esp32_BNO08x 1.31
C++ BNO08x IMU driver component for esp-idf.
Loading...
Searching...
No Matches
Public Member Functions | Protected Member Functions | Protected Attributes | Static Protected Attributes | Friends | List of all members
BNO08xRpt Class Referenceabstract

Class to represent and manage reports returned from BNO08x. More...

#include <BNO08xRpt.hpp>

Inheritance diagram for BNO08xRpt:
Inheritance graph
[legend]
Collaboration diagram for BNO08xRpt:
Collaboration graph
[legend]

Public Member Functions

bool disable (sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)
 Disables a sensor report by setting its period to 0us such that the BNO08x stops sending it.
 
bool register_cb (std::function< void(void)> cb_fxn)
 Registers a callback to execute when new data from a specific report is received.
 
bool has_new_data ()
 Checks if a new report has been received since the last time this function was called.
 
bool flush ()
 Flush all buffered reports for this sensor/report module.
 
bool get_sample_counts (bno08x_sample_counts_t &sample_counts)
 Gets sample counts for this sensor (see SH-2 ref manual 6.4.3.1)
 
bool clear_sample_counts ()
 Clears BNO08x internal sample counts for this sensor. (see SH-2 ref manual 6.4.3.1)
 
bool get_meta_data (bno08x_meta_data_t &meta_data)
 Retrieves meta data for this sensor/report by reading respective record in FRS (flash record system).
 
virtual bool enable (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)=0
 

Protected Member Functions

bool rpt_enable (uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg=BNO08xPrivateTypes::default_sensor_cfg)
 Enables a sensor report such that the BNO08x begins sending it.
 
virtual void update_data (sh2_SensorValue_t *sensor_val)=0
 
 BNO08xRpt (uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t *sync_ctx)
 BNO08xRpt report constructor.
 
void unlock_sh2_HAL ()
 Unlocks sh2 HAL lib to allow other tasks to call its APIs.
 
void lock_sh2_HAL ()
 Locks sh2 HAL lib to only allow the calling task to call its APIs.
 
void unlock_user_data ()
 Unlocks user data to allow other tasks to read/modify it.
 
void lock_user_data ()
 Locks locks user data to only allow the calling task to read/modify it.
 
void signal_data_available ()
 Signals to BNO08x::data_available() that a new report has arrived.
 

Protected Attributes

uint8_t ID
 Report ID, ex. SH2_ACCELERATION.
 
EventBits_t rpt_bit
 Respective enable and data bit for report in evt_grp_rpt_en and evt_grp_rpt_data.
 
uint32_t period_us
 The period/interval of the report in microseconds.
 
BNO08xPrivateTypes::bno08x_sync_ctx_t * sync_ctx
 

Static Protected Attributes

static const constexpr float RAD_2_DEG
 Constant for radian to degree conversions, sed in quaternion to euler function conversions.
 
static const constexpr char * TAG = "BNO08xRpt"
 

Friends

class BNO08x
 

Detailed Description

Class to represent and manage reports returned from BNO08x.

Constructor & Destructor Documentation

◆ BNO08xRpt()

BNO08xRpt::BNO08xRpt ( uint8_t ID,
EventBits_t rpt_bit,
BNO08xPrivateTypes::bno08x_sync_ctx_t * sync_ctx )
inlineprotected

BNO08xRpt report constructor.

Construct a BNO08xRpt object for managing a BNO08x sensor report.

Parameters
imuPointer to BNO08x imu object.
report_IDReport ID, ex. SH2_ACCELERATION.
rpt_bitRespective enable bit for report in BNO08x::evt_grp_report_en.
period_usThe period/interval of the report in microseconds.
Returns
void, nothing to return

Member Function Documentation

◆ clear_sample_counts()

bool BNO08xRpt::clear_sample_counts ( )

Clears BNO08x internal sample counts for this sensor. (see SH-2 ref manual 6.4.3.1)

Returns
True clear counts operation succeeded.
Here is the call graph for this function:

◆ disable()

bool BNO08xRpt::disable ( sh2_SensorConfig_t sensor_cfg = BNO08xPrivateTypes::default_sensor_cfg)

Disables a sensor report by setting its period to 0us such that the BNO08x stops sending it.

Parameters
sensor_IDThe ID of the sensor for the respective report to be disabled.
sensor_cfgSensor special configuration.
Returns
ESP_OK if report was successfully disabled.
Here is the call graph for this function:
Here is the caller graph for this function:

◆ enable()

virtual bool BNO08xRpt::enable ( uint32_t time_between_reports,
sh2_SensorConfig_t sensor_cfg = BNO08xPrivateTypes::default_sensor_cfg )
pure virtual

Implemented in BNO08xRptAcceleration, BNO08xRptActivityClassifier, BNO08xRptCalGyro, BNO08xRptCalMagnetometer, BNO08xRptGravity, BNO08xRptLinearAcceleration, BNO08xRptRawMEMSAccelerometer, BNO08xRptRawMEMSGyro, BNO08xRptRawMEMSMagnetometer, BNO08xRptRVGeneric, BNO08xRptShakeDetector, BNO08xRptStabilityClassifier, BNO08xRptStepCounter, BNO08xRptTapDetector, BNO08xRptUncalGyro, and BNO08xRptUncalMagnetometer.

