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removed all for re-write with SH2-lib

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myles-parfeniuk 2024-11-19 13:24:24 -08:00
parent 282ddf5fa5
commit f09059fce7
2164 changed files with 5339 additions and 88561 deletions
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CMakeLists.txt
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idf_component_register(SRC_DIRS "source" idf_component_register(SRC_DIRS "source" "SH2"
INCLUDE_DIRS "include" INCLUDE_DIRS "include" "SH2"
REQUIRES driver esp_timer cmock) REQUIRES driver esp_timer cmock)

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/*
* Copyright 2015-2018 Hillcrest Laboratories, Inc.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License and
* any applicable agreements you may have with Hillcrest Laboratories, Inc.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
/**
* @file sh2.h
* @author David Wheeler
* @date 22 Sept 2015
* @brief API Definition for Hillcrest SH-2 Sensor Hub.
*
* The sh2 API provides an interface to the Hillcrest Labs sensor hub devices.
*/
#ifndef SH2_H
#define SH2_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stdbool.h>
#include "sh2_hal.h"
/***************************************************************************************
* Public type definitions
***************************************************************************************/
/**
* @brief Sensor Event
*
* See the SH-2 Reference Manual for more detail.
*/
#define SH2_MAX_SENSOR_EVENT_LEN (16)
typedef struct sh2_SensorEvent {
uint64_t timestamp_uS;
uint8_t len;
uint8_t reportId;
uint8_t report[SH2_MAX_SENSOR_EVENT_LEN];
} sh2_SensorEvent_t;
typedef void (sh2_SensorCallback_t)(void * cookie, sh2_SensorEvent_t *pEvent);
/**
* @brief Product Id value
*
* See the SH-2 Reference Manual for more detail.
*/
typedef struct sh2_ProductId_s {
uint8_t resetCause;
uint8_t swVersionMajor;
uint8_t swVersionMinor;
uint32_t swPartNumber;
uint32_t swBuildNumber;
uint16_t swVersionPatch;
uint8_t reserved0;
uint8_t reserved1;
} sh2_ProductId_t;
#define SH2_MAX_PROD_ID_ENTRIES (5)
typedef struct sh2_ProductIds_s {
sh2_ProductId_t entry[SH2_MAX_PROD_ID_ENTRIES];
uint8_t numEntries;
} sh2_ProductIds_t;
/**
* @brief List of sensor types supported by the hub
*
* See the SH-2 Reference Manual for more information on each type.
*/
enum sh2_SensorId_e {
SH2_RAW_ACCELEROMETER = 0x14,
SH2_ACCELEROMETER = 0x01,
SH2_LINEAR_ACCELERATION = 0x04,
SH2_GRAVITY = 0x06,
SH2_RAW_GYROSCOPE = 0x15,
SH2_GYROSCOPE_CALIBRATED = 0x02,
SH2_GYROSCOPE_UNCALIBRATED = 0x07,
SH2_RAW_MAGNETOMETER = 0x16,
SH2_MAGNETIC_FIELD_CALIBRATED = 0x03,
SH2_MAGNETIC_FIELD_UNCALIBRATED = 0x0f,
SH2_ROTATION_VECTOR = 0x05,
SH2_GAME_ROTATION_VECTOR = 0x08,
SH2_GEOMAGNETIC_ROTATION_VECTOR = 0x09,
SH2_PRESSURE = 0x0a,
SH2_AMBIENT_LIGHT = 0x0b,
SH2_HUMIDITY = 0x0c,
SH2_PROXIMITY = 0x0d,
SH2_TEMPERATURE = 0x0e,
SH2_RESERVED = 0x17,
SH2_TAP_DETECTOR = 0x10,
SH2_STEP_DETECTOR = 0x18,
SH2_STEP_COUNTER = 0x11,
SH2_SIGNIFICANT_MOTION = 0x12,
SH2_STABILITY_CLASSIFIER = 0x13,
SH2_SHAKE_DETECTOR = 0x19,
SH2_FLIP_DETECTOR = 0x1a,
SH2_PICKUP_DETECTOR = 0x1b,
SH2_STABILITY_DETECTOR = 0x1c,
SH2_PERSONAL_ACTIVITY_CLASSIFIER = 0x1e,
SH2_SLEEP_DETECTOR = 0x1f,
SH2_TILT_DETECTOR = 0x20,
SH2_POCKET_DETECTOR = 0x21,
SH2_CIRCLE_DETECTOR = 0x22,
SH2_HEART_RATE_MONITOR = 0x23,
SH2_ARVR_STABILIZED_RV = 0x28,
SH2_ARVR_STABILIZED_GRV = 0x29,
SH2_GYRO_INTEGRATED_RV = 0x2A,
SH2_IZRO_MOTION_REQUEST = 0x2B,
// UPDATE to reflect greatest sensor id
SH2_MAX_SENSOR_ID = 0x2B,
};
typedef uint8_t sh2_SensorId_t;
/**
* @brief Sensor Configuration settings
*
* See the SH-2 Reference Manual for more detail.
*/
typedef struct sh2_SensorConfig {
/* Change sensitivity enabled */
bool changeSensitivityEnabled; /**< @brief Enable reports on change */
/* Change sensitivity - true if relative; false if absolute */
bool changeSensitivityRelative; /**< @brief Change reports relative (vs absolute) */
/* Wake-up enabled */
bool wakeupEnabled; /**< @brief Wake host on event */
/* Always on enabled */
bool alwaysOnEnabled; /**< @brief Sensor remains on in sleep state */
/* 16-bit signed fixed point integer representing the value a
* sensor output must exceed in order to trigger another input
* report. A setting of 0 causes all reports to be sent.
*/
uint16_t changeSensitivity; /**< @brief Report-on-change threshold */
/* Interval in microseconds between asynchronous input reports. */
uint32_t reportInterval_us; /**< @brief [uS] Report interval */
/* Reserved field, not used. */
uint32_t batchInterval_us; /**< @brief [uS] Batch interval */
/* Meaning is sensor specific */
uint32_t sensorSpecific; /**< @brief See SH-2 Reference Manual for details. */
} sh2_SensorConfig_t;
/**
* @brief Sensor Metadata Record
*
* See the SH-2 Reference Manual for more detail.
*/
typedef struct sh2_SensorMetadata {
uint8_t meVersion; /**< @brief Motion Engine Version */
uint8_t mhVersion; /**< @brief Motion Hub Version */
uint8_t shVersion; /**< @brief SensorHub Version */
uint32_t range; /**< @brief Same units as sensor reports */
uint32_t resolution; /**< @brief Same units as sensor reports */
uint16_t revision; /**< @brief Metadata record format revision */
uint16_t power_mA; /**< @brief [mA] Fixed point 16Q10 format */
uint32_t minPeriod_uS; /**< @brief [uS] */
uint32_t maxPeriod_uS; /**< @brief [uS] */
uint32_t fifoReserved; /**< @brief (Unused) */
uint32_t fifoMax; /**< @brief (Unused) */
uint32_t batchBufferBytes; /**< @brief (Unused) */
uint16_t qPoint1; /**< @brief q point for sensor values */
uint16_t qPoint2; /**< @brief q point for accuracy or bias fields */
uint16_t qPoint3; /**< @brief q point for sensor data change sensitivity */
uint32_t vendorIdLen; /**< @brief [bytes] */
char vendorId[48]; /**< @brief Vendor name and part number */
uint32_t sensorSpecificLen; /**< @brief [bytes] */
uint8_t sensorSpecific[48]; /**< @brief See SH-2 Reference Manual */
} sh2_SensorMetadata_t;
/**
* @brief SensorHub Error Record
*
* See the SH-2 Reference Manual for more detail.
*/
typedef struct sh2_ErrorRecord {
uint8_t severity; /**< @brief Error severity, 0: most severe. */
uint8_t sequence; /**< @brief Sequence number (by severity) */
uint8_t source; /**< @brief 1-MotionEngine, 2-MotionHub, 3-SensorHub, 4-Chip */
uint8_t error; /**< @brief See SH-2 Reference Manual */
uint8_t module; /**< @brief See SH-2 Reference Manual */
uint8_t code; /**< @brief See SH-2 Reference Manual */
} sh2_ErrorRecord_t;
/**
* @brief SensorHub Counter Record
*
* See the SH-2 Reference Manual for more detail.
*/
typedef struct sh2_Counts {
uint32_t offered; /**< @brief [events] */
uint32_t accepted; /**< @brief [events] */
uint32_t on; /**< @brief [events] */
uint32_t attempted; /**< @brief [events] */
} sh2_Counts_t;
/**
* @brief Values for specifying tare basis
*
* See the SH-2 Reference Manual for more detail.
*/
typedef enum sh2_TareBasis {
SH2_TARE_BASIS_ROTATION_VECTOR = 0, /**< @brief Use Rotation Vector */
SH2_TARE_BASIS_GAMING_ROTATION_VECTOR = 1, /**< @brief Use Game Rotation Vector */
SH2_TARE_BASIS_GEOMAGNETIC_ROTATION_VECTOR = 2, /**< @brief Use Geomagnetic R.V. */
} sh2_TareBasis_t;
/**
* @brief Bit Fields for specifying tare axes.
*
* See the SH-2 Reference Manual for more detail.
*/
typedef enum sh2_TareAxis {
SH2_TARE_X = 1, /**< @brief sh2_tareNow() axes bit field */
SH2_TARE_Y = 2, /**< @brief sh2_tareNow() axes bit field */
SH2_TARE_Z = 4, /**< @brief sh2_tareNow() axes bit field */
} sh2_TareAxis_t;
/**
* @brief Quaternion (double precision floating point representation.)
*
* See the SH-2 Reference Manual for more detail.
*/
typedef struct sh2_Quaternion {
double x;
double y;
double z;
double w;
} sh2_Quaternion_t;
/**
* @brief Oscillator type: Internal or External
*
* See the SH-2 Reference Manual for more detail.
*/
typedef enum {
SH2_OSC_INTERNAL = 0,
SH2_OSC_EXT_CRYSTAL = 1,
SH2_OSC_EXT_CLOCK = 2,
} sh2_OscType_t;
/**
* @brief Calibration result
*
* See the SH-2 Reference Manual, Finish Calibration Response.
*/
typedef enum {
SH2_CAL_SUCCESS = 0,
SH2_CAL_NO_ZRO,
SH2_CAL_NO_STATIONARY_DETECTION,
SH2_CAL_ROTATION_OUTSIDE_SPEC,
SH2_CAL_ZRO_OUTSIDE_SPEC,
SH2_CAL_ZGO_OUTSIDE_SPEC,
SH2_CAL_GYRO_GAIN_OUTSIDE_SPEC,
SH2_CAL_GYRO_PERIOD_OUTSIDE_SPEC,
SH2_CAL_GYRO_DROPS_OUTSIDE_SPEC,
} sh2_CalStatus_t;
// FRS Record Ids
#define STATIC_CALIBRATION_AGM (0x7979)
#define NOMINAL_CALIBRATION (0x4D4D)
#define STATIC_CALIBRATION_SRA (0x8A8A)
#define NOMINAL_CALIBRATION_SRA (0x4E4E)
#define DYNAMIC_CALIBRATION (0x1F1F)
#define ME_POWER_MGMT (0xD3E2)
#define SYSTEM_ORIENTATION (0x2D3E)
#define ACCEL_ORIENTATION (0x2D41)
#define SCREEN_ACCEL_ORIENTATION (0x2D43)
#define GYROSCOPE_ORIENTATION (0x2D46)
#define MAGNETOMETER_ORIENTATION (0x2D4C)
#define ARVR_STABILIZATION_RV (0x3E2D)
#define ARVR_STABILIZATION_GRV (0x3E2E)
#define TAP_DETECT_CONFIG (0xC269)
#define SIG_MOTION_DETECT_CONFIG (0xC274)
#define SHAKE_DETECT_CONFIG (0x7D7D)
#define MAX_FUSION_PERIOD (0xD7D7)
#define SERIAL_NUMBER (0x4B4B)
#define ES_PRESSURE_CAL (0x39AF)
#define ES_TEMPERATURE_CAL (0x4D20)
#define ES_HUMIDITY_CAL (0x1AC9)
#define ES_AMBIENT_LIGHT_CAL (0x39B1)
#define ES_PROXIMITY_CAL (0x4DA2)
#define ALS_CAL (0xD401)
#define PROXIMITY_SENSOR_CAL (0xD402)
#define PICKUP_DETECTOR_CONFIG (0x1B2A)
#define FLIP_DETECTOR_CONFIG (0xFC94)
#define STABILITY_DETECTOR_CONFIG (0xED85)
#define ACTIVITY_TRACKER_CONFIG (0xED88)
#define SLEEP_DETECTOR_CONFIG (0xED87)
#define TILT_DETECTOR_CONFIG (0xED89)
#define POCKET_DETECTOR_CONFIG (0xEF27)
#define CIRCLE_DETECTOR_CONFIG (0xEE51)
#define USER_RECORD (0x74B4)
#define ME_TIME_SOURCE_SELECT (0xD403)
#define UART_FORMAT (0xA1A1)
#define GYRO_INTEGRATED_RV_CONFIG (0xA1A2)
#define FRS_ID_META_RAW_ACCELEROMETER (0xE301)
#define FRS_ID_META_ACCELEROMETER (0xE302)
#define FRS_ID_META_LINEAR_ACCELERATION (0xE303)
#define FRS_ID_META_GRAVITY (0xE304)
#define FRS_ID_META_RAW_GYROSCOPE (0xE305)
#define FRS_ID_META_GYROSCOPE_CALIBRATED (0xE306)
#define FRS_ID_META_GYROSCOPE_UNCALIBRATED (0xE307)
#define FRS_ID_META_RAW_MAGNETOMETER (0xE308)
#define FRS_ID_META_MAGNETIC_FIELD_CALIBRATED (0xE309)
#define FRS_ID_META_MAGNETIC_FIELD_UNCALIBRATED (0xE30A)
#define FRS_ID_META_ROTATION_VECTOR (0xE30B)
#define FRS_ID_META_GAME_ROTATION_VECTOR (0xE30C)
#define FRS_ID_META_GEOMAGNETIC_ROTATION_VECTOR (0xE30D)
#define FRS_ID_META_PRESSURE (0xE30E)
#define FRS_ID_META_AMBIENT_LIGHT (0xE30F)
#define FRS_ID_META_HUMIDITY (0xE310)
#define FRS_ID_META_PROXIMITY (0xE311)
#define FRS_ID_META_TEMPERATURE (0xE312)
#define FRS_ID_META_TAP_DETECTOR (0xE313)
#define FRS_ID_META_STEP_DETECTOR (0xE314)
#define FRS_ID_META_STEP_COUNTER (0xE315)
#define FRS_ID_META_SIGNIFICANT_MOTION (0xE316)
#define FRS_ID_META_STABILITY_CLASSIFIER (0xE317)
#define FRS_ID_META_SHAKE_DETECTOR (0xE318)
#define FRS_ID_META_FLIP_DETECTOR (0xE319)
#define FRS_ID_META_PICKUP_DETECTOR (0xE31A)
#define FRS_ID_META_STABILITY_DETECTOR (0xE31B)
#define FRS_ID_META_PERSONAL_ACTIVITY_CLASSIFIER (0xE31C)
#define FRS_ID_META_SLEEP_DETECTOR (0xE31D)
#define FRS_ID_META_TILT_DETECTOR (0xE31E)
#define FRS_ID_META_POCKET_DETECTOR (0xE31F)
#define FRS_ID_META_CIRCLE_DETECTOR (0xE320)
#define FRS_ID_META_HEART_RATE_MONITOR (0xE321)
#define FRS_ID_META_ARVR_STABILIZED_RV (0xE322)
#define FRS_ID_META_ARVR_STABILIZED_GRV (0xE323)
#define FRS_ID_META_GYRO_INTEGRATED_RV (0xE324)
/**
* @brief Interactive ZRO Motion Intent
*
* See the SH-2 Reference Manual, 6.4.13
*/
typedef enum {
SH2_IZRO_MI_UNKNOWN = 0,
SH2_IZRO_MI_STATIONARY_NO_VIBRATION,
SH2_IZRO_MI_STATIONARY_WITH_VIBRATION,
SH2_IZRO_MI_IN_MOTION,
} sh2_IZroMotionIntent_t;
/**
* @brief Interactive ZRO Motion Intent
*
* See the SH-2 Reference Manual, 6.4.13
*/
typedef enum {
SH2_IZRO_MR_NO_REQUEST = 0,
SH2_IZRO_MR_STAY_STATIONARY,
SH2_IZRO_MR_STATIONARY_NON_URGENT,
SH2_IZRO_MR_STATIONARY_URGENT,
} sh2_IZroMotionRequest_t;
/**
* @brief Asynchronous Event
*
* Represents reset events and other non-sensor events received from SH-2 sensor hub.
*/
enum sh2_AsyncEventId_e {
SH2_RESET,
SH2_SHTP_EVENT,
SH2_GET_FEATURE_RESP,
};
typedef enum sh2_AsyncEventId_e sh2_AsyncEventId_t;
enum sh2_ShtpEvent_e {
SH2_SHTP_TX_DISCARD = 0,
SH2_SHTP_SHORT_FRAGMENT = 1,
SH2_SHTP_TOO_LARGE_PAYLOADS = 2,
SH2_SHTP_BAD_RX_CHAN = 3,
SH2_SHTP_BAD_TX_CHAN = 4,
};
typedef uint8_t sh2_ShtpEvent_t;
typedef struct sh2_SensorConfigResp_e {
sh2_SensorId_t sensorId;
sh2_SensorConfig_t sensorConfig;
} sh2_SensorConfigResp_t;
typedef struct sh2_AsyncEvent {
uint32_t eventId;
union {
sh2_ShtpEvent_t shtpEvent;
sh2_SensorConfigResp_t sh2SensorConfigResp;
};
} sh2_AsyncEvent_t;
typedef void (sh2_EventCallback_t)(void * cookie, sh2_AsyncEvent_t *pEvent);
/***************************************************************************************
* Public API
**************************************************************************************/
/**
* @brief Open a session with a sensor hub.
*
* This function should be called before others in this API.
* An instance of an SH2 HAL should be passed in.
* This call will result in the open() function of the HAL being called.
*
* As part of the initialization process, a callback function is registered that will
* be invoked when the device generates certain events. (See sh2_AsyncEventId)
*
* @param pHal Pointer to an SH2 HAL instance, provided by the target system.
* @param eventCallback Will be called when events, such as reset complete, occur.
* @param eventCookie Will be passed to eventCallback.
* @return SH2_OK (0), on success. Negative value from sh2_err.h on error.
*/
int sh2_open(sh2_Hal_t *pHal,
sh2_EventCallback_t *eventCallback, void *eventCookie);
/**
* @brief Close a session with a sensor hub.
*
* This should be called at the end of a sensor hub session.
* The underlying SHTP and HAL instances will be closed.
*
*/
void sh2_close(void);
/**
* @brief Service the SH2 device, reading any data that is available and dispatching callbacks.
*
* This function should be called periodically by the host system to service an open sensor hub.
*
*/
void sh2_service(void);
/**
* @brief Register a function to receive sensor events.
*
* @param callback A function that will be called each time a sensor event is received.
* @param cookie A value that will be passed to the sensor callback function.
* @return SH2_OK (0), on success. Negative value from sh2_err.h on error.
*/
int sh2_setSensorCallback(sh2_SensorCallback_t *callback, void *cookie);
/**
* @brief Reset the sensor hub device by sending RESET (1) command on "device" channel.
*
* @return SH2_OK (0), on success. Negative value from sh2_err.h on error.
*/
int sh2_devReset(void);
/**
* @brief Turn sensor hub on by sending ON (2) command on "device" channel.
*
* @return SH2_OK (0), on success. Negative value from sh2_err.h on error.
*/
int sh2_devOn(void);
/**
* @brief Put sensor hub in sleep state by sending SLEEP (3) command on "device" channel.
*
* @return SH2_OK (0), on success. Negative value from sh2_err.h on error.
*/
int sh2_devSleep(void);
/**
* @brief Get Product ID information from Sensorhub.
*
* @param prodIds Pointer to structure that will receive results.
* @return SH2_OK (0), on success. Negative value from sh2_err.h on error.
*/
int sh2_getProdIds(sh2_ProductIds_t *prodIds);
/**
* @brief Get sensor configuration.
*
* @param sensorId Which sensor to query.
* @param config SensorConfig structure to store results.
* @return SH2_OK (0), on success. Negative value from sh2_err.h on error.
*/
int sh2_getSensorConfig(sh2_SensorId_t sensorId, sh2_SensorConfig_t *config);
/**
* @brief Set sensor configuration. (e.g enable a sensor at a particular rate.)
*
* @param sensorId Which sensor to configure.
* @param pConfig Pointer to structure holding sensor configuration.
* @return SH2_OK (0), on success. Negative value from sh2_err.h on error.
*/
int sh2_setSensorConfig(sh2_SensorId_t sensorId, const sh2_SensorConfig_t *pConfig);
/**
* @brief Get metadata related to a sensor.
*
* @param sensorId Which sensor to query.
* @param pData Pointer to structure to receive the results.
* @return SH2_OK (0), on success. Negative value from sh2_err.h on error.
*/
int sh2_getMetadata(sh2_SensorId_t sensorId, sh2_SensorMetadata_t *pData);
/**
* @brief Get an FRS record.
*
* @param recordId Which FRS Record to retrieve.
* @param pData pointer to buffer to receive the results
* @param[in] words Size of pData buffer, in 32-bit words.
* @param[out] words Number of 32-bit words retrieved.
* @return SH2_OK (0), on success. Negative value from sh2_err.h on error.
*/
int sh2_getFrs(uint16_t recordId, uint32_t *pData, uint16_t *words);
/**
* @brief Set an FRS record
*
* @param recordId Which FRS Record to set.
* @param pData pointer to buffer containing the new data.
* @param words number of 32-bit words to write. (0 to delete record.)
* @return SH2_OK (0), on success. Negative value from sh2_err.h on error.
*/
int sh2_setFrs(uint16_t recordId, uint32_t *pData, uint16_t words);
/**
* @brief Get error counts.
*
* @param severity Only errors of this severity or greater are returned.
* @param pErrors Buffer to receive error codes.
* @param numErrors size of pErrors array
* @return SH2_OK (0), on success. Negative value from sh2_err.h on error.
*/
int sh2_getErrors(uint8_t severity, sh2_ErrorRecord_t *pErrors, uint16_t *numErrors);
/**
* @brief Read counters related to a sensor.
*
* @param sensorId Which sensor to operate on.
* @param pCounts Pointer to Counts structure that will receive data.
* @return SH2_OK (0), on success. Negative value from sh2_err.h on error.
*/
int sh2_getCounts(sh2_SensorId_t sensorId, sh2_Counts_t *pCounts);
/**
* @brief Clear counters related to a sensor.
*
* @param sensorId which sensor to operate on.
* @return SH2_OK (0), on success. Negative value from sh2_err.h on error.
*/
int sh2_clearCounts(sh2_SensorId_t sensorId);
/**
* @brief Perform a tare operation on one or more axes.
*
* @param axes Bit mask specifying which axes should be tared.
* @param basis Which rotation vector to use as the basis for Tare adjustment.
* @return SH2_OK (0), on success. Negative value from sh2_err.h on error.
*/
int sh2_setTareNow(uint8_t axes, // SH2_TARE_X | SH2_TARE_Y | SH2_TARE_Z
sh2_TareBasis_t basis);
/**
* @brief Clears the previously applied tare operation.
*
* @return SH2_OK (0), on success. Negative value from sh2_err.h on error.
*/
int sh2_clearTare(void);
/**
* @brief Persist the results of last tare operation to flash.
*
* @return SH2_OK (0), on success. Negative value from sh2_err.h on error.
*/
int sh2_persistTare(void);
/**
* @brief Set the current run-time sensor reorientation. (Set to zero to clear tare.)
*
* @param orientation Quaternion rotation vector to apply as new tare.
* @return SH2_OK (0), on success. Negative value from sh2_err.h on error.
*/
int sh2_setReorientation(sh2_Quaternion_t *orientation);
/**
* @brief Command the sensorhub to reset.
*
* @return SH2_OK (0), on success. Negative value from sh2_err.h on error.
*/
int sh2_reinitialize(void);
/**
* @brief Save Dynamic Calibration Data to flash.
*
* @return SH2_OK (0), on success. Negative value from sh2_err.h on error.
*/
int sh2_saveDcdNow(void);
/**
* @brief Get Oscillator type.
*
* @param pOscType pointer to data structure to receive results.
* @return SH2_OK (0), on success. Negative value from sh2_err.h on error.
*/
int sh2_getOscType(sh2_OscType_t *pOscType);
// Flags for sensors field of sh_calConfig
#define SH2_CAL_ACCEL (0x01)
#define SH2_CAL_GYRO (0x02)
#define SH2_CAL_MAG (0x04)
#define SH2_CAL_PLANAR (0x08)
/**
* @brief Enable/Disable dynamic calibration for certain sensors
*
* @param sensors Bit mask to configure which sensors are affected.
* @return SH2_OK (0), on success. Negative value from sh2_err.h on error.
*/
int sh2_setCalConfig(uint8_t sensors);
/**
* @brief Get dynamic calibration configuration settings.
*
* @param pSensors pointer to Bit mask, set on return.
* @return SH2_OK (0), on success. Negative value from sh2_err.h on error.
*/
int sh2_getCalConfig(uint8_t *pSensors);
/**
* @brief Configure automatic saving of dynamic calibration data.
*
* @param enabled Enable or Disable DCD auto-save.
* @return SH2_OK (0), on success. Negative value from sh2_err.h on error.
*/
int sh2_setDcdAutoSave(bool enabled);
/**
* @brief Immediately issue all buffered sensor reports from a given sensor.
*
* @param sensorId Which sensor reports to flush.
* @return SH2_OK (0), on success. Negative value from sh2_err.h on error.
*/
int sh2_flush(sh2_SensorId_t sensorId);
/**
* @brief Command clear DCD in RAM, then reset sensor hub.
*
* @return SH2_OK (0), on success. Negative value from sh2_err.h on error.
*/
int sh2_clearDcdAndReset(void);
/**
* @brief Start simple self-calibration procedure.
*
* @parameter interval_us sensor report interval, uS.
* @return SH2_OK (0), on success. Negative value from sh2_err.h on error.
*/
int sh2_startCal(uint32_t interval_us);
/**
* @brief Finish simple self-calibration procedure.
*
* @parameter status contains calibration status code on return.
* @return SH2_OK (0), on success. Negative value from sh2_err.h on error.
*/
int sh2_finishCal(sh2_CalStatus_t *status);
/**
* @brief send Interactive ZRO Request.
*
* @parameter intent Inform the sensor hub what sort of motion should be in progress.
* @return SH2_OK (0), on success. Negative value from sh2_err.h on error.
*/
int sh2_setIZro(sh2_IZroMotionIntent_t intent);
#ifdef __cplusplus
} // extern "C"
#endif
#endif

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/*
* Copyright 2015-16 Hillcrest Laboratories, Inc.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License and
* any applicable agreements you may have with Hillcrest Laboratories, Inc.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
/*
* BNO080 Sensor Event decoding
*/
#include "sh2_SensorValue.h"
#include "sh2_err.h"
#include "sh2_util.h"
#define SCALE_Q(n) (1.0f / (1 << n))
const float scaleRadToDeg = 180.0 / 3.14159265358;
// ------------------------------------------------------------------------
// Forward declarations
static int decodeRawAccelerometer(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event);
static int decodeAccelerometer(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event);
static int decodeLinearAcceleration(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event);
static int decodeGravity(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event);
static int decodeRawGyroscope(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event);
static int decodeGyroscopeCalibrated(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event);
static int decodeGyroscopeUncal(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event);
static int decodeRawMagnetometer(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event);
static int decodeMagneticFieldCalibrated(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event);
static int decodeMagneticFieldUncal(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event);
static int decodeRotationVector(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event);
static int decodeGameRotationVector(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event);
static int decodeGeomagneticRotationVector(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event);
static int decodePressure(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event);
static int decodeAmbientLight(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event);
static int decodeHumidity(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event);
static int decodeProximity(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event);
static int decodeTemperature(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event);
static int decodeReserved(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event);
static int decodeTapDetector(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event);
static int decodeStepDetector(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event);
static int decodeStepCounter(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event);
static int decodeSignificantMotion(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event);
static int decodeStabilityClassifier(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event);
static int decodeShakeDetector(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event);
static int decodeFlipDetector(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event);
static int decodePickupDetector(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event);
static int decodeStabilityDetector(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event);
static int decodePersonalActivityClassifier(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event);
static int decodeSleepDetector(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event);
static int decodeTiltDetector(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event);
static int decodePocketDetector(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event);
static int decodeCircleDetector(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event);
static int decodeHeartRateMonitor(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event);
static int decodeArvrStabilizedRV(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event);
static int decodeArvrStabilizedGRV(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event);
static int decodeGyroIntegratedRV(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event);
static int decodeIZroRequest(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event);
// ------------------------------------------------------------------------
// Public API
int sh2_decodeSensorEvent(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event)
{
// Fill out fields of *value based on *event, converting data from message representation
// to natural representation.
int rc = SH2_OK;
value->sensorId = event->reportId;
value->timestamp = event->timestamp_uS;
if (value->sensorId != SH2_GYRO_INTEGRATED_RV) {
value->sequence = event->report[1];
value->status = event->report[2] & 0x03;
}
else {
value->sequence = 0;
value->status = 0;
}
// extract delay field (100uS units)
switch (value->sensorId) {
case SH2_RAW_ACCELEROMETER:
rc = decodeRawAccelerometer(value, event);
break;
case SH2_ACCELEROMETER:
rc = decodeAccelerometer(value, event);
break;
case SH2_LINEAR_ACCELERATION:
rc = decodeLinearAcceleration(value, event);
break;
case SH2_GRAVITY:
rc = decodeGravity(value, event);
break;
case SH2_RAW_GYROSCOPE:
rc = decodeRawGyroscope(value, event);
break;
case SH2_GYROSCOPE_CALIBRATED:
rc = decodeGyroscopeCalibrated(value, event);
break;
case SH2_GYROSCOPE_UNCALIBRATED:
rc = decodeGyroscopeUncal(value, event);
break;
case SH2_RAW_MAGNETOMETER:
rc = decodeRawMagnetometer(value, event);
break;
case SH2_MAGNETIC_FIELD_CALIBRATED:
rc = decodeMagneticFieldCalibrated(value, event);
break;
case SH2_MAGNETIC_FIELD_UNCALIBRATED:
rc = decodeMagneticFieldUncal(value, event);
break;
case SH2_ROTATION_VECTOR:
rc = decodeRotationVector(value, event);
break;
case SH2_GAME_ROTATION_VECTOR:
rc = decodeGameRotationVector(value, event);
break;
case SH2_GEOMAGNETIC_ROTATION_VECTOR:
rc = decodeGeomagneticRotationVector(value, event);
break;
case SH2_PRESSURE:
rc = decodePressure(value, event);
break;
case SH2_AMBIENT_LIGHT:
rc = decodeAmbientLight(value, event);
break;
case SH2_HUMIDITY:
rc = decodeHumidity(value, event);
break;
case SH2_PROXIMITY:
rc = decodeProximity(value, event);
break;
case SH2_TEMPERATURE:
rc = decodeTemperature(value, event);
break;
case SH2_RESERVED:
rc = decodeReserved(value, event);
break;
case SH2_TAP_DETECTOR:
rc = decodeTapDetector(value, event);
break;
case SH2_STEP_DETECTOR:
rc = decodeStepDetector(value, event);
break;
case SH2_STEP_COUNTER:
rc = decodeStepCounter(value, event);
break;
case SH2_SIGNIFICANT_MOTION:
rc = decodeSignificantMotion(value, event);
break;
case SH2_STABILITY_CLASSIFIER:
rc = decodeStabilityClassifier(value, event);
break;
case SH2_SHAKE_DETECTOR:
rc = decodeShakeDetector(value, event);
break;
case SH2_FLIP_DETECTOR:
rc = decodeFlipDetector(value, event);
break;
case SH2_PICKUP_DETECTOR:
rc = decodePickupDetector(value, event);
break;
case SH2_STABILITY_DETECTOR:
rc = decodeStabilityDetector(value, event);
break;
case SH2_PERSONAL_ACTIVITY_CLASSIFIER:
rc = decodePersonalActivityClassifier(value, event);
break;
case SH2_SLEEP_DETECTOR:
rc = decodeSleepDetector(value, event);
break;
case SH2_TILT_DETECTOR:
rc = decodeTiltDetector(value, event);
break;
case SH2_POCKET_DETECTOR:
rc = decodePocketDetector(value, event);
break;
case SH2_CIRCLE_DETECTOR:
rc = decodeCircleDetector(value, event);
break;
case SH2_HEART_RATE_MONITOR:
rc = decodeHeartRateMonitor(value, event);
break;
case SH2_ARVR_STABILIZED_RV:
rc = decodeArvrStabilizedRV(value, event);
break;
case SH2_ARVR_STABILIZED_GRV:
rc = decodeArvrStabilizedGRV(value, event);
break;
case SH2_GYRO_INTEGRATED_RV:
rc = decodeGyroIntegratedRV(value, event);
break;
case SH2_IZRO_MOTION_REQUEST:
rc = decodeIZroRequest(value, event);
break;
default:
// Unknown report id
rc = SH2_ERR;
break;
}
return rc;
}
// ------------------------------------------------------------------------
// Private utility functions
static int decodeRawAccelerometer(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event)
{
value->un.rawAccelerometer.x = read16(&event->report[4]);
value->un.rawAccelerometer.y = read16(&event->report[6]);
value->un.rawAccelerometer.z = read16(&event->report[8]);
value->un.rawAccelerometer.timestamp = read32(&event->report[12]);
return SH2_OK;
}
static int decodeAccelerometer(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event)
{
value->un.accelerometer.x = read16(&event->report[4]) * SCALE_Q(8);
value->un.accelerometer.y = read16(&event->report[6]) * SCALE_Q(8);
value->un.accelerometer.z = read16(&event->report[8]) * SCALE_Q(8);
return SH2_OK;
}
static int decodeLinearAcceleration(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event)
{
value->un.linearAcceleration.x = read16(&event->report[4]) * SCALE_Q(8);
value->un.linearAcceleration.y = read16(&event->report[6]) * SCALE_Q(8);
value->un.linearAcceleration.z = read16(&event->report[8]) * SCALE_Q(8);
return SH2_OK;
}
static int decodeGravity(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event)
{
value->un.gravity.x = read16(&event->report[4]) * SCALE_Q(8);
value->un.gravity.y = read16(&event->report[6]) * SCALE_Q(8);
value->un.gravity.z = read16(&event->report[8]) * SCALE_Q(8);
return SH2_OK;
}
static int decodeRawGyroscope(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event)
{
value->un.rawGyroscope.x = read16(&event->report[4]);
value->un.rawGyroscope.y = read16(&event->report[6]);
value->un.rawGyroscope.z = read16(&event->report[8]);
value->un.rawGyroscope.temperature = read16(&event->report[10]);
value->un.rawGyroscope.timestamp = read32(&event->report[12]);
return SH2_OK;
}
static int decodeGyroscopeCalibrated(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event)
{
value->un.gyroscope.x = read16(&event->report[4]) * SCALE_Q(9);
value->un.gyroscope.y = read16(&event->report[6]) * SCALE_Q(9);
value->un.gyroscope.z = read16(&event->report[8]) * SCALE_Q(9);
return SH2_OK;
}
static int decodeGyroscopeUncal(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event)
{
value->un.gyroscopeUncal.x = read16(&event->report[4]) * SCALE_Q(9);
value->un.gyroscopeUncal.y = read16(&event->report[6]) * SCALE_Q(9);
value->un.gyroscopeUncal.z = read16(&event->report[8]) * SCALE_Q(9);
value->un.gyroscopeUncal.biasX = read16(&event->report[10]) * SCALE_Q(9);
value->un.gyroscopeUncal.biasY = read16(&event->report[12]) * SCALE_Q(9);
value->un.gyroscopeUncal.biasZ = read16(&event->report[14]) * SCALE_Q(9);
return SH2_OK;
}
static int decodeRawMagnetometer(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event)
{
value->un.rawMagnetometer.x = read16(&event->report[4]);
value->un.rawMagnetometer.y = read16(&event->report[6]);
value->un.rawMagnetometer.z = read16(&event->report[8]);
value->un.rawMagnetometer.timestamp = read32(&event->report[12]);
return SH2_OK;
}
static int decodeMagneticFieldCalibrated(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event)
{
value->un.magneticField.x = read16(&event->report[4]) * SCALE_Q(4);
value->un.magneticField.y = read16(&event->report[6]) * SCALE_Q(4);
value->un.magneticField.z = read16(&event->report[8]) * SCALE_Q(4);
return SH2_OK;
}
static int decodeMagneticFieldUncal(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event)
{
value->un.magneticFieldUncal.x = read16(&event->report[4]) * SCALE_Q(4);
value->un.magneticFieldUncal.y = read16(&event->report[6]) * SCALE_Q(4);
value->un.magneticFieldUncal.z = read16(&event->report[8]) * SCALE_Q(4);
value->un.magneticFieldUncal.biasX = read16(&event->report[10]) * SCALE_Q(4);
value->un.magneticFieldUncal.biasY = read16(&event->report[12]) * SCALE_Q(4);
value->un.magneticFieldUncal.biasZ = read16(&event->report[14]) * SCALE_Q(4);
return SH2_OK;
}
static int decodeRotationVector(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event)
{
value->un.rotationVector.i = read16(&event->report[4]) * SCALE_Q(14);
value->un.rotationVector.j = read16(&event->report[6]) * SCALE_Q(14);
value->un.rotationVector.k = read16(&event->report[8]) * SCALE_Q(14);
value->un.rotationVector.real = read16(&event->report[10]) * SCALE_Q(14);
value->un.rotationVector.accuracy = read16(&event->report[12]) * SCALE_Q(12);
return SH2_OK;
}
static int decodeGameRotationVector(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event)
{
value->un.gameRotationVector.i = read16(&event->report[4]) * SCALE_Q(14);
value->un.gameRotationVector.j = read16(&event->report[6]) * SCALE_Q(14);
value->un.gameRotationVector.k = read16(&event->report[8]) * SCALE_Q(14);
value->un.gameRotationVector.real = read16(&event->report[10]) * SCALE_Q(14);
return SH2_OK;
}
static int decodeGeomagneticRotationVector(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event)
{
value->un.geoMagRotationVector.i = read16(&event->report[4]) * SCALE_Q(14);
value->un.geoMagRotationVector.j = read16(&event->report[6]) * SCALE_Q(14);
value->un.geoMagRotationVector.k = read16(&event->report[8]) * SCALE_Q(14);
value->un.geoMagRotationVector.real = read16(&event->report[10]) * SCALE_Q(14);
value->un.geoMagRotationVector.accuracy = read16(&event->report[12]) * SCALE_Q(12);
return SH2_OK;
}
static int decodePressure(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event)
{
value->un.pressure.value = read32(&event->report[4]) * SCALE_Q(20);
return SH2_OK;
}
static int decodeAmbientLight(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event)
{
value->un.ambientLight.value = read32(&event->report[4]) * SCALE_Q(8);
return SH2_OK;
}
static int decodeHumidity(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event)
{
value->un.humidity.value = read16(&event->report[4]) * SCALE_Q(8);
return SH2_OK;
}
static int decodeProximity(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event)
{
value->un.proximity.value = read16(&event->report[4]) * SCALE_Q(4);
return SH2_OK;
}
static int decodeTemperature(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event)
{
value->un.temperature.value = read16(&event->report[4]) * SCALE_Q(7);
return SH2_OK;
}
static int decodeReserved(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event)
{
value->un.reserved.tbd = read16(&event->report[4]) * SCALE_Q(7);
return SH2_OK;
}
static int decodeTapDetector(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event)
{
value->un.tapDetector.flags = event->report[4];
return SH2_OK;
}
static int decodeStepDetector(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event)
{
value->un.stepDetector.latency = readu32(&event->report[4]);
return SH2_OK;
}
static int decodeStepCounter(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event)
{
value->un.stepCounter.latency = readu32(&event->report[4]);
value->un.stepCounter.steps = readu32(&event->report[8]);
return SH2_OK;
}
static int decodeSignificantMotion(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event)
{
value->un.sigMotion.motion = readu16(&event->report[4]);
return SH2_OK;
}
static int decodeStabilityClassifier(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event)
{
value->un.stabilityClassifier.classification = event->report[4];
return SH2_OK;
}
static int decodeShakeDetector(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event)
{
value->un.shakeDetector.shake = readu16(&event->report[4]);
return SH2_OK;
}
static int decodeFlipDetector(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event)
{
value->un.flipDetector.flip = readu16(&event->report[4]);
return SH2_OK;
}
static int decodePickupDetector(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event)
{
value->un.pickupDetector.pickup = readu16(&event->report[4]);
return SH2_OK;
}
static int decodeStabilityDetector(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event)
{
value->un.stabilityDetector.stability = readu16(&event->report[4]);
return SH2_OK;
}
static int decodePersonalActivityClassifier(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event)
{
value->un.personalActivityClassifier.page = event->report[4] & 0x7F;
value->un.personalActivityClassifier.lastPage = ((event->report[4] & 0x80) != 0);
value->un.personalActivityClassifier.mostLikelyState = event->report[5];
for (int n = 0; n < 10; n++) {
value->un.personalActivityClassifier.confidence[n] = event->report[6+n];
}
return SH2_OK;
}
static int decodeSleepDetector(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event)
{
value->un.sleepDetector.sleepState = event->report[4];
return SH2_OK;
}
static int decodeTiltDetector(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event)
{
value->un.tiltDetector.tilt = readu16(&event->report[4]);
return SH2_OK;
}
static int decodePocketDetector(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event)
{
value->un.pocketDetector.pocket = readu16(&event->report[4]);
return SH2_OK;
}
static int decodeCircleDetector(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event)
{
value->un.circleDetector.circle = readu16(&event->report[4]);
return SH2_OK;
}
static int decodeHeartRateMonitor(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event)
{
value->un.heartRateMonitor.heartRate = readu16(&event->report[4]);
return SH2_OK;
}
static int decodeArvrStabilizedRV(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event)
{
value->un.arvrStabilizedRV.i = read16(&event->report[4]) * SCALE_Q(14);
value->un.arvrStabilizedRV.j = read16(&event->report[6]) * SCALE_Q(14);
value->un.arvrStabilizedRV.k = read16(&event->report[8]) * SCALE_Q(14);
value->un.arvrStabilizedRV.real = read16(&event->report[10]) * SCALE_Q(14);
value->un.arvrStabilizedRV.accuracy = read16(&event->report[12]) * SCALE_Q(12);
return SH2_OK;
}
static int decodeArvrStabilizedGRV(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event)
{
value->un.arvrStabilizedGRV.i = read16(&event->report[4]) * SCALE_Q(14);
value->un.arvrStabilizedGRV.j = read16(&event->report[6]) * SCALE_Q(14);
value->un.arvrStabilizedGRV.k = read16(&event->report[8]) * SCALE_Q(14);
value->un.arvrStabilizedGRV.real = read16(&event->report[10]) * SCALE_Q(14);
return SH2_OK;
}
static int decodeGyroIntegratedRV(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event)
{
value->un.gyroIntegratedRV.i = read16(&event->report[0]) * SCALE_Q(14);
value->un.gyroIntegratedRV.j = read16(&event->report[2]) * SCALE_Q(14);
value->un.gyroIntegratedRV.k = read16(&event->report[4]) * SCALE_Q(14);
value->un.gyroIntegratedRV.real = read16(&event->report[6]) * SCALE_Q(14);
value->un.gyroIntegratedRV.angVelX = read16(&event->report[8]) * SCALE_Q(10);
value->un.gyroIntegratedRV.angVelY = read16(&event->report[10]) * SCALE_Q(10);
value->un.gyroIntegratedRV.angVelZ = read16(&event->report[12]) * SCALE_Q(10);
return SH2_OK;
}
static int decodeIZroRequest(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event)
{
value->un.izroRequest.intent = (sh2_IZroMotionIntent_t)event->report[4];
value->un.izroRequest.request = (sh2_IZroMotionRequest_t)event->report[5];
return SH2_OK;
}

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/*
* Copyright 2015-16 Hillcrest Laboratories, Inc.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License and
* any applicable agreements you may have with Hillcrest Laboratories, Inc.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
/**
* @file sh2_SensorValue.h
* @author David Wheeler
* @date 10 Nov 2015
* @brief Support for converting sensor events (messages) into natural data structures.
*
*/
#ifndef SH2_SENSORVALUE_H
#define SH2_SENSORVALUE_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include "sh2.h"
/* Note on quaternion naming conventions:
* Quaternions are values with four real components that are usually
* interpreted as coefficients in the complex quantity, Q.
*
* As in, Q = W + Xi + Yj + Zk
*
* Where i, j and k represent the three imaginary dimensions.
*
* So W represents the Real components and X, Y and Z the Imaginary ones.
*
* In the Hillcrest datasheets and in this code, however, the four components
* are named real, i, j and k, to make it explicit which is which. If you
* need to translate these names into the "wxyz" or "xyzw" convention, then, the
* appropriate mapping is this:
* w = real
* x = i
* y = j
* z = k
*/
/**
* @brief Raw Accelerometer
*
* See the SH-2 Reference Manual for more detail.
*/
typedef struct sh2_RawAccelerometer {
/* Units are ADC counts */
int16_t x; /**< @brief [ADC counts] */
int16_t y; /**< @brief [ADC counts] */
int16_t z; /**< @brief [ADC counts] */
/* Microseconds */
uint32_t timestamp; /**< @brief [uS] */
} sh2_RawAccelerometer_t;
/**
* @brief Accelerometer
*
* See the SH-2 Reference Manual for more detail.
*/
typedef struct sh2_Accelerometer {
float x;
float y;
float z;
} sh2_Accelerometer_t;
/**
* @brief Raw gyroscope
*
* See the SH-2 Reference Manual for more detail.
