Public Member Functions
	BNO08x (bno08x_config_t imu_config=default_imu_config)
	BNO08x imu constructor.

bool	initialize ()
	Initializes BNO08x sensor.

bool	hard_reset ()
	Hard resets BNO08x sensor.

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

uint8_t	get_reset_reason ()
	Get the reason for the most recent reset.

bool	mode_sleep ()
	Puts BNO08x sensor into sleep/low power mode using executable channel.

bool	mode_on ()
	Turns on/ brings BNO08x sensor out of sleep mode using executable channel.

float	q_to_float (int16_t fixed_point_value, uint8_t q_point)
	Converts a register value to a float using its associated Q point. (See https://en.wikipedia.org/wiki/Q_(number_format))

bool	run_full_calibration_routine ()
	Runs full calibration routine.

void	calibrate_all ()
	Sends command to calibrate accelerometer, gyro, and magnetometer.

void	calibrate_accelerometer ()
	Sends command to calibrate accelerometer.

void	calibrate_gyro ()
	Sends command to calibrate gyro.

void	calibrate_magnetometer ()
	Sends command to calibrate magnetometer.

void	calibrate_planar_accelerometer ()
	Sends command to calibrate planar accelerometer.

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

bool	calibration_complete ()
	Returns true if calibration has completed.

void	end_calibration ()
	Sends command to end calibration procedure.

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

void	enable_rotation_vector (uint16_t time_between_reports)
	Sends command to enable rotation vector reports (See Ref. Manual 6.5.18)

void	enable_game_rotation_vector (uint16_t time_between_reports)
	Sends command to enable game rotation vector reports (See Ref. Manual 6.5.19)

void	enable_ARVR_stabilized_rotation_vector (uint16_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 (uint16_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 (uint16_t timeBetweenReports)
	Sends command to enable gyro integrated rotation vector reports (See Ref. Manual 6.5.44)

void	enable_accelerometer (uint16_t time_between_reports)
	Sends command to enable accelerometer reports (See Ref. Manual 6.5.9)

void	enable_linear_accelerometer (uint16_t time_between_reports)
	Sends command to enable linear accelerometer reports (See Ref. Manual 6.5.10)

void	enable_gravity (uint16_t time_between_reports)
	Sends command to enable gravity reading reports (See Ref. Manual 6.5.11)

void	enable_gyro (uint16_t time_between_reports)
	Sends command to enable gyro reports (See Ref. Manual 6.5.13)

void	enable_uncalibrated_gyro (uint16_t time_between_reports)
	Sends command to enable uncalibrated gyro reports (See Ref. Manual 6.5.14)

void	enable_magnetometer (uint16_t time_between_reports)
	Sends command to enable magnetometer reports (See Ref. Manual 6.5.16)

void	enable_tap_detector (uint16_t time_between_reports)
	Sends command to enable tap detector reports (See Ref. Manual 6.5.27)

void	enable_step_counter (uint16_t time_between_reports)
	Sends command to enable step counter reports (See Ref. Manual 6.5.29)

void	enable_stability_classifier (uint16_t time_between_reports)
	Sends command to enable activity stability classifier reports (See Ref. Manual 6.5.31)

void	enable_activity_classifier (uint16_t time_between_reports, uint32_t activities_to_enable, uint8_t(&activity_confidence_vals)[9])
	Sends command to enable activity classifier reports (See Ref. Manual 6.5.36)

void	enable_raw_accelerometer (uint16_t time_between_reports)
	Sends command to enable raw accelerometer reports (See Ref. Manual 6.5.8)

void	enable_raw_gyro (uint16_t time_between_reports)
	Sends command to enable raw gyro reports (See Ref. Manual 6.5.12)

void	enable_raw_magnetometer (uint16_t time_between_reports)
	Sends command to enable raw magnetometer reports (See Ref. Manual 6.5.15)

void	tare_now (uint8_t axis_sel=TARE_AXIS_ALL, uint8_t rotation_vector_basis=TARE_ROTATION_VECTOR)
	Sends command to tare an axis (See Ref. Manual 6.4.4.1)

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

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

bool	data_available ()
	Checks if BNO08x has asserted interrupt and sent data.

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

uint16_t	parse_command_report ()
	Parses received command report sent by BNO08x (See Ref. Manual 6.3.9)

uint16_t	get_readings ()
	Waits for BNO08x HINT pin to assert, and parses the received data.

uint32_t	get_time_stamp ()
	Return timestamp of most recent report.

void	get_magf (float &x, float &y, float &z, uint8_t &accuracy)
	Get the full magnetic field vector.

float	get_magf_X ()
	Get X component of magnetic field vector.

float	get_magf_Y ()
	Get Y component of magnetic field vector.

float	get_magf_Z ()
	Get Z component of magnetic field vector.

uint8_t	get_magf_accuracy ()
	Get accuracy of reported magnetic field vector.

void	get_gravity (float &x, float &y, float &z, uint8_t &accuracy)
	Get full reported gravity vector, units in m/s^2.

float	get_gravity_X ()
	Get the reported x axis gravity.

float	get_gravity_Y ()
	Get the reported y axis gravity.

float	get_gravity_Z ()
	Get the reported z axis gravity.

uint8_t	get_gravity_accuracy ()
	Get the reported gravity accuracy.

float	get_roll ()
	Get the reported rotation about x axis.

float	get_pitch ()
	Get the reported rotation about y axis.

float	get_yaw ()
	Get the reported rotation about z axis.

float	get_roll_deg ()
	Get the reported rotation about x axis.

float	get_pitch_deg ()
	Get the reported rotation about y axis.

float	get_yaw_deg ()
	Get the reported rotation about z axis.

void	get_quat (float &i, float &j, float &k, float &real, float &rad_accuracy, uint8_t &accuracy)
	Get the full quaternion reading.

float	get_quat_I ()
	Get I component of reported quaternion.

float	get_quat_J ()
	Get J component of reported quaternion.

float	get_quat_K ()
	Get K component of reported quaternion.

float	get_quat_real ()
	Get real component of reported quaternion.

float	get_quat_radian_accuracy ()
	Get radian accuracy of reported quaternion.

uint8_t	get_quat_accuracy ()
	Get accuracy of reported quaternion.

void	get_accel (float &x, float &y, float &z, uint8_t &accuracy)
	Get full acceleration (total acceleration of device, units in m/s^2).

