1293 lines
86 KiB
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1293 lines
86 KiB
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<div id="projectname">esp32_BNO08x<span id="projectnumber"> 1.4</span>
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<div id="projectbrief">C++ BNO08x IMU driver component for esp-idf.</div>
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<div class="header">
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<a href="#nested-classes">Classes</a> |
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<a href="#pub-types">Public Types</a> |
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<a href="#pub-methods">Public Member Functions</a> |
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<a href="#pub-attribs">Public Attributes</a> |
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<a href="#pub-static-attribs">Static Public Attributes</a> |
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<a href="class_b_n_o08x-members.html">List of all members</a> </div>
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<div class="headertitle"><div class="title">BNO08x Class Reference</div></div>
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<p><a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> IMU driver class.
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<a href="class_b_n_o08x.html#details">More...</a></p>
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<p><code>#include <<a class="el" href="_b_n_o08x_8hpp_source.html">BNO08x.hpp</a>></code></p>
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<div class="dynheader">
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Collaboration diagram for BNO08x:</div>
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<div class="dyncontent">
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<div class="center"><img src="class_b_n_o08x__coll__graph.png" border="0" usemap="#a_b_n_o08x_coll__map" alt="Collaboration graph"/></div>
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<map name="a_b_n_o08x_coll__map" id="a_b_n_o08x_coll__map">
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<area shape="rect" title="BNO08x IMU driver class." alt="" coords="1757,631,1832,657"/>
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<area shape="rect" href="struct_b_n_o08x_1_1bno08x__reports__t.html" title="Contains report implementations." alt="" coords="1491,631,1687,657"/>
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<area shape="rect" href="class_b_n_o08x_rpt_i_gyro_r_v.html" title="Class to represent integrated gyro rotation vector reports. (See Ref. Manual 6.5.44)" alt="" coords="1065,137,1216,164"/>
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<area shape="rect" href="class_b_n_o08x_rpt_r_v_generic.html" title="Class to represent rotation vector reports." alt="" coords="521,289,687,316"/>
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<area shape="rect" href="class_b_n_o08x_rpt_r_v.html" title="Class to represent rotation vector reports. (See Ref. Manual 6.5.18)" alt="" coords="1083,188,1198,215"/>
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<area shape="rect" href="class_b_n_o08x_rpt_game_r_v.html" title="Class to represent game rotation vector reports. (See Ref. Manual 6.5.19)" alt="" coords="1063,239,1218,265"/>
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<area shape="rect" href="class_b_n_o08x_rpt_a_r_v_r_stabilized_r_v.html" title="Class to represent ARVR stabilized rotation vector reports. (See Ref. Manual 6.5.42)" alt="" coords="1033,289,1248,316"/>
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<area shape="rect" href="class_b_n_o08x_rpt_a_r_v_r_stabilized_game_r_v.html" title="Class to represent ARVR stabilized rotation vector reports. (See Ref. Manual 6.5.43)" alt="" coords="1013,340,1268,367"/>
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<area shape="rect" href="class_b_n_o08x_rpt_r_v_geomag.html" title="Class to represent geomagnetic rotation vector reports. (See Ref. Manual 6.5.20)" alt="" coords="1055,391,1226,417"/>
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<area shape="rect" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x." alt="" coords="284,788,381,815"/>
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<area shape="rect" href="class_b_n_o08x_rpt_uncal_magnetometer.html" title="Class to represent uncalibrated magnetometer reports. (See Ref. Manual 6.5.17)" alt="" coords="759,575,989,601"/>
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<area shape="rect" href="class_b_n_o08x_rpt_uncal_gyro.html" title="Class to represent uncalibrated gyro reports. (See Ref. Manual 6.5.14)" alt="" coords="791,640,957,667"/>
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<area shape="rect" href="class_b_n_o08x_rpt_activity_classifier.html" title="Class to represent activity classifier reports. (See Ref. Manual 6.5.36)" alt="" coords="771,701,977,728"/>
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<area shape="rect" href="class_b_n_o08x_rpt_acceleration.html" title="Class to represent accelerometer reports. (See Ref. Manual 6.5.9)" alt="" coords="785,757,963,784"/>
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<area shape="rect" href="class_b_n_o08x_rpt_linear_acceleration.html" title="Class to represent linear accelerometer reports. (See Ref. Manual 6.5.10)" alt="" coords="765,816,983,843"/>
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<area shape="rect" href="class_b_n_o08x_rpt_gravity.html" title="Class to represent gravity reports. (See Ref. Manual 6.5.11)" alt="" coords="801,875,947,901"/>
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<area shape="rect" href="class_b_n_o08x_rpt_cal_magnetometer.html" title="Class to represent calibrated magnetometer reports. (See Ref. Manual 6.5.16)" alt="" coords="767,931,981,957"/>
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<area shape="rect" href="class_b_n_o08x_rpt_cal_gyro.html" title="Class to represent calibrated gyro reports. (See Ref. Manual 6.5.13)" alt="" coords="1066,1005,1215,1032"/>
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<area shape="rect" href="class_b_n_o08x_rpt_raw_m_e_m_s_gyro.html" title="Class to represent raw gyro reports. (See Ref. Manual 6.5.12)" alt="" coords="776,1033,972,1060"/>
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<area shape="rect" href="class_b_n_o08x_rpt_raw_m_e_m_s_accelerometer.html" title="Class to represent raw accelerometer reports. (See Ref. Manual 6.5.8)" alt="" coords="473,1095,735,1121"/>
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<area shape="rect" href="class_b_n_o08x_rpt_raw_m_e_m_s_magnetometer.html" title="Class to represent raw magnetometer reports. (See Ref. Manual 6.5.15)" alt="" coords="473,1147,735,1173"/>
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<area shape="rect" href="class_b_n_o08x_rpt_step_counter.html" title="Class to represent step counter reports. (See Ref. Manual 6.5.29)" alt="" coords="515,1221,693,1248"/>
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<area shape="rect" href="class_b_n_o08x_rpt_tap_detector.html" title="Class to represent tap detector reports. (See Ref. Manual 6.5.27)" alt="" coords="517,157,691,184"/>
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<area shape="rect" href="class_b_n_o08x_rpt_stability_classifier.html" title="Class to represent stability classifier reports. (See Ref. Manual 6.5.31)" alt="" coords="499,451,709,477"/>
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<area shape="rect" href="class_b_n_o08x_rpt_shake_detector.html" title="Class to represent shake detector reports. (See Ref. Manual 6.5.32)" alt="" coords="508,511,700,537"/>
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<area shape="rect" href="struct_b_n_o08x_private_types_1_1bno08x__sync__ctx__t.html" title="Holds context used to synchronize tasks and callback execution." alt="" coords="5,781,164,822"/>
