#include <BNO08x.hpp>

Collaboration diagram for BNO08x:

[legend]

Classes
struct	bno08x_init_status_t
	Holds info about which functionality has been successfully initialized (used by deconstructor during cleanup). More...

struct	bno08x_report_period_tracker_t

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=bno08x_config_t())
	BNO08x imu constructor.

	~BNO08x ()
	BNO08x imu deconstructor.

bool	initialize ()
	Initializes BNO08x sensor.

bool	hard_reset ()
	Hard resets BNO08x sensor.

bool	soft_reset ()
	Soft resets BNO08x sensor using executable channel.

BNO08xResetReason	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_uncalibrated_gyro (uint32_t time_between_reports)
	Sends command to enable uncalibrated gyro reports (See Ref. Manual 6.5.14)

void	enable_calibrated_gyro (uint32_t time_between_reports)
	Sends command to enable calibrated gyro reports (See Ref. Manual 6.5.13)

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_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, BNO08xActivityEnable 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_mems_gyro (uint32_t time_between_reports)
	Sends command to enable raw MEMs gyro reports (See Ref. Manual 6.5.12)

void	enable_raw_mems_accelerometer (uint32_t time_between_reports)
	Sends command to enable raw MEMs accelerometer reports (See Ref. Manual 6.5.8)

void	enable_raw_mems_magnetometer (uint32_t time_between_reports)
	Sends command to enable raw MEMs 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_calibrated_gyro ()
	Sends command to disable calibrated 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_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_tap_detector ()
	Sends command to disable tap detector reports by setting report interval to 0.

void	disable_raw_mems_accelerometer ()
	Sends command to disable raw accelerometer reports by setting report interval to 0.

void	disable_raw_mems_gyro ()
	Sends command to disable raw gyro reports by setting report interval to 0.

void	disable_raw_mems_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 (bool ignore_no_reports_enabled=false)
	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.

void	reset_all_data_to_defaults ()
	Resets all data returned by public getter APIs to initial values of 0 and low accuracy.

uint32_t	get_time_stamp ()
	Return timestamp of most recent report.

void	get_magf (float &x, float &y, float &z, BNO08xAccuracy &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.

BNO08xAccuracy	get_magf_accuracy ()
	Get accuracy of reported magnetic field vector.

void	get_gravity (float &x, float &y, float &z, BNO08xAccuracy &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.

BNO08xAccuracy	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, BNO08xAccuracy &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.

BNO08xAccuracy	get_quat_accuracy ()
	Get accuracy of reported quaternion.

void	get_accel (float &x, float &y, float &z, BNO08xAccuracy &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).

BNO08xAccuracy	get_accel_accuracy ()
	Get accuracy of linear acceleration.

void	get_linear_accel (float &x, float &y, float &z, BNO08xAccuracy &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)

BNO08xAccuracy	get_linear_accel_accuracy ()
	Get accuracy of linear acceleration.

void	get_raw_mems_accel (uint16_t &x, uint16_t &y, uint16_t &z)
	Get full raw acceleration from physical accelerometer MEMs sensor (See Ref. Manual 6.5.8).

uint16_t	get_raw_mems_accel_X ()
	Get raw accelerometer x axis reading from physical accelerometer MEMs sensor (See Ref. Manual 6.5.8)

uint16_t	get_raw_mems_accel_Y ()
	Get raw accelerometer y axis reading from physical accelerometer MEMs sensor (See Ref. Manual 6.5.8)

uint16_t	get_raw_mems_accel_Z ()
	Get raw accelerometer z axis reading from physical accelerometer MEMs sensor (See Ref. Manual 6.5.8)

void	get_raw_mems_gyro (uint16_t &x, uint16_t &y, uint16_t &z)
	Get raw gyroscope full reading from physical gyroscope MEMs sensor (See Ref. Manual 6.5.12)

uint16_t	get_raw_mems_gyro_X ()
	Get raw gyroscope x axis reading from physical gyroscope MEMs sensor (See Ref. Manual 6.5.12)

uint16_t	get_raw_mems_gyro_Y ()
	Get raw gyroscope y axis reading from physical gyroscope MEMs sensor (See Ref. Manual 6.5.12)

uint16_t	get_raw_mems_gyro_Z ()
	Get raw gyroscope z axis reading from physical gyroscope MEMs sensor (See Ref. Manual 6.5.12)

void	get_raw_mems_magf (uint16_t &x, uint16_t &y, uint16_t &z)
	Get raw magnetometer full reading from physical magnetometer sensor (See Ref. Manual 6.5.15)

uint16_t	get_raw_mems_magf_X ()
	Get raw magnetometer x axis reading from physical magnetometer sensor (See Ref. Manual 6.5.15)

uint16_t	get_raw_mems_magf_Y ()
	Get raw magnetometer y axis reading from physical magnetometer sensor (See Ref. Manual 6.5.15)

uint16_t	get_raw_mems_magf_Z ()
	Get raw magnetometer z axis reading from physical magnetometer sensor (See Ref. Manual 6.5.15)

void	get_calibrated_gyro_velocity (float &x, float &y, float &z)
	Get full rotational velocity with drift compensation (units in Rad/s).

float	get_calibrated_gyro_velocity_X ()
	Get calibrated gyro x axis angular velocity measurement.

float	get_calibrated_gyro_velocity_Y ()
	Get calibrated gyro y axis angular velocity measurement.

float	get_calibrated_gyro_velocity_Z ()
	Get calibrated gyro z axis angular velocity measurement.

void	get_uncalibrated_gyro_velocity (float &x, float &y, float &z, float &bx, float &by, float &bz)
	Get full rotational velocity without drift compensation (units in Rad/s). An estimate of drift is given but not applied.

float	get_uncalibrated_gyro_velocity_X ()
	Get uncalibrated gyro x axis angular velocity measurement.

float	get_uncalibrated_gyro_velocity_Y ()
	Get uncalibrated gyro Y axis angular velocity measurement.

float	get_uncalibrated_gyro_velocity_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.

void	get_integrated_gyro_velocity (float &x, float &y, float &z)
	Full rotational velocity from gyro-integrated rotation vector (See Ref. Manual 6.5.44)

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

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

float	get_integrated_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.