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

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

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

uint8_t	get_accel_accuracy ()
	Get accuracy of linear acceleration.

void	get_linear_accel (float &x, float &y, float &z, uint8_t &accuracy)
	Get full linear acceleration (acceleration of the device minus gravity, units in m/s^2).

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

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

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

uint8_t	get_linear_accel_accuracy ()
	Get accuracy of linear acceleration.

int16_t	get_raw_accel_X ()
	Get raw accelerometer x axis reading from physical accelerometer MEMs sensor (See Ref. Manual 6.5.8)

int16_t	get_raw_accel_Y ()
	Get raw accelerometer y axis reading from physical accelerometer MEMs sensor (See Ref. Manual 6.5.8)

int16_t	get_raw_accel_Z ()
	Get raw accelerometer z axis reading from physical accelerometer MEMs sensor (See Ref. Manual 6.5.8)

int16_t	get_raw_gyro_X ()
	Get raw gyroscope x axis reading from physical gyroscope MEMs sensor (See Ref. Manual 6.5.12)

int16_t	get_raw_gyro_Y ()
	Get raw gyroscope y axis reading from physical gyroscope MEMs sensor (See Ref. Manual 6.5.12)

int16_t	get_raw_gyro_Z ()
	Get raw gyroscope z axis reading from physical gyroscope MEMs sensor (See Ref. Manual 6.5.12)

int16_t	get_raw_magf_X ()
	Get raw magnetometer x axis reading from physical magnetometer sensor (See Ref. Manual 6.5.15)

int16_t	get_raw_magf_Y ()
	Get raw magnetometer y axis reading from physical magnetometer sensor (See Ref. Manual 6.5.15)

int16_t	get_raw_magf_Z ()
	Get raw magnetometer z axis reading from physical magnetometer sensor (See Ref. Manual 6.5.15)

void	get_gyro_calibrated_velocity (float &x, float &y, float &z, uint8_t &accuracy)
	Get full rotational velocity with drift compensation (units in Rad/s).

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

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

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

uint8_t	get_gyro_accuracy ()
	Get calibrated gyro accuracy.

void	get_uncalibrated_gyro (float &x, float &y, float &z, float &bx, float &by, float &bz, uint8_t &accuracy)
	Get full rotational velocity without drift compensation (units in Rad/s). An estimate of drift is given but not applied.

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

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

float	get_uncalibrated_gyro_Z ()
	Get uncalibrated gyro Z axis angular velocity measurement.

float	get_uncalibrated_gyro_bias_X ()
	Get uncalibrated gyro x axis drift estimate.

float	get_uncalibrated_gyro_bias_Y ()
	Get uncalibrated gyro Y axis drift estimate.

float	get_uncalibrated_gyro_bias_Z ()
	Get uncalibrated gyro Z axis drift estimate.

uint8_t	get_uncalibrated_gyro_accuracy ()
	Get uncalibrated gyro accuracy.

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

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

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

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

uint8_t	get_tap_detector ()
	Get if tap has occured.

uint16_t	get_step_count ()
	Get the counted amount of steps.

int8_t	get_stability_classifier ()
	Get the current stability classifier (Seee Ref. Manual 6.5.31)

uint8_t	get_activity_classifier ()
	Get the current activity classifier (Seee Ref. Manual 6.5.36)

void	print_header ()
	Prints the most recently received SHTP header to serial console with ESP_LOG statement.

void	print_packet ()

int16_t	get_Q1 (uint16_t record_ID)
	Gets Q1 point from BNO08x FRS (flash record system).

int16_t	get_Q2 (uint16_t record_ID)
	Gets Q2 point from BNO08x FRS (flash record system).

int16_t	get_Q3 (uint16_t record_ID)
	Gets Q3 point from BNO08x FRS (flash record system).

float	get_resolution (uint16_t record_ID)
	Gets resolution from BNO08x FRS (flash record system).

float	get_range (uint16_t record_ID)
	Gets range from BNO08x FRS (flash record system).

uint32_t	FRS_read_word (uint16_t record_ID, uint8_t word_number)
	Reads meta data word from BNO08x FRS (flash record system) given the record ID and word number. (See Ref. Manual 5.1 & 6.3.7)

bool	FRS_read_request (uint16_t record_ID, uint16_t read_offset, uint16_t block_size)
	Requests meta data from BNO08x FRS (flash record system) given the record ID. Contains Q points and other info. (See Ref. Manual 5.1 & 6.3.6)

bool	FRS_read_data (uint16_t record_ID, uint8_t start_location, uint8_t words_to_read)
	Read meta data from BNO08x FRS (flash record system) given the record ID. Contains Q points and other info. (See Ref. Manual 5.1 & 6.3.7)

Static Public Attributes
static const constexpr uint16_t	FRS_RECORDID_ACCELEROMETER = 0xE302

static const constexpr uint16_t	FRS_RECORDID_GYROSCOPE_CALIBRATED = 0xE306

static const constexpr uint16_t	FRS_RECORDID_MAGNETIC_FIELD_CALIBRATED = 0xE309

static const constexpr uint16_t	FRS_RECORDID_ROTATION_VECTOR = 0xE30B

Private Member Functions
bool	wait_for_device_int ()
	Re-enables interrupts and waits for BNO08x to assert HINT pin.

bool	receive_packet ()
	Receives a SHTP packet via SPI.

