{class_b_n_o08x_s_h2_h_a_l_a236ccf0ff8d36060b465bc1f4f0a37fa}} 
+\index{BNO08xSH2HAL@{BNO08xSH2HAL}!set\_hal\_imu@{set\_hal\_imu}}
+\index{set\_hal\_imu@{set\_hal\_imu}!BNO08xSH2HAL@{BNO08xSH2HAL}}
+\doxysubsubsection{\texorpdfstring{set\_hal\_imu()}{set\_hal\_imu()}}
+{\footnotesize\ttfamily void BNO08x\+SH2\+HAL\+::set\+\_\+hal\+\_\+imu (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{class_b_n_o08x}{BNO08x}} $\ast$}]{hal\+\_\+imu }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [static]}}
+
+
+
+Sets the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} driver object to be used with sh2 HAL lib callbacks. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em hal\+\_\+imu} & Pointer to \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} driver object to be used with sh2 HAL lib callbacks.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+\mbox{\Hypertarget{class_b_n_o08x_s_h2_h_a_l_a5fa6b901d1790fcd7dc0905f62ae040f}\label{class_b_n_o08x_s_h2_h_a_l_a5fa6b901d1790fcd7dc0905f62ae040f}} 
+\index{BNO08xSH2HAL@{BNO08xSH2HAL}!spi\_close@{spi\_close}}
+\index{spi\_close@{spi\_close}!BNO08xSH2HAL@{BNO08xSH2HAL}}
+\doxysubsubsection{\texorpdfstring{spi\_close()}{spi\_close()}}
+{\footnotesize\ttfamily void BNO08x\+SH2\+HAL\+::spi\+\_\+close (\begin{DoxyParamCaption}\item[{sh2\+\_\+\+Hal\+\_\+t $\ast$}]{self }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [static]}}
+
+
+
+Closes SPI instance (nothing to do here, but required by sh2 HAL lib for cases where other communication protocols are used.) 
+
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+\mbox{\Hypertarget{class_b_n_o08x_s_h2_h_a_l_ae079b1384cba806a778eb0e27f981da0}\label{class_b_n_o08x_s_h2_h_a_l_ae079b1384cba806a778eb0e27f981da0}} 
+\index{BNO08xSH2HAL@{BNO08xSH2HAL}!spi\_open@{spi\_open}}
+\index{spi\_open@{spi\_open}!BNO08xSH2HAL@{BNO08xSH2HAL}}
+\doxysubsubsection{\texorpdfstring{spi\_open()}{spi\_open()}}
+{\footnotesize\ttfamily int BNO08x\+SH2\+HAL\+::spi\+\_\+open (\begin{DoxyParamCaption}\item[{sh2\+\_\+\+Hal\+\_\+t $\ast$}]{self }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [static]}}
+
+
+
+Opens SPI instance by waiting for interrupt. 
+
+\begin{DoxyReturn}{Returns}
+Always returns 0. 
+\end{DoxyReturn}
+\mbox{\Hypertarget{class_b_n_o08x_s_h2_h_a_l_a3e691461235b3e3c59866ac179d06f25}\label{class_b_n_o08x_s_h2_h_a_l_a3e691461235b3e3c59866ac179d06f25}} 
+\index{BNO08xSH2HAL@{BNO08xSH2HAL}!spi\_read@{spi\_read}}
+\index{spi\_read@{spi\_read}!BNO08xSH2HAL@{BNO08xSH2HAL}}
+\doxysubsubsection{\texorpdfstring{spi\_read()}{spi\_read()}}
+{\footnotesize\ttfamily int BNO08x\+SH2\+HAL\+::spi\+\_\+read (\begin{DoxyParamCaption}\item[{sh2\+\_\+\+Hal\+\_\+t $\ast$}]{self,  }\item[{uint8\+\_\+t $\ast$}]{p\+Buffer,  }\item[{unsigned}]{len,  }\item[{uint32\+\_\+t $\ast$}]{t\+\_\+us }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [static]}}
+
+
+
+SPI rx callback for sh2 HAL lib. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em self} & sh2 HAL lib object being used with \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} driver instance. \\
+\hline
+{\em p\+Buffer} & Buffer to store received packet. \\
+\hline
+{\em len} & Length of bytes to read. \\
+\hline
+{\em t\+\_\+us} & Time in microseconds (unused, forced sh2 HAL lib required function type)\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+Size of received packet in bytes, 0 on failure. 
+\end{DoxyReturn}
+\mbox{\Hypertarget{class_b_n_o08x_s_h2_h_a_l_a96d5b8fa7669f22cd0ecaf1feee13299}\label{class_b_n_o08x_s_h2_h_a_l_a96d5b8fa7669f22cd0ecaf1feee13299}} 
+\index{BNO08xSH2HAL@{BNO08xSH2HAL}!spi\_write@{spi\_write}}
+\index{spi\_write@{spi\_write}!BNO08xSH2HAL@{BNO08xSH2HAL}}
+\doxysubsubsection{\texorpdfstring{spi\_write()}{spi\_write()}}
+{\footnotesize\ttfamily int BNO08x\+SH2\+HAL\+::spi\+\_\+write (\begin{DoxyParamCaption}\item[{sh2\+\_\+\+Hal\+\_\+t $\ast$}]{self,  }\item[{uint8\+\_\+t $\ast$}]{p\+Buffer,  }\item[{unsigned}]{len }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [static]}}
+
+
+
+SPI tx callback for sh2 HAL lib. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em self} & sh2 HAL lib object being used with \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} driver instance. \\
+\hline
+{\em p\+Buffer} & Buffer containing data to write. \\
+\hline
+{\em len} & Length in bytes to write.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+Size of sent data (len param), 0 on failure. 
+\end{DoxyReturn}
+
+
+The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
+\item 
+/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\mbox{\hyperlink{_b_n_o08x_s_h2_h_a_l_8hpp}{BNO08x\+SH2\+HAL.\+hpp}}\item 
+\mbox{\hyperlink{_b_n_o08x_s_h2_h_a_l_8cpp}{BNO08x\+SH2\+HAL.\+cpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/class_b_n_o08x_test_helper.tex b/documentation/latex/class_b_n_o08x_test_helper.tex
new file mode 100644
index 0000000..05c9dd9
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x_test_helper.tex
@@ -0,0 +1,333 @@
+\hypertarget{class_b_n_o08x_test_helper}{}\doxysection{BNO08x\+Test\+Helper Class Reference}
+\label{class_b_n_o08x_test_helper}\index{BNO08xTestHelper@{BNO08xTestHelper}}
+
+
+\mbox{\hyperlink{class_b_n_o08x}{BNO08x}} unit test helper class.  
+
+
+
+
+{\ttfamily \#include $<$BNO08x\+Test\+Helper.\+hpp$>$}
+
+\doxysubsection*{Static Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+static void \mbox{\hyperlink{class_b_n_o08x_test_helper_a066f8389fd1c682ec9565ebc3060d885}{print\+\_\+test\+\_\+start\+\_\+banner}} (const char $\ast$TEST\+\_\+\+TAG)
+\begin{DoxyCompactList}\small\item\em Prints test begin banner. \end{DoxyCompactList}\item 
+static void \mbox{\hyperlink{class_b_n_o08x_test_helper_a16423fc3250e88eb5392800022f82919}{print\+\_\+test\+\_\+end\+\_\+banner}} (const char $\ast$TEST\+\_\+\+TAG)
+\begin{DoxyCompactList}\small\item\em Prints end begin banner. \end{DoxyCompactList}\item 
+static void \mbox{\hyperlink{class_b_n_o08x_test_helper_a23593453a05f7cac26fd341371197a8c}{print\+\_\+test\+\_\+msg}} (const char $\ast$TEST\+\_\+\+TAG, const char $\ast$msg)
+\begin{DoxyCompactList}\small\item\em Prints a message during a test. \end{DoxyCompactList}\item 
+static void \mbox{\hyperlink{class_b_n_o08x_test_helper_a9e2f9bf13f28f1a6ba87e86bc5947cf1}{set\+\_\+test\+\_\+imu\+\_\+cfg}} (\mbox{\hyperlink{structbno08x__config__t}{bno08x\+\_\+config\+\_\+t}} cfg)
+\begin{DoxyCompactList}\small\item\em Set test imu configuration used with \mbox{\hyperlink{class_b_n_o08x_test_helper_a6bd040c7d670a9713f2ab8a8a3913518}{create\+\_\+test\+\_\+imu()}} \end{DoxyCompactList}\item 
+static void \mbox{\hyperlink{class_b_n_o08x_test_helper_a6bd040c7d670a9713f2ab8a8a3913518}{create\+\_\+test\+\_\+imu}} ()
+\begin{DoxyCompactList}\small\item\em Calls \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} constructor and creates new test IMU on heap. \end{DoxyCompactList}\item 
+static void \mbox{\hyperlink{class_b_n_o08x_test_helper_ae2d6df7dcfdbd106c2247803461bbc40}{destroy\+\_\+test\+\_\+imu}} ()
+\begin{DoxyCompactList}\small\item\em Deletes test IMU calling deconstructor and releases heap allocated memory. \end{DoxyCompactList}\item 
+static \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} $\ast$ \mbox{\hyperlink{class_b_n_o08x_test_helper_a41a432a3fe288e45b6ab139a00bd7d6b}{get\+\_\+test\+\_\+imu}} ()
+\begin{DoxyCompactList}\small\item\em Deletes test IMU calling deconstructor and releases heap allocated memory. \end{DoxyCompactList}\item 
+static esp\+\_\+err\+\_\+t \mbox{\hyperlink{class_b_n_o08x_test_helper_a71d9fd7d459a98a7e9089a8587a21f8d}{call\+\_\+init\+\_\+config\+\_\+args}} ()
+\begin{DoxyCompactList}\small\item\em Used to call private BNO08x\+::init\+\_\+config\+\_\+args() member for tests. \end{DoxyCompactList}\item 
+static esp\+\_\+err\+\_\+t \mbox{\hyperlink{class_b_n_o08x_test_helper_a504749533ccd91890d73440809d38161}{call\+\_\+init\+\_\+gpio}} ()
+\begin{DoxyCompactList}\small\item\em Used to call private BNO08x\+::init\+\_\+gpio() member for tests. \end{DoxyCompactList}\item 
+static esp\+\_\+err\+\_\+t \mbox{\hyperlink{class_b_n_o08x_test_helper_a836c928981ac85d34668c9b97af17a15}{call\+\_\+init\+\_\+hint\+\_\+isr}} ()
+\begin{DoxyCompactList}\small\item\em Used to call private BNO08x\+::init\+\_\+hint\+\_\+isr() member for tests. \end{DoxyCompactList}\item 
+static esp\+\_\+err\+\_\+t \mbox{\hyperlink{class_b_n_o08x_test_helper_a7d2d784da1e850dab41154b35d7cdab5}{call\+\_\+init\+\_\+spi}} ()
+\begin{DoxyCompactList}\small\item\em Used to call private BNO08x\+::init\+\_\+spi() member for tests. \end{DoxyCompactList}\item 
+static esp\+\_\+err\+\_\+t \mbox{\hyperlink{class_b_n_o08x_test_helper_a935a69784981caf90b4e135e3e257db4}{call\+\_\+init\+\_\+tasks}} ()
+\begin{DoxyCompactList}\small\item\em Used to call private BNO08x\+::init\+\_\+tasks() member for tests. \end{DoxyCompactList}\item 
+static esp\+\_\+err\+\_\+t \mbox{\hyperlink{class_b_n_o08x_test_helper_a854c60f602fe6d9af1da1a07eee0a449}{call\+\_\+init\+\_\+sh2\+\_\+\+HAL}} ()
+\begin{DoxyCompactList}\small\item\em Used to call private BNO08x\+::init\+\_\+tasks() member for tests. \end{DoxyCompactList}\item 
+static esp\+\_\+err\+\_\+t \mbox{\hyperlink{class_b_n_o08x_test_helper_a347b8ca2697388394b7cb68c8895494b}{call\+\_\+deinit\+\_\+gpio}} ()
+\begin{DoxyCompactList}\small\item\em Used to call private BNO08x\+::deinit\+\_\+gpio() member for tests. \end{DoxyCompactList}\item 
+static esp\+\_\+err\+\_\+t \mbox{\hyperlink{class_b_n_o08x_test_helper_ac15a216ea5561b190f25f83caa749261}{call\+\_\+deinit\+\_\+hint\+\_\+isr}} ()
+\begin{DoxyCompactList}\small\item\em Used to call private BNO08x\+::deinit\+\_\+hint\+\_\+isr() member for tests. \end{DoxyCompactList}\item 
+static esp\+\_\+err\+\_\+t \mbox{\hyperlink{class_b_n_o08x_test_helper_a56ec98df9439461469bf0d2c23bb3868}{call\+\_\+deinit\+\_\+spi}} ()
+\begin{DoxyCompactList}\small\item\em Used to call private BNO08x\+::deinit\+\_\+spi() member for tests. \end{DoxyCompactList}\item 
+static esp\+\_\+err\+\_\+t \mbox{\hyperlink{class_b_n_o08x_test_helper_a3be103abfab70eef3c1b1609a0c46bec}{call\+\_\+deinit\+\_\+tasks}} ()
+\begin{DoxyCompactList}\small\item\em Used to call private BNO08x\+::deinit\+\_\+tasks() member for tests. \end{DoxyCompactList}\item 
+static esp\+\_\+err\+\_\+t \mbox{\hyperlink{class_b_n_o08x_test_helper_ab1f8d61956fbceecf0baf08cb878397d}{call\+\_\+deinit\+\_\+sh2\+\_\+\+HAL}} ()
+\begin{DoxyCompactList}\small\item\em Used to call private BNO08x\+::deinit\+\_\+tasks() member for tests. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+\mbox{\hyperlink{class_b_n_o08x}{BNO08x}} unit test helper class. 
+
+\doxysubsection{Member Function Documentation}
+\mbox{\Hypertarget{class_b_n_o08x_test_helper_a347b8ca2697388394b7cb68c8895494b}\label{class_b_n_o08x_test_helper_a347b8ca2697388394b7cb68c8895494b}} 
+\index{BNO08xTestHelper@{BNO08xTestHelper}!call\_deinit\_gpio@{call\_deinit\_gpio}}
+\index{call\_deinit\_gpio@{call\_deinit\_gpio}!BNO08xTestHelper@{BNO08xTestHelper}}
+\doxysubsubsection{\texorpdfstring{call\_deinit\_gpio()}{call\_deinit\_gpio()}}
+{\footnotesize\ttfamily static esp\+\_\+err\+\_\+t BNO08x\+Test\+Helper\+::call\+\_\+deinit\+\_\+gpio (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [static]}}
+
+
+
+Used to call private BNO08x\+::deinit\+\_\+gpio() member for tests. 
+
+\begin{DoxyReturn}{Returns}
+ESP\+\_\+\+OK if deinit succeeded. 
+\end{DoxyReturn}
+\mbox{\Hypertarget{class_b_n_o08x_test_helper_ac15a216ea5561b190f25f83caa749261}\label{class_b_n_o08x_test_helper_ac15a216ea5561b190f25f83caa749261}} 
+\index{BNO08xTestHelper@{BNO08xTestHelper}!call\_deinit\_hint\_isr@{call\_deinit\_hint\_isr}}
+\index{call\_deinit\_hint\_isr@{call\_deinit\_hint\_isr}!BNO08xTestHelper@{BNO08xTestHelper}}
+\doxysubsubsection{\texorpdfstring{call\_deinit\_hint\_isr()}{call\_deinit\_hint\_isr()}}
+{\footnotesize\ttfamily static esp\+\_\+err\+\_\+t BNO08x\+Test\+Helper\+::call\+\_\+deinit\+\_\+hint\+\_\+isr (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [static]}}
+
+
+
+Used to call private BNO08x\+::deinit\+\_\+hint\+\_\+isr() member for tests. 
+
+\begin{DoxyReturn}{Returns}
+ESP\+\_\+\+OK if deinit succeeded. 
+\end{DoxyReturn}
+\mbox{\Hypertarget{class_b_n_o08x_test_helper_ab1f8d61956fbceecf0baf08cb878397d}\label{class_b_n_o08x_test_helper_ab1f8d61956fbceecf0baf08cb878397d}} 
+\index{BNO08xTestHelper@{BNO08xTestHelper}!call\_deinit\_sh2\_HAL@{call\_deinit\_sh2\_HAL}}
+\index{call\_deinit\_sh2\_HAL@{call\_deinit\_sh2\_HAL}!BNO08xTestHelper@{BNO08xTestHelper}}
+\doxysubsubsection{\texorpdfstring{call\_deinit\_sh2\_HAL()}{call\_deinit\_sh2\_HAL()}}
+{\footnotesize\ttfamily static esp\+\_\+err\+\_\+t BNO08x\+Test\+Helper\+::call\+\_\+deinit\+\_\+sh2\+\_\+\+HAL (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [static]}}
+
+
+
+Used to call private BNO08x\+::deinit\+\_\+tasks() member for tests. 
+
+\begin{DoxyReturn}{Returns}
+ESP\+\_\+\+OK if deinit succeeded. 
+\end{DoxyReturn}
+\mbox{\Hypertarget{class_b_n_o08x_test_helper_a56ec98df9439461469bf0d2c23bb3868}\label{class_b_n_o08x_test_helper_a56ec98df9439461469bf0d2c23bb3868}} 
+\index{BNO08xTestHelper@{BNO08xTestHelper}!call\_deinit\_spi@{call\_deinit\_spi}}
+\index{call\_deinit\_spi@{call\_deinit\_spi}!BNO08xTestHelper@{BNO08xTestHelper}}
+\doxysubsubsection{\texorpdfstring{call\_deinit\_spi()}{call\_deinit\_spi()}}
+{\footnotesize\ttfamily static esp\+\_\+err\+\_\+t BNO08x\+Test\+Helper\+::call\+\_\+deinit\+\_\+spi (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [static]}}
+
+
+
+Used to call private BNO08x\+::deinit\+\_\+spi() member for tests. 
+
+\begin{DoxyReturn}{Returns}
+ESP\+\_\+\+OK if deinit succeeded. 
+\end{DoxyReturn}
+\mbox{\Hypertarget{class_b_n_o08x_test_helper_a3be103abfab70eef3c1b1609a0c46bec}\label{class_b_n_o08x_test_helper_a3be103abfab70eef3c1b1609a0c46bec}} 
+\index{BNO08xTestHelper@{BNO08xTestHelper}!call\_deinit\_tasks@{call\_deinit\_tasks}}
+\index{call\_deinit\_tasks@{call\_deinit\_tasks}!BNO08xTestHelper@{BNO08xTestHelper}}
+\doxysubsubsection{\texorpdfstring{call\_deinit\_tasks()}{call\_deinit\_tasks()}}
+{\footnotesize\ttfamily static esp\+\_\+err\+\_\+t BNO08x\+Test\+Helper\+::call\+\_\+deinit\+\_\+tasks (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [static]}}
+
+
+
+Used to call private BNO08x\+::deinit\+\_\+tasks() member for tests. 
+
+\begin{DoxyReturn}{Returns}
+ESP\+\_\+\+OK if deinit succeeded. 
+\end{DoxyReturn}
+\mbox{\Hypertarget{class_b_n_o08x_test_helper_a71d9fd7d459a98a7e9089a8587a21f8d}\label{class_b_n_o08x_test_helper_a71d9fd7d459a98a7e9089a8587a21f8d}} 
+\index{BNO08xTestHelper@{BNO08xTestHelper}!call\_init\_config\_args@{call\_init\_config\_args}}
+\index{call\_init\_config\_args@{call\_init\_config\_args}!BNO08xTestHelper@{BNO08xTestHelper}}
+\doxysubsubsection{\texorpdfstring{call\_init\_config\_args()}{call\_init\_config\_args()}}
+{\footnotesize\ttfamily static esp\+\_\+err\+\_\+t BNO08x\+Test\+Helper\+::call\+\_\+init\+\_\+config\+\_\+args (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [static]}}
+
+
+
+Used to call private BNO08x\+::init\+\_\+config\+\_\+args() member for tests. 
+
+\begin{DoxyReturn}{Returns}
+ESP\+\_\+\+OK if init succeeded. 
+\end{DoxyReturn}
+\mbox{\Hypertarget{class_b_n_o08x_test_helper_a504749533ccd91890d73440809d38161}\label{class_b_n_o08x_test_helper_a504749533ccd91890d73440809d38161}} 
+\index{BNO08xTestHelper@{BNO08xTestHelper}!call\_init\_gpio@{call\_init\_gpio}}
+\index{call\_init\_gpio@{call\_init\_gpio}!BNO08xTestHelper@{BNO08xTestHelper}}
+\doxysubsubsection{\texorpdfstring{call\_init\_gpio()}{call\_init\_gpio()}}
+{\footnotesize\ttfamily static esp\+\_\+err\+\_\+t BNO08x\+Test\+Helper\+::call\+\_\+init\+\_\+gpio (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [static]}}
+
+
+
+Used to call private BNO08x\+::init\+\_\+gpio() member for tests. 
+
+\begin{DoxyReturn}{Returns}
+ESP\+\_\+\+OK if init succeeded. 
+\end{DoxyReturn}
+\mbox{\Hypertarget{class_b_n_o08x_test_helper_a836c928981ac85d34668c9b97af17a15}\label{class_b_n_o08x_test_helper_a836c928981ac85d34668c9b97af17a15}} 
+\index{BNO08xTestHelper@{BNO08xTestHelper}!call\_init\_hint\_isr@{call\_init\_hint\_isr}}
+\index{call\_init\_hint\_isr@{call\_init\_hint\_isr}!BNO08xTestHelper@{BNO08xTestHelper}}
+\doxysubsubsection{\texorpdfstring{call\_init\_hint\_isr()}{call\_init\_hint\_isr()}}
+{\footnotesize\ttfamily static esp\+\_\+err\+\_\+t BNO08x\+Test\+Helper\+::call\+\_\+init\+\_\+hint\+\_\+isr (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [static]}}
+
+
+
+Used to call private BNO08x\+::init\+\_\+hint\+\_\+isr() member for tests. 
+
+\begin{DoxyReturn}{Returns}
+ESP\+\_\+\+OK if init succeeded. 
+\end{DoxyReturn}
+\mbox{\Hypertarget{class_b_n_o08x_test_helper_a854c60f602fe6d9af1da1a07eee0a449}\label{class_b_n_o08x_test_helper_a854c60f602fe6d9af1da1a07eee0a449}} 
+\index{BNO08xTestHelper@{BNO08xTestHelper}!call\_init\_sh2\_HAL@{call\_init\_sh2\_HAL}}
+\index{call\_init\_sh2\_HAL@{call\_init\_sh2\_HAL}!BNO08xTestHelper@{BNO08xTestHelper}}
+\doxysubsubsection{\texorpdfstring{call\_init\_sh2\_HAL()}{call\_init\_sh2\_HAL()}}
+{\footnotesize\ttfamily static esp\+\_\+err\+\_\+t BNO08x\+Test\+Helper\+::call\+\_\+init\+\_\+sh2\+\_\+\+HAL (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [static]}}
+
+
+
+Used to call private BNO08x\+::init\+\_\+tasks() member for tests. 
+
+\begin{DoxyReturn}{Returns}
+ESP\+\_\+\+OK if init succeeded. 
+\end{DoxyReturn}
+\mbox{\Hypertarget{class_b_n_o08x_test_helper_a7d2d784da1e850dab41154b35d7cdab5}\label{class_b_n_o08x_test_helper_a7d2d784da1e850dab41154b35d7cdab5}} 
+\index{BNO08xTestHelper@{BNO08xTestHelper}!call\_init\_spi@{call\_init\_spi}}
+\index{call\_init\_spi@{call\_init\_spi}!BNO08xTestHelper@{BNO08xTestHelper}}
+\doxysubsubsection{\texorpdfstring{call\_init\_spi()}{call\_init\_spi()}}
+{\footnotesize\ttfamily static esp\+\_\+err\+\_\+t BNO08x\+Test\+Helper\+::call\+\_\+init\+\_\+spi (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [static]}}
+
+
+
+Used to call private BNO08x\+::init\+\_\+spi() member for tests. 
+
+\begin{DoxyReturn}{Returns}
+ESP\+\_\+\+OK if init succeeded. 
+\end{DoxyReturn}
+\mbox{\Hypertarget{class_b_n_o08x_test_helper_a935a69784981caf90b4e135e3e257db4}\label{class_b_n_o08x_test_helper_a935a69784981caf90b4e135e3e257db4}} 
+\index{BNO08xTestHelper@{BNO08xTestHelper}!call\_init\_tasks@{call\_init\_tasks}}
+\index{call\_init\_tasks@{call\_init\_tasks}!BNO08xTestHelper@{BNO08xTestHelper}}
+\doxysubsubsection{\texorpdfstring{call\_init\_tasks()}{call\_init\_tasks()}}
+{\footnotesize\ttfamily static esp\+\_\+err\+\_\+t BNO08x\+Test\+Helper\+::call\+\_\+init\+\_\+tasks (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [static]}}
+
+
+
+Used to call private BNO08x\+::init\+\_\+tasks() member for tests. 
+
+\begin{DoxyReturn}{Returns}
+ESP\+\_\+\+OK if init succeeded. 
+\end{DoxyReturn}
+\mbox{\Hypertarget{class_b_n_o08x_test_helper_a6bd040c7d670a9713f2ab8a8a3913518}\label{class_b_n_o08x_test_helper_a6bd040c7d670a9713f2ab8a8a3913518}} 
+\index{BNO08xTestHelper@{BNO08xTestHelper}!create\_test\_imu@{create\_test\_imu}}
+\index{create\_test\_imu@{create\_test\_imu}!BNO08xTestHelper@{BNO08xTestHelper}}
+\doxysubsubsection{\texorpdfstring{create\_test\_imu()}{create\_test\_imu()}}
+{\footnotesize\ttfamily static void BNO08x\+Test\+Helper\+::create\+\_\+test\+\_\+imu (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [static]}}
+
+
+
+Calls \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} constructor and creates new test IMU on heap. 
+
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_test_helper_a6bd040c7d670a9713f2ab8a8a3913518_cgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{class_b_n_o08x_test_helper_ae2d6df7dcfdbd106c2247803461bbc40}\label{class_b_n_o08x_test_helper_ae2d6df7dcfdbd106c2247803461bbc40}} 
+\index{BNO08xTestHelper@{BNO08xTestHelper}!destroy\_test\_imu@{destroy\_test\_imu}}
+\index{destroy\_test\_imu@{destroy\_test\_imu}!BNO08xTestHelper@{BNO08xTestHelper}}
+\doxysubsubsection{\texorpdfstring{destroy\_test\_imu()}{destroy\_test\_imu()}}
+{\footnotesize\ttfamily static void BNO08x\+Test\+Helper\+::destroy\+\_\+test\+\_\+imu (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [static]}}
+
+
+
+Deletes test IMU calling deconstructor and releases heap allocated memory. 
+
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_test_helper_ae2d6df7dcfdbd106c2247803461bbc40_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{class_b_n_o08x_test_helper_a41a432a3fe288e45b6ab139a00bd7d6b}\label{class_b_n_o08x_test_helper_a41a432a3fe288e45b6ab139a00bd7d6b}} 
+\index{BNO08xTestHelper@{BNO08xTestHelper}!get\_test\_imu@{get\_test\_imu}}
+\index{get\_test\_imu@{get\_test\_imu}!BNO08xTestHelper@{BNO08xTestHelper}}
+\doxysubsubsection{\texorpdfstring{get\_test\_imu()}{get\_test\_imu()}}
+{\footnotesize\ttfamily static \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} $\ast$ BNO08x\+Test\+Helper\+::get\+\_\+test\+\_\+imu (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [static]}}
+
+
+
+Deletes test IMU calling deconstructor and releases heap allocated memory. 
+
+\begin{DoxyReturn}{Returns}
+Pointer to \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} IMU object to test. 
+\end{DoxyReturn}
+\mbox{\Hypertarget{class_b_n_o08x_test_helper_a16423fc3250e88eb5392800022f82919}\label{class_b_n_o08x_test_helper_a16423fc3250e88eb5392800022f82919}} 
+\index{BNO08xTestHelper@{BNO08xTestHelper}!print\_test\_end\_banner@{print\_test\_end\_banner}}
+\index{print\_test\_end\_banner@{print\_test\_end\_banner}!BNO08xTestHelper@{BNO08xTestHelper}}
+\doxysubsubsection{\texorpdfstring{print\_test\_end\_banner()}{print\_test\_end\_banner()}}
+{\footnotesize\ttfamily static void BNO08x\+Test\+Helper\+::print\+\_\+test\+\_\+end\+\_\+banner (\begin{DoxyParamCaption}\item[{const char $\ast$}]{TEST\+\_\+\+TAG }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [static]}}
+
+
+
+Prints end begin banner. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em TEST\+\_\+\+TAG} & String containing test name.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+\mbox{\Hypertarget{class_b_n_o08x_test_helper_a23593453a05f7cac26fd341371197a8c}\label{class_b_n_o08x_test_helper_a23593453a05f7cac26fd341371197a8c}} 
+\index{BNO08xTestHelper@{BNO08xTestHelper}!print\_test\_msg@{print\_test\_msg}}
+\index{print\_test\_msg@{print\_test\_msg}!BNO08xTestHelper@{BNO08xTestHelper}}
+\doxysubsubsection{\texorpdfstring{print\_test\_msg()}{print\_test\_msg()}}
+{\footnotesize\ttfamily static void BNO08x\+Test\+Helper\+::print\+\_\+test\+\_\+msg (\begin{DoxyParamCaption}\item[{const char $\ast$}]{TEST\+\_\+\+TAG,  }\item[{const char $\ast$}]{msg }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [static]}}
+
+
+
+Prints a message during a test. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em TEST\+\_\+\+TAG} & String containing test name. \\
+\hline
+{\em msg} & String containing message to print.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+\mbox{\Hypertarget{class_b_n_o08x_test_helper_a066f8389fd1c682ec9565ebc3060d885}\label{class_b_n_o08x_test_helper_a066f8389fd1c682ec9565ebc3060d885}} 
+\index{BNO08xTestHelper@{BNO08xTestHelper}!print\_test\_start\_banner@{print\_test\_start\_banner}}
+\index{print\_test\_start\_banner@{print\_test\_start\_banner}!BNO08xTestHelper@{BNO08xTestHelper}}
+\doxysubsubsection{\texorpdfstring{print\_test\_start\_banner()}{print\_test\_start\_banner()}}
+{\footnotesize\ttfamily static void BNO08x\+Test\+Helper\+::print\+\_\+test\+\_\+start\+\_\+banner (\begin{DoxyParamCaption}\item[{const char $\ast$}]{TEST\+\_\+\+TAG }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [static]}}
+
+
+
+Prints test begin banner. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em TEST\+\_\+\+TAG} & String containing test name.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+\mbox{\Hypertarget{class_b_n_o08x_test_helper_a9e2f9bf13f28f1a6ba87e86bc5947cf1}\label{class_b_n_o08x_test_helper_a9e2f9bf13f28f1a6ba87e86bc5947cf1}} 
+\index{BNO08xTestHelper@{BNO08xTestHelper}!set\_test\_imu\_cfg@{set\_test\_imu\_cfg}}
+\index{set\_test\_imu\_cfg@{set\_test\_imu\_cfg}!BNO08xTestHelper@{BNO08xTestHelper}}
+\doxysubsubsection{\texorpdfstring{set\_test\_imu\_cfg()}{set\_test\_imu\_cfg()}}
+{\footnotesize\ttfamily static void BNO08x\+Test\+Helper\+::set\+\_\+test\+\_\+imu\+\_\+cfg (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{structbno08x__config__t}{bno08x\+\_\+config\+\_\+t}}}]{cfg }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [static]}}
+
+
+
+Set test imu configuration used with \mbox{\hyperlink{class_b_n_o08x_test_helper_a6bd040c7d670a9713f2ab8a8a3913518}{create\+\_\+test\+\_\+imu()}} 
+
+
+\begin{DoxyParams}{Parameters}
+{\em cfg} & String containing test name.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+void, nothing to return 
+\end{DoxyReturn}
+
+
+The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\mbox{\hyperlink{_b_n_o08x_test_helper_8hpp}{BNO08x\+Test\+Helper.\+hpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/class_b_n_o08x_test_helper_a6bd040c7d670a9713f2ab8a8a3913518_cgraph.md5 b/documentation/latex/class_b_n_o08x_test_helper_a6bd040c7d670a9713f2ab8a8a3913518_cgraph.md5
new file mode 100644
index 0000000..e6282ba
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x_test_helper_a6bd040c7d670a9713f2ab8a8a3913518_cgraph.md5
@@ -0,0 +1 @@
+e96e323a56fe016372a410d592e18887
\ No newline at end of file
diff --git a/documentation/latex/class_b_n_o08x_test_helper_a6bd040c7d670a9713f2ab8a8a3913518_cgraph.pdf b/documentation/latex/class_b_n_o08x_test_helper_a6bd040c7d670a9713f2ab8a8a3913518_cgraph.pdf
new file mode 100644
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diff --git a/documentation/latex/class_b_n_o08x_test_suite.tex b/documentation/latex/class_b_n_o08x_test_suite.tex
new file mode 100644
index 0000000..d046a2f
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x_test_suite.tex
@@ -0,0 +1,121 @@
+\hypertarget{class_b_n_o08x_test_suite}{}\doxysection{BNO08x\+Test\+Suite Class Reference}
+\label{class_b_n_o08x_test_suite}\index{BNO08xTestSuite@{BNO08xTestSuite}}
+
+
+\mbox{\hyperlink{class_b_n_o08x}{BNO08x}} unit test launch point class.  
+
+
+
+
+{\ttfamily \#include $<$BNO08x\+Test\+Suite.\+hpp$>$}
+
+\doxysubsection*{Static Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+static void \mbox{\hyperlink{class_b_n_o08x_test_suite_ac12545fe311a98e9c0ae6fea77da95fd}{run\+\_\+all\+\_\+tests}} ()
+\item 
+static void \mbox{\hyperlink{class_b_n_o08x_test_suite_a53de9b0fe1b28c18e3a1ca4c68a06f16}{run\+\_\+init\+\_\+deinit\+\_\+tests}} (bool call\+\_\+unity\+\_\+end\+\_\+begin=true)
+\item 
+static void \mbox{\hyperlink{class_b_n_o08x_test_suite_a37899d7bf67fce5c3dd77dd5647f8ecb}{run\+\_\+single\+\_\+report\+\_\+tests}} (bool call\+\_\+unity\+\_\+end\+\_\+begin=true)
+\item 
+static void \mbox{\hyperlink{class_b_n_o08x_test_suite_a916cff374791381de61f1035f9935ac5}{run\+\_\+multi\+\_\+report\+\_\+tests}} (bool call\+\_\+unity\+\_\+end\+\_\+begin=true)
+\item 
+static void \mbox{\hyperlink{class_b_n_o08x_test_suite_a8e294955bf512e2e88c086f04f6030a8}{run\+\_\+callback\+\_\+tests}} (bool call\+\_\+unity\+\_\+end\+\_\+begin=true)
+\item 
+static void \mbox{\hyperlink{class_b_n_o08x_test_suite_a8d7a3485fdf1ff9c0a09736654187434}{run\+\_\+feature\+\_\+tests}} (bool call\+\_\+unity\+\_\+end\+\_\+begin=true)
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+\mbox{\hyperlink{class_b_n_o08x}{BNO08x}} unit test launch point class. 