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<area shape="rect" href="structbno08x__quat__t.html" title="Struct to represent unit quaternion." alt="" coords="273,289,392,316"/>
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</map>
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<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
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<table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="nested-classes" name="nested-classes"></a>
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Classes</h2></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="struct_b_n_o08x_1_1bno08x__reports__t.html">bno08x_reports_t</a></td></tr>
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<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">Contains report implementations. <a href="struct_b_n_o08x_1_1bno08x__reports__t.html#details">More...</a><br /></td></tr>
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<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
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</table><table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-types" name="pub-types"></a>
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Public Types</h2></td></tr>
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<tr class="memitem:ae08bdaff01ecacf0f399ab289fdf0b99"><td class="memItemLeft" align="right" valign="top">typedef struct <a class="el" href="struct_b_n_o08x_1_1bno08x__reports__t.html">BNO08x::bno08x_reports_t</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#ae08bdaff01ecacf0f399ab289fdf0b99">bno08x_reports_t</a></td></tr>
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<tr class="memdesc:ae08bdaff01ecacf0f399ab289fdf0b99"><td class="mdescLeft"> </td><td class="mdescRight">Contains report implementations. <a href="class_b_n_o08x.html#ae08bdaff01ecacf0f399ab289fdf0b99">More...</a><br /></td></tr>
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<tr class="separator:ae08bdaff01ecacf0f399ab289fdf0b99"><td class="memSeparator" colspan="2"> </td></tr>
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</table><table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
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Public Member Functions</h2></td></tr>
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<tr class="memitem:ad12fb6cf310ad7a04a4e53809833bd61"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#ad12fb6cf310ad7a04a4e53809833bd61">BNO08x</a> (<a class="el" href="structbno08x__config__t.html">bno08x_config_t</a> imu_config=<a class="el" href="structbno08x__config__t.html">bno08x_config_t</a>())</td></tr>
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<tr class="memdesc:ad12fb6cf310ad7a04a4e53809833bd61"><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> imu constructor. <a href="class_b_n_o08x.html#ad12fb6cf310ad7a04a4e53809833bd61">More...</a><br /></td></tr>
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<tr class="separator:ad12fb6cf310ad7a04a4e53809833bd61"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a687eee44d68e1bcabce04780d7eb5fb9"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a687eee44d68e1bcabce04780d7eb5fb9">~BNO08x</a> ()</td></tr>
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<tr class="memdesc:a687eee44d68e1bcabce04780d7eb5fb9"><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> imu deconstructor. <a href="class_b_n_o08x.html#a687eee44d68e1bcabce04780d7eb5fb9">More...</a><br /></td></tr>
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<tr class="separator:a687eee44d68e1bcabce04780d7eb5fb9"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aea8e2c6dd7a2c9899479a7f39fe94798"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#aea8e2c6dd7a2c9899479a7f39fe94798">initialize</a> ()</td></tr>
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<tr class="memdesc:aea8e2c6dd7a2c9899479a7f39fe94798"><td class="mdescLeft"> </td><td class="mdescRight">Initializes <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> sensor. <a href="class_b_n_o08x.html#aea8e2c6dd7a2c9899479a7f39fe94798">More...</a><br /></td></tr>
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<tr class="separator:aea8e2c6dd7a2c9899479a7f39fe94798"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a28cd1c0b3477571d87133234e6358503"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a28cd1c0b3477571d87133234e6358503">hard_reset</a> ()</td></tr>
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<tr class="memdesc:a28cd1c0b3477571d87133234e6358503"><td class="mdescLeft"> </td><td class="mdescRight">Hard resets <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> device. <a href="class_b_n_o08x.html#a28cd1c0b3477571d87133234e6358503">More...</a><br /></td></tr>
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<tr class="separator:a28cd1c0b3477571d87133234e6358503"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a973a1b1785f3302ee1b2702c6a27646e"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a973a1b1785f3302ee1b2702c6a27646e">soft_reset</a> ()</td></tr>
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<tr class="memdesc:a973a1b1785f3302ee1b2702c6a27646e"><td class="mdescLeft"> </td><td class="mdescRight">Soft resets <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> device by sending RESET (1) command on "device" channel. <a href="class_b_n_o08x.html#a973a1b1785f3302ee1b2702c6a27646e">More...</a><br /></td></tr>
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<tr class="separator:a973a1b1785f3302ee1b2702c6a27646e"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aebacbe092615cd083cf996b14402bba6"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#aebacbe092615cd083cf996b14402bba6">disable_all_reports</a> ()</td></tr>
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<tr class="memdesc:aebacbe092615cd083cf996b14402bba6"><td class="mdescLeft"> </td><td class="mdescRight">Disables all currently enabled reports. <a href="class_b_n_o08x.html#aebacbe092615cd083cf996b14402bba6">More...</a><br /></td></tr>
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<tr class="separator:aebacbe092615cd083cf996b14402bba6"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a96d47dd0f9aedfbe3f731f8ae76b2e85"><td class="memItemLeft" align="right" valign="top"><a class="el" href="_b_n_o08x_global_types_8hpp.html#afed71c9ed8a8563767f26282408ccee2">BNO08xResetReason</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a96d47dd0f9aedfbe3f731f8ae76b2e85">get_reset_reason</a> ()</td></tr>
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<tr class="memdesc:a96d47dd0f9aedfbe3f731f8ae76b2e85"><td class="mdescLeft"> </td><td class="mdescRight">Returns reason for previous reset via product ID report. <a href="class_b_n_o08x.html#a96d47dd0f9aedfbe3f731f8ae76b2e85">More...</a><br /></td></tr>
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<tr class="separator:a96d47dd0f9aedfbe3f731f8ae76b2e85"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aaaa15b21ad98a3b161065c3d03ff62b5"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#aaaa15b21ad98a3b161065c3d03ff62b5">on</a> ()</td></tr>
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<tr class="memdesc:aaaa15b21ad98a3b161065c3d03ff62b5"><td class="mdescLeft"> </td><td class="mdescRight">Places <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> device in on state by sending ON (2) command on "device" channel. <a href="class_b_n_o08x.html#aaaa15b21ad98a3b161065c3d03ff62b5">More...</a><br /></td></tr>
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<tr class="separator:aaaa15b21ad98a3b161065c3d03ff62b5"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a7c5774a48227e8e3346fa5df7dfa420c"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a7c5774a48227e8e3346fa5df7dfa420c">sleep</a> ()</td></tr>