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

void	queue_packet (uint8_t channel_number, uint8_t data_length)
	Queues an SHTP packet to be sent via SPI.

void	queue_command (uint8_t command)
	Queues a packet containing a command.

void	queue_feature_command (uint8_t report_ID, uint16_t time_between_reports)
	Queues a packet containing a command with a request for sensor reports, reported periodically. (See Ref. Manual 6.5.4)

void	queue_feature_command (uint8_t report_ID, uint16_t time_between_reports, uint32_t specific_config)
	Queues a packet containing a command with a request for sensor reports, reported periodically. (See Ref. Manual 6.5.4)

void	queue_calibrate_command (uint8_t _to_calibrate)
	Queues a packet containing a command to calibrate the specified sensor.

void	queue_tare_command (uint8_t command, uint8_t axis=TARE_AXIS_ALL, uint8_t rotation_vector_basis=TARE_ROTATION_VECTOR)
	Queues a packet containing a command related to zeroing sensor's axes. (See Ref. Manual 6.4.4.1)

void	queue_request_product_id_command ()
	Queues a packet containing the request product ID command.

void	spi_task ()
	Task responsible for SPI transactions. Executed when HINT in is asserted by BNO08x.

Static Private Member Functions
static void	spi_task_trampoline (void *arg)
	Static function used to launch spi task.

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

Private Attributes
volatile uint8_t	tx_packet_queued
	Whether or not a packet is currently waiting to be sent, a queued packet is sent on assertion of BNO08x HINT pin)

SemaphoreHandle_t	tx_semaphore
	Mutex semaphore used to prevent sending or receiving of packets if packet is currently being queued.

uint8_t	rx_buffer [300]
	buffer used to receive packet with receive_packet()

uint8_t	tx_buffer [50]
	buffer used for sending packet with send_packet()

uint8_t	packet_header_rx [4]
	SHTP header received with receive_packet()

uint8_t	commands [20]
	Command to be sent with send_packet()

uint8_t	sequence_number [6]
	Sequence num of each com channel, 6 in total.

uint32_t	meta_data [9]
	First 9 bytes of meta data returned from FRS read operation (we don't really need the rest) (See Ref. Manual 5.1)

uint8_t	command_sequence_number = 0
	Sequence num of command, sent within command packet.

uint16_t	packet_length_tx = 0
	Packet length to be sent with send_packet()

uint16_t	packet_length_rx = 0
	Packet length received (calculated from packet_header_rx)

bno08x_config_t	imu_config {}
	IMU configuration settings.

spi_bus_config_t	bus_config {}
	SPI bus GPIO configuration settings.

spi_device_interface_config_t	imu_spi_config {}
	SPI slave device settings.

spi_device_handle_t	spi_hdl {}
	SPI device handle.

spi_transaction_t	spi_transaction {}
	SPI transaction handle.

uint32_t	time_stamp
	Report timestamp (see datasheet 1.3.5.3)

uint16_t	raw_accel_X

uint16_t	raw_accel_Y

uint16_t	raw_accel_Z

uint16_t	accel_accuracy
	Raw acceleration readings (See SH-2 Ref. Manual 6.5.8)

uint16_t	raw_lin_accel_X

uint16_t	raw_lin_accel_Y

uint16_t	raw_lin_accel_Z

uint16_t	accel_lin_accuracy
	Raw linear acceleration (See SH-2 Ref. Manual 6.5.10)

uint16_t	raw_gyro_X

uint16_t	raw_gyro_Y

uint16_t	raw_gyro_Z

uint16_t	gyro_accuracy
	Raw gyro reading (See SH-2 Ref. Manual 6.5.13)

uint16_t	raw_quat_I

uint16_t	raw_quat_J

uint16_t	raw_quat_K

uint16_t	raw_quat_real

uint16_t	raw_quat_radian_accuracy

uint16_t	quat_accuracy
	Raw quaternion reading (See SH-2 Ref. Manual 6.5.44)

uint16_t	raw_velocity_gyro_X

uint16_t	raw_velocity_gyro_Y

uint16_t	raw_velocity_gyro_Z
	Raw gyro angular velocity reading (See SH-2 Ref. Manual 6.5.44)

uint16_t	gravity_X

uint16_t	gravity_Y

uint16_t	gravity_Z

uint16_t	gravity_accuracy
	Gravity reading in m/s^2 (See SH-2 Ref. Manual 6.5.11)

uint16_t	raw_uncalib_gyro_X

uint16_t	raw_uncalib_gyro_Y

uint16_t	raw_uncalib_gyro_Z

uint16_t	raw_bias_X

uint16_t	raw_bias_Y

uint16_t	raw_bias_Z

uint16_t	uncalib_gyro_accuracy
	Uncalibrated gyro reading (See SH-2 Ref. Manual 6.5.14)

uint16_t	raw_magf_X

uint16_t	raw_magf_Y

uint16_t	raw_magf_Z

uint16_t	magf_accuracy
	Calibrated magnetic field reading in uTesla (See SH-2 Ref. Manual 6.5.16)

uint8_t	tap_detector
	Tap detector reading (See SH-2 Ref. Manual 6.5.27)

uint16_t	step_count
	Step counter reading (See SH-2 Ref. Manual 6.5.29)

uint8_t	stability_classifier
	Stability status reading (See SH-2 Ref. Manual 6.5.31)

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

uint8_t *	activity_confidences
	Confidence of read activities (See SH-2 Ref. Manual 6.5.36)

uint8_t	calibration_status
	Calibration status of device (See SH-2 Ref. Manual 6.4.7.1 & 6.4.7.2)

uint16_t	mems_raw_accel_X

uint16_t	mems_raw_accel_Y

uint16_t	mems_raw_accel_Z
	Raw accelerometer readings from MEMS sensor (See SH2 Ref. Manual 6.5.8)

uint16_t	mems_raw_gyro_X

uint16_t	mems_raw_gyro_Y

uint16_t	mems_raw_gyro_Z
	Raw gyro readings from MEMS sensor (See SH-2 Ref. Manual 6.5.12)

uint16_t	mems_raw_magf_X

uint16_t	mems_raw_magf_Y

uint16_t	mems_raw_magf_Z
	Raw magnetometer (compass) readings from MEMS sensor (See SH-2 Ref. Manual 6.5.15)

TaskHandle_t	spi_task_hdl
	SPI task handle.

volatile bool	int_asserted
	Interrupt asserted flag, sets true after hint_handler ISR launches SPI task and it has run to completion.