◆ flush()

bool BNO08xRpt::flush ( )

Flush all buffered reports for this sensor/report module.

Returns
True if flush operation succeeded.
Here is the call graph for this function:

◆ get_meta_data()

bool BNO08xRpt::get_meta_data ( bno08x_meta_data_t & meta_data)

Retrieves meta data for this sensor/report by reading respective record in FRS (flash record system).

Can be used to retrieve the minimum period, maximum period, actual Q points, resolution, and other info for a given sensor.

Returns
True clear get meta data operation succeeded.
Here is the call graph for this function:
Here is the caller graph for this function:

◆ get_sample_counts()

bool BNO08xRpt::get_sample_counts ( bno08x_sample_counts_t & sample_counts)

Gets sample counts for this sensor (see SH-2 ref manual 6.4.3.1)

Parameters
Structto store requested data.
Returns
True get counts operation succeeded.
Here is the call graph for this function:
Here is the caller graph for this function:

◆ has_new_data()

bool BNO08xRpt::has_new_data ( )

Checks if a new report has been received since the last time this function was called.

Returns
True if a new report was received since the last time this function was called.
Here is the caller graph for this function:

◆ lock_sh2_HAL()

void BNO08xRpt::lock_sh2_HAL ( )
protected

Locks sh2 HAL lib to only allow the calling task to call its APIs.

Returns
void, nothing to return
Here is the caller graph for this function:

◆ lock_user_data()

void BNO08xRpt::lock_user_data ( )
protected

Locks locks user data to only allow the calling task to read/modify it.

Returns
void, nothing to return
Here is the caller graph for this function:

◆ register_cb()

bool BNO08xRpt::register_cb ( std::function< void(void)> cb_fxn)

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

Parameters
cb_fxnPointer to the call-back function should be of void return type void input param.
Returns
void, nothing to return
Here is the caller graph for this function:

◆ rpt_enable()

bool BNO08xRpt::rpt_enable ( uint32_t time_between_reports,
sh2_SensorConfig_t sensor_cfg = BNO08xPrivateTypes::default_sensor_cfg )
protected

Enables a sensor report such that the BNO08x begins sending it.

Parameters
report_period_usThe period/interval of the report in microseconds.
sensor_cfgSensor special configuration (optional, see BNO08xPrivateTypes::default_sensor_cfg for defaults).
Returns
True if report was successfully enabled.
Here is the call graph for this function:
Here is the caller graph for this function:

◆ signal_data_available()

void BNO08xRpt::signal_data_available ( )
protected

Signals to BNO08x::data_available() that a new report has arrived.

Returns
void, nothing to return
Here is the caller graph for this function:

◆ unlock_sh2_HAL()

void BNO08xRpt::unlock_sh2_HAL ( )
protected

Unlocks sh2 HAL lib to allow other tasks to call its APIs.

Returns
void, nothing to return
Here is the caller graph for this function:

◆ unlock_user_data()

void BNO08xRpt::unlock_user_data ( )
protected

Unlocks user data to allow other tasks to read/modify it.

Returns
void, nothing to return
Here is the caller graph for this function:

◆ update_data()

virtual void BNO08xRpt::update_data ( sh2_SensorValue_t * sensor_val)
protectedpure virtual

Implemented in BNO08xRptAcceleration, BNO08xRptActivityClassifier, BNO08xRptARVRStabilizedGameRV, BNO08xRptARVRStabilizedRV, BNO08xRptCalGyro, BNO08xRptCalMagnetometer, BNO08xRptGameRV, BNO08xRptGravity, BNO08xRptIGyroRV, BNO08xRptLinearAcceleration, BNO08xRptRawMEMSAccelerometer, BNO08xRptRawMEMSGyro, BNO08xRptRawMEMSMagnetometer, BNO08xRptRV, BNO08xRptRVGeomag, BNO08xRptShakeDetector, BNO08xRptStabilityClassifier, BNO08xRptStepCounter, BNO08xRptTapDetector, BNO08xRptUncalGyro, and BNO08xRptUncalMagnetometer.

Friends And Related Symbol Documentation

◆ BNO08x

friend class BNO08x
friend

Member Data Documentation

◆ ID

uint8_t BNO08xRpt::ID
protected

Report ID, ex. SH2_ACCELERATION.

◆ period_us

uint32_t BNO08xRpt::period_us
protected

The period/interval of the report in microseconds.

◆ RAD_2_DEG

const constexpr float BNO08xRpt::RAD_2_DEG
staticconstexprprotected
Initial value:
=
(180.0f / M_PI)

Constant for radian to degree conversions, sed in quaternion to euler function conversions.

◆ rpt_bit

EventBits_t BNO08xRpt::rpt_bit
protected

Respective enable and data bit for report in evt_grp_rpt_en and evt_grp_rpt_data.

◆ sync_ctx

BNO08xPrivateTypes::bno08x_sync_ctx_t* BNO08xRpt::sync_ctx
protected

◆ TAG

const constexpr char* BNO08xRpt::TAG = "BNO08xRpt"
staticconstexprprotected
The documentation for this class was generated from the following files: