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#include <driver/gpio.h>#include <driver/spi_common.h>#include <driver/spi_master.h>#include <esp_log.h>#include <esp_rom_gpio.h>#include <esp_timer.h>#include <freertos/FreeRTOS.h>#include <freertos/semphr.h>#include <freertos/task.h>#include <rom/ets_sys.h>#include <inttypes.h>#include <math.h>#include <stdio.h>#include <cstring>Go to the source code of this file.
--Classes | |
| struct | bno08x_config_t |
| IMU configuration settings passed into constructor. More... | |
| class | BNO08x |
-Typedefs | |
| typedef struct bno08x_config_t | bno08x_config_t |
| IMU configuration settings passed into constructor. | |
-Enumerations | |
| enum | channels_t { - CHANNEL_COMMAND -, CHANNEL_EXECUTABLE -, CHANNEL_CONTROL -, CHANNEL_REPORTS -, - CHANNEL_WAKE_REPORTS -, CHANNEL_GYRO - - } |
| SHTP protocol channels. More... | |
| enum class | IMUAccuracy { LOW = 1 -, MED -, HIGH - } |
| Sensor accuracy returned during sensor calibration. More... | |
| typedef struct bno08x_config_t bno08x_config_t | -
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| CBNO08x | |
| Cbno08x_config_t | IMU configuration settings passed into constructor |
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This is the complete list of members for BNO08x, including all inherited members.
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#include <BNO08x.hpp>
-Public Member Functions | |
| BNO08x (bno08x_config_t imu_config=default_imu_config) | |
| BNO08x imu constructor. | |
| bool | initialize () |
| Initializes BNO08x sensor. | |
| bool | hard_reset () |
| Hard resets BNO08x sensor. | |
| bool | soft_reset () |
| Soft resets BNO08x sensor using executable channel. | |
| uint8_t | get_reset_reason () |
| Get the reason for the most recent reset. | |
| bool | mode_sleep () |
| Puts BNO08x sensor into sleep/low power mode using executable channel. | |
| bool | mode_on () |
| Turns on/ brings BNO08x sensor out of sleep mode using executable channel. | |
| float | q_to_float (int16_t fixed_point_value, uint8_t q_point) |
| Converts a register value to a float using its associated Q point. (See https://en.wikipedia.org/wiki/Q_(number_format)) | |
| bool | run_full_calibration_routine () |
| Runs full calibration routine. | |
| void | calibrate_all () |
| Sends command to calibrate accelerometer, gyro, and magnetometer. | |
| void | calibrate_accelerometer () |
| Sends command to calibrate accelerometer. | |
| void | calibrate_gyro () |
| Sends command to calibrate gyro. | |
| void | calibrate_magnetometer () |
| Sends command to calibrate magnetometer. | |
| void | calibrate_planar_accelerometer () |
| Sends command to calibrate planar accelerometer. | |
| void | request_calibration_status () |
| Requests ME calibration status from BNO08x (see Ref. Manual 6.4.7.2) | |
| bool | calibration_complete () |
| Returns true if calibration has completed. | |
| void | end_calibration () |
| Sends command to end calibration procedure. | |
| void | save_calibration () |
| Sends command to save internal calibration data (See Ref. Manual 6.4.7). | |
| void | enable_rotation_vector (uint32_t time_between_reports) |
| Sends command to enable rotation vector reports (See Ref. Manual 6.5.18) | |
| void | enable_game_rotation_vector (uint32_t time_between_reports) |
| Sends command to enable game rotation vector reports (See Ref. Manual 6.5.19) | |
| void | enable_ARVR_stabilized_rotation_vector (uint32_t time_between_reports) |
| Sends command to enable ARVR stabilized rotation vector reports (See Ref. Manual 6.5.42) | |
| void | enable_ARVR_stabilized_game_rotation_vector (uint32_t time_between_reports) |
| Sends command to enable ARVR stabilized game rotation vector reports (See Ref. Manual 6.5.43) | |
| void | enable_gyro_integrated_rotation_vector (uint32_t time_between_reports) |
| Sends command to enable gyro integrated rotation vector reports (See Ref. Manual 6.5.44) | |
| void | enable_accelerometer (uint32_t time_between_reports) |
| Sends command to enable accelerometer reports (See Ref. Manual 6.5.9) | |
| void | enable_linear_accelerometer (uint32_t time_between_reports) |
| Sends command to enable linear accelerometer reports (See Ref. Manual 6.5.10) | |
| void | enable_gravity (uint32_t time_between_reports) |
| Sends command to enable gravity reading reports (See Ref. Manual 6.5.11) | |
| void | enable_gyro (uint32_t time_between_reports) |
| Sends command to enable gyro reports (See Ref. Manual 6.5.13) | |
| void | enable_uncalibrated_gyro (uint32_t time_between_reports) |
| Sends command to enable uncalibrated gyro reports (See Ref. Manual 6.5.14) | |
| void | enable_magnetometer (uint32_t time_between_reports) |
| Sends command to enable magnetometer reports (See Ref. Manual 6.5.16) | |
| void | enable_tap_detector (uint32_t time_between_reports) |
| Sends command to enable tap detector reports (See Ref. Manual 6.5.27) | |
| void | enable_step_counter (uint32_t time_between_reports) |
| Sends command to enable step counter reports (See Ref. Manual 6.5.29) | |
| void | enable_stability_classifier (uint32_t time_between_reports) |
| Sends command to enable activity stability classifier reports (See Ref. Manual 6.5.31) | |
| void | enable_activity_classifier (uint32_t time_between_reports, uint32_t activities_to_enable, uint8_t(&activity_confidence_vals)[9]) |
| Sends command to enable activity classifier reports (See Ref. Manual 6.5.36) | |
| void | enable_raw_accelerometer (uint32_t time_between_reports) |
| Sends command to enable raw accelerometer reports (See Ref. Manual 6.5.8) | |
| void | enable_raw_gyro (uint32_t time_between_reports) |
| Sends command to enable raw gyro reports (See Ref. Manual 6.5.12) | |
| void | enable_raw_magnetometer (uint32_t time_between_reports) |
| Sends command to enable raw magnetometer reports (See Ref. Manual 6.5.15) | |
| void | disable_rotation_vector () |
| Sends command to disable rotation vector reports by setting report interval to 0. | |
| void | disable_game_rotation_vector () |
| Sends command to disable game rotation vector reports by setting report interval to 0. | |
| void | disable_ARVR_stabilized_rotation_vector () |
| Sends command to disable ARVR stabilized rotation vector reports by setting report interval to 0. | |
| void | disable_ARVR_stabilized_game_rotation_vector () |
| Sends command to disable ARVR stabilized game rotation vector reports by setting report interval to 0. | |
| void | disable_gyro_integrated_rotation_vector () |
| Sends command to disable gyro integrated rotation vector reports by setting report interval to 0. | |
| void | disable_accelerometer () |
| Sends command to disable accelerometer reports by setting report interval to 0. | |
| void | disable_linear_accelerometer () |
| Sends command to disable linear accelerometer reports by setting report interval to 0. | |
| void | disable_gravity () |
| Sends command to disable gravity reports by setting report interval to 0. | |
| void | disable_gyro () |
| Sends command to disable gyro reports by setting report interval to 0. | |
| void | disable_uncalibrated_gyro () |
| Sends command to disable uncalibrated gyro reports by setting report interval to 0. | |
| void | disable_magnetometer () |
| Sends command to disable magnetometer reports by setting report interval to 0. | |
| void | disable_tap_detector () |
| Sends command to disable tap detector reports by setting report interval to 0. | |
| void | disable_step_counter () |
| Sends command to disable step counter reports by setting report interval to 0. | |
| void | disable_stability_classifier () |
| Sends command to disable stability reports by setting report interval to 0. | |
| void | disable_activity_classifier () |
| Sends command to disable activity classifier reports by setting report interval to 0. | |
| void | disable_raw_accelerometer () |
| Sends command to disable raw accelerometer reports by setting report interval to 0. | |
| void | disable_raw_gyro () |
| Sends command to disable raw gyro reports by setting report interval to 0. | |
| void | disable_raw_magnetometer () |
| Sends command to disable raw magnetometer reports by setting report interval to 0. | |
| void | tare_now (uint8_t axis_sel=TARE_AXIS_ALL, uint8_t rotation_vector_basis=TARE_ROTATION_VECTOR) |
| Sends command to tare an axis (See Ref. Manual 6.4.4.1) | |
| void | save_tare () |
| Sends command to save tare into non-volatile memory of BNO08x (See Ref. Manual 6.4.4.2) | |
| void | clear_tare () |
| Sends command to clear persistent tare settings in non-volatile memory of BNO08x (See Ref. Manual 6.4.4.3) | |
| bool | data_available () |
| Checks if BNO08x has asserted interrupt and sent data. | |
| uint16_t | parse_input_report () |
| Parses received input report sent by BNO08x. | |
| uint16_t | parse_command_report () |
| Parses received command report sent by BNO08x (See Ref. Manual 6.3.9) | |
| uint16_t | get_readings () |
| Waits for BNO08x HINT pin to assert, and parses the received data. | |
| uint32_t | get_time_stamp () |
| Return timestamp of most recent report. | |
| void | get_magf (float &x, float &y, float &z, uint8_t &accuracy) |
| Get the full magnetic field vector. | |
| float | get_magf_X () |
| Get X component of magnetic field vector. | |
| float | get_magf_Y () |
| Get Y component of magnetic field vector. | |
| float | get_magf_Z () |
| Get Z component of magnetic field vector. | |
| uint8_t | get_magf_accuracy () |
| Get accuracy of reported magnetic field vector. | |
| void | get_gravity (float &x, float &y, float &z, uint8_t &accuracy) |
| Get full reported gravity vector, units in m/s^2. | |
| float | get_gravity_X () |
| Get the reported x axis gravity. | |
| float | get_gravity_Y () |
| Get the reported y axis gravity. | |
| float | get_gravity_Z () |
| Get the reported z axis gravity. | |
| uint8_t | get_gravity_accuracy () |
| Get the reported gravity accuracy. | |
| float | get_roll () |
| Get the reported rotation about x axis. | |
| float | get_pitch () |
| Get the reported rotation about y axis. | |
| float | get_yaw () |
| Get the reported rotation about z axis. | |
| float | get_roll_deg () |
| Get the reported rotation about x axis. | |
| float | get_pitch_deg () |
| Get the reported rotation about y axis. | |
| float | get_yaw_deg () |
| Get the reported rotation about z axis. | |
| void | get_quat (float &i, float &j, float &k, float &real, float &rad_accuracy, uint8_t &accuracy) |
| Get the full quaternion reading. | |
| float | get_quat_I () |
| Get I component of reported quaternion. | |
| float | get_quat_J () |
| Get J component of reported quaternion. | |
| float | get_quat_K () |
| Get K component of reported quaternion. | |
| float | get_quat_real () |
| Get real component of reported quaternion. | |
| float | get_quat_radian_accuracy () |
| Get radian accuracy of reported quaternion. | |
| uint8_t | get_quat_accuracy () |
| Get accuracy of reported quaternion. | |
| void | get_accel (float &x, float &y, float &z, uint8_t &accuracy) |
| Get full acceleration (total acceleration of device, units in m/s^2). | |
| float | get_accel_X () |
| Get x axis acceleration (total acceleration of device, units in m/s^2). | |
| float | get_accel_Y () |
| Get y axis acceleration (total acceleration of device, units in m/s^2). | |
| float | get_accel_Z () |
| Get z axis acceleration (total acceleration of device, units in m/s^2). | |
| uint8_t | get_accel_accuracy () |
| Get accuracy of linear acceleration. | |
| void | get_linear_accel (float &x, float &y, float &z, uint8_t &accuracy) |