+
+\doxysubsection{Member Function Documentation}
+\mbox{\Hypertarget{class_b_n_o08x_test_suite_ac12545fe311a98e9c0ae6fea77da95fd}\label{class_b_n_o08x_test_suite_ac12545fe311a98e9c0ae6fea77da95fd}} 
+\index{BNO08xTestSuite@{BNO08xTestSuite}!run\_all\_tests@{run\_all\_tests}}
+\index{run\_all\_tests@{run\_all\_tests}!BNO08xTestSuite@{BNO08xTestSuite}}
+\doxysubsubsection{\texorpdfstring{run\_all\_tests()}{run\_all\_tests()}}
+{\footnotesize\ttfamily static void BNO08x\+Test\+Suite\+::run\+\_\+all\+\_\+tests (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [static]}}
+
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_test_suite_ac12545fe311a98e9c0ae6fea77da95fd_cgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{class_b_n_o08x_test_suite_a8e294955bf512e2e88c086f04f6030a8}\label{class_b_n_o08x_test_suite_a8e294955bf512e2e88c086f04f6030a8}} 
+\index{BNO08xTestSuite@{BNO08xTestSuite}!run\_callback\_tests@{run\_callback\_tests}}
+\index{run\_callback\_tests@{run\_callback\_tests}!BNO08xTestSuite@{BNO08xTestSuite}}
+\doxysubsubsection{\texorpdfstring{run\_callback\_tests()}{run\_callback\_tests()}}
+{\footnotesize\ttfamily static void BNO08x\+Test\+Suite\+::run\+\_\+callback\+\_\+tests (\begin{DoxyParamCaption}\item[{bool}]{call\+\_\+unity\+\_\+end\+\_\+begin = {\ttfamily true} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [static]}}
+
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_test_suite_a8e294955bf512e2e88c086f04f6030a8_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{class_b_n_o08x_test_suite_a8d7a3485fdf1ff9c0a09736654187434}\label{class_b_n_o08x_test_suite_a8d7a3485fdf1ff9c0a09736654187434}} 
+\index{BNO08xTestSuite@{BNO08xTestSuite}!run\_feature\_tests@{run\_feature\_tests}}
+\index{run\_feature\_tests@{run\_feature\_tests}!BNO08xTestSuite@{BNO08xTestSuite}}
+\doxysubsubsection{\texorpdfstring{run\_feature\_tests()}{run\_feature\_tests()}}
+{\footnotesize\ttfamily static void BNO08x\+Test\+Suite\+::run\+\_\+feature\+\_\+tests (\begin{DoxyParamCaption}\item[{bool}]{call\+\_\+unity\+\_\+end\+\_\+begin = {\ttfamily true} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [static]}}
+
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_test_suite_a8d7a3485fdf1ff9c0a09736654187434_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{class_b_n_o08x_test_suite_a53de9b0fe1b28c18e3a1ca4c68a06f16}\label{class_b_n_o08x_test_suite_a53de9b0fe1b28c18e3a1ca4c68a06f16}} 
+\index{BNO08xTestSuite@{BNO08xTestSuite}!run\_init\_deinit\_tests@{run\_init\_deinit\_tests}}
+\index{run\_init\_deinit\_tests@{run\_init\_deinit\_tests}!BNO08xTestSuite@{BNO08xTestSuite}}
+\doxysubsubsection{\texorpdfstring{run\_init\_deinit\_tests()}{run\_init\_deinit\_tests()}}
+{\footnotesize\ttfamily static void BNO08x\+Test\+Suite\+::run\+\_\+init\+\_\+deinit\+\_\+tests (\begin{DoxyParamCaption}\item[{bool}]{call\+\_\+unity\+\_\+end\+\_\+begin = {\ttfamily true} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [static]}}
+
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_test_suite_a53de9b0fe1b28c18e3a1ca4c68a06f16_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{class_b_n_o08x_test_suite_a916cff374791381de61f1035f9935ac5}\label{class_b_n_o08x_test_suite_a916cff374791381de61f1035f9935ac5}} 
+\index{BNO08xTestSuite@{BNO08xTestSuite}!run\_multi\_report\_tests@{run\_multi\_report\_tests}}
+\index{run\_multi\_report\_tests@{run\_multi\_report\_tests}!BNO08xTestSuite@{BNO08xTestSuite}}
+\doxysubsubsection{\texorpdfstring{run\_multi\_report\_tests()}{run\_multi\_report\_tests()}}
+{\footnotesize\ttfamily static void BNO08x\+Test\+Suite\+::run\+\_\+multi\+\_\+report\+\_\+tests (\begin{DoxyParamCaption}\item[{bool}]{call\+\_\+unity\+\_\+end\+\_\+begin = {\ttfamily true} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [static]}}
+
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_test_suite_a916cff374791381de61f1035f9935ac5_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{class_b_n_o08x_test_suite_a37899d7bf67fce5c3dd77dd5647f8ecb}\label{class_b_n_o08x_test_suite_a37899d7bf67fce5c3dd77dd5647f8ecb}} 
+\index{BNO08xTestSuite@{BNO08xTestSuite}!run\_single\_report\_tests@{run\_single\_report\_tests}}
+\index{run\_single\_report\_tests@{run\_single\_report\_tests}!BNO08xTestSuite@{BNO08xTestSuite}}
+\doxysubsubsection{\texorpdfstring{run\_single\_report\_tests()}{run\_single\_report\_tests()}}
+{\footnotesize\ttfamily static void BNO08x\+Test\+Suite\+::run\+\_\+single\+\_\+report\+\_\+tests (\begin{DoxyParamCaption}\item[{bool}]{call\+\_\+unity\+\_\+end\+\_\+begin = {\ttfamily true} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [static]}}
+
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{class_b_n_o08x_test_suite_a37899d7bf67fce5c3dd77dd5647f8ecb_icgraph}
+\end{center}
+\end{figure}
+
+
+The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\mbox{\hyperlink{_b_n_o08x_test_suite_8hpp}{BNO08x\+Test\+Suite.\+hpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/class_b_n_o08x_test_suite_a37899d7bf67fce5c3dd77dd5647f8ecb_icgraph.md5 b/documentation/latex/class_b_n_o08x_test_suite_a37899d7bf67fce5c3dd77dd5647f8ecb_icgraph.md5
new file mode 100644
index 0000000..f167593
--- /dev/null
+++ b/documentation/latex/class_b_n_o08x_test_suite_a37899d7bf67fce5c3dd77dd5647f8ecb_icgraph.md5
@@ -0,0 +1 @@
+ebbdbeeb4c7ce8fdad685f03847f3057
\ No newline at end of file
diff --git a/documentation/latex/class_b_n_o08x_test_suite_a37899d7bf67fce5c3dd77dd5647f8ecb_icgraph.pdf b/documentation/latex/class_b_n_o08x_test_suite_a37899d7bf67fce5c3dd77dd5647f8ecb_icgraph.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..881c65ca4d36ab1f8c2cc06971e68910d64460b5
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new file mode 100644
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diff --git a/documentation/latex/dir_265603ded410f2aca2b4448eafbf9ea2.tex b/documentation/latex/dir_265603ded410f2aca2b4448eafbf9ea2.tex
new file mode 100644
index 0000000..62a9ce7
--- /dev/null
+++ b/documentation/latex/dir_265603ded410f2aca2b4448eafbf9ea2.tex
@@ -0,0 +1,19 @@
+\hypertarget{dir_265603ded410f2aca2b4448eafbf9ea2}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/callback Directory Reference}
+\label{dir_265603ded410f2aca2b4448eafbf9ea2}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/callback Directory Reference@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/callback Directory Reference}}
+Directory dependency graph for callback\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=170pt]{dir_265603ded410f2aca2b4448eafbf9ea2_dep}
+\end{center}
+\end{figure}
+\doxysubsection*{Files}
+\begin{DoxyCompactItemize}
+\item 
+file \mbox{\hyperlink{_b_n_o08x_cb_generic_8hpp}{BNO08x\+Cb\+Generic.\+hpp}}
+\item 
+file \mbox{\hyperlink{_b_n_o08x_cb_param_rpt_i_d_8hpp}{BNO08x\+Cb\+Param\+Rpt\+ID.\+hpp}}
+\item 
+file \mbox{\hyperlink{_b_n_o08x_cb_param_void_8hpp}{BNO08x\+Cb\+Param\+Void.\+hpp}}
+\end{DoxyCompactItemize}
diff --git a/documentation/latex/dir_265603ded410f2aca2b4448eafbf9ea2_dep.md5 b/documentation/latex/dir_265603ded410f2aca2b4448eafbf9ea2_dep.md5
new file mode 100644
index 0000000..2be20d8
--- /dev/null
+++ b/documentation/latex/dir_265603ded410f2aca2b4448eafbf9ea2_dep.md5
@@ -0,0 +1 @@
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diff --git a/documentation/latex/dir_7f19fe0488f3daa36ae73de472a8d793.tex b/documentation/latex/dir_7f19fe0488f3daa36ae73de472a8d793.tex
new file mode 100644
index 0000000..6cabef1
--- /dev/null
+++ b/documentation/latex/dir_7f19fe0488f3daa36ae73de472a8d793.tex
@@ -0,0 +1,61 @@
+\hypertarget{dir_7f19fe0488f3daa36ae73de472a8d793}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report Directory Reference}
+\label{dir_7f19fe0488f3daa36ae73de472a8d793}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report Directory Reference@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include/report Directory Reference}}
+Directory dependency graph for report\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=166pt]{dir_7f19fe0488f3daa36ae73de472a8d793_dep}
+\end{center}
+\end{figure}
+\doxysubsection*{Files}
+\begin{DoxyCompactItemize}
+\item 
+file \mbox{\hyperlink{_b_n_o08x_reports_8hpp}{BNO08x\+Reports.\+hpp}}
+\item 
+file \mbox{\hyperlink{_b_n_o08x_rpt_8hpp}{BNO08x\+Rpt.\+hpp}}
+\item 
+file \mbox{\hyperlink{_b_n_o08x_rpt_acceleration_8hpp}{BNO08x\+Rpt\+Acceleration.\+hpp}}
+\item 
+file \mbox{\hyperlink{_b_n_o08x_rpt_activity_classifier_8hpp}{BNO08x\+Rpt\+Activity\+Classifier.\+hpp}}
+\item 
+file \mbox{\hyperlink{_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8hpp}{BNO08x\+Rpt\+ARVRStabilized\+Game\+RV.\+hpp}}
+\item 
+file \mbox{\hyperlink{_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8hpp}{BNO08x\+Rpt\+ARVRStabilized\+RV.\+hpp}}
+\item 
+file \mbox{\hyperlink{_b_n_o08x_rpt_cal_gyro_8hpp}{BNO08x\+Rpt\+Cal\+Gyro.\+hpp}}
+\item 
+file \mbox{\hyperlink{_b_n_o08x_rpt_cal_magnetometer_8hpp}{BNO08x\+Rpt\+Cal\+Magnetometer.\+hpp}}
+\item 
+file \mbox{\hyperlink{_b_n_o08x_rpt_game_r_v_8hpp}{BNO08x\+Rpt\+Game\+RV.\+hpp}}
+\item 
+file \mbox{\hyperlink{_b_n_o08x_rpt_gravity_8hpp}{BNO08x\+Rpt\+Gravity.\+hpp}}
+\item 
+file \mbox{\hyperlink{_b_n_o08x_rpt_i_gyro_r_v_8hpp}{BNO08x\+Rpt\+IGyro\+RV.\+hpp}}
+\item 
+file \mbox{\hyperlink{_b_n_o08x_rpt_linear_acceleration_8hpp}{BNO08x\+Rpt\+Linear\+Acceleration.\+hpp}}
+\item 
+file \mbox{\hyperlink{_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8hpp}{BNO08x\+Rpt\+Raw\+MEMSAccelerometer.\+hpp}}
+\item 
+file \mbox{\hyperlink{_b_n_o08x_rpt_raw_m_e_m_s_gyro_8hpp}{BNO08x\+Rpt\+Raw\+MEMSGyro.\+hpp}}
+\item 
+file \mbox{\hyperlink{_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8hpp}{BNO08x\+Rpt\+Raw\+MEMSMagnetometer.\+hpp}}
+\item 
+file \mbox{\hyperlink{_b_n_o08x_rpt_r_v_8hpp}{BNO08x\+Rpt\+RV.\+hpp}}
+\item 
+file \mbox{\hyperlink{_b_n_o08x_rpt_r_v_generic_8hpp}{BNO08x\+Rpt\+RVGeneric.\+hpp}}
+\item 
+file \mbox{\hyperlink{_b_n_o08x_rpt_r_v_geomag_8hpp}{BNO08x\+Rpt\+RVGeomag.\+hpp}}
+\item 
+file \mbox{\hyperlink{_b_n_o08x_rpt_shake_detector_8hpp}{BNO08x\+Rpt\+Shake\+Detector.\+hpp}}
+\item 
+file \mbox{\hyperlink{_b_n_o08x_rpt_stability_classifier_8hpp}{BNO08x\+Rpt\+Stability\+Classifier.\+hpp}}
+\item 
+file \mbox{\hyperlink{_b_n_o08x_rpt_step_counter_8hpp}{BNO08x\+Rpt\+Step\+Counter.\+hpp}}
+\item 
+file \mbox{\hyperlink{_b_n_o08x_rpt_tap_detector_8hpp}{BNO08x\+Rpt\+Tap\+Detector.\+hpp}}
+\item 
+file \mbox{\hyperlink{_b_n_o08x_rpt_uncal_gyro_8hpp}{BNO08x\+Rpt\+Uncal\+Gyro.\+hpp}}
+\item 
+file \mbox{\hyperlink{_b_n_o08x_rpt_uncal_magnetometer_8hpp}{BNO08x\+Rpt\+Uncal\+Magnetometer.\+hpp}}
+\end{DoxyCompactItemize}
diff --git a/documentation/latex/dir_7f19fe0488f3daa36ae73de472a8d793_dep.md5 b/documentation/latex/dir_7f19fe0488f3daa36ae73de472a8d793_dep.md5
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diff --git a/documentation/latex/dir_d44c64559bbebec7f509842c48db8b23.tex b/documentation/latex/dir_d44c64559bbebec7f509842c48db8b23.tex
new file mode 100644
index 0000000..26714e2
--- /dev/null
+++ b/documentation/latex/dir_d44c64559bbebec7f509842c48db8b23.tex
@@ -0,0 +1,32 @@
+\hypertarget{dir_d44c64559bbebec7f509842c48db8b23}{}\doxysection{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include Directory Reference}
+\label{dir_d44c64559bbebec7f509842c48db8b23}\index{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include Directory Reference@{/media/develop/git/imu\_pr\_cleanup/components/esp32\_BNO08x/include Directory Reference}}
+Directory dependency graph for include\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=242pt]{dir_d44c64559bbebec7f509842c48db8b23_dep}
+\end{center}
+\end{figure}
+\doxysubsection*{Directories}
+\begin{DoxyCompactItemize}
+\item 
+directory \mbox{\hyperlink{dir_265603ded410f2aca2b4448eafbf9ea2}{callback}}
+\item 
+directory \mbox{\hyperlink{dir_7f19fe0488f3daa36ae73de472a8d793}{report}}
+\end{DoxyCompactItemize}
+\doxysubsection*{Files}
+\begin{DoxyCompactItemize}
+\item 
+file \mbox{\hyperlink{_b_n_o08x_8hpp}{BNO08x.\+hpp}}
+\item 
+file \mbox{\hyperlink{_b_n_o08x_global_types_8hpp}{BNO08x\+Global\+Types.\+hpp}}
+\item 
+file \mbox{\hyperlink{_b_n_o08x_private_types_8hpp}{BNO08x\+Private\+Types.\+hpp}}
+\item 
+file \mbox{\hyperlink{_b_n_o08x_s_h2_h_a_l_8hpp}{BNO08x\+SH2\+HAL.\+hpp}}
+\item 
+file \mbox{\hyperlink{_b_n_o08x_test_helper_8hpp}{BNO08x\+Test\+Helper.\+hpp}}
+\item 
+file \mbox{\hyperlink{_b_n_o08x_test_suite_8hpp}{BNO08x\+Test\+Suite.\+hpp}}
+\end{DoxyCompactItemize}
diff --git a/documentation/latex/dir_d44c64559bbebec7f509842c48db8b23_dep.md5 b/documentation/latex/dir_d44c64559bbebec7f509842c48db8b23_dep.md5
new file mode 100644
index 0000000..85d7562
--- /dev/null
+++ b/documentation/latex/dir_d44c64559bbebec7f509842c48db8b23_dep.md5
@@ -0,0 +1 @@
+99a08030e27dfdf7b7487014dcd55a7f
\ No newline at end of file
diff --git a/documentation/latex/dir_d44c64559bbebec7f509842c48db8b23_dep.pdf b/documentation/latex/dir_d44c64559bbebec7f509842c48db8b23_dep.pdf
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diff --git a/documentation/latex/dir_f3240a40405e637e3754c29e78869df9.tex b/documentation/latex/dir_f3240a40405e637e3754c29e78869df9.tex
new file mode 100644
index 0000000..fe78d6d
--- /dev/null
+++ b/documentation/latex/dir_f3240a40405e637e3754c29e78869df9.tex
@@ -0,0 +1,57 @@
+\hypertarget{dir_f3240a40405e637e3754c29e78869df9}{}\doxysection{report Directory Reference}
+\label{dir_f3240a40405e637e3754c29e78869df9}\index{report Directory Reference@{report Directory Reference}}
+Directory dependency graph for report\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=134pt]{dir_f3240a40405e637e3754c29e78869df9_dep}
+\end{center}
+\end{figure}
+\doxysubsection*{Files}
+\begin{DoxyCompactItemize}
+\item 
+file \mbox{\hyperlink{_b_n_o08x_rpt_acceleration_8cpp}{BNO08x\+Rpt\+Acceleration.\+cpp}}
+\item 
+file \mbox{\hyperlink{_b_n_o08x_rpt_activity_classifier_8cpp}{BNO08x\+Rpt\+Activity\+Classifier.\+cpp}}
+\item 
+file \mbox{\hyperlink{_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8cpp}{BNO08x\+Rpt\+ARVRStabilized\+Game\+RV.\+cpp}}
+\item 
+file \mbox{\hyperlink{_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8cpp}{BNO08x\+Rpt\+ARVRStabilized\+RV.\+cpp}}
+\item 
+file \mbox{\hyperlink{_b_n_o08x_rpt_cal_gyro_8cpp}{BNO08x\+Rpt\+Cal\+Gyro.\+cpp}}
+\item 
+file \mbox{\hyperlink{_b_n_o08x_rpt_cal_magnetometer_8cpp}{BNO08x\+Rpt\+Cal\+Magnetometer.\+cpp}}
+\item 
+file \mbox{\hyperlink{_b_n_o08x_rpt_game_r_v_8cpp}{BNO08x\+Rpt\+Game\+RV.\+cpp}}
+\item 
+file \mbox{\hyperlink{_b_n_o08x_rpt_gravity_8cpp}{BNO08x\+Rpt\+Gravity.\+cpp}}
+\item 
+file \mbox{\hyperlink{_b_n_o08x_rpt_i_gyro_r_v_8cpp}{BNO08x\+Rpt\+IGyro\+RV.\+cpp}}
+\item 
+file \mbox{\hyperlink{_b_n_o08x_rpt_linear_acceleration_8cpp}{BNO08x\+Rpt\+Linear\+Acceleration.\+cpp}}
+\item 
+file \mbox{\hyperlink{_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8cpp}{BNO08x\+Rpt\+Raw\+MEMSAccelerometer.\+cpp}}
+\item 
+file \mbox{\hyperlink{_b_n_o08x_rpt_raw_m_e_m_s_gyro_8cpp}{BNO08x\+Rpt\+Raw\+MEMSGyro.\+cpp}}
+\item 
+file \mbox{\hyperlink{_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8cpp}{BNO08x\+Rpt\+Raw\+MEMSMagnetometer.\+cpp}}
+\item 
+file \mbox{\hyperlink{_b_n_o08x_rpt_r_v_8cpp}{BNO08x\+Rpt\+RV.\+cpp}}
+\item 
+file \mbox{\hyperlink{_b_n_o08x_rpt_r_v_generic_8cpp}{BNO08x\+Rpt\+RVGeneric.\+cpp}}
+\item 
+file \mbox{\hyperlink{_b_n_o08x_rpt_r_v_geomag_8cpp}{BNO08x\+Rpt\+RVGeomag.\+cpp}}
+\item 
+file \mbox{\hyperlink{_b_n_o08x_rpt_shake_detector_8cpp}{BNO08x\+Rpt\+Shake\+Detector.\+cpp}}
+\item 
+file \mbox{\hyperlink{_b_n_o08x_rpt_stability_classifier_8cpp}{BNO08x\+Rpt\+Stability\+Classifier.\+cpp}}
+\item 
+file \mbox{\hyperlink{_b_n_o08x_rpt_step_counter_8cpp}{BNO08x\+Rpt\+Step\+Counter.\+cpp}}
+\item 
+file \mbox{\hyperlink{_b_n_o08x_rpt_tap_detector_8cpp}{BNO08x\+Rpt\+Tap\+Detector.\+cpp}}
+\item 
+file \mbox{\hyperlink{_b_n_o08x_rpt_uncal_gyro_8cpp}{BNO08x\+Rpt\+Uncal\+Gyro.\+cpp}}
+\item 
+file \mbox{\hyperlink{_b_n_o08x_rpt_uncal_magnetometer_8cpp}{BNO08x\+Rpt\+Uncal\+Magnetometer.\+cpp}}
+\end{DoxyCompactItemize}
diff --git a/documentation/latex/dir_f3240a40405e637e3754c29e78869df9_dep.md5 b/documentation/latex/dir_f3240a40405e637e3754c29e78869df9_dep.md5
new file mode 100644
index 0000000..a346a86
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new file mode 100644
index 0000000..bde67ed
--- /dev/null
+++ b/documentation/latex/doxygen.sty
@@ -0,0 +1,596 @@
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+\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
+\RequirePackage{enumitem}
+
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+}
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+}
+\newcommand{\DoxyLabelFont}{}
+\newcommand{\entrylabel}[1]{%
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+}
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+}
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+\newcommand{\xreflabel}[1]{%
+  \sbox{\xrefbox}{#1}%
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+}
+
+%---------- Commands used by doxygen LaTeX output generator ----------
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diff --git a/documentation/latex/files.tex b/documentation/latex/files.tex
new file mode 100644
index 0000000..72c2106
--- /dev/null
+++ b/documentation/latex/files.tex
@@ -0,0 +1,61 @@
+\doxysection{File List}
+Here is a list of all files with brief descriptions\+:\begin{DoxyCompactList}
+\item\contentsline{section}{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\mbox{\hyperlink{_b_n_o08x_8hpp}{BNO08x.\+hpp}} }{\pageref{_b_n_o08x_8hpp}}{}
+\item\contentsline{section}{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\mbox{\hyperlink{_b_n_o08x_global_types_8hpp}{BNO08x\+Global\+Types.\+hpp}} }{\pageref{_b_n_o08x_global_types_8hpp}}{}
+\item\contentsline{section}{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\mbox{\hyperlink{_b_n_o08x_private_types_8hpp}{BNO08x\+Private\+Types.\+hpp}} }{\pageref{_b_n_o08x_private_types_8hpp}}{}
+\item\contentsline{section}{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\mbox{\hyperlink{_b_n_o08x_s_h2_h_a_l_8hpp}{BNO08x\+SH2\+HAL.\+hpp}} }{\pageref{_b_n_o08x_s_h2_h_a_l_8hpp}}{}
+\item\contentsline{section}{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\mbox{\hyperlink{_b_n_o08x_test_helper_8hpp}{BNO08x\+Test\+Helper.\+hpp}} }{\pageref{_b_n_o08x_test_helper_8hpp}}{}
+\item\contentsline{section}{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\mbox{\hyperlink{_b_n_o08x_test_suite_8hpp}{BNO08x\+Test\+Suite.\+hpp}} }{\pageref{_b_n_o08x_test_suite_8hpp}}{}
+\item\contentsline{section}{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/callback/\mbox{\hyperlink{_b_n_o08x_cb_generic_8hpp}{BNO08x\+Cb\+Generic.\+hpp}} }{\pageref{_b_n_o08x_cb_generic_8hpp}}{}
+\item\contentsline{section}{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/callback/\mbox{\hyperlink{_b_n_o08x_cb_param_rpt_i_d_8hpp}{BNO08x\+Cb\+Param\+Rpt\+ID.\+hpp}} }{\pageref{_b_n_o08x_cb_param_rpt_i_d_8hpp}}{}
+\item\contentsline{section}{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/callback/\mbox{\hyperlink{_b_n_o08x_cb_param_void_8hpp}{BNO08x\+Cb\+Param\+Void.\+hpp}} }{\pageref{_b_n_o08x_cb_param_void_8hpp}}{}
+\item\contentsline{section}{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_reports_8hpp}{BNO08x\+Reports.\+hpp}} }{\pageref{_b_n_o08x_reports_8hpp}}{}
+\item\contentsline{section}{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_8hpp}{BNO08x\+Rpt.\+hpp}} }{\pageref{_b_n_o08x_rpt_8hpp}}{}
+\item\contentsline{section}{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_acceleration_8hpp}{BNO08x\+Rpt\+Acceleration.\+hpp}} }{\pageref{_b_n_o08x_rpt_acceleration_8hpp}}{}
+\item\contentsline{section}{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_activity_classifier_8hpp}{BNO08x\+Rpt\+Activity\+Classifier.\+hpp}} }{\pageref{_b_n_o08x_rpt_activity_classifier_8hpp}}{}
+\item\contentsline{section}{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8hpp}{BNO08x\+Rpt\+ARVRStabilized\+Game\+RV.\+hpp}} }{\pageref{_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8hpp}}{}
+\item\contentsline{section}{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8hpp}{BNO08x\+Rpt\+ARVRStabilized\+RV.\+hpp}} }{\pageref{_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8hpp}}{}
+\item\contentsline{section}{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_cal_gyro_8hpp}{BNO08x\+Rpt\+Cal\+Gyro.\+hpp}} }{\pageref{_b_n_o08x_rpt_cal_gyro_8hpp}}{}
+\item\contentsline{section}{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_cal_magnetometer_8hpp}{BNO08x\+Rpt\+Cal\+Magnetometer.\+hpp}} }{\pageref{_b_n_o08x_rpt_cal_magnetometer_8hpp}}{}
+\item\contentsline{section}{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_game_r_v_8hpp}{BNO08x\+Rpt\+Game\+RV.\+hpp}} }{\pageref{_b_n_o08x_rpt_game_r_v_8hpp}}{}
+\item\contentsline{section}{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_gravity_8hpp}{BNO08x\+Rpt\+Gravity.\+hpp}} }{\pageref{_b_n_o08x_rpt_gravity_8hpp}}{}
+\item\contentsline{section}{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_i_gyro_r_v_8hpp}{BNO08x\+Rpt\+IGyro\+RV.\+hpp}} }{\pageref{_b_n_o08x_rpt_i_gyro_r_v_8hpp}}{}
+\item\contentsline{section}{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_linear_acceleration_8hpp}{BNO08x\+Rpt\+Linear\+Acceleration.\+hpp}} }{\pageref{_b_n_o08x_rpt_linear_acceleration_8hpp}}{}
+\item\contentsline{section}{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8hpp}{BNO08x\+Rpt\+Raw\+MEMSAccelerometer.\+hpp}} }{\pageref{_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8hpp}}{}
+\item\contentsline{section}{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_raw_m_e_m_s_gyro_8hpp}{BNO08x\+Rpt\+Raw\+MEMSGyro.\+hpp}} }{\pageref{_b_n_o08x_rpt_raw_m_e_m_s_gyro_8hpp}}{}
+\item\contentsline{section}{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8hpp}{BNO08x\+Rpt\+Raw\+MEMSMagnetometer.\+hpp}} }{\pageref{_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8hpp}}{}
+\item\contentsline{section}{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_r_v_8hpp}{BNO08x\+Rpt\+RV.\+hpp}} }{\pageref{_b_n_o08x_rpt_r_v_8hpp}}{}
+\item\contentsline{section}{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_r_v_generic_8hpp}{BNO08x\+Rpt\+RVGeneric.\+hpp}} }{\pageref{_b_n_o08x_rpt_r_v_generic_8hpp}}{}
+\item\contentsline{section}{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_r_v_geomag_8hpp}{BNO08x\+Rpt\+RVGeomag.\+hpp}} }{\pageref{_b_n_o08x_rpt_r_v_geomag_8hpp}}{}
+\item\contentsline{section}{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_shake_detector_8hpp}{BNO08x\+Rpt\+Shake\+Detector.\+hpp}} }{\pageref{_b_n_o08x_rpt_shake_detector_8hpp}}{}
+\item\contentsline{section}{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_stability_classifier_8hpp}{BNO08x\+Rpt\+Stability\+Classifier.\+hpp}} }{\pageref{_b_n_o08x_rpt_stability_classifier_8hpp}}{}
+\item\contentsline{section}{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_step_counter_8hpp}{BNO08x\+Rpt\+Step\+Counter.\+hpp}} }{\pageref{_b_n_o08x_rpt_step_counter_8hpp}}{}
+\item\contentsline{section}{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_tap_detector_8hpp}{BNO08x\+Rpt\+Tap\+Detector.\+hpp}} }{\pageref{_b_n_o08x_rpt_tap_detector_8hpp}}{}
+\item\contentsline{section}{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_uncal_gyro_8hpp}{BNO08x\+Rpt\+Uncal\+Gyro.\+hpp}} }{\pageref{_b_n_o08x_rpt_uncal_gyro_8hpp}}{}
+\item\contentsline{section}{/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/report/\mbox{\hyperlink{_b_n_o08x_rpt_uncal_magnetometer_8hpp}{BNO08x\+Rpt\+Uncal\+Magnetometer.\+hpp}} }{\pageref{_b_n_o08x_rpt_uncal_magnetometer_8hpp}}{}
+\item\contentsline{section}{\mbox{\hyperlink{_b_n_o08x_8cpp}{BNO08x.\+cpp}} }{\pageref{_b_n_o08x_8cpp}}{}
+\item\contentsline{section}{\mbox{\hyperlink{_b_n_o08x_rpt_8cpp}{BNO08x\+Rpt.\+cpp}} }{\pageref{_b_n_o08x_rpt_8cpp}}{}
+\item\contentsline{section}{\mbox{\hyperlink{_b_n_o08x_s_h2_h_a_l_8cpp}{BNO08x\+SH2\+HAL.\+cpp}} }{\pageref{_b_n_o08x_s_h2_h_a_l_8cpp}}{}
+\item\contentsline{section}{report/\mbox{\hyperlink{_b_n_o08x_rpt_acceleration_8cpp}{BNO08x\+Rpt\+Acceleration.\+cpp}} }{\pageref{_b_n_o08x_rpt_acceleration_8cpp}}{}
+\item\contentsline{section}{report/\mbox{\hyperlink{_b_n_o08x_rpt_activity_classifier_8cpp}{BNO08x\+Rpt\+Activity\+Classifier.\+cpp}} }{\pageref{_b_n_o08x_rpt_activity_classifier_8cpp}}{}
+\item\contentsline{section}{report/\mbox{\hyperlink{_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8cpp}{BNO08x\+Rpt\+ARVRStabilized\+Game\+RV.\+cpp}} }{\pageref{_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8cpp}}{}
+\item\contentsline{section}{report/\mbox{\hyperlink{_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8cpp}{BNO08x\+Rpt\+ARVRStabilized\+RV.\+cpp}} }{\pageref{_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8cpp}}{}
+\item\contentsline{section}{report/\mbox{\hyperlink{_b_n_o08x_rpt_cal_gyro_8cpp}{BNO08x\+Rpt\+Cal\+Gyro.\+cpp}} }{\pageref{_b_n_o08x_rpt_cal_gyro_8cpp}}{}
+\item\contentsline{section}{report/\mbox{\hyperlink{_b_n_o08x_rpt_cal_magnetometer_8cpp}{BNO08x\+Rpt\+Cal\+Magnetometer.\+cpp}} }{\pageref{_b_n_o08x_rpt_cal_magnetometer_8cpp}}{}
+\item\contentsline{section}{report/\mbox{\hyperlink{_b_n_o08x_rpt_game_r_v_8cpp}{BNO08x\+Rpt\+Game\+RV.\+cpp}} }{\pageref{_b_n_o08x_rpt_game_r_v_8cpp}}{}
+\item\contentsline{section}{report/\mbox{\hyperlink{_b_n_o08x_rpt_gravity_8cpp}{BNO08x\+Rpt\+Gravity.\+cpp}} }{\pageref{_b_n_o08x_rpt_gravity_8cpp}}{}
+\item\contentsline{section}{report/\mbox{\hyperlink{_b_n_o08x_rpt_i_gyro_r_v_8cpp}{BNO08x\+Rpt\+IGyro\+RV.\+cpp}} }{\pageref{_b_n_o08x_rpt_i_gyro_r_v_8cpp}}{}
+\item\contentsline{section}{report/\mbox{\hyperlink{_b_n_o08x_rpt_linear_acceleration_8cpp}{BNO08x\+Rpt\+Linear\+Acceleration.\+cpp}} }{\pageref{_b_n_o08x_rpt_linear_acceleration_8cpp}}{}
+\item\contentsline{section}{report/\mbox{\hyperlink{_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8cpp}{BNO08x\+Rpt\+Raw\+MEMSAccelerometer.\+cpp}} }{\pageref{_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8cpp}}{}
+\item\contentsline{section}{report/\mbox{\hyperlink{_b_n_o08x_rpt_raw_m_e_m_s_gyro_8cpp}{BNO08x\+Rpt\+Raw\+MEMSGyro.\+cpp}} }{\pageref{_b_n_o08x_rpt_raw_m_e_m_s_gyro_8cpp}}{}
+\item\contentsline{section}{report/\mbox{\hyperlink{_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8cpp}{BNO08x\+Rpt\+Raw\+MEMSMagnetometer.\+cpp}} }{\pageref{_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8cpp}}{}
+\item\contentsline{section}{report/\mbox{\hyperlink{_b_n_o08x_rpt_r_v_8cpp}{BNO08x\+Rpt\+RV.\+cpp}} }{\pageref{_b_n_o08x_rpt_r_v_8cpp}}{}
+\item\contentsline{section}{report/\mbox{\hyperlink{_b_n_o08x_rpt_r_v_generic_8cpp}{BNO08x\+Rpt\+RVGeneric.\+cpp}} }{\pageref{_b_n_o08x_rpt_r_v_generic_8cpp}}{}
+\item\contentsline{section}{report/\mbox{\hyperlink{_b_n_o08x_rpt_r_v_geomag_8cpp}{BNO08x\+Rpt\+RVGeomag.\+cpp}} }{\pageref{_b_n_o08x_rpt_r_v_geomag_8cpp}}{}
+\item\contentsline{section}{report/\mbox{\hyperlink{_b_n_o08x_rpt_shake_detector_8cpp}{BNO08x\+Rpt\+Shake\+Detector.\+cpp}} }{\pageref{_b_n_o08x_rpt_shake_detector_8cpp}}{}
+\item\contentsline{section}{report/\mbox{\hyperlink{_b_n_o08x_rpt_stability_classifier_8cpp}{BNO08x\+Rpt\+Stability\+Classifier.\+cpp}} }{\pageref{_b_n_o08x_rpt_stability_classifier_8cpp}}{}
+\item\contentsline{section}{report/\mbox{\hyperlink{_b_n_o08x_rpt_step_counter_8cpp}{BNO08x\+Rpt\+Step\+Counter.\+cpp}} }{\pageref{_b_n_o08x_rpt_step_counter_8cpp}}{}
+\item\contentsline{section}{report/\mbox{\hyperlink{_b_n_o08x_rpt_tap_detector_8cpp}{BNO08x\+Rpt\+Tap\+Detector.\+cpp}} }{\pageref{_b_n_o08x_rpt_tap_detector_8cpp}}{}
+\item\contentsline{section}{report/\mbox{\hyperlink{_b_n_o08x_rpt_uncal_gyro_8cpp}{BNO08x\+Rpt\+Uncal\+Gyro.\+cpp}} }{\pageref{_b_n_o08x_rpt_uncal_gyro_8cpp}}{}
+\item\contentsline{section}{report/\mbox{\hyperlink{_b_n_o08x_rpt_uncal_magnetometer_8cpp}{BNO08x\+Rpt\+Uncal\+Magnetometer.\+cpp}} }{\pageref{_b_n_o08x_rpt_uncal_magnetometer_8cpp}}{}
+\end{DoxyCompactList}
diff --git a/documentation/latex/hierarchy.tex b/documentation/latex/hierarchy.tex
new file mode 100644
index 0000000..a0bbb20
--- /dev/null
+++ b/documentation/latex/hierarchy.tex
@@ -0,0 +1,61 @@
+\doxysection{Class Hierarchy}
+This inheritance list is sorted roughly, but not completely, alphabetically\+:\begin{DoxyCompactList}
+\item \contentsline{section}{BNO08x}{\pageref{class_b_n_o08x}}{}
+\item \contentsline{section}{bno08x\+\_\+accel\+\_\+t}{\pageref{structbno08x__accel__t}}{}
+\item \contentsline{section}{bno08x\+\_\+activity\+\_\+classifier\+\_\+t}{\pageref{structbno08x__activity__classifier__t}}{}
+\item \contentsline{section}{bno08x\+\_\+ang\+\_\+vel\+\_\+t}{\pageref{structbno08x__ang__vel__t}}{}
+\item \contentsline{section}{bno08x\+\_\+config\+\_\+t}{\pageref{structbno08x__config__t}}{}
+\item \contentsline{section}{bno08x\+\_\+euler\+\_\+angle\+\_\+t}{\pageref{structbno08x__euler__angle__t}}{}
+\item \contentsline{section}{bno08x\+\_\+gyro\+\_\+bias\+\_\+t}{\pageref{structbno08x__gyro__bias__t}}{}
+\item \contentsline{section}{bno08x\+\_\+gyro\+\_\+t}{\pageref{structbno08x__gyro__t}}{}
+\item \contentsline{section}{BNO08x\+Private\+Types\+::bno08x\+\_\+init\+\_\+status\+\_\+t}{\pageref{struct_b_n_o08x_private_types_1_1bno08x__init__status__t}}{}
+\item \contentsline{section}{bno08x\+\_\+magf\+\_\+bias\+\_\+t}{\pageref{structbno08x__magf__bias__t}}{}
+\item \contentsline{section}{bno08x\+\_\+magf\+\_\+t}{\pageref{structbno08x__magf__t}}{}
+\item \contentsline{section}{bno08x\+\_\+meta\+\_\+data\+\_\+t}{\pageref{structbno08x__meta__data__t}}{}
+\item \contentsline{section}{bno08x\+\_\+quat\+\_\+t}{\pageref{structbno08x__quat__t}}{}
+\item \contentsline{section}{bno08x\+\_\+raw\+\_\+accel\+\_\+t}{\pageref{structbno08x__raw__accel__t}}{}
+\item \contentsline{section}{bno08x\+\_\+raw\+\_\+gyro\+\_\+t}{\pageref{structbno08x__raw__gyro__t}}{}
+\item \contentsline{section}{bno08x\+\_\+raw\+\_\+magf\+\_\+t}{\pageref{structbno08x__raw__magf__t}}{}
+\item \contentsline{section}{BNO08x\+::bno08x\+\_\+reports\+\_\+t}{\pageref{struct_b_n_o08x_1_1bno08x__reports__t}}{}
+\item \contentsline{section}{bno08x\+\_\+sample\+\_\+counts\+\_\+t}{\pageref{structbno08x__sample__counts__t}}{}
+\item \contentsline{section}{bno08x\+\_\+shake\+\_\+detector\+\_\+t}{\pageref{structbno08x__shake__detector__t}}{}
+\item \contentsline{section}{bno08x\+\_\+stability\+\_\+classifier\+\_\+t}{\pageref{structbno08x__stability__classifier__t}}{}
+\item \contentsline{section}{bno08x\+\_\+step\+\_\+counter\+\_\+t}{\pageref{structbno08x__step__counter__t}}{}
+\item \contentsline{section}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}{\pageref{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}}{}
+\item \contentsline{section}{bno08x\+\_\+tap\+\_\+detector\+\_\+t}{\pageref{structbno08x__tap__detector__t}}{}
+\item \contentsline{section}{BNO08x\+Cb\+Generic}{\pageref{class_b_n_o08x_cb_generic}}{}
+\begin{DoxyCompactList}
+\item \contentsline{section}{BNO08x\+Cb\+Param\+Rpt\+ID}{\pageref{class_b_n_o08x_cb_param_rpt_i_d}}{}
+\item \contentsline{section}{BNO08x\+Cb\+Param\+Void}{\pageref{class_b_n_o08x_cb_param_void}}{}
+\end{DoxyCompactList}
+\item \contentsline{section}{BNO08x\+Rpt}{\pageref{class_b_n_o08x_rpt}}{}
+\begin{DoxyCompactList}
+\item \contentsline{section}{BNO08x\+Rpt\+Acceleration}{\pageref{class_b_n_o08x_rpt_acceleration}}{}
+\item \contentsline{section}{BNO08x\+Rpt\+Activity\+Classifier}{\pageref{class_b_n_o08x_rpt_activity_classifier}}{}
+\item \contentsline{section}{BNO08x\+Rpt\+Cal\+Gyro}{\pageref{class_b_n_o08x_rpt_cal_gyro}}{}
+\item \contentsline{section}{BNO08x\+Rpt\+Cal\+Magnetometer}{\pageref{class_b_n_o08x_rpt_cal_magnetometer}}{}
+\item \contentsline{section}{BNO08x\+Rpt\+Gravity}{\pageref{class_b_n_o08x_rpt_gravity}}{}
+\item \contentsline{section}{BNO08x\+Rpt\+Linear\+Acceleration}{\pageref{class_b_n_o08x_rpt_linear_acceleration}}{}
+\item \contentsline{section}{BNO08x\+Rpt\+RVGeneric}{\pageref{class_b_n_o08x_rpt_r_v_generic}}{}
+\begin{DoxyCompactList}
+\item \contentsline{section}{BNO08x\+Rpt\+ARVRStabilized\+Game\+RV}{\pageref{class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v}}{}
+\item \contentsline{section}{BNO08x\+Rpt\+ARVRStabilized\+RV}{\pageref{class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v}}{}
+\item \contentsline{section}{BNO08x\+Rpt\+Game\+RV}{\pageref{class_b_n_o08x_rpt_game_r_v}}{}
+\item \contentsline{section}{BNO08x\+Rpt\+IGyro\+RV}{\pageref{class_b_n_o08x_rpt_i_gyro_r_v}}{}
+\item \contentsline{section}{BNO08x\+Rpt\+RV}{\pageref{class_b_n_o08x_rpt_r_v}}{}
+\item \contentsline{section}{BNO08x\+Rpt\+RVGeomag}{\pageref{class_b_n_o08x_rpt_r_v_geomag}}{}
+\end{DoxyCompactList}
+\item \contentsline{section}{BNO08x\+Rpt\+Raw\+MEMSAccelerometer}{\pageref{class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer}}{}
+\item \contentsline{section}{BNO08x\+Rpt\+Raw\+MEMSGyro}{\pageref{class_b_n_o08x_rpt_raw_m_e_m_s_gyro}}{}
+\item \contentsline{section}{BNO08x\+Rpt\+Raw\+MEMSMagnetometer}{\pageref{class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer}}{}
+\item \contentsline{section}{BNO08x\+Rpt\+Shake\+Detector}{\pageref{class_b_n_o08x_rpt_shake_detector}}{}
+\item \contentsline{section}{BNO08x\+Rpt\+Stability\+Classifier}{\pageref{class_b_n_o08x_rpt_stability_classifier}}{}
+\item \contentsline{section}{BNO08x\+Rpt\+Step\+Counter}{\pageref{class_b_n_o08x_rpt_step_counter}}{}
+\item \contentsline{section}{BNO08x\+Rpt\+Tap\+Detector}{\pageref{class_b_n_o08x_rpt_tap_detector}}{}
+\item \contentsline{section}{BNO08x\+Rpt\+Uncal\+Gyro}{\pageref{class_b_n_o08x_rpt_uncal_gyro}}{}
+\item \contentsline{section}{BNO08x\+Rpt\+Uncal\+Magnetometer}{\pageref{class_b_n_o08x_rpt_uncal_magnetometer}}{}
+\end{DoxyCompactList}
+\item \contentsline{section}{BNO08x\+SH2\+HAL}{\pageref{class_b_n_o08x_s_h2_h_a_l}}{}
+\item \contentsline{section}{BNO08x\+Test\+Helper}{\pageref{class_b_n_o08x_test_helper}}{}
+\item \contentsline{section}{BNO08x\+Test\+Suite}{\pageref{class_b_n_o08x_test_suite}}{}
+\end{DoxyCompactList}
diff --git a/documentation/latex/longtable_doxygen.sty b/documentation/latex/longtable_doxygen.sty
new file mode 100644
index 0000000..a0eb314
--- /dev/null
+++ b/documentation/latex/longtable_doxygen.sty
@@ -0,0 +1,448 @@
+%%
+%% 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
+      #1{#2: }#3%
+    \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}
+\def\LT@p@ftntext#1{%
+  \edef\@tempa{\the\LT@p@ftn\noexpand\footnotetext[\the\c@footnote]}%
+  \global\LT@p@ftn\expandafter{\@tempa{#1}}}%
+
+\@namedef{ver@longtable.sty}{2014/10/28 v4.11 Multi-page Table package (DPC) - frozen version for doxygen}
+\endinput
+%%
+%% End of file `longtable.sty'.
diff --git a/documentation/latex/namespace_b_n_o08x_private_types.tex b/documentation/latex/namespace_b_n_o08x_private_types.tex
new file mode 100644
index 0000000..ef53741
--- /dev/null
+++ b/documentation/latex/namespace_b_n_o08x_private_types.tex
@@ -0,0 +1,226 @@
+\hypertarget{namespace_b_n_o08x_private_types}{}\doxysection{BNO08x\+Private\+Types Namespace Reference}
+\label{namespace_b_n_o08x_private_types}\index{BNO08xPrivateTypes@{BNO08xPrivateTypes}}
+\doxysubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+struct \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t}{bno08x\+\_\+init\+\_\+status\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em Holds info about which functionality has been successfully initialized (used by deconstructor during cleanup). \end{DoxyCompactList}\item 
+struct \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{bno08x\+\_\+sync\+\_\+ctx\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em Holds context used to synchronize tasks and callback execution. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Typedefs}
+\begin{DoxyCompactItemize}
+\item 
+using \mbox{\hyperlink{namespace_b_n_o08x_private_types_a0f0c287ea0571e6c589c638e4bd07703}{bno08x\+\_\+cb\+\_\+list\+\_\+t}} = etl\+::vector$<$ etl\+::variant$<$ \mbox{\hyperlink{class_b_n_o08x_cb_param_void}{BNO08x\+Cb\+Param\+Void}}, \mbox{\hyperlink{class_b_n_o08x_cb_param_rpt_i_d}{BNO08x\+Cb\+Param\+Rpt\+ID}} $>$, CONFIG\+\_\+\+ESP32\+\_\+\+BNO08\+X\+\_\+\+CB\+\_\+\+MAX $>$
+\begin{DoxyCompactList}\small\item\em Alias for vector type to contain both cb flavors. \end{DoxyCompactList}\item 
+typedef struct \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+init\+\_\+status\+\_\+t}} \mbox{\hyperlink{namespace_b_n_o08x_private_types_a2698bcb8153e67716b43ce3cccc0f31a}{bno08x\+\_\+init\+\_\+status\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em Holds info about which functionality has been successfully initialized (used by deconstructor during cleanup). \end{DoxyCompactList}\item 
+typedef struct \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} \mbox{\hyperlink{namespace_b_n_o08x_private_types_a67b3b4702d94bb4ba152a213feae944f}{bno08x\+\_\+sync\+\_\+ctx\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em Holds context used to synchronize tasks and callback execution. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Enumerations}
+\begin{DoxyCompactItemize}
+\item 
+enum \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2f}{bno08x\+\_\+rpt\+\_\+bit\+\_\+t}} \+: Event\+Bits\+\_\+t \{ \newline
+\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fac0ff3fde600aac814ad76a4769515ae8}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+RV\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 0U)
+, \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fad39283f98adf7242b3b3ccf847c150cd}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+RV\+\_\+\+GAME\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 1U)
+, \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fab5d141bdda220e3fa0bd9eb0fe3f31b5}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+RV\+\_\+\+ARVR\+\_\+\+S\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 2U)
+, \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fab77588c26929a2d8dd8eeea883b905ca}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+RV\+\_\+\+ARVR\+\_\+\+S\+\_\+\+GAME\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 3U)
+, \newline
+\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa6835a63fb08379608cda0a108098aac7}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+GYRO\+\_\+\+INTEGRATED\+\_\+\+RV\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 4U)
+, \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa728314f4744fc408c6b153e8fbb3feb4}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+GEOMAG\+\_\+\+RV\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 5U)
+, \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2faa5b9ffe097d1eb83a6a5a13871da0891}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+ACCELEROMETER\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 6U)
+, \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa68851003c2b7df34c3acf882251c60e2}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+LINEAR\+\_\+\+ACCELEROMETER\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 7U)
+, \newline
+\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fabd9e62157a0bc3dc38c3473d7bc2799f}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+GRAVITY\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 8U)
+, \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2faeb1961d7852ea305443610b2521aaea7}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+CAL\+\_\+\+GYRO\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 9U)
+, \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa591c062247280798af0e40d6141614c6}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+UNCAL\+\_\+\+GYRO\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 10U)
+, \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fac1d15dddeab169b213c719e6b0fef32d}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+CAL\+\_\+\+MAGNETOMETER\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 11U)
+, \newline
+\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2faa54d15cc17179a6840b9ec3f4e0038cb}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+UNCAL\+\_\+\+MAGNETOMETER\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 12U)
+, \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fad4482fb4fb6693a492584508691f2c77}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+TAP\+\_\+\+DETECTOR\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 13U)
+, \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fafb8f448edba339f37fdf794bd891f903}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+STEP\+\_\+\+COUNTER\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 14U)
+, \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fae138ae8422830982a470025d81c4be4b}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+STABILITY\+\_\+\+CLASSIFIER\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 15U)
+, \newline
+\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa94cddd1837a77bba5644543b1ad8b9e7}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+ACTIVITY\+\_\+\+CLASSIFIER\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 16U)
+, \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fad517d3ea5b1b259f20ed43e1fcf40e0c}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+SHAKE\+\_\+\+DETECTOR\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 17U)
+, \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fab7e6b36da354702880ff9118d45b6af2}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+RAW\+\_\+\+ACCELEROMETER\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 18U)
+, \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fadcfcdea69099869ebf7f246ff5b7e8bb}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+RAW\+\_\+\+GYRO\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 19U)
+, \newline
+\mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fab57a2ea711bebb4d4e031a0b449160c7}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+RAW\+\_\+\+MAGNETOMETER\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 20U)
+, \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fab5d7a8690f3b42637a52122d4269da10}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+CIRCLE\+\_\+\+DETECTOR\+\_\+\+BIT}} = (1UL \texorpdfstring{$<$}{<}\texorpdfstring{$<$}{<} 21U)
+, \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa6bb054cdd31ded01373a4395889c84f1}{EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+ALL}}
+ \}
+\begin{DoxyCompactList}\small\item\em Bits for evt\+\_\+grp\+\_\+rpt\+\_\+en \& evt\+\_\+grp\+\_\+rpt\+\_\+data\+\_\+available. \end{DoxyCompactList}\item 
+enum \mbox{\hyperlink{namespace_b_n_o08x_private_types_a59097f108831dd9860e17438d2976c1c}{bno08x\+\_\+tsk\+\_\+bit\+\_\+t}} \+: Event\+Bits\+\_\+t \{ \mbox{\hyperlink{namespace_b_n_o08x_private_types_a59097f108831dd9860e17438d2976c1ca272952aff639965d61f76664cb4fed15}{EVT\+\_\+\+GRP\+\_\+\+BNO08x\+\_\+\+TASKS\+\_\+\+RUNNING}}
+, \mbox{\hyperlink{namespace_b_n_o08x_private_types_a59097f108831dd9860e17438d2976c1ca616d8458c1a9f54f9d99ba03a773ba41}{EVT\+\_\+\+GRP\+\_\+\+BNO08x\+\_\+\+TASK\+\_\+\+HINT\+\_\+\+ASSRT\+\_\+\+BIT}}
+, \mbox{\hyperlink{namespace_b_n_o08x_private_types_a59097f108831dd9860e17438d2976c1caaddd073f2b8e89319909d7c61f220452}{EVT\+\_\+\+GRP\+\_\+\+BNO08x\+\_\+\+TASK\+\_\+\+RESET\+\_\+\+OCCURRED}}
+, \mbox{\hyperlink{namespace_b_n_o08x_private_types_a59097f108831dd9860e17438d2976c1ca17f12f538e40746dbe8aafee08391fcc}{EVT\+\_\+\+GRP\+\_\+\+BNO08x\+\_\+\+TASK\+\_\+\+DATA\+\_\+\+AVAILABLE}}
+ \}
+\begin{DoxyCompactList}\small\item\em Bits for evt\+\_\+grp\+\_\+bno08x\+\_\+task. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Typedef Documentation}
+\mbox{\Hypertarget{namespace_b_n_o08x_private_types_a0f0c287ea0571e6c589c638e4bd07703}\label{namespace_b_n_o08x_private_types_a0f0c287ea0571e6c589c638e4bd07703}} 
+\index{BNO08xPrivateTypes@{BNO08xPrivateTypes}!bno08x\_cb\_list\_t@{bno08x\_cb\_list\_t}}
+\index{bno08x\_cb\_list\_t@{bno08x\_cb\_list\_t}!BNO08xPrivateTypes@{BNO08xPrivateTypes}}
+\doxysubsubsection{\texorpdfstring{bno08x\_cb\_list\_t}{bno08x\_cb\_list\_t}}
+{\footnotesize\ttfamily using \mbox{\hyperlink{namespace_b_n_o08x_private_types_a0f0c287ea0571e6c589c638e4bd07703}{BNO08x\+Private\+Types\+::bno08x\+\_\+cb\+\_\+list\+\_\+t}} = typedef etl\+::vector$<$etl\+::variant$<$\mbox{\hyperlink{class_b_n_o08x_cb_param_void}{BNO08x\+Cb\+Param\+Void}}, \mbox{\hyperlink{class_b_n_o08x_cb_param_rpt_i_d}{BNO08x\+Cb\+Param\+Rpt\+ID}}$>$, CONFIG\+\_\+\+ESP32\+\_\+\+BNO08\+X\+\_\+\+CB\+\_\+\+MAX$>$}
+
+
+
+Alias for vector type to contain both cb flavors. 