Static Private Attributes
static bno08x_config_t	default_imu_config
	default imu config settings

static bool	isr_service_installed = {false}
	true of the isr service has been installed, only has to be done once regardless of how many devices are used

static const constexpr 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)

static const constexpr uint64_t	HOST_INT_TIMEOUT_US = 150000ULL
	Max wait between HINT being asserted by BNO08x before transaction is considered failed.

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

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

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

static const constexpr uint8_t	CALIBRATE_PLANAR_ACCEL = 3
	Calibrate planar acceleration command used by queue_calibrate_command.

static const constexpr uint8_t	CALIBRATE_ACCEL_GYRO_MAG = 4
	Calibrate accelerometer, gyro, & magnetometer command used by queue_calibrate_command.

static const constexpr uint8_t	CALIBRATE_STOP = 5
	Stop calibration command used by queue_calibrate_command.

static const constexpr uint8_t	COMMAND_ERRORS = 1

static const constexpr uint8_t	COMMAND_COUNTER = 2

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

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

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

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

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

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

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

static const constexpr uint8_t	SHTP_REPORT_COMMAND_RESPONSE = 0xF1
	See SH2 Ref. Manual 6.3.9.

static const constexpr uint8_t	SHTP_REPORT_COMMAND_REQUEST = 0xF2
	See SH2 Ref. Manual 6.3.8.

static const constexpr uint8_t	SHTP_REPORT_FRS_READ_RESPONSE = 0xF3
	See SH2 Ref. Manual 6.3.7.

static const constexpr uint8_t	SHTP_REPORT_FRS_READ_REQUEST = 0xF4
	See SH2 Ref. Manual 6.3.6.

static const constexpr uint8_t	SHTP_REPORT_PRODUCT_ID_RESPONSE = 0xF8
	See SH2 Ref. Manual 6.3.2.

static const constexpr uint8_t	SHTP_REPORT_PRODUCT_ID_REQUEST = 0xF9
	See SH2 Ref. Manual 6.3.1.

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

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

static const constexpr uint8_t	SENSOR_REPORTID_ACCELEROMETER = 0x01
	See SH2 Ref. Manual 6.5.9.

static const constexpr uint8_t	SENSOR_REPORTID_GYROSCOPE = 0x02
	See SH2 Ref. Manual 6.5.13.

static const constexpr uint8_t	SENSOR_REPORTID_MAGNETIC_FIELD = 0x03
	See SH2 Ref. Manual 6.5.16.

static const constexpr uint8_t	SENSOR_REPORTID_LINEAR_ACCELERATION = 0x04
	See SH2 Ref. Manual 6.5.10.

static const constexpr uint8_t	SENSOR_REPORTID_ROTATION_VECTOR = 0x05
	See SH2 Ref. Manual 6.5.18.

static const constexpr uint8_t	SENSOR_REPORTID_GRAVITY = 0x06
	See SH2 Ref. Manual 6.5.11.

static const constexpr uint8_t	SENSOR_REPORTID_UNCALIBRATED_GYRO = 0x07
	See SH2 Ref. Manual 6.5.14.

static const constexpr uint8_t	SENSOR_REPORTID_GAME_ROTATION_VECTOR = 0x08
	See SH2 Ref. Manual 6.5.19.

static const constexpr uint8_t	SENSOR_REPORTID_GEOMAGNETIC_ROTATION_VECTOR = 0x09
	See SH2 Ref. Manual 6.5.20.

static const constexpr uint8_t	SENSOR_REPORTID_GYRO_INTEGRATED_ROTATION_VECTOR = 0x2A
	See SH2 Ref. Manual 6.5.44.

static const constexpr uint8_t	SENSOR_REPORTID_TAP_DETECTOR = 0x10
	See SH2 Ref. Manual 6.5.27.

static const constexpr uint8_t	SENSOR_REPORTID_STEP_COUNTER = 0x11
	See SH2 Ref. Manual 6.5.29.

static const constexpr uint8_t	SENSOR_REPORTID_STABILITY_CLASSIFIER = 0x13
	See SH2 Ref. Manual 6.5.31.

static const constexpr uint8_t	SENSOR_REPORTID_RAW_ACCELEROMETER = 0x14
	See SH2 Ref. Manual 6.5.8.

static const constexpr uint8_t	SENSOR_REPORTID_RAW_GYROSCOPE = 0x15
	See SH2 Ref. Manual 6.5.12.

static const constexpr uint8_t	SENSOR_REPORTID_RAW_MAGNETOMETER = 0x16
	See SH2 Ref. Manual 6.5.15.

static const constexpr uint8_t	SENSOR_REPORTID_PERSONAL_ACTIVITY_CLASSIFIER = 0x1E
	See SH2 Ref. Manual 6.5.36.

static const constexpr uint8_t	SENSOR_REPORTID_AR_VR_STABILIZED_ROTATION_VECTOR = 0x28
	See SH2 Ref. Manual 6.5.42.

static const constexpr uint8_t	SENSOR_REPORTID_AR_VR_STABILIZED_GAME_ROTATION_VECTOR = 0x29
	See SH2 Ref. Manual 6.5.43.