| Get full linear acceleration (acceleration of the device minus gravity, units in m/s^2). | |
| float | get_linear_accel_X () |
| Get x axis linear acceleration (acceleration of device minus gravity, units in m/s^2) | |
| float | get_linear_accel_Y () |
| Get y axis linear acceleration (acceleration of device minus gravity, units in m/s^2) | |
| float | get_linear_accel_Z () |
| Get z axis linear acceleration (acceleration of device minus gravity, units in m/s^2) | |
| uint8_t | get_linear_accel_accuracy () |
| Get accuracy of linear acceleration. | |
| int16_t | get_raw_accel_X () |
| Get raw accelerometer x axis reading from physical accelerometer MEMs sensor (See Ref. Manual 6.5.8) | |
| int16_t | get_raw_accel_Y () |
| Get raw accelerometer y axis reading from physical accelerometer MEMs sensor (See Ref. Manual 6.5.8) | |
| int16_t | get_raw_accel_Z () |
| Get raw accelerometer z axis reading from physical accelerometer MEMs sensor (See Ref. Manual 6.5.8) | |
| int16_t | get_raw_gyro_X () |
| Get raw gyroscope x axis reading from physical gyroscope MEMs sensor (See Ref. Manual 6.5.12) | |
| int16_t | get_raw_gyro_Y () |
| Get raw gyroscope y axis reading from physical gyroscope MEMs sensor (See Ref. Manual 6.5.12) | |
| int16_t | get_raw_gyro_Z () |
| Get raw gyroscope z axis reading from physical gyroscope MEMs sensor (See Ref. Manual 6.5.12) | |
| int16_t | get_raw_magf_X () |
| Get raw magnetometer x axis reading from physical magnetometer sensor (See Ref. Manual 6.5.15) | |
| int16_t | get_raw_magf_Y () |
| Get raw magnetometer y axis reading from physical magnetometer sensor (See Ref. Manual 6.5.15) | |
| int16_t | get_raw_magf_Z () |
| Get raw magnetometer z axis reading from physical magnetometer sensor (See Ref. Manual 6.5.15) | |
| void | get_gyro_calibrated_velocity (float &x, float &y, float &z, uint8_t &accuracy) |
| Get full rotational velocity with drift compensation (units in Rad/s). | |
| float | get_gyro_calibrated_velocity_X () |
| Get calibrated gyro x axis angular velocity measurement. | |
| float | get_gyro_calibrated_velocity_Y () |
| Get calibrated gyro y axis angular velocity measurement. | |
| float | get_gyro_calibrated_velocity_Z () |
| Get calibrated gyro z axis angular velocity measurement. | |
| uint8_t | get_gyro_accuracy () |
| Get calibrated gyro accuracy. | |
| void | get_uncalibrated_gyro (float &x, float &y, float &z, float &bx, float &by, float &bz, uint8_t &accuracy) |
| Get full rotational velocity without drift compensation (units in Rad/s). An estimate of drift is given but not applied. | |
| float | get_uncalibrated_gyro_X () |
| Get uncalibrated gyro x axis angular velocity measurement. | |
| float | get_uncalibrated_gyro_Y () |
| Get uncalibrated gyro Y axis angular velocity measurement. | |
| float | get_uncalibrated_gyro_Z () |
| Get uncalibrated gyro Z axis angular velocity measurement. | |
| float | get_uncalibrated_gyro_bias_X () |
| Get uncalibrated gyro x axis drift estimate. | |
| float | get_uncalibrated_gyro_bias_Y () |
| Get uncalibrated gyro Y axis drift estimate. | |
| float | get_uncalibrated_gyro_bias_Z () |
| Get uncalibrated gyro Z axis drift estimate. | |
| uint8_t | get_uncalibrated_gyro_accuracy () |
| Get uncalibrated gyro accuracy. | |
| void | get_gyro_velocity (float &x, float &y, float &z) |
| Full rotational velocity from gyro-integrated rotation vector (See Ref. Manual 6.5.44) | |
| float | get_gyro_velocity_X () |
| Get x axis angular velocity from gyro-integrated rotation vector. (See Ref. Manual 6.5.44) | |
| float | get_gyro_velocity_Y () |
| Get y axis angular velocity from gyro-integrated rotation vector. (See Ref. Manual 6.5.44) | |
| float | get_gyro_velocity_Z () |
| Get z axis angular velocity from gyro-integrated rotation vector. (See Ref. Manual 6.5.44) | |
| uint8_t | get_tap_detector () |
| Get if tap has occured. | |
| uint16_t | get_step_count () |
| Get the counted amount of steps. | |
| int8_t | get_stability_classifier () |
| Get the current stability classifier (Seee Ref. Manual 6.5.31) | |
| uint8_t | get_activity_classifier () |
| Get the current activity classifier (Seee Ref. Manual 6.5.36) | |
| void | print_header () |
| Prints the most recently received SHTP header to serial console with ESP_LOG statement. | |
| void | print_packet () |
| int16_t | get_Q1 (uint16_t record_ID) |
| Gets Q1 point from BNO08x FRS (flash record system). | |
| int16_t | get_Q2 (uint16_t record_ID) |
| Gets Q2 point from BNO08x FRS (flash record system). | |
| int16_t | get_Q3 (uint16_t record_ID) |
| Gets Q3 point from BNO08x FRS (flash record system). | |
| float | get_resolution (uint16_t record_ID) |
| Gets resolution from BNO08x FRS (flash record system). | |
| float | get_range (uint16_t record_ID) |
| Gets range from BNO08x FRS (flash record system). | |
| uint32_t | FRS_read_word (uint16_t record_ID, uint8_t word_number) |
| Reads meta data word from BNO08x FRS (flash record system) given the record ID and word number. (See Ref. Manual 5.1 & 6.3.7) | |
| bool | FRS_read_request (uint16_t record_ID, uint16_t read_offset, uint16_t block_size) |
| Requests meta data from BNO08x FRS (flash record system) given the record ID. Contains Q points and other info. (See Ref. Manual 5.1 & 6.3.6) | |
| bool | FRS_read_data (uint16_t record_ID, uint8_t start_location, uint8_t words_to_read) |
| Read meta data from BNO08x FRS (flash record system) given the record ID. Contains Q points and other info. (See Ref. Manual 5.1 & 6.3.7) | |
-Static Public Attributes | |
| static const constexpr uint16_t | FRS_RECORDID_ACCELEROMETER = 0xE302 |
| static const constexpr uint16_t | FRS_RECORDID_GYROSCOPE_CALIBRATED = 0xE306 |
| static const constexpr uint16_t | FRS_RECORDID_MAGNETIC_FIELD_CALIBRATED = 0xE309 |
| static const constexpr uint16_t | FRS_RECORDID_ROTATION_VECTOR = 0xE30B |
| static const constexpr uint8_t | TARE_AXIS_ALL = 0x07 |
| Tare all axes (used with tare now command) | |
| static const constexpr uint8_t | TARE_AXIS_Z = 0x04 |
| Tar yaw axis only (used with tare now command) | |
| static const constexpr uint8_t | TARE_ROTATION_VECTOR = 0 |
| Tare rotation vector. | |
| static const constexpr uint8_t | TARE_GAME_ROTATION_VECTOR = 1 |
| Tare game rotation vector. | |
| static const constexpr uint8_t | TARE_GEOMAGNETIC_ROTATION_VECTOR = 2 |
| tare geomagnetic rotation vector | |
| static const constexpr uint8_t | TARE_GYRO_INTEGRATED_ROTATION_VECTOR = 3 |
| Tare gyro integrated rotation vector. | |
| static const constexpr uint8_t | TARE_AR_VR_STABILIZED_ROTATION_VECTOR = 4 |
| Tare ARVR stabilized rotation vector. | |
| static const constexpr uint8_t | TARE_AR_VR_STABILIZED_GAME_ROTATION_VECTOR = 5 |
| Tare ARVR stabilized game rotation vector. | |
| static const constexpr int16_t | ROTATION_VECTOR_Q1 = 14 |
| Rotation vector Q point (See SH-2 Ref. Manual 6.5.18) | |
| static const constexpr int16_t | ROTATION_VECTOR_ACCURACY_Q1 = 12 |
| Rotation vector accuracy estimate Q point (See SH-2 Ref. Manual 6.5.18) | |
| static const constexpr int16_t | ACCELEROMETER_Q1 = 8 |
| Acceleration Q point (See SH-2 Ref. Manual 6.5.9) | |
| static const constexpr int16_t | LINEAR_ACCELEROMETER_Q1 = 8 |
| Linear acceleration Q point (See SH-2 Ref. Manual 6.5.10) | |
| static const constexpr int16_t | GYRO_Q1 = 9 |
| Gyro Q point (See SH-2 Ref. Manual 6.5.13) | |
| static const constexpr int16_t | MAGNETOMETER_Q1 = 4 |
| Magnetometer Q point (See SH-2 Ref. Manual 6.5.16) | |
| static const constexpr int16_t | ANGULAR_VELOCITY_Q1 = 10 |
| Angular velocity Q point (See SH-2 Ref. Manual 6.5.44) | |
| static const constexpr int16_t | GRAVITY_Q1 = 8 |
| Gravity Q point (See SH-2 Ref. Manual 6.5.11) | |
-Private Member Functions | |
| bool | wait_for_device_int () |
| Re-enables interrupts and waits for BNO08x to assert HINT pin. | |
| bool | receive_packet () |
| Receives a SHTP packet via SPI. | |
| void | send_packet () |
| Sends a queued SHTP packet via SPI. | |
| void | queue_packet (uint8_t channel_number, uint8_t data_length) |
| Queues an SHTP packet to be sent via SPI. | |
| void | queue_command (uint8_t command) |
| Queues a packet containing a command. | |
| void | queue_feature_command (uint8_t report_ID, uint32_t time_between_reports) |
| Queues a packet containing a command with a request for sensor reports, reported periodically. (See Ref. Manual 6.5.4) | |
| void | queue_feature_command (uint8_t report_ID, uint32_t time_between_reports, uint32_t specific_config) |
| Queues a packet containing a command with a request for sensor reports, reported periodically. (See Ref. Manual 6.5.4) | |
| void | queue_calibrate_command (uint8_t _to_calibrate) |
| Queues a packet containing a command to calibrate the specified sensor. | |
| void | queue_tare_command (uint8_t command, uint8_t axis=TARE_AXIS_ALL, uint8_t rotation_vector_basis=TARE_ROTATION_VECTOR) |
| Queues a packet containing a command related to zeroing sensor's axes. (See Ref. Manual 6.4.4.1) | |
| void | queue_request_product_id_command () |
| Queues a packet containing the request product ID command. | |
| void | spi_task () |
| Task responsible for SPI transactions. Executed when HINT in is asserted by BNO08x. | |
-Static Private Member Functions | |
| static void | spi_task_trampoline (void *arg) |
| Static function used to launch spi task. | |
| static void IRAM_ATTR | hint_handler (void *arg) |
| HINT interrupt service routine, handles falling edge of BNO08x HINT pin. | |
-Private Attributes | |
| SemaphoreHandle_t | tx_semaphore |
| Used to indicate to spi_task() whether or not a packet is currently waiting to be sent. | |
| SemaphoreHandle_t | int_asserted_semaphore |
| Binary semaphore used to synchronize spi_task() calling wait_for_device_int(), given after hint_handler ISR launches SPI task and it has run to completion. | |
| uint8_t | rx_buffer [300] |
| buffer used to receive packet with receive_packet() | |
| uint8_t | tx_buffer [50] |
| buffer used for sending packet with send_packet() | |
| uint8_t | packet_header_rx [4] |
| SHTP header received with receive_packet() | |
| uint8_t | commands [20] |
| Command to be sent with send_packet() | |
| uint8_t | sequence_number [6] |
| Sequence num of each com channel, 6 in total. | |
| uint32_t | meta_data [9] |
| First 9 bytes of meta data returned from FRS read operation (we don't really need the rest) (See Ref. Manual 5.1) | |
| uint8_t | command_sequence_number = 0 |
| Sequence num of command, sent within command packet. | |
| uint16_t | packet_length_tx = 0 |
| Packet length to be sent with send_packet() | |
| uint16_t | packet_length_rx = 0 |
| Packet length received (calculated from packet_header_rx) | |
| bno08x_config_t | imu_config {} |
| IMU configuration settings. | |
| spi_bus_config_t | bus_config {} |
| SPI bus GPIO configuration settings. | |
| spi_device_interface_config_t | imu_spi_config {} |
| SPI slave device settings. | |
| spi_device_handle_t | spi_hdl {} |
| SPI device handle. | |
| spi_transaction_t | spi_transaction {} |
| SPI transaction handle. | |
| uint32_t | time_stamp |
| Report timestamp (see datasheet 1.3.5.3) | |
| uint16_t | raw_accel_X |
| uint16_t | raw_accel_Y |
| uint16_t | raw_accel_Z |
| uint16_t | accel_accuracy |
| Raw acceleration readings (See SH-2 Ref. Manual 6.5.8) | |
| uint16_t | raw_lin_accel_X |
| uint16_t | raw_lin_accel_Y |
| uint16_t | raw_lin_accel_Z |
| uint16_t | accel_lin_accuracy |
| Raw linear acceleration (See SH-2 Ref. Manual 6.5.10) | |
| uint16_t | raw_gyro_X |
| uint16_t | raw_gyro_Y |
| uint16_t | raw_gyro_Z |
| uint16_t | gyro_accuracy |