+
+\mbox{\Hypertarget{namespace_b_n_o08x_private_types_a2698bcb8153e67716b43ce3cccc0f31a}\label{namespace_b_n_o08x_private_types_a2698bcb8153e67716b43ce3cccc0f31a}} 
+\index{BNO08xPrivateTypes@{BNO08xPrivateTypes}!bno08x\_init\_status\_t@{bno08x\_init\_status\_t}}
+\index{bno08x\_init\_status\_t@{bno08x\_init\_status\_t}!BNO08xPrivateTypes@{BNO08xPrivateTypes}}
+\doxysubsubsection{\texorpdfstring{bno08x\_init\_status\_t}{bno08x\_init\_status\_t}}
+{\footnotesize\ttfamily typedef struct \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+init\+\_\+status\+\_\+t}} \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+init\+\_\+status\+\_\+t}}}
+
+
+
+Holds info about which functionality has been successfully initialized (used by deconstructor during cleanup). 
+
+\mbox{\Hypertarget{namespace_b_n_o08x_private_types_a67b3b4702d94bb4ba152a213feae944f}\label{namespace_b_n_o08x_private_types_a67b3b4702d94bb4ba152a213feae944f}} 
+\index{BNO08xPrivateTypes@{BNO08xPrivateTypes}!bno08x\_sync\_ctx\_t@{bno08x\_sync\_ctx\_t}}
+\index{bno08x\_sync\_ctx\_t@{bno08x\_sync\_ctx\_t}!BNO08xPrivateTypes@{BNO08xPrivateTypes}}
+\doxysubsubsection{\texorpdfstring{bno08x\_sync\_ctx\_t}{bno08x\_sync\_ctx\_t}}
+{\footnotesize\ttfamily typedef struct \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}}}
+
+
+
+Holds context used to synchronize tasks and callback execution. 
+
+
+
+\doxysubsection{Enumeration Type Documentation}
+\mbox{\Hypertarget{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2f}\label{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2f}} 
+\index{BNO08xPrivateTypes@{BNO08xPrivateTypes}!bno08x\_rpt\_bit\_t@{bno08x\_rpt\_bit\_t}}
+\index{bno08x\_rpt\_bit\_t@{bno08x\_rpt\_bit\_t}!BNO08xPrivateTypes@{BNO08xPrivateTypes}}
+\doxysubsubsection{\texorpdfstring{bno08x\_rpt\_bit\_t}{bno08x\_rpt\_bit\_t}}
+{\footnotesize\ttfamily enum \mbox{\hyperlink{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2f}{BNO08x\+Private\+Types\+::bno08x\+\_\+rpt\+\_\+bit\+\_\+t}} \+: Event\+Bits\+\_\+t}
+
+
+
+Bits for evt\+\_\+grp\+\_\+rpt\+\_\+en \& evt\+\_\+grp\+\_\+rpt\+\_\+data\+\_\+available. 
+
+\begin{DoxyEnumFields}{Enumerator}
+\raisebox{\heightof{T}}[0pt][0pt]{\index{EVT\_GRP\_RPT\_RV\_BIT@{EVT\_GRP\_RPT\_RV\_BIT}!BNO08xPrivateTypes@{BNO08xPrivateTypes}}\index{BNO08xPrivateTypes@{BNO08xPrivateTypes}!EVT\_GRP\_RPT\_RV\_BIT@{EVT\_GRP\_RPT\_RV\_BIT}}}\mbox{\Hypertarget{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fac0ff3fde600aac814ad76a4769515ae8}\label{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fac0ff3fde600aac814ad76a4769515ae8}} 
+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+RV\+\_\+\+BIT&When set, rotation vector reports are active. \\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{EVT\_GRP\_RPT\_RV\_GAME\_BIT@{EVT\_GRP\_RPT\_RV\_GAME\_BIT}!BNO08xPrivateTypes@{BNO08xPrivateTypes}}\index{BNO08xPrivateTypes@{BNO08xPrivateTypes}!EVT\_GRP\_RPT\_RV\_GAME\_BIT@{EVT\_GRP\_RPT\_RV\_GAME\_BIT}}}\mbox{\Hypertarget{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fad39283f98adf7242b3b3ccf847c150cd}\label{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fad39283f98adf7242b3b3ccf847c150cd}} 
+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+RV\+\_\+\+GAME\+\_\+\+BIT&When set, game rotation vector reports are active. \\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{EVT\_GRP\_RPT\_RV\_ARVR\_S\_BIT@{EVT\_GRP\_RPT\_RV\_ARVR\_S\_BIT}!BNO08xPrivateTypes@{BNO08xPrivateTypes}}\index{BNO08xPrivateTypes@{BNO08xPrivateTypes}!EVT\_GRP\_RPT\_RV\_ARVR\_S\_BIT@{EVT\_GRP\_RPT\_RV\_ARVR\_S\_BIT}}}\mbox{\Hypertarget{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fab5d141bdda220e3fa0bd9eb0fe3f31b5}\label{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fab5d141bdda220e3fa0bd9eb0fe3f31b5}} 
+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+RV\+\_\+\+ARVR\+\_\+\+S\+\_\+\+BIT&When set, ARVR stabilized rotation vector reports are active. \\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{EVT\_GRP\_RPT\_RV\_ARVR\_S\_GAME\_BIT@{EVT\_GRP\_RPT\_RV\_ARVR\_S\_GAME\_BIT}!BNO08xPrivateTypes@{BNO08xPrivateTypes}}\index{BNO08xPrivateTypes@{BNO08xPrivateTypes}!EVT\_GRP\_RPT\_RV\_ARVR\_S\_GAME\_BIT@{EVT\_GRP\_RPT\_RV\_ARVR\_S\_GAME\_BIT}}}\mbox{\Hypertarget{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fab77588c26929a2d8dd8eeea883b905ca}\label{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fab77588c26929a2d8dd8eeea883b905ca}} 
+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+RV\+\_\+\+ARVR\+\_\+\+S\+\_\+\+GAME\+\_\+\+BIT&When set, ARVR stabilized game rotation vector reports are active. \\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{EVT\_GRP\_RPT\_GYRO\_INTEGRATED\_RV\_BIT@{EVT\_GRP\_RPT\_GYRO\_INTEGRATED\_RV\_BIT}!BNO08xPrivateTypes@{BNO08xPrivateTypes}}\index{BNO08xPrivateTypes@{BNO08xPrivateTypes}!EVT\_GRP\_RPT\_GYRO\_INTEGRATED\_RV\_BIT@{EVT\_GRP\_RPT\_GYRO\_INTEGRATED\_RV\_BIT}}}\mbox{\Hypertarget{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa6835a63fb08379608cda0a108098aac7}\label{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa6835a63fb08379608cda0a108098aac7}} 
+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+GYRO\+\_\+\+INTEGRATED\+\_\+\+RV\+\_\+\+BIT&When set, gyro integrator rotation vector reports are active. \\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{EVT\_GRP\_RPT\_GEOMAG\_RV\_BIT@{EVT\_GRP\_RPT\_GEOMAG\_RV\_BIT}!BNO08xPrivateTypes@{BNO08xPrivateTypes}}\index{BNO08xPrivateTypes@{BNO08xPrivateTypes}!EVT\_GRP\_RPT\_GEOMAG\_RV\_BIT@{EVT\_GRP\_RPT\_GEOMAG\_RV\_BIT}}}\mbox{\Hypertarget{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa728314f4744fc408c6b153e8fbb3feb4}\label{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa728314f4744fc408c6b153e8fbb3feb4}} 
+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+GEOMAG\+\_\+\+RV\+\_\+\+BIT&When set, geomagnetic rotation vector reports are active. \\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{EVT\_GRP\_RPT\_ACCELEROMETER\_BIT@{EVT\_GRP\_RPT\_ACCELEROMETER\_BIT}!BNO08xPrivateTypes@{BNO08xPrivateTypes}}\index{BNO08xPrivateTypes@{BNO08xPrivateTypes}!EVT\_GRP\_RPT\_ACCELEROMETER\_BIT@{EVT\_GRP\_RPT\_ACCELEROMETER\_BIT}}}\mbox{\Hypertarget{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2faa5b9ffe097d1eb83a6a5a13871da0891}\label{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2faa5b9ffe097d1eb83a6a5a13871da0891}} 
+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+ACCELEROMETER\+\_\+\+BIT&When set, accelerometer reports are active. \\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{EVT\_GRP\_RPT\_LINEAR\_ACCELEROMETER\_BIT@{EVT\_GRP\_RPT\_LINEAR\_ACCELEROMETER\_BIT}!BNO08xPrivateTypes@{BNO08xPrivateTypes}}\index{BNO08xPrivateTypes@{BNO08xPrivateTypes}!EVT\_GRP\_RPT\_LINEAR\_ACCELEROMETER\_BIT@{EVT\_GRP\_RPT\_LINEAR\_ACCELEROMETER\_BIT}}}\mbox{\Hypertarget{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa68851003c2b7df34c3acf882251c60e2}\label{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa68851003c2b7df34c3acf882251c60e2}} 
+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+LINEAR\+\_\+\+ACCELEROMETER\+\_\+\+BIT&When set, linear accelerometer reports are active. \\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{EVT\_GRP\_RPT\_GRAVITY\_BIT@{EVT\_GRP\_RPT\_GRAVITY\_BIT}!BNO08xPrivateTypes@{BNO08xPrivateTypes}}\index{BNO08xPrivateTypes@{BNO08xPrivateTypes}!EVT\_GRP\_RPT\_GRAVITY\_BIT@{EVT\_GRP\_RPT\_GRAVITY\_BIT}}}\mbox{\Hypertarget{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fabd9e62157a0bc3dc38c3473d7bc2799f}\label{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fabd9e62157a0bc3dc38c3473d7bc2799f}} 
+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+GRAVITY\+\_\+\+BIT&When set, gravity reports are active. \\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{EVT\_GRP\_RPT\_CAL\_GYRO\_BIT@{EVT\_GRP\_RPT\_CAL\_GYRO\_BIT}!BNO08xPrivateTypes@{BNO08xPrivateTypes}}\index{BNO08xPrivateTypes@{BNO08xPrivateTypes}!EVT\_GRP\_RPT\_CAL\_GYRO\_BIT@{EVT\_GRP\_RPT\_CAL\_GYRO\_BIT}}}\mbox{\Hypertarget{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2faeb1961d7852ea305443610b2521aaea7}\label{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2faeb1961d7852ea305443610b2521aaea7}} 
+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+CAL\+\_\+\+GYRO\+\_\+\+BIT&When set, calibrated gyro reports are active. \\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{EVT\_GRP\_RPT\_UNCAL\_GYRO\_BIT@{EVT\_GRP\_RPT\_UNCAL\_GYRO\_BIT}!BNO08xPrivateTypes@{BNO08xPrivateTypes}}\index{BNO08xPrivateTypes@{BNO08xPrivateTypes}!EVT\_GRP\_RPT\_UNCAL\_GYRO\_BIT@{EVT\_GRP\_RPT\_UNCAL\_GYRO\_BIT}}}\mbox{\Hypertarget{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa591c062247280798af0e40d6141614c6}\label{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa591c062247280798af0e40d6141614c6}} 
+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+UNCAL\+\_\+\+GYRO\+\_\+\+BIT&When set, uncalibrated gyro reports are active. \\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{EVT\_GRP\_RPT\_CAL\_MAGNETOMETER\_BIT@{EVT\_GRP\_RPT\_CAL\_MAGNETOMETER\_BIT}!BNO08xPrivateTypes@{BNO08xPrivateTypes}}\index{BNO08xPrivateTypes@{BNO08xPrivateTypes}!EVT\_GRP\_RPT\_CAL\_MAGNETOMETER\_BIT@{EVT\_GRP\_RPT\_CAL\_MAGNETOMETER\_BIT}}}\mbox{\Hypertarget{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fac1d15dddeab169b213c719e6b0fef32d}\label{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fac1d15dddeab169b213c719e6b0fef32d}} 
+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+CAL\+\_\+\+MAGNETOMETER\+\_\+\+BIT&When set, calibrated magnetometer reports are active. \\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{EVT\_GRP\_RPT\_UNCAL\_MAGNETOMETER\_BIT@{EVT\_GRP\_RPT\_UNCAL\_MAGNETOMETER\_BIT}!BNO08xPrivateTypes@{BNO08xPrivateTypes}}\index{BNO08xPrivateTypes@{BNO08xPrivateTypes}!EVT\_GRP\_RPT\_UNCAL\_MAGNETOMETER\_BIT@{EVT\_GRP\_RPT\_UNCAL\_MAGNETOMETER\_BIT}}}\mbox{\Hypertarget{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2faa54d15cc17179a6840b9ec3f4e0038cb}\label{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2faa54d15cc17179a6840b9ec3f4e0038cb}} 
+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+UNCAL\+\_\+\+MAGNETOMETER\+\_\+\+BIT&When set, uncalibrated magnetometer reports are active. \\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{EVT\_GRP\_RPT\_TAP\_DETECTOR\_BIT@{EVT\_GRP\_RPT\_TAP\_DETECTOR\_BIT}!BNO08xPrivateTypes@{BNO08xPrivateTypes}}\index{BNO08xPrivateTypes@{BNO08xPrivateTypes}!EVT\_GRP\_RPT\_TAP\_DETECTOR\_BIT@{EVT\_GRP\_RPT\_TAP\_DETECTOR\_BIT}}}\mbox{\Hypertarget{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fad4482fb4fb6693a492584508691f2c77}\label{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fad4482fb4fb6693a492584508691f2c77}} 
+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+TAP\+\_\+\+DETECTOR\+\_\+\+BIT&When set, tap detector reports are active. \\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{EVT\_GRP\_RPT\_STEP\_COUNTER\_BIT@{EVT\_GRP\_RPT\_STEP\_COUNTER\_BIT}!BNO08xPrivateTypes@{BNO08xPrivateTypes}}\index{BNO08xPrivateTypes@{BNO08xPrivateTypes}!EVT\_GRP\_RPT\_STEP\_COUNTER\_BIT@{EVT\_GRP\_RPT\_STEP\_COUNTER\_BIT}}}\mbox{\Hypertarget{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fafb8f448edba339f37fdf794bd891f903}\label{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fafb8f448edba339f37fdf794bd891f903}} 
+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+STEP\+\_\+\+COUNTER\+\_\+\+BIT&When set, step counter reports are active. \\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{EVT\_GRP\_RPT\_STABILITY\_CLASSIFIER\_BIT@{EVT\_GRP\_RPT\_STABILITY\_CLASSIFIER\_BIT}!BNO08xPrivateTypes@{BNO08xPrivateTypes}}\index{BNO08xPrivateTypes@{BNO08xPrivateTypes}!EVT\_GRP\_RPT\_STABILITY\_CLASSIFIER\_BIT@{EVT\_GRP\_RPT\_STABILITY\_CLASSIFIER\_BIT}}}\mbox{\Hypertarget{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fae138ae8422830982a470025d81c4be4b}\label{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fae138ae8422830982a470025d81c4be4b}} 
+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+STABILITY\+\_\+\+CLASSIFIER\+\_\+\+BIT&When set, stability classifier reports are active. \\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{EVT\_GRP\_RPT\_ACTIVITY\_CLASSIFIER\_BIT@{EVT\_GRP\_RPT\_ACTIVITY\_CLASSIFIER\_BIT}!BNO08xPrivateTypes@{BNO08xPrivateTypes}}\index{BNO08xPrivateTypes@{BNO08xPrivateTypes}!EVT\_GRP\_RPT\_ACTIVITY\_CLASSIFIER\_BIT@{EVT\_GRP\_RPT\_ACTIVITY\_CLASSIFIER\_BIT}}}\mbox{\Hypertarget{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa94cddd1837a77bba5644543b1ad8b9e7}\label{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa94cddd1837a77bba5644543b1ad8b9e7}} 
+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+ACTIVITY\+\_\+\+CLASSIFIER\+\_\+\+BIT&When set, activity classifier reports are active. \\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{EVT\_GRP\_RPT\_SHAKE\_DETECTOR\_BIT@{EVT\_GRP\_RPT\_SHAKE\_DETECTOR\_BIT}!BNO08xPrivateTypes@{BNO08xPrivateTypes}}\index{BNO08xPrivateTypes@{BNO08xPrivateTypes}!EVT\_GRP\_RPT\_SHAKE\_DETECTOR\_BIT@{EVT\_GRP\_RPT\_SHAKE\_DETECTOR\_BIT}}}\mbox{\Hypertarget{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fad517d3ea5b1b259f20ed43e1fcf40e0c}\label{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fad517d3ea5b1b259f20ed43e1fcf40e0c}} 
+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+SHAKE\+\_\+\+DETECTOR\+\_\+\+BIT&When set, shake detector reports are active. \\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{EVT\_GRP\_RPT\_RAW\_ACCELEROMETER\_BIT@{EVT\_GRP\_RPT\_RAW\_ACCELEROMETER\_BIT}!BNO08xPrivateTypes@{BNO08xPrivateTypes}}\index{BNO08xPrivateTypes@{BNO08xPrivateTypes}!EVT\_GRP\_RPT\_RAW\_ACCELEROMETER\_BIT@{EVT\_GRP\_RPT\_RAW\_ACCELEROMETER\_BIT}}}\mbox{\Hypertarget{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fab7e6b36da354702880ff9118d45b6af2}\label{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fab7e6b36da354702880ff9118d45b6af2}} 
+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+RAW\+\_\+\+ACCELEROMETER\+\_\+\+BIT&When set, raw accelerometer reports are active. \\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{EVT\_GRP\_RPT\_RAW\_GYRO\_BIT@{EVT\_GRP\_RPT\_RAW\_GYRO\_BIT}!BNO08xPrivateTypes@{BNO08xPrivateTypes}}\index{BNO08xPrivateTypes@{BNO08xPrivateTypes}!EVT\_GRP\_RPT\_RAW\_GYRO\_BIT@{EVT\_GRP\_RPT\_RAW\_GYRO\_BIT}}}\mbox{\Hypertarget{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fadcfcdea69099869ebf7f246ff5b7e8bb}\label{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fadcfcdea69099869ebf7f246ff5b7e8bb}} 
+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+RAW\+\_\+\+GYRO\+\_\+\+BIT&When set, raw gyro reports are active. \\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{EVT\_GRP\_RPT\_RAW\_MAGNETOMETER\_BIT@{EVT\_GRP\_RPT\_RAW\_MAGNETOMETER\_BIT}!BNO08xPrivateTypes@{BNO08xPrivateTypes}}\index{BNO08xPrivateTypes@{BNO08xPrivateTypes}!EVT\_GRP\_RPT\_RAW\_MAGNETOMETER\_BIT@{EVT\_GRP\_RPT\_RAW\_MAGNETOMETER\_BIT}}}\mbox{\Hypertarget{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fab57a2ea711bebb4d4e031a0b449160c7}\label{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fab57a2ea711bebb4d4e031a0b449160c7}} 
+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+RAW\+\_\+\+MAGNETOMETER\+\_\+\+BIT&When set, raw magnetometer reports are active. \\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{EVT\_GRP\_RPT\_CIRCLE\_DETECTOR\_BIT@{EVT\_GRP\_RPT\_CIRCLE\_DETECTOR\_BIT}!BNO08xPrivateTypes@{BNO08xPrivateTypes}}\index{BNO08xPrivateTypes@{BNO08xPrivateTypes}!EVT\_GRP\_RPT\_CIRCLE\_DETECTOR\_BIT@{EVT\_GRP\_RPT\_CIRCLE\_DETECTOR\_BIT}}}\mbox{\Hypertarget{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fab5d7a8690f3b42637a52122d4269da10}\label{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fab5d7a8690f3b42637a52122d4269da10}} 
+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+CIRCLE\+\_\+\+DETECTOR\+\_\+\+BIT&When set, circle detector reports are active. \\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{EVT\_GRP\_RPT\_ALL@{EVT\_GRP\_RPT\_ALL}!BNO08xPrivateTypes@{BNO08xPrivateTypes}}\index{BNO08xPrivateTypes@{BNO08xPrivateTypes}!EVT\_GRP\_RPT\_ALL@{EVT\_GRP\_RPT\_ALL}}}\mbox{\Hypertarget{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa6bb054cdd31ded01373a4395889c84f1}\label{namespace_b_n_o08x_private_types_ac53fb578d93a18b7a83903fc7a71dc2fa6bb054cdd31ded01373a4395889c84f1}} 
+EVT\+\_\+\+GRP\+\_\+\+RPT\+\_\+\+ALL&\\
+\hline
+
+\end{DoxyEnumFields}
+\mbox{\Hypertarget{namespace_b_n_o08x_private_types_a59097f108831dd9860e17438d2976c1c}\label{namespace_b_n_o08x_private_types_a59097f108831dd9860e17438d2976c1c}} 
+\index{BNO08xPrivateTypes@{BNO08xPrivateTypes}!bno08x\_tsk\_bit\_t@{bno08x\_tsk\_bit\_t}}
+\index{bno08x\_tsk\_bit\_t@{bno08x\_tsk\_bit\_t}!BNO08xPrivateTypes@{BNO08xPrivateTypes}}
+\doxysubsubsection{\texorpdfstring{bno08x\_tsk\_bit\_t}{bno08x\_tsk\_bit\_t}}
+{\footnotesize\ttfamily enum \mbox{\hyperlink{namespace_b_n_o08x_private_types_a59097f108831dd9860e17438d2976c1c}{BNO08x\+Private\+Types\+::bno08x\+\_\+tsk\+\_\+bit\+\_\+t}} \+: Event\+Bits\+\_\+t}
+
+
+
+Bits for evt\+\_\+grp\+\_\+bno08x\+\_\+task. 
+
+\begin{DoxyEnumFields}{Enumerator}
+\raisebox{\heightof{T}}[0pt][0pt]{\index{EVT\_GRP\_BNO08x\_TASKS\_RUNNING@{EVT\_GRP\_BNO08x\_TASKS\_RUNNING}!BNO08xPrivateTypes@{BNO08xPrivateTypes}}\index{BNO08xPrivateTypes@{BNO08xPrivateTypes}!EVT\_GRP\_BNO08x\_TASKS\_RUNNING@{EVT\_GRP\_BNO08x\_TASKS\_RUNNING}}}\mbox{\Hypertarget{namespace_b_n_o08x_private_types_a59097f108831dd9860e17438d2976c1ca272952aff639965d61f76664cb4fed15}\label{namespace_b_n_o08x_private_types_a59097f108831dd9860e17438d2976c1ca272952aff639965d61f76664cb4fed15}} 
+EVT\+\_\+\+GRP\+\_\+\+BNO08x\+\_\+\+TASKS\+\_\+\+RUNNING&When this bit is set it indicates the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} tasks are running, it is always set to 1 for the duration of the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} driver object. Cleared in the destructor for safe task deletion. \\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{EVT\_GRP\_BNO08x\_TASK\_HINT\_ASSRT\_BIT@{EVT\_GRP\_BNO08x\_TASK\_HINT\_ASSRT\_BIT}!BNO08xPrivateTypes@{BNO08xPrivateTypes}}\index{BNO08xPrivateTypes@{BNO08xPrivateTypes}!EVT\_GRP\_BNO08x\_TASK\_HINT\_ASSRT\_BIT@{EVT\_GRP\_BNO08x\_TASK\_HINT\_ASSRT\_BIT}}}\mbox{\Hypertarget{namespace_b_n_o08x_private_types_a59097f108831dd9860e17438d2976c1ca616d8458c1a9f54f9d99ba03a773ba41}\label{namespace_b_n_o08x_private_types_a59097f108831dd9860e17438d2976c1ca616d8458c1a9f54f9d99ba03a773ba41}} 
+EVT\+\_\+\+GRP\+\_\+\+BNO08x\+\_\+\+TASK\+\_\+\+HINT\+\_\+\+ASSRT\+\_\+\+BIT&When this bit is set it indicates the \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} has asserted its host interrupt pin, thus an SPI transaction should commence. \\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{EVT\_GRP\_BNO08x\_TASK\_RESET\_OCCURRED@{EVT\_GRP\_BNO08x\_TASK\_RESET\_OCCURRED}!BNO08xPrivateTypes@{BNO08xPrivateTypes}}\index{BNO08xPrivateTypes@{BNO08xPrivateTypes}!EVT\_GRP\_BNO08x\_TASK\_RESET\_OCCURRED@{EVT\_GRP\_BNO08x\_TASK\_RESET\_OCCURRED}}}\mbox{\Hypertarget{namespace_b_n_o08x_private_types_a59097f108831dd9860e17438d2976c1caaddd073f2b8e89319909d7c61f220452}\label{namespace_b_n_o08x_private_types_a59097f108831dd9860e17438d2976c1caaddd073f2b8e89319909d7c61f220452}} 
+EVT\+\_\+\+GRP\+\_\+\+BNO08x\+\_\+\+TASK\+\_\+\+RESET\+\_\+\+OCCURRED&When this bit is set it indicates the SH2 HAL lib has reset the IMU, any reports enabled by the user must be re-\/enabled. \\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{EVT\_GRP\_BNO08x\_TASK\_DATA\_AVAILABLE@{EVT\_GRP\_BNO08x\_TASK\_DATA\_AVAILABLE}!BNO08xPrivateTypes@{BNO08xPrivateTypes}}\index{BNO08xPrivateTypes@{BNO08xPrivateTypes}!EVT\_GRP\_BNO08x\_TASK\_DATA\_AVAILABLE@{EVT\_GRP\_BNO08x\_TASK\_DATA\_AVAILABLE}}}\mbox{\Hypertarget{namespace_b_n_o08x_private_types_a59097f108831dd9860e17438d2976c1ca17f12f538e40746dbe8aafee08391fcc}\label{namespace_b_n_o08x_private_types_a59097f108831dd9860e17438d2976c1ca17f12f538e40746dbe8aafee08391fcc}} 
+EVT\+\_\+\+GRP\+\_\+\+BNO08x\+\_\+\+TASK\+\_\+\+DATA\+\_\+\+AVAILABLE&When this bit is set it indicates a report has been received for the user to read, cleared in data\+\_\+available() set/cleared in handle\+\_\+sensor\+\_\+report(). \\
+\hline
+
+\end{DoxyEnumFields}
diff --git a/documentation/latex/namespaces.tex b/documentation/latex/namespaces.tex
new file mode 100644
index 0000000..033598a
--- /dev/null
+++ b/documentation/latex/namespaces.tex
@@ -0,0 +1,4 @@
+\doxysection{Namespace List}
+Here is a list of all namespaces with brief descriptions\+:\begin{DoxyCompactList}
+\item\contentsline{section}{\mbox{\hyperlink{namespace_b_n_o08x_private_types}{BNO08x\+Private\+Types}} }{\pageref{namespace_b_n_o08x_private_types}}{}
+\end{DoxyCompactList}
diff --git a/documentation/latex/refman.tex b/documentation/latex/refman.tex
new file mode 100644
index 0000000..464a688
--- /dev/null
+++ b/documentation/latex/refman.tex
@@ -0,0 +1,342 @@
+  % Handle batch mode
+  % to overcome problems with too many open files
+  \let\mypdfximage\pdfximage\def\pdfximage{\immediate\mypdfximage}
+  % Set document class depending on configuration
+  \documentclass[twoside]{book}
+  %% moved from doxygen.sty due to workaround for LaTex 2019 version and unmaintained tabu package
+  \usepackage{ifthen}
+  \ifx\requestedLaTeXdate\undefined
+    \usepackage{array}
+  \else
+    \usepackage{array}[=2016-10-06]
+  \fi
+  %%
+  % Packages required by doxygen
+  \usepackage{fixltx2e} % for \textsubscript
+  \usepackage{doxygen}
+  \usepackage{graphicx}
+  \usepackage[utf8]{inputenc}
+  \usepackage{makeidx}
+  \PassOptionsToPackage{warn}{textcomp}
+  \usepackage{textcomp}
+  \usepackage[nointegrals]{wasysym}
+  \usepackage{ifxetex}
+  % NLS support packages
+  % Define default fonts
+  % Font selection
+  \usepackage[T1]{fontenc}
+  % set main and monospaced font
+  \usepackage[scaled=.90]{helvet}
+\usepackage{courier}
+\renewcommand{\familydefault}{\sfdefault}
+  \usepackage{sectsty}
+  \allsectionsfont{%
+    \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%
+  }
+  % 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
+  \makeatletter
+  \renewcommand{\paragraph}{%
+    \@startsection{paragraph}{4}{0ex}{-1.0ex}{1.0ex}{%
+      \normalfont\normalsize\bfseries\SS@parafont%
+    }%
+  }
+  \renewcommand{\subparagraph}{%
+    \@startsection{subparagraph}{5}{0ex}{-1.0ex}{1.0ex}{%
+      \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}
+    \fancyhead[RE]{\bfseries\leftmark}
+    \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}
+  \newunicodechar{⁻}{${}^{-}$}% Superscript minus
+  \newunicodechar{²}{${}^{2}$}% Superscript two
+  \newunicodechar{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
+  \usepackage{etoc}
+  \etocsettocstyle{\doxytocparskip}{\doxynormalparskip}
+  % 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}\\
+  \vspace*{1cm}
+  {\large Generated by Doxygen 1.9.4}\\
+  \end{center}
+  \end{titlepage}
+  \clearemptydoublepage
+  \pagenumbering{roman}
+  \tableofcontents
+  \clearemptydoublepage
+  \pagenumbering{arabic}
+  % re-enable anchors again
+  \hypersetup{pageanchor=true}
+%--- Begin generated contents ---
+\chapter{Namespace Index}
+\input{namespaces}
+\chapter{Hierarchical Index}
+\input{hierarchy}
+\chapter{Class Index}
+\input{annotated}
+\chapter{File Index}
+\input{files}
+\chapter{Namespace Documentation}
+\input{namespace_b_n_o08x_private_types}
+\chapter{Class Documentation}
+\input{class_b_n_o08x}
+\input{structbno08x__accel__t}
+\input{structbno08x__activity__classifier__t}
+\input{structbno08x__ang__vel__t}
+\input{structbno08x__config__t}
+\input{structbno08x__euler__angle__t}
+\input{structbno08x__gyro__bias__t}
+\input{structbno08x__gyro__t}
+\input{struct_b_n_o08x_private_types_1_1bno08x__init__status__t}
+\input{structbno08x__magf__bias__t}
+\input{structbno08x__magf__t}
+\input{structbno08x__meta__data__t}
+\input{structbno08x__quat__t}
+\input{structbno08x__raw__accel__t}
+\input{structbno08x__raw__gyro__t}
+\input{structbno08x__raw__magf__t}
+\input{struct_b_n_o08x_1_1bno08x__reports__t}
+\input{structbno08x__sample__counts__t}
+\input{structbno08x__shake__detector__t}
+\input{structbno08x__stability__classifier__t}
+\input{structbno08x__step__counter__t}
+\input{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}
+\input{structbno08x__tap__detector__t}
+\input{class_b_n_o08x_cb_generic}
+\input{class_b_n_o08x_cb_param_rpt_i_d}
+\input{class_b_n_o08x_cb_param_void}
+\input{class_b_n_o08x_rpt}
+\input{class_b_n_o08x_rpt_acceleration}
+\input{class_b_n_o08x_rpt_activity_classifier}
+\input{class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v}
+\input{class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v}
+\input{class_b_n_o08x_rpt_cal_gyro}
+\input{class_b_n_o08x_rpt_cal_magnetometer}
+\input{class_b_n_o08x_rpt_game_r_v}
+\input{class_b_n_o08x_rpt_gravity}
+\input{class_b_n_o08x_rpt_i_gyro_r_v}
+\input{class_b_n_o08x_rpt_linear_acceleration}
+\input{class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer}
+\input{class_b_n_o08x_rpt_raw_m_e_m_s_gyro}
+\input{class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer}
+\input{class_b_n_o08x_rpt_r_v}
+\input{class_b_n_o08x_rpt_r_v_generic}
+\input{class_b_n_o08x_rpt_r_v_geomag}
+\input{class_b_n_o08x_rpt_shake_detector}
+\input{class_b_n_o08x_rpt_stability_classifier}
+\input{class_b_n_o08x_rpt_step_counter}
+\input{class_b_n_o08x_rpt_tap_detector}
+\input{class_b_n_o08x_rpt_uncal_gyro}
+\input{class_b_n_o08x_rpt_uncal_magnetometer}
+\input{class_b_n_o08x_s_h2_h_a_l}
+\input{class_b_n_o08x_test_helper}
+\input{class_b_n_o08x_test_suite}
+\chapter{File Documentation}
+\input{_b_n_o08x_8hpp}
+\input{_b_n_o08x_8hpp_source}
+\input{_b_n_o08x_global_types_8hpp}
+\input{_b_n_o08x_global_types_8hpp_source}
+\input{_b_n_o08x_private_types_8hpp}
+\input{_b_n_o08x_private_types_8hpp_source}
+\input{_b_n_o08x_s_h2_h_a_l_8hpp}
+\input{_b_n_o08x_s_h2_h_a_l_8hpp_source}
+\input{_b_n_o08x_test_helper_8hpp}
+\input{_b_n_o08x_test_helper_8hpp_source}
+\input{_b_n_o08x_test_suite_8hpp}
+\input{_b_n_o08x_test_suite_8hpp_source}
+\input{_b_n_o08x_cb_generic_8hpp}
+\input{_b_n_o08x_cb_generic_8hpp_source}
+\input{_b_n_o08x_cb_param_rpt_i_d_8hpp}
+\input{_b_n_o08x_cb_param_rpt_i_d_8hpp_source}
+\input{_b_n_o08x_cb_param_void_8hpp}
+\input{_b_n_o08x_cb_param_void_8hpp_source}
+\input{_b_n_o08x_reports_8hpp}
+\input{_b_n_o08x_reports_8hpp_source}
+\input{_b_n_o08x_rpt_8hpp}
+\input{_b_n_o08x_rpt_8hpp_source}
+\input{_b_n_o08x_rpt_acceleration_8hpp}
+\input{_b_n_o08x_rpt_acceleration_8hpp_source}
+\input{_b_n_o08x_rpt_activity_classifier_8hpp}
+\input{_b_n_o08x_rpt_activity_classifier_8hpp_source}
+\input{_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8hpp}
+\input{_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8hpp_source}
+\input{_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8hpp}
+\input{_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8hpp_source}
+\input{_b_n_o08x_rpt_cal_gyro_8hpp}
+\input{_b_n_o08x_rpt_cal_gyro_8hpp_source}
+\input{_b_n_o08x_rpt_cal_magnetometer_8hpp}
+\input{_b_n_o08x_rpt_cal_magnetometer_8hpp_source}
+\input{_b_n_o08x_rpt_game_r_v_8hpp}
+\input{_b_n_o08x_rpt_game_r_v_8hpp_source}
+\input{_b_n_o08x_rpt_gravity_8hpp}
+\input{_b_n_o08x_rpt_gravity_8hpp_source}
+\input{_b_n_o08x_rpt_i_gyro_r_v_8hpp}
+\input{_b_n_o08x_rpt_i_gyro_r_v_8hpp_source}
+\input{_b_n_o08x_rpt_linear_acceleration_8hpp}
+\input{_b_n_o08x_rpt_linear_acceleration_8hpp_source}
+\input{_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8hpp}
+\input{_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8hpp_source}
+\input{_b_n_o08x_rpt_raw_m_e_m_s_gyro_8hpp}
+\input{_b_n_o08x_rpt_raw_m_e_m_s_gyro_8hpp_source}
+\input{_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8hpp}
+\input{_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8hpp_source}
+\input{_b_n_o08x_rpt_r_v_8hpp}
+\input{_b_n_o08x_rpt_r_v_8hpp_source}
+\input{_b_n_o08x_rpt_r_v_generic_8hpp}
+\input{_b_n_o08x_rpt_r_v_generic_8hpp_source}
+\input{_b_n_o08x_rpt_r_v_geomag_8hpp}
+\input{_b_n_o08x_rpt_r_v_geomag_8hpp_source}
+\input{_b_n_o08x_rpt_shake_detector_8hpp}
+\input{_b_n_o08x_rpt_shake_detector_8hpp_source}
+\input{_b_n_o08x_rpt_stability_classifier_8hpp}
+\input{_b_n_o08x_rpt_stability_classifier_8hpp_source}
+\input{_b_n_o08x_rpt_step_counter_8hpp}
+\input{_b_n_o08x_rpt_step_counter_8hpp_source}
+\input{_b_n_o08x_rpt_tap_detector_8hpp}
+\input{_b_n_o08x_rpt_tap_detector_8hpp_source}
+\input{_b_n_o08x_rpt_uncal_gyro_8hpp}
+\input{_b_n_o08x_rpt_uncal_gyro_8hpp_source}
+\input{_b_n_o08x_rpt_uncal_magnetometer_8hpp}
+\input{_b_n_o08x_rpt_uncal_magnetometer_8hpp_source}
+\input{_b_n_o08x_8cpp}
+\input{_b_n_o08x_rpt_8cpp}
+\input{_b_n_o08x_s_h2_h_a_l_8cpp}
+\input{_b_n_o08x_rpt_acceleration_8cpp}
+\input{_b_n_o08x_rpt_activity_classifier_8cpp}
+\input{_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v_8cpp}
+\input{_b_n_o08x_rpt_a_r_v_r_stabilized_r_v_8cpp}
+\input{_b_n_o08x_rpt_cal_gyro_8cpp}
+\input{_b_n_o08x_rpt_cal_magnetometer_8cpp}
+\input{_b_n_o08x_rpt_game_r_v_8cpp}
+\input{_b_n_o08x_rpt_gravity_8cpp}
+\input{_b_n_o08x_rpt_i_gyro_r_v_8cpp}
+\input{_b_n_o08x_rpt_linear_acceleration_8cpp}
+\input{_b_n_o08x_rpt_raw_m_e_m_s_accelerometer_8cpp}
+\input{_b_n_o08x_rpt_raw_m_e_m_s_gyro_8cpp}
+\input{_b_n_o08x_rpt_raw_m_e_m_s_magnetometer_8cpp}
+\input{_b_n_o08x_rpt_r_v_8cpp}
+\input{_b_n_o08x_rpt_r_v_generic_8cpp}
+\input{_b_n_o08x_rpt_r_v_geomag_8cpp}
+\input{_b_n_o08x_rpt_shake_detector_8cpp}
+\input{_b_n_o08x_rpt_stability_classifier_8cpp}
+\input{_b_n_o08x_rpt_step_counter_8cpp}
+\input{_b_n_o08x_rpt_tap_detector_8cpp}
+\input{_b_n_o08x_rpt_uncal_gyro_8cpp}
+\input{_b_n_o08x_rpt_uncal_magnetometer_8cpp}
+%--- 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__reports__t.tex b/documentation/latex/struct_b_n_o08x_1_1bno08x__reports__t.tex
new file mode 100644
index 0000000..014ea04
--- /dev/null
+++ b/documentation/latex/struct_b_n_o08x_1_1bno08x__reports__t.tex
@@ -0,0 +1,217 @@
+\hypertarget{struct_b_n_o08x_1_1bno08x__reports__t}{}\doxysection{BNO08x\+::bno08x\+\_\+reports\+\_\+t Struct Reference}
+\label{struct_b_n_o08x_1_1bno08x__reports__t}\index{BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}}
+
+
+Contains report implementations.  