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<tr class="memdesc:a7c5774a48227e8e3346fa5df7dfa420c"><td class="mdescLeft"> </td><td class="mdescRight">Places <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> device in sleep state by sending SLEEP (3) command on "device" channel. <a href="class_b_n_o08x.html#a7c5774a48227e8e3346fa5df7dfa420c">More...</a><br /></td></tr>
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<tr class="separator:a7c5774a48227e8e3346fa5df7dfa420c"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a90ea8e811d4bea28a356290d6f5caac5"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a90ea8e811d4bea28a356290d6f5caac5">dynamic_calibration_enable</a> (<a class="el" href="_b_n_o08x_global_types_8hpp.html#a25947bbe6bc4a7c9edd7067fdce0e9cc">BNO08xCalSel</a> sensor)</td></tr>
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<tr class="memdesc:a90ea8e811d4bea28a356290d6f5caac5"><td class="mdescLeft"> </td><td class="mdescRight">Starts simple calibration, see ref. manual 6.4.10.1. <a href="class_b_n_o08x.html#a90ea8e811d4bea28a356290d6f5caac5">More...</a><br /></td></tr>
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<tr class="memitem:a5c7498f6fa4bd43280dff1d322233b95"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a5c7498f6fa4bd43280dff1d322233b95">dynamic_calibration_disable</a> (<a class="el" href="_b_n_o08x_global_types_8hpp.html#a25947bbe6bc4a7c9edd7067fdce0e9cc">BNO08xCalSel</a> sensor)</td></tr>
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<tr class="memdesc:a5c7498f6fa4bd43280dff1d322233b95"><td class="mdescLeft"> </td><td class="mdescRight">Disables dynamic/motion engine calibration for specified sensor(s), see ref. manual 6.4.6.1. <a href="class_b_n_o08x.html#a5c7498f6fa4bd43280dff1d322233b95">More...</a><br /></td></tr>
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<tr class="memitem:a4e8b49abd33e6e11f23b2ae345058b9b"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a4e8b49abd33e6e11f23b2ae345058b9b">dynamic_calibration_autosave_enable</a> ()</td></tr>
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<tr class="memdesc:a4e8b49abd33e6e11f23b2ae345058b9b"><td class="mdescLeft"> </td><td class="mdescRight">Enables the automatic saving of dynamic/ME calibration data to <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> internal flash See ref manual 6.4.7.1. <a href="class_b_n_o08x.html#a4e8b49abd33e6e11f23b2ae345058b9b">More...</a><br /></td></tr>
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<tr class="separator:a4e8b49abd33e6e11f23b2ae345058b9b"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a9387728c276734da27388dbea38b6b32"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a9387728c276734da27388dbea38b6b32">dynamic_calibration_autosave_disable</a> ()</td></tr>
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<tr class="memdesc:a9387728c276734da27388dbea38b6b32"><td class="mdescLeft"> </td><td class="mdescRight">Disables the automatic saving of dynamic/ME calibration data to <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> internal flash See ref manual 6.4.7.1. <a href="class_b_n_o08x.html#a9387728c276734da27388dbea38b6b32">More...</a><br /></td></tr>
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<tr class="memitem:a85f1eca475ea0e6fbaff75c8a297d671"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a85f1eca475ea0e6fbaff75c8a297d671">dynamic_calibration_save</a> ()</td></tr>
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<tr class="memdesc:a85f1eca475ea0e6fbaff75c8a297d671"><td class="mdescLeft"> </td><td class="mdescRight">Saves dynamic/motion engine calibration data to <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> internal flash immediately. See ref manual 6.4.5.1. <a href="class_b_n_o08x.html#a85f1eca475ea0e6fbaff75c8a297d671">More...</a><br /></td></tr>
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<tr class="memitem:a441681a5133b1a125b534925c9bc10f9"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a441681a5133b1a125b534925c9bc10f9">dynamic_calibration_data_clear_ram</a> ()</td></tr>
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<tr class="memdesc:a441681a5133b1a125b534925c9bc10f9"><td class="mdescLeft"> </td><td class="mdescRight">Clears dynamic/motion engine calibration data from ram and resets <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> device. See ref manual 6.4.9.1. <a href="class_b_n_o08x.html#a441681a5133b1a125b534925c9bc10f9">More...</a><br /></td></tr>
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<tr class="memitem:a65a7175b6f6ad6ce687e4fd4cd4bc396"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a65a7175b6f6ad6ce687e4fd4cd4bc396">dynamic_calibration_data_delete</a> ()</td></tr>
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<tr class="memdesc:a65a7175b6f6ad6ce687e4fd4cd4bc396"><td class="mdescLeft"> </td><td class="mdescRight">Deletes dynamic calibration data from <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> internal flash and resets the device. Follows the steps outlined in ref. manual 6.4.9. <a href="class_b_n_o08x.html#a65a7175b6f6ad6ce687e4fd4cd4bc396">More...</a><br /></td></tr>
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<tr class="memitem:abcdba0d0e82db480d20ea4564511a276"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#abcdba0d0e82db480d20ea4564511a276">dynamic_calibration_run_routine</a> ()</td></tr>
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<tr class="memdesc:abcdba0d0e82db480d20ea4564511a276"><td class="mdescLeft"> </td><td class="mdescRight">Example calibration routine using dynamic/ME calibration commands. <a href="class_b_n_o08x.html#abcdba0d0e82db480d20ea4564511a276">More...</a><br /></td></tr>
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<tr class="memitem:abba85271f3333b7f395ec55915c1d5f9"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#abba85271f3333b7f395ec55915c1d5f9">set_system_orientation</a> (float w, float x, float y, float z)</td></tr>
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<tr class="memdesc:abba85271f3333b7f395ec55915c1d5f9"><td class="mdescLeft"> </td><td class="mdescRight">Sets the system orientation of the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> device and persist it in flash (FRS). <a href="class_b_n_o08x.html#abba85271f3333b7f395ec55915c1d5f9">More...</a><br /></td></tr>
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<tr class="memitem:ad42c335827c7b09cd2e4ff303a0d3520"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#ad42c335827c7b09cd2e4ff303a0d3520">get_system_orientation</a> (float &w, float &x, float &y, float &z)</td></tr>
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<tr class="memdesc:ad42c335827c7b09cd2e4ff303a0d3520"><td class="mdescLeft"> </td><td class="mdescRight">Retrieves the system orientation of the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> device and converts to float. <a href="class_b_n_o08x.html#ad42c335827c7b09cd2e4ff303a0d3520">More...</a><br /></td></tr>
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<tr class="separator:ad42c335827c7b09cd2e4ff303a0d3520"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a138577792350b8d5cc48cbf46b34c4f3"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a138577792350b8d5cc48cbf46b34c4f3">get_frs</a> (<a class="el" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8e">BNO08xFrsID</a> frs_ID, uint32_t(&data)[16], uint16_t &rx_data_sz)</td></tr>
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<tr class="memdesc:a138577792350b8d5cc48cbf46b34c4f3"><td class="mdescLeft"> </td><td class="mdescRight">Retrieves a record from flash record system (if your goal is to retrieve sensor specific meta data use the <a class="el" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x.">BNO08xRpt</a>:get_meta_data() method instead) <a href="class_b_n_o08x.html#a138577792350b8d5cc48cbf46b34c4f3">More...</a><br /></td></tr>
