BNO08x Class Reference

#include <BNO08x.hpp>

Collaboration diagram for BNO08x:

Classes
struct	bno08x_rx_packet_t
	Holds data that is received over spi. More...
struct	bno08x_tx_packet_t
	Holds data that is sent over spi. More...

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 ()
	Requests product ID, prints the returned info over serial, and returns the reason for the most resent 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.
void	register_cb (std::function< void()> cb_fxn)
	Registers a callback to execute when new data from a report is received.
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)
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_RECORD_ID_ACCELEROMETER
	Accelerometer record ID, to be passed in metadata functions like get_Q1()
static const constexpr uint16_t	FRS_RECORD_ID_GYROSCOPE_CALIBRATED
	Calirated gyroscope record ID, to be passed in metadata functions like get_Q1()
static const constexpr uint16_t	FRS_RECORD_ID_MAGNETIC_FIELD_CALIBRATED
	Calibrated magnetometer record ID, to be passed in metadata functions like get_Q1()
static const constexpr uint16_t	FRS_RECORD_ID_ROTATION_VECTOR
	Rotation vector record ID, to be passed in metadata functions like get_Q1()
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_ARVR_STABILIZED_ROTATION_VECTOR = 4
	Tare ARVR stabilized rotation vector.
static const constexpr uint8_t	TARE_ARVR_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 Types
typedef struct BNO08x::bno08x_rx_packet_t	bno08x_rx_packet_t
	Holds data that is received over spi.
typedef struct BNO08x::bno08x_tx_packet_t	bno08x_tx_packet_t
	Holds data that is sent over spi.

Private Member Functions
bool	wait_for_rx_done ()
	Waits for data to be received over SPI, or HOST_INT_TIMEOUT_MS to elapse.
bool	wait_for_tx_done ()
	Waits for a queued packet to be sent or HOST_INT_TIMEOUT_MS to elapse.
bool	wait_for_data ()
	Waits for a valid or invalid packet to be received or HOST_INT_TIMEOUT_MS to elapse.
bool	receive_packet ()
	Receives a SHTP packet via SPI and sends it to data_proc_task()
void	send_packet (bno08x_tx_packet_t *packet)
	Sends a queued SHTP packet via SPI.
void	enable_report (uint8_t report_ID, uint32_t time_between_reports, const EventBits_t report_evt_grp_bit)
	Enables a sensor report for a given ID.
void	disable_report (uint8_t report_ID, const EventBits_t report_evt_grp_bit)
	Disables a sensor report for a given ID by setting its time interval to 0.
void	queue_packet (uint8_t channel_number, uint8_t data_length, uint8_t *commands)
	Queues an SHTP packet to be sent via SPI.
void	queue_command (uint8_t command, uint8_t *commands)
	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.
uint16_t	parse_packet (bno08x_rx_packet_t *packet)
	Parses a packet received from bno08x, updating any data according to received reports.
uint16_t	parse_product_id_report (bno08x_rx_packet_t *packet)
	Parses product id report and prints device info.
uint16_t	parse_frs_read_response_report (bno08x_rx_packet_t *packet)
	Sends packet to be parsed to meta data function call (frs_read_word()) through queue.
uint16_t	parse_input_report (bno08x_rx_packet_t *packet)
	Parses received input report sent by BNO08x.
uint16_t	parse_command_report (bno08x_rx_packet_t *packet)
	Parses received command report sent by BNO08x (See Ref. Manual 6.3.9)
void	print_header (bno08x_rx_packet_t *packet)
	Prints the header of the passed SHTP packet to serial console with ESP_LOG statement.
void	print_packet (bno08x_rx_packet_t *packet)
	Prints the passed SHTP packet to serial console with ESP_LOG statement.
void	spi_task ()
	Task responsible for SPI transactions. Executed when HINT in is asserted by BNO08x.
void	data_proc_task ()
	Task responsible parsing packets. Executed when SPI task sends a packet to be parsed, notifies wait_for_data() call.

Static Private Member Functions
static void	spi_task_trampoline (void *arg)
	Static function used to launch spi task.
static void	data_proc_task_trampoline (void *arg)
	Static function used to launch data processing task.
static void IRAM_ATTR	hint_handler (void *arg)
	HINT interrupt service routine, handles falling edge of BNO08x HINT pin.

Private Attributes
EventGroupHandle_t	evt_grp_spi
	Event group for indicating when bno08x hint pin has triggered and when new data has been processed. Used by calls to sending or receiving functions.
EventGroupHandle_t	evt_grp_report_en
	Event group for indicating which reports are currently enabled.
QueueHandle_t	queue_rx_data
	Packet queue used to send data received from bno08x from spi_task to data_proc_task.
QueueHandle_t	queue_tx_data
	Packet queue used to send data to be sent over SPI from sending functions to spi_task.
QueueHandle_t	queue_frs_read_data
	Queue used to send packet body from data_proc_task to frs read functions.
QueueHandle_t	queue_reset_reason
	Queue used to send reset reason from product id report to reset_reason() function.
std::vector< std::function< void()> >	cb_list
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)
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
TaskHandle_t	data_proc_task_hdl
	data_proc_task() 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 uint16_t	RX_DATA_LENGTH = 300
	length buffer containing data received over spi
static const constexpr uint16_t	MAX_METADATA_LENGTH = 9
	max length of metadata used in frs read operations
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 EventBits_t	EVT_GRP_SPI_RX_DONE_BIT
	When this bit is set it indicates a receive procedure has completed.
static const constexpr EventBits_t	EVT_GRP_SPI_RX_VALID_PACKET
	When this bit is set, it indicates a valid packet has been received and processed.
static const constexpr EventBits_t	EVT_GRP_SPI_RX_INVALID_PACKET
	When this bit is set, it indicates an invalid packet has been received.
static const constexpr EventBits_t	EVT_GRP_SPI_TX_DONE = (1 << 3)
	When this bit is set, it indicates a queued packet has been sent.
static const constexpr EventBits_t	EVT_GRP_RPT_ROTATION_VECTOR_BIT = (1 << 0)
	When set, rotation vector reports are active.
static const constexpr EventBits_t	EVT_GRP_RPT_GAME_ROTATION_VECTOR_BIT = (1 << 1)
	When set, game rotation vector reports are active.
static const constexpr EventBits_t	EVT_GRP_RPT_ARVR_S_ROTATION_VECTOR_BIT
	When set, ARVR stabilized rotation vector reports are active.
static const constexpr EventBits_t	EVT_GRP_RPT_ARVR_S_GAME_ROTATION_VECTOR_BIT
	When set, ARVR stabilized game rotation vector reports are active.
static const constexpr EventBits_t	EVT_GRP_RPT_GYRO_ROTATION_VECTOR_BIT
	When set, gyro integrator rotation vector reports are active.
static const constexpr EventBits_t	EVT_GRP_RPT_ACCELEROMETER_BIT = (1 << 5)
	When set, accelerometer reports are active.
static const constexpr EventBits_t	EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT = (1 << 6)
	When set, linear accelerometer reports are active.
static const constexpr EventBits_t	EVT_GRP_RPT_GRAVITY_BIT = (1 << 7)
	When set, gravity reports are active.
static const constexpr EventBits_t	EVT_GRP_RPT_GYRO_BIT = (1 << 8)
	When set, gyro reports are active.
static const constexpr EventBits_t	EVT_GRP_RPT_GYRO_UNCALIBRATED_BIT = (1 << 9)
	When set, uncalibrated gyro reports are active.
static const constexpr EventBits_t	EVT_GRP_RPT_MAGNETOMETER_BIT = (1 << 10)
	When set, magnetometer reports are active.
static const constexpr EventBits_t	EVT_GRP_RPT_TAP_DETECTOR_BIT = (1 << 11)
	When set, tap detector reports are active.
static const constexpr EventBits_t	EVT_GRP_RPT_STEP_COUNTER_BIT = (1 << 12)
	When set, step counter reports are active.
static const constexpr EventBits_t	EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT = (1 << 13)
	When set, stability classifier reports are active.
static const constexpr EventBits_t	EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT = (1 << 14)
	When set, activity classifier reports are active.
static const constexpr EventBits_t	EVT_GRP_RPT_RAW_ACCELEROMETER_BIT = (1 << 15)
	When set, raw accelerometer reports are active.
static const constexpr EventBits_t	EVT_GRP_RPT_RAW_GYRO_BIT = (1 << 16)
	When set, raw gyro reports are active.
static const constexpr EventBits_t	EVT_GRP_RPT_RAW_MAGNETOMETER_BIT = (1 << 17)
	When set, raw magnetometer reports are active.
static const constexpr EventBits_t	EVT_GRP_RPT_ALL_BITS
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_REPORT_ID_ACCELEROMETER = 0x01
	See SH2 Ref. Manual 6.5.9.
static const constexpr uint8_t	SENSOR_REPORT_ID_GYROSCOPE = 0x02
	See SH2 Ref. Manual 6.5.13.
static const constexpr uint8_t	SENSOR_REPORT_ID_MAGNETIC_FIELD = 0x03
	See SH2 Ref. Manual 6.5.16.
static const constexpr uint8_t	SENSOR_REPORT_ID_LINEAR_ACCELERATION = 0x04
	See SH2 Ref. Manual 6.5.10.
static const constexpr uint8_t	SENSOR_REPORT_ID_ROTATION_VECTOR = 0x05
	See SH2 Ref. Manual 6.5.18.
static const constexpr uint8_t	SENSOR_REPORT_ID_GRAVITY = 0x06
	See SH2 Ref. Manual 6.5.11.
static const constexpr uint8_t	SENSOR_REPORT_ID_UNCALIBRATED_GYRO = 0x07
	See SH2 Ref. Manual 6.5.14.
static const constexpr uint8_t	SENSOR_REPORT_ID_GAME_ROTATION_VECTOR = 0x08
	See SH2 Ref. Manual 6.5.19.
static const constexpr uint8_t	SENSOR_REPORT_ID_GEOMAGNETIC_ROTATION_VECTOR = 0x09
	See SH2 Ref. Manual 6.5.20.
static const constexpr uint8_t	SENSOR_REPORT_ID_GYRO_INTEGRATED_ROTATION_VECTOR = 0x2A
	See SH2 Ref. Manual 6.5.44.
static const constexpr uint8_t	SENSOR_REPORT_ID_TAP_DETECTOR = 0x10
	See SH2 Ref. Manual 6.5.27.
static const constexpr uint8_t	SENSOR_REPORT_ID_STEP_COUNTER = 0x11
	See SH2 Ref. Manual 6.5.29.
static const constexpr uint8_t	SENSOR_REPORT_ID_STABILITY_CLASSIFIER = 0x13
	See SH2 Ref. Manual 6.5.31.
static const constexpr uint8_t	SENSOR_REPORT_ID_RAW_ACCELEROMETER = 0x14
	See SH2 Ref. Manual 6.5.8.
static const constexpr uint8_t	SENSOR_REPORT_ID_RAW_GYROSCOPE = 0x15
	See SH2 Ref. Manual 6.5.12.
static const constexpr uint8_t	SENSOR_REPORT_ID_RAW_MAGNETOMETER = 0x16
	See SH2 Ref. Manual 6.5.15.
static const constexpr uint8_t	SENSOR_REPORT_ID_PERSONAL_ACTIVITY_CLASSIFIER = 0x1E
	See SH2 Ref. Manual 6.5.36.
static const constexpr uint8_t	SENSOR_REPORT_ID_ARVR_STABILIZED_ROTATION_VECTOR = 0x28
	See SH2 Ref. Manual 6.5.42.
static const constexpr uint8_t	SENSOR_REPORT_ID_ARVR_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.