| Raw gyro reading (See SH-2 Ref. Manual 6.5.13) | |
| uint16_t | raw_quat_I |
| uint16_t | raw_quat_J |
| uint16_t | raw_quat_K |
| uint16_t | raw_quat_real |
| uint16_t | raw_quat_radian_accuracy |
| uint16_t | quat_accuracy |
| Raw quaternion reading (See SH-2 Ref. Manual 6.5.44) | |
| uint16_t | raw_velocity_gyro_X |
| uint16_t | raw_velocity_gyro_Y |
| uint16_t | raw_velocity_gyro_Z |
| Raw gyro angular velocity reading (See SH-2 Ref. Manual 6.5.44) | |
| uint16_t | gravity_X |
| uint16_t | gravity_Y |
| uint16_t | gravity_Z |
| uint16_t | gravity_accuracy |
| Gravity reading in m/s^2 (See SH-2 Ref. Manual 6.5.11) | |
| uint16_t | raw_uncalib_gyro_X |
| uint16_t | raw_uncalib_gyro_Y |
| uint16_t | raw_uncalib_gyro_Z |
| uint16_t | raw_bias_X |
| uint16_t | raw_bias_Y |
| uint16_t | raw_bias_Z |
| uint16_t | uncalib_gyro_accuracy |
| Uncalibrated gyro reading (See SH-2 Ref. Manual 6.5.14) | |
| uint16_t | raw_magf_X |
| uint16_t | raw_magf_Y |
| uint16_t | raw_magf_Z |
| uint16_t | magf_accuracy |
| Calibrated magnetic field reading in uTesla (See SH-2 Ref. Manual 6.5.16) | |
| uint8_t | tap_detector |
| Tap detector reading (See SH-2 Ref. Manual 6.5.27) | |
| uint16_t | step_count |
| Step counter reading (See SH-2 Ref. Manual 6.5.29) | |
| uint8_t | stability_classifier |
| Stability status reading (See SH-2 Ref. Manual 6.5.31) | |
| uint8_t | activity_classifier |
| Activity status reading (See SH-2 Ref. Manual 6.5.36) | |
| uint8_t * | activity_confidences |
| Confidence of read activities (See SH-2 Ref. Manual 6.5.36) | |
| uint8_t | calibration_status |
| Calibration status of device (See SH-2 Ref. Manual 6.4.7.1 & 6.4.7.2) | |
| uint16_t | mems_raw_accel_X |
| uint16_t | mems_raw_accel_Y |
| uint16_t | mems_raw_accel_Z |
| Raw accelerometer readings from MEMS sensor (See SH2 Ref. Manual 6.5.8) | |
| uint16_t | mems_raw_gyro_X |
| uint16_t | mems_raw_gyro_Y |
| uint16_t | mems_raw_gyro_Z |
| Raw gyro readings from MEMS sensor (See SH-2 Ref. Manual 6.5.12) | |
| uint16_t | mems_raw_magf_X |
| uint16_t | mems_raw_magf_Y |
| uint16_t | mems_raw_magf_Z |
| Raw magnetometer (compass) readings from MEMS sensor (See SH-2 Ref. Manual 6.5.15) | |
| TaskHandle_t | spi_task_hdl |
| SPI task handle. | |
-Static Private Attributes | |
| static bno08x_config_t | default_imu_config |
| default imu config settings | |
| static bool | isr_service_installed = {false} |
| true of the isr service has been installed, only has to be done once regardless of how many devices are used | |
| static const constexpr uint64_t | HOST_INT_TIMEOUT_MS |
| Max wait between HINT being asserted by BNO08x before transaction is considered failed (in miliseconds) | |
| static const constexpr uint8_t | CALIBRATE_ACCEL = 0 |
| Calibrate accelerometer command used by queue_calibrate_command. | |
| static const constexpr uint8_t | CALIBRATE_GYRO = 1 |
| Calibrate gyro command used by queue_calibrate_command. | |
| static const constexpr uint8_t | CALIBRATE_MAG = 2 |
| Calibrate magnetometer command used by queue_calibrate_command. | |
| static const constexpr uint8_t | CALIBRATE_PLANAR_ACCEL = 3 |
| Calibrate planar acceleration command used by queue_calibrate_command. | |
| static const constexpr uint8_t | CALIBRATE_ACCEL_GYRO_MAG |
| Calibrate accelerometer, gyro, & magnetometer command used by queue_calibrate_command. | |
| static const constexpr uint8_t | CALIBRATE_STOP = 5 |
| Stop calibration command used by queue_calibrate_command. | |
| static const constexpr uint8_t | COMMAND_ERRORS = 1 |
| static const constexpr uint8_t | COMMAND_COUNTER = 2 |
| static const constexpr uint8_t | COMMAND_TARE = 3 |
| Command and response to tare command (See Sh2 Ref. Manual 6.4.4) | |
| static const constexpr uint8_t | COMMAND_INITIALIZE = 4 |
| Reinitialize sensor hub components See (SH2 Ref. Manual 6.4.5) | |
| static const constexpr uint8_t | COMMAND_DCD = 6 |
| Save DCD command (See SH2 Ref. Manual 6.4.7) | |
| static const constexpr uint8_t | COMMAND_ME_CALIBRATE = 7 |
| Command and response to configure ME calibration (See SH2 Ref. Manual 6.4.7) | |
| static const constexpr uint8_t | COMMAND_DCD_PERIOD_SAVE = 9 |
| Configure DCD periodic saving (See SH2 Ref. Manual 6.4) | |
| static const constexpr uint8_t | COMMAND_OSCILLATOR = 10 |
| Retrieve oscillator type command (See SH2 Ref. Manual 6.4) | |
| static const constexpr uint8_t | COMMAND_CLEAR_DCD = 11 |
| Clear DCD & Reset command (See SH2 Ref. Manual 6.4) | |
| static const constexpr uint8_t | SHTP_REPORT_COMMAND_RESPONSE = 0xF1 |
| See SH2 Ref. Manual 6.3.9. | |
| static const constexpr uint8_t | SHTP_REPORT_COMMAND_REQUEST = 0xF2 |
| See SH2 Ref. Manual 6.3.8. | |
| static const constexpr uint8_t | SHTP_REPORT_FRS_READ_RESPONSE = 0xF3 |
| See SH2 Ref. Manual 6.3.7. | |
| static const constexpr uint8_t | SHTP_REPORT_FRS_READ_REQUEST = 0xF4 |
| See SH2 Ref. Manual 6.3.6. | |
| static const constexpr uint8_t | SHTP_REPORT_PRODUCT_ID_RESPONSE = 0xF8 |
| See SH2 Ref. Manual 6.3.2. | |
| static const constexpr uint8_t | SHTP_REPORT_PRODUCT_ID_REQUEST = 0xF9 |
| See SH2 Ref. Manual 6.3.1. | |
| static const constexpr uint8_t | SHTP_REPORT_BASE_TIMESTAMP = 0xFB |
| See SH2 Ref. Manual 7.2.1. | |
| static const constexpr uint8_t | SHTP_REPORT_SET_FEATURE_COMMAND = 0xFD |
| See SH2 Ref. Manual 6.5.4. | |
| static const constexpr uint8_t | SENSOR_REPORTID_ACCELEROMETER = 0x01 |
| See SH2 Ref. Manual 6.5.9. | |
| static const constexpr uint8_t | SENSOR_REPORTID_GYROSCOPE = 0x02 |
| See SH2 Ref. Manual 6.5.13. | |
| static const constexpr uint8_t | SENSOR_REPORTID_MAGNETIC_FIELD = 0x03 |
| See SH2 Ref. Manual 6.5.16. | |
| static const constexpr uint8_t | SENSOR_REPORTID_LINEAR_ACCELERATION = 0x04 |
| See SH2 Ref. Manual 6.5.10. | |
| static const constexpr uint8_t | SENSOR_REPORTID_ROTATION_VECTOR = 0x05 |
| See SH2 Ref. Manual 6.5.18. | |
| static const constexpr uint8_t | SENSOR_REPORTID_GRAVITY = 0x06 |
| See SH2 Ref. Manual 6.5.11. | |
| static const constexpr uint8_t | SENSOR_REPORTID_UNCALIBRATED_GYRO = 0x07 |
| See SH2 Ref. Manual 6.5.14. | |
| static const constexpr uint8_t | SENSOR_REPORTID_GAME_ROTATION_VECTOR = 0x08 |
| See SH2 Ref. Manual 6.5.19. | |
| static const constexpr uint8_t | SENSOR_REPORTID_GEOMAGNETIC_ROTATION_VECTOR = 0x09 |
| See SH2 Ref. Manual 6.5.20. | |
| static const constexpr uint8_t | SENSOR_REPORTID_GYRO_INTEGRATED_ROTATION_VECTOR = 0x2A |
| See SH2 Ref. Manual 6.5.44. | |
| static const constexpr uint8_t | SENSOR_REPORTID_TAP_DETECTOR = 0x10 |
| See SH2 Ref. Manual 6.5.27. | |
| static const constexpr uint8_t | SENSOR_REPORTID_STEP_COUNTER = 0x11 |
| See SH2 Ref. Manual 6.5.29. | |
| static const constexpr uint8_t | SENSOR_REPORTID_STABILITY_CLASSIFIER = 0x13 |
| See SH2 Ref. Manual 6.5.31. | |
| static const constexpr uint8_t | SENSOR_REPORTID_RAW_ACCELEROMETER = 0x14 |
| See SH2 Ref. Manual 6.5.8. | |
| static const constexpr uint8_t | SENSOR_REPORTID_RAW_GYROSCOPE = 0x15 |
| See SH2 Ref. Manual 6.5.12. | |
| static const constexpr uint8_t | SENSOR_REPORTID_RAW_MAGNETOMETER = 0x16 |
| See SH2 Ref. Manual 6.5.15. | |
| static const constexpr uint8_t | SENSOR_REPORTID_PERSONAL_ACTIVITY_CLASSIFIER = 0x1E |
| See SH2 Ref. Manual 6.5.36. | |
| static const constexpr uint8_t | SENSOR_REPORTID_AR_VR_STABILIZED_ROTATION_VECTOR = 0x28 |
| See SH2 Ref. Manual 6.5.42. | |
| static const constexpr uint8_t | SENSOR_REPORTID_AR_VR_STABILIZED_GAME_ROTATION_VECTOR = 0x29 |
| See SH2 Ref. Manual 6.5.43. | |
| static const constexpr uint8_t | TARE_NOW = 0 |
| See SH2 Ref. Manual 6.4.4.1. | |
| static const constexpr uint8_t | TARE_PERSIST = 1 |
| See SH2 Ref. Manual 6.4.4.2. | |
| static const constexpr uint8_t | TARE_SET_REORIENTATION = 2 |
| See SH2 Ref. Manual 6.4.4.3. | |
| static const constexpr char * | TAG = "BNO08x" |
| Class tag used for serial print statements. | |
| BNO08x::BNO08x | -( | -bno08x_config_t | imu_config = default_imu_config | ) | -- |
BNO08x imu constructor.
-Construct a BNO08x object for managing a BNO08x sensor. Initializes required GPIO pins, interrupts, SPI peripheral, and local task for SPI transactions.
-| imu_config | Configuration settings (optional), default settings can be seen in bno08x_config_t |
| void BNO08x::calibrate_accelerometer | -( | -) | -- |
Sends command to calibrate accelerometer.
-| void BNO08x::calibrate_all | -( | -) | -- |
Sends command to calibrate accelerometer, gyro, and magnetometer.
-| void BNO08x::calibrate_gyro | -( | -) | -- |
Sends command to calibrate gyro.
-| void BNO08x::calibrate_magnetometer | -( | -) | -- |
Sends command to calibrate magnetometer.
-| void BNO08x::calibrate_planar_accelerometer | -( | -) | -- |
Sends command to calibrate planar accelerometer.
-| bool BNO08x::calibration_complete | -( | -) | -- |
Returns true if calibration has completed.
-| void BNO08x::clear_tare | -( | -) | -- |
Sends command to clear persistent tare settings in non-volatile memory of BNO08x (See Ref. Manual 6.4.4.3)
-| bool BNO08x::data_available | -( | -) | -- |
Checks if BNO08x has asserted interrupt and sent data.
-| void BNO08x::disable_accelerometer | -( | -) | -- |
Sends command to disable accelerometer reports by setting report interval to 0.
-| void BNO08x::disable_activity_classifier | -( | -) | -- |
Sends command to disable activity classifier reports by setting report interval to 0.
-| void BNO08x::disable_ARVR_stabilized_game_rotation_vector | -( | -) | -- |
Sends command to disable ARVR stabilized game rotation vector reports by setting report interval to 0.
-| void BNO08x::disable_ARVR_stabilized_rotation_vector | -( | -) | -- |
Sends command to disable ARVR stabilized rotation vector reports by setting report interval to 0.
-| void BNO08x::disable_game_rotation_vector | -( | -) | -- |
Sends command to disable game rotation vector reports by setting report interval to 0.
-| void BNO08x::disable_gravity | -( | -) | -- |
Sends command to disable gravity reports by setting report interval to 0.
-| void BNO08x::disable_gyro | -( | -) | -- |
Sends command to disable gyro reports by setting report interval to 0.
-| void BNO08x::disable_gyro_integrated_rotation_vector | -( | -) | -- |
Sends command to disable gyro integrated rotation vector reports by setting report interval to 0.
-| void BNO08x::disable_linear_accelerometer | -( | -) | -- |
Sends command to disable linear accelerometer reports by setting report interval to 0.
-| void BNO08x::disable_magnetometer | -( | -) | -- |
Sends command to disable magnetometer reports by setting report interval to 0.
-| void BNO08x::disable_raw_accelerometer | -( | -) | -- |
Sends command to disable raw accelerometer reports by setting report interval to 0.
-| void BNO08x::disable_raw_gyro | -( | -) | -- |
Sends command to disable raw gyro reports by setting report interval to 0.
-| void BNO08x::disable_raw_magnetometer | -( | -) | -- |
Sends command to disable raw magnetometer reports by setting report interval to 0.
-| void BNO08x::disable_rotation_vector | -( | -) | -- |
Sends command to disable rotation vector reports by setting report interval to 0.
-| void BNO08x::disable_stability_classifier | -( | -) | -- |
Sends command to disable stability reports by setting report interval to 0.
-| void BNO08x::disable_step_counter | -( | -) | -- |
Sends command to disable step counter reports by setting report interval to 0.
-| void BNO08x::disable_tap_detector | -( | -) | -- |
Sends command to disable tap detector reports by setting report interval to 0.
-| void BNO08x::disable_uncalibrated_gyro | -( | -) | -- |
Sends command to disable uncalibrated gyro reports by setting report interval to 0.