BNO08xStability	get_stability_classifier ()
	Get the current stability classifier (Seee Ref. Manual 6.5.31)

BNO08xActivity	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 = 0x07U
	Tare all axes (used with tare now command)

static const constexpr uint8_t	TARE_AXIS_Z = 0x04U
	Tar yaw axis only (used with tare now command)

static const constexpr uint8_t	TARE_ROTATION_VECTOR = 0U
	Tare rotation vector.

static const constexpr uint8_t	TARE_GAME_ROTATION_VECTOR = 1U
	Tare game rotation vector.

static const constexpr uint8_t	TARE_GEOMAGNETIC_ROTATION_VECTOR = 2U
	tare geomagnetic rotation vector

static const constexpr uint8_t	TARE_GYRO_INTEGRATED_ROTATION_VECTOR = 3U
	Tare gyro integrated rotation vector.

static const constexpr uint8_t	TARE_ARVR_STABILIZED_ROTATION_VECTOR = 4U
	Tare ARVR stabilized rotation vector.

static const constexpr uint8_t	TARE_ARVR_STABILIZED_GAME_ROTATION_VECTOR = 5U
	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
enum	channels_t { CHANNEL_COMMAND , CHANNEL_EXECUTABLE , CHANNEL_CONTROL , CHANNEL_REPORTS , CHANNEL_WAKE_REPORTS , CHANNEL_GYRO }
	SHTP protocol channels. More...

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.

typedef struct BNO08x::bno08x_report_period_tracker_t	bno08x_report_period_tracker_t

typedef struct BNO08x::bno08x_init_status_t	bno08x_init_status_t
	Holds info about which functionality has been successfully initialized (used by deconstructor during cleanup).

Private Member Functions
esp_err_t	init_config_args ()
	Initializes required esp-idf SPI data structures with values from user passed bno08x_config_t struct.

esp_err_t	init_gpio ()
	Initializes required gpio.

esp_err_t	init_gpio_inputs ()
	Initializes required gpio inputs.

esp_err_t	init_gpio_outputs ()
	Initializes required gpio outputs.

esp_err_t	init_hint_isr ()
	Initializes host interrupt ISR.

esp_err_t	init_spi ()
	Initializes SPI.

esp_err_t	deinit_gpio ()
	Deinitializes GPIO, called from deconstructor.

esp_err_t	deinit_gpio_inputs ()
	Deinitializes GPIO inputs, called from deconstructor.

esp_err_t	deinit_gpio_outputs ()
	Deinitializes GPIO outputs, called from deconstructor.

esp_err_t	deinit_hint_isr ()
	Deinitializes host interrupt ISR, called from deconstructor.

esp_err_t	deinit_spi ()
	Deinitializes SPI.

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.

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

esp_err_t	receive_packet_header (bno08x_rx_packet_t *packet)
	Receives a SHTP packet header via SPI.

esp_err_t	receive_packet_body (bno08x_rx_packet_t *packet)
	Receives a SHTP packet body via SPI.

void	send_packet (bno08x_tx_packet_t *packet)
	Sends a queued SHTP packet via SPI.

void	flush_rx_packets (uint8_t flush_count)

void	enable_report (uint8_t report_ID, uint32_t time_between_reports, const EventBits_t report_evt_grp_bit, uint32_t special_config=0)
	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, uint32_t specific_config=0)
	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, bool &notify_users)
	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_data()) through queue.

uint16_t	parse_feature_get_response_report (bno08x_rx_packet_t *packet)
	Parses get feature request report received from BNO08x.

uint16_t	parse_input_report (bno08x_rx_packet_t *packet)
	Parses received input report sent by BNO08x.

void	parse_input_report_data (bno08x_rx_packet_t packet, uint16_t data, uint16_t data_length)
	Parses data from received input report.

uint16_t	parse_gyro_integrated_rotation_vector_report (bno08x_rx_packet_t *packet)
	Parses received gyro integrated rotation vector 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	update_accelerometer_data (uint16_t *data, uint8_t status)
	Updates accelerometer data from parsed input report.

void	update_lin_accelerometer_data (uint16_t *data, uint8_t status)
	Updates linear accelerometer data from parsed input report.

void	update_calibrated_gyro_data (uint16_t *data, uint8_t status)
	Updates linear gyro data from parsed input report.

void	update_uncalibrated_gyro_data (uint16_t *data, uint8_t status)
	Updates uncalibrated gyro data from parsed input report.

void	update_magf_data (uint16_t *data, uint8_t status)
	Updates magnetic field data from parsed input report.

void	update_gravity_data (uint16_t *data, uint8_t status)
	Updates gravity data from parsed input report.

void	update_rotation_vector_data (uint16_t *data, uint8_t status)
	Updates roation vector data from parsed input report.

void	update_step_counter_data (uint16_t *data)
	Updates step counter data from parsed input report.

void	update_raw_accelerometer_data (uint16_t *data)
	Updates raw accelerometer data from parsed input report.

void	update_raw_gyro_data (uint16_t *data)
	Updates raw gyro data from parsed input report.

void	update_raw_magf_data (uint16_t *data)
	Updates raw magnetic field data from parsed input report.

void	update_tap_detector_data (bno08x_rx_packet_t *packet)
	Updates tap detector data from parsed input report.

void	update_stability_classifier_data (bno08x_rx_packet_t *packet)
	Updates stability classifier data from parsed input report.

void	update_personal_activity_classifier_data (bno08x_rx_packet_t *packet)
	Updates activity classifier data from parsed input report.

void	update_command_data (bno08x_rx_packet_t *packet)
	Updates command data from parsed input report.

void	update_integrated_gyro_rotation_vector_data (bno08x_rx_packet_t *packet)
	Updates integrated gyro rotation vector data from SHTP channel 5 (CHANNEL_GYRO) special report data.

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.

esp_err_t	launch_tasks ()
	Launches spi_task and data_proc_task on constructor call.

esp_err_t	kill_all_tasks ()
	Deletes spi_task and data_proc_task safely on deconstructor call.

void	update_report_period_trackers (uint8_t report_ID, uint32_t new_period)
	Updates period of respective report in report_period_trackers and recalculates host_int_timeout_ms according to next longest report period.

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 uint8_t	report_ID_to_report_period_tracker_idx (uint8_t report_ID)
	Converts report id to respective index in report_period_trackers.

static void IRAM_ATTR	hint_handler (void *arg)
	HINT interrupt service routine, handles falling edge of BNO08x HINT pin.

Private Attributes
bool	first_boot = true
	true only for first execution of hard_reset(), used to suppress the printing of product ID report.

TaskHandle_t	spi_task_hdl
	spi_task() handle

TaskHandle_t	data_proc_task_hdl
	data_proc_task() task handle

SemaphoreHandle_t	sem_kill_tasks
	semaphore to count amount of killed tasks

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.