+
+
+
+
+{\ttfamily \#include $<$BNO08x.\+hpp$>$}
+
+
+
+Collaboration diagram for BNO08x\+::bno08x\+\_\+reports\+\_\+t\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{struct_b_n_o08x_1_1bno08x__reports__t__coll__graph}
+\end{center}
+\end{figure}
+\doxysubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_aad0b1641e9c31927c33d0f69c174f9cb}{bno08x\+\_\+reports\+\_\+t}} (\mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$sync\+\_\+ctx)
+\end{DoxyCompactItemize}
+\doxysubsection*{Public Attributes}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{class_b_n_o08x_rpt_i_gyro_r_v}{BNO08x\+Rpt\+IGyro\+RV}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a6937b5d9bf8af9344a5013e1c543ab42}{rv\+\_\+gyro\+\_\+integrated}}
+\item 
+\mbox{\hyperlink{class_b_n_o08x_rpt_uncal_magnetometer}{BNO08x\+Rpt\+Uncal\+Magnetometer}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a5774fa69fc74264d40478a729aeb5ece}{uncal\+\_\+magnetometer}}
+\item 
+\mbox{\hyperlink{class_b_n_o08x_rpt_uncal_gyro}{BNO08x\+Rpt\+Uncal\+Gyro}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a6f1929843393c09c21b1f107a47c8fe3}{uncal\+\_\+gyro}}
+\item 
+\mbox{\hyperlink{class_b_n_o08x_rpt_r_v}{BNO08x\+Rpt\+RV}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_aeab138f8ddfed3f4d6b855a73b7e2db5}{rv}}
+\item 
+\mbox{\hyperlink{class_b_n_o08x_rpt_game_r_v}{BNO08x\+Rpt\+Game\+RV}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a7f33ac650137f5933ee1eab1ce936db6}{rv\+\_\+game}}
+\item 
+\mbox{\hyperlink{class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v}{BNO08x\+Rpt\+ARVRStabilized\+RV}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a027c914e51da445148dc9b2735cc5fc9}{rv\+\_\+\+ARVR\+\_\+stabilized}}
+\item 
+\mbox{\hyperlink{class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v}{BNO08x\+Rpt\+ARVRStabilized\+Game\+RV}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_af550968d0e56f114b4afb20a5a442206}{rv\+\_\+\+ARVR\+\_\+stabilized\+\_\+game}}
+\item 
+\mbox{\hyperlink{class_b_n_o08x_rpt_r_v_geomag}{BNO08x\+Rpt\+RVGeomag}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a7e17ff7b9763ed040158813c69614a9f}{rv\+\_\+geomagnetic}}
+\item 
+\mbox{\hyperlink{class_b_n_o08x_rpt_activity_classifier}{BNO08x\+Rpt\+Activity\+Classifier}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a6475bdab7c49091f3086537efc00c12f}{activity\+\_\+classifier}}
+\item 
+\mbox{\hyperlink{class_b_n_o08x_rpt_acceleration}{BNO08x\+Rpt\+Acceleration}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_ab7939486c9ba7e7c70f82d2284fb6119}{accelerometer}}
+\item 
+\mbox{\hyperlink{class_b_n_o08x_rpt_linear_acceleration}{BNO08x\+Rpt\+Linear\+Acceleration}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_ac8114db28ee3f7be5578e52f48caa9c3}{linear\+\_\+accelerometer}}
+\item 
+\mbox{\hyperlink{class_b_n_o08x_rpt_gravity}{BNO08x\+Rpt\+Gravity}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_af5245d5e4a6f7548a0c3a30af53b7355}{gravity}}
+\item 
+\mbox{\hyperlink{class_b_n_o08x_rpt_cal_magnetometer}{BNO08x\+Rpt\+Cal\+Magnetometer}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a03d6194225331df5326a97ec6d45b094}{cal\+\_\+magnetometer}}
+\item 
+\mbox{\hyperlink{class_b_n_o08x_rpt_cal_gyro}{BNO08x\+Rpt\+Cal\+Gyro}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_adabe838126b5bbc83fc4f69bba78123e}{cal\+\_\+gyro}}
+\item 
+\mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_gyro}{BNO08x\+Rpt\+Raw\+MEMSGyro}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a13357e58bc926c2420ab41e4ffef4196}{raw\+\_\+gyro}}
+\item 
+\mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer}{BNO08x\+Rpt\+Raw\+MEMSAccelerometer}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_aa3a65aaf2adf05aa014b72c2d4485590}{raw\+\_\+accelerometer}}
+\item 
+\mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer}{BNO08x\+Rpt\+Raw\+MEMSMagnetometer}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_aad8698945b261c0a871f2f409897b071}{raw\+\_\+magnetometer}}
+\item 
+\mbox{\hyperlink{class_b_n_o08x_rpt_step_counter}{BNO08x\+Rpt\+Step\+Counter}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_aee9528ea57ab86ef29e10de9ecfefcf7}{step\+\_\+counter}}
+\item 
+\mbox{\hyperlink{class_b_n_o08x_rpt_tap_detector}{BNO08x\+Rpt\+Tap\+Detector}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a0cabee7da991a7399d607373f09548a7}{tap\+\_\+detector}}
+\item 
+\mbox{\hyperlink{class_b_n_o08x_rpt_stability_classifier}{BNO08x\+Rpt\+Stability\+Classifier}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a2edee4386eaea86ef3d316f5840d7a2f}{stability\+\_\+classifier}}
+\item 
+\mbox{\hyperlink{class_b_n_o08x_rpt_shake_detector}{BNO08x\+Rpt\+Shake\+Detector}} \mbox{\hyperlink{struct_b_n_o08x_1_1bno08x__reports__t_a9d7ff08c5a141c3d1ad3493423e7c49c}{shake\+\_\+detector}}
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Contains report implementations. 
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\mbox{\Hypertarget{struct_b_n_o08x_1_1bno08x__reports__t_aad0b1641e9c31927c33d0f69c174f9cb}\label{struct_b_n_o08x_1_1bno08x__reports__t_aad0b1641e9c31927c33d0f69c174f9cb}} 
+\index{BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}!bno08x\_reports\_t@{bno08x\_reports\_t}}
+\index{bno08x\_reports\_t@{bno08x\_reports\_t}!BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}}
+\doxysubsubsection{\texorpdfstring{bno08x\_reports\_t()}{bno08x\_reports\_t()}}
+{\footnotesize\ttfamily BNO08x\+::bno08x\+\_\+reports\+\_\+t\+::bno08x\+\_\+reports\+\_\+t (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} $\ast$}]{sync\+\_\+ctx }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Data Documentation}
+\mbox{\Hypertarget{struct_b_n_o08x_1_1bno08x__reports__t_ab7939486c9ba7e7c70f82d2284fb6119}\label{struct_b_n_o08x_1_1bno08x__reports__t_ab7939486c9ba7e7c70f82d2284fb6119}} 
+\index{BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}!accelerometer@{accelerometer}}
+\index{accelerometer@{accelerometer}!BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}}
+\doxysubsubsection{\texorpdfstring{accelerometer}{accelerometer}}
+{\footnotesize\ttfamily \mbox{\hyperlink{class_b_n_o08x_rpt_acceleration}{BNO08x\+Rpt\+Acceleration}} BNO08x\+::bno08x\+\_\+reports\+\_\+t\+::accelerometer}
+
+\mbox{\Hypertarget{struct_b_n_o08x_1_1bno08x__reports__t_a6475bdab7c49091f3086537efc00c12f}\label{struct_b_n_o08x_1_1bno08x__reports__t_a6475bdab7c49091f3086537efc00c12f}} 
+\index{BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}!activity\_classifier@{activity\_classifier}}
+\index{activity\_classifier@{activity\_classifier}!BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}}
+\doxysubsubsection{\texorpdfstring{activity\_classifier}{activity\_classifier}}
+{\footnotesize\ttfamily \mbox{\hyperlink{class_b_n_o08x_rpt_activity_classifier}{BNO08x\+Rpt\+Activity\+Classifier}} BNO08x\+::bno08x\+\_\+reports\+\_\+t\+::activity\+\_\+classifier}
+
+\mbox{\Hypertarget{struct_b_n_o08x_1_1bno08x__reports__t_adabe838126b5bbc83fc4f69bba78123e}\label{struct_b_n_o08x_1_1bno08x__reports__t_adabe838126b5bbc83fc4f69bba78123e}} 
+\index{BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}!cal\_gyro@{cal\_gyro}}
+\index{cal\_gyro@{cal\_gyro}!BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}}
+\doxysubsubsection{\texorpdfstring{cal\_gyro}{cal\_gyro}}
+{\footnotesize\ttfamily \mbox{\hyperlink{class_b_n_o08x_rpt_cal_gyro}{BNO08x\+Rpt\+Cal\+Gyro}} BNO08x\+::bno08x\+\_\+reports\+\_\+t\+::cal\+\_\+gyro}
+
+\mbox{\Hypertarget{struct_b_n_o08x_1_1bno08x__reports__t_a03d6194225331df5326a97ec6d45b094}\label{struct_b_n_o08x_1_1bno08x__reports__t_a03d6194225331df5326a97ec6d45b094}} 
+\index{BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}!cal\_magnetometer@{cal\_magnetometer}}
+\index{cal\_magnetometer@{cal\_magnetometer}!BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}}
+\doxysubsubsection{\texorpdfstring{cal\_magnetometer}{cal\_magnetometer}}
+{\footnotesize\ttfamily \mbox{\hyperlink{class_b_n_o08x_rpt_cal_magnetometer}{BNO08x\+Rpt\+Cal\+Magnetometer}} BNO08x\+::bno08x\+\_\+reports\+\_\+t\+::cal\+\_\+magnetometer}
+
+\mbox{\Hypertarget{struct_b_n_o08x_1_1bno08x__reports__t_af5245d5e4a6f7548a0c3a30af53b7355}\label{struct_b_n_o08x_1_1bno08x__reports__t_af5245d5e4a6f7548a0c3a30af53b7355}} 
+\index{BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}!gravity@{gravity}}
+\index{gravity@{gravity}!BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}}
+\doxysubsubsection{\texorpdfstring{gravity}{gravity}}
+{\footnotesize\ttfamily \mbox{\hyperlink{class_b_n_o08x_rpt_gravity}{BNO08x\+Rpt\+Gravity}} BNO08x\+::bno08x\+\_\+reports\+\_\+t\+::gravity}
+
+\mbox{\Hypertarget{struct_b_n_o08x_1_1bno08x__reports__t_ac8114db28ee3f7be5578e52f48caa9c3}\label{struct_b_n_o08x_1_1bno08x__reports__t_ac8114db28ee3f7be5578e52f48caa9c3}} 
+\index{BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}!linear\_accelerometer@{linear\_accelerometer}}
+\index{linear\_accelerometer@{linear\_accelerometer}!BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}}
+\doxysubsubsection{\texorpdfstring{linear\_accelerometer}{linear\_accelerometer}}
+{\footnotesize\ttfamily \mbox{\hyperlink{class_b_n_o08x_rpt_linear_acceleration}{BNO08x\+Rpt\+Linear\+Acceleration}} BNO08x\+::bno08x\+\_\+reports\+\_\+t\+::linear\+\_\+accelerometer}
+
+\mbox{\Hypertarget{struct_b_n_o08x_1_1bno08x__reports__t_aa3a65aaf2adf05aa014b72c2d4485590}\label{struct_b_n_o08x_1_1bno08x__reports__t_aa3a65aaf2adf05aa014b72c2d4485590}} 
+\index{BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}!raw\_accelerometer@{raw\_accelerometer}}
+\index{raw\_accelerometer@{raw\_accelerometer}!BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}}
+\doxysubsubsection{\texorpdfstring{raw\_accelerometer}{raw\_accelerometer}}
+{\footnotesize\ttfamily \mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer}{BNO08x\+Rpt\+Raw\+MEMSAccelerometer}} BNO08x\+::bno08x\+\_\+reports\+\_\+t\+::raw\+\_\+accelerometer}
+
+\mbox{\Hypertarget{struct_b_n_o08x_1_1bno08x__reports__t_a13357e58bc926c2420ab41e4ffef4196}\label{struct_b_n_o08x_1_1bno08x__reports__t_a13357e58bc926c2420ab41e4ffef4196}} 
+\index{BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}!raw\_gyro@{raw\_gyro}}
+\index{raw\_gyro@{raw\_gyro}!BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}}
+\doxysubsubsection{\texorpdfstring{raw\_gyro}{raw\_gyro}}
+{\footnotesize\ttfamily \mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_gyro}{BNO08x\+Rpt\+Raw\+MEMSGyro}} BNO08x\+::bno08x\+\_\+reports\+\_\+t\+::raw\+\_\+gyro}
+
+\mbox{\Hypertarget{struct_b_n_o08x_1_1bno08x__reports__t_aad8698945b261c0a871f2f409897b071}\label{struct_b_n_o08x_1_1bno08x__reports__t_aad8698945b261c0a871f2f409897b071}} 
+\index{BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}!raw\_magnetometer@{raw\_magnetometer}}
+\index{raw\_magnetometer@{raw\_magnetometer}!BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}}
+\doxysubsubsection{\texorpdfstring{raw\_magnetometer}{raw\_magnetometer}}
+{\footnotesize\ttfamily \mbox{\hyperlink{class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer}{BNO08x\+Rpt\+Raw\+MEMSMagnetometer}} BNO08x\+::bno08x\+\_\+reports\+\_\+t\+::raw\+\_\+magnetometer}
+
+\mbox{\Hypertarget{struct_b_n_o08x_1_1bno08x__reports__t_aeab138f8ddfed3f4d6b855a73b7e2db5}\label{struct_b_n_o08x_1_1bno08x__reports__t_aeab138f8ddfed3f4d6b855a73b7e2db5}} 
+\index{BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}!rv@{rv}}
+\index{rv@{rv}!BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}}
+\doxysubsubsection{\texorpdfstring{rv}{rv}}
+{\footnotesize\ttfamily \mbox{\hyperlink{class_b_n_o08x_rpt_r_v}{BNO08x\+Rpt\+RV}} BNO08x\+::bno08x\+\_\+reports\+\_\+t\+::rv}
+
+\mbox{\Hypertarget{struct_b_n_o08x_1_1bno08x__reports__t_a027c914e51da445148dc9b2735cc5fc9}\label{struct_b_n_o08x_1_1bno08x__reports__t_a027c914e51da445148dc9b2735cc5fc9}} 
+\index{BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}!rv\_ARVR\_stabilized@{rv\_ARVR\_stabilized}}
+\index{rv\_ARVR\_stabilized@{rv\_ARVR\_stabilized}!BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}}
+\doxysubsubsection{\texorpdfstring{rv\_ARVR\_stabilized}{rv\_ARVR\_stabilized}}
+{\footnotesize\ttfamily \mbox{\hyperlink{class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v}{BNO08x\+Rpt\+ARVRStabilized\+RV}} BNO08x\+::bno08x\+\_\+reports\+\_\+t\+::rv\+\_\+\+ARVR\+\_\+stabilized}
+
+\mbox{\Hypertarget{struct_b_n_o08x_1_1bno08x__reports__t_af550968d0e56f114b4afb20a5a442206}\label{struct_b_n_o08x_1_1bno08x__reports__t_af550968d0e56f114b4afb20a5a442206}} 
+\index{BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}!rv\_ARVR\_stabilized\_game@{rv\_ARVR\_stabilized\_game}}
+\index{rv\_ARVR\_stabilized\_game@{rv\_ARVR\_stabilized\_game}!BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}}
+\doxysubsubsection{\texorpdfstring{rv\_ARVR\_stabilized\_game}{rv\_ARVR\_stabilized\_game}}
+{\footnotesize\ttfamily \mbox{\hyperlink{class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v}{BNO08x\+Rpt\+ARVRStabilized\+Game\+RV}} BNO08x\+::bno08x\+\_\+reports\+\_\+t\+::rv\+\_\+\+ARVR\+\_\+stabilized\+\_\+game}
+
+\mbox{\Hypertarget{struct_b_n_o08x_1_1bno08x__reports__t_a7f33ac650137f5933ee1eab1ce936db6}\label{struct_b_n_o08x_1_1bno08x__reports__t_a7f33ac650137f5933ee1eab1ce936db6}} 
+\index{BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}!rv\_game@{rv\_game}}
+\index{rv\_game@{rv\_game}!BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}}
+\doxysubsubsection{\texorpdfstring{rv\_game}{rv\_game}}
+{\footnotesize\ttfamily \mbox{\hyperlink{class_b_n_o08x_rpt_game_r_v}{BNO08x\+Rpt\+Game\+RV}} BNO08x\+::bno08x\+\_\+reports\+\_\+t\+::rv\+\_\+game}
+
+\mbox{\Hypertarget{struct_b_n_o08x_1_1bno08x__reports__t_a7e17ff7b9763ed040158813c69614a9f}\label{struct_b_n_o08x_1_1bno08x__reports__t_a7e17ff7b9763ed040158813c69614a9f}} 
+\index{BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}!rv\_geomagnetic@{rv\_geomagnetic}}
+\index{rv\_geomagnetic@{rv\_geomagnetic}!BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}}
+\doxysubsubsection{\texorpdfstring{rv\_geomagnetic}{rv\_geomagnetic}}
+{\footnotesize\ttfamily \mbox{\hyperlink{class_b_n_o08x_rpt_r_v_geomag}{BNO08x\+Rpt\+RVGeomag}} BNO08x\+::bno08x\+\_\+reports\+\_\+t\+::rv\+\_\+geomagnetic}
+
+\mbox{\Hypertarget{struct_b_n_o08x_1_1bno08x__reports__t_a6937b5d9bf8af9344a5013e1c543ab42}\label{struct_b_n_o08x_1_1bno08x__reports__t_a6937b5d9bf8af9344a5013e1c543ab42}} 
+\index{BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}!rv\_gyro\_integrated@{rv\_gyro\_integrated}}
+\index{rv\_gyro\_integrated@{rv\_gyro\_integrated}!BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}}
+\doxysubsubsection{\texorpdfstring{rv\_gyro\_integrated}{rv\_gyro\_integrated}}
+{\footnotesize\ttfamily \mbox{\hyperlink{class_b_n_o08x_rpt_i_gyro_r_v}{BNO08x\+Rpt\+IGyro\+RV}} BNO08x\+::bno08x\+\_\+reports\+\_\+t\+::rv\+\_\+gyro\+\_\+integrated}
+
+\mbox{\Hypertarget{struct_b_n_o08x_1_1bno08x__reports__t_a9d7ff08c5a141c3d1ad3493423e7c49c}\label{struct_b_n_o08x_1_1bno08x__reports__t_a9d7ff08c5a141c3d1ad3493423e7c49c}} 
+\index{BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}!shake\_detector@{shake\_detector}}
+\index{shake\_detector@{shake\_detector}!BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}}
+\doxysubsubsection{\texorpdfstring{shake\_detector}{shake\_detector}}
+{\footnotesize\ttfamily \mbox{\hyperlink{class_b_n_o08x_rpt_shake_detector}{BNO08x\+Rpt\+Shake\+Detector}} BNO08x\+::bno08x\+\_\+reports\+\_\+t\+::shake\+\_\+detector}
+
+\mbox{\Hypertarget{struct_b_n_o08x_1_1bno08x__reports__t_a2edee4386eaea86ef3d316f5840d7a2f}\label{struct_b_n_o08x_1_1bno08x__reports__t_a2edee4386eaea86ef3d316f5840d7a2f}} 
+\index{BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}!stability\_classifier@{stability\_classifier}}
+\index{stability\_classifier@{stability\_classifier}!BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}}
+\doxysubsubsection{\texorpdfstring{stability\_classifier}{stability\_classifier}}
+{\footnotesize\ttfamily \mbox{\hyperlink{class_b_n_o08x_rpt_stability_classifier}{BNO08x\+Rpt\+Stability\+Classifier}} BNO08x\+::bno08x\+\_\+reports\+\_\+t\+::stability\+\_\+classifier}
+
+\mbox{\Hypertarget{struct_b_n_o08x_1_1bno08x__reports__t_aee9528ea57ab86ef29e10de9ecfefcf7}\label{struct_b_n_o08x_1_1bno08x__reports__t_aee9528ea57ab86ef29e10de9ecfefcf7}} 
+\index{BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}!step\_counter@{step\_counter}}
+\index{step\_counter@{step\_counter}!BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}}
+\doxysubsubsection{\texorpdfstring{step\_counter}{step\_counter}}
+{\footnotesize\ttfamily \mbox{\hyperlink{class_b_n_o08x_rpt_step_counter}{BNO08x\+Rpt\+Step\+Counter}} BNO08x\+::bno08x\+\_\+reports\+\_\+t\+::step\+\_\+counter}
+
+\mbox{\Hypertarget{struct_b_n_o08x_1_1bno08x__reports__t_a0cabee7da991a7399d607373f09548a7}\label{struct_b_n_o08x_1_1bno08x__reports__t_a0cabee7da991a7399d607373f09548a7}} 
+\index{BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}!tap\_detector@{tap\_detector}}
+\index{tap\_detector@{tap\_detector}!BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}}
+\doxysubsubsection{\texorpdfstring{tap\_detector}{tap\_detector}}
+{\footnotesize\ttfamily \mbox{\hyperlink{class_b_n_o08x_rpt_tap_detector}{BNO08x\+Rpt\+Tap\+Detector}} BNO08x\+::bno08x\+\_\+reports\+\_\+t\+::tap\+\_\+detector}
+
+\mbox{\Hypertarget{struct_b_n_o08x_1_1bno08x__reports__t_a6f1929843393c09c21b1f107a47c8fe3}\label{struct_b_n_o08x_1_1bno08x__reports__t_a6f1929843393c09c21b1f107a47c8fe3}} 
+\index{BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}!uncal\_gyro@{uncal\_gyro}}
+\index{uncal\_gyro@{uncal\_gyro}!BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}}
+\doxysubsubsection{\texorpdfstring{uncal\_gyro}{uncal\_gyro}}
+{\footnotesize\ttfamily \mbox{\hyperlink{class_b_n_o08x_rpt_uncal_gyro}{BNO08x\+Rpt\+Uncal\+Gyro}} BNO08x\+::bno08x\+\_\+reports\+\_\+t\+::uncal\+\_\+gyro}
+
+\mbox{\Hypertarget{struct_b_n_o08x_1_1bno08x__reports__t_a5774fa69fc74264d40478a729aeb5ece}\label{struct_b_n_o08x_1_1bno08x__reports__t_a5774fa69fc74264d40478a729aeb5ece}} 
+\index{BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}!uncal\_magnetometer@{uncal\_magnetometer}}
+\index{uncal\_magnetometer@{uncal\_magnetometer}!BNO08x::bno08x\_reports\_t@{BNO08x::bno08x\_reports\_t}}
+\doxysubsubsection{\texorpdfstring{uncal\_magnetometer}{uncal\_magnetometer}}
+{\footnotesize\ttfamily \mbox{\hyperlink{class_b_n_o08x_rpt_uncal_magnetometer}{BNO08x\+Rpt\+Uncal\+Magnetometer}} BNO08x\+::bno08x\+\_\+reports\+\_\+t\+::uncal\+\_\+magnetometer}
+
+
+
+The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\mbox{\hyperlink{_b_n_o08x_8hpp}{BNO08x.\+hpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/struct_b_n_o08x_1_1bno08x__reports__t__coll__graph.md5 b/documentation/latex/struct_b_n_o08x_1_1bno08x__reports__t__coll__graph.md5
new file mode 100644
index 0000000..619e191
--- /dev/null
+++ b/documentation/latex/struct_b_n_o08x_1_1bno08x__reports__t__coll__graph.md5
@@ -0,0 +1 @@
+ecfd2e25a2354a9495f3a7ac80604798
\ No newline at end of file
diff --git a/documentation/latex/struct_b_n_o08x_1_1bno08x__reports__t__coll__graph.pdf b/documentation/latex/struct_b_n_o08x_1_1bno08x__reports__t__coll__graph.pdf
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diff --git a/documentation/latex/struct_b_n_o08x_private_types_1_1bno08x__init__status__t.tex b/documentation/latex/struct_b_n_o08x_private_types_1_1bno08x__init__status__t.tex
new file mode 100644
index 0000000..75be137
--- /dev/null
+++ b/documentation/latex/struct_b_n_o08x_private_types_1_1bno08x__init__status__t.tex
@@ -0,0 +1,159 @@
+\hypertarget{struct_b_n_o08x_private_types_1_1bno08x__init__status__t}{}\doxysection{BNO08x\+Private\+Types\+::bno08x\+\_\+init\+\_\+status\+\_\+t Struct Reference}
+\label{struct_b_n_o08x_private_types_1_1bno08x__init__status__t}\index{BNO08xPrivateTypes::bno08x\_init\_status\_t@{BNO08xPrivateTypes::bno08x\_init\_status\_t}}
+
+
+Holds info about which functionality has been successfully initialized (used by deconstructor during cleanup).  
+
+
+
+
+{\ttfamily \#include $<$BNO08x\+Private\+Types.\+hpp$>$}
+
+\doxysubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_a63b876667ae7fb32e9861dffafb55a64}{bno08x\+\_\+init\+\_\+status\+\_\+t}} ()
+\end{DoxyCompactItemize}
+\doxysubsection*{Public Attributes}
+\begin{DoxyCompactItemize}
+\item 
+bool \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_ac74b5a17ec13d4bef4e4775f20ed68df}{gpio\+\_\+outputs}}
+\begin{DoxyCompactList}\small\item\em True if GPIO outputs have been initialized. \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_a9b87a879ec795e2241985f0d33856c14}{gpio\+\_\+inputs}}
+\begin{DoxyCompactList}\small\item\em True if GPIO inputs have been initialized. \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_a3cec063b6210ec58d30b3bd1d4ead4f9}{isr\+\_\+service}}
+\begin{DoxyCompactList}\small\item\em True if global ISR service has been initialized. \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_a7c4523e02a434a7be73f5dc5314429bd}{isr\+\_\+handler}}
+\begin{DoxyCompactList}\small\item\em True if HINT ISR handler has been initialized. \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_a8780317bf985194a58d4b0457d518adf}{spi\+\_\+bus}}
+\begin{DoxyCompactList}\small\item\em True if spi\+\_\+bus\+\_\+initialize() has been called successfully. \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_ab268642c4b6b9fc1eb7c6ceec0e8e64d}{spi\+\_\+device}}
+\begin{DoxyCompactList}\small\item\em True if spi\+\_\+bus\+\_\+add\+\_\+device() has been called successfully. \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_af303bcbae7a635043e0c082d7869dd40}{data\+\_\+proc\+\_\+task}}
+\begin{DoxyCompactList}\small\item\em True if x\+Task\+Create has been called successfully for data\+\_\+proc\+\_\+task. \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_a150665b9f07eea167dd61aa9701d0e66}{sh2\+\_\+\+HAL\+\_\+service\+\_\+task}}
+\begin{DoxyCompactList}\small\item\em True if x\+Task\+Create has been called successfully for sh2\+\_\+\+HAL\+\_\+service\+\_\+task. \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_ae1066ea59e52f7d228b71df1f8c2b416}{cb\+\_\+task}}
+\begin{DoxyCompactList}\small\item\em True if x\+Task\+Create has been called successfully for cb\+\_\+task. \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_a5094148539354e52e4f7b054ba766bce}{sh2\+\_\+\+HAL}}
+\begin{DoxyCompactList}\small\item\em True if sh2\+\_\+open() has been called successfully. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Holds info about which functionality has been successfully initialized (used by deconstructor during cleanup). 
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\mbox{\Hypertarget{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_a63b876667ae7fb32e9861dffafb55a64}\label{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_a63b876667ae7fb32e9861dffafb55a64}} 
+\index{BNO08xPrivateTypes::bno08x\_init\_status\_t@{BNO08xPrivateTypes::bno08x\_init\_status\_t}!bno08x\_init\_status\_t@{bno08x\_init\_status\_t}}
+\index{bno08x\_init\_status\_t@{bno08x\_init\_status\_t}!BNO08xPrivateTypes::bno08x\_init\_status\_t@{BNO08xPrivateTypes::bno08x\_init\_status\_t}}
+\doxysubsubsection{\texorpdfstring{bno08x\_init\_status\_t()}{bno08x\_init\_status\_t()}}
+{\footnotesize\ttfamily BNO08x\+Private\+Types\+::bno08x\+\_\+init\+\_\+status\+\_\+t\+::bno08x\+\_\+init\+\_\+status\+\_\+t (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Data Documentation}
+\mbox{\Hypertarget{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_ae1066ea59e52f7d228b71df1f8c2b416}\label{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_ae1066ea59e52f7d228b71df1f8c2b416}} 
+\index{BNO08xPrivateTypes::bno08x\_init\_status\_t@{BNO08xPrivateTypes::bno08x\_init\_status\_t}!cb\_task@{cb\_task}}
+\index{cb\_task@{cb\_task}!BNO08xPrivateTypes::bno08x\_init\_status\_t@{BNO08xPrivateTypes::bno08x\_init\_status\_t}}
+\doxysubsubsection{\texorpdfstring{cb\_task}{cb\_task}}
+{\footnotesize\ttfamily bool BNO08x\+Private\+Types\+::bno08x\+\_\+init\+\_\+status\+\_\+t\+::cb\+\_\+task}
+
+
+
+True if x\+Task\+Create has been called successfully for cb\+\_\+task. 
+
+\mbox{\Hypertarget{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_af303bcbae7a635043e0c082d7869dd40}\label{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_af303bcbae7a635043e0c082d7869dd40}} 
+\index{BNO08xPrivateTypes::bno08x\_init\_status\_t@{BNO08xPrivateTypes::bno08x\_init\_status\_t}!data\_proc\_task@{data\_proc\_task}}
+\index{data\_proc\_task@{data\_proc\_task}!BNO08xPrivateTypes::bno08x\_init\_status\_t@{BNO08xPrivateTypes::bno08x\_init\_status\_t}}
+\doxysubsubsection{\texorpdfstring{data\_proc\_task}{data\_proc\_task}}
+{\footnotesize\ttfamily bool BNO08x\+Private\+Types\+::bno08x\+\_\+init\+\_\+status\+\_\+t\+::data\+\_\+proc\+\_\+task}
+
+
+
+True if x\+Task\+Create has been called successfully for data\+\_\+proc\+\_\+task. 
+
+\mbox{\Hypertarget{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_a9b87a879ec795e2241985f0d33856c14}\label{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_a9b87a879ec795e2241985f0d33856c14}} 
+\index{BNO08xPrivateTypes::bno08x\_init\_status\_t@{BNO08xPrivateTypes::bno08x\_init\_status\_t}!gpio\_inputs@{gpio\_inputs}}
+\index{gpio\_inputs@{gpio\_inputs}!BNO08xPrivateTypes::bno08x\_init\_status\_t@{BNO08xPrivateTypes::bno08x\_init\_status\_t}}
+\doxysubsubsection{\texorpdfstring{gpio\_inputs}{gpio\_inputs}}
+{\footnotesize\ttfamily bool BNO08x\+Private\+Types\+::bno08x\+\_\+init\+\_\+status\+\_\+t\+::gpio\+\_\+inputs}
+
+
+
+True if GPIO inputs have been initialized. 
+
+\mbox{\Hypertarget{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_ac74b5a17ec13d4bef4e4775f20ed68df}\label{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_ac74b5a17ec13d4bef4e4775f20ed68df}} 
+\index{BNO08xPrivateTypes::bno08x\_init\_status\_t@{BNO08xPrivateTypes::bno08x\_init\_status\_t}!gpio\_outputs@{gpio\_outputs}}
+\index{gpio\_outputs@{gpio\_outputs}!BNO08xPrivateTypes::bno08x\_init\_status\_t@{BNO08xPrivateTypes::bno08x\_init\_status\_t}}
+\doxysubsubsection{\texorpdfstring{gpio\_outputs}{gpio\_outputs}}
+{\footnotesize\ttfamily bool BNO08x\+Private\+Types\+::bno08x\+\_\+init\+\_\+status\+\_\+t\+::gpio\+\_\+outputs}
+
+
+
+True if GPIO outputs have been initialized. 
+
+\mbox{\Hypertarget{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_a7c4523e02a434a7be73f5dc5314429bd}\label{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_a7c4523e02a434a7be73f5dc5314429bd}} 
+\index{BNO08xPrivateTypes::bno08x\_init\_status\_t@{BNO08xPrivateTypes::bno08x\_init\_status\_t}!isr\_handler@{isr\_handler}}
+\index{isr\_handler@{isr\_handler}!BNO08xPrivateTypes::bno08x\_init\_status\_t@{BNO08xPrivateTypes::bno08x\_init\_status\_t}}
+\doxysubsubsection{\texorpdfstring{isr\_handler}{isr\_handler}}
+{\footnotesize\ttfamily bool BNO08x\+Private\+Types\+::bno08x\+\_\+init\+\_\+status\+\_\+t\+::isr\+\_\+handler}
+
+
+
+True if HINT ISR handler has been initialized. 
+
+\mbox{\Hypertarget{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_a3cec063b6210ec58d30b3bd1d4ead4f9}\label{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_a3cec063b6210ec58d30b3bd1d4ead4f9}} 
+\index{BNO08xPrivateTypes::bno08x\_init\_status\_t@{BNO08xPrivateTypes::bno08x\_init\_status\_t}!isr\_service@{isr\_service}}
+\index{isr\_service@{isr\_service}!BNO08xPrivateTypes::bno08x\_init\_status\_t@{BNO08xPrivateTypes::bno08x\_init\_status\_t}}
+\doxysubsubsection{\texorpdfstring{isr\_service}{isr\_service}}
+{\footnotesize\ttfamily bool BNO08x\+Private\+Types\+::bno08x\+\_\+init\+\_\+status\+\_\+t\+::isr\+\_\+service}
+
+
+
+True if global ISR service has been initialized. 
+
+\mbox{\Hypertarget{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_a5094148539354e52e4f7b054ba766bce}\label{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_a5094148539354e52e4f7b054ba766bce}} 
+\index{BNO08xPrivateTypes::bno08x\_init\_status\_t@{BNO08xPrivateTypes::bno08x\_init\_status\_t}!sh2\_HAL@{sh2\_HAL}}
+\index{sh2\_HAL@{sh2\_HAL}!BNO08xPrivateTypes::bno08x\_init\_status\_t@{BNO08xPrivateTypes::bno08x\_init\_status\_t}}
+\doxysubsubsection{\texorpdfstring{sh2\_HAL}{sh2\_HAL}}
+{\footnotesize\ttfamily bool BNO08x\+Private\+Types\+::bno08x\+\_\+init\+\_\+status\+\_\+t\+::sh2\+\_\+\+HAL}
+
+
+
+True if sh2\+\_\+open() has been called successfully. 
+
+\mbox{\Hypertarget{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_a150665b9f07eea167dd61aa9701d0e66}\label{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_a150665b9f07eea167dd61aa9701d0e66}} 
+\index{BNO08xPrivateTypes::bno08x\_init\_status\_t@{BNO08xPrivateTypes::bno08x\_init\_status\_t}!sh2\_HAL\_service\_task@{sh2\_HAL\_service\_task}}
+\index{sh2\_HAL\_service\_task@{sh2\_HAL\_service\_task}!BNO08xPrivateTypes::bno08x\_init\_status\_t@{BNO08xPrivateTypes::bno08x\_init\_status\_t}}
+\doxysubsubsection{\texorpdfstring{sh2\_HAL\_service\_task}{sh2\_HAL\_service\_task}}
+{\footnotesize\ttfamily bool BNO08x\+Private\+Types\+::bno08x\+\_\+init\+\_\+status\+\_\+t\+::sh2\+\_\+\+HAL\+\_\+service\+\_\+task}
+
+
+
+True if x\+Task\+Create has been called successfully for sh2\+\_\+\+HAL\+\_\+service\+\_\+task. 
+
+\mbox{\Hypertarget{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_a8780317bf985194a58d4b0457d518adf}\label{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_a8780317bf985194a58d4b0457d518adf}} 
+\index{BNO08xPrivateTypes::bno08x\_init\_status\_t@{BNO08xPrivateTypes::bno08x\_init\_status\_t}!spi\_bus@{spi\_bus}}
+\index{spi\_bus@{spi\_bus}!BNO08xPrivateTypes::bno08x\_init\_status\_t@{BNO08xPrivateTypes::bno08x\_init\_status\_t}}
+\doxysubsubsection{\texorpdfstring{spi\_bus}{spi\_bus}}
+{\footnotesize\ttfamily bool BNO08x\+Private\+Types\+::bno08x\+\_\+init\+\_\+status\+\_\+t\+::spi\+\_\+bus}
+
+
+
+True if spi\+\_\+bus\+\_\+initialize() has been called successfully. 
+
+\mbox{\Hypertarget{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_ab268642c4b6b9fc1eb7c6ceec0e8e64d}\label{struct_b_n_o08x_private_types_1_1bno08x__init__status__t_ab268642c4b6b9fc1eb7c6ceec0e8e64d}} 
+\index{BNO08xPrivateTypes::bno08x\_init\_status\_t@{BNO08xPrivateTypes::bno08x\_init\_status\_t}!spi\_device@{spi\_device}}
+\index{spi\_device@{spi\_device}!BNO08xPrivateTypes::bno08x\_init\_status\_t@{BNO08xPrivateTypes::bno08x\_init\_status\_t}}
+\doxysubsubsection{\texorpdfstring{spi\_device}{spi\_device}}
+{\footnotesize\ttfamily bool BNO08x\+Private\+Types\+::bno08x\+\_\+init\+\_\+status\+\_\+t\+::spi\+\_\+device}
+
+
+
+True if spi\+\_\+bus\+\_\+add\+\_\+device() has been called successfully. 
+
+
+
+The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\mbox{\hyperlink{_b_n_o08x_private_types_8hpp}{BNO08x\+Private\+Types.\+hpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.tex b/documentation/latex/struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.tex
new file mode 100644
index 0000000..254b458
--- /dev/null
+++ b/documentation/latex/struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.tex
@@ -0,0 +1,123 @@
+\hypertarget{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}{}\doxysection{BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t Struct Reference}
+\label{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t}\index{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t@{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}}
+
+
+Holds context used to synchronize tasks and callback execution.  
+
+
+
+
+{\ttfamily \#include $<$BNO08x\+Private\+Types.\+hpp$>$}
+
+\doxysubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_a3f9cea8f40f89200c93f2a4bf09039ac}{bno08x\+\_\+sync\+\_\+ctx\+\_\+t}} ()
+\end{DoxyCompactItemize}
+\doxysubsection*{Public Attributes}
+\begin{DoxyCompactItemize}
+\item 
+Semaphore\+Handle\+\_\+t \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_a5433c33ca93bfd2be4a7575ddff7a8d9}{sh2\+\_\+\+HAL\+\_\+lock}}
+\begin{DoxyCompactList}\small\item\em Mutex to prevent sh2 HAL lib functions from being accessed at same time. \end{DoxyCompactList}\item 
+Semaphore\+Handle\+\_\+t \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_a551d1eb66d239c54cffa96b558e40a15}{data\+\_\+lock}}
+\begin{DoxyCompactList}\small\item\em Mutex to prevent user from reading data while data\+\_\+proc\+\_\+task() updates it, and vice versa. \end{DoxyCompactList}\item 
+Event\+Group\+Handle\+\_\+t \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_aeaeeb8fa04544f63b66c32f3adbb0041}{evt\+\_\+grp\+\_\+rpt\+\_\+en}}
+\begin{DoxyCompactList}\small\item\em Event group for indicating which reports are currently enabled. \end{DoxyCompactList}\item 
+Event\+Group\+Handle\+\_\+t \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_a13f4a91c74fbf09059b5b136ed4f09ac}{evt\+\_\+grp\+\_\+rpt\+\_\+data\+\_\+available}}
+\begin{DoxyCompactList}\small\item\em Event group for indicating to \mbox{\hyperlink{class_b_n_o08x_rpt_a74f6037286b51382535bab61680297ed}{BNO08x\+Rpt\+::has\+\_\+new\+\_\+data()}} that a module received a new report. \end{DoxyCompactList}\item 
+Event\+Group\+Handle\+\_\+t \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_aacddf6425d126d8e854eff620a2dbec0}{evt\+\_\+grp\+\_\+task}}
+\begin{DoxyCompactList}\small\item\em Event group for indicating various \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} related events between tasks. \end{DoxyCompactList}\item 
+etl\+::vector$<$ uint8\+\_\+t, TOTAL\+\_\+\+RPT\+\_\+\+COUNT $>$ \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_aa63f0d6aa9a27e2f6cdbef17c42c3289}{en\+\_\+report\+\_\+ids}}
+\begin{DoxyCompactList}\small\item\em Vector to contain IDs of currently enabled reports. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{namespace_b_n_o08x_private_types_a0f0c287ea0571e6c589c638e4bd07703}{bno08x\+\_\+cb\+\_\+list\+\_\+t}} \mbox{\hyperlink{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_ad38bf7a37a5c9cae7c9d8725b23ff365}{cb\+\_\+list}}
+\begin{DoxyCompactList}\small\item\em Vector to contain registered callbacks. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Holds context used to synchronize tasks and callback execution. 