*/
typedef struct sh2_RawGyroscope {
/* Units are ADC counts */
int16_t x; /**< @brief [ADC Counts] */
int16_t y; /**< @brief [ADC Counts] */
int16_t z; /**< @brief [ADC Counts] */
int16_t temperature; /**< @brief [ADC Counts] */
/* Microseconds */
uint32_t timestamp; /**< @brief [uS] */
} sh2_RawGyroscope_t;
/**
* @brief Gyroscope
*
* See the SH-2 Reference Manual for more detail.
*/
typedef struct sh2_Gyroscope {
/* Units are rad/s */
float x;
float y;
float z;
} sh2_Gyroscope_t;
/**
* @brief Uncalibrated gyroscope
*
* See the SH-2 Reference Manual for more detail.
*/
typedef struct sh2_GyroscopeUncalibrated {
/* Units are rad/s */
float x; /**< @brief [rad/s] */
float y; /**< @brief [rad/s] */
float z; /**< @brief [rad/s] */
float biasX; /**< @brief [rad/s] */
float biasY; /**< @brief [rad/s] */
float biasZ; /**< @brief [rad/s] */
} sh2_GyroscopeUncalibrated_t;
/**
* @brief Raw Magnetometer
*
* See the SH-2 Reference Manual for more detail.
*/
typedef struct sh2_RawMagnetometer {
/* Units are ADC counts */
int16_t x; /**< @brief [ADC Counts] */
int16_t y; /**< @brief [ADC Counts] */
int16_t z; /**< @brief [ADC Counts] */
/* Microseconds */
uint32_t timestamp; /**< @brief [uS] */
} sh2_RawMagnetometer_t;
/**
* @brief Magnetic field
*
* See the SH-2 Reference Manual for more detail.
*/
typedef struct sh2_MagneticField {
/* Units are uTesla */
float x; /**< @brief [uTesla] */
float y; /**< @brief [uTesla] */
float z; /**< @brief [uTesla] */
} sh2_MagneticField_t;
/**
* @brief Uncalibrated magnetic field
*
* See the SH-2 Reference Manual for more detail.
*/
typedef struct sh2_MagneticFieldUncalibrated {
/* Units are uTesla */
float x; /**< @brief [uTesla] */
float y; /**< @brief [uTesla] */
float z; /**< @brief [uTesla] */
float biasX; /**< @brief [uTesla] */
float biasY; /**< @brief [uTesla] */
float biasZ; /**< @brief [uTesla] */
} sh2_MagneticFieldUncalibrated_t;
/**
* @brief Rotation Vector with Accuracy
*
* See the SH-2 Reference Manual for more detail.
*/
typedef struct sh2_RotationVectorWAcc {
float i; /**< @brief Quaternion component i */
float j; /**< @brief Quaternion component j */
float k; /**< @brief Quaternion component k */
float real; /**< @brief Quaternion component, real */
float accuracy; /**< @brief Accuracy estimate [radians] */
} sh2_RotationVectorWAcc_t;
/**
* @brief Rotation Vector
*
* See the SH-2 Reference Manual for more detail.
*/
typedef struct sh2_RotationVector {
float i; /**< @brief Quaternion component i */
float j; /**< @brief Quaternion component j */
float k; /**< @brief Quaternion component k */
float real; /**< @brief Quaternion component real */
} sh2_RotationVector_t;
/**
* @brief Atmospheric Pressure
*
* See the SH-2 Reference Manual for more detail.
*/
typedef struct sh2_Pressure {
float value; /**< @brief Atmospheric Pressure. [hectopascals] */
} sh2_Pressure_t;
/**
* @brief Ambient Light
*
* See the SH-2 Reference Manual for more detail.
*/
typedef struct sh2_AmbientLight {
float value; /**< @brief Ambient Light. [lux] */
} sh2_AmbientLight_t;
/**
* @brief Humidity
*
* See the SH-2 Reference Manual for more detail.
*/
typedef struct sh2_Humidity {
float value; /**< @brief Relative Humidity. [percent] */
} sh2_Humidity_t;
/**
* @brief Proximity
*
* See the SH-2 Reference Manual for more detail.
*/
typedef struct sh2_Proximity {
float value; /**< @brief Proximity. [cm] */
} sh2_Proximity_t;
/**
* @brief Temperature
*
* See the SH-2 Reference Manual for more detail.
*/
typedef struct sh2_Temperature {
float value; /**< @brief Temperature. [C] */
} sh2_Temperature_t;
/**
* @brief Reserved
*
* See the SH-2 Reference Manual for more detail.
*/
typedef struct sh2_Reserved {
float tbd; /**< @brief Reserved */
} sh2_Reserved_t;
/**
* @brief TapDetector
*
* See the SH-2 Reference Manual for more detail.
*/
#define TAPDET_X (1)
#define TAPDET_X_POS (2)
#define TAPDET_Y (4)
#define TAPDET_Y_POS (8)
#define TAPDET_Z (16)
#define TAPDET_Z_POS (32)
#define TAPDET_DOUBLE (64)
typedef struct sh2_TapDetector {
uint8_t flags; /**< @brief TapDetector. */
} sh2_TapDetector_t;
/**
* @brief StepDetector
*
* See the SH-2 Reference Manual for more detail.
*/
typedef struct sh2_StepDetector {
uint32_t latency; /**< @brief Step detect latency [uS]. */
} sh2_StepDetector_t;
/**
* @brief StepCounter
*
* See the SH-2 Reference Manual for more detail.
*/
typedef struct sh2_StepCounter {
uint32_t latency; /**< @brief Step counter latency [uS]. */
uint16_t steps; /**< @brief Steps counted. */
} sh2_StepCounter_t;
/**
* @brief SigMotion
*
* See the SH-2 Reference Manual for more detail.
*/
typedef struct sh2_SigMotion {
uint16_t motion;
} sh2_SigMotion_t;
/**
* @brief StabilityClassifier
*
* See the SH-2 Reference Manual for more detail.
*/
#define STABILITY_CLASSIFIER_UNKNOWN (0)
#define STABILITY_CLASSIFIER_ON_TABLE (1)
#define STABILITY_CLASSIFIER_STATIONARY (2)
#define STABILITY_CLASSIFIER_STABLE (3)
#define STABILITY_CLASSIFIER_MOTION (4)
typedef struct sh2_StabilityClassifier {
uint8_t classification;
} sh2_StabilityClassifier_t;
/**
* @brief ShakeDetector
*
* See the SH-2 Reference Manual for more detail.
*/
#define SHAKE_X (1)
#define SHAKE_Y (2)
#define SHAKE_Z (4)
typedef struct sh2_ShakeDetector {
uint16_t shake;
} sh2_ShakeDetector_t;
/**
* @brief flipDetector
*
* See the SH-2 Reference Manual for more detail.
*/
typedef struct sh2_FlipDetector {
uint16_t flip;
} sh2_FlipDetector_t;
/**
* @brief pickupDetector
*
* See the SH-2 Reference Manual for more detail.
*/
#define PICKUP_LEVEL_TO_NOT_LEVEL (1)
#define PICKUP_STOP_WITHIN_REGION (2)
typedef struct sh2_PickupDetector {
uint16_t pickup; /**< flag field with bits defined above. */
} sh2_PickupDetector_t;
/**
* @brief stabilityDetector
*
* See the SH-2 Reference Manual for more detail.
*/
#define STABILITY_ENTERED (1)
#define STABILITY_EXITED (2)
typedef struct sh2_StabilityDetector {
uint16_t stability; /**< flag field with bits defined above. */
} sh2_StabilityDetector_t;
/**
* @brief Personal Activity Classifier
*
* See the SH-2 Reference Manual for more detail.
*/
#define PAC_UNKNOWN (0)
#define PAC_IN_VEHICLE (1)
#define PAC_ON_BICYCLE (2)
#define PAC_ON_FOOT (3)
#define PAC_STILL (4)
#define PAC_TILTING (5)
#define PAC_WALKING (6)
#define PAC_RUNNING (7)
typedef struct sh2_PersonalActivityClassifier {
uint8_t page;
bool lastPage;
uint8_t mostLikelyState;
uint8_t confidence[10];
} sh2_PersonalActivityClassifier_t;
/**
* @brief sleepDetector
*
* See the SH-2 Reference Manual for more detail.
*/
typedef struct sh2_SleepDetector {
uint8_t sleepState;
} sh2_SleepDetector_t;
/**
* @brief tiltDetector
*
* See the SH-2 Reference Manual for more detail.
*/
typedef struct sh2_TiltDetector {
uint16_t tilt;
} sh2_TiltDetector_t;
/**
* @brief pocketDetector
*
* See the SH-2 Reference Manual for more detail.
*/
typedef struct sh2_PocketDetector {
uint16_t pocket;
} sh2_PocketDetector_t;
/**
* @brief circleDetector
*
* See the SH-2 Reference Manual for more detail.
*/
typedef struct sh2_CircleDetector {
uint16_t circle;
} sh2_CircleDetector_t;
/**
* @brief heartRateMonitor
*
* See SH-2 Reference Manual for details.
*/
typedef struct sh2_HeartRateMonitor {
uint16_t heartRate; /**< heart rate in beats per minute. */
} sh2_HeartRateMonitor_t;
/**
* @brief Gyro Integrated Rotation Vector
*
* See SH-2 Reference Manual for details.
*/
typedef struct sh2_GyroIntegratedRV {
float i; /**< @brief Quaternion component i */
float j; /**< @brief Quaternion component j */
float k; /**< @brief Quaternion component k */
float real; /**< @brief Quaternion component real */
float angVelX; /**< @brief Angular velocity about x [rad/s] */
float angVelY; /**< @brief Angular velocity about y [rad/s] */
float angVelZ; /**< @brief Angular velocity about z [rad/s] */
} sh2_GyroIntegratedRV_t;
typedef struct sh2_IZroRequest {
sh2_IZroMotionIntent_t intent;
sh2_IZroMotionRequest_t request;
} sh2_IZroRequest_t;
typedef struct sh2_SensorValue {
/** Which sensor produced this event. */
uint8_t sensorId;
/** @brief 8-bit unsigned integer used to track reports.
*
* The sequence number increments once for each report sent. Gaps
* in the sequence numbers indicate missing or dropped reports.
*/
uint8_t sequence;
/* Status of a sensor
* 0 - Unreliable
* 1 - Accuracy low
* 2 - Accuracy medium
* 3 - Accuracy high
*/
uint8_t status; /**< @brief bits 7-5: reserved, 4-2: exponent delay, 1-0: Accuracy */
uint64_t timestamp; /**< [uS] */
uint32_t delay; /**< @brief [uS] value is delay * 2^exponent (see status) */
/** @brief Sensor Data
*
* Use the structure based on the value of the sensor
* field.
*/
union {
sh2_RawAccelerometer_t rawAccelerometer;
sh2_Accelerometer_t accelerometer;
sh2_Accelerometer_t linearAcceleration;
sh2_Accelerometer_t gravity;
sh2_RawGyroscope_t rawGyroscope;
sh2_Gyroscope_t gyroscope;
sh2_GyroscopeUncalibrated_t gyroscopeUncal;
sh2_RawMagnetometer_t rawMagnetometer;
sh2_MagneticField_t magneticField;
sh2_MagneticFieldUncalibrated_t magneticFieldUncal;
sh2_RotationVectorWAcc_t rotationVector;
sh2_RotationVector_t gameRotationVector;
sh2_RotationVectorWAcc_t geoMagRotationVector;
sh2_Pressure_t pressure;
sh2_AmbientLight_t ambientLight;
sh2_Humidity_t humidity;
sh2_Proximity_t proximity;
sh2_Temperature_t temperature;
sh2_Reserved_t reserved;
sh2_TapDetector_t tapDetector;
sh2_StepDetector_t stepDetector;
sh2_StepCounter_t stepCounter;
sh2_SigMotion_t sigMotion;
sh2_StabilityClassifier_t stabilityClassifier;
sh2_ShakeDetector_t shakeDetector;
sh2_FlipDetector_t flipDetector;
sh2_PickupDetector_t pickupDetector;
sh2_StabilityDetector_t stabilityDetector;
sh2_PersonalActivityClassifier_t personalActivityClassifier;
sh2_SleepDetector_t sleepDetector;
sh2_TiltDetector_t tiltDetector;
sh2_PocketDetector_t pocketDetector;
sh2_CircleDetector_t circleDetector;
sh2_HeartRateMonitor_t heartRateMonitor;
sh2_RotationVectorWAcc_t arvrStabilizedRV;
sh2_RotationVector_t arvrStabilizedGRV;
sh2_GyroIntegratedRV_t gyroIntegratedRV;
sh2_IZroRequest_t izroRequest;
} un;
} sh2_SensorValue_t;
int sh2_decodeSensorEvent(sh2_SensorValue_t *value, const sh2_SensorEvent_t *event);
#ifdef __cplusplus
} // extern "C"
#endif
#endif

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/*
* Copyright 2015-16 Hillcrest Laboratories, Inc.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License and
* any applicable agreements you may have with Hillcrest Laboratories, Inc.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
/**
* @file sh2_err.h
* @author David Wheeler
* @date 22 May 2015
* @brief Type definitions for Hillcrest SH-2 API.
*
* Struct and type definitions supporting the Hillcrest SH-2 SensorHub API.
*
*/
#ifndef SH2_ERR_H
#define SH2_ERR_H
#define SH2_OK (0) /**< Success */
#define SH2_ERR (-1) /**< General Error */
#define SH2_ERR_BAD_PARAM (-2) /**< Bad parameter to an API call */
#define SH2_ERR_OP_IN_PROGRESS (-3) /**< Operation in progress */
#define SH2_ERR_IO (-4) /**< Error communicating with hub */
#define SH2_ERR_HUB (-5) /**< Error reported by hub */
#define SH2_ERR_TIMEOUT (-6) /**< Operation timed out */
#endif

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/*
* Copyright 2018 Hillcrest Laboratories, Inc.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License and
* any applicable agreements you may have with Hillcrest Laboratories, Inc.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
/*
* SH2 HAL Interface for Non-RTOS Applications.
*/
// Include guard
#ifndef SH2_HAL_H
#define SH2_HAL_H
#include <stdint.h>
// SH2 Implementations generally have a max out transfer len of 256
#define SH2_HAL_MAX_TRANSFER_OUT (256)
#define SH2_HAL_MAX_PAYLOAD_OUT (256)
// Although some implementations adversize a max in transfer of 32K,
// in practice, the largest transfer performed is the advertisements
// which is 272 bytes at time of writing.
#define SH2_HAL_MAX_TRANSFER_IN (384)
#define SH2_HAL_MAX_PAYLOAD_IN (384)
// This needs to be a power of 2, greater than max of the above.
#define SH2_HAL_DMA_SIZE (512)
typedef struct sh2_Hal_s sh2_Hal_t;
// The SH2 interface uses these functions to access the underlying
// communications device, so the system integrator will need to
// implement these. At system intialization time, an sh2_Hal_t
// structure should be initialized with pointers to all the hardware
// access layer functions. A pointer to this structure must then be
// passed to sh2_open() to initialize the SH2 interface.
//
// If the DFU (download firmware update) capability is needed, the
// example DFU code also uses this interface but each function has
// somewhat different requirements. So a separate instance of an
// sh2_Hal_t structure, pointing to different functions, is
// recommended for supporting DFU.
struct sh2_Hal_s {
// This function initializes communications with the device. It
// can initialize any GPIO pins and peripheral devices used to
// interface with the sensor hub.
// It should also perform a reset cycle on the sensor hub to
// ensure communications start from a known state.
int (*open)(sh2_Hal_t *self);
// This function completes communications with the sensor hub.
// It should put the device in reset then de-initialize any
// peripherals or hardware resources that were used.
void (*close)(sh2_Hal_t *self);
// This function supports reading data from the sensor hub.
// It will be called frequently to sevice the device.
//
// If the HAL has received a full SHTP transfer, this function
// should load the data into pBuffer, set the timestamp to the
// time the interrupt was detected and return the non-zero length
// of data in this transfer.
//
// If the HAL has not recevied a full SHTP transfer, this function
// should return 0.
//
// Because this function is called regularly, it can be used to
// perform other housekeeping operations. (In the case of UART
// interfacing, bytes transmitted are staggered in time and this
// function can be used to keep the transmission flowing.)
int (*read)(sh2_Hal_t *self, uint8_t *pBuffer, unsigned len, uint32_t *t_us);
// This function supports writing data to the sensor hub.
// It is called each time the application has a block of data to
// transfer to the device.
//
// If the device isn't ready to receive data this function can
// return 0 without performing the transmit function.
//
// If the transmission can be started, this function needs to
// copy the data from pBuffer and return the number of bytes
// accepted. It need not block. The actual transmission of
// the data can continue after this function returns.
int (*write)(sh2_Hal_t *self, uint8_t *pBuffer, unsigned len);
// This function should return a 32-bit value representing a
// microsecond counter. The count may roll over after 2^32
// microseconds.
uint32_t (*getTimeUs)(sh2_Hal_t *self);
};
// End of include guard
#endif

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/*
* Copyright 2015-16 Hillcrest Laboratories, Inc.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License and
* any applicable agreements you may have with Hillcrest Laboratories, Inc.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
/*
* Simple Utility functions common to several SH2 files.
*/
#include "sh2_util.h"
uint8_t readu8(const uint8_t *p)
{
uint8_t retval = p[0];
return retval;
}
void writeu8(uint8_t * p, uint8_t value)
{
*p = (uint8_t)(value & 0xFF);
}
uint16_t readu16(const uint8_t *p)
{
uint16_t retval = p[0] | (p[1] << 8);
return retval;
}
void writeu16(uint8_t * p, uint16_t value)
{
*p++ = (uint8_t)(value & 0xFF);
value >>= 8;
*p = (uint8_t)(value & 0xFF);
}
uint32_t readu32(const uint8_t *p)
{
uint32_t retval = p[0] | (p[1] << 8) | (p[2] << 16) | (p[3] << 24);
return retval;
}
void writeu32(uint8_t * p, uint32_t value)
{
*p++ = (uint8_t)(value & 0xFF);
value >>= 8;
*p++ = (uint8_t)(value & 0xFF);
value >>= 8;
*p++ = (uint8_t)(value & 0xFF);
value >>= 8;
*p = (uint8_t)(value & 0xFF);
}
int8_t read8(const uint8_t *p)
{
int8_t retval = p[0];
return retval;
}
void write8(uint8_t * p, int8_t value)
{
*p = (uint8_t)(value & 0xFF);
}
int16_t read16(const uint8_t *p)
{
int16_t retval = p[0] | (p[1] << 8);
return retval;
}
void write16(uint8_t * p, int16_t value)
{
*p++ = (uint8_t)(value & 0xFF);
value >>= 8;
*p = (uint8_t)(value & 0xFF);
}
int32_t read32(const uint8_t *p)
{
int32_t retval = p[0] | (p[1] << 8) | (p[2] << 16) | (p[3] << 24);
return retval;
}
void write32(uint8_t * p, int32_t value)
{
*p++ = (uint8_t)(value & 0xFF);
value >>= 8;
*p++ = (uint8_t)(value & 0xFF);
value >>= 8;
*p++ = (uint8_t)(value & 0xFF);
value >>= 8;
*p = (uint8_t)(value & 0xFF);
}

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/*
* Copyright 2015-16 Hillcrest Laboratories, Inc.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License and
* any applicable agreements you may have with Hillcrest Laboratories, Inc.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
/*
* Simple Utility functions common to several SH2 files.
*/
#ifndef SH2_UTIL_H
#define SH2_UTIL_H
#include <stdint.h>
#ifndef ARRAY_LEN
#define ARRAY_LEN(a) (sizeof(a)/sizeof(a[0]))
#endif
uint8_t readu8(const uint8_t * buffer);
void writeu8(uint8_t * buffer, uint8_t value);
uint16_t readu16(const uint8_t * buffer);
void writeu16(uint8_t * buffer, uint16_t value);
uint32_t readu32(const uint8_t * buffer);
void writeu32(uint8_t * buffer, uint32_t value);
int8_t read8(const uint8_t * buffer);
void write8(uint8_t * buffer, int8_t value);
int16_t read16(const uint8_t * buffer);
void write16(uint8_t * buffer, int16_t value);
int32_t read32(const uint8_t * buffer);
void write32(uint8_t * buffer, int32_t value);
#endif

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/*
* Copyright 2015-18 Hillcrest Laboratories, Inc.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License and
* any applicable agreements you may have with Hillcrest Laboratories, Inc.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
/*
* Hillcrest Sensor Hub Transport Protocol (SHTP) API
*/
#include "shtp.h"
#include "sh2_err.h"
#include "sh2_util.h"
#include <string.h>
// ------------------------------------------------------------------------
// Private types
#define SH2_MAX_APPS (5)
#define SHTP_APP_NAME_LEN (32)
#define SH2_MAX_CHANS (8)
#define SHTP_CHAN_NAME_LEN (32)
// Defined Globally Unique Identifiers
#define GUID_SHTP (0)
// Command Channel commands and parameters
#define SHTP_CHAN_COMMAND (0)
#define CMD_ADVERTISE (0)
#define CMD_ADVERTISE_SHTP (0)
#define CMD_ADVERTISE_ALL (1)
#define RESP_ADVERTISE (0)
#define SHTP_HDR_LEN (4)
#define TAG_SHTP_VERSION 0x80
typedef struct shtp_App_s {
uint32_t guid;
char appName[SHTP_APP_NAME_LEN];
} shtp_App_t;
typedef struct shtp_AppListener_s {
uint16_t guid;
shtp_AdvertCallback_t *callback;
void *cookie;
} shtp_AppListener_t;
typedef struct shtp_ChanListener_s {
uint16_t guid;
char chanName[SHTP_CHAN_NAME_LEN];
shtp_Callback_t *callback;
void *cookie;
} shtp_ChanListener_t;
typedef struct shtp_Channel_s {
uint8_t nextOutSeq;
uint8_t nextInSeq;
uint32_t guid; // app id
char chanName[SHTP_CHAN_NAME_LEN];
bool wake;
shtp_Callback_t *callback;
void *cookie;
} shtp_Channel_t;
typedef enum {
ADVERT_NEEDED,
ADVERT_REQUESTED,
ADVERT_IDLE,
} advert_phase_t;
// Per-instance data for SHTP
typedef struct shtp_s {
// Associated SHTP HAL
// If 0, this indicates the SHTP instance is available for new opens
sh2_Hal_t *pHal;
// Asynchronous Event callback and it's cookie
shtp_EventCallback_t *eventCallback;
void * eventCookie;
// Data from adverts
char shtpVersion[8];
uint16_t outMaxPayload;
uint16_t outMaxTransfer;
// Transmit support
uint8_t outTransfer[SH2_HAL_MAX_TRANSFER_OUT];
// Receive support
uint16_t inMaxTransfer;
uint16_t inRemaining;
uint8_t inChan;
uint8_t inPayload[SH2_HAL_MAX_PAYLOAD_IN];
uint16_t inCursor;
uint32_t inTimestamp;
uint8_t inTransfer[SH2_HAL_MAX_TRANSFER_IN];
// What stage of advertisement processing are we in.
advert_phase_t advertPhase;
// Applications
shtp_App_t app[SH2_MAX_APPS];
uint8_t nextApp;
// Advert registrations
uint8_t nextAppListener;
shtp_AppListener_t appListener[SH2_MAX_APPS];
// SHTP Channels
shtp_Channel_t chan[SH2_MAX_CHANS];
// Channel listeners
shtp_ChanListener_t chanListener[SH2_MAX_CHANS];
uint8_t nextChanListener;
// Stats
uint32_t txDiscards;
uint32_t shortFragments;
uint32_t tooLargePayloads;
uint32_t badRxChan;
uint32_t badTxChan;
} shtp_t;
// ------------------------------------------------------------------------
// Private data
// Advertisement request
static const uint8_t advertise[] = {
CMD_ADVERTISE,
CMD_ADVERTISE_ALL
};
#define MAX_INSTANCES (1)
static shtp_t instances[MAX_INSTANCES];
static bool shtp_initialized = false;
// ------------------------------------------------------------------------
// Private functions
static void shtp_init(void)
{
// clear instance memory.
// In particular, this clears the pHal pointers which are used
// to determine if an instance is open and in-use.
memset(instances, 0, sizeof(instances));
// Set the initialized flag so this doesn't happen again.
shtp_initialized = true;
}
static shtp_t *getInstance(void)
{
for (int n = 0; n < MAX_INSTANCES; n++) {
if (instances[n].pHal == 0) {
// This instance is free
return &instances[n];
}
}
// Can't give an instance, none are free
return 0;
}
// Register a listener for an app (advertisement listener)
static void addAdvertListener(shtp_t *pShtp, uint16_t guid,
shtp_AdvertCallback_t *callback, void * cookie)
{
shtp_AppListener_t *pAppListener = 0;
// Bail out if no space for more apps
if (pShtp->nextAppListener >= SH2_MAX_APPS) return;
// Register this app
pAppListener = &pShtp->appListener[pShtp->nextAppListener];
pShtp->nextAppListener++;
pAppListener->guid = guid;
pAppListener->callback = callback;
pAppListener->cookie = cookie;
}
// Try to match registered listeners with their channels.
// This is performed every time the underlying Channel, App, Listener data structures are updated.
// As a result, channel number to callback association is fast when receiving packets
static void updateCallbacks(shtp_t *pShtp)
{
// Figure out which callback is associated with each channel.
// Channel -> (GUID, Chan name).
// GUID -> App name.
// (App name, Chan name) -> Callback
uint32_t guid;
const char * chanName = 0;
for (int chanNo = 0; chanNo < SH2_MAX_CHANS; chanNo++) {
// Reset callback for this channel until we find the right one.
pShtp->chan[chanNo].callback = 0;
if (pShtp->chan[chanNo].guid == 0xFFFFFFFF) {
// This channel entry not used.
continue;
}
// Get GUID and Channel Name for this channel
guid = pShtp->chan[chanNo].guid;
chanName = pShtp->chan[chanNo].chanName;
// Look for a listener registered with this guid, channel name
for (int listenerNo = 0; listenerNo < SH2_MAX_CHANS; listenerNo++)
{
if ((pShtp->chanListener[listenerNo].callback != 0) &&
(pShtp->chanListener[listenerNo].guid == guid) &&
(strcmp(chanName, pShtp->chanListener[listenerNo].chanName) == 0))
{
// This listener is the one for this channel
pShtp->chan[chanNo].callback = pShtp->chanListener[listenerNo].callback;
pShtp->chan[chanNo].cookie = pShtp->chanListener[listenerNo].cookie;
break;
}
}
}
}
// Register a new channel listener
static int addChanListener(shtp_t *pShtp,
uint16_t guid, const char * chanName,
shtp_Callback_t *callback, void *cookie)
{
shtp_ChanListener_t *pListener = 0;
// Bail out if there are too many listeners registered
if (pShtp->nextChanListener >= SH2_MAX_CHANS) return SH2_ERR;
// Register channel listener
pListener = &pShtp->chanListener[pShtp->nextChanListener];
pShtp->nextChanListener++;
pListener->guid = guid;
strcpy(pListener->chanName, chanName);
pListener->callback = callback;
pListener->cookie = cookie;
// re-evaluate channel callbacks
updateCallbacks(pShtp);
return SH2_OK;
}
static inline uint16_t min_u16(uint16_t a, uint16_t b)
{
if (a < b) {
return a;
}
else {
return b;
}
}
// Send a cargo as a sequence of transports
static int txProcess(shtp_t *pShtp, uint8_t chan, const uint8_t* pData, uint32_t len)
{
int status = SH2_OK;
bool continuation = false;
uint16_t cursor = 0;
uint16_t remaining;
uint16_t transferLen; // length of transfer, minus the header
uint16_t lenField;
cursor = 0;
remaining = len;
while (remaining > 0) {
// How much data (not header) can we send in next transfer
transferLen = min_u16(remaining, pShtp->outMaxTransfer-SHTP_HDR_LEN);
// Length field will be transferLen + SHTP_HDR_LEN
lenField = transferLen + SHTP_HDR_LEN;
// Put the header in the out buffer
pShtp->outTransfer[0] = lenField & 0xFF;
pShtp->outTransfer[1] = (lenField >> 8) & 0xFF;
if (continuation) {
pShtp->outTransfer[1] |= 0x80;
}
pShtp->outTransfer[2] = chan;
pShtp->outTransfer[3] = pShtp->chan[chan].nextOutSeq++;
// Stage one tranfer in the out buffer
memcpy(pShtp->outTransfer+SHTP_HDR_LEN, pData+cursor, transferLen);
remaining -= transferLen;
cursor += transferLen;
// Transmit (try repeatedly while HAL write returns 0)
status = pShtp->pHal->write(pShtp->pHal, pShtp->outTransfer, lenField);
while (status == 0)
{
shtp_service(pShtp);
status = pShtp->pHal->write(pShtp->pHal, pShtp->outTransfer, lenField);
}
if (status < 0)
{
// Error, throw away this cargo
pShtp->txDiscards++;
return status;
}
// For the rest of this transmission, packets are continuations.
continuation = true;
}
return SH2_OK;
}
// Callback for SHTP app-specific advertisement tags
static void shtpAdvertHdlr(void *cookie, uint8_t tag, uint8_t len, uint8_t *val)
{
shtp_t *pShtp = (shtp_t *)cookie;
switch (tag) {
case TAG_SHTP_VERSION:
if (strlen((const char *)val) < sizeof(pShtp->shtpVersion)) {
strcpy(pShtp->shtpVersion, (const char *)val);
}
break;
default:
break;
}
}
// Add one to the set of known Apps
static void addApp(shtp_t *pShtp, uint32_t guid)
{
shtp_App_t *pApp = 0;
// Bail out if this GUID is already registered
for (int n = 0; n < pShtp->nextApp; n++) {
if (pShtp->app[n].guid == guid) return;
}
// Bail out if no space for more apps
if (pShtp->nextApp >= SH2_MAX_APPS) return;
// Register this app
pApp = &pShtp->app[pShtp->nextApp];
pShtp->nextApp++;
pApp->guid = guid;
strcpy(pApp->appName, "");
// Re-evaluate channel callbacks
updateCallbacks(pShtp);
}
static void setAppName(shtp_t *pShtp, uint32_t guid, const char * appName)
{
shtp_App_t *pApp = 0;
// Find the app entry with this GUID
for (unsigned n = 0; n < pShtp->nextApp; n++) {
if (pShtp->app[n].guid == guid) {
pApp = &pShtp->app[n];
strcpy(pApp->appName, appName);
return;
}
}
}
// Add one to the set of known channels
static void addChannel(shtp_t *pShtp, uint8_t chanNo, uint32_t guid, const char * chanName, bool wake)
{
if (chanNo >= SH2_MAX_CHANS) return;
shtp_Channel_t * pChan = &pShtp->chan[chanNo];
// Store channel definition
pChan->guid = guid;
strcpy(pChan->chanName, chanName);
pChan->wake = wake;
// Init channel-associated data
pChan->nextOutSeq = 0;
pChan->nextInSeq = 0;
pChan->callback = 0;
pChan->cookie = 0;
// Re-evaluate channel callbacks
updateCallbacks(pShtp);
}
static void callAdvertHandler(shtp_t *pShtp, uint32_t guid,
uint8_t tag, uint8_t len, uint8_t *val)
{
// Find listener for this app
for (int n = 0; n < SH2_MAX_APPS; n++)
{
if (pShtp->appListener[n].guid == guid) {
// Found matching App entry
if (pShtp->appListener[n].callback != 0) {
pShtp->appListener[n].callback(pShtp->appListener[n].cookie, tag, len, val);
return;
}
}
}
}
static void processAdvertisement(shtp_t *pShtp, uint8_t *payload, uint16_t payloadLen)
{
uint16_t x;
uint8_t tag;
uint8_t len;
uint8_t *val;
uint16_t cursor = 1;
uint32_t guid = 0;
char appName[SHTP_APP_NAME_LEN];
char chanName[SHTP_CHAN_NAME_LEN];
uint8_t chanNo = 0;
bool wake = false;
strcpy(appName, "");
strcpy(chanName, "");
pShtp->advertPhase = ADVERT_IDLE;
while (cursor < payloadLen) {
tag = payload[cursor++];
len = payload[cursor++];
val = payload+cursor;
cursor += len;
// Process tag
switch (tag) {
case TAG_NULL:
// Reserved value, not a valid tag.
break;
case TAG_GUID:
// A new GUID is being established so terminate advertisement process with earlier app, if any.
callAdvertHandler(pShtp, guid, TAG_NULL, 0, 0);
guid = readu32(val);
addApp(pShtp, guid);
strcpy(appName, "");
strcpy(chanName, "");
break;
case TAG_MAX_CARGO_PLUS_HEADER_WRITE:
x = readu16(val) - SHTP_HDR_LEN;
if (x < SH2_HAL_MAX_PAYLOAD_OUT) {
pShtp->outMaxPayload = x;
}
break;
case TAG_MAX_CARGO_PLUS_HEADER_READ:
x = readu16(val) - SHTP_HDR_LEN;
// No need to store this!
break;
case TAG_MAX_TRANSFER_WRITE:
x = readu16(val) - SHTP_HDR_LEN;
if (x < SH2_HAL_MAX_TRANSFER_OUT) {
pShtp->outMaxTransfer = x;
} else {
pShtp->outMaxTransfer = SH2_HAL_MAX_TRANSFER_OUT;
}
break;
case TAG_MAX_TRANSFER_READ:
x = readu16(val) - SHTP_HDR_LEN;
if (x < SH2_HAL_MAX_TRANSFER_IN) {
pShtp->inMaxTransfer = x;
}
break;
case TAG_NORMAL_CHANNEL:
chanNo = readu8(val);
wake = false;
break;
case TAG_WAKE_CHANNEL:
chanNo = readu8(val);
wake = true;
break;
case TAG_APP_NAME:
strcpy(appName, (const char *)val);
setAppName(pShtp, guid, appName);
break;
case TAG_CHANNEL_NAME:
strcpy(chanName, (const char *)val);
addChannel(pShtp, chanNo, guid, (const char *)val, wake);
// Store channel metadata
if (chanNo < SH2_MAX_CHANS) {
pShtp->chan[chanNo].guid = guid;
strcpy(pShtp->chan[chanNo].chanName, chanName);
pShtp->chan[chanNo].wake = wake;
}
break;
case TAG_ADV_COUNT:
// Not yet supported.
break;
default:
// Nothing special needs to be done with this tag.
break;
}
// Deliver a TLV entry to the app's handler
callAdvertHandler(pShtp, guid, tag, len, val);
}
// terminate advertisement process with last app
callAdvertHandler(pShtp, guid, TAG_NULL, 0, 0);
}
// Callback for SHTP command channel
static void shtpCmdListener(void *cookie, uint8_t *payload, uint16_t len, uint32_t timestamp)
{
shtp_t *pShtp = (shtp_t *)cookie;
if ((payload == 0) || (len == 0)) return;
uint8_t response = payload[0];
switch (response) {
case RESP_ADVERTISE:
processAdvertisement(pShtp, payload, len);
break;
default:
// unknown response
break;
}
}
static void rxAssemble(shtp_t *pShtp, uint8_t *in, uint16_t len, uint32_t t_us)
{
uint16_t payloadLen;
bool continuation;
uint8_t chan = 0;
uint8_t seq = 0;
// discard invalid short fragments
if (len < SHTP_HDR_LEN) {
pShtp->shortFragments++;
return;
}
// Interpret header fields
payloadLen = (in[0] + (in[1] << 8)) & (~0x8000);
continuation = ((in[1] & 0x80) != 0);
chan = in[2];
seq = in[3];
if (payloadLen < SHTP_HDR_LEN) {
pShtp->shortFragments++;
if (pShtp->eventCallback) {
pShtp->eventCallback(pShtp->eventCookie, SHTP_SHORT_FRAGMENT);
}
return;
}
if ((chan >= SH2_MAX_CHANS) ||
(chan >= pShtp->nextChanListener)) {
// Invalid channel id.
pShtp->badRxChan++;
if (pShtp->eventCallback) {
pShtp->eventCallback(pShtp->eventCookie, SHTP_BAD_RX_CHAN);
}
return;
}
// Discard earlier assembly in progress if the received data doesn't match it.
if (pShtp->inRemaining) {
// Check this against previously received data.
if (!continuation ||
(chan != pShtp->inChan) ||
(seq != pShtp->chan[chan].nextInSeq)) {
// This fragment doesn't fit with previous one, discard earlier data
pShtp->inRemaining = 0;
}
}
if (pShtp->inRemaining == 0) {
if (payloadLen > sizeof(pShtp->inPayload)) {
// Error: This payload won't fit! Discard it.
pShtp->tooLargePayloads++;
if (pShtp->eventCallback) {
pShtp->eventCallback(pShtp->eventCookie, SHTP_TOO_LARGE_PAYLOADS);
}
return;
}
// This represents a new payload
// Store timestamp
pShtp->inTimestamp = t_us;
// Start a new assembly.
pShtp->inCursor = 0;
pShtp->inChan = chan;
}
// Append the new fragment to the payload under construction.
if (len > payloadLen) {
// Only use the valid portion of the transfer
len = payloadLen;
}
memcpy(pShtp->inPayload + pShtp->inCursor, in+SHTP_HDR_LEN, len-SHTP_HDR_LEN);
pShtp->inCursor += len-SHTP_HDR_LEN;
pShtp->inRemaining = payloadLen - len;
// If whole payload received, deliver it to channel listener.
if (pShtp->inRemaining == 0) {
// Call callback if there is one.
if (pShtp->chan[chan].callback != 0) {
pShtp->chan[chan].callback(pShtp->chan[chan].cookie,
pShtp->inPayload, pShtp->inCursor,
pShtp->inTimestamp);
}
}
// Remember next sequence number we expect for this channel.
pShtp->chan[chan].nextInSeq = seq + 1;
}
// ------------------------------------------------------------------------
// Public functions
// Takes HAL pointer, returns shtp ID for use in future calls.
// HAL will be opened by this call.
void *shtp_open(sh2_Hal_t *pHal)
{
if (!shtp_initialized) {
// Perform one-time module initialization
shtp_init();
}
// Validate params
if (pHal == 0) {
// Error
return 0;
}
// Find an available instance for this open
shtp_t *pShtp = getInstance();
if (pShtp == 0) {
// No instances available, return error
return 0;
}
// Clear the SHTP instance as a shortcut to initializing all fields
memset(pShtp, 0, sizeof(shtp_t));
// Store reference to the HAL
pShtp->pHal = pHal;
// Clear the asynchronous event callback point
pShtp->eventCallback = 0;
pShtp->eventCookie = 0;
// Initialize state vars (be prepared for adverts)
pShtp->outMaxPayload = SH2_HAL_MAX_PAYLOAD_OUT;
pShtp->outMaxTransfer = SH2_HAL_MAX_TRANSFER_OUT;
// Establish SHTP App and command channel a priori
addApp(pShtp, GUID_SHTP);
addChannel(pShtp, 0, GUID_SHTP, "command", false);
// Register SHTP advert listener and command channel listener
shtp_listenAdvert(pShtp, GUID_SHTP, shtpAdvertHdlr, pShtp);
shtp_listenChan(pShtp, GUID_SHTP, "command", shtpCmdListener, pShtp);
// When we open the HAL, it resets the device and adverts are sent automatically.
// So we go to ADVERT_REQUESTED state. They are on the way.
pShtp->advertPhase = ADVERT_REQUESTED;
// Open HAL
pHal->open(pHal);
return pShtp;
}
// Releases resources associated with this SHTP instance.
// HAL will not be closed.
void shtp_close(void *pInstance)
{
shtp_t *pShtp = (shtp_t *)pInstance;
pShtp->pHal->close(pShtp->pHal);
// Clear pShtp
// (Resetting pShtp->pHal to 0, returns this instance to the free pool)
memset(pShtp, 0, sizeof(shtp_t));
}
// Register the pointer of the callback function for reporting asynchronous events
void shtp_setEventCallback(void *pInstance,
shtp_EventCallback_t * eventCallback,
void *eventCookie) {
shtp_t *pShtp = (shtp_t *)pInstance;
pShtp->eventCallback = eventCallback;
pShtp->eventCookie = eventCookie;
}
// Register a listener for an SHTP channel
int shtp_listenChan(void *pInstance,
uint16_t guid, const char * chan,
shtp_Callback_t *callback, void * cookie)
{
shtp_t *pShtp = (shtp_t *)pInstance;
// Balk if channel name isn't valid
if ((chan == 0) || (strlen(chan) == 0)) return SH2_ERR_BAD_PARAM;
return addChanListener(pShtp, guid, chan, callback, cookie);
}
// Register a listener for SHTP advertisements
int shtp_listenAdvert(void *pInstance,
uint16_t guid,
shtp_AdvertCallback_t *advertCallback, void * cookie)
{
shtp_t *pShtp = (shtp_t *)pInstance;
// Register the advert listener
addAdvertListener(pShtp, guid, advertCallback, cookie);
// Arrange for a new set of advertisements, for this listener
if (pShtp->advertPhase == ADVERT_IDLE) {
pShtp->advertPhase = ADVERT_NEEDED;
}
return SH2_OK;
}
// Look up the channel number for a particular app, channel.
uint8_t shtp_chanNo(void *pInstance,
const char * appName, const char * chanName)
{
shtp_t *pShtp = (shtp_t *)pInstance;
int chan = 0;
uint32_t guid = 0xFFFFFFFF;
// Determine GUID for this appname
for (int n = 0; n < SH2_MAX_APPS; n++) {
if (strcmp(pShtp->app[n].appName, appName) == 0) {
guid = pShtp->app[n].guid;
break;
}
}
if (guid == 0xFFFFFFFF) return -1;
for (chan = 0; chan < SH2_MAX_CHANS; chan++) {
if ((strcmp(pShtp->chan[chan].chanName, chanName) == 0) &&
pShtp->chan[chan].guid == guid) {
// Found match
return chan;
}
}
// Not found
return 0xFF;
}
// Send an SHTP payload on a particular channel
int shtp_send(void *pInstance,
uint8_t channel, const uint8_t *payload, uint16_t len)
{
shtp_t *pShtp = (shtp_t *)pInstance;
int ret = SH2_OK;
if (len > pShtp->outMaxPayload) {
return SH2_ERR_BAD_PARAM;
}
if (channel >= SH2_MAX_CHANS) {
pShtp->badTxChan++;
return SH2_ERR_BAD_PARAM;
}
ret = txProcess(pShtp, channel, payload, len);
return ret;
}
// Check for received data and process it.
void shtp_service(void *pInstance)
{
shtp_t *pShtp = (shtp_t *)pInstance;
uint32_t t_us = 0;
if (pShtp->advertPhase == ADVERT_NEEDED) {
pShtp->advertPhase = ADVERT_REQUESTED; // do this before send, to avoid recursion.
int status = shtp_send(pShtp, SHTP_CHAN_COMMAND, advertise, sizeof(advertise));
if (status != SH2_OK) {
// Oops, advert request failed. Go back to needing one.
pShtp->advertPhase = ADVERT_NEEDED;
}
}
int len = pShtp->pHal->read(pShtp->pHal, pShtp->inTransfer, sizeof(pShtp->inTransfer), &t_us);
if (len) {
rxAssemble(pShtp, pShtp->inTransfer, len, t_us);
}
}

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/*
* Copyright 2015-18 Hillcrest Laboratories, Inc.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License and
* any applicable agreements you may have with Hillcrest Laboratories, Inc.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
/*
* Hillcrest Sensor Hub Transport Protocol (SHTP) API
*/
#ifndef SHTP_H
#define SHTP_H
#include <stdint.h>
#include <stdbool.h>
#include "sh2_hal.h"
// Advertisement TLV tags
#define TAG_NULL 0
#define TAG_GUID 1
#define TAG_MAX_CARGO_PLUS_HEADER_WRITE 2
#define TAG_MAX_CARGO_PLUS_HEADER_READ 3
#define TAG_MAX_TRANSFER_WRITE 4
#define TAG_MAX_TRANSFER_READ 5
#define TAG_NORMAL_CHANNEL 6
#define TAG_WAKE_CHANNEL 7
#define TAG_APP_NAME 8
#define TAG_CHANNEL_NAME 9
#define TAG_ADV_COUNT 10
#define TAG_APP_SPECIFIC 0x80
typedef enum shtp_Event_e {
SHTP_TX_DISCARD = 0,
SHTP_SHORT_FRAGMENT = 1,
SHTP_TOO_LARGE_PAYLOADS = 2,
SHTP_BAD_RX_CHAN = 3,
SHTP_BAD_TX_CHAN = 4,
} shtp_Event_t;
typedef void shtp_Callback_t(void * cookie, uint8_t *payload, uint16_t len, uint32_t timestamp);
typedef void shtp_AdvertCallback_t(void * cookie, uint8_t tag, uint8_t len, uint8_t *value);
typedef void shtp_SendCallback_t(void *cookie);
typedef void shtp_EventCallback_t(void *cookie, shtp_Event_t shtpEvent);
// Takes HAL pointer, returns shtp ID for use in future calls.