EventGroupHandle_t	evt_grp_task_flow
	Event group for indicating when tasks should complete and self-delete (on deconstructor call)

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.

bno08x_init_status_t	init_status
	Initialization status of various functionality, used by deconstructor during cleanup, set during initialization.

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_calib_gyro_X

uint16_t	raw_calib_gyro_Y

uint16_t	raw_calib_gyro_Z
	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	integrated_gyro_velocity_X

uint16_t	integrated_gyro_velocity_Y

uint16_t	integrated_gyro_velocity_Z
	Raw gyro angular velocity reading from integrated gyro rotation vector (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
	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
	BNO08xStability status reading (See SH-2 Ref. Manual 6.5.31)

uint8_t	activity_classifier
	BNO08xActivity status reading (See SH-2 Ref. Manual 6.5.36)

uint8_t *	activity_confidences = nullptr
	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)

bno08x_report_period_tracker_t	report_period_trackers [REPORT_CNT]
	Current sample period of each report in microseconds linked to report ID (0 if not enabled).

uint32_t	largest_sample_period_us
	Current largest sample period of any enabled report in microseconds (used to determine timeout for hint ISR).

uint8_t	current_slowest_report_ID
	ID of the currently enabled report with the largest sample period.

TickType_t	host_int_timeout_ms
	Max wait between HINT being asserted by BNO08x before transaction is considered failed (in miliseconds), determined by enabled report with longest period.

Static Private Attributes
static const constexpr uint8_t	TASK_CNT = 2U
	Total amount of tasks utilized by BNO08x driver library.

static const constexpr uint16_t	RX_DATA_LENGTH = 300U
	length buffer containing data received over spi

static const constexpr uint16_t	MAX_METADATA_LENGTH = 9U
	max length of metadata used in frs read operations

static const constexpr TickType_t	HOST_INT_TIMEOUT_DEFAULT_MS
	Max wait between HINT being asserted by BNO08x before transaction is considered failed (in miliseconds), when no reports are enabled (ie during reset)

static const constexpr TickType_t	HARD_RESET_DELAY_MS
	How long RST pin is held low during hard reset (min 10ns according to datasheet, but should be longer for stable operation)

static const constexpr TickType_t	CMD_EXECUTION_DELAY_MS
	How long to delay after queueing command to allow it to execute (for ex. after sending command to enable report).

static const constexpr uint32_t	SCLK_MAX_SPEED = 3000000UL
	Max SPI SCLK speed BNO08x is capable of.

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

static const constexpr EventBits_t	EVT_GRP_SPI_TX_DONE_BIT = (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 = (1U << 5U)
	When set, accelerometer reports are active.

static const constexpr EventBits_t	EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT = (1U << 6U)
	When set, linear accelerometer reports are active.

static const constexpr EventBits_t	EVT_GRP_RPT_GRAVITY_BIT = (1U << 7U)
	When set, gravity reports are active.

static const constexpr EventBits_t	EVT_GRP_RPT_GYRO_BIT = (1U << 8U)
	When set, gyro reports are active.

static const constexpr EventBits_t	EVT_GRP_RPT_GYRO_UNCALIBRATED_BIT = (1U << 9U)
	When set, uncalibrated gyro reports are active.

static const constexpr EventBits_t	EVT_GRP_RPT_MAGNETOMETER_BIT = (1U << 10U)
	When set, magnetometer reports are active.

static const constexpr EventBits_t	EVT_GRP_RPT_TAP_DETECTOR_BIT = (1U << 11U)
	When set, tap detector reports are active.

static const constexpr EventBits_t	EVT_GRP_RPT_STEP_COUNTER_BIT = (1U << 12U)
	When set, step counter reports are active.

static const constexpr EventBits_t	EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT = (1U << 13U)
	When set, stability classifier reports are active.

static const constexpr EventBits_t	EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT = (1U << 14U)
	When set, activity classifier reports are active.

static const constexpr EventBits_t	EVT_GRP_RPT_RAW_ACCELEROMETER_BIT = (1U << 15U)
	When set, raw accelerometer reports are active.

static const constexpr EventBits_t	EVT_GRP_RPT_RAW_GYRO_BIT = (1U << 16U)
	When set, raw gyro reports are active.

static const constexpr EventBits_t	EVT_GRP_RPT_RAW_MAGNETOMETER_BIT = (1U << 17U)
	When set, raw magnetometer reports are active.

static const constexpr EventBits_t	EVT_GRP_TSK_FLW_RUNNING_BIT
	When set, data_proc_task and spi_task are active, when 0 they are pending deletion or deleted.

static const constexpr EventBits_t	EVT_GRP_RPT_ALL_BITS

static const constexpr uint8_t	CALIBRATE_ACCEL = 0U
	Calibrate accelerometer command used by queue_calibrate_command.

static const constexpr uint8_t	CALIBRATE_GYRO = 1U
	Calibrate gyro command used by queue_calibrate_command.

static const constexpr uint8_t	CALIBRATE_MAG = 2U
	Calibrate magnetometer command used by queue_calibrate_command.

static const constexpr uint8_t	CALIBRATE_PLANAR_ACCEL = 3U
	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 = 5U
	Stop calibration command used by queue_calibrate_command.

static const constexpr uint8_t	COMMAND_ERRORS = 1U

static const constexpr uint8_t	COMMAND_COUNTER = 2U

static const constexpr uint8_t	COMMAND_TARE = 3U
	Command and response to tare command (See Sh2 Ref. Manual 6.4.4)

static const constexpr uint8_t	COMMAND_INITIALIZE = 4U
	Reinitialize sensor hub components See (SH2 Ref. Manual 6.4.5)

static const constexpr uint8_t	COMMAND_DCD = 6U
	Save DCD command (See SH2 Ref. Manual 6.4.7)

static const constexpr uint8_t	COMMAND_ME_CALIBRATE = 7U
	Command and response to configure ME calibration (See SH2 Ref. Manual 6.4.7)

static const constexpr uint8_t	COMMAND_DCD_PERIOD_SAVE = 9U
	Configure DCD periodic saving (See SH2 Ref. Manual 6.4)

static const constexpr uint8_t	COMMAND_OSCILLATOR = 10U
	Retrieve oscillator type command (See SH2 Ref. Manual 6.4)

static const constexpr uint8_t	COMMAND_CLEAR_DCD = 11U
	Clear DCD & Reset command (See SH2 Ref. Manual 6.4)

static const constexpr uint8_t	SHTP_REPORT_COMMAND_RESPONSE = 0xF1U
	See SH2 Ref. Manual 6.3.9.

