refactor FlyteSailing PR for internal wrappers, move enum helper fxns

Signed-off-by: myles-parfeniuk <myles.parfenyuk@gmail.com>

include/BNO08x.hpp

@@ -52,11 +52,10 @@ class BNO08x
         bool dynamic_calibration_autosave_enable();
         bool dynamic_calibration_autosave_disable();
         bool dynamic_calibration_save();
-        bool dynamic_calibration_clear();
+        bool dynamic_calibration_clear_data_ram();
+        bool dynamic_calibration_delete_data();
         bool dynamic_calibration_run_routine(); 
 
-        bool delete_calibration_data();
-
         constexpr static float SQRT2OVER2 = 0.7071067811865476f; // sqrt(2)/2, used for setting system orientation
         bool set_system_orientation(float w, float x, float y, float z);
         bool get_system_orientation(float &w, float &x, float &y, float &z);
@@ -72,11 +71,6 @@ class BNO08x
         void print_product_ids();
         void print_system_orientation();
         
-        // enum helper fxns
-        static const char* activity_to_str(BNO08xActivity activity);
-        static const char* stability_to_str(BNO08xStability stability);
-        static const char* accuracy_to_str(BNO08xAccuracy accuracy);
-
         /// @brief Contains report implementations.
         typedef struct bno08x_reports_t
         {

include/BNO08xGlobalTypes.hpp

@@ -112,6 +112,25 @@ enum class BNO08xAccuracy : uint8_t
 };
 using IMUAccuracy = BNO08xAccuracy; // legacy version compatibility
 
+const constexpr char* BNO08xAccuracy_to_str(BNO08xAccuracy accuracy)
+{
+    switch (accuracy)
+    {
+        case BNO08xAccuracy::UNRELIABLE:
+            return "UNRELIABLE";
+        case BNO08xAccuracy::LOW:
+            return "LOW";
+        case BNO08xAccuracy::MED:
+            return "MED";
+        case BNO08xAccuracy::HIGH:
+            return "HIGH";
+        case BNO08xAccuracy::UNDEFINED:
+            return "UNDEFINED";
+        default:
+            return "UNDEFINED";
+    }
+}
+
 /// @brief BNO08xActivity Classifier enable bits passed to enable_activity_classifier()
 /// See ref manual 6.5.36.1
 enum class BNO08xActivityEnable : uint32_t
@@ -143,6 +162,40 @@ enum class BNO08xActivity : uint8_t
     UNDEFINED = 9   // used for unit tests
 };
 
+/**
+ * @brief Converts a BNO08xActivity enum to string.
+ *
+ * @return The resulting string conversion of the enum.
+ */
+const constexpr char* BNO08xActivity_to_str(BNO08xActivity activity)
+{
+    switch (activity)
+    {
+        case BNO08xActivity::UNKNOWN:
+            return "UNKNOWN";
+        case BNO08xActivity::IN_VEHICLE:
+            return "IN_VEHICLE";
+        case BNO08xActivity::ON_BICYCLE:
+            return "ON_BICYCLE";
+        case BNO08xActivity::ON_FOOT:
+            return "ON_FOOT";
+        case BNO08xActivity::STILL:
+            return "STILL";
+        case BNO08xActivity::TILTING:
+            return "TILTING";
+        case BNO08xActivity::WALKING:
+            return "WALKING";
+        case BNO08xActivity::RUNNING:
+            return "RUNNING";
+        case BNO08xActivity::ON_STAIRS:
+            return "ON_STAIRS";
+        case BNO08xActivity::UNDEFINED:
+            return "UNDEFINED";
+        default:
+            return "UNDEFINED";
+    }
+}
+
 /// @brief BNO08xStability states returned from BNO08x::stability_classifier.get()
 enum class BNO08xStability : uint8_t
 {
@@ -155,7 +208,36 @@ enum class BNO08xStability : uint8_t
     UNDEFINED = 6   // used for unit tests
 };
 