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\mbox{\Hypertarget{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_a3f9cea8f40f89200c93f2a4bf09039ac}\label{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_a3f9cea8f40f89200c93f2a4bf09039ac}} 
+\index{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t@{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}!bno08x\_sync\_ctx\_t@{bno08x\_sync\_ctx\_t}}
+\index{bno08x\_sync\_ctx\_t@{bno08x\_sync\_ctx\_t}!BNO08xPrivateTypes::bno08x\_sync\_ctx\_t@{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}}
+\doxysubsubsection{\texorpdfstring{bno08x\_sync\_ctx\_t()}{bno08x\_sync\_ctx\_t()}}
+{\footnotesize\ttfamily BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Data Documentation}
+\mbox{\Hypertarget{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_ad38bf7a37a5c9cae7c9d8725b23ff365}\label{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_ad38bf7a37a5c9cae7c9d8725b23ff365}} 
+\index{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t@{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}!cb\_list@{cb\_list}}
+\index{cb\_list@{cb\_list}!BNO08xPrivateTypes::bno08x\_sync\_ctx\_t@{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}}
+\doxysubsubsection{\texorpdfstring{cb\_list}{cb\_list}}
+{\footnotesize\ttfamily \mbox{\hyperlink{namespace_b_n_o08x_private_types_a0f0c287ea0571e6c589c638e4bd07703}{bno08x\+\_\+cb\+\_\+list\+\_\+t}} BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t\+::cb\+\_\+list}
+
+
+
+Vector to contain registered callbacks. 
+
+\mbox{\Hypertarget{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_a551d1eb66d239c54cffa96b558e40a15}\label{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_a551d1eb66d239c54cffa96b558e40a15}} 
+\index{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t@{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}!data\_lock@{data\_lock}}
+\index{data\_lock@{data\_lock}!BNO08xPrivateTypes::bno08x\_sync\_ctx\_t@{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}}
+\doxysubsubsection{\texorpdfstring{data\_lock}{data\_lock}}
+{\footnotesize\ttfamily Semaphore\+Handle\+\_\+t BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t\+::data\+\_\+lock}
+
+
+
+Mutex to prevent user from reading data while data\+\_\+proc\+\_\+task() updates it, and vice versa. 
+
+\mbox{\Hypertarget{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_aa63f0d6aa9a27e2f6cdbef17c42c3289}\label{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_aa63f0d6aa9a27e2f6cdbef17c42c3289}} 
+\index{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t@{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}!en\_report\_ids@{en\_report\_ids}}
+\index{en\_report\_ids@{en\_report\_ids}!BNO08xPrivateTypes::bno08x\_sync\_ctx\_t@{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}}
+\doxysubsubsection{\texorpdfstring{en\_report\_ids}{en\_report\_ids}}
+{\footnotesize\ttfamily etl\+::vector$<$uint8\+\_\+t, TOTAL\+\_\+\+RPT\+\_\+\+COUNT$>$ BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t\+::en\+\_\+report\+\_\+ids}
+
+
+
+Vector to contain IDs of currently enabled reports. 
+
+\mbox{\Hypertarget{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_a13f4a91c74fbf09059b5b136ed4f09ac}\label{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_a13f4a91c74fbf09059b5b136ed4f09ac}} 
+\index{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t@{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}!evt\_grp\_rpt\_data\_available@{evt\_grp\_rpt\_data\_available}}
+\index{evt\_grp\_rpt\_data\_available@{evt\_grp\_rpt\_data\_available}!BNO08xPrivateTypes::bno08x\_sync\_ctx\_t@{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}}
+\doxysubsubsection{\texorpdfstring{evt\_grp\_rpt\_data\_available}{evt\_grp\_rpt\_data\_available}}
+{\footnotesize\ttfamily Event\+Group\+Handle\+\_\+t BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t\+::evt\+\_\+grp\+\_\+rpt\+\_\+data\+\_\+available}
+
+
+
+Event group for indicating to \mbox{\hyperlink{class_b_n_o08x_rpt_a74f6037286b51382535bab61680297ed}{BNO08x\+Rpt\+::has\+\_\+new\+\_\+data()}} that a module received a new report. 
+
+\mbox{\Hypertarget{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_aeaeeb8fa04544f63b66c32f3adbb0041}\label{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_aeaeeb8fa04544f63b66c32f3adbb0041}} 
+\index{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t@{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}!evt\_grp\_rpt\_en@{evt\_grp\_rpt\_en}}
+\index{evt\_grp\_rpt\_en@{evt\_grp\_rpt\_en}!BNO08xPrivateTypes::bno08x\_sync\_ctx\_t@{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}}
+\doxysubsubsection{\texorpdfstring{evt\_grp\_rpt\_en}{evt\_grp\_rpt\_en}}
+{\footnotesize\ttfamily Event\+Group\+Handle\+\_\+t BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t\+::evt\+\_\+grp\+\_\+rpt\+\_\+en}
+
+
+
+Event group for indicating which reports are currently enabled. 
+
+\mbox{\Hypertarget{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_aacddf6425d126d8e854eff620a2dbec0}\label{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_aacddf6425d126d8e854eff620a2dbec0}} 
+\index{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t@{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}!evt\_grp\_task@{evt\_grp\_task}}
+\index{evt\_grp\_task@{evt\_grp\_task}!BNO08xPrivateTypes::bno08x\_sync\_ctx\_t@{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}}
+\doxysubsubsection{\texorpdfstring{evt\_grp\_task}{evt\_grp\_task}}
+{\footnotesize\ttfamily Event\+Group\+Handle\+\_\+t BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t\+::evt\+\_\+grp\+\_\+task}
+
+
+
+Event group for indicating various \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} related events between tasks. 
+
+\mbox{\Hypertarget{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_a5433c33ca93bfd2be4a7575ddff7a8d9}\label{struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t_a5433c33ca93bfd2be4a7575ddff7a8d9}} 
+\index{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t@{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}!sh2\_HAL\_lock@{sh2\_HAL\_lock}}
+\index{sh2\_HAL\_lock@{sh2\_HAL\_lock}!BNO08xPrivateTypes::bno08x\_sync\_ctx\_t@{BNO08xPrivateTypes::bno08x\_sync\_ctx\_t}}
+\doxysubsubsection{\texorpdfstring{sh2\_HAL\_lock}{sh2\_HAL\_lock}}
+{\footnotesize\ttfamily Semaphore\+Handle\+\_\+t BNO08x\+Private\+Types\+::bno08x\+\_\+sync\+\_\+ctx\+\_\+t\+::sh2\+\_\+\+HAL\+\_\+lock}
+
+
+
+Mutex to prevent sh2 HAL lib functions from being accessed at same time. 
+
+
+
+The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\mbox{\hyperlink{_b_n_o08x_private_types_8hpp}{BNO08x\+Private\+Types.\+hpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/structbno08x__accel__t.tex b/documentation/latex/structbno08x__accel__t.tex
new file mode 100644
index 0000000..65b261d
--- /dev/null
+++ b/documentation/latex/structbno08x__accel__t.tex
@@ -0,0 +1,82 @@
+\hypertarget{structbno08x__accel__t}{}\doxysection{bno08x\+\_\+accel\+\_\+t Struct Reference}
+\label{structbno08x__accel__t}\index{bno08x\_accel\_t@{bno08x\_accel\_t}}
+
+
+Struct to represent acceleration data from acceleration, linear acceleration, and gravity reports.  
+
+
+
+
+{\ttfamily \#include $<$BNO08x\+Global\+Types.\+hpp$>$}
+
+\doxysubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{structbno08x__accel__t_a3d71a06304afc576280c56952b4f7a34}{bno08x\+\_\+accel\+\_\+t}} ()
+\item 
+\mbox{\hyperlink{structbno08x__accel__t}{bno08x\+\_\+accel\+\_\+t}} \& \mbox{\hyperlink{structbno08x__accel__t_a5b3f1b2cc2a889af23d27185c6efd75e}{operator=}} (const sh2\+\_\+\+Accelerometer\+\_\+t \&source)
+\end{DoxyCompactItemize}
+\doxysubsection*{Public Attributes}
+\begin{DoxyCompactItemize}
+\item 
+float \mbox{\hyperlink{structbno08x__accel__t_af72246bad5088682490f6a13e4624b7c}{x}}
+\item 
+float \mbox{\hyperlink{structbno08x__accel__t_a9514b06a88cdd4c4777ff8e27d8d52fb}{y}}
+\item 
+float \mbox{\hyperlink{structbno08x__accel__t_a391bf7c4ee0c3f571d94f73f047e9a3f}{z}}
+\item 
+\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08x\+Accuracy}} \mbox{\hyperlink{structbno08x__accel__t_aac8d91a84f911413e4bcc3fdb04c893b}{accuracy}}
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Struct to represent acceleration data from acceleration, linear acceleration, and gravity reports. 
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\mbox{\Hypertarget{structbno08x__accel__t_a3d71a06304afc576280c56952b4f7a34}\label{structbno08x__accel__t_a3d71a06304afc576280c56952b4f7a34}} 
+\index{bno08x\_accel\_t@{bno08x\_accel\_t}!bno08x\_accel\_t@{bno08x\_accel\_t}}
+\index{bno08x\_accel\_t@{bno08x\_accel\_t}!bno08x\_accel\_t@{bno08x\_accel\_t}}
+\doxysubsubsection{\texorpdfstring{bno08x\_accel\_t()}{bno08x\_accel\_t()}}
+{\footnotesize\ttfamily bno08x\+\_\+accel\+\_\+t\+::bno08x\+\_\+accel\+\_\+t (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Function Documentation}
+\mbox{\Hypertarget{structbno08x__accel__t_a5b3f1b2cc2a889af23d27185c6efd75e}\label{structbno08x__accel__t_a5b3f1b2cc2a889af23d27185c6efd75e}} 
+\index{bno08x\_accel\_t@{bno08x\_accel\_t}!operator=@{operator=}}
+\index{operator=@{operator=}!bno08x\_accel\_t@{bno08x\_accel\_t}}
+\doxysubsubsection{\texorpdfstring{operator=()}{operator=()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__accel__t}{bno08x\+\_\+accel\+\_\+t}} \& bno08x\+\_\+accel\+\_\+t\+::operator= (\begin{DoxyParamCaption}\item[{const sh2\+\_\+\+Accelerometer\+\_\+t \&}]{source }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Data Documentation}
+\mbox{\Hypertarget{structbno08x__accel__t_aac8d91a84f911413e4bcc3fdb04c893b}\label{structbno08x__accel__t_aac8d91a84f911413e4bcc3fdb04c893b}} 
+\index{bno08x\_accel\_t@{bno08x\_accel\_t}!accuracy@{accuracy}}
+\index{accuracy@{accuracy}!bno08x\_accel\_t@{bno08x\_accel\_t}}
+\doxysubsubsection{\texorpdfstring{accuracy}{accuracy}}
+{\footnotesize\ttfamily \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08x\+Accuracy}} bno08x\+\_\+accel\+\_\+t\+::accuracy}
+
+\mbox{\Hypertarget{structbno08x__accel__t_af72246bad5088682490f6a13e4624b7c}\label{structbno08x__accel__t_af72246bad5088682490f6a13e4624b7c}} 
+\index{bno08x\_accel\_t@{bno08x\_accel\_t}!x@{x}}
+\index{x@{x}!bno08x\_accel\_t@{bno08x\_accel\_t}}
+\doxysubsubsection{\texorpdfstring{x}{x}}
+{\footnotesize\ttfamily float bno08x\+\_\+accel\+\_\+t\+::x}
+
+\mbox{\Hypertarget{structbno08x__accel__t_a9514b06a88cdd4c4777ff8e27d8d52fb}\label{structbno08x__accel__t_a9514b06a88cdd4c4777ff8e27d8d52fb}} 
+\index{bno08x\_accel\_t@{bno08x\_accel\_t}!y@{y}}
+\index{y@{y}!bno08x\_accel\_t@{bno08x\_accel\_t}}
+\doxysubsubsection{\texorpdfstring{y}{y}}
+{\footnotesize\ttfamily float bno08x\+\_\+accel\+\_\+t\+::y}
+
+\mbox{\Hypertarget{structbno08x__accel__t_a391bf7c4ee0c3f571d94f73f047e9a3f}\label{structbno08x__accel__t_a391bf7c4ee0c3f571d94f73f047e9a3f}} 
+\index{bno08x\_accel\_t@{bno08x\_accel\_t}!z@{z}}
+\index{z@{z}!bno08x\_accel\_t@{bno08x\_accel\_t}}
+\doxysubsubsection{\texorpdfstring{z}{z}}
+{\footnotesize\ttfamily float bno08x\+\_\+accel\+\_\+t\+::z}
+
+
+
+The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\mbox{\hyperlink{_b_n_o08x_global_types_8hpp}{BNO08x\+Global\+Types.\+hpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/structbno08x__activity__classifier__t.tex b/documentation/latex/structbno08x__activity__classifier__t.tex
new file mode 100644
index 0000000..8e16cc1
--- /dev/null
+++ b/documentation/latex/structbno08x__activity__classifier__t.tex
@@ -0,0 +1,90 @@
+\hypertarget{structbno08x__activity__classifier__t}{}\doxysection{bno08x\+\_\+activity\+\_\+classifier\+\_\+t Struct Reference}
+\label{structbno08x__activity__classifier__t}\index{bno08x\_activity\_classifier\_t@{bno08x\_activity\_classifier\_t}}
+
+
+Struct to represent activity classifier data.  
+
+
+
+
+{\ttfamily \#include $<$BNO08x\+Global\+Types.\+hpp$>$}
+
+\doxysubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{structbno08x__activity__classifier__t_a302244e7d2d064b126eb92f363add923}{bno08x\+\_\+activity\+\_\+classifier\+\_\+t}} ()
+\item 
+\mbox{\hyperlink{structbno08x__activity__classifier__t}{bno08x\+\_\+activity\+\_\+classifier\+\_\+t}} \& \mbox{\hyperlink{structbno08x__activity__classifier__t_ac9375f65afb421e1d552e11461546a43}{operator=}} (const sh2\+\_\+\+Personal\+Activity\+Classifier\+\_\+t \&source)
+\end{DoxyCompactItemize}
+\doxysubsection*{Public Attributes}
+\begin{DoxyCompactItemize}
+\item 
+uint8\+\_\+t \mbox{\hyperlink{structbno08x__activity__classifier__t_a6c99dd8968d52c7099c6f6b2acf11796}{confidence}} \mbox{[}10\mbox{]}
+\item 
+\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97d}{BNO08x\+Activity}} \mbox{\hyperlink{structbno08x__activity__classifier__t_a272be5b28ff89a20d3c3cfdbfe63a5b5}{most\+Likely\+State}}
+\item 
+\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08x\+Accuracy}} \mbox{\hyperlink{structbno08x__activity__classifier__t_a51df90897f0f47b640ac975ad8f4833f}{accuracy}}
+\item 
+uint8\+\_\+t \mbox{\hyperlink{structbno08x__activity__classifier__t_aa3e3a6b479558722bc9d5416b74492ca}{page}}
+\item 
+bool \mbox{\hyperlink{structbno08x__activity__classifier__t_a90b7b42f031ed0e5b4c5d0e167caccb9}{last\+Page}}
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Struct to represent activity classifier data. 
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\mbox{\Hypertarget{structbno08x__activity__classifier__t_a302244e7d2d064b126eb92f363add923}\label{structbno08x__activity__classifier__t_a302244e7d2d064b126eb92f363add923}} 
+\index{bno08x\_activity\_classifier\_t@{bno08x\_activity\_classifier\_t}!bno08x\_activity\_classifier\_t@{bno08x\_activity\_classifier\_t}}
+\index{bno08x\_activity\_classifier\_t@{bno08x\_activity\_classifier\_t}!bno08x\_activity\_classifier\_t@{bno08x\_activity\_classifier\_t}}
+\doxysubsubsection{\texorpdfstring{bno08x\_activity\_classifier\_t()}{bno08x\_activity\_classifier\_t()}}
+{\footnotesize\ttfamily bno08x\+\_\+activity\+\_\+classifier\+\_\+t\+::bno08x\+\_\+activity\+\_\+classifier\+\_\+t (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Function Documentation}
+\mbox{\Hypertarget{structbno08x__activity__classifier__t_ac9375f65afb421e1d552e11461546a43}\label{structbno08x__activity__classifier__t_ac9375f65afb421e1d552e11461546a43}} 
+\index{bno08x\_activity\_classifier\_t@{bno08x\_activity\_classifier\_t}!operator=@{operator=}}
+\index{operator=@{operator=}!bno08x\_activity\_classifier\_t@{bno08x\_activity\_classifier\_t}}
+\doxysubsubsection{\texorpdfstring{operator=()}{operator=()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__activity__classifier__t}{bno08x\+\_\+activity\+\_\+classifier\+\_\+t}} \& bno08x\+\_\+activity\+\_\+classifier\+\_\+t\+::operator= (\begin{DoxyParamCaption}\item[{const sh2\+\_\+\+Personal\+Activity\+Classifier\+\_\+t \&}]{source }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Data Documentation}
+\mbox{\Hypertarget{structbno08x__activity__classifier__t_a51df90897f0f47b640ac975ad8f4833f}\label{structbno08x__activity__classifier__t_a51df90897f0f47b640ac975ad8f4833f}} 
+\index{bno08x\_activity\_classifier\_t@{bno08x\_activity\_classifier\_t}!accuracy@{accuracy}}
+\index{accuracy@{accuracy}!bno08x\_activity\_classifier\_t@{bno08x\_activity\_classifier\_t}}
+\doxysubsubsection{\texorpdfstring{accuracy}{accuracy}}
+{\footnotesize\ttfamily \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08x\+Accuracy}} bno08x\+\_\+activity\+\_\+classifier\+\_\+t\+::accuracy}
+
+\mbox{\Hypertarget{structbno08x__activity__classifier__t_a6c99dd8968d52c7099c6f6b2acf11796}\label{structbno08x__activity__classifier__t_a6c99dd8968d52c7099c6f6b2acf11796}} 
+\index{bno08x\_activity\_classifier\_t@{bno08x\_activity\_classifier\_t}!confidence@{confidence}}
+\index{confidence@{confidence}!bno08x\_activity\_classifier\_t@{bno08x\_activity\_classifier\_t}}
+\doxysubsubsection{\texorpdfstring{confidence}{confidence}}
+{\footnotesize\ttfamily uint8\+\_\+t bno08x\+\_\+activity\+\_\+classifier\+\_\+t\+::confidence\mbox{[}10\mbox{]}}
+
+\mbox{\Hypertarget{structbno08x__activity__classifier__t_a90b7b42f031ed0e5b4c5d0e167caccb9}\label{structbno08x__activity__classifier__t_a90b7b42f031ed0e5b4c5d0e167caccb9}} 
+\index{bno08x\_activity\_classifier\_t@{bno08x\_activity\_classifier\_t}!lastPage@{lastPage}}
+\index{lastPage@{lastPage}!bno08x\_activity\_classifier\_t@{bno08x\_activity\_classifier\_t}}
+\doxysubsubsection{\texorpdfstring{lastPage}{lastPage}}
+{\footnotesize\ttfamily bool bno08x\+\_\+activity\+\_\+classifier\+\_\+t\+::last\+Page}
+
+\mbox{\Hypertarget{structbno08x__activity__classifier__t_a272be5b28ff89a20d3c3cfdbfe63a5b5}\label{structbno08x__activity__classifier__t_a272be5b28ff89a20d3c3cfdbfe63a5b5}} 
+\index{bno08x\_activity\_classifier\_t@{bno08x\_activity\_classifier\_t}!mostLikelyState@{mostLikelyState}}
+\index{mostLikelyState@{mostLikelyState}!bno08x\_activity\_classifier\_t@{bno08x\_activity\_classifier\_t}}
+\doxysubsubsection{\texorpdfstring{mostLikelyState}{mostLikelyState}}
+{\footnotesize\ttfamily \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a43d66cdccf17ba0cddcdddc72d4fb97d}{BNO08x\+Activity}} bno08x\+\_\+activity\+\_\+classifier\+\_\+t\+::most\+Likely\+State}
+
+\mbox{\Hypertarget{structbno08x__activity__classifier__t_aa3e3a6b479558722bc9d5416b74492ca}\label{structbno08x__activity__classifier__t_aa3e3a6b479558722bc9d5416b74492ca}} 
+\index{bno08x\_activity\_classifier\_t@{bno08x\_activity\_classifier\_t}!page@{page}}
+\index{page@{page}!bno08x\_activity\_classifier\_t@{bno08x\_activity\_classifier\_t}}
+\doxysubsubsection{\texorpdfstring{page}{page}}
+{\footnotesize\ttfamily uint8\+\_\+t bno08x\+\_\+activity\+\_\+classifier\+\_\+t\+::page}
+
+
+
+The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\mbox{\hyperlink{_b_n_o08x_global_types_8hpp}{BNO08x\+Global\+Types.\+hpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/structbno08x__ang__vel__t.tex b/documentation/latex/structbno08x__ang__vel__t.tex
new file mode 100644
index 0000000..c397c32
--- /dev/null
+++ b/documentation/latex/structbno08x__ang__vel__t.tex
@@ -0,0 +1,83 @@
+\hypertarget{structbno08x__ang__vel__t}{}\doxysection{bno08x\+\_\+ang\+\_\+vel\+\_\+t Struct Reference}
+\label{structbno08x__ang__vel__t}\index{bno08x\_ang\_vel\_t@{bno08x\_ang\_vel\_t}}
+
+
+Struct to represent angular velocity (units in rad/s)  
+
+
+
+
+{\ttfamily \#include $<$BNO08x\+Global\+Types.\+hpp$>$}
+
+\doxysubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{structbno08x__ang__vel__t_a76cf6d15cef214b31a47008d49b843be}{bno08x\+\_\+ang\+\_\+vel\+\_\+t}} ()
+\item 
+{\footnotesize template$<$typename T $>$ }\\\mbox{\hyperlink{structbno08x__ang__vel__t}{bno08x\+\_\+ang\+\_\+vel\+\_\+t}} \& \mbox{\hyperlink{structbno08x__ang__vel__t_ae963f28d8914d5cc2f13620a4a9c57e8}{operator$\ast$=}} (T value)
+\item 
+\mbox{\hyperlink{structbno08x__ang__vel__t}{bno08x\+\_\+ang\+\_\+vel\+\_\+t}} \& \mbox{\hyperlink{structbno08x__ang__vel__t_afe1b100ac38de3ccd0c0b617e5b5d8a2}{operator=}} (const sh2\+\_\+\+Gyro\+Integrated\+RV\+\_\+t \&source)
+\end{DoxyCompactItemize}
+\doxysubsection*{Public Attributes}
+\begin{DoxyCompactItemize}
+\item 
+float \mbox{\hyperlink{structbno08x__ang__vel__t_aad57f7ad443f1c94b411ff1c3c2d37a3}{x}}
+\item 
+float \mbox{\hyperlink{structbno08x__ang__vel__t_af6d7d0452271c2d35234371ad1df6a80}{y}}
+\item 
+float \mbox{\hyperlink{structbno08x__ang__vel__t_aac5bb11414116bce54e5f8b7dd2d48f6}{z}}
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Struct to represent angular velocity (units in rad/s) 
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\mbox{\Hypertarget{structbno08x__ang__vel__t_a76cf6d15cef214b31a47008d49b843be}\label{structbno08x__ang__vel__t_a76cf6d15cef214b31a47008d49b843be}} 
+\index{bno08x\_ang\_vel\_t@{bno08x\_ang\_vel\_t}!bno08x\_ang\_vel\_t@{bno08x\_ang\_vel\_t}}
+\index{bno08x\_ang\_vel\_t@{bno08x\_ang\_vel\_t}!bno08x\_ang\_vel\_t@{bno08x\_ang\_vel\_t}}
+\doxysubsubsection{\texorpdfstring{bno08x\_ang\_vel\_t()}{bno08x\_ang\_vel\_t()}}
+{\footnotesize\ttfamily bno08x\+\_\+ang\+\_\+vel\+\_\+t\+::bno08x\+\_\+ang\+\_\+vel\+\_\+t (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Function Documentation}
+\mbox{\Hypertarget{structbno08x__ang__vel__t_ae963f28d8914d5cc2f13620a4a9c57e8}\label{structbno08x__ang__vel__t_ae963f28d8914d5cc2f13620a4a9c57e8}} 
+\index{bno08x\_ang\_vel\_t@{bno08x\_ang\_vel\_t}!operator$\ast$=@{operator$\ast$=}}
+\index{operator$\ast$=@{operator$\ast$=}!bno08x\_ang\_vel\_t@{bno08x\_ang\_vel\_t}}
+\doxysubsubsection{\texorpdfstring{operator$\ast$=()}{operator*=()}}
+{\footnotesize\ttfamily template$<$typename T $>$ \\
+\mbox{\hyperlink{structbno08x__ang__vel__t}{bno08x\+\_\+ang\+\_\+vel\+\_\+t}} \& bno08x\+\_\+ang\+\_\+vel\+\_\+t\+::operator$\ast$= (\begin{DoxyParamCaption}\item[{T}]{value }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+\mbox{\Hypertarget{structbno08x__ang__vel__t_afe1b100ac38de3ccd0c0b617e5b5d8a2}\label{structbno08x__ang__vel__t_afe1b100ac38de3ccd0c0b617e5b5d8a2}} 
+\index{bno08x\_ang\_vel\_t@{bno08x\_ang\_vel\_t}!operator=@{operator=}}
+\index{operator=@{operator=}!bno08x\_ang\_vel\_t@{bno08x\_ang\_vel\_t}}
+\doxysubsubsection{\texorpdfstring{operator=()}{operator=()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__ang__vel__t}{bno08x\+\_\+ang\+\_\+vel\+\_\+t}} \& bno08x\+\_\+ang\+\_\+vel\+\_\+t\+::operator= (\begin{DoxyParamCaption}\item[{const sh2\+\_\+\+Gyro\+Integrated\+RV\+\_\+t \&}]{source }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Data Documentation}
+\mbox{\Hypertarget{structbno08x__ang__vel__t_aad57f7ad443f1c94b411ff1c3c2d37a3}\label{structbno08x__ang__vel__t_aad57f7ad443f1c94b411ff1c3c2d37a3}} 
+\index{bno08x\_ang\_vel\_t@{bno08x\_ang\_vel\_t}!x@{x}}
+\index{x@{x}!bno08x\_ang\_vel\_t@{bno08x\_ang\_vel\_t}}
+\doxysubsubsection{\texorpdfstring{x}{x}}
+{\footnotesize\ttfamily float bno08x\+\_\+ang\+\_\+vel\+\_\+t\+::x}
+
+\mbox{\Hypertarget{structbno08x__ang__vel__t_af6d7d0452271c2d35234371ad1df6a80}\label{structbno08x__ang__vel__t_af6d7d0452271c2d35234371ad1df6a80}} 
+\index{bno08x\_ang\_vel\_t@{bno08x\_ang\_vel\_t}!y@{y}}
+\index{y@{y}!bno08x\_ang\_vel\_t@{bno08x\_ang\_vel\_t}}
+\doxysubsubsection{\texorpdfstring{y}{y}}
+{\footnotesize\ttfamily float bno08x\+\_\+ang\+\_\+vel\+\_\+t\+::y}
+
+\mbox{\Hypertarget{structbno08x__ang__vel__t_aac5bb11414116bce54e5f8b7dd2d48f6}\label{structbno08x__ang__vel__t_aac5bb11414116bce54e5f8b7dd2d48f6}} 
+\index{bno08x\_ang\_vel\_t@{bno08x\_ang\_vel\_t}!z@{z}}
+\index{z@{z}!bno08x\_ang\_vel\_t@{bno08x\_ang\_vel\_t}}
+\doxysubsubsection{\texorpdfstring{z}{z}}
+{\footnotesize\ttfamily float bno08x\+\_\+ang\+\_\+vel\+\_\+t\+::z}
+
+
+
+The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\mbox{\hyperlink{_b_n_o08x_global_types_8hpp}{BNO08x\+Global\+Types.\+hpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/structbno08x__config__t.tex b/documentation/latex/structbno08x__config__t.tex
new file mode 100644
index 0000000..ec7dbc5
--- /dev/null
+++ b/documentation/latex/structbno08x__config__t.tex
@@ -0,0 +1,159 @@
+\hypertarget{structbno08x__config__t}{}\doxysection{bno08x\+\_\+config\+\_\+t Struct Reference}
+\label{structbno08x__config__t}\index{bno08x\_config\_t@{bno08x\_config\_t}}
+
+
+IMU configuration settings passed into constructor.  
+
+
+
+
+{\ttfamily \#include $<$BNO08x\+Global\+Types.\+hpp$>$}
+
+\doxysubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{structbno08x__config__t_a68e051212415a62e64c23678e7b40552}{bno08x\+\_\+config\+\_\+t}} (bool \mbox{\hyperlink{structbno08x__config__t_a0f629aaef6756aa80fec96b34476c627}{install\+\_\+isr\+\_\+service}}=true)
+\begin{DoxyCompactList}\small\item\em Default IMU configuration settings constructor. To modify default GPIO pins, run \char`\"{}idf.\+py menuconfig\char`\"{} esp32\+\_\+\+BNO08x-\/\texorpdfstring{$>$}{>}GPIO Configuration. Alternatively, edit the default values in \char`\"{}\+Kconfig.\+projbuild\char`\"{}. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{structbno08x__config__t_afa37d6ffc6f4fc7c9aa7484d49458a4a}{bno08x\+\_\+config\+\_\+t}} (spi\+\_\+host\+\_\+device\+\_\+t \mbox{\hyperlink{structbno08x__config__t_a020d2343750bb7debc2a108ae038c9ec}{spi\+\_\+peripheral}}, gpio\+\_\+num\+\_\+t \mbox{\hyperlink{structbno08x__config__t_a79023fd80039e41a22b7f73ccd5fc861}{io\+\_\+mosi}}, gpio\+\_\+num\+\_\+t \mbox{\hyperlink{structbno08x__config__t_a9468180a773892977db39cc5ed9368e3}{io\+\_\+miso}}, gpio\+\_\+num\+\_\+t \mbox{\hyperlink{structbno08x__config__t_a639685b91ae3198909d722316495246a}{io\+\_\+sclk}}, gpio\+\_\+num\+\_\+t \mbox{\hyperlink{structbno08x__config__t_ab1b5351b63da0c172c942463d0dc2505}{io\+\_\+cs}}, gpio\+\_\+num\+\_\+t \mbox{\hyperlink{structbno08x__config__t_a3cfe965659cfbc6b0c5269bd0211975f}{io\+\_\+int}}, gpio\+\_\+num\+\_\+t \mbox{\hyperlink{structbno08x__config__t_a62745c761219139f66ecd173b51577fc}{io\+\_\+rst}}, uint32\+\_\+t \mbox{\hyperlink{structbno08x__config__t_a231614c3b20888360def2ce9db83f52a}{sclk\+\_\+speed}}, bool \mbox{\hyperlink{structbno08x__config__t_a0f629aaef6756aa80fec96b34476c627}{install\+\_\+isr\+\_\+service}}=true)
+\begin{DoxyCompactList}\small\item\em Overloaded IMU configuration settings constructor for custom pin settings. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Public Attributes}
+\begin{DoxyCompactItemize}
+\item 
+spi\+\_\+host\+\_\+device\+\_\+t \mbox{\hyperlink{structbno08x__config__t_a020d2343750bb7debc2a108ae038c9ec}{spi\+\_\+peripheral}}
+\begin{DoxyCompactList}\small\item\em SPI peripheral to be used. \end{DoxyCompactList}\item 
+gpio\+\_\+num\+\_\+t \mbox{\hyperlink{structbno08x__config__t_a79023fd80039e41a22b7f73ccd5fc861}{io\+\_\+mosi}}
+\begin{DoxyCompactList}\small\item\em MOSI GPIO pin (connects to \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} DI pin) \end{DoxyCompactList}\item 
+gpio\+\_\+num\+\_\+t \mbox{\hyperlink{structbno08x__config__t_a9468180a773892977db39cc5ed9368e3}{io\+\_\+miso}}
+\begin{DoxyCompactList}\small\item\em MISO GPIO pin (connects to \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} SDA pin) \end{DoxyCompactList}\item 
+gpio\+\_\+num\+\_\+t \mbox{\hyperlink{structbno08x__config__t_a639685b91ae3198909d722316495246a}{io\+\_\+sclk}}
+\begin{DoxyCompactList}\small\item\em SCLK pin (connects to \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} SCL pin) \end{DoxyCompactList}\item 
+gpio\+\_\+num\+\_\+t \mbox{\hyperlink{structbno08x__config__t_ab1b5351b63da0c172c942463d0dc2505}{io\+\_\+cs}}
+\item 
+gpio\+\_\+num\+\_\+t \mbox{\hyperlink{structbno08x__config__t_a3cfe965659cfbc6b0c5269bd0211975f}{io\+\_\+int}}
+\begin{DoxyCompactList}\small\item\em Chip select pin (connects to \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} CS pin) \end{DoxyCompactList}\item 
+gpio\+\_\+num\+\_\+t \mbox{\hyperlink{structbno08x__config__t_a62745c761219139f66ecd173b51577fc}{io\+\_\+rst}}
+\begin{DoxyCompactList}\small\item\em Host interrupt pin (connects to \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} INT pin) \end{DoxyCompactList}\item 
+uint32\+\_\+t \mbox{\hyperlink{structbno08x__config__t_a231614c3b20888360def2ce9db83f52a}{sclk\+\_\+speed}}
+\begin{DoxyCompactList}\small\item\em Reset pin (connects to \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} RST pin) \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{structbno08x__config__t_a0f629aaef6756aa80fec96b34476c627}{install\+\_\+isr\+\_\+service}}
+\begin{DoxyCompactList}\small\item\em Indicates whether the ISR service for the HINT should be installed at IMU initialization, (if gpio\+\_\+install\+\_\+isr\+\_\+service() is called before initialize() set this to false) \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+IMU configuration settings passed into constructor. 
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\mbox{\Hypertarget{structbno08x__config__t_a68e051212415a62e64c23678e7b40552}\label{structbno08x__config__t_a68e051212415a62e64c23678e7b40552}} 
+\index{bno08x\_config\_t@{bno08x\_config\_t}!bno08x\_config\_t@{bno08x\_config\_t}}
+\index{bno08x\_config\_t@{bno08x\_config\_t}!bno08x\_config\_t@{bno08x\_config\_t}}
+\doxysubsubsection{\texorpdfstring{bno08x\_config\_t()}{bno08x\_config\_t()}\hspace{0.1cm}{\footnotesize\ttfamily [1/2]}}
+{\footnotesize\ttfamily bno08x\+\_\+config\+\_\+t\+::bno08x\+\_\+config\+\_\+t (\begin{DoxyParamCaption}\item[{bool}]{install\+\_\+isr\+\_\+service = {\ttfamily true} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+Default IMU configuration settings constructor. To modify default GPIO pins, run \char`\"{}idf.\+py menuconfig\char`\"{} esp32\+\_\+\+BNO08x-\/\texorpdfstring{$>$}{>}GPIO Configuration. Alternatively, edit the default values in \char`\"{}\+Kconfig.\+projbuild\char`\"{}. 
+
+\mbox{\Hypertarget{structbno08x__config__t_afa37d6ffc6f4fc7c9aa7484d49458a4a}\label{structbno08x__config__t_afa37d6ffc6f4fc7c9aa7484d49458a4a}} 
+\index{bno08x\_config\_t@{bno08x\_config\_t}!bno08x\_config\_t@{bno08x\_config\_t}}
+\index{bno08x\_config\_t@{bno08x\_config\_t}!bno08x\_config\_t@{bno08x\_config\_t}}
+\doxysubsubsection{\texorpdfstring{bno08x\_config\_t()}{bno08x\_config\_t()}\hspace{0.1cm}{\footnotesize\ttfamily [2/2]}}
+{\footnotesize\ttfamily bno08x\+\_\+config\+\_\+t\+::bno08x\+\_\+config\+\_\+t (\begin{DoxyParamCaption}\item[{spi\+\_\+host\+\_\+device\+\_\+t}]{spi\+\_\+peripheral,  }\item[{gpio\+\_\+num\+\_\+t}]{io\+\_\+mosi,  }\item[{gpio\+\_\+num\+\_\+t}]{io\+\_\+miso,  }\item[{gpio\+\_\+num\+\_\+t}]{io\+\_\+sclk,  }\item[{gpio\+\_\+num\+\_\+t}]{io\+\_\+cs,  }\item[{gpio\+\_\+num\+\_\+t}]{io\+\_\+int,  }\item[{gpio\+\_\+num\+\_\+t}]{io\+\_\+rst,  }\item[{uint32\+\_\+t}]{sclk\+\_\+speed,  }\item[{bool}]{install\+\_\+isr\+\_\+service = {\ttfamily true} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+Overloaded IMU configuration settings constructor for custom pin settings. 
+
+
+
+\doxysubsection{Member Data Documentation}
+\mbox{\Hypertarget{structbno08x__config__t_a0f629aaef6756aa80fec96b34476c627}\label{structbno08x__config__t_a0f629aaef6756aa80fec96b34476c627}} 
+\index{bno08x\_config\_t@{bno08x\_config\_t}!install\_isr\_service@{install\_isr\_service}}
+\index{install\_isr\_service@{install\_isr\_service}!bno08x\_config\_t@{bno08x\_config\_t}}
+\doxysubsubsection{\texorpdfstring{install\_isr\_service}{install\_isr\_service}}
+{\footnotesize\ttfamily bool bno08x\+\_\+config\+\_\+t\+::install\+\_\+isr\+\_\+service}
+
+
+
+Indicates whether the ISR service for the HINT should be installed at IMU initialization, (if gpio\+\_\+install\+\_\+isr\+\_\+service() is called before initialize() set this to false) 
+
+\mbox{\Hypertarget{structbno08x__config__t_ab1b5351b63da0c172c942463d0dc2505}\label{structbno08x__config__t_ab1b5351b63da0c172c942463d0dc2505}} 
+\index{bno08x\_config\_t@{bno08x\_config\_t}!io\_cs@{io\_cs}}
+\index{io\_cs@{io\_cs}!bno08x\_config\_t@{bno08x\_config\_t}}
+\doxysubsubsection{\texorpdfstring{io\_cs}{io\_cs}}
+{\footnotesize\ttfamily gpio\+\_\+num\+\_\+t bno08x\+\_\+config\+\_\+t\+::io\+\_\+cs}
+
+\mbox{\Hypertarget{structbno08x__config__t_a3cfe965659cfbc6b0c5269bd0211975f}\label{structbno08x__config__t_a3cfe965659cfbc6b0c5269bd0211975f}} 
+\index{bno08x\_config\_t@{bno08x\_config\_t}!io\_int@{io\_int}}
+\index{io\_int@{io\_int}!bno08x\_config\_t@{bno08x\_config\_t}}
+\doxysubsubsection{\texorpdfstring{io\_int}{io\_int}}
+{\footnotesize\ttfamily gpio\+\_\+num\+\_\+t bno08x\+\_\+config\+\_\+t\+::io\+\_\+int}
+
+
+
+Chip select pin (connects to \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} CS pin) 
+
+\mbox{\Hypertarget{structbno08x__config__t_a9468180a773892977db39cc5ed9368e3}\label{structbno08x__config__t_a9468180a773892977db39cc5ed9368e3}} 
+\index{bno08x\_config\_t@{bno08x\_config\_t}!io\_miso@{io\_miso}}
+\index{io\_miso@{io\_miso}!bno08x\_config\_t@{bno08x\_config\_t}}
+\doxysubsubsection{\texorpdfstring{io\_miso}{io\_miso}}
+{\footnotesize\ttfamily gpio\+\_\+num\+\_\+t bno08x\+\_\+config\+\_\+t\+::io\+\_\+miso}
+
+
+
+MISO GPIO pin (connects to \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} SDA pin) 
+
+\mbox{\Hypertarget{structbno08x__config__t_a79023fd80039e41a22b7f73ccd5fc861}\label{structbno08x__config__t_a79023fd80039e41a22b7f73ccd5fc861}} 
+\index{bno08x\_config\_t@{bno08x\_config\_t}!io\_mosi@{io\_mosi}}
+\index{io\_mosi@{io\_mosi}!bno08x\_config\_t@{bno08x\_config\_t}}
+\doxysubsubsection{\texorpdfstring{io\_mosi}{io\_mosi}}
+{\footnotesize\ttfamily gpio\+\_\+num\+\_\+t bno08x\+\_\+config\+\_\+t\+::io\+\_\+mosi}
+
+
+
+MOSI GPIO pin (connects to \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} DI pin) 
+
+\mbox{\Hypertarget{structbno08x__config__t_a62745c761219139f66ecd173b51577fc}\label{structbno08x__config__t_a62745c761219139f66ecd173b51577fc}} 
+\index{bno08x\_config\_t@{bno08x\_config\_t}!io\_rst@{io\_rst}}
+\index{io\_rst@{io\_rst}!bno08x\_config\_t@{bno08x\_config\_t}}
+\doxysubsubsection{\texorpdfstring{io\_rst}{io\_rst}}
+{\footnotesize\ttfamily gpio\+\_\+num\+\_\+t bno08x\+\_\+config\+\_\+t\+::io\+\_\+rst}
+
+
+
+Host interrupt pin (connects to \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} INT pin) 
+
+\mbox{\Hypertarget{structbno08x__config__t_a639685b91ae3198909d722316495246a}\label{structbno08x__config__t_a639685b91ae3198909d722316495246a}} 
+\index{bno08x\_config\_t@{bno08x\_config\_t}!io\_sclk@{io\_sclk}}
+\index{io\_sclk@{io\_sclk}!bno08x\_config\_t@{bno08x\_config\_t}}
+\doxysubsubsection{\texorpdfstring{io\_sclk}{io\_sclk}}
+{\footnotesize\ttfamily gpio\+\_\+num\+\_\+t bno08x\+\_\+config\+\_\+t\+::io\+\_\+sclk}
+
+
+
+SCLK pin (connects to \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} SCL pin) 
+
+\mbox{\Hypertarget{structbno08x__config__t_a231614c3b20888360def2ce9db83f52a}\label{structbno08x__config__t_a231614c3b20888360def2ce9db83f52a}} 
+\index{bno08x\_config\_t@{bno08x\_config\_t}!sclk\_speed@{sclk\_speed}}
+\index{sclk\_speed@{sclk\_speed}!bno08x\_config\_t@{bno08x\_config\_t}}
+\doxysubsubsection{\texorpdfstring{sclk\_speed}{sclk\_speed}}
+{\footnotesize\ttfamily uint32\+\_\+t bno08x\+\_\+config\+\_\+t\+::sclk\+\_\+speed}
+
+
+
+Reset pin (connects to \mbox{\hyperlink{class_b_n_o08x}{BNO08x}} RST pin) 
+
+Desired SPI SCLK speed in Hz (max 3MHz) \mbox{\Hypertarget{structbno08x__config__t_a020d2343750bb7debc2a108ae038c9ec}\label{structbno08x__config__t_a020d2343750bb7debc2a108ae038c9ec}} 
+\index{bno08x\_config\_t@{bno08x\_config\_t}!spi\_peripheral@{spi\_peripheral}}
+\index{spi\_peripheral@{spi\_peripheral}!bno08x\_config\_t@{bno08x\_config\_t}}
+\doxysubsubsection{\texorpdfstring{spi\_peripheral}{spi\_peripheral}}
+{\footnotesize\ttfamily spi\+\_\+host\+\_\+device\+\_\+t bno08x\+\_\+config\+\_\+t\+::spi\+\_\+peripheral}
+
+
+
+SPI peripheral to be used. 