static const constexpr uint8_t	SHTP_REPORT_COMMAND_REQUEST = 0xF2U
	See SH2 Ref. Manual 6.3.8.

static const constexpr uint8_t	SHTP_REPORT_FRS_READ_RESPONSE = 0xF3U
	See SH2 Ref. Manual 6.3.7.

static const constexpr uint8_t	SHTP_REPORT_FRS_READ_REQUEST = 0xF4U
	See SH2 Ref. Manual 6.3.6.

static const constexpr uint8_t	SHTP_REPORT_PRODUCT_ID_RESPONSE = 0xF8U
	See SH2 Ref. Manual 6.3.2.

static const constexpr uint8_t	SHTP_REPORT_PRODUCT_ID_REQUEST = 0xF9U
	See SH2 Ref. Manual 6.3.1.

static const constexpr uint8_t	SHTP_REPORT_BASE_TIMESTAMP = 0xFBU
	See SH2 Ref. Manual 7.2.1.

static const constexpr uint8_t	SHTP_REPORT_SET_FEATURE_COMMAND = 0xFDU
	See SH2 Ref. Manual 6.5.4.

static const constexpr uint8_t	SHTP_REPORT_GET_FEATURE_RESPONSE = 0xFCU
	See SH2 Ref. Manual 6.5.5.

static const constexpr uint8_t	SENSOR_REPORT_ID_ACCELEROMETER = 0x01U
	See SH2 Ref. Manual 6.5.9.

static const constexpr uint8_t	SENSOR_REPORT_ID_GYROSCOPE = 0x02U
	See SH2 Ref. Manual 6.5.13.

static const constexpr uint8_t	SENSOR_REPORT_ID_MAGNETIC_FIELD = 0x03U
	See SH2 Ref. Manual 6.5.16.

static const constexpr uint8_t	SENSOR_REPORT_ID_LINEAR_ACCELERATION = 0x04U
	See SH2 Ref. Manual 6.5.10.

static const constexpr uint8_t	SENSOR_REPORT_ID_ROTATION_VECTOR = 0x05U
	See SH2 Ref. Manual 6.5.18.

static const constexpr uint8_t	SENSOR_REPORT_ID_GRAVITY = 0x06U
	See SH2 Ref. Manual 6.5.11.

static const constexpr uint8_t	SENSOR_REPORT_ID_UNCALIBRATED_GYRO = 0x07U
	See SH2 Ref. Manual 6.5.14.

static const constexpr uint8_t	SENSOR_REPORT_ID_GAME_ROTATION_VECTOR = 0x08U
	See SH2 Ref. Manual 6.5.19.

static const constexpr uint8_t	SENSOR_REPORT_ID_GEOMAGNETIC_ROTATION_VECTOR = 0x09U
	See SH2 Ref. Manual 6.5.20.

static const constexpr uint8_t	SENSOR_REPORT_ID_GYRO_INTEGRATED_ROTATION_VECTOR = 0x2AU
	See SH2 Ref. Manual 6.5.44.

static const constexpr uint8_t	SENSOR_REPORT_ID_TAP_DETECTOR = 0x10U
	See SH2 Ref. Manual 6.5.27.

static const constexpr uint8_t	SENSOR_REPORT_ID_STEP_COUNTER = 0x11U
	See SH2 Ref. Manual 6.5.29.

static const constexpr uint8_t	SENSOR_REPORT_ID_STABILITY_CLASSIFIER = 0x13U
	See SH2 Ref. Manual 6.5.31.

static const constexpr uint8_t	SENSOR_REPORT_ID_RAW_ACCELEROMETER = 0x14U
	See SH2 Ref. Manual 6.5.8.

static const constexpr uint8_t	SENSOR_REPORT_ID_RAW_GYROSCOPE = 0x15U
	See SH2 Ref. Manual 6.5.12.

static const constexpr uint8_t	SENSOR_REPORT_ID_RAW_MAGNETOMETER = 0x16U
	See SH2 Ref. Manual 6.5.15.

static const constexpr uint8_t	SENSOR_REPORT_ID_PERSONAL_ACTIVITY_CLASSIFIER = 0x1EU
	See SH2 Ref. Manual 6.5.36.

static const constexpr uint8_t	SENSOR_REPORT_ID_ARVR_STABILIZED_ROTATION_VECTOR = 0x28U
	See SH2 Ref. Manual 6.5.42.

static const constexpr uint8_t	SENSOR_REPORT_ID_ARVR_STABILIZED_GAME_ROTATION_VECTOR = 0x29U
	See SH2 Ref. Manual 6.5.43.

static const constexpr uint8_t	TARE_NOW = 0U
	See SH2 Ref. Manual 6.4.4.1.

static const constexpr uint8_t	TARE_PERSIST = 1U
	See SH2 Ref. Manual 6.4.4.2.

static const constexpr uint8_t	TARE_SET_REORIENTATION = 2U
	See SH2 Ref. Manual 6.4.4.3.

static const constexpr uint8_t	REPORT_CNT = 19
	Total unique reports that can be returned by BNO08x.

static const constexpr char *	TAG = "BNO08x"
	Class tag used for serial print statements.

Friends
class	BNO08xTestHelper

Detailed Description

BNO08x IMU driver class.

Member Typedef Documentation

◆ bno08x_init_status_t

typedef struct BNO08x::bno08x_init_status_t BNO08x::bno08x_init_status_t

private

Holds info about which functionality has been successfully initialized (used by deconstructor during cleanup).

◆ bno08x_report_period_tracker_t

typedef struct BNO08x::bno08x_report_period_tracker_t BNO08x::bno08x_report_period_tracker_t

private

◆ 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.

Member Enumeration Documentation

◆ channels_t

enum BNO08x::channels_t

private

SHTP protocol channels.

Enumerator
CHANNEL_COMMAND
CHANNEL_EXECUTABLE
CHANNEL_CONTROL
CHANNEL_REPORTS
CHANNEL_WAKE_REPORTS
CHANNEL_GYRO

Constructor & Destructor Documentation

◆ BNO08x()

BNO08x::BNO08x ( bno08x_config_t imu_config = bno08x_config_t() )

BNO08x imu constructor.

Construct a BNO08x object for managing a BNO08x sensor.

Parameters

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

Returns: void, nothing to return

◆ ~BNO08x()

BNO08x::~BNO08x ( )

BNO08x imu deconstructor.

Deconstructs a BNO08x object and releases any utilized resources.

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: True if calibration complete, false if otherwise.