-enum class BNO08xFrsID : uint16_t {    
+/**
+ * @brief Converts a BNO08xStability enum to string.
+ *
+ * @return The resulting string conversion of the enum.
+ */
+const constexpr char* BNO08xStability_to_str(BNO08xStability stability)
+{
+    switch (stability)
+    {
+        case BNO08xStability::UNKNOWN:
+            return "UNKNOWN";
+        case BNO08xStability::ON_TABLE:
+            return "ON_TABLE";
+        case BNO08xStability::STATIONARY:
+            return "STATIONARY";
+        case BNO08xStability::STABLE:
+            return "STABLE";
+        case BNO08xStability::MOTION:
+            return "MOTION";
+        case BNO08xStability::RESERVED:
+            return "RESERVED";
+        case BNO08xStability::UNDEFINED:
+            return "UNDEFINED";
+        default:
+            return "UNDEFINED";
+    }
+}
+
+enum class BNO08xFrsID : uint16_t
+{
     STATIC_CALIBRATION_AGM = 0x7979,
     NOMINAL_CALIBRATION = 0x4D4D,
     STATIC_CALIBRATION_SRA = 0x8A8A,
@@ -231,6 +313,161 @@ enum class BNO08xFrsID : uint16_t {
     META_GYRO_INTEGRATED_RV = 0xE324
 };
 