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<tr class="separator:a138577792350b8d5cc48cbf46b34c4f3"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aa616a645a4fc9054194fdbf76ec9c5b5"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#aa616a645a4fc9054194fdbf76ec9c5b5">write_frs</a> (<a class="el" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8e">BNO08xFrsID</a> frs_ID, uint32_t *data, const uint16_t tx_data_sz)</td></tr>
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<tr class="memdesc:aa616a645a4fc9054194fdbf76ec9c5b5"><td class="mdescLeft"> </td><td class="mdescRight">Writes a record to flash record system. <a href="class_b_n_o08x.html#aa616a645a4fc9054194fdbf76ec9c5b5">More...</a><br /></td></tr>
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<tr class="separator:aa616a645a4fc9054194fdbf76ec9c5b5"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aa8fd64f60de86ff6b8562f90f3b09690"><td class="memItemLeft" align="right" valign="top">sh2_ProductIds_t </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#aa8fd64f60de86ff6b8562f90f3b09690">get_product_IDs</a> ()</td></tr>
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<tr class="memdesc:aa8fd64f60de86ff6b8562f90f3b09690"><td class="mdescLeft"> </td><td class="mdescRight">Returns product ID info sent by IMU at initialization. <a href="class_b_n_o08x.html#aa8fd64f60de86ff6b8562f90f3b09690">More...</a><br /></td></tr>
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<tr class="separator:aa8fd64f60de86ff6b8562f90f3b09690"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a367d525d1c0ba119b3dca3067bb5bccc"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a367d525d1c0ba119b3dca3067bb5bccc">data_available</a> ()</td></tr>
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<tr class="memdesc:a367d525d1c0ba119b3dca3067bb5bccc"><td class="mdescLeft"> </td><td class="mdescRight">Polls for new data/report to become available. <a href="class_b_n_o08x.html#a367d525d1c0ba119b3dca3067bb5bccc">More...</a><br /></td></tr>
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<tr class="memitem:aadd44524e6d22c48916acd9518b63ec3"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#aadd44524e6d22c48916acd9518b63ec3">register_cb</a> (std::function< void(void)> cb_fxn)</td></tr>
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<tr class="memdesc:aadd44524e6d22c48916acd9518b63ec3"><td class="mdescLeft"> </td><td class="mdescRight">Registers a callback to execute when new data from a report is received. <a href="class_b_n_o08x.html#aadd44524e6d22c48916acd9518b63ec3">More...</a><br /></td></tr>
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<tr class="separator:aadd44524e6d22c48916acd9518b63ec3"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a082c79d9951ac32ea5fa25de90255a41"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a082c79d9951ac32ea5fa25de90255a41">register_cb</a> (std::function< void(uint8_t report_ID)> cb_fxn)</td></tr>
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<tr class="memdesc:a082c79d9951ac32ea5fa25de90255a41"><td class="mdescLeft"> </td><td class="mdescRight">Registers a callback to execute when new data from a report is received, overloaded with callback param for most recent report ID. <a href="class_b_n_o08x.html#a082c79d9951ac32ea5fa25de90255a41">More...</a><br /></td></tr>
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<tr class="separator:a082c79d9951ac32ea5fa25de90255a41"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a7441f7f2477c152deca17054041bf3e6"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a7441f7f2477c152deca17054041bf3e6">print_product_ids</a> ()</td></tr>
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<tr class="memdesc:a7441f7f2477c152deca17054041bf3e6"><td class="mdescLeft"> </td><td class="mdescRight">Prints product IDs received at initialization. <a href="class_b_n_o08x.html#a7441f7f2477c152deca17054041bf3e6">More...</a><br /></td></tr>
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<tr class="separator:a7441f7f2477c152deca17054041bf3e6"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aae4512fa4768becf0e3919a0e0ec34d8"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#aae4512fa4768becf0e3919a0e0ec34d8">print_system_orientation</a> ()</td></tr>
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<tr class="memdesc:aae4512fa4768becf0e3919a0e0ec34d8"><td class="mdescLeft"> </td><td class="mdescRight">Retrieves and prints system orientation. <a href="class_b_n_o08x.html#aae4512fa4768becf0e3919a0e0ec34d8">More...</a><br /></td></tr>
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<tr class="separator:aae4512fa4768becf0e3919a0e0ec34d8"><td class="memSeparator" colspan="2"> </td></tr>
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</table><table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-attribs" name="pub-attribs"></a>
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Public Attributes</h2></td></tr>
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<tr class="memitem:ae1db7422ee9c2cac77382cc0a7aa430e"><td class="memItemLeft" align="right" valign="top"><a class="el" href="struct_b_n_o08x_1_1bno08x__reports__t.html">bno08x_reports_t</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#ae1db7422ee9c2cac77382cc0a7aa430e">rpt</a></td></tr>
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Static Public Attributes</h2></td></tr>
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<tr class="memitem:ab8d5ebfc080838870e320494da3fa64d"><td class="memItemLeft" align="right" valign="top">static constexpr float </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#ab8d5ebfc080838870e320494da3fa64d">SQRT2OVER2</a> = 0.7071067811865476f</td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="friends" name="friends"></a>
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Friends</h2></td></tr>
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<tr class="memitem:a6dd0081dc9eb0cfb019bfdca3aa31802"><td class="memItemLeft" align="right" valign="top">class </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a6dd0081dc9eb0cfb019bfdca3aa31802">BNO08xSH2HAL</a></td></tr>
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<tr class="memitem:a190775b71c35d8007faae7dd6a9f1030"><td class="memItemLeft" align="right" valign="top">class </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_n_o08x.html#a190775b71c35d8007faae7dd6a9f1030">BNO08xTestHelper</a></td></tr>
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</table>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
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<div class="textblock"><p ><a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> IMU driver class. </p>
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</div><h2 class="groupheader">Member Typedef Documentation</h2>
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<a id="ae08bdaff01ecacf0f399ab289fdf0b99" name="ae08bdaff01ecacf0f399ab289fdf0b99"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#ae08bdaff01ecacf0f399ab289fdf0b99">◆ </a></span>bno08x_reports_t</h2>
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<td class="memname">typedef struct <a class="el" href="struct_b_n_o08x_1_1bno08x__reports__t.html">BNO08x::bno08x_reports_t</a> <a class="el" href="struct_b_n_o08x_1_1bno08x__reports__t.html">BNO08x::bno08x_reports_t</a></td>
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<p>Contains report implementations. </p>
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<h2 class="groupheader">Constructor & Destructor Documentation</h2>