-| void BNO08x::enable_accelerometer | -( | -uint32_t | time_between_reports | ) | -- |
Sends command to enable accelerometer reports (See Ref. Manual 6.5.9)
-| time_between_reports | Desired time between reports in microseconds. |
| void BNO08x::enable_activity_classifier | -( | -uint32_t | time_between_reports, | -
| - | - | uint32_t | activities_to_enable, | -
| - | - | uint8_t(&) | activity_confidence_vals[9] ) | -
Sends command to enable activity classifier reports (See Ref. Manual 6.5.36)
-| time_between_reports | Desired time between reports in microseconds. |
| activities_to_enable | Desired activities to enable (0x1F enables all). |
| activity_confidence_vals | Returned activity level confidences. |
| void BNO08x::enable_ARVR_stabilized_game_rotation_vector | -( | -uint32_t | time_between_reports | ) | -- |
Sends command to enable ARVR stabilized game rotation vector reports (See Ref. Manual 6.5.43)
-| time_between_reports | Desired time between reports in microseconds. |
| void BNO08x::enable_ARVR_stabilized_rotation_vector | -( | -uint32_t | time_between_reports | ) | -- |
Sends command to enable ARVR stabilized rotation vector reports (See Ref. Manual 6.5.42)
-| time_between_reports | Desired time between reports in microseconds. |
| void BNO08x::enable_game_rotation_vector | -( | -uint32_t | time_between_reports | ) | -- |
Sends command to enable game rotation vector reports (See Ref. Manual 6.5.19)
-| time_between_reports | Desired time between reports in microseconds. |
| void BNO08x::enable_gravity | -( | -uint32_t | time_between_reports | ) | -- |
Sends command to enable gravity reading reports (See Ref. Manual 6.5.11)
-| time_between_reports | Desired time between reports in microseconds. |
| void BNO08x::enable_gyro | -( | -uint32_t | time_between_reports | ) | -- |
Sends command to enable gyro reports (See Ref. Manual 6.5.13)
-| time_between_reports | Desired time between reports in microseconds. |
| void BNO08x::enable_gyro_integrated_rotation_vector | -( | -uint32_t | time_between_reports | ) | -- |
Sends command to enable gyro integrated rotation vector reports (See Ref. Manual 6.5.44)
-| time_between_reports | Desired time between reports in microseconds. |
| void BNO08x::enable_linear_accelerometer | -( | -uint32_t | time_between_reports | ) | -- |
Sends command to enable linear accelerometer reports (See Ref. Manual 6.5.10)
-| time_between_reports | Desired time between reports in microseconds. |
| void BNO08x::enable_magnetometer | -( | -uint32_t | time_between_reports | ) | -- |
Sends command to enable magnetometer reports (See Ref. Manual 6.5.16)
-| time_between_reports | Desired time between reports in microseconds. |
| void BNO08x::enable_raw_accelerometer | -( | -uint32_t | time_between_reports | ) | -- |
Sends command to enable raw accelerometer reports (See Ref. Manual 6.5.8)
-| time_between_reports | Desired time between reports in microseconds. |
| void BNO08x::enable_raw_gyro | -( | -uint32_t | time_between_reports | ) | -- |
Sends command to enable raw gyro reports (See Ref. Manual 6.5.12)
-| time_between_reports | Desired time between reports in microseconds. |
| void BNO08x::enable_raw_magnetometer | -( | -uint32_t | time_between_reports | ) | -- |
Sends command to enable raw magnetometer reports (See Ref. Manual 6.5.15)
-| time_between_reports | Desired time between reports in microseconds. |
| void BNO08x::enable_rotation_vector | -( | -uint32_t | time_between_reports | ) | -- |
Sends command to enable rotation vector reports (See Ref. Manual 6.5.18)
-| time_between_reports | Desired time between reports in microseconds. |
| void BNO08x::enable_stability_classifier | -( | -uint32_t | time_between_reports | ) | -- |
Sends command to enable activity stability classifier reports (See Ref. Manual 6.5.31)
-| time_between_reports | Desired time between reports in microseconds. |
| void BNO08x::enable_step_counter | -( | -uint32_t | time_between_reports | ) | -- |
Sends command to enable step counter reports (See Ref. Manual 6.5.29)
-| time_between_reports | Desired time between reports in microseconds. |
| void BNO08x::enable_tap_detector | -( | -uint32_t | time_between_reports | ) | -- |
Sends command to enable tap detector reports (See Ref. Manual 6.5.27)
-| time_between_reports | Desired time between reports in microseconds. |
| void BNO08x::enable_uncalibrated_gyro | -( | -uint32_t | time_between_reports | ) | -- |
Sends command to enable uncalibrated gyro reports (See Ref. Manual 6.5.14)
-| time_between_reports | Desired time between reports in microseconds. |
| void BNO08x::end_calibration | -( | -) | -- |
Sends command to end calibration procedure.
-| bool BNO08x::FRS_read_data | -( | -uint16_t | record_ID, | -
| - | - | uint8_t | start_location, | -
| - | - | uint8_t | words_to_read ) | -
Read meta data from BNO08x FRS (flash record system) given the record ID. Contains Q points and other info. (See Ref. Manual 5.1 & 6.3.7)
-Note that Q points from the data sheet can be used as well, using the ones stored in flash is optional.
-| record_ID | Which record ID/ sensor to request meta data from. |
| start_location | Start byte location. |
| words_to_read | Length of words to read. |
| bool BNO08x::FRS_read_request | -( | -uint16_t | record_ID, | -
| - | - | uint16_t | read_offset, | -
| - | - | uint16_t | block_size ) | -
Requests meta data from BNO08x FRS (flash record system) given the record ID. Contains Q points and other info. (See Ref. Manual 5.1 & 6.3.6)
-Note that Q points from the data sheet can be used as well, using the ones stored in flash is optional.
-| record_ID | Which record ID/ sensor to request meta data from. |
| start_location | Start byte location. |
| words_to_read | Length of words to read. |
| uint32_t BNO08x::FRS_read_word | -( | -uint16_t | record_ID, | -
| - | - | uint8_t | word_number ) | -
Reads meta data word from BNO08x FRS (flash record system) given the record ID and word number. (See Ref. Manual 5.1 & 6.3.7)
-Note that Q points from the data sheet can be used as well, using the ones stored in flash is optional.
-| record_ID | Which record ID/ sensor to request meta data from. |
| word_number | Desired word to read. |
| void BNO08x::get_accel | -( | -float & | x, | -
| - | - | float & | y, | -
| - | - | float & | z, | -
| - | - | uint8_t & | accuracy ) | -
Get full acceleration (total acceleration of device, units in m/s^2).
-| x | Reference variable to save X axis acceleration. |
| y | Reference variable to save Y axis acceleration. |
| z | Reference variable to save Z axis acceleration. |
| accuracy | Reference variable to save reported acceleration accuracy. |
| uint8_t BNO08x::get_accel_accuracy | -( | -) | -- |
Get accuracy of linear acceleration.
-| float BNO08x::get_accel_X | -( | -) | -- |
Get x axis acceleration (total acceleration of device, units in m/s^2).
-| float BNO08x::get_accel_Y | -( | -) | -- |
Get y axis acceleration (total acceleration of device, units in m/s^2).
-| float BNO08x::get_accel_Z | -( | -) | -- |
Get z axis acceleration (total acceleration of device, units in m/s^2).
-| uint8_t BNO08x::get_activity_classifier | -( | -) | -- |
Get the current activity classifier (Seee Ref. Manual 6.5.36)
-| void BNO08x::get_gravity | -( | -float & | x, | -
| - | - | float & | y, | -
| - | - | float & | z, | -
| - | - | uint8_t & | accuracy ) | -
Get full reported gravity vector, units in m/s^2.
-| x | Reference variable to save X axis gravity. |
| y | Reference variable to save Y axis axis gravity. |
| z | Reference variable to save Z axis axis gravity. |
| accuracy | Reference variable to save reported gravity accuracy. |
| uint8_t BNO08x::get_gravity_accuracy | -( | -) | -- |
Get the reported gravity accuracy.
-| float BNO08x::get_gravity_X | -( | -) | -- |
Get the reported x axis gravity.
-| float BNO08x::get_gravity_Y | -( | -) | -- |
Get the reported y axis gravity.
-| float BNO08x::get_gravity_Z | -( | -) | -- |
Get the reported z axis gravity.
-| uint8_t BNO08x::get_gyro_accuracy | -( | -) | -- |
Get calibrated gyro accuracy.
-| void BNO08x::get_gyro_calibrated_velocity | -( | -float & | x, | -
| - | - | float & | y, | -
| - | - | float & | z, | -
| - | - | uint8_t & | accuracy ) | -
Get full rotational velocity with drift compensation (units in Rad/s).
-| x | Reference variable to save X axis angular velocity |
| y | Reference variable to save Y axis angular velocity |
| z | Reference variable to save Z axis angular velocity |
| accuracy | Reference variable to save reported gyro accuracy. |
| float BNO08x::get_gyro_calibrated_velocity_X | -( | -) | -- |
Get calibrated gyro x axis angular velocity measurement.
-| float BNO08x::get_gyro_calibrated_velocity_Y | -( | -) | -- |
Get calibrated gyro y axis angular velocity measurement.
-| float BNO08x::get_gyro_calibrated_velocity_Z | -( | -) | -- |
Get calibrated gyro z axis angular velocity measurement.
-| void BNO08x::get_gyro_velocity | -( | -float & | x, | -
| - | - | float & | y, | -
| - | - | float & | z ) | -
Full rotational velocity from gyro-integrated rotation vector (See Ref. Manual 6.5.44)
-| x | Reference variable to save X axis angular velocity |
| y | Reference variable to save Y axis angular velocity |
| z | Reference variable to save Z axis angular velocity |
| float BNO08x::get_gyro_velocity_X | -( | -) | -- |
Get x axis angular velocity from gyro-integrated rotation vector. (See Ref. Manual 6.5.44)
-| float BNO08x::get_gyro_velocity_Y | -( | -) | -- |
Get y axis angular velocity from gyro-integrated rotation vector. (See Ref. Manual 6.5.44)
-| float BNO08x::get_gyro_velocity_Z | -( | -) | -- |
Get z axis angular velocity from gyro-integrated rotation vector. (See Ref. Manual 6.5.44)
-| void BNO08x::get_linear_accel | -( | -float & | x, | -
| - | - | float & | y, | -
| - | - | float & | z, | -
| - | - | uint8_t & | accuracy ) | -
Get full linear acceleration (acceleration of the device minus gravity, units in m/s^2).
-| x | Reference variable to save X axis acceleration. |
| y | Reference variable to save Y axis acceleration. |
| z | Reference variable to save Z axis acceleration. |
| accuracy | Reference variable to save reported linear acceleration accuracy. |
| uint8_t BNO08x::get_linear_accel_accuracy | -( | -) | -- |
Get accuracy of linear acceleration.
-| float BNO08x::get_linear_accel_X | -( | -) | -- |
Get x axis linear acceleration (acceleration of device minus gravity, units in m/s^2)
-| float BNO08x::get_linear_accel_Y | -( | -) | -- |
Get y axis linear acceleration (acceleration of device minus gravity, units in m/s^2)
-| float BNO08x::get_linear_accel_Z | -( | -) | -- |
Get z axis linear acceleration (acceleration of device minus gravity, units in m/s^2)
-| void BNO08x::get_magf | -( | -float & | x, | -
| - | - | float & | y, | -
| - | - | float & | z, | -
| - | - | uint8_t & | accuracy ) | -
Get the full magnetic field vector.
-| x | Reference variable to save reported x magnitude. |
| y | Reference variable to save reported y magnitude. |
| x | Reference variable to save reported z magnitude. |
| accuracy | Reference variable save reported accuracy. |
| uint8_t BNO08x::get_magf_accuracy | -( | -) | -- |
Get accuracy of reported magnetic field vector.
-| float BNO08x::get_magf_X | -( | -) | -- |
Get X component of magnetic field vector.
-| float BNO08x::get_magf_Y | -( | -) | -- |
Get Y component of magnetic field vector.
-| float BNO08x::get_magf_Z | -( | -) | -- |
Get Z component of magnetic field vector.
-| float BNO08x::get_pitch | -( | -) | -- |
Get the reported rotation about y axis.
-| float BNO08x::get_pitch_deg | -( | -) | -- |
Get the reported rotation about y axis.
-| int16_t BNO08x::get_Q1 | -( | -uint16_t | record_ID | ) | -- |
Gets Q1 point from BNO08x FRS (flash record system).
-Note that Q points from the data sheet can be used as well, using the ones stored in flash is optional.
-| record_ID | Which record ID/ sensor to get Q1 value for. |
| int16_t BNO08x::get_Q2 | -( | -uint16_t | record_ID | ) | -- |
Gets Q2 point from BNO08x FRS (flash record system).
-Note that Q points from the data sheet can be used as well, using the ones stored in flash is optional.
-| record_ID | Which record ID/ sensor to get Q2 value for. |
| int16_t BNO08x::get_Q3 | -( | -uint16_t | record_ID | ) | -- |
Gets Q3 point from BNO08x FRS (flash record system).
-Note that Q points from the data sheet can be used as well, using the ones stored in flash is optional.
-| record_ID | Which record ID/ sensor to get Q3 value for. |
| void BNO08x::get_quat | -( | -float & | i, | -
| - | - | float & | j, | -
| - | - | float & | k, | -
| - | - | float & | real, | -
| - | - | float & | rad_accuracy, | -
| - | - | uint8_t & | accuracy ) | -
Get the full quaternion reading.
-| i | Reference variable to save reported i component of quaternion. |
| j | Reference variable to save reported j component of quaternion. |
| k | Reference variable to save reported k component of quaternion. |
| real | Reference variable to save reported real component of quaternion. |
| rad_accuracy | Reference variable to save reported raw quaternion radian accuracy. |
| accuracy | Reference variable to save reported quaternion accuracy. |
| uint8_t BNO08x::get_quat_accuracy | -( | -) | -- |
Get accuracy of reported quaternion.
-| float BNO08x::get_quat_I | -( | -) | -- |
Get I component of reported quaternion.
-| float BNO08x::get_quat_J | -( | -) | -- |
Get J component of reported quaternion.
-| float BNO08x::get_quat_K | -( | -) | -- |
Get K component of reported quaternion.
-| float BNO08x::get_quat_radian_accuracy | -( | -) | -- |
Get radian accuracy of reported quaternion.
-| float BNO08x::get_quat_real | -( | -) | -- |
Get real component of reported quaternion.