+const constexpr char* BNO08xFrsID_to_str(BNO08xFrsID id)
+{
+    switch (id)
+    {
+        case BNO08xFrsID::STATIC_CALIBRATION_AGM:
+            return "STATIC_CALIBRATION_AGM";
+        case BNO08xFrsID::NOMINAL_CALIBRATION:
+            return "NOMINAL_CALIBRATION";
+        case BNO08xFrsID::STATIC_CALIBRATION_SRA:
+            return "STATIC_CALIBRATION_SRA";
+        case BNO08xFrsID::NOMINAL_CALIBRATION_SRA:
+            return "NOMINAL_CALIBRATION_SRA";
+        case BNO08xFrsID::DYNAMIC_CALIBRATION:
+            return "DYNAMIC_CALIBRATION";
+        case BNO08xFrsID::ME_POWER_MGMT:
+            return "ME_POWER_MGMT";
+        case BNO08xFrsID::SYSTEM_ORIENTATION:
+            return "SYSTEM_ORIENTATION";
+        case BNO08xFrsID::ACCEL_ORIENTATION:
+            return "ACCEL_ORIENTATION";
+        case BNO08xFrsID::SCREEN_ACCEL_ORIENTATION:
+            return "SCREEN_ACCEL_ORIENTATION";
+        case BNO08xFrsID::GYROSCOPE_ORIENTATION:
+            return "GYROSCOPE_ORIENTATION";
+        case BNO08xFrsID::MAGNETOMETER_ORIENTATION:
+            return "MAGNETOMETER_ORIENTATION";
+        case BNO08xFrsID::ARVR_STABILIZATION_RV:
+            return "ARVR_STABILIZATION_RV";
+        case BNO08xFrsID::ARVR_STABILIZATION_GRV:
+            return "ARVR_STABILIZATION_GRV";
+        case BNO08xFrsID::TAP_DETECT_CONFIG:
+            return "TAP_DETECT_CONFIG";
+        case BNO08xFrsID::SIG_MOTION_DETECT_CONFIG:
+            return "SIG_MOTION_DETECT_CONFIG";
+        case BNO08xFrsID::SHAKE_DETECT_CONFIG:
+            return "SHAKE_DETECT_CONFIG";
+        case BNO08xFrsID::MAX_FUSION_PERIOD:
+            return "MAX_FUSION_PERIOD";
+        case BNO08xFrsID::SERIAL_NUMBER:
+            return "SERIAL_NUMBER";
+        case BNO08xFrsID::ES_PRESSURE_CAL:
+            return "ES_PRESSURE_CAL";
+        case BNO08xFrsID::ES_TEMPERATURE_CAL:
+            return "ES_TEMPERATURE_CAL";
+        case BNO08xFrsID::ES_HUMIDITY_CAL:
+            return "ES_HUMIDITY_CAL";
+        case BNO08xFrsID::ES_AMBIENT_LIGHT_CAL:
+            return "ES_AMBIENT_LIGHT_CAL";
+        case BNO08xFrsID::ES_PROXIMITY_CAL:
+            return "ES_PROXIMITY_CAL";
+        case BNO08xFrsID::ALS_CAL:
+            return "ALS_CAL";
+        case BNO08xFrsID::PROXIMITY_SENSOR_CAL:
+            return "PROXIMITY_SENSOR_CAL";
+        case BNO08xFrsID::PICKUP_DETECTOR_CONFIG:
+            return "PICKUP_DETECTOR_CONFIG";
+        case BNO08xFrsID::FLIP_DETECTOR_CONFIG:
+            return "FLIP_DETECTOR_CONFIG";
+        case BNO08xFrsID::STABILITY_DETECTOR_CONFIG:
+            return "STABILITY_DETECTOR_CONFIG";
+        case BNO08xFrsID::ACTIVITY_TRACKER_CONFIG:
+            return "ACTIVITY_TRACKER_CONFIG";
+        case BNO08xFrsID::SLEEP_DETECTOR_CONFIG:
+            return "SLEEP_DETECTOR_CONFIG";
+        case BNO08xFrsID::TILT_DETECTOR_CONFIG:
+            return "TILT_DETECTOR_CONFIG";
+        case BNO08xFrsID::POCKET_DETECTOR_CONFIG:
+            return "POCKET_DETECTOR_CONFIG";
+        case BNO08xFrsID::CIRCLE_DETECTOR_CONFIG:
+            return "CIRCLE_DETECTOR_CONFIG";
+        case BNO08xFrsID::USER_RECORD:
+            return "USER_RECORD";
+        case BNO08xFrsID::ME_TIME_SOURCE_SELECT:
+            return "ME_TIME_SOURCE_SELECT";
+        case BNO08xFrsID::UART_FORMAT:
+            return "UART_FORMAT";
+        case BNO08xFrsID::GYRO_INTEGRATED_RV_CONFIG:
+            return "GYRO_INTEGRATED_RV_CONFIG";
+        case BNO08xFrsID::META_RAW_ACCELEROMETER:
+            return "META_RAW_ACCELEROMETER";
+        case BNO08xFrsID::META_ACCELEROMETER:
+            return "META_ACCELEROMETER";
+        case BNO08xFrsID::META_LINEAR_ACCELERATION:
+            return "META_LINEAR_ACCELERATION";
+        case BNO08xFrsID::META_GRAVITY:
+            return "META_GRAVITY";
+        case BNO08xFrsID::META_RAW_GYROSCOPE:
+            return "META_RAW_GYROSCOPE";
+        case BNO08xFrsID::META_GYROSCOPE_CALIBRATED:
+            return "META_GYROSCOPE_CALIBRATED";
+        case BNO08xFrsID::META_GYROSCOPE_UNCALIBRATED:
+            return "META_GYROSCOPE_UNCALIBRATED";
+        case BNO08xFrsID::META_RAW_MAGNETOMETER:
+            return "META_RAW_MAGNETOMETER";
+        case BNO08xFrsID::META_MAGNETIC_FIELD_CALIBRATED:
+            return "META_MAGNETIC_FIELD_CALIBRATED";
+        case BNO08xFrsID::META_MAGNETIC_FIELD_UNCALIBRATED:
+            return "META_MAGNETIC_FIELD_UNCALIBRATED";
+        case BNO08xFrsID::META_ROTATION_VECTOR:
+            return "META_ROTATION_VECTOR";
+        case BNO08xFrsID::META_GAME_ROTATION_VECTOR:
+            return "META_GAME_ROTATION_VECTOR";
+        case BNO08xFrsID::META_GEOMAGNETIC_ROTATION_VECTOR:
+            return "META_GEOMAGNETIC_ROTATION_VECTOR";
+        case BNO08xFrsID::META_PRESSURE:
+            return "META_PRESSURE";
+        case BNO08xFrsID::META_AMBIENT_LIGHT:
+            return "META_AMBIENT_LIGHT";
+        case BNO08xFrsID::META_HUMIDITY:
+            return "META_HUMIDITY";
+        case BNO08xFrsID::META_PROXIMITY:
+            return "META_PROXIMITY";
+        case BNO08xFrsID::META_TEMPERATURE:
+            return "META_TEMPERATURE";
+        case BNO08xFrsID::META_TAP_DETECTOR:
+            return "META_TAP_DETECTOR";
+        case BNO08xFrsID::META_STEP_DETECTOR:
+            return "META_STEP_DETECTOR";
+        case BNO08xFrsID::META_STEP_COUNTER:
+            return "META_STEP_COUNTER";
+        case BNO08xFrsID::META_SIGNIFICANT_MOTION:
+            return "META_SIGNIFICANT_MOTION";
+        case BNO08xFrsID::META_STABILITY_CLASSIFIER:
+            return "META_STABILITY_CLASSIFIER";
+        case BNO08xFrsID::META_SHAKE_DETECTOR:
+            return "META_SHAKE_DETECTOR";
+        case BNO08xFrsID::META_FLIP_DETECTOR:
+            return "META_FLIP_DETECTOR";
+        case BNO08xFrsID::META_PICKUP_DETECTOR:
+            return "META_PICKUP_DETECTOR";
+        case BNO08xFrsID::META_STABILITY_DETECTOR:
+            return "META_STABILITY_DETECTOR";
+        case BNO08xFrsID::META_PERSONAL_ACTIVITY_CLASSIFIER:
+            return "META_PERSONAL_ACTIVITY_CLASSIFIER";
+        case BNO08xFrsID::META_SLEEP_DETECTOR:
+            return "META_SLEEP_DETECTOR";
+        case BNO08xFrsID::META_TILT_DETECTOR:
+            return "META_TILT_DETECTOR";
+        case BNO08xFrsID::META_POCKET_DETECTOR:
+            return "META_POCKET_DETECTOR";
+        case BNO08xFrsID::META_CIRCLE_DETECTOR:
+            return "META_CIRCLE_DETECTOR";
+        case BNO08xFrsID::META_HEART_RATE_MONITOR:
+            return "META_HEART_RATE_MONITOR";
+        case BNO08xFrsID::META_ARVR_STABILIZED_RV:
+            return "META_ARVR_STABILIZED_RV";
+        case BNO08xFrsID::META_ARVR_STABILIZED_GRV:
+            return "META_ARVR_STABILIZED_GRV";
+        case BNO08xFrsID::META_GYRO_INTEGRATED_RV:
+            return "META_GYRO_INTEGRATED_RV";
+        default:
+            return "UNKNOWN";
+    }
+}
+
 /// @brief Struct to represent unit quaternion.
 typedef struct bno08x_quat_t
 {