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<a id="ad12fb6cf310ad7a04a4e53809833bd61" name="ad12fb6cf310ad7a04a4e53809833bd61"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#ad12fb6cf310ad7a04a4e53809833bd61">◆ </a></span>BNO08x()</h2>
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<td class="memname">BNO08x::BNO08x </td>
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<td>(</td>
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<td class="paramtype"><a class="el" href="structbno08x__config__t.html">bno08x_config_t</a> </td>
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<td class="paramname"><em>imu_config</em> = <code><a class="el" href="structbno08x__config__t.html">bno08x_config_t</a>()</code></td><td>)</td>
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<p><a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> imu constructor. </p>
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<p >Construct a <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> object for managing a <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> sensor.</p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">imu_config</td><td>Configuration settings (optional), default settings can be seen in <a class="el" href="structbno08x__config__t.html" title="IMU configuration settings passed into constructor.">bno08x_config_t</a> </td></tr>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a687eee44d68e1bcabce04780d7eb5fb9">◆ </a></span>~BNO08x()</h2>
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<td class="memname">BNO08x::~BNO08x </td>
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<td>(</td>
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<p><a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> imu deconstructor. </p>
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<p >Deconstructs a <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> object and releases any utilized resources.</p>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return. </dd></dl>
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</div>
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<h2 class="groupheader">Member Function Documentation</h2>
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<a id="a367d525d1c0ba119b3dca3067bb5bccc" name="a367d525d1c0ba119b3dca3067bb5bccc"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a367d525d1c0ba119b3dca3067bb5bccc">◆ </a></span>data_available()</h2>
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<td class="memname">bool BNO08x::data_available </td>
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<p>Polls for new data/report to become available. </p>
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<dl class="section return"><dt>Returns</dt><dd>True if new data/report became available before DATA_AVAILABLE_TIMEOUT_MS. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#aebacbe092615cd083cf996b14402bba6">◆ </a></span>disable_all_reports()</h2>
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<td class="memname">bool BNO08x::disable_all_reports </td>
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<p>Disables all currently enabled reports. </p>
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<dl class="section return"><dt>Returns</dt><dd>True if all currently enabled reports were disabled successfully. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a9387728c276734da27388dbea38b6b32">◆ </a></span>dynamic_calibration_autosave_disable()</h2>
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<td class="memname">bool BNO08x::dynamic_calibration_autosave_disable </td>
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<p>Disables the automatic saving of dynamic/ME calibration data to <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> internal flash See ref manual 6.4.7.1. </p>
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<dl class="section return"><dt>Returns</dt><dd>True if dynamic/ME calibration autosave data enable succeeded. </dd></dl>
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<a id="a4e8b49abd33e6e11f23b2ae345058b9b" name="a4e8b49abd33e6e11f23b2ae345058b9b"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a4e8b49abd33e6e11f23b2ae345058b9b">◆ </a></span>dynamic_calibration_autosave_enable()</h2>
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<td class="memname">bool BNO08x::dynamic_calibration_autosave_enable </td>
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<p>Enables the automatic saving of dynamic/ME calibration data to <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> internal flash See ref manual 6.4.7.1. </p>
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<dl class="section return"><dt>Returns</dt><dd>True if dynamic/ME calibration autosave data enable succeeded. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a441681a5133b1a125b534925c9bc10f9">◆ </a></span>dynamic_calibration_data_clear_ram()</h2>
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<td class="memname">bool BNO08x::dynamic_calibration_data_clear_ram </td>
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<p>Clears dynamic/motion engine calibration data from ram and resets <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> device. See ref manual 6.4.9.1. </p>
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<dl class="section return"><dt>Returns</dt><dd>True if save dynamic/ME calibration data succeeded. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a65a7175b6f6ad6ce687e4fd4cd4bc396">◆ </a></span>dynamic_calibration_data_delete()</h2>
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<td class="memname">bool BNO08x::dynamic_calibration_data_delete </td>
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<p>Deletes dynamic calibration data from <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> internal flash and resets the device. Follows the steps outlined in ref. manual 6.4.9. </p>
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<dl class="section return"><dt>Returns</dt><dd>True if delete dynamic calibration data operation succeeded. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a5c7498f6fa4bd43280dff1d322233b95">◆ </a></span>dynamic_calibration_disable()</h2>
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<td class="paramtype"><a class="el" href="_b_n_o08x_global_types_8hpp.html#a25947bbe6bc4a7c9edd7067fdce0e9cc">BNO08xCalSel</a> </td>
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<p>Disables dynamic/motion engine calibration for specified sensor(s), see ref. manual 6.4.6.1. </p>
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<dl class="params"><dt>Parameters</dt><dd>
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<tr><td class="paramname">sensor</td><td>The sensor(s) to disable dynamic/ME calibration for.</td></tr>
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<dl class="section return"><dt>Returns</dt><dd>True if disable dynamic/ME calibration succeeded. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a90ea8e811d4bea28a356290d6f5caac5">◆ </a></span>dynamic_calibration_enable()</h2>
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<td>(</td>
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<td class="paramtype"><a class="el" href="_b_n_o08x_global_types_8hpp.html#a25947bbe6bc4a7c9edd7067fdce0e9cc">BNO08xCalSel</a> </td>
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<p>Starts simple calibration, see ref. manual 6.4.10.1. </p>
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<dl class="params"><dt>Parameters</dt><dd>
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<tr><td class="paramname">period_us</td><td>This interval should be set to whatever rate the sensor hub is expected to run at after calibration.</td></tr>
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<p>After the calibration is started, the IMU should be rotated 180 degrees. After the IMU has been rotated call calibration_end(). See ref. manual 6.4.10 for more detailed instructions.</p>