-| float BNO08x::get_range | -( | -uint16_t | record_ID | ) | -- |
Gets range from BNO08x FRS (flash record system).
-| record_ID | Which record ID/ sensor to get range value for. |
| int16_t BNO08x::get_raw_accel_X | -( | -) | -- |
Get raw accelerometer x axis reading from physical accelerometer MEMs sensor (See Ref. Manual 6.5.8)
-| int16_t BNO08x::get_raw_accel_Y | -( | -) | -- |
Get raw accelerometer y axis reading from physical accelerometer MEMs sensor (See Ref. Manual 6.5.8)
-| int16_t BNO08x::get_raw_accel_Z | -( | -) | -- |
Get raw accelerometer z axis reading from physical accelerometer MEMs sensor (See Ref. Manual 6.5.8)
-| int16_t BNO08x::get_raw_gyro_X | -( | -) | -- |
Get raw gyroscope x axis reading from physical gyroscope MEMs sensor (See Ref. Manual 6.5.12)
-| int16_t BNO08x::get_raw_gyro_Y | -( | -) | -- |
Get raw gyroscope y axis reading from physical gyroscope MEMs sensor (See Ref. Manual 6.5.12)
-| int16_t BNO08x::get_raw_gyro_Z | -( | -) | -- |
Get raw gyroscope z axis reading from physical gyroscope MEMs sensor (See Ref. Manual 6.5.12)
-| int16_t BNO08x::get_raw_magf_X | -( | -) | -- |
Get raw magnetometer x axis reading from physical magnetometer sensor (See Ref. Manual 6.5.15)
-| int16_t BNO08x::get_raw_magf_Y | -( | -) | -- |
Get raw magnetometer y axis reading from physical magnetometer sensor (See Ref. Manual 6.5.15)
-| int16_t BNO08x::get_raw_magf_Z | -( | -) | -- |
Get raw magnetometer z axis reading from physical magnetometer sensor (See Ref. Manual 6.5.15)
-| uint16_t BNO08x::get_readings | -( | -) | -- |
Waits for BNO08x HINT pin to assert, and parses the received data.
-| uint8_t BNO08x::get_reset_reason | -( | -) | -- |
Get the reason for the most recent reset.
-| float BNO08x::get_resolution | -( | -uint16_t | record_ID | ) | -- |
Gets resolution from BNO08x FRS (flash record system).
-| record_ID | Which record ID/ sensor to get resolution value for. |
| float BNO08x::get_roll | -( | -) | -- |
Get the reported rotation about x axis.
-| float BNO08x::get_roll_deg | -( | -) | -- |
Get the reported rotation about x axis.
-| int8_t BNO08x::get_stability_classifier | -( | -) | -- |
Get the current stability classifier (Seee Ref. Manual 6.5.31)
-| uint16_t BNO08x::get_step_count | -( | -) | -- |
Get the counted amount of steps.
-| uint8_t BNO08x::get_tap_detector | -( | -) | -- |
Get if tap has occured.
-| uint32_t BNO08x::get_time_stamp | -( | -) | -- |
Return timestamp of most recent report.
-| void BNO08x::get_uncalibrated_gyro | -( | -float & | x, | -
| - | - | float & | y, | -
| - | - | float & | z, | -
| - | - | float & | b_x, | -
| - | - | float & | b_y, | -
| - | - | float & | b_z, | -
| - | - | uint8_t & | accuracy ) | -
Get full rotational velocity without drift compensation (units in Rad/s). An estimate of drift is given but not applied.
-| x | Reference variable to save X axis angular velocity |
| y | Reference variable to save Y axis angular velocity |
| z | Reference variable to save Z axis angular velocity |
| b_x | Reference variable to save X axis drift estimate |
| b_y | Reference variable to save Y axis drift estimate |
| b_z | Reference variable to save Z axis drift estimate |
| accuracy | Reference variable to save reported gyro accuracy. |
| uint8_t BNO08x::get_uncalibrated_gyro_accuracy | -( | -) | -- |
Get uncalibrated gyro accuracy.
-| float BNO08x::get_uncalibrated_gyro_bias_X | -( | -) | -- |
Get uncalibrated gyro x axis drift estimate.
-| float BNO08x::get_uncalibrated_gyro_bias_Y | -( | -) | -- |
Get uncalibrated gyro Y axis drift estimate.
-| float BNO08x::get_uncalibrated_gyro_bias_Z | -( | -) | -- |
Get uncalibrated gyro Z axis drift estimate.
-| float BNO08x::get_uncalibrated_gyro_X | -( | -) | -- |
Get uncalibrated gyro x axis angular velocity measurement.
-| float BNO08x::get_uncalibrated_gyro_Y | -( | -) | -- |
Get uncalibrated gyro Y axis angular velocity measurement.
-| float BNO08x::get_uncalibrated_gyro_Z | -( | -) | -- |
Get uncalibrated gyro Z axis angular velocity measurement.
-| float BNO08x::get_yaw | -( | -) | -- |
Get the reported rotation about z axis.
-| float BNO08x::get_yaw_deg | -( | -) | -- |
Get the reported rotation about z axis.
-| bool BNO08x::hard_reset | -( | -) | -- |
Hard resets BNO08x sensor.
-
-
|
- -staticprivate | -
| bool BNO08x::initialize | -( | -) | -- |
| bool BNO08x::mode_on | -( | -) | -- |
Turns on/ brings BNO08x sensor out of sleep mode using executable channel.
-| bool BNO08x::mode_sleep | -( | -) | -- |
Puts BNO08x sensor into sleep/low power mode using executable channel.
-| uint16_t BNO08x::parse_command_report | -( | -) | -- |
Parses received command report sent by BNO08x (See Ref. Manual 6.3.9)
-| uint16_t BNO08x::parse_input_report | -( | -) | -- |
Parses received input report sent by BNO08x.
-Unit responds with packet that contains the following:
-packet_header_rx[0:3]: First, a 4 byte header rx_buffer[0:4]: Then a 5 byte timestamp of microsecond ticks since reading was taken rx_buffer[5 + 0]: Then a feature report ID (0x01 for Accel, 0x05 for Rotation Vector, etc...) rx_buffer[5 + 1]: Sequence number (See Ref.Manual 6.5.8.2) rx_buffer[5 + 2]: Status rx_buffer[3]: Delay rx_buffer[4:5]: i/accel x/gyro x/etc rx_buffer[6:7]: j/accel y/gyro y/etc rx_buffer[8:9]: k/accel z/gyro z/etc rx_buffer[10:11]: real/gyro temp/etc rx_buffer[12:13]: Accuracy estimate
-| void BNO08x::print_header | -( | -) | -- |
Prints the most recently received SHTP header to serial console with ESP_LOG statement.
-| void BNO08x::print_packet | -( | -) | -- |
| float BNO08x::q_to_float | -( | -int16_t | fixed_point_value, | -
| - | - | uint8_t | q_point ) | -
Converts a register value to a float using its associated Q point. (See https://en.wikipedia.org/wiki/Q_(number_format))
-| q_point | Q point value associated with register. |
| fixed_point_value | The fixed point value to convert. |
-
|
- -private | -
Queues a packet containing a command to calibrate the specified sensor.
-| sensor_to_calibrate | The sensor to calibrate. |
-
|
- -private | -
Queues a packet containing a command.
-| command | The command to be sent. |
-
|
- -private | -
Queues a packet containing a command with a request for sensor reports, reported periodically. (See Ref. Manual 6.5.4)
-| report_ID | ID of sensor report being requested. |
| time_between_reports | Desired time between reports. |
-
|
- -private | -
Queues a packet containing a command with a request for sensor reports, reported periodically. (See Ref. Manual 6.5.4)
-| report_ID | ID of sensor report to be enabled. |
| time_between_reports | Desired time between reports in microseconds. |
| specific_config | Specific config word (used with personal activity classifier) |
-
|
- -private | -
Queues an SHTP packet to be sent via SPI.
-
-
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- -private | -
Queues a packet containing the request product ID command.
-
-
|
- -private | -
Queues a packet containing a command related to zeroing sensor's axes. (See Ref. Manual 6.4.4.1)
-| command | Tare command to be sent. |
| axis | Specified axis (can be z or all at once) |
| rotation_vector_basis | Which rotation vector type to zero axes of, BNO08x saves seperate data for Rotation Vector, Gaming Rotation Vector, etc..) |
-
|
- -private | -
Receives a SHTP packet via SPI.
-| void BNO08x::request_calibration_status | -( | -) | -- |
Requests ME calibration status from BNO08x (see Ref. Manual 6.4.7.2)
-| bool BNO08x::run_full_calibration_routine | -( | -) | -- |
Runs full calibration routine.
-Enables game rotation vector and magnetometer, starts ME calibration process. Waits for accuracy of returned quaternions and magnetic field vectors to be high, then saves calibration data and returns.
-| void BNO08x::save_calibration | -( | -) | -- |
Sends command to save internal calibration data (See Ref. Manual 6.4.7).
-| void BNO08x::save_tare | -( | -) | -- |
Sends command to save tare into non-volatile memory of BNO08x (See Ref. Manual 6.4.4.2)
-
-
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- -private | -
Sends a queued SHTP packet via SPI.
-| bool BNO08x::soft_reset | -( | -) | -- |
Soft resets BNO08x sensor using executable channel.
-
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- -private | -
Task responsible for SPI transactions. Executed when HINT in is asserted by BNO08x.
-
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- -staticprivate | -
Static function used to launch spi task.
-Used such that spi_task() can be non-static class member.
-| void BNO08x::tare_now | -( | -uint8_t | axis_sel = TARE_AXIS_ALL, | -
| - | - | uint8_t | rotation_vector_basis = TARE_ROTATION_VECTOR ) | -
Sends command to tare an axis (See Ref. Manual 6.4.4.1)
-| axis_sel | Which axes to zero, can be TARE_AXIS_ALL (all axes) or TARE_AXIS_Z (only yaw) |
| rotation_vector_basis | Which rotation vector type to zero axes can be TARE_ROTATION_VECTOR, TARE_GAME_ROTATION_VECTOR, TARE_GEOMAGNETIC_ROTATION_VECTOR, etc.. |
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- -private | -
Re-enables interrupts and waits for BNO08x to assert HINT pin.
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- -private | -
Raw acceleration readings (See SH-2 Ref. Manual 6.5.8)
- -
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- -private | -
Raw linear acceleration (See SH-2 Ref. Manual 6.5.10)
- -
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- -staticconstexpr | -
Acceleration Q point (See SH-2 Ref. Manual 6.5.9)
- -
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- -private | -
Activity status reading (See SH-2 Ref. Manual 6.5.36)
- -
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- -private | -
Confidence of read activities (See SH-2 Ref. Manual 6.5.36)
- -
-
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- -staticconstexpr | -
Angular velocity Q point (See SH-2 Ref. Manual 6.5.44)
- -
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- -private | -
SPI bus GPIO configuration settings.
- -
-
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- -staticconstexprprivate | -
Calibrate accelerometer command used by queue_calibrate_command.
- -
-
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- -staticconstexprprivate | -
Calibrate accelerometer, gyro, & magnetometer command used by queue_calibrate_command.
- -
-
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- -staticconstexprprivate | -
Calibrate gyro command used by queue_calibrate_command.
- -
-
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- -staticconstexprprivate | -
Calibrate magnetometer command used by queue_calibrate_command.
- -
-
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- -staticconstexprprivate | -
Calibrate planar acceleration command used by queue_calibrate_command.
- -
-
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- -staticconstexprprivate | -
Stop calibration command used by queue_calibrate_command.
- -
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- -private | -
Calibration status of device (See SH-2 Ref. Manual 6.4.7.1 & 6.4.7.2)
- -
-
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- -staticconstexprprivate | -
Clear DCD & Reset command (See SH2 Ref. Manual 6.4)
- -
-
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- -staticconstexprprivate | -
-
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- -staticconstexprprivate | -
Save DCD command (See SH2 Ref. Manual 6.4.7)
- -
-
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- -staticconstexprprivate | -
Configure DCD periodic saving (See SH2 Ref. Manual 6.4)
- -
-
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- -staticconstexprprivate | -
-
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- -staticconstexprprivate | -
Reinitialize sensor hub components See (SH2 Ref. Manual 6.4.5)
- -
-
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- -staticconstexprprivate | -
Command and response to configure ME calibration (See SH2 Ref. Manual 6.4.7)
- -
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- -staticconstexprprivate | -
Retrieve oscillator type command (See SH2 Ref. Manual 6.4)
- -
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- -private | -
Sequence num of command, sent within command packet.
- -
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- -staticconstexprprivate | -
Command and response to tare command (See Sh2 Ref. Manual 6.4.4)
- -
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- -private | -
Command to be sent with send_packet()
- -
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- -staticprivate | -
default imu config settings
- -
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- -staticconstexpr | -
-
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- -staticconstexpr | -
-
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- -staticconstexpr | -
-
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- -staticconstexpr | -
-
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- -private | -
Gravity reading in m/s^2 (See SH-2 Ref. Manual 6.5.11)
- -
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- -staticconstexpr | -
Gravity Q point (See SH-2 Ref. Manual 6.5.11)
- -
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- -private | -
-
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- -private | -
-
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- -private | -
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- -private | -
Raw gyro reading (See SH-2 Ref. Manual 6.5.13)
- -
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- -staticconstexpr | -
Gyro Q point (See SH-2 Ref. Manual 6.5.13)
- -
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- -staticconstexprprivate | -
Max wait between HINT being asserted by BNO08x before transaction is considered failed (in miliseconds)
- -
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- -private | -
IMU configuration settings.
- -
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- -private | -
SPI slave device settings.