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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 ( bool ignore_no_reports_enabled = false )

Checks if BNO08x has asserted interrupt and sent data.

Parameters

ignore_no_reports_enabled Forces a wait for data even if no reports are enabled (default is false), used for unit tests.

Returns: True if new data has been parsed and saved, false if otherwise.

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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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◆ deinit_gpio()

esp_err_t BNO08x::deinit_gpio ( )

private

Deinitializes GPIO, called from deconstructor.

Returns: ESP_OK if deinitialization was success.

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◆ deinit_gpio_inputs()

esp_err_t BNO08x::deinit_gpio_inputs ( )

private

Deinitializes GPIO inputs, called from deconstructor.

Returns: ESP_OK if deinitialization was success.

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◆ deinit_gpio_outputs()

esp_err_t BNO08x::deinit_gpio_outputs ( )

private

Deinitializes GPIO outputs, called from deconstructor.

Returns: ESP_OK if deinitialization was success.

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◆ deinit_hint_isr()

esp_err_t BNO08x::deinit_hint_isr ( )

private

Deinitializes host interrupt ISR, called from deconstructor.

Returns: ESP_OK if deinitialization was success.

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◆ deinit_spi()

esp_err_t BNO08x::deinit_spi ( )

private

Deinitializes SPI.

Returns: ESP_OK if deinitialization was success.

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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_calibrated_gyro()

void BNO08x::disable_calibrated_gyro ( )

Sends command to disable calibrated gyro 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_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_mems_accelerometer()

void BNO08x::disable_raw_mems_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_mems_gyro()

void BNO08x::disable_raw_mems_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_mems_magnetometer()

void BNO08x::disable_raw_mems_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,
		BNO08xActivityEnable	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_calibrated_gyro()

void BNO08x::enable_calibrated_gyro ( uint32_t time_between_reports )

Sends command to enable calibrated 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_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_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_mems_accelerometer()

void BNO08x::enable_raw_mems_accelerometer ( uint32_t time_between_reports )

Sends command to enable raw MEMs 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_mems_gyro()

void BNO08x::enable_raw_mems_gyro ( uint32_t time_between_reports )

Sends command to enable raw MEMs 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_mems_magnetometer()

void BNO08x::enable_raw_mems_magnetometer ( uint32_t time_between_reports )

Sends command to enable raw MEMs 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,
		uint32_t	special_config = 0 )

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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◆ flush_rx_packets()

void BNO08x::flush_rx_packets ( uint8_t flush_count )

private

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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,
		BNO08xAccuracy &	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()

BNO08xAccuracy 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()

BNO08xActivity 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

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◆ get_calibrated_gyro_velocity()

void BNO08x::get_calibrated_gyro_velocity	(	float &	x,
		float &	y,
		float &	z )

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

Returns: void, nothing to return

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◆ get_calibrated_gyro_velocity_X()

float BNO08x::get_calibrated_gyro_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_calibrated_gyro_velocity_Y()

float BNO08x::get_calibrated_gyro_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_calibrated_gyro_velocity_Z()

float BNO08x::get_calibrated_gyro_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_gravity()

void BNO08x::get_gravity	(	float &	x,
		float &	y,
		float &	z,
		BNO08xAccuracy &	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()

BNO08xAccuracy 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_integrated_gyro_velocity()

void BNO08x::get_integrated_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_integrated_gyro_velocity_X()

float BNO08x::get_integrated_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_integrated_gyro_velocity_Y()

float BNO08x::get_integrated_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_integrated_gyro_velocity_Z()

float BNO08x::get_integrated_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,
		BNO08xAccuracy &	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()

BNO08xAccuracy 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,
		BNO08xAccuracy &	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 to save reported accuracy.

Returns: void, nothing to return

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◆ get_magf_accuracy()

BNO08xAccuracy 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,
		BNO08xAccuracy &	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()

BNO08xAccuracy 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_mems_accel()

void BNO08x::get_raw_mems_accel	(	uint16_t &	x,
		uint16_t &	y,
		uint16_t &	z )

Get full raw acceleration from physical accelerometer MEMs sensor (See Ref. Manual 6.5.8).

Parameters

x	Reference variable to save raw X axis acceleration.
y	Reference variable to save raw Y axis acceleration.
z	Reference variable to save raw Z axis acceleration.

Returns: void, nothing to return

◆ get_raw_mems_accel_X()

uint16_t BNO08x::get_raw_mems_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_mems_accel_Y()

uint16_t BNO08x::get_raw_mems_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_mems_accel_Z()

uint16_t BNO08x::get_raw_mems_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_mems_gyro()

void BNO08x::get_raw_mems_gyro	(	uint16_t &	x,
		uint16_t &	y,
		uint16_t &	z )

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

Parameters

x	Reference variable to save raw X axis data.
y	Reference variable to save raw Y axis data.
z	Reference variable to save raw Z axis data.

Returns: void, nothing to return

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◆ get_raw_mems_gyro_X()

uint16_t BNO08x::get_raw_mems_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_mems_gyro_Y()

uint16_t BNO08x::get_raw_mems_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_mems_gyro_Z()

uint16_t BNO08x::get_raw_mems_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_mems_magf()

void BNO08x::get_raw_mems_magf	(	uint16_t &	x,
		uint16_t &	y,
		uint16_t &	z )

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

Parameters

x	Reference variable to save raw X axis data.
y	Reference variable to save raw Y axis data.
z	Reference variable to save raw Z axis data.

Returns: void, nothing to return

◆ get_raw_mems_magf_X()

uint16_t BNO08x::get_raw_mems_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_mems_magf_Y()

uint16_t BNO08x::get_raw_mems_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_mems_magf_Z()

uint16_t BNO08x::get_raw_mems_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()

BNO08xResetReason 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()

BNO08xStability 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)

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◆ get_step_count()

uint16_t BNO08x::get_step_count ( )

Get the counted amount of steps.

Returns: The current amount of counted steps.

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◆ 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: uint32_t containing the timestamp of the most recent report in microseconds.

◆ 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_velocity()

void BNO08x::get_uncalibrated_gyro_velocity	(	float &	x,
		float &	y,
		float &	z,
		float &	b_x,
		float &	b_y,
		float &	b_z )

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

Returns: void, nothing to return

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◆ get_uncalibrated_gyro_velocity_X()

float BNO08x::get_uncalibrated_gyro_velocity_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_velocity_Y()

float BNO08x::get_uncalibrated_gyro_velocity_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_velocity_Z()

float BNO08x::get_uncalibrated_gyro_velocity_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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◆ init_config_args()

esp_err_t BNO08x::init_config_args ( )

private

Initializes required esp-idf SPI data structures with values from user passed bno08x_config_t struct.