Member Typedef Documentation

bno08x_rx_packet_t

typedef struct BNO08x::bno08x_rx_packet_t BNO08x::bno08x_rx_packet_t

private

Holds data that is received over spi.

bno08x_tx_packet_t

typedef struct BNO08x::bno08x_tx_packet_t BNO08x::bno08x_tx_packet_t

private

Holds data that is sent over spi.

Constructor & Destructor Documentation

BNO08x()

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.

Parameters

imu_config

Configuration settings (optional), default settings can be seen in bno08x_config_t

Returns

void, nothing to return

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Member Function Documentation

calibrate_accelerometer()

void BNO08x::calibrate_accelerometer

(

)

Sends command to calibrate accelerometer.

Returns

void, nothing to return

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calibrate_all()

void BNO08x::calibrate_all

(

)

Sends command to calibrate accelerometer, gyro, and magnetometer.

Returns

void, nothing to return

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calibrate_gyro()

void BNO08x::calibrate_gyro

(

)

Sends command to calibrate gyro.

Returns

void, nothing to return

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calibrate_magnetometer()

void BNO08x::calibrate_magnetometer

(

)

Sends command to calibrate magnetometer.

Returns

void, nothing to return

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calibrate_planar_accelerometer()

void BNO08x::calibrate_planar_accelerometer

(

)

Sends command to calibrate planar accelerometer.

Returns

void, nothing to return

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calibration_complete()

bool BNO08x::calibration_complete

(

)

Returns true if calibration has completed.

Returns

void, nothing to return

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clear_tare()

void BNO08x::clear_tare

(

)

Sends command to clear persistent tare settings in non-volatile memory of BNO08x (See Ref. Manual 6.4.4.3)

Returns

void, nothing to return

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data_available()

bool BNO08x::data_available

(

)

Checks if BNO08x has asserted interrupt and sent data.

Returns

true if new data has been parsed and saved

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data_proc_task()

void BNO08x::data_proc_task ( )

private

Task responsible parsing packets. Executed when SPI task sends a packet to be parsed, notifies wait_for_data() call.

Returns

void, nothing to return

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data_proc_task_trampoline()

void BNO08x::data_proc_task_trampoline ( void * arg )

staticprivate

Static function used to launch data processing task.

Used such that data_proc_task() can be non-static class member.

Parameters

arg	void pointer to BNO08x imu object

Returns

void, nothing to return

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disable_accelerometer()

void BNO08x::disable_accelerometer

(

)

Sends command to disable accelerometer reports by setting report interval to 0.

Returns

void, nothing to return

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disable_activity_classifier()

void BNO08x::disable_activity_classifier

(

)

Sends command to disable activity classifier reports by setting report interval to 0.

Returns

void, nothing to return

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disable_ARVR_stabilized_game_rotation_vector()

void BNO08x::disable_ARVR_stabilized_game_rotation_vector

(

)

Sends command to disable ARVR stabilized game rotation vector reports by setting report interval to 0.

Returns

void, nothing to return

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disable_ARVR_stabilized_rotation_vector()

void BNO08x::disable_ARVR_stabilized_rotation_vector

(

)

Sends command to disable ARVR stabilized rotation vector reports by setting report interval to 0.

Returns

void, nothing to return

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disable_game_rotation_vector()

void BNO08x::disable_game_rotation_vector

(

)

Sends command to disable game rotation vector reports by setting report interval to 0.

Returns

void, nothing to return

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disable_gravity()

void BNO08x::disable_gravity

(

)

Sends command to disable gravity reports by setting report interval to 0.

Returns

void, nothing to return

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disable_gyro()

void BNO08x::disable_gyro

(

)

Sends command to disable gyro reports by setting report interval to 0.

Returns

void, nothing to return

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disable_gyro_integrated_rotation_vector()

void BNO08x::disable_gyro_integrated_rotation_vector

(

)

Sends command to disable gyro integrated rotation vector reports by setting report interval to 0.

Returns

void, nothing to return

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disable_linear_accelerometer()

void BNO08x::disable_linear_accelerometer

(

)

Sends command to disable linear accelerometer reports by setting report interval to 0.

Returns

void, nothing to return

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disable_magnetometer()

void BNO08x::disable_magnetometer

(

)

Sends command to disable magnetometer reports by setting report interval to 0.

Returns

void, nothing to return

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disable_raw_accelerometer()

void BNO08x::disable_raw_accelerometer

(

)

Sends command to disable raw accelerometer reports by setting report interval to 0.

Returns

void, nothing to return

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disable_raw_gyro()

void BNO08x::disable_raw_gyro

(

)

Sends command to disable raw gyro reports by setting report interval to 0.

Returns

void, nothing to return

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disable_raw_magnetometer()

void BNO08x::disable_raw_magnetometer

(

)

Sends command to disable raw magnetometer reports by setting report interval to 0.

Returns

void, nothing to return

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disable_report()

void BNO08x::disable_report ( uint8_t report_ID, const EventBits_t report_evt_grp_bit )

private

Disables a sensor report for a given ID by setting its time interval to 0.

Parameters

report_ID	The report ID of the sensor, i.e. SENSOR_REPORT_ID_X
report_evt_grp_bit	The event group bit for the respective report, to indicate to spi_task() it's disabled, i.e. EVT_GRP_RPT_X

If no reports are enabled after disabling, this function will disable interrupts on hint pin.

Returns

void, nothing to return

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disable_rotation_vector()

void BNO08x::disable_rotation_vector

(

)

Sends command to disable rotation vector reports by setting report interval to 0.

Returns

void, nothing to return

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disable_stability_classifier()

void BNO08x::disable_stability_classifier

(

)

Sends command to disable stability reports by setting report interval to 0.

Returns

void, nothing to return

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disable_step_counter()

void BNO08x::disable_step_counter

(

)

Sends command to disable step counter reports by setting report interval to 0.

Returns

void, nothing to return

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disable_tap_detector()

void BNO08x::disable_tap_detector

(

)

Sends command to disable tap detector reports by setting report interval to 0.

Returns

void, nothing to return

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disable_uncalibrated_gyro()

void BNO08x::disable_uncalibrated_gyro

(

)

Sends command to disable uncalibrated gyro reports by setting report interval to 0.

Returns

void, nothing to return

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enable_accelerometer()

void BNO08x::enable_accelerometer

(

uint32_t

time_between_reports

)

Sends command to enable accelerometer reports (See Ref. Manual 6.5.9)

Parameters

time_between_reports

Desired time between reports in microseconds.

Returns

void, nothing to return

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enable_activity_classifier()

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)

Parameters

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.

Returns

void, nothing to return

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enable_ARVR_stabilized_game_rotation_vector()

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)

Parameters

time_between_reports

Desired time between reports in microseconds.

Returns

void, nothing to return

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enable_ARVR_stabilized_rotation_vector()

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)

Parameters

time_between_reports

Desired time between reports in microseconds.

Returns

void, nothing to return

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enable_game_rotation_vector()

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)

Parameters

time_between_reports

Desired time between reports in microseconds.

Returns

void, nothing to return

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enable_gravity()

void BNO08x::enable_gravity

(

uint32_t

time_between_reports

)

Sends command to enable gravity reading reports (See Ref. Manual 6.5.11)

Parameters

time_between_reports

Desired time between reports in microseconds.

Returns

void, nothing to return

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enable_gyro()

void BNO08x::enable_gyro

(

uint32_t

time_between_reports

)

Sends command to enable gyro reports (See Ref. Manual 6.5.13)

Parameters

time_between_reports

Desired time between reports in microseconds.

Returns

void, nothing to return

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enable_gyro_integrated_rotation_vector()

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)

Parameters

time_between_reports

Desired time between reports in microseconds.

