20 lines
626 B
C++
20 lines
626 B
C++
#include "BNO08xRptARVRStabilizedRV.hpp"
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#include "BNO08x.hpp"
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/**
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* @brief Updates ARVR stabilized rotation vector data from decoded sensor event.
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*
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* @param sensor_val The sh2_SensorValue_t struct used in sh2_decodeSensorEvent() call.
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*
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* @return void, nothing to return
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*/
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void BNO08xRptARVRStabilizedRV::update_data(sh2_SensorValue_t* sensor_val)
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{
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imu->lock_user_data();
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data = sensor_val->un.arvrStabilizedRV;
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data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
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imu->unlock_user_data();
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if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))
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signal_data_available();
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} |