Returns: ESP_OK if initialization was success.

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◆ init_gpio()

esp_err_t BNO08x::init_gpio ( )

private

Initializes required gpio.

Returns: ESP_OK if initialization was success.

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◆ init_gpio_inputs()

esp_err_t BNO08x::init_gpio_inputs ( )

private

Initializes required gpio inputs.

Returns: ESP_OK if initialization was success.

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◆ init_gpio_outputs()

esp_err_t BNO08x::init_gpio_outputs ( )

private

Initializes required gpio outputs.

Returns: ESP_OK if initialization was success.

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◆ init_hint_isr()

esp_err_t BNO08x::init_hint_isr ( )

private

Initializes host interrupt ISR.

Returns: ESP_OK if initialization was success.

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◆ init_spi()

esp_err_t BNO08x::init_spi ( )

private

Initializes SPI.

Returns: ESP_OK if initialization was success.

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◆ initialize()

bool BNO08x::initialize ( )

Initializes BNO08x sensor.

Resets sensor and goes through initialization process. Configures GPIO, required ISRs, and launches two tasks, one to manage SPI transactions, another to process any received data.

Returns: True if initialization was success, false if otherwise.

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◆ kill_all_tasks()

esp_err_t BNO08x::kill_all_tasks ( )

private

Deletes spi_task and data_proc_task safely on deconstructor call.

Returns: ESP_OK if tasks successfully deleted.

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◆ launch_tasks()

esp_err_t BNO08x::launch_tasks ( )

private

Launches spi_task and data_proc_task on constructor call.

Returns: ESP_OK if tasks successfully created.

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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_feature_get_response_report()

uint16_t BNO08x::parse_feature_get_response_report ( bno08x_rx_packet_t * packet )

private

Parses get feature request report received from BNO08x.

Note there is no means in this library currently to request feature reports, this is simply to handle the unsolicited get feature request reports that come with report rate changes (ie when a report is disabled by setting it 0) such that they aren't detected as invalid packets.

"6.5.5 of SH-2 Ref manual: "Note that SH-2 protocol version 1.0.1 and higher will send Get Feature Response messages unsolicited if a sensor’s rate changes (e.g. due to change in the rate of a related sensor."

Parameters

packet bno8x_rx_packet_t containing the get feature request report to parse.

Returns: The report ID of the respective sensor, for ex. SENSOR_REPORT_ID_ACCELEROMETER, 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_data()) 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_gyro_integrated_rotation_vector_report()

uint16_t BNO08x::parse_gyro_integrated_rotation_vector_report ( bno08x_rx_packet_t * packet )

private

Parses received gyro integrated rotation vector report sent by BNO08x.

Unit responds with packet that contains the following:

packet->header[0:3]: First, a 4 byte header packet->body[0:1]: Raw quaternion component I packet->body[2:3]: Raw quaternion component J packet->body[4:5]: Raw quaternion component K packet->body[6:7]: Raw quaternion real component packet->body[8:9]: Raw gyroscope angular velocity in X axis packet->body[10:11]: Raw gyroscope angular velocity in Y axis packet->body[12:13]: Raw gyroscope angular velocity in Z axis

Parameters

packet bno8x_rx_packet_t containing the gyro integrated rotation vector report report to parse

Returns: Integrated rotation vector report ID (always valid)

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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

Parameters

packet bno8x_rx_packet_t containing the input report to parse

Returns: The report ID of the respective sensor, for ex. SENSOR_REPORT_ID_ACCELEROMETER, 0 if invalid.

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◆ parse_input_report_data()

void BNO08x::parse_input_report_data	(	bno08x_rx_packet_t *	packet,
		uint16_t *	data,
		uint16_t	data_length )

private

Parses data from received input report.

Parameters

packet	bno8x_rx_packet_t containing the input report to parse
data	uint16_t array to store parsed data in
data_length	length of data in bytes parsed from packet header

Returns: void, nothing to return

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◆ parse_packet()

uint16_t BNO08x::parse_packet	(	bno08x_rx_packet_t *	packet,
		bool &	notify_users )

private

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

Parameters

packet	The packet to be parsed.
notify_users	Bool reference that is set to true if users should be notified of new data through callbacks/polling, false if packet is valid but users don't need to be notified.

Returns: 0 if invalid packet, non-zero if otherwise.

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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

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◆ 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()

void BNO08x::queue_feature_command	(	uint8_t	report_ID,
		uint32_t	time_between_reports,
		uint32_t	specific_config = 0 )

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.

Parameters

SHTP	channel number
data_length	data length in bytes
commands	array containing data to be sent

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()

esp_err_t 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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◆ receive_packet_body()

esp_err_t BNO08x::receive_packet_body ( bno08x_rx_packet_t * packet )

private

Receives a SHTP packet body via SPI.

Parameters

packet Pointer to bno08x_rx_packet_t to save body to.

Returns: ESP_OK if receive was success.

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◆ receive_packet_header()

esp_err_t BNO08x::receive_packet_header ( bno08x_rx_packet_t * packet )

private

Receives a SHTP packet header via SPI.

Parameters

packet Pointer to bno08x_rx_packet_t to save header to.

Returns: ESP_OK if receive was success.

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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

◆ report_ID_to_report_period_tracker_idx()

uint8_t BNO08x::report_ID_to_report_period_tracker_idx ( uint8_t report_ID )

staticprivate

Converts report id to respective index in report_period_trackers.

Parameters

report_ID report ID to return index for.

Returns: Index in report_period_trackers corresponding to passed report ID.

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◆ 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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◆ reset_all_data_to_defaults()

void BNO08x::reset_all_data_to_defaults ( )

Resets all data returned by public getter APIs to initial values of 0 and low accuracy.

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: True if calibration succeeded, false if otherwise.

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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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◆ update_accelerometer_data()

void BNO08x::update_accelerometer_data	(	uint16_t *	data,
		uint8_t	status )

private

Updates accelerometer data from parsed input report.

Parameters

data	uint16_t array containing parsed input report data.
status	uint8_t containing parsed status bits (represents accuracy)

Returns: void, nothing to return

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◆ update_calibrated_gyro_data()

void BNO08x::update_calibrated_gyro_data	(	uint16_t *	data,
		uint8_t	status )

private

Updates linear gyro data from parsed input report.