source/BNO08x.cpp

@@ -1408,12 +1408,12 @@ bool BNO08x::dynamic_calibration_save()
 }
 
 /**
- * @brief Clears dynamic/motion engine calibration data and resets BNO08x device. See ref
+ * @brief Clears dynamic/motion engine calibration data from ram and resets BNO08x device. See ref
  * manual 6.4.9.1
  *
  * @return True if save dynamic/ME calibration data succeeded.
  */
-bool BNO08x::dynamic_calibration_clear()
+bool BNO08x::dynamic_calibration_clear_data_ram()
 {
     int op_success = SH2_ERR;
 
@@ -1440,7 +1440,7 @@ bool BNO08x::dynamic_calibration_clear()
             {
                 // clang-format off
                 #ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
-                ESP_LOGE(TAG, "Clear dynamic calibration failure, incorrect reset reason returned.");
+                ESP_LOGE(TAG, "dynamic_calibration_clear_data_ram(): Clear dynamic calibration failure, incorrect reset reason returned.");
                 #endif
                 // clang-format on
             }
@@ -1449,7 +1449,7 @@ bool BNO08x::dynamic_calibration_clear()
         {
             // clang-format off
             #ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
-            ESP_LOGE(TAG, "Clear dynamic calibration failure, reset never detected after sending command.");
+            ESP_LOGE(TAG, "dynamic_calibration_clear_data_ram(): Clear dynamic calibration failure, reset never detected after sending command.");
             #endif
             // clang-format on
         }
@@ -1458,7 +1458,7 @@ bool BNO08x::dynamic_calibration_clear()
     {
         // clang-format off
         #ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
-        ESP_LOGE(TAG, "Clear dynamic calibration failure, failed to send reset command");
+        ESP_LOGE(TAG, "dynamic_calibration_clear_data_ram(): Clear dynamic calibration failure, failed to clearDcdAndReset command with %li", static_cast<int32_t>(op_success));
         #endif
         // clang-format on
     }
@@ -1609,7 +1609,7 @@ bool BNO08x::dynamic_calibration_run_routine()
 