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void shtp_setEventCallback(void *pInstance,
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void *eventCookie);
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int shtp_listenChan(void *pShtp,
uint16_t guid, const char * chan,
shtp_Callback_t *callback, void * cookie);
// Register a listener for SHTP advertisements
int shtp_listenAdvert(void *pShtp,
uint16_t guid,
shtp_AdvertCallback_t *advertCallback, void * cookie);
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uint8_t shtp_chanNo(void *pShtp,
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int shtp_send(void *pShtp,
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void shtp_service(void *pShtp);
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<div class="textblock"><code>#include &lt;inttypes.h&gt;</code><br />
<code>#include &lt;math.h&gt;</code><br />
<code>#include &lt;stdio.h&gt;</code><br />
<code>#include &lt;cstring&gt;</code><br />
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<code>#include &lt;vector&gt;</code><br />
<code>#include &lt;esp_log.h&gt;</code><br />
<code>#include &lt;esp_rom_gpio.h&gt;</code><br />
<code>#include &lt;esp_timer.h&gt;</code><br />
<code>#include &lt;freertos/FreeRTOS.h&gt;</code><br />
<code>#include &lt;freertos/task.h&gt;</code><br />
<code>#include &lt;freertos/event_groups.h&gt;</code><br />
<code>#include &lt;freertos/queue.h&gt;</code><br />
<code>#include &lt;freertos/semphr.h&gt;</code><br />
<code>#include &lt;rom/ets_sys.h&gt;</code><br />
<code>#include &quot;<a class="el" href="_b_n_o08x__global__types_8hpp_source.html">BNO08x_global_types.hpp</a>&quot;</code><br />
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<div class="headertitle"><div class="title">BNO08x_global_types.hpp File Reference</div></div>
</div><!--header-->
<div class="contents">
<div class="textblock"><code>#include &lt;driver/gpio.h&gt;</code><br />
<code>#include &lt;driver/spi_common.h&gt;</code><br />
<code>#include &lt;driver/spi_master.h&gt;</code><br />
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<p><a href="_b_n_o08x__global__types_8hpp_source.html">Go to the source code of this file.</a></p>
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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="structbno08x__config__t.html">bno08x_config_t</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">IMU configuration settings passed into constructor. <a href="structbno08x__config__t.html#details">More...</a><br /></td></tr>
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Typedefs</h2></td></tr>
<tr class="memitem:a03fbbd71180a19088ce30d57ab050a22" id="r_a03fbbd71180a19088ce30d57ab050a22"><td class="memItemLeft" align="right" valign="top">using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a03fbbd71180a19088ce30d57ab050a22">IMUAccuracy</a> = <a class="el" href="#aed7bab8e55be415938e078ebe72562a0">BNO08xAccuracy</a></td></tr>
<tr class="separator:a03fbbd71180a19088ce30d57ab050a22"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aeee029e15be2a7d6d8134cabcc7c752b" id="r_aeee029e15be2a7d6d8134cabcc7c752b"><td class="memItemLeft" align="right" valign="top">using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#aeee029e15be2a7d6d8134cabcc7c752b">IMUResetReason</a> = <a class="el" href="#ab2a2ace42f7f438d6a799dfcbc243147">BNO08xResetReason</a></td></tr>
<tr class="separator:aeee029e15be2a7d6d8134cabcc7c752b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a648bbdbf22731476890dd8da977d7503" id="r_a648bbdbf22731476890dd8da977d7503"><td class="memItemLeft" align="right" valign="top">typedef struct bno08x_config_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a648bbdbf22731476890dd8da977d7503">bno08x_config_t</a></td></tr>
<tr class="memdesc:a648bbdbf22731476890dd8da977d7503"><td class="mdescLeft">&#160;</td><td class="mdescRight">IMU configuration settings passed into constructor. <br /></td></tr>
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<tr class="memitem:aae502b3d91ddf903bba797646fd28d00" id="r_aae502b3d91ddf903bba797646fd28d00"><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="structbno08x__config__t.html">bno08x_config_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#aae502b3d91ddf903bba797646fd28d00">imu_config_t</a></td></tr>
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Enumerations</h2></td></tr>
<tr class="memitem:aed7bab8e55be415938e078ebe72562a0" id="r_aed7bab8e55be415938e078ebe72562a0"><td class="memItemLeft" align="right" valign="top">enum class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#aed7bab8e55be415938e078ebe72562a0">BNO08xAccuracy</a> { <a class="el" href="#aed7bab8e55be415938e078ebe72562a0a41bc94cbd8eebea13ce0491b2ac11b88">LOW</a> = 1
, <a class="el" href="#aed7bab8e55be415938e078ebe72562a0a2ad6d5975c45da2e711c796f3a1b029c">MED</a>
, <a class="el" href="#aed7bab8e55be415938e078ebe72562a0ab89de3b4b81c4facfac906edf29aec8c">HIGH</a>
, <a class="el" href="#aed7bab8e55be415938e078ebe72562a0a0db45d2a4141101bdfe48e3314cfbca3">UNDEFINED</a>
}</td></tr>
<tr class="memdesc:aed7bab8e55be415938e078ebe72562a0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sensor accuracy returned during sensor calibration. <a href="#aed7bab8e55be415938e078ebe72562a0">More...</a><br /></td></tr>
<tr class="separator:aed7bab8e55be415938e078ebe72562a0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab2a2ace42f7f438d6a799dfcbc243147" id="r_ab2a2ace42f7f438d6a799dfcbc243147"><td class="memItemLeft" align="right" valign="top">enum class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ab2a2ace42f7f438d6a799dfcbc243147">BNO08xResetReason</a> { <br />
&#160;&#160;<a class="el" href="#ab2a2ace42f7f438d6a799dfcbc243147a0db45d2a4141101bdfe48e3314cfbca3">UNDEFINED</a>
, <a class="el" href="#ab2a2ace42f7f438d6a799dfcbc243147a7b47bb0f9f8c72f84d891e8e22a1fb92">POR</a>
, <a class="el" href="#ab2a2ace42f7f438d6a799dfcbc243147acc069cf9b33eb4e7fb3696f0f42d752f">INT_RST</a>
, <a class="el" href="#ab2a2ace42f7f438d6a799dfcbc243147a764caaf44e35ee682f4079bd0878fa36">WTD</a>
, <br />
&#160;&#160;<a class="el" href="#ab2a2ace42f7f438d6a799dfcbc243147ac4e100317ca17eda786308c1c39eded5">EXT_RST</a>
, <a class="el" href="#ab2a2ace42f7f438d6a799dfcbc243147a03570470bad94692ce93e32700d2e1cb">OTHER</a>
<br />
}</td></tr>
<tr class="memdesc:ab2a2ace42f7f438d6a799dfcbc243147"><td class="mdescLeft">&#160;</td><td class="mdescRight">Reason for previous IMU reset (returned by get_reset_reason()) <a href="#ab2a2ace42f7f438d6a799dfcbc243147">More...</a><br /></td></tr>
<tr class="separator:ab2a2ace42f7f438d6a799dfcbc243147"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adc1b530563e35a96fc1b8911ff133e0f" id="r_adc1b530563e35a96fc1b8911ff133e0f"><td class="memItemLeft" align="right" valign="top">enum class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#adc1b530563e35a96fc1b8911ff133e0f">BNO08xActivityEnable</a> { <br />
&#160;&#160;<a class="el" href="#adc1b530563e35a96fc1b8911ff133e0fa696b031073e74bf2cb98e5ef201d4aa3">UNKNOWN</a> = (1U &lt;&lt; 0U)
, <a class="el" href="#adc1b530563e35a96fc1b8911ff133e0fab166a3ce74dd5434e4a940dfa2af76e4">IN_VEHICLE</a> = (1U &lt;&lt; 1U)
, <a class="el" href="#adc1b530563e35a96fc1b8911ff133e0fa93d94a2f3a627533453a40e302fb35a4">ON_BICYCLE</a> = (1U &lt;&lt; 2U)
, <a class="el" href="#adc1b530563e35a96fc1b8911ff133e0fa7089542e0146a3499986c81e24924b58">ON_FOOT</a> = (1U &lt;&lt; 3U)
, <br />
&#160;&#160;<a class="el" href="#adc1b530563e35a96fc1b8911ff133e0fa8b572d218013b9626d59e6a2b38f18b6">STILL</a> = (1U &lt;&lt; 4U)
, <a class="el" href="#adc1b530563e35a96fc1b8911ff133e0fa69909b62e08f212da31719aebf67b70c">TILTING</a> = (1U &lt;&lt; 5U)
, <a class="el" href="#adc1b530563e35a96fc1b8911ff133e0fa606c114184493a665cf1f6a12fbab9d3">WALKING</a> = (1U &lt;&lt; 6U)
, <a class="el" href="#adc1b530563e35a96fc1b8911ff133e0fa43491564ebcfd38568918efbd6e840fd">RUNNING</a> = (1U &lt;&lt; 7U)
, <br />
&#160;&#160;<a class="el" href="#adc1b530563e35a96fc1b8911ff133e0fabbf2a614429826a84bd76b4a47fc7515">ON_STAIRS</a> = (1U &lt;&lt; 8U)
, <a class="el" href="#adc1b530563e35a96fc1b8911ff133e0fa5fb1f955b45e38e31789286a1790398d">ALL</a> = 0x1FU
<br />
}</td></tr>
<tr class="memdesc:adc1b530563e35a96fc1b8911ff133e0f"><td class="mdescLeft">&#160;</td><td class="mdescRight">BNO08xActivity Classifier enable bits passed to enable_activity_classifier() <a href="#adc1b530563e35a96fc1b8911ff133e0f">More...</a><br /></td></tr>
<tr class="separator:adc1b530563e35a96fc1b8911ff133e0f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abcc5d57e21ea6ed79e792deafcb62187" id="r_abcc5d57e21ea6ed79e792deafcb62187"><td class="memItemLeft" align="right" valign="top">enum class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#abcc5d57e21ea6ed79e792deafcb62187">BNO08xActivity</a> { <br />
&#160;&#160;<a class="el" href="#abcc5d57e21ea6ed79e792deafcb62187a696b031073e74bf2cb98e5ef201d4aa3">UNKNOWN</a> = 0
, <a class="el" href="#abcc5d57e21ea6ed79e792deafcb62187ab166a3ce74dd5434e4a940dfa2af76e4">IN_VEHICLE</a> = 1
, <a class="el" href="#abcc5d57e21ea6ed79e792deafcb62187a93d94a2f3a627533453a40e302fb35a4">ON_BICYCLE</a> = 2
, <a class="el" href="#abcc5d57e21ea6ed79e792deafcb62187a7089542e0146a3499986c81e24924b58">ON_FOOT</a> = 3
, <br />
&#160;&#160;<a class="el" href="#abcc5d57e21ea6ed79e792deafcb62187a8b572d218013b9626d59e6a2b38f18b6">STILL</a> = 4
, <a class="el" href="#abcc5d57e21ea6ed79e792deafcb62187a69909b62e08f212da31719aebf67b70c">TILTING</a> = 5
, <a class="el" href="#abcc5d57e21ea6ed79e792deafcb62187a606c114184493a665cf1f6a12fbab9d3">WALKING</a> = 6
, <a class="el" href="#abcc5d57e21ea6ed79e792deafcb62187a43491564ebcfd38568918efbd6e840fd">RUNNING</a> = 7
, <br />
&#160;&#160;<a class="el" href="#abcc5d57e21ea6ed79e792deafcb62187abbf2a614429826a84bd76b4a47fc7515">ON_STAIRS</a> = 8
, <a class="el" href="#abcc5d57e21ea6ed79e792deafcb62187a0db45d2a4141101bdfe48e3314cfbca3">UNDEFINED</a> = 9
<br />
}</td></tr>
<tr class="memdesc:abcc5d57e21ea6ed79e792deafcb62187"><td class="mdescLeft">&#160;</td><td class="mdescRight">BNO08xActivity states returned from get_activity_classifier() <a href="#abcc5d57e21ea6ed79e792deafcb62187">More...</a><br /></td></tr>
<tr class="separator:abcc5d57e21ea6ed79e792deafcb62187"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a498b35f9e00b24e51f8f60b029751ab5" id="r_a498b35f9e00b24e51f8f60b029751ab5"><td class="memItemLeft" align="right" valign="top">enum class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a498b35f9e00b24e51f8f60b029751ab5">BNO08xStability</a> { <a class="el" href="#a498b35f9e00b24e51f8f60b029751ab5a696b031073e74bf2cb98e5ef201d4aa3">UNKNOWN</a> = 0
, <a class="el" href="#a498b35f9e00b24e51f8f60b029751ab5a71149a62cd9fec4756e3538d1754486a">ON_TABLE</a> = 1
, <a class="el" href="#a498b35f9e00b24e51f8f60b029751ab5a4120eb7591bd0789af75a8973d5f9146">STATIONARY</a> = 2
, <a class="el" href="#a498b35f9e00b24e51f8f60b029751ab5a0db45d2a4141101bdfe48e3314cfbca3">UNDEFINED</a> = 3
}</td></tr>
<tr class="memdesc:a498b35f9e00b24e51f8f60b029751ab5"><td class="mdescLeft">&#160;</td><td class="mdescRight">BNO08xStability states returned from get_stability_classifier() <a href="#a498b35f9e00b24e51f8f60b029751ab5">More...</a><br /></td></tr>
<tr class="separator:a498b35f9e00b24e51f8f60b029751ab5"><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">Typedef Documentation</h2>
<a id="a648bbdbf22731476890dd8da977d7503" name="a648bbdbf22731476890dd8da977d7503"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a648bbdbf22731476890dd8da977d7503">&#9670;&#160;</a></span>bno08x_config_t</h2>
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<td class="memname">typedef struct bno08x_config_t bno08x_config_t</td>
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<p>IMU configuration settings passed into constructor. </p>
</div>
</div>
<a id="aae502b3d91ddf903bba797646fd28d00" name="aae502b3d91ddf903bba797646fd28d00"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aae502b3d91ddf903bba797646fd28d00">&#9670;&#160;</a></span>imu_config_t</h2>
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<td class="memname">typedef <a class="el" href="structbno08x__config__t.html">bno08x_config_t</a> <a class="el" href="#aae502b3d91ddf903bba797646fd28d00">imu_config_t</a></td>
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<a id="a03fbbd71180a19088ce30d57ab050a22" name="a03fbbd71180a19088ce30d57ab050a22"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a03fbbd71180a19088ce30d57ab050a22">&#9670;&#160;</a></span>IMUAccuracy</h2>
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<td class="memname">using <a class="el" href="#aed7bab8e55be415938e078ebe72562a0">IMUAccuracy</a> = <a class="el" href="#aed7bab8e55be415938e078ebe72562a0">BNO08xAccuracy</a></td>
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</div><div class="memdoc">
</div>
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<a id="aeee029e15be2a7d6d8134cabcc7c752b" name="aeee029e15be2a7d6d8134cabcc7c752b"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aeee029e15be2a7d6d8134cabcc7c752b">&#9670;&#160;</a></span>IMUResetReason</h2>
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<td class="memname">using <a class="el" href="#ab2a2ace42f7f438d6a799dfcbc243147">IMUResetReason</a> = <a class="el" href="#ab2a2ace42f7f438d6a799dfcbc243147">BNO08xResetReason</a></td>
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</div>
</div>
<h2 class="groupheader">Enumeration Type Documentation</h2>
<a id="aed7bab8e55be415938e078ebe72562a0" name="aed7bab8e55be415938e078ebe72562a0"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aed7bab8e55be415938e078ebe72562a0">&#9670;&#160;</a></span>BNO08xAccuracy</h2>
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<td class="memname">enum class <a class="el" href="#aed7bab8e55be415938e078ebe72562a0">BNO08xAccuracy</a></td>
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</td>
<td class="mlabels-right">
<span class="mlabels"><span class="mlabel">strong</span></span> </td>
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<p>Sensor accuracy returned during sensor calibration. </p>
<table class="fieldtable">
<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="aed7bab8e55be415938e078ebe72562a0a41bc94cbd8eebea13ce0491b2ac11b88" name="aed7bab8e55be415938e078ebe72562a0a41bc94cbd8eebea13ce0491b2ac11b88"></a>LOW&#160;</td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="aed7bab8e55be415938e078ebe72562a0a2ad6d5975c45da2e711c796f3a1b029c" name="aed7bab8e55be415938e078ebe72562a0a2ad6d5975c45da2e711c796f3a1b029c"></a>MED&#160;</td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="aed7bab8e55be415938e078ebe72562a0ab89de3b4b81c4facfac906edf29aec8c" name="aed7bab8e55be415938e078ebe72562a0ab89de3b4b81c4facfac906edf29aec8c"></a>HIGH&#160;</td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="aed7bab8e55be415938e078ebe72562a0a0db45d2a4141101bdfe48e3314cfbca3" name="aed7bab8e55be415938e078ebe72562a0a0db45d2a4141101bdfe48e3314cfbca3"></a>UNDEFINED&#160;</td><td class="fielddoc"></td></tr>
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<a id="abcc5d57e21ea6ed79e792deafcb62187" name="abcc5d57e21ea6ed79e792deafcb62187"></a>
<h2 class="memtitle"><span class="permalink"><a href="#abcc5d57e21ea6ed79e792deafcb62187">&#9670;&#160;</a></span>BNO08xActivity</h2>
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<td class="memname">enum class <a class="el" href="#abcc5d57e21ea6ed79e792deafcb62187">BNO08xActivity</a></td>
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</td>
<td class="mlabels-right">
<span class="mlabels"><span class="mlabel">strong</span></span> </td>
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<p>BNO08xActivity states returned from get_activity_classifier() </p>
<table class="fieldtable">
<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="abcc5d57e21ea6ed79e792deafcb62187a696b031073e74bf2cb98e5ef201d4aa3" name="abcc5d57e21ea6ed79e792deafcb62187a696b031073e74bf2cb98e5ef201d4aa3"></a>UNKNOWN&#160;</td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="abcc5d57e21ea6ed79e792deafcb62187ab166a3ce74dd5434e4a940dfa2af76e4" name="abcc5d57e21ea6ed79e792deafcb62187ab166a3ce74dd5434e4a940dfa2af76e4"></a>IN_VEHICLE&#160;</td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="abcc5d57e21ea6ed79e792deafcb62187a93d94a2f3a627533453a40e302fb35a4" name="abcc5d57e21ea6ed79e792deafcb62187a93d94a2f3a627533453a40e302fb35a4"></a>ON_BICYCLE&#160;</td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="abcc5d57e21ea6ed79e792deafcb62187a7089542e0146a3499986c81e24924b58" name="abcc5d57e21ea6ed79e792deafcb62187a7089542e0146a3499986c81e24924b58"></a>ON_FOOT&#160;</td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="abcc5d57e21ea6ed79e792deafcb62187a8b572d218013b9626d59e6a2b38f18b6" name="abcc5d57e21ea6ed79e792deafcb62187a8b572d218013b9626d59e6a2b38f18b6"></a>STILL&#160;</td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="abcc5d57e21ea6ed79e792deafcb62187a69909b62e08f212da31719aebf67b70c" name="abcc5d57e21ea6ed79e792deafcb62187a69909b62e08f212da31719aebf67b70c"></a>TILTING&#160;</td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="abcc5d57e21ea6ed79e792deafcb62187a606c114184493a665cf1f6a12fbab9d3" name="abcc5d57e21ea6ed79e792deafcb62187a606c114184493a665cf1f6a12fbab9d3"></a>WALKING&#160;</td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="abcc5d57e21ea6ed79e792deafcb62187a43491564ebcfd38568918efbd6e840fd" name="abcc5d57e21ea6ed79e792deafcb62187a43491564ebcfd38568918efbd6e840fd"></a>RUNNING&#160;</td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="abcc5d57e21ea6ed79e792deafcb62187abbf2a614429826a84bd76b4a47fc7515" name="abcc5d57e21ea6ed79e792deafcb62187abbf2a614429826a84bd76b4a47fc7515"></a>ON_STAIRS&#160;</td><td class="fielddoc"></td></tr>
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<a id="adc1b530563e35a96fc1b8911ff133e0f" name="adc1b530563e35a96fc1b8911ff133e0f"></a>
<h2 class="memtitle"><span class="permalink"><a href="#adc1b530563e35a96fc1b8911ff133e0f">&#9670;&#160;</a></span>BNO08xActivityEnable</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">enum class <a class="el" href="#adc1b530563e35a96fc1b8911ff133e0f">BNO08xActivityEnable</a></td>
</tr>
</table>
</td>
<td class="mlabels-right">
<span class="mlabels"><span class="mlabel">strong</span></span> </td>
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<p>BNO08xActivity Classifier enable bits passed to enable_activity_classifier() </p>
<table class="fieldtable">
<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="adc1b530563e35a96fc1b8911ff133e0fa696b031073e74bf2cb98e5ef201d4aa3" name="adc1b530563e35a96fc1b8911ff133e0fa696b031073e74bf2cb98e5ef201d4aa3"></a>UNKNOWN&#160;</td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="adc1b530563e35a96fc1b8911ff133e0fab166a3ce74dd5434e4a940dfa2af76e4" name="adc1b530563e35a96fc1b8911ff133e0fab166a3ce74dd5434e4a940dfa2af76e4"></a>IN_VEHICLE&#160;</td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="adc1b530563e35a96fc1b8911ff133e0fa93d94a2f3a627533453a40e302fb35a4" name="adc1b530563e35a96fc1b8911ff133e0fa93d94a2f3a627533453a40e302fb35a4"></a>ON_BICYCLE&#160;</td><td class="fielddoc"></td></tr>
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<tr><td class="fieldname"><a id="adc1b530563e35a96fc1b8911ff133e0fabbf2a614429826a84bd76b4a47fc7515" name="adc1b530563e35a96fc1b8911ff133e0fabbf2a614429826a84bd76b4a47fc7515"></a>ON_STAIRS&#160;</td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="adc1b530563e35a96fc1b8911ff133e0fa5fb1f955b45e38e31789286a1790398d" name="adc1b530563e35a96fc1b8911ff133e0fa5fb1f955b45e38e31789286a1790398d"></a>ALL&#160;</td><td class="fielddoc"></td></tr>
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<a id="ab2a2ace42f7f438d6a799dfcbc243147" name="ab2a2ace42f7f438d6a799dfcbc243147"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ab2a2ace42f7f438d6a799dfcbc243147">&#9670;&#160;</a></span>BNO08xResetReason</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">enum class <a class="el" href="#ab2a2ace42f7f438d6a799dfcbc243147">BNO08xResetReason</a></td>
</tr>
</table>
</td>
<td class="mlabels-right">
<span class="mlabels"><span class="mlabel">strong</span></span> </td>
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<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="ab2a2ace42f7f438d6a799dfcbc243147a0db45d2a4141101bdfe48e3314cfbca3" name="ab2a2ace42f7f438d6a799dfcbc243147a0db45d2a4141101bdfe48e3314cfbca3"></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="ab2a2ace42f7f438d6a799dfcbc243147a7b47bb0f9f8c72f84d891e8e22a1fb92" name="ab2a2ace42f7f438d6a799dfcbc243147a7b47bb0f9f8c72f84d891e8e22a1fb92"></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="ab2a2ace42f7f438d6a799dfcbc243147acc069cf9b33eb4e7fb3696f0f42d752f" name="ab2a2ace42f7f438d6a799dfcbc243147acc069cf9b33eb4e7fb3696f0f42d752f"></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="ab2a2ace42f7f438d6a799dfcbc243147a764caaf44e35ee682f4079bd0878fa36" name="ab2a2ace42f7f438d6a799dfcbc243147a764caaf44e35ee682f4079bd0878fa36"></a>WTD&#160;</td><td class="fielddoc"><p>Previous reset was due to watchdog timer. </p>
</td></tr>
<tr><td class="fieldname"><a id="ab2a2ace42f7f438d6a799dfcbc243147ac4e100317ca17eda786308c1c39eded5" name="ab2a2ace42f7f438d6a799dfcbc243147ac4e100317ca17eda786308c1c39eded5"></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="ab2a2ace42f7f438d6a799dfcbc243147a03570470bad94692ce93e32700d2e1cb" name="ab2a2ace42f7f438d6a799dfcbc243147a03570470bad94692ce93e32700d2e1cb"></a>OTHER&#160;</td><td class="fielddoc"><p>Previous reset was due to power other reason. </p>
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</div>
</div>
<a id="a498b35f9e00b24e51f8f60b029751ab5" name="a498b35f9e00b24e51f8f60b029751ab5"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a498b35f9e00b24e51f8f60b029751ab5">&#9670;&#160;</a></span>BNO08xStability</h2>
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<tr>
<td class="mlabels-left">
<table class="memname">
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<td class="memname">enum class <a class="el" href="#a498b35f9e00b24e51f8f60b029751ab5">BNO08xStability</a></td>
</tr>
</table>
</td>
<td class="mlabels-right">
<span class="mlabels"><span class="mlabel">strong</span></span> </td>
</tr>
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</div><div class="memdoc">
<p>BNO08xStability states returned from get_stability_classifier() </p>
<table class="fieldtable">
<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="a498b35f9e00b24e51f8f60b029751ab5a696b031073e74bf2cb98e5ef201d4aa3" name="a498b35f9e00b24e51f8f60b029751ab5a696b031073e74bf2cb98e5ef201d4aa3"></a>UNKNOWN&#160;</td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="a498b35f9e00b24e51f8f60b029751ab5a71149a62cd9fec4756e3538d1754486a" name="a498b35f9e00b24e51f8f60b029751ab5a71149a62cd9fec4756e3538d1754486a"></a>ON_TABLE&#160;</td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="a498b35f9e00b24e51f8f60b029751ab5a4120eb7591bd0789af75a8973d5f9146" name="a498b35f9e00b24e51f8f60b029751ab5a4120eb7591bd0789af75a8973d5f9146"></a>STATIONARY&#160;</td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="a498b35f9e00b24e51f8f60b029751ab5a0db45d2a4141101bdfe48e3314cfbca3" name="a498b35f9e00b24e51f8f60b029751ab5a0db45d2a4141101bdfe48e3314cfbca3"></a>UNDEFINED&#160;</td><td class="fielddoc"></td></tr>
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<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="l00005" name="l00005"></a><span class="lineno"> 5</span><span class="preprocessor">#pragma once</span></div>
<div class="line"><a id="l00006" name="l00006"></a><span class="lineno"> 6</span> </div>
<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"> 7</span><span class="preprocessor">#include &lt;driver/gpio.h&gt;</span></div>
<div class="line"><a id="l00008" name="l00008"></a><span class="lineno"> 8</span><span class="preprocessor">#include &lt;driver/spi_common.h&gt;</span></div>
<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"> 9</span><span class="preprocessor">#include &lt;driver/spi_master.h&gt;</span></div>
<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"> 10</span> </div>
<div class="foldopen" id="foldopen00012" data-start="{" data-end="};">
<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"><a class="line" href="_b_n_o08x__global__types_8hpp.html#aed7bab8e55be415938e078ebe72562a0"> 12</a></span><span class="keyword">enum class</span> <a class="code hl_enumeration" href="_b_n_o08x__global__types_8hpp.html#aed7bab8e55be415938e078ebe72562a0">BNO08xAccuracy</a></div>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"> 13</span>{</div>
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"> 14</span> <a class="code hl_enumvalue" href="_b_n_o08x__global__types_8hpp.html#aed7bab8e55be415938e078ebe72562a0a41bc94cbd8eebea13ce0491b2ac11b88">LOW</a> = 1,</div>
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"> 15</span> <a class="code hl_enumvalue" href="_b_n_o08x__global__types_8hpp.html#aed7bab8e55be415938e078ebe72562a0a2ad6d5975c45da2e711c796f3a1b029c">MED</a>,</div>
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"> 16</span> <a class="code hl_enumvalue" href="_b_n_o08x__global__types_8hpp.html#aed7bab8e55be415938e078ebe72562a0ab89de3b4b81c4facfac906edf29aec8c">HIGH</a>,</div>
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"> 17</span> <a class="code hl_enumvalue" href="_b_n_o08x__global__types_8hpp.html#aed7bab8e55be415938e078ebe72562a0a0db45d2a4141101bdfe48e3314cfbca3">UNDEFINED</a></div>
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"> 18</span>};</div>
</div>
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"><a class="line" href="_b_n_o08x__global__types_8hpp.html#a03fbbd71180a19088ce30d57ab050a22"> 19</a></span><span class="keyword">using </span><a class="code hl_enumeration" href="_b_n_o08x__global__types_8hpp.html#aed7bab8e55be415938e078ebe72562a0">IMUAccuracy</a> = <a class="code hl_enumeration" href="_b_n_o08x__global__types_8hpp.html#aed7bab8e55be415938e078ebe72562a0">BNO08xAccuracy</a>; <span class="comment">// legacy version compatibility</span></div>
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"> 20</span> </div>
<div class="foldopen" id="foldopen00022" data-start="{" data-end="};">
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"><a class="line" href="_b_n_o08x__global__types_8hpp.html#ab2a2ace42f7f438d6a799dfcbc243147"> 22</a></span><span class="keyword">enum class</span> <a class="code hl_enumeration" href="_b_n_o08x__global__types_8hpp.html#ab2a2ace42f7f438d6a799dfcbc243147">BNO08xResetReason</a></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> <a class="code hl_enumvalue" href="_b_n_o08x__global__types_8hpp.html#aed7bab8e55be415938e078ebe72562a0a0db45d2a4141101bdfe48e3314cfbca3">UNDEFINED</a>, </div>
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"> 25</span> <a class="code hl_enumvalue" href="_b_n_o08x__global__types_8hpp.html#ab2a2ace42f7f438d6a799dfcbc243147a7b47bb0f9f8c72f84d891e8e22a1fb92">POR</a>, </div>
<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"> 26</span> <a class="code hl_enumvalue" href="_b_n_o08x__global__types_8hpp.html#ab2a2ace42f7f438d6a799dfcbc243147acc069cf9b33eb4e7fb3696f0f42d752f">INT_RST</a>, </div>
<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"> 27</span> <a class="code hl_enumvalue" href="_b_n_o08x__global__types_8hpp.html#ab2a2ace42f7f438d6a799dfcbc243147a764caaf44e35ee682f4079bd0878fa36">WTD</a>, </div>
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"> 28</span> <a class="code hl_enumvalue" href="_b_n_o08x__global__types_8hpp.html#ab2a2ace42f7f438d6a799dfcbc243147ac4e100317ca17eda786308c1c39eded5">EXT_RST</a>, </div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span> <a class="code hl_enumvalue" href="_b_n_o08x__global__types_8hpp.html#ab2a2ace42f7f438d6a799dfcbc243147a03570470bad94692ce93e32700d2e1cb">OTHER</a> </div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"> 30</span>};</div>
</div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"><a class="line" href="_b_n_o08x__global__types_8hpp.html#aeee029e15be2a7d6d8134cabcc7c752b"> 31</a></span><span class="keyword">using </span><a class="code hl_enumeration" href="_b_n_o08x__global__types_8hpp.html#ab2a2ace42f7f438d6a799dfcbc243147">IMUResetReason</a> = <a class="code hl_enumeration" href="_b_n_o08x__global__types_8hpp.html#ab2a2ace42f7f438d6a799dfcbc243147">BNO08xResetReason</a>; <span class="comment">// legacy version compatibility</span></div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span> </div>
<div class="foldopen" id="foldopen00034" data-start="{" data-end="};">
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"><a class="line" href="_b_n_o08x__global__types_8hpp.html#adc1b530563e35a96fc1b8911ff133e0f"> 34</a></span><span class="keyword">enum class</span> <a class="code hl_enumeration" href="_b_n_o08x__global__types_8hpp.html#adc1b530563e35a96fc1b8911ff133e0f">BNO08xActivityEnable</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> <a class="code hl_enumvalue" href="_b_n_o08x__global__types_8hpp.html#adc1b530563e35a96fc1b8911ff133e0fa696b031073e74bf2cb98e5ef201d4aa3">UNKNOWN</a> = (1U &lt;&lt; 0U),</div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span> <a class="code hl_enumvalue" href="_b_n_o08x__global__types_8hpp.html#adc1b530563e35a96fc1b8911ff133e0fab166a3ce74dd5434e4a940dfa2af76e4">IN_VEHICLE</a> = (1U &lt;&lt; 1U),</div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span> <a class="code hl_enumvalue" href="_b_n_o08x__global__types_8hpp.html#adc1b530563e35a96fc1b8911ff133e0fa93d94a2f3a627533453a40e302fb35a4">ON_BICYCLE</a> = (1U &lt;&lt; 2U),</div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span> <a class="code hl_enumvalue" href="_b_n_o08x__global__types_8hpp.html#adc1b530563e35a96fc1b8911ff133e0fa7089542e0146a3499986c81e24924b58">ON_FOOT</a> = (1U &lt;&lt; 3U),</div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span> <a class="code hl_enumvalue" href="_b_n_o08x__global__types_8hpp.html#adc1b530563e35a96fc1b8911ff133e0fa8b572d218013b9626d59e6a2b38f18b6">STILL</a> = (1U &lt;&lt; 4U),</div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span> <a class="code hl_enumvalue" href="_b_n_o08x__global__types_8hpp.html#adc1b530563e35a96fc1b8911ff133e0fa69909b62e08f212da31719aebf67b70c">TILTING</a> = (1U &lt;&lt; 5U),</div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span> <a class="code hl_enumvalue" href="_b_n_o08x__global__types_8hpp.html#adc1b530563e35a96fc1b8911ff133e0fa606c114184493a665cf1f6a12fbab9d3">WALKING</a> = (1U &lt;&lt; 6U),</div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span> <a class="code hl_enumvalue" href="_b_n_o08x__global__types_8hpp.html#adc1b530563e35a96fc1b8911ff133e0fa43491564ebcfd38568918efbd6e840fd">RUNNING</a> = (1U &lt;&lt; 7U),</div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span> <a class="code hl_enumvalue" href="_b_n_o08x__global__types_8hpp.html#adc1b530563e35a96fc1b8911ff133e0fabbf2a614429826a84bd76b4a47fc7515">ON_STAIRS</a> = (1U &lt;&lt; 8U),</div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span> <a class="code hl_enumvalue" href="_b_n_o08x__global__types_8hpp.html#adc1b530563e35a96fc1b8911ff133e0fa5fb1f955b45e38e31789286a1790398d">ALL</a> = 0x1FU</div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span>};</div>
</div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span> </div>
<div class="foldopen" id="foldopen00049" data-start="{" data-end="};">
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"><a class="line" href="_b_n_o08x__global__types_8hpp.html#abcc5d57e21ea6ed79e792deafcb62187"> 49</a></span><span class="keyword">enum class</span> <a class="code hl_enumeration" href="_b_n_o08x__global__types_8hpp.html#abcc5d57e21ea6ed79e792deafcb62187">BNO08xActivity</a></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> <a class="code hl_enumvalue" href="_b_n_o08x__global__types_8hpp.html#adc1b530563e35a96fc1b8911ff133e0fa696b031073e74bf2cb98e5ef201d4aa3">UNKNOWN</a> = 0, <span class="comment">// 0 = unknown</span></div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"> 52</span> <a class="code hl_enumvalue" href="_b_n_o08x__global__types_8hpp.html#adc1b530563e35a96fc1b8911ff133e0fab166a3ce74dd5434e4a940dfa2af76e4">IN_VEHICLE</a> = 1, <span class="comment">// 1 = in vehicle</span></div>
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"> 53</span> <a class="code hl_enumvalue" href="_b_n_o08x__global__types_8hpp.html#adc1b530563e35a96fc1b8911ff133e0fa93d94a2f3a627533453a40e302fb35a4">ON_BICYCLE</a> = 2, <span class="comment">// 2 = on bicycle</span></div>
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"> 54</span> <a class="code hl_enumvalue" href="_b_n_o08x__global__types_8hpp.html#adc1b530563e35a96fc1b8911ff133e0fa7089542e0146a3499986c81e24924b58">ON_FOOT</a> = 3, <span class="comment">// 3 = on foot</span></div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"> 55</span> <a class="code hl_enumvalue" href="_b_n_o08x__global__types_8hpp.html#adc1b530563e35a96fc1b8911ff133e0fa8b572d218013b9626d59e6a2b38f18b6">STILL</a> = 4, <span class="comment">// 4 = still</span></div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"> 56</span> <a class="code hl_enumvalue" href="_b_n_o08x__global__types_8hpp.html#adc1b530563e35a96fc1b8911ff133e0fa69909b62e08f212da31719aebf67b70c">TILTING</a> = 5, <span class="comment">// 5 = tilting</span></div>
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"> 57</span> <a class="code hl_enumvalue" href="_b_n_o08x__global__types_8hpp.html#adc1b530563e35a96fc1b8911ff133e0fa606c114184493a665cf1f6a12fbab9d3">WALKING</a> = 6, <span class="comment">// 6 = walking</span></div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"> 58</span> <a class="code hl_enumvalue" href="_b_n_o08x__global__types_8hpp.html#adc1b530563e35a96fc1b8911ff133e0fa43491564ebcfd38568918efbd6e840fd">RUNNING</a> = 7, <span class="comment">// 7 = running</span></div>
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"> 59</span> <a class="code hl_enumvalue" href="_b_n_o08x__global__types_8hpp.html#adc1b530563e35a96fc1b8911ff133e0fabbf2a614429826a84bd76b4a47fc7515">ON_STAIRS</a> = 8, <span class="comment">// 8 = on stairs</span></div>
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"> 60</span> <a class="code hl_enumvalue" href="_b_n_o08x__global__types_8hpp.html#aed7bab8e55be415938e078ebe72562a0a0db45d2a4141101bdfe48e3314cfbca3">UNDEFINED</a> = 9 <span class="comment">// used for unit tests</span></div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"> 61</span>};</div>
</div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span> </div>
<div class="foldopen" id="foldopen00064" data-start="{" data-end="};">
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"><a class="line" href="_b_n_o08x__global__types_8hpp.html#a498b35f9e00b24e51f8f60b029751ab5"> 64</a></span><span class="keyword">enum class</span> <a class="code hl_enumeration" href="_b_n_o08x__global__types_8hpp.html#a498b35f9e00b24e51f8f60b029751ab5">BNO08xStability</a></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> <a class="code hl_enumvalue" href="_b_n_o08x__global__types_8hpp.html#adc1b530563e35a96fc1b8911ff133e0fa696b031073e74bf2cb98e5ef201d4aa3">UNKNOWN</a> = 0, <span class="comment">// 0 = unknown</span></div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"> 67</span> <a class="code hl_enumvalue" href="_b_n_o08x__global__types_8hpp.html#a498b35f9e00b24e51f8f60b029751ab5a71149a62cd9fec4756e3538d1754486a">ON_TABLE</a> = 1, <span class="comment">// 1 = on table</span></div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"> 68</span> <a class="code hl_enumvalue" href="_b_n_o08x__global__types_8hpp.html#a498b35f9e00b24e51f8f60b029751ab5a4120eb7591bd0789af75a8973d5f9146">STATIONARY</a> = 2, <span class="comment">// 2 = stationary</span></div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"> 69</span> <a class="code hl_enumvalue" href="_b_n_o08x__global__types_8hpp.html#aed7bab8e55be415938e078ebe72562a0a0db45d2a4141101bdfe48e3314cfbca3">UNDEFINED</a> = 3 <span class="comment">// used for unit tests</span></div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"> 70</span>};</div>
</div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"> 71</span> </div>
<div class="foldopen" id="foldopen00073" data-start="{" data-end="};">
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"><a class="line" href="structbno08x__config__t.html"> 73</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="l00074" name="l00074"></a><span class="lineno"> 74</span>{</div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"><a class="line" href="structbno08x__config__t.html#a020d2343750bb7debc2a108ae038c9ec"> 75</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="l00076" name="l00076"></a><span class="lineno"><a class="line" href="structbno08x__config__t.html#a79023fd80039e41a22b7f73ccd5fc861"> 76</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="l00077" name="l00077"></a><span class="lineno"><a class="line" href="structbno08x__config__t.html#a9468180a773892977db39cc5ed9368e3"> 77</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="l00078" name="l00078"></a><span class="lineno"><a class="line" href="structbno08x__config__t.html#a639685b91ae3198909d722316495246a"> 78</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="l00079" name="l00079"></a><span class="lineno"><a class="line" href="structbno08x__config__t.html#ab1b5351b63da0c172c942463d0dc2505"> 79</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="l00080" name="l00080"></a><span class="lineno"><a class="line" href="structbno08x__config__t.html#a3cfe965659cfbc6b0c5269bd0211975f"> 80</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="l00081" name="l00081"></a><span class="lineno"><a class="line" href="structbno08x__config__t.html#a62745c761219139f66ecd173b51577fc"> 81</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="l00082" name="l00082"></a><span class="lineno"><a class="line" href="structbno08x__config__t.html#a90ad7f316dc443874d19dc7e723a0ce0"> 82</a></span> gpio_num_t <a class="code hl_variable" href="structbno08x__config__t.html#a90ad7f316dc443874d19dc7e723a0ce0">io_wake</a>; </div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"><a class="line" href="structbno08x__config__t.html#a231614c3b20888360def2ce9db83f52a"> 83</a></span> uint32_t <a class="code hl_variable" href="structbno08x__config__t.html#a231614c3b20888360def2ce9db83f52a">sclk_speed</a>; </div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"><a class="line" href="structbno08x__config__t.html#a0f629aaef6756aa80fec96b34476c627"> 84</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="l00085" name="l00085"></a><span class="lineno"> 85</span> </div>
<div class="foldopen" id="foldopen00089" data-start="{" data-end="}">
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"><a class="line" href="structbno08x__config__t.html#a68e051212415a62e64c23678e7b40552"> 89</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="l00090" name="l00090"></a><span class="lineno"> 90</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="l00091" name="l00091"></a><span class="lineno"> 91</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="l00092" name="l00092"></a><span class="lineno"> 92</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="l00093" name="l00093"></a><span class="lineno"> 93</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="l00094" name="l00094"></a><span class="lineno"> 94</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="l00095" name="l00095"></a><span class="lineno"> 95</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="l00096" name="l00096"></a><span class="lineno"> 96</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="l00097" name="l00097"></a><span class="lineno"> 97</span> , <a class="code hl_variable" href="structbno08x__config__t.html#a90ad7f316dc443874d19dc7e723a0ce0">io_wake</a>(static_cast&lt;gpio_num_t&gt;(CONFIG_ESP32_BNO08X_GPIO_WAKE)) <span class="comment">// default: -1 (unused)</span></div>
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"> 98</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="l00099" name="l00099"></a><span class="lineno"> 99</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="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="l00102" name="l00102"></a><span class="lineno"> 102</span> }</div>
</div>
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"> 103</span> </div>
<div class="foldopen" id="foldopen00105" data-start="{" data-end="}">
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"><a class="line" href="structbno08x__config__t.html#a3a4ef8ef437403592278110a73cafe70"> 105</a></span> <a class="code hl_function" href="structbno08x__config__t.html#a3a4ef8ef437403592278110a73cafe70">bno08x_config_t</a>(spi_host_device_t <a class="code hl_variable" href="structbno08x__config__t.html#a020d2343750bb7debc2a108ae038c9ec">spi_peripheral</a>, gpio_num_t <a class="code hl_variable" href="structbno08x__config__t.html#a79023fd80039e41a22b7f73ccd5fc861">io_mosi</a>, gpio_num_t <a class="code hl_variable" href="structbno08x__config__t.html#a9468180a773892977db39cc5ed9368e3">io_miso</a>, gpio_num_t <a class="code hl_variable" href="structbno08x__config__t.html#a639685b91ae3198909d722316495246a">io_sclk</a>, gpio_num_t <a class="code hl_variable" href="structbno08x__config__t.html#ab1b5351b63da0c172c942463d0dc2505">io_cs</a>,</div>
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"> 106</span> gpio_num_t <a class="code hl_variable" href="structbno08x__config__t.html#a3cfe965659cfbc6b0c5269bd0211975f">io_int</a>, gpio_num_t <a class="code hl_variable" href="structbno08x__config__t.html#a62745c761219139f66ecd173b51577fc">io_rst</a>, gpio_num_t <a class="code hl_variable" href="structbno08x__config__t.html#a90ad7f316dc443874d19dc7e723a0ce0">io_wake</a>, uint32_t <a class="code hl_variable" href="structbno08x__config__t.html#a231614c3b20888360def2ce9db83f52a">sclk_speed</a>, <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="l00107" name="l00107"></a><span class="lineno"> 107</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="l00108" name="l00108"></a><span class="lineno"> 108</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="l00109" name="l00109"></a><span class="lineno"> 109</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="l00110" name="l00110"></a><span class="lineno"> 110</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="l00111" name="l00111"></a><span class="lineno"> 111</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="l00112" name="l00112"></a><span class="lineno"> 112</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="l00113" name="l00113"></a><span class="lineno"> 113</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="l00114" name="l00114"></a><span class="lineno"> 114</span> , <a class="code hl_variable" href="structbno08x__config__t.html#a90ad7f316dc443874d19dc7e723a0ce0">io_wake</a>(<a class="code hl_variable" href="structbno08x__config__t.html#a90ad7f316dc443874d19dc7e723a0ce0">io_wake</a>)</div>
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"> 115</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="l00116" name="l00116"></a><span class="lineno"> 116</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="l00117" name="l00117"></a><span class="lineno"> 117</span> {</div>
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"> 118</span> }</div>
</div>
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"><a class="line" href="_b_n_o08x__global__types_8hpp.html#a648bbdbf22731476890dd8da977d7503"> 119</a></span>} <a class="code hl_typedef" href="_b_n_o08x__global__types_8hpp.html#a648bbdbf22731476890dd8da977d7503">bno08x_config_t</a>;</div>
</div>
<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"> 120</span> </div>
<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"><a class="line" href="_b_n_o08x__global__types_8hpp.html#aae502b3d91ddf903bba797646fd28d00"> 121</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="ttc" id="a_b_n_o08x__global__types_8hpp_html_a498b35f9e00b24e51f8f60b029751ab5"><div class="ttname"><a href="_b_n_o08x__global__types_8hpp.html#a498b35f9e00b24e51f8f60b029751ab5">BNO08xStability</a></div><div class="ttdeci">BNO08xStability</div><div class="ttdoc">BNO08xStability states returned from get_stability_classifier()</div><div class="ttdef"><b>Definition</b> BNO08x_global_types.hpp:65</div></div>
<div class="ttc" id="a_b_n_o08x__global__types_8hpp_html_a498b35f9e00b24e51f8f60b029751ab5a4120eb7591bd0789af75a8973d5f9146"><div class="ttname"><a href="_b_n_o08x__global__types_8hpp.html#a498b35f9e00b24e51f8f60b029751ab5a4120eb7591bd0789af75a8973d5f9146">BNO08xStability::STATIONARY</a></div><div class="ttdeci">@ STATIONARY</div></div>
<div class="ttc" id="a_b_n_o08x__global__types_8hpp_html_a498b35f9e00b24e51f8f60b029751ab5a71149a62cd9fec4756e3538d1754486a"><div class="ttname"><a href="_b_n_o08x__global__types_8hpp.html#a498b35f9e00b24e51f8f60b029751ab5a71149a62cd9fec4756e3538d1754486a">BNO08xStability::ON_TABLE</a></div><div class="ttdeci">@ ON_TABLE</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_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> BNO08x_global_types.hpp:121</div></div>
<div class="ttc" id="a_b_n_o08x__global__types_8hpp_html_ab2a2ace42f7f438d6a799dfcbc243147"><div class="ttname"><a href="_b_n_o08x__global__types_8hpp.html#ab2a2ace42f7f438d6a799dfcbc243147">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> BNO08x_global_types.hpp:23</div></div>