Returns

void, nothing to return

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enable_linear_accelerometer()

void BNO08x::enable_linear_accelerometer

(

uint32_t

time_between_reports

)

Sends command to enable linear accelerometer reports (See Ref. Manual 6.5.10)

Parameters

time_between_reports

Desired time between reports in microseconds.

Returns

void, nothing to return

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enable_magnetometer()

void BNO08x::enable_magnetometer

(

uint32_t

time_between_reports

)

Sends command to enable magnetometer reports (See Ref. Manual 6.5.16)

Parameters

time_between_reports

Desired time between reports in microseconds.

Returns

void, nothing to return

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enable_raw_accelerometer()

void BNO08x::enable_raw_accelerometer

(

uint32_t

time_between_reports

)

Sends command to enable raw accelerometer reports (See Ref. Manual 6.5.8)

Parameters

time_between_reports

Desired time between reports in microseconds.

Returns

void, nothing to return

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enable_raw_gyro()

void BNO08x::enable_raw_gyro

(

uint32_t

time_between_reports

)

Sends command to enable raw gyro reports (See Ref. Manual 6.5.12)

Parameters

time_between_reports

Desired time between reports in microseconds.

Returns

void, nothing to return

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enable_raw_magnetometer()

void BNO08x::enable_raw_magnetometer

(

uint32_t

time_between_reports

)

Sends command to enable raw magnetometer reports (See Ref. Manual 6.5.15)

Parameters

time_between_reports

Desired time between reports in microseconds.

Returns

void, nothing to return

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enable_report()

void BNO08x::enable_report ( uint8_t report_ID, uint32_t time_between_reports, const EventBits_t report_evt_grp_bit )

private

Enables a sensor report for a given ID.

Parameters

report_ID	The report ID of the sensor, i.e. SENSOR_REPORT_ID_X
time_between_reports	The desired time in microseconds between each report. The BNO08x will send reports according to this interval.
report_evt_grp_bit	The event group bit for the respective report, to indicate to spi_task() it's enabled, i.e. EVT_GRP_RPT_X

If no reports were enabled prior to call, this function will re-enable interrupts on hint pin.

Returns

void, nothing to return

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enable_rotation_vector()

void BNO08x::enable_rotation_vector

(

uint32_t

time_between_reports

)

Sends command to enable rotation vector reports (See Ref. Manual 6.5.18)

Parameters

time_between_reports

Desired time between reports in microseconds.

Returns

void, nothing to return

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enable_stability_classifier()

void BNO08x::enable_stability_classifier

(

uint32_t

time_between_reports

)

Sends command to enable activity stability classifier reports (See Ref. Manual 6.5.31)

Parameters

time_between_reports

Desired time between reports in microseconds.

Returns

void, nothing to return

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enable_step_counter()

void BNO08x::enable_step_counter

(

uint32_t

time_between_reports

)

Sends command to enable step counter reports (See Ref. Manual 6.5.29)

Parameters

time_between_reports

Desired time between reports in microseconds.

Returns

void, nothing to return

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enable_tap_detector()

void BNO08x::enable_tap_detector

(

uint32_t

time_between_reports

)

Sends command to enable tap detector reports (See Ref. Manual 6.5.27)

Parameters

time_between_reports

Desired time between reports in microseconds.

Returns

void, nothing to return

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enable_uncalibrated_gyro()

void BNO08x::enable_uncalibrated_gyro

(

uint32_t

time_between_reports

)

Sends command to enable uncalibrated gyro reports (See Ref. Manual 6.5.14)

Parameters

time_between_reports

Desired time between reports in microseconds.

Returns

void, nothing to return

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end_calibration()

void BNO08x::end_calibration

(

)

Sends command to end calibration procedure.

Returns

void, nothing to return

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FRS_read_data()

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.

Parameters

record_ID	Which record ID/ sensor to request meta data from.
start_location	Start byte location.
words_to_read	Length of words to read.

Returns

True if meta data read successfully.

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FRS_read_request()

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.

Parameters

record_ID	Which record ID/ sensor to request meta data from.
start_location	Start byte location.
words_to_read	Length of words to read.

Returns

True if read request acknowledged (HINT was asserted)

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FRS_read_word()

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.

Parameters

record_ID	Which record ID/ sensor to request meta data from.
word_number	Desired word to read.

Returns

Requested meta data word, 0 if failed.

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get_accel()

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).

Parameters

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.

Returns

void, nothing to return

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get_accel_accuracy()

uint8_t BNO08x::get_accel_accuracy

(

)

Get accuracy of linear acceleration.

Returns

Accuracy of linear acceleration.

get_accel_X()

float BNO08x::get_accel_X

(

)

Get x axis acceleration (total acceleration of device, units in m/s^2).

Returns

The angular reported x axis acceleration.

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get_accel_Y()

float BNO08x::get_accel_Y

(

)

Get y axis acceleration (total acceleration of device, units in m/s^2).

Returns

The angular reported y axis acceleration.

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get_accel_Z()

float BNO08x::get_accel_Z

(

)

Get z axis acceleration (total acceleration of device, units in m/s^2).

Returns

The angular reported z axis acceleration.

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get_activity_classifier()

uint8_t BNO08x::get_activity_classifier

(

)

Get the current activity classifier (Seee Ref. Manual 6.5.36)

Returns

The current activity: 0 = unknown 1 = in vehicle 2 = on bicycle 3 = on foot 4 = still 5 = tilting 6 = walking 7 = runnning 8 = on stairs

get_gravity()

void BNO08x::get_gravity	(	float &	x,
		float &	y,
		float &	z,
		uint8_t &	accuracy )

Get full reported gravity vector, units in m/s^2.

Parameters

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.

Returns

void, nothing to return

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get_gravity_accuracy()

uint8_t BNO08x::get_gravity_accuracy

(

)

Get the reported gravity accuracy.

Returns

Accuracy of reported gravity.

get_gravity_X()

float BNO08x::get_gravity_X

(

)

Get the reported x axis gravity.

Returns

x axis gravity in m/s^2

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get_gravity_Y()

float BNO08x::get_gravity_Y

(

)

Get the reported y axis gravity.

Returns

y axis gravity in m/s^2

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get_gravity_Z()

float BNO08x::get_gravity_Z

(

)

Get the reported z axis gravity.

Returns

z axis gravity in m/s^2

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get_gyro_accuracy()

uint8_t BNO08x::get_gyro_accuracy

(

)

Get calibrated gyro accuracy.

Returns

Accuracy of calibrated gyro.

get_gyro_calibrated_velocity()

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).

Parameters

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.

Returns

void, nothing to return

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get_gyro_calibrated_velocity_X()

float BNO08x::get_gyro_calibrated_velocity_X

(

)

Get calibrated gyro x axis angular velocity measurement.

Returns

The angular reported x axis angular velocity from calibrated gyro (drift compensation applied).

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get_gyro_calibrated_velocity_Y()

float BNO08x::get_gyro_calibrated_velocity_Y

(

)

Get calibrated gyro y axis angular velocity measurement.

Returns

The angular reported y axis angular velocity from calibrated gyro (drift compensation applied).

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get_gyro_calibrated_velocity_Z()

float BNO08x::get_gyro_calibrated_velocity_Z

(

)

Get calibrated gyro z axis angular velocity measurement.

Returns

The angular reported z axis angular velocity from calibrated gyro (drift compensation applied).

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get_gyro_velocity()

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)

Parameters

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

Returns

void, nothing to return

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get_gyro_velocity_X()

float BNO08x::get_gyro_velocity_X

(

)

Get x axis angular velocity from gyro-integrated rotation vector. (See Ref. Manual 6.5.44)

Returns

The reported x axis angular velocity.

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get_gyro_velocity_Y()

float BNO08x::get_gyro_velocity_Y

(

)

Get y axis angular velocity from gyro-integrated rotation vector. (See Ref. Manual 6.5.44)

Returns

The reported y axis angular velocity.

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get_gyro_velocity_Z()

float BNO08x::get_gyro_velocity_Z

(

)

Get z axis angular velocity from gyro-integrated rotation vector. (See Ref. Manual 6.5.44)

Returns

The reported Z axis angular velocity.

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get_linear_accel()

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).

Parameters

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.

Returns

void, nothing to return

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get_linear_accel_accuracy()

uint8_t BNO08x::get_linear_accel_accuracy

(

)

Get accuracy of linear acceleration.

Returns

Accuracy of linear acceleration.

get_linear_accel_X()

float BNO08x::get_linear_accel_X

(

)

Get x axis linear acceleration (acceleration of device minus gravity, units in m/s^2)

Returns

The angular reported x axis linear acceleration.

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get_linear_accel_Y()

float BNO08x::get_linear_accel_Y

(

)

Get y axis linear acceleration (acceleration of device minus gravity, units in m/s^2)

Returns

The angular reported y axis linear acceleration.

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get_linear_accel_Z()

float BNO08x::get_linear_accel_Z

(

)

Get z axis linear acceleration (acceleration of device minus gravity, units in m/s^2)

Returns

The angular reported z axis linear acceleration.

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get_magf()

void BNO08x::get_magf	(	float &	x,
		float &	y,
		float &	z,
		uint8_t &	accuracy )

Get the full magnetic field vector.

Parameters

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.

Returns

void, nothing to return

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get_magf_accuracy()

uint8_t BNO08x::get_magf_accuracy

(

)

Get accuracy of reported magnetic field vector.

Returns

The accuracy of reported magnetic field vector.

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get_magf_X()

float BNO08x::get_magf_X

(

)

Get X component of magnetic field vector.

Returns

The reported X component of magnetic field vector.

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get_magf_Y()

float BNO08x::get_magf_Y

(

)

Get Y component of magnetic field vector.