+
+
+
+The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\mbox{\hyperlink{_b_n_o08x_global_types_8hpp}{BNO08x\+Global\+Types.\+hpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/structbno08x__euler__angle__t.tex b/documentation/latex/structbno08x__euler__angle__t.tex
new file mode 100644
index 0000000..0f0053a
--- /dev/null
+++ b/documentation/latex/structbno08x__euler__angle__t.tex
@@ -0,0 +1,99 @@
+\hypertarget{structbno08x__euler__angle__t}{}\doxysection{bno08x\+\_\+euler\+\_\+angle\+\_\+t Struct Reference}
+\label{structbno08x__euler__angle__t}\index{bno08x\_euler\_angle\_t@{bno08x\_euler\_angle\_t}}
+
+
+Struct to represent euler angle (units in degrees or rads)  
+
+
+
+
+{\ttfamily \#include $<$BNO08x\+Global\+Types.\+hpp$>$}
+
+\doxysubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{structbno08x__euler__angle__t_a29b670ff58d75a6abf02512ee07a6207}{bno08x\+\_\+euler\+\_\+angle\+\_\+t}} ()
+\item 
+\mbox{\hyperlink{structbno08x__euler__angle__t}{bno08x\+\_\+euler\+\_\+angle\+\_\+t}} \& \mbox{\hyperlink{structbno08x__euler__angle__t_aa7f6954a731e0be492508b5d1dac056e}{operator=}} (const \mbox{\hyperlink{structbno08x__quat__t}{bno08x\+\_\+quat\+\_\+t}} \&source)
+\item 
+{\footnotesize template$<$typename T $>$ }\\\mbox{\hyperlink{structbno08x__euler__angle__t}{bno08x\+\_\+euler\+\_\+angle\+\_\+t}} \& \mbox{\hyperlink{structbno08x__euler__angle__t_a0b1d1fcfc2884937404446ca16829e51}{operator$\ast$=}} (T value)
+\end{DoxyCompactItemize}
+\doxysubsection*{Public Attributes}
+\begin{DoxyCompactItemize}
+\item 
+float \mbox{\hyperlink{structbno08x__euler__angle__t_a7c675704f7bf92a19846de6ee020f0ef}{x}}
+\item 
+float \mbox{\hyperlink{structbno08x__euler__angle__t_a0c4f19cb559999d4c2ac2b29d9dc7cfd}{y}}
+\item 
+float \mbox{\hyperlink{structbno08x__euler__angle__t_a5237ec5e8fc1ca49b2f108ac784f0032}{z}}
+\item 
+float \mbox{\hyperlink{structbno08x__euler__angle__t_a89ab348ee455b14e5d09f1eb5d231c99}{rad\+\_\+accuracy}}
+\item 
+\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08x\+Accuracy}} \mbox{\hyperlink{structbno08x__euler__angle__t_a3b4fad0b84bda3f34e86f7168ef2fee6}{accuracy}}
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Struct to represent euler angle (units in degrees or rads) 
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\mbox{\Hypertarget{structbno08x__euler__angle__t_a29b670ff58d75a6abf02512ee07a6207}\label{structbno08x__euler__angle__t_a29b670ff58d75a6abf02512ee07a6207}} 
+\index{bno08x\_euler\_angle\_t@{bno08x\_euler\_angle\_t}!bno08x\_euler\_angle\_t@{bno08x\_euler\_angle\_t}}
+\index{bno08x\_euler\_angle\_t@{bno08x\_euler\_angle\_t}!bno08x\_euler\_angle\_t@{bno08x\_euler\_angle\_t}}
+\doxysubsubsection{\texorpdfstring{bno08x\_euler\_angle\_t()}{bno08x\_euler\_angle\_t()}}
+{\footnotesize\ttfamily bno08x\+\_\+euler\+\_\+angle\+\_\+t\+::bno08x\+\_\+euler\+\_\+angle\+\_\+t (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Function Documentation}
+\mbox{\Hypertarget{structbno08x__euler__angle__t_a0b1d1fcfc2884937404446ca16829e51}\label{structbno08x__euler__angle__t_a0b1d1fcfc2884937404446ca16829e51}} 
+\index{bno08x\_euler\_angle\_t@{bno08x\_euler\_angle\_t}!operator$\ast$=@{operator$\ast$=}}
+\index{operator$\ast$=@{operator$\ast$=}!bno08x\_euler\_angle\_t@{bno08x\_euler\_angle\_t}}
+\doxysubsubsection{\texorpdfstring{operator$\ast$=()}{operator*=()}}
+{\footnotesize\ttfamily template$<$typename T $>$ \\
+\mbox{\hyperlink{structbno08x__euler__angle__t}{bno08x\+\_\+euler\+\_\+angle\+\_\+t}} \& bno08x\+\_\+euler\+\_\+angle\+\_\+t\+::operator$\ast$= (\begin{DoxyParamCaption}\item[{T}]{value }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+\mbox{\Hypertarget{structbno08x__euler__angle__t_aa7f6954a731e0be492508b5d1dac056e}\label{structbno08x__euler__angle__t_aa7f6954a731e0be492508b5d1dac056e}} 
+\index{bno08x\_euler\_angle\_t@{bno08x\_euler\_angle\_t}!operator=@{operator=}}
+\index{operator=@{operator=}!bno08x\_euler\_angle\_t@{bno08x\_euler\_angle\_t}}
+\doxysubsubsection{\texorpdfstring{operator=()}{operator=()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__euler__angle__t}{bno08x\+\_\+euler\+\_\+angle\+\_\+t}} \& bno08x\+\_\+euler\+\_\+angle\+\_\+t\+::operator= (\begin{DoxyParamCaption}\item[{const \mbox{\hyperlink{structbno08x__quat__t}{bno08x\+\_\+quat\+\_\+t}} \&}]{source }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Data Documentation}
+\mbox{\Hypertarget{structbno08x__euler__angle__t_a3b4fad0b84bda3f34e86f7168ef2fee6}\label{structbno08x__euler__angle__t_a3b4fad0b84bda3f34e86f7168ef2fee6}} 
+\index{bno08x\_euler\_angle\_t@{bno08x\_euler\_angle\_t}!accuracy@{accuracy}}
+\index{accuracy@{accuracy}!bno08x\_euler\_angle\_t@{bno08x\_euler\_angle\_t}}
+\doxysubsubsection{\texorpdfstring{accuracy}{accuracy}}
+{\footnotesize\ttfamily \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08x\+Accuracy}} bno08x\+\_\+euler\+\_\+angle\+\_\+t\+::accuracy}
+
+\mbox{\Hypertarget{structbno08x__euler__angle__t_a89ab348ee455b14e5d09f1eb5d231c99}\label{structbno08x__euler__angle__t_a89ab348ee455b14e5d09f1eb5d231c99}} 
+\index{bno08x\_euler\_angle\_t@{bno08x\_euler\_angle\_t}!rad\_accuracy@{rad\_accuracy}}
+\index{rad\_accuracy@{rad\_accuracy}!bno08x\_euler\_angle\_t@{bno08x\_euler\_angle\_t}}
+\doxysubsubsection{\texorpdfstring{rad\_accuracy}{rad\_accuracy}}
+{\footnotesize\ttfamily float bno08x\+\_\+euler\+\_\+angle\+\_\+t\+::rad\+\_\+accuracy}
+
+\mbox{\Hypertarget{structbno08x__euler__angle__t_a7c675704f7bf92a19846de6ee020f0ef}\label{structbno08x__euler__angle__t_a7c675704f7bf92a19846de6ee020f0ef}} 
+\index{bno08x\_euler\_angle\_t@{bno08x\_euler\_angle\_t}!x@{x}}
+\index{x@{x}!bno08x\_euler\_angle\_t@{bno08x\_euler\_angle\_t}}
+\doxysubsubsection{\texorpdfstring{x}{x}}
+{\footnotesize\ttfamily float bno08x\+\_\+euler\+\_\+angle\+\_\+t\+::x}
+
+\mbox{\Hypertarget{structbno08x__euler__angle__t_a0c4f19cb559999d4c2ac2b29d9dc7cfd}\label{structbno08x__euler__angle__t_a0c4f19cb559999d4c2ac2b29d9dc7cfd}} 
+\index{bno08x\_euler\_angle\_t@{bno08x\_euler\_angle\_t}!y@{y}}
+\index{y@{y}!bno08x\_euler\_angle\_t@{bno08x\_euler\_angle\_t}}
+\doxysubsubsection{\texorpdfstring{y}{y}}
+{\footnotesize\ttfamily float bno08x\+\_\+euler\+\_\+angle\+\_\+t\+::y}
+
+\mbox{\Hypertarget{structbno08x__euler__angle__t_a5237ec5e8fc1ca49b2f108ac784f0032}\label{structbno08x__euler__angle__t_a5237ec5e8fc1ca49b2f108ac784f0032}} 
+\index{bno08x\_euler\_angle\_t@{bno08x\_euler\_angle\_t}!z@{z}}
+\index{z@{z}!bno08x\_euler\_angle\_t@{bno08x\_euler\_angle\_t}}
+\doxysubsubsection{\texorpdfstring{z}{z}}
+{\footnotesize\ttfamily float bno08x\+\_\+euler\+\_\+angle\+\_\+t\+::z}
+
+
+
+The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\mbox{\hyperlink{_b_n_o08x_global_types_8hpp}{BNO08x\+Global\+Types.\+hpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/structbno08x__gyro__bias__t.tex b/documentation/latex/structbno08x__gyro__bias__t.tex
new file mode 100644
index 0000000..4ead079
--- /dev/null
+++ b/documentation/latex/structbno08x__gyro__bias__t.tex
@@ -0,0 +1,74 @@
+\hypertarget{structbno08x__gyro__bias__t}{}\doxysection{bno08x\+\_\+gyro\+\_\+bias\+\_\+t Struct Reference}
+\label{structbno08x__gyro__bias__t}\index{bno08x\_gyro\_bias\_t@{bno08x\_gyro\_bias\_t}}
+
+
+Struct to represent gyro bias data (units in rad/s)  
+
+
+
+
+{\ttfamily \#include $<$BNO08x\+Global\+Types.\+hpp$>$}
+
+\doxysubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{structbno08x__gyro__bias__t_a779c3000b541664d935b2ffda75a5f14}{bno08x\+\_\+gyro\+\_\+bias\+\_\+t}} ()
+\item 
+\mbox{\hyperlink{structbno08x__gyro__bias__t}{bno08x\+\_\+gyro\+\_\+bias\+\_\+t}} \& \mbox{\hyperlink{structbno08x__gyro__bias__t_aaa3795c61ebd89d4a620600b37ac27fc}{operator=}} (const sh2\+\_\+\+Gyroscope\+Uncalibrated \&source)
+\end{DoxyCompactItemize}
+\doxysubsection*{Public Attributes}
+\begin{DoxyCompactItemize}
+\item 
+float \mbox{\hyperlink{structbno08x__gyro__bias__t_a9c592e8c420797c8e02146eb6ba4a923}{x}}
+\item 
+float \mbox{\hyperlink{structbno08x__gyro__bias__t_a9bb96e58ed1df186edf40aa66b38bf4a}{y}}
+\item 
+float \mbox{\hyperlink{structbno08x__gyro__bias__t_aef04b50ebf86ff49631beb3ba90ae1ba}{z}}
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Struct to represent gyro bias data (units in rad/s) 
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\mbox{\Hypertarget{structbno08x__gyro__bias__t_a779c3000b541664d935b2ffda75a5f14}\label{structbno08x__gyro__bias__t_a779c3000b541664d935b2ffda75a5f14}} 
+\index{bno08x\_gyro\_bias\_t@{bno08x\_gyro\_bias\_t}!bno08x\_gyro\_bias\_t@{bno08x\_gyro\_bias\_t}}
+\index{bno08x\_gyro\_bias\_t@{bno08x\_gyro\_bias\_t}!bno08x\_gyro\_bias\_t@{bno08x\_gyro\_bias\_t}}
+\doxysubsubsection{\texorpdfstring{bno08x\_gyro\_bias\_t()}{bno08x\_gyro\_bias\_t()}}
+{\footnotesize\ttfamily bno08x\+\_\+gyro\+\_\+bias\+\_\+t\+::bno08x\+\_\+gyro\+\_\+bias\+\_\+t (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Function Documentation}
+\mbox{\Hypertarget{structbno08x__gyro__bias__t_aaa3795c61ebd89d4a620600b37ac27fc}\label{structbno08x__gyro__bias__t_aaa3795c61ebd89d4a620600b37ac27fc}} 
+\index{bno08x\_gyro\_bias\_t@{bno08x\_gyro\_bias\_t}!operator=@{operator=}}
+\index{operator=@{operator=}!bno08x\_gyro\_bias\_t@{bno08x\_gyro\_bias\_t}}
+\doxysubsubsection{\texorpdfstring{operator=()}{operator=()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__gyro__bias__t}{bno08x\+\_\+gyro\+\_\+bias\+\_\+t}} \& bno08x\+\_\+gyro\+\_\+bias\+\_\+t\+::operator= (\begin{DoxyParamCaption}\item[{const sh2\+\_\+\+Gyroscope\+Uncalibrated \&}]{source }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Data Documentation}
+\mbox{\Hypertarget{structbno08x__gyro__bias__t_a9c592e8c420797c8e02146eb6ba4a923}\label{structbno08x__gyro__bias__t_a9c592e8c420797c8e02146eb6ba4a923}} 
+\index{bno08x\_gyro\_bias\_t@{bno08x\_gyro\_bias\_t}!x@{x}}
+\index{x@{x}!bno08x\_gyro\_bias\_t@{bno08x\_gyro\_bias\_t}}
+\doxysubsubsection{\texorpdfstring{x}{x}}
+{\footnotesize\ttfamily float bno08x\+\_\+gyro\+\_\+bias\+\_\+t\+::x}
+
+\mbox{\Hypertarget{structbno08x__gyro__bias__t_a9bb96e58ed1df186edf40aa66b38bf4a}\label{structbno08x__gyro__bias__t_a9bb96e58ed1df186edf40aa66b38bf4a}} 
+\index{bno08x\_gyro\_bias\_t@{bno08x\_gyro\_bias\_t}!y@{y}}
+\index{y@{y}!bno08x\_gyro\_bias\_t@{bno08x\_gyro\_bias\_t}}
+\doxysubsubsection{\texorpdfstring{y}{y}}
+{\footnotesize\ttfamily float bno08x\+\_\+gyro\+\_\+bias\+\_\+t\+::y}
+
+\mbox{\Hypertarget{structbno08x__gyro__bias__t_aef04b50ebf86ff49631beb3ba90ae1ba}\label{structbno08x__gyro__bias__t_aef04b50ebf86ff49631beb3ba90ae1ba}} 
+\index{bno08x\_gyro\_bias\_t@{bno08x\_gyro\_bias\_t}!z@{z}}
+\index{z@{z}!bno08x\_gyro\_bias\_t@{bno08x\_gyro\_bias\_t}}
+\doxysubsubsection{\texorpdfstring{z}{z}}
+{\footnotesize\ttfamily float bno08x\+\_\+gyro\+\_\+bias\+\_\+t\+::z}
+
+
+
+The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\mbox{\hyperlink{_b_n_o08x_global_types_8hpp}{BNO08x\+Global\+Types.\+hpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/structbno08x__gyro__t.tex b/documentation/latex/structbno08x__gyro__t.tex
new file mode 100644
index 0000000..9173608
--- /dev/null
+++ b/documentation/latex/structbno08x__gyro__t.tex
@@ -0,0 +1,90 @@
+\hypertarget{structbno08x__gyro__t}{}\doxysection{bno08x\+\_\+gyro\+\_\+t Struct Reference}
+\label{structbno08x__gyro__t}\index{bno08x\_gyro\_t@{bno08x\_gyro\_t}}
+
+
+Struct to represent gyro data (units in rad/s)  
+
+
+
+
+{\ttfamily \#include $<$BNO08x\+Global\+Types.\+hpp$>$}
+
+\doxysubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{structbno08x__gyro__t_aa9a075a6b135f4b137b6247768ef5af6}{bno08x\+\_\+gyro\+\_\+t}} ()
+\item 
+\mbox{\hyperlink{structbno08x__gyro__t}{bno08x\+\_\+gyro\+\_\+t}} \& \mbox{\hyperlink{structbno08x__gyro__t_a13cfb2e5d15b2fe50d1d910bd0c4b868}{operator=}} (const sh2\+\_\+\+Gyroscope\+\_\+t \&source)
+\item 
+\mbox{\hyperlink{structbno08x__gyro__t}{bno08x\+\_\+gyro\+\_\+t}} \& \mbox{\hyperlink{structbno08x__gyro__t_a64d4900e42a8f056a404b699074f1c41}{operator=}} (const sh2\+\_\+\+Gyroscope\+Uncalibrated \&source)
+\end{DoxyCompactItemize}
+\doxysubsection*{Public Attributes}
+\begin{DoxyCompactItemize}
+\item 
+float \mbox{\hyperlink{structbno08x__gyro__t_a63a7bfec63a61b44dab94cd62dc5f50e}{x}}
+\item 
+float \mbox{\hyperlink{structbno08x__gyro__t_ab079eb91abc32f71c6d41f3dcf6274df}{y}}
+\item 
+float \mbox{\hyperlink{structbno08x__gyro__t_ac9a349e1dad45c041bfd0555b01e273f}{z}}
+\item 
+\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08x\+Accuracy}} \mbox{\hyperlink{structbno08x__gyro__t_a87ab3be28faed62506a764d411650a12}{accuracy}}
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Struct to represent gyro data (units in rad/s) 
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\mbox{\Hypertarget{structbno08x__gyro__t_aa9a075a6b135f4b137b6247768ef5af6}\label{structbno08x__gyro__t_aa9a075a6b135f4b137b6247768ef5af6}} 
+\index{bno08x\_gyro\_t@{bno08x\_gyro\_t}!bno08x\_gyro\_t@{bno08x\_gyro\_t}}
+\index{bno08x\_gyro\_t@{bno08x\_gyro\_t}!bno08x\_gyro\_t@{bno08x\_gyro\_t}}
+\doxysubsubsection{\texorpdfstring{bno08x\_gyro\_t()}{bno08x\_gyro\_t()}}
+{\footnotesize\ttfamily bno08x\+\_\+gyro\+\_\+t\+::bno08x\+\_\+gyro\+\_\+t (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Function Documentation}
+\mbox{\Hypertarget{structbno08x__gyro__t_a13cfb2e5d15b2fe50d1d910bd0c4b868}\label{structbno08x__gyro__t_a13cfb2e5d15b2fe50d1d910bd0c4b868}} 
+\index{bno08x\_gyro\_t@{bno08x\_gyro\_t}!operator=@{operator=}}
+\index{operator=@{operator=}!bno08x\_gyro\_t@{bno08x\_gyro\_t}}
+\doxysubsubsection{\texorpdfstring{operator=()}{operator=()}\hspace{0.1cm}{\footnotesize\ttfamily [1/2]}}
+{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__gyro__t}{bno08x\+\_\+gyro\+\_\+t}} \& bno08x\+\_\+gyro\+\_\+t\+::operator= (\begin{DoxyParamCaption}\item[{const sh2\+\_\+\+Gyroscope\+\_\+t \&}]{source }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+\mbox{\Hypertarget{structbno08x__gyro__t_a64d4900e42a8f056a404b699074f1c41}\label{structbno08x__gyro__t_a64d4900e42a8f056a404b699074f1c41}} 
+\index{bno08x\_gyro\_t@{bno08x\_gyro\_t}!operator=@{operator=}}
+\index{operator=@{operator=}!bno08x\_gyro\_t@{bno08x\_gyro\_t}}
+\doxysubsubsection{\texorpdfstring{operator=()}{operator=()}\hspace{0.1cm}{\footnotesize\ttfamily [2/2]}}
+{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__gyro__t}{bno08x\+\_\+gyro\+\_\+t}} \& bno08x\+\_\+gyro\+\_\+t\+::operator= (\begin{DoxyParamCaption}\item[{const sh2\+\_\+\+Gyroscope\+Uncalibrated \&}]{source }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Data Documentation}
+\mbox{\Hypertarget{structbno08x__gyro__t_a87ab3be28faed62506a764d411650a12}\label{structbno08x__gyro__t_a87ab3be28faed62506a764d411650a12}} 
+\index{bno08x\_gyro\_t@{bno08x\_gyro\_t}!accuracy@{accuracy}}
+\index{accuracy@{accuracy}!bno08x\_gyro\_t@{bno08x\_gyro\_t}}
+\doxysubsubsection{\texorpdfstring{accuracy}{accuracy}}
+{\footnotesize\ttfamily \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08x\+Accuracy}} bno08x\+\_\+gyro\+\_\+t\+::accuracy}
+
+\mbox{\Hypertarget{structbno08x__gyro__t_a63a7bfec63a61b44dab94cd62dc5f50e}\label{structbno08x__gyro__t_a63a7bfec63a61b44dab94cd62dc5f50e}} 
+\index{bno08x\_gyro\_t@{bno08x\_gyro\_t}!x@{x}}
+\index{x@{x}!bno08x\_gyro\_t@{bno08x\_gyro\_t}}
+\doxysubsubsection{\texorpdfstring{x}{x}}
+{\footnotesize\ttfamily float bno08x\+\_\+gyro\+\_\+t\+::x}
+
+\mbox{\Hypertarget{structbno08x__gyro__t_ab079eb91abc32f71c6d41f3dcf6274df}\label{structbno08x__gyro__t_ab079eb91abc32f71c6d41f3dcf6274df}} 
+\index{bno08x\_gyro\_t@{bno08x\_gyro\_t}!y@{y}}
+\index{y@{y}!bno08x\_gyro\_t@{bno08x\_gyro\_t}}
+\doxysubsubsection{\texorpdfstring{y}{y}}
+{\footnotesize\ttfamily float bno08x\+\_\+gyro\+\_\+t\+::y}
+
+\mbox{\Hypertarget{structbno08x__gyro__t_ac9a349e1dad45c041bfd0555b01e273f}\label{structbno08x__gyro__t_ac9a349e1dad45c041bfd0555b01e273f}} 
+\index{bno08x\_gyro\_t@{bno08x\_gyro\_t}!z@{z}}
+\index{z@{z}!bno08x\_gyro\_t@{bno08x\_gyro\_t}}
+\doxysubsubsection{\texorpdfstring{z}{z}}
+{\footnotesize\ttfamily float bno08x\+\_\+gyro\+\_\+t\+::z}
+
+
+
+The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\mbox{\hyperlink{_b_n_o08x_global_types_8hpp}{BNO08x\+Global\+Types.\+hpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/structbno08x__magf__bias__t.tex b/documentation/latex/structbno08x__magf__bias__t.tex
new file mode 100644
index 0000000..4983bc2
--- /dev/null
+++ b/documentation/latex/structbno08x__magf__bias__t.tex
@@ -0,0 +1,74 @@
+\hypertarget{structbno08x__magf__bias__t}{}\doxysection{bno08x\+\_\+magf\+\_\+bias\+\_\+t Struct Reference}
+\label{structbno08x__magf__bias__t}\index{bno08x\_magf\_bias\_t@{bno08x\_magf\_bias\_t}}
+
+
+Struct to represent magnetic field bias data (units in u\+Tesla)  
+
+
+
+
+{\ttfamily \#include $<$BNO08x\+Global\+Types.\+hpp$>$}
+
+\doxysubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{structbno08x__magf__bias__t_aa0b6af3812168e0dc9329d5a70e54f98}{bno08x\+\_\+magf\+\_\+bias\+\_\+t}} ()
+\item 
+\mbox{\hyperlink{structbno08x__magf__bias__t}{bno08x\+\_\+magf\+\_\+bias\+\_\+t}} \& \mbox{\hyperlink{structbno08x__magf__bias__t_aeed524c368c645e3f325ffe387199a31}{operator=}} (const sh2\+\_\+\+Magnetic\+Field\+Uncalibrated\+\_\+t \&source)
+\end{DoxyCompactItemize}
+\doxysubsection*{Public Attributes}
+\begin{DoxyCompactItemize}
+\item 
+float \mbox{\hyperlink{structbno08x__magf__bias__t_ac4f55ef988b43d3d6c753a2201c60b14}{x}}
+\item 
+float \mbox{\hyperlink{structbno08x__magf__bias__t_a0e49d87458853c3478ffe1febffa0279}{y}}
+\item 
+float \mbox{\hyperlink{structbno08x__magf__bias__t_a76b135fa354d2646927ff76c2da5a6b3}{z}}
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Struct to represent magnetic field bias data (units in u\+Tesla) 
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\mbox{\Hypertarget{structbno08x__magf__bias__t_aa0b6af3812168e0dc9329d5a70e54f98}\label{structbno08x__magf__bias__t_aa0b6af3812168e0dc9329d5a70e54f98}} 
+\index{bno08x\_magf\_bias\_t@{bno08x\_magf\_bias\_t}!bno08x\_magf\_bias\_t@{bno08x\_magf\_bias\_t}}
+\index{bno08x\_magf\_bias\_t@{bno08x\_magf\_bias\_t}!bno08x\_magf\_bias\_t@{bno08x\_magf\_bias\_t}}
+\doxysubsubsection{\texorpdfstring{bno08x\_magf\_bias\_t()}{bno08x\_magf\_bias\_t()}}
+{\footnotesize\ttfamily bno08x\+\_\+magf\+\_\+bias\+\_\+t\+::bno08x\+\_\+magf\+\_\+bias\+\_\+t (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Function Documentation}
+\mbox{\Hypertarget{structbno08x__magf__bias__t_aeed524c368c645e3f325ffe387199a31}\label{structbno08x__magf__bias__t_aeed524c368c645e3f325ffe387199a31}} 
+\index{bno08x\_magf\_bias\_t@{bno08x\_magf\_bias\_t}!operator=@{operator=}}
+\index{operator=@{operator=}!bno08x\_magf\_bias\_t@{bno08x\_magf\_bias\_t}}
+\doxysubsubsection{\texorpdfstring{operator=()}{operator=()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__magf__bias__t}{bno08x\+\_\+magf\+\_\+bias\+\_\+t}} \& bno08x\+\_\+magf\+\_\+bias\+\_\+t\+::operator= (\begin{DoxyParamCaption}\item[{const sh2\+\_\+\+Magnetic\+Field\+Uncalibrated\+\_\+t \&}]{source }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Data Documentation}
+\mbox{\Hypertarget{structbno08x__magf__bias__t_ac4f55ef988b43d3d6c753a2201c60b14}\label{structbno08x__magf__bias__t_ac4f55ef988b43d3d6c753a2201c60b14}} 
+\index{bno08x\_magf\_bias\_t@{bno08x\_magf\_bias\_t}!x@{x}}
+\index{x@{x}!bno08x\_magf\_bias\_t@{bno08x\_magf\_bias\_t}}
+\doxysubsubsection{\texorpdfstring{x}{x}}
+{\footnotesize\ttfamily float bno08x\+\_\+magf\+\_\+bias\+\_\+t\+::x}
+
+\mbox{\Hypertarget{structbno08x__magf__bias__t_a0e49d87458853c3478ffe1febffa0279}\label{structbno08x__magf__bias__t_a0e49d87458853c3478ffe1febffa0279}} 
+\index{bno08x\_magf\_bias\_t@{bno08x\_magf\_bias\_t}!y@{y}}
+\index{y@{y}!bno08x\_magf\_bias\_t@{bno08x\_magf\_bias\_t}}
+\doxysubsubsection{\texorpdfstring{y}{y}}
+{\footnotesize\ttfamily float bno08x\+\_\+magf\+\_\+bias\+\_\+t\+::y}
+
+\mbox{\Hypertarget{structbno08x__magf__bias__t_a76b135fa354d2646927ff76c2da5a6b3}\label{structbno08x__magf__bias__t_a76b135fa354d2646927ff76c2da5a6b3}} 
+\index{bno08x\_magf\_bias\_t@{bno08x\_magf\_bias\_t}!z@{z}}
+\index{z@{z}!bno08x\_magf\_bias\_t@{bno08x\_magf\_bias\_t}}
+\doxysubsubsection{\texorpdfstring{z}{z}}
+{\footnotesize\ttfamily float bno08x\+\_\+magf\+\_\+bias\+\_\+t\+::z}
+
+
+
+The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\mbox{\hyperlink{_b_n_o08x_global_types_8hpp}{BNO08x\+Global\+Types.\+hpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/structbno08x__magf__t.tex b/documentation/latex/structbno08x__magf__t.tex
new file mode 100644
index 0000000..625df61
--- /dev/null
+++ b/documentation/latex/structbno08x__magf__t.tex
@@ -0,0 +1,90 @@
+\hypertarget{structbno08x__magf__t}{}\doxysection{bno08x\+\_\+magf\+\_\+t Struct Reference}
+\label{structbno08x__magf__t}\index{bno08x\_magf\_t@{bno08x\_magf\_t}}
+
+
+Struct to represent magnetic field data (units in u\+Tesla)  
+
+
+
+
+{\ttfamily \#include $<$BNO08x\+Global\+Types.\+hpp$>$}
+
+\doxysubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{structbno08x__magf__t_ad8784e25768658f4fa0cb1dd5c1afc36}{bno08x\+\_\+magf\+\_\+t}} ()
+\item 
+\mbox{\hyperlink{structbno08x__magf__t}{bno08x\+\_\+magf\+\_\+t}} \& \mbox{\hyperlink{structbno08x__magf__t_adadb35e5c67433e47895d7ae5885a00e}{operator=}} (const sh2\+\_\+\+Magnetic\+Field\+\_\+t \&source)
+\item 
+\mbox{\hyperlink{structbno08x__magf__t}{bno08x\+\_\+magf\+\_\+t}} \& \mbox{\hyperlink{structbno08x__magf__t_a2e0b22e5fa40d5ecd447e0cb451b3282}{operator=}} (const sh2\+\_\+\+Magnetic\+Field\+Uncalibrated\+\_\+t \&source)
+\end{DoxyCompactItemize}
+\doxysubsection*{Public Attributes}
+\begin{DoxyCompactItemize}
+\item 
+float \mbox{\hyperlink{structbno08x__magf__t_ac692d27a0bd9d698a89a8ca58e959d08}{x}}
+\item 
+float \mbox{\hyperlink{structbno08x__magf__t_a01b2e4c9a144b3e1c0572db12ed48601}{y}}
+\item 
+float \mbox{\hyperlink{structbno08x__magf__t_a0516e3805249e8b62856af2aabf7cc0b}{z}}
+\item 
+\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08x\+Accuracy}} \mbox{\hyperlink{structbno08x__magf__t_a6b92aa85f81f17034c3f201dd9ff0b46}{accuracy}}
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Struct to represent magnetic field data (units in u\+Tesla) 
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\mbox{\Hypertarget{structbno08x__magf__t_ad8784e25768658f4fa0cb1dd5c1afc36}\label{structbno08x__magf__t_ad8784e25768658f4fa0cb1dd5c1afc36}} 
+\index{bno08x\_magf\_t@{bno08x\_magf\_t}!bno08x\_magf\_t@{bno08x\_magf\_t}}
+\index{bno08x\_magf\_t@{bno08x\_magf\_t}!bno08x\_magf\_t@{bno08x\_magf\_t}}
+\doxysubsubsection{\texorpdfstring{bno08x\_magf\_t()}{bno08x\_magf\_t()}}
+{\footnotesize\ttfamily bno08x\+\_\+magf\+\_\+t\+::bno08x\+\_\+magf\+\_\+t (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Function Documentation}
+\mbox{\Hypertarget{structbno08x__magf__t_adadb35e5c67433e47895d7ae5885a00e}\label{structbno08x__magf__t_adadb35e5c67433e47895d7ae5885a00e}} 
+\index{bno08x\_magf\_t@{bno08x\_magf\_t}!operator=@{operator=}}
+\index{operator=@{operator=}!bno08x\_magf\_t@{bno08x\_magf\_t}}
+\doxysubsubsection{\texorpdfstring{operator=()}{operator=()}\hspace{0.1cm}{\footnotesize\ttfamily [1/2]}}
+{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__magf__t}{bno08x\+\_\+magf\+\_\+t}} \& bno08x\+\_\+magf\+\_\+t\+::operator= (\begin{DoxyParamCaption}\item[{const sh2\+\_\+\+Magnetic\+Field\+\_\+t \&}]{source }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+\mbox{\Hypertarget{structbno08x__magf__t_a2e0b22e5fa40d5ecd447e0cb451b3282}\label{structbno08x__magf__t_a2e0b22e5fa40d5ecd447e0cb451b3282}} 
+\index{bno08x\_magf\_t@{bno08x\_magf\_t}!operator=@{operator=}}
+\index{operator=@{operator=}!bno08x\_magf\_t@{bno08x\_magf\_t}}
+\doxysubsubsection{\texorpdfstring{operator=()}{operator=()}\hspace{0.1cm}{\footnotesize\ttfamily [2/2]}}
+{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__magf__t}{bno08x\+\_\+magf\+\_\+t}} \& bno08x\+\_\+magf\+\_\+t\+::operator= (\begin{DoxyParamCaption}\item[{const sh2\+\_\+\+Magnetic\+Field\+Uncalibrated\+\_\+t \&}]{source }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Data Documentation}
+\mbox{\Hypertarget{structbno08x__magf__t_a6b92aa85f81f17034c3f201dd9ff0b46}\label{structbno08x__magf__t_a6b92aa85f81f17034c3f201dd9ff0b46}} 
+\index{bno08x\_magf\_t@{bno08x\_magf\_t}!accuracy@{accuracy}}
+\index{accuracy@{accuracy}!bno08x\_magf\_t@{bno08x\_magf\_t}}
+\doxysubsubsection{\texorpdfstring{accuracy}{accuracy}}
+{\footnotesize\ttfamily \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08x\+Accuracy}} bno08x\+\_\+magf\+\_\+t\+::accuracy}
+
+\mbox{\Hypertarget{structbno08x__magf__t_ac692d27a0bd9d698a89a8ca58e959d08}\label{structbno08x__magf__t_ac692d27a0bd9d698a89a8ca58e959d08}} 
+\index{bno08x\_magf\_t@{bno08x\_magf\_t}!x@{x}}
+\index{x@{x}!bno08x\_magf\_t@{bno08x\_magf\_t}}
+\doxysubsubsection{\texorpdfstring{x}{x}}
+{\footnotesize\ttfamily float bno08x\+\_\+magf\+\_\+t\+::x}
+
+\mbox{\Hypertarget{structbno08x__magf__t_a01b2e4c9a144b3e1c0572db12ed48601}\label{structbno08x__magf__t_a01b2e4c9a144b3e1c0572db12ed48601}} 
+\index{bno08x\_magf\_t@{bno08x\_magf\_t}!y@{y}}
+\index{y@{y}!bno08x\_magf\_t@{bno08x\_magf\_t}}
+\doxysubsubsection{\texorpdfstring{y}{y}}
+{\footnotesize\ttfamily float bno08x\+\_\+magf\+\_\+t\+::y}
+
+\mbox{\Hypertarget{structbno08x__magf__t_a0516e3805249e8b62856af2aabf7cc0b}\label{structbno08x__magf__t_a0516e3805249e8b62856af2aabf7cc0b}} 
+\index{bno08x\_magf\_t@{bno08x\_magf\_t}!z@{z}}
+\index{z@{z}!bno08x\_magf\_t@{bno08x\_magf\_t}}
+\doxysubsubsection{\texorpdfstring{z}{z}}
+{\footnotesize\ttfamily float bno08x\+\_\+magf\+\_\+t\+::z}
+
+
+
+The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\mbox{\hyperlink{_b_n_o08x_global_types_8hpp}{BNO08x\+Global\+Types.\+hpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/structbno08x__meta__data__t.tex b/documentation/latex/structbno08x__meta__data__t.tex
new file mode 100644
index 0000000..5bff4ab
--- /dev/null
+++ b/documentation/latex/structbno08x__meta__data__t.tex
@@ -0,0 +1,275 @@
+\hypertarget{structbno08x__meta__data__t}{}\doxysection{bno08x\+\_\+meta\+\_\+data\+\_\+t Struct Reference}
+\label{structbno08x__meta__data__t}\index{bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}}
+
+
+Struct to represent sensor/report meta data, returned from \mbox{\hyperlink{class_b_n_o08x_rpt_ad5b054279b01204f61b4c0408acf51cf}{BNO08x\+Rpt\+::get\+\_\+meta\+\_\+data()}}  
+
+
+
+
+{\ttfamily \#include $<$BNO08x\+Global\+Types.\+hpp$>$}
+
+\doxysubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{structbno08x__meta__data__t_a3e22f63db62812b5aeeb873553f378c4}{bno08x\+\_\+meta\+\_\+data\+\_\+t}} ()
+\item 
+\mbox{\hyperlink{structbno08x__meta__data__t_a549c5e42da7cf07c6ec28ce69548b1d8}{bno08x\+\_\+meta\+\_\+data\+\_\+t}} (const sh2\+\_\+\+Sensor\+Metadata\+\_\+t \&src)
+\end{DoxyCompactItemize}
+\doxysubsection*{Public Attributes}
+\begin{DoxyCompactItemize}
+\item 
+char \mbox{\hyperlink{structbno08x__meta__data__t_a51e1f028175bf00c880cc2dfd4e05412}{vendor\+\_\+\+ID}} \mbox{[}48\mbox{]}
+\begin{DoxyCompactList}\small\item\em Vendor name and part number. \end{DoxyCompactList}\item 
+uint8\+\_\+t \mbox{\hyperlink{structbno08x__meta__data__t_a4134971e13a6242102facae308588072}{sensor\+\_\+specific}} \mbox{[}48\mbox{]}
+\begin{DoxyCompactList}\small\item\em See SH-\/2 Reference Manual. \end{DoxyCompactList}\item 
+uint32\+\_\+t \mbox{\hyperlink{structbno08x__meta__data__t_a0efefbb8c4614bd3e81094f25909cc14}{vendor\+\_\+id\+\_\+len}}
+\begin{DoxyCompactList}\small\item\em \mbox{[}bytes\mbox{]} \end{DoxyCompactList}\item 
+uint32\+\_\+t \mbox{\hyperlink{structbno08x__meta__data__t_abaa4829463c424c9959d594027ce7ba2}{sensor\+\_\+specific\+\_\+len}}
+\begin{DoxyCompactList}\small\item\em \mbox{[}bytes\mbox{]} \end{DoxyCompactList}\item 
+uint32\+\_\+t \mbox{\hyperlink{structbno08x__meta__data__t_a58edad7613b5b2c6e7afd0233106b09f}{range}}
+\begin{DoxyCompactList}\small\item\em Same units as sensor reports. \end{DoxyCompactList}\item 
+uint32\+\_\+t \mbox{\hyperlink{structbno08x__meta__data__t_a7683b54fbe7ae8ec15b8f880d17a5a46}{resolution}}
+\begin{DoxyCompactList}\small\item\em Same units as sensor reports. \end{DoxyCompactList}\item 
+uint32\+\_\+t \mbox{\hyperlink{structbno08x__meta__data__t_a5384c14c55c8f156ea18a0cc81a2e6fc}{min\+\_\+period\+\_\+us}}
+\begin{DoxyCompactList}\small\item\em \mbox{[}uS\mbox{]} min period to use with enable\+\_\+report \end{DoxyCompactList}\item 
+uint32\+\_\+t \mbox{\hyperlink{structbno08x__meta__data__t_a3e4ff48e389db8b0643259f9af8c0006}{max\+\_\+period\+\_\+us}}
+\begin{DoxyCompactList}\small\item\em \mbox{[}uS\mbox{]} max period to use with enable\+\_\+report \end{DoxyCompactList}\item 
+uint32\+\_\+t \mbox{\hyperlink{structbno08x__meta__data__t_a32f6c907d10794a2b64784c4bbe09723}{fifo\+\_\+reserved}}
+\begin{DoxyCompactList}\small\item\em (Unused) \end{DoxyCompactList}\item 
+uint32\+\_\+t \mbox{\hyperlink{structbno08x__meta__data__t_a94c6f70957ab28cde8d41fdbd2f39496}{fifo\+\_\+max}}
+\begin{DoxyCompactList}\small\item\em (Unused) \end{DoxyCompactList}\item 
+uint32\+\_\+t \mbox{\hyperlink{structbno08x__meta__data__t_ac493692919e552ca32e6c87b4623ccd2}{batch\+\_\+buffer\+\_\+bytes}}
+\begin{DoxyCompactList}\small\item\em (Unused) \end{DoxyCompactList}\item 
+uint16\+\_\+t \mbox{\hyperlink{structbno08x__meta__data__t_a31816ac79605b829e7304973d61f7d98}{revision}}
+\begin{DoxyCompactList}\small\item\em Metadata record format revision. \end{DoxyCompactList}\item 
+uint16\+\_\+t \mbox{\hyperlink{structbno08x__meta__data__t_ac4297b1db8065c9ad38b6100abda92c1}{power\+\_\+mA}}
+\begin{DoxyCompactList}\small\item\em \mbox{[}mA\mbox{]} Fixed point 16Q10 format \end{DoxyCompactList}\item 
+uint16\+\_\+t \mbox{\hyperlink{structbno08x__meta__data__t_a1e0a5907ac8d8dd0325cf8830aa5bd66}{q\+\_\+point\+\_\+1}}
+\begin{DoxyCompactList}\small\item\em q point for sensor values \end{DoxyCompactList}\item 
+uint16\+\_\+t \mbox{\hyperlink{structbno08x__meta__data__t_a09ad38c35e9cd63d4c333f851d5e01e7}{q\+\_\+point\+\_\+2}}
+\begin{DoxyCompactList}\small\item\em q point for accuracy or bias fields \end{DoxyCompactList}\item 
+uint16\+\_\+t \mbox{\hyperlink{structbno08x__meta__data__t_a29cb20721b8dda2c65c6b2b4dfad6551}{q\+\_\+point\+\_\+3}}
+\begin{DoxyCompactList}\small\item\em q point for sensor data change sensitivity \end{DoxyCompactList}\item 
+uint8\+\_\+t \mbox{\hyperlink{structbno08x__meta__data__t_a659afd22d089c9414ef865350c895d3e}{me\+\_\+version}}
+\begin{DoxyCompactList}\small\item\em Motion Engine Version. \end{DoxyCompactList}\item 
+uint8\+\_\+t \mbox{\hyperlink{structbno08x__meta__data__t_a5883b0fdc28d754f3fff570ca29e3b3e}{mh\+\_\+version}}
+\begin{DoxyCompactList}\small\item\em Motion Hub Version. \end{DoxyCompactList}\item 
+uint8\+\_\+t \mbox{\hyperlink{structbno08x__meta__data__t_a672da8b56be3269bae22c9e0e5424719}{sh\+\_\+version}}
+\begin{DoxyCompactList}\small\item\em Sensor\+Hub Version. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Struct to represent sensor/report meta data, returned from \mbox{\hyperlink{class_b_n_o08x_rpt_ad5b054279b01204f61b4c0408acf51cf}{BNO08x\+Rpt\+::get\+\_\+meta\+\_\+data()}} 
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\mbox{\Hypertarget{structbno08x__meta__data__t_a3e22f63db62812b5aeeb873553f378c4}\label{structbno08x__meta__data__t_a3e22f63db62812b5aeeb873553f378c4}} 
+\index{bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}!bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}}
+\index{bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}!bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}}
+\doxysubsubsection{\texorpdfstring{bno08x\_meta\_data\_t()}{bno08x\_meta\_data\_t()}\hspace{0.1cm}{\footnotesize\ttfamily [1/2]}}
+{\footnotesize\ttfamily bno08x\+\_\+meta\+\_\+data\+\_\+t\+::bno08x\+\_\+meta\+\_\+data\+\_\+t (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+\mbox{\Hypertarget{structbno08x__meta__data__t_a549c5e42da7cf07c6ec28ce69548b1d8}\label{structbno08x__meta__data__t_a549c5e42da7cf07c6ec28ce69548b1d8}} 
+\index{bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}!bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}}
+\index{bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}!bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}}
+\doxysubsubsection{\texorpdfstring{bno08x\_meta\_data\_t()}{bno08x\_meta\_data\_t()}\hspace{0.1cm}{\footnotesize\ttfamily [2/2]}}
+{\footnotesize\ttfamily bno08x\+\_\+meta\+\_\+data\+\_\+t\+::bno08x\+\_\+meta\+\_\+data\+\_\+t (\begin{DoxyParamCaption}\item[{const sh2\+\_\+\+Sensor\+Metadata\+\_\+t \&}]{src }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Data Documentation}
+\mbox{\Hypertarget{structbno08x__meta__data__t_ac493692919e552ca32e6c87b4623ccd2}\label{structbno08x__meta__data__t_ac493692919e552ca32e6c87b4623ccd2}} 
+\index{bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}!batch\_buffer\_bytes@{batch\_buffer\_bytes}}
+\index{batch\_buffer\_bytes@{batch\_buffer\_bytes}!bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}}
+\doxysubsubsection{\texorpdfstring{batch\_buffer\_bytes}{batch\_buffer\_bytes}}
+{\footnotesize\ttfamily uint32\+\_\+t bno08x\+\_\+meta\+\_\+data\+\_\+t\+::batch\+\_\+buffer\+\_\+bytes}
+
+
+
+(Unused) 
+
+\mbox{\Hypertarget{structbno08x__meta__data__t_a94c6f70957ab28cde8d41fdbd2f39496}\label{structbno08x__meta__data__t_a94c6f70957ab28cde8d41fdbd2f39496}} 
+\index{bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}!fifo\_max@{fifo\_max}}
+\index{fifo\_max@{fifo\_max}!bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}}
+\doxysubsubsection{\texorpdfstring{fifo\_max}{fifo\_max}}
+{\footnotesize\ttfamily uint32\+\_\+t bno08x\+\_\+meta\+\_\+data\+\_\+t\+::fifo\+\_\+max}
+
+
+
+(Unused) 
+
+\mbox{\Hypertarget{structbno08x__meta__data__t_a32f6c907d10794a2b64784c4bbe09723}\label{structbno08x__meta__data__t_a32f6c907d10794a2b64784c4bbe09723}} 
+\index{bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}!fifo\_reserved@{fifo\_reserved}}
+\index{fifo\_reserved@{fifo\_reserved}!bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}}
+\doxysubsubsection{\texorpdfstring{fifo\_reserved}{fifo\_reserved}}
+{\footnotesize\ttfamily uint32\+\_\+t bno08x\+\_\+meta\+\_\+data\+\_\+t\+::fifo\+\_\+reserved}
+
+
+
+(Unused) 
+
+\mbox{\Hypertarget{structbno08x__meta__data__t_a3e4ff48e389db8b0643259f9af8c0006}\label{structbno08x__meta__data__t_a3e4ff48e389db8b0643259f9af8c0006}} 
+\index{bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}!max\_period\_us@{max\_period\_us}}
+\index{max\_period\_us@{max\_period\_us}!bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}}
+\doxysubsubsection{\texorpdfstring{max\_period\_us}{max\_period\_us}}
+{\footnotesize\ttfamily uint32\+\_\+t bno08x\+\_\+meta\+\_\+data\+\_\+t\+::max\+\_\+period\+\_\+us}
+
+
+
+\mbox{[}uS\mbox{]} max period to use with enable\+\_\+report 
+
+\mbox{\Hypertarget{structbno08x__meta__data__t_a659afd22d089c9414ef865350c895d3e}\label{structbno08x__meta__data__t_a659afd22d089c9414ef865350c895d3e}} 
+\index{bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}!me\_version@{me\_version}}
+\index{me\_version@{me\_version}!bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}}
+\doxysubsubsection{\texorpdfstring{me\_version}{me\_version}}
+{\footnotesize\ttfamily uint8\+\_\+t bno08x\+\_\+meta\+\_\+data\+\_\+t\+::me\+\_\+version}
+
+
+
+Motion Engine Version. 
