71 lines
1.6 KiB
C++
71 lines
1.6 KiB
C++
/**
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* @file BNO08xRptRV.cpp
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* @author Myles Parfeniuk
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*/
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#include "BNO08xRptRV.hpp"
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#include "BNO08x.hpp"
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/**
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* @brief Updates 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 BNO08xRptRV::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.rotationVector;
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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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}
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/**
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* @brief Tares rotation vector axis.
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*
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* @param x If true tare x axis (optional, default true).
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* @param y If true tare y axis (optional, default true).
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* @param z If true tare z axis (optional, default true).
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*
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* @return True if tare operation succeeded.
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*/
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bool BNO08xRptRV::tare(bool x, bool y, bool z)
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{
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return BNO08xRptRVGeneric::tare(x, y, z, SH2_TARE_BASIS_ROTATION_VECTOR);
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}
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/**
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* @brief Saves most recent tare operation to BNO08x internal flash, such that it persists on reset.
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*
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* @return True if tare operation succeeded.
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*/
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bool BNO08xRptRV::tare_persist()
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{
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int success = SH2_ERR;
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imu->lock_sh2_HAL();
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success = sh2_persistTare();
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imu->unlock_sh2_HAL();
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if (success != SH2_OK)
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return false;
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else
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return true;
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}
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/**
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* @brief Clears most recent tare operation.
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*
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* @return void, nothing to return
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*/
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void BNO08xRptRV::tare_clear()
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{
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imu->lock_sh2_HAL();
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sh2_clearTare();
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imu->unlock_sh2_HAL();
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} |