Returns

The reported Y component of magnetic field vector.

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get_magf_Z()

float BNO08x::get_magf_Z

(

)

Get Z component of magnetic field vector.

Returns

The reported Z component of magnetic field vector.

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get_pitch()

float BNO08x::get_pitch

(

)

Get the reported rotation about y axis.

Returns

Rotation about the y axis in radians.

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get_pitch_deg()

float BNO08x::get_pitch_deg

(

)

Get the reported rotation about y axis.

Returns

Rotation about the y axis in degrees.

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get_Q1()

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.

Parameters

record_ID

Which record ID/ sensor to get Q1 value for.

Returns

Q1 value for requested sensor.

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get_Q2()

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.

Parameters

record_ID

Which record ID/ sensor to get Q2 value for.

Returns

Q2 value for requested sensor.

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get_Q3()

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.

Parameters

record_ID

Which record ID/ sensor to get Q3 value for.

Returns

Q3 value for requested sensor.

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get_quat()

void BNO08x::get_quat	(	float &	i,
		float &	j,
		float &	k,
		float &	real,
		float &	rad_accuracy,
		uint8_t &	accuracy )

Get the full quaternion reading.

Parameters

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.

Returns

void, nothing to return

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get_quat_accuracy()

uint8_t BNO08x::get_quat_accuracy

(

)

Get accuracy of reported quaternion.

Returns

The accuracy of reported quaternion.

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get_quat_I()

float BNO08x::get_quat_I

(

)

Get I component of reported quaternion.

Returns

The I component of reported quaternion.

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get_quat_J()

float BNO08x::get_quat_J

(

)

Get J component of reported quaternion.

Returns

The J component of reported quaternion.

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get_quat_K()

float BNO08x::get_quat_K

(

)

Get K component of reported quaternion.

Returns

The K component of reported quaternion.

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get_quat_radian_accuracy()

float BNO08x::get_quat_radian_accuracy

(

)

Get radian accuracy of reported quaternion.

Returns

The radian accuracy of reported quaternion.

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get_quat_real()

float BNO08x::get_quat_real

(

)

Get real component of reported quaternion.

Returns

The real component of reported quaternion.

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get_range()

float BNO08x::get_range

(

uint16_t

record_ID

)

Gets range from BNO08x FRS (flash record system).

Parameters

record_ID

Which record ID/ sensor to get range value for.

Returns

The range value for the requested sensor.

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get_raw_accel_X()

int16_t BNO08x::get_raw_accel_X

(

)

Get raw accelerometer x axis reading from physical accelerometer MEMs sensor (See Ref. Manual 6.5.8)

Returns

Reported raw accelerometer x axis reading from physical MEMs sensor.

get_raw_accel_Y()

int16_t BNO08x::get_raw_accel_Y

(

)

Get raw accelerometer y axis reading from physical accelerometer MEMs sensor (See Ref. Manual 6.5.8)

Returns

Reported raw accelerometer y axis reading from physical MEMs sensor.

get_raw_accel_Z()

int16_t BNO08x::get_raw_accel_Z

(

)

Get raw accelerometer z axis reading from physical accelerometer MEMs sensor (See Ref. Manual 6.5.8)

Returns

Reported raw accelerometer z axis reading from physical MEMs sensor.

get_raw_gyro_X()

int16_t BNO08x::get_raw_gyro_X

(

)

Get raw gyroscope x axis reading from physical gyroscope MEMs sensor (See Ref. Manual 6.5.12)

Returns

Reported raw gyroscope x axis reading from physical MEMs sensor.

get_raw_gyro_Y()

int16_t BNO08x::get_raw_gyro_Y

(

)

Get raw gyroscope y axis reading from physical gyroscope MEMs sensor (See Ref. Manual 6.5.12)

Returns

Reported raw gyroscope y axis reading from physical MEMs sensor.

get_raw_gyro_Z()

int16_t BNO08x::get_raw_gyro_Z

(

)

Get raw gyroscope z axis reading from physical gyroscope MEMs sensor (See Ref. Manual 6.5.12)

Returns

Reported raw gyroscope z axis reading from physical MEMs sensor.

get_raw_magf_X()

int16_t BNO08x::get_raw_magf_X

(

)

Get raw magnetometer x axis reading from physical magnetometer sensor (See Ref. Manual 6.5.15)

Returns

Reported raw magnetometer x axis reading from physical magnetometer sensor.

get_raw_magf_Y()

int16_t BNO08x::get_raw_magf_Y

(

)

Get raw magnetometer y axis reading from physical magnetometer sensor (See Ref. Manual 6.5.15)

Returns

Reported raw magnetometer y axis reading from physical magnetometer sensor.

get_raw_magf_Z()

int16_t BNO08x::get_raw_magf_Z

(

)

Get raw magnetometer z axis reading from physical magnetometer sensor (See Ref. Manual 6.5.15)

Returns

Reported raw magnetometer z axis reading from physical magnetometer sensor.

get_reset_reason()

uint8_t BNO08x::get_reset_reason

(

)

Requests product ID, prints the returned info over serial, and returns the reason for the most resent reset.

Returns

The reason for the most recent recent reset ( 1 = POR (power on reset), 2 = internal reset, 3 = watchdog timer, 4 = external reset 5 = other)

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get_resolution()

float BNO08x::get_resolution

(

uint16_t

record_ID

)

Gets resolution from BNO08x FRS (flash record system).

Parameters

record_ID

Which record ID/ sensor to get resolution value for.

Returns

The resolution value for the requested sensor.

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get_roll()

float BNO08x::get_roll

(

)

Get the reported rotation about x axis.

Returns

Rotation about the x axis in radians.

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get_roll_deg()

float BNO08x::get_roll_deg

(

)

Get the reported rotation about x axis.

Returns

Rotation about the x axis in degrees.

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get_stability_classifier()

int8_t BNO08x::get_stability_classifier

(

)

Get the current stability classifier (Seee Ref. Manual 6.5.31)

Returns

The current stability (0 = unknown, 1 = on table, 2 = stationary)

get_step_count()

uint16_t BNO08x::get_step_count

(

)

Get the counted amount of steps.

Returns

The current amount of counted steps.

get_tap_detector()

uint8_t BNO08x::get_tap_detector

(

)

Get if tap has occured.

Returns

7 bit tap code indicated which axis taps have occurred. (See Ref. Manual 6.5.27)

get_time_stamp()

uint32_t BNO08x::get_time_stamp

(

)

Return timestamp of most recent report.

Returns

void, nothing to return

get_uncalibrated_gyro()

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.

Parameters

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.

Returns

void, nothing to return

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get_uncalibrated_gyro_accuracy()

uint8_t BNO08x::get_uncalibrated_gyro_accuracy

(

)

Get uncalibrated gyro accuracy.

Returns

Accuracy of uncalibrated gyro.

get_uncalibrated_gyro_bias_X()

float BNO08x::get_uncalibrated_gyro_bias_X

(

)

Get uncalibrated gyro x axis drift estimate.

Returns

The angular reported x axis drift estimate.

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get_uncalibrated_gyro_bias_Y()

float BNO08x::get_uncalibrated_gyro_bias_Y

(

)

Get uncalibrated gyro Y axis drift estimate.

Returns

The angular reported Y axis drift estimate.

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get_uncalibrated_gyro_bias_Z()

float BNO08x::get_uncalibrated_gyro_bias_Z

(

)

Get uncalibrated gyro Z axis drift estimate.

Returns

The angular reported Z axis drift estimate.

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get_uncalibrated_gyro_X()

float BNO08x::get_uncalibrated_gyro_X

(

)

Get uncalibrated gyro x axis angular velocity measurement.

Returns

The angular reported x axis angular velocity from uncalibrated gyro.

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get_uncalibrated_gyro_Y()

float BNO08x::get_uncalibrated_gyro_Y

(

)

Get uncalibrated gyro Y axis angular velocity measurement.

Returns

The angular reported Y axis angular velocity from uncalibrated gyro.

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get_uncalibrated_gyro_Z()

float BNO08x::get_uncalibrated_gyro_Z

(

)

Get uncalibrated gyro Z axis angular velocity measurement.

Returns

The angular reported Z axis angular velocity from uncalibrated gyro.

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get_yaw()

float BNO08x::get_yaw

(

)

Get the reported rotation about z axis.

Returns

Rotation about the z axis in radians.

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get_yaw_deg()

float BNO08x::get_yaw_deg

(

)

Get the reported rotation about z axis.

Returns

Rotation about the z axis in degrees.

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hard_reset()

bool BNO08x::hard_reset

(

)

Hard resets BNO08x sensor.

Returns

void, nothing to return

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hint_handler()

void IRAM_ATTR BNO08x::hint_handler ( void * arg )

staticprivate

HINT interrupt service routine, handles falling edge of BNO08x HINT pin.

ISR that launches SPI task to perform transaction upon assertion of BNO08x interrupt pin.

Returns

void, nothing to return

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initialize()

bool BNO08x::initialize

(

)

Initializes BNO08x sensor.

Resets sensor and goes through initializing process outlined in BNO08x datasheet. Launches two tasks, one to manage SPI transactions, another to process any received data.

Returns

void, nothing to return

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mode_on()

bool BNO08x::mode_on

(

)

Turns on/ brings BNO08x sensor out of sleep mode using executable channel.

Returns

True if exiting sleep mode was success.

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mode_sleep()

bool BNO08x::mode_sleep

(

)

Puts BNO08x sensor into sleep/low power mode using executable channel.

Returns

True if entering sleep mode was success.