+
+\mbox{\Hypertarget{structbno08x__meta__data__t_a5883b0fdc28d754f3fff570ca29e3b3e}\label{structbno08x__meta__data__t_a5883b0fdc28d754f3fff570ca29e3b3e}} 
+\index{bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}!mh\_version@{mh\_version}}
+\index{mh\_version@{mh\_version}!bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}}
+\doxysubsubsection{\texorpdfstring{mh\_version}{mh\_version}}
+{\footnotesize\ttfamily uint8\+\_\+t bno08x\+\_\+meta\+\_\+data\+\_\+t\+::mh\+\_\+version}
+
+
+
+Motion Hub Version. 
+
+\mbox{\Hypertarget{structbno08x__meta__data__t_a5384c14c55c8f156ea18a0cc81a2e6fc}\label{structbno08x__meta__data__t_a5384c14c55c8f156ea18a0cc81a2e6fc}} 
+\index{bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}!min\_period\_us@{min\_period\_us}}
+\index{min\_period\_us@{min\_period\_us}!bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}}
+\doxysubsubsection{\texorpdfstring{min\_period\_us}{min\_period\_us}}
+{\footnotesize\ttfamily uint32\+\_\+t bno08x\+\_\+meta\+\_\+data\+\_\+t\+::min\+\_\+period\+\_\+us}
+
+
+
+\mbox{[}uS\mbox{]} min period to use with enable\+\_\+report 
+
+\mbox{\Hypertarget{structbno08x__meta__data__t_ac4297b1db8065c9ad38b6100abda92c1}\label{structbno08x__meta__data__t_ac4297b1db8065c9ad38b6100abda92c1}} 
+\index{bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}!power\_mA@{power\_mA}}
+\index{power\_mA@{power\_mA}!bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}}
+\doxysubsubsection{\texorpdfstring{power\_mA}{power\_mA}}
+{\footnotesize\ttfamily uint16\+\_\+t bno08x\+\_\+meta\+\_\+data\+\_\+t\+::power\+\_\+mA}
+
+
+
+\mbox{[}mA\mbox{]} Fixed point 16Q10 format 
+
+\mbox{\Hypertarget{structbno08x__meta__data__t_a1e0a5907ac8d8dd0325cf8830aa5bd66}\label{structbno08x__meta__data__t_a1e0a5907ac8d8dd0325cf8830aa5bd66}} 
+\index{bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}!q\_point\_1@{q\_point\_1}}
+\index{q\_point\_1@{q\_point\_1}!bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}}
+\doxysubsubsection{\texorpdfstring{q\_point\_1}{q\_point\_1}}
+{\footnotesize\ttfamily uint16\+\_\+t bno08x\+\_\+meta\+\_\+data\+\_\+t\+::q\+\_\+point\+\_\+1}
+
+
+
+q point for sensor values 
+
+\mbox{\Hypertarget{structbno08x__meta__data__t_a09ad38c35e9cd63d4c333f851d5e01e7}\label{structbno08x__meta__data__t_a09ad38c35e9cd63d4c333f851d5e01e7}} 
+\index{bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}!q\_point\_2@{q\_point\_2}}
+\index{q\_point\_2@{q\_point\_2}!bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}}
+\doxysubsubsection{\texorpdfstring{q\_point\_2}{q\_point\_2}}
+{\footnotesize\ttfamily uint16\+\_\+t bno08x\+\_\+meta\+\_\+data\+\_\+t\+::q\+\_\+point\+\_\+2}
+
+
+
+q point for accuracy or bias fields 
+
+\mbox{\Hypertarget{structbno08x__meta__data__t_a29cb20721b8dda2c65c6b2b4dfad6551}\label{structbno08x__meta__data__t_a29cb20721b8dda2c65c6b2b4dfad6551}} 
+\index{bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}!q\_point\_3@{q\_point\_3}}
+\index{q\_point\_3@{q\_point\_3}!bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}}
+\doxysubsubsection{\texorpdfstring{q\_point\_3}{q\_point\_3}}
+{\footnotesize\ttfamily uint16\+\_\+t bno08x\+\_\+meta\+\_\+data\+\_\+t\+::q\+\_\+point\+\_\+3}
+
+
+
+q point for sensor data change sensitivity 
+
+\mbox{\Hypertarget{structbno08x__meta__data__t_a58edad7613b5b2c6e7afd0233106b09f}\label{structbno08x__meta__data__t_a58edad7613b5b2c6e7afd0233106b09f}} 
+\index{bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}!range@{range}}
+\index{range@{range}!bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}}
+\doxysubsubsection{\texorpdfstring{range}{range}}
+{\footnotesize\ttfamily uint32\+\_\+t bno08x\+\_\+meta\+\_\+data\+\_\+t\+::range}
+
+
+
+Same units as sensor reports. 
+
+\mbox{\Hypertarget{structbno08x__meta__data__t_a7683b54fbe7ae8ec15b8f880d17a5a46}\label{structbno08x__meta__data__t_a7683b54fbe7ae8ec15b8f880d17a5a46}} 
+\index{bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}!resolution@{resolution}}
+\index{resolution@{resolution}!bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}}
+\doxysubsubsection{\texorpdfstring{resolution}{resolution}}
+{\footnotesize\ttfamily uint32\+\_\+t bno08x\+\_\+meta\+\_\+data\+\_\+t\+::resolution}
+
+
+
+Same units as sensor reports. 
+
+\mbox{\Hypertarget{structbno08x__meta__data__t_a31816ac79605b829e7304973d61f7d98}\label{structbno08x__meta__data__t_a31816ac79605b829e7304973d61f7d98}} 
+\index{bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}!revision@{revision}}
+\index{revision@{revision}!bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}}
+\doxysubsubsection{\texorpdfstring{revision}{revision}}
+{\footnotesize\ttfamily uint16\+\_\+t bno08x\+\_\+meta\+\_\+data\+\_\+t\+::revision}
+
+
+
+Metadata record format revision. 
+
+\mbox{\Hypertarget{structbno08x__meta__data__t_a4134971e13a6242102facae308588072}\label{structbno08x__meta__data__t_a4134971e13a6242102facae308588072}} 
+\index{bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}!sensor\_specific@{sensor\_specific}}
+\index{sensor\_specific@{sensor\_specific}!bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}}
+\doxysubsubsection{\texorpdfstring{sensor\_specific}{sensor\_specific}}
+{\footnotesize\ttfamily uint8\+\_\+t bno08x\+\_\+meta\+\_\+data\+\_\+t\+::sensor\+\_\+specific\mbox{[}48\mbox{]}}
+
+
+
+See SH-\/2 Reference Manual. 
+
+\mbox{\Hypertarget{structbno08x__meta__data__t_abaa4829463c424c9959d594027ce7ba2}\label{structbno08x__meta__data__t_abaa4829463c424c9959d594027ce7ba2}} 
+\index{bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}!sensor\_specific\_len@{sensor\_specific\_len}}
+\index{sensor\_specific\_len@{sensor\_specific\_len}!bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}}
+\doxysubsubsection{\texorpdfstring{sensor\_specific\_len}{sensor\_specific\_len}}
+{\footnotesize\ttfamily uint32\+\_\+t bno08x\+\_\+meta\+\_\+data\+\_\+t\+::sensor\+\_\+specific\+\_\+len}
+
+
+
+\mbox{[}bytes\mbox{]} 
+
+\mbox{\Hypertarget{structbno08x__meta__data__t_a672da8b56be3269bae22c9e0e5424719}\label{structbno08x__meta__data__t_a672da8b56be3269bae22c9e0e5424719}} 
+\index{bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}!sh\_version@{sh\_version}}
+\index{sh\_version@{sh\_version}!bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}}
+\doxysubsubsection{\texorpdfstring{sh\_version}{sh\_version}}
+{\footnotesize\ttfamily uint8\+\_\+t bno08x\+\_\+meta\+\_\+data\+\_\+t\+::sh\+\_\+version}
+
+
+
+Sensor\+Hub Version. 
+
+\mbox{\Hypertarget{structbno08x__meta__data__t_a51e1f028175bf00c880cc2dfd4e05412}\label{structbno08x__meta__data__t_a51e1f028175bf00c880cc2dfd4e05412}} 
+\index{bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}!vendor\_ID@{vendor\_ID}}
+\index{vendor\_ID@{vendor\_ID}!bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}}
+\doxysubsubsection{\texorpdfstring{vendor\_ID}{vendor\_ID}}
+{\footnotesize\ttfamily char bno08x\+\_\+meta\+\_\+data\+\_\+t\+::vendor\+\_\+\+ID\mbox{[}48\mbox{]}}
+
+
+
+Vendor name and part number. 
+
+\mbox{\Hypertarget{structbno08x__meta__data__t_a0efefbb8c4614bd3e81094f25909cc14}\label{structbno08x__meta__data__t_a0efefbb8c4614bd3e81094f25909cc14}} 
+\index{bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}!vendor\_id\_len@{vendor\_id\_len}}
+\index{vendor\_id\_len@{vendor\_id\_len}!bno08x\_meta\_data\_t@{bno08x\_meta\_data\_t}}
+\doxysubsubsection{\texorpdfstring{vendor\_id\_len}{vendor\_id\_len}}
+{\footnotesize\ttfamily uint32\+\_\+t bno08x\+\_\+meta\+\_\+data\+\_\+t\+::vendor\+\_\+id\+\_\+len}
+
+
+
+\mbox{[}bytes\mbox{]} 
+
+
+
+The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\mbox{\hyperlink{_b_n_o08x_global_types_8hpp}{BNO08x\+Global\+Types.\+hpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/structbno08x__quat__t.tex b/documentation/latex/structbno08x__quat__t.tex
new file mode 100644
index 0000000..78c18ae
--- /dev/null
+++ b/documentation/latex/structbno08x__quat__t.tex
@@ -0,0 +1,114 @@
+\hypertarget{structbno08x__quat__t}{}\doxysection{bno08x\+\_\+quat\+\_\+t Struct Reference}
+\label{structbno08x__quat__t}\index{bno08x\_quat\_t@{bno08x\_quat\_t}}
+
+
+Struct to represent unit quaternion.  
+
+
+
+
+{\ttfamily \#include $<$BNO08x\+Global\+Types.\+hpp$>$}
+
+\doxysubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{structbno08x__quat__t_ae42ec645fe23b60e32e55872a3b9e703}{bno08x\+\_\+quat\+\_\+t}} ()
+\item 
+\mbox{\hyperlink{structbno08x__quat__t}{bno08x\+\_\+quat\+\_\+t}} \& \mbox{\hyperlink{structbno08x__quat__t_a081cecab6370ae436f36416e3f7a6ddc}{operator=}} (const sh2\+\_\+\+Rotation\+Vector\+WAcc\+\_\+t \&source)
+\item 
+\mbox{\hyperlink{structbno08x__quat__t}{bno08x\+\_\+quat\+\_\+t}} \& \mbox{\hyperlink{structbno08x__quat__t_a23cac26e381f9a83657fccdab735046b}{operator=}} (const sh2\+\_\+\+Rotation\+Vector\+\_\+t \&source)
+\item 
+\mbox{\hyperlink{structbno08x__quat__t}{bno08x\+\_\+quat\+\_\+t}} \& \mbox{\hyperlink{structbno08x__quat__t_ae3705dc48882a3d616927cad01c2387d}{operator=}} (const sh2\+\_\+\+Gyro\+Integrated\+RV\+\_\+t \&source)
+\end{DoxyCompactItemize}
+\doxysubsection*{Public Attributes}
+\begin{DoxyCompactItemize}
+\item 
+float \mbox{\hyperlink{structbno08x__quat__t_ab99e5e4f8adad74eee1a94b4e7ef2542}{real}}
+\item 
+float \mbox{\hyperlink{structbno08x__quat__t_ac438aba57b7082e1d81e2d1241f87ca0}{i}}
+\item 
+float \mbox{\hyperlink{structbno08x__quat__t_aab49754d4967cfa71578d8d1156eef46}{j}}
+\item 
+float \mbox{\hyperlink{structbno08x__quat__t_ade2592f6a271cc8b260081ad018772ef}{k}}
+\item 
+float \mbox{\hyperlink{structbno08x__quat__t_a7368a7f0524e3b2e1f4465329ecb0912}{rad\+\_\+accuracy}}
+\item 
+\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08x\+Accuracy}} \mbox{\hyperlink{structbno08x__quat__t_afd179bfc02d365b5db4ad9fa810daf7c}{accuracy}}
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Struct to represent unit quaternion. 
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\mbox{\Hypertarget{structbno08x__quat__t_ae42ec645fe23b60e32e55872a3b9e703}\label{structbno08x__quat__t_ae42ec645fe23b60e32e55872a3b9e703}} 
+\index{bno08x\_quat\_t@{bno08x\_quat\_t}!bno08x\_quat\_t@{bno08x\_quat\_t}}
+\index{bno08x\_quat\_t@{bno08x\_quat\_t}!bno08x\_quat\_t@{bno08x\_quat\_t}}
+\doxysubsubsection{\texorpdfstring{bno08x\_quat\_t()}{bno08x\_quat\_t()}}
+{\footnotesize\ttfamily bno08x\+\_\+quat\+\_\+t\+::bno08x\+\_\+quat\+\_\+t (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Function Documentation}
+\mbox{\Hypertarget{structbno08x__quat__t_ae3705dc48882a3d616927cad01c2387d}\label{structbno08x__quat__t_ae3705dc48882a3d616927cad01c2387d}} 
+\index{bno08x\_quat\_t@{bno08x\_quat\_t}!operator=@{operator=}}
+\index{operator=@{operator=}!bno08x\_quat\_t@{bno08x\_quat\_t}}
+\doxysubsubsection{\texorpdfstring{operator=()}{operator=()}\hspace{0.1cm}{\footnotesize\ttfamily [1/3]}}
+{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__quat__t}{bno08x\+\_\+quat\+\_\+t}} \& bno08x\+\_\+quat\+\_\+t\+::operator= (\begin{DoxyParamCaption}\item[{const sh2\+\_\+\+Gyro\+Integrated\+RV\+\_\+t \&}]{source }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+\mbox{\Hypertarget{structbno08x__quat__t_a23cac26e381f9a83657fccdab735046b}\label{structbno08x__quat__t_a23cac26e381f9a83657fccdab735046b}} 
+\index{bno08x\_quat\_t@{bno08x\_quat\_t}!operator=@{operator=}}
+\index{operator=@{operator=}!bno08x\_quat\_t@{bno08x\_quat\_t}}
+\doxysubsubsection{\texorpdfstring{operator=()}{operator=()}\hspace{0.1cm}{\footnotesize\ttfamily [2/3]}}
+{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__quat__t}{bno08x\+\_\+quat\+\_\+t}} \& bno08x\+\_\+quat\+\_\+t\+::operator= (\begin{DoxyParamCaption}\item[{const sh2\+\_\+\+Rotation\+Vector\+\_\+t \&}]{source }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+\mbox{\Hypertarget{structbno08x__quat__t_a081cecab6370ae436f36416e3f7a6ddc}\label{structbno08x__quat__t_a081cecab6370ae436f36416e3f7a6ddc}} 
+\index{bno08x\_quat\_t@{bno08x\_quat\_t}!operator=@{operator=}}
+\index{operator=@{operator=}!bno08x\_quat\_t@{bno08x\_quat\_t}}
+\doxysubsubsection{\texorpdfstring{operator=()}{operator=()}\hspace{0.1cm}{\footnotesize\ttfamily [3/3]}}
+{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__quat__t}{bno08x\+\_\+quat\+\_\+t}} \& bno08x\+\_\+quat\+\_\+t\+::operator= (\begin{DoxyParamCaption}\item[{const sh2\+\_\+\+Rotation\+Vector\+WAcc\+\_\+t \&}]{source }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Data Documentation}
+\mbox{\Hypertarget{structbno08x__quat__t_afd179bfc02d365b5db4ad9fa810daf7c}\label{structbno08x__quat__t_afd179bfc02d365b5db4ad9fa810daf7c}} 
+\index{bno08x\_quat\_t@{bno08x\_quat\_t}!accuracy@{accuracy}}
+\index{accuracy@{accuracy}!bno08x\_quat\_t@{bno08x\_quat\_t}}
+\doxysubsubsection{\texorpdfstring{accuracy}{accuracy}}
+{\footnotesize\ttfamily \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08x\+Accuracy}} bno08x\+\_\+quat\+\_\+t\+::accuracy}
+
+\mbox{\Hypertarget{structbno08x__quat__t_ac438aba57b7082e1d81e2d1241f87ca0}\label{structbno08x__quat__t_ac438aba57b7082e1d81e2d1241f87ca0}} 
+\index{bno08x\_quat\_t@{bno08x\_quat\_t}!i@{i}}
+\index{i@{i}!bno08x\_quat\_t@{bno08x\_quat\_t}}
+\doxysubsubsection{\texorpdfstring{i}{i}}
+{\footnotesize\ttfamily float bno08x\+\_\+quat\+\_\+t\+::i}
+
+\mbox{\Hypertarget{structbno08x__quat__t_aab49754d4967cfa71578d8d1156eef46}\label{structbno08x__quat__t_aab49754d4967cfa71578d8d1156eef46}} 
+\index{bno08x\_quat\_t@{bno08x\_quat\_t}!j@{j}}
+\index{j@{j}!bno08x\_quat\_t@{bno08x\_quat\_t}}
+\doxysubsubsection{\texorpdfstring{j}{j}}
+{\footnotesize\ttfamily float bno08x\+\_\+quat\+\_\+t\+::j}
+
+\mbox{\Hypertarget{structbno08x__quat__t_ade2592f6a271cc8b260081ad018772ef}\label{structbno08x__quat__t_ade2592f6a271cc8b260081ad018772ef}} 
+\index{bno08x\_quat\_t@{bno08x\_quat\_t}!k@{k}}
+\index{k@{k}!bno08x\_quat\_t@{bno08x\_quat\_t}}
+\doxysubsubsection{\texorpdfstring{k}{k}}
+{\footnotesize\ttfamily float bno08x\+\_\+quat\+\_\+t\+::k}
+
+\mbox{\Hypertarget{structbno08x__quat__t_a7368a7f0524e3b2e1f4465329ecb0912}\label{structbno08x__quat__t_a7368a7f0524e3b2e1f4465329ecb0912}} 
+\index{bno08x\_quat\_t@{bno08x\_quat\_t}!rad\_accuracy@{rad\_accuracy}}
+\index{rad\_accuracy@{rad\_accuracy}!bno08x\_quat\_t@{bno08x\_quat\_t}}
+\doxysubsubsection{\texorpdfstring{rad\_accuracy}{rad\_accuracy}}
+{\footnotesize\ttfamily float bno08x\+\_\+quat\+\_\+t\+::rad\+\_\+accuracy}
+
+\mbox{\Hypertarget{structbno08x__quat__t_ab99e5e4f8adad74eee1a94b4e7ef2542}\label{structbno08x__quat__t_ab99e5e4f8adad74eee1a94b4e7ef2542}} 
+\index{bno08x\_quat\_t@{bno08x\_quat\_t}!real@{real}}
+\index{real@{real}!bno08x\_quat\_t@{bno08x\_quat\_t}}
+\doxysubsubsection{\texorpdfstring{real}{real}}
+{\footnotesize\ttfamily float bno08x\+\_\+quat\+\_\+t\+::real}
+
+
+
+The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\mbox{\hyperlink{_b_n_o08x_global_types_8hpp}{BNO08x\+Global\+Types.\+hpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/structbno08x__raw__accel__t.tex b/documentation/latex/structbno08x__raw__accel__t.tex
new file mode 100644
index 0000000..87642e5
--- /dev/null
+++ b/documentation/latex/structbno08x__raw__accel__t.tex
@@ -0,0 +1,90 @@
+\hypertarget{structbno08x__raw__accel__t}{}\doxysection{bno08x\+\_\+raw\+\_\+accel\+\_\+t Struct Reference}
+\label{structbno08x__raw__accel__t}\index{bno08x\_raw\_accel\_t@{bno08x\_raw\_accel\_t}}
+
+
+Struct to represent raw mems accelerometer data from raw accelerometer reports (units in ADC counts).  
+
+
+
+
+{\ttfamily \#include $<$BNO08x\+Global\+Types.\+hpp$>$}
+
+\doxysubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{structbno08x__raw__accel__t_afb9443ec5846eefe942e1f273570fb7f}{bno08x\+\_\+raw\+\_\+accel\+\_\+t}} ()
+\item 
+\mbox{\hyperlink{structbno08x__raw__accel__t}{bno08x\+\_\+raw\+\_\+accel\+\_\+t}} \& \mbox{\hyperlink{structbno08x__raw__accel__t_a8980031b2548b79c945abe299387d44f}{operator=}} (const sh2\+\_\+\+Raw\+Accelerometer\+\_\+t \&source)
+\end{DoxyCompactItemize}
+\doxysubsection*{Public Attributes}
+\begin{DoxyCompactItemize}
+\item 
+uint32\+\_\+t \mbox{\hyperlink{structbno08x__raw__accel__t_a7ca16a89f219b199eb5797fd101d1283}{timestamp\+\_\+us}}
+\item 
+int16\+\_\+t \mbox{\hyperlink{structbno08x__raw__accel__t_ab5188923307b95f6324d9241e9140def}{x}}
+\item 
+int16\+\_\+t \mbox{\hyperlink{structbno08x__raw__accel__t_a917d6b23cb40c7044891624cebac2993}{y}}
+\item 
+int16\+\_\+t \mbox{\hyperlink{structbno08x__raw__accel__t_a62d1731746ea51d36b9946594075e67b}{z}}
+\item 
+\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08x\+Accuracy}} \mbox{\hyperlink{structbno08x__raw__accel__t_aadb4fc1fa1d87d0baf4db5a534ea18ea}{accuracy}}
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Struct to represent raw mems accelerometer data from raw accelerometer reports (units in ADC counts). 
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\mbox{\Hypertarget{structbno08x__raw__accel__t_afb9443ec5846eefe942e1f273570fb7f}\label{structbno08x__raw__accel__t_afb9443ec5846eefe942e1f273570fb7f}} 
+\index{bno08x\_raw\_accel\_t@{bno08x\_raw\_accel\_t}!bno08x\_raw\_accel\_t@{bno08x\_raw\_accel\_t}}
+\index{bno08x\_raw\_accel\_t@{bno08x\_raw\_accel\_t}!bno08x\_raw\_accel\_t@{bno08x\_raw\_accel\_t}}
+\doxysubsubsection{\texorpdfstring{bno08x\_raw\_accel\_t()}{bno08x\_raw\_accel\_t()}}
+{\footnotesize\ttfamily bno08x\+\_\+raw\+\_\+accel\+\_\+t\+::bno08x\+\_\+raw\+\_\+accel\+\_\+t (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Function Documentation}
+\mbox{\Hypertarget{structbno08x__raw__accel__t_a8980031b2548b79c945abe299387d44f}\label{structbno08x__raw__accel__t_a8980031b2548b79c945abe299387d44f}} 
+\index{bno08x\_raw\_accel\_t@{bno08x\_raw\_accel\_t}!operator=@{operator=}}
+\index{operator=@{operator=}!bno08x\_raw\_accel\_t@{bno08x\_raw\_accel\_t}}
+\doxysubsubsection{\texorpdfstring{operator=()}{operator=()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__raw__accel__t}{bno08x\+\_\+raw\+\_\+accel\+\_\+t}} \& bno08x\+\_\+raw\+\_\+accel\+\_\+t\+::operator= (\begin{DoxyParamCaption}\item[{const sh2\+\_\+\+Raw\+Accelerometer\+\_\+t \&}]{source }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Data Documentation}
+\mbox{\Hypertarget{structbno08x__raw__accel__t_aadb4fc1fa1d87d0baf4db5a534ea18ea}\label{structbno08x__raw__accel__t_aadb4fc1fa1d87d0baf4db5a534ea18ea}} 
+\index{bno08x\_raw\_accel\_t@{bno08x\_raw\_accel\_t}!accuracy@{accuracy}}
+\index{accuracy@{accuracy}!bno08x\_raw\_accel\_t@{bno08x\_raw\_accel\_t}}
+\doxysubsubsection{\texorpdfstring{accuracy}{accuracy}}
+{\footnotesize\ttfamily \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08x\+Accuracy}} bno08x\+\_\+raw\+\_\+accel\+\_\+t\+::accuracy}
+
+\mbox{\Hypertarget{structbno08x__raw__accel__t_a7ca16a89f219b199eb5797fd101d1283}\label{structbno08x__raw__accel__t_a7ca16a89f219b199eb5797fd101d1283}} 
+\index{bno08x\_raw\_accel\_t@{bno08x\_raw\_accel\_t}!timestamp\_us@{timestamp\_us}}
+\index{timestamp\_us@{timestamp\_us}!bno08x\_raw\_accel\_t@{bno08x\_raw\_accel\_t}}
+\doxysubsubsection{\texorpdfstring{timestamp\_us}{timestamp\_us}}
+{\footnotesize\ttfamily uint32\+\_\+t bno08x\+\_\+raw\+\_\+accel\+\_\+t\+::timestamp\+\_\+us}
+
+\mbox{\Hypertarget{structbno08x__raw__accel__t_ab5188923307b95f6324d9241e9140def}\label{structbno08x__raw__accel__t_ab5188923307b95f6324d9241e9140def}} 
+\index{bno08x\_raw\_accel\_t@{bno08x\_raw\_accel\_t}!x@{x}}
+\index{x@{x}!bno08x\_raw\_accel\_t@{bno08x\_raw\_accel\_t}}
+\doxysubsubsection{\texorpdfstring{x}{x}}
+{\footnotesize\ttfamily int16\+\_\+t bno08x\+\_\+raw\+\_\+accel\+\_\+t\+::x}
+
+\mbox{\Hypertarget{structbno08x__raw__accel__t_a917d6b23cb40c7044891624cebac2993}\label{structbno08x__raw__accel__t_a917d6b23cb40c7044891624cebac2993}} 
+\index{bno08x\_raw\_accel\_t@{bno08x\_raw\_accel\_t}!y@{y}}
+\index{y@{y}!bno08x\_raw\_accel\_t@{bno08x\_raw\_accel\_t}}
+\doxysubsubsection{\texorpdfstring{y}{y}}
+{\footnotesize\ttfamily int16\+\_\+t bno08x\+\_\+raw\+\_\+accel\+\_\+t\+::y}
+
+\mbox{\Hypertarget{structbno08x__raw__accel__t_a62d1731746ea51d36b9946594075e67b}\label{structbno08x__raw__accel__t_a62d1731746ea51d36b9946594075e67b}} 
+\index{bno08x\_raw\_accel\_t@{bno08x\_raw\_accel\_t}!z@{z}}
+\index{z@{z}!bno08x\_raw\_accel\_t@{bno08x\_raw\_accel\_t}}
+\doxysubsubsection{\texorpdfstring{z}{z}}
+{\footnotesize\ttfamily int16\+\_\+t bno08x\+\_\+raw\+\_\+accel\+\_\+t\+::z}
+
+
+
+The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\mbox{\hyperlink{_b_n_o08x_global_types_8hpp}{BNO08x\+Global\+Types.\+hpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/structbno08x__raw__gyro__t.tex b/documentation/latex/structbno08x__raw__gyro__t.tex
new file mode 100644
index 0000000..d1b873d
--- /dev/null
+++ b/documentation/latex/structbno08x__raw__gyro__t.tex
@@ -0,0 +1,98 @@
+\hypertarget{structbno08x__raw__gyro__t}{}\doxysection{bno08x\+\_\+raw\+\_\+gyro\+\_\+t Struct Reference}
+\label{structbno08x__raw__gyro__t}\index{bno08x\_raw\_gyro\_t@{bno08x\_raw\_gyro\_t}}
+
+
+Struct to represent raw mems gyro data from raw gyro reports (units in ADC counts).  
+
+
+
+
+{\ttfamily \#include $<$BNO08x\+Global\+Types.\+hpp$>$}
+
+\doxysubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{structbno08x__raw__gyro__t_a17c759dd38d5a6b78ae5cb77c5e4d93b}{bno08x\+\_\+raw\+\_\+gyro\+\_\+t}} ()
+\item 
+\mbox{\hyperlink{structbno08x__raw__gyro__t}{bno08x\+\_\+raw\+\_\+gyro\+\_\+t}} \& \mbox{\hyperlink{structbno08x__raw__gyro__t_a34c3ff52aaa1898f44ad6b0cf585825a}{operator=}} (const sh2\+\_\+\+Raw\+Gyroscope\+\_\+t \&source)
+\end{DoxyCompactItemize}
+\doxysubsection*{Public Attributes}
+\begin{DoxyCompactItemize}
+\item 
+uint32\+\_\+t \mbox{\hyperlink{structbno08x__raw__gyro__t_a99d61a4d56a06fb219dc023fe3e446b5}{timestamp\+\_\+us}}
+\item 
+int16\+\_\+t \mbox{\hyperlink{structbno08x__raw__gyro__t_a7b7f2f569143c710ac3b1068d434a47f}{x}}
+\item 
+int16\+\_\+t \mbox{\hyperlink{structbno08x__raw__gyro__t_af8755b09df8253594de1412f02655651}{y}}
+\item 
+int16\+\_\+t \mbox{\hyperlink{structbno08x__raw__gyro__t_afe5677954b4678eb3a460a386f224a78}{z}}
+\item 
+int16\+\_\+t \mbox{\hyperlink{structbno08x__raw__gyro__t_adf725827f6f97e16c953f6f5c7bf890b}{temperature}}
+\item 
+\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08x\+Accuracy}} \mbox{\hyperlink{structbno08x__raw__gyro__t_aa19b4b279b5c218675bf4c83ca872371}{accuracy}}
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Struct to represent raw mems gyro data from raw gyro reports (units in ADC counts). 
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\mbox{\Hypertarget{structbno08x__raw__gyro__t_a17c759dd38d5a6b78ae5cb77c5e4d93b}\label{structbno08x__raw__gyro__t_a17c759dd38d5a6b78ae5cb77c5e4d93b}} 
+\index{bno08x\_raw\_gyro\_t@{bno08x\_raw\_gyro\_t}!bno08x\_raw\_gyro\_t@{bno08x\_raw\_gyro\_t}}
+\index{bno08x\_raw\_gyro\_t@{bno08x\_raw\_gyro\_t}!bno08x\_raw\_gyro\_t@{bno08x\_raw\_gyro\_t}}
+\doxysubsubsection{\texorpdfstring{bno08x\_raw\_gyro\_t()}{bno08x\_raw\_gyro\_t()}}
+{\footnotesize\ttfamily bno08x\+\_\+raw\+\_\+gyro\+\_\+t\+::bno08x\+\_\+raw\+\_\+gyro\+\_\+t (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Function Documentation}
+\mbox{\Hypertarget{structbno08x__raw__gyro__t_a34c3ff52aaa1898f44ad6b0cf585825a}\label{structbno08x__raw__gyro__t_a34c3ff52aaa1898f44ad6b0cf585825a}} 
+\index{bno08x\_raw\_gyro\_t@{bno08x\_raw\_gyro\_t}!operator=@{operator=}}
+\index{operator=@{operator=}!bno08x\_raw\_gyro\_t@{bno08x\_raw\_gyro\_t}}
+\doxysubsubsection{\texorpdfstring{operator=()}{operator=()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__raw__gyro__t}{bno08x\+\_\+raw\+\_\+gyro\+\_\+t}} \& bno08x\+\_\+raw\+\_\+gyro\+\_\+t\+::operator= (\begin{DoxyParamCaption}\item[{const sh2\+\_\+\+Raw\+Gyroscope\+\_\+t \&}]{source }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Data Documentation}
+\mbox{\Hypertarget{structbno08x__raw__gyro__t_aa19b4b279b5c218675bf4c83ca872371}\label{structbno08x__raw__gyro__t_aa19b4b279b5c218675bf4c83ca872371}} 
+\index{bno08x\_raw\_gyro\_t@{bno08x\_raw\_gyro\_t}!accuracy@{accuracy}}
+\index{accuracy@{accuracy}!bno08x\_raw\_gyro\_t@{bno08x\_raw\_gyro\_t}}
+\doxysubsubsection{\texorpdfstring{accuracy}{accuracy}}
+{\footnotesize\ttfamily \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08x\+Accuracy}} bno08x\+\_\+raw\+\_\+gyro\+\_\+t\+::accuracy}
+
+\mbox{\Hypertarget{structbno08x__raw__gyro__t_adf725827f6f97e16c953f6f5c7bf890b}\label{structbno08x__raw__gyro__t_adf725827f6f97e16c953f6f5c7bf890b}} 
+\index{bno08x\_raw\_gyro\_t@{bno08x\_raw\_gyro\_t}!temperature@{temperature}}
+\index{temperature@{temperature}!bno08x\_raw\_gyro\_t@{bno08x\_raw\_gyro\_t}}
+\doxysubsubsection{\texorpdfstring{temperature}{temperature}}
+{\footnotesize\ttfamily int16\+\_\+t bno08x\+\_\+raw\+\_\+gyro\+\_\+t\+::temperature}
+
+\mbox{\Hypertarget{structbno08x__raw__gyro__t_a99d61a4d56a06fb219dc023fe3e446b5}\label{structbno08x__raw__gyro__t_a99d61a4d56a06fb219dc023fe3e446b5}} 
+\index{bno08x\_raw\_gyro\_t@{bno08x\_raw\_gyro\_t}!timestamp\_us@{timestamp\_us}}
+\index{timestamp\_us@{timestamp\_us}!bno08x\_raw\_gyro\_t@{bno08x\_raw\_gyro\_t}}
+\doxysubsubsection{\texorpdfstring{timestamp\_us}{timestamp\_us}}
+{\footnotesize\ttfamily uint32\+\_\+t bno08x\+\_\+raw\+\_\+gyro\+\_\+t\+::timestamp\+\_\+us}
+
+\mbox{\Hypertarget{structbno08x__raw__gyro__t_a7b7f2f569143c710ac3b1068d434a47f}\label{structbno08x__raw__gyro__t_a7b7f2f569143c710ac3b1068d434a47f}} 
+\index{bno08x\_raw\_gyro\_t@{bno08x\_raw\_gyro\_t}!x@{x}}
+\index{x@{x}!bno08x\_raw\_gyro\_t@{bno08x\_raw\_gyro\_t}}
+\doxysubsubsection{\texorpdfstring{x}{x}}
+{\footnotesize\ttfamily int16\+\_\+t bno08x\+\_\+raw\+\_\+gyro\+\_\+t\+::x}
+
+\mbox{\Hypertarget{structbno08x__raw__gyro__t_af8755b09df8253594de1412f02655651}\label{structbno08x__raw__gyro__t_af8755b09df8253594de1412f02655651}} 
+\index{bno08x\_raw\_gyro\_t@{bno08x\_raw\_gyro\_t}!y@{y}}
+\index{y@{y}!bno08x\_raw\_gyro\_t@{bno08x\_raw\_gyro\_t}}
+\doxysubsubsection{\texorpdfstring{y}{y}}
+{\footnotesize\ttfamily int16\+\_\+t bno08x\+\_\+raw\+\_\+gyro\+\_\+t\+::y}
+
+\mbox{\Hypertarget{structbno08x__raw__gyro__t_afe5677954b4678eb3a460a386f224a78}\label{structbno08x__raw__gyro__t_afe5677954b4678eb3a460a386f224a78}} 
+\index{bno08x\_raw\_gyro\_t@{bno08x\_raw\_gyro\_t}!z@{z}}
+\index{z@{z}!bno08x\_raw\_gyro\_t@{bno08x\_raw\_gyro\_t}}
+\doxysubsubsection{\texorpdfstring{z}{z}}
+{\footnotesize\ttfamily int16\+\_\+t bno08x\+\_\+raw\+\_\+gyro\+\_\+t\+::z}
+
+
+
+The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\mbox{\hyperlink{_b_n_o08x_global_types_8hpp}{BNO08x\+Global\+Types.\+hpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/structbno08x__raw__magf__t.tex b/documentation/latex/structbno08x__raw__magf__t.tex
new file mode 100644
index 0000000..175b7a6
--- /dev/null
+++ b/documentation/latex/structbno08x__raw__magf__t.tex
@@ -0,0 +1,90 @@
+\hypertarget{structbno08x__raw__magf__t}{}\doxysection{bno08x\+\_\+raw\+\_\+magf\+\_\+t Struct Reference}
+\label{structbno08x__raw__magf__t}\index{bno08x\_raw\_magf\_t@{bno08x\_raw\_magf\_t}}
+
+
+Struct to represent raw mems magnetometer data from raw magnetometer reports (units in ADC counts).  