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<dl class="section return"><dt>Returns</dt><dd>True if start simple calibration operation succeeded.</dd></dl>
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<p>Ends turn-table calibration, see ref. manual 6.4.10.2</p>
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<dl class="params"><dt>Parameters</dt><dd>
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<tr><td class="paramname">status</td><td>Returned status bits indicating result of turntable calibration.</td></tr>
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<dl class="section return"><dt>Returns</dt><dd>True if enable start turn-table calibration operation succeeded.</dd></dl>
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<p>Enables dynamic/motion engine calibration for specified sensor(s), see ref. manual 6.4.6.1</p>
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<dl class="params"><dt>Parameters</dt><dd>
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<tr><td class="paramname">sensor</td><td>The sensor(s) to enable dynamic/ME calibration for.</td></tr>
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<dl class="section return"><dt>Returns</dt><dd>True if enable dynamic/ME calibration succeeded. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#abcdba0d0e82db480d20ea4564511a276">◆ </a></span>dynamic_calibration_run_routine()</h2>
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<p>Example calibration routine using dynamic/ME calibration commands. </p>
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<p >Routine does the following:alignas</p>
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<p >1) disables all enabled reports 2) sends a command to enable dynamic/motion engine calibration for all possible options (SH2_CAL_ACCEL | SH2_CAL_GYRO | SH2_CAL_MAG | SH2_CAL_PLANAR) 3) enables game rotation vector reports and calibrated magnetic field reports 4) moving window average for accuracy received through reports 5) deems calibration accuracy threshold met when magf accuracy avg is >=2 (MED) and quat accuracy avg >=3 (HIGH) for longer than 5 seconds 6) sends command to save dynamic calibration data 7) disables all enabled reports</p>
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<p >Note the DCD commands don't have to be used this way, this is just an example, but the <a class="el" href="class_b_n_o08x.html#a4e8b49abd33e6e11f23b2ae345058b9b" title="Enables the automatic saving of dynamic/ME calibration data to BNO08x internal flash See ref manual 6...">dynamic_calibration_autosave_enable()</a> allows calibration to be run and saved constantly even while data is used for other operations.</p>
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<dl class="section return"><dt>Returns</dt><dd>True if calibration routine succeeded. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a85f1eca475ea0e6fbaff75c8a297d671">◆ </a></span>dynamic_calibration_save()</h2>
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<td class="memname">bool BNO08x::dynamic_calibration_save </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<p>Saves dynamic/motion engine calibration data to <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> internal flash immediately. See ref manual 6.4.5.1. </p>
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<dl class="section return"><dt>Returns</dt><dd>True if save dynamic/ME calibration data succeeded. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a138577792350b8d5cc48cbf46b34c4f3">◆ </a></span>get_frs()</h2>
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<td class="memname">bool BNO08x::get_frs </td>
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<td>(</td>
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<td class="paramtype"><a class="el" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8e">BNO08xFrsID</a> </td>
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<td class="paramname"><em>frs_ID</em>, </td>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">uint32_t(&) </td>
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<td class="paramname"><em>data</em>[16], </td>
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<td class="paramtype">uint16_t & </td>
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<td class="paramname"><em>rx_data_sz</em> </td>
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<td>)</td>
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<p>Retrieves a record from flash record system (if your goal is to retrieve sensor specific meta data use the <a class="el" href="class_b_n_o08x_rpt.html" title="Class to represent and manage reports returned from BNO08x.">BNO08xRpt</a>:get_meta_data() method instead) </p>
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<p >For more details on returned and data and frs_IDs see ref. manual 6.3.7 & 4.3</p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">frs_ID</td><td>The ID of the desired record to retrieve from flash. </td></tr>
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<tr><td class="paramname">data</td><td>Buffer of 16 uint32_t to store retrieved data. </td></tr>
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<tr><td class="paramname">rx_data_sz</td><td>Reference to store number of 32 bit words retrieved from flash.</td></tr>
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</table>
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</dd>
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</dl>
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<dl class="section return"><dt>Returns</dt><dd>True if get flash record system operation succeeded. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#aa8fd64f60de86ff6b8562f90f3b09690">◆ </a></span>get_product_IDs()</h2>
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<td class="memname">sh2_ProductIds_t BNO08x::get_product_IDs </td>
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<td>(</td>
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<p>Returns product ID info sent by IMU at initialization. </p>
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<dl class="section return"><dt>Returns</dt><dd>The product ID info returned at initialization. </dd></dl>
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<a id="a96d47dd0f9aedfbe3f731f8ae76b2e85" name="a96d47dd0f9aedfbe3f731f8ae76b2e85"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a96d47dd0f9aedfbe3f731f8ae76b2e85">◆ </a></span>get_reset_reason()</h2>
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<td class="memname"><a class="el" href="_b_n_o08x_global_types_8hpp.html#afed71c9ed8a8563767f26282408ccee2">BNO08xResetReason</a> BNO08x::get_reset_reason </td>
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<p>Returns reason for previous reset via product ID report. </p>
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<dl class="section return"><dt>Returns</dt><dd>Enum object containing reset reason, <a class="el" href="_b_n_o08x_global_types_8hpp.html#afed71c9ed8a8563767f26282408ccee2a0db45d2a4141101bdfe48e3314cfbca3" title="Undefined reset reason, this should never occur and is an error.">BNO08xResetReason::UNDEFINED</a> if failure. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#ad42c335827c7b09cd2e4ff303a0d3520">◆ </a></span>get_system_orientation()</h2>
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<td class="memname">bool BNO08x::get_system_orientation </td>
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<td>(</td>
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<td class="paramtype">float & </td>
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<td class="paramname"><em>Qw</em>, </td>
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<td class="paramtype">float & </td>