         // clang-format off
         #ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
-        ESP_LOGI(TAG, "dynamic_calibration_run_routine(): magf_avg_acc: %s quat_avg_acc: %s", accuracy_to_str(magf_accuracy_avg), accuracy_to_str(quat_accuracy_avg));
+        ESP_LOGI(TAG, "dynamic_calibration_run_routine(): magf_avg_acc: %s quat_avg_acc: %s", BNO08xAccuracy_to_str(magf_accuracy_avg), BNO08xAccuracy_to_str(quat_accuracy_avg));
         #endif
         // clang-format on
 
@@ -1686,7 +1686,7 @@ bool BNO08x::dynamic_calibration_run_routine()
  * Follows the steps outlined in ref. manual 6.4.9
  * @return True if delete dynamic calibration data operation succeeded.
  */
-bool BNO08x::delete_calibration_data()
+bool BNO08x::dynamic_calibration_delete_data()
 {
     // 1. Reset hub (using hard_reset)
     if (!hard_reset()) {
@@ -1697,28 +1697,13 @@ bool BNO08x::delete_calibration_data()
     }
 
     // 2. Delete flash copy of DCD via FRS 
-    int op_success = SH2_ERR;
-    lock_sh2_HAL();
     // Deleting FRS record: use sh2_setFrs with nullptr and 0 words
-    op_success = sh2_setFrs(DYNAMIC_CALIBRATION, nullptr, 0U);
+    if(!write_frs(BNO08xFrsID::DYNAMIC_CALIBRATION, nullptr, 0U))
-    unlock_sh2_HAL();
-    if (op_success != SH2_OK) {
-        #ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
-        ESP_LOGE(TAG, "delete_calibration_data(): failed to delete DCD FRS record, op_success: %li", (int32_t)op_success);
-        #endif
         return false; 
-    }
 
     // 3. Issue Clear DCD and Reset Command (atomic clear DCD from RAM and reset)
-    lock_sh2_HAL();
+    if(!dynamic_calibration_clear_data_ram())
-    op_success = sh2_clearDcdAndReset();
-    unlock_sh2_HAL();
-    if (op_success != SH2_OK) {
-        #ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
-        ESP_LOGE(TAG, "delete_calibration_data(): failed to clear DCD and reset, op_success: %li", (int32_t)op_success);
-        #endif
         return false; 
-    }
 
     #ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
     ESP_LOGI(TAG, "delete_calibration_data(): calibration data cleared successfully");
@@ -1747,6 +1732,16 @@ bool BNO08x::get_frs(BNO08xFrsID frs_ID, uint32_t (&data)[16], uint16_t& rx_data
     op_success = sh2_getFrs(static_cast<uint16_t>(frs_ID), data, &rx_data_sz);
     unlock_sh2_HAL();
 
+    if (op_success != SH2_OK)
+    {   
+        // clang-format off
+        #ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
+        ESP_LOGE(TAG, "get_frs(): Failed to retrieve FRS record for ID: %s, op_success: %li", BNO08xFrsID_to_str(frs_ID), static_cast<int32_t>(op_success));
+        #endif
+        // clang-format off
+        return false;
+    }
+
     return (op_success == SH2_OK);
 }
 
@@ -1770,6 +1765,16 @@ bool BNO08x::write_frs(BNO08xFrsID frs_ID, uint32_t *data, const uint16_t tx_dat
     op_success = sh2_setFrs(static_cast<uint16_t>(frs_ID), data, tx_data_sz);
     unlock_sh2_HAL();
 
+    if (op_success != SH2_OK)
+    {   
+        // clang-format off
+        #ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
+        ESP_LOGE(TAG, "write_frs(): Failed to write FRS record for ID: %s, op_success: %li", BNO08xFrsID_to_str(frs_ID), static_cast<int32_t>(op_success));
+        #endif
+        // clang-format off
+        return false;
+    }
+
     return (op_success == SH2_OK);
 }
 
@@ -2002,121 +2007,29 @@ bool BNO08x::set_system_orientation(float w, float x, float y, float z)
         static_cast<uint32_t>(float_to_q30(w))  // W component
     };
 