Parameters

data	uint16_t array containing parsed input report data.
status	uint8_t containing parsed status bits (represents accuracy)

Returns: void, nothing to return

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◆ update_command_data()

void BNO08x::update_command_data ( bno08x_rx_packet_t * packet )

private

Updates command data from parsed input report.

Parameters

packet bno08x_rx_packet_t containing the packet with command response report.

Returns: void, nothing to return

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◆ update_gravity_data()

void BNO08x::update_gravity_data	(	uint16_t *	data,
		uint8_t	status )

private

Updates gravity data from parsed input report.

Parameters

data	uint16_t array containing parsed input report data.
status	uint8_t containing parsed status bits (represents accuracy)

Returns: void, nothing to return

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◆ update_integrated_gyro_rotation_vector_data()

void BNO08x::update_integrated_gyro_rotation_vector_data ( bno08x_rx_packet_t * packet )

private

Updates integrated gyro rotation vector data from SHTP channel 5 (CHANNEL_GYRO) special report data.

Parameters

packet bno08x_rx_packet_t containing the packet with command response report.

Returns: void, nothing to return

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◆ update_lin_accelerometer_data()

void BNO08x::update_lin_accelerometer_data	(	uint16_t *	data,
		uint8_t	status )

private

Updates linear accelerometer data from parsed input report.

Parameters

data	uint16_t array containing parsed input report data.
status	uint8_t containing parsed status bits (represents accuracy)

Returns: void, nothing to return

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◆ update_magf_data()

void BNO08x::update_magf_data	(	uint16_t *	data,
		uint8_t	status )

private

Updates magnetic field data from parsed input report.

Parameters

data	uint16_t array containing parsed input report data.
status	uint8_t containing parsed status bits (represents accuracy)

Returns: void, nothing to return

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◆ update_personal_activity_classifier_data()

void BNO08x::update_personal_activity_classifier_data ( bno08x_rx_packet_t * packet )

private

Updates activity classifier data from parsed input report.

Parameters

packet bno08x_rx_packet_t containing the packet with activity classifier report.

Returns: void, nothing to return

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◆ update_raw_accelerometer_data()

void BNO08x::update_raw_accelerometer_data ( uint16_t * data )

private

Updates raw accelerometer data from parsed input report.

Parameters

data	uint16_t array containing parsed input report data.

Returns: void, nothing to return

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◆ update_raw_gyro_data()

void BNO08x::update_raw_gyro_data ( uint16_t * data )

private

Updates raw gyro data from parsed input report.

Parameters

data	uint16_t array containing parsed input report data.

Returns: void, nothing to return

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◆ update_raw_magf_data()

void BNO08x::update_raw_magf_data ( uint16_t * data )

private

Updates raw magnetic field data from parsed input report.

Parameters

data	uint16_t array containing parsed input report data.

Returns: void, nothing to return

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◆ update_report_period_trackers()

void BNO08x::update_report_period_trackers	(	uint8_t	report_ID,
		uint32_t	new_period )

private

Updates period of respective report in report_period_trackers and recalculates host_int_timeout_ms according to next longest report period.

Parameters

report_ID report ID to update period of.

Returns: void, nothing to return

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◆ update_rotation_vector_data()

void BNO08x::update_rotation_vector_data	(	uint16_t *	data,
		uint8_t	status )

private

Updates roation vector data from parsed input report.

Parameters

data	uint16_t array containing parsed input report data.
status	uint8_t containing parsed status bits (represents accuracy)

Returns: void, nothing to return

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◆ update_stability_classifier_data()

void BNO08x::update_stability_classifier_data ( bno08x_rx_packet_t * packet )

private

Updates stability classifier data from parsed input report.

Parameters

packet bno08x_rx_packet_t containing the packet with stability classifier report.

Returns: void, nothing to return

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◆ update_step_counter_data()

void BNO08x::update_step_counter_data ( uint16_t * data )

private

Updates step counter data from parsed input report.

Parameters

data	uint16_t array containing parsed input report data.

Returns: void, nothing to return

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◆ update_tap_detector_data()

void BNO08x::update_tap_detector_data ( bno08x_rx_packet_t * packet )

private

Updates tap detector data from parsed input report.

Parameters

packet bno08x_rx_packet_t containing the packet with tap detector report.

Returns: void, nothing to return

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◆ update_uncalibrated_gyro_data()

void BNO08x::update_uncalibrated_gyro_data	(	uint16_t *	data,
		uint8_t	status )

private

Updates uncalibrated gyro data from parsed input report.

Parameters

data	uint16_t array containing parsed input report data.
status	uint8_t containing parsed status bits (represents accuracy)

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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Friends And Related Symbol Documentation

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

private

◆ CMD_EXECUTION_DELAY_MS

const constexpr TickType_t BNO08x::CMD_EXECUTION_DELAY_MS

staticconstexprprivate

Initial value:

=
                10UL /
                portTICK_PERIOD_MS

How long to delay after queueing command to allow it to execute (for ex. after sending command to enable report).

◆ COMMAND_CLEAR_DCD

const constexpr uint8_t BNO08x::COMMAND_CLEAR_DCD = 11U

staticconstexprprivate

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

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:

=

(1U << 3U)

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:

=

(1U << 2U)

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 = (1U << 7U)

staticconstexprprivate

When set, gravity reports are active.

◆ EVT_GRP_RPT_GYRO_BIT

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

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:

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

staticconstexprprivate

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

◆ evt_grp_task_flow

EventGroupHandle_t BNO08x::evt_grp_task_flow

private

Event group for indicating when tasks should complete and self-delete (on deconstructor call)

◆ EVT_GRP_TSK_FLW_RUNNING_BIT

const constexpr EventBits_t BNO08x::EVT_GRP_TSK_FLW_RUNNING_BIT

staticconstexprprivate

Initial value:

=

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_Q1

const constexpr int16_t BNO08x::GYRO_Q1 = 9

staticconstexpr

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

◆ HARD_RESET_DELAY_MS

const constexpr TickType_t BNO08x::HARD_RESET_DELAY_MS

staticconstexprprivate

Initial value:

=
                100UL /
                portTICK_PERIOD_MS

How long RST pin is held low during hard reset (min 10ns according to datasheet, but should be longer for stable operation)

◆ HOST_INT_TIMEOUT_DEFAULT_MS

const constexpr TickType_t BNO08x::HOST_INT_TIMEOUT_DEFAULT_MS

staticconstexprprivate

Initial value:

=
                3000UL /
                portTICK_PERIOD_MS

Max wait between HINT being asserted by BNO08x before transaction is considered failed (in miliseconds), when no reports are enabled (ie during reset)

◆ host_int_timeout_ms

TickType_t BNO08x::host_int_timeout_ms

private

Initial value:

=

HOST_INT_TIMEOUT_DEFAULT_MS

BNO08x::HOST_INT_TIMEOUT_DEFAULT_MS

static const constexpr TickType_t HOST_INT_TIMEOUT_DEFAULT_MS

Max wait between HINT being asserted by BNO08x before transaction is considered failed (in milisecond...