<div class="ttc" id="a_b_n_o08x__global__types_8hpp_html_ab2a2ace42f7f438d6a799dfcbc243147a03570470bad94692ce93e32700d2e1cb"><div class="ttname"><a href="_b_n_o08x__global__types_8hpp.html#ab2a2ace42f7f438d6a799dfcbc243147a03570470bad94692ce93e32700d2e1cb">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_ab2a2ace42f7f438d6a799dfcbc243147a764caaf44e35ee682f4079bd0878fa36"><div class="ttname"><a href="_b_n_o08x__global__types_8hpp.html#ab2a2ace42f7f438d6a799dfcbc243147a764caaf44e35ee682f4079bd0878fa36">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_ab2a2ace42f7f438d6a799dfcbc243147a7b47bb0f9f8c72f84d891e8e22a1fb92"><div class="ttname"><a href="_b_n_o08x__global__types_8hpp.html#ab2a2ace42f7f438d6a799dfcbc243147a7b47bb0f9f8c72f84d891e8e22a1fb92">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_ab2a2ace42f7f438d6a799dfcbc243147ac4e100317ca17eda786308c1c39eded5"><div class="ttname"><a href="_b_n_o08x__global__types_8hpp.html#ab2a2ace42f7f438d6a799dfcbc243147ac4e100317ca17eda786308c1c39eded5">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_ab2a2ace42f7f438d6a799dfcbc243147acc069cf9b33eb4e7fb3696f0f42d752f"><div class="ttname"><a href="_b_n_o08x__global__types_8hpp.html#ab2a2ace42f7f438d6a799dfcbc243147acc069cf9b33eb4e7fb3696f0f42d752f">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="a_b_n_o08x__global__types_8hpp_html_abcc5d57e21ea6ed79e792deafcb62187"><div class="ttname"><a href="_b_n_o08x__global__types_8hpp.html#abcc5d57e21ea6ed79e792deafcb62187">BNO08xActivity</a></div><div class="ttdeci">BNO08xActivity</div><div class="ttdoc">BNO08xActivity states returned from get_activity_classifier()</div><div class="ttdef"><b>Definition</b> BNO08x_global_types.hpp:50</div></div>
<div class="ttc" id="a_b_n_o08x__global__types_8hpp_html_adc1b530563e35a96fc1b8911ff133e0f"><div class="ttname"><a href="_b_n_o08x__global__types_8hpp.html#adc1b530563e35a96fc1b8911ff133e0f">BNO08xActivityEnable</a></div><div class="ttdeci">BNO08xActivityEnable</div><div class="ttdoc">BNO08xActivity Classifier enable bits passed to enable_activity_classifier()</div><div class="ttdef"><b>Definition</b> BNO08x_global_types.hpp:35</div></div>
<div class="ttc" id="a_b_n_o08x__global__types_8hpp_html_adc1b530563e35a96fc1b8911ff133e0fa43491564ebcfd38568918efbd6e840fd"><div class="ttname"><a href="_b_n_o08x__global__types_8hpp.html#adc1b530563e35a96fc1b8911ff133e0fa43491564ebcfd38568918efbd6e840fd">BNO08xActivityEnable::RUNNING</a></div><div class="ttdeci">@ RUNNING</div></div>
<div class="ttc" id="a_b_n_o08x__global__types_8hpp_html_adc1b530563e35a96fc1b8911ff133e0fa5fb1f955b45e38e31789286a1790398d"><div class="ttname"><a href="_b_n_o08x__global__types_8hpp.html#adc1b530563e35a96fc1b8911ff133e0fa5fb1f955b45e38e31789286a1790398d">BNO08xActivityEnable::ALL</a></div><div class="ttdeci">@ ALL</div></div>
<div class="ttc" id="a_b_n_o08x__global__types_8hpp_html_adc1b530563e35a96fc1b8911ff133e0fa606c114184493a665cf1f6a12fbab9d3"><div class="ttname"><a href="_b_n_o08x__global__types_8hpp.html#adc1b530563e35a96fc1b8911ff133e0fa606c114184493a665cf1f6a12fbab9d3">BNO08xActivityEnable::WALKING</a></div><div class="ttdeci">@ WALKING</div></div>
<div class="ttc" id="a_b_n_o08x__global__types_8hpp_html_adc1b530563e35a96fc1b8911ff133e0fa696b031073e74bf2cb98e5ef201d4aa3"><div class="ttname"><a href="_b_n_o08x__global__types_8hpp.html#adc1b530563e35a96fc1b8911ff133e0fa696b031073e74bf2cb98e5ef201d4aa3">BNO08xActivityEnable::UNKNOWN</a></div><div class="ttdeci">@ UNKNOWN</div></div>
<div class="ttc" id="a_b_n_o08x__global__types_8hpp_html_adc1b530563e35a96fc1b8911ff133e0fa69909b62e08f212da31719aebf67b70c"><div class="ttname"><a href="_b_n_o08x__global__types_8hpp.html#adc1b530563e35a96fc1b8911ff133e0fa69909b62e08f212da31719aebf67b70c">BNO08xActivityEnable::TILTING</a></div><div class="ttdeci">@ TILTING</div></div>
<div class="ttc" id="a_b_n_o08x__global__types_8hpp_html_adc1b530563e35a96fc1b8911ff133e0fa7089542e0146a3499986c81e24924b58"><div class="ttname"><a href="_b_n_o08x__global__types_8hpp.html#adc1b530563e35a96fc1b8911ff133e0fa7089542e0146a3499986c81e24924b58">BNO08xActivityEnable::ON_FOOT</a></div><div class="ttdeci">@ ON_FOOT</div></div>
<div class="ttc" id="a_b_n_o08x__global__types_8hpp_html_adc1b530563e35a96fc1b8911ff133e0fa8b572d218013b9626d59e6a2b38f18b6"><div class="ttname"><a href="_b_n_o08x__global__types_8hpp.html#adc1b530563e35a96fc1b8911ff133e0fa8b572d218013b9626d59e6a2b38f18b6">BNO08xActivityEnable::STILL</a></div><div class="ttdeci">@ STILL</div></div>
<div class="ttc" id="a_b_n_o08x__global__types_8hpp_html_adc1b530563e35a96fc1b8911ff133e0fa93d94a2f3a627533453a40e302fb35a4"><div class="ttname"><a href="_b_n_o08x__global__types_8hpp.html#adc1b530563e35a96fc1b8911ff133e0fa93d94a2f3a627533453a40e302fb35a4">BNO08xActivityEnable::ON_BICYCLE</a></div><div class="ttdeci">@ ON_BICYCLE</div></div>
<div class="ttc" id="a_b_n_o08x__global__types_8hpp_html_adc1b530563e35a96fc1b8911ff133e0fab166a3ce74dd5434e4a940dfa2af76e4"><div class="ttname"><a href="_b_n_o08x__global__types_8hpp.html#adc1b530563e35a96fc1b8911ff133e0fab166a3ce74dd5434e4a940dfa2af76e4">BNO08xActivityEnable::IN_VEHICLE</a></div><div class="ttdeci">@ IN_VEHICLE</div></div>
<div class="ttc" id="a_b_n_o08x__global__types_8hpp_html_adc1b530563e35a96fc1b8911ff133e0fabbf2a614429826a84bd76b4a47fc7515"><div class="ttname"><a href="_b_n_o08x__global__types_8hpp.html#adc1b530563e35a96fc1b8911ff133e0fabbf2a614429826a84bd76b4a47fc7515">BNO08xActivityEnable::ON_STAIRS</a></div><div class="ttdeci">@ ON_STAIRS</div></div>
<div class="ttc" id="a_b_n_o08x__global__types_8hpp_html_aed7bab8e55be415938e078ebe72562a0"><div class="ttname"><a href="_b_n_o08x__global__types_8hpp.html#aed7bab8e55be415938e078ebe72562a0">BNO08xAccuracy</a></div><div class="ttdeci">BNO08xAccuracy</div><div class="ttdoc">Sensor accuracy returned during sensor calibration.</div><div class="ttdef"><b>Definition</b> BNO08x_global_types.hpp:13</div></div>
<div class="ttc" id="a_b_n_o08x__global__types_8hpp_html_aed7bab8e55be415938e078ebe72562a0a0db45d2a4141101bdfe48e3314cfbca3"><div class="ttname"><a href="_b_n_o08x__global__types_8hpp.html#aed7bab8e55be415938e078ebe72562a0a0db45d2a4141101bdfe48e3314cfbca3">BNO08xAccuracy::UNDEFINED</a></div><div class="ttdeci">@ UNDEFINED</div></div>
<div class="ttc" id="a_b_n_o08x__global__types_8hpp_html_aed7bab8e55be415938e078ebe72562a0a2ad6d5975c45da2e711c796f3a1b029c"><div class="ttname"><a href="_b_n_o08x__global__types_8hpp.html#aed7bab8e55be415938e078ebe72562a0a2ad6d5975c45da2e711c796f3a1b029c">BNO08xAccuracy::MED</a></div><div class="ttdeci">@ MED</div></div>
<div class="ttc" id="a_b_n_o08x__global__types_8hpp_html_aed7bab8e55be415938e078ebe72562a0a41bc94cbd8eebea13ce0491b2ac11b88"><div class="ttname"><a href="_b_n_o08x__global__types_8hpp.html#aed7bab8e55be415938e078ebe72562a0a41bc94cbd8eebea13ce0491b2ac11b88">BNO08xAccuracy::LOW</a></div><div class="ttdeci">@ LOW</div></div>
<div class="ttc" id="a_b_n_o08x__global__types_8hpp_html_aed7bab8e55be415938e078ebe72562a0ab89de3b4b81c4facfac906edf29aec8c"><div class="ttname"><a href="_b_n_o08x__global__types_8hpp.html#aed7bab8e55be415938e078ebe72562a0ab89de3b4b81c4facfac906edf29aec8c">BNO08xAccuracy::HIGH</a></div><div class="ttdeci">@ HIGH</div></div>
<div class="ttc" id="astructbno08x__config__t_html"><div class="ttname"><a href="structbno08x__config__t.html">bno08x_config_t</a></div><div class="ttdoc">IMU configuration settings passed into constructor.</div><div class="ttdef"><b>Definition</b> BNO08x_global_types.hpp:74</div></div>
<div class="ttc" id="astructbno08x__config__t_html_a020d2343750bb7debc2a108ae038c9ec"><div class="ttname"><a href="structbno08x__config__t.html#a020d2343750bb7debc2a108ae038c9ec">bno08x_config_t::spi_peripheral</a></div><div class="ttdeci">spi_host_device_t spi_peripheral</div><div class="ttdoc">SPI peripheral to be used.</div><div class="ttdef"><b>Definition</b> BNO08x_global_types.hpp:75</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> BNO08x_global_types.hpp:84</div></div>
<div class="ttc" id="astructbno08x__config__t_html_a231614c3b20888360def2ce9db83f52a"><div class="ttname"><a href="structbno08x__config__t.html#a231614c3b20888360def2ce9db83f52a">bno08x_config_t::sclk_speed</a></div><div class="ttdeci">uint32_t sclk_speed</div><div class="ttdoc">Desired SPI SCLK speed in Hz (max 3MHz)</div><div class="ttdef"><b>Definition</b> BNO08x_global_types.hpp:83</div></div>
<div class="ttc" id="astructbno08x__config__t_html_a3a4ef8ef437403592278110a73cafe70"><div class="ttname"><a href="structbno08x__config__t.html#a3a4ef8ef437403592278110a73cafe70">bno08x_config_t::bno08x_config_t</a></div><div class="ttdeci">bno08x_config_t(spi_host_device_t spi_peripheral, gpio_num_t io_mosi, gpio_num_t io_miso, gpio_num_t io_sclk, gpio_num_t io_cs, gpio_num_t io_int, gpio_num_t io_rst, gpio_num_t io_wake, uint32_t sclk_speed, 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> BNO08x_global_types.hpp:105</div></div>
<div class="ttc" id="astructbno08x__config__t_html_a3cfe965659cfbc6b0c5269bd0211975f"><div class="ttname"><a href="structbno08x__config__t.html#a3cfe965659cfbc6b0c5269bd0211975f">bno08x_config_t::io_int</a></div><div class="ttdeci">gpio_num_t io_int</div><div class="ttdoc">Chip select pin (connects to BNO08x CS pin)</div><div class="ttdef"><b>Definition</b> BNO08x_global_types.hpp:80</div></div>
<div class="ttc" id="astructbno08x__config__t_html_a62745c761219139f66ecd173b51577fc"><div class="ttname"><a href="structbno08x__config__t.html#a62745c761219139f66ecd173b51577fc">bno08x_config_t::io_rst</a></div><div class="ttdeci">gpio_num_t io_rst</div><div class="ttdoc">Host interrupt pin (connects to BNO08x INT pin)</div><div class="ttdef"><b>Definition</b> BNO08x_global_types.hpp:81</div></div>
<div class="ttc" id="astructbno08x__config__t_html_a639685b91ae3198909d722316495246a"><div class="ttname"><a href="structbno08x__config__t.html#a639685b91ae3198909d722316495246a">bno08x_config_t::io_sclk</a></div><div class="ttdeci">gpio_num_t io_sclk</div><div class="ttdoc">SCLK pin (connects to BNO08x SCL pin)</div><div class="ttdef"><b>Definition</b> BNO08x_global_types.hpp:78</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> BNO08x_global_types.hpp:89</div></div>
<div class="ttc" id="astructbno08x__config__t_html_a79023fd80039e41a22b7f73ccd5fc861"><div class="ttname"><a href="structbno08x__config__t.html#a79023fd80039e41a22b7f73ccd5fc861">bno08x_config_t::io_mosi</a></div><div class="ttdeci">gpio_num_t io_mosi</div><div class="ttdoc">MOSI GPIO pin (connects to BNO08x DI pin)</div><div class="ttdef"><b>Definition</b> BNO08x_global_types.hpp:76</div></div>
<div class="ttc" id="astructbno08x__config__t_html_a90ad7f316dc443874d19dc7e723a0ce0"><div class="ttname"><a href="structbno08x__config__t.html#a90ad7f316dc443874d19dc7e723a0ce0">bno08x_config_t::io_wake</a></div><div class="ttdeci">gpio_num_t io_wake</div><div class="ttdoc">Reset pin (connects to BNO08x RST pin)</div><div class="ttdef"><b>Definition</b> BNO08x_global_types.hpp:82</div></div>
<div class="ttc" id="astructbno08x__config__t_html_a9468180a773892977db39cc5ed9368e3"><div class="ttname"><a href="structbno08x__config__t.html#a9468180a773892977db39cc5ed9368e3">bno08x_config_t::io_miso</a></div><div class="ttdeci">gpio_num_t io_miso</div><div class="ttdoc">MISO GPIO pin (connects to BNO08x SDA pin)</div><div class="ttdef"><b>Definition</b> BNO08x_global_types.hpp:77</div></div>
<div class="ttc" id="astructbno08x__config__t_html_ab1b5351b63da0c172c942463d0dc2505"><div class="ttname"><a href="structbno08x__config__t.html#ab1b5351b63da0c172c942463d0dc2505">bno08x_config_t::io_cs</a></div><div class="ttdeci">gpio_num_t io_cs</div><div class="ttdef"><b>Definition</b> BNO08x_global_types.hpp:79</div></div>
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<a href="_b_n_o08x__macros_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="l00005" name="l00005"></a><span class="lineno"> 5</span><span class="preprocessor">#pragma once</span></div>
<div class="line"><a id="l00006" name="l00006"></a><span class="lineno"> 6</span> </div>
<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"> 7</span><span class="comment">// standard library includes</span></div>
<div class="line"><a id="l00008" name="l00008"></a><span class="lineno"> 8</span><span class="preprocessor">#include &lt;inttypes.h&gt;</span></div>
<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"> 9</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 &lt;freertos/FreeRTOS.h&gt;</span></div>
<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"> 12</span><span class="preprocessor">#include &lt;freertos/event_groups.h&gt;</span></div>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"> 13</span> </div>
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"><a class="line" href="_b_n_o08x__macros_8hpp.html#a59dd17f0673fdd60f6a65bba104a6f80"> 22</a></span><span class="preprocessor">#define CHECK_TASKS_RUNNING(evt_grp_task_flow, running_bit) ((xEventGroupGetBits(evt_grp_task_flow) &amp; (running_bit)) != 0)</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="comment">// packet parsing macros</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__macros_8hpp.html#ad98f2fa811436866ff297a8288e34f40"> 32</a></span><span class="preprocessor">#define UINT16_CLR_MSB(val_16bit) ((val_16bit) &amp; 0x00FFU)</span></div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span> </div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"><a class="line" href="_b_n_o08x__macros_8hpp.html#ac89a0ae0c3d3067f02e9fa275521606b"> 40</a></span><span class="preprocessor">#define UINT16_CLR_LSB(val_16bit) ((val_16bit) &amp; 0xFF00U)</span></div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span> </div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"><a class="line" href="_b_n_o08x__macros_8hpp.html#a7de5c0b84ba545981105e1216925d8e9"> 49</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="l00050" name="l00050"></a><span class="lineno"> 50</span> </div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"><a class="line" href="_b_n_o08x__macros_8hpp.html#a6f459cc2cce1722c63d22a9556f06bc8"> 58</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="l00059" name="l00059"></a><span class="lineno"> 59</span> </div>
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"> 60</span><span class="comment">// parsing universal to any packet</span></div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"> 61</span> </div>
<div class="foldopen" id="foldopen00068" data-start="" data-end="">
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"><a class="line" href="_b_n_o08x__macros_8hpp.html#a432e15325e64ab36d5a3b30b65a71bf1"> 68</a></span><span class="preprocessor">#define PARSE_PACKET_LENGTH(packet_ptr) \</span></div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"> 69</span><span class="preprocessor"> (UINT16_CLR_LSB(static_cast&lt;uint16_t&gt;(packet_ptr-&gt;header[1]) &lt;&lt; 8U) | UINT16_CLR_MSB(static_cast&lt;uint16_t&gt;(packet_ptr-&gt;header[0])))</span></div>
</div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"> 70</span> </div>
<div class="foldopen" id="foldopen00077" data-start="" data-end="">
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"><a class="line" href="_b_n_o08x__macros_8hpp.html#afa3b6d75bbe499250e69043547a39208"> 77</a></span><span class="preprocessor">#define PARSE_PACKET_TIMESTAMP(packet_ptr) \</span></div>
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"> 78</span><span class="preprocessor"> (UINT32_MSK_BYTE(static_cast&lt;uint32_t&gt;(packet-&gt;body[4]) &lt;&lt; 24UL, 3UL) | UINT32_MSK_BYTE(static_cast&lt;uint32_t&gt;(packet-&gt;body[3]) &lt;&lt; 16UL, 2UL) | \</span></div>
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"> 79</span><span class="preprocessor"> UINT32_MSK_BYTE(static_cast&lt;uint32_t&gt;(packet-&gt;body[2]) &lt;&lt; 8UL, 1UL) | UINT32_MSK_BYTE(static_cast&lt;uint32_t&gt;(packet-&gt;body[1]), 0UL))</span></div>
</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"> 81</span><span class="comment">// product id report parsing</span></div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"> 82</span> </div>
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"><a class="line" href="_b_n_o08x__macros_8hpp.html#a4c1a6f80fc6ab0ab5d6f803bc175b3e1"> 89</a></span><span class="preprocessor">#define PARSE_PRODUCT_ID_REPORT_RESET_REASON(packet_ptr) UINT32_MSK_BYTE(static_cast&lt;uint32_t&gt;(packet_ptr-&gt;body[1]), 0UL)</span></div>
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"> 90</span> </div>
<div class="foldopen" id="foldopen00097" data-start="" data-end="">
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"><a class="line" href="_b_n_o08x__macros_8hpp.html#a5e6be52a05421d50c4b3600c35868540"> 97</a></span><span class="preprocessor">#define PARSE_PRODUCT_ID_REPORT_SW_PART_NO(packet_ptr) \</span></div>
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"> 98</span><span class="preprocessor"> (UINT32_MSK_BYTE(static_cast&lt;uint32_t&gt;(packet_ptr-&gt;body[7]) &lt;&lt; 24UL, 3UL) | \</span></div>
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"> 99</span><span class="preprocessor"> UINT32_MSK_BYTE(static_cast&lt;uint32_t&gt;(packet_ptr-&gt;body[6]) &lt;&lt; 16UL, 2UL) | \</span></div>
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"> 100</span><span class="preprocessor"> UINT32_MSK_BYTE(static_cast&lt;uint32_t&gt;(packet_ptr-&gt;body[5]) &lt;&lt; 8UL, 1UL) | \</span></div>
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"> 101</span><span class="preprocessor"> UINT32_MSK_BYTE(static_cast&lt;uint32_t&gt;(packet_ptr-&gt;body[4]), 0UL))</span></div>
</div>
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"> 102</span> </div>
<div class="foldopen" id="foldopen00109" data-start="" data-end="">
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"><a class="line" href="_b_n_o08x__macros_8hpp.html#a24ff2498d4883f329d70fb2a6f10e04a"> 109</a></span><span class="preprocessor">#define PARSE_PRODUCT_ID_REPORT_SW_BUILD_NO(packet_ptr) \</span></div>
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span><span class="preprocessor"> UINT32_MSK_BYTE(static_cast&lt;uint32_t&gt;(packet-&gt;body[11]) &lt;&lt; 24UL, 3UL) | UINT32_MSK_BYTE(static_cast&lt;uint32_t&gt;(packet-&gt;body[10]) &lt;&lt; 16UL, 2UL) | \</span></div>
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"> 111</span><span class="preprocessor"> UINT32_MSK_BYTE(static_cast&lt;uint32_t&gt;(packet-&gt;body[9]) &lt;&lt; 8UL, 1UL) | UINT32_MSK_BYTE(static_cast&lt;uint32_t&gt;(packet-&gt;body[8]), 0UL)</span></div>
</div>
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"> 112</span> </div>
<div class="foldopen" id="foldopen00119" data-start="" data-end="">
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"><a class="line" href="_b_n_o08x__macros_8hpp.html#a23baa3c8a71f3b3021f135bef27a8ed9"> 119</a></span><span class="preprocessor">#define PARSE_PRODUCT_ID_REPORT_SW_VERSION_PATCH(packet_ptr) \</span></div>
<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"> 120</span><span class="preprocessor"> (UINT32_MSK_BYTE(static_cast&lt;uint32_t&gt;(packet-&gt;body[13]) &lt;&lt; 8UL, 1UL) | UINT32_MSK_BYTE(static_cast&lt;uint32_t&gt;(packet-&gt;body[12]), 0UL))</span></div>
</div>
<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"> 121</span> </div>
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"><a class="line" href="_b_n_o08x__macros_8hpp.html#a37c86278c2de384fe3b9304b8d2d3370"> 128</a></span><span class="preprocessor">#define PARSE_PRODUCT_ID_REPORT_PRODUCT_ID(packet_ptr) UINT32_MSK_BYTE(static_cast&lt;uint32_t&gt;(packet-&gt;body[0]), 0UL)</span></div>
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"> 129</span> </div>
<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"><a class="line" href="_b_n_o08x__macros_8hpp.html#af59b362a169fe8c11a0b679ca99383ee"> 136</a></span><span class="preprocessor">#define PARSE_PRODUCT_ID_REPORT_SW_VERSION_MAJOR(packet_ptr) UINT32_MSK_BYTE(static_cast&lt;uint32_t&gt;(packet-&gt;body[2]), 0UL)</span></div>
<div class="line"><a id="l00137" name="l00137"></a><span class="lineno"> 137</span> </div>
<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"><a class="line" href="_b_n_o08x__macros_8hpp.html#ad9773ac824ab751df0e331a7c16080a1"> 144</a></span><span class="preprocessor">#define PARSE_PRODUCT_ID_REPORT_SW_VERSION_MINOR(packet_ptr) UINT32_MSK_BYTE(static_cast&lt;uint32_t&gt;(packet-&gt;body[3]), 0UL)</span></div>
<div class="line"><a id="l00145" name="l00145"></a><span class="lineno"> 145</span> </div>
<div class="line"><a id="l00146" name="l00146"></a><span class="lineno"> 146</span><span class="comment">// gyro report parsing</span></div>
<div class="line"><a id="l00147" name="l00147"></a><span class="lineno"> 147</span> </div>
<div class="foldopen" id="foldopen00154" data-start="" data-end="">
<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"><a class="line" href="_b_n_o08x__macros_8hpp.html#a1f20ab3d051d5acb254e5a5e7b4505de"> 154</a></span><span class="preprocessor">#define PARSE_GYRO_REPORT_RAW_QUAT_I(packet) \</span></div>
<div class="line"><a id="l00155" name="l00155"></a><span class="lineno"> 155</span><span class="preprocessor"> (UINT16_CLR_LSB(static_cast&lt;uint16_t&gt;(packet-&gt;body[1]) &lt;&lt; 8U) | UINT16_CLR_MSB(static_cast&lt;uint16_t&gt;(packet-&gt;body[0])))</span></div>
</div>
<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"> 156</span> </div>
<div class="foldopen" id="foldopen00163" data-start="" data-end="">
<div class="line"><a id="l00163" name="l00163"></a><span class="lineno"><a class="line" href="_b_n_o08x__macros_8hpp.html#afe721365113756a8b38a5db255f9d061"> 163</a></span><span class="preprocessor">#define PARSE_GYRO_REPORT_RAW_QUAT_J(packet) \</span></div>
<div class="line"><a id="l00164" name="l00164"></a><span class="lineno"> 164</span><span class="preprocessor"> (UINT16_CLR_LSB(static_cast&lt;uint16_t&gt;(packet-&gt;body[3]) &lt;&lt; 8U) | UINT16_CLR_MSB(static_cast&lt;uint16_t&gt;(packet-&gt;body[2])))</span></div>
</div>
<div class="line"><a id="l00165" name="l00165"></a><span class="lineno"> 165</span> </div>
<div class="foldopen" id="foldopen00172" data-start="" data-end="">
<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"><a class="line" href="_b_n_o08x__macros_8hpp.html#a3ae7fd4e8febc54026e59e1ac544db84"> 172</a></span><span class="preprocessor">#define PARSE_GYRO_REPORT_RAW_QUAT_K(packet) \</span></div>
<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"> 173</span><span class="preprocessor"> (UINT16_CLR_LSB(static_cast&lt;uint16_t&gt;(packet-&gt;body[5]) &lt;&lt; 8U) | UINT16_CLR_MSB(static_cast&lt;uint16_t&gt;(packet-&gt;body[4])))</span></div>
</div>
<div class="line"><a id="l00174" name="l00174"></a><span class="lineno"> 174</span> </div>
<div class="foldopen" id="foldopen00181" data-start="" data-end="">
<div class="line"><a id="l00181" name="l00181"></a><span class="lineno"><a class="line" href="_b_n_o08x__macros_8hpp.html#a73d50f6a746370f614161ee6b9b08424"> 181</a></span><span class="preprocessor">#define PARSE_GYRO_REPORT_RAW_QUAT_REAL(packet) \</span></div>
<div class="line"><a id="l00182" name="l00182"></a><span class="lineno"> 182</span><span class="preprocessor"> (UINT16_CLR_LSB(static_cast&lt;uint16_t&gt;(packet-&gt;body[7]) &lt;&lt; 8U) | UINT16_CLR_MSB(static_cast&lt;uint16_t&gt;(packet-&gt;body[6])))</span></div>
</div>
<div class="line"><a id="l00183" name="l00183"></a><span class="lineno"> 183</span> </div>
<div class="foldopen" id="foldopen00190" data-start="" data-end="">
<div class="line"><a id="l00190" name="l00190"></a><span class="lineno"><a class="line" href="_b_n_o08x__macros_8hpp.html#a7aed5272074b2ee03da81b6fb7222813"> 190</a></span><span class="preprocessor">#define PARSE_GYRO_REPORT_RAW_GYRO_VEL_X(packet) \</span></div>
<div class="line"><a id="l00191" name="l00191"></a><span class="lineno"> 191</span><span class="preprocessor"> (UINT16_CLR_LSB(static_cast&lt;uint16_t&gt;(packet-&gt;body[9]) &lt;&lt; 8U) | UINT16_CLR_MSB(static_cast&lt;uint16_t&gt;(packet-&gt;body[8])))</span></div>
</div>
<div class="line"><a id="l00192" name="l00192"></a><span class="lineno"> 192</span> </div>
<div class="foldopen" id="foldopen00199" data-start="" data-end="">
<div class="line"><a id="l00199" name="l00199"></a><span class="lineno"><a class="line" href="_b_n_o08x__macros_8hpp.html#a823d8c92faf40d07f5b0bb324f2a51bd"> 199</a></span><span class="preprocessor">#define PARSE_GYRO_REPORT_RAW_GYRO_VEL_Y(packet) \</span></div>
<div class="line"><a id="l00200" name="l00200"></a><span class="lineno"> 200</span><span class="preprocessor"> (UINT16_CLR_LSB(static_cast&lt;uint16_t&gt;(packet-&gt;body[11]) &lt;&lt; 8U) | UINT16_CLR_MSB(static_cast&lt;uint16_t&gt;(packet-&gt;body[10])))</span></div>
</div>
<div class="line"><a id="l00201" name="l00201"></a><span class="lineno"> 201</span> </div>
<div class="foldopen" id="foldopen00208" data-start="" data-end="">
<div class="line"><a id="l00208" name="l00208"></a><span class="lineno"><a class="line" href="_b_n_o08x__macros_8hpp.html#afcc41ef70ba1860c3178072e13ccf512"> 208</a></span><span class="preprocessor">#define PARSE_GYRO_REPORT_RAW_GYRO_VEL_Z(packet) \</span></div>
<div class="line"><a id="l00209" name="l00209"></a><span class="lineno"> 209</span><span class="preprocessor"> (UINT16_CLR_LSB(static_cast&lt;uint16_t&gt;(packet-&gt;body[13]) &lt;&lt; 8U) | UINT16_CLR_MSB(static_cast&lt;uint16_t&gt;(packet-&gt;body[12])))</span></div>
</div>
<div class="line"><a id="l00210" name="l00210"></a><span class="lineno"> 210</span> </div>
<div class="line"><a id="l00211" name="l00211"></a><span class="lineno"> 211</span><span class="comment">// input report parsing</span></div>
<div class="line"><a id="l00212" name="l00212"></a><span class="lineno"> 212</span> </div>
<div class="line"><a id="l00219" name="l00219"></a><span class="lineno"><a class="line" href="_b_n_o08x__macros_8hpp.html#ac4cad93c425c38fd5cd90d0982897611"> 219</a></span><span class="preprocessor">#define PARSE_INPUT_REPORT_STATUS_BITS(packet) (packet-&gt;body[5 + 2] &amp; 0x03U)</span></div>
<div class="line"><a id="l00220" name="l00220"></a><span class="lineno"> 220</span> </div>
<div class="line"><a id="l00227" name="l00227"></a><span class="lineno"><a class="line" href="_b_n_o08x__macros_8hpp.html#a5be1d9a953a0657a4b8df88681b211bc"> 227</a></span><span class="preprocessor">#define PARSE_INPUT_REPORT_REPORT_ID(packet) UINT16_CLR_MSB(static_cast&lt;uint16_t&gt;(packet-&gt;body[5]))</span></div>
<div class="line"><a id="l00228" name="l00228"></a><span class="lineno"> 228</span> </div>
<div class="foldopen" id="foldopen00235" data-start="" data-end="">
<div class="line"><a id="l00235" name="l00235"></a><span class="lineno"><a class="line" href="_b_n_o08x__macros_8hpp.html#a4664b5298e0059c173f71bb73a87d239"> 235</a></span><span class="preprocessor">#define PARSE_INPUT_REPORT_DATA_1(packet) \</span></div>
<div class="line"><a id="l00236" name="l00236"></a><span class="lineno"> 236</span><span class="preprocessor"> (UINT16_CLR_LSB(static_cast&lt;uint16_t&gt;(packet-&gt;body[5 + 5]) &lt;&lt; 8U) | UINT16_CLR_MSB(static_cast&lt;uint16_t&gt;(packet-&gt;body[5 + 4])))</span></div>
</div>
<div class="line"><a id="l00237" name="l00237"></a><span class="lineno"> 237</span> </div>
<div class="foldopen" id="foldopen00244" data-start="" data-end="">
<div class="line"><a id="l00244" name="l00244"></a><span class="lineno"><a class="line" href="_b_n_o08x__macros_8hpp.html#a455a8649345748be2d5f35036052f78a"> 244</a></span><span class="preprocessor">#define PARSE_INPUT_REPORT_DATA_2(packet) \</span></div>
<div class="line"><a id="l00245" name="l00245"></a><span class="lineno"> 245</span><span class="preprocessor"> (UINT16_CLR_LSB(static_cast&lt;uint16_t&gt;(packet-&gt;body[5 + 7]) &lt;&lt; 8U) | UINT16_CLR_MSB(static_cast&lt;uint16_t&gt;(packet-&gt;body[5 + 6])))</span></div>
</div>
<div class="line"><a id="l00246" name="l00246"></a><span class="lineno"> 246</span> </div>
<div class="foldopen" id="foldopen00253" data-start="" data-end="">
<div class="line"><a id="l00253" name="l00253"></a><span class="lineno"><a class="line" href="_b_n_o08x__macros_8hpp.html#a7d38fbfe154c526c822748fc812e7d52"> 253</a></span><span class="preprocessor">#define PARSE_INPUT_REPORT_DATA_3(packet) \</span></div>
<div class="line"><a id="l00254" name="l00254"></a><span class="lineno"> 254</span><span class="preprocessor"> (UINT16_CLR_LSB(static_cast&lt;uint16_t&gt;(packet-&gt;body[5 + 9]) &lt;&lt; 8U) | UINT16_CLR_MSB(static_cast&lt;uint16_t&gt;(packet-&gt;body[5 + 8])))</span></div>
</div>
<div class="line"><a id="l00255" name="l00255"></a><span class="lineno"> 255</span> </div>
<div class="foldopen" id="foldopen00262" data-start="" data-end="">
<div class="line"><a id="l00262" name="l00262"></a><span class="lineno"><a class="line" href="_b_n_o08x__macros_8hpp.html#a3d6971a39ce4858314247bdbbb754b33"> 262</a></span><span class="preprocessor">#define PARSE_INPUT_REPORT_DATA_4(packet) \</span></div>
<div class="line"><a id="l00263" name="l00263"></a><span class="lineno"> 263</span><span class="preprocessor"> (UINT16_CLR_LSB(static_cast&lt;uint16_t&gt;(packet-&gt;body[5 + 11]) &lt;&lt; 8U) | UINT16_CLR_MSB(static_cast&lt;uint16_t&gt;(packet-&gt;body[5 + 10])))</span></div>
</div>
<div class="line"><a id="l00264" name="l00264"></a><span class="lineno"> 264</span> </div>
<div class="foldopen" id="foldopen00271" data-start="" data-end="">
<div class="line"><a id="l00271" name="l00271"></a><span class="lineno"><a class="line" href="_b_n_o08x__macros_8hpp.html#afd61b5f28723a3f20874097b1bd46e1a"> 271</a></span><span class="preprocessor">#define PARSE_INPUT_REPORT_DATA_5(packet) \</span></div>
<div class="line"><a id="l00272" name="l00272"></a><span class="lineno"> 272</span><span class="preprocessor"> (UINT16_CLR_LSB(static_cast&lt;uint16_t&gt;(packet-&gt;body[5 + 13]) &lt;&lt; 8U) | UINT16_CLR_MSB(static_cast&lt;uint16_t&gt;(packet-&gt;body[5 + 12])))</span></div>
</div>
<div class="line"><a id="l00273" name="l00273"></a><span class="lineno"> 273</span> </div>
<div class="foldopen" id="foldopen00280" data-start="" data-end="">
<div class="line"><a id="l00280" name="l00280"></a><span class="lineno"><a class="line" href="_b_n_o08x__macros_8hpp.html#ae66870a6ac704d1ee582f4f7bd2ba6a7"> 280</a></span><span class="preprocessor">#define PARSE_INPUT_REPORT_DATA_6(packet) \</span></div>
<div class="line"><a id="l00281" name="l00281"></a><span class="lineno"> 281</span><span class="preprocessor"> (UINT16_CLR_LSB(static_cast&lt;uint16_t&gt;(packet-&gt;body[5 + 15]) &lt;&lt; 8U) | UINT16_CLR_MSB(static_cast&lt;uint16_t&gt;(packet-&gt;body[5 + 14])))</span></div>
</div>
<div class="line"><a id="l00282" name="l00282"></a><span class="lineno"> 282</span> </div>
<div class="foldopen" id="foldopen00289" data-start="" data-end="">
<div class="line"><a id="l00289" name="l00289"></a><span class="lineno"><a class="line" href="_b_n_o08x__macros_8hpp.html#a84602d112b6000375ad608904de5b0e3"> 289</a></span><span class="preprocessor">#define IS_ROTATION_VECTOR_REPORT(packet) \</span></div>
<div class="line"><a id="l00290" name="l00290"></a><span class="lineno"> 290</span><span class="preprocessor"> ((packet)-&gt;body[5] == SENSOR_REPORT_ID_ROTATION_VECTOR || (packet)-&gt;body[5] == SENSOR_REPORT_ID_GAME_ROTATION_VECTOR || \</span></div>
<div class="line"><a id="l00291" name="l00291"></a><span class="lineno"> 291</span><span class="preprocessor"> (packet)-&gt;body[5] == SENSOR_REPORT_ID_ARVR_STABILIZED_ROTATION_VECTOR || \</span></div>
<div class="line"><a id="l00292" name="l00292"></a><span class="lineno"> 292</span><span class="preprocessor"> (packet)-&gt;body[5] == SENSOR_REPORT_ID_ARVR_STABILIZED_GAME_ROTATION_VECTOR)</span></div>
</div>
<div class="line"><a id="l00293" name="l00293"></a><span class="lineno"> 293</span> </div>
<div class="line"><a id="l00294" name="l00294"></a><span class="lineno"> 294</span><span class="comment">// frs read response report parsing</span></div>
<div class="line"><a id="l00295" name="l00295"></a><span class="lineno"> 295</span> </div>
<div class="foldopen" id="foldopen00302" data-start="" data-end="">
<div class="line"><a id="l00302" name="l00302"></a><span class="lineno"><a class="line" href="_b_n_o08x__macros_8hpp.html#aa23c7c4d9748ce5551fcc0e5734e0a40"> 302</a></span><span class="preprocessor">#define PARSE_FRS_READ_RESPONSE_REPORT_RECORD_ID(packet_body) \</span></div>
<div class="line"><a id="l00303" name="l00303"></a><span class="lineno"> 303</span><span class="preprocessor"> (UINT16_CLR_LSB(static_cast&lt;uint16_t&gt;(packet_body[13]) &lt;&lt; 8U) | UINT16_CLR_MSB(static_cast&lt;uint16_t&gt;(packet_body[12])))</span></div>
</div>
<div class="line"><a id="l00304" name="l00304"></a><span class="lineno"> 304</span> </div>
<div class="foldopen" id="foldopen00311" data-start="" data-end="">
<div class="line"><a id="l00311" name="l00311"></a><span class="lineno"><a class="line" href="_b_n_o08x__macros_8hpp.html#ac70cde2db98355de4f0e56c8650556fe"> 311</a></span><span class="preprocessor">#define PARSE_FRS_READ_RESPONSE_REPORT_DATA_1(packet_body) \</span></div>
<div class="line"><a id="l00312" name="l00312"></a><span class="lineno"> 312</span><span class="preprocessor"> (UINT32_MSK_BYTE(static_cast&lt;uint32_t&gt;(packet_body[7]) &lt;&lt; 24UL, 3UL) | UINT32_MSK_BYTE(static_cast&lt;uint32_t&gt;(packet_body[6]) &lt;&lt; 16UL, 2UL) | \</span></div>
<div class="line"><a id="l00313" name="l00313"></a><span class="lineno"> 313</span><span class="preprocessor"> UINT32_MSK_BYTE(static_cast&lt;uint32_t&gt;(packet_body[5]) &lt;&lt; 8UL, 1UL) | UINT32_MSK_BYTE(static_cast&lt;uint32_t&gt;(packet_body[4]), 0UL))</span></div>
</div>
<div class="line"><a id="l00314" name="l00314"></a><span class="lineno"> 314</span> </div>
<div class="foldopen" id="foldopen00321" data-start="" data-end="">
<div class="line"><a id="l00321" name="l00321"></a><span class="lineno"><a class="line" href="_b_n_o08x__macros_8hpp.html#a2fcd254e9531069d6982795f575cb17a"> 321</a></span><span class="preprocessor">#define PARSE_FRS_READ_RESPONSE_REPORT_DATA_2(packet_body) \</span></div>
<div class="line"><a id="l00322" name="l00322"></a><span class="lineno"> 322</span><span class="preprocessor"> (UINT32_MSK_BYTE(static_cast&lt;uint32_t&gt;(packet_body[11]) &lt;&lt; 24UL, 3UL) | UINT32_MSK_BYTE(static_cast&lt;uint32_t&gt;(packet_body[10]) &lt;&lt; 16UL, 2UL) | \</span></div>
<div class="line"><a id="l00323" name="l00323"></a><span class="lineno"> 323</span><span class="preprocessor"> UINT32_MSK_BYTE(static_cast&lt;uint32_t&gt;(packet_body[9]) &lt;&lt; 8UL, 1UL) | UINT32_MSK_BYTE(static_cast&lt;uint32_t&gt;(packet_body[8]), 0UL))</span></div>
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<div class="headertitle"><div class="title">BNO08xTestHelper.hpp File Reference</div></div>
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<div class="textblock"><code>#include &quot;stdio.h&quot;</code><br />
<code>#include &quot;<a class="el" href="_b_n_o08x_8hpp_source.html">BNO08x.hpp</a>&quot;</code><br />
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<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="l00005" name="l00005"></a><span class="lineno"> 5</span><span class="preprocessor">#pragma once</span></div>
<div class="line"><a id="l00006" name="l00006"></a><span class="lineno"> 6</span> </div>
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<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_8hpp.html">BNO08x.hpp</a>&quot;</span></div>
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<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"> 16</span>{</div>
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<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"> 20</span> </div>
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<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"> 23</span> <span class="keyword">public</span>:</div>
<div class="foldopen" id="foldopen00025" data-start="{" data-end="};">
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html"> 25</a></span> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code hl_struct" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html">imu_report_data_t</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"><a class="line" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#ae5e8705ad014ed3f70e5de527cb2cb66"> 27</a></span> uint32_t <a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#ae5e8705ad014ed3f70e5de527cb2cb66">time_stamp</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_test_helper_1_1imu__report__data__t.html#a8d2c3cd33943cb1b4fd0e800f822607e"> 29</a></span> <span class="keywordtype">float</span> <a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a8d2c3cd33943cb1b4fd0e800f822607e">quat_I</a>;</div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a20a09d197d5128aae64b7449df576c27"> 30</a></span> <span class="keywordtype">float</span> <a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a20a09d197d5128aae64b7449df576c27">quat_J</a>;</div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a3c74d4c93fc4390f52b75e6ff2bea95b"> 31</a></span> <span class="keywordtype">float</span> <a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a3c74d4c93fc4390f52b75e6ff2bea95b">quat_K</a>;</div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a80525c4943154f825a62539b10337976"> 32</a></span> <span class="keywordtype">float</span> <a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a80525c4943154f825a62539b10337976">quat_real</a>;</div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#ae0a8fef0227dd4304d08466c43d901a5"> 33</a></span> <span class="keywordtype">float</span> <a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#ae0a8fef0227dd4304d08466c43d901a5">quat_radian_accuracy</a>;</div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#aac84ad10b65403ae1ee21dab5cdc77db"> 34</a></span> <a class="code hl_enumeration" href="_b_n_o08x__global__types_8hpp.html#aed7bab8e55be415938e078ebe72562a0">BNO08xAccuracy</a> <a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#aac84ad10b65403ae1ee21dab5cdc77db">quat_accuracy</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"><a class="line" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a077a94b4de0b5c280d69611325208cf7"> 36</a></span> <span class="keywordtype">float</span> <a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a077a94b4de0b5c280d69611325208cf7">integrated_gyro_vel_x</a>;</div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#af4b75b320bc390c90656905711f1c791"> 37</a></span> <span class="keywordtype">float</span> <a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#af4b75b320bc390c90656905711f1c791">integrated_gyro_vel_y</a>;</div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a1aa67da9c3c6449dfce361a528c418d3"> 38</a></span> <span class="keywordtype">float</span> <a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a1aa67da9c3c6449dfce361a528c418d3">integrated_gyro_vel_z</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_test_helper_1_1imu__report__data__t.html#a5c01b349cc9e4e45c78c576882d633fd"> 40</a></span> <span class="keywordtype">float</span> <a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a5c01b349cc9e4e45c78c576882d633fd">accel_x</a>;</div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a7e594d0a1e86fb575f72c6f330c8983c"> 41</a></span> <span class="keywordtype">float</span> <a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a7e594d0a1e86fb575f72c6f330c8983c">accel_y</a>;</div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#af134cb789c29120033d81916e0c100d4"> 42</a></span> <span class="keywordtype">float</span> <a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#af134cb789c29120033d81916e0c100d4">accel_z</a>;</div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#ac5d393de0f15176ba81bc63a80b49ca3"> 43</a></span> <a class="code hl_enumeration" href="_b_n_o08x__global__types_8hpp.html#aed7bab8e55be415938e078ebe72562a0">BNO08xAccuracy</a> <a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#ac5d393de0f15176ba81bc63a80b49ca3">accel_accuracy</a>;</div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span> </div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a3a62ed280657cd409d723e64f0c313b5"> 45</a></span> <span class="keywordtype">float</span> <a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a3a62ed280657cd409d723e64f0c313b5">lin_accel_x</a>;</div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a553942aa784c35c833543ecc9a05f606"> 46</a></span> <span class="keywordtype">float</span> <a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a553942aa784c35c833543ecc9a05f606">lin_accel_y</a>;</div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a5bf43fc0daf3a86954924e066cad3a9b"> 47</a></span> <span class="keywordtype">float</span> <a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a5bf43fc0daf3a86954924e066cad3a9b">lin_accel_z</a>;</div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a48a249994c27f59ca4167b56bdda311a"> 48</a></span> <a class="code hl_enumeration" href="_b_n_o08x__global__types_8hpp.html#aed7bab8e55be415938e078ebe72562a0">BNO08xAccuracy</a> <a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a48a249994c27f59ca4167b56bdda311a">lin_accel_accuracy</a>;</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"><a class="line" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#ad2c17ea111250ebc1a4a763dae3c072a"> 50</a></span> <span class="keywordtype">float</span> <a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#ad2c17ea111250ebc1a4a763dae3c072a">grav_x</a>;</div>
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a19fc4af8a26c10a027cbd859d67dba4a"> 51</a></span> <span class="keywordtype">float</span> <a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a19fc4af8a26c10a027cbd859d67dba4a">grav_y</a>;</div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#af1887bdfef4fc2c683fe2134cb5cfb50"> 52</a></span> <span class="keywordtype">float</span> <a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#af1887bdfef4fc2c683fe2134cb5cfb50">grav_z</a>;</div>
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a735d099f3dd0ead4b8d986fd139af43d"> 53</a></span> <a class="code hl_enumeration" href="_b_n_o08x__global__types_8hpp.html#aed7bab8e55be415938e078ebe72562a0">BNO08xAccuracy</a> <a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a735d099f3dd0ead4b8d986fd139af43d">grav_accuracy</a>;</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"><a class="line" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a89b427579a281440ab94a340c0ec8443"> 55</a></span> <span class="keywordtype">float</span> <a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a89b427579a281440ab94a340c0ec8443">calib_gyro_vel_x</a>;</div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#af9e11fd749123f5723b2e281c8d2fd16"> 56</a></span> <span class="keywordtype">float</span> <a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#af9e11fd749123f5723b2e281c8d2fd16">calib_gyro_vel_y</a>;</div>
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a769ddae74a6c89a2d319c28f95ed6479"> 57</a></span> <span class="keywordtype">float</span> <a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a769ddae74a6c89a2d319c28f95ed6479">calib_gyro_vel_z</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="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a292b1c36fed6a9c9742edf730299c4f4"> 59</a></span> <span class="keywordtype">float</span> <a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a292b1c36fed6a9c9742edf730299c4f4">uncalib_gyro_vel_x</a>;</div>
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#adfd6bf2e2264cf25bd02814446600ab4"> 60</a></span> <span class="keywordtype">float</span> <a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#adfd6bf2e2264cf25bd02814446600ab4">uncalib_gyro_vel_y</a>;</div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#ab39fd6f409288bb35fb1542ff4b9cbe4"> 61</a></span> <span class="keywordtype">float</span> <a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#ab39fd6f409288bb35fb1542ff4b9cbe4">uncalib_gyro_vel_z</a>;</div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#ac70a65027c3e740eca2b1f172b7cefa3"> 62</a></span> <span class="keywordtype">float</span> <a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#ac70a65027c3e740eca2b1f172b7cefa3">uncalib_gyro_drift_x</a>;</div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a29d5ae3e0ed3463cb9297f9cdc0e8472"> 63</a></span> <span class="keywordtype">float</span> <a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a29d5ae3e0ed3463cb9297f9cdc0e8472">uncalib_gyro_drift_y</a>;</div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a27b52e2d96cb948c4257de4553053f72"> 64</a></span> <span class="keywordtype">float</span> <a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a27b52e2d96cb948c4257de4553053f72">uncalib_gyro_drift_z</a>;</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"><a class="line" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a0e72f6dde1411e4aa1c616cedcc556c1"> 66</a></span> <span class="keywordtype">float</span> <a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a0e72f6dde1411e4aa1c616cedcc556c1">magf_x</a>;</div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a8738f60a2b9bd49d2b8dd0487db7ac97"> 67</a></span> <span class="keywordtype">float</span> <a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a8738f60a2b9bd49d2b8dd0487db7ac97">magf_y</a>;</div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a55187ebe06fa77def93681bcdf62595c"> 68</a></span> <span class="keywordtype">float</span> <a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a55187ebe06fa77def93681bcdf62595c">magf_z</a>;</div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a0c962609a3bf7927204542521e9c5113"> 69</a></span> <a class="code hl_enumeration" href="_b_n_o08x__global__types_8hpp.html#aed7bab8e55be415938e078ebe72562a0">BNO08xAccuracy</a> <a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a0c962609a3bf7927204542521e9c5113">magf_accuracy</a>;</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"><a class="line" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a94befe7132d3a6a6ce2a7890e96ec091"> 71</a></span> uint16_t <a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a94befe7132d3a6a6ce2a7890e96ec091">raw_mems_gyro_x</a>;</div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a7e9cd7e43d70932c5f84e3cfadf8bb47"> 72</a></span> uint16_t <a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a7e9cd7e43d70932c5f84e3cfadf8bb47">raw_mems_gyro_y</a>;</div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a9df84179bd44a7febfa1058afe3dad6c"> 73</a></span> uint16_t <a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a9df84179bd44a7febfa1058afe3dad6c">raw_mems_gyro_z</a>;</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"><a class="line" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#ae8435a931eac7f4376a94acfcbf6a784"> 75</a></span> uint16_t <a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#ae8435a931eac7f4376a94acfcbf6a784">step_count</a>;</div>