+
+
+
+
+{\ttfamily \#include $<$BNO08x\+Global\+Types.\+hpp$>$}
+
+\doxysubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{structbno08x__raw__magf__t_a9bbd61edac01cb1f2e78417efe8573aa}{bno08x\+\_\+raw\+\_\+magf\+\_\+t}} ()
+\item 
+\mbox{\hyperlink{structbno08x__raw__magf__t}{bno08x\+\_\+raw\+\_\+magf\+\_\+t}} \& \mbox{\hyperlink{structbno08x__raw__magf__t_ad58e25ff5c6d8c4c3843264effa63a7c}{operator=}} (const sh2\+\_\+\+Raw\+Magnetometer\+\_\+t \&source)
+\end{DoxyCompactItemize}
+\doxysubsection*{Public Attributes}
+\begin{DoxyCompactItemize}
+\item 
+uint32\+\_\+t \mbox{\hyperlink{structbno08x__raw__magf__t_a74cb298f230665c2d600d3298717c321}{timestamp\+\_\+us}}
+\item 
+int16\+\_\+t \mbox{\hyperlink{structbno08x__raw__magf__t_a6d04fa2589070ad4ee06b7259fc90900}{x}}
+\item 
+int16\+\_\+t \mbox{\hyperlink{structbno08x__raw__magf__t_aba0a88c1032210c6db95ac779e280b9a}{y}}
+\item 
+int16\+\_\+t \mbox{\hyperlink{structbno08x__raw__magf__t_a5d50e05cccd1f92f36f6ac83e9f911ae}{z}}
+\item 
+\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08x\+Accuracy}} \mbox{\hyperlink{structbno08x__raw__magf__t_ae1253faa56aecbafd24f24f42dfb3aeb}{accuracy}}
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Struct to represent raw mems magnetometer data from raw magnetometer reports (units in ADC counts). 
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\mbox{\Hypertarget{structbno08x__raw__magf__t_a9bbd61edac01cb1f2e78417efe8573aa}\label{structbno08x__raw__magf__t_a9bbd61edac01cb1f2e78417efe8573aa}} 
+\index{bno08x\_raw\_magf\_t@{bno08x\_raw\_magf\_t}!bno08x\_raw\_magf\_t@{bno08x\_raw\_magf\_t}}
+\index{bno08x\_raw\_magf\_t@{bno08x\_raw\_magf\_t}!bno08x\_raw\_magf\_t@{bno08x\_raw\_magf\_t}}
+\doxysubsubsection{\texorpdfstring{bno08x\_raw\_magf\_t()}{bno08x\_raw\_magf\_t()}}
+{\footnotesize\ttfamily bno08x\+\_\+raw\+\_\+magf\+\_\+t\+::bno08x\+\_\+raw\+\_\+magf\+\_\+t (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Function Documentation}
+\mbox{\Hypertarget{structbno08x__raw__magf__t_ad58e25ff5c6d8c4c3843264effa63a7c}\label{structbno08x__raw__magf__t_ad58e25ff5c6d8c4c3843264effa63a7c}} 
+\index{bno08x\_raw\_magf\_t@{bno08x\_raw\_magf\_t}!operator=@{operator=}}
+\index{operator=@{operator=}!bno08x\_raw\_magf\_t@{bno08x\_raw\_magf\_t}}
+\doxysubsubsection{\texorpdfstring{operator=()}{operator=()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__raw__magf__t}{bno08x\+\_\+raw\+\_\+magf\+\_\+t}} \& bno08x\+\_\+raw\+\_\+magf\+\_\+t\+::operator= (\begin{DoxyParamCaption}\item[{const sh2\+\_\+\+Raw\+Magnetometer\+\_\+t \&}]{source }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Data Documentation}
+\mbox{\Hypertarget{structbno08x__raw__magf__t_ae1253faa56aecbafd24f24f42dfb3aeb}\label{structbno08x__raw__magf__t_ae1253faa56aecbafd24f24f42dfb3aeb}} 
+\index{bno08x\_raw\_magf\_t@{bno08x\_raw\_magf\_t}!accuracy@{accuracy}}
+\index{accuracy@{accuracy}!bno08x\_raw\_magf\_t@{bno08x\_raw\_magf\_t}}
+\doxysubsubsection{\texorpdfstring{accuracy}{accuracy}}
+{\footnotesize\ttfamily \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08x\+Accuracy}} bno08x\+\_\+raw\+\_\+magf\+\_\+t\+::accuracy}
+
+\mbox{\Hypertarget{structbno08x__raw__magf__t_a74cb298f230665c2d600d3298717c321}\label{structbno08x__raw__magf__t_a74cb298f230665c2d600d3298717c321}} 
+\index{bno08x\_raw\_magf\_t@{bno08x\_raw\_magf\_t}!timestamp\_us@{timestamp\_us}}
+\index{timestamp\_us@{timestamp\_us}!bno08x\_raw\_magf\_t@{bno08x\_raw\_magf\_t}}
+\doxysubsubsection{\texorpdfstring{timestamp\_us}{timestamp\_us}}
+{\footnotesize\ttfamily uint32\+\_\+t bno08x\+\_\+raw\+\_\+magf\+\_\+t\+::timestamp\+\_\+us}
+
+\mbox{\Hypertarget{structbno08x__raw__magf__t_a6d04fa2589070ad4ee06b7259fc90900}\label{structbno08x__raw__magf__t_a6d04fa2589070ad4ee06b7259fc90900}} 
+\index{bno08x\_raw\_magf\_t@{bno08x\_raw\_magf\_t}!x@{x}}
+\index{x@{x}!bno08x\_raw\_magf\_t@{bno08x\_raw\_magf\_t}}
+\doxysubsubsection{\texorpdfstring{x}{x}}
+{\footnotesize\ttfamily int16\+\_\+t bno08x\+\_\+raw\+\_\+magf\+\_\+t\+::x}
+
+\mbox{\Hypertarget{structbno08x__raw__magf__t_aba0a88c1032210c6db95ac779e280b9a}\label{structbno08x__raw__magf__t_aba0a88c1032210c6db95ac779e280b9a}} 
+\index{bno08x\_raw\_magf\_t@{bno08x\_raw\_magf\_t}!y@{y}}
+\index{y@{y}!bno08x\_raw\_magf\_t@{bno08x\_raw\_magf\_t}}
+\doxysubsubsection{\texorpdfstring{y}{y}}
+{\footnotesize\ttfamily int16\+\_\+t bno08x\+\_\+raw\+\_\+magf\+\_\+t\+::y}
+
+\mbox{\Hypertarget{structbno08x__raw__magf__t_a5d50e05cccd1f92f36f6ac83e9f911ae}\label{structbno08x__raw__magf__t_a5d50e05cccd1f92f36f6ac83e9f911ae}} 
+\index{bno08x\_raw\_magf\_t@{bno08x\_raw\_magf\_t}!z@{z}}
+\index{z@{z}!bno08x\_raw\_magf\_t@{bno08x\_raw\_magf\_t}}
+\doxysubsubsection{\texorpdfstring{z}{z}}
+{\footnotesize\ttfamily int16\+\_\+t bno08x\+\_\+raw\+\_\+magf\+\_\+t\+::z}
+
+
+
+The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\mbox{\hyperlink{_b_n_o08x_global_types_8hpp}{BNO08x\+Global\+Types.\+hpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/structbno08x__sample__counts__t.tex b/documentation/latex/structbno08x__sample__counts__t.tex
new file mode 100644
index 0000000..1e3a3e4
--- /dev/null
+++ b/documentation/latex/structbno08x__sample__counts__t.tex
@@ -0,0 +1,98 @@
+\hypertarget{structbno08x__sample__counts__t}{}\doxysection{bno08x\+\_\+sample\+\_\+counts\+\_\+t Struct Reference}
+\label{structbno08x__sample__counts__t}\index{bno08x\_sample\_counts\_t@{bno08x\_sample\_counts\_t}}
+
+
+Struct to represent sample counts, returned from \mbox{\hyperlink{class_b_n_o08x_rpt_a7ce8e48cadf59f49068af7f1cb680b38}{BNO08x\+Rpt\+::get\+\_\+sample\+\_\+counts()}}  
+
+
+
+
+{\ttfamily \#include $<$BNO08x\+Global\+Types.\+hpp$>$}
+
+\doxysubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{structbno08x__sample__counts__t_abd1eccfac205719fd1c5aed25fee1fec}{bno08x\+\_\+sample\+\_\+counts\+\_\+t}} ()
+\item 
+\mbox{\hyperlink{structbno08x__sample__counts__t}{bno08x\+\_\+sample\+\_\+counts\+\_\+t}} \& \mbox{\hyperlink{structbno08x__sample__counts__t_af9e52b9fe15c78bd8b2ef3cc5af66a13}{operator=}} (const sh2\+\_\+\+Counts\+\_\+t \&source)
+\end{DoxyCompactItemize}
+\doxysubsection*{Public Attributes}
+\begin{DoxyCompactItemize}
+\item 
+uint32\+\_\+t \mbox{\hyperlink{structbno08x__sample__counts__t_aae4244c540f8411246032f1e69125b75}{offered}}
+\begin{DoxyCompactList}\small\item\em Number of samples produced by underlying data source. \end{DoxyCompactList}\item 
+uint32\+\_\+t \mbox{\hyperlink{structbno08x__sample__counts__t_a055f3d8ff138c7da4a79d4a6fb2af9b9}{on}}
+\begin{DoxyCompactList}\small\item\em Number of \char`\"{}offered\char`\"{} samples while this sensor was requested by host. \end{DoxyCompactList}\item 
+uint32\+\_\+t \mbox{\hyperlink{structbno08x__sample__counts__t_a2ab3e0999a5e668833eb8dbab6d1f036}{accepted}}
+\begin{DoxyCompactList}\small\item\em Number of \char`\"{}on\char`\"{} samples that passed decimation filter. \end{DoxyCompactList}\item 
+uint32\+\_\+t \mbox{\hyperlink{structbno08x__sample__counts__t_a8d03182919cce138cfda97c3ff5700b2}{attempted}}
+\begin{DoxyCompactList}\small\item\em Number of \char`\"{}accepted\char`\"{} samples that passed threshold requirements and had transmission to the host attempted. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Struct to represent sample counts, returned from \mbox{\hyperlink{class_b_n_o08x_rpt_a7ce8e48cadf59f49068af7f1cb680b38}{BNO08x\+Rpt\+::get\+\_\+sample\+\_\+counts()}} 
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\mbox{\Hypertarget{structbno08x__sample__counts__t_abd1eccfac205719fd1c5aed25fee1fec}\label{structbno08x__sample__counts__t_abd1eccfac205719fd1c5aed25fee1fec}} 
+\index{bno08x\_sample\_counts\_t@{bno08x\_sample\_counts\_t}!bno08x\_sample\_counts\_t@{bno08x\_sample\_counts\_t}}
+\index{bno08x\_sample\_counts\_t@{bno08x\_sample\_counts\_t}!bno08x\_sample\_counts\_t@{bno08x\_sample\_counts\_t}}
+\doxysubsubsection{\texorpdfstring{bno08x\_sample\_counts\_t()}{bno08x\_sample\_counts\_t()}}
+{\footnotesize\ttfamily bno08x\+\_\+sample\+\_\+counts\+\_\+t\+::bno08x\+\_\+sample\+\_\+counts\+\_\+t (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Function Documentation}
+\mbox{\Hypertarget{structbno08x__sample__counts__t_af9e52b9fe15c78bd8b2ef3cc5af66a13}\label{structbno08x__sample__counts__t_af9e52b9fe15c78bd8b2ef3cc5af66a13}} 
+\index{bno08x\_sample\_counts\_t@{bno08x\_sample\_counts\_t}!operator=@{operator=}}
+\index{operator=@{operator=}!bno08x\_sample\_counts\_t@{bno08x\_sample\_counts\_t}}
+\doxysubsubsection{\texorpdfstring{operator=()}{operator=()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__sample__counts__t}{bno08x\+\_\+sample\+\_\+counts\+\_\+t}} \& bno08x\+\_\+sample\+\_\+counts\+\_\+t\+::operator= (\begin{DoxyParamCaption}\item[{const sh2\+\_\+\+Counts\+\_\+t \&}]{source }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Data Documentation}
+\mbox{\Hypertarget{structbno08x__sample__counts__t_a2ab3e0999a5e668833eb8dbab6d1f036}\label{structbno08x__sample__counts__t_a2ab3e0999a5e668833eb8dbab6d1f036}} 
+\index{bno08x\_sample\_counts\_t@{bno08x\_sample\_counts\_t}!accepted@{accepted}}
+\index{accepted@{accepted}!bno08x\_sample\_counts\_t@{bno08x\_sample\_counts\_t}}
+\doxysubsubsection{\texorpdfstring{accepted}{accepted}}
+{\footnotesize\ttfamily uint32\+\_\+t bno08x\+\_\+sample\+\_\+counts\+\_\+t\+::accepted}
+
+
+
+Number of \char`\"{}on\char`\"{} samples that passed decimation filter. 
+
+\mbox{\Hypertarget{structbno08x__sample__counts__t_a8d03182919cce138cfda97c3ff5700b2}\label{structbno08x__sample__counts__t_a8d03182919cce138cfda97c3ff5700b2}} 
+\index{bno08x\_sample\_counts\_t@{bno08x\_sample\_counts\_t}!attempted@{attempted}}
+\index{attempted@{attempted}!bno08x\_sample\_counts\_t@{bno08x\_sample\_counts\_t}}
+\doxysubsubsection{\texorpdfstring{attempted}{attempted}}
+{\footnotesize\ttfamily uint32\+\_\+t bno08x\+\_\+sample\+\_\+counts\+\_\+t\+::attempted}
+
+
+
+Number of \char`\"{}accepted\char`\"{} samples that passed threshold requirements and had transmission to the host attempted. 
+
+\mbox{\Hypertarget{structbno08x__sample__counts__t_aae4244c540f8411246032f1e69125b75}\label{structbno08x__sample__counts__t_aae4244c540f8411246032f1e69125b75}} 
+\index{bno08x\_sample\_counts\_t@{bno08x\_sample\_counts\_t}!offered@{offered}}
+\index{offered@{offered}!bno08x\_sample\_counts\_t@{bno08x\_sample\_counts\_t}}
+\doxysubsubsection{\texorpdfstring{offered}{offered}}
+{\footnotesize\ttfamily uint32\+\_\+t bno08x\+\_\+sample\+\_\+counts\+\_\+t\+::offered}
+
+
+
+Number of samples produced by underlying data source. 
+
+\mbox{\Hypertarget{structbno08x__sample__counts__t_a055f3d8ff138c7da4a79d4a6fb2af9b9}\label{structbno08x__sample__counts__t_a055f3d8ff138c7da4a79d4a6fb2af9b9}} 
+\index{bno08x\_sample\_counts\_t@{bno08x\_sample\_counts\_t}!on@{on}}
+\index{on@{on}!bno08x\_sample\_counts\_t@{bno08x\_sample\_counts\_t}}
+\doxysubsubsection{\texorpdfstring{on}{on}}
+{\footnotesize\ttfamily uint32\+\_\+t bno08x\+\_\+sample\+\_\+counts\+\_\+t\+::on}
+
+
+
+Number of \char`\"{}offered\char`\"{} samples while this sensor was requested by host. 
+
+
+
+The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\mbox{\hyperlink{_b_n_o08x_global_types_8hpp}{BNO08x\+Global\+Types.\+hpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/structbno08x__shake__detector__t.tex b/documentation/latex/structbno08x__shake__detector__t.tex
new file mode 100644
index 0000000..9cc118d
--- /dev/null
+++ b/documentation/latex/structbno08x__shake__detector__t.tex
@@ -0,0 +1,82 @@
+\hypertarget{structbno08x__shake__detector__t}{}\doxysection{bno08x\+\_\+shake\+\_\+detector\+\_\+t Struct Reference}
+\label{structbno08x__shake__detector__t}\index{bno08x\_shake\_detector\_t@{bno08x\_shake\_detector\_t}}
+
+
+Struct to represent shake detector data (flag meaning\+: 0 = no shake 1 = shake detected)  
+
+
+
+
+{\ttfamily \#include $<$BNO08x\+Global\+Types.\+hpp$>$}
+
+\doxysubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{structbno08x__shake__detector__t_a57df670bfdac6a4174c986a65a0340be}{bno08x\+\_\+shake\+\_\+detector\+\_\+t}} ()
+\item 
+\mbox{\hyperlink{structbno08x__shake__detector__t}{bno08x\+\_\+shake\+\_\+detector\+\_\+t}} \& \mbox{\hyperlink{structbno08x__shake__detector__t_a7fe349111b513b2cd042ad98112791b7}{operator=}} (const sh2\+\_\+\+Shake\+Detector\+\_\+t \&source)
+\end{DoxyCompactItemize}
+\doxysubsection*{Public Attributes}
+\begin{DoxyCompactItemize}
+\item 
+uint8\+\_\+t \mbox{\hyperlink{structbno08x__shake__detector__t_a24dc1df9bb8089c330865e26054a349e}{x\+\_\+flag}}
+\item 
+uint8\+\_\+t \mbox{\hyperlink{structbno08x__shake__detector__t_a814745b5a1dd7aa6bb4bfde4981d1caa}{y\+\_\+flag}}
+\item 
+uint8\+\_\+t \mbox{\hyperlink{structbno08x__shake__detector__t_a7b833f57fc85173adecf666ec6d5477e}{z\+\_\+flag}}
+\item 
+\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08x\+Accuracy}} \mbox{\hyperlink{structbno08x__shake__detector__t_ac643f6c9ac9144c37765b22912212860}{accuracy}}
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Struct to represent shake detector data (flag meaning\+: 0 = no shake 1 = shake detected) 
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\mbox{\Hypertarget{structbno08x__shake__detector__t_a57df670bfdac6a4174c986a65a0340be}\label{structbno08x__shake__detector__t_a57df670bfdac6a4174c986a65a0340be}} 
+\index{bno08x\_shake\_detector\_t@{bno08x\_shake\_detector\_t}!bno08x\_shake\_detector\_t@{bno08x\_shake\_detector\_t}}
+\index{bno08x\_shake\_detector\_t@{bno08x\_shake\_detector\_t}!bno08x\_shake\_detector\_t@{bno08x\_shake\_detector\_t}}
+\doxysubsubsection{\texorpdfstring{bno08x\_shake\_detector\_t()}{bno08x\_shake\_detector\_t()}}
+{\footnotesize\ttfamily bno08x\+\_\+shake\+\_\+detector\+\_\+t\+::bno08x\+\_\+shake\+\_\+detector\+\_\+t (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Function Documentation}
+\mbox{\Hypertarget{structbno08x__shake__detector__t_a7fe349111b513b2cd042ad98112791b7}\label{structbno08x__shake__detector__t_a7fe349111b513b2cd042ad98112791b7}} 
+\index{bno08x\_shake\_detector\_t@{bno08x\_shake\_detector\_t}!operator=@{operator=}}
+\index{operator=@{operator=}!bno08x\_shake\_detector\_t@{bno08x\_shake\_detector\_t}}
+\doxysubsubsection{\texorpdfstring{operator=()}{operator=()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__shake__detector__t}{bno08x\+\_\+shake\+\_\+detector\+\_\+t}} \& bno08x\+\_\+shake\+\_\+detector\+\_\+t\+::operator= (\begin{DoxyParamCaption}\item[{const sh2\+\_\+\+Shake\+Detector\+\_\+t \&}]{source }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Data Documentation}
+\mbox{\Hypertarget{structbno08x__shake__detector__t_ac643f6c9ac9144c37765b22912212860}\label{structbno08x__shake__detector__t_ac643f6c9ac9144c37765b22912212860}} 
+\index{bno08x\_shake\_detector\_t@{bno08x\_shake\_detector\_t}!accuracy@{accuracy}}
+\index{accuracy@{accuracy}!bno08x\_shake\_detector\_t@{bno08x\_shake\_detector\_t}}
+\doxysubsubsection{\texorpdfstring{accuracy}{accuracy}}
+{\footnotesize\ttfamily \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08x\+Accuracy}} bno08x\+\_\+shake\+\_\+detector\+\_\+t\+::accuracy}
+
+\mbox{\Hypertarget{structbno08x__shake__detector__t_a24dc1df9bb8089c330865e26054a349e}\label{structbno08x__shake__detector__t_a24dc1df9bb8089c330865e26054a349e}} 
+\index{bno08x\_shake\_detector\_t@{bno08x\_shake\_detector\_t}!x\_flag@{x\_flag}}
+\index{x\_flag@{x\_flag}!bno08x\_shake\_detector\_t@{bno08x\_shake\_detector\_t}}
+\doxysubsubsection{\texorpdfstring{x\_flag}{x\_flag}}
+{\footnotesize\ttfamily uint8\+\_\+t bno08x\+\_\+shake\+\_\+detector\+\_\+t\+::x\+\_\+flag}
+
+\mbox{\Hypertarget{structbno08x__shake__detector__t_a814745b5a1dd7aa6bb4bfde4981d1caa}\label{structbno08x__shake__detector__t_a814745b5a1dd7aa6bb4bfde4981d1caa}} 
+\index{bno08x\_shake\_detector\_t@{bno08x\_shake\_detector\_t}!y\_flag@{y\_flag}}
+\index{y\_flag@{y\_flag}!bno08x\_shake\_detector\_t@{bno08x\_shake\_detector\_t}}
+\doxysubsubsection{\texorpdfstring{y\_flag}{y\_flag}}
+{\footnotesize\ttfamily uint8\+\_\+t bno08x\+\_\+shake\+\_\+detector\+\_\+t\+::y\+\_\+flag}
+
+\mbox{\Hypertarget{structbno08x__shake__detector__t_a7b833f57fc85173adecf666ec6d5477e}\label{structbno08x__shake__detector__t_a7b833f57fc85173adecf666ec6d5477e}} 
+\index{bno08x\_shake\_detector\_t@{bno08x\_shake\_detector\_t}!z\_flag@{z\_flag}}
+\index{z\_flag@{z\_flag}!bno08x\_shake\_detector\_t@{bno08x\_shake\_detector\_t}}
+\doxysubsubsection{\texorpdfstring{z\_flag}{z\_flag}}
+{\footnotesize\ttfamily uint8\+\_\+t bno08x\+\_\+shake\+\_\+detector\+\_\+t\+::z\+\_\+flag}
+
+
+
+The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\mbox{\hyperlink{_b_n_o08x_global_types_8hpp}{BNO08x\+Global\+Types.\+hpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/structbno08x__stability__classifier__t.tex b/documentation/latex/structbno08x__stability__classifier__t.tex
new file mode 100644
index 0000000..1373f67
--- /dev/null
+++ b/documentation/latex/structbno08x__stability__classifier__t.tex
@@ -0,0 +1,66 @@
+\hypertarget{structbno08x__stability__classifier__t}{}\doxysection{bno08x\+\_\+stability\+\_\+classifier\+\_\+t Struct Reference}
+\label{structbno08x__stability__classifier__t}\index{bno08x\_stability\_classifier\_t@{bno08x\_stability\_classifier\_t}}
+
+
+Struct to represent stability classifier data from stability classifier reports.  
+
+
+
+
+{\ttfamily \#include $<$BNO08x\+Global\+Types.\+hpp$>$}
+
+\doxysubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{structbno08x__stability__classifier__t_a1af6213e40337e7dfff734d542fc3be2}{bno08x\+\_\+stability\+\_\+classifier\+\_\+t}} ()
+\item 
+\mbox{\hyperlink{structbno08x__stability__classifier__t}{bno08x\+\_\+stability\+\_\+classifier\+\_\+t}} \& \mbox{\hyperlink{structbno08x__stability__classifier__t_aff4d78a7c01ef13ae001bb185f825151}{operator=}} (const sh2\+\_\+\+Stability\+Classifier\+\_\+t \&source)
+\end{DoxyCompactItemize}
+\doxysubsection*{Public Attributes}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cb}{BNO08x\+Stability}} \mbox{\hyperlink{structbno08x__stability__classifier__t_a2ecd636f34a6be612833009d9a1c8725}{stability}}
+\item 
+\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08x\+Accuracy}} \mbox{\hyperlink{structbno08x__stability__classifier__t_aa1eeb8deb186589ae21cbd1b96747bf7}{accuracy}}
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Struct to represent stability classifier data from stability classifier reports. 
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\mbox{\Hypertarget{structbno08x__stability__classifier__t_a1af6213e40337e7dfff734d542fc3be2}\label{structbno08x__stability__classifier__t_a1af6213e40337e7dfff734d542fc3be2}} 
+\index{bno08x\_stability\_classifier\_t@{bno08x\_stability\_classifier\_t}!bno08x\_stability\_classifier\_t@{bno08x\_stability\_classifier\_t}}
+\index{bno08x\_stability\_classifier\_t@{bno08x\_stability\_classifier\_t}!bno08x\_stability\_classifier\_t@{bno08x\_stability\_classifier\_t}}
+\doxysubsubsection{\texorpdfstring{bno08x\_stability\_classifier\_t()}{bno08x\_stability\_classifier\_t()}}
+{\footnotesize\ttfamily bno08x\+\_\+stability\+\_\+classifier\+\_\+t\+::bno08x\+\_\+stability\+\_\+classifier\+\_\+t (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Function Documentation}
+\mbox{\Hypertarget{structbno08x__stability__classifier__t_aff4d78a7c01ef13ae001bb185f825151}\label{structbno08x__stability__classifier__t_aff4d78a7c01ef13ae001bb185f825151}} 
+\index{bno08x\_stability\_classifier\_t@{bno08x\_stability\_classifier\_t}!operator=@{operator=}}
+\index{operator=@{operator=}!bno08x\_stability\_classifier\_t@{bno08x\_stability\_classifier\_t}}
+\doxysubsubsection{\texorpdfstring{operator=()}{operator=()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__stability__classifier__t}{bno08x\+\_\+stability\+\_\+classifier\+\_\+t}} \& bno08x\+\_\+stability\+\_\+classifier\+\_\+t\+::operator= (\begin{DoxyParamCaption}\item[{const sh2\+\_\+\+Stability\+Classifier\+\_\+t \&}]{source }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Data Documentation}
+\mbox{\Hypertarget{structbno08x__stability__classifier__t_aa1eeb8deb186589ae21cbd1b96747bf7}\label{structbno08x__stability__classifier__t_aa1eeb8deb186589ae21cbd1b96747bf7}} 
+\index{bno08x\_stability\_classifier\_t@{bno08x\_stability\_classifier\_t}!accuracy@{accuracy}}
+\index{accuracy@{accuracy}!bno08x\_stability\_classifier\_t@{bno08x\_stability\_classifier\_t}}
+\doxysubsubsection{\texorpdfstring{accuracy}{accuracy}}
+{\footnotesize\ttfamily \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08x\+Accuracy}} bno08x\+\_\+stability\+\_\+classifier\+\_\+t\+::accuracy}
+
+\mbox{\Hypertarget{structbno08x__stability__classifier__t_a2ecd636f34a6be612833009d9a1c8725}\label{structbno08x__stability__classifier__t_a2ecd636f34a6be612833009d9a1c8725}} 
+\index{bno08x\_stability\_classifier\_t@{bno08x\_stability\_classifier\_t}!stability@{stability}}
+\index{stability@{stability}!bno08x\_stability\_classifier\_t@{bno08x\_stability\_classifier\_t}}
+\doxysubsubsection{\texorpdfstring{stability}{stability}}
+{\footnotesize\ttfamily \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a22d72f675aad7af764e685f91b29f4cb}{BNO08x\+Stability}} bno08x\+\_\+stability\+\_\+classifier\+\_\+t\+::stability}
+
+
+
+The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\mbox{\hyperlink{_b_n_o08x_global_types_8hpp}{BNO08x\+Global\+Types.\+hpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/structbno08x__step__counter__t.tex b/documentation/latex/structbno08x__step__counter__t.tex
new file mode 100644
index 0000000..14a149d
--- /dev/null
+++ b/documentation/latex/structbno08x__step__counter__t.tex
@@ -0,0 +1,74 @@
+\hypertarget{structbno08x__step__counter__t}{}\doxysection{bno08x\+\_\+step\+\_\+counter\+\_\+t Struct Reference}
+\label{structbno08x__step__counter__t}\index{bno08x\_step\_counter\_t@{bno08x\_step\_counter\_t}}
+
+
+Struct to represent step counter data from step counter reports.  
+
+
+
+
+{\ttfamily \#include $<$BNO08x\+Global\+Types.\+hpp$>$}
+
+\doxysubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{structbno08x__step__counter__t_a53eb4151dfa16c65871f9a754cf92940}{bno08x\+\_\+step\+\_\+counter\+\_\+t}} ()
+\item 
+\mbox{\hyperlink{structbno08x__step__counter__t}{bno08x\+\_\+step\+\_\+counter\+\_\+t}} \& \mbox{\hyperlink{structbno08x__step__counter__t_ab184ba986a22ae89d5a4028b72efb2c1}{operator=}} (const sh2\+\_\+\+Step\+Counter\+\_\+t \&source)
+\end{DoxyCompactItemize}
+\doxysubsection*{Public Attributes}
+\begin{DoxyCompactItemize}
+\item 
+uint32\+\_\+t \mbox{\hyperlink{structbno08x__step__counter__t_a8060ef0721d76ff0175ca487617db202}{latency}}
+\item 
+uint16\+\_\+t \mbox{\hyperlink{structbno08x__step__counter__t_a6d6be986b770fe1343a46080f35653d3}{steps}}
+\item 
+\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08x\+Accuracy}} \mbox{\hyperlink{structbno08x__step__counter__t_a7e0f4b2eb32978a33f9e8c1c70b83f13}{accuracy}}
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Struct to represent step counter data from step counter reports. 
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\mbox{\Hypertarget{structbno08x__step__counter__t_a53eb4151dfa16c65871f9a754cf92940}\label{structbno08x__step__counter__t_a53eb4151dfa16c65871f9a754cf92940}} 
+\index{bno08x\_step\_counter\_t@{bno08x\_step\_counter\_t}!bno08x\_step\_counter\_t@{bno08x\_step\_counter\_t}}
+\index{bno08x\_step\_counter\_t@{bno08x\_step\_counter\_t}!bno08x\_step\_counter\_t@{bno08x\_step\_counter\_t}}
+\doxysubsubsection{\texorpdfstring{bno08x\_step\_counter\_t()}{bno08x\_step\_counter\_t()}}
+{\footnotesize\ttfamily bno08x\+\_\+step\+\_\+counter\+\_\+t\+::bno08x\+\_\+step\+\_\+counter\+\_\+t (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Function Documentation}
+\mbox{\Hypertarget{structbno08x__step__counter__t_ab184ba986a22ae89d5a4028b72efb2c1}\label{structbno08x__step__counter__t_ab184ba986a22ae89d5a4028b72efb2c1}} 
+\index{bno08x\_step\_counter\_t@{bno08x\_step\_counter\_t}!operator=@{operator=}}
+\index{operator=@{operator=}!bno08x\_step\_counter\_t@{bno08x\_step\_counter\_t}}
+\doxysubsubsection{\texorpdfstring{operator=()}{operator=()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__step__counter__t}{bno08x\+\_\+step\+\_\+counter\+\_\+t}} \& bno08x\+\_\+step\+\_\+counter\+\_\+t\+::operator= (\begin{DoxyParamCaption}\item[{const sh2\+\_\+\+Step\+Counter\+\_\+t \&}]{source }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Data Documentation}
+\mbox{\Hypertarget{structbno08x__step__counter__t_a7e0f4b2eb32978a33f9e8c1c70b83f13}\label{structbno08x__step__counter__t_a7e0f4b2eb32978a33f9e8c1c70b83f13}} 
+\index{bno08x\_step\_counter\_t@{bno08x\_step\_counter\_t}!accuracy@{accuracy}}
+\index{accuracy@{accuracy}!bno08x\_step\_counter\_t@{bno08x\_step\_counter\_t}}
+\doxysubsubsection{\texorpdfstring{accuracy}{accuracy}}
+{\footnotesize\ttfamily \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08x\+Accuracy}} bno08x\+\_\+step\+\_\+counter\+\_\+t\+::accuracy}
+
+\mbox{\Hypertarget{structbno08x__step__counter__t_a8060ef0721d76ff0175ca487617db202}\label{structbno08x__step__counter__t_a8060ef0721d76ff0175ca487617db202}} 
+\index{bno08x\_step\_counter\_t@{bno08x\_step\_counter\_t}!latency@{latency}}
+\index{latency@{latency}!bno08x\_step\_counter\_t@{bno08x\_step\_counter\_t}}
+\doxysubsubsection{\texorpdfstring{latency}{latency}}
+{\footnotesize\ttfamily uint32\+\_\+t bno08x\+\_\+step\+\_\+counter\+\_\+t\+::latency}
+
+\mbox{\Hypertarget{structbno08x__step__counter__t_a6d6be986b770fe1343a46080f35653d3}\label{structbno08x__step__counter__t_a6d6be986b770fe1343a46080f35653d3}} 
+\index{bno08x\_step\_counter\_t@{bno08x\_step\_counter\_t}!steps@{steps}}
+\index{steps@{steps}!bno08x\_step\_counter\_t@{bno08x\_step\_counter\_t}}
+\doxysubsubsection{\texorpdfstring{steps}{steps}}
+{\footnotesize\ttfamily uint16\+\_\+t bno08x\+\_\+step\+\_\+counter\+\_\+t\+::steps}
+
+
+
+The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\mbox{\hyperlink{_b_n_o08x_global_types_8hpp}{BNO08x\+Global\+Types.\+hpp}}\end{DoxyCompactItemize}
diff --git a/documentation/latex/structbno08x__tap__detector__t.tex b/documentation/latex/structbno08x__tap__detector__t.tex
new file mode 100644
index 0000000..727c22f
--- /dev/null
+++ b/documentation/latex/structbno08x__tap__detector__t.tex
@@ -0,0 +1,90 @@
+\hypertarget{structbno08x__tap__detector__t}{}\doxysection{bno08x\+\_\+tap\+\_\+detector\+\_\+t Struct Reference}
+\label{structbno08x__tap__detector__t}\index{bno08x\_tap\_detector\_t@{bno08x\_tap\_detector\_t}}
+
+
+Struct to represent tap detector data (flag meaning\+: 0 = no tap, 1 = positive tap on axis, -\/1 = negative tap on axis)  
+
+
+
+
+{\ttfamily \#include $<$BNO08x\+Global\+Types.\+hpp$>$}
+
+\doxysubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{structbno08x__tap__detector__t_ab464e512951fb6cf5a1411d2218d51c5}{bno08x\+\_\+tap\+\_\+detector\+\_\+t}} ()
+\item 
+\mbox{\hyperlink{structbno08x__tap__detector__t}{bno08x\+\_\+tap\+\_\+detector\+\_\+t}} \& \mbox{\hyperlink{structbno08x__tap__detector__t_a4cd8e7c025890f3abfa04ea2a0522f87}{operator=}} (const sh2\+\_\+\+Tap\+Detector\+\_\+t \&source)
+\end{DoxyCompactItemize}
+\doxysubsection*{Public Attributes}
+\begin{DoxyCompactItemize}
+\item 
+int8\+\_\+t \mbox{\hyperlink{structbno08x__tap__detector__t_a1ce57db3616377a16e11701cc04c3442}{x\+\_\+flag}}
+\item 
+int8\+\_\+t \mbox{\hyperlink{structbno08x__tap__detector__t_ae6ad63cddd8ddd96383448f659226c6f}{y\+\_\+flag}}
+\item 
+int8\+\_\+t \mbox{\hyperlink{structbno08x__tap__detector__t_aa46d40f151fce8f60fc8ed4cbe6cf2a1}{z\+\_\+flag}}
+\item 
+bool \mbox{\hyperlink{structbno08x__tap__detector__t_aef875a8e6ff23b29cb9fb73af48db11a}{double\+\_\+tap}}
+\item 
+\mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08x\+Accuracy}} \mbox{\hyperlink{structbno08x__tap__detector__t_ad43c32c1d5a57f37e884e756daf9a7ea}{accuracy}}
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Struct to represent tap detector data (flag meaning\+: 0 = no tap, 1 = positive tap on axis, -\/1 = negative tap on axis) 
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\mbox{\Hypertarget{structbno08x__tap__detector__t_ab464e512951fb6cf5a1411d2218d51c5}\label{structbno08x__tap__detector__t_ab464e512951fb6cf5a1411d2218d51c5}} 
+\index{bno08x\_tap\_detector\_t@{bno08x\_tap\_detector\_t}!bno08x\_tap\_detector\_t@{bno08x\_tap\_detector\_t}}
+\index{bno08x\_tap\_detector\_t@{bno08x\_tap\_detector\_t}!bno08x\_tap\_detector\_t@{bno08x\_tap\_detector\_t}}
+\doxysubsubsection{\texorpdfstring{bno08x\_tap\_detector\_t()}{bno08x\_tap\_detector\_t()}}
+{\footnotesize\ttfamily bno08x\+\_\+tap\+\_\+detector\+\_\+t\+::bno08x\+\_\+tap\+\_\+detector\+\_\+t (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Function Documentation}
+\mbox{\Hypertarget{structbno08x__tap__detector__t_a4cd8e7c025890f3abfa04ea2a0522f87}\label{structbno08x__tap__detector__t_a4cd8e7c025890f3abfa04ea2a0522f87}} 
+\index{bno08x\_tap\_detector\_t@{bno08x\_tap\_detector\_t}!operator=@{operator=}}
+\index{operator=@{operator=}!bno08x\_tap\_detector\_t@{bno08x\_tap\_detector\_t}}
+\doxysubsubsection{\texorpdfstring{operator=()}{operator=()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{structbno08x__tap__detector__t}{bno08x\+\_\+tap\+\_\+detector\+\_\+t}} \& bno08x\+\_\+tap\+\_\+detector\+\_\+t\+::operator= (\begin{DoxyParamCaption}\item[{const sh2\+\_\+\+Tap\+Detector\+\_\+t \&}]{source }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Data Documentation}
+\mbox{\Hypertarget{structbno08x__tap__detector__t_ad43c32c1d5a57f37e884e756daf9a7ea}\label{structbno08x__tap__detector__t_ad43c32c1d5a57f37e884e756daf9a7ea}} 
+\index{bno08x\_tap\_detector\_t@{bno08x\_tap\_detector\_t}!accuracy@{accuracy}}
+\index{accuracy@{accuracy}!bno08x\_tap\_detector\_t@{bno08x\_tap\_detector\_t}}
+\doxysubsubsection{\texorpdfstring{accuracy}{accuracy}}
+{\footnotesize\ttfamily \mbox{\hyperlink{_b_n_o08x_global_types_8hpp_a6bdf6fea6d671c12413d95f36a3e7ba6}{BNO08x\+Accuracy}} bno08x\+\_\+tap\+\_\+detector\+\_\+t\+::accuracy}
+
+\mbox{\Hypertarget{structbno08x__tap__detector__t_aef875a8e6ff23b29cb9fb73af48db11a}\label{structbno08x__tap__detector__t_aef875a8e6ff23b29cb9fb73af48db11a}} 
+\index{bno08x\_tap\_detector\_t@{bno08x\_tap\_detector\_t}!double\_tap@{double\_tap}}
+\index{double\_tap@{double\_tap}!bno08x\_tap\_detector\_t@{bno08x\_tap\_detector\_t}}
+\doxysubsubsection{\texorpdfstring{double\_tap}{double\_tap}}
+{\footnotesize\ttfamily bool bno08x\+\_\+tap\+\_\+detector\+\_\+t\+::double\+\_\+tap}
+
+\mbox{\Hypertarget{structbno08x__tap__detector__t_a1ce57db3616377a16e11701cc04c3442}\label{structbno08x__tap__detector__t_a1ce57db3616377a16e11701cc04c3442}} 
+\index{bno08x\_tap\_detector\_t@{bno08x\_tap\_detector\_t}!x\_flag@{x\_flag}}
+\index{x\_flag@{x\_flag}!bno08x\_tap\_detector\_t@{bno08x\_tap\_detector\_t}}
+\doxysubsubsection{\texorpdfstring{x\_flag}{x\_flag}}
+{\footnotesize\ttfamily int8\+\_\+t bno08x\+\_\+tap\+\_\+detector\+\_\+t\+::x\+\_\+flag}
+
+\mbox{\Hypertarget{structbno08x__tap__detector__t_ae6ad63cddd8ddd96383448f659226c6f}\label{structbno08x__tap__detector__t_ae6ad63cddd8ddd96383448f659226c6f}} 
+\index{bno08x\_tap\_detector\_t@{bno08x\_tap\_detector\_t}!y\_flag@{y\_flag}}
+\index{y\_flag@{y\_flag}!bno08x\_tap\_detector\_t@{bno08x\_tap\_detector\_t}}
+\doxysubsubsection{\texorpdfstring{y\_flag}{y\_flag}}
+{\footnotesize\ttfamily int8\+\_\+t bno08x\+\_\+tap\+\_\+detector\+\_\+t\+::y\+\_\+flag}
+
+\mbox{\Hypertarget{structbno08x__tap__detector__t_aa46d40f151fce8f60fc8ed4cbe6cf2a1}\label{structbno08x__tap__detector__t_aa46d40f151fce8f60fc8ed4cbe6cf2a1}} 
+\index{bno08x\_tap\_detector\_t@{bno08x\_tap\_detector\_t}!z\_flag@{z\_flag}}
+\index{z\_flag@{z\_flag}!bno08x\_tap\_detector\_t@{bno08x\_tap\_detector\_t}}
+\doxysubsubsection{\texorpdfstring{z\_flag}{z\_flag}}
+{\footnotesize\ttfamily int8\+\_\+t bno08x\+\_\+tap\+\_\+detector\+\_\+t\+::z\+\_\+flag}
+
+
+
+The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+/media/develop/git/imu\+\_\+pr\+\_\+cleanup/components/esp32\+\_\+\+BNO08x/include/\mbox{\hyperlink{_b_n_o08x_global_types_8hpp}{BNO08x\+Global\+Types.\+hpp}}\end{DoxyCompactItemize}
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',
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+%% The original source files were:
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+%% tabu : 2011/02/26 v2.8 - tabu : Flexible LaTeX tabulars
+%% 
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+%% 
+%%  X columns: automatic width adjustment + horizontal and vertical alignment
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+%%  Automatic lines / leaders :
+%%         \everyrow{\hline\hline}
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+%%  Vertical lines and / or leaders:
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+%%    or:     \extrarowsep=<dimen>               => may be prefixed by \global
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+%% 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
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+%% 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>
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+\newif \iftabuscantokens
+\def\tabu@rescan {\tabu@verbatim \scantokens  }
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+    \iftabu@everyrow \expandafter \endgroup \the\toks@
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+    \fi
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+    \ifodd 1\ifdim \ht\@arstrutbox=\@tempdima
+            \ifdim \dp\@arstrutbox=\@tempdimb 0 \fi\fi
+        \tabu@mkarstrut
+    \fi
+}% \tabu@rearstrut
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+\def\tabu@DBG@arstrut {\global\setbox\@arstrutbox
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+                          \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'.