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parse_command_report()

uint16_t BNO08x::parse_command_report ( bno08x_rx_packet_t * packet )

private

Parses received command report sent by BNO08x (See Ref. Manual 6.3.9)

Returns

The command report ID, 0 if invalid.

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parse_frs_read_response_report()

uint16_t BNO08x::parse_frs_read_response_report ( bno08x_rx_packet_t * packet )

private

Sends packet to be parsed to meta data function call (frs_read_word()) through queue.

Parameters

packet

The packet containing the frs read report.

Returns

1, always valid, parsing for this happens in frs_read_word()

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parse_input_report()

uint16_t BNO08x::parse_input_report ( bno08x_rx_packet_t * packet )

private

Parses received input report sent by BNO08x.

Unit responds with packet that contains the following:

packet->header[0:3]: First, a 4 byte header packet->body[0:4]: Then a 5 byte timestamp of microsecond ticks since reading was taken packet->body[5 + 0]: Then a feature report ID (0x01 for Accel, 0x05 for Rotation Vector, etc...) packet->body[5 + 1]: Sequence number (See Ref.Manual 6.5.8.2) packet->body[5 + 2]: Status packet->body[3]: Delay packet->body[4:5]: i/accel x/gyro x/etc packet->body[6:7]: j/accel y/gyro y/etc packet->body[8:9]: k/accel z/gyro z/etc packet->body[10:11]: real/gyro temp/etc packet->body[12:13]: Accuracy estimate

Returns

The report ID of the respective sensor, for ex. SENSOR_REPORT_ID_GYRO_INTEGRATED_ROTATION_VECTOR, 0 if invalid.

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parse_packet()

uint16_t BNO08x::parse_packet ( bno08x_rx_packet_t * packet )

private

Parses a packet received from bno08x, updating any data according to received reports.

Parameters

packet

The packet to be parsed.

Returns

0 if invalid packet.

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parse_product_id_report()

uint16_t BNO08x::parse_product_id_report ( bno08x_rx_packet_t * packet )

private

Parses product id report and prints device info.

Parameters

packet

The packet containing product id report.

Returns

1, always valid.

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print_header()

void BNO08x::print_header ( bno08x_rx_packet_t * packet )

private

Prints the header of the passed SHTP packet to serial console with ESP_LOG statement.

Parameters

packet

The packet containing the header to be printed.

Returns

void, nothing to return

print_packet()

void BNO08x::print_packet ( bno08x_rx_packet_t * packet )

private

Prints the passed SHTP packet to serial console with ESP_LOG statement.

Parameters

packet

The packet to be printed.

Returns

void, nothing to return

q_to_float()

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))

Parameters

q_point	Q point value associated with register.
fixed_point_value	The fixed point value to convert.

Returns

void, nothing to return

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queue_calibrate_command()

void BNO08x::queue_calibrate_command ( uint8_t sensor_to_calibrate )

private

Queues a packet containing a command to calibrate the specified sensor.

Parameters

sensor_to_calibrate

The sensor to calibrate.

Returns

void, nothing to return

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queue_command()

void BNO08x::queue_command ( uint8_t command, uint8_t * commands )

private

Queues a packet containing a command.

Parameters

command	The command to be sent.
commands	Command data array, pre-packed with exception of first 3 elements (command info)

Returns

void, nothing to return

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queue_feature_command() [1/2]

void BNO08x::queue_feature_command ( uint8_t report_ID, uint32_t time_between_reports )

private

Queues a packet containing a command with a request for sensor reports, reported periodically. (See Ref. Manual 6.5.4)

Parameters

report_ID	ID of sensor report being requested.
time_between_reports	Desired time between reports.

Returns

void, nothing to return

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queue_feature_command() [2/2]

void BNO08x::queue_feature_command ( uint8_t report_ID, uint32_t time_between_reports, uint32_t specific_config )

private

Queues a packet containing a command with a request for sensor reports, reported periodically. (See Ref. Manual 6.5.4)

Parameters

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)

Returns

void, nothing to return

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queue_packet()

void BNO08x::queue_packet ( uint8_t channel_number, uint8_t data_length, uint8_t * commands )

private

Queues an SHTP packet to be sent via SPI.

Returns

void, nothing to return

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queue_request_product_id_command()

void BNO08x::queue_request_product_id_command ( )

private

Queues a packet containing the request product ID command.

Returns

void, nothing to return

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queue_tare_command()

void BNO08x::queue_tare_command ( uint8_t command, uint8_t axis = TARE_AXIS_ALL, uint8_t rotation_vector_basis = TARE_ROTATION_VECTOR )

private

Queues a packet containing a command related to zeroing sensor's axes. (See Ref. Manual 6.4.4.1)

Parameters

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..)

Returns

void, nothing to return

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receive_packet()

bool BNO08x::receive_packet ( )

private

Receives a SHTP packet via SPI and sends it to data_proc_task()

Returns

void, nothing to return

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register_cb()

void BNO08x::register_cb

(

std::function< void()>

cb_fxn

)

Registers a callback to execute when new data from a report is received.

Parameters

cb_fxn

Pointer to the call-back function should be of void return type and void input parameters.

Returns

void, nothing to return

request_calibration_status()

void BNO08x::request_calibration_status

(

)

Requests ME calibration status from BNO08x (see Ref. Manual 6.4.7.2)

Returns

void, nothing to return

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run_full_calibration_routine()

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.

Returns

void, nothing to return

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save_calibration()

void BNO08x::save_calibration

(

)

Sends command to save internal calibration data (See Ref. Manual 6.4.7).

Returns

void, nothing to return

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save_tare()

void BNO08x::save_tare

(

)

Sends command to save tare into non-volatile memory of BNO08x (See Ref. Manual 6.4.4.2)

Returns

void, nothing to return

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send_packet()

void BNO08x::send_packet ( bno08x_tx_packet_t * packet )

private

Sends a queued SHTP packet via SPI.

Parameters

packet

The packet queued to be sent.

Returns

void, nothing to return

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soft_reset()

bool BNO08x::soft_reset

(

)

Soft resets BNO08x sensor using executable channel.

Returns

True if reset was success.

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spi_task()

void BNO08x::spi_task ( )

private

Task responsible for SPI transactions. Executed when HINT in is asserted by BNO08x.

Returns

void, nothing to return

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spi_task_trampoline()

void BNO08x::spi_task_trampoline ( void * arg )

staticprivate

Static function used to launch spi task.

Used such that spi_task() can be non-static class member.

Parameters

arg	void pointer to BNO08x imu object

Returns

void, nothing to return

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tare_now()

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)

Parameters

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..

Returns

void, nothing to return

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wait_for_data()

bool BNO08x::wait_for_data ( )

private

Waits for a valid or invalid packet to be received or HOST_INT_TIMEOUT_MS to elapse.

If no reports are currently enabled the hint pin interrupt will be re-enabled by this function.

Returns

True if valid packet has been received within HOST_INT_TIMEOUT_MS, false if otherwise.

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wait_for_rx_done()

bool BNO08x::wait_for_rx_done ( )

private

Waits for data to be received over SPI, or HOST_INT_TIMEOUT_MS to elapse.

If no reports are currently enabled the hint pin interrupt will be re-enabled by this function. This function is for when the validity of packets is not a concern, it is for flushing packets we do not care about.

Returns

True if data has been received over SPI within HOST_INT_TIMEOUT_MS.

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wait_for_tx_done()

bool BNO08x::wait_for_tx_done ( )

private

Waits for a queued packet to be sent or HOST_INT_TIMEOUT_MS to elapse.

If no reports are currently enabled the hint pin interrupt will be re-enabled by this function.

Returns

True if packet was sent within HOST_INT_TIMEOUT_MS, false if otherwise.

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Member Data Documentation

accel_accuracy

uint16_t BNO08x::accel_accuracy

private

Raw acceleration readings (See SH-2 Ref. Manual 6.5.8)

accel_lin_accuracy

uint16_t BNO08x::accel_lin_accuracy

private

Raw linear acceleration (See SH-2 Ref. Manual 6.5.10)

ACCELEROMETER_Q1

const constexpr int16_t BNO08x::ACCELEROMETER_Q1 = 8

staticconstexpr

Acceleration Q point (See SH-2 Ref. Manual 6.5.9)

activity_classifier

uint8_t BNO08x::activity_classifier

private

Activity status reading (See SH-2 Ref. Manual 6.5.36)

activity_confidences

uint8_t* BNO08x::activity_confidences

private

Confidence of read activities (See SH-2 Ref. Manual 6.5.36)

ANGULAR_VELOCITY_Q1

const constexpr int16_t BNO08x::ANGULAR_VELOCITY_Q1 = 10

staticconstexpr

Angular velocity Q point (See SH-2 Ref. Manual 6.5.44)

bus_config

spi_bus_config_t BNO08x::bus_config {}

private

SPI bus GPIO configuration settings.

CALIBRATE_ACCEL

const constexpr uint8_t BNO08x::CALIBRATE_ACCEL = 0

staticconstexprprivate

Calibrate accelerometer command used by queue_calibrate_command.

CALIBRATE_ACCEL_GYRO_MAG

const constexpr uint8_t BNO08x::CALIBRATE_ACCEL_GYRO_MAG

staticconstexprprivate

Initial value:

=
                4

Calibrate accelerometer, gyro, & magnetometer command used by queue_calibrate_command.

CALIBRATE_GYRO

const constexpr uint8_t BNO08x::CALIBRATE_GYRO = 1

staticconstexprprivate

Calibrate gyro command used by queue_calibrate_command.

CALIBRATE_MAG

const constexpr uint8_t BNO08x::CALIBRATE_MAG = 2

staticconstexprprivate

Calibrate magnetometer command used by queue_calibrate_command.