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

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

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

static const constexpr uint8_t	TARE_AXIS_ALL = 0x07
	Tare all axes (used with tare now command)

static const constexpr uint8_t	TARE_AXIS_Z = 0x04
	Tar yaw axis only (used with tare now command)

static const constexpr uint8_t	TARE_ROTATION_VECTOR = 0
	Tare rotation vector.

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

static const constexpr uint8_t	TARE_GEOMAGNETIC_ROTATION_VECTOR = 2
	tare geomagnetic rotation vector

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

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

static const constexpr uint8_t	TARE_AR_VR_STABILIZED_GAME_ROTATION_VECTOR = 5
	Tare ARVR stabilized game rotation vector.

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

Constructor & Destructor Documentation

◆ BNO08x()

BNO08x::BNO08x ( bno08x_config_t imu_config = default_imu_config )

BNO08x imu constructor.

Construct a BNO08x object for managing a BNO08x sensor. Initializes required GPIO pins, interrupts, SPI peripheral, and local task for SPI transactions.

Parameters

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

Returns: void, nothing to return

Member Function Documentation

◆ calibrate_accelerometer()

void BNO08x::calibrate_accelerometer ( )

Sends command to calibrate accelerometer.

Returns: void, nothing to return

◆ calibrate_all()

void BNO08x::calibrate_all ( )

Sends command to calibrate accelerometer, gyro, and magnetometer.

Returns: void, nothing to return

◆ calibrate_gyro()

void BNO08x::calibrate_gyro ( )

Sends command to calibrate gyro.

Returns: void, nothing to return

◆ calibrate_magnetometer()

void BNO08x::calibrate_magnetometer ( )

Sends command to calibrate magnetometer.

Returns: void, nothing to return

◆ calibrate_planar_accelerometer()

void BNO08x::calibrate_planar_accelerometer ( )

Sends command to calibrate planar accelerometer.

Returns: void, nothing to return

◆ calibration_complete()

bool BNO08x::calibration_complete ( )

Returns true if calibration has completed.

Returns: void, nothing to return

◆ 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

◆ data_available()

bool BNO08x::data_available ( )

Checks if BNO08x has asserted interrupt and sent data.

Returns: true if new data has been parsed and saved

◆ enable_accelerometer()

void BNO08x::enable_accelerometer ( uint16_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 miliseconds.

Returns: void, nothing to return

◆ enable_activity_classifier()

void BNO08x::enable_activity_classifier	(	uint16_t	time_between_reports,
		uint32_t	activities_to_enable,
		uint8_t(&)	activity_confidence_vals[9]
	)

Sends command to enable activity classifier reports (See Ref. Manual 6.5.36)

Parameters

time_between_reports	Desired time between reports in miliseconds.
activities_to_enable	Desired activities to enable (0x1F enables all).
activity_confidence_vals	Returned activity level confidences.

Returns: void, nothing to return

◆ enable_ARVR_stabilized_game_rotation_vector()

void BNO08x::enable_ARVR_stabilized_game_rotation_vector ( uint16_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 miliseconds.

Returns: void, nothing to return

◆ enable_ARVR_stabilized_rotation_vector()

void BNO08x::enable_ARVR_stabilized_rotation_vector ( uint16_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 miliseconds.

Returns: void, nothing to return

◆ enable_game_rotation_vector()

void BNO08x::enable_game_rotation_vector ( uint16_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 miliseconds.

Returns: void, nothing to return

◆ enable_gravity()

void BNO08x::enable_gravity ( uint16_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 miliseconds.

Returns: void, nothing to return

◆ enable_gyro()

void BNO08x::enable_gyro ( uint16_t time_between_reports )

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

Parameters

time_between_reports Desired time between reports in miliseconds.

Returns: void, nothing to return

◆ enable_gyro_integrated_rotation_vector()

void BNO08x::enable_gyro_integrated_rotation_vector ( uint16_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 miliseconds.

Returns: void, nothing to return

◆ enable_linear_accelerometer()

void BNO08x::enable_linear_accelerometer ( uint16_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 miliseconds.

Returns: void, nothing to return

◆ enable_magnetometer()

void BNO08x::enable_magnetometer ( uint16_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 miliseconds.

Returns: void, nothing to return

◆ enable_raw_accelerometer()

void BNO08x::enable_raw_accelerometer ( uint16_t time_between_reports )

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

Parameters

time_between_reports Desired time between reports in miliseconds.

Returns: void, nothing to return

◆ enable_raw_gyro()

void BNO08x::enable_raw_gyro ( uint16_t time_between_reports )

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

Parameters

time_between_reports Desired time between reports in miliseconds.

Returns: void, nothing to return

◆ enable_raw_magnetometer()

void BNO08x::enable_raw_magnetometer ( uint16_t time_between_reports )

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

Parameters

time_between_reports Desired time between reports in miliseconds.

Returns: void, nothing to return

◆ enable_rotation_vector()

void BNO08x::enable_rotation_vector ( uint16_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 miliseconds.

Returns: void, nothing to return

◆ enable_stability_classifier()

void BNO08x::enable_stability_classifier ( uint16_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 miliseconds.

Returns: void, nothing to return

◆ enable_step_counter()

void BNO08x::enable_step_counter ( uint16_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 miliseconds.

Returns: void, nothing to return

◆ enable_tap_detector()

void BNO08x::enable_tap_detector ( uint16_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 miliseconds.

Returns: void, nothing to return

◆ enable_uncalibrated_gyro()

void BNO08x::enable_uncalibrated_gyro ( uint16_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 miliseconds.

Returns: void, nothing to return

◆ end_calibration()

void BNO08x::end_calibration ( )

Sends command to end calibration procedure.

Returns: void, nothing to return

◆ 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.

◆ 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)

◆ 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.

◆ get_accel()

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

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

Parameters

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

Returns: void, nothing to return

◆ get_accel_accuracy()

uint8_t BNO08x::get_accel_accuracy ( )

Get accuracy of linear acceleration.

Returns: Accuracy of linear acceleration.