- -
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- -private | -
Binary semaphore used to synchronize spi_task() calling wait_for_device_int(), given after hint_handler ISR launches SPI task and it has run to completion.
- -
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- -staticprivate | -
true of the isr service has been installed, only has to be done once regardless of how many devices are used
- -
-
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- -staticconstexpr | -
Linear acceleration Q point (See SH-2 Ref. Manual 6.5.10)
- -
-
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- -private | -
Calibrated magnetic field reading in uTesla (See SH-2 Ref. Manual 6.5.16)
- -
-
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- -staticconstexpr | -
Magnetometer Q point (See SH-2 Ref. Manual 6.5.16)
- -
-
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- -private | -
-
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- -private | -
-
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- -private | -
Raw accelerometer readings from MEMS sensor (See SH2 Ref. Manual 6.5.8)
- -
-
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- -private | -
-
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- -private | -
-
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- -private | -
Raw gyro readings from MEMS sensor (See SH-2 Ref. Manual 6.5.12)
- -
-
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- -private | -
-
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- -private | -
-
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- -private | -
Raw magnetometer (compass) readings from MEMS sensor (See SH-2 Ref. Manual 6.5.15)
- -
-
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- -private | -
First 9 bytes of meta data returned from FRS read operation (we don't really need the rest) (See Ref. Manual 5.1)
- -
-
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- -private | -
SHTP header received with receive_packet()
- -
-
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- -private | -
Packet length received (calculated from packet_header_rx)
- -
-
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- -private | -
Packet length to be sent with send_packet()
- -
-
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- -private | -
Raw quaternion reading (See SH-2 Ref. Manual 6.5.44)
- -
-
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- -private | -
-
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- -private | -
-
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- -private | -
-
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- -private | -
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- -private | -
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- -private | -
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- -private | -
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- -private | -
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- -private | -
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- -private | -
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- -private | -
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- -private | -
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- -private | -
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- -private | -
-
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- -private | -
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- -private | -
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- -private | -
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- -private | -
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- -private | -
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- -private | -
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- -private | -
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- -private | -
-
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- -private | -
-
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- -private | -
-
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- -private | -
-
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- -private | -
Raw gyro angular velocity reading (See SH-2 Ref. Manual 6.5.44)
- -
-
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- -staticconstexpr | -
Rotation vector accuracy estimate Q point (See SH-2 Ref. Manual 6.5.18)
- -
-
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- -staticconstexpr | -
Rotation vector Q point (See SH-2 Ref. Manual 6.5.18)
- -
-
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- -private | -
buffer used to receive packet with receive_packet()
- -
-
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- -staticconstexprprivate | -
See SH2 Ref. Manual 6.5.9.
- -
-
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- -staticconstexprprivate | -
See SH2 Ref. Manual 6.5.43.
- -
-
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- -staticconstexprprivate | -
See SH2 Ref. Manual 6.5.42.
- -
-
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- -staticconstexprprivate | -
See SH2 Ref. Manual 6.5.19.
- -
-
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- -staticconstexprprivate | -
See SH2 Ref. Manual 6.5.20.
- -
-
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- -staticconstexprprivate | -
See SH2 Ref. Manual 6.5.11.
- -
-
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- -staticconstexprprivate | -
See SH2 Ref. Manual 6.5.44.
- -
-
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- -staticconstexprprivate | -
See SH2 Ref. Manual 6.5.13.
- -
-
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- -staticconstexprprivate | -
See SH2 Ref. Manual 6.5.10.
- -
-
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- -staticconstexprprivate | -
See SH2 Ref. Manual 6.5.16.
- -
-
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- -staticconstexprprivate | -
See SH2 Ref. Manual 6.5.36.
- -
-
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- -staticconstexprprivate | -
See SH2 Ref. Manual 6.5.8.
- -
-
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- -staticconstexprprivate | -
See SH2 Ref. Manual 6.5.12.
- -
-
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- -staticconstexprprivate | -
See SH2 Ref. Manual 6.5.15.
- -
-
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- -staticconstexprprivate | -
See SH2 Ref. Manual 6.5.18.
- -
-
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- -staticconstexprprivate | -
See SH2 Ref. Manual 6.5.31.
- -
-
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- -staticconstexprprivate | -
See SH2 Ref. Manual 6.5.29.
- -
-
|
- -staticconstexprprivate | -
See SH2 Ref. Manual 6.5.27.
- -
-
|
- -staticconstexprprivate | -
See SH2 Ref. Manual 6.5.14.
- -
-
|
- -private | -
Sequence num of each com channel, 6 in total.
- -
-
|
- -staticconstexprprivate | -
See SH2 Ref. Manual 7.2.1.
- -
-
|
- -staticconstexprprivate | -
See SH2 Ref. Manual 6.3.8.
- -
-
|
- -staticconstexprprivate | -
See SH2 Ref. Manual 6.3.9.
- -
-
|
- -staticconstexprprivate | -
See SH2 Ref. Manual 6.3.6.
- -
-
|
- -staticconstexprprivate | -
See SH2 Ref. Manual 6.3.7.
- -
-
|
- -staticconstexprprivate | -
See SH2 Ref. Manual 6.3.1.
- -
-
|
- -staticconstexprprivate | -
See SH2 Ref. Manual 6.3.2.
- -
-
|
- -staticconstexprprivate | -
See SH2 Ref. Manual 6.5.4.
- -
-
|
- -private | -
SPI device handle.
- -
-
|
- -private | -
SPI task handle.
- -
-
|
- -private | -
SPI transaction handle.
- -
-
|
- -private | -
Stability status reading (See SH-2 Ref. Manual 6.5.31)
- -
-
|
- -private | -
Step counter reading (See SH-2 Ref. Manual 6.5.29)
- -
-
|
- -staticconstexprprivate | -
Class tag used for serial print statements.
- -
-
|
- -private | -
Tap detector reading (See SH-2 Ref. Manual 6.5.27)
- -
-
|
- -staticconstexpr | -
Tare ARVR stabilized game rotation vector.
- -
-
|
- -staticconstexpr | -
Tare ARVR stabilized rotation vector.
- -
-
|
- -staticconstexpr | -
Tare all axes (used with tare now command)
- -
-
|
- -staticconstexpr | -
Tar yaw axis only (used with tare now command)
- -
-
|
- -staticconstexpr | -
Tare game rotation vector.
- -
-
|
- -staticconstexpr | -
tare geomagnetic rotation vector
- -
-
|
- -staticconstexpr | -
Tare gyro integrated rotation vector.
- -
-
|
- -staticconstexprprivate | -
See SH2 Ref. Manual 6.4.4.1.
- -
-
|
- -staticconstexprprivate | -
See SH2 Ref. Manual 6.4.4.2.
- -
-
|
- -staticconstexpr | -
Tare rotation vector.
- -
-
|
- -staticconstexprprivate | -
See SH2 Ref. Manual 6.4.4.3.
- -
-
|
- -private | -
Report timestamp (see datasheet 1.3.5.3)
- -
-
|
- -private | -
buffer used for sending packet with send_packet()
- -
-
|
- -private | -
Used to indicate to spi_task() whether or not a packet is currently waiting to be sent.
- -
-
|
- -private | -
Uncalibrated gyro reading (See SH-2 Ref. Manual 6.5.14)
- - 1.10.0
-
-
-
diff --git a/documentation/html/classes.html b/documentation/html/classes.html
deleted file mode 100644
index 164078c..0000000
--- a/documentation/html/classes.html
+++ /dev/null
@@ -1,90 +0,0 @@
-
-
-
-
-
-
-
-|
- esp32_BNO08x 1.01
-
- C++ BNO08x IMU driver component for esp-idf.
- |
-
1.10.0
-
-
-
diff --git a/documentation/html/clipboard.js b/documentation/html/clipboard.js
deleted file mode 100644
index 42c1fb0..0000000
--- a/documentation/html/clipboard.js
+++ /dev/null
@@ -1,61 +0,0 @@
-/**
-
-The code below is based on the Doxygen Awesome project, see
-https://github.com/jothepro/doxygen-awesome-css
-
-MIT License
-
-Copyright (c) 2021 - 2022 jothepro
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in all
-copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-SOFTWARE.
-
-*/
-
-let clipboard_title = "Copy to clipboard"
-let clipboard_icon = ``
-let clipboard_successIcon = ``
-let clipboard_successDuration = 1000
-
-$(function() {
- if(navigator.clipboard) {
- const fragments = document.getElementsByClassName("fragment")
- for(const fragment of fragments) {
- const clipboard_div = document.createElement("div")
- clipboard_div.classList.add("clipboard")
- clipboard_div.innerHTML = clipboard_icon
- clipboard_div.title = clipboard_title
- $(clipboard_div).click(function() {
- const content = this.parentNode.cloneNode(true)
- // filter out line number and folded fragments from file listings
- content.querySelectorAll(".lineno, .ttc, .foldclosed").forEach((node) => { node.remove() })
- let text = content.textContent
- // remove trailing newlines and trailing spaces from empty lines
- text = text.replace(/^\s*\n/gm,'\n').replace(/\n*$/,'')
- navigator.clipboard.writeText(text);
- this.classList.add("success")
- this.innerHTML = clipboard_successIcon
- window.setTimeout(() => { // switch back to normal icon after timeout
- this.classList.remove("success")
- this.innerHTML = clipboard_icon
- }, clipboard_successDuration);
- })
- fragment.insertBefore(clipboard_div, fragment.firstChild)
- }
- }
-})
diff --git a/documentation/html/closed.png b/documentation/html/closed.png
deleted file mode 100644
index 98cc2c9..0000000
Binary files a/documentation/html/closed.png and /dev/null differ
diff --git a/documentation/html/cookie.js b/documentation/html/cookie.js
deleted file mode 100644
index 53ad21d..0000000
--- a/documentation/html/cookie.js
+++ /dev/null
@@ -1,58 +0,0 @@
-/*!
- Cookie helper functions
- Copyright (c) 2023 Dimitri van Heesch
- Released under MIT license.
-*/
-let Cookie = {
- cookie_namespace: 'doxygen_',
-
- readSetting(cookie,defVal) {
- if (window.chrome) {
- const val = localStorage.getItem(this.cookie_namespace+cookie) ||
- sessionStorage.getItem(this.cookie_namespace+cookie);
- if (val) return val;
- } else {
- let myCookie = this.cookie_namespace+cookie+"=";
- if (document.cookie) {
- const index = document.cookie.indexOf(myCookie);
- if (index != -1) {
- const valStart = index + myCookie.length;
- let valEnd = document.cookie.indexOf(";", valStart);
- if (valEnd == -1) {
- valEnd = document.cookie.length;
- }
- return document.cookie.substring(valStart, valEnd);
- }
- }
- }
- return defVal;
- },
-
- writeSetting(cookie,val,days=10*365) { // default days='forever', 0=session cookie, -1=delete
- if (window.chrome) {
- if (days==0) {
- sessionStorage.setItem(this.cookie_namespace+cookie,val);
- } else {
- localStorage.setItem(this.cookie_namespace+cookie,val);
- }
- } else {
- let date = new Date();
- date.setTime(date.getTime()+(days*24*60*60*1000));
- const expiration = days!=0 ? "expires="+date.toGMTString()+";" : "";
- document.cookie = this.cookie_namespace + cookie + "=" +
- val + "; SameSite=Lax;" + expiration + "path=/";
- }
- },
-
- eraseSetting(cookie) {
- if (window.chrome) {
- if (localStorage.getItem(this.cookie_namespace+cookie)) {
- localStorage.removeItem(this.cookie_namespace+cookie);
- } else if (sessionStorage.getItem(this.cookie_namespace+cookie)) {
- sessionStorage.removeItem(this.cookie_namespace+cookie);
- }
- } else {
- this.writeSetting(cookie,'',-1);
- }
- },
-}
diff --git a/documentation/html/dir_f8bf4cf9c99e2cbdf74bcfc417d31962.html b/documentation/html/dir_f8bf4cf9c99e2cbdf74bcfc417d31962.html
deleted file mode 100644
index 409624d..0000000
--- a/documentation/html/dir_f8bf4cf9c99e2cbdf74bcfc417d31962.html
+++ /dev/null
@@ -1,96 +0,0 @@
-
-
-
-
-
-
-
-|
- esp32_BNO08x 1.01
-
- C++ BNO08x IMU driver component for esp-idf.