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a86473c2bd8cbe2c76276393ee20d568b"> 76</a></span> <a class="code hl_enumeration" href="_b_n_o08x__global__types_8hpp.html#a498b35f9e00b24e51f8f60b029751ab5">BNO08xStability</a> <a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a86473c2bd8cbe2c76276393ee20d568b">stability_classifier</a>;</div>
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"><a class="line" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a0455033deba9570f248e8059cf6a3ce1"> 77</a></span> <a class="code hl_enumeration" href="_b_n_o08x__global__types_8hpp.html#abcc5d57e21ea6ed79e792deafcb62187">BNO08xActivity</a> <a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a0455033deba9570f248e8059cf6a3ce1">activity_classifier</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"><a class="line" href="class_b_n_o08x_test_helper.html#a0b3d9379e670b0c532ba76801cfb7580"> 79</a></span> } <a class="code hl_typedef" href="class_b_n_o08x_test_helper.html#a0b3d9379e670b0c532ba76801cfb7580">imu_report_data_t</a>;</div>
</div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"> 80</span> </div>
<div class="foldopen" id="foldopen00088" data-start="{" data-end="}">
<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"><a class="line" href="class_b_n_o08x_test_helper.html#a066f8389fd1c682ec9565ebc3060d885"> 88</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="l00089" name="l00089"></a><span class="lineno"> 89</span> {</div>
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"> 90</span> printf(<span class="stringliteral">&quot;------------------------ BEGIN TEST: %s ------------------------\n\r&quot;</span>, TEST_TAG);</div>
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"> 91</span> }</div>
</div>
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"> 92</span> </div>
<div class="foldopen" id="foldopen00100" data-start="{" data-end="}">
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"><a class="line" href="class_b_n_o08x_test_helper.html#a16423fc3250e88eb5392800022f82919"> 100</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="l00101" name="l00101"></a><span class="lineno"> 101</span> {</div>
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"> 102</span> printf(<span class="stringliteral">&quot;------------------------ END TEST: %s ------------------------\n\r&quot;</span>, TEST_TAG);</div>
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"> 103</span> }</div>
</div>
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"> 104</span> </div>
<div class="foldopen" id="foldopen00113" data-start="{" data-end="}">
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"><a class="line" href="class_b_n_o08x_test_helper.html#a7fbfc48c0fff306ab81e2320bc171002"> 113</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#a7fbfc48c0fff306ab81e2320bc171002">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="l00114" name="l00114"></a><span class="lineno"> 114</span> {</div>
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"> 115</span> printf(<span class="stringliteral">&quot;%s: %s: %s\n\r&quot;</span>, <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#aa09d388a5da3a925ac25125b9c5c3a90">TAG</a>, TEST_TAG, msg);</div>
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"> 116</span> }</div>
</div>
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"> 117</span> </div>
<div class="foldopen" id="foldopen00125" data-start="{" data-end="}">
<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"><a class="line" href="class_b_n_o08x_test_helper.html#a9e2f9bf13f28f1a6ba87e86bc5947cf1"> 125</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="l00126" name="l00126"></a><span class="lineno"> 126</span> {</div>
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"> 127</span> <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a008b268f705b9d2925230cb8193c9f28">imu_cfg</a> = cfg;</div>
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"> 128</span> }</div>
</div>
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"> 129</span> </div>
<div class="foldopen" id="foldopen00135" data-start="{" data-end="}">
<div class="line"><a id="l00135" name="l00135"></a><span class="lineno"><a class="line" href="class_b_n_o08x_test_helper.html#a6bd040c7d670a9713f2ab8a8a3913518"> 135</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="l00136" name="l00136"></a><span class="lineno"> 136</span> {</div>
<div class="line"><a id="l00137" name="l00137"></a><span class="lineno"> 137</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a> != <span class="keyword">nullptr</span>)</div>
<div class="line"><a id="l00138" name="l00138"></a><span class="lineno"> 138</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="l00139" name="l00139"></a><span class="lineno"> 139</span> </div>
<div class="line"><a id="l00140" name="l00140"></a><span class="lineno"> 140</span> <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a> = <span class="keyword">new</span> <a class="code hl_class" href="class_b_n_o08x.html">BNO08x</a>();</div>
<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"> 141</span> }</div>
</div>
<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"> 142</span> </div>
<div class="foldopen" id="foldopen00148" data-start="{" data-end="}">
<div class="line"><a id="l00148" name="l00148"></a><span class="lineno"><a class="line" href="class_b_n_o08x_test_helper.html#ae2d6df7dcfdbd106c2247803461bbc40"> 148</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="l00149" name="l00149"></a><span class="lineno"> 149</span> {</div>
<div class="line"><a id="l00150" name="l00150"></a><span class="lineno"> 150</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a> != <span class="keyword">nullptr</span>)</div>
<div class="line"><a id="l00151" name="l00151"></a><span class="lineno"> 151</span> {</div>
<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"> 152</span> <span class="keyword">delete</span> <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a>;</div>
<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"> 153</span> <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a> = <span class="keyword">nullptr</span>;</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> }</div>
</div>
<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"> 156</span> </div>
<div class="foldopen" id="foldopen00162" data-start="{" data-end="}">
<div class="line"><a id="l00162" name="l00162"></a><span class="lineno"><a class="line" href="class_b_n_o08x_test_helper.html#a41a432a3fe288e45b6ab139a00bd7d6b"> 162</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="l00163" name="l00163"></a><span class="lineno"> 163</span> {</div>
<div class="line"><a id="l00164" name="l00164"></a><span class="lineno"> 164</span> <span class="keywordflow">return</span> <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a>;</div>
<div class="line"><a id="l00165" name="l00165"></a><span class="lineno"> 165</span> }</div>
</div>
<div class="line"><a id="l00166" name="l00166"></a><span class="lineno"> 166</span> </div>
<div class="foldopen" id="foldopen00172" data-start="{" data-end="}">
<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"><a class="line" href="class_b_n_o08x_test_helper.html#a71d9fd7d459a98a7e9089a8587a21f8d"> 172</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="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">if</span> (<a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a> == <span class="keyword">nullptr</span>)</div>
<div class="line"><a id="l00175" name="l00175"></a><span class="lineno"> 175</span> <span class="keywordflow">return</span> ESP_FAIL;</div>
<div class="line"><a id="l00176" name="l00176"></a><span class="lineno"> 176</span> </div>
<div class="line"><a id="l00177" name="l00177"></a><span class="lineno"> 177</span> <span class="keywordflow">return</span> <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a>-&gt;<a class="code hl_function" href="class_b_n_o08x.html#a589eb9780f5bf613bbd447ef5b9ade3d">init_config_args</a>();</div>
<div class="line"><a id="l00178" name="l00178"></a><span class="lineno"> 178</span> }</div>
</div>
<div class="line"><a id="l00179" name="l00179"></a><span class="lineno"> 179</span> </div>
<div class="foldopen" id="foldopen00185" data-start="{" data-end="}">
<div class="line"><a id="l00185" name="l00185"></a><span class="lineno"><a class="line" href="class_b_n_o08x_test_helper.html#a504749533ccd91890d73440809d38161"> 185</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="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">if</span> (<a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a> == <span class="keyword">nullptr</span>)</div>
<div class="line"><a id="l00188" name="l00188"></a><span class="lineno"> 188</span> <span class="keywordflow">return</span> ESP_FAIL;</div>
<div class="line"><a id="l00189" name="l00189"></a><span class="lineno"> 189</span> </div>
<div class="line"><a id="l00190" name="l00190"></a><span class="lineno"> 190</span> <span class="keywordflow">return</span> <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a>-&gt;<a class="code hl_function" href="class_b_n_o08x.html#ae0dab25557befcf62bf384fdc241ef10">init_gpio</a>();</div>
<div class="line"><a id="l00191" name="l00191"></a><span class="lineno"> 191</span> }</div>
</div>
<div class="line"><a id="l00192" name="l00192"></a><span class="lineno"> 192</span> </div>
<div class="foldopen" id="foldopen00198" data-start="{" data-end="}">
<div class="line"><a id="l00198" name="l00198"></a><span class="lineno"><a class="line" href="class_b_n_o08x_test_helper.html#a836c928981ac85d34668c9b97af17a15"> 198</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="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">if</span> (<a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a> == <span class="keyword">nullptr</span>)</div>
<div class="line"><a id="l00201" name="l00201"></a><span class="lineno"> 201</span> <span class="keywordflow">return</span> ESP_FAIL;</div>
<div class="line"><a id="l00202" name="l00202"></a><span class="lineno"> 202</span> </div>
<div class="line"><a id="l00203" name="l00203"></a><span class="lineno"> 203</span> <span class="keywordflow">return</span> <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a>-&gt;<a class="code hl_function" href="class_b_n_o08x.html#aa27026da2c52b4aca49b78863f10ec61">init_hint_isr</a>();</div>
<div class="line"><a id="l00204" name="l00204"></a><span class="lineno"> 204</span> }</div>
</div>
<div class="line"><a id="l00205" name="l00205"></a><span class="lineno"> 205</span> </div>
<div class="foldopen" id="foldopen00211" data-start="{" data-end="}">
<div class="line"><a id="l00211" name="l00211"></a><span class="lineno"><a class="line" href="class_b_n_o08x_test_helper.html#a7d2d784da1e850dab41154b35d7cdab5"> 211</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="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">if</span> (<a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a> == <span class="keyword">nullptr</span>)</div>
<div class="line"><a id="l00214" name="l00214"></a><span class="lineno"> 214</span> <span class="keywordflow">return</span> ESP_FAIL;</div>
<div class="line"><a id="l00215" name="l00215"></a><span class="lineno"> 215</span> </div>
<div class="line"><a id="l00216" name="l00216"></a><span class="lineno"> 216</span> <span class="keywordflow">return</span> <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a>-&gt;<a class="code hl_function" href="class_b_n_o08x.html#a58f43c8bb1e7fe8560ce442d46240e81">init_spi</a>();</div>
<div class="line"><a id="l00217" name="l00217"></a><span class="lineno"> 217</span> }</div>
</div>
<div class="line"><a id="l00218" name="l00218"></a><span class="lineno"> 218</span> </div>
<div class="foldopen" id="foldopen00224" data-start="{" data-end="}">
<div class="line"><a id="l00224" name="l00224"></a><span class="lineno"><a class="line" href="class_b_n_o08x_test_helper.html#adf2488d1f7e3dec21a0d0c99417c181a"> 224</a></span> <span class="keyword">static</span> esp_err_t <a class="code hl_function" href="class_b_n_o08x_test_helper.html#adf2488d1f7e3dec21a0d0c99417c181a">call_launch_tasks</a>()</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">if</span> (<a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a> == <span class="keyword">nullptr</span>)</div>
<div class="line"><a id="l00227" name="l00227"></a><span class="lineno"> 227</span> <span class="keywordflow">return</span> ESP_FAIL;</div>
<div class="line"><a id="l00228" name="l00228"></a><span class="lineno"> 228</span> </div>
<div class="line"><a id="l00229" name="l00229"></a><span class="lineno"> 229</span> <span class="keywordflow">return</span> <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a>-&gt;<a class="code hl_function" href="class_b_n_o08x.html#a06f99a6b2182b49a0e61e2107f2be6be">launch_tasks</a>();</div>
<div class="line"><a id="l00230" name="l00230"></a><span class="lineno"> 230</span> }</div>
</div>
<div class="line"><a id="l00231" name="l00231"></a><span class="lineno"> 231</span> </div>
<div class="foldopen" id="foldopen00240" data-start="{" data-end="}">
<div class="line"><a id="l00240" name="l00240"></a><span class="lineno"><a class="line" href="class_b_n_o08x_test_helper.html#aeb8cd985faf8e403f62b60fced9cb2fd"> 240</a></span> <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x_test_helper.html#aeb8cd985faf8e403f62b60fced9cb2fd">rotation_vector_data_is_new</a>(<a class="code hl_struct" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html">imu_report_data_t</a>* <a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>, <a class="code hl_struct" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html">imu_report_data_t</a>* default_report_data)</div>
<div class="line"><a id="l00241" name="l00241"></a><span class="lineno"> 241</span> {</div>
<div class="line"><a id="l00242" name="l00242"></a><span class="lineno"> 242</span> <span class="keywordtype">bool</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a5a4ba60143c31271df0f72bf0e503876">new_data</a> = <span class="keyword">false</span>;</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">// prev report should always contain the default test values as per test structure</span></div>
<div class="line"><a id="l00245" name="l00245"></a><span class="lineno"> 245</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a8d2c3cd33943cb1b4fd0e800f822607e">quat_I</a> != default_report_data-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a8d2c3cd33943cb1b4fd0e800f822607e">quat_I</a>)</div>
<div class="line"><a id="l00246" name="l00246"></a><span class="lineno"> 246</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a5a4ba60143c31271df0f72bf0e503876">new_data</a> = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00247" name="l00247"></a><span class="lineno"> 247</span> </div>
<div class="line"><a id="l00248" name="l00248"></a><span class="lineno"> 248</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a20a09d197d5128aae64b7449df576c27">quat_J</a> != default_report_data-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a20a09d197d5128aae64b7449df576c27">quat_J</a>)</div>
<div class="line"><a id="l00249" name="l00249"></a><span class="lineno"> 249</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a5a4ba60143c31271df0f72bf0e503876">new_data</a> = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00250" name="l00250"></a><span class="lineno"> 250</span> </div>
<div class="line"><a id="l00251" name="l00251"></a><span class="lineno"> 251</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a3c74d4c93fc4390f52b75e6ff2bea95b">quat_K</a> != default_report_data-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a3c74d4c93fc4390f52b75e6ff2bea95b">quat_K</a>)</div>
<div class="line"><a id="l00252" name="l00252"></a><span class="lineno"> 252</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a5a4ba60143c31271df0f72bf0e503876">new_data</a> = <span class="keyword">true</span>;</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> <span class="keywordflow">if</span> (<a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a80525c4943154f825a62539b10337976">quat_real</a> != default_report_data-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a80525c4943154f825a62539b10337976">quat_real</a>)</div>
<div class="line"><a id="l00255" name="l00255"></a><span class="lineno"> 255</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a5a4ba60143c31271df0f72bf0e503876">new_data</a> = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00256" name="l00256"></a><span class="lineno"> 256</span> </div>
<div class="line"><a id="l00257" name="l00257"></a><span class="lineno"> 257</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#aac84ad10b65403ae1ee21dab5cdc77db">quat_accuracy</a> != default_report_data-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#aac84ad10b65403ae1ee21dab5cdc77db">quat_accuracy</a>)</div>
<div class="line"><a id="l00258" name="l00258"></a><span class="lineno"> 258</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a5a4ba60143c31271df0f72bf0e503876">new_data</a> = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00259" name="l00259"></a><span class="lineno"> 259</span> </div>
<div class="line"><a id="l00260" name="l00260"></a><span class="lineno"> 260</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#ae0a8fef0227dd4304d08466c43d901a5">quat_radian_accuracy</a> != default_report_data-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#ae0a8fef0227dd4304d08466c43d901a5">quat_radian_accuracy</a>)</div>
<div class="line"><a id="l00261" name="l00261"></a><span class="lineno"> 261</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a5a4ba60143c31271df0f72bf0e503876">new_data</a> = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00262" name="l00262"></a><span class="lineno"> 262</span> </div>
<div class="line"><a id="l00263" name="l00263"></a><span class="lineno"> 263</span> <span class="keywordflow">return</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a5a4ba60143c31271df0f72bf0e503876">new_data</a>;</div>
<div class="line"><a id="l00264" name="l00264"></a><span class="lineno"> 264</span> }</div>
</div>
<div class="line"><a id="l00265" name="l00265"></a><span class="lineno"> 265</span> </div>
<div class="foldopen" id="foldopen00274" data-start="{" data-end="}">
<div class="line"><a id="l00274" name="l00274"></a><span class="lineno"><a class="line" href="class_b_n_o08x_test_helper.html#ac5b0ac4c70bbfcba9f2e8f353b35f9f6"> 274</a></span> <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x_test_helper.html#ac5b0ac4c70bbfcba9f2e8f353b35f9f6">gyro_integrated_rotation_vector_data_is_new</a>(<a class="code hl_struct" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html">imu_report_data_t</a>* <a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>, <a class="code hl_struct" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html">imu_report_data_t</a>* default_report_data)</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="keywordtype">bool</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a5a4ba60143c31271df0f72bf0e503876">new_data</a> = <span class="keyword">false</span>;</div>
<div class="line"><a id="l00277" name="l00277"></a><span class="lineno"> 277</span> </div>
<div class="line"><a id="l00278" name="l00278"></a><span class="lineno"> 278</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a8d2c3cd33943cb1b4fd0e800f822607e">quat_I</a> != default_report_data-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a8d2c3cd33943cb1b4fd0e800f822607e">quat_I</a>)</div>
<div class="line"><a id="l00279" name="l00279"></a><span class="lineno"> 279</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a5a4ba60143c31271df0f72bf0e503876">new_data</a> = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00280" name="l00280"></a><span class="lineno"> 280</span> </div>
<div class="line"><a id="l00281" name="l00281"></a><span class="lineno"> 281</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a20a09d197d5128aae64b7449df576c27">quat_J</a> != default_report_data-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a20a09d197d5128aae64b7449df576c27">quat_J</a>)</div>
<div class="line"><a id="l00282" name="l00282"></a><span class="lineno"> 282</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a5a4ba60143c31271df0f72bf0e503876">new_data</a> = <span class="keyword">true</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"> 284</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a3c74d4c93fc4390f52b75e6ff2bea95b">quat_K</a> != default_report_data-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a3c74d4c93fc4390f52b75e6ff2bea95b">quat_K</a>)</div>
<div class="line"><a id="l00285" name="l00285"></a><span class="lineno"> 285</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a5a4ba60143c31271df0f72bf0e503876">new_data</a> = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00286" name="l00286"></a><span class="lineno"> 286</span> </div>
<div class="line"><a id="l00287" name="l00287"></a><span class="lineno"> 287</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a80525c4943154f825a62539b10337976">quat_real</a> != default_report_data-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a80525c4943154f825a62539b10337976">quat_real</a>)</div>
<div class="line"><a id="l00288" name="l00288"></a><span class="lineno"> 288</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a5a4ba60143c31271df0f72bf0e503876">new_data</a> = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00289" name="l00289"></a><span class="lineno"> 289</span> </div>
<div class="line"><a id="l00290" name="l00290"></a><span class="lineno"> 290</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a077a94b4de0b5c280d69611325208cf7">integrated_gyro_vel_x</a> != default_report_data-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a077a94b4de0b5c280d69611325208cf7">integrated_gyro_vel_x</a>)</div>
<div class="line"><a id="l00291" name="l00291"></a><span class="lineno"> 291</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a5a4ba60143c31271df0f72bf0e503876">new_data</a> = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00292" name="l00292"></a><span class="lineno"> 292</span> </div>
<div class="line"><a id="l00293" name="l00293"></a><span class="lineno"> 293</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#af4b75b320bc390c90656905711f1c791">integrated_gyro_vel_y</a> != default_report_data-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#af4b75b320bc390c90656905711f1c791">integrated_gyro_vel_y</a>)</div>
<div class="line"><a id="l00294" name="l00294"></a><span class="lineno"> 294</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a5a4ba60143c31271df0f72bf0e503876">new_data</a> = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00295" name="l00295"></a><span class="lineno"> 295</span> </div>
<div class="line"><a id="l00296" name="l00296"></a><span class="lineno"> 296</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a1aa67da9c3c6449dfce361a528c418d3">integrated_gyro_vel_z</a> != default_report_data-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a1aa67da9c3c6449dfce361a528c418d3">integrated_gyro_vel_z</a>)</div>
<div class="line"><a id="l00297" name="l00297"></a><span class="lineno"> 297</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a5a4ba60143c31271df0f72bf0e503876">new_data</a> = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00298" name="l00298"></a><span class="lineno"> 298</span> </div>
<div class="line"><a id="l00299" name="l00299"></a><span class="lineno"> 299</span> <span class="keywordflow">return</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a5a4ba60143c31271df0f72bf0e503876">new_data</a>;</div>
<div class="line"><a id="l00300" name="l00300"></a><span class="lineno"> 300</span> }</div>
</div>
<div class="line"><a id="l00301" name="l00301"></a><span class="lineno"> 301</span> </div>
<div class="foldopen" id="foldopen00310" data-start="{" data-end="}">
<div class="line"><a id="l00310" name="l00310"></a><span class="lineno"><a class="line" href="class_b_n_o08x_test_helper.html#adb5952b2b96b553024b6a841e30adad2"> 310</a></span> <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x_test_helper.html#adb5952b2b96b553024b6a841e30adad2">uncalibrated_gyro_data_is_new</a>(<a class="code hl_struct" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html">imu_report_data_t</a>* <a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>, <a class="code hl_struct" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html">imu_report_data_t</a>* default_report_data)</div>
<div class="line"><a id="l00311" name="l00311"></a><span class="lineno"> 311</span> {</div>
<div class="line"><a id="l00312" name="l00312"></a><span class="lineno"> 312</span> <span class="keywordtype">bool</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a5a4ba60143c31271df0f72bf0e503876">new_data</a> = <span class="keyword">false</span>;</div>
<div class="line"><a id="l00313" name="l00313"></a><span class="lineno"> 313</span> </div>
<div class="line"><a id="l00314" name="l00314"></a><span class="lineno"> 314</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a292b1c36fed6a9c9742edf730299c4f4">uncalib_gyro_vel_x</a> != default_report_data-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a292b1c36fed6a9c9742edf730299c4f4">uncalib_gyro_vel_x</a>)</div>
<div class="line"><a id="l00315" name="l00315"></a><span class="lineno"> 315</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a5a4ba60143c31271df0f72bf0e503876">new_data</a> = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00316" name="l00316"></a><span class="lineno"> 316</span> </div>
<div class="line"><a id="l00317" name="l00317"></a><span class="lineno"> 317</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#adfd6bf2e2264cf25bd02814446600ab4">uncalib_gyro_vel_y</a> != default_report_data-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#adfd6bf2e2264cf25bd02814446600ab4">uncalib_gyro_vel_y</a>)</div>
<div class="line"><a id="l00318" name="l00318"></a><span class="lineno"> 318</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a5a4ba60143c31271df0f72bf0e503876">new_data</a> = <span class="keyword">true</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">if</span> (<a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#ab39fd6f409288bb35fb1542ff4b9cbe4">uncalib_gyro_vel_z</a> != default_report_data-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#ab39fd6f409288bb35fb1542ff4b9cbe4">uncalib_gyro_vel_z</a>)</div>
<div class="line"><a id="l00321" name="l00321"></a><span class="lineno"> 321</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a5a4ba60143c31271df0f72bf0e503876">new_data</a> = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00322" name="l00322"></a><span class="lineno"> 322</span> </div>
<div class="line"><a id="l00323" name="l00323"></a><span class="lineno"> 323</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#ac70a65027c3e740eca2b1f172b7cefa3">uncalib_gyro_drift_x</a> != default_report_data-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#ac70a65027c3e740eca2b1f172b7cefa3">uncalib_gyro_drift_x</a>)</div>
<div class="line"><a id="l00324" name="l00324"></a><span class="lineno"> 324</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a5a4ba60143c31271df0f72bf0e503876">new_data</a> = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00325" name="l00325"></a><span class="lineno"> 325</span> </div>
<div class="line"><a id="l00326" name="l00326"></a><span class="lineno"> 326</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a29d5ae3e0ed3463cb9297f9cdc0e8472">uncalib_gyro_drift_y</a> != default_report_data-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a29d5ae3e0ed3463cb9297f9cdc0e8472">uncalib_gyro_drift_y</a>)</div>
<div class="line"><a id="l00327" name="l00327"></a><span class="lineno"> 327</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a5a4ba60143c31271df0f72bf0e503876">new_data</a> = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00328" name="l00328"></a><span class="lineno"> 328</span> </div>
<div class="line"><a id="l00329" name="l00329"></a><span class="lineno"> 329</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a27b52e2d96cb948c4257de4553053f72">uncalib_gyro_drift_z</a> != default_report_data-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a27b52e2d96cb948c4257de4553053f72">uncalib_gyro_drift_z</a>)</div>
<div class="line"><a id="l00330" name="l00330"></a><span class="lineno"> 330</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a5a4ba60143c31271df0f72bf0e503876">new_data</a> = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00331" name="l00331"></a><span class="lineno"> 331</span> </div>
<div class="line"><a id="l00332" name="l00332"></a><span class="lineno"> 332</span> <span class="keywordflow">return</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a5a4ba60143c31271df0f72bf0e503876">new_data</a>;</div>
<div class="line"><a id="l00333" name="l00333"></a><span class="lineno"> 333</span> }</div>
</div>
<div class="line"><a id="l00334" name="l00334"></a><span class="lineno"> 334</span> </div>
<div class="foldopen" id="foldopen00343" data-start="{" data-end="}">
<div class="line"><a id="l00343" name="l00343"></a><span class="lineno"><a class="line" href="class_b_n_o08x_test_helper.html#a084e65ff5c0e2f429b39ebb53b0e03c9"> 343</a></span> <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x_test_helper.html#a084e65ff5c0e2f429b39ebb53b0e03c9">calibrated_gyro_data_is_new</a>(<a class="code hl_struct" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html">imu_report_data_t</a>* <a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>, <a class="code hl_struct" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html">imu_report_data_t</a>* default_report_data)</div>
<div class="line"><a id="l00344" name="l00344"></a><span class="lineno"> 344</span> {</div>
<div class="line"><a id="l00345" name="l00345"></a><span class="lineno"> 345</span> <span class="keywordtype">bool</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a5a4ba60143c31271df0f72bf0e503876">new_data</a> = <span class="keyword">false</span>;</div>
<div class="line"><a id="l00346" name="l00346"></a><span class="lineno"> 346</span> </div>
<div class="line"><a id="l00347" name="l00347"></a><span class="lineno"> 347</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a89b427579a281440ab94a340c0ec8443">calib_gyro_vel_x</a> != default_report_data-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a89b427579a281440ab94a340c0ec8443">calib_gyro_vel_x</a>)</div>
<div class="line"><a id="l00348" name="l00348"></a><span class="lineno"> 348</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a5a4ba60143c31271df0f72bf0e503876">new_data</a> = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00349" name="l00349"></a><span class="lineno"> 349</span> </div>
<div class="line"><a id="l00350" name="l00350"></a><span class="lineno"> 350</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#af9e11fd749123f5723b2e281c8d2fd16">calib_gyro_vel_y</a> != default_report_data-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#af9e11fd749123f5723b2e281c8d2fd16">calib_gyro_vel_y</a>)</div>
<div class="line"><a id="l00351" name="l00351"></a><span class="lineno"> 351</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a5a4ba60143c31271df0f72bf0e503876">new_data</a> = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00352" name="l00352"></a><span class="lineno"> 352</span> </div>
<div class="line"><a id="l00353" name="l00353"></a><span class="lineno"> 353</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a769ddae74a6c89a2d319c28f95ed6479">calib_gyro_vel_z</a> != default_report_data-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a769ddae74a6c89a2d319c28f95ed6479">calib_gyro_vel_z</a>)</div>
<div class="line"><a id="l00354" name="l00354"></a><span class="lineno"> 354</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a5a4ba60143c31271df0f72bf0e503876">new_data</a> = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00355" name="l00355"></a><span class="lineno"> 355</span> </div>
<div class="line"><a id="l00356" name="l00356"></a><span class="lineno"> 356</span> <span class="keywordflow">return</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a5a4ba60143c31271df0f72bf0e503876">new_data</a>;</div>
<div class="line"><a id="l00357" name="l00357"></a><span class="lineno"> 357</span> }</div>
</div>
<div class="line"><a id="l00358" name="l00358"></a><span class="lineno"> 358</span> </div>
<div class="foldopen" id="foldopen00367" data-start="{" data-end="}">
<div class="line"><a id="l00367" name="l00367"></a><span class="lineno"><a class="line" href="class_b_n_o08x_test_helper.html#ade97098806c8779b26f9c166c4b03eea"> 367</a></span> <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x_test_helper.html#ade97098806c8779b26f9c166c4b03eea">accelerometer_data_is_new</a>(<a class="code hl_struct" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html">imu_report_data_t</a>* <a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>, <a class="code hl_struct" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html">imu_report_data_t</a>* default_report_data)</div>
<div class="line"><a id="l00368" name="l00368"></a><span class="lineno"> 368</span> {</div>
<div class="line"><a id="l00369" name="l00369"></a><span class="lineno"> 369</span> <span class="keywordtype">bool</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a5a4ba60143c31271df0f72bf0e503876">new_data</a> = <span class="keyword">false</span>;</div>
<div class="line"><a id="l00370" name="l00370"></a><span class="lineno"> 370</span> </div>
<div class="line"><a id="l00371" name="l00371"></a><span class="lineno"> 371</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a5c01b349cc9e4e45c78c576882d633fd">accel_x</a> != default_report_data-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a5c01b349cc9e4e45c78c576882d633fd">accel_x</a>)</div>
<div class="line"><a id="l00372" name="l00372"></a><span class="lineno"> 372</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a5a4ba60143c31271df0f72bf0e503876">new_data</a> = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00373" name="l00373"></a><span class="lineno"> 373</span> </div>
<div class="line"><a id="l00374" name="l00374"></a><span class="lineno"> 374</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a7e594d0a1e86fb575f72c6f330c8983c">accel_y</a> != default_report_data-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a7e594d0a1e86fb575f72c6f330c8983c">accel_y</a>)</div>
<div class="line"><a id="l00375" name="l00375"></a><span class="lineno"> 375</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a5a4ba60143c31271df0f72bf0e503876">new_data</a> = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00376" name="l00376"></a><span class="lineno"> 376</span> </div>
<div class="line"><a id="l00377" name="l00377"></a><span class="lineno"> 377</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#af134cb789c29120033d81916e0c100d4">accel_z</a> != default_report_data-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#af134cb789c29120033d81916e0c100d4">accel_z</a>)</div>
<div class="line"><a id="l00378" name="l00378"></a><span class="lineno"> 378</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a5a4ba60143c31271df0f72bf0e503876">new_data</a> = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00379" name="l00379"></a><span class="lineno"> 379</span> </div>
<div class="line"><a id="l00380" name="l00380"></a><span class="lineno"> 380</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#ac5d393de0f15176ba81bc63a80b49ca3">accel_accuracy</a> != default_report_data-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#ac5d393de0f15176ba81bc63a80b49ca3">accel_accuracy</a>)</div>
<div class="line"><a id="l00381" name="l00381"></a><span class="lineno"> 381</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a5a4ba60143c31271df0f72bf0e503876">new_data</a> = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00382" name="l00382"></a><span class="lineno"> 382</span> </div>
<div class="line"><a id="l00383" name="l00383"></a><span class="lineno"> 383</span> <span class="keywordflow">return</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a5a4ba60143c31271df0f72bf0e503876">new_data</a>;</div>
<div class="line"><a id="l00384" name="l00384"></a><span class="lineno"> 384</span> }</div>
</div>
<div class="line"><a id="l00385" name="l00385"></a><span class="lineno"> 385</span> </div>
<div class="foldopen" id="foldopen00394" data-start="{" data-end="}">
<div class="line"><a id="l00394" name="l00394"></a><span class="lineno"><a class="line" href="class_b_n_o08x_test_helper.html#ad398739ce46400c1ac35e1cf7603d590"> 394</a></span> <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x_test_helper.html#ad398739ce46400c1ac35e1cf7603d590">linear_accelerometer_data_is_new</a>(<a class="code hl_struct" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html">imu_report_data_t</a>* <a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>, <a class="code hl_struct" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html">imu_report_data_t</a>* default_report_data)</div>
<div class="line"><a id="l00395" name="l00395"></a><span class="lineno"> 395</span> {</div>
<div class="line"><a id="l00396" name="l00396"></a><span class="lineno"> 396</span> <span class="keywordtype">bool</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a5a4ba60143c31271df0f72bf0e503876">new_data</a> = <span class="keyword">false</span>;</div>
<div class="line"><a id="l00397" name="l00397"></a><span class="lineno"> 397</span> </div>
<div class="line"><a id="l00398" name="l00398"></a><span class="lineno"> 398</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a3a62ed280657cd409d723e64f0c313b5">lin_accel_x</a> != default_report_data-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a3a62ed280657cd409d723e64f0c313b5">lin_accel_x</a>)</div>
<div class="line"><a id="l00399" name="l00399"></a><span class="lineno"> 399</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a5a4ba60143c31271df0f72bf0e503876">new_data</a> = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00400" name="l00400"></a><span class="lineno"> 400</span> </div>
<div class="line"><a id="l00401" name="l00401"></a><span class="lineno"> 401</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a553942aa784c35c833543ecc9a05f606">lin_accel_y</a> != default_report_data-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a553942aa784c35c833543ecc9a05f606">lin_accel_y</a>)</div>
<div class="line"><a id="l00402" name="l00402"></a><span class="lineno"> 402</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a5a4ba60143c31271df0f72bf0e503876">new_data</a> = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00403" name="l00403"></a><span class="lineno"> 403</span> </div>
<div class="line"><a id="l00404" name="l00404"></a><span class="lineno"> 404</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a5bf43fc0daf3a86954924e066cad3a9b">lin_accel_z</a> != default_report_data-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a5bf43fc0daf3a86954924e066cad3a9b">lin_accel_z</a>)</div>
<div class="line"><a id="l00405" name="l00405"></a><span class="lineno"> 405</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a5a4ba60143c31271df0f72bf0e503876">new_data</a> = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00406" name="l00406"></a><span class="lineno"> 406</span> </div>
<div class="line"><a id="l00407" name="l00407"></a><span class="lineno"> 407</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a48a249994c27f59ca4167b56bdda311a">lin_accel_accuracy</a> != default_report_data-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a48a249994c27f59ca4167b56bdda311a">lin_accel_accuracy</a>)</div>
<div class="line"><a id="l00408" name="l00408"></a><span class="lineno"> 408</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a5a4ba60143c31271df0f72bf0e503876">new_data</a> = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00409" name="l00409"></a><span class="lineno"> 409</span> </div>
<div class="line"><a id="l00410" name="l00410"></a><span class="lineno"> 410</span> <span class="keywordflow">return</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a5a4ba60143c31271df0f72bf0e503876">new_data</a>;</div>
<div class="line"><a id="l00411" name="l00411"></a><span class="lineno"> 411</span> }</div>
</div>
<div class="line"><a id="l00412" name="l00412"></a><span class="lineno"> 412</span> </div>
<div class="foldopen" id="foldopen00421" data-start="{" data-end="}">
<div class="line"><a id="l00421" name="l00421"></a><span class="lineno"><a class="line" href="class_b_n_o08x_test_helper.html#a3c2514f3bad3f091de4646c5798f487a"> 421</a></span> <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x_test_helper.html#a3c2514f3bad3f091de4646c5798f487a">gravity_data_is_new</a>(<a class="code hl_struct" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html">imu_report_data_t</a>* <a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>, <a class="code hl_struct" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html">imu_report_data_t</a>* default_report_data)</div>
<div class="line"><a id="l00422" name="l00422"></a><span class="lineno"> 422</span> {</div>
<div class="line"><a id="l00423" name="l00423"></a><span class="lineno"> 423</span> <span class="keywordtype">bool</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a5a4ba60143c31271df0f72bf0e503876">new_data</a> = <span class="keyword">false</span>;</div>
<div class="line"><a id="l00424" name="l00424"></a><span class="lineno"> 424</span> </div>
<div class="line"><a id="l00425" name="l00425"></a><span class="lineno"> 425</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#ad2c17ea111250ebc1a4a763dae3c072a">grav_x</a> != default_report_data-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#ad2c17ea111250ebc1a4a763dae3c072a">grav_x</a>)</div>
<div class="line"><a id="l00426" name="l00426"></a><span class="lineno"> 426</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a5a4ba60143c31271df0f72bf0e503876">new_data</a> = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00427" name="l00427"></a><span class="lineno"> 427</span> </div>
<div class="line"><a id="l00428" name="l00428"></a><span class="lineno"> 428</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a19fc4af8a26c10a027cbd859d67dba4a">grav_y</a> != default_report_data-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a19fc4af8a26c10a027cbd859d67dba4a">grav_y</a>)</div>
<div class="line"><a id="l00429" name="l00429"></a><span class="lineno"> 429</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a5a4ba60143c31271df0f72bf0e503876">new_data</a> = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00430" name="l00430"></a><span class="lineno"> 430</span> </div>
<div class="line"><a id="l00431" name="l00431"></a><span class="lineno"> 431</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#af1887bdfef4fc2c683fe2134cb5cfb50">grav_z</a> != default_report_data-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#af1887bdfef4fc2c683fe2134cb5cfb50">grav_z</a>)</div>
<div class="line"><a id="l00432" name="l00432"></a><span class="lineno"> 432</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a5a4ba60143c31271df0f72bf0e503876">new_data</a> = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00433" name="l00433"></a><span class="lineno"> 433</span> </div>
<div class="line"><a id="l00434" name="l00434"></a><span class="lineno"> 434</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a735d099f3dd0ead4b8d986fd139af43d">grav_accuracy</a> != default_report_data-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a735d099f3dd0ead4b8d986fd139af43d">grav_accuracy</a>)</div>
<div class="line"><a id="l00435" name="l00435"></a><span class="lineno"> 435</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a5a4ba60143c31271df0f72bf0e503876">new_data</a> = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00436" name="l00436"></a><span class="lineno"> 436</span> </div>