◆ get_accel_X()

float BNO08x::get_accel_X ( )

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

Returns: The angular reported x axis acceleration.

◆ 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.

◆ 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.

◆ get_activity_classifier()

uint8_t BNO08x::get_activity_classifier ( )

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

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

◆ get_gravity()

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

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

Parameters

x	Reference variable to save X axis gravity.
y	Reference variable to save Y axis axis gravity.
z	Reference variable to save Z axis axis gravity.
accuracy	Reference variable to save reported gravity accuracy.

Returns: void, nothing to return

◆ get_gravity_accuracy()

uint8_t BNO08x::get_gravity_accuracy ( )

Get the reported gravity accuracy.

Returns: Accuracy of reported gravity.

◆ get_gravity_X()

float BNO08x::get_gravity_X ( )

Get the reported x axis gravity.

Returns: x axis gravity in m/s^2

◆ get_gravity_Y()

float BNO08x::get_gravity_Y ( )

Get the reported y axis gravity.

Returns: y axis gravity in m/s^2

◆ get_gravity_Z()

float BNO08x::get_gravity_Z ( )

Get the reported z axis gravity.

Returns: z axis gravity in m/s^2

◆ get_gyro_accuracy()

uint8_t BNO08x::get_gyro_accuracy ( )

Get calibrated gyro accuracy.

Returns: Accuracy of calibrated gyro.

◆ get_gyro_calibrated_velocity()

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

Get full rotational velocity with drift compensation (units in Rad/s).

Parameters

x	Reference variable to save X axis angular velocity
y	Reference variable to save Y axis angular velocity
z	Reference variable to save Z axis angular velocity
accuracy	Reference variable to save reported gyro accuracy.

Returns: void, nothing to return

◆ get_gyro_calibrated_velocity_X()

float BNO08x::get_gyro_calibrated_velocity_X ( )

Get calibrated gyro x axis angular velocity measurement.

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

◆ get_gyro_calibrated_velocity_Y()

float BNO08x::get_gyro_calibrated_velocity_Y ( )

Get calibrated gyro y axis angular velocity measurement.

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

◆ get_gyro_calibrated_velocity_Z()

float BNO08x::get_gyro_calibrated_velocity_Z ( )

Get calibrated gyro z axis angular velocity measurement.

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

◆ get_gyro_velocity()

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

Full rotational velocity from gyro-integrated rotation vector (See Ref. Manual 6.5.44)

Parameters

x	Reference variable to save X axis angular velocity
y	Reference variable to save Y axis angular velocity
z	Reference variable to save Z axis angular velocity

Returns: void, nothing to return

◆ get_gyro_velocity_X()

float BNO08x::get_gyro_velocity_X ( )

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

Returns: The reported x axis angular velocity.

◆ get_gyro_velocity_Y()

float BNO08x::get_gyro_velocity_Y ( )

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

Returns: The reported y axis angular velocity.

◆ get_gyro_velocity_Z()

float BNO08x::get_gyro_velocity_Z ( )

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

Returns: The reported Z axis angular velocity.

◆ get_linear_accel()

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

Get full linear acceleration (acceleration of the device minus gravity, units in m/s^2).

Parameters

x	Reference variable to save X axis acceleration.
y	Reference variable to save Y axis acceleration.
z	Reference variable to save Z axis acceleration.
accuracy	Reference variable to save reported linear acceleration accuracy.

Returns: void, nothing to return

◆ get_linear_accel_accuracy()

uint8_t BNO08x::get_linear_accel_accuracy ( )

Get accuracy of linear acceleration.

Returns: Accuracy of linear acceleration.

◆ get_linear_accel_X()

float BNO08x::get_linear_accel_X ( )

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

Returns: The angular reported x axis linear acceleration.

◆ 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.

◆ 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.

◆ get_magf()

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

Get the full magnetic field vector.

Parameters

x	Reference variable to save reported x magnitude.
y	Reference variable to save reported y magnitude.
x	Reference variable to save reported z magnitude.
accuracy	Reference variable save reported accuracy.

Returns: void, nothing to return

◆ get_magf_accuracy()

uint8_t BNO08x::get_magf_accuracy ( )

Get accuracy of reported magnetic field vector.

Returns: The accuracy of reported magnetic field vector.

◆ get_magf_X()

float BNO08x::get_magf_X ( )

Get X component of magnetic field vector.

Returns: The reported X component of magnetic field vector.

◆ get_magf_Y()

float BNO08x::get_magf_Y ( )

Get Y component of magnetic field vector.

Returns: The reported Y component of magnetic field vector.

◆ get_magf_Z()

float BNO08x::get_magf_Z ( )

Get Z component of magnetic field vector.

Returns: The reported Z component of magnetic field vector.

◆ get_pitch()

float BNO08x::get_pitch ( )

Get the reported rotation about y axis.

Returns: Rotation about the y axis in radians.

◆ get_pitch_deg()

float BNO08x::get_pitch_deg ( )

Get the reported rotation about y axis.

Returns: Rotation about the y axis in degrees.

◆ 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.

◆ 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.

◆ 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.

◆ get_quat()

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

Get the full quaternion reading.

Parameters

i	Reference variable to save reported i component of quaternion.
j	Reference variable to save reported j component of quaternion.
k	Reference variable to save reported k component of quaternion.
real	Reference variable to save reported real component of quaternion.
rad_accuracy	Reference variable to save reported raw quaternion radian accuracy.
accuracy	Reference variable to save reported quaternion accuracy.

Returns: void, nothing to return

◆ get_quat_accuracy()

uint8_t BNO08x::get_quat_accuracy ( )

Get accuracy of reported quaternion.

Returns: The accuracy of reported quaternion.

◆ get_quat_I()

float BNO08x::get_quat_I ( )

Get I component of reported quaternion.

Returns: The I component of reported quaternion.

◆ get_quat_J()

float BNO08x::get_quat_J ( )

Get J component of reported quaternion.