- |
-
-Files | |
| BNO08x.cpp | |
| BNO08x.hpp | |
1.10.0
-
-
-
diff --git a/documentation/html/doc.svg b/documentation/html/doc.svg
deleted file mode 100644
index 0b928a5..0000000
--- a/documentation/html/doc.svg
+++ /dev/null
@@ -1,12 +0,0 @@
-
-
-
diff --git a/documentation/html/docd.svg b/documentation/html/docd.svg
deleted file mode 100644
index ac18b27..0000000
--- a/documentation/html/docd.svg
+++ /dev/null
@@ -1,12 +0,0 @@
-
-
-
diff --git a/documentation/html/doxygen.css b/documentation/html/doxygen.css
deleted file mode 100644
index 7b7d851..0000000
--- a/documentation/html/doxygen.css
+++ /dev/null
@@ -1,2225 +0,0 @@
-/* The standard CSS for doxygen 1.10.0*/
-
-html {
-/* page base colors */
---page-background-color: white;
---page-foreground-color: black;
---page-link-color: #3D578C;
---page-visited-link-color: #4665A2;
-
-/* index */
---index-odd-item-bg-color: #F8F9FC;
---index-even-item-bg-color: white;
---index-header-color: black;
---index-separator-color: #A0A0A0;
-
-/* header */
---header-background-color: #F9FAFC;
---header-separator-color: #C4CFE5;
---header-gradient-image: url('nav_h.png');
---group-header-separator-color: #879ECB;
---group-header-color: #354C7B;
---inherit-header-color: gray;
-
---footer-foreground-color: #2A3D61;
---footer-logo-width: 104px;
---citation-label-color: #334975;
---glow-color: cyan;
-
---title-background-color: white;
---title-separator-color: #5373B4;
---directory-separator-color: #9CAFD4;
---separator-color: #4A6AAA;
-
---blockquote-background-color: #F7F8FB;
---blockquote-border-color: #9CAFD4;
-
---scrollbar-thumb-color: #9CAFD4;
---scrollbar-background-color: #F9FAFC;
-
---icon-background-color: #728DC1;
---icon-foreground-color: white;
---icon-doc-image: url('doc.svg');
---icon-folder-open-image: url('folderopen.svg');
---icon-folder-closed-image: url('folderclosed.svg');
-
-/* brief member declaration list */
---memdecl-background-color: #F9FAFC;
---memdecl-separator-color: #DEE4F0;
---memdecl-foreground-color: #555;
---memdecl-template-color: #4665A2;
-
-/* detailed member list */
---memdef-border-color: #A8B8D9;
---memdef-title-background-color: #E2E8F2;
---memdef-title-gradient-image: url('nav_f.png');
---memdef-proto-background-color: #DFE5F1;
---memdef-proto-text-color: #253555;
---memdef-proto-text-shadow: 0px 1px 1px rgba(255, 255, 255, 0.9);
---memdef-doc-background-color: white;
---memdef-param-name-color: #602020;
---memdef-template-color: #4665A2;
-
-/* tables */
---table-cell-border-color: #2D4068;
---table-header-background-color: #374F7F;
---table-header-foreground-color: #FFFFFF;
-
-/* labels */
---label-background-color: #728DC1;
---label-left-top-border-color: #5373B4;
---label-right-bottom-border-color: #C4CFE5;
---label-foreground-color: white;
-
-/** navigation bar/tree/menu */
---nav-background-color: #F9FAFC;
---nav-foreground-color: #364D7C;
---nav-gradient-image: url('tab_b.png');
---nav-gradient-hover-image: url('tab_h.png');
---nav-gradient-active-image: url('tab_a.png');
---nav-gradient-active-image-parent: url("../tab_a.png");
---nav-separator-image: url('tab_s.png');
---nav-breadcrumb-image: url('bc_s.png');
---nav-breadcrumb-border-color: #C2CDE4;
---nav-splitbar-image: url('splitbar.png');
---nav-font-size-level1: 13px;
---nav-font-size-level2: 10px;
---nav-font-size-level3: 9px;
---nav-text-normal-color: #283A5D;
---nav-text-hover-color: white;
---nav-text-active-color: white;
---nav-text-normal-shadow: 0px 1px 1px rgba(255, 255, 255, 0.9);
---nav-text-hover-shadow: 0px 1px 1px rgba(0, 0, 0, 1.0);
---nav-text-active-shadow: 0px 1px 1px rgba(0, 0, 0, 1.0);
---nav-menu-button-color: #364D7C;
---nav-menu-background-color: white;
---nav-menu-foreground-color: #555555;
---nav-menu-toggle-color: rgba(255, 255, 255, 0.5);
---nav-arrow-color: #9CAFD4;
---nav-arrow-selected-color: #9CAFD4;
-
-/* table of contents */
---toc-background-color: #F4F6FA;
---toc-border-color: #D8DFEE;
---toc-header-color: #4665A2;
---toc-down-arrow-image: url("data:image/svg+xml;utf8,");
-
-/** search field */
---search-background-color: white;
---search-foreground-color: #909090;
---search-magnification-image: url('mag.svg');
---search-magnification-select-image: url('mag_sel.svg');
---search-active-color: black;
---search-filter-background-color: #F9FAFC;
---search-filter-foreground-color: black;
---search-filter-border-color: #90A5CE;
---search-filter-highlight-text-color: white;
---search-filter-highlight-bg-color: #3D578C;
---search-results-foreground-color: #425E97;
---search-results-background-color: #EEF1F7;
---search-results-border-color: black;
---search-box-shadow: inset 0.5px 0.5px 3px 0px #555;
-
-/** code fragments */
---code-keyword-color: #008000;
---code-type-keyword-color: #604020;
---code-flow-keyword-color: #E08000;
---code-comment-color: #800000;
---code-preprocessor-color: #806020;
---code-string-literal-color: #002080;
---code-char-literal-color: #008080;
---code-xml-cdata-color: black;
---code-vhdl-digit-color: #FF00FF;
---code-vhdl-char-color: #000000;
---code-vhdl-keyword-color: #700070;
---code-vhdl-logic-color: #FF0000;
---code-link-color: #4665A2;
---code-external-link-color: #4665A2;
---fragment-foreground-color: black;
---fragment-background-color: #FBFCFD;
---fragment-border-color: #C4CFE5;
---fragment-lineno-border-color: #00FF00;
---fragment-lineno-background-color: #E8E8E8;
---fragment-lineno-foreground-color: black;
---fragment-lineno-link-fg-color: #4665A2;
---fragment-lineno-link-bg-color: #D8D8D8;
---fragment-lineno-link-hover-fg-color: #4665A2;
---fragment-lineno-link-hover-bg-color: #C8C8C8;
---fragment-copy-ok-color: #2EC82E;
---tooltip-foreground-color: black;
---tooltip-background-color: white;
---tooltip-border-color: gray;
---tooltip-doc-color: grey;
---tooltip-declaration-color: #006318;
---tooltip-link-color: #4665A2;
---tooltip-shadow: 1px 1px 7px gray;
---fold-line-color: #808080;
---fold-minus-image: url('minus.svg');
---fold-plus-image: url('plus.svg');
---fold-minus-image-relpath: url('../../minus.svg');
---fold-plus-image-relpath: url('../../plus.svg');
-
-/** font-family */
---font-family-normal: Roboto,sans-serif;
---font-family-monospace: 'JetBrains Mono',Consolas,Monaco,'Andale Mono','Ubuntu Mono',monospace,fixed;
---font-family-nav: 'Lucida Grande',Geneva,Helvetica,Arial,sans-serif;
---font-family-title: Tahoma,Arial,sans-serif;
---font-family-toc: Verdana,'DejaVu Sans',Geneva,sans-serif;
---font-family-search: Arial,Verdana,sans-serif;
---font-family-icon: Arial,Helvetica;
---font-family-tooltip: Roboto,sans-serif;
-
-/** special sections */
---warning-color-bg: #f8d1cc;
---warning-color-hl: #b61825;
---warning-color-text: #75070f;
---note-color-bg: #faf3d8;
---note-color-hl: #f3a600;
---note-color-text: #5f4204;
---todo-color-bg: #e4f3ff;
---todo-color-hl: #1879C4;
---todo-color-text: #274a5c;
---test-color-bg: #e8e8ff;
---test-color-hl: #3939C4;
---test-color-text: #1a1a5c;
---deprecated-color-bg: #ecf0f3;
---deprecated-color-hl: #5b6269;
---deprecated-color-text: #43454a;
---bug-color-bg: #e4dafd;
---bug-color-hl: #5b2bdd;
---bug-color-text: #2a0d72;
---invariant-color-bg: #d8f1e3;
---invariant-color-hl: #44b86f;
---invariant-color-text: #265532;
-}
-
-@media (prefers-color-scheme: dark) {
- html:not(.dark-mode) {
- color-scheme: dark;
-
-/* page base colors */
---page-background-color: black;
---page-foreground-color: #C9D1D9;
---page-link-color: #90A5CE;
---page-visited-link-color: #A3B4D7;
-
-/* index */
---index-odd-item-bg-color: #0B101A;
---index-even-item-bg-color: black;
---index-header-color: #C4CFE5;
---index-separator-color: #334975;
-
-/* header */
---header-background-color: #070B11;
---header-separator-color: #141C2E;
---header-gradient-image: url('nav_hd.png');
---group-header-separator-color: #283A5D;
---group-header-color: #90A5CE;
---inherit-header-color: #A0A0A0;
-
---footer-foreground-color: #5B7AB7;
---footer-logo-width: 60px;
---citation-label-color: #90A5CE;
---glow-color: cyan;
-
---title-background-color: #090D16;
---title-separator-color: #354C79;
---directory-separator-color: #283A5D;
---separator-color: #283A5D;
-
---blockquote-background-color: #101826;
---blockquote-border-color: #283A5D;
-
---scrollbar-thumb-color: #283A5D;
---scrollbar-background-color: #070B11;
-
---icon-background-color: #334975;
---icon-foreground-color: #C4CFE5;
---icon-doc-image: url('docd.svg');
---icon-folder-open-image: url('folderopend.svg');
---icon-folder-closed-image: url('folderclosedd.svg');
-
-/* brief member declaration list */
---memdecl-background-color: #0B101A;
---memdecl-separator-color: #2C3F65;
---memdecl-foreground-color: #BBB;
---memdecl-template-color: #7C95C6;
-
-/* detailed member list */
---memdef-border-color: #233250;
---memdef-title-background-color: #1B2840;
---memdef-title-gradient-image: url('nav_fd.png');
---memdef-proto-background-color: #19243A;
---memdef-proto-text-color: #9DB0D4;
---memdef-proto-text-shadow: 0px 1px 1px rgba(0, 0, 0, 0.9);
---memdef-doc-background-color: black;
---memdef-param-name-color: #D28757;
---memdef-template-color: #7C95C6;
-
-/* tables */
---table-cell-border-color: #283A5D;
---table-header-background-color: #283A5D;
---table-header-foreground-color: #C4CFE5;
-
-/* labels */
---label-background-color: #354C7B;
---label-left-top-border-color: #4665A2;
---label-right-bottom-border-color: #283A5D;
---label-foreground-color: #CCCCCC;
-
-/** navigation bar/tree/menu */
---nav-background-color: #101826;
---nav-foreground-color: #364D7C;
---nav-gradient-image: url('tab_bd.png');
---nav-gradient-hover-image: url('tab_hd.png');
---nav-gradient-active-image: url('tab_ad.png');
---nav-gradient-active-image-parent: url("../tab_ad.png");
---nav-separator-image: url('tab_sd.png');
---nav-breadcrumb-image: url('bc_sd.png');
---nav-breadcrumb-border-color: #2A3D61;
---nav-splitbar-image: url('splitbard.png');
---nav-font-size-level1: 13px;
---nav-font-size-level2: 10px;
---nav-font-size-level3: 9px;
---nav-text-normal-color: #B6C4DF;
---nav-text-hover-color: #DCE2EF;
---nav-text-active-color: #DCE2EF;
---nav-text-normal-shadow: 0px 1px 1px black;
---nav-text-hover-shadow: 0px 1px 1px rgba(0, 0, 0, 1.0);
---nav-text-active-shadow: 0px 1px 1px rgba(0, 0, 0, 1.0);
---nav-menu-button-color: #B6C4DF;
---nav-menu-background-color: #05070C;
---nav-menu-foreground-color: #BBBBBB;
---nav-menu-toggle-color: rgba(255, 255, 255, 0.2);
---nav-arrow-color: #334975;
---nav-arrow-selected-color: #90A5CE;
-
-/* table of contents */
---toc-background-color: #151E30;
---toc-border-color: #202E4A;
---toc-header-color: #A3B4D7;
---toc-down-arrow-image: url("data:image/svg+xml;utf8,");
-
-/** search field */
---search-background-color: black;
---search-foreground-color: #C5C5C5;
---search-magnification-image: url('mag_d.svg');
---search-magnification-select-image: url('mag_seld.svg');
---search-active-color: #C5C5C5;
---search-filter-background-color: #101826;
---search-filter-foreground-color: #90A5CE;
---search-filter-border-color: #7C95C6;
---search-filter-highlight-text-color: #BCC9E2;
---search-filter-highlight-bg-color: #283A5D;
---search-results-background-color: #101826;
---search-results-foreground-color: #90A5CE;
---search-results-border-color: #7C95C6;
---search-box-shadow: inset 0.5px 0.5px 3px 0px #2F436C;
-
-/** code fragments */
---code-keyword-color: #CC99CD;
---code-type-keyword-color: #AB99CD;
---code-flow-keyword-color: #E08000;
---code-comment-color: #717790;
---code-preprocessor-color: #65CABE;
---code-string-literal-color: #7EC699;
---code-char-literal-color: #00E0F0;
---code-xml-cdata-color: #C9D1D9;
---code-vhdl-digit-color: #FF00FF;
---code-vhdl-char-color: #C0C0C0;
---code-vhdl-keyword-color: #CF53C9;
---code-vhdl-logic-color: #FF0000;
---code-link-color: #79C0FF;
---code-external-link-color: #79C0FF;
---fragment-foreground-color: #C9D1D9;
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-{
- #top { display: none; }
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- #doc-content
- {
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- width:auto !important;
- overflow:inherit;
- display:inline;
- }
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-
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-
-table.markdownTable {
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- margin-top: 4px;
- margin-bottom: 4px;
-}
-
-table.markdownTable td, table.markdownTable th {
- border: 1px solid var(--table-cell-border-color);
- padding: 3px 7px 2px;
-}
-
-table.markdownTable tr {
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-
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- font-size: 110%;
- padding-bottom: 4px;
- padding-top: 5px;
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-
-th.markdownTableHeadLeft, td.markdownTableBodyLeft {
- text-align: left
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-
-th.markdownTableHeadRight, td.markdownTableBodyRight {
- text-align: right
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-
-th.markdownTableHeadCenter, td.markdownTableBodyCenter {
- text-align: center
-}
-
-tt, code, kbd, samp
-{
- display: inline-block;
-}
-/* @end */
-
-u {
- text-decoration: underline;
-}
-
-details>summary {
- list-style-type: none;
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-
-details > summary::-webkit-details-marker {
- display: none;
-}
-
-details>summary::before {
- content: "\25ba";
- padding-right:4px;
- font-size: 80%;
-}
-
-details[open]>summary::before {
- content: "\25bc";
- padding-right:4px;
- font-size: 80%;
-}
-
-body {
- scrollbar-color: var(--scrollbar-thumb-color) var(--scrollbar-background-color);
-}
-
-::-webkit-scrollbar {
- background-color: var(--scrollbar-background-color);
- height: 12px;
- width: 12px;
-}
-::-webkit-scrollbar-thumb {
- border-radius: 6px;
- box-shadow: inset 0 0 12px 12px var(--scrollbar-thumb-color);
- border: solid 2px transparent;
-}
-::-webkit-scrollbar-corner {
- background-color: var(--scrollbar-background-color);
-}
-
diff --git a/documentation/html/doxygen.svg b/documentation/html/doxygen.svg
deleted file mode 100644
index 79a7635..0000000
--- a/documentation/html/doxygen.svg
+++ /dev/null
@@ -1,28 +0,0 @@
-
-
-
diff --git a/documentation/html/doxygen_crawl.html b/documentation/html/doxygen_crawl.html
deleted file mode 100644
index f80678b..0000000
--- a/documentation/html/doxygen_crawl.html
+++ /dev/null
@@ -1,84 +0,0 @@
-
-
-
-|
- esp32_BNO08x 1.01
-
- C++ BNO08x IMU driver component for esp-idf.