CALIBRATE_PLANAR_ACCEL

const constexpr uint8_t BNO08x::CALIBRATE_PLANAR_ACCEL = 3

staticconstexprprivate

Calibrate planar acceleration command used by queue_calibrate_command.

CALIBRATE_STOP

const constexpr uint8_t BNO08x::CALIBRATE_STOP = 5

staticconstexprprivate

Stop calibration command used by queue_calibrate_command.

calibration_status

uint8_t BNO08x::calibration_status

private

Calibration status of device (See SH-2 Ref. Manual 6.4.7.1 & 6.4.7.2)

cb_list

std::vector<std::function<void()> > BNO08x::cb_list

private

COMMAND_CLEAR_DCD

const constexpr uint8_t BNO08x::COMMAND_CLEAR_DCD = 11

staticconstexprprivate

Clear DCD & Reset command (See SH2 Ref. Manual 6.4)

COMMAND_COUNTER

const constexpr uint8_t BNO08x::COMMAND_COUNTER = 2

staticconstexprprivate

COMMAND_DCD

const constexpr uint8_t BNO08x::COMMAND_DCD = 6

staticconstexprprivate

Save DCD command (See SH2 Ref. Manual 6.4.7)

COMMAND_DCD_PERIOD_SAVE

const constexpr uint8_t BNO08x::COMMAND_DCD_PERIOD_SAVE = 9

staticconstexprprivate

Configure DCD periodic saving (See SH2 Ref. Manual 6.4)

COMMAND_ERRORS

const constexpr uint8_t BNO08x::COMMAND_ERRORS = 1

staticconstexprprivate

COMMAND_INITIALIZE

const constexpr uint8_t BNO08x::COMMAND_INITIALIZE = 4

staticconstexprprivate

Reinitialize sensor hub components See (SH2 Ref. Manual 6.4.5)

COMMAND_ME_CALIBRATE

const constexpr uint8_t BNO08x::COMMAND_ME_CALIBRATE = 7

staticconstexprprivate

Command and response to configure ME calibration (See SH2 Ref. Manual 6.4.7)

COMMAND_OSCILLATOR

const constexpr uint8_t BNO08x::COMMAND_OSCILLATOR = 10

staticconstexprprivate

Retrieve oscillator type command (See SH2 Ref. Manual 6.4)

COMMAND_TARE

const constexpr uint8_t BNO08x::COMMAND_TARE = 3

staticconstexprprivate

Command and response to tare command (See Sh2 Ref. Manual 6.4.4)

data_proc_task_hdl

TaskHandle_t BNO08x::data_proc_task_hdl

private

data_proc_task() task handle

default_imu_config

bno08x_config_t BNO08x::default_imu_config

staticprivate

default imu config settings

evt_grp_report_en

EventGroupHandle_t BNO08x::evt_grp_report_en

private

Event group for indicating which reports are currently enabled.

EVT_GRP_RPT_ACCELEROMETER_BIT

const constexpr EventBits_t BNO08x::EVT_GRP_RPT_ACCELEROMETER_BIT = (1 << 5)

staticconstexprprivate

When set, accelerometer reports are active.

EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT

const constexpr EventBits_t BNO08x::EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT = (1 << 14)

staticconstexprprivate

When set, activity classifier reports are active.

EVT_GRP_RPT_ALL_BITS

const constexpr EventBits_t BNO08x::EVT_GRP_RPT_ALL_BITS

staticconstexprprivate

Initial value:

=
                EVT_GRP_RPT_ROTATION_VECTOR_BIT | EVT_GRP_RPT_GAME_ROTATION_VECTOR_BIT | EVT_GRP_RPT_ARVR_S_ROTATION_VECTOR_BIT |
                EVT_GRP_RPT_ARVR_S_GAME_ROTATION_VECTOR_BIT | EVT_GRP_RPT_GYRO_ROTATION_VECTOR_BIT | EVT_GRP_RPT_ACCELEROMETER_BIT |
                EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT | EVT_GRP_RPT_GRAVITY_BIT | EVT_GRP_RPT_GYRO_BIT | EVT_GRP_RPT_GYRO_UNCALIBRATED_BIT |
                EVT_GRP_RPT_MAGNETOMETER_BIT | EVT_GRP_RPT_TAP_DETECTOR_BIT | EVT_GRP_RPT_STEP_COUNTER_BIT | EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT |
                EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT | EVT_GRP_RPT_RAW_ACCELEROMETER_BIT | EVT_GRP_RPT_RAW_GYRO_BIT | EVT_GRP_RPT_RAW_MAGNETOMETER_BIT

EVT_GRP_RPT_ARVR_S_GAME_ROTATION_VECTOR_BIT

const constexpr EventBits_t BNO08x::EVT_GRP_RPT_ARVR_S_GAME_ROTATION_VECTOR_BIT

staticconstexprprivate

Initial value:

=
                (1 << 3)

When set, ARVR stabilized game rotation vector reports are active.

EVT_GRP_RPT_ARVR_S_ROTATION_VECTOR_BIT

const constexpr EventBits_t BNO08x::EVT_GRP_RPT_ARVR_S_ROTATION_VECTOR_BIT

staticconstexprprivate

Initial value:

=
                (1 << 2)

When set, ARVR stabilized rotation vector reports are active.

EVT_GRP_RPT_GAME_ROTATION_VECTOR_BIT

const constexpr EventBits_t BNO08x::EVT_GRP_RPT_GAME_ROTATION_VECTOR_BIT = (1 << 1)

staticconstexprprivate

When set, game rotation vector reports are active.

EVT_GRP_RPT_GRAVITY_BIT

const constexpr EventBits_t BNO08x::EVT_GRP_RPT_GRAVITY_BIT = (1 << 7)

staticconstexprprivate

When set, gravity reports are active.

EVT_GRP_RPT_GYRO_BIT

const constexpr EventBits_t BNO08x::EVT_GRP_RPT_GYRO_BIT = (1 << 8)

staticconstexprprivate

When set, gyro reports are active.

EVT_GRP_RPT_GYRO_ROTATION_VECTOR_BIT

const constexpr EventBits_t BNO08x::EVT_GRP_RPT_GYRO_ROTATION_VECTOR_BIT

staticconstexprprivate

Initial value:

=
                (1 << 4)

When set, gyro integrator rotation vector reports are active.

EVT_GRP_RPT_GYRO_UNCALIBRATED_BIT

const constexpr EventBits_t BNO08x::EVT_GRP_RPT_GYRO_UNCALIBRATED_BIT = (1 << 9)

staticconstexprprivate

When set, uncalibrated gyro reports are active.

EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT

const constexpr EventBits_t BNO08x::EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT = (1 << 6)

staticconstexprprivate

When set, linear accelerometer reports are active.

EVT_GRP_RPT_MAGNETOMETER_BIT

const constexpr EventBits_t BNO08x::EVT_GRP_RPT_MAGNETOMETER_BIT = (1 << 10)

staticconstexprprivate

When set, magnetometer reports are active.

EVT_GRP_RPT_RAW_ACCELEROMETER_BIT

const constexpr EventBits_t BNO08x::EVT_GRP_RPT_RAW_ACCELEROMETER_BIT = (1 << 15)

staticconstexprprivate

When set, raw accelerometer reports are active.

EVT_GRP_RPT_RAW_GYRO_BIT

const constexpr EventBits_t BNO08x::EVT_GRP_RPT_RAW_GYRO_BIT = (1 << 16)

staticconstexprprivate

When set, raw gyro reports are active.

EVT_GRP_RPT_RAW_MAGNETOMETER_BIT

const constexpr EventBits_t BNO08x::EVT_GRP_RPT_RAW_MAGNETOMETER_BIT = (1 << 17)

staticconstexprprivate

When set, raw magnetometer reports are active.

EVT_GRP_RPT_ROTATION_VECTOR_BIT

const constexpr EventBits_t BNO08x::EVT_GRP_RPT_ROTATION_VECTOR_BIT = (1 << 0)

staticconstexprprivate

When set, rotation vector reports are active.

EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT

const constexpr EventBits_t BNO08x::EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT = (1 << 13)

staticconstexprprivate

When set, stability classifier reports are active.

EVT_GRP_RPT_STEP_COUNTER_BIT

const constexpr EventBits_t BNO08x::EVT_GRP_RPT_STEP_COUNTER_BIT = (1 << 12)

staticconstexprprivate

When set, step counter reports are active.

EVT_GRP_RPT_TAP_DETECTOR_BIT

const constexpr EventBits_t BNO08x::EVT_GRP_RPT_TAP_DETECTOR_BIT = (1 << 11)

staticconstexprprivate

When set, tap detector reports are active.

evt_grp_spi

EventGroupHandle_t BNO08x::evt_grp_spi

private

Event group for indicating when bno08x hint pin has triggered and when new data has been processed. Used by calls to sending or receiving functions.

EVT_GRP_SPI_RX_DONE_BIT

const constexpr EventBits_t BNO08x::EVT_GRP_SPI_RX_DONE_BIT

staticconstexprprivate

Initial value:

=
                (1 << 0)

When this bit is set it indicates a receive procedure has completed.

EVT_GRP_SPI_RX_INVALID_PACKET

const constexpr EventBits_t BNO08x::EVT_GRP_SPI_RX_INVALID_PACKET

staticconstexprprivate

Initial value:

=
                (1 << 2)

When this bit is set, it indicates an invalid packet has been received.

EVT_GRP_SPI_RX_VALID_PACKET

const constexpr EventBits_t BNO08x::EVT_GRP_SPI_RX_VALID_PACKET

staticconstexprprivate

Initial value:

=
                (1 << 1)

When this bit is set, it indicates a valid packet has been received and processed.