Definition BNO08x.hpp:427

Max wait between HINT being asserted by BNO08x before transaction is considered failed (in miliseconds), determined by enabled report with longest period.

◆ 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.

◆ init_status

bno08x_init_status_t BNO08x::init_status

private

Initialization status of various functionality, used by deconstructor during cleanup, set during initialization.

◆ integrated_gyro_velocity_X

uint16_t BNO08x::integrated_gyro_velocity_X

private

◆ integrated_gyro_velocity_Y

uint16_t BNO08x::integrated_gyro_velocity_Y

private

◆ integrated_gyro_velocity_Z

uint16_t BNO08x::integrated_gyro_velocity_Z

private

Raw gyro angular velocity reading from integrated gyro rotation vector (See SH-2 Ref. Manual 6.5.44)

◆ largest_sample_period_us

uint32_t BNO08x::largest_sample_period_us

private

Initial value:

=

0

Current largest sample period of any enabled report in microseconds (used to determine timeout for hint ISR).

◆ 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

◆ raw_calib_gyro_X

uint16_t BNO08x::raw_calib_gyro_X

private

◆ raw_calib_gyro_Y

uint16_t BNO08x::raw_calib_gyro_Y

private

◆ raw_calib_gyro_Z

uint16_t BNO08x::raw_calib_gyro_Z

◆ report_period_trackers

bno08x_report_period_tracker_t BNO08x::report_period_trackers[REPORT_CNT]

private

Initial value:

= {{SENSOR_REPORT_ID_ACCELEROMETER, 0}, {SENSOR_REPORT_ID_GYROSCOPE, 0},
                {SENSOR_REPORT_ID_MAGNETIC_FIELD, 0}, {SENSOR_REPORT_ID_LINEAR_ACCELERATION, 0}, {SENSOR_REPORT_ID_ROTATION_VECTOR, 0},
                {SENSOR_REPORT_ID_GRAVITY, 0}, {SENSOR_REPORT_ID_UNCALIBRATED_GYRO, 0}, {SENSOR_REPORT_ID_GAME_ROTATION_VECTOR, 0},
                {SENSOR_REPORT_ID_GEOMAGNETIC_ROTATION_VECTOR, 0}, {SENSOR_REPORT_ID_GYRO_INTEGRATED_ROTATION_VECTOR, 0},
                {SENSOR_REPORT_ID_TAP_DETECTOR, 0}, {SENSOR_REPORT_ID_STEP_COUNTER, 0}, {SENSOR_REPORT_ID_STABILITY_CLASSIFIER, 0},
                {SENSOR_REPORT_ID_RAW_ACCELEROMETER, 0}, {SENSOR_REPORT_ID_RAW_GYROSCOPE, 0}, {SENSOR_REPORT_ID_RAW_MAGNETOMETER, 0},
                {SENSOR_REPORT_ID_PERSONAL_ACTIVITY_CLASSIFIER, 0}, {SENSOR_REPORT_ID_ARVR_STABILIZED_ROTATION_VECTOR, 0},
                {SENSOR_REPORT_ID_ARVR_STABILIZED_GAME_ROTATION_VECTOR,
                        0}}

Total amount of tasks utilized by BNO08x driver library.

◆ time_stamp

uint32_t BNO08x::time_stamp

private

Report timestamp (see datasheet 1.3.5.3)

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

Classes

Public Member Functions

Static Public Attributes

Private Types

Private Member Functions

Static Private Member Functions

Private Attributes

Static Private Attributes

Friends

Detailed Description

Member Typedef Documentation

◆ bno08x_init_status_t

◆ bno08x_report_period_tracker_t

◆ bno08x_rx_packet_t

◆ bno08x_tx_packet_t

Member Enumeration Documentation

◆ channels_t

Constructor & Destructor Documentation

◆ BNO08x()

◆ ~BNO08x()

Member Function Documentation

◆ calibrate_accelerometer()

◆ calibrate_all()

◆ calibrate_gyro()

◆ calibrate_magnetometer()

◆ calibrate_planar_accelerometer()

◆ calibration_complete()

◆ clear_tare()

◆ data_available()

◆ data_proc_task()

◆ data_proc_task_trampoline()

◆ deinit_gpio()

◆ deinit_gpio_inputs()

◆ deinit_gpio_outputs()

◆ deinit_hint_isr()

◆ deinit_spi()

◆ disable_accelerometer()

◆ disable_activity_classifier()

◆ disable_ARVR_stabilized_game_rotation_vector()

◆ disable_ARVR_stabilized_rotation_vector()

◆ disable_calibrated_gyro()

◆ disable_game_rotation_vector()

◆ disable_gravity()

◆ disable_gyro_integrated_rotation_vector()

◆ disable_linear_accelerometer()

◆ disable_magnetometer()

◆ disable_raw_mems_accelerometer()

◆ disable_raw_mems_gyro()

◆ disable_raw_mems_magnetometer()

◆ disable_report()

◆ disable_rotation_vector()

◆ disable_stability_classifier()

◆ disable_step_counter()

◆ disable_tap_detector()

◆ disable_uncalibrated_gyro()

◆ enable_accelerometer()

◆ enable_activity_classifier()

◆ enable_ARVR_stabilized_game_rotation_vector()

◆ enable_ARVR_stabilized_rotation_vector()

◆ enable_calibrated_gyro()

◆ enable_game_rotation_vector()

◆ enable_gravity()

◆ enable_gyro_integrated_rotation_vector()

◆ enable_linear_accelerometer()

◆ enable_magnetometer()

◆ enable_raw_mems_accelerometer()

◆ enable_raw_mems_gyro()

◆ enable_raw_mems_magnetometer()

◆ enable_report()

◆ enable_rotation_vector()

◆ enable_stability_classifier()

◆ enable_step_counter()

◆ enable_tap_detector()

◆ enable_uncalibrated_gyro()

◆ end_calibration()

◆ flush_rx_packets()

◆ FRS_read_data()

◆ FRS_read_request()

◆ FRS_read_word()

◆ get_accel()