<div class="line"><a id="l00437" name="l00437"></a><span class="lineno"> 437</span> <span class="keywordflow">return</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a5a4ba60143c31271df0f72bf0e503876">new_data</a>;</div>
<div class="line"><a id="l00438" name="l00438"></a><span class="lineno"> 438</span> }</div>
</div>
<div class="line"><a id="l00439" name="l00439"></a><span class="lineno"> 439</span> </div>
<div class="foldopen" id="foldopen00448" data-start="{" data-end="}">
<div class="line"><a id="l00448" name="l00448"></a><span class="lineno"><a class="line" href="class_b_n_o08x_test_helper.html#a157342da2def8b659d27ae4d24063cb5"> 448</a></span> <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x_test_helper.html#a157342da2def8b659d27ae4d24063cb5">magnetometer_data_is_new</a>(<a class="code hl_struct" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html">imu_report_data_t</a>* <a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>, <a class="code hl_struct" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html">imu_report_data_t</a>* default_report_data)</div>
<div class="line"><a id="l00449" name="l00449"></a><span class="lineno"> 449</span> {</div>
<div class="line"><a id="l00450" name="l00450"></a><span class="lineno"> 450</span> <span class="keywordtype">bool</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a5a4ba60143c31271df0f72bf0e503876">new_data</a> = <span class="keyword">false</span>;</div>
<div class="line"><a id="l00451" name="l00451"></a><span class="lineno"> 451</span> </div>
<div class="line"><a id="l00452" name="l00452"></a><span class="lineno"> 452</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a0e72f6dde1411e4aa1c616cedcc556c1">magf_x</a> != default_report_data-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a0e72f6dde1411e4aa1c616cedcc556c1">magf_x</a>)</div>
<div class="line"><a id="l00453" name="l00453"></a><span class="lineno"> 453</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a5a4ba60143c31271df0f72bf0e503876">new_data</a> = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00454" name="l00454"></a><span class="lineno"> 454</span> </div>
<div class="line"><a id="l00455" name="l00455"></a><span class="lineno"> 455</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a8738f60a2b9bd49d2b8dd0487db7ac97">magf_y</a> != default_report_data-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a8738f60a2b9bd49d2b8dd0487db7ac97">magf_y</a>)</div>
<div class="line"><a id="l00456" name="l00456"></a><span class="lineno"> 456</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a5a4ba60143c31271df0f72bf0e503876">new_data</a> = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00457" name="l00457"></a><span class="lineno"> 457</span> </div>
<div class="line"><a id="l00458" name="l00458"></a><span class="lineno"> 458</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a55187ebe06fa77def93681bcdf62595c">magf_z</a> != default_report_data-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a55187ebe06fa77def93681bcdf62595c">magf_z</a>)</div>
<div class="line"><a id="l00459" name="l00459"></a><span class="lineno"> 459</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a5a4ba60143c31271df0f72bf0e503876">new_data</a> = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00460" name="l00460"></a><span class="lineno"> 460</span> </div>
<div class="line"><a id="l00461" name="l00461"></a><span class="lineno"> 461</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a0c962609a3bf7927204542521e9c5113">magf_accuracy</a> != default_report_data-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a0c962609a3bf7927204542521e9c5113">magf_accuracy</a>)</div>
<div class="line"><a id="l00462" name="l00462"></a><span class="lineno"> 462</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a5a4ba60143c31271df0f72bf0e503876">new_data</a> = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00463" name="l00463"></a><span class="lineno"> 463</span> </div>
<div class="line"><a id="l00464" name="l00464"></a><span class="lineno"> 464</span> <span class="keywordflow">return</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a5a4ba60143c31271df0f72bf0e503876">new_data</a>;</div>
<div class="line"><a id="l00465" name="l00465"></a><span class="lineno"> 465</span> }</div>
</div>
<div class="line"><a id="l00466" name="l00466"></a><span class="lineno"> 466</span> </div>
<div class="foldopen" id="foldopen00475" data-start="{" data-end="}">
<div class="line"><a id="l00475" name="l00475"></a><span class="lineno"><a class="line" href="class_b_n_o08x_test_helper.html#aa7eb152d4192c3949bb3443ef6221782"> 475</a></span> <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x_test_helper.html#aa7eb152d4192c3949bb3443ef6221782">step_counter_data_is_new</a>(<a class="code hl_struct" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html">imu_report_data_t</a>* <a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>, <a class="code hl_struct" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html">imu_report_data_t</a>* default_report_data)</div>
<div class="line"><a id="l00476" name="l00476"></a><span class="lineno"> 476</span> {</div>
<div class="line"><a id="l00477" name="l00477"></a><span class="lineno"> 477</span> <span class="keywordtype">bool</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a5a4ba60143c31271df0f72bf0e503876">new_data</a> = <span class="keyword">false</span>;</div>
<div class="line"><a id="l00478" name="l00478"></a><span class="lineno"> 478</span> </div>
<div class="line"><a id="l00479" name="l00479"></a><span class="lineno"> 479</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#ae8435a931eac7f4376a94acfcbf6a784">step_count</a> != default_report_data-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#ae8435a931eac7f4376a94acfcbf6a784">step_count</a>)</div>
<div class="line"><a id="l00480" name="l00480"></a><span class="lineno"> 480</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a5a4ba60143c31271df0f72bf0e503876">new_data</a> = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00481" name="l00481"></a><span class="lineno"> 481</span> </div>
<div class="line"><a id="l00482" name="l00482"></a><span class="lineno"> 482</span> <span class="keywordflow">return</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a5a4ba60143c31271df0f72bf0e503876">new_data</a>;</div>
<div class="line"><a id="l00483" name="l00483"></a><span class="lineno"> 483</span> }</div>
</div>
<div class="line"><a id="l00484" name="l00484"></a><span class="lineno"> 484</span> </div>
<div class="foldopen" id="foldopen00493" data-start="{" data-end="}">
<div class="line"><a id="l00493" name="l00493"></a><span class="lineno"><a class="line" href="class_b_n_o08x_test_helper.html#a95ed21657224358877a66d010eeefad3"> 493</a></span> <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x_test_helper.html#a95ed21657224358877a66d010eeefad3">stability_classifier_data_is_new</a>(<a class="code hl_struct" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html">imu_report_data_t</a>* <a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>, <a class="code hl_struct" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html">imu_report_data_t</a>* default_report_data)</div>
<div class="line"><a id="l00494" name="l00494"></a><span class="lineno"> 494</span> {</div>
<div class="line"><a id="l00495" name="l00495"></a><span class="lineno"> 495</span> <span class="keywordtype">bool</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a5a4ba60143c31271df0f72bf0e503876">new_data</a> = <span class="keyword">false</span>;</div>
<div class="line"><a id="l00496" name="l00496"></a><span class="lineno"> 496</span> </div>
<div class="line"><a id="l00497" name="l00497"></a><span class="lineno"> 497</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a86473c2bd8cbe2c76276393ee20d568b">stability_classifier</a> != default_report_data-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a86473c2bd8cbe2c76276393ee20d568b">stability_classifier</a>)</div>
<div class="line"><a id="l00498" name="l00498"></a><span class="lineno"> 498</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a5a4ba60143c31271df0f72bf0e503876">new_data</a> = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00499" name="l00499"></a><span class="lineno"> 499</span> </div>
<div class="line"><a id="l00500" name="l00500"></a><span class="lineno"> 500</span> <span class="keywordflow">return</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a5a4ba60143c31271df0f72bf0e503876">new_data</a>;</div>
<div class="line"><a id="l00501" name="l00501"></a><span class="lineno"> 501</span> }</div>
</div>
<div class="line"><a id="l00502" name="l00502"></a><span class="lineno"> 502</span> </div>
<div class="foldopen" id="foldopen00511" data-start="{" data-end="}">
<div class="line"><a id="l00511" name="l00511"></a><span class="lineno"><a class="line" href="class_b_n_o08x_test_helper.html#afc6cc734ad843aca30a7cb76ad6dedb9"> 511</a></span> <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="class_b_n_o08x_test_helper.html#afc6cc734ad843aca30a7cb76ad6dedb9">activity_classifier_data_is_new</a>(<a class="code hl_struct" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html">imu_report_data_t</a>* <a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>, <a class="code hl_struct" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html">imu_report_data_t</a>* default_report_data)</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="keywordtype">bool</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a5a4ba60143c31271df0f72bf0e503876">new_data</a> = <span class="keyword">false</span>;</div>
<div class="line"><a id="l00514" name="l00514"></a><span class="lineno"> 514</span> </div>
<div class="line"><a id="l00515" name="l00515"></a><span class="lineno"> 515</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a0455033deba9570f248e8059cf6a3ce1">activity_classifier</a> != default_report_data-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a0455033deba9570f248e8059cf6a3ce1">activity_classifier</a>)</div>
<div class="line"><a id="l00516" name="l00516"></a><span class="lineno"> 516</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a5a4ba60143c31271df0f72bf0e503876">new_data</a> = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00517" name="l00517"></a><span class="lineno"> 517</span> </div>
<div class="line"><a id="l00518" name="l00518"></a><span class="lineno"> 518</span> <span class="keywordflow">return</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a5a4ba60143c31271df0f72bf0e503876">new_data</a>;</div>
<div class="line"><a id="l00519" name="l00519"></a><span class="lineno"> 519</span> }</div>
</div>
<div class="line"><a id="l00520" name="l00520"></a><span class="lineno"> 520</span> </div>
<div class="foldopen" id="foldopen00528" data-start="{" data-end="}">
<div class="line"><a id="l00528" name="l00528"></a><span class="lineno"><a class="line" href="class_b_n_o08x_test_helper.html#ac81c63583b19e5c7b3233324aaea98e2"> 528</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#ac81c63583b19e5c7b3233324aaea98e2">update_report_data</a>(<a class="code hl_struct" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html">imu_report_data_t</a>* <a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>)</div>
<div class="line"><a id="l00529" name="l00529"></a><span class="lineno"> 529</span> {</div>
<div class="line"><a id="l00530" name="l00530"></a><span class="lineno"> 530</span> </div>
<div class="line"><a id="l00531" name="l00531"></a><span class="lineno"> 531</span> <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a>-&gt;<a class="code hl_function" href="class_b_n_o08x.html#af5d6dae7c0f8d36b6ac91adff614ab3a">get_quat</a>(<a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a8d2c3cd33943cb1b4fd0e800f822607e">quat_I</a>, <a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a20a09d197d5128aae64b7449df576c27">quat_J</a>, <a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a3c74d4c93fc4390f52b75e6ff2bea95b">quat_K</a>, <a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a80525c4943154f825a62539b10337976">quat_real</a>,</div>
<div class="line"><a id="l00532" name="l00532"></a><span class="lineno"> 532</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#ae0a8fef0227dd4304d08466c43d901a5">quat_radian_accuracy</a>, <a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#aac84ad10b65403ae1ee21dab5cdc77db">quat_accuracy</a>);</div>
<div class="line"><a id="l00533" name="l00533"></a><span class="lineno"> 533</span> <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a>-&gt;<a class="code hl_function" href="class_b_n_o08x.html#a8f4a10a8427a266fa28fc1c85c8e850f">get_integrated_gyro_velocity</a>(</div>
<div class="line"><a id="l00534" name="l00534"></a><span class="lineno"> 534</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a077a94b4de0b5c280d69611325208cf7">integrated_gyro_vel_x</a>, <a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#af4b75b320bc390c90656905711f1c791">integrated_gyro_vel_y</a>, <a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a1aa67da9c3c6449dfce361a528c418d3">integrated_gyro_vel_z</a>);</div>
<div class="line"><a id="l00535" name="l00535"></a><span class="lineno"> 535</span> <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a>-&gt;<a class="code hl_function" href="class_b_n_o08x.html#a3c9797a2a2be14ee6e8126f1295fa885">get_accel</a>(<a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a5c01b349cc9e4e45c78c576882d633fd">accel_x</a>, <a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a7e594d0a1e86fb575f72c6f330c8983c">accel_y</a>, <a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#af134cb789c29120033d81916e0c100d4">accel_z</a>, <a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#ac5d393de0f15176ba81bc63a80b49ca3">accel_accuracy</a>);</div>
<div class="line"><a id="l00536" name="l00536"></a><span class="lineno"> 536</span> <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a>-&gt;<a class="code hl_function" href="class_b_n_o08x.html#a4bef64b34cbff3922848c7a93aa21e46">get_linear_accel</a>(<a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a3a62ed280657cd409d723e64f0c313b5">lin_accel_x</a>, <a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a553942aa784c35c833543ecc9a05f606">lin_accel_y</a>, <a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a5bf43fc0daf3a86954924e066cad3a9b">lin_accel_z</a>, <a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a48a249994c27f59ca4167b56bdda311a">lin_accel_accuracy</a>);</div>
<div class="line"><a id="l00537" name="l00537"></a><span class="lineno"> 537</span> <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a>-&gt;<a class="code hl_function" href="class_b_n_o08x.html#a067678914e928a6691625b17c40237a0">get_gravity</a>(<a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#ad2c17ea111250ebc1a4a763dae3c072a">grav_x</a>, <a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a19fc4af8a26c10a027cbd859d67dba4a">grav_y</a>, <a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#af1887bdfef4fc2c683fe2134cb5cfb50">grav_z</a>, <a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a735d099f3dd0ead4b8d986fd139af43d">grav_accuracy</a>);</div>
<div class="line"><a id="l00538" name="l00538"></a><span class="lineno"> 538</span> <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a>-&gt;<a class="code hl_function" href="class_b_n_o08x.html#aa9291dec6c05a3786fe58221e6856e8f">get_calibrated_gyro_velocity</a>(<a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a89b427579a281440ab94a340c0ec8443">calib_gyro_vel_x</a>, <a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#af9e11fd749123f5723b2e281c8d2fd16">calib_gyro_vel_y</a>, <a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a769ddae74a6c89a2d319c28f95ed6479">calib_gyro_vel_z</a>);</div>
<div class="line"><a id="l00539" name="l00539"></a><span class="lineno"> 539</span> <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a>-&gt;<a class="code hl_function" href="class_b_n_o08x.html#a86ff710f2b359e905c7154bfb7d5b104">get_uncalibrated_gyro_velocity</a>(<a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a292b1c36fed6a9c9742edf730299c4f4">uncalib_gyro_vel_x</a>, <a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#adfd6bf2e2264cf25bd02814446600ab4">uncalib_gyro_vel_y</a>,</div>
<div class="line"><a id="l00540" name="l00540"></a><span class="lineno"> 540</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#ab39fd6f409288bb35fb1542ff4b9cbe4">uncalib_gyro_vel_z</a>, <a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#ac70a65027c3e740eca2b1f172b7cefa3">uncalib_gyro_drift_x</a>, <a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a29d5ae3e0ed3463cb9297f9cdc0e8472">uncalib_gyro_drift_y</a>,</div>
<div class="line"><a id="l00541" name="l00541"></a><span class="lineno"> 541</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a27b52e2d96cb948c4257de4553053f72">uncalib_gyro_drift_z</a>);</div>
<div class="line"><a id="l00542" name="l00542"></a><span class="lineno"> 542</span> <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a>-&gt;<a class="code hl_function" href="class_b_n_o08x.html#ae766248440e76fb26bbadc6ee0b54ddb">get_magf</a>(<a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a0e72f6dde1411e4aa1c616cedcc556c1">magf_x</a>, <a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a8738f60a2b9bd49d2b8dd0487db7ac97">magf_y</a>, <a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a55187ebe06fa77def93681bcdf62595c">magf_z</a>, <a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a0c962609a3bf7927204542521e9c5113">magf_accuracy</a>);</div>
<div class="line"><a id="l00543" name="l00543"></a><span class="lineno"> 543</span> <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a>-&gt;<a class="code hl_function" href="class_b_n_o08x.html#ac2118c4da6631d3b9806353ca2cbba27">get_raw_mems_gyro</a>(<a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a94befe7132d3a6a6ce2a7890e96ec091">raw_mems_gyro_x</a>, <a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a7e9cd7e43d70932c5f84e3cfadf8bb47">raw_mems_gyro_y</a>, <a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a9df84179bd44a7febfa1058afe3dad6c">raw_mems_gyro_z</a>);</div>
<div class="line"><a id="l00544" name="l00544"></a><span class="lineno"> 544</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#ae8435a931eac7f4376a94acfcbf6a784">step_count</a> = <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a>-&gt;<a class="code hl_function" href="class_b_n_o08x.html#adaff49f3d80fdd19fd4210f0c56d41ef">get_step_count</a>();</div>
<div class="line"><a id="l00545" name="l00545"></a><span class="lineno"> 545</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a86473c2bd8cbe2c76276393ee20d568b">stability_classifier</a> = <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a>-&gt;<a class="code hl_function" href="class_b_n_o08x.html#a248544b262582d10d917a687190cb454">get_stability_classifier</a>();</div>
<div class="line"><a id="l00546" name="l00546"></a><span class="lineno"> 546</span> <a class="code hl_variable" href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a>-&gt;<a class="code hl_variable" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a0455033deba9570f248e8059cf6a3ce1">activity_classifier</a> = <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a>-&gt;<a class="code hl_function" href="class_b_n_o08x.html#a4a72489c56960d83050ae9c4b9ab75ed">get_activity_classifier</a>();</div>
<div class="line"><a id="l00547" name="l00547"></a><span class="lineno"> 547</span> }</div>
</div>
<div class="line"><a id="l00548" name="l00548"></a><span class="lineno"> 548</span> </div>
<div class="foldopen" id="foldopen00554" data-start="{" data-end="}">
<div class="line"><a id="l00554" name="l00554"></a><span class="lineno"><a class="line" href="class_b_n_o08x_test_helper.html#ade6be1fd8ef3a99e0edae4cbf25eb528"> 554</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#ade6be1fd8ef3a99e0edae4cbf25eb528">reset_all_imu_data_to_test_defaults</a>()</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> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint16_t TEST_VAL_UINT16 = 65535U;</div>
<div class="line"><a id="l00557" name="l00557"></a><span class="lineno"> 557</span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keyword">constexpr</span> uint16_t TEST_VAL_UINT8 = 255;</div>
<div class="line"><a id="l00558" name="l00558"></a><span class="lineno"> 558</span> <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a>-&gt;<a class="code hl_variable" href="class_b_n_o08x.html#abc972db20affbd0040b4e6c4892dd57b">time_stamp</a> = 0UL;</div>
<div class="line"><a id="l00559" name="l00559"></a><span class="lineno"> 559</span> </div>
<div class="line"><a id="l00560" name="l00560"></a><span class="lineno"> 560</span> <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a>-&gt;<a class="code hl_variable" href="class_b_n_o08x.html#a75fb2f06c5bbe26e3f3c794934ef954c">raw_accel_X</a> = TEST_VAL_UINT16;</div>
<div class="line"><a id="l00561" name="l00561"></a><span class="lineno"> 561</span> <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a>-&gt;<a class="code hl_variable" href="class_b_n_o08x.html#ab56e2ba505fa293d03e955137625c562">raw_accel_Y</a> = TEST_VAL_UINT16;</div>
<div class="line"><a id="l00562" name="l00562"></a><span class="lineno"> 562</span> <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a>-&gt;<a class="code hl_variable" href="class_b_n_o08x.html#af254d245b368027df6952b7d7522bd35">raw_accel_Z</a> = TEST_VAL_UINT16;</div>
<div class="line"><a id="l00563" name="l00563"></a><span class="lineno"> 563</span> <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a>-&gt;<a class="code hl_variable" href="class_b_n_o08x.html#a3365b7ebde01e284274e655c60343df9">accel_accuracy</a> = <span class="keyword">static_cast&lt;</span>uint16_t<span class="keyword">&gt;</span>(<a class="code hl_enumvalue" href="_b_n_o08x__global__types_8hpp.html#aed7bab8e55be415938e078ebe72562a0a0db45d2a4141101bdfe48e3314cfbca3">BNO08xAccuracy::UNDEFINED</a>);</div>
<div class="line"><a id="l00564" name="l00564"></a><span class="lineno"> 564</span> </div>
<div class="line"><a id="l00565" name="l00565"></a><span class="lineno"> 565</span> <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a>-&gt;<a class="code hl_variable" href="class_b_n_o08x.html#ae1f71a432cb15e75f522fa18f29f4d50">raw_lin_accel_X</a> = TEST_VAL_UINT16;</div>
<div class="line"><a id="l00566" name="l00566"></a><span class="lineno"> 566</span> <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a>-&gt;<a class="code hl_variable" href="class_b_n_o08x.html#aff3a5590471d1c9fc485a5610433915f">raw_lin_accel_Y</a> = TEST_VAL_UINT16;</div>
<div class="line"><a id="l00567" name="l00567"></a><span class="lineno"> 567</span> <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a>-&gt;<a class="code hl_variable" href="class_b_n_o08x.html#abc8add47f1babc66c812a015614143d3">raw_lin_accel_Z</a> = TEST_VAL_UINT16;</div>
<div class="line"><a id="l00568" name="l00568"></a><span class="lineno"> 568</span> <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a>-&gt;<a class="code hl_variable" href="class_b_n_o08x.html#a35e1635ef5edde8fc8640f978c6f2e3c">accel_lin_accuracy</a> = <span class="keyword">static_cast&lt;</span>uint16_t<span class="keyword">&gt;</span>(<a class="code hl_enumvalue" href="_b_n_o08x__global__types_8hpp.html#aed7bab8e55be415938e078ebe72562a0a0db45d2a4141101bdfe48e3314cfbca3">BNO08xAccuracy::UNDEFINED</a>);</div>
<div class="line"><a id="l00569" name="l00569"></a><span class="lineno"> 569</span> </div>
<div class="line"><a id="l00570" name="l00570"></a><span class="lineno"> 570</span> <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a>-&gt;<a class="code hl_variable" href="class_b_n_o08x.html#a87faca2c8c71ff46bf2e6ad4ba271b3a">raw_calib_gyro_X</a> = TEST_VAL_UINT16;</div>
<div class="line"><a id="l00571" name="l00571"></a><span class="lineno"> 571</span> <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a>-&gt;<a class="code hl_variable" href="class_b_n_o08x.html#a66c48af1d4162a9ec25c3a1c95660fe4">raw_calib_gyro_Y</a> = TEST_VAL_UINT16;</div>
<div class="line"><a id="l00572" name="l00572"></a><span class="lineno"> 572</span> <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a>-&gt;<a class="code hl_variable" href="class_b_n_o08x.html#af5450d1a9c20c2a5c62c960e3df11c0e">raw_calib_gyro_Z</a> = TEST_VAL_UINT16;</div>
<div class="line"><a id="l00573" name="l00573"></a><span class="lineno"> 573</span> </div>
<div class="line"><a id="l00574" name="l00574"></a><span class="lineno"> 574</span> <span class="comment">// reset quaternion to nan</span></div>
<div class="line"><a id="l00575" name="l00575"></a><span class="lineno"> 575</span> <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a>-&gt;<a class="code hl_variable" href="class_b_n_o08x.html#a69dc7e97875060213085ba964b3bd987">raw_quat_I</a> = TEST_VAL_UINT16;</div>
<div class="line"><a id="l00576" name="l00576"></a><span class="lineno"> 576</span> <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a>-&gt;<a class="code hl_variable" href="class_b_n_o08x.html#a61ae05dc5572b326541bf8099f0c2a54">raw_quat_J</a> = TEST_VAL_UINT16;</div>
<div class="line"><a id="l00577" name="l00577"></a><span class="lineno"> 577</span> <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a>-&gt;<a class="code hl_variable" href="class_b_n_o08x.html#a7720c44ed1c0f1a0663d2adc5e1a1ea1">raw_quat_K</a> = TEST_VAL_UINT16;</div>
<div class="line"><a id="l00578" name="l00578"></a><span class="lineno"> 578</span> <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a>-&gt;<a class="code hl_variable" href="class_b_n_o08x.html#a867354267253ae828be4fae15c062db3">raw_quat_real</a> = TEST_VAL_UINT16;</div>
<div class="line"><a id="l00579" name="l00579"></a><span class="lineno"> 579</span> <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a>-&gt;<a class="code hl_variable" href="class_b_n_o08x.html#a033d6cb1aa137743b69cc3e401df67b7">raw_quat_radian_accuracy</a> = <span class="keyword">static_cast&lt;</span>uint16_t<span class="keyword">&gt;</span>(<a class="code hl_enumvalue" href="_b_n_o08x__global__types_8hpp.html#aed7bab8e55be415938e078ebe72562a0a0db45d2a4141101bdfe48e3314cfbca3">BNO08xAccuracy::UNDEFINED</a>);</div>
<div class="line"><a id="l00580" name="l00580"></a><span class="lineno"> 580</span> <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a>-&gt;<a class="code hl_variable" href="class_b_n_o08x.html#a36223f7124751fa71e860b2ef55dd2ac">quat_accuracy</a> = <span class="keyword">static_cast&lt;</span>uint16_t<span class="keyword">&gt;</span>(<a class="code hl_enumvalue" href="_b_n_o08x__global__types_8hpp.html#aed7bab8e55be415938e078ebe72562a0a0db45d2a4141101bdfe48e3314cfbca3">BNO08xAccuracy::UNDEFINED</a>);</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> <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a>-&gt;<a class="code hl_variable" href="class_b_n_o08x.html#a6537ed69245cf71cad6a6a44480dddaa">integrated_gyro_velocity_X</a> = TEST_VAL_UINT16;</div>
<div class="line"><a id="l00583" name="l00583"></a><span class="lineno"> 583</span> <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a>-&gt;<a class="code hl_variable" href="class_b_n_o08x.html#a00b39e22ea9fe306e88aaed490ee0a51">integrated_gyro_velocity_Y</a> = TEST_VAL_UINT16;</div>
<div class="line"><a id="l00584" name="l00584"></a><span class="lineno"> 584</span> <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a>-&gt;<a class="code hl_variable" href="class_b_n_o08x.html#ad112beb64badd22a2e1d717e1ee921c8">integrated_gyro_velocity_Z</a> = TEST_VAL_UINT16;</div>
<div class="line"><a id="l00585" name="l00585"></a><span class="lineno"> 585</span> </div>
<div class="line"><a id="l00586" name="l00586"></a><span class="lineno"> 586</span> <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a>-&gt;<a class="code hl_variable" href="class_b_n_o08x.html#af45016be9ea523d80be8467b2907b499">gravity_X</a> = TEST_VAL_UINT16;</div>
<div class="line"><a id="l00587" name="l00587"></a><span class="lineno"> 587</span> <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a>-&gt;<a class="code hl_variable" href="class_b_n_o08x.html#af20dcd487a9fe8fa6243817d51e37be5">gravity_Y</a> = TEST_VAL_UINT16;</div>
<div class="line"><a id="l00588" name="l00588"></a><span class="lineno"> 588</span> <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a>-&gt;<a class="code hl_variable" href="class_b_n_o08x.html#afa1cf5c3afbb258d97c55c5fb187f2d6">gravity_Z</a> = TEST_VAL_UINT16;</div>
<div class="line"><a id="l00589" name="l00589"></a><span class="lineno"> 589</span> <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a>-&gt;<a class="code hl_variable" href="class_b_n_o08x.html#ae01698d287ea999179a11e2244902022">gravity_accuracy</a> = <span class="keyword">static_cast&lt;</span>uint16_t<span class="keyword">&gt;</span>(<a class="code hl_enumvalue" href="_b_n_o08x__global__types_8hpp.html#aed7bab8e55be415938e078ebe72562a0a0db45d2a4141101bdfe48e3314cfbca3">BNO08xAccuracy::UNDEFINED</a>);</div>
<div class="line"><a id="l00590" name="l00590"></a><span class="lineno"> 590</span> </div>
<div class="line"><a id="l00591" name="l00591"></a><span class="lineno"> 591</span> <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a>-&gt;<a class="code hl_variable" href="class_b_n_o08x.html#afdc5cdb65bd0b36528b5b671b9d27053">raw_uncalib_gyro_X</a> = TEST_VAL_UINT16;</div>
<div class="line"><a id="l00592" name="l00592"></a><span class="lineno"> 592</span> <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a>-&gt;<a class="code hl_variable" href="class_b_n_o08x.html#acc2c66e2985975266a286385ea855117">raw_uncalib_gyro_Y</a> = TEST_VAL_UINT16;</div>
<div class="line"><a id="l00593" name="l00593"></a><span class="lineno"> 593</span> <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a>-&gt;<a class="code hl_variable" href="class_b_n_o08x.html#afac9dd4161f4c0051255293680c9082b">raw_uncalib_gyro_Z</a> = TEST_VAL_UINT16;</div>
<div class="line"><a id="l00594" name="l00594"></a><span class="lineno"> 594</span> <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a>-&gt;<a class="code hl_variable" href="class_b_n_o08x.html#a8a2667f668317cee0a9fc4ef0accc3f5">raw_bias_X</a> = TEST_VAL_UINT16;</div>
<div class="line"><a id="l00595" name="l00595"></a><span class="lineno"> 595</span> <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a>-&gt;<a class="code hl_variable" href="class_b_n_o08x.html#ac38ff5eb93d3c3db0af2504ba02fd93c">raw_bias_Y</a> = TEST_VAL_UINT16;</div>
<div class="line"><a id="l00596" name="l00596"></a><span class="lineno"> 596</span> <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a>-&gt;<a class="code hl_variable" href="class_b_n_o08x.html#a0968eaed9b3d979a2caa1aba6e6b417a">raw_bias_Z</a> = TEST_VAL_UINT16;</div>
<div class="line"><a id="l00597" name="l00597"></a><span class="lineno"> 597</span> </div>
<div class="line"><a id="l00598" name="l00598"></a><span class="lineno"> 598</span> <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a>-&gt;<a class="code hl_variable" href="class_b_n_o08x.html#aa5bdf740161b7c37adcac0154a410118">raw_magf_X</a> = TEST_VAL_UINT16;</div>
<div class="line"><a id="l00599" name="l00599"></a><span class="lineno"> 599</span> <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a>-&gt;<a class="code hl_variable" href="class_b_n_o08x.html#acd365418f24a6da61122c66d82086639">raw_magf_Y</a> = TEST_VAL_UINT16;</div>
<div class="line"><a id="l00600" name="l00600"></a><span class="lineno"> 600</span> <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a>-&gt;<a class="code hl_variable" href="class_b_n_o08x.html#ab4862de31d0874b44b6745678e1c905e">raw_magf_Z</a> = TEST_VAL_UINT16;</div>
<div class="line"><a id="l00601" name="l00601"></a><span class="lineno"> 601</span> <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a>-&gt;<a class="code hl_variable" href="class_b_n_o08x.html#ac5d4e151690774687efa951ca41c16ae">magf_accuracy</a> = <span class="keyword">static_cast&lt;</span>uint16_t<span class="keyword">&gt;</span>(<a class="code hl_enumvalue" href="_b_n_o08x__global__types_8hpp.html#aed7bab8e55be415938e078ebe72562a0a0db45d2a4141101bdfe48e3314cfbca3">BNO08xAccuracy::UNDEFINED</a>);</div>
<div class="line"><a id="l00602" name="l00602"></a><span class="lineno"> 602</span> </div>
<div class="line"><a id="l00603" name="l00603"></a><span class="lineno"> 603</span> <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a>-&gt;<a class="code hl_variable" href="class_b_n_o08x.html#a1171a5738a4e6831ec7fa32a29f15554">tap_detector</a> = TEST_VAL_UINT8;</div>
<div class="line"><a id="l00604" name="l00604"></a><span class="lineno"> 604</span> <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a>-&gt;<a class="code hl_variable" href="class_b_n_o08x.html#ad80a77973371b12d722ea39063c648be">step_count</a> = TEST_VAL_UINT16;</div>
<div class="line"><a id="l00605" name="l00605"></a><span class="lineno"> 605</span> <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a>-&gt;<a class="code hl_variable" href="class_b_n_o08x.html#a1b12471e92536a79d0c425d77676f2e1">stability_classifier</a> = <span class="keyword">static_cast&lt;</span>uint16_t<span class="keyword">&gt;</span>(<a class="code hl_enumvalue" href="_b_n_o08x__global__types_8hpp.html#a498b35f9e00b24e51f8f60b029751ab5a0db45d2a4141101bdfe48e3314cfbca3">BNO08xStability::UNDEFINED</a>);</div>
<div class="line"><a id="l00606" name="l00606"></a><span class="lineno"> 606</span> <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a>-&gt;<a class="code hl_variable" href="class_b_n_o08x.html#a75cea49c1c08ca28d9fa7e5ed61c6e7b">activity_classifier</a> = <span class="keyword">static_cast&lt;</span>uint16_t<span class="keyword">&gt;</span>(<a class="code hl_enumvalue" href="_b_n_o08x__global__types_8hpp.html#abcc5d57e21ea6ed79e792deafcb62187a0db45d2a4141101bdfe48e3314cfbca3">BNO08xActivity::UNDEFINED</a>);</div>
<div class="line"><a id="l00607" name="l00607"></a><span class="lineno"> 607</span> </div>
<div class="line"><a id="l00608" name="l00608"></a><span class="lineno"> 608</span> <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a>-&gt;<a class="code hl_variable" href="class_b_n_o08x.html#a937cbdc4edaac72c8cad041d79de5701">mems_raw_accel_X</a> = TEST_VAL_UINT16;</div>
<div class="line"><a id="l00609" name="l00609"></a><span class="lineno"> 609</span> <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a>-&gt;<a class="code hl_variable" href="class_b_n_o08x.html#ad83cecb8a5d2be01db6792755b6057e9">mems_raw_accel_Y</a> = TEST_VAL_UINT16;</div>
<div class="line"><a id="l00610" name="l00610"></a><span class="lineno"> 610</span> <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a>-&gt;<a class="code hl_variable" href="class_b_n_o08x.html#a59a4d75f1302ab693b1b26e9ccaa5341">mems_raw_accel_Z</a> = TEST_VAL_UINT16;</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"> 612</span> <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a>-&gt;<a class="code hl_variable" href="class_b_n_o08x.html#a3d6b6257462951ea023af7076c80f6dd">mems_raw_gyro_X</a> = TEST_VAL_UINT16;</div>
<div class="line"><a id="l00613" name="l00613"></a><span class="lineno"> 613</span> <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a>-&gt;<a class="code hl_variable" href="class_b_n_o08x.html#ab6b142416912a096886dd63ad0beb865">mems_raw_gyro_Y</a> = TEST_VAL_UINT16;</div>
<div class="line"><a id="l00614" name="l00614"></a><span class="lineno"> 614</span> <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a>-&gt;<a class="code hl_variable" href="class_b_n_o08x.html#ac35d5b12721ab876eaeb1f714a9b3b1d">mems_raw_gyro_Z</a> = TEST_VAL_UINT16;</div>
<div class="line"><a id="l00615" name="l00615"></a><span class="lineno"> 615</span> </div>
<div class="line"><a id="l00616" name="l00616"></a><span class="lineno"> 616</span> <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a>-&gt;<a class="code hl_variable" href="class_b_n_o08x.html#ab587cdf991342b69b7fff3b33f537eb5">mems_raw_magf_X</a> = TEST_VAL_UINT16;</div>
<div class="line"><a id="l00617" name="l00617"></a><span class="lineno"> 617</span> <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a>-&gt;<a class="code hl_variable" href="class_b_n_o08x.html#aad926054c81818fff611e10ed913706a">mems_raw_magf_Y</a> = TEST_VAL_UINT16;</div>
<div class="line"><a id="l00618" name="l00618"></a><span class="lineno"> 618</span> <a class="code hl_variable" href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">test_imu</a>-&gt;<a class="code hl_variable" href="class_b_n_o08x.html#a90f0cdf11decc276006f76a494d42ce3">mems_raw_magf_Z</a> = TEST_VAL_UINT16;</div>
<div class="line"><a id="l00619" name="l00619"></a><span class="lineno"> 619</span> }</div>
</div>
<div class="line"><a id="l00620" name="l00620"></a><span class="lineno"> 620</span> </div>
<div class="foldopen" id="foldopen00628" data-start="{" data-end="}">
<div class="line"><a id="l00628" name="l00628"></a><span class="lineno"><a class="line" href="class_b_n_o08x_test_helper.html#a857b66c12c231af0d546c026ec017ab3"> 628</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">char</span>* <a class="code hl_function" href="class_b_n_o08x_test_helper.html#a857b66c12c231af0d546c026ec017ab3">BNO08xAccuracy_to_str</a>(<a class="code hl_enumeration" href="_b_n_o08x__global__types_8hpp.html#aed7bab8e55be415938e078ebe72562a0">BNO08xAccuracy</a> accuracy)</div>
<div class="line"><a id="l00629" name="l00629"></a><span class="lineno"> 629</span> {</div>
<div class="line"><a id="l00630" name="l00630"></a><span class="lineno"> 630</span> <span class="keywordflow">switch</span> (accuracy)</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> <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x__global__types_8hpp.html#aed7bab8e55be415938e078ebe72562a0a41bc94cbd8eebea13ce0491b2ac11b88">BNO08xAccuracy::LOW</a>:</div>
<div class="line"><a id="l00633" name="l00633"></a><span class="lineno"> 633</span> <span class="keywordflow">return</span> <span class="stringliteral">&quot;LOW&quot;</span>;</div>
<div class="line"><a id="l00634" name="l00634"></a><span class="lineno"> 634</span> <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x__global__types_8hpp.html#aed7bab8e55be415938e078ebe72562a0a2ad6d5975c45da2e711c796f3a1b029c">BNO08xAccuracy::MED</a>:</div>
<div class="line"><a id="l00635" name="l00635"></a><span class="lineno"> 635</span> <span class="keywordflow">return</span> <span class="stringliteral">&quot;MED&quot;</span>;</div>
<div class="line"><a id="l00636" name="l00636"></a><span class="lineno"> 636</span> <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x__global__types_8hpp.html#aed7bab8e55be415938e078ebe72562a0ab89de3b4b81c4facfac906edf29aec8c">BNO08xAccuracy::HIGH</a>:</div>
<div class="line"><a id="l00637" name="l00637"></a><span class="lineno"> 637</span> <span class="keywordflow">return</span> <span class="stringliteral">&quot;HIGH&quot;</span>;</div>
<div class="line"><a id="l00638" name="l00638"></a><span class="lineno"> 638</span> <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x__global__types_8hpp.html#aed7bab8e55be415938e078ebe72562a0a0db45d2a4141101bdfe48e3314cfbca3">BNO08xAccuracy::UNDEFINED</a>:</div>
<div class="line"><a id="l00639" name="l00639"></a><span class="lineno"> 639</span> <span class="keywordflow">return</span> <span class="stringliteral">&quot;UNDEFINED&quot;</span>;</div>
<div class="line"><a id="l00640" name="l00640"></a><span class="lineno"> 640</span> <span class="keywordflow">default</span>:</div>
<div class="line"><a id="l00641" name="l00641"></a><span class="lineno"> 641</span> <span class="keywordflow">return</span> <span class="stringliteral">&quot;INVALID&quot;</span>;</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"> 643</span> };</div>
</div>
<div class="line"><a id="l00644" name="l00644"></a><span class="lineno"> 644</span> </div>
<div class="foldopen" id="foldopen00652" data-start="{" data-end="}">
<div class="line"><a id="l00652" name="l00652"></a><span class="lineno"><a class="line" href="class_b_n_o08x_test_helper.html#ae922f36719ab085550ef270d5a149059"> 652</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">char</span>* <a class="code hl_function" href="class_b_n_o08x_test_helper.html#ae922f36719ab085550ef270d5a149059">BNO08xStability_to_str</a>(<a class="code hl_enumeration" href="_b_n_o08x__global__types_8hpp.html#a498b35f9e00b24e51f8f60b029751ab5">BNO08xStability</a> stability)</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="keywordflow">switch</span> (stability)</div>
<div class="line"><a id="l00655" name="l00655"></a><span class="lineno"> 655</span> {</div>
<div class="line"><a id="l00656" name="l00656"></a><span class="lineno"> 656</span> <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x__global__types_8hpp.html#a498b35f9e00b24e51f8f60b029751ab5a696b031073e74bf2cb98e5ef201d4aa3">BNO08xStability::UNKNOWN</a>:</div>
<div class="line"><a id="l00657" name="l00657"></a><span class="lineno"> 657</span> <span class="keywordflow">return</span> <span class="stringliteral">&quot;UNKNOWN&quot;</span>;</div>
<div class="line"><a id="l00658" name="l00658"></a><span class="lineno"> 658</span> <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x__global__types_8hpp.html#a498b35f9e00b24e51f8f60b029751ab5a71149a62cd9fec4756e3538d1754486a">BNO08xStability::ON_TABLE</a>:</div>
<div class="line"><a id="l00659" name="l00659"></a><span class="lineno"> 659</span> <span class="keywordflow">return</span> <span class="stringliteral">&quot;ON TABLE&quot;</span>;</div>
<div class="line"><a id="l00660" name="l00660"></a><span class="lineno"> 660</span> <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x__global__types_8hpp.html#a498b35f9e00b24e51f8f60b029751ab5a4120eb7591bd0789af75a8973d5f9146">BNO08xStability::STATIONARY</a>:</div>
<div class="line"><a id="l00661" name="l00661"></a><span class="lineno"> 661</span> <span class="keywordflow">return</span> <span class="stringliteral">&quot;STATIONARY&quot;</span>;</div>
<div class="line"><a id="l00662" name="l00662"></a><span class="lineno"> 662</span> <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x__global__types_8hpp.html#a498b35f9e00b24e51f8f60b029751ab5a0db45d2a4141101bdfe48e3314cfbca3">BNO08xStability::UNDEFINED</a>:</div>
<div class="line"><a id="l00663" name="l00663"></a><span class="lineno"> 663</span> <span class="keywordflow">return</span> <span class="stringliteral">&quot;UNDEFINED&quot;</span>;</div>
<div class="line"><a id="l00664" name="l00664"></a><span class="lineno"> 664</span> <span class="keywordflow">default</span>:</div>
<div class="line"><a id="l00665" name="l00665"></a><span class="lineno"> 665</span> <span class="keywordflow">return</span> <span class="stringliteral">&quot;INVALID&quot;</span>;</div>
<div class="line"><a id="l00666" name="l00666"></a><span class="lineno"> 666</span> }</div>
<div class="line"><a id="l00667" name="l00667"></a><span class="lineno"> 667</span> }</div>
</div>
<div class="line"><a id="l00668" name="l00668"></a><span class="lineno"> 668</span> </div>
<div class="foldopen" id="foldopen00676" data-start="{" data-end="}">
<div class="line"><a id="l00676" name="l00676"></a><span class="lineno"><a class="line" href="class_b_n_o08x_test_helper.html#ac95ba2892d54e6219123ad3ca0104750"> 676</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">char</span>* <a class="code hl_function" href="class_b_n_o08x_test_helper.html#ac95ba2892d54e6219123ad3ca0104750">BNO08xActivity_to_str</a>(<a class="code hl_enumeration" href="_b_n_o08x__global__types_8hpp.html#abcc5d57e21ea6ed79e792deafcb62187">BNO08xActivity</a> activity)</div>
<div class="line"><a id="l00677" name="l00677"></a><span class="lineno"> 677</span> {</div>
<div class="line"><a id="l00678" name="l00678"></a><span class="lineno"> 678</span> <span class="keywordflow">switch</span> (activity)</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> <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x__global__types_8hpp.html#abcc5d57e21ea6ed79e792deafcb62187a696b031073e74bf2cb98e5ef201d4aa3">BNO08xActivity::UNKNOWN</a>:</div>
<div class="line"><a id="l00681" name="l00681"></a><span class="lineno"> 681</span> <span class="keywordflow">return</span> <span class="stringliteral">&quot;UNKNOWN&quot;</span>;</div>
<div class="line"><a id="l00682" name="l00682"></a><span class="lineno"> 682</span> <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x__global__types_8hpp.html#abcc5d57e21ea6ed79e792deafcb62187ab166a3ce74dd5434e4a940dfa2af76e4">BNO08xActivity::IN_VEHICLE</a>:</div>
<div class="line"><a id="l00683" name="l00683"></a><span class="lineno"> 683</span> <span class="keywordflow">return</span> <span class="stringliteral">&quot;IN VEHICLE&quot;</span>;</div>
<div class="line"><a id="l00684" name="l00684"></a><span class="lineno"> 684</span> <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x__global__types_8hpp.html#abcc5d57e21ea6ed79e792deafcb62187a93d94a2f3a627533453a40e302fb35a4">BNO08xActivity::ON_BICYCLE</a>:</div>
<div class="line"><a id="l00685" name="l00685"></a><span class="lineno"> 685</span> <span class="keywordflow">return</span> <span class="stringliteral">&quot;ON BICYCLE&quot;</span>;</div>
<div class="line"><a id="l00686" name="l00686"></a><span class="lineno"> 686</span> <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x__global__types_8hpp.html#abcc5d57e21ea6ed79e792deafcb62187a7089542e0146a3499986c81e24924b58">BNO08xActivity::ON_FOOT</a>:</div>