EVT_GRP_SPI_TX_DONE

const constexpr EventBits_t BNO08x::EVT_GRP_SPI_TX_DONE = (1 << 3)

staticconstexprprivate

When this bit is set, it indicates a queued packet has been sent.

FRS_RECORD_ID_ACCELEROMETER

const constexpr uint16_t BNO08x::FRS_RECORD_ID_ACCELEROMETER

staticconstexpr

Initial value:

=
                0xE302

Accelerometer record ID, to be passed in metadata functions like get_Q1()

FRS_RECORD_ID_GYROSCOPE_CALIBRATED

const constexpr uint16_t BNO08x::FRS_RECORD_ID_GYROSCOPE_CALIBRATED

staticconstexpr

Initial value:

=
                0xE306

Calirated gyroscope record ID, to be passed in metadata functions like get_Q1()

FRS_RECORD_ID_MAGNETIC_FIELD_CALIBRATED

const constexpr uint16_t BNO08x::FRS_RECORD_ID_MAGNETIC_FIELD_CALIBRATED

staticconstexpr

Initial value:

=
                0xE309

Calibrated magnetometer record ID, to be passed in metadata functions like get_Q1()

FRS_RECORD_ID_ROTATION_VECTOR

const constexpr uint16_t BNO08x::FRS_RECORD_ID_ROTATION_VECTOR

staticconstexpr

Initial value:

=
                0xE30B

Rotation vector record ID, to be passed in metadata functions like get_Q1()

gravity_accuracy

uint16_t BNO08x::gravity_accuracy

private

Gravity reading in m/s^2 (See SH-2 Ref. Manual 6.5.11)

GRAVITY_Q1

const constexpr int16_t BNO08x::GRAVITY_Q1 = 8

staticconstexpr

Gravity Q point (See SH-2 Ref. Manual 6.5.11)

gravity_X

uint16_t BNO08x::gravity_X

private

gravity_Y

uint16_t BNO08x::gravity_Y

private

gravity_Z

uint16_t BNO08x::gravity_Z

private

gyro_accuracy

uint16_t BNO08x::gyro_accuracy

private

Raw gyro reading (See SH-2 Ref. Manual 6.5.13)

GYRO_Q1

const constexpr int16_t BNO08x::GYRO_Q1 = 9

staticconstexpr

Gyro Q point (See SH-2 Ref. Manual 6.5.13)

HOST_INT_TIMEOUT_MS

const constexpr uint64_t BNO08x::HOST_INT_TIMEOUT_MS

staticconstexprprivate

Initial value:

=
                300ULL

Max wait between HINT being asserted by BNO08x before transaction is considered failed (in miliseconds)

imu_config

bno08x_config_t BNO08x::imu_config {}

private

IMU configuration settings.

imu_spi_config

spi_device_interface_config_t BNO08x::imu_spi_config {}

private

SPI slave device settings.

isr_service_installed

bool BNO08x::isr_service_installed = {false}

staticprivate

true of the isr service has been installed, only has to be done once regardless of how many devices are used

LINEAR_ACCELEROMETER_Q1

const constexpr int16_t BNO08x::LINEAR_ACCELEROMETER_Q1 = 8

staticconstexpr

Linear acceleration Q point (See SH-2 Ref. Manual 6.5.10)

magf_accuracy

uint16_t BNO08x::magf_accuracy

private

Calibrated magnetic field reading in uTesla (See SH-2 Ref. Manual 6.5.16)

MAGNETOMETER_Q1

const constexpr int16_t BNO08x::MAGNETOMETER_Q1 = 4

staticconstexpr

Magnetometer Q point (See SH-2 Ref. Manual 6.5.16)

MAX_METADATA_LENGTH

const constexpr uint16_t BNO08x::MAX_METADATA_LENGTH = 9

staticconstexprprivate

max length of metadata used in frs read operations

mems_raw_accel_X

uint16_t BNO08x::mems_raw_accel_X

private

mems_raw_accel_Y

uint16_t BNO08x::mems_raw_accel_Y

private

mems_raw_accel_Z

uint16_t BNO08x::mems_raw_accel_Z

private

Raw accelerometer readings from MEMS sensor (See SH2 Ref. Manual 6.5.8)

mems_raw_gyro_X

uint16_t BNO08x::mems_raw_gyro_X

private

mems_raw_gyro_Y

uint16_t BNO08x::mems_raw_gyro_Y

private

mems_raw_gyro_Z

uint16_t BNO08x::mems_raw_gyro_Z

private

Raw gyro readings from MEMS sensor (See SH-2 Ref. Manual 6.5.12)

mems_raw_magf_X

uint16_t BNO08x::mems_raw_magf_X

private

mems_raw_magf_Y

uint16_t BNO08x::mems_raw_magf_Y

private

mems_raw_magf_Z

uint16_t BNO08x::mems_raw_magf_Z

private

Raw magnetometer (compass) readings from MEMS sensor (See SH-2 Ref. Manual 6.5.15)

meta_data

uint32_t BNO08x::meta_data[9]

private

First 9 bytes of meta data returned from FRS read operation (we don't really need the rest) (See Ref. Manual 5.1)

quat_accuracy

uint16_t BNO08x::quat_accuracy

private

Raw quaternion reading (See SH-2 Ref. Manual 6.5.44)

queue_frs_read_data

QueueHandle_t BNO08x::queue_frs_read_data

private

Queue used to send packet body from data_proc_task to frs read functions.

queue_reset_reason

QueueHandle_t BNO08x::queue_reset_reason

private

Queue used to send reset reason from product id report to reset_reason() function.

queue_rx_data

QueueHandle_t BNO08x::queue_rx_data

private

Packet queue used to send data received from bno08x from spi_task to data_proc_task.

queue_tx_data

QueueHandle_t BNO08x::queue_tx_data

private

Packet queue used to send data to be sent over SPI from sending functions to spi_task.

raw_accel_X

uint16_t BNO08x::raw_accel_X

private

raw_accel_Y

uint16_t BNO08x::raw_accel_Y

private

raw_accel_Z

uint16_t BNO08x::raw_accel_Z

private

raw_bias_X

uint16_t BNO08x::raw_bias_X

private

raw_bias_Y

uint16_t BNO08x::raw_bias_Y

private

raw_bias_Z

uint16_t BNO08x::raw_bias_Z

private

raw_gyro_X

uint16_t BNO08x::raw_gyro_X

private

raw_gyro_Y

uint16_t BNO08x::raw_gyro_Y

private

raw_gyro_Z

uint16_t BNO08x::raw_gyro_Z

private

raw_lin_accel_X

uint16_t BNO08x::raw_lin_accel_X

private

raw_lin_accel_Y

uint16_t BNO08x::raw_lin_accel_Y

private

raw_lin_accel_Z

uint16_t BNO08x::raw_lin_accel_Z

private

raw_magf_X

uint16_t BNO08x::raw_magf_X

private

raw_magf_Y

uint16_t BNO08x::raw_magf_Y

private

raw_magf_Z

uint16_t BNO08x::raw_magf_Z

private

raw_quat_I

uint16_t BNO08x::raw_quat_I

private

raw_quat_J

uint16_t BNO08x::raw_quat_J

private

raw_quat_K

uint16_t BNO08x::raw_quat_K

private

raw_quat_radian_accuracy

uint16_t BNO08x::raw_quat_radian_accuracy

private

raw_quat_real

uint16_t BNO08x::raw_quat_real

private

raw_uncalib_gyro_X

uint16_t BNO08x::raw_uncalib_gyro_X

private

raw_uncalib_gyro_Y

uint16_t BNO08x::raw_uncalib_gyro_Y

private

raw_uncalib_gyro_Z

uint16_t BNO08x::raw_uncalib_gyro_Z

private

raw_velocity_gyro_X

uint16_t BNO08x::raw_velocity_gyro_X

private

raw_velocity_gyro_Y

uint16_t BNO08x::raw_velocity_gyro_Y

private

raw_velocity_gyro_Z

uint16_t BNO08x::raw_velocity_gyro_Z

private

Raw gyro angular velocity reading (See SH-2 Ref. Manual 6.5.44)

ROTATION_VECTOR_ACCURACY_Q1

const constexpr int16_t BNO08x::ROTATION_VECTOR_ACCURACY_Q1 = 12

staticconstexpr

Rotation vector accuracy estimate Q point (See SH-2 Ref. Manual 6.5.18)

ROTATION_VECTOR_Q1

const constexpr int16_t BNO08x::ROTATION_VECTOR_Q1 = 14

staticconstexpr

Rotation vector Q point (See SH-2 Ref. Manual 6.5.18)

RX_DATA_LENGTH

const constexpr uint16_t BNO08x::RX_DATA_LENGTH = 300

staticconstexprprivate

length buffer containing data received over spi

SENSOR_REPORT_ID_ACCELEROMETER

const constexpr uint8_t BNO08x::SENSOR_REPORT_ID_ACCELEROMETER = 0x01

staticconstexprprivate

See SH2 Ref. Manual 6.5.9.

SENSOR_REPORT_ID_ARVR_STABILIZED_GAME_ROTATION_VECTOR

const constexpr uint8_t BNO08x::SENSOR_REPORT_ID_ARVR_STABILIZED_GAME_ROTATION_VECTOR = 0x29

staticconstexprprivate

See SH2 Ref. Manual 6.5.43.

SENSOR_REPORT_ID_ARVR_STABILIZED_ROTATION_VECTOR

const constexpr uint8_t BNO08x::SENSOR_REPORT_ID_ARVR_STABILIZED_ROTATION_VECTOR = 0x28

staticconstexprprivate

See SH2 Ref. Manual 6.5.42.