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<td class="paramname"><em>Qx</em>, </td>
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<td class="paramname"><em>Qy</em>, </td>
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<td class="paramtype">float & </td>
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<p>Retrieves the system orientation of the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> device and converts to float. </p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">Qw</td><td>Reference to save real component of mapping quaternion. </td></tr>
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<tr><td class="paramname">Qx</td><td>Reference to save X (i) component of mapping quaternion. </td></tr>
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<tr><td class="paramname">Qy</td><td>Reference to save Y (j) component of mapping quaternion. </td></tr>
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<tr><td class="paramname">Qz</td><td>Reference to save Z (k) component of mapping quaternion. </td></tr>
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<h2 class="memtitle"><span class="permalink"><a href="#a28cd1c0b3477571d87133234e6358503">◆ </a></span>hard_reset()</h2>
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<td class="memname">bool BNO08x::hard_reset </td>
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<td>(</td>
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<p>Hard resets <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> device. </p>
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<dl class="section return"><dt>Returns</dt><dd>True if reset was success. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#aea8e2c6dd7a2c9899479a7f39fe94798">◆ </a></span>initialize()</h2>
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<td class="memname">bool BNO08x::initialize </td>
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<td>(</td>
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<p>Initializes <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> sensor. </p>
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<p >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.</p>
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<dl class="section return"><dt>Returns</dt><dd>True if initialization was success, false if otherwise. </dd></dl>
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</div>
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<a id="aaaa15b21ad98a3b161065c3d03ff62b5" name="aaaa15b21ad98a3b161065c3d03ff62b5"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#aaaa15b21ad98a3b161065c3d03ff62b5">◆ </a></span>on()</h2>
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<td class="memname">bool BNO08x::on </td>
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<td>(</td>
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<td></td>
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<p>Places <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> device in on state by sending ON (2) command on "device" channel. </p>
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<dl class="section return"><dt>Returns</dt><dd>True if on operation succeeded. </dd></dl>
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</div>
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<a id="a7441f7f2477c152deca17054041bf3e6" name="a7441f7f2477c152deca17054041bf3e6"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a7441f7f2477c152deca17054041bf3e6">◆ </a></span>print_product_ids()</h2>
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<td class="memname">void BNO08x::print_product_ids </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<p>Prints product IDs received at initialization. </p>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#aae4512fa4768becf0e3919a0e0ec34d8">◆ </a></span>print_system_orientation()</h2>
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<td class="memname">void BNO08x::print_system_orientation </td>
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<p>Retrieves and prints system orientation. </p>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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<a id="a082c79d9951ac32ea5fa25de90255a41" name="a082c79d9951ac32ea5fa25de90255a41"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a082c79d9951ac32ea5fa25de90255a41">◆ </a></span>register_cb() <span class="overload">[1/2]</span></h2>
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<td class="memname">bool BNO08x::register_cb </td>
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<td>(</td>
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<td class="paramtype">std::function< void(uint8_t report_ID)> </td>
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<td class="paramname"><em>cb_fxn</em></td><td>)</td>
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<p>Registers a callback to execute when new data from a report is received, overloaded with callback param for most recent report ID. </p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">cb_fxn</td><td>Pointer to the call-back function should be of void return type with single input param of uint8_t for most recent report ID.</td></tr>
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</table>
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</dd>
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</dl>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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<a id="aadd44524e6d22c48916acd9518b63ec3" name="aadd44524e6d22c48916acd9518b63ec3"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#aadd44524e6d22c48916acd9518b63ec3">◆ </a></span>register_cb() <span class="overload">[2/2]</span></h2>
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<td class="memname">bool BNO08x::register_cb </td>
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<td>(</td>
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<td class="paramtype">std::function< void(void)> </td>
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<td class="paramname"><em>cb_fxn</em></td><td>)</td>
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<p>Registers a callback to execute when new data from a report is received. </p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">cb_fxn</td><td>Pointer to the call-back function should be of void return type void input param.</td></tr>
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</table>
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</dd>
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</dl>
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<dl class="section return"><dt>Returns</dt><dd>void, nothing to return </dd></dl>
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<a id="abba85271f3333b7f395ec55915c1d5f9" name="abba85271f3333b7f395ec55915c1d5f9"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#abba85271f3333b7f395ec55915c1d5f9">◆ </a></span>set_system_orientation()</h2>
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<td class="memname">bool BNO08x::set_system_orientation </td>
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<td>(</td>
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<td class="paramtype">float </td>
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<td class="paramname"><em>Qw</em>, </td>
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<td class="paramtype">float </td>
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<td class="paramname"><em>Qx</em>, </td>
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<td class="paramkey"></td>
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<td class="paramtype">float </td>
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<td class="paramname"><em>Qy</em>, </td>
