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

#include <report/BNO08xRpt.hpp>

Inheritance diagram for BNO08xRpt:

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Collaboration diagram for BNO08xRpt:

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. More...

bool	register_cb (std::function< void(void)> cb_fxn)
	Registers a callback to execute when new data from a specific report is received. More...

bool	has_new_data ()
	Checks if a new report has been received since the last time this function was called. More...

bool	flush ()
	Flush all buffered reports for this sensor/report module. More...

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) More...

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

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). More...

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. More...

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. More...

void	unlock_sh2_HAL ()
	Unlocks sh2 HAL lib to allow other tasks to call its APIs. More...

void	lock_sh2_HAL ()
	Locks sh2 HAL lib to only allow the calling task to call its APIs. More...

void	unlock_user_data ()
	Unlocks user data to allow other tasks to read/modify it. More...

void	lock_user_data ()
	Locks locks user data to only allow the calling task to read/modify it. More...

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

Protected Attributes
uint8_t	ID
	Report ID, ex. SH2_ACCELERATION. More...

EventBits_t	rpt_bit
	Respective enable and data bit for report in evt_grp_rpt_en and evt_grp_rpt_data. More...

uint32_t	period_us
	The period/interval of the report in microseconds. More...

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. More...

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

imu	Pointer to BNO08x imu object.
report_ID	Report ID, ex. SH2_ACCELERATION.
rpt_bit	Respective enable bit for report in BNO08x::evt_grp_report_en.
period_us	The 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.

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◆ 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_ID	The ID of the sensor for the respective report to be disabled.
sensor_cfg	Sensor special configuration.

Returns: ESP_OK if report was successfully disabled.

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◆ 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.

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◆ 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.

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◆ 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

Struct to store requested data.

Returns: True get counts operation succeeded.

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◆ 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.

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◆ 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

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◆ 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

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◆ 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_fxn Pointer to the call-back function should be of void return type void input param.

Returns: void, nothing to return

◆ 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_us	The period/interval of the report in microseconds.
sensor_cfg	Sensor special configuration (optional, see BNO08xPrivateTypes::default_sensor_cfg for defaults).

Returns: True if report was successfully enabled.

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◆ 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

◆ 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

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◆ 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

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◆ update_data()

virtual void BNO08xRpt::update_data ( sh2_SensorValue_t * sensor_val )

protectedpure virtual

Friends And Related Function 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:

/media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/report/BNO08xRpt.hpp
BNO08xRpt.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ BNO08xRpt()

Member Function Documentation

◆ clear_sample_counts()

◆ disable()

◆ enable()

◆ flush()

◆ get_meta_data()

◆ get_sample_counts()

◆ has_new_data()

◆ lock_sh2_HAL()

◆ lock_user_data()

◆ register_cb()

◆ rpt_enable()

◆ signal_data_available()

◆ unlock_sh2_HAL()

◆ unlock_user_data()

◆ update_data()

Friends And Related Function Documentation

◆ BNO08x

Member Data Documentation

◆ ID

◆ period_us

◆ RAD_2_DEG

◆ rpt_bit

◆ sync_ctx

◆ TAG