<div class="line"><a id="l00687" name="l00687"></a><span class="lineno"> 687</span> <span class="keywordflow">return</span> <span class="stringliteral">&quot;ON FOOT&quot;</span>;</div>
<div class="line"><a id="l00688" name="l00688"></a><span class="lineno"> 688</span> <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x__global__types_8hpp.html#abcc5d57e21ea6ed79e792deafcb62187a8b572d218013b9626d59e6a2b38f18b6">BNO08xActivity::STILL</a>:</div>
<div class="line"><a id="l00689" name="l00689"></a><span class="lineno"> 689</span> <span class="keywordflow">return</span> <span class="stringliteral">&quot;STILL&quot;</span>;</div>
<div class="line"><a id="l00690" name="l00690"></a><span class="lineno"> 690</span> <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x__global__types_8hpp.html#abcc5d57e21ea6ed79e792deafcb62187a69909b62e08f212da31719aebf67b70c">BNO08xActivity::TILTING</a>:</div>
<div class="line"><a id="l00691" name="l00691"></a><span class="lineno"> 691</span> <span class="keywordflow">return</span> <span class="stringliteral">&quot;TILTING&quot;</span>;</div>
<div class="line"><a id="l00692" name="l00692"></a><span class="lineno"> 692</span> <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x__global__types_8hpp.html#abcc5d57e21ea6ed79e792deafcb62187a606c114184493a665cf1f6a12fbab9d3">BNO08xActivity::WALKING</a>:</div>
<div class="line"><a id="l00693" name="l00693"></a><span class="lineno"> 693</span> <span class="keywordflow">return</span> <span class="stringliteral">&quot;WALKING&quot;</span>;</div>
<div class="line"><a id="l00694" name="l00694"></a><span class="lineno"> 694</span> <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x__global__types_8hpp.html#abcc5d57e21ea6ed79e792deafcb62187a43491564ebcfd38568918efbd6e840fd">BNO08xActivity::RUNNING</a>:</div>
<div class="line"><a id="l00695" name="l00695"></a><span class="lineno"> 695</span> <span class="keywordflow">return</span> <span class="stringliteral">&quot;RUNNING&quot;</span>;</div>
<div class="line"><a id="l00696" name="l00696"></a><span class="lineno"> 696</span> <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x__global__types_8hpp.html#abcc5d57e21ea6ed79e792deafcb62187abbf2a614429826a84bd76b4a47fc7515">BNO08xActivity::ON_STAIRS</a>:</div>
<div class="line"><a id="l00697" name="l00697"></a><span class="lineno"> 697</span> <span class="keywordflow">return</span> <span class="stringliteral">&quot;ON STAIRS&quot;</span>;</div>
<div class="line"><a id="l00698" name="l00698"></a><span class="lineno"> 698</span> <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="_b_n_o08x__global__types_8hpp.html#abcc5d57e21ea6ed79e792deafcb62187a0db45d2a4141101bdfe48e3314cfbca3">BNO08xActivity::UNDEFINED</a>:</div>
<div class="line"><a id="l00699" name="l00699"></a><span class="lineno"> 699</span> <span class="keywordflow">return</span> <span class="stringliteral">&quot;UNDEFINED&quot;</span>;</div>
<div class="line"><a id="l00700" name="l00700"></a><span class="lineno"> 700</span> <span class="keywordflow">default</span>:</div>
<div class="line"><a id="l00701" name="l00701"></a><span class="lineno"> 701</span> <span class="keywordflow">return</span> <span class="stringliteral">&quot;INVALID&quot;</span>;</div>
<div class="line"><a id="l00702" name="l00702"></a><span class="lineno"> 702</span> }</div>
<div class="line"><a id="l00703" name="l00703"></a><span class="lineno"> 703</span> }</div>
</div>
<div class="line"><a id="l00704" name="l00704"></a><span class="lineno"> 704</span>};</div>
</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="a_b_n_o08x__global__types_8hpp_html_a498b35f9e00b24e51f8f60b029751ab5"><div class="ttname"><a href="_b_n_o08x__global__types_8hpp.html#a498b35f9e00b24e51f8f60b029751ab5">BNO08xStability</a></div><div class="ttdeci">BNO08xStability</div><div class="ttdoc">BNO08xStability states returned from get_stability_classifier()</div><div class="ttdef"><b>Definition</b> BNO08x_global_types.hpp:65</div></div>
<div class="ttc" id="a_b_n_o08x__global__types_8hpp_html_a498b35f9e00b24e51f8f60b029751ab5a0db45d2a4141101bdfe48e3314cfbca3"><div class="ttname"><a href="_b_n_o08x__global__types_8hpp.html#a498b35f9e00b24e51f8f60b029751ab5a0db45d2a4141101bdfe48e3314cfbca3">BNO08xStability::UNDEFINED</a></div><div class="ttdeci">@ UNDEFINED</div></div>
<div class="ttc" id="a_b_n_o08x__global__types_8hpp_html_a498b35f9e00b24e51f8f60b029751ab5a4120eb7591bd0789af75a8973d5f9146"><div class="ttname"><a href="_b_n_o08x__global__types_8hpp.html#a498b35f9e00b24e51f8f60b029751ab5a4120eb7591bd0789af75a8973d5f9146">BNO08xStability::STATIONARY</a></div><div class="ttdeci">@ STATIONARY</div></div>
<div class="ttc" id="a_b_n_o08x__global__types_8hpp_html_a498b35f9e00b24e51f8f60b029751ab5a696b031073e74bf2cb98e5ef201d4aa3"><div class="ttname"><a href="_b_n_o08x__global__types_8hpp.html#a498b35f9e00b24e51f8f60b029751ab5a696b031073e74bf2cb98e5ef201d4aa3">BNO08xStability::UNKNOWN</a></div><div class="ttdeci">@ UNKNOWN</div></div>
<div class="ttc" id="a_b_n_o08x__global__types_8hpp_html_a498b35f9e00b24e51f8f60b029751ab5a71149a62cd9fec4756e3538d1754486a"><div class="ttname"><a href="_b_n_o08x__global__types_8hpp.html#a498b35f9e00b24e51f8f60b029751ab5a71149a62cd9fec4756e3538d1754486a">BNO08xStability::ON_TABLE</a></div><div class="ttdeci">@ ON_TABLE</div></div>
<div class="ttc" id="a_b_n_o08x__global__types_8hpp_html_abcc5d57e21ea6ed79e792deafcb62187"><div class="ttname"><a href="_b_n_o08x__global__types_8hpp.html#abcc5d57e21ea6ed79e792deafcb62187">BNO08xActivity</a></div><div class="ttdeci">BNO08xActivity</div><div class="ttdoc">BNO08xActivity states returned from get_activity_classifier()</div><div class="ttdef"><b>Definition</b> BNO08x_global_types.hpp:50</div></div>
<div class="ttc" id="a_b_n_o08x__global__types_8hpp_html_abcc5d57e21ea6ed79e792deafcb62187a0db45d2a4141101bdfe48e3314cfbca3"><div class="ttname"><a href="_b_n_o08x__global__types_8hpp.html#abcc5d57e21ea6ed79e792deafcb62187a0db45d2a4141101bdfe48e3314cfbca3">BNO08xActivity::UNDEFINED</a></div><div class="ttdeci">@ UNDEFINED</div></div>
<div class="ttc" id="a_b_n_o08x__global__types_8hpp_html_abcc5d57e21ea6ed79e792deafcb62187a43491564ebcfd38568918efbd6e840fd"><div class="ttname"><a href="_b_n_o08x__global__types_8hpp.html#abcc5d57e21ea6ed79e792deafcb62187a43491564ebcfd38568918efbd6e840fd">BNO08xActivity::RUNNING</a></div><div class="ttdeci">@ RUNNING</div></div>
<div class="ttc" id="a_b_n_o08x__global__types_8hpp_html_abcc5d57e21ea6ed79e792deafcb62187a606c114184493a665cf1f6a12fbab9d3"><div class="ttname"><a href="_b_n_o08x__global__types_8hpp.html#abcc5d57e21ea6ed79e792deafcb62187a606c114184493a665cf1f6a12fbab9d3">BNO08xActivity::WALKING</a></div><div class="ttdeci">@ WALKING</div></div>
<div class="ttc" id="a_b_n_o08x__global__types_8hpp_html_abcc5d57e21ea6ed79e792deafcb62187a696b031073e74bf2cb98e5ef201d4aa3"><div class="ttname"><a href="_b_n_o08x__global__types_8hpp.html#abcc5d57e21ea6ed79e792deafcb62187a696b031073e74bf2cb98e5ef201d4aa3">BNO08xActivity::UNKNOWN</a></div><div class="ttdeci">@ UNKNOWN</div></div>
<div class="ttc" id="a_b_n_o08x__global__types_8hpp_html_abcc5d57e21ea6ed79e792deafcb62187a69909b62e08f212da31719aebf67b70c"><div class="ttname"><a href="_b_n_o08x__global__types_8hpp.html#abcc5d57e21ea6ed79e792deafcb62187a69909b62e08f212da31719aebf67b70c">BNO08xActivity::TILTING</a></div><div class="ttdeci">@ TILTING</div></div>
<div class="ttc" id="a_b_n_o08x__global__types_8hpp_html_abcc5d57e21ea6ed79e792deafcb62187a7089542e0146a3499986c81e24924b58"><div class="ttname"><a href="_b_n_o08x__global__types_8hpp.html#abcc5d57e21ea6ed79e792deafcb62187a7089542e0146a3499986c81e24924b58">BNO08xActivity::ON_FOOT</a></div><div class="ttdeci">@ ON_FOOT</div></div>
<div class="ttc" id="a_b_n_o08x__global__types_8hpp_html_abcc5d57e21ea6ed79e792deafcb62187a8b572d218013b9626d59e6a2b38f18b6"><div class="ttname"><a href="_b_n_o08x__global__types_8hpp.html#abcc5d57e21ea6ed79e792deafcb62187a8b572d218013b9626d59e6a2b38f18b6">BNO08xActivity::STILL</a></div><div class="ttdeci">@ STILL</div></div>
<div class="ttc" id="a_b_n_o08x__global__types_8hpp_html_abcc5d57e21ea6ed79e792deafcb62187a93d94a2f3a627533453a40e302fb35a4"><div class="ttname"><a href="_b_n_o08x__global__types_8hpp.html#abcc5d57e21ea6ed79e792deafcb62187a93d94a2f3a627533453a40e302fb35a4">BNO08xActivity::ON_BICYCLE</a></div><div class="ttdeci">@ ON_BICYCLE</div></div>
<div class="ttc" id="a_b_n_o08x__global__types_8hpp_html_abcc5d57e21ea6ed79e792deafcb62187ab166a3ce74dd5434e4a940dfa2af76e4"><div class="ttname"><a href="_b_n_o08x__global__types_8hpp.html#abcc5d57e21ea6ed79e792deafcb62187ab166a3ce74dd5434e4a940dfa2af76e4">BNO08xActivity::IN_VEHICLE</a></div><div class="ttdeci">@ IN_VEHICLE</div></div>
<div class="ttc" id="a_b_n_o08x__global__types_8hpp_html_abcc5d57e21ea6ed79e792deafcb62187abbf2a614429826a84bd76b4a47fc7515"><div class="ttname"><a href="_b_n_o08x__global__types_8hpp.html#abcc5d57e21ea6ed79e792deafcb62187abbf2a614429826a84bd76b4a47fc7515">BNO08xActivity::ON_STAIRS</a></div><div class="ttdeci">@ ON_STAIRS</div></div>
<div class="ttc" id="a_b_n_o08x__global__types_8hpp_html_aed7bab8e55be415938e078ebe72562a0"><div class="ttname"><a href="_b_n_o08x__global__types_8hpp.html#aed7bab8e55be415938e078ebe72562a0">BNO08xAccuracy</a></div><div class="ttdeci">BNO08xAccuracy</div><div class="ttdoc">Sensor accuracy returned during sensor calibration.</div><div class="ttdef"><b>Definition</b> BNO08x_global_types.hpp:13</div></div>
<div class="ttc" id="a_b_n_o08x__global__types_8hpp_html_aed7bab8e55be415938e078ebe72562a0a0db45d2a4141101bdfe48e3314cfbca3"><div class="ttname"><a href="_b_n_o08x__global__types_8hpp.html#aed7bab8e55be415938e078ebe72562a0a0db45d2a4141101bdfe48e3314cfbca3">BNO08xAccuracy::UNDEFINED</a></div><div class="ttdeci">@ UNDEFINED</div></div>
<div class="ttc" id="a_b_n_o08x__global__types_8hpp_html_aed7bab8e55be415938e078ebe72562a0a2ad6d5975c45da2e711c796f3a1b029c"><div class="ttname"><a href="_b_n_o08x__global__types_8hpp.html#aed7bab8e55be415938e078ebe72562a0a2ad6d5975c45da2e711c796f3a1b029c">BNO08xAccuracy::MED</a></div><div class="ttdeci">@ MED</div></div>
<div class="ttc" id="a_b_n_o08x__global__types_8hpp_html_aed7bab8e55be415938e078ebe72562a0a41bc94cbd8eebea13ce0491b2ac11b88"><div class="ttname"><a href="_b_n_o08x__global__types_8hpp.html#aed7bab8e55be415938e078ebe72562a0a41bc94cbd8eebea13ce0491b2ac11b88">BNO08xAccuracy::LOW</a></div><div class="ttdeci">@ LOW</div></div>
<div class="ttc" id="a_b_n_o08x__global__types_8hpp_html_aed7bab8e55be415938e078ebe72562a0ab89de3b4b81c4facfac906edf29aec8c"><div class="ttname"><a href="_b_n_o08x__global__types_8hpp.html#aed7bab8e55be415938e078ebe72562a0ab89de3b4b81c4facfac906edf29aec8c">BNO08xAccuracy::HIGH</a></div><div class="ttdeci">@ HIGH</div></div>
<div class="ttc" id="a_callback_tests_8cpp_html_a22334b11e0558ec663d040de9b7db8c9"><div class="ttname"><a href="_callback_tests_8cpp.html#a22334b11e0558ec663d040de9b7db8c9">report_data</a></div><div class="ttdeci">BNO08xTestHelper::imu_report_data_t report_data</div><div class="ttdef"><b>Definition</b> CallbackTests.cpp:21</div></div>
<div class="ttc" id="a_callback_tests_8cpp_html_a5a4ba60143c31271df0f72bf0e503876"><div class="ttname"><a href="_callback_tests_8cpp.html#a5a4ba60143c31271df0f72bf0e503876">new_data</a></div><div class="ttdeci">bool new_data</div><div class="ttdef"><b>Definition</b> CallbackTests.cpp:25</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:34</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_a00b39e22ea9fe306e88aaed490ee0a51"><div class="ttname"><a href="class_b_n_o08x.html#a00b39e22ea9fe306e88aaed490ee0a51">BNO08x::integrated_gyro_velocity_Y</a></div><div class="ttdeci">uint16_t integrated_gyro_velocity_Y</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:399</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_a033d6cb1aa137743b69cc3e401df67b7"><div class="ttname"><a href="class_b_n_o08x.html#a033d6cb1aa137743b69cc3e401df67b7">BNO08x::raw_quat_radian_accuracy</a></div><div class="ttdeci">uint16_t raw_quat_radian_accuracy</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:397</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_a067678914e928a6691625b17c40237a0"><div class="ttname"><a href="class_b_n_o08x.html#a067678914e928a6691625b17c40237a0">BNO08x::get_gravity</a></div><div class="ttdeci">void get_gravity(float &amp;x, float &amp;y, float &amp;z, BNO08xAccuracy &amp;accuracy)</div><div class="ttdoc">Get full reported gravity vector, units in m/s^2.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2806</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_a06f99a6b2182b49a0e61e2107f2be6be"><div class="ttname"><a href="class_b_n_o08x.html#a06f99a6b2182b49a0e61e2107f2be6be">BNO08x::launch_tasks</a></div><div class="ttdeci">esp_err_t launch_tasks()</div><div class="ttdoc">Launches spi_task and data_proc_task on constructor call.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:4003</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_a0968eaed9b3d979a2caa1aba6e6b417a"><div class="ttname"><a href="class_b_n_o08x.html#a0968eaed9b3d979a2caa1aba6e6b417a">BNO08x::raw_bias_Z</a></div><div class="ttdeci">uint16_t raw_bias_Z</div><div class="ttdoc">Uncalibrated gyro reading (See SH-2 Ref. Manual 6.5.14)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:404</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_a1171a5738a4e6831ec7fa32a29f15554"><div class="ttname"><a href="class_b_n_o08x.html#a1171a5738a4e6831ec7fa32a29f15554">BNO08x::tap_detector</a></div><div class="ttdeci">uint8_t tap_detector</div><div class="ttdoc">Tap detector reading (See SH-2 Ref. Manual 6.5.27)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:407</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_a1b12471e92536a79d0c425d77676f2e1"><div class="ttname"><a href="class_b_n_o08x.html#a1b12471e92536a79d0c425d77676f2e1">BNO08x::stability_classifier</a></div><div class="ttdeci">uint8_t stability_classifier</div><div class="ttdoc">BNO08xStability status reading (See SH-2 Ref. Manual 6.5.31)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:409</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_a248544b262582d10d917a687190cb454"><div class="ttname"><a href="class_b_n_o08x.html#a248544b262582d10d917a687190cb454">BNO08x::get_stability_classifier</a></div><div class="ttdeci">BNO08xStability get_stability_classifier()</div><div class="ttdoc">Get the current stability classifier (Seee Ref. Manual 6.5.31)</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:3508</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_a3365b7ebde01e284274e655c60343df9"><div class="ttname"><a href="class_b_n_o08x.html#a3365b7ebde01e284274e655c60343df9">BNO08x::accel_accuracy</a></div><div class="ttdeci">uint16_t accel_accuracy</div><div class="ttdoc">Raw acceleration readings (See SH-2 Ref. Manual 6.5.8)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:393</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_a35e1635ef5edde8fc8640f978c6f2e3c"><div class="ttname"><a href="class_b_n_o08x.html#a35e1635ef5edde8fc8640f978c6f2e3c">BNO08x::accel_lin_accuracy</a></div><div class="ttdeci">uint16_t accel_lin_accuracy</div><div class="ttdoc">Raw linear acceleration (See SH-2 Ref. Manual 6.5.10)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:395</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_a36223f7124751fa71e860b2ef55dd2ac"><div class="ttname"><a href="class_b_n_o08x.html#a36223f7124751fa71e860b2ef55dd2ac">BNO08x::quat_accuracy</a></div><div class="ttdeci">uint16_t quat_accuracy</div><div class="ttdoc">Raw quaternion reading (See SH-2 Ref. Manual 6.5.44)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:398</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_a3c9797a2a2be14ee6e8126f1295fa885"><div class="ttname"><a href="class_b_n_o08x.html#a3c9797a2a2be14ee6e8126f1295fa885">BNO08x::get_accel</a></div><div class="ttdeci">void get_accel(float &amp;x, float &amp;y, float &amp;z, BNO08xAccuracy &amp;accuracy)</div><div class="ttdoc">Get full acceleration (total acceleration of device, units in m/s^2).</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:3064</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_a3d6b6257462951ea023af7076c80f6dd"><div class="ttname"><a href="class_b_n_o08x.html#a3d6b6257462951ea023af7076c80f6dd">BNO08x::mems_raw_gyro_X</a></div><div class="ttdeci">uint16_t mems_raw_gyro_X</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:415</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_a4a72489c56960d83050ae9c4b9ab75ed"><div class="ttname"><a href="class_b_n_o08x.html#a4a72489c56960d83050ae9c4b9ab75ed">BNO08x::get_activity_classifier</a></div><div class="ttdeci">BNO08xActivity get_activity_classifier()</div><div class="ttdoc">Get the current activity classifier (Seee Ref. Manual 6.5.36)</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:3527</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_a4bef64b34cbff3922848c7a93aa21e46"><div class="ttname"><a href="class_b_n_o08x.html#a4bef64b34cbff3922848c7a93aa21e46">BNO08x::get_linear_accel</a></div><div class="ttdeci">void get_linear_accel(float &amp;x, float &amp;y, float &amp;z, BNO08xAccuracy &amp;accuracy)</div><div class="ttdoc">Get full linear acceleration (acceleration of the device minus gravity, units in m/s^2).</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:3122</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_a589eb9780f5bf613bbd447ef5b9ade3d"><div class="ttname"><a href="class_b_n_o08x.html#a589eb9780f5bf613bbd447ef5b9ade3d">BNO08x::init_config_args</a></div><div class="ttdeci">esp_err_t init_config_args()</div><div class="ttdoc">Initializes required esp-idf SPI data structures with values from user passed bno08x_config_t struct.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:124</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_a58f43c8bb1e7fe8560ce442d46240e81"><div class="ttname"><a href="class_b_n_o08x.html#a58f43c8bb1e7fe8560ce442d46240e81">BNO08x::init_spi</a></div><div class="ttdeci">esp_err_t init_spi()</div><div class="ttdoc">Initializes SPI.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:372</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_a59a4d75f1302ab693b1b26e9ccaa5341"><div class="ttname"><a href="class_b_n_o08x.html#a59a4d75f1302ab693b1b26e9ccaa5341">BNO08x::mems_raw_accel_Z</a></div><div class="ttdeci">uint16_t mems_raw_accel_Z</div><div class="ttdoc">Raw accelerometer readings from MEMS sensor (See SH2 Ref. Manual 6.5.8)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:414</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_a61ae05dc5572b326541bf8099f0c2a54"><div class="ttname"><a href="class_b_n_o08x.html#a61ae05dc5572b326541bf8099f0c2a54">BNO08x::raw_quat_J</a></div><div class="ttdeci">uint16_t raw_quat_J</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:397</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_a6537ed69245cf71cad6a6a44480dddaa"><div class="ttname"><a href="class_b_n_o08x.html#a6537ed69245cf71cad6a6a44480dddaa">BNO08x::integrated_gyro_velocity_X</a></div><div class="ttdeci">uint16_t integrated_gyro_velocity_X</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:399</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_a66c48af1d4162a9ec25c3a1c95660fe4"><div class="ttname"><a href="class_b_n_o08x.html#a66c48af1d4162a9ec25c3a1c95660fe4">BNO08x::raw_calib_gyro_Y</a></div><div class="ttdeci">uint16_t raw_calib_gyro_Y</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:396</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_a69dc7e97875060213085ba964b3bd987"><div class="ttname"><a href="class_b_n_o08x.html#a69dc7e97875060213085ba964b3bd987">BNO08x::raw_quat_I</a></div><div class="ttdeci">uint16_t raw_quat_I</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:397</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_a75cea49c1c08ca28d9fa7e5ed61c6e7b"><div class="ttname"><a href="class_b_n_o08x.html#a75cea49c1c08ca28d9fa7e5ed61c6e7b">BNO08x::activity_classifier</a></div><div class="ttdeci">uint8_t activity_classifier</div><div class="ttdoc">BNO08xActivity status reading (See SH-2 Ref. Manual 6.5.36)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:410</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_a75fb2f06c5bbe26e3f3c794934ef954c"><div class="ttname"><a href="class_b_n_o08x.html#a75fb2f06c5bbe26e3f3c794934ef954c">BNO08x::raw_accel_X</a></div><div class="ttdeci">uint16_t raw_accel_X</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:392</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_a7720c44ed1c0f1a0663d2adc5e1a1ea1"><div class="ttname"><a href="class_b_n_o08x.html#a7720c44ed1c0f1a0663d2adc5e1a1ea1">BNO08x::raw_quat_K</a></div><div class="ttdeci">uint16_t raw_quat_K</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:397</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_a867354267253ae828be4fae15c062db3"><div class="ttname"><a href="class_b_n_o08x.html#a867354267253ae828be4fae15c062db3">BNO08x::raw_quat_real</a></div><div class="ttdeci">uint16_t raw_quat_real</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:397</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_a86ff710f2b359e905c7154bfb7d5b104"><div class="ttname"><a href="class_b_n_o08x.html#a86ff710f2b359e905c7154bfb7d5b104">BNO08x::get_uncalibrated_gyro_velocity</a></div><div class="ttdeci">void get_uncalibrated_gyro_velocity(float &amp;x, float &amp;y, float &amp;z, float &amp;bx, float &amp;by, float &amp;bz)</div><div class="ttdoc">Get full rotational velocity without drift compensation (units in Rad/s). An estimate of drift is giv...</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:3367</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_a87faca2c8c71ff46bf2e6ad4ba271b3a"><div class="ttname"><a href="class_b_n_o08x.html#a87faca2c8c71ff46bf2e6ad4ba271b3a">BNO08x::raw_calib_gyro_X</a></div><div class="ttdeci">uint16_t raw_calib_gyro_X</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:396</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_a8a2667f668317cee0a9fc4ef0accc3f5"><div class="ttname"><a href="class_b_n_o08x.html#a8a2667f668317cee0a9fc4ef0accc3f5">BNO08x::raw_bias_X</a></div><div class="ttdeci">uint16_t raw_bias_X</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:403</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_a8f4a10a8427a266fa28fc1c85c8e850f"><div class="ttname"><a href="class_b_n_o08x.html#a8f4a10a8427a266fa28fc1c85c8e850f">BNO08x::get_integrated_gyro_velocity</a></div><div class="ttdeci">void get_integrated_gyro_velocity(float &amp;x, float &amp;y, float &amp;z)</div><div class="ttdoc">Full rotational velocity from gyro-integrated rotation vector (See Ref. Manual 6.5....</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:3446</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_a90f0cdf11decc276006f76a494d42ce3"><div class="ttname"><a href="class_b_n_o08x.html#a90f0cdf11decc276006f76a494d42ce3">BNO08x::mems_raw_magf_Z</a></div><div class="ttdeci">uint16_t mems_raw_magf_Z</div><div class="ttdoc">Raw magnetometer (compass) readings from MEMS sensor (See SH-2 Ref. Manual 6.5.15)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:418</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_a937cbdc4edaac72c8cad041d79de5701"><div class="ttname"><a href="class_b_n_o08x.html#a937cbdc4edaac72c8cad041d79de5701">BNO08x::mems_raw_accel_X</a></div><div class="ttdeci">uint16_t mems_raw_accel_X</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:413</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_aa27026da2c52b4aca49b78863f10ec61"><div class="ttname"><a href="class_b_n_o08x.html#aa27026da2c52b4aca49b78863f10ec61">BNO08x::init_hint_isr</a></div><div class="ttdeci">esp_err_t init_hint_isr()</div><div class="ttdoc">Initializes host interrupt ISR.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:321</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_aa5bdf740161b7c37adcac0154a410118"><div class="ttname"><a href="class_b_n_o08x.html#aa5bdf740161b7c37adcac0154a410118">BNO08x::raw_magf_X</a></div><div class="ttdeci">uint16_t raw_magf_X</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:405</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_aa9291dec6c05a3786fe58221e6856e8f"><div class="ttname"><a href="class_b_n_o08x.html#aa9291dec6c05a3786fe58221e6856e8f">BNO08x::get_calibrated_gyro_velocity</a></div><div class="ttdeci">void get_calibrated_gyro_velocity(float &amp;x, float &amp;y, float &amp;z)</div><div class="ttdoc">Get full rotational velocity with drift compensation (units in Rad/s).</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:3317</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_aad926054c81818fff611e10ed913706a"><div class="ttname"><a href="class_b_n_o08x.html#aad926054c81818fff611e10ed913706a">BNO08x::mems_raw_magf_Y</a></div><div class="ttdeci">uint16_t mems_raw_magf_Y</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:417</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_ab4862de31d0874b44b6745678e1c905e"><div class="ttname"><a href="class_b_n_o08x.html#ab4862de31d0874b44b6745678e1c905e">BNO08x::raw_magf_Z</a></div><div class="ttdeci">uint16_t raw_magf_Z</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:405</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_ab56e2ba505fa293d03e955137625c562"><div class="ttname"><a href="class_b_n_o08x.html#ab56e2ba505fa293d03e955137625c562">BNO08x::raw_accel_Y</a></div><div class="ttdeci">uint16_t raw_accel_Y</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:392</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_ab587cdf991342b69b7fff3b33f537eb5"><div class="ttname"><a href="class_b_n_o08x.html#ab587cdf991342b69b7fff3b33f537eb5">BNO08x::mems_raw_magf_X</a></div><div class="ttdeci">uint16_t mems_raw_magf_X</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:417</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_ab6b142416912a096886dd63ad0beb865"><div class="ttname"><a href="class_b_n_o08x.html#ab6b142416912a096886dd63ad0beb865">BNO08x::mems_raw_gyro_Y</a></div><div class="ttdeci">uint16_t mems_raw_gyro_Y</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:415</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_abc8add47f1babc66c812a015614143d3"><div class="ttname"><a href="class_b_n_o08x.html#abc8add47f1babc66c812a015614143d3">BNO08x::raw_lin_accel_Z</a></div><div class="ttdeci">uint16_t raw_lin_accel_Z</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:394</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_abc972db20affbd0040b4e6c4892dd57b"><div class="ttname"><a href="class_b_n_o08x.html#abc972db20affbd0040b4e6c4892dd57b">BNO08x::time_stamp</a></div><div class="ttdeci">uint32_t time_stamp</div><div class="ttdoc">Report timestamp (see datasheet 1.3.5.3)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:391</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_ac2118c4da6631d3b9806353ca2cbba27"><div class="ttname"><a href="class_b_n_o08x.html#ac2118c4da6631d3b9806353ca2cbba27">BNO08x::get_raw_mems_gyro</a></div><div class="ttdeci">void get_raw_mems_gyro(uint16_t &amp;x, uint16_t &amp;y, uint16_t &amp;z)</div><div class="ttdoc">Get raw gyroscope full reading from physical gyroscope MEMs sensor (See Ref. Manual 6....</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:3225</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_ac35d5b12721ab876eaeb1f714a9b3b1d"><div class="ttname"><a href="class_b_n_o08x.html#ac35d5b12721ab876eaeb1f714a9b3b1d">BNO08x::mems_raw_gyro_Z</a></div><div class="ttdeci">uint16_t mems_raw_gyro_Z</div><div class="ttdoc">Raw gyro readings from MEMS sensor (See SH-2 Ref. Manual 6.5.12)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:416</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_ac38ff5eb93d3c3db0af2504ba02fd93c"><div class="ttname"><a href="class_b_n_o08x.html#ac38ff5eb93d3c3db0af2504ba02fd93c">BNO08x::raw_bias_Y</a></div><div class="ttdeci">uint16_t raw_bias_Y</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:403</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_ac5d4e151690774687efa951ca41c16ae"><div class="ttname"><a href="class_b_n_o08x.html#ac5d4e151690774687efa951ca41c16ae">BNO08x::magf_accuracy</a></div><div class="ttdeci">uint16_t magf_accuracy</div><div class="ttdoc">Calibrated magnetic field reading in uTesla (See SH-2 Ref. Manual 6.5.16)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:406</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_acc2c66e2985975266a286385ea855117"><div class="ttname"><a href="class_b_n_o08x.html#acc2c66e2985975266a286385ea855117">BNO08x::raw_uncalib_gyro_Y</a></div><div class="ttdeci">uint16_t raw_uncalib_gyro_Y</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:403</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_acd365418f24a6da61122c66d82086639"><div class="ttname"><a href="class_b_n_o08x.html#acd365418f24a6da61122c66d82086639">BNO08x::raw_magf_Y</a></div><div class="ttdeci">uint16_t raw_magf_Y</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:405</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_ad112beb64badd22a2e1d717e1ee921c8"><div class="ttname"><a href="class_b_n_o08x.html#ad112beb64badd22a2e1d717e1ee921c8">BNO08x::integrated_gyro_velocity_Z</a></div><div class="ttdeci">uint16_t integrated_gyro_velocity_Z</div><div class="ttdoc">Raw gyro angular velocity reading from integrated gyro rotation vector (See SH-2 Ref....</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:400</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_ad80a77973371b12d722ea39063c648be"><div class="ttname"><a href="class_b_n_o08x.html#ad80a77973371b12d722ea39063c648be">BNO08x::step_count</a></div><div class="ttdeci">uint16_t step_count</div><div class="ttdoc">Step counter reading (See SH-2 Ref. Manual 6.5.29)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:408</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_ad83cecb8a5d2be01db6792755b6057e9"><div class="ttname"><a href="class_b_n_o08x.html#ad83cecb8a5d2be01db6792755b6057e9">BNO08x::mems_raw_accel_Y</a></div><div class="ttdeci">uint16_t mems_raw_accel_Y</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:413</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_adaff49f3d80fdd19fd4210f0c56d41ef"><div class="ttname"><a href="class_b_n_o08x.html#adaff49f3d80fdd19fd4210f0c56d41ef">BNO08x::get_step_count</a></div><div class="ttdeci">uint16_t get_step_count()</div><div class="ttdoc">Get the counted amount of steps.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:3498</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_ae01698d287ea999179a11e2244902022"><div class="ttname"><a href="class_b_n_o08x.html#ae01698d287ea999179a11e2244902022">BNO08x::gravity_accuracy</a></div><div class="ttdeci">uint16_t gravity_accuracy</div><div class="ttdoc">Gravity reading in m/s^2 (See SH-2 Ref. Manual 6.5.11)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:402</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_ae0dab25557befcf62bf384fdc241ef10"><div class="ttname"><a href="class_b_n_o08x.html#ae0dab25557befcf62bf384fdc241ef10">BNO08x::init_gpio</a></div><div class="ttdeci">esp_err_t init_gpio()</div><div class="ttdoc">Initializes required gpio.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:293</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_ae1f71a432cb15e75f522fa18f29f4d50"><div class="ttname"><a href="class_b_n_o08x.html#ae1f71a432cb15e75f522fa18f29f4d50">BNO08x::raw_lin_accel_X</a></div><div class="ttdeci">uint16_t raw_lin_accel_X</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:394</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_ae766248440e76fb26bbadc6ee0b54ddb"><div class="ttname"><a href="class_b_n_o08x.html#ae766248440e76fb26bbadc6ee0b54ddb">BNO08x::get_magf</a></div><div class="ttdeci">void get_magf(float &amp;x, float &amp;y, float &amp;z, BNO08xAccuracy &amp;accuracy)</div><div class="ttdoc">Get the full magnetic field vector.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2745</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_af20dcd487a9fe8fa6243817d51e37be5"><div class="ttname"><a href="class_b_n_o08x.html#af20dcd487a9fe8fa6243817d51e37be5">BNO08x::gravity_Y</a></div><div class="ttdeci">uint16_t gravity_Y</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:401</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_af254d245b368027df6952b7d7522bd35"><div class="ttname"><a href="class_b_n_o08x.html#af254d245b368027df6952b7d7522bd35">BNO08x::raw_accel_Z</a></div><div class="ttdeci">uint16_t raw_accel_Z</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:392</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_af45016be9ea523d80be8467b2907b499"><div class="ttname"><a href="class_b_n_o08x.html#af45016be9ea523d80be8467b2907b499">BNO08x::gravity_X</a></div><div class="ttdeci">uint16_t gravity_X</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:401</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_af5450d1a9c20c2a5c62c960e3df11c0e"><div class="ttname"><a href="class_b_n_o08x.html#af5450d1a9c20c2a5c62c960e3df11c0e">BNO08x::raw_calib_gyro_Z</a></div><div class="ttdeci">uint16_t raw_calib_gyro_Z</div><div class="ttdoc">Raw gyro reading (See SH-2 Ref. Manual 6.5.13)</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:396</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_af5d6dae7c0f8d36b6ac91adff614ab3a"><div class="ttname"><a href="class_b_n_o08x.html#af5d6dae7c0f8d36b6ac91adff614ab3a">BNO08x::get_quat</a></div><div class="ttdeci">void get_quat(float &amp;i, float &amp;j, float &amp;k, float &amp;real, float &amp;rad_accuracy, BNO08xAccuracy &amp;accuracy)</div><div class="ttdoc">Get the full quaternion reading.</div><div class="ttdef"><b>Definition</b> BNO08x.cpp:2979</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_afa1cf5c3afbb258d97c55c5fb187f2d6"><div class="ttname"><a href="class_b_n_o08x.html#afa1cf5c3afbb258d97c55c5fb187f2d6">BNO08x::gravity_Z</a></div><div class="ttdeci">uint16_t gravity_Z</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:401</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_afac9dd4161f4c0051255293680c9082b"><div class="ttname"><a href="class_b_n_o08x.html#afac9dd4161f4c0051255293680c9082b">BNO08x::raw_uncalib_gyro_Z</a></div><div class="ttdeci">uint16_t raw_uncalib_gyro_Z</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:403</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_afdc5cdb65bd0b36528b5b671b9d27053"><div class="ttname"><a href="class_b_n_o08x.html#afdc5cdb65bd0b36528b5b671b9d27053">BNO08x::raw_uncalib_gyro_X</a></div><div class="ttdeci">uint16_t raw_uncalib_gyro_X</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:403</div></div>
<div class="ttc" id="aclass_b_n_o08x_html_aff3a5590471d1c9fc485a5610433915f"><div class="ttname"><a href="class_b_n_o08x.html#aff3a5590471d1c9fc485a5610433915f">BNO08x::raw_lin_accel_Y</a></div><div class="ttdeci">uint16_t raw_lin_accel_Y</div><div class="ttdef"><b>Definition</b> BNO08x.hpp:394</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:16</div></div>
<div class="ttc" id="aclass_b_n_o08x_test_helper_html_a008b268f705b9d2925230cb8193c9f28"><div class="ttname"><a href="class_b_n_o08x_test_helper.html#a008b268f705b9d2925230cb8193c9f28">BNO08xTestHelper::imu_cfg</a></div><div class="ttdeci">static bno08x_config_t imu_cfg</div><div class="ttdef"><b>Definition</b> BNO08xTestHelper.hpp:19</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:88</div></div>
<div class="ttc" id="aclass_b_n_o08x_test_helper_html_a084e65ff5c0e2f429b39ebb53b0e03c9"><div class="ttname"><a href="class_b_n_o08x_test_helper.html#a084e65ff5c0e2f429b39ebb53b0e03c9">BNO08xTestHelper::calibrated_gyro_data_is_new</a></div><div class="ttdeci">static bool calibrated_gyro_data_is_new(imu_report_data_t *report_data, imu_report_data_t *default_report_data)</div><div class="ttdoc">Checks if report_data matches the default states stored within prev_report_data data for respective r...</div><div class="ttdef"><b>Definition</b> BNO08xTestHelper.hpp:343</div></div>
<div class="ttc" id="aclass_b_n_o08x_test_helper_html_a0b3d9379e670b0c532ba76801cfb7580"><div class="ttname"><a href="class_b_n_o08x_test_helper.html#a0b3d9379e670b0c532ba76801cfb7580">BNO08xTestHelper::imu_report_data_t</a></div><div class="ttdeci">struct BNO08xTestHelper::imu_report_data_t imu_report_data_t</div><div class="ttdoc">IMU configuration settings passed into constructor.</div></div>
<div class="ttc" id="aclass_b_n_o08x_test_helper_html_a157342da2def8b659d27ae4d24063cb5"><div class="ttname"><a href="class_b_n_o08x_test_helper.html#a157342da2def8b659d27ae4d24063cb5">BNO08xTestHelper::magnetometer_data_is_new</a></div><div class="ttdeci">static bool magnetometer_data_is_new(imu_report_data_t *report_data, imu_report_data_t *default_report_data)</div><div class="ttdoc">Checks if report_data matches the default states stored within prev_report_data data for respective r...</div><div class="ttdef"><b>Definition</b> BNO08xTestHelper.hpp:448</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:100</div></div>
<div class="ttc" id="aclass_b_n_o08x_test_helper_html_a2da34e5d5e353cd37fa458fcfe7cf243"><div class="ttname"><a href="class_b_n_o08x_test_helper.html#a2da34e5d5e353cd37fa458fcfe7cf243">BNO08xTestHelper::test_imu</a></div><div class="ttdeci">static BNO08x * test_imu</div><div class="ttdef"><b>Definition</b> BNO08xTestHelper.hpp:18</div></div>
<div class="ttc" id="aclass_b_n_o08x_test_helper_html_a3c2514f3bad3f091de4646c5798f487a"><div class="ttname"><a href="class_b_n_o08x_test_helper.html#a3c2514f3bad3f091de4646c5798f487a">BNO08xTestHelper::gravity_data_is_new</a></div><div class="ttdeci">static bool gravity_data_is_new(imu_report_data_t *report_data, imu_report_data_t *default_report_data)</div><div class="ttdoc">Checks if report_data matches the default states stored within prev_report_data data for respective r...</div><div class="ttdef"><b>Definition</b> BNO08xTestHelper.hpp:421</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:162</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:185</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:135</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:172</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:211</div></div>
<div class="ttc" id="aclass_b_n_o08x_test_helper_html_a7fbfc48c0fff306ab81e2320bc171002"><div class="ttname"><a href="class_b_n_o08x_test_helper.html#a7fbfc48c0fff306ab81e2320bc171002">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:113</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:198</div></div>
<div class="ttc" id="aclass_b_n_o08x_test_helper_html_a857b66c12c231af0d546c026ec017ab3"><div class="ttname"><a href="class_b_n_o08x_test_helper.html#a857b66c12c231af0d546c026ec017ab3">BNO08xTestHelper::BNO08xAccuracy_to_str</a></div><div class="ttdeci">static const char * BNO08xAccuracy_to_str(BNO08xAccuracy accuracy)</div><div class="ttdoc">Converts BNO08xAccuracy enum class object to string.</div><div class="ttdef"><b>Definition</b> BNO08xTestHelper.hpp:628</div></div>
<div class="ttc" id="aclass_b_n_o08x_test_helper_html_a95ed21657224358877a66d010eeefad3"><div class="ttname"><a href="class_b_n_o08x_test_helper.html#a95ed21657224358877a66d010eeefad3">BNO08xTestHelper::stability_classifier_data_is_new</a></div><div class="ttdeci">static bool stability_classifier_data_is_new(imu_report_data_t *report_data, imu_report_data_t *default_report_data)</div><div class="ttdoc">Checks if report_data matches the default states stored within prev_report_data data for respective r...</div><div class="ttdef"><b>Definition</b> BNO08xTestHelper.hpp:493</div></div>
<div class="ttc" id="aclass_b_n_o08x_test_helper_html_a9e2f9bf13f28f1a6ba87e86bc5947cf1"><div class="ttname"><a href="class_b_n_o08x_test_helper.html#a9e2f9bf13f28f1a6ba87e86bc5947cf1">BNO08xTestHelper::set_test_imu_cfg</a></div><div class="ttdeci">static void set_test_imu_cfg(bno08x_config_t cfg)</div><div class="ttdoc">Set test imu configuration used with create_test_imu()</div><div class="ttdef"><b>Definition</b> BNO08xTestHelper.hpp:125</div></div>
<div class="ttc" id="aclass_b_n_o08x_test_helper_html_aa09d388a5da3a925ac25125b9c5c3a90"><div class="ttname"><a href="class_b_n_o08x_test_helper.html#aa09d388a5da3a925ac25125b9c5c3a90">BNO08xTestHelper::TAG</a></div><div class="ttdeci">static const constexpr char * TAG</div><div class="ttdef"><b>Definition</b> BNO08xTestHelper.hpp:21</div></div>
<div class="ttc" id="aclass_b_n_o08x_test_helper_html_aa7eb152d4192c3949bb3443ef6221782"><div class="ttname"><a href="class_b_n_o08x_test_helper.html#aa7eb152d4192c3949bb3443ef6221782">BNO08xTestHelper::step_counter_data_is_new</a></div><div class="ttdeci">static bool step_counter_data_is_new(imu_report_data_t *report_data, imu_report_data_t *default_report_data)</div><div class="ttdoc">Checks if report_data matches the default states stored within prev_report_data data for respective r...</div><div class="ttdef"><b>Definition</b> BNO08xTestHelper.hpp:475</div></div>
<div class="ttc" id="aclass_b_n_o08x_test_helper_html_ac5b0ac4c70bbfcba9f2e8f353b35f9f6"><div class="ttname"><a href="class_b_n_o08x_test_helper.html#ac5b0ac4c70bbfcba9f2e8f353b35f9f6">BNO08xTestHelper::gyro_integrated_rotation_vector_data_is_new</a></div><div class="ttdeci">static bool gyro_integrated_rotation_vector_data_is_new(imu_report_data_t *report_data, imu_report_data_t *default_report_data)</div><div class="ttdoc">Checks if report_data matches the default states stored within prev_report_data data for respective r...</div><div class="ttdef"><b>Definition</b> BNO08xTestHelper.hpp:274</div></div>
<div class="ttc" id="aclass_b_n_o08x_test_helper_html_ac81c63583b19e5c7b3233324aaea98e2"><div class="ttname"><a href="class_b_n_o08x_test_helper.html#ac81c63583b19e5c7b3233324aaea98e2">BNO08xTestHelper::update_report_data</a></div><div class="ttdeci">static void update_report_data(imu_report_data_t *report_data)</div><div class="ttdoc">Updates report data with calls relevant test_imu methods.</div><div class="ttdef"><b>Definition</b> BNO08xTestHelper.hpp:528</div></div>
<div class="ttc" id="aclass_b_n_o08x_test_helper_html_ac95ba2892d54e6219123ad3ca0104750"><div class="ttname"><a href="class_b_n_o08x_test_helper.html#ac95ba2892d54e6219123ad3ca0104750">BNO08xTestHelper::BNO08xActivity_to_str</a></div><div class="ttdeci">static const char * BNO08xActivity_to_str(BNO08xActivity activity)</div><div class="ttdoc">Converts BNO08xActivity enum class object to string.</div><div class="ttdef"><b>Definition</b> BNO08xTestHelper.hpp:676</div></div>
<div class="ttc" id="aclass_b_n_o08x_test_helper_html_ad398739ce46400c1ac35e1cf7603d590"><div class="ttname"><a href="class_b_n_o08x_test_helper.html#ad398739ce46400c1ac35e1cf7603d590">BNO08xTestHelper::linear_accelerometer_data_is_new</a></div><div class="ttdeci">static bool linear_accelerometer_data_is_new(imu_report_data_t *report_data, imu_report_data_t *default_report_data)</div><div class="ttdoc">Checks if report_data matches the default states stored within prev_report_data data for respective r...</div><div class="ttdef"><b>Definition</b> BNO08xTestHelper.hpp:394</div></div>
<div class="ttc" id="aclass_b_n_o08x_test_helper_html_adb5952b2b96b553024b6a841e30adad2"><div class="ttname"><a href="class_b_n_o08x_test_helper.html#adb5952b2b96b553024b6a841e30adad2">BNO08xTestHelper::uncalibrated_gyro_data_is_new</a></div><div class="ttdeci">static bool uncalibrated_gyro_data_is_new(imu_report_data_t *report_data, imu_report_data_t *default_report_data)</div><div class="ttdoc">Checks if report_data matches the default states stored within prev_report_data data for respective r...</div><div class="ttdef"><b>Definition</b> BNO08xTestHelper.hpp:310</div></div>
<div class="ttc" id="aclass_b_n_o08x_test_helper_html_ade6be1fd8ef3a99e0edae4cbf25eb528"><div class="ttname"><a href="class_b_n_o08x_test_helper.html#ade6be1fd8ef3a99e0edae4cbf25eb528">BNO08xTestHelper::reset_all_imu_data_to_test_defaults</a></div><div class="ttdeci">static void reset_all_imu_data_to_test_defaults()</div><div class="ttdoc">Resets internal test imu data with test defaults.</div><div class="ttdef"><b>Definition</b> BNO08xTestHelper.hpp:554</div></div>
<div class="ttc" id="aclass_b_n_o08x_test_helper_html_ade97098806c8779b26f9c166c4b03eea"><div class="ttname"><a href="class_b_n_o08x_test_helper.html#ade97098806c8779b26f9c166c4b03eea">BNO08xTestHelper::accelerometer_data_is_new</a></div><div class="ttdeci">static bool accelerometer_data_is_new(imu_report_data_t *report_data, imu_report_data_t *default_report_data)</div><div class="ttdoc">Checks if report_data matches the default states stored within prev_report_data data for respective r...</div><div class="ttdef"><b>Definition</b> BNO08xTestHelper.hpp:367</div></div>
<div class="ttc" id="aclass_b_n_o08x_test_helper_html_adf2488d1f7e3dec21a0d0c99417c181a"><div class="ttname"><a href="class_b_n_o08x_test_helper.html#adf2488d1f7e3dec21a0d0c99417c181a">BNO08xTestHelper::call_launch_tasks</a></div><div class="ttdeci">static esp_err_t call_launch_tasks()</div><div class="ttdoc">Used to call private BNO08x::launch_tasks() member for tests.</div><div class="ttdef"><b>Definition</b> BNO08xTestHelper.hpp:224</div></div>
<div class="ttc" id="aclass_b_n_o08x_test_helper_html_ae2d6df7dcfdbd106c2247803461bbc40"><div class="ttname"><a href="class_b_n_o08x_test_helper.html#ae2d6df7dcfdbd106c2247803461bbc40">BNO08xTestHelper::destroy_test_imu</a></div><div class="ttdeci">static void destroy_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:148</div></div>