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<td class="paramtype">float </td>
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<td class="paramname"><em>Qz</em> </td>
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<td></td>
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<td>)</td>
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<p>Sets the system orientation of the <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> device and persist it in flash (FRS). </p>
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<dl class="section note"><dt>Note</dt><dd>Datasheet Figure 4.3 for reference of physical mounting position relative to mapping quaternion. </dd>
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<dd>
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Use SQRT2OVER2 as a constant for sqrt(2)/2 </dd>
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<dd>
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that a reset is required to apply changes. </dd>
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<dd>
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This configuration seems only to work if reports are already enabled. e.g. set .rpt.rv.enable(PERIOD) prior this call</dd></dl>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">Qw</td><td>Real component of mapping quaternion. </td></tr>
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<tr><td class="paramname">Qx</td><td>X (i) component of mapping quaternion. </td></tr>
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<tr><td class="paramname">Qy</td><td>Y (j) component of mapping quaternion. </td></tr>
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<tr><td class="paramname">Qz</td><td>Z (k) component of mapping quaternion. </td></tr>
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</dd>
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</dl>
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<a id="a7c5774a48227e8e3346fa5df7dfa420c" name="a7c5774a48227e8e3346fa5df7dfa420c"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a7c5774a48227e8e3346fa5df7dfa420c">◆ </a></span>sleep()</h2>
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<td class="memname">bool BNO08x::sleep </td>
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<td>(</td>
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<p>Places <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> device in sleep state by sending SLEEP (3) command on "device" channel. </p>
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<dl class="section return"><dt>Returns</dt><dd>True if sleep operation succeeded. </dd></dl>
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<a id="a973a1b1785f3302ee1b2702c6a27646e" name="a973a1b1785f3302ee1b2702c6a27646e"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a973a1b1785f3302ee1b2702c6a27646e">◆ </a></span>soft_reset()</h2>
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<td class="memname">bool BNO08x::soft_reset </td>
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<td>(</td>
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<p>Soft resets <a class="el" href="class_b_n_o08x.html" title="BNO08x IMU driver class.">BNO08x</a> device by sending RESET (1) command on "device" channel. </p>
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<dl class="section return"><dt>Returns</dt><dd>True if soft reset operation succeeded. </dd></dl>
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<a id="aa616a645a4fc9054194fdbf76ec9c5b5" name="aa616a645a4fc9054194fdbf76ec9c5b5"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#aa616a645a4fc9054194fdbf76ec9c5b5">◆ </a></span>write_frs()</h2>
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<td class="memname">bool BNO08x::write_frs </td>
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<td>(</td>
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<td class="paramtype"><a class="el" href="_b_n_o08x_global_types_8hpp.html#a8ac8ee2d5f81f6102ed94866f2bdcc8e">BNO08xFrsID</a> </td>
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<td class="paramname"><em>frs_ID</em>, </td>
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<td class="paramtype">uint32_t * </td>
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<td class="paramname"><em>data</em>, </td>
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<td class="paramtype">const uint16_t </td>
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<td class="paramname"><em>tx_data_sz</em> </td>
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<td>)</td>
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<p>Writes a record to flash record system. </p>
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<p >For more details on flash records and frs_IDs see ref. manual 6.3.6 & 4.3</p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">frs_ID</td><td>The ID of the desired to write to flash. </td></tr>
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<tr><td class="paramname">data</td><td>Buffer of 16 uint32_t to store data to send. </td></tr>
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<tr><td class="paramname">tx_data_sz</td><td>Length of data, amount of 32 bit words to write to flash.</td></tr>
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</dd>
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<dl class="section return"><dt>Returns</dt><dd>True if get flash record system operation succeeded. </dd></dl>
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<h2 class="groupheader">Friends And Related Function Documentation</h2>
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<a id="a6dd0081dc9eb0cfb019bfdca3aa31802" name="a6dd0081dc9eb0cfb019bfdca3aa31802"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a6dd0081dc9eb0cfb019bfdca3aa31802">◆ </a></span>BNO08xSH2HAL</h2>
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<td class="memname">friend class <a class="el" href="class_b_n_o08x_s_h2_h_a_l.html">BNO08xSH2HAL</a></td>
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<span class="mlabels"><span class="mlabel">friend</span></span> </td>
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<h2 class="memtitle"><span class="permalink"><a href="#a190775b71c35d8007faae7dd6a9f1030">◆ </a></span>BNO08xTestHelper</h2>
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<td class="memname">friend class <a class="el" href="class_b_n_o08x_test_helper.html">BNO08xTestHelper</a></td>
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<h2 class="groupheader">Member Data Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#ae1db7422ee9c2cac77382cc0a7aa430e">◆ </a></span>rpt</h2>
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<td class="memname"><a class="el" href="struct_b_n_o08x_1_1bno08x__reports__t.html">bno08x_reports_t</a> BNO08x::rpt</td>
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<h2 class="memtitle"><span class="permalink"><a href="#ab8d5ebfc080838870e320494da3fa64d">◆ </a></span>SQRT2OVER2</h2>
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<td class="memname">constexpr float BNO08x::SQRT2OVER2 = 0.7071067811865476f</td>
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<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span></span> </td>
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<hr/>The documentation for this class was generated from the following files:<ul>
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<li>/media/develop/git/imu_pr_cleanup/components/esp32_BNO08x/include/<a class="el" href="_b_n_o08x_8hpp_source.html">BNO08x.hpp</a></li>
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<li><a class="el" href="_b_n_o08x_8cpp.html">BNO08x.cpp</a></li>
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<li class="navelem"><a class="el" href="class_b_n_o08x.html">BNO08x</a></li>
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