- |
-
| ▼ esp32_BNO08x | |
| BNO08x.cpp | |
| BNO08x.hpp |
1.10.0
-
-
-
diff --git a/documentation/html/folderclosed.svg b/documentation/html/folderclosed.svg
deleted file mode 100644
index b04bed2..0000000
--- a/documentation/html/folderclosed.svg
+++ /dev/null
@@ -1,11 +0,0 @@
-
-
-
diff --git a/documentation/html/folderclosedd.svg b/documentation/html/folderclosedd.svg
deleted file mode 100644
index 52f0166..0000000
--- a/documentation/html/folderclosedd.svg
+++ /dev/null
@@ -1,11 +0,0 @@
-
-
-
diff --git a/documentation/html/folderopen.svg b/documentation/html/folderopen.svg
deleted file mode 100644
index f6896dd..0000000
--- a/documentation/html/folderopen.svg
+++ /dev/null
@@ -1,17 +0,0 @@
-
-
-
diff --git a/documentation/html/folderopend.svg b/documentation/html/folderopend.svg
deleted file mode 100644
index 2d1f06e..0000000
--- a/documentation/html/folderopend.svg
+++ /dev/null
@@ -1,12 +0,0 @@
-
-
-
diff --git a/documentation/html/functions.html b/documentation/html/functions.html
deleted file mode 100644
index 6d5e698..0000000
--- a/documentation/html/functions.html
+++ /dev/null
@@ -1,91 +0,0 @@
-
-
-
-
-
-
-
-|
- esp32_BNO08x 1.01
-
- C++ BNO08x IMU driver component for esp-idf.
- |
-
1.10.0
-
-
-
diff --git a/documentation/html/functions_b.html b/documentation/html/functions_b.html
deleted file mode 100644
index 0ae485f..0000000
--- a/documentation/html/functions_b.html
+++ /dev/null
@@ -1,88 +0,0 @@
-
-
-
-
-
-
-
-|
- esp32_BNO08x 1.01
-
- C++ BNO08x IMU driver component for esp-idf.
- |
-
1.10.0
-
-
-
diff --git a/documentation/html/functions_c.html b/documentation/html/functions_c.html
deleted file mode 100644
index 3f9c771..0000000
--- a/documentation/html/functions_c.html
+++ /dev/null
@@ -1,110 +0,0 @@
-
-
-
-
-
-
-
-|
- esp32_BNO08x 1.01
-
- C++ BNO08x IMU driver component for esp-idf.
- |
-
1.10.0
-
-
-
diff --git a/documentation/html/functions_d.html b/documentation/html/functions_d.html
deleted file mode 100644
index 9000f50..0000000
--- a/documentation/html/functions_d.html
+++ /dev/null
@@ -1,106 +0,0 @@
-
-
-
-
-
-
-
-|
- esp32_BNO08x 1.01
-
- C++ BNO08x IMU driver component for esp-idf.
- |
-
1.10.0
-
-
-
diff --git a/documentation/html/functions_e.html b/documentation/html/functions_e.html
deleted file mode 100644
index 63d3030..0000000
--- a/documentation/html/functions_e.html
+++ /dev/null
@@ -1,104 +0,0 @@
-
-
-
-
-
-
-
-|
- esp32_BNO08x 1.01
-
- C++ BNO08x IMU driver component for esp-idf.
- |
-
1.10.0
-
-
-
diff --git a/documentation/html/functions_f.html b/documentation/html/functions_f.html
deleted file mode 100644
index aa0f911..0000000
--- a/documentation/html/functions_f.html
+++ /dev/null
@@ -1,92 +0,0 @@
-
-
-
-
-
-
-
-|
- esp32_BNO08x 1.01
-
- C++ BNO08x IMU driver component for esp-idf.
- |
-
1.10.0
-
-
-
diff --git a/documentation/html/functions_func.html b/documentation/html/functions_func.html
deleted file mode 100644
index 67c5232..0000000
--- a/documentation/html/functions_func.html
+++ /dev/null
@@ -1,289 +0,0 @@
-
-
-
-
-
-
-
-|
- esp32_BNO08x 1.01
-
- C++ BNO08x IMU driver component for esp-idf.
- |
-
1.10.0
-
-
-
diff --git a/documentation/html/functions_g.html b/documentation/html/functions_g.html
deleted file mode 100644
index 3d42a07..0000000
--- a/documentation/html/functions_g.html
+++ /dev/null
@@ -1,163 +0,0 @@
-
-
-
-
-
-
-
-|
- esp32_BNO08x 1.01
-
- C++ BNO08x IMU driver component for esp-idf.
- |
-
1.10.0
-
-
-
diff --git a/documentation/html/functions_h.html b/documentation/html/functions_h.html
deleted file mode 100644
index 63772d0..0000000
--- a/documentation/html/functions_h.html
+++ /dev/null
@@ -1,88 +0,0 @@
-
-
-
-
-
-
-
-|
- esp32_BNO08x 1.01
-
- C++ BNO08x IMU driver component for esp-idf.
- |
-
1.10.0
-
-
-
diff --git a/documentation/html/functions_i.html b/documentation/html/functions_i.html
deleted file mode 100644
index 0981540..0000000
--- a/documentation/html/functions_i.html
+++ /dev/null
@@ -1,97 +0,0 @@
-
-
-
-
-
-
-
-|
- esp32_BNO08x 1.01
-
- C++ BNO08x IMU driver component for esp-idf.
- |
-
1.10.0
-
-
-
diff --git a/documentation/html/functions_l.html b/documentation/html/functions_l.html
deleted file mode 100644
index 449a5a4..0000000
--- a/documentation/html/functions_l.html
+++ /dev/null
@@ -1,86 +0,0 @@
-
-
-
-
-
-
-
-|
- esp32_BNO08x 1.01
-
- C++ BNO08x IMU driver component for esp-idf.
- |
-
1.10.0
-
-
-
diff --git a/documentation/html/functions_m.html b/documentation/html/functions_m.html
deleted file mode 100644
index 95ea7e1..0000000
--- a/documentation/html/functions_m.html
+++ /dev/null
@@ -1,99 +0,0 @@
-
-
-
-
-
-
-
-|
- esp32_BNO08x 1.01
-
- C++ BNO08x IMU driver component for esp-idf.
- |
-
1.10.0
-
-
-
diff --git a/documentation/html/functions_p.html b/documentation/html/functions_p.html
deleted file mode 100644
index 4c92155..0000000
--- a/documentation/html/functions_p.html
+++ /dev/null
@@ -1,92 +0,0 @@
-
-
-
-
-
-
-
-|
- esp32_BNO08x 1.01
-
- C++ BNO08x IMU driver component for esp-idf.
- |
-
1.10.0
-
-
-
diff --git a/documentation/html/functions_q.html b/documentation/html/functions_q.html
deleted file mode 100644
index 086e4bc..0000000
--- a/documentation/html/functions_q.html
+++ /dev/null
@@ -1,93 +0,0 @@
-
-
-
-
-
-
-
-|
- esp32_BNO08x 1.01
-
- C++ BNO08x IMU driver component for esp-idf.
- |
-
1.10.0
-
-
-
diff --git a/documentation/html/functions_r.html b/documentation/html/functions_r.html
deleted file mode 100644
index 5ecc08c..0000000
--- a/documentation/html/functions_r.html
+++ /dev/null
@@ -1,117 +0,0 @@
-
-
-
-
-
-
-
-|
- esp32_BNO08x 1.01
-
- C++ BNO08x IMU driver component for esp-idf.
- |
-
1.10.0
-
-
-
diff --git a/documentation/html/functions_s.html b/documentation/html/functions_s.html
deleted file mode 100644
index 319b3fe..0000000
--- a/documentation/html/functions_s.html
+++ /dev/null
@@ -1,126 +0,0 @@
-
-
-
-
-
-
-
-|
- esp32_BNO08x 1.01
-
- C++ BNO08x IMU driver component for esp-idf.
- |
-
1.10.0
-
-
-
diff --git a/documentation/html/functions_t.html b/documentation/html/functions_t.html
deleted file mode 100644
index 945dc5c..0000000
--- a/documentation/html/functions_t.html
+++ /dev/null
@@ -1,102 +0,0 @@
-
-
-
-
-
-
-
-|
- esp32_BNO08x 1.01
-
- C++ BNO08x IMU driver component for esp-idf.
- |
-
1.10.0
-
-
-
diff --git a/documentation/html/functions_u.html b/documentation/html/functions_u.html
deleted file mode 100644
index 3316f6e..0000000
--- a/documentation/html/functions_u.html
+++ /dev/null
@@ -1,86 +0,0 @@
-
-
-
-
-
-
-
-|
- esp32_BNO08x 1.01
-
- C++ BNO08x IMU driver component for esp-idf.
- |
-
1.10.0
-
-
-
diff --git a/documentation/html/functions_vars.html b/documentation/html/functions_vars.html
deleted file mode 100644
index b12667c..0000000
--- a/documentation/html/functions_vars.html
+++ /dev/null
@@ -1,293 +0,0 @@
-
-
-
-
-
-
-
-|
- esp32_BNO08x 1.01
-
- C++ BNO08x IMU driver component for esp-idf.
- |
-
1.10.0
-
-
-
diff --git a/documentation/html/functions_w.html b/documentation/html/functions_w.html
deleted file mode 100644
index d452a18..0000000
--- a/documentation/html/functions_w.html
+++ /dev/null
@@ -1,86 +0,0 @@
-
-
-
-
-
-
-
-|
- esp32_BNO08x 1.01
-
- C++ BNO08x IMU driver component for esp-idf.
- |
-
1.10.0
-
-
-
diff --git a/documentation/html/globals.html b/documentation/html/globals.html
deleted file mode 100644
index 2e1ee7b..0000000
--- a/documentation/html/globals.html
+++ /dev/null
@@ -1,92 +0,0 @@
-
-
-
-
-
-
-
-|
- esp32_BNO08x 1.01
-
- C++ BNO08x IMU driver component for esp-idf.
- |
-
1.10.0
-
-
-
diff --git a/documentation/html/globals_enum.html b/documentation/html/globals_enum.html
deleted file mode 100644
index e20477e..0000000
--- a/documentation/html/globals_enum.html
+++ /dev/null
@@ -1,85 +0,0 @@
-
-
-
-
-
-
-
-|
- esp32_BNO08x 1.01
-
- C++ BNO08x IMU driver component for esp-idf.
- |
-
1.10.0
-
-
-
diff --git a/documentation/html/globals_eval.html b/documentation/html/globals_eval.html
deleted file mode 100644
index d15ac0e..0000000
--- a/documentation/html/globals_eval.html
+++ /dev/null
@@ -1,89 +0,0 @@
-
-
-
-
-
-
-
-|
- esp32_BNO08x 1.01
-
- C++ BNO08x IMU driver component for esp-idf.
- |
-
1.10.0
-
-
-
diff --git a/documentation/html/globals_type.html b/documentation/html/globals_type.html
deleted file mode 100644
index 8317567..0000000
--- a/documentation/html/globals_type.html
+++ /dev/null
@@ -1,84 +0,0 @@
-
-
-
-
-
-
-
-|
- esp32_BNO08x 1.01
-
- C++ BNO08x IMU driver component for esp-idf.
- |
-
1.10.0
-
-
-
diff --git a/documentation/html/index.html b/documentation/html/index.html
deleted file mode 100644
index 27ff715..0000000
--- a/documentation/html/index.html
+++ /dev/null
@@ -1,85 +0,0 @@
-
-
-
-
-
-
-
-|
- esp32_BNO08x 1.01
-
- C++ BNO08x IMU driver component for esp-idf.
- |
-
1.10.0
-
-
-
diff --git a/documentation/html/jquery.js b/documentation/html/jquery.js
deleted file mode 100644
index 1dffb65..0000000
--- a/documentation/html/jquery.js
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@@ -1,34 +0,0 @@
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