Returns: The J component of reported quaternion.

◆ get_quat_K()

float BNO08x::get_quat_K ( )

Get K component of reported quaternion.

Returns: The K component of reported quaternion.

◆ get_quat_radian_accuracy()

float BNO08x::get_quat_radian_accuracy ( )

Get radian accuracy of reported quaternion.

Returns: The radian accuracy of reported quaternion.

◆ get_quat_real()

float BNO08x::get_quat_real ( )

Get real component of reported quaternion.

Returns: The real component of reported quaternion.

◆ 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.

◆ get_raw_accel_X()

int16_t BNO08x::get_raw_accel_X ( )

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

Returns: Reported raw accelerometer x axis reading from physical MEMs sensor.

◆ get_raw_accel_Y()

int16_t BNO08x::get_raw_accel_Y ( )

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

Returns: Reported raw accelerometer y axis reading from physical MEMs sensor.

◆ get_raw_accel_Z()

int16_t BNO08x::get_raw_accel_Z ( )

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

Returns: Reported raw accelerometer z axis reading from physical MEMs sensor.

◆ get_raw_gyro_X()

int16_t BNO08x::get_raw_gyro_X ( )

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

Returns: Reported raw gyroscope x axis reading from physical MEMs sensor.

◆ get_raw_gyro_Y()

int16_t BNO08x::get_raw_gyro_Y ( )

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

Returns: Reported raw gyroscope y axis reading from physical MEMs sensor.

◆ get_raw_gyro_Z()

int16_t BNO08x::get_raw_gyro_Z ( )

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

Returns: Reported raw gyroscope z axis reading from physical MEMs sensor.

◆ get_raw_magf_X()

int16_t BNO08x::get_raw_magf_X ( )

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

Returns: Reported raw magnetometer x axis reading from physical magnetometer sensor.

◆ get_raw_magf_Y()

int16_t BNO08x::get_raw_magf_Y ( )

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

Returns: Reported raw magnetometer y axis reading from physical magnetometer sensor.

◆ get_raw_magf_Z()

int16_t BNO08x::get_raw_magf_Z ( )

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

Returns: Reported raw magnetometer z axis reading from physical magnetometer sensor.

◆ get_readings()

uint16_t BNO08x::get_readings ( )

Waits for BNO08x HINT pin to assert, and parses the received data.

Returns: void, nothing to return

◆ get_reset_reason()

uint8_t BNO08x::get_reset_reason ( )

Get the reason for the most recent 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)

◆ 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.

◆ get_roll()

float BNO08x::get_roll ( )

Get the reported rotation about x axis.

Returns: Rotation about the x axis in radians.

◆ get_roll_deg()

float BNO08x::get_roll_deg ( )

Get the reported rotation about x axis.

Returns: Rotation about the x axis in degrees.

◆ get_stability_classifier()

int8_t BNO08x::get_stability_classifier ( )

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

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

◆ get_step_count()

uint16_t BNO08x::get_step_count ( )

Get the counted amount of steps.

Returns: The current amount of counted steps.

◆ get_tap_detector()

uint8_t BNO08x::get_tap_detector ( )

Get if tap has occured.

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

◆ get_time_stamp()

uint32_t BNO08x::get_time_stamp ( )

Return timestamp of most recent report.

Returns: void, nothing to return

◆ get_uncalibrated_gyro()

void BNO08x::get_uncalibrated_gyro	(	float &	x,
		float &	y,
		float &	z,
		float &	b_x,
		float &	b_y,
		float &	b_z,
		uint8_t &	accuracy
	)

Get full rotational velocity without drift compensation (units in Rad/s). An estimate of drift is given but not applied.

Parameters

x	Reference variable to save X axis angular velocity
y	Reference variable to save Y axis angular velocity
z	Reference variable to save Z axis angular velocity
b_x	Reference variable to save X axis drift estimate
b_y	Reference variable to save Y axis drift estimate
b_z	Reference variable to save Z axis drift estimate
accuracy	Reference variable to save reported gyro accuracy.

Returns: void, nothing to return

◆ get_uncalibrated_gyro_accuracy()

uint8_t BNO08x::get_uncalibrated_gyro_accuracy ( )

Get uncalibrated gyro accuracy.

Returns: Accuracy of uncalibrated gyro.

◆ get_uncalibrated_gyro_bias_X()

float BNO08x::get_uncalibrated_gyro_bias_X ( )

Get uncalibrated gyro x axis drift estimate.

Returns: The angular reported x axis drift estimate.

◆ 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.

◆ 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.

◆ get_uncalibrated_gyro_X()

float BNO08x::get_uncalibrated_gyro_X ( )

Get uncalibrated gyro x axis angular velocity measurement.

Returns: The angular reported x axis angular velocity from uncalibrated gyro.

◆ get_uncalibrated_gyro_Y()

float BNO08x::get_uncalibrated_gyro_Y ( )

Get uncalibrated gyro Y axis angular velocity measurement.

Returns: The angular reported Y axis angular velocity from uncalibrated gyro.

◆ get_uncalibrated_gyro_Z()

float BNO08x::get_uncalibrated_gyro_Z ( )

Get uncalibrated gyro Z axis angular velocity measurement.

Returns: The angular reported Z axis angular velocity from uncalibrated gyro.

◆ get_yaw()

float BNO08x::get_yaw ( )

Get the reported rotation about z axis.

Returns: Rotation about the z axis in radians.

◆ get_yaw_deg()

float BNO08x::get_yaw_deg ( )

Get the reported rotation about z axis.

Returns: Rotation about the z axis in degrees.

◆ hard_reset()

bool BNO08x::hard_reset ( )

Hard resets BNO08x sensor.

Returns: void, nothing to return

◆ 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

◆ initialize()

bool BNO08x::initialize ( )

Initializes BNO08x sensor.