SENSOR_REPORT_ID_GAME_ROTATION_VECTOR

const constexpr uint8_t BNO08x::SENSOR_REPORT_ID_GAME_ROTATION_VECTOR = 0x08

staticconstexprprivate

See SH2 Ref. Manual 6.5.19.

SENSOR_REPORT_ID_GEOMAGNETIC_ROTATION_VECTOR

const constexpr uint8_t BNO08x::SENSOR_REPORT_ID_GEOMAGNETIC_ROTATION_VECTOR = 0x09

staticconstexprprivate

See SH2 Ref. Manual 6.5.20.

SENSOR_REPORT_ID_GRAVITY

const constexpr uint8_t BNO08x::SENSOR_REPORT_ID_GRAVITY = 0x06

staticconstexprprivate

See SH2 Ref. Manual 6.5.11.

SENSOR_REPORT_ID_GYRO_INTEGRATED_ROTATION_VECTOR

const constexpr uint8_t BNO08x::SENSOR_REPORT_ID_GYRO_INTEGRATED_ROTATION_VECTOR = 0x2A

staticconstexprprivate

See SH2 Ref. Manual 6.5.44.

SENSOR_REPORT_ID_GYROSCOPE

const constexpr uint8_t BNO08x::SENSOR_REPORT_ID_GYROSCOPE = 0x02

staticconstexprprivate

See SH2 Ref. Manual 6.5.13.

SENSOR_REPORT_ID_LINEAR_ACCELERATION

const constexpr uint8_t BNO08x::SENSOR_REPORT_ID_LINEAR_ACCELERATION = 0x04

staticconstexprprivate

See SH2 Ref. Manual 6.5.10.

SENSOR_REPORT_ID_MAGNETIC_FIELD

const constexpr uint8_t BNO08x::SENSOR_REPORT_ID_MAGNETIC_FIELD = 0x03

staticconstexprprivate

See SH2 Ref. Manual 6.5.16.

SENSOR_REPORT_ID_PERSONAL_ACTIVITY_CLASSIFIER

const constexpr uint8_t BNO08x::SENSOR_REPORT_ID_PERSONAL_ACTIVITY_CLASSIFIER = 0x1E

staticconstexprprivate

See SH2 Ref. Manual 6.5.36.

SENSOR_REPORT_ID_RAW_ACCELEROMETER

const constexpr uint8_t BNO08x::SENSOR_REPORT_ID_RAW_ACCELEROMETER = 0x14

staticconstexprprivate

See SH2 Ref. Manual 6.5.8.

SENSOR_REPORT_ID_RAW_GYROSCOPE

const constexpr uint8_t BNO08x::SENSOR_REPORT_ID_RAW_GYROSCOPE = 0x15

staticconstexprprivate

See SH2 Ref. Manual 6.5.12.

SENSOR_REPORT_ID_RAW_MAGNETOMETER

const constexpr uint8_t BNO08x::SENSOR_REPORT_ID_RAW_MAGNETOMETER = 0x16

staticconstexprprivate

See SH2 Ref. Manual 6.5.15.

SENSOR_REPORT_ID_ROTATION_VECTOR

const constexpr uint8_t BNO08x::SENSOR_REPORT_ID_ROTATION_VECTOR = 0x05

staticconstexprprivate

See SH2 Ref. Manual 6.5.18.

SENSOR_REPORT_ID_STABILITY_CLASSIFIER

const constexpr uint8_t BNO08x::SENSOR_REPORT_ID_STABILITY_CLASSIFIER = 0x13

staticconstexprprivate

See SH2 Ref. Manual 6.5.31.

SENSOR_REPORT_ID_STEP_COUNTER

const constexpr uint8_t BNO08x::SENSOR_REPORT_ID_STEP_COUNTER = 0x11

staticconstexprprivate

See SH2 Ref. Manual 6.5.29.

SENSOR_REPORT_ID_TAP_DETECTOR

const constexpr uint8_t BNO08x::SENSOR_REPORT_ID_TAP_DETECTOR = 0x10

staticconstexprprivate

See SH2 Ref. Manual 6.5.27.

SENSOR_REPORT_ID_UNCALIBRATED_GYRO

const constexpr uint8_t BNO08x::SENSOR_REPORT_ID_UNCALIBRATED_GYRO = 0x07

staticconstexprprivate

See SH2 Ref. Manual 6.5.14.

SHTP_REPORT_BASE_TIMESTAMP

const constexpr uint8_t BNO08x::SHTP_REPORT_BASE_TIMESTAMP = 0xFB

staticconstexprprivate

See SH2 Ref. Manual 7.2.1.

SHTP_REPORT_COMMAND_REQUEST

const constexpr uint8_t BNO08x::SHTP_REPORT_COMMAND_REQUEST = 0xF2

staticconstexprprivate

See SH2 Ref. Manual 6.3.8.

SHTP_REPORT_COMMAND_RESPONSE

const constexpr uint8_t BNO08x::SHTP_REPORT_COMMAND_RESPONSE = 0xF1

staticconstexprprivate

See SH2 Ref. Manual 6.3.9.

SHTP_REPORT_FRS_READ_REQUEST

const constexpr uint8_t BNO08x::SHTP_REPORT_FRS_READ_REQUEST = 0xF4

staticconstexprprivate

See SH2 Ref. Manual 6.3.6.

SHTP_REPORT_FRS_READ_RESPONSE

const constexpr uint8_t BNO08x::SHTP_REPORT_FRS_READ_RESPONSE = 0xF3

staticconstexprprivate

See SH2 Ref. Manual 6.3.7.

SHTP_REPORT_PRODUCT_ID_REQUEST

const constexpr uint8_t BNO08x::SHTP_REPORT_PRODUCT_ID_REQUEST = 0xF9

staticconstexprprivate

See SH2 Ref. Manual 6.3.1.

SHTP_REPORT_PRODUCT_ID_RESPONSE

const constexpr uint8_t BNO08x::SHTP_REPORT_PRODUCT_ID_RESPONSE = 0xF8

staticconstexprprivate

See SH2 Ref. Manual 6.3.2.

SHTP_REPORT_SET_FEATURE_COMMAND

const constexpr uint8_t BNO08x::SHTP_REPORT_SET_FEATURE_COMMAND = 0xFD

staticconstexprprivate

See SH2 Ref. Manual 6.5.4.

spi_hdl

spi_device_handle_t BNO08x::spi_hdl {}

private

SPI device handle.

spi_task_hdl

TaskHandle_t BNO08x::spi_task_hdl

private

spi_task() handle

spi_transaction

spi_transaction_t BNO08x::spi_transaction {}

private

SPI transaction handle.

stability_classifier

uint8_t BNO08x::stability_classifier

private

Stability status reading (See SH-2 Ref. Manual 6.5.31)

step_count

uint16_t BNO08x::step_count

private

Step counter reading (See SH-2 Ref. Manual 6.5.29)

TAG

const constexpr char* BNO08x::TAG = "BNO08x"

staticconstexprprivate

Class tag used for serial print statements.

tap_detector

uint8_t BNO08x::tap_detector

private

Tap detector reading (See SH-2 Ref. Manual 6.5.27)

TARE_ARVR_STABILIZED_GAME_ROTATION_VECTOR

const constexpr uint8_t BNO08x::TARE_ARVR_STABILIZED_GAME_ROTATION_VECTOR = 5

staticconstexpr

Tare ARVR stabilized game rotation vector.

TARE_ARVR_STABILIZED_ROTATION_VECTOR

const constexpr uint8_t BNO08x::TARE_ARVR_STABILIZED_ROTATION_VECTOR = 4

staticconstexpr

Tare ARVR stabilized rotation vector.

TARE_AXIS_ALL

const constexpr uint8_t BNO08x::TARE_AXIS_ALL = 0x07

staticconstexpr

Tare all axes (used with tare now command)

TARE_AXIS_Z

const constexpr uint8_t BNO08x::TARE_AXIS_Z = 0x04

staticconstexpr

Tar yaw axis only (used with tare now command)

TARE_GAME_ROTATION_VECTOR

const constexpr uint8_t BNO08x::TARE_GAME_ROTATION_VECTOR = 1

staticconstexpr

Tare game rotation vector.

TARE_GEOMAGNETIC_ROTATION_VECTOR

const constexpr uint8_t BNO08x::TARE_GEOMAGNETIC_ROTATION_VECTOR = 2

staticconstexpr

tare geomagnetic rotation vector

TARE_GYRO_INTEGRATED_ROTATION_VECTOR

const constexpr uint8_t BNO08x::TARE_GYRO_INTEGRATED_ROTATION_VECTOR = 3

staticconstexpr

Tare gyro integrated rotation vector.

TARE_NOW

const constexpr uint8_t BNO08x::TARE_NOW = 0

staticconstexprprivate

See SH2 Ref. Manual 6.4.4.1.

TARE_PERSIST

const constexpr uint8_t BNO08x::TARE_PERSIST = 1

staticconstexprprivate

See SH2 Ref. Manual 6.4.4.2.

TARE_ROTATION_VECTOR

const constexpr uint8_t BNO08x::TARE_ROTATION_VECTOR = 0

staticconstexpr

Tare rotation vector.

TARE_SET_REORIENTATION

const constexpr uint8_t BNO08x::TARE_SET_REORIENTATION = 2

staticconstexprprivate

See SH2 Ref. Manual 6.4.4.3.

time_stamp

uint32_t BNO08x::time_stamp

private

Report timestamp (see datasheet 1.3.5.3)

uncalib_gyro_accuracy

uint16_t BNO08x::uncalib_gyro_accuracy

private

Uncalibrated gyro reading (See SH-2 Ref. Manual 6.5.14)

---

The documentation for this class was generated from the following files:

• BNO08x.hpp
• BNO08x.cpp