<div class="ttc" id="aclass_b_n_o08x_test_helper_html_ae922f36719ab085550ef270d5a149059"><div class="ttname"><a href="class_b_n_o08x_test_helper.html#ae922f36719ab085550ef270d5a149059">BNO08xTestHelper::BNO08xStability_to_str</a></div><div class="ttdeci">static const char * BNO08xStability_to_str(BNO08xStability stability)</div><div class="ttdoc">Converts BNO08xStability enum class object to string.</div><div class="ttdef"><b>Definition</b> BNO08xTestHelper.hpp:652</div></div>
<div class="ttc" id="aclass_b_n_o08x_test_helper_html_aeb8cd985faf8e403f62b60fced9cb2fd"><div class="ttname"><a href="class_b_n_o08x_test_helper.html#aeb8cd985faf8e403f62b60fced9cb2fd">BNO08xTestHelper::rotation_vector_data_is_new</a></div><div class="ttdeci">static bool rotation_vector_data_is_new(imu_report_data_t *report_data, imu_report_data_t *default_report_data)</div><div class="ttdoc">Checks if report_data matches the default states stored within prev_report_data data for respective r...</div><div class="ttdef"><b>Definition</b> BNO08xTestHelper.hpp:240</div></div>
<div class="ttc" id="aclass_b_n_o08x_test_helper_html_afc6cc734ad843aca30a7cb76ad6dedb9"><div class="ttname"><a href="class_b_n_o08x_test_helper.html#afc6cc734ad843aca30a7cb76ad6dedb9">BNO08xTestHelper::activity_classifier_data_is_new</a></div><div class="ttdeci">static bool activity_classifier_data_is_new(imu_report_data_t *report_data, imu_report_data_t *default_report_data)</div><div class="ttdoc">Checks if report_data matches the default states stored within prev_report_data data for respective r...</div><div class="ttdef"><b>Definition</b> BNO08xTestHelper.hpp:511</div></div>
<div class="ttc" id="astruct_b_n_o08x_test_helper_1_1imu__report__data__t_html"><div class="ttname"><a href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html">BNO08xTestHelper::imu_report_data_t</a></div><div class="ttdoc">IMU configuration settings passed into constructor.</div><div class="ttdef"><b>Definition</b> BNO08xTestHelper.hpp:26</div></div>
<div class="ttc" id="astruct_b_n_o08x_test_helper_1_1imu__report__data__t_html_a0455033deba9570f248e8059cf6a3ce1"><div class="ttname"><a href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a0455033deba9570f248e8059cf6a3ce1">BNO08xTestHelper::imu_report_data_t::activity_classifier</a></div><div class="ttdeci">BNO08xActivity activity_classifier</div><div class="ttdef"><b>Definition</b> BNO08xTestHelper.hpp:77</div></div>
<div class="ttc" id="astruct_b_n_o08x_test_helper_1_1imu__report__data__t_html_a077a94b4de0b5c280d69611325208cf7"><div class="ttname"><a href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a077a94b4de0b5c280d69611325208cf7">BNO08xTestHelper::imu_report_data_t::integrated_gyro_vel_x</a></div><div class="ttdeci">float integrated_gyro_vel_x</div><div class="ttdef"><b>Definition</b> BNO08xTestHelper.hpp:36</div></div>
<div class="ttc" id="astruct_b_n_o08x_test_helper_1_1imu__report__data__t_html_a0c962609a3bf7927204542521e9c5113"><div class="ttname"><a href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a0c962609a3bf7927204542521e9c5113">BNO08xTestHelper::imu_report_data_t::magf_accuracy</a></div><div class="ttdeci">BNO08xAccuracy magf_accuracy</div><div class="ttdef"><b>Definition</b> BNO08xTestHelper.hpp:69</div></div>
<div class="ttc" id="astruct_b_n_o08x_test_helper_1_1imu__report__data__t_html_a0e72f6dde1411e4aa1c616cedcc556c1"><div class="ttname"><a href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a0e72f6dde1411e4aa1c616cedcc556c1">BNO08xTestHelper::imu_report_data_t::magf_x</a></div><div class="ttdeci">float magf_x</div><div class="ttdef"><b>Definition</b> BNO08xTestHelper.hpp:66</div></div>
<div class="ttc" id="astruct_b_n_o08x_test_helper_1_1imu__report__data__t_html_a19fc4af8a26c10a027cbd859d67dba4a"><div class="ttname"><a href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a19fc4af8a26c10a027cbd859d67dba4a">BNO08xTestHelper::imu_report_data_t::grav_y</a></div><div class="ttdeci">float grav_y</div><div class="ttdef"><b>Definition</b> BNO08xTestHelper.hpp:51</div></div>
<div class="ttc" id="astruct_b_n_o08x_test_helper_1_1imu__report__data__t_html_a1aa67da9c3c6449dfce361a528c418d3"><div class="ttname"><a href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a1aa67da9c3c6449dfce361a528c418d3">BNO08xTestHelper::imu_report_data_t::integrated_gyro_vel_z</a></div><div class="ttdeci">float integrated_gyro_vel_z</div><div class="ttdef"><b>Definition</b> BNO08xTestHelper.hpp:38</div></div>
<div class="ttc" id="astruct_b_n_o08x_test_helper_1_1imu__report__data__t_html_a20a09d197d5128aae64b7449df576c27"><div class="ttname"><a href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a20a09d197d5128aae64b7449df576c27">BNO08xTestHelper::imu_report_data_t::quat_J</a></div><div class="ttdeci">float quat_J</div><div class="ttdef"><b>Definition</b> BNO08xTestHelper.hpp:30</div></div>
<div class="ttc" id="astruct_b_n_o08x_test_helper_1_1imu__report__data__t_html_a27b52e2d96cb948c4257de4553053f72"><div class="ttname"><a href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a27b52e2d96cb948c4257de4553053f72">BNO08xTestHelper::imu_report_data_t::uncalib_gyro_drift_z</a></div><div class="ttdeci">float uncalib_gyro_drift_z</div><div class="ttdef"><b>Definition</b> BNO08xTestHelper.hpp:64</div></div>
<div class="ttc" id="astruct_b_n_o08x_test_helper_1_1imu__report__data__t_html_a292b1c36fed6a9c9742edf730299c4f4"><div class="ttname"><a href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a292b1c36fed6a9c9742edf730299c4f4">BNO08xTestHelper::imu_report_data_t::uncalib_gyro_vel_x</a></div><div class="ttdeci">float uncalib_gyro_vel_x</div><div class="ttdef"><b>Definition</b> BNO08xTestHelper.hpp:59</div></div>
<div class="ttc" id="astruct_b_n_o08x_test_helper_1_1imu__report__data__t_html_a29d5ae3e0ed3463cb9297f9cdc0e8472"><div class="ttname"><a href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a29d5ae3e0ed3463cb9297f9cdc0e8472">BNO08xTestHelper::imu_report_data_t::uncalib_gyro_drift_y</a></div><div class="ttdeci">float uncalib_gyro_drift_y</div><div class="ttdef"><b>Definition</b> BNO08xTestHelper.hpp:63</div></div>
<div class="ttc" id="astruct_b_n_o08x_test_helper_1_1imu__report__data__t_html_a3a62ed280657cd409d723e64f0c313b5"><div class="ttname"><a href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a3a62ed280657cd409d723e64f0c313b5">BNO08xTestHelper::imu_report_data_t::lin_accel_x</a></div><div class="ttdeci">float lin_accel_x</div><div class="ttdef"><b>Definition</b> BNO08xTestHelper.hpp:45</div></div>
<div class="ttc" id="astruct_b_n_o08x_test_helper_1_1imu__report__data__t_html_a3c74d4c93fc4390f52b75e6ff2bea95b"><div class="ttname"><a href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a3c74d4c93fc4390f52b75e6ff2bea95b">BNO08xTestHelper::imu_report_data_t::quat_K</a></div><div class="ttdeci">float quat_K</div><div class="ttdef"><b>Definition</b> BNO08xTestHelper.hpp:31</div></div>
<div class="ttc" id="astruct_b_n_o08x_test_helper_1_1imu__report__data__t_html_a48a249994c27f59ca4167b56bdda311a"><div class="ttname"><a href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a48a249994c27f59ca4167b56bdda311a">BNO08xTestHelper::imu_report_data_t::lin_accel_accuracy</a></div><div class="ttdeci">BNO08xAccuracy lin_accel_accuracy</div><div class="ttdef"><b>Definition</b> BNO08xTestHelper.hpp:48</div></div>
<div class="ttc" id="astruct_b_n_o08x_test_helper_1_1imu__report__data__t_html_a55187ebe06fa77def93681bcdf62595c"><div class="ttname"><a href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a55187ebe06fa77def93681bcdf62595c">BNO08xTestHelper::imu_report_data_t::magf_z</a></div><div class="ttdeci">float magf_z</div><div class="ttdef"><b>Definition</b> BNO08xTestHelper.hpp:68</div></div>
<div class="ttc" id="astruct_b_n_o08x_test_helper_1_1imu__report__data__t_html_a553942aa784c35c833543ecc9a05f606"><div class="ttname"><a href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a553942aa784c35c833543ecc9a05f606">BNO08xTestHelper::imu_report_data_t::lin_accel_y</a></div><div class="ttdeci">float lin_accel_y</div><div class="ttdef"><b>Definition</b> BNO08xTestHelper.hpp:46</div></div>
<div class="ttc" id="astruct_b_n_o08x_test_helper_1_1imu__report__data__t_html_a5bf43fc0daf3a86954924e066cad3a9b"><div class="ttname"><a href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a5bf43fc0daf3a86954924e066cad3a9b">BNO08xTestHelper::imu_report_data_t::lin_accel_z</a></div><div class="ttdeci">float lin_accel_z</div><div class="ttdef"><b>Definition</b> BNO08xTestHelper.hpp:47</div></div>
<div class="ttc" id="astruct_b_n_o08x_test_helper_1_1imu__report__data__t_html_a5c01b349cc9e4e45c78c576882d633fd"><div class="ttname"><a href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a5c01b349cc9e4e45c78c576882d633fd">BNO08xTestHelper::imu_report_data_t::accel_x</a></div><div class="ttdeci">float accel_x</div><div class="ttdef"><b>Definition</b> BNO08xTestHelper.hpp:40</div></div>
<div class="ttc" id="astruct_b_n_o08x_test_helper_1_1imu__report__data__t_html_a735d099f3dd0ead4b8d986fd139af43d"><div class="ttname"><a href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a735d099f3dd0ead4b8d986fd139af43d">BNO08xTestHelper::imu_report_data_t::grav_accuracy</a></div><div class="ttdeci">BNO08xAccuracy grav_accuracy</div><div class="ttdef"><b>Definition</b> BNO08xTestHelper.hpp:53</div></div>
<div class="ttc" id="astruct_b_n_o08x_test_helper_1_1imu__report__data__t_html_a769ddae74a6c89a2d319c28f95ed6479"><div class="ttname"><a href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a769ddae74a6c89a2d319c28f95ed6479">BNO08xTestHelper::imu_report_data_t::calib_gyro_vel_z</a></div><div class="ttdeci">float calib_gyro_vel_z</div><div class="ttdef"><b>Definition</b> BNO08xTestHelper.hpp:57</div></div>
<div class="ttc" id="astruct_b_n_o08x_test_helper_1_1imu__report__data__t_html_a7e594d0a1e86fb575f72c6f330c8983c"><div class="ttname"><a href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a7e594d0a1e86fb575f72c6f330c8983c">BNO08xTestHelper::imu_report_data_t::accel_y</a></div><div class="ttdeci">float accel_y</div><div class="ttdef"><b>Definition</b> BNO08xTestHelper.hpp:41</div></div>
<div class="ttc" id="astruct_b_n_o08x_test_helper_1_1imu__report__data__t_html_a7e9cd7e43d70932c5f84e3cfadf8bb47"><div class="ttname"><a href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a7e9cd7e43d70932c5f84e3cfadf8bb47">BNO08xTestHelper::imu_report_data_t::raw_mems_gyro_y</a></div><div class="ttdeci">uint16_t raw_mems_gyro_y</div><div class="ttdef"><b>Definition</b> BNO08xTestHelper.hpp:72</div></div>
<div class="ttc" id="astruct_b_n_o08x_test_helper_1_1imu__report__data__t_html_a80525c4943154f825a62539b10337976"><div class="ttname"><a href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a80525c4943154f825a62539b10337976">BNO08xTestHelper::imu_report_data_t::quat_real</a></div><div class="ttdeci">float quat_real</div><div class="ttdef"><b>Definition</b> BNO08xTestHelper.hpp:32</div></div>
<div class="ttc" id="astruct_b_n_o08x_test_helper_1_1imu__report__data__t_html_a86473c2bd8cbe2c76276393ee20d568b"><div class="ttname"><a href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a86473c2bd8cbe2c76276393ee20d568b">BNO08xTestHelper::imu_report_data_t::stability_classifier</a></div><div class="ttdeci">BNO08xStability stability_classifier</div><div class="ttdef"><b>Definition</b> BNO08xTestHelper.hpp:76</div></div>
<div class="ttc" id="astruct_b_n_o08x_test_helper_1_1imu__report__data__t_html_a8738f60a2b9bd49d2b8dd0487db7ac97"><div class="ttname"><a href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a8738f60a2b9bd49d2b8dd0487db7ac97">BNO08xTestHelper::imu_report_data_t::magf_y</a></div><div class="ttdeci">float magf_y</div><div class="ttdef"><b>Definition</b> BNO08xTestHelper.hpp:67</div></div>
<div class="ttc" id="astruct_b_n_o08x_test_helper_1_1imu__report__data__t_html_a89b427579a281440ab94a340c0ec8443"><div class="ttname"><a href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a89b427579a281440ab94a340c0ec8443">BNO08xTestHelper::imu_report_data_t::calib_gyro_vel_x</a></div><div class="ttdeci">float calib_gyro_vel_x</div><div class="ttdef"><b>Definition</b> BNO08xTestHelper.hpp:55</div></div>
<div class="ttc" id="astruct_b_n_o08x_test_helper_1_1imu__report__data__t_html_a8d2c3cd33943cb1b4fd0e800f822607e"><div class="ttname"><a href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a8d2c3cd33943cb1b4fd0e800f822607e">BNO08xTestHelper::imu_report_data_t::quat_I</a></div><div class="ttdeci">float quat_I</div><div class="ttdef"><b>Definition</b> BNO08xTestHelper.hpp:29</div></div>
<div class="ttc" id="astruct_b_n_o08x_test_helper_1_1imu__report__data__t_html_a94befe7132d3a6a6ce2a7890e96ec091"><div class="ttname"><a href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a94befe7132d3a6a6ce2a7890e96ec091">BNO08xTestHelper::imu_report_data_t::raw_mems_gyro_x</a></div><div class="ttdeci">uint16_t raw_mems_gyro_x</div><div class="ttdef"><b>Definition</b> BNO08xTestHelper.hpp:71</div></div>
<div class="ttc" id="astruct_b_n_o08x_test_helper_1_1imu__report__data__t_html_a9df84179bd44a7febfa1058afe3dad6c"><div class="ttname"><a href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#a9df84179bd44a7febfa1058afe3dad6c">BNO08xTestHelper::imu_report_data_t::raw_mems_gyro_z</a></div><div class="ttdeci">uint16_t raw_mems_gyro_z</div><div class="ttdef"><b>Definition</b> BNO08xTestHelper.hpp:73</div></div>
<div class="ttc" id="astruct_b_n_o08x_test_helper_1_1imu__report__data__t_html_aac84ad10b65403ae1ee21dab5cdc77db"><div class="ttname"><a href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#aac84ad10b65403ae1ee21dab5cdc77db">BNO08xTestHelper::imu_report_data_t::quat_accuracy</a></div><div class="ttdeci">BNO08xAccuracy quat_accuracy</div><div class="ttdef"><b>Definition</b> BNO08xTestHelper.hpp:34</div></div>
<div class="ttc" id="astruct_b_n_o08x_test_helper_1_1imu__report__data__t_html_ab39fd6f409288bb35fb1542ff4b9cbe4"><div class="ttname"><a href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#ab39fd6f409288bb35fb1542ff4b9cbe4">BNO08xTestHelper::imu_report_data_t::uncalib_gyro_vel_z</a></div><div class="ttdeci">float uncalib_gyro_vel_z</div><div class="ttdef"><b>Definition</b> BNO08xTestHelper.hpp:61</div></div>
<div class="ttc" id="astruct_b_n_o08x_test_helper_1_1imu__report__data__t_html_ac5d393de0f15176ba81bc63a80b49ca3"><div class="ttname"><a href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#ac5d393de0f15176ba81bc63a80b49ca3">BNO08xTestHelper::imu_report_data_t::accel_accuracy</a></div><div class="ttdeci">BNO08xAccuracy accel_accuracy</div><div class="ttdef"><b>Definition</b> BNO08xTestHelper.hpp:43</div></div>
<div class="ttc" id="astruct_b_n_o08x_test_helper_1_1imu__report__data__t_html_ac70a65027c3e740eca2b1f172b7cefa3"><div class="ttname"><a href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#ac70a65027c3e740eca2b1f172b7cefa3">BNO08xTestHelper::imu_report_data_t::uncalib_gyro_drift_x</a></div><div class="ttdeci">float uncalib_gyro_drift_x</div><div class="ttdef"><b>Definition</b> BNO08xTestHelper.hpp:62</div></div>
<div class="ttc" id="astruct_b_n_o08x_test_helper_1_1imu__report__data__t_html_ad2c17ea111250ebc1a4a763dae3c072a"><div class="ttname"><a href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#ad2c17ea111250ebc1a4a763dae3c072a">BNO08xTestHelper::imu_report_data_t::grav_x</a></div><div class="ttdeci">float grav_x</div><div class="ttdef"><b>Definition</b> BNO08xTestHelper.hpp:50</div></div>
<div class="ttc" id="astruct_b_n_o08x_test_helper_1_1imu__report__data__t_html_adfd6bf2e2264cf25bd02814446600ab4"><div class="ttname"><a href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#adfd6bf2e2264cf25bd02814446600ab4">BNO08xTestHelper::imu_report_data_t::uncalib_gyro_vel_y</a></div><div class="ttdeci">float uncalib_gyro_vel_y</div><div class="ttdef"><b>Definition</b> BNO08xTestHelper.hpp:60</div></div>
<div class="ttc" id="astruct_b_n_o08x_test_helper_1_1imu__report__data__t_html_ae0a8fef0227dd4304d08466c43d901a5"><div class="ttname"><a href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#ae0a8fef0227dd4304d08466c43d901a5">BNO08xTestHelper::imu_report_data_t::quat_radian_accuracy</a></div><div class="ttdeci">float quat_radian_accuracy</div><div class="ttdef"><b>Definition</b> BNO08xTestHelper.hpp:33</div></div>
<div class="ttc" id="astruct_b_n_o08x_test_helper_1_1imu__report__data__t_html_ae5e8705ad014ed3f70e5de527cb2cb66"><div class="ttname"><a href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#ae5e8705ad014ed3f70e5de527cb2cb66">BNO08xTestHelper::imu_report_data_t::time_stamp</a></div><div class="ttdeci">uint32_t time_stamp</div><div class="ttdef"><b>Definition</b> BNO08xTestHelper.hpp:27</div></div>
<div class="ttc" id="astruct_b_n_o08x_test_helper_1_1imu__report__data__t_html_ae8435a931eac7f4376a94acfcbf6a784"><div class="ttname"><a href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#ae8435a931eac7f4376a94acfcbf6a784">BNO08xTestHelper::imu_report_data_t::step_count</a></div><div class="ttdeci">uint16_t step_count</div><div class="ttdef"><b>Definition</b> BNO08xTestHelper.hpp:75</div></div>
<div class="ttc" id="astruct_b_n_o08x_test_helper_1_1imu__report__data__t_html_af134cb789c29120033d81916e0c100d4"><div class="ttname"><a href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#af134cb789c29120033d81916e0c100d4">BNO08xTestHelper::imu_report_data_t::accel_z</a></div><div class="ttdeci">float accel_z</div><div class="ttdef"><b>Definition</b> BNO08xTestHelper.hpp:42</div></div>
<div class="ttc" id="astruct_b_n_o08x_test_helper_1_1imu__report__data__t_html_af1887bdfef4fc2c683fe2134cb5cfb50"><div class="ttname"><a href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#af1887bdfef4fc2c683fe2134cb5cfb50">BNO08xTestHelper::imu_report_data_t::grav_z</a></div><div class="ttdeci">float grav_z</div><div class="ttdef"><b>Definition</b> BNO08xTestHelper.hpp:52</div></div>
<div class="ttc" id="astruct_b_n_o08x_test_helper_1_1imu__report__data__t_html_af4b75b320bc390c90656905711f1c791"><div class="ttname"><a href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#af4b75b320bc390c90656905711f1c791">BNO08xTestHelper::imu_report_data_t::integrated_gyro_vel_y</a></div><div class="ttdeci">float integrated_gyro_vel_y</div><div class="ttdef"><b>Definition</b> BNO08xTestHelper.hpp:37</div></div>
<div class="ttc" id="astruct_b_n_o08x_test_helper_1_1imu__report__data__t_html_af9e11fd749123f5723b2e281c8d2fd16"><div class="ttname"><a href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html#af9e11fd749123f5723b2e281c8d2fd16">BNO08xTestHelper::imu_report_data_t::calib_gyro_vel_y</a></div><div class="ttdeci">float calib_gyro_vel_y</div><div class="ttdef"><b>Definition</b> BNO08xTestHelper.hpp:56</div></div>
<div class="ttc" id="astructbno08x__config__t_html"><div class="ttname"><a href="structbno08x__config__t.html">bno08x_config_t</a></div><div class="ttdoc">IMU configuration settings passed into constructor.</div><div class="ttdef"><b>Definition</b> BNO08x_global_types.hpp:74</div></div>
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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>
<dl class="section warning"><dt>Warning</dt><dd>YOU MUST ADD THE FOLLOWING LINE TO YOUR MAIN PROJECTS CMakeLists.txt IN ORDER FOR THIS TEST SUITE TO BE BUILT WITH PROJECT: set(TEST_COMPONENTS "esp32_BNO08x" CACHE STRING "Components to test.") </dd></dl>
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<div class="headertitle"><div class="title">BNO08xTestSuite.hpp</div></div>
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<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="l00009" name="l00009"></a><span class="lineno"> 9</span><span class="preprocessor">#pragma once</span></div>
<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"> 10</span> </div>
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno"> 11</span><span class="preprocessor">#include &lt;stdio.h&gt;</span></div>
<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"> 12</span><span class="preprocessor">#include &lt;string.h&gt;</span></div>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"> 13</span><span class="preprocessor">#include &quot;unity.h&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_test_helper_8hpp.html">BNO08xTestHelper.hpp</a>&quot;</span></div>
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"> 15</span> </div>
<div class="foldopen" id="foldopen00021" data-start="{" data-end="};">
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"><a class="line" href="class_b_n_o08x_test_suite.html"> 21</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="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="foldopen" id="foldopen00024" data-start="{" data-end="}">
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"><a class="line" href="class_b_n_o08x_test_suite.html#a2fea3ea192a63c9573c774e772f5c085"> 24</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#a2fea3ea192a63c9573c774e772f5c085">print_begin_tests_banner</a>(<span class="keyword">const</span> <span class="keywordtype">char</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> printf(<span class="stringliteral">&quot;####################### BEGIN TESTS: %s #######################\n\r&quot;</span>, test_set_name);</div>
<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"> 27</span> }</div>
</div>
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"> 28</span> </div>
<div class="foldopen" id="foldopen00029" data-start="{" data-end="}">
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"><a class="line" href="class_b_n_o08x_test_suite.html#a5a9b6538773911afed92b16c435ebceb"> 29</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#a5a9b6538773911afed92b16c435ebceb">print_end_tests_banner</a>(<span class="keyword">const</span> <span class="keywordtype">char</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> printf(<span class="stringliteral">&quot;####################### END TESTS: %s #######################\n\r&quot;</span>, test_set_name);</div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span> }</div>
</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="foldopen" id="foldopen00035" data-start="{" data-end="}">
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"><a class="line" href="class_b_n_o08x_test_suite.html#ac12545fe311a98e9c0ae6fea77da95fd"> 35</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="l00036" name="l00036"></a><span class="lineno"> 36</span> {</div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span> UNITY_BEGIN();</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#a53de9b0fe1b28c18e3a1ca4c68a06f16">run_init_deinit_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#a37899d7bf67fce5c3dd77dd5647f8ecb">run_single_report_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#a916cff374791381de61f1035f9935ac5">run_multi_report_tests</a>(<span class="keyword">false</span>);</div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</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="l00042" name="l00042"></a><span class="lineno"> 42</span> UNITY_END();</div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span> }</div>
</div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span> </div>
<div class="foldopen" id="foldopen00045" data-start="{" data-end="}">
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"><a class="line" href="class_b_n_o08x_test_suite.html#a53de9b0fe1b28c18e3a1ca4c68a06f16"> 45</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="l00046" name="l00046"></a><span class="lineno"> 46</span> {</div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span> <a class="code hl_function" href="class_b_n_o08x_test_suite.html#a2fea3ea192a63c9573c774e772f5c085">print_begin_tests_banner</a>(<span class="stringliteral">&quot;init_denit_tests&quot;</span>);</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> <span class="keywordflow">if</span> (call_unity_end_begin)</div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span> UNITY_BEGIN();</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> unity_run_tests_by_tag(<span class="stringliteral">&quot;[InitComprehensive]&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> <a class="code hl_function" href="class_b_n_o08x_test_suite.html#a5a9b6538773911afed92b16c435ebceb">print_end_tests_banner</a>(<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>
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"> 60</span> </div>
<div class="foldopen" id="foldopen00061" data-start="{" data-end="}">
<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> <a class="code hl_function" href="class_b_n_o08x_test_suite.html#a2fea3ea192a63c9573c774e772f5c085">print_begin_tests_banner</a>(<span class="stringliteral">&quot;single_report_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> <a class="code hl_function" href="class_b_n_o08x_test_suite.html#a5a9b6538773911afed92b16c435ebceb">print_end_tests_banner</a>(<span class="stringliteral">&quot;single_report_tests&quot;</span>);</div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"> 74</span> }</div>
</div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"> 75</span> </div>
<div class="foldopen" id="foldopen00076" data-start="{" data-end="}">
<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> <a class="code hl_function" href="class_b_n_o08x_test_suite.html#a2fea3ea192a63c9573c774e772f5c085">print_begin_tests_banner</a>(<span class="stringliteral">&quot;multi_report_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> <a class="code hl_function" href="class_b_n_o08x_test_suite.html#a5a9b6538773911afed92b16c435ebceb">print_end_tests_banner</a>(<span class="stringliteral">&quot;multi_report_tests&quot;</span>);</div>
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"> 89</span> }</div>
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<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"> 90</span> </div>
<div class="foldopen" id="foldopen00091" data-start="{" data-end="}">
<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>
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<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"> 99</span> </div>
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<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"> 104</span> }</div>
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<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span>};</div>
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<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:22</div></div>
<div class="ttc" id="aclass_b_n_o08x_test_suite_html_a2fea3ea192a63c9573c774e772f5c085"><div class="ttname"><a href="class_b_n_o08x_test_suite.html#a2fea3ea192a63c9573c774e772f5c085">BNO08xTestSuite::print_begin_tests_banner</a></div><div class="ttdeci">static void print_begin_tests_banner(const char *test_set_name)</div><div class="ttdef"><b>Definition</b> BNO08xTestSuite.hpp:24</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:45</div></div>
<div class="ttc" id="aclass_b_n_o08x_test_suite_html_a5a9b6538773911afed92b16c435ebceb"><div class="ttname"><a href="class_b_n_o08x_test_suite.html#a5a9b6538773911afed92b16c435ebceb">BNO08xTestSuite::print_end_tests_banner</a></div><div class="ttdeci">static void print_end_tests_banner(const char *test_set_name)</div><div class="ttdef"><b>Definition</b> BNO08xTestSuite.hpp:29</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:35</div></div>
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<a href="#func-members">Functions</a> &#124;
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<div class="headertitle"><div class="title">CallbackTests.cpp File Reference</div></div>
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<div class="textblock"><code>#include &quot;unity.h&quot;</code><br />
<code>#include &quot;<a class="el" href="_b_n_o08x_test_helper_8hpp_source.html">../include/BNO08xTestHelper.hpp</a>&quot;</code><br />
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<tr class="memitem:ac18b9cb122499f587331d82a538f23aa" id="r_ac18b9cb122499f587331d82a538f23aa"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ac18b9cb122499f587331d82a538f23aa">TEST_CASE</a> (&quot;BNO08x Driver Creation <a class="el" href="#a4ac223c58b5ab6a6c5203661fafa1caa">for</a> [CallbackTests] Tests&quot;, &quot;[CallbackTests]&quot;)</td></tr>
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<tr class="memitem:a6df8508e34beaeb28f34554ce0e20573" id="r_a6df8508e34beaeb28f34554ce0e20573"><td class="memItemLeft" align="right" valign="top"><a class="el" href="#ac36e56130d5d806898f3545d4cdf0f70">imu</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a6df8508e34beaeb28f34554ce0e20573">register_cb</a> ([&amp;<a class="el" href="#ac36e56130d5d806898f3545d4cdf0f70">imu</a>, &amp;<a class="el" href="#a5a4ba60143c31271df0f72bf0e503876">new_data</a>, &amp;<a class="el" href="#a22334b11e0558ec663d040de9b7db8c9">report_data</a>, &amp;<a class="el" href="#a8c57d66969fed0b55bdee9b57f6ed0a7">prev_report_data</a>, &amp;<a class="el" href="#a4e7be0e1e700243053709d7544201596">msg_buff</a>]() { static int cb_execution_cnt=0;cb_execution_cnt++;<a class="el" href="class_b_n_o08x_test_helper.html#ac81c63583b19e5c7b3233324aaea98e2">BNO08xTestHelper::update_report_data</a>(&amp;<a class="el" href="#a22334b11e0558ec663d040de9b7db8c9">report_data</a>);if(<a class="el" href="class_b_n_o08x_test_helper.html#ade97098806c8779b26f9c166c4b03eea">BNO08xTestHelper::accelerometer_data_is_new</a>(&amp;<a class="el" href="#a22334b11e0558ec663d040de9b7db8c9">report_data</a>, &amp;<a class="el" href="#a8c57d66969fed0b55bdee9b57f6ed0a7">prev_report_data</a>)) { <a class="el" href="#a5a4ba60143c31271df0f72bf0e503876">new_data</a>=true;sprintf(<a class="el" href="#a4e7be0e1e700243053709d7544201596">msg_buff</a>, &quot;Rx Data Trial %d Success: AngularAccel: aX: %.2lf accel aY: %.2lf accel aZ: &quot; &quot;%.2lf Accuracy %s&quot;, cb_execution_cnt, report_data.accel_x, report_data.accel_y, report_data.accel_z, <a class="el" href="class_b_n_o08x_test_helper.html#a857b66c12c231af0d546c026ec017ab3">BNO08xTestHelper::BNO08xAccuracy_to_str</a>(report_data.accel_accuracy));<a class="el" href="class_b_n_o08x_test_helper.html#a7fbfc48c0fff306ab81e2320bc171002">BNO08xTestHelper::print_test_msg</a>(TEST_TAG, <a class="el" href="#a4e7be0e1e700243053709d7544201596">msg_buff</a>);} })</td></tr>
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<tr class="memitem:a4ac223c58b5ab6a6c5203661fafa1caa" id="r_a4ac223c58b5ab6a6c5203661fafa1caa"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a4ac223c58b5ab6a6c5203661fafa1caa">for</a> (int i=0;i&lt; <a class="el" href="#a20cd776c25ed6d39b2dcb95d155cfbda">RX_REPORT_TRIAL_CNT</a>;i++)</td></tr>
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<tr class="memitem:a79547a2396efd083faeba3e54d94360d" id="r_a79547a2396efd083faeba3e54d94360d"><td class="memItemLeft" align="right" valign="top"><a class="el" href="#ac36e56130d5d806898f3545d4cdf0f70">imu</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a79547a2396efd083faeba3e54d94360d">disable_accelerometer</a> ()</td></tr>
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<tr class="memitem:a8dba989b01b464871f3232223050ec73" id="r_a8dba989b01b464871f3232223050ec73"><td class="memItemLeft" align="right" valign="top"><a class="el" href="#ac36e56130d5d806898f3545d4cdf0f70">imu</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a8dba989b01b464871f3232223050ec73">register_cb</a> ([&amp;<a class="el" href="#ac36e56130d5d806898f3545d4cdf0f70">imu</a>, &amp;<a class="el" href="#a5a4ba60143c31271df0f72bf0e503876">new_data</a>, &amp;<a class="el" href="#a22334b11e0558ec663d040de9b7db8c9">report_data</a>, &amp;<a class="el" href="#a8c57d66969fed0b55bdee9b57f6ed0a7">prev_report_data</a>, &amp;<a class="el" href="#a4e7be0e1e700243053709d7544201596">msg_buff</a>]() { static int cb_execution_cnt=0;cb_execution_cnt++;<a class="el" href="class_b_n_o08x_test_helper.html#ac81c63583b19e5c7b3233324aaea98e2">BNO08xTestHelper::update_report_data</a>(&amp;<a class="el" href="#a22334b11e0558ec663d040de9b7db8c9">report_data</a>);if(<a class="el" href="class_b_n_o08x_test_helper.html#ade97098806c8779b26f9c166c4b03eea">BNO08xTestHelper::accelerometer_data_is_new</a>(&amp;<a class="el" href="#a22334b11e0558ec663d040de9b7db8c9">report_data</a>, &amp;<a class="el" href="#a8c57d66969fed0b55bdee9b57f6ed0a7">prev_report_data</a>)) { <a class="el" href="#a5a4ba60143c31271df0f72bf0e503876">new_data</a>[0]=true;sprintf(<a class="el" href="#a4e7be0e1e700243053709d7544201596">msg_buff</a>, &quot;Rx Data Trial %d Success: AngularAccel: aX: %.2lf accel aY: %.2lf accel aZ: &quot; &quot;%.2lf Accuracy %s&quot;, cb_execution_cnt, report_data.accel_x, report_data.accel_y, report_data.accel_z, <a class="el" href="class_b_n_o08x_test_helper.html#a857b66c12c231af0d546c026ec017ab3">BNO08xTestHelper::BNO08xAccuracy_to_str</a>(report_data.accel_accuracy));<a class="el" href="class_b_n_o08x_test_helper.html#a7fbfc48c0fff306ab81e2320bc171002">BNO08xTestHelper::print_test_msg</a>(TEST_TAG, <a class="el" href="#a4e7be0e1e700243053709d7544201596">msg_buff</a>);} if(<a class="el" href="class_b_n_o08x_test_helper.html#ad398739ce46400c1ac35e1cf7603d590">BNO08xTestHelper::linear_accelerometer_data_is_new</a>(&amp;<a class="el" href="#a22334b11e0558ec663d040de9b7db8c9">report_data</a>, &amp;<a class="el" href="#a8c57d66969fed0b55bdee9b57f6ed0a7">prev_report_data</a>)) { <a class="el" href="#a5a4ba60143c31271df0f72bf0e503876">new_data</a>[1]=true;sprintf(<a class="el" href="#a4e7be0e1e700243053709d7544201596">msg_buff</a>, &quot;Rx Data Trial %d Success: LinearAccel: laX: %.2lf laY: %.2lf laZ: &quot; &quot;%.2lf Accuracy: %s&quot;,(cb_execution_cnt+1), report_data.lin_accel_x, report_data.lin_accel_y, report_data.lin_accel_z, <a class="el" href="class_b_n_o08x_test_helper.html#a857b66c12c231af0d546c026ec017ab3">BNO08xTestHelper::BNO08xAccuracy_to_str</a>(report_data.lin_accel_accuracy));<a class="el" href="class_b_n_o08x_test_helper.html#a7fbfc48c0fff306ab81e2320bc171002">BNO08xTestHelper::print_test_msg</a>(TEST_TAG, <a class="el" href="#a4e7be0e1e700243053709d7544201596">msg_buff</a>);} })</td></tr>
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<tr class="memitem:a3e937c8c4a4c07b81fb20077ee984fc0" id="r_a3e937c8c4a4c07b81fb20077ee984fc0"><td class="memItemLeft" align="right" valign="top"><a class="el" href="#ac36e56130d5d806898f3545d4cdf0f70">imu</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a3e937c8c4a4c07b81fb20077ee984fc0">enable_linear_accelerometer</a> (<a class="el" href="#a4b80e39a1f48d801615a1f7baa210071">REPORT_PERIOD</a>)</td></tr>
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<tr class="memitem:a5cc5f7e6658e3b1634d99b73dbfd06ab" id="r_a5cc5f7e6658e3b1634d99b73dbfd06ab"><td class="memItemLeft" align="right" valign="top"><a class="el" href="#ac36e56130d5d806898f3545d4cdf0f70">imu</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a5cc5f7e6658e3b1634d99b73dbfd06ab">disable_linear_accelerometer</a> ()</td></tr>
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<tr class="memitem:a574f179a8295301510bc8b5475f02ba8" id="r_a574f179a8295301510bc8b5475f02ba8"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a574f179a8295301510bc8b5475f02ba8">TEST_CASE</a> (&quot;BNO08x Driver Cleanup <a class="el" href="#a4ac223c58b5ab6a6c5203661fafa1caa">for</a> [CallbackTests] Tests&quot;, &quot;[CallbackTests]&quot;)</td></tr>
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Variables</h2></td></tr>
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<tr class="memitem:a22334b11e0558ec663d040de9b7db8c9" id="r_a22334b11e0558ec663d040de9b7db8c9"><td class="memItemLeft" align="right" valign="top"><a class="el" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html">BNO08xTestHelper::imu_report_data_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a22334b11e0558ec663d040de9b7db8c9">report_data</a></td></tr>
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<tr class="memitem:a8c57d66969fed0b55bdee9b57f6ed0a7" id="r_a8c57d66969fed0b55bdee9b57f6ed0a7"><td class="memItemLeft" align="right" valign="top"><a class="el" href="struct_b_n_o08x_test_helper_1_1imu__report__data__t.html">BNO08xTestHelper::imu_report_data_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a8c57d66969fed0b55bdee9b57f6ed0a7">prev_report_data</a></td></tr>
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<tr class="memitem:a20cd776c25ed6d39b2dcb95d155cfbda" id="r_a20cd776c25ed6d39b2dcb95d155cfbda"><td class="memItemLeft" align="right" valign="top">const constexpr uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a20cd776c25ed6d39b2dcb95d155cfbda">RX_REPORT_TRIAL_CNT</a> = 5</td></tr>
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<tr class="memitem:a4b80e39a1f48d801615a1f7baa210071" id="r_a4b80e39a1f48d801615a1f7baa210071"><td class="memItemLeft" align="right" valign="top">const constexpr uint32_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a4b80e39a1f48d801615a1f7baa210071">REPORT_PERIOD</a> = 100000UL</td></tr>
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<tr class="memitem:a5a4ba60143c31271df0f72bf0e503876" id="r_a5a4ba60143c31271df0f72bf0e503876"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a5a4ba60143c31271df0f72bf0e503876">new_data</a> = false</td></tr>
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<tr class="memitem:a4e7be0e1e700243053709d7544201596" id="r_a4e7be0e1e700243053709d7544201596"><td class="memItemLeft" align="right" valign="top">char&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a4e7be0e1e700243053709d7544201596">msg_buff</a> [200] = {}</td></tr>
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<tr class="memitem:aafbc34af64f3c93123dce5a8238efd38" id="r_aafbc34af64f3c93123dce5a8238efd38"><td class="memItemLeft" align="right" valign="top">const constexpr uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#aafbc34af64f3c93123dce5a8238efd38">ENABLED_REPORT_CNT</a> = 2</td></tr>
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<h2 class="groupheader">Function Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a79547a2396efd083faeba3e54d94360d">&#9670;&#160;</a></span>disable_accelerometer()</h2>
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<td class="memname"><a class="el" href="#ac36e56130d5d806898f3545d4cdf0f70">imu</a> disable_accelerometer </td>
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<h2 class="memtitle"><span class="permalink"><a href="#a5cc5f7e6658e3b1634d99b73dbfd06ab">&#9670;&#160;</a></span>disable_linear_accelerometer()</h2>
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<td class="memname"><a class="el" href="#ac36e56130d5d806898f3545d4cdf0f70">imu</a> disable_linear_accelerometer </td>
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<h2 class="memtitle"><span class="permalink"><a href="#a0f2cacda77ab92640f739aca52b1f99f">&#9670;&#160;</a></span>enable_accelerometer()</h2>
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<td class="memname"><a class="el" href="#ac36e56130d5d806898f3545d4cdf0f70">imu</a> enable_accelerometer </td>
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<h2 class="memtitle"><span class="permalink"><a href="#a3e937c8c4a4c07b81fb20077ee984fc0">&#9670;&#160;</a></span>enable_linear_accelerometer()</h2>
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<td class="memname"><a class="el" href="#ac36e56130d5d806898f3545d4cdf0f70">imu</a> enable_linear_accelerometer </td>
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<h2 class="memtitle"><span class="permalink"><a href="#a4ac223c58b5ab6a6c5203661fafa1caa">&#9670;&#160;</a></span>for()</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a6df8508e34beaeb28f34554ce0e20573">&#9670;&#160;</a></span>register_cb() <span class="overload">[1/2]</span></h2>
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<td class="memname"><a class="el" href="#ac36e56130d5d806898f3545d4cdf0f70">imu</a> register_cb </td>
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<td class="paramtype">[&amp;imu, &amp;new_data, &amp;report_data, &amp;prev_report_data, &amp;msg_buff] () { static int cb_execution_cnt=0;cb_execution_cnt++;<a class="el" href="class_b_n_o08x_test_helper.html#ac81c63583b19e5c7b3233324aaea98e2">BNO08xTestHelper::update_report_data</a>(&amp;<a class="el" href="#a22334b11e0558ec663d040de9b7db8c9">report_data</a>);if(<a class="el" href="class_b_n_o08x_test_helper.html#ade97098806c8779b26f9c166c4b03eea">BNO08xTestHelper::accelerometer_data_is_new</a>(&amp;<a class="el" href="#a22334b11e0558ec663d040de9b7db8c9">report_data</a>, &amp;<a class="el" href="#a8c57d66969fed0b55bdee9b57f6ed0a7">prev_report_data</a>)) { <a class="el" href="#a5a4ba60143c31271df0f72bf0e503876">new_data</a>=true;sprintf(<a class="el" href="#a4e7be0e1e700243053709d7544201596">msg_buff</a>, &quot;Rx Data Trial %d Success: AngularAccel: aX: %.2lf accel aY: %.2lf accel aZ: &quot; &quot;%.2lf Accuracy %s&quot;, cb_execution_cnt, report_data.accel_x, report_data.accel_y, report_data.accel_z, <a class="el" href="class_b_n_o08x_test_helper.html#a857b66c12c231af0d546c026ec017ab3">BNO08xTestHelper::BNO08xAccuracy_to_str</a>(report_data.accel_accuracy));<a class="el" href="class_b_n_o08x_test_helper.html#a7fbfc48c0fff306ab81e2320bc171002">BNO08xTestHelper::print_test_msg</a>(TEST_TAG, <a class="el" href="#a4e7be0e1e700243053709d7544201596">msg_buff</a>);} }</td> <td class="paramname"><span class="paramname"></span></td><td>)</td>
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<h2 class="memtitle"><span class="permalink"><a href="#a8dba989b01b464871f3232223050ec73">&#9670;&#160;</a></span>register_cb() <span class="overload">[2/2]</span></h2>
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<td class="memname"><a class="el" href="#ac36e56130d5d806898f3545d4cdf0f70">imu</a> register_cb </td>
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<td class="paramtype">[&amp;imu, &amp;new_data, &amp;report_data, &amp;prev_report_data, &amp;msg_buff] () { static int cb_execution_cnt=0;cb_execution_cnt++;<a class="el" href="class_b_n_o08x_test_helper.html#ac81c63583b19e5c7b3233324aaea98e2">BNO08xTestHelper::update_report_data</a>(&amp;<a class="el" href="#a22334b11e0558ec663d040de9b7db8c9">report_data</a>);if(<a class="el" href="class_b_n_o08x_test_helper.html#ade97098806c8779b26f9c166c4b03eea">BNO08xTestHelper::accelerometer_data_is_new</a>(&amp;<a class="el" href="#a22334b11e0558ec663d040de9b7db8c9">report_data</a>, &amp;<a class="el" href="#a8c57d66969fed0b55bdee9b57f6ed0a7">prev_report_data</a>)) { <a class="el" href="#a5a4ba60143c31271df0f72bf0e503876">new_data</a>[0]=true;sprintf(<a class="el" href="#a4e7be0e1e700243053709d7544201596">msg_buff</a>, &quot;Rx Data Trial %d Success: AngularAccel: aX: %.2lf accel aY: %.2lf accel aZ: &quot; &quot;%.2lf Accuracy %s&quot;, cb_execution_cnt, report_data.accel_x, report_data.accel_y, report_data.accel_z, <a class="el" href="class_b_n_o08x_test_helper.html#a857b66c12c231af0d546c026ec017ab3">BNO08xTestHelper::BNO08xAccuracy_to_str</a>(report_data.accel_accuracy));<a class="el" href="class_b_n_o08x_test_helper.html#a7fbfc48c0fff306ab81e2320bc171002">BNO08xTestHelper::print_test_msg</a>(TEST_TAG, <a class="el" href="#a4e7be0e1e700243053709d7544201596">msg_buff</a>);} if(<a class="el" href="class_b_n_o08x_test_helper.html#ad398739ce46400c1ac35e1cf7603d590">BNO08xTestHelper::linear_accelerometer_data_is_new</a>(&amp;<a class="el" href="#a22334b11e0558ec663d040de9b7db8c9">report_data</a>, &amp;<a class="el" href="#a8c57d66969fed0b55bdee9b57f6ed0a7">prev_report_data</a>)) { <a class="el" href="#a5a4ba60143c31271df0f72bf0e503876">new_data</a>[1]=true;sprintf(<a class="el" href="#a4e7be0e1e700243053709d7544201596">msg_buff</a>, &quot;Rx Data Trial %d Success: LinearAccel: laX: %.2lf laY: %.2lf laZ: &quot; &quot;%.2lf Accuracy: %s&quot;,(cb_execution_cnt+1), report_data.lin_accel_x, report_data.lin_accel_y, report_data.lin_accel_z, <a class="el" href="class_b_n_o08x_test_helper.html#a857b66c12c231af0d546c026ec017ab3">BNO08xTestHelper::BNO08xAccuracy_to_str</a>(report_data.lin_accel_accuracy));<a class="el" href="class_b_n_o08x_test_helper.html#a7fbfc48c0fff306ab81e2320bc171002">BNO08xTestHelper::print_test_msg</a>(TEST_TAG, <a class="el" href="#a4e7be0e1e700243053709d7544201596">msg_buff</a>);} }</td> <td class="paramname"><span class="paramname"></span></td><td>)</td>
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<td class="paramtype"><a class="el" href="#a5a4ba60143c31271df0f72bf0e503876">new_data</a></td> <td class="paramname"><span class="paramname">[0]</span>&#160;)</td>
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<h2 class="groupheader">Variable Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#aafbc34af64f3c93123dce5a8238efd38">&#9670;&#160;</a></span>ENABLED_REPORT_CNT</h2>
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<div class="headertitle"><div class="title">InitDeinitTests.cpp File Reference</div></div>
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<div class="textblock"><code>#include &quot;unity.h&quot;</code><br />
<code>#include &quot;<a class="el" href="_b_n_o08x_test_helper_8hpp_source.html">../include/BNO08xTestHelper.hpp</a>&quot;</code><br />
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<h2 class="memtitle"><span class="permalink"><a href="#a6ed5310154fb7e7f290e619e6fbed708">&#9670;&#160;</a></span>TEST_CASE() <span class="overload">[3/7]</span></h2>
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<td class="memname">TEST_CASE </td>
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