-    int op_success = SH2_ERR;
+    if(!write_frs(BNO08xFrsID::SYSTEM_ORIENTATION, orientation_raw, sizeof(orientation_raw)))
-    lock_sh2_HAL();
-    op_success = sh2_setFrs(SYSTEM_ORIENTATION, (uint32_t*)&orientation_raw, 4);
-    unlock_sh2_HAL();
-
-    if (op_success != SH2_OK)
-    {
-        #ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
-        ESP_LOGE(TAG, "Failed to set mounting orientation, op_success: %li", (int32_t)op_success);
-        #endif
         return false; 
-    }
-    return true;
-}
-
-bool BNO08x::get_system_orientation(float& w, float& x, float& y, float& z)
-{
-    uint16_t words = 4;
-    uint32_t raw[4] = {0};
-
-    lock_sh2_HAL();
-    int op_success = sh2_getFrs(SYSTEM_ORIENTATION, raw, &words);
-    unlock_sh2_HAL();
-
-    if (op_success != SH2_OK) {
-        return false;
-    }
-
-    x = q30_to_float((int32_t)raw[0]);
-    y = q30_to_float((int32_t)raw[1]);
-    z = q30_to_float((int32_t)raw[2]);
-    w = q30_to_float((int32_t)raw[3]);
 
     return true;
 }
 
-/**
+bool BNO08x::get_system_orientation(float& real, float& i, float& j, float& k)
- * @brief Converts a BNO08xActivity enum to string.
- *
- * @return The resulting string conversion of the enum.
- */
-const char* BNO08x::activity_to_str(BNO08xActivity activity)
 {
-    switch (activity)
+    uint16_t words_rxd = 0U;
-    {
+    uint32_t raw[16] = {0};
-        case BNO08xActivity::UNKNOWN:
-            return "UNKNOWN";
-        case BNO08xActivity::IN_VEHICLE:
-            return "IN_VEHICLE";
-        case BNO08xActivity::ON_BICYCLE:
-            return "ON_BICYCLE";
-        case BNO08xActivity::ON_FOOT:
-            return "ON_FOOT";
-        case BNO08xActivity::STILL:
-            return "STILL";
-        case BNO08xActivity::TILTING:
-            return "TILTING";
-        case BNO08xActivity::WALKING:
-            return "WALKING";
-        case BNO08xActivity::RUNNING:
-            return "RUNNING";
-        case BNO08xActivity::ON_STAIRS:
-            return "ON_STAIRS";
-        case BNO08xActivity::UNDEFINED:
-            return "UNDEFINED";
-        default:
-            return "UNDEFINED";
-    }
-}
 
-/**
+    if(!get_frs(BNO08xFrsID::SYSTEM_ORIENTATION, raw, words_rxd))
- * @brief Converts a BNO08xStability enum to string.
+        return false;
- *
- * @return The resulting string conversion of the enum.
- */
-const char* BNO08x::stability_to_str(BNO08xStability stability)
-{
-    switch (stability)
-    {
-        case BNO08xStability::UNKNOWN:
-            return "UNKNOWN";
-        case BNO08xStability::ON_TABLE:
-            return "ON_TABLE";
-        case BNO08xStability::STATIONARY:
-            return "STATIONARY";
-        case BNO08xStability::STABLE:
-            return "STABLE";
-        case BNO08xStability::MOTION:
-            return "MOTION";
-        case BNO08xStability::RESERVED:
-            return "RESERVED";
-        case BNO08xStability::UNDEFINED:
-            return "UNDEFINED";
-        default:
-            return "UNDEFINED";
-    }
-}
     
-const char* BNO08x::accuracy_to_str(BNO08xAccuracy accuracy)
+    if(words_rxd >= 4U)
-{
+        return false; 
-    switch (accuracy)
+
-    {
+    i = q30_to_float((int32_t)raw[0]);
-        case BNO08xAccuracy::UNRELIABLE:
+    j = q30_to_float((int32_t)raw[1]);
-            return "UNRELIABLE";
+    k = q30_to_float((int32_t)raw[2]);
-        case BNO08xAccuracy::LOW:
+    real = q30_to_float((int32_t)raw[3]);
-            return "LOW";
+
-        case BNO08xAccuracy::MED:
+    return true;
-            return "MED";
-        case BNO08xAccuracy::HIGH:
-            return "HIGH";
-        case BNO08xAccuracy::UNDEFINED:
-            return "UNDEFINED";
-        default:
-            return "UNDEFINED";
-    }
 }
 
 /**