Resets sensor and goes through initializing process outlined in BNO08x datasheet.

Returns: void, nothing to return

◆ 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.

◆ 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.

◆ parse_command_report()

uint16_t BNO08x::parse_command_report ( )

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

Returns: The command report ID, 0 if invalid.

◆ parse_input_report()

uint16_t BNO08x::parse_input_report ( )

Parses received input report sent by BNO08x.

Unit responds with packet that contains the following:

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

Returns: void, nothing to return

◆ print_header()

void BNO08x::print_header ( )

Prints the most recently received SHTP header to serial console with ESP_LOG statement.

Returns: void, nothing to return

◆ q_to_float()

float BNO08x::q_to_float	(	int16_t	fixed_point_value,
		uint8_t	q_point
	)

Converts a register value to a float using its associated Q point. (See https://en.wikipedia.org/wiki/Q_(number_format))

Parameters

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

Returns: void, nothing to return

◆ 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

◆ queue_command()

void BNO08x::queue_command ( uint8_t command )

private

Queues a packet containing a command.

Parameters

command The command to be sent.

Returns: void, nothing to return

◆ queue_feature_command() [1/2]

void BNO08x::queue_feature_command	(	uint8_t	report_ID,
		uint16_t	time_between_reports
	)

private

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

Parameters

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

Returns: void, nothing to return

◆ queue_feature_command() [2/2]

void BNO08x::queue_feature_command	(	uint8_t	report_ID,
		uint16_t	time_between_reports,
		uint32_t	specific_config
	)

private

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

Parameters

report_ID	ID of sensor report to be enabled.
time_between_reports	Desired time between reports in miliseconds.
specific_config	Specific config word (used with personal activity classifier)

Returns: void, nothing to return

◆ queue_packet()

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

private

Queues an SHTP packet to be sent via SPI.

Returns: void, nothing to return

◆ 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

◆ 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

◆ receive_packet()

bool BNO08x::receive_packet ( )

private

Receives a SHTP packet via SPI.

Returns: void, nothing to return

◆ request_calibration_status()

void BNO08x::request_calibration_status ( )

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

Returns: void, nothing to return

◆ run_full_calibration_routine()

bool BNO08x::run_full_calibration_routine ( )

Runs full calibration routine.

Enables game rotation vector and magnetometer, starts ME calibration process. Waits for accuracy of returned quaternions and magnetic field vectors to be high, then saves calibration data and returns.

Returns: void, nothing to return

◆ save_calibration()

void BNO08x::save_calibration ( )

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

Returns: void, nothing to return

◆ 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

◆ send_packet()

void BNO08x::send_packet ( )

private

Sends a queued SHTP packet via SPI.

Returns: void, nothing to return

◆ soft_reset()

bool BNO08x::soft_reset ( )

Soft resets BNO08x sensor using executable channel.

Returns: True if reset was success.

◆ 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

◆ 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.

Returns: void, nothing to return

◆ 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

◆ wait_for_device_int()

bool BNO08x::wait_for_device_int ( )

private

Re-enables interrupts and waits for BNO08x to assert HINT pin.

Returns: void, nothing to return

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

D:/development/git/esp32_BNO08x/BNO08x.hpp
D:/development/git/esp32_BNO08x/BNO08x.cpp

Public Member Functions

Static Public Attributes

Private Member Functions

Static Private Member Functions

Private Attributes

Static Private Attributes

Constructor & Destructor Documentation

◆ BNO08x()

Member Function Documentation

◆ calibrate_accelerometer()

◆ calibrate_all()

◆ calibrate_gyro()

◆ calibrate_magnetometer()

◆ calibrate_planar_accelerometer()

◆ calibration_complete()

◆ clear_tare()

◆ data_available()

◆ enable_accelerometer()

◆ enable_activity_classifier()

◆ enable_ARVR_stabilized_game_rotation_vector()

◆ enable_ARVR_stabilized_rotation_vector()

◆ enable_game_rotation_vector()

◆ enable_gravity()

◆ enable_gyro()

◆ enable_gyro_integrated_rotation_vector()

◆ enable_linear_accelerometer()

◆ enable_magnetometer()

◆ enable_raw_accelerometer()

◆ enable_raw_gyro()

◆ enable_raw_magnetometer()

◆ enable_rotation_vector()

◆ enable_stability_classifier()

◆ enable_step_counter()

◆ enable_tap_detector()

◆ enable_uncalibrated_gyro()

◆ end_calibration()

◆ FRS_read_data()

◆ FRS_read_request()

◆ FRS_read_word()

◆ get_accel()

◆ get_accel_accuracy()

◆ get_accel_X()

◆ get_accel_Y()

◆ get_accel_Z()

◆ get_activity_classifier()

◆ get_gravity()

◆ get_gravity_accuracy()

◆ get_gravity_X()

◆ get_gravity_Y()

◆ get_gravity_Z()

◆ get_gyro_accuracy()

◆ get_gyro_calibrated_velocity()

◆ get_gyro_calibrated_velocity_X()

◆ get_gyro_calibrated_velocity_Y()

◆ get_gyro_calibrated_velocity_Z()

◆ get_gyro_velocity()

◆ get_gyro_velocity_X()

◆ get_gyro_velocity_Y()

◆ get_gyro_velocity_Z()

◆ get_linear_accel()

◆ get_linear_accel_accuracy()

◆ get_linear_accel_X()

◆ get_linear_accel_Y()

◆ get_linear_accel_Z()

◆ get_magf()

◆ get_magf_accuracy()

◆ get_magf_X()

◆ get_magf_Y()

◆ get_magf_Z()

◆ get_pitch()

◆ get_pitch_deg()

◆ get_Q1()

◆ get_Q2()

◆ get_Q3()

◆ get_quat()

◆ get_quat_accuracy()

◆ get_quat_I()

◆ get_quat_J()

◆ get_quat_K()

◆ get_quat_radian_accuracy()